flight_20260804_162030 — small

.gitattributes

@@ -58,3 +58,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+dji/FlightRecord_2026-08-04_\[18-30-24\].txt filter=lfs diff=lfs merge=lfs -text

README.md

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+---
+license: cc-by-4.0
+task_categories:
+- object-detection
+- audio-classification
+tags:
+- drone-detection
+- counter-uas
+- acoustic-array
+- ptz-tracking
+- multimodal
+- gps-truth
+- low-altitude
+pretty_name: "nightjar field flight 2026-08-04 #3 — verification of the proportional zoom climb"
+---
+
+# nightjar flight — 2026-08-04, third sortie
+
+Short verification sortie. Same rig and site as the other 2026-08-04 sessions. GPS truth:
+**1,997 valid UTC stamps of 1,998**.
+
+| | |
+|---|---|
+| airborne | 200 s |
+| max height | 14 m |
+| max slant range | 142 m |
+| median elevation angle | **6°** |
+| path flown | 357 m |
+
+## Why this session exists
+
+It verifies a two-stage fix to the cued zoom climb. The cue's containment focal (~7.07 mm from
+FOV ≥ 2·k·σ) had been computed on every cue and never commanded; when that was fixed, the
+climb then ran at full lens speed into a 1 mm deadband and **overshot**. This session carries
+the proportional-speed correction. Measured against the 7.07 mm ceiling:
+
+| SEARCH focal | previous sortie | **this sortie** |
+|---|---|---|
+| median | 10.88 mm | **5.93 mm** |
+| p90 | 11.80 mm | 10.92 mm |
+| max | **20.03 mm** | **10.92 mm** |
+
+The long overshoot tail is gone and the median now sits just under the ceiling instead of 54%
+above it. Zoom also climbs on tracks properly here: TRACK median 2.37×, p90 9.90×, max 20.27×,
+with 39.7% of the flight above 2× and 6.9% above 5×.
+
+## What this session does NOT show
+
+⚠ **At 14 m altitude and a 6° median elevation angle the drone was on the treeline**, against
+foliage rather than sky, and never got past 142 m. Detection read 31% inside 50 m and 0%
+beyond — same as every other sortie that day — and the tracked median range was 19 m. So this
+data verifies camera *behaviour* only. It says nothing about the 50–150 m detection problem,
+and it sits at the null of a horizontal array's elevation response (sensitivity goes as
+sin(el)), so it is also a poor test of acoustic elevation.
+
+## Cue gate
+
+8 cue candidates, 3 chirp-rejects, **all 8 at the relaxed 10.0 dB threshold** — nightjar was
+never in TRACK when a cue was evaluated. A state-dependent presence gate (14.6 dB while
+tracking, 10.0 while searching) was live; `audio/cue_log.jsonl` now stamps `thr_db` and
+`nj_state` on every candidate so each cue is attributable to the threshold that produced it.
+
+## Contents / gotchas
+
+```
+audio/uma16_<epoch>.wav   UMA-16, 16 ch, S16_LE     audio/sb_<epoch>.wav  SB-POLARIS, 8 ch, S32_LE
+audio/cue_log.jsonl       cue gate log (thr_db, nj_state per candidate)
+video_segments.tar        1080p native + 768x432 substream, 60 s MPEG-TS
+blackbox/state.jsonl      tracker FSM ~2.9 Hz    blackbox/frames.tar  substream stills f<epoch_ms>.jpg
+dji/*.csv, *.txt          decoded + original FlightRecord (CUSTOM.dateTime = true UTC)
+```
+
+UMA-16 0-based channel 9 is a dead electronic-floor channel — exclude it, run on 15.
+SB-POLARIS has 3 live capsules of 8; detect them by RMS (live ~−70 dBFS, dead ~−190) rather
+than hardcoding. ⚠ **The arrays use different sample widths** — UMA S16_LE, SB S32_LE; reading
+both as int16 scrambles SB channel identity and destroys its spectrum.
+
+Calibration as flown: `az_offset_deg` **301.37**, `invert_az` true (re-solved from the JBL
+beacon that afternoon, 0.40° drift). Cue producer: cheap daemon (`SUBHUNT=0`). Site notch
+100–200 Hz. Start pose pan 178.9 / tilt 45, pointed at the JBL beacon.

STATUS.md

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+# FLIGHT RECORD 2026-08-04 16:20:57 MDT — record-everything mode (Josh directive 2026-07-27)
+Session dir: /home/josh/flight_sessions/flight_20260804_162030
+Running: native.ts + sub.ts (60 s segments, -c copy), uma16 + sb wavs (5-min splits).
+nightjar untouched (blackbox stills+telemetry continue). ATRI STOPPED — restart it with
+flight_record_stop.sh (or: bash ~/atri/run_atri.sh).
+Stop: bash ~/nightjar/scripts/field/flight_record_stop.sh
+If this box died mid-flight: segments/wavs up to the last minute are intact; just rerun
+the stop script to clean up pids and restart ATRI.
+Disk at start: 51G free. Budget ~7-9 GB/h all-in.
+2026-08-04 16:37:03 flight_record stopped cleanly

audio/cue_log.jsonl

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+{"t": 1785882056.2270446, "ev": "start", "reg": {"az_offset_deg": 301.37, "el_offset_deg": -6.841, "invert_az": true, "zoom_mm": 12.0, "fuse_bearing": true, "fuse_r_scale": 50.0}, "gate": {"window_s": 5.0, "m_agree": 4, "tol_deg": 10.0, "presence_db": 14.6, "presence_agree": 10}}
+{"t": 1785882632.0276613, "ev": "cue_candidate", "az_array": 234.01, "el_array": 3.0, "n_agree": 4, "presence_db": 29.1, "line_hz": 668.0, "ch_agree": 15, "thr_db": 10.0, "nj_state": "IDLE", "posted": {"ok": true, "az_deg": 234.0132489025045, "el_deg": 3.0, "camera_pan_deg": 67.36, "camera_tilt_deg": 90.0}}
+{"t": 1785882646.0262063, "ev": "cue_candidate", "az_array": 169.51, "el_array": 9.0, "n_agree": 4, "presence_db": 22.4, "line_hz": 310.5, "ch_agree": 15, "thr_db": 10.0, "nj_state": "SEARCH", "posted": {"ok": true, "az_deg": 169.50654129190517, "el_deg": 9.0, "camera_pan_deg": 131.86, "camera_tilt_deg": 87.84}}
+{"t": 1785882658.027277, "ev": "cue_candidate", "az_array": 169.55, "el_array": 9.0, "n_agree": 5, "presence_db": 22.3, "line_hz": 375.0, "ch_agree": 15, "thr_db": 10.0, "nj_state": "SEARCH", "posted": {"ok": true, "az_deg": 169.54748242140144, "el_deg": 9.0, "camera_pan_deg": 131.82, "camera_tilt_deg": 87.84}}
+{"t": 1785882672.0269835, "ev": "cue_candidate", "az_array": 174.94, "el_array": 21.0, "n_agree": 4, "presence_db": 14.7, "line_hz": 351.6, "ch_agree": 15, "thr_db": 10.0, "nj_state": "SEARCH", "posted": {"ok": true, "az_deg": 174.93732648892149, "el_deg": 21.0, "camera_pan_deg": 126.43, "camera_tilt_deg": 75.84}}
+{"t": 1785882761.0270882, "ev": "cue_candidate", "az_array": 206.66, "el_array": 16.5, "n_agree": 4, "presence_db": 14.9, "line_hz": 304.7, "ch_agree": 15, "thr_db": 10.0, "nj_state": "COAST", "suppressed": "already tracking"}
+{"t": 1785882789.0270777, "ev": "cue_candidate", "az_array": 160.55, "el_array": 27.0, "n_agree": 4, "presence_db": 12.4, "line_hz": 334.0, "ch_agree": 15, "thr_db": 10.0, "nj_state": "SEARCH", "posted": {"ok": true, "az_deg": 160.55029928072028, "el_deg": 27.0, "camera_pan_deg": 140.82, "camera_tilt_deg": 69.84}}
+{"t": 1785882802.0279818, "ev": "cue_candidate", "az_array": 161.11, "el_array": 30.0, "n_agree": 6, "presence_db": 14.0, "line_hz": 328.1, "ch_agree": 15, "thr_db": 10.0, "nj_state": "SEARCH", "posted": {"ok": true, "az_deg": 161.11318238011583, "el_deg": 30.0, "camera_pan_deg": 140.26, "camera_tilt_deg": 66.84}}
+{"t": 1785882822.025827, "ev": "cue_candidate", "az_array": 220.57, "el_array": 3.0, "n_agree": 4, "presence_db": 13.7, "line_hz": 345.7, "ch_agree": 15, "thr_db": 10.0, "nj_state": "COAST", "posted": {"ok": true, "az_deg": 220.57323206920833, "el_deg": 3.0, "camera_pan_deg": 80.8, "camera_tilt_deg": 90.0}}
+{"t": 1785883013.0272603, "ev": "chirp_reject", "hi_band": 0.003212, "hi_band_med": 0.000942, "hi_ratio": 3.408, "chirp_factor": 3.0, "presence_db": 3.63, "ch_agree": 1, "line_hz": 492.2, "overridden": false}
+{"t": 1785883016.0284593, "ev": "chirp_reject", "hi_band": 0.00309, "hi_band_med": 0.000944, "hi_ratio": 3.272, "chirp_factor": 3.0, "presence_db": 3.79, "ch_agree": 7, "line_hz": 609.4, "overridden": false}
+{"t": 1785883017.0271213, "ev": "chirp_reject", "hi_band": 0.002915, "hi_band_med": 0.000944, "hi_ratio": 3.086, "chirp_factor": 3.0, "presence_db": 5.72, "ch_agree": 12, "line_hz": 550.8, "overridden": false}

blackbox/frames.tar

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+size 32686080

dji/FlightRecord_2026-08-04_[18-30-24].txt

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+oid sha256:6a8dbc69fe07d5bb8d8fc2831a5e6ba6fac80908ec8079913f03a0e9b92dfaf6
+size 504499

video_segments.tar

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+oid sha256:23ae4a44f9611810bd6465b740150f66c4e1fe758c8278d8407fe57fe695dfa4
+size 362690560