+ '[' md '=' md ]
+ echo '--sample-offset -1'
+ '[' md '=' smd ]
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/d5b6ab98-7f60-4106-a1a7-cb1ca80068ea/processing/data/sonar_raw.track.cbor
2026-09-10 03:16:59 [INFO] Sonicer 0.0.3
2026-09-10 03:17:00 [INFO] Recording GUID: d5b6ab98-7f60-4106-a1a7-cb1ca80068ea
2026-09-10 03:17:00 [INFO] Prepared data will be output to /working/d5b6ab98-7f60-4106-a1a7-cb1ca80068ea/processing/data
2026-09-10 03:17:00 [INFO] Digitizing sonar data...
2026-09-10 03:17:00 [INFO] Using sonar digitizer
2026-09-10 03:17:00 [INFO] Sensor speed of sound is 1500 m/s
2026-09-10 03:17:00 [INFO] Sensor range is 0.939120 m
2026-09-10 03:17:00 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-10 03:17:00 [INFO] Scaled micrometres per sample is 3108.536247
2026-09-10 03:17:01 [INFO] Digitized sonar frames: 19% (380/1977)
2026-09-10 03:17:02 [INFO] Digitized sonar frames: 35% (706/1977)
2026-09-10 03:17:03 [INFO] Digitized sonar frames: 51% (1027/1977)
2026-09-10 03:17:04 [INFO] Digitized sonar frames: 68% (1360/1977)
2026-09-10 03:17:05 [INFO] Digitized sonar frames: 86% (1716/1977)
2026-09-10 03:17:06 [INFO] Digitized 1977 snapshot scans
2026-09-10 03:17:06 [INFO] Applying sonar temporal consistency...
2026-09-10 03:17:07 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 4 structures, 42 points
2026-09-10 03:17:08 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-10 03:17:09 [INFO] Sonar temporal gap fill (window 2): 367698 points, 2860 candidate beams, filled 1026
2026-09-10 03:17:09 [INFO] Sonar temporal radial outliers: removed 159 of 368724 points
2026-09-10 03:17:09 [INFO] Sonar temporal segment pruning (window 3): removed 74 segments, 1048 points
2026-09-10 03:17:09 [INFO] Writing sonar track file...
2026-09-10 03:17:09 [INFO] Writing sonar PTD files...
2026-09-10 03:17:11 [INFO] Sonicer took 12.121775114s