+ '[' md '=' md ]
+ echo '--sample-offset -1'
+ '[' md '=' smd ]
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/8e62b4ae-1fe3-4848-aa9d-d15abb1ef694/processing/data/sonar_raw.track.cbor
2026-10-06 16:42:17 [INFO] Sonicer 0.0.3
2026-10-06 16:42:18 [INFO] Recording GUID: 8e62b4ae-1fe3-4848-aa9d-d15abb1ef694
2026-10-06 16:42:18 [INFO] Prepared data will be output to /working/8e62b4ae-1fe3-4848-aa9d-d15abb1ef694/processing/data
2026-10-06 16:42:18 [INFO] Digitizing sonar data...
2026-10-06 16:42:18 [INFO] Using sonar digitizer
2026-10-06 16:42:18 [INFO] Sensor speed of sound is 1500 m/s
2026-10-06 16:42:18 [INFO] Sensor range is 0.939120 m
2026-10-06 16:42:18 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-10-06 16:42:18 [INFO] Scaled micrometres per sample is 3108.536247
2026-10-06 16:42:19 [INFO] Digitized sonar frames: 10% (111/1108)
2026-10-06 16:42:20 [INFO] Digitized sonar frames: 21% (242/1108)
2026-10-06 16:42:21 [INFO] Digitized sonar frames: 33% (376/1108)
2026-10-06 16:42:22 [INFO] Digitized sonar frames: 46% (519/1108)
2026-10-06 16:42:23 [INFO] Digitized sonar frames: 60% (675/1108)
2026-10-06 16:42:24 [INFO] Digitized sonar frames: 73% (818/1108)
2026-10-06 16:42:25 [INFO] Digitized sonar frames: 85% (950/1108)
2026-10-06 16:42:26 [INFO] Digitized sonar frames: 97% (1084/1108)
2026-10-06 16:42:26 [INFO] Digitized 1108 snapshot scans
2026-10-06 16:42:26 [INFO] Applying sonar temporal consistency...
2026-10-06 16:42:27 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 95 structures, 1951 points
2026-10-06 16:42:28 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 3 structures, 37 points
2026-10-06 16:42:28 [INFO] Sonar temporal gap fill (window 2): 143252 points, 13624 candidate beams, filled 7045
2026-10-06 16:42:29 [INFO] Sonar temporal radial outliers: removed 18664 of 150297 points
2026-10-06 16:42:29 [INFO] Sonar temporal segment pruning (window 3): removed 59 segments, 1655 points
2026-10-06 16:42:29 [INFO] Writing sonar track file...
2026-10-06 16:42:29 [INFO] Writing sonar PTD files...
2026-10-06 16:42:29 [INFO] Sonicer took 12.552180352s