+ '[' md '=' md ]
+ echo '--sample-offset -1'
+ '[' md '=' smd ]
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/e60e44cd-22d2-4bb8-8043-fcdec7bd47db/processing/data/sonar_raw.track.cbor
2026-10-05 04:40:25 [INFO] Sonicer 0.0.3
2026-10-05 04:40:25 [INFO] Recording GUID: e60e44cd-22d2-4bb8-8043-fcdec7bd47db
2026-10-05 04:40:25 [INFO] Prepared data will be output to /working/e60e44cd-22d2-4bb8-8043-fcdec7bd47db/processing/data
2026-10-05 04:40:25 [INFO] Digitizing sonar data...
2026-10-05 04:40:25 [INFO] Using sonar digitizer
2026-10-05 04:40:25 [INFO] Sensor speed of sound is 1500 m/s
2026-10-05 04:40:25 [INFO] Sensor range is 0.722400 m
2026-10-05 04:40:25 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-10-05 04:40:25 [INFO] Scaled micrometres per sample is 2391.181774
2026-10-05 04:40:26 [INFO] Digitized sonar frames: 12% (85/675)
2026-10-05 04:40:27 [INFO] Digitized sonar frames: 31% (211/675)
2026-10-05 04:40:28 [INFO] Digitized sonar frames: 50% (344/675)
2026-10-05 04:40:29 [INFO] Digitized sonar frames: 69% (471/675)
2026-10-05 04:40:30 [INFO] Digitized sonar frames: 89% (605/675)
2026-10-05 04:40:31 [INFO] Digitized 675 snapshot scans
2026-10-05 04:40:31 [INFO] Applying sonar temporal consistency...
2026-10-05 04:40:31 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 11 structures, 212 points
2026-10-05 04:40:32 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-10-05 04:40:32 [INFO] Sonar temporal gap fill (window 2): 170820 points, 3927 candidate beams, filled 2598
2026-10-05 04:40:32 [INFO] Sonar temporal radial outliers: removed 678 of 173418 points
2026-10-05 04:40:32 [INFO] Sonar temporal segment pruning (window 3): removed 9 segments, 145 points
2026-10-05 04:40:32 [INFO] Writing sonar track file...
2026-10-05 04:40:32 [INFO] Writing sonar PTD files...
2026-10-05 04:40:33 [INFO] Sonicer took 8.504747978s