# Physical repeat `ja-sun-007-100m` — read-only acceptance review Reviewed on 2026-09-20 after the operator reported a successful approximately 100 m walk. This is a retained-data inspection, not a replay, new capture, device operation, algorithm change, or navigation acceptance. No Ops mutations. ## Identity and integrity - Live run: `ac07a83a-f784-4d31-a908-d1fd526921b4`. - Query: `20260920T054444Z_viewer_live`, generation 1, display name `ja-sun-007-100m`; do not confuse it with the earlier unsuccessful `ja-sun-007`. - Reference: `JA-SADOVAYA-001`, `20260911T085226Z_viewer_live`. - Draft: `672c1d9f-b817-4b78-b84c-b34a4edc0870`, revision 1. - Selected route: indices 0–1320, length 102.59360280377184 m; context map indices 0–1516, `route-context-map/v2`. - All 133 declared run artifact hashes verified against `report.json`. - Raw capture SHA-256: `1c8161b2d2e22ecb98ccd1bbe04f1dc348b8d79b1cab1a2cf94dcecf58ea929c`. - Metadata SHA-256: `8c8caa3e293fa459e423c815a08c84ced20433cefb55eb81d018e245dd1c5783`. - Raw and metadata hashes verified, all 3,858 message payload hashes verified; full streaming decoding found zero pose/cloud decode errors. - Empty recovery journal and clock origin verified. The summary declares the **sealed session clock** `mqtt.timeline.session-de7e1779fa341e2e81e0943d8523f09fc1003a0528b2f0342fa4ec86334d445b.json`; its digest matches. The mutable transport `mqtt.timeline.json` is a different envelope and must not be compared to the session-clock digest. - Query raw data contains 1,625 poses, 1,624 clouds and 5,573,004 cloud points. Capture summary records no rejected messages, recoveries, or transport error. Evidence root is the canonical `NODEDC_MISSION_CORE/.runtime/mission-core`: run artifacts under `missions/live-tests//`, raw source under `evidence/sessions//`. Private raw evidence remains outside Git. ## Timeline and registration Times below are UTC; local operator time is UTC+3. Durations were calculated from retained monotonic timestamps. | Event | UTC | | --- | --- | | First pose / first cloud | 05:45:11.013 / 05:45:11.024 | | Stationary prefix complete; initial search starts | 05:45:21.048 | | Provisional initial match complete | 05:45:36.390 | | First fresh validation accepted | 05:45:38.881 | | Third fresh validation; tracking established | 05:45:49.087 | | Last fresh validation accepted | 05:47:41.109 | | Selected route distance reached; tracking authority cleared | 05:47:43.034 | | Run completed | 05:47:43.039 | | Operator STOP correlated response | 05:47:53.360 | | Last raw pose / cloud | 05:47:53.585 / 05:47:53.592 | Tracking established 38.076 s after the first pose. The initial search took 15.337 s wall time and only supplied a provisional prior; it is not counted as an accepted fresh validation. All **25/25** fresh validations were accepted; there was no rejection, reacquisition, receipt-gap segment change, or loss between acquiring tracking and completing the selected distance. | Fresh-validation metric | Minimum | Median | Maximum | | --- | ---: | ---: | ---: | | Overlap | 96.658% | 98.497% | 99.638% | | Inlier surface RMSE | 0.13956 m | 0.15095 m | 0.16728 m | | Worker wall time | 0.26009 s | 0.35009 s | 0.47530 s | | Latest input age at acceptance | 0.30952 s | 0.65603 s | 0.92065 s | | Change at current query position between accepted transforms | 0.00710 m | 0.01281 m | 0.03758 m | | Full rotation change between accepted transforms | 0.04392° | 0.13181° | 0.30600° | The transform yaw ranges from 4.0242° to 4.4371°, a span of 0.4129°. This is the relationship between session frames, **not** an independently measured heading error. Similarly, overlap and inlier RMSE describe agreement of matched surfaces, not ground-truth rover position accuracy. Final fit overlap is 98.390%, RMSE 0.13956 m. Its sampled accumulated distance is 98.463 m; the run continues using that fresh accepted alignment until 102.594 m, approximately two seconds later. Do not describe every metre of the last interval as separately re-registered. Termination is `distance-limit`: the **operator-selected route length**, not a restored hard-coded 100 m cap. `selected-live-route/v1` has no fixed maximum route length or time ceiling. Terminal `tracking_state=lost` is the intentional revocation at completion, not an in-motion localization loss. The raw recording continued for about ten seconds after the planning run: scanner-reported distance at run end was 102.572 m, final scanner distance 104.463 m. Summing all raw positional increments gives 104.912 m, a different metric from the planner's 5 cm filtered path accumulator. ## Cloud delivery and retained visual evidence - Raw pose/cloud average cadence is approximately 10 Hz, including during tracking. It is not uniformly spaced. - During tracking, cloud gap p50/p95/max = 0.08162/0.24342/1.00042 s; pose gap p50/p95/max = 0.08123/0.23606/1.65884 s. - No raw pose/cloud gap exceeds 2 s. Across the full capture the longest cloud gap is 1.06501 s. Maximum adjacent raw pose displacement is 0.12333 m; the large timing gaps do not correspond to a coordinate teleport. - At run completion the planning ingress reports lidar 1,521 published, 1,492 consumed, 27 overflow drops and 2 queued; pose 1,522 published, 1,519 consumed, 2 overflow drops and 1 queued. Raw recording is independently retained; these counts must not be equated with raw file loss. - Fast display accepted 1,484 cloud updates. Final rolling display has 20 chunks and 39,238 points. It intentionally does not accumulate the entire route cloud. - A read-only scan of the service access log found 1,703 requests for this run's scene delta endpoint: 926 HTTP 200, 777 HTTP 204, no HTTP errors, one base request. All observed requests kept reference/query/trajectory enabled in 3D. - Request cursors include **802 distinct live cloud revisions**, 842 distinct live pose sequences, and 25 distinct fit-evidence sequences. From the client implementation, subsequent cursors follow a successful `send_rrd` call. This supports repeated native-channel delivery, not merely production of backend snapshots. Counts are aggregate access-log evidence, not per-display frame timing or a GPU presentation acknowledgment. - There is no retained measurement of actual browser paint FPS or end-to-end visible latency. The operator's uncertain visual impression cannot be closed as “smooth real time” from these counters alone. Green correspondence evidence changes with the approximately five-second fit, separately from fast cloud. The camera archive summary is complete, with 1,534 segments and no failure code. Camera media was not fully decoded or independently hash-verified in this review, so no stronger video continuity/presentation claim is made. ## Decision and remaining boundary Positive physical laboratory result: stationary acquisition and continuing registration work across the selected approximately 100 m route. Quality did not collapse with distance, and the earlier reported approximately 10° sudden misalignment is not reproduced in the retained accepted transforms. Fast cloud delivery is physically evidenced beyond the previous offline qualification, but subjective/paint-level visual acceptance remains open. Ingress drops and occasional 1–1.66 s input pauses are real limitations to measure, not grounds to call the entire acquisition smooth. This does not establish arbitrary-start relocalization, robustness across mounting configurations, independent absolute localization accuracy, or an acceptable navigation freshness/stopping budget. The laboratory still retains `localization_confirmed=false`, `vehicle_control=false`; the 8 s alignment age gate is not a vehicle safety criterion. A longer walk alone does not close those questions. Next useful acceptance is repeated starts with known offsets and a controlled observation of cloud/pose presentation and stale-input behavior. Only this audit was added. No implementation, runtime configuration, device, recording, Ops card, or service lifecycle was changed during review.