+ '[' md '=' md ]
+ echo '--sample-offset -1'
+ '[' md '=' smd ]
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/3badcc0f-1e2e-4c04-82c1-6d2e473ab1d2/processing/data/sonar_raw.track.cbor
2026-09-10 02:55:54 [INFO] Sonicer 0.0.3
2026-09-10 02:55:55 [INFO] Recording GUID: 3badcc0f-1e2e-4c04-82c1-6d2e473ab1d2
2026-09-10 02:55:55 [INFO] Prepared data will be output to /working/3badcc0f-1e2e-4c04-82c1-6d2e473ab1d2/processing/data
2026-09-10 02:55:55 [INFO] Digitizing sonar data...
2026-09-10 02:55:55 [INFO] Using sonar digitizer
2026-09-10 02:55:55 [INFO] Sensor speed of sound is 1500 m/s
2026-09-10 02:55:55 [INFO] Sensor range is 0.939120 m
2026-09-10 02:55:55 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-10 02:55:55 [INFO] Scaled micrometres per sample is 3108.536247
2026-09-10 02:55:56 [INFO] Digitized sonar frames: 27% (307/1130)
2026-09-10 02:55:57 [INFO] Digitized sonar frames: 57% (645/1130)
2026-09-10 02:55:58 [INFO] Digitized sonar frames: 87% (988/1130)
2026-09-10 02:55:59 [INFO] Digitized 1130 snapshot scans
2026-09-10 02:55:59 [INFO] Applying sonar temporal consistency...
2026-09-10 02:55:59 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 0 structures, 0 points
2026-09-10 02:56:00 [INFO] Sonar temporal gap fill (window 2): 247208 points, 1463 candidate beams, filled 361
2026-09-10 02:56:00 [INFO] Sonar temporal radial outliers: removed 18 of 247569 points
2026-09-10 02:56:00 [INFO] Sonar temporal segment pruning (window 3): removed 30 segments, 318 points
2026-09-10 02:56:00 [INFO] Writing sonar track file...
2026-09-10 02:56:00 [INFO] Writing sonar PTD files...
2026-09-10 02:56:01 [INFO] Sonicer took 6.91631397s