{
  "schema": "orbital-control-regression-v1",
  "controller": "malecns-full-rate-v2",
  "scope": "Instrument-trained reference only; embodied fly has not learned orbital flight",
  "changes": [
    "Stable orbital coast no longer changes thrust direction for tiny corrections",
    "Two 250 ms physics steps per aloft decision, instead of three; direct neural commands retained"
  ],
  "regression": {
    "episodes": 12,
    "orbits": 12,
    "landings": 12,
    "flights": [
      {
        "steps": 2,
        "matched": false,
        "seed": 961119,
        "scenario": 24,
        "activationGain": 1,
        "score": 433.36620791672135,
        "landed": true,
        "styleBonus": 0,
        "styleRecovered": false,
        "turnDegrees": 359.97870808608656,
        "reason": "Orbit complete \u00b7 barge touchdown",
        "variation": {
          "level": 0.4,
          "mass": 1.064355167189862,
          "thrust": 1.0069182178886704,
          "servo": 1.0180769918420496,
          "wind": 0.9158270868956724,
          "deck": 1.014386364344405,
          "noise": 0.004
        },
        "touchdown": {
          "error": 1.7064740451905942,
          "speed": 3.3270994955232185,
          "lateral": 0.6982412649980673,
          "tilt": 0.0275979574927291
        },
        "time": 432.3000000000042,
        "orbitComplete": true,
        "orbits": 1.7014001804114587,
        "maxAltitude": 1000.9761512269947,
        "milestones": [
          {
            "name": "Launch",
            "time": 0.7500000000000001,
            "altitude": 4.232549095829615
          },
          {
            "name": "Space",
            "time": 22.29999999999998,
            "altitude": 803.3708512657852
          },
          {
            "name": "Stable orbit",
            "time": 54.54999999999998,
            "altitude": 996.2406303093239
          },
          {
            "name": "One full orbit",
            "time": 247.54999999999998,
            "altitude": 999.6726497088696
          },
          {
            "name": "Deorbit",
            "time": 382.54999999999995,
            "altitude": 903.9742631555263
          },
          {
            "name": "Atmospheric entry",
            "time": 396.54999999999995,
            "altitude": 793.3469526469929
          },
          {
            "name": "Final approach",
            "time": 411.79999999999995,
            "altitude": 299.65378036102743
          },
          {
            "name": "Barge touchdown",
            "time": 432.3000000000042,
            "altitude": -0.0028652452568538322
          }
        ],
        "coast": {
          "samples": 636,
          "rcsRMS": 0.01161826699576983,
          "meanCommandChange": 0.01708870309460336,
          "pitchRateRMS": 0.013008869806239559,
          "pitchErrorRMS": 0.03764697265981197,
          "pitchRangeDegrees": 1.5778971393750572
        }
      },
      {
        "steps": 2,
        "matched": false,
        "seed": 961119,
        "scenario": 24,
        "activationGain": 1,
        "score": 433.738057616968,
        "landed": true,
        "styleBonus": 0,
        "styleRecovered": false,
        "turnDegrees": 360.31112410706356,
        "reason": "Orbit complete \u00b7 barge touchdown",
        "variation": {
          "level": 0,
          "mass": 1,
          "thrust": 1,
          "servo": 1,
          "wind": 1,
          "deck": 1,
          "noise": 0
        },
        "touchdown": {
          "error": 1.7560589790336867,
          "speed": 1.8055846669574462,
          "lateral": 0.24159478343172988,
          "tilt": 0.03662320689346558
        },
        "time": 435.0000000000049,
        "orbitComplete": true,
        "orbits": 1.7020242749225183,
        "maxAltitude": 1001.0372117217134,
        "milestones": [
          {
            "name": "Launch",
            "time": 0.7500000000000001,
            "altitude": 4.571690649573778
          },
          {
            "name": "Space",
            "time": 21.799999999999983,
            "altitude": 800.8158605328157
          },
          {
            "name": "Stable orbit",
            "time": 54.04999999999998,
            "altitude": 996.1841536675793
          },
          {
            "name": "One full orbit",
            "time": 247.04999999999998,
            "altitude": 999.8273755621855
          },
          {
            "name": "Deorbit",
            "time": 382.04999999999995,
            "altitude": 902.6298315368921
          },
          {
            "name": "Atmospheric entry",
            "time": 396.04999999999995,
            "altitude": 793.2501437263365
          },
          {
            "name": "Final approach",
            "time": 411.79999999999995,
            "altitude": 292.4144974564312
          },
          {
            "name": "Barge touchdown",
            "time": 435.0000000000049,
            "altitude": -0.0377402722410034
          }
        ],
        "coast": {
          "samples": 635,
          "rcsRMS": 0.0028421712609986607,
          "meanCommandChange": 0.0005329805064964963,
          "pitchRateRMS": 0.003099257170546514,
          "pitchErrorRMS": 0.03755298644745111,
          "pitchRangeDegrees": 1.2266194629434255
        }
      },
      {
        "steps": 2,
        "matched": false,
        "seed": 981257,
        "scenario": 24,
        "activationGain": 1,
        "score": 433.7381553647548,
        "landed": true,
        "styleBonus": 0,
        "styleRecovered": false,
        "turnDegrees": 360.31575779275465,
        "reason": "Orbit complete \u00b7 barge touchdown",
        "variation": {
          "level": 0,
          "mass": 1,
          "thrust": 1,
          "servo": 1,
          "wind": 1,
          "deck": 1,
          "noise": 0
        },
        "touchdown": {
          "error": 1.6287320200294046,
          "speed": 1.8116053790015645,
          "lateral": 0.26805571577744686,
          "tilt": 0.015844718736194863
        },
        "time": 435.0000000000049,
        "orbitComplete": true,
        "orbits": 1.7020242749225183,
        "maxAltitude": 1001.0372117217134,
        "milestones": [
          {
            "name": "Launch",
            "time": 0.7500000000000001,
            "altitude": 4.571690649573778
          },
          {
            "name": "Space",
            "time": 21.799999999999983,
            "altitude": 800.8158605328157
          },
          {
            "name": "Stable orbit",
            "time": 54.04999999999998,
            "altitude": 996.1841536675793
          },
          {
            "name": "One full orbit",
            "time": 247.04999999999998,
            "altitude": 999.8273755621855
          },
          {
            "name": "Deorbit",
            "time": 382.04999999999995,
            "altitude": 902.6298315368921
          },
          {
            "name": "Atmospheric entry",
            "time": 396.04999999999995,
            "altitude": 793.2501437263365
          },
          {
            "name": "Final approach",
            "time": 411.79999999999995,
            "altitude": 292.34920235733546
          },
          {
            "name": "Barge touchdown",
            "time": 435.0000000000049,
            "altitude": -0.033100971462398654
          }
        ],
        "coast": {
          "samples": 635,
          "rcsRMS": 0.0028421712609986607,
          "meanCommandChange": 0.0005329805064964963,
          "pitchRateRMS": 0.003099257170546514,
          "pitchErrorRMS": 0.03755298644745111,
          "pitchRangeDegrees": 1.2266194629434255
        }
      },
      {
        "steps": 2,
        "matched": false,
        "seed": 981257,
        "scenario": 24,
        "activationGain": 1,
        "score": 433.9514363868084,
        "landed": true,
        "styleBonus": 0,
        "styleRecovered": false,
        "turnDegrees": 360.48140398005893,
        "reason": "Orbit complete \u00b7 barge touchdown",
        "variation": {
          "level": 0.4,
          "mass": 1.0047547313949812,
          "thrust": 1.0296413592617442,
          "servo": 1.007607072572977,
          "wind": 1.0901365153302227,
          "deck": 0.9893414273927166,
          "noise": 0.004
        },
        "touchdown": {
          "error": 1.8165181584779773,
          "speed": 1.0837775608935096,
          "lateral": 0.20148530618558289,
          "tilt": 0.011353521918636499
        },
        "time": 436.70000000000533,
        "orbitComplete": true,
        "orbits": 1.7023407565374042,
        "maxAltitude": 1001.0825670542845,
        "milestones": [
          {
            "name": "Launch",
            "time": 0.7500000000000001,
            "altitude": 4.745243908732704
          },
          {
            "name": "Space",
            "time": 21.69999999999998,
            "altitude": 802.396890374211
          },
          {
            "name": "Stable orbit",
            "time": 53.69999999999998,
            "altitude": 996.1094442541818
          },
          {
            "name": "One full orbit",
            "time": 246.7,
            "altitude": 999.8519569505503
          },
          {
            "name": "Deorbit",
            "time": 381.7,
            "altitude": 901.5392053597544
          },
          {
            "name": "Atmospheric entry",
            "time": 395.7,
            "altitude": 797.3519908502293
          },
          {
            "name": "Final approach",
            "time": 411.7,
            "altitude": 292.31245419194755
          },
          {
            "name": "Barge touchdown",
            "time": 436.70000000000533,
            "altitude": -0.014041773555328874
          }
        ],
        "coast": {
          "samples": 635,
          "rcsRMS": 0.011833200860731176,
          "meanCommandChange": 0.016537494963459742,
          "pitchRateRMS": 0.013214019918416663,
          "pitchErrorRMS": 0.038022616308405074,
          "pitchRangeDegrees": 1.7916848348650405
        }
      },
      {
        "steps": 2,
        "matched": false,
        "seed": 961119,
        "scenario": 25,
        "activationGain": 1,
        "score": 383.71295565288005,
        "landed": true,
        "styleBonus": 0,
        "styleRecovered": false,
        "turnDegrees": 360.3726614477124,
        "reason": "Orbit complete \u00b7 barge touchdown",
        "variation": {
          "level": 0,
          "mass": 1,
          "thrust": 1,
          "servo": 1,
          "wind": 1,
          "deck": 1,
          "noise": 0
        },
        "touchdown": {
          "error": 0.5213148072523738,
          "speed": 1.790792053540316,
          "lateral": 0.9307476654650887,
          "tilt": 0.059317976922835615
        },
        "time": 434.85000000000485,
        "orbitComplete": true,
        "orbits": 1.7099053293948714,
        "maxAltitude": 1001.1368431051781,
        "milestones": [
          {
            "name": "Launch",
            "time": 0.7500000000000001,
            "altitude": 4.571655300881687
          },
          {
            "name": "Space",
            "time": 22.049999999999983,
            "altitude": 805.8321921915501
          },
          {
            "name": "Stable orbit",
            "time": 52.54999999999998,
            "altitude": 995.398729080875
          },
          {
            "name": "One full orbit",
            "time": 245.54999999999998,
            "altitude": 999.0703001138382
          },
          {
            "name": "Deorbit",
            "time": 382.04999999999995,
            "altitude": 901.0388636201219
          },
          {
            "name": "Atmospheric entry",
            "time": 395.79999999999995,
            "altitude": 798.278347010926
          },
          {
            "name": "Final approach",
            "time": 411.54999999999995,
            "altitude": 297.6484730779498
          },
          {
            "name": "Barge touchdown",
            "time": 434.85000000000485,
            "altitude": -0.0639765707104143
          }
        ],
        "coast": {
          "samples": 638,
          "rcsRMS": 0.0028776010327754655,
          "meanCommandChange": 0.0005474932384171345,
          "pitchRateRMS": 0.0031988896640413687,
          "pitchErrorRMS": 0.03582710044716447,
          "pitchRangeDegrees": 2.5523636373075367
        }
      },
      {
        "steps": 2,
        "matched": false,
        "seed": 961119,
        "scenario": 25,
        "activationGain": 1,
        "score": 386.3165840267709,
        "landed": true,
        "styleBonus": 0,
        "styleRecovered": false,
        "turnDegrees": 359.9347418848586,
        "reason": "Orbit complete \u00b7 barge touchdown",
        "variation": {
          "level": 0.4,
          "mass": 1.064355167189862,
          "thrust": 1.0069182178886704,
          "servo": 1.0180769918420496,
          "wind": 0.9158270868956724,
          "deck": 1.014386364344405,
          "noise": 0.004
        },
        "touchdown": {
          "error": 1.4588122789601667,
          "speed": 3.317783864869863,
          "lateral": 0.576910323623173,
          "tilt": 0.019010486553212993
        },
        "time": 432.60000000000423,
        "orbitComplete": true,
        "orbits": 1.7087757230664657,
        "maxAltitude": 1001.7471808865699,
        "milestones": [
          {
            "name": "Launch",
            "time": 0.7500000000000001,
            "altitude": 4.232514033292572
          },
          {
            "name": "Space",
            "time": 22.29999999999998,
            "altitude": 802.2592388295823
          },
          {
            "name": "Stable orbit",
            "time": 53.04999999999998,
            "altitude": 995.4441681300949
          },
          {
            "name": "One full orbit",
            "time": 246.29999999999998,
            "altitude": 998.9595613580171
          },
          {
            "name": "Deorbit",
            "time": 382.79999999999995,
            "altitude": 905.6482820117892
          },
          {
            "name": "Atmospheric entry",
            "time": 396.79999999999995,
            "altitude": 797.5287057978633
          },
          {
            "name": "Final approach",
            "time": 412.29999999999995,
            "altitude": 296.0077033447215
          },
          {
            "name": "Barge touchdown",
            "time": 432.60000000000423,
            "altitude": -0.05094067994427842
          }
        ],
        "coast": {
          "samples": 639,
          "rcsRMS": 0.011668171760677443,
          "meanCommandChange": 0.017134413971639985,
          "pitchRateRMS": 0.013082527107593995,
          "pitchErrorRMS": 0.036534165985833304,
          "pitchRangeDegrees": 2.9782873200325906
        }
      },
      {
        "steps": 2,
        "matched": false,
        "seed": 981257,
        "scenario": 25,
        "activationGain": 1,
        "score": 403.22606339439426,
        "landed": true,
        "styleBonus": 0,
        "styleRecovered": false,
        "turnDegrees": 360.3206566384431,
        "reason": "Orbit complete \u00b7 barge touchdown",
        "variation": {
          "level": 0,
          "mass": 1,
          "thrust": 1,
          "servo": 1,
          "wind": 1,
          "deck": 1,
          "noise": 0
        },
        "touchdown": {
          "error": 3.0374627577692643,
          "speed": 1.8250960299414771,
          "lateral": 0.6269306083200475,
          "tilt": 0.05025899782389605
        },
        "time": 434.75000000000495,
        "orbitComplete": true,
        "orbits": 1.7107772084263697,
        "maxAltitude": 1001.7545273758957,
        "milestones": [
          {
            "name": "Launch",
            "time": 0.7500000000000001,
            "altitude": 4.571699209099378
          },
          {
            "name": "Space",
            "time": 21.799999999999983,
            "altitude": 801.8524519692559
          },
          {
            "name": "Stable orbit",
            "time": 52.29999999999998,
            "altitude": 995.292783694913
          },
          {
            "name": "One full orbit",
            "time": 245.29999999999998,
            "altitude": 999.0293031466477
          },
          {
            "name": "Deorbit",
            "time": 381.79999999999995,
            "altitude": 895.239088453635
          },
          {
            "name": "Atmospheric entry",
            "time": 395.54999999999995,
            "altitude": 797.4427673078453
          },
          {
            "name": "Final approach",
            "time": 411.29999999999995,
            "altitude": 296.0223675629213
          },
          {
            "name": "Barge touchdown",
            "time": 434.75000000000495,
            "altitude": -0.027781801730997202
          }
        ],
        "coast": {
          "samples": 639,
          "rcsRMS": 0.0028545597259964635,
          "meanCommandChange": 0.0005472162247392186,
          "pitchRateRMS": 0.003164103305628532,
          "pitchErrorRMS": 0.03861830491672546,
          "pitchRangeDegrees": 1.7418744405837918
        }
      },
      {
        "steps": 2,
        "matched": false,
        "seed": 981257,
        "scenario": 25,
        "activationGain": 1,
        "score": 394.6761187279926,
        "landed": true,
        "styleBonus": 0,
        "styleRecovered": false,
        "turnDegrees": 360.5376039741691,
        "reason": "Orbit complete \u00b7 barge touchdown",
        "variation": {
          "level": 0.4,
          "mass": 1.0047547313949812,
          "thrust": 1.0296413592617442,
          "servo": 1.007607072572977,
          "wind": 1.0901365153302227,
          "deck": 0.9893414273927166,
          "noise": 0.004
        },
        "touchdown": {
          "error": 2.9297752626602995,
          "speed": 1.0757118099120528,
          "lateral": 0.4037969782241939,
          "tilt": 0.053310525336336276
        },
        "time": 436.2000000000054,
        "orbitComplete": true,
        "orbits": 1.7121947870980767,
        "maxAltitude": 1000.6130499460471,
        "milestones": [
          {
            "name": "Launch",
            "time": 0.7500000000000001,
            "altitude": 4.745254625271059
          },
          {
            "name": "Space",
            "time": 21.69999999999998,
            "altitude": 803.4153512885516
          },
          {
            "name": "Stable orbit",
            "time": 51.94999999999998,
            "altitude": 995.1582312787181
          },
          {
            "name": "One full orbit",
            "time": 244.7,
            "altitude": 998.878900502641
          },
          {
            "name": "Deorbit",
            "time": 381.45,
            "altitude": 896.257128873538
          },
          {
            "name": "Atmospheric entry",
            "time": 395.2,
            "altitude": 793.6202223880371
          },
          {
            "name": "Final approach",
            "time": 410.95,
            "altitude": 296.11100858035104
          },
          {
            "name": "Barge touchdown",
            "time": 436.2000000000054,
            "altitude": -0.042061796809716334
          }
        ],
        "coast": {
          "samples": 639,
          "rcsRMS": 0.011227522955728183,
          "meanCommandChange": 0.016259909525126674,
          "pitchRateRMS": 0.012598296690938048,
          "pitchErrorRMS": 0.03932859056190578,
          "pitchRangeDegrees": 2.371352438020948
        }
      },
      {
        "steps": 2,
        "matched": false,
        "seed": 961119,
        "scenario": 26,
        "activationGain": 1,
        "score": 421.00781938270757,
        "landed": true,
        "styleBonus": 0,
        "styleRecovered": false,
        "turnDegrees": 359.6658448487693,
        "reason": "Orbit complete \u00b7 barge touchdown",
        "variation": {
          "level": 0.4,
          "mass": 1.064355167189862,
          "thrust": 1.0069182178886704,
          "servo": 1.0180769918420496,
          "wind": 0.9158270868956724,
          "deck": 1.014386364344405,
          "noise": 0.004
        },
        "touchdown": {
          "error": 3.0894762642217066,
          "speed": 3.308242866044302,
          "lateral": 0.7976045745513223,
          "tilt": 0.024057818685801854
        },
        "time": 459.15000000000407,
        "orbitComplete": true,
        "orbits": 1.740664436232478,
        "maxAltitude": 1397.5832033912654,
        "milestones": [
          {
            "name": "Launch",
            "time": 0.7500000000000001,
            "altitude": 4.232119353070658
          },
          {
            "name": "Space",
            "time": 21.54999999999998,
            "altitude": 809.9369653672237
          },
          {
            "name": "Stable orbit",
            "time": 53.54999999999998,
            "altitude": 1384.9920490773527
          },
          {
            "name": "One full orbit",
            "time": 257.54999999999995,
            "altitude": 1388.6202981904994
          },
          {
            "name": "Deorbit",
            "time": 407.54999999999995,
            "altitude": 1124.2413430542572
          },
          {
            "name": "Atmospheric entry",
            "time": 424.04999999999995,
            "altitude": 794.2902837784255
          },
          {
            "name": "Final approach",
            "time": 439.29999999999995,
            "altitude": 299.93086577669726
          },
          {
            "name": "Barge touchdown",
            "time": 459.15000000000407,
            "altitude": -0.13125972146916798
          }
        ],
        "coast": {
          "samples": 688,
          "rcsRMS": 0.011688994864694196,
          "meanCommandChange": 0.01717957737606072,
          "pitchRateRMS": 0.01312856622568029,
          "pitchErrorRMS": 0.03180221756407382,
          "pitchRangeDegrees": 3.052892364313442
        }
      },
      {
        "steps": 2,
        "matched": false,
        "seed": 961119,
        "scenario": 26,
        "activationGain": 1,
        "score": 424.32443113916065,
        "landed": true,
        "styleBonus": 0,
        "styleRecovered": false,
        "turnDegrees": 360.1977755015995,
        "reason": "Orbit complete \u00b7 barge touchdown",
        "variation": {
          "level": 0,
          "mass": 1,
          "thrust": 1,
          "servo": 1,
          "wind": 1,
          "deck": 1,
          "noise": 0
        },
        "touchdown": {
          "error": 4.620244540871964,
          "speed": 1.8638062931083141,
          "lateral": 0.6251704348358572,
          "tilt": 0.061507434393873225
        },
        "time": 462.2500000000048,
        "orbitComplete": true,
        "orbits": 1.7402470436808244,
        "maxAltitude": 1397.938003928901,
        "milestones": [
          {
            "name": "Launch",
            "time": 0.7500000000000001,
            "altitude": 4.571242987725471
          },
          {
            "name": "Space",
            "time": 21.09999999999998,
            "altitude": 809.4115929094437
          },
          {
            "name": "Stable orbit",
            "time": 53.09999999999998,
            "altitude": 1384.9277380310102
          },
          {
            "name": "One full orbit",
            "time": 257.34999999999997,
            "altitude": 1388.9316903515767
          },
          {
            "name": "Deorbit",
            "time": 407.34999999999997,
            "altitude": 1128.3903755827157
          },
          {
            "name": "Atmospheric entry",
            "time": 423.84999999999997,
            "altitude": 797.9816497865877
          },
          {
            "name": "Final approach",
            "time": 439.59999999999997,
            "altitude": 296.94209072462087
          },
          {
            "name": "Barge touchdown",
            "time": 462.2500000000048,
            "altitude": -0.005404897075037773
          }
        ],
        "coast": {
          "samples": 688,
          "rcsRMS": 0.002973680957465521,
          "meanCommandChange": 0.0005424710493917136,
          "pitchRateRMS": 0.003300806727952802,
          "pitchErrorRMS": 0.031395636927297084,
          "pitchRangeDegrees": 2.514908126557987
        }
      },
      {
        "steps": 2,
        "matched": false,
        "seed": 981257,
        "scenario": 26,
        "activationGain": 1,
        "score": 398.18008215231634,
        "landed": true,
        "styleBonus": 0,
        "styleRecovered": false,
        "turnDegrees": 360.3110798688737,
        "reason": "Orbit complete \u00b7 barge touchdown",
        "variation": {
          "level": 0,
          "mass": 1,
          "thrust": 1,
          "servo": 1,
          "wind": 1,
          "deck": 1,
          "noise": 0
        },
        "touchdown": {
          "error": 0.8123625618888414,
          "speed": 1.825853950149742,
          "lateral": 0.2528714970007483,
          "tilt": 0.037717748148986964
        },
        "time": 462.1500000000048,
        "orbitComplete": true,
        "orbits": 1.7404854127454945,
        "maxAltitude": 1397.7403746975763,
        "milestones": [
          {
            "name": "Launch",
            "time": 0.7500000000000001,
            "altitude": 4.571285088975877
          },
          {
            "name": "Space",
            "time": 20.84999999999998,
            "altitude": 800.5310704235235
          },
          {
            "name": "Stable orbit",
            "time": 53.09999999999998,
            "altitude": 1384.9186255659795
          },
          {
            "name": "One full orbit",
            "time": 257.34999999999997,
            "altitude": 1389.1744155588324
          },
          {
            "name": "Deorbit",
            "time": 407.09999999999997,
            "altitude": 1124.7333620000707
          },
          {
            "name": "Atmospheric entry",
            "time": 423.59999999999997,
            "altitude": 795.9894892529993
          },
          {
            "name": "Final approach",
            "time": 439.34999999999997,
            "altitude": 296.02096505787216
          },
          {
            "name": "Barge touchdown",
            "time": 462.1500000000048,
            "altitude": -0.07072638436588186
          }
        ],
        "coast": {
          "samples": 688,
          "rcsRMS": 0.0029724183811587787,
          "meanCommandChange": 0.0005427293805094508,
          "pitchRateRMS": 0.0032845021893330804,
          "pitchErrorRMS": 0.030425908798278604,
          "pitchRangeDegrees": 2.4691872591762922
        }
      },
      {
        "steps": 2,
        "matched": false,
        "seed": 981257,
        "scenario": 26,
        "activationGain": 1,
        "score": 402.14055134372035,
        "landed": true,
        "styleBonus": 0,
        "styleRecovered": false,
        "turnDegrees": 360.5113432310517,
        "reason": "Orbit complete \u00b7 barge touchdown",
        "variation": {
          "level": 0.4,
          "mass": 1.0047547313949812,
          "thrust": 1.0296413592617442,
          "servo": 1.007607072572977,
          "wind": 1.0901365153302227,
          "deck": 0.9893414273927166,
          "noise": 0.004
        },
        "touchdown": {
          "error": 0.5728781282796166,
          "speed": 1.130394296198444,
          "lateral": 0.24000639392095266,
          "tilt": 0.00726465178005557
        },
        "time": 463.55000000000524,
        "orbitComplete": true,
        "orbits": 1.7403694231347253,
        "maxAltitude": 1397.7096700433244,
        "milestones": [
          {
            "name": "Launch",
            "time": 0.7500000000000001,
            "altitude": 4.744835253103563
          },
          {
            "name": "Space",
            "time": 20.749999999999982,
            "altitude": 803.8635992805424
          },
          {
            "name": "Stable orbit",
            "time": 52.749999999999986,
            "altitude": 1384.618866457931
          },
          {
            "name": "One full orbit",
            "time": 256.75,
            "altitude": 1388.739577495847
          },
          {
            "name": "Deorbit",
            "time": 406.5,
            "altitude": 1120.527163083916
          },
          {
            "name": "Atmospheric entry",
            "time": 423.25,
            "altitude": 792.5758677902036
          },
          {
            "name": "Final approach",
            "time": 439,
            "altitude": 296.5223977429677
          },
          {
            "name": "Barge touchdown",
            "time": 463.55000000000524,
            "altitude": -0.019812557947697762
          }
        ],
        "coast": {
          "samples": 687,
          "rcsRMS": 0.0112917596965439,
          "meanCommandChange": 0.01633076576788693,
          "pitchRateRMS": 0.012735521157496736,
          "pitchErrorRMS": 0.03130782406304736,
          "pitchRangeDegrees": 2.947281217221917
        }
      }
    ]
  },
  "matchedBefore": [
    {
      "steps": 3,
      "seed": 941101,
      "scenario": 24,
      "activationGain": 1,
      "score": 432.11840120695524,
      "landed": true,
      "styleBonus": 0,
      "styleRecovered": false,
      "turnDegrees": 360.3231077126993,
      "reason": "Orbit complete \u00b7 barge touchdown",
      "variation": {
        "level": 0,
        "mass": 1,
        "thrust": 1,
        "servo": 1,
        "wind": 1,
        "deck": 1,
        "noise": 0
      },
      "touchdown": {
        "error": 1.790228463772468,
        "speed": 1.780905763548771,
        "lateral": 0.23750887860120534,
        "tilt": 0.014874048035648287
      },
      "time": 440.4500000000048,
      "orbitComplete": true,
      "orbits": 1.7012322495985754,
      "maxAltitude": 1065.9098816950498,
      "milestones": [
        {
          "name": "Launch",
          "time": 0.7500000000000001,
          "altitude": 4.571690649573778
        },
        {
          "name": "Space",
          "time": 21.799999999999983,
          "altitude": 800.8204604631012
        },
        {
          "name": "Stable orbit",
          "time": 54.04999999999998,
          "altitude": 996.1311481512513
        },
        {
          "name": "One full orbit",
          "time": 249.79999999999998,
          "altitude": 1003.9119210150943
        },
        {
          "name": "Deorbit",
          "time": 386.54999999999995,
          "altitude": 1034.116177619656
        },
        {
          "name": "Atmospheric entry",
          "time": 402.04999999999995,
          "altitude": 794.7055808590088
        },
        {
          "name": "Final approach",
          "time": 417.54999999999995,
          "altitude": 297.0497689614854
        },
        {
          "name": "Barge touchdown",
          "time": 440.4500000000048,
          "altitude": -0.07314608766027941
        }
      ],
      "coast": {
        "samples": 430,
        "rcsRMS": 0.711646802012464,
        "meanCommandChange": 1.0734991183132327,
        "pitchRateRMS": 1.099169575866537,
        "pitchErrorRMS": 1.048632759117973,
        "pitchRangeDegrees": 873.9934430176014
      }
    },
    {
      "steps": 3,
      "seed": 941101,
      "scenario": 26,
      "activationGain": 1,
      "score": 425.31450201332626,
      "landed": true,
      "styleBonus": 0,
      "styleRecovered": false,
      "turnDegrees": 360.57975710871864,
      "reason": "Orbit complete \u00b7 barge touchdown",
      "variation": {
        "level": 0,
        "mass": 1,
        "thrust": 1,
        "servo": 1,
        "wind": 1,
        "deck": 1,
        "noise": 0
      },
      "touchdown": {
        "error": 1.8529273209004036,
        "speed": 1.8155069355809408,
        "lateral": 0.16495952566493266,
        "tilt": 0.025908319755158293
      },
      "time": 488.40000000000555,
      "orbitComplete": true,
      "orbits": 1.7398367643588857,
      "maxAltitude": 1444.2918829419368,
      "milestones": [
        {
          "name": "Launch",
          "time": 0.7500000000000001,
          "altitude": 4.571271168110508
        },
        {
          "name": "Space",
          "time": 21.09999999999998,
          "altitude": 809.572549364843
        },
        {
          "name": "Stable orbit",
          "time": 53.09999999999998,
          "altitude": 1384.9124325072598
        },
        {
          "name": "One full orbit",
          "time": 266.84999999999997,
          "altitude": 1414.8808893266737
        },
        {
          "name": "Deorbit",
          "time": 424.59999999999997,
          "altitude": 1414.3521270371182
        },
        {
          "name": "Atmospheric entry",
          "time": 446.59999999999997,
          "altitude": 795.151426183866
        },
        {
          "name": "Final approach",
          "time": 462.09999999999997,
          "altitude": 297.0008512598084
        },
        {
          "name": "Barge touchdown",
          "time": 488.40000000000555,
          "altitude": -0.0512335610096013
        }
      ],
      "coast": {
        "samples": 482,
        "rcsRMS": 0.6640737892612515,
        "meanCommandChange": 0.9638340620522775,
        "pitchRateRMS": 1.0429622053778378,
        "pitchErrorRMS": 1.0006667750266567,
        "pitchRangeDegrees": 1062.5465089333168
      }
    }
  ],
  "matchedAfter": [
    {
      "steps": 2,
      "matched": true,
      "seed": 941101,
      "scenario": 24,
      "activationGain": 1,
      "score": 433.7380053166587,
      "landed": true,
      "styleBonus": 0,
      "styleRecovered": false,
      "turnDegrees": 360.30796730171295,
      "reason": "Orbit complete \u00b7 barge touchdown",
      "variation": {
        "level": 0,
        "mass": 1,
        "thrust": 1,
        "servo": 1,
        "wind": 1,
        "deck": 1,
        "noise": 0
      },
      "touchdown": {
        "error": 1.716012931929811,
        "speed": 1.8078270204393854,
        "lateral": 0.2083558332243591,
        "tilt": 0.024909208816632333
      },
      "time": 435.0000000000049,
      "orbitComplete": true,
      "orbits": 1.7020242749225183,
      "maxAltitude": 1001.0372117217134,
      "milestones": [
        {
          "name": "Launch",
          "time": 0.7500000000000001,
          "altitude": 4.571690649573778
        },
        {
          "name": "Space",
          "time": 21.799999999999983,
          "altitude": 800.8158605328157
        },
        {
          "name": "Stable orbit",
          "time": 54.04999999999998,
          "altitude": 996.1841536675793
        },
        {
          "name": "One full orbit",
          "time": 247.04999999999998,
          "altitude": 999.8273755621855
        },
        {
          "name": "Deorbit",
          "time": 382.04999999999995,
          "altitude": 902.6298315368921
        },
        {
          "name": "Atmospheric entry",
          "time": 396.04999999999995,
          "altitude": 793.2501437263365
        },
        {
          "name": "Final approach",
          "time": 411.79999999999995,
          "altitude": 292.3915540403437
        },
        {
          "name": "Barge touchdown",
          "time": 435.0000000000049,
          "altitude": -0.03577890469433598
        }
      ],
      "coast": {
        "samples": 635,
        "rcsRMS": 0.0028421712609986607,
        "meanCommandChange": 0.0005329805064964963,
        "pitchRateRMS": 0.003099257170546514,
        "pitchErrorRMS": 0.03755298644745111,
        "pitchRangeDegrees": 1.2266194629434255
      }
    },
    {
      "steps": 2,
      "matched": true,
      "seed": 941101,
      "scenario": 26,
      "activationGain": 1,
      "score": 379.3841307914284,
      "landed": true,
      "styleBonus": 0,
      "styleRecovered": false,
      "turnDegrees": 360.2107878684886,
      "reason": "Orbit complete \u00b7 barge touchdown",
      "variation": {
        "level": 0,
        "mass": 1,
        "thrust": 1,
        "servo": 1,
        "wind": 1,
        "deck": 1,
        "noise": 0
      },
      "touchdown": {
        "error": 4.663376588217817,
        "speed": 1.8405494851966175,
        "lateral": 0.16975875903363363,
        "tilt": 0.03857509387536342
      },
      "time": 461.85000000000474,
      "orbitComplete": true,
      "orbits": 1.7397489512771396,
      "maxAltitude": 1397.71801693782,
      "milestones": [
        {
          "name": "Launch",
          "time": 0.7500000000000001,
          "altitude": 4.571271168110508
        },
        {
          "name": "Space",
          "time": 21.09999999999998,
          "altitude": 809.4856925670723
        },
        {
          "name": "Stable orbit",
          "time": 53.09999999999998,
          "altitude": 1384.966012325458
        },
        {
          "name": "One full orbit",
          "time": 257.09999999999997,
          "altitude": 1388.87096265686
        },
        {
          "name": "Deorbit",
          "time": 406.84999999999997,
          "altitude": 1122.5285848226647
        },
        {
          "name": "Atmospheric entry",
          "time": 423.34999999999997,
          "altitude": 799.7900368309914
        },
        {
          "name": "Final approach",
          "time": 439.09999999999997,
          "altitude": 298.74820990590666
        },
        {
          "name": "Barge touchdown",
          "time": 461.85000000000474,
          "altitude": -0.04700453749894251
        }
      ],
      "coast": {
        "samples": 687,
        "rcsRMS": 0.003073792613235112,
        "meanCommandChange": 0.00055811461115276,
        "pitchRateRMS": 0.003410258770592947,
        "pitchErrorRMS": 0.03367013871216414,
        "pitchRangeDegrees": 2.5763540838128733
      }
    }
  ],
  "limitations": [
    "Small finite simulator sample; not a flight reliability guarantee",
    "Body rotation and RCS measurements cover coast after the first 10 seconds of stable orbit",
    "Nominal missions share identical launch dynamics; varied flights perturb physical parameters and sensor readings"
  ],
  "implementation": "Shared decisionSteps helper, sampled once before each decision interval",
  "commandChangeReductions": [
    {
      "scenario": 24,
      "seed": 941101,
      "before": 1.0734991183132327,
      "after": 0.0005329805064964963,
      "reduction": 0.9995035109974436
    },
    {
      "scenario": 26,
      "seed": 941101,
      "before": 0.9638340620522775,
      "after": 0.00055811461115276,
      "reduction": 0.9994209432586721
    }
  ],
  "weightSHA256": "379ee5bd13e5a52279b5c189d5932766072e12494cad5afdc36a756c7174c35e"
}
