[overlordxrz-source]

Adds the focused IMU quaternion boundary and bounded NODE raw-recording → existing Observation JSONL → WORLD replay pipeline. No UI application, team/GNSS/radar implementation, CI workflow, firmware or frozen Alpha evidence changes are included.

Independent review remediation — ready for re-review

OpenCode requested changes on 2b54410508118ae4e2c75d0f162467ada98dba28, recorded at 760a3f6e6c98b46578f53cce712c06b97266b003. The review was imported verbatim. New head: 8a84369941c74d5f884c9ec6cc33d10395223597. Regression-first commit: f99db9a10448cbd86e7af4e834885133af0d39a8; implementation: 57c8be07a5e728808c998224f1712cf79b459dbb.

All five requested fixes:

• Checked raw/receipt write results and persisted byte/count/end/hash reconciliation; short or inconsistent evidence cannot end COMPLETE or exit 0. Equal-size corruption is also caught.
• Direct KeyboardInterrupt/BaseException publishes terminal CANCELLED/FAILED, closes resources and re-raises the original exception. Stop requests during finalization cannot succeed.
• Reversed receipt completion/stop clocks are rejected and persisted receipts are independently checked.
• Nonrepresentable quaternion integers raise ValueError without consuming driver state.
• Explicit acquisition completion, clean-first-run quality result and scientific acceptance. Gaps, malformed/recovered/spliced/unsupported records and clock discontinuities fail the clean gate.

Compatibility: a fully preserved but dirty capture can retain COMPLETE acquisition artifacts while clean_first_run=FAIL; CLI now exits 2 for that case. Scientific acceptance remains NOT_EVALUATED. Status fields are additive; Observation v1 and JSONL/manifest interfaces remain unchanged. Diagnostic artifacts may survive late cancellation; file existence is not an acceptance signal.

Validation

• Initial 18 reconstructed regressions all failed on the reviewed code; two supplemental edge controls separately failed before their fixes.
• 59 focused passed; 304 offline passed, 1 hardware deselected; architecture PASS. CI on exact final head passed.
• All five targeted disposable mutations detected with expected test failures. Existing adversarial/ownership controls retained.
• Actual source: 2,788,217 identical bytes / 681 reads / 7,290 observations, zero rejected/unaccounted bytes. Expected/persisted raw and receipt hashes match; raw SHA-256 f0323be3d79af1bd5f29fd21b483323c90eeb7be3f90c8e89c980e92d8432b2c unchanged.
• Unchanged WORLD v2 4e1c920 consumes NODE output; first/middle/last full envelopes and browser jumps verified. No physical serial port opened.

Review entry points and physical gate

Per-defect remediation, commands, mutations and compatibility · canonical branch handoff · prepared ESP32 protocol.

Noncooperating serial consumers may bypass ownership requests; cooperative exclusion is tested but physical USB/alias behavior and already-open readers are unverified. Operator/device evidence and specific owner authorization remain mandatory. EXP-NODE-ESP32-001 remains NOT AUTHORIZED / NOT RUN. No merge, flash, reset, physical acquisition, human trial or Alpha evidence change. PR #7–#9 required follow-ups remain separate. Independent OpenCode re-review is still required.