+ '[' smd '=' md ]
+ '[' smd '=' smd ]
+ echo '--sample-offset -1'
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/6a93e6a3-6b6e-47fa-b24c-b5c049940889/processing/data/sonar_raw.track.cbor
2026-10-15 01:48:05 [INFO] Sonicer 0.0.3
2026-10-15 01:48:08 [INFO] Recording GUID: 6a93e6a3-6b6e-47fa-b24c-b5c049940889
2026-10-15 01:48:08 [INFO] Prepared data will be output to /working/6a93e6a3-6b6e-47fa-b24c-b5c049940889/processing/data
2026-10-15 01:48:08 [INFO] Digitizing sonar data...
2026-10-15 01:48:08 [INFO] Using sonar digitizer
2026-10-15 01:48:08 [INFO] Sensor speed of sound is 1500 m/s
2026-10-15 01:48:08 [INFO] Sensor range is 1.228080 m
2026-10-15 01:48:08 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-10-15 01:48:08 [INFO] Scaled micrometres per sample is 4065.009075
2026-10-15 01:48:09 [INFO] Digitized sonar frames: 10% (330/3118)
2026-10-15 01:48:10 [INFO] Digitized sonar frames: 22% (714/3118)
2026-10-15 01:48:11 [INFO] Digitized sonar frames: 34% (1079/3118)
2026-10-15 01:48:12 [INFO] Digitized sonar frames: 46% (1438/3118)
2026-10-15 01:48:13 [INFO] Digitized sonar frames: 57% (1791/3118)
2026-10-15 01:48:14 [INFO] Digitized sonar frames: 69% (2154/3118)
2026-10-15 01:48:15 [INFO] Digitized sonar frames: 80% (2513/3118)
2026-10-15 01:48:16 [INFO] Digitized sonar frames: 92% (2877/3118)
2026-10-15 01:48:16 [INFO] Digitized 3118 snapshot scans
2026-10-15 01:48:16 [INFO] Applying sonar temporal consistency...
2026-10-15 01:48:18 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 22 structures, 435 points
2026-10-15 01:48:19 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-10-15 01:48:20 [INFO] Temporal gap fill: 68% (2147/3118)
2026-10-15 01:48:21 [INFO] Sonar temporal gap fill (window 2): 665264 points, 12213 candidate beams, filled 7685
2026-10-15 01:48:22 [INFO] Sonar temporal radial outliers: removed 10058 of 672949 points
2026-10-15 01:48:22 [INFO] Sonar temporal segment pruning (window 3): removed 63 segments, 569 points
2026-10-15 01:48:22 [INFO] Writing sonar track file...
2026-10-15 01:48:22 [INFO] Writing sonar PTD files...
2026-10-15 01:48:24 [INFO] Sonicer took 19.404304582s