Root cause of the 6-13 outer cycles (Andrey's diagnosis, confirmed in code):
the inner runLma restarts at ilp.ilma_lambda=0.1 EVERY outer measure<->solve
cycle, and the 0.1%-improvement inner exit fires while steps are still
lambda-limited -> outer loop under-relaxes (~0.8/cycle decay). New
curt.pose_lambda (default 0.001, 0 = legacy ilma_lambda) starts the inner
solve near-Gauss-Newton for the near-linear overdetermined 3-angle problem.
Trace line now also logs inner runLma iterations per outer cycle + lambda0.

07/12 21:56 run (legacy convergence + uniform MB): dstored RMS az/tilt/roll
0.1416/0.0777/0.0983 vs per-tile-MB baseline 0.1355/0.0765/0.1005 = uniform
MB VALIDATED (A1); 0 degenerates; outer cycles mean 7.4, max 13 @ lambda 0.1.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>