+ '[' smd '=' md ]
+ '[' smd '=' smd ]
+ echo '--sample-offset -1'
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/60f627d6-1c75-4c3a-b8ba-5adaee6f76a3/processing/data/sonar_raw.track.cbor
2026-09-10 02:14:49 [INFO] Sonicer 0.0.3
2026-09-10 02:14:50 [INFO] Recording GUID: 60f627d6-1c75-4c3a-b8ba-5adaee6f76a3
2026-09-10 02:14:50 [INFO] Prepared data will be output to /working/60f627d6-1c75-4c3a-b8ba-5adaee6f76a3/processing/data
2026-09-10 02:14:50 [INFO] Digitizing sonar data...
2026-09-10 02:14:50 [INFO] Using sonar digitizer
2026-09-10 02:14:50 [INFO] Sensor speed of sound is 1500 m/s
2026-09-10 02:14:50 [INFO] Sensor range is 1.228080 m
2026-09-10 02:14:50 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-10 02:14:50 [INFO] Scaled micrometres per sample is 4065.009075
2026-09-10 02:14:51 [INFO] Digitized sonar frames: 26% (102/385)
2026-09-10 02:14:52 [INFO] Digitized sonar frames: 64% (249/385)
2026-09-10 02:14:53 [INFO] Digitized 385 snapshot scans
2026-09-10 02:14:53 [INFO] Applying sonar temporal consistency...
2026-09-10 02:14:53 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 4 structures, 66 points
2026-09-10 02:14:53 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-10 02:14:54 [INFO] Sonar temporal gap fill (window 2): 28403 points, 2299 candidate beams, filled 1332
2026-09-10 02:14:54 [INFO] Sonar temporal radial outliers: removed 528 of 29735 points
2026-09-10 02:14:54 [INFO] Sonar temporal segment pruning (window 3): removed 66 segments, 637 points
2026-09-10 02:14:54 [INFO] Writing sonar track file...
2026-09-10 02:14:54 [INFO] Writing sonar PTD files...
2026-09-10 02:14:54 [INFO] Sonicer took 4.225234534s