+ '[' md '=' md ]
+ echo '--sample-offset -1'
+ '[' md '=' smd ]
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/09853c26-d042-48fe-aaed-93a9ee12059f/processing/data/sonar_raw.track.cbor
2026-09-29 22:40:27 [INFO] Sonicer 0.0.3
2026-09-29 22:40:29 [INFO] Recording GUID: 09853c26-d042-48fe-aaed-93a9ee12059f
2026-09-29 22:40:29 [INFO] Prepared data will be output to /working/09853c26-d042-48fe-aaed-93a9ee12059f/processing/data
2026-09-29 22:40:29 [INFO] Digitizing sonar data...
2026-09-29 22:40:29 [INFO] Using sonar digitizer
2026-09-29 22:40:29 [INFO] Sensor speed of sound is 1500 m/s
2026-09-29 22:40:29 [INFO] Sensor range is 0.722400 m
2026-09-29 22:40:29 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-29 22:40:29 [INFO] Scaled micrometres per sample is 2391.181774
2026-09-29 22:40:30 [INFO] Digitized sonar frames: 10% (156/1558)
2026-09-29 22:40:32 [INFO] Digitized sonar frames: 20% (312/1558)
2026-09-29 22:40:33 [INFO] Digitized sonar frames: 30% (468/1558)
2026-09-29 22:40:34 [INFO] Digitized sonar frames: 40% (624/1558)
2026-09-29 22:40:35 [INFO] Digitized sonar frames: 50% (779/1558)
2026-09-29 22:40:37 [INFO] Digitized sonar frames: 60% (935/1558)
2026-09-29 22:40:38 [INFO] Digitized sonar frames: 70% (1091/1558)
2026-09-29 22:40:39 [INFO] Digitized sonar frames: 80% (1247/1558)
2026-09-29 22:40:40 [INFO] Digitized sonar frames: 90% (1403/1558)
2026-09-29 22:40:41 [INFO] Digitized sonar frames: 100% (1558/1558)
2026-09-29 22:40:41 [INFO] Digitized 1558 snapshot scans
2026-09-29 22:40:41 [INFO] Applying sonar temporal consistency...
2026-09-29 22:40:42 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 271 structures, 6225 points
2026-09-29 22:40:43 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 12 structures, 321 points
2026-09-29 22:40:44 [INFO] Sonar temporal gap fill (window 2): 364102 points, 26486 candidate beams, filled 21089
2026-09-29 22:40:45 [INFO] Sonar temporal radial outliers: removed 11668 of 385191 points
2026-09-29 22:40:45 [INFO] Sonar temporal segment pruning (window 3): removed 83 segments, 1302 points
2026-09-29 22:40:45 [INFO] Writing sonar track file...
2026-09-29 22:40:45 [INFO] Writing sonar PTD files...
2026-09-29 22:40:47 [INFO] Sonicer took 19.444650217s