+ '[' smd '=' md ]
+ '[' smd '=' smd ]
+ echo '--sample-offset -1'
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/9619bce0-d28a-449e-b0a5-134e6cdba152/processing/data/sonar_raw.track.cbor
2026-10-06 23:13:07 [INFO] Sonicer 0.0.3
2026-10-06 23:13:07 [INFO] Recording GUID: 9619bce0-d28a-449e-b0a5-134e6cdba152
2026-10-06 23:13:07 [INFO] Prepared data will be output to /working/9619bce0-d28a-449e-b0a5-134e6cdba152/processing/data
2026-10-06 23:13:07 [INFO] Digitizing sonar data...
2026-10-06 23:13:07 [INFO] Using sonar digitizer
2026-10-06 23:13:07 [INFO] Sensor speed of sound is 1500 m/s
2026-10-06 23:13:07 [INFO] Sensor range is 1.733760 m
2026-10-06 23:13:07 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-10-06 23:13:07 [INFO] Scaled micrometres per sample is 5738.836178
2026-10-06 23:13:08 [INFO] Digitized sonar frames: 16% (73/440)
2026-10-06 23:13:09 [INFO] Digitized sonar frames: 49% (216/440)
2026-10-06 23:13:10 [INFO] Digitized sonar frames: 79% (351/440)
2026-10-06 23:13:11 [INFO] Digitized 440 snapshot scans
2026-10-06 23:13:11 [INFO] Applying sonar temporal consistency...
2026-10-06 23:13:11 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 2 structures, 20 points
2026-10-06 23:13:11 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-10-06 23:13:12 [INFO] Sonar temporal gap fill (window 2): 100964 points, 2073 candidate beams, filled 561
2026-10-06 23:13:12 [INFO] Sonar temporal radial outliers: removed 668 of 101525 points
2026-10-06 23:13:12 [INFO] Sonar temporal segment pruning (window 3): removed 7 segments, 27 points
2026-10-06 23:13:12 [INFO] Writing sonar track file...
2026-10-06 23:13:12 [INFO] Writing sonar PTD files...
2026-10-06 23:13:12 [INFO] Sonicer took 5.531789242s