+ '[' md '=' md ]
+ echo '--sample-offset -1'
+ '[' md '=' smd ]
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/b0b999b3-6f01-43d3-a2a2-92aa2b7b8f1c/processing/data/sonar_raw.track.cbor
2026-09-29 22:21:21 [INFO] Sonicer 0.0.3
2026-09-29 22:21:22 [INFO] Recording GUID: b0b999b3-6f01-43d3-a2a2-92aa2b7b8f1c
2026-09-29 22:21:22 [INFO] Prepared data will be output to /working/b0b999b3-6f01-43d3-a2a2-92aa2b7b8f1c/processing/data
2026-09-29 22:21:22 [INFO] Digitizing sonar data...
2026-09-29 22:21:22 [INFO] Using sonar digitizer
2026-09-29 22:21:22 [INFO] Sensor speed of sound is 1500 m/s
2026-09-29 22:21:22 [INFO] Sensor range is 0.722400 m
2026-09-29 22:21:22 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-29 22:21:22 [INFO] Scaled micrometres per sample is 2391.181774
2026-09-29 22:21:23 [INFO] Digitized sonar frames: 11% (72/616)
2026-09-29 22:21:24 [INFO] Digitized sonar frames: 31% (196/616)
2026-09-29 22:21:25 [INFO] Digitized sonar frames: 53% (329/616)
2026-09-29 22:21:26 [INFO] Digitized sonar frames: 72% (448/616)
2026-09-29 22:21:27 [INFO] Digitized sonar frames: 93% (577/616)
2026-09-29 22:21:28 [INFO] Digitized 616 snapshot scans
2026-09-29 22:21:28 [INFO] Applying sonar temporal consistency...
2026-09-29 22:21:28 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 242 structures, 6122 points
2026-09-29 22:21:28 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 11 structures, 321 points
2026-09-29 22:21:29 [INFO] Sonar temporal gap fill (window 2): 133578 points, 12366 candidate beams, filled 9303
2026-09-29 22:21:29 [INFO] Sonar temporal radial outliers: removed 7779 of 142881 points
2026-09-29 22:21:29 [INFO] Sonar temporal segment pruning (window 3): removed 64 segments, 733 points
2026-09-29 22:21:29 [INFO] Writing sonar track file...
2026-09-29 22:21:29 [INFO] Writing sonar PTD files...
2026-09-29 22:21:29 [INFO] Sonicer took 7.960276636s