+ '[' smd '=' md ]
+ '[' smd '=' smd ]
+ echo '--sample-offset -1'
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/47d2844c-ac4c-4e2e-8dbc-c633e04cf922/processing/data/sonar_raw.track.cbor
2026-10-07 03:48:54 [INFO] Sonicer 0.0.3
2026-10-07 03:48:54 [INFO] Recording GUID: 47d2844c-ac4c-4e2e-8dbc-c633e04cf922
2026-10-07 03:48:54 [INFO] Prepared data will be output to /working/47d2844c-ac4c-4e2e-8dbc-c633e04cf922/processing/data
2026-10-07 03:48:54 [INFO] Digitizing sonar data...
2026-10-07 03:48:54 [INFO] Using sonar digitizer
2026-10-07 03:48:54 [INFO] Sensor speed of sound is 1500 m/s
2026-10-07 03:48:54 [INFO] Sensor range is 2.456160 m
2026-10-07 03:48:54 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-10-07 03:48:54 [INFO] Scaled micrometres per sample is 8130.018149
2026-10-07 03:48:55 [INFO] Digitized sonar frames: 21% (111/514)
2026-10-07 03:48:56 [INFO] Digitized sonar frames: 52% (270/514)
2026-10-07 03:48:57 [INFO] Digitized sonar frames: 86% (443/514)
2026-10-07 03:48:58 [INFO] Digitized 514 snapshot scans
2026-10-07 03:48:58 [INFO] Applying sonar temporal consistency...
2026-10-07 03:48:58 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 1 structures, 24 points
2026-10-07 03:48:58 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-10-07 03:48:59 [INFO] Sonar temporal gap fill (window 2): 106204 points, 1244 candidate beams, filled 855
2026-10-07 03:48:59 [INFO] Sonar temporal radial outliers: removed 77 of 107059 points
2026-10-07 03:48:59 [INFO] Sonar temporal segment pruning (window 3): removed 1 segments, 14 points
2026-10-07 03:48:59 [INFO] Writing sonar track file...
2026-10-07 03:48:59 [INFO] Writing sonar PTD files...
2026-10-07 03:48:59 [INFO] Sonicer took 5.551649456s