+ '[' smd '=' md ]
+ '[' smd '=' smd ]
+ echo '--sample-offset -1'
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/867a7655-1d95-4aa8-b2e5-12d3d5d1f8d4/processing/data/sonar_raw.track.cbor
2026-10-14 23:38:16 [INFO] Sonicer 0.0.3
2026-10-14 23:38:17 [INFO] Recording GUID: 867a7655-1d95-4aa8-b2e5-12d3d5d1f8d4
2026-10-14 23:38:17 [INFO] Prepared data will be output to /working/867a7655-1d95-4aa8-b2e5-12d3d5d1f8d4/processing/data
2026-10-14 23:38:17 [INFO] Digitizing sonar data...
2026-10-14 23:38:17 [INFO] Using sonar digitizer
2026-10-14 23:38:17 [INFO] Sensor speed of sound is 1500 m/s
2026-10-14 23:38:17 [INFO] Sensor range is 1.228080 m
2026-10-14 23:38:17 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-10-14 23:38:17 [INFO] Scaled micrometres per sample is 4065.009075
2026-10-14 23:38:18 [INFO] Digitized sonar frames: 12% (94/758)
2026-10-14 23:38:19 [INFO] Digitized sonar frames: 33% (255/758)
2026-10-14 23:38:20 [INFO] Digitized sonar frames: 52% (400/758)
2026-10-14 23:38:21 [INFO] Digitized sonar frames: 72% (551/758)
2026-10-14 23:38:22 [INFO] Digitized sonar frames: 89% (681/758)
2026-10-14 23:38:22 [INFO] Digitized 758 snapshot scans
2026-10-14 23:38:22 [INFO] Applying sonar temporal consistency...
2026-10-14 23:38:22 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 6 structures, 95 points
2026-10-14 23:38:23 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-10-14 23:38:23 [INFO] Sonar temporal gap fill (window 2): 55603 points, 8755 candidate beams, filled 2126
2026-10-14 23:38:23 [INFO] Sonar temporal radial outliers: removed 3095 of 57729 points
2026-10-14 23:38:23 [INFO] Sonar temporal segment pruning (window 3): removed 78 segments, 768 points
2026-10-14 23:38:23 [INFO] Writing sonar track file...
2026-10-14 23:38:23 [INFO] Writing sonar PTD files...
2026-10-14 23:38:24 [INFO] Sonicer took 7.982026299s