{"independence":"separate numerical algorithm, same owner; not third-party validation","native_instruments":"absent","revision2_source":"sha256:95fd150cc3a3546b588be0df85fcc2fb82dd0ba23ff78ccb040ba6f385bc8aaa","scope":"Single-axis X rotation from rest and identity attitude; zero gyro bias, noise, and wheel scale error. Integer midpoint rigid-body plant with unclipped wheel momentum and momentum-limit safe mode. Independent floating-point RK4 quaternion replay uses the same applied torque, inertia, initial state, epoch, and step. Inertia sensitivity is a separate open-loop replay, not implementation disagreement. Watchdog latches safe mode after the second consecutive invalid sample and records expiration on the third. All physical maxima include the terminal state."}