+ '[' smd '=' md ]
+ '[' smd '=' smd ]
+ echo '--sample-offset -1'
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/ac791da8-1fce-47e1-acb8-b4b79f5224d0/processing/data/sonar_raw.track.cbor
2026-09-10 03:16:51 [INFO] Sonicer 0.0.3
2026-09-10 03:16:53 [INFO] Recording GUID: ac791da8-1fce-47e1-acb8-b4b79f5224d0
2026-09-10 03:16:53 [INFO] Prepared data will be output to /working/ac791da8-1fce-47e1-acb8-b4b79f5224d0/processing/data
2026-09-10 03:16:53 [INFO] Digitizing sonar data...
2026-09-10 03:16:53 [INFO] Using sonar digitizer
2026-09-10 03:16:53 [INFO] Sensor speed of sound is 1500 m/s
2026-09-10 03:16:53 [INFO] Sensor range is 0.939120 m
2026-09-10 03:16:53 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-10 03:16:53 [INFO] Scaled micrometres per sample is 3108.536247
2026-09-10 03:16:54 [INFO] Digitized sonar frames: 17% (353/2012)
2026-09-10 03:16:55 [INFO] Digitized sonar frames: 35% (718/2012)
2026-09-10 03:16:56 [INFO] Digitized sonar frames: 53% (1070/2012)
2026-09-10 03:16:57 [INFO] Digitized sonar frames: 70% (1414/2012)
2026-09-10 03:16:58 [INFO] Digitized sonar frames: 86% (1750/2012)
2026-09-10 03:16:59 [INFO] Digitized 2012 snapshot scans
2026-09-10 03:16:59 [INFO] Applying sonar temporal consistency...
2026-09-10 03:16:59 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 1 structures, 17 points
2026-09-10 03:17:00 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-10 03:17:01 [INFO] Temporal gap fill: 87% (1765/2012)
2026-09-10 03:17:02 [INFO] Sonar temporal gap fill (window 2): 146047 points, 11229 candidate beams, filled 2517
2026-09-10 03:17:02 [INFO] Sonar temporal radial outliers: removed 10151 of 148564 points
2026-09-10 03:17:02 [INFO] Sonar temporal segment pruning (window 3): removed 57 segments, 794 points
2026-09-10 03:17:02 [INFO] Writing sonar track file...
2026-09-10 03:17:02 [INFO] Writing sonar PTD files...
2026-09-10 03:17:02 [INFO] Sonicer took 11.889453248s