+ '[' md '=' md ]
+ echo '--sample-offset -1'
+ '[' md '=' smd ]
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/d01d24f9-f48f-409f-a320-4e9958e9d329/processing/data/sonar_raw.track.cbor
2026-09-24 18:55:49 [INFO] Sonicer 0.0.3
2026-09-24 18:55:50 [INFO] Recording GUID: d01d24f9-f48f-409f-a320-4e9958e9d329
2026-09-24 18:55:50 [INFO] Prepared data will be output to /working/d01d24f9-f48f-409f-a320-4e9958e9d329/processing/data
2026-09-24 18:55:50 [INFO] Digitizing sonar data...
2026-09-24 18:55:50 [INFO] Using sonar digitizer
2026-09-24 18:55:50 [INFO] Sensor speed of sound is 1500 m/s
2026-09-24 18:55:50 [INFO] Sensor range is 0.722400 m
2026-09-24 18:55:50 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-24 18:55:50 [INFO] Scaled micrometres per sample is 2391.181774
2026-09-24 18:55:51 [INFO] Digitized sonar frames: 30% (275/898)
2026-09-24 18:55:52 [INFO] Digitized sonar frames: 64% (575/898)
2026-09-24 18:55:53 [INFO] Digitized sonar frames: 96% (864/898)
2026-09-24 18:55:53 [INFO] Digitized 898 snapshot scans
2026-09-24 18:55:53 [INFO] Applying sonar temporal consistency...
2026-09-24 18:55:53 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 400 structures, 8903 points
2026-09-24 18:55:54 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 20 structures, 406 points
2026-09-24 18:55:54 [INFO] Sonar temporal gap fill (window 2): 201079 points, 19024 candidate beams, filled 15518
2026-09-24 18:55:55 [INFO] Sonar temporal radial outliers: removed 9187 of 216597 points
2026-09-24 18:55:55 [INFO] Sonar temporal segment pruning (window 3): removed 58 segments, 652 points
2026-09-24 18:55:55 [INFO] Writing sonar track file...
2026-09-24 18:55:55 [INFO] Writing sonar PTD files...
2026-09-24 18:55:55 [INFO] Sonicer took 6.364412946s