+ '[' smd '=' md ]
+ '[' smd '=' smd ]
+ echo '--sample-offset -1'
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/efb6d7af-5b11-429d-bd66-7ff53eff23d9/processing/data/sonar_raw.track.cbor
2026-09-17 03:21:33 [INFO] Sonicer 0.0.3
2026-09-17 03:21:33 [INFO] Recording GUID: efb6d7af-5b11-429d-bd66-7ff53eff23d9
2026-09-17 03:21:33 [INFO] Prepared data will be output to /working/efb6d7af-5b11-429d-bd66-7ff53eff23d9/processing/data
2026-09-17 03:21:33 [INFO] Digitizing sonar data...
2026-09-17 03:21:33 [INFO] Using sonar digitizer
2026-09-17 03:21:33 [INFO] Sensor speed of sound is 1500 m/s
2026-09-17 03:21:33 [INFO] Sensor range is 2.167200 m
2026-09-17 03:21:33 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-17 03:21:33 [INFO] Scaled micrometres per sample is 7173.545519
2026-09-17 03:21:34 [INFO] Digitized 252 snapshot scans
2026-09-17 03:21:34 [INFO] Applying sonar temporal consistency...
2026-09-17 03:21:34 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 2 structures, 19 points
2026-09-17 03:21:35 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-17 03:21:35 [INFO] Sonar temporal gap fill (window 2): 58573 points, 643 candidate beams, filled 107
2026-09-17 03:21:35 [INFO] Sonar temporal radial outliers: removed 132 of 58680 points
2026-09-17 03:21:35 [INFO] Sonar temporal segment pruning (window 3): removed 1 segments, 36 points
2026-09-17 03:21:35 [INFO] Writing sonar track file...
2026-09-17 03:21:35 [INFO] Writing sonar PTD files...
2026-09-17 03:21:35 [INFO] Sonicer took 1.860850868s