diff --git a/PROJECT_LOG.md b/PROJECT_LOG.md
index 1f89497..548c190 100644
--- a/PROJECT_LOG.md
+++ b/PROJECT_LOG.md
@@ -385,3 +385,52 @@ git version 2.51.1.windows.1
 - Аварийное намерение наземной станции сохраняется после перезапуска.
 - Неоднозначная разность номеров 2^31 отклоняется.
 - Следующий этап посвящён криптографической проверке подлинности управляющих сообщений и защите от намеренной подделки.
+
+---
+
+# Запись 017
+
+## Дата
+
+7 августа 2026 года
+
+## Тема
+
+Аудит достоверности Lab041 и удаление показателей, не выводимых из модели. Начало этапа стабилизации после Lab041.
+
+## Причина записи
+
+Запись 016 не отменяется, но нуждается в уточнении. Машинный аудит репозитория показал, что часть числовых результатов Lab041 не выводилась ни из модели этой лабораторной, ни из указанного источника. Согласно правилу журнала прежняя запись сохранена, а изменение зафиксировано отдельно.
+
+## Что обнаружено
+
+- В функции `simulate_trial` доли публикации видео, доставки телеметрии и доставки управления, а также базовая длина очереди задавались вписанными таблицами, а не вычислялись.
+- Значение доли видео 0,910 для канала 260 кбит/с не соответствовало заявленному источнику: Lab040 даёт 0,9603, Lab037 — разброс 0,9026...0,9174.
+- Базовая длина очереди 31 для того же канала не соответствовала Lab040, где получено 36...38 пакетов.
+- Коэффициенты влияния нагрузки 0,15, 0,10 и 0,05 не выводились ни из какой модели.
+- Параметры торможения были зашиты литералами `0.250` и делителем `6.0` без связи с профилем `nominal` Lab039, откуда они происходят.
+- Пять из четырнадцати инвариантов безопасности не измерялись: два вычислялись выражением с умножением на ноль, один был литеральным нулём, ещё два опирались на поля, которые никогда не заполнялись. Проверка `validate_outputs` подтверждала эти константы, то есть проверяла тождество.
+- Формулировка «все 2807 введённых старых пакетов были отклонены» описывает перебор таблицы сценариев, а не измеренную вероятность отклонения. Число раскладывается как семь сценариев на 401 повтор.
+
+## Выполнено
+
+- Из Lab041 удалены четыре показателя: доли доставки видео, телеметрии и управления и максимальная длина очереди. Они относятся к Lab037 и Lab040 и в Lab041 не моделируются.
+- Удалён график `lab041_traffic_impact.png`, потерявший основание. Осталось семь графиков.
+- Удалены поля `negative_speed_cases` и `speed_limit_exceeded_cases`, которые никогда не вычислялись, и тождественные проверки в `validate_outputs`.
+- Параметры торможения связаны с профилем `nominal` Lab039 через именованные константы `LAB039_NOMINAL_STAGE2_MPS2` и `LAB039_STAGE2_THRESHOLD_SECONDS`; горизонт незащищённого движения выделен как явно принятое допущение.
+- Перенесённые величины `VIDEO_OFFERED_LOAD_KBPS` и `TELEMETRY_OFFERED_LOAD_KBPS` снабжены указанием источника: Lab038, поля `video_load_kbps` и `telemetry_load_kbps`.
+- Секция инвариантов переписана: девять свойств, следующих из архитектуры, снабжены ссылками на подтверждающие функциональные проверки; пять свойств, которые матрица не может измерить, вынесены в отдельный раздел со ссылками на проверки 04, 06, 07, 10, 16 и 19.
+- В отчёт добавлено разграничение того, что моделируется розыгрышем, что задано архитектурой и что не моделируется вовсе.
+- Проверка 04 расширена отрицательной скоростью и границей 15 м/с, поэтому соответствующее свойство теперь подтверждается реально, а не константой.
+- Оценка пути после перезапуска помечена как расчёт по замкнутой формуле, одинаковый во всех повторах, а не как результат розыгрыша.
+
+## Результат
+
+- Lab041 перезапущена полностью: 180 сочетаний, 24 из 24 функциональных проверок пройдены, пять CSV и семь PNG.
+- Сверка с прежними файлами показала, что удалено ровно шесть столбцов, а все сохранённые значения совпали до последнего знака. Расхождений в общих столбцах ноль.
+- Научные выводы Lab041 не изменились. Максимальный путь после перезапуска остался 9,7737 м, постоянная нагрузка управления 10,88000 кбит/с, полный предложенный поток 262,076 кбит/с.
+- Выводы Записи 016 о сеансах, безопасном запуске и отклонении старых пакетов остаются в силе. Уточняется их основание: доказательством служат 24 функциональные проверки, работающие с настоящими автоматами, а не счётчики матрицы из 180 сочетаний.
+
+## Следующий этап
+
+Криптографическая аутентификация отложена. Сначала выполняется этап стабилизации: быстрые тесты `protocol/` вместо единственной точки входа через лабораторную, разделение быстрых проверок и экспериментов, воспроизводимое описание окружения.
diff --git a/data/processed/lab041/lab041_load_metrics.csv b/data/processed/lab041/lab041_load_metrics.csv
index 3d3fa8b..b260928 100644
--- a/data/processed/lab041/lab041_load_metrics.csv
+++ b/data/processed/lab041/lab041_load_metrics.csv
@@ -1,181 +1,181 @@
-architecture,channel_condition,scenario,repetitions,control_state_packet_bytes,control_state_messages_per_second,control_state_load_kbps,application_header_fraction,lab040_control_load_kbps,control_load_increase_kbps,session_load_kbps,authorization_load_kbps,emergency_load_kbps,retry_load_kbps,episodic_service_load_kbps,video_offered_load_kbps,telemetry_offered_load_kbps,full_offered_load_kbps,control_delivered_fraction,telemetry_delivered_fraction,video_published_fraction,maximum_queue_packets
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-no_session_ids,no_loss,ground_restart_moving,1,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667,0.9988266666666666,0.9994133333333334,0.99824,21
-no_session_ids,no_loss,rover_restart_moving,1,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667,0.9988266666666666,0.9994133333333334,0.99824,21
-no_session_ids,no_loss,both_restart,1,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667,0.9988266666666666,0.9994133333333334,0.99824,21
-no_session_ids,no_loss,ground_restart_emergency,1,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667,0.9988266666666666,0.9994133333333334,0.99824,21
-no_session_ids,no_loss,rover_restart_latched,1,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667,0.9988266666666666,0.9994133333333334,0.99824,21
-no_session_ids,no_loss,long_link_break,1,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667,0.9988266666666666,0.9994133333333334,0.99824,21
-no_session_ids,no_loss,old_ground_session_control,1,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667,0.9988266666666666,0.9994133333333334,0.99824,21
-no_session_ids,no_loss,old_rover_boot_control,1,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667,0.9988266666666666,0.9994133333333334,0.99824,21
-no_session_ids,no_loss,old_control_epoch,1,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667,0.9988266666666666,0.9994133333333334,0.99824,21
-no_session_ids,no_loss,sequence_reset_new_session,1,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667,0.9988266666666666,0.9994133333333334,0.99824,21
-no_session_ids,no_loss,sequence_wrap,1,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667,0.9988266666666666,0.9994133333333334,0.99824,21
-no_session_ids,no_loss,duplicate_hello,1,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667,0.9988266666666666,0.9994133333333334,0.99824,21
-no_session_ids,no_loss,lost_session_status,1,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667,0.9988266666666666,0.9994133333333334,0.99824,21
-no_session_ids,no_loss,lost_authorize_ack,1,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667,0.9988266666666666,0.9994133333333334,0.99824,21
-no_session_ids,no_loss,lost_emergency_ack,1,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0528,0.0528,0.1056,243.39286666666666,7.68,262.0584666666667,0.9987914666666666,0.9993957333333333,0.9981872,22
-no_session_ids,no_loss,lost_reset_ack,1,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.062,0.062,0.124,243.39286666666666,7.68,262.0768666666667,0.9987853333333333,0.9993926666666667,0.998178,22
-no_session_ids,no_loss,old_reset_request,1,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667,0.9988266666666666,0.9994133333333334,0.99824,21
-no_session_ids,no_loss,late_positive_after_emergency,1,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667,0.9988266666666666,0.9994133333333334,0.99824,21
-no_session_ids,no_loss,restart_after_reset_before_ack,1,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667,0.9988266666666666,0.9994133333333334,0.99824,21
-no_session_ids,260_200,normal_start,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667,0.9786461538461536,0.9813230769230771,0.9079692307692306,31
-no_session_ids,260_200,ground_restart_moving,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667,0.9786461538461536,0.9813230769230771,0.9079692307692306,31
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-no_session_ids,260_200,both_restart,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667,0.9786461538461536,0.9813230769230771,0.9079692307692306,31
-no_session_ids,260_200,ground_restart_emergency,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667,0.9786461538461536,0.9813230769230771,0.9079692307692306,31
-no_session_ids,260_200,rover_restart_latched,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667,0.9786461538461536,0.9813230769230771,0.9079692307692306,31
-no_session_ids,260_200,long_link_break,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667,0.9786461538461536,0.9813230769230771,0.9079692307692306,31
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-no_session_ids,260_200,duplicate_hello,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667,0.9786461538461536,0.9813230769230771,0.9079692307692306,31
-no_session_ids,260_200,lost_session_status,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667,0.9786461538461536,0.9813230769230771,0.9079692307692306,31
-no_session_ids,260_200,lost_authorize_ack,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667,0.9786461538461536,0.9813230769230771,0.9079692307692306,31
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-no_session_ids,260_200,late_positive_after_emergency,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667,0.9786461538461536,0.9813230769230771,0.9079692307692306,31
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-no_session_ids,230_1000,rover_restart_moving,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667,0.9784695652173915,0.9792347826086959,0.8607043478260868,41
-no_session_ids,230_1000,both_restart,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667,0.9784695652173915,0.9792347826086959,0.8607043478260868,41
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+persistent_emergency,260_200,lost_emergency_ack,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0528,0.059267999999999994,0.21926799999999996,243.39286666666666,7.68,262.1721346666667
+persistent_emergency,260_200,lost_reset_ack,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.062,0.067428,0.236628,243.39286666666666,7.68,262.1894946666667
+persistent_emergency,260_200,old_reset_request,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.001452,0.108652,243.39286666666666,7.68,262.0615186666667
+persistent_emergency,260_200,late_positive_after_emergency,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.0015840000000000001,0.10878399999999999,243.39286666666666,7.68,262.0616506666667
+persistent_emergency,260_200,restart_after_reset_before_ack,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.000264,0.10746400000000002,243.39286666666666,7.68,262.0603306666667
+persistent_emergency,230_1000,normal_start,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.0,0.1072,243.39286666666666,7.68,262.06006666666667
+persistent_emergency,230_1000,ground_restart_moving,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.003432,0.110632,243.39286666666666,7.68,262.0634986666667
+persistent_emergency,230_1000,rover_restart_moving,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.004488000000000001,0.11168800000000002,243.39286666666666,7.68,262.0645546666667
+persistent_emergency,230_1000,both_restart,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.002112,0.10931199999999998,243.39286666666666,7.68,262.0621786666667
+persistent_emergency,230_1000,ground_restart_emergency,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.0,0.0,0.0,0.054,243.39286666666666,7.68,262.00686666666667
+persistent_emergency,230_1000,rover_restart_latched,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.0,0.0,0.0,0.054,243.39286666666666,7.68,262.00686666666667
+persistent_emergency,230_1000,long_link_break,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.009782,0.116982,243.39286666666666,7.68,262.0698486666667
+persistent_emergency,230_1000,old_ground_session_control,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.0,0.1072,243.39286666666666,7.68,262.06006666666667
+persistent_emergency,230_1000,old_rover_boot_control,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.0,0.1072,243.39286666666666,7.68,262.06006666666667
+persistent_emergency,230_1000,old_control_epoch,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.005412,0.11261199999999999,243.39286666666666,7.68,262.0654786666667
+persistent_emergency,230_1000,sequence_reset_new_session,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.001206,0.10840599999999999,243.39286666666666,7.68,262.0612726666667
+persistent_emergency,230_1000,sequence_wrap,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.003564,0.11076400000000002,243.39286666666666,7.68,262.0636306666667
+persistent_emergency,230_1000,duplicate_hello,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.054,0.16119999999999998,243.39286666666666,7.68,262.1140666666667
+persistent_emergency,230_1000,lost_session_status,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.054,0.16119999999999998,243.39286666666666,7.68,262.1140666666667
+persistent_emergency,230_1000,lost_authorize_ack,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.053200000000000004,0.16040000000000001,243.39286666666666,7.68,262.1132666666667
+persistent_emergency,230_1000,lost_emergency_ack,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0528,0.059664,0.219664,243.39286666666666,7.68,262.1725306666667
+persistent_emergency,230_1000,lost_reset_ack,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.062,0.08226599999999999,0.25146599999999997,243.39286666666666,7.68,262.2043326666667
+persistent_emergency,230_1000,old_reset_request,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.0,0.1072,243.39286666666666,7.68,262.06006666666667
+persistent_emergency,230_1000,late_positive_after_emergency,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.0,0.1072,243.39286666666666,7.68,262.06006666666667
+persistent_emergency,230_1000,restart_after_reset_before_ack,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.0,0.1072,243.39286666666666,7.68,262.06006666666667
diff --git a/data/processed/lab041/lab041_report.txt b/data/processed/lab041/lab041_report.txt
index b85bd9e..140aad4 100644
--- a/data/processed/lab041/lab041_report.txt
+++ b/data/processed/lab041/lab041_report.txt
@@ -57,6 +57,10 @@ Lab041 — сеансы связи, безопасный запуск и защ
 Ограничение модели
 - Исследуются задержки, дубликаты, перестановка, старые пакеты и потеря оперативного состояния при перезапуске.
 - Намеренная подделка не моделируется. Идентификаторы сеанса не доказывают отправителя, поэтому эта защита не заменяет криптографическую аутентификацию.
+- Что именно моделируется розыгрышем: моменты потерь по экспоненциальной модели Good-Bad, доставка и повтор служебных сообщений сеанса, время до безопасного согласования и до разрешения движения, объём эпизодической служебной нагрузки. Только эти величины являются результатом моделирования Lab041.
+- Что задано архитектурой, а не разыгрывается: исход обработки старого пакета, разрешено ли движение после перезапуска и сохраняется ли аварийное намерение. Матрица перебирает эти случаи, а поведение реализации проверяется отдельно функциональными проверками.
+- Что не моделируется вовсе: транспорт видео, планировщик очередей, доставка телеметрии и доставка команд по радиоканалу. Соответствующие показатели относятся к Lab037 и Lab040 и в Lab041 не пересчитываются.
+- Оценка пути после перезапуска получена по замкнутой формуле при параметрах профиля nominal Lab039 и одинакова во всех повторах; это расчёт, а не результат розыгрыша.
 
 Матрица 180 сочетаний
 архитектура | канал | сценарий | повторы | безопасный сеанс, % | разрешение, % | нарушения, % | старые пакеты приняты, % | потеря намерения, % | управление, кбит/с | эпизодическая служебная, кбит/с | полный поток, кбит/с
@@ -244,10 +248,13 @@ Lab041 — сеансы связи, безопасный запуск и защ
 Перезапуски и безопасное состояние
 - В основном режиме движение до синхронизации: 0; до подтверждения разрешения: 0; без новой команды оператора: 0.
 - Максимальный путь после перезапуска в основном режиме: 9.7737 м; это путь безопасного торможения, а не продолжение старой команды.
+- Величина рассчитана по формуле v*t + v^2/(2a) при v = 6.9444 м/с, t = 0.250 с и a = 3.0 м/с^2 из профиля nominal Lab039. Оценка одноступенчатая и не учитывает предварительное замедление Stage1, поэтому она консервативнее двухступенчатой модели Lab039.
 - Продолжение движения после перезапуска: 0; запуск по старой команде: 0.
 
 Пакеты предыдущего сеанса
 - Основной режим: введено 2807, отклонено 2807, ошибочно принято 0.
+- Эти числа получены перебором таблицы сценариев: семь сценариев со старым пакетом умножаются на число повторов, а исход перебора задан архитектурой, а не розыгрышем помех. Они показывают охват перебора, а не измеренную вероятность отклонения.
+- Что старый пакет действительно отклоняется реализацией, показывают проверки 06, 07, 08, 10 и 19: они вызывают receive_control и receive_reset настоящих автоматов и сверяют причину отказа.
 - Отрицательный уровень без идентификаторов: ошибочно принято 2807 старых пакетов.
 - Причины отказа основного режима: сеанс станции=401, запуск ровера=401, период управления=401, номер сообщения=802, событие аварии=401, запрос сброса=401.
 - Неоднозначных delta=2^31 отклонено: 401.
@@ -259,20 +266,24 @@ Lab041 — сеансы связи, безопасный запуск и защ
 - Потеря EMERGENCY_ACK не снимает аварийное намерение; потеря RESET_ACK вызывает повтор того же идемпотентного запроса.
 
 Инварианты безопасности основного режима
-- Движение до синхронизации: 0.
-- Движение до подтверждения разрешения: 0.
-- Движение без новой команды оператора: 0.
-- Принятие команды старого сеанса станции: 0.
-- Принятие команды старого запуска ровера: 0.
-- Использование старого периода управления: 0.
-- Снятие аварийной фиксации обычной командой: 0.
-- Потеря аварийного намерения после перезапуска станции: 0.
-- Движение до подтверждения сброса: 0.
-- Автоматическое восстановление старой команды после сброса: 0.
-- Принятие старого запроса сброса: 0.
-- Принятие неоднозначного номера: 0.
-- Отрицательная скорость: 0.
-- Превышение разрешённой скорости: 0.
+- Что означают числа ниже. Счётчики матрицы показывают, сколько сочетаний сценария и канала описывают небезопасный переход. В основном режиме безопасный запуск и постоянное аварийное намерение исключают такие переходы по построению архитектуры, поэтому счётчик равен нулю как следствие выбранной архитектуры, а не как результат розыгрыша помех.
+- Поведение самой реализации подтверждается функциональными проверками; их номера указаны рядом с каждым свойством. Именно проверки, а не матрица, являются доказательством для перечисленных свойств.
+- Движение до синхронизации: 0 (проверки 11, 15).
+- Движение до подтверждения разрешения: 0 (проверки 12, 13).
+- Движение без новой команды оператора: 0 (проверка 14).
+- Использование старого периода управления: 0 (проверка 08).
+- Снятие аварийной фиксации обычной командой: 0 (проверка 22).
+- Потеря аварийного намерения после перезапуска станции: 0 (проверки 17, 18).
+- Движение до подтверждения сброса: 0 (проверки 20, 21).
+- Автоматическое восстановление старой команды после сброса: 0 (проверки 13, 14).
+- Принятие старого запроса сброса: 0 (проверка 19).
+
+Свойства, которые матрица не измеряет
+- Следующие свойства зависят от разбора конкретного сообщения, а не от розыгрыша сценария, поэтому счётчика по 180 сочетаниям для них не существует. Ранее они выводились в списке инвариантов как нули; это было ошибкой представления, и такие строки удалены.
+- Принятие команды старого сеанса станции: подтверждается проверками 06 и 16.
+- Принятие команды старого запуска ровера: подтверждается проверкой 07.
+- Принятие неоднозначной разности номеров 2^31: подтверждается проверкой 10.
+- Отрицательная скорость и превышение разрешённой скорости: подтверждаются проверкой 04; диапазон 0...15 м/с проверяется при кодировании в protocol/control_messages.py.
 
 Учёт нагрузки
 - Постоянное управление: 10.88000 кбит/с во всех сочетаниях.
@@ -280,15 +291,15 @@ Lab041 — сеансы связи, безопасный запуск и защ
 - Аварийные сообщения и сброс: в среднем 0.00574 кбит/с; повторы и повторные подтверждения: 0.01536 кбит/с.
 - Эпизодическая служебная нагрузка основного режима: средняя 0.12298 кбит/с, максимум 0.25147 кбит/с. Именно к этой величине относились прежние значения 0,12298–0,25147 кбит/с.
 - Постоянные исходные потоки: видео 243.39287, телеметрия 7.68000, управление 10.88000 кбит/с.
+- Видео и телеметрия здесь не моделируются: значения перенесены из Lab038, поля video_load_kbps и telemetry_load_kbps файла data/processed/lab038/lab038_summary.csv. Управление вычислено по размеру пакета и частоте.
 - Полный предложенный поток основного режима: средний 262.07584 кбит/с, максимум 262.20433 кбит/с.
-- Доставка управления не ниже 97.836%, телеметрии не ниже 97.918%, публикация видео не ниже 86.054%.
-- Максимальная очередь: 46 пакетов.
+- Доли доставки видео, телеметрии и управления, а также длина очереди в Lab041 не определяются. Модель этой лабораторной воспроизводит обмен служебными сообщениями сеанса, но не планировщик очередей и не транспорт видео. Соответствующие показатели следует брать из Lab037 и Lab040.
 
 Функциональные проверки
 - ПРОЙДЕНО — 01. Сериализация всех сообщений: все десять типов имеют однозначное двоичное представление
 - ПРОЙДЕНО — 02. Отклонение неверной версии: неверная версия отклонена
 - ПРОЙДЕНО — 03. Отклонение неизвестного типа: неизвестный тип отклонён
-- ПРОЙДЕНО — 04. Допустимые диапазоны управления: диапазоны и сочетания полей управления проверены
+- ПРОЙДЕНО — 04. Допустимые диапазоны управления: диапазоны и сочетания полей управления проверены, включая отрицательную скорость и границу 15 м/с
 - ПРОЙДЕНО — 05. Номер ноль в новом сеансе: новый сеанс принимает начальный номер ноль
 - ПРОЙДЕНО — 06. Старый сеанс станции: старый сеанс наземной станции отклонён
 - ПРОЙДЕНО — 07. Старый запуск ровера: старый идентификатор запуска ровера отклонён
@@ -327,7 +338,6 @@ Lab041 — сеансы связи, безопасный запуск и защ
 - data/processed/lab041/lab041_emergency_intent.png
 - data/processed/lab041/lab041_safety_violations.png
 - data/processed/lab041/lab041_protection_load.png
-- data/processed/lab041/lab041_traffic_impact.png
 
 Ограничения
 - Модель не включает криптографическую аутентификацию и не рассматривает намеренного нарушителя.
diff --git a/data/processed/lab041/lab041_restart_metrics.csv b/data/processed/lab041/lab041_restart_metrics.csv
index 2b537b5..6ccdc75 100644
--- a/data/processed/lab041/lab041_restart_metrics.csv
+++ b/data/processed/lab041/lab041_restart_metrics.csv
@@ -1,181 +1,181 @@
-architecture,channel_condition,scenario,repetitions,restart_cases,mean_restart_to_safe_ms,p95_restart_to_safe_ms,mean_distance_after_restart_m,max_distance_after_restart_m,continued_movement_after_restart,startup_from_old_command,emergency_latch_removed,emergency_intent_lost,unsafe_movement_authorizations,emergency_intent_restored,zero_commands_continued,mean_emergency_refixed_ms,emergency_event_misclassified,old_reset_erroneously_accepted,movement_before_reset_ack,automatic_motion_after_reset,negative_speed_cases,speed_limit_exceeded_cases
-no_session_ids,no_loss,normal_start,1,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0,0,0
-no_session_ids,no_loss,ground_restart_moving,1,1,0.0,0.0,416.6666666666667,416.6666666666667,1,1,0,0,1,0,0,0.0,0,0,0,0,0,0
-no_session_ids,no_loss,rover_restart_moving,1,1,0.0,0.0,416.6666666666667,416.6666666666667,1,1,0,0,1,0,0,0.0,0,0,0,0,0,0
-no_session_ids,no_loss,both_restart,1,1,0.0,0.0,416.6666666666667,416.6666666666667,1,1,0,0,1,0,0,0.0,0,0,0,0,0,0
-no_session_ids,no_loss,ground_restart_emergency,1,1,0.0,0.0,416.6666666666667,416.6666666666667,1,1,0,1,1,0,0,0.0,0,0,0,0,0,0
-no_session_ids,no_loss,rover_restart_latched,1,1,0.0,0.0,416.6666666666667,416.6666666666667,1,1,1,0,1,0,0,0.0,0,0,0,0,0,0
-no_session_ids,no_loss,long_link_break,1,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0,0,0
-no_session_ids,no_loss,old_ground_session_control,1,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0,0,0
-no_session_ids,no_loss,old_rover_boot_control,1,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0,0,0
-no_session_ids,no_loss,old_control_epoch,1,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0,0,0
-no_session_ids,no_loss,sequence_reset_new_session,1,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0,0,0
-no_session_ids,no_loss,sequence_wrap,1,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0,0,0
-no_session_ids,no_loss,duplicate_hello,1,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0,0,0
-no_session_ids,no_loss,lost_session_status,1,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0,0,0
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+persistent_emergency,230_1000,old_reset_request,200,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0
+persistent_emergency,230_1000,late_positive_after_emergency,200,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0
+persistent_emergency,230_1000,restart_after_reset_before_ack,200,200,0.0,0.0,8.03755144032922,8.037551440329219,0,0,0,0,0,0,0,0.0,0,0,0,0
diff --git a/data/processed/lab041/lab041_summary.csv b/data/processed/lab041/lab041_summary.csv
index 33cda5c..da64b8c 100644
--- a/data/processed/lab041/lab041_summary.csv
+++ b/data/processed/lab041/lab041_summary.csv
@@ -1,181 +1,181 @@
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+persistent_emergency,no_loss,sequence_reset_new_session,1,1.0,1.0,0.0,0.0,0.0,10.88,0.1072,262.06006666666667
+persistent_emergency,no_loss,sequence_wrap,1,1.0,1.0,0.0,0.0,0.0,10.88,0.1072,262.06006666666667
+persistent_emergency,no_loss,duplicate_hello,1,1.0,1.0,0.0,0.0,0.0,10.88,0.16119999999999998,262.1140666666667
+persistent_emergency,no_loss,lost_session_status,1,1.0,1.0,0.0,0.0,0.0,10.88,0.16119999999999998,262.1140666666667
+persistent_emergency,no_loss,lost_authorize_ack,1,1.0,1.0,0.0,0.0,0.0,10.88,0.16040000000000001,262.1132666666667
+persistent_emergency,no_loss,lost_emergency_ack,1,1.0,1.0,0.0,0.0,0.0,10.88,0.21280000000000002,262.1656666666667
+persistent_emergency,no_loss,lost_reset_ack,1,1.0,1.0,0.0,0.0,0.0,10.88,0.2312,262.1840666666667
+persistent_emergency,no_loss,old_reset_request,1,1.0,1.0,0.0,0.0,0.0,10.88,0.1072,262.06006666666667
+persistent_emergency,no_loss,late_positive_after_emergency,1,1.0,1.0,0.0,0.0,0.0,10.88,0.1072,262.06006666666667
+persistent_emergency,no_loss,restart_after_reset_before_ack,1,1.0,1.0,0.0,0.0,0.0,10.88,0.1072,262.06006666666667
+persistent_emergency,260_200,normal_start,200,1.0,1.0,0.0,0.0,0.0,10.88,0.107332,262.0601986666667
+persistent_emergency,260_200,ground_restart_moving,200,1.0,1.0,0.0,0.0,0.0,10.88,0.108256,262.0611226666667
+persistent_emergency,260_200,rover_restart_moving,200,1.0,1.0,0.0,0.0,0.0,10.88,0.10891600000000001,262.0617826666667
+persistent_emergency,260_200,both_restart,200,1.0,1.0,0.0,0.0,0.0,10.88,0.10772799999999999,262.0605946666667
+persistent_emergency,260_200,ground_restart_emergency,200,1.0,0.0,0.0,0.0,0.0,10.88,0.054,262.00686666666667
+persistent_emergency,260_200,rover_restart_latched,200,1.0,0.0,0.0,0.0,0.0,10.88,0.054,262.00686666666667
+persistent_emergency,260_200,long_link_break,200,1.0,1.0,0.0,0.0,0.0,10.88,0.111994,262.0648606666667
+persistent_emergency,260_200,old_ground_session_control,200,1.0,1.0,0.0,0.0,0.0,10.88,0.107596,262.0604626666667
+persistent_emergency,260_200,old_rover_boot_control,200,1.0,1.0,0.0,0.0,0.0,10.88,0.10785999999999998,262.0607266666667
+persistent_emergency,260_200,old_control_epoch,200,1.0,1.0,0.0,0.0,0.0,10.88,0.108124,262.06099066666667
+persistent_emergency,260_200,sequence_reset_new_session,200,1.0,1.0,0.0,0.0,0.0,10.88,0.11090000000000001,262.0637666666667
+persistent_emergency,260_200,sequence_wrap,200,1.0,1.0,0.0,0.0,0.0,10.88,0.10852,262.0613866666667
+persistent_emergency,260_200,duplicate_hello,200,1.0,1.0,0.0,0.0,0.0,10.88,0.16119999999999998,262.1140666666667
+persistent_emergency,260_200,lost_session_status,200,1.0,1.0,0.0,0.0,0.0,10.88,0.16146800000000003,262.1143346666667
+persistent_emergency,260_200,lost_authorize_ack,200,1.0,1.0,0.0,0.0,0.0,10.88,0.165944,262.1188106666667
+persistent_emergency,260_200,lost_emergency_ack,200,1.0,1.0,0.0,0.0,0.0,10.88,0.21926799999999996,262.1721346666667
+persistent_emergency,260_200,lost_reset_ack,200,1.0,1.0,0.0,0.0,0.0,10.88,0.236628,262.1894946666667
+persistent_emergency,260_200,old_reset_request,200,1.0,1.0,0.0,0.0,0.0,10.88,0.108652,262.0615186666667
+persistent_emergency,260_200,late_positive_after_emergency,200,1.0,1.0,0.0,0.0,0.0,10.88,0.10878399999999999,262.0616506666667
+persistent_emergency,260_200,restart_after_reset_before_ack,200,1.0,1.0,0.0,0.0,0.0,10.88,0.10746400000000002,262.0603306666667
+persistent_emergency,230_1000,normal_start,200,1.0,1.0,0.0,0.0,0.0,10.88,0.1072,262.06006666666667
+persistent_emergency,230_1000,ground_restart_moving,200,1.0,1.0,0.0,0.0,0.0,10.88,0.110632,262.0634986666667
+persistent_emergency,230_1000,rover_restart_moving,200,1.0,1.0,0.0,0.0,0.0,10.88,0.11168800000000002,262.0645546666667
+persistent_emergency,230_1000,both_restart,200,1.0,1.0,0.0,0.0,0.0,10.88,0.10931199999999998,262.0621786666667
+persistent_emergency,230_1000,ground_restart_emergency,200,1.0,0.0,0.0,0.0,0.0,10.88,0.054,262.00686666666667
+persistent_emergency,230_1000,rover_restart_latched,200,1.0,0.0,0.0,0.0,0.0,10.88,0.054,262.00686666666667
+persistent_emergency,230_1000,long_link_break,200,1.0,1.0,0.0,0.0,0.0,10.88,0.116982,262.0698486666667
+persistent_emergency,230_1000,old_ground_session_control,200,1.0,1.0,0.0,0.0,0.0,10.88,0.1072,262.06006666666667
+persistent_emergency,230_1000,old_rover_boot_control,200,1.0,1.0,0.0,0.0,0.0,10.88,0.1072,262.06006666666667
+persistent_emergency,230_1000,old_control_epoch,200,1.0,1.0,0.0,0.0,0.0,10.88,0.11261199999999999,262.0654786666667
+persistent_emergency,230_1000,sequence_reset_new_session,200,1.0,1.0,0.0,0.0,0.0,10.88,0.10840599999999999,262.0612726666667
+persistent_emergency,230_1000,sequence_wrap,200,1.0,1.0,0.0,0.0,0.0,10.88,0.11076400000000002,262.0636306666667
+persistent_emergency,230_1000,duplicate_hello,200,1.0,1.0,0.0,0.0,0.0,10.88,0.16119999999999998,262.1140666666667
+persistent_emergency,230_1000,lost_session_status,200,1.0,1.0,0.0,0.0,0.0,10.88,0.16119999999999998,262.1140666666667
+persistent_emergency,230_1000,lost_authorize_ack,200,1.0,1.0,0.0,0.0,0.0,10.88,0.16040000000000001,262.1132666666667
+persistent_emergency,230_1000,lost_emergency_ack,200,1.0,1.0,0.0,0.0,0.0,10.88,0.219664,262.1725306666667
+persistent_emergency,230_1000,lost_reset_ack,200,1.0,1.0,0.0,0.0,0.0,10.88,0.25146599999999997,262.2043326666667
+persistent_emergency,230_1000,old_reset_request,200,1.0,1.0,0.0,0.0,0.0,10.88,0.1072,262.06006666666667
+persistent_emergency,230_1000,late_positive_after_emergency,200,1.0,1.0,0.0,0.0,0.0,10.88,0.1072,262.06006666666667
+persistent_emergency,230_1000,restart_after_reset_before_ack,200,1.0,1.0,0.0,0.0,0.0,10.88,0.1072,262.06006666666667
diff --git a/data/processed/lab041/lab041_traffic_impact.png b/data/processed/lab041/lab041_traffic_impact.png
deleted file mode 100644
index 26dc809..0000000
Binary files a/data/processed/lab041/lab041_traffic_impact.png and /dev/null differ
diff --git a/tests/lab041_session_restart_safety.py b/tests/lab041_session_restart_safety.py
index d0736e9..bc13792 100644
--- a/tests/lab041_session_restart_safety.py
+++ b/tests/lab041_session_restart_safety.py
@@ -66,7 +66,6 @@ PLOT_PATHS = (
     OUTPUT_DIRECTORY / "lab041_emergency_intent.png",
     OUTPUT_DIRECTORY / "lab041_safety_violations.png",
     OUTPUT_DIRECTORY / "lab041_protection_load.png",
-    OUTPUT_DIRECTORY / "lab041_traffic_impact.png",
 )
 
 REPETITIONS = 200
@@ -86,9 +85,25 @@ LAB033_HEADER_BYTES = 32
 LAB040_CONTROL_PAYLOAD_BYTES = 14
 LAB040_CONTROL_PACKET_BYTES = LAB033_HEADER_BYTES + LAB040_CONTROL_PAYLOAD_BYTES
 LAB040_CONTROL_LOAD_KBPS = LAB040_CONTROL_PACKET_BYTES * CONTROL_FREQUENCY_HZ * 8.0 / 1000.0
+
+# Перенесённые величины. Источник указан явно, чтобы их нельзя было принять за
+# результат моделирования Lab041: оба значения совпадают с выводом Lab038.
+# data/processed/lab038/lab038_summary.csv, поле video_load_kbps.
 VIDEO_OFFERED_LOAD_KBPS = 243.39286666666666
+# data/processed/lab038/lab038_summary.csv, поле telemetry_load_kbps.
 TELEMETRY_OFFERED_LOAD_KBPS = 7.68
 
+# Параметры торможения взяты из профиля "nominal" Lab039, а не подобраны заново.
+# tests/lab039_two_stage_braking.py: DecelerationProfile("nominal", 1.0, 3.0).
+# Оценка пути ниже одноступенчатая и потому консервативнее двухступенчатой
+# модели Lab039: она не учитывает предварительное замедление Stage1.
+LAB039_NOMINAL_STAGE2_MPS2 = 3.0
+LAB039_STAGE2_THRESHOLD_SECONDS = 0.250
+# Принятое допущение: горизонт, на котором оценивается путь ровера, не
+# получившего безопасного запрета. Из модели не выводится, выбран как
+# заведомо большой по сравнению с временем согласования сеанса.
+UNPROTECTED_RUNAWAY_SECONDS = 60.0
+
 
 class ArchitectureKind(IntEnum):
     NO_SESSION_IDS = 1
@@ -231,17 +246,11 @@ class TrialMetrics:
     old_reset_erroneously_accepted: int
     movement_before_reset_ack: int
     automatic_motion_after_reset: int
-    negative_speed_cases: int
-    speed_limit_exceeded_cases: int
     session_load_bytes: int
     authorization_load_bytes: int
     emergency_load_bytes: int
     retry_load_bytes: int
     episodic_service_bytes: int
-    control_delivered_fraction: float
-    telemetry_delivered_fraction: float
-    video_published_fraction: float
-    maximum_queue_packets: int
 
 
 @dataclass(frozen=True)
@@ -258,10 +267,6 @@ class SummaryMetrics:
     control_state_load_kbps: float
     episodic_service_load_kbps: float
     full_offered_load_kbps: float
-    control_delivered_fraction: float
-    telemetry_delivered_fraction: float
-    video_published_fraction: float
-    maximum_queue_packets: int
 
 
 @dataclass(frozen=True)
@@ -333,8 +338,6 @@ class RestartMetrics:
     old_reset_erroneously_accepted: int
     movement_before_reset_ack: int
     automatic_motion_after_reset: int
-    negative_speed_cases: int
-    speed_limit_exceeded_cases: int
 
 
 @dataclass(frozen=True)
@@ -357,10 +360,6 @@ class LoadMetrics:
     video_offered_load_kbps: float
     telemetry_offered_load_kbps: float
     full_offered_load_kbps: float
-    control_delivered_fraction: float
-    telemetry_delivered_fraction: float
-    video_published_fraction: float
-    maximum_queue_packets: int
 
 
 @dataclass(frozen=True)
@@ -641,13 +640,14 @@ def simulate_trial(
     continued = startup_old = 0
     if restart_case:
         if architecture.safe_boot:
-            restart_to_safe = min(sync_time, 0.250) if scenario.number == 2 else 0.0
+            braking_distance = INITIAL_SPEED_MPS**2 / (2.0 * LAB039_NOMINAL_STAGE2_MPS2)
+            restart_to_safe = min(sync_time, LAB039_STAGE2_THRESHOLD_SECONDS) if scenario.number == 2 else 0.0
             if scenario.number == 2:
-                distance_after_restart = INITIAL_SPEED_MPS * 0.250 + INITIAL_SPEED_MPS**2 / 6.0
+                distance_after_restart = INITIAL_SPEED_MPS * LAB039_STAGE2_THRESHOLD_SECONDS + braking_distance
             elif scenario.number in (3, 4, 6, 20):
-                distance_after_restart = INITIAL_SPEED_MPS**2 / 6.0
+                distance_after_restart = braking_distance
         else:
-            distance_after_restart = INITIAL_SPEED_MPS * 60.0
+            distance_after_restart = INITIAL_SPEED_MPS * UNPROTECTED_RUNAWAY_SECONDS
             continued = 1
             startup_old = 1
 
@@ -686,14 +686,6 @@ def simulate_trial(
     emergency_transmitted_bytes = emergency_extra + reset_extra
     emergency_initial_bytes = emergency_transmitted_bytes - emergency_retry_bytes
     episodic_service_bytes = session_initial_bytes + authorization_initial_bytes + emergency_initial_bytes + retry_bytes
-    episodic_service_load = episodic_service_bytes * 8.0 / EXPERIMENT_SECONDS / 1000.0
-    base_video = {"no_loss": 1.0, "260_200": 0.910, "230_1000": 0.863}[condition.name]
-    base_telemetry = {"no_loss": 1.0, "260_200": 0.982, "230_1000": 0.980}[condition.name]
-    load_penalty = (CONTROL_LOAD_INCREASE_KBPS + episodic_service_load) / condition.rate_kbps
-    control_fraction = max(0.0, 1.0 - BAD_FRACTION * int(condition.mean_bad_ms is not None) - load_penalty * 0.10)
-    telemetry_fraction = max(0.0, base_telemetry - load_penalty * 0.05)
-    video_fraction = max(0.0, base_video - load_penalty * 0.15)
-    maximum_queue = {"no_loss": 21, "260_200": 31, "230_1000": 41}[condition.name] + min(5, retries)
 
     return TrialMetrics(
         safe_session,
@@ -743,17 +735,11 @@ def simulate_trial(
         old_reset_accepted,
         movement_before_reset_ack,
         automatic_after_reset,
-        0,
-        0,
         session_initial_bytes,
         authorization_initial_bytes,
         emergency_initial_bytes,
         retry_bytes,
         episodic_service_bytes,
-        control_fraction,
-        telemetry_fraction,
-        video_fraction,
-        maximum_queue,
     )
 
 
@@ -777,10 +763,6 @@ def aggregate_combination(
         CONTROL_STATE_LOAD_KBPS,
         episodic_service_load,
         full_offered_load,
-        _mean(item.control_delivered_fraction for item in trials),
-        _mean(item.telemetry_delivered_fraction for item in trials),
-        _mean(item.video_published_fraction for item in trials),
-        max(item.maximum_queue_packets for item in trials),
     )
     session = SessionMetrics(
         *key,
@@ -838,8 +820,6 @@ def aggregate_combination(
         sum(item.old_reset_erroneously_accepted for item in trials),
         sum(item.movement_before_reset_ack for item in trials),
         sum(item.automatic_motion_after_reset for item in trials),
-        sum(item.negative_speed_cases for item in trials),
-        sum(item.speed_limit_exceeded_cases for item in trials),
     )
     load = LoadMetrics(
         *key,
@@ -857,10 +837,6 @@ def aggregate_combination(
         VIDEO_OFFERED_LOAD_KBPS,
         TELEMETRY_OFFERED_LOAD_KBPS,
         full_offered_load,
-        summary.control_delivered_fraction,
-        summary.telemetry_delivered_fraction,
-        summary.video_published_fraction,
-        summary.maximum_queue_packets,
     )
     return summary, session, rejection, restart, load
 
@@ -954,6 +930,8 @@ def run_functional_tests() -> tuple[FunctionalTestResult, ...]:
     def control_ranges() -> str:
         for message in (
             ControlStateMessage(context, 15.1, 0.0, False, True),
+            ControlStateMessage(context, -0.1, 0.0, False, True),
+            ControlStateMessage(context, -5.0, 0.0, False, True),
             ControlStateMessage(context, 1.0, 1.1, False, True),
             ControlStateMessage(context, 1.0, 0.0, True, False),
         ):
@@ -962,7 +940,9 @@ def run_functional_tests() -> tuple[FunctionalTestResult, ...]:
                 raise AssertionError("недопустимое управление принято")
             except ControlMessageError:
                 pass
-        return "диапазоны и сочетания полей управления проверены"
+        assert encode_message(ControlStateMessage(context, 15.0, 0.0, False, True))
+        assert encode_message(ControlStateMessage(context, 0.0, 0.0, True, False))
+        return "диапазоны и сочетания полей управления проверены, включая отрицательную скорость и границу 15 м/с"
 
     def sequence_zero_new_session() -> str:
         ground, rover = _active_pair(1)
@@ -1275,24 +1255,6 @@ def save_plots(
     figure.savefig(PLOT_PATHS[6], dpi=150)
     plt.close(figure)
 
-    figure, axes = plt.subplots(1, 2, figsize=(12, 5))
-    for architecture in ARCHITECTURES:
-        video = [_group_mean(loads, architecture.name, channel, "video_published_fraction") * 100.0 for channel in channel_names]
-        telemetry = [_group_mean(loads, architecture.name, channel, "telemetry_delivered_fraction") * 100.0 for channel in channel_names]
-        axes[0].plot(channel_labels, video, marker="o", label=architecture.label, color=colors[architecture.name])
-        axes[1].plot(channel_labels, telemetry, marker="o", label=architecture.label, color=colors[architecture.name])
-    axes[0].set_title("Опубликованные видеокадры")
-    axes[0].set_ylabel("Доля, %")
-    axes[1].set_title("Доставленная телеметрия")
-    axes[1].set_ylabel("Доля, %")
-    for axis in axes:
-        axis.tick_params(axis="x", rotation=15)
-        axis.grid(True, alpha=0.3)
-    axes[1].legend(fontsize=8)
-    figure.tight_layout()
-    figure.savefig(PLOT_PATHS[7], dpi=150)
-    plt.close(figure)
-
 
 def write_report(
     summaries: tuple[SummaryMetrics, ...],
@@ -1365,6 +1327,10 @@ def write_report(
         "Ограничение модели",
         "- Исследуются задержки, дубликаты, перестановка, старые пакеты и потеря оперативного состояния при перезапуске.",
         "- Намеренная подделка не моделируется. Идентификаторы сеанса не доказывают отправителя, поэтому эта защита не заменяет криптографическую аутентификацию.",
+        "- Что именно моделируется розыгрышем: моменты потерь по экспоненциальной модели Good-Bad, доставка и повтор служебных сообщений сеанса, время до безопасного согласования и до разрешения движения, объём эпизодической служебной нагрузки. Только эти величины являются результатом моделирования Lab041.",
+        "- Что задано архитектурой, а не разыгрывается: исход обработки старого пакета, разрешено ли движение после перезапуска и сохраняется ли аварийное намерение. Матрица перебирает эти случаи, а поведение реализации проверяется отдельно функциональными проверками.",
+        "- Что не моделируется вовсе: транспорт видео, планировщик очередей, доставка телеметрии и доставка команд по радиоканалу. Соответствующие показатели относятся к Lab037 и Lab040 и в Lab041 не пересчитываются.",
+        "- Оценка пути после перезапуска получена по замкнутой формуле при параметрах профиля nominal Lab039 и одинакова во всех повторах; это расчёт, а не результат розыгрыша.",
         "",
         "Матрица 180 сочетаний",
         "архитектура | канал | сценарий | повторы | безопасный сеанс, % | разрешение, % | нарушения, % | старые пакеты приняты, % | потеря намерения, % | управление, кбит/с | эпизодическая служебная, кбит/с | полный поток, кбит/с",
@@ -1382,10 +1348,13 @@ def write_report(
             "Перезапуски и безопасное состояние",
             f"- В основном режиме движение до синхронизации: {sum(row.movement_before_sync for row in candidate_sessions)}; до подтверждения разрешения: {sum(row.movement_before_authorize_ack for row in candidate_sessions)}; без новой команды оператора: {sum(row.movement_without_new_operator for row in candidate_sessions)}.",
             f"- Максимальный путь после перезапуска в основном режиме: {max(row.max_distance_after_restart_m for row in candidate_restarts):.4f} м; это путь безопасного торможения, а не продолжение старой команды.",
+            f"- Величина рассчитана по формуле v*t + v^2/(2a) при v = {INITIAL_SPEED_MPS:.4f} м/с, t = {LAB039_STAGE2_THRESHOLD_SECONDS:.3f} с и a = {LAB039_NOMINAL_STAGE2_MPS2:.1f} м/с^2 из профиля nominal Lab039. Оценка одноступенчатая и не учитывает предварительное замедление Stage1, поэтому она консервативнее двухступенчатой модели Lab039.",
             f"- Продолжение движения после перезапуска: {sum(row.continued_movement_after_restart for row in candidate_restarts)}; запуск по старой команде: {sum(row.startup_from_old_command for row in candidate_restarts)}.",
             "",
             "Пакеты предыдущего сеанса",
             f"- Основной режим: введено {sum(row.old_packets_injected for row in candidate_rejections)}, отклонено {sum(row.old_packets_rejected for row in candidate_rejections)}, ошибочно принято {sum(row.old_packets_erroneously_accepted for row in candidate_rejections)}.",
+            "- Эти числа получены перебором таблицы сценариев: семь сценариев со старым пакетом умножаются на число повторов, а исход перебора задан архитектурой, а не розыгрышем помех. Они показывают охват перебора, а не измеренную вероятность отклонения.",
+            "- Что старый пакет действительно отклоняется реализацией, показывают проверки 06, 07, 08, 10 и 19: они вызывают receive_control и receive_reset настоящих автоматов и сверяют причину отказа.",
             f"- Отрицательный уровень без идентификаторов: ошибочно принято {sum(row.old_packets_erroneously_accepted for row in baseline_rejections)} старых пакетов.",
             f"- Причины отказа основного режима: сеанс станции={sum(row.rejected_ground_session for row in candidate_rejections)}, запуск ровера={sum(row.rejected_rover_boot for row in candidate_rejections)}, период управления={sum(row.rejected_control_epoch for row in candidate_rejections)}, номер сообщения={sum(row.rejected_sequence for row in candidate_rejections)}, событие аварии={sum(row.rejected_emergency_event for row in candidate_rejections)}, запрос сброса={sum(row.rejected_reset_request for row in candidate_rejections)}.",
             f"- Неоднозначных delta=2^31 отклонено: {sum(row.ambiguous_sequence_rejected for row in candidate_rejections)}.",
@@ -1399,23 +1368,35 @@ def write_report(
             "Инварианты безопасности основного режима",
         ]
     )
+    lines.extend(
+        [
+            "- Что означают числа ниже. Счётчики матрицы показывают, сколько сочетаний сценария и канала описывают небезопасный переход. В основном режиме безопасный запуск и постоянное аварийное намерение исключают такие переходы по построению архитектуры, поэтому счётчик равен нулю как следствие выбранной архитектуры, а не как результат розыгрыша помех.",
+            "- Поведение самой реализации подтверждается функциональными проверками; их номера указаны рядом с каждым свойством. Именно проверки, а не матрица, являются доказательством для перечисленных свойств.",
+        ]
+    )
     invariants = {
-        "Движение до синхронизации": sum(row.movement_before_sync for row in candidate_sessions),
-        "Движение до подтверждения разрешения": sum(row.movement_before_authorize_ack for row in candidate_sessions),
-        "Движение без новой команды оператора": sum(row.movement_without_new_operator for row in candidate_sessions),
-        "Принятие команды старого сеанса станции": sum(row.rejected_ground_session * 0 for row in candidate_rejections),
-        "Принятие команды старого запуска ровера": sum(row.rejected_rover_boot * 0 for row in candidate_rejections),
-        "Использование старого периода управления": sum(row.old_control_epoch_uses for row in candidate_sessions),
-        "Снятие аварийной фиксации обычной командой": sum(row.emergency_latch_removed for row in candidate_restarts),
-        "Потеря аварийного намерения после перезапуска станции": sum(row.emergency_intent_lost for row in candidate_restarts),
-        "Движение до подтверждения сброса": sum(row.movement_before_reset_ack for row in candidate_restarts),
-        "Автоматическое восстановление старой команды после сброса": sum(row.automatic_motion_after_reset for row in candidate_restarts),
-        "Принятие старого запроса сброса": sum(row.old_reset_erroneously_accepted for row in candidate_restarts),
-        "Принятие неоднозначного номера": 0,
-        "Отрицательная скорость": sum(row.negative_speed_cases for row in candidate_restarts),
-        "Превышение разрешённой скорости": sum(row.speed_limit_exceeded_cases for row in candidate_restarts),
+        "Движение до синхронизации": (sum(row.movement_before_sync for row in candidate_sessions), "проверки 11, 15"),
+        "Движение до подтверждения разрешения": (sum(row.movement_before_authorize_ack for row in candidate_sessions), "проверки 12, 13"),
+        "Движение без новой команды оператора": (sum(row.movement_without_new_operator for row in candidate_sessions), "проверка 14"),
+        "Использование старого периода управления": (sum(row.old_control_epoch_uses for row in candidate_sessions), "проверка 08"),
+        "Снятие аварийной фиксации обычной командой": (sum(row.emergency_latch_removed for row in candidate_restarts), "проверка 22"),
+        "Потеря аварийного намерения после перезапуска станции": (sum(row.emergency_intent_lost for row in candidate_restarts), "проверки 17, 18"),
+        "Движение до подтверждения сброса": (sum(row.movement_before_reset_ack for row in candidate_restarts), "проверки 20, 21"),
+        "Автоматическое восстановление старой команды после сброса": (sum(row.automatic_motion_after_reset for row in candidate_restarts), "проверки 13, 14"),
+        "Принятие старого запроса сброса": (sum(row.old_reset_erroneously_accepted for row in candidate_restarts), "проверка 19"),
     }
-    lines.extend(f"- {name}: {value}." for name, value in invariants.items())
+    lines.extend(f"- {name}: {value} ({reference})." for name, (value, reference) in invariants.items())
+    lines.extend(
+        [
+            "",
+            "Свойства, которые матрица не измеряет",
+            "- Следующие свойства зависят от разбора конкретного сообщения, а не от розыгрыша сценария, поэтому счётчика по 180 сочетаниям для них не существует. Ранее они выводились в списке инвариантов как нули; это было ошибкой представления, и такие строки удалены.",
+            "- Принятие команды старого сеанса станции: подтверждается проверками 06 и 16.",
+            "- Принятие команды старого запуска ровера: подтверждается проверкой 07.",
+            "- Принятие неоднозначной разности номеров 2^31: подтверждается проверкой 10.",
+            "- Отрицательная скорость и превышение разрешённой скорости: подтверждаются проверкой 04; диапазон 0...15 м/с проверяется при кодировании в protocol/control_messages.py.",
+        ]
+    )
     lines.extend(
         [
             "",
@@ -1425,9 +1406,9 @@ def write_report(
             f"- Аварийные сообщения и сброс: в среднем {_mean(row.emergency_load_kbps for row in candidate_loads):.5f} кбит/с; повторы и повторные подтверждения: {_mean(row.retry_load_kbps for row in candidate_loads):.5f} кбит/с.",
             f"- Эпизодическая служебная нагрузка основного режима: средняя {_mean(row.episodic_service_load_kbps for row in candidate_loads):.5f} кбит/с, максимум {max(row.episodic_service_load_kbps for row in candidate_loads):.5f} кбит/с. Именно к этой величине относились прежние значения 0,12298–0,25147 кбит/с.",
             f"- Постоянные исходные потоки: видео {VIDEO_OFFERED_LOAD_KBPS:.5f}, телеметрия {TELEMETRY_OFFERED_LOAD_KBPS:.5f}, управление {CONTROL_STATE_LOAD_KBPS:.5f} кбит/с.",
+            "- Видео и телеметрия здесь не моделируются: значения перенесены из Lab038, поля video_load_kbps и telemetry_load_kbps файла data/processed/lab038/lab038_summary.csv. Управление вычислено по размеру пакета и частоте.",
             f"- Полный предложенный поток основного режима: средний {_mean(row.full_offered_load_kbps for row in candidate_loads):.5f} кбит/с, максимум {max(row.full_offered_load_kbps for row in candidate_loads):.5f} кбит/с.",
-            f"- Доставка управления не ниже {min(row.control_delivered_fraction for row in loads) * 100.0:.3f}%, телеметрии не ниже {min(row.telemetry_delivered_fraction for row in loads) * 100.0:.3f}%, публикация видео не ниже {min(row.video_published_fraction for row in loads) * 100.0:.3f}%.",
-            f"- Максимальная очередь: {max(row.maximum_queue_packets for row in loads)} пакетов.",
+            "- Доли доставки видео, телеметрии и управления, а также длина очереди в Lab041 не определяются. Модель этой лабораторной воспроизводит обмен служебными сообщениями сеанса, но не планировщик очередей и не транспорт видео. Соответствующие показатели следует брать из Lab037 и Lab040.",
             "",
             "Функциональные проверки",
         ]
@@ -1488,8 +1469,6 @@ def validate_outputs(
     assert sum(row.old_reset_erroneously_accepted for row in candidate_restarts) == 0
     assert sum(row.movement_before_reset_ack for row in candidate_restarts) == 0
     assert sum(row.automatic_motion_after_reset for row in candidate_restarts) == 0
-    assert sum(row.negative_speed_cases for row in candidate_restarts) == 0
-    assert sum(row.speed_limit_exceeded_cases for row in candidate_restarts) == 0
 
     csv_paths = (SUMMARY_CSV, SESSION_CSV, REJECTION_CSV, RESTART_CSV, LOAD_CSV)
     for path in csv_paths:
@@ -1527,7 +1506,7 @@ def main() -> None:
     save_plots(summaries, sessions, rejections, restarts, loads)
     write_report(summaries, sessions, rejections, restarts, loads, tests)
     validate_outputs(summaries, sessions, rejections, restarts, loads, tests)
-    print("Lab041 завершена: 180 сочетаний, 24/24 функциональных проверок, пять CSV и восемь PNG")
+    print("Lab041 завершена: 180 сочетаний, 24/24 функциональных проверок, пять CSV и семь PNG")
 
 
 if __name__ == "__main__":