+ '[' md '=' md ]
+ echo '--sample-offset -1'
+ '[' md '=' smd ]
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/6a1755eb-6de5-42f4-bf3a-67a1d015fdbb/processing/data/sonar_raw.track.cbor
2026-09-18 20:56:18 [INFO] Sonicer 0.0.3
2026-09-18 20:56:20 [INFO] Recording GUID: 6a1755eb-6de5-42f4-bf3a-67a1d015fdbb
2026-09-18 20:56:20 [INFO] Prepared data will be output to /working/6a1755eb-6de5-42f4-bf3a-67a1d015fdbb/processing/data
2026-09-18 20:56:20 [INFO] Digitizing sonar data...
2026-09-18 20:56:20 [INFO] Using sonar digitizer
2026-09-18 20:56:20 [INFO] Sensor speed of sound is 1500 m/s
2026-09-18 20:56:20 [INFO] Sensor range is 0.939120 m
2026-09-18 20:56:20 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-18 20:56:20 [INFO] Scaled micrometres per sample is 3108.536247
2026-09-18 20:56:21 [INFO] Digitized sonar frames: 11% (263/2227)
2026-09-18 20:56:22 [INFO] Digitized sonar frames: 25% (557/2227)
2026-09-18 20:56:23 [INFO] Digitized sonar frames: 38% (855/2227)
2026-09-18 20:56:24 [INFO] Digitized sonar frames: 51% (1157/2227)
2026-09-18 20:56:25 [INFO] Digitized sonar frames: 65% (1459/2227)
2026-09-18 20:56:26 [INFO] Digitized sonar frames: 79% (1769/2227)
2026-09-18 20:56:27 [INFO] Digitized sonar frames: 92% (2055/2227)
2026-09-18 20:56:28 [INFO] Digitized 2227 snapshot scans
2026-09-18 20:56:28 [INFO] Applying sonar temporal consistency...
2026-09-18 20:56:29 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 43 structures, 1059 points
2026-09-18 20:56:30 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-18 20:56:31 [INFO] Temporal gap fill: 95% (2116/2227)
2026-09-18 20:56:31 [INFO] Sonar temporal gap fill (window 2): 501963 points, 22693 candidate beams, filled 16758
2026-09-18 20:56:31 [INFO] Sonar temporal radial outliers: removed 4061 of 518721 points
2026-09-18 20:56:32 [INFO] Sonar temporal segment pruning (window 3): removed 59 segments, 675 points
2026-09-18 20:56:32 [INFO] Writing sonar track file...
2026-09-18 20:56:32 [INFO] Writing sonar PTD files...
2026-09-18 20:56:34 [INFO] Sonicer took 15.766980174s