+ '[' smd '=' md ]
+ '[' smd '=' smd ]
+ echo '--sample-offset -1'
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/3a0a9af7-39fe-4bb0-acea-7818097926c0/processing/data/sonar_raw.track.cbor
2026-10-06 22:56:25 [INFO] Sonicer 0.0.3
2026-10-06 22:56:25 [INFO] Recording GUID: 3a0a9af7-39fe-4bb0-acea-7818097926c0
2026-10-06 22:56:25 [INFO] Prepared data will be output to /working/3a0a9af7-39fe-4bb0-acea-7818097926c0/processing/data
2026-10-06 22:56:25 [INFO] Digitizing sonar data...
2026-10-06 22:56:25 [INFO] Using sonar digitizer
2026-10-06 22:56:25 [INFO] Sensor speed of sound is 1500 m/s
2026-10-06 22:56:25 [INFO] Sensor range is 2.167200 m
2026-10-06 22:56:25 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-10-06 22:56:25 [INFO] Scaled micrometres per sample is 7173.545519
2026-10-06 22:56:26 [INFO] Digitized sonar frames: 43% (73/166)
2026-10-06 22:56:27 [INFO] Digitized 166 snapshot scans
2026-10-06 22:56:27 [INFO] Applying sonar temporal consistency...
2026-10-06 22:56:27 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 7 structures, 332 points
2026-10-06 22:56:27 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 2 structures, 87 points
2026-10-06 22:56:27 [INFO] Sonar temporal gap fill (window 2): 29174 points, 522 candidate beams, filled 380
2026-10-06 22:56:27 [INFO] Sonar temporal radial outliers: removed 218 of 29554 points
2026-10-06 22:56:27 [INFO] Sonar temporal segment pruning (window 3): removed 0 segments, 0 points
2026-10-06 22:56:27 [INFO] Writing sonar track file...
2026-10-06 22:56:27 [INFO] Writing sonar PTD files...
2026-10-06 22:56:27 [INFO] Sonicer took 2.31800667s