+ '[' md '=' md ]
+ echo '--sample-offset -1'
+ '[' md '=' smd ]
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/b921fa8b-a7f2-4ec2-bf4b-2d9c6e222e35/processing/data/sonar_raw.track.cbor
2026-09-18 20:12:53 [INFO] Sonicer 0.0.3
2026-09-18 20:12:54 [INFO] Recording GUID: b921fa8b-a7f2-4ec2-bf4b-2d9c6e222e35
2026-09-18 20:12:54 [INFO] Prepared data will be output to /working/b921fa8b-a7f2-4ec2-bf4b-2d9c6e222e35/processing/data
2026-09-18 20:12:54 [INFO] Digitizing sonar data...
2026-09-18 20:12:54 [INFO] Using sonar digitizer
2026-09-18 20:12:54 [INFO] Sensor speed of sound is 1500 m/s
2026-09-18 20:12:54 [INFO] Sensor range is 0.939120 m
2026-09-18 20:12:54 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-18 20:12:54 [INFO] Scaled micrometres per sample is 3108.536247
2026-09-18 20:12:55 [INFO] Digitized sonar frames: 10% (81/804)
2026-09-18 20:12:56 [INFO] Digitized sonar frames: 27% (218/804)
2026-09-18 20:12:57 [INFO] Digitized sonar frames: 44% (358/804)
2026-09-18 20:12:58 [INFO] Digitized sonar frames: 61% (494/804)
2026-09-18 20:12:59 [INFO] Digitized sonar frames: 77% (626/804)
2026-09-18 20:13:00 [INFO] Digitized sonar frames: 95% (768/804)
2026-09-18 20:13:01 [INFO] Digitized 804 snapshot scans
2026-09-18 20:13:01 [INFO] Applying sonar temporal consistency...
2026-09-18 20:13:01 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 30 structures, 953 points
2026-09-18 20:13:02 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-18 20:13:02 [INFO] Sonar temporal gap fill (window 2): 195377 points, 6888 candidate beams, filled 5015
2026-09-18 20:13:02 [INFO] Sonar temporal radial outliers: removed 1542 of 200392 points
2026-09-18 20:13:02 [INFO] Sonar temporal segment pruning (window 3): removed 21 segments, 340 points
2026-09-18 20:13:02 [INFO] Writing sonar track file...
2026-09-18 20:13:02 [INFO] Writing sonar PTD files...
2026-09-18 20:13:03 [INFO] Sonicer took 9.938054724s