+ '[' md '=' md ]
+ echo '--sample-offset -1'
+ '[' md '=' smd ]
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/04721d40-be9c-442d-ba73-b830126c3267/processing/data/sonar_raw.track.cbor
2026-09-18 20:35:16 [INFO] Sonicer 0.0.3
2026-09-18 20:35:16 [INFO] Recording GUID: 04721d40-be9c-442d-ba73-b830126c3267
2026-09-18 20:35:16 [INFO] Prepared data will be output to /working/04721d40-be9c-442d-ba73-b830126c3267/processing/data
2026-09-18 20:35:16 [INFO] Digitizing sonar data...
2026-09-18 20:35:16 [INFO] Using sonar digitizer
2026-09-18 20:35:16 [INFO] Sensor speed of sound is 1500 m/s
2026-09-18 20:35:16 [INFO] Sensor range is 0.939120 m
2026-09-18 20:35:16 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-18 20:35:16 [INFO] Scaled micrometres per sample is 3108.536247
2026-09-18 20:35:17 [INFO] Digitized sonar frames: 49% (98/197)
2026-09-18 20:35:18 [INFO] Digitized 197 snapshot scans
2026-09-18 20:35:18 [INFO] Applying sonar temporal consistency...
2026-09-18 20:35:18 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 4 structures, 90 points
2026-09-18 20:35:18 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-18 20:35:18 [INFO] Sonar temporal gap fill (window 2): 45103 points, 1325 candidate beams, filled 1051
2026-09-18 20:35:18 [INFO] Sonar temporal radial outliers: removed 439 of 46154 points
2026-09-18 20:35:18 [INFO] Sonar temporal segment pruning (window 3): removed 7 segments, 90 points
2026-09-18 20:35:18 [INFO] Writing sonar track file...
2026-09-18 20:35:18 [INFO] Writing sonar PTD files...
2026-09-18 20:35:19 [INFO] Sonicer took 2.748219014s