+ '[' md '=' md ]
+ echo '--sample-offset -1'
+ '[' md '=' smd ]
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/0be5068e-a9e8-43e8-94a0-8791774bdbec/processing/data/sonar_raw.track.cbor
2026-09-24 03:53:44 [INFO] Sonicer 0.0.3
2026-09-24 03:53:46 [INFO] Recording GUID: 0be5068e-a9e8-43e8-94a0-8791774bdbec
2026-09-24 03:53:46 [INFO] Prepared data will be output to /working/0be5068e-a9e8-43e8-94a0-8791774bdbec/processing/data
2026-09-24 03:53:46 [INFO] Digitizing sonar data...
2026-09-24 03:53:46 [INFO] Using sonar digitizer
2026-09-24 03:53:46 [INFO] Sensor speed of sound is 1500 m/s
2026-09-24 03:53:46 [INFO] Sensor range is 0.794640 m
2026-09-24 03:53:46 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-24 03:53:46 [INFO] Scaled micrometres per sample is 2630.299931
2026-09-24 03:53:47 [INFO] Digitized sonar frames: 13% (303/2286)
2026-09-24 03:53:48 [INFO] Digitized sonar frames: 25% (593/2286)
2026-09-24 03:53:49 [INFO] Digitized sonar frames: 39% (911/2286)
2026-09-24 03:53:50 [INFO] Digitized sonar frames: 54% (1238/2286)
2026-09-24 03:53:51 [INFO] Digitized sonar frames: 68% (1556/2286)
2026-09-24 03:53:52 [INFO] Digitized sonar frames: 82% (1875/2286)
2026-09-24 03:53:53 [INFO] Digitized sonar frames: 96% (2203/2286)
2026-09-24 03:53:53 [INFO] Digitized 2286 snapshot scans
2026-09-24 03:53:53 [INFO] Applying sonar temporal consistency...
2026-09-24 03:53:54 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 54 structures, 1164 points
2026-09-24 03:53:56 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-24 03:53:57 [INFO] Temporal gap fill: 95% (2183/2286)
2026-09-24 03:53:57 [INFO] Sonar temporal gap fill (window 2): 358798 points, 22439 candidate beams, filled 16647
2026-09-24 03:53:57 [INFO] Sonar temporal radial outliers: removed 4071 of 375445 points
2026-09-24 03:53:57 [INFO] Sonar temporal segment pruning (window 3): removed 81 segments, 1133 points
2026-09-24 03:53:57 [INFO] Writing sonar track file...
2026-09-24 03:53:57 [INFO] Writing sonar PTD files...
2026-09-24 03:53:58 [INFO] Sonicer took 14.507297157s