+ '[' md '=' md ]
+ echo '--sample-offset -1'
+ '[' md '=' smd ]
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/770f8594-f95f-4066-b42c-2b700ea03084/processing/data/sonar_raw.track.cbor
2026-09-18 20:12:37 [INFO] Sonicer 0.0.3
2026-09-18 20:12:37 [INFO] Recording GUID: 770f8594-f95f-4066-b42c-2b700ea03084
2026-09-18 20:12:37 [INFO] Prepared data will be output to /working/770f8594-f95f-4066-b42c-2b700ea03084/processing/data
2026-09-18 20:12:37 [INFO] Digitizing sonar data...
2026-09-18 20:12:37 [INFO] Using sonar digitizer
2026-09-18 20:12:37 [INFO] Sensor speed of sound is 1500 m/s
2026-09-18 20:12:37 [INFO] Sensor range is 0.939120 m
2026-09-18 20:12:37 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-18 20:12:37 [INFO] Scaled micrometres per sample is 3108.536247
2026-09-18 20:12:38 [INFO] Digitized sonar frames: 35% (296/833)
2026-09-18 20:12:39 [INFO] Digitized sonar frames: 74% (619/833)
2026-09-18 20:12:40 [INFO] Digitized 833 snapshot scans
2026-09-18 20:12:40 [INFO] Applying sonar temporal consistency...
2026-09-18 20:12:40 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 32 structures, 1564 points
2026-09-18 20:12:41 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-18 20:12:41 [INFO] Sonar temporal gap fill (window 2): 185155 points, 9312 candidate beams, filled 7104
2026-09-18 20:12:41 [INFO] Sonar temporal radial outliers: removed 4231 of 192259 points
2026-09-18 20:12:41 [INFO] Sonar temporal segment pruning (window 3): removed 27 segments, 558 points
2026-09-18 20:12:41 [INFO] Writing sonar track file...
2026-09-18 20:12:41 [INFO] Writing sonar PTD files...
2026-09-18 20:12:42 [INFO] Sonicer took 5.420736833s