{
  "configVersion": 1,
  "minAppVersionCode": 13,
  "updated": "2026-11-08T06:20:00+08:00",
  "notes": "v1: tuned from the 2026-11-08 Yanjiao depot -> Bei Yunhe Dong log back-calculation (stop segmentation + gyro-bridged gravity replay). discLeakTauSec 60->120, discMaxSpeed 45->33 (Line 22 Beijing section ~120 km/h), stillConfirmSec 5->3, motionFillSec 4->3.",
  "dr": {
    "discGain": 1.0,
    "discLeakTauSec": 120.0,
    "discMaxSpeed": 33.0,
    "discStopDecayTauSec": 2.0,
    "stillConfirmSec": 3.0,
    "motionFillSec": 3.0,
    "motionDevThresh": 0.08,
    "motionDrainMul": 2.0,
    "stillDevThresh": 0.05,
    "bucketDevThresh": 0.12,
    "dwellEnterBucket": 1.0,
    "dwellExitBucket": 2.5,
    "dwellStillSec": 20.0
  },
  "scene": {
    "stillDevMax": 0.08,
    "vehicleDevMin": 0.12,
    "elevatorDevMax": 0.10,
    "elevatorAltRate": 0.30
  },
  "stride": {
    "defaultK": 0.41
  }
}