+ '[' md '=' md ]
+ echo '--sample-offset -1'
+ '[' md '=' smd ]
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/e34c1caf-4bcc-48a3-b457-1cf74552c51f/processing/data/sonar_raw.track.cbor
2026-10-06 17:24:01 [INFO] Sonicer 0.0.3
2026-10-06 17:24:02 [INFO] Recording GUID: e34c1caf-4bcc-48a3-b457-1cf74552c51f
2026-10-06 17:24:02 [INFO] Prepared data will be output to /working/e34c1caf-4bcc-48a3-b457-1cf74552c51f/processing/data
2026-10-06 17:24:02 [INFO] Digitizing sonar data...
2026-10-06 17:24:02 [INFO] Using sonar digitizer
2026-10-06 17:24:02 [INFO] Sensor speed of sound is 1500 m/s
2026-10-06 17:24:02 [INFO] Sensor range is 0.939120 m
2026-10-06 17:24:02 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-10-06 17:24:02 [INFO] Scaled micrometres per sample is 3108.536247
2026-10-06 17:24:03 [INFO] Digitized sonar frames: 58% (205/348)
2026-10-06 17:24:03 [INFO] Digitized 348 snapshot scans
2026-10-06 17:24:03 [INFO] Applying sonar temporal consistency...
2026-10-06 17:24:04 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 15 structures, 285 points
2026-10-06 17:24:04 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 1 structures, 16 points
2026-10-06 17:24:04 [INFO] Sonar temporal gap fill (window 2): 82317 points, 2240 candidate beams, filled 1014
2026-10-06 17:24:04 [INFO] Sonar temporal radial outliers: removed 2388 of 83331 points
2026-10-06 17:24:04 [INFO] Sonar temporal segment pruning (window 3): removed 20 segments, 321 points
2026-10-06 17:24:04 [INFO] Writing sonar track file...
2026-10-06 17:24:04 [INFO] Writing sonar PTD files...
2026-10-06 17:24:04 [INFO] Sonicer took 2.980092114s