{
  "R_RTK_IMU": [
    [
      0.9996841792313951,
      0.02499811511405725,
      -0.002576050309343804
    ],
    [
      -0.025002617750669198,
      0.9996858874629868,
      -0.0017307550243271697
    ],
    [
      0.002531975526313299,
      0.0017946164171362589,
      0.9999951842143289
    ]
  ],
  "rpy_deg": [
    0.1028243313393031,
    -0.1450716664951083,
    -1.43269836393699
  ],
  "gyro_bias_by_session_rad_s": {
    "priority_174005_174515": [
      -8.90944066727157e-05,
      7.078609864979291e-05,
      0.0001460390779870233
    ],
    "priority_174905_175450": [
      -4.327374730750894e-05,
      -0.0001097548390022348,
      3.000549725593387e-05
    ],
    "priority_175910_180530": [
      -7.036551812132934e-05,
      -0.0008054961048184173,
      1.3026193503057623e-05
    ],
    "slope_190548_190730": [
      6.035222904568755e-05,
      -8.913884157613711e-06,
      0.00015470949872434692
    ],
    "circle_193412_193642": [
      -3.696799268832588e-05,
      -0.00019200076224600124,
      -5.9567987995056394e-05
    ],
    "loop_194223_195003": [
      -0.0001979655352189002,
      -0.00015937450336643818,
      -4.343089303706036e-05
    ],
    "accel_195608_195958": [
      -7.841839817698704e-05,
      -2.604932294598783e-06,
      5.8586555655011475e-05
    ],
    "motion_sms_154023_154359": [
      0.00011745666467620586,
      0.00021434926285955486,
      -4.5147354343760625e-05
    ]
  },
  "time_offset": {
    "offset_s": 0.04000000000000031,
    "peak_correlation": 0.5788788671828708,
    "second_best_correlation": 0.5773967219219845,
    "evaluated_samples": 12394,
    "reliable": false
  },
  "applied_time_offset_s": 0.0,
  "convention": {
    "name": "north_cw__pitch_nose_up__roll_right_down",
    "heading_sign": -1.0,
    "pitch_sign": -1.0,
    "roll_sign": 1.0
  },
  "convention_scores_deg": {
    "north_cw__pitch_nose_up__roll_right_down": 1.631322241364994,
    "north_cw__pitch_opposite": 1.737582794831228,
    "heading_opposite__pitch_nose_up": 7.263259116648845,
    "heading_opposite__pitch_opposite": 17.716319437929055
  },
  "pair_count": 731,
  "residual_rms_deg": 1.6276839301413086,
  "residual_median_deg": 0.5695938849052221,
  "residual_p95_deg": 3.0903953005641345,
  "rotation_std_deg": [
    0.2340126126406699,
    0.20048574131667432,
    2.314692068045375
  ],
  "information_singular_values": [
    82178.77940373585,
    60441.86300479194,
    612.6358640387364
  ],
  "per_session_rms_deg": {
    "priority_174005_174515": 0.6134232617562615,
    "priority_174905_175450": 2.2485932625979106,
    "priority_175910_180530": 3.095861798757508,
    "slope_190548_190730": 2.388478834012087,
    "circle_193412_193642": 0.5629885032374518,
    "loop_194223_195003": 0.6250976606325254,
    "accel_195608_195958": 0.975856888271022,
    "motion_sms_154023_154359": 1.3698317592842066
  },
  "loo_delta_deg": {
    "priority_174005_174515": 0.7895996403426686,
    "priority_174905_175450": 0.9224102138653388,
    "priority_175910_180530": 5.144190932547379,
    "slope_190548_190730": 0.24769087330915346,
    "circle_193412_193642": 1.2637729378484346,
    "loop_194223_195003": 0.4844375238260164,
    "accel_195608_195958": 1.0976412402728102,
    "motion_sms_154023_154359": 0.6896079810115167
  },
  "ok": false,
  "notes": [
    "transform convention: p_RTK = R_RTK_IMU p_IMU",
    "residual time convention: t_IMU = t_RTK + +0.000000 s",
    "GNHPR convention score gap=0.1063 deg",
    "GNHPR alternatives use zero-bias prescreen scores; only the winner is jointly refined",
    "LOO is conditional: per-session gyro biases are held at their all-session estimates",
    "time-offset correlation was ambiguous; held residual offset at zero",
    "rotation failed one or more strict acceptance gates"
  ]
}