+ '[' smd '=' md ]
+ '[' smd '=' smd ]
+ echo '--sample-offset -1'
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/3b73c8c7-3d99-4602-a8c0-2705bb7cc5ca/processing/data/sonar_raw.track.cbor
2026-09-10 04:28:59 [INFO] Sonicer 0.0.3
2026-09-10 04:29:00 [INFO] Recording GUID: 3b73c8c7-3d99-4602-a8c0-2705bb7cc5ca
2026-09-10 04:29:00 [INFO] Prepared data will be output to /working/3b73c8c7-3d99-4602-a8c0-2705bb7cc5ca/processing/data
2026-09-10 04:29:00 [INFO] Digitizing sonar data...
2026-09-10 04:29:00 [INFO] Using sonar digitizer
2026-09-10 04:29:00 [INFO] Sensor speed of sound is 1500 m/s
2026-09-10 04:29:00 [INFO] Sensor range is 1.228080 m
2026-09-10 04:29:00 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-10 04:29:00 [INFO] Scaled micrometres per sample is 4065.009075
2026-09-10 04:29:01 [INFO] Digitized sonar frames: 39% (322/818)
2026-09-10 04:29:02 [INFO] Digitized sonar frames: 79% (650/818)
2026-09-10 04:29:02 [INFO] Digitized 818 snapshot scans
2026-09-10 04:29:02 [INFO] Applying sonar temporal consistency...
2026-09-10 04:29:03 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 11 structures, 204 points
2026-09-10 04:29:03 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-10 04:29:03 [INFO] Sonar temporal gap fill (window 2): 191315 points, 1961 candidate beams, filled 1512
2026-09-10 04:29:04 [INFO] Sonar temporal radial outliers: removed 567 of 192827 points
2026-09-10 04:29:04 [INFO] Sonar temporal segment pruning (window 3): removed 1 segments, 8 points
2026-09-10 04:29:04 [INFO] Writing sonar track file...
2026-09-10 04:29:04 [INFO] Writing sonar PTD files...
2026-09-10 04:29:04 [INFO] Sonicer took 5.476799411s