+ '[' md '=' md ]
+ echo '--sample-offset -1'
+ '[' md '=' smd ]
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/4c21aa64-91ae-491c-8a68-d8c20d92649e/processing/data/sonar_raw.track.cbor
2026-09-24 19:17:37 [INFO] Sonicer 0.0.3
2026-09-24 19:17:38 [INFO] Recording GUID: 4c21aa64-91ae-491c-8a68-d8c20d92649e
2026-09-24 19:17:38 [INFO] Prepared data will be output to /working/4c21aa64-91ae-491c-8a68-d8c20d92649e/processing/data
2026-09-24 19:17:38 [INFO] Digitizing sonar data...
2026-09-24 19:17:38 [INFO] Using sonar digitizer
2026-09-24 19:17:38 [INFO] Sensor speed of sound is 1500 m/s
2026-09-24 19:17:38 [INFO] Sensor range is 0.722400 m
2026-09-24 19:17:38 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-24 19:17:38 [INFO] Scaled micrometres per sample is 2391.181774
2026-09-24 19:17:39 [INFO] Digitized sonar frames: 10% (84/826)
2026-09-24 19:17:40 [INFO] Digitized sonar frames: 25% (211/826)
2026-09-24 19:17:41 [INFO] Digitized sonar frames: 41% (342/826)
2026-09-24 19:17:42 [INFO] Digitized sonar frames: 55% (460/826)
2026-09-24 19:17:43 [INFO] Digitized sonar frames: 73% (603/826)
2026-09-24 19:17:44 [INFO] Digitized sonar frames: 88% (729/826)
2026-09-24 19:17:45 [INFO] Digitized 826 snapshot scans
2026-09-24 19:17:45 [INFO] Applying sonar temporal consistency...
2026-09-24 19:17:45 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 318 structures, 7940 points
2026-09-24 19:17:46 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 21 structures, 715 points
2026-09-24 19:17:46 [INFO] Sonar temporal gap fill (window 2): 170083 points, 22031 candidate beams, filled 17943
2026-09-24 19:17:47 [INFO] Sonar temporal radial outliers: removed 4999 of 188026 points
2026-09-24 19:17:47 [INFO] Sonar temporal segment pruning (window 3): removed 48 segments, 525 points
2026-09-24 19:17:47 [INFO] Writing sonar track file...
2026-09-24 19:17:47 [INFO] Writing sonar PTD files...
2026-09-24 19:17:48 [INFO] Sonicer took 10.607757341s