+ '[' md '=' md ]
+ echo '--sample-offset -1'
+ '[' md '=' smd ]
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/95dbdf74-2dd4-4c92-8a9c-778497f15d55/processing/data/sonar_raw.track.cbor
2026-09-18 20:05:30 [INFO] Sonicer 0.0.3
2026-09-18 20:05:31 [INFO] Recording GUID: 95dbdf74-2dd4-4c92-8a9c-778497f15d55
2026-09-18 20:05:31 [INFO] Prepared data will be output to /working/95dbdf74-2dd4-4c92-8a9c-778497f15d55/processing/data
2026-09-18 20:05:31 [INFO] Digitizing sonar data...
2026-09-18 20:05:31 [INFO] Using sonar digitizer
2026-09-18 20:05:31 [INFO] Sensor speed of sound is 1500 m/s
2026-09-18 20:05:31 [INFO] Sensor range is 0.939120 m
2026-09-18 20:05:31 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-18 20:05:31 [INFO] Scaled micrometres per sample is 3108.536247
2026-09-18 20:05:32 [INFO] Digitized sonar frames: 14% (78/524)
2026-09-18 20:05:33 [INFO] Digitized sonar frames: 41% (217/524)
2026-09-18 20:05:34 [INFO] Digitized sonar frames: 69% (364/524)
2026-09-18 20:05:35 [INFO] Digitized sonar frames: 96% (507/524)
2026-09-18 20:05:35 [INFO] Digitized 524 snapshot scans
2026-09-18 20:05:35 [INFO] Applying sonar temporal consistency...
2026-09-18 20:05:35 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 10 structures, 212 points
2026-09-18 20:05:36 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-18 20:05:36 [INFO] Sonar temporal gap fill (window 2): 115959 points, 3572 candidate beams, filled 2488
2026-09-18 20:05:36 [INFO] Sonar temporal radial outliers: removed 1164 of 118447 points
2026-09-18 20:05:36 [INFO] Sonar temporal segment pruning (window 3): removed 15 segments, 219 points
2026-09-18 20:05:36 [INFO] Writing sonar track file...
2026-09-18 20:05:36 [INFO] Writing sonar PTD files...
2026-09-18 20:05:37 [INFO] Sonicer took 6.648297299s