+ '[' smd '=' md ]
+ '[' smd '=' smd ]
+ echo '--sample-offset -1'
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/989dbafa-4bca-4fd7-ac36-445a5f8bf95f/processing/data/sonar_raw.track.cbor
2026-09-10 02:44:37 [INFO] Sonicer 0.0.3
2026-09-10 02:44:38 [INFO] Recording GUID: 989dbafa-4bca-4fd7-ac36-445a5f8bf95f
2026-09-10 02:44:38 [INFO] Prepared data will be output to /working/989dbafa-4bca-4fd7-ac36-445a5f8bf95f/processing/data
2026-09-10 02:44:38 [INFO] Digitizing sonar data...
2026-09-10 02:44:38 [INFO] Using sonar digitizer
2026-09-10 02:44:38 [INFO] Sensor speed of sound is 1500 m/s
2026-09-10 02:44:38 [INFO] Sensor range is 0.939120 m
2026-09-10 02:44:38 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-10 02:44:38 [INFO] Scaled micrometres per sample is 3108.536247
2026-09-10 02:44:39 [INFO] Digitized sonar frames: 20% (124/593)
2026-09-10 02:44:40 [INFO] Digitized sonar frames: 48% (287/593)
2026-09-10 02:44:41 [INFO] Digitized sonar frames: 77% (458/593)
2026-09-10 02:44:42 [INFO] Digitized 593 snapshot scans
2026-09-10 02:44:42 [INFO] Applying sonar temporal consistency...
2026-09-10 02:44:42 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 3 structures, 32 points
2026-09-10 02:44:42 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-10 02:44:43 [INFO] Sonar temporal gap fill (window 2): 111466 points, 1414 candidate beams, filled 260
2026-09-10 02:44:43 [INFO] Sonar temporal radial outliers: removed 3624 of 111726 points
2026-09-10 02:44:43 [INFO] Sonar temporal segment pruning (window 3): removed 6 segments, 34 points
2026-09-10 02:44:43 [INFO] Writing sonar track file...
2026-09-10 02:44:43 [INFO] Writing sonar PTD files...
2026-09-10 02:44:43 [INFO] Sonicer took 5.822188975s