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feat: replay live PPS telemetry in fixed-point model

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onur
2026-07-29 00:16:43 +03:00
parent a697284bff
commit 9b0828dbaa
10 changed files with 3019 additions and 12 deletions
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soc/software/pps_end_to_end_validation/README.md
+54 -5
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@@ -93,11 +93,13 @@ Generated results are in `output/stability/`:
capture, HDOP/VDOP/TDOP/GDOP, C/N0, pseudorange noise, clock sigma/drift,
oscillator and timing-error inputs.
The real capture contains 989 GDOP values and 990 tracked-satellite values
(eight throughout), but no PPS phase/rate, ABS_SAMPLE, C/N0, TDOP/HDOP,
pseudorange residual, oscillator temperature, or trusted-edge/TIC samples.
The generated CSV labels its replacements as synthetic; it must not be read as
board telemetry.
The older fusion capture used by `stability_analysis.py` contains 989 GDOP
values and 990 tracked-satellite values (eight throughout), but no PPS
phase/rate, ABS_SAMPLE, C/N0, TDOP/HDOP, pseudorange residual, oscillator
temperature, or trusted-edge/TIC samples. The newer live-board workflow below
supplies many of those PPS status fields, while ABS_SAMPLE, REM_CODE_PHASE,
temperature, and trusted-edge timing remain unavailable. The stability CSV
labels replacements as synthetic; it must not be read as board telemetry.
The current acquire, precision, and robust fixed-point poles are inside the
unit circle at the 200 ms update rate, and the stress analysis observes no
@@ -113,6 +115,53 @@ candidate. The generated report contains the current numerical comparison.
The stability analysis does not alter loop constants. Production firmware now
uses the current-RTL-compatible 180 ms epoch correction described below.
## Live board telemetry replay
`hardware_replay.py` accepts the host-timestamped UART CSV produced by the
fusion capture utility. It extracts the firmware fields that actually drive
or describe PPS: raw/filtered WLS clock bias, innovation, Doppler datum drift,
TDOP/GDOP/HDOP/VDOP, clock sigma, C/N0, tracked/used satellites, velocity/FDE,
reference SVID, fractional capture correction, RTL phase residual, rate word,
integrator, lock/profile, pulse count, and commit sequence.
Capture and replay from `soc/software`:
```bash
python3 fusion/serial_capture.py \
--port /dev/ttyUSB2 --baud 460800 --duration 300 \
--output /tmp/genesys2_pps.csv
python3 -m pps_end_to_end_validation.hardware_replay \
--input /tmp/genesys2_pps.csv \
--output-dir pps_end_to_end_validation/output/hardware_replay
python3 -m unittest \
pps_end_to_end_validation.test_hardware_replay
```
Raw UART files are ignored by Git because `[LOCATION]` records contain exact
coordinates. The replay output is normalized to PPS fields and deliberately
omits latitude/longitude.
For an already-running board, replay imports the first logged locked
filter/PI snapshot. Starting the model from reset would erase the observed
integrator and create a false acquisition transient. When status is decimated,
commit sequence numbers expand the trace back to the nominal 200 ms cadence;
intermediate values are explicitly marked `interpolated=true`.
The report separates three quantities that should not be conflated:
- direct `hw_phase` statistics from the board;
- fixed-point PI reproduction and a telemetry-conditioned model replay; and
- inferred active phase obtained by integrating `rate_cmd` under a constant
oscillator assumption.
Only the first two are directly constrained by firmware/RTL telemetry. The
third is useful for diagnosing slow wander but is not a trusted-generator
measurement. `hw_phase` itself is a 5 Hz commit residual, not the physical PPS
pin offset. A calibrated, common-clock TIC/scope capture is still required for
a maximum-20 ns output claim.
## 20 ms diagnosis
The current tracking wrapper shifts the current bit into `shift_reg_n`, while
soc/software/pps_end_to_end_validation/hardware_replay.py
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soc/software/pps_end_to_end_validation/output/hardware_replay_20260728/firmware_telemetry.csv
+150
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@@ -0,0 +1,150 @@
host_monotonic_s,host_unix_s,time_s,profile,mode,locked,tdop,gdop,hdop,vdop,clock_sigma_m,cn0_mean_dbhz,cn0_min_dbhz,tracked_satellites,used_satellites,innovation_m,raw_bias_m,filtered_bias_m,clock_drift_mps,bias_drift_mps,predictor_enabled,eskf_alpha,eskf_speed_mps,eskf_velocity_rms_mps,eskf_fde_mask,pps_speed_mps,pps_velocity_rms_mps,pps_fde_mask,reference_svid,capture_correction_ns,hardware_phase_ns,rate_command_ppm,integrator_ppm,pulse_count,sequence,status
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207.911054786,1785272262.3106158,204.0,robust,tracking,True,1.21,2.8,1.8138607249,1.7649342967,11.29,42.2,37.1,6,5,-0.42,676178.038,676178.445,111.268,-95.121,True,0.05,0.669,0.187,0,0.669,0.187,0,23,56.0,148.37,-1.538,-1.56,807,4060,2063
209.904852911,1785272264.304414,206.0,robust,tracking,True,1.21,2.8,1.8138277745,1.7644418155,17.32,42.6,38.4,6,5,5.29,675993.222,675988.099,110.799,-95.578,True,0.05,0.772,0.012,0,0.772,0.012,0,23,48.0,167.53,-1.535,-1.56,809,4070,2063
211.904389957,1785272266.3039508,208.0,robust,tracking,True,1.2,2.8,1.8137949136,1.7639490637,14.88,42.5,38.1,6,5,4.76,675802.554,675797.942,109.97,-97.009,True,0.05,1.186,0.157,0,1.186,0.157,0,23,16.0,161.37,-1.536,-1.56,811,4080,2063
213.908887407,1785272268.3084483,210.0,robust,tracking,True,1.2,2.8,1.8137652527,1.7634585771,13.65,41.9,38.5,6,5,-19.97,675583.7,675603.041,110.734,-96.484,True,0.05,0.11,0.069,0,0.11,0.069,0,23,8.0,134.36,-1.54,-1.56,813,4090,2063
215.900878981,1785272270.3004403,212.0,robust,tracking,True,1.2,2.8,1.8137346862,1.7629700707,13.14,42.4,39.0,6,5,1.39,675411.049,675409.707,110.477,-96.41,True,0.05,0.489,0.149,0,0.489,0.149,0,23,48.0,164.12,-1.535,-1.56,815,4100,2063
217.908715503,1785272272.3082767,214.0,robust,tracking,True,1.2,2.8,1.8137007679,1.7624770049,11.19,42.1,38.1,6,5,-3.51,675214.305,675217.703,110.227,-97.513,True,0.05,0.667,0.022,0,0.667,0.022,0,23,56.0,141.12,-1.539,-1.56,817,4110,2063
219.904589627,1785272274.3041506,216.0,robust,tracking,True,1.2,2.8,1.8136705307,1.7619846326,17.3,42.2,38.8,6,5,-14.02,675007.687,675021.273,110.312,-97.218,True,0.05,0.452,0.069,0,0.452,0.069,0,23,24.0,158.28,-1.536,-1.56,819,4120,2063
221.9039367,1785272276.3034978,218.0,robust,tracking,True,1.2,2.8,1.8136409999,1.7614933749,11.12,42.1,39.2,6,5,-3.83,674821.953,674825.66,111.06,-96.371,True,0.05,1.326,0.028,0,1.326,0.028,0,23,48.0,170.5,-1.534,-1.56,821,4130,2063
223.91008895,1785272278.3096502,220.0,robust,tracking,True,1.2,2.8,1.8136105372,1.7610043295,11.73,42.3,38.7,6,5,0.13,674630.412,674630.288,111.079,-97.301,True,0.05,0.408,0.148,0,0.408,0.148,0,23,56.0,157.28,-1.536,-1.56,823,4140,2063
225.902916967,1785272280.302478,222.0,robust,tracking,True,1.2,2.8,1.8135794516,1.7605142092,21.26,41.9,39.1,6,5,-21.67,674413.179,674434.176,111.065,-97.127,True,0.05,0.752,0.068,0,0.752,0.068,0,23,48.0,124.73,-1.541,-1.56,825,4150,2063
227.901755726,1785272282.3013165,224.0,robust,tracking,True,1.2,2.8,1.8135490001,1.7600248185,11.02,42.5,39.3,6,5,13.8,674252.975,674239.611,110.715,-97.719,True,0.05,0.748,0.078,0,0.748,0.078,0,23,32.0,159.45,-1.536,-1.56,827,4160,2063
229.901619429,1785272284.3011806,226.0,robust,tracking,True,1.2,2.8,1.8135177823,1.7595391681,11.05,42.4,39.1,6,5,12.06,674053.956,674042.275,110.355,-98.939,True,0.05,0.78,0.043,0,0.78,0.043,0,23,56.0,170.95,-1.534,-1.56,829,4170,2063
231.90481137,1785272286.3043725,228.0,robust,tracking,True,1.2,2.8,1.8134877896,1.7590492494,11.09,42.4,38.1,6,5,12.72,673856.473,673844.146,110.721,-98.388,True,0.05,0.538,0.188,0,0.538,0.188,0,23,48.0,170.54,-1.534,-1.56,831,4180,2063
233.905326912,1785272288.3048878,230.0,robust,tracking,True,1.2,2.8,1.8134570418,1.7585604429,11.06,42.5,38.9,6,5,5.44,673653.112,673647.84,110.098,-98.963,True,0.05,0.301,0.311,0,0.301,0.311,0,23,8.0,171.59,-1.534,-1.56,833,4190,2063
235.904458614,1785272290.3040195,232.0,robust,tracking,True,1.2,2.8,1.8134261204,1.7580735849,11.06,42.5,38.5,6,5,-4.62,673445.637,673450.117,110.459,-98.844,True,0.05,0.829,0.028,0,0.829,0.028,0,23,0.0,153.73,-1.537,-1.56,835,4200,2063
237.904071483,1785272292.3036325,234.0,robust,tracking,True,1.2,2.8,1.8133959704,1.7575868747,12.8,42.0,37.7,6,5,-7.87,673243.852,673251.478,110.772,-98.845,True,0.05,0.559,0.037,0,0.559,0.037,0,23,0.0,146.96,-1.538,-1.56,837,4210,2063
239.908760739,1785272294.3083217,236.0,robust,tracking,True,1.2,2.8,1.8133666091,1.7570976374,11.1,42.3,38.6,6,5,4.99,673058.134,673053.301,110.565,-99.434,True,0.05,0.506,0.016,0,0.506,0.016,0,23,24.0,168.65,-1.535,-1.56,839,4220,2063
241.900563008,1785272296.300124,238.0,robust,tracking,True,1.2,2.79,1.8133344617,1.7566107514,11.14,42.3,38.4,6,5,-14.57,672839.788,672853.907,110.365,-99.522,True,0.05,0.253,0.141,0,0.253,0.141,0,23,0.0,147.65,-1.538,-1.56,841,4230,2063
243.904645899,1785272298.3042068,240.0,robust,tracking,True,1.2,2.79,1.8133057846,1.7561227378,11.1,42.2,38.8,6,5,3.18,672658.12,672655.039,109.903,-100.274,True,0.05,0.476,0.033,0,0.476,0.033,0,23,32.0,164.64,-1.535,-1.56,843,4240,2063
245.904621193,1785272300.3041825,242.0,robust,tracking,True,1.2,2.79,1.8132777969,1.7556370904,11.14,42.2,38.7,6,5,-0.81,672454.836,672455.618,110.573,-100.187,True,0.05,0.405,0.013,0,0.405,0.013,0,23,16.0,134.41,-1.54,-1.56,845,4250,2063
247.899436713,1785272302.2989979,244.0,robust,tracking,True,1.2,2.79,1.8132463791,1.7551512789,11.16,42.2,39.0,6,5,13.48,672269.138,672256.082,110.183,-100.179,True,0.05,0.565,0.113,0,0.565,0.113,0,23,40.0,169.04,-1.535,-1.56,847,4260,2063
249.911369626,1785272304.3109307,246.0,robust,tracking,True,1.2,2.79,1.813217727,1.754665179,11.11,42.5,39.2,6,5,-6.09,672049.638,672055.536,109.774,-100.683,True,0.05,0.486,0.021,0,0.486,0.021,0,23,0.0,135.93,-1.539,-1.56,849,4270,2063
251.903384606,1785272306.3029459,248.0,robust,tracking,True,1.2,2.79,1.8131881994,1.7541830169,11.18,42.2,39.0,6,5,10.96,671865.57,671854.952,109.778,-101.09,True,0.05,0.278,0.027,0,0.278,0.027,0,23,48.0,182.36,-1.532,-1.56,851,4280,2063
253.900781619,1785272308.3003423,250.0,robust,tracking,True,1.2,2.79,1.8131589097,1.7536951988,11.17,42.3,38.9,6,5,3.55,671659.189,671655.749,110.155,-100.561,True,0.05,0.584,0.008,0,0.584,0.008,0,23,16.0,141.85,-1.539,-1.56,853,4290,2063
255.910281973,1785272310.3098433,252.0,robust,tracking,True,1.2,2.79,1.8131293194,1.753212297,11.2,42.1,38.4,6,5,7.57,671462.581,671455.25,109.95,-101.447,True,0.05,0.189,0.096,0,0.189,0.096,0,23,16.0,141.76,-1.539,-1.56,855,4300,2063
257.904754461,1785272312.3043153,254.0,robust,tracking,True,1.2,2.79,1.8131029159,1.7527265372,11.15,42.4,38.7,6,5,-6.95,671245.456,671252.194,110.05,-101.621,True,0.05,0.518,0.084,0,0.518,0.084,0,23,56.0,134.53,-1.54,-1.56,857,4310,2063
259.904898749,1785272314.3044596,256.0,robust,tracking,True,1.2,2.79,1.8130720433,1.7522445406,11.3,41.8,38.4,6,5,-4.74,671044.584,671049.173,110.162,-101.624,True,0.05,0.281,0.225,0,0.281,0.225,0,23,0.0,142.99,-1.539,-1.56,859,4320,2063
261.904207465,1785272316.3037684,258.0,robust,tracking,True,1.19,2.79,1.8130440645,1.7517582107,11.31,42.0,38.4,6,5,-7.29,670837.352,670844.416,110.701,-101.27,True,0.05,0.844,0.152,0,0.844,0.152,0,23,56.0,167.54,-1.535,-1.56,861,4330,2063
263.903658409,1785272318.3032198,260.0,robust,tracking,True,1.19,2.79,1.8130134772,1.7512773631,11.34,42.0,38.5,6,5,-1.16,670637.855,670638.976,110.001,-102.901,True,0.05,0.697,0.02,0,0.697,0.02,0,23,48.0,166.85,-1.535,-1.56,863,4340,2063
265.906678701,1785272320.3062396,262.0,robust,tracking,True,1.19,2.79,1.8129886444,1.7507938348,14.74,42.5,38.9,6,5,10.12,670442.306,670432.505,110.568,-101.927,True,0.05,0.908,0.068,0,0.908,0.068,0,23,40.0,192.58,-1.531,-1.56,865,4350,2063
267.908740259,1785272322.308301,264.0,robust,tracking,True,1.19,2.79,1.8129614176,1.750311896,11.27,42.3,37.7,6,5,-11.12,670213.856,670224.632,110.96,-102.072,True,0.05,0.648,0.323,0,0.648,0.323,0,23,56.0,163.77,-1.535,-1.56,867,4360,2063
269.904666955,1785272324.304228,266.0,robust,tracking,True,1.19,2.79,1.8129315339,1.7498285268,11.35,41.9,37.9,6,5,0.23,670016.459,670016.233,110.584,-102.496,True,0.05,0.457,0.073,0,0.457,0.073,0,23,48.0,200.12,-1.53,-1.56,869,4370,2063
271.904417064,1785272326.303978,268.0,robust,tracking,True,1.19,2.79,1.8129033974,1.7493462127,11.29,42.0,38.2,6,5,-11.63,669798.53,669809.801,110.923,-102.202,True,0.05,0.955,0.178,0,0.955,0.178,0,23,16.0,154.9,-1.537,-1.56,871,4380,2063
273.904287144,1785272328.3038483,270.0,robust,tracking,True,1.19,2.79,1.8128759146,1.7488645046,11.24,42.2,38.4,6,5,0.32,669604.755,669604.44,110.23,-103.356,True,0.05,0.559,0.043,0,0.559,0.043,0,23,56.0,147.74,-1.538,-1.56,873,4390,2063
275.905752343,1785272330.3053133,272.0,robust,tracking,True,1.19,2.79,1.8128467845,1.7483871309,11.29,42.1,38.0,6,5,0.52,669397.133,669396.627,110.767,-103.125,True,0.05,0.839,0.033,0,0.839,0.033,0,23,48.0,175.42,-1.533,-1.56,875,4400,2063
277.901721957,1785272332.3012831,274.0,robust,tracking,True,1.19,2.79,1.8128179501,1.7479069779,11.23,42.2,38.8,6,5,-15.46,669172.771,669187.748,110.557,-103.518,True,0.05,0.505,0.152,0,0.505,0.152,0,23,8.0,141.55,-1.539,-1.56,877,4410,2063
279.901270286,1785272334.3008313,276.0,robust,tracking,True,1.19,2.79,1.8127918148,1.7474239577,11.26,42.2,38.9,6,5,5.21,668986.416,668981.367,110.705,-103.667,True,0.05,0.415,0.13,0,0.415,0.13,0,23,56.0,164.7,-1.535,-1.56,879,4420,2063
281.911805396,1785272336.3113663,278.0,robust,tracking,True,1.19,2.78,1.812764459,1.7469430861,11.14,42.3,38.6,6,5,9.2,668783.357,668774.443,110.765,-103.653,True,0.05,0.976,0.047,0,0.976,0.047,0,23,40.0,167.02,-1.535,-1.56,881,4430,2063
283.904627638,1785272338.3041887,280.0,robust,tracking,True,1.19,2.78,1.8127364977,1.7464643722,11.13,42.4,38.9,6,5,1.9,668567.589,668565.747,110.702,-104.554,True,0.05,0.496,0.084,0,0.496,0.084,0,23,56.0,150.73,-1.537,-1.56,883,4440,2063
285.904540282,1785272340.3041015,282.0,robust,tracking,True,1.19,2.78,1.8127111868,1.7459831701,11.26,42.2,38.2,6,5,-21.52,668336.38,668357.228,110.484,-104.5,True,0.05,0.4,0.023,0,0.4,0.023,0,23,16.0,127.92,-1.541,-1.56,885,4450,2063
287.903906607,1785272342.3034678,284.0,robust,tracking,True,1.19,2.78,1.8126838601,1.7455066962,11.09,42.3,39.2,6,5,-0.35,668145.403,668145.742,110.548,-104.863,True,0.05,0.13,0.213,0,0.13,0.213,0,23,0.0,156.5,-1.536,-1.56,887,4460,2063
289.903519609,1785272344.3030806,286.0,robust,tracking,True,1.19,2.78,1.8126545436,1.74502695,11.28,42.2,38.0,6,5,-17.14,667916.867,667933.474,110.923,-105.07,True,0.05,0.412,0.112,0,0.412,0.112,0,23,8.0,145.17,-1.538,-1.56,889,4470,2063
291.906994829,1785272346.3065557,288.0,robust,tracking,True,1.19,2.78,1.812627295,1.7445482935,12.84,42.5,38.6,6,5,-1.31,667721.551,667722.816,109.629,-106.134,True,0.05,0.721,0.164,0,0.721,0.164,0,23,40.0,158.89,-1.536,-1.56,891,4480,2063
293.904251457,1785272348.3038123,290.0,robust,tracking,True,1.19,2.78,1.8126009474,1.7440682755,11.16,42.3,38.2,6,5,14.39,667524.719,667510.777,110.381,-105.665,True,0.05,0.161,0.079,0,0.161,0.079,0,23,32.0,184.17,-1.532,-1.56,893,4490,2063
295.904732818,1785272350.3042939,292.0,robust,tracking,True,1.19,2.78,1.8125748376,1.7435915248,11.06,42.6,38.1,6,5,-9.72,667289.655,667299.068,110.248,-105.873,True,0.05,0.291,0.005,0,0.291,0.005,0,23,32.0,159.99,-1.536,-1.56,895,4500,2063
297.910797167,1785272352.3103583,294.0,robust,tracking,True,1.19,2.78,1.8125472744,1.7431147283,11.0,42.9,38.4,6,5,9.37,667097.136,667088.06,110.084,-106.181,True,0.05,0.237,0.074,0,0.237,0.074,0,23,16.0,168.11,-1.535,-1.56,897,4510,2063
299.905108443,1785272354.3046699,296.0,robust,tracking,True,1.19,2.78,1.812521259,1.7426375476,16.12,42.5,37.8,6,5,-12.01,666863.837,666875.472,110.096,-106.613,True,0.05,0.693,0.156,0,0.693,0.156,0,23,64.0,124.56,-1.541,-1.56,899,4520,2063
1 host_monotonic_s host_unix_s time_s profile mode locked tdop gdop hdop vdop clock_sigma_m cn0_mean_dbhz cn0_min_dbhz tracked_satellites used_satellites innovation_m raw_bias_m filtered_bias_m clock_drift_mps bias_drift_mps predictor_enabled eskf_alpha eskf_speed_mps eskf_velocity_rms_mps eskf_fde_mask pps_speed_mps pps_velocity_rms_mps pps_fde_mask reference_svid capture_correction_ns hardware_phase_ns rate_command_ppm integrator_ppm pulse_count sequence status
2 1.50420269 1785272055.903764 0.0 robust tracking True 1.25 2.86 1.8176601213 1.8176260703 12.54 42.7 37.7 6 5 4.52 693498.817 693494.442 110.788 -72.055 True 0.05 0.271 0.185 0 0.271 0.185 0 23 32.0 160.47 -1.536 -1.56 600 3040 2063
3 3.503689524 1785272057.9032507 2.0 robust tracking True 1.25 2.86 1.8176193953 1.8170996688 11.17 42.9 38.2 6 5 -19.2 693330.906 693349.504 111.201 -71.738 True 0.05 0.746 0.135 0 0.746 0.135 0 23 56.0 124.38 -1.541 -1.56 602 3050 2063
4 5.500479302 1785272059.9000404 4.0 robust tracking True 1.25 2.86 1.8175780522 1.8165687846 21.48 42.7 38.5 6 5 -7.0 693197.92 693204.698 111.206 -71.912 True 0.05 0.836 0.039 0 0.836 0.039 0 23 24.0 141.5 -1.539 -1.56 604 3060 2063
5 7.509988539 1785272061.9095497 6.0 robust tracking True 1.25 2.86 1.8175381286 1.816041859 11.14 43.0 38.3 6 5 13.6 693072.274 693059.102 111.221 -71.825 True 0.05 1.009 0.28 0 1.009 0.28 0 23 32.0 168.11 -1.535 -1.56 606 3070 2063
6 9.511653187 1785272063.9112144 8.0 robust tracking True 1.25 2.86 1.8174962624 1.8155120506 11.56 42.9 38.0 6 5 -31.15 692881.989 692912.165 110.864 -72.861 True 0.05 0.371 0.04 0 0.371 0.04 0 23 40.0 135.63 -1.539 -1.56 608 3080 2063
7 11.50378733 1785272065.9033487 10.0 robust tracking True 1.25 2.85 1.8174539102 1.8149874373 11.07 42.8 38.6 6 5 -9.78 692754.373 692763.848 110.014 -73.882 True 0.05 0.843 0.004 0 0.843 0.004 0 23 56.0 155.42 -1.536 -1.56 610 3090 2063
8 13.504178648 1785272067.9037397 12.0 robust tracking True 1.25 2.85 1.817413463 1.8144599125 11.18 42.9 38.1 6 5 6.48 692623.758 692617.477 110.329 -73.94 True 0.05 0.609 0.096 0 0.609 0.096 0 23 0.0 162.66 -1.535 -1.56 612 3100 2063
9 15.503554083 1785272069.9031153 14.0 robust tracking True 1.25 2.85 1.8173718635 1.8139319104 11.26 42.7 37.0 6 5 -1.31 692469.561 692470.834 111.54 -72.849 True 0.05 0.953 0.31 0 0.953 0.31 0 23 56.0 155.78 -1.536 -1.56 614 3110 2063
10 17.502924749 1785272071.9024858 16.0 robust tracking True 1.25 2.85 1.81733102 1.8134069522 15.4 42.4 36.5 6 5 -11.0 692313.987 692324.644 110.815 -73.581 True 0.05 0.736 0.168 0 0.736 0.168 0 23 32.0 133.05 -1.54 -1.56 616 3120 2063
11 19.506236288 1785272073.9057975 18.0 robust tracking True 1.24 2.85 1.8172902798 1.8128821788 11.11 43.1 38.1 6 5 -5.77 692171.911 692177.505 111.077 -73.779 True 0.05 0.4 0.027 0 0.4 0.027 0 23 24.0 131.86 -1.54 -1.56 618 3130 2063
12 21.504228726 1785272075.9037895 20.0 robust tracking True 1.24 2.85 1.8172490099 1.8123554135 11.15 43.0 38.0 6 5 8.57 692038.349 692030.045 110.612 -74.424 True 0.05 0.512 0.053 0 0.512 0.053 0 23 24.0 156.87 -1.536 -1.56 620 3140 2063
13 23.504153615 1785272077.903715 22.0 robust tracking True 1.24 2.85 1.8172104392 1.8118290291 11.3 42.6 37.7 6 5 -11.79 691868.479 691879.901 111.534 -73.806 True 0.05 0.721 0.036 0 0.721 0.036 0 23 56.0 142.52 -1.538 -1.56 622 3150 2063
14 25.510000609 1785272079.9095619 24.0 robust tracking True 1.24 2.85 1.8171689199 1.8113038519 11.08 43.1 38.1 6 5 -12.44 691719.345 691731.399 110.942 -74.863 True 0.05 0.359 0.101 0 0.359 0.101 0 23 48.0 145.5 -1.538 -1.56 624 3160 2063
15 27.50517151 1785272081.904733 26.0 robust tracking True 1.24 2.85 1.8171301373 1.8107796086 11.26 42.7 37.5 6 5 -18.16 691564.145 691581.742 111.5 -74.479 True 0.05 0.745 0.096 0 0.745 0.096 0 23 8.0 129.02 -1.54 -1.56 626 3170 2063
16 29.502641745 1785272083.9022028 28.0 robust tracking True 1.24 2.85 1.8170880804 1.8102547189 12.41 43.0 37.5 6 5 1.28 691433.115 691431.876 111.148 -74.903 True 0.05 0.332 0.115 0 0.332 0.115 0 23 0.0 127.84 -1.541 -1.56 628 3180 2063
17 31.500642933 1785272085.900204 30.0 robust tracking True 1.24 2.85 1.8170480561 1.8097326484 14.78 42.6 37.5 6 5 -1.39 691280.067 691281.411 111.681 -74.941 True 0.05 0.503 0.255 0 0.503 0.255 0 23 48.0 147.24 -1.538 -1.56 630 3190 2063
18 33.504307045 1785272087.903868 32.0 robust tracking True 1.24 2.85 1.8170082113 1.8092081529 22.56 42.9 38.4 6 5 -13.17 691116.408 691129.168 110.696 -75.765 True 0.05 0.206 0.027 0 0.206 0.027 0 23 16.0 132.81 -1.54 -1.56 632 3200 2063
19 35.509887989 1785272089.9094489 34.0 robust tracking True 1.24 2.85 1.8169688875 1.8086870549 11.18 42.9 38.0 6 5 -0.84 690974.741 690975.554 111.343 -75.376 True 0.05 0.636 0.055 0 0.636 0.055 0 23 56.0 156.39 -1.536 -1.56 634 3210 2063
20 37.506370892 1785272091.9059322 36.0 robust tracking True 1.24 2.85 1.8169289218 1.8081636846 10.95 43.4 39.5 6 5 -3.76 690819.152 690822.79 110.566 -76.732 True 0.05 0.72 0.058 0 0.72 0.058 0 23 32.0 156.77 -1.536 -1.56 636 3220 2063
21 39.504571912 1785272093.904133 38.0 robust tracking True 1.24 2.85 1.8168882102 1.8076411645 11.05 43.1 38.3 6 5 -8.88 690659.561 690668.166 111.385 -76.264 True 0.05 0.403 0.084 0 0.403 0.084 0 23 48.0 147.43 -1.538 -1.56 638 3230 2063
22 41.502657038 1785272095.9022183 40.0 robust tracking True 1.24 2.85 1.8168471874 1.8071184407 11.13 42.7 38.1 6 5 5.56 690520.399 690515.009 111.68 -75.754 True 0.05 0.957 0.102 0 0.957 0.102 0 23 32.0 147.4 -1.538 -1.56 640 3240 2063
23 43.50032369 1785272097.8998854 42.0 robust tracking True 1.24 2.85 1.816809289 1.8065980348 11.21 42.7 37.8 6 5 9.98 690370.621 690360.952 111.268 -76.081 True 0.05 0.807 0.041 0 0.807 0.041 0 23 0.0 136.35 -1.539 -1.56 642 3250 2063
24 45.712022504 1785272100.111584 44.0 robust tracking True 1.24 2.85 1.8167660234 1.8060226878 12.45 43.2 38.0 6 5 -7.85 690184.849 690192.456 111.097 -76.306 True 0.05 0.794 0.037 0 0.794 0.037 0 23 32.0 142.31 -1.538 -1.56 645 3260 2063
25 47.704670721 1785272102.1042318 46.0 robust tracking True 1.24 2.85 1.8167259917 1.8055025786 11.59 42.9 38.7 6 5 -14.42 690023.356 690037.324 110.386 -77.903 True 0.05 0.84 0.099 0 0.84 0.099 0 23 56.0 136.57 -1.539 -1.56 647 3270 2063
26 49.704359089 1785272104.1039205 48.0 robust tracking True 1.24 2.84 1.8166840843 1.804981981 11.04 43.4 38.2 6 5 -2.28 689880.716 689882.925 110.905 -78.019 True 0.05 0.509 0.107 0 0.509 0.107 0 23 16.0 148.6 -1.537 -1.56 649 3280 2063
27 51.709139916 1785272106.1087012 50.0 robust tracking True 1.24 2.84 1.8166456009 1.8044613748 10.99 43.3 38.1 6 5 -0.68 689726.579 689727.233 111.064 -77.798 True 0.05 0.094 0.103 0 0.094 0.103 0 23 48.0 144.29 -1.538 -1.56 651 3290 2063
28 53.703365655 1785272108.1029265 52.0 robust tracking True 1.24 2.84 1.8166083592 1.8039440331 12.68 42.8 37.5 6 5 -8.72 689564.342 689572.793 110.533 -78.338 True 0.05 0.504 0.187 0 0.504 0.187 0 23 8.0 148.54 -1.537 -1.56 653 3300 2063
29 55.700643307 1785272110.100204 54.0 robust tracking True 1.24 2.84 1.8165672875 1.8034221236 11.07 42.9 38.7 6 5 4.12 689421.398 689417.403 111.098 -77.598 True 0.05 0.645 0.08 0 0.645 0.08 0 23 40.0 140.91 -1.539 -1.56 655 3310 2063
30 57.904055806 1785272112.3036168 56.0 robust tracking True 1.24 2.84 1.8165247981 1.8028524558 16.67 42.9 38.2 6 5 -1.04 689243.202 689244.211 110.99 -78.254 True 0.05 0.342 0.02 0 0.342 0.02 0 23 48.0 144.27 -1.538 -1.56 657 3320 2063
31 60.10451733 1785272114.5040786 58.0 robust tracking True 1.24 2.84 1.8164827704 1.8022817921 11.19 42.9 38.0 6 5 -5.64 689066.66 689072.123 111.676 -78.014 True 0.05 0.73 0.15 0 0.73 0.15 0 23 48.0 126.86 -1.541 -1.56 659 3330 2063
32 62.108759952 1785272116.5083213 60.0 robust tracking True 1.24 2.84 1.8164435096 1.8017644864 16.38 43.1 39.2 6 5 -1.09 688913.112 688914.171 111.17 -78.316 True 0.05 0.696 0.007 0 0.696 0.007 0 23 24.0 153.74 -1.537 -1.56 661 3340 2063
33 64.300493137 1785272118.7000537 62.0 robust tracking True 1.24 2.84 1.8163984438 1.8011921234 11.32 42.4 37.4 6 5 8.12 688749.473 688741.606 110.452 -79.51 True 0.05 0.546 0.16 0 0.546 0.16 0 23 40.0 152.97 -1.537 -1.56 663 3350 2063
34 66.510932531 1785272120.9104934 64.0 robust tracking True 1.23 2.84 1.8163566675 1.8006252849 20.15 42.7 38.3 6 5 -2.84 688563.016 688565.769 110.92 -78.813 True 0.05 0.795 0.197 0 0.795 0.197 0 23 40.0 172.22 -1.535 -1.561 665 3360 2063
35 68.704372014 1785272123.103933 66.0 robust tracking True 1.23 2.84 1.8163145194 1.8000555234 15.52 42.8 38.5 6 5 -11.85 688380.019 688391.495 110.061 -80.47 True 0.05 0.796 0.074 0 0.796 0.074 0 23 48.0 155.17 -1.537 -1.56 668 3370 2063
36 70.703104898 1785272125.102666 68.0 robust tracking True 1.23 2.84 1.8162769265 1.7995395272 11.43 42.0 37.8 6 5 13.98 688244.124 688230.58 110.609 -80.264 True 0.05 0.381 0.125 0 0.381 0.125 0 23 16.0 179.45 -1.533 -1.56 670 3380 2063
37 72.702223062 1785272127.101784 70.0 robust tracking True 1.23 2.84 1.8162378878 1.7990227767 16.58 42.8 38.9 6 5 5.88 688078.671 688072.971 110.939 -80.36 True 0.05 0.666 0.053 0 0.666 0.053 0 23 24.0 166.76 -1.535 -1.56 672 3390 2063
38 74.700286036 1785272129.0998468 72.0 robust tracking True 1.23 2.84 1.816199267 1.7985063001 11.1 42.7 38.7 6 5 14.57 687926.671 687912.557 110.527 -80.516 True 0.05 0.312 0.03 0 0.312 0.03 0 23 32.0 162.81 -1.536 -1.56 674 3400 2063
39 76.71281947 1785272131.1123805 74.0 robust tracking True 1.23 2.84 1.8161600375 1.7979893506 11.11 42.7 38.6 6 5 -1.67 687750.089 687751.702 111.576 -79.6 True 0.05 1.026 0.083 0 1.026 0.083 0 23 16.0 142.71 -1.539 -1.56 676 3410 2063
40 78.704243128 1785272133.103804 76.0 robust tracking True 1.23 2.84 1.8161215432 1.7974747243 11.08 43.2 38.1 6 5 -4.48 687586.716 687591.059 110.819 -81.044 True 0.05 0.676 0.104 0 0.676 0.104 0 23 0.0 107.47 -1.544 -1.56 678 3420 2063
41 80.70401895 1785272135.10358 78.0 robust tracking True 1.23 2.84 1.8160831759 1.7969606981 20.64 42.3 37.5 6 5 -0.58 687429.447 687430.01 110.975 -81.135 True 0.05 0.351 0.106 0 0.351 0.106 0 23 56.0 161.62 -1.536 -1.56 680 3430 2063
42 82.710133903 1785272137.1096952 80.0 robust tracking True 1.23 2.84 1.8160471938 1.7964462492 21.18 43.0 39.1 6 5 11.46 687279.439 687268.334 110.976 -80.409 True 0.05 1.15 0.031 0 1.15 0.031 0 23 0.0 177.64 -1.534 -1.56 682 3440 2063
43 84.702669179 1785272139.1022303 82.0 robust tracking True 1.23 2.84 1.8160084174 1.7959315494 16.16 42.7 39.0 6 5 2.07 687108.261 687106.252 110.31 -81.912 True 0.05 0.401 0.04 0 0.401 0.04 0 23 48.0 145.45 -1.539 -1.56 684 3450 2063
44 86.700732144 1785272141.100293 84.0 robust tracking True 1.23 2.83 1.8159713938 1.7954167669 11.13 42.7 39.0 6 5 -12.66 686929.679 686941.939 110.952 -81.183 True 0.05 0.726 0.196 0 0.726 0.196 0 23 24.0 139.84 -1.539 -1.56 686 3460 2063
45 88.704090128 1785272143.103651 86.0 robust tracking True 1.23 2.83 1.8159335443 1.79490275 16.21 42.7 38.7 6 5 8.63 686784.906 686776.542 110.694 -82.024 True 0.05 0.209 0.052 0 0.209 0.052 0 23 48.0 176.01 -1.534 -1.56 688 3470 2063
46 90.704048278 1785272145.103609 88.0 robust tracking True 1.23 2.83 1.8158959585 1.7943905432 24.91 42.5 37.9 6 5 -0.15 686613.039 686613.185 110.563 -82.135 True 0.05 0.379 0.123 0 0.379 0.123 0 23 40.0 161.5 -1.536 -1.56 690 3480 2063
47 92.711508414 1785272147.1110694 90.0 robust tracking True 1.23 2.83 1.8158570425 1.793877413 24.43 42.7 38.0 6 5 15.4 686465.242 686450.326 111.554 -81.637 True 0.05 1.011 0.184 0 1.011 0.184 0 23 56.0 178.15 -1.534 -1.56 692 3490 2063
48 94.704749369 1785272149.1043103 92.0 robust tracking True 1.23 2.83 1.8158190794 1.7933647389 21.48 42.4 38.5 6 5 16.84 686303.4 686287.088 110.534 -82.726 True 0.05 0.195 0.029 0 0.195 0.029 0 23 48.0 171.95 -1.535 -1.56 694 3500 2063
49 96.703104991 1785272151.1026661 94.0 robust tracking True 1.23 2.83 1.815781917 1.7928524573 11.31 42.4 37.6 6 5 -1.05 686119.874 686120.892 109.749 -83.836 True 0.05 0.919 0.158 0 0.919 0.158 0 23 16.0 137.68 -1.54 -1.56 696 3510 2063
50 98.915123597 1785272153.3146844 96.0 robust tracking True 1.23 2.83 1.8157417458 1.792292301 11.49 42.2 37.0 6 5 -4.81 685933.786 685938.441 110.18 -83.485 True 0.05 0.687 0.188 0 0.687 0.188 0 23 40.0 130.24 -1.541 -1.56 698 3520 2063
51 101.104184426 1785272155.5037456 98.0 robust tracking True 1.23 2.83 1.8157012539 1.7917269932 14.98 42.4 37.7 6 5 -4.93 685751.271 685756.046 110.623 -83.514 True 0.05 0.285 0.185 0 0.285 0.185 0 23 40.0 144.59 -1.539 -1.56 700 3530 2063
52 103.108802454 1785272157.5083635 100.0 robust tracking True 1.23 2.83 1.8156626947 1.7912163488 25.23 42.4 38.0 6 5 8.11 685596.218 685588.366 110.401 -83.817 True 0.05 0.362 0.053 0 0.362 0.053 0 23 56.0 172.28 -1.535 -1.56 702 3540 2063
53 105.105464086 1785272159.505025 102.0 robust tracking True 1.23 2.83 1.8156280022 1.79070636 16.51 42.5 37.5 6 5 -15.09 685403.733 685418.356 110.792 -83.601 True 0.05 0.365 0.1 0 0.365 0.1 0 23 48.0 134.38 -1.54 -1.56 704 3550 2063
54 107.300312593 1785272161.6998734 104.0 robust tracking True 1.23 2.83 1.8155869207 1.790143438 20.41 42.6 38.3 6 5 4.06 685236.104 685232.167 111.771 -83.119 True 0.05 1.06 0.172 0 1.06 0.172 0 23 56.0 186.11 -1.532 -1.56 706 3560 2063
55 109.312626871 1785272163.7121878 106.0 robust tracking True 1.23 2.83 1.8155513007 1.7896363278 15.58 42.6 37.5 6 5 -5.9 685055.343 685061.062 110.302 -84.628 True 0.05 0.319 0.208 0 0.319 0.208 0 23 24.0 168.36 -1.535 -1.56 708 3570 2063
56 111.306453913 1785272165.7060149 108.0 robust tracking True 1.23 2.83 1.8155128487 1.789126556 21.63 42.6 38.0 6 5 16.48 684906.901 684890.938 110.502 -84.943 True 0.05 0.385 0.093 0 0.385 0.093 0 23 16.0 177.8 -1.534 -1.56 710 3580 2063
57 113.305323246 1785272167.7048843 110.0 robust tracking True 1.22 2.83 1.8154776515 1.7886176858 11.1 42.9 38.4 6 5 1.51 684721.855 684720.397 110.396 -84.747 True 0.05 0.197 0.218 0 0.197 0.218 0 23 32.0 163.81 -1.536 -1.56 712 3590 2063
58 115.30411121 1785272169.7036724 112.0 robust tracking True 1.22 2.83 1.8154394251 1.7881082833 22.64 43.1 38.0 6 5 -3.4 684547.463 684550.752 110.44 -85.241 True 0.05 0.429 0.029 0 0.429 0.029 0 23 8.0 152.36 -1.538 -1.56 714 3600 2063
59 117.303101565 1785272171.702663 114.0 robust tracking True 1.22 2.83 1.8154034756 1.7875997643 11.52 42.6 38.1 6 5 17.65 684398.444 684381.346 110.707 -84.967 True 0.05 0.405 0.059 0 0.405 0.059 0 23 24.0 192.86 -1.532 -1.56 716 3610 2063
60 119.306150448 1785272173.7057114 116.0 robust tracking True 1.22 2.83 1.8153676614 1.7870927007 12.04 42.5 37.5 6 5 -7.99 684203.354 684211.094 110.164 -85.459 True 0.05 0.631 0.155 0 0.631 0.155 0 23 32.0 144.3 -1.539 -1.56 718 3620 2063
61 121.300962576 1785272175.7005236 118.0 robust tracking True 1.22 2.83 1.8153303586 1.786584068 18.38 42.4 37.2 6 5 15.28 684055.675 684040.872 110.141 -86.063 True 0.05 0.481 0.133 0 0.481 0.133 0 23 48.0 200.68 -1.53 -1.56 720 3630 2063
62 123.303755452 1785272177.7033165 120.0 robust tracking True 1.22 2.82 1.815294335 1.7860767164 19.1 42.8 38.8 6 5 2.02 683871.81 683869.856 111.056 -85.022 True 0.05 1.151 0.085 0 1.151 0.085 0 23 64.0 169.36 -1.535 -1.56 722 3640 2063
63 125.304219262 1785272179.703781 122.0 robust tracking True 1.22 2.82 1.8152578155 1.785570688 11.11 42.7 38.6 6 5 -8.82 683688.289 683696.831 110.802 -85.693 True 0.05 0.637 0.051 0 0.637 0.051 0 23 8.0 158.16 -1.537 -1.56 724 3650 2063
64 127.304583545 1785272181.704145 124.0 robust tracking True 1.22 2.82 1.8152215994 1.7850628719 11.13 42.7 38.8 6 5 -1.48 683523.082 683524.519 110.235 -86.917 True 0.05 0.775 0.068 0 0.775 0.068 0 23 40.0 151.87 -1.538 -1.56 726 3660 2063
65 129.508905566 1785272183.9084663 126.0 robust tracking True 1.22 2.82 1.8151838123 1.7845085023 12.03 43.1 38.6 6 5 9.01 683342.021 683333.296 110.201 -87.019 True 0.05 0.331 0.094 0 0.331 0.094 0 23 0.0 157.45 -1.537 -1.56 728 3670 2063
66 131.500762179 1785272185.9003232 128.0 robust tracking True 1.22 2.82 1.8151487619 1.7840006032 12.83 42.6 38.6 6 5 3.63 683160.888 683157.371 110.357 -86.937 True 0.05 0.389 0.075 0 0.389 0.075 0 23 32.0 171.39 -1.535 -1.56 730 3680 2063
67 133.504344505 1785272187.9039054 130.0 robust tracking True 1.22 2.82 1.8151127862 1.7834955606 12.64 42.7 38.5 6 5 3.69 682986.797 682983.217 110.053 -87.63 True 0.05 0.791 0.01 0 0.791 0.01 0 23 0.0 175.65 -1.534 -1.56 732 3690 2063
68 135.509832366 1785272189.9094036 132.0 robust tracking True 1.22 2.82 1.8150762158 1.7829890753 11.13 42.7 38.4 6 5 5.1 682813.848 682808.909 110.531 -87.346 True 0.05 0.079 0.034 0 0.079 0.034 0 23 16.0 162.81 -1.536 -1.56 734 3700 2063
69 137.506720578 1785272191.9062817 134.0 robust tracking True 1.22 2.82 1.8150397064 1.7824837171 10.99 42.8 39.5 6 5 1.42 682635.318 682633.946 110.584 -87.635 True 0.05 0.038 0.097 0 0.038 0.097 0 23 32.0 155.09 -1.537 -1.56 736 3710 2063
70 139.504410571 1785272193.9039717 136.0 robust tracking True 1.22 2.82 1.8150041072 1.7819780719 11.15 42.7 38.1 6 5 -6.72 682453.853 682460.364 110.886 -87.452 True 0.05 0.412 0.407 0 0.412 0.407 0 23 48.0 139.96 -1.539 -1.56 738 3720 2063
71 141.503078598 1785272195.9026399 138.0 robust tracking True 1.22 2.82 1.8149699154 1.781475266 11.11 42.7 38.8 6 5 11.45 682296.086 682284.991 109.638 -89.46 True 0.05 1.419 0.005 0 1.419 0.005 0 23 40.0 167.17 -1.535 -1.56 740 3730 2063
72 143.500493916 1785272197.900055 140.0 robust tracking True 1.22 2.82 1.8149354252 1.7809734693 11.02 42.9 38.7 6 5 12.89 682120.284 682107.799 110.911 -87.736 True 0.05 0.88 0.067 0 0.88 0.067 0 23 56.0 162.67 -1.536 -1.56 742 3740 2063
73 145.512927625 1785272199.9124885 142.0 robust tracking True 1.22 2.82 1.8149005029 1.7804693538 10.96 42.9 39.4 6 5 -25.89 681906.117 681931.202 110.881 -87.866 True 0.05 0.775 0.078 0 0.775 0.078 0 23 8.0 107.83 -1.544 -1.56 744 3750 2063
74 147.506278297 1785272201.9058392 144.0 robust tracking True 1.22 2.82 1.8148661739 1.7799667491 10.98 43.0 39.0 6 5 -5.66 681746.195 681751.678 109.788 -89.613 True 0.05 1.009 0.035 0 1.009 0.035 0 23 56.0 152.27 -1.538 -1.56 746 3760 2063
75 149.505513865 1785272203.9050748 146.0 robust tracking True 1.22 2.82 1.8148312963 1.779461219 11.25 42.4 38.4 6 5 -7.95 681563.852 681571.554 110.854 -89.368 True 0.05 0.482 0.099 0 0.482 0.099 0 23 56.0 142.08 -1.539 -1.56 748 3770 2063
76 151.504103133 1785272205.903664 148.0 robust tracking True 1.22 2.82 1.8147976667 1.778959756 10.98 43.0 39.4 6 5 11.06 681403.38 681392.662 110.425 -89.358 True 0.05 0.199 0.058 0 0.199 0.058 0 23 16.0 161.29 -1.536 -1.56 750 3780 2063
77 153.502847324 1785272207.9024084 150.0 robust tracking True 1.22 2.82 1.8147608671 1.7784571849 15.23 42.6 38.9 6 5 9.66 681223.637 681214.276 110.279 -89.721 True 0.05 0.371 0.218 0 0.371 0.218 0 23 48.0 172.12 -1.535 -1.56 752 3790 2063
78 155.506297511 1785272209.9058583 152.0 robust tracking True 1.22 2.82 1.8147266277 1.7779565566 11.07 42.6 38.7 6 5 0.35 681034.417 681034.073 110.263 -89.772 True 0.05 0.371 0.13 0 0.371 0.13 0 23 56.0 180.04 -1.533 -1.56 754 3800 2063
79 157.500753602 1785272211.9003143 154.0 robust tracking True 1.22 2.82 1.814692541 1.777454151 11.13 42.4 38.4 6 5 8.94 680862.299 680853.639 110.737 -89.433 True 0.05 0.755 0.053 0 0.755 0.053 0 23 0.0 180.5 -1.533 -1.56 756 3810 2063
80 159.504450759 1785272213.904012 156.0 robust tracking True 1.22 2.82 1.8146585955 1.7769539906 11.22 42.3 38.2 6 5 14.47 680691.31 680677.294 110.442 -90.141 True 0.05 0.405 0.02 0 0.405 0.02 0 23 32.0 196.03 -1.531 -1.56 758 3820 2063
81 161.510423884 1785272215.9099848 158.0 robust tracking True 1.21 2.82 1.8146253251 1.7764523761 14.07 42.3 38.6 6 5 14.17 680511.698 680497.972 110.887 -89.977 True 0.05 0.551 0.182 0 0.551 0.182 0 23 32.0 184.51 -1.532 -1.56 760 3830 2063
82 163.504960681 1785272217.9045217 160.0 robust tracking True 1.21 2.81 1.8145907816 1.7759535814 10.99 42.6 39.7 6 5 9.57 680326.822 680317.554 110.339 -91.079 True 0.05 0.465 0.01 0 0.465 0.01 0 23 8.0 150.36 -1.538 -1.56 762 3840 2063
83 165.507220868 1785272219.9067822 162.0 robust tracking True 1.21 2.81 1.8145551226 1.7754518476 10.98 42.8 38.9 6 5 5.13 680143.185 680138.216 109.975 -91.641 True 0.05 0.834 0.034 0 0.834 0.034 0 23 0.0 144.58 -1.539 -1.56 764 3850 2063
84 167.503525545 1785272221.9030867 164.0 robust tracking True 1.21 2.81 1.8145228906 1.7749543943 14.36 42.8 38.7 6 5 4.72 679959.278 679954.706 110.179 -91.65 True 0.05 0.706 0.085 0 0.706 0.085 0 23 48.0 124.01 -1.542 -1.56 766 3860 2063
85 169.50061802 1785272223.900179 166.0 robust tracking True 1.21 2.81 1.8144898435 1.7744531221 11.09 42.8 37.7 6 5 13.57 679787.48 679774.331 110.775 -91.606 True 0.05 1.106 0.075 0 1.106 0.075 0 23 56.0 145.18 -1.538 -1.56 768 3870 2063
86 171.510388267 1785272225.9099493 168.0 robust tracking True 1.21 2.81 1.8144559568 1.7739550407 11.08 42.6 38.2 6 5 8.28 679599.18 679591.156 110.344 -91.505 True 0.05 0.285 0.062 0 0.285 0.062 0 23 56.0 137.18 -1.54 -1.56 770 3880 2063
87 173.500668495 1785272227.9002295 170.0 robust tracking True 1.21 2.81 1.8144213808 1.7734561125 11.07 42.5 38.0 6 5 -7.05 679401.0 679407.83 110.355 -91.896 True 0.05 0.239 0.023 0 0.239 0.023 0 23 48.0 151.22 -1.538 -1.56 772 3890 2063
88 175.509072834 1785272229.9086337 172.0 robust tracking True 1.21 2.81 1.8143875329 1.7729571416 14.88 42.6 38.0 6 5 -9.75 679214.759 679224.203 110.051 -92.203 True 0.05 0.388 0.024 0 0.388 0.024 0 23 16.0 127.04 -1.541 -1.56 774 3900 2063
89 177.511375431 1785272231.9109368 174.0 robust tracking True 1.21 2.81 1.8143541178 1.7724598606 11.01 42.7 39.1 6 5 -28.57 679010.25 679037.93 110.131 -92.548 True 0.05 0.679 0.066 0 0.679 0.066 0 23 16.0 144.09 -1.539 -1.56 776 3910 2063
90 179.5031023 1785272233.9026635 176.0 robust tracking True 1.21 2.81 1.8143216536 1.7719632746 11.04 42.6 38.1 6 5 -1.94 678850.304 678852.181 110.443 -92.232 True 0.05 0.439 0.164 0 0.439 0.164 0 23 24.0 156.61 -1.537 -1.56 778 3920 2063
91 181.500919559 1785272235.9004805 178.0 robust tracking True 1.21 2.81 1.8142885244 1.7714647145 11.67 42.7 39.6 6 5 14.37 678680.998 678667.079 110.223 -93.101 True 0.05 0.927 0.048 0 0.927 0.048 0 23 24.0 174.87 -1.534 -1.56 780 3930 2063
92 183.504154069 1785272237.903716 180.0 robust tracking True 1.21 2.81 1.8142515963 1.7709676955 11.12 42.4 38.5 6 5 3.52 678484.103 678480.688 110.013 -93.55 True 0.05 0.69 0.056 0 0.69 0.056 0 23 0.0 167.43 -1.535 -1.56 782 3940 2063
93 185.509701079 1785272239.9092622 182.0 robust tracking True 1.21 2.81 1.8142225906 1.7704719824 11.12 42.5 38.1 6 5 2.8 678298.275 678295.56 110.36 -92.989 True 0.05 0.188 0.156 0 0.188 0.156 0 23 0.0 175.14 -1.534 -1.56 784 3950 2063
94 187.511311613 1785272241.9108725 184.0 robust tracking True 1.21 2.81 1.8141898144 1.7699731912 11.11 42.3 38.5 6 5 -16.24 678094.632 678110.363 110.845 -93.036 True 0.05 0.46 0.009 0 0.46 0.009 0 23 32.0 150.91 -1.537 -1.56 786 3960 2063
95 189.504094586 1785272243.9036555 186.0 robust tracking True 1.21 2.81 1.8141560815 1.7694787336 11.13 42.5 37.9 6 5 -1.22 677924.284 677925.468 110.012 -93.838 True 0.05 0.542 0.031 0 0.542 0.031 0 23 32.0 167.75 -1.535 -1.56 788 3970 2063
96 191.503264307 1785272245.902825 188.0 robust tracking True 1.21 2.81 1.8141223587 1.7689845528 11.12 42.4 38.3 6 5 12.44 677751.751 677739.703 110.673 -93.502 True 0.05 0.691 0.123 0 0.691 0.123 0 23 32.0 181.14 -1.533 -1.56 790 3980 2063
97 193.500850983 1785272247.9004118 190.0 robust tracking True 1.21 2.81 1.8140919959 1.768488668 14.03 42.3 38.2 6 5 8.52 677559.555 677551.298 110.495 -93.954 True 0.05 0.376 0.004 0 0.376 0.004 0 23 56.0 155.05 -1.537 -1.56 792 3990 2063
98 195.507436225 1785272249.9069972 192.0 robust tracking True 1.21 2.81 1.8140572992 1.7679932608 10.97 42.9 38.9 6 5 -25.61 677336.289 677361.101 110.053 -94.87 True 0.05 0.565 0.132 0 0.565 0.132 0 23 0.0 143.1 -1.539 -1.56 794 4000 2063
99 197.710664279 1785272252.1102252 194.0 robust tracking True 1.21 2.81 1.8140224199 1.7674512561 11.06 42.7 38.3 6 5 -21.21 677131.244 677151.796 110.436 -94.668 True 0.05 0.467 0.099 0 0.467 0.099 0 23 16.0 127.66 -1.541 -1.56 797 4010 2063
100 199.904494084 1785272254.3040552 196.0 robust tracking True 1.21 2.81 1.8139878446 1.7669062479 11.21 42.4 37.9 6 5 2.5 676945.184 676942.759 110.719 -94.592 True 0.05 0.329 0.254 0 0.329 0.254 0 23 0.0 166.66 -1.535 -1.56 799 4020 2063
101 201.902748265 1785272256.3023093 198.0 robust tracking True 1.21 2.8 1.8139551469 1.7664122598 19.71 42.7 38.2 6 5 3.44 676756.483 676753.152 110.284 -95.508 True 0.05 0.834 0.075 0 0.834 0.075 0 23 48.0 159.1 -1.536 -1.56 801 4030 2063
102 203.900860006 1785272258.3004212 200.0 robust tracking True 1.21 2.8 1.8139243484 1.7659203155 21.27 42.6 37.9 6 5 16.7 676577.254 676561.076 111.005 -94.638 True 0.05 0.65 0.026 0 0.65 0.026 0 23 40.0 185.48 -1.532 -1.56 803 4040 2063
103 205.904311168 1785272260.303872 202.0 robust tracking True 1.21 2.8 1.8138926701 1.7654272361 11.23 42.3 37.5 6 5 -4.45 676364.571 676368.878 111.007 -94.853 True 0.05 0.681 0.154 0 0.681 0.154 0 23 32.0 146.48 -1.538 -1.56 805 4050 2063
104 207.911054786 1785272262.3106158 204.0 robust tracking True 1.21 2.8 1.8138607249 1.7649342967 11.29 42.2 37.1 6 5 -0.42 676178.038 676178.445 111.268 -95.121 True 0.05 0.669 0.187 0 0.669 0.187 0 23 56.0 148.37 -1.538 -1.56 807 4060 2063
105 209.904852911 1785272264.304414 206.0 robust tracking True 1.21 2.8 1.8138277745 1.7644418155 17.32 42.6 38.4 6 5 5.29 675993.222 675988.099 110.799 -95.578 True 0.05 0.772 0.012 0 0.772 0.012 0 23 48.0 167.53 -1.535 -1.56 809 4070 2063
106 211.904389957 1785272266.3039508 208.0 robust tracking True 1.2 2.8 1.8137949136 1.7639490637 14.88 42.5 38.1 6 5 4.76 675802.554 675797.942 109.97 -97.009 True 0.05 1.186 0.157 0 1.186 0.157 0 23 16.0 161.37 -1.536 -1.56 811 4080 2063
107 213.908887407 1785272268.3084483 210.0 robust tracking True 1.2 2.8 1.8137652527 1.7634585771 13.65 41.9 38.5 6 5 -19.97 675583.7 675603.041 110.734 -96.484 True 0.05 0.11 0.069 0 0.11 0.069 0 23 8.0 134.36 -1.54 -1.56 813 4090 2063
108 215.900878981 1785272270.3004403 212.0 robust tracking True 1.2 2.8 1.8137346862 1.7629700707 13.14 42.4 39.0 6 5 1.39 675411.049 675409.707 110.477 -96.41 True 0.05 0.489 0.149 0 0.489 0.149 0 23 48.0 164.12 -1.535 -1.56 815 4100 2063
109 217.908715503 1785272272.3082767 214.0 robust tracking True 1.2 2.8 1.8137007679 1.7624770049 11.19 42.1 38.1 6 5 -3.51 675214.305 675217.703 110.227 -97.513 True 0.05 0.667 0.022 0 0.667 0.022 0 23 56.0 141.12 -1.539 -1.56 817 4110 2063
110 219.904589627 1785272274.3041506 216.0 robust tracking True 1.2 2.8 1.8136705307 1.7619846326 17.3 42.2 38.8 6 5 -14.02 675007.687 675021.273 110.312 -97.218 True 0.05 0.452 0.069 0 0.452 0.069 0 23 24.0 158.28 -1.536 -1.56 819 4120 2063
111 221.9039367 1785272276.3034978 218.0 robust tracking True 1.2 2.8 1.8136409999 1.7614933749 11.12 42.1 39.2 6 5 -3.83 674821.953 674825.66 111.06 -96.371 True 0.05 1.326 0.028 0 1.326 0.028 0 23 48.0 170.5 -1.534 -1.56 821 4130 2063
112 223.91008895 1785272278.3096502 220.0 robust tracking True 1.2 2.8 1.8136105372 1.7610043295 11.73 42.3 38.7 6 5 0.13 674630.412 674630.288 111.079 -97.301 True 0.05 0.408 0.148 0 0.408 0.148 0 23 56.0 157.28 -1.536 -1.56 823 4140 2063
113 225.902916967 1785272280.302478 222.0 robust tracking True 1.2 2.8 1.8135794516 1.7605142092 21.26 41.9 39.1 6 5 -21.67 674413.179 674434.176 111.065 -97.127 True 0.05 0.752 0.068 0 0.752 0.068 0 23 48.0 124.73 -1.541 -1.56 825 4150 2063
114 227.901755726 1785272282.3013165 224.0 robust tracking True 1.2 2.8 1.8135490001 1.7600248185 11.02 42.5 39.3 6 5 13.8 674252.975 674239.611 110.715 -97.719 True 0.05 0.748 0.078 0 0.748 0.078 0 23 32.0 159.45 -1.536 -1.56 827 4160 2063
115 229.901619429 1785272284.3011806 226.0 robust tracking True 1.2 2.8 1.8135177823 1.7595391681 11.05 42.4 39.1 6 5 12.06 674053.956 674042.275 110.355 -98.939 True 0.05 0.78 0.043 0 0.78 0.043 0 23 56.0 170.95 -1.534 -1.56 829 4170 2063
116 231.90481137 1785272286.3043725 228.0 robust tracking True 1.2 2.8 1.8134877896 1.7590492494 11.09 42.4 38.1 6 5 12.72 673856.473 673844.146 110.721 -98.388 True 0.05 0.538 0.188 0 0.538 0.188 0 23 48.0 170.54 -1.534 -1.56 831 4180 2063
117 233.905326912 1785272288.3048878 230.0 robust tracking True 1.2 2.8 1.8134570418 1.7585604429 11.06 42.5 38.9 6 5 5.44 673653.112 673647.84 110.098 -98.963 True 0.05 0.301 0.311 0 0.301 0.311 0 23 8.0 171.59 -1.534 -1.56 833 4190 2063
118 235.904458614 1785272290.3040195 232.0 robust tracking True 1.2 2.8 1.8134261204 1.7580735849 11.06 42.5 38.5 6 5 -4.62 673445.637 673450.117 110.459 -98.844 True 0.05 0.829 0.028 0 0.829 0.028 0 23 0.0 153.73 -1.537 -1.56 835 4200 2063
119 237.904071483 1785272292.3036325 234.0 robust tracking True 1.2 2.8 1.8133959704 1.7575868747 12.8 42.0 37.7 6 5 -7.87 673243.852 673251.478 110.772 -98.845 True 0.05 0.559 0.037 0 0.559 0.037 0 23 0.0 146.96 -1.538 -1.56 837 4210 2063
120 239.908760739 1785272294.3083217 236.0 robust tracking True 1.2 2.8 1.8133666091 1.7570976374 11.1 42.3 38.6 6 5 4.99 673058.134 673053.301 110.565 -99.434 True 0.05 0.506 0.016 0 0.506 0.016 0 23 24.0 168.65 -1.535 -1.56 839 4220 2063
121 241.900563008 1785272296.300124 238.0 robust tracking True 1.2 2.79 1.8133344617 1.7566107514 11.14 42.3 38.4 6 5 -14.57 672839.788 672853.907 110.365 -99.522 True 0.05 0.253 0.141 0 0.253 0.141 0 23 0.0 147.65 -1.538 -1.56 841 4230 2063
122 243.904645899 1785272298.3042068 240.0 robust tracking True 1.2 2.79 1.8133057846 1.7561227378 11.1 42.2 38.8 6 5 3.18 672658.12 672655.039 109.903 -100.274 True 0.05 0.476 0.033 0 0.476 0.033 0 23 32.0 164.64 -1.535 -1.56 843 4240 2063
123 245.904621193 1785272300.3041825 242.0 robust tracking True 1.2 2.79 1.8132777969 1.7556370904 11.14 42.2 38.7 6 5 -0.81 672454.836 672455.618 110.573 -100.187 True 0.05 0.405 0.013 0 0.405 0.013 0 23 16.0 134.41 -1.54 -1.56 845 4250 2063
124 247.899436713 1785272302.2989979 244.0 robust tracking True 1.2 2.79 1.8132463791 1.7551512789 11.16 42.2 39.0 6 5 13.48 672269.138 672256.082 110.183 -100.179 True 0.05 0.565 0.113 0 0.565 0.113 0 23 40.0 169.04 -1.535 -1.56 847 4260 2063
125 249.911369626 1785272304.3109307 246.0 robust tracking True 1.2 2.79 1.813217727 1.754665179 11.11 42.5 39.2 6 5 -6.09 672049.638 672055.536 109.774 -100.683 True 0.05 0.486 0.021 0 0.486 0.021 0 23 0.0 135.93 -1.539 -1.56 849 4270 2063
126 251.903384606 1785272306.3029459 248.0 robust tracking True 1.2 2.79 1.8131881994 1.7541830169 11.18 42.2 39.0 6 5 10.96 671865.57 671854.952 109.778 -101.09 True 0.05 0.278 0.027 0 0.278 0.027 0 23 48.0 182.36 -1.532 -1.56 851 4280 2063
127 253.900781619 1785272308.3003423 250.0 robust tracking True 1.2 2.79 1.8131589097 1.7536951988 11.17 42.3 38.9 6 5 3.55 671659.189 671655.749 110.155 -100.561 True 0.05 0.584 0.008 0 0.584 0.008 0 23 16.0 141.85 -1.539 -1.56 853 4290 2063
128 255.910281973 1785272310.3098433 252.0 robust tracking True 1.2 2.79 1.8131293194 1.753212297 11.2 42.1 38.4 6 5 7.57 671462.581 671455.25 109.95 -101.447 True 0.05 0.189 0.096 0 0.189 0.096 0 23 16.0 141.76 -1.539 -1.56 855 4300 2063
129 257.904754461 1785272312.3043153 254.0 robust tracking True 1.2 2.79 1.8131029159 1.7527265372 11.15 42.4 38.7 6 5 -6.95 671245.456 671252.194 110.05 -101.621 True 0.05 0.518 0.084 0 0.518 0.084 0 23 56.0 134.53 -1.54 -1.56 857 4310 2063
130 259.904898749 1785272314.3044596 256.0 robust tracking True 1.2 2.79 1.8130720433 1.7522445406 11.3 41.8 38.4 6 5 -4.74 671044.584 671049.173 110.162 -101.624 True 0.05 0.281 0.225 0 0.281 0.225 0 23 0.0 142.99 -1.539 -1.56 859 4320 2063
131 261.904207465 1785272316.3037684 258.0 robust tracking True 1.19 2.79 1.8130440645 1.7517582107 11.31 42.0 38.4 6 5 -7.29 670837.352 670844.416 110.701 -101.27 True 0.05 0.844 0.152 0 0.844 0.152 0 23 56.0 167.54 -1.535 -1.56 861 4330 2063
132 263.903658409 1785272318.3032198 260.0 robust tracking True 1.19 2.79 1.8130134772 1.7512773631 11.34 42.0 38.5 6 5 -1.16 670637.855 670638.976 110.001 -102.901 True 0.05 0.697 0.02 0 0.697 0.02 0 23 48.0 166.85 -1.535 -1.56 863 4340 2063
133 265.906678701 1785272320.3062396 262.0 robust tracking True 1.19 2.79 1.8129886444 1.7507938348 14.74 42.5 38.9 6 5 10.12 670442.306 670432.505 110.568 -101.927 True 0.05 0.908 0.068 0 0.908 0.068 0 23 40.0 192.58 -1.531 -1.56 865 4350 2063
134 267.908740259 1785272322.308301 264.0 robust tracking True 1.19 2.79 1.8129614176 1.750311896 11.27 42.3 37.7 6 5 -11.12 670213.856 670224.632 110.96 -102.072 True 0.05 0.648 0.323 0 0.648 0.323 0 23 56.0 163.77 -1.535 -1.56 867 4360 2063
135 269.904666955 1785272324.304228 266.0 robust tracking True 1.19 2.79 1.8129315339 1.7498285268 11.35 41.9 37.9 6 5 0.23 670016.459 670016.233 110.584 -102.496 True 0.05 0.457 0.073 0 0.457 0.073 0 23 48.0 200.12 -1.53 -1.56 869 4370 2063
136 271.904417064 1785272326.303978 268.0 robust tracking True 1.19 2.79 1.8129033974 1.7493462127 11.29 42.0 38.2 6 5 -11.63 669798.53 669809.801 110.923 -102.202 True 0.05 0.955 0.178 0 0.955 0.178 0 23 16.0 154.9 -1.537 -1.56 871 4380 2063
137 273.904287144 1785272328.3038483 270.0 robust tracking True 1.19 2.79 1.8128759146 1.7488645046 11.24 42.2 38.4 6 5 0.32 669604.755 669604.44 110.23 -103.356 True 0.05 0.559 0.043 0 0.559 0.043 0 23 56.0 147.74 -1.538 -1.56 873 4390 2063
138 275.905752343 1785272330.3053133 272.0 robust tracking True 1.19 2.79 1.8128467845 1.7483871309 11.29 42.1 38.0 6 5 0.52 669397.133 669396.627 110.767 -103.125 True 0.05 0.839 0.033 0 0.839 0.033 0 23 48.0 175.42 -1.533 -1.56 875 4400 2063
139 277.901721957 1785272332.3012831 274.0 robust tracking True 1.19 2.79 1.8128179501 1.7479069779 11.23 42.2 38.8 6 5 -15.46 669172.771 669187.748 110.557 -103.518 True 0.05 0.505 0.152 0 0.505 0.152 0 23 8.0 141.55 -1.539 -1.56 877 4410 2063
140 279.901270286 1785272334.3008313 276.0 robust tracking True 1.19 2.79 1.8127918148 1.7474239577 11.26 42.2 38.9 6 5 5.21 668986.416 668981.367 110.705 -103.667 True 0.05 0.415 0.13 0 0.415 0.13 0 23 56.0 164.7 -1.535 -1.56 879 4420 2063
141 281.911805396 1785272336.3113663 278.0 robust tracking True 1.19 2.78 1.812764459 1.7469430861 11.14 42.3 38.6 6 5 9.2 668783.357 668774.443 110.765 -103.653 True 0.05 0.976 0.047 0 0.976 0.047 0 23 40.0 167.02 -1.535 -1.56 881 4430 2063
142 283.904627638 1785272338.3041887 280.0 robust tracking True 1.19 2.78 1.8127364977 1.7464643722 11.13 42.4 38.9 6 5 1.9 668567.589 668565.747 110.702 -104.554 True 0.05 0.496 0.084 0 0.496 0.084 0 23 56.0 150.73 -1.537 -1.56 883 4440 2063
143 285.904540282 1785272340.3041015 282.0 robust tracking True 1.19 2.78 1.8127111868 1.7459831701 11.26 42.2 38.2 6 5 -21.52 668336.38 668357.228 110.484 -104.5 True 0.05 0.4 0.023 0 0.4 0.023 0 23 16.0 127.92 -1.541 -1.56 885 4450 2063
144 287.903906607 1785272342.3034678 284.0 robust tracking True 1.19 2.78 1.8126838601 1.7455066962 11.09 42.3 39.2 6 5 -0.35 668145.403 668145.742 110.548 -104.863 True 0.05 0.13 0.213 0 0.13 0.213 0 23 0.0 156.5 -1.536 -1.56 887 4460 2063
145 289.903519609 1785272344.3030806 286.0 robust tracking True 1.19 2.78 1.8126545436 1.74502695 11.28 42.2 38.0 6 5 -17.14 667916.867 667933.474 110.923 -105.07 True 0.05 0.412 0.112 0 0.412 0.112 0 23 8.0 145.17 -1.538 -1.56 889 4470 2063
146 291.906994829 1785272346.3065557 288.0 robust tracking True 1.19 2.78 1.812627295 1.7445482935 12.84 42.5 38.6 6 5 -1.31 667721.551 667722.816 109.629 -106.134 True 0.05 0.721 0.164 0 0.721 0.164 0 23 40.0 158.89 -1.536 -1.56 891 4480 2063
147 293.904251457 1785272348.3038123 290.0 robust tracking True 1.19 2.78 1.8126009474 1.7440682755 11.16 42.3 38.2 6 5 14.39 667524.719 667510.777 110.381 -105.665 True 0.05 0.161 0.079 0 0.161 0.079 0 23 32.0 184.17 -1.532 -1.56 893 4490 2063
148 295.904732818 1785272350.3042939 292.0 robust tracking True 1.19 2.78 1.8125748376 1.7435915248 11.06 42.6 38.1 6 5 -9.72 667289.655 667299.068 110.248 -105.873 True 0.05 0.291 0.005 0 0.291 0.005 0 23 32.0 159.99 -1.536 -1.56 895 4500 2063
149 297.910797167 1785272352.3103583 294.0 robust tracking True 1.19 2.78 1.8125472744 1.7431147283 11.0 42.9 38.4 6 5 9.37 667097.136 667088.06 110.084 -106.181 True 0.05 0.237 0.074 0 0.237 0.074 0 23 16.0 168.11 -1.535 -1.56 897 4510 2063
150 299.905108443 1785272354.3046699 296.0 robust tracking True 1.19 2.78 1.812521259 1.7426375476 16.12 42.5 37.8 6 5 -12.01 666863.837 666875.472 110.096 -106.613 True 0.05 0.693 0.156 0 0.693 0.156 0 23 64.0 124.56 -1.541 -1.56 899 4520 2063
soc/software/pps_end_to_end_validation/output/hardware_replay_20260728/hardware_replay_report.md
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# Genesys2 live PPS telemetry replay
Source: `pps_end_to_end_validation/hardware_logs/genesys2_pps_20260728.csv`
## Direct firmware/RTL observations
- Samples/duration: 149 / 296.0 s.
- Status interval: 2.000 s; median sequence step 10 (2.0 s of 200 ms solves).
- Profiles: robust; locked fraction 1.000; transitions 0; reference SVIDs [23].
- TDOP/GDOP medians: 1.220 / 2.820; clock sigma median 11.24 m.
- C/N0 mean/min medians: 42.6 / 38.4 dB-Hz; tracked/used medians 6/5.
- WLS innovation RMS/p95-absolute: 10.47 / 19.66 m.
- Raw/filtered bias slopes: -90.020 / -90.025 m/s; PPS velocity residual median 0.079 m/s.
- Internal hardware phase mean: 155.37 ns; median-centered RMS/p95/max/p-p: 17.92 / 31.26 / 47.95 / 93.21 ns.
- Ten-second averaged phase wander p-p: 46.16 ns.
- Sampled phase-step RMS/p95/max: 22.84 / 44.13 / 56.38 ns. These are at the status interval, not consecutive physical 1 PPS edges.
- Rate command median/span: -1.5370 / 0.0140 ppm; integrator median -1.5600 ppm.
- Fixed-point PI rate reproduction RMS/p95/max: 0.430 / 0.852 / 0.921 ppb. This is the difference between logged `rate_cmd` and `integrator + Kp*hw_phase`; the remaining error is dominated by three-decimal UART rounding.
- Phase correlation with rate command / WLS innovation: 0.988 / 0.656.
- A constant oscillator inferred from zero net frequency is 1.536779 ppm. Integrating the logged command under that assumption gives centered phase RMS/p-p 23.65 / 92.48 ns.
`hw_phase` is the RTL PI residual captured over APB. It is not a trusted-generator time-interval measurement of the output pin, so these values cannot certify physical PPS jitter or absolute offset.
## Telemetry-conditioned end-to-end loop replay
The replay imports the first locked phase/rate/integrator and software filter snapshot instead of incorrectly resetting the board to an acquisition state. It uses raw/filtered clock bias, Doppler datum drift, TDOP/GDOP, clock sigma, C/N0, satellite count, FDE, reference SVID and the production fixed-point coefficients. The reference trajectory is reconstructed from filtered bias, the logged PI residual and the integrated rate command.
- Expanded updates: 1481; interpolation factor 9.94.
- Snapshot starts locked at 0.00 s; post-warmup locked fraction 1.000; unlocks 0.
- Constant-oscillator convention: 1.536779 ppm.
- Modeled physical-grid edge centered RMS/p95/p-p: 41.32 / 80.00 / 168.00 ns.
- Modeled one-second period RMS/p95/max: 5.51 / 8.00 / 16.00 ns.
- Modeled PI residual centered RMS/p95/p-p: 21.47 / 46.79 / 135.63 ns.
- Logged-epoch PI residual reproduction RMS/p95 error: 18.07 / 44.30 ns.
- Logged-epoch filtered-bias reproduction RMS/p95: 9.87 / 22.13 m.
## Tuning sensitivity on the same trace
| tuning | edge RMS (ns) | edge p-p (ns) | period max (ns) | residual reproduction RMS (ns) | unlocks |
|---|---:|---:|---:|---:|---:|
| current | 41.32 | 168.00 | 16.00 | 18.07 | 0 |
| robust_bias_1_64 | 57.06 | 216.00 | 16.00 | 24.53 | 0 |
| drift_gain_1_2 | 42.23 | 168.00 | 16.00 | 18.03 | 0 |
These counterfactuals reuse a reference trajectory reconstructed from the current filter, and nine of every ten solve epochs are interpolated. They are useful as a rejection test, not as evidence to deploy new gains. On this capture neither `robust_bias_1_64` nor `drift_gain_1_2` improves the current loop's absolute wander.
## Limits and next measurement
- Missing status epochs are linearly interpolated when sequence step is greater than one. This preserves low-frequency wander but understates unlogged 200 ms noise; it is not an exact firmware replay.
- The inferred oscillator and active phase assume one constant crystal frequency chosen to make net phase slope zero over this capture. Temperature telemetry was unavailable, so slow crystal motion is not separable from the reconstructed reference.
- Level-1 telemetry does not expose ABS_SAMPLE, REM_CODE_PHASE, full capture counter, chi-square ratio, pseudorange residual vector, board temperature, or a trusted PPS edge timestamp. The bit/subframe part of the end-to-end model remains synthetic for those fields.
- Set `GPS_PPS_STATUS_LOG_INTERVAL=1` for exact 200 ms input cadence. For a max-20 ns pin claim, capture DUT and trusted PPS with a common-clock TIC/scope after cable/output-delay calibration.
soc/software/pps_end_to_end_validation/output/hardware_replay_20260728/model_replay.csv
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soc/software/pps_end_to_end_validation/output/stability/stability_report.md
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- DUT minus trusted PPS was 32.01 ns. That remainder is the model's configured four-PCLK capture pipeline, not a measured board delay.
- Production firmware and this analysis both define `POSTPONE_TOW` as 180 ms for the current RTL delivery semantics.
## Repository hardware data
## Hardware data used by this synthetic sweep
- Real GPS capture: 989 GDOP samples and 990 tracked-satellite samples over about five minutes.
- GDOP min/median/p95/max: 1.86 / 1.93 / 3.15 / 3.15.
- Tracked satellites: 8..8 (median 8).
- Horizontal scatter RMS/p95/max: 8.58 / 15.15 / 23.77 m. No surveyed truth was recorded.
- No real ABS_SAMPLE, REM_CODE_PHASE, TDOP/HDOP, C/N0, pseudorange residual, PPS phase/rate/integrator, temperature, or trusted-edge TIC samples exist in the repository. Those columns in the companion CSV are explicitly synthetic.
- The older fusion capture used by this sweep has no ABS_SAMPLE, REM_CODE_PHASE, TDOP/HDOP, C/N0, pseudorange residual, PPS phase/rate/integrator, temperature, or trusted-edge TIC samples. Those columns in the companion CSV are explicitly synthetic. Newer PPS status captures are analyzed separately by `hardware_replay.py` and are not silently mixed into this historical baseline.
Synthetic timing uses the board-calibration values already encoded in the PPS tests: TDOP 1.50, GDOP 2.92, clock sigma 15.87 m (52.94 ns), C/N0 40.3/34.8 dB-Hz, drift noise 3.47 m/s, seven-satellite reference point, -291.75 m/s datum range rate, and 1.592 ppm local oscillator. Real GDOP and satellite count replace the geometry fields when available.
soc/software/pps_end_to_end_validation/stability_analysis.py
+7 -5
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@@ -600,7 +600,7 @@ def write_report(
"- Production firmware and this analysis both define `POSTPONE_TOW` "
"as 180 ms for the current RTL delivery semantics.",
"",
"## Repository hardware data",
"## Hardware data used by this synthetic sweep",
"",
f"- Real GPS capture: {len(gdop)} GDOP samples and {len(tracked)} "
"tracked-satellite samples over about five minutes.",
@@ -613,10 +613,12 @@ def write_report(
f"{_fmt(telemetry.horizontal_rms_m)} / "
f"{_fmt(telemetry.horizontal_p95_m)} / "
f"{_fmt(telemetry.horizontal_max_m)} m. No surveyed truth was recorded.",
"- No real ABS_SAMPLE, REM_CODE_PHASE, TDOP/HDOP, C/N0, pseudorange "
"residual, PPS phase/rate/integrator, temperature, or trusted-edge TIC "
"samples exist in the repository. Those columns in the companion CSV "
"are explicitly synthetic.",
"- The older fusion capture used by this sweep has no ABS_SAMPLE, "
"REM_CODE_PHASE, TDOP/HDOP, C/N0, pseudorange residual, PPS phase/rate/"
"integrator, temperature, or trusted-edge TIC samples. Those columns "
"in the companion CSV are explicitly synthetic. Newer PPS status "
"captures are analyzed separately by `hardware_replay.py` and are not "
"silently mixed into this historical baseline.",
"",
"Synthetic timing uses the board-calibration values already encoded "
"in the PPS tests: TDOP 1.50, GDOP 2.92, clock sigma 15.87 m "
soc/software/pps_end_to_end_validation/test_hardware_replay.py
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from __future__ import annotations
import csv
import math
from pathlib import Path
import tempfile
import unittest
from pps_python.adaptive_pps import (
PROFILES,
Profile,
Q32,
TRACKING_HZ,
)
from pps_end_to_end_validation.hardware_replay import (
UPDATE_PERIOD_S,
expand_samples,
load_firmware_telemetry,
observed_metrics,
replay_firmware_telemetry,
replay_tuning_sensitivity,
)
def _status_line(index: int) -> str:
phase_ns = 140.0 + 15.0 * math.sin(index * 0.7)
integrator_ppm = -1.560
kp_q46, _, _ = PROFILES[Profile.ROBUST].fixed_coefficients(
UPDATE_PERIOD_S
)
phase_q32 = round(phase_ns * 1.0e-9 * TRACKING_HZ * Q32)
proportional_q32 = (phase_q32 * kp_q46) >> 46
rate_ppm = (
round(integrator_ppm * 1.0e-6 * Q32) + proportional_q32
) / Q32 * 1.0e6
raw_bias_m = 700_000.0 - 80.0 * (2.0 * index) + 4.0 * math.sin(index)
filtered_bias_m = 700_000.0 - 80.0 * (2.0 * index)
return (
"[NAV] PPS profile=robust mode=tracking locked=1 "
"tdop=1.22 gdop=2.82 clock_sigma=11.24 cn0=42.6/38.4 "
f"innovation={raw_bias_m - filtered_bias_m:.2f}m "
f"raw_bias={raw_bias_m:.3f}m filtered_bias={filtered_bias_m:.3f}m "
"clock_drift=110.000mps bias_drift=-80.000mps predictor=1 "
"eskf_alpha=0.05 eskf_v=0.100/0.050/0x00 "
"pps_v=0.100/0.080/0x00 ref_svid=23 capture_corr=32.00ns "
f"hw_phase={phase_ns:.2f}ns rate_cmd={rate_ppm:.3f}ppm "
f"integ={integrator_ppm:.3f}ppm pulse={100 + 2 * index} "
f"seq={1000 + 10 * index} status=0x80f"
)
def _write_capture(path: Path, count: int = 16) -> None:
location = (
"[LOCATION] source=gps lat=0 lon=0 height=0 "
"gdop=2.82 pdop=2.54 hdop=1.81 vdop=1.78 tdop=1.22 "
"tracked=6 used=5 velocity_valid=1 velocity_fde=0 "
"speed=0.1 velocity_rms=0.08"
)
with path.open("w", encoding="utf-8", newline="") as output:
writer = csv.writer(output, lineterminator="\n")
writer.writerow(("host_monotonic_s", "host_unix_s", "uart_line"))
for index in range(count):
host_s = 2.0 * index
writer.writerow((host_s - 0.01, 1000.0 + host_s, location))
writer.writerow((host_s, 1000.01 + host_s, _status_line(index)))
class HardwareReplayTests(unittest.TestCase):
def setUp(self) -> None:
self.temporary = tempfile.TemporaryDirectory()
self.capture = Path(self.temporary.name) / "capture.csv"
_write_capture(self.capture)
def tearDown(self) -> None:
self.temporary.cleanup()
def test_uart_parser_and_sequence_expansion(self):
samples = load_firmware_telemetry(self.capture)
self.assertEqual(len(samples), 16)
self.assertEqual(samples[-1].time_s, 30.0)
self.assertEqual(samples[0].tracked_satellites, 6)
self.assertEqual(samples[0].used_satellites, 5)
expanded = expand_samples(samples)
self.assertEqual(len(expanded), 151)
self.assertEqual(sum(interpolated for _, interpolated in expanded), 135)
def test_fixed_point_pi_and_checkpoint_replay(self):
samples = load_firmware_telemetry(self.capture)
observed = observed_metrics(samples)
self.assertEqual(observed.locked_fraction, 1.0)
self.assertLess(observed.pi_rate_reproduction_rms_ppb, 0.6)
points, replay = replay_firmware_telemetry(
samples, warmup_s=5.0
)
self.assertEqual(len(points), 151)
self.assertEqual(replay.unlocks, 0)
self.assertEqual(replay.locked_fraction_after_warmup, 1.0)
self.assertTrue(math.isfinite(replay.modeled_edge_centered_rms_ns))
self.assertGreater(replay.modeled_edge_centered_rms_ns, 0.0)
def test_tuning_sensitivity_keeps_candidates_separate(self):
samples = load_firmware_telemetry(self.capture)
results = replay_tuning_sensitivity(samples, warmup_s=5.0)
self.assertEqual(
[result.tuning for result in results],
["current", "robust_bias_1_64", "drift_gain_1_2"],
)
self.assertTrue(all(result.unlocks == 0 for result in results))
if __name__ == "__main__":
unittest.main()