+ '[' md '=' md ]
+ echo '--sample-offset -1'
+ '[' md '=' smd ]
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/3cb0d8b5-d796-4c44-9c2c-004d4d81455b/processing/data/sonar_raw.track.cbor
2026-09-18 20:18:52 [INFO] Sonicer 0.0.3
2026-09-18 20:18:53 [INFO] Recording GUID: 3cb0d8b5-d796-4c44-9c2c-004d4d81455b
2026-09-18 20:18:53 [INFO] Prepared data will be output to /working/3cb0d8b5-d796-4c44-9c2c-004d4d81455b/processing/data
2026-09-18 20:18:53 [INFO] Digitizing sonar data...
2026-09-18 20:18:53 [INFO] Using sonar digitizer
2026-09-18 20:18:53 [INFO] Sensor speed of sound is 1500 m/s
2026-09-18 20:18:53 [INFO] Sensor range is 0.939120 m
2026-09-18 20:18:53 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-18 20:18:53 [INFO] Scaled micrometres per sample is 3108.536247
2026-09-18 20:18:54 [INFO] Digitized sonar frames: 10% (99/926)
2026-09-18 20:18:55 [INFO] Digitized sonar frames: 25% (234/926)
2026-09-18 20:18:56 [INFO] Digitized sonar frames: 41% (387/926)
2026-09-18 20:18:57 [INFO] Digitized sonar frames: 57% (536/926)
2026-09-18 20:18:58 [INFO] Digitized sonar frames: 73% (683/926)
2026-09-18 20:18:59 [INFO] Digitized sonar frames: 89% (826/926)
2026-09-18 20:19:00 [INFO] Digitized 926 snapshot scans
2026-09-18 20:19:00 [INFO] Applying sonar temporal consistency...
2026-09-18 20:19:01 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 129 structures, 9731 points
2026-09-18 20:19:01 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 7 structures, 580 points
2026-09-18 20:19:02 [INFO] Sonar temporal gap fill (window 2): 194733 points, 19048 candidate beams, filled 16741
2026-09-18 20:19:02 [INFO] Sonar temporal radial outliers: removed 6877 of 211474 points
2026-09-18 20:19:02 [INFO] Sonar temporal segment pruning (window 3): removed 41 segments, 592 points
2026-09-18 20:19:02 [INFO] Writing sonar track file...
2026-09-18 20:19:02 [INFO] Writing sonar PTD files...
2026-09-18 20:19:03 [INFO] Sonicer took 10.527583474s