+ '[' md '=' md ]
+ echo '--sample-offset -1'
+ '[' md '=' smd ]
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/68b1c93d-fbcc-4295-9067-ee5effabdfd8/processing/data/sonar_raw.track.cbor
2026-09-18 20:06:50 [INFO] Sonicer 0.0.3
2026-09-18 20:06:51 [INFO] Recording GUID: 68b1c93d-fbcc-4295-9067-ee5effabdfd8
2026-09-18 20:06:51 [INFO] Prepared data will be output to /working/68b1c93d-fbcc-4295-9067-ee5effabdfd8/processing/data
2026-09-18 20:06:51 [INFO] Digitizing sonar data...
2026-09-18 20:06:51 [INFO] Using sonar digitizer
2026-09-18 20:06:51 [INFO] Sensor speed of sound is 1500 m/s
2026-09-18 20:06:51 [INFO] Sensor range is 0.939120 m
2026-09-18 20:06:51 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-18 20:06:51 [INFO] Scaled micrometres per sample is 3108.536247
2026-09-18 20:06:52 [INFO] Digitized sonar frames: 14% (86/580)
2026-09-18 20:06:53 [INFO] Digitized sonar frames: 39% (229/580)
2026-09-18 20:06:54 [INFO] Digitized sonar frames: 62% (364/580)
2026-09-18 20:06:55 [INFO] Digitized sonar frames: 86% (500/580)
2026-09-18 20:06:55 [INFO] Digitized 580 snapshot scans
2026-09-18 20:06:55 [INFO] Applying sonar temporal consistency...
2026-09-18 20:06:56 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 50 structures, 2297 points
2026-09-18 20:06:56 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 2 structures, 41 points
2026-09-18 20:06:56 [INFO] Sonar temporal gap fill (window 2): 130637 points, 7294 candidate beams, filled 5952
2026-09-18 20:06:57 [INFO] Sonar temporal radial outliers: removed 1411 of 136589 points
2026-09-18 20:06:57 [INFO] Sonar temporal segment pruning (window 3): removed 44 segments, 652 points
2026-09-18 20:06:57 [INFO] Writing sonar track file...
2026-09-18 20:06:57 [INFO] Writing sonar PTD files...
2026-09-18 20:06:57 [INFO] Sonicer took 7.287575942s