{
  "R_RTK_IMU": [
    [
      0.9974493913373024,
      -0.07135460605626225,
      0.0017977528752911507
    ],
    [
      0.0713431523484532,
      0.997435050761847,
      0.005785682733905998
    ],
    [
      -0.0022059768426676615,
      -0.00564266836413856,
      0.9999816468115312
    ]
  ],
  "rpy_deg": [
    -0.32330358477785043,
    0.1263932653005637,
    4.0911470587568495
  ],
  "gyro_bias_by_session_rad_s": {
    "priority_175910_180530": [
      -0.00010509442179307857,
      -0.0001426783269500731,
      3.086292346981605e-05
    ]
  },
  "time_offset": {
    "offset_s": -0.0949999999999998,
    "peak_correlation": 0.1329249352233157,
    "second_best_correlation": 0.13247995527618098,
    "evaluated_samples": 2316,
    "reliable": false
  },
  "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": 2.8406184024910064,
    "north_cw__pitch_opposite": 2.8942770966870084,
    "heading_opposite__pitch_nose_up": 3.8836333647028383,
    "heading_opposite__pitch_opposite": 8.244842702849073
  },
  "pair_count": 91,
  "residual_rms_deg": 2.8406184024910064,
  "residual_median_deg": 1.624215282655001,
  "residual_p95_deg": 6.087913500787023,
  "rotation_std_deg": [
    1.6029337786454214,
    1.0761604678920118,
    6.305203755276785
  ],
  "information_singular_values": [
    2941.184567996004,
    1268.1548949190246,
    82.52753961323997
  ],
  "per_session_rms_deg": {
    "priority_175910_180530": 2.8406184024910064
  },
  "loo_delta_deg": {},
  "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=0.0537 deg",
    "time-offset correlation was ambiguous; held residual offset at zero",
    "rotation failed one or more strict acceptance gates"
  ]
}