{
  "scope": "267-window independent held-out prediction innovations",
  "least_squares_called": false,
  "target_observation_used_by_predictor": false,
  "lever_reoptimized": false,
  "rotation_reoptimized": false,
  "covariance_parameters_modified": false,
  "fixed_l_I_m": [
    -0.45180151590212486,
    -0.26447498198536895,
    0.7314656114613277
  ],
  "fixed_rotation_rpy_deg": [
    0.4543066225,
    -0.0026392019,
    0.0122384129
  ],
  "calibration_window_count": 47,
  "heldout_window_count": 267,
  "calibration_heldout_overlap_count": 0,
  "motion_class_mapping": {
    "0808_20260808_092827": "circle",
    "0808_20260808_082148": "left_right",
    "0815_20260812_123424": "slope"
  },
  "prediction_definition": {
    "BEST_position": "previous GNSS p/v + IMU preintegration + fixed lever",
    "Doppler": "previous GNSS velocity + IMU preintegration + omega-cross-lever",
    "HPR": "withheld direct HPR predicted by LOO interpolation and gyro propagation",
    "IMU_preintegration": "two independently GNSS/HPR-anchored endpoints"
  },
  "bias_source": "frozen prior-node bias from the disjoint 47-window calibration set; same-session when available, otherwise calibration date-weighted mean; no held-out target observation and no covariance writeback",
  "per_session_frozen_bias": {
    "0819_20260819_065243": {
      "gyro_bias_rad_s": [
        -8.23276316606952e-06,
        8.539512790346624e-06,
        -2.1122318125524074e-06
      ],
      "accel_bias_m_s2": [
        0.02237930286095089,
        -0.09988268750231999,
        0.018874751404196644
      ],
      "source": "calibration_global_weighted_mean"
    },
    "0808_20260808_082148": {
      "gyro_bias_rad_s": [
        -0.0002779690737649482,
        5.1294366539839334e-05,
        -0.00019416057503122402
      ],
      "accel_bias_m_s2": [
        0.03524511801467033,
        0.03653926021090259,
        0.015343086342120518
      ],
      "source": "same_calibration_session"
    },
    "0815_20260814_114200": {
      "gyro_bias_rad_s": [
        -0.0012048853259427625,
        -0.0007831733912937232,
        -0.0009000240118326938
      ],
      "accel_bias_m_s2": [
        0.1064919975042533,
        0.03430355615687704,
        0.013215818448183102
      ],
      "source": "same_calibration_session"
    },
    "0815_20260814_102659": {
      "gyro_bias_rad_s": [
        1.1371134923693839e-05,
        -9.086008576527544e-05,
        0.00013637027059039885
      ],
      "accel_bias_m_s2": [
        -0.30901564856580577,
        -0.20679280067287376,
        0.002055238158143513
      ],
      "source": "same_calibration_session"
    },
    "0808_20260808_092827": {
      "gyro_bias_rad_s": [
        -2.4684135763427518e-05,
        0.00023430235162390207,
        -9.7316944296223e-07
      ],
      "accel_bias_m_s2": [
        0.017100354100520222,
        -0.0012557204299115158,
        0.015471395133520131
      ],
      "source": "same_calibration_session"
    },
    "0815_20260814_110519": {
      "gyro_bias_rad_s": [
        0.00017889748397747205,
        -0.0014790496345449865,
        0.0003547773896290769
      ],
      "accel_bias_m_s2": [
        0.01508732864042972,
        -0.06255463682552918,
        0.019618260725009547
      ],
      "source": "same_calibration_session"
    },
    "0815_20260814_115547": {
      "gyro_bias_rad_s": [
        7.303599879116427e-05,
        -0.00025841863639124255,
        -1.5095091435195021e-05
      ],
      "accel_bias_m_s2": [
        0.053556600702744456,
        -0.16534336003572933,
        0.012987259831331713
      ],
      "source": "calibration_date_weighted_mean"
    },
    "0815_20260812_123424": {
      "gyro_bias_rad_s": [
        -1.4696247782426861e-05,
        -6.758153875002111e-06,
        -0.000247924836117111
      ],
      "accel_bias_m_s2": [
        -0.06025878616922373,
        -0.0014706425940701753,
        0.011149146943383575
      ],
      "source": "same_calibration_session"
    },
    "0819_20260819_074023": {
      "gyro_bias_rad_s": [
        -8.23276316606952e-06,
        8.539512790346624e-06,
        -2.1122318125524074e-06
      ],
      "accel_bias_m_s2": [
        0.02237930286095089,
        -0.09988268750231999,
        0.018874751404196644
      ],
      "source": "calibration_global_weighted_mean"
    },
    "0815_20260814_104150": {
      "gyro_bias_rad_s": [
        0.0001932205721030048,
        -0.0001167855316427912,
        7.572996762489187e-05
      ],
      "accel_bias_m_s2": [
        0.04012243945205726,
        -0.2193448339585077,
        0.014313033962344466
      ],
      "source": "same_calibration_session"
    },
    "0815_20260814_101806": {
      "gyro_bias_rad_s": [
        7.303599879116427e-05,
        -0.00025841863639124255,
        -1.5095091435195021e-05
      ],
      "accel_bias_m_s2": [
        0.053556600702744456,
        -0.16534336003572933,
        0.012987259831331713
      ],
      "source": "calibration_date_weighted_mean"
    },
    "0815_20260814_112658": {
      "gyro_bias_rad_s": [
        7.303599879116427e-05,
        -0.00025841863639124255,
        -1.5095091435195021e-05
      ],
      "accel_bias_m_s2": [
        0.053556600702744456,
        -0.16534336003572933,
        0.012987259831331713
      ],
      "source": "calibration_date_weighted_mean"
    },
    "0815_20260814_103752": {
      "gyro_bias_rad_s": [
        4.9329944865182516e-05,
        0.0005104042520590058,
        -0.0007798385585054929
      ],
      "accel_bias_m_s2": [
        0.21759584065068732,
        -0.1139968993575585,
        0.005832424175510008
      ],
      "source": "same_calibration_session"
    },
    "0819_20260819_064333": {
      "gyro_bias_rad_s": [
        -8.23276316606952e-06,
        8.539512790346624e-06,
        -2.1122318125524074e-06
      ],
      "accel_bias_m_s2": [
        0.02237930286095089,
        -0.09988268750231999,
        0.018874751404196644
      ],
      "source": "calibration_global_weighted_mean"
    },
    "0815_20260814_103326": {
      "gyro_bias_rad_s": [
        -3.8294144489078725e-05,
        -0.00011100911359102886,
        0.00022820430100437087
      ],
      "accel_bias_m_s2": [
        0.3157968606943984,
        -0.1815728514444101,
        0.004954154868949311
      ],
      "source": "same_calibration_session"
    },
    "0819_20260819_063601": {
      "gyro_bias_rad_s": [
        -8.23276316606952e-06,
        8.539512790346624e-06,
        -2.1122318125524074e-06
      ],
      "accel_bias_m_s2": [
        0.02237930286095089,
        -0.09988268750231999,
        0.018874751404196644
      ],
      "source": "calibration_global_weighted_mean"
    },
    "0819_20260819_062947": {
      "gyro_bias_rad_s": [
        -8.23276316606952e-06,
        8.539512790346624e-06,
        -2.1122318125524074e-06
      ],
      "accel_bias_m_s2": [
        0.02237930286095089,
        -0.09988268750231999,
        0.018874751404196644
      ],
      "source": "calibration_global_weighted_mean"
    },
    "0815_20260814_102314": {
      "gyro_bias_rad_s": [
        5.370036237003683e-06,
        0.0012055847028747773,
        -0.0007470412437245199
      ],
      "accel_bias_m_s2": [
        0.2018496761733234,
        -0.1048967994582625,
        0.0067981249399129045
      ],
      "source": "same_calibration_session"
    },
    "0819_20260819_071004": {
      "gyro_bias_rad_s": [
        -8.23276316606952e-06,
        8.539512790346624e-06,
        -2.1122318125524074e-06
      ],
      "accel_bias_m_s2": [
        0.02237930286095089,
        -0.09988268750231999,
        0.018874751404196644
      ],
      "source": "calibration_global_weighted_mean"
    },
    "0819_20260819_073045": {
      "gyro_bias_rad_s": [
        -8.23276316606952e-06,
        8.539512790346624e-06,
        -2.1122318125524074e-06
      ],
      "accel_bias_m_s2": [
        0.02237930286095089,
        -0.09988268750231999,
        0.018874751404196644
      ],
      "source": "calibration_global_weighted_mean"
    },
    "0815_20260814_113355": {
      "gyro_bias_rad_s": [
        7.303599879116427e-05,
        -0.00025841863639124255,
        -1.5095091435195021e-05
      ],
      "accel_bias_m_s2": [
        0.053556600702744456,
        -0.16534336003572933,
        0.012987259831331713
      ],
      "source": "calibration_date_weighted_mean"
    },
    "0815_20260814_103601": {
      "gyro_bias_rad_s": [
        7.303599879116427e-05,
        -0.00025841863639124255,
        -1.5095091435195021e-05
      ],
      "accel_bias_m_s2": [
        0.053556600702744456,
        -0.16534336003572933,
        0.012987259831331713
      ],
      "source": "calibration_date_weighted_mean"
    },
    "0808_20260808_081539": {
      "gyro_bias_rad_s": [
        -6.803429956180993e-05,
        0.00021236102564443812,
        5.7315278338642115e-05
      ],
      "accel_bias_m_s2": [
        0.015633224773729634,
        -0.07054538270162788,
        0.024862590981758085
      ],
      "source": "calibration_date_weighted_mean"
    },
    "0819_20260819_065931": {
      "gyro_bias_rad_s": [
        -8.23276316606952e-06,
        8.539512790346624e-06,
        -2.1122318125524074e-06
      ],
      "accel_bias_m_s2": [
        0.02237930286095089,
        -0.09988268750231999,
        0.018874751404196644
      ],
      "source": "calibration_global_weighted_mean"
    },
    "0819_20260819_072130": {
      "gyro_bias_rad_s": [
        -8.23276316606952e-06,
        8.539512790346624e-06,
        -2.1122318125524074e-06
      ],
      "accel_bias_m_s2": [
        0.02237930286095089,
        -0.09988268750231999,
        0.018874751404196644
      ],
      "source": "calibration_global_weighted_mean"
    },
    "0808_20260808_101021": {
      "gyro_bias_rad_s": [
        -4.7098621007979254e-05,
        0.0003292554603332844,
        0.001064323104504191
      ],
      "accel_bias_m_s2": [
        -0.03547275066556242,
        -0.8955325904072813,
        0.12699167814293272
      ],
      "source": "same_calibration_session"
    },
    "0808_20260808_075440": {
      "gyro_bias_rad_s": [
        -6.803429956180993e-05,
        0.00021236102564443812,
        5.7315278338642115e-05
      ],
      "accel_bias_m_s2": [
        0.015633224773729634,
        -0.07054538270162788,
        0.024862590981758085
      ],
      "source": "calibration_date_weighted_mean"
    },
    "0808_20260808_080830": {
      "gyro_bias_rad_s": [
        -6.803429956180993e-05,
        0.00021236102564443812,
        5.7315278338642115e-05
      ],
      "accel_bias_m_s2": [
        0.015633224773729634,
        -0.07054538270162788,
        0.024862590981758085
      ],
      "source": "calibration_date_weighted_mean"
    },
    "0808_20260808_073816": {
      "gyro_bias_rad_s": [
        -6.803429956180993e-05,
        0.00021236102564443812,
        5.7315278338642115e-05
      ],
      "accel_bias_m_s2": [
        0.015633224773729634,
        -0.07054538270162788,
        0.024862590981758085
      ],
      "source": "calibration_date_weighted_mean"
    }
  },
  "factors": {
    "best_position": {
      "overall": {
        "sample_count": 3551,
        "dimension": 3,
        "effective_dof_per_sample": 3,
        "innovation_bias": [
          0.09939677865281121,
          -0.010868359221977975,
          -0.006229953574736808
        ],
        "innovation_distribution": {
          "count": 10653,
          "rms": 0.12439675455377049,
          "p50_abs": 0.030418888472489414,
          "p95_abs": 0.31766359311035897,
          "p99_abs": 0.39854599215781034
        },
        "axis_rms": [
          0.18806942113598807,
          0.10335058674152692,
          0.019292658818564994
        ],
        "axis_p50_abs": [
          0.0612308696212196,
          0.046454024282277295,
          0.007736607829158193
        ],
        "axis_p95_abs": [
          0.38371169255798065,
          0.22184314412247375,
          0.03507217158727016
        ],
        "axis_p99_abs": [
          0.46080359129382487,
          0.3477924961818246,
          0.0733246712324141
        ],
        "vector_rms": 0.21546149918380558,
        "vector_p50": 0.09024793808417059,
        "vector_p95": 0.39787045394646714,
        "vector_p99": 0.5408483460673824,
        "normalized_distribution": {
          "count": 10653,
          "rms": 0.7179351616871957,
          "p50_abs": 0.1618983954394709,
          "p95_abs": 1.8387070397123726,
          "p99_abs": 2.307105310096519
        },
        "empirical_covariance": [
          [
            0.02549756795073163,
            0.0049812571216005215,
            -0.0012346797271874644
          ],
          [
            0.0049812571216005215,
            0.01056619810328714,
            -0.00034794813098480584
          ],
          [
            -0.0012346797271874644,
            -0.00034794813098480584,
            0.0003334882766511765
          ]
        ],
        "nis_distribution": {
          "count": 3551,
          "rms": 3.121466141642613,
          "p50_abs": 0.2654881089415224,
          "p95_abs": 5.287656161435156,
          "p99_abs": 9.698459976178047
        },
        "nis_total": 5490.885339208791,
        "nis_per_dof": 0.5154308963868198,
        "alpha_factor": 0.5154308963868198,
        "alpha_composite_prediction": 0.5154308963868198,
        "alpha_factor_only_upper_bound": 4.272639131232953,
        "temporal_autocorrelation_lag1": [
          0.9110122856934728,
          0.8750760047157071,
          0.10683931215636912
        ],
        "temporal_linear_drift_per_s": [
          9.024377065277695e-06,
          3.5682598760640373e-06,
          -4.01353237208126e-07
        ]
      },
      "by_session": {
        "0819_20260819_065243": {
          "sample_count": 122,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.17268098849398905,
            -0.22772202349480392,
            -0.007758560088670129
          ],
          "innovation_distribution": {
            "count": 366,
            "rms": 0.17433356024317034,
            "p50_abs": 0.13928949729655926,
            "p95_abs": 0.2991564496708463,
            "p99_abs": 0.3375151637202635
          },
          "axis_rms": [
            0.18376487495601426,
            0.23931379514496923,
            0.011659711269557097
          ],
          "axis_p50_abs": [
            0.17039674453818066,
            0.2319141610493638,
            0.008248380539072453
          ],
          "axis_p95_abs": [
            0.27999917201414776,
            0.326357158394293,
            0.02062403474210763
          ],
          "axis_p99_abs": [
            0.3007833062117069,
            0.40470788483922554,
            0.02890950757216073
          ],
          "vector_rms": 0.3019545838055407,
          "vector_p50": 0.295318015830674,
          "vector_p95": 0.3390851845360917,
          "vector_p99": 0.40649162510908776,
          "normalized_distribution": {
            "count": 366,
            "rms": 1.008666598027772,
            "p50_abs": 0.8063573121516451,
            "p95_abs": 1.7318398617106527,
            "p99_abs": 1.9539018995851463
          },
          "empirical_covariance": [
            [
              0.003983456765299861,
              0.004654036413123404,
              -1.021779198274257e-05
            ],
            [
              0.004654036413123404,
              0.005458514484121269,
              1.0036994629485758e-05
            ],
            [
              -1.021779198274257e-05,
              1.0036994629485758e-05,
              7.63796751510055e-05
            ]
          ],
          "nis_distribution": {
            "count": 122,
            "rms": 3.1086940808447725,
            "p50_abs": 2.9205804369501958,
            "p95_abs": 3.8502615902932886,
            "p99_abs": 5.538735982754514
          },
          "nis_total": 372.37143998755244,
          "nis_per_dof": 1.0174083059769192,
          "alpha_factor": 1.0174083059769192,
          "alpha_composite_prediction": 1.0174083059769192,
          "alpha_factor_only_upper_bound": 8.432834169537985,
          "temporal_autocorrelation_lag1": [
            0.7885928309006851,
            0.8034907359500718,
            -0.2615848561042885
          ],
          "temporal_linear_drift_per_s": [
            -0.00045188128078764845,
            -0.0005353038350102935,
            -3.9713742412518685e-06
          ]
        },
        "0808_20260808_082148": {
          "sample_count": 1051,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.008833518369557886,
            -0.01126283276513888,
            -0.0013681307512219845
          ],
          "innovation_distribution": {
            "count": 3153,
            "rms": 0.04153124449610342,
            "p50_abs": 0.0200738460401908,
            "p95_abs": 0.09035009171294248,
            "p99_abs": 0.12427703461035713
          },
          "axis_rms": [
            0.05092620623092312,
            0.048896371991999914,
            0.013791270178298289
          ],
          "axis_p50_abs": [
            0.030404037655046068,
            0.03609349310661836,
            0.004575927932361723
          ],
          "axis_p95_abs": [
            0.10180576427540267,
            0.09175669911068418,
            0.027496318722355806
          ],
          "axis_p99_abs": [
            0.12634132735551695,
            0.13319031726876296,
            0.054436152118207515
          ],
          "vector_rms": 0.07193422556881642,
          "vector_p50": 0.059083174739341986,
          "vector_p95": 0.12563294290983895,
          "vector_p99": 0.15774745155463943,
          "normalized_distribution": {
            "count": 3153,
            "rms": 0.23707326130094072,
            "p50_abs": 0.10530498590546467,
            "p95_abs": 0.5212843133660112,
            "p99_abs": 0.7130205183623222
          },
          "empirical_covariance": [
            [
              0.002517843098512326,
              -0.0006994885629215802,
              9.961862718374993e-06
            ],
            [
              -0.0006994885629215802,
              0.0022661599861722457,
              -9.222728151260832e-06
            ],
            [
              9.961862718374993e-06,
              -9.222728151260832e-06,
              0.00018850671076064596
            ]
          ],
          "nis_distribution": {
            "count": 1051,
            "rms": 0.2488063193040447,
            "p50_abs": 0.11343692255719727,
            "p95_abs": 0.5274695638016688,
            "p99_abs": 0.7818568736635578
          },
          "nis_total": 177.2103645488436,
          "nis_per_dof": 0.05620373122386412,
          "alpha_factor": 0.05620373122386412,
          "alpha_composite_prediction": 0.05620373122386412,
          "alpha_factor_only_upper_bound": 0.4659151350312266,
          "temporal_autocorrelation_lag1": [
            0.6960232782226901,
            0.7060770483956984,
            -0.09776963019601437
          ],
          "temporal_linear_drift_per_s": [
            1.413460787229111e-06,
            -5.200469785824738e-06,
            7.453713543215421e-08
          ]
        },
        "0815_20260814_114200": {
          "sample_count": 58,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.001758260674344755,
            -0.003110988308516075,
            -0.003042323618116627
          ],
          "innovation_distribution": {
            "count": 174,
            "rms": 0.051463702198867166,
            "p50_abs": 0.03148444267602164,
            "p95_abs": 0.09689281249959984,
            "p99_abs": 0.12784078404280366
          },
          "axis_rms": [
            0.05917312903641193,
            0.06084862729724605,
            0.027230925216048876
          ],
          "axis_p50_abs": [
            0.03929642214154111,
            0.051203114046297626,
            0.016546631831252545
          ],
          "axis_p95_abs": [
            0.11476791941100423,
            0.09717773134764514,
            0.051490563607927343
          ],
          "axis_p99_abs": [
            0.13354765953166753,
            0.12599906642293487,
            0.07805386706256626
          ],
          "vector_rms": 0.0891377469540321,
          "vector_p50": 0.08460320449722986,
          "vector_p95": 0.14016826827064266,
          "vector_p99": 0.16464788939050484,
          "normalized_distribution": {
            "count": 174,
            "rms": 0.2873043717626292,
            "p50_abs": 0.15075754230566318,
            "p95_abs": 0.5608798165513883,
            "p99_abs": 0.7400271667032123
          },
          "empirical_covariance": [
            [
              0.0035597425916303977,
              -0.0006511013219995981,
              0.0004100208838423303
            ],
            [
              -0.0006511013219995981,
              0.0037576645149262995,
              -0.00025439732307959515
            ],
            [
              0.0004100208838423303,
              -0.00025439732307959515,
              0.0007451143543374102
            ]
          ],
          "nis_distribution": {
            "count": 58,
            "rms": 0.31706888813024964,
            "p50_abs": 0.23439478791042023,
            "p95_abs": 0.639710531894406,
            "p99_abs": 0.7806391526606893
          },
          "nis_total": 14.362621553901915,
          "nis_per_dof": 0.08254380203391905,
          "alpha_factor": 0.08254380203391905,
          "alpha_composite_prediction": 0.08254380203391905,
          "alpha_factor_only_upper_bound": 0.6842032838842153,
          "temporal_autocorrelation_lag1": [
            0.6016505456859333,
            0.7490753644694963,
            -0.2949993036141688
          ],
          "temporal_linear_drift_per_s": [
            4.2814529464091575e-05,
            -0.00032062826187364424,
            -1.1280427150031492e-05
          ]
        },
        "0815_20260814_102659": {
          "sample_count": 172,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.2993439343916136,
            0.15726924106426798,
            -0.016512433822236182
          ],
          "innovation_distribution": {
            "count": 516,
            "rms": 0.21440682608455194,
            "p50_abs": 0.14734399019063105,
            "p95_abs": 0.3511923398244985,
            "p99_abs": 0.46054642309960503
          },
          "axis_rms": [
            0.299695564082384,
            0.21841965520430548,
            0.01965411673741251
          ],
          "axis_p50_abs": [
            0.2973332156494166,
            0.14734399019063105,
            0.01670461328639944
          ],
          "axis_p95_abs": [
            0.32500490715958247,
            0.439413918193081,
            0.03489890560270892
          ],
          "axis_p99_abs": [
            0.33104530439535207,
            0.47087730926903326,
            0.04217229114156862
          ],
          "vector_rms": 0.371363516268028,
          "vector_p50": 0.3400570542499182,
          "vector_p95": 0.5212183508448944,
          "vector_p99": 0.5461193799742974,
          "normalized_distribution": {
            "count": 516,
            "rms": 1.2398791689933932,
            "p50_abs": 0.8529604655045232,
            "p95_abs": 2.033021890224682,
            "p99_abs": 2.6660644792039
          },
          "empirical_covariance": [
            [
              0.0002118718869036555,
              -0.0020313376104242717,
              6.248770206589586e-06
            ],
            [
              -0.0020313376104242717,
              0.02310787973261719,
              -0.0005106569815230217
            ],
            [
              6.248770206589586e-06,
              -0.0005106569815230217,
              0.00011428830085957144
            ]
          ],
          "nis_distribution": {
            "count": 172,
            "rms": 4.952157229392981,
            "p50_abs": 3.8714687228552616,
            "p95_abs": 9.078931861974569,
            "p99_abs": 9.952540624173928
          },
          "nis_total": 793.2469825111335,
          "nis_per_dof": 1.537300353703747,
          "alpha_factor": 1.537300353703747,
          "alpha_composite_prediction": 1.537300353703747,
          "alpha_factor_only_upper_bound": 12.742698887630375,
          "temporal_autocorrelation_lag1": [
            0.6305114830605121,
            0.8574511379134162,
            -0.09416177102509203
          ],
          "temporal_linear_drift_per_s": [
            -0.00013009919518296772,
            0.0014810629977090573,
            -3.487182805512024e-05
          ]
        },
        "0808_20260808_092827": {
          "sample_count": 348,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.026434426941431895,
            -0.007623511052402467,
            -0.00255400354506396
          ],
          "innovation_distribution": {
            "count": 1044,
            "rms": 0.04188707697211578,
            "p50_abs": 0.024117205624059057,
            "p95_abs": 0.08334395535665476,
            "p99_abs": 0.12521290364620127
          },
          "axis_rms": [
            0.049997058584790664,
            0.047396926803977585,
            0.022746584671357973
          ],
          "axis_p50_abs": [
            0.03854787247570157,
            0.032044486926327664,
            0.007740700712299486
          ],
          "axis_p95_abs": [
            0.08938090700426694,
            0.09066136948113564,
            0.04916217354387232
          ],
          "axis_p99_abs": [
            0.12676913007834958,
            0.1326082182360245,
            0.0860121186496529
          ],
          "vector_rms": 0.07255054549625287,
          "vector_p50": 0.06173588072251816,
          "vector_p95": 0.12288083428319846,
          "vector_p99": 0.16871972052280498,
          "normalized_distribution": {
            "count": 1044,
            "rms": 0.233373325306488,
            "p50_abs": 0.11911611774977789,
            "p95_abs": 0.47377189984969914,
            "p99_abs": 0.7248171215482895
          },
          "empirical_covariance": [
            [
              0.001806116930588943,
              -0.0003876993860803591,
              -6.875832300806272e-05
            ],
            [
              -0.0003876993860803591,
              0.0021946572360058664,
              -4.537090115484482e-05
            ],
            [
              -6.875832300806272e-05,
              -4.537090115484482e-05,
              0.0005123564688065249
            ]
          ],
          "nis_distribution": {
            "count": 348,
            "rms": 0.24047882039934215,
            "p50_abs": 0.11637477077096008,
            "p95_abs": 0.4697432724500738,
            "p99_abs": 0.9423616876409274
          },
          "nis_total": 56.85948575905062,
          "nis_per_dof": 0.054463108964607876,
          "alpha_factor": 0.054463108964607876,
          "alpha_composite_prediction": 0.054463108964607876,
          "alpha_factor_only_upper_bound": 0.45143762186531616,
          "temporal_autocorrelation_lag1": [
            0.5157787739648905,
            0.5781179702507815,
            -0.1135832394548392
          ],
          "temporal_linear_drift_per_s": [
            -5.715435259525318e-07,
            3.7721856785088725e-05,
            1.5365982895422928e-06
          ]
        },
        "0815_20260814_110519": {
          "sample_count": 38,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.30427384054616663,
            0.012297180991674645,
            -0.0032505983539108415
          ],
          "innovation_distribution": {
            "count": 114,
            "rms": 0.19224773839439827,
            "p50_abs": 0.08674492351923391,
            "p95_abs": 0.37975482952106604,
            "p99_abs": 0.4656885773759683
          },
          "axis_rms": [
            0.3115301099979002,
            0.0840706762435465,
            0.08221125661326426
          ],
          "axis_p50_abs": [
            0.2794000851307459,
            0.07101906706629002,
            0.011696563874794952
          ],
          "axis_p95_abs": [
            0.4597473900426081,
            0.15140806526368245,
            0.15487341723822726
          ],
          "axis_p99_abs": [
            0.4855008439766008,
            0.1797126693931297,
            0.27984735186144766
          ],
          "vector_rms": 0.3329828505393078,
          "vector_p50": 0.2990223872799891,
          "vector_p95": 0.48733608138171,
          "vector_p99": 0.5336658610986594,
          "normalized_distribution": {
            "count": 114,
            "rms": 1.0871310923491657,
            "p50_abs": 0.4267979882315607,
            "p95_abs": 2.198227875064884,
            "p99_abs": 2.695657656386897
          },
          "empirical_covariance": [
            [
              0.004589208026875986,
              0.0011785396664211506,
              -0.0009938436886594668
            ],
            [
              0.0011785396664211506,
              0.007103594644886431,
              -0.0008713988461713786
            ],
            [
              -0.0009938436886594668,
              -0.0008713988461713786,
              0.006930506062767417
            ]
          ],
          "nis_distribution": {
            "count": 38,
            "rms": 3.9237087140810014,
            "p50_abs": 2.9644608661157745,
            "p95_abs": 7.186641385567865,
            "p99_abs": 8.591316781576163
          },
          "nis_total": 134.73135736256108,
          "nis_per_dof": 1.1818540119522902,
          "alpha_factor": 1.1818540119522902,
          "alpha_composite_prediction": 1.1818540119522902,
          "alpha_factor_only_upper_bound": 9.797088955355001,
          "temporal_autocorrelation_lag1": [
            0.7115001428612392,
            0.7231315650663431,
            -0.27659988669652713
          ],
          "temporal_linear_drift_per_s": [
            2.8623810224514095e-05,
            -0.0016035164589460111,
            -6.691928163701322e-05
          ]
        },
        "0815_20260814_115547": {
          "sample_count": 48,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            -0.021466936113392288,
            0.042836495507831196,
            -0.00018722469413186976
          ],
          "innovation_distribution": {
            "count": 144,
            "rms": 0.042143264130402,
            "p50_abs": 0.030142121134956845,
            "p95_abs": 0.07762674925959115,
            "p99_abs": 0.103558316771872
          },
          "axis_rms": [
            0.04739547525965381,
            0.04987172635685081,
            0.02438532283553818
          ],
          "axis_p50_abs": [
            0.03915419899398387,
            0.043262835142964806,
            0.01562885992496854
          ],
          "axis_p95_abs": [
            0.08482400279523539,
            0.07802809813483776,
            0.048877542487338
          ],
          "axis_p99_abs": [
            0.09851830819421845,
            0.11346006729523786,
            0.06705873978068125
          ],
          "vector_rms": 0.07299427467065128,
          "vector_p50": 0.06645859720188416,
          "vector_p95": 0.10298676192445323,
          "vector_p99": 0.12548683833500937,
          "normalized_distribution": {
            "count": 144,
            "rms": 0.23352238584926105,
            "p50_abs": 0.13942533210778602,
            "p95_abs": 0.4444658007929504,
            "p99_abs": 0.5994356762270954
          },
          "empirical_covariance": [
            [
              0.0018234911274811814,
              0.00021758896413192036,
              0.00015849806726112974
            ],
            [
              0.00021758896413192036,
              0.0006661008433227226,
              -8.600179218699413e-06
            ],
            [
              0.00015849806726112974,
              -8.600179218699413e-06,
              0.0006072601702542914
            ]
          ],
          "nis_distribution": {
            "count": 48,
            "rms": 0.19794453369418982,
            "p50_abs": 0.13432942007954302,
            "p95_abs": 0.34642964484491345,
            "p99_abs": 0.5225801521967738
          },
          "nis_total": 7.8527094757532865,
          "nis_per_dof": 0.05453270469273116,
          "alpha_factor": 0.05453270469273116,
          "alpha_composite_prediction": 0.05453270469273116,
          "alpha_factor_only_upper_bound": 0.4520538108656871,
          "temporal_autocorrelation_lag1": [
            0.04736113346111461,
            -0.0038927393515753852,
            -0.03509139346799097
          ],
          "temporal_linear_drift_per_s": [
            -0.00020224888508261755,
            -0.00013169499538726587,
            0.00011279448683955371
          ]
        },
        "0815_20260812_123424": {
          "sample_count": 315,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.0042791323613791685,
            -0.0320972740323452,
            -0.001642741285780973
          ],
          "innovation_distribution": {
            "count": 945,
            "rms": 0.04545733740563862,
            "p50_abs": 0.023250053657335457,
            "p95_abs": 0.09862676390751515,
            "p99_abs": 0.167436207168638
          },
          "axis_rms": [
            0.06991588941069225,
            0.03461401166651884,
            0.010618247326756185
          ],
          "axis_p50_abs": [
            0.041302578804760515,
            0.03196562272054848,
            0.006330302006903099
          ],
          "axis_p95_abs": [
            0.15283850949287797,
            0.055031189236506975,
            0.018557329423625347
          ],
          "axis_p99_abs": [
            0.1843058756940798,
            0.06155736250543812,
            0.025516368590831107
          ],
          "vector_rms": 0.0787344179633673,
          "vector_p50": 0.05374489844000849,
          "vector_p95": 0.1561735653756402,
          "vector_p99": 0.19175252854394478,
          "normalized_distribution": {
            "count": 945,
            "rms": 0.2613274538599723,
            "p50_abs": 0.1330910466072805,
            "p95_abs": 0.5708926935871838,
            "p99_abs": 0.9691906397654477
          },
          "empirical_covariance": [
            [
              0.00488542991965418,
              0.000765880302739211,
              1.66104007179088e-05
            ],
            [
              0.000765880302739211,
              0.00016842950016837232,
              -1.7007294158998485e-05
            ],
            [
              1.66104007179088e-05,
              -1.7007294158998485e-05,
              0.00011039905053646177
            ]
          ],
          "nis_distribution": {
            "count": 315,
            "rms": 0.3371441257124062,
            "p50_abs": 0.0941607544645656,
            "p95_abs": 0.81549130574167,
            "p99_abs": 1.2295192672625155
          },
          "nis_total": 64.53597604318449,
          "nis_per_dof": 0.06829203814093597,
          "alpha_factor": 0.06829203814093597,
          "alpha_composite_prediction": 0.06829203814093597,
          "alpha_factor_only_upper_bound": 0.566161869426953,
          "temporal_autocorrelation_lag1": [
            0.7148353666916676,
            0.5811063857557452,
            -0.1505318957768347
          ],
          "temporal_linear_drift_per_s": [
            0.00010977347609733353,
            -2.4155569874265033e-06,
            -5.713236735625676e-07
          ]
        },
        "0819_20260819_074023": {
          "sample_count": 15,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.00251187658942816,
            -0.027422222397022723,
            0.012159189593260048
          ],
          "innovation_distribution": {
            "count": 45,
            "rms": 0.04185598035195021,
            "p50_abs": 0.03587272369611583,
            "p95_abs": 0.0738700954437589,
            "p99_abs": 0.09047468111512107
          },
          "axis_rms": [
            0.05293410979782022,
            0.03611376604956765,
            0.03390494352300171
          ],
          "axis_p50_abs": [
            0.037617872210205405,
            0.03586830463381574,
            0.013767903054459518
          ],
          "axis_p95_abs": [
            0.08632334789913043,
            0.05250711877068852,
            0.06209619196156584
          ],
          "axis_p99_abs": [
            0.09526468097972553,
            0.05373556387368353,
            0.0715952355643424
          ],
          "vector_rms": 0.07249668457018242,
          "vector_p50": 0.07290079224796174,
          "vector_p95": 0.1018738028581389,
          "vector_p99": 0.11023302646381959,
          "normalized_distribution": {
            "count": 45,
            "rms": 0.22155221918946652,
            "p50_abs": 0.17806336495133804,
            "p95_abs": 0.411223113263465,
            "p99_abs": 0.5237211496871789
          },
          "empirical_covariance": [
            [
              0.0029954040600933965,
              0.0003472726622898377,
              0.00017320364418910332
            ],
            [
              0.0003472726622898377,
              0.0005916705183119246,
              -0.0001071584847496983
            ],
            [
              0.00017320364418910332,
              -0.0001071584847496983,
              0.0010732492539997415
            ]
          ],
          "nis_distribution": {
            "count": 15,
            "rms": 0.17591669468301038,
            "p50_abs": 0.1323453958417962,
            "p95_abs": 0.3082656965322248,
            "p99_abs": 0.39604571288815876
          },
          "nis_total": 2.2088423622499835,
          "nis_per_dof": 0.04908538582777741,
          "alpha_factor": 0.04908538582777741,
          "alpha_composite_prediction": 0.04908538582777741,
          "alpha_factor_only_upper_bound": 0.40681577566621063,
          "temporal_autocorrelation_lag1": [
            0.3843521866710132,
            0.09873424837590186,
            -0.10067198577604392
          ],
          "temporal_linear_drift_per_s": [
            -0.002619178429838338,
            0.0029881984112488133,
            6.405253287635519e-05
          ]
        },
        "0815_20260814_104150": {
          "sample_count": 117,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.3169821639130598,
            -0.013986028743863906,
            -0.017110770084130405
          ],
          "innovation_distribution": {
            "count": 351,
            "rms": 0.20579415658127082,
            "p50_abs": 0.08789037503022001,
            "p95_abs": 0.443991295845521,
            "p99_abs": 0.4651511349639179
          },
          "axis_rms": [
            0.3355659796356734,
            0.11829057437948799,
            0.0213662812185807
          ],
          "axis_p50_abs": [
            0.3136596398312008,
            0.1107560087582371,
            0.019322980257140188
          ],
          "axis_p95_abs": [
            0.45549650831838445,
            0.19352098357196112,
            0.034089637647030054
          ],
          "axis_p99_abs": [
            0.516490213726545,
            0.22369193652324895,
            0.03988019878103219
          ],
          "vector_rms": 0.3564459350995461,
          "vector_p50": 0.3231798141109391,
          "vector_p95": 0.4866163897880768,
          "vector_p99": 0.5323888390403215,
          "normalized_distribution": {
            "count": 351,
            "rms": 1.1896532236914992,
            "p50_abs": 0.5087613604081003,
            "p95_abs": 2.570082434196733,
            "p99_abs": 2.6925682623288782
          },
          "empirical_covariance": [
            [
              0.012231376126135028,
              0.00966227339205468,
              -0.0005593324033361185
            ],
            [
              0.00966227339205468,
              0.013915991081720551,
              -6.02694486459152e-05
            ],
            [
              -0.0005593324033361185,
              -6.02694486459152e-05,
              0.00016515106782777434
            ]
          ],
          "nis_distribution": {
            "count": 117,
            "rms": 4.839166061864602,
            "p50_abs": 3.4751358552660943,
            "p95_abs": 7.920977679738319,
            "p99_abs": 9.498702243245766
          },
          "nis_total": 496.7614522164914,
          "nis_per_dof": 1.4152747926395768,
          "alpha_factor": 1.4152747926395768,
          "alpha_composite_prediction": 1.4152747926395768,
          "alpha_factor_only_upper_bound": 11.732529274921875,
          "temporal_autocorrelation_lag1": [
            0.9191735933062349,
            0.8472770415021831,
            0.148968591053081
          ],
          "temporal_linear_drift_per_s": [
            -0.00015114036314515923,
            0.00026179805827855103,
            5.321554934095368e-05
          ]
        },
        "0815_20260814_101806": {
          "sample_count": 78,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.32699176056934004,
            0.10917899611440855,
            -0.024688312606705207
          ],
          "innovation_distribution": {
            "count": 234,
            "rms": 0.23036253922647393,
            "p50_abs": 0.20810395802090298,
            "p95_abs": 0.34896032593506165,
            "p99_abs": 0.36178641256751004
          },
          "axis_rms": [
            0.32739391607353124,
            0.22642211879968868,
            0.027330317833926795
          ],
          "axis_p50_abs": [
            0.32199072210606516,
            0.20810395802090298,
            0.0244295762286435
          ],
          "axis_p95_abs": [
            0.35278526123935877,
            0.3465938124968996,
            0.042400139550999
          ],
          "axis_p99_abs": [
            0.36079061256885553,
            0.3699282017406127,
            0.053507982924976105
          ],
          "vector_rms": 0.3989996221008314,
          "vector_p50": 0.39066097412354195,
          "vector_p95": 0.4678386358432014,
          "vector_p99": 0.48266202919716505,
          "normalized_distribution": {
            "count": 234,
            "rms": 1.3311164427631543,
            "p50_abs": 1.2046188260444703,
            "p95_abs": 2.0199694254247116,
            "p99_abs": 2.094213934244157
          },
          "empirical_covariance": [
            [
              0.00026658252642360416,
              -0.002956914487777952,
              -1.3997358043008797e-05
            ],
            [
              -0.002956914487777952,
              0.0398579216851538,
              -0.0005885377438944597
            ],
            [
              -1.3997358043008797e-05,
              -0.0005885377438944597,
              0.00013921834410247444
            ]
          ],
          "nis_distribution": {
            "count": 78,
            "rms": 5.440734058234218,
            "p50_abs": 5.089818280876068,
            "p95_abs": 7.329199100036106,
            "p99_abs": 7.7671567157555135
          },
          "nis_total": 414.61781030149757,
          "nis_per_dof": 1.771870984194434,
          "alpha_factor": 1.771870984194434,
          "alpha_composite_prediction": 1.771870984194434,
          "alpha_factor_only_upper_bound": 14.688934141845246,
          "temporal_autocorrelation_lag1": [
            0.5964293175344858,
            0.8407268917268299,
            -0.1596361532043763
          ],
          "temporal_linear_drift_per_s": [
            -0.00012329297335519492,
            0.0017326592495295209,
            -3.334516356979335e-05
          ]
        },
        "0815_20260814_112658": {
          "sample_count": 90,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.03399024980957298,
            0.02323341622871102,
            1.428490101514912e-05
          ],
          "innovation_distribution": {
            "count": 270,
            "rms": 0.04308766140500444,
            "p50_abs": 0.029610415306511317,
            "p95_abs": 0.08315542154480006,
            "p99_abs": 0.1096197001315826
          },
          "axis_rms": [
            0.05114671687130149,
            0.05090511312476014,
            0.019034771002016965
          ],
          "axis_p50_abs": [
            0.036654669170664844,
            0.047688692345089656,
            0.010509073535885205
          ],
          "axis_p95_abs": [
            0.09377778405947572,
            0.08184114645246074,
            0.03449676758618183
          ],
          "axis_p99_abs": [
            0.1281378792727717,
            0.10100277941001269,
            0.06551387559590333
          ],
          "vector_rms": 0.07463001873279229,
          "vector_p50": 0.066074850413747,
          "vector_p95": 0.11887233046744669,
          "vector_p99": 0.14439887640128454,
          "normalized_distribution": {
            "count": 270,
            "rms": 0.24325014539146878,
            "p50_abs": 0.15966022424297804,
            "p95_abs": 0.4813253466467704,
            "p99_abs": 0.634507424890622
          },
          "empirical_covariance": [
            [
              0.001477061357456529,
              0.000178318551966654,
              -1.3307271844793034e-05
            ],
            [
              0.000178318551966654,
              0.0020745899116059365,
              -0.00023267053587445273
            ],
            [
              -1.3307271844793034e-05,
              -0.00023267053587445273,
              0.000366393340153647
            ]
          ],
          "nis_distribution": {
            "count": 90,
            "rms": 0.22627759722055354,
            "p50_abs": 0.13495503851744522,
            "p95_abs": 0.4625359358321592,
            "p99_abs": 0.6965034805000774
          },
          "nis_total": 15.976070972902086,
          "nis_per_dof": 0.05917063323297069,
          "alpha_factor": 0.05917063323297069,
          "alpha_composite_prediction": 0.05917063323297069,
          "alpha_factor_only_upper_bound": 0.49054609404930655,
          "temporal_autocorrelation_lag1": [
            0.4897525937770672,
            0.7226004865364646,
            -0.024808687306153113
          ],
          "temporal_linear_drift_per_s": [
            -4.206469240762603e-05,
            5.904820624010251e-05,
            -5.546960416692905e-06
          ]
        },
        "0815_20260814_103752": {
          "sample_count": 54,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.36347289911051656,
            -0.015825348282715253,
            -0.017261822550504128
          ],
          "innovation_distribution": {
            "count": 162,
            "rms": 0.21298983205329036,
            "p50_abs": 0.04314821902798016,
            "p95_abs": 0.369945571684427,
            "p99_abs": 0.3784723743688576
          },
          "axis_rms": [
            0.36355096385949615,
            0.05968585431446286,
            0.019034209882486684
          ],
          "axis_p50_abs": [
            0.3634038849379664,
            0.04314821902798016,
            0.01700033905885029
          ],
          "axis_p95_abs": [
            0.37678336839346827,
            0.10484074378305797,
            0.030160391940667837
          ],
          "axis_p99_abs": [
            0.37979921186806903,
            0.12489010268897173,
            0.03211673989860656
          ],
          "vector_rms": 0.3689092106118611,
          "vector_p50": 0.3670109898634071,
          "vector_p95": 0.3884661839646241,
          "vector_p99": 0.398301648187155,
          "normalized_distribution": {
            "count": 162,
            "rms": 1.2316783869047991,
            "p50_abs": 0.24976573023497595,
            "p95_abs": 2.141459561689615,
            "p99_abs": 2.190817777419166
          },
          "empirical_covariance": [
            [
              5.782578320199335e-05,
              -0.00030063697608440494,
              -2.8975840869015997e-05
            ],
            [
              -0.00030063697608440494,
              0.003374449359939898,
              2.1048416908637068e-05
            ],
            [
              -2.8975840869015997e-05,
              2.1048416908637068e-05,
              6.55444135210356e-05
            ]
          ],
          "nis_distribution": {
            "count": 54,
            "rms": 4.558267700422127,
            "p50_abs": 4.5104127871316475,
            "p95_abs": 5.047255551439543,
            "p99_abs": 5.30320084234039
          },
          "nis_total": 245.75912710048212,
          "nis_per_dof": 1.5170316487684081,
          "alpha_factor": 1.5170316487684081,
          "alpha_composite_prediction": 1.5170316487684081,
          "alpha_factor_only_upper_bound": 12.576137019896168,
          "temporal_autocorrelation_lag1": [
            0.21759614961351176,
            0.5401202301309281,
            -0.4900158226104314
          ],
          "temporal_linear_drift_per_s": [
            -3.4140488924844657e-05,
            0.00018436021338072095,
            1.8799334248355377e-05
          ]
        },
        "0819_20260819_064333": {
          "sample_count": 126,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            -0.11255931137841664,
            -0.05831518415413984,
            -0.0018353059852112023
          ],
          "innovation_distribution": {
            "count": 378,
            "rms": 0.08036771485765117,
            "p50_abs": 0.05491140306632403,
            "p95_abs": 0.1801567472054671,
            "p99_abs": 0.22598646669818384
          },
          "axis_rms": [
            0.12595114656458492,
            0.05884267484507163,
            0.0071243996565177985
          ],
          "axis_p50_abs": [
            0.1025238913360198,
            0.05690795960521555,
            0.0046417845396549695
          ],
          "axis_p95_abs": [
            0.21596383315746692,
            0.07241801714947194,
            0.014507417230134073
          ],
          "axis_p99_abs": [
            0.24868025857062293,
            0.0770683188718877,
            0.016837721298101682
          ],
          "vector_rms": 0.13920096542165997,
          "vector_p50": 0.11731730761660689,
          "vector_p95": 0.2271905703377472,
          "vector_p99": 0.2603853251624167,
          "normalized_distribution": {
            "count": 378,
            "rms": 0.4647485140856139,
            "p50_abs": 0.31785231208742154,
            "p95_abs": 1.0428298672401757,
            "p99_abs": 1.3081134938344356
          },
          "empirical_covariance": [
            [
              0.0032196454848938062,
              0.00042886022051488525,
              9.008492622619802e-05
            ],
            [
              0.00042886022051488525,
              6.229407743151413e-05,
              1.0626161022342352e-05
            ],
            [
              9.008492622619802e-05,
              1.0626161022342352e-05,
              4.776783218569037e-05
            ]
          ],
          "nis_distribution": {
            "count": 126,
            "rms": 0.8325362480662256,
            "p50_abs": 0.4599593314244239,
            "p95_abs": 1.7282197048575676,
            "p99_abs": 2.2707443105344156
          },
          "nis_total": 81.64466654832914,
          "nis_per_dof": 0.2159911813447861,
          "alpha_factor": 0.2159911813447861,
          "alpha_composite_prediction": 0.2159911813447861,
          "alpha_factor_only_upper_bound": 1.7906334232845214,
          "temporal_autocorrelation_lag1": [
            0.7269799136257721,
            0.61116574860004,
            -0.25600577308288863
          ],
          "temporal_linear_drift_per_s": [
            -0.00016719395752442287,
            -2.306632317983028e-05,
            1.294032084883188e-08
          ]
        },
        "0815_20260814_103326": {
          "sample_count": 41,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.333228748196071,
            -0.06462033511540173,
            -0.015629671724771806
          ],
          "innovation_distribution": {
            "count": 123,
            "rms": 0.19795356552356794,
            "p50_abs": 0.05249742665243673,
            "p95_abs": 0.34240539458389774,
            "p99_abs": 0.34793881107136315
          },
          "axis_rms": [
            0.33332212681269235,
            0.07825814474359205,
            0.018134631753497207
          ],
          "axis_p50_abs": [
            0.33093463379822197,
            0.05249742665243673,
            0.015378174636576203
          ],
          "axis_p95_abs": [
            0.3469391553337857,
            0.13201122984206393,
            0.030094219766136354
          ],
          "axis_p99_abs": [
            0.350520434118539,
            0.1683024068421816,
            0.033996329047387766
          ],
          "vector_rms": 0.3428656330262345,
          "vector_p50": 0.3353407778845434,
          "vector_p95": 0.36845817142665926,
          "vector_p99": 0.3844287084228894,
          "normalized_distribution": {
            "count": 123,
            "rms": 1.1446401577026466,
            "p50_abs": 0.3038764385423533,
            "p95_abs": 1.981992276702316,
            "p99_abs": 2.01402218254842
          },
          "empirical_covariance": [
            [
              6.379763858142331e-05,
              -0.00026427217122951946,
              -2.4909695726762383e-05
            ],
            [
              -0.00026427217122951946,
              0.0019972632459892385,
              5.2552696065594894e-05
            ],
            [
              -2.4909695726762383e-05,
              5.2552696065594894e-05,
              8.66926863760883e-05
            ]
          ],
          "nis_distribution": {
            "count": 41,
            "rms": 3.9493524471469392,
            "p50_abs": 3.7484023054394777,
            "p95_abs": 4.539260443005133,
            "p99_abs": 4.944227375910869
          },
          "nis_total": 161.15473414694145,
          "nis_per_dof": 1.3102010906255404,
          "alpha_factor": 1.3102010906255404,
          "alpha_composite_prediction": 1.3102010906255404,
          "alpha_factor_only_upper_bound": 10.862054968412435,
          "temporal_autocorrelation_lag1": [
            0.3829888033971919,
            0.5458745084904854,
            -0.4171626526041443
          ],
          "temporal_linear_drift_per_s": [
            -0.00013803102851842443,
            0.0009442579811076708,
            1.9169087281815153e-05
          ]
        },
        "0819_20260819_063601": {
          "sample_count": 64,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.22318675215380557,
            0.1575419722364474,
            -0.01158154554114904
          ],
          "innovation_distribution": {
            "count": 192,
            "rms": 0.16347699002074784,
            "p50_abs": 0.15707219503329384,
            "p95_abs": 0.27924666234789003,
            "p99_abs": 0.2973820954853878
          },
          "axis_rms": [
            0.22721533134467792,
            0.16836034603225933,
            0.014218505004296085
          ],
          "axis_p50_abs": [
            0.21861243635105154,
            0.16029181984535867,
            0.011386799429904726
          ],
          "axis_p95_abs": [
            0.2951857279686081,
            0.2474058003564906,
            0.025187581559422155
          ],
          "axis_p99_abs": [
            0.3025857835692966,
            0.2645339755048248,
            0.02867258622255427
          ],
          "vector_rms": 0.2831504525843656,
          "vector_p50": 0.2801104469161282,
          "vector_p95": 0.30146284287186403,
          "vector_p99": 0.31117887310547665,
          "normalized_distribution": {
            "count": 192,
            "rms": 0.9453720603820794,
            "p50_abs": 0.9091925003256507,
            "p95_abs": 1.6163847316233713,
            "p99_abs": 1.7213596852154183
          },
          "empirical_covariance": [
            [
              0.0018432817382679706,
              -0.002554962433000893,
              -8.498927271446372e-05
            ],
            [
              -0.002554962433000893,
              0.0035816971174120983,
              9.137568473595492e-05
            ],
            [
              -8.498927271446372e-05,
              9.137568473595492e-05,
              6.911358723604685e-05
            ]
          ],
          "nis_distribution": {
            "count": 64,
            "rms": 2.6886714410431654,
            "p50_abs": 2.623211452517447,
            "p95_abs": 3.0411251710058322,
            "p99_abs": 3.230717756105943
          },
          "nis_total": 171.59583984980316,
          "nis_per_dof": 0.8937283325510581,
          "alpha_factor": 0.8937283325510581,
          "alpha_composite_prediction": 0.8937283325510581,
          "alpha_factor_only_upper_bound": 7.409495776417885,
          "temporal_autocorrelation_lag1": [
            0.7471862909704683,
            0.7545226194463872,
            -0.38190614646294896
          ],
          "temporal_linear_drift_per_s": [
            0.00033847319153813436,
            -0.0004982054327519182,
            1.0070180845691089e-05
          ]
        },
        "0819_20260819_062947": {
          "sample_count": 53,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.29492320597903804,
            0.059783657242786364,
            -0.014087649541763956
          ],
          "innovation_distribution": {
            "count": 159,
            "rms": 0.1747394188692669,
            "p50_abs": 0.05745463332471701,
            "p95_abs": 0.2997892908915105,
            "p99_abs": 0.30235471536614283
          },
          "axis_rms": [
            0.2949605154424696,
            0.06601278611979253,
            0.015562773497114197
          ],
          "axis_p50_abs": [
            0.2956760931187432,
            0.05745463332471701,
            0.013828748877655617
          ],
          "axis_p95_abs": [
            0.30164771227957204,
            0.11125940467291712,
            0.02390959829770396
          ],
          "axis_p99_abs": [
            0.3043737559951353,
            0.13255725070127303,
            0.024832914617315998
          ],
          "vector_rms": 0.30265755156663,
          "vector_p50": 0.30251006727054663,
          "vector_p95": 0.30924819507173495,
          "vector_p99": 0.31565817527590734,
          "normalized_distribution": {
            "count": 159,
            "rms": 1.0104770576752578,
            "p50_abs": 0.3325766586058542,
            "p95_abs": 1.735330971482065,
            "p99_abs": 1.7501809078261914
          },
          "empirical_covariance": [
            [
              2.243148061657778e-05,
              -0.00010509598105715921,
              -8.95006723724344e-06
            ],
            [
              -0.00010509598105715921,
              0.0007986715321663295,
              2.0417338458899604e-05
            ],
            [
              -8.95006723724344e-06,
              2.0417338458899604e-05,
              4.457916564382013e-05
            ]
          ],
          "nis_distribution": {
            "count": 53,
            "rms": 3.0645668569059445,
            "p50_abs": 3.0622114723678293,
            "p95_abs": 3.1987497063938566,
            "p99_abs": 3.331339750235265
          },
          "nis_total": 162.34915756999933,
          "nis_per_dof": 1.0210638840880462,
          "alpha_factor": 1.0210638840880462,
          "alpha_composite_prediction": 1.0210638840880462,
          "alpha_factor_only_upper_bound": 8.464809590844023,
          "temporal_autocorrelation_lag1": [
            0.10852519509632674,
            0.19634267584882506,
            -0.03376560885143864
          ],
          "temporal_linear_drift_per_s": [
            1.354835175503887e-05,
            -7.42104910508478e-05,
            -3.0183823918373745e-05
          ]
        },
        "0815_20260814_102314": {
          "sample_count": 44,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.3550548622387259,
            0.1160800054960006,
            -0.017646887857663593
          ],
          "innovation_distribution": {
            "count": 132,
            "rms": 0.2172426580162367,
            "p50_abs": 0.11383170564987921,
            "p95_abs": 0.36068903735035746,
            "p99_abs": 0.3679113148470248
          },
          "axis_rms": [
            0.3551109792044869,
            0.12290525648024866,
            0.019328935920878837
          ],
          "axis_p50_abs": [
            0.35465835038965565,
            0.11383170564987921,
            0.017681608372882962
          ],
          "axis_p95_abs": [
            0.36692420876416776,
            0.18182971782990265,
            0.029438455815943034
          ],
          "axis_p99_abs": [
            0.3685276058856249,
            0.1894183856383133,
            0.03319353453082931
          ],
          "vector_rms": 0.3762753212554322,
          "vector_p50": 0.37512285657284217,
          "vector_p95": 0.3951417586912839,
          "vector_p99": 0.4041920936453312,
          "normalized_distribution": {
            "count": 132,
            "rms": 1.2564149113018857,
            "p50_abs": 0.658995222583119,
            "p95_abs": 2.0880965704447045,
            "p99_abs": 2.1299075974126525
          },
          "empirical_covariance": [
            [
              4.0779151097536376e-05,
              -0.00013621295616224,
              -2.917901230285924e-05
            ],
            [
              -0.00013621295616224,
              0.0016690677525363642,
              4.5578012284732825e-05
            ],
            [
              -2.917901230285924e-05,
              4.5578012284732825e-05,
              6.364151074393869e-05
            ]
          ],
          "nis_distribution": {
            "count": 44,
            "rms": 4.7435866193967735,
            "p50_abs": 4.707308184210781,
            "p95_abs": 5.231957906320877,
            "p99_abs": 5.453741303927434
          },
          "nis_total": 208.37235267310774,
          "nis_per_dof": 1.5785784293417253,
          "alpha_factor": 1.5785784293417253,
          "alpha_composite_prediction": 1.5785784293417253,
          "alpha_factor_only_upper_bound": 13.083602922500338,
          "temporal_autocorrelation_lag1": [
            0.12175074623241801,
            0.26774943851633254,
            -0.20328338343918828
          ],
          "temporal_linear_drift_per_s": [
            6.917847839779576e-06,
            -0.0003595624208592793,
            2.1870582751324956e-06
          ]
        },
        "0819_20260819_071004": {
          "sample_count": 98,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.043323632661255246,
            -0.048367140997500356,
            -0.006117117287361812
          ],
          "innovation_distribution": {
            "count": 294,
            "rms": 0.044738006046292175,
            "p50_abs": 0.04381355806175691,
            "p95_abs": 0.079854166720159,
            "p99_abs": 0.09894564411190543
          },
          "axis_rms": [
            0.059565098944411664,
            0.0485870974148843,
            0.00978572979052746
          ],
          "axis_p50_abs": [
            0.05569072932753727,
            0.04758765616634619,
            0.00717565612174903
          ],
          "axis_p95_abs": [
            0.09660948205181084,
            0.056538217036149516,
            0.018664616367180604
          ],
          "axis_p99_abs": [
            0.10233478545133157,
            0.060242918925169704,
            0.021542385022683675
          ],
          "vector_rms": 0.07748849950150168,
          "vector_p50": 0.07434995612136408,
          "vector_p95": 0.10684051743750024,
          "vector_p99": 0.11277732360986949,
          "normalized_distribution": {
            "count": 294,
            "rms": 0.2574107365441764,
            "p50_abs": 0.2536111157260825,
            "p95_abs": 0.46222919326854534,
            "p99_abs": 0.5727386422035456
          },
          "empirical_covariance": [
            [
              0.0016882913278189336,
              0.00016907166803932104,
              -2.8385467198859942e-05
            ],
            [
              0.00016907166803932104,
              2.1545559580154547e-05,
              -2.9755324992004903e-07
            ],
            [
              -2.8385467198859942e-05,
              -2.9755324992004903e-07,
              5.894284118902927e-05
            ]
          ],
          "nis_distribution": {
            "count": 98,
            "rms": 0.21869611876346223,
            "p50_abs": 0.182296943987435,
            "p95_abs": 0.37316363019002374,
            "p99_abs": 0.41689476588834373
          },
          "nis_total": 19.480524462735325,
          "nis_per_dof": 0.06626028728821538,
          "alpha_factor": 0.06626028728821538,
          "alpha_composite_prediction": 0.06626028728821538,
          "alpha_factor_only_upper_bound": 0.5493191828096586,
          "temporal_autocorrelation_lag1": [
            0.685868687378484,
            0.47505803108832323,
            -0.2415372076926008
          ],
          "temporal_linear_drift_per_s": [
            -0.00015269937616569905,
            -1.9158638957926867e-05,
            -2.940855605322956e-05
          ]
        },
        "0819_20260819_073045": {
          "sample_count": 108,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.03460289526137559,
            0.03527767420263158,
            -0.00047579421172166134
          ],
          "innovation_distribution": {
            "count": 324,
            "rms": 0.04537708923843631,
            "p50_abs": 0.026142521512600325,
            "p95_abs": 0.09902144835344011,
            "p99_abs": 0.1499703724082593
          },
          "axis_rms": [
            0.06934326348406156,
            0.03640331705832501,
            0.006599318130694819
          ],
          "axis_p50_abs": [
            0.042850027658843715,
            0.03498002799961597,
            0.004880331456523279
          ],
          "axis_p95_abs": [
            0.14576141429040917,
            0.05242018482519127,
            0.012752522360900628
          ],
          "axis_p99_abs": [
            0.16576387895620254,
            0.055625994080668865,
            0.015581852264580899
          ],
          "vector_rms": 0.07859542406055862,
          "vector_p50": 0.05141433457057987,
          "vector_p95": 0.15494241688133586,
          "vector_p99": 0.1743706733462591,
          "normalized_distribution": {
            "count": 324,
            "rms": 0.2619704315245553,
            "p50_abs": 0.1513257673556525,
            "p95_abs": 0.5731849292719181,
            "p99_abs": 0.8681024681641726
          },
          "empirical_covariance": [
            [
              0.0036448766883759565,
              0.0005224121436146691,
              -5.251370014529868e-05
            ],
            [
              0.0005224121436146691,
              8.144128164305828e-05,
              -1.0723125584592383e-05
            ],
            [
              -5.251370014529868e-05,
              -1.0723125584592383e-05,
              4.372952264566943e-05
            ]
          ],
          "nis_distribution": {
            "count": 108,
            "rms": 0.31670131476120567,
            "p50_abs": 0.08829486322261518,
            "p95_abs": 0.804085375631946,
            "p99_abs": 1.0174922345245954
          },
          "nis_total": 22.2356362657844,
          "nis_per_dof": 0.06862850699316173,
          "alpha_factor": 0.06862850699316173,
          "alpha_composite_prediction": 0.06862850699316173,
          "alpha_factor_only_upper_bound": 0.5689423549459677,
          "temporal_autocorrelation_lag1": [
            0.7700266256201252,
            0.6709420977481144,
            -0.33853222356760887
          ],
          "temporal_linear_drift_per_s": [
            -0.00048663600782891897,
            -6.75713089051293e-05,
            -1.0803360944944499e-06
          ]
        },
        "0815_20260814_113355": {
          "sample_count": 13,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.059097655867572665,
            0.04322908619415914,
            0.0005449248490658839
          ],
          "innovation_distribution": {
            "count": 39,
            "rms": 0.051984219636422316,
            "p50_abs": 0.025751698491795372,
            "p95_abs": 0.09747918965040914,
            "p99_abs": 0.11103677514349992
          },
          "axis_rms": [
            0.06948105596709873,
            0.05456212683888595,
            0.017390642602779262
          ],
          "axis_p50_abs": [
            0.059184945501397745,
            0.03298812719794775,
            0.010743638176684334
          ],
          "axis_p95_abs": [
            0.11027230065913879,
            0.09127319563981223,
            0.03155036021163303
          ],
          "axis_p99_abs": [
            0.11194024498865399,
            0.09337471882638602,
            0.03595805746506159
          ],
          "vector_rms": 0.09003930960210316,
          "vector_p50": 0.08708484193752732,
          "vector_p95": 0.12761471569393174,
          "vector_p99": 0.1282811938260627,
          "normalized_distribution": {
            "count": 39,
            "rms": 0.2966514734087691,
            "p50_abs": 0.11190003400251475,
            "p95_abs": 0.5642106313794248,
            "p99_abs": 0.6426821285216023
          },
          "empirical_covariance": [
            [
              0.0014463412266994815,
              0.0007307563831004273,
              -5.081952535139069e-05
            ],
            [
              0.0007307563831004273,
              0.0012006277746673575,
              -0.00017650425850770967
            ],
            [
              -5.081952535139069e-05,
              -0.00017650425850770967,
              0.00032731563263367755
            ]
          ],
          "nis_distribution": {
            "count": 13,
            "rms": 0.337018622716283,
            "p50_abs": 0.2540344570939605,
            "p95_abs": 0.5449999114708063,
            "p99_abs": 0.5507047962444492
          },
          "nis_total": 3.4320817703481508,
          "nis_per_dof": 0.08800209667559361,
          "alpha_factor": 0.08800209667559361,
          "alpha_composite_prediction": 0.08800209667559361,
          "alpha_factor_only_upper_bound": 0.7296529107426095,
          "temporal_autocorrelation_lag1": [
            0.9447888386179892,
            0.35613800108119004,
            -0.3261268992336726
          ],
          "temporal_linear_drift_per_s": [
            -0.008136867314417744,
            -0.005252345914610811,
            6.117084968832252e-05
          ]
        },
        "0815_20260814_103601": {
          "sample_count": 57,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.32972147955514414,
            0.05157103303618234,
            -0.021446530984225234
          ],
          "innovation_distribution": {
            "count": 171,
            "rms": 0.19423493628190666,
            "p50_abs": 0.0548931430322952,
            "p95_abs": 0.3359686078941593,
            "p99_abs": 0.34169740523046244
          },
          "axis_rms": [
            0.32978978490033695,
            0.062131650641113534,
            0.02366404828656973
          ],
          "axis_p50_abs": [
            0.33090789729803305,
            0.0548931430322952,
            0.02155189125805601
          ],
          "axis_p95_abs": [
            0.338693426873715,
            0.11005135501134182,
            0.03562319190356358
          ],
          "axis_p99_abs": [
            0.34258773656192487,
            0.1445183548817954,
            0.04111511706536318
          ],
          "vector_rms": 0.33642477824516587,
          "vector_p50": 0.33675507324949855,
          "vector_p95": 0.34698444690965896,
          "vector_p99": 0.3544364651805342,
          "normalized_distribution": {
            "count": 171,
            "rms": 1.1222613599679994,
            "p50_abs": 0.31775475758866445,
            "p95_abs": 1.9447860873844727,
            "p99_abs": 1.977947718095058
          },
          "empirical_covariance": [
            [
              4.585257573039582e-05,
              -0.00012776854088941244,
              -3.984352435689566e-05
            ],
            [
              -0.00012776854088941244,
              0.0012222128944519878,
              6.982794446215328e-07
            ],
            [
              -3.984352435689566e-05,
              6.982794446215328e-07,
              0.00010181980237412371
            ]
          ],
          "nis_distribution": {
            "count": 57,
            "rms": 3.7817785079789137,
            "p50_abs": 3.7884631398977837,
            "p95_abs": 4.027971363291774,
            "p99_abs": 4.192706886642948
          },
          "nis_total": 215.3694657732052,
          "nis_per_dof": 1.2594705600772234,
          "alpha_factor": 1.2594705600772234,
          "alpha_composite_prediction": 1.2594705600772234,
          "alpha_factor_only_upper_bound": 10.440892688085853,
          "temporal_autocorrelation_lag1": [
            -0.1499540966066461,
            0.3416064105452219,
            -0.543679630218298
          ],
          "temporal_linear_drift_per_s": [
            4.608974932670716e-05,
            -0.00038127437300911803,
            2.867593832135413e-05
          ]
        },
        "0808_20260808_081539": {
          "sample_count": 51,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.07713808204495555,
            -0.18081706104229633,
            -0.007663785356751777
          ],
          "innovation_distribution": {
            "count": 153,
            "rms": 0.1145054735535094,
            "p50_abs": 0.07451845105544219,
            "p95_abs": 0.18887154885277022,
            "p99_abs": 0.1935882535438514
          },
          "axis_rms": [
            0.0806249786577257,
            0.1809589061749154,
            0.009380698991001541
          ],
          "axis_p50_abs": [
            0.07451845105544219,
            0.18079505080493563,
            0.007301682689793476
          ],
          "axis_p95_abs": [
            0.11157452913242327,
            0.19265482266270584,
            0.01597524056490146
          ],
          "axis_p99_abs": [
            0.1312517240980705,
            0.19561940602640482,
            0.021472456810309015
          ],
          "vector_rms": 0.1983292979394127,
          "vector_p50": 0.1977022863339367,
          "vector_p95": 0.20563409575962,
          "vector_p99": 0.2104020343187874,
          "normalized_distribution": {
            "count": 153,
            "rms": 0.6622520435458212,
            "p50_abs": 0.4313452852883703,
            "p95_abs": 1.0932711007739704,
            "p99_abs": 1.1205734126514268
          },
          "empirical_covariance": [
            [
              0.0005611055516241176,
              0.0001658487699612889,
              -1.4080833516449155e-05
            ],
            [
              0.0001658487699612889,
              5.23424832492852e-05,
              -4.61774563537311e-06
            ],
            [
              -1.4080833516449155e-05,
              -4.61774563537311e-06,
              2.9849185716722625e-05
            ]
          ],
          "nis_distribution": {
            "count": 51,
            "rms": 1.3168173575079842,
            "p50_abs": 1.3073500636457813,
            "p95_abs": 1.413103662879907,
            "p99_abs": 1.4822308598583385
          },
          "nis_total": 67.10239868463431,
          "nis_per_dof": 0.4385777691806164,
          "alpha_factor": 0.4385777691806164,
          "alpha_composite_prediction": 0.4385777691806164,
          "alpha_factor_only_upper_bound": 3.6359733598120823,
          "temporal_autocorrelation_lag1": [
            -0.02590280576468935,
            0.020591848770630042,
            0.038179022880066874
          ],
          "temporal_linear_drift_per_s": [
            -8.473612935384964e-05,
            -2.650813311766051e-05,
            5.664869436642761e-06
          ]
        },
        "0819_20260819_065931": {
          "sample_count": 140,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.3914902016733399,
            0.003905632963665744,
            -0.014573222467629496
          ],
          "innovation_distribution": {
            "count": 420,
            "rms": 0.2277194263474044,
            "p50_abs": 0.03421244837912951,
            "p95_abs": 0.40049298645561177,
            "p99_abs": 0.4092838605260187
          },
          "axis_rms": [
            0.39159019810903917,
            0.04419103915750139,
            0.016513031553183496
          ],
          "axis_p50_abs": [
            0.39143789634195514,
            0.03421244837912951,
            0.014731013033544182
          ],
          "axis_p95_abs": [
            0.4059899675313801,
            0.08102091349348602,
            0.027097125803318117
          ],
          "axis_p99_abs": [
            0.412816616306724,
            0.10023727629196327,
            0.031227717240379146
          ],
          "vector_rms": 0.3944216163041433,
          "vector_p50": 0.3931828258518333,
          "vector_p95": 0.41496714125939727,
          "vector_p99": 0.4241381249661022,
          "normalized_distribution": {
            "count": 420,
            "rms": 1.3173574603766935,
            "p50_abs": 0.1980492170339741,
            "p95_abs": 2.318375876072781,
            "p99_abs": 2.3692648648004586
          },
          "empirical_covariance": [
            [
              7.88685959582167e-05,
              -0.0003106285103809634,
              -3.040178585253641e-05
            ],
            [
              -0.0003106285103809634,
              0.0019515334979583658,
              1.1066632980784199e-05
            ],
            [
              -3.040178585253641e-05,
              1.1066632980784199e-05,
              6.073522099250178e-05
            ]
          ],
          "nis_distribution": {
            "count": 140,
            "rms": 5.212778754810992,
            "p50_abs": 5.169908304037089,
            "p95_abs": 5.762264975882807,
            "p99_abs": 6.012188209032514
          },
          "nis_total": 728.8808849322553,
          "nis_per_dof": 1.7354306784101317,
          "alpha_factor": 1.7354306784101317,
          "alpha_composite_prediction": 1.7354306784101317,
          "alpha_factor_only_upper_bound": 14.385546412006068,
          "temporal_autocorrelation_lag1": [
            0.3480699066708146,
            0.6977302643873582,
            -0.21116775455980608
          ],
          "temporal_linear_drift_per_s": [
            -8.601414055451198e-05,
            0.0005442750365538801,
            3.4381729230248576e-06
          ]
        },
        "0819_20260819_072130": {
          "sample_count": 54,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.014662011993533182,
            -0.13200393478776895,
            0.0004945474973581768
          ],
          "innovation_distribution": {
            "count": 162,
            "rms": 0.0817066426532148,
            "p50_abs": 0.020488794042620384,
            "p95_abs": 0.18423497365669053,
            "p99_abs": 0.2140054851465629
          },
          "axis_rms": [
            0.02622447246023039,
            0.13887196164086743,
            0.007401464394326473
          ],
          "axis_p50_abs": [
            0.02015013644073349,
            0.125398654340529,
            0.004607313935607038
          ],
          "axis_p95_abs": [
            0.046489594059517,
            0.20555733468596024,
            0.013703180175567093
          ],
          "axis_p99_abs": [
            0.057743735396243494,
            0.21744754890504153,
            0.01976127147030336
          ],
          "vector_rms": 0.14152005639124238,
          "vector_p50": 0.12698164204698956,
          "vector_p95": 0.2069276764385068,
          "vector_p99": 0.2195432557356583,
          "normalized_distribution": {
            "count": 162,
            "rms": 0.4724682214588019,
            "p50_abs": 0.1166375920680683,
            "p95_abs": 1.0664308917215146,
            "p99_abs": 1.2387554403560346
          },
          "empirical_covariance": [
            [
              0.00048166814049847265,
              0.0009494939973475121,
              5.0321430583001384e-05
            ],
            [
              0.0009494939973475121,
              0.001895484495255956,
              8.099794210246913e-05
            ],
            [
              5.0321430583001384e-05,
              8.099794210246913e-05,
              5.5566099801515525e-05
            ]
          ],
          "nis_distribution": {
            "count": 54,
            "rms": 0.7765814027818211,
            "p50_abs": 0.5382839188131527,
            "p95_abs": 1.4332818858261238,
            "p99_abs": 1.6139594143151639
          },
          "nis_total": 36.16264768672785,
          "nis_per_dof": 0.22322622028844352,
          "alpha_factor": 0.22322622028844352,
          "alpha_composite_prediction": 0.22322622028844352,
          "alpha_factor_only_upper_bound": 1.8506333430180613,
          "temporal_autocorrelation_lag1": [
            0.5452161890512189,
            0.5570593971649528,
            -0.2699989696668425
          ],
          "temporal_linear_drift_per_s": [
            0.0002015669834560414,
            0.00040101480048017454,
            3.406279112195083e-05
          ]
        },
        "0808_20260808_101021": {
          "sample_count": 29,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.794661109630682,
            0.19375779548737232,
            -0.07050130238815357
          ],
          "innovation_distribution": {
            "count": 87,
            "rms": 0.4742629391137927,
            "p50_abs": 0.1945447706632848,
            "p95_abs": 0.804385299676025,
            "p99_abs": 0.8073997576271722
          },
          "axis_rms": [
            0.7946943080694657,
            0.1955215752705696,
            0.07076917815170261
          ],
          "axis_p50_abs": [
            0.7923356020857568,
            0.1945447706632848,
            0.0711563927911728
          ],
          "axis_p95_abs": [
            0.8066386106552613,
            0.22634657104288464,
            0.08031076649272784
          ],
          "axis_p99_abs": [
            0.8099538924392846,
            0.2319281742434529,
            0.08278134925277936
          ],
          "vector_rms": 0.821447506692034,
          "vector_p50": 0.8220681835533116,
          "vector_p95": 0.8264237153098268,
          "vector_p99": 0.8266071405060204,
          "normalized_distribution": {
            "count": 87,
            "rms": 2.737862505119561,
            "p50_abs": 1.1262204626635337,
            "p95_abs": 4.6565839171404,
            "p99_abs": 4.674034914816519
          },
          "empirical_covariance": [
            [
              5.46485513451688e-05,
              -0.0001693228048178283,
              1.2277159601716406e-05
            ],
            [
              -0.0001693228048178283,
              0.0007111246228785589,
              -7.833417871763139e-05
            ],
            [
              1.2277159601716406e-05,
              -7.833417871763139e-05,
              3.919447133589482e-05
            ]
          ],
          "nis_distribution": {
            "count": 29,
            "rms": 22.488590655876838,
            "p50_abs": 22.52493651344042,
            "p95_abs": 22.762154957227718,
            "p99_abs": 22.774400392283145
          },
          "nis_total": 652.1425254337416,
          "nis_per_dof": 7.495891096939559,
          "alpha_factor": 7.495891096939559,
          "alpha_composite_prediction": 7.495891096939559,
          "alpha_factor_only_upper_bound": 62.13146285355176,
          "temporal_autocorrelation_lag1": [
            0.11520912082689033,
            0.09855417873220083,
            0.11632953329144506
          ],
          "temporal_linear_drift_per_s": [
            -6.0952068553153024e-05,
            0.0002608124412922888,
            -0.00011278026849001608
          ]
        },
        "0808_20260808_075440": {
          "sample_count": 35,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.049569473470841535,
            -0.15472596213598097,
            -0.007411399153206823
          ],
          "innovation_distribution": {
            "count": 105,
            "rms": 0.10137235864016846,
            "p50_abs": 0.04062396531719065,
            "p95_abs": 0.19272487563169222,
            "p99_abs": 0.19819540644449177
          },
          "axis_rms": [
            0.05401826310894828,
            0.16683458473615578,
            0.008792830910446277
          ],
          "axis_p50_abs": [
            0.046094332564488416,
            0.18735880952942252,
            0.007851843198919739
          ],
          "axis_p95_abs": [
            0.09148663181593825,
            0.1976228181109979,
            0.014385384592825715
          ],
          "axis_p99_abs": [
            0.10325658775303638,
            0.19968540985585112,
            0.01889242885086254
          ],
          "vector_rms": 0.17558207564786563,
          "vector_p50": 0.19601041396721586,
          "vector_p95": 0.20206828739375507,
          "vector_p99": 0.20562779350221227,
          "normalized_distribution": {
            "count": 105,
            "rms": 0.586277691230697,
            "p50_abs": 0.23516593444013745,
            "p95_abs": 1.1156550851226295,
            "p99_abs": 1.1473231255077805
          },
          "empirical_covariance": [
            [
              0.0004743941682231902,
              -0.0004855524334848231,
              -4.5329221647999155e-05
            ],
            [
              -0.0004855524334848231,
              0.0040081745788623,
              3.379691405449824e-05
            ],
            [
              -4.5329221647999155e-05,
              3.379691405449824e-05,
              2.3043421482472458e-05
            ]
          ],
          "nis_distribution": {
            "count": 35,
            "rms": 1.1500445443852665,
            "p50_abs": 1.2858508632548549,
            "p95_abs": 1.3664698703954632,
            "p99_abs": 1.4099877340649698
          },
          "nis_total": 36.09076077965363,
          "nis_per_dof": 0.3437215312347965,
          "alpha_factor": 0.3437215312347965,
          "alpha_composite_prediction": 0.3437215312347965,
          "alpha_factor_only_upper_bound": 2.8491740631711147,
          "temporal_autocorrelation_lag1": [
            0.042435002846938644,
            0.9039712913423099,
            -0.1557166324194025
          ],
          "temporal_linear_drift_per_s": [
            9.818707120936241e-05,
            -0.0006539854677232273,
            -1.846527975576193e-05
          ]
        },
        "0808_20260808_080830": {
          "sample_count": 97,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.07058694258155951,
            -0.18325308238782692,
            -0.0068019169604346215
          ],
          "innovation_distribution": {
            "count": 291,
            "rms": 0.11398895404319688,
            "p50_abs": 0.06974186369534868,
            "p95_abs": 0.18918220911750283,
            "p99_abs": 0.19454873908158618
          },
          "axis_rms": [
            0.07278043786682005,
            0.18334501698639957,
            0.008249699494948037
          ],
          "axis_p50_abs": [
            0.06974186369534868,
            0.1839907213972627,
            0.006955813597867233
          ],
          "axis_p95_abs": [
            0.1007558733679365,
            0.19249525629945677,
            0.014001881660911975
          ],
          "axis_p99_abs": [
            0.10591456834740957,
            0.19519362734127138,
            0.015738431291683324
          ],
          "vector_rms": 0.1974346599044508,
          "vector_p50": 0.19734563803931923,
          "vector_p95": 0.20168474612135476,
          "vector_p99": 0.20424171915911524,
          "normalized_distribution": {
            "count": 291,
            "rms": 0.6594134388098034,
            "p50_abs": 0.4037129817597162,
            "p95_abs": 1.0951145508398707,
            "p99_abs": 1.1261796290554098
          },
          "empirical_covariance": [
            [
              0.00031775146133485976,
              9.99642040268968e-05,
              -1.8326656497156242e-05
            ],
            [
              9.99642040268968e-05,
              3.4054122531649814e-05,
              -6.694907152128106e-06
            ],
            [
              -1.8326656497156242e-05,
              -6.694907152128106e-06,
              2.2018461872592454e-05
            ]
          ],
          "nis_distribution": {
            "count": 97,
            "rms": 1.3048419190478615,
            "p50_abs": 1.3031888328965486,
            "p95_abs": 1.3594838641154607,
            "p99_abs": 1.3957517764183216
          },
          "nis_total": 126.53439023534438,
          "nis_per_dof": 0.43482608328297034,
          "alpha_factor": 0.43482608328297034,
          "alpha_composite_prediction": 0.43482608328297034,
          "alpha_factor_only_upper_bound": 3.6045742384507826,
          "temporal_autocorrelation_lag1": [
            0.15969757241462781,
            0.15939187165642887,
            -0.25223656234365716
          ],
          "temporal_linear_drift_per_s": [
            1.559054153265703e-05,
            5.7878046962679665e-06,
            -1.3748672194140025e-06
          ]
        },
        "0808_20260808_073816": {
          "sample_count": 35,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.025660816096560107,
            -0.024761958974976555,
            -0.0038827713507607387
          ],
          "innovation_distribution": {
            "count": 105,
            "rms": 0.023125803957607646,
            "p50_abs": 0.01979411895250152,
            "p95_abs": 0.04435813610252856,
            "p99_abs": 0.05388226636435865
          },
          "axis_rms": [
            0.030390240580047044,
            0.02523917447653892,
            0.006620103872809902
          ],
          "axis_p50_abs": [
            0.02595817769368507,
            0.024776824725319398,
            0.005524780729501466
          ],
          "axis_p95_abs": [
            0.05382911487856028,
            0.032136357344784094,
            0.010631776169133288
          ],
          "axis_p99_abs": [
            0.05435833521780033,
            0.0350937700158329,
            0.012973972647903632
          ],
          "vector_rms": 0.04005506742045386,
          "vector_p50": 0.03698486048374711,
          "vector_p95": 0.05674801581032449,
          "vector_p99": 0.057426603361628685,
          "normalized_distribution": {
            "count": 105,
            "rms": 0.1324865563917226,
            "p50_abs": 0.11457777978884638,
            "p95_abs": 0.25676600214317175,
            "p99_abs": 0.31189619567237836
          },
          "empirical_covariance": [
            [
              0.00027288598211788485,
              7.662864264669851e-05,
              -1.6126052122699966e-05
            ],
            [
              7.662864264669851e-05,
              2.456311938989154e-05,
              -3.1221227881225934e-06
            ],
            [
              -1.6126052122699966e-05,
              -3.1221227881225934e-06,
              2.9595446098754413e-05
            ]
          ],
          "nis_distribution": {
            "count": 35,
            "rms": 0.05778988884453914,
            "p50_abs": 0.042939541138971825,
            "p95_abs": 0.10631255051330724,
            "p99_abs": 0.10945598362655964
          },
          "nis_total": 1.8430322005763946,
          "nis_per_dof": 0.017552687624537093,
          "alpha_factor": 0.017552687624537093,
          "alpha_composite_prediction": 0.017552687624537093,
          "alpha_factor_only_upper_bound": 0.14551287912888983,
          "temporal_autocorrelation_lag1": [
            0.11681403298837492,
            0.05256273650990699,
            -0.3030044304193699
          ],
          "temporal_linear_drift_per_s": [
            -0.00019093349309519262,
            -4.0732853254877204e-05,
            1.927244413179511e-05
          ]
        }
      },
      "by_motion": {
        "other_recovered_dynamic": {
          "sample_count": 1837,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.1813428556996596,
            -0.007617138374881892,
            -0.01049450353056765
          ],
          "innovation_distribution": {
            "count": 5511,
            "rms": 0.1680459324978431,
            "p50_abs": 0.048344110265532536,
            "p95_abs": 0.3606012648786816,
            "p99_abs": 0.4452213338955004
          },
          "axis_rms": [
            0.2560788593060836,
            0.1365598824936891,
            0.022210866642562523
          ],
          "axis_p50_abs": [
            0.18369881356454698,
            0.06644314684254482,
            0.011143551001431828
          ],
          "axis_p95_abs": [
            0.3985207813902832,
            0.2749741203751866,
            0.036002870344148084
          ],
          "axis_p99_abs": [
            0.7905175513691596,
            0.3883336610576794,
            0.07396780127402414
          ],
          "vector_rms": 0.2910640930915542,
          "vector_p50": 0.2817773581278319,
          "vector_p95": 0.4608740790987977,
          "vector_p99": 0.8202999466343657,
          "normalized_distribution": {
            "count": 5511,
            "rms": 0.9706526090958058,
            "p50_abs": 0.2695018558624827,
            "p95_abs": 2.087478882017937,
            "p99_abs": 2.577202613556129
          },
          "empirical_covariance": [
            [
              0.032708956507926386,
              0.009385255742671877,
              -0.0016554628413043813
            ],
            [
              0.009385255742671877,
              0.01860070629828992,
              -0.0006266002543020701
            ],
            [
              -0.0016554628413043813,
              -0.0006266002543020701,
              0.00038339670071760545
            ]
          ],
          "nis_distribution": {
            "count": 1837,
            "rms": 4.33230184374361,
            "p50_abs": 2.656508567427126,
            "p95_abs": 7.083394689739435,
            "p99_abs": 22.424669654206582
          },
          "nis_total": 5192.279512857713,
          "nis_per_dof": 0.9421664875444952,
          "alpha_factor": 0.9421664875444952,
          "alpha_composite_prediction": 0.9421664875444952,
          "alpha_factor_only_upper_bound": 7.810029105504506,
          "temporal_autocorrelation_lag1": [
            0.9177069861668025,
            0.8999046777598082,
            0.13449753237618312
          ],
          "temporal_linear_drift_per_s": [
            4.545683489749813e-06,
            6.8403368327643364e-06,
            -9.587775717380805e-08
          ]
        },
        "left_right": {
          "sample_count": 1051,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.008833518369557886,
            -0.01126283276513888,
            -0.0013681307512219845
          ],
          "innovation_distribution": {
            "count": 3153,
            "rms": 0.04153124449610342,
            "p50_abs": 0.0200738460401908,
            "p95_abs": 0.09035009171294248,
            "p99_abs": 0.12427703461035713
          },
          "axis_rms": [
            0.05092620623092312,
            0.048896371991999914,
            0.013791270178298289
          ],
          "axis_p50_abs": [
            0.030404037655046068,
            0.03609349310661836,
            0.004575927932361723
          ],
          "axis_p95_abs": [
            0.10180576427540267,
            0.09175669911068418,
            0.027496318722355806
          ],
          "axis_p99_abs": [
            0.12634132735551695,
            0.13319031726876296,
            0.054436152118207515
          ],
          "vector_rms": 0.07193422556881642,
          "vector_p50": 0.059083174739341986,
          "vector_p95": 0.12563294290983895,
          "vector_p99": 0.15774745155463943,
          "normalized_distribution": {
            "count": 3153,
            "rms": 0.23707326130094072,
            "p50_abs": 0.10530498590546467,
            "p95_abs": 0.5212843133660112,
            "p99_abs": 0.7130205183623222
          },
          "empirical_covariance": [
            [
              0.002517843098512326,
              -0.0006994885629215802,
              9.961862718374993e-06
            ],
            [
              -0.0006994885629215802,
              0.0022661599861722457,
              -9.222728151260832e-06
            ],
            [
              9.961862718374993e-06,
              -9.222728151260832e-06,
              0.00018850671076064596
            ]
          ],
          "nis_distribution": {
            "count": 1051,
            "rms": 0.2488063193040447,
            "p50_abs": 0.11343692255719727,
            "p95_abs": 0.5274695638016688,
            "p99_abs": 0.7818568736635578
          },
          "nis_total": 177.2103645488436,
          "nis_per_dof": 0.05620373122386412,
          "alpha_factor": 0.05620373122386412,
          "alpha_composite_prediction": 0.05620373122386412,
          "alpha_factor_only_upper_bound": 0.4659151350312266,
          "temporal_autocorrelation_lag1": [
            0.6960232782226901,
            0.7060770483956984,
            -0.09776963019601437
          ],
          "temporal_linear_drift_per_s": [
            1.413460787229111e-06,
            -5.200469785824738e-06,
            7.453713543215421e-08
          ]
        },
        "circle": {
          "sample_count": 348,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.026434426941431895,
            -0.007623511052402467,
            -0.00255400354506396
          ],
          "innovation_distribution": {
            "count": 1044,
            "rms": 0.04188707697211578,
            "p50_abs": 0.024117205624059057,
            "p95_abs": 0.08334395535665476,
            "p99_abs": 0.12521290364620127
          },
          "axis_rms": [
            0.049997058584790664,
            0.047396926803977585,
            0.022746584671357973
          ],
          "axis_p50_abs": [
            0.03854787247570157,
            0.032044486926327664,
            0.007740700712299486
          ],
          "axis_p95_abs": [
            0.08938090700426694,
            0.09066136948113564,
            0.04916217354387232
          ],
          "axis_p99_abs": [
            0.12676913007834958,
            0.1326082182360245,
            0.0860121186496529
          ],
          "vector_rms": 0.07255054549625287,
          "vector_p50": 0.06173588072251816,
          "vector_p95": 0.12288083428319846,
          "vector_p99": 0.16871972052280498,
          "normalized_distribution": {
            "count": 1044,
            "rms": 0.233373325306488,
            "p50_abs": 0.11911611774977789,
            "p95_abs": 0.47377189984969914,
            "p99_abs": 0.7248171215482895
          },
          "empirical_covariance": [
            [
              0.001806116930588943,
              -0.0003876993860803591,
              -6.875832300806272e-05
            ],
            [
              -0.0003876993860803591,
              0.0021946572360058664,
              -4.537090115484482e-05
            ],
            [
              -6.875832300806272e-05,
              -4.537090115484482e-05,
              0.0005123564688065249
            ]
          ],
          "nis_distribution": {
            "count": 348,
            "rms": 0.24047882039934215,
            "p50_abs": 0.11637477077096008,
            "p95_abs": 0.4697432724500738,
            "p99_abs": 0.9423616876409274
          },
          "nis_total": 56.85948575905062,
          "nis_per_dof": 0.054463108964607876,
          "alpha_factor": 0.054463108964607876,
          "alpha_composite_prediction": 0.054463108964607876,
          "alpha_factor_only_upper_bound": 0.45143762186531616,
          "temporal_autocorrelation_lag1": [
            0.5157787739648905,
            0.5781179702507815,
            -0.1135832394548392
          ],
          "temporal_linear_drift_per_s": [
            -5.715435259525318e-07,
            3.7721856785088725e-05,
            1.5365982895422928e-06
          ]
        },
        "slope": {
          "sample_count": 315,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.0042791323613791685,
            -0.0320972740323452,
            -0.001642741285780973
          ],
          "innovation_distribution": {
            "count": 945,
            "rms": 0.04545733740563862,
            "p50_abs": 0.023250053657335457,
            "p95_abs": 0.09862676390751515,
            "p99_abs": 0.167436207168638
          },
          "axis_rms": [
            0.06991588941069225,
            0.03461401166651884,
            0.010618247326756185
          ],
          "axis_p50_abs": [
            0.041302578804760515,
            0.03196562272054848,
            0.006330302006903099
          ],
          "axis_p95_abs": [
            0.15283850949287797,
            0.055031189236506975,
            0.018557329423625347
          ],
          "axis_p99_abs": [
            0.1843058756940798,
            0.06155736250543812,
            0.025516368590831107
          ],
          "vector_rms": 0.0787344179633673,
          "vector_p50": 0.05374489844000849,
          "vector_p95": 0.1561735653756402,
          "vector_p99": 0.19175252854394478,
          "normalized_distribution": {
            "count": 945,
            "rms": 0.2613274538599723,
            "p50_abs": 0.1330910466072805,
            "p95_abs": 0.5708926935871838,
            "p99_abs": 0.9691906397654477
          },
          "empirical_covariance": [
            [
              0.00488542991965418,
              0.000765880302739211,
              1.66104007179088e-05
            ],
            [
              0.000765880302739211,
              0.00016842950016837232,
              -1.7007294158998485e-05
            ],
            [
              1.66104007179088e-05,
              -1.7007294158998485e-05,
              0.00011039905053646177
            ]
          ],
          "nis_distribution": {
            "count": 315,
            "rms": 0.3371441257124062,
            "p50_abs": 0.0941607544645656,
            "p95_abs": 0.81549130574167,
            "p99_abs": 1.2295192672625155
          },
          "nis_total": 64.53597604318449,
          "nis_per_dof": 0.06829203814093597,
          "alpha_factor": 0.06829203814093597,
          "alpha_composite_prediction": 0.06829203814093597,
          "alpha_factor_only_upper_bound": 0.566161869426953,
          "temporal_autocorrelation_lag1": [
            0.7148353666916676,
            0.5811063857557452,
            -0.1505318957768347
          ],
          "temporal_linear_drift_per_s": [
            0.00010977347609733353,
            -2.4155569874265033e-06,
            -5.713236735625676e-07
          ]
        }
      },
      "by_speed": {
        "speed_lt_0p2": {
          "sample_count": 2982,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.11502449485335434,
            -0.014237856936261317,
            -0.007218817386530254
          ],
          "innovation_distribution": {
            "count": 8946,
            "rms": 0.13328735682216883,
            "p50_abs": 0.03109561707342534,
            "p95_abs": 0.32809636278049936,
            "p99_abs": 0.40165126550370595
          },
          "axis_rms": [
            0.20225931569217157,
            0.11032239263121106,
            0.0147206442039703
          ],
          "axis_p50_abs": [
            0.06997734395688562,
            0.04820730462195044,
            0.007033123649905382
          ],
          "axis_p95_abs": [
            0.3874988653449506,
            0.23754713699429772,
            0.02831350977696302
          ],
          "axis_p99_abs": [
            0.5242671706486945,
            0.3578674932086502,
            0.06237399782437356
          ],
          "vector_rms": 0.23086047402255866,
          "vector_p50": 0.10255843345997309,
          "vector_p95": 0.4041620676996019,
          "vector_p99": 0.5534145003548495,
          "normalized_distribution": {
            "count": 8946,
            "rms": 0.7703912469854556,
            "p50_abs": 0.1730811638084768,
            "p95_abs": 1.8992949483308612,
            "p99_abs": 2.3250810644427427
          },
          "empirical_covariance": [
            [
              0.02768748123762648,
              0.006213523855556271,
              -0.0013677060899828831
            ],
            [
              0.006213523855556271,
              0.011972328611133726,
              -0.00039529193261300053
            ],
            [
              -0.0013677060899828831,
              -0.00039529193261300053,
              0.00016464125300760986
            ]
          ],
          "nis_distribution": {
            "count": 2982,
            "rms": 3.3818495286984724,
            "p50_abs": 0.34990784085620885,
            "p95_abs": 5.464198693128062,
            "p99_abs": 10.244261290819237
          },
          "nis_total": 5309.4749165209305,
          "nis_per_dof": 0.5935026734318053,
          "alpha_factor": 0.5935026734318053,
          "alpha_composite_prediction": 0.5935026734318053,
          "alpha_factor_only_upper_bound": 4.919818096443108,
          "temporal_autocorrelation_lag1": [
            0.9143184812741356,
            0.884650382411338,
            0.41572894599120586
          ],
          "temporal_linear_drift_per_s": [
            1.243296979582182e-05,
            4.499940121301329e-06,
            -6.07640748311102e-07
          ]
        },
        "speed_0p2_to_1": {
          "sample_count": 564,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.01757020914920902,
            0.006660460696432839,
            -0.0009044106287183676
          ],
          "innovation_distribution": {
            "count": 1692,
            "rms": 0.05906081137292758,
            "p50_abs": 0.027845805773803578,
            "p95_abs": 0.1005379752667885,
            "p99_abs": 0.18528693906005872
          },
          "axis_rms": [
            0.07988688802030412,
            0.05377734616343927,
            0.03450536888854556
          ],
          "axis_p50_abs": [
            0.03716529657127565,
            0.037069923664003746,
            0.01672953767592933
          ],
          "axis_p95_abs": [
            0.12154936951310158,
            0.09857325084691367,
            0.06082893338211066
          ],
          "axis_p99_abs": [
            0.3832591955557334,
            0.14810773330887478,
            0.1211572847607806
          ],
          "vector_rms": 0.10229632603415235,
          "vector_p50": 0.06805924189351414,
          "vector_p95": 0.1598571033813532,
          "vector_p99": 0.4193826150325689,
          "normalized_distribution": {
            "count": 1692,
            "rms": 0.3269832994583368,
            "p50_abs": 0.13117144062456654,
            "p95_abs": 0.5696243173593114,
            "p99_abs": 1.0109621932388149
          },
          "empirical_covariance": [
            [
              0.006083989844057222,
              0.0002449389708724016,
              -4.161102314417542e-05
            ],
            [
              0.0002449389708724016,
              0.00285269920100039,
              -0.00021190272402493785
            ],
            [
              -4.161102314417542e-05,
              -0.00021190272402493785,
              0.0011919158495236014
            ]
          ],
          "nis_distribution": {
            "count": 564,
            "rms": 0.9362876157468507,
            "p50_abs": 0.1386191751232257,
            "p95_abs": 0.766134667699192,
            "p99_abs": 5.394206705147333
          },
          "nis_total": 180.90538818692534,
          "nis_per_dof": 0.10691807812466037,
          "alpha_factor": 0.10691807812466037,
          "alpha_composite_prediction": 0.10691807812466037,
          "alpha_factor_only_upper_bound": 0.8862567554152445,
          "temporal_autocorrelation_lag1": [
            0.6329320746771311,
            0.5633515685694932,
            -0.16406574168728585
          ],
          "temporal_linear_drift_per_s": [
            1.306414130313485e-06,
            6.877380697429541e-07,
            5.88617519588923e-08
          ]
        },
        "speed_ge_1": {
          "sample_count": 5,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.009063876655128134,
            0.02144919077986369,
            -0.017192820532013098
          ],
          "innovation_distribution": {
            "count": 15,
            "rms": 0.034709545391953756,
            "p50_abs": 0.023959598827080875,
            "p95_abs": 0.06332338722096954,
            "p99_abs": 0.0734930156001491
          },
          "axis_rms": [
            0.044084369903565505,
            0.02949471321474983,
            0.028299961952864255
          ],
          "axis_p50_abs": [
            0.03402742330097652,
            0.024919548193265584,
            0.010856149588425623
          ],
          "axis_p95_abs": [
            0.06914555546912257,
            0.04361355394129624,
            0.05086677343109615
          ],
          "axis_p99_abs": [
            0.07465744924977973,
            0.046413623557661265,
            0.056473652300489355
          ],
          "vector_rms": 0.06011869612648211,
          "vector_p50": 0.050558135175465875,
          "vector_p95": 0.08795648712478149,
          "vector_p99": 0.094942137969142,
          "normalized_distribution": {
            "count": 15,
            "rms": 0.183491053539505,
            "p50_abs": 0.13869465401259648,
            "p95_abs": 0.3229516404494626,
            "p99_abs": 0.41670642908151934
          },
          "empirical_covariance": [
            [
              0.0023265972622187694,
              0.0009068324262492742,
              0.0010879917029167764
            ],
            [
              0.0009068324262492742,
              0.000512337903136686,
              0.00040911616720070484
            ],
            [
              0.0010879917029167764,
              0.00040911616720070484,
              0.0006316184608594415
            ]
          ],
          "nis_distribution": {
            "count": 5,
            "rms": 0.12074916814745473,
            "p50_abs": 0.07256750451657064,
            "p95_abs": 0.20160379552630092,
            "p99_abs": 0.22367087848195252
          },
          "nis_total": 0.5050345009355625,
          "nis_per_dof": 0.0336689667290375,
          "alpha_factor": 0.0336689667290375,
          "alpha_composite_prediction": 0.0336689667290375,
          "alpha_factor_only_upper_bound": 0.2790362721340854,
          "temporal_autocorrelation_lag1": [
            -0.29205371571074834,
            -0.32557667455572875,
            -0.0173395526406998
          ],
          "temporal_linear_drift_per_s": [
            -0.009313229463301358,
            -0.007011357853511646,
            -0.008474842298691347
          ]
        }
      },
      "by_gyro_norm": {
        "gyro_lt_0p02": {
          "sample_count": 3160,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.1096796775715608,
            -0.012527233629499203,
            -0.006925138808073454
          ],
          "innovation_distribution": {
            "count": 9480,
            "rms": 0.13039391296525807,
            "p50_abs": 0.030862084773174203,
            "p95_abs": 0.3260280907239419,
            "p99_abs": 0.40056433323521634
          },
          "axis_rms": [
            0.19772771423439844,
            0.10761522432562981,
            0.018177792279546374
          ],
          "axis_p50_abs": [
            0.06618460349968061,
            0.04723189505020109,
            0.007357637469831646
          ],
          "axis_p95_abs": [
            0.3866510394889076,
            0.23142090877873325,
            0.03177881847267458
          ],
          "axis_p99_abs": [
            0.46694310144469336,
            0.35204297389408373,
            0.06902924087792532
          ],
          "vector_rms": 0.2258488822535411,
          "vector_p50": 0.09713764256618893,
          "vector_p95": 0.402294492937097,
          "vector_p99": 0.5452474979185977,
          "normalized_distribution": {
            "count": 9480,
            "rms": 0.7529837174171019,
            "p50_abs": 0.16803368142195235,
            "p95_abs": 1.8861059333253003,
            "p99_abs": 2.3187888820384814
          },
          "empirical_covariance": [
            [
              0.02707518540080417,
              0.005731792606490542,
              -0.001320366496358284
            ],
            [
              0.005731792606490542,
              0.011427721291744943,
              -0.000377420045164786
            ],
            [
              -0.001320366496358284,
              -0.000377420045164786,
              0.0002825640036357428
            ]
          ],
          "nis_distribution": {
            "count": 3160,
            "rms": 3.2940505110813496,
            "p50_abs": 0.31136045922285266,
            "p95_abs": 5.395573546735985,
            "p99_abs": 9.910009179989782
          },
          "nis_total": 5375.012858031236,
          "nis_per_dof": 0.566984478695278,
          "alpha_factor": 0.566984478695278,
          "alpha_composite_prediction": 0.566984478695278,
          "alpha_factor_only_upper_bound": 4.6999901403754745,
          "temporal_autocorrelation_lag1": [
            0.9122345022385404,
            0.8799103390527908,
            0.17463512072532497
          ],
          "temporal_linear_drift_per_s": [
            1.1570407845997937e-05,
            4.264961087558644e-06,
            -5.295929932336468e-07
          ]
        },
        "gyro_0p02_to_0p10": {
          "sample_count": 336,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.018728868470993826,
            0.0028285650845862914,
            -0.0005177603341105587
          ],
          "innovation_distribution": {
            "count": 1008,
            "rms": 0.05681229909037892,
            "p50_abs": 0.027417000258308732,
            "p95_abs": 0.10795232099337111,
            "p99_abs": 0.1627148099936449
          },
          "axis_rms": [
            0.07491858946307592,
            0.05804538419273036,
            0.026473577593242384
          ],
          "axis_p50_abs": [
            0.038517255919293725,
            0.039292603405033155,
            0.015554383441334918
          ],
          "axis_p95_abs": [
            0.12334916311311006,
            0.1110040588517261,
            0.05319423380036159
          ],
          "axis_p99_abs": [
            0.2021260333344298,
            0.17338823737956163,
            0.08659599789144604
          ],
          "vector_rms": 0.09840178851933541,
          "vector_p50": 0.06842295657995315,
          "vector_p95": 0.16261245162609025,
          "vector_p99": 0.2442068648791733,
          "normalized_distribution": {
            "count": 1008,
            "rms": 0.319821300552693,
            "p50_abs": 0.13184171364577402,
            "p95_abs": 0.6143408326694937,
            "p99_abs": 0.9418842130689908
          },
          "empirical_covariance": [
            [
              0.005277732068852329,
              0.00014437239329393204,
              -4.53983229121889e-05
            ],
            [
              0.00014437239329393204,
              0.0033712994750339127,
              -0.00020083843879232824
            ],
            [
              -4.53983229121889e-05,
              -0.00020083843879232824,
              0.0007026735250750467
            ]
          ],
          "nis_distribution": {
            "count": 336,
            "rms": 0.9536054219368939,
            "p50_abs": 0.1416628012239156,
            "p95_abs": 0.8388310844408939,
            "p99_abs": 1.8760389507853117
          },
          "nis_total": 103.1039496015137,
          "nis_per_dof": 0.10228566428721597,
          "alpha_factor": 0.10228566428721597,
          "alpha_composite_prediction": 0.10228566428721597,
          "alpha_factor_only_upper_bound": 0.8478957639689759,
          "temporal_autocorrelation_lag1": [
            0.5163497083987006,
            0.5462111026169864,
            -0.023748980757607393
          ],
          "temporal_linear_drift_per_s": [
            1.1302761385120431e-06,
            6.405729376555454e-07,
            7.557733390691728e-08
          ]
        },
        "gyro_ge_0p10": {
          "sample_count": 55,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.0014050920681085554,
            0.0007657600645948922,
            -0.0011847097839484334
          ],
          "innovation_distribution": {
            "count": 165,
            "rms": 0.050003766859033794,
            "p50_abs": 0.02684919825010268,
            "p95_abs": 0.09671604851841414,
            "p99_abs": 0.1248180017016895
          },
          "axis_rms": [
            0.05546573829311786,
            0.06049835681285948,
            0.02765195831801282
          ],
          "axis_p50_abs": [
            0.032766637095618556,
            0.03792423554589597,
            0.01657347744040505
          ],
          "axis_p95_abs": [
            0.10007448255084175,
            0.10258945922208178,
            0.05314074716661933
          ],
          "axis_p99_abs": [
            0.12819260953304612,
            0.12650523701775424,
            0.07391343987319865
          ],
          "vector_rms": 0.08660906476967535,
          "vector_p50": 0.07557639097648296,
          "vector_p95": 0.1387106100120673,
          "vector_p99": 0.16473352653030437,
          "normalized_distribution": {
            "count": 165,
            "rms": 0.27818166699983005,
            "p50_abs": 0.12486295556995637,
            "p95_abs": 0.5598440923451333,
            "p99_abs": 0.7225292089203447
          },
          "empirical_covariance": [
            [
              0.0031314085414341254,
              0.0003003394129503928,
              0.0001433281416798754
            ],
            [
              0.0003003394129503928,
              0.0037272326550347084,
              -0.0001634454500249661
            ],
            [
              0.0001433281416798754,
              -0.0001634454500249661,
              0.0007773610997257673
            ]
          ],
          "nis_distribution": {
            "count": 55,
            "rms": 0.3125778644191173,
            "p50_abs": 0.1610285126781787,
            "p95_abs": 0.6416471058425542,
            "p99_abs": 0.7880686848181855
          },
          "nis_total": 12.768531576042715,
          "nis_per_dof": 0.07738503985480434,
          "alpha_factor": 0.07738503985480434,
          "alpha_composite_prediction": 0.07738503985480434,
          "alpha_factor_only_upper_bound": 0.641449722329813,
          "temporal_autocorrelation_lag1": [
            0.3562507741031935,
            0.6008725179392668,
            -0.2324603559038119
          ],
          "temporal_linear_drift_per_s": [
            6.178739718769658e-07,
            -6.151811605567754e-07,
            -5.878778592215222e-07
          ]
        }
      },
      "by_hpr_bridge_gap": {
        "gap_direct": {
          "sample_count": 3293,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.09988522624219101,
            -0.011000922310608062,
            -0.006188826735722826
          ],
          "innovation_distribution": {
            "count": 9879,
            "rms": 0.12536137341787754,
            "p50_abs": 0.030480771491930625,
            "p95_abs": 0.3189379646603158,
            "p99_abs": 0.39922674767042327
          },
          "axis_rms": [
            0.18967355928171367,
            0.10400245294039633,
            0.018810968274825802
          ],
          "axis_p50_abs": [
            0.061705793214279936,
            0.046440530810573755,
            0.0077644610879602505
          ],
          "axis_p95_abs": [
            0.3857592193273717,
            0.22240746107663076,
            0.03490028081546285
          ],
          "axis_p99_abs": [
            0.46342611511539955,
            0.349777833396534,
            0.07251626277451574
          ],
          "vector_rms": 0.21713226806637836,
          "vector_p50": 0.09055802324928539,
          "vector_p95": 0.39905041011043735,
          "vector_p99": 0.544544342977499,
          "normalized_distribution": {
            "count": 9879,
            "rms": 0.7236427897491979,
            "p50_abs": 0.16232138224842718,
            "p95_abs": 1.8459856363430218,
            "p99_abs": 2.3110459616801444
          },
          "empirical_covariance": [
            [
              0.02600689829996297,
              0.005098521491157735,
              -0.001237138738916359
            ],
            [
              0.005098521491157735,
              0.010698738859691677,
              -0.0003442037855401246
            ],
            [
              -0.001237138738916359,
              -0.0003442037855401246,
              0.00031564680494505597
            ]
          ],
          "nis_distribution": {
            "count": 3293,
            "rms": 3.1835113537547874,
            "p50_abs": 0.26880403092110294,
            "p95_abs": 5.3284807298266434,
            "p99_abs": 9.907988559123636
          },
          "nis_total": 5173.226146214142,
          "nis_per_dof": 0.5236588871560018,
          "alpha_factor": 0.5236588871560018,
          "alpha_composite_prediction": 0.5236588871560018,
          "alpha_factor_only_upper_bound": 4.340836337043724,
          "temporal_autocorrelation_lag1": [
            0.9073124181304271,
            0.8710015338346611,
            0.12184180706656533
          ],
          "temporal_linear_drift_per_s": [
            9.04926067204193e-06,
            3.5943677747248565e-06,
            -3.918091167923023e-07
          ]
        },
        "gap_0p3_to_0p5": {
          "sample_count": 258,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.0931624456612288,
            -0.00917638150547065,
            -0.006754878694399702
          ],
          "innovation_distribution": {
            "count": 774,
            "rms": 0.11135320542389736,
            "p50_abs": 0.029959515796477598,
            "p95_abs": 0.30689539148194456,
            "p99_abs": 0.36527333779742965
          },
          "axis_rms": [
            0.1662407887831417,
            0.09463687465582869,
            0.024626635471901005
          ],
          "axis_p50_abs": [
            0.05648563232725312,
            0.04662499730702585,
            0.007416313538495978
          ],
          "axis_p95_abs": [
            0.3555573821161559,
            0.20447419646283777,
            0.03650239214386895
          ],
          "axis_p99_abs": [
            0.44090959598730856,
            0.28418996184878254,
            0.1306852016538819
          ],
          "vector_rms": 0.1928694093798445,
          "vector_p50": 0.08652765509095486,
          "vector_p95": 0.3706669424412237,
          "vector_p99": 0.4800058888624252,
          "normalized_distribution": {
            "count": 774,
            "rms": 0.6406343684582759,
            "p50_abs": 0.15635419396565114,
            "p95_abs": 1.776556078099022,
            "p99_abs": 2.1144140388721855
          },
          "empirical_covariance": [
            [
              0.01903052028017199,
              0.003509979493712268,
              -0.0012115283025458557
            ],
            [
              0.003509979493712268,
              0.008906453203536889,
              -0.00039630312916128554
            ],
            [
              -0.0012115283025458557,
              -0.00039630312916128554,
              0.0005630250561493321
            ]
          ],
          "nis_distribution": {
            "count": 258,
            "rms": 2.1795698521224813,
            "p50_abs": 0.22310783945465706,
            "p95_abs": 4.587921714808663,
            "p99_abs": 7.555370051496059
          },
          "nis_total": 317.65919299464895,
          "nis_per_dof": 0.410412394049934,
          "alpha_factor": 0.410412394049934,
          "alpha_composite_prediction": 0.410412394049934,
          "alpha_factor_only_upper_bound": 3.4021996012528364,
          "temporal_autocorrelation_lag1": [
            0.5423736377429798,
            0.4446107348003013,
            0.08304281118036232
          ],
          "temporal_linear_drift_per_s": [
            8.75190466810307e-06,
            3.278808086653254e-06,
            -5.067071745992383e-07
          ]
        }
      },
      "by_method": {}
    },
    "doppler": {
      "overall": {
        "sample_count": 3551,
        "dimension": 3,
        "effective_dof_per_sample": 3,
        "innovation_bias": [
          0.19898535831710445,
          -0.02220901041460192,
          -0.010173284062581231
        ],
        "innovation_distribution": {
          "count": 10653,
          "rms": 0.24763096432729265,
          "p50_abs": 0.05667124005356874,
          "p95_abs": 0.6318328969086721,
          "p99_abs": 0.7957012674707288
        },
        "axis_rms": [
          0.3751719303027625,
          0.20599138101154948,
          0.02787215712585578
        ],
        "axis_p50_abs": [
          0.11962649897982339,
          0.09280511928803063,
          0.008966961173927639
        ],
        "axis_p95_abs": [
          0.7693405752900025,
          0.4431537558372406,
          0.049281530198300845
        ],
        "axis_p99_abs": [
          0.9118652770499831,
          0.6910840333251181,
          0.1277135755271528
        ],
        "vector_rms": 0.4289094117421471,
        "vector_p50": 0.17541013145472376,
        "vector_p95": 0.7949987418925575,
        "vector_p99": 1.0781867815704884,
        "normalized_distribution": {
          "count": 10653,
          "rms": 1.1594429575568916,
          "p50_abs": 0.2560183470260039,
          "p95_abs": 2.9630230409607474,
          "p99_abs": 3.731484548171785
        },
        "empirical_covariance": [
          [
            0.10118729990039109,
            0.01983760048031952,
            -0.004548389896807294
          ],
          [
            0.01983760048031952,
            0.04195102276911351,
            -0.0012457905278658139
          ],
          [
            -0.004548389896807294,
            -0.0012457905278658139,
            0.0006735511135076723
          ]
        ],
        "nis_distribution": {
          "count": 3551,
          "rms": 8.157073131778118,
          "p50_abs": 0.6717837518168279,
          "p95_abs": 13.886575046639138,
          "p99_abs": 25.503998524573333
        },
        "nis_total": 14320.912823886585,
        "nis_per_dof": 1.3443079718282722,
        "alpha_factor": 1.3443079718282722,
        "alpha_composite_prediction": 1.3443079718282722,
        "alpha_factor_only_upper_bound": 2.716750231464568,
        "temporal_autocorrelation_lag1": [
          0.912472320581746,
          0.8791153807596296,
          0.06199092201625597
        ],
        "temporal_linear_drift_per_s": [
          1.7960440969486337e-05,
          7.1000359857163775e-06,
          -8.082361434952508e-07
        ]
      },
      "by_session": {
        "0819_20260819_065243": {
          "sample_count": 122,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.34685575340053515,
            -0.45542374724341794,
            -0.014408544686869766
          ],
          "innovation_distribution": {
            "count": 366,
            "rms": 0.349053239506746,
            "p50_abs": 0.2821158722189799,
            "p95_abs": 0.6000847019843362,
            "p99_abs": 0.674257084271412
          },
          "axis_rms": [
            0.3689577597490858,
            0.47869379305907644,
            0.015392077121407884
          ],
          "axis_p50_abs": [
            0.33946262840705915,
            0.4614300354620804,
            0.013832970930492829
          ],
          "axis_p95_abs": [
            0.5706785840427164,
            0.6517368739732434,
            0.02242030113415284
          ],
          "axis_p99_abs": [
            0.6031823972979033,
            0.806223281026462,
            0.029611694277005163
          ],
          "vector_rms": 0.6045779453721921,
          "vector_p50": 0.5916645865740398,
          "vector_p95": 0.6775704325924241,
          "vector_p99": 0.8092119820444649,
          "normalized_distribution": {
            "count": 366,
            "rms": 1.6365048843657397,
            "p50_abs": 1.3229939217726772,
            "p95_abs": 2.814127577644277,
            "p99_abs": 3.1619656216196104
          },
          "empirical_covariance": [
            [
              0.015951666174094006,
              0.018692154369055677,
              0.0002801326532781473
            ],
            [
              0.018692154369055677,
              0.02191660224071087,
              0.00033586040862678714
            ],
            [
              0.0002801326532781473,
              0.00033586040862678714,
              2.955210851551314e-05
            ]
          ],
          "nis_distribution": {
            "count": 122,
            "rms": 8.175748275684478,
            "p50_abs": 7.695837289049907,
            "p95_abs": 10.090715896127625,
            "p99_abs": 14.410839577045124
          },
          "nis_total": 980.2022545783699,
          "nis_per_dof": 2.6781482365529232,
          "alpha_factor": 2.6781482365529232,
          "alpha_composite_prediction": 2.6781482365529232,
          "alpha_factor_only_upper_bound": 5.412397111138931,
          "temporal_autocorrelation_lag1": [
            0.8032104661251926,
            0.805212430477261,
            0.07837035677088466
          ],
          "temporal_linear_drift_per_s": [
            -0.0009152665739129722,
            -0.0010749652457900881,
            -1.5913382339030057e-05
          ]
        },
        "0808_20260808_082148": {
          "sample_count": 1051,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.018849818720945336,
            -0.022755457138952644,
            -0.000215707198168919
          ],
          "innovation_distribution": {
            "count": 3153,
            "rms": 0.0804622024067931,
            "p50_abs": 0.03750375626744919,
            "p95_abs": 0.17677581396236355,
            "p99_abs": 0.24185899504350913
          },
          "axis_rms": [
            0.09966072285232111,
            0.09578710643233199,
            0.017750172121114145
          ],
          "axis_p50_abs": [
            0.060585132252119506,
            0.07110137642802793,
            0.0025029885582080738
          ],
          "axis_p95_abs": [
            0.2006643518452052,
            0.1805959539518447,
            0.04015554424428312
          ],
          "axis_p99_abs": [
            0.2452990200615596,
            0.2679972138960014,
            0.0778828630630159
          ],
          "vector_rms": 0.13936462265745644,
          "vector_p50": 0.1146369247164814,
          "vector_p95": 0.23899289015661837,
          "vector_p99": 0.304808433034068,
          "normalized_distribution": {
            "count": 3153,
            "rms": 0.3750343456154751,
            "p50_abs": 0.16065794804258754,
            "p95_abs": 0.8284616782848943,
            "p99_abs": 1.1342068057935717
          },
          "empirical_covariance": [
            [
              0.009586064912695234,
              -0.0027260446003299437,
              -2.6351360841168075e-05
            ],
            [
              -0.0027260446003299437,
              0.00866560403281818,
              -1.3755175274556004e-05
            ],
            [
              -2.6351360841168075e-05,
              -1.3755175274556004e-05,
              0.0003153221017631054
            ]
          ],
          "nis_distribution": {
            "count": 1051,
            "rms": 0.6125349015088717,
            "p50_abs": 0.2838330370719776,
            "p95_abs": 1.2560882035725083,
            "p99_abs": 2.03433949656769
          },
          "nis_total": 443.47184751354075,
          "nis_per_dof": 0.14065076039122765,
          "alpha_factor": 0.14065076039122765,
          "alpha_composite_prediction": 0.14065076039122765,
          "alpha_factor_only_upper_bound": 0.28423994949197545,
          "temporal_autocorrelation_lag1": [
            0.7245650610299419,
            0.7349590552449177,
            -0.4609948464770027
          ],
          "temporal_linear_drift_per_s": [
            2.7497993875563993e-06,
            -1.0424380783242108e-05,
            1.1452591082937698e-08
          ]
        },
        "0815_20260814_114200": {
          "sample_count": 58,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            -0.0005475691672585226,
            -0.007964328354328367,
            -0.003177512576926994
          ],
          "innovation_distribution": {
            "count": 174,
            "rms": 0.09310458249829644,
            "p50_abs": 0.04839835246382672,
            "p95_abs": 0.18748817360980574,
            "p99_abs": 0.22823750440212073
          },
          "axis_rms": [
            0.10729963209211306,
            0.11359238775333022,
            0.0398616136645334
          ],
          "axis_p50_abs": [
            0.05330823189100036,
            0.08919429992489525,
            0.024700584122183823
          ],
          "axis_p95_abs": [
            0.2193873385212544,
            0.19019981295322907,
            0.07376780565559693
          ],
          "axis_p99_abs": [
            0.24324099645357775,
            0.21485971951593502,
            0.11304246866419324
          ],
          "vector_rms": 0.1612618673045375,
          "vector_p50": 0.15978996495515652,
          "vector_p95": 0.26488667661959797,
          "vector_p99": 0.27391650636254355,
          "normalized_distribution": {
            "count": 174,
            "rms": 0.4265241162591798,
            "p50_abs": 0.20112040300603723,
            "p95_abs": 0.8792330370965397,
            "p99_abs": 1.0703266213997666
          },
          "empirical_covariance": [
            [
              0.011714892113620586,
              -0.003171211814655749,
              0.0001185267611286427
            ],
            [
              -0.003171211814655749,
              0.013065059679005394,
              -0.000521472791095944
            ],
            [
              0.0001185267611286427,
              -0.000521472791095944,
              0.0016065508096545827
            ]
          ],
          "nis_distribution": {
            "count": 58,
            "rms": 0.6994525865642935,
            "p50_abs": 0.5567767657052223,
            "p95_abs": 1.4606806426403633,
            "p99_abs": 1.6441843521421884
          },
          "nis_total": 31.654570984617322,
          "nis_per_dof": 0.18192282175067426,
          "alpha_factor": 0.18192282175067426,
          "alpha_composite_prediction": 0.18192282175067426,
          "alpha_factor_only_upper_bound": 0.36761005427542043,
          "temporal_autocorrelation_lag1": [
            0.5681507166908725,
            0.7515173637140551,
            -0.5353024370905582
          ],
          "temporal_linear_drift_per_s": [
            0.00012202650543295581,
            -0.0005760781738505865,
            -3.969812191184192e-06
          ]
        },
        "0815_20260814_102659": {
          "sample_count": 172,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.5964938869795613,
            0.3140531253015878,
            -0.027971915195276812
          ],
          "innovation_distribution": {
            "count": 516,
            "rms": 0.42741551361125235,
            "p50_abs": 0.300649189697884,
            "p95_abs": 0.7060130798526569,
            "p99_abs": 0.9220093341103953
          },
          "axis_rms": [
            0.5970567010036718,
            0.4366391771485469,
            0.030357677651029688
          ],
          "axis_p50_abs": [
            0.5940390746576665,
            0.300649189697884,
            0.025551503769187547
          ],
          "axis_p95_abs": [
            0.6358302955168643,
            0.8792723919735136,
            0.05449568765232486
          ],
          "axis_p99_abs": [
            0.649965579997359,
            0.9428501049399473,
            0.06225162958088124
          ],
          "vector_rms": 0.7403053855178361,
          "vector_p50": 0.6755403088270397,
          "vector_p95": 1.0434876907534403,
          "vector_p99": 1.094962927232299,
          "normalized_distribution": {
            "count": 516,
            "rms": 2.0031301679564355,
            "p50_abs": 1.409907210781543,
            "p95_abs": 3.3108969699118833,
            "p99_abs": 4.32383531866358
          },
          "empirical_covariance": [
            [
              0.000675675354486618,
              -0.007673534889442064,
              0.00022020286748063845
            ],
            [
              -0.007673534889442064,
              0.09256255992744813,
              -0.002904976304714258
            ],
            [
              0.00022020286748063845,
              -0.002904976304714258,
              0.00013997435707366047
            ]
          ],
          "nis_distribution": {
            "count": 172,
            "rms": 12.943985982341724,
            "p50_abs": 10.029587434137122,
            "p95_abs": 23.893650540993768,
            "p99_abs": 26.312072552531564
          },
          "nis_total": 2070.465722405024,
          "nis_per_dof": 4.012530469777178,
          "alpha_factor": 4.012530469777178,
          "alpha_composite_prediction": 4.012530469777178,
          "alpha_factor_only_upper_bound": 8.109049961221318,
          "temporal_autocorrelation_lag1": [
            0.7941511001773215,
            0.8586193851401551,
            0.6709977844262447
          ],
          "temporal_linear_drift_per_s": [
            -0.0002532597379987703,
            0.0029672927697097892,
            -8.219708628585587e-05
          ]
        },
        "0808_20260808_092827": {
          "sample_count": 348,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.05203880483227846,
            -0.014972991751840203,
            -0.0004127555872138713
          ],
          "innovation_distribution": {
            "count": 1044,
            "rms": 0.07841510193418018,
            "p50_abs": 0.04259189121693382,
            "p95_abs": 0.15781786729037342,
            "p99_abs": 0.24042206466986668
          },
          "axis_rms": [
            0.09506729468917559,
            0.09219609129783837,
            0.03014755154114006
          ],
          "axis_p50_abs": [
            0.07490547878878637,
            0.06228316405884811,
            0.005859829964817287
          ],
          "axis_p95_abs": [
            0.1752152813381369,
            0.17666823554675037,
            0.06942670456608951
          ],
          "axis_p99_abs": [
            0.2252677234717752,
            0.2497896604087518,
            0.09999110660167147
          ],
          "vector_rms": 0.1358189406306926,
          "vector_p50": 0.1154946988316353,
          "vector_p95": 0.23373104832646358,
          "vector_p99": 0.31825074167229866,
          "normalized_distribution": {
            "count": 1044,
            "rms": 0.36089125845299486,
            "p50_abs": 0.1709979691476118,
            "p95_abs": 0.7359940610219878,
            "p99_abs": 1.1274716047309477
          },
          "empirical_covariance": [
            [
              0.0063479946751556545,
              -0.001211398909367747,
              7.015857629401948e-05
            ],
            [
              -0.001211398909367747,
              0.008299778707413089,
              -0.00011511918001087611
            ],
            [
              7.015857629401948e-05,
              -0.00011511918001087611,
              0.0009113232416983293
            ]
          ],
          "nis_distribution": {
            "count": 348,
            "rms": 0.5525562830659816,
            "p50_abs": 0.2920546165047961,
            "p95_abs": 1.0667878676256344,
            "p99_abs": 2.1548243503585183
          },
          "nis_total": 135.97317044660895,
          "nis_per_dof": 0.13024250042778635,
          "alpha_factor": 0.13024250042778635,
          "alpha_composite_prediction": 0.13024250042778635,
          "alpha_factor_only_upper_bound": 0.26318708868295315,
          "temporal_autocorrelation_lag1": [
            0.5163955723550618,
            0.6073806316297236,
            -0.5484542576061081
          ],
          "temporal_linear_drift_per_s": [
            -6.049575921694316e-07,
            7.530226654477345e-05,
            4.6432770637442516e-07
          ]
        },
        "0815_20260814_110519": {
          "sample_count": 38,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.608770677580398,
            0.025768254683277505,
            -0.025236150242449722
          ],
          "innovation_distribution": {
            "count": 114,
            "rms": 0.3767785466717063,
            "p50_abs": 0.17708811849229011,
            "p95_abs": 0.7421978902830222,
            "p99_abs": 0.8759220539867113
          },
          "axis_rms": [
            0.6212517906529593,
            0.16755712808871834,
            0.10889004147892462
          ],
          "axis_p50_abs": [
            0.5624615214014356,
            0.14379818444480477,
            0.025216176035651967
          ],
          "axis_p95_abs": [
            0.8592753522559375,
            0.26504371703494894,
            0.23820660964525897
          ],
          "axis_p99_abs": [
            0.9400968669040578,
            0.3594685190222317,
            0.33614776844537586
          ],
          "vector_rms": 0.6525995860373568,
          "vector_p50": 0.5978163439780912,
          "vector_p95": 0.9020683109566409,
          "vector_p99": 0.954545856708331,
          "normalized_distribution": {
            "count": 114,
            "rms": 1.7484289388639587,
            "p50_abs": 0.6825329308603635,
            "p95_abs": 3.4805819269761256,
            "p99_abs": 4.107708061616475
          },
          "empirical_covariance": [
            [
              0.015766969764779332,
              0.0038409442065652365,
              -0.0012316243783759189
            ],
            [
              0.0038409442065652365,
              0.028152236554293053,
              0.0005037220731906277
            ],
            [
              -0.0012316243783759189,
              0.0005037220731906277,
              0.011523425904336543
            ]
          ],
          "nis_distribution": {
            "count": 38,
            "rms": 9.942752356107084,
            "p50_abs": 7.853657198544292,
            "p95_abs": 16.79854231560409,
            "p99_abs": 19.978740846212418
          },
          "nis_total": 348.49842798529215,
          "nis_per_dof": 3.057003754256949,
          "alpha_factor": 3.057003754256949,
          "alpha_composite_prediction": 3.057003754256949,
          "alpha_factor_only_upper_bound": 6.177680575498786,
          "temporal_autocorrelation_lag1": [
            0.6859102631206095,
            0.7650754559127171,
            -0.817431655142804
          ],
          "temporal_linear_drift_per_s": [
            -5.901129813511571e-06,
            -0.0032578087637955416,
            5.569963121411395e-05
          ]
        },
        "0815_20260814_115547": {
          "sample_count": 48,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            -0.032481531624303304,
            0.08362975984439346,
            -0.00029060744824442006
          ],
          "innovation_distribution": {
            "count": 144,
            "rms": 0.07717479215506767,
            "p50_abs": 0.05385451194557478,
            "p95_abs": 0.14319280260057837,
            "p99_abs": 0.1860662373717093
          },
          "axis_rms": [
            0.08762199538809189,
            0.09554930901386219,
            0.03256625713397783
          ],
          "axis_p50_abs": [
            0.07011205313789595,
            0.08068847383988953,
            0.017334147090889148
          ],
          "axis_p95_abs": [
            0.1508847829980809,
            0.16573890357426369,
            0.06574557625521617
          ],
          "axis_p99_abs": [
            0.17630655810718074,
            0.2112348674998438,
            0.07659564725253244
          ],
          "vector_rms": 0.1336706610761452,
          "vector_p50": 0.12219156168595383,
          "vector_p95": 0.20972621775220335,
          "vector_p99": 0.2331702348002521,
          "normalized_distribution": {
            "count": 144,
            "rms": 0.3537892273192573,
            "p50_abs": 0.20123739024089343,
            "p95_abs": 0.6715072226453921,
            "p99_abs": 0.8725626363408597
          },
          "empirical_covariance": [
            [
              0.006763469799962736,
              0.001427894856448595,
              1.0459116235763733e-05
            ],
            [
              0.001427894856448595,
              0.002181174864404024,
              -0.0003300890381299447
            ],
            [
              1.0459116235763733e-05,
              -0.0003300890381299447,
              0.0010830399840279694
            ]
          ],
          "nis_distribution": {
            "count": 48,
            "rms": 0.46040612128166375,
            "p50_abs": 0.29538365808801126,
            "p95_abs": 0.9476242879195643,
            "p99_abs": 1.1839728956710027
          },
          "nis_total": 18.024021700870627,
          "nis_per_dof": 0.12516681736715712,
          "alpha_factor": 0.12516681736715712,
          "alpha_composite_prediction": 0.12516681736715712,
          "alpha_factor_only_upper_bound": 0.2529248119221691,
          "temporal_autocorrelation_lag1": [
            0.11697151134180454,
            0.03031638322994714,
            -0.40909300195173476
          ],
          "temporal_linear_drift_per_s": [
            -0.00048563981130069503,
            -0.000239533313316362,
            1.1268230901198358e-05
          ]
        },
        "0815_20260812_123424": {
          "sample_count": 315,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.0074021216337422785,
            -0.06514167822060016,
            -0.0011924269681893962
          ],
          "innovation_distribution": {
            "count": 945,
            "rms": 0.09025324271346284,
            "p50_abs": 0.04604441585333787,
            "p95_abs": 0.19214259978482076,
            "p99_abs": 0.33327218798245156
          },
          "axis_rms": [
            0.13956505313518458,
            0.0698509575416325,
            0.00890972136353678
          ],
          "axis_p50_abs": [
            0.08055117488620252,
            0.06555551395998863,
            0.003993402568920854
          ],
          "axis_p95_abs": [
            0.3047686703977301,
            0.1127272411543223,
            0.013409941413353174
          ],
          "axis_p99_abs": [
            0.3586943101947025,
            0.12248347396004385,
            0.02539718793616691
          ],
          "vector_rms": 0.1563232019275632,
          "vector_p50": 0.10512228791884887,
          "vector_p95": 0.315013802314898,
          "vector_p99": 0.37546323014318855,
          "normalized_distribution": {
            "count": 945,
            "rms": 0.4227315641722958,
            "p50_abs": 0.21570726644585853,
            "p95_abs": 0.9010602026320362,
            "p99_abs": 1.5628940025949345
          },
          "empirical_covariance": [
            [
              0.019485471290965107,
              0.0030468764315985507,
              7.973139649021971e-05
            ],
            [
              0.0030468764315985507,
              0.0006377426077940167,
              -3.195611162421361e-05
            ],
            [
              7.973139649021971e-05,
              -3.195611162421361e-05,
              7.820953694567027e-05
            ]
          ],
          "nis_distribution": {
            "count": 315,
            "rms": 0.8813421266953693,
            "p50_abs": 0.24298150239451397,
            "p95_abs": 2.1825353107875416,
            "p99_abs": 3.0983579235509704
          },
          "nis_total": 168.87336670344024,
          "nis_per_dof": 0.1787019753475558,
          "alpha_factor": 0.1787019753475558,
          "alpha_composite_prediction": 0.1787019753475558,
          "alpha_factor_only_upper_bound": 0.3611467571822785,
          "temporal_autocorrelation_lag1": [
            0.7231472807421387,
            0.5953790636669857,
            -0.3565939950271203
          ],
          "temporal_linear_drift_per_s": [
            0.0002224851755676789,
            -5.276125862239402e-06,
            9.064291831013943e-07
          ]
        },
        "0819_20260819_074023": {
          "sample_count": 15,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            -0.00017521685740945204,
            -0.05569078187892233,
            -0.012536948429374516
          ],
          "innovation_distribution": {
            "count": 45,
            "rms": 0.0771807623654354,
            "p50_abs": 0.050489961217517365,
            "p95_abs": 0.14723753212987042,
            "p99_abs": 0.16698676572246057
          },
          "axis_rms": [
            0.10361757191642754,
            0.07202560222203883,
            0.04411713558954205
          ],
          "axis_p50_abs": [
            0.09135016653913151,
            0.07253725167885422,
            0.028661809474253157
          ],
          "axis_p95_abs": [
            0.1619415623550956,
            0.11509288957550619,
            0.08036554522783554
          ],
          "axis_p99_abs": [
            0.17280815422326617,
            0.11803669850325242,
            0.11249078295781087
          ],
          "vector_rms": 0.13368100178383405,
          "vector_p50": 0.1263476484469473,
          "vector_p95": 0.18324536950842552,
          "vector_p99": 0.20624607652080365,
          "normalized_distribution": {
            "count": 45,
            "rms": 0.34688711677718576,
            "p50_abs": 0.23575444974738843,
            "p95_abs": 0.6904760543289624,
            "p99_abs": 0.7830906138082441
          },
          "empirical_covariance": [
            [
              0.011503468402402406,
              0.001970711389399325,
              0.001063903636871504
            ],
            [
              0.001970711389399325,
              0.002235240202673207,
              -0.00014342296817265648
            ],
            [
              0.001063903636871504,
              -0.00014342296817265648,
              0.0019169427607556157
            ]
          ],
          "nis_distribution": {
            "count": 15,
            "rms": 0.43125719010949376,
            "p50_abs": 0.3334945329844194,
            "p95_abs": 0.72439499744039,
            "p99_abs": 0.9352194496116834
          },
          "nis_total": 5.414880230369501,
          "nis_per_dof": 0.12033067178598891,
          "alpha_factor": 0.12033067178598891,
          "alpha_composite_prediction": 0.12033067178598891,
          "alpha_factor_only_upper_bound": 0.243123985162369,
          "temporal_autocorrelation_lag1": [
            0.26922279732114396,
            0.28486816365523665,
            -0.19564276405294453
          ],
          "temporal_linear_drift_per_s": [
            -0.00441373505809187,
            0.00684709546996981,
            -0.0013860219927858796
          ]
        },
        "0815_20260814_104150": {
          "sample_count": 117,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.6325031654786042,
            -0.028315344709801068,
            -0.030740555219633516
          ],
          "innovation_distribution": {
            "count": 351,
            "rms": 0.41085088401767234,
            "p50_abs": 0.1775386196131419,
            "p95_abs": 0.8888324030998805,
            "p99_abs": 0.9220366048038363
          },
          "axis_rms": [
            0.6708666938076281,
            0.23466043255785773,
            0.035604876431321264
          ],
          "axis_p50_abs": [
            0.6255618632845611,
            0.21923542972347373,
            0.03527788476591622
          ],
          "axis_p95_abs": [
            0.9115287199857527,
            0.3816384440717812,
            0.04624646591202246
          ],
          "axis_p99_abs": [
            1.0531286270837268,
            0.44011196176504164,
            0.05989763160655823
          ],
          "vector_rms": 0.7116146054531965,
          "vector_p50": 0.6419851493717474,
          "vector_p95": 0.962407611582119,
          "vector_p99": 1.0810996921236695,
          "normalized_distribution": {
            "count": 351,
            "rms": 1.9249033411314134,
            "p50_abs": 0.8325792355767659,
            "p95_abs": 4.168228849301645,
            "p99_abs": 4.3239435050506305
          },
          "empirical_covariance": [
            [
              0.050432917093370846,
              0.038673120220212104,
              -0.0018764587138713107
            ],
            [
              0.038673120220212104,
              0.05473155089550088,
              -0.00017125539944363327
            ],
            [
              -0.0018764587138713107,
              -0.00017125539944363327,
              0.0003255076067755447
            ]
          ],
          "nis_distribution": {
            "count": 117,
            "rms": 12.716099976938885,
            "p50_abs": 9.038436325293434,
            "p95_abs": 20.358145501922653,
            "p99_abs": 25.708942881014266
          },
          "nis_total": 1300.5437583173064,
          "nis_per_dof": 3.7052528726988787,
          "alpha_factor": 3.7052528726988787,
          "alpha_composite_prediction": 3.7052528726988787,
          "alpha_factor_only_upper_bound": 7.488067648519131,
          "temporal_autocorrelation_lag1": [
            0.9260146035978865,
            0.8456237909309612,
            0.4012380794667127
          ],
          "temporal_linear_drift_per_s": [
            -0.0003070346441487819,
            0.0005345955777656385,
            8.118326897762483e-05
          ]
        },
        "0815_20260814_101806": {
          "sample_count": 78,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.6514878587509242,
            0.21801503311702347,
            -0.04435377909710408
          ],
          "innovation_distribution": {
            "count": 234,
            "rms": 0.45880738624881245,
            "p50_abs": 0.4126562280828291,
            "p95_abs": 0.6909586262707292,
            "p99_abs": 0.7126757592155457
          },
          "axis_rms": [
            0.6522107488994607,
            0.4517619540010363,
            0.04522089082018495
          ],
          "axis_p50_abs": [
            0.6328394869612288,
            0.4126562280828291,
            0.04215301834510509
          ],
          "axis_p95_abs": [
            0.693946047403454,
            0.6908597222852715,
            0.05847036693774891
          ],
          "axis_p99_abs": [
            0.7063964116237489,
            0.7342030491165757,
            0.059908946476522625
          ],
          "vector_rms": 0.7946777038708215,
          "vector_p50": 0.7734029901622743,
          "vector_p95": 0.9288413951566928,
          "vector_p99": 0.9617230590455454,
          "normalized_distribution": {
            "count": 234,
            "rms": 2.1489991624702336,
            "p50_abs": 1.9351890206489435,
            "p95_abs": 3.240311018767249,
            "p99_abs": 3.3421566933993825
          },
          "empirical_covariance": [
            [
              0.0009546702422110915,
              -0.0121146172163174,
              0.00014376451162790115
            ],
            [
              -0.0121146172163174,
              0.15859153320246458,
              -0.0021842982849569863
            ],
            [
              0.00014376451162790115,
              -0.0021842982849569863,
              7.867996386178963e-05
            ]
          ],
          "nis_distribution": {
            "count": 78,
            "rms": 14.175865607731971,
            "p50_abs": 13.116333420358396,
            "p95_abs": 18.934052917953082,
            "p99_abs": 20.29018319874802
          },
          "nis_total": 1080.6581916696775,
          "nis_per_dof": 4.618197400297767,
          "alpha_factor": 4.618197400297767,
          "alpha_composite_prediction": 4.618197400297767,
          "alpha_factor_only_upper_bound": 9.333021574881078,
          "temporal_autocorrelation_lag1": [
            0.8186955040009752,
            0.8394748496644301,
            0.20684761213658162
          ],
          "temporal_linear_drift_per_s": [
            -0.0002616669961016351,
            0.0034543702561342575,
            -4.8527922711107687e-05
          ]
        },
        "0815_20260814_112658": {
          "sample_count": 90,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.06567441388571618,
            0.047064616637058194,
            0.0009002460394355529
          ],
          "innovation_distribution": {
            "count": 270,
            "rms": 0.08401150210513329,
            "p50_abs": 0.058182636103762786,
            "p95_abs": 0.16032979306436268,
            "p99_abs": 0.23846147741475654
          },
          "axis_rms": [
            0.10070232866591435,
            0.1018225639494265,
            0.025787670114020955
          ],
          "axis_p50_abs": [
            0.07334510672452424,
            0.0935273891302745,
            0.014817009236817166
          ],
          "axis_p95_abs": [
            0.1988998782557077,
            0.15427417274461364,
            0.0496863013860071
          ],
          "axis_p99_abs": [
            0.24670225094699794,
            0.20753362531317793,
            0.07049294847561265
          ],
          "vector_rms": 0.14551219006627056,
          "vector_p50": 0.12330202093283857,
          "vector_p95": 0.23966819823327545,
          "vector_p99": 0.2820641037089314,
          "normalized_distribution": {
            "count": 270,
            "rms": 0.389320154285721,
            "p50_abs": 0.253488361673609,
            "p95_abs": 0.7518716041232876,
            "p99_abs": 1.1182732624681426
          },
          "empirical_covariance": [
            [
              0.005893311599499923,
              0.0002612153764905514,
              1.645436361168613e-05
            ],
            [
              0.0002612153764905514,
              0.008244360394424282,
              -0.00038271265147137387
            ],
            [
              1.645436361168613e-05,
              -0.00038271265147137387,
              0.0006716563351463424
            ]
          ],
          "nis_distribution": {
            "count": 90,
            "rms": 0.5869149595607356,
            "p50_abs": 0.3228260258061664,
            "p95_abs": 1.2457390617088029,
            "p99_abs": 1.7135443287644903
          },
          "nis_total": 40.92394928392556,
          "nis_per_dof": 0.15157018253305762,
          "alpha_factor": 0.15157018253305762,
          "alpha_composite_prediction": 0.15157018253305762,
          "alpha_factor_only_upper_bound": 0.30629695571037435,
          "temporal_autocorrelation_lag1": [
            0.5135860232897712,
            0.7612659289061561,
            -0.39784424945802016
          ],
          "temporal_linear_drift_per_s": [
            -0.00010685996520138609,
            0.00014618374671833816,
            7.225699058891576e-06
          ]
        },
        "0815_20260814_103752": {
          "sample_count": 54,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.7229741228816576,
            -0.03371701321748122,
            -0.026798684497588727
          ],
          "innovation_distribution": {
            "count": 162,
            "rms": 0.42347346721059603,
            "p50_abs": 0.08952280874835962,
            "p95_abs": 0.7355387174791221,
            "p99_abs": 0.743599320183824
          },
          "axis_rms": [
            0.7230714533240429,
            0.1201319826862526,
            0.026931624864047623
          ],
          "axis_p50_abs": [
            0.7237558019435064,
            0.08952280874835962,
            0.02649437938228003
          ],
          "axis_p95_abs": [
            0.7400890635955291,
            0.21133799848617557,
            0.03063831398579
          ],
          "axis_p99_abs": [
            0.7480692009187702,
            0.25195830996033075,
            0.03488598646785579
          ],
          "vector_rms": 0.7334775608661054,
          "vector_p50": 0.7271753462252025,
          "vector_p95": 0.7703583209718599,
          "vector_p99": 0.7881309344225544,
          "normalized_distribution": {
            "count": 162,
            "rms": 1.9849019350834138,
            "p50_abs": 0.419814279736185,
            "p95_abs": 3.4493566875454764,
            "p99_abs": 3.4871571789465863
          },
          "empirical_covariance": [
            [
              0.0001433998076343554,
              -0.0013579043367314028,
              -1.496777898722203e-05
            ],
            [
              -0.0013579043367314028,
              0.013545702628800073,
              0.00014576104428430458
            ],
            [
              -1.496777898722203e-05,
              0.00014576104428430458,
              7.2776992243440414e-06
            ]
          ],
          "nis_distribution": {
            "count": 54,
            "rms": 11.835260465655892,
            "p50_abs": 11.618105030089179,
            "p95_abs": 13.038992110917475,
            "p99_abs": 13.646323155361875
          },
          "nis_total": 638.2533820874567,
          "nis_per_dof": 3.9398356918978807,
          "alpha_factor": 3.9398356918978807,
          "alpha_composite_prediction": 3.9398356918978807,
          "alpha_factor_only_upper_bound": 7.962153303418192,
          "temporal_autocorrelation_lag1": [
            0.5539905464522995,
            0.5439632606026577,
            0.010638457913693873
          ],
          "temporal_linear_drift_per_s": [
            -4.107763998265881e-05,
            0.0003639512643341182,
            5.8231357440210406e-06
          ]
        },
        "0819_20260819_064333": {
          "sample_count": 126,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            -0.22354639011787472,
            -0.11737219954710779,
            -0.004813671179333358
          ],
          "innovation_distribution": {
            "count": 378,
            "rms": 0.16009146469769217,
            "p50_abs": 0.1102474014685781,
            "p95_abs": 0.3587561456806452,
            "p99_abs": 0.4466559858054528
          },
          "axis_rms": [
            0.25068687919459004,
            0.1183178876331323,
            0.006693076487514154
          ],
          "axis_p50_abs": [
            0.20396274881512044,
            0.11445851094371504,
            0.005076227390664758
          ],
          "axis_p95_abs": [
            0.42940750753543144,
            0.14232108267872803,
            0.012564382648255618
          ],
          "axis_p99_abs": [
            0.5032140286989125,
            0.15305402097288007,
            0.016014566992644665
          ],
          "vector_rms": 0.27728655071452213,
          "vector_p50": 0.23420308333944906,
          "vector_p95": 0.4531606568248333,
          "vector_p99": 0.526010345400311,
          "normalized_distribution": {
            "count": 378,
            "rms": 0.7505915440202622,
            "p50_abs": 0.5170091900683036,
            "p95_abs": 1.6824016000791084,
            "p99_abs": 2.094612905041971
          },
          "empirical_covariance": [
            [
              0.0129738902485147,
              0.0016926278417516186,
              0.0003218131189095339
            ],
            [
              0.0016926278417516186,
              0.00022467242189994936,
              4.129243362441893e-05
            ],
            [
              0.0003218131189095339,
              4.129243362441893e-05,
              2.1798849386129977e-05
            ]
          ],
          "nis_distribution": {
            "count": 126,
            "rms": 2.1733736018396206,
            "p50_abs": 1.206051432641992,
            "p95_abs": 4.513392768655483,
            "p99_abs": 6.088781258925886
          },
          "nis_total": 212.96053773088462,
          "nis_per_dof": 0.5633876659547212,
          "alpha_factor": 0.5633876659547212,
          "alpha_composite_prediction": 0.5633876659547212,
          "alpha_factor_only_upper_bound": 1.1385812333704661,
          "temporal_autocorrelation_lag1": [
            0.7260135428128952,
            0.6953497189076998,
            0.20416098056781345
          ],
          "temporal_linear_drift_per_s": [
            -0.0003316179869587013,
            -4.45620492811222e-05,
            -1.0589752130541138e-05
          ]
        },
        "0815_20260814_103326": {
          "sample_count": 41,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.6642465880559935,
            -0.13040878444763937,
            -0.02319808876821319
          ],
          "innovation_distribution": {
            "count": 123,
            "rms": 0.3944644824058499,
            "p50_abs": 0.10434571281110128,
            "p95_abs": 0.6750271842979119,
            "p99_abs": 0.6803336157342335
          },
          "axis_rms": [
            0.6643162889447143,
            0.15793000173905583,
            0.023423629790658394
          ],
          "axis_p50_abs": [
            0.6607502956202882,
            0.10434571281110128,
            0.022911747585267823
          ],
          "axis_p95_abs": [
            0.6776256357441985,
            0.2620260508094226,
            0.027605019501549633
          ],
          "axis_p99_abs": [
            0.6874295953072393,
            0.33968837078933345,
            0.030016050191962906
          ],
          "vector_rms": 0.6832325253082914,
          "vector_p50": 0.6714023251269072,
          "vector_p95": 0.7241193637758877,
          "vector_p99": 0.7665155816951214,
          "normalized_distribution": {
            "count": 123,
            "rms": 1.8490495329117542,
            "p50_abs": 0.4893240461288159,
            "p95_abs": 3.165582957876668,
            "p99_abs": 3.1904677117622073
          },
          "empirical_covariance": [
            [
              9.49170635798246e-05,
              -0.0008303780269227105,
              -1.6352040625350962e-05
            ],
            [
              -0.0008303780269227105,
              0.008133820247891999,
              0.00014161204466536486
            ],
            [
              -1.6352040625350962e-05,
              0.00014161204466536486,
              1.077798782371819e-05
            ]
          ],
          "nis_distribution": {
            "count": 41,
            "rms": 10.29601241953412,
            "p50_abs": 9.905387633274898,
            "p95_abs": 11.52168262504738,
            "p99_abs": 12.91856515231302
          },
          "nis_total": 420.5350535448248,
          "nis_per_dof": 3.418984175161177,
          "alpha_factor": 3.418984175161177,
          "alpha_composite_prediction": 3.418984175161177,
          "alpha_factor_only_upper_bound": 6.9095582787365615,
          "temporal_autocorrelation_lag1": [
            0.4845409319616419,
            0.5513176031447996,
            -0.074983961463792
          ],
          "temporal_linear_drift_per_s": [
            -0.0002110822244405187,
            0.0019416736246169067,
            3.0508993538761764e-05
          ]
        },
        "0819_20260819_063601": {
          "sample_count": 64,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.44896061956656225,
            0.3140682478730041,
            -0.02649160267010447
          ],
          "innovation_distribution": {
            "count": 192,
            "rms": 0.32759479200373753,
            "p50_abs": 0.31536092186239234,
            "p95_abs": 0.5601309215942148,
            "p99_abs": 0.5951778126507146
          },
          "axis_rms": [
            0.45662833497765337,
            0.3357352593575519,
            0.026971143163934515
          ],
          "axis_p50_abs": [
            0.44530781532215236,
            0.3204688711812397,
            0.026756466154724497
          ],
          "axis_p95_abs": [
            0.5934751608978696,
            0.4930814954422869,
            0.03367648606454245
          ],
          "axis_p99_abs": [
            0.5982745755469926,
            0.5293311862888037,
            0.03739067079078093
          ],
          "vector_rms": 0.567410824045432,
          "vector_p50": 0.557342628256597,
          "vector_p95": 0.604892689201987,
          "vector_p99": 0.61769515818343,
          "normalized_distribution": {
            "count": 192,
            "rms": 1.5349724980588475,
            "p50_abs": 1.478901470269777,
            "p95_abs": 2.626764859787859,
            "p99_abs": 2.791117892091045
          },
          "empirical_covariance": [
            [
              0.007054017404823012,
              -0.010037503430044104,
              2.203569084228297e-05
            ],
            [
              -0.010037503430044104,
              0.01430278100709987,
              -3.776773841905411e-05
            ],
            [
              2.203569084228297e-05,
              -3.776773841905411e-05,
              2.6044496801285535e-05
            ]
          ],
          "nis_distribution": {
            "count": 64,
            "rms": 7.087173674049434,
            "p50_abs": 6.81976193121996,
            "p95_abs": 8.036489638686342,
            "p99_abs": 8.38112419155916
          },
          "nis_total": 452.37898940102764,
          "nis_per_dof": 2.356140569797019,
          "alpha_factor": 2.356140569797019,
          "alpha_composite_prediction": 2.356140569797019,
          "alpha_factor_only_upper_bound": 4.7616216492035415,
          "temporal_autocorrelation_lag1": [
            0.7549462713470101,
            0.7535814319004593,
            -0.5130957606242474
          ],
          "temporal_linear_drift_per_s": [
            0.0006801329273461821,
            -0.0009895726711734196,
            -6.646662768906025e-06
          ]
        },
        "0819_20260819_062947": {
          "sample_count": 53,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.5909236953780788,
            0.11758150210556843,
            -0.03014250968218865
          ],
          "innovation_distribution": {
            "count": 159,
            "rms": 0.3498731914219798,
            "p50_abs": 0.11513167592905964,
            "p95_abs": 0.5996870755692348,
            "p99_abs": 0.6036861339370768
          },
          "axis_rms": [
            0.5909796997817952,
            0.1305723926590321,
            0.030456443464704212
          ],
          "axis_p50_abs": [
            0.5916435031584037,
            0.11513167592905964,
            0.0306521145049953
          ],
          "axis_p95_abs": [
            0.6019240894051002,
            0.22335435394273595,
            0.03689898663686759
          ],
          "axis_p99_abs": [
            0.6054147658333303,
            0.2620304104073636,
            0.03752829444819118
          ],
          "vector_rms": 0.6059981437491405,
          "vector_p50": 0.6039342036318696,
          "vector_p95": 0.6194161385971229,
          "vector_p99": 0.6302314501461803,
          "normalized_distribution": {
            "count": 159,
            "rms": 1.6391970093167327,
            "p50_abs": 0.5399191539616046,
            "p95_abs": 2.812265853572113,
            "p99_abs": 2.8310194911513182
          },
          "empirical_covariance": [
            [
              6.746471402885705e-05,
              -0.0004534287896996476,
              -1.3002403979921616e-06
            ],
            [
              -0.0004534287896996476,
              0.0032857350889815597,
              -1.8193815713540883e-05
            ],
            [
              -1.3002403979921616e-06,
              -1.8193815713540883e-05,
              1.938990585823076e-05
            ]
          ],
          "nis_distribution": {
            "count": 53,
            "rms": 8.06289877710583,
            "p50_abs": 8.006765751194242,
            "p95_abs": 8.41689975677104,
            "p99_abs": 8.718912829201507
          },
          "nis_total": 427.22772682111446,
          "nis_per_dof": 2.686966835352921,
          "alpha_factor": 2.686966835352921,
          "alpha_composite_prediction": 2.686966835352921,
          "alpha_factor_only_upper_bound": 5.430193392829852,
          "temporal_autocorrelation_lag1": [
            0.10287634269626375,
            0.1716652170873876,
            -0.35919931407093625
          ],
          "temporal_linear_drift_per_s": [
            1.9287826860283812e-05,
            -0.0001560554719301876,
            -2.1620827915215186e-06
          ]
        },
        "0815_20260814_102314": {
          "sample_count": 44,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.7081323240831595,
            0.22819103191872683,
            -0.028556170570783745
          ],
          "innovation_distribution": {
            "count": 132,
            "rms": 0.4323894986089343,
            "p50_abs": 0.2247449911255352,
            "p95_abs": 0.7129057798336395,
            "p99_abs": 0.7228398397785942
          },
          "axis_rms": [
            0.7081639021561261,
            0.24190185530844985,
            0.029485854289728927
          ],
          "axis_p50_abs": [
            0.7071607024403865,
            0.2247449911255352,
            0.027781729327522847
          ],
          "axis_p95_abs": [
            0.7206803044429542,
            0.3564963722108663,
            0.03886968907018747
          ],
          "axis_p99_abs": [
            0.7266260281944351,
            0.377873523263764,
            0.047223350652645775
          ],
          "vector_rms": 0.7489205802499065,
          "vector_p50": 0.7431254093036814,
          "vector_p95": 0.7885275371540231,
          "vector_p99": 0.7975564022964713,
          "normalized_distribution": {
            "count": 132,
            "rms": 2.026543853144556,
            "p50_abs": 1.0539716509329253,
            "p95_abs": 3.3432198258649692,
            "p99_abs": 3.389806247850496
          },
          "empirical_covariance": [
            [
              4.5763996401774954e-05,
              -0.0004151676518047582,
              1.2042134171482216e-05
            ],
            [
              -0.0004151676518047582,
              0.006595252659433005,
              -0.0002119836261579994
            ],
            [
              1.2042134171482216e-05,
              -0.0002119836261579994,
              5.521562612109096e-05
            ]
          ],
          "nis_distribution": {
            "count": 44,
            "rms": 12.339492104022332,
            "p50_abs": 12.13826386532891,
            "p95_abs": 13.662738501247567,
            "p99_abs": 13.967176175321132
          },
          "nis_total": 542.1081585107742,
          "nis_per_dof": 4.106879988717986,
          "alpha_factor": 4.106879988717986,
          "alpha_composite_prediction": 4.106879988717986,
          "alpha_factor_only_upper_bound": 8.299703315843857,
          "temporal_autocorrelation_lag1": [
            -0.1135544838242115,
            0.27224825610836084,
            -0.3797556597255743
          ],
          "temporal_linear_drift_per_s": [
            5.247962905689362e-05,
            -0.0006380559731738053,
            1.4186891994018505e-05
          ]
        },
        "0819_20260819_071004": {
          "sample_count": 98,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.09051679591370197,
            -0.09712347118681686,
            -0.003055820425185279
          ],
          "innovation_distribution": {
            "count": 294,
            "rms": 0.08993963147488611,
            "p50_abs": 0.09028721913328977,
            "p95_abs": 0.16312226323820908,
            "p99_abs": 0.20422539777902315
          },
          "axis_rms": [
            0.12143828586001384,
            0.09743953743298081,
            0.005068648907081175
          ],
          "axis_p50_abs": [
            0.11335263285793855,
            0.09553440378087191,
            0.0029478684003031294
          ],
          "axis_p95_abs": [
            0.19805047584722138,
            0.11387929670964032,
            0.01081259199980983
          ],
          "axis_p99_abs": [
            0.2074625568659525,
            0.11707627181370933,
            0.014379985271886997
          ],
          "vector_rms": 0.15578001132852368,
          "vector_p50": 0.14840936839133373,
          "vector_p95": 0.2167910986495986,
          "vector_p99": 0.22447854255505595,
          "normalized_distribution": {
            "count": 294,
            "rms": 0.4216079715183942,
            "p50_abs": 0.42340498723761,
            "p95_abs": 0.7649674461134552,
            "p99_abs": 0.9577221565150847
          },
          "empirical_covariance": [
            [
              0.006621533599518504,
              0.0006269239830128999,
              -6.510720446164537e-05
            ],
            [
              0.0006269239830128999,
              6.212876678483215e-05,
              -6.95653474246675e-06
            ],
            [
              -6.510720446164537e-05,
              -6.95653474246675e-06,
              1.652175258436096e-05
            ]
          ],
          "nis_distribution": {
            "count": 98,
            "rms": 0.5879037044199882,
            "p50_abs": 0.4843257167556668,
            "p95_abs": 1.0331354340526577,
            "p99_abs": 1.1095994904176878
          },
          "nis_total": 52.259464804469395,
          "nis_per_dof": 0.1777532816478551,
          "alpha_factor": 0.1777532816478551,
          "alpha_composite_prediction": 0.1777532816478551,
          "alpha_factor_only_upper_bound": 0.3592317559734449,
          "temporal_autocorrelation_lag1": [
            0.6779187797269763,
            0.635238172674119,
            -0.28060661238210083
          ],
          "temporal_linear_drift_per_s": [
            -0.00029077495652121536,
            -3.108129404193137e-05,
            -1.1939512799580397e-06
          ]
        },
        "0819_20260819_073045": {
          "sample_count": 108,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.06945289220725069,
            0.0693216408518501,
            -0.0036740738436082244
          ],
          "innovation_distribution": {
            "count": 324,
            "rms": 0.0900821762973255,
            "p50_abs": 0.05136540824456854,
            "p95_abs": 0.19482550763303283,
            "p99_abs": 0.2970532517620041
          },
          "axis_rms": [
            0.1385813272706881,
            0.07146600242097802,
            0.0056764151756624175
          ],
          "axis_p50_abs": [
            0.08265949778859022,
            0.06550862853503986,
            0.004082964712341766
          ],
          "axis_p95_abs": [
            0.28430593441969754,
            0.10142153725641397,
            0.010734886637229789
          ],
          "axis_p99_abs": [
            0.33631711176039714,
            0.10875651768994736,
            0.013598722026369607
          ],
          "vector_rms": 0.1560269062033446,
          "vector_p50": 0.10161427695150811,
          "vector_p95": 0.30138013583660594,
          "vector_p99": 0.3531877141441178,
          "normalized_distribution": {
            "count": 324,
            "rms": 0.4222345353954786,
            "p50_abs": 0.24087993422713963,
            "p95_abs": 0.9136416326302539,
            "p99_abs": 1.3930432150954926
          },
          "empirical_covariance": [
            [
              0.014515482649276512,
              0.0020875689098582193,
              -0.0001983487285864049
            ],
            [
              0.0020875689098582193,
              0.00030472110333993604,
              -2.8011909562815033e-05
            ],
            [
              -0.0001983487285864049,
              -2.8011909562815033e-05,
              1.889785073762695e-05
            ]
          ],
          "nis_distribution": {
            "count": 108,
            "rms": 0.8281674110583606,
            "p50_abs": 0.2262873709706572,
            "p95_abs": 1.9962127441972246,
            "p99_abs": 2.742830384544768
          },
          "nis_total": 57.76336893332595,
          "nis_per_dof": 0.17828200288063564,
          "alpha_factor": 0.17828200288063564,
          "alpha_composite_prediction": 0.17828200288063564,
          "alpha_factor_only_upper_bound": 0.36029969174003595,
          "temporal_autocorrelation_lag1": [
            0.7760731685715611,
            0.7779340442020772,
            -0.17173315779144352
          ],
          "temporal_linear_drift_per_s": [
            -0.0009733620604564216,
            -0.0001386562388196271,
            1.0239957720869901e-05
          ]
        },
        "0815_20260814_113355": {
          "sample_count": 13,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.11949971181996544,
            0.07994600187958426,
            -0.0011400433007021401
          ],
          "innovation_distribution": {
            "count": 39,
            "rms": 0.10164655092544324,
            "p50_abs": 0.040840292045214666,
            "p95_abs": 0.2069761245149097,
            "p99_abs": 0.22198245892410884
          },
          "axis_rms": [
            0.14007355663487323,
            0.10468046379978044,
            0.02043191560857672
          ],
          "axis_p50_abs": [
            0.11160268446959581,
            0.06982017000181755,
            0.017203768557356874
          ],
          "axis_p95_abs": [
            0.21892181263921803,
            0.17760346007127806,
            0.03333827304833123
          ],
          "axis_p99_abs": [
            0.2255995863517071,
            0.17824132346639932,
            0.03933988824583797
          ],
          "vector_rms": 0.176056990617005,
          "vector_p50": 0.15864622226370353,
          "vector_p95": 0.25532692635680443,
          "vector_p99": 0.2612247303373931,
          "normalized_distribution": {
            "count": 39,
            "rms": 0.474268174019049,
            "p50_abs": 0.19030792856276185,
            "p95_abs": 0.9706225838569713,
            "p99_abs": 1.0409961256550901
          },
          "empirical_covariance": [
            [
              0.005785455155228944,
              0.0030423345682330815,
              0.00031892976747719423
            ],
            [
              0.0030423345682330815,
              0.004947189308540536,
              -0.00012057010671547075
            ],
            [
              0.00031892976747719423,
              -0.00012057010671547075,
              0.00045084376643423556
            ]
          ],
          "nis_distribution": {
            "count": 13,
            "rms": 0.8721361927466303,
            "p50_abs": 0.5528758248458622,
            "p95_abs": 1.4312095747310525,
            "p99_abs": 1.4996714441505434
          },
          "nis_total": 8.772281734607157,
          "nis_per_dof": 0.224930300887363,
          "alpha_factor": 0.224930300887363,
          "alpha_composite_prediction": 0.224930300887363,
          "alpha_factor_only_upper_bound": 0.454562467607988,
          "temporal_autocorrelation_lag1": [
            0.949344503528907,
            0.3529398585464465,
            -0.5160093012348483
          ],
          "temporal_linear_drift_per_s": [
            -0.01616892912007978,
            -0.010876186071023886,
            -0.0010336939809770696
          ]
        },
        "0815_20260814_103601": {
          "sample_count": 57,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.6568839356227105,
            0.10270997127510635,
            -0.035414881684286754
          ],
          "innovation_distribution": {
            "count": 171,
            "rms": 0.38649355104158145,
            "p50_abs": 0.10745902174843329,
            "p95_abs": 0.663029165554704,
            "p99_abs": 0.6691940234819379
          },
          "axis_rms": [
            0.6569264661201757,
            0.12371794661613192,
            0.03568308823715125
          ],
          "axis_p50_abs": [
            0.6568937612918146,
            0.10745902174843329,
            0.03514448343888318
          ],
          "axis_p95_abs": [
            0.667642968354784,
            0.2206013633261304,
            0.04232517844862567
          ],
          "axis_p99_abs": [
            0.6724709577789155,
            0.2870831723269039,
            0.046906054316816034
          ],
          "vector_rms": 0.6694264672017343,
          "vector_p50": 0.6673954229530057,
          "vector_p95": 0.6885431599512479,
          "vector_p99": 0.7074604205416035,
          "normalized_distribution": {
            "count": 171,
            "rms": 1.8105566259673211,
            "p50_abs": 0.5039403674316637,
            "p95_abs": 3.109318145520735,
            "p99_abs": 3.1382290218619713
          },
          "empirical_covariance": [
            [
              5.687481370994319e-05,
              -0.00043018694480846567,
              -1.8719120168296673e-06
            ],
            [
              -0.00043018694480846567,
              0.0048417348319285194,
              -8.42567961042496e-05
            ],
            [
              -1.8719120168296673e-06,
              -8.42567961042496e-05,
              1.9409458239510983e-05
            ]
          ],
          "nis_distribution": {
            "count": 57,
            "rms": 9.838776773076203,
            "p50_abs": 9.774272210822483,
            "p95_abs": 10.395581164552244,
            "p99_abs": 10.974817104330711
          },
          "nis_total": 560.5577155876432,
          "nis_per_dof": 3.2781152958341706,
          "alpha_factor": 3.2781152958341706,
          "alpha_composite_prediction": 3.2781152958341706,
          "alpha_factor_only_upper_bound": 6.624841968897623,
          "temporal_autocorrelation_lag1": [
            0.20067311530783555,
            0.34756381457550306,
            -0.2173572363215833
          ],
          "temporal_linear_drift_per_s": [
            8.169380317636438e-05,
            -0.0007761399425924738,
            2.4498589630180074e-05
          ]
        },
        "0808_20260808_081539": {
          "sample_count": 51,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.15612172993757661,
            -0.3619258225804467,
            -0.01280312835411712
          ],
          "innovation_distribution": {
            "count": 153,
            "rms": 0.2294175340081206,
            "p50_abs": 0.1502806678772004,
            "p95_abs": 0.3771429587935116,
            "p99_abs": 0.3859538094621126
          },
          "axis_rms": [
            0.16293175304607901,
            0.36218624564662516,
            0.013098932965532656
          ],
          "axis_p50_abs": [
            0.1502806678772004,
            0.3629509199789026,
            0.012504866547976492
          ],
          "axis_p95_abs": [
            0.227489355746137,
            0.3834491936567633,
            0.01763105082645018
          ],
          "axis_p99_abs": [
            0.26086990385518566,
            0.38843755036736516,
            0.019003638597354957
          ],
          "vector_rms": 0.3973628250492256,
          "vector_p50": 0.3941192898459903,
          "vector_p95": 0.41051095829001893,
          "vector_p99": 0.42165750677838937,
          "normalized_distribution": {
            "count": 153,
            "rms": 1.0754245039288206,
            "p50_abs": 0.7047464082723518,
            "p95_abs": 1.7686268025163583,
            "p99_abs": 1.8099449675243968
          },
          "empirical_covariance": [
            [
              0.00221621682380622,
              0.0006488201406840041,
              1.1434430785903532e-05
            ],
            [
              0.0006488201406840041,
              0.00019234699476584528,
              4.344569498652545e-06
            ],
            [
              1.1434430785903532e-05,
              4.344569498652545e-06,
              7.815188167190729e-06
            ]
          ],
          "nis_distribution": {
            "count": 51,
            "rms": 3.472081741451898,
            "p50_abs": 3.412493124521337,
            "p95_abs": 3.7023945488644783,
            "p99_abs": 3.909031760611397
          },
          "nis_total": 176.95029313853416,
          "nis_per_dof": 1.1565378636505501,
          "alpha_factor": 1.1565378636505501,
          "alpha_composite_prediction": 1.1565378636505501,
          "alpha_factor_only_upper_bound": 2.33731152885148,
          "temporal_autocorrelation_lag1": [
            -0.032813659913955136,
            -0.027079004261893427,
            -0.24900424664312096
          ],
          "temporal_linear_drift_per_s": [
            -0.00016112035936844722,
            -4.147396805711565e-05,
            1.7288889593624093e-06
          ]
        },
        "0819_20260819_065931": {
          "sample_count": 140,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.7832871137772772,
            0.007341278831941157,
            -0.024941910562165066
          ],
          "innovation_distribution": {
            "count": 420,
            "rms": 0.4554264602151929,
            "p50_abs": 0.07033277263104963,
            "p95_abs": 0.799605974933814,
            "p99_abs": 0.8134456448831408
          },
          "axis_rms": [
            0.7834199328561441,
            0.08855128392567016,
            0.025527649935158242
          ],
          "axis_p50_abs": [
            0.7816248699137309,
            0.07033277263104963,
            0.02457056685494916
          ],
          "axis_p95_abs": [
            0.8086851656074824,
            0.16447862072386604,
            0.033123093617143516
          ],
          "axis_p99_abs": [
            0.818106489934883,
            0.20239321125446594,
            0.03871137504123184
          ],
          "vector_rms": 0.7888217682039601,
          "vector_p50": 0.7828128730969495,
          "vector_p95": 0.8218603586315073,
          "vector_p99": 0.8431860476023403,
          "normalized_distribution": {
            "count": 420,
            "rms": 2.134908621550368,
            "p50_abs": 0.3298310977438274,
            "p95_abs": 3.749796406931597,
            "p99_abs": 3.8146992757731013
          },
          "empirical_covariance": [
            [
              0.0002095856269808089,
              -0.0012378210210218438,
              -2.382491048399319e-05
            ],
            [
              -0.0012378210210218438,
              0.007843460225895596,
              8.425040623668036e-05
            ],
            [
              -2.382491048399319e-05,
              8.425040623668036e-05,
              2.9774685042676373e-05
            ]
          ],
          "nis_distribution": {
            "count": 140,
            "rms": 13.686144517525888,
            "p50_abs": 13.463678000731115,
            "p95_abs": 14.84281396217994,
            "p99_abs": 15.62442413244414
          },
          "nis_total": 1914.290625395439,
          "nis_per_dof": 4.557834822370093,
          "alpha_factor": 4.557834822370093,
          "alpha_composite_prediction": 4.557834822370093,
          "alpha_factor_only_upper_bound": 9.211126463837232,
          "temporal_autocorrelation_lag1": [
            0.6702364045948614,
            0.7063853995908145,
            -0.23955191177683824
          ],
          "temporal_linear_drift_per_s": [
            -0.00017537316377752753,
            0.0010934895837288142,
            1.5036161837644719e-05
          ]
        },
        "0819_20260819_072130": {
          "sample_count": 54,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.02895797550241745,
            -0.2660683527910052,
            -0.005310280473524879
          ],
          "innovation_distribution": {
            "count": 162,
            "rms": 0.1642442914666377,
            "p50_abs": 0.03831469921588092,
            "p95_abs": 0.3708413082416171,
            "p99_abs": 0.42782511435717363
          },
          "axis_rms": [
            0.0519399895264553,
            0.2796083353972528,
            0.00706951925540893
          ],
          "axis_p50_abs": [
            0.03831469921588092,
            0.25189849795701597,
            0.005905177964640738
          ],
          "axis_p95_abs": [
            0.09030923438681943,
            0.41105415766821307,
            0.012628317250211454
          ],
          "axis_p99_abs": [
            0.11393348415804952,
            0.4380356627046578,
            0.013718978807595018
          ],
          "vector_rms": 0.2844794576733679,
          "vector_p50": 0.2544223890185871,
          "vector_p95": 0.41317437293474796,
          "vector_p99": 0.4420853346238235,
          "normalized_distribution": {
            "count": 162,
            "rms": 0.7700518143062928,
            "p50_abs": 0.1796781010844697,
            "p95_abs": 1.7390745983581064,
            "p99_abs": 2.006303411031872
          },
          "empirical_covariance": [
            [
              0.0018942773775042,
              0.003771555428861785,
              5.8556742259286085e-05
            ],
            [
              0.003771555428861785,
              0.00752785763777373,
              0.00011749569666053326
            ],
            [
              5.8556742259286085e-05,
              0.00011749569666053326,
              2.2189948772363998e-05
            ]
          ],
          "nis_distribution": {
            "count": 54,
            "rms": 2.05685484077032,
            "p50_abs": 1.422842097030011,
            "p95_abs": 3.755670601156175,
            "p99_abs": 4.295489999015634
          },
          "nis_total": 96.06272706805895,
          "nis_per_dof": 0.5929797967164132,
          "alpha_factor": 0.5929797967164132,
          "alpha_composite_prediction": 0.5929797967164132,
          "alpha_factor_only_upper_bound": 1.1983863446112082,
          "temporal_autocorrelation_lag1": [
            0.5363310421054245,
            0.5541005174092022,
            -0.08191531429738641
          ],
          "temporal_linear_drift_per_s": [
            0.0003922267569946281,
            0.0007980509039948608,
            2.0257352559214535e-05
          ]
        },
        "0808_20260808_101021": {
          "sample_count": 29,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            1.585690309482664,
            0.3871411069581102,
            -0.13057530193833725
          ],
          "innovation_distribution": {
            "count": 87,
            "rms": 0.9459289793397349,
            "p50_abs": 0.38478501526365433,
            "p95_abs": 1.5985015311108037,
            "p99_abs": 1.6109514757177388
          },
          "axis_rms": [
            1.5857504756357481,
            0.3907506246816429,
            0.13059203726124577
          ],
          "axis_p50_abs": [
            1.585255916232763,
            0.38478501526365433,
            0.13084103704438355
          ],
          "axis_p95_abs": [
            1.6072071319015984,
            0.453993659465641,
            0.1336579873347045
          ],
          "axis_p99_abs": [
            1.6215871815221132,
            0.4639314705850063,
            0.1340478859842312
          ],
          "vector_rms": 1.6383970525681917,
          "vector_p50": 1.6379138695854125,
          "vector_p95": 1.6419834075023472,
          "vector_p99": 1.647171921821236,
          "normalized_distribution": {
            "count": 87,
            "rms": 4.425426540224097,
            "p50_abs": 1.804482321278505,
            "p95_abs": 7.496265394925517,
            "p99_abs": 7.554650806150566
          },
          "empirical_covariance": [
            [
              0.0001976281557668298,
              -0.0007514015558884983,
              -4.55622484783452e-06
            ],
            [
              -0.0007514015558884983,
              0.0029080930634983256,
              1.1605781366452675e-05
            ],
            [
              -4.55622484783452e-06,
              1.1605781366452675e-05,
              4.526816888762746e-06
            ]
          ],
          "nis_distribution": {
            "count": 29,
            "rms": 58.75355172460549,
            "p50_abs": 58.7251692041977,
            "p95_abs": 59.01022082518351,
            "p99_abs": 59.378359575876935
          },
          "nis_total": 1703.8428054740243,
          "nis_per_dof": 19.58440006291982,
          "alpha_factor": 19.58440006291982,
          "alpha_composite_prediction": 19.58440006291982,
          "alpha_factor_only_upper_bound": 39.578580618031204,
          "temporal_autocorrelation_lag1": [
            0.08693086082775528,
            0.06301394636439271,
            -0.2358790162683317
          ],
          "temporal_linear_drift_per_s": [
            -0.0001196017457395813,
            0.000452839766309956,
            -2.209879981554173e-06
          ]
        },
        "0808_20260808_075440": {
          "sample_count": 35,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.10183952023030234,
            -0.30856326550575386,
            -0.012028886266028225
          ],
          "innovation_distribution": {
            "count": 105,
            "rms": 0.20255104919832373,
            "p50_abs": 0.08301660941321318,
            "p95_abs": 0.38376738897011403,
            "p99_abs": 0.39414786180825817
          },
          "axis_rms": [
            0.11087369585746443,
            0.33261293332472297,
            0.012507707466006344
          ],
          "axis_p50_abs": [
            0.09387859213706773,
            0.37332873029992875,
            0.012723277761465231
          ],
          "axis_p95_abs": [
            0.1883856728531871,
            0.3921703365517098,
            0.01598051306955471
          ],
          "axis_p99_abs": [
            0.21303397013010497,
            0.3951609707965318,
            0.01710912341528339
          ],
          "vector_rms": 0.3508287083378801,
          "vector_p50": 0.3927301646576626,
          "vector_p95": 0.40036099683229476,
          "vector_p99": 0.40775220284718167,
          "normalized_distribution": {
            "count": 105,
            "rms": 0.9494193887832612,
            "p50_abs": 0.3893094177108612,
            "p95_abs": 1.7996931267341891,
            "p99_abs": 1.848372597112728
          },
          "empirical_covariance": [
            [
              0.00197820880389523,
              -0.0018606773569877723,
              -4.4223229939568125e-05
            ],
            [
              -0.0018606773569877723,
              0.015873606201046466,
              0.00029041324422972845
            ],
            [
              -4.4223229939568125e-05,
              0.00029041324422972845,
              1.2094189526329287e-05
            ]
          ],
          "nis_distribution": {
            "count": 35,
            "rms": 3.012749829575817,
            "p50_abs": 3.390385333133628,
            "p95_abs": 3.522580974307833,
            "p99_abs": 3.653534451189117
          },
          "nis_total": 94.64670345874602,
          "nis_per_dof": 0.9013971757975812,
          "alpha_factor": 0.9013971757975812,
          "alpha_composite_prediction": 0.9013971757975812,
          "alpha_factor_only_upper_bound": 1.821680748659021,
          "temporal_autocorrelation_lag1": [
            0.02786662710704088,
            0.9013885506103978,
            0.07650316519424516
          ],
          "temporal_linear_drift_per_s": [
            0.0001927711864371368,
            -0.0012915146164191277,
            -2.4382148709330475e-05
          ]
        },
        "0808_20260808_080830": {
          "sample_count": 97,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.14315961376582398,
            -0.3661491799402783,
            -0.01335139515203573
          ],
          "innovation_distribution": {
            "count": 291,
            "rms": 0.2281296834029894,
            "p50_abs": 0.14191799709439032,
            "p95_abs": 0.3774834554226053,
            "p99_abs": 0.38424480559456065
          },
          "axis_rms": [
            0.14752004059072324,
            0.3663098439403911,
            0.013579145964389916
          ],
          "axis_p50_abs": [
            0.14191799709439032,
            0.3662757327729844,
            0.013361141953772322
          ],
          "axis_p95_abs": [
            0.2045857880776273,
            0.3817150537992464,
            0.01758976808993413
          ],
          "axis_p99_abs": [
            0.21715407809964465,
            0.3887334216536308,
            0.0186015489508253
          ],
          "vector_rms": 0.3951322023685801,
          "vector_p50": 0.39427742576390706,
          "vector_p95": 0.4048447847688201,
          "vector_p99": 0.40817261398300386,
          "normalized_distribution": {
            "count": 291,
            "rms": 1.0693501495139286,
            "p50_abs": 0.6655296835915722,
            "p95_abs": 1.7702236318558633,
            "p99_abs": 1.8019315384318684
          },
          "empirical_covariance": [
            [
              0.0012806903556661178,
              0.00038385579151525536,
              -2.1538037034442715e-05
            ],
            [
              0.00038385579151525536,
              0.00011890562791101134,
              -6.890536388439392e-06
            ],
            [
              -2.1538037034442715e-05,
              -6.890536388439392e-06,
              6.197342747824709e-06
            ]
          ],
          "nis_distribution": {
            "count": 97,
            "rms": 3.4313744700934854,
            "p50_abs": 3.4164869899950614,
            "p95_abs": 3.601331478626399,
            "p99_abs": 3.659670200105813
          },
          "nis_total": 332.76133499924936,
          "nis_per_dof": 1.1435097422654616,
          "alpha_factor": 1.1435097422654616,
          "alpha_composite_prediction": 1.1435097422654616,
          "alpha_factor_only_upper_bound": 2.3109801843674505,
          "temporal_autocorrelation_lag1": [
            0.16917268653968662,
            0.17928613419077785,
            -0.14917956310881367
          ],
          "temporal_linear_drift_per_s": [
            3.328743679703304e-05,
            1.2298401176687585e-05,
            -5.283310096016548e-07
          ]
        },
        "0808_20260808_073816": {
          "sample_count": 35,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.052981017905862855,
            -0.04825834137523877,
            -0.00775731415618944
          ],
          "innovation_distribution": {
            "count": 105,
            "rms": 0.04595435310002912,
            "p50_abs": 0.03965314178996773,
            "p95_abs": 0.08892089125470454,
            "p99_abs": 0.11192882350144186
          },
          "axis_rms": [
            0.062053216628640974,
            0.04916474453854246,
            0.008223983646948915
          ],
          "axis_p50_abs": [
            0.05188724509242503,
            0.04892300393389807,
            0.008135304222471577
          ],
          "axis_p95_abs": [
            0.11009163526801138,
            0.06028095194028057,
            0.01202966653320362
          ],
          "axis_p99_abs": [
            0.11283153867781011,
            0.06756643334159801,
            0.012317970228962393
          ],
          "vector_rms": 0.07959527439821078,
          "vector_p50": 0.07297826966065825,
          "vector_p95": 0.11499900774310923,
          "vector_p99": 0.11685569888864013,
          "normalized_distribution": {
            "count": 105,
            "rms": 0.21464241309373608,
            "p50_abs": 0.18595480309559845,
            "p95_abs": 0.4169976103113275,
            "p99_abs": 0.5248941404754394
          },
          "empirical_covariance": [
            [
              0.0010743079484320283,
              0.0003093524180584924,
              -6.16883537446542e-06
            ],
            [
              0.0003093524180584924,
              9.090178717020677e-05,
              -1.143606877330073e-06
            ],
            [
              -6.16883537446542e-06,
              -1.143606877330073e-06,
              7.677336581215115e-06
            ]
          ],
          "nis_distribution": {
            "count": 35,
            "rms": 0.15266981911117444,
            "p50_abs": 0.11603557912097913,
            "p95_abs": 0.2891403542400067,
            "p99_abs": 0.2992907921604834
          },
          "nis_total": 4.837493377363714,
          "nis_per_dof": 0.046071365498702034,
          "alpha_factor": 0.046071365498702034,
          "alpha_composite_prediction": 0.046071365498702034,
          "alpha_factor_only_upper_bound": 0.0931064040927038,
          "temporal_autocorrelation_lag1": [
            0.1438269653770742,
            0.11694878178653398,
            -0.15329951403277783
          ],
          "temporal_linear_drift_per_s": [
            -0.00040799032591707436,
            -0.00010377169759394872,
            -3.1299966504695968e-06
          ]
        }
      },
      "by_motion": {
        "other_recovered_dynamic": {
          "sample_count": 1837,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.3627352615743404,
            -0.01590526987484093,
            -0.01925931954361475
          ],
          "innovation_distribution": {
            "count": 5511,
            "rms": 0.3350681013523497,
            "p50_abs": 0.09405679944360809,
            "p95_abs": 0.71639321126245,
            "p99_abs": 0.89164886387824
          },
          "axis_rms": [
            0.5112228340837334,
            0.27263063265454857,
            0.03369940179560579
          ],
          "axis_p50_abs": [
            0.3714228898932701,
            0.13120246161625534,
            0.019645202082606113
          ],
          "axis_p95_abs": [
            0.7956158061059739,
            0.5501349903414077,
            0.05263352590569619
          ],
          "axis_p99_abs": [
            1.5764837339696018,
            0.7736046398809732,
            0.13147239657045934
          ],
          "vector_rms": 0.5803549755379077,
          "vector_p50": 0.5630717381993823,
          "vector_p95": 0.9152309968808453,
          "vector_p99": 1.6374450519642683,
          "normalized_distribution": {
            "count": 5511,
            "rms": 1.5693370593608384,
            "p50_abs": 0.4352161872031329,
            "p95_abs": 3.3595727805170594,
            "p99_abs": 4.1814362291676455
          },
          "empirical_covariance": [
            [
              0.12984259797071313,
              0.0373251038060506,
              -0.00572387493376664
            ],
            [
              0.0373251038060506,
              0.0741148298314857,
              -0.002260523496004448
            ],
            [
              -0.00572387493376664,
              -0.002260523496004448,
              0.0007651448107762295
            ]
          ],
          "nis_distribution": {
            "count": 1837,
            "rms": 11.323198005181222,
            "p50_abs": 6.970099330246229,
            "p95_abs": 18.393112450101082,
            "p99_abs": 58.68155210146152
          },
          "nis_total": 13572.594439222994,
          "nis_per_dof": 2.462818805883323,
          "alpha_factor": 2.462818805883323,
          "alpha_composite_prediction": 2.462818805883323,
          "alpha_factor_only_upper_bound": 4.97718756104547,
          "temporal_autocorrelation_lag1": [
            0.9184523730084982,
            0.9006332930543297,
            0.1366684258740549
          ],
          "temporal_linear_drift_per_s": [
            8.956496708374744e-06,
            1.3642247067441781e-05,
            -1.1315060150524814e-07
          ]
        },
        "left_right": {
          "sample_count": 1051,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.018849818720945336,
            -0.022755457138952644,
            -0.000215707198168919
          ],
          "innovation_distribution": {
            "count": 3153,
            "rms": 0.0804622024067931,
            "p50_abs": 0.03750375626744919,
            "p95_abs": 0.17677581396236355,
            "p99_abs": 0.24185899504350913
          },
          "axis_rms": [
            0.09966072285232111,
            0.09578710643233199,
            0.017750172121114145
          ],
          "axis_p50_abs": [
            0.060585132252119506,
            0.07110137642802793,
            0.0025029885582080738
          ],
          "axis_p95_abs": [
            0.2006643518452052,
            0.1805959539518447,
            0.04015554424428312
          ],
          "axis_p99_abs": [
            0.2452990200615596,
            0.2679972138960014,
            0.0778828630630159
          ],
          "vector_rms": 0.13936462265745644,
          "vector_p50": 0.1146369247164814,
          "vector_p95": 0.23899289015661837,
          "vector_p99": 0.304808433034068,
          "normalized_distribution": {
            "count": 3153,
            "rms": 0.3750343456154751,
            "p50_abs": 0.16065794804258754,
            "p95_abs": 0.8284616782848943,
            "p99_abs": 1.1342068057935717
          },
          "empirical_covariance": [
            [
              0.009586064912695234,
              -0.0027260446003299437,
              -2.6351360841168075e-05
            ],
            [
              -0.0027260446003299437,
              0.00866560403281818,
              -1.3755175274556004e-05
            ],
            [
              -2.6351360841168075e-05,
              -1.3755175274556004e-05,
              0.0003153221017631054
            ]
          ],
          "nis_distribution": {
            "count": 1051,
            "rms": 0.6125349015088717,
            "p50_abs": 0.2838330370719776,
            "p95_abs": 1.2560882035725083,
            "p99_abs": 2.03433949656769
          },
          "nis_total": 443.47184751354075,
          "nis_per_dof": 0.14065076039122765,
          "alpha_factor": 0.14065076039122765,
          "alpha_composite_prediction": 0.14065076039122765,
          "alpha_factor_only_upper_bound": 0.28423994949197545,
          "temporal_autocorrelation_lag1": [
            0.7245650610299419,
            0.7349590552449177,
            -0.4609948464770027
          ],
          "temporal_linear_drift_per_s": [
            2.7497993875563993e-06,
            -1.0424380783242108e-05,
            1.1452591082937698e-08
          ]
        },
        "circle": {
          "sample_count": 348,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.05203880483227846,
            -0.014972991751840203,
            -0.0004127555872138713
          ],
          "innovation_distribution": {
            "count": 1044,
            "rms": 0.07841510193418018,
            "p50_abs": 0.04259189121693382,
            "p95_abs": 0.15781786729037342,
            "p99_abs": 0.24042206466986668
          },
          "axis_rms": [
            0.09506729468917559,
            0.09219609129783837,
            0.03014755154114006
          ],
          "axis_p50_abs": [
            0.07490547878878637,
            0.06228316405884811,
            0.005859829964817287
          ],
          "axis_p95_abs": [
            0.1752152813381369,
            0.17666823554675037,
            0.06942670456608951
          ],
          "axis_p99_abs": [
            0.2252677234717752,
            0.2497896604087518,
            0.09999110660167147
          ],
          "vector_rms": 0.1358189406306926,
          "vector_p50": 0.1154946988316353,
          "vector_p95": 0.23373104832646358,
          "vector_p99": 0.31825074167229866,
          "normalized_distribution": {
            "count": 1044,
            "rms": 0.36089125845299486,
            "p50_abs": 0.1709979691476118,
            "p95_abs": 0.7359940610219878,
            "p99_abs": 1.1274716047309477
          },
          "empirical_covariance": [
            [
              0.0063479946751556545,
              -0.001211398909367747,
              7.015857629401948e-05
            ],
            [
              -0.001211398909367747,
              0.008299778707413089,
              -0.00011511918001087611
            ],
            [
              7.015857629401948e-05,
              -0.00011511918001087611,
              0.0009113232416983293
            ]
          ],
          "nis_distribution": {
            "count": 348,
            "rms": 0.5525562830659816,
            "p50_abs": 0.2920546165047961,
            "p95_abs": 1.0667878676256344,
            "p99_abs": 2.1548243503585183
          },
          "nis_total": 135.97317044660895,
          "nis_per_dof": 0.13024250042778635,
          "alpha_factor": 0.13024250042778635,
          "alpha_composite_prediction": 0.13024250042778635,
          "alpha_factor_only_upper_bound": 0.26318708868295315,
          "temporal_autocorrelation_lag1": [
            0.5163955723550618,
            0.6073806316297236,
            -0.5484542576061081
          ],
          "temporal_linear_drift_per_s": [
            -6.049575921694316e-07,
            7.530226654477345e-05,
            4.6432770637442516e-07
          ]
        },
        "slope": {
          "sample_count": 315,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.0074021216337422785,
            -0.06514167822060016,
            -0.0011924269681893962
          ],
          "innovation_distribution": {
            "count": 945,
            "rms": 0.09025324271346284,
            "p50_abs": 0.04604441585333787,
            "p95_abs": 0.19214259978482076,
            "p99_abs": 0.33327218798245156
          },
          "axis_rms": [
            0.13956505313518458,
            0.0698509575416325,
            0.00890972136353678
          ],
          "axis_p50_abs": [
            0.08055117488620252,
            0.06555551395998863,
            0.003993402568920854
          ],
          "axis_p95_abs": [
            0.3047686703977301,
            0.1127272411543223,
            0.013409941413353174
          ],
          "axis_p99_abs": [
            0.3586943101947025,
            0.12248347396004385,
            0.02539718793616691
          ],
          "vector_rms": 0.1563232019275632,
          "vector_p50": 0.10512228791884887,
          "vector_p95": 0.315013802314898,
          "vector_p99": 0.37546323014318855,
          "normalized_distribution": {
            "count": 945,
            "rms": 0.4227315641722958,
            "p50_abs": 0.21570726644585853,
            "p95_abs": 0.9010602026320362,
            "p99_abs": 1.5628940025949345
          },
          "empirical_covariance": [
            [
              0.019485471290965107,
              0.0030468764315985507,
              7.973139649021971e-05
            ],
            [
              0.0030468764315985507,
              0.0006377426077940167,
              -3.195611162421361e-05
            ],
            [
              7.973139649021971e-05,
              -3.195611162421361e-05,
              7.820953694567027e-05
            ]
          ],
          "nis_distribution": {
            "count": 315,
            "rms": 0.8813421266953693,
            "p50_abs": 0.24298150239451397,
            "p95_abs": 2.1825353107875416,
            "p99_abs": 3.0983579235509704
          },
          "nis_total": 168.87336670344024,
          "nis_per_dof": 0.1787019753475558,
          "alpha_factor": 0.1787019753475558,
          "alpha_composite_prediction": 0.1787019753475558,
          "alpha_factor_only_upper_bound": 0.3611467571822785,
          "temporal_autocorrelation_lag1": [
            0.7231472807421387,
            0.5953790636669857,
            -0.3565939950271203
          ],
          "temporal_linear_drift_per_s": [
            0.0002224851755676789,
            -5.276125862239402e-06,
            9.064291831013943e-07
          ]
        }
      },
      "by_speed": {
        "speed_lt_0p2": {
          "sample_count": 2982,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.23015559328658475,
            -0.02907628066203209,
            -0.01176941925097071
          ],
          "innovation_distribution": {
            "count": 8946,
            "rms": 0.2658602157828527,
            "p50_abs": 0.05998126740005086,
            "p95_abs": 0.6544871588945061,
            "p99_abs": 0.8010141618252398
          },
          "axis_rms": [
            0.40379076858367996,
            0.22019282648853516,
            0.022651652873596377
          ],
          "axis_p50_abs": [
            0.13873316676860897,
            0.09637913239994514,
            0.006452802801181712
          ],
          "axis_p95_abs": [
            0.7744061714755324,
            0.47318795137006786,
            0.0402658568827925
          ],
          "axis_p99_abs": [
            1.0759111415263252,
            0.7153752256236584,
            0.10961623191350554
          ],
          "vector_rms": 0.460483401447126,
          "vector_p50": 0.20373499529186434,
          "vector_p95": 0.8038026429869805,
          "vector_p99": 1.1387702313620653,
          "normalized_distribution": {
            "count": 8946,
            "rms": 1.2456367047681332,
            "p50_abs": 0.2793338857678033,
            "p95_abs": 3.0692645868818076,
            "p99_abs": 3.756399470421138
          },
          "empirical_covariance": [
            [
              0.11011231333069287,
              0.02471278379782466,
              -0.004989736356191039
            ],
            [
              0.02471278379782466,
              0.047655431769976754,
              -0.001500477301563729
            ],
            [
              -0.004989736356191039,
              -0.001500477301563729,
              0.0003747038035998488
            ]
          ],
          "nis_distribution": {
            "count": 2982,
            "rms": 8.843002784884849,
            "p50_abs": 0.9089168336632201,
            "p95_abs": 14.183062634005738,
            "p99_abs": 28.320907475389998
          },
          "nis_total": 13880.71021917618,
          "nis_per_dof": 1.5516108002656137,
          "alpha_factor": 1.5516108002656137,
          "alpha_composite_prediction": 1.5516108002656137,
          "alpha_factor_only_upper_bound": 3.135705777405712,
          "temporal_autocorrelation_lag1": [
            0.9155427571996773,
            0.8863467795209848,
            0.7527808805544984
          ],
          "temporal_linear_drift_per_s": [
            2.475408782441702e-05,
            8.971337994166105e-06,
            -1.1265677229343582e-06
          ]
        },
        "speed_0p2_to_1": {
          "sample_count": 564,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.03591051708828281,
            0.01352579422311576,
            -0.0018190660913275823
          ],
          "innovation_distribution": {
            "count": 1692,
            "rms": 0.1110619309379901,
            "p50_abs": 0.046616916188032514,
            "p95_abs": 0.19208224263453444,
            "p99_abs": 0.32966288118748255
          },
          "axis_rms": [
            0.15510866420013547,
            0.10383256667692775,
            0.046522660052448025
          ],
          "axis_p50_abs": [
            0.07181076018364158,
            0.07133552038733446,
            0.02205156543060928
          ],
          "axis_p95_abs": [
            0.2383501057553607,
            0.19319963784648128,
            0.08323321466552618
          ],
          "axis_p99_abs": [
            0.8006793765374548,
            0.2914525017474666,
            0.19018215568633454
          ],
          "vector_rms": 0.1923649071713046,
          "vector_p50": 0.12395389475231096,
          "vector_p95": 0.29908658523455495,
          "vector_p99": 0.8291962068707798,
          "normalized_distribution": {
            "count": 1692,
            "rms": 0.5093101714172922,
            "p50_abs": 0.185673798349739,
            "p95_abs": 0.8891270827704004,
            "p99_abs": 1.5228888072625022
          },
          "empirical_covariance": [
            [
              0.022809574981234478,
              0.0012943409039313232,
              -0.0006250018209152852
            ],
            [
              0.0012943409039313232,
              0.01061707940222175,
              -0.0002763290662869684
            ],
            [
              -0.0006250018209152852,
              -0.0002763290662869684,
              0.0021648873496586483
            ]
          ],
          "nis_distribution": {
            "count": 564,
            "rms": 2.3394448895781093,
            "p50_abs": 0.3174561548728326,
            "p95_abs": 1.9093569254688958,
            "p99_abs": 14.652553074074802
          },
          "nis_total": 438.89947139981666,
          "nis_per_dof": 0.2593968507091115,
          "alpha_factor": 0.2593968507091115,
          "alpha_composite_prediction": 0.2593968507091115,
          "alpha_factor_only_upper_bound": 0.5241628012927099,
          "temporal_autocorrelation_lag1": [
            0.6261554786314362,
            0.5729208212001815,
            -0.5224640568684072
          ],
          "temporal_linear_drift_per_s": [
            2.570762407636165e-06,
            1.2999388379332111e-06,
            -1.0044247754166394e-07
          ]
        },
        "speed_ge_1": {
          "sample_count": 5,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.003899313129984816,
            0.04254500201818852,
            -0.0005940448645046295
          ],
          "innovation_distribution": {
            "count": 15,
            "rms": 0.06589826198961181,
            "p50_abs": 0.04362377300205145,
            "p95_abs": 0.10876389482146884,
            "p99_abs": 0.16286122324539826
          },
          "axis_rms": [
            0.09182503380611405,
            0.054980089422731734,
            0.03966227090484085
          ],
          "axis_p50_abs": [
            0.06035577497968156,
            0.047820775377863445,
            0.03162504337363667
          ],
          "axis_p95_abs": [
            0.15598783143974948,
            0.0765760681714136,
            0.061137995795384405
          ],
          "axis_p99_abs": [
            0.17230601056905442,
            0.0791417601669167,
            0.06691123550912406
          ],
          "vector_rms": 0.1141391378964926,
          "vector_p50": 0.09003473188869701,
          "vector_p95": 0.16287619378923301,
          "vector_p99": 0.17703469394047933,
          "normalized_distribution": {
            "count": 15,
            "rms": 0.2947465929222745,
            "p50_abs": 0.16093359606346938,
            "p95_abs": 0.5100532072093746,
            "p99_abs": 0.7637425204907216
          },
          "empirical_covariance": [
            [
              0.010520790238260396,
              0.0035282600189047203,
              0.0013931607162106414
            ],
            [
              0.0035282600189047203,
              0.0015159162952548915,
              0.0004444450751013018
            ],
            [
              0.0013931607162106414,
              0.0004444450751013018,
              0.001965928555034926
            ]
          ],
          "nis_distribution": {
            "count": 5,
            "rms": 0.3422500367548421,
            "p50_abs": 0.16934523200694393,
            "p95_abs": 0.5948443490850134,
            "p99_abs": 0.6794739770677812
          },
          "nis_total": 1.3031333105893346,
          "nis_per_dof": 0.08687555403928897,
          "alpha_factor": 0.08687555403928897,
          "alpha_composite_prediction": 0.08687555403928897,
          "alpha_factor_only_upper_bound": 0.17552475555196762,
          "temporal_autocorrelation_lag1": [
            -0.10599733757934132,
            -0.598960471309429,
            -0.5604418149550773
          ],
          "temporal_linear_drift_per_s": [
            -0.03088267316855515,
            -0.0033803764812404004,
            -0.009417894270409446
          ]
        }
      },
      "by_gyro_norm": {
        "gyro_lt_0p02": {
          "sample_count": 3160,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.21966816515402188,
            -0.025400013871118905,
            -0.011318682499387629
          ],
          "innovation_distribution": {
            "count": 9480,
            "rms": 0.2597843876751294,
            "p50_abs": 0.05886693952160232,
            "p95_abs": 0.650835221520243,
            "p99_abs": 0.7998982515548897
          },
          "axis_rms": [
            0.39451668122023525,
            0.21476795925530384,
            0.02636467628303591
          ],
          "axis_p50_abs": [
            0.13095369204148744,
            0.09442209249713812,
            0.00724740717602095
          ],
          "axis_p95_abs": [
            0.7737234579910763,
            0.4615761693516533,
            0.044378904516955794
          ],
          "axis_p99_abs": [
            0.9210709475405617,
            0.7071975554847664,
            0.12785360138624022
          ],
          "vector_rms": 0.44995975846649416,
          "vector_p50": 0.18991846222232495,
          "vector_p95": 0.801155345931746,
          "vector_p99": 1.0867750010245973,
          "normalized_distribution": {
            "count": 9480,
            "rms": 1.2167073425004433,
            "p50_abs": 0.2697087820852777,
            "p95_abs": 3.052134489483009,
            "p99_abs": 3.751166605538192
          },
          "empirical_covariance": [
            [
              0.10742330369525319,
              0.02275916524334527,
              -0.004859338262034665
            ],
            [
              0.02275916524334527,
              0.045494512615697924,
              -0.0013647360986784893
            ],
            [
              -0.004859338262034665,
              -0.0013647360986784893,
              0.0005671630639696005
            ]
          ],
          "nis_distribution": {
            "count": 3160,
            "rms": 8.605250207356228,
            "p50_abs": 0.789166597522319,
            "p95_abs": 14.100252370057632,
            "p99_abs": 25.921423483424565
          },
          "nis_total": 14033.971659151775,
          "nis_per_dof": 1.480376757294491,
          "alpha_factor": 1.480376757294491,
          "alpha_composite_prediction": 1.480376757294491,
          "alpha_factor_only_upper_bound": 2.991740179593983,
          "temporal_autocorrelation_lag1": [
            0.9142578483959573,
            0.8831226008131048,
            0.23064157328798324
          ],
          "temporal_linear_drift_per_s": [
            2.303700582190499e-05,
            8.490732261495953e-06,
            -1.0283053777063775e-06
          ]
        },
        "gyro_0p02_to_0p10": {
          "sample_count": 336,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.037471478164986305,
            0.004362869518521497,
            -0.001153538767247864
          ],
          "innovation_distribution": {
            "count": 1008,
            "rms": 0.10946078156010684,
            "p50_abs": 0.04830550570147551,
            "p95_abs": 0.20395943907176706,
            "p99_abs": 0.3043420917675231
          },
          "axis_rms": [
            0.14839114624167368,
            0.11199395443434337,
            0.03718077442023929
          ],
          "axis_p50_abs": [
            0.07261823420170313,
            0.07497847637951977,
            0.020752237343419286
          ],
          "axis_p95_abs": [
            0.24706063787298987,
            0.21836418247738001,
            0.07191114891667855
          ],
          "axis_p99_abs": [
            0.39147208423212737,
            0.31604675924725373,
            0.11697276803877481
          ],
          "vector_rms": 0.18959163509830354,
          "vector_p50": 0.12438936112115749,
          "vector_p95": 0.310905403095531,
          "vector_p99": 0.44692594133863733,
          "normalized_distribution": {
            "count": 1008,
            "rms": 0.5058844599034278,
            "p50_abs": 0.1890499124343594,
            "p95_abs": 0.9564751093377625,
            "p99_abs": 1.4272238939047328
          },
          "empirical_covariance": [
            [
              0.02067736037005485,
              0.0011562919794426306,
              -0.0003308171975035128
            ],
            [
              0.0011562919794426306,
              0.012560995113434214,
              -0.0005397888901143706
            ],
            [
              -0.0003308171975035128,
              -0.0005397888901143706,
              0.0013852019596811802
            ]
          ],
          "nis_distribution": {
            "count": 336,
            "rms": 2.5871665212758694,
            "p50_abs": 0.32468357372893814,
            "p95_abs": 2.074560461991883,
            "p99_abs": 4.371803066156287
          },
          "nis_total": 257.966439465957,
          "nis_per_dof": 0.25591908677178277,
          "alpha_factor": 0.25591908677178277,
          "alpha_composite_prediction": 0.25591908677178277,
          "alpha_factor_only_upper_bound": 0.5171582312501,
          "temporal_autocorrelation_lag1": [
            0.525705352914396,
            0.5551304471354124,
            -0.36887444552856063
          ],
          "temporal_linear_drift_per_s": [
            2.265421515316421e-06,
            1.327594777118819e-06,
            -1.4393661731169252e-07
          ]
        },
        "gyro_ge_0p10": {
          "sample_count": 55,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            -0.002632930292858336,
            -0.0012013874134347204,
            0.0005326185024407556
          ],
          "innovation_distribution": {
            "count": 165,
            "rms": 0.09180167832727017,
            "p50_abs": 0.04506096229529921,
            "p95_abs": 0.19151547756704765,
            "p99_abs": 0.22860506180406628
          },
          "axis_rms": [
            0.10317636573840534,
            0.11341191229253898,
            0.04213098781508713
          ],
          "axis_p50_abs": [
            0.05153613623217329,
            0.0671420665284986,
            0.02962626673739644
          ],
          "axis_p95_abs": [
            0.19842473101713512,
            0.1967640470676664,
            0.0777179300166252
          ],
          "axis_p99_abs": [
            0.22548366281930113,
            0.2365417263213144,
            0.11472334399845643
          ],
          "vector_rms": 0.1590051710829266,
          "vector_p50": 0.14095093158890803,
          "vector_p95": 0.26626218145019825,
          "vector_p99": 0.27972866887861236,
          "normalized_distribution": {
            "count": 165,
            "rms": 0.41905178148865935,
            "p50_abs": 0.17231474029152957,
            "p95_abs": 0.8981184380690816,
            "p99_abs": 1.0720506979095368
          },
          "empirical_covariance": [
            [
              0.010835438090336985,
              0.00043428721398201646,
              -4.15349877470469e-05
            ],
            [
              0.00043428721398201646,
              0.013098981824024757,
              -0.000647683821568389
            ],
            [
              -4.15349877470469e-05,
              -0.000647683821568389,
              0.001807601941654135
            ]
          ],
          "nis_distribution": {
            "count": 55,
            "rms": 0.71144100742293,
            "p50_abs": 0.3930649410883972,
            "p95_abs": 1.5138763080807178,
            "p99_abs": 1.7083239261094991
          },
          "nis_total": 28.974725268855153,
          "nis_per_dof": 0.1756043955688191,
          "alpha_factor": 0.1756043955688191,
          "alpha_composite_prediction": 0.1756043955688191,
          "alpha_factor_only_upper_bound": 0.3548352493393258,
          "temporal_autocorrelation_lag1": [
            0.2948740335751229,
            0.5835488894095262,
            -0.4231820595154066
          ],
          "temporal_linear_drift_per_s": [
            1.422990621220571e-06,
            -1.4216760078591722e-06,
            -4.147029419691794e-07
          ]
        }
      },
      "by_hpr_bridge_gap": {
        "gap_direct": {
          "sample_count": 3293,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.20001280834113058,
            -0.02246728220257551,
            -0.010321954579277018
          ],
          "innovation_distribution": {
            "count": 9879,
            "rms": 0.249665670856509,
            "p50_abs": 0.056980627403033356,
            "p95_abs": 0.6335492672973595,
            "p99_abs": 0.7967246775115301
          },
          "axis_rms": [
            0.3784837231822686,
            0.20732003501318863,
            0.02770046896552826
          ],
          "axis_p50_abs": [
            0.12116162122102118,
            0.0928546428511933,
            0.009077721527109549
          ],
          "axis_p95_abs": [
            0.7721340038533417,
            0.44472738471405204,
            0.049169935558769105
          ],
          "axis_p99_abs": [
            0.917530204241895,
            0.6962864199832264,
            0.12779850416363858
          ],
          "vector_rms": 0.4324336268292419,
          "vector_p50": 0.17598261776819601,
          "vector_p95": 0.7978845195636107,
          "vector_p99": 1.0918694957724684,
          "normalized_distribution": {
            "count": 9879,
            "rms": 1.1690221571261612,
            "p50_abs": 0.2575497652749278,
            "p95_abs": 2.971071424923283,
            "p99_abs": 3.736284637181758
          },
          "empirical_covariance": [
            [
              0.10327616754791814,
              0.02031158206482343,
              -0.004665563183686191
            ],
            [
              0.02031158206482343,
              0.042489721191479424,
              -0.0012736584265190618
            ],
            [
              -0.004665563183686191,
              -0.0012736584265190618,
              0.0006609739554831885
            ]
          ],
          "nis_distribution": {
            "count": 3293,
            "rms": 8.32315394162312,
            "p50_abs": 0.677882739282792,
            "p95_abs": 13.971544122472595,
            "p99_abs": 26.169380211054186
          },
          "nis_total": 13500.767889252953,
          "nis_per_dof": 1.3666128038519034,
          "alpha_factor": 1.3666128038519034,
          "alpha_composite_prediction": 1.3666128038519034,
          "alpha_factor_only_upper_bound": 2.7618274759556947,
          "temporal_autocorrelation_lag1": [
            0.9094516141851259,
            0.8741828049225774,
            0.1174647891537052
          ],
          "temporal_linear_drift_per_s": [
            1.802678560302246e-05,
            7.156017873566362e-06,
            -8.183433206325445e-07
          ]
        },
        "gap_0p3_to_0p5": {
          "sample_count": 258,
          "dimension": 3,
          "effective_dof_per_sample": 3,
          "innovation_bias": [
            0.18587143223525113,
            -0.01891254143089233,
            -0.008275718126615168
          ],
          "innovation_distribution": {
            "count": 774,
            "rms": 0.22001419442820705,
            "p50_abs": 0.05325069917792702,
            "p95_abs": 0.6117132741449859,
            "p99_abs": 0.7294605457844967
          },
          "axis_rms": [
            0.3299950557039906,
            0.18821095629285473,
            0.029977264583811076
          ],
          "axis_p50_abs": [
            0.10285566022313278,
            0.09119400822925061,
            0.006808589541109247
          ],
          "axis_p95_abs": [
            0.7089939315052303,
            0.4093441005241342,
            0.05093502940967772
          ],
          "axis_p99_abs": [
            0.8824344116948852,
            0.571791830243932,
            0.09835070327107773
          ],
          "vector_rms": 0.38107576313599206,
          "vector_p50": 0.15770895676915858,
          "vector_p95": 0.7377222079000092,
          "vector_p99": 0.9522062938050015,
          "normalized_distribution": {
            "count": 774,
            "rms": 1.0293778599700047,
            "p50_abs": 0.24060178218130523,
            "p95_abs": 2.8686693745008935,
            "p99_abs": 3.4208520606251045
          },
          "empirical_covariance": [
            [
              0.0746378414269154,
              0.013890197013724891,
              -0.003038237007882138
            ],
            [
              0.013890197013724891,
              0.035202122179324044,
              -0.0009004402156138828
            ],
            [
              -0.003038237007882138,
              -0.0009004402156138828,
              0.000833379032706187
            ]
          ],
          "nis_distribution": {
            "count": 258,
            "rms": 5.6216839969725845,
            "p50_abs": 0.546972343901853,
            "p95_abs": 11.961843673136066,
            "p99_abs": 19.906991644978177
          },
          "nis_total": 820.1449346336342,
          "nis_per_dof": 1.0596187785964266,
          "alpha_factor": 1.0596187785964266,
          "alpha_composite_prediction": 1.0596187785964266,
          "alpha_factor_only_upper_bound": 2.141403851196042,
          "temporal_autocorrelation_lag1": [
            0.5321380553575228,
            0.45780070678444346,
            -0.27266019234732897
          ],
          "temporal_linear_drift_per_s": [
            1.723240033576673e-05,
            6.479511063010586e-06,
            -6.972531657567888e-07
          ]
        }
      },
      "by_method": {}
    },
    "hpr": {
      "overall": {
        "sample_count": 49148,
        "dimension": 3,
        "effective_dof_per_sample": 2,
        "innovation_bias": [
          -8.0057893563915e-06,
          7.023074863599531e-08,
          -2.846508289672864e-06
        ],
        "innovation_distribution": {
          "count": 147444,
          "rms": 0.004749867126837914,
          "p50_abs": 0.0017215990940258278,
          "p95_abs": 0.010377100153200954,
          "p99_abs": 0.017054174007063883
        },
        "axis_rms": [
          0.0057144204461783005,
          0.004922668660344065,
          0.0032857944842324053
        ],
        "axis_p50_abs": [
          0.0018203760415158548,
          0.0018585749561469125,
          0.0015748709848794479
        ],
        "axis_p95_abs": [
          0.012478719228607797,
          0.010670241194469224,
          0.006896256697191877
        ],
        "axis_p99_abs": [
          0.02061336834286993,
          0.016462940057327208,
          0.011697727512846808
        ],
        "vector_rms": 0.008227011192884472,
        "vector_p50": 0.005284950661521939,
        "vector_p95": 0.01599986836593165,
        "vector_p99": 0.024157940636160936,
        "normalized_distribution": {
          "count": 147444,
          "rms": 0.10226599305871795,
          "p50_abs": 0.037251141603026734,
          "p95_abs": 0.22382324408200968,
          "p99_abs": 0.36721688630010946
        },
        "empirical_covariance": [
          [
            3.265520136888128e-05,
            -7.424335007320218e-07,
            8.079757487115083e-06
          ],
          [
            -7.424335007320218e-07,
            2.4233159799625145e-05,
            1.418807151743901e-06
          ],
          [
            8.079757487115083e-06,
            1.418807151743901e-06,
            1.0796656966428305e-05
          ]
        ],
        "nis_distribution": {
          "count": 49148,
          "rms": 0.06580551822856882,
          "p50_abs": 0.013133284727840238,
          "p95_abs": 0.11891840387236229,
          "p99_abs": 0.26703446533860936
        },
        "nis_total": 1542.0185004353157,
        "nis_per_dof": 0.01568750000442862,
        "alpha_factor": 0.01568750000442862,
        "alpha_composite_prediction": 0.01568750000442862,
        "alpha_factor_only_upper_bound": 0.027626005374631172,
        "temporal_autocorrelation_lag1": [
          0.29748143271626815,
          0.2947914846721809,
          0.296207146339614
        ],
        "temporal_linear_drift_per_s": [
          1.5656488009423867e-10,
          -6.489391705458287e-10,
          8.602262648780516e-10
        ]
      },
      "by_session": {
        "0819_20260819_065243": {
          "sample_count": 1664,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            -3.057213907163739e-05,
            2.804626319045039e-05,
            -1.4497706896193992e-05
          ],
          "innovation_distribution": {
            "count": 4992,
            "rms": 0.004980044534071936,
            "p50_abs": 0.0028413690474029182,
            "p95_abs": 0.010134548284651696,
            "p99_abs": 0.014776220216819298
          },
          "axis_rms": [
            0.006144242655912518,
            0.0053963133646795424,
            0.002744196592714434
          ],
          "axis_p50_abs": [
            0.004035107754745474,
            0.003468716012736489,
            0.0016851149460551107
          ],
          "axis_p95_abs": [
            0.011707163235480388,
            0.010170054248679786,
            0.005172736701606937
          ],
          "axis_p99_abs": [
            0.017232964307391414,
            0.015596208712529702,
            0.007812512425122696
          ],
          "vector_rms": 0.00862569015696827,
          "vector_p50": 0.00599517912090557,
          "vector_p95": 0.015781312267122736,
          "vector_p99": 0.024141974593735068,
          "normalized_distribution": {
            "count": 4992,
            "rms": 0.10713943895216387,
            "p50_abs": 0.061220097203429066,
            "p95_abs": 0.22087066507895792,
            "p99_abs": 0.32217685398094403
          },
          "empirical_covariance": [
            [
              3.777348356984658e-05,
              -3.313281869109174e-05,
              7.638035597301838e-06
            ],
            [
              -3.313281869109174e-05,
              2.9136921506114393e-05,
              -7.336685101473083e-06
            ],
            [
              7.638035597301838e-06,
              -7.336685101473083e-06,
              7.5349329608646264e-06
            ]
          ],
          "nis_distribution": {
            "count": 1664,
            "rms": 0.06350538961640467,
            "p50_abs": 0.01672896911885355,
            "p95_abs": 0.11895202144583066,
            "p99_abs": 0.2678452221563898
          },
          "nis_total": 57.30246601989036,
          "nis_per_dof": 0.01721828906847667,
          "alpha_factor": 0.01721828906847667,
          "alpha_composite_prediction": 0.01721828906847667,
          "alpha_factor_only_upper_bound": 0.030368379871028285,
          "temporal_autocorrelation_lag1": [
            0.2993835919581241,
            0.2978311653858652,
            0.2801352780923974
          ],
          "temporal_linear_drift_per_s": [
            -2.6121441927104306e-07,
            2.3966965724091687e-07,
            -9.583205406427764e-08
          ]
        },
        "0808_20260808_082148": {
          "sample_count": 14366,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            -1.9168657626501227e-06,
            1.715082914148067e-05,
            -8.207733349375937e-07
          ],
          "innovation_distribution": {
            "count": 43098,
            "rms": 0.0037707394173651715,
            "p50_abs": 0.001771052360434281,
            "p95_abs": 0.008179263991821879,
            "p99_abs": 0.012601199015427817
          },
          "axis_rms": [
            0.004250884670413608,
            0.004427964070895364,
            0.0022312644322707684
          ],
          "axis_p50_abs": [
            0.0019275993756341747,
            0.0022623612081459857,
            0.0013978899329458033
          ],
          "axis_p95_abs": [
            0.009261828363596156,
            0.009347293909527415,
            0.004399680302925257
          ],
          "axis_p99_abs": [
            0.013554607582362793,
            0.013525914222349368,
            0.006400073654274143
          ],
          "vector_rms": 0.006531112252979142,
          "vector_p50": 0.00460291659641665,
          "vector_p95": 0.012481132746090874,
          "vector_p99": 0.016884602338112845,
          "normalized_distribution": {
            "count": 43098,
            "rms": 0.08118713781547984,
            "p50_abs": 0.038282906916304954,
            "p95_abs": 0.1765332471962183,
            "p99_abs": 0.27000788545487614
          },
          "empirical_covariance": [
            [
              1.8071274726505014e-05,
              4.5787287328013386e-07,
              -1.8001998307886344e-06
            ],
            [
              4.5787287328013386e-07,
              1.9607936547105232e-05,
              -2.968568269977308e-08
            ],
            [
              -1.8001998307886344e-06,
              -2.968568269977308e-08,
              4.9788868673807e-06
            ]
          ],
          "nis_distribution": {
            "count": 14366,
            "rms": 0.03380263349395778,
            "p50_abs": 0.010063031269724465,
            "p95_abs": 0.07240370966706963,
            "p99_abs": 0.1284050821032573
          },
          "nis_total": 284.0740603387714,
          "nis_per_dof": 0.009887027020004574,
          "alpha_factor": 0.009887027020004574,
          "alpha_composite_prediction": 0.009887027020004574,
          "alpha_factor_only_upper_bound": 0.017410378473883385,
          "temporal_autocorrelation_lag1": [
            0.2928094551156567,
            0.29520128393350975,
            0.30674471058386743
          ],
          "temporal_linear_drift_per_s": [
            1.4678689524449087e-08,
            -1.1208503729880972e-08,
            2.533239705524251e-09
          ]
        },
        "0815_20260814_114200": {
          "sample_count": 626,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            3.201618834066085e-05,
            -0.00014008087137983707,
            2.466347043175131e-05
          ],
          "innovation_distribution": {
            "count": 1878,
            "rms": 0.0037482623171618767,
            "p50_abs": 0.0016273590688593784,
            "p95_abs": 0.008000712676275876,
            "p99_abs": 0.01368628112532986
          },
          "axis_rms": [
            0.004940013577367644,
            0.003440969896549939,
            0.002429897779995608
          ],
          "axis_p50_abs": [
            0.001973859247906588,
            0.0014726919879550215,
            0.0015408043886149803
          ],
          "axis_p95_abs": [
            0.010434968756468986,
            0.007436948319773488,
            0.004464283621935499
          ],
          "axis_p99_abs": [
            0.016517909358979205,
            0.01157378118992471,
            0.006333131283004778
          ],
          "vector_rms": 0.0064921807734202195,
          "vector_p50": 0.004621816615656665,
          "vector_p95": 0.012138695142453882,
          "vector_p99": 0.017866084396906574,
          "normalized_distribution": {
            "count": 1878,
            "rms": 0.08049167446577825,
            "p50_abs": 0.0349914771085251,
            "p95_abs": 0.17305064022155775,
            "p99_abs": 0.28053108682185324
          },
          "empirical_covariance": [
            [
              2.4441753442834024e-05,
              -3.3720954356689218e-06,
              -1.8626223509449495e-06
            ],
            [
              -3.3720954356689218e-06,
              1.1839564220321864e-05,
              -4.915457406680048e-07
            ],
            [
              -1.8626223509449495e-06,
              -4.915457406680048e-07,
              5.913241006348974e-06
            ]
          ],
          "nis_distribution": {
            "count": 626,
            "rms": 0.03559354026682625,
            "p50_abs": 0.010254681434073636,
            "p95_abs": 0.06829238658950779,
            "p99_abs": 0.1479937256097432
          },
          "nis_total": 12.167392338296448,
          "nis_per_dof": 0.009718364487457228,
          "alpha_factor": 0.009718364487457228,
          "alpha_composite_prediction": 0.009718364487457228,
          "alpha_factor_only_upper_bound": 0.017203433140721286,
          "temporal_autocorrelation_lag1": [
            0.2808440226396352,
            0.2787221631692714,
            0.26975736455402305
          ],
          "temporal_linear_drift_per_s": [
            4.024714766359965e-07,
            -5.8763837349063595e-08,
            6.678519192404177e-08
          ]
        },
        "0815_20260814_102659": {
          "sample_count": 2482,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            3.714071131411025e-05,
            2.9827749224662247e-06,
            1.2516161348650668e-05
          ],
          "innovation_distribution": {
            "count": 7446,
            "rms": 0.00734800305195793,
            "p50_abs": 0.002511088306745339,
            "p95_abs": 0.015878998408942954,
            "p99_abs": 0.024328219457081548
          },
          "axis_rms": [
            0.011102676709838919,
            0.0010596135669246557,
            0.006130842969799394
          ],
          "axis_p50_abs": [
            0.007060375341874982,
            0.0006797763611664725,
            0.003989520335657026
          ],
          "axis_p95_abs": [
            0.02128574812404755,
            0.002017774836010988,
            0.011962611309747417
          ],
          "axis_p99_abs": [
            0.030768970967076526,
            0.0029094306669990425,
            0.016710751253107142
          ],
          "vector_rms": 0.012727114620162308,
          "vector_p50": 0.008812919235603737,
          "vector_p95": 0.023508563249347202,
          "vector_p99": 0.03384584114055433,
          "normalized_distribution": {
            "count": 7446,
            "rms": 0.15835773639824385,
            "p50_abs": 0.05395143698254477,
            "p95_abs": 0.34286026578445605,
            "p99_abs": 0.5118177408140395
          },
          "empirical_covariance": [
            [
              0.00012331773551570868,
              1.1671300926336344e-05,
              5.1768895915794185e-05
            ],
            [
              1.1671300926336344e-05,
              1.123224562436365e-06,
              4.799989189152056e-06
            ],
            [
              5.1768895915794185e-05,
              4.799989189152056e-06,
              3.760222883737229e-05
            ]
          ],
          "nis_distribution": {
            "count": 2482,
            "rms": 0.13772767441211692,
            "p50_abs": 0.03708593987319442,
            "p95_abs": 0.26405484237807875,
            "p99_abs": 0.5541871002247984
          },
          "nis_total": 186.72462775425012,
          "nis_per_dof": 0.03761575901576352,
          "alpha_factor": 0.03761575901576352,
          "alpha_composite_prediction": 0.03761575901576352,
          "alpha_factor_only_upper_bound": 0.06611405981826494,
          "temporal_autocorrelation_lag1": [
            0.279599477101492,
            0.2769896410957069,
            0.26109808685450914
          ],
          "temporal_linear_drift_per_s": [
            -3.907328785217631e-07,
            -2.599774864789142e-08,
            -3.904590455780611e-07
          ]
        },
        "0808_20260808_092827": {
          "sample_count": 4738,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            -2.8986316213990963e-05,
            -8.029591324909256e-06,
            -2.7006203775940212e-05
          ],
          "innovation_distribution": {
            "count": 14214,
            "rms": 0.003854802183319996,
            "p50_abs": 0.0015557428270032683,
            "p95_abs": 0.008476289094395618,
            "p99_abs": 0.013137926431415252
          },
          "axis_rms": [
            0.004548629815683234,
            0.004237111804716921,
            0.002436257369776815
          ],
          "axis_p50_abs": [
            0.0017046837359892065,
            0.0014735244575757394,
            0.0015076269556436178
          ],
          "axis_p95_abs": [
            0.009967211788381255,
            0.009376040737012507,
            0.0047493257244081415
          ],
          "axis_p99_abs": [
            0.014524584917676836,
            0.014581919678941525,
            0.006885733365413368
          ],
          "vector_rms": 0.00667671323463767,
          "vector_p50": 0.004595458822794511,
          "vector_p95": 0.012653838130847953,
          "vector_p99": 0.01793959969527409,
          "normalized_distribution": {
            "count": 14214,
            "rms": 0.08276464023841575,
            "p50_abs": 0.03356354632319187,
            "p95_abs": 0.18229818667308295,
            "p99_abs": 0.28553101215870863
          },
          "empirical_covariance": [
            [
              2.069356056652989e-05,
              3.480547511651754e-07,
              -1.3136050173375976e-06
            ],
            [
              3.480547511651754e-07,
              1.7956841933752105e-05,
              9.512699687523368e-07
            ],
            [
              -1.3136050173375976e-06,
              9.512699687523368e-07,
              5.9358734593453546e-06
            ]
          ],
          "nis_distribution": {
            "count": 4738,
            "rms": 0.03787676860438863,
            "p50_abs": 0.009907830837842253,
            "p95_abs": 0.07319407878311153,
            "p99_abs": 0.14502458414193173
          },
          "nis_total": 97.36569636731342,
          "nis_per_dof": 0.01027497851069158,
          "alpha_factor": 0.01027497851069158,
          "alpha_composite_prediction": 0.01027497851069158,
          "alpha_factor_only_upper_bound": 0.01819530596636156,
          "temporal_autocorrelation_lag1": [
            0.31628434690511115,
            0.3130566815091716,
            0.3002944889755035
          ],
          "temporal_linear_drift_per_s": [
            3.241246163404573e-08,
            -1.7285322766409095e-08,
            1.0049714098902087e-08
          ]
        },
        "0815_20260814_110519": {
          "sample_count": 534,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            0.00012615523040701993,
            1.1699235966844933e-05,
            0.00015144566005305908
          ],
          "innovation_distribution": {
            "count": 1602,
            "rms": 0.006378269695726357,
            "p50_abs": 0.0025249416030047947,
            "p95_abs": 0.013220076218991522,
            "p99_abs": 0.02193471152266913
          },
          "axis_rms": [
            0.009214398056837504,
            0.0017213818291899072,
            0.0058462540128314325
          ],
          "axis_p50_abs": [
            0.005191899810563005,
            0.0010534413116752067,
            0.0035808318427615893
          ],
          "axis_p95_abs": [
            0.018048508382806444,
            0.0034138076118174084,
            0.01211878247709969
          ],
          "axis_p99_abs": [
            0.02751419564859591,
            0.004725449647234219,
            0.017276025699980217
          ],
          "vector_rms": 0.011047487177374932,
          "vector_p50": 0.0073447951465907,
          "vector_p95": 0.02235526092390248,
          "vector_p99": 0.028041508049831035,
          "normalized_distribution": {
            "count": 1602,
            "rms": 0.13705235480492556,
            "p50_abs": 0.054152646583440614,
            "p95_abs": 0.28289747246416685,
            "p99_abs": 0.4618318710531208
          },
          "empirical_covariance": [
            [
              8.504848323022018e-05,
              8.110457948071402e-06,
              1.8800712201363815e-05
            ],
            [
              8.110457948071402e-06,
              2.96857766394513e-06,
              2.7100843126923033e-06
            ],
            [
              1.8800712201363815e-05,
              2.7100843126923033e-06,
              3.421983227751546e-05
            ]
          ],
          "nis_distribution": {
            "count": 534,
            "rms": 0.10944766463925863,
            "p50_abs": 0.02405460677776385,
            "p95_abs": 0.2184582366973783,
            "p99_abs": 0.39605202593603017
          },
          "nis_total": 30.090923428035467,
          "nis_per_dof": 0.028175021936362798,
          "alpha_factor": 0.028175021936362798,
          "alpha_composite_prediction": 0.028175021936362798,
          "alpha_factor_only_upper_bound": 0.04981509099357697,
          "temporal_autocorrelation_lag1": [
            0.32199553170411277,
            0.32011442015304326,
            0.32508022574934914
          ],
          "temporal_linear_drift_per_s": [
            -6.771448204711026e-07,
            -6.164443619967336e-07,
            1.760393659166518e-07
          ]
        },
        "0815_20260814_115547": {
          "sample_count": 664,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            -1.125582510480546e-05,
            -5.252606504431738e-05,
            -2.9241547119639012e-05
          ],
          "innovation_distribution": {
            "count": 1992,
            "rms": 0.00414316435935822,
            "p50_abs": 0.0016277646834895166,
            "p95_abs": 0.009154147657613382,
            "p99_abs": 0.013972284508619813
          },
          "axis_rms": [
            0.001846105712549307,
            0.006601219031632475,
            0.0021244372714850027
          ],
          "axis_p50_abs": [
            0.0005698634508258386,
            0.004341125833290446,
            0.001503279685884755
          ],
          "axis_p95_abs": [
            0.004089411864245003,
            0.012744126794318807,
            0.004148106823118245
          ],
          "axis_p99_abs": [
            0.006010855650730997,
            0.016936856947760443,
            0.00534860083068925
          ],
          "vector_rms": 0.007176171174516994,
          "vector_p50": 0.004979120655911395,
          "vector_p95": 0.013344024081328551,
          "vector_p99": 0.01791362175537094,
          "normalized_distribution": {
            "count": 1992,
            "rms": 0.08899711399750045,
            "p50_abs": 0.03578276294697877,
            "p95_abs": 0.19930774557196984,
            "p99_abs": 0.30168365195809993
          },
          "empirical_covariance": [
            [
              3.4131198490449058e-06,
              -8.038899596665537e-06,
              -5.175392639701942e-07
            ],
            [
              -8.038899596665537e-06,
              4.363905518472946e-05,
              1.671427199062278e-06
            ],
            [
              -5.175392639701942e-07,
              1.671427199062278e-06,
              4.5191846533807015e-06
            ]
          ],
          "nis_distribution": {
            "count": 664,
            "rms": 0.04078808507560583,
            "p50_abs": 0.011922208388945015,
            "p95_abs": 0.08405810475628862,
            "p99_abs": 0.13472172846211872
          },
          "nis_total": 15.77760870936911,
          "nis_per_dof": 0.011880729449826138,
          "alpha_factor": 0.011880729449826138,
          "alpha_composite_prediction": 0.011880729449826138,
          "alpha_factor_only_upper_bound": 0.021019360296313714,
          "temporal_autocorrelation_lag1": [
            0.2617264424161709,
            0.3108033577549412,
            0.3208671337303281
          ],
          "temporal_linear_drift_per_s": [
            -5.392299571567539e-07,
            -4.6215479544614916e-07,
            1.4607703307910955e-06
          ]
        },
        "0815_20260812_123424": {
          "sample_count": 4468,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            -8.798725474894459e-07,
            4.833517129329435e-06,
            -7.499812279850509e-06
          ],
          "innovation_distribution": {
            "count": 13404,
            "rms": 0.0052778979922257175,
            "p50_abs": 0.001550573524841292,
            "p95_abs": 0.01235786455758476,
            "p99_abs": 0.019551841595161365
          },
          "axis_rms": [
            0.0014542819669525807,
            0.008849172741404837,
            0.0017736480491897808
          ],
          "axis_p50_abs": [
            0.0009701758609897467,
            0.005857810173627907,
            0.0011709487364465476
          ],
          "axis_p95_abs": [
            0.00286489462479459,
            0.017396738254890978,
            0.003490710033584586
          ],
          "axis_p99_abs": [
            0.003999028934461375,
            0.025022252233512402,
            0.0046498780747277835
          ],
          "vector_rms": 0.00914158747970071,
          "vector_p50": 0.006210867158526395,
          "vector_p95": 0.017730665701245645,
          "vector_p99": 0.02557682515804282,
          "normalized_distribution": {
            "count": 13404,
            "rms": 0.11374457917767386,
            "p50_abs": 0.0335671220203602,
            "p95_abs": 0.2665905157514122,
            "p99_abs": 0.42501165884747777
          },
          "empirical_covariance": [
            [
              2.1154087228649373e-06,
              -1.285444173895549e-05,
              -6.063974919000351e-07
            ],
            [
              -1.285444173895549e-05,
              7.832536514091957e-05,
              4.072959145091409e-06
            ],
            [
              -6.063974919000351e-07,
              4.072959145091409e-06,
              3.146475379780708e-06
            ]
          ],
          "nis_distribution": {
            "count": 4468,
            "rms": 0.07051181060545784,
            "p50_abs": 0.01798919874404939,
            "p95_abs": 0.14776683388101286,
            "p99_abs": 0.2802242902597056
          },
          "nis_total": 173.4186638340712,
          "nis_per_dof": 0.019406743938459176,
          "alpha_factor": 0.019406743938459176,
          "alpha_composite_prediction": 0.019406743938459176,
          "alpha_factor_only_upper_bound": 0.03410964148939623,
          "temporal_autocorrelation_lag1": [
            0.2930344638851633,
            0.29209932483576845,
            0.2918022950974948
          ],
          "temporal_linear_drift_per_s": [
            1.743251449690635e-08,
            -1.0973630059478335e-07,
            1.9697929770032225e-08
          ]
        },
        "0819_20260819_074023": {
          "sample_count": 214,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            -3.585899846405221e-05,
            0.00014378045665837185,
            -2.1657113218305658e-05
          ],
          "innovation_distribution": {
            "count": 642,
            "rms": 0.006131569583271144,
            "p50_abs": 0.0026348207156538005,
            "p95_abs": 0.013182627170296739,
            "p99_abs": 0.023278849948344508
          },
          "axis_rms": [
            0.003935355760576476,
            0.00967586185436209,
            0.0019181003822755758
          ],
          "axis_p50_abs": [
            0.002517325083650941,
            0.006327242638532335,
            0.0012599665717073286
          ],
          "axis_p95_abs": [
            0.008136803006029843,
            0.019042956686693865,
            0.0035028022239587007
          ],
          "axis_p99_abs": [
            0.009901463946704324,
            0.026373840526669974,
            0.0044545007979768765
          ],
          "vector_rms": 0.010620190048369548,
          "vector_p50": 0.007351543016561404,
          "vector_p95": 0.020876496020982547,
          "vector_p99": 0.026785627176383987,
          "normalized_distribution": {
            "count": 642,
            "rms": 0.13176915959238078,
            "p50_abs": 0.05778514847530111,
            "p95_abs": 0.27614929321900267,
            "p99_abs": 0.5041852213008425
          },
          "empirical_covariance": [
            [
              1.5558442094975417e-05,
              -3.264384474661358e-05,
              -2.2079416748698963e-06
            ],
            [
              -3.264384474661358e-05,
              9.404107407636749e-05,
              5.571584155138479e-06
            ],
            [
              -2.2079416748698963e-06,
              5.571584155138479e-06,
              3.6959106564770445e-06
            ]
          ],
          "nis_distribution": {
            "count": 214,
            "rms": 0.09007958102126032,
            "p50_abs": 0.02593616215490105,
            "p95_abs": 0.18178516592215924,
            "p99_abs": 0.32885895936262843
          },
          "nis_total": 11.147117531436045,
          "nis_per_dof": 0.02604466712952347,
          "alpha_factor": 0.02604466712952347,
          "alpha_composite_prediction": 0.02604466712952347,
          "alpha_factor_only_upper_bound": 0.04603609659734187,
          "temporal_autocorrelation_lag1": [
            0.28324684010895684,
            0.300609396591078,
            0.3078446887238763
          ],
          "temporal_linear_drift_per_s": [
            -1.4498712928064966e-05,
            -2.2531626960349988e-05,
            -4.199746281447439e-06
          ]
        },
        "0815_20260814_104150": {
          "sample_count": 1670,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            -2.146028901604829e-05,
            -1.0461387772402704e-05,
            -1.4884897677848996e-05
          ],
          "innovation_distribution": {
            "count": 5010,
            "rms": 0.006121842829658913,
            "p50_abs": 0.0022604887350396704,
            "p95_abs": 0.013696311620524705,
            "p99_abs": 0.020860559936659345
          },
          "axis_rms": [
            0.008630333825726524,
            0.004001527293191256,
            0.004683587969869334
          ],
          "axis_p50_abs": [
            0.004631441085994304,
            0.0008105124367056193,
            0.0028009408124687156
          ],
          "axis_p95_abs": [
            0.017974573457653284,
            0.008464831671006869,
            0.009405951536025222
          ],
          "axis_p99_abs": [
            0.025905716676197232,
            0.018211309372827694,
            0.012849998029721971
          ],
          "vector_rms": 0.010603342816920462,
          "vector_p50": 0.0072666636953853,
          "vector_p95": 0.020626382552740016,
          "vector_p99": 0.02832111445898119,
          "normalized_distribution": {
            "count": 5010,
            "rms": 0.13159606905781834,
            "p50_abs": 0.04873068265190121,
            "p95_abs": 0.2922848713583541,
            "p99_abs": 0.4453348512719694
          },
          "empirical_covariance": [
            [
              7.452682824273389e-05,
              1.1481995222488383e-05,
              2.210057565466523e-05
            ],
            [
              1.1481995222488383e-05,
              1.60217050728934e-05,
              1.855810068277197e-06
            ],
            [
              2.210057565466523e-05,
              1.855810068277197e-06,
              2.1948917775862324e-05
            ]
          ],
          "nis_distribution": {
            "count": 1670,
            "rms": 0.09176647164952419,
            "p50_abs": 0.024631198055717195,
            "p95_abs": 0.19260332054717152,
            "p99_abs": 0.3564460454174624
          },
          "nis_total": 86.76080221126519,
          "nis_per_dof": 0.025976288087205146,
          "alpha_factor": 0.025976288087205146,
          "alpha_composite_prediction": 0.025976288087205146,
          "alpha_factor_only_upper_bound": 0.045890154650260716,
          "temporal_autocorrelation_lag1": [
            0.32962712086096513,
            0.26519826503128124,
            0.32311842844928684
          ],
          "temporal_linear_drift_per_s": [
            -3.4124630602684936e-07,
            -1.2162568130813077e-07,
            3.29255522261263e-08
          ]
        },
        "0815_20260814_101806": {
          "sample_count": 1212,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            5.943537119444328e-05,
            5.193282238301072e-06,
            8.009062450830271e-05
          ],
          "innovation_distribution": {
            "count": 3636,
            "rms": 0.0069399600735097315,
            "p50_abs": 0.0024508037247367373,
            "p95_abs": 0.015074903000422997,
            "p99_abs": 0.024084290928314815
          },
          "axis_rms": [
            0.010377432857941278,
            0.0009957390002562209,
            0.005983855662364954
          ],
          "axis_p50_abs": [
            0.00665082876083422,
            0.0006227681825033762,
            0.0038367065737077155
          ],
          "axis_p95_abs": [
            0.021290832045251253,
            0.0021072281117097487,
            0.012175285245583756
          ],
          "axis_p99_abs": [
            0.029049394525425182,
            0.0027180744343975357,
            0.0166571368543422
          ],
          "vector_rms": 0.012020363449818295,
          "vector_p50": 0.008162415306083222,
          "vector_p95": 0.024228011061730354,
          "vector_p99": 0.03216082850492074,
          "normalized_distribution": {
            "count": 3636,
            "rms": 0.14958650603719034,
            "p50_abs": 0.052894648940903295,
            "p95_abs": 0.32025156046231285,
            "p99_abs": 0.5200301867451275
          },
          "empirical_covariance": [
            [
              0.00010777650466653101,
              1.0176199887436546e-05,
              4.959746611409025e-05
            ],
            [
              1.0176199887436546e-05,
              9.922879058451124e-07,
              4.989454803376312e-06
            ],
            [
              4.959746611409025e-05,
              4.989454803376312e-06,
              3.582967651925531e-05
            ]
          ],
          "nis_distribution": {
            "count": 1212,
            "rms": 0.11949491601110314,
            "p50_abs": 0.031195482684651644,
            "p95_abs": 0.2649985977204063,
            "p99_abs": 0.4661071513689377
          },
          "nis_total": 81.3595824586747,
          "nis_per_dof": 0.033564184182621574,
          "alpha_factor": 0.033564184182621574,
          "alpha_composite_prediction": 0.033564184182621574,
          "alpha_factor_only_upper_bound": 0.05897515814927657,
          "temporal_autocorrelation_lag1": [
            0.30547386493070794,
            0.3121543775861421,
            0.323905927884614
          ],
          "temporal_linear_drift_per_s": [
            -1.1221714647536919e-06,
            -9.977914569517539e-08,
            -5.547114428087059e-07
          ]
        },
        "0815_20260814_112658": {
          "sample_count": 1042,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            -4.959917714275711e-05,
            5.464100153851755e-05,
            1.5381811122427156e-05
          ],
          "innovation_distribution": {
            "count": 3126,
            "rms": 0.003193503514015197,
            "p50_abs": 0.0013834488396725578,
            "p95_abs": 0.006778431988359508,
            "p99_abs": 0.010835180266942907
          },
          "axis_rms": [
            0.0027712232551888464,
            0.00422296080980498,
            0.002254399643105463
          ],
          "axis_p50_abs": [
            0.0008825599858028057,
            0.001861338062542065,
            0.0014122871117898395
          ],
          "axis_p95_abs": [
            0.006066304693602034,
            0.009301437843091972,
            0.0045385244547825904
          ],
          "axis_p99_abs": [
            0.008615503201648365,
            0.013344268882123495,
            0.006081342716445858
          ],
          "vector_rms": 0.005531310340424069,
          "vector_p50": 0.004181007933098498,
          "vector_p95": 0.010804117435719296,
          "vector_p99": 0.014116404490172181,
          "normalized_distribution": {
            "count": 3126,
            "rms": 0.06837458095058833,
            "p50_abs": 0.030287040673338244,
            "p95_abs": 0.14355598962523608,
            "p99_abs": 0.23347359950447305
          },
          "empirical_covariance": [
            [
              7.684593101151523e-06,
              8.764677567193374e-07,
              -2.9441226875102184e-07
            ],
            [
              8.764677567193374e-07,
              1.7847540519988252e-05,
              1.2796095082425638e-07
            ],
            [
              -2.9441226875102184e-07,
              1.2796095082425638e-07,
              5.08696307305562e-06
            ]
          ],
          "nis_distribution": {
            "count": 1042,
            "rms": 0.022740867084040793,
            "p50_abs": 0.008055046917900915,
            "p95_abs": 0.051564388247768385,
            "p99_abs": 0.08687918392410258
          },
          "nis_total": 14.61431045884691,
          "nis_per_dof": 0.007012624980252836,
          "alpha_factor": 0.007012624980252836,
          "alpha_composite_prediction": 0.007012624980252836,
          "alpha_factor_only_upper_bound": 0.012487915951870298,
          "temporal_autocorrelation_lag1": [
            0.3764438645692258,
            0.3823317487802269,
            0.3104364364849126
          ],
          "temporal_linear_drift_per_s": [
            1.1843480171129633e-06,
            6.804569246643977e-08,
            -2.574039750578271e-07
          ]
        },
        "0815_20260814_103752": {
          "sample_count": 724,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            -0.00017914154096139467,
            -1.946420906201048e-05,
            -2.7154256247102226e-05
          ],
          "innovation_distribution": {
            "count": 2172,
            "rms": 0.008265329608454136,
            "p50_abs": 0.0027674379621193124,
            "p95_abs": 0.018066428786632394,
            "p99_abs": 0.028526075566411003
          },
          "axis_rms": [
            0.012430373398185547,
            0.0012984885819323575,
            0.006981888368732238
          ],
          "axis_p50_abs": [
            0.007865649140314691,
            0.0008320602777482303,
            0.0042332292982195235
          ],
          "axis_p95_abs": [
            0.024369902615154666,
            0.0025542360662231802,
            0.013435148376174592
          ],
          "axis_p99_abs": [
            0.03542567276971861,
            0.003728017262802457,
            0.02014143766468842
          ],
          "vector_rms": 0.014315970823145941,
          "vector_p50": 0.010157170533646223,
          "vector_p95": 0.02763577450771503,
          "vector_p99": 0.038313512930427895,
          "normalized_distribution": {
            "count": 2172,
            "rms": 0.1782937215566307,
            "p50_abs": 0.06033826589886837,
            "p95_abs": 0.38981570806073856,
            "p99_abs": 0.5981487150256412
          },
          "empirical_covariance": [
            [
              0.00015469575930245278,
              1.61044897734529e-05,
              6.103040690162997e-05
            ],
            [
              1.61044897734529e-05,
              1.688025268588367e-06,
              6.748611221357372e-06
            ],
            [
              6.103040690162997e-05,
              6.748611221357372e-06,
              4.881344973170079e-05
            ]
          ],
          "nis_distribution": {
            "count": 724,
            "rms": 0.17851060215245598,
            "p50_abs": 0.0483278267852128,
            "p95_abs": 0.32987642897088987,
            "p99_abs": 0.6425356923913493
          },
          "nis_total": 69.04495029022702,
          "nis_per_dof": 0.047682976719770044,
          "alpha_factor": 0.047682976719770044,
          "alpha_composite_prediction": 0.047682976719770044,
          "alpha_factor_only_upper_bound": 0.08365184514659829,
          "temporal_autocorrelation_lag1": [
            0.28999299356036745,
            0.29188235674171764,
            0.2880963605377126
          ],
          "temporal_linear_drift_per_s": [
            2.8764480707187987e-06,
            2.727237082732035e-07,
            1.324310718888626e-06
          ]
        },
        "0819_20260819_064333": {
          "sample_count": 1764,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            -1.6899026036665043e-06,
            1.0123716958596798e-05,
            1.4590217097431914e-06
          ],
          "innovation_distribution": {
            "count": 5292,
            "rms": 0.004253433047349464,
            "p50_abs": 0.0013225222491108166,
            "p95_abs": 0.01016176765069596,
            "p99_abs": 0.015668615445707156
          },
          "axis_rms": [
            0.0009944394743892874,
            0.007078724918690777,
            0.0017826445866005421
          ],
          "axis_p50_abs": [
            0.000666042130226599,
            0.004658755535576722,
            0.001205827831717493
          ],
          "axis_p95_abs": [
            0.0019821362616545025,
            0.01408706369753944,
            0.0035581560584832935
          ],
          "axis_p99_abs": [
            0.002522812311106762,
            0.017962339250752003,
            0.004517943663865112
          ],
          "vector_rms": 0.007367162144601788,
          "vector_p50": 0.005035317320885291,
          "vector_p95": 0.014488709394472077,
          "vector_p99": 0.018247277065987003,
          "normalized_distribution": {
            "count": 5292,
            "rms": 0.09165319456913174,
            "p50_abs": 0.028382893197114775,
            "p95_abs": 0.22270819914186452,
            "p99_abs": 0.3376430110985013
          },
          "empirical_covariance": [
            [
              9.894679353186591e-07,
              -6.897849137844702e-06,
              -6.103060992816246e-07
            ],
            [
              -6.897849137844702e-06,
              5.013666613118156e-05,
              1.8781500796186004e-06
            ],
            [
              -6.103060992816246e-07,
              1.8781500796186004e-06,
              3.179622100251422e-06
            ]
          ],
          "nis_distribution": {
            "count": 1764,
            "rms": 0.04165443541679453,
            "p50_abs": 0.011983619126298778,
            "p95_abs": 0.09493041630423069,
            "p99_abs": 0.15427000298726415
          },
          "nis_total": 44.45443033145592,
          "nis_per_dof": 0.01260046211209068,
          "alpha_factor": 0.01260046211209068,
          "alpha_composite_prediction": 0.01260046211209068,
          "alpha_factor_only_upper_bound": 0.02215309308769535,
          "temporal_autocorrelation_lag1": [
            0.29898570562595456,
            0.29443407893660767,
            0.27810437888772027
          ],
          "temporal_linear_drift_per_s": [
            -1.8945626611873807e-08,
            2.9629907110243306e-07,
            -1.6190194639042086e-07
          ]
        },
        "0815_20260814_103326": {
          "sample_count": 590,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            -0.00011024257043696124,
            -1.1196692022707163e-05,
            -2.087506657891197e-05
          ],
          "innovation_distribution": {
            "count": 1770,
            "rms": 0.006338431838512291,
            "p50_abs": 0.0022862095400232978,
            "p95_abs": 0.01418302497372501,
            "p99_abs": 0.020564603664750464
          },
          "axis_rms": [
            0.009486932458653426,
            0.0009836574045217707,
            0.005436698000613653
          ],
          "axis_p50_abs": [
            0.006605384633338641,
            0.0006880524842880081,
            0.0037968588847077517
          ],
          "axis_p95_abs": [
            0.01826980380513364,
            0.0019268086243022671,
            0.010695395507089105
          ],
          "axis_p99_abs": [
            0.02401720971774466,
            0.0024432091320337763,
            0.013488808823940036
          ],
          "vector_rms": 0.010978485984615498,
          "vector_p50": 0.008035233959874644,
          "vector_p95": 0.020732833927819525,
          "vector_p99": 0.02686238109388195,
          "normalized_distribution": {
            "count": 1770,
            "rms": 0.13661721044170114,
            "p50_abs": 0.048728167224012284,
            "p95_abs": 0.29791898617416057,
            "p99_abs": 0.4319528168528443
          },
          "empirical_covariance": [
            [
              9.014251797949418e-05,
              9.328547682396367e-06,
              4.1446391060199864e-05
            ],
            [
              9.328547682396367e-06,
              9.690990643452794e-07,
              4.448455361986984e-06
            ],
            [
              4.1446391060199864e-05,
              4.448455361986984e-06,
              2.9607431468706906e-05
            ]
          ],
          "nis_distribution": {
            "count": 590,
            "rms": 0.09095900078600384,
            "p50_abs": 0.02876360545816603,
            "p95_abs": 0.20913907320703215,
            "p99_abs": 0.3225153051724641
          },
          "nis_total": 33.03574407430353,
          "nis_per_dof": 0.027996393283308076,
          "alpha_factor": 0.027996393283308076,
          "alpha_composite_prediction": 0.027996393283308076,
          "alpha_factor_only_upper_bound": 0.04919475694465262,
          "temporal_autocorrelation_lag1": [
            0.28700356675071104,
            0.28967692404266715,
            0.29040997641650146
          ],
          "temporal_linear_drift_per_s": [
            -6.945637084840394e-07,
            -4.907497740901406e-08,
            -1.3638488976996892e-07
          ]
        },
        "0819_20260819_063601": {
          "sample_count": 930,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            5.2099586088598874e-05,
            3.331407723550264e-05,
            -4.403191169398702e-05
          ],
          "innovation_distribution": {
            "count": 2790,
            "rms": 0.004882623342498775,
            "p50_abs": 0.002986252090267075,
            "p95_abs": 0.009680642160648205,
            "p99_abs": 0.013717534048961134
          },
          "axis_rms": [
            0.00602626766209884,
            0.004288021382839488,
            0.004100853910979375
          ],
          "axis_p50_abs": [
            0.0037920163067947203,
            0.0027122236265996642,
            0.002665414099524921
          ],
          "axis_p95_abs": [
            0.011646172464702346,
            0.008173450587213575,
            0.008065501101411505
          ],
          "axis_p99_abs": [
            0.016691604621625927,
            0.011838629323431328,
            0.010776090115181804
          ],
          "vector_rms": 0.008456951703429654,
          "vector_p50": 0.006300901823187342,
          "vector_p95": 0.015418101910744901,
          "vector_p99": 0.022403935020201323,
          "normalized_distribution": {
            "count": 2790,
            "rms": 0.10513872829298489,
            "p50_abs": 0.06540026514509642,
            "p95_abs": 0.2083582597305034,
            "p99_abs": 0.29196925711764177
          },
          "empirical_covariance": [
            [
              3.635227603724487e-05,
              2.58183598918191e-05,
              6.143866591746909e-06
            ],
            [
              2.58183598918191e-05,
              1.840580874414459e-05,
              5.345253416389092e-06
            ],
            [
              6.143866591746909e-06,
              5.345253416389092e-06,
              1.6833164166470504e-05
            ]
          ],
          "nis_distribution": {
            "count": 930,
            "rms": 0.053760173400977336,
            "p50_abs": 0.019087265910116714,
            "p95_abs": 0.11038088365236962,
            "p99_abs": 0.22022327646543766
          },
          "nis_total": 30.841084601914417,
          "nis_per_dof": 0.016581228280599148,
          "alpha_factor": 0.016581228280599148,
          "alpha_composite_prediction": 0.016581228280599148,
          "alpha_factor_only_upper_bound": 0.02919184984250682,
          "temporal_autocorrelation_lag1": [
            0.29341992114681215,
            0.2949255630439406,
            0.3226906223108733
          ],
          "temporal_linear_drift_per_s": [
            -4.81211191874642e-07,
            -2.9989280818295593e-07,
            3.1152677532225785e-07
          ]
        },
        "0819_20260819_062947": {
          "sample_count": 714,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            -7.750245909104628e-05,
            -1.2440106976246525e-05,
            -5.250824553307735e-05
          ],
          "innovation_distribution": {
            "count": 2142,
            "rms": 0.004311790382344364,
            "p50_abs": 0.0016978489022870438,
            "p95_abs": 0.009548296943402557,
            "p99_abs": 0.013405052902513375
          },
          "axis_rms": [
            0.006232186054338019,
            0.0008627862735204552,
            0.004023688076152456
          ],
          "axis_p50_abs": [
            0.004019998829286585,
            0.0005391057696417649,
            0.0026778985171811293
          ],
          "axis_p95_abs": [
            0.012257060828903396,
            0.001680989351529245,
            0.008074854934796694
          ],
          "axis_p99_abs": [
            0.01649950037936089,
            0.002286521540121308,
            0.010680472355792892
          ],
          "vector_rms": 0.007468240013807273,
          "vector_p50": 0.005935106864572159,
          "vector_p95": 0.013214836375723012,
          "vector_p99": 0.017384524308369412,
          "normalized_distribution": {
            "count": 2142,
            "rms": 0.09295737672829985,
            "p50_abs": 0.03713761142651101,
            "p95_abs": 0.20384811701445887,
            "p99_abs": 0.2940611185206442
          },
          "empirical_covariance": [
            [
              3.8888602214151746e-05,
              5.36490677311302e-06,
              6.735754847832727e-06
            ],
            [
              5.36490677311302e-06,
              7.452892199506393e-07,
              1.184261061647144e-06
            ],
            [
              6.735754847832727e-06,
              1.184261061647144e-06,
              1.6210011715963898e-05
            ]
          ],
          "nis_distribution": {
            "count": 714,
            "rms": 0.03908800316669194,
            "p50_abs": 0.015873430528329485,
            "p95_abs": 0.08147592377096396,
            "p99_abs": 0.13981444152650319
          },
          "nis_total": 18.509180268539524,
          "nis_per_dof": 0.01296161083231059,
          "alpha_factor": 0.01296161083231059,
          "alpha_composite_prediction": 0.01296161083231059,
          "alpha_factor_only_upper_bound": 0.022765146491360022,
          "temporal_autocorrelation_lag1": [
            0.3070118376556918,
            0.30654613409662373,
            0.27683071337855175
          ],
          "temporal_linear_drift_per_s": [
            9.445864646911547e-07,
            9.72270158619581e-08,
            -7.967016345435085e-07
          ]
        },
        "0815_20260814_102314": {
          "sample_count": 668,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            4.4061428081428504e-05,
            2.693815680652363e-06,
            -3.5517245668715526e-05
          ],
          "innovation_distribution": {
            "count": 2004,
            "rms": 0.008058601880307404,
            "p50_abs": 0.002740151446713319,
            "p95_abs": 0.0175648883263023,
            "p99_abs": 0.02620977332625745
          },
          "axis_rms": [
            0.011673843561144684,
            0.0010656351309453456,
            0.007576872116744336
          ],
          "axis_p50_abs": [
            0.007794068324358874,
            0.000716812430164145,
            0.00474002788778502
          ],
          "axis_p95_abs": [
            0.02330324868945299,
            0.002087629641291092,
            0.015404413733394866
          ],
          "axis_p99_abs": [
            0.030783466504797054,
            0.002919675558193565,
            0.02065444678367286
          ],
          "vector_rms": 0.013957907894662511,
          "vector_p50": 0.009971754759554374,
          "vector_p95": 0.026770278307938638,
          "vector_p99": 0.03669301437264262,
          "normalized_distribution": {
            "count": 2004,
            "rms": 0.17346391093836677,
            "p50_abs": 0.058585237354599445,
            "p95_abs": 0.37501599513587297,
            "p99_abs": 0.5585993861026918
          },
          "empirical_covariance": [
            [
              0.00013648099494732233,
              1.2187809263347348e-05,
              6.720942272720842e-05
            ],
            [
              1.2187809263347348e-05,
              1.1372734808728698e-06,
              7.057397904333172e-06
            ],
            [
              6.720942272720842e-05,
              7.057397904333172e-06,
              5.749379815887599e-05
            ]
          ],
          "nis_distribution": {
            "count": 668,
            "rms": 0.15304548997133918,
            "p50_abs": 0.047971462532567496,
            "p95_abs": 0.3265267834807536,
            "p99_abs": 0.6626521012235506
          },
          "nis_total": 60.2998157096594,
          "nis_per_dof": 0.045134592597050445,
          "alpha_factor": 0.045134592597050445,
          "alpha_composite_prediction": 0.045134592597050445,
          "alpha_factor_only_upper_bound": 0.07951967052893143,
          "temporal_autocorrelation_lag1": [
            0.31334531632434137,
            0.31013829002623605,
            0.2947146376387878
          ],
          "temporal_linear_drift_per_s": [
            -1.55947016136725e-05,
            -1.4690174559361973e-06,
            -9.871805588532454e-06
          ]
        },
        "0819_20260819_071004": {
          "sample_count": 1542,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            2.0250594256208032e-07,
            -1.6536738187113553e-06,
            8.06256220066179e-08
          ],
          "innovation_distribution": {
            "count": 4626,
            "rms": 0.0037075609387916516,
            "p50_abs": 0.000974995013530917,
            "p95_abs": 0.008867998698392634,
            "p99_abs": 0.012906980491031034
          },
          "axis_rms": [
            0.0005927171442849486,
            0.00620569216610584,
            0.0015414588774807524
          ],
          "axis_p50_abs": [
            0.0004115162869890143,
            0.004315502459048777,
            0.001038315799898118
          ],
          "axis_p95_abs": [
            0.0011283570252028456,
            0.01180895027051924,
            0.0031214580744772778
          ],
          "axis_p99_abs": [
            0.0014888381913901255,
            0.01554644096266268,
            0.004051546401400386
          ],
          "vector_rms": 0.006421683918144905,
          "vector_p50": 0.004628789199461168,
          "vector_p95": 0.011937593310694555,
          "vector_p99": 0.01577895642286807,
          "normalized_distribution": {
            "count": 4626,
            "rms": 0.07987055493864516,
            "p50_abs": 0.020883429106034253,
            "p95_abs": 0.19063411636415659,
            "p99_abs": 0.28237579737180885
          },
          "empirical_covariance": [
            [
              3.5154154977938915e-07,
              -3.6773003235275723e-06,
              -1.1663589466164535e-07
            ],
            [
              -3.6773003235275723e-06,
              3.85356031893772e-05,
              1.5236103818525386e-06
            ],
            [
              -1.1663589466164535e-07,
              1.5236103818525386e-06,
              2.3776373823511114e-06
            ]
          ],
          "nis_distribution": {
            "count": 1542,
            "rms": 0.03288657474095249,
            "p50_abs": 0.010109415956415672,
            "p95_abs": 0.0658589424808808,
            "p99_abs": 0.11130416321059321
          },
          "nis_total": 29.510667456754202,
          "nis_per_dof": 0.009568958319310702,
          "alpha_factor": 0.009568958319310702,
          "alpha_composite_prediction": 0.009568958319310702,
          "alpha_factor_only_upper_bound": 0.016831846671249345,
          "temporal_autocorrelation_lag1": [
            0.28797485720058624,
            0.28812498469934017,
            0.2971378410972113
          ],
          "temporal_linear_drift_per_s": [
            -4.5909023204523724e-08,
            4.5666655396673306e-07,
            -2.819289008347622e-08
          ]
        },
        "0819_20260819_073045": {
          "sample_count": 1588,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            9.59365445887278e-06,
            -7.130222628689943e-05,
            -7.869303368524392e-06
          ],
          "innovation_distribution": {
            "count": 4764,
            "rms": 0.004167932105293746,
            "p50_abs": 0.001223594046365295,
            "p95_abs": 0.009547930420258916,
            "p99_abs": 0.016504218124629794
          },
          "axis_rms": [
            0.0009863280864485366,
            0.006941526061990998,
            0.0017196938505436555
          ],
          "axis_p50_abs": [
            0.000590527291357088,
            0.00417777647654536,
            0.0011024095385391008
          ],
          "axis_p95_abs": [
            0.001950037237527077,
            0.013808222844209465,
            0.003423535536042176
          ],
          "axis_p99_abs": [
            0.002958999366823229,
            0.020478623946808952,
            0.004630287036363777
          ],
          "vector_rms": 0.007219070168866283,
          "vector_p50": 0.0045825746604237745,
          "vector_p95": 0.013967113754166757,
          "vector_p99": 0.0207025783944769,
          "normalized_distribution": {
            "count": 4764,
            "rms": 0.08978617526409703,
            "p50_abs": 0.0260027764990632,
            "p95_abs": 0.20898552133593756,
            "p99_abs": 0.35510700724372957
          },
          "empirical_covariance": [
            [
              9.733640055370067e-07,
              -6.838231435772045e-06,
              -1.2564609718382335e-07
            ],
            [
              -6.838231435772045e-06,
              4.8210059041071695e-05,
              1.5321957543470114e-06
            ],
            [
              -1.2564609718382335e-07,
              1.5321957543470114e-06,
              2.9591484572750546e-06
            ]
          ],
          "nis_distribution": {
            "count": 1588,
            "rms": 0.04562020999914653,
            "p50_abs": 0.00982633794773184,
            "p95_abs": 0.09252628494833211,
            "p99_abs": 0.1915787877271944
          },
          "nis_total": 38.405258827396736,
          "nis_per_dof": 0.012092335902832726,
          "alpha_factor": 0.012092335902832726,
          "alpha_composite_prediction": 0.012092335902832726,
          "alpha_factor_only_upper_bound": 0.021271418001230637,
          "temporal_autocorrelation_lag1": [
            0.289210714317626,
            0.28715838287809287,
            0.2874690057824373
          ],
          "temporal_linear_drift_per_s": [
            -2.1935282981858634e-08,
            2.1166326717851685e-07,
            1.2542437459002516e-07
          ]
        },
        "0815_20260814_113355": {
          "sample_count": 132,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            -0.00014675076035296298,
            -9.953006156384116e-05,
            -1.4335463736628072e-05
          ],
          "innovation_distribution": {
            "count": 396,
            "rms": 0.0033526335215827846,
            "p50_abs": 0.0013655803484655116,
            "p95_abs": 0.007477189742895787,
            "p99_abs": 0.01184528870898759
          },
          "axis_rms": [
            0.005155550400502774,
            0.00197184719105172,
            0.001803489205162836
          ],
          "axis_p50_abs": [
            0.002986066133985156,
            0.0005866326043602997,
            0.0012436466119192108
          ],
          "axis_p95_abs": [
            0.010530223540922192,
            0.004874656142620151,
            0.0037607558481671005
          ],
          "axis_p99_abs": [
            0.01347180679171609,
            0.006078758821546394,
            0.004237987015444139
          ],
          "vector_rms": 0.0058069315985399515,
          "vector_p50": 0.003841957322367562,
          "vector_p95": 0.011094631042117662,
          "vector_p99": 0.014123724693841213,
          "normalized_distribution": {
            "count": 396,
            "rms": 0.07168659297062463,
            "p50_abs": 0.028987235406916452,
            "p95_abs": 0.16708929148919666,
            "p99_abs": 0.23928899322598743
          },
          "empirical_covariance": [
            [
              2.676089822391403e-05,
              6.563724581085973e-06,
              -4.725206584211039e-07
            ],
            [
              6.563724581085973e-06,
              3.90788026522811e-06,
              3.062881679385137e-07
            ],
            [
              -4.725206584211039e-07,
              3.062881679385137e-07,
              3.2771950427909926e-06
            ]
          ],
          "nis_distribution": {
            "count": 132,
            "rms": 0.025597228435457163,
            "p50_abs": 0.006506308821768806,
            "p95_abs": 0.055819670756643396,
            "p99_abs": 0.09380385166007155
          },
          "nis_total": 2.0350311742474596,
          "nis_per_dof": 0.007708451417604014,
          "alpha_factor": 0.007708451417604014,
          "alpha_composite_prediction": 0.007708451417604014,
          "alpha_factor_only_upper_bound": 0.013763450853110919,
          "temporal_autocorrelation_lag1": [
            0.2653025700855545,
            0.3760986332569527,
            0.36086956325152786
          ],
          "temporal_linear_drift_per_s": [
            2.3159869352457816e-05,
            2.7749255605617555e-05,
            -2.167779886716931e-05
          ]
        },
        "0815_20260814_103601": {
          "sample_count": 810,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            9.762738201620759e-05,
            1.0716740143554115e-05,
            9.322629753414063e-05
          ],
          "innovation_distribution": {
            "count": 2430,
            "rms": 0.00650157087783529,
            "p50_abs": 0.0023620028949410676,
            "p95_abs": 0.014108576731534657,
            "p99_abs": 0.022211424040141065
          },
          "axis_rms": [
            0.009529410013683121,
            0.001006929379997159,
            0.005915040968020614
          ],
          "axis_p50_abs": [
            0.0062027789573957425,
            0.0006488245575521478,
            0.0038995741384204446
          ],
          "axis_p95_abs": [
            0.01945538898712828,
            0.001985161667204194,
            0.011678517021073063
          ],
          "axis_p99_abs": [
            0.028676841167057376,
            0.00309883919119704,
            0.017099964010569894
          ],
          "vector_rms": 0.01126105108942091,
          "vector_p50": 0.0075766034062369194,
          "vector_p95": 0.02275115002776985,
          "vector_p99": 0.033032954975857336,
          "normalized_distribution": {
            "count": 2430,
            "rms": 0.13985805561122175,
            "p50_abs": 0.05019846429877246,
            "p95_abs": 0.30514298275157103,
            "p99_abs": 0.48595979817624235
          },
          "empirical_covariance": [
            [
              9.09123615866051e-05,
              9.592352556997484e-06,
              4.6602434967813096e-05
            ],
            [
              9.592352556997484e-06,
              1.0150450698436954e-06,
              5.057788340984682e-06
            ],
            [
              4.6602434967813096e-05,
              5.057788340984682e-06,
              3.50222558637285e-05
            ]
          ],
          "nis_distribution": {
            "count": 810,
            "rms": 0.10672535758749771,
            "p50_abs": 0.026867888659538867,
            "p95_abs": 0.2331625618154339,
            "p99_abs": 0.4848528646188948
          },
          "nis_total": 47.53146999802438,
          "nis_per_dof": 0.029340413579027395,
          "alpha_factor": 0.029340413579027395,
          "alpha_composite_prediction": 0.029340413579027395,
          "alpha_factor_only_upper_bound": 0.05175970270961134,
          "temporal_autocorrelation_lag1": [
            0.3159278030077471,
            0.314692870123638,
            0.30074853126396434
          ],
          "temporal_linear_drift_per_s": [
            2.853252266374494e-06,
            2.948719213644589e-07,
            -1.0247948713392054e-06
          ]
        },
        "0808_20260808_081539": {
          "sample_count": 610,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            5.818711970294829e-05,
            -0.00019610494612639991,
            6.663150550134849e-06
          ],
          "innovation_distribution": {
            "count": 1830,
            "rms": 0.0031307745902980585,
            "p50_abs": 0.0013004522011235942,
            "p95_abs": 0.007080243404208332,
            "p99_abs": 0.011115813987809428
          },
          "axis_rms": [
            0.0015056786295109985,
            0.0050406255834013316,
            0.0013153988742437763
          ],
          "axis_p50_abs": [
            0.0010320775799125257,
            0.0034547280152235887,
            0.0008521954670576981
          ],
          "axis_p95_abs": [
            0.0029331666860126305,
            0.009832122701670354,
            0.0025831635277045236
          ],
          "axis_p99_abs": [
            0.004026507993602364,
            0.013468687629120877,
            0.0034648424291266384
          ],
          "vector_rms": 0.005422660657441873,
          "vector_p50": 0.0039046213460335218,
          "vector_p95": 0.010328211060638281,
          "vector_p99": 0.014142747011297774,
          "normalized_distribution": {
            "count": 1830,
            "rms": 0.06733159206586074,
            "p50_abs": 0.028128212304078845,
            "p95_abs": 0.15556434466453364,
            "p99_abs": 0.23232399435821768
          },
          "empirical_covariance": [
            [
              2.2673994427335703e-06,
              -7.590448611001779e-06,
              -3.1932027270663055e-08
            ],
            [
              -7.590448611001779e-06,
              2.541110667406947e-05,
              7.734336290703357e-08
            ],
            [
              -3.1932027270663055e-08,
              7.734336290703357e-08,
              1.7330709006236258e-06
            ]
          ],
          "nis_distribution": {
            "count": 610,
            "rms": 0.022382663381358987,
            "p50_abs": 0.007562302088173144,
            "p95_abs": 0.04778477810434495,
            "p99_abs": 0.0880441452970631
          },
          "nis_total": 8.296384220925972,
          "nis_per_dof": 0.0068003149351852235,
          "alpha_factor": 0.0068003149351852235,
          "alpha_composite_prediction": 0.0068003149351852235,
          "alpha_factor_only_upper_bound": 0.012002142288068538,
          "temporal_autocorrelation_lag1": [
            0.2930983743398227,
            0.29331354694777134,
            0.2754889321062026
          ],
          "temporal_linear_drift_per_s": [
            3.430473343525139e-08,
            -1.2396363105731668e-07,
            2.6541356419019114e-07
          ]
        },
        "0819_20260819_065931": {
          "sample_count": 2032,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            -0.0001065152226936071,
            -1.5840521723628788e-05,
            -4.7280381793672186e-05
          ],
          "innovation_distribution": {
            "count": 6096,
            "rms": 0.004306771115440508,
            "p50_abs": 0.0016699337572141561,
            "p95_abs": 0.009599692909709044,
            "p99_abs": 0.014045566574476549
          },
          "axis_rms": [
            0.006563122585562676,
            0.001015661760549555,
            0.0033968640593071307
          ],
          "axis_p50_abs": [
            0.004371407362606844,
            0.0006718111858270467,
            0.002263947973517491
          ],
          "axis_p95_abs": [
            0.01304745422596925,
            0.001990042781225848,
            0.006627993983695183
          ],
          "axis_p99_abs": [
            0.0174099651218664,
            0.0026645986558823383,
            0.008859958429394132
          ],
          "vector_rms": 0.007459546388513046,
          "vector_p50": 0.005649608561080578,
          "vector_p95": 0.013926962076746234,
          "vector_p99": 0.018180095480600338,
          "normalized_distribution": {
            "count": 6096,
            "rms": 0.09279193608753213,
            "p50_abs": 0.03600132859651176,
            "p95_abs": 0.20538811240961402,
            "p99_abs": 0.3091907787321165
          },
          "empirical_covariance": [
            [
              4.308443555070871e-05,
              6.662595190668755e-06,
              1.038578782676382e-05
            ],
            [
              6.662595190668755e-06,
              1.0318256779414785e-06,
              1.5318158898690385e-06
            ],
            [
              1.038578782676382e-05,
              1.5318158898690385e-06,
              1.1542130185087695e-05
            ]
          ],
          "nis_distribution": {
            "count": 2032,
            "rms": 0.041212957682780806,
            "p50_abs": 0.014660014714562677,
            "p95_abs": 0.08742884550123108,
            "p99_abs": 0.15368560303918713
          },
          "nis_total": 52.48865338391167,
          "nis_per_dof": 0.012915515104308974,
          "alpha_factor": 0.012915515104308974,
          "alpha_composite_prediction": 0.012915515104308974,
          "alpha_factor_only_upper_bound": 0.02271217645811347,
          "temporal_autocorrelation_lag1": [
            0.27263312778589455,
            0.2751133904629294,
            0.2891231593988126
          ],
          "temporal_linear_drift_per_s": [
            3.1167864203348945e-07,
            3.698144870016259e-08,
            6.42690043077925e-07
          ]
        },
        "0819_20260819_072130": {
          "sample_count": 764,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            -4.50699905344345e-05,
            2.2731722134724176e-05,
            -4.517810908651439e-06
          ],
          "innovation_distribution": {
            "count": 2292,
            "rms": 0.004370441743217918,
            "p50_abs": 0.0022881556305706374,
            "p95_abs": 0.009272900760212107,
            "p99_abs": 0.01422413862732913
          },
          "axis_rms": [
            0.00644866312188325,
            0.0032872154135028995,
            0.002216132184296979
          ],
          "axis_p50_abs": [
            0.004438406795629686,
            0.002269097394660337,
            0.001504482775385091
          ],
          "axis_p95_abs": [
            0.012720849659113404,
            0.006554663637916887,
            0.004236819552341828
          ],
          "axis_p99_abs": [
            0.016149939944682768,
            0.008186270562426478,
            0.00583812522341897
          ],
          "vector_rms": 0.007569827150773326,
          "vector_p50": 0.005495754735343901,
          "vector_p95": 0.014602714689108176,
          "vector_p99": 0.01818742189066879,
          "normalized_distribution": {
            "count": 2292,
            "rms": 0.09435848251700395,
            "p50_abs": 0.0504192878193461,
            "p95_abs": 0.1971656021485601,
            "p99_abs": 0.3009851720547295
          },
          "empirical_covariance": [
            [
              4.163772439475044e-05,
              -2.1216629034551445e-05,
              -1.3948298702310686e-06
            ],
            [
              -2.1216629034551445e-05,
              1.0819430001172982e-05,
              5.411438032285126e-07
            ],
            [
              -1.3948298702310686e-06,
              5.411438032285126e-07,
              4.917658173018844e-06
            ]
          ],
          "nis_distribution": {
            "count": 764,
            "rms": 0.04314928406225545,
            "p50_abs": 0.014416811056044644,
            "p95_abs": 0.09467047527011876,
            "p99_abs": 0.15075587423003856
          },
          "nis_total": 20.406875226913705,
          "nis_per_dof": 0.013355284834367608,
          "alpha_factor": 0.013355284834367608,
          "alpha_composite_prediction": 0.013355284834367608,
          "alpha_factor_only_upper_bound": 0.023388686976565303,
          "temporal_autocorrelation_lag1": [
            0.2613377071665784,
            0.2612399026043908,
            0.2890290699635817
          ],
          "temporal_linear_drift_per_s": [
            -2.702148372462203e-09,
            3.8185386026836384e-08,
            -3.6555099553996847e-07
          ]
        },
        "0808_20260808_101021": {
          "sample_count": 378,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            -2.42758328878967e-05,
            -7.061748028141538e-06,
            4.7865955354553805e-05
          ],
          "innovation_distribution": {
            "count": 1134,
            "rms": 0.004647010870793165,
            "p50_abs": 0.0020638001871618114,
            "p95_abs": 0.010097518507286829,
            "p99_abs": 0.015686172781465082
          },
          "axis_rms": [
            0.006699194412368132,
            0.0016378292977942928,
            0.004149992712811892
          ],
          "axis_p50_abs": [
            0.004546855649338046,
            0.0011128222225902846,
            0.002389782816645536
          ],
          "axis_p95_abs": [
            0.013420966575443522,
            0.0032588145932048135,
            0.008883143634090332
          ],
          "axis_p99_abs": [
            0.018346625633143043,
            0.004451064638059518,
            0.011986014292421614
          ],
          "vector_rms": 0.008048858931538653,
          "vector_p50": 0.006034642343033408,
          "vector_p95": 0.015295639820496965,
          "vector_p99": 0.020741146807024987,
          "normalized_distribution": {
            "count": 1134,
            "rms": 0.10027153903015701,
            "p50_abs": 0.04516868613458884,
            "p95_abs": 0.2181136447856126,
            "p99_abs": 0.3228553585215553
          },
          "empirical_covariance": [
            [
              4.499765788160927e-05,
              1.1000288357467126e-05,
              1.5669157317638786e-05
            ],
            [
              1.1000288357467126e-05,
              2.6895501524717076e-06,
              3.8020843970381047e-06
            ],
            [
              1.5669157317638786e-05,
              3.8020843970381047e-06,
              1.7265825152828357e-05
            ]
          ],
          "nis_distribution": {
            "count": 378,
            "rms": 0.049971996713421715,
            "p50_abs": 0.016625783312003754,
            "p95_abs": 0.10337373470649777,
            "p99_abs": 0.21338853263802282
          },
          "nis_total": 11.401668665766124,
          "nis_per_dof": 0.015081572309214449,
          "alpha_factor": 0.015081572309214449,
          "alpha_composite_prediction": 0.015081572309214449,
          "alpha_factor_only_upper_bound": 0.026442502081554912,
          "temporal_autocorrelation_lag1": [
            0.2703225889619357,
            0.2704368771153469,
            0.3238565870968251
          ],
          "temporal_linear_drift_per_s": [
            -1.9524127473833814e-06,
            -4.7024067072017775e-07,
            -3.438611642153435e-06
          ]
        },
        "0808_20260808_075440": {
          "sample_count": 518,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            -6.661054981721378e-06,
            2.7594633167275006e-05,
            1.1600722951039355e-05
          ],
          "innovation_distribution": {
            "count": 1554,
            "rms": 0.002853579885276877,
            "p50_abs": 0.0012034836804375238,
            "p95_abs": 0.00660115883370727,
            "p99_abs": 0.009490326722412132
          },
          "axis_rms": [
            0.0012565276317743814,
            0.004531199032218592,
            0.0015225400244260148
          ],
          "axis_p50_abs": [
            0.0008127336132792325,
            0.0030504175440402583,
            0.001023228378252028
          ],
          "axis_p95_abs": [
            0.0024944294750590267,
            0.008925021089365194,
            0.0028909788354545716
          ],
          "axis_p99_abs": [
            0.0033744685279205543,
            0.011257159114432072,
            0.0042685183698236056
          ],
          "vector_rms": 0.004942545344756119,
          "vector_p50": 0.0036246722401509814,
          "vector_p95": 0.009329686366218377,
          "vector_p99": 0.011833513507275913,
          "normalized_distribution": {
            "count": 1554,
            "rms": 0.06126239756893183,
            "p50_abs": 0.026713436127802144,
            "p95_abs": 0.14413715816755657,
            "p99_abs": 0.19759597670615958
          },
          "empirical_covariance": [
            [
              1.5818711250197217e-06,
              -5.644524512494428e-06,
              4.5613910782039625e-08
            ],
            [
              -5.644524512494428e-06,
              2.0570715010839285e-05,
              -1.100815416005002e-07
            ],
            [
              4.5613910782039625e-08,
              -1.100815416005002e-07,
              2.3224770957230195e-06
            ]
          ],
          "nis_distribution": {
            "count": 518,
            "rms": 0.017985497541440847,
            "p50_abs": 0.005865748785748841,
            "p95_abs": 0.040262778792982463,
            "p99_abs": 0.0729959258035457
          },
          "nis_total": 5.832288427059066,
          "nis_per_dof": 0.005629622033840797,
          "alpha_factor": 0.005629622033840797,
          "alpha_composite_prediction": 0.005629622033840797,
          "alpha_factor_only_upper_bound": 0.009970920197947096,
          "temporal_autocorrelation_lag1": [
            0.2977507973551886,
            0.2860667188381376,
            0.2963968490984423
          ],
          "temporal_linear_drift_per_s": [
            -1.1916967009422038e-07,
            3.2120222704025034e-07,
            -6.145352928823539e-08
          ]
        },
        "0808_20260808_080830": {
          "sample_count": 1326,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            -3.7548845494705073e-06,
            1.2613484791592459e-05,
            2.033759730517137e-06
          ],
          "innovation_distribution": {
            "count": 3978,
            "rms": 0.0028987048374693406,
            "p50_abs": 0.0011682093295207131,
            "p95_abs": 0.006651963687088039,
            "p99_abs": 0.010627472542964797
          },
          "axis_rms": [
            0.0013927005136004605,
            0.004664396084281492,
            0.0012293346381929402
          ],
          "axis_p50_abs": [
            0.0008687938453131127,
            0.002926228853286746,
            0.0008327364690197681
          ],
          "axis_p95_abs": [
            0.0027506651968841308,
            0.009226821253600423,
            0.002399554601450124
          ],
          "axis_p99_abs": [
            0.0037684044849014163,
            0.012639444808335653,
            0.0032046616929685273
          ],
          "vector_rms": 0.005020704054642582,
          "vector_p50": 0.0033091496264060095,
          "vector_p95": 0.009793614183357502,
          "vector_p99": 0.013270902408291383,
          "normalized_distribution": {
            "count": 3978,
            "rms": 0.062187710681859895,
            "p50_abs": 0.025324736747363054,
            "p95_abs": 0.14034866260302675,
            "p99_abs": 0.22599849249360413
          },
          "empirical_covariance": [
            [
              1.941064470950606e-06,
              -6.50082666558851e-06,
              -8.377817573528819e-08
            ],
            [
              -6.50082666558851e-06,
              2.177285167953821e-05,
              2.516583877687002e-07
            ],
            [
              -8.377817573528819e-08,
              2.516583877687002e-07,
              1.5124000897023114e-06
            ]
          ],
          "nis_distribution": {
            "count": 1326,
            "rms": 0.02055787851764981,
            "p50_abs": 0.00530237644287152,
            "p95_abs": 0.04399530910413667,
            "p99_abs": 0.07759110064881185
          },
          "nis_total": 15.38416458948613,
          "nis_per_dof": 0.005800967039776067,
          "alpha_factor": 0.005800967039776067,
          "alpha_composite_prediction": 0.005800967039776067,
          "alpha_factor_only_upper_bound": 0.010288762940532433,
          "temporal_autocorrelation_lag1": [
            0.282459850351493,
            0.2825886597401462,
            0.2766545562043283
          ],
          "temporal_linear_drift_per_s": [
            1.139366447135692e-08,
            -3.554750233049198e-08,
            -4.319672686806139e-09
          ]
        },
        "0808_20260808_073816": {
          "sample_count": 378,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            2.6862333502891137e-05,
            -9.39121343959541e-05,
            1.2950947088344954e-05
          ],
          "innovation_distribution": {
            "count": 1134,
            "rms": 0.00266645846854084,
            "p50_abs": 0.0012020468153149753,
            "p95_abs": 0.006062602653355611,
            "p99_abs": 0.009141423658250143
          },
          "axis_rms": [
            0.0011711911027751458,
            0.004141933735022897,
            0.0016741262284604183
          ],
          "axis_p50_abs": [
            0.0007200972881103968,
            0.002561230543452292,
            0.0010493371682928632
          ],
          "axis_p95_abs": [
            0.0023788746514600044,
            0.008392203669936753,
            0.0034222653651734512
          ],
          "axis_p99_abs": [
            0.0030548390613646813,
            0.010804658765567207,
            0.004375723782393462
          ],
          "vector_rms": 0.0046184415437850335,
          "vector_p50": 0.003313609401693358,
          "vector_p95": 0.00874664414689201,
          "vector_p99": 0.01129705486934547,
          "normalized_distribution": {
            "count": 1134,
            "rms": 0.05741016860281508,
            "p50_abs": 0.02633719134906337,
            "p95_abs": 0.1300622774450067,
            "p99_abs": 0.19835399828148634
          },
          "empirical_covariance": [
            [
              1.3746035315376416e-06,
              -4.860995551082009e-06,
              3.390374543002374e-07
            ],
            [
              -4.860995551082009e-06,
              1.7192277792716775e-05,
              -1.271324110658079e-06
            ],
            [
              3.390374543002374e-07,
              -1.271324110658079e-06,
              2.8099646707588807e-06
            ]
          ],
          "nis_distribution": {
            "count": 378,
            "rms": 0.015961145518832348,
            "p50_abs": 0.004913161898001663,
            "p95_abs": 0.034756087635926185,
            "p99_abs": 0.06171554216546412
          },
          "nis_total": 3.737581738510144,
          "nis_per_dof": 0.004943891188505482,
          "alpha_factor": 0.004943891188505482,
          "alpha_composite_prediction": 0.004943891188505482,
          "alpha_factor_only_upper_bound": 0.008706123385044687,
          "temporal_autocorrelation_lag1": [
            0.3474315521695509,
            0.34732815864227284,
            0.3651176027064029
          ],
          "temporal_linear_drift_per_s": [
            6.957612035758379e-07,
            -2.3666598002918334e-06,
            -7.292850837571626e-07
          ]
        }
      },
      "by_motion": {
        "other_recovered_dynamic": {
          "sample_count": 25576,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            -8.784110297842887e-06,
            -8.855531023184762e-06,
            1.3041755968739353e-06
          ],
          "innovation_distribution": {
            "count": 76728,
            "rms": 0.005267742427835535,
            "p50_abs": 0.0017685308581620784,
            "p95_abs": 0.011516667833008037,
            "p99_abs": 0.018920658578422282
          },
          "axis_rms": [
            0.00695689031670326,
            0.004306692815248045,
            0.004037499842044245
          ],
          "axis_p50_abs": [
            0.002267609097208991,
            0.0014038570812638634,
            0.0018464476777490524
          ],
          "axis_p95_abs": [
            0.015249952902298535,
            0.009551506446569378,
            0.00878775611241496
          ],
          "axis_p99_abs": [
            0.023759510626070887,
            0.01488447638093026,
            0.01363238696269212
          ],
          "vector_rms": 0.009123997526197377,
          "vector_p50": 0.00577494958736471,
          "vector_p95": 0.017895492088325464,
          "vector_p99": 0.026796912402299457,
          "normalized_distribution": {
            "count": 76728,
            "rms": 0.1134271064399093,
            "p50_abs": 0.03821694013964402,
            "p95_abs": 0.24813527063480967,
            "p99_abs": 0.4040966279747084
          },
          "empirical_covariance": [
            [
              4.840013812257023e-05,
              4.967235269925343e-07,
              1.68869868356266e-05
            ],
            [
              4.967235269925343e-07,
              1.8548249805382037e-05,
              1.8555659002464252e-06
            ],
            [
              1.68869868356266e-05,
              1.8555659002464252e-06,
              1.6302040669655815e-05
            ]
          ],
          "nis_distribution": {
            "count": 25576,
            "rms": 0.08090290949433165,
            "p50_abs": 0.015575745185229736,
            "p95_abs": 0.14850627187549637,
            "p99_abs": 0.32905136924046047
          },
          "nis_total": 987.1600798951597,
          "nis_per_dof": 0.019298562712995772,
          "alpha_factor": 0.019298562712995772,
          "alpha_composite_prediction": 0.019298562712995772,
          "alpha_factor_only_upper_bound": 0.03397850239104319,
          "temporal_autocorrelation_lag1": [
            0.29677245929992196,
            0.2946310490942478,
            0.2944830203935603
          ],
          "temporal_linear_drift_per_s": [
            4.3810612297218995e-10,
            4.977741694422174e-10,
            1.17061140110172e-09
          ]
        },
        "left_right": {
          "sample_count": 14366,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            -1.9168657626501227e-06,
            1.715082914148067e-05,
            -8.207733349375937e-07
          ],
          "innovation_distribution": {
            "count": 43098,
            "rms": 0.0037707394173651715,
            "p50_abs": 0.001771052360434281,
            "p95_abs": 0.008179263991821879,
            "p99_abs": 0.012601199015427817
          },
          "axis_rms": [
            0.004250884670413608,
            0.004427964070895364,
            0.0022312644322707684
          ],
          "axis_p50_abs": [
            0.0019275993756341747,
            0.0022623612081459857,
            0.0013978899329458033
          ],
          "axis_p95_abs": [
            0.009261828363596156,
            0.009347293909527415,
            0.004399680302925257
          ],
          "axis_p99_abs": [
            0.013554607582362793,
            0.013525914222349368,
            0.006400073654274143
          ],
          "vector_rms": 0.006531112252979142,
          "vector_p50": 0.00460291659641665,
          "vector_p95": 0.012481132746090874,
          "vector_p99": 0.016884602338112845,
          "normalized_distribution": {
            "count": 43098,
            "rms": 0.08118713781547984,
            "p50_abs": 0.038282906916304954,
            "p95_abs": 0.1765332471962183,
            "p99_abs": 0.27000788545487614
          },
          "empirical_covariance": [
            [
              1.8071274726505014e-05,
              4.5787287328013386e-07,
              -1.8001998307886344e-06
            ],
            [
              4.5787287328013386e-07,
              1.9607936547105232e-05,
              -2.968568269977308e-08
            ],
            [
              -1.8001998307886344e-06,
              -2.968568269977308e-08,
              4.9788868673807e-06
            ]
          ],
          "nis_distribution": {
            "count": 14366,
            "rms": 0.03380263349395778,
            "p50_abs": 0.010063031269724465,
            "p95_abs": 0.07240370966706963,
            "p99_abs": 0.1284050821032573
          },
          "nis_total": 284.0740603387714,
          "nis_per_dof": 0.009887027020004574,
          "alpha_factor": 0.009887027020004574,
          "alpha_composite_prediction": 0.009887027020004574,
          "alpha_factor_only_upper_bound": 0.017410378473883385,
          "temporal_autocorrelation_lag1": [
            0.2928094551156567,
            0.29520128393350975,
            0.30674471058386743
          ],
          "temporal_linear_drift_per_s": [
            1.4678689524449087e-08,
            -1.1208503729880972e-08,
            2.533239705524251e-09
          ]
        },
        "circle": {
          "sample_count": 4738,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            -2.8986316213990963e-05,
            -8.029591324909256e-06,
            -2.7006203775940212e-05
          ],
          "innovation_distribution": {
            "count": 14214,
            "rms": 0.003854802183319996,
            "p50_abs": 0.0015557428270032683,
            "p95_abs": 0.008476289094395618,
            "p99_abs": 0.013137926431415252
          },
          "axis_rms": [
            0.004548629815683234,
            0.004237111804716921,
            0.002436257369776815
          ],
          "axis_p50_abs": [
            0.0017046837359892065,
            0.0014735244575757394,
            0.0015076269556436178
          ],
          "axis_p95_abs": [
            0.009967211788381255,
            0.009376040737012507,
            0.0047493257244081415
          ],
          "axis_p99_abs": [
            0.014524584917676836,
            0.014581919678941525,
            0.006885733365413368
          ],
          "vector_rms": 0.00667671323463767,
          "vector_p50": 0.004595458822794511,
          "vector_p95": 0.012653838130847953,
          "vector_p99": 0.01793959969527409,
          "normalized_distribution": {
            "count": 14214,
            "rms": 0.08276464023841575,
            "p50_abs": 0.03356354632319187,
            "p95_abs": 0.18229818667308295,
            "p99_abs": 0.28553101215870863
          },
          "empirical_covariance": [
            [
              2.069356056652989e-05,
              3.480547511651754e-07,
              -1.3136050173375976e-06
            ],
            [
              3.480547511651754e-07,
              1.7956841933752105e-05,
              9.512699687523368e-07
            ],
            [
              -1.3136050173375976e-06,
              9.512699687523368e-07,
              5.9358734593453546e-06
            ]
          ],
          "nis_distribution": {
            "count": 4738,
            "rms": 0.03787676860438863,
            "p50_abs": 0.009907830837842253,
            "p95_abs": 0.07319407878311153,
            "p99_abs": 0.14502458414193173
          },
          "nis_total": 97.36569636731342,
          "nis_per_dof": 0.01027497851069158,
          "alpha_factor": 0.01027497851069158,
          "alpha_composite_prediction": 0.01027497851069158,
          "alpha_factor_only_upper_bound": 0.01819530596636156,
          "temporal_autocorrelation_lag1": [
            0.31628434690511115,
            0.3130566815091716,
            0.3002944889755035
          ],
          "temporal_linear_drift_per_s": [
            3.241246163404573e-08,
            -1.7285322766409095e-08,
            1.0049714098902087e-08
          ]
        },
        "slope": {
          "sample_count": 4468,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            -8.798725474894459e-07,
            4.833517129329435e-06,
            -7.499812279850509e-06
          ],
          "innovation_distribution": {
            "count": 13404,
            "rms": 0.0052778979922257175,
            "p50_abs": 0.001550573524841292,
            "p95_abs": 0.01235786455758476,
            "p99_abs": 0.019551841595161365
          },
          "axis_rms": [
            0.0014542819669525807,
            0.008849172741404837,
            0.0017736480491897808
          ],
          "axis_p50_abs": [
            0.0009701758609897467,
            0.005857810173627907,
            0.0011709487364465476
          ],
          "axis_p95_abs": [
            0.00286489462479459,
            0.017396738254890978,
            0.003490710033584586
          ],
          "axis_p99_abs": [
            0.003999028934461375,
            0.025022252233512402,
            0.0046498780747277835
          ],
          "vector_rms": 0.00914158747970071,
          "vector_p50": 0.006210867158526395,
          "vector_p95": 0.017730665701245645,
          "vector_p99": 0.02557682515804282,
          "normalized_distribution": {
            "count": 13404,
            "rms": 0.11374457917767386,
            "p50_abs": 0.0335671220203602,
            "p95_abs": 0.2665905157514122,
            "p99_abs": 0.42501165884747777
          },
          "empirical_covariance": [
            [
              2.1154087228649373e-06,
              -1.285444173895549e-05,
              -6.063974919000351e-07
            ],
            [
              -1.285444173895549e-05,
              7.832536514091957e-05,
              4.072959145091409e-06
            ],
            [
              -6.063974919000351e-07,
              4.072959145091409e-06,
              3.146475379780708e-06
            ]
          ],
          "nis_distribution": {
            "count": 4468,
            "rms": 0.07051181060545784,
            "p50_abs": 0.01798919874404939,
            "p95_abs": 0.14776683388101286,
            "p99_abs": 0.2802242902597056
          },
          "nis_total": 173.4186638340712,
          "nis_per_dof": 0.019406743938459176,
          "alpha_factor": 0.019406743938459176,
          "alpha_composite_prediction": 0.019406743938459176,
          "alpha_factor_only_upper_bound": 0.03410964148939623,
          "temporal_autocorrelation_lag1": [
            0.2930344638851633,
            0.29209932483576845,
            0.2918022950974948
          ],
          "temporal_linear_drift_per_s": [
            1.743251449690635e-08,
            -1.0973630059478335e-07,
            1.9697929770032225e-08
          ]
        }
      },
      "by_speed": {
        "speed_lt_0p2": {
          "sample_count": 42046,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            -4.302085272954563e-06,
            4.673829123960697e-07,
            -2.8121229148772894e-06
          ],
          "innovation_distribution": {
            "count": 126138,
            "rms": 0.004810273041281732,
            "p50_abs": 0.0017208893526712704,
            "p95_abs": 0.010518063626093928,
            "p99_abs": 0.017319462396915397
          },
          "axis_rms": [
            0.005847884403405625,
            0.004875277243693857,
            0.003383799638951994
          ],
          "axis_p50_abs": [
            0.0018524201306544094,
            0.0018022672921672723,
            0.001577589563828516
          ],
          "axis_p95_abs": [
            0.012841882792811673,
            0.010583288717069985,
            0.007220059792120485
          ],
          "axis_p99_abs": [
            0.020892140378932975,
            0.0165071052824655,
            0.01206812762763024
          ],
          "vector_rms": 0.008331637305778824,
          "vector_p50": 0.0053251911599457155,
          "vector_p95": 0.0162703794059671,
          "vector_p99": 0.024595650943543528,
          "normalized_distribution": {
            "count": 126138,
            "rms": 0.10361106426155314,
            "p50_abs": 0.0372321788747964,
            "p95_abs": 0.22709300437039323,
            "p99_abs": 0.3725383965220875
          },
          "empirical_covariance": [
            [
              3.419854684794925e-05,
              -4.740332873304215e-07,
              9.603439994374867e-06
            ],
            [
              -4.740332873304215e-07,
              2.376889329131737e-05,
              1.5481865289559566e-06
            ],
            [
              9.603439994374867e-06,
              1.5481865289559566e-06,
              1.145036441799504e-05
            ]
          ],
          "nis_distribution": {
            "count": 42046,
            "rms": 0.06768286256507706,
            "p50_abs": 0.013340613111482484,
            "p95_abs": 0.12280477695212226,
            "p99_abs": 0.2757459166764035
          },
          "nis_total": 1354.1232971778363,
          "nis_per_dof": 0.01610287895611754,
          "alpha_factor": 0.01610287895611754,
          "alpha_composite_prediction": 0.01610287895611754,
          "alpha_factor_only_upper_bound": 0.028333134773487915,
          "temporal_autocorrelation_lag1": [
            0.2948308646167013,
            0.28894427173366893,
            0.2938212061435061
          ],
          "temporal_linear_drift_per_s": [
            8.320790244297214e-11,
            -1.9776203236937043e-10,
            5.647396691723748e-10
          ]
        },
        "speed_0p2_to_1": {
          "sample_count": 7048,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            -2.9863837454399923e-05,
            -3.9105696104105086e-06,
            -4.115689701938516e-06
          ],
          "innovation_distribution": {
            "count": 21144,
            "rms": 0.004376822185456214,
            "p50_abs": 0.001731599175144405,
            "p95_abs": 0.009509681233164063,
            "p99_abs": 0.015357975888171727
          },
          "axis_rms": [
            0.004867125916920556,
            0.005179620245995277,
            0.002636728417076958
          ],
          "axis_p50_abs": [
            0.00161292771789054,
            0.0022250893765383946,
            0.0015671521134892237
          ],
          "axis_p95_abs": [
            0.010459784495465412,
            0.011141447426891129,
            0.005072257900271202
          ],
          "axis_p99_abs": [
            0.01717481876327612,
            0.016272724158835673,
            0.007935601190236051
          ],
          "vector_rms": 0.007580878400904813,
          "vector_p50": 0.00503885121651098,
          "vector_p95": 0.014441214030873077,
          "vector_p99": 0.02176211904159449,
          "normalized_distribution": {
            "count": 21144,
            "rms": 0.09394510928388503,
            "p50_abs": 0.03745972950836324,
            "p95_abs": 0.20546245218951847,
            "p99_abs": 0.32461328049779997
          },
          "empirical_covariance": [
            [
              2.3691384276009617e-05,
              -2.289914907714698e-06,
              -9.491658363148809e-07
            ],
            [
              -2.289914907714698e-06,
              2.683225767418681e-05,
              6.696051240111334e-07
            ],
            [
              -9.491658363148809e-07,
              6.696051240111334e-07,
              6.953306370987533e-06
            ]
          ],
          "nis_distribution": {
            "count": 7048,
            "rms": 0.05346884868829565,
            "p50_abs": 0.011826226683867812,
            "p95_abs": 0.09583826939041781,
            "p99_abs": 0.21565337344956784
          },
          "nis_total": 186.6102531579871,
          "nis_per_dof": 0.01323852533754165,
          "alpha_factor": 0.01323852533754165,
          "alpha_composite_prediction": 0.01323852533754165,
          "alpha_factor_only_upper_bound": 0.023457027481349025,
          "temporal_autocorrelation_lag1": [
            0.3182688937094645,
            0.3264930897228772,
            0.32033930578397807
          ],
          "temporal_linear_drift_per_s": [
            7.334192132155825e-10,
            -2.0609606504318322e-09,
            1.9500735594254534e-09
          ]
        },
        "speed_ge_1": {
          "sample_count": 54,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            -3.893947264211532e-05,
            0.00021040395395423796,
            0.00013603169772872094
          ],
          "innovation_distribution": {
            "count": 162,
            "rms": 0.004157289118124876,
            "p50_abs": 0.0013308886869975646,
            "p95_abs": 0.00961502304833858,
            "p99_abs": 0.01435386204620249
          },
          "axis_rms": [
            0.0011400174832389344,
            0.006854235895523556,
            0.0018891714748705275
          ],
          "axis_p50_abs": [
            0.000914505866892588,
            0.005279579721192569,
            0.0011377037599955842
          ],
          "axis_p95_abs": [
            0.0021298048023834673,
            0.012668702584391475,
            0.004053946702089845
          ],
          "axis_p99_abs": [
            0.002528080092673824,
            0.01489703539899271,
            0.005432557637655674
          ],
          "vector_rms": 0.007200635974345496,
          "vector_p50": 0.005508587074997639,
          "vector_p95": 0.013723172785568326,
          "vector_p99": 0.015154188354397342,
          "normalized_distribution": {
            "count": 162,
            "rms": 0.08906060148913762,
            "p50_abs": 0.028037396029702025,
            "p95_abs": 0.20887692787649353,
            "p99_abs": 0.29581245862526157
          },
          "empirical_covariance": [
            [
              1.3226164772883506e-06,
              -7.942322750068705e-06,
              1.5112094232521086e-07
            ],
            [
              -7.942322750068705e-06,
              4.782187007420334e-05,
              -1.5794037150481012e-06
            ],
            [
              1.5112094232521086e-07,
              -1.5794037150481012e-06,
              3.617454129973329e-06
            ]
          ],
          "nis_distribution": {
            "count": 54,
            "rms": 0.035414775240832655,
            "p50_abs": 0.013976962797140675,
            "p95_abs": 0.07696627149001535,
            "p99_abs": 0.10632022681198981
          },
          "nis_total": 1.2849500994923313,
          "nis_per_dof": 0.011897686106410475,
          "alpha_factor": 0.011897686106410475,
          "alpha_composite_prediction": 0.011897686106410475,
          "alpha_factor_only_upper_bound": 0.0211629218102198,
          "temporal_autocorrelation_lag1": [
            0.3010689554713404,
            0.2851597497892298,
            0.38469973419501013
          ],
          "temporal_linear_drift_per_s": [
            -4.569939764106348e-05,
            0.00023537966378320017,
            0.00019175825961914795
          ]
        }
      },
      "by_gyro_norm": {
        "gyro_lt_0p02": {
          "sample_count": 43922,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            -8.629126992781649e-06,
            2.0483703540502923e-07,
            -2.5199513628160866e-06
          ],
          "innovation_distribution": {
            "count": 131766,
            "rms": 0.0048040521866042464,
            "p50_abs": 0.0017112074317403884,
            "p95_abs": 0.010504303667270712,
            "p99_abs": 0.017315967477317666
          },
          "axis_rms": [
            0.005838709640751232,
            0.00488229225770424,
            0.0033629517207671876
          ],
          "axis_p50_abs": [
            0.0018175748086833813,
            0.0018171583243159557,
            0.001573065896513362
          ],
          "axis_p95_abs": [
            0.012822256901689394,
            0.010608413084939207,
            0.007149844084248679
          ],
          "axis_p99_abs": [
            0.020956430592338402,
            0.016421370213702526,
            0.011973596447414362
          ],
          "vector_rms": 0.008320862469410916,
          "vector_p50": 0.005318533086093308,
          "vector_p95": 0.01619606393260253,
          "vector_p99": 0.024568872959041515,
          "normalized_distribution": {
            "count": 131766,
            "rms": 0.10346488232069295,
            "p50_abs": 0.03699554761611665,
            "p95_abs": 0.22650470198007877,
            "p99_abs": 0.3722003085009168
          },
          "empirical_covariance": [
            [
              3.409123198384521e-05,
              -4.183862598013872e-07,
              9.113100683854273e-06
            ],
            [
              -4.183862598013872e-07,
              2.3837320367054996e-05,
              1.4713419534464008e-06
            ],
            [
              9.113100683854273e-06,
              1.4713419534464008e-06,
              1.1309695421056877e-05
            ]
          ],
          "nis_distribution": {
            "count": 43922,
            "rms": 0.06765803331645999,
            "p50_abs": 0.01330387027930445,
            "p95_abs": 0.12171391073759623,
            "p99_abs": 0.27474029938004624
          },
          "nis_total": 1410.5526415613685,
          "nis_per_dof": 0.016057472810452264,
          "alpha_factor": 0.016057472810452264,
          "alpha_composite_prediction": 0.016057472810452264,
          "alpha_factor_only_upper_bound": 0.0282598988713678,
          "temporal_autocorrelation_lag1": [
            0.295959274912698,
            0.2910497403956515,
            0.29567884526037674
          ],
          "temporal_linear_drift_per_s": [
            9.364280471506153e-10,
            -6.671722174788106e-11,
            4.672029766135072e-10
          ]
        },
        "gyro_0p02_to_0p10": {
          "sample_count": 4438,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            -2.8932590935822065e-05,
            2.7276326472981185e-05,
            -1.3219062750560295e-06
          ],
          "innovation_distribution": {
            "count": 13314,
            "rms": 0.004250197474182282,
            "p50_abs": 0.0017714182551831423,
            "p95_abs": 0.009266637130239392,
            "p99_abs": 0.014693461491501737
          },
          "axis_rms": [
            0.0043488149171563625,
            0.005395013190782035,
            0.0024847891653503452
          ],
          "axis_p50_abs": [
            0.0017550098412486288,
            0.0022686618054258492,
            0.0015544911952650245
          ],
          "axis_p95_abs": [
            0.009717724455848436,
            0.011698153201969676,
            0.0047568126600863415
          ],
          "axis_p99_abs": [
            0.01402873787421009,
            0.017638299322453515,
            0.007115153729811809
          ],
          "vector_rms": 0.007361557967484623,
          "vector_p50": 0.004967603756020058,
          "vector_p95": 0.014192636538977467,
          "vector_p99": 0.020526142388804746,
          "normalized_distribution": {
            "count": 13314,
            "rms": 0.09120560134884562,
            "p50_abs": 0.03853320770096388,
            "p95_abs": 0.20230629449017215,
            "p99_abs": 0.3169551031869512
          },
          "empirical_covariance": [
            [
              1.891561628270807e-05,
              -4.044729766441269e-06,
              -8.479545631222873e-07
            ],
            [
              -4.044729766441269e-06,
              2.9111983038486265e-05,
              9.767563757940895e-07
            ],
            [
              -8.479545631222873e-07,
              9.767563757940895e-07,
              6.175566969078708e-06
            ]
          ],
          "nis_distribution": {
            "count": 4438,
            "rms": 0.04710148249835878,
            "p50_abs": 0.011370068917737765,
            "p95_abs": 0.09416746121768688,
            "p99_abs": 0.1878958427289392
          },
          "nis_total": 110.75199930552415,
          "nis_per_dof": 0.012477692576106822,
          "alpha_factor": 0.012477692576106822,
          "alpha_composite_prediction": 0.012477692576106822,
          "alpha_factor_only_upper_bound": 0.022119402330055642,
          "temporal_autocorrelation_lag1": [
            0.3292763556025431,
            0.3288554183136503,
            0.327886324229442
          ],
          "temporal_linear_drift_per_s": [
            -4.167317701650062e-09,
            -3.5961092335115504e-09,
            3.1403936741965517e-09
          ]
        },
        "gyro_ge_0p10": {
          "sample_count": 788,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            0.00014459748611955002,
            -0.00016065671106876833,
            -2.963485484078173e-05
          ],
          "innovation_distribution": {
            "count": 2364,
            "rms": 0.004362780476405197,
            "p50_abs": 0.0020246668822165425,
            "p95_abs": 0.009273747529625594,
            "p99_abs": 0.014871002386286736
          },
          "axis_rms": [
            0.00547858738536129,
            0.004341831794507606,
            0.002869692907798681
          ],
          "axis_p50_abs": [
            0.0023934159796486785,
            0.00200913576058738,
            0.001832248539995883
          ],
          "axis_p95_abs": [
            0.011513179464650237,
            0.00954453694014694,
            0.005705441644047422
          ],
          "axis_p99_abs": [
            0.018727290780797087,
            0.013541403138444454,
            0.008590302762528822
          ],
          "vector_rms": 0.007556557447403352,
          "vector_p50": 0.005305791741802677,
          "vector_p95": 0.014312450622121197,
          "vector_p99": 0.020614815422075102,
          "normalized_distribution": {
            "count": 2364,
            "rms": 0.09360666610485194,
            "p50_abs": 0.044084419827517304,
            "p95_abs": 0.1982671946813696,
            "p99_abs": 0.30721890676429653
          },
          "empirical_covariance": [
            [
              3.003212313744044e-05,
              -1.8311605126258197e-07,
              7.688594041444456e-07
            ],
            [
              -1.8311605126258197e-07,
              1.884961358240502e-05,
              9.78218904738231e-07
            ],
            [
              7.688594041444456e-07,
              9.78218904738231e-07,
              8.24472200563342e-06
            ]
          ],
          "nis_distribution": {
            "count": 788,
            "rms": 0.049427597108861375,
            "p50_abs": 0.01382170662542926,
            "p95_abs": 0.09103505802372952,
            "p99_abs": 0.18808413793454362
          },
          "nis_total": 20.71385956842302,
          "nis_per_dof": 0.013143311908897854,
          "alpha_factor": 0.013143311908897854,
          "alpha_composite_prediction": 0.013143311908897854,
          "alpha_factor_only_upper_bound": 0.023306759369757978,
          "temporal_autocorrelation_lag1": [
            0.2992976696679989,
            0.3430878218180575,
            0.27683107818523806
          ],
          "temporal_linear_drift_per_s": [
            -4.6707389476011345e-09,
            9.281959318485332e-11,
            2.156639226593861e-09
          ]
        }
      },
      "by_hpr_bridge_gap": {
        "gap_0p3_to_0p5": {
          "sample_count": 17778,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            -1.325795896632069e-05,
            -6.922971717497828e-05,
            -1.3310179420042118e-05
          ],
          "innovation_distribution": {
            "count": 53334,
            "rms": 0.004673556421429419,
            "p50_abs": 0.0016997294339510859,
            "p95_abs": 0.010146672057490974,
            "p99_abs": 0.016587096898572573
          },
          "axis_rms": [
            0.005449397464369901,
            0.005069452550360398,
            0.003182939991237022
          ],
          "axis_p50_abs": [
            0.0016713075839415383,
            0.002068046322129863,
            0.0015072308150199804
          ],
          "axis_p95_abs": [
            0.011695205676881757,
            0.010954416193340763,
            0.006538572575539387
          ],
          "axis_p99_abs": [
            0.020017268153661706,
            0.016492344365581658,
            0.011810552768091048
          ],
          "vector_rms": 0.008094837173955536,
          "vector_p50": 0.005228040191920634,
          "vector_p95": 0.0156046257139588,
          "vector_p99": 0.023788591444161376,
          "normalized_distribution": {
            "count": 53334,
            "rms": 0.10044623173819762,
            "p50_abs": 0.03663500521445419,
            "p95_abs": 0.21855179646475745,
            "p99_abs": 0.35918643602194505
          },
          "empirical_covariance": [
            [
              2.969742741061618e-05,
              -1.2479711430491323e-06,
              6.6879604960260005e-06
            ],
            [
              -1.2479711430491323e-06,
              2.5696001788648788e-05,
              1.3318617046952587e-06
            ],
            [
              6.6879604960260005e-06,
              1.3318617046952587e-06,
              1.0131499716675095e-05
            ]
          ],
          "nis_distribution": {
            "count": 17778,
            "rms": 0.06576013837495868,
            "p50_abs": 0.012791675594298986,
            "p95_abs": 0.11084968657297732,
            "p99_abs": 0.25497944516361026
          },
          "nis_total": 538.1104847185109,
          "nis_per_dof": 0.015134168205605548,
          "alpha_factor": 0.015134168205605548,
          "alpha_composite_prediction": 0.015134168205605548,
          "alpha_factor_only_upper_bound": 0.026745464846062227,
          "temporal_autocorrelation_lag1": [
            0.3357348335528436,
            0.3495275231805311,
            0.33475591167258867
          ],
          "temporal_linear_drift_per_s": [
            -2.7750445729376615e-09,
            -4.0803140868195635e-09,
            6.752073066106516e-10
          ]
        },
        "gap_0p12_to_0p3": {
          "sample_count": 31370,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            -5.029280866582079e-06,
            3.934388309756861e-05,
            3.0834612785676016e-06
          ],
          "innovation_distribution": {
            "count": 94110,
            "rms": 0.004792574518710357,
            "p50_abs": 0.0017336253502500136,
            "p95_abs": 0.01049083719060419,
            "p99_abs": 0.017281756569093813
          },
          "axis_rms": [
            0.005859294918102733,
            0.004837506462758764,
            0.003342679439856325
          ],
          "axis_p50_abs": [
            0.0019131099667808334,
            0.0017513797143900623,
            0.0016161239320669485
          ],
          "axis_p95_abs": [
            0.01294138064855636,
            0.010498956363432742,
            0.007079462421968891
          ],
          "axis_p99_abs": [
            0.020814568964841716,
            0.01644286943912766,
            0.011659200450917739
          ],
          "vector_rms": 0.008300982565466295,
          "vector_p50": 0.00531568079095282,
          "vector_p95": 0.016276836946370634,
          "vector_p99": 0.02442946470924479,
          "normalized_distribution": {
            "count": 94110,
            "rms": 0.10328305472040988,
            "p50_abs": 0.03759116419277339,
            "p95_abs": 0.22628805168842311,
            "p99_abs": 0.3707728105264469
          },
          "empirical_covariance": [
            [
              3.433240607800498e-05,
              -4.562891421790491e-07,
              8.868705943983182e-06
            ],
            [
              -4.562891421790491e-07,
              2.3400666792958562e-05,
              1.4674810277587607e-06
            ],
            [
              8.868705943983182e-06,
              1.4674810277587607e-06,
              1.1173852525394885e-05
            ]
          ],
          "nis_distribution": {
            "count": 31370,
            "rms": 0.06583122200245285,
            "p50_abs": 0.01332747754076906,
            "p95_abs": 0.12200447571220208,
            "p99_abs": 0.272685042585367
          },
          "nis_total": 1003.908015716805,
          "nis_per_dof": 0.016001084088568776,
          "alpha_factor": 0.016001084088568776,
          "alpha_composite_prediction": 0.016001084088568776,
          "alpha_factor_only_upper_bound": 0.028125025123336898,
          "temporal_autocorrelation_lag1": [
            0.3148390249634352,
            0.3193037812922586,
            0.31414566376288344
          ],
          "temporal_linear_drift_per_s": [
            1.71308797043772e-09,
            6.308582850267088e-10,
            8.775611152437227e-10
          ]
        }
      },
      "by_method": {
        "leave_one_out_interpolation": {
          "sample_count": 24574,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            -5.466720030812849e-06,
            -3.28669163325967e-06,
            -1.1384732147486291e-06
          ],
          "innovation_distribution": {
            "count": 73722,
            "rms": 0.0043817275896721125,
            "p50_abs": 0.0016050131699889298,
            "p95_abs": 0.00956992849154521,
            "p99_abs": 0.01561865793701877
          },
          "axis_rms": [
            0.00527237238041378,
            0.004535906845509884,
            0.0030374740462080704
          ],
          "axis_p50_abs": [
            0.001698270507766358,
            0.001730706663202457,
            0.0014753148988001508
          ],
          "axis_p95_abs": [
            0.011604087497746716,
            0.009850246944883144,
            0.006364131403798334
          ],
          "axis_p99_abs": [
            0.018738894751562398,
            0.015130772471529868,
            0.010715574167165818
          ],
          "vector_rms": 0.007589374810238411,
          "vector_p50": 0.004917251185481293,
          "vector_p95": 0.014717748011941553,
          "vector_p99": 0.0220158303023417,
          "normalized_distribution": {
            "count": 73722,
            "rms": 0.10168933177090826,
            "p50_abs": 0.03725749228812838,
            "p95_abs": 0.22240239090903838,
            "p99_abs": 0.36216077560136906
          },
          "empirical_covariance": [
            [
              2.779901186947122e-05,
              -6.328752597627085e-07,
              6.9005683323183145e-06
            ],
            [
              -6.328752597627085e-07,
              2.0575277387119708e-05,
              1.2432917453205453e-06
            ],
            [
              6.9005683323183145e-06,
              1.2432917453205453e-06,
              9.226622748062322e-06
            ]
          ],
          "nis_distribution": {
            "count": 24574,
            "rms": 0.06514806055541227,
            "p50_abs": 0.01299951878985807,
            "p95_abs": 0.11689879244717968,
            "p99_abs": 0.262022562613696
          },
          "nis_total": 762.3385742905332,
          "nis_per_dof": 0.015511080294020778,
          "alpha_factor": 0.015511080294020778,
          "alpha_composite_prediction": 0.015511080294020778,
          "alpha_factor_only_upper_bound": 0.023509636738890335,
          "temporal_autocorrelation_lag1": [
            -0.6193202999779426,
            -0.6173444432983407,
            -0.6167172620387916
          ],
          "temporal_linear_drift_per_s": [
            2.4514018843424705e-10,
            -6.486952557886337e-10,
            4.37470588129195e-10
          ]
        },
        "gyro_propagation": {
          "sample_count": 24574,
          "dimension": 3,
          "effective_dof_per_sample": 2,
          "innovation_bias": [
            -1.0544858681970266e-05,
            3.427153130531668e-06,
            -4.554543364597137e-06
          ],
          "innovation_distribution": {
            "count": 73722,
            "rms": 0.005091457431339002,
            "p50_abs": 0.0018435895441344524,
            "p95_abs": 0.011142282356752726,
            "p99_abs": 0.018410564539653194
          },
          "axis_rms": [
            0.006124646239061602,
            0.005281181929068864,
            0.0035166236938058443
          ],
          "axis_p50_abs": [
            0.001945244429962021,
            0.00199528651661622,
            0.0016842872152984661
          ],
          "axis_p95_abs": [
            0.013545959833360741,
            0.011605751981251971,
            0.007367509729056942
          ],
          "axis_p99_abs": [
            0.021852693432609954,
            0.017649048632261848,
            0.012649286279196006
          ],
          "vector_rms": 0.00881866295565328,
          "vector_p50": 0.005696079549661942,
          "vector_p95": 0.017188348027242926,
          "vector_p99": 0.02582495451219182,
          "normalized_distribution": {
            "count": 73722,
            "rms": 0.10283942082955175,
            "p50_abs": 0.03723573061920084,
            "p95_abs": 0.22506676774746606,
            "p99_abs": 0.37182734119738997
          },
          "empirical_covariance": [
            [
              3.751270687978582e-05,
              -8.520049074749525e-07,
              9.259266774231228e-06
            ],
            [
              -8.520049074749525e-07,
              2.7892005843536246e-05,
              1.5943917645752172e-06
            ],
            [
              9.259266774231228e-06,
              1.5943917645752172e-06,
              1.2367124720519936e-05
            ]
          ],
          "nis_distribution": {
            "count": 24574,
            "rms": 0.06645647195367316,
            "p50_abs": 0.013238107163347935,
            "p95_abs": 0.1205276992402608,
            "p99_abs": 0.2721521415628308
          },
          "nis_total": 779.6799261447825,
          "nis_per_dof": 0.01586391971483646,
          "alpha_factor": 0.01586391971483646,
          "alpha_composite_prediction": 0.01586391971483646,
          "alpha_factor_only_upper_bound": 0.031742374010372006,
          "temporal_autocorrelation_lag1": [
            -0.44388758720689,
            -0.44282622101268926,
            -0.4409992662823324
          ],
          "temporal_linear_drift_per_s": [
            6.798957175421866e-11,
            -6.491830853030234e-10,
            1.2829819416268947e-09
          ]
        }
      }
    },
    "imu_preintegration": {
      "overall": {
        "sample_count": 3551,
        "dimension": 9,
        "effective_dof_per_sample": 9,
        "innovation_bias": [
          -8.03043220505889e-05,
          -1.3112434840805132e-05,
          -8.630141092754129e-05,
          -0.030598649513733856,
          0.039712466485840224,
          0.006382787658083313,
          -0.015319740603141186,
          0.019782568426236706,
          0.004333630844810405
        ],
        "innovation_distribution": {
          "count": 31959,
          "rms": 0.15994382953157144,
          "p50_abs": 0.01238015128874359,
          "p95_abs": 0.36092834380413263,
          "p99_abs": 0.7159707076955747
        },
        "axis_rms": [
          0.0011645969931408668,
          0.008437058515448348,
          0.004269382578390044,
          0.1685118035025033,
          0.3934784633153594,
          0.027235690458010067,
          0.0835152498590635,
          0.19710894085834046,
          0.01890624775419881
        ],
        "axis_p50_abs": [
          0.00018519461821410213,
          0.0049999104676747615,
          0.0018483753000525262,
          0.07988510133579363,
          0.10408787035652856,
          0.00883502435309147,
          0.04005074114756363,
          0.0522662817646947,
          0.007822363805925825
        ],
        "axis_p95_abs": [
          0.0023624526187119056,
          0.017466151266256887,
          0.009004106860908166,
          0.34724682921242955,
          0.7717585446163915,
          0.044310324966554404,
          0.17127409845354694,
          0.3830184006586888,
          0.03223691431813425
        ],
        "axis_p99_abs": [
          0.004799392740187992,
          0.02420533265376617,
          0.01476219029239462,
          0.6451012562532348,
          0.9573804921429561,
          0.1401344881466562,
          0.31300542519310676,
          0.4829446948090286,
          0.07661684689873471
        ],
        "vector_rms": 0.4798314885947143,
        "vector_p50": 0.19733500871210108,
        "vector_p95": 0.8890940214913243,
        "vector_p99": 1.2050119217742772,
        "normalized_distribution": {
          "count": 31959,
          "rms": 0.787226404678675,
          "p50_abs": 0.09091226612716824,
          "p95_abs": 1.8555659924678487,
          "p99_abs": 3.355752895280683
        },
        "empirical_covariance": [
          [
            1.3502176081722545e-06,
            2.0068802913842802e-08,
            -2.0887003065840318e-07,
            -5.817791898560916e-06,
            -5.452767936633448e-06,
            -8.527718167001569e-07,
            -2.688722898703438e-06,
            -1.4494213610194817e-06,
            -6.697380232221653e-07
          ],
          [
            2.0068802913842802e-08,
            7.12038362274214e-05,
            -5.954149372705722e-06,
            0.00036161544720060107,
            -5.379635493016945e-06,
            1.832554338232844e-05,
            0.0001306771276610781,
            -2.652896273063087e-06,
            -1.2456443677308228e-05
          ],
          [
            -2.0887003065840318e-07,
            -5.954149372705722e-06,
            1.8225312112109025e-05,
            -4.396081801495886e-05,
            -3.436769764037567e-05,
            -7.772566963577339e-07,
            -2.224420832486674e-05,
            -1.1473802519369665e-05,
            -3.82524119862915e-07
          ],
          [
            -5.817791898560916e-06,
            0.00036161544720060107,
            -4.396081801495886e-05,
            0.027467685764944915,
            -0.0007136864543334289,
            0.0006178804568652438,
            0.01351652662926736,
            -0.00036497121498381315,
            0.00021928855401778173
          ],
          [
            -5.452767936633448e-06,
            -5.379635493016945e-06,
            -3.436769764037567e-05,
            -0.0007136864543334289,
            0.15329138961161323,
            -0.0014405688349157888,
            -0.0003874529400113585,
            0.07672661469259702,
            -0.0007024510874323006
          ],
          [
            -8.527718167001569e-07,
            1.832554338232844e-05,
            -7.772566963577339e-07,
            0.0006178804568652438,
            -0.0014405688349157888,
            0.0007012403332973322,
            0.000298928187514616,
            -0.0007181762693053218,
            0.0003581509799879809
          ],
          [
            -2.688722898703438e-06,
            0.0001306771276610781,
            -2.224420832486674e-05,
            0.01351652662926736,
            -0.0003874529400113585,
            0.000298928187514616,
            0.006742001127298756,
            -0.00019455680098695306,
            0.00011954964089886399
          ],
          [
            -1.4494213610194817e-06,
            -2.652896273063087e-06,
            -1.1473802519369665e-05,
            -0.00036497121498381315,
            0.07672661469259702,
            -0.0007181762693053218,
            -0.00019455680098695306,
            0.03847141852023774,
            -0.0003508440704459703
          ],
          [
            -6.697380232221653e-07,
            -1.2456443677308228e-05,
            -3.82524119862915e-07,
            0.00021928855401778173,
            -0.0007024510874323006,
            0.0003581509799879809,
            0.00011954964089886399,
            -0.0003508440704459703,
            0.00033876124667443406
          ]
        ],
        "nis_distribution": {
          "count": 3551,
          "rms": 11.232293024179556,
          "p50_abs": 0.9578169594480466,
          "p95_abs": 19.116446853385753,
          "p99_abs": 35.0209900495376
        },
        "nis_total": 19805.80444924486,
        "nis_per_dof": 0.619725412223313,
        "alpha_factor": 0.619725412223313,
        "alpha_composite_prediction": 0.619725412223313,
        "alpha_factor_only_upper_bound": 47.317944467858844,
        "temporal_autocorrelation_lag1": [
          0.3023109645888669,
          -0.40491413066333004,
          -0.4142249606308737,
          0.7959940623169418,
          0.9381428219499628,
          0.08154085189450085,
          0.827353524799796,
          0.9365020511743778,
          0.12398313375662869
        ],
        "temporal_linear_drift_per_s": [
          8.384008756233684e-09,
          -2.5183375455401942e-08,
          2.3327832736426844e-09,
          -2.0613077819096463e-06,
          1.3945754037141202e-05,
          4.986440554947268e-07,
          -9.722381400280368e-07,
          7.010264293696081e-06,
          2.6064638802216264e-07
        ]
      },
      "by_session": {
        "0819_20260819_065243": {
          "sample_count": 122,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            1.8885770092758276e-05,
            -0.00029452417150237,
            -9.565839978174755e-06,
            -0.12146464188230978,
            -0.5587946115885908,
            0.005644911885833307,
            -0.061059428618054835,
            -0.27883460459048476,
            0.0035226223714301588
          ],
          "innovation_distribution": {
            "count": 1098,
            "rms": 0.2251464640352223,
            "p50_abs": 0.016489598005071604,
            "p95_abs": 0.5592693744887841,
            "p99_abs": 0.561691099477465
          },
          "axis_rms": [
            0.00031861745314943653,
            0.010664150110669677,
            0.00367119784899267,
            0.2302042239739019,
            0.5587980997472457,
            0.016288892817625654,
            0.11268095783308196,
            0.278849598401759,
            0.011060889068044482
          ],
          "axis_p50_abs": [
            0.00015416070129449839,
            0.006491137032209156,
            0.0019000673068926093,
            0.19309776881679597,
            0.5588902283670547,
            0.009811429894174495,
            0.09666849635522673,
            0.27892316945781603,
            0.007054760971264784
          ],
          "axis_p95_abs": [
            0.000640475506823699,
            0.022282053325837693,
            0.007710333669975643,
            0.3815181637937767,
            0.5618765690965464,
            0.030447569143581262,
            0.18822787192426435,
            0.2832342407350414,
            0.021690399918104886
          ],
          "axis_p99_abs": [
            0.0010657112384964973,
            0.028472176548275982,
            0.013219214426914146,
            0.5802000189759796,
            0.5629889961603693,
            0.04045967254840472,
            0.27682915782966344,
            0.28603456721506265,
            0.027101264880375207
          ],
          "vector_rms": 0.675439392105667,
          "vector_p50": 0.6623519894717502,
          "vector_p95": 0.757777729785053,
          "vector_p99": 0.9021112027925043,
          "normalized_distribution": {
            "count": 1098,
            "rms": 1.1084428266569257,
            "p50_abs": 0.17106787584739422,
            "p95_abs": 2.623402339803273,
            "p99_abs": 2.636502888079157
          },
          "empirical_covariance": [
            [
              1.0199644557860573e-07,
              -2.234861031029236e-06,
              -1.0475912582162234e-06,
              -1.2835031149618656e-05,
              -9.892988132844423e-08,
              -1.4202022743697747e-06,
              -4.723736704847696e-06,
              -2.8271645397121965e-07,
              1.2768879568873074e-07
            ],
            [
              -2.234861031029236e-06,
              0.00011457650477377051,
              2.4709087192061683e-05,
              0.0007808878294389174,
              -1.455827531215141e-06,
              7.165684347786743e-05,
              0.0003075094122469797,
              3.168067863184634e-06,
              1.1649622873383147e-05
            ],
            [
              -1.0475912582162234e-06,
              2.4709087192061683e-05,
              1.3588987282816347e-05,
              0.0001461460015262704,
              1.1932991745708668e-07,
              1.664688580426636e-05,
              5.443650427195947e-05,
              2.9139971523982666e-06,
              -1.0693684340467682e-06
            ],
            [
              -1.2835031149618656e-05,
              0.0007808878294389174,
              0.0001461460015262704,
              0.038556361255827204,
              6.781086283820497e-05,
              0.002855739924704548,
              0.018603432175445463,
              9.766417131690731e-05,
              0.0012354449512243203
            ],
            [
              -9.892988132844423e-08,
              -1.455827531215141e-06,
              1.1932991745708668e-07,
              6.781086283820497e-05,
              3.930558380568013e-06,
              3.70499607623475e-06,
              3.47840640670232e-05,
              2.5721271716285034e-06,
              -8.404795611699312e-07
            ],
            [
              -1.4202022743697747e-06,
              7.165684347786743e-05,
              1.664688580426636e-05,
              0.002855739924704548,
              3.70499607623475e-06,
              0.00023539244529821048,
              0.0013715451500252958,
              6.477308485300563e-06,
              0.000101841895262464
            ],
            [
              -4.723736704847696e-06,
              0.0003075094122469797,
              5.443650427195947e-05,
              0.018603432175445463,
              3.47840640670232e-05,
              0.0013715451500252958,
              0.009042866289852321,
              3.89442568404228e-05,
              0.0006276190215097298
            ],
            [
              -2.8271645397121965e-07,
              3.168067863184634e-06,
              2.9139971523982666e-06,
              9.766417131690731e-05,
              2.5721271716285034e-06,
              6.477308485300563e-06,
              3.89442568404228e-05,
              8.430917572015441e-06,
              -9.205791042374591e-06
            ],
            [
              1.2768879568873074e-07,
              1.1649622873383147e-05,
              -1.0693684340467682e-06,
              0.0012354449512243203,
              -8.404795611699312e-07,
              0.000101841895262464,
              0.0006276190215097298,
              -9.205791042374591e-06,
              0.00011084294735267816
            ]
          ],
          "nis_distribution": {
            "count": 122,
            "rms": 11.249167525492874,
            "p50_abs": 10.66447290622462,
            "p95_abs": 13.904006125570184,
            "p99_abs": 19.815435608416312
          },
          "nis_total": 1349.0527589639808,
          "nis_per_dof": 1.2286454999671956,
          "alpha_factor": 1.2286454999671956,
          "alpha_composite_prediction": 1.2286454999671956,
          "alpha_factor_only_upper_bound": 90.36915699780444,
          "temporal_autocorrelation_lag1": [
            -0.20503327651696374,
            -0.3573737913818614,
            -0.3656353011603047,
            0.8033303131822274,
            -0.13583494978834715,
            0.6652153882820571,
            0.8468042379547477,
            -0.14849476575212425,
            0.15533756170689633
          ],
          "temporal_linear_drift_per_s": [
            1.190677100978191e-08,
            -4.180123006819826e-06,
            -1.2508666209554297e-06,
            -0.0014060534695179918,
            -7.0151013756618635e-06,
            -0.00010037823574505044,
            -0.0006941104448473697,
            -7.104089202460883e-06,
            -5.181922829121401e-05
          ]
        },
        "0808_20260808_082148": {
          "sample_count": 1051,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            -0.0002686992084176283,
            0.0001182828958693257,
            -0.00012955832810036005,
            -0.002609478271270411,
            0.06864875491494152,
            -0.00098282963541983,
            -0.0008788292956997515,
            0.03387215737745369,
            0.000661165854985441
          ],
          "innovation_distribution": {
            "count": 9459,
            "rms": 0.05217833882354427,
            "p50_abs": 0.00672304943070845,
            "p95_abs": 0.12112753428806694,
            "p99_abs": 0.2013229826673494
          },
          "axis_rms": [
            0.0012831282244286384,
            0.006711536307313188,
            0.00318658578982812,
            0.09026503184965613,
            0.10467703019982774,
            0.01785310411045127,
            0.0452076419450547,
            0.0527791648740977,
            0.01389981392420366
          ],
          "axis_p50_abs": [
            0.0003103875020453104,
            0.004248639570783518,
            0.0015636310104670576,
            0.05615974004834429,
            0.0802682491823041,
            0.0029006952189938318,
            0.027129331731337858,
            0.03917896101879869,
            0.004731723932004606
          ],
          "axis_p95_abs": [
            0.002260481040899619,
            0.013458686996941287,
            0.00582030512330419,
            0.18548233309988357,
            0.20206240962120353,
            0.0412810860805628,
            0.09424446793180283,
            0.10186909328270771,
            0.027886813424709
          ],
          "axis_p99_abs": [
            0.004710569325499202,
            0.019797879664946137,
            0.010260424125490808,
            0.2446494254733157,
            0.2834481422551326,
            0.07930733711376803,
            0.12235003738822287,
            0.14099512234533135,
            0.05427221636463475
          ],
          "vector_rms": 0.1565350164706328,
          "vector_p50": 0.12897065724824613,
          "vector_p95": 0.2703172717297958,
          "vector_p99": 0.34142533125905394,
          "normalized_distribution": {
            "count": 9459,
            "rms": 0.2593330781192765,
            "p50_abs": 0.057470820640773836,
            "p95_abs": 0.5847771442614612,
            "p99_abs": 0.9461932716334363
          },
          "empirical_covariance": [
            [
              1.575718031698007e-06,
              -4.250753621573418e-07,
              -2.7800335906803817e-07,
              -5.757498003019463e-06,
              -1.0115402397320144e-05,
              -3.2354994359397885e-06,
              -2.262043385734522e-06,
              -3.907484440298211e-06,
              -2.5995012890392047e-08
            ],
            [
              -4.250753621573418e-07,
              4.5073615169271656e-05,
              1.528456569889505e-06,
              0.00020696274747989375,
              -9.614978434414227e-06,
              4.414098219893449e-06,
              7.216218038046061e-05,
              -2.951677901195754e-06,
              -1.3132147447929343e-05
            ],
            [
              -2.7800335906803817e-07,
              1.528456569889505e-06,
              1.0147198439016754e-05,
              -2.7852475534036854e-06,
              -5.499538352395112e-06,
              -3.189476566427969e-06,
              -3.1113587906211773e-06,
              1.2235425551850165e-06,
              -1.5565258832575885e-06
            ],
            [
              -5.757498003019463e-06,
              0.00020696274747989375,
              -2.7852475534036854e-06,
              0.008148719899493078,
              -0.0001856900453009211,
              0.00019526640697483633,
              0.003980309805006047,
              -3.667573039486835e-05,
              3.735567778108007e-05
            ],
            [
              -1.0115402397320144e-05,
              -9.614978434414227e-06,
              -5.499538352395112e-06,
              -0.0001856900453009211,
              0.006250576365893538,
              -0.000135236570284429,
              -7.98044823504042e-05,
              0.0030772761464876934,
              -9.401397254635817e-05
            ],
            [
              -3.2354994359397885e-06,
              4.414098219893449e-06,
              -3.189476566427969e-06,
              0.00019526640697483633,
              -0.000135236570284429,
              0.00031807000787900533,
              0.00010025740523459718,
              -7.439095293514366e-05,
              0.00016523539814248408
            ],
            [
              -2.262043385734522e-06,
              7.216218038046061e-05,
              -3.1113587906211773e-06,
              0.003980309805006047,
              -7.98044823504042e-05,
              0.00010025740523459718,
              0.002044904224110147,
              -4.362208293178948e-06,
              4.6172244348377616e-05
            ],
            [
              -3.907484440298211e-06,
              -2.951677901195754e-06,
              1.2235425551850165e-06,
              -3.667573039486835e-05,
              0.0030772761464876934,
              -7.439095293514366e-05,
              -4.362208293178948e-06,
              0.001639877501498871,
              -8.112922694481384e-05
            ],
            [
              -2.5995012890392047e-08,
              -1.3132147447929343e-05,
              -1.5565258832575885e-06,
              3.735567778108007e-05,
              -9.401397254635817e-05,
              0.00016523539814248408,
              4.6172244348377616e-05,
              -8.112922694481384e-05,
              0.00019295127511286778
            ]
          ],
          "nis_distribution": {
            "count": 1051,
            "rms": 0.8610760061641697,
            "p50_abs": 0.42287428420399015,
            "p95_abs": 1.7859863920518078,
            "p99_abs": 2.8292145378226667
          },
          "nis_total": 636.1522319030989,
          "nis_per_dof": 0.06725364540681879,
          "alpha_factor": 0.06725364540681879,
          "alpha_composite_prediction": 0.06725364540681879,
          "alpha_factor_only_upper_bound": 7.060788268348778,
          "temporal_autocorrelation_lag1": [
            0.2872019923935229,
            -0.3979585663820942,
            -0.38961419748492554,
            0.5938376553493532,
            0.7850353449416673,
            -0.4596733472957036,
            0.6338050921926156,
            0.738148719972443,
            -0.09050682574922057
          ],
          "temporal_linear_drift_per_s": [
            -7.499352628047945e-08,
            -1.0179411710849615e-07,
            5.3867111579786437e-08,
            -1.5137544000046969e-05,
            3.1757552702595064e-05,
            -5.197650527189947e-07,
            -6.905378904005492e-06,
            1.4901153902874935e-05,
            -2.9382875534567347e-07
          ]
        },
        "0815_20260814_114200": {
          "sample_count": 58,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            -0.0016242860883676328,
            -0.001218126392823723,
            -0.0005255895895535101,
            0.05324768501196898,
            0.09437894874921224,
            0.0025747266159789253,
            0.033654564985907895,
            0.0460534904703984,
            0.002907505365444106
          ],
          "innovation_distribution": {
            "count": 522,
            "rms": 0.06139561309817659,
            "p50_abs": 0.017648694947819177,
            "p95_abs": 0.15723014240464267,
            "p99_abs": 0.18737821191290477
          },
          "axis_rms": [
            0.0029915055444419522,
            0.008384738852603985,
            0.010462044696332601,
            0.10165771998520136,
            0.11859126035024617,
            0.0399805361495356,
            0.05756002726384571,
            0.06030809269878594,
            0.028093403506842165
          ],
          "axis_p50_abs": [
            0.0024076923193644675,
            0.0044916016487405825,
            0.002689404638977996,
            0.07153579175083993,
            0.10005547205010118,
            0.024348852330909665,
            0.04616907880132143,
            0.05551856692001327,
            0.017165948232555905
          ],
          "axis_p95_abs": [
            0.005075880760657433,
            0.013047625656670666,
            0.022409225229876515,
            0.18567105903679948,
            0.18695809562702062,
            0.0744052699110056,
            0.0968446667200854,
            0.09813630971937144,
            0.05199399343146991
          ],
          "axis_p99_abs": [
            0.006347026139307333,
            0.02534368309021546,
            0.032709774292039445,
            0.23307264096899677,
            0.2142897840365382,
            0.11339236837870396,
            0.1330918674946115,
            0.10635794377307764,
            0.08145065652532353
          ],
          "vector_rms": 0.18418683929452975,
          "vector_p50": 0.18118904720390733,
          "vector_p95": 0.2984169654409322,
          "vector_p99": 0.3148251292108958,
          "normalized_distribution": {
            "count": 522,
            "rms": 0.3086713826509648,
            "p50_abs": 0.10041055210209164,
            "p95_abs": 0.7398721359042658,
            "p99_abs": 0.8875738462074777
          },
          "empirical_covariance": [
            [
              6.421515917238842e-06,
              1.9089170441432333e-06,
              2.6229925580685745e-06,
              -2.48909434210461e-05,
              -1.6948953370501882e-05,
              2.6990914189051345e-05,
              4.857845281657096e-07,
              6.027080038432815e-06,
              5.006594098598155e-06
            ],
            [
              1.9089170441432333e-06,
              7.002738237918311e-05,
              8.133978684096079e-06,
              0.0003648488109496007,
              -2.346809581785448e-05,
              9.823645704696775e-06,
              0.00011998532927873386,
              4.955399351815326e-06,
              -6.332986071869276e-05
            ],
            [
              2.6229925580685745e-06,
              8.133978684096079e-06,
              0.00011109354068529856,
              4.7835235359349054e-05,
              7.34367505944315e-07,
              3.5816315574731166e-05,
              -5.4925827546442654e-05,
              5.314413413136813e-05,
              -2.3832114033362104e-05
            ],
            [
              -2.48909434210461e-05,
              0.0003648488109496007,
              4.7835235359349054e-05,
              0.00763053705720058,
              -0.0005796534962286877,
              0.0008488158418198322,
              0.003650259005639079,
              -0.0003294623857521097,
              0.00018752798160640008
            ],
            [
              -1.6948953370501882e-05,
              -2.346809581785448e-05,
              7.34367505944315e-07,
              -0.0005796534962286877,
              0.005246965995408764,
              -0.0001890958281080612,
              -0.000707269094203691,
              0.002716552458407202,
              -4.743357955420208e-05
            ],
            [
              2.6990914189051345e-05,
              9.823645704696775e-06,
              3.5816315574731166e-05,
              0.0008488158418198322,
              -0.0001890958281080612,
              0.001619740616002157,
              0.0005091177373851495,
              4.971726918138889e-07,
              0.0008608940667701282
            ],
            [
              4.857845281657096e-07,
              0.00011998532927873386,
              -5.4925827546442654e-05,
              0.003650259005639079,
              -0.000707269094203691,
              0.0005091177373851495,
              0.0022187818537717533,
              -0.00036390625122487244,
              0.0002631874075949602
            ],
            [
              6.027080038432815e-06,
              4.955399351815326e-06,
              5.314413413136813e-05,
              -0.0003294623857521097,
              0.002716552458407202,
              4.971726918138889e-07,
              -0.00036390625122487244,
              0.0015427410439750912,
              -2.9424988881741946e-05
            ],
            [
              5.006594098598155e-06,
              -6.332986071869276e-05,
              -2.3832114033362104e-05,
              0.00018752798160640008,
              -4.743357955420208e-05,
              0.0008608940667701282,
              0.0002631874075949602,
              -2.9424988881741946e-05,
              0.0007944837284665542
            ]
          ],
          "nis_distribution": {
            "count": 58,
            "rms": 1.0734764644881023,
            "p50_abs": 0.7987867092333585,
            "p95_abs": 2.1331557887576906,
            "p99_abs": 2.6450069228598885
          },
          "nis_total": 49.73512772811764,
          "nis_per_dof": 0.09527802246765832,
          "alpha_factor": 0.09527802246765832,
          "alpha_composite_prediction": 0.09527802246765832,
          "alpha_factor_only_upper_bound": 18.48657465277857,
          "temporal_autocorrelation_lag1": [
            0.37774197688050204,
            -0.2943158315377532,
            -0.49502387900485467,
            0.33502965491483033,
            0.773629721173253,
            -0.5313179633859514,
            0.38306263711499455,
            0.7649816326991624,
            -0.30886882244496555
          ],
          "temporal_linear_drift_per_s": [
            1.4212142985092303e-06,
            4.144777768926855e-06,
            2.3541361559817165e-07,
            -5.3176044914688986e-05,
            0.00011903183342236688,
            4.045328520788784e-06,
            -2.8678674817590125e-05,
            5.941983832540682e-05,
            1.0153424757468597e-05
          ]
        },
        "0815_20260814_102659": {
          "sample_count": 172,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            5.587831254453892e-06,
            -7.71411747019103e-06,
            4.2216025024019326e-05,
            -0.25568982775427823,
            0.6210028019425834,
            0.01395402387898647,
            -0.12796644498951404,
            0.31167606663231945,
            0.00954551443438547
          ],
          "innovation_distribution": {
            "count": 1548,
            "rms": 0.2760242592669097,
            "p50_abs": 0.018546012456828187,
            "p95_abs": 0.6236261054494012,
            "p99_abs": 0.7332242407763622
          },
          "axis_rms": [
            0.00028876786395685327,
            0.012112520438719479,
            0.0063542298811211945,
            0.4026626013382551,
            0.6210223315749637,
            0.015659327164025606,
            0.2003064420922582,
            0.31171714581576193,
            0.013265800438232894
          ],
          "axis_p50_abs": [
            0.00015581008074219845,
            0.00819263086935904,
            0.004447300658110888,
            0.27286293911877324,
            0.6213355275315642,
            0.014698737722089739,
            0.13313181277088793,
            0.3119175339766836,
            0.010584855113193292
          ],
          "axis_p95_abs": [
            0.000590971006926842,
            0.02238754230363586,
            0.011676845242761155,
            0.8356136566618807,
            0.6283570776179458,
            0.02385576098906981,
            0.41619255967901103,
            0.32011438759889016,
            0.024051730206197643
          ],
          "axis_p99_abs": [
            0.0007439314524808732,
            0.02791959834024103,
            0.015073007018362181,
            0.8999134776463847,
            0.6321762771620354,
            0.027385718889879482,
            0.4428310286891028,
            0.3223358935725544,
            0.03060235921158817
          ],
          "vector_rms": 0.8280727778007292,
          "vector_p50": 0.7570822493746708,
          "vector_p95": 1.1660574464560436,
          "vector_p99": 1.2218684452311028,
          "normalized_distribution": {
            "count": 1548,
            "rms": 1.358908023483924,
            "p50_abs": 0.19814279494777548,
            "p95_abs": 2.923052001930121,
            "p99_abs": 3.427451764549663
          },
          "empirical_covariance": [
            [
              8.384311536915198e-08,
              -2.883191900839825e-07,
              3.04278350988728e-07,
              -5.442045775517479e-06,
              -1.5554183796175887e-07,
              1.5250477737722598e-07,
              -2.67859627860544e-06,
              1.5236535740648015e-08,
              8.74883291870363e-08
            ],
            [
              -2.883191900839825e-07,
              0.00014757106316827865,
              -6.071270163215135e-05,
              0.0008472329457203153,
              6.4847820197884465e-06,
              3.5058798625551176e-06,
              0.0003357801046838467,
              -4.2320998126500786e-06,
              -2.439937428533147e-05
            ],
            [
              3.04278350988728e-07,
              -6.071270163215135e-05,
              4.061056311444864e-05,
              -0.0003573801118328032,
              -7.914640851281593e-07,
              -8.436738124022046e-07,
              -0.00014646682921725198,
              5.368123266205802e-06,
              6.541249050953656e-06
            ],
            [
              -5.442045775517479e-06,
              0.0008472329457203153,
              -0.0003573801118328032,
              0.09732572976555687,
              -0.00019124919787090274,
              0.00025798772751739664,
              0.04815863929279938,
              -1.6199245716495177e-05,
              0.00018978749717255092
            ],
            [
              -1.5554183796175887e-07,
              6.4847820197884465e-06,
              -7.914640851281593e-07,
              -0.00019124919787090274,
              2.439814393864253e-05,
              -6.739783832203592e-07,
              -0.00010061949946945812,
              8.746315592870937e-06,
              -4.154809776446782e-06
            ],
            [
              1.5250477737722598e-07,
              3.5058798625551176e-06,
              -8.436738124022046e-07,
              0.00025798772751739664,
              -6.739783832203592e-07,
              5.07950649597806e-05,
              0.0001250155215343622,
              -1.8418549845899968e-06,
              1.9803426544369686e-05
            ],
            [
              -2.67859627860544e-06,
              0.0003357801046838467,
              -0.00014646682921725198,
              0.04815863929279938,
              -0.00010061949946945812,
              0.0001250155215343622,
              0.023886132564149964,
              -5.831489531360696e-06,
              0.00011065887925519714
            ],
            [
              1.5236535740648015e-08,
              -4.2320998126500786e-06,
              5.368123266205802e-06,
              -1.6199245716495177e-05,
              8.746315592870937e-06,
              -1.8418549845899968e-06,
              -5.831489531360696e-06,
              2.575824134795324e-05,
              2.3144734255623432e-05
            ],
            [
              8.74883291870363e-08,
              -2.439937428533147e-05,
              6.541249050953656e-06,
              0.00018978749717255092,
              -4.154809776446782e-06,
              1.9803426544369686e-05,
              0.00011065887925519714,
              2.3144734255623432e-05,
              8.536089975083557e-05
            ]
          ],
          "nis_distribution": {
            "count": 172,
            "rms": 17.845951101957645,
            "p50_abs": 13.951762136301745,
            "p95_abs": 32.79149425818735,
            "p99_abs": 36.02125685912643
          },
          "nis_total": 2858.584813215348,
          "nis_per_dof": 1.8466310162889843,
          "alpha_factor": 1.8466310162889843,
          "alpha_composite_prediction": 1.8466310162889843,
          "alpha_factor_only_upper_bound": 135.71865947336062,
          "temporal_autocorrelation_lag1": [
            -0.3900211335882757,
            -0.423375809273696,
            -0.3865032139072211,
            0.8580085961491123,
            -0.1714123089107848,
            0.27234745723920933,
            0.8768815487477634,
            -0.14126473998038103,
            -0.24952254764610993
          ],
          "temporal_linear_drift_per_s": [
            1.8806456962056732e-07,
            -3.665741236883779e-06,
            3.097971832526574e-06,
            -0.0030351851117343467,
            8.406185054513109e-06,
            3.94434280531268e-06,
            -0.0015144470809638972,
            1.9608076325214547e-06,
            -2.5752353221674423e-06
          ]
        },
        "0808_20260808_092827": {
          "sample_count": 348,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            -2.9840429858734283e-05,
            0.00024087444571543475,
            -0.00018804994729798035,
            -0.020466778457331684,
            0.019424242360842725,
            -0.000987968049831935,
            -0.011519885180567369,
            0.009207173298178472,
            0.0017367016995292208
          ],
          "innovation_distribution": {
            "count": 3132,
            "rms": 0.051168111660471534,
            "p50_abs": 0.011850782685287605,
            "p95_abs": 0.11575668773297339,
            "p99_abs": 0.1840783817696557
          },
          "axis_rms": [
            0.002050959335388064,
            0.00807840908557151,
            0.0037707106987482724,
            0.10866867659642587,
            0.07559300537187795,
            0.03038005304555204,
            0.054305858559644225,
            0.039596437483180466,
            0.022732355326318447
          ],
          "axis_p50_abs": [
            0.00031193194536284854,
            0.004539593705568215,
            0.0019758278876570627,
            0.07712565349207617,
            0.06150703007977602,
            0.006844688672547505,
            0.03857810518191049,
            0.03064397301160611,
            0.007766228873156145
          ],
          "axis_p95_abs": [
            0.004276029005671585,
            0.01649032097890895,
            0.0073421492322216205,
            0.19940686256712306,
            0.1215111484227645,
            0.0674546670611086,
            0.09954539841288625,
            0.06786421504925919,
            0.049142249033202745
          ],
          "axis_p99_abs": [
            0.007742623229673144,
            0.02477882385945058,
            0.01192183079200945,
            0.3029257335411683,
            0.18047300923656318,
            0.10077034366450491,
            0.13917549101531868,
            0.09459624938763295,
            0.08708996453631801
          ],
          "vector_rms": 0.1535043349814146,
          "vector_p50": 0.13079576915232066,
          "vector_p95": 0.2619945128446148,
          "vector_p99": 0.35742118474566237,
          "normalized_distribution": {
            "count": 3132,
            "rms": 0.25325938191951564,
            "p50_abs": 0.08171686959628062,
            "p95_abs": 0.5508873189689643,
            "p99_abs": 0.8707242647553545
          },
          "empirical_covariance": [
            [
              4.217663466766947e-06,
              1.95589841349776e-06,
              -5.222673524926037e-07,
              8.061200307445413e-06,
              -2.2280656352676094e-05,
              3.3501971842500438e-06,
              2.5078102701770504e-06,
              -7.413639522589067e-06,
              3.3563040237488797e-07
            ],
            [
              1.95589841349776e-06,
              6.539057681160084e-05,
              2.601761700499701e-06,
              0.0003475014591278173,
              -4.800830665031529e-05,
              1.864068952981893e-05,
              0.00012294661016557255,
              -2.2837887207818312e-05,
              -1.1816345037734654e-05
            ],
            [
              -5.222673524926037e-07,
              2.601761700499701e-06,
              1.4223769291238065e-05,
              -6.671905812734963e-06,
              -1.1918458801406206e-05,
              -1.2272535828201422e-05,
              -6.1451760761182704e-06,
              -1.4711537357508758e-06,
              -7.294816794691967e-06
            ],
            [
              8.061200307445413e-06,
              0.0003475014591278173,
              -6.671905812734963e-06,
              0.01142281643796367,
              0.001144570585163315,
              0.00027857141865740825,
              0.00550117497945529,
              0.0006509933539142025,
              2.5306734801111147e-05
            ],
            [
              -2.2280656352676094e-05,
              -4.800830665031529e-05,
              -1.1918458801406206e-05,
              0.001144570585163315,
              0.00535238167697777,
              -8.036581644015201e-05,
              0.000622416418304424,
              0.002706822634387505,
              -0.000153443649864779
            ],
            [
              3.3501971842500438e-06,
              1.864068952981893e-05,
              -1.2272535828201422e-05,
              0.00027857141865740825,
              -8.036581644015201e-05,
              0.0009246285206908007,
              0.0001300833971963349,
              -5.023594163288212e-05,
              0.0004608892780376529
            ],
            [
              2.5078102701770504e-06,
              0.00012294661016557255,
              -6.1451760761182704e-06,
              0.00550117497945529,
              0.000622416418304424,
              0.0001300833971963349,
              0.002824534999209415,
              0.0003796004109507366,
              2.324416762141511e-05
            ],
            [
              -7.413639522589067e-06,
              -2.2837887207818312e-05,
              -1.4711537357508758e-06,
              0.0006509933539142025,
              0.002706822634387505,
              -5.023594163288212e-05,
              0.0003796004109507366,
              0.0014873799013931466,
              -8.328318227647993e-05
            ],
            [
              3.3563040237488797e-07,
              -1.1816345037734654e-05,
              -7.294816794691967e-06,
              2.5306734801111147e-05,
              -0.000153443649864779,
              0.0004608892780376529,
              2.324416762141511e-05,
              -8.328318227647993e-05,
              0.0005152243757040925
            ]
          ],
          "nis_distribution": {
            "count": 348,
            "rms": 0.8023952851732803,
            "p50_abs": 0.4202341491848238,
            "p95_abs": 1.6325073635018446,
            "p99_abs": 2.996523719426435
          },
          "nis_total": 200.88746510875896,
          "nis_per_dof": 0.0641403145302551,
          "alpha_factor": 0.0641403145302551,
          "alpha_composite_prediction": 0.0641403145302551,
          "alpha_factor_only_upper_bound": 8.464188299926844,
          "temporal_autocorrelation_lag1": [
            0.20003106972726786,
            -0.36297436440508407,
            -0.344609812505334,
            0.5223898726340148,
            0.7710374873632524,
            -0.5449691052296242,
            0.5851637067402111,
            0.734851112528251,
            -0.12580276856987208
          ],
          "temporal_linear_drift_per_s": [
            1.6542529745108838e-07,
            4.7032158565147657e-07,
            3.2177375516496953e-07,
            -5.040938293301414e-05,
            -6.289334595162161e-06,
            -1.9486159187378574e-06,
            -2.4229713968387644e-05,
            -3.132066146057555e-06,
            -2.4260448526102807e-06
          ]
        },
        "0815_20260814_110519": {
          "sample_count": 38,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            0.00043609634734001734,
            -0.0018577628327325075,
            0.0006432093618807403,
            -0.021405171773009903,
            0.2804385209948965,
            0.021998699097592972,
            -0.00816478557036843,
            0.14019222237890794,
            0.002642291649969787
          ],
          "innovation_distribution": {
            "count": 342,
            "rms": 0.2441786064451855,
            "p50_abs": 0.019124238208150866,
            "p95_abs": 0.5970565611762416,
            "p99_abs": 0.8452235850457752
          },
          "axis_rms": [
            0.0026613046000821842,
            0.010370388346700026,
            0.007333223548174416,
            0.08388234374475145,
            0.6380385180226816,
            0.10846714053008248,
            0.03945995344110375,
            0.3199713779007105,
            0.08128366192940048
          ],
          "axis_p50_abs": [
            0.0003122038600740069,
            0.006293855070173601,
            0.005224008904788938,
            0.05010992692408561,
            0.5949002012451233,
            0.022790935598377082,
            0.023762918127309143,
            0.2943853257318638,
            0.012332483484156942
          ],
          "axis_p95_abs": [
            0.006276085965601545,
            0.019525435635193503,
            0.013724783595499042,
            0.16810796673410552,
            0.8650459889882122,
            0.2328166171422944,
            0.07997071409388229,
            0.45730733335452745,
            0.1533915070754576
          ],
          "axis_p99_abs": [
            0.00973284483859293,
            0.031944235697598106,
            0.01682737816926593,
            0.24823203823704246,
            0.9453048730427955,
            0.33029219652200426,
            0.10597558050590955,
            0.495810122099187,
            0.2817331465709809
          ],
          "vector_rms": 0.7325358193355564,
          "vector_p50": 0.6685040769561839,
          "vector_p95": 0.9965205781225563,
          "vector_p99": 1.0783112496195306,
          "normalized_distribution": {
            "count": 342,
            "rms": 1.1882323710566869,
            "p50_abs": 0.14123655825158815,
            "p95_abs": 2.8019053962945617,
            "p99_abs": 3.9633876801844385
          },
          "empirical_covariance": [
            [
              7.078642208370298e-06,
              -5.8824337291337826e-06,
              4.466249385461937e-06,
              -3.414937790046635e-05,
              3.38489560687413e-05,
              -0.00012568159220078295,
              -1.0534148660259644e-07,
              3.262301763748475e-05,
              -0.00011640169581869268
            ],
            [
              -5.8824337291337826e-06,
              0.00010690701419757288,
              -2.5455370197049396e-05,
              0.0006215891114475505,
              -0.0007393503430079682,
              0.00045057628658101245,
              0.00025111564251482265,
              -0.0004280226606941286,
              6.245571124908344e-05
            ],
            [
              4.466249385461937e-06,
              -2.5455370197049396e-05,
              5.480467768440467e-05,
              -0.00015070102171291965,
              -0.00012122979885078499,
              -0.00020899516606058752,
              -7.746584789659238e-05,
              -1.723835645007091e-05,
              -5.565359615096682e-05
            ],
            [
              -3.414937790046635e-05,
              0.0006215891114475505,
              -0.00015070102171291965,
              0.0067558517868179,
              -0.0020192958485452978,
              0.0013459603124825604,
              0.0030430249555044578,
              -0.0014032707272040772,
              -0.0007563889570053601
            ],
            [
              3.38489560687413e-05,
              -0.0007393503430079682,
              -0.00012122979885078499,
              -0.0020192958485452978,
              0.3373243428125796,
              -2.213100128575023e-05,
              -0.0004447061392271224,
              0.168923999311,
              -0.0024161738247191335
            ],
            [
              -0.00012568159220078295,
              0.00045057628658101245,
              -0.00020899516606058752,
              0.0013459603124825604,
              -2.213100128575023e-05,
              0.011586074510429091,
              0.00027739379411370884,
              -2.4872361386887245e-05,
              0.005807483226068497
            ],
            [
              -1.0534148660259644e-07,
              0.00025111564251482265,
              -7.746584789659238e-05,
              0.0030430249555044578,
              -0.0004447061392271224,
              0.00027739379411370884,
              0.0015307059373576002,
              -0.0004967203062129013,
              -0.0011232249457872265
            ],
            [
              3.262301763748475e-05,
              -0.0004280226606941286,
              -1.723835645007091e-05,
              -0.0014032707272040772,
              0.168923999311,
              -2.4872361386887245e-05,
              -0.0004967203062129013,
              0.08496371058068648,
              -0.0004812098163383376
            ],
            [
              -0.00011640169581869268,
              6.245571124908344e-05,
              -5.565359615096682e-05,
              -0.0007563889570053601,
              -0.0024161738247191335,
              0.005807483226068497,
              -0.0011232249457872265,
              -0.0004812098163383376,
              0.006778431775043342
            ]
          ],
          "nis_distribution": {
            "count": 38,
            "rms": 13.82566356525174,
            "p50_abs": 10.801721235549804,
            "p95_abs": 24.011604989638304,
            "p99_abs": 27.837171081730386
          },
          "nis_total": 482.86848932843253,
          "nis_per_dof": 1.4118961676269957,
          "alpha_factor": 1.4118961676269957,
          "alpha_composite_prediction": 1.4118961676269957,
          "alpha_factor_only_upper_bound": 120.11700846382695,
          "temporal_autocorrelation_lag1": [
            0.13269184704753254,
            -0.5528237646341443,
            -0.4824192149093648,
            0.12877410823981011,
            0.933738735187381,
            -0.8255449002026954,
            0.22429584602762137,
            0.9330795468700525,
            -0.2578325964714345
          ],
          "temporal_linear_drift_per_s": [
            3.995370401853012e-07,
            2.0034431729362453e-05,
            -4.656799905204e-06,
            0.0003429051167930229,
            -0.011688223823204348,
            4.3601618803710934e-05,
            0.00016611081873655603,
            -0.005824206486705187,
            0.00010800277226693901
          ]
        },
        "0815_20260814_115547": {
          "sample_count": 48,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            7.778956328264423e-05,
            -0.0005668582419472882,
            -1.5635512043760337e-05,
            0.016395191485117613,
            -0.08395656810883168,
            0.00020160845926686655,
            0.013558613431806747,
            -0.044224133011325224,
            0.00046679684579285324
          ],
          "innovation_distribution": {
            "count": 432,
            "rms": 0.05060575996676317,
            "p50_abs": 0.01672551940730232,
            "p95_abs": 0.1107414085378267,
            "p99_abs": 0.16663167023363287
          },
          "axis_rms": [
            0.0023488768259434306,
            0.010201598050383958,
            0.00386763284343549,
            0.0880172910190364,
            0.09509041009839618,
            0.03281604960896156,
            0.043053484581922805,
            0.05121986642661461,
            0.024098508107999878
          ],
          "axis_p50_abs": [
            0.0014637858325826395,
            0.006156916649073494,
            0.0026016231038289415,
            0.07152024155238984,
            0.07527615672037119,
            0.01738892706835582,
            0.03824242382279702,
            0.044001551705387554,
            0.014658093002816397
          ],
          "axis_p95_abs": [
            0.004182504336764056,
            0.019253491183610923,
            0.0069498307165327695,
            0.1636344477920356,
            0.15540028827255195,
            0.06644342896286473,
            0.0747346038528686,
            0.08714276762109348,
            0.04884041706348821
          ],
          "axis_p99_abs": [
            0.005428300843109103,
            0.021291829348661858,
            0.009142451630776862,
            0.19315802224481488,
            0.21098256050627417,
            0.07642365918896378,
            0.09660908931483474,
            0.11292917247981689,
            0.06290439960434588
          ],
          "vector_rms": 0.1518172799002895,
          "vector_p50": 0.1380187899375167,
          "vector_p95": 0.227327533699154,
          "vector_p99": 0.2578210989439272,
          "normalized_distribution": {
            "count": 432,
            "rms": 0.253425065925147,
            "p50_abs": 0.10083190468490569,
            "p95_abs": 0.5439356305188269,
            "p99_abs": 0.781143272670821
          },
          "empirical_covariance": [
            [
              5.628430087453664e-06,
              -2.068303089086806e-06,
              8.272871015510625e-07,
              4.921381308886884e-06,
              -4.574384874865836e-06,
              -1.2215921062027134e-05,
              -1.2146956703181827e-07,
              2.0264670644115135e-06,
              -2.1622727877445903e-06
            ],
            [
              -2.068303089086806e-06,
              0.00010595874844098812,
              -1.2036985983076428e-06,
              0.00045768531945925884,
              5.4676483847005115e-05,
              -5.4386442170902544e-06,
              0.00014812005157902806,
              4.127287111974595e-05,
              -5.797487427129755e-06
            ],
            [
              8.272871015510625e-07,
              -1.2036985983076428e-06,
              1.527660188158368e-05,
              2.109937004586207e-05,
              8.095703614113048e-06,
              -1.5280457023728496e-05,
              -5.474220190771254e-07,
              1.3367123779045776e-05,
              3.7798549802457435e-06
            ],
            [
              4.921381308886884e-06,
              0.00045768531945925884,
              2.109937004586207e-05,
              0.0076373527296981145,
              -0.00025165759660727554,
              -2.8925694462057466e-05,
              0.003329386993082418,
              -0.0003281085967403671,
              -2.771817167503505e-05
            ],
            [
              -4.574384874865836e-06,
              5.4676483847005115e-05,
              8.095703614113048e-06,
              -0.00025165759660727554,
              0.002035895248410151,
              -0.0004381201501164246,
              -0.00013929280319312863,
              0.0010481130869480697,
              -0.0002712631010020542
            ],
            [
              -1.2215921062027134e-05,
              -5.4386442170902544e-06,
              -1.5280457023728496e-05,
              -2.8925694462057466e-05,
              -0.0004381201501164246,
              0.001099764220562021,
              9.214915977133649e-05,
              -0.00017225961360454287,
              0.0005664664259886236
            ],
            [
              -1.2146956703181827e-07,
              0.00014812005157902806,
              -5.474220190771254e-07,
              0.003329386993082418,
              -0.00013929280319312863,
              9.214915977133649e-05,
              0.0017052934840367949,
              -0.000156320566827352,
              8.270912233164443e-05
            ],
            [
              2.0264670644115135e-06,
              4.127287111974595e-05,
              1.3367123779045776e-05,
              -0.0003281085967403671,
              0.0010481130869480697,
              -0.00017225961360454287,
              -0.000156320566827352,
              0.0006819071756495561,
              -0.00012066837621437926
            ],
            [
              -2.1622727877445903e-06,
              -5.797487427129755e-06,
              3.7798549802457435e-06,
              -2.771817167503505e-05,
              -0.0002712631010020542,
              0.0005664664259886236,
              8.270912233164443e-05,
              -0.00012066837621437926,
              0.0005928716872198401
            ]
          ],
          "nis_distribution": {
            "count": 48,
            "rms": 0.680041871106481,
            "p50_abs": 0.47957560575886604,
            "p95_abs": 1.2309183630223846,
            "p99_abs": 1.6331269250989644
          },
          "nis_total": 27.744882064919327,
          "nis_per_dof": 0.0642242640391651,
          "alpha_factor": 0.0642242640391651,
          "alpha_composite_prediction": 0.0642242640391651,
          "alpha_factor_only_upper_bound": 10.139273294158853,
          "temporal_autocorrelation_lag1": [
            0.24726134279259662,
            -0.45199489606123433,
            -0.4931859873528012,
            0.2105359823371712,
            0.01871568828809575,
            -0.42053764138554967,
            0.19564678915090894,
            0.01905432258632907,
            -0.09575955360444975
          ],
          "temporal_linear_drift_per_s": [
            -2.213401475059443e-06,
            2.195420934603453e-06,
            -6.031260286498494e-06,
            0.0006604693761592118,
            -4.110616134578944e-06,
            -6.967306493452086e-06,
            0.0002854270695135897,
            4.3261113252642146e-05,
            -0.00011317652870839663
          ]
        },
        "0815_20260812_123424": {
          "sample_count": 315,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            -1.1129396668480841e-05,
            -1.774617807358326e-05,
            -0.0002499570396861961,
            0.0033823810597607483,
            0.06534949242771533,
            -0.001231103957523873,
            0.001079938331427652,
            0.03218863145984526,
            0.000459053320745311
          ],
          "innovation_distribution": {
            "count": 2835,
            "rms": 0.05815919355816133,
            "p50_abs": 0.010275799272404412,
            "p95_abs": 0.11510172732088243,
            "p99_abs": 0.2439585095677256
          },
          "axis_rms": [
            0.00013647722016694658,
            0.00968476375362739,
            0.0018793664613053537,
            0.14114756888990737,
            0.0665386358301081,
            0.009328174942920155,
            0.06858990537059288,
            0.03290395918020398,
            0.010990637234571372
          ],
          "axis_p50_abs": [
            7.638997281197475e-05,
            0.00672956439258483,
            0.0012373309328268403,
            0.08059299839682349,
            0.05944704643969436,
            0.004436934732881426,
            0.040031744513283285,
            0.030180583594970188,
            0.006699272336683215
          ],
          "axis_p95_abs": [
            0.00024869514527008486,
            0.019510543362162146,
            0.0035689338824295576,
            0.309065025889059,
            0.0804706852475546,
            0.014413362426239477,
            0.15201901597890427,
            0.041564777280520014,
            0.019497592002514455
          ],
          "axis_p99_abs": [
            0.00037927741609019644,
            0.026076067873253738,
            0.0045636399925998074,
            0.37068456412299133,
            0.0836639568813042,
            0.02615506746347084,
            0.1880999241897477,
            0.04556768840728419,
            0.027589817119778356
          ],
          "vector_rms": 0.17447758067448396,
          "vector_p50": 0.11851382644150679,
          "vector_p95": 0.3487687967565653,
          "vector_p99": 0.42263299275756844,
          "normalized_distribution": {
            "count": 2835,
            "rms": 0.29181581479370566,
            "p50_abs": 0.08149189462112365,
            "p95_abs": 0.6003574863406611,
            "p99_abs": 1.1720400767775003
          },
          "empirical_covariance": [
            [
              1.8561092256695025e-08,
              -3.9206989976339086e-08,
              -6.02480501750206e-08,
              7.117073709155278e-10,
              3.469954580407586e-07,
              -3.895558276083292e-07,
              4.876069517471599e-08,
              1.814784419013618e-07,
              -2.8164003542739355e-07
            ],
            [
              -3.9206989976339086e-08,
              9.40930421069194e-05,
              6.057165614966769e-06,
              0.00045964989556337727,
              -4.252382770733138e-06,
              1.2457118500065866e-05,
              0.0001605531401178772,
              -9.419363623605116e-07,
              -3.0354778422582633e-05
            ],
            [
              -6.02480501750206e-08,
              6.057165614966769e-06,
              3.4805892639174395e-06,
              2.582740253067616e-05,
              -7.036621569443328e-07,
              7.827107349621875e-07,
              7.2332399046349956e-06,
              8.315274673730083e-08,
              -2.391657810802011e-06
            ],
            [
              7.117073709155278e-10,
              0.00045964989556337727,
              2.582740253067616e-05,
              0.019974607153177674,
              -0.000205968990620277,
              0.0003589900494317511,
              0.009652694246252598,
              -8.676882513502679e-05,
              -4.605218712209727e-05
            ],
            [
              3.469954580407586e-07,
              -4.252382770733138e-06,
              -7.036621569443328e-07,
              -0.000205968990620277,
              0.00015733336858309165,
              -4.67356296391587e-05,
              -9.681526134662913e-05,
              7.672916710219606e-05,
              -2.0666925289704264e-05
            ],
            [
              -3.895558276083292e-07,
              1.2457118500065866e-05,
              7.827107349621875e-07,
              0.0003589900494317511,
              -4.67356296391587e-05,
              8.577152135547817e-05,
              0.00017058364977688844,
              -2.503576443562449e-05,
              5.305887307260414e-05
            ],
            [
              4.876069517471599e-08,
              0.0001605531401178772,
              7.2332399046349956e-06,
              0.009652694246252598,
              -9.681526134662913e-05,
              0.00017058364977688844,
              0.0047183878610298335,
              -4.173790106994075e-05,
              2.73415548066636e-06
            ],
            [
              1.814784419013618e-07,
              -9.419363623605116e-07,
              8.315274673730083e-08,
              -8.676882513502679e-05,
              7.672916710219606e-05,
              -2.503576443562449e-05,
              -4.173790106994075e-05,
              4.6710822801142566e-05,
              -1.9150872180576735e-05
            ],
            [
              -2.8164003542739355e-07,
              -3.0354778422582633e-05,
              -2.391657810802011e-06,
              -4.605218712209727e-05,
              -2.0666925289704264e-05,
              5.305887307260414e-05,
              2.73415548066636e-06,
              -1.9150872180576735e-05,
              0.00012096740036387786
            ]
          ],
          "nis_distribution": {
            "count": 315,
            "rms": 1.2255884302985174,
            "p50_abs": 0.3611038888526214,
            "p95_abs": 2.9603055813025594,
            "p99_abs": 4.350730374779205
          },
          "nis_total": 241.41859178013019,
          "nis_per_dof": 0.08515646976371435,
          "alpha_factor": 0.08515646976371435,
          "alpha_composite_prediction": 0.08515646976371435,
          "alpha_factor_only_upper_bound": 7.330547999726383,
          "temporal_autocorrelation_lag1": [
            -0.11913619541999196,
            -0.4074163735467098,
            -0.3964049192343242,
            0.7229177602962424,
            0.30744673622638374,
            -0.3040632893373919,
            0.7872429666519459,
            0.22256013632020075,
            -0.1666560216904805
          ],
          "temporal_linear_drift_per_s": [
            -7.160711857965458e-09,
            -1.5894881090459617e-07,
            9.710447099350672e-08,
            -0.00022052733897411737,
            4.324948832289491e-05,
            -2.272114944027864e-06,
            -0.00010880033433998384,
            2.119113292863632e-05,
            2.5811220919294723e-09
          ]
        },
        "0819_20260819_074023": {
          "sample_count": 15,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            0.000764044048882509,
            0.00033963388656825424,
            -0.00031967484727262054,
            -0.01454971836437776,
            -0.050871334943927086,
            0.011981759541785071,
            -0.00522366044676237,
            -0.025359566680387115,
            -0.01233121134893853
          ],
          "innovation_distribution": {
            "count": 135,
            "rms": 0.05024607546733238,
            "p50_abs": 0.016771441837949312,
            "p95_abs": 0.1123993176449993,
            "p99_abs": 0.15494297261633522
          },
          "axis_rms": [
            0.0016292874296537322,
            0.013795112183566,
            0.0035115956835010415,
            0.10430433799284544,
            0.07095016459031459,
            0.044275207724045765,
            0.0486101657354721,
            0.03542027588023967,
            0.032024411658944506
          ],
          "axis_p50_abs": [
            0.0010813765217217504,
            0.008730181865070592,
            0.0016590071135445432,
            0.09631813318967333,
            0.07647044662038015,
            0.026070903537384282,
            0.036854822905069744,
            0.03221680028185698,
            0.016093769736243324
          ],
          "axis_p95_abs": [
            0.0025599783853977208,
            0.028076121238594758,
            0.006284023324555751,
            0.17208945795165148,
            0.10761405799089561,
            0.08158427078033548,
            0.07923569855301969,
            0.05738096952970205,
            0.0572138930794228
          ],
          "axis_p99_abs": [
            0.002751922345535453,
            0.02874917868374756,
            0.007389522569004372,
            0.1831685187266008,
            0.10891613048686143,
            0.11250902321043182,
            0.09446337947389306,
            0.06243576441401724,
            0.06642822039227418
          ],
          "vector_rms": 0.15073822640199713,
          "vector_p50": 0.13855230466374394,
          "vector_p95": 0.21024182372049183,
          "vector_p99": 0.2327060911383993,
          "normalized_distribution": {
            "count": 135,
            "rms": 0.2521494643463299,
            "p50_abs": 0.10641035501305628,
            "p95_abs": 0.5619075424943586,
            "p99_abs": 0.7265073400094715
          },
          "empirical_covariance": [
            [
              2.218729521208807e-06,
              1.8980256439024393e-06,
              3.907649118043846e-07,
              7.839842247140189e-05,
              -3.0897026185363007e-05,
              -2.9775138854805006e-05,
              3.108702408091643e-05,
              -1.2271380999679524e-05,
              -1.667164206385467e-05
            ],
            [
              1.8980256439024393e-06,
              0.00020377475247885594,
              -9.294899278137902e-06,
              0.0007696641404075773,
              0.00017185476657918827,
              0.00010928569108464563,
              0.00025207463149477355,
              0.00010620731403607425,
              9.749882890214162e-05
            ],
            [
              3.907649118043846e-07,
              -9.294899278137902e-06,
              1.31026202532904e-05,
              -9.438487597583669e-05,
              -4.396236856599274e-05,
              -6.221854075662719e-06,
              -3.9419399772602923e-05,
              -1.6727673141638354e-05,
              2.5297934402923704e-05
            ],
            [
              7.839842247140189e-05,
              0.0007696641404075773,
              -9.438487597583669e-05,
              0.011429679235331815,
              -0.0016983626844253577,
              -0.0009414251922162574,
              0.005133600304988719,
              -0.0007108863437624586,
              -0.0005087468368256948
            ],
            [
              -3.0897026185363007e-05,
              0.00017185476657918827,
              -4.396236856599274e-05,
              -0.0016983626844253577,
              0.0026207497890166215,
              0.00040867017769606856,
              -0.0010811624951484967,
              0.0012290233807787658,
              -0.0001673594424068687
            ],
            [
              -2.9775138854805006e-05,
              0.00010928569108464563,
              -6.221854075662719e-06,
              -0.0009414251922162574,
              0.00040867017769606856,
              0.0019464979899538328,
              -0.0003815592736044826,
              0.00030375321129731306,
              0.0007321309962160588
            ],
            [
              3.108702408091643e-05,
              0.00025207463149477355,
              -3.9419399772602923e-05,
              0.005133600304988719,
              -0.0010811624951484967,
              -0.0003815592736044826,
              0.002502494554678925,
              -0.0005392768496748557,
              -0.00033202501551492903
            ],
            [
              -1.2271380999679524e-05,
              0.00010620731403607425,
              -1.6727673141638354e-05,
              -0.0007108863437624586,
              0.0012290233807787658,
              0.00030375321129731306,
              -0.0005392768496748557,
              0.0006551660584449512,
              2.1767819693320388e-05
            ],
            [
              -1.667164206385467e-05,
              9.749882890214162e-05,
              2.5297934402923704e-05,
              -0.0005087468368256948,
              -0.0001673594424068687,
              0.0007321309962160588,
              -0.00033202501551492903,
              2.1767819693320388e-05,
              0.0009358973236814465
            ]
          ],
          "nis_distribution": {
            "count": 15,
            "rms": 0.654089324529705,
            "p50_abs": 0.5098718491186258,
            "p95_abs": 1.031328464101236,
            "p99_abs": 1.3121267483806185
          },
          "nis_total": 8.58321256996905,
          "nis_per_dof": 0.0635793523701411,
          "alpha_factor": 0.0635793523701411,
          "alpha_composite_prediction": 0.0635793523701411,
          "alpha_factor_only_upper_bound": 17.59061022872766,
          "temporal_autocorrelation_lag1": [
            0.7554839742724623,
            -0.24147355857853484,
            -0.5243404392069955,
            0.1664236886101346,
            0.8699991312065043,
            -0.1898051233190137,
            0.3717586235557571,
            0.7402653536202876,
            -0.05423479674052883
          ],
          "temporal_linear_drift_per_s": [
            -0.00013115073849172482,
            0.0007901130817657567,
            -0.00021604384871691494,
            -0.003365104850216674,
            0.01063744399064904,
            0.0013336078342203897,
            -0.002685223849978044,
            0.004723190656113439,
            -0.0004669667780727287
          ]
        },
        "0815_20260814_104150": {
          "sample_count": 117,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            2.577253955319277e-05,
            -0.0008131338961968968,
            -8.745925015234604e-05,
            0.15112677542871175,
            0.10387888361330802,
            0.027039251737488213,
            0.0770251239607892,
            0.0521670896151712,
            0.015662396935956023
          ],
          "innovation_distribution": {
            "count": 1053,
            "rms": 0.2653069978165432,
            "p50_abs": 0.029071549010838638,
            "p95_abs": 0.6112864615950248,
            "p99_abs": 0.9548006607296737
          },
          "axis_rms": [
            0.0007176297767408203,
            0.011736723109602425,
            0.0063412465744854445,
            0.19041460562595514,
            0.6849013918699156,
            0.03236819806777926,
            0.09443376250459154,
            0.3429305910877956,
            0.019932036325720028
          ],
          "axis_p50_abs": [
            0.0002117629021768336,
            0.0071193313816117175,
            0.0032617336279079996,
            0.14256203194485406,
            0.6108237080496689,
            0.03052168284111545,
            0.07476851665207382,
            0.3080924197944013,
            0.017509083463035147
          ],
          "axis_p95_abs": [
            0.0016501804852707483,
            0.0234864454920185,
            0.014580127889916682,
            0.338521422231872,
            0.9571829454237124,
            0.03968895158156441,
            0.169910732702347,
            0.48254397450537423,
            0.032097680840488786
          ],
          "axis_p99_abs": [
            0.0033789441622975574,
            0.03405850680914205,
            0.017126923086249808,
            0.4119583534486434,
            1.0749995128906271,
            0.06624587461763659,
            0.1877909173027625,
            0.5328784589111408,
            0.041610493112942085
          ],
          "vector_rms": 0.7959209934496296,
          "vector_p50": 0.7186571048636775,
          "vector_p95": 1.0778818920454114,
          "vector_p99": 1.2057769396148408,
          "normalized_distribution": {
            "count": 1053,
            "rms": 1.3057744776670226,
            "p50_abs": 0.1418046791517791,
            "p95_abs": 2.8675043759644274,
            "p99_abs": 4.477162303914261
          },
          "empirical_covariance": [
            [
              5.187621370896283e-07,
              -1.173166050399565e-06,
              8.635445906969031e-07,
              -2.2316220531223407e-05,
              7.508193464915005e-05,
              5.36751058147296e-06,
              -1.1545522141290081e-05,
              3.873137700637095e-05,
              3.3327016043188344e-06
            ],
            [
              -1.173166050399565e-06,
              0.00013827128850297214,
              -4.2260491339007185e-05,
              0.0006803802773577009,
              -1.7742771670113216e-05,
              1.0021015421281595e-05,
              0.0002498466649594959,
              -1.8762447249346127e-05,
              -2.6269573518735255e-05
            ],
            [
              8.635445906969031e-07,
              -4.2260491339007185e-05,
              4.055034312727913e-05,
              -0.0002459375521956258,
              0.0001531385451273029,
              1.2821459107519966e-06,
              -0.00010245253573444754,
              9.110843160939046e-05,
              1.0058095944410952e-05
            ],
            [
              -2.2316220531223407e-05,
              0.0006803802773577009,
              -0.0002459375521956258,
              0.013534095816830197,
              0.03488244099204322,
              -0.0004000760265762884,
              0.006307925546997673,
              0.017291325523144607,
              -0.00040462944840305345
            ],
            [
              7.508193464915005e-05,
              -1.7742771670113216e-05,
              0.0001531385451273029,
              0.03488244099204322,
              0.46224994838429556,
              -0.0003732691674033534,
              0.0165866609507601,
              0.23139766525385103,
              0.0005895024650428812
            ],
            [
              5.36751058147296e-06,
              1.0021015421281595e-05,
              1.2821459107519966e-06,
              -0.0004000760265762884,
              -0.0003732691674033534,
              0.0003193082419044173,
              -0.00022487037735024175,
              -0.0001512699502204687,
              0.0001573579875971059
            ],
            [
              -1.1545522141290081e-05,
              0.0002498466649594959,
              -0.00010245253573444754,
              0.006307925546997673,
              0.0165866609507601,
              -0.00022487037735024175,
              0.00301059738114692,
              0.008229694501457593,
              -0.0001964718746313212
            ],
            [
              3.873137700637095e-05,
              -1.8762447249346127e-05,
              9.110843160939046e-05,
              0.017291325523144607,
              0.23139766525385103,
              -0.0001512699502204687,
              0.008229694501457593,
              0.11587032976374302,
              0.0003214619852086107
            ],
            [
              3.3327016043188344e-06,
              -2.6269573518735255e-05,
              1.0058095944410952e-05,
              -0.00040462944840305345,
              0.0005895024650428812,
              0.0001573579875971059,
              -0.0001964718746313212,
              0.0003214619852086107,
              0.0001532855270199504
            ]
          ],
          "nis_distribution": {
            "count": 117,
            "rms": 17.507038918756347,
            "p50_abs": 12.515428942950223,
            "p95_abs": 28.089581008012726,
            "p99_abs": 35.228037880238645
          },
          "nis_total": 1795.4144768124943,
          "nis_per_dof": 1.7050469865265854,
          "alpha_factor": 1.7050469865265854,
          "alpha_composite_prediction": 1.7050469865265854,
          "alpha_factor_only_upper_bound": 127.75639389921615,
          "temporal_autocorrelation_lag1": [
            0.4543970209533327,
            -0.5355442982358002,
            -0.31353030071095306,
            0.4649482545353224,
            0.9178834428764069,
            0.35491579148955615,
            0.5784787902190169,
            0.9185499757706462,
            0.20662221615132736
          ],
          "temporal_linear_drift_per_s": [
            -2.0213035093515987e-06,
            -1.6492404541536247e-06,
            -2.2964134380219017e-06,
            -0.00017545723629476924,
            -0.004269319983895376,
            -4.656388482970334e-05,
            -7.181572666149698e-05,
            -0.0021440909934995573,
            -3.594209812393103e-05
          ]
        },
        "0815_20260814_101806": {
          "sample_count": 78,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            6.175197739398019e-05,
            0.00032209836212240535,
            -8.373653047995974e-05,
            -0.165041316688538,
            0.66111525852167,
            0.018034546594503802,
            -0.08292111297817087,
            0.331857838760408,
            0.011409293221550746
          ],
          "innovation_distribution": {
            "count": 702,
            "rms": 0.29634515238136844,
            "p50_abs": 0.024535541221546442,
            "p95_abs": 0.6618855669536805,
            "p99_abs": 0.66737691228941
          },
          "axis_rms": [
            0.0004113972484573651,
            0.012374220249011192,
            0.008239054271833822,
            0.4404095469530387,
            0.6611269270607081,
            0.021511798386539993,
            0.21963320213034201,
            0.3319228619624067,
            0.015466140319605214
          ],
          "axis_p50_abs": [
            0.00018671307513285873,
            0.008926164404691418,
            0.00476710784687388,
            0.3924313584033835,
            0.6612025080600399,
            0.02144415796763166,
            0.19171090169516203,
            0.33288260476261855,
            0.010884436631137362
          ],
          "axis_p95_abs": [
            0.000892924287825001,
            0.02137669210933086,
            0.01682256315985166,
            0.6538115245035302,
            0.6675025570449592,
            0.032362515112463,
            0.32881710820673743,
            0.3427267110038275,
            0.02640713636178627
          ],
          "axis_p99_abs": [
            0.0011882364146004111,
            0.02828951338633417,
            0.02091526173554584,
            0.6997224983176363,
            0.671553221855717,
            0.03757436222099308,
            0.3425514303558239,
            0.34451344398689343,
            0.03487523637930858
          ],
          "vector_rms": 0.8890354571441055,
          "vector_p50": 0.8617017645981118,
          "vector_p95": 1.0372332568932838,
          "vector_p99": 1.073503603130861,
          "normalized_distribution": {
            "count": 702,
            "rms": 1.4582253425496976,
            "p50_abs": 0.2890055263935489,
            "p95_abs": 3.1011652673219596,
            "p99_abs": 3.1244031814501643
          },
          "empirical_covariance": [
            [
              1.6758288788890265e-07,
              1.917444130335971e-06,
              -1.661389932894473e-06,
              6.719985065648013e-06,
              6.966752108484137e-08,
              1.0057454759015135e-06,
              2.391661512721617e-06,
              -2.119411557367053e-07,
              5.4902184101776e-07
            ],
            [
              1.917444130335971e-06,
              0.00015500482070727572,
              -8.552555578559344e-05,
              0.0010387664065345582,
              5.88409962100508e-06,
              3.725367527722798e-05,
              0.0004254955524883476,
              -4.087603106638754e-06,
              1.6980565845430617e-05
            ],
            [
              -1.661389932894473e-06,
              -8.552555578559344e-05,
              6.875649703947447e-05,
              -0.0004976937093312176,
              -1.5183477143283453e-06,
              -1.7442330467211606e-05,
              -0.00020361246247740472,
              1.3294013555097218e-05,
              -4.184105919727744e-06
            ],
            [
              6.719985065648013e-06,
              0.0010387664065345582,
              -0.0004976937093312176,
              0.1688871527400178,
              -4.331974427408211e-05,
              0.004016558799804623,
              0.08405686631268694,
              -0.00039978504624598674,
              0.0014896944298934242
            ],
            [
              6.966752108484137e-08,
              5.88409962100508e-06,
              -1.5183477143283453e-06,
              -4.331974427408211e-05,
              1.5629006437661323e-05,
              9.948970716941386e-06,
              -2.585701230590261e-05,
              6.194257956260469e-06,
              2.246658241578492e-06
            ],
            [
              1.0057454759015135e-06,
              3.725367527722798e-05,
              -1.7442330467211606e-05,
              0.004016558799804623,
              9.948970716941386e-06,
              0.00013929847686230723,
              0.001992816203540116,
              -8.621622350352731e-06,
              5.9330763629741786e-05
            ],
            [
              2.391661512721617e-06,
              0.0004254955524883476,
              -0.00020361246247740472,
              0.08405686631268694,
              -2.585701230590261e-05,
              0.001992816203540116,
              0.041900012143352594,
              -0.00020659684403028953,
              0.0007299037378814882
            ],
            [
              -2.119411557367053e-07,
              -4.087603106638754e-06,
              1.3294013555097218e-05,
              -0.00039978504624598674,
              6.194257956260469e-06,
              -8.621622350352731e-06,
              -0.00020659684403028953,
              4.372168095712819e-05,
              3.952149653395588e-05
            ],
            [
              5.4902184101776e-07,
              1.6980565845430617e-05,
              -4.184105919727744e-06,
              0.0014896944298934242,
              2.246658241578492e-06,
              5.9330763629741786e-05,
              0.0007299037378814882,
              3.952149653395588e-05,
              0.00011044549242195787
            ]
          ],
          "nis_distribution": {
            "count": 78,
            "rms": 19.575242094533994,
            "p50_abs": 17.979699451557767,
            "p95_abs": 26.05118179122187,
            "p99_abs": 28.041249306522104
          },
          "nis_total": 1492.7476470572367,
          "nis_per_dof": 2.1264211496541834,
          "alpha_factor": 2.1264211496541834,
          "alpha_composite_prediction": 2.1264211496541834,
          "alpha_factor_only_upper_bound": 156.49065380570403,
          "temporal_autocorrelation_lag1": [
            -0.4135192957184037,
            -0.4985798990310359,
            -0.5413215805523379,
            0.8381143634120399,
            -0.3255138753170399,
            0.5417206024958612,
            0.8563189781777919,
            0.07298044729466514,
            -0.11893929479274867
          ],
          "temporal_linear_drift_per_s": [
            1.923125389310241e-08,
            -5.056964605604246e-06,
            1.848036136018709e-06,
            -0.003558443803902301,
            1.4048514262252488e-06,
            -8.3328673436511e-05,
            -0.0017820871091526296,
            9.582008217418202e-06,
            -3.0511157509795764e-05
          ]
        },
        "0815_20260814_112658": {
          "sample_count": 90,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            0.000401074341565413,
            -0.0006170742453658414,
            0.0001691673076520934,
            0.012739628526597128,
            -0.10534785833575629,
            -0.0006461765159384372,
            0.0059060787884569945,
            -0.05193192082530285,
            0.0005070407017124505
          ],
          "innovation_distribution": {
            "count": 810,
            "rms": 0.0543584820263153,
            "p50_abs": 0.016771455095340393,
            "p95_abs": 0.11346538294454506,
            "p99_abs": 0.1947286533326453
          },
          "axis_rms": [
            0.0016591735286410115,
            0.007711997416619762,
            0.00626836787644643,
            0.08567488435630126,
            0.11468674233076759,
            0.02605295989903935,
            0.04073047477571494,
            0.05762282860389468,
            0.018458807379709636
          ],
          "axis_p50_abs": [
            0.000644574794571519,
            0.004400508432087106,
            0.003216000718830236,
            0.0646884674185206,
            0.09761414239593955,
            0.015005946289192273,
            0.03280185157441701,
            0.04644639490154172,
            0.011541395603978266
          ],
          "axis_p95_abs": [
            0.004052581581839004,
            0.01495258248476965,
            0.012511749079407759,
            0.1451097765936755,
            0.20780866553711383,
            0.0506610694227123,
            0.07150033381073477,
            0.09443319639671927,
            0.03326755391800855
          ],
          "axis_p99_abs": [
            0.00485970995717236,
            0.021121287653749023,
            0.022494344634888922,
            0.20935268148144454,
            0.24466467769949454,
            0.0712903341809317,
            0.09442439601358336,
            0.12982927922316692,
            0.06258641060084258
          ],
          "vector_rms": 0.16307544607894586,
          "vector_p50": 0.1406508587191732,
          "vector_p95": 0.2708818611418258,
          "vector_p99": 0.3116629055457643,
          "normalized_distribution": {
            "count": 810,
            "rms": 0.2712154865240324,
            "p50_abs": 0.10149896784692168,
            "p95_abs": 0.5499829820316519,
            "p99_abs": 0.9129701000278144
          },
          "empirical_covariance": [
            [
              2.621119723160496e-06,
              1.207309652492172e-06,
              -7.739712175199827e-07,
              2.4509180795706638e-05,
              -1.087043440554185e-05,
              -6.430655140642094e-07,
              1.3021994367451588e-05,
              -5.005567353490962e-06,
              2.5856222365714843e-06
            ],
            [
              1.207309652492172e-06,
              5.975810244571961e-05,
              1.8650002649495246e-06,
              0.00032566585644289695,
              4.309519059999488e-05,
              6.874430940590387e-05,
              0.0001096200498723445,
              3.47214989346098e-05,
              2.123099460424756e-05
            ],
            [
              -7.739712175199827e-07,
              1.8650002649495246e-06,
              3.970498475375118e-05,
              -1.920496871608117e-05,
              2.232101114370661e-05,
              4.527436873581807e-05,
              -1.8606387771678185e-05,
              2.0085348661170805e-05,
              1.6469256885537887e-05
            ],
            [
              2.4509180795706638e-05,
              0.00032566585644289695,
              -1.920496871608117e-05,
              0.007258538097778554,
              -0.00035119887905636605,
              0.0006123046961737747,
              0.003352416774796867,
              -0.00010348198546395827,
              0.0003271909263335657
            ],
            [
              -1.087043440554185e-05,
              4.309519059999488e-05,
              2.232101114370661e-05,
              -0.00035119887905636605,
              0.0020779661229909864,
              -9.554620417019411e-05,
              -0.0002525665940783634,
              0.0010559715413235619,
              -6.544731276648564e-05
            ],
            [
              -6.430655140642094e-07,
              6.874430940590387e-05,
              4.527436873581807e-05,
              0.0006123046961737747,
              -9.554620417019411e-05,
              0.0006859609638989681,
              0.00025079388672541935,
              -5.63459723041365e-05,
              0.00032485543313599927
            ],
            [
              1.3021994367451588e-05,
              0.0001096200498723445,
              -1.8606387771678185e-05,
              0.003352416774796867,
              -0.0002525665940783634,
              0.00025079388672541935,
              0.0016423380088985624,
              -0.00012322852149764983,
              0.00015393289577474636
            ],
            [
              -5.005567353490962e-06,
              3.47214989346098e-05,
              2.0085348661170805e-05,
              -0.00010348198546395827,
              0.0010559715413235619,
              -5.63459723041365e-05,
              -0.00012322852149764983,
              0.0006304712113904125,
              -7.833478023542056e-05
            ],
            [
              2.5856222365714843e-06,
              2.123099460424756e-05,
              1.6469256885537887e-05,
              0.0003271909263335657,
              -6.544731276648564e-05,
              0.00032485543313599927,
              0.00015393289577474636,
              -7.833478023542056e-05,
              0.00034429599061486173
            ]
          ],
          "nis_distribution": {
            "count": 90,
            "rms": 0.8341241924823447,
            "p50_abs": 0.499108013225171,
            "p95_abs": 1.8211279181717661,
            "p99_abs": 2.428987021432117
          },
          "nis_total": 59.581850505678744,
          "nis_per_dof": 0.07355784013046758,
          "alpha_factor": 0.07355784013046758,
          "alpha_composite_prediction": 0.07355784013046758,
          "alpha_factor_only_upper_bound": 10.23530297893539,
          "temporal_autocorrelation_lag1": [
            0.5276003534473405,
            -0.3121074208918272,
            -0.4508095016005717,
            0.4507988116888359,
            0.5912651358627115,
            -0.3889007218759063,
            0.5342787580464771,
            0.4665683921014818,
            0.005898153097829621
          ],
          "temporal_linear_drift_per_s": [
            -2.5640386790661513e-06,
            -2.0839156562590694e-06,
            1.545340963625819e-06,
            -0.00045881231571780087,
            -5.405265227409068e-05,
            -1.3392976237851684e-05,
            -0.00024215810837918035,
            -2.4700346985020683e-05,
            2.607845413125092e-06
          ]
        },
        "0815_20260814_103752": {
          "sample_count": 54,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            4.257189712202156e-05,
            -0.00034790778946829646,
            -0.0005509109322666903,
            0.10461125927112429,
            0.7156327373515148,
            0.021154514970675272,
            0.05177541687973871,
            0.35971448631117786,
            0.014621477999632234
          ],
          "innovation_distribution": {
            "count": 486,
            "rms": 0.27362924194664845,
            "p50_abs": 0.021753151122921643,
            "p95_abs": 0.7156772104740425,
            "p99_abs": 0.7195232190364945
          },
          "axis_rms": [
            0.0001958725002869398,
            0.011088568947012026,
            0.007118600049720742,
            0.15936544545068762,
            0.715636812914993,
            0.021368774183618232,
            0.07720751582160382,
            0.35976615551885655,
            0.01732871523176811
          ],
          "axis_p50_abs": [
            0.00010508526100422304,
            0.0068837032423388605,
            0.003565791667532511,
            0.12808074937888028,
            0.7154084306755807,
            0.02100323856594244,
            0.06722310532104234,
            0.36030264553748503,
            0.014665473403244533
          ],
          "axis_p95_abs": [
            0.000393740008757429,
            0.022404995597265626,
            0.01312585697042356,
            0.2840256613237887,
            0.7200811905813662,
            0.02499260034952,
            0.13829176603543694,
            0.36894059724573713,
            0.028324235806830377
          ],
          "axis_p99_abs": [
            0.000591878005218989,
            0.024198751414829387,
            0.019486244755837955,
            0.33287823428282787,
            0.7215980487866765,
            0.02704696020663977,
            0.16351319603760475,
            0.3726818153498057,
            0.03277512800989915
          ],
          "vector_rms": 0.8208877258399453,
          "vector_p50": 0.8132219572425845,
          "vector_p95": 0.8606180058115681,
          "vector_p99": 0.8816906392784447,
          "normalized_distribution": {
            "count": 486,
            "rms": 1.34729363619517,
            "p50_abs": 0.13108625749573732,
            "p95_abs": 3.3558257851616933,
            "p99_abs": 3.373990157512085
          },
          "empirical_covariance": [
            [
              3.724336182982675e-08,
              9.619544638051592e-07,
              -9.992988442009591e-07,
              7.865733766154528e-06,
              -6.904121232593426e-08,
              2.3400545738909425e-07,
              3.4576028686022107e-06,
              -4.606670644335927e-07,
              -3.8820883791898244e-07
            ],
            [
              9.619544638051592e-07,
              0.00012515296903743396,
              -3.550368002610323e-05,
              0.0006094970331744904,
              -4.7162627976257825e-06,
              9.771776484657178e-06,
              0.00022348272960799877,
              -1.7785551518222042e-05,
              -5.487581592765904e-05
            ],
            [
              -9.992988442009591e-07,
              -3.550368002610323e-05,
              5.1321359356227066e-05,
              -0.00023051348951634768,
              -1.961517963852943e-06,
              -4.349573812653695e-06,
              -0.00010286288295736244,
              1.9289811495149613e-05,
              1.3711427485694216e-05
            ],
            [
              7.865733766154528e-06,
              0.0006094970331744904,
              -0.00023051348951634768,
              0.01472654340414921,
              -2.6038198799562838e-05,
              0.000234942672177788,
              0.0069650274398934545,
              -0.00018756251827685216,
              -0.00018131142409208407
            ],
            [
              -6.904121232593426e-08,
              -4.7162627976257825e-06,
              -1.961517963852943e-06,
              -2.6038198799562838e-05,
              5.943290848525277e-06,
              -6.845664334248264e-08,
              -9.222491469470107e-06,
              4.214521136509047e-06,
              9.903670246051336e-07
            ],
            [
              2.3400545738909425e-07,
              9.771776484657178e-06,
              -4.349573812653695e-06,
              0.000234942672177788,
              -6.845664334248264e-08,
              9.282912248321048e-06,
              0.00011079791803169927,
              -1.5798131678942014e-06,
              -1.4157229690014383e-06
            ],
            [
              3.4576028686022107e-06,
              0.00022348272960799877,
              -0.00010286288295736244,
              0.0069650274398934545,
              -9.222491469470107e-06,
              0.00011079791803169927,
              0.0033421992856361017,
              -8.383419104085452e-05,
              -5.569625134059632e-05
            ],
            [
              -4.606670644335927e-07,
              -1.7785551518222042e-05,
              1.9289811495149613e-05,
              -0.00018756251827685216,
              4.214521136509047e-06,
              -1.5798131678942014e-06,
              -8.383419104085452e-05,
              3.787640969790225e-05,
              3.343300882446206e-05
            ],
            [
              -3.8820883791898244e-07,
              -5.487581592765904e-05,
              1.3711427485694216e-05,
              -0.00018131142409208407,
              9.903670246051336e-07,
              -1.4157229690014383e-06,
              -5.569625134059632e-05,
              3.343300882446206e-05,
              8.812876689168039e-05
            ]
          ],
          "nis_distribution": {
            "count": 54,
            "rms": 16.35667207479268,
            "p50_abs": 16.053859474231224,
            "p95_abs": 17.948014097473727,
            "p99_abs": 18.789355352636516
          },
          "nis_total": 882.1872690761536,
          "nis_per_dof": 1.8152001421320032,
          "alpha_factor": 1.8152001421320032,
          "alpha_composite_prediction": 1.8152001421320032,
          "alpha_factor_only_upper_bound": 133.45037800233987,
          "temporal_autocorrelation_lag1": [
            -0.30970496999421687,
            -0.3042037283932921,
            -0.43918402720140987,
            0.5568367148855267,
            -0.25211529999056115,
            0.13371172621602145,
            0.6499412597481985,
            -0.3011193551427239,
            -0.4705586940700571
          ],
          "temporal_linear_drift_per_s": [
            2.4228449486070016e-07,
            -1.058915943166177e-06,
            -5.091746009717895e-06,
            -0.0003630763100175383,
            -1.013701876355191e-06,
            -2.18602747190671e-06,
            -0.00018306915099424522,
            -1.605036521440098e-05,
            -1.6351834879591692e-05
          ]
        },
        "0819_20260819_064333": {
          "sample_count": 126,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            3.138078927314124e-05,
            -2.2473342252565488e-05,
            -1.901852104963322e-05,
            -0.23607299128050455,
            -0.08699885863905352,
            -0.02226186709152242,
            -0.11869602630005541,
            -0.04301771149414077,
            -0.011738753295334796
          ],
          "innovation_distribution": {
            "count": 1134,
            "rms": 0.10335062055194078,
            "p50_abs": 0.02432835029912761,
            "p95_abs": 0.2373739889399909,
            "p99_abs": 0.38818643807360326
          },
          "axis_rms": [
            0.00026872821140845734,
            0.008174535495325935,
            0.002081062428243421,
            0.2619722914752161,
            0.08701697003102238,
            0.0262061381969759,
            0.13076785842476077,
            0.04307309072737282,
            0.014738068219200845
          ],
          "axis_p50_abs": [
            0.00018346000695026885,
            0.00472875069580426,
            0.0014972998068756062,
            0.2164143840093089,
            0.08688116017675836,
            0.01952671843415832,
            0.11082925937963797,
            0.0427189776410879,
            0.010671560011667136
          ],
          "axis_p95_abs": [
            0.0005206710217831054,
            0.01675182878937268,
            0.004103533546451144,
            0.442345475190695,
            0.08974234811626881,
            0.045552598044026116,
            0.22103075413244738,
            0.04662588605489774,
            0.027285883758642937
          ],
          "axis_p99_abs": [
            0.0006520304849767681,
            0.02183976046907726,
            0.004614947085498532,
            0.5148235400235568,
            0.0916842346299819,
            0.0612513684072864,
            0.23914897414326633,
            0.04726002930612481,
            0.030042086754622277
          ],
          "vector_rms": 0.3100518616558223,
          "vector_p50": 0.2616609259537763,
          "vector_p95": 0.5087147712231892,
          "vector_p99": 0.5800742330882585,
          "normalized_distribution": {
            "count": 1134,
            "rms": 0.5106838955554622,
            "p50_abs": 0.2358264897406417,
            "p95_abs": 1.2099093677173132,
            "p99_abs": 1.7783206988381743
          },
          "empirical_covariance": [
            [
              7.179993845275435e-08,
              -5.026029821094636e-08,
              -4.92143995002037e-07,
              7.193563141905235e-07,
              -1.5776987508435293e-07,
              1.706339765827034e-08,
              4.810787899913026e-07,
              -1.0101992835312144e-07,
              2.7007161585827504e-08
            ],
            [
              -5.026029821094636e-08,
              6.73571057173375e-05,
              -4.327476570450458e-07,
              0.00031265224058299847,
              -7.81190812851788e-07,
              4.1782173948438384e-05,
              0.00010754840830565775,
              1.0322294493152926e-06,
              -7.611659470760814e-06
            ],
            [
              -4.92143995002037e-07,
              -4.327476570450458e-07,
              4.365102799112313e-06,
              1.0021270104670871e-05,
              5.97465444554619e-07,
              1.3678690261563684e-06,
              4.275275153563073e-06,
              6.41002115396756e-07,
              8.552172573020766e-07
            ],
            [
              7.193563141905235e-07,
              0.00031265224058299847,
              1.0021270104670871e-05,
              0.013002216482959595,
              2.9393942803078217e-06,
              0.001520226098604981,
              0.006244467670800358,
              2.131945918217852e-05,
              0.0005806827819950472
            ],
            [
              -1.5776987508435293e-07,
              -7.81190812851788e-07,
              5.97465444554619e-07,
              2.9393942803078217e-06,
              3.176882232889063e-06,
              5.424914579042491e-07,
              2.541002202170616e-06,
              1.5712686064641293e-06,
              1.8809597071990059e-06
            ],
            [
              1.706339765827034e-08,
              4.1782173948438384e-05,
              1.3678690261563684e-06,
              0.001520226098604981,
              5.424914579042491e-07,
              0.00019270032042077804,
              0.0007262349772371985,
              3.095520305738068e-06,
              7.724395905255436e-05
            ],
            [
              4.810787899913026e-07,
              0.00010754840830565775,
              4.275275153563073e-06,
              0.006244467670800358,
              2.541002202170616e-06,
              0.0007262349772371985,
              0.003035578026675424,
              1.1399802135587955e-05,
              0.0002978096152346429
            ],
            [
              -1.0101992835312144e-07,
              1.0322294493152926e-06,
              6.41002115396756e-07,
              2.131945918217852e-05,
              1.5712686064641293e-06,
              3.095520305738068e-06,
              1.1399802135587955e-05,
              4.805783756282766e-06,
              2.611427307565214e-06
            ],
            [
              2.7007161585827504e-08,
              -7.611659470760814e-06,
              8.552172573020766e-07,
              0.0005806827819950472,
              1.8809597071990059e-06,
              7.724395905255436e-05,
              0.0002978096152346429,
              2.611427307565214e-06,
              8.004762451232513e-05
            ]
          ],
          "nis_distribution": {
            "count": 126,
            "rms": 2.9967756980969518,
            "p50_abs": 1.674925726763182,
            "p95_abs": 6.2893048432274155,
            "p99_abs": 8.2222584757032
          },
          "nis_total": 295.74497869778236,
          "nis_per_dof": 0.26079804117970223,
          "alpha_factor": 0.26079804117970223,
          "alpha_composite_prediction": 0.26079804117970223,
          "alpha_factor_only_upper_bound": 19.66613035461445,
          "temporal_autocorrelation_lag1": [
            -0.31127377571839554,
            -0.39344841418970755,
            -0.4072288699388372,
            0.7260550686545862,
            -0.11859643706731032,
            0.5822145581212598,
            0.79756630524139,
            -0.24052374669707755,
            0.14274532823214922
          ],
          "temporal_linear_drift_per_s": [
            -2.0379286681623686e-07,
            2.6107208425380953e-06,
            -4.08045089512366e-07,
            -0.0003322779303301751,
            -1.9778843342925773e-06,
            -3.765230801990667e-05,
            -0.00016876620130483897,
            -1.956587494933953e-06,
            -2.5487584672289243e-05
          ]
        },
        "0815_20260814_103326": {
          "sample_count": 41,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            -2.969300267669917e-05,
            0.0008219020037097502,
            -5.606746109766128e-05,
            0.19360238288148346,
            0.6483561009159576,
            0.020101130432799413,
            0.09566843680792565,
            0.32532949098262676,
            0.013708642313632693
          ],
          "innovation_distribution": {
            "count": 369,
            "rms": 0.2547495181313902,
            "p50_abs": 0.02222311280028144,
            "p95_abs": 0.648599227090669,
            "p99_abs": 0.6521467458893309
          },
          "axis_rms": [
            0.00014152278180303438,
            0.00828216849217595,
            0.005346101288076299,
            0.21451946539804959,
            0.6483632129592664,
            0.020344673700458855,
            0.10504602397691346,
            0.3253706392825448,
            0.016449163777235133
          ],
          "axis_p50_abs": [
            0.00011438027415760323,
            0.005769055553160904,
            0.0037867372268605946,
            0.1679949937262432,
            0.6484803751474165,
            0.019831798273619583,
            0.08772195761266972,
            0.3248140043143031,
            0.01237011182746528
          ],
          "axis_p95_abs": [
            0.0002553029594649265,
            0.015307719382840649,
            0.010279332372683973,
            0.3290291542567369,
            0.6533256845341597,
            0.024458913996181053,
            0.16341747754218033,
            0.3317113033334809,
            0.028264979669716972
          ],
          "axis_p99_abs": [
            0.0002768922107583442,
            0.02316976495304288,
            0.015114593406471614,
            0.40943331026272056,
            0.6545869816781685,
            0.026812458150521582,
            0.19912064120942424,
            0.3355736927917867,
            0.02941588336558905
          ],
          "vector_rms": 0.7642485543941706,
          "vector_p50": 0.7488125236693953,
          "vector_p95": 0.8111315829707967,
          "vector_p99": 0.8556282236433451,
          "normalized_distribution": {
            "count": 369,
            "rms": 1.2533037160346032,
            "p50_abs": 0.1464145085459954,
            "p95_abs": 3.041548513998243,
            "p99_abs": 3.0581767801210296
          },
          "empirical_covariance": [
            [
              1.9625698945343584e-08,
              5.876399494999503e-07,
              -4.861110961398621e-07,
              7.694536157931959e-07,
              -4.402031439266502e-08,
              1.3589161691098783e-08,
              9.99733772398928e-08,
              -2.2291754736000608e-07,
              -2.6473711037808695e-07
            ],
            [
              5.876399494999503e-07,
              6.961676182981723e-05,
              -3.628465244605752e-05,
              0.0004333554246690098,
              -1.6621243947970778e-06,
              5.6448361561523965e-06,
              0.00017339408279492838,
              -3.966372434106573e-06,
              -1.2389682691209151e-05
            ],
            [
              -4.861110961398621e-07,
              -3.628465244605752e-05,
              2.9292096807731567e-05,
              -0.00020101545644523436,
              -7.538112962930248e-07,
              -2.726394591041812e-06,
              -8.230230270636797e-05,
              4.379569277015748e-06,
              5.956004959139878e-06
            ],
            [
              7.694536157931959e-07,
              0.0004333554246690098,
              -0.00020101545644523436,
              0.008750136336708368,
              -3.674388019356235e-05,
              6.688279133813642e-05,
              0.0040805724159419686,
              1.8221924097455008e-05,
              -0.00012306876256735954
            ],
            [
              -4.402031439266502e-08,
              -1.6621243947970778e-06,
              -7.538112962930248e-07,
              -3.674388019356235e-05,
              9.452882017459565e-06,
              1.19921985418994e-06,
              -1.8232854392173368e-05,
              6.372588556087875e-06,
              2.524770122340724e-06
            ],
            [
              1.3589161691098783e-08,
              5.6448361561523965e-06,
              -2.726394591041812e-06,
              6.688279133813642e-05,
              1.19921985418994e-06,
              1.0096560884270672e-05,
              2.995408860630484e-05,
              -2.654724927528656e-08,
              4.123331145294075e-06
            ],
            [
              9.99733772398928e-08,
              0.00017339408279492838,
              -8.230230270636797e-05,
              0.0040805724159419686,
              -1.8232854392173368e-05,
              2.995408860630484e-05,
              0.0019292727858883692,
              1.255715398247442e-05,
              -5.426056024254438e-05
            ],
            [
              -2.2291754736000608e-07,
              -3.966372434106573e-06,
              4.379569277015748e-06,
              1.8221924097455008e-05,
              6.372588556087875e-06,
              -2.654724927528656e-08,
              1.255715398247442e-05,
              2.7444584219795012e-05,
              1.6470718941832462e-05
            ],
            [
              -2.6473711037808695e-07,
              -1.2389682691209151e-05,
              5.956004959139878e-06,
              -0.00012306876256735954,
              2.524770122340724e-06,
              4.123331145294075e-06,
              -5.426056024254438e-05,
              1.6470718941832462e-05,
              8.47143177593632e-05
            ]
          ],
          "nis_distribution": {
            "count": 41,
            "rms": 14.189667201383735,
            "p50_abs": 13.512398015291499,
            "p95_abs": 15.919950557636517,
            "p99_abs": 17.688027373589517
          },
          "nis_total": 579.6142055070476,
          "nis_per_dof": 1.5707702046261451,
          "alpha_factor": 1.5707702046261451,
          "alpha_composite_prediction": 1.5707702046261451,
          "alpha_factor_only_upper_bound": 114.93736235139825,
          "temporal_autocorrelation_lag1": [
            -0.20169643602890217,
            -0.25442205111307126,
            -0.2468392561699762,
            0.5490330309665215,
            -0.14553979240832246,
            -0.25056447608642995,
            0.6050355266540353,
            0.160272031932616,
            -0.4181000167277133
          ],
          "temporal_linear_drift_per_s": [
            2.731617408198356e-07,
            -2.552425153365753e-05,
            1.3458977357487463e-05,
            -0.002013215900699653,
            -1.9996460998505663e-06,
            -6.745071603592167e-06,
            -0.0009690972188920846,
            -2.9696053389878864e-05,
            4.815427677347453e-06
          ]
        },
        "0819_20260819_063601": {
          "sample_count": 64,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            4.332326728821753e-05,
            0.0003753593137975134,
            -0.00011551690065418813,
            -0.0005313451912100902,
            0.5484249145397011,
            0.020026907728416254,
            -0.0015891346980061133,
            0.27340862844234864,
            0.008166168484391861
          ],
          "innovation_distribution": {
            "count": 576,
            "rms": 0.21132576470209652,
            "p50_abs": 0.017731988528845388,
            "p95_abs": 0.5491105502473081,
            "p99_abs": 0.5511912319005494
          },
          "axis_rms": [
            0.00045993149978961937,
            0.009578381820186941,
            0.0070979393067730516,
            0.14389705446496492,
            0.548429414408049,
            0.021760459957508707,
            0.07008567783289153,
            0.27344575089102885,
            0.012066000074043586
          ],
          "axis_p50_abs": [
            0.00022333379910048108,
            0.007430722934618586,
            0.003982682792091092,
            0.0937112064984961,
            0.5487316017305781,
            0.02039091350951594,
            0.048232443094325894,
            0.27407096218149307,
            0.009245264378549667
          ],
          "axis_p95_abs": [
            0.0010033524794485075,
            0.01759031826568049,
            0.01425542562848502,
            0.2508333906995156,
            0.5515930850475166,
            0.03320854455636732,
            0.12454980938028809,
            0.2797930051510457,
            0.02176523412296398
          ],
          "axis_p99_abs": [
            0.0013819570263665856,
            0.020928051464275087,
            0.019917383394506084,
            0.2808304189710752,
            0.5525393175293435,
            0.038206833462397935,
            0.13819156800668636,
            0.28236588355153824,
            0.026106538646726386
          ],
          "vector_rms": 0.6339772941062896,
          "vector_p50": 0.6232643504447906,
          "vector_p95": 0.675989477902863,
          "vector_p99": 0.6902031662723349,
          "normalized_distribution": {
            "count": 576,
            "rms": 1.0403974341317332,
            "p50_abs": 0.12665995146767328,
            "p95_abs": 2.5740943060659687,
            "p99_abs": 2.585000167015041
          },
          "empirical_covariance": [
            [
              2.1298801677226903e-07,
              3.8250767715538554e-07,
              -3.0722555708515927e-06,
              7.638994896137417e-06,
              -1.793152756214366e-07,
              7.396703642596733e-07,
              4.3440389082985846e-06,
              -1.102339986890596e-06,
              1.4917364266601451e-06
            ],
            [
              3.8250767715538554e-07,
              9.3058543419767e-05,
              -9.033699644834563e-06,
              0.000528254946147322,
              1.1318098475613092e-06,
              1.9136388733776137e-05,
              0.0002014223193444411,
              1.9257692295865423e-06,
              5.70427328405311e-07
            ],
            [
              -3.0722555708515927e-06,
              -9.033699644834563e-06,
              5.1166880760174894e-05,
              -6.012651938489877e-05,
              1.1548253335957064e-06,
              -9.27686651376973e-06,
              -3.690468732395482e-05,
              1.8992322471409927e-05,
              -1.9402649793007113e-05
            ],
            [
              7.638994896137417e-06,
              0.000528254946147322,
              -6.012651938489877e-05,
              0.02103474789179008,
              5.485805073562861e-06,
              0.0009932522522287756,
              0.010196631540474179,
              7.723430443755107e-05,
              0.0005224962699081501
            ],
            [
              -1.793152756214366e-07,
              1.1318098475613092e-06,
              1.1548253335957064e-06,
              5.485805073562861e-06,
              5.014044522973261e-06,
              5.843261158539418e-06,
              1.5108656693029715e-06,
              3.610704520827802e-06,
              4.946394953520131e-06
            ],
            [
              7.396703642596733e-07,
              1.9136388733776137e-05,
              -9.27686651376973e-06,
              0.0009932522522287756,
              5.843261158539418e-06,
              7.359043494587012e-05,
              0.00048739980597068154,
              6.506365613081852e-06,
              5.248146273804013e-05
            ],
            [
              4.3440389082985846e-06,
              0.0002014223193444411,
              -3.690468732395482e-05,
              0.010196631540474179,
              1.5108656693029715e-06,
              0.00048739980597068154,
              0.004987405092782176,
              3.368466267889259e-05,
              0.0002680852489861877
            ],
            [
              -1.102339986890596e-06,
              1.9257692295865423e-06,
              1.8992322471409927e-05,
              7.723430443755107e-05,
              3.610704520827802e-06,
              6.506365613081852e-06,
              3.368466267889259e-05,
              2.062280495983076e-05,
              1.079385008775144e-05
            ],
            [
              1.4917364266601451e-06,
              5.70427328405311e-07,
              -1.9402649793007113e-05,
              0.0005224962699081501,
              4.946394953520131e-06,
              5.248146273804013e-05,
              0.0002680852489861877,
              1.079385008775144e-05,
              8.015446356454088e-05
            ]
          ],
          "nis_distribution": {
            "count": 64,
            "rms": 9.767431217106715,
            "p50_abs": 9.428324677776562,
            "p95_abs": 11.021061066589024,
            "p99_abs": 11.607827151095641
          },
          "nis_total": 623.4778488659872,
          "nis_per_dof": 1.0824268209478944,
          "alpha_factor": 1.0824268209478944,
          "alpha_composite_prediction": 1.0824268209478944,
          "alpha_factor_only_upper_bound": 80.03630312985477,
          "temporal_autocorrelation_lag1": [
            -0.5627630664707198,
            -0.45658620686966694,
            -0.5667765071326072,
            0.7475275414929777,
            -0.09995097091242876,
            0.4044118557833443,
            0.8120729922624288,
            -0.26604314201243573,
            -0.07526689758430637
          ],
          "temporal_linear_drift_per_s": [
            -1.3917104647124795e-07,
            1.1074208090500886e-05,
            5.105818889964646e-06,
            0.0012011622603481612,
            -6.973344715855255e-06,
            4.7580263343575355e-05,
            0.000593538994259044,
            -4.709628055104047e-06,
            5.527507647692407e-06
          ]
        },
        "0819_20260819_062947": {
          "sample_count": 53,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            4.0997742075448644e-05,
            -5.7683812525313555e-05,
            -5.393630253944958e-05,
            -0.037791132475879965,
            0.6014508785040767,
            0.02437046702409776,
            -0.019886383251710417,
            0.3003216674773076,
            0.011245662273758145
          ],
          "innovation_distribution": {
            "count": 477,
            "rms": 0.22577788954753825,
            "p50_abs": 0.018177003850953888,
            "p95_abs": 0.6020258087280126,
            "p99_abs": 0.6044117271561892
          },
          "axis_rms": [
            0.00016585841371674382,
            0.007268377467857888,
            0.0041140647663700704,
            0.06979909545837513,
            0.6014549896463776,
            0.024770232908047203,
            0.03318167549918185,
            0.3003407516508134,
            0.013112699995580042
          ],
          "axis_p50_abs": [
            0.000140839868250946,
            0.004272029496446024,
            0.0025260067089590906,
            0.04286169065256851,
            0.6018096134786418,
            0.024179119271918736,
            0.020155472914414503,
            0.30051728044757964,
            0.009937144878903403
          ],
          "axis_p95_abs": [
            0.00029800520355178215,
            0.014691509748723713,
            0.008103827637183909,
            0.14974375013112529,
            0.6050374222947181,
            0.03079703829452285,
            0.07041268847623959,
            0.30524150796843913,
            0.02244866985486631
          ],
          "axis_p99_abs": [
            0.00033164568851754906,
            0.01632603827789319,
            0.00870651386552652,
            0.18433893131613094,
            0.6053997906242452,
            0.032407046350676934,
            0.08618638036019792,
            0.30563304380051337,
            0.023365079934620177
          ],
          "vector_rms": 0.6773336686426148,
          "vector_p50": 0.6754387652010613,
          "vector_p95": 0.6925691334436792,
          "vector_p99": 0.7027873829056928,
          "normalized_distribution": {
            "count": 477,
            "rms": 1.1099288167925516,
            "p50_abs": 0.0740989306782489,
            "p95_abs": 2.8227704598506227,
            "p99_abs": 2.8340630279809726
          },
          "empirical_covariance": [
            [
              2.6324894671221636e-08,
              1.0024839307446797e-07,
              -3.065166523471478e-07,
              5.764081443252445e-07,
              -9.329325340672651e-08,
              -4.5895673886788016e-08,
              2.3828539836693682e-07,
              -1.8111655140873837e-07,
              -8.476871582429117e-08
            ],
            [
              1.0024839307446797e-07,
              5.384186789290283e-05,
              -1.5727723237838084e-06,
              0.0002412883809199211,
              8.760428076863886e-07,
              7.113750791581894e-06,
              7.540960546148026e-05,
              -2.8889453700392024e-06,
              -1.3122390196300105e-05
            ],
            [
              -3.065166523471478e-07,
              -1.5727723237838084e-06,
              1.7248054772870536e-05,
              -2.0982878015518137e-05,
              -2.580890463148633e-06,
              -5.3715774948250485e-06,
              -1.345445891380033e-05,
              7.361947572287081e-06,
              -4.843791365233359e-06
            ],
            [
              5.764081443252445e-07,
              0.0002412883809199211,
              -2.0982878015518137e-05,
              0.0035099698797862785,
              1.6573642471450456e-05,
              6.965573783743866e-05,
              0.0015543943804211039,
              -4.454456269299295e-06,
              -1.5242682201944057e-05
            ],
            [
              -9.329325340672651e-08,
              8.760428076863886e-07,
              -2.580890463148633e-06,
              1.6573642471450456e-05,
              5.04041945230249e-06,
              4.214498979209903e-06,
              8.329271024684108e-06,
              1.4608911540216205e-06,
              4.091723952174696e-06
            ],
            [
              -4.5895673886788016e-08,
              7.113750791581894e-06,
              -5.3715774948250485e-06,
              6.965573783743866e-05,
              4.214498979209903e-06,
              2.00225594875427e-05,
              3.013736167673563e-05,
              2.0440278613853843e-07,
              1.316343433620204e-05
            ],
            [
              2.3828539836693682e-07,
              7.540960546148026e-05,
              -1.345445891380033e-05,
              0.0015543943804211039,
              8.329271024684108e-06,
              3.013736167673563e-05,
              0.0007191237222163867,
              -3.6377085507370087e-06,
              2.2293798809720953e-06
            ],
            [
              -1.8111655140873837e-07,
              -2.8889453700392024e-06,
              7.361947572287081e-06,
              -4.454456269299295e-06,
              1.4608911540216205e-06,
              2.0440278613853843e-07,
              -3.6377085507370087e-06,
              1.1683590937145105e-05,
              5.0447480779962445e-06
            ],
            [
              -8.476871582429117e-08,
              -1.3122390196300105e-05,
              -4.843791365233359e-06,
              -1.5242682201944057e-05,
              4.091723952174696e-06,
              1.316343433620204e-05,
              2.2293798809720953e-06,
              5.0447480779962445e-06,
              4.635255776017027e-05
            ]
          ],
          "nis_distribution": {
            "count": 53,
            "rms": 11.090464903788575,
            "p50_abs": 11.027996655387605,
            "p95_abs": 11.583755852116209,
            "p99_abs": 11.962812411255914
          },
          "nis_total": 587.636323671287,
          "nis_per_dof": 1.2319419783465135,
          "alpha_factor": 1.2319419783465135,
          "alpha_composite_prediction": 1.2319419783465135,
          "alpha_factor_only_upper_bound": 90.273059345423,
          "temporal_autocorrelation_lag1": [
            0.055622082332638184,
            -0.46015664236843373,
            -0.2919057086261504,
            0.1958695797212159,
            -0.04936267863847686,
            -0.4432503773507828,
            0.37912205744566746,
            -0.280252342669089,
            0.06353610594946392
          ],
          "temporal_linear_drift_per_s": [
            -4.983407902899402e-08,
            -1.0040054250044104e-05,
            -4.411604507224645e-06,
            0.00018832428292165322,
            -4.874619870086181e-07,
            4.903486027793529e-06,
            9.880084338113304e-05,
            2.385071589829946e-06,
            3.6085924658403994e-05
          ]
        },
        "0815_20260814_102314": {
          "sample_count": 44,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            4.580696948502747e-05,
            0.001737670763486332,
            -0.0013465952318039405,
            -0.17947019282517032,
            0.7220206907220976,
            0.014574352845294564,
            -0.09270610137572494,
            0.36159951736260604,
            0.009821368470190682
          ],
          "innovation_distribution": {
            "count": 396,
            "rms": 0.27929462412814354,
            "p50_abs": 0.018069736370652123,
            "p95_abs": 0.7221801904996277,
            "p99_abs": 0.7272674819933732
          },
          "axis_rms": [
            0.0004235260619720168,
            0.010380651360841401,
            0.006748637845224816,
            0.1982026753174797,
            0.7220329391977701,
            0.01627105225669897,
            0.10041042781943976,
            0.36163659935440573,
            0.012329041063407608
          ],
          "axis_p50_abs": [
            0.0002473480956736935,
            0.0077874935797769915,
            0.004385782544434759,
            0.17435227920846288,
            0.7216700913724935,
            0.013954593650844949,
            0.09198933250346093,
            0.36207523245226203,
            0.010755447905855586
          ],
          "axis_p95_abs": [
            0.0007930581124053499,
            0.01919289789956233,
            0.012789260252197116,
            0.3147651572695497,
            0.7277426106927182,
            0.02874475869585656,
            0.1547719376559777,
            0.368202247133017,
            0.02000595248011754
          ],
          "axis_p99_abs": [
            0.0011768437999759283,
            0.02055265460957249,
            0.017044343715468525,
            0.33595121003928313,
            0.7333987329430163,
            0.0334162605062307,
            0.16701602973377352,
            0.3721278913172611,
            0.022705159906916975
          ],
          "vector_rms": 0.8378838723844306,
          "vector_p50": 0.8322919901388512,
          "vector_p95": 0.8828806546333324,
          "vector_p99": 0.8938029623503412,
          "normalized_distribution": {
            "count": 396,
            "rms": 1.3746459558751407,
            "p50_abs": 0.18110464165310805,
            "p95_abs": 3.38552202246238,
            "p99_abs": 3.408591671886405
          },
          "empirical_covariance": [
            [
              1.8139874547696248e-07,
              2.202557756272808e-06,
              -2.2894810316944986e-06,
              9.935521330273558e-06,
              5.448540578538282e-07,
              5.392063464541119e-07,
              4.075111623387908e-06,
              1.3450604977890502e-07,
              1.3837553626619954e-07
            ],
            [
              2.202557756272808e-06,
              0.00010717420027197172,
              -5.2687152370256676e-05,
              0.0005653534009233594,
              1.2597094724964465e-05,
              7.556162055640052e-06,
              0.0002198387412450037,
              -2.270818446649475e-06,
              -3.9565373488249505e-06
            ],
            [
              -2.2894810316944986e-06,
              -5.2687152370256676e-05,
              4.47477892580948e-05,
              -0.0002648258762182011,
              -8.612359400686808e-06,
              -1.4335167467767697e-05,
              -0.00010617719031069842,
              3.189112516736125e-06,
              -8.772499802393067e-07
            ],
            [
              9.935521330273558e-06,
              0.0005653534009233594,
              -0.0002648258762182011,
              0.007239279469146695,
              2.9329337520285965e-05,
              0.00020821296565166905,
              0.003287096429709402,
              -3.30466925694684e-05,
              5.1931170722804954e-05
            ],
            [
              5.448540578538282e-07,
              1.2597094724964465e-05,
              -8.612359400686808e-06,
              2.9329337520285965e-05,
              1.80987919360984e-05,
              1.1129778410944545e-06,
              1.1898783295698926e-05,
              6.41449651394262e-06,
              -3.176803320184186e-06
            ],
            [
              5.392063464541119e-07,
              7.556162055640052e-06,
              -1.4335167467767697e-05,
              0.00020821296565166905,
              1.1129778410944545e-06,
              5.355248255738711e-05,
              0.00010245023313883563,
              -3.038412748043448e-06,
              1.982491724052208e-05
            ],
            [
              4.075111623387908e-06,
              0.0002198387412450037,
              -0.00010617719031069842,
              0.003287096429709402,
              1.1898783295698926e-05,
              0.00010245023313883563,
              0.001522433544982703,
              -1.2427660020461873e-05,
              3.037585793467771e-05
            ],
            [
              1.3450604977890502e-07,
              -2.270818446649475e-06,
              3.189112516736125e-06,
              -3.30466925694684e-05,
              6.41449651394262e-06,
              -3.038412748043448e-06,
              -1.2427660020461873e-05,
              2.7442734255120984e-05,
              2.0013532353417167e-05
            ],
            [
              1.3837553626619954e-07,
              -3.9565373488249505e-06,
              -8.772499802393067e-07,
              5.1931170722804954e-05,
              -3.176803320184186e-06,
              1.982491724052208e-05,
              3.037585793467771e-05,
              2.0013532353417167e-05,
              5.6837741774445495e-05
            ]
          ],
          "nis_distribution": {
            "count": 44,
            "rms": 17.032296935304725,
            "p50_abs": 16.787324993480453,
            "p95_abs": 18.8640156673194,
            "p99_abs": 19.350802459326182
          },
          "nis_total": 748.301995585536,
          "nis_per_dof": 1.8896515040038788,
          "alpha_factor": 1.8896515040038788,
          "alpha_composite_prediction": 1.8896515040038788,
          "alpha_factor_only_upper_bound": 138.73145941663938,
          "temporal_autocorrelation_lag1": [
            -0.43171309941771235,
            -0.5361474612832956,
            -0.3850477081069064,
            0.2774046611948814,
            -0.37665081010565915,
            -0.11257587468753386,
            0.41725625464296345,
            0.1304718504628486,
            -0.12134602130015516
          ],
          "temporal_linear_drift_per_s": [
            2.2779287321010047e-06,
            -2.3199632396078334e-05,
            -4.451306554212113e-06,
            0.0005394423151210647,
            -1.368777995206262e-05,
            1.9704684942140352e-05,
            0.0003281835052642682,
            -2.9372243556050314e-05,
            2.838158222153865e-05
          ]
        },
        "0819_20260819_071004": {
          "sample_count": 98,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            -1.4438259682109398e-05,
            -0.00039227202149463223,
            -7.949038114350558e-05,
            0.0808387604986741,
            -0.10532507578642575,
            0.00225652150975373,
            0.03886676180011533,
            -0.052293738532373346,
            0.005924665082946838
          ],
          "innovation_distribution": {
            "count": 882,
            "rms": 0.05794109453989072,
            "p50_abs": 0.009363347628590868,
            "p95_abs": 0.1098570497830754,
            "p99_abs": 0.17050521161600438
          },
          "axis_rms": [
            0.0001225535471807263,
            0.006945765295752805,
            0.0016468512385442702,
            0.11468460041103334,
            0.1053379749565045,
            0.004333150872880239,
            0.055383075048179596,
            0.052336414504917564,
            0.009473917538269797
          ],
          "axis_p50_abs": [
            8.599323693718107e-05,
            0.0048948835710058685,
            0.0011034058287833952,
            0.1063127090946682,
            0.10527182434004365,
            0.0027319968998069655,
            0.052788636304784455,
            0.052156962254736955,
            0.006917610955158082
          ],
          "axis_p95_abs": [
            0.00024326410013709966,
            0.013967006964374109,
            0.0030800780349378373,
            0.18879686894850486,
            0.10782322028635416,
            0.00869940660919743,
            0.08870434058360284,
            0.055608730534451103,
            0.017748439234408185
          ],
          "axis_p99_abs": [
            0.00029747408719403904,
            0.018927532258826124,
            0.0034228667330614498,
            0.19852709045746847,
            0.10955590518280243,
            0.012164873125172077,
            0.09784159434861783,
            0.05635377107192976,
            0.020948607400603097
          ],
          "vector_rms": 0.17382328361967214,
          "vector_p50": 0.1669772535479906,
          "vector_p95": 0.24154835304936606,
          "vector_p99": 0.25141152838195113,
          "normalized_distribution": {
            "count": 882,
            "rms": 0.2877395597176966,
            "p50_abs": 0.07481899502814593,
            "p95_abs": 0.5168840347952691,
            "p99_abs": 0.7989356643221196
          },
          "empirical_covariance": [
            [
              1.4963598363146273e-08,
              1.6489685181927037e-07,
              -1.4671631812921642e-08,
              7.498940866150599e-07,
              -7.194296727365678e-08,
              7.620680738508179e-09,
              2.765826032875855e-07,
              -3.817622122854231e-08,
              -8.835015740974189e-08
            ],
            [
              1.6489685181927037e-07,
              4.858554911416482e-05,
              -1.6300594995271692e-06,
              0.00022625716921424252,
              -1.0273804777647315e-06,
              3.269410590798253e-06,
              7.793384963114418e-05,
              -5.796278512985775e-07,
              -8.50079768090473e-06
            ],
            [
              -1.4671631812921642e-08,
              -1.6300594995271692e-06,
              2.7336951294602546e-06,
              -8.33521267314593e-06,
              1.4449499179624278e-07,
              3.3067371945456815e-07,
              -3.536610846202242e-06,
              5.751240847050113e-07,
              -2.762671288116187e-07
            ],
            [
              7.498940866150599e-07,
              0.00022625716921424252,
              -8.33521267314593e-06,
              0.006685875592811209,
              -1.3944325661477278e-05,
              -2.1113980636065622e-05,
              0.00321040606956509,
              6.983437710467413e-06,
              -7.810137176127803e-05
            ],
            [
              -7.194296727365678e-08,
              -1.0273804777647315e-06,
              1.4449499179624278e-07,
              -1.3944325661477278e-05,
              2.7453927323944585e-06,
              7.748519435315681e-07,
              -6.107591860775385e-06,
              1.7082326573218037e-06,
              4.06720072579632e-07
            ],
            [
              7.620680738508179e-09,
              3.269410590798253e-06,
              3.3067371945456815e-07,
              -2.1113980636065622e-05,
              7.748519435315681e-07,
              1.3825382494740512e-05,
              -1.2816546341574443e-05,
              -9.553336984186365e-07,
              7.0996386948972905e-06
            ],
            [
              2.765826032875855e-07,
              7.793384963114418e-05,
              -3.536610846202242e-06,
              0.00321040606956509,
              -6.107591860775385e-06,
              -1.2816546341574443e-05,
              0.001572707868439262,
              4.856636733378034e-06,
              -3.712543876588564e-05
            ],
            [
              -3.817622122854231e-08,
              -5.796278512985775e-07,
              5.751240847050113e-07,
              6.983437710467413e-06,
              1.7082326573218037e-06,
              -9.553336984186365e-07,
              4.856636733378034e-06,
              4.511226461393319e-06,
              -2.2341333732212642e-06
            ],
            [
              -8.835015740974189e-08,
              -8.50079768090473e-06,
              -2.762671288116187e-07,
              -7.810137176127803e-05,
              4.06720072579632e-07,
              7.0996386948972905e-06,
              -3.712543876588564e-05,
              -2.2341333732212642e-06,
              5.5216894879700745e-05
            ]
          ],
          "nis_distribution": {
            "count": 98,
            "rms": 0.8143444509028639,
            "p50_abs": 0.6874796936396588,
            "p95_abs": 1.42146205744687,
            "p99_abs": 1.5271206896095133
          },
          "nis_total": 73.02435582780289,
          "nis_per_dof": 0.0827940542265339,
          "alpha_factor": 0.0827940542265339,
          "alpha_composite_prediction": 0.0827940542265339,
          "alpha_factor_only_upper_bound": 6.748007269398423,
          "temporal_autocorrelation_lag1": [
            0.07520966034258647,
            -0.22579092549253632,
            -0.5022593731633691,
            0.6777963333273664,
            -0.11727333077239976,
            -0.2734159196675911,
            0.7680492858424881,
            -0.1818407482167899,
            -0.21721818292676742
          ],
          "temporal_linear_drift_per_s": [
            2.0750891629088188e-07,
            9.736280348239804e-06,
            -4.453095313712741e-07,
            -0.00029144589349728445,
            -2.4284293298083963e-06,
            6.996318511801804e-06,
            -0.00016006739759502237,
            -3.960354204420449e-06,
            2.8006523003588645e-05
          ]
        },
        "0819_20260819_073045": {
          "sample_count": 108,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            -4.2779517549085685e-05,
            -0.00020114154111672817,
            0.000127236582724584,
            -0.07860209634580514,
            -0.05872215165457888,
            4.606480168044834e-05,
            -0.03912373178600175,
            -0.02997537225820068,
            -0.001229114254222641
          ],
          "innovation_distribution": {
            "count": 972,
            "rms": 0.05809984247976013,
            "p50_abs": 0.008717457391464824,
            "p95_abs": 0.13423482109075635,
            "p99_abs": 0.2545906491654295
          },
          "axis_rms": [
            0.0001280446540049466,
            0.007892064147734478,
            0.001962463564491638,
            0.14443081638841437,
            0.05875647138459341,
            0.005647795640372201,
            0.07079872759019362,
            0.030069112699634956,
            0.007285623902420784
          ],
          "axis_p50_abs": [
            9.267559763784212e-05,
            0.0052747715399509565,
            0.0012052797653131632,
            0.08270490962069775,
            0.05857877867945357,
            0.003956385649615868,
            0.04184034841439227,
            0.030131111870052477,
            0.004914674779978423
          ],
          "axis_p95_abs": [
            0.0002327651525582484,
            0.014897309855096122,
            0.003807013516903292,
            0.29560842208850535,
            0.06184940760516352,
            0.01133997690352828,
            0.14506104434651046,
            0.03366841766909972,
            0.015103023510771859
          ],
          "axis_p99_abs": [
            0.00030209012601046647,
            0.018636866705778438,
            0.004342212232763559,
            0.3481481632565807,
            0.06241341924991766,
            0.014161914658165811,
            0.1642422063341919,
            0.03472033689532609,
            0.01677905057128204
          ],
          "vector_rms": 0.17429952743928043,
          "vector_p50": 0.11328346579408807,
          "vector_p95": 0.3383253198961267,
          "vector_p99": 0.39089785533219784,
          "normalized_distribution": {
            "count": 972,
            "rms": 0.28988523679966566,
            "p50_abs": 0.08268526148772187,
            "p95_abs": 0.6636539972929152,
            "p99_abs": 1.1893016176039284
          },
          "empirical_covariance": [
            [
              1.4701471029266424e-08,
              5.3858906302846985e-08,
              -1.214453070764661e-07,
              1.2018820538522298e-06,
              -6.280778654359678e-08,
              7.991675994521361e-08,
              5.632342353864166e-07,
              -5.6617089608657906e-08,
              -6.789943075966583e-08
            ],
            [
              5.3858906302846985e-08,
              6.282594026148091e-05,
              2.789472236191304e-06,
              0.0003277931196774584,
              -2.995749581078811e-06,
              8.575508586140062e-06,
              0.00011854146579535262,
              -3.8597988729325846e-07,
              -2.236945982847827e-05
            ],
            [
              -1.214453070764661e-07,
              2.789472236191304e-06,
              3.870915907936168e-06,
              4.2455788308990544e-07,
              -2.0566662584712726e-07,
              -4.3336612678799724e-07,
              -2.715820810644063e-06,
              2.3802460076375086e-07,
              9.492390759493543e-07
            ],
            [
              1.2018820538522298e-06,
              0.0003277931196774584,
              4.2455788308990544e-07,
              0.014819185856525353,
              -1.7285849420236048e-07,
              0.00047271611810336073,
              0.00717692412898312,
              -4.680154465154149e-06,
              6.868601640562949e-05
            ],
            [
              -6.280778654359678e-08,
              -2.995749581078811e-06,
              -2.0566662584712726e-07,
              -1.7285849420236048e-07,
              4.0695153226136305e-06,
              1.04719588334005e-06,
              3.129216839747968e-06,
              2.5118554415269545e-06,
              1.8040684200877901e-06
            ],
            [
              7.991675994521361e-08,
              8.575508586140062e-06,
              -4.3336612678799724e-07,
              0.00047271611810336073,
              1.04719588334005e-06,
              3.21935621680464e-05,
              0.00023044455008269633,
              -8.49279664632241e-08,
              1.1930977059977582e-05
            ],
            [
              5.632342353864166e-07,
              0.00011854146579535262,
              -2.715820810644063e-06,
              0.00717692412898312,
              3.129216839747968e-06,
              0.00023044455008269633,
              0.0035143335651305055,
              -1.9096081956426756e-07,
              5.5430279006950596e-05
            ],
            [
              -5.6617089608657906e-08,
              -3.8597988729325846e-07,
              2.3802460076375086e-07,
              -4.680154465154149e-06,
              2.5118554415269545e-06,
              -8.49279664632241e-08,
              -1.9096081956426756e-07,
              5.68120023148829e-06,
              -1.4722006260336202e-06
            ],
            [
              -6.789943075966583e-08,
              -2.236945982847827e-05,
              9.492390759493543e-07,
              6.868601640562949e-05,
              1.8040684200877901e-06,
              1.1930977059977582e-05,
              5.5430279006950596e-05,
              -1.4722006260336202e-06,
              5.2051552618130015e-05
            ]
          ],
          "nis_distribution": {
            "count": 108,
            "rms": 1.1467854964651318,
            "p50_abs": 0.3364111161768719,
            "p95_abs": 2.7995485258530035,
            "p99_abs": 3.6990903535240607
          },
          "nis_total": 81.68051389999506,
          "nis_per_dof": 0.08403345051439821,
          "alpha_factor": 0.08403345051439821,
          "alpha_composite_prediction": 0.08403345051439821,
          "alpha_factor_only_upper_bound": 6.810814342797432,
          "temporal_autocorrelation_lag1": [
            -0.08231691501003328,
            -0.44492399656583315,
            -0.5024286720663118,
            0.7764823321465242,
            -0.30253813338680374,
            0.17639939904072088,
            0.8339448569719801,
            -0.31807555441876395,
            -0.2893428047662745
          ],
          "temporal_linear_drift_per_s": [
            1.6122140002273397e-07,
            2.9380229579606165e-06,
            -3.424141891058577e-07,
            0.000982901807277229,
            5.101283612887603e-07,
            2.913143699532127e-05,
            0.0004888044925879108,
            -1.4656580374653727e-06,
            1.943814603699173e-05
          ]
        },
        "0815_20260814_113355": {
          "sample_count": 13,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            0.0021158279213981893,
            -0.0016540596428482328,
            0.000889987775004836,
            -0.0012890699396747329,
            -0.13831316315974213,
            0.0019522783757948648,
            0.003505906179155178,
            -0.06778455444221564,
            0.0012355068898239042
          ],
          "innovation_distribution": {
            "count": 117,
            "rms": 0.06562580286863409,
            "p50_abs": 0.014417620056283553,
            "p95_abs": 0.15633863513792076,
            "p99_abs": 0.2419964499295156
          },
          "axis_rms": [
            0.0031469209581407613,
            0.00716826131626025,
            0.007178782811335206,
            0.06543955833152833,
            0.16207197101104326,
            0.02026425727558182,
            0.03160054017087126,
            0.07999761399003517,
            0.017011170646303676
          ],
          "axis_p50_abs": [
            0.0015810805843810326,
            0.0032973348631127994,
            0.004844771602617866,
            0.0354539217321726,
            0.1133863999230089,
            0.01602999353106327,
            0.01878632415252721,
            0.05831168594283605,
            0.010285670802351099
          ],
          "axis_p95_abs": [
            0.0061189245026648685,
            0.014599407913125882,
            0.013233593022978588,
            0.12443812093323897,
            0.2507153778219607,
            0.03438197066942193,
            0.05947078958919139,
            0.12599920558867844,
            0.031015380504519092
          ],
          "axis_p99_abs": [
            0.006612018398828981,
            0.018423213941321778,
            0.01472753128430287,
            0.1498070100711884,
            0.2577941719150322,
            0.03996303256967478,
            0.07013811753622495,
            0.12619867482530353,
            0.0368055962899331
          ],
          "vector_rms": 0.19687740860590225,
          "vector_p50": 0.17997112855398342,
          "vector_p95": 0.28454791753392955,
          "vector_p99": 0.29037717882779673,
          "normalized_distribution": {
            "count": 117,
            "rms": 0.3275094351197184,
            "p50_abs": 0.08352911548450892,
            "p95_abs": 0.7328760205891157,
            "p99_abs": 1.1347113396020008
          },
          "empirical_covariance": [
            [
              5.878582367468829e-06,
              1.4725627588565111e-06,
              -1.874765207472482e-06,
              4.4305272764015256e-05,
              -5.4026606746684444e-05,
              9.95881393571444e-06,
              2.124841509450852e-05,
              -2.4243143323398415e-05,
              2.889555178672405e-05
            ],
            [
              1.4725627588565111e-06,
              5.270206174576842e-05,
              -1.4035408061946189e-05,
              0.000296670399927623,
              -1.982142960181106e-05,
              8.167296839872625e-05,
              0.00010680502574299743,
              -1.8170520781013674e-05,
              2.608425980050414e-05
            ],
            [
              -1.874765207472482e-06,
              -1.4035408061946189e-05,
              5.497141478038574e-05,
              -0.0002847092702540008,
              -6.809996460465669e-05,
              3.6238303458232264e-05,
              -0.00014222316630002813,
              -9.788978584462986e-07,
              2.7229560060948745e-05
            ],
            [
              4.4305272764015256e-05,
              0.000296670399927623,
              -0.0002847092702540008,
              0.004637396934425803,
              0.002500914111953643,
              0.0005196921314374286,
              0.0021723094237625154,
              0.0011791663515186655,
              0.0003290251583344644
            ],
            [
              -5.4026606746684444e-05,
              -1.982142960181106e-05,
              -6.809996460465669e-05,
              0.002500914111953643,
              0.007731525407830242,
              0.0003112257536015976,
              0.0012553949538489913,
              0.00384764484256096,
              -0.00023784328501560203
            ],
            [
              9.95881393571444e-06,
              8.167296839872625e-05,
              3.6238303458232264e-05,
              0.0005196921314374286,
              0.0003112257536015976,
              0.0004407311264139057,
              0.00020315073503939855,
              0.0001680003208515043,
              0.00026868672704378723
            ],
            [
              2.124841509450852e-05,
              0.00010680502574299743,
              -0.00014222316630002813,
              0.0021723094237625154,
              0.0012553949538489913,
              0.00020315073503939855,
              0.0010684946576999606,
              0.0005988449478152035,
              0.00016742534227661072
            ],
            [
              -2.4243143323398415e-05,
              -1.8170520781013674e-05,
              -9.788978584462986e-07,
              0.0011791663515186655,
              0.00384764484256096,
              0.0001680003208515043,
              0.0005988449478152035,
              0.001955278458433058,
              -9.084742122099392e-05
            ],
            [
              2.889555178672405e-05,
              2.608425980050414e-05,
              2.7229560060948745e-05,
              0.0003290251583344644,
              -0.00023784328501560203,
              0.00026868672704378723,
              0.00016742534227661072,
              -9.084742122099392e-05,
              0.0003118412369397665
            ]
          ],
          "nis_distribution": {
            "count": 13,
            "rms": 1.2281146480162135,
            "p50_abs": 0.8071537535676894,
            "p95_abs": 1.9868961016490492,
            "p99_abs": 2.0569914761300874
          },
          "nis_total": 12.549704320815135,
          "nis_per_dof": 0.10726243009243705,
          "alpha_factor": 0.10726243009243705,
          "alpha_composite_prediction": 0.10726243009243705,
          "alpha_factor_only_upper_bound": 13.34455034093367,
          "temporal_autocorrelation_lag1": [
            0.3326286376389285,
            -0.36835539272645584,
            -0.42899433296027006,
            0.3429206066780832,
            0.9445894091249681,
            -0.5348168051790739,
            0.45792910248414276,
            0.9231394193707223,
            -0.2962423842475236
          ],
          "temporal_linear_drift_per_s": [
            -6.349829499457465e-05,
            2.010961616045557e-05,
            -0.0002103071351068406,
            0.0068676835721513015,
            0.01838964239824717,
            0.0009358645040814345,
            0.0036651656754430897,
            0.009379348360256569,
            -0.00013605359264356255
          ]
        },
        "0815_20260814_103601": {
          "sample_count": 57,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            7.932509401598589e-05,
            -0.0007932316507651719,
            0.00039848244859892675,
            -0.03720918879647984,
            0.6638198211996557,
            0.029187277873904703,
            -0.018266422480931313,
            0.33347813476354987,
            0.018716507987742843
          ],
          "innovation_distribution": {
            "count": 513,
            "rms": 0.2497571713634055,
            "p50_abs": 0.02371169505474935,
            "p95_abs": 0.6649106278421737,
            "p99_abs": 0.6683080116102967
          },
          "axis_rms": [
            0.00015647725964055645,
            0.007667355078585296,
            0.004815576270827413,
            0.08117758598442916,
            0.6638333593653408,
            0.029459978001453824,
            0.03872991173453301,
            0.33352174408528645,
            0.02136865967149534
          ],
          "axis_p50_abs": [
            0.00010435601624229141,
            0.005624786877184045,
            0.0027025193474060063,
            0.046769485418299256,
            0.6639529732467059,
            0.02919714389216388,
            0.021801897470625706,
            0.33432112094779803,
            0.019321058518421808
          ],
          "axis_p95_abs": [
            0.0003181574066850437,
            0.013758604820642666,
            0.009962143233675216,
            0.15909865918261037,
            0.6690022374765481,
            0.0358522437605842,
            0.07593317796813419,
            0.34070109978870033,
            0.034068271602963295
          ],
          "axis_p99_abs": [
            0.00040296529805506205,
            0.019819001799365698,
            0.014207739068044505,
            0.2326515534182602,
            0.6722677027517838,
            0.03742438077810163,
            0.11007542325932426,
            0.3459792318306336,
            0.040937032940634006
          ],
          "vector_rms": 0.7492715140902166,
          "vector_p50": 0.7468968840013838,
          "vector_p95": 0.7728453704709306,
          "vector_p99": 0.79079763206625,
          "normalized_distribution": {
            "count": 513,
            "rms": 1.2279650823636734,
            "p50_abs": 0.07318219563611346,
            "p95_abs": 3.117819765899408,
            "p99_abs": 3.1330778387068916
          },
          "empirical_covariance": [
            [
              1.8517531212615474e-08,
              3.8686408408076417e-07,
              -4.184315498345429e-07,
              2.8649472496364416e-06,
              -2.958976656029784e-08,
              3.3224754320387224e-08,
              1.3553232174747537e-06,
              -1.231137069095636e-07,
              -8.706433613782627e-08
            ],
            [
              3.8686408408076417e-07,
              5.919767311807017e-05,
              -2.7491466427971928e-05,
              0.00030927070635570656,
              -2.514490327176735e-06,
              -2.653542945672681e-06,
              0.00012127385493694078,
              -9.495064840342014e-06,
              -2.0949859863307664e-05
            ],
            [
              -4.184315498345429e-07,
              -2.7491466427971928e-05,
              2.3442254175427406e-05,
              -0.00018729306749234296,
              -2.78619281808599e-06,
              -3.329003730342095e-07,
              -8.32053836285097e-05,
              1.3506519558333965e-06,
              -4.1040637414302655e-07
            ],
            [
              2.8649472496364416e-06,
              0.00030927070635570656,
              -0.00018729306749234296,
              0.005298228105641723,
              -2.624301631996713e-05,
              1.244963544266695e-05,
              0.002487266818890152,
              -4.734337642486924e-05,
              -7.12314004907062e-05
            ],
            [
              -2.958976656029784e-08,
              -2.514490327176735e-06,
              -2.78619281808599e-06,
              -2.624301631996713e-05,
              1.829495281557519e-05,
              8.324892522887376e-06,
              -8.617656685659988e-06,
              8.027784925112655e-06,
              -1.6527435685916442e-06
            ],
            [
              3.3224754320387224e-08,
              -2.653542945672681e-06,
              -3.329003730342095e-07,
              1.244963544266695e-05,
              8.324892522887376e-06,
              1.6278705481859565e-05,
              9.500221925162065e-06,
              7.347799560593127e-07,
              3.003423856311964e-06
            ],
            [
              1.3553232174747537e-06,
              0.00012127385493694078,
              -8.32053836285097e-05,
              0.002487266818890152,
              -8.617656685659988e-06,
              9.500221925162065e-06,
              0.0011871714418684313,
              -1.871523365620961e-05,
              -2.4110458429929517e-05
            ],
            [
              -1.231137069095636e-07,
              -9.495064840342014e-06,
              1.3506519558333965e-06,
              -4.734337642486924e-05,
              8.027784925112655e-06,
              7.347799560593127e-07,
              -1.871523365620961e-05,
              2.9606830392021784e-05,
              3.8890003585493876e-05
            ],
            [
              -8.706433613782627e-08,
              -2.0949859863307664e-05,
              -4.1040637414302655e-07,
              -7.12314004907062e-05,
              -1.6527435685916442e-06,
              3.003423856311964e-06,
              -2.4110458429929517e-05,
              3.8890003585493876e-05,
              0.00010821037248846672
            ]
          ],
          "nis_distribution": {
            "count": 57,
            "rms": 13.578607421522092,
            "p50_abs": 13.474352886012328,
            "p95_abs": 14.446208472136098,
            "p99_abs": 15.255106800458213
          },
          "nis_total": 773.5517989177692,
          "nis_per_dof": 1.5078982435044235,
          "alpha_factor": 1.5078982435044235,
          "alpha_composite_prediction": 1.5078982435044235,
          "alpha_factor_only_upper_bound": 110.52420312476484,
          "temporal_autocorrelation_lag1": [
            0.17191832190896597,
            -0.30061699579007134,
            -0.1266436446101101,
            0.3539115784914367,
            -0.45055057643903973,
            -0.1748908279871608,
            0.450431260199656,
            -0.23532098229408452,
            -0.5493272166665586
          ],
          "temporal_linear_drift_per_s": [
            -2.9540374316243136e-07,
            2.8800420336673585e-06,
            -3.4880272053955138e-06,
            0.0008283558952758183,
            1.071444441572204e-05,
            -5.406736954745905e-06,
            0.0004068415699945761,
            9.255737112685816e-06,
            -2.0699315301963916e-05
          ]
        },
        "0808_20260808_081539": {
          "sample_count": 51,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            -8.56559998763919e-05,
            0.0006196560560522131,
            0.0001318042561634159,
            0.045852601985891625,
            -0.39135210367688716,
            0.01587748232658778,
            0.021581291842051476,
            -0.19526592946946228,
            0.008910868923043082
          ],
          "innovation_distribution": {
            "count": 459,
            "rms": 0.14798856397571758,
            "p50_abs": 0.013935576516734827,
            "p95_abs": 0.3915826988108953,
            "p99_abs": 0.39298874389803007
          },
          "axis_rms": [
            0.00012939603041833104,
            0.007424528818830324,
            0.001299514104782004,
            0.06692079731669884,
            0.39135489842368026,
            0.016125909715276495,
            0.030075323021091258,
            0.1952728391092826,
            0.010751983698505517
          ],
          "axis_p50_abs": [
            9.00005451773717e-05,
            0.00498471283419582,
            0.0008313996049434763,
            0.04492409399307909,
            0.39143789965491993,
            0.015454311252542041,
            0.02191517563146289,
            0.1953204163170229,
            0.0083471941404758
          ],
          "axis_p95_abs": [
            0.00020844629569717114,
            0.01478762944099474,
            0.0024366330290365454,
            0.12004067006385301,
            0.3938370939606125,
            0.020918055878810016,
            0.04972856461773671,
            0.19775553591100548,
            0.019217163993760167
          ],
          "axis_p99_abs": [
            0.00032898583488031403,
            0.017600895341213466,
            0.0030899297732306067,
            0.15546809063092937,
            0.394390254010484,
            0.021903071817595432,
            0.0685659351441261,
            0.1988050452540274,
            0.02622567886468552
          ],
          "vector_rms": 0.4439656919271527,
          "vector_p50": 0.44113334641732793,
          "vector_p95": 0.45815467373558805,
          "vector_p99": 0.46948238902544526,
          "normalized_distribution": {
            "count": 459,
            "rms": 0.728481247956341,
            "p50_abs": 0.06658640761530896,
            "p95_abs": 1.83619058275955,
            "p99_abs": 1.8427625476506122
          },
          "empirical_covariance": [
            [
              9.59451002066115e-09,
              1.6613441818496704e-07,
              -4.185436090864149e-09,
              1.3880745045084228e-06,
              -7.943679833785581e-08,
              -2.454539617917523e-08,
              6.132426445520721e-07,
              7.953805608166505e-10,
              -2.7409055895373665e-08
            ],
            [
              1.6613441818496704e-07,
              5.583444764491663e-05,
              7.918663836349838e-07,
              0.00026429176170229905,
              -2.122082935354032e-06,
              -6.84402758160753e-07,
              9.211527333953839e-05,
              -2.023974558212677e-06,
              -2.0318476707725602e-05
            ],
            [
              -4.185436090864149e-09,
              7.918663836349838e-07,
              1.7047918375162733e-06,
              9.82334392826225e-06,
              -2.5599105094128204e-07,
              -3.4153344901613924e-07,
              3.561996316574053e-06,
              4.560425220899764e-08,
              -1.4502707625016455e-06
            ],
            [
              1.3880745045084228e-06,
              0.00026429176170229905,
              9.82334392826225e-06,
              0.002423450644718616,
              -1.3102621705508651e-05,
              -1.4256634181961843e-05,
              0.001021055900913483,
              3.8747143954196025e-06,
              -8.656105162954167e-05
            ],
            [
              -7.943679833785581e-08,
              -2.122082935354032e-06,
              -2.5599105094128204e-07,
              -1.3102621705508651e-05,
              2.231217241530299e-06,
              -8.715178417392195e-07,
              -5.879162760718181e-06,
              7.212738163966223e-07,
              2.7992034439188563e-07
            ],
            [
              -2.454539617917523e-08,
              -6.84402758160753e-07,
              -3.4153344901613924e-07,
              -1.4256634181961843e-05,
              -8.715178417392195e-07,
              8.109529496424426e-06,
              -6.276297041375978e-06,
              -6.163474222213361e-07,
              4.429014408832415e-06
            ],
            [
              6.132426445520721e-07,
              9.211527333953839e-05,
              3.561996316574053e-06,
              0.001021055900913483,
              -5.879162760718181e-06,
              -6.276297041375978e-06,
              0.00044754835519620777,
              3.203310410761739e-06,
              -3.0311707072726265e-05
            ],
            [
              7.953805608166505e-10,
              -2.023974558212677e-06,
              4.560425220899764e-08,
              3.8747143954196025e-06,
              7.212738163966223e-07,
              -6.163474222213361e-07,
              3.203310410761739e-06,
              2.752451871322959e-06,
              1.0564578613072111e-06
            ],
            [
              -2.7409055895373665e-08,
              -2.0318476707725602e-05,
              -1.4502707625016455e-06,
              -8.656105162954167e-05,
              2.7992034439188563e-07,
              4.429014408832415e-06,
              -3.0311707072726265e-05,
              1.0564578613072111e-06,
              3.692559985905884e-05
            ]
          ],
          "nis_distribution": {
            "count": 51,
            "rms": 4.77958375405294,
            "p50_abs": 4.72632624658362,
            "p95_abs": 5.124771980750268,
            "p99_abs": 5.3851327019030375
          },
          "nis_total": 243.58438223842882,
          "nis_per_dof": 0.5306849286240279,
          "alpha_factor": 0.5306849286240279,
          "alpha_composite_prediction": 0.5306849286240279,
          "alpha_factor_only_upper_bound": 39.119454390503606,
          "temporal_autocorrelation_lag1": [
            0.08183867995822422,
            -0.548137931243991,
            -0.3870181717563136,
            -0.029809581484159714,
            -0.24772448343585143,
            -0.27010736500376387,
            0.17258550688113408,
            -0.11929193765584976,
            -0.15155122848444225
          ],
          "temporal_linear_drift_per_s": [
            9.027511924746144e-08,
            2.397363932536798e-06,
            -1.7508874869579398e-06,
            -0.00017099352049192325,
            5.576854689038756e-06,
            -2.5123116520438466e-06,
            -9.247263609578042e-05,
            -2.2767030258663563e-06,
            -7.06666799050671e-06
          ]
        },
        "0819_20260819_065931": {
          "sample_count": 140,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            9.502643341439873e-06,
            -0.00016393029771728565,
            -2.9298206943801396e-05,
            -0.11456667623231992,
            -0.7746754797031444,
            0.029333895279636275,
            -0.0569250386630069,
            -0.38721749274498907,
            0.016863714652296424
          ],
          "innovation_distribution": {
            "count": 1260,
            "rms": 0.29395983442913537,
            "p50_abs": 0.02558791387272752,
            "p95_abs": 0.7750695775575206,
            "p99_abs": 0.7786825689887311
          },
          "axis_rms": [
            0.00011900684499408484,
            0.0062869152604307305,
            0.003608796903400793,
            0.1456455258028483,
            0.7746841466330935,
            0.02985820642622914,
            0.07146372966356905,
            0.3872507416489215,
            0.018682482440506396
          ],
          "axis_p50_abs": [
            7.917419605854922e-05,
            0.0041817805818883756,
            0.0024530685756084707,
            0.09297844011628223,
            0.7748421718196156,
            0.029138855062091018,
            0.04787718648969368,
            0.3871200477842729,
            0.016273301730464595
          ],
          "axis_p95_abs": [
            0.00022566225369316056,
            0.012020303062822977,
            0.006970676038287122,
            0.2678024617226201,
            0.779451688928923,
            0.03844175008068298,
            0.12985559331870491,
            0.39416065341327194,
            0.028381910336813775
          ],
          "axis_p99_abs": [
            0.00026378986592452637,
            0.016307812787144906,
            0.008081391714415315,
            0.3306186076844727,
            0.7846683470621059,
            0.04411892587819308,
            0.16077443822149445,
            0.3986378669487535,
            0.03517071635739977
          ],
          "vector_rms": 0.8818795032874062,
          "vector_p50": 0.875531778699699,
          "vector_p95": 0.9196131340766215,
          "vector_p99": 0.9416899577459812,
          "normalized_distribution": {
            "count": 1260,
            "rms": 1.445027463545591,
            "p50_abs": 0.11121476274706585,
            "p95_abs": 3.634933784935678,
            "p99_abs": 3.651371582745728
          },
          "empirical_covariance": [
            [
              1.4173568701410167e-08,
              -3.562771121041738e-08,
              -8.843230068500834e-08,
              -1.2725101793915762e-06,
              -6.604164352873527e-08,
              4.657392747986504e-08,
              -5.804515391320935e-07,
              7.333457140359656e-08,
              -1.619289602250671e-07
            ],
            [
              -3.562771121041738e-08,
              3.978259171874675e-05,
              1.0454438843017649e-05,
              0.00021844851512802424,
              -2.570944165759591e-06,
              6.295764659064511e-06,
              7.8095485869872e-05,
              2.8178523556264548e-06,
              -1.3249274783770028e-05
            ],
            [
              -8.843230068500834e-08,
              1.0454438843017649e-05,
              1.3116244163374851e-05,
              5.9614326512775776e-05,
              -1.8654500556058267e-06,
              2.06507155270167e-06,
              1.9133717741582952e-05,
              7.75871023345414e-08,
              5.188923382441667e-07
            ],
            [
              -1.2725101793915762e-06,
              0.00021844851512802424,
              5.9614326512775776e-05,
              0.008145276429391165,
              -3.4829347070417485e-06,
              0.00011003973520036708,
              0.0038878487927179574,
              4.002671889173575e-05,
              -3.4723447251767535e-05
            ],
            [
              -6.604164352873527e-08,
              -2.570944165759591e-06,
              -1.8654500556058267e-06,
              -3.4829347070417485e-06,
              1.352479704086478e-05,
              -1.0219420205494496e-05,
              -4.139821798559712e-07,
              7.850961918430901e-06,
              -6.9030048005731815e-06
            ],
            [
              4.657392747986504e-08,
              6.295764659064511e-06,
              2.06507155270167e-06,
              0.00011003973520036708,
              -1.0219420205494496e-05,
              3.125835266223065e-05,
              5.2535594604171406e-05,
              -3.458215866978834e-06,
              1.3991203816821402e-05
            ],
            [
              -5.804515391320935e-07,
              7.8095485869872e-05,
              1.9133717741582952e-05,
              0.0038878487927179574,
              -4.139821798559712e-07,
              5.2535594604171406e-05,
              0.0018800334409352405,
              1.6187206789825338e-05,
              -6.767185869292597e-06
            ],
            [
              7.333457140359656e-08,
              2.8178523556264548e-06,
              7.75871023345414e-08,
              4.002671889173575e-05,
              7.850961918430901e-06,
              -3.458215866978834e-06,
              1.6187206789825338e-05,
              2.593547330476318e-05,
              -2.704495400081104e-05
            ],
            [
              -1.619289602250671e-07,
              -1.3249274783770028e-05,
              5.188923382441667e-07,
              -3.4723447251767535e-05,
              -6.9030048005731815e-06,
              1.3991203816821402e-05,
              -6.767185869292597e-06,
              -2.704495400081104e-05,
              6.511538818133361e-05
            ]
          ],
          "nis_distribution": {
            "count": 140,
            "rms": 18.8107634783507,
            "p50_abs": 18.52604954083661,
            "p95_abs": 20.442771910392167,
            "p99_abs": 21.470686002067314
          },
          "nis_total": 2631.0115067052657,
          "nis_per_dof": 2.0881043704010045,
          "alpha_factor": 2.0881043704010045,
          "alpha_composite_prediction": 2.0881043704010045,
          "alpha_factor_only_upper_bound": 152.1842116436417,
          "temporal_autocorrelation_lag1": [
            0.151908909877277,
            -0.4528625969505234,
            -0.5057099966839852,
            0.6979453092805442,
            -0.4146877402263433,
            -0.2901357048014836,
            0.7696336161028831,
            -0.35431627396460474,
            -0.20000955610380128
          ],
          "temporal_linear_drift_per_s": [
            -2.0524632610810552e-07,
            1.188221029210481e-06,
            2.5004865540503346e-07,
            0.001109725007202295,
            2.764218088719014e-06,
            9.405094145714076e-06,
            0.0005514590566558598,
            1.045092670316324e-07,
            8.178035419236734e-06
          ]
        },
        "0819_20260819_072130": {
          "sample_count": 54,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            2.101194129334211e-05,
            0.0005457470024300489,
            -0.0001687761625485973,
            -0.22386984981059185,
            -0.14640275282988022,
            -0.0019947797598546054,
            -0.11120609630363036,
            -0.07297987830349927,
            -0.004333605177572699
          ],
          "innovation_distribution": {
            "count": 486,
            "rms": 0.10589822684785638,
            "p50_abs": 0.010537662004714003,
            "p95_abs": 0.21161335387146554,
            "p99_abs": 0.3661611958101652
          },
          "axis_rms": [
            0.00016908531986314058,
            0.007762187141751201,
            0.002365237520383204,
            0.24382386309358278,
            0.14641270560750733,
            0.006454743480483741,
            0.12052287432412279,
            0.07301602455037819,
            0.008860710524910895
          ],
          "axis_p50_abs": [
            9.25121940699591e-05,
            0.004769441152685053,
            0.001588699611252629,
            0.20778489551951446,
            0.14638800020868897,
            0.004721416492375674,
            0.10139845209381287,
            0.07327254777605671,
            0.005388237195233625
          ],
          "axis_p95_abs": [
            0.0003392399236583613,
            0.015630688354612073,
            0.004962723924601128,
            0.3859844831366342,
            0.14888384065409754,
            0.01181281370246737,
            0.19406639721428687,
            0.07678626827626654,
            0.015456128564492069
          ],
          "axis_p99_abs": [
            0.0005116892144837754,
            0.020465252572558632,
            0.006413109906772247,
            0.4178744194160621,
            0.1497702035852461,
            0.015440011317260855,
            0.20490160226066514,
            0.07819412832318863,
            0.02599278076315263
          ],
          "vector_rms": 0.3176946805435691,
          "vector_p50": 0.28738101439051983,
          "vector_p95": 0.46231602230271146,
          "vector_p99": 0.4925865187565491,
          "normalized_distribution": {
            "count": 486,
            "rms": 0.5226473028899513,
            "p50_abs": 0.12307189799005257,
            "p95_abs": 1.0674533765194645,
            "p99_abs": 1.7110793571285554
          },
          "empirical_covariance": [
            [
              2.8679444541141683e-08,
              1.3673598387455325e-08,
              -2.811575056928541e-07,
              -1.9214696680822565e-07,
              -7.22733178797745e-08,
              -4.546217160144537e-08,
              -2.151115181548536e-07,
              -3.846154100109351e-09,
              2.5024427599986214e-07
            ],
            [
              1.3673598387455325e-08,
              6.108491149767817e-05,
              2.137778320408916e-06,
              0.00032055745021592326,
              -5.694088082566458e-07,
              2.240706686323232e-05,
              0.00011414352055405382,
              1.2396330367493105e-06,
              -2.4579086799208618e-05
            ],
            [
              -2.811575056928541e-07,
              2.137778320408916e-06,
              5.670879420345818e-06,
              -1.0295672037371673e-05,
              1.4056881511963934e-07,
              7.83716832123345e-07,
              -5.549331425468761e-06,
              9.107770632390785e-07,
              -5.644402112150945e-06
            ],
            [
              -1.9214696680822565e-07,
              0.00032055745021592326,
              -1.0295672037371673e-05,
              0.009508448947579398,
              -3.4449690513385323e-05,
              0.00042552101184447223,
              0.004536267868344895,
              -2.217795873616388e-05,
              -4.300102978961166e-05
            ],
            [
              -7.22733178797745e-08,
              -5.694088082566458e-07,
              1.4056881511963934e-07,
              -3.4449690513385323e-05,
              2.9693144482010907e-06,
              -8.671382446884533e-07,
              -1.685956566293901e-05,
              1.465177589187773e-06,
              1.7254716822397684e-06
            ],
            [
              -4.546217160144537e-08,
              2.240706686323232e-05,
              7.83716832123345e-07,
              0.00042552101184447223,
              -8.671382446884533e-07,
              3.839559667660706e-05,
              0.00019839673868510298,
              -1.922628230970299e-06,
              5.600392979510032e-07
            ],
            [
              -2.151115181548536e-07,
              0.00011414352055405382,
              -5.549331425468761e-06,
              0.004536267868344895,
              -1.685956566293901e-05,
              0.00019839673868510298,
              0.002199702613845709,
              -1.4157367555899328e-05,
              -9.42049035488001e-06
            ],
            [
              -3.846154100109351e-09,
              1.2396330367493105e-06,
              9.107770632390785e-07,
              -2.217795873616388e-05,
              1.465177589187773e-06,
              -1.922628230970299e-06,
              -1.4157367555899328e-05,
              5.376773833675766e-06,
              7.647994050225065e-06
            ],
            [
              2.5024427599986214e-07,
              -2.4579086799208618e-05,
              -5.644402112150945e-06,
              -4.300102978961166e-05,
              1.7254716822397684e-06,
              5.600392979510032e-07,
              -9.42049035488001e-06,
              7.647994050225065e-06,
              6.085907711780789e-05
            ]
          ],
          "nis_distribution": {
            "count": 54,
            "rms": 2.8284129508406646,
            "p50_abs": 2.024243559124098,
            "p95_abs": 5.181998070170465,
            "p99_abs": 5.8554938928855425
          },
          "nis_total": 132.7558587640163,
          "nis_per_dof": 0.27316020321814055,
          "alpha_factor": 0.27316020321814055,
          "alpha_composite_prediction": 0.27316020321814055,
          "alpha_factor_only_upper_bound": 20.72450070250804,
          "temporal_autocorrelation_lag1": [
            -0.22924977083769527,
            -0.5417797375542669,
            -0.5605124788841052,
            0.555030609545987,
            0.08586563387214727,
            -0.10329538107527325,
            0.6619553935967678,
            -0.09464757820306895,
            -0.44151537994172474
          ],
          "temporal_linear_drift_per_s": [
            4.789779123083426e-08,
            5.628021223629626e-06,
            -4.055269196545856e-06,
            0.0008977964990420304,
            -4.4993656507883016e-06,
            3.689778143939566e-05,
            0.0004508438120186755,
            -8.139408339576238e-06,
            -7.867809031832908e-06
          ]
        },
        "0808_20260808_101021": {
          "sample_count": 29,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            2.4837062608949932e-05,
            0.0007095951401464596,
            0.0013812356729282363,
            -0.0034314228891659843,
            -1.6311097316988952,
            0.1431715327991072,
            -0.002863655869343089,
            -0.8166863614049179,
            0.07652532303454941
          ],
          "innovation_distribution": {
            "count": 261,
            "rms": 0.6108207498937624,
            "p50_abs": 0.047080401131260545,
            "p95_abs": 1.6313586153035007,
            "p99_abs": 1.6335334329637266
          },
          "axis_rms": [
            0.00011821427940616314,
            0.007693444640200446,
            0.004877114164770936,
            0.05760562763733992,
            1.6311108168619188,
            0.14318654201041892,
            0.02482986976499641,
            0.8166945014604552,
            0.07671495954990533
          ],
          "axis_p50_abs": [
            8.623558176263858e-05,
            0.0053920095036676255,
            0.002786505540797548,
            0.046374941220269535,
            1.6311584758206195,
            0.14341348870088488,
            0.01882216933185191,
            0.8171552362652974,
            0.07593730285046352
          ],
          "axis_p95_abs": [
            0.00023606693002288612,
            0.014161673513093564,
            0.009135205385049415,
            0.09152984114166914,
            1.6337755144233688,
            0.14643988863417015,
            0.042639772012023694,
            0.8231184303057041,
            0.08428068500768511
          ],
          "axis_p99_abs": [
            0.00028761560440150906,
            0.01983714168997687,
            0.01128063719625273,
            0.14367339036675822,
            1.6344378088148088,
            0.14689129624293706,
            0.06299840695455648,
            0.8241949129781497,
            0.08578824553515531
          ],
          "vector_rms": 1.8324622496812872,
          "vector_p50": 1.8323982430910477,
          "vector_p95": 1.8366367364460352,
          "vector_p99": 1.8409363131206764,
          "normalized_distribution": {
            "count": 261,
            "rms": 2.9961036216607133,
            "p50_abs": 0.24731425398866644,
            "p95_abs": 7.649656357201289,
            "p99_abs": 7.659875763962889
          },
          "empirical_covariance": [
            [
              1.3834798182780281e-08,
              -2.1928738339537323e-07,
              -4.013606812956119e-08,
              -1.6208176621954509e-06,
              -8.961413953461787e-08,
              -1.344230423693384e-08,
              -6.969392676266539e-07,
              -1.0248464761335903e-07,
              -9.189550548352027e-08
            ],
            [
              -2.1928738339537323e-07,
              6.078147821065627e-05,
              1.1383685575925895e-05,
              0.00031717075607708015,
              2.786786371280054e-06,
              6.458594196163867e-07,
              0.00010715354360644094,
              3.0586041562999975e-06,
              -2.502829052945483e-06
            ],
            [
              -4.013606812956119e-08,
              1.1383685575925895e-05,
              2.265980311318406e-05,
              4.979275886194434e-05,
              -2.580536148966607e-06,
              2.545533593336969e-06,
              1.4314869761933904e-05,
              5.6246917319661735e-06,
              2.243941204544994e-06
            ],
            [
              -1.6208176621954509e-06,
              0.00031717075607708015,
              4.979275886194434e-05,
              0.00342472773217784,
              3.4835974077628176e-05,
              1.206068763078399e-05,
              0.0014374878702203935,
              1.7890945354054704e-06,
              3.0630781818608425e-05
            ],
            [
              -8.961413953461787e-08,
              2.786786371280054e-06,
              -2.580536148966607e-06,
              3.4835974077628176e-05,
              3.666471152886878e-06,
              -1.203044551956805e-06,
              1.677884480657804e-05,
              2.81884081588096e-06,
              -1.3690483347787184e-06
            ],
            [
              -1.344230423693384e-08,
              6.458594196163867e-07,
              2.545533593336969e-06,
              1.206068763078399e-05,
              -1.203044551956805e-06,
              4.451509171897066e-06,
              5.5149784068779526e-06,
              -1.8767713488116238e-06,
              3.888682614740239e-06
            ],
            [
              -6.969392676266539e-07,
              0.00010715354360644094,
              1.4314869761933904e-05,
              0.0014374878702203935,
              1.677884480657804e-05,
              5.5149784068779526e-06,
              0.0006300476900232548,
              2.4028396390177085e-06,
              1.9145488794312416e-05
            ],
            [
              -1.0248464761335903e-07,
              3.0586041562999975e-06,
              5.6246917319661735e-06,
              1.7890945354054704e-06,
              2.81884081588096e-06,
              -1.8767713488116238e-06,
              2.4028396390177085e-06,
              1.3770661327444183e-05,
              -4.808488746873009e-06
            ],
            [
              -9.189550548352027e-08,
              -2.502829052945483e-06,
              2.243941204544994e-06,
              3.0630781818608425e-05,
              -1.3690483347787184e-06,
              3.888682614740239e-06,
              1.9145488794312416e-05,
              -4.808488746873009e-06,
              3.009780867295215e-05
            ]
          ],
          "nis_distribution": {
            "count": 29,
            "rms": 80.79045016301997,
            "p50_abs": 80.79266207216803,
            "p95_abs": 81.21672242835346,
            "p99_abs": 81.55098933710603
          },
          "nis_total": 2342.902233961124,
          "nis_per_dof": 8.976636911728443,
          "alpha_factor": 8.976636911728443,
          "alpha_composite_prediction": 8.976636911728443,
          "alpha_factor_only_upper_bound": 654.1432432078892,
          "temporal_autocorrelation_lag1": [
            0.46059443108748094,
            -0.2608647120650329,
            -0.2396285721293542,
            0.08114452553549066,
            -0.13832885991379903,
            -0.2507198656666104,
            0.21342150140575916,
            -0.24187163536372083,
            0.018920737048016868
          ],
          "temporal_linear_drift_per_s": [
            -2.799513019775904e-06,
            4.249395507645917e-05,
            2.1726441481126652e-05,
            0.000499491251798273,
            7.927452268946658e-06,
            5.527892891363252e-06,
            0.0002464001884368906,
            5.628056271364821e-06,
            9.447403404798399e-05
          ]
        },
        "0808_20260808_075440": {
          "sample_count": 35,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            -6.269418497056345e-05,
            0.00013716615905724503,
            4.786708252579025e-05,
            0.010841629607374363,
            -0.32381455600943015,
            0.014459843517543952,
            0.003865101031678583,
            -0.16198500655833237,
            0.008556529127926307
          ],
          "innovation_distribution": {
            "count": 315,
            "rms": 0.13073759212676933,
            "p50_abs": 0.012074578748616283,
            "p95_abs": 0.3914251531483791,
            "p99_abs": 0.39391109037090494
          },
          "axis_rms": [
            0.00011031271750645908,
            0.0067067048679424765,
            0.00169931129191264,
            0.047916477621419054,
            0.3472162362596496,
            0.015020765910938035,
            0.0201637984523549,
            0.17379512999392832,
            0.009535685704538742
          ],
          "axis_p50_abs": [
            9.490084602044317e-05,
            0.0030909816187820326,
            0.001329748276085663,
            0.0325509370646358,
            0.39135960098429,
            0.015081245449863445,
            0.014202203573611183,
            0.19541385049893062,
            0.00851323147611538
          ],
          "axis_p95_abs": [
            0.0001889524263339434,
            0.014180506289306843,
            0.0030581118997190754,
            0.08448520286943811,
            0.39435157474613913,
            0.018998793536936988,
            0.03553747928533517,
            0.1984874395542485,
            0.014987283938904736
          ],
          "axis_p99_abs": [
            0.0002255733888745089,
            0.0170484400185629,
            0.00430541623100726,
            0.10803619061842244,
            0.3948383776683544,
            0.020241713396873737,
            0.04137454686381041,
            0.19978752742137149,
            0.016304638651958744
          ],
          "vector_rms": 0.392212776380308,
          "vector_p50": 0.43910033979554564,
          "vector_p95": 0.44765386616268543,
          "vector_p99": 0.4548576885466497,
          "normalized_distribution": {
            "count": 315,
            "rms": 0.6437911082553501,
            "p50_abs": 0.059287146020198675,
            "p95_abs": 1.8355045163791737,
            "p99_abs": 1.847078301465534
          },
          "empirical_covariance": [
            [
              8.480638779670045e-09,
              -2.654758152093776e-08,
              -3.054031393875404e-08,
              -9.870715139655406e-07,
              -2.448926152902126e-06,
              -3.749501542103391e-08,
              -4.600804516698877e-07,
              -1.1730683769699483e-06,
              -1.5722317912562287e-08
            ],
            [
              -2.654758152093776e-08,
              4.628346020786025e-05,
              -7.398596255339132e-09,
              0.00021752106217923104,
              6.606907509344982e-06,
              9.708737995300072e-07,
              7.118137169172744e-05,
              4.589334383786431e-06,
              -3.886830459908598e-06
            ],
            [
              -3.054031393875404e-08,
              -7.398596255339132e-09,
              2.9702313624449883e-06,
              1.0118568851484797e-05,
              6.3900891834743125e-06,
              -3.5522143675172204e-07,
              4.30253069376574e-06,
              3.371245910896653e-06,
              1.6774232362806299e-06
            ],
            [
              -9.870715139655406e-07,
              0.00021752106217923104,
              1.0118568851484797e-05,
              0.0022425198920151745,
              0.0027480537396139867,
              -5.893213372627824e-05,
              0.0009312491111885502,
              0.0013669917080880321,
              -3.4622117877515124e-05
            ],
            [
              -2.448926152902126e-06,
              6.606907509344982e-06,
              6.3900891834743125e-06,
              0.0027480537396139867,
              0.0161651082751657,
              -0.00040596414828809093,
              0.0013736616422203084,
              0.008120014914871267,
              -0.00015124709097031244
            ],
            [
              -3.749501542103391e-08,
              9.708737995300072e-07,
              -3.5522143675172204e-07,
              -5.893213372627824e-05,
              -0.00040596414828809093,
              1.7022696764026725e-05,
              -3.054370269043049e-05,
              -0.00020427998953890356,
              6.6120445243562965e-06
            ],
            [
              -4.600804516698877e-07,
              7.118137169172744e-05,
              4.30253069376574e-06,
              0.0009312491111885502,
              0.0013736616422203084,
              -3.054370269043049e-05,
              0.0004031585785727572,
              0.0006827713004503988,
              -1.4898474736638037e-05
            ],
            [
              -1.1730683769699483e-06,
              4.589334383786431e-06,
              3.371245910896653e-06,
              0.0013669917080880321,
              0.008120014914871267,
              -0.00020427998953890356,
              0.0006827713004503988,
              0.004082240296959462,
              -7.533712568661949e-05
            ],
            [
              -1.5722317912562287e-08,
              -3.886830459908598e-06,
              1.6774232362806299e-06,
              -3.4622117877515124e-05,
              -0.00015124709097031244,
              6.6120445243562965e-06,
              -1.4898474736638037e-05,
              -7.533712568661949e-05,
              1.8236143819243027e-05
            ]
          ],
          "nis_distribution": {
            "count": 35,
            "rms": 4.156517214275281,
            "p50_abs": 4.6686696296640475,
            "p95_abs": 4.885209011094855,
            "p99_abs": 5.069834265291511
          },
          "nis_total": 130.55710218662534,
          "nis_per_dof": 0.41446699106865187,
          "alpha_factor": 0.41446699106865187,
          "alpha_composite_prediction": 0.41446699106865187,
          "alpha_factor_only_upper_bound": 30.55233878861737,
          "temporal_autocorrelation_lag1": [
            0.1387873422865877,
            -0.46791084346117096,
            -0.4754151262142352,
            -0.03319606125631146,
            0.9188910012342737,
            0.28717954823502545,
            0.1474391185904146,
            0.9206681419533082,
            -0.0113533147215237
          ],
          "temporal_linear_drift_per_s": [
            1.30175219441932e-07,
            -1.3821768835643797e-06,
            -5.713402853643462e-07,
            -0.00022117547175821802,
            -0.0013091093834181034,
            3.307164180710795e-05,
            -0.00010997842837240406,
            -0.0006626018038212197,
            2.360390028193556e-05
          ]
        },
        "0808_20260808_080830": {
          "sample_count": 97,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            -6.226926763384611e-05,
            0.00019756447676711,
            5.666429878697334e-05,
            0.03224188170387154,
            -0.3916934559001006,
            0.016511331205364414,
            0.01495556815858805,
            -0.19575267918223974,
            0.008278350598573748
          ],
          "innovation_distribution": {
            "count": 873,
            "rms": 0.14721935086623744,
            "p50_abs": 0.012414199435269987,
            "p95_abs": 0.39211371123338784,
            "p99_abs": 0.3941449102409444
          },
          "axis_rms": [
            0.00012101329907110637,
            0.004937486389846046,
            0.0013059578481002133,
            0.049227196191377984,
            0.3916979713283142,
            0.016698564636625723,
            0.02223050691131992,
            0.1957590561273219,
            0.00951174754808361
          ],
          "axis_p50_abs": [
            8.432219823471575e-05,
            0.003508755441462555,
            0.0010202308435948656,
            0.03111840875388841,
            0.3919600944715012,
            0.016586999932183488,
            0.013986255709294418,
            0.19587604271628462,
            0.00885340158457204
          ],
          "axis_p95_abs": [
            0.00022132684237173065,
            0.009694169924214582,
            0.0024909305378324567,
            0.09507210422204354,
            0.3948478196000406,
            0.020803172310418457,
            0.04144704242949536,
            0.1981404038829838,
            0.015841116515900384
          ],
          "axis_p99_abs": [
            0.00027402241714169647,
            0.011079589933755032,
            0.0027179996861145216,
            0.1096748235353196,
            0.3962270963470003,
            0.02167160963140757,
            0.05018129563647904,
            0.1992157094658493,
            0.01731985356678869
          ],
          "vector_rms": 0.4416580525987123,
          "vector_p50": 0.4404519388340097,
          "vector_p95": 0.4519071323177339,
          "vector_p99": 0.45585903887230644,
          "normalized_distribution": {
            "count": 873,
            "rms": 0.7239771107006944,
            "p50_abs": 0.06186803739996448,
            "p95_abs": 1.8386851492903666,
            "p99_abs": 1.8481798700933998
          },
          "empirical_covariance": [
            [
              1.08789105777135e-08,
              4.2460113951055684e-08,
              -5.055239887892641e-09,
              2.2569117997369147e-07,
              -7.559794451047975e-08,
              -9.784914051806258e-10,
              6.510914985741219e-08,
              -2.4202751005012316e-08,
              -1.6804753286606612e-08
            ],
            [
              4.2460113951055684e-08,
              2.459327908709545e-05,
              1.5475681729466186e-07,
              0.00012173256873998663,
              -6.872714915242579e-08,
              3.213906640138423e-06,
              4.2851865292663395e-05,
              1.1031961921545446e-06,
              -5.7202596338387885e-06
            ],
            [
              -5.055239887892641e-09,
              1.5475681729466186e-07,
              1.7200475067810366e-06,
              3.0103513096397584e-06,
              3.5871335052459534e-07,
              1.872806523706711e-08,
              8.121363797086023e-07,
              4.7289037140748994e-07,
              -5.631513540289333e-07
            ],
            [
              2.2569117997369147e-07,
              0.00012173256873998663,
              3.0103513096397584e-06,
              0.001398192262277326,
              2.502247510256237e-06,
              2.5244820116419238e-05,
              0.0006070590371793896,
              1.2575380514122016e-05,
              -1.4628422312667072e-05
            ],
            [
              -7.559794451047975e-08,
              -6.872714915242579e-08,
              3.5871335052459534e-07,
              2.502247510256237e-06,
              3.5741951251984293e-06,
              4.6207764335020677e-07,
              1.232838059527291e-06,
              1.3908040454266666e-06,
              -3.958628902777891e-07
            ],
            [
              -9.784914051806258e-10,
              3.213906640138423e-06,
              1.872806523706711e-08,
              2.5244820116419238e-05,
              4.6207764335020677e-07,
              6.282773612309002e-06,
              9.96953692939281e-06,
              7.216043906768804e-07,
              5.459699850718952e-06
            ],
            [
              6.510914985741219e-08,
              4.2851865292663395e-05,
              8.121363797086023e-07,
              0.0006070590371793896,
              1.232838059527291e-06,
              9.96953692939281e-06,
              0.00027334440211502917,
              5.654655411633638e-06,
              -3.0686712959428295e-06
            ],
            [
              -2.4202751005012316e-08,
              1.1031961921545446e-06,
              4.7289037140748994e-07,
              1.2575380514122016e-05,
              1.3908040454266666e-06,
              7.216043906768804e-07,
              5.654655411633638e-06,
              2.522655593762033e-06,
              6.269237530814487e-07
            ],
            [
              -1.6804753286606612e-08,
              -5.7202596338387885e-06,
              -5.631513540289333e-07,
              -1.4628422312667072e-05,
              -3.958628902777891e-07,
              5.459699850718952e-06,
              -3.0686712959428295e-06,
              6.269237530814487e-07,
              2.217081791875129e-05
            ]
          ],
          "nis_distribution": {
            "count": 97,
            "rms": 4.7183381725111815,
            "p50_abs": 4.695491945721489,
            "p95_abs": 4.935396382673087,
            "p99_abs": 5.029520464491373
          },
          "nis_total": 457.5767140025727,
          "nis_per_dof": 0.5241428568185255,
          "alpha_factor": 0.5241428568185255,
          "alpha_composite_prediction": 0.5241428568185255,
          "alpha_factor_only_upper_bound": 38.32283282273608,
          "temporal_autocorrelation_lag1": [
            0.13641442025448736,
            -0.41538694058958014,
            -0.5456620898942239,
            0.16894124621033324,
            -0.1699477379372661,
            -0.16427521542384838,
            0.3056456843169815,
            -0.06235893029487122,
            -0.2506346261910804
          ],
          "temporal_linear_drift_per_s": [
            -1.837405332096675e-07,
            3.074395345109727e-07,
            1.2051189643817232e-07,
            3.7213463950619985e-05,
            2.4089594985868104e-06,
            6.952255186367571e-07,
            1.7236719225344543e-05,
            1.0834043505341978e-06,
            1.2782547243131826e-06
          ]
        },
        "0808_20260808_073816": {
          "sample_count": 35,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            -6.25765727219433e-05,
            0.0003363591334283322,
            0.00011135961423130102,
            0.03775012837836909,
            -0.06082287600037744,
            0.008414683160560139,
            0.01762673813504104,
            -0.030788842226622266,
            0.004044619283304713
          ],
          "innovation_distribution": {
            "count": 315,
            "rms": 0.029608456467170242,
            "p50_abs": 0.007445818621970801,
            "p95_abs": 0.06161302125308602,
            "p99_abs": 0.08733895741716774
          },
          "axis_rms": [
            0.00010935089939133067,
            0.004234360589458177,
            0.002092951036835622,
            0.05055935076246404,
            0.06083654249389472,
            0.008836078751749781,
            0.02320908566511012,
            0.030831193286364793,
            0.006556734045195862
          ],
          "axis_p50_abs": [
            7.87528654837505e-05,
            0.003348456125470032,
            0.0013676396618619436,
            0.038026112972608356,
            0.06100712764818017,
            0.008870062321665984,
            0.017722077407183616,
            0.03108755637121676,
            0.00542796646040955
          ],
          "axis_p95_abs": [
            0.00019075497592229636,
            0.007299939046942838,
            0.0038142338072844613,
            0.09731410653938906,
            0.06285056058736375,
            0.01272842198946229,
            0.04400633575463154,
            0.032963217340848394,
            0.011567438994085497
          ],
          "axis_p99_abs": [
            0.0001996496101228383,
            0.00857167080694242,
            0.00461094888420772,
            0.10051700712554254,
            0.06336351760801377,
            0.013041051530591295,
            0.045458874908629904,
            0.03345629645263701,
            0.013294165059050437
          ],
          "vector_rms": 0.08882536940151071,
          "vector_p50": 0.08273260988504409,
          "vector_p95": 0.12706822360485986,
          "vector_p99": 0.1293265261354048,
          "normalized_distribution": {
            "count": 315,
            "rms": 0.1477461355387086,
            "p50_abs": 0.04890129052954736,
            "p95_abs": 0.28889884992337783,
            "p99_abs": 0.40957913435156673
          },
          "empirical_covariance": [
            [
              8.278315030658507e-09,
              1.0996869319713014e-07,
              -7.421712209380795e-08,
              1.0599428648832746e-06,
              -6.105590610185894e-09,
              1.3877921748899465e-08,
              4.524724907580329e-07,
              -3.671369251082378e-08,
              1.0372364199254274e-07
            ],
            [
              1.0996869319713014e-07,
              1.8340691903589944e-05,
              -2.5446302420917108e-06,
              9.482412558151087e-05,
              9.365996887713006e-07,
              1.90245194910036e-06,
              3.623372000744475e-05,
              -8.997249259699018e-07,
              -1.6366121617470224e-06
            ],
            [
              -7.421712209380795e-08,
              -2.5446302420917108e-06,
              4.496514934171608e-06,
              -7.744058837846337e-06,
              1.0414748239662768e-07,
              2.1321518916716838e-06,
              -3.822872974261593e-06,
              9.103710380289717e-07,
              1.3089901748468426e-06
            ],
            [
              1.0599428648832746e-06,
              9.482412558151087e-05,
              -7.744058837846337e-06,
              0.0011644456321426018,
              5.819076779074887e-06,
              1.0478559586843567e-05,
              0.0005159006157876682,
              -3.2767528773808685e-06,
              -1.0906152761070087e-05
            ],
            [
              -6.105590610185894e-09,
              9.365996887713006e-07,
              1.0414748239662768e-07,
              5.819076779074887e-06,
              1.711559349876561e-06,
              -5.079428460289909e-07,
              2.5680503024679878e-06,
              1.2859194526721641e-06,
              -1.3241610306003313e-06
            ],
            [
              1.3877921748899465e-08,
              1.90245194910036e-06,
              2.1321518916716838e-06,
              1.0478559586843567e-05,
              -5.079428460289909e-07,
              7.483200750230454e-06,
              3.563276481409792e-06,
              -3.7686466829809815e-07,
              8.486136212562784e-06
            ],
            [
              4.524724907580329e-07,
              3.623372000744475e-05,
              -3.822872974261593e-06,
              0.0005159006157876682,
              2.5680503024679878e-06,
              3.563276481409792e-06,
              0.00023466445895643692,
              -9.309502167681393e-07,
              -3.7861425839912793e-06
            ],
            [
              -3.671369251082378e-08,
              -8.997249259699018e-07,
              9.103710380289717e-07,
              -3.2767528773808685e-06,
              1.2859194526721641e-06,
              -3.7686466829809815e-07,
              -9.309502167681393e-07,
              2.6864289172690155e-06,
              -5.446602302371086e-07
            ],
            [
              1.0372364199254274e-07,
              -1.6366121617470224e-06,
              1.3089901748468426e-06,
              -1.0906152761070087e-05,
              -1.3241610306003313e-06,
              8.486136212562784e-06,
              -3.7861425839912793e-06,
              -5.446602302371086e-07,
              2.7415104904095753e-05
            ]
          ],
          "nis_distribution": {
            "count": 35,
            "rms": 0.21371872656605637,
            "p50_abs": 0.16869682372266107,
            "p95_abs": 0.39042086871122617,
            "p99_abs": 0.4048865299377135
          },
          "nis_total": 6.876109978486072,
          "nis_per_dof": 0.021828920566622452,
          "alpha_factor": 0.021828920566622452,
          "alpha_composite_prediction": 0.021828920566622452,
          "alpha_factor_only_upper_bound": 1.8561698905759274,
          "temporal_autocorrelation_lag1": [
            -0.16423869789518683,
            -0.5149385460190471,
            -0.4302638151073333,
            0.14241733885332697,
            0.07469868459911808,
            -0.17024881386317015,
            0.27023489697129793,
            -0.03683964464665922,
            -0.19373843846966957
          ],
          "temporal_linear_drift_per_s": [
            -6.764491095362732e-07,
            -9.219019268631257e-06,
            -4.237342378967135e-06,
            -0.0004200431774228454,
            1.1716799116004798e-05,
            2.209806582986634e-06,
            -0.0001863703151056579,
            1.0471954378072973e-05,
            -1.5688495756260638e-05
          ]
        }
      },
      "by_motion": {
        "other_recovered_dynamic": {
          "sample_count": 1837,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            6.060125196895462e-06,
            -0.00013560796989338792,
            -1.4214838437327699e-05,
            -0.05435833091499015,
            0.022604464136805082,
            0.013298771665019951,
            -0.02711377780268708,
            0.011597576407319246,
            0.007591107146903159
          ],
          "innovation_distribution": {
            "count": 16533,
            "rms": 0.21637351392772083,
            "p50_abs": 0.017639210571672947,
            "p95_abs": 0.6019473171832558,
            "p99_abs": 0.7751126118560894
          },
          "axis_rms": [
            0.0009379440102308441,
            0.009131477593245334,
            0.005111365428972422,
            0.21113088416485817,
            0.5396047551959349,
            0.03258493921415494,
            0.1046322479492034,
            0.2702333202602586,
            0.021489836077517786
          ],
          "axis_p50_abs": [
            0.00014252094024564448,
            0.005530192120605294,
            0.002191745903928781,
            0.10522118298721303,
            0.551378729778033,
            0.017708685957128267,
            0.05179434668937467,
            0.2758332756793336,
            0.010598766864585052
          ],
          "axis_p95_abs": [
            0.0020018988492283233,
            0.018942010984822698,
            0.011379985809657168,
            0.43883992122728893,
            0.7771906098427683,
            0.04355853732073203,
            0.2176041390772999,
            0.3912677918682655,
            0.03214484187523556
          ],
          "axis_p99_abs": [
            0.004340490452282133,
            0.02478937600352575,
            0.017643246330062732,
            0.7255473586429307,
            1.6304445103585805,
            0.14386012752409796,
            0.3548878350655779,
            0.8156278531055622,
            0.07894374062586021
          ],
          "vector_rms": 0.6491205417831625,
          "vector_p50": 0.6301891042293958,
          "vector_p95": 1.024750544640553,
          "vector_p99": 1.831203187073754,
          "normalized_distribution": {
            "count": 16533,
            "rms": 1.0642956478061933,
            "p50_abs": 0.12277439706005908,
            "p95_abs": 2.8233587066376478,
            "p99_abs": 3.6352066002298105
          },
          "empirical_covariance": [
            [
              8.801813818647683e-07,
              -5.8671571959454134e-08,
              -1.438394021308673e-07,
              -4.908594323825733e-06,
              3.882144421866092e-06,
              -1.5961659009293176e-06,
              -2.041905031055532e-06,
              2.9829486208074566e-06,
              -1.9020879116536164e-06
            ],
            [
              -5.8671571959454134e-08,
              8.341089955666218e-05,
              -1.3897560844331682e-05,
              0.0004310747477085251,
              1.621503499799735e-06,
              2.9005893512388997e-05,
              0.00015800503698717977,
              -5.080118181900813e-07,
              -8.352887674820543e-06
            ],
            [
              -1.438394021308673e-07,
              -1.3897560844331682e-05,
              2.6140084255101662e-05,
              -8.300747146853473e-05,
              -5.8654618335091955e-05,
              1.4696590694750292e-06,
              -3.956457998846473e-05,
              -2.1537477582075795e-05,
              1.4535150191708062e-06
            ],
            [
              -4.908594323825733e-06,
              0.0004310747477085251,
              -8.300747146853473e-05,
              0.04164409172825593,
              -0.0024356765648514945,
              0.0013099546818733212,
              0.020553365165466915,
              -0.0012652556097918312,
              0.0005695909441336083
            ],
            [
              3.882144421866092e-06,
              1.621503499799735e-06,
              -5.8654618335091955e-05,
              -0.0024356765648514945,
              0.29082064284707404,
              -0.002439355521181007,
              -0.0013032055448392028,
              0.1456015266727893,
              -0.0011482769544697215
            ],
            [
              -1.5961659009293176e-06,
              2.9005893512388997e-05,
              1.4696590694750292e-06,
              0.0013099546818733212,
              -0.002439355521181007,
              0.0008854029188723286,
              0.0006361285746316324,
              -0.001214833930538501,
              0.00045510959233632364
            ],
            [
              -2.041905031055532e-06,
              0.00015800503698717977,
              -3.956457998846473e-05,
              0.020553365165466915,
              -0.0013032055448392028,
              0.0006361285746316324,
              0.010218312864368436,
              -0.0006786451532828108,
              0.00028145949521797087
            ],
            [
              2.9829486208074566e-06,
              -5.080118181900813e-07,
              -2.1537477582075795e-05,
              -0.0012652556097918312,
              0.1456015266727893,
              -0.001214833930538501,
              -0.0006786451532828108,
              0.07293124487683067,
              -0.0005536234407606929
            ],
            [
              -1.9020879116536164e-06,
              -8.352887674820543e-06,
              1.4535150191708062e-06,
              0.0005695909441336083,
              -0.0011482769544697215,
              0.00045510959233632364,
              0.00028145949521797087,
              -0.0005536234407606929,
              0.0004044082929723434
            ]
          ],
          "nis_distribution": {
            "count": 1837,
            "rms": 15.590942316896582,
            "p50_abs": 9.630902552233595,
            "p95_abs": 25.515046131222686,
            "p99_abs": 80.69896388762473
          },
          "nis_total": 18727.34616045287,
          "nis_per_dof": 1.1327252259392047,
          "alpha_factor": 1.1327252259392047,
          "alpha_composite_prediction": 1.1327252259392047,
          "alpha_factor_only_upper_bound": 84.56748622049201,
          "temporal_autocorrelation_lag1": [
            0.3837286730901216,
            -0.42398070484230993,
            -0.42579890622239985,
            0.8323442272729168,
            0.9456883584378726,
            0.22817854981699312,
            0.859531309290684,
            0.9453963779089352,
            0.19715208938606055
          ],
          "temporal_linear_drift_per_s": [
            6.179804450137744e-10,
            -2.989575192301688e-08,
            -6.999876769597131e-09,
            -2.0008296568797405e-08,
            3.1247516132769235e-05,
            -1.4036329309490006e-07,
            1.0167570060845651e-07,
            1.5645128387506064e-05,
            -1.6210717422072277e-08
          ]
        },
        "left_right": {
          "sample_count": 1051,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            -0.0002686992084176283,
            0.0001182828958693257,
            -0.00012955832810036005,
            -0.002609478271270411,
            0.06864875491494152,
            -0.00098282963541983,
            -0.0008788292956997515,
            0.03387215737745369,
            0.000661165854985441
          ],
          "innovation_distribution": {
            "count": 9459,
            "rms": 0.05217833882354427,
            "p50_abs": 0.00672304943070845,
            "p95_abs": 0.12112753428806694,
            "p99_abs": 0.2013229826673494
          },
          "axis_rms": [
            0.0012831282244286384,
            0.006711536307313188,
            0.00318658578982812,
            0.09026503184965613,
            0.10467703019982774,
            0.01785310411045127,
            0.0452076419450547,
            0.0527791648740977,
            0.01389981392420366
          ],
          "axis_p50_abs": [
            0.0003103875020453104,
            0.004248639570783518,
            0.0015636310104670576,
            0.05615974004834429,
            0.0802682491823041,
            0.0029006952189938318,
            0.027129331731337858,
            0.03917896101879869,
            0.004731723932004606
          ],
          "axis_p95_abs": [
            0.002260481040899619,
            0.013458686996941287,
            0.00582030512330419,
            0.18548233309988357,
            0.20206240962120353,
            0.0412810860805628,
            0.09424446793180283,
            0.10186909328270771,
            0.027886813424709
          ],
          "axis_p99_abs": [
            0.004710569325499202,
            0.019797879664946137,
            0.010260424125490808,
            0.2446494254733157,
            0.2834481422551326,
            0.07930733711376803,
            0.12235003738822287,
            0.14099512234533135,
            0.05427221636463475
          ],
          "vector_rms": 0.1565350164706328,
          "vector_p50": 0.12897065724824613,
          "vector_p95": 0.2703172717297958,
          "vector_p99": 0.34142533125905394,
          "normalized_distribution": {
            "count": 9459,
            "rms": 0.2593330781192765,
            "p50_abs": 0.057470820640773836,
            "p95_abs": 0.5847771442614612,
            "p99_abs": 0.9461932716334363
          },
          "empirical_covariance": [
            [
              1.575718031698007e-06,
              -4.250753621573418e-07,
              -2.7800335906803817e-07,
              -5.757498003019463e-06,
              -1.0115402397320144e-05,
              -3.2354994359397885e-06,
              -2.262043385734522e-06,
              -3.907484440298211e-06,
              -2.5995012890392047e-08
            ],
            [
              -4.250753621573418e-07,
              4.5073615169271656e-05,
              1.528456569889505e-06,
              0.00020696274747989375,
              -9.614978434414227e-06,
              4.414098219893449e-06,
              7.216218038046061e-05,
              -2.951677901195754e-06,
              -1.3132147447929343e-05
            ],
            [
              -2.7800335906803817e-07,
              1.528456569889505e-06,
              1.0147198439016754e-05,
              -2.7852475534036854e-06,
              -5.499538352395112e-06,
              -3.189476566427969e-06,
              -3.1113587906211773e-06,
              1.2235425551850165e-06,
              -1.5565258832575885e-06
            ],
            [
              -5.757498003019463e-06,
              0.00020696274747989375,
              -2.7852475534036854e-06,
              0.008148719899493078,
              -0.0001856900453009211,
              0.00019526640697483633,
              0.003980309805006047,
              -3.667573039486835e-05,
              3.735567778108007e-05
            ],
            [
              -1.0115402397320144e-05,
              -9.614978434414227e-06,
              -5.499538352395112e-06,
              -0.0001856900453009211,
              0.006250576365893538,
              -0.000135236570284429,
              -7.98044823504042e-05,
              0.0030772761464876934,
              -9.401397254635817e-05
            ],
            [
              -3.2354994359397885e-06,
              4.414098219893449e-06,
              -3.189476566427969e-06,
              0.00019526640697483633,
              -0.000135236570284429,
              0.00031807000787900533,
              0.00010025740523459718,
              -7.439095293514366e-05,
              0.00016523539814248408
            ],
            [
              -2.262043385734522e-06,
              7.216218038046061e-05,
              -3.1113587906211773e-06,
              0.003980309805006047,
              -7.98044823504042e-05,
              0.00010025740523459718,
              0.002044904224110147,
              -4.362208293178948e-06,
              4.6172244348377616e-05
            ],
            [
              -3.907484440298211e-06,
              -2.951677901195754e-06,
              1.2235425551850165e-06,
              -3.667573039486835e-05,
              0.0030772761464876934,
              -7.439095293514366e-05,
              -4.362208293178948e-06,
              0.001639877501498871,
              -8.112922694481384e-05
            ],
            [
              -2.5995012890392047e-08,
              -1.3132147447929343e-05,
              -1.5565258832575885e-06,
              3.735567778108007e-05,
              -9.401397254635817e-05,
              0.00016523539814248408,
              4.6172244348377616e-05,
              -8.112922694481384e-05,
              0.00019295127511286778
            ]
          ],
          "nis_distribution": {
            "count": 1051,
            "rms": 0.8610760061641697,
            "p50_abs": 0.42287428420399015,
            "p95_abs": 1.7859863920518078,
            "p99_abs": 2.8292145378226667
          },
          "nis_total": 636.1522319030989,
          "nis_per_dof": 0.06725364540681879,
          "alpha_factor": 0.06725364540681879,
          "alpha_composite_prediction": 0.06725364540681879,
          "alpha_factor_only_upper_bound": 7.060788268348778,
          "temporal_autocorrelation_lag1": [
            0.2872019923935229,
            -0.3979585663820942,
            -0.38961419748492554,
            0.5938376553493532,
            0.7850353449416673,
            -0.4596733472957036,
            0.6338050921926156,
            0.738148719972443,
            -0.09050682574922057
          ],
          "temporal_linear_drift_per_s": [
            -7.499352628047945e-08,
            -1.0179411710849615e-07,
            5.3867111579786437e-08,
            -1.5137544000046969e-05,
            3.1757552702595064e-05,
            -5.197650527189947e-07,
            -6.905378904005492e-06,
            1.4901153902874935e-05,
            -2.9382875534567347e-07
          ]
        },
        "circle": {
          "sample_count": 348,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            -2.9840429858734283e-05,
            0.00024087444571543475,
            -0.00018804994729798035,
            -0.020466778457331684,
            0.019424242360842725,
            -0.000987968049831935,
            -0.011519885180567369,
            0.009207173298178472,
            0.0017367016995292208
          ],
          "innovation_distribution": {
            "count": 3132,
            "rms": 0.051168111660471534,
            "p50_abs": 0.011850782685287605,
            "p95_abs": 0.11575668773297339,
            "p99_abs": 0.1840783817696557
          },
          "axis_rms": [
            0.002050959335388064,
            0.00807840908557151,
            0.0037707106987482724,
            0.10866867659642587,
            0.07559300537187795,
            0.03038005304555204,
            0.054305858559644225,
            0.039596437483180466,
            0.022732355326318447
          ],
          "axis_p50_abs": [
            0.00031193194536284854,
            0.004539593705568215,
            0.0019758278876570627,
            0.07712565349207617,
            0.06150703007977602,
            0.006844688672547505,
            0.03857810518191049,
            0.03064397301160611,
            0.007766228873156145
          ],
          "axis_p95_abs": [
            0.004276029005671585,
            0.01649032097890895,
            0.0073421492322216205,
            0.19940686256712306,
            0.1215111484227645,
            0.0674546670611086,
            0.09954539841288625,
            0.06786421504925919,
            0.049142249033202745
          ],
          "axis_p99_abs": [
            0.007742623229673144,
            0.02477882385945058,
            0.01192183079200945,
            0.3029257335411683,
            0.18047300923656318,
            0.10077034366450491,
            0.13917549101531868,
            0.09459624938763295,
            0.08708996453631801
          ],
          "vector_rms": 0.1535043349814146,
          "vector_p50": 0.13079576915232066,
          "vector_p95": 0.2619945128446148,
          "vector_p99": 0.35742118474566237,
          "normalized_distribution": {
            "count": 3132,
            "rms": 0.25325938191951564,
            "p50_abs": 0.08171686959628062,
            "p95_abs": 0.5508873189689643,
            "p99_abs": 0.8707242647553545
          },
          "empirical_covariance": [
            [
              4.217663466766947e-06,
              1.95589841349776e-06,
              -5.222673524926037e-07,
              8.061200307445413e-06,
              -2.2280656352676094e-05,
              3.3501971842500438e-06,
              2.5078102701770504e-06,
              -7.413639522589067e-06,
              3.3563040237488797e-07
            ],
            [
              1.95589841349776e-06,
              6.539057681160084e-05,
              2.601761700499701e-06,
              0.0003475014591278173,
              -4.800830665031529e-05,
              1.864068952981893e-05,
              0.00012294661016557255,
              -2.2837887207818312e-05,
              -1.1816345037734654e-05
            ],
            [
              -5.222673524926037e-07,
              2.601761700499701e-06,
              1.4223769291238065e-05,
              -6.671905812734963e-06,
              -1.1918458801406206e-05,
              -1.2272535828201422e-05,
              -6.1451760761182704e-06,
              -1.4711537357508758e-06,
              -7.294816794691967e-06
            ],
            [
              8.061200307445413e-06,
              0.0003475014591278173,
              -6.671905812734963e-06,
              0.01142281643796367,
              0.001144570585163315,
              0.00027857141865740825,
              0.00550117497945529,
              0.0006509933539142025,
              2.5306734801111147e-05
            ],
            [
              -2.2280656352676094e-05,
              -4.800830665031529e-05,
              -1.1918458801406206e-05,
              0.001144570585163315,
              0.00535238167697777,
              -8.036581644015201e-05,
              0.000622416418304424,
              0.002706822634387505,
              -0.000153443649864779
            ],
            [
              3.3501971842500438e-06,
              1.864068952981893e-05,
              -1.2272535828201422e-05,
              0.00027857141865740825,
              -8.036581644015201e-05,
              0.0009246285206908007,
              0.0001300833971963349,
              -5.023594163288212e-05,
              0.0004608892780376529
            ],
            [
              2.5078102701770504e-06,
              0.00012294661016557255,
              -6.1451760761182704e-06,
              0.00550117497945529,
              0.000622416418304424,
              0.0001300833971963349,
              0.002824534999209415,
              0.0003796004109507366,
              2.324416762141511e-05
            ],
            [
              -7.413639522589067e-06,
              -2.2837887207818312e-05,
              -1.4711537357508758e-06,
              0.0006509933539142025,
              0.002706822634387505,
              -5.023594163288212e-05,
              0.0003796004109507366,
              0.0014873799013931466,
              -8.328318227647993e-05
            ],
            [
              3.3563040237488797e-07,
              -1.1816345037734654e-05,
              -7.294816794691967e-06,
              2.5306734801111147e-05,
              -0.000153443649864779,
              0.0004608892780376529,
              2.324416762141511e-05,
              -8.328318227647993e-05,
              0.0005152243757040925
            ]
          ],
          "nis_distribution": {
            "count": 348,
            "rms": 0.8023952851732803,
            "p50_abs": 0.4202341491848238,
            "p95_abs": 1.6325073635018446,
            "p99_abs": 2.996523719426435
          },
          "nis_total": 200.88746510875896,
          "nis_per_dof": 0.0641403145302551,
          "alpha_factor": 0.0641403145302551,
          "alpha_composite_prediction": 0.0641403145302551,
          "alpha_factor_only_upper_bound": 8.464188299926844,
          "temporal_autocorrelation_lag1": [
            0.20003106972726786,
            -0.36297436440508407,
            -0.344609812505334,
            0.5223898726340148,
            0.7710374873632524,
            -0.5449691052296242,
            0.5851637067402111,
            0.734851112528251,
            -0.12580276856987208
          ],
          "temporal_linear_drift_per_s": [
            1.6542529745108838e-07,
            4.7032158565147657e-07,
            3.2177375516496953e-07,
            -5.040938293301414e-05,
            -6.289334595162161e-06,
            -1.9486159187378574e-06,
            -2.4229713968387644e-05,
            -3.132066146057555e-06,
            -2.4260448526102807e-06
          ]
        },
        "slope": {
          "sample_count": 315,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            -1.1129396668480841e-05,
            -1.774617807358326e-05,
            -0.0002499570396861961,
            0.0033823810597607483,
            0.06534949242771533,
            -0.001231103957523873,
            0.001079938331427652,
            0.03218863145984526,
            0.000459053320745311
          ],
          "innovation_distribution": {
            "count": 2835,
            "rms": 0.05815919355816133,
            "p50_abs": 0.010275799272404412,
            "p95_abs": 0.11510172732088243,
            "p99_abs": 0.2439585095677256
          },
          "axis_rms": [
            0.00013647722016694658,
            0.00968476375362739,
            0.0018793664613053537,
            0.14114756888990737,
            0.0665386358301081,
            0.009328174942920155,
            0.06858990537059288,
            0.03290395918020398,
            0.010990637234571372
          ],
          "axis_p50_abs": [
            7.638997281197475e-05,
            0.00672956439258483,
            0.0012373309328268403,
            0.08059299839682349,
            0.05944704643969436,
            0.004436934732881426,
            0.040031744513283285,
            0.030180583594970188,
            0.006699272336683215
          ],
          "axis_p95_abs": [
            0.00024869514527008486,
            0.019510543362162146,
            0.0035689338824295576,
            0.309065025889059,
            0.0804706852475546,
            0.014413362426239477,
            0.15201901597890427,
            0.041564777280520014,
            0.019497592002514455
          ],
          "axis_p99_abs": [
            0.00037927741609019644,
            0.026076067873253738,
            0.0045636399925998074,
            0.37068456412299133,
            0.0836639568813042,
            0.02615506746347084,
            0.1880999241897477,
            0.04556768840728419,
            0.027589817119778356
          ],
          "vector_rms": 0.17447758067448396,
          "vector_p50": 0.11851382644150679,
          "vector_p95": 0.3487687967565653,
          "vector_p99": 0.42263299275756844,
          "normalized_distribution": {
            "count": 2835,
            "rms": 0.29181581479370566,
            "p50_abs": 0.08149189462112365,
            "p95_abs": 0.6003574863406611,
            "p99_abs": 1.1720400767775003
          },
          "empirical_covariance": [
            [
              1.8561092256695025e-08,
              -3.9206989976339086e-08,
              -6.02480501750206e-08,
              7.117073709155278e-10,
              3.469954580407586e-07,
              -3.895558276083292e-07,
              4.876069517471599e-08,
              1.814784419013618e-07,
              -2.8164003542739355e-07
            ],
            [
              -3.9206989976339086e-08,
              9.40930421069194e-05,
              6.057165614966769e-06,
              0.00045964989556337727,
              -4.252382770733138e-06,
              1.2457118500065866e-05,
              0.0001605531401178772,
              -9.419363623605116e-07,
              -3.0354778422582633e-05
            ],
            [
              -6.02480501750206e-08,
              6.057165614966769e-06,
              3.4805892639174395e-06,
              2.582740253067616e-05,
              -7.036621569443328e-07,
              7.827107349621875e-07,
              7.2332399046349956e-06,
              8.315274673730083e-08,
              -2.391657810802011e-06
            ],
            [
              7.117073709155278e-10,
              0.00045964989556337727,
              2.582740253067616e-05,
              0.019974607153177674,
              -0.000205968990620277,
              0.0003589900494317511,
              0.009652694246252598,
              -8.676882513502679e-05,
              -4.605218712209727e-05
            ],
            [
              3.469954580407586e-07,
              -4.252382770733138e-06,
              -7.036621569443328e-07,
              -0.000205968990620277,
              0.00015733336858309165,
              -4.67356296391587e-05,
              -9.681526134662913e-05,
              7.672916710219606e-05,
              -2.0666925289704264e-05
            ],
            [
              -3.895558276083292e-07,
              1.2457118500065866e-05,
              7.827107349621875e-07,
              0.0003589900494317511,
              -4.67356296391587e-05,
              8.577152135547817e-05,
              0.00017058364977688844,
              -2.503576443562449e-05,
              5.305887307260414e-05
            ],
            [
              4.876069517471599e-08,
              0.0001605531401178772,
              7.2332399046349956e-06,
              0.009652694246252598,
              -9.681526134662913e-05,
              0.00017058364977688844,
              0.0047183878610298335,
              -4.173790106994075e-05,
              2.73415548066636e-06
            ],
            [
              1.814784419013618e-07,
              -9.419363623605116e-07,
              8.315274673730083e-08,
              -8.676882513502679e-05,
              7.672916710219606e-05,
              -2.503576443562449e-05,
              -4.173790106994075e-05,
              4.6710822801142566e-05,
              -1.9150872180576735e-05
            ],
            [
              -2.8164003542739355e-07,
              -3.0354778422582633e-05,
              -2.391657810802011e-06,
              -4.605218712209727e-05,
              -2.0666925289704264e-05,
              5.305887307260414e-05,
              2.73415548066636e-06,
              -1.9150872180576735e-05,
              0.00012096740036387786
            ]
          ],
          "nis_distribution": {
            "count": 315,
            "rms": 1.2255884302985174,
            "p50_abs": 0.3611038888526214,
            "p95_abs": 2.9603055813025594,
            "p99_abs": 4.350730374779205
          },
          "nis_total": 241.41859178013019,
          "nis_per_dof": 0.08515646976371435,
          "alpha_factor": 0.08515646976371435,
          "alpha_composite_prediction": 0.08515646976371435,
          "alpha_factor_only_upper_bound": 7.330547999726383,
          "temporal_autocorrelation_lag1": [
            -0.11913619541999196,
            -0.4074163735467098,
            -0.3964049192343242,
            0.7229177602962424,
            0.30744673622638374,
            -0.3040632893373919,
            0.7872429666519459,
            0.22256013632020075,
            -0.1666560216904805
          ],
          "temporal_linear_drift_per_s": [
            -7.160711857965458e-09,
            -1.5894881090459617e-07,
            9.710447099350672e-08,
            -0.00022052733897411737,
            4.324948832289491e-05,
            -2.272114944027864e-06,
            -0.00010880033433998384,
            2.119113292863632e-05,
            2.5811220919294723e-09
          ]
        }
      },
      "by_speed": {
        "speed_lt_0p2": {
          "sample_count": 2982,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            -6.939170616152124e-05,
            3.6766399659532465e-05,
            -6.445647529943537e-05,
            -0.03870873429148235,
            0.04225001989156924,
            0.007435134426881687,
            -0.019592356508349052,
            0.021167998174710632,
            0.005028791177950672
          ],
          "innovation_distribution": {
            "count": 26838,
            "rms": 0.17165772457677492,
            "p50_abs": 0.01153514392868175,
            "p95_abs": 0.3904853609536106,
            "p99_abs": 0.7218541825474116
          },
          "axis_rms": [
            0.0004850180109758363,
            0.008215819460423584,
            0.003800705161202974,
            0.17834350645173788,
            0.42399046574349875,
            0.021692264131047027,
            0.0882523078540478,
            0.21232157697331697,
            0.014191258656670362
          ],
          "axis_p50_abs": [
            0.00015488093769488916,
            0.004966298264816234,
            0.0016947015977385885,
            0.08474336801197693,
            0.11524771036107513,
            0.006610882257493955,
            0.042066979886075204,
            0.05828079867962022,
            0.0069382613878974375
          ],
          "axis_p95_abs": [
            0.0005321374558849294,
            0.01672760568208366,
            0.008049484268167557,
            0.3655037386620527,
            0.7738134149762548,
            0.03352793683606138,
            0.18012189875154228,
            0.38552453203651194,
            0.02571229300063673
          ],
          "axis_p99_abs": [
            0.0012219086705104795,
            0.02347691013630391,
            0.014045232237693574,
            0.6579329148697656,
            1.094840890239937,
            0.11213762697966459,
            0.33171197494504834,
            0.5393470907661178,
            0.0676415740264453
          ],
          "vector_rms": 0.5149731737303247,
          "vector_p50": 0.2272603946393914,
          "vector_p95": 0.8981938071946075,
          "vector_p99": 1.2666788447022865,
          "normalized_distribution": {
            "count": 26838,
            "rms": 0.8449747487957829,
            "p50_abs": 0.08850706469485786,
            "p95_abs": 2.0592588178037863,
            "p99_abs": 3.3821634740222053
          },
          "empirical_covariance": [
            [
              2.3050456073239927e-07,
              3.0889197158837974e-08,
              -2.7966481007270606e-07,
              -2.961135389612987e-06,
              2.0975017472949525e-06,
              5.133549037273679e-07,
              -1.4902479485637388e-06,
              1.255469056886908e-06,
              3.556863891904168e-07
            ],
            [
              3.0889197158837974e-08,
              6.752098048873083e-05,
              -7.826907353144206e-06,
              0.00035265843531293804,
              8.163437933024732e-06,
              1.090337231573724e-05,
              0.00012993307872717774,
              3.0938209183180403e-06,
              -1.4070977505199949e-05
            ],
            [
              -2.7966481007270606e-07,
              -7.826907353144206e-06,
              1.4446049501518714e-05,
              -4.857971734578057e-05,
              -3.492184608649573e-05,
              1.5662209498808685e-06,
              -2.2253059865500156e-05,
              -1.3590751361923266e-05,
              1.3316868631212813e-06
            ],
            [
              -2.961135389612987e-06,
              0.00035265843531293804,
              -4.857971734578057e-05,
              0.03031820725456643,
              -0.0006689054318474686,
              0.0006948176396042116,
              0.01493972599306448,
              -0.00032674443911612314,
              0.00028080893175172613
            ],
            [
              2.0975017472949525e-06,
              8.163437933024732e-06,
              -3.492184608649573e-05,
              -0.0006689054318474686,
              0.17804255661394275,
              -0.0017803806150996576,
              -0.0003803116057374572,
              0.08911883022822069,
              -0.0007990171435642352
            ],
            [
              5.133549037273679e-07,
              1.090337231573724e-05,
              1.5662209498808685e-06,
              0.0006948176396042116,
              -0.0017803806150996576,
              0.0004154124058270992,
              0.00034001340147297304,
              -0.0008905315337989676,
              0.00021783574541133478
            ],
            [
              -1.4902479485637388e-06,
              0.00012993307872717774,
              -2.2253059865500156e-05,
              0.01493972599306448,
              -0.0003803116057374572,
              0.00034001340147297304,
              0.007407093342737982,
              -0.00018583599473348558,
              0.00015279847982431586
            ],
            [
              1.255469056886908e-06,
              3.0938209183180403e-06,
              -1.3590751361923266e-05,
              -0.00032674443911612314,
              0.08911883022822069,
              -0.0008905315337989676,
              -0.00018583599473348558,
              0.04464734018212147,
              -0.0004011551200674277
            ],
            [
              3.556863891904168e-07,
              -1.4070977505199949e-05,
              1.3316868631212813e-06,
              0.00028080893175172613,
              -0.0007990171435642352,
              0.00021783574541133478,
              0.00015279847982431586,
              -0.0004011551200674277,
              0.0001761621567190133
            ]
          ],
          "nis_distribution": {
            "count": 2982,
            "rms": 12.174514288555558,
            "p50_abs": 1.2598939971971386,
            "p95_abs": 19.55568882640419,
            "p99_abs": 38.44449772144988
          },
          "nis_total": 19161.857667938802,
          "nis_per_dof": 0.7139823261024966,
          "alpha_factor": 0.7139823261024966,
          "alpha_composite_prediction": 0.7139823261024966,
          "alpha_factor_only_upper_bound": 52.92471157340097,
          "temporal_autocorrelation_lag1": [
            0.036443253623553745,
            -0.39666116749175806,
            -0.4119235258562905,
            0.8242176585552151,
            0.9378447713150307,
            0.7514603918834016,
            0.8535610147734158,
            0.936149557968753,
            0.4382811197820315
          ],
          "temporal_linear_drift_per_s": [
            1.1695171055499072e-08,
            -1.824699528389907e-08,
            2.2988398390938423e-09,
            -3.4632054382954537e-06,
            1.994731802785849e-05,
            6.741600215517672e-07,
            -1.7183756939750892e-06,
            1.0024584650103908e-05,
            3.931110648567186e-07
          ]
        },
        "speed_0p2_to_1": {
          "sample_count": 564,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            -0.00013448023482199426,
            -0.0002937969480679177,
            -0.00020497120389280366,
            0.011914454877369496,
            0.026280428831698163,
            0.0008777835143912246,
            0.00704394711413439,
            0.012458945438919447,
            0.0005540129326142027
          ],
          "innovation_distribution": {
            "count": 5076,
            "rms": 0.07249269710273795,
            "p50_abs": 0.016273341883710213,
            "p95_abs": 0.1328034715071465,
            "p99_abs": 0.24405431281071419
          },
          "axis_rms": [
            0.0026901268182591615,
            0.009503055532736497,
            0.006192780808398552,
            0.10263842805430497,
            0.15588745544205185,
            0.04657672717567074,
            0.05213891575699855,
            0.0791177332521634,
            0.034319169203772606
          ],
          "axis_p50_abs": [
            0.0015015024567528621,
            0.005407199467579529,
            0.0030673655863012973,
            0.06449162672099473,
            0.07696599752490434,
            0.022217721207478114,
            0.033098327904770866,
            0.03920306979634071,
            0.016388440887574962
          ],
          "axis_p95_abs": [
            0.005177945697760595,
            0.019346617471412877,
            0.012390217707055522,
            0.2080635826621879,
            0.22317039702955302,
            0.08375643361167986,
            0.1017274863827309,
            0.11053943393853678,
            0.06300472636805195
          ],
          "axis_p99_abs": [
            0.008389811999035598,
            0.027853608893861997,
            0.022710881859199648,
            0.30994425808803,
            0.8097048494006387,
            0.19074283221347665,
            0.1555154679382497,
            0.3847822431217842,
            0.11384031978947026
          ],
          "vector_rms": 0.21747809130821388,
          "vector_p50": 0.1411238489458071,
          "vector_p95": 0.32551028269287585,
          "vector_p99": 0.9510488898344306,
          "normalized_distribution": {
            "count": 5076,
            "rms": 0.3556302601470065,
            "p50_abs": 0.09826145444117249,
            "p95_abs": 0.6462117695138985,
            "p99_abs": 1.1408750263790568
          },
          "empirical_covariance": [
            [
              7.231519207325548e-06,
              7.877405451418054e-08,
              1.6529838282207418e-07,
              -1.708002052220172e-05,
              -4.607683671560031e-05,
              -8.082692664505129e-06,
              -7.005057267469137e-06,
              -1.6310159804905282e-05,
              -6.5158078809767105e-06
            ],
            [
              7.877405451418054e-08,
              9.038199958389154e-05,
              3.8176929580628236e-06,
              0.0004202125753787581,
              -8.23020825525345e-05,
              5.735270414324493e-05,
              0.00014052403441336498,
              -3.562222351559473e-05,
              -3.397202921713169e-06
            ],
            [
              1.6529838282207418e-07,
              3.8176929580628236e-06,
              3.8376564500523176e-05,
              -1.316244575462462e-05,
              -3.3545859009631925e-05,
              -1.3954491120579738e-05,
              -1.8959645236851836e-05,
              -1.215876002012774e-06,
              -1.0136098767895024e-05
            ],
            [
              -1.708002052220172e-05,
              0.0004202125753787581,
              -1.316244575462462e-05,
              0.010411152168093615,
              -0.00029126346555005363,
              0.0005064836481739751,
              0.00494463959405989,
              -0.000207739042760364,
              0.00010140361504808218
            ],
            [
              -4.607683671560031e-05,
              -8.23020825525345e-05,
              -3.3545859009631925e-05,
              -0.00029126346555005363,
              0.023652174303881935,
              0.0002560030640675046,
              -7.778561544117208e-05,
              0.011810411406513325,
              -0.00025700608404438446
            ],
            [
              -8.082692664505129e-06,
              5.735270414324493e-05,
              -1.3954491120579738e-05,
              0.0005064836481739751,
              0.0002560030640675046,
              0.0021724729128264333,
              0.00023525596508476812,
              0.00014085987407756753,
              0.001077288069978231
            ],
            [
              -7.005057267469137e-06,
              0.00014052403441336498,
              -1.8959645236851836e-05,
              0.00494463959405989,
              -7.778561544117208e-05,
              0.00023525596508476812,
              0.00267358975273167,
              -5.074111315878265e-05,
              5.016735625846997e-05
            ],
            [
              -1.6310159804905282e-05,
              -3.562222351559473e-05,
              -1.215876002012774e-06,
              -0.000207739042760364,
              0.011810411406513325,
              0.00014085987407756753,
              -5.074111315878265e-05,
              0.006115233005221904,
              -0.00011972554145899282
            ],
            [
              -6.5158078809767105e-06,
              -3.397202921713169e-06,
              -1.0136098767895024e-05,
              0.00010140361504808218,
              -0.00025700608404438446,
              0.001077288069978231,
              5.016735625846997e-05,
              -0.00011972554145899282,
              0.0011795899159899224
            ]
          ],
          "nis_distribution": {
            "count": 564,
            "rms": 3.2671180956475294,
            "p50_abs": 0.499108013225171,
            "p95_abs": 2.6464281103775105,
            "p99_abs": 20.672615539709376
          },
          "nis_total": 641.9763486879871,
          "nis_per_dof": 0.12647288193222755,
          "alpha_factor": 0.12647288193222755,
          "alpha_composite_prediction": 0.12647288193222755,
          "alpha_factor_only_upper_bound": 18.024549173004203,
          "temporal_autocorrelation_lag1": [
            0.28139995189419564,
            -0.3498700106047251,
            -0.4137314988791917,
            0.33920430901779325,
            0.770671447436344,
            -0.5248270845831793,
            0.40799874743675674,
            0.7716424366168743,
            -0.15717009918557387
          ],
          "temporal_linear_drift_per_s": [
            2.184678695499299e-10,
            -3.98223668107242e-08,
            5.1901414070521466e-09,
            1.0071208808396887e-06,
            -2.4477406468212282e-06,
            1.295191135967251e-07,
            6.738373059094739e-07,
            -1.2113196534478642e-06,
            -2.538248754535841e-08
          ]
        },
        "speed_ge_1": {
          "sample_count": 5,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            -0.00047754547767611997,
            0.0019003637611762342,
            0.0002713316269517857,
            0.010777736619003702,
            0.04144946269633581,
            -0.0002723578448016184,
            0.010244410754150654,
            0.019616939405783858,
            0.016080908655687055
          ],
          "innovation_distribution": {
            "count": 45,
            "rms": 0.042725394571535374,
            "p50_abs": 0.018825500618383728,
            "p95_abs": 0.07321027648562724,
            "p99_abs": 0.13526936492258335
          },
          "axis_rms": [
            0.0025742523888071665,
            0.010548999838063377,
            0.002026902183788,
            0.09670668676360672,
            0.04693532757407988,
            0.038317203473283316,
            0.04259532240945892,
            0.024034863201583285,
            0.02986243634827839
          ],
          "axis_p50_abs": [
            0.0020425188593613816,
            0.010888443443598697,
            0.0019237690176813983,
            0.0705053277913297,
            0.04179454574151044,
            0.028140976226440628,
            0.03506475750366028,
            0.020930844613802315,
            0.014496647393192674
          ],
          "axis_p95_abs": [
            0.003936683904925852,
            0.014332767572693372,
            0.0031567234834424455,
            0.15908596189983706,
            0.06955379470687914,
            0.060618634074772255,
            0.06420043520788803,
            0.03870196243214479,
            0.052724081972854886
          ],
          "axis_p99_abs": [
            0.004221336566770523,
            0.014552207464670484,
            0.0033604554001294023,
            0.17496369321800637,
            0.07289202441826567,
            0.06596422280186282,
            0.06975613107652719,
            0.04208712674457227,
            0.05903246496713454
          ],
          "vector_rms": 0.12817618371460615,
          "vector_p50": 0.10125488562235258,
          "vector_p95": 0.18435555098477652,
          "vector_p99": 0.19986445778412024,
          "normalized_distribution": {
            "count": 45,
            "rms": 0.209254370355046,
            "p50_abs": 0.0941877435955929,
            "p95_abs": 0.3677241333096874,
            "p99_abs": 0.6463197600130083
          },
          "empirical_covariance": [
            [
              7.998407097538111e-06,
              -1.7896296331531185e-05,
              -1.12432824641759e-06,
              -0.00014121808898074088,
              -3.956604233262519e-05,
              -5.5691219633904846e-05,
              -7.138749396532491e-05,
              6.358295250049807e-06,
              2.89381743717552e-05
            ],
            [
              -1.7896296331531185e-05,
              0.0001345875189483366,
              4.990616175644573e-06,
              0.0008552159834567593,
              9.568352662710714e-05,
              -0.0001752935516067248,
              0.00034737321041177724,
              1.2748402519283747e-05,
              -0.0002940725557226146
            ],
            [
              -1.12432824641759e-06,
              4.990616175644573e-06,
              5.043389513575328e-06,
              -0.00013365037624152163,
              -2.1098559278483253e-05,
              7.782256486320383e-07,
              -5.671984990424604e-05,
              -2.8388058255890183e-05,
              1.4911395406572695e-05
            ],
            [
              -0.00014121808898074088,
              0.0008552159834567593,
              -0.00013365037624152163,
              0.011545029572707165,
              0.0018690645895433854,
              -0.0010258372212621377,
              0.0049181264096335095,
              0.0011189221325621187,
              -0.0026750675970244465
            ],
            [
              -3.956604233262519e-05,
              9.568352662710714e-05,
              -2.1098559278483253e-05,
              0.0018690645895433854,
              0.0006060837708390616,
              -0.00011096439204683991,
              0.0008932388341569263,
              0.0002560486373212683,
              -0.00028306435722067315
            ],
            [
              -5.5691219633904846e-05,
              -0.0001752935516067248,
              7.782256486320383e-07,
              -0.0010258372212621377,
              -0.00011096439204683991,
              0.0018351673790217128,
              -0.00028504046402590453,
              -0.00031175924059002,
              0.0005072035721535196
            ],
            [
              -7.138749396532491e-05,
              0.00034737321041177724,
              -5.671984990424604e-05,
              0.0049181264096335095,
              0.0008932388341569263,
              -0.00028504046402590453,
              0.0021367669243324942,
              0.0004785717859336748,
              -0.0010767600868639385
            ],
            [
              6.358295250049807e-06,
              1.2748402519283747e-05,
              -2.8388058255890183e-05,
              0.0011189221325621187,
              0.0002560486373212683,
              -0.00031175924059002,
              0.0004785717859336748,
              0.0002410629218357834,
              -0.0001803951646732241
            ],
            [
              2.89381743717552e-05,
              -0.0002940725557226146,
              1.4911395406572695e-05,
              -0.0026750675970244465,
              -0.00028306435722067315,
              0.0005072035721535196,
              -0.0010767600868639385,
              -0.0001803951646732241,
              0.0007914618518280346
            ]
          ],
          "nis_distribution": {
            "count": 5,
            "rms": 0.48609511935003463,
            "p50_abs": 0.2679193343923426,
            "p95_abs": 0.827354376027621,
            "p99_abs": 0.9336643438164114
          },
          "nis_total": 1.9704326180709044,
          "nis_per_dof": 0.04378739151268676,
          "alpha_factor": 0.04378739151268676,
          "alpha_composite_prediction": 0.04378739151268676,
          "alpha_factor_only_upper_bound": 7.7370319821437485,
          "temporal_autocorrelation_lag1": [
            -0.6521747372311917,
            -0.3435271279499499,
            0.6572806576892718,
            -0.13846124080250408,
            -0.8269143154617006,
            -0.5563833457801824,
            -0.24157271670686037,
            -0.5343688036601261,
            -0.07751949331096811
          ],
          "temporal_linear_drift_per_s": [
            -0.0008133139187698471,
            -0.0005045667217521965,
            0.0010626198375799348,
            -0.03129731059955316,
            0.0017954988744450613,
            0.008277691660460936,
            -0.010619137926895755,
            -0.005452920218683344,
            0.008152345581643555
          ]
        }
      },
      "by_gyro_norm": {
        "gyro_lt_0p02": {
          "sample_count": 3160,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            -8.553778709176891e-05,
            4.0597368152010435e-05,
            -7.187813478229931e-05,
            -0.03733448004279995,
            0.04319806391398846,
            0.007152157049601182,
            -0.018953954394005434,
            0.021633019394483474,
            0.0048129747495992544
          ],
          "innovation_distribution": {
            "count": 28440,
            "rms": 0.16777039120844242,
            "p50_abs": 0.011846967821514589,
            "p95_abs": 0.3871567737368425,
            "p99_abs": 0.7201976942272987
          },
          "axis_rms": [
            0.0007101564939186807,
            0.00826180133374844,
            0.0037950198463504708,
            0.17474453127626444,
            0.4138544221917078,
            0.0255473429551323,
            0.08646778035017934,
            0.2073255249445376,
            0.01773760395515665
          ],
          "axis_p50_abs": [
            0.00016358214006465365,
            0.004966298264816234,
            0.0017234093144510173,
            0.08258019505927545,
            0.10667926602095829,
            0.00728449429902156,
            0.04111762197337453,
            0.054268791937673456,
            0.007320723678648555
          ],
          "axis_p95_abs": [
            0.0010296151998286575,
            0.016767711650871663,
            0.008052023261859964,
            0.3589920954883993,
            0.7736046942605441,
            0.03669020909937186,
            0.17822585560823104,
            0.38468018396890086,
            0.02915907151529344
          ],
          "axis_p99_abs": [
            0.003627163544332296,
            0.023823653014104256,
            0.013778010386005709,
            0.6547823169132003,
            0.9582158935927267,
            0.14048096569459523,
            0.32904921042626156,
            0.48444330801841873,
            0.07552245294539019
          ],
          "vector_rms": 0.5033111736253273,
          "vector_p50": 0.21339944660531485,
          "vector_p95": 0.8955014029099231,
          "vector_p99": 1.2147496002834546,
          "normalized_distribution": {
            "count": 28440,
            "rms": 0.8255898641833116,
            "p50_abs": 0.08912581813997901,
            "p95_abs": 1.9721651560521003,
            "p99_abs": 3.375446226412148
          },
          "empirical_covariance": [
            [
              4.971628628542066e-07,
              -4.416273971974558e-08,
              -1.6658644328371758e-07,
              -3.510634699845917e-06,
              2.069392067518948e-06,
              -8.715195800618037e-07,
              -1.5117712742943713e-06,
              1.5522742760134232e-06,
              -1.077530730139763e-06
            ],
            [
              -4.416273971974558e-08,
              6.827731987882368e-05,
              -7.201660611526503e-06,
              0.0003547063514621285,
              -1.0563024349809406e-05,
              1.559286867556921e-05,
              0.00013038045539648472,
              -6.457960987511585e-06,
              -1.3840955008835013e-05
            ],
            [
              -1.6658644328371758e-07,
              -7.201660611526503e-06,
              1.4401566625727106e-05,
              -4.453118408767194e-05,
              -3.998742389417435e-05,
              -9.84634143529737e-07,
              -2.0560450269270982e-05,
              -1.5802058883759467e-05,
              5.189593403849426e-07
            ],
            [
              -3.510634699845917e-06,
              0.0003547063514621285,
              -4.453118408767194e-05,
              0.02915101281495049,
              -0.0004750301079468919,
              0.0006751643972194543,
              0.014349538251301322,
              -0.00022653111037085802,
              0.00024008871769634382
            ],
            [
              2.069392067518948e-06,
              -1.0563024349809406e-05,
              -3.998742389417435e-05,
              -0.0004750301079468919,
              0.16946303758525508,
              -0.0015512475144580857,
              -0.00024647074898742546,
              0.08484472430292864,
              -0.0007678461823824235
            ],
            [
              -8.715195800618037e-07,
              1.559286867556921e-05,
              -9.84634143529737e-07,
              0.0006751643972194543,
              -0.0015512475144580857,
              0.0006017037941980916,
              0.00032783665026713487,
              -0.0007804358820549065,
              0.00031282771444082514
            ],
            [
              -1.5117712742943713e-06,
              0.00013038045539648472,
              -2.0560450269270982e-05,
              0.014349538251301322,
              -0.00024647074898742546,
              0.00032783665026713487,
              0.0071196777140845845,
              -0.00011633470875143516,
              0.0001257022874104099
            ],
            [
              1.5522742760134232e-06,
              -6.457960987511585e-06,
              -1.5802058883759467e-05,
              -0.00022653111037085802,
              0.08484472430292864,
              -0.0007804358820549065,
              -0.00011633470875143516,
              0.042529344418703076,
              -0.000381401819430342
            ],
            [
              -1.077530730139763e-06,
              -1.3840955008835013e-05,
              5.189593403849426e-07,
              0.00024008871769634382,
              -0.0007678461823824235,
              0.00031282771444082514,
              0.0001257022874104099,
              -0.000381401819430342,
              0.00029155013082933853
            ]
          ],
          "nis_distribution": {
            "count": 3160,
            "rms": 11.849866725639945,
            "p50_abs": 1.1138871263563106,
            "p95_abs": 19.4009823868183,
            "p99_abs": 35.58126798349709
          },
          "nis_total": 19384.664862072703,
          "nis_per_dof": 0.6815986238422188,
          "alpha_factor": 0.6815986238422188,
          "alpha_composite_prediction": 0.6815986238422188,
          "alpha_factor_only_upper_bound": 50.827600091962665,
          "temporal_autocorrelation_lag1": [
            0.1796355038483872,
            -0.3957676285893147,
            -0.40323539740304615,
            0.8118234199986687,
            0.9382359201665685,
            0.25715144558013087,
            0.8417401797221601,
            0.9366519909244763,
            0.2003374229702957
          ],
          "temporal_linear_drift_per_s": [
            1.7214758755338853e-08,
            -1.708355586950432e-08,
            4.6403982095049935e-09,
            -3.1778416215956895e-06,
            1.8622366819655413e-05,
            6.127955293876846e-07,
            -1.5697358239569842e-06,
            9.3703361909184e-06,
            3.343743453347593e-07
          ]
        },
        "gyro_0p02_to_0p10": {
          "sample_count": 336,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            8.01076508114607e-05,
            -0.00031245417657376005,
            -0.00021838628799100202,
            0.022044852849149164,
            0.0029075444465058563,
            0.0003807469140983003,
            0.012078155797107073,
            0.000612284565710186,
            0.00031576154507427577
          ],
          "innovation_distribution": {
            "count": 3024,
            "rms": 0.07107441940222493,
            "p50_abs": 0.016312610769102065,
            "p95_abs": 0.13430031513879698,
            "p99_abs": 0.2361430238629396
          },
          "axis_rms": [
            0.002792141672876463,
            0.009846594055360279,
            0.005734110345217811,
            0.10652473169193007,
            0.15229050317575032,
            0.03749448942098858,
            0.0538804115826044,
            0.07606691417989607,
            0.026296380122417053
          ],
          "axis_p50_abs": [
            0.0013144444839413272,
            0.005532369477886671,
            0.0035277948016942066,
            0.0687190831490774,
            0.08281326925701354,
            0.021079235373922423,
            0.03239732214964022,
            0.042704876330255326,
            0.015435536787682835
          ],
          "axis_p95_abs": [
            0.005293206015337544,
            0.019989543106239547,
            0.011584778258568063,
            0.22946945951242476,
            0.22834832361061455,
            0.07359124358768021,
            0.10477664734737797,
            0.11890681477874579,
            0.054711563496451676
          ],
          "axis_p99_abs": [
            0.00841504234028102,
            0.028497265353670243,
            0.01740543929572149,
            0.33046273525807957,
            0.37726661428233477,
            0.11911870211717332,
            0.17053744783718788,
            0.1630623801981037,
            0.08629292008886393
          ],
          "vector_rms": 0.2132232582066748,
          "vector_p50": 0.14157770762324728,
          "vector_p95": 0.3486482687272949,
          "vector_p99": 0.5043545851248291,
          "normalized_distribution": {
            "count": 3024,
            "rms": 0.3520123064404178,
            "p50_abs": 0.09969537399364456,
            "p95_abs": 0.667399739549272,
            "p99_abs": 1.1196497558862273
          },
          "empirical_covariance": [
            [
              7.812890536099904e-06,
              3.940485946829287e-07,
              -6.503107604777408e-07,
              -3.16296970236517e-05,
              -4.951949776593812e-05,
              -1.715667577529012e-06,
              -1.6867721661920556e-05,
              -1.8729550645265424e-05,
              3.852171592728766e-06
            ],
            [
              3.940485946829287e-07,
              9.714691460062356e-05,
              7.481687358311254e-06,
              0.00044088628212690423,
              3.288123160777505e-05,
              3.4581198404876167e-05,
              0.00014270952538248668,
              2.519319675710921e-05,
              7.811888776999487e-07
            ],
            [
              -6.503107604777408e-07,
              7.481687358311254e-06,
              3.293033583223306e-05,
              -7.109117073302986e-06,
              4.2033430194171675e-06,
              7.638745664103875e-07,
              -1.0221304208966283e-05,
              1.3528991810121385e-05,
              -3.931117988289632e-06
            ],
            [
              -3.16296970236517e-05,
              0.00044088628212690423,
              -7.109117073302986e-06,
              0.010893965441090777,
              -0.0013367795583349548,
              0.0004131899606649798,
              0.005139065089163424,
              -0.0007894049251131115,
              0.0002844204968411772
            ],
            [
              -4.951949776593812e-05,
              3.288123160777505e-05,
              4.2033430194171675e-06,
              -0.0013367795583349548,
              0.023253149344435144,
              -0.0008435139499451028,
              -0.0008387969312128414,
              0.011397823650797436,
              -0.00035459366710614593
            ],
            [
              -1.715667577529012e-06,
              3.4581198404876167e-05,
              7.638745664103875e-07,
              0.0004131899606649798,
              -0.0008435139499451028,
              0.0014098878635600519,
              0.00019718634076596378,
              -0.000373778666926643,
              0.0006669658089500005
            ],
            [
              -1.6867721661920556e-05,
              0.00014270952538248668,
              -1.0221304208966283e-05,
              0.005139065089163424,
              -0.0008387969312128414,
              0.00019718634076596378,
              0.002765447403075097,
              -0.00046527067830634024,
              0.0001829290719262359
            ],
            [
              -1.8729550645265424e-05,
              2.519319675710921e-05,
              1.3528991810121385e-05,
              -0.0007894049251131115,
              0.011397823650797436,
              -0.000373778666926643,
              -0.00046527067830634024,
              0.0058030715868517095,
              -0.00020189741233152885
            ],
            [
              3.852171592728766e-06,
              7.811888776999487e-07,
              -3.931117988289632e-06,
              0.0002844204968411772,
              -0.00035459366710614593,
              0.0006669658089500005,
              0.0001829290719262359,
              -0.00020189741233152885,
              0.0006934637824943455
            ]
          ],
          "nis_distribution": {
            "count": 336,
            "rms": 3.5440244198990873,
            "p50_abs": 0.5065629847136297,
            "p95_abs": 2.937422215592557,
            "p99_abs": 6.2206608511222
          },
          "nis_total": 374.71189558975993,
          "nis_per_dof": 0.12391266388550262,
          "alpha_factor": 0.12391266388550262,
          "alpha_composite_prediction": 0.12391266388550262,
          "alpha_factor_only_upper_bound": 18.669007122706972,
          "temporal_autocorrelation_lag1": [
            0.33190435953743397,
            -0.4147708306663554,
            -0.34606621813470473,
            0.22262404459985766,
            0.6903950838809012,
            -0.36277658872353397,
            0.2838888396609271,
            0.6705322072568756,
            -0.0162836433810192
          ],
          "temporal_linear_drift_per_s": [
            -1.9772322794017105e-08,
            -5.477813402451413e-08,
            1.3264924735423478e-08,
            8.408281390941052e-07,
            -6.514433744123382e-06,
            1.934330535704335e-07,
            5.207717903745265e-07,
            -3.2753490913869976e-06,
            -3.038553706086096e-08
          ]
        },
        "gyro_ge_0p10": {
          "sample_count": 55,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            -0.0007595892920782244,
            -0.0012702788391139653,
            -0.0001080656641210159,
            0.03480149008481351,
            0.064293665254347,
            -0.0011539684731441211,
            0.026106121008633472,
            0.03057875601673207,
            0.0013386734916934339
          ],
          "innovation_distribution": {
            "count": 495,
            "rms": 0.06033811587181633,
            "p50_abs": 0.018788755850220454,
            "p95_abs": 0.15133349178595976,
            "p99_abs": 0.2087099408505527
          },
          "axis_rms": [
            0.0033112461916553616,
            0.009049307601223302,
            0.012186239182940912,
            0.09812620008320684,
            0.11766463309344097,
            0.04248696680643496,
            0.05489881244940268,
            0.058779262257276095,
            0.027876417376707274
          ],
          "axis_p50_abs": [
            0.0024973958722746196,
            0.005414304412415978,
            0.005098130923756373,
            0.06310314547933915,
            0.068126472629273,
            0.02939108609797536,
            0.03766270565127119,
            0.03197367957419095,
            0.01691281691913815
          ],
          "axis_p95_abs": [
            0.005984369883241643,
            0.017860792020646884,
            0.02670799320442038,
            0.18601500942654117,
            0.22833740093431057,
            0.07781697640899023,
            0.09640611880674514,
            0.10807579955458475,
            0.05206241203662046
          ],
          "axis_p99_abs": [
            0.008017190345610877,
            0.024000823398936125,
            0.03513350466873057,
            0.226018033613608,
            0.25160022708359464,
            0.11504257867589116,
            0.1347082367327277,
            0.12602413924325656,
            0.07791254054643042
          ],
          "vector_rms": 0.181014347615449,
          "vector_p50": 0.1558014412448418,
          "vector_p95": 0.3063985883242062,
          "vector_p99": 0.3150404857275282,
          "normalized_distribution": {
            "count": 495,
            "rms": 0.3062569449466866,
            "p50_abs": 0.10909678151593573,
            "p95_abs": 0.7250026895711426,
            "p99_abs": 0.9786090527820034
          },
          "empirical_covariance": [
            [
              1.0579734253725429e-05,
              9.037364735693155e-07,
              1.6956737389269774e-07,
              9.768116704400623e-06,
              -0.0001175141229174282,
              6.577498650338931e-06,
              1.6524053373415564e-05,
              -4.273106674934919e-05,
              -2.806248607894023e-06
            ],
            [
              9.037364735693155e-07,
              8.176295898676181e-05,
              -1.6866434079632964e-05,
              0.0004903824597340026,
              1.225814235492269e-05,
              5.47726835435979e-05,
              0.00019372347216205436,
              1.939815994481222e-05,
              -2.6871268361779356e-05
            ],
            [
              1.6956737389269774e-07,
              -1.6866434079632964e-05,
              0.00015124261292563955,
              -0.00019043897043854993,
              2.118451009174464e-05,
              -3.98447038050374e-06,
              -0.00016965149365309935,
              6.911648238618683e-05,
              -3.489215123846767e-05
            ],
            [
              9.768116704400623e-06,
              0.0004903824597340026,
              -0.00019043897043854993,
              0.008573489049732208,
              0.0009563102454071975,
              0.0013308152220195368,
              0.004090875247112355,
              0.00044548233122312144,
              0.00031107428794132985
            ],
            [
              -0.0001175141229174282,
              1.225814235492269e-05,
              2.118451009174464e-05,
              0.0009563102454071975,
              0.009891129201938582,
              -6.592637865419859e-05,
              0.00012921483841200657,
              0.0049014978775310915,
              -3.774706756956185e-06
            ],
            [
              6.577498650338931e-06,
              5.47726835435979e-05,
              -3.98447038050374e-06,
              0.0013308152220195368,
              -6.592637865419859e-05,
              0.0018372146071217639,
              0.0007548527750873881,
              4.45006411006471e-05,
              0.0009124082343382799
            ],
            [
              1.6524053373415564e-05,
              0.00019372347216205436,
              -0.00016965149365309935,
              0.004090875247112355,
              0.00012921483841200657,
              0.0007548527750873881,
              0.0023755417219083366,
              0.00010775273229337298,
              0.0002841176094474205
            ],
            [
              -4.273106674934919e-05,
              1.939815994481222e-05,
              6.911648238618683e-05,
              0.00044548233122312144,
              0.0049014978775310915,
              4.45006411006471e-05,
              0.00010775273229337298,
              0.002566606932571013,
              1.5373745928277554e-06
            ],
            [
              -2.806248607894023e-06,
              -2.6871268361779356e-05,
              -3.489215123846767e-05,
              0.00031107428794132985,
              -3.774706756956185e-06,
              0.0009124082343382799,
              0.0002841176094474205,
              1.5373745928277554e-06,
              0.0007896600545808586
            ]
          ],
          "nis_distribution": {
            "count": 55,
            "rms": 1.082860207898714,
            "p50_abs": 0.7612951932750774,
            "p95_abs": 2.1604998328852054,
            "p99_abs": 2.5874712999901615
          },
          "nis_total": 46.42769158239851,
          "nis_per_dof": 0.0937933163280778,
          "alpha_factor": 0.0937933163280778,
          "alpha_composite_prediction": 0.0937933163280778,
          "alpha_factor_only_upper_bound": 20.69123857336715,
          "temporal_autocorrelation_lag1": [
            0.3849035804864979,
            -0.3891241264499713,
            -0.4458910465958747,
            0.20783539630239894,
            0.491297515503795,
            -0.41472869944443447,
            0.3291402624347282,
            0.4687404310045481,
            -0.24491992834406456
          ],
          "temporal_linear_drift_per_s": [
            -6.901649750037739e-08,
            -4.742124214101822e-09,
            -1.0794745626691793e-07,
            2.6931192748753547e-06,
            1.5111542500696573e-06,
            4.452611154403524e-07,
            1.6837363739345814e-06,
            6.741924846104581e-07,
            5.862951447095786e-07
          ]
        }
      },
      "by_hpr_bridge_gap": {
        "gap_direct": {
          "sample_count": 3293,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            -7.400677735330356e-05,
            1.8388029964852789e-06,
            -8.107573014444055e-05,
            -0.032076720129868265,
            0.03358397371474058,
            0.006475745738876501,
            -0.016062890646584716,
            0.01663737819297429,
            0.0042596625624403
          ],
          "innovation_distribution": {
            "count": 29637,
            "rms": 0.16124375484472828,
            "p50_abs": 0.012457688816303936,
            "p95_abs": 0.36394346551475704,
            "p99_abs": 0.7172333060039724
          },
          "axis_rms": [
            0.0011635296379104202,
            0.008546818993365223,
            0.00428502504235434,
            0.1708280116465711,
            0.3963341973074222,
            0.027125442742258823,
            0.08459021766012381,
            0.19851395527062965,
            0.018468416519131704
          ],
          "axis_p50_abs": [
            0.00018448377097818813,
            0.005041745845479247,
            0.001875347032947163,
            0.08110016132321604,
            0.10379553411577509,
            0.008990546138440081,
            0.04064489178130068,
            0.05196204114515108,
            0.007840328555651865
          ],
          "axis_p95_abs": [
            0.00233471782212784,
            0.017596820004139636,
            0.009032166315217166,
            0.349095179575032,
            0.7724026974719769,
            0.044335471583613284,
            0.17229852488680764,
            0.38392880598617884,
            0.03216662612117619
          ],
          "axis_p99_abs": [
            0.004808721538090901,
            0.02437372134136154,
            0.014834637918658071,
            0.6470787770134655,
            0.9619697088713761,
            0.14047451713392994,
            0.31500514945153485,
            0.4841427822809352,
            0.07588292089588243
          ],
          "vector_rms": 0.48373126453418486,
          "vector_p50": 0.19820739474661286,
          "vector_p95": 0.8919788713707999,
          "vector_p99": 1.2184403951037492,
          "normalized_distribution": {
            "count": 29637,
            "rms": 0.7936926132622952,
            "p50_abs": 0.09176649424336777,
            "p95_abs": 1.8671172551220947,
            "p99_abs": 3.362813386680725
          },
          "empirical_covariance": [
            [
              1.3487337912087707e-06,
              2.3647340129786904e-08,
              -1.7756142427154027e-07,
              -5.808175766826369e-06,
              -4.261670802327961e-06,
              -6.692881735290875e-07,
              -2.8152458479379773e-06,
              -9.269408360014244e-07,
              -6.521910143264731e-07
            ],
            [
              2.3647340129786904e-08,
              7.307030110845447e-05,
              -5.936423592236739e-06,
              0.0003703988148049939,
              -1.6104420579890417e-05,
              1.709215858227698e-05,
              0.0001340816779008562,
              -8.288291391228332e-06,
              -1.2906431091618965e-05
            ],
            [
              -1.7756142427154027e-07,
              -5.936423592236739e-06,
              1.8360441936893863e-05,
              -4.3421202661362006e-05,
              -3.0383929031629255e-05,
              1.129863780397306e-09,
              -2.1647368009608004e-05,
              -9.513116628975343e-06,
              2.697404113755892e-07
            ],
            [
              -5.808175766826369e-06,
              0.0003703988148049939,
              -4.3421202661362006e-05,
              0.028161845622120478,
              -0.0006583465441219265,
              0.0006270791921437511,
              0.01385187454403072,
              -0.00033150200366963893,
              0.00022556710922482765
            ],
            [
              -4.261670802327961e-06,
              -1.6104420579890417e-05,
              -3.0383929031629255e-05,
              -0.0006583465441219265,
              0.1560002859676001,
              -0.0016667359887337025,
              -0.00033380975057602106,
              0.0780835379344083,
              -0.0008842787820015859
            ],
            [
              -6.692881735290875e-07,
              1.709215858227698e-05,
              1.129863780397306e-09,
              0.0006270791921437511,
              -0.0016667359887337025,
              0.0006940651309435121,
              0.0003017702860290805,
              -0.0008331716644355804,
              0.0003493708644154208
            ],
            [
              -2.8152458479379773e-06,
              0.0001340816779008562,
              -2.1647368009608004e-05,
              0.01385187454403072,
              -0.00033380975057602106,
              0.0003017702860290805,
              0.006899583695222618,
              -0.0001632928900877096,
              0.00012161655717303927
            ],
            [
              -9.269408360014244e-07,
              -8.288291391228332e-06,
              -9.513116628975343e-06,
              -0.00033150200366963893,
              0.0780835379344083,
              -0.0008331716644355804,
              -0.0001632928900877096,
              0.03914287477545206,
              -0.0004439637220287242
            ],
            [
              -6.521910143264731e-07,
              -1.2906431091618965e-05,
              2.697404113755892e-07,
              0.00022556710922482765,
              -0.0008842787820015859,
              0.0003493708644154208,
              0.00012161655717303927,
              -0.0004439637220287242,
              0.0003230357812950429
            ]
          ],
          "nis_distribution": {
            "count": 3293,
            "rms": 11.459755284097005,
            "p50_abs": 0.9650323920411626,
            "p95_abs": 19.196553266683953,
            "p99_abs": 35.894751542167825
          },
          "nis_total": 18669.76781935593,
          "nis_per_dof": 0.6299479643471313,
          "alpha_factor": 0.6299479643471313,
          "alpha_composite_prediction": 0.6299479643471313,
          "alpha_factor_only_upper_bound": 48.03427624677765,
          "temporal_autocorrelation_lag1": [
            0.30792420159849837,
            -0.39534375499073293,
            -0.40426836837193947,
            0.7920594245696424,
            0.9351913627054745,
            0.14188897484253388,
            0.8268026125738008,
            0.9334610996562561,
            0.14445915072326715
          ],
          "temporal_linear_drift_per_s": [
            8.49831417060293e-09,
            -3.4206728213638474e-08,
            2.9979023479317884e-09,
            -2.1336413231608912e-06,
            1.3778871810689284e-05,
            5.01982402866676e-07,
            -9.977258736095805e-07,
            6.934188637653339e-06,
            2.517801668348845e-07
          ]
        },
        "gap_0p3_to_0p5": {
          "sample_count": 258,
          "dimension": 9,
          "effective_dof_per_sample": 9,
          "innovation_bias": [
            -0.00016068344874888758,
            -0.0002039435441361437,
            -0.00015299973193044845,
            -0.011733197812452167,
            0.11793388778518556,
            0.005196311068734599,
            -0.0058344960563987205,
            0.05992641120969842,
            0.005277729890720305
          ],
          "innovation_distribution": {
            "count": 2322,
            "rms": 0.14231298682176766,
            "p50_abs": 0.011551905941103235,
            "p95_abs": 0.32892856141837684,
            "p99_abs": 0.6637171157421133
          },
          "axis_rms": [
            0.00117813531823724,
            0.006884086460080047,
            0.0040644445077263865,
            0.13551494169996198,
            0.3550171035318486,
            0.028605547012816455,
            0.06832509746517518,
            0.17820558782483625,
            0.02379719700318236
          ],
          "axis_p50_abs": [
            0.00020205266779379572,
            0.004416702791891698,
            0.0014711680299953492,
            0.06923915261388722,
            0.1074641502722926,
            0.006367958150507391,
            0.03579435962257782,
            0.055452356057266124,
            0.007496014183439481
          ],
          "axis_p95_abs": [
            0.00254929200839757,
            0.013221908079944618,
            0.008293603010696989,
            0.2795014390241795,
            0.7125624174518624,
            0.04161570927668147,
            0.13806427668873594,
            0.3487143183242714,
            0.03713310354036387
          ],
          "axis_p99_abs": [
            0.0044513335861940334,
            0.019483000250229185,
            0.014497218736207303,
            0.4240179579592537,
            0.924743753827696,
            0.09755129628459834,
            0.23727406739085194,
            0.46147843125471466,
            0.12106010857356535
          ],
          "vector_rms": 0.426938960465303,
          "vector_p50": 0.17934536253604264,
          "vector_p95": 0.8260412827345497,
          "vector_p99": 1.0656681784079811,
          "normalized_distribution": {
            "count": 2322,
            "rms": 0.6994635048463521,
            "p50_abs": 0.08110579178983546,
            "p95_abs": 1.81882783498164,
            "p99_abs": 3.1103852184375897
          },
          "empirical_covariance": [
            [
              1.3674839828912082e-06,
              -4.2296768653881884e-08,
              -6.165289757046269e-07,
              -4.3220483251976375e-06,
              -1.3924797691945051e-05,
              -3.309634089972049e-06,
              -2.5316111835294206e-07,
              -4.6546173337430185e-06,
              -8.149598119922086e-07
            ],
            [
              -4.2296768653881884e-08,
              4.7533290982610715e-05,
              -6.218151534707255e-06,
              0.00025441066487253664,
              0.0001481360551280723,
              3.395058646913461e-05,
              8.953505325208201e-05,
              7.781550269184037e-05,
              -6.545836342784424e-06
            ],
            [
              -6.165289757046269e-07,
              -6.218151534707255e-06,
              1.656048817708725e-05,
              -4.9681829051288755e-05,
              -7.988297610404157e-05,
              -1.0836566182383403e-05,
              -2.9291020020433737e-05,
              -3.373499649650309e-05,
              -8.670922129743286e-06
            ],
            [
              -4.3220483251976375e-06,
              0.00025441066487253664,
              -4.9681829051288755e-05,
              0.018297552238147025,
              -0.0030228221437716687,
              0.0005266859785284451,
              0.009079821041425178,
              -0.001614954649018299,
              0.0001204366451063407
            ],
            [
              -1.3924797691945051e-05,
              0.0001481360551280723,
              -7.988297610404157e-05,
              -0.0030228221437716687,
              0.1125650405186761,
              0.0015513460861350406,
              -0.0018792870243479409,
              0.05624456738841559,
              0.0015439635962189203
            ],
            [
              -3.309634089972049e-06,
              3.395058646913461e-05,
              -1.0836566182383403e-05,
              0.0005266859785284451,
              0.0015513460861350406,
              0.0007943545648415764,
              0.0002758689017779996,
              0.0008036054892782416,
              0.0004732246492958167
            ],
            [
              -2.5316111835294206e-07,
              8.953505325208201e-05,
              -2.9291020020433737e-05,
              0.009079821041425178,
              -0.0018792870243479409,
              0.0002758689017779996,
              0.004652309807951507,
              -0.001007988606765376,
              8.384479238632527e-05
            ],
            [
              -4.6546173337430185e-06,
              7.781550269184037e-05,
              -3.373499649650309e-05,
              -0.001614954649018299,
              0.05624456738841559,
              0.0008036054892782416,
              -0.001007988606765376,
              0.02827565232316172,
              0.0007995637590071853
            ],
            [
              -8.149598119922086e-07,
              -6.545836342784424e-06,
              -8.670922129743286e-06,
              0.0001204366451063407,
              0.0015439635962189203,
              0.0004732246492958167,
              8.384479238632527e-05,
              0.0007995637590071853,
              0.0005405472969707708
            ]
          ],
          "nis_distribution": {
            "count": 258,
            "rms": 7.764288863611785,
            "p50_abs": 0.7943117460679857,
            "p95_abs": 16.372743834964968,
            "p99_abs": 27.42079479726584
          },
          "nis_total": 1136.0366298889314,
          "nis_per_dof": 0.4892491946119429,
          "alpha_factor": 0.4892491946119429,
          "alpha_composite_prediction": 0.4892491946119429,
          "alpha_factor_only_upper_bound": 38.174996607472686,
          "temporal_autocorrelation_lag1": [
            0.09736915472080199,
            -0.11760941069523628,
            -0.18166924894951672,
            0.4192919806772133,
            0.5514017706656562,
            -0.33074767999762583,
            0.39355837748832556,
            0.5474357850596692,
            0.04859121965218628
          ],
          "temporal_linear_drift_per_s": [
            7.153810166885514e-09,
            7.470711693873148e-08,
            -4.996014923936055e-09,
            -1.2692254513859819e-06,
            1.5758761374057348e-05,
            4.6222742914442533e-07,
            -6.943424214247886e-07,
            7.834859366822402e-06,
            3.5832227213447413e-07
          ]
        }
      },
      "by_method": {}
    }
  },
  "validation_limits_are_physical_not_covariance_retuning": {
    "best_position": {
      "bias_norm": 0.1,
      "vector_p95": 0.5
    },
    "doppler": {
      "bias_norm": 0.1,
      "vector_p95": 0.5
    },
    "hpr": {
      "bias_norm": 0.01,
      "vector_p95": 0.05
    }
  },
  "factor_gates": {
    "best_position": {
      "overall": {
        "evaluated": true,
        "thresholds": {
          "bias_norm": 0.1,
          "vector_p95": 0.5,
          "lag1_abs_max": 0.95
        },
        "checks": {
          "bias_norm": false,
          "vector_p95": true,
          "lag1_autocorrelation_abs": true
        },
        "passed": false
      },
      "grouped": {
        "by_session": {
          "0819_20260819_065243": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0808_20260808_082148": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0815_20260814_114200": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0815_20260814_102659": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": false,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0808_20260808_092827": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0815_20260814_110519": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0815_20260814_115547": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0815_20260812_123424": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0819_20260819_074023": {
            "evaluated": false,
            "passed": true,
            "reason": "insufficient_samples"
          },
          "0815_20260814_104150": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0815_20260814_101806": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0815_20260814_112658": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0815_20260814_103752": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0819_20260819_064333": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0815_20260814_103326": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0819_20260819_063601": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0819_20260819_062947": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0815_20260814_102314": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0819_20260819_071004": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0819_20260819_073045": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0815_20260814_113355": {
            "evaluated": false,
            "passed": true,
            "reason": "insufficient_samples"
          },
          "0815_20260814_103601": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0808_20260808_081539": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0819_20260819_065931": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0819_20260819_072130": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0808_20260808_101021": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": false,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0808_20260808_075440": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0808_20260808_080830": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0808_20260808_073816": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          }
        },
        "by_motion": {
          "other_recovered_dynamic": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "left_right": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "circle": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "slope": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          }
        },
        "by_speed": {
          "speed_lt_0p2": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "speed_0p2_to_1": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "speed_ge_1": {
            "evaluated": false,
            "passed": true,
            "reason": "insufficient_samples"
          }
        },
        "by_gyro_norm": {
          "gyro_lt_0p02": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "gyro_0p02_to_0p10": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "gyro_ge_0p10": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          }
        }
      },
      "passed": false
    },
    "doppler": {
      "overall": {
        "evaluated": true,
        "thresholds": {
          "bias_norm": 0.1,
          "vector_p95": 0.5,
          "lag1_abs_max": 0.95
        },
        "checks": {
          "bias_norm": false,
          "vector_p95": false,
          "lag1_autocorrelation_abs": true
        },
        "passed": false
      },
      "grouped": {
        "by_session": {
          "0819_20260819_065243": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": false,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0808_20260808_082148": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0815_20260814_114200": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0815_20260814_102659": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": false,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0808_20260808_092827": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0815_20260814_110519": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": false,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0815_20260814_115547": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0815_20260812_123424": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0819_20260819_074023": {
            "evaluated": false,
            "passed": true,
            "reason": "insufficient_samples"
          },
          "0815_20260814_104150": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": false,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0815_20260814_101806": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": false,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0815_20260814_112658": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0815_20260814_103752": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": false,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0819_20260819_064333": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0815_20260814_103326": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": false,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0819_20260819_063601": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": false,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0819_20260819_062947": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": false,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0815_20260814_102314": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": false,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0819_20260819_071004": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0819_20260819_073045": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0815_20260814_113355": {
            "evaluated": false,
            "passed": true,
            "reason": "insufficient_samples"
          },
          "0815_20260814_103601": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": false,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0808_20260808_081539": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0819_20260819_065931": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": false,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0819_20260819_072130": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0808_20260808_101021": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": false,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0808_20260808_075440": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0808_20260808_080830": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "0808_20260808_073816": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          }
        },
        "by_motion": {
          "other_recovered_dynamic": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": false,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "left_right": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "circle": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "slope": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          }
        },
        "by_speed": {
          "speed_lt_0p2": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": false,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "speed_0p2_to_1": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "speed_ge_1": {
            "evaluated": false,
            "passed": true,
            "reason": "insufficient_samples"
          }
        },
        "by_gyro_norm": {
          "gyro_lt_0p02": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": false,
              "vector_p95": false,
              "lag1_autocorrelation_abs": true
            },
            "passed": false
          },
          "gyro_0p02_to_0p10": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "gyro_ge_0p10": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.1,
              "vector_p95": 0.5,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          }
        }
      },
      "passed": false
    },
    "hpr": {
      "overall": {
        "evaluated": true,
        "thresholds": {
          "bias_norm": 0.01,
          "vector_p95": 0.05,
          "lag1_abs_max": 0.95
        },
        "checks": {
          "bias_norm": true,
          "vector_p95": true,
          "lag1_autocorrelation_abs": true
        },
        "passed": true
      },
      "grouped": {
        "by_session": {
          "0819_20260819_065243": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0808_20260808_082148": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0815_20260814_114200": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0815_20260814_102659": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0808_20260808_092827": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0815_20260814_110519": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0815_20260814_115547": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0815_20260812_123424": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0819_20260819_074023": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0815_20260814_104150": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0815_20260814_101806": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0815_20260814_112658": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0815_20260814_103752": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0819_20260819_064333": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0815_20260814_103326": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0819_20260819_063601": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0819_20260819_062947": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0815_20260814_102314": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0819_20260819_071004": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0819_20260819_073045": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0815_20260814_113355": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0815_20260814_103601": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0808_20260808_081539": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0819_20260819_065931": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0819_20260819_072130": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0808_20260808_101021": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0808_20260808_075440": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0808_20260808_080830": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "0808_20260808_073816": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          }
        },
        "by_motion": {
          "other_recovered_dynamic": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "left_right": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "circle": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "slope": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          }
        },
        "by_speed": {
          "speed_lt_0p2": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "speed_0p2_to_1": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "speed_ge_1": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          }
        },
        "by_gyro_norm": {
          "gyro_lt_0p02": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "gyro_0p02_to_0p10": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          },
          "gyro_ge_0p10": {
            "evaluated": true,
            "thresholds": {
              "bias_norm": 0.01,
              "vector_p95": 0.05,
              "lag1_abs_max": 0.95
            },
            "checks": {
              "bias_norm": true,
              "vector_p95": true,
              "lag1_autocorrelation_abs": true
            },
            "passed": true
          }
        }
      },
      "passed": true
    }
  },
  "independent_heldout_innovation_passed": false
}