+ '[' md '=' md ]
+ echo '--sample-offset -1'
+ '[' md '=' smd ]
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/d4581f41-c32e-4770-88ba-82928657712b/processing/data/sonar_raw.track.cbor
2026-10-05 04:48:31 [INFO] Sonicer 0.0.3
2026-10-05 04:48:32 [INFO] Recording GUID: d4581f41-c32e-4770-88ba-82928657712b
2026-10-05 04:48:32 [INFO] Prepared data will be output to /working/d4581f41-c32e-4770-88ba-82928657712b/processing/data
2026-10-05 04:48:32 [INFO] Digitizing sonar data...
2026-10-05 04:48:32 [INFO] Using sonar digitizer
2026-10-05 04:48:32 [INFO] Sensor speed of sound is 1500 m/s
2026-10-05 04:48:32 [INFO] Sensor range is 0.722400 m
2026-10-05 04:48:32 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-10-05 04:48:32 [INFO] Scaled micrometres per sample is 2391.181774
2026-10-05 04:48:33 [INFO] Digitized sonar frames: 40% (239/588)
2026-10-05 04:48:34 [INFO] Digitized sonar frames: 82% (484/588)
2026-10-05 04:48:34 [INFO] Digitized 588 snapshot scans
2026-10-05 04:48:34 [INFO] Applying sonar temporal consistency...
2026-10-05 04:48:34 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 34 structures, 815 points
2026-10-05 04:48:35 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 1 structures, 16 points
2026-10-05 04:48:35 [INFO] Sonar temporal gap fill (window 2): 148372 points, 3992 candidate beams, filled 3214
2026-10-05 04:48:35 [INFO] Sonar temporal radial outliers: removed 527 of 151586 points
2026-10-05 04:48:35 [INFO] Sonar temporal segment pruning (window 3): removed 8 segments, 104 points
2026-10-05 04:48:35 [INFO] Writing sonar track file...
2026-10-05 04:48:35 [INFO] Writing sonar PTD files...
2026-10-05 04:48:36 [INFO] Sonicer took 4.759529821s