+ '[' md '=' md ]
+ echo '--sample-offset -1'
+ '[' md '=' smd ]
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/914391ef-3c67-482b-a1e0-c03357b8d9c4/processing/data/sonar_raw.track.cbor
2026-09-18 20:18:23 [INFO] Sonicer 0.0.3
2026-09-18 20:18:24 [INFO] Recording GUID: 914391ef-3c67-482b-a1e0-c03357b8d9c4
2026-09-18 20:18:24 [INFO] Prepared data will be output to /working/914391ef-3c67-482b-a1e0-c03357b8d9c4/processing/data
2026-09-18 20:18:24 [INFO] Digitizing sonar data...
2026-09-18 20:18:24 [INFO] Using sonar digitizer
2026-09-18 20:18:24 [INFO] Sensor speed of sound is 1500 m/s
2026-09-18 20:18:24 [INFO] Sensor range is 0.939120 m
2026-09-18 20:18:24 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-18 20:18:24 [INFO] Scaled micrometres per sample is 3108.536247
2026-09-18 20:18:25 [INFO] Digitized sonar frames: 10% (100/999)
2026-09-18 20:18:26 [INFO] Digitized sonar frames: 24% (247/999)
2026-09-18 20:18:27 [INFO] Digitized sonar frames: 38% (387/999)
2026-09-18 20:18:28 [INFO] Digitized sonar frames: 52% (527/999)
2026-09-18 20:18:29 [INFO] Digitized sonar frames: 67% (673/999)
2026-09-18 20:18:30 [INFO] Digitized sonar frames: 82% (821/999)
2026-09-18 20:18:31 [INFO] Digitized sonar frames: 96% (963/999)
2026-09-18 20:18:31 [INFO] Digitized 999 snapshot scans
2026-09-18 20:18:31 [INFO] Applying sonar temporal consistency...
2026-09-18 20:18:32 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 24 structures, 1395 points
2026-09-18 20:18:33 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-18 20:18:33 [INFO] Sonar temporal gap fill (window 2): 239858 points, 7812 candidate beams, filled 5352
2026-09-18 20:18:34 [INFO] Sonar temporal radial outliers: removed 4833 of 245210 points
2026-09-18 20:18:34 [INFO] Sonar temporal segment pruning (window 3): removed 15 segments, 271 points
2026-09-18 20:18:34 [INFO] Writing sonar track file...
2026-09-18 20:18:34 [INFO] Writing sonar PTD files...
2026-09-18 20:18:35 [INFO] Sonicer took 11.613698346s