+ '[' md '=' md ]
+ echo '--sample-offset -1'
+ '[' md '=' smd ]
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/95217616-c442-4ab4-b118-705c4df36748/processing/data/sonar_raw.track.cbor
2026-09-24 19:36:25 [INFO] Sonicer 0.0.3
2026-09-24 19:36:26 [INFO] Recording GUID: 95217616-c442-4ab4-b118-705c4df36748
2026-09-24 19:36:26 [INFO] Prepared data will be output to /working/95217616-c442-4ab4-b118-705c4df36748/processing/data
2026-09-24 19:36:26 [INFO] Digitizing sonar data...
2026-09-24 19:36:26 [INFO] Using sonar digitizer
2026-09-24 19:36:26 [INFO] Sensor speed of sound is 1500 m/s
2026-09-24 19:36:26 [INFO] Sensor range is 0.722400 m
2026-09-24 19:36:26 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-24 19:36:26 [INFO] Scaled micrometres per sample is 2391.181774
2026-09-24 19:36:27 [INFO] Digitized sonar frames: 51% (256/493)
2026-09-24 19:36:27 [INFO] Digitized 493 snapshot scans
2026-09-24 19:36:27 [INFO] Applying sonar temporal consistency...
2026-09-24 19:36:28 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 113 structures, 3243 points
2026-09-24 19:36:28 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 4 structures, 430 points
2026-09-24 19:36:28 [INFO] Sonar temporal gap fill (window 2): 109589 points, 8337 candidate beams, filled 6287
2026-09-24 19:36:28 [INFO] Sonar temporal radial outliers: removed 6490 of 115876 points
2026-09-24 19:36:28 [INFO] Sonar temporal segment pruning (window 3): removed 21 segments, 181 points
2026-09-24 19:36:28 [INFO] Writing sonar track file...
2026-09-24 19:36:28 [INFO] Writing sonar PTD files...
2026-09-24 19:36:29 [INFO] Sonicer took 3.675940566s