+ '[' md '=' md ]
+ echo '--sample-offset -1'
+ '[' md '=' smd ]
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/22d5a347-8d3a-4437-aa15-6d0979d8facb/processing/data/sonar_raw.track.cbor
2026-09-18 20:29:38 [INFO] Sonicer 0.0.3
2026-09-18 20:29:39 [INFO] Recording GUID: 22d5a347-8d3a-4437-aa15-6d0979d8facb
2026-09-18 20:29:39 [INFO] Prepared data will be output to /working/22d5a347-8d3a-4437-aa15-6d0979d8facb/processing/data
2026-09-18 20:29:39 [INFO] Digitizing sonar data...
2026-09-18 20:29:39 [INFO] Using sonar digitizer
2026-09-18 20:29:39 [INFO] Sensor speed of sound is 1500 m/s
2026-09-18 20:29:39 [INFO] Sensor range is 0.939120 m
2026-09-18 20:29:39 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-18 20:29:39 [INFO] Scaled micrometres per sample is 3108.536247
2026-09-18 20:29:40 [INFO] Digitized sonar frames: 12% (113/895)
2026-09-18 20:29:41 [INFO] Digitized sonar frames: 30% (269/895)
2026-09-18 20:29:42 [INFO] Digitized sonar frames: 47% (427/895)
2026-09-18 20:29:43 [INFO] Digitized sonar frames: 65% (582/895)
2026-09-18 20:29:44 [INFO] Digitized sonar frames: 82% (735/895)
2026-09-18 20:29:45 [INFO] Digitized 895 snapshot scans
2026-09-18 20:29:45 [INFO] Applying sonar temporal consistency...
2026-09-18 20:29:45 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 11 structures, 343 points
2026-09-18 20:29:46 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-18 20:29:46 [INFO] Sonar temporal gap fill (window 2): 25078 points, 4810 candidate beams, filled 3907
2026-09-18 20:29:46 [INFO] Sonar temporal radial outliers: removed 3345 of 28985 points
2026-09-18 20:29:46 [INFO] Sonar temporal segment pruning (window 3): removed 80 segments, 809 points
2026-09-18 20:29:46 [INFO] Writing sonar track file...
2026-09-18 20:29:46 [INFO] Writing sonar PTD files...
2026-09-18 20:29:46 [INFO] Sonicer took 8.521083871s