+ '[' md '=' md ]
+ echo '--sample-offset -1'
+ '[' md '=' smd ]
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/819e7b78-ed6e-4474-94d6-d89e7cc8d91c/processing/data/sonar_raw.track.cbor
2026-09-24 19:35:03 [INFO] Sonicer 0.0.3
2026-09-24 19:35:05 [INFO] Recording GUID: 819e7b78-ed6e-4474-94d6-d89e7cc8d91c
2026-09-24 19:35:05 [INFO] Prepared data will be output to /working/819e7b78-ed6e-4474-94d6-d89e7cc8d91c/processing/data
2026-09-24 19:35:05 [INFO] Digitizing sonar data...
2026-09-24 19:35:05 [INFO] Using sonar digitizer
2026-09-24 19:35:05 [INFO] Sensor speed of sound is 1500 m/s
2026-09-24 19:35:05 [INFO] Sensor range is 0.722400 m
2026-09-24 19:35:05 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-24 19:35:05 [INFO] Scaled micrometres per sample is 2391.181774
2026-09-24 19:35:07 [INFO] Digitized sonar frames: 10% (154/1535)
2026-09-24 19:35:08 [INFO] Digitized sonar frames: 20% (307/1535)
2026-09-24 19:35:09 [INFO] Digitized sonar frames: 38% (598/1535)
2026-09-24 19:35:10 [INFO] Digitized sonar frames: 58% (894/1535)
2026-09-24 19:35:11 [INFO] Digitized sonar frames: 77% (1183/1535)
2026-09-24 19:35:12 [INFO] Digitized sonar frames: 95% (1471/1535)
2026-09-24 19:35:12 [INFO] Digitized 1535 snapshot scans
2026-09-24 19:35:12 [INFO] Applying sonar temporal consistency...
2026-09-24 19:35:13 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 523 structures, 10683 points
2026-09-24 19:35:14 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 25 structures, 862 points
2026-09-24 19:35:15 [INFO] Sonar temporal gap fill (window 2): 340359 points, 34259 candidate beams, filled 27541
2026-09-24 19:35:15 [INFO] Sonar temporal radial outliers: removed 12895 of 367900 points
2026-09-24 19:35:16 [INFO] Sonar temporal segment pruning (window 3): removed 84 segments, 1008 points
2026-09-24 19:35:16 [INFO] Writing sonar track file...
2026-09-24 19:35:16 [INFO] Writing sonar PTD files...
2026-09-24 19:35:18 [INFO] Sonicer took 14.443094375s