C3 gate result: freezing at cycle 1 regressed azimuth RMS 0.0349->0.0518 px
(+48%), roll 0.0270->0.0542 (+100%), NOT-settled 51->267. Mechanism: cycle-1
peaks are measured at the blurriest, pre-correction pose - freezing them
locks in the WORST conditioning; per-cycle re-derivation carried convergence
signal, not just noise. Andrey's observation: the first outer cycle absorbs
nearly the whole prediction error (single near-GN inner step, lambda=1e-3),
so the cycle-2 measurement is at an essentially converged pose. C3b: cycles
1-2 run FULL prepares; the SECOND result freezes; cycles 3+ run light.
Context (Andrey): exit_change_atr QC threshold was test-era; the application
bar is 0.1 px - C2-level quality remains the gate target, revert to
per-cycle stays the fallback.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>