{
  "R_RTK_IMU": [
    [
      -0.999754381938718,
      0.021803011844914608,
      0.003975483470215314
    ],
    [
      0.021793866945340735,
      0.9997597719617833,
      -0.0023293197487744975
    ],
    [
      -0.0040253146336934244,
      -0.002242106467980424,
      -0.9999893848440022
    ]
  ],
  "rpy_deg": [
    -179.8715356137635,
    0.23063416255936714,
    178.75119441523574
  ],
  "gyro_bias_by_session_rad_s": {
    "priority_174005_174515": [
      -0.00018079953472427648,
      -9.3706764772758e-05,
      -1.6471539455612585e-05
    ],
    "priority_174905_175450": [
      -0.0001527801061740737,
      -0.0001164065722445753,
      -5.5002757975692905e-05
    ],
    "priority_175910_180530": [
      0.00010732176614734042,
      -9.217694744503191e-05,
      0.00037171055222583177
    ],
    "slope_190548_190730": [
      -0.0001400513048024026,
      -9.490085614046164e-05,
      -7.313488292136488e-05
    ],
    "circle_193412_193642": [
      -5.9488404294769446e-05,
      -0.00029434501957892675,
      0.000102661594942897
    ],
    "loop_194223_195003": [
      -0.0002980828626939094,
      9.137138703447405e-05,
      4.430930647242609e-05
    ],
    "accel_195608_195958": [
      5.9388956272647935e-05,
      9.900621296014341e-06,
      8.065768586636302e-05
    ],
    "motion_sms_154023_154359": [
      0.0016442968972331072,
      0.00012387305081956675,
      8.435528364463815e-08
    ]
  },
  "time_offset": {
    "offset_s": 0.08500000000000035,
    "peak_correlation": 0.46191352508231565,
    "second_best_correlation": 0.460889710037625,
    "evaluated_samples": 12384,
    "reliable": false
  },
  "convention": {
    "name": "heading_opposite__pitch_nose_up",
    "heading_sign": 1.0,
    "pitch_sign": -1.0,
    "roll_sign": 1.0
  },
  "convention_scores_deg": {
    "north_cw__pitch_nose_up__roll_right_down": 1.6671304616155285,
    "north_cw__pitch_opposite": 1.7955511909491206,
    "heading_opposite__pitch_nose_up": 1.6669796415371239,
    "heading_opposite__pitch_opposite": 19.709790964275243
  },
  "pair_count": 6164,
  "residual_rms_deg": 1.6669796415371239,
  "residual_median_deg": 0.6097138083592458,
  "residual_p95_deg": 2.9952512236242987,
  "rotation_std_deg": [
    1.0204560247927847,
    0.06460681216547948,
    0.11838973994567728
  ],
  "information_singular_values": [
    818353.8002481281,
    235774.70975965378,
    3151.7390576048515
  ],
  "per_session_rms_deg": {
    "priority_174005_174515": 0.7068100152136895,
    "priority_174905_175450": 1.7590065687347056,
    "priority_175910_180530": 3.0674316757114104,
    "slope_190548_190730": 2.07580304513421,
    "circle_193412_193642": 0.6574485751543728,
    "loop_194223_195003": 0.6594363752510715,
    "accel_195608_195958": 0.7631418065216562,
    "motion_sms_154023_154359": 3.709386878989403
  },
  "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=0.0002 deg",
    "time-offset correlation was ambiguous; held residual offset at zero",
    "empirical best GNHPR convention differs from protocol expectation; manual verification required",
    "rotation failed one or more strict acceptance gates"
  ]
}