diff --git a/.github/workflows/swift.yml b/.github/workflows/swift.yml
index 7b195ac..fc01ce5 100644
--- a/.github/workflows/swift.yml
+++ b/.github/workflows/swift.yml
@@ -2,32 +2,75 @@ name: Swift
 
 on:
   push:
-    branches: [ main ]
+    branches: [main]
   pull_request:
-    branches: [ main ]
+    branches: [main]
+
+permissions:
+  contents: read
 
 jobs:
-  macos:
-    runs-on: macos-13
-    steps:
-    - name: Checkout
-      uses: actions/checkout@v3
-    - name: Setup Swift
-      uses: swift-actions/setup-swift@v1
-    - name: Build
-      run: swift build -v
-    - name: Run tests
-      run: swift test -v
-  linux:
-    runs-on: ubuntu-latest
-    container:
-      image: swift:5.9
+  build-and-test:
+    name: Swift 6.4 on ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: macos-latest
+            build-system: swiftbuild
+          # Use the previous backend while investigating opaque Linux/Windows failures.
+          - os: ubuntu-24.04
+            build-system: native
+          - os: windows-latest
+            build-system: native
     steps:
-    - name: Checkout
-      uses: actions/checkout@v3
-    - name: Setup Swift
-      uses: swift-actions/setup-swift@v1
-    - name: Build
-      run: swift build -v
-    - name: Run tests
-      run: swift test -v
+      - name: Checkout
+        uses: actions/checkout@v6
+      - name: Set up Swift 6.4
+        if: runner.os != 'Windows'
+        uses: swift-actions/setup-swift@v3
+        with:
+          swift-version: "6.4"
+      - name: Set up Swift 6.4 on Windows
+        if: runner.os == 'Windows'
+        uses: SwiftyLab/setup-swift@v1.14.0
+        with:
+          swift-version: "6.4"
+      - name: Show Swift version
+        run: swift --version
+      - name: Build
+        shell: bash
+        run: |
+          set -o pipefail
+          status=0
+          swift build --build-system "${{ matrix.build-system }}" --very-verbose --no-color-diagnostics 2>&1 | tee swift-build.log || status=$?
+          if [ "$status" -ne 0 ]; then
+            echo "::group::Swift build error summary"
+            grep -n -m 30 -E '(fatal )?error:|[Ss]ignal [0-9]+|[Kk]illed|[Cc]rash' swift-build.log || true
+            echo "::endgroup::"
+          fi
+          exit "$status"
+      - name: Run tests
+        shell: bash
+        run: |
+          set -o pipefail
+          status=0
+          swift test --build-system "${{ matrix.build-system }}" --very-verbose --no-color-diagnostics 2>&1 | tee swift-test.log || status=$?
+          if [ "$status" -ne 0 ]; then
+            echo "::group::Swift test error summary"
+            grep -n -m 30 -E '(fatal )?error:|[Ss]ignal [0-9]+|[Kk]illed|[Cc]rash' swift-test.log || true
+            echo "::endgroup::"
+          fi
+          exit "$status"
+      - name: Upload failure diagnostics
+        if: failure()
+        uses: actions/upload-artifact@v4
+        with:
+          name: swift-diagnostics-${{ runner.os }}
+          retention-days: 7
+          include-hidden-files: true
+          path: |
+            swift-build.log
+            swift-test.log
+            .build/**/*.dia
diff --git a/.gitignore b/.gitignore
index 95c4320..6ba4f9e 100644
--- a/.gitignore
+++ b/.gitignore
@@ -3,3 +3,11 @@
 /Packages
 /*.xcodeproj
 xcuserdata/
+
+# Optional local JPL exports; never package multi-gigabyte ephemerides.
+/Data/DE441/
+
+# Reproducible JPL extraction caches and optional local kernel collections.
+/Data/JPL/cache/
+/Data/JPL/SPK/
+/Tools/SmallBodies/__pycache__/
diff --git a/.swiftpm/xcode/package.xcworkspace/contents.xcworkspacedata b/.swiftpm/xcode/package.xcworkspace/contents.xcworkspacedata
deleted file mode 100644
index 706eede..0000000
--- a/.swiftpm/xcode/package.xcworkspace/contents.xcworkspacedata
+++ /dev/null
@@ -1,7 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Workspace
-   version = "1.0">
-   <FileRef
-      location = "container:../..">
-   </FileRef>
-</Workspace>
diff --git a/Data/JPL/pois-smoke-enriched.json b/Data/JPL/pois-smoke-enriched.json
new file mode 100644
index 0000000..158de2c
--- /dev/null
+++ b/Data/JPL/pois-smoke-enriched.json
@@ -0,0 +1,42350 @@
+{
+  "schema": 1,
+  "generated_at": "2026-10-13T18:44:34.354112+00:00",
+  "manifest": {
+    "schema": 1,
+    "mandatory_asteroids": [
+      {
+        "designation": "1",
+        "reason": "Dwarf planet Ceres"
+      },
+      {
+        "designation": "134340",
+        "reason": "Dwarf planet Pluto; retain existing provider when selected"
+      },
+      {
+        "designation": "136108",
+        "reason": "Dwarf planet Haumea"
+      },
+      {
+        "designation": "136199",
+        "reason": "Dwarf planet Eris"
+      },
+      {
+        "designation": "136472",
+        "reason": "Dwarf planet Makemake"
+      }
+    ],
+    "comet_seeds": [
+      {
+        "designation": "1P",
+        "reason": "Historical prominence: Halley"
+      },
+      {
+        "designation": "2P",
+        "reason": "Short-period archetype: Encke"
+      },
+      {
+        "designation": "9P",
+        "reason": "Spacecraft target: Tempel 1"
+      },
+      {
+        "designation": "19P",
+        "reason": "Spacecraft target: Borrelly"
+      },
+      {
+        "designation": "21P",
+        "reason": "Meteor-stream association: Giacobini-Zinner"
+      },
+      {
+        "designation": "26P",
+        "reason": "Unusual activity: Grigg-Skjellerup; spacecraft target"
+      },
+      {
+        "designation": "29P",
+        "reason": "Outbursting distant comet: Schwassmann-Wachmann 1"
+      },
+      {
+        "designation": "55P",
+        "reason": "Meteor-stream association: Tempel-Tuttle"
+      },
+      {
+        "designation": "67P",
+        "reason": "Spacecraft target: Churyumov-Gerasimenko"
+      },
+      {
+        "designation": "73P",
+        "reason": "Fragmentation: Schwassmann-Wachmann 3; parent only"
+      },
+      {
+        "designation": "81P",
+        "reason": "Spacecraft target: Wild 2"
+      },
+      {
+        "designation": "103P",
+        "reason": "Spacecraft target: Hartley 2"
+      },
+      {
+        "designation": "109P",
+        "reason": "Meteor-stream association: Swift-Tuttle"
+      },
+      {
+        "designation": "153P",
+        "reason": "Bright apparition: Ikeya-Zhang"
+      },
+      {
+        "designation": "1995 O1",
+        "reason": "Bright historical apparition: Hale-Bopp"
+      },
+      {
+        "designation": "1996 B2",
+        "reason": "Bright historical apparition: Hyakutake"
+      },
+      {
+        "designation": "2006 P1",
+        "reason": "Bright historical apparition: McNaught"
+      },
+      {
+        "designation": "2011 W3",
+        "reason": "Sungrazing survivor: Lovejoy"
+      },
+      {
+        "designation": "2012 S1",
+        "reason": "Sungrazing disruption: ISON"
+      },
+      {
+        "designation": "2014 Q2",
+        "reason": "Bright apparition: Lovejoy"
+      },
+      {
+        "designation": "2020 F3",
+        "reason": "Bright apparition: NEOWISE"
+      },
+      {
+        "designation": "2023 A3",
+        "reason": "Bright apparition: Tsuchinshan-ATLAS"
+      },
+      {
+        "designation": "2019 Q4",
+        "alias": "2I/Borisov",
+        "reason": "Interstellar comet: Borisov"
+      }
+    ]
+  },
+  "selection": {
+    "asteroids_by_known_diameter": 1000,
+    "additional_trojan_quota": 50,
+    "comets": 100,
+    "comet_policy": "Curated seeds then orbit-family diversity; not an objective interest ranking"
+  },
+  "units": {
+    "diameter": "km",
+    "GM": "km^3/s^2",
+    "density": "g/cm^3",
+    "rot_per": "hours",
+    "orbital_distances": "AU",
+    "orbital_angles": "degrees",
+    "epoch_and_tp": "JD TDB"
+  },
+  "sources": {
+    "2fe70281d3bb13aeed4cb733b75b0a1f45a9608aa1d84e23b1391d8e89b5af32": {
+      "url": "https://ssd-api.jpl.nasa.gov/sbdb_query.api?fields=spkid%2Cpdes%2Cfull_name%2Cname%2Cprefix%2Cclass%2Cdiameter%2Cdiameter_sigma%2Calbedo%2CH%2CGM%2Cdensity%2Crot_per%2Cpole%2Cspec_B%2Cspec_T%2Cepoch%2Ce%2Ca%2Cq%2Ci%2Com%2Cw%2Cma%2Ctp%2Ccondition_code%2Corbit_id&full-prec=true&limit=1000&sb-cdata=%7B%22AND%22%3A%5B%22diameter%7CDF%22%5D%7D&sb-kind=a&sort=-diameter%2Cspkid",
+      "fetched_at": "2026-10-13T18:40:09.253960+00:00",
+      "response_sha256": "6b17716e2f490b6cb49db2fa30cf3133596392e39d2baff1e23f4b8eb8efe778"
+    },
+    "3a6723261a8682c8aafa650f1c169d12cd902510125d20a8c92a9c384e01ed48": {
+      "url": "https://ssd-api.jpl.nasa.gov/sbdb_query.api?fields=spkid%2Cpdes%2Cfull_name%2Cname%2Cprefix%2Cclass%2Cdiameter%2Cdiameter_sigma%2Calbedo%2CH%2CGM%2Cdensity%2Crot_per%2Cpole%2Cspec_B%2Cspec_T%2Cepoch%2Ce%2Ca%2Cq%2Ci%2Com%2Cw%2Cma%2Ctp%2Ccondition_code%2Corbit_id&full-prec=true&sb-cdata=%7B%22AND%22%3A%5B%22pdes%7CEQ%7C134340%22%5D%7D&sb-kind=a",
+      "fetched_at": "2026-10-13T18:40:09.752346+00:00",
+      "response_sha256": "80a27707f8c3a822a03208786224e1ed4ae13d13eab9ceec457d57c0c6a700f2"
+    },
+    "783c49f01f7e4e10f7988667279c5951a639b62a778b93d6d5af5fa100726b4d": {
+      "url": "https://ssd-api.jpl.nasa.gov/sbdb_query.api?fields=spkid%2Cpdes%2Cfull_name%2Cname%2Cprefix%2Cclass%2Cdiameter%2Cdiameter_sigma%2Calbedo%2CH%2CGM%2Cdensity%2Crot_per%2Cpole%2Cspec_B%2Cspec_T%2Cepoch%2Ce%2Ca%2Cq%2Ci%2Com%2Cw%2Cma%2Ctp%2Ccondition_code%2Corbit_id&full-prec=true&sb-cdata=%7B%22AND%22%3A%5B%22pdes%7CEQ%7C136108%22%5D%7D&sb-kind=a",
+      "fetched_at": "2026-10-13T18:40:10.230915+00:00",
+      "response_sha256": "bbfd49c7595bf4ee6d18b3abdc2158d0cce83342a1cb2e36f2487851aef9c3f4"
+    },
+    "847805717dba74bbb57f2b16a2da96c47da16648f2ed6111c13c279eecfa17eb": {
+      "url": "https://ssd-api.jpl.nasa.gov/sbdb_query.api?fields=spkid%2Cpdes%2Cfull_name%2Cname%2Cprefix%2Cclass%2Cdiameter%2Cdiameter_sigma%2Calbedo%2CH%2CGM%2Cdensity%2Crot_per%2Cpole%2Cspec_B%2Cspec_T%2Cepoch%2Ce%2Ca%2Cq%2Ci%2Com%2Cw%2Cma%2Ctp%2Ccondition_code%2Corbit_id&full-prec=true&sb-cdata=%7B%22AND%22%3A%5B%22pdes%7CEQ%7C136199%22%5D%7D&sb-kind=a",
+      "fetched_at": "2026-10-13T18:40:10.728374+00:00",
+      "response_sha256": "9496e5de9e2ac9e8ff6a7fba1596bc118e904891ea76091682deecac92fd5324"
+    },
+    "de3f70b52206977e28ace58045e46763574028a11339feb496adfa0db0ef956a": {
+      "url": "https://ssd-api.jpl.nasa.gov/sbdb_query.api?fields=spkid%2Cpdes%2Cfull_name%2Cname%2Cprefix%2Cclass%2Cdiameter%2Cdiameter_sigma%2Calbedo%2CH%2CGM%2Cdensity%2Crot_per%2Cpole%2Cspec_B%2Cspec_T%2Cepoch%2Ce%2Ca%2Cq%2Ci%2Com%2Cw%2Cma%2Ctp%2Ccondition_code%2Corbit_id&full-prec=true&sb-cdata=%7B%22AND%22%3A%5B%22pdes%7CEQ%7C136472%22%5D%7D&sb-kind=a",
+      "fetched_at": "2026-10-13T18:40:11.237486+00:00",
+      "response_sha256": "4c7e463dfa2772b0d6af3d427e3c60473bc0047c051142ab5a9b7947d98acb52"
+    },
+    "1089f716bfd4421489d69990c7adcbbd78c58ddadef672cb99d5f9eceb5f4de9": {
+      "url": "https://ssd-api.jpl.nasa.gov/sbdb_query.api?fields=spkid%2Cpdes%2Cfull_name%2Cname%2Cprefix%2Cclass%2Cdiameter%2Cdiameter_sigma%2Calbedo%2CH%2CGM%2Cdensity%2Crot_per%2Cpole%2Cspec_B%2Cspec_T%2Cepoch%2Ce%2Ca%2Cq%2Ci%2Com%2Cw%2Cma%2Ctp%2Ccondition_code%2Corbit_id&full-prec=true&limit=50&sb-cdata=%7B%22AND%22%3A%5B%22diameter%7CDF%22%5D%7D&sb-class=TJN&sb-kind=a&sort=-diameter%2Cspkid",
+      "fetched_at": "2026-10-13T18:40:11.865905+00:00",
+      "response_sha256": "2ed66feec07ce6a8854597d2851059b023265d540cc975a8fdaea2dec304fc7d"
+    },
+    "015a3eb2f9d4d145c4c0dff277eb89004f0ac8b2764f58f7dd3e7b84d150f6df": {
+      "url": "https://ssd-api.jpl.nasa.gov/sbdb_query.api?fields=spkid%2Cpdes%2Cfull_name%2Cname%2Cprefix%2Cclass%2Cdiameter%2Cdiameter_sigma%2Calbedo%2CH%2CGM%2Cdensity%2Crot_per%2Cpole%2Cspec_B%2Cspec_T%2Cepoch%2Ce%2Ca%2Cq%2Ci%2Com%2Cw%2Cma%2Ctp%2Ccondition_code%2Corbit_id%2CM1%2CK1%2CM2%2CK2%2CA1%2CA2%2CA3&full-prec=true&sb-kind=c&sb-xfrag=true",
+      "fetched_at": "2026-10-13T18:40:13.326169+00:00",
+      "response_sha256": "6b146f463eb11d80454898446502b906c33211a2644cf37e92a10cf5246426a4"
+    },
+    "d1662a0ab8931ebfef89c68a117f344a470d08142fb3c01a0532c285e5068ff3": {
+      "url": "https://ssd-api.jpl.nasa.gov/sbdb.api?alt-des=true&full-prec=true&phys-par=true&spk=20000001",
+      "fetched_at": "2026-10-13T18:41:33.854491+00:00",
+      "response_sha256": "afeab7061610cb5b2b9a6091edf38d6d67a543cef30ce21b330bebb9b3b4a9ac"
+    },
+    "449f5848c27b6f588cc91c3e3bb2ac3fc3568be56c75caa25241a98bf7879041": {
+      "url": "https://ssd-api.jpl.nasa.gov/sbdb.api?alt-des=true&full-prec=true&phys-par=true&spk=20000002",
+      "fetched_at": "2026-10-13T18:41:34.355930+00:00",
+      "response_sha256": "1644c1fcddc101c582cef98f075ff7e4ae2b228e183c161f58ea3511b5926e6f"
+    }
+  },
+  "bodies": [
+    {
+      "spkid": "20000001",
+      "kind": "asteroid",
+      "data": {
+        "spkid": "20000001",
+        "pdes": "1",
+        "full_name": "     1 Ceres (A801 AA)",
+        "name": "Ceres",
+        "prefix": null,
+        "class": "MBA",
+        "diameter": 939.4,
+        "diameter_sigma": "0.2",
+        "albedo": 0.09,
+        "H": 3.34,
+        "GM": 62.6284,
+        "density": 2.162,
+        "rot_per": 9.07417,
+        "pole": "291.421/66.758",
+        "spec_B": "C",
+        "spec_T": "G",
+        "epoch": 2461200.5,
+        "e": 0.07969229514816586,
+        "a": 2.765552595034094,
+        "q": 2.545159361382861,
+        "i": 10.58802780183462,
+        "om": 80.24862682043221,
+        "w": 73.29421453021587,
+        "ma": 274.4193463761342,
+        "tp": 2461599.841466614,
+        "condition_code": "0",
+        "orbit_id": "48",
+        "source_cache_key": "2fe70281d3bb13aeed4cb733b75b0a1f45a9608aa1d84e23b1391d8e89b5af32"
+      },
+      "selection_reasons": [
+        "Diameter ranking among cataloged values: 1",
+        "Dwarf planet Ceres"
+      ],
+      "sbdb_details": {
+        "orbit": {
+          "pe_used": "DE441",
+          "soln_date": "2021-04-13 11:04:44",
+          "cov_epoch": "2458849.5",
+          "data_arc": "9520",
+          "orbit_id": "48",
+          "last_obs": "2021-01-28",
+          "equinox": "J2000",
+          "rms": ".43153",
+          "epoch": "2461200.5",
+          "first_obs": "1995-01-05",
+          "n_dop_obs_used": 0,
+          "sb_used": "SB441-N373",
+          "model_pars": [],
+          "t_jup": "3.310",
+          "n_del_obs_used": 60,
+          "condition_code": "0",
+          "elements": [
+            {
+              "name": "e",
+              "title": "eccentricity",
+              "units": null,
+              "label": "e",
+              "sigma": "4.7755E-12",
+              "value": ".07969229514816586"
+            },
+            {
+              "sigma": "1.0134E-11",
+              "value": "2.765552595034094",
+              "label": "a",
+              "units": "au",
+              "title": "semi-major axis",
+              "name": "a"
+            },
+            {
+              "sigma": "1.9113E-11",
+              "value": "2.545159361382861",
+              "label": "q",
+              "units": "au",
+              "title": "perihelion distance",
+              "name": "q"
+            },
+            {
+              "label": "i",
+              "sigma": "4.6124E-9",
+              "value": "10.58802780183462",
+              "title": "inclination; angle with respect to x-y ecliptic plane",
+              "name": "i",
+              "units": "deg"
+            },
+            {
+              "title": "longitude of the ascending node",
+              "name": "om",
+              "units": "deg",
+              "label": "node",
+              "value": "80.24862682043221",
+              "sigma": "6.1807E-8"
+            },
+            {
+              "label": "peri",
+              "sigma": "6.6076E-8",
+              "value": "73.29421453021587",
+              "name": "w",
+              "title": "argument of perihelion",
+              "units": "deg"
+            },
+            {
+              "sigma": "6.1728E-9",
+              "value": "274.4193463761342",
+              "label": "M",
+              "units": "deg",
+              "title": "mean anomaly",
+              "name": "ma"
+            },
+            {
+              "sigma": "2.8446E-8",
+              "value": "2461599.841466614066",
+              "label": "tp",
+              "units": "TDB",
+              "name": "tp",
+              "title": "time of perihelion passage"
+            },
+            {
+              "units": "d",
+              "name": "per",
+              "title": "sidereal orbital period",
+              "sigma": "9.2333E-9",
+              "value": "1679.853119758983",
+              "label": "period"
+            },
+            {
+              "units": "deg/d",
+              "name": "n",
+              "title": "mean motion",
+              "sigma": "1.1779E-12",
+              "value": ".21430445064843",
+              "label": "n"
+            },
+            {
+              "sigma": "1.0942E-11",
+              "value": "2.985945828685327",
+              "label": "Q",
+              "units": "au",
+              "name": "ad",
+              "title": "aphelion distance"
+            }
+          ],
+          "not_valid_after": null,
+          "comment": null,
+          "source": "JPL",
+          "moid_jup": "2.0967",
+          "n_obs_used": 1075,
+          "producer": "Davide Farnocchia",
+          "moid": "1.58107",
+          "not_valid_before": null,
+          "two_body": null
+        },
+        "signature": {
+          "source": "NASA/JPL Small-Body Database (SBDB) API",
+          "version": "1.3"
+        },
+        "object": {
+          "orbit_class": {
+            "code": "MBA",
+            "name": "Main-belt Asteroid"
+          },
+          "orbit_id": "48",
+          "pha": false,
+          "des_alt": [
+            {
+              "des": "1943 XB"
+            },
+            {
+              "des": "A899 OF"
+            },
+            {
+              "pri": "A801 AA"
+            }
+          ],
+          "spkid": "20000001",
+          "des": "1",
+          "prefix": null,
+          "shortname": "1 Ceres",
+          "kind": "an",
+          "fullname": "1 Ceres (A801 AA)",
+          "neo": false
+        },
+        "phys_par": [
+          {
+            "units": null,
+            "title": "absolute magnitude",
+            "desc": "absolute magnitude (magnitude at 1 au from Sun and observer)",
+            "name": "H",
+            "sigma": null,
+            "value": "3.34",
+            "notes": "IRAS observations used: 15",
+            "ref": "MPO980521"
+          },
+          {
+            "units": null,
+            "name": "G",
+            "title": "magnitude slope",
+            "desc": "magnitude slope parameter used in the standard asteroid H/G magnitude law",
+            "ref": "PDS3 (MPC 17257)",
+            "notes": "Fit",
+            "sigma": null,
+            "value": "0.12"
+          },
+          {
+            "value": "939.4",
+            "sigma": "0.2",
+            "notes": null,
+            "ref": "Nature vol. 537, pp515-517 (22 September 2016)",
+            "title": "diameter",
+            "desc": "effective body diameter",
+            "name": "diameter",
+            "units": "km"
+          },
+          {
+            "sigma": "0.2 x 0.2 x 0.2",
+            "value": "964.4 x 964.2 x 891.8",
+            "ref": "Nature vol. 537, pp515-517 (22 September 2016)",
+            "notes": "fit w.r.t. center of mass and in body-fixed frame",
+            "desc": "tri(or bi)-axial body dimensions",
+            "title": "extent",
+            "name": "extent",
+            "units": "km"
+          },
+          {
+            "name": "GM",
+            "desc": "standard gravitational parameter: product of the mass (M) and gravitational constant (G)",
+            "title": "GM",
+            "units": "km^3/s^2",
+            "notes": null,
+            "ref": "Nature vol. 537, pp515-517 (22 September 2016)",
+            "sigma": "0.0009",
+            "value": "62.6284"
+          },
+          {
+            "value": "2.162",
+            "sigma": "0.008",
+            "notes": null,
+            "ref": "Nature vol. 537, pp515-517 (22 September 2016)",
+            "units": "g/cm^3",
+            "desc": "bulk density",
+            "title": "bulk density",
+            "name": "density"
+          },
+          {
+            "name": "rot_per",
+            "desc": "body rotation period (synodic)",
+            "title": "rotation period",
+            "units": "h",
+            "notes": "derived from published value: 952.1532 +/- 0.0001 deg./day",
+            "ref": "Nature vol. 537, pp515-517 (22 September 2016)",
+            "sigma": "0.000001",
+            "value": "9.074170"
+          },
+          {
+            "desc": "spin-pole direction in R.A./Dec.",
+            "title": "pole direction",
+            "name": "pole",
+            "units": null,
+            "sigma": "0.007/0.002",
+            "value": "291.421/66.758",
+            "ref": "Nature vol. 537, pp515-517 (22 September 2016)",
+            "notes": null
+          },
+          {
+            "sigma": "0.003",
+            "value": "0.090",
+            "ref": "Li et al. (2006) Icarus v182:pp143-160",
+            "notes": "V-band geometric albedo",
+            "units": null,
+            "title": "geometric albedo",
+            "desc": "geometric albedo",
+            "name": "albedo"
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+            "sigma": "0.014",
+            "value": "0.713",
+            "units": null,
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+            "desc": "color index B-V magnitude difference",
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+          {
+            "units": null,
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+            "notes": "#obs=52; phase (min.=1.47, mean=12.16, max.=22.59) deg.",
+            "ref": "EAR-A-5-DDR-UBV-MEAN-VALUES-V1.2",
+            "sigma": "0.026",
+            "value": "0.426"
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+            "name": "spec_T",
+            "desc": "Tholen spectral taxonomic classification",
+            "title": "Tholen spectral type",
+            "units": null
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+          {
+            "notes": "based on a high-resolution spectrum by Xu et al. (1995) or Bus and Binzel (2002)",
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+            "sigma": null,
+            "value": "C",
+            "name": "spec_B",
+            "desc": "SMASSII spectral taxonomic classification",
+            "title": "SMASSII spectral type",
+            "units": null
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+          "orbit_class": {
+            "code": "MBA",
+            "name": "Main-belt Asteroid"
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+          "kind": "an",
+          "des": "2",
+          "spkid": "20000002",
+          "shortname": "2 Pallas",
+          "prefix": null,
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+            "ref": "MPO980521",
+            "sigma": null,
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+            "units": null,
+            "name": "H",
+            "desc": "absolute magnitude (magnitude at 1 au from Sun and observer)",
+            "value": "4.12"
+          },
+          {
+            "units": null,
+            "notes": "Fit",
+            "value": "0.11",
+            "desc": "magnitude slope parameter used in the standard asteroid H/G magnitude law",
+            "name": "G",
+            "ref": "PDS3 (MPC 17257)",
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+            "ref": "Marsset et al., Nature Astronomy 4, 569-576 (2020)",
+            "sigma": "6",
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+            "name": "diameter",
+            "value": "513"
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+          {
+            "ref": "Marsset et al., Nature Astronomy 4, 569-576 (2020)",
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+            "notes": null,
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+            "name": "extent",
+            "desc": "tri(or bi)-axial body dimensions",
+            "value": "568x532x448"
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+            "sigma": "0.18",
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+            "notes": null,
+            "value": "13.63",
+            "name": "GM",
+            "desc": "standard gravitational parameter: product of the mass (M) and gravitational constant (G)"
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+          {
+            "sigma": "0.08",
+            "title": "bulk density",
+            "ref": "Marsset et al., Nature Astronomy 4, 569-576 (2020)",
+            "value": "2.89",
+            "name": "density",
+            "desc": "bulk density",
+            "units": "g/cm^3",
+            "notes": null
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+            "ref": "Carry et al., Icarus 205, 460-472 (2010)",
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+            "value": "7.8132214",
+            "name": "rot_per",
+            "desc": "body rotation period (synodic)"
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+          {
+            "sigma": "5",
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+            "name": "pole",
+            "value": "33/-3",
+            "notes": null,
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+          {
+            "ref": "Vernazza et al., A&A 654, A56 (2021)",
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+            "name": "albedo",
+            "desc": "geometric albedo",
+            "value": "0.155"
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+        "Diameter ranking among cataloged values: 933"
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+  "enrichment": {
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+}
diff --git a/Data/JPL/pois.json b/Data/JPL/pois.json
new file mode 100644
index 0000000..2e0f09e
--- /dev/null
+++ b/Data/JPL/pois.json
@@ -0,0 +1,41777 @@
+{
+  "schema": 1,
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+  "manifest": {
+    "schema": 1,
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+        "designation": "1",
+        "reason": "Dwarf planet Ceres"
+      },
+      {
+        "designation": "134340",
+        "reason": "Dwarf planet Pluto; retain existing provider when selected"
+      },
+      {
+        "designation": "136108",
+        "reason": "Dwarf planet Haumea"
+      },
+      {
+        "designation": "136199",
+        "reason": "Dwarf planet Eris"
+      },
+      {
+        "designation": "136472",
+        "reason": "Dwarf planet Makemake"
+      }
+    ],
+    "comet_seeds": [
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+        "reason": "Historical prominence: Halley"
+      },
+      {
+        "designation": "2P",
+        "reason": "Short-period archetype: Encke"
+      },
+      {
+        "designation": "9P",
+        "reason": "Spacecraft target: Tempel 1"
+      },
+      {
+        "designation": "19P",
+        "reason": "Spacecraft target: Borrelly"
+      },
+      {
+        "designation": "21P",
+        "reason": "Meteor-stream association: Giacobini-Zinner"
+      },
+      {
+        "designation": "26P",
+        "reason": "Unusual activity: Grigg-Skjellerup; spacecraft target"
+      },
+      {
+        "designation": "29P",
+        "reason": "Outbursting distant comet: Schwassmann-Wachmann 1"
+      },
+      {
+        "designation": "55P",
+        "reason": "Meteor-stream association: Tempel-Tuttle"
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+      {
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+        "reason": "Spacecraft target: Churyumov-Gerasimenko"
+      },
+      {
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+        "reason": "Fragmentation: Schwassmann-Wachmann 3; parent only"
+      },
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+      },
+      {
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+      },
+      {
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+        "reason": "Meteor-stream association: Swift-Tuttle"
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+      {
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+        "reason": "Bright apparition: Ikeya-Zhang"
+      },
+      {
+        "designation": "1995 O1",
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+      },
+      {
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+        "reason": "Bright historical apparition: Hyakutake"
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+      },
+      {
+        "designation": "2023 A3",
+        "reason": "Bright apparition: Tsuchinshan-ATLAS"
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+      {
+        "designation": "2019 Q4",
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+        "reason": "Interstellar comet: Borisov"
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+        "tp": 2460581.240845176,
+        "condition_code": null,
+        "orbit_id": "JPL 113",
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+        "K1": 5.5,
+        "M2": null,
+        "K2": null,
+        "A1": 1.418905010750004e-08,
+        "A2": 1.347781281066188e-09,
+        "A3": null,
+        "source_cache_key": "015a3eb2f9d4d145c4c0dff277eb89004f0ac8b2764f58f7dd3e7b84d150f6df"
+      },
+      "selection_reasons": [
+        "Bright apparition: Tsuchinshan-ATLAS"
+      ]
+    },
+    {
+      "spkid": "1003927",
+      "kind": "comet",
+      "data": {
+        "spkid": "1003927",
+        "pdes": "2023 H1",
+        "full_name": "     C/2023 H1 (PANSTARRS)",
+        "name": "PANSTARRS",
+        "prefix": "C",
+        "class": "JFc",
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+        "density": null,
+        "rot_per": null,
+        "pole": null,
+        "spec_B": null,
+        "spec_T": null,
+        "epoch": 2460800.5,
+        "e": 0.9941378776091949,
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+        "q": 4.447622469326662,
+        "i": 21.78253149336226,
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+        "ma": 0.007420835744288925,
+        "tp": 2460643.1530619133,
+        "condition_code": null,
+        "orbit_id": "JPL 44",
+        "M1": 4.8,
+        "K1": 14.25,
+        "M2": null,
+        "K2": null,
+        "A1": null,
+        "A2": null,
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+        "source_cache_key": "015a3eb2f9d4d145c4c0dff277eb89004f0ac8b2764f58f7dd3e7b84d150f6df"
+      },
+      "selection_reasons": [
+        "Representative orbit family JFc; ranked by catalog M1, then diameter"
+      ]
+    },
+    {
+      "spkid": "1003928",
+      "kind": "comet",
+      "data": {
+        "spkid": "1003928",
+        "pdes": "2019 M4",
+        "full_name": "     C/2019 M4 (TESS)",
+        "name": "TESS",
+        "prefix": "C",
+        "class": "HYP",
+        "diameter": null,
+        "diameter_sigma": null,
+        "albedo": null,
+        "H": null,
+        "GM": null,
+        "density": null,
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+        "spec_B": null,
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+        "epoch": 2458752.5,
+        "e": 1.004534409048393,
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+        "q": 9.181017038915169,
+        "i": 65.71080077056875,
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+        "w": 260.2520310980045,
+        "ma": 0.0001706006861263992,
+        "tp": 2458736.729994424,
+        "condition_code": null,
+        "orbit_id": "JPL 1",
+        "M1": 4.6,
+        "K1": 10.0,
+        "M2": null,
+        "K2": null,
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+        "source_cache_key": "015a3eb2f9d4d145c4c0dff277eb89004f0ac8b2764f58f7dd3e7b84d150f6df"
+      },
+      "selection_reasons": [
+        "Representative orbit family HYP; ranked by catalog M1, then diameter"
+      ]
+    },
+    {
+      "spkid": "1003974",
+      "kind": "comet",
+      "data": {
+        "spkid": "1003974",
+        "pdes": "2024 C2",
+        "full_name": "     C/2024 C2 (PANSTARRS)",
+        "name": "PANSTARRS",
+        "prefix": "C",
+        "class": "CTc",
+        "diameter": null,
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+        "w": 87.53375394940521,
+        "ma": 353.9466839921519,
+        "tp": 2460744.903946121,
+        "condition_code": "5",
+        "orbit_id": "JPL 4",
+        "M1": 6.2,
+        "K1": 10.0,
+        "M2": null,
+        "K2": null,
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+        "A3": null,
+        "source_cache_key": "015a3eb2f9d4d145c4c0dff277eb89004f0ac8b2764f58f7dd3e7b84d150f6df"
+      },
+      "selection_reasons": [
+        "Representative orbit family CTc; ranked by catalog M1, then diameter"
+      ]
+    },
+    {
+      "spkid": "1004011",
+      "kind": "comet",
+      "data": {
+        "spkid": "1004011",
+        "pdes": "2024 N1",
+        "full_name": "     C/2024 N1 (PANSTARRS)",
+        "name": "PANSTARRS",
+        "prefix": "C",
+        "class": "HYP",
+        "diameter": null,
+        "diameter_sigma": null,
+        "albedo": null,
+        "H": null,
+        "GM": null,
+        "density": null,
+        "rot_per": null,
+        "pole": null,
+        "spec_B": null,
+        "spec_T": null,
+        "epoch": 2460739.5,
+        "e": 1.001440928400433,
+        "a": -3052.57583145954,
+        "q": 4.398543210025685,
+        "i": 88.77996859584077,
+        "om": 323.0188186685681,
+        "w": 91.24296488383689,
+        "ma": -0.001331204057483543,
+        "tp": 2460967.292935302,
+        "condition_code": null,
+        "orbit_id": "JPL 10",
+        "M1": 4.5,
+        "K1": 18.25,
+        "M2": null,
+        "K2": null,
+        "A1": null,
+        "A2": null,
+        "A3": null,
+        "source_cache_key": "015a3eb2f9d4d145c4c0dff277eb89004f0ac8b2764f58f7dd3e7b84d150f6df"
+      },
+      "selection_reasons": [
+        "Representative orbit family HYP; ranked by catalog M1, then diameter"
+      ]
+    },
+    {
+      "spkid": "1004013",
+      "kind": "comet",
+      "data": {
+        "spkid": "1004013",
+        "pdes": "2024 N3",
+        "full_name": "     C/2024 N3 (Sarneczky)",
+        "name": "Sarneczky",
+        "prefix": "C",
+        "class": "HYP",
+        "diameter": null,
+        "diameter_sigma": null,
+        "albedo": null,
+        "H": null,
+        "GM": null,
+        "density": null,
+        "rot_per": null,
+        "pole": null,
+        "spec_B": null,
+        "spec_T": null,
+        "epoch": 2460834.5,
+        "e": 1.001357062473293,
+        "a": -3695.175295400575,
+        "q": 5.014583725627628,
+        "i": 88.72895142817845,
+        "om": 82.60878173924719,
+        "w": 86.88461196046302,
+        "ma": 0.0002525921944911818,
+        "tp": 2460776.933686206,
+        "condition_code": null,
+        "orbit_id": "JPL 56",
+        "M1": 4.2,
+        "K1": 15.0,
+        "M2": null,
+        "K2": null,
+        "A1": null,
+        "A2": null,
+        "A3": null,
+        "source_cache_key": "015a3eb2f9d4d145c4c0dff277eb89004f0ac8b2764f58f7dd3e7b84d150f6df"
+      },
+      "selection_reasons": [
+        "Representative orbit family HYP; ranked by catalog M1, then diameter"
+      ]
+    },
+    {
+      "spkid": "1004072",
+      "kind": "comet",
+      "data": {
+        "spkid": "1004072",
+        "pdes": "2023 RS61",
+        "full_name": "     C/2023 RS61 (PANSTARRS)",
+        "name": "PANSTARRS",
+        "prefix": "C",
+        "class": "CTc",
+        "diameter": null,
+        "diameter_sigma": null,
+        "albedo": null,
+        "H": null,
+        "GM": null,
+        "density": null,
+        "rot_per": null,
+        "pole": null,
+        "spec_B": null,
+        "spec_T": null,
+        "epoch": 2460790.5,
+        "e": 0.3277631273262352,
+        "a": 11.89914479870946,
+        "q": 7.99904388697674,
+        "i": 19.94433468226847,
+        "om": 347.0180752582385,
+        "w": 119.3893851309608,
+        "ma": 328.4034945254146,
+        "tp": 2462106.3567214026,
+        "condition_code": "2",
+        "orbit_id": "JPL 41",
+        "M1": 6.6,
+        "K1": 7.75,
+        "M2": null,
+        "K2": null,
+        "A1": null,
+        "A2": null,
+        "A3": null,
+        "source_cache_key": "015a3eb2f9d4d145c4c0dff277eb89004f0ac8b2764f58f7dd3e7b84d150f6df"
+      },
+      "selection_reasons": [
+        "Representative orbit family CTc; ranked by catalog M1, then diameter"
+      ]
+    },
+    {
+      "spkid": "1004086",
+      "kind": "comet",
+      "data": {
+        "spkid": "1004086",
+        "pdes": "2024 XK14",
+        "full_name": "     C/2024 XK14 (Bok)",
+        "name": "Bok",
+        "prefix": "C",
+        "class": "HTC",
+        "diameter": null,
+        "diameter_sigma": null,
+        "albedo": null,
+        "H": null,
+        "GM": null,
+        "density": null,
+        "rot_per": null,
+        "pole": null,
+        "spec_B": null,
+        "spec_T": null,
+        "epoch": 2460763.5,
+        "e": 0.8788963168902533,
+        "a": 17.00693323877764,
+        "q": 2.059602253617546,
+        "i": 109.2143878310568,
+        "om": 239.0892309271388,
+        "w": 243.4844637784225,
+        "ma": 359.2565124051787,
+        "tp": 2460816.4064550614,
+        "condition_code": "4",
+        "orbit_id": "JPL 6",
+        "M1": 6.8,
+        "K1": 31.75,
+        "M2": null,
+        "K2": null,
+        "A1": null,
+        "A2": null,
+        "A3": null,
+        "source_cache_key": "015a3eb2f9d4d145c4c0dff277eb89004f0ac8b2764f58f7dd3e7b84d150f6df"
+      },
+      "selection_reasons": [
+        "Representative orbit family HTC; ranked by catalog M1, then diameter"
+      ]
+    }
+  ]
+}
diff --git a/Documentation/README.md b/Documentation/README.md
new file mode 100644
index 0000000..282c64e
--- /dev/null
+++ b/Documentation/README.md
@@ -0,0 +1,73 @@
+# Documentation
+
+Public documentation is authored in seven DocC catalogs, alongside the module sources:
+
+| Module | Catalog |
+| --- | --- |
+| CelMek | [CelMek.docc](../Sources/CelMek/CelMek.docc/CelMek.md) |
+| Math | [Math.docc](../Sources/Math/Math.docc/Math.md) |
+| FluidDynamics | [FluidDynamics.docc](../Sources/FluidDynamics/FluidDynamics.docc/FluidDynamics.md) |
+| Hydrodynamics | [Hydrodynamics.docc](../Sources/Hydrodynamics/Hydrodynamics.docc/Hydrodynamics.md) |
+| Aerodynamics | [Aerodynamics.docc](../Sources/Aerodynamics/Aerodynamics.docc/Aerodynamics.md) |
+| Atmospheres | [Atmospheres.docc](../Sources/Atmospheres/Atmospheres.docc/Atmospheres.md) |
+| MagneticFields | [MagneticFields.docc](../Sources/MagneticFields/MagneticFields.docc/MagneticFields.md) |
+
+The module landing pages curate conceptual guides and API symbols. Internal article
+links use DocC references; repository code links point to the GitHub source tree.
+Roadmaps, working audits, fixture notes and developer architecture policy remain
+repository documents. The former Antora source pages/configuration have been replaced;
+the original bibliography and ERFA license notice remain in this directory.
+
+## Build one module
+
+Use the existing Swift-DocC package plugin:
+
+```sh
+mkdir -p .build/documentation
+swift package generate-documentation --target CelMek --disable-indexing \
+    --output-path .build/documentation/CelMek.doccarchive
+```
+
+In Xcode, select the package scheme and use Product → Build Documentation.
+
+## Build the package archive
+
+With a Swift toolchain that includes `docc merge` (Xcode 16 or newer):
+
+```sh
+python3 Tools/Documentation/build.py
+```
+
+This generates one archive for each library module and merges them into
+`.build/documentation/Physics.doccarchive`, with a package landing page. Build logs
+are retained next to the archives. DocC warnings are treated as build failures.
+The script selects the navigator-index option supported by the installed DocC toolchain. Open the combined archive in Xcode to browse it.
+Output stays under `.build`; no generated archives are checked into the repository.
+
+## Browse in a web browser
+
+Serve the archive over HTTP:
+
+```sh
+python3 Tools/Documentation/preview.py
+```
+
+Open [the local documentation](http://127.0.0.1:8080/documentation). The preview binds
+only to localhost; stop it with Ctrl-C. Use `--port 8081` if the default port is busy,
+or `--archive /path/to/Physics.doccarchive` for another combined archive.
+
+Opening the archive's `index.html` directly with `file://` produces a blank page:
+the DocC web viewer needs HTTP to load its JavaScript and JSON assets from the
+archive root. Open the archive itself in Xcode, or use this browser preview.
+
+When running inside an existing restricted sandbox, pass `--disable-sandbox` to
+avoid nesting SwiftPM's plugin sandbox. Use `--output /path/to/directory` to select
+another output directory. The script grants the plugin write access only to that
+selected output directory.
+
+## Editing guides
+
+Add articles to the owning module's `.docc` catalog and curate them under a `## Topics`
+section on its module landing page. Use `<doc:ArticleName>` for conceptual guides and
+double-backtick symbol links for API references. Build the affected module and check
+its DocC diagnostics before submitting changes.
diff --git a/Documentation/antora.yml b/Documentation/antora.yml
deleted file mode 100644
index 492afbc..0000000
--- a/Documentation/antora.yml
+++ /dev/null
@@ -1,8 +0,0 @@
-name: celmek
-version: latest
-nav:
-  - modules/ROOT/nav.adoc
-asciidoc:
-  attributes:
-    bibtex-file: ../attachments/bibliography.bib
-    bibtex-style: ieee
diff --git a/Documentation/licenses/ERFA.txt b/Documentation/licenses/ERFA.txt
new file mode 100644
index 0000000..d19fad0
--- /dev/null
+++ b/Documentation/licenses/ERFA.txt
@@ -0,0 +1,56 @@
+The Swift Earth-orientation implementation and series are adapted from ERFA 2.0.1.
+This is a modified Swift implementation, not the official SOFA library.
+
+Copyright (C) 2013-2023, NumFOCUS Foundation.
+All rights reserved.
+
+This library is derived, with permission, from the International
+Astronomical Union's "Standards of Fundamental Astronomy" library,
+available from http://www.iausofa.org.
+
+The ERFA version is intended to retain identical
+functionality to the SOFA library, but made distinct through
+different function and file names, as set out in the SOFA license
+conditions. The SOFA original has a role as a reference standard
+for the IAU and IERS, and consequently redistribution is permitted only
+in its unaltered state. The ERFA version is not subject to this
+restriction and therefore can be included in distributions which do not
+support the concept of "read only" software.
+
+Although the intent is to replicate the SOFA API (other than replacement of
+prefix names) and results (with the exception of bugs; any that are
+discovered will be fixed), SOFA is not responsible for any errors found
+in this version of the library.
+
+If you wish to acknowledge the SOFA heritage, please acknowledge that
+you are using a library derived from SOFA, rather than SOFA itself.
+
+
+TERMS AND CONDITIONS
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1 Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+
+2 Redistributions in binary form must reproduce the above copyright
+   notice, this list of conditions and the following disclaimer in the
+   documentation and/or other materials provided with the distribution.
+
+3 Neither the name of the Standards Of Fundamental Astronomy Board, the
+   International Astronomical Union nor the names of its contributors
+   may be used to endorse or promote products derived from this software
+   without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
+IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
+PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/Documentation/modules/ROOT/attachments/bibliography.bib b/Documentation/modules/ROOT/attachments/bibliography.bib
deleted file mode 100644
index 389483e..0000000
--- a/Documentation/modules/ROOT/attachments/bibliography.bib
+++ /dev/null
@@ -1,21 +0,0 @@
-@BOOK{meeus,
-  author = {{Meeus}, J.},
-  title = "{Astronomical Algorithms: Second Edition}",
-  year = 1998,
-  publisher = "Willmann-Bell, Inc.",
-  isbn = "0-943396-61-1"
-}
-
-@ARTICLE{goffin,
-       author = {{Goffin}, E. and {Meeus}, J. and {Steyaert}, C.},
-        title = "{An accurate representation of the motion of Pluto}",
-      journal = {aap},
-     keywords = {Celestial Mechanics, Pluto (Planet), Solar Orbits, Astronomical Coordinates, Least Squares Method, Long Term Effects, Position Errors, Time Series Analysis, PLUTO, MOTION, CELESTIAL MECHANICS, CALCULATIONS, COORDINATES, LONGITUDE, LATITUDE, PROCEDURE, TECHNIQUES, PERTURBATIONS, PARAMETERS, ASTRONOMY, Astronomy; Pluto},
-         year = 1986,
-        month = feb,
-       volume = {155},
-       number = {2},
-        pages = {323-325},
-       adsurl = {https://ui.adsabs.harvard.edu/abs/1986A&A...155..323G},
-      adsnote = {Provided by the SAO/NASA Astrophysics Data System}
-}
diff --git a/Documentation/modules/ROOT/nav.adoc b/Documentation/modules/ROOT/nav.adoc
deleted file mode 100644
index 703e461..0000000
--- a/Documentation/modules/ROOT/nav.adoc
+++ /dev/null
@@ -1,3 +0,0 @@
-* xref::index.adoc[]
-* xref::algorithms.adoc[]
-* xref::copyright.adoc[]
diff --git a/Documentation/modules/ROOT/pages/algorithms.adoc b/Documentation/modules/ROOT/pages/algorithms.adoc
deleted file mode 100644
index 322a857..0000000
--- a/Documentation/modules/ROOT/pages/algorithms.adoc
+++ /dev/null
@@ -1,16 +0,0 @@
-= Algorithms
-:bibtex-file: ../attachments/bibliography.bib
-:bibtex-style: ieee
-
-[bibliography]
-== Bibliography
-
-bibliography::[]
-
-== Goffin 2000
-
-Goffin 2000 is described in cite:[goffin] and cite:[meeus].
-
-== VSOP87
-
-
diff --git a/Documentation/modules/ROOT/pages/copyright.adoc b/Documentation/modules/ROOT/pages/copyright.adoc
deleted file mode 100644
index db67ee7..0000000
--- a/Documentation/modules/ROOT/pages/copyright.adoc
+++ /dev/null
@@ -1,10 +0,0 @@
-= Copyright
-
-== CelMek
-
-The CelMek library is copyright to Mattias Holm.
-
-== Third Party
-
-No third party libraries are used at this time.
-
diff --git a/Documentation/modules/ROOT/pages/index.adoc b/Documentation/modules/ROOT/pages/index.adoc
deleted file mode 100644
index f64ea40..0000000
--- a/Documentation/modules/ROOT/pages/index.adoc
+++ /dev/null
@@ -1,3 +0,0 @@
-= CelMek Documentation
-
-
diff --git a/Examples/AttitudeDynamicsDemo/main.swift b/Examples/AttitudeDynamicsDemo/main.swift
new file mode 100644
index 0000000..4ece537
--- /dev/null
+++ b/Examples/AttitudeDynamicsDemo/main.swift
@@ -0,0 +1,47 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import CelMek
+import Math
+
+// swift run --disable-sandbox AttitudeDynamicsDemo
+// Newtonian Earth-orbit example with a continuously firing, off-centre engine.
+let reference = Frame(name: "Earth inertial",pseudoInertial: true)
+let body = Frame(parent: reference,name: "Spacecraft axes",pseudoInertial: false)
+let tree = try FrameTree(root: reference)
+let gm = try GravitationalParameter(cubicMetresPerSecondSquared: 3.986004418e14,
+    convention: .newtonian,provenance: PhysicalDataProvenance(source: "Earth game model",version: "1"))
+let context = try RotationalEvaluationContext(inertia: RigidBodyInertia(xx: 200,yy: 300,zz: 400),bodyFrame: body,
+    referenceContext: ForceEvaluationContext(frame: reference,origin: .earth))
+let spacecraft = try SpacecraftState(cartesian: CartesianState(epoch: .j2000,frame: reference,
+    position: SIMD3(7e6,0,0),velocity: SIMD3(0,sqrt(gm.cubicMetresPerSecondSquared/7e6),0)),
+    mass: SpacecraftMassProperties(dryMassKilograms: 1000,propellantMassKilograms: 100))
+let attitude = try AttitudeState(epoch: .j2000,referenceFrame: reference,bodyFrame: body,
+    bodyToReference: Quaternion(angle: .pi/2,axis: SIMD3(0,0,1)))
+let engine = try BodyMountedThruster(bodyFrame: body,thrustNewtons: 1,directionBody: SIMD3(1,0,0),
+    positionBodyMetres: SIMD3(0,1,0),effectiveExhaustVelocityMetresPerSecond: 3000)
+let dynamics = try CoupledSpacecraftDynamics(context: context,
+    forceModels: [CentralGravity(body: .earth,gravitationalParameter: gm)],wrenchModels: [engine])
+let trajectory = try CoupledSpacecraftPropagator(initialState: CoupledSpacecraftState(spacecraft: spacecraft,attitude: attitude),
+    dynamics: dynamics,attitudeOptions: .preset(for: .full),numericalOptions: .preset(for: .full))
+try tree.registerSpacecraftFrame(spacecraft: trajectory.spacecraftProvider,attitude: trajectory.attitudeProvider)
+struct Sample: Encodable {
+    let seconds: Double
+    let positionMetres: [Double]
+    let forceReferenceNewtons: [Double]
+    let angularVelocityBodyRadiansPerSecond: [Double]
+    let quaternionBodyToReferenceXYZW: [Double]
+    let totalMassKilograms: Double
+}
+func array(_ vector: SIMD3<Double>) -> [Double] { [vector.x,vector.y,vector.z] }
+let samples = try [0.0,5,10,20].map { seconds in
+    let epoch = try Epoch.j2000.advanced(by: CelMek.Duration(seconds: seconds))
+    let state = try trajectory.state(at: epoch), force = try engine.contribution(for: state,in: context)
+    let q = state.attitude.bodyToReference
+    return Sample(seconds: seconds,positionMetres: array(state.spacecraft.cartesian.position),
+        forceReferenceNewtons: array(force.forceReferenceNewtons),
+        angularVelocityBodyRadiansPerSecond: array(state.attitude.angularVelocityBodyRadiansPerSecond),
+        quaternionBodyToReferenceXYZW: [q.x,q.y,q.z,q.w],totalMassKilograms: state.spacecraft.mass.totalMassKilograms)
+}
+let encoder = JSONEncoder()
+encoder.outputFormatting = [.prettyPrinted,.sortedKeys]
+print(String(decoding: try encoder.encode(samples),as: UTF8.self))
diff --git a/Examples/FluidPhysicsDemo/EntryComparison.swift b/Examples/FluidPhysicsDemo/EntryComparison.swift
new file mode 100644
index 0000000..c604334
--- /dev/null
+++ b/Examples/FluidPhysicsDemo/EntryComparison.swift
@@ -0,0 +1,76 @@
+// SPDX-License-Identifier: Apache-2.0
+import FluidDynamics
+import Foundation
+import Aerodynamics
+import Atmospheres
+
+// Prescribed-attitude, planar entry harness owned by the example, not Aerodynamics.
+// Synthetic capsule coefficients and an ideal pressure-only flat wing are illustrative.
+struct EntryDemoReport {
+    let speed: Double
+    let peakDeceleration: Double
+    let peakDynamicPressure: Double
+    let peakHeatFlux: Double
+    let heatLoad: Double
+}
+
+func entryComparison(winged: Bool, step: Double) throws -> EntryDemoReport {
+    let alpha = winged ? 0.35 : 0.2, mass = winged ? 2000.0 : 1500.0
+    let atmosphere = ISAAtmosphere()
+    let geometry = try FluidReferenceGeometry(areaSquareMetres: 5,momentLengthsMetres: SIMD3(repeating: 2))
+    let capsule = try WholeBodyAerodynamics(geometry: geometry,reynoldsReferenceLengthMetres: 2,
+        model: ConstantBodyCoefficients(value: WindForceCoefficients(drag: 1.4,lift: 0.3)
+            .bodyCoefficients(angleOfAttackRadians: alpha,sideslipRadians: 0),
+            source: "Synthetic entry demonstration",version: "1"))
+    let panels = try (0..<8).map { i in
+        try FluidSurfacePanel(areaSquareMetres: 1.5,centreMetres: SIMD3(0,Double(i)-3.5,0),outwardNormal: SIMD3(0,0,1))
+    }
+    let wing = try SurfacePressureIntegration(panels: panels,referenceLengthMetres: 2,
+        model: ModifiedNewtonianPressure(specificHeatRatio: 1.4,machRange: 5...25))
+    let heating = SuttonGravesHeating(parameters: .earthAirColdWall,coverage: try StagnationHeatingCoverage(
+        speedMetresPerSecond: 1500...8000,densityKilogramsPerCubicMetre: 1e-6...1,
+        noseRadiusMetres: 0.05...1,machNumber: 5...25))
+    let leadingEdge = try SweptCylinderStagnationHeating(referenceSphereModel: heating,
+        referenceSphereRadiusMetres: 1,coverage: heating.coverage)
+    // state = altitude, horizontal speed, downward speed, externally integrated heat per unit area.
+    var state = SIMD4<Double>(70000,5000*cos(0.18),5000*sin(0.18),0)
+    var peakDeceleration = 0.0, peakQ = 0.0, peakHeat = 0.0
+    func derivative(_ s: SIMD4<Double>) throws -> SIMD4<Double> {
+        let properties = try atmosphere.properties(at: s.x), speed = hypot(s.y,s.z)
+        // Explicit illustrative mean-free-path approximation; not a transport dataset.
+        let path = 6.6e-8*1.225/properties.densityKilogramsPerCubicMetre
+        let flow = try FluidFlow(relativeVelocityMetresPerSecond: SIMD3(speed*cos(alpha),0,speed*sin(alpha)),
+            properties: properties,meanFreePathMetres: path)
+        guard let mach = flow.machNumber, (5...25).contains(mach) else { throw FluidError.outsideCoverage }
+        let loads = try winged ? wing.evaluate(flow: flow).loads : capsule.evaluate(flow: flow)
+        let theta = atan2(s.z,s.y)-alpha
+        let horizontalForce = cos(theta)*loads.forceNewtons.x-sin(theta)*loads.forceNewtons.z
+        let downwardForce = sin(theta)*loads.forceNewtons.x+cos(theta)*loads.forceNewtons.z
+        let query = try StagnationHeatingQuery(flow: flow,gasIdentifier: "earth-air",noseRadiusMetres: winged ? 0.1 : 1,
+            surfacePositionMetres: .zero)
+        let heat = try winged ? leadingEdge.heatFlux(for: query,effectiveSweepRadians: 0.4) : heating.heatFlux(for: query)
+        peakDeceleration = max(peakDeceleration,-(horizontalForce*s.y+downwardForce*s.z)/(mass*speed))
+        peakQ = max(peakQ,flow.dynamicPressurePascals); peakHeat = max(peakHeat,heat.wattsPerSquareMetre)
+        return SIMD4(-s.z,horizontalForce/mass,9.80665+downwardForce/mass,heat.wattsPerSquareMetre)
+    }
+    let count = Int((25/step).rounded())
+    for _ in 0..<count {
+        let a = try derivative(state)
+        let b = try derivative(state+a*(step/2))
+        let c = try derivative(state+b*(step/2))
+        let d = try derivative(state+c*step)
+        state += (a+2*b+2*c+d)*(step/6)
+    }
+    return EntryDemoReport(speed: hypot(state.y,state.z),peakDeceleration: peakDeceleration,
+        peakDynamicPressure: peakQ,peakHeatFlux: peakHeat,heatLoad: state.w)
+}
+
+func runEntryComparison() throws {
+    print("Illustrative 25 s entry; prescribed attitude, ISA below 86 km, synthetic capsule / pressure-only wing. Thermal response external.")
+    for winged in [false,true] {
+        let coarse = try entryComparison(winged: winged,step: 0.2)
+        let fine = try entryComparison(winged: winged,step: 0.1)
+        print("\(winged ? "Winged" : "Capsule"): final speed \(fine.speed) m/s; peak deceleration \(fine.peakDeceleration) m/s²; peak q \(fine.peakDynamicPressure) Pa; peak local heat \(fine.peakHeatFlux) W/m²; heat load \(fine.heatLoad) J/m²")
+        print("Step refinement 0.2→0.1 s: |Δspeed| \(abs(fine.speed-coarse.speed)) m/s; |Δheat load| \(abs(fine.heatLoad-coarse.heatLoad)) J/m². Numerical agreement does not validate the physical models.")
+    }
+}
diff --git a/Examples/FluidPhysicsDemo/LiquidsAndCompressible.swift b/Examples/FluidPhysicsDemo/LiquidsAndCompressible.swift
new file mode 100644
index 0000000..e0b03c6
--- /dev/null
+++ b/Examples/FluidPhysicsDemo/LiquidsAndCompressible.swift
@@ -0,0 +1,42 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import FluidDynamics
+import Hydrodynamics
+
+// Illustrative constant properties, not a temperature/composition-resolved property database.
+func runLiquidExamples() throws {
+    let hull = try ConvexDisplacementHull.box(halfExtentsMetres: SIMD3(2,1,0.5))
+    for (name,density,gravity,viscosity,temperature,pressure) in [
+        ("Earth water illustration",1000.0,9.80665,0.001,293.15,101325.0),
+        ("Titan hydrocarbon illustration",660.0,1.352,0.0003,94.0,150000.0)
+    ] {
+        let liquid = try LiquidProperties(identifier: name,source: "Illustrative constant-property example; not a lake composition/EOS preset",
+            densityKilogramsPerCubicMetre: density,dynamicViscosityPascalSeconds: viscosity,speedOfSoundMetresPerSecond: 1500,vaporPressurePascals: 2000)
+        let environment = try HydrostaticLiquid(properties: liquid,up: SIMD3(0,0,-1),gravityMetresPerSecondSquared: SIMD3(0,0,gravity),
+            surfaceAbsolutePressurePascals: pressure,maximumDepthMetres: 100)
+        let immersed = try hull.displacement(in: environment), loads = try immersed.buoyancy(in: environment)
+        let heel = 0.1, up = SIMD3(0,sin(heel),-cos(heel))
+        let heeled = try HydrostaticLiquid(properties: liquid,up: up,gravityMetresPerSecondSquared: -up*gravity,
+            surfaceAbsolutePressurePascals: pressure,maximumDepthMetres: 100)
+        let restoring = try hull.displacement(in: heeled).buoyancy(in: heeled,momentReferencePointMetres: SIMD3(0,0,0.25))
+        print("\(name): displaced \(immersed.volumeCubicMetres) m³, buoyancy \(loads.forceNewtons) N; heeled buoyancy moment \(restoring.momentNewtonMetres) N m")
+        let geometry = try CartesianFluidGrid(dimensions: SIMD3(repeating: 4),minimumCornerMetres: .zero,cellSizeMetres: 1)
+        var submergedGrid = try IncompressibleFlowGrid(configuration: IncompressibleFlowConfiguration(grid: geometry,liquid: liquid))
+        let report = try submergedGrid.advance(timeStepSeconds: 0.01,accelerationMetresPerSecondSquared: { _ in SIMD3(0,0,gravity) })
+        let reference = try LiquidCFDPressureReference(positionMetres: SIMD3(0.5,0.5,0.5),absolutePressurePascals: pressure)
+        print("  Fully filled liquid CFD: gauge-calibrated pressure at +3 m depth \(try reference.absolutePressurePascals(in: submergedGrid,at: SIMD3(0.5,0.5,3.5))) Pa; divergence \(report.maximumDivergenceAfterPerSecond) 1/s. T=\(temperature) K is an illustrative material condition.")
+    }
+}
+
+func runCompressibleExample() throws {
+    let eos = try CaloricallyPerfectGasEOS(identifier: "Synthetic shock-tube gas",specificGasConstantJoulesPerKilogramKelvin: 1,
+        specificHeatRatio: 1.4,temperatureRangeKelvin: 1e-4...1e4,source: "Standard ideal-gas Sod numerical benchmark")
+    let geometry = try CartesianFluidGrid(dimensions: SIMD3(160,1,1),minimumCornerMetres: .zero,cellSizeMetres: 1.0/160)
+    var grid = try CompressibleFlowGrid(configuration: CompressibleFlowConfiguration(grid: geometry,equationOfState: eos),initialState: { p in
+        try ConservedFluidState(densityKilogramsPerCubicMetre: p.x < 0.5 ? 1 : 0.125,velocityMetresPerSecond: .zero,
+            pressurePascals: p.x < 0.5 ? 1 : 0.1,equationOfState: eos)
+    })
+    let report = try grid.advance(timeStepSeconds: 0.2,maximumSubsteps: 10000)
+    let star = try grid.state(at: SIMD3(0.6,0.002,0.002))
+    print("Compressible Sod tube: \(report.substeps) acoustic-CFL substeps, pressure near left star region \(star.thermodynamics.pressurePascals) Pa, velocity \(star.velocityMetresPerSecond.x) m/s. Inviscid shock benchmark; wall heat flux unavailable.")
+}
diff --git a/Examples/FluidPhysicsDemo/PropwashCFD.swift b/Examples/FluidPhysicsDemo/PropwashCFD.swift
new file mode 100644
index 0000000..0122d6f
--- /dev/null
+++ b/Examples/FluidPhysicsDemo/PropwashCFD.swift
@@ -0,0 +1,37 @@
+// SPDX-License-Identifier: Apache-2.0
+import FluidDynamics
+import Foundation
+import Dispatch
+import Aerodynamics
+
+func runPropwashExample() throws {
+    let disk = try ActuatorDiskSlipstream(centreMetres: .zero,downstreamAxis: SIMD3(-1,0,0),radiusMetres: 1,
+        thrustNewtons: 500,fluidTorqueNewtonMetres: 40,densityKilogramsPerCubicMetre: 1.2,upstreamAxialSpeedMetresPerSecond: 30)
+    let air = try SuperposedFluidVelocityField(backgroundMetresPerSecond: SIMD3(-30,0,0),increments: [disk])
+    print("Actuator disk: induced speed at disk \(disk.inducedSpeedAtDiskMetresPerSecond) m/s; air at tail \(try air.velocityMetresPerSecond(at: SIMD3(-3,0.4,0))) m/s")
+}
+
+// Opt-in workload benchmark, not a frame-budget guarantee or drag validation.
+func runCFDBenchmark() throws {
+    print("CPU local incompressible CFD: fixed 8 m box, free-slip voxel sphere, prescribed rotor volume forcing; three 0.01 s steps. Use -c release for budget measurements.")
+    for count in [16,20,32] {
+        let config = try IncompressibleFlowConfiguration(dimensions: SIMD3(repeating: count),minimumCornerMetres: SIMD3(repeating: -4),
+            cellSizeMetres: 8/Double(count),densityKilogramsPerCubicMetre: 1.2,speedOfSoundMetresPerSecond: 340,
+            kinematicViscositySquareMetresPerSecond: 1.5e-5,boundaryVelocityMetresPerSecond: SIMD3(-10,0,0))
+        var grid = try IncompressibleFlowGrid(configuration: config,solidAtCellCentre: { p in (p*p).sum() < 1 })
+        _ = try grid.project(timeStepSeconds: 0.01)
+        let disk = try ActuatorDiskSlipstream(centreMetres: SIMD3(2,0,0),downstreamAxis: SIMD3(-1,0,0),radiusMetres: 0.75,
+            thrustNewtons: 80,fluidTorqueNewtonMetres: 2,densityKilogramsPerCubicMetre: 1.2,upstreamAxialSpeedMetresPerSecond: 10)
+        let source = try ActuatorDiskAccelerationField(disk: disk,thicknessMetres: 1)
+        var milliseconds: [Double] = [], iterations = 0, divergence = 0.0
+        for _ in 0..<3 {
+            let start = DispatchTime.now().uptimeNanoseconds
+            let report = try grid.advance(timeStepSeconds: 0.01,accelerationMetresPerSecondSquared: source.accelerationMetresPerSecondSquared)
+            let elapsed = DispatchTime.now().uptimeNanoseconds-start
+            milliseconds.append(Double(elapsed)*1e-6)
+            iterations += report.totalPressureIterations; divergence = max(divergence,report.maximumDivergenceAfterPerSecond)
+        }
+        let pressure = try grid.pressureLoadsOnSolids()
+        print("\(count)³ (\(config.cellCount) cells): mean \(milliseconds.reduce(0,+)/3) ms/step, max \(milliseconds.max()!) ms; \(iterations) pressure iterations total; max divergence \(divergence) 1/s; voxel pressure force \(pressure.forceNewtons) N")
+    }
+}
diff --git a/Examples/FluidPhysicsDemo/main.swift b/Examples/FluidPhysicsDemo/main.swift
new file mode 100644
index 0000000..4654f4e
--- /dev/null
+++ b/Examples/FluidPhysicsDemo/main.swift
@@ -0,0 +1,156 @@
+// SPDX-License-Identifier: Apache-2.0
+import FluidDynamics
+import Foundation
+import Aerodynamics
+import Atmospheres
+
+// Synthetic coefficients demonstrate evaluator contracts, not validated vehicle aerodynamics.
+let sectionSamples = [-0.2,0.0,0.2].map {
+    AirfoilSample(angleOfAttackRadians:$0,coefficients:AirfoilCoefficients(lift:5*$0,drag:0.02,moment:0))
+}
+var polars = [AirfoilPolar]()
+for re in [100_000.0,10_000_000.0] {
+    for mach in [0.0,0.8] { polars.append(try AirfoilPolar(reynoldsNumber:re,machNumber:mach,samples:sectionSamples)) }
+}
+let airfoil = try TabulatedAirfoil(polars:polars,source:"Synthetic demo polars",version:"1")
+let finiteWing = try FiniteWingAirfoil(airfoil:airfoil,aspectRatio:4,spanEfficiency:0.8,
+    effectiveAngleRangeRadians:-0.2...0.2,operatingAngleRangeRadians:-0.2...0.2)
+let wing = try SegmentedWing.rectangular(spanMetres:8,chordMetres:2,incidenceRadians:0.08,
+    model:AirfoilWingSectionModel(airfoil:finiteWing))
+let wingFlow = try FluidFlow(relativeVelocityMetresPerSecond:SIMD3(40,0,0),properties:ISAAtmosphere().properties(at:0))
+let wingResult = try wing.evaluate(flow:wingFlow)
+print("Wing: \(wingResult.segments.count) strips; force N = \(wingResult.loads.forceNewtons); moment N m = \(wingResult.loads.momentNewtonMetres)")
+
+let coupledWing = try LiftingLineWing(spanMetres: 8,referenceAreaSquareMetres: 16,
+    stationCount: 16,source: "Synthetic linear rectangular wing",version: "1") { fraction in
+    try LiftingLineSection(chordMetres: 2,liftSlopePerRadian: 5,
+        geometricIncidenceRadians: 0.08-0.02*fraction,profileDragCoefficient: 0.02,
+        effectiveAngleRangeRadians: -0.2...0.2,reynoldsRange: 1e5...1e7)
+}
+let coupledWingResult = try coupledWing.evaluate(flow: wingFlow)
+print("Spanwise coupled wing: CL = \(coupledWingResult.liftCoefficient), CDi = \(coupledWingResult.inducedDragCoefficient); moment \(coupledWingResult.loads.momentNewtonMetres) N m")
+
+let controlSettings = try [-0.1,0.0,0.1].map { deflection in
+    let controlledPolars = try polars.map { polar in
+        try AirfoilPolar(reynoldsNumber: polar.reynoldsNumber,machNumber: polar.machNumber,
+            samples: polar.samples.map { sample in
+                AirfoilSample(angleOfAttackRadians: sample.angleOfAttackRadians,coefficients: AirfoilCoefficients(
+                    lift: sample.coefficients.lift+2*deflection,
+                    drag: sample.coefficients.drag+0.5*deflection*deflection,
+                    moment: sample.coefficients.moment-0.3*deflection))
+            })
+    }
+    return try ControlSurfaceSetting(deflectionRadians: deflection,airfoil: TabulatedAirfoil(
+        polars: controlledPolars,source: "Synthetic control polar",version: "1"))
+}
+let controlModel = try TabulatedControlSurface(settings: controlSettings,
+    source: "Synthetic tail controls",version: "1",deflectionConvention: "Positive trailing edge toward section down",
+    momentReferenceDescription: "Quarter chord")
+let tail = try WingSegment(positionMetres: SIMD3(-3,0,0),
+    axes: WingSectionAxes(forward: SIMD3(1,0,0),span: SIMD3(0,0,1)),
+    chordMetres: 1,areaSquareMetres: 1,controlDeflectionRadians: 0.05,model: controlModel)
+let tailLoads = try tail.evaluate(bodyFlow: wingFlow).loads.referred(to: .zero)
+print("Synthetic controlled vertical tail: \(tailLoads.forceNewtons) N; \(tailLoads.momentNewtonMetres) N m")
+
+var bodySamples = [BodyCoefficientSample]()
+for alpha in [-0.2,0.0,0.2] { for beta in [-0.1,0.0,0.1] { for mach in [0.0,25.0] { for re in [100_000.0,1_000_000_000.0] {
+    let wind = try WindForceCoefficients(drag:1.5,lift:0.5*alpha)
+    bodySamples.append(BodyCoefficientSample(angleOfAttackRadians:alpha,sideslipRadians:beta,machNumber:mach,reynoldsNumber:re,
+        coefficients:try wind.bodyCoefficients(angleOfAttackRadians:alpha,sideslipRadians:beta,momentBody:SIMD3(0,-0.2*alpha,0))))
+} } } }
+let capsuleData = try TabulatedBodyCoefficients(samples:bodySamples,source:"Synthetic lifting capsule demo",version:"1")
+let geometry = try FluidReferenceGeometry(areaSquareMetres:10,momentLengthsMetres:SIMD3(repeating:3))
+let capsule = try WholeBodyAerodynamics(geometry:geometry,reynoldsReferenceLengthMetres:3,model:capsuleData)
+let capsuleFlow = try FluidFlow(relativeVelocityMetresPerSecond:SIMD3(6000,0,600),properties:ISAAtmosphere().properties(at:50_000))
+let capsuleLoads = try capsule.evaluate(flow:capsuleFlow)
+print("Capsule: Mach = \(capsuleFlow.machNumber!); force N = \(capsuleLoads.forceNewtons); moment N m = \(capsuleLoads.momentNewtonMetres)")
+
+let zeroRateColumn = try FluidCoefficients(force: .zero,moment: .zero)
+let capsuleRateDerivatives = BodyAerodynamicRateDerivatives(rollRate: zeroRateColumn,
+    pitchRate: try FluidCoefficients(force: .zero,moment: SIMD3(0,-10,0)),yawRate: zeroRateColumn)
+let capsuleDamping = try ConstantBodyRateDerivatives(value: capsuleRateDerivatives,
+    source: "Synthetic capsule damping example",version: "1",machRange: 0...25,
+    reynoldsRange: 1e5...1e9,incidenceRangeRadians: -0.2...0.2,sideslipRangeRadians: -0.1...0.1,
+    momentLengthsMetres: SIMD3(repeating: 3),reynoldsReferenceLengthMetres: 3)
+let dampedCapsule = try WholeBodyAerodynamics(geometry: geometry,reynoldsReferenceLengthMetres: 3,
+    model: LinearBodyRateAerodynamics(staticModel: capsuleData,derivativeModel: capsuleDamping,
+        rateReference: .inertialReference,minimumSpeedMetresPerSecond: 100,
+        maximumAbsoluteNondimensionalRates: SIMD3(repeating: 0.1)))
+let dampedLoads = try dampedCapsule.evaluate(flow: capsuleFlow,angularVelocityRadiansPerSecond: SIMD3(0,0.2,0))
+print("Synthetic capsule rate-damping increment: \(dampedLoads.momentNewtonMetres-capsuleLoads.momentNewtonMetres) N m")
+
+// Independent NASA TFAWS reference inputs; mean free path and coverage are supplied
+// demonstration assumptions, not an upper-atmosphere/transport model.
+let heatingCoverage = try StagnationHeatingCoverage(speedMetresPerSecond: 1000...8000,
+    densityKilogramsPerCubicMetre: 1e-6...0.01, noseRadiusMetres: 0.1...5, machNumber: 5...40)
+let heating = SuttonGravesHeating(parameters: .earthAirColdWall, coverage: heatingCoverage)
+let heatingFlow = try FluidFlow(relativeVelocityMetresPerSecond: SIMD3(3535,0,0),
+    densityKilogramsPerCubicMetre: 3.1459e-4, speedOfSoundMetresPerSecond: 300, meanFreePathMetres: 1e-4)
+let heat = try heating.heatFlux(for: StagnationHeatingQuery(flow: heatingFlow,
+    gasIdentifier: "earth-air", noseRadiusMetres: 1, surfacePositionMetres: SIMD3(1,0,0)))
+print("NASA reference cold-wall convective heat flux: \(heat.wattsPerSquareMetre) W/m²")
+
+let marsHeating = SuttonGravesHeating(parameters: .marsCarbonDioxideNitrogenColdWall,
+                                      coverage: heatingCoverage)
+let marsHeat = try marsHeating.heatFlux(for: StagnationHeatingQuery(flow: heatingFlow,
+    gasIdentifier: marsHeating.parameters.gasIdentifier, noseRadiusMetres: 1, surfacePositionMetres: SIMD3(1,0,0)))
+print("Mars mixture, same supplied flow: \(marsHeat.wattsPerSquareMetre) W/m²")
+
+let venusParameters = SuttonGravesMixtureParameters.venusCarbonDioxideNitrogen
+let venusHeating = SuttonGravesMixtureHeating(parameters: venusParameters, coverage: heatingCoverage)
+let venusHeat = try venusHeating.heatFlux(for: StagnationHeatingQuery(flow: heatingFlow,
+    gasIdentifier: venusParameters.gasIdentifier, noseRadiusMetres: 1, surfacePositionMetres: SIMD3(1,0,0),
+    gasState: StagnationGasState(pressurePascals: 101325, edgeSpecificEnthalpyJoulesPerKilogram: 10e6)))
+print("Venus mixture, supplied shock-layer state: \(venusHeat.wattsPerSquareMetre) W/m²")
+
+let giantMixture = HydrogenHeliumHeatingMixture.neptuneReference
+let giantHeating = HydrogenHeliumColdWallHeating(mixture: giantMixture)
+let giantFlow = try FluidFlow(relativeVelocityMetresPerSecond: SIMD3(19000,0,0),
+    densityKilogramsPerCubicMetre: 1e-4, temperatureKelvin: 141.2,
+    speedOfSoundMetresPerSecond: 1000, meanFreePathMetres: 1e-5)
+let giantResult = try giantHeating.evaluate(StagnationHeatingQuery(flow: giantFlow,
+    gasIdentifier: giantMixture.gasIdentifier, noseRadiusMetres: 0.4, surfacePositionMetres: SIMD3(1,0,0),
+    wall: AerothermalWallState(temperatureKelvin: 300)))
+print("H₂/He reference mixture: \(giantResult.heatFlux.wattsPerSquareMetre) W/m²")
+
+// Supplied-state parachute and balloon examples; coefficients are synthetic.
+func demoDragTable(_ coefficient: Double) throws -> TabulatedDragCoefficients {
+    try TabulatedDragCoefficients(samples: [0.0,0.5].flatMap { mach in
+        [1e4,1e8].map { DragCoefficientSample(machNumber: mach,reynoldsNumber: $0,dragCoefficient: coefficient) }
+    },source: "Synthetic steady drag",version: "1")
+}
+let descentFlow = try FluidFlow(relativeVelocityMetresPerSecond: SIMD3(0,0,10),
+                                     properties: ISAAtmosphere().properties(at: 0))
+let parachute = ParachuteAerodynamics(drag: try DragAreaForces(areaSquareMetres: 20,
+    referenceLengthMetres: 5,forceApplicationPointMetres: SIMD3(0,0,-2),model: demoDragTable(1.5)))
+print("Steady parachute force: \(try parachute.evaluate(flow: descentFlow).forceNewtons) N")
+let balloon = BalloonAerodynamics(buoyancy: try Buoyancy(displacedVolumeCubicMetres: 100),
+    drag: try DragAreaForces(areaSquareMetres: 5,referenceLengthMetres: 5,model: demoDragTable(0.5)))
+let balloonLoads = try balloon.evaluate(flow: descentFlow,
+    field: .hydrostaticGravityMetresPerSecondSquared(SIMD3(0,0,9.80665)))
+print("Balloon gross buoyancy plus drag (weight external): \(balloonLoads.forceNewtons) N")
+
+let molecularGas = try FreeMolecularGas(identifier: "Synthetic single-species example",
+    specificGasConstantJoulesPerKilogramKelvin: 300,source: "Demonstration assumptions")
+let molecularModel = try MaxwellianFreeMolecularTraction(gas: molecularGas,
+    surface: GasSurfaceReflection(specularFraction: 0.2,wallTemperatureKelvin: 300))
+let molecularPanel = try FluidSurfacePanel(areaSquareMetres: 1,
+    centreMetres: SIMD3(1,0,0),outwardNormal: SIMD3(1,0,0))
+let molecularFlow = try FluidFlow(relativeVelocityMetresPerSecond: SIMD3(7000,0,0),
+    densityKilogramsPerCubicMetre: 1e-8,temperatureKelvin: 200,meanFreePathMetres: 20)
+let molecularLoads = try SurfaceTractionIntegration(panels: [molecularPanel],referenceLengthMetres: 1,
+    model: molecularModel).evaluate(flow: molecularFlow).loads
+print("Free-molecular example panel force: \(molecularLoads.forceNewtons) N")
+
+// Nonlinear section/wake coupling; do not wrap the section polar in a separate
+// finite-wing correction, which would count induced drag twice.
+let wakeSegments = try SegmentedWing.rectangular(spanMetres: 8,chordMetres: 2,
+    incidenceRadians: 0.08,model: AirfoilWingSectionModel(airfoil: airfoil)).segments
+let wakeSolver = try NonlinearLiftingLine(segments: wakeSegments,wakeLengthMetres: 800,vortexCoreRadiusMetres: 0.001)
+let wakeResult = try wakeSolver.evaluate { _ in wingFlow }
+print("Nonlinear fixed wake: \(wakeResult.iterations) iterations; residual \(wakeResult.maximumNormalizedCirculationResidual); force \(wakeResult.loads.forceNewtons) N")
+try runEntryComparison()
+try runPropwashExample()
+if CommandLine.arguments.contains("--cfd") { try runCFDBenchmark() }
+try runLiquidExamples()
+if CommandLine.arguments.contains("--compressible") { try runCompressibleExample() }
diff --git a/Examples/TwoBodyGameDemo/main.swift b/Examples/TwoBodyGameDemo/main.swift
new file mode 100644
index 0000000..24f2401
--- /dev/null
+++ b/Examples/TwoBodyGameDemo/main.swift
@@ -0,0 +1,46 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import CelMek
+
+// swift run --disable-sandbox TwoBodyGameDemo
+// The output is SI state data suitable for an application's rendering adapter.
+let start = Epoch.j2000
+let end = try start.advanced(by: Duration(seconds: 600))
+let tree = try CelestialFrames.makeTree()
+let planets = try VSOP87Ephemeris(body: earth, coverage: start...end,
+                                 tdbModel: FairheadTDBModel(), accuracy: .low)
+let centre = try FrameConvertedStateProvider(planets, in: CelestialFrames.icrf, using: tree)
+// The prescribed origin lacks acceleration; this policy is chosen explicitly.
+let inertial = try tree.makeGCRF(earth: centre, accelerationPolicy: .assumeZero)
+let spin = try FixedAxisOrientationProvider(referenceFrame: CelestialFrames.icrf,
+                                            axis: SIMD3(0,0,1), rate: 7.292115e-5)
+let rotating = try tree.makeBodyFixedFrame(name: "Game Earth spin", centre: centre,
+                                          orientation: spin, accelerationPolicy: .assumeZero)
+// Explicit Newtonian game model; no relativistic scaling of catalogue GM is inferred.
+let gm = try GravitationalParameter(cubicMetresPerSecondSquared: 3.986004418e14,
+    convention: .newtonian, provenance: PhysicalDataProvenance(source: "Earth game model",
+    version: "1", reference: "ORBITAL_MECHANICS.md"))
+let seed = try CartesianState(epoch: start, frame: inertial, position: SIMD3(7e6,0,0),
+                               velocity: SIMD3(0,sqrt(gm.cubicMetresPerSecondSquared/7e6),0))
+let coast = try TwoBodyPropagator(initialState: seed, centralBody: .earth, gravitationalParameter: gm)
+let burn = try ImpulsiveManeuver(epoch: start.advanced(by: Duration(seconds: 300)), frame: inertial,
+                                deltaVelocityMetresPerSecond: SIMD3(0,20,0))
+let trajectory = try ManeuveredTwoBodyPropagator(base: coast, maneuvers: [burn])
+let samples = try TrajectorySampler.sample(trajectory, from: start, through: end,
+    step: Duration(seconds: 120), in: rotating, using: tree)
+struct Sample: Encodable {
+    let secondsFromStart: Double
+    let earthBarycentricPositionMetres: [Double]
+    let spacecraftEarthRotatingPositionMetres: [Double]
+    let spacecraftEarthRotatingVelocityMetresPerSecond: [Double]
+}
+let output = try samples.map { sample -> Sample in
+    let earthState = try planets.state(at: sample.epoch, in: CelestialFrames.icrf, using: tree)
+    return Sample(secondsFromStart: try sample.epoch.duration(since: start).seconds,
+        earthBarycentricPositionMetres: [earthState.position.x,earthState.position.y,earthState.position.z],
+        spacecraftEarthRotatingPositionMetres: [sample.position.x,sample.position.y,sample.position.z],
+        spacecraftEarthRotatingVelocityMetresPerSecond: [sample.velocity.x,sample.velocity.y,sample.velocity.z])
+}
+let encoder = JSONEncoder()
+encoder.outputFormatting = [.prettyPrinted, .sortedKeys]
+print(String(decoding: try encoder.encode(output), as: UTF8.self))
diff --git a/Examples/Voyager2GameDemo/README.md b/Examples/Voyager2GameDemo/README.md
new file mode 100644
index 0000000..379c09a
--- /dev/null
+++ b/Examples/Voyager2GameDemo/README.md
@@ -0,0 +1,119 @@
+# Voyager 2 inspired game planning example
+
+Run from the repository root:
+
+```sh
+swift run Voyager2GameDemo > /tmp/voyager2-report.json
+```
+
+In a restricted development sandbox use the same module-cache configuration as the
+other demos:
+
+```sh
+env CLANG_MODULE_CACHE_PATH=/tmp/celmek-clang-cache \
+    SWIFTPM_MODULECACHE_OVERRIDE=/tmp/celmek-swift-cache \
+    swift run --disable-sandbox Voyager2GameDemo > /tmp/voyager2-report.json
+```
+
+No DE/SPICE assets, network service, or CSPICE installation are required. The example
+uses full VSOP87E and the injected Fairhead TDB model, plus an explicit built-in
+leap-second table for historical UTC input/output. It subtracts the Sun's barycentric
+position and velocity to form Sun-relative states in the same ecliptic J2000 axes.
+No metre/AU or barycentric/heliocentric relabelling is implicit.
+
+## What it plans
+
+The [NASA mission fact sheet](https://science.nasa.gov/mission/voyager/fact-sheet/)
+records launch on 1977-08-20 and Jupiter/Saturn/Uranus/Neptune encounters on
+1979-07-09, 1981-08-25, 1986-01-24 and 1989-08-25. The
+[NASA Voyager 2 mission page](https://science.nasa.gov/mission/voyager/voyager-2/)
+supplies launch time 14:29:44 UT. The example uses that launch timestamp and **noon
+UTC** on the encounter reference days, rather than exact historical closest-approach
+instants.
+
+It searches all 81 combinations of -30, 0 and +30 days around the four encounter
+dates. Thirty precomputed zero-revolution, prograde Lambert connectors join Earth,
+Jupiter, Saturn, Uranus and Neptune in the Sun's two-body field. Candidate ranking
+minimizes illustrative parking-orbit injection delta-v plus unresolved encounter
+velocity mismatches. The dates are constraints with a small search window, so matching
+the historical flight time is not an independent prediction of the mission schedule.
+
+A 200 km circular Earth parking orbit is converted into a local hyperbolic departure
+with the Lambert leg's outgoing excess vector. The example samples the actual
+Earth-centred parking/burn/escape propagator and translates those states into the
+heliocentric plotting frame. Its departure calculation includes injection delta-v
+and C3; it does not simulate the launch vehicle, ascent, launch-site plane or staging.
+
+At Jupiter, Saturn and Uranus, incoming/outgoing Lambert velocities are measured
+relative to the moving body. A local unpowered flyby preserves incoming excess speed,
+turns toward the next connector, and respects the configured spherical periapsis
+limit. If the requested turn exceeds that limit, the model clamps it. The report
+shows requested/achieved turn, signed excess-speed mismatch, inferred periapsis altitude
+and the remaining outgoing vector mismatch. That mismatch is **not an implemented
+maneuver or a periapsis burn cost**, and is not silently assigned to spacecraft fuel.
+
+Neptune has no following Lambert endpoint. A final local flyby targets a chosen
+out-of-ecliptic departure at approximately the demo's 5,000 km minimum altitude.
+This demonstrates a fourth flyby without inventing a historical interstellar target.
+
+## Expected result and practical limits
+
+On the development run the chosen dates are the reference encounter days: total
+flight time is about **4,387.90 days (12.01 Julian years)**. The illustrative Earth
+injection is about **7.19 km/s**, with **C3 103.01 km²/s²**. Jupiter/Saturn/Uranus
+connector velocity residuals are approximately **102 / 134 / 13 m/s**. Propagating
+each solar Lambert leg independently reaches its requested endpoint within about
+0.1 m on that run; that is solver agreement, not a bound on mission-model error.
+These are diagnostics, not historical reference fixtures or cross-platform exact values.
+
+The output declares `isContinuousMissionTrajectory: false`. Local flyby, parking/escape
+and solar coast samples are separate views. Finite sphere-of-influence patch times,
+positions and velocities are not solved, and transitions may have discontinuities.
+The solar coasts reach system barycentres; local flybys approximate those as planetary
+centres. Satellite motion, atmospheric/ring constraints, planetary perturbations during
+coasts, navigation corrections and historical spacecraft mass/propellant are omitted.
+Rounded Newtonian GM and spherical equatorial radii are explicit illustrative constants.
+The arbitrary parking plane, terminal turn and safety altitudes are not recovered mission
+parameters. Do not interpret this example as a continuous Voyager reconstruction.
+
+The library's finite encounter-sequence and numerical verification APIs can be used
+for the next refinement: optimize B-plane geometry and dates, connect finite local arcs
+with explicit residual/correction constraints, and propagate the resulting itinerary
+under chosen perturbing forces. The current example intentionally exposes the residuals
+that refinement must resolve.
+
+## Using the samples in a game
+
+The JSON includes legs, flyby diagnostics, flight-time comparison, clock playback and sampled SI
+position/velocity states. Solar coasts contain 49 uniformly spaced samples each;
+parking/departure and local encounters have their own labelled sample groups. Separate
+`phase` values before drawing: joining all rows as one polyline would connect unrelated
+local views and discontinuous patches. Encounter dates are not rest stops or rendezvous.
+
+For playback, retain each leg's `TwoBodyPropagator` and query `state(at:)` at the atomic
+simulation epoch advanced by your time-warp scale. Use the same epoch for body ephemeris
+queries. For prediction query a future covered epoch without mutating the current state;
+choose the appropriate coast segment and display transition residuals explicitly. The
+returned solar propagator itself is not coverage-limited, so the example/application
+must enforce each leg's departure/arrival bounds. Avoid linearly interpolating distant
+render samples as a replacement for orbital propagation.
+
+Rendering can subtract the camera's **Double** position before converting to `Float`,
+with an explicit scene scale. The sample coordinates are Sun-relative metres, not
+camera-relative graphics units; a separate renderer adapter remains roadmap work.
+The `playback` rows exercise the reusable `SimulationClock`: one real second advances
+one 365-day simulation year, followed by pause, reverse and a seek to the Jupiter patch.
+Each row queries the spacecraft and all five prescribed planets at the same epoch.
+A 30-day future query leaves the clock untouched; predictions beyond Neptune are
+omitted instead of extrapolating the itinerary. Segment selection uses the following
+coast at an exact patch epoch, so velocity jumps remain explicit. Orbital display
+samples use `TrajectorySampler` rather than hidden interpolation.
+
+See [time guide](../../Sources/CelMek/CelMek.docc/TimeGuide.md) for clock semantics, bounds and floating-point limits.
+Renderer adapters, persistence and the remaining release-readiness work are separate
+Milestone 9 items.
+
+Playback also exports `spacecraftCentredPlanetPositionsRenderUnits`: five planet
+positions relative to the spacecraft, converted to `Float` after subtracting in
+`Double`, at 1e9 metres per render unit. Axes remain right-handed heliocentric
+axes; the spacecraft renders at zero. See [rendering contracts](../../Sources/CelMek/CelMek.docc/GAME_INTEGRATION.md).
diff --git a/Examples/Voyager2GameDemo/main.swift b/Examples/Voyager2GameDemo/main.swift
new file mode 100644
index 0000000..083cdab
--- /dev/null
+++ b/Examples/Voyager2GameDemo/main.swift
@@ -0,0 +1,238 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import CelMek
+import Math
+
+// An asset-free, bounded date search and patched-conic diagnostic, not a mission reconstruction.
+func norm(_ v: SIMD3<Double>) -> Double { hypot(hypot(v.x,v.y),v.z) }
+func cross(_ a: SIMD3<Double>,_ b: SIMD3<Double>) -> SIMD3<Double> {
+    SIMD3(a.y*b.z-a.z*b.y,a.z*b.x-a.x*b.z,a.x*b.y-a.y*b.x)
+}
+func array(_ v: SIMD3<Double>) -> [Double] { [v.x,v.y,v.z] }
+func utc(_ y: Int,_ m: Int,_ d: Int,_ seconds: Double = 43200) throws -> Epoch {
+    try Epoch(utc: UTCDate(modifiedJulianDay: GregorianDay(year: y,month: m,day: d).modifiedJulianDay,
+        secondOfDay: CelMek.Duration(seconds: seconds)),using: .iersBulletinC72)
+}
+func label(_ epoch: Epoch) throws -> String {
+    let date = try epoch.utc(using: .iersBulletinC72), day = try GregorianDay(modifiedJulianDay: date.modifiedJulianDay)
+    return String(format: "%04d-%02d-%02d UTC",day.year,day.month,day.day)
+}
+let provenance = try PhysicalDataProvenance(source: "Rounded Newtonian demo constants; spherical body model",version: "Voyager2-demo-1")
+func gm(_ value: Double) throws -> GravitationalParameter {
+    try GravitationalParameter(cubicMetresPerSecondSquared: value,convention: .newtonian,provenance: provenance)
+}
+let launch = try utc(1977,8,20,14*3600+29*60+44)
+let anchors = try [utc(1979,7,9),utc(1981,8,25),utc(1986,1,24),utc(1989,8,25)]
+let coverage = try launch.advanced(by: CelMek.Duration(seconds: -86400))...anchors.last!.advanced(by: CelMek.Duration(seconds: 400*86400))
+let tdb = try FairheadTDBModel()
+let coefficients = [earth,jupiter,saturn,uranus,neptune]
+let ephemerides = try coefficients.map { try VSOP87Ephemeris(body: $0,coverage: coverage,tdbModel: tdb,accuracy: .full) }
+let sunEphemeris = try VSOP87Ephemeris(body: sun,coverage: coverage,tdbModel: tdb,accuracy: .full)
+let heliocentric = Frame(name: "Sun origin; VSOP87E native axes",pseudoInertial: true)
+@MainActor
+func bodyState(_ body: Int,_ epoch: Epoch) throws -> CartesianState {
+    let planet = try ephemerides[body].checkedState(at: epoch), centre = try sunEphemeris.checkedState(at: epoch)
+    guard planet.frame === centre.frame else { throw EphemerisError.frameMismatch }
+    return try CartesianState(epoch: epoch,frame: heliocentric,position: planet.position-centre.position,velocity: planet.velocity-centre.velocity)
+}
+let solarGM = try gm(1.32712440018e20), earthGM = try gm(3.986004418e14)
+let bodies: [BodyIdentifier] = [.jupiterBarycentre,.saturnBarycentre,.uranusBarycentre,.neptuneBarycentre]
+let names = ["Jupiter","Saturn","Uranus","Neptune"]
+let mus = try [1.26686534e17,3.7931187e16,5.793939e15,6.836529e15].map(gm)
+let radii = [71_492e3,60_268e3,25_559e3,24_764e3]
+let minAltitudes = [100_000e3,60_000e3,25_000e3,5_000e3] // Demo limits, not historical closest approaches.
+let offsets = [-30.0,0,30]
+let dates = try anchors.map { date in try offsets.map { try date.advanced(by: CelMek.Duration(seconds: $0*86400)) } }
+let endpoints = try dates.enumerated().map { index,options in try options.map { try bodyState(index+1,$0) } }
+let departure = try bodyState(0,launch)
+struct LegKey: Hashable { let leg,from,to: Int }
+var connectors: [LegKey:LambertSolution] = [:]
+for leg in 0..<4 {
+    for from in 0..<(leg == 0 ? 1 : 3) { for to in 0..<3 {
+        let a = leg == 0 ? departure : endpoints[leg-1][from], b = endpoints[leg][to]
+        connectors[LegKey(leg: leg,from: from,to: to)] = try LambertSolver.solve(
+            departurePosition: a.position,arrivalPosition: b.position,departureEpoch: a.epoch,arrivalEpoch: b.epoch,
+            frame: heliocentric,centralBody: .sun,gravitationalParameter: solarGM,
+            referencePole: SIMD3(0,0,1),direction: .positive)
+    } }
+}
+struct FlybyDiagnostic {
+    let result: UnpoweredFlybyResult
+    let residual: Double
+    let requestedTurn: Double
+    let speedMismatch: Double
+}
+func flyby(_ index: Int,_ epoch: Epoch,_ incoming: SIMD3<Double>,_ desired: SIMD3<Double>) throws -> FlybyDiagnostic {
+    let speed = norm(incoming), desiredSpeed = norm(desired), u = incoming/speed, w = desired/desiredSpeed
+    let angle = acos(max(-1,min(1,(u*w).sum())))
+    let maximum = 2*asin(1/(1+(radii[index]+minAltitudes[index])*speed*speed/mus[index].cubicMetresPerSecondSquared))
+    let turn = min(angle,maximum*(1-1e-10))
+    let perpendicular = w-u*(u*w).sum(), length = norm(perpendicular)
+    guard length > 1e-12, turn > 1e-12 else { throw FlybyError.degenerateTurn }
+    let outgoing = (u*cos(turn)+perpendicular/length*sin(turn))*speed
+    let frame = Frame(name: "\(names[index]) system origin; VSOP87E native axes",pseudoInertial: true)
+    let request = try FlybyEncounterRequest(body: bodies[index],periapsisEpoch: epoch,frame: frame,
+        gravitationalParameter: mus[index],bodyRadiusMetres: radii[index],minimumPeriapsisAltitudeMetres: minAltitudes[index],
+        incomingExcessVelocityMetresPerSecond: incoming,outgoingExcessVelocityMetresPerSecond: outgoing)
+    let result = try UnpoweredFlyby.solve(request)
+    return FlybyDiagnostic(result: result,residual: norm(result.outgoingExcessVelocityMetresPerSecond-desired),
+        requestedTurn: angle,speedMismatch: desiredSpeed-speed)
+}
+struct Candidate {
+    let indices: [Int]
+    let legs: [LambertSolution]
+    let flybys: [FlybyDiagnostic]
+    let escape: ParkingOrbitTransfer
+    let score: Double
+}
+var best: Candidate?
+for j in 0..<3 { for s in 0..<3 { for u in 0..<3 { for n in 0..<3 {
+    let indices = [j,s,u,n]
+    let legs = (0..<4).map { connectors[LegKey(leg: $0,from: $0 == 0 ? 0 : indices[$0-1],to: indices[$0])]! }
+    var flybys: [FlybyDiagnostic] = []
+    for i in 0..<3 {
+        let centre = endpoints[i][indices[i]]
+        flybys.append(try flyby(i,centre.epoch,legs[i].arrivalState.velocity-centre.velocity,legs[i+1].departureState.velocity-centre.velocity))
+    }
+    let escape = try ParkingOrbitTransfer(parkingRadiusMetres: 6_378_137+200_000,bodyRadiusMetres: 6_378_137,
+        hyperbolicExcessSpeedMetresPerSecond: norm(legs[0].departureState.velocity-departure.velocity),gravitationalParameter: earthGM)
+    let score = escape.deltaVelocityMetresPerSecond+flybys.reduce(0) { $0+$1.residual }
+    if best == nil || score < best!.score { best = Candidate(indices: indices,legs: legs,flybys: flybys,escape: escape,score: score) }
+} } } }
+let selected = best!
+let earthFrame = Frame(name: "Earth origin; VSOP87E native axes",pseudoInertial: true)
+let excess = selected.legs[0].departureState.velocity-departure.velocity
+let normal = cross(excess,SIMD3<Double>(0,0,1)); let unitNormal = normal/norm(normal)
+let injection = try selected.escape.plan(kind: .escape,periapsisEpoch: launch,frame: earthFrame,centralBody: .earth,
+    hyperbolicExcessVelocityMetresPerSecond: excess,orbitalNormal: unitNormal)
+// Neptune terminal local flyby targets a chosen out-of-plane departure; no fifth Lambert leg.
+let lastCentre = endpoints[3][selected.indices[3]]
+let lastIncoming = selected.legs[3].arrivalState.velocity-lastCentre.velocity
+let away = lastIncoming/norm(lastIncoming)
+let downward = SIMD3<Double>(0,0,-1)+away*away.z
+let terminalTurn = 2*asin(1/(1+(radii[3]+minAltitudes[3])*norm(lastIncoming)*norm(lastIncoming)/mus[3].cubicMetresPerSecondSquared))*(1-1e-10)
+let terminalDesired = (away*cos(terminalTurn)+downward/norm(downward)*sin(terminalTurn))*norm(lastIncoming)
+let terminal = try flyby(3,lastCentre.epoch,lastIncoming,terminalDesired)
+let allFlybys = selected.flybys+[terminal]
+
+struct Sample: Encodable {
+    let phase,utc: String
+    let secondsFromLaunch: Double
+    let heliocentricPositionMetres,heliocentricVelocityMetresPerSecond: [Double]
+}
+var samples: [Sample] = []
+@MainActor
+func append(_ state: CartesianState,_ phase: String) throws {
+    samples.append(Sample(phase: phase,utc: try label(state.epoch),secondsFromLaunch: try state.epoch.duration(since: launch).seconds,
+        heliocentricPositionMetres: array(state.position),heliocentricVelocityMetresPerSecond: array(state.velocity)))
+}
+// Initial orbit and escape are genuine Earth-centred propagated states, translated for plotting.
+for (seconds,phase) in [(-5400.0,"parking orbit"),(-3600,"parking orbit"),(-1800,"parking orbit"),(0,"injection"),(3600,"Earth escape") ] {
+    let e = try launch.advanced(by: CelMek.Duration(seconds: seconds)), local = try injection.trajectory.state(at: e), earth = try bodyState(0,e)
+    try append(CartesianState(epoch: e,frame: heliocentric,position: earth.position+local.position,velocity: earth.velocity+local.velocity),phase)
+}
+struct LegReport: Encodable { let from,to,departureUTC,arrivalUTC: String; let days,endpointResidualMetres: Double }
+var reports: [LegReport] = []
+for i in 0..<4 {
+    let leg = selected.legs[i], coast = try leg.trajectory(), duration = try leg.arrivalState.epoch.duration(since: leg.departureState.epoch).seconds
+    let epochs = try (0...48).map { k in
+        k == 48 ? leg.arrivalState.epoch : try leg.departureState.epoch.advanced(by: CelMek.Duration(seconds: duration*Double(k)/48))
+    }
+    for state in try TrajectorySampler.sample(coast,at: epochs) { try append(state,"Lambert coast \(i+1)") }
+    reports.append(LegReport(from: i == 0 ? "Earth" : names[i-1],to: names[i],departureUTC: try label(leg.departureState.epoch),
+        arrivalUTC: try label(leg.arrivalState.epoch),days: duration/86400,
+        endpointResidualMetres: norm(try coast.state(at: leg.arrivalState.epoch).position-leg.arrivalState.position)))
+}
+struct FlybyReport: Encodable {
+    let body,utc: String
+    let incomingExcessKilometresPerSecond,requestedSpeedMismatchMetresPerSecond,connectorVelocityResidualMetresPerSecond: Double
+    let requestedTurnDegrees,achievedTurnDegrees,periapsisAltitudeKilometres: Double
+    let referenceDateOffsetDays: Double
+}
+let encounters = try allFlybys.enumerated().map { i,f in
+    FlybyReport(body: names[i],utc: try label(f.result.request.periapsisEpoch),incomingExcessKilometresPerSecond: f.result.excessSpeedMetresPerSecond/1000,
+        requestedSpeedMismatchMetresPerSecond: f.speedMismatch,connectorVelocityResidualMetresPerSecond: f.residual,
+        requestedTurnDegrees: f.requestedTurn*180 / .pi,achievedTurnDegrees: f.result.turningAngleRadians*180 / .pi,
+        periapsisAltitudeKilometres: f.result.periapsisAltitudeMetres/1000,
+        referenceDateOffsetDays: try f.result.request.periapsisEpoch.duration(since: anchors[i]).seconds/86400)
+}
+// Local flyby samples are separate views; they are not silently substituted into Lambert legs.
+for (i,f) in allFlybys.enumerated() {
+    for seconds in [-21600.0,-10800,0,10800,21600] {
+        let e = try f.result.request.periapsisEpoch.advanced(by: CelMek.Duration(seconds: seconds))
+        let local = try f.result.trajectory.state(at: e), planet = try bodyState(i+1,e)
+        try append(CartesianState(epoch: e,frame: heliocentric,position: planet.position+local.position,velocity: planet.velocity+local.velocity),"local \(names[i]) flyby")
+    }
+}
+// Playback selects a bounded coast explicitly; exact patch epochs use the following leg.
+let playbackCoasts = try selected.legs.map { try $0.trajectory() }
+@MainActor
+func spacecraft(at epoch: Epoch) throws -> CartesianState {
+    guard epoch >= launch, epoch <= lastCentre.epoch else { throw LambertTransferPlanningError.outsideFlight }
+    for i in 0..<4 where epoch < selected.legs[i].arrivalState.epoch || i == 3 {
+        return try playbackCoasts[i].state(at: epoch)
+    }
+    throw LambertTransferPlanningError.outsideFlight
+}
+struct Playback: Encodable {
+    let mode,utc: String
+    let simulationSecondsFromLaunch,simulationSecondsPerRealSecond: Double
+    let isPaused: Bool
+    let spacecraftPositionMetres: [Double]
+    let prescribedPlanetPositionsMetres: [[Double]]
+    let spacecraftCentredPlanetPositionsRenderUnits: [[Float]]
+    let predictionUTC: String?
+    let predictedSpacecraftPositionMetres: [Double]?
+}
+var clock = try SimulationClock(epoch: launch,rate: 365*86400,coverage: launch...lastCentre.epoch)
+var playback: [Playback] = []
+@MainActor
+func capture(_ mode: String) throws {
+    let epoch = clock.epoch, remaining = try lastCentre.epoch.duration(since: epoch)
+    let lookAhead = try CelMek.Duration(seconds: 30*86400)
+    let future = remaining >= lookAhead ? try clock.prediction(after: lookAhead) : nil
+    let renderAdapter = try RendererAdapter(origin: spacecraft(at: epoch), metresPerRenderUnit: 1e9)
+    let renderPlanets = try (0..<5).map { index in
+        let position = try renderAdapter.adapt(bodyState(index,epoch)).position
+        return [position.x,position.y,position.z]
+    }
+    playback.append(Playback(mode: mode,utc: try label(epoch),simulationSecondsFromLaunch: try epoch.duration(since: launch).seconds,
+        simulationSecondsPerRealSecond: clock.rate,isPaused: clock.isPaused,spacecraftPositionMetres: array(try spacecraft(at: epoch).position),
+        prescribedPlanetPositionsMetres: try (0..<5).map { array(try bodyState($0,epoch).position) },
+        spacecraftCentredPlanetPositionsRenderUnits: renderPlanets,
+        predictionUTC: try future.map(label),predictedSpacecraftPositionMetres: try future.map { array(try spacecraft(at: $0).position) }))
+}
+try capture("start")
+for _ in 0..<12 { try clock.advance(realDuration: CelMek.Duration(seconds: 1)); try capture("forward warp") }
+clock.setPaused(true); try clock.advance(realDuration: CelMek.Duration(seconds: 100)); try capture("paused")
+try clock.setRate(-365*86400); clock.setPaused(false)
+try clock.advance(realDuration: CelMek.Duration(seconds: 1)); try capture("reverse warp")
+try clock.seek(to: selected.legs[0].arrivalState.epoch); try capture("seek Jupiter patch")
+
+struct Output: Encodable {
+    let model,axes,nativeEphemerisAxes,referenceURL: String
+    let flightDays,referenceFlightDays,flightTimeDifferenceDays,injectionDeltaVelocityMetresPerSecond,departureC3SquareKilometresPerSquareSecond: Double
+    let searchedCandidates: Int
+    let isContinuousMissionTrajectory: Bool
+    let assumptions: [String]
+    let legs: [LegReport]; let flybys: [FlybyReport]; let samples: [Sample]; let playback: [Playback]
+}
+let output = Output(model: "Voyager 2 inspired bounded-date Lambert / unpowered flyby diagnostic",axes: heliocentric.name,
+    nativeEphemerisAxes: ephemerides[0].frame.name,referenceURL: "https://science.nasa.gov/mission/voyager/fact-sheet/",
+    flightDays: try lastCentre.epoch.duration(since: launch).seconds/86400,
+    referenceFlightDays: try anchors[3].duration(since: launch).seconds/86400,
+    flightTimeDifferenceDays: try lastCentre.epoch.duration(since: anchors[3]).seconds/86400,
+    injectionDeltaVelocityMetresPerSecond: selected.escape.deltaVelocityMetresPerSecond,
+    departureC3SquareKilometresPerSquareSecond: selected.escape.characteristicEnergySquareMetresPerSquareSecond/1e6,
+    searchedCandidates: 81,isContinuousMissionTrajectory: false,
+    assumptions: ["Encounter reference dates use noon UTC, not exact closest-approach times.",
+        "Search uses -30/0/+30 days around each historical date; timing agreement is constrained, not a free prediction.",
+        "Full VSOP87E positions; system barycentres approximate outer planet centres for local spherical flybys.",
+        "Zero-revolution prograde solar two-body Lambert legs; no planetary perturbations during coasts.",
+        "200 km circular parking orbit is illustrative; no launch vehicle ascent or historical fuel model.",
+        "Rank by injection delta-v plus connector velocity residuals. Residuals are unresolved asymptotic mismatches, not implemented burns.",
+        "Independent local flyby arcs and Earth escape are not finitely patched to coasts; their positions and velocities can differ at transitions.",
+        "Neptune departure is a chosen out-of-plane local flyby, not a reconstructed interstellar trajectory."],
+    legs: reports,flybys: encounters,samples: samples,playback: playback)
+let encoder = JSONEncoder(); encoder.outputFormatting = [.prettyPrinted,.sortedKeys]
+print(String(decoding: try encoder.encode(output),as: UTF8.self))
diff --git a/Experiments/MPCCulling/Catalog.swift b/Experiments/MPCCulling/Catalog.swift
new file mode 100644
index 0000000..32da229
--- /dev/null
+++ b/Experiments/MPCCulling/Catalog.swift
@@ -0,0 +1,132 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import CelMek
+import Math
+
+let au = 149_597_870_700.0
+// Explicit experimental Newtonian convention, not a precision ephemeris.
+let solarMu = 1.32712440018e20
+let catalogFrame = Frame(name: "MPC heliocentric ecliptic J2000 experiment", pseudoInertial: true)
+let catalogGM = try! GravitationalParameter(cubicMetresPerSecondSquared: solarMu, convention: .newtonian,
+    provenance: PhysicalDataProvenance(source: "Experimental nominal solar GM", version: "1"))
+enum ExperimentError: Error { case malformed(String), invalidQuery, outsideIndexWindow }
+
+func calendarEpoch(_ year: Int, _ month: Int, _ day: Double) throws -> Epoch {
+    guard (1...9999).contains(year), (1...12).contains(month), day.isFinite else {
+        throw ExperimentError.malformed("calendar date")
+    }
+    let leap = year % 4 == 0 && (year % 100 != 0 || year % 400 == 0)
+    let days = [31, leap ? 29 : 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31]
+    guard day >= 1, day < Double(days[month - 1] + 1) else {
+        throw ExperimentError.malformed("calendar date")
+    }
+    let y = month <= 2 ? year - 1 : year
+    let m = month <= 2 ? month + 12 : month
+    let a = floor(Double(y) / 100)
+    let jd = floor(365.25 * Double(y + 4716)) + floor(30.6001 * Double(m + 1)) + day + 2 - a + floor(a / 4) - 1524.5
+    return try Epoch(julianDate: jd, scale: .tt)
+}
+func packedEpoch(_ value: String) throws -> Epoch {
+    let chars = Array(value.utf8)
+    func digit(_ c: UInt8) throws -> Int {
+        if (48...57).contains(c) { return Int(c - 48) }
+        if (65...90).contains(c) { return Int(c - 65) + 10 }
+        throw ExperimentError.malformed("packed epoch \(value)")
+    }
+    guard chars.count == 5 else { throw ExperimentError.malformed("packed epoch \(value)") }
+    return try calendarEpoch(digit(chars[0]) * 100 + digit(chars[1]) * 10 + digit(chars[2]),
+                             digit(chars[3]), Double(digit(chars[4])))
+}
+struct OrbitRecord {
+    let id: String
+    let elementEpoch: Epoch? // Comets can omit this; perihelion time remains available.
+    let orbit: TwoBodyPropagator
+    let perihelion: Double
+    let aphelion: Double
+    let maximumSpeed: Double
+    init(id: String, epoch: Epoch, elementEpoch: Epoch?, q: Double, e: Double,
+         inclination: Double, node: Double, peri: Double, anomaly: Double) throws {
+        let elements = try OsculatingOrbitalElements(epoch: epoch, frame: catalogFrame, centralBody: .sun,
+            gravitationalParameter: catalogGM, semiLatusRectumMetres: q * (1 + e), eccentricity: e,
+            inclination: inclination, longitudeOfAscendingNode: node, argumentOfPeriapsis: peri, trueAnomaly: anomaly)
+        self.id = id; self.elementEpoch = elementEpoch
+        orbit = try TwoBodyPropagator(initialState: elements.cartesianState(), centralBody: .sun, gravitationalParameter: catalogGM)
+        perihelion = q; aphelion = e < 1 ? q * (1 + e) / (1 - e) : .infinity
+        maximumSpeed = sqrt(solarMu / q * (1 + e))
+    }
+}
+
+// Bounded-buffer line reader: never creates a String for the entire MPCORB file.
+func readLines(_ url: URL, consume: (String, Int) throws -> Void) throws {
+    let file = try FileHandle(forReadingFrom: url)
+    defer { try? file.close() }
+    var pending = Data(), number = 0
+    while let chunk = try file.read(upToCount: 1 << 20), !chunk.isEmpty {
+        pending.append(chunk)
+        var start = pending.startIndex
+        while let end = pending[start...].firstIndex(of: 10) {
+            number += 1
+            try consume(String(decoding: pending[start..<end], as: UTF8.self), number)
+            start = end + 1
+        }
+        pending = Data(pending[start...])
+    }
+    if !pending.isEmpty { try consume(String(decoding: pending, as: UTF8.self), number + 1) }
+}
+func loadAsteroids(_ url: URL, limit: Int?) throws -> [OrbitRecord] {
+    var records = [OrbitRecord](), inData = false
+    let radians = Double.pi / 180
+    try readLines(url) { line, number in
+        if !inData { if line.hasPrefix("----------") { inData = true }; return }
+        if line.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty { return }
+        if let limit, records.count >= limit { return }
+        let bytes = Array(line.utf8)
+        guard bytes.count >= 103 else { throw ExperimentError.malformed("MPCORB line \(number): short record") }
+        func field(_ lo: Int, _ hi: Int) -> String {
+            String(decoding: bytes[(lo-1)..<hi], as: UTF8.self).trimmingCharacters(in: .whitespaces)
+        }
+        func numeric(_ lo: Int, _ hi: Int) throws -> Double {
+            guard let x = Double(field(lo, hi)), x.isFinite else { throw ExperimentError.malformed("MPCORB line \(number), columns \(lo)-\(hi)") }
+            return x
+        }
+        let epoch = try packedEpoch(field(21, 25))
+        let e = try numeric(71, 79), a = try numeric(93, 103) * au
+        guard a > 0, e >= 0, e < 1 else { throw ExperimentError.malformed("unsupported asteroid conic at line \(number)") }
+        let anomaly = try ConicAnomaly.from(meanAnomaly: numeric(27, 35) * radians, eccentricity: e).trueAnomaly(eccentricity: e)
+        records.append(try OrbitRecord(id: "mpc:asteroid:" + field(1, 7), epoch: epoch, elementEpoch: epoch,
+            q: a * (1 - e), e: e, inclination: numeric(60, 68) * radians,
+            node: numeric(49, 57) * radians, peri: numeric(38, 46) * radians, anomaly: anomaly))
+    }
+    guard inData else { throw ExperimentError.malformed("missing MPCORB header separator") }
+    return records
+}
+struct CometInput: Decodable {
+    let Orbit_type: String
+    let Designation_and_name: String
+    let Comet_num: Int?
+    let Provisional_packed_desig: String?
+    let Year_of_perihelion: Int, Month_of_perihelion: Int
+    let Day_of_perihelion: Double
+    let Perihelion_dist: Double, e: Double, Peri: Double, Node: Double, i: Double
+    let Epoch_year: Int?, Epoch_month: Int?, Epoch_day: Int?
+}
+func loadComets(_ url: URL) throws -> [OrbitRecord] {
+    try JSONDecoder().decode([CometInput].self, from: Data(contentsOf: url)).map { c in
+        guard let designation = c.Comet_num.flatMap({ _ in c.Designation_and_name.split(separator: "/").first.map(String.init) }) ?? c.Provisional_packed_desig else {
+            throw ExperimentError.malformed("comet without designation")
+        }
+        let epoch = try calendarEpoch(c.Year_of_perihelion, c.Month_of_perihelion, c.Day_of_perihelion)
+        let elementEpoch: Epoch?
+        if let y = c.Epoch_year, let m = c.Epoch_month, let d = c.Epoch_day {
+            elementEpoch = try calendarEpoch(y, m, Double(d))
+        } else {
+            guard c.Epoch_year == nil, c.Epoch_month == nil, c.Epoch_day == nil else {
+                throw ExperimentError.malformed("partial comet element epoch")
+            }
+            elementEpoch = nil
+        }
+        return try OrbitRecord(id: "mpc:comet:" + c.Orbit_type + ":" + designation,
+            epoch: epoch, elementEpoch: elementEpoch, q: c.Perihelion_dist * au, e: c.e,
+            inclination: c.i * .pi / 180, node: c.Node * .pi / 180, peri: c.Peri * .pi / 180, anomaly: 0)
+    }
+}
diff --git a/Experiments/MPCCulling/Checks.swift b/Experiments/MPCCulling/Checks.swift
new file mode 100644
index 0000000..717e336
--- /dev/null
+++ b/Experiments/MPCCulling/Checks.swift
@@ -0,0 +1,31 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import CelMek
+
+func checkSyntheticCases() throws {
+    guard try packedEpoch("K2669") == calendarEpoch(2026, 6, 9) else { throw ExperimentError.malformed("packed epoch check") }
+    let records = try [0.0, 0.8, 0.999999, 1.0, 1.2].enumerated().map { i, e in
+        try OrbitRecord(id: "synthetic:\(i)", epoch: .j2000, elementEpoch: .j2000,
+                        q: au * 0.1, e: e, inclination: 0.3, node: 0.4, peri: 0.5, anomaly: 0)
+    }
+    let index = try CullingIndex(records: records, epoch: .j2000, halfWindowSeconds: 86400, cellWidth: 0.01 * au)
+    for seconds in [-86400.0, -43200, 0, 43200, 86400] {
+        let epoch = try Epoch.j2000.advanced(by: CelMek.Duration(seconds: seconds))
+        for record in records {
+            let position = try record.orbit.state(at: epoch).position
+            // Zero-radius queries exactly on a body exercise cell crossings and closed bounds.
+            for radius in [0.0, 0.01 * au, au] {
+                let oracle = try matches(records, indices: Array(records.indices), observer: position, radius: radius, epoch: epoch)
+                for spatial in [false, true] {
+                    let candidates = try index.candidates(observer: position, radius: radius, epoch: epoch, spatial: spatial)
+                    guard oracle.isSubset(of: Set(candidates)) else { throw ExperimentError.malformed("synthetic false negative") }
+                }
+            }
+        }
+    }
+    do {
+        _ = try index.candidates(observer: .zero, radius: -1, epoch: .j2000, spatial: true)
+        throw ExperimentError.malformed("negative radius accepted")
+    } catch ExperimentError.invalidQuery {}
+    print("Synthetic circular/eccentric/near-parabolic/parabolic/hyperbolic checks PASS")
+}
diff --git a/Experiments/MPCCulling/Index.swift b/Experiments/MPCCulling/Index.swift
new file mode 100644
index 0000000..8d52ddb
--- /dev/null
+++ b/Experiments/MPCCulling/Index.swift
@@ -0,0 +1,79 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import CelMek
+
+struct Cell: Hashable { let x, y, z: Int }
+struct Bounds {
+    var low = SIMD3<Double>(repeating: .infinity)
+    var high = SIMD3<Double>(repeating: -.infinity)
+    mutating func include(_ p: SIMD3<Double>, padding: Double) {
+        for axis in 0..<3 { low[axis] = min(low[axis], p[axis] - padding); high[axis] = max(high[axis], p[axis] + padding) }
+    }
+    func intersects(_ p: SIMD3<Double>, radius: Double) -> Bool {
+        var squared = 0.0
+        for axis in 0..<3 {
+            let d = max(low[axis] - p[axis], max(0, p[axis] - high[axis]))
+            squared += d * d
+        }
+        return squared <= radius * radius
+    }
+}
+struct Bucket {
+    var indices = [Int]()
+    var bounds = Bounds()
+    var radialLow = Double.infinity, radialHigh = -Double.infinity
+}
+struct CullingIndex {
+    let centerEpoch: Epoch
+    let halfWindowSeconds: Double
+    let buckets: [Bucket]
+    let radialBounds: [(Double, Double)]
+    init(records: [OrbitRecord], epoch: Epoch, halfWindowSeconds: Double, cellWidth: Double) throws {
+        guard halfWindowSeconds.isFinite, halfWindowSeconds >= 0, cellWidth.isFinite, cellWidth > 0 else { throw ExperimentError.invalidQuery }
+        centerEpoch = epoch; self.halfWindowSeconds = halfWindowSeconds
+        var cells = [Cell: Bucket](), radial = [(Double, Double)]()
+        radial.reserveCapacity(records.count)
+        for (index, record) in records.enumerated() {
+            let position = try record.orbit.state(at: epoch).position
+            // Perihelion speed is a global speed bound for elliptic, parabolic and hyperbolic two-body motion.
+            // Numerical guard is experimental, not a certified floating-point error bound.
+            let padding = record.maximumSpeed * halfWindowSeconds + 1000 + norm(position) * 1e-12
+            let r = norm(position)
+            let lower = max(0, max(min(record.perihelion, r) - 1000, r - padding))
+            let upper = min(max(record.aphelion, r) + 1000, r + padding)
+            radial.append((lower, upper))
+            let coordinates = (0..<3).map { floor(position[$0] / cellWidth) }
+            guard coordinates.allSatisfy({ $0.isFinite && $0 > Double(Int.min) && $0 < Double(Int.max) }) else { throw ExperimentError.invalidQuery }
+            let cell = Cell(x: Int(coordinates[0]), y: Int(coordinates[1]), z: Int(coordinates[2]))
+            // Mutate through Dictionary's default subscript to avoid copying the bucket's array on every insertion.
+            cells[cell, default: Bucket()].indices.append(index)
+            cells[cell, default: Bucket()].bounds.include(position, padding: padding)
+            cells[cell, default: Bucket()].radialLow = min(cells[cell]!.radialLow, lower)
+            cells[cell, default: Bucket()].radialHigh = max(cells[cell]!.radialHigh, upper)
+        }
+        buckets = Array(cells.values); radialBounds = radial
+    }
+    func candidates(observer: SIMD3<Double>, radius: Double, epoch: Epoch, spatial: Bool) throws -> [Int] {
+        guard radius.isFinite, radius >= 0, (0..<3).allSatisfy({ observer[$0].isFinite }) else { throw ExperimentError.invalidQuery }
+        guard abs(try epoch.duration(since: centerEpoch).seconds) <= halfWindowSeconds else { throw ExperimentError.outsideIndexWindow }
+        let r = norm(observer), low = max(0, r - radius), high = r + radius
+        var selected = [Int]()
+        for bucket in buckets {
+            guard bucket.radialLow <= high, bucket.radialHigh >= low else { continue }
+            if spatial && !bucket.bounds.intersects(observer, radius: radius) { continue }
+            for i in bucket.indices {
+                let bounds = radialBounds[i]
+                if bounds.0 <= high && bounds.1 >= low { selected.append(i) }
+            }
+        }
+        return selected
+    }
+}
+func norm(_ p: SIMD3<Double>) -> Double { hypot(hypot(p.x, p.y), p.z) }
+func matches(_ records: [OrbitRecord], indices: [Int], observer: SIMD3<Double>, radius: Double, epoch: Epoch) throws -> Set<Int> {
+    var result = Set<Int>()
+    for i in indices {
+        if norm(try records[i].orbit.state(at: epoch).position - observer) <= radius { result.insert(i) }
+    }
+    return result
+}
diff --git a/Experiments/MPCCulling/README.md b/Experiments/MPCCulling/README.md
new file mode 100644
index 0000000..b1b626a
--- /dev/null
+++ b/Experiments/MPCCulling/README.md
@@ -0,0 +1,62 @@
+# MPC culling experiment
+
+Run from the repository root:
+
+```sh
+swift run -c release MPCCullingExperiment
+swift run -c release MPCCullingExperiment --limit 10000
+```
+
+Options: `--data Data/MPC`, `--half-window-days 1`, `--cell-au 0.25`.
+`--limit` limits asteroids only (the text reader still scans the file); all comets are included.
+Requires the caller-supplied MPCORB.DAT and cometels.json, which are not packaged as library resources.
+
+This standalone experiment streams fixed-width asteroid records and decodes comet JSON.
+It prepares Newtonian Sun-centered two-body propagators in ecliptic J2000 axes.
+Asteroids start at their packed TT element epoch; comets start at perihelion, retaining
+optional element epochs separately. Dates are interpreted as TT for this experiment.
+It does not include planetary perturbations or comet nongravitational forces and is
+not a precision replacement for MPC/JPL ephemerides. No source GM/time-scale conversion
+is asserted. Names, photometry and full source metadata are not yet imported.
+
+The index groups positions at a center epoch into Cartesian grid cells. Bounds are
+expanded by perihelion speed times the half-window duration, plus a numerical guard.
+This global two-body speed bound covers motion throughout the window, including
+hyperbolic and parabolic orbits, without relying on endpoint samples. Per-body radial
+bounds intersect swept-radius bounds with whole-orbit perihelion/aphelion bounds.
+Queries scan cell radial bounds, optionally reject sphere/AABB nonintersection, then
+filter individual radial intervals before evaluating selected states. Spatial indexing
+therefore avoids propagation per query but requires one full pass when rebuilt.
+Cell scans are linear in occupied cells; this is a baseline for a future BVH.
+
+The benchmark reports load/preparation, build, selection and evaluation separately.
+Four sphere queries at both window endpoints and its center are checked against
+brute-force exact queries. It also checks stale-index rejection. All geometric
+coordinates and query radii use metres in the same heliocentric axes.
+Bounds are conservative for the chosen ideal two-body model; the floating-point
+padding is pragmatic and not a formally certified error bound. Wide windows or
+small-perihelion comets loosen bounds. Bodies are not truncated or silently skipped
+on loader/evaluator failures. Rebuild after jumps outside the window.
+
+Source data credit: Minor Planet Center. Preserve the complete MPCORB header,
+per-record references and orbit-computer attribution when redistributing source or
+derived datasets. Update information is in Data/MPC/MPCORB.DAT's header. This
+experiment does not write or redistribute a compiled dataset.
+
+## Preliminary full-catalog measurement
+
+2026-10-13, local arm64 release executable, after compilation completed.
+These are indicative single-run measurements, not repeated benchmark medians.
+The full transcript is in `results/full-catalog.txt` (timings recorded to microseconds).
+
+- 1,574,501 records; asteroid load/preparation 6.014 s, comet load/preparation 0.008 s.
+- One-day half-window, 0.25 AU cells: 25,832 occupied cells; build 2.977 s.
+- Full evaluation oracle: 2.403–2.643 s per sphere query (includes distance checks/output collection).
+- Belt probe at (2.7, 0, 0) AU with radius 0.1 AU: 294,308 radial candidates,
+  5,276 spatial candidates, 535 exact hits at center epoch. Spatial candidate
+  evaluation took 0.021 s at center epoch and 0.009–0.021 s across the three epochs.
+- All 12 full-catalog queries matched brute force; synthetic cases and stale-index rejection passed.
+
+This baseline deliberately uses prepared existing propagators per record, rather
+than the eventual compact structure-of-arrays catalog. It measures the existing
+solver and prioritizes verifying culling correctness before memory optimization.
diff --git a/Experiments/MPCCulling/main.swift b/Experiments/MPCCulling/main.swift
new file mode 100644
index 0000000..1723cf3
--- /dev/null
+++ b/Experiments/MPCCulling/main.swift
@@ -0,0 +1,61 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import CelMek
+
+func timed<T>(_ name: String, _ body: () throws -> T) rethrows -> T {
+    let start = DispatchTime.now().uptimeNanoseconds
+    let result = try body()
+    print(String(format: "%@: %.6f s", name, Double(DispatchTime.now().uptimeNanoseconds - start) / 1e9))
+    return result
+}
+let args = Array(CommandLine.arguments.dropFirst())
+func argument(_ key: String, default fallback: String) -> String {
+    guard let i = args.firstIndex(of: key), i + 1 < args.count else { return fallback }
+    return args[i + 1]
+}
+do {
+    try checkSyntheticCases()
+    let root = URL(fileURLWithPath: argument("--data", default: "Data/MPC"))
+    let limit: Int?
+    if args.contains("--limit") {
+        guard let n = Int(argument("--limit", default: "")), n > 0 else { throw ExperimentError.invalidQuery }; limit = n
+    } else { limit = nil }
+    guard let halfDays = Double(argument("--half-window-days", default: "1")),
+          let cellAU = Double(argument("--cell-au", default: "0.25")),
+          halfDays >= 0, halfDays.isFinite, cellAU > 0, cellAU.isFinite else { throw ExperimentError.invalidQuery }
+    let records = try timed("Load/prepare asteroids") { try loadAsteroids(root.appendingPathComponent("MPCORB.DAT"), limit: limit) }
+        + timed("Load/prepare comets") { try loadComets(root.appendingPathComponent("cometels.json")) }
+    guard Set(records.map(\.id)).count == records.count else { throw ExperimentError.malformed("duplicate identities") }
+    print("Records: \(records.count); missing element epochs: \(records.filter { $0.elementEpoch == nil }.count)")
+    let epoch = try calendarEpoch(2026, 10, 13)
+    let index = try timed("Build swept radial/spatial index (includes full evaluation)") {
+        try CullingIndex(records: records, epoch: epoch, halfWindowSeconds: halfDays * 86400, cellWidth: cellAU * au)
+    }
+    print("Cells: \(index.buckets.count); half-window: \(halfDays) days; cell width: \(cellAU) AU")
+    // Fixed locations in the index's heliocentric ecliptic axes; these are query probes, not planet states.
+    let probes: [(String, SIMD3<Double>, Double)] = [
+        ("inner", SIMD3(1, 0, 0) * au, 0.1 * au),
+        ("belt", SIMD3(2.7, 0, 0) * au, 0.1 * au),
+        ("Jupiter distance", SIMD3(5.2, 0, 0) * au, 0.25 * au),
+        ("outer", SIMD3(40, 0, 0) * au, au)]
+    for offset in [-halfDays, 0, halfDays] {
+        let queryEpoch = try epoch.advanced(by: CelMek.Duration(seconds: offset * 86400))
+        for (name, observer, radius) in probes {
+            print("Query \(name), offset \(offset) days")
+            let radial = try timed("  Radial selection") { try index.candidates(observer: observer, radius: radius, epoch: queryEpoch, spatial: false) }
+            let spatial = try timed("  Radial + spatial selection") { try index.candidates(observer: observer, radius: radius, epoch: queryEpoch, spatial: true) }
+            let hits = try timed("  Evaluate spatial candidates") { try matches(records, indices: spatial, observer: observer, radius: radius, epoch: queryEpoch) }
+            let oracle = try timed("  Full evaluation oracle") { try matches(records, indices: Array(records.indices), observer: observer, radius: radius, epoch: queryEpoch) }
+            guard hits == oracle, oracle.isSubset(of: Set(radial)) else { throw ExperimentError.malformed("culling missed bodies") }
+            print("  Candidates radial=\(radial.count), spatial=\(spatial.count), exact=\(hits.count); oracle PASS")
+        }
+    }
+    let outside = try epoch.advanced(by: CelMek.Duration(seconds: halfDays * 86400 + 1))
+    do {
+        _ = try index.candidates(observer: .zero, radius: au, epoch: outside, spatial: true)
+        throw ExperimentError.malformed("stale index accepted")
+    } catch ExperimentError.outsideIndexWindow { print("Stale-index rejection PASS") }
+} catch {
+    FileHandle.standardError.write(Data("MPCCullingExperiment: \(error)\n".utf8))
+    exit(1)
+}
diff --git a/Experiments/MPCCulling/results/full-catalog.txt b/Experiments/MPCCulling/results/full-catalog.txt
new file mode 100644
index 0000000..066d51c
--- /dev/null
+++ b/Experiments/MPCCulling/results/full-catalog.txt
@@ -0,0 +1,79 @@
+Synthetic circular/eccentric/near-parabolic/parabolic/hyperbolic checks PASS
+Load/prepare asteroids: 6.013611 s
+Load/prepare comets: 0.007549 s
+Records: 1574501; missing element epochs: 5
+Build swept radial/spatial index (includes full evaluation): 2.977311 s
+Cells: 25832; half-window: 1.0 days; cell width: 0.25 AU
+Query inner, offset -1.0 days
+  Radial selection: 0.000222 s
+  Radial + spatial selection: 0.000033 s
+  Evaluate spatial candidates: 0.001007 s
+  Full evaluation oracle: 2.412656 s
+  Candidates radial=6422, spatial=496, exact=74; oracle PASS
+Query belt, offset -1.0 days
+  Radial selection: 0.006130 s
+  Radial + spatial selection: 0.000152 s
+  Evaluate spatial candidates: 0.009077 s
+  Full evaluation oracle: 2.416895 s
+  Candidates radial=294308, spatial=5276, exact=543; oracle PASS
+Query Jupiter distance, offset -1.0 days
+  Radial selection: 0.000363 s
+  Radial + spatial selection: 0.000059 s
+  Evaluate spatial candidates: 0.000003 s
+  Full evaluation oracle: 2.408638 s
+  Candidates radial=11412, spatial=1, exact=0; oracle PASS
+Query outer, offset -1.0 days
+  Radial selection: 0.000131 s
+  Radial + spatial selection: 0.000038 s
+  Evaluate spatial candidates: 0.000005 s
+  Full evaluation oracle: 2.642510 s
+  Candidates radial=1044, spatial=1, exact=1; oracle PASS
+Query inner, offset 0.0 days
+  Radial selection: 0.003728 s
+  Radial + spatial selection: 0.000047 s
+  Evaluate spatial candidates: 0.001135 s
+  Full evaluation oracle: 2.550600 s
+  Candidates radial=6422, spatial=496, exact=84; oracle PASS
+Query belt, offset 0.0 days
+  Radial selection: 0.018802 s
+  Radial + spatial selection: 0.000324 s
+  Evaluate spatial candidates: 0.020513 s
+  Full evaluation oracle: 2.533168 s
+  Candidates radial=294308, spatial=5276, exact=535; oracle PASS
+Query Jupiter distance, offset 0.0 days
+  Radial selection: 0.000940 s
+  Radial + spatial selection: 0.000059 s
+  Evaluate spatial candidates: 0.000003 s
+  Full evaluation oracle: 2.443741 s
+  Candidates radial=11412, spatial=1, exact=0; oracle PASS
+Query outer, offset 0.0 days
+  Radial selection: 0.000111 s
+  Radial + spatial selection: 0.000037 s
+  Evaluate spatial candidates: 0.000003 s
+  Full evaluation oracle: 2.413231 s
+  Candidates radial=1044, spatial=1, exact=1; oracle PASS
+Query inner, offset 1.0 days
+  Radial selection: 0.000275 s
+  Radial + spatial selection: 0.000034 s
+  Evaluate spatial candidates: 0.001022 s
+  Full evaluation oracle: 2.411541 s
+  Candidates radial=6422, spatial=496, exact=89; oracle PASS
+Query belt, offset 1.0 days
+  Radial selection: 0.008174 s
+  Radial + spatial selection: 0.000155 s
+  Evaluate spatial candidates: 0.009183 s
+  Full evaluation oracle: 2.411376 s
+  Candidates radial=294308, spatial=5276, exact=522; oracle PASS
+Query Jupiter distance, offset 1.0 days
+  Radial selection: 0.000419 s
+  Radial + spatial selection: 0.000059 s
+  Evaluate spatial candidates: 0.000003 s
+  Full evaluation oracle: 2.402999 s
+  Candidates radial=11412, spatial=1, exact=0; oracle PASS
+Query outer, offset 1.0 days
+  Radial selection: 0.000147 s
+  Radial + spatial selection: 0.000039 s
+  Evaluate spatial candidates: 0.000004 s
+  Full evaluation oracle: 2.405266 s
+  Candidates radial=1044, spatial=1, exact=1; oracle PASS
+Stale-index rejection PASS
diff --git a/MODULES.md b/MODULES.md
new file mode 100644
index 0000000..b4c66b6
--- /dev/null
+++ b/MODULES.md
@@ -0,0 +1,125 @@
+# Module boundaries
+
+The package is `swift-physics`. Seven public modules share physical contracts
+without importing vehicle systems or rendering. There are no compatibility
+re-exports or old aerodynamic names for the shared fluid APIs.
+
+## Package products and imports
+
+| SwiftPM product | Module dependencies |
+| --- | --- |
+| `FluidDynamics` | None |
+| `Hydrodynamics` | `FluidDynamics` |
+| `Aerodynamics` | `FluidDynamics`, `Atmospheres`, `Yams` |
+| `CelMek` | `Math`, `ERFASwift` (internal), `Atmospheres`, `MagneticFields`, `FluidDynamics` |
+| `Math` | None |
+| `Atmospheres` | None |
+| `MagneticFields` | None |
+| `Physics` | Bundles all seven module targets |
+
+`Physics` is a product name, not a module. Import each module whose APIs are used;
+importing Aerodynamics does not re-export FluidDynamics or Atmospheres. A consumer
+using hull and sail models imports Hydrodynamics, Aerodynamics and FluidDynamics.
+CelMek's `FluidWrench` accepts shared loads without linking Aerodynamics or Yams.
+SwiftPM still resolves package-level dependencies independently of product selection.
+
+For a local development dependency:
+
+```swift
+.package(path: "/path/to/swift-celmek")
+// Target dependencies; the package identity here follows the local folder name.
+.product(name: "CelMek", package: "swift-celmek"),
+.product(name: "FluidDynamics", package: "swift-celmek"),
+.product(name: "Hydrodynamics", package: "swift-celmek")
+```
+
+## Responsibilities and dependency direction
+
+**Math** owns general numerical and geometric operations: quaternions, matrices,
+coordinate representations, angle utilities, and the existing frame identity/parent
+primitive. It does not depend on CelMek or Aerodynamics. Astronomical frame names,
+epochs, units of physical state, ephemerides, and orientation models belong above it.
+Existing astronomical coordinate structs and the legacy `Transformation` remain
+here for compatibility; that is not a requirement to place new astronomy models here.
+
+**ERFASwift** is an internal target, with no standalone product or public API.
+It isolates the ERFA-derived Earth-orientation and full Fairhead TDB routines and
+tables under their BSD terms, retained in `Sources/ERFASwift/LICENSE.txt`.
+It depends only on Math; CelMek adapts epochs, coverage, frames, and errors at the
+boundary using package-scoped entry points.
+
+**CelMek** owns astronomical time, shared physical states and conventions, the frame
+tree and epoch-dependent transforms, celestial properties, orientations, ephemerides,
+and orbital mechanics. New force, propagation and attitude interfaces initially live
+here because they share epochs, states and frames. Keep the following conceptual
+layers within the module rather than immediately introducing more targets:
+
+| Layer | Responsibilities / allowed dependencies |
+| --- | --- |
+| Time | Epochs, durations, time-scale and calendar adapters, injected time data; independent of body catalogues and dynamics. |
+| State and frames | SI Cartesian states, provider interfaces, frame composition and named physical frames; depends on time and Math. |
+| Bodies and models | Body identities/properties, ephemeris and orientation implementations, coefficient/file evaluation; uses shared states and frames. |
+| Orbits and dynamics | Propagators, force/torque interfaces, trajectories and maneuvers; consumes prescribed models through interfaces. |
+| Data adapters | Parsers/loaders and storage; produce validated model/provider data with coverage and provenance. |
+
+These are development boundaries, not separately importable submodules. Provider
+interfaces may reference shared types without depending on concrete implementations.
+For example, a third-body force should consume an ephemeris interface; it should not
+require a particular DE reader or analytic series. Ephemerides must not depend on the
+spacecraft integrator. Frames consume origin/orientation providers without owning a
+simulation clock. Data loading remains separate from evaluating a provider.
+
+**Atmospheres** owns atmospheric profiles, body lookup, units and coverage. It is a
+dependency-free target exposed through the `Atmospheres` product.
+
+**MagneticFields** owns magnetic-field queries, vectors, coverage, provenance,
+dipole models and nominal body-centre lookup. It is a target without
+dependencies. WMM/IGRF coefficient loaders and Swift harmonic evaluators implement the same provider interface.
+CelMek adds body identity, epoch-to-calendar injection and orientation adapters;
+magnetic evaluators do not depend on ephemerides or spacecraft integration.
+
+**FluidDynamics** owns medium-neutral flow, force/moment/reference geometry,
+surface traction integration, displacement buoyancy, scalar tables, propeller
+slipstreams and shared Cartesian numerical infrastructure. Incompressible projection
+and compressible conservative solvers are separate formulations. Gas EOS and
+transport contracts are providers rather than atmosphere/body catalogues. It has
+no dependency on other package modules, YAML, clocks or rigid-body state.
+
+**Aerodynamics** owns gas/airfoil/wing physics, aerodynamic coefficient data,
+finite-wing models, rarefied gas traction and entry heating correlations. It consumes
+FluidDynamics and explicit Atmospheres samples, without owning generic fluid contracts.
+
+**Hydrodynamics** owns liquid property providers, calm-surface partial-immersion
+geometry, hydrostatic/restoring loads, submerged-body damping/added inertia and
+liquid-specific CFD pressure calibration. It reuses FluidDynamics propeller/CFD
+machinery without importing Aerodynamics. Fully filled liquid CFD is distinct from
+future evolving free-surface/wave/two-phase support.
+
+Vehicle assembly, deployment, ballast/flooding/gas management, actuators, failures
+and coupled subsystem evolution belong to a separate systems package. Fluid models
+may own fluid field state, geometric interfaces and their numerical timesteps;
+consumers own scheduling, rigid-body integration and frame/state orchestration.
+
+**Game/renderer adapters** belong in consumer applications or future optional targets.
+They consume CelMek and optionally Aerodynamics. Engine clocks, rendering axes,
+origin shifting, Float conversion and engine objects must not become core dependencies.
+All shared physical coordinates remain right-handed; engine conversion is an explicit
+adapter boundary.
+
+## When to extract another target
+
+Extract a target when there is a concrete consumer or build/data-cost benefit and
+its interface and dependency direction are understood. Likely candidates are large
+optional ephemeris assets/file readers, spacecraft dynamics, game-engine bridges,
+and atmosphere-to-force adapters. Such a split must preserve one shared definition
+of epoch, state and frame identity; it must not duplicate frame singletons or require
+mutual imports.
+
+Extract shared contracts before implementations and preserve acyclic dependencies. Until then, keep numerical implementations
+in Swift and avoid adding runtime dependencies to compensate for missing algorithms.
+Reference tools may use external implementations for independent fixture generation;
+they are developer tooling rather than linked library dependencies.
+
+Shared vector helpers use package visibility; implementation helpers are not promoted
+to public APIs solely to cross a target boundary. New public APIs expose validated
+physical contracts rather than vehicle-system ownership.
diff --git a/Package.resolved b/Package.resolved
new file mode 100644
index 0000000..557e9ac
--- /dev/null
+++ b/Package.resolved
@@ -0,0 +1,32 @@
+{
+  "pins" : [
+    {
+      "identity" : "swift-docc-plugin",
+      "kind" : "remoteSourceControl",
+      "location" : "https://github.com/apple/swift-docc-plugin",
+      "state" : {
+        "revision" : "26ac5758409154cc448d7ab82389c520fa8a8247",
+        "version" : "1.3.0"
+      }
+    },
+    {
+      "identity" : "swift-docc-symbolkit",
+      "kind" : "remoteSourceControl",
+      "location" : "https://github.com/apple/swift-docc-symbolkit",
+      "state" : {
+        "revision" : "b45d1f2ed151d057b54504d653e0da5552844e34",
+        "version" : "1.0.0"
+      }
+    },
+    {
+      "identity" : "yams",
+      "kind" : "remoteSourceControl",
+      "location" : "https://github.com/jpsim/Yams.git",
+      "state" : {
+        "revision" : "a27b21e0c81c5bf42049b897a62aaf387e80f279",
+        "version" : "6.2.2"
+      }
+    }
+  ],
+  "version" : 2
+}
diff --git a/Package.swift b/Package.swift
index 4188599..463cad9 100644
--- a/Package.swift
+++ b/Package.swift
@@ -1,20 +1,30 @@
-// swift-tools-version:5.9
+// swift-tools-version:6.4
 // The swift-tools-version declares the minimum version of Swift required to build this package.
 
 import PackageDescription
 
 let package = Package(
     name: "swift-physics",
+    platforms: [
+        .macOS(.v15), .iOS(.v18), .tvOS(.v18), .watchOS(.v11), .visionOS(.v2),
+    ],
     products: [
         // Products define the executables and libraries produced by a package, and make them visible to other packages.
         .library(
             name: "Physics",
-            targets: ["CelMek", "Aerodynamics", "Math"]),
+            targets: ["CelMek", "Aerodynamics", "FluidDynamics", "Hydrodynamics", "Math", "Atmospheres", "MagneticFields"]),
+        .library(name: "CelMek", targets: ["CelMek"]),
+        .library(name: "Atmospheres", targets: ["Atmospheres"]),
+        .library(name: "MagneticFields", targets: ["MagneticFields"]),
+        .library(name: "Math", targets: ["Math"]),
+        .library(name: "Aerodynamics", targets: ["Aerodynamics"]),
+        .library(name: "FluidDynamics", targets: ["FluidDynamics"]),
+        .library(name: "Hydrodynamics", targets: ["Hydrodynamics"]),
     ],
     dependencies: [
         // Dependencies declare other packages that this package depends on.
         // .package(url: /* package url */, from: "1.0.0"),
-      .package(url: "https://github.com/jpsim/Yams.git", from: "5.0.6"),
+      .package(url: "https://github.com/jpsim/Yams.git", from: "6.2.2"),
       .package(url: "https://github.com/apple/swift-docc-plugin", from: "1.1.0"),
     ],
     targets: [
@@ -22,19 +32,55 @@ let package = Package(
         // Targets can depend on other targets in this package, and on products in packages which this package depends on.
         .target(
             name: "CelMek",
-            dependencies: ["Math"]),
+            dependencies: ["Math", "ERFASwift", "Atmospheres", "FluidDynamics",
+                           "MagneticFields"]),
+        .target(name: "MagneticFields", resources: [.process("Resources")]),
+        .target(name: "ERFASwift", dependencies: ["Math"], exclude: ["LICENSE.txt", "README.md"]),
+        .target(name: "Atmospheres"),
+        .target(name: "FluidDynamics"),
+        .target(name: "Hydrodynamics", dependencies: ["FluidDynamics"]),
         .target(
             name: "Math",
             dependencies: []),
         .target(
             name: "Aerodynamics",
-            dependencies: ["Yams"]),
+            dependencies: ["Yams", "Atmospheres", "FluidDynamics"]),
+        .executableTarget(name: "FluidPhysicsDemo", dependencies: ["Aerodynamics", "Atmospheres", "FluidDynamics", "Hydrodynamics"],
+                          path: "Examples/FluidPhysicsDemo"),
+        .executableTarget(
+            name: "TwoBodyGameDemo",
+            dependencies: ["CelMek"],
+            path: "Examples/TwoBodyGameDemo"),
+        .executableTarget(
+            name: "AttitudeDynamicsDemo",
+            dependencies: ["CelMek", "Math"],
+            path: "Examples/AttitudeDynamicsDemo"),
+        .executableTarget(
+            name: "Voyager2GameDemo",
+            dependencies: ["CelMek", "Math"],
+            path: "Examples/Voyager2GameDemo",
+            exclude: ["README.md"]),
+        .executableTarget(
+            name: "GameIntegrationBenchmark",
+            dependencies: ["CelMek", "Math"],
+            path: "Tools/GameIntegrationBenchmark"),
+        .executableTarget(
+            name: "VSOP87Characterization",
+            dependencies: ["CelMek", "Math"],
+            path: "Tools/VSOP87Characterization"),
+        .executableTarget(name: "MPCCullingExperiment", dependencies: ["CelMek", "Math"],
+                          path: "Experiments/MPCCulling", exclude: ["README.md", "results"]),
         .testTarget(
             name: "CelMekTests",
-            dependencies: ["CelMek"]),
+            dependencies: ["CelMek", "FluidDynamics", "Atmospheres"],
+            resources: [.copy("Fixtures")]),
         .testTarget(
             name: "AerodynamicsTests",
-            dependencies: ["Aerodynamics"]),
+            dependencies: ["Aerodynamics", "FluidDynamics", "Atmospheres"], resources: [.process("Resources")]),
+        .testTarget(name: "FluidDynamicsTests", dependencies: ["FluidDynamics"]),
+        .testTarget(name: "HydrodynamicsTests", dependencies: ["Hydrodynamics", "FluidDynamics"]),
+        .testTarget(name: "AtmospheresTests", dependencies: ["Atmospheres"]),
+        .testTarget(name: "MagneticFieldsTests", dependencies: ["MagneticFields"], resources: [.copy("Fixtures")]),
         .testTarget(
             name: "MathTests",
             dependencies: ["Math"]),
diff --git a/README.md b/README.md
index bb829e2..413da72 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
-# swift-celmek
+# swift-physics
 
-A port of the celmek library to swift.
+Swift physics libraries for celestial mechanics, gas and liquid dynamics, atmospheres and magnetic fields.
 
 The celmek library implements several astronomical algorithms.
 
@@ -20,10 +20,90 @@ A companion app for interactivelly working with this library is developed here:
 
 ## Evolution
 
-In addition to the celestial mechanics algorithms,
-various functionality related to Aerodynamics have been added.
-It is probable that we will rename the package `swift-physics` at some point.
+The package has grown beyond the original CelMek port. Shared fluid physics now
+lives in FluidDynamics, with dedicated Aerodynamics and Hydrodynamics modules.
+
+## Requirements
+
+Swift 6.4 or newer. Apple deployment targets are macOS 15, iOS 18, tvOS 18,
+watchOS 11, and visionOS 2 or newer, matching `Synchronization.Mutex` availability.
+Linux and Windows builds are covered by CI.
+
+## Modules
+
+Use the `CelMek`, `Math`, `FluidDynamics`, `Aerodynamics`, `Hydrodynamics`,
+`Atmospheres`, or `MagneticFields` product for the modules your application needs.
+The `Physics` product bundles all seven.
+Import the corresponding module names. See [MODULES.md](MODULES.md) for responsibilities and dependency rules.
+
+## Documentation
+
+The public guides and API references use DocC. See [documentation build instructions](Documentation/README.md)
+for the seven module catalogs and the combined package archive.
+
+```sh
+python3 Tools/Documentation/build.py
+python3 Tools/Documentation/preview.py
+```
+
+Browse the result at [localhost:8080/documentation](http://127.0.0.1:8080/documentation).
+
+## Time API
+
+Precise epochs, durations, UTC leap seconds, and calendar readings with explicit
+TAI/TT/TDB/UTC scales are documented in [time guide](Sources/CelMek/CelMek.docc/TimeGuide.md).
+
+Coordinate handedness, quaternion and angle conventions, transform direction, and
+error handling are documented in [CONVENTIONS.md](Sources/CelMek/CelMek.docc/CONVENTIONS.md).
+
+## Testing
+
+The tests use Swift Testing and require a Swift 6.4 or newer toolchain. Run all
+test targets with:
+
+```sh
+swift test
+```
 
 ## License
 
-Apache 2.0
+Apache 2.0 for the package's original code. ERFA-derived Earth-orientation and
+Fairhead TDB numerical code is isolated in the internal `ERFASwift` module under
+its [BSD terms and attribution](Sources/ERFASwift/LICENSE.txt). See the
+[module README](Sources/ERFASwift/README.md) for its scope.
+
+Shared Cartesian states use metres and metres per second, with explicit unit conversion and a VSOP87 provider adapter. See [STATES.md](Sources/CelMek/CelMek.docc/STATES.md).
+
+Time-dependent frame trees, rotating transforms, and their conventions are documented in [FRAMES.md](Sources/CelMek/CelMek.docc/FRAMES.md).
+
+The IAU coefficient review, updated data, and independent SPICE reference tests are documented in [IAU_ROTATION_AUDIT.md](IAU_ROTATION_AUDIT.md).
+
+Body identities, sourced SI properties, and the injectable JPL GM catalogue are documented in [BODIES.md](Sources/CelMek/CelMek.docc/BODIES.md).
+
+The common ephemeris contract, validating state-provider adapter, and body-query collection are documented in [EPHEMERIDES.md](Sources/CelMek/CelMek.docc/EPHEMERIDES.md).
+
+Shared accuracy intent and each adapter's supported levels are documented in [ACCURACY.md](Sources/CelMek/CelMek.docc/ACCURACY.md).
+
+Reduced VSOP87 error and query-cost measurements, with a reproducible release tool, are in [VSOP87_ACCURACY_CHARACTERIZATION.md](Sources/CelMek/CelMek.docc/VSOP87_ACCURACY_CHARACTERIZATION.md).
+
+Atmospheric profiles are provided by the [Atmospheres target](Sources/Atmospheres/Atmospheres.docc/Guide.md),
+shared by CelMek and Aerodynamics. It includes Earth ISA, nominal planetary/moon
+profiles, and gas-giant pressure during descent below the 1-bar level.
+
+The [MagneticFields target](Sources/MagneticFields/MagneticFields.docc/Guide.md) supplies
+pluggable magnetic-field models, ideal dipoles and CelMek body/orientation adapters.
+It also includes Swift WMM/IGRF evaluators, coefficient-file loaders and bundled
+WMM2025/IGRF-14 datasets with explicit date coverage.
+
+## Fluid physics examples
+
+```sh
+swift run FluidPhysicsDemo
+swift run -c release -debug-info-format none FluidPhysicsDemo --cfd --compressible
+```
+
+The example includes dedicated Earth/Titan liquid displacement and pressure cases,
+optional incompressible rotor/body CFD and a compressible Sod reference problem.
+Liquid properties and vehicle coefficients in these examples are illustrative.
+See the FluidDynamics and Hydrodynamics DocC guides for coverage, numerical cost,
+pressure-reference rules and the remaining real-gas/free-surface fidelity work.
diff --git a/Scripts/generate_spice_oracle.py b/Scripts/generate_spice_oracle.py
new file mode 100644
index 0000000..523ba81
--- /dev/null
+++ b/Scripts/generate_spice_oracle.py
@@ -0,0 +1,103 @@
+#!/usr/bin/env python3
+"""Optional black-box fixture generator. Requires binary SpiceyPy/CSPICE and NumPy.
+Uses public writer/query APIs only; do not consult toolkit implementation source.
+Run with PYTHONPATH pointing to an optional external binary-wheel installation.
+"""
+from pathlib import Path
+import hashlib, json, math, platform
+import numpy as np
+import spiceypy as s
+
+out = Path(__file__).resolve().parents[1] / 'Tests/CelMekTests/Fixtures/spice-oracle'
+out.mkdir(parents=True, exist_ok=True)
+s.kclear()
+for name in ['states.bsp','attitudes.bc','rotation.bpc']:
+    (out/name).unlink(missing_ok=True)
+refs = dict(schema=1, toolkit=s.tkvrsn('TOOLKIT'), wrapper=s.__version__,
+            generator='Scripts/generate_spice_oracle.py', platform=platform.platform(),
+            basis='Public NAIF format/behavior/API documentation; binary oracle only',
+            spk=[], ck=[], pck=[], utc=[], sclk=[])
+# Position coefficients deliberately differ from supplied type-3 velocity coefficients.
+p = np.array([[2,.3,-.2],[4,-.1,.05],[-1,.2,.01]])
+v = np.array([[.4,.02,0],[.1,0,.003],[-.2,.01,0]])
+h = s.spkopn(str(out/'states.bsp'),'CELMEK ORACLE SPK',0)
+for body,kind in [(399,2),(499,3)]:
+    coeff = p if kind == 2 else np.vstack([p,v])
+    s.__getattribute__('spkw%02d'%kind)(h,body,3,'J2000',-20,20,'TYPE %d'%kind,20,2,2,
+                                     np.vstack([coeff,coeff+0.01]).ravel(),-20)
+s.spkw02(h,3,0,'J2000',-20,20,'CENTRE CHAIN',40,1,1,[10,.5,-3,.2,2,-.1],-20)
+s.spkcls(h); s.furnsh(str(out/'states.bsp'))
+for body in [399,499]:
+    for t in [-20,-17.125,-0.000001,0,6.25,20]:
+        state, _ = s.spkez(body,t,'J2000','NONE',0)
+        refs['spk'].append(dict(body=body,centre=0,t=t,state=state.tolist()))
+
+h = s.ckopn(str(out/'attitudes.bc'),'CELMEK ORACLE CK',0)
+times = np.array([0.,20.,60.,80.,100.]); angles=[.3,.7,1.1,1.4,1.6]
+# Use oracle matrix-to-quaternion conversion to avoid sharing Swift quaternion assumptions.
+quats=np.array([s.m2q(s.rotate(a,3) @ s.rotate(.4,1)) for a in angles])
+av=np.array([[i*.01,.02,-.03] for i in range(5)])
+s.ckw01(h,0,100,-77001,'J2000',True,'TYPE 1',5,times,quats,av)
+s.ckw02(h,0,100,-77002,'J2000','TYPE 2',2,np.array([0.,60.]),np.array([40.,100.]),
+        quats[[0,2]],av[[0,2]],np.array([2.,3.]))
+s.ckw03(h,0,100,-77003,'J2000',True,'TYPE 3',5,times,quats,av,3,np.array([0.,60.,100.]))
+s.ckw03(h,0,100,-77004,'J2000',False,'TYPE 3 NO RATE',5,times,quats,av,3,np.array([0.,60.,100.]))
+s.ckcls(h); s.furnsh(str(out/'attitudes.bc'))
+for inst,queries in [(-77001,[(0,0),(20,0),(19,2),(100,0)]),
+                     (-77002,[(0,0),(15,0),(40,0),(60,0),(77,0),(100,0)]),
+                     (-77003,[(0,0),(7,0),(20,0),(35,16),(60,0),(73,0),(100,0)]),
+                     (-77004,[(7,0),(73,0)])]:
+    for tick,tol in queries:
+        if inst == -77004:
+            matrix,selected=s.ckgp(inst,tick,tol,'J2000'); rate=None
+        else:
+            matrix,rate,selected=s.ckgpav(inst,tick,tol,'J2000'); rate=rate.tolist()
+        refs['ck'].append(dict(instrument=inst,tick=tick,tolerance=tol,selected=selected,matrix=matrix.tolist(),rate=rate))
+
+h=s.pckopn(str(out/'rotation.bpc'),'CELMEK ORACLE PCK',0)
+s.pckw02(h,3000,'J2000',-20,20,'PCK TYPE 2',20,2,2,np.vstack([p*.1,p*.1+.01]).ravel(),-20)
+s.pckcls(h)
+(out/'frames.tf').write_text("""KPL/FK
+\\begindata
+FRAME_ORACLE_PCK = 13000
+FRAME_13000_NAME = 'ORACLE_PCK'
+FRAME_13000_CLASS = 2
+FRAME_13000_CLASS_ID = 3000
+FRAME_13000_CENTER = 301
+""")
+s.furnsh(str(out/'frames.tf')); s.furnsh(str(out/'rotation.bpc'))
+for t in [-20,-17.125,-.000001,0,6.25,20]:
+    refs['pck'].append(dict(t=t,matrix=s.pxform('J2000','ORACLE_PCK',t).tolist()))
+
+(out/'time.tls').write_text("""KPL/LSK
+\\begindata
+DELTET/DELTA_T_A=32.184
+DELTET/K=1.657D-3
+DELTET/EB=1.671D-2
+DELTET/M=(6.239996 1.99096871D-7)
+DELTET/DELTA_AT=(10 @1972-JAN-1 11 @1972-JUL-1 12 @1973-JAN-1)
+""")
+s.furnsh(str(out/'time.tls'))
+for label,mjd,seconds in [('1972 JAN 01 00:00:00 UTC',41317,0),('1972 JUN 30 23:59:59 UTC',41498,86399),
+                          ('1972 JUN 30 23:59:60 UTC',41498,86400),('1972 JUL 01 00:00:00 UTC',41499,0),
+                          ('1973 JAN 01 00:00:00 UTC',41683,0)]:
+    refs['utc'].append(dict(label=label,mjd=mjd,seconds=seconds,tt=s.unitim(s.str2et(label),'ET','TT')))
+(out/'clock.tsc').write_text("""KPL/SCLK
+\\begindata
+SCLK_DATA_TYPE_77=1
+SCLK01_N_FIELDS_77=2
+SCLK01_MODULI_77=(1000 10)
+SCLK01_OFFSETS_77=(0 0)
+SCLK01_OUTPUT_DELIM_77=2
+SCLK01_TIME_SYSTEM_77=1
+SCLK_PARTITION_START_77=(0 0)
+SCLK_PARTITION_END_77=(1000 1000)
+SCLK01_COEFFICIENTS_77=(0 0 20 1000 2000 10)
+""")
+s.furnsh(str(out/'clock.tsc'))
+for tick in [0,17.125,999.5,1000,1000.5,1750,2000]:
+    refs['sclk'].append(dict(tick=tick,tdb=s.sct2e(-77,tick)))
+refs['assets']={p.name:hashlib.sha256(p.read_bytes()).hexdigest() for p in sorted(out.iterdir()) if p.suffix in ['.bsp','.bc','.bpc','.tf','.tls','.tsc']}
+(out/'reference.json').write_text(json.dumps(refs,indent=2)+'\n')
+s.kclear()
+print('Wrote pinned oracle fixtures:',out)
diff --git a/Scripts/generate_spk21_oracle.py b/Scripts/generate_spk21_oracle.py
new file mode 100644
index 0000000..86ab17b
--- /dev/null
+++ b/Scripts/generate_spk21_oracle.py
@@ -0,0 +1,85 @@
+#!/usr/bin/env python3
+"""Optional binary CSPICE oracle; public SPKW21/SPKE21 contracts only, no toolkit source.
+PYTHONPATH=/path/to/binary/spiceypy python3 Scripts/generate_spk21_oracle.py
+"""
+import ctypes
+import hashlib
+import json
+from pathlib import Path
+import numpy as np
+import spiceypy as spice
+from spiceypy.utils.libspicehelper import libspice
+
+out = Path(__file__).resolve().parents[1] / 'Tests/CelMekTests/Fixtures/spk21'
+out.mkdir(parents=True, exist_ok=True)
+refs = dict(schema=1, toolkit=spice.tkvrsn('TOOLKIT'), wrapper=spice.__version__,
+            basis='Published API contracts; binary oracle only', files=[], states=[])
+for dimension, count in [(15, 201), (25, 2)]:
+    size = 4 * dimension + 11
+    epochs = np.arange(count, dtype=np.float64) * 10 + 10
+    lines = np.zeros((count, size), dtype=np.float64)
+    rng = np.random.default_rng(21000 + dimension)
+    for i, end in enumerate(epochs):
+        line = lines[i]
+        line[0] = end - 4
+        line[1:dimension+1] = np.cumsum(rng.uniform(8, 12, dimension))
+        line[1+dimension:7+dimension] = [1e8+i*100, 2, -2e8+i*200, -3, 3e7-i*300, 4]
+        line[7+dimension:7+4*dimension] = rng.uniform(-0.02, 0.02, 3*dimension)
+        line[7+4*dimension] = dimension+1
+        line[8+4*dimension:11+4*dimension] = [dimension, dimension-4, dimension-7]
+    path = out / f'dimension{dimension}.bsp'
+    path.unlink(missing_ok=True)
+    h = spice.spkopn(str(path), 'CELMEK TYPE21 BINARY ORACLE', 0)
+    # No CSPICE C wrapper exists; call the documented Fortran writer entry point.
+    ints = [ctypes.c_int(x) for x in [h, 900000+dimension, 0, count, size]]
+    first, last = ctypes.c_double(0), ctypes.c_double(epochs[-1])
+    libspice.spkw21_(ctypes.byref(ints[0]), ctypes.byref(ints[1]), ctypes.byref(ints[2]),
+        ctypes.c_char_p(b'J2000'), ctypes.byref(first), ctypes.byref(last), ctypes.c_char_p(b'TYPE21 ORACLE'),
+        ctypes.byref(ints[3]), ctypes.byref(ints[4]), lines.ctypes.data_as(ctypes.POINTER(ctypes.c_double)),
+        epochs.ctypes.data_as(ctypes.POINTER(ctypes.c_double)), ctypes.c_int(5), ctypes.c_int(13))
+    if spice.failed():
+        message = spice.getmsg('LONG'); spice.reset(); raise RuntimeError(message)
+    spice.spkcls(h)
+    spice.furnsh(str(path))
+    queries = sorted(set([0., 1.25, 6., 9.9, 10., np.nextafter(10., np.inf), float(epochs[-1])] +
+        ([990., 1000., np.nextafter(1000., np.inf), 1999., 2000., np.nextafter(2000., np.inf)] if count > 100 else [])))
+    for t in queries:
+        state, _ = spice.spkez(900000+dimension, t, 'J2000', 'NONE', 0)
+        refs['states'].append(dict(file=path.name, t=float(t), record=int(np.searchsorted(epochs,t)), state=state.tolist()))
+    refs['files'].append(dict(name=path.name, dimension=dimension, count=count,
+                             sha256=hashlib.sha256(path.read_bytes()).hexdigest()))
+    spice.unload(str(path))
+(out/'reference.json').write_text(json.dumps(refs, indent=2)+'\n')
+print('Generated', len(refs['states']), 'type 21 oracle states')
+
+# Optionally pin a real small-body kernel obtained by the extraction script.
+# Existing real fixtures are retained when this argument is omitted.
+if len(__import__('sys').argv) == 3 and __import__('sys').argv[1] == '--horizons':
+    source = Path(__import__('sys').argv[2])
+    destination = out / 'horizons-ceres.bsp'
+    destination.write_bytes(source.read_bytes())
+    h = spice.dafopr(str(destination)); spice.dafbfs(h)
+    if not spice.daffna(): raise RuntimeError('Empty real kernel')
+    descriptor = spice.dafgs(5)
+    body, center, frame, kind, start, end, first, last = spice.spkuds(descriptor)
+    if kind != 21 or body != 20000001: raise RuntimeError('Expected Ceres type 21')
+    dimension, count = map(int, spice.dafgda(h, last-1, last))
+    size = 4*dimension+11
+    epochs = spice.dafgda(h, first+size*count, first+size*count+count-1)
+    spice.dafcls(h); spice.furnsh(str(destination))
+    queries = [start, start+(end-start)/7, (start+end)/2, end]
+    for boundary in epochs:
+        if start < boundary < end:
+            queries += [float(np.nextafter(boundary, -np.inf)), float(boundary), float(np.nextafter(boundary, np.inf))]
+    rows = []
+    for t in sorted(set(queries)):
+        state, _ = spice.spkez(body,t,'J2000','NONE',center)
+        rows.append(dict(t=t, record=int(np.searchsorted(epochs,t)), state=state.tolist()))
+    reference = dict(schema=1, toolkit=spice.tkvrsn('TOOLKIT'), wrapper=spice.__version__,
+        file=destination.name, body=body, center=center, frame=frame,
+        sha256=hashlib.sha256(destination.read_bytes()).hexdigest(),
+        origin='NASA/JPL Horizons API; Ceres; requested 2000-01-01 through 2000-01-03 TDB',
+        states=rows)
+    (out/'horizons-reference.json').write_text(json.dumps(reference,indent=2)+'\n')
+    spice.unload(str(destination))
+    print('Generated',len(rows),'real Horizons oracle states')
diff --git a/Sources/Aerodynamics/Aerodynamics.docc/Aerodynamics.md b/Sources/Aerodynamics/Aerodynamics.docc/Aerodynamics.md
new file mode 100644
index 0000000..2bb7318
--- /dev/null
+++ b/Sources/Aerodynamics/Aerodynamics.docc/Aerodynamics.md
@@ -0,0 +1,116 @@
+# ``Aerodynamics``
+
+Local flow, coefficient data, airfoil geometry and physical aerodynamic loads.
+
+Aerodynamics provides parametric and thin-airfoil models, NACA geometry and YAML
+coefficient input. Atmospheric profiles live in Atmospheres. Shared flow, load, propeller and CFD
+contracts live in [FluidDynamics](/documentation/fluiddynamics); import those modules explicitly.
+
+## Topics
+
+### Physics foundations
+- <doc:ModelCoverage>
+- ``GasFlowCoverage``
+- ``CoveredBodyCoefficients``
+- ``MachRegimeBodyCoefficients``
+- <doc:Foundations>
+
+### Checked coefficient models
+- ``AirfoilCoefficientModel``
+- ``AirfoilPolar``
+- ``TabulatedAirfoil``
+- ``AirfoilTableLoader``
+- ``CoefficientBoundaryPolicy``
+
+### Wing and whole-body evaluation
+- <doc:WingsAndBodies>
+- <doc:FiniteWing>
+- ``FiniteWingAirfoil``
+- ``FiniteWingSolution``
+- <doc:NonlinearWakes>
+- ``NonlinearLiftingLine``
+- ``NonlinearLiftingLineResult``
+- <doc:LiftingLine>
+- ``LiftingLineWing``
+- ``LiftingLineSection``
+- ``LiftingLineResult``
+- ``LiftingLineStationResult``
+- ``SegmentedWing``
+- ``WingSegment``
+- ``WingSectionAxes``
+- ``WingSectionCoefficientModel``
+- ``AirfoilWingSectionModel``
+- ``WholeBodyAerodynamics``
+- ``BodyAerodynamicCoefficientModel``
+- ``TabulatedBodyCoefficients``
+- ``WindForceCoefficients``
+- <doc:BodyRates>
+- ``BodyAerodynamicRateReference``
+- ``BodyAerodynamicRateDerivatives``
+- ``BodyAerodynamicRateDerivativeModel``
+- ``ConstantBodyRateDerivatives``
+- ``LinearBodyRateAerodynamics``
+- <doc:ControlSurfaces>
+- ``ControlSurfaceSetting``
+- ``TabulatedControlSurface``
+- ``ControlSurfaceTableLoader``
+
+### Airfoil models
+- ``Airfoil``
+- ``AirfoilCoefficients``
+- ``ParametricAirfoil``
+- ``ThinSymetricAirfoil``
+- ``ThinCamberedAirfoil``
+- ``NACA4``
+
+### Hypersonic surface pressure
+- <doc:SurfacePressure>
+- ``ModifiedNewtonianPressure``
+- <doc:RarefiedFlow>
+- ``FreeMolecularGas``
+- ``GasSurfaceReflection``
+- ``MaxwellianFreeMolecularTraction``
+- ``TabulatedRarefiedTraction``
+
+### Aerothermal physics
+- <doc:SurfaceHeating>
+- ``SurfaceHeatingQuery``
+- ``SurfaceConvectiveHeatingModel``
+- ``SurfaceConvectionResult``
+- ``LaminarFlatPlateHeating``
+- ``TurbulentFlatPlateHeating``
+- <doc:EntryHeating>
+- ``AerothermalBoundaryLayer``
+- ``EnthalpySurfaceHeatingCoverage``
+- ``EnthalpySurfaceHeatingQuery``
+- ``EnthalpySurfaceHeatingResult``
+- ``EnthalpySurfaceHeatingModel``
+- ``TabulatedEnthalpySurfaceHeating``
+- ``LeadingEdgeHeatingQuery``
+- ``LeadingEdgeConvectiveHeatingModel``
+- ``SweptCylinderStagnationHeating``
+- ``TabulatedRadiativeHeating``
+- <doc:Aerothermal>
+- ``StagnationHeatingQuery``
+- ``AerothermalWallState``
+- ``ConvectiveHeatingModel``
+- ``RadiativeHeatingModel``
+- ``SuttonGravesParameters``
+- ``StagnationHeatingCoverage``
+- ``SuttonGravesHeating``
+- <doc:PlanetaryHeating>
+- ``StagnationGasState``
+- ``SuttonGravesBaseGas``
+- ``SuttonGravesMixtureParameters``
+- ``SuttonGravesMixtureHeating``
+- ``HydrogenHeliumHeatingMixture``
+- ``HydrogenHeliumColdWallHeating``
+- ``HydrogenHeliumHeatingResult``
+
+### Optional airflow simulation
+- [shared propwash/CFD guide](/documentation/fluiddynamics/propellersandcfd)
+
+### Parachutes and balloons
+- <doc:ParachutesAndBalloons>
+- ``ParachuteAerodynamics``
+- ``BalloonAerodynamics``
diff --git a/Sources/Aerodynamics/Aerodynamics.docc/Aerothermal.md b/Sources/Aerodynamics/Aerodynamics.docc/Aerothermal.md
new file mode 100644
index 0000000..b090e8d
--- /dev/null
+++ b/Sources/Aerodynamics/Aerodynamics.docc/Aerothermal.md
@@ -0,0 +1,78 @@
+# Stagnation-point heating
+
+``ConvectiveHeatingModel`` and ``RadiativeHeatingModel`` accept a
+``StagnationHeatingQuery`` and return incoming heat flux in W/m² at an explicit
+surface position. They are separate contributions: no radiative model means
+radiation is unavailable, not zero. ``TabulatedRadiativeHeating`` accepts supplied cold-wall radiation data; no default radiative correlation is inferred.
+Wall radiation emission, temperature evolution, conduction and ablation belong to
+external thermal models. These interfaces do not advance a clock or mutate vehicle
+state. Richer gas chemistry or catalytic-surface data can be supplied through a
+replacement model's provider; these initial contracts are for stagnation heating.
+
+``SuttonGravesHeating`` supplies a laminar cold-wall convective estimate for an
+axisymmetric blunt body:
+
+`qConvective = k sqrt(ρ / Rnose) V³`
+
+Density is kg/m³, nose radius is metres, relative speed is m/s and output is W/m².
+The coefficient `k` has SI dimensions kg^0.5/m. Its numerical value depends on
+the gas and the coefficient's unit convention; a W/cm² coefficient cannot be used
+unchanged with the W/m² interface.
+
+``SuttonGravesParameters`` requires a gas identifier, coefficient, source and
+version. ``SuttonGravesParameters/earthAirColdWall`` explicitly selects the Earth-air
+value `1.7415e-4` used in the NASA TFAWS 2012 course. No planet or atmosphere lookup
+selects it automatically. The query's gas identifier must match the parameters;
+this is a dataset identity check, not composition analysis. Custom parameter sets
+allow independently justified approximations for other gas mixtures.
+
+```swift
+let coverage = try StagnationHeatingCoverage(
+    speedMetresPerSecond: 1000...8000,
+    densityKilogramsPerCubicMetre: 1e-6...0.01,
+    noseRadiusMetres: 0.1...5, machNumber: 5...40)
+let model = SuttonGravesHeating(parameters: .earthAirColdWall, coverage: coverage)
+let flow = try FluidFlow(relativeVelocityMetresPerSecond: SIMD3(3535, 0, 0),
+    densityKilogramsPerCubicMetre: 3.1459e-4, speedOfSoundMetresPerSecond: 300,
+    meanFreePathMetres: 1e-4)
+let query = try StagnationHeatingQuery(flow: flow, gasIdentifier: "earth-air",
+    noseRadiusMetres: 1, surfacePositionMetres: SIMD3(1, 0, 0))
+let heat = try model.heatFlux(for: query)
+```
+
+These example bounds are declared simulation coverage, not experimentally validated
+limits. The caller must establish that the correlation suits the gas, geometry and
+entry conditions. The model restricts declared Mach coverage to hypersonic flow
+(Mach ≥ 5) and continuum coverage to Kn ≤ 0.01, using nose radius as the reference
+length. Missing sound speed or mean free path throws for nonzero speed. Speed,
+density, radius, Mach and Knudsen coverage are checked before evaluating the
+correlation. Zero speed produces zero aerodynamic convective flux after checking
+gas identity, wall assumptions and radius, without requiring Mach or mean free path.
+Zero density at nonzero speed is outside the declared positive-density coverage.
+Low density alone does not establish continuum applicability.
+
+The stagnation point and effective nose radius are caller-supplied. The model does
+not locate a stagnation point or extrapolate a capsule value over a wing. Local flow
+must already account for atmospheric co-rotation and winds, as described in
+<doc:Foundations>. Use consistent thermodynamic and transport inputs; current
+atmosphere profiles do not supply mean free path automatically.
+
+This cold-wall approximation does not account for finite wall temperature. A query
+with ``AerothermalWallState`` therefore throws `unsupportedQuery`; a different
+correlation must use that state. No turbulent multiplier, catalytic correction,
+radiative contribution or species-equilibrium solver is inferred. The estimate
+may be integrated externally as heat load in J/m², but does not itself predict
+wall temperature or protection-system survival.
+
+See <doc:PlanetaryHeating> for a Mars preset, explicit Venus mixture parameters
+and a separate hydrogen/helium cold-wall correlation with different wall assumptions.
+
+Tests reproduce the NASA course's rounded shuttle-like reference of 13.6 W/cm²,
+check cubic velocity, square-root density and inverse-square-root radius scaling,
+and exercise gas mismatch, custom coefficients, rest and coverage boundaries.
+
+Sources: [Sutton and Graves, NASA TR R-376](https://ntrs.nasa.gov/citations/19720003329)
+and [NASA TFAWS 2012 Aerothermodynamics Course](https://tfaws.nasa.gov/TFAWS12/Proceedings/Aerothermodynamics%20Course.pdf).
+
+See <doc:EntryHeating> for enthalpy-based surface data and swept leading-edge
+stagnation-line heating, and <doc:SurfaceHeating> for low-speed plate convection.
diff --git a/Sources/Aerodynamics/Aerodynamics.docc/BodyRates.md b/Sources/Aerodynamics/Aerodynamics.docc/BodyRates.md
new file mode 100644
index 0000000..192d9b7
--- /dev/null
+++ b/Sources/Aerodynamics/Aerodynamics.docc/BodyRates.md
@@ -0,0 +1,71 @@
+# Body angular-rate aerodynamics
+
+``LinearBodyRateAerodynamics`` adds supplied small-rate derivatives to an existing
+whole-body coefficient model. It preserves static lift and trim/restoring moments:
+
+`C = Cstatic + Droll pHat + Dpitch qHat + Dyaw rHat`
+
+The normalization is `rateHat[i] = angularVelocity[i] momentLength[i] / (2 speed)`.
+Aircraft typically use span/chord/span; capsule datasets must use their stated
+reference dimensions. ``BodyAerodynamicRateDerivatives`` holds three columns of
+six signed body-axis coefficient derivatives, allowing force, moment and cross-axis
+effects. A negative diagonal moment derivative provides damping in the selected
+convention; arbitrary derivatives are not assumed to imply a stable vehicle.
+
+``BodyAerodynamicRateDerivativeModel`` permits flow-dependent derivative datasets.
+``ConstantBodyRateDerivatives`` supplies prescribed derivatives with explicit
+Mach, Reynolds, incidence and sideslip ranges and source/version metadata. It also
+checks the query's moment lengths and Reynolds reference length against its dataset.
+Area, axes and moment reference point must match the static coefficient dataset and
+the supplied geometry; the query cannot independently certify those conventions.
+No real capsule or aircraft derivative database is bundled here.
+
+The wrapper requires a minimum speed and per-axis absolute normalized-rate limits.
+These are declared applicability limits, not measured accuracy guarantees. It queries
+both the static and derivative providers with zero angular rates, then adds one rate
+increment. Do not wrap another rate-corrected model or add these loads to a second
+provider representing the same effect. Missing properties and unsupported ranges
+throw instead of silently extrapolating.
+
+## Rate reference and rotating air
+
+``BodyAerodynamicRateReference`` explicitly distinguishes inertial-reference rates
+from rates relative to a rigidly rotating medium. The query tag must match the
+wrapper's configured convention. For inertial-reference data, supply the attitude's
+inertial angular velocity expressed in body axes. For medium-relative data, subtract
+the atmosphere's angular velocity, also expressed in body axes, then tag the query
+as `rigidlyRotatingMedium`. The wrapper does not transform axes or infer atmospheric
+rotation. The underlying linear flow remains vehicle-relative-to-air in either case.
+Do not subtract atmospheric rotation again from an already medium-relative rate.
+
+Pass the convention through ``WholeBodyAerodynamics``:
+
+```swift
+let loads = try body.evaluate(flow: flow,
+    angularVelocityRadiansPerSecond: vehicleRateBody - atmosphereRateBody,
+    angularRateReference: .rigidlyRotatingMedium)
+```
+
+Here `body` uses a wrapper configured for that same medium-relative convention.
+CelMek's aerodynamic wrench adapter consumes the returned force and moment as usual;
+the caller chooses the rate convention required by the dataset.
+
+## Limits and validation
+
+This is a local linear angular-rate model. It does not implement incidence/sideslip
+time derivatives, hysteresis, dynamic stall, oscillatory-frequency corrections or
+unsteady wakes. Some experimental pitch-damping datasets combine pitch-rate and
+incidence-rate derivatives; they cannot be imported as a pure pitch-rate derivative
+without a justified conversion.
+
+Direct coefficient queries below the minimum speed throw. Whole-body evaluation
+continues to return zero loads at zero dynamic pressure without querying a model.
+This does not estimate spin drag when a body rotates in otherwise stationary air;
+surface/segment methods with sampled local velocities are needed for that case.
+
+Tests check an analytic three-axis damping torque, negative rotational power for
+the supplied stable diagonal example, reversal and velocity scaling, preservation
+of static lift/moment, zero-rate provider queries, reference tags and coverage.
+The demo's derivative values are synthetic rather than validated capsule data.
+
+Reference: [NASA body-axis dynamic derivative conventions](https://ntrs.nasa.gov/api/citations/20040090578/downloads/20040090578.pdf).
diff --git a/Sources/Aerodynamics/Aerodynamics.docc/ControlSurfaces.md b/Sources/Aerodynamics/Aerodynamics.docc/ControlSurfaces.md
new file mode 100644
index 0000000..a52be6b
--- /dev/null
+++ b/Sources/Aerodynamics/Aerodynamics.docc/ControlSurfaces.md
@@ -0,0 +1,71 @@
+# Wing and tail control-surface data
+
+``TabulatedControlSurface`` implements the existing section coefficient contract
+for caller-supplied geometric control deflection. It uses a set of
+``ControlSurfaceSetting`` datasets, each containing a checked incidence/Reynolds/Mach
+``TabulatedAirfoil``. Lift, drag and pitching moment interpolate linearly across
+deflection after evaluating the neighboring polars. No incidence offset or assumed
+control-effectiveness factor is substituted for measured or computed data.
+
+Deflection coordinates are finite radians within ±π, sorted on construction, with
+duplicates rejected. All settings share the same Reynolds and Mach coordinate grid;
+incidence samples may differ. Intermediate deflections require coverage in both
+neighboring polars. Exact deflection settings use only their own dataset, avoiding
+irrelevant neighboring coverage restrictions. A single setting represents one
+supported deflection, not an assumed constant response at all deflections.
+
+The deflection boundary policy defaults to rejection. Explicit clamping affects
+only the deflection coordinate; each underlying airfoil retains its own declared
+incidence/Re/Mach policy. Clamping is a caller-selected numerical approximation,
+not a calibrated extrapolation. No transition or smoothing beyond piecewise linear
+interpolation is inferred.
+
+## Conventions and integration
+
+Source/version, deflection sign and moment-reference descriptions are mandatory.
+For example, positive deflection may mean trailing edge down and CM may refer to
+quarter chord. All datasets must share reference chord/area conventions, section
+axes and moment origin. Metadata records those assumptions but cannot verify the
+physical meaning of externally supplied data.
+
+Pass the model directly to ``WingSegment`` or ``SegmentedWing``. Segments already
+accept their own `controlDeflectionRadians`, so an external caller can supply
+differential aileron, elevator or rudder geometry without adding actuator state here.
+Horizontal and vertical tail surfaces use the same section/strip contracts with
+the appropriate supplied section axes and positions. Do not apply another incidence
+or camber correction for the same deflection when the dataset already includes it.
+
+```swift
+let controlled = try TabulatedControlSurface(settings: [
+    ControlSurfaceSetting(deflectionRadians: -0.1, airfoil: negativeDeflectionData),
+    ControlSurfaceSetting(deflectionRadians: 0, airfoil: neutralData),
+    ControlSurfaceSetting(deflectionRadians: 0.1, airfoil: positiveDeflectionData)
+], source: "Caller-supplied control polar database", version: "1",
+   deflectionConvention: "Positive trailing edge down",
+   momentReferenceDescription: "Quarter chord in section axes")
+let segment = try WingSegment(positionMetres: SIMD3(-3, 1, 0),
+    axes: WingSectionAxes(incidenceRadians: 0), chordMetres: 1, areaSquareMetres: 1,
+    controlDeflectionRadians: 0.05, model: controlled)
+let loads = try segment.evaluate(bodyFlow: flow).loads
+```
+
+The example datasets and local flow are provided by the caller. No measured flap,
+rudder or tail database is bundled. Section moments include the dataset CM plus
+the existing force lever arm, with no separate centre-of-pressure addition.
+Independent strips still do not compute spanwise circulation, wake interaction or
+finite-wing control effectiveness automatically.
+
+## Stall and data loading
+
+Nonlinear lift curves, rising drag and post-stall pitching moments can be represented
+by supplied polar samples. They are preserved rather than replaced by a lift-slope
+formula. This is a quasi-steady interpolation model, not a dynamic-stall, hysteresis,
+hinge-moment, flutter or unsteady separation model. Sparse sampling can miss extrema;
+coverage does not itself prove accuracy. The low-speed attached-flow limits of
+``FiniteWingAirfoil`` must not be extended simply because a control polar has
+post-stall samples.
+
+``ControlSurfaceTableLoader`` reads JSON. Codable decoding revalidates the table,
+deflection settings and nested airfoil grids. Tests cover four-coordinate affine
+interpolation, exact settings, different incidence coverage, rejection/clamping,
+duplicate coordinates, invalid decoded data and a supplied post-stall curve.
diff --git a/Sources/Aerodynamics/Aerodynamics.docc/EntryHeating.md b/Sources/Aerodynamics/Aerodynamics.docc/EntryHeating.md
new file mode 100644
index 0000000..5214378
--- /dev/null
+++ b/Sources/Aerodynamics/Aerodynamics.docc/EntryHeating.md
@@ -0,0 +1,77 @@
+# Entry surface and leading-edge heating
+
+Use explicit recovery/chemistry data for local surface heating and a bounded swept-cylinder approximation at the leading-edge stagnation line.
+
+## Enthalpy-based surface data
+
+``EnthalpySurfaceHeatingModel`` is separate from low-speed temperature-difference
+convection. ``EnthalpySurfaceHeatingQuery`` requires local edge flow, streamline
+distance, gas identity and wall/adiabatic-wall enthalpies sharing the dataset's
+reference. Adiabatic-wall enthalpy includes recovery; it is not automatically the
+edge static or total enthalpy. Real-gas chemistry and catalytic-wall assumptions
+must be supplied with the data rather than replaced by a constant cp times temperature.
+
+``TabulatedEnthalpySurfaceHeating`` evaluates
+`q = rho_edge V_edge St (h_adiabaticWall - h_wall)` in W/m². The sign preserves
+convective cooling. Its dimensionless Stanton table uses, in order, axes named
+`mach`, `log10Re` and `wallEnthalpyRatio`, each with units `1`. Reynolds uses edge
+viscosity/density and the supplied streamline distance. The last coordinate is
+wall enthalpy divided by adiabatic-wall enthalpy, so the chosen enthalpy reference
+must remain consistent. Positive adiabatic-wall enthalpy is required.
+
+A dataset explicitly declares laminar or turbulent boundary layer; selection and
+transition detection remain caller responsibilities. Each table needs gas identity,
+source, version and assumptions covering geometry, pressure gradient, chemistry
+and catalytic state. Its rectangle must be wholly supported by the data, including
+intermediate interpolated conditions. There is no extrapolation, automatic
+laminar/turbulent switch or built-in calibrated high-enthalpy surface dataset.
+``EnthalpySurfaceHeatingCoverage`` also bounds edge temperature, edge pressure,
+absolute adiabatic-wall enthalpy and streamline distance. These checks prevent
+a Mach/Reynolds match from silently admitting an unsupported thermochemical state.
+Kn must not exceed the declared continuum limit (at most 0.01). Missing edge temperature/pressure, local sound
+speed, viscosity or mean free path throws. Rest/zero Reynolds is outside coverage.
+
+## Swept leading edge
+
+``LeadingEdgeConvectiveHeatingModel`` accepts a ``LeadingEdgeHeatingQuery`` so
+higher-fidelity geometry/chemistry models can replace the initial provider.
+``SweptCylinderStagnationHeating`` implements the idealized laminar **Earth-air**
+geometry approximation `q_line = q_sphere / sqrt(2) * sqrt(Rsphere/RleadingEdge)
+* cos(effectiveSweep)^1.1`. Its reference sphere evaluator and radius are explicit;
+the query radius denotes the actual leading-edge radius. The sphere provider
+retains its own gas, wall and flow restrictions. Effective sweep is relative to
+incident flow. Declared speed/density/radius/Mach/Kn limits are checked using the
+actual leading-edge radius; implementation sweep is restricted to at most ±60°.
+This restriction is not an experimental accuracy guarantee. It does not calculate
+sweep from vehicle attitude or discover the stagnation line. Other gases require
+separately justified models or data.
+
+The source geometry approximation is [NASA CR-181922, equation 1](https://ntrs.nasa.gov/api/citations/19900007739/downloads/19900007739.pdf).
+Its implementation is verified against unswept and 60° reference calculations.
+It predicts a stagnation **line**, with no circumferential distribution, shock
+interaction, transition or acreage distribution. Do not use a small leading-edge
+radius with a sphere model's Kn check alone: the smaller radius can be rarefied
+while the reference sphere is still in continuum flow.
+
+## Incoming radiation
+
+``TabulatedRadiativeHeating`` implements ``RadiativeHeatingModel`` using a supplied
+cold-wall shock-layer dataset. Its axes are `speed` (`m/s`), `density` (`kg/m^3`)
+and spherical nose `radius` (`m`), in that order, with values in `W/m^2`. Gas identity,
+provenance, version, assumptions, freestream-temperature range and declared
+continuum coverage are mandatory.
+It accepts cold-wall queries without additional stagnation-gas state. It does not
+infer radiative equilibrium, chemistry, optical thickness or wall emissivity, and
+no universal planetary radiation correlation is bundled. Missing radiation data
+still means unknown, not zero. Convective and radiative contributions can be
+combined externally only when they describe the same state and position.
+
+All these evaluations are stateless. Temperature evolution, radiative emission,
+conduction, ablation and changes in geometry/mass belong to external thermal and
+systems packages. The supplied-data tests use analytic synthetic fixtures to
+verify interpolation, units, signs, identity and coverage; they do not validate a
+real vehicle database. See <doc:ModelCoverage> for the runnable entry harness and
+its distinction between integration error and physical-model error.
+
+The enthalpy/Stanton formulation is described in
+[NPTEL compressible boundary-layer heat transfer](https://archive.nptel.ac.in/content/storage2/courses/101103003/module5/lec26/4.html).
diff --git a/Sources/Aerodynamics/Aerodynamics.docc/FiniteWing.md b/Sources/Aerodynamics/Aerodynamics.docc/FiniteWing.md
new file mode 100644
index 0000000..96d3da9
--- /dev/null
+++ b/Sources/Aerodynamics/Aerodynamics.docc/FiniteWing.md
@@ -0,0 +1,78 @@
+# Equivalent finite-wing correction
+
+Add bounded induced-angle and induced-drag corrections to a supplied section polar.
+
+``FiniteWingAirfoil`` implements ``AirfoilCoefficientModel`` and can wrap a
+``TabulatedAirfoil`` or another checked polar. This is a steady equivalent-wing
+approximation for attached, low-speed flow. It is not a spanwise lifting-line solver,
+a wake model or a hypersonic correction.
+
+## Physical model
+
+For aspect ratio `AR = span² / area` and supplied span efficiency `e`, solve:
+
+```text
+alpha = alphaEffective + CL(alphaEffective) / (pi e AR)
+alphaInduced = CL / (pi e AR)
+CDinduced = CL² / (pi e AR)
+CDtotal = CDprofile(alphaEffective) + CDinduced
+```
+
+The underlying polar supplies profile drag only. Do not wrap data that already
+contains finite-wing induced drag, combine this correction with a second induced-drag
+model, or also apply its induced angle as a separate local-flow correction.
+Moment is the underlying polar's moment at effective incidence, about its original
+moment reference. This simple model does not predict finite-wing changes to that
+moment reference or spanwise pressure distribution.
+
+For a linear polar with slope `a0`, the resulting wing lift slope is
+`a = a0 / (1 + a0 / (pi e AR))`. Cambered polars retain their zero-lift offset through
+the implicit solution rather than simply multiplying all coefficients by a factor.
+The induced-drag basis is [NASA's induced-drag coefficient relation](https://www1.grc.nasa.gov/beginners-guide-to-aeronautics/induced-drag-coefficient/).
+
+## Explicit coverage and solver limits
+
+The caller declares an attached-flow effective-angle bracket covered by the polar,
+and a separate geometric operating-angle interval. The implementation restricts
+aspect ratio to at least four, Mach to at most 0.3, and both angle intervals to
+±0.35 radians. These are deliberately chosen model limits, not an accuracy certificate.
+Calibrating efficiency and confirming attached flow remain responsibilities of the
+supplied aerodynamic data; the model does not detect stall or separation.
+
+Bisection solves the angle residual with a configurable tolerance and iteration
+budget. ``FiniteWingSolution`` returns effective angle, induced angle, induced drag,
+coefficients, residual and iterations. Input coverage errors from the polar propagate.
+An unbracketed solution or exhausted budget throws ``FiniteWingError``; there is no
+silent fallback to infinite-wing coefficients. Multiple/post-stall roots are outside
+the intended physical assumptions, and numerical convergence does not prove uniqueness.
+
+```swift
+import Aerodynamics
+// `polar` is a caller-supplied checked, attached-flow airfoil model.
+let corrected = try FiniteWingAirfoil(airfoil: polar,
+    aspectRatio: 8, spanEfficiency: 0.8,
+    effectiveAngleRangeRadians: -0.2...0.2,
+    operatingAngleRangeRadians: -0.15...0.15)
+let solution = try corrected.solve(angleOfAttackRadians: 0.1,
+    reynoldsNumber: 1_000_000, machNumber: 0.2)
+```
+
+## Use with wing strips
+
+For uniform geometry and flow, the equivalent coefficient model can be wrapped in
+``AirfoilWingSectionModel`` and supplied to ``SegmentedWing``. Use the **whole wing's**
+aspect ratio on every strip, never the individual strip's aspect ratio. Uniform-wing
+forces then do not depend on segmentation resolution.
+
+Applying this equivalent model separately to arbitrary twisted, controlled or
+nonuniformly loaded strips is not a true coupled finite-wing calculation. Such cases
+require spanwise circulation/induced-flow coupling or validated finite-wing datasets.
+Tail interference and downstream wake velocities are not generated by this model.
+
+`swift run FluidPhysicsDemo` demonstrates the correction on a uniform rectangular
+wing with synthetic data. Tests compare with the analytic linear-polar result,
+cambered and infinite-aspect-ratio limits, signed lift and positive induced drag,
+explicit coverage/bracketing/budget failures and uniform strip-count independence.
+
+For a straight wing with supplied linear polars and spanwise incidence/chord
+variation, see <doc:LiftingLine> for the bounded coupled solver.
diff --git a/Sources/Aerodynamics/Aerodynamics.docc/Foundations.md b/Sources/Aerodynamics/Aerodynamics.docc/Foundations.md
new file mode 100644
index 0000000..6f8f62e
--- /dev/null
+++ b/Sources/Aerodynamics/Aerodynamics.docc/Foundations.md
@@ -0,0 +1,132 @@
+# Flow, coefficient data and physical loads
+
+Evaluate aerodynamic physics from supplied local flow and geometry, independently of vehicle systems.
+
+Aerodynamics owns coefficients, section geometry and physical loads. Vehicle assembly,
+actuator commands, deployment/reefing sequences, gas management and thermal/structural
+state evolution belong to external consumers. Wing strips and whole-body coefficient evaluators build on this foundation; see
+<doc:WingsAndBodies>. A bounded equivalent finite-wing correction is available; spanwise wake flow, vehicle-specific entry datasets and
+heating correlations remain follow-up work.
+
+## Coefficient datasets
+
+``AirfoilPolar`` preserves explicit angle samples at one Reynolds/Mach condition.
+``TabulatedAirfoil`` interpolates linearly in angle, Reynolds number and Mach number.
+The Reynolds/Mach grid must be rectangular and contain exactly one polar at every
+condition. Different polars may have different angle spacing. For a query, only
+contributing polars must cover the requested angle. A singleton axis covers only its
+one value under the default rejecting policy; it does not imply Reynolds/Mach independence.
+
+```swift
+import Aerodynamics
+let samples = [
+    AirfoilSample(angleOfAttackRadians: -0.1,
+        coefficients: AirfoilCoefficients(lift: -0.5, drag: 0.02, moment: 0)),
+    AirfoilSample(angleOfAttackRadians: 0.1,
+        coefficients: AirfoilCoefficients(lift: 0.5, drag: 0.02, moment: 0))
+]
+let polar = try AirfoilPolar(reynoldsNumber: 1_000_000, machNumber: 0.2, samples: samples)
+let model = try TabulatedAirfoil(polars: [polar], source: "Example synthetic polar", version: "1")
+let coefficients = try model.coefficients(
+    angleOfAttackRadians: 0.05, reynoldsNumber: 1_000_000, machNumber: 0.2)
+```
+
+Tables reject malformed/nonfinite coefficients, nonpositive Reynolds numbers,
+negative Mach numbers, duplicate or unordered angles, duplicate conditions and missing
+grid cells. Coefficient signs are preserved; validation does not certify scientific
+accuracy or a nonnegative measured drag. Codable decoding revalidates the data.
+Out-of-coverage queries throw by default. ``CoefficientBoundaryPolicy/clamp`` explicitly
+uses the nearest boundary value instead; this is not a physical extrapolation model.
+
+``AirfoilTableLoader`` reads the existing XFOIL-style YAML columns: angle in degrees,
+CL, CD, CDp and CM. Every `data` entry is retained; optional `mach-number` defaults to
+zero. File I/O is separate from evaluation and source/version metadata is explicit.
+Malformed rows or conditions fail before constructing the evaluator.
+
+The legacy ``ParametricAirfoil`` remains available. Its scalar queries use radians,
+query Mach zero and explicitly clamp to dataset boundaries. Invalid queries return
+NaN. It now interpolates between loaded Reynolds datasets and preserves irregular
+angle samples. Prefer the throwing table API when coverage matters. Existing 361-sample
+Codable degree grids are readable, as are older 362-sample grids with −181° padding;
+new encoding retains the validated table, coordinate samples and provenance.
+
+## Flow conventions and missing properties
+
+`FluidFlow` uses right-handed body or section axes: X forward, Y right,
+Z down. Its velocity is the body's motion relative to the atmosphere. Positive
+angle of attack is `atan2(vz, vx)`; sideslip is `atan2(vy, hypot(vx, vz))`.
+Angle of attack is absent when the X/Z velocity projection is zero; sideslip is absent
+at zero speed. All vectors must be expressed in the same axes by the caller.
+
+Atmospheric rest depends on the reference frame. In a planet-centred inertial frame
+(for example, with ICRF-aligned axes), a rigidly co-rotating atmosphere has velocity
+`vAir = ΩPlanet × r + wind`. Here `wind` is motion relative to the rotating planet,
+expressed in the inertial axes. In the planet-fixed rotating frame, the co-rotation
+term disappears and `vAir = wind`; a still atmosphere therefore has zero velocity.
+This does not imply that the vehicle's relative velocity is zero.
+
+Compute `vRelative = vVehicle − vAir` at the same position in a common frame,
+then rotate that difference into vehicle or section axes. A full velocity transform
+to rotating coordinates includes the frame's `Ω×r` term; rotating vector components
+alone does not perform that transform. Since both velocities acquire the same frame
+term, it cancels in their difference. Atmospheric co-rotation must be included once.
+CelMek's `SphericalBodyAtmosphere` already supplies it for planet-centred inertial
+states. Atmospheric profiles themselves supply thermodynamic properties, not frames
+or wind velocities.
+
+Dynamic pressure uses `q = ρ V² / 2`. Mach, Reynolds and Knudsen numbers require
+speed of sound, dynamic viscosity and mean free path respectively. Missing properties
+remain unavailable; they never become zero. Reference lengths must be positive.
+Atmospheres profiles can directly supply ambient properties:
+
+```swift
+import Aerodynamics
+import Atmospheres
+let ambient = try ISAAtmosphere().properties(at: 0)
+let flow = try FluidFlow(
+    relativeVelocityMetresPerSecond: SIMD3(100, 0, 0), properties: ambient)
+let reynolds = try flow.reynoldsNumber(referenceLengthMetres: 1)
+let local = try flow.atLocalPoint(
+    offsetMetres: SIMD3(0, 2, 0), angularVelocityRadiansPerSecond: SIMD3(0, 0, 0.1))
+```
+
+Local velocity adds `(ωVehicle − ωMedium)×offset` for a rigidly rotating medium.
+The optional `mediumAngularVelocityRadiansPerSecond` defaults to zero for uniform air. Callers supply actual winds,
+atmospheric gradients and coordinate transformations; no orientation or ephemeris is
+inferred. Measure both rates relative to the same frame and express them in the same axes as
+the offset. In an inertial frame, supply the planet's rate as the medium rate. In a
+planet-fixed frame, supply the vehicle's rate relative to the planet and zero medium
+rate. The flow at the reference point must already subtract atmospheric velocity. Alternatively, sample vehicle and air
+velocities at every strip, including atmospheric co-rotation and wind gradients.
+The units and definitions follow [NASA dynamic pressure](https://www1.grc.nasa.gov/beginners-guide-to-aeronautics/dynamic-pressure-2/)
+and [Reynolds number](https://www.grc.nasa.gov/WWW/K-12/airplane/reynolds.html).
+
+## Forces and moments
+
+`FluidCoefficients` carries three signed force and three moment components.
+`FluidReferenceGeometry` states area, three moment reference lengths and a
+moment reference point. Aircraft moment lengths typically use span/chord/span.
+`FluidLoads` contains force in N and moment in N m in the same caller-selected
+axes. Coefficient conversion uses `F = q S C` and `M = q S L Cmoment`.
+The moment already includes the full coefficient moment about its stated reference
+point; do not add a second centre-of-pressure moment for the same load.
+
+Transferring the moment to another point uses `Mnew = Mold + (rold−rnew)×F`.
+Load addition first transfers the other moment to the receiving load's reference
+point. This operation aggregates physics without owning a vehicle assembly.
+Reference points and force/moment vectors must use the same origin and axes;
+the types do not perform frame transforms or certify coordinate compatibility.
+
+`SurfaceHeatFlux` provides a surface position and positive inward heat flux in
+W/m² for correlations and external thermal integration. See <doc:Aerothermal> for
+the initial stagnation-point evaluator. The value itself does not evolve temperature
+or manage ablation.
+
+## NACA geometry
+
+``NACA4`` computes thickness offsets normal to the actual camber-line tangent,
+including a zero-camber limit without division by zero. Coordinates are normalized
+by chord; evaluation covers `0...1`. The conventional thickness polynomial retains
+a finite trailing-edge gap. Use the throwing geometry initializer and
+`surfaceCoordinates(atChordFraction:)` for recoverable input validation; legacy
+methods retain preconditions. The basis is [NASA-TM-X-3284](https://ntrs.nasa.gov/citations/19760003945).
diff --git a/Sources/Aerodynamics/Aerodynamics.docc/LiftingLine.md b/Sources/Aerodynamics/Aerodynamics.docc/LiftingLine.md
new file mode 100644
index 0000000..bb2cafe
--- /dev/null
+++ b/Sources/Aerodynamics/Aerodynamics.docc/LiftingLine.md
@@ -0,0 +1,77 @@
+# Coupled spanwise lifting line
+
+``LiftingLineWing`` solves a straight, unswept planar wing in uniform incident
+flow. Unlike independent strips or an equivalent whole-wing correction, its
+circulation and induced incidence are coupled across the span. It accepts supplied
+linear section polars with spanwise chord, incidence and zero-lift-angle variation.
+
+Use it for attached, low-speed flow: aspect ratio ≥ 4, Mach ≤ 0.3, zero sideslip
+within numerical tolerance, speed ≥ 1 m/s and small angles. Every station must
+satisfy its declared effective-incidence and Reynolds coverage. Lift slopes are
+positive and bounded to 0.01…20 per radian; geometric/zero-lift angles and declared
+effective-incidence bounds stay within ±0.35 rad. These implementation limits do
+not constitute validated accuracy bounds for a particular wing.
+
+## Geometry and section inputs
+
+The reference line lies along body Y, with a supplied centre in body axes. All
+section moments refer to that same straight line; positions of swept or staggered
+quarter-chord lines are not represented. The constructor samples
+`sectionAtSpanFraction` at cosine-spaced stations, from left (−1) to right (+1).
+``LiftingLineSection`` supplies chord, lift slope, zero-lift angle, incidence,
+constant profile drag, pitching moment and coverage. Profile drag excludes induced
+drag. Supplied control/camber changes may alter these parameters externally; no
+control-effectiveness factor or actuator state is inferred.
+
+Reference area sets coefficient normalization and must match the geometry/dataset.
+Rectangular area is span times chord; elliptical area is π span rootChord / 4.
+Stations do not include the tips, where circulation vanishes. Chord/span ratios at
+sampled stations must lie within 1e-6…1. Station count is configurable from 2 to 64,
+with eight as the initial default rather than an accuracy claim.
+
+```swift
+let wing = try LiftingLineWing(spanMetres: 8,
+    referenceAreaSquareMetres: 4 * .pi, stationCount: 16,
+    source: "Ideal elliptical wing", version: "1") { fraction in
+    try LiftingLineSection(chordMetres: 2 * sqrt(1 - fraction * fraction),
+        liftSlopePerRadian: 2 * .pi, profileDragCoefficient: 0.02,
+        effectiveAngleRangeRadians: -0.2...0.2, reynoldsRange: 1e3...1e8)
+}
+let result = try wing.evaluate(flow: flow)
+```
+
+The example parameters are idealized. Flow supplies sound speed and viscosity for
+coverage checks, and is already relative to the atmosphere in the stated body axes.
+This model does not sample local rotation, varying incident speed or wind gradients.
+Those require a more general lifting-line/wake formulation; the independent-strip
+sampler remains available for externally prescribed local flow.
+
+## Solution and loads
+
+The sine-series collocation system is solved with a pivoted factorization cached
+at construction. Setup costs O(N³) and each query O(N²). ``LiftingLineResult`` returns
+Fourier coefficients, per-station circulation/effective incidence, lift, profile
+and induced drag coefficients, span efficiency and maximum equation residual.
+Numerically zero total lift has undefined span efficiency, even when asymmetric
+circulation produces nonzero induced drag.
+
+Lift, induced drag and the spanwise lift moment use Fourier integrals. Profile drag,
+section pitching moments and the spanwise drag moment use numerical quadrature;
+increase station count to check their convergence. Local induced-drag allocation
+uses the small-angle lifting-line approximation. The returned force/moment are
+about an explicit point and can feed CelMek's aerodynamic wrench adapter.
+
+Do not add another finite-wing correction or induced-drag load for the same wing.
+The linear section data does not supply nonlinear stall, dynamic stall, compressibility,
+surface interference, multiple-wing wakes or a validated control database.
+`FiniteWingAirfoil` remains the cheaper equivalent uniform-wing option.
+
+Tests reproduce elliptical lift slope and minimum induced drag at several station
+counts, an analytic second-harmonic twist/rolling moment, rectangular convergence,
+constant profile drag, reference-point transfer and unsupported coverage.
+
+References: [classical lifting-line Fourier formulation](https://www.mdpi.com/2076-3417/15/6/3383)
+and [NASA induced-drag relationship](https://www1.grc.nasa.gov/beginners-guide-to-aeronautics/induced-drag-coefficient/).
+
+For supplied nonlinear polars, nonuniform incident flow and coupled fixed wakes
+between surfaces, see <doc:NonlinearWakes>.
diff --git a/Sources/Aerodynamics/Aerodynamics.docc/ModelCoverage.md b/Sources/Aerodynamics/Aerodynamics.docc/ModelCoverage.md
new file mode 100644
index 0000000..4120f17
--- /dev/null
+++ b/Sources/Aerodynamics/Aerodynamics.docc/ModelCoverage.md
@@ -0,0 +1,107 @@
+# Model coverage and validation
+
+Select the physical approximation and data coverage explicitly, then assess numerical convergence separately.
+
+## Selection and cost
+
+| Provider | Supported approximation / required data | Evaluation cost |
+| --- | --- | --- |
+| Checked airfoil/control/body tables | Supplied rectangular incidence, Mach, Reynolds and optional control grid; no implied validity between different regimes | Up to 16 body-grid corners; section/angle lookup also searches samples |
+| SegmentedWing | Independent strips and sampled local flow; no automatic wake | O(N) |
+| FiniteWingAirfoil | Uniform equivalent attached low-speed wing, AR ≥ 4 | Iterative scalar root |
+| LiftingLineWing | Straight planar unswept wing, linear sections, uniform Mach ≤ 0.3 flow | O(N³) setup, O(N²) evaluation |
+| NonlinearLiftingLine | Supplied nonlinear sections, nonuniform flow, unswept fixed wakes and mutual surface coupling, Mach ≤ 0.3 | O(N²) setup/memory, O(I N²) solve |
+| ModifiedNewtonianPressure | Windward calorically perfect gas, declared Mach ≥ 5 and Kn ≤ 0.01 | O(1) per panel |
+| MaxwellianFreeMolecularTraction | Single-species Maxwellian, specified reflection/wall temperature, Kn ≥ 10 | O(1) per panel |
+| TabulatedRarefiedTraction | Supplied consistent gas/surface data across declared Kn/incidence/speed/wall-temperature range | At most 16 corners per pressure/shear lookup |
+| LaminarFlatPlateHeating / TurbulentFlatPlateHeating | Low-Mach isothermal attached zero-pressure-gradient plate; explicit film properties and boundary-layer choice | O(1) per point |
+| TabulatedEnthalpySurfaceHeating | Supplied gas/geometry/recovery/catalytic assumptions, explicit laminar/turbulent Stanton data, Kn ≤ 0.01 | At most 8 corners |
+| SuttonGravesHeating / mixture / H₂-He | Distinct gas-specific stagnation correlations with their own bounds and wall assumptions | O(1) per point |
+| SweptCylinderStagnationHeating | Idealized laminar Earth-air stagnation line, supplied sphere model, bounded effective sweep | One sphere evaluation plus O(1) |
+| TabulatedRadiativeHeating | Supplied cold-wall shock-layer radiation data and gas-specific continuum coverage | At most 8 corners |
+| ActuatorDiskSlipstream | Prescribed axial thrust/torque, ideal contracting top-hat slipstream and swirl; no body deflection | O(1) per point |
+| IncompressibleFlowGrid | Constant-density incompressible MAC grid, Mach ≤ 0.3, caller-established continuum applicability, fixed free-slip solids and prescribed box boundary velocities | O(substeps × cells × pressureIterations) |
+| DragAreaForces / buoyancy | Supplied current drag area/coefficient and displaced volume/local pressure gradient | Provider cost plus O(1) |
+
+Tables carry source, version and assumptions. `FluidScalarTable` supports
+1–8 named/unit-labelled axes, strict ordering, finite values and complete grids,
+with last-axis-fastest storage, multilinear interpolation and no extrapolation.
+JSON decoding revalidates structure. Physical wrappers additionally check axis
+names, units, signs and gas/geometry conventions. A rectangular interpolation grid
+must not span an unsupported hole in the physical dataset. Single-node dimensions
+are exact constraints, not unconstrained coordinates. Floating-point query values
+must remain within the declared endpoints.
+
+``CoveredBodyCoefficients`` binds a provider to reference lengths and explicit
+Mach/Reynolds/incidence/sideslip/Kn coverage. ``MachRegimeBodyCoefficients``
+dispatches by caller-chosen thresholds to bounded providers. A threshold belongs
+to the upper interval; it does not blend, extrapolate or hide discontinuities.
+Transonic/high-incidence support therefore comes from appropriate supplied body
+data, rather than a low-speed or hypersonic approximation stretched across all
+Mach numbers. No validated generic capsule/spaceplane database is bundled.
+
+## Gas and transport
+
+`PerfectGasMixture` stores explicit mass fractions of `PerfectGasSpecies` and
+mass-weights cp and R. Each species declares a constant-cp temperature range; the
+mixture uses their intersection. It supplies ideal-gas density and sound speed and
+can construct film transport properties with **caller-supplied** viscosity and
+conductivity. There is no viscosity/conductivity averaging rule or high-temperature
+chemistry inferred from composition. Species identifiers must be unique, positive
+mass fractions must sum to one, and property queries outside the shared temperature
+interval throw. Use a richer provider for dissociation, ionization, variable cp,
+non-equilibrium or multicomponent diffusion. A mixture-average R is not a resolved
+multispecies free-molecular model.
+
+## Failure and zero-flow behavior
+
+Checked constructors reject invalid geometry/nonfinite coefficients and incomplete
+data. Unsupported physical regimes throw `outsideCoverage`; missing state throws
+`missingFlowProperty`; incompatible identities/conventions throw `unsupportedQuery`.
+The nonlinear wake and CFD pressure solvers additionally report `nonConvergence`.
+CFD state updates are transactional; budget/coverage failure leaves the original grid unchanged.
+
+Whole-body/strip/drag-area evaluators return zero aerodynamic load at zero dynamic
+pressure without querying undefined incidence. The steady lifting-line solvers,
+forced-convection plate models and supplied enthalpy/radiation datasets reject
+rest when it lies outside their declared domains. Free-molecular traction retains
+thermal molecular impacts at zero bulk speed. Sutton–Graves cold-wall stagnation
+models retain their documented zero-speed convention. There is no universal
+zero-density-to-vacuum shortcut, fallback model or assumed zero heat flux when a
+provider is unavailable. Buoyancy is evaluated independently of airspeed.
+
+## Runnable entry comparison
+
+Run `swift run FluidPhysicsDemo`. In addition to wing/control/parachute/balloon
+examples it integrates 25 seconds of planar prescribed-attitude entry for a
+lifting capsule and a pressure-panel wing. The harness owns RK4, gravity, mass,
+attitude prescription and heat-load integration. Aerodynamics only returns loads
+and flux. It uses ISA below 86 km, explicitly approximate mean free path,
+synthetic capsule coefficients and an idealized pressure-only flat wing. Heating
+uses Earth-air Sutton–Graves and a swept-cylinder stagnation-line estimate.
+
+It reports peak deceleration, dynamic pressure, local heat flux and integrated
+local heat load, plus final-speed/heat-load changes when halving the step from
+0.2 to 0.1 seconds. The starting altitude is 70 km: the small leading-edge radius
+would fail continuum coverage at 80 km. Coverage checks remain active throughout
+the run. Heat load is J/m² at the chosen local point, not total vehicle energy or
+a thermal-protection temperature/survival prediction. Attitude is prescribed;
+this harness does not assess trim, structural response or closed-loop guidance.
+
+Step refinement measures integration sensitivity, not physical accuracy. Other
+tests separately compare spanwise convergence, classical lifting-line references,
+independent molecular quadrature, published stagnation-heating CFD and similarity
+heat-transfer values. The shared fluid implementations and their numerical tests now belong to FluidDynamics.
+Supplied-data tests establish interpolation and contracts;
+real vehicle data still needs independent calibration/validation.
+
+## Deliberate limits and later fidelity
+
+The initial physics/API workstream includes replaceable providers for the remaining
+regimes. The optional local incompressible solver is described in [shared propwash/CFD guide](/documentation/fluiddynamics/propellersandcfd).
+It does not include a general compressible CFD/DSMC/radiation solver or universal
+validated vehicle datasets. Free-wake rollup, swept/separated-wing fidelity,
+chemistry-resolved transport and high-enthalpy/transitional/radiative databases
+remain specialist extensions. Atmosphere coverage above ISA, thermal response and
+vehicle systems are separate workstreams, not missing state machines to place in
+Aerodynamics. See <doc:NonlinearWakes>, <doc:RarefiedFlow> and <doc:EntryHeating>.
diff --git a/Sources/Aerodynamics/Aerodynamics.docc/NonlinearWakes.md b/Sources/Aerodynamics/Aerodynamics.docc/NonlinearWakes.md
new file mode 100644
index 0000000..727a758
--- /dev/null
+++ b/Sources/Aerodynamics/Aerodynamics.docc/NonlinearWakes.md
@@ -0,0 +1,72 @@
+# Nonlinear sections and coupled wakes
+
+Solve a bounded fixed-wake lifting-line problem across supplied aerodynamic strips.
+
+``NonlinearLiftingLine`` accepts ``WingSegment`` geometry and the existing
+``WingSectionCoefficientModel`` contract, including tabulated nonlinear/control
+polars. Strips from separate wings or tails may share a solve. The caller samples
+incident flow at each strip, including local rotation, atmosphere gradients,
+external body interference or prescribed winds. No vehicle assembly is owned.
+
+Each strip is a constant-circulation horseshoe: a bound vortex along the supplied
+section span through its moment-reference point, with width `area/chord`, and two
+straight finite trailing legs. Use quarter-chord geometry and a matching section
+moment convention. Wake direction is physical air motion (normally body −X).
+It must be perpendicular to each strip's span; the model supports unswept lifting
+lines with incidence/dihedral and separated surfaces, rather than arbitrary swept
+or intersecting lifting lines. Distinct control points alone do not establish a
+well-resolved geometry. Avoid other bound/wake vortex cores and endpoints.
+
+The solver sums regularized Biot–Savart air velocity, subtracts it from each
+incident body-relative velocity, queries the section model and relaxes toward
+`Gamma = 0.5 V_section chord CL`. It reports circulation, induced air velocities,
+section results, loads, iteration count and maximum circulation residual normalized
+by incident `0.5 V chord`. A failed solve throws `nonConvergence`; it never returns
+an unconverged best guess. Multiple nonlinear roots or convergence from a zero
+initial state do not establish uniqueness or post-stall physical accuracy.
+
+```swift
+let sections = try SegmentedWing.rectangular(spanMetres: 8, chordMetres: 1,
+    model: sectionModel).segments
+let solver = try NonlinearLiftingLine(segments: sections,
+    wakeLengthMetres: 800, vortexCoreRadiusMetres: 0.0001)
+let result = try solver.evaluate { segment in
+    try incidentFlow.atLocalPoint(offsetMetres: segment.positionMetres,
+        angularVelocityRadiansPerSecond: suppliedBodyRate)
+}
+let airWake = try solver.inducedAirVelocity(at: downstreamBodyPoint,
+    circulation: result.circulationSquareMetresPerSecond)
+let downstreamFlow = try incidentFlow.replacingRelativeVelocity(
+    incidentFlow.relativeVelocityMetresPerSecond - airWake)
+```
+
+Both vectors must share axes, units and frame. `FluidFlow/replacingRelativeVelocity(_:)`
+also works with body, panel and parachute providers. For mutually interacting
+lifting surfaces, put all their strips in one solver; successive isolated solves
+provide only one-way interaction. Body shielding, wake deficits and arbitrary
+interference may be supplied through the flow sampler; they are not inferred.
+
+Loads use the converged effective flow, so its tilted lift already produces induced
+drag. Supply **section profile drag**; do not wrap the polar in ``FiniteWingAirfoil``
+or add another induced-drag force. Section moments and force lever arms are summed
+once about the requested reference point.
+
+Limits are Mach ≤ 0.3, incident speed ≥ 1 m/s, incident alignment within 0.35 rad
+of the upstream wake axis, incident spanwise speed ≤ 10% of speed, section incidence
+within ±0.35 rad and |CL| ≤ 2. Provider coverage also applies at every iterate.
+No 3-D separation, transonic shocks, dynamic stall, free-wake rollup or ground
+images are inferred. A supplied post-stall polar remains an approximation of local
+2-D behavior. Zero density/rest are outside this steady circulation solver's coverage.
+
+At most 256 strips are accepted. Setup/memory cost O(N²), evaluation O(I N²).
+Relaxation, residual tolerance, iteration cap, wake length and core radius are
+explicit. Core radius is limited to 2% of the narrowest strip; this is a numerical
+restriction, not a vortex-physics model. Refine strip count, increase wake length
+and decrease core radius independently to assess numerical sensitivity.
+
+Tests compare a single horseshoe against an independent semi-infinite-vortex/scalar
+root solution, check 8/16/32/64-strip convergence against Fourier lifting line, and
+exercise nonlinear polar response, two-way wing/tail coupling, nonuniform flow,
+reference-point transfer and explicit failures.
+
+Background: [CN-AeroModels nonlinear lifting-line formulation](https://lheea.gitlab.io/CN-AeroModels/nonlinear_lifting_line.html).
diff --git a/Sources/Aerodynamics/Aerodynamics.docc/ParachutesAndBalloons.md b/Sources/Aerodynamics/Aerodynamics.docc/ParachutesAndBalloons.md
new file mode 100644
index 0000000..52f05fc
--- /dev/null
+++ b/Sources/Aerodynamics/Aerodynamics.docc/ParachutesAndBalloons.md
@@ -0,0 +1,76 @@
+# Parachute and balloon loads
+
+These evaluators compute steady physical loads for caller-supplied geometry and
+local flow. They do not own a vehicle, deployment sequence, inflation state,
+opening shock, gas inventory or thermal evolution.
+
+## Steady drag
+
+`DragAreaForces` applies `F = −velocityDirection q Cd area` at an explicit
+force application point and transfers the resulting moment to the requested point.
+``ParachuteAerodynamics`` uses this contract for a supplied current canopy.
+Area must follow the coefficient dataset's definition, such as nominal canopy area
+or projected area. Supply shape, reefing and wake effects through the current area
+or a calibrated coefficient provider; count each correction once.
+
+`DragCoefficientModel` permits custom providers. `TabulatedDragCoefficients`
+validates a complete rectangular Mach/Reynolds grid, nonnegative coefficients,
+source and version, and interpolates linearly in each coordinate. It rejects queries
+outside the grid and requires sound speed and viscosity. A supplied axis points
+along positive vehicle-relative-to-air motion at zero incidence; its angle with
+that velocity is available to custom providers. The table may restrict that angle
+but does not invent orientation dependence inside the permitted range. Without an
+angle limit it declares orientation-invariant coefficients. It does not project the
+area automatically or generate lift, pitching moment or canopy stability.
+
+```swift
+let data = try TabulatedDragCoefficients(samples: [
+    DragCoefficientSample(machNumber: 0, reynoldsNumber: 1e4, dragCoefficient: 1.5),
+    DragCoefficientSample(machNumber: 0, reynoldsNumber: 1e6, dragCoefficient: 1.5),
+    DragCoefficientSample(machNumber: 0.5, reynoldsNumber: 1e4, dragCoefficient: 1.5),
+    DragCoefficientSample(machNumber: 0.5, reynoldsNumber: 1e6, dragCoefficient: 1.5)
+], source: "Synthetic demonstration coefficients", version: "1")
+let drag = try DragAreaForces(areaSquareMetres: 20, referenceLengthMetres: 5,
+    forceApplicationPointMetres: SIMD3(0, 0, -2), model: data)
+let parachute = ParachuteAerodynamics(drag: drag)
+let loads = try parachute.evaluate(flow: flow)
+```
+
+The example coefficients are synthetic, not canopy performance data. Flow is
+sampled at the drag resultant location and must already include vehicle/atmosphere
+rotation and winds. All positions and vectors use common axes and origin. A canopy
+resultant and a force transmitted to a payload attachment are different physical
+loads: the external tether/multibody model establishes transmission. This evaluator
+does not move a canopy force to an attachment by assumption.
+
+Zero dynamic pressure or zero supplied area produces zero drag without querying
+coefficients. Area cannot be negative; reference length stays positive. A zero area
+can represent externally supplied collapsed geometry, but this contract provides
+no transient inflation loads or opening-load prediction.
+
+## Displaced-volume buoyancy
+
+`Buoyancy` accepts volume in m³ and centre of buoyancy in metres. Under local
+hydrostatic conditions, it returns `F = −ρ volume gravity`. Alternatively, with an
+approximately uniform pressure gradient, it returns `F = −volume gradientPressure`.
+`BuoyancyField` selects one description. The gradient includes the full ambient
+pressure field and is not added to a second hydrostatic buoyancy force. Density is
+used by the gravity form; the gradient form uses the supplied gradient directly.
+For significant atmospheric rotation or other departures from static hydrostatic
+conditions, supply the actual pressure gradient rather than substituting vehicle
+acceleration for gravity. Large bodies spanning significant gradients need a
+distributed pressure integration instead of the local uniform approximation.
+
+``BalloonAerodynamics`` adds this pressure force to optional supplied-shape drag,
+retaining each force's moment arm. It returns gross buoyancy, without subtracting
+lifting-gas, envelope or payload weight. External dynamics must use the full mass
+and apply gravity once. Volume, lifting-gas mass, gas heating/expansion, venting and
+envelope constraints remain external.
+
+Tests verify terminal parachute descent against external weight, oblique drag,
+force moment arms, buoyancy equilibrium, equivalent hydrostatic/gradient inputs,
+coefficient interpolation and supplied-state limits. Results can feed CelMek's
+existing aerodynamic wrench adapter without adding systems logic here.
+
+References: [NASA parachute recovery forces](https://www.grc.nasa.gov/www/k-12/VirtualAero/BottleRocket/airplane/rktvrecv.html)
+and [NASA balloon design](https://www.grc.nasa.gov/www/k-12/Numbers/Math/Mathematical_Thinking/designing_a_high_altitude.htm).
diff --git a/Sources/Aerodynamics/Aerodynamics.docc/PlanetaryHeating.md b/Sources/Aerodynamics/Aerodynamics.docc/PlanetaryHeating.md
new file mode 100644
index 0000000..c87f0e9
--- /dev/null
+++ b/Sources/Aerodynamics/Aerodynamics.docc/PlanetaryHeating.md
@@ -0,0 +1,79 @@
+# Planetary heating parameters
+
+Heating parameters are explicit gas datasets, independent of the atmosphere
+catalogue. Density and temperature profiles alone do not identify a heating model.
+Use a query gas identifier matching the chosen parameter set.
+
+## Mars
+
+``SuttonGravesParameters/marsCarbonDioxideNitrogenColdWall`` supplies
+`k = 1.83e-4` for an idealized 97% CO₂ / 3% N₂ mixture **by mass**. Use it with
+``SuttonGravesHeating`` and caller-declared coverage. It is the simple cold-wall
+estimate, not the newer CFD correlation in the same paper.
+
+Source: [West and Brandis, 2020, equation 2](https://ntrs.nasa.gov/api/citations/20200002354/downloads/20200002354.pdf).
+
+## Venus and explicit mixtures
+
+``SuttonGravesMixtureParameters`` accepts mass or mole fractions of nine base
+gases. It derives the enthalpy-form coefficient using equation 42 and the rounded
+transport products in table I. Mole fractions are converted to mass fractions.
+``SuttonGravesMixtureParameters/venusCarbonDioxideNitrogen`` assumes 96.5% CO₂ /
+3.5% N₂ by mole, ignoring trace species. This is a derived mixture approximation,
+not a fitted Venus flight dataset.
+
+``SuttonGravesMixtureHeating`` requires ``StagnationGasState`` in the query:
+stagnation pressure in Pa and boundary-layer-edge specific enthalpy in J/kg.
+It uses `q = K sqrt((pStag/101325)/Rnose) hEdge`, neglecting wall enthalpy.
+The coefficient's source units contain atm and differ from the velocity-cubed
+coefficient; the evaluator performs the pressure conversion. Wall state must be
+absent for this cold-wall estimate. Flow and continuum coverage are also checked.
+Pressure and edge enthalpy are limited to the original study's 0.001…100 atm and
+2.3…116.2 MJ/kg ranges. These bounds do not establish the cold-wall approximation's
+accuracy for every state. The model does not solve equilibrium chemistry or infer
+shock-layer properties from an ISA-like profile.
+
+Sources: [Sutton–Graves report](https://ntrs.nasa.gov/citations/19720003329) and
+[NASA Venus composition](https://nssdc.gsfc.nasa.gov/planetary/factsheet/venusfact.html).
+
+## Hydrogen and helium
+
+``HydrogenHeliumColdWallHeating`` implements the separate nonlinear cold-wall
+fit. Its baseline is 81.55% H₂ / 18.45% He by mole, with a fully catalytic,
+non-ablating spherical wall at 300 K and freestream temperature 141.2 K. A missing
+wall adopts 300 K; other wall temperatures and inconsistent freestream temperature
+are rejected. It requires Mach ≥ 5, Kn ≤ 0.003, radius 0.2…1 m and density
+1e-5…0.1 kg/m³. Speed coverage follows a log-density interpolation of table-2
+boundary points rather than a full 7…45 km/s rectangle.
+
+``HydrogenHeliumHeatingMixture`` provides the Neptune baseline and Saturn/Uranus
+approximations. Their factors 0.952/0.980 originate in hot-wall composition studies
+and were also applied by the authors to cold-wall comparisons. They are not
+independent cold-wall fits. The model preserves the published branch switch at
+29 km/s, including an approximately 5–9% downward step for supported radii near
+that boundary; it does not smooth or extrapolate it.
+Diagnostics expose fitted pressure, enthalpy difference, K₂ and selected branch.
+Tests compare both flux and K₂ with all 180 Appendix-B CFD cases within 20%; this
+checks implementation against the dataset, not arbitrary trajectories.
+
+Source: [Carroll and Brandis, 2022](https://ntrs.nasa.gov/api/citations/20220018610/downloads/AIAA_Aviation_2022_Paper-6.pdf).
+
+## Example
+
+```swift
+let mixture = HydrogenHeliumHeatingMixture.neptuneReference
+let model = HydrogenHeliumColdWallHeating(mixture: mixture)
+let flow = try FluidFlow(relativeVelocityMetresPerSecond: SIMD3(19000, 0, 0),
+    densityKilogramsPerCubicMetre: 1e-4, temperatureKelvin: 141.2,
+    speedOfSoundMetresPerSecond: 1000, meanFreePathMetres: 1e-5)
+let query = try StagnationHeatingQuery(flow: flow, gasIdentifier: mixture.gasIdentifier,
+    noseRadiusMetres: 0.4, surfacePositionMetres: SIMD3(1, 0, 0),
+    wall: AerothermalWallState(temperatureKelvin: 300))
+let result = try model.evaluate(query)
+```
+
+Example sound speed and mean free path are supplied assumptions. No radiative flux
+is included. Jupiter, Titan and tenuous-moon heating presets remain unsupported.
+Current nominal atmosphere profiles also do not establish upper-atmosphere or
+transport coverage for these entry calculations. See <doc:Aerothermal> for the
+external thermal-integration boundary.
diff --git a/Sources/Aerodynamics/Aerodynamics.docc/RarefiedFlow.md b/Sources/Aerodynamics/Aerodynamics.docc/RarefiedFlow.md
new file mode 100644
index 0000000..035df34
--- /dev/null
+++ b/Sources/Aerodynamics/Aerodynamics.docc/RarefiedFlow.md
@@ -0,0 +1,113 @@
+# Free-molecular surface loads
+
+`SurfaceTractionModel` returns signed gauge pressure and tangential stress in Pa.
+`SurfaceTractionIntegration` integrates these over supplied surface panels,
+including force lever arms and moment-reference transfer. It validates that shear
+is tangential to each panel. `PressureOnlyTraction` adapts existing continuum
+pressure laws into the same contract with zero shear; it is an alternative evaluator,
+not an additional force to count alongside pressure-only integration.
+
+## Gas and surface inputs
+
+``MaxwellianFreeMolecularTraction`` describes independent impacts from an ideal
+single-species Maxwellian gas. ``FreeMolecularGas`` supplies specific gas constant
+in J/(kg K), identity and provenance. Flow supplies density, temperature, local
+vehicle-relative-to-air velocity and mean free path. Sound speed and viscosity are
+not required. Ambient pressure is computed as `ρ R T`; any supplied flow pressure
+must be consistent with those inputs. A mixture-average R is an additional
+approximation, not a species-resolved mixture treatment.
+
+``GasSurfaceReflection`` sets the specular fraction and wall temperature. Specular
+reflection transfers normal momentum without shear. The remaining fraction is fully
+accommodated diffuse re-emission at wall temperature, with outgoing molecular flux
+balancing incoming flux. This reflection fraction is not a general independent
+normal/tangential accommodation law, and is not inferred from material name.
+
+For outward normal `n`, let `U = vehicleVelocity · n`, `σ = sqrt(R T)` and `a = U/σ`.
+Incoming mass and normal momentum fluxes follow Gaussian half-space moments:
+
+`J = ρ σ [φ(a) + a Φ(a)]`
+
+`Pincident = ρ σ² [(a² + 1) Φ(a) + a φ(a)]`
+
+The diffuse outgoing pressure is `J sqrt(π R Twall / 2)`. The model combines that
+pressure with specular reflection, subtracts ambient pressure, and supplies diffuse
+shear opposite the tangential vehicle velocity. Thermal molecules can hit leeward
+faces, so they are not discarded by an incidence sign test. Deep leeward Gaussian
+tails use an asymptotic expansion to avoid subtraction cancellation.
+
+## Coverage and geometry
+
+The evaluator requires Kn ≥ 10 using the supplied reference length and mean free
+path. Missing temperature or mean free path throws, including at rest; low density
+does not imply vacuum or select a regime. A separate numerical bound requires
+`abs(U/σ) ≤ 1e6`. Zero speed does not necessarily mean zero pressure load when wall
+and gas temperatures differ. At equal temperatures, stationary gas produces zero
+gauge pressure and shear. A uniform closed body at rest has no net pressure force.
+
+Normals point outward. Gauge pressure may be negative on leeward panels; absolute
+surface pressure is obtained by adding `ρ R T`. Gauge subtraction removes the
+local ambient contribution, so these loads do not supply a separate hydrostatic
+buoyancy force. Sample consistent flow and any needed buoyancy separately.
+
+The exposure flag is a caller-supplied inclusion mask. A false flag skips the panel's
+traction; it does not solve molecular occlusion, reflected-particle reimpact or
+thermal-view geometry. Independent panels suit externally exposed geometry;
+concavities and nearby interacting surfaces need a more complete model. All flow,
+stress and location vectors use the same axes, with atmospheric co-rotation already
+included in relative flow. The panel sampling overload supports local rotation and
+external gradients.
+
+## Example
+
+```swift
+let gas = try FreeMolecularGas(identifier: "Supplied single-species gas",
+    specificGasConstantJoulesPerKilogramKelvin: 300, source: "Caller gas dataset")
+let surface = try GasSurfaceReflection(specularFraction: 0.2, wallTemperatureKelvin: 300)
+let model = try MaxwellianFreeMolecularTraction(gas: gas, surface: surface)
+let panel = try FluidSurfacePanel(areaSquareMetres: 1,
+    centreMetres: SIMD3(1, 0, 0), outwardNormal: SIMD3(1, 0, 0))
+let evaluator = try SurfaceTractionIntegration(panels: [panel],
+    referenceLengthMetres: 1, model: model)
+let flow = try FluidFlow(relativeVelocityMetresPerSecond: SIMD3(7000, 0, 0),
+    densityKilogramsPerCubicMetre: 1e-8, temperatureKelvin: 200, meanFreePathMetres: 20)
+let loads = try evaluator.evaluate(flow: flow).loads
+```
+
+These are demonstration inputs, not an atmosphere or material preset. No chemical
+reactions, ablation, heat flux or gas inventory is evolved. Do not extrapolate either endpoint model into slip/transitional flow.
+``TabulatedRarefiedTraction`` accepts a supplied consistent transition dataset
+through the same integration contract; no universal endpoint blend is inferred.
+
+Tests compare molecular fluxes with independent Simpson quadrature, equal-temperature
+rest and hot-wall limits, thermal leeward impacts, specular high-speed pressure,
+force/moment transfer and equivalence of the continuum pressure adapter.
+
+References: [NASA free-molecular pressure/shear formulation](https://ntrs.nasa.gov/api/citations/19890015753/downloads/19890015753.pdf)
+and [NASA rarefied-flow regime definitions](https://www.nas.nasa.gov/assets/nas/pdf/ams/2022/AMS_20220802_Singh.pdf).
+
+
+## Supplied transitional traction
+
+``TabulatedRarefiedTraction`` uses matched pressure/shear `FluidScalarTable`
+axes, ordered `log10Kn`, `incidenceCosine`, `speedRatio`, `wallTemperatureRatio`,
+all dimensionless. Incidence cosine is outward normal dotted with body-relative
+velocity direction; speed ratio is `V / sqrt(R T)`, and temperature ratio is
+`Tw / T`. Pressure values are gauge pressure divided by `rho R T`; nonnegative
+shear magnitudes use the same normalization and oppose tangential relative velocity.
+This normalization differs from conventional dynamic-pressure coefficients.
+Normals/rest have no tangential direction and must have zero interpolated shear;
+inconsistent data throws. Nonzero molecular thermal pressure at rest can remain.
+
+Gas R and wall temperature are explicit; source/version/assumptions must identify
+the gas composition, surface accommodation, geometry and data method (for example
+DSMC or a calibrated bridge). A complete rectangular dataset may include continuum,
+slip, transition and free-molecular conditions, with continuous multilinear output
+inside its stated coverage. The model never changes mean free path to trick the
+asymptotic evaluators into accepting unsupported states. Missing temperature/path
+or an out-of-range coordinate throws; no density-based vacuum fallback exists.
+Caller exposure flags remain the only shielding input.
+
+Tests use a synthetic affine dataset to verify log-Kn interpolation/continuity,
+normalization, shear direction and integrated moments. These tests do not validate
+a physical transition law; no calibrated transition dataset ships by default.
diff --git a/Sources/Aerodynamics/Aerodynamics.docc/SurfaceHeating.md b/Sources/Aerodynamics/Aerodynamics.docc/SurfaceHeating.md
new file mode 100644
index 0000000..3137352
--- /dev/null
+++ b/Sources/Aerodynamics/Aerodynamics.docc/SurfaceHeating.md
@@ -0,0 +1,66 @@
+# Local surface convection
+
+Evaluate bounded laminar or fully turbulent flat-plate heat transfer separately from capsule stagnation heating.
+
+``SurfaceConvectiveHeatingModel`` accepts local boundary-layer-edge flow, distance
+along the streamline from the leading edge, a supplied wall temperature and
+`ThermalTransportProperties`. The latter carries gas identity/provenance and
+film-temperature density, viscosity, conductivity and specific heat. No body-specific
+transport defaults or chemistry are inferred. Film temperature is `(Te + Tw)/2`;
+the evaluator checks the supplied property temperature.
+
+``LaminarFlatPlateHeating`` implements the isothermal, zero-pressure-gradient,
+attached parallel-flow approximation `Nu_x = 0.332 sqrt(Re_x) Pr^(1/3)`, with
+`Re_x = rho_f V_edge x / mu_f`, `Pr = mu_f cp_f / k_f` and `h_x = Nu_x k_f / x`.
+The edge-flow density/viscosity are not used in place of film properties.
+``SurfaceConvectionResult`` retains signed `q = h_x (Te - Tw)`: positive heats the
+wall and negative cools it. This differs deliberately from the incoming-only
+`SurfaceHeatFlux` used by stagnation correlations. Do not clamp cooling to
+zero or add this flux to a stagnation correlation at the same point.
+
+Implementation bounds are Mach ≤ 0.3, local Reynolds 1,000–500,000, Prandtl
+0.6–15, local Knudsen ≤ 0.01 and wall/edge temperature ratio 0.8–1.25.
+These conservative limits are restrictions, not an accuracy guarantee or a
+transition detector. The caller must establish an attached laminar boundary layer,
+parallel edge flow and approximately uniform wall temperature and properties.
+Shock interactions, pressure gradients, sweep, separation, automatic turbulent transition,
+compressible recovery temperature and high-enthalpy chemistry need other models.
+Zero speed is outside forced-convection coverage; no natural-convection estimate
+is substituted. The singular leading edge at x=0 is rejected.
+
+```swift
+let transport = try ThermalTransportProperties(
+    gasIdentifier: "supplied-air", source: "caller property dataset",
+    temperatureKelvin: 315, densityKilogramsPerCubicMetre: 1.12,
+    dynamicViscosityPascalSeconds: 1.92e-5,
+    thermalConductivityWattsPerMetreKelvin: 0.0274,
+    specificHeatJoulesPerKilogramKelvin: 1007)
+let edge = try FluidFlow(relativeVelocityMetresPerSecond: SIMD3(10, 0, 0),
+    densityKilogramsPerCubicMetre: 1.07, temperatureKelvin: 330,
+    speedOfSoundMetresPerSecond: 364, meanFreePathMetres: 7e-8)
+let result = try LaminarFlatPlateHeating().evaluate(SurfaceHeatingQuery(
+    edgeFlow: edge, distanceFromLeadingEdgeMetres: 0.1,
+    surfacePositionMetres: SIMD3(0.1, 0, 0),
+    wall: AerothermalWallState(temperatureKelvin: 300), transport: transport))
+```
+
+Evaluation costs O(1) per point. Callers sample a surface distribution and integrate
+flux over area externally; no surface mesh, thermal evolution or assembly is owned
+by the model. Position is an output label, not a substitute for streamline distance.
+This establishes a surface-convection extension point and a low-speed reference
+model. Use <doc:EntryHeating> for supplied high-enthalpy surface data and a bounded
+swept-cylinder stagnation-line approximation.
+
+The correlation and independent numerical similarity coefficients are given in
+[NPTEL External Flows, lecture 8, table 2.2](https://archive.nptel.ac.in/content/storage2/courses/112104159/module2/Lec8.pdf).
+Tests compare those coefficients, integrate the local distribution over a bounded
+plate interval and exercise heating/cooling, coverage and property requirements.
+
+
+``TurbulentFlatPlateHeating`` explicitly selects a fully turbulent boundary layer
+from the leading edge, with `Nu_x = 0.0296 Re_x^0.8 Pr^(1/3)` and Reynolds
+500,000–10,000,000. It retains the same Mach, Kn, Pr and temperature-ratio limits,
+film-property requirements and signed flux. It does not locate transition or model
+an initially laminar region. The different spatial dependence is tested alongside
+heating/cooling and out-of-range rejection. Source:
+[NPTEL External Flows, lecture 12](https://archive.nptel.ac.in/content/storage2/courses/112104159/module2/Lec12.pdf).
diff --git a/Sources/Aerodynamics/Aerodynamics.docc/SurfacePressure.md b/Sources/Aerodynamics/Aerodynamics.docc/SurfacePressure.md
new file mode 100644
index 0000000..63d2443
--- /dev/null
+++ b/Sources/Aerodynamics/Aerodynamics.docc/SurfacePressure.md
@@ -0,0 +1,66 @@
+# Hypersonic surface pressure
+
+`SurfacePressureIntegration` integrates gauge pressure over supplied flat
+`FluidSurfacePanel` elements. Each panel has area in m², an outward normal,
+a centre in metres and a caller-supplied exposure flag. Geometry and flow use the
+same body axes. Subdivision is caller-selected; evaluation costs O(panel count).
+It returns per-panel pressure coefficients and gauge pressures plus force and
+moment about an explicit point, ready for CelMek's aerodynamic wrench adapter.
+
+`SurfacePressureCoefficientModel` permits replacement pressure laws. The initial
+``ModifiedNewtonianPressure`` approximation uses a calorically perfect gas with
+explicit specific-heat ratio γ. It computes downstream normal-shock Mach and static
+pressure, then isentropically decelerates to obtain stagnation pressure. The law is:
+
+`CpMax = (pStagnationBehindShock/pFreeStream − 1)/(γ Mach²/2)`
+
+`Cp = CpMax max(0, outwardNormal · vehicleRelativeVelocityDirection)²`
+
+Vehicle-relative velocity points into the windward outward normal. The pressure
+force is inward: `F = −normal Cp q area`. Panel moments use the force lever arm;
+ambient pressure is subtracted. For an open surface, these are aerodynamic gauge
+loads, not total structural pressure loads. Leeward, tangent and explicitly
+unexposed panels have zero pressure coefficient in this approximation.
+
+```swift
+let panel = try FluidSurfacePanel(areaSquareMetres: 1,
+    centreMetres: SIMD3(2, 0, 0), outwardNormal: SIMD3(1, 0, 0))
+let pressureModel = try ModifiedNewtonianPressure(specificHeatRatio: 1.4)
+let surface = try SurfacePressureIntegration(panels: [panel],
+    referenceLengthMetres: 1, model: pressureModel)
+let flow = try FluidFlow(relativeVelocityMetresPerSecond: SIMD3(1000, 0, 0),
+    densityKilogramsPerCubicMetre: 0.02, speedOfSoundMetresPerSecond: 100,
+    meanFreePathMetres: 0.001)
+let result = try surface.evaluate(flow: flow)
+```
+
+This synthetic example supplies γ and sound speed consistently with the chosen gas
+approximation. Thermodynamic profiles do not yet supply mean free path; it must be
+provided independently. The model requires known Mach and Knudsen numbers for
+nonzero speed, defaults to Mach 5…25 and Kn ≤ 0.01, and allows narrower caller
+coverage within Mach 5…50. Reference length must be positive and should represent
+the relevant body or local geometry scale. These are implementation coverage
+bounds, not guarantees of accuracy or proof that perfect-gas behavior applies.
+Zero speed returns zero aerodynamic pressure load without requiring gas properties.
+Unsupported coverage and missing properties throw even for unexposed panels.
+
+Use the panel-flow sampling overload to account for vehicle and atmospheric
+rotation, winds or gradients at each panel centre. Uniform-flow evaluation assumes
+the same flow everywhere. No geometry shadowing or shock interaction is inferred.
+Normals are normalized during construction; outward orientation and correct areas
+remain the caller's responsibility.
+
+The approximation is intended for idealized blunt-body windward pressure. It does
+not model viscous skin friction, base suction, expansion pressures, heating,
+dissociation or variable heat capacity. Add separately supported contributions
+without counting pressure drag twice; do not silently extrapolate it into another
+flight regime or treat constant γ as a real-gas entry model.
+
+Tests check a normal-shock stagnation reference, inclined-panel force and lever-arm
+moment, coverage and rest behavior, and convergence to the analytic unit-sphere
+result `CD = CpMax/2` based on projected area. This validates the implementation of
+the approximation, not a particular vehicle's flight accuracy.
+
+The formulation follows [NASA normal-shock relations](https://www.grc.nasa.gov/WWW/BGH/normal.html)
+and the modified Newtonian coefficient discussed in
+[NASA TR R-127](https://ntrs.nasa.gov/citations/19630006549).
diff --git a/Sources/Aerodynamics/Aerodynamics.docc/WingsAndBodies.md b/Sources/Aerodynamics/Aerodynamics.docc/WingsAndBodies.md
new file mode 100644
index 0000000..e6eb33b
--- /dev/null
+++ b/Sources/Aerodynamics/Aerodynamics.docc/WingsAndBodies.md
@@ -0,0 +1,117 @@
+# Segmented wings and whole-body loads
+
+Evaluate aerodynamic loads for supplied wing or capsule geometry and coefficient data.
+
+These evaluators remain pure aerodynamic physics. They do not integrate motion,
+assemble vehicles, manage control systems or calculate reentry heating. All body
+vectors use the same caller-selected origin and X-forward/Y-right/Z-down axes.
+
+## Wing strips
+
+``SegmentedWing`` aggregates ``WingSegment`` loads about a supplied moment reference.
+A rectangular helper defaults to eight strips; other counts and arbitrary segment
+geometry are supported. ``WingSectionAxes`` defines the segment's chord/span/down
+basis, allowing twist, dihedral, sweep or a vertical tail orientation through explicit
+orthonormal directions. Positive incidence raises the leading edge.
+
+Each strip samples body-relative-to-air velocity at its own reference location,
+projects that velocity into the chord plane and evaluates its section coefficients.
+This independent-strip approximation discards spanwise velocity: dynamic pressure,
+Mach and Reynolds number use the chord-plane speed. It is not a complete swept-wing
+or finite-wing model.
+
+Positive lift is perpendicular to chord-plane velocity, toward section-up; drag
+opposes that velocity. Positive CM rotates about section +span. Force is `q S C`;
+section moment is `q S chord CM`. The segment position must match the polar's moment
+reference, such as quarter chord. Summation adds the lever-arm moment exactly once.
+See [NASA aerodynamic-center conventions](https://www1.grc.nasa.gov/beginners-guide-to-aeronautics/aerodynamic-center/).
+
+```swift
+import Aerodynamics
+let ambient = try ISAAtmosphere().properties(at: 0)
+let flow = try FluidFlow(relativeVelocityMetresPerSecond: SIMD3(40, 0, 0), properties: ambient)
+// `airfoil` is a caller-supplied AirfoilCoefficientModel with appropriate coverage.
+let wing = try SegmentedWing.rectangular(spanMetres: 8, chordMetres: 2,
+    incidenceRadians: 0.08, model: AirfoilWingSectionModel(airfoil: airfoil))
+let result = try wing.evaluate(flow: flow,
+    angularVelocityRadiansPerSecond: SIMD3(0.1, 0, 0))
+```
+
+The uniform-flow convenience adds `ω×r`, with offsets from an explicit velocity
+reference point. A separate sampler overload accepts local flow for each segment,
+allowing atmosphere gradients, winds and prescribed induced-flow corrections.
+Results include each strip's section flow, coefficients and physical loads as well
+as the total. Zero chord-plane dynamic pressure yields zero loads and nil coefficients
+without querying an undefined incidence/Reynolds number.
+
+``WingSectionCoefficientModel`` receives flow, chord and caller-supplied control
+surface deflection. A calibrated provider may use deflection to select/interpolate
+its aerodynamic data. ``AirfoilWingSectionModel`` adapts existing checked polars;
+it rejects nonzero deflection and missing Mach/Reynolds inputs instead of ignoring
+them. No generic flap effectiveness, stall or wake field is invented. The optional
+<doc:FiniteWing> correction supplies equivalent uniform-wing induced angle/drag
+under explicitly bounded conditions; it does not couple arbitrary strips.
+Use a provider and dataset appropriate to the flight regime; this API does not
+extend low-speed airfoil data to hypersonic entry automatically.
+
+## Capsule and fuselage models
+
+``WholeBodyAerodynamics`` consumes ``BodyAerodynamicCoefficientModel`` and reference
+geometry. It uses full freestream dynamic pressure, scales all six body-axis
+coefficients and transfers the resulting moment to the requested point if needed.
+It never adds a second centre-of-pressure moment to a complete coefficient moment.
+
+``BodyAerodynamicQuery`` carries flow, Reynolds reference length, moment reference
+lengths and body angular velocity. The normalized angular rates are
+`(p span, q chord, r span)/(2 V)` when speed is nonzero. A custom provider can use
+these for calibrated damping. No damping is applied by the static table provider.
+
+``TabulatedBodyCoefficients`` linearly interpolates a complete rectangular grid of
+angle of attack, sideslip, Mach and Reynolds conditions. Up to 16 corner coefficients
+contribute to a query. All axes default to rejecting out-of-coverage requests;
+explicit clamping uses their nearest boundary values. A singleton axis covers its
+single value rather than implying independence. Empty, duplicate, malformed or
+incomplete grids are rejected, including during Codable decoding.
+
+``BodyCoefficientTableLoader`` reads the Codable JSON table format from supplied data
+or files; I/O is separate from evaluation. The JSON fields are `samples`,
+`boundaryPolicy`, `source` and `version`. Samples contain `angleOfAttackRadians`,
+`sideslipRadians`, `machNumber`, `reynoldsNumber` and `coefficients`; coefficients
+contain three-element `force` and `moment` arrays. Source/version identify supplied
+data. Geometry dimensions and moment references must match that dataset; the
+caller is responsible for this compatibility.
+
+``WindForceCoefficients`` converts positive drag, signed side force and positive
+lift into body-axis force coefficients using incidence and sideslip. Wind X is along
+the body's relative velocity, wind Y is right and wind Z is down; force components
+in wind axes are `(-CD, CY, -CL)`. Moments are supplied separately in body axes,
+with body-axis moment reference lengths. The conversion convention is consistent
+with [NASA's component/velocity-axis definitions](https://rotorcraft.arc.nasa.gov/Publications/files/NDARCTheory_v1_6_938.pdf).
+
+``ConstantBodyCoefficients`` provides explicitly fixed body-axis coefficients for
+controlled scenarios. It does not represent wind-aligned drag at arbitrary incidence.
+For zero dynamic pressure the whole-body evaluator returns zero loads without
+querying coefficients. A table query with undefined incidence (pure spanwise flow)
+or missing Mach/Reynolds properties fails explicitly.
+
+No capsule-specific flight database is bundled. A lifting or ballistic capsule
+must supply measured, computed or explicitly idealized data and geometry. Heat flux,
+aerodynamic damping, rarefied-flow transitions and hypersonic surface-pressure
+models remain separate workstreams.
+
+## Runnable example and verification
+
+```sh
+swift run FluidPhysicsDemo
+```
+
+The example evaluates an eight-strip wing using Earth sea-level ISA and a lifting
+capsule using ISA at 50 km. Its coefficients are synthetic demonstrations of the
+interfaces, not validated flight or entry predictions.
+
+Tests compare uniform strip loads with analytic `q S C` totals, validate moment
+reference transfers, examine rotational local flow and check midpoint convergence
+against an independently integrated spanwise drag distribution. Body tests use an
+exact affine four-dimensional coefficient field, checked JSON round trips and
+wind-axis transformations. These checks validate implementation conventions;
+vehicle-specific physical accuracy requires independent aerodynamic datasets.
diff --git a/Sources/Aerodynamics/AerothermalHeating.swift b/Sources/Aerodynamics/AerothermalHeating.swift
new file mode 100644
index 0000000..73f842f
--- /dev/null
+++ b/Sources/Aerodynamics/AerothermalHeating.swift
@@ -0,0 +1,153 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import FluidDynamics
+import Foundation
+
+/// Caller-supplied wall state for correlations which require it. No thermal evolution.
+public struct AerothermalWallState: Sendable {
+    public let temperatureKelvin: Double
+    public init(temperatureKelvin: Double) throws {
+        guard temperatureKelvin.isFinite, temperatureKelvin > 0 else { throw FluidError.invalidParameter }
+        self.temperatureKelvin = temperatureKelvin
+    }
+}
+
+/// Flow at a caller-identified stagnation point of an axisymmetric blunt body.
+/// Gas identifier names the parameter dataset/composition, not an astronomical body.
+/// Richer gas/surface state can be carried by a replacement model's own provider.
+public struct StagnationHeatingQuery: Sendable {
+    public let flow: FluidFlow
+    public let gasIdentifier: String
+    public let noseRadiusMetres: Double
+    public let surfacePositionMetres: SIMD3<Double>
+    public let wall: AerothermalWallState?
+    public let gasState: StagnationGasState?
+    public init(flow: FluidFlow, gasIdentifier: String, noseRadiusMetres: Double,
+                surfacePositionMetres: SIMD3<Double>, wall: AerothermalWallState? = nil,
+                gasState: StagnationGasState? = nil) throws {
+        guard !gasIdentifier.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty,
+              noseRadiusMetres.isFinite, noseRadiusMetres > 0, fluidFinite(surfacePositionMetres) else {
+            throw FluidError.invalidParameter
+        }
+        self.flow = flow; self.gasIdentifier = gasIdentifier; self.noseRadiusMetres = noseRadiusMetres
+        self.surfacePositionMetres = surfacePositionMetres; self.wall = wall
+        self.gasState = gasState
+    }
+}
+
+/// Incoming convective flux only; wall response and emitted radiation are external.
+public protocol ConvectiveHeatingModel: Sendable {
+    func heatFlux(for query: StagnationHeatingQuery) throws -> SurfaceHeatFlux
+}
+/// Incoming shock-layer radiative flux only. Absence of a model means unknown,
+/// not zero radiation; this interface does not provide a radiative correlation.
+public protocol RadiativeHeatingModel: Sendable {
+    func heatFlux(for query: StagnationHeatingQuery) throws -> SurfaceHeatFlux
+}
+
+/// Parameter k for q = k sqrt(ρ/Rn) V³ with kg/m³, metres, m/s and W/m².
+/// k has SI dimensions kg^0.5/m. Gas and provenance are mandatory.
+public struct SuttonGravesParameters: Sendable {
+    public let gasIdentifier: String
+    public let coefficientSI: Double
+    public let source: String
+    public let version: String
+    public init(gasIdentifier: String, coefficientSI: Double, source: String, version: String) throws {
+        guard [gasIdentifier,source,version].allSatisfy({ !$0.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty }),
+              coefficientSI.isFinite, coefficientSI > 0 else { throw FluidError.invalidParameter }
+        self.gasIdentifier = gasIdentifier; self.coefficientSI = coefficientSI; self.source = source; self.version = version
+    }
+    /// Explicit Earth-air cold-wall approximation from NASA's 2012 TFAWS course.
+    /// Selection does not establish accuracy or coverage for a given trajectory.
+    public static var earthAirColdWall: Self {
+        try! Self(gasIdentifier: "earth-air", coefficientSI: 1.7415e-4,
+            source: "https://tfaws.nasa.gov/TFAWS12/Proceedings/Aerothermodynamics%20Course.pdf",
+            version: "TFAWS 2012")
+    }
+    /// Published cold-wall approximation for a 97% CO₂ / 3% N₂ Mars mixture by mass.
+    public static var marsCarbonDioxideNitrogenColdWall: Self {
+        try! Self(gasIdentifier: "mars-co2-n2-97-3-mass", coefficientSI: 1.83e-4,
+            source: "https://ntrs.nasa.gov/api/citations/20200002354/downloads/20200002354.pdf",
+            version: "West and Brandis 2020, equation 2")
+    }
+}
+
+/// Supplied stagnation pressure and boundary-layer-edge enthalpy for mixture
+/// correlations. Neither is inferred from an ideal-gas atmosphere profile.
+public struct StagnationGasState: Sendable {
+    public let pressurePascals: Double
+    public let edgeSpecificEnthalpyJoulesPerKilogram: Double
+    public init(pressurePascals: Double, edgeSpecificEnthalpyJoulesPerKilogram: Double) throws {
+        guard pressurePascals.isFinite, pressurePascals > 0,
+              edgeSpecificEnthalpyJoulesPerKilogram.isFinite, edgeSpecificEnthalpyJoulesPerKilogram > 0 else {
+            throw FluidError.invalidParameter
+        }
+        self.pressurePascals = pressurePascals
+        self.edgeSpecificEnthalpyJoulesPerKilogram = edgeSpecificEnthalpyJoulesPerKilogram
+    }
+}
+
+/// Caller-declared applicability bounds, not a calibrated accuracy guarantee.
+public struct StagnationHeatingCoverage: Sendable {
+    public let speedMetresPerSecond: ClosedRange<Double>
+    public let densityKilogramsPerCubicMetre: ClosedRange<Double>
+    public let noseRadiusMetres: ClosedRange<Double>
+    public let machNumber: ClosedRange<Double>
+    public let maximumKnudsenNumber: Double
+    public init(speedMetresPerSecond: ClosedRange<Double>, densityKilogramsPerCubicMetre: ClosedRange<Double>,
+                noseRadiusMetres: ClosedRange<Double>, machNumber: ClosedRange<Double>,
+                maximumKnudsenNumber: Double = 0.01) throws {
+        guard [speedMetresPerSecond,densityKilogramsPerCubicMetre,noseRadiusMetres,machNumber]
+            .allSatisfy({ $0.lowerBound.isFinite && $0.lowerBound > 0 && $0.upperBound.isFinite }),
+              machNumber.lowerBound >= 5, maximumKnudsenNumber.isFinite,
+              maximumKnudsenNumber > 0, maximumKnudsenNumber <= 0.01 else { throw FluidError.invalidParameter }
+        self.speedMetresPerSecond = speedMetresPerSecond; self.densityKilogramsPerCubicMetre = densityKilogramsPerCubicMetre
+        self.noseRadiusMetres = noseRadiusMetres; self.machNumber = machNumber; self.maximumKnudsenNumber = maximumKnudsenNumber
+    }
+}
+
+/// Laminar cold-wall stagnation-point estimate, not a surface heating distribution.
+/// No wall-temperature correction, catalytic-state correction or turbulent multiplier.
+public struct SuttonGravesHeating: ConvectiveHeatingModel {
+    public let parameters: SuttonGravesParameters
+    public let coverage: StagnationHeatingCoverage
+    public init(parameters: SuttonGravesParameters, coverage: StagnationHeatingCoverage) {
+        self.parameters = parameters; self.coverage = coverage
+    }
+    public func heatFlux(for query: StagnationHeatingQuery) throws -> SurfaceHeatFlux {
+        guard query.gasIdentifier == parameters.gasIdentifier else { throw FluidError.unsupportedQuery }
+        // A supplied finite-temperature wall needs a different correlation.
+        guard query.wall == nil else { throw FluidError.unsupportedQuery }
+        let flow = query.flow
+        guard coverage.noseRadiusMetres.contains(query.noseRadiusMetres) else { throw FluidError.outsideCoverage }
+        if flow.speedMetresPerSecond == 0 {
+            return try SurfaceHeatFlux(wattsPerSquareMetre: 0, surfacePositionMetres: query.surfacePositionMetres)
+        }
+        guard let mach = flow.machNumber,
+              let kn = try flow.knudsenNumber(referenceLengthMetres: query.noseRadiusMetres) else {
+            throw FluidError.missingFlowProperty
+        }
+        guard coverage.speedMetresPerSecond.contains(flow.speedMetresPerSecond),
+              coverage.densityKilogramsPerCubicMetre.contains(flow.densityKilogramsPerCubicMetre),
+              coverage.machNumber.contains(mach), kn <= coverage.maximumKnudsenNumber else { throw FluidError.outsideCoverage }
+        let v = flow.speedMetresPerSecond
+        let flux = ((parameters.coefficientSI*sqrt(flow.densityKilogramsPerCubicMetre)/sqrt(query.noseRadiusMetres))*v)*v*v
+        guard flux.isFinite else { throw FluidError.nonFiniteResult }
+        return try SurfaceHeatFlux(wattsPerSquareMetre: flux, surfacePositionMetres: query.surfacePositionMetres)
+    }
+}
diff --git a/Sources/Aerodynamics/Airfoil.swift b/Sources/Aerodynamics/Airfoil.swift
index 5d6ca26..e03ef74 100644
--- a/Sources/Aerodynamics/Airfoil.swift
+++ b/Sources/Aerodynamics/Airfoil.swift
@@ -16,6 +16,7 @@
 // limitations under the License.
 //
 
+import FluidDynamics
 import Foundation
 import Yams
 
@@ -26,133 +27,78 @@ public protocol Airfoil {
   func coefficients(at alpha: Double, for reynoldsNumber: Double) -> AirfoilCoefficients
 }
 
-public struct AirfoilCoefficients : Codable {
+public struct AirfoilCoefficients: Codable, Sendable {
   public let lift: Double
   public let drag: Double
   public let moment: Double
+  public init(lift: Double, drag: Double, moment: Double) {
+    self.lift = lift; self.drag = drag; self.moment = moment
+  }
+  internal var isFinite: Bool { [lift,drag,moment].allSatisfy(\.isFinite) }
 }
 
-public struct ParametricAirfoil : Airfoil, Codable {
-  let reynoldsNumber: Double
-  let coefficients: [AirfoilCoefficients]
+/// Legacy scalar facade. Queries use radians and explicitly clamp to the loaded
+/// angle/Reynolds/Mach coverage with a Mach-zero query. Invalid queries return NaN; prefer the
+/// throwing TabulatedAirfoil API for coverage-sensitive physics.
+public struct ParametricAirfoil: Airfoil, Codable, Sendable {
+  private let model: TabulatedAirfoil
+  private init(model: TabulatedAirfoil) { self.model = model }
 
+  /// Coefficients at one-degree intervals from −180° through +180°, inclusive.
+  /// Use validatingReynoldsNumber for recoverable validation errors.
   public init(reynoldsNumber: Double, coefficients: [AirfoilCoefficients]) {
-    self.reynoldsNumber = reynoldsNumber
-    self.coefficients = coefficients
+    do { try self.init(validatingReynoldsNumber: reynoldsNumber, coefficients: coefficients) }
+    catch { preconditionFailure("Invalid coefficient table: \(error)") }
   }
 
-  public init?(withString string: String) {
-    guard let foil = try? Yams.load(yaml: string) as? [String: Any] else {
-      print("Yams load failed")
-      return nil
-    }
-
-    //guard let name = foil["name"] as? String else {
-    //  print("no name")
-    //  return nil
-    //}
-    //guard let generator = foil["generated-with"] as? String else {
-    //  print("Generated with missing")
-    //  return nil
-    //}
-    guard let foilData = foil["data"] as? [[String : Any]] else {
-      print("Data missing")
-      return nil
-    }
-    let foilDataEntry = foilData[0]
-
-    guard let reynoldsNumber = foilDataEntry["reynolds-number"] as? Double else {
-      return nil
-    }
-
-    guard let coefficientsInFile = foilDataEntry["coefficients"] as? [[Double]] else {
-      return nil
-    }
-
-    var coefficients = [AirfoilCoefficients]()
-
-    guard let firstCoeef = coefficientsInFile.first else {
-      return nil
-    }
-
-    var preFill = -181.0
-    while preFill < firstCoeef[0] {
-      coefficients.append(AirfoilCoefficients(lift: firstCoeef[1],
-                                              drag: firstCoeef[2],
-                                              moment: firstCoeef[4]))
-      preFill += 1.0
-    }
-    for coef in coefficientsInFile {
-      coefficients.append(AirfoilCoefficients(lift: coef[1], drag: coef[2], moment: coef[4]))
-    }
-
-    guard let lastCoef = coefficientsInFile.last else {
-      return nil
-    }
-    var postFill = lastCoef[0] + 1
-    while postFill < 181.0 {
-      coefficients.append(AirfoilCoefficients(lift: lastCoef[1],
-                                              drag: lastCoef[2],
-                                              moment: lastCoef[4]))
-      postFill += 1.0
+  public init(validatingReynoldsNumber reynoldsNumber: Double, coefficients: [AirfoilCoefficients]) throws {
+    guard coefficients.count == 361 else { throw FluidError.invalidCoefficients }
+    let samples = coefficients.enumerated().map {
+      AirfoilSample(angleOfAttackRadians: Double($0.offset-180) * .pi/180, coefficients: $0.element)
     }
+    model = try TabulatedAirfoil(polars: [AirfoilPolar(reynoldsNumber: reynoldsNumber,samples: samples)],
+                                boundaryPolicy: .clamp,source: "Caller-supplied degree grid",version: "1")
+  }
 
-    self.reynoldsNumber = reynoldsNumber
-    self.coefficients = coefficients
+  public init?(withString string: String) {
+    guard let parsed = try? AirfoilTableLoader.yaml(string,boundaryPolicy: .clamp) else { return nil }
+    model = parsed
   }
   public init?(withFile file: String) {
-    guard let data = try? String(contentsOfFile: file) else {
-      return nil
-    }
-
-    self.init(withString: data)
+    guard let parsed = try? AirfoilTableLoader.yamlFile(URL(fileURLWithPath: file),boundaryPolicy: .clamp) else { return nil }
+    model = parsed
   }
 
-
   public func liftCoefficient(at alpha: Double, for reynoldsNumber: Double) -> Double {
-    let alphaDeg = alpha * 180 / .pi
-    let alphaInt = Int(alphaDeg)
-    assert(abs(alphaInt) <= 180)
-    let c0 = coefficients[alphaInt + 180]
-    let sub = alphaInt < 0
-    let c1 = coefficients[alphaInt + 180 + (sub ? -1 : 1)]
-    let fraction = fmod(alpha, 1.0)
-    return c0.lift * fraction + c1.lift * (1-fraction)
+    return coefficients(at: alpha,for: reynoldsNumber).lift
   }
   public func dragCoefficient(at alpha: Double, for reynoldsNumber: Double) -> Double {
-    let alphaDeg = alpha * 180 / .pi
-    let alphaInt = Int(alphaDeg)
-    assert(abs(alphaInt) <= 180)
-    let c0 = coefficients[alphaInt + 180]
-    let sub = alphaInt < 0
-    let c1 = coefficients[alphaInt + 180 + (sub ? -1 : 1)]
-    let fraction = fmod(alpha, 1.0)
-    return c0.drag * fraction + c1.drag * (1-fraction)
+    return coefficients(at: alpha,for: reynoldsNumber).drag
   }
   public func momentCoefficient(at alpha: Double, for reynoldsNumber: Double) -> Double {
-    let alphaDeg = alpha * 180 / .pi
-    let alphaInt = Int(alphaDeg)
-    assert(abs(alphaInt) <= 180)
-    let c0 = coefficients[alphaInt + 180]
-    let sub = alphaInt < 0
-    let c1 = coefficients[alphaInt + 180 + (sub ? -1 : 1)]
-    let fraction = fmod(alpha, 1.0)
-    return c0.moment * fraction + c1.moment * (1-fraction)
+    return coefficients(at: alpha,for: reynoldsNumber).moment
+  }
+  public func coefficients(at alpha: Double, for reynoldsNumber: Double) -> AirfoilCoefficients {
+    guard alpha.isFinite, abs(alpha) <= .pi else {
+      return AirfoilCoefficients(lift: .nan,drag: .nan,moment: .nan)
+    }
+    return (try? model.coefficients(angleOfAttackRadians: alpha,reynoldsNumber: reynoldsNumber,machNumber: 0))
+      ?? AirfoilCoefficients(lift: .nan,drag: .nan,moment: .nan)
   }
 
-  public func coefficients(at alpha: Double, for reynoldsNumber: Double) -> AirfoilCoefficients
-  {
-    let alphaDeg = alpha * 180 / .pi
-    let alphaInt = Int(alphaDeg)
-    assert(abs(alphaInt) <= 180)
-    let c0 = coefficients[alphaInt + 181]
-    let sub = alphaInt < 0
-    let c1 = coefficients[alphaInt + 181 + (sub ? -1 : 1)]
-    let fraction = fmod(alpha, 1.0)
-    let resultingCoefficient = AirfoilCoefficients(
-      lift: c0.lift * fraction + c1.lift * (1-fraction),
-      drag: c0.drag * fraction + c1.drag * (1-fraction),
-      moment: c0.moment * fraction + c1.moment * (1-fraction))
-    return resultingCoefficient
+  private enum CodingKeys: String, CodingKey { case model, reynoldsNumber, coefficients }
+  public init(from decoder: Decoder) throws {
+    let c = try decoder.container(keyedBy: CodingKeys.self)
+    if c.contains(.model) { try self.init(model: c.decode(TabulatedAirfoil.self,forKey: .model)) }
+    else {
+      var values = try c.decode([AirfoilCoefficients].self,forKey: .coefficients)
+      // The original YAML loader added an unused −181° padding sample.
+      if values.count == 362 { values.removeFirst() }
+      try self.init(validatingReynoldsNumber: c.decode(Double.self,forKey: .reynoldsNumber),coefficients: values)
+    }
+  }
+  public func encode(to encoder: Encoder) throws {
+    var c = encoder.container(keyedBy: CodingKeys.self)
+    try c.encode(model,forKey: .model)
   }
 }
diff --git a/Sources/Aerodynamics/AirfoilTables.swift b/Sources/Aerodynamics/AirfoilTables.swift
new file mode 100644
index 0000000..f82bb7d
--- /dev/null
+++ b/Sources/Aerodynamics/AirfoilTables.swift
@@ -0,0 +1,183 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import FluidDynamics
+import Foundation
+import Yams
+
+/// Explicit boundary behavior; no automatic physical extrapolation beyond measured samples.
+public enum CoefficientBoundaryPolicy: String, Codable, Sendable { case reject, clamp }
+
+/// One measured/computed angle sample. Angles are radians and moment reference is dataset-defined.
+public struct AirfoilSample: Sendable, Codable {
+    public let angleOfAttackRadians: Double
+    public let coefficients: AirfoilCoefficients
+    public init(angleOfAttackRadians: Double, coefficients: AirfoilCoefficients) {
+        self.angleOfAttackRadians = angleOfAttackRadians; self.coefficients = coefficients
+    }
+}
+
+/// Validated section polar at one Reynolds/Mach condition, preserving irregular angle spacing.
+public struct AirfoilPolar: Sendable, Codable {
+    public let reynoldsNumber: Double
+    public let machNumber: Double
+    public let samples: [AirfoilSample]
+    public var angleRangeRadians: ClosedRange<Double> { samples.first!.angleOfAttackRadians...samples.last!.angleOfAttackRadians }
+    public init(reynoldsNumber: Double, machNumber: Double = 0, samples: [AirfoilSample]) throws {
+        guard reynoldsNumber.isFinite, reynoldsNumber > 0, machNumber.isFinite, machNumber >= 0,
+              !samples.isEmpty, samples.allSatisfy({ $0.angleOfAttackRadians.isFinite && abs($0.angleOfAttackRadians) <= .pi && $0.coefficients.isFinite }),
+              zip(samples,samples.dropFirst()).allSatisfy({ $0.angleOfAttackRadians < $1.angleOfAttackRadians }) else {
+            throw FluidError.invalidCoefficients
+        }
+        self.reynoldsNumber = reynoldsNumber; self.machNumber = machNumber; self.samples = samples
+    }
+    public func coefficients(at angle: Double, boundaryPolicy: CoefficientBoundaryPolicy = .reject) throws -> AirfoilCoefficients {
+        let a = try boundedCoefficientCoordinate(angle, range: angleRangeRadians, policy: boundaryPolicy)
+        let lower = samples.lastIndex(where: { $0.angleOfAttackRadians <= a })!
+        guard lower+1 < samples.count else { return samples[lower].coefficients }
+        let first = samples[lower], next = samples[lower+1]
+        let weight = (a-first.angleOfAttackRadians)/(next.angleOfAttackRadians-first.angleOfAttackRadians)
+        return try blendCoefficients(first.coefficients,next.coefficients,weight: weight)
+    }
+    private enum CodingKeys: String, CodingKey { case reynoldsNumber, machNumber, samples }
+    public init(from decoder: Decoder) throws {
+        let c = try decoder.container(keyedBy: CodingKeys.self)
+        try self.init(reynoldsNumber: c.decode(Double.self,forKey: .reynoldsNumber),
+                      machNumber: c.decode(Double.self,forKey: .machNumber),samples: c.decode([AirfoilSample].self,forKey: .samples))
+    }
+}
+
+/// Checked section model interface, independent of motion integration and vehicle systems.
+public protocol AirfoilCoefficientModel: Sendable {
+    func coefficients(angleOfAttackRadians: Double, reynoldsNumber: Double, machNumber: Double) throws -> AirfoilCoefficients
+}
+
+/// Rectangular Reynolds/Mach grid of polars, with linear interpolation in each coordinate.
+/// Angle grids may differ; all contributing polars must cover a query unless clamping is selected.
+public struct TabulatedAirfoil: AirfoilCoefficientModel, Sendable, Codable {
+    public let polars: [AirfoilPolar]
+    public let boundaryPolicy: CoefficientBoundaryPolicy
+    public let source: String
+    public let version: String
+    private let reynoldsGrid: [Double]
+    private let machGrid: [Double]
+    private let grid: [AirfoilPolar]
+    public init(polars: [AirfoilPolar], boundaryPolicy: CoefficientBoundaryPolicy = .reject,
+                source: String, version: String) throws {
+        guard !polars.isEmpty, !source.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty,
+              !version.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty else { throw FluidError.invalidParameter }
+        let re = Array(Set(polars.map(\.reynoldsNumber))).sorted(), ma = Array(Set(polars.map(\.machNumber))).sorted()
+        var ordered = [AirfoilPolar]()
+        for m in ma {
+            for r in re {
+                let matching = polars.filter { $0.reynoldsNumber == r && $0.machNumber == m }
+                guard matching.count <= 1 else { throw FluidError.duplicateCondition }
+                guard let polar = matching.first else { throw FluidError.incompleteGrid }
+                ordered.append(polar)
+            }
+        }
+        self.polars = polars; self.boundaryPolicy = boundaryPolicy; self.source = source; self.version = version
+        reynoldsGrid = re; machGrid = ma; grid = ordered
+    }
+    public func coefficients(angleOfAttackRadians: Double, reynoldsNumber: Double, machNumber: Double) throws -> AirfoilCoefficients {
+        guard reynoldsNumber.isFinite, reynoldsNumber > 0, machNumber.isFinite, machNumber >= 0 else {
+            throw FluidError.invalidParameter
+        }
+        let re = try bracket(reynoldsNumber,grid: reynoldsGrid), ma = try bracket(machNumber,grid: machGrid)
+        func evaluate(_ r: Int, _ m: Int) throws -> AirfoilCoefficients {
+            try grid[m*reynoldsGrid.count+r].coefficients(at: angleOfAttackRadians,boundaryPolicy: boundaryPolicy)
+        }
+        func atMach(_ m: Int) throws -> AirfoilCoefficients {
+            let first = try evaluate(re.0,m)
+            guard re.0 != re.1 else { return first }
+            return try blendCoefficients(first,evaluate(re.1,m),weight: re.2)
+        }
+        let first = try atMach(ma.0)
+        guard ma.0 != ma.1 else { return first }
+        return try blendCoefficients(first,atMach(ma.1),weight: ma.2)
+    }
+    private func bracket(_ value: Double, grid: [Double]) throws -> (Int,Int,Double) {
+        let v = try boundedCoefficientCoordinate(value,range: grid.first!...grid.last!,policy: boundaryPolicy)
+        let lower = grid.lastIndex(where: { $0 <= v })!
+        guard lower+1 < grid.count, v != grid[lower] else { return (lower,lower,0) }
+        return (lower,lower+1,(v-grid[lower])/(grid[lower+1]-grid[lower]))
+    }
+    private enum CodingKeys: String, CodingKey { case polars, boundaryPolicy, source, version }
+    public init(from decoder: Decoder) throws {
+        let c = try decoder.container(keyedBy: CodingKeys.self)
+        try self.init(polars: c.decode([AirfoilPolar].self,forKey: .polars),
+                      boundaryPolicy: c.decode(CoefficientBoundaryPolicy.self,forKey: .boundaryPolicy),
+                      source: c.decode(String.self,forKey: .source),version: c.decode(String.self,forKey: .version))
+    }
+    public func encode(to encoder: Encoder) throws {
+        var c = encoder.container(keyedBy: CodingKeys.self)
+        try c.encode(polars,forKey: .polars); try c.encode(boundaryPolicy,forKey: .boundaryPolicy)
+        try c.encode(source,forKey: .source); try c.encode(version,forKey: .version)
+    }
+}
+
+/// Loader for the existing XFOIL-style YAML: degrees, CL, CD, CDp, CM.
+/// Every `data` entry is retained, with optional `mach-number` (default zero).
+public enum AirfoilTableLoader {
+    public static func yaml(_ text: String, boundaryPolicy: CoefficientBoundaryPolicy = .reject,
+                            source: String = "Caller-supplied airfoil YAML", version: String = "1") throws -> TabulatedAirfoil {
+        let file: YAMLAirfoilFile
+        do { file = try YAMLDecoder().decode(YAMLAirfoilFile.self,from: text) }
+        catch { throw FluidError.malformedData }
+        guard !file.data.isEmpty else { throw FluidError.malformedData }
+        var polars = [AirfoilPolar]()
+        for entry in file.data {
+            let re = entry.reynoldsNumber, mach = entry.machNumber ?? 0, rows = entry.coefficients
+            guard !rows.isEmpty else { throw FluidError.malformedData }
+            var samples = [AirfoilSample]()
+            for row in rows {
+                guard row.count == 5, row.allSatisfy(\.isFinite), (-180.0...180.0).contains(row[0]) else {
+                    throw FluidError.malformedData
+                }
+                samples.append(AirfoilSample(angleOfAttackRadians: row[0] * .pi/180,
+                    coefficients: AirfoilCoefficients(lift: row[1],drag: row[2],moment: row[4])))
+            }
+            polars.append(try AirfoilPolar(reynoldsNumber: re,machNumber: mach,samples: samples))
+        }
+        return try TabulatedAirfoil(polars: polars,boundaryPolicy: boundaryPolicy,source: source,version: version)
+    }
+    public static func yamlFile(_ url: URL, boundaryPolicy: CoefficientBoundaryPolicy = .reject) throws -> TabulatedAirfoil {
+        try yaml(String(contentsOf: url,encoding: .utf8),boundaryPolicy: boundaryPolicy,source: url.absoluteString)
+    }
+}
+
+internal func boundedCoefficientCoordinate(_ value: Double, range: ClosedRange<Double>, policy: CoefficientBoundaryPolicy) throws -> Double {
+    guard value.isFinite else { throw FluidError.invalidParameter }
+    guard policy == .clamp || range.contains(value) else { throw FluidError.outsideCoverage }
+    return min(range.upperBound,max(range.lowerBound,value))
+}
+internal func blendCoefficients(_ first: AirfoilCoefficients, _ last: AirfoilCoefficients, weight: Double) throws -> AirfoilCoefficients {
+    let result = AirfoilCoefficients(lift: first.lift*(1-weight)+last.lift*weight,
+        drag: first.drag*(1-weight)+last.drag*weight,moment: first.moment*(1-weight)+last.moment*weight)
+    guard result.isFinite else { throw FluidError.nonFiniteResult }
+    return result
+}
+
+private struct YAMLAirfoilFile: Decodable { let data: [YAMLAirfoilEntry] }
+private struct YAMLAirfoilEntry: Decodable {
+    let reynoldsNumber: Double
+    let machNumber: Double?
+    let coefficients: [[Double]]
+    private enum CodingKeys: String, CodingKey {
+        case reynoldsNumber = "reynolds-number", machNumber = "mach-number", coefficients
+    }
+}
diff --git a/Sources/Aerodynamics/Atmosphere.swift b/Sources/Aerodynamics/Atmosphere.swift
deleted file mode 100644
index 184dcea..0000000
--- a/Sources/Aerodynamics/Atmosphere.swift
+++ /dev/null
@@ -1,124 +0,0 @@
-//
-// SPDX-License-Identifier: Apache-2.0
-//
-// Copyright 2023 Mattias Holm
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-// http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-//
-import Foundation
-
-public protocol Atmosphere {
-  func pressure(at altitude: Double) -> Double
-  func temperature(at altitude: Double) -> Double
-  func density(at altitude: Double) -> Double
-  func speedOfSound(at altitude: Double) -> Double
-  func dynamicViscosity(at altitude: Double) -> Double
-}
-
-public extension Atmosphere {
-  func kinematicViscosity(at altitude: Double) -> Double {
-    return dynamicViscosity(at: altitude)/density(at: altitude)
-  }
-}
-
-public struct EarthAtmosphere: Atmosphere {
-  // Very simplified model from:
-  // https://www.grc.nasa.gov/www/k-12/airplane/atmosmet.html
-  public init() {
-    
-  }
-  public func density(at altitude: Double) -> Double {
-    //let hc = altitude
-    let h = altitude
-    //let h = hc - 6371.0e3 // Distance from surface
-    let T = temperature(at: h)
-
-    if h < 11000 { // Troposphere
-      let p = 101.29 * pow(((T + 273.1) / 288.08), 5.256)
-      return p
-    } else if h < 25000 { // Lower stratosphere
-      let p = 22.65 * exp(1.73 - 0.000157 * h)
-      return p
-    } else { // Upper stratosphere
-      let p = 2.488 * pow((T + 273.1)/216.6, -11.388)
-      return p
-    }
-  }
-
-  public func pressure(at altitude: Double) -> Double {
-    let p = density(at: altitude)
-    let T = temperature(at: altitude)
-    let pressure = p / (0.2869 * (T + 273.1))
-    return pressure
-  }
-  public func temperature(at altitude: Double) -> Double {
-    //let hc = altitude
-    //let h = hc - 6371.0e3 // Distance from surface
-    let h = altitude
-    if h < 11000 { // Troposphere
-      let T = 15.04 - 0.00649 * h
-      return T
-    } else if h < 25000 { // Lower stratosphere
-      let T = -56.46
-      return T
-    } else { // Upper stratosphere
-      let T = -131.21 + 0.00299 * h
-      return T
-    }
-  }
-
-  public func speedOfSound(at altitude: Double) ->  Double {
-    let adibiaticIndex = 1.4
-    return sqrt(adibiaticIndex * pressure(at: altitude) / density(at: altitude))
-  }
-  public func dynamicViscosity(at altitude: Double) -> Double {
-    // Tables from https://www.engineeringtoolbox.com/standard-atmosphere-d_604.html
-    //   -1k to 10k, 1k steps
-    let dynamicViscosityTable10k = [
-      1.821, 1.789, 1.758, 1.726, 1.694, 1.661, 1.628, 1.595, 1.561, 1.527,
-      1.493, 1.458]
-    // 10k to 30k, 5k steps
-    let dynamicViscosityTable30k = [1.458, 1.422, 1.422, 1.448, 1.475]
-
-    // 30k to 80k, 10 steps
-    let dynamicViscosityTable80k = [1.475, 1.601, 1.704, 1.584, 1.438, 1.321]
-
-    if altitude < 10000 {
-      let index = Int(altitude + 1000) / 1000
-      let weight = fmod(altitude + 1000, 1000) / 1000
-      return dynamicViscosityTable10k[index] * (1 - weight) +
-             dynamicViscosityTable10k[index + 1] * (weight)
-    } else if altitude < 30000 {
-      let index = Int(altitude - 10000) / 5000
-      let weight = fmod(altitude - 10000, 5000) / 5000
-      return dynamicViscosityTable30k[index] * (1 - weight) +
-             dynamicViscosityTable30k[index + 1] * weight
-
-    } else if altitude < 80000 {
-      let index = Int(altitude - 30000) / 10000
-      let weight = fmod(altitude - 30000, 10000) / 10000
-      return dynamicViscosityTable80k[index] * (1 - weight) +
-             dynamicViscosityTable80k[index + 1] * weight
-
-    }
-
-    return 0.0
-  }
-}
-
-extension Atmosphere {
-  func reynoldsNumber(at altitude: Double, forLength length: Double, atVelocity velocity: Double) -> Double {
-    // Re = density * velocity * length / viscosity
-    return self.density(at: altitude) * velocity * length / self.dynamicViscosity(at: altitude)
-  }
-}
diff --git a/Sources/Aerodynamics/AtmosphericFlow.swift b/Sources/Aerodynamics/AtmosphericFlow.swift
new file mode 100644
index 0000000..9c8bac7
--- /dev/null
+++ b/Sources/Aerodynamics/AtmosphericFlow.swift
@@ -0,0 +1,30 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import FluidDynamics
+import Atmospheres
+
+public extension FluidFlow {
+    init(relativeVelocityMetresPerSecond: SIMD3<Double>, properties: AtmosphericProperties,
+                meanFreePathMetres: Double? = nil) throws {
+        try self.init(relativeVelocityMetresPerSecond: relativeVelocityMetresPerSecond,
+            densityKilogramsPerCubicMetre: properties.densityKilogramsPerCubicMetre,
+            pressurePascals: properties.pressurePascals,temperatureKelvin: properties.temperatureKelvin,
+            speedOfSoundMetresPerSecond: properties.speedOfSoundMetresPerSecond,
+            dynamicViscosityPascalSeconds: properties.dynamicViscosityPascalSeconds,meanFreePathMetres: meanFreePathMetres)
+    }
+}
diff --git a/Sources/Aerodynamics/BalloonAerodynamics.swift b/Sources/Aerodynamics/BalloonAerodynamics.swift
new file mode 100644
index 0000000..e7f3903
--- /dev/null
+++ b/Sources/Aerodynamics/BalloonAerodynamics.swift
@@ -0,0 +1,35 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import FluidDynamics
+import Foundation
+/// Combine displaced-volume buoyancy and optional supplied-shape drag exactly once.
+/// Weight of envelope, lifting gas and payload is handled by external mass/gravity.
+public struct BalloonAerodynamics: Sendable {
+    public let buoyancy: Buoyancy
+    public let drag: DragAreaForces?
+    public init(buoyancy: Buoyancy, drag: DragAreaForces? = nil) {
+        self.buoyancy = buoyancy; self.drag = drag
+    }
+    public func evaluate(flow: FluidFlow, field: BuoyancyField,
+                         momentReferencePointMetres: SIMD3<Double> = .zero) throws -> FluidLoads {
+        let pressureLoads = try buoyancy.evaluate(densityKilogramsPerCubicMetre: flow.densityKilogramsPerCubicMetre,
+            field: field, momentReferencePointMetres: momentReferencePointMetres)
+        guard let drag else { return pressureLoads }
+        return try pressureLoads.adding(drag.evaluate(flow: flow, momentReferencePointMetres: momentReferencePointMetres))
+    }
+}
diff --git a/Sources/Aerodynamics/BodyAerodynamics.swift b/Sources/Aerodynamics/BodyAerodynamics.swift
new file mode 100644
index 0000000..4a8b172
--- /dev/null
+++ b/Sources/Aerodynamics/BodyAerodynamics.swift
@@ -0,0 +1,219 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import FluidDynamics
+import Foundation
+
+/// Rates must match the convention used to identify the coefficient derivatives.
+public enum BodyAerodynamicRateReference: Sendable, Equatable {
+    case inertialReference
+    case rigidlyRotatingMedium
+}
+
+/// Whole-body inputs in X-forward/Y-right/Z-down axes. Angular rates are carried
+/// for providers with calibrated damping; no damping coefficient is invented.
+public struct BodyAerodynamicQuery: Sendable {
+    public let flow: FluidFlow
+    public let reynoldsReferenceLengthMetres: Double
+    public let momentLengthsMetres: SIMD3<Double>
+    public let angularVelocityRadiansPerSecond: SIMD3<Double>
+    public let angularRateReference: BodyAerodynamicRateReference
+    public var angleOfAttackRadians: Double? { flow.angleOfAttackRadians }
+    public var sideslipRadians: Double? { flow.sideslipRadians }
+    public var machNumber: Double? { flow.machNumber }
+    public func reynoldsNumber() throws -> Double? { try flow.reynoldsNumber(referenceLengthMetres: reynoldsReferenceLengthMetres) }
+    public var nondimensionalAngularRates: SIMD3<Double>? {
+        guard flow.speedMetresPerSecond > 0 else { return nil }
+        return ((angularVelocityRadiansPerSecond*momentLengthsMetres)/flow.speedMetresPerSecond)*0.5
+    }
+    public init(flow: FluidFlow, reynoldsReferenceLengthMetres: Double,
+                momentLengthsMetres: SIMD3<Double>, angularVelocityRadiansPerSecond: SIMD3<Double> = .zero,
+                angularRateReference: BodyAerodynamicRateReference = .inertialReference) throws {
+        guard reynoldsReferenceLengthMetres.isFinite, reynoldsReferenceLengthMetres > 0,
+              [momentLengthsMetres.x,momentLengthsMetres.y,momentLengthsMetres.z].allSatisfy({ $0.isFinite && $0 > 0 }),
+              fluidFinite(angularVelocityRadiansPerSecond) else { throw FluidError.invalidParameter }
+        self.flow = flow; self.reynoldsReferenceLengthMetres = reynoldsReferenceLengthMetres
+        self.momentLengthsMetres = momentLengthsMetres; self.angularVelocityRadiansPerSecond = angularVelocityRadiansPerSecond
+        self.angularRateReference = angularRateReference
+        guard nondimensionalAngularRates.map(fluidFinite) ?? true else { throw FluidError.nonFiniteResult }
+    }
+}
+public protocol BodyAerodynamicCoefficientModel: Sendable {
+    var source: String { get }
+    var version: String { get }
+    /// Six coefficients in body axes, with moments about the supplied geometry's
+    /// reference point. Dataset dimensions must match that geometry.
+    func coefficients(for query: BodyAerodynamicQuery) throws -> FluidCoefficients
+}
+
+/// Prescribed coefficients for controlled scenarios; no capsule geometry or
+/// scientific validity is implied. Coefficients are fixed in body axes, not wind axes.
+public struct ConstantBodyCoefficients: BodyAerodynamicCoefficientModel {
+    public let value: FluidCoefficients
+    public let source: String
+    public let version: String
+    public init(value: FluidCoefficients, source: String, version: String) throws {
+        guard !source.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty,
+              !version.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty else { throw FluidError.invalidParameter }
+        self.value = value; self.source = source; self.version = version
+    }
+    public func coefficients(for query: BodyAerodynamicQuery) throws -> FluidCoefficients { value }
+}
+
+/// Wind axes X along body-relative-to-air velocity, Y to wind-right, Z wind-down.
+/// Converts drag, side force and lift into signed body force coefficients.
+/// Moments remain separate body-axis coefficients supplied by the dataset.
+public struct WindForceCoefficients: Sendable {
+    public let drag: Double
+    public let side: Double
+    public let lift: Double
+    public init(drag: Double, side: Double = 0, lift: Double) throws {
+        guard [drag,side,lift].allSatisfy(\.isFinite), drag >= 0 else { throw FluidError.invalidCoefficients }
+        self.drag = drag; self.side = side; self.lift = lift
+    }
+    public func bodyCoefficients(angleOfAttackRadians alpha: Double, sideslipRadians beta: Double,
+                                 momentBody: SIMD3<Double> = .zero) throws -> FluidCoefficients {
+        guard alpha.isFinite, beta.isFinite, abs(alpha) <= .pi, abs(beta) <= .pi/2 else { throw FluidError.invalidParameter }
+        let ca = cos(alpha), sa = sin(alpha), cb = cos(beta), sb = sin(beta)
+        let x = SIMD3(ca*cb,sb,sa*cb), y = SIMD3(-ca*sb,cb,-sa*sb), z = SIMD3(-sa,0,ca)
+        return try FluidCoefficients(force: -drag*x+side*y-lift*z,moment: momentBody)
+    }
+}
+
+/// Generic capsule/fuselage/whole-body evaluator driven by a supplied coefficient
+/// model. No automatic model selection, heating, deployment or motion integration.
+public struct WholeBodyAerodynamics: Sendable {
+    public let geometry: FluidReferenceGeometry
+    public let reynoldsReferenceLengthMetres: Double
+    public let model: any BodyAerodynamicCoefficientModel
+    public init(geometry: FluidReferenceGeometry, reynoldsReferenceLengthMetres: Double,
+                model: any BodyAerodynamicCoefficientModel) throws {
+        guard reynoldsReferenceLengthMetres.isFinite, reynoldsReferenceLengthMetres > 0 else { throw FluidError.invalidGeometry }
+        self.geometry = geometry; self.reynoldsReferenceLengthMetres = reynoldsReferenceLengthMetres; self.model = model
+    }
+    public func evaluate(flow: FluidFlow, angularVelocityRadiansPerSecond: SIMD3<Double> = .zero,
+                         angularRateReference: BodyAerodynamicRateReference = .inertialReference,
+                         momentReferencePointMetres: SIMD3<Double>? = nil) throws -> FluidLoads {
+        let query = try BodyAerodynamicQuery(flow: flow,reynoldsReferenceLengthMetres: reynoldsReferenceLengthMetres,
+            momentLengthsMetres: geometry.momentLengthsMetres,angularVelocityRadiansPerSecond: angularVelocityRadiansPerSecond,
+            angularRateReference: angularRateReference)
+        let loads: FluidLoads
+        if flow.dynamicPressurePascals == 0 {
+            loads = try FluidLoads(forceNewtons: .zero,momentNewtonMetres: .zero,
+                                        referencePointMetres: geometry.momentReferencePointMetres)
+        } else {
+            loads = try model.coefficients(for: query).loads(dynamicPressurePascals: flow.dynamicPressurePascals,geometry: geometry)
+        }
+        return try momentReferencePointMetres.map { try loads.referred(to: $0) } ?? loads
+    }
+}
+
+/// One whole-body coefficient sample. Conditions use radians and dimensionless Mach/Reynolds.
+public struct BodyCoefficientSample: Sendable, Codable {
+    public let angleOfAttackRadians: Double
+    public let sideslipRadians: Double
+    public let machNumber: Double
+    public let reynoldsNumber: Double
+    public let coefficients: FluidCoefficients
+    public init(angleOfAttackRadians: Double, sideslipRadians: Double, machNumber: Double,
+                reynoldsNumber: Double, coefficients: FluidCoefficients) {
+        self.angleOfAttackRadians = angleOfAttackRadians; self.sideslipRadians = sideslipRadians
+        self.machNumber = machNumber; self.reynoldsNumber = reynoldsNumber; self.coefficients = coefficients
+    }
+}
+
+/// Validated rectangular incidence/sideslip/Mach/Reynolds grid, linearly interpolated
+/// across up to 16 corners. Static coefficients: supplied angular rates are not used.
+public struct TabulatedBodyCoefficients: BodyAerodynamicCoefficientModel, Sendable, Codable {
+    public let samples: [BodyCoefficientSample]
+    public let boundaryPolicy: CoefficientBoundaryPolicy
+    public let source: String
+    public let version: String
+    private let axes: [[Double]]
+    private let values: [[Double]: FluidCoefficients]
+    public init(samples: [BodyCoefficientSample], boundaryPolicy: CoefficientBoundaryPolicy = .reject,
+                source: String, version: String) throws {
+        guard !samples.isEmpty, !source.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty,
+              !version.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty else { throw FluidError.invalidParameter }
+        var records: [[Double]: FluidCoefficients] = [:]
+        for sample in samples {
+            let key = [sample.angleOfAttackRadians,sample.sideslipRadians,sample.machNumber,sample.reynoldsNumber]
+            guard key.allSatisfy(\.isFinite), abs(key[0]) <= .pi, abs(key[1]) <= .pi/2,
+                  key[2] >= 0, key[3] > 0 else { throw FluidError.invalidCoefficients }
+            guard records[key] == nil else { throw FluidError.duplicateCondition }
+            records[key] = sample.coefficients
+        }
+        let grids = (0..<4).map { coordinate in Array(Set(records.keys.map { $0[coordinate] })).sorted() }
+        var expected = 1
+        for grid in grids {
+            let product = expected.multipliedReportingOverflow(by: grid.count)
+            guard !product.overflow, product.partialValue <= samples.count else { throw FluidError.incompleteGrid }
+            expected = product.partialValue
+        }
+        guard expected == records.count else { throw FluidError.incompleteGrid }
+        self.samples = samples; self.boundaryPolicy = boundaryPolicy; self.source = source; self.version = version
+        axes = grids; values = records
+    }
+    public func coefficients(for query: BodyAerodynamicQuery) throws -> FluidCoefficients {
+        guard let alpha = query.angleOfAttackRadians, let beta = query.sideslipRadians else { throw FluidError.unsupportedQuery }
+        guard let mach = query.machNumber, let re = try query.reynoldsNumber() else { throw FluidError.missingFlowProperty }
+        return try coefficients(angleOfAttackRadians: alpha,sideslipRadians: beta,machNumber: mach,reynoldsNumber: re)
+    }
+    public func coefficients(angleOfAttackRadians: Double, sideslipRadians: Double,
+                             machNumber: Double, reynoldsNumber: Double) throws -> FluidCoefficients {
+        let coordinates = [angleOfAttackRadians,sideslipRadians,machNumber,reynoldsNumber]
+        guard coordinates.allSatisfy(\.isFinite), abs(angleOfAttackRadians) <= .pi,
+              abs(sideslipRadians) <= .pi/2, machNumber >= 0, reynoldsNumber > 0 else { throw FluidError.invalidParameter }
+        let brackets = try zip(coordinates,axes).map { try bracket($0,grid: $1) }
+        func interpolate(_ dimension: Int, key: [Double]) throws -> FluidCoefficients {
+            if dimension == 4 { return values[key]! }
+            let (lower,upper,weight) = brackets[dimension]
+            let first = try interpolate(dimension+1,key: key+[lower])
+            guard lower != upper else { return first }
+            let last = try interpolate(dimension+1,key: key+[upper])
+            return try FluidCoefficients(force: first.force*(1-weight)+last.force*weight,
+                                               moment: first.moment*(1-weight)+last.moment*weight)
+        }
+        return try interpolate(0,key: [])
+    }
+    private func bracket(_ value: Double, grid: [Double]) throws -> (Double,Double,Double) {
+        guard boundaryPolicy == .clamp || (grid.first!...grid.last!).contains(value) else { throw FluidError.outsideCoverage }
+        let v = min(grid.last!,max(grid.first!,value)), lower = grid.lastIndex(where: { $0 <= v })!
+        guard lower+1 < grid.count, v != grid[lower] else { return (grid[lower],grid[lower],0) }
+        return (grid[lower],grid[lower+1],(v-grid[lower])/(grid[lower+1]-grid[lower]))
+    }
+    private enum CodingKeys: String, CodingKey { case samples, boundaryPolicy, source, version }
+    public init(from decoder: Decoder) throws {
+        let c = try decoder.container(keyedBy: CodingKeys.self)
+        try self.init(samples: c.decode([BodyCoefficientSample].self,forKey: .samples),
+            boundaryPolicy: c.decode(CoefficientBoundaryPolicy.self,forKey: .boundaryPolicy),
+            source: c.decode(String.self,forKey: .source),version: c.decode(String.self,forKey: .version))
+    }
+    public func encode(to encoder: Encoder) throws {
+        var c = encoder.container(keyedBy: CodingKeys.self)
+        try c.encode(samples,forKey: .samples); try c.encode(boundaryPolicy,forKey: .boundaryPolicy)
+        try c.encode(source,forKey: .source); try c.encode(version,forKey: .version)
+    }
+}
+
+/// JSON I/O is separate from coefficient evaluation; decoding revalidates every sample/grid.
+public enum BodyCoefficientTableLoader {
+    public static func json(_ data: Data) throws -> TabulatedBodyCoefficients {
+        try JSONDecoder().decode(TabulatedBodyCoefficients.self,from: data)
+    }
+    public static func jsonFile(_ url: URL) throws -> TabulatedBodyCoefficients { try json(Data(contentsOf: url)) }
+}
diff --git a/Sources/Aerodynamics/BodyRateAerodynamics.swift b/Sources/Aerodynamics/BodyRateAerodynamics.swift
new file mode 100644
index 0000000..c2280cf
--- /dev/null
+++ b/Sources/Aerodynamics/BodyRateAerodynamics.swift
@@ -0,0 +1,119 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import FluidDynamics
+import Foundation
+
+/// Columns of the six-coefficient derivative with respect to pHat, qHat, rHat.
+/// Signed derivatives may describe damping or excitation; no stability is inferred.
+public struct BodyAerodynamicRateDerivatives: Sendable {
+    public let rollRate: FluidCoefficients
+    public let pitchRate: FluidCoefficients
+    public let yawRate: FluidCoefficients
+    public init(rollRate: FluidCoefficients, pitchRate: FluidCoefficients,
+                yawRate: FluidCoefficients) {
+        self.rollRate = rollRate; self.pitchRate = pitchRate; self.yawRate = yawRate
+    }
+    public func increment(nondimensionalRates rates: SIMD3<Double>) throws -> FluidCoefficients {
+        guard fluidFinite(rates) else { throw FluidError.invalidParameter }
+        return try FluidCoefficients(force: rollRate.force*rates.x+pitchRate.force*rates.y+yawRate.force*rates.z,
+            moment: rollRate.moment*rates.x+pitchRate.moment*rates.y+yawRate.moment*rates.z)
+    }
+}
+
+/// Derivatives may depend on the static flow state, but are queried at zero rates.
+public protocol BodyAerodynamicRateDerivativeModel: Sendable {
+    var source: String { get }
+    var version: String { get }
+    func derivatives(for query: BodyAerodynamicQuery) throws -> BodyAerodynamicRateDerivatives
+}
+
+/// Prescribed derivatives within explicit Mach/Re/incidence/sideslip coverage.
+/// Reference dimensions must match the dataset; values are not a capsule database.
+public struct ConstantBodyRateDerivatives: BodyAerodynamicRateDerivativeModel {
+    public let value: BodyAerodynamicRateDerivatives
+    public let source: String
+    public let version: String
+    public let machRange: ClosedRange<Double>
+    public let reynoldsRange: ClosedRange<Double>
+    public let incidenceRangeRadians: ClosedRange<Double>
+    public let sideslipRangeRadians: ClosedRange<Double>
+    public let momentLengthsMetres: SIMD3<Double>
+    public let reynoldsReferenceLengthMetres: Double
+    public init(value: BodyAerodynamicRateDerivatives, source: String, version: String,
+                machRange: ClosedRange<Double>, reynoldsRange: ClosedRange<Double>,
+                incidenceRangeRadians: ClosedRange<Double>, sideslipRangeRadians: ClosedRange<Double>,
+                momentLengthsMetres: SIMD3<Double>, reynoldsReferenceLengthMetres: Double) throws {
+        guard [source,version].allSatisfy({ !$0.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty }),
+              machRange.lowerBound.isFinite, machRange.lowerBound >= 0, machRange.upperBound.isFinite,
+              reynoldsRange.lowerBound.isFinite, reynoldsRange.lowerBound > 0, reynoldsRange.upperBound.isFinite,
+              [incidenceRangeRadians.lowerBound,incidenceRangeRadians.upperBound].allSatisfy({ $0.isFinite && abs($0) <= .pi }),
+              [sideslipRangeRadians.lowerBound,sideslipRangeRadians.upperBound].allSatisfy({ $0.isFinite && abs($0) <= .pi/2 }),
+              [momentLengthsMetres.x,momentLengthsMetres.y,momentLengthsMetres.z].allSatisfy({ $0.isFinite && $0 > 0 }),
+              reynoldsReferenceLengthMetres.isFinite, reynoldsReferenceLengthMetres > 0 else { throw FluidError.invalidParameter }
+        self.value = value; self.source = source; self.version = version; self.machRange = machRange; self.reynoldsRange = reynoldsRange
+        self.incidenceRangeRadians = incidenceRangeRadians; self.sideslipRangeRadians = sideslipRangeRadians
+        self.momentLengthsMetres = momentLengthsMetres; self.reynoldsReferenceLengthMetres = reynoldsReferenceLengthMetres
+    }
+    public func derivatives(for query: BodyAerodynamicQuery) throws -> BodyAerodynamicRateDerivatives {
+        guard query.momentLengthsMetres == momentLengthsMetres,
+              query.reynoldsReferenceLengthMetres == reynoldsReferenceLengthMetres else { throw FluidError.invalidGeometry }
+        guard let mach = query.machNumber, let re = try query.reynoldsNumber(),
+              let alpha = query.angleOfAttackRadians, let beta = query.sideslipRadians else { throw FluidError.missingFlowProperty }
+        guard machRange.contains(mach), reynoldsRange.contains(re), incidenceRangeRadians.contains(alpha),
+              sideslipRangeRadians.contains(beta) else { throw FluidError.outsideCoverage }
+        return value
+    }
+}
+
+/// C = Cstatic + D[pHat,qHat,rHat], with rate_i = ω_i L_i/(2V).
+/// Small-rate linearization only; no alphaDot, betaDot, time-history or unsteady lift.
+public struct LinearBodyRateAerodynamics: BodyAerodynamicCoefficientModel {
+    public let staticModel: any BodyAerodynamicCoefficientModel
+    public let derivativeModel: any BodyAerodynamicRateDerivativeModel
+    public let rateReference: BodyAerodynamicRateReference
+    public let minimumSpeedMetresPerSecond: Double
+    public let maximumAbsoluteNondimensionalRates: SIMD3<Double>
+    public var source: String { "Static: \(staticModel.source); rate derivatives: \(derivativeModel.source)" }
+    public var version: String { "\(staticModel.version) / \(derivativeModel.version)" }
+    public init(staticModel: any BodyAerodynamicCoefficientModel,
+                derivativeModel: any BodyAerodynamicRateDerivativeModel,
+                rateReference: BodyAerodynamicRateReference,
+                minimumSpeedMetresPerSecond: Double,
+                maximumAbsoluteNondimensionalRates: SIMD3<Double>) throws {
+        guard minimumSpeedMetresPerSecond.isFinite, minimumSpeedMetresPerSecond > 0,
+              fluidFinite(maximumAbsoluteNondimensionalRates),
+              [maximumAbsoluteNondimensionalRates.x,maximumAbsoluteNondimensionalRates.y,
+               maximumAbsoluteNondimensionalRates.z].allSatisfy({ $0 >= 0 }) else { throw FluidError.invalidParameter }
+        self.staticModel = staticModel; self.derivativeModel = derivativeModel; self.rateReference = rateReference
+        self.minimumSpeedMetresPerSecond = minimumSpeedMetresPerSecond
+        self.maximumAbsoluteNondimensionalRates = maximumAbsoluteNondimensionalRates
+    }
+    public func coefficients(for query: BodyAerodynamicQuery) throws -> FluidCoefficients {
+        guard query.angularRateReference == rateReference else { throw FluidError.unsupportedQuery }
+        guard query.flow.speedMetresPerSecond >= minimumSpeedMetresPerSecond,
+              let rates = query.nondimensionalAngularRates else { throw FluidError.outsideCoverage }
+        let bounds = maximumAbsoluteNondimensionalRates
+        guard abs(rates.x) <= bounds.x, abs(rates.y) <= bounds.y, abs(rates.z) <= bounds.z else { throw FluidError.outsideCoverage }
+        let staticQuery = try BodyAerodynamicQuery(flow: query.flow,
+            reynoldsReferenceLengthMetres: query.reynoldsReferenceLengthMetres,
+            momentLengthsMetres: query.momentLengthsMetres, angularRateReference: rateReference)
+        let base = try staticModel.coefficients(for: staticQuery)
+        let increment = try derivativeModel.derivatives(for: staticQuery).increment(nondimensionalRates: rates)
+        return try FluidCoefficients(force: base.force+increment.force, moment: base.moment+increment.moment)
+    }
+}
diff --git a/Sources/Aerodynamics/ControlSurfaceAerodynamics.swift b/Sources/Aerodynamics/ControlSurfaceAerodynamics.swift
new file mode 100644
index 0000000..47c3cb2
--- /dev/null
+++ b/Sources/Aerodynamics/ControlSurfaceAerodynamics.swift
@@ -0,0 +1,104 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import FluidDynamics
+import Foundation
+
+/// A checked incidence/Re/Mach dataset at one supplied geometric deflection.
+public struct ControlSurfaceSetting: Sendable, Codable {
+    public let deflectionRadians: Double
+    public let airfoil: TabulatedAirfoil
+    public init(deflectionRadians: Double, airfoil: TabulatedAirfoil) throws {
+        guard deflectionRadians.isFinite, abs(deflectionRadians) <= .pi else { throw FluidError.invalidParameter }
+        self.deflectionRadians = deflectionRadians; self.airfoil = airfoil
+    }
+    private enum CodingKeys: String, CodingKey { case deflectionRadians, airfoil }
+    public init(from decoder: Decoder) throws {
+        let c = try decoder.container(keyedBy: CodingKeys.self)
+        try self.init(deflectionRadians: c.decode(Double.self,forKey: .deflectionRadians),
+                      airfoil: c.decode(TabulatedAirfoil.self,forKey: .airfoil))
+    }
+}
+
+/// Linear interpolation across geometric control deflection, using checked polars
+/// for incidence/Re/Mach. No incidence offset, thin-airfoil effectiveness factor,
+/// actuator response, hinge moment or dynamic-stall behavior is inferred.
+public struct TabulatedControlSurface: WingSectionCoefficientModel, Sendable, Codable {
+    public let settings: [ControlSurfaceSetting]
+    public let deflectionBoundaryPolicy: CoefficientBoundaryPolicy
+    public let source: String
+    public let version: String
+    public let deflectionConvention: String
+    public let momentReferenceDescription: String
+    public var deflectionRangeRadians: ClosedRange<Double> {
+        settings.first!.deflectionRadians...settings.last!.deflectionRadians
+    }
+    public init(settings: [ControlSurfaceSetting], deflectionBoundaryPolicy: CoefficientBoundaryPolicy = .reject,
+                source: String, version: String, deflectionConvention: String,
+                momentReferenceDescription: String) throws {
+        guard !settings.isEmpty, [source,version,deflectionConvention,momentReferenceDescription]
+            .allSatisfy({ !$0.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty }) else { throw FluidError.invalidParameter }
+        let ordered = settings.sorted { $0.deflectionRadians < $1.deflectionRadians }
+        guard zip(ordered,ordered.dropFirst()).allSatisfy({ $0.deflectionRadians < $1.deflectionRadians }) else {
+            throw FluidError.duplicateCondition
+        }
+        // Keep the Re/Mach coordinate grid consistent across deflections. Angle
+        // sampling can differ; interpolation uses the coverage of both neighbors.
+        let reference = ordered[0].airfoil.polars
+        let re = Set(reference.map(\.reynoldsNumber)), mach = Set(reference.map(\.machNumber))
+        guard ordered.allSatisfy({ Set($0.airfoil.polars.map(\.reynoldsNumber)) == re
+            && Set($0.airfoil.polars.map(\.machNumber)) == mach }) else { throw FluidError.incompleteGrid }
+        self.settings = ordered; self.deflectionBoundaryPolicy = deflectionBoundaryPolicy
+        self.source = source; self.version = version; self.deflectionConvention = deflectionConvention
+        self.momentReferenceDescription = momentReferenceDescription
+    }
+    public func coefficients(for query: WingSectionQuery) throws -> AirfoilCoefficients {
+        guard let alpha = query.angleOfAttackRadians, let mach = query.machNumber,
+              let re = try query.reynoldsNumber() else { throw FluidError.missingFlowProperty }
+        let deflection = try boundedCoefficientCoordinate(query.controlDeflectionRadians,
+            range: deflectionRangeRadians,policy: deflectionBoundaryPolicy)
+        let lower = settings.lastIndex { $0.deflectionRadians <= deflection }!
+        func evaluate(_ index: Int) throws -> AirfoilCoefficients {
+            try settings[index].airfoil.coefficients(angleOfAttackRadians: alpha,reynoldsNumber: re,machNumber: mach)
+        }
+        let first = try evaluate(lower)
+        // Exact settings query only that dataset, never an irrelevant neighbor.
+        guard settings[lower].deflectionRadians != deflection, lower+1 < settings.count else { return first }
+        let next = lower+1
+        return try blendCoefficients(first,evaluate(next),weight:
+            (deflection-settings[lower].deflectionRadians)/(settings[next].deflectionRadians-settings[lower].deflectionRadians))
+    }
+    private enum CodingKeys: String, CodingKey {
+        case settings, deflectionBoundaryPolicy, source, version, deflectionConvention, momentReferenceDescription
+    }
+    public init(from decoder: Decoder) throws {
+        let c = try decoder.container(keyedBy: CodingKeys.self)
+        try self.init(settings: c.decode([ControlSurfaceSetting].self,forKey: .settings),
+            deflectionBoundaryPolicy: c.decode(CoefficientBoundaryPolicy.self,forKey: .deflectionBoundaryPolicy),
+            source: c.decode(String.self,forKey: .source),version: c.decode(String.self,forKey: .version),
+            deflectionConvention: c.decode(String.self,forKey: .deflectionConvention),
+            momentReferenceDescription: c.decode(String.self,forKey: .momentReferenceDescription))
+    }
+}
+
+public enum ControlSurfaceTableLoader {
+    public static func load(data: Data) throws -> TabulatedControlSurface {
+        do { return try JSONDecoder().decode(TabulatedControlSurface.self,from: data) }
+        catch let error as FluidError { throw error }
+        catch { throw FluidError.malformedData }
+    }
+}
diff --git a/Sources/Aerodynamics/EntrySurfaceHeating.swift b/Sources/Aerodynamics/EntrySurfaceHeating.swift
new file mode 100644
index 0000000..14d1ee0
--- /dev/null
+++ b/Sources/Aerodynamics/EntrySurfaceHeating.swift
@@ -0,0 +1,212 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import FluidDynamics
+import Foundation
+
+public enum AerothermalBoundaryLayer: String, Sendable, Codable { case laminar, turbulent }
+
+/// Edge and wall enthalpies share a dataset-defined reference and composition.
+/// Adiabatic-wall enthalpy includes recovery; no perfect-gas cp*T substitution is made.
+public struct EnthalpySurfaceHeatingQuery: Sendable {
+    public let edgeFlow: FluidFlow
+    public let gasIdentifier: String
+    public let distanceFromLeadingEdgeMetres: Double
+    public let adiabaticWallEnthalpyJoulesPerKilogram: Double
+    public let wallEnthalpyJoulesPerKilogram: Double
+    public let surfacePositionMetres: SIMD3<Double>
+    public init(edgeFlow: FluidFlow, gasIdentifier: String, distanceFromLeadingEdgeMetres: Double,
+                adiabaticWallEnthalpyJoulesPerKilogram: Double, wallEnthalpyJoulesPerKilogram: Double,
+                surfacePositionMetres: SIMD3<Double>) throws {
+        guard !gasIdentifier.isEmpty, distanceFromLeadingEdgeMetres.isFinite, distanceFromLeadingEdgeMetres > 0,
+              adiabaticWallEnthalpyJoulesPerKilogram.isFinite, adiabaticWallEnthalpyJoulesPerKilogram > 0,
+              wallEnthalpyJoulesPerKilogram.isFinite, wallEnthalpyJoulesPerKilogram >= 0,
+              fluidFinite(surfacePositionMetres) else { throw FluidError.invalidParameter }
+        self.edgeFlow = edgeFlow; self.gasIdentifier = gasIdentifier
+        self.distanceFromLeadingEdgeMetres = distanceFromLeadingEdgeMetres
+        self.adiabaticWallEnthalpyJoulesPerKilogram = adiabaticWallEnthalpyJoulesPerKilogram
+        self.wallEnthalpyJoulesPerKilogram = wallEnthalpyJoulesPerKilogram
+        self.surfacePositionMetres = surfacePositionMetres
+    }
+}
+public struct EnthalpySurfaceHeatingResult: Sendable {
+    /// Signed heat into the surface, W/m².
+    public let wattsPerSquareMetre: Double
+    public let stantonNumber: Double
+    public let surfacePositionMetres: SIMD3<Double>
+}
+public protocol EnthalpySurfaceHeatingModel: Sendable {
+    func evaluate(_ query: EnthalpySurfaceHeatingQuery) throws -> EnthalpySurfaceHeatingResult
+}
+
+
+/// Additional thermodynamic/geometry coverage for a supplied Stanton dataset.
+/// Bounds must enclose only states established by the dataset's assumptions.
+public struct EnthalpySurfaceHeatingCoverage: Sendable {
+    public let edgeTemperatureKelvin: ClosedRange<Double>
+    public let edgePressurePascals: ClosedRange<Double>
+    public let adiabaticWallEnthalpyJoulesPerKilogram: ClosedRange<Double>
+    public let distanceFromLeadingEdgeMetres: ClosedRange<Double>
+    public init(edgeTemperatureKelvin: ClosedRange<Double>, edgePressurePascals: ClosedRange<Double>,
+                adiabaticWallEnthalpyJoulesPerKilogram: ClosedRange<Double>, distanceFromLeadingEdgeMetres: ClosedRange<Double>) throws {
+        guard [edgeTemperatureKelvin,edgePressurePascals,adiabaticWallEnthalpyJoulesPerKilogram,distanceFromLeadingEdgeMetres]
+            .allSatisfy({ $0.lowerBound.isFinite && $0.lowerBound > 0 && $0.upperBound.isFinite }) else {
+            throw FluidError.invalidParameter
+        }
+        self.edgeTemperatureKelvin = edgeTemperatureKelvin; self.edgePressurePascals = edgePressurePascals
+        self.adiabaticWallEnthalpyJoulesPerKilogram = adiabaticWallEnthalpyJoulesPerKilogram
+        self.distanceFromLeadingEdgeMetres = distanceFromLeadingEdgeMetres
+    }
+}
+
+/// Compressible/high-enthalpy local convection from supplied Stanton data, not a
+/// universal gas correlation. Axes: Mach, log10(Re_x), wall/adiabatic-wall enthalpy.
+/// q = rho_edge V_edge St (h_aw - h_wall). Recovery, chemistry, catalytic state,
+/// pressure-gradient and geometry assumptions must be identified in the dataset.
+public struct TabulatedEnthalpySurfaceHeating: EnthalpySurfaceHeatingModel {
+    public let gasIdentifier: String
+    public let boundaryLayer: AerothermalBoundaryLayer
+    public let stanton: FluidScalarTable
+    public let coverage: EnthalpySurfaceHeatingCoverage
+    public let maximumKnudsenNumber: Double
+    public init(gasIdentifier: String, boundaryLayer: AerothermalBoundaryLayer,
+                stanton: FluidScalarTable, coverage: EnthalpySurfaceHeatingCoverage, maximumKnudsenNumber: Double = 0.01) throws {
+        guard !gasIdentifier.isEmpty, stanton.valueUnits == "1", stanton.values.allSatisfy({ $0 >= 0 }),
+              stanton.axes.map(\.name) == ["mach","log10Re","wallEnthalpyRatio"],
+              stanton.axes.allSatisfy({ $0.units == "1" }),
+              stanton.axes[0].coordinates.first! >= 0, stanton.axes[2].coordinates.first! >= 0,
+              maximumKnudsenNumber.isFinite, maximumKnudsenNumber > 0, maximumKnudsenNumber <= 0.01 else {
+            throw FluidError.malformedData
+        }
+        self.gasIdentifier = gasIdentifier; self.boundaryLayer = boundaryLayer
+        self.stanton = stanton; self.coverage = coverage; self.maximumKnudsenNumber = maximumKnudsenNumber
+    }
+    public func evaluate(_ query: EnthalpySurfaceHeatingQuery) throws -> EnthalpySurfaceHeatingResult {
+        guard query.gasIdentifier == gasIdentifier else { throw FluidError.unsupportedQuery }
+        let flow = query.edgeFlow, x = query.distanceFromLeadingEdgeMetres
+        guard let temperature = flow.temperatureKelvin, let pressure = flow.pressurePascals,
+              let mach = flow.machNumber, let re = try flow.reynoldsNumber(referenceLengthMetres: x),
+              let kn = try flow.knudsenNumber(referenceLengthMetres: x) else { throw FluidError.missingFlowProperty }
+        guard re > 0, flow.speedMetresPerSecond > 0, kn <= maximumKnudsenNumber,
+              coverage.edgeTemperatureKelvin.contains(temperature), coverage.edgePressurePascals.contains(pressure),
+              coverage.adiabaticWallEnthalpyJoulesPerKilogram.contains(query.adiabaticWallEnthalpyJoulesPerKilogram),
+              coverage.distanceFromLeadingEdgeMetres.contains(x) else { throw FluidError.outsideCoverage }
+        let st = try stanton.value(at: [mach,log10(re),query.wallEnthalpyJoulesPerKilogram/query.adiabaticWallEnthalpyJoulesPerKilogram])
+        let flux = flow.densityKilogramsPerCubicMetre*flow.speedMetresPerSecond*st
+            * (query.adiabaticWallEnthalpyJoulesPerKilogram-query.wallEnthalpyJoulesPerKilogram)
+        guard flux.isFinite else { throw FluidError.nonFiniteResult }
+        return EnthalpySurfaceHeatingResult(wattsPerSquareMetre: flux,stantonNumber: st,surfacePositionMetres: query.surfacePositionMetres)
+    }
+}
+
+/// Leading-edge stagnation state plus effective sweep relative to incident flow.
+public struct LeadingEdgeHeatingQuery: Sendable {
+    public let stagnation: StagnationHeatingQuery
+    public let effectiveSweepRadians: Double
+    public init(stagnation: StagnationHeatingQuery, effectiveSweepRadians: Double) throws {
+        guard effectiveSweepRadians.isFinite, abs(effectiveSweepRadians) < .pi/2 else {
+            throw FluidError.invalidGeometry
+        }
+        self.stagnation = stagnation; self.effectiveSweepRadians = effectiveSweepRadians
+    }
+}
+public protocol LeadingEdgeConvectiveHeatingModel: Sendable {
+    func heatFlux(for query: LeadingEdgeHeatingQuery) throws -> SurfaceHeatFlux
+}
+
+/// Idealized laminar swept-cylinder stagnation line from a supplied sphere reference.
+/// NASA CR-181922 eq. 1: qSL=qSphere/sqrt(2)*sqrt(RSphere/RLE)*cos(sweep)^1.1.
+/// Earth-air only. Only the stagnation line, not a circumferential distribution or wing acreage.
+public struct SweptCylinderStagnationHeating: LeadingEdgeConvectiveHeatingModel {
+    public let referenceSphereModel: any ConvectiveHeatingModel
+    public let referenceSphereRadiusMetres: Double
+    public let coverage: StagnationHeatingCoverage
+    public let maximumSweepRadians: Double
+    public var source: String { "https://ntrs.nasa.gov/api/citations/19900007739/downloads/19900007739.pdf" }
+    public init(referenceSphereModel: any ConvectiveHeatingModel, referenceSphereRadiusMetres: Double,
+                coverage: StagnationHeatingCoverage, maximumSweepRadians: Double = .pi/3) throws {
+        guard referenceSphereRadiusMetres.isFinite, referenceSphereRadiusMetres > 0,
+              maximumSweepRadians.isFinite, maximumSweepRadians >= 0, maximumSweepRadians <= .pi/3 else {
+            throw FluidError.invalidParameter
+        }
+        self.referenceSphereModel = referenceSphereModel; self.referenceSphereRadiusMetres = referenceSphereRadiusMetres
+        self.coverage = coverage; self.maximumSweepRadians = maximumSweepRadians
+    }
+    public func heatFlux(for query: LeadingEdgeHeatingQuery) throws -> SurfaceHeatFlux {
+        try heatFlux(for: query.stagnation,effectiveSweepRadians: query.effectiveSweepRadians)
+    }
+    /// Query nose radius denotes the actual leading-edge radius. Effective sweep is
+    /// relative to the incident flow, not automatically the planform sweep angle.
+    public func heatFlux(for query: StagnationHeatingQuery, effectiveSweepRadians: Double) throws -> SurfaceHeatFlux {
+        // The published geometry correction is an Earth-air approximation.
+        guard query.gasIdentifier == "earth-air" else { throw FluidError.unsupportedQuery }
+        let flow = query.flow
+        guard effectiveSweepRadians.isFinite, abs(effectiveSweepRadians) <= maximumSweepRadians,
+              coverage.noseRadiusMetres.contains(query.noseRadiusMetres),
+              coverage.speedMetresPerSecond.contains(flow.speedMetresPerSecond),
+              coverage.densityKilogramsPerCubicMetre.contains(flow.densityKilogramsPerCubicMetre) else {
+            throw FluidError.outsideCoverage
+        }
+        guard let mach = flow.machNumber, let kn = try flow.knudsenNumber(referenceLengthMetres: query.noseRadiusMetres) else {
+            throw FluidError.missingFlowProperty
+        }
+        guard coverage.machNumber.contains(mach), kn <= coverage.maximumKnudsenNumber else { throw FluidError.outsideCoverage }
+        let sphereQuery = try StagnationHeatingQuery(flow: flow,gasIdentifier: query.gasIdentifier,
+            noseRadiusMetres: referenceSphereRadiusMetres,surfacePositionMetres: query.surfacePositionMetres,
+            wall: query.wall,gasState: query.gasState)
+        let reference = try referenceSphereModel.heatFlux(for: sphereQuery)
+        let flux = reference.wattsPerSquareMetre/sqrt(2)*sqrt(referenceSphereRadiusMetres/query.noseRadiusMetres)
+            * pow(cos(effectiveSweepRadians),1.1)
+        return try SurfaceHeatFlux(wattsPerSquareMetre: flux,surfacePositionMetres: query.surfacePositionMetres)
+    }
+}
+
+/// Incoming shock-layer radiation from supplied gas-specific data; no radiation
+/// transport solver or empirical universal planetary coefficient is implied.
+/// Axes: speed (m/s), density (kg/m^3), sphere nose radius (m). Cold-wall queries only.
+public struct TabulatedRadiativeHeating: RadiativeHeatingModel {
+    public let gasIdentifier: String
+    public let flux: FluidScalarTable
+    public let freestreamTemperatureKelvin: ClosedRange<Double>
+    public let coverage: StagnationHeatingCoverage
+    public init(gasIdentifier: String, flux: FluidScalarTable, coverage: StagnationHeatingCoverage,
+                freestreamTemperatureKelvin: ClosedRange<Double>) throws {
+        guard freestreamTemperatureKelvin.lowerBound.isFinite, freestreamTemperatureKelvin.lowerBound > 0,
+              freestreamTemperatureKelvin.upperBound.isFinite, !gasIdentifier.isEmpty, flux.valueUnits == "W/m^2", flux.values.allSatisfy({ $0 >= 0 }),
+              flux.axes.map(\.name) == ["speed","density","radius"],
+              flux.axes.map(\.units) == ["m/s","kg/m^3","m"],
+              flux.axes.allSatisfy({ $0.coordinates.first! > 0 }) else { throw FluidError.malformedData }
+        self.gasIdentifier = gasIdentifier; self.flux = flux; self.coverage = coverage
+        self.freestreamTemperatureKelvin = freestreamTemperatureKelvin
+    }
+    public func heatFlux(for query: StagnationHeatingQuery) throws -> SurfaceHeatFlux {
+        guard query.gasIdentifier == gasIdentifier, query.wall == nil, query.gasState == nil else {
+            throw FluidError.unsupportedQuery
+        }
+        let flow = query.flow
+        guard let temperature = flow.temperatureKelvin, let mach = flow.machNumber,
+              let kn = try flow.knudsenNumber(referenceLengthMetres: query.noseRadiusMetres) else {
+            throw FluidError.missingFlowProperty
+        }
+        guard freestreamTemperatureKelvin.contains(temperature), coverage.speedMetresPerSecond.contains(flow.speedMetresPerSecond),
+              coverage.densityKilogramsPerCubicMetre.contains(flow.densityKilogramsPerCubicMetre),
+              coverage.noseRadiusMetres.contains(query.noseRadiusMetres), coverage.machNumber.contains(mach),
+              kn <= coverage.maximumKnudsenNumber else { throw FluidError.outsideCoverage }
+        return try SurfaceHeatFlux(wattsPerSquareMetre: flux.value(at: [flow.speedMetresPerSecond,
+            flow.densityKilogramsPerCubicMetre,query.noseRadiusMetres]),surfacePositionMetres: query.surfacePositionMetres)
+    }
+}
diff --git a/Sources/Aerodynamics/FiniteWingAirfoil.swift b/Sources/Aerodynamics/FiniteWingAirfoil.swift
new file mode 100644
index 0000000..bda3531
--- /dev/null
+++ b/Sources/Aerodynamics/FiniteWingAirfoil.swift
@@ -0,0 +1,115 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import FluidDynamics
+import Foundation
+
+public enum FiniteWingError: Error, Equatable { case unbracketedSolution, iterationLimit }
+
+public struct FiniteWingSolution: Sendable {
+    public let coefficients: AirfoilCoefficients
+    public let effectiveAngleOfAttackRadians: Double
+    public let inducedAngleRadians: Double
+    public let inducedDragCoefficient: Double
+    public let angleResidualRadians: Double
+    public let iterations: Int
+}
+
+/// Equivalent-wing lifting-line approximation for steady, attached, low-speed flow.
+/// Solves alpha = alphaEffective + CL(alphaEffective)/(pi e AR), then adds
+/// CDi = CL²/(pi e AR). The input polar must contain profile drag only.
+/// This is a uniform-wing approximation, not a spanwise wake/interference solver.
+public struct FiniteWingAirfoil: AirfoilCoefficientModel {
+    public let airfoil: any AirfoilCoefficientModel
+    public let aspectRatio: Double
+    public let spanEfficiency: Double
+    public let effectiveAngleRangeRadians: ClosedRange<Double>
+    public let operatingAngleRangeRadians: ClosedRange<Double>
+    public let angleToleranceRadians: Double
+    public let maximumIterations: Int
+    public let maximumMachNumber: Double
+    private let inducedFactor: Double
+
+    /// The caller declares an attached-flow effective-angle bracket covered by the
+    /// polar. This approximation restricts AR>=4, Mach<=0.3 and incidence to ±0.35 rad.
+    /// A calibrated span efficiency is explicit; it is not inferred from segmentation.
+    public init(airfoil: any AirfoilCoefficientModel, aspectRatio: Double, spanEfficiency: Double,
+                effectiveAngleRangeRadians: ClosedRange<Double>,
+                operatingAngleRangeRadians: ClosedRange<Double>,
+                maximumMachNumber: Double = 0.3, angleToleranceRadians: Double = 1e-10,
+                maximumIterations: Int = 64) throws {
+        guard aspectRatio.isFinite, aspectRatio >= 4, spanEfficiency.isFinite,
+              spanEfficiency > 0, spanEfficiency <= 1,
+              maximumMachNumber.isFinite, maximumMachNumber >= 0, maximumMachNumber <= 0.3,
+              angleToleranceRadians.isFinite, angleToleranceRadians > 0,
+              maximumIterations > 0, maximumIterations <= 256,
+              [effectiveAngleRangeRadians.lowerBound,effectiveAngleRangeRadians.upperBound,
+               operatingAngleRangeRadians.lowerBound,operatingAngleRangeRadians.upperBound].allSatisfy({ $0.isFinite && abs($0) <= 0.35 }),
+              effectiveAngleRangeRadians.lowerBound < effectiveAngleRangeRadians.upperBound,
+              operatingAngleRangeRadians.lowerBound < operatingAngleRangeRadians.upperBound else {
+            throw FluidError.invalidParameter
+        }
+        self.airfoil = airfoil; self.aspectRatio = aspectRatio; self.spanEfficiency = spanEfficiency
+        self.effectiveAngleRangeRadians = effectiveAngleRangeRadians; self.operatingAngleRangeRadians = operatingAngleRangeRadians
+        self.maximumMachNumber = maximumMachNumber; self.angleToleranceRadians = angleToleranceRadians
+        self.maximumIterations = maximumIterations
+        inducedFactor = (1/aspectRatio)/spanEfficiency/Double.pi
+        guard inducedFactor.isFinite, inducedFactor > 0 else { throw FluidError.invalidParameter }
+    }
+    public func coefficients(angleOfAttackRadians: Double, reynoldsNumber: Double, machNumber: Double) throws -> AirfoilCoefficients {
+        try solve(angleOfAttackRadians: angleOfAttackRadians,reynoldsNumber: reynoldsNumber,machNumber: machNumber).coefficients
+    }
+    /// Bisection requires a bracketed root, not a promise of a unique solution.
+    /// Use a monotone attached-flow polar; post-stall branches are outside this model.
+    public func solve(angleOfAttackRadians alpha: Double, reynoldsNumber: Double, machNumber: Double) throws -> FiniteWingSolution {
+        guard alpha.isFinite, reynoldsNumber.isFinite, reynoldsNumber > 0, machNumber.isFinite, machNumber >= 0 else {
+            throw FluidError.invalidParameter
+        }
+        guard operatingAngleRangeRadians.contains(alpha), machNumber <= maximumMachNumber else {
+            throw FluidError.outsideCoverage
+        }
+        func evaluate(_ effective: Double) throws -> (AirfoilCoefficients,Double) {
+            let coefficients = try airfoil.coefficients(angleOfAttackRadians: effective,reynoldsNumber: reynoldsNumber,machNumber: machNumber)
+            guard coefficients.isFinite, coefficients.drag >= 0 else { throw FluidError.invalidCoefficients }
+            let residual = effective+coefficients.lift*inducedFactor-alpha
+            guard residual.isFinite else { throw FluidError.nonFiniteResult }
+            return (coefficients,residual)
+        }
+        func result(_ effective: Double, _ value: (AirfoilCoefficients,Double), _ iterations: Int) throws -> FiniteWingSolution {
+            let inducedAngle = value.0.lift*inducedFactor, inducedDrag = value.0.lift*inducedAngle
+            let coefficients = AirfoilCoefficients(lift: value.0.lift,drag: value.0.drag+inducedDrag,moment: value.0.moment)
+            guard inducedDrag.isFinite, coefficients.isFinite else { throw FluidError.nonFiniteResult }
+            return FiniteWingSolution(coefficients: coefficients,effectiveAngleOfAttackRadians: effective,
+                inducedAngleRadians: inducedAngle,inducedDragCoefficient: inducedDrag,
+                angleResidualRadians: value.1,iterations: iterations)
+        }
+        var lower = effectiveAngleRangeRadians.lowerBound, upper = effectiveAngleRangeRadians.upperBound
+        var lowerValue = try evaluate(lower)
+        let upperValue = try evaluate(upper)
+        if abs(lowerValue.1) <= angleToleranceRadians { return try result(lower,lowerValue,0) }
+        if abs(upperValue.1) <= angleToleranceRadians { return try result(upper,upperValue,0) }
+        guard (lowerValue.1 < 0) != (upperValue.1 < 0) else { throw FiniteWingError.unbracketedSolution }
+        for iteration in 1...maximumIterations {
+            let effective = lower+(upper-lower)*0.5
+            let value = try evaluate(effective)
+            if abs(value.1) <= angleToleranceRadians { return try result(effective,value,iteration) }
+            if (lowerValue.1 < 0) == (value.1 < 0) { lower = effective; lowerValue = value }
+            else { upper = effective }
+        }
+        throw FiniteWingError.iterationLimit
+    }
+}
diff --git a/Sources/Aerodynamics/FreeMolecularAerodynamics.swift b/Sources/Aerodynamics/FreeMolecularAerodynamics.swift
new file mode 100644
index 0000000..4b4e522
--- /dev/null
+++ b/Sources/Aerodynamics/FreeMolecularAerodynamics.swift
@@ -0,0 +1,96 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import FluidDynamics
+import Foundation
+
+/// Ideal single-species Maxwellian gas parameter, with R in J/(kg K).
+/// Using a mixture-average R is an additional approximation, not a resolved mixture.
+public struct FreeMolecularGas: Sendable {
+    public let identifier: String
+    public let specificGasConstantJoulesPerKilogramKelvin: Double
+    public let source: String
+    public init(identifier: String, specificGasConstantJoulesPerKilogramKelvin: Double, source: String) throws {
+        guard [identifier,source].allSatisfy({ !$0.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty }),
+              specificGasConstantJoulesPerKilogramKelvin.isFinite, specificGasConstantJoulesPerKilogramKelvin > 0 else {
+            throw FluidError.invalidParameter
+        }
+        self.identifier = identifier; self.specificGasConstantJoulesPerKilogramKelvin = specificGasConstantJoulesPerKilogramKelvin
+        self.source = source
+    }
+}
+/// Maxwell reflection mixture: a specified fraction reflects specularly; the remainder
+/// is fully accommodated diffuse re-emission at wall temperature, with zero net mass flux.
+public struct GasSurfaceReflection: Sendable {
+    public let specularFraction: Double
+    public let wallTemperatureKelvin: Double
+    public init(specularFraction: Double, wallTemperatureKelvin: Double) throws {
+        guard specularFraction.isFinite, (0...1).contains(specularFraction),
+              wallTemperatureKelvin.isFinite, wallTemperatureKelvin > 0 else { throw FluidError.invalidParameter }
+        self.specularFraction = specularFraction; self.wallTemperatureKelvin = wallTemperatureKelvin
+    }
+}
+
+/// Independent single-collision Maxwellian pressure and shear, including leeward
+/// thermal impacts. Requires Kn≥10; no intermolecular collisions, chemistry,
+/// multiple reflections, shielding calculation, ablation or continuum bridging.
+public struct MaxwellianFreeMolecularTraction: SurfaceTractionModel {
+    public let gas: FreeMolecularGas
+    public let surface: GasSurfaceReflection
+    public let minimumKnudsenNumber: Double
+    public init(gas: FreeMolecularGas, surface: GasSurfaceReflection, minimumKnudsenNumber: Double = 10) throws {
+        guard minimumKnudsenNumber.isFinite, minimumKnudsenNumber >= 10 else { throw FluidError.invalidParameter }
+        self.gas = gas; self.surface = surface; self.minimumKnudsenNumber = minimumKnudsenNumber
+    }
+    public func traction(panel: FluidSurfacePanel, flow: FluidFlow,
+                         referenceLengthMetres: Double) throws -> SurfaceTraction {
+        guard let temperature = flow.temperatureKelvin,
+              let kn = try flow.knudsenNumber(referenceLengthMetres: referenceLengthMetres) else { throw FluidError.missingFlowProperty }
+        guard kn >= minimumKnudsenNumber else { throw FluidError.outsideCoverage }
+        let r = gas.specificGasConstantJoulesPerKilogramKelvin
+        let sigma = sqrt(r)*sqrt(temperature), wallSigma = sqrt(r)*sqrt(surface.wallTemperatureKelvin)
+        guard sigma.isFinite, sigma > 0, wallSigma.isFinite else { throw FluidError.nonFiniteResult }
+        let normalVelocity = (flow.relativeVelocityMetresPerSecond*panel.outwardNormal).sum()
+        let a = normalVelocity/sigma
+        // Explicit numerical coverage bound; not a Mach or physical gas validity limit.
+        guard a.isFinite, abs(a) <= 1e6 else { throw FluidError.outsideCoverage }
+        if !panel.exposedToFlow { return try SurfaceTraction(gaugePressurePascals: 0,shearPascals: .zero) }
+        let phi = exp(-0.5*a*a)/sqrt(2*Double.pi)
+        let massMoment: Double, pressureMoment: Double
+        if a < -10 {
+            // Stable Gaussian-tail expansion avoids cancellation on deep leeward faces.
+            let x = -a, t = 1/(x*x)
+            massMoment = phi*t*(1-3*t+15*t*t-105*t*t*t+945*t*t*t*t)
+            pressureMoment = phi*(t/x)*(2-12*t+90*t*t-840*t*t*t+9450*t*t*t*t)
+        } else {
+            let probability = 0.5*erfc(-a/sqrt(2))
+            massMoment = max(0,phi+a*probability)
+            pressureMoment = max(0,(a*a+1)*probability+a*phi)
+        }
+        let rho = flow.densityKilogramsPerCubicMetre
+        let incidentMassFlux = (rho*sigma)*massMoment
+        let ambientPressure = (rho*sigma)*sigma
+        let incidentPressure = ambientPressure*pressureMoment
+        let specular = surface.specularFraction, diffuse = 1-specular
+        let reflectedDiffusePressure = incidentMassFlux*wallSigma*sqrt(Double.pi/2)
+        let pressure = (1+specular)*incidentPressure+diffuse*reflectedDiffusePressure-ambientPressure
+        let tangentVelocity = fluidCross(panel.outwardNormal,
+            fluidCross(flow.relativeVelocityMetresPerSecond,panel.outwardNormal))
+        let shear = -tangentVelocity*(diffuse*incidentMassFlux)
+        return try SurfaceTraction(gaugePressurePascals: pressure,shearPascals: shear)
+    }
+}
diff --git a/Sources/Aerodynamics/HydrogenHeliumHeating.swift b/Sources/Aerodynamics/HydrogenHeliumHeating.swift
new file mode 100644
index 0000000..d258dff
--- /dev/null
+++ b/Sources/Aerodynamics/HydrogenHeliumHeating.swift
@@ -0,0 +1,110 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import FluidDynamics
+import Foundation
+
+/// Published baseline and approximate composition scalings from Carroll–Brandis 2022.
+/// Saturn/Uranus factors were derived with hot-wall CFD and also used by the authors
+/// for cold-wall trajectory comparisons; they are not independent cold-wall fits.
+public enum HydrogenHeliumHeatingMixture: Sendable {
+    case neptuneReference, saturnApproximation, uranusApproximation
+    public var gasIdentifier: String {
+        switch self {
+        case .neptuneReference: "h2-he-81.55-18.45-mole"
+        case .saturnApproximation: "h2-he-saturn-11-percent-he-mole"
+        case .uranusApproximation: "h2-he-uranus-15-percent-he-mole"
+        }
+    }
+    public var heliumMoleFraction: Double {
+        switch self { case .neptuneReference: 0.1845; case .saturnApproximation: 0.11; case .uranusApproximation: 0.15 }
+    }
+    var scaling: Double {
+        switch self { case .neptuneReference: 1; case .saturnApproximation: 0.952; case .uranusApproximation: 0.980 }
+    }
+}
+
+public struct HydrogenHeliumHeatingResult: Sendable {
+    public let heatFlux: SurfaceHeatFlux
+    public let fittedStagnationPressurePascals: Double
+    public let fittedEnthalpyDifferenceJoulesPerKilogram: Double
+    /// K₂, with source units kg/(s m^1.5 atm^0.5).
+    public let enthalpyCoefficient: Double
+    public let usesHighSpeedFit: Bool
+}
+
+/// Carroll–Brandis 2022 cold-wall nonlinear correlation, equations 4–6, table 3.
+/// Fully catalytic, laminar, non-ablating spherical surface at 300 K; freestream
+/// temperature 141.2 K. No radiation. There is no implicit Jupiter extrapolation.
+public struct HydrogenHeliumColdWallHeating: ConvectiveHeatingModel {
+    public let mixture: HydrogenHeliumHeatingMixture
+    public let source = "https://ntrs.nasa.gov/api/citations/20220018610/downloads/AIAA_Aviation_2022_Paper-6.pdf"
+    public let version = "Carroll–Brandis 2022 cold-wall fit"
+    public init(mixture: HydrogenHeliumHeatingMixture) { self.mixture = mixture }
+
+    /// Conservative piecewise log-density envelope through table-2 end points.
+    /// Interior values interpolate coverage, not CFD data or a certified accuracy bound.
+    public func supportedSpeedRange(densityKilogramsPerCubicMetre density: Double) throws -> ClosedRange<Double> {
+        guard density.isFinite, (1e-5...0.1).contains(density) else { throw FluidError.outsideCoverage }
+        let levels: [(Double, Double, Double)] = [(-5,15000,45000),(-4,7000,45000),
+            (-3,7000,27000),(-2,7000,23000),(-1,7000,23000)]
+        let logarithm = log10(density)
+        for i in 0..<levels.count-1 {
+            let a = levels[i], b = levels[i+1]
+            if logarithm <= b.0 {
+                let t = max(0,min(1,logarithm-a.0))
+                return (a.1+(b.1-a.1)*t)...(a.2+(b.2-a.2)*t)
+            }
+        }
+        return 7000...23000
+    }
+    public func heatFlux(for query: StagnationHeatingQuery) throws -> SurfaceHeatFlux {
+        try evaluate(query).heatFlux
+    }
+    public func evaluate(_ query: StagnationHeatingQuery) throws -> HydrogenHeliumHeatingResult {
+        guard query.gasIdentifier == mixture.gasIdentifier else { throw FluidError.unsupportedQuery }
+        // Nil explicitly adopts the model's fixed 300 K wall. A specified wall must match.
+        guard query.wall.map({ abs($0.temperatureKelvin-300) <= 1e-6 }) ?? true,
+              query.gasState == nil else { throw FluidError.unsupportedQuery }
+        let flow = query.flow, v = flow.speedMetresPerSecond, rho = flow.densityKilogramsPerCubicMetre
+        guard (0.2...1).contains(query.noseRadiusMetres) else { throw FluidError.outsideCoverage }
+        guard let temperature = flow.temperatureKelvin, let mach = flow.machNumber,
+              let kn = try flow.knudsenNumber(referenceLengthMetres: query.noseRadiusMetres) else {
+            throw FluidError.missingFlowProperty
+        }
+        guard abs(temperature-141.2) <= 1e-6 else { throw FluidError.unsupportedQuery }
+        guard try supportedSpeedRange(densityKilogramsPerCubicMetre: rho).contains(v),
+              mach >= 5, kn <= 0.003 else { throw FluidError.outsideCoverage }
+        let u = v/45000, radius = query.noseRadiusMetres, densityTerm = log10(rho)/(-5)
+        let high = v >= 29000
+        let scaledFlux: Double
+        if high {
+            scaledFlux = 59.084*(u-0.2199)*pow(radius,-0.0429)*pow(densityTerm,-0.0287)
+        } else {
+            scaledFlux = 73.180*(u*u-0.0583*u)*pow(radius,-0.0184)*pow(densityTerm,-0.0254)
+        }
+        let pressure = 0.9474*rho*v*v // Figure 3a; Pa before converting to source atm.
+        let difference = 0.5024*v*v-166.9*v
+        let coefficient = scaledFlux/difference*1e6*mixture.scaling
+        let flux = scaledFlux*1e6*sqrt((pressure/101325)/radius)*mixture.scaling
+        guard flux.isFinite, coefficient.isFinite, flux >= 0 else { throw FluidError.nonFiniteResult }
+        return HydrogenHeliumHeatingResult(heatFlux: try SurfaceHeatFlux(wattsPerSquareMetre: flux,
+            surfacePositionMetres: query.surfacePositionMetres), fittedStagnationPressurePascals: pressure,
+            fittedEnthalpyDifferenceJoulesPerKilogram: difference,
+            enthalpyCoefficient: coefficient, usesHighSpeedFit: high)
+    }
+}
diff --git a/Sources/Aerodynamics/LiftingLineWing.swift b/Sources/Aerodynamics/LiftingLineWing.swift
new file mode 100644
index 0000000..84b21dc
--- /dev/null
+++ b/Sources/Aerodynamics/LiftingLineWing.swift
@@ -0,0 +1,200 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import FluidDynamics
+import Foundation
+
+/// Supplied linear attached-flow polar at one span station; profile drag excludes
+/// induced drag. Positive geometric incidence raises the leading edge.
+public struct LiftingLineSection: Sendable {
+    public let chordMetres: Double
+    public let liftSlopePerRadian: Double
+    public let zeroLiftAngleRadians: Double
+    public let geometricIncidenceRadians: Double
+    public let profileDragCoefficient: Double
+    public let pitchingMomentCoefficient: Double
+    public let effectiveAngleRangeRadians: ClosedRange<Double>
+    public let reynoldsRange: ClosedRange<Double>
+    public init(chordMetres: Double, liftSlopePerRadian: Double, zeroLiftAngleRadians: Double = 0,
+                geometricIncidenceRadians: Double = 0, profileDragCoefficient: Double = 0,
+                pitchingMomentCoefficient: Double = 0, effectiveAngleRangeRadians: ClosedRange<Double>,
+                reynoldsRange: ClosedRange<Double>) throws {
+        guard chordMetres.isFinite, chordMetres > 0, liftSlopePerRadian.isFinite,
+              (0.01...20).contains(liftSlopePerRadian),
+              [zeroLiftAngleRadians,geometricIncidenceRadians].allSatisfy({ $0.isFinite && abs($0) <= 0.35 }),
+              profileDragCoefficient.isFinite, profileDragCoefficient >= 0, pitchingMomentCoefficient.isFinite,
+              [effectiveAngleRangeRadians.lowerBound,effectiveAngleRangeRadians.upperBound]
+                .allSatisfy({ $0.isFinite && abs($0) <= 0.35 }),
+              reynoldsRange.lowerBound.isFinite, reynoldsRange.lowerBound > 0, reynoldsRange.upperBound.isFinite else {
+            throw FluidError.invalidParameter
+        }
+        self.chordMetres = chordMetres; self.liftSlopePerRadian = liftSlopePerRadian; self.zeroLiftAngleRadians = zeroLiftAngleRadians
+        self.geometricIncidenceRadians = geometricIncidenceRadians; self.profileDragCoefficient = profileDragCoefficient
+        self.pitchingMomentCoefficient = pitchingMomentCoefficient; self.effectiveAngleRangeRadians = effectiveAngleRangeRadians
+        self.reynoldsRange = reynoldsRange
+    }
+}
+public struct LiftingLineStationResult: Sendable {
+    public let spanPositionMetres: Double
+    public let circulationSquareMetresPerSecond: Double
+    public let sectionLiftCoefficient: Double
+    public let inducedAngleRadians: Double
+    public let effectiveAngleRadians: Double
+}
+public struct LiftingLineResult: Sendable {
+    public let stations: [LiftingLineStationResult]
+    public let fourierCoefficients: [Double]
+    public let liftCoefficient: Double
+    public let inducedDragCoefficient: Double
+    public let profileDragCoefficient: Double
+    /// Undefined at numerically zero total lift, including antisymmetric loading.
+    public let spanEfficiency: Double?
+    public let maximumEquationResidualRadians: Double
+    public let loads: FluidLoads
+}
+
+/// Classical linear lifting line for one straight, unswept planar wing along body Y.
+/// Uniform incident flow only, zero sideslip, Mach≤0.3, AR≥4, small attached angles.
+/// Geometry matrix is factored once (O(N³)); queries cost O(N²). No wake interaction
+/// with other surfaces, nonuniform incident speed, body rotation or stall solver.
+public struct LiftingLineWing: Sendable {
+    public let spanMetres: Double
+    public let referenceAreaSquareMetres: Double
+    public let momentReferenceLineCentreMetres: SIMD3<Double>
+    public let sections: [LiftingLineSection]
+    public let source: String
+    public let version: String
+    public var aspectRatio: Double { (spanMetres/referenceAreaSquareMetres)*spanMetres }
+    private let theta: [Double]
+    private let widths: [Double]
+    private let matrix: [Double]
+    private let factor: LiftingLineFactor
+    /// sectionAtSpanFraction receives −cos(theta), from left (−1) to right (+1).
+    /// Reference area is the dataset's normalization area; it must suit the geometry.
+    public init(spanMetres: Double, referenceAreaSquareMetres: Double, stationCount: Int = 8,
+                momentReferenceLineCentreMetres: SIMD3<Double> = .zero, source: String, version: String,
+                sectionAtSpanFraction: (Double) throws -> LiftingLineSection) throws {
+        guard spanMetres.isFinite, spanMetres > 0, referenceAreaSquareMetres.isFinite, referenceAreaSquareMetres > 0,
+              (2...64).contains(stationCount), fluidFinite(momentReferenceLineCentreMetres),
+              [source,version].allSatisfy({ !$0.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty }) else { throw FluidError.invalidGeometry }
+        let ar = (spanMetres/referenceAreaSquareMetres)*spanMetres
+        guard ar.isFinite, ar >= 4 else { throw FluidError.outsideCoverage }
+        let angles = (1...stationCount).map { Double($0)*Double.pi/Double(stationCount+1) }
+        let local = try angles.map { try sectionAtSpanFraction(-cos($0)) }
+        guard local.allSatisfy({ (1e-6...1).contains($0.chordMetres/spanMetres) }) else { throw FluidError.outsideCoverage }
+        var entries = [Double](), weights = [Double]()
+        for (j,t) in angles.enumerated() {
+            let section = local[j]
+            for n in 1...stationCount {
+                entries.append(sin(Double(n)*t)*(4*spanMetres/(section.liftSlopePerRadian*section.chordMetres)+Double(n)/sin(t)))
+            }
+            // Fejer second-rule weights over x=−cos(theta), then dy=span/2 dx.
+            var sum = 0.0
+            for k in stride(from: 1,through: stationCount,by: 2) { sum += sin(Double(k)*t)/Double(k) }
+            weights.append(spanMetres*2*sin(t)*sum/Double(stationCount+1))
+        }
+        guard entries.allSatisfy(\.isFinite), weights.allSatisfy({ $0.isFinite && $0 > 0 }) else { throw FluidError.nonFiniteResult }
+        factor = try LiftingLineFactor(matrix: entries,count: stationCount)
+        self.spanMetres = spanMetres; self.referenceAreaSquareMetres = referenceAreaSquareMetres
+        self.momentReferenceLineCentreMetres = momentReferenceLineCentreMetres; sections = local; theta = angles
+        matrix = entries; widths = weights; self.source = source; self.version = version
+    }
+    public func evaluate(flow: FluidFlow, momentReferencePointMetres: SIMD3<Double> = .zero) throws -> LiftingLineResult {
+        guard let mach = flow.machNumber, let alpha = flow.angleOfAttackRadians,
+              let beta = flow.sideslipRadians else { throw FluidError.missingFlowProperty }
+        guard flow.speedMetresPerSecond >= 1, mach <= 0.3, abs(alpha) <= 0.35, abs(beta) <= 1e-12 else { throw FluidError.outsideCoverage }
+        for section in sections {
+            guard let re = try flow.reynoldsNumber(referenceLengthMetres: section.chordMetres) else { throw FluidError.missingFlowProperty }
+            guard section.reynoldsRange.contains(re), abs(alpha+section.geometricIncidenceRadians) <= 0.35 else { throw FluidError.outsideCoverage }
+        }
+        let rhs = sections.map { alpha+$0.geometricIncidenceRadians-$0.zeroLiftAngleRadians }
+        let a = try factor.solve(rhs)
+        let n = sections.count, speed = flow.speedMetresPerSecond, q = flow.dynamicPressurePascals
+        var stations = [LiftingLineStationResult](), profileDrag = 0.0, dragSpanMoment = 0.0, pitch = 0.0, residual = 0.0
+        for j in 0..<n {
+            let t = theta[j], section = sections[j], y = -spanMetres*cos(t)/2
+            var circulationTerm = 0.0, induced = 0.0, equation = 0.0
+            for k in 0..<n {
+                let harmonic = sin(Double(k+1)*t)*a[k]
+                circulationTerm += harmonic; induced += Double(k+1)*harmonic/sin(t)
+                equation += matrix[j*n+k]*a[k]
+            }
+            let effective = alpha+section.geometricIncidenceRadians-induced
+            guard section.effectiveAngleRangeRadians.contains(effective) else { throw FluidError.outsideCoverage }
+            let cl = 4*spanMetres*circulationTerm/section.chordMetres
+            let liftPerSpan = 4*q*spanMetres*circulationTerm
+            let profilePerSpan = q*section.chordMetres*section.profileDragCoefficient
+            profileDrag += profilePerSpan*widths[j]
+            dragSpanMoment += y*(profilePerSpan+liftPerSpan*induced)*widths[j]
+            pitch += q*section.chordMetres*section.chordMetres*section.pitchingMomentCoefficient*widths[j]
+            residual = max(residual,abs(equation-rhs[j]))
+            stations.append(LiftingLineStationResult(spanPositionMetres: y,
+                circulationSquareMetresPerSecond: 2*spanMetres*speed*circulationTerm,
+                sectionLiftCoefficient: cl,inducedAngleRadians: induced,effectiveAngleRadians: effective))
+        }
+        guard residual <= 1e-10 else { throw FluidError.nonFiniteResult }
+        let sum = a.enumerated().reduce(0.0) { $0+Double($1.offset+1)*$1.element*$1.element }
+        let cl = Double.pi*aspectRatio*a[0], cdi = Double.pi*aspectRatio*sum
+        let lift = q*referenceAreaSquareMetres*cl, inducedDrag = q*referenceAreaSquareMetres*cdi
+        let direction = flow.relativeVelocityMetresPerSecond/speed, liftDirection = SIMD3(direction.z,0,-direction.x)
+        let force = liftDirection*lift-direction*(profileDrag+inducedDrag)
+        // Exact Fourier integral ∫y L'(y)dy, with y=−span/2 cos(theta).
+        let liftSpanMoment = -Double.pi*q*spanMetres*spanMetres*spanMetres*a[1]/4
+        let moment = SIMD3(-direction.x,0,-direction.z)*liftSpanMoment
+            + SIMD3(-direction.z,0,direction.x)*dragSpanMoment+SIMD3(0,pitch,0)
+        let loads = try FluidLoads(forceNewtons: force,momentNewtonMetres: moment,
+            referencePointMetres: momentReferenceLineCentreMetres).referred(to: momentReferencePointMetres)
+        let cdProfile = sections.enumerated().reduce(0.0) { $0+$1.element.chordMetres*$1.element.profileDragCoefficient*widths[$1.offset] }/referenceAreaSquareMetres
+        return LiftingLineResult(stations: stations,fourierCoefficients: a,liftCoefficient: cl,inducedDragCoefficient: cdi,
+            profileDragCoefficient: cdProfile,spanEfficiency: sum > 0 && abs(a[0]) > 1e-14 ? a[0]*a[0]/sum : nil,
+            maximumEquationResidualRadians: residual,loads: loads)
+    }
+}
+
+private struct LiftingLineFactor: Sendable {
+    let count: Int
+    let lu: [Double]
+    let swaps: [Int]
+    init(matrix: [Double], count: Int) throws {
+        var m = matrix, pivots = [Int]()
+        let scale = matrix.map { abs($0) }.max()!
+        for k in 0..<count {
+            let row = (k..<count).max { abs(m[$0*count+k]) < abs(m[$1*count+k]) }!
+            guard abs(m[row*count+k]) > scale*1e-12 else { throw FluidError.invalidGeometry }
+            pivots.append(row)
+            if row != k { for j in 0..<count { m.swapAt(k*count+j,row*count+j) } }
+            if k+1 < count {
+                for i in k+1..<count {
+                    m[i*count+k] /= m[k*count+k]
+                    for j in k+1..<count { m[i*count+j] -= m[i*count+k]*m[k*count+j] }
+                }
+            }
+        }
+        self.count = count; lu = m; swaps = pivots
+    }
+    func solve(_ rhs: [Double]) throws -> [Double] {
+        var result = rhs
+        for k in 0..<count { if swaps[k] != k { result.swapAt(k,swaps[k]) } }
+        for i in 0..<count { for j in 0..<i { result[i] -= lu[i*count+j]*result[j] } }
+        for i in stride(from: count-1,through: 0,by: -1) {
+            if i+1 < count { for j in i+1..<count { result[i] -= lu[i*count+j]*result[j] } }
+            result[i] /= lu[i*count+i]
+        }
+        guard result.allSatisfy(\.isFinite) else { throw FluidError.nonFiniteResult }
+        return result
+    }
+}
diff --git a/Sources/Aerodynamics/ModelCoverage.swift b/Sources/Aerodynamics/ModelCoverage.swift
new file mode 100644
index 0000000..9827a57
--- /dev/null
+++ b/Sources/Aerodynamics/ModelCoverage.swift
@@ -0,0 +1,101 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import FluidDynamics
+import Foundation
+
+/// Declared applicability, not a guarantee of accuracy. All conditions are conjunctive.
+public struct GasFlowCoverage: Sendable {
+    public let machNumber: ClosedRange<Double>
+    public let reynoldsNumber: ClosedRange<Double>
+    public let angleOfAttackRadians: ClosedRange<Double>
+    public let sideslipRadians: ClosedRange<Double>
+    public let knudsenNumber: ClosedRange<Double>
+    public init(machNumber: ClosedRange<Double>, reynoldsNumber: ClosedRange<Double>,
+                angleOfAttackRadians: ClosedRange<Double>, sideslipRadians: ClosedRange<Double>,
+                knudsenNumber: ClosedRange<Double>) throws {
+        guard [machNumber,reynoldsNumber,angleOfAttackRadians,sideslipRadians,knudsenNumber]
+            .allSatisfy({ $0.lowerBound.isFinite && $0.upperBound.isFinite }),
+              machNumber.lowerBound >= 0, reynoldsNumber.lowerBound > 0, knudsenNumber.lowerBound >= 0,
+              angleOfAttackRadians.lowerBound >= -.pi, angleOfAttackRadians.upperBound <= .pi,
+              sideslipRadians.lowerBound >= -.pi/2, sideslipRadians.upperBound <= .pi/2 else {
+            throw FluidError.invalidParameter
+        }
+        self.machNumber = machNumber; self.reynoldsNumber = reynoldsNumber
+        self.angleOfAttackRadians = angleOfAttackRadians; self.sideslipRadians = sideslipRadians
+        self.knudsenNumber = knudsenNumber
+    }
+    public func validate(flow: FluidFlow, referenceLengthMetres: Double) throws {
+        guard let mach = flow.machNumber, let re = try flow.reynoldsNumber(referenceLengthMetres: referenceLengthMetres),
+              let kn = try flow.knudsenNumber(referenceLengthMetres: referenceLengthMetres),
+              let alpha = flow.angleOfAttackRadians, let beta = flow.sideslipRadians else {
+            throw FluidError.missingFlowProperty
+        }
+        guard machNumber.contains(mach), reynoldsNumber.contains(re), knudsenNumber.contains(kn),
+              angleOfAttackRadians.contains(alpha), sideslipRadians.contains(beta) else {
+            throw FluidError.outsideCoverage
+        }
+    }
+}
+
+/// Binds a coefficient provider to its reference dimensions and stated flow coverage.
+/// Particularly useful for measured/CFD tables across transonic and high-incidence flow.
+public struct CoveredBodyCoefficients: BodyAerodynamicCoefficientModel {
+    public let model: any BodyAerodynamicCoefficientModel
+    public let coverage: GasFlowCoverage
+    public let reynoldsReferenceLengthMetres: Double
+    public let momentLengthsMetres: SIMD3<Double>
+    public var source: String { model.source }
+    public var version: String { model.version }
+    public init(model: any BodyAerodynamicCoefficientModel, coverage: GasFlowCoverage,
+                reynoldsReferenceLengthMetres: Double, momentLengthsMetres: SIMD3<Double>) throws {
+        guard reynoldsReferenceLengthMetres.isFinite, reynoldsReferenceLengthMetres > 0,
+              [momentLengthsMetres.x,momentLengthsMetres.y,momentLengthsMetres.z].allSatisfy({ $0.isFinite && $0 > 0 }) else {
+            throw FluidError.invalidGeometry
+        }
+        self.model = model; self.coverage = coverage
+        self.reynoldsReferenceLengthMetres = reynoldsReferenceLengthMetres; self.momentLengthsMetres = momentLengthsMetres
+    }
+    public func coefficients(for query: BodyAerodynamicQuery) throws -> FluidCoefficients {
+        guard query.reynoldsReferenceLengthMetres == reynoldsReferenceLengthMetres,
+              query.momentLengthsMetres == momentLengthsMetres else { throw FluidError.unsupportedQuery }
+        try coverage.validate(flow: query.flow,referenceLengthMetres: reynoldsReferenceLengthMetres)
+        return try model.coefficients(for: query)
+    }
+}
+
+/// Explicit ordered Mach dispatch. Threshold belongs to the higher interval.
+/// Gaps and other coverage checks are owned by the selected bounded provider.
+/// Discontinuous databases remain discontinuous; this does not invent a transition blend.
+public struct MachRegimeBodyCoefficients: BodyAerodynamicCoefficientModel {
+    public let models: [any BodyAerodynamicCoefficientModel]
+    public let machThresholds: [Double]
+    public let source: String
+    public let version: String
+    public init(models: [any BodyAerodynamicCoefficientModel], machThresholds: [Double],
+                source: String, version: String) throws {
+        guard !models.isEmpty, models.count == machThresholds.count+1,
+              machThresholds.allSatisfy({ $0.isFinite && $0 > 0 }),
+              zip(machThresholds,machThresholds.dropFirst()).allSatisfy({ $0 < $1 }),
+              !source.isEmpty, !version.isEmpty else { throw FluidError.invalidParameter }
+        self.models = models; self.machThresholds = machThresholds; self.source = source; self.version = version
+    }
+    public func coefficients(for query: BodyAerodynamicQuery) throws -> FluidCoefficients {
+        guard let mach = query.machNumber else { throw FluidError.missingFlowProperty }
+        return try models[machThresholds.prefix(while: { mach >= $0 }).count].coefficients(for: query)
+    }
+}
diff --git a/Sources/Aerodynamics/NACA.swift b/Sources/Aerodynamics/NACA.swift
index 4e1dbca..abb33b6 100644
--- a/Sources/Aerodynamics/NACA.swift
+++ b/Sources/Aerodynamics/NACA.swift
@@ -17,21 +17,38 @@
 //
 
 
+import FluidDynamics
 import Foundation
 
 // NACA: 4 digits describing airfoil
 
-public struct NACA4 {
+/// Four-digit geometry with the conventional finite trailing-edge thickness.
+/// Source: NASA-TM-X-3284, https://ntrs.nasa.gov/citations/19760003945
+public struct NACA4: Sendable {
   public let camberPercentage: Int
   public let maximumCamber: Int
   public let maximumThicknessPercentage: Int
 
+  /// Four-digit NACA parameters; coordinates are normalized by chord.
   public init(camberPercentage: Int, maximumCamber: Int, maximumThicknessPercentage: Int) {
+    precondition(Self.valid(camberPercentage, maximumCamber, maximumThicknessPercentage), "Invalid NACA four-digit geometry")
     self.camberPercentage = camberPercentage
     self.maximumCamber = maximumCamber
     self.maximumThicknessPercentage = maximumThicknessPercentage
   }
+  public init(validatingCamberPercentage camberPercentage: Int, maximumCamber: Int, maximumThicknessPercentage: Int) throws {
+    guard Self.valid(camberPercentage, maximumCamber, maximumThicknessPercentage) else { throw FluidError.invalidGeometry }
+    self.camberPercentage = camberPercentage; self.maximumCamber = maximumCamber
+    self.maximumThicknessPercentage = maximumThicknessPercentage
+  }
+  private static func valid(_ m: Int, _ p: Int, _ t: Int) -> Bool {
+    (0...9).contains(m) && (0...9).contains(p) && (0...99).contains(t) && (m == 0 || p > 0)
+  }
+  private func checkChord(_ x: Double) {
+    precondition(x.isFinite && (0...1).contains(x), "Normalized chord coordinate must be in 0...1")
+  }
   public func thickness(_ x: Double) -> Double {
+    checkChord(x)
     let t = Double(maximumThicknessPercentage)/100.0
     let yt = 5 * t * (0.2969 * sqrt(x) -
                       0.1260 * x -
@@ -41,6 +58,8 @@ public struct NACA4 {
     return yt
   }
   public func meanCamberLine(_ x: Double) -> Double {
+    checkChord(x)
+    if camberPercentage == 0 { return 0 }
     let m = Double(camberPercentage) / 100.0
     let p = Double(maximumCamber) / 10.0
 
@@ -53,6 +72,20 @@ public struct NACA4 {
     return yc
   }
 
+  /// Derivative of the normalized camber line with respect to normalized chord.
+  public func meanCamberSlope(_ x: Double) -> Double {
+    checkChord(x)
+    guard camberPercentage != 0 else { return 0 }
+    let m = Double(camberPercentage)/100, p = Double(maximumCamber)/10
+    return x <= p ? 2*m*(p-x)/(p*p) : 2*m*(p-x)/((1-p)*(1-p))
+  }
+
+  /// Checked surface evaluation for caller-owned geometry input.
+  public func surfaceCoordinates(atChordFraction x: Double) throws -> (SIMD2<Double>, SIMD2<Double>) {
+    guard x.isFinite, (0...1).contains(x) else { throw FluidError.invalidGeometry }
+    return surfaceCoord(x: x)
+  }
+
   public func surfaceCoord(x: Double) -> (SIMD2<Double>, SIMD2<Double>) {
     let yt = thickness(x)
     if camberPercentage == 0 && maximumCamber == 0 {
@@ -62,7 +95,7 @@ public struct NACA4 {
     }
 
     let yc = meanCamberLine(x)
-    let dyx = 0.0
+    let dyx = meanCamberSlope(x)
     let theta = atan(dyx)
     let xu = x - yt * sin(theta)
     let xl = x + yt * sin(theta)
diff --git a/Sources/Aerodynamics/NonlinearLiftingLine.swift b/Sources/Aerodynamics/NonlinearLiftingLine.swift
new file mode 100644
index 0000000..585bfff
--- /dev/null
+++ b/Sources/Aerodynamics/NonlinearLiftingLine.swift
@@ -0,0 +1,152 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import FluidDynamics
+import Foundation
+
+/// Converged fixed-wake solution. Circulation is m²/s and induced air velocity is
+/// the medium's physical velocity, so subtract it from body-relative incident flow.
+public struct NonlinearLiftingLineResult: Sendable {
+    public let circulationSquareMetresPerSecond: [Double]
+    public let inducedAirVelocityMetresPerSecond: [SIMD3<Double>]
+    public let segments: [WingSegmentResult]
+    public let loads: FluidLoads
+    public let iterations: Int
+    public let maximumNormalizedCirculationResidual: Double
+}
+
+/// Nonlinear discrete horseshoe lifting line for multiple unswept lifting surfaces.
+/// Uses supplied section polars and nonuniform incident flow, with fixed straight
+/// wakes and a finite vortex core. No free-wake rollup, compressibility or separated
+/// 3-D flow prediction. Nonlinear polar input does not establish post-stall accuracy.
+/// Setup O(N²); solve O(iterations*N²), N≤256. Geometry is aerodynamic, not assembly state.
+public struct NonlinearLiftingLine: Sendable {
+    public let segments: [WingSegment]
+    public let wakeDirection: SIMD3<Double>
+    public let wakeLengthMetres: Double
+    public let vortexCoreRadiusMetres: Double
+    public let relaxation: Double
+    public let tolerance: Double
+    public let maximumIterations: Int
+    private let influence: [[SIMD3<Double>]]
+    public init(segments: [WingSegment], wakeDirection: SIMD3<Double> = SIMD3(-1,0,0),
+                wakeLengthMetres: Double, vortexCoreRadiusMetres: Double,
+                relaxation: Double = 0.1, tolerance: Double = 1e-8, maximumIterations: Int = 1000) throws {
+        let directionLength = fluidNorm(wakeDirection)
+        guard !segments.isEmpty, segments.count <= 256, fluidFinite(wakeDirection), directionLength.isFinite, directionLength > 0,
+              wakeLengthMetres.isFinite, wakeLengthMetres > 0, vortexCoreRadiusMetres.isFinite, vortexCoreRadiusMetres > 0,
+              relaxation.isFinite, relaxation > 0, relaxation <= 0.5,
+              tolerance.isFinite, tolerance > 0, tolerance <= 1e-3,
+              (1...10000).contains(maximumIterations) else { throw FluidError.invalidParameter }
+        let direction = wakeDirection/directionLength
+        let minimumWidth = segments.map { $0.areaSquareMetres/$0.chordMetres }.min()!
+        guard minimumWidth.isFinite, minimumWidth > 0, vortexCoreRadiusMetres <= minimumWidth*0.02,
+              segments.allSatisfy({ abs(($0.axes.span*direction).sum()) < 1e-10
+                  && -($0.axes.forward*direction).sum() >= cos(0.35) }) else { throw FluidError.invalidGeometry }
+        // Duplicate control points are ambiguous even with core regularization.
+        for i in segments.indices {
+            for j in 0..<i {
+                guard fluidNorm(segments[i].positionMetres-segments[j].positionMetres) > 2*vortexCoreRadiusMetres else {
+                    throw FluidError.invalidGeometry
+                }
+            }
+        }
+        self.segments = segments; self.wakeDirection = direction; self.wakeLengthMetres = wakeLengthMetres
+        self.vortexCoreRadiusMetres = vortexCoreRadiusMetres; self.relaxation = relaxation
+        self.tolerance = tolerance; self.maximumIterations = maximumIterations
+        self.influence = try segments.map { target in
+            try segments.map { source in
+                try Self.horseshoe(at: target.positionMetres,segment: source,direction: direction,
+                    length: wakeLengthMetres,core: vortexCoreRadiusMetres)
+            }
+        }
+    }
+    /// Unit-circulation finite straight segment, regularized Biot–Savart kernel.
+    private static func vortex(at p: SIMD3<Double>, from a: SIMD3<Double>, to b: SIMD3<Double>, core: Double) throws -> SIMD3<Double> {
+        let r1 = p-a, r2 = p-b, line = b-a
+        let l1 = fluidNorm(r1), l2 = fluidNorm(r2), lineLength = fluidNorm(line)
+        guard l1.isFinite, l2.isFinite, lineLength.isFinite, lineLength > 0,
+              l1 > core, l2 > core else { throw FluidError.invalidGeometry }
+        let cross = fluidCross(r1,r2)
+        let denominator = (cross*cross).sum()+core*core*lineLength*lineLength
+        let velocity = cross*((line*(r1/l1-r2/l2)).sum()/(4*Double.pi*denominator))
+        guard fluidFinite(velocity) else { throw FluidError.nonFiniteResult }
+        return velocity
+    }
+    private static func horseshoe(at p: SIMD3<Double>, segment: WingSegment, direction: SIMD3<Double>,
+                                  length: Double, core: Double) throws -> SIMD3<Double> {
+        let halfSpan = segment.axes.span*(0.5*segment.areaSquareMetres/segment.chordMetres)
+        let a = segment.positionMetres-halfSpan, b = segment.positionMetres+halfSpan
+        return try vortex(at: p,from: a+direction*length,to: a,core: core)
+            + vortex(at: p,from: a,to: b,core: core)
+            + vortex(at: p,from: b,to: b+direction*length,core: core)
+    }
+    /// Physical induced medium velocity for external bodies/tails. This includes
+    /// bound and trailing vortices; callers must avoid the finite-core/end-point region.
+    public func inducedAirVelocity(at positionMetres: SIMD3<Double>, circulation: [Double]) throws -> SIMD3<Double> {
+        guard fluidFinite(positionMetres), circulation.count == segments.count,
+              circulation.allSatisfy(\.isFinite) else { throw FluidError.invalidParameter }
+        var velocity = SIMD3<Double>.zero
+        for i in segments.indices {
+            velocity += try Self.horseshoe(at: positionMetres,segment: segments[i],direction: wakeDirection,
+                length: wakeLengthMetres,core: vortexCoreRadiusMetres)*circulation[i]
+        }
+        guard fluidFinite(velocity) else { throw FluidError.nonFiniteResult }
+        return velocity
+    }
+    public func evaluate(momentReferencePointMetres: SIMD3<Double> = .zero,
+                         flowAtSegment: (WingSegment) throws -> FluidFlow) throws -> NonlinearLiftingLineResult {
+        let incident = try segments.map(flowAtSegment)
+        for (segment,flow) in zip(segments,incident) {
+            guard let mach = flow.machNumber else { throw FluidError.missingFlowProperty }
+            let speed = flow.speedMetresPerSecond
+            guard speed >= 1, mach <= 0.3, flow.densityKilogramsPerCubicMetre > 0,
+                  abs((flow.relativeVelocityMetresPerSecond*segment.axes.span).sum())/speed <= 0.1,
+                  -(flow.relativeVelocityMetresPerSecond*wakeDirection).sum()/speed >= cos(0.35) else {
+                throw FluidError.outsideCoverage
+            }
+        }
+        var gamma = [Double](repeating: 0,count: segments.count)
+        for iteration in 1...maximumIterations {
+            var results: [WingSegmentResult] = [], velocities: [SIMD3<Double>] = [], targets: [Double] = []
+            var residual = 0.0
+            for i in segments.indices {
+                let induced = zip(influence[i],gamma).reduce(SIMD3<Double>.zero) { $0+$1.0*$1.1 }
+                let local = try incident[i].replacingRelativeVelocity(incident[i].relativeVelocityMetresPerSecond-induced)
+                guard let mach = local.machNumber, mach <= 0.3 else { throw FluidError.outsideCoverage }
+                let result = try segments[i].evaluate(bodyFlow: local)
+                guard let alpha = result.sectionFlow.angleOfAttackRadians, abs(alpha) <= 0.35,
+                      let coefficients = result.coefficients, coefficients.drag >= 0,
+                      abs(coefficients.lift) <= 2 else { throw FluidError.outsideCoverage }
+                let target = 0.5*result.sectionFlow.speedMetresPerSecond*segments[i].chordMetres*coefficients.lift
+                let scale = 0.5*incident[i].speedMetresPerSecond*segments[i].chordMetres
+                let error = abs(target-gamma[i])/scale
+                guard target.isFinite, error.isFinite else { throw FluidError.nonFiniteResult }
+                residual = max(residual,error); targets.append(target); results.append(result); velocities.append(induced)
+            }
+            if residual <= tolerance {
+                var loads = try FluidLoads(forceNewtons: .zero,momentNewtonMetres: .zero,referencePointMetres: momentReferencePointMetres)
+                for result in results { loads = try loads.adding(result.loads) }
+                return NonlinearLiftingLineResult(circulationSquareMetresPerSecond: gamma,
+                    inducedAirVelocityMetresPerSecond: velocities,segments: results,loads: loads,
+                    iterations: iteration,maximumNormalizedCirculationResidual: residual)
+            }
+            for i in gamma.indices { gamma[i] += relaxation*(targets[i]-gamma[i]) }
+        }
+        throw FluidError.nonConvergence
+    }
+}
diff --git a/Sources/Aerodynamics/ParachuteAerodynamics.swift b/Sources/Aerodynamics/ParachuteAerodynamics.swift
new file mode 100644
index 0000000..c17691a
--- /dev/null
+++ b/Sources/Aerodynamics/ParachuteAerodynamics.swift
@@ -0,0 +1,27 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import FluidDynamics
+import Foundation
+/// Current-canopy steady drag. No opening loads, tether transmission or deployment.
+public struct ParachuteAerodynamics: Sendable {
+    public let drag: DragAreaForces
+    public init(drag: DragAreaForces) { self.drag = drag }
+    public func evaluate(flow: FluidFlow, momentReferencePointMetres: SIMD3<Double> = .zero) throws -> FluidLoads {
+        try drag.evaluate(flow: flow, momentReferencePointMetres: momentReferencePointMetres)
+    }
+}
diff --git a/Sources/Aerodynamics/SurfaceHeating.swift b/Sources/Aerodynamics/SurfaceHeating.swift
new file mode 100644
index 0000000..e437d69
--- /dev/null
+++ b/Sources/Aerodynamics/SurfaceHeating.swift
@@ -0,0 +1,121 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import FluidDynamics
+import Foundation
+
+/// Local boundary-layer-edge flow, not freestream flow across an intervening shock.
+/// Distance follows the surface streamline from the thermal/aerodynamic leading edge.
+public struct SurfaceHeatingQuery: Sendable {
+    public let edgeFlow: FluidFlow
+    public let distanceFromLeadingEdgeMetres: Double
+    public let surfacePositionMetres: SIMD3<Double>
+    public let wall: AerothermalWallState
+    public let transport: ThermalTransportProperties
+    public init(edgeFlow: FluidFlow, distanceFromLeadingEdgeMetres: Double,
+                surfacePositionMetres: SIMD3<Double>, wall: AerothermalWallState,
+                transport: ThermalTransportProperties) throws {
+        guard distanceFromLeadingEdgeMetres.isFinite, distanceFromLeadingEdgeMetres > 0 else {
+            throw FluidError.invalidGeometry
+        }
+        guard fluidFinite(surfacePositionMetres) else { throw FluidError.invalidGeometry }
+        self.edgeFlow = edgeFlow; self.distanceFromLeadingEdgeMetres = distanceFromLeadingEdgeMetres
+        self.surfacePositionMetres = surfacePositionMetres; self.wall = wall; self.transport = transport
+    }
+}
+
+/// Signed convection: positive into the wall, negative cooling into the gas.
+/// Unlike incoming-only SurfaceHeatFlux, this retains convective cooling.
+public struct SurfaceConvectionResult: Sendable {
+    public let wattsPerSquareMetre: Double
+    public let surfacePositionMetres: SIMD3<Double>
+    public let heatTransferCoefficientWattsPerSquareMetreKelvin: Double
+    public let localNusseltNumber: Double
+    public let localReynoldsNumber: Double
+    public let prandtlNumber: Double
+    public init(wattsPerSquareMetre: Double, surfacePositionMetres: SIMD3<Double>,
+                heatTransferCoefficientWattsPerSquareMetreKelvin: Double,
+                localNusseltNumber: Double, localReynoldsNumber: Double, prandtlNumber: Double) throws {
+        guard wattsPerSquareMetre.isFinite, fluidFinite(surfacePositionMetres),
+              [heatTransferCoefficientWattsPerSquareMetreKelvin,localNusseltNumber,localReynoldsNumber,prandtlNumber]
+                .allSatisfy({ $0.isFinite && $0 > 0 }) else { throw FluidError.nonFiniteResult }
+        self.wattsPerSquareMetre = wattsPerSquareMetre; self.surfacePositionMetres = surfacePositionMetres
+        self.heatTransferCoefficientWattsPerSquareMetreKelvin = heatTransferCoefficientWattsPerSquareMetreKelvin
+        self.localNusseltNumber = localNusseltNumber; self.localReynoldsNumber = localReynoldsNumber
+        self.prandtlNumber = prandtlNumber
+    }
+}
+
+/// Replaceable local surface convection, separate from blunt-body stagnation heating.
+public protocol SurfaceConvectiveHeatingModel: Sendable {
+    func evaluate(_ query: SurfaceHeatingQuery) throws -> SurfaceConvectionResult
+}
+
+/// Isothermal flat plate, attached laminar parallel flow with zero pressure gradient.
+/// Nu_x = 0.332 sqrt(Re_x) Pr^(1/3). O(1) per point; no surface mesh or thermal state.
+/// Conservative implementation limits: Mach ≤ 0.3, 1000 ≤ Re_x ≤ 500000,
+/// 0.6 ≤ Pr ≤ 15, Kn_x ≤ 0.01 and 0.8 ≤ Tw/Te ≤ 1.25.
+/// The caller must establish the plate/flow assumptions; these bounds do not detect transition.
+public struct LaminarFlatPlateHeating: SurfaceConvectiveHeatingModel {
+    public init() {}
+    public var source: String {
+        "https://archive.nptel.ac.in/content/storage2/courses/112104159/module2/Lec8.pdf"
+    }
+    public func evaluate(_ query: SurfaceHeatingQuery) throws -> SurfaceConvectionResult {
+        try flatPlateConvection(query,coefficient: 0.332,reynoldsExponent: 0.5,reynoldsRange: 1000...500000)
+    }
+}
+
+
+/// Fully turbulent isothermal flat plate from its leading edge, not a transition
+/// model. Nu_x=0.0296 Re_x^0.8 Pr^(1/3). Same low-Mach/Kn/temperature restrictions
+/// as the laminar model, but 500000 ≤ Re_x ≤ 10000000 and 0.6 ≤ Pr ≤ 15.
+public struct TurbulentFlatPlateHeating: SurfaceConvectiveHeatingModel {
+    public init() {}
+    public var source: String { "https://archive.nptel.ac.in/content/storage2/courses/112104159/module2/Lec12.pdf" }
+    public func evaluate(_ query: SurfaceHeatingQuery) throws -> SurfaceConvectionResult {
+        try flatPlateConvection(query,coefficient: 0.0296,reynoldsExponent: 0.8,reynoldsRange: 500000...10000000)
+    }
+}
+
+private func flatPlateConvection(_ query: SurfaceHeatingQuery, coefficient: Double,
+                            reynoldsExponent: Double, reynoldsRange: ClosedRange<Double>) throws -> SurfaceConvectionResult {
+    let flow = query.edgeFlow, properties = query.transport, x = query.distanceFromLeadingEdgeMetres
+    guard let temperature = flow.temperatureKelvin, let mach = flow.machNumber,
+          let kn = try flow.knudsenNumber(referenceLengthMetres: x) else {
+        throw FluidError.missingFlowProperty
+    }
+    let wallTemperature = query.wall.temperatureKelvin
+    let filmTemperature = 0.5*temperature+0.5*wallTemperature
+    guard abs(properties.temperatureKelvin-filmTemperature) <= 1e-8*filmTemperature else {
+        throw FluidError.unsupportedQuery
+    }
+    // Transport properties are at film conditions, independently of edge-flow density/viscosity.
+    let re = properties.densityKilogramsPerCubicMetre*flow.speedMetresPerSecond*x/properties.dynamicViscosityPascalSeconds
+    let pr = properties.prandtlNumber
+    guard re.isFinite else { throw FluidError.nonFiniteResult }
+    guard mach <= 0.3, reynoldsRange.contains(re), (0.6...15).contains(pr),
+          kn <= 0.01, (0.8...1.25).contains(wallTemperature/temperature) else {
+        throw FluidError.outsideCoverage
+    }
+    let nu = coefficient*pow(re,reynoldsExponent)*pow(pr,1.0/3.0)
+    let h = nu*properties.thermalConductivityWattsPerMetreKelvin/x
+    return try SurfaceConvectionResult(wattsPerSquareMetre: h*(temperature-wallTemperature),
+        surfacePositionMetres: query.surfacePositionMetres,
+        heatTransferCoefficientWattsPerSquareMetreKelvin: h,
+        localNusseltNumber: nu, localReynoldsNumber: re, prandtlNumber: pr)
+}
diff --git a/Sources/Aerodynamics/SurfacePressure.swift b/Sources/Aerodynamics/SurfacePressure.swift
new file mode 100644
index 0000000..86f9a8d
--- /dev/null
+++ b/Sources/Aerodynamics/SurfacePressure.swift
@@ -0,0 +1,59 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import FluidDynamics
+import Foundation
+/// Idealized calorically perfect gas, windward modified-Newtonian pressure only.
+/// Cp = CpMax max(0, normal·velocityDirection)². No shear, base suction, heating,
+/// shock interaction or real-gas chemistry. Gas gamma is supplied, not Earth-specific.
+public struct ModifiedNewtonianPressure: SurfacePressureCoefficientModel {
+    public let specificHeatRatio: Double
+    public let machRange: ClosedRange<Double>
+    public let maximumKnudsenNumber: Double
+    public init(specificHeatRatio: Double, machRange: ClosedRange<Double> = 5...25,
+                maximumKnudsenNumber: Double = 0.01) throws {
+        guard specificHeatRatio.isFinite, specificHeatRatio > 1, specificHeatRatio <= 2,
+              machRange.lowerBound.isFinite, machRange.upperBound.isFinite,
+              machRange.lowerBound >= 5, machRange.upperBound <= 50,
+              maximumKnudsenNumber.isFinite, maximumKnudsenNumber > 0,
+              maximumKnudsenNumber <= 0.01 else { throw FluidError.invalidParameter }
+        self.specificHeatRatio = specificHeatRatio; self.machRange = machRange
+        self.maximumKnudsenNumber = maximumKnudsenNumber
+    }
+    /// Normal shock followed by isentropic deceleration to stagnation.
+    public func stagnationPressureCoefficient(machNumber m: Double) throws -> Double {
+        guard m.isFinite, machRange.contains(m) else { throw FluidError.outsideCoverage }
+        let g = specificHeatRatio, m2 = m*m
+        let pressureRatio = (2*g*m2-(g-1))/(g+1)
+        let downstreamMachSquared = ((g-1)*m2+2)/(2*g*m2-(g-1))
+        let stagnationRatio = pressureRatio*exp((g/(g-1))*log1p((g-1)*downstreamMachSquared/2))
+        let result = (stagnationRatio-1)/(0.5*g*m2)
+        guard result.isFinite, result > 0 else { throw FluidError.nonFiniteResult }
+        return result
+    }
+    public func pressureCoefficient(panel: FluidSurfacePanel, flow: FluidFlow,
+                                    referenceLengthMetres: Double) throws -> Double {
+        // Validate length even at rest, but rest needs no Mach/rarefaction inference.
+        let kn = try flow.knudsenNumber(referenceLengthMetres: referenceLengthMetres)
+        if flow.speedMetresPerSecond == 0 { return 0 }
+        guard let mach = flow.machNumber, let kn else { throw FluidError.missingFlowProperty }
+        guard kn <= maximumKnudsenNumber else { throw FluidError.outsideCoverage }
+        let maximum = try stagnationPressureCoefficient(machNumber: mach)
+        let incidence = max(0, min(1, (panel.outwardNormal*flow.relativeVelocityMetresPerSecond).sum()/flow.speedMetresPerSecond))
+        return panel.exposedToFlow ? maximum*incidence*incidence : 0
+    }
+}
diff --git a/Sources/Aerodynamics/SuttonGravesMixtures.swift b/Sources/Aerodynamics/SuttonGravesMixtures.swift
new file mode 100644
index 0000000..a035a8f
--- /dev/null
+++ b/Sources/Aerodynamics/SuttonGravesMixtures.swift
@@ -0,0 +1,104 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import FluidDynamics
+import Foundation
+
+/// Molecular weights and Mγ transport products from NASA TR R-376, table I.
+public enum SuttonGravesBaseGas: String, Sendable, CaseIterable {
+    case nitrogen, oxygen, hydrogen, helium, neon, argon, carbonDioxide, ammonia, methane
+    public var molecularWeight: Double {
+        switch self {
+        case .nitrogen: 28.014; case .oxygen: 32; case .hydrogen: 2.016
+        case .helium: 4.003; case .neon: 20.183; case .argon: 39.948
+        case .carbonDioxide: 44.011; case .ammonia: 17.031; case .methane: 16.043
+        }
+    }
+    var molecularWeightTransportProduct: Double {
+        switch self {
+        case .nitrogen: 1.024; case .oxygen: 1.321; case .hydrogen: 0.137
+        case .helium: 0.434; case .neon: 1.504; case .argon: 1.612
+        case .carbonDioxide: 1.285; case .ammonia: 0.784; case .methane: 0.537
+        }
+    }
+}
+
+/// Equation 42 mixture K, distinct from the coefficient of sqrt(ρ/R) V³.
+/// Uses wall Prandtl number 0.69 and the report's rounded table-I products.
+public struct SuttonGravesMixtureParameters: Sendable {
+    public let gasIdentifier: String
+    public let massFractions: [SuttonGravesBaseGas: Double]
+    /// Source units kg/(s m^1.5 atm^0.5). Evaluators convert supplied Pa to atm.
+    public let enthalpyCoefficient: Double
+    public let source = "https://ntrs.nasa.gov/citations/19720003329"
+    public let version = "NASA TR R-376, equation 42 and table I"
+    public init(gasIdentifier: String, massFractions: [SuttonGravesBaseGas: Double]) throws {
+        guard !gasIdentifier.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty,
+              !massFractions.isEmpty, massFractions.values.allSatisfy({ $0.isFinite && $0 >= 0 }),
+              abs(massFractions.values.reduce(0,+)-1) <= 1e-10 else { throw FluidError.invalidParameter }
+        self.gasIdentifier = gasIdentifier; self.massFractions = massFractions
+        let sum = SuttonGravesBaseGas.allCases.reduce(0.0) {
+            $0 + (massFractions[$1] ?? 0)/$1.molecularWeightTransportProduct
+        }
+        enthalpyCoefficient = 0.1106/sqrt(sum)
+    }
+    public init(gasIdentifier: String, moleFractions: [SuttonGravesBaseGas: Double]) throws {
+        guard !moleFractions.isEmpty, moleFractions.values.allSatisfy({ $0.isFinite && $0 >= 0 }),
+              abs(moleFractions.values.reduce(0,+)-1) <= 1e-10 else { throw FluidError.invalidParameter }
+        let mass = moleFractions.reduce(0.0) { $0+$1.value*$1.key.molecularWeight }
+        try self.init(gasIdentifier: gasIdentifier, massFractions: moleFractions.reduce(into: [:]) {
+            $0[$1.key] = $1.value*$1.key.molecularWeight/mass
+        })
+    }
+    /// Idealized 96.5% CO₂ / 3.5% N₂ by mole, ignoring trace constituents.
+    /// Composition source: NASA Venus fact sheet; this is a derived mixture, not
+    /// a fitted or flight-validated Venus coefficient.
+    public static var venusCarbonDioxideNitrogen: Self {
+        try! Self(gasIdentifier: "venus-co2-n2-96.5-3.5-mole",
+                  moleFractions: [.carbonDioxide: 0.965, .nitrogen: 0.035])
+    }
+}
+
+/// Cold-wall enthalpy-form mixture approximation q=K sqrt(pStag[atm]/R) hEdge.
+/// Requires caller-supplied shock-layer pressure/enthalpy; wall enthalpy is neglected.
+public struct SuttonGravesMixtureHeating: ConvectiveHeatingModel {
+    public let parameters: SuttonGravesMixtureParameters
+    public let coverage: StagnationHeatingCoverage
+    public init(parameters: SuttonGravesMixtureParameters, coverage: StagnationHeatingCoverage) {
+        self.parameters = parameters; self.coverage = coverage
+    }
+    public func heatFlux(for query: StagnationHeatingQuery) throws -> SurfaceHeatFlux {
+        guard query.gasIdentifier == parameters.gasIdentifier, query.wall == nil else { throw FluidError.unsupportedQuery }
+        guard coverage.noseRadiusMetres.contains(query.noseRadiusMetres) else { throw FluidError.outsideCoverage }
+        if query.flow.speedMetresPerSecond == 0 {
+            return try SurfaceHeatFlux(wattsPerSquareMetre: 0, surfacePositionMetres: query.surfacePositionMetres)
+        }
+        guard let state = query.gasState, let mach = query.flow.machNumber,
+              let kn = try query.flow.knudsenNumber(referenceLengthMetres: query.noseRadiusMetres) else {
+            throw FluidError.missingFlowProperty
+        }
+        guard coverage.speedMetresPerSecond.contains(query.flow.speedMetresPerSecond),
+              coverage.densityKilogramsPerCubicMetre.contains(query.flow.densityKilogramsPerCubicMetre),
+              coverage.machNumber.contains(mach), kn <= coverage.maximumKnudsenNumber,
+              (101.325...10_132_500).contains(state.pressurePascals),
+              (2.3e6...116.2e6).contains(state.edgeSpecificEnthalpyJoulesPerKilogram) else { throw FluidError.outsideCoverage }
+        let flux = parameters.enthalpyCoefficient*sqrt((state.pressurePascals/101325)/query.noseRadiusMetres)
+            * state.edgeSpecificEnthalpyJoulesPerKilogram
+        guard flux.isFinite else { throw FluidError.nonFiniteResult }
+        return try SurfaceHeatFlux(wattsPerSquareMetre: flux, surfacePositionMetres: query.surfacePositionMetres)
+    }
+}
diff --git a/Sources/Aerodynamics/TabulatedRarefiedTraction.swift b/Sources/Aerodynamics/TabulatedRarefiedTraction.swift
new file mode 100644
index 0000000..d5a13bd
--- /dev/null
+++ b/Sources/Aerodynamics/TabulatedRarefiedTraction.swift
@@ -0,0 +1,64 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import FluidDynamics
+import Foundation
+
+/// Supplied continuum/slip/transitional/free-molecular pressure and shear data.
+/// Axes in order: log10(Kn), outward-normal incidence cosine, speed/sqrt(RT), Tw/T.
+/// Pressure is gauge pressure/(rho RT). Shear magnitude/(rho RT) opposes tangential
+/// body-relative velocity. Values must come from a consistent gas/surface dataset;
+/// the table does not extrapolate either asymptotic evaluator into transitional flow.
+public struct TabulatedRarefiedTraction: SurfaceTractionModel {
+    public let gas: FreeMolecularGas
+    public let wallTemperatureKelvin: Double
+    public let pressure: FluidScalarTable
+    public let shear: FluidScalarTable
+    public init(gas: FreeMolecularGas, wallTemperatureKelvin: Double,
+                pressure: FluidScalarTable, shear: FluidScalarTable) throws {
+        guard wallTemperatureKelvin.isFinite, wallTemperatureKelvin > 0,
+              pressure.axes == shear.axes, pressure.valueUnits == "1", shear.valueUnits == "1",
+              pressure.axes.map(\.name) == ["log10Kn","incidenceCosine","speedRatio","wallTemperatureRatio"],
+              pressure.axes.allSatisfy({ $0.units == "1" }),
+              pressure.axes[1].coordinates.first! >= -1, pressure.axes[1].coordinates.last! <= 1,
+              pressure.axes[2].coordinates.first! >= 0, pressure.axes[3].coordinates.first! > 0,
+              shear.values.allSatisfy({ $0 >= 0 }) else { throw FluidError.malformedData }
+        self.gas = gas; self.wallTemperatureKelvin = wallTemperatureKelvin
+        self.pressure = pressure; self.shear = shear
+    }
+    public func traction(panel: FluidSurfacePanel, flow: FluidFlow,
+                         referenceLengthMetres: Double) throws -> SurfaceTraction {
+        guard let temperature = flow.temperatureKelvin,
+              let kn = try flow.knudsenNumber(referenceLengthMetres: referenceLengthMetres) else {
+            throw FluidError.missingFlowProperty
+        }
+        let rt = gas.specificGasConstantJoulesPerKilogramKelvin*temperature
+        guard rt.isFinite, rt > 0 else { throw FluidError.nonFiniteResult }
+        let speed = flow.speedMetresPerSecond
+        let cosine = speed == 0 ? 0 : max(-1,min(1,(flow.relativeVelocityMetresPerSecond*panel.outwardNormal).sum()/speed))
+        let coordinates = [log10(kn),cosine,speed/sqrt(rt),wallTemperatureKelvin/temperature]
+        let p = try pressure.value(at: coordinates), tau = try shear.value(at: coordinates)
+        if !panel.exposedToFlow { return try SurfaceTraction(gaugePressurePascals: 0,shearPascals: .zero) }
+        let tangent = fluidCross(panel.outwardNormal,fluidCross(flow.relativeVelocityMetresPerSecond,panel.outwardNormal))
+        let tangentSpeed = fluidNorm(tangent)
+        // A normal/rest query has no defined shear direction. Nonzero table shear is inconsistent.
+        guard tangentSpeed > 1e-12*max(1,speed) || tau == 0 else { throw FluidError.invalidCoefficients }
+        let scale = flow.densityKilogramsPerCubicMetre*rt
+        return try SurfaceTraction(gaugePressurePascals: p*scale,
+            shearPascals: tangentSpeed > 0 ? -tangent/tangentSpeed*(tau*scale) : .zero)
+    }
+}
diff --git a/Sources/Aerodynamics/ThinAirfoil.swift b/Sources/Aerodynamics/ThinAirfoil.swift
index 95aa7d9..2708f63 100644
--- a/Sources/Aerodynamics/ThinAirfoil.swift
+++ b/Sources/Aerodynamics/ThinAirfoil.swift
@@ -19,6 +19,7 @@
 import Foundation
 
 public struct ThinSymetricAirfoil : Airfoil {
+  public init() {}
   public func liftCoefficient(at alpha: Double, for reynoldsNumber: Double) -> Double {
     return 2 * .pi * alpha
   }
@@ -54,7 +55,7 @@ public struct ThinCamberedAirfoil : Airfoil {
     return 0
   }
   public func coefficients(at alpha: Double, for reynoldsNumber: Double) -> AirfoilCoefficients {
-    return AirfoilCoefficients(lift: 2 * .pi * alpha, drag: 0, moment: 0)
+    return AirfoilCoefficients(lift: cl0 + 2 * .pi * alpha, drag: 0, moment: 0)
   }
 
 }
diff --git a/Sources/Aerodynamics/WingAerodynamics.swift b/Sources/Aerodynamics/WingAerodynamics.swift
new file mode 100644
index 0000000..9f21a15
--- /dev/null
+++ b/Sources/Aerodynamics/WingAerodynamics.swift
@@ -0,0 +1,184 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import FluidDynamics
+import Foundation
+
+/// Orthonormal section axes expressed in body axes. Forward points toward the
+/// leading edge, span points section-right, down = forward × span.
+public struct WingSectionAxes: Sendable {
+    public let forward: SIMD3<Double>
+    public let span: SIMD3<Double>
+    public var down: SIMD3<Double> { fluidCross(forward,span) }
+    public init(forward: SIMD3<Double> = SIMD3(1,0,0), span: SIMD3<Double> = SIMD3(0,1,0)) throws {
+        guard fluidFinite(forward), fluidFinite(span), fluidNorm(forward) > 0, fluidNorm(span) > 0,
+              fluidNorm(forward).isFinite, fluidNorm(span).isFinite else { throw FluidError.invalidGeometry }
+        let x = forward/fluidNorm(forward), y = span/fluidNorm(span)
+        guard abs((x*y).sum()) < 1e-12 else { throw FluidError.invalidGeometry }
+        self.forward = x
+        let orthogonal = y-x*(x*y).sum()
+        self.span = orthogonal/fluidNorm(orthogonal)
+    }
+    /// Positive geometric incidence raises the leading edge in X-forward/Z-down axes.
+    public init(incidenceRadians: Double) throws {
+        guard incidenceRadians.isFinite else { throw FluidError.invalidGeometry }
+        try self.init(forward: SIMD3(cos(incidenceRadians),0,-sin(incidenceRadians)))
+    }
+    public func sectionVector(fromBody vector: SIMD3<Double>) -> SIMD3<Double> {
+        SIMD3((vector*forward).sum(),(vector*span).sum(),(vector*down).sum())
+    }
+    public func bodyVector(fromSection vector: SIMD3<Double>) -> SIMD3<Double> {
+        forward*vector.x+span*vector.y+down*vector.z
+    }
+}
+
+/// Inputs to a section coefficient model; section flow excludes spanwise velocity.
+/// Deflection is caller-supplied geometry/state, with sign defined by the provider.
+public struct WingSectionQuery: Sendable {
+    public let flow: FluidFlow
+    public let chordMetres: Double
+    public let controlDeflectionRadians: Double
+    public var angleOfAttackRadians: Double? { flow.angleOfAttackRadians }
+    public var machNumber: Double? { flow.machNumber }
+    public func reynoldsNumber() throws -> Double? { try flow.reynoldsNumber(referenceLengthMetres: chordMetres) }
+    public init(flow: FluidFlow, chordMetres: Double, controlDeflectionRadians: Double = 0) throws {
+        guard chordMetres.isFinite, chordMetres > 0, controlDeflectionRadians.isFinite else { throw FluidError.invalidParameter }
+        self.flow = flow; self.chordMetres = chordMetres; self.controlDeflectionRadians = controlDeflectionRadians
+    }
+}
+public protocol WingSectionCoefficientModel: Sendable {
+    /// CL/CD and CM about the segment's supplied moment-reference position.
+    /// Positive lift is section-up; positive moment rotates about section +span.
+    func coefficients(for query: WingSectionQuery) throws -> AirfoilCoefficients
+}
+
+/// Uses a checked polar. Control deflection requires a separate calibrated provider;
+/// it is never silently converted into an incidence change or ignored.
+public struct AirfoilWingSectionModel: WingSectionCoefficientModel {
+    public let airfoil: any AirfoilCoefficientModel
+    public init(airfoil: any AirfoilCoefficientModel) { self.airfoil = airfoil }
+    public func coefficients(for query: WingSectionQuery) throws -> AirfoilCoefficients {
+        guard query.controlDeflectionRadians == 0 else { throw FluidError.unsupportedQuery }
+        guard let angle = query.angleOfAttackRadians, let mach = query.machNumber,
+              let re = try query.reynoldsNumber() else { throw FluidError.missingFlowProperty }
+        return try airfoil.coefficients(angleOfAttackRadians: angle,reynoldsNumber: re,machNumber: mach)
+    }
+}
+
+/// One aerodynamic strip, not a vehicle-system component. Coefficient CM and
+/// physical strip position must refer to the same moment reference (e.g. quarter chord).
+public struct WingSegment: Sendable {
+    public let positionMetres: SIMD3<Double>
+    public let axes: WingSectionAxes
+    public let chordMetres: Double
+    public let areaSquareMetres: Double
+    public let controlDeflectionRadians: Double
+    public let model: any WingSectionCoefficientModel
+    public init(positionMetres: SIMD3<Double>, axes: WingSectionAxes, chordMetres: Double,
+                areaSquareMetres: Double, controlDeflectionRadians: Double = 0,
+                model: any WingSectionCoefficientModel) throws {
+        guard fluidFinite(positionMetres), chordMetres.isFinite, chordMetres > 0,
+              areaSquareMetres.isFinite, areaSquareMetres > 0, controlDeflectionRadians.isFinite else {
+            throw FluidError.invalidGeometry
+        }
+        self.positionMetres = positionMetres; self.axes = axes; self.chordMetres = chordMetres
+        self.areaSquareMetres = areaSquareMetres; self.controlDeflectionRadians = controlDeflectionRadians; self.model = model
+    }
+    public func evaluate(bodyFlow: FluidFlow) throws -> WingSegmentResult {
+        let v = axes.sectionVector(fromBody: bodyFlow.relativeVelocityMetresPerSecond)
+        let flow = try FluidFlow(relativeVelocityMetresPerSecond: SIMD3(v.x,0,v.z),
+            densityKilogramsPerCubicMetre: bodyFlow.densityKilogramsPerCubicMetre,
+            pressurePascals: bodyFlow.pressurePascals,temperatureKelvin: bodyFlow.temperatureKelvin,
+            speedOfSoundMetresPerSecond: bodyFlow.speedOfSoundMetresPerSecond,
+            dynamicViscosityPascalSeconds: bodyFlow.dynamicViscosityPascalSeconds,meanFreePathMetres: bodyFlow.meanFreePathMetres)
+        // Zero chord-plane flow or zero density contributes no aerodynamic load;
+        // do not query a coefficient model at undefined incidence or Reynolds zero.
+        guard flow.dynamicPressurePascals > 0 else {
+            return WingSegmentResult(sectionFlow: flow,coefficients: nil,
+                loads: try FluidLoads(forceNewtons: .zero,momentNewtonMetres: .zero,referencePointMetres: positionMetres))
+        }
+        let query = try WingSectionQuery(flow: flow,chordMetres: chordMetres,controlDeflectionRadians: controlDeflectionRadians)
+        let c = try model.coefficients(for: query)
+        guard c.isFinite else { throw FluidError.invalidCoefficients }
+        let direction = flow.relativeVelocityMetresPerSecond/flow.speedMetresPerSecond
+        let liftDirection = fluidCross(SIMD3(0,1,0),direction)
+        let scale = flow.dynamicPressurePascals*areaSquareMetres
+        guard scale.isFinite else { throw FluidError.nonFiniteResult }
+        let force = axes.bodyVector(fromSection: (liftDirection*c.lift-direction*c.drag)*scale)
+        let moment = axes.span*(scale*c.moment*chordMetres)
+        return WingSegmentResult(sectionFlow: flow,coefficients: c,
+            loads: try FluidLoads(forceNewtons: force,momentNewtonMetres: moment,referencePointMetres: positionMetres))
+    }
+}
+public struct WingSegmentResult: Sendable {
+    public let sectionFlow: FluidFlow
+    /// nil for inactive strips (zero chord-plane dynamic pressure).
+    public let coefficients: AirfoilCoefficients?
+    public let loads: FluidLoads
+}
+public struct SegmentedWingResult: Sendable {
+    public let segments: [WingSegmentResult]
+    public let loads: FluidLoads
+}
+
+/// Independent-strip evaluator. No induced drag, downwash, wake or finite-wing
+/// correction is inferred. Supply corrected local flow or a suitable section model.
+public struct SegmentedWing: Sendable {
+    public let segments: [WingSegment]
+    public init(segments: [WingSegment]) throws {
+        guard !segments.isEmpty else { throw FluidError.invalidGeometry }
+        self.segments = segments
+    }
+    /// Uniform rectangular geometry centred on its supplied section-moment-reference line.
+    /// Positions are body axes; incidence rotates each section, not the spanwise positions.
+    public static func rectangular(spanMetres: Double, chordMetres: Double, segmentCount: Int = 8,
+                centreMetres: SIMD3<Double> = .zero, incidenceRadians: Double = 0,
+                model: any WingSectionCoefficientModel) throws -> Self {
+        guard spanMetres.isFinite, spanMetres > 0, chordMetres.isFinite, chordMetres > 0,
+              segmentCount > 0, segmentCount <= 65536, fluidFinite(centreMetres) else { throw FluidError.invalidGeometry }
+        let width = spanMetres/Double(segmentCount), axes = try WingSectionAxes(incidenceRadians: incidenceRadians)
+        return try Self(segments: (0..<segmentCount).map {
+            try WingSegment(positionMetres: centreMetres+SIMD3(0,-spanMetres/2+(Double($0)+0.5)*width,0),
+                axes: axes,chordMetres: chordMetres,areaSquareMetres: chordMetres*width,model: model)
+        })
+    }
+    /// Each flow is sampled at its strip position in body axes, enabling external
+    /// atmosphere gradients and prescribed induced-flow corrections without shared state.
+    public func evaluate(momentReferencePointMetres: SIMD3<Double> = .zero,
+                         flowAtSegment: (WingSegment) throws -> FluidFlow) throws -> SegmentedWingResult {
+        var total = try FluidLoads(forceNewtons: .zero,momentNewtonMetres: .zero,referencePointMetres: momentReferencePointMetres)
+        var results = [WingSegmentResult]()
+        for segment in segments {
+            let result = try segment.evaluate(bodyFlow: flowAtSegment(segment))
+            total = try total.adding(result.loads); results.append(result)
+        }
+        return SegmentedWingResult(segments: results,loads: total)
+    }
+    /// Uniform or rigidly rotating medium convenience. Flow's linear velocity is measured at the stated
+    /// velocity reference point; both rates use the same reference frame and body axes.
+    public func evaluate(flow: FluidFlow, angularVelocityRadiansPerSecond: SIMD3<Double> = .zero,
+                mediumAngularVelocityRadiansPerSecond: SIMD3<Double> = .zero,
+                velocityReferencePointMetres: SIMD3<Double> = .zero,
+                momentReferencePointMetres: SIMD3<Double> = .zero) throws -> SegmentedWingResult {
+        guard fluidFinite(angularVelocityRadiansPerSecond), fluidFinite(velocityReferencePointMetres) else { throw FluidError.invalidFlow }
+        return try evaluate(momentReferencePointMetres: momentReferencePointMetres) {
+            try flow.atLocalPoint(offsetMetres: $0.positionMetres-velocityReferencePointMetres,
+                                 angularVelocityRadiansPerSecond: angularVelocityRadiansPerSecond,
+                                 mediumAngularVelocityRadiansPerSecond: mediumAngularVelocityRadiansPerSecond)
+        }
+    }
+}
diff --git a/Sources/Atmospheres/Atmosphere.swift b/Sources/Atmospheres/Atmosphere.swift
new file mode 100644
index 0000000..5f2ce71
--- /dev/null
+++ b/Sources/Atmospheres/Atmosphere.swift
@@ -0,0 +1,54 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2023 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+/// Legacy scalar queries: altitude in metres, results in SI units.
+public protocol Atmosphere {
+  func pressure(at altitude: Double) -> Double
+  func temperature(at altitude: Double) -> Double
+  func density(at altitude: Double) -> Double
+  func speedOfSound(at altitude: Double) -> Double
+  func dynamicViscosity(at altitude: Double) -> Double
+}
+
+public extension Atmosphere {
+  func kinematicViscosity(at altitude: Double) -> Double {
+    return dynamicViscosity(at: altitude)/density(at: altitude)
+  }
+}
+
+/// Compatibility facade for ISA. All values use SI (K, Pa, kg/m³, m/s, Pa s).
+/// Out-of-coverage and nonfinite altitudes return NaN; use ISAAtmosphere for checked queries.
+public struct EarthAtmosphere: Atmosphere {
+  public init() {}
+  private func sample(_ altitude: Double) -> AtmosphericProperties? {
+    try? ISAAtmosphere().properties(at: altitude)
+  }
+  public func pressure(at altitude: Double) -> Double { sample(altitude)?.pressurePascals ?? .nan }
+  public func temperature(at altitude: Double) -> Double { sample(altitude)?.temperatureKelvin ?? .nan }
+  public func density(at altitude: Double) -> Double { sample(altitude)?.densityKilogramsPerCubicMetre ?? .nan }
+  public func speedOfSound(at altitude: Double) -> Double { sample(altitude)?.speedOfSoundMetresPerSecond ?? .nan }
+  public func dynamicViscosity(at altitude: Double) -> Double { sample(altitude)?.dynamicViscosityPascalSeconds ?? .nan }
+}
+
+extension Atmosphere {
+  func reynoldsNumber(at altitude: Double, forLength length: Double, atVelocity velocity: Double) -> Double {
+    // Re = density * velocity * length / viscosity
+    return self.density(at: altitude) * velocity * length / self.dynamicViscosity(at: altitude)
+  }
+}
diff --git a/Sources/Atmospheres/AtmosphereCatalogue.swift b/Sources/Atmospheres/AtmosphereCatalogue.swift
new file mode 100644
index 0000000..c15daa2
--- /dev/null
+++ b/Sources/Atmospheres/AtmosphereCatalogue.swift
@@ -0,0 +1,95 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+/// Body centres use NAIF IDs; system barycentres deliberately have no profile.
+public enum AtmosphericBody: Int32, CaseIterable, Sendable {
+    case venus = 299, earth = 399, mars = 499, jupiter = 599, saturn = 699
+    case uranus = 799, neptune = 899, titan = 606, triton = 801, io = 501, callisto = 504
+}
+public enum AtmosphericRegime: Sendable { case continuum, tenuous, exosphere }
+
+/// Fixed nominal profiles, not forecasts or mission-grade entry models.
+public struct BodyAtmosphere: AtmosphericProfile {
+    public let body: AtmosphericBody
+    public let regime: AtmosphericRegime
+    private let profile: any AtmosphericProfile
+    public var altitudeRangeMetres: ClosedRange<Double> { profile.altitudeRangeMetres }
+    public var altitudeDatum: String { profile.altitudeDatum }
+    public var source: String { profile.source }
+    public var assumptions: String { profile.assumptions }
+    private init(body: AtmosphericBody, regime: AtmosphericRegime = .continuum, profile: any AtmosphericProfile) {
+        self.body = body; self.regime = regime; self.profile = profile
+    }
+    public func properties(at altitudeMetres: Double) throws -> AtmosphericProperties {
+        try profile.properties(at: altitudeMetres)
+    }
+    public static func model(for body: AtmosphericBody) -> BodyAtmosphere {
+        if body == .earth { return BodyAtmosphere(body: body, profile: ISAAtmosphere()) }
+        let r = 8314.46261815324 // Universal gas constant divided by molar mass in g/mol.
+        let fact = "https://nssdc.gsfc.nasa.gov/planetary/factsheet/"
+        var pressure: Double, temperature: Double, molecularMass: Double, gravity: Double
+        var gamma: Double? = 1.4, top = 100_000.0, regime = AtmosphericRegime.continuum
+        var source: String
+        var levels: [HydrostaticAtmosphere.TemperatureLevel]
+        var datum = "Metres above nominal mean surface"
+        var assumptions = "Nominal isothermal ideal gas, constant gravity and composition; no weather, winds, seasons or escape. Coverage is a chosen simulation bound, not a measured atmospheric edge. Viscosity unavailable."
+        switch body {
+        case .venus: (pressure,temperature,molecularMass,gravity) = (9.2e6,737,43.45,8.87); gamma = 1.3; source = fact+"venusfact.html"
+        case .mars: (pressure,temperature,molecularMass,gravity) = (636,214,43.49,3.73); gamma = 1.3; source = fact+"marsfact.html"
+        case .titan: (pressure,temperature,molecularMass,gravity) = (1.5e5,94,28.0,1.352); source = "https://www.nasa.gov/wp-content/uploads/2015/04/niac_sunspiral_superballbot_phaseii_finalreport_tagged.pdf"
+        case .triton: (pressure,temperature,molecularMass,gravity) = (1.4,38,28.0,0.779); regime = .tenuous; source = "https://ntrs.nasa.gov/citations/19950012719"
+        case .io: (pressure,temperature,molecularMass,gravity) = (1e-4,150,64.066,1.796); gamma = nil; regime = .tenuous; top = 50_000; source = "https://doi.org/10.1006/icar.1996.0186"
+            assumptions += " Io SO2 pressure is order-of-magnitude only; 150 K is a chosen nominal gas temperature. Volcanism and eclipse collapse omitted; continuum transport unavailable."
+        case .callisto: (pressure,temperature,molecularMass,gravity) = (7.5e-7,150,44.01,1.236); gamma = nil; regime = .exosphere; source = "https://doi.org/10.1126/science.283.5403.820"
+            assumptions += " Historical CO2 component only; pressure is an equivalent number-density measure. Exponential density is a proxy, not a collisional hydrostatic atmosphere; no sound or continuum transport."
+        case .jupiter: (pressure,temperature,molecularMass,gravity) = (1e5,165,2.22,24.79); source = fact+"jupiterfact.html"
+        case .saturn: (pressure,temperature,molecularMass,gravity) = (1e5,134,2.07,10.44); source = fact+"saturnfact.html"
+        case .uranus: (pressure,temperature,molecularMass,gravity) = (1e5,76,2.64,8.87); source = fact+"uranusfact.html"
+        case .neptune: (pressure,temperature,molecularMass,gravity) = (1e5,72,2.60,11.15); source = fact+"neptunefact.html"
+        case .earth: preconditionFailure("Handled above")
+        }
+        let gasConstant = r/molecularMass
+        if [.jupiter,.saturn,.uranus,.neptune].contains(body) {
+            // Dry ideal diatomic adiabat below 1 bar, limited to 100 bar.
+            let lapse = -gravity*(1.4-1)/1.4/gasConstant
+            let deepTemperature = temperature*pow(100,(1.4-1)/1.4)
+            let bottom = (deepTemperature-temperature)/lapse
+            let upperTemperature: Double
+            switch body { case .jupiter: upperTemperature = 112; case .saturn: upperTemperature = 84
+            case .uranus: upperTemperature = 53; default: upperTemperature = 55 }
+            // Linear temperature layer calibrated to the published 0.1-bar temperature.
+            let upperHeight = gasConstant/gravity*(temperature-upperTemperature)
+                / log(temperature/upperTemperature)*log(10)
+            levels = [(bottom,deepTemperature),(0,temperature),(upperHeight,upperTemperature),
+                      (upperHeight+5*gasConstant*upperTemperature/gravity,upperTemperature)]
+                .map { .init(altitudeMetres: $0.0, temperatureKelvin: $0.1) }
+            datum = "Metres above the 1-bar level; negative altitudes descend into the clouds, no solid surface"
+            assumptions = "Ideal gas with constant gravity/composition; dry gamma=1.4 adiabat from 1 to 100 bar, linear temperature fit from 1 to 0.1 bar, then isothermal. No cloud microphysics, winds, condensation or deep interior equation of state. Coverage is a simulation bound. Viscosity unavailable."
+        } else {
+            levels = [(0.0,temperature),(top,temperature)].map { .init(altitudeMetres: $0.0, temperatureKelvin: $0.1) }
+        }
+        return BodyAtmosphere(body: body, regime: regime, profile: try! HydrostaticAtmosphere(levels: levels,
+            referencePressurePascals: pressure, specificGasConstant: gasConstant,
+            gravityMetresPerSecondSquared: gravity, heatCapacityRatio: gamma,
+            altitudeDatum: datum, source: source, assumptions: assumptions))
+    }
+    public static func model(naifBodyCode: Int32) -> BodyAtmosphere? {
+        AtmosphericBody(rawValue: naifBodyCode).map { model(for: $0) }
+    }
+}
diff --git a/Sources/Atmospheres/Atmospheres.docc/Atmospheres.md b/Sources/Atmospheres/Atmospheres.docc/Atmospheres.md
new file mode 100644
index 0000000..0cd4a39
--- /dev/null
+++ b/Sources/Atmospheres/Atmospheres.docc/Atmospheres.md
@@ -0,0 +1,17 @@
+# ``Atmospheres``
+
+Bounded SI atmospheric profiles for planets and moons.
+
+Evaluate Earth ISA, nominal body atmospheres or custom hydrostatic profiles with
+explicit altitude datums, coverage and physical assumptions.
+
+## Topics
+
+### Using atmospheric models
+- <doc:Guide>
+- ``AtmosphericProfile``
+- ``AtmosphericProperties``
+- ``ISAAtmosphere``
+- ``HydrostaticAtmosphere``
+- ``BodyAtmosphere``
+- ``EarthAtmosphere``
diff --git a/Sources/Atmospheres/Atmospheres.docc/Guide.md b/Sources/Atmospheres/Atmospheres.docc/Guide.md
new file mode 100644
index 0000000..ec30cad
--- /dev/null
+++ b/Sources/Atmospheres/Atmospheres.docc/Guide.md
@@ -0,0 +1,55 @@
+# Atmospheres
+
+Swift target with no external dependencies. Import `Atmospheres` via
+swift-celmek's `Atmospheres` or `Physics` product.
+
+```swift
+import Atmospheres
+let earth = ISAAtmosphere()
+let seaLevel = try earth.properties(at: 0) // Pa, K, kg/m³, m/s, Pa s
+let jupiter = BodyAtmosphere.model(for: .jupiter)
+let belowClouds = try jupiter.properties(at: -50_000) // below the 1-bar datum
+```
+
+Earth uses dry-air ISA/US Standard Atmosphere 1976 lower layers, through 84.852 km
+geopotential height, converting geometric input altitude internally. All profiles
+throw outside their explicit coverage; coverage is not an atmospheric edge or a
+promise of vacuum above it. Custom `HydrostaticAtmosphere` profiles accept increasing
+temperature levels and a reference pressure at one of those levels.
+
+Built-ins cover Venus, Earth, Mars, Jupiter, Saturn, Uranus, Neptune, Titan, Triton,
+Io and Callisto. Non-Earth solid-body profiles are **nominal isothermal approximations**;
+they reproduce a reference state, not a measured vertical temperature profile.
+Gas giants fit the published 1-bar and 0.1-bar temperatures with a hydrostatic
+linear-temperature layer, a dry adiabat below 1 bar (limited to 100 bar), and an
+isothermal upper extension. Neither cloud microphysics nor deep interiors are modeled.
+
+Io is highly variable; its pressure is an order-of-magnitude nominal value, with a
+chosen 150 K gas temperature. Callisto represents the historically observed CO2
+component as an exponential exosphere proxy. Its pressure is equivalent kinetic
+pressure; continuum sound speed and viscosity are absent. Non-Earth viscosity is
+unavailable rather than guessed. These fixed profiles omit latitude, seasons, solar
+activity, winds, plumes and atmospheric escape. Additional moons can be represented
+with custom profiles; no poorly constrained defaults are silently supplied.
+
+Every model exposes its source URL, assumptions, altitude datum and coverage.
+Reference data: [NASA planetary factsheets](https://nssdc.gsfc.nasa.gov/planetary/factsheet/),
+[US Standard Atmosphere 1976](https://ntrs.nasa.gov/citations/19770009539),
+[Titan nominal reference](https://www.nasa.gov/wp-content/uploads/2015/04/niac_sunspiral_superballbot_phaseii_finalreport_tagged.pdf),
+[Triton reference](https://ntrs.nasa.gov/citations/19950012719),
+[Io review](https://doi.org/10.1006/icar.1996.0186),
+[Callisto CO2 observation](https://doi.org/10.1126/science.283.5403.820).
+
+For CelMek, `BodyIdentifier.earth.atmosphericModel` returns the built-in profile.
+`SphericalBodyAtmosphere` adapts a profile to `AtmosphericDrag`. Supply a compatible
+body-centred inertial frame, the radius of the profile's datum (1 bar for giants),
+and optionally angular velocity in those axes. It computes density and co-rotation;
+it neither transforms frames nor obtains ephemerides. Exosphere density should be
+paired with a suitable rarefied-gas force model rather than assumed continuum drag.
+
+Migration: `EarthAtmosphere` remains accessible through `import Aerodynamics`.
+Its formerly incorrect scalar results now use SI: Kelvin rather than Celsius,
+pressure in Pa, density in kg/m³ and viscosity in Pa s (about 1.789e-5 at sea level).
+Legacy scalar queries return NaN outside coverage; prefer the throwing profile API.
+
+Run `swift test --filter ProfileTests` from the repository root.
diff --git a/Sources/Atmospheres/AtmosphericProfile.swift b/Sources/Atmospheres/AtmosphericProfile.swift
new file mode 100644
index 0000000..29190be
--- /dev/null
+++ b/Sources/Atmospheres/AtmosphericProfile.swift
@@ -0,0 +1,151 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+public enum AtmosphericModelError: Error, Equatable {
+    case invalidParameters, altitudeOutsideCoverage, nonFiniteResult
+}
+
+/// SI properties. Optional transport quantities are absent where no continuum model is supplied.
+public struct AtmosphericProperties: Sendable {
+    public let pressurePascals: Double
+    public let temperatureKelvin: Double
+    public let densityKilogramsPerCubicMetre: Double
+    public let speedOfSoundMetresPerSecond: Double?
+    public let dynamicViscosityPascalSeconds: Double?
+}
+
+/// Altitude is measured in metres above the explicitly described datum.
+public protocol AtmosphericProfile: Sendable {
+    var altitudeRangeMetres: ClosedRange<Double> { get }
+    var altitudeDatum: String { get }
+    var source: String { get }
+    var assumptions: String { get }
+    func properties(at altitudeMetres: Double) throws -> AtmosphericProperties
+}
+
+/// Piecewise linear temperature with constant gravity and molecular composition.
+/// Pressure is integrated analytically from hydrostatic balance; density uses the ideal gas law.
+public struct HydrostaticAtmosphere: AtmosphericProfile {
+    public struct TemperatureLevel: Sendable {
+        public let altitudeMetres: Double
+        public let temperatureKelvin: Double
+        public init(altitudeMetres: Double, temperatureKelvin: Double) {
+            self.altitudeMetres = altitudeMetres; self.temperatureKelvin = temperatureKelvin
+        }
+    }
+    public let altitudeRangeMetres: ClosedRange<Double>
+    public let altitudeDatum: String
+    public let source: String
+    public let assumptions: String
+    public let specificGasConstant: Double
+    public let gravityMetresPerSecondSquared: Double
+    public let heatCapacityRatio: Double?
+    private let levels: [TemperatureLevel]
+    private let logPressures: [Double]
+
+    public init(levels: [TemperatureLevel], referenceAltitudeMetres: Double = 0,
+                referencePressurePascals: Double, specificGasConstant: Double,
+                gravityMetresPerSecondSquared: Double, heatCapacityRatio: Double? = nil,
+                altitudeDatum: String, source: String, assumptions: String) throws {
+        guard levels.count >= 2,
+              levels.allSatisfy({ $0.altitudeMetres.isFinite && $0.temperatureKelvin.isFinite && $0.temperatureKelvin > 0 }),
+              zip(levels, levels.dropFirst()).allSatisfy({ $0.altitudeMetres < $1.altitudeMetres }),
+              [referencePressurePascals, specificGasConstant, gravityMetresPerSecondSquared].allSatisfy({ $0.isFinite && $0 > 0 }),
+              heatCapacityRatio.map({ $0.isFinite && $0 > 1 }) ?? true,
+              !altitudeDatum.isEmpty, !source.isEmpty,
+              let referenceIndex = levels.firstIndex(where: { $0.altitudeMetres == referenceAltitudeMetres }) else {
+            throw AtmosphericModelError.invalidParameters
+        }
+        self.levels = levels; self.specificGasConstant = specificGasConstant
+        self.gravityMetresPerSecondSquared = gravityMetresPerSecondSquared
+        self.heatCapacityRatio = heatCapacityRatio; self.altitudeDatum = altitudeDatum
+        self.source = source; self.assumptions = assumptions
+        altitudeRangeMetres = levels.first!.altitudeMetres...levels.last!.altitudeMetres
+        var integrals = [0.0]
+        for i in 1..<levels.count {
+            let lower = levels[i-1], upper = levels[i]
+            integrals.append(integrals[i-1] + Self.logPressureRatio(
+                height: upper.altitudeMetres-lower.altitudeMetres,
+                baseTemperature: lower.temperatureKelvin, temperature: upper.temperatureKelvin,
+                gravityOverR: gravityMetresPerSecondSquared/specificGasConstant))
+        }
+        logPressures = integrals.map { log(referencePressurePascals) + $0 - integrals[referenceIndex] }
+        guard logPressures.allSatisfy(\.isFinite) else { throw AtmosphericModelError.nonFiniteResult }
+    }
+
+    private static func logPressureRatio(height: Double, baseTemperature: Double,
+                                         temperature: Double, gravityOverR: Double) -> Double {
+        let difference = temperature-baseTemperature
+        if abs(difference) < 1e-10 * baseTemperature {
+            return -gravityOverR * height/baseTemperature
+        }
+        return -gravityOverR * height/difference * log1p(difference/baseTemperature)
+    }
+
+    public func properties(at altitudeMetres: Double) throws -> AtmosphericProperties {
+        guard altitudeMetres.isFinite, altitudeRangeMetres.contains(altitudeMetres) else {
+            throw AtmosphericModelError.altitudeOutsideCoverage
+        }
+        let i = min(levels.lastIndex(where: { $0.altitudeMetres <= altitudeMetres })!, levels.count-2)
+        let lower = levels[i], upper = levels[i+1]
+        let height = altitudeMetres-lower.altitudeMetres
+        let temperature = lower.temperatureKelvin + (upper.temperatureKelvin-lower.temperatureKelvin)
+            * height/(upper.altitudeMetres-lower.altitudeMetres)
+        let pressure = exp(logPressures[i] + Self.logPressureRatio(height: height,
+            baseTemperature: lower.temperatureKelvin, temperature: temperature,
+            gravityOverR: gravityMetresPerSecondSquared/specificGasConstant))
+        let density = pressure/specificGasConstant/temperature
+        let sound = heatCapacityRatio.map { sqrt($0*specificGasConstant*temperature) }
+        guard pressure.isFinite, pressure > 0, density.isFinite, density > 0,
+              sound.map(\.isFinite) ?? true else { throw AtmosphericModelError.nonFiniteResult }
+        return AtmosphericProperties(pressurePascals: pressure, temperatureKelvin: temperature,
+            densityKilogramsPerCubicMetre: density, speedOfSoundMetresPerSecond: sound,
+            dynamicViscosityPascalSeconds: nil)
+    }
+}
+
+/// ISA dry-air layers through 84.852 km geopotential altitude (about 86 km geometric).
+public struct ISAAtmosphere: AtmosphericProfile {
+    public let altitudeDatum = "Geometric altitude above mean sea level; internally converted to geopotential height"
+    public let source = "https://ntrs.nasa.gov/citations/19770009539"
+    public let assumptions = "ISA/US Standard Atmosphere lower layers; dry ideal air, no weather or thermosphere"
+    public let altitudeRangeMetres = -500.0...(6_356_766 * 84_852 / (6_356_766 - 84_852))
+    private static let profile = try! HydrostaticAtmosphere(
+        levels: [(-1000.0,294.65),(0,288.15),(11000,216.65),(20000,216.65),
+                 (32000,228.65),(47000,270.65),(51000,270.65),(71000,214.65),(84852,186.946)]
+            .map { .init(altitudeMetres: $0.0, temperatureKelvin: $0.1) },
+        referencePressurePascals: 101325, specificGasConstant: 287.05287,
+        gravityMetresPerSecondSquared: 9.80665, heatCapacityRatio: 1.4,
+        altitudeDatum: "Geopotential height", source: "US Standard Atmosphere 1976", assumptions: "Dry air")
+    public init() {}
+    public func properties(at altitudeMetres: Double) throws -> AtmosphericProperties {
+        guard altitudeMetres.isFinite, altitudeRangeMetres.contains(altitudeMetres) else {
+            throw AtmosphericModelError.altitudeOutsideCoverage
+        }
+        let h = 6_356_766*altitudeMetres/(6_356_766+altitudeMetres)
+        let result = try Self.profile.properties(at: min(84852, h))
+        let t = result.temperatureKelvin
+        // Sutherland's law for dry air, Pa s.
+        let viscosity = 1.458e-6 * pow(t,1.5)/(t+110.4)
+        return AtmosphericProperties(pressurePascals: result.pressurePascals,
+            temperatureKelvin: t, densityKilogramsPerCubicMetre: result.densityKilogramsPerCubicMetre,
+            speedOfSoundMetresPerSecond: result.speedOfSoundMetresPerSecond,
+            dynamicViscosityPascalSeconds: viscosity)
+    }
+}
diff --git a/Sources/CelMek/AccuracyLevel.swift b/Sources/CelMek/AccuracyLevel.swift
new file mode 100644
index 0000000..b5a83c5
--- /dev/null
+++ b/Sources/CelMek/AccuracyLevel.swift
@@ -0,0 +1,43 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+
+/// A tolerance hint: models may use a higher accuracy than requested.
+/// Shared caller intent, not a universal physical error bound or runtime guarantee.
+/// Each algorithm must document its settings, supported intervals and measured error.
+public enum AccuracyLevel: String, CaseIterable, Hashable, Sendable {
+  /// Prioritize computational cost, allowing the model's largest supported approximation.
+  case low
+  /// A model-specific compromise between computational cost and approximation error.
+  case balanced
+  /// Prefer smaller approximation error while permitting documented simplifications.
+  case high
+  /// Complete evaluation of the implemented model, including any intrinsic truncation.
+  /// Does not imply exact physics, full original published theory, or the newest data.
+  case full
+}
+
+/// Opt-in contract reporting requested hints and effective evaluation modes. Algorithm-specific
+/// controls (such as derivative intervals and TDB models) remain explicit and independent.
+public protocol AccuracyAwareEphemerisProvider: EphemerisProvider {
+  /// Requested tolerance hint.
+  var accuracy: AccuracyLevel { get }
+  /// Actual model mode; may be more accurate than the hint.
+  var effectiveAccuracy: AccuracyLevel { get }
+  /// Implemented evaluation modes, not a restriction on accepted hints.
+  var availableAccuracyLevels: Set<AccuracyLevel> { get }
+}
diff --git a/Sources/CelMek/AdaptiveWaypointTimingSearch.swift b/Sources/CelMek/AdaptiveWaypointTimingSearch.swift
new file mode 100644
index 0000000..05534b4
--- /dev/null
+++ b/Sources/CelMek/AdaptiveWaypointTimingSearch.swift
@@ -0,0 +1,138 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Math
+
+public struct WaypointTimingRefinementOptions: Equatable, Sendable {
+    public let initialSpacingSeconds, minimumSpacingSeconds: Double
+    public let maximumRounds, maximumCandidateEvaluations, maximumGeneratedCandidates: Int
+    public init(initialSpacingSeconds: Double, minimumSpacingSeconds: Double,
+                maximumRounds: Int = 8, maximumCandidateEvaluations: Int = 1000,
+                maximumGeneratedCandidates: Int = 100_000) throws {
+        guard initialSpacingSeconds.isFinite, minimumSpacingSeconds.isFinite,
+              minimumSpacingSeconds > 0, initialSpacingSeconds >= minimumSpacingSeconds else {
+            throw WaypointTimingSearchError.invalidCandidateSpacing
+        }
+        guard (1...32).contains(maximumRounds), (1...10_000).contains(maximumCandidateEvaluations),
+              (1...100_000).contains(maximumGeneratedCandidates) else { throw WaypointTimingSearchError.invalidBudget }
+        self.initialSpacingSeconds = initialSpacingSeconds; self.minimumSpacingSeconds = minimumSpacingSeconds
+        self.maximumRounds = maximumRounds; self.maximumCandidateEvaluations = maximumCandidateEvaluations
+        self.maximumGeneratedCandidates = maximumGeneratedCandidates
+    }
+}
+public enum WaypointTimingRefinementStatus: Equatable, Sendable {
+    case feasible, resolutionLimitReached, evaluationLimitReached
+    case refinementLimitReached, candidateGenerationLimitReached
+}
+public struct WaypointTimingRefinementRound {
+    public let spacingSeconds: Double
+    public let generatedCandidates: Int
+    public let evaluatedCandidates: Int
+    public let status: WaypointTimingSearchStatus
+}
+public struct WaypointTimingRefinementResult {
+    public let status: WaypointTimingRefinementStatus
+    public let evaluatedCandidates: Int
+    public let rounds: [WaypointTimingRefinementRound]
+    public let route: WaypointBrachistochroneRoute?
+    public let propagation: WaypointRoutePropagationResult?
+    public let failedAttempts: [WaypointTimingAttempt]
+}
+
+extension WaypointRouteTimingPlanner {
+    /// Refine the grid only after its candidates fail. Halving spacing retains
+    /// phase boundaries and avoids replaying previously rejected combinations.
+    /// This searches for feasibility, not a minimum-time or continuous optimum.
+    public static func adaptiveSearch(departureEpoch: Epoch, frame: Frame, origin: BodyIdentifier,
+        waypoints: [BrachistochroneWaypoint], legAccelerationsMetresPerSecondSquared: [Double],
+        arrivalWindows: [ClosedRange<Epoch>], refinementOptions: WaypointTimingRefinementOptions,
+        initialMass: SpacecraftMassProperties, backgroundDynamics: SpacecraftDynamics,
+        legEngineLimits: [WaypointRouteEngineLimits], timedEnginePhases: [WaypointRouteEnginePhase] = [],
+        obstacles: [SphericalExclusionRegion] = [],
+        numericalOptions: NumericalPropagationOptions = try! NumericalPropagationOptions(),
+        endpointPositionToleranceMetres: Double = 0.01,
+        endpointVelocityToleranceMetresPerSecond: Double = 1e-5,
+        movingTarget: MovingWaypointRouteTarget? = nil,
+        movingWaypoints: [Int: MovingWaypointPassage] = [:],
+        movingObstacles: [MovingSphericalExclusionRegion] = [],
+        physicalConstraints: WaypointRoutePhysicalConstraints = .unconstrained) throws -> WaypointTimingRefinementResult {
+        guard (2...10_001).contains(waypoints.count), arrivalWindows.count == waypoints.count-1 else {
+            throw WaypointTimingSearchError.invalidCandidates
+        }
+        _ = try validateTimingConfiguration(departureEpoch: departureEpoch, frame: frame, origin: origin,
+            waypoints: waypoints, legAccelerationsMetresPerSecondSquared: legAccelerationsMetresPerSecondSquared,
+            backgroundDynamics: backgroundDynamics, legEngineLimits: legEngineLimits,
+            timedEnginePhases: timedEnginePhases, obstacles: obstacles,
+            endpointPositionToleranceMetres: endpointPositionToleranceMetres,
+            endpointVelocityToleranceMetresPerSecond: endpointVelocityToleranceMetresPerSecond, movingTarget: movingTarget, movingWaypoints: movingWaypoints, movingObstacles: movingObstacles, physicalConstraints: physicalConstraints)
+        var windows = try intersectPassageCoverage(arrivalWindows, movingWaypoints: movingWaypoints)
+        for index in windows.indices {
+            if let constraint = waypoints[index+1].arrivalWindow {
+                let lower = max(windows[index].lowerBound, constraint.lowerBound)
+                let upper = min(windows[index].upperBound, constraint.upperBound)
+                guard lower <= upper else { throw WaypointTimingSearchError.invalidCandidates }
+                windows[index] = lower...upper
+            }
+        }
+        if let movingTarget {
+            let last = windows.count-1
+            let lower = max(windows[last].lowerBound, movingTarget.coverage.lowerBound)
+            let upper = min(windows[last].upperBound, movingTarget.coverage.upperBound)
+            guard lower <= upper else { throw WaypointTimingSearchError.invalidCandidates }
+            windows[last] = lower...upper
+        }
+        var spacing = refinementOptions.initialSpacingSeconds
+        var failures: [WaypointTimingAttempt] = [], rounds: [WaypointTimingRefinementRound] = []
+        var evaluated = 0, excluded = Set<[Epoch]>()
+        func finish(_ status: WaypointTimingRefinementStatus,
+                    _ success: WaypointTimingSearchResult? = nil) -> WaypointTimingRefinementResult {
+            WaypointTimingRefinementResult(status: status, evaluatedCandidates: evaluated, rounds: rounds,
+                route: success?.route, propagation: success?.propagation, failedAttempts: failures)
+        }
+        for _ in 0..<refinementOptions.maximumRounds {
+            let candidates: [[Epoch]]
+            do {
+                candidates = try arrivalCandidates(in: windows, spacing: Duration(seconds: spacing),
+                    including: timedEnginePhases, maximumTotalCandidates: refinementOptions.maximumGeneratedCandidates)
+            } catch WaypointTimingSearchError.candidateGenerationLimitExceeded {
+                return finish(.candidateGenerationLimitReached)
+            }
+            let result = try searchImpl(departureEpoch: departureEpoch, frame: frame, origin: origin,
+                waypoints: waypoints, legAccelerationsMetresPerSecondSquared: legAccelerationsMetresPerSecondSquared,
+                candidateArrivalEpochs: candidates, initialMass: initialMass,
+                backgroundDynamics: backgroundDynamics, legEngineLimits: legEngineLimits,
+                timedEnginePhases: timedEnginePhases, obstacles: obstacles,
+                maximumCandidateEvaluations: refinementOptions.maximumCandidateEvaluations-evaluated,
+                numericalOptions: numericalOptions, endpointPositionToleranceMetres: endpointPositionToleranceMetres,
+                endpointVelocityToleranceMetresPerSecond: endpointVelocityToleranceMetresPerSecond, excluding: excluded, movingTarget: movingTarget, movingWaypoints: movingWaypoints, movingObstacles: movingObstacles, physicalConstraints: physicalConstraints)
+            evaluated += result.evaluatedCandidates
+            failures.append(contentsOf: result.failedAttempts)
+            for attempt in result.failedAttempts { excluded.insert(attempt.arrivalEpochs) }
+            rounds.append(WaypointTimingRefinementRound(spacingSeconds: spacing,
+                generatedCandidates: candidates.reduce(0) { $0+$1.count },
+                evaluatedCandidates: result.evaluatedCandidates, status: result.status))
+            if result.status == .feasible { return finish(.feasible, result) }
+            if result.status == .evaluationLimitReached { return finish(.evaluationLimitReached) }
+            if spacing <= refinementOptions.minimumSpacingSeconds || windows.allSatisfy({ $0.lowerBound == $0.upperBound }) {
+                return finish(.resolutionLimitReached)
+            }
+            if evaluated == refinementOptions.maximumCandidateEvaluations { return finish(.evaluationLimitReached) }
+            spacing = max(refinementOptions.minimumSpacingSeconds, spacing/2)
+        }
+        return finish(.refinementLimitReached)
+    }
+}
diff --git a/Sources/CelMek/AnalyticEphemerides.swift b/Sources/CelMek/AnalyticEphemerides.swift
new file mode 100644
index 0000000..1426680
--- /dev/null
+++ b/Sources/CelMek/AnalyticEphemerides.swift
@@ -0,0 +1,171 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+/// Coverage-aware VSOP87E coefficient selection, with an explicit TDB model.
+public struct VSOP87Ephemeris: AccuracyAwareEphemerisProvider {
+  public let metadata: EphemerisMetadata
+  public let accuracy: AccuracyLevel
+  public let effectiveAccuracy: AccuracyLevel
+  public var availableAccuracyLevels: Set<AccuracyLevel> { Set(AccuracyLevel.allCases) }
+  public let coefficientSelection: VSOP87CoefficientSelection
+  private let provider: VSOP87StateProvider
+  public init(body: vsop87_body, coverage: ClosedRange<Epoch>, tdbModel: any TDBTimeModel, accuracy: AccuracyLevel = .full) throws {
+    self.accuracy = accuracy
+    guard coverage.lowerBound >= tdbModel.coverage.lowerBound,
+          coverage.upperBound <= tdbModel.coverage.upperBound else { throw EphemerisError.outsideCoverage }
+    let id: BodyIdentifier
+    switch body.body_id {
+    case .vsop87_sun: id = .sun
+    case .vsop87_mercury: id = .mercury
+    case .vsop87_venus: id = .venus
+    case .vsop87_earth: id = .earth
+    case .vsop87_mars: id = .marsBarycentre
+    case .vsop87_jupiter: id = .jupiterBarycentre
+    case .vsop87_saturn: id = .saturnBarycentre
+    case .vsop87_uranus: id = .uranusBarycentre
+    case .vsop87_neptune: id = .neptuneBarycentre
+    }
+    let selection = try VSOP87CoefficientSelection(body: body,coverage: coverage,tdbModel: tdbModel,accuracy: accuracy)
+    coefficientSelection = selection
+    effectiveAccuracy = selection.retainedTermCount == selection.originalTermCount ? .full : accuracy
+    provider = VSOP87StateProvider(body: selection.selectedBody,tdbModel: tdbModel)
+    metadata = try EphemerisMetadata(body: id,origin: .solarSystemBarycentre,frame: body.frame,
+      coverage: coverage,coverageBasis: .callerSelected,modelTimeScale: .tdb,
+      velocityMethod: .analytic,accelerationMethod: .unavailable,
+      provenance: PhysicalDataProvenance(source: "VSOP87E \(effectiveAccuracy) evaluation, \(selection.retainedTermCount)/\(selection.originalTermCount) terms; \(tdbModel.provenance)",
+        version: "VSOP87",reference: "https://ftp.imcce.fr/pub/ephem/planets/vsop87/"),accuracy: accuracy,effectiveAccuracy: effectiveAccuracy)
+  }
+  public func state(at epoch: Epoch) throws -> CartesianState {
+    guard metadata.coverage.contains(epoch) else { throw EphemerisError.outsideCoverage }
+    return try provider.state(at: epoch)
+  }
+}
+
+/// Native identities for the legacy lunar and Pluto approximations. Retain this
+/// object and register its transforms to query these states in other frames.
+public struct AnalyticEphemerisFrames {
+  public let moonEclipticOfDate: Frame
+  public let plutoEclipticJ2000: Frame
+  internal init(moon: Frame, pluto: Frame) { moonEclipticOfDate = moon; plutoEclipticJ2000 = pluto }
+}
+
+extension FrameTree {
+  /// Earth and Sun states must already be expressed in this tree's ICRF frame.
+  public func makeAnalyticEphemerisFrames(earth: any StateProvider, sun: any StateProvider,
+    accelerationPolicy: OriginAccelerationPolicy = .requireProvided,
+    derivativeStep: Duration = try! Duration(seconds: 60)) throws -> AnalyticEphemerisFrames {
+    guard earth.frame === CelestialFrames.icrf, sun.frame === CelestialFrames.icrf else {
+      throw EphemerisError.frameMismatch
+    }
+    let dated = try MeanEclipticOfDateProvider(step: derivativeStep)
+    let geo = try makeGeocentricFrames(earth: earth,accelerationPolicy: accelerationPolicy)
+    let lunar = try makeFrame(parent: geo.eme2000,name: "Meeus Moon mean ecliptic/equinox of date",provider: dated)
+    let ecliptic = Quaternion(angle: -84381.448 * .pi/(180*3600),axis: SIMD3(1,0,0)) * CelestialFrames.icrfToEME2000
+    let orientation = try FixedAxisOrientationProvider(referenceFrame: CelestialFrames.icrf,axis: SIMD3(1,0,0),
+      rate: 0,initialRotation: ecliptic)
+    let heliocentric = try makeBodyFixedFrame(name: "Goffin heliocentric ecliptic J2000",centre: sun,
+      orientation: orientation,accelerationPolicy: accelerationPolicy)
+    return AnalyticEphemerisFrames(moon: lunar,pluto: heliocentric)
+  }
+}
+
+/// Adapters for the existing truncated lunar and Pluto spherical series. TT is the
+/// legacy ephemeris-time argument. Position coverage is caller selected; query
+/// coverage is shortened by ±2*velocityStep for the five-point Cartesian derivative.
+public struct SphericalAnalyticEphemeris: AccuracyAwareEphemerisProvider {
+  public enum Model: Sendable { case meeusMoon, goffinPluto }
+  public let metadata: EphemerisMetadata
+  public let accuracy: AccuracyLevel
+  public let effectiveAccuracy: AccuracyLevel = .full
+  public var availableAccuracyLevels: Set<AccuracyLevel> { [.full] }
+  public let model: Model
+  public let positionCoverage: ClosedRange<Epoch>
+  public let velocityStep: Duration
+  public init(model: Model, frames: AnalyticEphemerisFrames, positionCoverage: ClosedRange<Epoch>,
+              velocityStep: Duration, accuracy: AccuracyLevel = .full) throws {
+    self.accuracy = accuracy
+    guard velocityStep > .zero else { throw EphemerisError.invalidDerivativeMethod }
+    let margin = try velocityStep.adding(velocityStep)
+    let lower = try positionCoverage.lowerBound.advanced(by: margin)
+    let upper = try positionCoverage.upperBound.advanced(by: margin.negated())
+    guard lower <= upper else { throw EphemerisError.outsideCoverage }
+    self.model = model; self.positionCoverage = positionCoverage; self.velocityStep = velocityStep
+    let moon = model == .meeusMoon
+    metadata = try EphemerisMetadata(body: moon ? .moon : .plutoBarycentre,origin: moon ? .earth : .sun,
+      frame: moon ? frames.moonEclipticOfDate : frames.plutoEclipticJ2000,coverage: lower...upper,
+      coverageBasis: .callerSelected,modelTimeScale: .tt,
+      velocityMethod: .finiteDifference(step: velocityStep),accelerationMethod: .unavailable,
+      provenance: PhysicalDataProvenance(source: moon ? "Meeus chapter 47 truncated lunar series, including constant light-time longitude term; legacy elp2000_82b" : "Meeus/Goffin Pluto spherical series; legacy goffin2000",
+        version: "built-in legacy coefficients; TT adapter"),accuracy: accuracy,effectiveAccuracy: effectiveAccuracy)
+  }
+  private func position(at epoch: Epoch) throws -> SIMD3<Double> {
+    guard positionCoverage.contains(epoch) else { throw EphemerisError.outsideCoverage }
+    let t = try centuriesTT(epoch)
+    let spherical = model == .meeusMoon ? meeusMoonPosition(centuries: t) : goffinPosition(centuries: t)
+    let distance = spherical.z * (model == .meeusMoon ? 1 : CartesianUnits.metresPerAstronomicalUnit)
+    return SIMD3(distance*cos(spherical.y)*cos(spherical.x),distance*cos(spherical.y)*sin(spherical.x),distance*sin(spherical.y))
+  }
+  public func state(at epoch: Epoch) throws -> CartesianState {
+    guard metadata.coverage.contains(epoch) else { throw EphemerisError.outsideCoverage }
+    let h = velocityStep.seconds
+    let p = try position(at: epoch)
+    let samples = try [-2.0,-1,1,2].map { try position(at: epoch.advanced(by: Duration(seconds: $0*h))) }
+    let velocity = (samples[0]-8*samples[1]+8*samples[2]-samples[3])/(12*h)
+    return try CartesianState(epoch: epoch,frame: frame,position: p,velocity: velocity)
+  }
+}
+
+internal func centuriesTT(_ epoch: Epoch) throws -> Double {
+  let date = try epoch.julianDate(in: .tt)
+  return (Double(date.wholeDay-2451545)+date.fractionalDay)/36525
+}
+
+/// IAU 1976 precession and IAU 1980 mean obliquity, compatible with the legacy series.
+/// Native Swift; rotation convention follows ERFA pmat76. No nutation is applied.
+internal struct MeanEclipticOfDateProvider: TransformProvider {
+  let step: Duration
+  init(step: Duration) throws {
+    guard step > .zero else { throw EphemerisError.invalidDerivativeMethod }
+    self.step = step
+  }
+  func rotation(at epoch: Epoch) throws -> Quaternion {
+    let t = try centuriesTT(epoch), arcsecond = Double.pi/(180*3600)
+    let zeta = (2306.2181*t+0.30188*t*t+0.017998*t*t*t)*arcsecond
+    let z = (2306.2181*t+1.09468*t*t+0.018203*t*t*t)*arcsecond
+    let theta = (2004.3109*t-0.42665*t*t-0.041833*t*t*t)*arcsecond
+    let eps = (84381.448-46.815*t-0.00059*t*t+0.001813*t*t*t)*arcsecond
+    return Quaternion(angle: -eps,axis: SIMD3(1,0,0)) * Quaternion(angle: z,axis: SIMD3(0,0,1))
+      * Quaternion(angle: -theta,axis: SIMD3(0,1,0)) * Quaternion(angle: zeta,axis: SIMD3(0,0,1))
+  }
+  func transform(at epoch: Epoch) throws -> FrameTransform {
+    let q = try rotation(at: epoch), r = q.matrix, h = step.seconds
+    let samples = try [-2.0,-1,1,2].map { try rotation(at: epoch.advanced(by: Duration(seconds: $0*h))).matrix }
+    var d = [Double](), dd = [Double]()
+    for i in 0..<3 { for j in 0..<3 {
+      d.append((samples[0][i,j]-8*samples[1][i,j]+8*samples[2][i,j]-samples[3][i,j])/(12*h))
+      dd.append((-samples[3][i,j]+16*samples[2][i,j]-30*r[i,j]+16*samples[1][i,j]-samples[0][i,j])/(12*h*h))
+    }}
+    func axial(_ v: [Double]) -> SIMD3<Double> {
+      func e(_ i: Int,_ j: Int) -> Double { (0..<3).reduce(0) { $0+v[3*i+$1]*r[j,$1] } }
+      return SIMD3((e(2,1)-e(1,2))/2,(e(0,2)-e(2,0))/2,(e(1,0)-e(0,1))/2)
+    }
+    return try FrameTransform(epoch: epoch,rotation: q,angularVelocity: axial(d),angularAcceleration: axial(dd))
+  }
+}
diff --git a/Sources/CelMek/ApparentPlaceOfAStar.swift b/Sources/CelMek/ApparentPlaceOfAStar.swift
new file mode 100644
index 0000000..64e68e2
--- /dev/null
+++ b/Sources/CelMek/ApparentPlaceOfAStar.swift
@@ -0,0 +1,20 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2023 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+
+import Foundation
+// Meeus, chapter 23
diff --git a/Sources/CelMek/AtmosphericRefraction.swift b/Sources/CelMek/AtmosphericRefraction.swift
new file mode 100644
index 0000000..40d9af2
--- /dev/null
+++ b/Sources/CelMek/AtmosphericRefraction.swift
@@ -0,0 +1,20 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2023 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+
+import Foundation
+// Meeus, chapter 16
diff --git a/Sources/CelMek/Attitude.swift b/Sources/CelMek/Attitude.swift
new file mode 100644
index 0000000..3665b5f
--- /dev/null
+++ b/Sources/CelMek/Attitude.swift
@@ -0,0 +1,210 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+public enum AttitudeError: Error, Equatable {
+    case invalidRotation, invalidVector, nonInertialReference, frameMismatch, epochMismatch
+    case undefinedDirection, undefinedRoll, invalidConfiguration, angularAccelerationUnavailable
+    case invalidInertia, numericalRangeExceeded
+}
+func attitudeCross(_ a: SIMD3<Double>, _ b: SIMD3<Double>) -> SIMD3<Double> {
+    SIMD3(a.y*b.z-a.z*b.y,a.z*b.x-a.x*b.z,a.x*b.y-a.y*b.x)
+}
+func attitudeFinite(_ vector: SIMD3<Double>) -> Bool { [vector.x,vector.y,vector.z].allSatisfy(\.isFinite) }
+func attitudeUnit(_ vector: SIMD3<Double>) throws -> SIMD3<Double> {
+    guard attitudeFinite(vector) else { throw AttitudeError.invalidVector }
+    let scale = max(abs(vector.x),abs(vector.y),abs(vector.z))
+    guard scale > 0 else { throw AttitudeError.undefinedDirection }
+    let scaled = vector/scale
+    return scaled/routeNorm(scaled)
+}
+func attitudeQuaternion(_ quaternion: Quaternion) throws -> Quaternion {
+    let scale = max(abs(quaternion.x),abs(quaternion.y),abs(quaternion.z),abs(quaternion.w))
+    guard [quaternion.x,quaternion.y,quaternion.z,quaternion.w].allSatisfy(\.isFinite), scale > 0 else { throw AttitudeError.invalidRotation }
+    let scaled = quaternion/scale
+    return scaled/sqrt(Quaternion.dot(lhs: scaled,rhs: scaled))
+}
+/// Hamilton quaternion maps body vectors into inertial reference axes.
+/// Angular velocity/acceleration are physical rates relative to that reference,
+/// expressed in body axes (rad/s and rad/s²), not coordinate-map rates.
+public struct AttitudeState {
+    public let epoch: Epoch
+    public let referenceFrame: Frame
+    public let bodyFrame: Frame
+    public let bodyToReference: Quaternion
+    public let angularVelocityBodyRadiansPerSecond: SIMD3<Double>
+    public let angularAccelerationBodyRadiansPerSecondSquared: SIMD3<Double>?
+    public init(epoch: Epoch, referenceFrame: Frame, bodyFrame: Frame, bodyToReference: Quaternion,
+        angularVelocityBodyRadiansPerSecond: SIMD3<Double> = .zero,
+        angularAccelerationBodyRadiansPerSecondSquared: SIMD3<Double>? = nil) throws {
+        guard referenceFrame.pseudoInertial else { throw AttitudeError.nonInertialReference }
+        guard referenceFrame !== bodyFrame else { throw AttitudeError.frameMismatch }
+        guard attitudeFinite(angularVelocityBodyRadiansPerSecond), angularAccelerationBodyRadiansPerSecondSquared.map(attitudeFinite) ?? true else { throw AttitudeError.invalidVector }
+        self.epoch = epoch; self.referenceFrame = referenceFrame; self.bodyFrame = bodyFrame
+        self.bodyToReference = try attitudeQuaternion(bodyToReference)
+        self.angularVelocityBodyRadiansPerSecond = angularVelocityBodyRadiansPerSecond
+        self.angularAccelerationBodyRadiansPerSecondSquared = angularAccelerationBodyRadiansPerSecondSquared
+    }
+    public func referenceVector(fromBody vector: SIMD3<Double>) throws -> SIMD3<Double> {
+        guard attitudeFinite(vector) else { throw AttitudeError.invalidVector }
+        let result = bodyToReference.matrix*vector
+        guard attitudeFinite(result) else { throw AttitudeError.numericalRangeExceeded }
+        return result
+    }
+    public func bodyVector(fromReference vector: SIMD3<Double>) throws -> SIMD3<Double> {
+        guard attitudeFinite(vector) else { throw AttitudeError.invalidVector }
+        let result = bodyToReference.conj.matrix*vector
+        guard attitudeFinite(result) else { throw AttitudeError.numericalRangeExceeded }
+        return result
+    }
+    public func orientation() throws -> BodyOrientation {
+        guard let alpha = angularAccelerationBodyRadiansPerSecondSquared else { throw AttitudeError.angularAccelerationUnavailable }
+        return try BodyOrientation(referenceFrame: referenceFrame,epoch: epoch,rotation: bodyToReference.conj,
+            angularVelocity: -angularVelocityBodyRadiansPerSecond,angularAcceleration: -alpha)
+    }
+}
+public protocol AttitudeProvider {
+    var referenceFrame: Frame { get }
+    var bodyFrame: Frame { get }
+    func attitude(at epoch: Epoch) throws -> AttitudeState
+}
+extension AttitudeProvider {
+    public func checkedAttitude(at epoch: Epoch) throws -> AttitudeState {
+        let state = try attitude(at: epoch)
+        guard state.epoch == epoch else { throw AttitudeError.epochMismatch }
+        guard state.referenceFrame === referenceFrame, state.bodyFrame === bodyFrame else { throw AttitudeError.frameMismatch }
+        return state
+    }
+}
+public struct AttitudeOrientationProvider: OrientationProvider {
+    public let attitudeProvider: any AttitudeProvider
+    public var referenceFrame: Frame { attitudeProvider.referenceFrame }
+    public init(_ provider: any AttitudeProvider) { attitudeProvider = provider }
+    public func orientation(at epoch: Epoch) throws -> BodyOrientation { try attitudeProvider.checkedAttitude(at: epoch).orientation() }
+}
+/// Adapts existing planetary/local-orbital orientation providers without changing
+/// their reference-to-body coordinate-map convention.
+public struct OrientationAttitudeProvider: AttitudeProvider {
+    public let orientationProvider: any OrientationProvider
+    public let bodyFrame: Frame
+    public var referenceFrame: Frame { orientationProvider.referenceFrame }
+    public init(orientation: any OrientationProvider, bodyFrame: Frame) { orientationProvider = orientation; self.bodyFrame = bodyFrame }
+    public func attitude(at epoch: Epoch) throws -> AttitudeState {
+        let orientation = try orientationProvider.orientation(at: epoch)
+        guard orientation.epoch == epoch else { throw AttitudeError.epochMismatch }
+        guard orientation.referenceFrame === referenceFrame else { throw AttitudeError.frameMismatch }
+        return try AttitudeState(epoch: epoch,referenceFrame: referenceFrame,bodyFrame: bodyFrame,bodyToReference: orientation.rotation.conj,
+            angularVelocityBodyRadiansPerSecond: -orientation.angularVelocity,
+            angularAccelerationBodyRadiansPerSecondSquared: -orientation.angularAcceleration)
+    }
+}
+public struct InertialHoldAttitudeProvider: AttitudeProvider {
+    public let referenceFrame: Frame
+    public let bodyFrame: Frame
+    public let bodyToReference: Quaternion
+    public init(referenceFrame: Frame, bodyFrame: Frame, bodyToReference: Quaternion = .identity) throws {
+        let seed = try AttitudeState(epoch: .j2000,referenceFrame: referenceFrame,bodyFrame: bodyFrame,bodyToReference: bodyToReference)
+        self.referenceFrame = referenceFrame; self.bodyFrame = bodyFrame; self.bodyToReference = seed.bodyToReference
+    }
+    public func attitude(at epoch: Epoch) throws -> AttitudeState {
+        try AttitudeState(epoch: epoch,referenceFrame: referenceFrame,bodyFrame: bodyFrame,bodyToReference: bodyToReference,
+            angularAccelerationBodyRadiansPerSecondSquared: .zero)
+    }
+}
+/// Prescribed constant physical spin in body axes; no torque model is inferred.
+public struct UniformSpinAttitudeProvider: AttitudeProvider {
+    public let initialState: AttitudeState
+    public var referenceFrame: Frame { initialState.referenceFrame }
+    public var bodyFrame: Frame { initialState.bodyFrame }
+    public init(initialState: AttitudeState) { self.initialState = initialState }
+    public func attitude(at epoch: Epoch) throws -> AttitudeState {
+        let omega = initialState.angularVelocityBodyRadiansPerSecond, speed = routeNorm(omega)
+        let angle = speed * (try epoch.duration(since: initialState.epoch).seconds)
+        guard angle.isFinite else { throw AttitudeError.numericalRangeExceeded }
+        let rotation = speed == 0 ? Quaternion.identity : Quaternion(angle: angle.truncatingRemainder(dividingBy: 2 * .pi),axis: omega)
+        return try AttitudeState(epoch: epoch,referenceFrame: referenceFrame,bodyFrame: bodyFrame,
+            bodyToReference: initialState.bodyToReference*rotation,angularVelocityBodyRadiansPerSecond: omega,
+            angularAccelerationBodyRadiansPerSecondSquared: .zero)
+    }
+}
+public enum AttitudeTrackingDirection { case target, velocity, nadir }
+/// Body X follows the selected direction, Z follows the projected explicit roll
+/// reference, Y = Z × X. Zero direction or parallel roll axes fail explicitly.
+/// Five-point angular derivatives require provider coverage at epoch ±2*step.
+public struct TrackingAttitudeProvider: AttitudeProvider {
+    public let referenceFrame: Frame
+    public let bodyFrame: Frame
+    public let derivativeStep: Duration
+    public let direction: AttitudeTrackingDirection
+    public let rollReference: SIMD3<Double>
+    private let spacecraft: any StateProvider
+    private let target: (any StateProvider)?
+    public init(spacecraft: any StateProvider, bodyFrame: Frame, direction: AttitudeTrackingDirection,
+        target: (any StateProvider)? = nil, rollReference: SIMD3<Double>, derivativeStep: Duration) throws {
+        guard spacecraft.frame.pseudoInertial else { throw AttitudeError.nonInertialReference }
+        guard target == nil || target!.frame === spacecraft.frame, bodyFrame !== spacecraft.frame else { throw AttitudeError.frameMismatch }
+        guard derivativeStep.seconds.isFinite, derivativeStep > .zero,
+              (derivativeStep.seconds*derivativeStep.seconds).isFinite, derivativeStep.seconds*derivativeStep.seconds > 0 else { throw AttitudeError.invalidConfiguration }
+        if case .target = direction, target == nil { throw AttitudeError.invalidConfiguration }
+        referenceFrame = spacecraft.frame; self.bodyFrame = bodyFrame; self.direction = direction
+        self.spacecraft = spacecraft; self.target = target; self.derivativeStep = derivativeStep
+        self.rollReference = try attitudeUnit(rollReference)
+    }
+    private func matrix(at epoch: Epoch) throws -> [Double] {
+        func checked(_ provider: any StateProvider) throws -> CartesianState {
+            let state = try provider.state(at: epoch)
+            guard state.epoch == epoch else { throw AttitudeError.epochMismatch }
+            guard state.frame === referenceFrame else { throw AttitudeError.frameMismatch }
+            return state
+        }
+        let state = try checked(spacecraft), centre = try target.map(checked)
+        let look: SIMD3<Double>
+        switch direction {
+        case .target, .nadir: look = (centre?.position ?? .zero)-state.position
+        case .velocity: look = state.velocity-(centre?.velocity ?? .zero)
+        }
+        let x = try attitudeUnit(look), projected = rollReference-x*(rollReference*x).sum()
+        guard routeNorm(projected) > 1e-12 else { throw AttitudeError.undefinedRoll }
+        let z = try attitudeUnit(projected), y = attitudeCross(z,x)
+        return [x.x,x.y,x.z,y.x,y.y,y.z,z.x,z.y,z.z]
+    }
+    public func attitude(at epoch: Epoch) throws -> AttitudeState {
+        let h = derivativeStep.seconds, r = try matrix(at: epoch)
+        let samples = try [-2.0,-1,1,2].map { try matrix(at: epoch.advanced(by: Duration(seconds: $0*h))) }
+        let d = (0..<9).map { (samples[0][$0]-8*samples[1][$0]+8*samples[2][$0]-samples[3][$0])/(12*h) }
+        let dd = (0..<9).map { (-samples[3][$0]+16*samples[2][$0]-30*r[$0]+16*samples[1][$0]-samples[0][$0])/(12*h*h) }
+        func axial(_ derivative: [Double]) -> SIMD3<Double> {
+            func entry(_ i: Int, _ j: Int) -> Double { (0..<3).reduce(0) { $0+derivative[3*i+$1]*r[3*j+$1] } }
+            return SIMD3((entry(2,1)-entry(1,2))/2,(entry(0,2)-entry(2,0))/2,(entry(1,0)-entry(0,1))/2)
+        }
+        return try AttitudeState(epoch: epoch,referenceFrame: referenceFrame,bodyFrame: bodyFrame,
+            bodyToReference: Matrix3x3(elements: r).quaternion.conj,
+            angularVelocityBodyRadiansPerSecond: -axial(d),angularAccelerationBodyRadiansPerSecondSquared: -axial(dd))
+    }
+}
+extension FrameTree {
+    /// Registers the provider's exact body-frame identity with its inertial parent.
+    /// As with other frame providers, do not capture the owning tree strongly.
+    public func registerSpacecraftFrame(spacecraft: any StateProvider, attitude: any AttitudeProvider,
+        accelerationPolicy: OriginAccelerationPolicy = .requireProvided) throws {
+        guard attitude.bodyFrame.parent === attitude.referenceFrame, spacecraft.frame === attitude.referenceFrame else { throw AttitudeError.frameMismatch }
+        try registerFrame(attitude.bodyFrame,provider: BodyFixedTransformProvider(centre: spacecraft,
+            orientation: AttitudeOrientationProvider(attitude),accelerationPolicy: accelerationPolicy))
+    }
+}
diff --git a/Sources/CelMek/BiEllipticTransfer.swift b/Sources/CelMek/BiEllipticTransfer.swift
new file mode 100644
index 0000000..91465fe
--- /dev/null
+++ b/Sources/CelMek/BiEllipticTransfer.swift
@@ -0,0 +1,125 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+public enum BiEllipticTransferError: Error, Equatable {
+    case invalidIntermediateRadius, numericalRangeExceeded, invalidComparison
+}
+
+/// Three-impulse transfer between circular orbits via a caller-selected apoapsis.
+/// An optional plane change is combined with the impulse at that apoapsis.
+public struct BiEllipticTransfer {
+    public let departureRadiusMetres, arrivalRadiusMetres, intermediateRadiusMetres: Double
+    public let gravitationalParameter: GravitationalParameter
+    public let firstSemiMajorAxisMetres, secondSemiMajorAxisMetres: Double
+    public let firstLegDuration, secondLegDuration, duration: Duration
+    public let departureDeltaVelocityMetresPerSecond, arrivalDeltaVelocityMetresPerSecond: Double
+    /// Signed coplanar speed difference; the combined middle impulse may be larger.
+    public let intermediateSpeedChangeMetresPerSecond: Double
+    public let intermediateImpulse: PlaneChangeImpulse
+    public let intermediateDeltaVelocityMetresPerSecond: Double
+    public let totalDeltaVelocityMetresPerSecond: Double
+    private let departureCircularSpeed, arrivalCircularSpeed: Double
+
+    public init(departureRadiusMetres: Double, arrivalRadiusMetres: Double, intermediateRadiusMetres: Double,
+                gravitationalParameter: GravitationalParameter, planeChangeRadians: Double = 0) throws {
+        guard intermediateRadiusMetres.isFinite, intermediateRadiusMetres > max(departureRadiusMetres, arrivalRadiusMetres) else {
+            throw BiEllipticTransferError.invalidIntermediateRadius
+        }
+        let first = try HohmannTransfer(departureRadiusMetres: departureRadiusMetres,
+            arrivalRadiusMetres: intermediateRadiusMetres, gravitationalParameter: gravitationalParameter)
+        let second = try HohmannTransfer(departureRadiusMetres: intermediateRadiusMetres,
+            arrivalRadiusMetres: arrivalRadiusMetres, gravitationalParameter: gravitationalParameter)
+        let x = departureRadiusMetres/intermediateRadiusMetres, y = arrivalRadiusMetres/intermediateRadiusMetres
+        let apoCircular = first.arrivalCircularSpeedMetresPerSecond
+        let before = apoCircular*sqrt(2*x/(1+x)), after = apoCircular*sqrt(2*y/(1+y))
+        let speedChange = apoCircular*(2*((arrivalRadiusMetres-departureRadiusMetres)/intermediateRadiusMetres) /
+            ((1+x)*(1+y)))/(sqrt(2*x/(1+x))+sqrt(2*y/(1+y)))
+        let impulse = try PlaneChangeImpulse(beforeSpeedMetresPerSecond: before,
+            afterSpeedMetresPerSecond: after, angleRadians: planeChangeRadians)
+        // Keep the rationalized coplanar difference for nearly equal endpoint radii.
+        let middleCost = planeChangeRadians == 0 ? abs(speedChange) : impulse.deltaVelocityMetresPerSecond
+        let total = abs(first.departureDeltaVelocityMetresPerSecond)+middleCost+abs(second.arrivalDeltaVelocityMetresPerSecond)
+        guard [before, after, speedChange, total].allSatisfy(\.isFinite), before > 0, after > 0 else {
+            throw BiEllipticTransferError.numericalRangeExceeded
+        }
+        self.departureRadiusMetres = departureRadiusMetres; self.arrivalRadiusMetres = arrivalRadiusMetres
+        self.intermediateRadiusMetres = intermediateRadiusMetres; self.gravitationalParameter = gravitationalParameter
+        firstSemiMajorAxisMetres = first.semiMajorAxisMetres; secondSemiMajorAxisMetres = second.semiMajorAxisMetres
+        firstLegDuration = first.duration; secondLegDuration = second.duration
+        duration = try first.duration.adding(second.duration)
+        departureDeltaVelocityMetresPerSecond = first.departureDeltaVelocityMetresPerSecond
+        arrivalDeltaVelocityMetresPerSecond = second.arrivalDeltaVelocityMetresPerSecond
+        intermediateSpeedChangeMetresPerSecond = speedChange; intermediateImpulse = impulse
+        totalDeltaVelocityMetresPerSecond = total; intermediateDeltaVelocityMetresPerSecond = middleCost
+        departureCircularSpeed = first.departureCircularSpeedMetresPerSecond
+        arrivalCircularSpeed = second.arrivalCircularSpeedMetresPerSecond
+    }
+
+    public func plan(departureEpoch: Epoch, frame: Frame, centralBody: BodyIdentifier,
+        radialDirection: SIMD3<Double>, progradeDirection: SIMD3<Double>, planeChangeSense: PlaneChangeSense = .positive,
+        propagationOptions: TwoBodyPropagationOptions = try! TwoBodyPropagationOptions()) throws -> BiEllipticTransferPlan {
+        guard frame.pseudoInertial else { throw PropagationError.nonInertialFrame }
+        let radial = try biUnit(radialDirection), supplied = try biUnit(progradeDirection)
+        let dot = (radial*supplied).sum()
+        guard abs(dot) <= 1e-12 else { throw HohmannTransferError.invalidDirections }
+        let tangent = try biUnit(supplied-radial*dot)
+        let intermediateEpoch = try departureEpoch.advanced(by: firstLegDuration)
+        let arrivalEpoch = try intermediateEpoch.advanced(by: secondLegDuration)
+        guard intermediateEpoch > departureEpoch, arrivalEpoch > intermediateEpoch else {
+            throw BiEllipticTransferError.numericalRangeExceeded
+        }
+        let initial = try CartesianState(epoch: departureEpoch, frame: frame,
+            position: radial*departureRadiusMetres, velocity: tangent*departureCircularSpeed)
+        let base = try TwoBodyPropagator(initialState: initial, centralBody: centralBody,
+            gravitationalParameter: gravitationalParameter, options: propagationOptions)
+        let departure = try ImpulsiveManeuver(epoch: departureEpoch, frame: frame,
+            deltaVelocityMetresPerSecond: tangent*departureDeltaVelocityMetresPerSecond)
+        let middle: ImpulsiveManeuver
+        if intermediateImpulse.angleRadians == 0 {
+            middle = try ImpulsiveManeuver(epoch: intermediateEpoch, frame: frame,
+                deltaVelocityMetresPerSecond: -tangent*intermediateSpeedChangeMetresPerSecond)
+        } else {
+            middle = try intermediateImpulse.maneuver(epoch: intermediateEpoch, frame: frame,
+                radialDirection: -radial, progradeDirection: -tangent, sense: planeChangeSense)
+        }
+        let finalTangent = Quaternion(angle: planeChangeSense == .positive ?
+            intermediateImpulse.angleRadians : -intermediateImpulse.angleRadians, axis: -radial).matrix*tangent
+        let arrival = try ImpulsiveManeuver(epoch: arrivalEpoch, frame: frame,
+            deltaVelocityMetresPerSecond: finalTangent*arrivalDeltaVelocityMetresPerSecond)
+        let trajectory = try ManeuveredTwoBodyPropagator(base: base, maneuvers: [departure,middle,arrival])
+        let expected = try CartesianState(epoch: arrivalEpoch, frame: frame,
+            position: radial*arrivalRadiusMetres, velocity: finalTangent*arrivalCircularSpeed)
+        return BiEllipticTransferPlan(transfer: self, intermediateEpoch: intermediateEpoch, arrivalEpoch: arrivalEpoch,
+            departureBurn: departure, intermediateBurn: middle, arrivalBurn: arrival,
+            expectedArrivalState: expected, trajectory: trajectory)
+    }
+}
+public struct BiEllipticTransferPlan {
+    public let transfer: BiEllipticTransfer
+    public let intermediateEpoch, arrivalEpoch: Epoch
+    public let departureBurn, intermediateBurn, arrivalBurn: ImpulsiveManeuver
+    public let expectedArrivalState: CartesianState
+    public let trajectory: ManeuveredTwoBodyPropagator
+}
+private func biUnit(_ v: SIMD3<Double>) throws -> SIMD3<Double> {
+    let n = hypot(hypot(v.x,v.y),v.z)
+    guard n.isFinite, n > 0 else { throw HohmannTransferError.invalidDirections }
+    return v/n
+}
diff --git a/Sources/CelMek/Igrf.swift b/Sources/CelMek/BodiesInStraightLines.swift
similarity index 92%
rename from Sources/CelMek/Igrf.swift
rename to Sources/CelMek/BodiesInStraightLines.swift
index 06c3dd7..91776ae 100644
--- a/Sources/CelMek/Igrf.swift
+++ b/Sources/CelMek/BodiesInStraightLines.swift
@@ -1,7 +1,7 @@
 //
 // SPDX-License-Identifier: Apache-2.0
 //
-// Copyright 2020 Mattias Holm
+// Copyright 2023 Mattias Holm
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -16,5 +16,6 @@
 // limitations under the License.
 //
 
-
 import Foundation
+// Meeus, chapter 19
+
diff --git a/Sources/CelMek/BodyAtmosphere.swift b/Sources/CelMek/BodyAtmosphere.swift
new file mode 100644
index 0000000..b6d7298
--- /dev/null
+++ b/Sources/CelMek/BodyAtmosphere.swift
@@ -0,0 +1,65 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+import Atmospheres
+
+public extension BodyIdentifier {
+    /// Nominal built-in atmosphere for a body centre; nil means no supplied model.
+    var atmosphericModel: BodyAtmosphere? {
+        guard case .naif(let code) = self else { return nil }
+        return BodyAtmosphere.model(naifBodyCode: code)
+    }
+}
+
+/// Spherical altitude adapter for drag. Caller supplies the radius of the profile's
+/// datum and angular velocity in the state's inertial axes. Atmospheric co-rotation
+/// is included as Ω×r; no additional meteorological winds are inferred.
+/// Origin must be the body's centre; no implicit ephemeris or orientation transform.
+public struct SphericalBodyAtmosphere: AtmosphereProvider {
+    public let bodyIdentifier: BodyIdentifier
+    public let profile: any AtmosphericProfile
+    public let referenceRadiusMetres: Double
+    public let angularVelocityRadiansPerSecond: SIMD3<Double>
+    public let frame: Frame
+    public init(bodyIdentifier: BodyIdentifier, profile: any AtmosphericProfile,
+                referenceRadiusMetres: Double, frame: Frame,
+                angularVelocityRadiansPerSecond: SIMD3<Double> = .zero) throws {
+        try bodyIdentifier.validate()
+        guard referenceRadiusMetres.isFinite, referenceRadiusMetres > 0,
+              [angularVelocityRadiansPerSecond.x, angularVelocityRadiansPerSecond.y,
+               angularVelocityRadiansPerSecond.z].allSatisfy(\.isFinite) else {
+            throw EnvironmentalForceError.invalidParameter
+        }
+        if let identified = profile as? BodyAtmosphere,
+           bodyIdentifier != .naif(identified.body.rawValue) { throw BodyModelError.bodyMismatch }
+        guard frame.pseudoInertial else { throw SpacecraftDynamicsError.nonInertialFrame }
+        self.bodyIdentifier = bodyIdentifier; self.profile = profile; self.referenceRadiusMetres = referenceRadiusMetres
+        self.frame = frame; self.angularVelocityRadiansPerSecond = angularVelocityRadiansPerSecond
+    }
+    public func sample(for state: SpacecraftState, in context: ForceEvaluationContext) throws -> AtmosphereSample {
+        guard context.origin == bodyIdentifier else { throw EnvironmentalForceError.originMismatch }
+        guard state.frame === frame, context.frame === frame else { throw SpacecraftDynamicsError.frameMismatch }
+        let p = state.cartesian.position, w = angularVelocityRadiansPerSecond
+        let altitude = hypot(hypot(p.x,p.y),p.z)-referenceRadiusMetres
+        let properties = try profile.properties(at: altitude)
+        return try AtmosphereSample(epoch: state.epoch, frame: frame, origin: bodyIdentifier,
+            densityKilogramsPerCubicMetre: properties.densityKilogramsPerCubicMetre,
+            velocityMetresPerSecond: SIMD3(w.y*p.z-w.z*p.y, w.z*p.x-w.x*p.z, w.x*p.y-w.y*p.x))
+    }
+}
diff --git a/Sources/CelMek/BodyFixedFrame.swift b/Sources/CelMek/BodyFixedFrame.swift
new file mode 100644
index 0000000..bad1c91
--- /dev/null
+++ b/Sources/CelMek/BodyFixedFrame.swift
@@ -0,0 +1,145 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Math
+
+public enum BodyFixedFrameError: Error, Equatable {
+  case frameMismatch, accelerationUnavailable, invalidDifferenceStep
+}
+
+/// Orientation from reference coordinates into body-fixed axes, without an
+/// origin translation. Angular derivatives are expressed in body-fixed axes.
+public struct BodyOrientation {
+  public let referenceFrame: Frame
+  public let epoch: Epoch
+  public let rotation: Quaternion
+  public let angularVelocity: SIMD3<Double>
+  public let angularAcceleration: SIMD3<Double>
+
+  public init(referenceFrame: Frame, epoch: Epoch, rotation: Quaternion,
+              angularVelocity: SIMD3<Double> = .zero,
+              angularAcceleration: SIMD3<Double> = .zero) throws {
+    let validated = try FrameTransform(epoch: epoch, rotation: rotation,
+      angularVelocity: angularVelocity, angularAcceleration: angularAcceleration)
+    self.referenceFrame = referenceFrame
+    self.epoch = epoch
+    self.rotation = validated.rotation
+    self.angularVelocity = angularVelocity
+    self.angularAcceleration = angularAcceleration
+  }
+}
+
+public protocol OrientationProvider {
+  var referenceFrame: Frame { get }
+  func orientation(at epoch: Epoch) throws -> BodyOrientation
+}
+
+/// Prescribed fixed-axis spin; no planetary orientation model is implied.
+/// Axis, rate, and initial rotation follow UniformRotationProvider conventions.
+public struct FixedAxisOrientationProvider: OrientationProvider {
+  public let referenceFrame: Frame
+  private let spin: UniformRotationProvider
+  public init(referenceFrame: Frame, referenceEpoch: Epoch = .j2000,
+              axis: SIMD3<Double>, rate: Double, initialRotation: Quaternion = .identity) throws {
+    self.referenceFrame = referenceFrame
+    spin = try UniformRotationProvider(referenceEpoch: referenceEpoch, axis: axis,
+      rate: rate, initialRotation: initialRotation)
+  }
+  public func orientation(at epoch: Epoch) throws -> BodyOrientation {
+    let transform = try spin.transform(at: epoch)
+    return try BodyOrientation(referenceFrame: referenceFrame, epoch: epoch,
+      rotation: transform.rotation, angularVelocity: transform.angularVelocity,
+      angularAcceleration: transform.angularAcceleration)
+  }
+}
+
+/// Handling of missing acceleration at the body's centre. A supplied value
+/// always takes precedence; approximation is never selected implicitly.
+public enum OriginAccelerationPolicy {
+  case requireProvided
+  /// Explicitly treat origin acceleration as zero, suitable for prescribed
+  /// constant-velocity motion but approximate for orbiting bodies.
+  case assumeZero
+  /// Central difference of provider velocity over elapsed atomic seconds.
+  /// Both neighbouring samples must be available in the same frame.
+  case estimate(step: CelMek.Duration)
+}
+
+/// Parent-to-body-fixed mapping: p_body = R * (p_parent - centre).
+/// The centre and orientation must use the exact same reference frame identity.
+public struct BodyFixedTransformProvider: TransformProvider {
+  public let referenceFrame: Frame
+  private let centre: any StateProvider
+  private let orientationProvider: any OrientationProvider
+  private let accelerationPolicy: OriginAccelerationPolicy
+
+  public init(centre: any StateProvider, orientation: any OrientationProvider,
+              accelerationPolicy: OriginAccelerationPolicy = .requireProvided) throws {
+    guard centre.frame === orientation.referenceFrame else { throw BodyFixedFrameError.frameMismatch }
+    if case .estimate(let step) = accelerationPolicy {
+      guard step > .zero, step.seconds.isFinite else { throw BodyFixedFrameError.invalidDifferenceStep }
+    }
+    referenceFrame = centre.frame
+    self.centre = centre
+    orientationProvider = orientation
+    self.accelerationPolicy = accelerationPolicy
+  }
+
+  private func centreState(at epoch: Epoch) throws -> CartesianState {
+    let state = try centre.state(at: epoch)
+    guard state.epoch == epoch else { throw FrameTransformError.epochMismatch }
+    guard state.frame === referenceFrame else { throw BodyFixedFrameError.frameMismatch }
+    return state
+  }
+
+  public func transform(at epoch: Epoch) throws -> FrameTransform {
+    let state = try centreState(at: epoch)
+    let orientation = try orientationProvider.orientation(at: epoch)
+    guard orientation.epoch == epoch else { throw FrameTransformError.epochMismatch }
+    guard orientation.referenceFrame === referenceFrame else { throw BodyFixedFrameError.frameMismatch }
+    let acceleration: SIMD3<Double>
+    if let supplied = state.acceleration { acceleration = supplied }
+    else {
+      switch accelerationPolicy {
+      case .requireProvided: throw BodyFixedFrameError.accelerationUnavailable
+      case .assumeZero: acceleration = .zero
+      case .estimate(let step):
+        let before = try epoch.advanced(by: step.negated())
+        let after = try epoch.advanced(by: step)
+        let beforeState = try centreState(at: before)
+        let afterState = try centreState(at: after)
+        acceleration = (afterState.velocity - beforeState.velocity) / (2 * step.seconds)
+      }
+    }
+    let centring = try FrameTransform(epoch: epoch, translation: -state.position,
+      velocity: -state.velocity, acceleration: -acceleration)
+    let axes = try FrameTransform(epoch: epoch, rotation: orientation.rotation,
+      angularVelocity: orientation.angularVelocity, angularAcceleration: orientation.angularAcceleration)
+    return try centring.followed(by: axes)
+  }
+}
+
+extension FrameTree {
+  /// Adds a body-fixed child to the providers' common reference frame.
+  public func makeBodyFixedFrame(name: String, centre: any StateProvider,
+                                orientation: any OrientationProvider,
+                                accelerationPolicy: OriginAccelerationPolicy = .requireProvided) throws -> Frame {
+    let provider = try BodyFixedTransformProvider(centre: centre, orientation: orientation,
+      accelerationPolicy: accelerationPolicy)
+    return try makeFrame(parent: provider.referenceFrame, name: name, provider: provider)
+  }
+}
diff --git a/Sources/CelMek/BodyMagneticField.swift b/Sources/CelMek/BodyMagneticField.swift
new file mode 100644
index 0000000..32d30cf
--- /dev/null
+++ b/Sources/CelMek/BodyMagneticField.swift
@@ -0,0 +1,92 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Math
+import MagneticFields
+
+public extension BodyIdentifier {
+    /// Preset intrinsic field. Missing means no supplied model, never a zero total field.
+    var magneticModel: BodyMagneticField? {
+        guard case .naif(let code) = self else { return nil }
+        return BodyMagneticField.model(naifBodyCode: code)
+    }
+}
+
+public struct BodyMagneticSample {
+    public let epoch: Epoch
+    /// Body-fixed components in the provider's documented axes, in tesla.
+    public let vectorTesla: SIMD3<Double>
+    public init(epoch: Epoch, vectorTesla: SIMD3<Double>) throws {
+        let validated = try MagneticFluxDensity(vectorTesla: vectorTesla)
+        self.epoch = epoch; self.vectorTesla = validated.vectorTesla
+    }
+}
+
+/// Body identity and epoch contract independent of the concrete field evaluator.
+public protocol BodyMagneticProvider {
+    var bodyIdentifier: BodyIdentifier { get }
+    var metadata: MagneticFieldMetadata { get }
+    func magneticField(at epoch: Epoch, displacementMetres: SIMD3<Double>) throws -> BodyMagneticSample
+}
+
+/// Labels a pluggable field model. Calendar conversion is injected explicitly:
+/// future WMM/IGRF models require calendar decimal years, not Julian-year offsets.
+public struct ModelBodyMagneticField: BodyMagneticProvider {
+    public let bodyIdentifier: BodyIdentifier
+    public let model: any MagneticFieldModel
+    public var metadata: MagneticFieldMetadata { model.metadata }
+    private let decimalYear: (Epoch) throws -> Double
+    public init(bodyIdentifier: BodyIdentifier, model: any MagneticFieldModel,
+                decimalYear: @escaping (Epoch) throws -> Double) throws {
+        try bodyIdentifier.validate()
+        if let identified = model as? BodyMagneticField,
+           bodyIdentifier != .naif(identified.body.rawValue) { throw BodyModelError.bodyMismatch }
+        self.bodyIdentifier = bodyIdentifier; self.model = model; self.decimalYear = decimalYear
+    }
+    public func magneticField(at epoch: Epoch, displacementMetres: SIMD3<Double>) throws -> BodyMagneticSample {
+        let query = try MagneticFieldQuery(positionMetres: displacementMetres,decimalYear: decimalYear(epoch))
+        let field = try model.checkedField(at: query)
+        return try BodyMagneticSample(epoch: epoch, vectorTesla: field.vectorTesla)
+    }
+}
+
+/// Rotates body-centred positions into model axes and B back to reference axes.
+/// Caller must ensure the orientation axes agree with the magnetic model metadata.
+/// Magnetic fields transform as vectors; no angular-velocity or origin-velocity terms.
+public struct OrientedBodyMagneticField: MagneticFieldProvider {
+    public let provider: any BodyMagneticProvider
+    public let orientation: any BodyOrientationProvider
+    public init(provider: any BodyMagneticProvider, orientation: any BodyOrientationProvider) throws {
+        guard provider.bodyIdentifier == orientation.bodyIdentifier else { throw BodyModelError.bodyMismatch }
+        self.provider = provider; self.orientation = orientation
+    }
+    /// Spacecraft state positions must be relative to this provider's body centre.
+    public func field(at state: SpacecraftState) throws -> MagneticFieldSample {
+        try magneticField(at: state.epoch,displacementMetres: state.cartesian.position,in: state.frame)
+    }
+    public func magneticField(at epoch: Epoch, displacementMetres: SIMD3<Double>,
+                              in frame: Frame) throws -> MagneticFieldSample {
+        guard frame === orientation.referenceFrame else { throw BodyFixedFrameError.frameMismatch }
+        let axes = try orientation.orientation(at: epoch)
+        guard axes.epoch == epoch else { throw FrameTransformError.epochMismatch }
+        guard axes.referenceFrame === frame else { throw BodyFixedFrameError.frameMismatch }
+        let field = try provider.magneticField(at: epoch,displacementMetres: axes.rotation.matrix*displacementMetres)
+        guard field.epoch == epoch else { throw FrameTransformError.epochMismatch }
+        let validated = try MagneticFluxDensity(vectorTesla: axes.rotation.conj.matrix*field.vectorTesla)
+        return try MagneticFieldSample(epoch: epoch,frame: frame,origin: provider.bodyIdentifier,fieldTeslas: validated.vectorTesla)
+    }
+}
diff --git a/Sources/CelMek/BodyModels.swift b/Sources/CelMek/BodyModels.swift
new file mode 100644
index 0000000..9def194
--- /dev/null
+++ b/Sources/CelMek/BodyModels.swift
@@ -0,0 +1,174 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+public enum BodyModelError: Error, Equatable {
+  case bodyMismatch, invalidDirection, invalidPosition, singularGravity, nonFiniteResult
+}
+
+/// Orientation with an explicit body identity, independent of geometric and gravity models.
+public protocol BodyOrientationProvider: OrientationProvider {
+  var bodyIdentifier: BodyIdentifier { get }
+  var provenance: PhysicalDataProvenance { get }
+}
+
+/// Labels an existing attitude provider without changing its frames or rotations.
+public struct IdentifiedBodyOrientationProvider: BodyOrientationProvider {
+  public let bodyIdentifier: BodyIdentifier
+  public let provenance: PhysicalDataProvenance
+  public var referenceFrame: Frame { provider.referenceFrame }
+  private let provider: any OrientationProvider
+  public init(bodyIdentifier: BodyIdentifier, provider: any OrientationProvider,
+              provenance: PhysicalDataProvenance) throws {
+    try bodyIdentifier.validate()
+    self.bodyIdentifier = bodyIdentifier; self.provider = provider; self.provenance = provenance
+  }
+  public func orientation(at epoch: Epoch) throws -> BodyOrientation {
+    let result = try provider.orientation(at: epoch)
+    guard result.epoch == epoch else { throw FrameTransformError.epochMismatch }
+    guard result.referenceFrame === referenceFrame else { throw BodyFixedFrameError.frameMismatch }
+    return result
+  }
+}
+
+/// Surface point and outward unit normal in the shape's stated body-fixed axes.
+public struct BodySurfacePoint: Sendable {
+  public let positionMetres: SIMD3<Double>
+  public let outwardNormal: SIMD3<Double>
+  public init(positionMetres: SIMD3<Double>, outwardNormal: SIMD3<Double>) throws {
+    guard [positionMetres.x,positionMetres.y,positionMetres.z].allSatisfy(\.isFinite) else {
+      throw BodyModelError.nonFiniteResult
+    }
+    self.positionMetres = positionMetres
+    self.outwardNormal = try bodyModelUnit(outwardNormal)
+  }
+}
+
+/// Geometry relative to the body's centre. This initial query describes a surface
+/// reachable along a radial direction; it does not promise arbitrary mesh intersections.
+public protocol BodyShapeProvider {
+  var bodyIdentifier: BodyIdentifier { get }
+  var axesDescription: String { get }
+  var provenance: PhysicalDataProvenance { get }
+  func surface(inDirection direction: SIMD3<Double>) throws -> BodySurfacePoint
+}
+
+/// Positive reference ellipsoid, including a sphere when all three radii match.
+/// Radii and axes come from supplied shape data, independently of body metadata.
+public struct EllipsoidBodyShape: BodyShapeProvider {
+  public let bodyIdentifier: BodyIdentifier
+  public let referenceRadii: BodyReferenceRadii
+  public var axesDescription: String { referenceRadii.axesDescription }
+  public var provenance: PhysicalDataProvenance { referenceRadii.provenance }
+  public init(bodyIdentifier: BodyIdentifier, referenceRadii: BodyReferenceRadii) throws {
+    try bodyIdentifier.validate()
+    self.bodyIdentifier = bodyIdentifier; self.referenceRadii = referenceRadii
+  }
+  public func surface(inDirection direction: SIMD3<Double>) throws -> BodySurfacePoint {
+    let u = try bodyModelUnit(direction), radii = referenceRadii.metres
+    // Scale by the smallest radius, so intermediate ratios cannot overflow.
+    let scale = min(radii.x,radii.y,radii.z), inverse = SIMD3(scale/radii.x,scale/radii.y,scale/radii.z)
+    let weighted = u*inverse
+    let denominator = sqrt((weighted*weighted).sum())
+    guard denominator > 0 else { throw BodyModelError.nonFiniteResult }
+    let point = u*(scale/denominator)
+    // Gradient of sum((x_i/a_i)^2): direction is proportional to u_i/a_i^2.
+    return try BodySurfacePoint(positionMetres: point,outwardNormal: u*inverse*inverse)
+  }
+}
+
+/// Local gravity field. Units use the model's explicit coordinate-time convention;
+/// conversion to atomic-time dynamics is a responsibility of the consuming dynamics model.
+public struct BodyGravitySample: Sendable {
+  public let epoch: Epoch
+  public let acceleration: SIMD3<Double>
+  /// Gravitational potential in m²/s² with zero at infinity for point-mass gravity.
+  public let potential: Double
+  public let convention: GravitationalParameterConvention
+  public init(epoch: Epoch, acceleration: SIMD3<Double>, potential: Double,
+              convention: GravitationalParameterConvention) throws {
+    guard [acceleration.x,acceleration.y,acceleration.z,potential].allSatisfy(\.isFinite) else {
+      throw BodyModelError.nonFiniteResult
+    }
+    self.epoch = epoch; self.acceleration = acceleration; self.potential = potential; self.convention = convention
+  }
+}
+
+/// Field evaluated at a body-centred displacement in the model's described axes.
+/// Providers neither fetch ephemerides nor transform world coordinates implicitly.
+public protocol BodyGravityProvider {
+  var bodyIdentifier: BodyIdentifier { get }
+  var axesDescription: String { get }
+  var provenance: PhysicalDataProvenance { get }
+  var convention: GravitationalParameterConvention { get }
+  func gravity(at epoch: Epoch, displacementMetres: SIMD3<Double>) throws -> BodyGravitySample
+}
+
+/// Prescribed Newtonian point-mass field: acceleration = −μ r/|r|³, potential = −μ/|r|.
+/// No surface, collision, nonspherical field or relativistic correction is implied.
+public struct PointMassBodyGravity: BodyGravityProvider {
+  public let bodyIdentifier: BodyIdentifier
+  public let parameter: GravitationalParameter
+  public let axesDescription = "Any orthonormal body-centred Cartesian axes (spherically symmetric field)"
+  public var provenance: PhysicalDataProvenance { parameter.provenance }
+  public var convention: GravitationalParameterConvention { parameter.convention }
+  public init(bodyIdentifier: BodyIdentifier, parameter: GravitationalParameter) throws {
+    try bodyIdentifier.validate()
+    self.bodyIdentifier = bodyIdentifier; self.parameter = parameter
+  }
+  public func gravity(at epoch: Epoch, displacementMetres r: SIMD3<Double>) throws -> BodyGravitySample {
+    guard [r.x,r.y,r.z].allSatisfy(\.isFinite) else { throw BodyModelError.invalidPosition }
+    let scale = max(abs(r.x),abs(r.y),abs(r.z))
+    guard scale > 0 else { throw BodyModelError.singularGravity }
+    let scaled = r/scale, length = sqrt((scaled*scaled).sum())
+    let inverseRadius = (1/scale)/length
+    let potential = -parameter.cubicMetresPerSecondSquared*inverseRadius
+    let magnitude = potential*inverseRadius
+    return try BodyGravitySample(epoch: epoch,acceleration: (scaled/length)*magnitude,
+      potential: potential,convention: convention)
+  }
+}
+
+/// Optional independent models selected for one body, including magnetic fields. Missing models stay absent;
+/// GM/radii in metadata never silently create gravity or shape providers.
+/// Identity validation does not certify consistency of model versions or axis descriptions.
+public struct CelestialBodyModels {
+  public let body: CelestialBody
+  public let ephemeris: (any EphemerisProvider)?
+  public let orientation: (any BodyOrientationProvider)?
+  public let shape: (any BodyShapeProvider)?
+  public let gravity: (any BodyGravityProvider)?
+  public let magneticField: (any BodyMagneticProvider)?
+  public init(body: CelestialBody, ephemeris: (any EphemerisProvider)? = nil,
+              orientation: (any BodyOrientationProvider)? = nil,
+              shape: (any BodyShapeProvider)? = nil, gravity: (any BodyGravityProvider)? = nil,
+              magneticField: (any BodyMagneticProvider)? = nil) throws {
+    let ids = [ephemeris?.metadata.body,orientation?.bodyIdentifier,shape?.bodyIdentifier,gravity?.bodyIdentifier,magneticField?.bodyIdentifier]
+    guard ids.compactMap({ $0 }).allSatisfy({ $0 == body.identifier }) else { throw BodyModelError.bodyMismatch }
+    self.body = body; self.ephemeris = ephemeris; self.orientation = orientation; self.shape = shape; self.gravity = gravity
+    self.magneticField = magneticField
+  }
+}
+
+private func bodyModelUnit(_ vector: SIMD3<Double>) throws -> SIMD3<Double> {
+  let scale = max(abs(vector.x),abs(vector.y),abs(vector.z))
+  guard [vector.x,vector.y,vector.z].allSatisfy(\.isFinite), scale > 0 else { throw BodyModelError.invalidDirection }
+  let scaled = vector/scale
+  return scaled/sqrt((scaled*scaled).sum())
+}
diff --git a/Sources/CelMek/CalendarDateTime.swift b/Sources/CelMek/CalendarDateTime.swift
new file mode 100644
index 0000000..d9e5af3
--- /dev/null
+++ b/Sources/CelMek/CalendarDateTime.swift
@@ -0,0 +1,127 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+public enum CalendarConversionError: Error, Equatable, Sendable {
+  case invalidDate, invalidClock, outsideCalendarRange, leapSecondTableRequired
+}
+
+/// Proleptic Gregorian day with astronomical year numbering (year 0 = 1 BCE).
+/// Supported years: −1,000,000...1,000,000. No historical Julian/Gregorian cutover.
+public struct GregorianDay: Hashable, Sendable {
+  public let year: Int
+  public let month: Int
+  public let day: Int
+  public init(year: Int, month: Int, day: Int) throws {
+    guard (-1_000_000...1_000_000).contains(year) else { throw CalendarConversionError.outsideCalendarRange }
+    guard (1...12).contains(month) else { throw CalendarConversionError.invalidDate }
+    let leap = year % 4 == 0 && (year % 100 != 0 || year % 400 == 0)
+    let lengths = [31,leap ? 29 : 28,31,30,31,30,31,31,30,31,30,31]
+    guard (1...lengths[month-1]).contains(day) else { throw CalendarConversionError.invalidDate }
+    self.year = year; self.month = month; self.day = day
+  }
+  /// Integer MJD at midnight, independent of the time scale of a clock reading.
+  public var modifiedJulianDay: Int64 {
+    // March-based 400-year era decomposition described by Howard Hinnant:
+    // https://howardhinnant.github.io/date_algorithms.html
+    let y = Int64(year) - (month <= 2 ? 1 : 0)
+    let era = (y >= 0 ? y : y-399)/400
+    let within = y-era*400
+    let doy = (153*Int64(month > 2 ? month-3 : month+9)+2)/5+Int64(day)-1
+    return era*146097 + within*365 + within/4 - within/100 + doy - 719468 + 40587
+  }
+  public init(modifiedJulianDay: Int64) throws {
+    let first = try GregorianDay(year: -1_000_000,month: 1,day: 1).modifiedJulianDay
+    let last = try GregorianDay(year: 1_000_000,month: 12,day: 31).modifiedJulianDay
+    guard (first...last).contains(modifiedJulianDay) else { throw CalendarConversionError.outsideCalendarRange }
+    let z = modifiedJulianDay-40587+719468
+    let era = (z >= 0 ? z : z-146096)/146097
+    let doe = z-era*146097
+    let yoe = (doe-doe/1460+doe/36524-doe/146096)/365
+    let doy = doe-(365*yoe+yoe/4-yoe/100)
+    let mp = (5*doy+2)/153
+    let d = doy-(153*mp+2)/5+1
+    let m = mp+(mp < 10 ? 3 : -9)
+    let y = yoe+era*400+(m <= 2 ? 1 : 0)
+    try self.init(year: Int(y),month: Int(m),day: Int(d))
+  }
+}
+
+/// Scale of a Gregorian clock reading. UTC requires a leap-second table;
+/// continuous Julian dates continue to use TimeScale (TAI/TT/TDB).
+public enum CalendarTimeScale: Hashable, Sendable { case tai, tt, tdb, utc }
+
+public struct CalendarDateTime: Hashable, Sendable {
+  public let date: GregorianDay
+  public let hour: Int
+  public let minute: Int
+  public let second: Duration
+  public let scale: CalendarTimeScale
+  public init(date: GregorianDay, hour: Int, minute: Int, second: Duration, scale: CalendarTimeScale) throws {
+    guard (0..<24).contains(hour), (0..<60).contains(minute), second >= .zero,
+          second.wholeSeconds < 61 else { throw CalendarConversionError.invalidClock }
+    if second.wholeSeconds == 60 {
+      guard scale == .utc, hour == 23, minute == 59 else { throw CalendarConversionError.invalidClock }
+    }
+    self.date = date; self.hour = hour; self.minute = minute; self.second = second; self.scale = scale
+  }
+  public func epoch(using table: LeapSecondTable? = nil, tdbModel: (any TDBTimeModel)? = nil) throws -> Epoch {
+    let seconds = try Duration(wholeSeconds: Int64(hour*3600+minute*60)).adding(second)
+    if scale == .utc {
+      guard let table else { throw CalendarConversionError.leapSecondTableRequired }
+      return try Epoch(utc: UTCDate(modifiedJulianDay: date.modifiedJulianDay, secondOfDay: seconds), using: table)
+    }
+    let continuous: TimeScale = scale == .tai ? .tai : (scale == .tt ? .tt : .tdb)
+    let jd = try JulianDateComponents(wholeDay: date.modifiedJulianDay+2400000,
+      fractionalDay: 0.5+seconds.seconds/86400,scale: continuous)
+    return try Epoch(julianDate: jd, using: tdbModel)
+  }
+}
+
+extension Epoch {
+  public init(calendar: CalendarDateTime, using table: LeapSecondTable? = nil, tdbModel: (any TDBTimeModel)? = nil) throws {
+    self = try calendar.epoch(using: table, tdbModel: tdbModel)
+  }
+  public func calendar(in scale: CalendarTimeScale, using table: LeapSecondTable? = nil, tdbModel: (any TDBTimeModel)? = nil) throws -> CalendarDateTime {
+    let mjd: Int64
+    let seconds: Duration
+    if scale == .utc {
+      guard let table else { throw CalendarConversionError.leapSecondTableRequired }
+      let date = try utc(using: table)
+      mjd = date.modifiedJulianDay; seconds = date.secondOfDay
+    } else {
+      let continuous: TimeScale = scale == .tai ? .tai : (scale == .tt ? .tt : .tdb)
+      let jd = try julianDate(in: continuous, using: tdbModel)
+      // JD turns at noon; Gregorian clock days turn at midnight.
+      let shifted = try JulianDateComponents(wholeDay: jd.wholeDay-2400001,
+        fractionalDay: jd.fractionalDay+0.5,scale: continuous)
+      mjd = shifted.wholeDay
+      let raw = try Duration(seconds: shifted.fractionalDay*86400)
+      // Avoid a rounded clock label of 24:00 for a date already chosen below midnight.
+      seconds = raw.wholeSeconds < 86400 ? raw : try Duration(wholeSeconds: 86399,fractionalSecond: Double(1).nextDown)
+    }
+    let day = try GregorianDay(modifiedJulianDay: mjd)
+    if seconds.wholeSeconds == 86400 {
+      return try CalendarDateTime(date: day,hour: 23,minute: 59,
+        second: Duration(wholeSeconds: 60,fractionalSecond: seconds.fractionalSecond),scale: scale)
+    }
+    return try CalendarDateTime(date: day,hour: Int(seconds.wholeSeconds/3600),
+      minute: Int(seconds.wholeSeconds%3600/60),
+      second: Duration(wholeSeconds: seconds.wholeSeconds%60,fractionalSecond: seconds.fractionalSecond),scale: scale)
+  }
+}
diff --git a/Sources/CelMek/CartesianState.swift b/Sources/CelMek/CartesianState.swift
new file mode 100644
index 0000000..7764bea
--- /dev/null
+++ b/Sources/CelMek/CartesianState.swift
@@ -0,0 +1,96 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Math
+
+/// Input conventions for normalizing Cartesian coordinates to SI units.
+public enum CartesianUnits: Sendable {
+  /// Position m, velocity m/s, acceleration m/s².
+  case metresAndSeconds
+  /// Position km, velocity km/s, acceleration km/s².
+  case kilometresAndSeconds
+  /// Position AU, velocity AU/day, acceleration AU/day².
+  case astronomicalUnitsAndDays
+
+  public static let metresPerAstronomicalUnit = 149_597_870_700.0
+  public static let secondsPerDay = 86_400.0
+
+  fileprivate var scales: (position: Double, velocity: Double, acceleration: Double) {
+    switch self {
+    case .metresAndSeconds: return (1, 1, 1)
+    case .kilometresAndSeconds: return (1000, 1000, 1000)
+    case .astronomicalUnitsAndDays:
+      let au = Self.metresPerAstronomicalUnit
+      let day = Self.secondsPerDay
+      return (au, au / day, au / (day * day))
+    }
+  }
+}
+
+public enum CartesianStateError: Error, Equatable, Sendable {
+  case nonFinitePosition
+  case nonFiniteVelocity
+  case nonFiniteAcceleration
+}
+
+/// Position and its time derivatives at an epoch, expressed in one reference frame.
+/// Stored units are always metres, metres/second, and metres/second².
+/// A nil acceleration means unavailable, not zero. Frame identity is object identity.
+public struct CartesianState: Equatable, Sendable {
+  public let epoch: Epoch
+  public let frame: Frame
+  public let position: SIMD3<Double>
+  public let velocity: SIMD3<Double>
+  public let acceleration: SIMD3<Double>?
+
+  /// Normalizes the supplied Cartesian input units and rejects nonfinite values,
+  /// including overflow during conversion. Spherical coordinates must first be
+  /// converted to Cartesian coordinates in the intended frame.
+  public init(epoch: Epoch, frame: Frame, position: SIMD3<Double>, velocity: SIMD3<Double>,
+              acceleration: SIMD3<Double>? = nil, units: CartesianUnits = .metresAndSeconds) throws {
+    let scales = units.scales
+    let position = position * scales.position
+    let velocity = velocity * scales.velocity
+    let acceleration = acceleration.map { $0 * scales.acceleration }
+    guard position.isFiniteVector else { throw CartesianStateError.nonFinitePosition }
+    guard velocity.isFiniteVector else { throw CartesianStateError.nonFiniteVelocity }
+    guard acceleration?.isFiniteVector != false else { throw CartesianStateError.nonFiniteAcceleration }
+    self.epoch = epoch
+    self.frame = frame
+    self.position = position
+    self.velocity = velocity
+    self.acceleration = acceleration
+  }
+
+  public static func == (lhs: CartesianState, rhs: CartesianState) -> Bool {
+    lhs.epoch == rhs.epoch && lhs.frame === rhs.frame && lhs.position == rhs.position
+      && lhs.velocity == rhs.velocity && lhs.acceleration == rhs.acceleration
+  }
+}
+
+/// A common query surface for prescribed ephemerides and future propagators.
+/// A result must carry the requested epoch and this provider's native frame.
+public protocol StateProvider {
+  var frame: Frame { get }
+  func state(at epoch: Epoch) throws -> CartesianState
+}
+
+/// Named astronomical frame identities that can be adopted as FrameTree roots.
+
+private extension SIMD3 where Scalar == Double {
+  var isFiniteVector: Bool { x.isFinite && y.isFinite && z.isFinite }
+}
diff --git a/Sources/CelMek/CelMek.docc/ACCURACY.md b/Sources/CelMek/CelMek.docc/ACCURACY.md
new file mode 100644
index 0000000..c761998
--- /dev/null
+++ b/Sources/CelMek/CelMek.docc/ACCURACY.md
@@ -0,0 +1,167 @@
+# Accuracy hints
+
+`AccuracyLevel` expresses the approximation an end user tolerates. It is a hint:
+a model may evaluate at higher accuracy than requested, including full evaluation.
+A lower hint does not require degraded results or promise a particular runtime.
+
+| Hint | Intent |
+| --- | --- |
+| `low` | Allow the model's largest supported approximation to reduce cost |
+| `balanced` | Permit a model-specific compromise between cost and approximation error |
+| `high` | Prefer smaller approximation error while allowing documented simplifications |
+| `full` | Evaluate the complete implemented model |
+
+Levels are not universal physical error bounds. Full evaluation can still mean a
+truncated theory, old coefficients, or approximate physics. Each algorithm must
+document its selection rule and limitations. Independent physical accuracy and
+runtime characterization remain separate from coefficient truncation bounds.
+
+`AccuracyAwareEphemerisProvider.accuracy` is the requested hint;
+`effectiveAccuracy` reports the evaluation mode used. `availableAccuracyLevels`
+lists the implemented evaluation modes, not the accepted hints. Every hint is
+accepted by the analytic adapters. Ephemeris metadata records both requested and
+effective levels; nil means unspecified. Composed providers leave those fields
+unspecified rather than inventing a single accuracy level for their inputs.
+
+## VSOP87 subsets
+
+`VSOP87Ephemeris` supports all four evaluation modes. It prepares its coefficient
+subset once during construction and reuses it for position and analytic velocity.
+The original coefficient tables remain intact. Full evaluation retains every term
+and remains the default.
+
+For a term A cos(B+Ct) tⁿ, selection bounds its individual positional contribution
+by |A| max(|t|)ⁿ over the caller's coverage. Here t is TDB Julian millennia from
+J2000. Coverage endpoints use the selected TDB model. The adapter adds a small
+margin to max(|t|), preserves the original order of retained terms, and retains
+terms at or above these cutoffs:
+
+| Hint | Individual contribution cutoff, AU |
+| --- | --- |
+| `low` | 1e-6 |
+| `balanced` | 1e-8 |
+| `high` | 1e-10 |
+| `full` | No terms removed |
+
+These are initial algorithm-specific settings, not certified position tolerances.
+They depend on coverage: larger intervals retain higher polynomial-order terms.
+`coefficientSelection` exposes original/retained term counts, the cutoff, and a
+conservative per-axis `positionErrorBoundMetres`. The bound sums omitted maximum
+amplitudes relative to the complete implemented series; cancellation generally
+makes observed error smaller. Ordinary floating evaluation error remains separate.
+It does not bound error against observations or a modern DE solution.
+
+If selection removes no terms, effective accuracy is full even for a lower hint.
+Velocity analytically differentiates exactly the selected terms and uses the same
+TDB-to-atomic rate conversion as full evaluation. The position bound is not a
+velocity error bound: small, fast oscillating terms can have larger derivatives.
+<doc:VSOP87_ACCURACY_CHARACTERIZATION> cover all nine bodies at
+4,567 epochs from 1950 to 2050 (eight-day spacing plus the endpoint), using the
+same Fairhead TDB model in every mode. These are sampled maxima relative to full
+VSOP87E and local release-build timings, not independent physical error bounds.
+
+| Mode | Worst sampled position difference, km | Worst sampled velocity difference, m/s | Query speedup across bodies |
+| --- | ---: | ---: | ---: |
+| low | 2.9e+03 (Saturn system) | 2.69 | 3.07–10.03× |
+| balanced | 55.8 (Mars system) | 0.114 | 1.29–6.88× |
+| high | 0.513 (Mercury) | 0.000905 | 1.03–2.86× |
+
+The complete report includes per-body RMS errors, retained counts, query timings,
+preparation costs and conservative coefficient bounds. Run the characterization
+executable to measure your actual workload and machine. The eight-day sampling
+can miss short-period extrema; velocity accuracy deserves its own assessment.
+
+```swift
+let tdb = try FairheadTDBModel()
+let model = try VSOP87Ephemeris(
+  body: earth, coverage: coverage, tdbModel: tdb, accuracy: .balanced)
+let effective = model.effectiveAccuracy
+let retained = model.coefficientSelection.retainedTermCount
+let positionBound = model.coefficientSelection.positionErrorBoundMetres
+```
+
+## Other models and independent settings
+
+The shorter Meeus lunar and Goffin Pluto adapters accept every hint and currently
+use full evaluation. Their requested hint remains visible while effective accuracy
+is full. No artificial reduction or unsupported-level error occurs.
+
+TDB conversion, frame differentiation, coefficient reduction, body orientation,
+force selection and integrator tolerances are independent sources of error.
+Accuracy hints do not change explicit TDB models, derivative intervals, coverage,
+or missing-body handling. Legacy low-level functions keep complete-series behavior.
+Selecting full lunar evaluation still evaluates the existing truncated Meeus series,
+not the full ELP theory.
+
+Tests verify that lower hints can return full results, full VSOP87 output remains
+unchanged, retained term counts increase with tighter hints, sampled position
+errors respect the coefficient bound, and selected analytic velocities match
+independently differenced positions. Reduced-versus-full checks measure truncation
+within one theory, not independent physical validation.
+
+## Numerical spacecraft integration
+
+`NumericalPropagationOptions.preset(for:)` maps shared hints to version 1
+Dormand–Prince 5(4) local-error settings:
+
+| Hint | Absolute position, m | Absolute velocity, m/s | Absolute propellant, kg | Relative tolerance |
+| --- | ---: | ---: | ---: | ---: |
+| `low` | 10 | 1e-2 | 1e-4 | 1e-5 |
+| `balanced` | 1e-1 | 1e-4 | 1e-6 | 1e-7 |
+| `high` | 1e-3 | 1e-6 | 1e-9 | 1e-9 |
+| `full` | 1e-5 | 1e-8 | 1e-11 | 1e-11 |
+
+Every preset uses initial/minimum/maximum steps of 10 / 1e-6 / 300 seconds,
+100,000 maximum attempts and 700,001 maximum derivative evaluations. These work
+controls remain explicit and do not vary with the hint. The existing default
+`NumericalPropagationOptions()` equals the `high` preset, preserving its behavior.
+
+```swift
+let provider = try NumericalSpacecraftPropagator(
+    initialState: seed, dynamics: dynamics, accuracy: .balanced)
+let requested = provider.accuracy
+let preset = provider.effectiveAccuracy
+let actualSettings = provider.options
+```
+
+`accuracy` reports requested intent; `effectiveAccuracy` reports the selected
+preset, not measured trajectory error. All levels evaluate every supplied force
+model with the same numerical method. `full` selects the tightest preset; it does
+not imply exact integration, new force models, complete physics or unlimited work.
+Low hints may obtain much better results than their tolerances, particularly for
+unforced or polynomial motion; there is no artificial degradation.
+
+For direct control, construct validated options and pass them through either
+initializer. Explicit options are authoritative even when a hint is present:
+
+```swift
+let settings = try NumericalPropagationOptions(
+    absolutePositionToleranceMetres: 1e-4,
+    absoluteVelocityToleranceMetresPerSecond: 1e-7,
+    relativeTolerance: 1e-11,
+    maximumStepSeconds: 60)
+let custom = try NumericalSpacecraftPropagator(
+    initialState: seed, dynamics: dynamics, accuracy: .low, options: settings)
+// custom.accuracy == .low; custom.options == settings.
+// custom.effectiveAccuracy == nil: explicit settings are not classified as a preset.
+```
+
+The direct-options initializer reports nil for both hint fields. Nil means
+unspecified, not full. To adjust a preset's work controls, obtain it with
+`preset(for:)` and copy its tolerance fields into the explicit options initializer
+with the desired step limits; the options are immutable.
+
+Presets are initial numerical policies, not universal physical or final-position
+bounds. Acceptance scales each component by absolute tolerance plus relative
+tolerance times its state magnitude. Coordinate origin, trip duration, model
+smoothness and supplied forces all matter. Tightening tolerances can increase
+cost or fail at work/step/precision limits; there is no automatic downgrade to a
+looser preset. See <doc:SPACECRAFT_DYNAMICS> for the error norm,
+propellant handling and numerical limits.
+
+Tests verify every preset's values tighten in order, unchanged defaults/work
+controls, requested/effective reporting and identical results for explicit
+settings regardless of a lower hint. An analytic exponential-velocity problem
+shows smaller error and greater evaluation cost for full versus low. This is a
+representative convergence check, not a benchmark or an error envelope covering
+all spacecraft scenarios; use propagation diagnostics for the actual workload.
diff --git a/Sources/CelMek/CelMek.docc/ATTITUDE_DYNAMICS.md b/Sources/CelMek/CelMek.docc/ATTITUDE_DYNAMICS.md
new file mode 100644
index 0000000..900f5b5
--- /dev/null
+++ b/Sources/CelMek/CelMek.docc/ATTITUDE_DYNAMICS.md
@@ -0,0 +1,158 @@
+# Attitude and rotational dynamics
+
+All rotations are right handed. Quantities use SI units and elapsed atomic
+seconds. Providers and propagators are immutable queries: a prediction restarts
+from its seed and does not consume fuel or advance hidden simulation time.
+
+## State and conventions
+
+`AttitudeState` contains an explicit epoch, inertial reference-frame identity,
+body-frame identity, a normalized Hamilton `bodyToReference` quaternion, physical
+angular velocity in body axes (rad/s), and optional physical angular acceleration
+in body axes (rad/s²). Body vectors transform as `reference = q.matrix * body`.
+Quaternions q and −q represent the same rotation. Input normalization handles
+large finite scales; a zero/non-finite quaternion is rejected.
+
+`AttitudeProvider.checkedAttitude` verifies exact frame identities and epoch.
+`AttitudeOrientationProvider` adapts the physical state to the frame system:
+its reference-to-body rotation is q conjugate, and its coordinate-map angular
+velocity and acceleration are the negatives of the physical body rates.
+The adapter requires angular acceleration, so missing derivatives never silently
+become zero. `OrientationAttitudeProvider` performs the reverse conversion and
+supports existing planetary and local-orbital orientation providers.
+
+`FrameTree.registerSpacecraftFrame` registers the provider's exact body-frame
+identity. Construct that frame with the inertial reference as its parent, then
+supply the spacecraft centre-state provider and attitude provider. The existing
+origin-acceleration policy still applies. As with other frame providers, a provider
+must not capture its owning tree strongly. Forces rotate as free vectors; centre
+translation and frame-rate terms are used for point-state transforms, not thrust.
+
+## Prescribed attitudes
+
+`InertialHoldAttitudeProvider` keeps a fixed body-to-reference orientation and
+supplies zero angular rates. `UniformSpinAttitudeProvider` prescribes constant
+physical spin in body axes with analytic quaternion evolution.
+
+`TrackingAttitudeProvider` supports target pointing, velocity tracking (relative
+to an optional moving target), and nadir pointing toward a supplied centre or the
+reference origin. Body X follows that direction; body Z follows the projected
+explicit roll-reference vector, and Y = Z × X. Coincident targets, zero velocity
+and parallel roll references fail instead of selecting arbitrary axes. Inputs
+must share a physical origin as well as exact reference axes.
+
+Five-point derivatives of the rotation matrix supply angular velocity and
+acceleration. Provider coverage at epoch ±2*derivativeStep is required. The step
+must resolve the motion; it is an explicit numerical setting, not an accuracy
+certificate. Existing `LocalOrbitalOrientationProvider` laws and mounting rotations
+can also be adapted through `OrientationAttitudeProvider`.
+
+Prescribed attitude is a kinematic command. It does not certify that available
+hardware can realize the angular rates or torques.
+
+## Inertia, torques and control
+
+`RigidBodyInertia` represents a constant centre-of-mass tensor in body axes
+(kg m²), including off-diagonal entries. Its parameters are tensor entries, not
+unsigned products of inertia. Scaled Cholesky validation requires positive
+definiteness; second-moment positive-semidefiniteness enforces the physical
+principal-moment triangle inequalities with a small floating-point allowance.
+Planar mass distributions are allowed; singular rotational inertia is rejected.
+The same factorization solves torque-to-angular-acceleration systems without
+forming an inverse. Angular momentum and kinetic energy are exposed for checks.
+
+`TorqueModel` evaluates a pure `TorqueContribution` about the centre of mass in
+body axes (N m). `RotationalEvaluationContext` carries the tensor, body identity,
+and inertial force context/physical origin. Torque output epochs and identities
+are checked. Translation is optional for standalone rotation and mandatory for
+models that need position or environmental fields.
+
+`RigidBodyDynamics` uses Euler's equation
+`I ωdot = τ − ω × (I ω)` and quaternion kinematics `qdot = 0.5 q * (ω, 0)`.
+The tensor remains constant, and internal wheel momentum is not inferred.
+`ConstantBodyTorque` is an explicit external torque input. `AttitudePDController`
+uses a shortest-rotation quaternion error and body-relative rate error, with a
+norm limit on commanded torque. The exact 180° tie is deterministic and invariant
+under quaternion sign. It is an ideal external torque controller; hardware
+allocation, sensor delays, wheel saturation/desaturation and power demand belong
+to additional models.
+
+`GravityGradientTorque` supplies the leading-order point-mass torque
+`3 μ/r³ * rHatBody × (I rHatBody)` using a checked moving centre. It assumes the
+spacecraft's extent is small relative to its distance from the source. It adds
+torque only; add a translational gravity model separately.
+
+`MagnetorquerTorque` evaluates a bounded commanded body dipole (A m²) against an
+explicit `MagneticFieldProvider` (tesla): `τBody = dipoleBody × fieldBody`.
+The sample's epoch, frame and physical origin are checked. A constant command also
+represents a residual dipole. `UniformMagneticField` is a simple prescribed field,
+not an inferred Earth magnetic model. Field gradients, hysteresis, electronics
+and electrical power are separate concerns.
+
+The equations follow [MIT rigid-body dynamics notes](https://ocw.mit.edu/courses/8-09-classical-mechanics-iii-fall-2014/6fe39e8d5ce4ce746ca256dfea665eda_MIT8_09F14_Chapter_2.pdf),
+[NASA gravity-gradient analysis](https://ntrs.nasa.gov/api/citations/19690028658/downloads/19690028658.pdf),
+and [NASA magnetic-torque specifications](https://ntrs.nasa.gov/api/citations/19690020961/downloads/19690020961.pdf).
+Implementations are native Swift and use no NASA implementation source.
+
+## Rotation and coupled propagation
+
+`RigidBodyAttitudePropagator` integrates rotation alone with an optional prescribed
+`SpacecraftStateProvider` for environmental torque inputs. It reports the attitude,
+angular acceleration, energy, reference-frame angular momentum and numerical work.
+`AttitudePropagationOptions` supplies angle/rate tolerances, step bounds, sampled
+rotation-per-step limits and work budgets. Accuracy presets change local tolerances;
+explicit settings remain authoritative.
+
+The native Dormand–Prince 5(4) method compares embedded physical quaternion angles
+with q/−q equivalence, angular velocities and quaternion norm drift. Stage vector
+transforms use a unit quaternion while quaternion derivatives retain the raw RK
+state. Accepted states normalize the quaternion without a sign reset. A sampled
+angular-speed step limiter avoids advancing too far through rapid rotation. These
+are local numerical controls, not a guarantee of global physical accuracy.
+
+`CoupledSpacecraftState` combines translation, mass and attitude at the same epoch
+and reference frame. `SpacecraftWrenchModel` returns force in reference axes, torque
+in body axes and reservoir mass rate from one physical model. `BodyMountedThruster`
+rotates the spacecraft force direction with the actual attitude, contributes
+`leverArmBody × forceBody`, and consumes propellant using an explicit effective
+exhaust velocity. The direction is force on the spacecraft, not exhaust direction.
+
+`CoupledSpacecraftDynamics` composes translational forces, torque models and
+wrenches. `CoupledSpacecraftPropagator` evolves position, velocity, propellant,
+quaternion and angular velocity at the same RK stages. This lets an off-centre
+engine rotate its own inertial thrust direction during a burn. Separate attitude
+and translation provider views support frames, sampling and event queries.
+
+For prescribed attitude, `BodyMountedThruster.forceModel(attitude:)` integrates
+translation and fuel through the existing force API, including its dry-boundary
+interface. The adapter does not integrate lever-arm torque. Use the coupled wrench
+for that; do not add both representations of the same engine to coupled dynamics.
+
+The current rigid-body approximation holds inertia and centre of mass fixed even
+when the propellant reservoir changes. Changing mass geometry, internal reaction
+wheels, moving appendages and outflow angular-momentum models are not silently
+inferred. Propagation expects continuous models; split and reseed with the carried
+state at command discontinuities. Coupled fuel exhaustion fails explicitly; no
+automatic engine cutoff or torque schedule is inferred. Forward/backward immutable
+replay supports predictions and consistency checks, not physical fuel recovery.
+
+## Demonstration and validation
+
+Run the off-centre Earth-orbit engine example:
+
+```sh
+swift run --disable-sandbox AttitudeDynamicsDemo
+```
+
+It prints SI position, inertial force direction, physical body rate, quaternion and
+mass samples. The initial body +X engine force points along inertial +Y; its lever
+arm drives negative body-Z rotation and changes the force direction. Its coupled
+provider views also register a fully kinematic spacecraft frame.
+
+Swift Testing checks quaternion signs and frame derivatives, target/nadir/velocity
+tracking, full and scaled inertia solves, invalid tensors, an analytic torque-free
+symmetric top, asymmetric-body energy and inertial momentum conservation, constant
+principal-axis torque, bounded control, magnetic/gravity-gradient signs, prescribed
+and coupled thrust, independent Simpson integrals of the off-centre engine's
+translation, tighter-tolerance convergence, backward replay, contracts, dry firing
+and work-budget exhaustion.
diff --git a/Sources/CelMek/CelMek.docc/Algorithms.md b/Sources/CelMek/CelMek.docc/Algorithms.md
new file mode 100644
index 0000000..4ced2b0
--- /dev/null
+++ b/Sources/CelMek/CelMek.docc/Algorithms.md
@@ -0,0 +1,18 @@
+# Astronomical algorithms and references
+
+The original CelMek library contains VSOP87 planetary series, ELP2000-82b lunar
+series and a Goffin Pluto implementation.
+
+The public provider contracts, native frames, time scales, SI conversion and
+coverage are described in <doc:EPHEMERIDES>. Approximation policies and measured
+error are described in <doc:ACCURACY> and <doc:VSOP87_ACCURACY_CHARACTERIZATION>.
+
+## Original bibliography
+
+The retired Antora documentation cited the following works. Its BibTeX entries
+are preserved in `Documentation/bibliography.bib` in the repository.
+
+- Jean Meeus, *Astronomical Algorithms*, second edition, Willmann-Bell, 1998,
+  ISBN 0-943396-61-1.
+- E. Goffin, J. Meeus and C. Steyaert, *An accurate representation of the motion
+  of Pluto*, Astronomy and Astrophysics 155(2), 323–325, 1986.
diff --git a/Sources/CelMek/CelMek.docc/Attribution.md b/Sources/CelMek/CelMek.docc/Attribution.md
new file mode 100644
index 0000000..bd2872b
--- /dev/null
+++ b/Sources/CelMek/CelMek.docc/Attribution.md
@@ -0,0 +1,17 @@
+# Licensing and attribution
+
+CelMek is copyright Mattias Holm and distributed under Apache License 2.0.
+
+The repository's `LICENSE` is the authoritative package license. Third-party data
+and reference algorithms carry their own provenance and attribution in the relevant
+sources and fixture notes. ERFA-derived numerical routines and coefficient tables
+are isolated in the internal `ERFASwift` module under their BSD terms. The full
+copyright, license, and SOFA heritage notice is colocated at
+`Sources/ERFASwift/LICENSE.txt`, with a documentation copy at
+`Documentation/licenses/ERFA.txt`. CelMek depends on this module for Earth
+orientation and the full Fairhead TDB model; their public APIs remain in CelMek.
+
+Aerodynamics uses Yams, and the documentation build uses the Swift-DocC plugin.
+WMM2025 coefficients are distributed by NOAA; IGRF-14 coefficients are attributed
+to IAGA in the MagneticFields guide. Optional JPL/SPICE datasets are supplied
+separately and documented in <doc:SPICE_KERNELS> and <doc:DE441>.
diff --git a/Sources/CelMek/CelMek.docc/BODIES.md b/Sources/CelMek/CelMek.docc/BODIES.md
new file mode 100644
index 0000000..6cdb286
--- /dev/null
+++ b/Sources/CelMek/CelMek.docc/BODIES.md
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+# Celestial body metadata
+
+`BodyIdentifier` is a namespaced identity, independent of a display name, frame,
+or ephemeris model. Named Solar System identifiers use [NAIF body codes](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/naif_ids.html).
+Planet centres and system barycentres are distinct even if a model approximates
+them with the same coordinates. Additional NAIF codes use `.naif(Int32)`; game
+objects use `.custom(namespace:name:)`. Custom names and namespaces are case-sensitive
+and preserved exactly; empty or whitespace-only components fail when constructing
+a `CelestialBody`. No automatic body-name parsing or code inference occurs.
+
+`CelestialBody` is immutable metadata: identifier, display name, kind, optional
+physical properties, and provenance. Use its identifier as the cross-model lookup
+key; value equality also compares the metadata. It does not own an ephemeris,
+orientation, shape evaluator, frame, or gravity model. Legacy `PlanetaryBody` and
+`IrregularPlanetaryBody` remain separate, with their original API and conventions.
+
+## Properties and units
+
+| Property | Units / meaning |
+| --- | --- |
+| `gravitationalParameter.cubicMetresPerSecondSquared` | μ = GM, m³/s² |
+| `massKilograms.value` | Independently supplied mass, kg |
+| `referenceRadii.metres` | Reference X/Y/Z radii, m, with an explicit axes description |
+
+Values must be positive and finite. Missing properties are `nil`, not zero.
+Each supplied property carries a source and version, plus an optional reference.
+The body's own provenance identifies its definition separately from individual
+property sources. Reference radii are geometric metadata, not a shape or orientation
+model; a barycentre cannot have reference radii.
+
+A gravitational parameter also requires an explicit coordinate-time convention:
+TDB-compatible, TT-compatible, TCB-compatible, or a caller-defined Newtonian model.
+Converting km³/s² to m³/s² does not change that convention. No relativistic rescaling
+or mass-to-GM conversion is performed automatically. Later dynamics must use a
+compatible parameter and coordinate-time formulation; SI state units alone do not
+establish compatibility.
+
+## Bundled catalogue and injection
+
+```swift
+let earth = try BodyCatalogue.jplGM2022.body(.earth)
+let mu = earth.properties.gravitationalParameter!
+// mu.cubicMetresPerSecondSquared is in m³/s²; convention is TDB-compatible.
+
+let source = try PhysicalDataProvenance(source: "Game world", version: "1")
+let parameter = try GravitationalParameter(
+  cubicMetresPerSecondSquared: 1e12, convention: .newtonian, provenance: source)
+let body = try CelestialBody(
+  identifier: .custom(namespace: "my-game", name: "terra"),
+  name: "Terra", kind: .custom,
+  properties: BodyPhysicalProperties(gravitationalParameter: parameter),
+  provenance: source)
+let catalogue = try BodyCatalogue(bodies: [body])
+```
+
+`jplGM2022` is an explicit snapshot of selected [NAIF gm_de440.tpc values](https://naif.jpl.nasa.gov/pub/naif/generic_kernels/pck/gm_de440.tpc),
+dated 2022-12-14. It includes the Sun, nine planetary system barycentres, nine
+planet/dwarf-planet centres, and the Moon, plus the Solar System barycentre without
+a GM. The subset contains DE440 values and separately labelled satellite-solution
+values. JPL's [ephemeris convention](https://ssd.jpl.nasa.gov/planets/eph_export.html)
+uses TDB; these parameters retain the TDB-compatible convention.
+No masses or radii are inferred and no downloads occur during evaluation.
+The snapshot name is deliberate; it does not promise the latest constants.
+
+A catalogue rejects duplicate identifiers, permits duplicate display names, preserves
+input order in `bodies`, and throws `unknownBody` on absent identities. Inject a new
+catalogue to select another solution or game configuration; there is no mutable
+global registry. Metadata lookup does not establish ephemeris coverage or availability.
+
+The kernel subset fixture is extracted from the official file independently of the
+Swift constants. Regenerate it with `Tools/generate_body_gm_fixtures.py`. Swift
+Testing checks every converted value, centre/system distinctions, the Earth–Moon
+GM relationship, custom identities, injection and invalid inputs.
+
+## Independent body models
+
+`CelestialBodyModels` selects optional ephemeris, orientation, shape and gravity
+providers for one body. Every supplied provider must declare the same body identity.
+Absent models stay absent even when metadata contains GM or reference radii. Each
+provider retains its own provenance, coverage and coordinate conventions. A matching
+identity does not prove compatible model versions or matching body-fixed axes.
+
+| Interface | Responsibility |
+| --- | --- |
+| `EphemerisProvider` | Position/velocity relative to an explicit origin, native frame and epoch coverage |
+| `BodyOrientationProvider` | Reference-to-body rotation and angular derivatives, body identity and source |
+| `BodyShapeProvider` | Surface geometry in described body-fixed axes |
+| `BodyGravityProvider` | Gravity field at a supplied body-centred displacement, with explicit time convention |
+
+`IdentifiedBodyOrientationProvider` labels an existing `OrientationProvider`, such
+as an IAU or prescribed spin provider. It preserves rotations and derivatives and
+checks returned epochs and reference frames. The caller must identify the actual
+body represented by that orientation; assigning an identity does not change a model.
+
+```swift
+let body = try BodyCatalogue.jplGM2022.body(.earth)
+let source = try PhysicalDataProvenance(source: "Game geometry", version: "1")
+let shape = try EllipsoidBodyShape(
+  bodyIdentifier: .earth,
+  referenceRadii: BodyReferenceRadii(
+    metres: SIMD3(6_378_000, 6_378_000, 6_357_000),
+    axesDescription: "Selected Earth body-fixed XYZ; illustrative game dimensions",
+    provenance: source))
+let gravity = try PointMassBodyGravity(
+  bodyIdentifier: .earth, parameter: body.properties.gravitationalParameter!)
+let models = try CelestialBodyModels(body: body, shape: shape, gravity: gravity)
+let surface = try shape.surface(inDirection: SIMD3(1, 1, 0))
+let field = try gravity.gravity(at: .j2000, displacementMetres: SIMD3(7e6, 0, 0))
+```
+
+`EllipsoidBodyShape` intersects a ray from the centre with a positive triaxial
+ellipsoid. Equal radii define a sphere. The result is a surface position in metres
+and an outward unit gradient normal. The normal generally differs from the radial
+direction. Input direction magnitude is irrelevant; zero and nonfinite directions
+fail. This query does not compute geodetic coordinates, closest points, signed
+distance, altitude, arbitrary mesh intersections, or collision response.
+
+`PointMassBodyGravity` supplies acceleration −μr/|r|³ and potential −μ/|r|, with zero
+potential at infinity. It is spherically symmetric, so any orthonormal body-centred
+axes are valid. It does not inspect the shape or clamp at a surface: its mathematical
+field continues inside the supplied ellipsoid, with a singularity at zero radius.
+Nonfinite positions and results fail explicitly. Double underflow/overflow and
+extreme ellipsoid aspect ratios limit representable queries.
+
+Gravity seconds follow the selected gravitational parameter's convention. The
+sample carries that convention; it does not silently reinterpret TDB-compatible
+parameters as atomic-time acceleration. A later dynamics adapter must select a
+compatible formulation. No rigid-body force application or numerical integration
+is performed by this field interface.
+
+Convert world states into the intended body-centred axes explicitly through the
+frame system before calling a shape or nonspherical gravity provider. Shape and
+gravity providers do not fetch ephemerides, create frames, or infer orientation.
+Shape axes descriptions must match the caller's selected body-fixed frame; the
+model bundle validates identity only. This separation permits multiple gravity or
+shape approximations for the same body without changing its motion or attitude.
+
+Tests cover sphere and ellipsoid reference intersections/normals, direction scaling,
+point-mass inverse-square values and independently differentiated potential,
+singular inputs, absent models, mismatched identities, and orientation wrappers.
diff --git a/Sources/CelMek/CelMek.docc/CONVENTIONS.md b/Sources/CelMek/CelMek.docc/CONVENTIONS.md
new file mode 100644
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+# Coordinate and API conventions
+
+This contract applies to the epoch-aware `CelMek` states, orientations and frame
+transforms. Legacy astronomical routines retain their individually documented units
+and coordinate conventions. See <doc:STATES>, <doc:FRAMES> and
+<doc:TimeGuide> for model-specific details.
+
+## Coordinates, matrices and units
+
+Cartesian coordinates are right-handed: `x × y = z`. Vectors are column vectors;
+`Matrix3x3 * SIMD3<Double>` applies the matrix on the left. Matrix subscripts are
+`[row, column]`; `Matrix3x3(elements:)` takes nine entries in row order. In `B * A`,
+`A` acts first. Frame names do not prescribe a rendering engine's up or forward axis.
+
+| Quantity at the shared API boundary | Unit / convention |
+| --- | --- |
+| Position and translation | metres |
+| Velocity | metres per elapsed atomic second |
+| Acceleration | metres per elapsed atomic second squared |
+| Angles | radians |
+| Angular velocity | radians per elapsed atomic second |
+| Angular acceleration | radians per elapsed atomic second squared |
+| Epoch arithmetic | continuous SI seconds, stored in split `Duration` |
+
+`CartesianUnits` converts km/seconds or AU/days inputs once at construction. It
+cannot convert axes, origins, spherical coordinates or coordinate time scales.
+Derivatives from a model evaluated in TDB must include the time-scale chain rule
+before becoming shared states or orientations. A nil acceleration means unavailable.
+
+Angle conversions such as `90.0.deg` and `1.0.arcsec` yield radians; `.asDeg` and
+`.asArcSec` convert radians outward. These are `Double` conveniences, not distinct
+unit types. Angle normalization is explicit: general angle inputs are not implicitly
+wrapped to a universal interval. A quaternion's extracted `angle` is in `0...2π`;
+model longitudes and rotation phases may use other documented ranges.
+
+## Quaternions and rotation signs
+
+`Math.Quaternion` uses Hamilton multiplication, with vector part `(x, y, z)` and
+scalar part `w`. Constructor/component order is **(x, y, z, w)**. For a unit quaternion,
+the matrix action agrees with `q * (v.x, v.y, v.z, 0) * q.conj`.
+
+A positive axis-angle rotates a vector by the right-hand rule. For example:
+
+```swift
+import Math
+
+let q = Quaternion(angle: .pi / 2, axis: SIMD3<Double>(0, 0, 1))
+let y = q.matrix * SIMD3<Double>(1, 0, 0) // approximately (0, 1, 0)
+```
+
+`q2 * q1` applies `q1` first, then `q2`. The quaternions `q` and `-q` represent the
+same rotation; component equality alone is not a rotation equivalence test.
+Conjugation reverses a unit quaternion's rotation. For a general non-unit quaternion,
+the algebraic inverse is `q.conj / dot(q, q)`, not just the conjugate.
+
+Use `.identity` for the identity rotation. The legacy `Quaternion()` initializer
+creates four zero components, which do not define a rotation. Raw quaternion component
+construction does not validate or normalize. `Quaternion(angle:axis:)` normalizes its
+axis but uses preconditions for invalid input: angle/axis must be finite, and a zero
+axis is permitted only for zero angle. These preconditions are programming contracts,
+not catchable errors. General `Math` operations are not uniformly checked APIs.
+
+`FrameTransform` validates and normalizes a finite, nonzero quaternion using scaled
+arithmetic. It throws for a zero or nonfinite quaternion. Use this checked boundary
+for externally supplied transform data; do not rely on raw `Quaternion.matrix` to
+validate invalid or extreme component values.
+
+A rotating frame's axes and a rotated vector have opposite coordinate signs.
+`UniformRotationProvider` takes a positive physical axes rate about its parent-frame
+axis. At identity initial orientation, child axes turning +90° about parent +z map
+parent +x to child −y. Its parent-to-child coordinate mapping has angular velocity
+`−rate * axis`, expressed in child coordinates after the initial orientation.
+
+## Transform direction and derivatives
+
+Every registered edge maps **parent coordinates to child coordinates**. For a query,
+`from` is the source frame and `to` is the destination:
+
+```text
+p_to = R * p_from + t
+v_to = R * v_from + ω × (R * p_from) + ṫ
+a_to = R * a_from + 2ω × (R * v_from)
+     + α × (R * p_from) + ω × (ω × (R * p_from)) + ẗ
+```
+
+`R`, translation `t`, its derivatives, angular velocity `ω` and angular acceleration
+`α` are expressed in destination coordinates. All derivatives use the same elapsed
+atomic seconds as `Epoch`; `d(R*p)/dt = ω × (R*p)` for a source-fixed vector.
+Here `ω` describes the coordinate mapping, including the sign convention above.
+
+Translation is the source origin's coordinates in the destination, not the destination
+origin's coordinates in the source. For a body centre `c` in parent axes, the mapping
+is `R * (p_parent - c)`, so `t = -R*c`. Translation derivatives include this rotation
+as well as the centre's motion.
+
+`a.followed(by: b)` applies `a` first and `b` second: rotation is `b.rotation * a.rotation`
+and translation is `b.R * a.t + b.t`. Composition and inversion also carry all derivative
+terms. A transform belongs to one epoch; composition and application reject mismatches.
+Acceleration remains nil when the input state's acceleration is unavailable.
+
+Frame equality is object identity (`===`), including origin and axes. Equal names do
+not connect frames or convert coordinates. `FrameTree.convert` selects the mapping
+from the state's frame identity. Low-level `FrameTransform.applying` has no stored
+source-frame identity, so the caller must associate it with the correct coordinates.
+`pseudoInertial` is a classification flag, not validation of a physical inertial model.
+
+## Validation and error handling
+
+The shared `CelMek` constructors and queries use throwing APIs. Provider errors propagate
+without being replaced by a generic error or a fallback state. Catch errors at the
+application boundary; select an alternate provider or approximation explicitly.
+
+| Error family | Meaning and caller action |
+| --- | --- |
+| `TimeArithmeticError` | Nonfinite input or unsupported arithmetic range; validate numeric inputs and simulation intervals. |
+| `TDBModelError` | Outside selected coverage, invalid correction, wrong sample epoch, or inversion did not converge; select covered data and correct the model contract. |
+| `UTCError` | Invalid table/data, invalid UTC second label, or outside table coverage; correct the label or supply an appropriate table. |
+| `CalendarConversionError` | Invalid day/clock, outside calendar range, or missing UTC table; correct the reading or provide the required data. |
+| `CartesianStateError` | Nonfinite position, velocity or acceleration, including unit-conversion overflow; correct the state inputs. |
+| `FrameTransformError` | Invalid quaternion, nonfinite transform/provider configuration, epoch mismatch, or disconnected/invalid registration; correct data or connect the intended identities. |
+| `FrameQueryError` | Provider result uses the wrong frame, or an adapter's weakly referenced tree was released; fix the provider contract or retain the tree. |
+| `BodyFixedFrameError` | Origin/orientation frames differ, origin acceleration is missing, or an estimation step is invalid; align frames and choose an explicit acceleration policy. |
+| `IAUOrientationError` | Unknown body, legacy model requires opt-in, or query outside selected coverage; choose a supported model and coverage. |
+| `EphemerisOriginError` | Incompatible origin/frame, disjoint coverage, duplicate or insufficient barycentre components, or invalid mass ratios; provide compatible covered states and explicit positive ratios. |
+| `DE441Error` | Unsupported/malformed native binary profile, record or constant data, uncovered/nonfinite TDB Julian date, unsupported testpo body, non-TDB date label or invalid record-cache limit; supply a validated little-endian DE441 file and a covered query. |
+| `PropagationError` | Invalid dynamics inputs/options, incompatible GM time convention, radial motion, numerical range limits or bounded-solver failure; use a supported two-body model and suitable solver controls. |
+| `ManeuverError` | Nonfinite delta-v, burn before reference epoch, duplicate burn epoch or missing frame tree; provide an explicit, resolvable burn schedule. |
+| `TrajectorySamplingError` | Invalid/exceeded sample bound, nonadvancing step or absent conversion tree; use a bounded schedule and connected frames. |
+| `OrbitalElementsError` | Invalid elements/options, noninertial frame, zero/radial state, numerical range limits or unreachable conic anomaly; supply a central-body-relative state in nonrotating axes and a valid conic. |
+| `KeplerSolverError` | Invalid inputs/options, arithmetic range limits, or iteration exhaustion with a final root bracket; use the appropriate conic and supported finite inputs, or adjust solver options. |
+| `EphemerisCacheError` | Memory-cache capacity is not positive; choose an explicit positive entry limit. |
+| `EphemerisError` | Invalid metadata/derivative methods, mismatched frame or acceleration claims, coverage failure, duplicate or unsupported body; align provider metadata and use covered queries. |
+| `BodyModelError` | Mismatched model identities, invalid surface directions/positions, singular point-mass gravity or nonfinite results; select compatible models and valid local coordinates. |
+| `CelestialBodyError` | Invalid identity, physical values or provenance; duplicate catalogue identity or absent body; provide validated metadata and an explicit catalogue. |
+| `LocalOrbitalFrameError` | Undefined relative position/velocity/plane, invalid step or plane threshold, or incompatible reference frame; supply nondegenerate motion in one pseudo-inertial frame. |
+| `EarthOrientationError` | Invalid EOP/configuration, missing realization label, or outside data coverage; supply valid parameters and covered samples. |
+
+A provider must return the requested epoch and its declared native frame. Frame-tree
+edges must return the requested epoch. A query may require neighbouring samples:
+Earth-frame derivatives need ±2 derivative steps, and estimated origin acceleration
+needs ±1 estimation step. Coverage for the central sample alone is insufficient.
+Custom data providers define their own coverage/interpolation errors and provenance.
+
+Finite values, successful conversion, round trips and wide storage ranges do not
+establish physical accuracy. Model approximation limits, EOP provenance and coverage
+remain part of the caller's selection. Numeric equality is exact for shared state and
+epoch values; use appropriate tolerances for floating-point conversions and equivalent
+rotations. There is no universal library-wide tolerance.
+
+## Existing verification
+
+[RotationAndScalingTests](https://github.com/lorrden/swift-celmek/blob/master/Tests/MathTests/RotationAndScalingTests.swift) checks the +z
+quarter-turn, axis normalization and conjugate inverse. [FrameTransformTests](https://github.com/lorrden/swift-celmek/blob/master/Tests/CelMekTests/FrameTransformTests.swift)
+checks rotating signs, derivative terms, composition/inversion, identity and provider
+errors. Time, calendar, body-fixed and Earth-frame suites check their own boundary and
+reference cases. These checks support the implemented conventions rather than a claim
+that every legacy routine follows the shared contract.
diff --git a/Sources/CelMek/CelMek.docc/CelMek.md b/Sources/CelMek/CelMek.docc/CelMek.md
new file mode 100644
index 0000000..ee9f124
--- /dev/null
+++ b/Sources/CelMek/CelMek.docc/CelMek.md
@@ -0,0 +1,48 @@
+# ``CelMek``
+
+Astronomical time, celestial bodies, ephemerides, reference frames and spacecraft dynamics.
+
+CelMek is one module in the `swift-physics` package. All shared physical states use
+explicit units, epochs, origins and frames. Select the module products your application
+needs, or the `Physics` product to include all five modules.
+
+## Topics
+
+### Getting started
+- <doc:PackageOverview>
+- <doc:CONVENTIONS>
+- <doc:STATES>
+- <doc:BODIES>
+
+### Time and frames
+- <doc:TimeGuide>
+- <doc:FRAMES>
+- ``Epoch``
+- ``CartesianState``
+- ``BodyIdentifier``
+
+### Ephemerides and data
+- <doc:EPHEMERIDES>
+- <doc:DE441>
+- <doc:SPICE_KERNELS>
+- <doc:ACCURACY>
+- <doc:Algorithms>
+
+### Spacecraft simulation
+- <doc:ORBITAL_MECHANICS>
+- <doc:SPACECRAFT_DYNAMICS>
+- <doc:ATTITUDE_DYNAMICS>
+- <doc:GAME_INTEGRATION>
+- ``BodyMagneticProvider``
+- ``SphericalBodyAtmosphere``
+- <doc:FluidIntegration>
+- ``FluidWrench``
+
+### Accuracy, performance and reproducibility
+- <doc:VSOP87_ACCURACY_CHARACTERIZATION>
+- <doc:NUTATION_ACCURACY>
+- <doc:GAME_PERFORMANCE>
+- <doc:THREAD_SAFETY>
+- <doc:REPRODUCIBILITY>
+- <doc:SERIALIZATION>
+- <doc:Attribution>
diff --git a/Sources/CelMek/CelMek.docc/DE441.md b/Sources/CelMek/CelMek.docc/DE441.md
new file mode 100644
index 0000000..d247889
--- /dev/null
+++ b/Sources/CelMek/CelMek.docc/DE441.md
@@ -0,0 +1,225 @@
+# Native DE441 files
+
+The first supported file format is JPL's **native little-endian DE441 binary
+export**, with 8,144-byte records and the 1,018-double coefficient profile.
+This is the `linux_*.441` format supplied by
+[JPL's planetary ephemeris export service](https://ssd.jpl.nasa.gov/planets/eph_export.html).
+It is distinct from SPICE SPK (`.bsp`) kernels. SPK types 2/3/21 are supported by the
+separate <doc:SPICE_KERNELS>; neither reader requires a C library.
+
+`DE441Ephemeris` is an explicit URL-based, low-level reader. Opening validates
+the DE number, byte order, coefficient layout, extended layout, physical
+constants, binary coverage and first/last coefficient-record spans. The current
+profile includes planetary/lunar coordinates, nutation and lunar libration
+coefficients, with no extended lunar angular-velocity or TT–TDB coefficients.
+Different DE numbers, SPK, big-endian exports and different layout profiles
+are rejected rather than guessed. Shorter exports using the same validated
+profile are supported; file length must match its own binary coverage.
+
+```swift
+let reader = try DE441Ephemeris(url: fileURL)
+let info = reader.metadata
+let earth = try reader.vector(
+    target: .earth, center: .solarSystemBarycentre, at: 2_451_545.0)
+```
+
+The `vector` overload with integer identifiers is retained for JPL `testpo`
+compatibility; `DE441Body` provides named identifiers. These numbers are **not
+NAIF IDs**. Earth is reconstructed from the Earth–Moon barycentre and stored
+geocentric Moon using the file's EMRAT. Moon barycentric coordinates are then
+Earth plus that geocentric vector. Mercury/Venus represent their centres;
+Mars through Pluto represent planetary-system barycentres. Centre subtraction
+is explicit. Queries use TDB Julian dates and return position in AU and
+velocity in AU/day, as required by JPL's reference test. Nutation returns
+radians and radians/day. These low-level units differ from the common SI
+`CartesianState` contract; use `DE441StateProvider` for that contract.
+Axes are ICRF; the output origin is the explicitly selected centre.
+
+`DE441FileMetadata` exposes the DE number, titles, native TDB coverage, record
+length/count/duration, file size, available body identifiers, coefficient
+availability, frame/time convention, AU in kilometres, EMRAT and named
+constants. Constants retain JPL's native units; the dictionary does not imply
+that every constant is SI or a sourced `GravitationalParameter`.
+Libration coefficient availability is inspectable but there is currently no
+public libration interpolation query. The reader uses file AU and EMRAT
+values; its static values remain the nominal DE441 constants for compatibility.
+
+The binary header and coefficient records determine coverage. Title strings,
+`header.441` and `testpo.441` can describe the larger parent ephemeris rather
+than a subset export. For the locally supplied `linux_m13000p17000.441`, binary
+coverage is JD **-3027215.5 through 7930192.5 TDB**, while the ASCII header and
+testpo extend further. Never substitute that ASCII interval for file coverage.
+
+Access is random and bounded to individual records; the entire binary is not
+loaded. The reader uses a configurable bounded LRU record cache (four records
+by default). Fetched records reject nonfinite coefficients and must have their
+exact expected date span. Dates must be finite and covered. Coefficient slices
+and interpolation subdivisions are bounds checked before access.
+`maximumCachedRecords: 0` disables caching. Record IO and cache access are
+serialized internally by a lock, so multiple providers can share a reader.
+`clearRecordCache()` removes cached records; `cacheStatistics` exposes current
+entry count and cumulative hit/read counts, including constructor validation.
+LRU bookkeeping is linear in configured cache capacity; use modest limits.
+There is no automatic fallback/extrapolation or Sendable conformance. The
+underlying file must remain immutable while a reader is alive; create a new
+reader after replacing an asset. A full-file integrity scan is not performed
+at open time, and unread corrupt records are detected when queried.
+
+## Optional local validation assets
+
+Place the following files under `Data/DE441/`:
+
+- `linux_m13000p17000.441`: native binary export.
+- `testpo.441`: JPL's independently supplied reference rows.
+- `header.441`: optional human-readable source header.
+
+These assets are ignored by Git, excluded from SwiftPM resources and never
+downloaded automatically. The library does not discover or require them:
+applications pass a URL to data they own. Tests use a Swift Testing enabled
+trait to run the local-data suite only when both binary and reference file
+exist. To use another directory, set `CELMEK_DE441_DATA_DIRECTORY`; an explicit
+missing directory also disables that suite. Missing assets do not fail builds
+or tests. Present but malformed or inconsistent files do fail validation.
+
+The normal local test compares a deterministic sample of every 83rd supported
+covered row in `testpo.441` against the native reader, including all target
+identifiers, vector positions/velocities and nutations throughout coverage.
+Set `CELMEK_DE441_FULL_VALIDATION=1` to compare every supported covered row
+(334,244 rows for the supplied export). A full scan took about 84 seconds in
+the development debug build, so it is opt-in. The test
+skips rows outside binary coverage and libration rows not yet exposed by the
+reader. Absolute tolerance is `1e-12` in each row's native output units. The
+synthetic suite always runs, including polynomial values/derivatives, Earth–Moon
+reconstruction, internal/coverage boundaries and corrupt-header rejection.
+
+```sh
+swift test --disable-sandbox
+CELMEK_DE441_DATA_DIRECTORY=/path/to/local/de441 swift test --disable-sandbox
+CELMEK_DE441_FULL_VALIDATION=1 swift test --disable-sandbox --filter DE441LocalDataTests
+```
+
+Source data and format background are published by
+[JPL](https://ssd.jpl.nasa.gov/planets/eph_export.html); physical model details
+are in [Park et al., DE440/DE441 (2021)](https://ssd.jpl.nasa.gov/doc/Park.2021.AJ.DE440.pdf).
+This repository stores test logic rather than redistributing the full data.
+Applications should assess packaging and source attribution for their chosen
+assets separately; the library's software license does not grant data rights.
+
+## Split dates and the common ephemeris interface
+
+Both vector and nutation queries accept `JulianDateComponents` tagged `.tdb`.
+The reader locates records with integer day arithmetic, then interpolates using
+only the small offset within a 32-day record. It never combines the split date
+into a large Julian-date scalar during interpolation. The Double overloads
+remain for compatibility; their inputs have already lost sub-ULP timing detail.
+Exact internal boundaries use the following subdivision/record; the final
+coverage endpoint uses the last one. Interpolation is still binary64 arithmetic
+within a record, not an arbitrary-precision guarantee.
+
+```swift
+let reader = try DE441Ephemeris(url: fileURL, maximumCachedRecords: 8)
+let provider = try DE441StateProvider(
+    reader: reader, target: .earth, coverage: usableEpochRange,
+    tdbModel: FairheadTDBModel(), accuracy: .balanced)
+let state = try provider.checkedState(at: simulationEpoch)
+```
+
+`DE441StateProvider` conforms to `EphemerisProvider` and
+`AccuracyAwareEphemerisProvider`; use it in an `EphemerisCollection`, with frame
+conversion, or with the explicit state-cache and batch interfaces. The caller
+selects epoch coverage that must lie within both file coverage and the injected
+TDB model's coverage. File coverage does not certify time-model accuracy over
+the full DE441 span. In particular, the full Fairhead model's declared coverage
+is much narrower than the file. No less accurate time model is substituted
+implicitly to widen coverage.
+
+Output is metres and metres per atomic second, carrying the requested epoch
+and declared frame. Velocity uses the analytic Chebyshev derivative, converted
+from AU/TDB-day and multiplied by `dTDB/dTT` from the same validated time-model
+sample used to obtain the TDB date. Acceleration remains unavailable.
+All accuracy hints are accepted and evaluate the complete stored polynomial;
+the effective level is `.full` and no terms are dropped.
+
+The default centre is the solar-system barycentre and the default frame is
+`CelestialFrames.icrf`. A different centre requires an explicit pseudo-inertial
+frame with that origin and ICRF-aligned axes; frame identity alone cannot
+verify this geometry. The adapter does not silently relabel ICRF vectors as
+rotated axes. Query directly in a correctly registered centre frame, or request
+barycentric states and convert through `FrameTree`. Metadata maps testpo body
+numbers to `BodyIdentifier`, preserving planetary-system barycentre identities.
+A non-ICRF frame supplied with an SSB centre is rejected; use explicit frame
+conversion instead.
+
+The reader is internally serialized. Concurrent adapter queries additionally
+require a thread-safe injected TDB model. Queries are deterministic for fixed
+file bytes/model inputs regardless of cache size or query order. Cache statistics
+can depend on order; returned states do not. IO failures, unsupported bodies,
+non-TDB low-level dates and uncovered queries propagate explicitly. A zero
+vector for equal target/centre does not bypass date or body validation.
+
+Synthetic tests retain a date difference that vanishes when combined into a
+large JD, verify SI units with a deliberately non-unit TDB rate, exercise cache
+limits/eviction/disable behavior, and query a shared reader concurrently. Local
+asset tests also check the adapter at interior and record-boundary epochs and
+compare its returned velocity with nearby positions using atomic time steps.
+
+## Pinned independent references
+
+`Tests/CelMekTests/Fixtures/de441-testpo.json` stores a small reproducible
+selection of numerical values from JPL's independently supplied testpo file,
+with its source URL and SHA-256. See `Fixtures/de441-reference.md` and
+`Tools/extract_de441_reference_fixtures.py` for selection and regeneration.
+Expected values are never produced by this reader. The pinned suite covers every
+supported target/component, Earth/Moon/EMB and nutation record boundaries and
+interiors, modern relative SI states, and widely separated epochs. It requires
+only the optional binary, so it can run without the 23 MB testpo file. Fixture
+structure/coverage checks always run. The complete testpo scan remains opt-in.
+
+## Attribution, redistribution and game asset packaging
+
+Keep the library's Apache-2.0 software notices separate from the provenance and
+terms of the ephemeris data. This repository ships a small numerical regression
+fixture, not the full native export, JPL source programs, or SPICE kernels.
+Public download availability is not an additional data license from this
+library. JPL's [SSD FAQ](https://ssd.jpl.nasa.gov/faq.html) points users to its
+copyright statement; [Caltech/JPL's notices](https://www.jpl.nasa.gov/caltechjpl-privacy-policies-and-important-notices/)
+state that server documents may be protected. Review the notices accompanying
+the exact assets you distribute; do not infer a blanket commercial redistribution
+grant from NASA sponsorship or an image-use policy. This documentation does not
+supply a DE441-specific license determination.
+
+An application credits its chosen source, for example:
+
+> Planetary and lunar ephemeris data: NASA/JPL DE441, Park et al. (2021),
+> *The JPL Planetary and Lunar Ephemerides DE440 and DE441*, Astronomical
+> Journal 161, 105, doi:10.3847/1538-3881/abd414. Native little-endian export
+> obtained from JPL Solar System Dynamics.
+
+Store that attribution together with a data manifest: source URL, acquisition
+date, exact filename, SHA-256, DE number, binary coverage, byte order and profile,
+file size, units/frame/time conventions, and any subset-generation steps. Preserve
+source notices. Attribution records provenance; it does not itself grant rights.
+
+For game integration, keep DE441 in an optional asset pack or an application-owned
+read-only file. The supplied long-span export is roughly 2.6 GB and should not be
+added to this package's SwiftPM resources. Distribution systems may compress an
+asset pack in transit; extract the native file before handing its URL to the
+reader, which requires seekable random access. Use platform file URLs rather
+than a hard-coded checkout path. If a file is bundled by an application, resolve
+it through that application's bundle; the library does not own that bundle.
+
+Verify download size/checksum during installation, then validate the file by
+opening the reader before activating the pack. Install replacements under a new
+path and switch to a new reader; never mutate an active reader's file. A bounded
+record cache limits coefficient memory, not the asset's disk footprint. A
+shorter export is usable only if its complete header/layout/coverage/file-length
+contract matches the supported profile; arbitrary byte truncation is invalid.
+A `.bsp` SPK asset cannot be renamed into a native `.441` export.
+
+When no pack is installed, omit the DE tier and use the explicit
+`FallbackEphemeris` model/Kepler tiers. Keep a present but invalid pack visible as
+an installation/validation error. Neither runtime queries nor tests automatically
+download data. CI without assets still runs synthetic format, derivative, cache,
+contract and fallback tests; CI with the local binary also runs pinned independent
+comparisons. Use `CELMEK_DE441_FULL_VALIDATION=1` for the release-time full-reference
+scan when the optional testpo asset is available.
diff --git a/Sources/CelMek/CelMek.docc/EPHEMERIDES.md b/Sources/CelMek/CelMek.docc/EPHEMERIDES.md
new file mode 100644
index 0000000..f1cdc1a
--- /dev/null
+++ b/Sources/CelMek/CelMek.docc/EPHEMERIDES.md
@@ -0,0 +1,436 @@
+# Common ephemeris interface
+
+`EphemerisProvider` extends `StateProvider` for prescribed motion of one body relative
+to one origin. Its `EphemerisMetadata` declares body and origin identifiers, native
+frame identity, usable coverage in atomic `Epoch`s, coverage basis, model time scale,
+derivative methods, and source/version provenance. Native results are SI
+`CartesianState`s; velocity and acceleration use elapsed atomic seconds regardless
+of the underlying model's time argument. Physical body properties remain separate.
+
+`coverageBasis` distinguishes caller-selected intervals from model-documented
+coverage. Neither tag alone is an accuracy guarantee. A frame must actually use the
+declared origin and axes: assigning metadata does not convert coordinates or prove
+that a caller's declaration is correct. Body centres and system barycentres remain
+distinct identifiers. Origin/frame conversion requires the frame system or a model
+adapter that genuinely performs the conversion.
+
+## Adapting an existing state provider
+
+```swift
+import CelMek
+import Math
+
+let start = try Epoch(julianDate: 2451545, scale: .tt)
+let end = try start.advanced(by: CelMek.Duration(seconds: 86400))
+let metadata = try EphemerisMetadata(
+  body: .earth, origin: .solarSystemBarycentre, frame: earth.frame,
+  coverage: start...end, coverageBasis: .callerSelected,
+  modelTimeScale: .tdb, velocityMethod: .analytic,
+  accelerationMethod: .unavailable,
+  provenance: PhysicalDataProvenance(
+    source: "Built-in VSOP87E, complete coefficients; default two-term TDB adapter",
+    version: "application snapshot 1"))
+let ephemeris = try StateProviderEphemeris(provider: earth, metadata: metadata)
+let state = try ephemeris.state(at: start)
+
+let collection = try EphemerisCollection(providers: [ephemeris])
+let earthState = try collection.state(of: .earth, at: start)
+let tree = try CelestialFrames.makeTree()
+let icrf = try ephemeris.state(at: start, in: CelestialFrames.icrf, using: tree)
+```
+
+This example adds a caller-selected interval to the existing VSOP87E state provider;
+it does not establish new scientific coverage. Choose the intersection of all
+model, coefficient and time-data coverage. A configured `VSOP87StateProvider` can
+be wrapped the same way; record its selected TDB model in provenance and restrict
+the interval accordingly. Dedicated model adapters are described below.
+
+The adapter checks frame identity on construction and coverage before evaluation.
+Every result must carry the requested epoch, the declared native frame, and the
+advertised acceleration availability. Provider errors propagate. Missing acceleration
+is `nil`; an advertised available acceleration must be present, and an unavailable
+one must remain absent. Velocity cannot be marked unavailable because CartesianState
+always contains it. Methods distinguish analytic derivatives, finite differences
+with a positive interval, and supplied derivatives with a required description.
+Metadata describes the derivative method; it does not calculate missing derivatives.
+
+## Collections and custom implementations
+
+`EphemerisCollection` is an immutable selection of one provider per body. It preserves
+input order in `bodies` and rejects duplicate target IDs. Each body may have a different
+origin, frame and coverage; inspect `metadata(for:)` before combining states. Unknown
+bodies throw `unsupportedBody`, with no hidden provider fallback. `provider(for:)`
+returns the selected provider for direct integration with existing state/frame APIs.
+An empty collection is valid.
+
+Implement `EphemerisProvider` directly for a new model. `frame` defaults to
+`metadata.frame`; `state(at:)` must enforce that model's contract. The protocol's
+`checkedState(at:)` checks custom implementations, and all collection queries use
+that path. A custom implementation's direct `state(at:)` is its own responsibility.
+Frame conversion through an existing StateProvider API preserves provider errors.
+
+Collections do not implicitly cache or depend on query order. Optional caching is
+described below. Collections do not make
+mutable or file-backed providers thread-safe. Providers retain their own data and
+concurrency contracts, and must avoid strongly retaining a frame tree that owns them.
+The metadata interval includes queryable endpoints; numerical derivative stencils
+must be accounted for when selecting that interval.
+
+Swift Testing covers coverage endpoints and rejection before evaluation, custom
+provider validation, absent bodies, duplicate IDs, epoch/frame and acceleration
+mismatches, derivative metadata validation, and VSOP87 integration through ICRF.
+
+## Dedicated analytic adapters
+
+`VSOP87Ephemeris` evaluates the complete built-in VSOP87E series with analytic
+velocity, unavailable acceleration, caller-selected coverage, and a required
+`TDBTimeModel`. Its coverage must lie inside the selected time model's coverage.
+The native frame remains `CelestialFrames.vsop87E`, with Solar System barycentric
+origin. Earth denotes the geocentre; the outer planet solutions are exposed as
+system barycentres rather than claiming separately resolved planet-centre motion.
+Mercury, Venus and the Sun retain their body-centre identifiers. The model does not
+resolve planetary satellites or provide barycentre-to-planet offsets.
+
+`SphericalAnalyticEphemeris` adapts the two existing spherical approximations:
+
+| Model | Target / origin | Native axes | Position units before conversion |
+| --- | --- | --- | --- |
+| `meeusMoon` | Moon / Earth | Mean ecliptic/equinox of date | Radians and metres |
+| `goffinPluto` | Pluto system barycentre / Sun | Ecliptic/equinox J2000 | Radians and AU |
+
+The lunar implementation named `elp2000_82b` is the truncated Meeus chapter 47
+series, not the full ELP coefficient model. Its longitude retains the existing
+constant light-time term; the adapter does not claim a fully geometric or apparent
+observational ephemeris. The Pluto series does not resolve Pluto and Charon separately.
+The adapters use TT as legacy ephemeris time, without claiming that TT and TDB are
+identical. Provenance records the chosen model and time convention.
+
+Cartesian velocity uses a five-point derivative on atomic seconds. Supply a positive
+`velocityStep` explicitly. `positionCoverage` is caller-selected; returned metadata
+coverage removes two steps at each end. Too short an interval is rejected. No velocity
+is obtained by differentiating wrapped longitude directly. Acceleration remains nil.
+The legacy functions still return their original spherical units and conventions.
+The internal evaluators now accept centuries from a split TT date to avoid first
+collapsing epochs into a large scalar Julian date when estimating derivatives.
+
+### Registering the native frames
+
+```swift
+let tdb = try FairheadTDBModel()
+let earthModel = try VSOP87Ephemeris(body: earth, coverage: coverage, tdbModel: tdb)
+let sunModel = try VSOP87Ephemeris(body: sun, coverage: coverage, tdbModel: tdb)
+let tree = try CelestialFrames.makeTree()
+let earthICRF = try FrameConvertedStateProvider(earthModel, in: CelestialFrames.icrf, using: tree)
+let sunICRF = try FrameConvertedStateProvider(sunModel, in: CelestialFrames.icrf, using: tree)
+let frames = try tree.makeAnalyticEphemerisFrames(
+  earth: earthICRF, sun: sunICRF,
+  accelerationPolicy: .estimate(step: CelMek.Duration(seconds: 60)))
+let moonModel = try SphericalAnalyticEphemeris(
+  model: .meeusMoon, frames: frames, positionCoverage: coverage,
+  velocityStep: CelMek.Duration(seconds: 30))
+let collection = try EphemerisCollection(providers: [earthModel, sunModel, moonModel])
+let moonNative = try collection.state(of: .moon, at: epoch)
+let moonICRF = try moonModel.state(at: epoch, in: CelestialFrames.icrf, using: tree)
+```
+
+`coverage` and `epoch` are caller-selected; choose an interior epoch with all required
+neighbouring samples available. Retain the tree for the converted centre providers.
+Earth and Sun inputs to frame construction must use ICRF identities. The geocentric
+frame uses Newtonian Earth translation and an EME2000 mean-of-date edge; the solar
+frame uses Newtonian Sun translation and fixed ecliptic J2000 axes.
+
+The lunar axes use IAU 1976 precession and IAU 1980 mean obliquity, consistent with
+the legacy mean-date convention. The Swift precession rotation is checked against
+[ERFA's published pmat76 reference](https://github.com/liberfa/erfa/blob/v2.0.1/src/t_erfa_c.c),
+with no C runtime dependency. Its angular derivatives use a five-point stencil with
+a caller-configurable 60-second default step. No nutation is applied. Using a newer
+precession model without refitting the legacy series would change this convention.
+
+Frame conversion adds origin motion and rotating-axis velocity terms; it does not
+relabel native states as ICRF. Coverage for converted queries is the intersection of
+model, TDB and centre-provider coverage, further restricted by acceleration estimates
+and frame derivative stencils. The native ephemeris metadata does not expand that
+intersection. Physical accuracy versus modern DE ephemerides remains to be measured;
+complete evaluation of these truncated legacy models does not make them full ELP or
+modern Pluto ephemerides.
+
+Tests preserve the legacy published lunar/Pluto cases, verify spherical-to-Cartesian
+units, compare derivative steps and differentiated ICRF trajectories, check precession
+against ERFA, and validate native coverage endpoints and collection integration.
+
+## Explicit origin conversion and barycentres
+
+`makeOriginConvertedEphemeris` subtracts a new-origin state from a target state.
+Both inputs must declare the same original origin and have the exact same native
+frame identity. The method registers a translated child frame with unchanged axes,
+so its new origin is represented by a physical frame edge rather than a metadata
+relabel. Position, velocity and available acceleration are subtracted in SI units.
+The usable coverage is the closed intersection of the input intervals; disjoint
+coverage fails before registering a frame.
+
+```swift
+// moonBarycentric and earthBarycentric already use the same barycentric frame.
+let lunarGeocentric = try tree.makeOriginConvertedEphemeris(
+  target: moonBarycentric, newOrigin: earthBarycentric,
+  frameName: "Earth-centred lunar ephemeris",
+  accelerationPolicy: .estimate(step: CelMek.Duration(seconds: 60)))
+let relative = try lunarGeocentric.state(at: epoch)
+```
+
+This operation requires actual states of both objects. It cannot derive Earth from
+an Earth–Moon barycentre alone or resolve a planet from its system barycentre without
+the missing relative motion and mass data. Transform differently oriented inputs
+into a common frame first, then wrap the converted StateProviders with metadata
+that accurately describes that frame's origin, coverage and derivative methods.
+When translation has already been performed by a frame transform, update the declared
+origin too; do not subtract the same origin a second time.
+
+The native subtraction query requires no frame-tree lookup. Its acceleration is
+available only when both inputs supply acceleration; neither zero nor estimated
+acceleration is selected implicitly. The registered edge's `OriginAccelerationPolicy`
+governs later frame transformations. With `requireProvided`, transformations throw
+if new-origin acceleration is missing. An explicitly estimated or zero acceleration
+for that edge does not manufacture acceleration in the recentered ephemeris.
+Neighbour coverage for estimation further restricts converted queries, beyond the
+native metadata interval. The edge checks custom ephemeris results before use.
+
+### Constructing a barycentre
+
+`BarycentreEphemeris` computes the constant-mass weighted combination of at least
+two distinct constituent bodies. All constituents must share the same declared
+origin and native frame. Positive finite relative masses and their provenance are
+required; they are normalized internally, so a common mass scale is irrelevant.
+The output body identity must differ from every constituent. Missing constituents
+cannot be inferred, and duplicate identities are rejected.
+
+```swift
+let ratios = try PhysicalDataProvenance(source: "Selected Earth/Moon mass ratio", version: "application data 1")
+let emb = try BarycentreEphemeris(
+  bodyIdentifier: .earthMoonBarycentre,
+  components: [
+    BarycentreComponent(ephemeris: earthBarycentric, relativeMass: earthToMoonMassRatio, provenance: ratios),
+    BarycentreComponent(ephemeris: moonBarycentric, relativeMass: 1, provenance: ratios)
+  ],
+  provenance: PhysicalDataProvenance(source: "Computed Earth–Moon barycentre", version: "1"))
+```
+
+Use a ratio compatible with the actual ephemeris solution; no ratio is inferred from
+the bundled body catalogue. GM ratios can represent mass ratios only when their
+coordinate conventions and source solutions are compatible. Ratios are constant:
+time-varying masses would require extra velocity/acceleration terms and a different
+provider. The combined field records component ephemeris and mass-ratio provenance.
+
+Coverage is the intersection of every component's interval. Acceleration remains
+unknown if any component lacks it. Analytic derivative metadata is retained only
+when every input derivative is analytic; other available combinations are labelled
+as supplied compositions. Floating-point cancellation still limits small relative
+states computed from large barycentric coordinates, and extreme mass ratios may
+underflow normalized weights.
+
+Mixed model time arguments are permitted because all input states have already
+converted derivatives into atomic seconds. `modelTimeScale` retains the target's
+(or first component's) primary argument for compatibility; `modelTimeScales` records
+the complete set of arguments involved. No time conversion occurs during subtraction
+or weighted composition. Constituent providers remain responsible for their own
+TT/TDB conversions and coverage. Physical consistency across different solutions
+is a caller decision, not guaranteed by matching identifiers.
+
+Both providers are immutable and introduce no query-order cache or hidden fallback.
+Registered origin edges retain providers without retaining their tree; any existing
+FrameConvertedStateProviders still hold their tree weakly. Retain the tree for
+later conversion. Tests check all derivatives, frame round trips, mixed time metadata,
+coverage and identity rejection, missing acceleration, and scale-independent weights.
+
+Analytic adapters accept an explicit shared accuracy level; supported levels and their meaning are documented in <doc:ACCURACY>.
+
+## Batch queries and explicit caches
+
+Ephemeris providers expose `states(at: [Epoch])`. Collections expose
+`states(of:at:)` for one body and `states(for: [EphemerisRequest])` for mixed bodies.
+Results preserve the input order and duplicate requests, with exact epochs. Empty
+provider/request batches return an empty array; a one-body collection query still
+validates that body's selection even when its epoch list is empty. Batches are
+sequential and fail at the first error, without returning a partial array. Earlier
+successful calls may have populated an explicitly selected cache.
+
+```swift
+let cache = try MemoryEphemerisCache(capacity: 512)
+let cached = try CachedEphemerisProvider(provider: earthModel, cache: cache)
+let samples = try cached.states(at: epochs)
+let collection = try EphemerisCollection(providers: [cached, moonModel])
+let states = try collection.states(for: [
+  EphemerisRequest(body: .moon, epoch: epoch),
+  EphemerisRequest(body: .earth, epoch: epoch)
+])
+// After replacing data dependencies while preserving metadata:
+try cached.invalidate()
+// Release all shared storage when changing scenes:
+cache.removeAll()
+```
+
+`CachedEphemerisProvider` memoizes native Cartesian states at exact atomic epochs.
+It does not round time, interpolate, sample neighbours, cache transforms, or change
+accuracy settings. Construct a new wrapper for new metadata, body, origin, frame,
+coverage, time model or accuracy configuration. Each wrapper receives its own opaque
+scope; wrappers sharing storage cannot collide even when their bodies and epochs
+match. Metadata, including requested/effective accuracy, is retained unchanged.
+Scopes are runtime identities, not persistent model/version keys.
+
+Queries check coverage before accessing storage. Both cache hits and computed
+results must match the requested epoch, declared frame and acceleration availability.
+Provider and custom-cache errors propagate. Failed evaluations are never stored.
+The cache trusts the actual numerical values supplied by its storage implementation;
+it cannot independently certify an externally injected state's physical correctness.
+
+`MemoryEphemerisCache` requires a positive capacity and uses least-recently-used
+eviction with O(1) lookup/update. Both lookups and overwrites refresh recency. Capacity
+bounds total entries across all scopes sharing that cache. `count` reports current
+entries. Storage mutations use a lock, and list links avoid ownership cycles. Scope
+invalidation removes only that wrapper's entries; clearing storage removes all
+scopes. Entries retain their states/frame identities until invalidation, eviction or
+cache release.
+
+Invalidation rotates the wrapper's generation before clearing its old storage.
+Queries already in flight may complete with their original results but cannot store
+them in the old generation after invalidation. Later queries use the new generation.
+External calls to the shared memory cache's `removeAll()` clear storage but do not
+rotate wrapper generations; use `cached.invalidate()` when changing model data.
+If custom-cache removal throws, the wrapper still uses its new generation and the
+error propagates, while stale storage remains the custom cache's responsibility.
+
+Cache storage locking does not serialize native provider evaluations or make custom
+providers thread-safe. Concurrent misses may evaluate the same epoch more than once.
+The caller must respect the underlying provider's concurrency contract. Cache
+protocol callbacks must not reenter their invoking wrapper. No unchecked Sendable
+conformance or concurrency guarantee for frame identities is introduced.
+
+Custom storage implements `EphemerisStateCache` using the full `EphemerisCacheKey`
+(scope plus exact epoch). It must preserve native states faithfully and handle its
+own capacity, persistence and synchronization. The built-in cache is intentionally
+in-memory; file coefficient/record caches remain independent model concerns.
+
+Query-order independence assumes the configured ephemeris is deterministic at a
+given epoch. Hits and eviction can change cost, but not numerical results. Mutable
+model/data dependencies require explicit invalidation; no data changes are detected
+automatically. Tests check ordered and reversed batches, duplicate and subnanosecond
+keys, LRU eviction, scope isolation, generation changes during evaluation, failures,
+invalid cache hits, and mixed-body fail-fast queries.
+
+Application-level dependency changes, snapshot replacement and downstream buffer
+invalidation are covered in <doc:GAME_INTEGRATION#Cache-invalidation>.
+
+## Native JPL DE441
+
+`DE441StateProvider` adapts a URL-opened `DE441Ephemeris` to the shared SI
+ephemeris contract with explicit target/centre, coverage, frame and TDB model.
+It evaluates complete file coefficients for all accuracy hints and supplies
+analytic velocity converted to atomic seconds. The reader has a configurable
+bounded record cache and internally serialized random-access IO. See
+<doc:DE441> for supported binary profiles, split-date interpolation,
+time-model limits and optional local-data tests.
+
+## Explicit fallback tiers
+
+`FallbackEphemeris(de441:model:kepler:)` selects **DE441 → analytic/fitted model
+→ Kepler** at each requested epoch. Each tier is optional. Omit DE441 when its
+optional asset is absent; an invalid asset is an error, not permission to hide a
+failure. Selection uses declared coverage, including endpoints. Errors from a
+selected source (including narrower dependency coverage, corrupt coefficients,
+and state-contract violations) propagate. Accuracy hints control model evaluation,
+not tier ordering.
+
+The SPK overload requires `fileBackedOrder: .de441ThenSPK` or `.spkThenDE441`:
+
+```swift
+let ephemeris = try FallbackEphemeris(
+    de441: optionalDEProvider,
+    spk: optionalSPKProvider,
+    fileBackedOrder: .de441ThenSPK,
+    spkFallbackPolicy: .missingLinksAndGaps,
+    model: optionalModelProvider,
+    kepler: optionalKeplerProvider)
+let result = try ephemeris.selection(at: epoch)
+// result.tier distinguishes .de441, .spk, .model and .kepler.
+// result.source identifies the selected provider; skippedSources records reasons.
+```
+
+Both file sources precede the analytic/fitted and Kepler tiers. The new overload
+permits only `SpiceSPKResolutionError.missingLink` and `.coverageGap` from the SPK
+slot to fall through, and records the missing body ID. Use `.declaredCoverageOnly`
+to propagate those failures too. No other error permits retry, including unsupported
+SPK types, malformed coefficients, cycles, work limits, missing frame bindings,
+time-model failures or returned state-contract violations. If no fallback succeeds,
+the last permitted SPK availability error is rethrown. Generic `outsideCoverage`
+errors from an otherwise eligible provider are not interpreted as SPK gaps.
+
+Assets remain caller-owned and optional: omit absent providers; loading or constructing
+an invalid provider must fail before composing the chain. SPK construction still validates
+coverage endpoints, so a wholly unavailable dataset is not an implicit optional provider.
+Interior SPK gaps can be handled by the composed chain. Every supplied provider must
+already share exact target, origin and frame identities. Retained SPK snapshots preserve
+selection after pool unload/reload. The existing acceleration normalization and coverage
+union checks still apply; source metadata records provider-level provenance, and
+`SpiceSPKStateProvider.evaluation` remains available for per-segment chain details.
+
+`DefaultEphemerisModel.makeProvider(for:coverage:tdbModel:frames:velocityStep:accuracy:)`
+constructs the native-frame default where one exists:
+
+| Body identity | Built-in model |
+| --- | --- |
+| Sun, Mercury, Venus, Earth | VSOP87E |
+| Mars, Jupiter, Saturn, Uranus, Neptune system barycentres | VSOP87E |
+| Moon | Existing legacy ELP82-labelled truncated Meeus lunar series |
+| Pluto system barycentre | Goffin |
+| Other identities | None; use a supplied fitted model or Kepler |
+
+The current lunar implementation is **not full ELP82** and retains the honest
+`meeusMoon` name. The factory returns nil for bodies without a default, rather
+than substituting a different body identity. A caller-supplied fitted provider can
+occupy the model tier for any body.
+
+Compose providers only after converting them to the same origin and frame using
+the frame system and explicit metadata adapters. DE441 is usually barycentric
+ICRF; VSOP87E needs an axes conversion, the Moon needs Earth translation, and
+Goffin needs Sun translation. Retain the tree used by converted providers, and
+restrict coverage to all transform dependencies. The chain rejects different
+body identities, origins, frames, and gaps in its combined coverage.
+
+`KeplerEphemeris(body:propagator:coverage:provenance:)` wraps a `TwoBodyPropagator`
+with an explicit fixed reference state and central GM. The seed state must be
+relative to the central body in a suitable inertial frame. Convert this provider's
+origin/frame before combining it with barycentric providers. Supply a sensible
+usable coverage interval; there is no automatic orbit inferred from a body ID or
+seeding from the last query. Unknown bodies can therefore use a Kepler-only chain.
+
+```swift
+let ephemeris = try FallbackEphemeris(
+    de441: optionalDEProvider, // already converted to common coordinates
+    model: analyticOrFittedProvider,
+    kepler: optionalKeplerProvider)
+let answer = try ephemeris.selection(at: epoch)
+// answer.state is SI; answer.tier and answer.source report the selected model.
+```
+
+`selection(at:)` reports the selected source metadata, including its provenance
+and accuracy. Chain metadata lists all participating time scales. Acceleration is
+returned only if every tier supplies it, so its availability stays consistent
+when switching sources. Selection is deterministic and independent of query
+order. Switching models can introduce a jump; this policy does not blend states
+or assert that the tiers agree at their boundaries.
+
+
+## Native SPK geometric providers
+
+`SpiceSPKStateProvider` adapts a retained `SpiceKernelSnapshot` to the common SI
+interface using exact NAIF target/origin identifiers, an explicit `TDBTimeModel`
+and provenance-backed `SpiceFrameBindings`. Its frame tree converts each relative
+link's axes and rotation rates; origin translation is already resolved by the SPK
+chain. It evaluates full type 2/3 coefficients, returns atomic-second velocity and
+leaves acceleration unavailable. Non-SSB origins require an explicitly centred
+output frame. Endpoint validation does not certify interior chain coverage; gaps
+and corrupt/unsupported selected segments propagate without automatic fallback.
+See <doc:SPICE_KERNELS> for construction, dataset-specific J2000/ICRF
+interpretation, retained snapshot ownership, frame-tree lifetime and provenance.
+
+For component synchronization, frame/asset lifetimes and actor isolation, see
+<doc:THREAD_SAFETY>.
diff --git a/Sources/CelMek/CelMek.docc/FRAMES.md b/Sources/CelMek/CelMek.docc/FRAMES.md
new file mode 100644
index 0000000..4ffa508
--- /dev/null
+++ b/Sources/CelMek/CelMek.docc/FRAMES.md
@@ -0,0 +1,271 @@
+# Frame transforms
+
+The shared coordinate, rotation and error contract is in <doc:CONVENTIONS>.
+
+`FrameTree` connects `Math.Frame` identities with time-dependent `TransformProvider` edges. Each edge maps parent coordinates into child coordinates. A tree can adopt a frame such as `CelestialFrames.vsop87E` as its local root, excluding its external ancestors. `CelestialFrames.makeTree()` registers the connected astronomical frames under ICRF. Queries to frames outside the registered tree throw `disconnectedFrames`.
+
+```swift
+import CelMek
+import Math
+
+let tree = try FrameTree(root: CelestialFrames.vsop87E)
+let rotating = try tree.makeFrame(
+  parent: tree.root, name: "Rotating ecliptic axes",
+  provider: UniformRotationProvider(
+    axis: SIMD3<Double>(0, 0, 1), rate: 0.001))
+let state = try earth.state(at: .j2000)
+let rotated = try tree.convert(state, to: rotating)
+```
+
+This example rotates barycentric axes about a common origin. Body-fixed frames combine an origin state with an orientation provider as described below; validated IAU orientation models and Earth frame chains are available.
+
+## Convention and derivatives
+
+A `FrameTransform` is evaluated at one `Epoch`, using right-handed Cartesian coordinates and normalized Hamilton quaternions `(x, y, z, w)` acting on column vectors:
+
+```
+p_to = R p_from + t
+v_to = R v_from + ω × (R p_from) + ṫ
+a_to = R a_from + 2ω × (R v_from)
+       + α × (R p_from) + ω × (ω × (R p_from)) + ẗ
+```
+
+Translation and its derivatives use metres, metres per second, and metres per second squared. Angular velocity ω and angular acceleration α use radians per second and radians per second squared, expressed in destination axes. All derivatives use elapsed atomic seconds, matching `Epoch`. Translation is the mapped source origin in destination coordinates, rather than the child origin in parent coordinates.
+
+`followed(by:)` composes mappings in application order, and `inverted()` reverses the full mapping including derivatives. Epoch mismatches throw. Invalid rotations and nonfinite transform components throw; a valid non-unit quaternion is normalized. State conversion preserves unknown acceleration as nil.
+
+`FixedTransformProvider` supplies a constant rotation/translation with zero derivatives. Its defaults provide an identity edge. `UniformRotationProvider` turns child axes by the right-hand rule about a fixed axis expressed in parent coordinates. Its coordinate mapping rotates with the opposite sign. `initialRotation` maps the parent axes to the child at `referenceEpoch`; the resulting angular rate is expressed in child axes. It has a stationary common origin. Very long elapsed intervals still have Double phase precision limits.
+
+Custom providers implement `transform(at:)`, returning a parent-to-child mapping at the requested epoch. They can supply translation, angular acceleration, or data-backed motion, and throw their own coverage/data errors. No fallback or cache is implicit. Queries traverse only the edges between the two frames and their common ancestor, so an unavailable edge above that ancestor does not block the query.
+
+`FrameTransform.applying(to:destination:)` is a low-level operation: callers are responsible for matching the source coordinates to their mapping. `FrameTree.convert` selects the mapping from the state's frame identity and handles this association.
+
+## Ownership
+
+Frame parents are immutable strong references: a surviving child retains its ancestry. Parents do not retain children, so the parent chain does not form a reference cycle. `FrameTree` owns its registered frames and providers, which keeps frame identities stable. Frames do not retain the tree, and a child can outlive it, though provider queries require a retained tree.
+
+A custom provider must not strongly capture its owning tree: that would create a tree → provider → tree cycle. Use a weak reference when such access is necessary. The built-in converted-state adapter holds its tree weakly; other built-in providers do not retain a tree. These types do not promise concurrent mutation or Sendable conformance.
+
+The legacy `Math.Transformation` remains separate from the epoch-aware `FrameTransform`; its Julian-date field and misspelled properties are not used by this API.
+
+## Body-fixed frames
+
+`OrientationProvider` returns a `BodyOrientation`: the mapping from a specified reference frame's axes into body axes, plus angular velocity and angular acceleration in body axes. It contains no translation. `FixedAxisOrientationProvider` supplies prescribed constant-axis spin; its initial rotation and rate follow `UniformRotationProvider` conventions. This is useful for custom game bodies, without claiming a planetary model.
+
+`BodyFixedTransformProvider` combines a centre `StateProvider` with an orientation provider. Their reference frame identities must match. It constructs `p_body = R * (p_parent - centre)`, including origin velocity/acceleration and all rotational cross terms. `FrameTree.makeBodyFixedFrame` registers this mapping under that common reference frame. The returned frame is not marked pseudo-inertial.
+
+```swift
+let tree = try FrameTree(root: CelestialFrames.vsop87E)
+let spin = try FixedAxisOrientationProvider(
+  referenceFrame: tree.root, axis: SIMD3<Double>(0, 0, 1), rate: 0.001)
+let body = try tree.makeBodyFixedFrame(
+  name: "Earth-centred prescribed spin", centre: earth, orientation: spin,
+  accelerationPolicy: .estimate(step: CelMek.Duration(seconds: 60)))
+let relative = try tree.convert(earth.state(at: .j2000), to: body)
+// Position and velocity are zero, since the queried object is the origin.
+```
+
+The example's axes are prescribed in the VSOP87 ecliptic frame; they do not represent Earth's geographic orientation or ITRF. Real planetary orientations must declare their reference axes and be transformed into the origin provider's frame before combination. The IAU tables and evaluator have been updated and checked against independent CSPICE fixtures; see `IAU_ROTATION_AUDIT.md`. `IAUOrientationProvider` now exposes those orientations in ICRF axes with explicit caller-selected coverage, as described below.
+
+Origin acceleration defaults to `requireProvided`. When it is absent, the query throws `accelerationUnavailable`. Callers may explicitly choose `assumeZero` or `estimate(step:)`; the latter centrally differences velocities at neighbouring epochs using a positive elapsed-second interval. Supplied acceleration always takes precedence. Estimation introduces numerical error and requires coverage at both neighbouring epochs; its interval is caller-selected rather than an accuracy guarantee. Provider errors propagate, and returned epochs and frame identities are validated at every sample. Unknown acceleration in the input state remains unknown after conversion, even if origin acceleration was estimated.
+
+Choose a local body-centred parent where practical when operating on small distances: subtracting large barycentric coordinates still incurs ordinary Double cancellation.
+
+## Supported astronomical frames
+
+`CelestialFrames.makeTree()` registers shared immutable frame identities and fixed edges. Models retain their native frame. Convert on query:
+
+```swift
+let tree = try CelestialFrames.makeTree()
+let state = try earth.state(at: .j2000, in: CelestialFrames.icrf, using: tree)
+```
+
+| Frame | Origin | Axes / connection |
+| --- | --- | --- |
+| `icrf` | Solar-system barycentre | ICRF-aligned equatorial axes; the tree root |
+| `meanEquatorJ2000` | Solar-system barycentre | Mean dynamical equator/equinox J2000 using the IAU 2000 fixed frame-bias angles |
+| `eclipticJ2000` | Solar-system barycentre | Ecliptic/equinox J2000 defined from EME2000 with the IAU 1976 obliquity, 84381.448 arcsec |
+| `fk5J2000` | Solar-system barycentre | FK5 axes frozen at J2000, connected through the fixed Hipparcos/ICRS orientation tie |
+| `vsop87E` | Solar-system barycentre | Native VSOP87E dynamical ecliptic/equinox J2000, connected through its published FK5 matrix |
+| `makeGCRF(earth:)` | Earth's centre | Newtonian geocentric frame with ICRF-aligned axes; caller supplies geocentre motion |
+| `makeGeocentricFrames(earth:).eme2000` | Earth's centre | EME2000 mean equator/equinox J2000, sharing GCRF's moving origin |
+
+The [original VSOP87 description](https://raw.githubusercontent.com/ctdk/vsop87/master/vsop87.txt) publishes its FK5 conversion matrix. A quaternion reconstructed from that rounded matrix preserves orthogonality; reference tests agree within 8e-13 per matrix entry. The native frame is distinct from `eclipticJ2000`.
+
+The fixed frame bias follows the IAU 2000 convention described by [ERFA BP00](https://github.com/liberfa/erfa/blob/master/src/bp00.c). The separate FK5-to-ICRF connection uses the fixed J2000 orientation in [ERFA FK5HIP](https://github.com/liberfa/erfa/blob/master/src/fk5hip.c). This is an approximate frame tie through the Hipparcos realization, without its time-dependent stellar catalogue spin or zonal-error corrections; it does not imply a precision realization of ICRF3. Matrix tests use the independent ERFA reference values.
+
+`meanEquatorJ2000` and `eclipticJ2000` have barycentric origins. `makeGeocentricFrames` creates GCRF and EME2000 with Earth-centred origins, sharing the same translation edge. `makeGCRF` supplies only Newtonian translation, not the full relativistic BCRS/GCRS transformation. Its acceleration policy has the same explicit choices as body-fixed frames.
+
+```swift
+let geocentric = try tree.makeGeocentricFrames(
+  earth: earth, accelerationPolicy: .estimate(step: CelMek.Duration(seconds: 60)))
+let earthCentre = try earth.state(at: .j2000, in: geocentric.eme2000, using: tree)
+// Position and velocity are zero: EME2000 has Earth's moving origin.
+```
+
+`FrameConvertedStateProvider` presents a native provider in a connected destination frame, for composition with origin/orientation providers. It holds the tree weakly to avoid ownership cycles; the caller must retain the tree. A query after tree release throws `frameTreeUnavailable`. `registerFrame(_:provider:)` registers an existing identity under its immutable parent, without reparenting. Re-registering an identity or connecting it before its parent throws.
+
+## IAU orientations in the frame tree
+
+`IAUOrientationProvider` declares ICRF axes directly. [NAIF's frame documentation](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/FORTRAN/req/frames.html) explains that generic text-PCK IAU orientations use ICRF axes despite the SPICE label J2000; that label is not used here to alias EME2000.
+
+```swift
+let start = try Epoch(julianDate: 2451545, scale: .tdb)
+let end = try start.advanced(by: CelMek.Duration(seconds: 86400))
+let orientation = try IAUOrientationProvider(body: "mars", coverage: start...end)
+let marsICRF = try FrameConvertedStateProvider(mars, in: CelestialFrames.icrf, using: tree)
+let marsFixed = try tree.makeBodyFixedFrame(
+  name: "IAU Mars", centre: marsICRF, orientation: orientation,
+  accelerationPolicy: .estimate(step: CelMek.Duration(seconds: 60)))
+let bodyState = try mars.state(at: start, in: marsFixed, using: tree)
+```
+
+Coverage is required and caller-selected; it is not a certified physical-validity interval. Origin acceleration estimation also needs neighbouring ephemeris samples. `availableBodies` lists the existing 73 models. Earth and Moon require `allowLegacyModel: true` to expose the labelled older approximations; this does not provide ITRF or a precision lunar attitude.
+
+The provider converts TDB angular derivatives using both first and second derivatives of the provisional `Epoch` time adapter. Public-provider regression tests use all 511 CSPICE samples, including rotation rate and acceleration; the physical accuracy limits of that time adapter remain documented in <doc:TimeGuide>.
+
+## Earth frames
+
+`makeEarthFrames` adds both IAU 2006/2000A frame chains, using native Swift calculations. The algorithms and coefficient series are adapted
+from [ERFA 2.0.1](https://github.com/liberfa/erfa/tree/v2.0.1); attribution and BSD terms
+are retained in `Sources/ERFASwift/LICENSE.txt`, with a documentation copy at
+`Documentation/licenses/ERFA.txt`. The adapted numerical routines and tables live
+in the internal BSD-licensed `ERFASwift` module; CelMek owns the frame adapters.
+There is no C target or external ERFA runtime dependency. ERFA is used as an external reference for regression fixtures.
+
+| Frame | Parent | Transform |
+| --- | --- | --- |
+| CIRF | GCRF | Bias/precession/nutation and CIO locator |
+| TIRF | CIRF | Earth rotation angle from UT1 |
+| ITRF (caller realization label) | TIRF | Polar motion and terrestrial origin locator s′ |
+| TOD | GCRF | Bias/precession/nutation, true equator/equinox of date |
+| GTOD | TOD | Greenwich apparent sidereal time consistent with the CIO chain |
+
+```swift
+let eop = try ConstantEarthOrientationProvider(
+  ut1MinusTT: CelMek.Duration(seconds: -64.184),
+  polarMotionX: 0, polarMotionY: 0,
+  coverage: start...end, provenance: "Explicit constant approximation")
+let frames = try tree.makeEarthFrames(
+  earth: earth, earthOrientation: eop, terrestrialRealization: "ITRF2020",
+  accelerationPolicy: .estimate(step: CelMek.Duration(seconds: 60)))
+let terrestrial = try earth.state(at: .j2000, in: frames.itrf, using: tree)
+```
+
+The example offset is illustrative, not a current Earth-orientation measurement.
+Samples supply UT1−TT in seconds and polar motion and celestial pole offsets in radians.
+Measured records accept UTC/DUT1 through an explicit leap-second table; see below.
+The constant provider is an explicit approximation and rejects extrapolation.
+
+Angular velocity and acceleration use a five-point matrix stencil in atomic SI
+seconds, with a configurable 60-second default step. Provider coverage must include
+±2 steps around every query, so nominal coverage endpoints cannot be queried with
+that stencil. EOP interpolation discontinuities affect derivatives; choose a smooth
+provider when acceleration matters. No derivative accuracy guarantee is implied
+for arbitrary step sizes or interpolators.
+
+The default uses the theoretical celestial intermediate pole; measured dX/dY can
+correct it. ITRF naming records the caller's
+realization: these rotations do not implement station coordinates, tectonic motion,
+or Helmert ties between realizations. GCRF retains the Newtonian translation limitation
+above. Tests check published ERFA matrices, CIO/equinox route consistency, rotating
+state derivatives and explicit coverage failures.
+
+## Measured Earth orientation
+
+Load a caller-selected snapshot of [USNO finals2000A](https://maia.usno.navy.mil/ser7/readme.finals2000A):
+
+```swift
+let records = try Finals2000A.records(
+  from: fileContents, predictions: .observedOnly,
+  modifiedJulianDays: 60000...60300)
+let eop = try TabulatedEarthOrientationProvider(
+  records: records, leapSeconds: .iersBulletinC72,
+  interpolation: .naturalCubic,
+  maximumGap: CelMek.Duration(seconds: 86401),
+  provenance: "USNO finals2000A, caller snapshot/version")
+// Supply eop to makeEarthFrames and retain its terrestrial realization label.
+```
+
+The parser reads Bulletin A, converts polar arcseconds and pole milliarcseconds to
+radians, validates date/MJD agreement, and records the IAU 2000A pole convention.
+Select predictions explicitly. Empty forecast-tail rows are skipped; incomplete
+selected rows fail with a one-based line number. Errors, LOD and Bulletin B columns
+are not consumed. No network downloads or automatic dataset updates occur.
+
+Tables require at least two strictly increasing records, one pole convention,
+an explicit maximum gap, and leap-second coverage for every record. Coverage is
+exactly the first through last record, with no extrapolation. Interpolation runs
+on atomic seconds after converting DUT1 to UT1−TT, removing leap-second jumps.
+Choose linear or natural cubic interpolation explicitly. Linear rates jump at
+knots; natural cubic has continuous second derivatives inside coverage but may
+overshoot and imposes zero endpoint curvature. Neither policy certifies physical
+accuracy. Frame derivative stencils still need neighbouring covered samples.
+
+`celestialPoleX/Y` mean dX/dY relative to `poleReference` (`iau2006A` by default).
+IAU 2000A offsets are aligned by evaluating that theoretical pole and applying the
+measured offsets before building the IAU 2006 frame. Zero offsets in that convention
+therefore select the IAU 2000A pole. Following the [SOFA cookbook](https://www.iausofa.org/s/sofa_pn_c.pdf),
+the theoretical IAU 2006 CIO locator s is retained. TOD solves for the corresponding
+nutation angles within the P03 equinox convention, and GTOD uses their equation of
+origins, so both routes share the same observed pole and terrestrial axes.
+Invalid poles and failed angle recovery throw rather than silently using theory.
+
+Independent ERFA 2.0.1 fixtures cover both conventions and six epochs; regenerate
+with `Tools/generate_observed_pole_fixtures.py` against an external ERFA library.
+Additional tests check milliarcsecond parsing, prediction policy, cubic interpolation,
+coverage/gap rejection and UT1 continuity during the 2016 leap second.
+
+## Local orbital and spacecraft attitude frames
+
+`makeLocalOrbitalFrame` creates a spacecraft-centred frame from motion in a
+pseudo-inertial parent. An optional `centralBody` state provider defines relative
+position and velocity; omitting it uses the parent origin. For barycentric states,
+supply the intended central body explicitly. Both providers must have the same
+frame identity, and each returned sample must match its requested epoch.
+
+| Axes | X | Y | Z |
+| --- | --- | --- | --- |
+| `rtn` (RSW/QSW) | radial outward | Z × X | orbital normal r × v |
+| `tnw` | velocity | Z × X | orbital normal r × v |
+| `lvlhCCSDS` | Y × Z, transverse | negative orbital normal | nadir, negative radial |
+
+All axes are normalized and right-handed. These definitions follow the explicit
+[Orekit local orbital conventions](https://www.orekit.org/site-orekit-13.1/apidocs/org/orekit/frames/LOFType.html).
+The CCSDS suffix is intentional: other uses of “LVLH” mean the RTN/QSW convention.
+TNW follows velocity rather than the transverse direction on non-circular orbits.
+
+```swift
+let local = try tree.makeLocalOrbitalFrame(
+  name: "Spacecraft RTN", spacecraft: spacecraft, centralBody: earth,
+  axes: .rtn, derivativeStep: CelMek.Duration(seconds: 1),
+  accelerationPolicy: .requireProvided)
+
+let attitude = try LocalOrbitalOrientationProvider(
+  spacecraft: spacecraft, centralBody: earth, axes: .lvlhCCSDS,
+  derivativeStep: CelMek.Duration(seconds: 1),
+  mountingRotation: Quaternion(angle: .pi / 2, axis: SIMD3(1, 0, 0)))
+let body = try tree.makeSpacecraftFrame(
+  name: "Spacecraft body", spacecraft: spacecraft, attitude: attitude)
+```
+
+`makeSpacecraftFrame` also accepts any custom `OrientationProvider`, including a
+prescribed fixed-axis attitude. Its rotation maps reference coordinates into body
+coordinates. The orbital provider's mounting rotation maps orbital coordinates
+into body coordinates and rotates the angular derivatives accordingly. This is a
+prescribed attitude; no control or rigid-body dynamics is implied.
+
+Orbital angular velocity and acceleration use a five-point matrix stencil on atomic
+seconds. The caller must select a positive `derivativeStep` that resolves the motion;
+both state providers need coverage at the epoch and ±1 and ±2 steps. Acceleration
+is not required to calculate orbital axes, but spacecraft-origin translation uses
+the existing explicit `OriginAccelerationPolicy`. Frame rates include the orbital
+rotation; these frames are registered as non-inertial.
+
+Zero relative position, zero relative velocity, and an undefined orbital plane
+throw separate `LocalOrbitalFrameError` cases. A dimensionless `minimumPlaneSine`
+(default 1e-12) rejects nearly parallel position/velocity before normalization.
+The implementation normalizes before taking cross products to avoid overflow from
+SI-scale angular momentum. It neither invents an arbitrary plane nor freezes the
+last valid axes. Invalid configuration, rotating input frames, frame/epoch mismatch,
+and neighbouring-provider coverage errors also fail explicitly.
diff --git a/Sources/CelMek/CelMek.docc/FluidIntegration.md b/Sources/CelMek/CelMek.docc/FluidIntegration.md
new file mode 100644
index 0000000..26f881a
--- /dev/null
+++ b/Sources/CelMek/CelMek.docc/FluidIntegration.md
@@ -0,0 +1,53 @@
+# Fluid loads in coupled dynamics
+
+Use ``FluidWrench`` to connect an aerodynamic or hydrodynamic evaluator to
+``CoupledSpacecraftDynamics``. Its closure receives the current coupled state and
+context at each integration stage. Return force and moment in the attitude's body
+axes, with an explicit moment reference point. The adapter transfers that moment
+to the supplied centre of mass, rotates force into reference axes and returns one
+force/torque contribution with zero propellant consumption.
+
+For a supplied whole-body evaluator `capsule`, atmosphere provider `atmosphere`
+and thermodynamic profile `profile`, an evaluator can follow this pattern:
+
+```swift
+let wrench = try FluidWrench(bodyFrame: bodyFrame) { state, context in
+    let air = try atmosphere.sample(for: state.spacecraft,
+                                    in: context.referenceContext)
+    let p = state.spacecraft.cartesian.position
+    let altitude = hypot(hypot(p.x, p.y), p.z) - atmosphere.referenceRadiusMetres
+    let properties = try profile.properties(at: altitude)
+    let flow = try state.fluidFlow(
+        atmosphere: air, origin: context.referenceContext.origin,
+        properties: properties)
+    return try capsule.evaluate(flow: flow,
+        angularVelocityRadiansPerSecond: state.attitude.angularVelocityBodyRadiansPerSecond)
+}
+let dynamics = try CoupledSpacecraftDynamics(context: context,
+                                            wrenchModels: [wrench])
+```
+
+This example assumes a spherical, body-centred atmosphere and uses its profile's
+radius datum. Sample velocity and properties from a consistent
+atmosphere model. `SphericalBodyAtmosphere` supplies co-rotation in inertial axes;
+the flow helper subtracts this velocity before rotating the difference into body
+axes. It does not add another rotation-induced velocity.
+
+For a segmented wing in a rigidly co-rotating atmosphere, pass the atmospheric
+angular velocity transformed into body axes as
+`mediumAngularVelocityRadiansPerSecond`, alongside the attitude's inertial body
+rate. Alternatively, sample air velocity and properties separately at every strip.
+Whole-body damping rates must follow the chosen coefficient dataset's convention;
+the adapter does not infer that convention or subtract a medium rate automatically.
+
+Load locations and `centreOfMassBodyMetres` share one body-coordinate origin.
+Spacecraft Cartesian position and velocity describe the centre of mass. Do not
+register another drag force or torque model for the same aerodynamic load.
+Closures must be repeatable evaluations: deployment, actuator evolution and
+thermal integration belong to external systems models.
+
+CelMek depends only on FluidDynamics for the shared load/flow contracts. It does
+not depend on Aerodynamics, Hydrodynamics or Yams. Evaluators are injected by the
+consumer and neither evaluator owns a vehicle assembly. Liquid currents use the
+scalar-properties `fluidFlow` overload; atmosphere sampling retains a checked
+convenience overload. All media share one force/moment convention.
diff --git a/Sources/CelMek/CelMek.docc/GAME_INTEGRATION.md b/Sources/CelMek/CelMek.docc/GAME_INTEGRATION.md
new file mode 100644
index 0000000..5f8cf7c
--- /dev/null
+++ b/Sources/CelMek/CelMek.docc/GAME_INTEGRATION.md
@@ -0,0 +1,96 @@
+# Rendering through a moving origin
+
+Keep simulation states in SI `Double` coordinates. `RendererAdapter` captures a
+`CartesianState` origin and a positive number of metres per render unit. It
+subtracts positions and derivatives in `Double`, scales them, and only then
+converts to `Float`. This preserves nearby detail at solar-system distances;
+precision still depends on the resulting relative distance and render scale.
+Detail already lost in the input `Double` values cannot be recovered.
+
+```swift
+let origin = try spacecraft.state(at: clock.epoch)
+let planet = try planetProvider.state(at: clock.epoch)
+// First use tree.convert(planet, to: origin.frame) if frames differ.
+let renderer = try RendererAdapter(origin: origin, metresPerRenderUnit: 1e9)
+let rendered = try renderer.adapt(planet)
+// Pass rendered.position to the renderer; spacecraft is at zero.
+```
+
+Both states must have the same epoch and identical frame object. Use the frame
+system for orientation and physical centre conversion before adapting. The
+adapter preserves the frame's right-handed axes and translates a moving origin;
+it does not rotate axes. Rebuild it at each new epoch or origin change, and use
+that snapshot for all objects in a rendered scene. Historical orbit samples
+require an explicit choice of origin at each sample epoch; stale origins are
+rejected.
+
+Velocity is relative to the origin, in render units per simulation second.
+Acceleration is relative only when both states provide it; otherwise it is nil.
+Neither derivative incorporates playback warp. These render values do not carry
+frame or epoch metadata and must remain presentation data, rather than inputs to
+physical propagation. Scale errors and nonfinite differences, scaling results,
+or Float overflow throw; small values may round or underflow to zero.
+
+The [Voyager example](https://github.com/lorrden/swift-celmek/blob/master/Examples/Voyager2GameDemo/README.md) exports five planet
+positions per playback snapshot using the spacecraft as a moving origin and
+one billion metres per render unit. No graphics framework is required.
+
+## Cache invalidation
+
+Cache validity follows the entire configuration that produced a result. There is
+no automatic detection of dependency edits. Treat configured providers and assets
+as immutable snapshots; replace a snapshot when changing its configuration.
+`CachedEphemerisProvider` supplies exact-epoch native-state caching, with private
+scopes that separate wrappers even when metadata looks identical. See
+<doc:EPHEMERIDES#Batch-queries-and-explicit-caches>.
+
+| Change | Required action |
+| --- | --- |
+| Initial state, central mass, force model, burn schedule, attitude inputs or solver options | Construct the new propagator/planner and discard predictions, sampled paths and mission plans derived from the old inputs. |
+| Provider selection, frame, physical origin, coverage, time model or requested accuracy | Build a new configured provider and a new cache wrapper. Rebuild dependent frame providers and derived buffers. A lower accuracy hint may still return higher fidelity; a changed hint is still a configuration change. |
+| Mutable dependency updated while provider metadata remains fixed | Serialize the update with provider evaluation, call `cached.invalidate()`, and discard downstream results. Every affected wrapper needs invalidation. |
+| SPICE load, unload, replacement or clear | Obtain a new kernel snapshot and rebuild affected providers. Namespace external snapshot caches by `cacheScope` plus provider configuration. Existing providers retain their old snapshot; a kernel-set mutation does not update them. |
+| DE441 or SPICE binary asset replacement | Open a new reader/provider for the new immutable asset, wrap it anew and rebuild dependents. Do not modify an asset in place while a reader is alive. |
+| Frame-tree bindings, orientation, centre providers or leap-second/time-conversion inputs | Rebuild affected configured components. Discard converted states and samples; invalidate native states only if their evaluation uses the changed dependency. |
+| Playback epoch, pause, rate or seek | Query the new exact epoch and update presentation. Unchanged native providers can keep their cached states. Discard pending predictions selected under the old playback request. |
+| Render origin, axes or metres per render unit | Rebuild the render snapshot and rendered buffers. Native SI states remain usable when their physical configuration is unchanged. |
+
+`TrajectorySampler`, `SimulationClock`, `RendererAdapter` and frame-tree queries
+introduce no internal result caches. Application-owned path arrays, search results,
+converted states and GPU buffers still need explicit replacement. A native state
+cache cannot invalidate these downstream products for the application.
+
+For an atomic scene change, stage the replacement configuration first, then publish
+it together with a new application-owned revision token. Tag asynchronous jobs with
+that token and accept their output only if it matches the current revision. An
+opaque `EphemerisCacheScope()` can serve as an in-process token. Do not reuse it for
+a different configuration or serialize it as a durable version. Stop or synchronize
+old evaluations before mutating a shared dependency; a token check alone does not
+make a mutable provider safe to read concurrently.
+
+`cached.invalidate()` rotates its generation before removing old entries. A query
+already in flight can return an old result, but cannot repopulate the old generation
+after invalidation. Discard that result at the scene revision boundary. If custom
+storage cleanup throws, the new generation still applies; handle the error and
+release the stale storage separately. Clearing `MemoryEphemerisCache.removeAll()`
+only releases storage and does not rotate wrapper generations, so it is not a
+substitute for invalidation during a dependency update.
+
+DE441's `clearRecordCache()` evicts decoded records from its current reader and
+preserves cumulative statistics. It does not reload headers or establish a new data
+version. For replacement wrappers sharing bounded memory storage, old entries can
+remain until eviction; retain and invalidate the old wrappers when prompt release
+is required, or clear the scene's shared storage after old jobs finish. Independent
+scenes should generally use separate storage when their lifetimes differ.
+
+Representative release workloads and measured tradeoffs are documented in
+<doc:GAME_PERFORMANCE>.
+
+For component synchronization, frame/asset lifetimes and actor isolation, see
+<doc:THREAD_SAFETY>.
+
+For repeatability assumptions, platform limits and replay/comparison policy, see
+<doc:REPRODUCIBILITY>.
+
+Versioned saved states and reconstruction policy are documented in
+<doc:SERIALIZATION>.
diff --git a/Sources/CelMek/CelMek.docc/GAME_PERFORMANCE.md b/Sources/CelMek/CelMek.docc/GAME_PERFORMANCE.md
new file mode 100644
index 0000000..11f7e91
--- /dev/null
+++ b/Sources/CelMek/CelMek.docc/GAME_PERFORMANCE.md
@@ -0,0 +1,107 @@
+# Game integration performance
+
+Run the public-API benchmark with an optimized build:
+
+```sh
+swift run -c release GameIntegrationBenchmark > game-benchmark.json
+```
+
+The executable requires no DE441 or SPICE assets. It emits JSON with operating
+system, architecture, logical processor count, setup costs, fidelity comparisons,
+seven timing samples summarized as minimum/median/maximum, and a consumed checksum.
+Run on an otherwise quiet target device and retain the Swift version alongside the
+report. Rerun after compiler, hardware, model or configuration changes. Timings are
+observations, not API promises or pass/fail thresholds.
+
+Ephemeris workloads evaluate all nine built-in VSOP87E bodies at 64 equally spaced
+epochs from J2000 through 365.25 TT days, using the same full Fairhead TDB conversion
+for every accuracy hint. Modes are prepared separately for this coverage and queried
+in low/balanced/high/full order. Each workload warms once, then runs seven sequential
+batches using monotonic uptime. Query timings exclude model preparation. Accuracy
+rows report total retained terms and the largest sampled Euclidean position/velocity
+differences across bodies against full VSOP87E. Zero difference in full mode means
+self-comparison, not zero physical error. Differences and retained terms depend on
+coverage; this one-year sample does not bound arbitrary dates.
+
+Cache-miss batches invalidate before timing; cache-hit batches reuse all 64 exact
+Earth epochs in a 128-entry shared memory cache. Both include batch-array allocation.
+The two-body workload evaluates a 7000 km circular Newtonian Earth orbit at 256 epochs
+one minute apart. The orbit-sampling workload adds the sampler's validation and array
+construction. Frame conversion uses precomputed low-mode Earth states and the
+standard VSOP-to-ICRF frame tree. Renderer timing adapts 1024 prebuilt positions around
+a common moving origin at 1e6 metres per render unit. Setup, provider queries and GPU
+work are excluded from those conversion workloads. Reported cost is per state/sample,
+not per entire batch.
+
+For broader model truncation comparisons, see the existing
+<doc:VSOP87_ACCURACY_CHARACTERIZATION>, including
+per-body sampled differences and coefficient bounds. Those timings used a different
+run and configuration and should not be compared directly with this report.
+
+## Practical tradeoffs
+
+Choose fidelity from the model's documented errors and the game's positional needs,
+then measure the actual target platform. Full evaluation preserves all implemented
+terms but still carries the model's intrinsic physical limitations. Reduced modes
+save coefficient work; the shared time conversion and state construction cost remains.
+The aggregate nine-body maximum may be dominated by a different body in each mode.
+
+Cache repeated exact epochs when useful, especially when several subsystems query
+one playback instant. Continuously changing epochs generally miss; caching does not
+provide interpolation. A shared cache also has capacity and synchronization costs.
+Orbit samples are independent queries, so path resolution directly changes workload;
+reuse sampled buffers until their inputs change under the
+<doc:GAME_INTEGRATION#Cache-invalidation>.
+
+Keep native states in Double and convert at the render boundary. Frame and renderer
+benchmarks measure CPU conversion only, not draw calls, uploads or application
+scheduling. They cannot establish a frame budget for a complete game.
+
+These workloads do not measure numerical force integration, attitude dynamics,
+Lambert searches, gravity-assist planning, file-backed kernels, cold filesystem IO,
+concurrent contention or end-to-end scene loading. Benchmark those separately with
+representative asset and mission configurations before extrapolating these results.
+No wall-clock assertions are added to the correctness test suite.
+
+## Measured baseline
+
+Recorded 2026-10-13 on this host: arm64, eight logical processors,
+macOS version 27.0.1 (build 26A434), Apple Swift 6.4
+(swiftlang-6.4.0.34.1). The optimized binary was linked successfully; the sandbox
+blocked the subsequent dSYM generation, so this run invoked the linked release
+binary directly. Raw results are in `GAME_PERFORMANCE.json`.
+The hardware CPU model was unavailable in the sandbox. No claim is made that this
+host represents a supported target platform.
+
+| Workload | Median µs per state | Min–max µs per state |
+| --- | ---: | ---: |
+| nine-body VSOP87E low | 10.338 | 10.205–10.385 |
+| nine-body VSOP87E balanced | 27.361 | 26.608–29.612 |
+| nine-body VSOP87E high | 46.300 | 45.840–46.624 |
+| nine-body VSOP87E full | 83.241 | 82.897–89.386 |
+| Earth low cache miss | 11.254 | 11.189–11.366 |
+| Earth low cache hit | 0.550 | 0.546–0.553 |
+| two-body state | 0.271 | 0.271–0.272 |
+| 256-point orbit sampling | 0.299 | 0.298–0.300 |
+| VSOP axes to ICRF conversion | 1.500 | 1.458–1.558 |
+| moving-origin Float adapter | 0.010 | 0.010–0.010 |
+
+| VSOP hint | Total retained/full terms | Sampled max position difference, km | Sampled max velocity difference, m/s | Nine-provider setup, ms |
+| --- | ---: | ---: | ---: | ---: |
+| low | 2558/51823 | 1524.49 | 1.90078 | 3.217 |
+| balanced | 13758/51823 | 41.4018 | 0.0787766 | 0.996 |
+| high | 26773/51823 | 0.355955 | 0.000643356 | 0.906 |
+| full | 51823/51823 | 0 | 0 | 0.714 |
+
+In this run, low-mode native queries were about eight times faster than full-mode
+queries, while their largest sampled position difference was about 1524 km. High
+mode reduced that difference to about 356 metres while costing roughly half of full
+evaluation. These are sampled cross-body maxima, not universal accuracy guarantees.
+The exact-epoch cache substantially reduced repeated-query cost, while misses added
+storage overhead. Setup measurements are single observations in a fixed order and
+include first-use effects; do not interpret their ordering as a mode speed ranking.
+The renderer workload lasts only microseconds per batch and is especially sensitive
+to timer overhead and optimizer effects; use it as a small-operation baseline.
+
+For repeatability assumptions, platform limits and replay/comparison policy, see
+<doc:REPRODUCIBILITY>.
diff --git a/Sources/CelMek/CelMek.docc/NUTATION_ACCURACY.md b/Sources/CelMek/CelMek.docc/NUTATION_ACCURACY.md
new file mode 100644
index 0000000..12b7680
--- /dev/null
+++ b/Sources/CelMek/CelMek.docc/NUTATION_ACCURACY.md
@@ -0,0 +1,37 @@
+# Fast nutation accuracy
+
+`fastNutation(jd:)` is the existing four-term approximation with all trigonometric arguments converted to radians. `nutation(jd:)` evaluates the existing 63-term coefficient table. Both return longitude and obliquity corrections in radians.
+
+## Measured differences
+
+On 2026-10-11, the corrected fast functions were compared with the full functions at 73,414 epochs, one Julian day apart, from JD 2415020.5 through JD 2488433.5 inclusive (calendar dates 1900-01-01 through 2100-12-31). Both models receive exactly the same JD; this comparison does not test time-scale conversion.
+
+| Quantity | Maximum absolute difference (arcseconds) | RMS difference (arcseconds) | JD of sampled maximum |
+| --- | ---: | ---: | ---: |
+| Nutation in longitude | 0.330237 | 0.114803 | 2481630.5 |
+| Nutation in obliquity | 0.088571 | 0.026546 | 2465910.5 |
+| True obliquity, fast versus full | 0.092367 | 0.026771 | 2418793.5 |
+
+True obliquity compares `fastTrueObliquityOfTheEcliptic` with `trueObliquityOfTheEcliptic`, so its difference includes both the mean-obliquity polynomial choice and the nutation approximation.
+
+These are empirical differences on a daily grid. They do not bound intermediate epochs, epochs outside the sampled interval, or error relative to observed orientation or a modern reference model. The full coefficient table remains subject to the independent model validation listed in the roadmap.
+
+## Regression budgets and reproduction
+
+[FastNutationAccuracyTests](https://github.com/lorrden/swift-celmek/blob/master/Tests/CelMekTests/FastNutationAccuracyTests.swift) repeats the daily sweep, measures maxima and RMS, and checks these budgets:
+
+| Quantity | Maximum budget (arcseconds) | RMS budget (arcseconds) |
+| --- | ---: | ---: |
+| Nutation in longitude | 0.35 | 0.12 |
+| Nutation in obliquity | 0.10 | 0.03 |
+| True obliquity | 0.10 | 0.03 |
+
+Separate fractional-epoch cases check points away from the daily grid. The existing Meeus example at JD 2446895.5 now uses approximation tolerances stated in arcseconds; the original tolerance was approximately two arcseconds and could hide the degree/radian defect.
+
+Run the characterization tests with a Swift 6+ toolchain:
+
+```sh
+swift test --filter FastNutationAccuracyTests
+```
+
+Use the fast function when these measured differences fit the application's needs, and the full function when a tighter approximation is needed. The shared accuracy policy and independent astronomical reference validation remain future work.
diff --git a/Sources/CelMek/CelMek.docc/ORBITAL_MECHANICS.md b/Sources/CelMek/CelMek.docc/ORBITAL_MECHANICS.md
new file mode 100644
index 0000000..b0605ba
--- /dev/null
+++ b/Sources/CelMek/CelMek.docc/ORBITAL_MECHANICS.md
@@ -0,0 +1,1795 @@
+# Orbital mechanics
+
+## Kepler equations
+
+`KeplerSolver.elliptic(meanAnomaly:eccentricity:options:)` solves
+`M = E - e sin(E)` for `0 <= e < 1`. Anomalies are radians. The result
+preserves the input mean anomaly's revolution offset, including negative
+anomalies. At very large magnitudes, a `Double` cannot preserve small orbital
+phase changes; use a separately tracked revolution count when that matters.
+
+`KeplerSolver.hyperbolic(meanAnomaly:eccentricity:options:)` solves
+`M = e sinh(H) - H` for `e > 1`. Hyperbolic mean anomaly is dimensionless and
+is not reduced modulo a revolution. Eccentricity exactly one is rejected:
+parabolic motion requires a different equation and time parameterization.
+
+```swift
+let options = try KeplerSolverOptions(
+    absoluteTolerance: 1e-13,
+    relativeTolerance: 1e-14,
+    maximumIterations: 128)
+let solution = try KeplerSolver.elliptic(
+    meanAnomaly: 0.1, eccentricity: 0.9, options: options)
+let eccentricAnomaly = solution.anomaly
+```
+
+Both solvers use a monotonic root bracket and safeguarded Newton steps, with
+bisection when Newton would make insufficient bracket progress. Small-anomaly
+series avoid subtracting nearly equal values near eccentricity one. This
+approach follows the combination of Newton iteration and bisection described
+by [JPL's KPSOLV documentation](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/FORTRAN/spicelib/kpsolv.html);
+this library implements the scalar equations directly in Swift.
+
+Options specify absolute and relative **anomaly** tolerances, rather than a
+residual tolerance that can hide large root errors near a flat derivative.
+A bracket half-width within `absoluteTolerance + relativeTolerance * |anomaly|`,
+an exactly zero computed residual, or adjacent representable bracket values
+ends iteration. Floating-point rounding limits attainable accuracy; these
+settings are not formal interval-arithmetic error guarantees.
+`KeplerSolution.iterations` reports the iteration count (zero for an exact
+endpoint or the circular special case).
+
+`KeplerSolverError` distinguishes invalid eccentricity, nonfinite mean anomaly,
+invalid options, arithmetic range limits, and exhausted iterations. Exhaustion
+includes the final positive-anomaly bracket and iteration count; for negative
+mean anomalies, negate and reverse the bracket to interpret the signed root.
+Extreme hyperbolic inputs may overflow intermediate values even if the
+mathematical root is finite; the solver reports `numericalRangeExceeded`.
+
+Tests include circular and near-parabolic eccentricities, signed anomalies,
+multiple elliptic revolutions, invalid inputs, and iteration exhaustion.
+Independent reference cases use 80-digit Decimal arithmetic and bisection;
+regenerate them with `python3 Tools/generate_kepler_fixtures.py`.
+
+## Cartesian states and osculating elements
+
+`OsculatingOrbitalElements` carries epoch, frame, central-body identity and the
+full sourced `GravitationalParameter`, including its coordinate-time convention.
+It represents the instantaneous two-body conic associated with a position and
+velocity, rather than the legacy Meeus `PlanetaryOrbitalElements` mean series.
+
+Supply a state already relative to the central body, in right-handed,
+pseudo-inertial axes centred on that body. The caller must choose a GM
+compatible with the state's coordinate-time convention. Frame metadata cannot
+verify the body's identity or time scaling; the converter checks the
+`pseudoInertial` flag and does not infer an origin or transform rotating states.
+Use the frame system to convert states before extracting elements.
+
+```swift
+let elements = try OsculatingOrbitalElements(
+    state: centralBodyRelativeState,
+    centralBody: .earth,
+    gravitationalParameter: earthGM)
+let reconstructed = try elements.cartesianState()
+```
+
+The six geometric fields are semi-latus rectum `p` in metres, eccentricity `e`,
+inclination `i`, ascending-node longitude `Omega`, periapsis argument `omega`,
+and true anomaly `nu`. Angles are radians. Node/periapsis angles are normalized
+to `[0, 2pi)` and true anomaly to `[-pi, pi]`. `p = h² / mu` avoids dividing
+by `1 - e²` during conversion and supports all three conics. The classical
+state-vector geometry is described in
+[NASA/TM-2004-213230, Appendix A](https://ntrs.nasa.gov/api/citations/20040084254/downloads/20040084254.pdf).
+`semiMajorAxisMetres` is derived, negative for hyperbolas, and nil for an exact
+parabola; near eccentricity one its value is ill-conditioned and may overflow.
+Use `p` and `periapsisDistanceMetres` for more stable size information.
+
+The direct element initializer supports elliptical, exactly parabolic, and
+hyperbolic cases. It rejects anomalies with `1 + e cos(nu) <= 0`, outside the
+finite physical branch. Conversion back uses perifocal position/velocity and
+an explicit right-handed rotation. It preserves epoch and frame and supplies
+no acceleration: osculating elements alone do not assert the actual forces.
+
+`angleConvention` makes singularities explicit:
+
+- Classical: all three orientation angles have their usual meanings.
+- Circular inclined: periapsis argument is zero; true anomaly holds argument of latitude.
+- Eccentric equatorial: node is zero; periapsis is measured from +X along orbital motion.
+- Circular equatorial: node and periapsis are zero; true anomaly holds longitude along orbital motion.
+
+For equatorial retrograde motion, angles along orbital motion run clockwise
+when viewed from +Z. The inclination remains pi, retaining handedness.
+The direct initializer canonicalizes exact singularities while preserving
+combined phase. State extraction defaults to circular eccentricity and
+absolute sine-inclination thresholds of `1e-12`. Values inside these thresholds
+are snapped to circular/equatorial geometry; reconstruction is therefore
+slightly approximate. `OrbitalElementConversionOptions` exposes both thresholds,
+including zero to disable tolerance-based snapping. This does not recover
+angles that floating-point precision cannot resolve.
+
+`OrbitalElementsError` reports invalid elements/options, noninertial axes,
+zero position, radial/zero-velocity trajectories, arithmetic range limits,
+and unreachable conic anomalies. Radial trajectories do not define an orbital
+plane and require a different representation. Very small nonzero angular
+momentum and near-asymptote states can remain poorly conditioned; a successful
+conversion does not guarantee well-determined classical angles. Conic type
+uses the computed eccentricity without snapping to one, so roundoff can place
+an extracted exact parabolic state slightly on either side of unity.
+
+Tests include an independently derived polar state, prograde/retrograde
+circular Cartesian fixtures, and a reconstruction grid across inclined,
+equatorial, circular, nearly parabolic, parabolic and hyperbolic states.
+
+## Dynamical anomalies and conic boundaries
+
+`ConicAnomaly` distinguishes `.eccentric(E)`, `.hyperbolic(H)` and `.barker(D)`.
+Convert from a true anomaly with `ConicAnomaly.from(trueAnomaly:eccentricity:)`
+or obtain it from `elements.conicAnomaly()`. The tagged value's
+`trueAnomaly(eccentricity:)` and `meanAnomaly(eccentricity:)` methods reject a
+conic/eccentricity mismatch and nonfinite parameters.
+
+`ConicAnomaly.from(meanAnomaly:eccentricity:options:)` uses the bounded Kepler
+solvers for elliptic and hyperbolic cases. At exactly `e == 1`, its input is
+Barker's `B = D + D³/3`, where `D = tan(nu/2)`, and it uses a closed-form
+inverse. These conventions match the parabolic time-of-flight equation in
+[JPL's PARTOF documentation](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/FORTRAN/spicelib/partof.html).
+Barker B is dimensionless; it is not interchangeable with either conic's M.
+Solver options apply to E/H iteration; the closed-form Barker inverse does not
+iterate. Near zero it uses the linear limit to retain subnormal inputs.
+
+True-anomaly conversion yields a principal phase. Elliptic anomalies supplied
+through the mean-anomaly solver retain revolution offsets, and converting
+those E values back to M retains those offsets. Converting to true anomaly
+necessarily removes them. For circular states, E/M follow the canonical phase
+convention described above rather than an undefined physical periapsis.
+
+Mean anomaly evaluation uses cancellation-resistant series near E/H zero.
+True-anomaly conversions use half angles and separate square roots of `1-e`
+and `1+e`, without snapping a near-parabolic eccentricity to one. As e approaches
+one, the mapping from E/H to true anomaly becomes very sensitive: a tolerance
+on E/H does not guarantee the same tolerance on true anomaly. Choose tighter
+solver options when resolving this phase is necessary. Future propagation
+will use a common formulation instead of switching between ill-conditioned
+classical time parameters near unity.
+
+The finite parabolic branch requires `|nu| < pi`; a hyperbola requires
+`|nu| < acos(-1/e)`. Boundaries and angles beyond them are rejected explicitly.
+For extremely large D/H, converting to a `Double` true anomaly can round to
+an asymptote and is also rejected. Near the boundary, state reconstruction
+uses half-angle expressions for radius and transverse velocity to retain
+small terms that `1 + e*cos(nu)` or `e + cos(nu)` can lose. These formulas
+improve numerical conditioning but do not recover precision lost in an input
+angle already rounded to the boundary.
+
+## Two-body propagation
+
+`Propagator` extends `StateProvider` with `referenceEpoch` and `centralBody`.
+`TwoBodyPropagator` takes a `CartesianState`, explicit central-body identity,
+sourced GM and validated `TwoBodyPropagationOptions`. It solves Newtonian
+point-mass motion directly in Cartesian coordinates using scaled universal
+variables, Stumpff functions and Lagrange f/g coefficients. This common
+formulation supports circular, elliptic, parabolic and hyperbolic motion
+without a conic-specific switch near eccentricity one. See the universal
+variable approach described by
+[JPL's PROP2B documentation](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/FORTRAN/spicelib/prop2b.html)
+and [Wisdom and Hernandez (2015)](https://arxiv.org/abs/1508.02699).
+The implementation here uses its own Swift Stumpff evaluation and a
+safeguarded Newton/bisection solver, rather than the latter paper's algorithm.
+
+```swift
+let orbit = try TwoBodyPropagator(
+    initialState: centralBodyRelativeState,
+    centralBody: .earth, gravitationalParameter: earthNewtonianGM)
+let future = try initialState.epoch.advanced(by: Duration(seconds: 600))
+let predicted = try orbit.state(at: future)
+let diagnostics = try orbit.propagation(at: future)
+```
+
+The initial position and velocity must already be relative to the central body
+in a pseudo-inertial frame centred on it. They define a massless test-body
+trajectory under `acceleration = -mu*r/|r|³`; incoming acceleration is not an
+initial condition. Every result supplies the model acceleration, including at
+the reference epoch. The central body's motion belongs in the frame tree.
+No planetary perturbations, surface impacts or finite thrust are included.
+
+Elapsed time and returned derivatives use continuous atomic/TT seconds.
+GM must be `.newtonian` or `.ttCompatible`. A `.tdbCompatible` or
+`.tcbCompatible` catalogue entry is rejected, because using it with atomic
+elapsed time would silently mix coordinate-time conventions. A game may
+explicitly define its own Newtonian GM with provenance; the propagator does
+not relabel a catalogue value or infer a relativistic scale conversion.
+
+Every query starts from the immutable initial state, so pause, time warp,
+reverse time, and query order have no persistent effects. Elliptic queries
+reduce elapsed time by the model period before solving, avoiding enormous
+trigonometric arguments after many revolutions; the result retains the
+requested absolute epoch. Converting a very large split duration to the
+solver's `Double` time argument can still lose fractional phase precision.
+No coverage interval is imposed, but arithmetic or convergence can fail for
+extreme queries. An ephemeris adapter can impose an application coverage policy.
+
+Options expose absolute time-equation residual tolerance (seconds), relative
+residual tolerance, maximum root iterations and maximum bracket expansions.
+These are numerical solver controls, not physical error guarantees. Near-zero
+Stumpff functions use series; other arguments use trigonometric/hyperbolic
+forms with a half-angle C expression. The root is bracketed with bounded
+expansion and Newton steps are accepted only when they contract the bracket.
+Iteration ends when the residual is within tolerance or the bracket reaches
+adjacent representable numbers. `propagation(at:)` returns the state and
+iteration/expansion counts.
+
+`PropagationError` reports invalid options, incompatible GM convention,
+noninertial frame, zero position, radial trajectory, arithmetic range limits,
+bracketing failure and iteration exhaustion. Radial motion is excluded to
+avoid propagation through a point-mass collision. Very small angular momentum,
+extreme energy and long unbound flight can be ill-conditioned even before an
+arithmetic limit is reached. Physical-model fidelity depends on the chosen GM
+and the validity of the two-body approximation independently of solver tolerance.
+
+## Impulsive maneuvers
+
+`ImpulsiveManeuver` specifies epoch, frame identity and finite delta-v in m/s.
+`ManeuveredTwoBodyPropagator` builds immutable coast segments from a base
+`TwoBodyPropagator`, sorting burns by epoch. Burns before the reference epoch
+and duplicate burn epochs are rejected. Combine simultaneous delta-v vectors
+in one explicit frame before construction if that is the intended operation.
+
+```swift
+let burn = try ImpulsiveManeuver(
+    epoch: future, frame: orbit.frame,
+    deltaVelocityMetresPerSecond: SIMD3(0, 20, 0))
+let trajectory = try ManeuveredTwoBodyPropagator(base: orbit, maneuvers: [burn])
+let before = try trajectory.state(at: future, side: .before)
+let after = try trajectory.state(at: future) // Post-burn at the exact epoch.
+```
+
+With a different burn frame, pass `using: frameTree`. Delta-v is a free vector:
+only the rotation from burn axes to propagation axes is applied. Frame origin
+translations, origin velocities and angular-rate terms do not apply to an
+instantaneous velocity *difference at the same position*. Position is
+continuous, velocity changes by the resolved delta-v, and acceleration remains
+the central-gravity value on each side. Impulses are prescribed changes;
+spacecraft mass, thrust duration and propellant are not inferred.
+
+Frame transforms are evaluated at burn epochs during construction, and
+`resolvedManeuvers` exposes the rotated vectors plus pre/post-burn states.
+The frame tree is not retained. If source frame providers or the burn plan
+change, construct a new trajectory. Any spacecraft-relative frame supplied by
+a caller must describe the intended pre-burn trajectory, including earlier
+burns; construction does not retarget arbitrary frame providers automatically.
+At a burn epoch the trajectory is right-continuous by default; `.before` selects
+the preceding segment. Queries earlier than the initial epoch follow the
+unmodified base orbit. Queries in any order select the same fixed segment.
+
+## Sampling and the game integration checkpoint
+
+`TrajectorySampler.sample(_:at:in:using:maximumSamples:)` samples any
+`StateProvider`, preserving epoch order and duplicates. A uniform overload
+accepts `from:through:step:`: a positive step works in either time direction,
+both endpoints are included, and the final interval may be shorter. Fractional
+steps are anchored to the start epoch to avoid accumulated schedule drift.
+Schedules are bounded (default 100,000 samples) and validated before querying.
+A step below the epoch representation's resolution is rejected if it cannot
+advance the schedule. Provider/frame errors propagate without a partial result.
+
+```swift
+let points = try TrajectorySampler.sample(
+    trajectory, from: initialState.epoch, through: future,
+    step: Duration(seconds: 10),
+    in: bodyFixedFrame, using: frameTree)
+```
+
+Each result carries its exact requested epoch, SI state and destination frame.
+Provider epoch/frame contracts are checked before conversion. Sampling does not
+interpolate, integrate incrementally, or round epochs. To display velocities
+on each side of an impulse, query its two sides explicitly; a uniform schedule
+does not automatically insert burn epochs. Rendering interpolation and `Float`
+conversion belong at the application boundary.
+
+Run the complete checkpoint with:
+
+```sh
+swift run --disable-sandbox TwoBodyGameDemo
+```
+
+[Examples/TwoBodyGameDemo/main.swift](https://github.com/lorrden/swift-celmek/blob/master/Examples/TwoBodyGameDemo/main.swift) queries
+VSOP87 Earth, creates an Earth-centred inertial frame, propagates a spacecraft,
+applies a scheduled impulse, and emits JSON samples in a prescribed rotating
+Earth frame. The spin is a game model rather than observed Earth orientation.
+The explicit `.assumeZero` origin-acceleration policy is used because VSOP87's
+state provider supplies velocity but no acceleration. This affects transformed
+accelerations, not the propagated Earth-relative coast solution.
+
+Validation includes independent 80-digit Decimal conic-reference fixtures
+(regenerate with `python3 Tools/generate_two_body_fixtures.py`), a non-periapsis
+analytic ellipse, two-body energy/angular-momentum conservation, forward/backward
+recovery, multiple revolutions, maneuver discontinuities and rotating-frame
+burn vectors. The end-to-end test queries an ephemeris-driven Earth alongside
+a spacecraft under pause/time warp and verifies rotating-frame conversion.
+
+## Hohmann transfers
+
+`HohmannTransfer` calculates an impulsive Newtonian transfer between two coplanar
+circular orbits around the same central body. Supply centre-relative radii in
+metres and a sourced Newtonian or TT-compatible GM. Surface altitudes must be
+converted to radii by the caller. The result exposes transfer semi-major axis,
+eccentricity, circular endpoint speeds, signed departure/arrival delta-v, total
+absolute delta-v and the half-ellipse flight duration in atomic seconds.
+
+Delta-v is signed along **local orbital motion**: both burns are positive for an
+outward transfer and negative for an inward transfer. At arrival the spacecraft
+is on the opposite side of the central body, so its tangential axes are reversed
+relative to departure. Equal radii yield zero burns and a half-period circular
+coast, rather than a zero-duration plan.
+
+```swift
+import CelMek
+import Math
+
+let gm = try GravitationalParameter(
+    cubicMetresPerSecondSquared: 3.986004418e14,
+    convention: .newtonian,
+    provenance: PhysicalDataProvenance(source: "Application Earth GM", version: "1"))
+let transfer = try HohmannTransfer(
+    departureRadiusMetres: 7_000_000,
+    arrivalRadiusMetres: 42_164_000,
+    gravitationalParameter: gm)
+let frame = Frame(name: "Earth-centred inertial", pseudoInertial: true)
+let plan = try transfer.plan(
+    departureEpoch: .j2000, frame: frame, centralBody: .earth,
+    radialDirection: SIMD3(1, 0, 0),
+    progradeDirection: SIMD3(0, 1, 0))
+let arrival = try plan.trajectory.state(at: plan.arrivalEpoch)
+```
+
+`plan` normalizes the supplied finite, nonzero radial and prograde directions and
+requires perpendicularity within 1e-12 in their unit-vector dot product. They
+define the departure position, orbital plane and sense of motion; no global XY
+plane or particular spin direction is assumed. The frame must be pseudo-inertial
+and actually centred on the supplied central body. The planner cannot establish
+that physical origin from a frame name. It builds an initial circular state, two
+`ImpulsiveManeuver`s and a `ManeuveredTwoBodyPropagator`; query `.before` to inspect
+pre-burn states, or use the existing sampler for rendering and prediction.
+The trajectory continues on the departure orbit before the first burn and on
+the destination orbit after the second. Queries at burn epochs return post-burn
+states by default, following the existing maneuver API.
+
+This computes arrival at an **orbit**, not rendezvous with a particular target.
+Target phase, launch windows, plane changes, finite burns, obstacles/body surface
+clearance and perturbations are separate constraints. It makes no claim of
+minimum delta-v across other transfer families. Invalid radii, directions,
+incompatible GM conventions, non-inertial frames and unrepresentable numerical
+ranges fail explicitly; propagation/epoch errors retain their existing types.
+Scaled radius ratios and rationalized speed differences preserve small changes
+near equal radii. The executable plan remains subject to the two-body propagator's
+numerical range and tolerances.
+
+Verification uses independent 80-digit Decimal energy/vis-viva and Kepler-period
+calculations (`Tools/generate_hohmann_fixtures.py`,
+`Tests/CelMekTests/Fixtures/hohmann-reference.json`). Cases include inward/outward,
+equal and nearly equal radii and a large radius ratio. Propagation tests exercise
+an inclined plane, reversed sense of motion, both burn sides, arrival
+circularization, later radius conservation and sampling/query-order independence.
+For the classical transfer geometry and half-ellipse interpretation, see
+[NASA/JPL's orbital mechanics chapter](https://spsweb.fltops.jpl.nasa.gov/portaldataops/mpg/MPG_Docs/MPG%20Book/Release/Chapter7-OrbitalMechanics.pdf)
+and [JPL's launch-window exercise](https://www.jpl.nasa.gov/edu/resources/lesson-plan/lets-go-to-mars-calculating-launch-windows/).
+
+## Ideal brachistochrone planning
+
+`IdealBrachistochroneTrajectory` plans minimum-time Newtonian motion between
+stationary endpoints in one inertial frame, with an explicit positive maximum
+acceleration magnitude. It accelerates along the straight-line displacement at
+that limit, then reverses acceleration at the midpoint to stop at the destination.
+The model treats both endpoint velocities as zero in the supplied frame.
+
+For distance `d` and acceleration bound `a`, the half-duration is `sqrt(d/a)`,
+total duration is `2*sqrt(d/a)`, peak speed is `sqrt(a*d)` and integrated
+acceleration magnitude (total delta-v) is twice the peak speed. These quantities
+use metres and atomic SI seconds. The minimum-time claim applies to these
+rest-to-rest, gravity-free assumptions with an instantaneous acceleration reversal;
+it does not optimize a gravity-driven spacecraft trajectory.
+
+```swift
+import CelMek
+import Math
+
+let frame = Frame(name: "Planning inertial frame", pseudoInertial: true)
+let trajectory = try IdealBrachistochroneTrajectory(
+    departureEpoch: .j2000,
+    frame: frame,
+    departurePositionMetres: SIMD3(0, 0, 0),
+    arrivalPositionMetres: SIMD3(1_000_000, 0, 0),
+    maximumAccelerationMetresPerSecondSquared: 1)
+// 2,000 seconds total, switch at 1,000 seconds, peak speed 1,000 m/s.
+let middle = try trajectory.state(at: trajectory.switchEpoch)
+let samples = try TrajectorySampler.sample(
+    trajectory, from: trajectory.departureEpoch, through: trajectory.arrivalEpoch,
+    step: Duration(seconds: 20))
+```
+
+The immutable provider exposes departure/switch/arrival epochs, coverage, endpoint
+positions, distance, duration, peak speed, total delta-v, acceleration direction
+and braking direction. `phase(at:)` reports accelerating, braking or arrived.
+`state(at:)` supplies position, velocity and acceleration at the requested epoch.
+The switch is right-continuous with braking acceleration; arrival returns the
+exact destination, zero velocity and zero acceleration. Position and velocity
+remain continuous at the switch. Queries outside departure-through-arrival
+coverage fail explicitly. Coincident endpoints produce a zero-duration stationary
+state at the departure epoch, with zero direction, speed and acceleration.
+
+All positions share the supplied frame and origin; the caller is responsible for
+that geometry and for stationary endpoints. Construction requires a pseudo-inertial
+frame. Existing frame conversion and sampling APIs can display the trajectory in
+rotating frames without changing its native planning assumptions. No force, GM,
+central body, spacecraft mass, exhaust speed or propellant budget is inferred.
+Constant acceleration is prescribed kinematics; finite thrust with changing mass,
+gravity, moving targets, nonzero endpoint velocities, attitude slew limits and
+numerical trajectory optimization remain subsequent dynamics/planning work.
+
+Invalid acceleration, nonfinite endpoints, non-inertial frames and numerical-range
+failures have explicit `BrachistochroneError` cases. Epoch/duration arithmetic
+errors propagate. Square-root scaling avoids forming an overflowing `d/a`; braking
+is evaluated from remaining time, and positions use bounded endpoint weights.
+Binary64 coordinate resolution still limits small displacements near large origins.
+A nonzero trip whose switch/arrival cannot be represented as distinct epochs is
+rejected. Queries are independent of order and do not integrate hidden steps.
+
+Independent 80-digit Decimal fixtures integrate the constant-acceleration phases
+(`Tools/generate_brachistochrone_fixtures.py`,
+`Tests/CelMekTests/Fixtures/brachistochrone-reference.json`). Swift Testing checks
+3D endpoint geometry, large coordinates, coincident endpoints, continuous
+position/velocity, acceleration jumps, derivative consistency, coverage failures,
+reverse sampling and rotating-frame derivatives. The bounded-acceleration
+minimum-time control background is described in
+[MIT's double-integrator discussion](https://underactuated.csail.mit.edu/dp.html)
+and [Liberzon's double-integrator example](https://liberzon.csl.illinois.edu/teaching/cvoc/node85.html).
+
+## Fly-through waypoint routes
+
+`WaypointBrachistochroneRoute` plans gravity-free motion from A to B through an
+ordered list of fixed inertial waypoints. It passes through intermediate points
+with continuous **nonzero velocity**; waypoints are neither stops nor impulses.
+Each leg has its own positive acceleration limit, allowing prescribed lighter
+burns for cooldown or other operational constraints. No engine temperature model
+is inferred. Route endpoints default to rest and support explicit velocities. Optional dwell
+is accepted only at the initial/final endpoint; intermediate dwell is rejected.
+
+```swift
+let route = try WaypointBrachistochroneRoute(
+    departureEpoch: departure, frame: frame, origin: .sun,
+    waypoints: [
+        BrachistochroneWaypoint(positionMetres: start),
+        BrachistochroneWaypoint(positionMetres: avoidanceWaypoint),
+        BrachistochroneWaypoint(positionMetres: destination)
+    ],
+    legAccelerationsMetresPerSecondSquared: [1, 0.25],
+    obstacles: [SphericalExclusionRegion(
+        identifier: "Sun", frame: frame, origin: .sun, centreMetres: .zero,
+        radiusMetres: suppliedSolarRadius, safetyMarginMetres: clearanceMargin)]
+)
+let crossing = try route.state(at: route.waypointArrivalEpochs[1])
+// crossing.velocity is nonzero; the next leg carries that exact velocity.
+```
+
+This is a **feasible smooth approximation**, not a minimum-time brachistochrone
+optimizer. Each leg is a time-parameterized cubic Hermite curve, represented as a
+cubic Bézier segment. Initial nominal durations use the ideal rest-to-rest model
+with each leg's acceleration limit. Internal velocity follows the chord through
+neighboring waypoints divided by the adjacent nominal durations. A common time
+scale then reduces acceleration until every leg satisfies its own bound, with a
+1% scale margin against floating-point rounding. Scaling one leg's requested
+limit can also change neighboring passage speeds and route-wide timing.
+The final controls and acceleration bounds are checked before returning a route.
+
+For leg duration T and Bézier controls P0...P3, velocity is quadratic and
+acceleration is affine in normalized time u. Its maximum magnitude is bounded
+by the larger endpoint acceleration magnitude, giving a whole-leg acceleration
+check rather than a sampled approximation. Position and velocity match at each
+waypoint; acceleration may jump when switching legs. This assumes instantaneous
+thrust-direction/magnitude changes with finite acceleration; jerk/attitude slew
+constraints belong to later refinement. Consecutive coincident points and
+neighbor geometry that yields zero passage velocity are rejected, including an
+exact retracing turn whose neighboring endpoints coincide. More geometric points
+are required to describe a nonstopping turn in that case.
+
+`SphericalExclusionRegion` supplies an explicit frame/origin, fixed centre, body
+radius and safety margin. Clearance checks follow the **curves**, not the waypoint
+polyline or output samples. The [Bézier convex-hull property](https://web.mit.edu/hyperbook/Patrikalakis-Maekawa-Cho/node12.html)
+allows control-point bounding boxes to certify exclusion; uncertain boxes are
+split with [de Casteljau subdivision](https://web.mit.edu/hyperbook/Patrikalakis-Maekawa-Cho/node13.html).
+Sampled points can demonstrate obstruction, but clearance is accepted only when
+all boxes have positive distance from the exclusion sphere, including a coordinate
+scale-dependent floating-point margin. Reports contain conservative lower bounds
+on clearance, not the exact closest distance. Tangency/near-contact may produce
+an obstruction or explicit unresolved-clearance error; unresolved cases never
+silently pass. This is conservative floating-point geometry, not formal interval
+arithmetic certification.
+
+Subdivision depth is capped at 24, total clearance-node checks at 1,000,000,
+and route legs/obstacles at 10,000 each, with at most 1,000,000 leg-obstacle pairs.
+Invalid inputs, incompatible obstacle frames/origins, obstructed legs, unresolved
+clearance and exhausted budgets throw explicit errors. Callers supply the route;
+no automatic avoidance-waypoint generation is performed. Obstacles are fixed
+throughout the route, so a Sun-centred scenario uses an explicit Sun-centred frame
+and origin. Moving bodies need ephemeris-aware clearance refinement. The planner
+has no gravity, mass, propellant or thermal evolution, and supplies no globally
+optimal travel-time claim.
+
+Arrival is the final waypoint crossing; completion additionally includes any final
+endpoint dwell. Coverage is departure through completion. Querying a shared leg
+boundary selects the outgoing leg, with unchanged position/velocity and its new
+acceleration. Completion preserves the specified final velocity (zero by default)
+and returns zero geometric acceleration. This endpoint value does not prescribe
+motion beyond coverage. The route and each
+leg implement `StateProvider`, so existing sampling and explicit frame conversion
+remain available without hidden clocks or mutable query history.
+
+Swift Testing checks fly-through position/velocity continuity, nonzero passage
+speed, unequal per-leg acceleration limits, independent cubic state values,
+endpoint dwell, a solar-avoidance route, an interior curve obstruction with clear
+endpoints, rejected intermediate dwell and degenerate retracing geometry.
+
+### Numerical execution of a prescribed waypoint route
+
+`WaypointRoutePropagator` executes a `WaypointBrachistochroneRoute` with
+`SpacecraftMassProperties`, explicit `backgroundDynamics`, and one
+`WaypointRouteEngineLimits` per leg. Each engine limit supplies a maximum thrust
+acceleration, maximum force in newtons, and effective exhaust velocity. Supply
+gravity through the existing force models; the route and dynamics must share
+the exact frame and physical origin. Background models must have zero mass flow.
+
+The engine commands the reference cubic acceleration minus the background
+acceleration evaluated at the integrated spacecraft state. Required thrust is
+the norm of this difference times current total mass; propellant consumption is
+thrust divided by exhaust velocity. This assumes ideal instantaneous thrust
+steering and perfect knowledge of the environment. Geometry bounds net
+acceleration, while the engine limits bound thrust acceleration including gravity
+compensation: those limits can differ substantially near a massive body.
+
+Propagation starts at the route's departure state and replays forward for each
+query. Integration splits at every waypoint, carrying the actual position,
+velocity and remaining propellant into the next leg without resetting them to
+the reference. Intermediate velocities remain nonzero. Endpoint dwells are
+currently rejected. Completed-leg checkpoints report position and velocity
+residuals, spacecraft mass, and integrator diagnostics. Explicit positive
+endpoint tolerances reject excessive residuals; local RK tolerances alone are
+not a global endpoint guarantee. Shared boundaries expose the outgoing leg's
+acceleration; the final arrival exposes the final leg's left-limit acceleration.
+No continuation beyond arrival is prescribed.
+
+Engine constraints are checked at every derivative evaluation, including trial
+stages. Violations, dry firing, unsupported background mass flow and integrator
+failures throw; a feasible prefix query does not establish that the whole route
+is feasible. These checks can conservatively reject a trial stage and are not a
+continuous bound between evaluations. The geometric route's obstacle clearance
+continues to describe its reference curve; endpoint residuals do not certify
+whole-path clearance of the numerical execution.
+
+This executes an existing feasible geometric plan under a chosen ideal engine;
+it does not optimize waypoint locations or times, solve a minimum-time transfer,
+or model attitude, thermal limits, moving obstacles or automatic avoidance.
+The broader numerical refinement backlog remains open.
+
+### Timed engine-limit phases
+
+`WaypointRouteEnginePhase` specifies engine limits over `[startEpoch, endEpoch)`.
+Its alternative initializer accepts a departure epoch, nonnegative start offset
+and positive duration. These intervals are independent of the spatial waypoints:
+a phase may begin within a leg, span several waypoint passages, or end exactly
+at a passage. Input order is arbitrary. `WaypointRoutePropagator` sorts phases,
+rejects overlaps (including duplicate intervals), and rejects intervals outside
+the route's coverage. Adjacent intervals are allowed. At most 10,000 phases are
+accepted.
+
+Pass phases using `timedEnginePhases:` alongside the existing per-leg engine
+limits. An active phase **replaces** all three per-leg engine limits; gaps use
+the per-leg limits. These are upper limits on the engine, not commands to burn
+at that magnitude. The inverse-dynamics controller still supplies the thrust
+needed by the reference curve. To express 0.3g, use
+`0.3 * WaypointRouteEngineLimits.standardGravityMetresPerSecondSquared`
+(standard gravity is 9.80665 m/s²).
+
+For example, given a route lasting at least three hours:
+
+```swift
+let full = try WaypointRouteEngineLimits(
+    maximumAccelerationMetresPerSecondSquared: 9.80665,
+    maximumThrustNewtons: 1_000_000,
+    effectiveExhaustVelocityMetresPerSecond: 30_000)
+let reduced = try WaypointRouteEngineLimits(
+    maximumAccelerationMetresPerSecondSquared: 0.3 * 9.80665,
+    maximumThrustNewtons: 1_000_000,
+    effectiveExhaustVelocityMetresPerSecond: 30_000)
+let phases = try [
+    WaypointRouteEnginePhase(departureEpoch: route.departureEpoch,
+        startOffset: .zero, duration: Duration(seconds: 3600), limits: full),
+    WaypointRouteEnginePhase(departureEpoch: route.departureEpoch,
+        startOffset: Duration(seconds: 3600), duration: Duration(seconds: 7200), limits: reduced)
+]
+```
+
+Integration splits exactly at phase starts, phase ends and waypoint epochs,
+using the incoming limits for the final RK stage of an interval and the outgoing
+limits at a boundary query. Position, velocity and fuel are carried unchanged
+across each split. `propagation(at:)` returns execution `segments` with initial
+and final spacecraft states, the spatial leg index, the active sorted phase
+index (or nil for per-leg defaults), and numerical diagnostics. Waypoint
+checkpoint diagnostics aggregate all segments in that leg. Coincident temporal
+and spatial boundaries cause a single split, without a stop or duplicate
+positive-duration segment. Final arrival retains the incoming left limit.
+
+This checks the existing spatial route against a temporal engine schedule. It
+does not change the route timing to fit that schedule. The geometric planner
+supports arrival windows through uniform retiming as described below. Solving
+the relative order of untimed passages and temporal constraints, and
+commanded burns with explicit directions remain planning extensions. Engine
+checks retain the sampled-feasibility limitations described above.
+
+### Waypoint arrival epochs and windows
+
+`BrachistochroneWaypoint` accepts an optional inclusive `arrivalWindow`, or an
+`arrivalEpoch` for an exact passage time. The first waypoint's window must
+contain the route departure epoch. Arrival means reaching the waypoint, before
+any permitted endpoint dwell. Intermediate waypoints still have no dwell.
+
+The geometric planner first computes its existing acceleration-bounded route.
+If passage constraints are supplied, it uniformly slows all flight legs to fit
+them. For each constrained waypoint, the allowed time relative to flight start
+divided by the nominal cumulative flight duration defines an interval of
+allowed scale factors. The planner intersects these intervals with scales at
+least one and selects the smallest common factor. Initial/final dwells are not
+scaled. The route then rebuilds epochs and velocities, validates acceleration
+bounds and checks obstacle clearance on the resulting curves. Exact arrival
+epochs are preserved as `Epoch` values; fractional-second rounding at window
+boundaries is resolved before the final checks.
+
+```swift
+let passage = try BrachistochroneWaypoint(positionMetres: waypointPosition,
+    arrivalWindow: earliestPassage...latestPassage)
+let destination = try BrachistochroneWaypoint(positionMetres: destinationPosition,
+    arrivalEpoch: requiredArrival)
+```
+
+Slower timing reduces passage velocities without introducing a stop or waiting
+at intermediate waypoints. Independently defined engine phases can then be
+supplied to `WaypointRoutePropagator`; their epochs do not move when geometry
+is retimed. Engine, gravity and fuel feasibility remain execution checks.
+
+`uniformRetimingUnavailable` means these arrival constraints cannot be met by
+uniformly slowing this nominal route. A different distribution of leg times,
+curve or thrust policy may still work. This method does not search those
+alternatives, optimize times under engine phases, or claim minimum travel time.
+An acceleration failure after reconstructing precise epochs is reported as
+`timingAccelerationLimitExceeded(leg:)`; geometry and clearance errors retain
+their existing explicit diagnostics. Local acceleration bounds on the reference
+curve and numerical endpoint tolerances retain their distinct meanings.
+
+### Searching independent leg timings
+
+`WaypointBrachistochroneRoute` optionally accepts `legDurations: [Duration]`.
+These positive durations replace automatic timing; acceleration bounds, arrival
+windows, nonzero passage velocities and whole-curve geometric clearance are
+still checked on the resulting route. The planner never stretches an explicit
+duration to repair a failed constraint. This allows schedules that uniform
+retiming cannot satisfy.
+
+`WaypointRouteTimingPlanner.search` accepts one array of candidate arrival
+epochs for every waypoint after departure. It sorts and deduplicates each
+array, then considers their Cartesian product in lexicographic order, prioritizing
+earlier intermediate passage times. Spatial waypoints retain their input order;
+candidate epochs determine their relative order with temporal phase boundaries.
+Each ordered candidate builds the route with exact epoch-difference durations
+and executes it using the supplied background dynamics, mass, engine limits,
+timed phases and numerical options. This includes carried fuel, sampled thrust
+feasibility, endpoint residuals and reference-curve obstacle checks.
+
+The result reports `feasible` for the first candidate that passes all checks,
+`candidateSetExhausted` when every combination fails, or
+`evaluationLimitReached` when the budget ends with candidates remaining. A
+feasible result includes the route and full propagation result. `failedAttempts`
+retain arrival epochs and distinguish ordering, geometric, engine and numerical
+integration failures. Integrator budget/tolerance failures are not proof of
+physical infeasibility. Unexpected force/provider errors propagate to the caller;
+they are not hidden as rejected timings.
+
+The default budget is 1,000 considered combinations; callers may specify
+1...10,000. Invalid ordering and rejected constraints count against that budget.
+Input candidates are limited to 100,000 entries in total. Existing numerical
+work limits apply separately to each propagation segment; there is no aggregate
+derivative budget across candidates. Endpoint dwells are rejected by numerical
+execution. Temporal phases must start at or after departure; a candidate ending
+before a phase finishes is rejected and a later candidate may succeed.
+
+For example, a physical passage constrained to 10...20 seconds followed by an
+exact arrival at 50 seconds cannot fit equal nominal leg durations by uniform
+scaling. Candidate passage epochs of 10 and 20 seconds produce independently
+timed legs of 10/40 and 20/30 seconds. If a low-acceleration phase occupies the
+first 15 seconds, the former candidate can fail while the latter passes,
+moving the physical passage across the temporal boundary without stopping.
+Swift Testing verifies this case, mass continuity, candidate normalization and
+the distinction between candidate exhaustion and budget exhaustion.
+
+This is a finite feasibility search, not continuous timing optimization. The
+first feasible candidate need not have the earliest final arrival, and exhaustion
+only describes the supplied set. Commanded-burn planning and continuous
+optimization remain separate extensions. Numerical
+execution does not certify whole-path clearance or continuous engine feasibility.
+
+### Generating timing candidates from windows
+
+`WaypointRouteTimingPlanner.arrivalCandidates(in:spacing:including:maximumTotalCandidates:)`
+generates the per-waypoint arrays used by `search`. Supply a finite arrival
+window for each spatial waypoint after departure and a positive `Duration`
+spacing. Each array includes both inclusive window endpoints, a regular grid
+anchored at the lower endpoint, and all supplied engine-phase starts/ends within
+that window. Arrays are sorted and deduplicated; exact windows yield one epoch.
+Off-grid phase boundaries are included exactly, preserving fractional epochs.
+
+```swift
+let candidates = try WaypointRouteTimingPlanner.arrivalCandidates(
+    in: arrivalWindows,
+    spacing: Duration(seconds: 3600),
+    including: enginePhases,
+    maximumTotalCandidates: 10_000)
+// Pass candidates as candidateArrivalEpochs: to search with the same phases.
+```
+
+Windows are independent of phase order. A physical waypoint can have candidate
+passages before, exactly at, or after a burn-phase boundary. Spatial passage
+order is checked by the search. For an untimed waypoint, the caller supplies a
+finite search window; no horizon or arrival deadline is inferred. A window
+that admits one candidate need not admit any physically feasible transfer.
+
+Candidate generation and candidate evaluation have separate budgets. The
+generation limit defaults to 100,000 total entries across all arrays and accepts
+1...100,000. More than 10,000 windows or phases is rejected. Generation stops
+with `candidateGenerationLimitExceeded` instead of truncating a window; zero or
+negative spacing is rejected. Precise epoch advancement must increase time.
+The Cartesian product is enumerated lazily by the existing search, subject to
+its own evaluation budget.
+
+This supplies an automatic grid and phase-boundary policy. Adaptive refinement
+and local timing improvement are available through the APIs below; global
+optimization remains open.
+Smaller spacing can find additional candidates at
+greater cost, and candidate-set exhaustion does not establish global infeasibility.
+
+### Adaptive timing feasibility search
+
+`WaypointRouteTimingPlanner.adaptiveSearch` combines candidate generation and
+execution over successive grid resolutions. Supply finite `arrivalWindows`
+for spatial passages after departure and `WaypointTimingRefinementOptions`
+with initial and minimum spacing in SI seconds. The search intersects these
+windows with the waypoint's own arrival constraints; disjoint windows are an
+invalid search configuration. Exact windows remain exact at every level.
+
+At each level the search includes window endpoints and timed engine boundaries,
+then considers the candidate product in the existing lexicographic order. It
+stops at the first feasible route. If that grid is exhausted, spacing is halved,
+bounded below by the requested minimum, and another level is searched.
+Previously rejected exact arrival combinations are skipped across levels.
+Providers and forces must remain pure and deterministic throughout the search;
+inputs, force models and numerical tolerances are identical for every level.
+Refinement is global grid refinement, not a local optimizer guided by a smooth
+constraint residual. No monotonic feasibility assumption or bisection across
+feasible/infeasible candidates is made.
+
+The result includes aggregate candidate evaluations, failed attempts, and
+per-level spacing, generated entries, new evaluations and discrete-search
+status. Successful results include the selected route and its full numerical
+execution. Termination distinguishes:
+
+- `feasible`: a sampled candidate passed the route and execution checks.
+- `resolutionLimitReached`: the minimum-spacing grid is exhausted, or all
+  windows are exact and their one combination fails.
+- `evaluationLimitReached`: the total candidate evaluation budget is consumed.
+- `refinementLimitReached`: all permitted refinement levels are exhausted.
+- `candidateGenerationLimitReached`: the next grid exceeds the generation budget.
+
+Options allow 1...32 levels, 1...10,000 total new candidate evaluations and
+1...100,000 generated entries per level. Defaults are eight levels, 1,000
+evaluations and 100,000 generated entries. Generation and numerical budgets
+retain their separate meanings; RK work is bounded per propagation segment.
+Precise-epoch resolution errors and unexpected force/provider errors still throw.
+
+The finest sampled grid can miss a narrow feasible interval. These termination
+diagnostics do not prove global infeasibility or continuous convergence, and
+the first feasible result does not minimize arrival time. Reference-clearance
+and sampled-engine limitations also remain. Tests include a route whose coarse
+arrival endpoints both fail engine limits but whose midpoint succeeds, verifying
+that refinement finds it without evaluating the failed endpoints again.
+
+### Local timing improvement from a feasible seed
+
+`WaypointRouteTimingPlanner.optimizeTiming` starts with `seedArrivalEpochs`
+and finite `arrivalWindows`, then tries to reduce final arrival time. A route
+returned by discrete/adaptive search can supply its arrival epochs after dropping
+the departure entry. `WaypointTimingOptimizationOptions` supplies positive initial
+and minimum steps in SI seconds, an iteration limit and a total candidate
+evaluation limit. Waypoint windows intersect the supplied search windows; seed
+epochs must lie inside those intersections. The seed itself is fully executed
+and counts against the evaluation budget.
+
+At each iteration the optimizer tries an earlier final arrival with unchanged
+intermediate epochs, proportional compression of all passage times, and positive
+or negative changes to each individual intermediate passage paired with that
+earlier arrival. Proposals are clipped to their arrival windows and generated
+lazily. Already tested exact combinations are skipped. Only feasible proposals
+with strictly earlier final arrival are accepted, and every candidate uses the
+same geometry, obstacle checks, physical forces, fuel model and numerical options
+as the existing search. If no pattern improves the incumbent, the step is halved
+until the requested minimum. Temporal phase epochs stay fixed.
+
+Results retain the best feasible route and full spacecraft execution even when
+an evaluation or iteration limit interrupts improvement. `seedRejected` returns
+no route and the seed's explicit failure. `stepLimitReached` means the tested
+patterns found no improvement at the requested minimum step; it is not a proof
+of stationarity or global optimality. `evaluationLimitReached` and
+`iterationLimitReached` identify the other termination conditions. Diagnostics
+include aggregate evaluations, candidate failures and each iteration's step,
+new evaluations, improvement flag and best arrival epoch.
+
+Defaults permit 256 iterations and 1,000 candidate evaluations; explicit limits
+accept 1...1,000 iterations and 1...10,000 evaluations. Numerical limits remain
+per propagation segment. Exact intermediate arrival constraints remain exact;
+intermediate waypoints continue to be fly-through passages. If final arrival is
+fixed by its window, this objective cannot improve it. No fuel-only objective,
+equal-duration rearrangement or temporary acceptance of worse schedules is used.
+
+This is a local direct-search heuristic in continuous epoch variables. Its
+limited directions and strict feasible-improvement policy can miss routes that
+require coordinated changes to several passages, a temporary worse arrival or
+crossing an infeasible region. Multi-start/global optimization, commanded burns
+and continuous constraint certification remain open. It inherits the sampled
+engine and reference-clearance limitations of route execution.
+
+Swift Testing checks an independent rest-to-rest cubic threshold:
+`max |a| = 6*d/T²`, so a four-metre cubic at 1 m/s² requires at least
+`sqrt(24)` seconds. The optimized result approaches this threshold within its
+timing step; this does not make it the faster ideal bang-bang brachistochrone.
+Tests also cover monotonic improvement, determinism, budget-retained feasible
+results, rejected seeds and exact fly-through passage through a timed engine
+schedule with mass continuity.
+
+### Nonzero endpoint and prescribed passage velocities
+
+`BrachistochroneWaypoint` accepts optional `velocityMetresPerSecond`, expressed
+in the route's inertial axes relative to its physical origin. The value is a
+constraint, not a timing-dependent hint. Unspecified endpoints remain at rest;
+unspecified intermediate velocities use the existing neighboring-chord rule.
+Explicit intermediate velocities must be nonzero, preserving fly-through
+behavior. An explicit velocity can also specify a turn that the neighboring
+chord rule would otherwise classify as degenerate; acceleration and clearance
+checks still apply to the full resulting curve.
+
+```swift
+let departure = try BrachistochroneWaypoint(positionMetres: departurePosition,
+    velocityMetresPerSecond: currentVelocity)
+let arrival = try BrachistochroneWaypoint(positionMetres: arrivalPosition,
+    arrivalEpoch: requiredArrival, velocityMetresPerSecond: requiredVelocity)
+```
+
+All route timing search, refinement and local optimization APIs carry these
+constraints through the supplied waypoint values. Numerical execution starts
+with the specified departure velocity, carries actual velocity/mass across
+legs, and checks the prescribed arrival velocity with its endpoint tolerance.
+The final geometric state preserves the specified velocity. Numerical execution
+retains its existing final incoming acceleration convention. Neither provider
+prescribes continuation after its final epoch.
+
+Fixed velocities do not decrease when durations increase. Automatic geometric
+timing therefore re-evaluates each cubic's actual acceleration bound, doubling
+all durations as necessary, with a 64-check limit and a one-percent acceleration
+margin. Failure reports `velocityTimingLimitReached` or an explicit numerical
+range error. This is conservative feasible timing, not minimum time. Arrival
+window retiming rebuilds and rechecks the resulting acceleration bounds; with
+fixed velocities, slowing a curve is not assumed to reduce its acceleration
+monotonically. A failed automatic schedule may still admit an explicit-duration
+schedule or a different timing candidate.
+
+Explicit leg durations are never extended to accommodate velocity constraints.
+They must satisfy the acceleration and arrival-window checks as given. Nonzero
+velocity with endpoint dwell is rejected as `velocityDwellConflict(index:)`,
+since a stationary dwell would require an unmodelled impulse. Nonfinite velocity
+components are rejected. Large velocities and long flight times can bend a
+cubic beyond its waypoint chords, so whole-curve clearance is checked on the
+actual controls. There is no implicit turn smoothing, jerk/attitude constraint,
+implicit moving-target lookup. Explicit moving endpoints are available below;
+there is no general orbital rendezvous or optimal-control solver.
+
+Swift Testing uses independent constant-velocity and constant-deceleration
+references, analytic exhaust-velocity fuel consumption, constrained timing
+optimization, intermediate velocity continuity and invalid velocity/dwell cases.
+
+### Moving-target rendezvous endpoints
+
+`MovingWaypointRouteTarget` adapts an `EphemerisProvider` or another
+`StateProvider`. Its ephemeris initializer uses the provider's physical origin,
+frame and declared coverage and invokes `checkedState(at:)`. For arbitrary
+state providers the caller supplies and guarantees origin and coverage. Every
+query checks coverage before evaluation and verifies the returned epoch and
+exact frame identity. Providers must be pure and deterministic during planning.
+
+Pass this adapter as `movingTarget:` to discrete `search`, `adaptiveSearch` or
+`optimizeTiming`. For each candidate final epoch, the planner queries the target
+anew and replaces the final waypoint's nominal position with the target position
+and its velocity with the target velocity. The final waypoint still supplies its
+arrival window. Its nominal position is ignored, and it must leave its optional
+velocity unspecified; an explicit static velocity would conflict with matching
+the moving target and is rejected. Intermediate waypoints default to fixed spatial
+constraints and can use the moving-passage API below. Endpoint dwells remain
+unsupported by numerical execution.
+
+```swift
+let target = try MovingWaypointRouteTarget(ephemeris: targetEphemeris)
+// Pass movingTarget: target to the timing planner. The final waypoint supplies
+// the arrival window; its position is a nominal placeholder and its velocity nil.
+```
+
+For a single chosen arrival epoch, `target.waypoint(at:)` returns a waypoint with
+that exact epoch and sampled target position/velocity, usable with explicit leg
+durations. This fixed-time helper does not track later timing changes; use the
+planner's `movingTarget:` parameter when searching or optimizing arrival time.
+Keep the original waypoint template for those searches; a returned route's final
+waypoint already contains a resolved velocity at its selected arrival epoch.
+
+The target must already use the route's inertial frame and physical origin.
+Use explicit frame/origin conversion through the existing frame system before
+constructing the target adapter; no implicit transformation or origin translation
+is applied here. Matching uses geometric SI position/velocity at the same epoch,
+without light-time or apparent-position corrections. Target acceleration is not
+an arrival constraint, and the result prescribes no continuation beyond arrival.
+
+Discrete out-of-coverage arrival candidates are recorded as
+`targetOutsideCoverage`, permitting later candidates to be tested. Adaptive search
+and local optimization intersect the final search window with target coverage;
+a disjoint window is an invalid search configuration, and an optimizer seed must
+lie inside the intersection. Frame/origin mismatches, malformed returned states
+and unexpected provider errors propagate instead of being hidden as rejected
+timings. Coverage is never extrapolated. One target lookup is made per ordered,
+newly evaluated candidate; force-model provider calls retain their own numerical
+work limits.
+
+The resulting route and numerical execution match the candidate target state
+within the existing endpoint tolerances, with carried propellant and sampled
+engine feasibility checks. Timing improvement remains local to the cubic route
+family, with no global minimum-time claim or guarantee of continuous clearance.
+Targets may be ephemerides or spacecraft propagators. Moving intermediate
+waypoints are supported below; moving obstacle avoidance remains separate.
+
+Swift Testing uses an independent linear target `p(T)=4+0.5*T`, `v(T)=0.5`.
+The rest-to-rendezvous cubic's departure acceleration is `24/T²+2/T`, giving a
+six-second threshold at 1 m/s². Tests check candidate resampling, matching both
+position and velocity, timing improvement against this threshold, ephemeris
+adaptation, coverage handling and explicit contract failures.
+
+### Moving intermediate waypoint passages
+
+`MovingWaypointPassage` supplies a moving spatial constraint for an intermediate
+waypoint using the same checked provider adapter as rendezvous targets. Pass
+`movingWaypoints: [waypointIndex: passage]` to discrete `search`, `adaptiveSearch`
+or `optimizeTiming`. Indices refer to the complete ordered waypoint array:
+departure is zero, intermediate indices are `1..<waypoints.count-1`, and final
+arrival uses the separate `movingTarget:` rendezvous option. Other indices are
+rejected. Multiple moving passages can be combined with a moving final target.
+
+```swift
+let body = try MovingWaypointRouteTarget(ephemeris: bodyEphemeris)
+let flyby = MovingWaypointPassage(provider: body)
+// Pass movingWaypoints: [1: flyby] to a timing planner with at least three points.
+```
+
+Every new, ordered timing candidate resolves each moving passage at its own
+candidate passage epoch, in waypoint-index order, before constructing the cubic
+legs. The resolved position replaces the template's nominal position; its
+arrival window and optional explicit route velocity remain constraints. The
+default `.preserveRouteVelocity` mode preserves an explicit waypoint velocity
+or generates the existing neighboring-chord fly-through velocity. It does not
+match the provider's velocity and therefore does not stop at a stationary body.
+
+`.matchProviderVelocity` instead constrains spacecraft passage velocity to the
+provider's velocity. A separate explicit template velocity conflicts with that
+mode and is rejected as `conflictingWaypointVelocity(index:)`. Matching a zero
+provider velocity at an intermediate point is rejected by the route's existing
+nonzero-passage rule. Both modes preserve position/velocity/mass continuity
+across legs and undergo the same acceleration, engine, fuel and geometric
+clearance checks as fixed spatial waypoints. Provider acceleration is not used
+as a passage constraint.
+
+The provider must share the exact route frame and physical origin; declared
+coverage and returned state contracts use the existing target checks. Discrete
+coverage misses are recorded as `movingWaypointOutsideCoverage(index:)`, while
+unexpected provider errors propagate. Adaptive search and optimization intersect
+each moving waypoint's search window with that provider's coverage; disjoint
+windows are invalid configuration, and optimized seeds must lie inside the
+intersection. Timing changes trigger fresh provider queries. No extrapolation,
+automatic origin conversion, departure-point motion or reordering of spatial
+constraints is performed.
+
+`passage.waypoint(at:template:)` can sample a fixed-time passage for manual
+construction; use explicit durations consistent with that sampled epoch. Keep
+the original template and `movingWaypoints:` when searching different times.
+Search work includes at most one query per moving passage and one final-target
+query for each new ordered candidate, stopping on the first rejected lookup.
+Existing candidate, waypoint and numerical work limits still apply.
+
+A moving passage is a position constraint at one epoch, not a moving exclusion
+region or whole-path avoidance guarantee. Moving obstacle bounds, target-relative
+offset geometry, light-time corrections and global optimal control remain open.
+Tests cover time-dependent positions, coverage rejection, independent velocity
+choices, stationary-body fly-through, zero-velocity matching rejection,
+provider-coverage-limited refinement/optimization and carried mass continuity.
+
+### Moving spherical exclusions
+
+Routes and all three timing planners accept `movingObstacles: [MovingSphericalExclusionRegion]`.
+Each region uses a checked `MovingWaypointRouteTarget` centre provider, a radius,
+a safety margin, and an explicit `maximumCentreSpeedMetresPerSecond`. The caller
+must guarantee that speed bound throughout the provider's declared coverage in
+the route's native frame and physical origin. An instantaneous ephemeris velocity
+does not establish this bound.
+
+For each subdivided cubic interval, the centre at its midpoint and the speed
+bound enclose the obstacle's motion in a sphere of radius
+`maximumCentreSpeed * halfInterval`. The distance from that centre to the cubic
+control polygon's bounding box, minus the motion radius and exclusion radius,
+gives a conservative clearance bound. Positive bounds, reduced by a floating
+point allowance, accept intervals; endpoint/midpoint samples can demonstrate
+collision but cannot establish safety. Ambiguous intervals subdivide up to depth
+24, with a shared static/moving budget of one million interval checks per route.
+Unresolved clearance and exhausted work budgets are explicit failures.
+
+Reports in `route.clearances` cover each entire geometric leg. Obstacle coverage
+must include both leg endpoints; coverage misses appear as indexed geometry
+failures in timing search. Every candidate checks the obstacle at its own epochs,
+including adaptive refinement and local optimization. Provider errors propagate.
+Identifiers must be unique across fixed and moving regions. Routes with endpoint
+dwells currently reject moving exclusions explicitly rather than leaving those
+stationary intervals unchecked.
+
+The guarantee depends on the declared motion bound and uses floating point
+geometry, not formal interval arithmetic. It applies to the prescribed reference
+curve; numerical integration residuals do not certify executed whole-path
+clearance. Automatic avoidance waypoint generation and relative waypoint offsets
+remain separate extensions.
+
+### Relative passages and rendezvous
+
+A checked moving target can be shifted with
+`target.offset(positionMetres: offset)`. The offset is constant in its native
+axes, so the target velocity and acceleration are retained. To express the
+displacement in body-fixed or other rotating axes, use
+`target.offset(positionMetres: offset, in: axesFrame, using: frameTree)`.
+The frame system rotates the displacement and contributes its angular velocity
+and angular acceleration terms. Frame translations are deliberately excluded:
+the target provider supplies the physical centre. Missing target acceleration
+remains missing. Both forms preserve physical origin and declared coverage and
+can be used as a moving passage or final rendezvous target in every timing planner.
+Providers and the frame tree must remain deterministic during a search.
+
+### Exploration from multiple timing seeds
+
+`optimizeTimingFromSeeds` runs bounded local improvements from caller-selected
+arrival vectors and retains the earliest feasible result. Seeds can span separate
+timing basins within the arrival windows; identical seeds are visited once, and
+rejected seeds do not discard another seed's feasible result. Per-start diagnostics
+are retained, including local termination and rejected proposals, with an aggregate
+candidate evaluation limit. Local iteration limits apply separately to each start.
+The local patterns now include joint intermediate shifts and shifts of each
+prefix and suffix, paired with earlier final arrival, in addition to final-only,
+proportional and individual-passage changes.
+
+This is finite exploration plus local improvement. Exhausting the seeds or the
+requested step resolution proves neither global infeasibility nor stationarity
+or global minimum time. All proposals re-evaluate moving targets, exclusions,
+engine schedules and physical constraints.
+
+### Prescribed attitude and thermal constraints
+
+`WaypointRoutePhysicalConstraints` is accepted by numerical route execution and
+all timing planners. A `WaypointThrustCone` supplies a pure epoch-dependent axis,
+native frame and half-angle in radians. Execution checks the *required engine
+acceleration*, including compensation for background gravity, against that cone
+at derivative stages. No thrust means no direction restriction. Cone checks are
+sampled, like the engine limits, and do not certify between-stage compliance.
+These are prescribed attitude constraints; rigid-body attitude and slew dynamics
+belong to Milestone 8.
+
+A `WaypointThermalEnvelope` explicitly defines stored heat in joules, a maximum,
+heating watts per newton of thrust, and a linear cooling rate per second:
+`dH/dt = heatingWattsPerNewton * thrust - coolingRatePerSecond * H`.
+The engine ceiling for each spatial/temporal execution segment bounds heating.
+Its constant-power solution provides a conservative carried envelope, including
+a small floating arithmetic allowance; both endpoints bound that solution's
+maximum. Heat is carried across waypoints and engine-phase boundaries, and
+segments report their initial and final heat bounds. Zero acceleration/thrust
+ceilings permit explicit coast/cooldown phases; exhaust velocity remains positive.
+
+The envelope is conditional on the engine ceiling being respected continuously.
+It is not a reconstructed actual temperature history, and it can reject physically
+cooler trajectories. `thermalBoundExceeded` means this conservative model could
+not establish thermal feasibility; it is not a proof of physical infeasibility.
+No heat model is inferred merely because a lighter-burn phase was requested.
+
+### Commanded-burn shooting
+
+`CommandedBurnPlanner.search` evaluates a bounded list of
+`CommandedBurnCandidate(arrivalEpoch:schedule:)` values. Schedules contain explicit
+inertial `FiniteBurn` directions, thrust and exhaust velocity. The planner uses
+`ScheduledThrustPropagator` under caller-supplied background forces; it does not
+replace commands with inverse-dynamics thrust. Candidates are ordered by arrival
+epoch (stable input order for ties), and the earliest supplied feasible one wins.
+
+The final checked moving target requires position and velocity matching within
+explicit tolerances. Independent `CommandedBurnPassage` values require position
+matching and optionally velocity matching, at strictly increasing physical
+passage epochs. A passage may occur inside a burn or coast, with nonzero velocity.
+Numerical execution carries position, velocity and mass through these passages;
+ignition/cutoff boundaries remain separate. Burns must lie within the candidate
+flight, and target coverage, residuals, fuel reserve at checkpoints and numerical
+failures are diagnosed. Failed attempts retain available residual checkpoints.
+Provider/configuration errors propagate rather than being classified as
+trajectory infeasibility. Dry-mass checks occur inside numerical propagation.
+
+Candidate count/evaluation budgets are bounded; integrator limits apply to each
+propagation segment. Candidate-set exhaustion is not global infeasibility.
+This planner does not automatically synthesize burn directions, enforce waypoint
+route cones/thermal envelopes, or certify between-checkpoint obstacle clearance.
+Its commands are chosen explicitly by the caller; obstacle and physical
+constraint planning for prescribed cubic routes remains the separate route API.
+
+Milestone 6 provides bounded planning and numerical simulation with explicit
+limits. General optimal control, automatic avoidance geometry and formal
+continuous-constraint certification are future extensions.
+
+### Circular-target Hohmann rendezvous
+
+`CircularHohmannOrbit` supplies an explicit circular two-body model with its own
+reference epoch, radius, radial/prograde directions, central body, native frame
+and GM. Directions are normalized; a perpendicularity tolerance of 1e-12 is
+checked and tiny residual nonorthogonality is removed. The model provides
+analytic position, velocity and acceleration. Its direction-based initializer
+does not infer orbital shape; checked state/provider adapters are described below.
+
+`HohmannRendezvousPlanner.search` accepts departure and target circular models
+and an inclusive departure window. It requires exact frame identity, the same
+central body, matching GM value/convention and coplanar orbital normals agreeing
+within 1e-12. Opposite orbital directions are rejected; global clockwise or
+counterclockwise motion is otherwise supported by the supplied axes. The caller
+guarantees the physical frame origin.
+
+The target's required departure phase is
+`phi = pi - nTarget * transferDuration`, reduced to [0, 2*pi), positive in the
+departure orbit's direction of motion. Relative phase evolves at
+`nTarget - nDeparture`; the planner computes the first analytic opportunity in
+the window and subsequent synodic opportunities, rather than sampling an epoch
+grid. A stable mean-motion difference is used for nearly equal radii. This is
+the circular interplanetary phase construction described in the
+[FreeFlyer University Guide](https://ai-solutions.com/wp-content/uploads/2023/04/FreeFlyerUniversityGuide.pdf).
+
+Every evaluated opportunity builds the existing two-impulse propagated plan and
+compares its post-arrival-burn position and velocity against the target at the
+same exact arrival epoch. Results retain departure phase error and actual
+position/velocity residuals. The earliest verified opportunity is returned;
+arrival may lie after the departure window. Work is bounded by an explicit
+opportunity evaluation limit, with distinct window-exhausted and evaluation-limit
+statuses. Propagation, epoch and unrepresentable-motion errors remain explicit.
+
+Equal radii have no relative phase drift in this model. Coincident position and
+velocity within the requested tolerances return `alreadyRendezvoused` at the
+window's lower bound with no artificial transfer plan. Separated co-orbital
+targets return `sameOrbitPhasingRequired`; waiting or the existing zero-burn
+half-period coast cannot resolve their separation.
+
+```swift
+let departure = try CircularHohmannOrbit(
+    referenceEpoch: .j2000, frame: frame, centralBody: .earth,
+    radiusMetres: 7_000_000,
+    radialDirection: SIMD3(1, 0, 0), progradeDirection: SIMD3(0, 1, 0),
+    gravitationalParameter: gm)
+let target = try CircularHohmannOrbit(
+    referenceEpoch: .j2000, frame: frame, centralBody: .earth,
+    radiusMetres: 42_164_000,
+    radialDirection: SIMD3(1, 0, 0), progradeDirection: SIMD3(0, 1, 0),
+    gravitationalParameter: gm)
+let result = try HohmannRendezvousPlanner.search(
+    departureOrbit: departure, targetOrbit: target,
+    departureWindow: Epoch.j2000...Epoch.j2000.advanced(by: Duration(seconds: 100_000)))
+if let plan = result.plan {
+    let rendezvous = try plan.trajectory.state(at: plan.arrivalEpoch)
+}
+```
+
+This is rendezvous for explicit circular two-body models, with caller-selected
+position/velocity tolerances; it is not a planetary capture plan or numerical
+multi-body targeting solution. Large epoch offsets and poorly conditioned
+near-equal-radius opportunities can lose floating phase precision. Residual
+checks protect against accepting a model opportunity that fails the requested
+tolerances, but do not certify fidelity to real ephemerides. Checked circular
+state/provider adapters are available below; parking-orbit escape/capture and
+general transfers remain separate backlog items. The original `HohmannTransfer.plan` continues to
+provide an orbit transfer without requiring a target.
+
+### Checked circular states and providers
+
+`CircularHohmannOrbit(referenceState:centralBody:gravitationalParameter:validationOptions:)`
+validates a local circular approximation. `CircularHohmannValidationOptions`
+specifies relative circular-speed error, radial-speed fraction of circular speed
+and the permitted difference between unit plane normals. Defaults are 1e-8,
+1e-8 and 1e-10 respectively; all must be finite, nonnegative and below one.
+Circular speed is evaluated from the supplied central-body GM and sampled radius.
+Accepted radial velocity and circular-speed error are projected out of the
+model explicitly; eccentric or inclined input beyond the selected tolerances
+is rejected rather than automatically redirected or silently approximated.
+
+The provider initializer samples a checked `MovingWaypointRouteTarget` at an
+explicit epoch and requires its physical origin to equal the central body.
+The existing ephemeris initializer on that wrapper supplies native metadata and
+coverage checks. No frame conversion or origin inference is performed.
+
+`CheckedHohmannTransferPlanner.plan` takes departure and target states at the
+same epoch, with exact frame identity and an explicit central body/GM. It checks
+circularity, coplanarity and co-directional motion before constructing a transfer.
+Its trajectory starts from the **actual sampled departure position and velocity**.
+The first impulse removes the accepted radial/circular-speed residual and inserts
+the spacecraft into the circular-fit Hohmann transfer; the arrival impulse
+circularizes in the transfer plane. It does not substitute a remote target's
+velocity when its physical position has been missed.
+
+The result exposes each velocity projection error, the actual burn vectors and
+their summed norms, plus target position/velocity residuals and
+`rendezvousSatisfied`. Scalar delta-v on the underlying `HohmannTransfer`
+describes the ideal circular model; the checked plan's impulse norms include
+the accepted departure-state corrections. Approximation tolerances and
+rendezvous tolerances are independent. A relaxed input tolerance does not make
+a missed target feasible. With state-only inputs, the arrival target is the
+fitted circular model; this is explicitly a model prediction.
+
+`CheckedHohmannTransferPlanner.search` instead accepts checked departure/target
+providers and a bounded list of candidate departure epochs. It sorts and
+deduplicates dates, samples both providers afresh at each date and queries the
+target again at the exact transfer arrival. The arrival state must also meet
+circularity and plane checks, and actual arrival residuals decide feasibility.
+The earliest feasible supplied date wins. Failed attempts retain available plans
+and residuals, with distinct coverage, unsupported-geometry and rendezvous failures.
+Provider contract/data errors and numerical propagation errors propagate.
+
+For equal sampled radii, already-coincident states return
+`alreadyRendezvoused` with no transfer and no requirement for future provider
+coverage. Separated states record `sameOrbitPhasingRequired` for that date;
+the search may continue because a provider is not assumed to obey one circular
+model throughout its coverage. Candidate-set and evaluation-limit exhaustion
+are distinct and do not prove global infeasibility.
+
+Use the analytic circular rendezvous planner to obtain launch-date initial guesses
+from checked circular models, then pass selected dates to the provider-backed
+search for verification. This does not continuously refine provider-backed
+launch dates or validate their full trajectories as circular. Lambert targeting,
+noncoplanar transfers and numerical refinement remain separate extensions.
+
+### Parking-orbit escape and capture
+
+`ParkingOrbitTransfer` computes a local periapsis impulse between a circular
+parking orbit and a body-relative hyperbola, using explicit parking radius,
+body radius, minimum periapsis altitude, excess speed and body GM. Radii are
+centre-relative metres; the parking radius must exceed the body radius and
+meet the inclusive minimum-altitude bound. A positive body radius and a
+Newtonian or TT-compatible GM are required.
+
+For circular speed `vc = sqrt(mu/rp)`, escape speed `vesc = sqrt(2)*vc`
+and specified excess speed `vinf`, the hyperbolic periapsis speed is
+`vp = hypot(vinf, vesc)`. The impulse magnitude is `vp-vc` for either
+injection or capture; its direction is opposite for the two maneuvers.
+The result also exposes characteristic energy `C3 = vinf²`, eccentricity
+`e = 1 + rp*vinf²/mu` and the acute asymptote/apse-line angle
+`beta = acos(1/e)`, evaluated without cancellation near the parabolic limit.
+These are the local escape/capture energy relations in the
+[FreeFlyer patched-conics tutorial](https://freeflyer.com/_freeflyeruniversityguide/patched_conics_transfer.htm).
+
+`plan(kind:periapsisEpoch:frame:centralBody:hyperbolicExcessVelocityMetresPerSecond:orbitalNormal:)`
+constructs an explicit impulse and sampleable body-relative trajectory.
+The excess vector is the **velocity direction**, incoming for capture and
+outgoing for escape; it is not a position vector or a heliocentric velocity.
+Its magnitude must match the scalar excess speed within the selected relative
+tolerance (default 1e-12). The normal supplies the right-handed orbital plane
+and sense of motion, with perpendicularity checked within 1e-12.
+
+For unit periapsis radial/prograde directions `rhat, that`, the asymptotic
+velocity directions are `-rhat/e + sqrt(1-1/e²)*that` on the outgoing
+branch and `+rhat/e + sqrt(1-1/e²)*that` on the incoming branch.
+The planner solves for those periapsis axes from the supplied vector and normal,
+so the local burn is generally not parallel to the excess vector.
+
+Escape accelerates from the circular parking state to the hyperbolic periapsis
+state; capture brakes from the hyperbolic periapsis state to the circular state.
+The result contains pre/post-burn states, periapsis axes, an `ImpulsiveManeuver`
+and a `ManeuveredTwoBodyPropagator`. Its queries before and after the impulse
+follow the corresponding circular/hyperbolic branches, including backward
+queries into an incoming capture approach. The frame must be pseudo-inertial
+and physically centred on the explicitly supplied body; names do not establish
+that origin.
+
+A zero excess speed is supported by scalar calculations as the parabolic escape
+limit, but has no nonzero velocity direction at infinity. Vector-defined plans
+reject it explicitly. Unrepresentable ranges, inconsistent vector magnitude,
+unsafe radius and invalid plane/direction inputs fail explicitly.
+
+These costs belong to the local body-relative maneuver budget. They must not
+be substituted for, or blindly added to, heliocentric transfer impulses whose
+role is already represented by the departure/arrival excess velocities.
+The plan assumes a spherical clearance boundary, an impulsive tangential burn
+and a circular parking orbit in the selected encounter plane. It does not solve
+parking-orbit phasing, finite-burn losses, atmospheric clearance, encounter
+boundary handovers or a full interplanetary trajectory.
+
+### Plane changes and combined impulses
+
+`PlaneChangeImpulse` specifies before/after tangential speeds and a velocity-plane
+rotation angle in [0, pi] radians at a common node. Its cost is
+`hypot(vAfter-vBefore, 2*sqrt(vBefore*vAfter)*sin(angle/2))`, evaluated with
+scaled factors to avoid unnecessary overflow and cancellation. Equal speeds
+give the pure plane-change result; unequal speeds combine speed and plane
+changes in one impulse. This is the vector relation described in
+[ASU's orbital-maneuver lecture](https://control.asu.edu/Classes/MAE462/462Lecture09.pdf).
+
+The `maneuver` method returns an explicit-epoch/native-frame impulse from an
+outward radial direction and initial prograde direction. Positive sense uses
+the right-hand rule about that outward radius; negative sense reverses the
+rotation. The directions must be perpendicular within 1e-12 and the frame
+pseudo-inertial. The method subtracts the actual before/after velocity vectors;
+costs of separate burns are not added to approximate a combined burn.
+Both velocities are tangential. General radial-velocity changes and choosing
+the appropriate intersection/node epoch remain caller responsibilities.
+
+### Bi-elliptic transfers
+
+`BiEllipticTransfer` joins two half-ellipses through a finite, explicitly selected
+intermediate apoapsis strictly above both circular endpoint radii. The first
+impulse raises apoapsis, the second changes periapsis at that apoapsis and the
+third circularizes at the destination. Inward and outward endpoint transfers
+are supported; the signed intermediate speed change reverses with their order.
+The model exposes each half-ellipse's semi-major axis and exact `Duration`,
+signed endpoint speed changes, the middle impulse and total absolute delta-v.
+See the [FreeFlyer bi-elliptic tutorial](https://freeflyer.com/_freeflyeruniversityguide/bi_elliptic_transfer.htm)
+for the vis-viva construction.
+
+An optional `planeChangeRadians` combines a plane rotation with the intermediate
+speed change. `plan` chooses its sense and emits three explicit impulses plus a
+`ManeuveredTwoBodyPropagator`, intermediate/arrival epochs and expected arrival
+state. The plane rotates about the **outward apoapsis radius**, opposite the
+initial departure radius. Position is continuous at the node, and the final
+circular orbit lies in the rotated plane. No destination body rendezvous or
+parking-orbit capture is implied.
+
+A rationalized difference preserves the small signed middle speed change for
+nearly equal endpoint radii. `intermediateDeltaVelocityMetresPerSecond` supplies
+the middle cost used in total accounting; for zero plane rotation it uses that
+stable difference. The middle helper's separately rounded before/after speeds
+may lose such a tiny difference when inspected independently. Equal endpoint
+radii describe a raised-apoapsis excursion, not a zero-duration identity.
+Invalid intermediate radii, non-inertial frames, unsupported GM conventions,
+unrepresentable ranges and epoch/propagation failures remain explicit.
+
+### Comparing circular transfer strategies
+
+`CircularTransferComparison` ranks the existing coplanar Hohmann transfer and
+bi-elliptic transfers at caller-supplied intermediate radii. It deduplicates and
+sorts those radii, accepts at most 10,000 entries and supports
+`minimumDeltaVelocity` or `minimumDuration`. Optional inclusive duration and
+delta-v bounds filter candidates; results retain ranked and rejected candidates.
+`best` is nil when none meets the bounds. Ties use the other objective, then
+deterministic input strategy order. Invalid model inputs throw rather than
+being mistaken for a budget rejection.
+
+This comparison uses ideal two-body, coplanar circular costs with no plane
+change. Compare combined noncoplanar maneuver costs explicitly using the helpers;
+a coplanar Hohmann plan is not silently promoted to a plane-changing strategy.
+The comparison does not certify target phasing, body clearance, perturbations,
+finite-burn losses or propellant feasibility. Its best result is best among the
+supplied radii and strategies, not a global optimum over all transfer families.
+
+### Finite-burn transfer realization
+
+`FiniteTransferPlanner.initialGuess` accepts the impulses from Hohmann,
+bi-elliptic, parking-orbit or other plans, together with an actual spacecraft
+state, arrival epoch, thrust and effective exhaust velocity. It computes each
+constant-thrust duration from `mConsumed = mBefore * -expm1(-deltaV / ve)` and
+`duration = mConsumed * ve / thrust`, carrying mass between burns. Zero impulses
+are omitted. Burns are centered on their impulse epochs, shifted inside the
+flight at its endpoints; overlapping burns, inadequate fuel and burns that do
+not fit are rejected. Frames must match exactly. The input state is the physical
+pre-burn state; the context origin must describe the same physical origin as the
+transfer and target.
+
+`FiniteTransferPlanner.refine` performs bounded local coordinate shooting against
+an explicit Cartesian arrival state at a fixed epoch. It adjusts ignition,
+duration and inertial direction while keeping each engine's thrust/exhaust
+velocity fixed, preserving burn order and non-overlap. Supply `CentralGravity`
+and any other background forces explicitly. Each trial numerically propagates
+actual commands and evolving mass, accounting for finite-burn motion under those
+forces. Position and velocity errors are scaled by caller tolerances; convergence
+requires both tolerances separately. Results retain the initial and best schedules,
+actual arrival states, endpoint errors, fuel consumed, evaluation count and
+rejected trial count, even when the evaluation or step limit is reached. Remaining
+fuel is available in each arrival state's mass; a caller reserve is checked.
+Initial propagation failures throw; numerical/fuel failures in trial schedules
+are rejected, while other force-model errors propagate to the caller.
+
+This is a local refinement of a seed, with no global optimum or feasibility
+certificate for collision clearance, attitude, thermal limits or intervening
+waypoints. Evaluation limits bound propagation calls; integrator budgets apply
+per scheduled segment. A positive fuel margin is required to avoid firing exactly
+through depletion. Rocket-equation seeds do not imply impulsive endpoint
+equivalence: tests compare actual Hohmann realizations under central gravity and
+verify that progressively shorter burns approach the impulsive result.
+
+### Zero-revolution Lambert arcs
+
+`LambertSolver.solve` takes two central-body-relative positions in metres,
+explicit departure/arrival epochs, an inertial frame, central body and compatible
+GM. It returns both endpoint velocities in metres per second and Cartesian states,
+plus a `trajectory()` convenience method for independent two-body propagation.
+Input states can supply their positions and epochs; their velocities do not
+participate in the boundary-value solution. The caller asserts the physical origin
+and must express both positions in the same supplied frame.
+
+A nonzero `referencePole` and `LambertDirection` are mandatory. Positive means
+angular momentum has positive projection on that pole; negative means negative
+projection. The pole need not be the orbit normal. Geometry and that direction
+select the short-way (angle below pi) or long-way (above pi) zero-revolution arc.
+The result reports the branch, angle and actual unit orbital normal. It does not
+silently choose the shortest arc. This API does not match spacecraft or body
+velocities or generate rendezvous/capture burns.
+
+The native Swift solver scales radius, velocity and time, brackets the universal
+time equation below its first positive singularity, and bisects within caller
+work limits. The universal-variable f/g equations follow the formulation described
+in [Vallado's Lambert routine](https://github.com/CelesTrak/fundamentals-of-astrodynamics/blob/main/software/matlab/lambertu.m).
+Small-argument Stumpff series and half-angle differences reduce cancellation.
+The absolute/relative tolerances bound the time-equation residual, not physical
+endpoint errors; tighter reference comparisons request tighter time tolerances.
+Results include iteration count, bracket evaluation count and signed time residual.
+
+Collinear/coincident/opposite endpoints, and near-collinear geometry with normalized
+cross-product magnitude at or below `1e-8`, are explicitly rejected. A pole whose
+projection on the geometry's unit normal is at or below `1e-12` cannot define a
+direction and is rejected. Revolution counts outside `0...32` are unsupported. Invalid
+inputs, incompatible GM conventions, rotating frames, numerical range limits,
+bracket limits and convergence limits report errors. Extreme flight times can
+fail within the bounded numerical domain; the solver does not change branches
+or relax tolerances to return an answer.
+
+Tests compare velocities against independent circular and Kepler-anomaly elliptic,
+hyperbolic and Barker-equation parabolic references, then propagate the solutions
+to their arrival positions and velocities. Both directions, long-way motion,
+inclined planes, time reversal, near-collinear accepted cases and bounded failures
+are covered. Multi-revolution support is described below; ephemeris-driven transfer windows
+remain a separate backlog item.
+
+
+### Multi-revolution Lambert branches
+
+`LambertSolver.solve` supports `revolutions` from 1 through 32 when an explicit
+`multiRevolutionBranch` is supplied. `lowerUniversalParameter` and
+`upperUniversalParameter` select roots on the decreasing and increasing sides of
+the time-of-flight curve's minimum. These names describe numerical root identity;
+they do not rank energy, delta-v or focus position. Short/long-way geometry and
+orbital direction retain the existing reference-pole conventions independently
+of this choice. Zero-revolution solves reject a multi-revolution branch argument.
+
+`solveBranches` enumerates both roots for a caller-selected positive revolution
+count in lower/upper order. It returns one solution when the roots coalesce within
+the caller's time tolerance. It throws when a solve fails instead of silently
+omitting a branch. No branch switching is performed. The reported transfer angle
+excludes completed revolutions: total angular sweep is `2*pi*revolutions + angle`.
+
+The solver searches the minimum between consecutive universal-variable
+singularities using bounded golden-section minimization, then brackets and bisects
+the requested side. The minimum search stops at relative universal-parameter
+interval width `1e-12`; the reported minimum time is a numerical estimate.
+`maximumIterations` bounds the minimum search and root solve separately;
+`maximumBracketExpansions` bounds the selected root's bracketing. Enumeration
+applies those budgets per solve. The solution reports revolution count, selected
+root, universal parameter, minimum time, minimum-search iterations, a coalescence
+flag and the existing root/time-residual diagnostics. Below-minimum flights beyond
+the requested time tolerance produce `belowMinimumFlightTime` with the estimated
+minimum; within that tolerance the minimum orbit is returned and explicitly
+flagged as coalesced. Minimum-search and bracketing failures remain explicit errors.
+
+The interval/branch structure follows the universal-variable formulation in
+[Vallado's routine](https://github.com/CelesTrak/fundamentals-of-astrodynamics/blob/main/software/matlab/lambertu.m);
+[Izzo's discussion](https://arxiv.org/abs/1403.2705) describes the multiple-root
+and minimum-time structure. This implementation uses local anomaly reduction
+between singularities so completed-turn parity does not alter the geometry.
+Tests cover both roots, both directions, short/long-way motion and revolution
+counts 1, 2, 5 and 32. Independent circular and eccentric Kepler solutions verify
+velocities; propagated endpoint states and sampled angular sweeps verify every
+returned root and its revolution count. Minimum-time coalescence, nearby distinct
+roots, infeasible flight times and work limits are also checked.
+
+### Moving-body Lambert transfer plans
+
+`LambertTransferPlanner.plan` accepts explicit endpoint states, checked
+`MovingWaypointRouteTarget` sources or `EphemerisProvider` sources. The moving
+sources are sampled at departure and arrival respectively, so the destination is
+resolved at arrival rather than frozen at departure. Coverage, exact state epochs,
+frame identity and physical origin are checked; provider errors propagate.
+Both providers must be relative to the selected central body in the same inertial
+frame. For the direct-state overload the caller guarantees those physical origins.
+No automatic rotation, origin shift or apparent-position correction is applied.
+
+The caller explicitly chooses `intercept`, `flyby` or
+`velocityMatchedRendezvous`, together with the Lambert direction, revolution count
+and root where required. The departure impulse is the Lambert departure velocity
+minus the sampled source velocity. The coast is independently propagated to
+arrival. Intercept and flyby retain that incoming velocity and have no arrival
+impulse. Rendezvous uses target velocity minus the actual propagated incoming
+velocity, preserving actual position. The plan reports source/target states,
+pre/post-arrival states, relative velocity vectors, actual impulse norms and their
+sum, endpoint errors and whether the selected endpoint condition meets the caller's
+tolerances. Intercept/flyby require position matching; rendezvous additionally
+requires velocity matching. A residual position miss is retained and cannot be
+made feasible by an arrival velocity impulse.
+
+`LambertTransferTrajectory` covers only departure through arrival. Its default
+queries are right-continuous at impulses, with `.before` available at each
+endpoint. It retains the supplied physical pre-departure state, the transfer coast
+and the post-arrival impulse state; queries outside the flight throw. No preceding
+spacecraft history or following encounter orbit is inferred. This also supports
+stationary or radial target velocities at rendezvous without inventing an orbit.
+The plan's `maneuvers` can seed `FiniteTransferPlanner` using an actual spacecraft
+state, engine and mass.
+
+When departure/arrival sources represent body centres, relative velocity vectors
+are ideal patched-conic excess-velocity inputs. Their norms are central-frame
+velocity-difference costs, not local parking-orbit injection/capture costs. Use the
+body's own GM and parking radius with `ParkingOrbitTransfer` for those local energy
+changes. Matching a body-centre velocity does not establish a body-bound parking
+orbit. A flyby here describes the incoming encounter endpoint; deflection, periapsis
+clearance, B-plane targeting and outgoing encounter arcs require the separate
+flyby/patch models in the backlog. Offset providers may instead specify explicit
+physical passage or rendezvous locations.
+
+Swift Testing cases use independent circular endpoint velocities and moving linear
+sources to verify arrival sampling, actual impulses, mode-dependent costs and
+velocity retention. They also check ephemeris metadata integration, both
+multi-revolution roots, stationary rendezvous, residual preservation, bounded
+trajectory queries and coverage/frame/origin errors.
+
+### Bounded Lambert transfer-window tables
+
+`LambertTransferWindowSearch.search` explores caller-supplied departure epochs,
+positive flight durations and explicit `LambertWindowBranch` choices. Each branch
+contains direction, revolution count and (for positive counts) the required root.
+It accepts checked moving sources or ephemerides and retains their origin/frame
+contracts. Departure dates and durations are deduplicated and sorted; duplicate
+branch choices are removed while preserving input order. Evaluation order is date,
+duration, then branch. The input grid is limited to 100,000 entries before
+normalization and the candidate budget to 1–10,000. Source states are sampled at
+their actual departure/arrival epochs and reused across branches for that pair.
+Providers must remain pure throughout the search.
+
+The result's `rows` form a comparison table, including failures. Each row contains
+date, flight duration, direction/revolution/root choice, arrival epoch, optional
+plan and optional failure. Successful and constraint-rejected plans retain all
+Lambert/propagation diagnostics, impulses, velocity vectors and residuals. Row
+conveniences expose total delta-v and departure/arrival relative speeds. For
+body-centre sources these speeds are patched-conic excess-velocity estimates;
+for arbitrary spacecraft/offset sources they are relative velocities. Local
+parking-orbit costs are not inferred. Use these columns when presenting rows:
+
+| Column | Source |
+| --- | --- |
+| Departure / arrival | `candidate.departureEpoch` / `arrivalEpoch` |
+| Flight time | `candidate.flightTime` |
+| Direction / revolutions / root | `candidate.branch` |
+| Short / long way | `plan.solution.branch`, when available |
+| Delta-v | `totalDeltaVelocityMetresPerSecond` |
+| Departure / arrival relative speeds | `departureRelativeSpeedMetresPerSecond` / `arrivalRelativeSpeedMetresPerSecond` |
+| Relative velocity vectors / endpoint errors | `plan`, when available |
+| Rejection or solver failure | `failure` |
+
+Optional delta-v and incoming arrival-relative-speed limits are inclusive. The
+arrival-speed constraint uses the velocity *before* a rendezvous burn. A zero
+post-burn relative velocity cannot hide excessive incoming speed. Endpoint
+residuals are checked using the requested intercept/flyby/rendezvous condition.
+`rankedFeasibleRows` orders accepted samples by minimum delta-v or minimum flight
+time, then the other objective, departure epoch and stable row order. `best` is
+nil if no visited candidate passes. Rejected rows retain their plans when planning
+succeeded. Only the first applicable constraint failure is reported per row.
+
+Coverage misses, time arithmetic/range failures, Lambert geometry/minimum-time/
+work failures, propagation failures and endpoint/constraint rejections are retained
+per candidate. Configuration and source contract/data errors throw; they are not
+silently treated as bad transfer geometry. Every visited grid entry consumes one
+candidate evaluation, including entries rejected before solving. The result
+reports total normalized candidates, visited rows and `gridExhausted` or
+`evaluationLimitReached`, preserving the best evaluated sample at the limit.
+Exactly exhausting the grid at the budget reports `gridExhausted`. Solver and
+propagation budgets apply per candidate. This sampled comparison does not imply a
+continuous optimum or a fully explored transfer window when the budget is reached.
+
+Tests cover ordering/deduplication, both objectives, partial budgets, retained
+rejections, inclusive constraints, incoming-speed semantics, coverage/geometry/
+multi-revolution failures and provider-error propagation. An end-to-end search
+uses explicitly idealized heliocentric Earth/Mars-sized circular Kepler ephemerides
+and evaluates departure dates and flight durations in SI units, checking each
+propagated endpoint against the destination ephemeris sampled at arrival.
+
+### Unpowered gravity-assist encounter geometry
+
+`FlybyEncounterRequest` declares a body, a periapsis epoch, body-centred inertial
+axes, compatible body GM, spherical body radius, minimum periapsis altitude and
+incoming/requested outgoing hyperbolic excess velocities. Vectors describe actual
+velocity directions at infinity, not position directions along asymptotes. The
+caller guarantees that both vectors and the frame use the declared body's origin.
+A rotating frame is rejected. No heliocentric-to-body transformation is inferred.
+
+`UnpoweredFlyby.solve` checks equality of excess speeds using the caller's relative
+speed tolerance. Accepted small discrepancies are projected onto the incoming
+speed; the original request, signed speed difference and outgoing vector residual
+remain available. Significant differences require a powered encounter and are
+rejected. No impulse, velocity reset or propellant consumption occurs in this
+unpowered model.
+
+The model uses `delta = 2*asin(1/e)` and
+`rp = (mu/vInf^2)*(1/sin(delta/2)-1)`, with stable half-angle evaluation and a
+rationalized expression near a pi turn. These unpowered relations follow the
+equal-speed case of the documented [NASA flyby turning equations](https://ntrs.nasa.gov/api/citations/20140011510/downloads/20140011510.pdf).
+Periapsis must lie strictly above the spherical surface and at or above the
+specified minimum altitude; this is not atmospheric or terrain clearance.
+
+The outgoing vector together with the incoming vector determines the right-handed
+orbital normal. The periapsis radial direction follows their normalized-direction
+difference; the prograde tangent follows their sum. The better-conditioned bisector
+is retained and its orthogonal partner is constructed from the normal, avoiding
+spurious radial velocity for small turns. Exactly/nearly parallel or opposite
+vectors (sum/difference norm at or below `1e-12`) are explicitly rejected rather
+than assigning an arbitrary plane or claiming a finite zero-turn encounter.
+Numerical range limitations also produce explicit errors.
+
+`UnpoweredFlybyResult` exposes the turning angle, required radius/altitude,
+eccentricity, periapsis speed, encounter axes, periapsis state and an immutable
+body-relative `TwoBodyPropagator`. The encounter epoch is closest approach in this
+local model; it does not establish the timing or physical state of a patch onto
+an existing central-body Lambert arc. Finite-distance velocities differ from the
+asymptotic excess vectors. B-plane targeting, explicit patch boundaries and powered
+encounters remain subsequent steps.
+
+Independent tests use an exact reference hyperbola with `mu=vInf=p=1`,
+`e=sqrt(2)`, `rp=sqrt(2)-1` and `vp=sqrt(2)+1`, including finite states calculated
+from hyperbolic anomaly equations. Forward/backward asymptotes, inclined planes,
+time reversal, small turns, altitude boundaries and accepted/rejected speed
+mismatches are checked. Body-relative speed conservation coexists with different
+central-frame speeds when the moving body's velocity is added.
+
+### B-plane, powered encounters and deep-space nodes
+
+`FlybyBPlane` uses incoming **velocity** direction S, T = unit(S × referencePole),
+R = S × T, and B × S in the angular-momentum direction. B components are metres
+in the request's body-centred axes. A parallel pole is rejected; supply another
+explicit pole. Conversion uses b = rp vp / v∞ and the rationalized inverse
+rp = b² / (hypot(μ/v∞², b) + μ/v∞²). `solve` replaces the request's outgoing
+velocity with its prediction and enforces the same altitude limits.
+
+`PoweredFlyby.solve` takes a common periapsis radius and radial direction. Each
+asymptote must satisfy uIn·radial = 1/eIn and uOut·radial = −1/eOut. The two
+hyperbolas meet at that position; their periapsis velocity difference is an
+explicit impulse, including a plane change if requested. This permits unequal
+excess speeds. Supplied mass and exhaust velocity determine ideal rocket-equation
+fuel consumption; insufficient propellant and inconsistent geometry fail.
+The two propagators represent the incoming and outgoing branches respectively;
+use the incoming branch before periapsis and outgoing branch afterwards.
+
+`DeepSpaceManeuverNode` associates an impulse or constant inertial engine burn
+with an inclusive timing window. Execution orders commands, rejects overlapping
+command intervals, coasts with explicit background forces, and carries mass and
+velocity through each command. `finiteBurnSeed` places an impulse's rocket-equation
+engine seed inside its window; zero impulses have no finite seed. `refine` delegates
+to bounded numerical shooting with a window per burn. Seeds are approximations;
+refinement reports residuals and convergence status, not a global optimum.
+
+`EncounterPatchBoundary` defines an explicit epoch boundary and source/destination
+force contexts. `handover` uses the frame tree's full kinematic transform, including
+moving-origin velocity and rotating-axis terms, while preserving mass and epoch.
+The caller must register providers that represent the declared physical origins;
+frames themselves do not certify origin metadata. Switching the dominant gravity
+model at this epoch is an explicit patched-conic approximation. This API does not
+find sphere-of-influence crossings or reset the state to a flyby template.
+
+Geometry follows the public [JPL B-plane definition](https://cneos.jpl.nasa.gov/glossary/b_plane.html)
+and [NASA flyby equations](https://ntrs.nasa.gov/api/citations/20140011510/downloads/20140011510.pdf).
+Fuel uses the [ideal rocket equation](https://www1.grc.nasa.gov/beginners-guide-to-aeronautics/ideal-rocket-equation/).
+Tests exercise an analytic unit-impact-parameter hyperbola, unequal-speed powered
+asymptotes, fuel depletion, mixed commands, bounded refinement, and translation /
+rotation patch round trips.
+
+### Encounter sequences and numerical verification
+
+`EncounterSequenceVisit` specifies a moving body, geometric or target-relative
+position provider, an independent arrival window, and an explicit passage or
+velocity-match condition. Velocity matching is an endpoint boundary condition;
+it does not infer atmospheric descent, surface touchdown or a parking orbit.
+Passages preserve their incoming velocity. `additionalPassages` adds independent
+physical position requirements inside a connector or local flyby without adding a
+stop, segment break or burn at that passage.
+
+`EncounterSequencePlanner.candidates` constructs a bounded Cartesian grid of
+encounter dates, Lambert roots and independent impulsive DSM command sets. Grid
+cardinality is checked before allocation. `search` records visited candidate
+failures and ranks successful **seeds** by flight time, delta-v or ideal propellant
+cost. It reports whether the supplied candidate set was exhausted or the work
+budget ended. Provider contract failures propagate rather than being hidden as
+bad transfer dates. A ranked seed is not a numerically verified feasible route.
+
+`seed` connects encounters with central-body Lambert arcs. For an unpowered assist,
+it propagates a finite local hyperbola before and after periapsis and converts
+those states with the supplied frame tree. The declared moving-body centre must
+agree with that tree at entry, periapsis and exit. Entry velocity corrections and
+exit connector injections are explicit fuel-consuming impulses, not free flyby
+turns. The propagated entry position residual remains carried through the local
+arc; it is not reset to the template. Patch residuals and arc provenance remain
+available. These are fixed-duration, caller-selected patch surfaces, not automatic
+sphere-of-influence boundaries. Optional DSMs perturb the nominal seed arcs and
+must subsequently be checked numerically. Lambert and local propagation tolerances
+are explicit caller settings.
+
+`NumericalEncounterTrajectory` replays the entire command sequence from one
+`SpacecraftState`, preserving position, velocity and mass across encounters.
+Queries during a finite burn use the appropriate partial burn. Commands are
+right-continuous at impulses, and burn intervals cannot overlap. Gravity is supplied
+explicitly through force models: central gravity, differential third-body gravity,
+and other supported models can be composed in one physical origin. No encounter
+state is replaced by a target or local hyperbola during numerical replay.
+
+`NumericalEncounterSequence.evaluate` reports moving-target position/velocity
+residuals at the selected epochs and localizes body-relative closest approaches
+from zeros of `(spacecraftPosition-bodyPosition)·(spacecraftVelocity-bodyVelocity)`.
+Localization splits at command boundaries and samples the actual propagated
+trajectory. Endpoints are also checked. The event check spacing is explicit;
+as with the underlying event API, multiple extrema within one check interval are
+not guaranteed to be found. Passage speed limits, explicit endpoint velocity
+matching, fuel reserve, finite engine ceilings, prescribed thrust cones and the
+Milestone 6 stored-heat envelope are supported. Heat carries through burns and
+coasts. Attitude/thermal/engine feasibility requires finite commands; an impulse's
+engine duration and heating cannot be inferred from delta-v alone.
+
+Clearance uses moving spherical body/obstacle envelopes on the **numerical** arc.
+A sampled violation is reported as violated. Sampled safe positions alone remain
+unresolved. With an explicit caller-guaranteed global relative-speed envelope V,
+each interval can be conservatively resolved when
+`min(endpointDistances) - V*intervalDuration/2 >= minimumDistance`.
+Observed speed-envelope violations invalidate that check. This certificate is
+conditional on the supplied envelope and numerical trajectory; it is not inferred
+from observed velocities or a geometric cubic route certificate.
+
+`finiteSeed` converts an impulsive sequence to engine-duration seeds in explicit
+burn windows with sequential rocket-equation mass accounting. `refine` independently
+varies encounter epochs and impulse epochs/vectors or finite ignition/duration/
+direction, retaining all respective windows. It performs bounded local coordinate
+shooting under the supplied forces and constraints. Reports distinguish evaluation
+and proposal exhaustion, step termination, unresolved clearance, and failed
+numerical consistency. Successful routes are replayed with tighter local tolerances
+and a smaller maximum step by default. Differences in encounter/arrival positions,
+velocities and masses, plus closest-approach epoch/distance changes, are reported.
+This is convergence evidence at those checkpoints, not a global physical accuracy
+certificate. Work bounds include proposal/evaluation counts, state-query budgets,
+event localization limits, and numerical limits per replay segment.
+
+`NumericalEncounterSequence.search` checks/refines a bounded set of seeds and ranks
+only converged, constraint-resolved results. Failed, unresolved, unconverged and
+work-limited rows stay visible. Delta-v ranking includes ideal rocket-equivalent
+finite-burn costs assuming mass changes come from the commands; use propellant
+ranking for models with other reservoir flows. Neither search nor refinement
+claims a global minimum-time, minimum-delta-v or minimum-propellant solution.
+
+Swift Testing fixtures cover a direct transfer at interplanetary distances with
+central and third-body gravity; an analytic hyperbolic assist with an independent
+physical passage inside its local arc; continuous mass and nonzero passage speed;
+impulse and finite-burn refinement; independent epoch adjustment; safe, unresolved
+and violated clearance; attitude, thermal, engine and fuel rejection; and grid,
+query, proposal and evaluation exhaustion.
+
+### Attitude and rotational dynamics
+
+See <doc:ATTITUDE_DYNAMICS> for prescribed attitude providers, physical body rates and frame adapters, constant-inertia Euler dynamics, torque/control/environmental models, and coupled translation/fuel/rotation propagation. `AttitudeDynamicsDemo` is a runnable off-centre body-engine example. All rotations remain right handed; torque and thrust are evaluated in explicit axes at the current epoch.
diff --git a/Sources/CelMek/CelMek.docc/PackageOverview.md b/Sources/CelMek/CelMek.docc/PackageOverview.md
new file mode 100644
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+++ b/Sources/CelMek/CelMek.docc/PackageOverview.md
@@ -0,0 +1,33 @@
+# Package overview
+
+Choose the modules and library products that match your application.
+
+| Product and module | Responsibility | Target dependencies |
+| --- | --- | --- |
+| `CelMek` | Time, states, frames, bodies, ephemerides, orbits and spacecraft dynamics | Math, Atmospheres, MagneticFields |
+| `Math` | General numerical and geometric operations | None |
+| `FluidDynamics` | Shared fluid loads, propellers and CFD | None |
+| `Hydrodynamics` | Liquid properties, buoyancy and submerged loads | FluidDynamics |
+| `Aerodynamics` | Airfoils, gas flow and heating | FluidDynamics, Atmospheres, Yams |
+| `Atmospheres` | Atmospheric profiles, reference data and body lookup | None |
+| `MagneticFields` | Dipoles, WMM/IGRF, coefficient loaders and body lookup | None |
+
+The `Physics` product bundles all seven modules. It is a product name, so import
+individual modules rather than `Physics`.
+
+```swift
+import CelMek
+import Math
+import Atmospheres
+import MagneticFields
+```
+
+Applications that use Math types directly should declare the Math product explicitly.
+Select `CelMek` to avoid linking Aerodynamics and Yams; SwiftPM still resolves the
+package's declared dependencies. Body environment providers are explicit model
+choices, with provenance and coverage, independent of ephemerides and orientation.
+
+Atmospheres and MagneticFields have their own catalogs in the combined package
+archive. Import Atmospheres and FluidDynamics explicitly where their types are used;
+Aerodynamics has no compatibility re-export layer.
+The developer architecture policy remains in the repository's `MODULES.md`.
diff --git a/Sources/CelMek/CelMek.docc/REPRODUCIBILITY.md b/Sources/CelMek/CelMek.docc/REPRODUCIBILITY.md
new file mode 100644
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+# Reproducibility and floating-point limits
+
+The library supports repeatable, explicit model evaluation. It does not promise
+bit-for-bit identical results across operating systems, CPU architectures, Swift
+versions, optimization settings or library releases. Fix the configuration and
+compare physical outputs using meaningful tolerances. Mathematical determinism,
+floating-point repeatability and agreement with the real solar system are separate
+properties.
+
+## What is reproducible
+
+For a fixed build, configured model, immutable assets and deterministic injected
+dependencies, queries evaluate the same mathematical model at the requested epoch.
+Built-in analytical and two-body queries have no evolving integration cursor.
+Numerical propagators start from their configured initial state on each query and
+use local integration storage. Ordered force composition and specified maneuver
+schedules are part of that configuration. Callbacks must not read wall time,
+random values, mutable global state or changing external data if repeatability is
+required.
+
+Exact-epoch batch queries and trajectory samples preserve their documented order
+and duplicates. Ephemeris caching stores native states without interpolation or
+time rounding; eviction and hit order change cost, not the model being evaluated,
+assuming faithful cache storage and a deterministic provider. Neither a cache hit
+nor repeated agreement certifies physical accuracy. Model fallback choice is also
+an input: different assets, coverage or policies can select a different model at
+the same epoch. Record the selected source and provenance when diagnosing a result.
+
+Within one executable on an unchanged host, identical pure query paths are expected
+to repeat their numerical results. There is no broader bitwise compatibility contract.
+Do not base gameplay identity, persistent object IDs or multiplayer authority on
+floating-point output hashes. Runtime UUID cache scopes, frame object identities,
+Swift hash values and dictionary/set iteration order are not durable identifiers.
+Use explicit ordered arrays for model composition and stable application IDs for
+saved configuration.
+
+## Sources of numerical variation
+
+`Double` is used for physical coordinates and calculations; finite precision still
+applies. Platform transcendental functions, compiler contraction/reassociation and
+optimization can alter the last bits. Subtraction of large nearby coordinates can
+lose precision already absent from the inputs, and ill-conditioned geometries can
+amplify small changes. Iterative roots, nearly parabolic motion and short/long
+transfer limits deserve case-specific checks.
+
+Adaptive integration accepts or rejects steps using calculated local errors. Small
+rounding changes can alter the step sequence, derivative counts and accumulated
+error. Local-error tolerances do not certify global or physical trajectory accuracy.
+Root and event searches can terminate at slightly different values within their
+criteria. Near an event, coverage edge, fuel boundary, feasibility threshold or
+work limit, small differences can also change a discrete status. Treat those
+boundaries explicitly rather than assuming every platform chooses the same branch.
+
+Planner ranking is only as stable as its costs. For example, the Lambert window
+search sorts unique departure epochs and flight times, retains branch input order,
+and breaks exactly equal ranking keys using candidate order after its documented
+cost/time/departure keys. Near-equal costs are still distinct floating-point values;
+rounding may change their ranking. Retain candidate sets, residuals and termination
+status when comparing plans. A tie-breaking rule does not establish a unique physical
+optimum or platform-independent winner.
+
+`Epoch` and `Duration` retain whole seconds separately from fractional seconds.
+Keep those components when transferring precise time; flattening a distant epoch
+into one `Double` second count or Julian date loses fractional resolution. UTC label
+conversion additionally depends on the selected leap-second table and its coverage;
+TDB conversion depends on its model and version. A label without its time scale and
+conversion inputs is insufficient to reproduce an instant.
+
+`SimulationClock` accepts supplied durations and makes no wall-clock reads. Replaying
+identical advance, seek, rate and pause commands with the same starting configuration
+is repeatable under the fixed-build assumptions above. It anchors elapsed time to
+limit drift, but floating-point duration accumulation and rate scaling do not promise
+exact equality between arbitrary partitions of an elapsed interval. Rate/pause/seek
+changes also reanchor the clock. For deterministic game replay, record the commands
+and durations or drive explicit epochs from a fixed tick schedule; do not substitute
+fresh wall-clock deltas. Fixed ticks do not establish cross-platform bitwise physics.
+
+Rendering introduces a separate rounding boundary: subtract the moving origin in
+Double, then scale and convert to Float. Re-rendering from native SI states avoids
+feeding presentation quantization back into propagation. A render origin or scale
+change alters Float values without changing the physical model.
+
+## Record enough context
+
+A reproducibility report or saved input description should capture:
+
+- Library revision, Swift compiler, build/optimization settings, target architecture
+  and operating system. Include application version and custom-model versions.
+- Whole/fractional epoch components, declared time scales, leap-second table version,
+  TDB model and coverage, and any Earth-orientation or rotation data.
+- Stable body and frame descriptions, physical origins, parent/provider bindings,
+  units, handedness, GM convention and numerical constant values with provenance.
+- Provider/model versions, requested and effective accuracy, coefficient selection
+  coverage and explicit solver tolerances, work limits and derivative policies.
+- Initial translational/attitude states, masses, ordered force/torque models, guidance,
+  maneuvers, event rules, waypoint constraints and planner candidate order/objective.
+- Asset content digests and load order, SPICE bindings and kernel versions, DE file
+  identity, and fallback policy. Paths alone do not identify immutable content.
+- Query epochs or replay commands, results and diagnostics, selected model sources,
+  event/termination statuses and comparison tolerances.
+
+This is a capture policy, not a serialization schema or a guarantee that arbitrary
+custom providers can be serialized. The <doc:SERIALIZATION> defines versioned saved
+inputs. Published benchmark reports are measurements of their stated build and
+workloads, not reproducibility promises for other hardware.
+
+## Comparing runs
+
+Use an absolute and relative numerical criterion, for example
+`abs(actual - reference) <= absoluteTolerance + relativeTolerance * abs(reference)`.
+Select tolerances for the units and physical purpose of each quantity. Relative
+error alone is inappropriate near zero. For Cartesian states, compare position and
+velocity in the same frame/origin and at the same atomic epoch, preferably using
+vector norms. Compare rotations geometrically, allowing equivalent quaternion
+signs and periodic angle representations rather than comparing raw components.
+
+Check discrete identities, model selection and schema versions exactly. Compare
+event times, patch residuals and numerical states using justified tolerances; near
+thresholds, report the ambiguity instead of silently expanding tolerances until a
+test passes. Cross-platform work counters and iteration counts are diagnostics,
+not generally exact compatibility checks.
+
+Distinguish regression against a fixed implementation, truncation against a fuller
+model, convergence under tighter solver settings, and physical validation against
+independent reference data. Agreement in one category does not prove the others.
+The existing Swift Testing suite contains analytical/reference comparisons and
+query-order checks, but no multi-platform bitwise certification. A platform change
+should rerun those checks and inspect meaningful residuals, especially at model and
+event boundaries.
+
+See <doc:ACCURACY>, <doc:TimeGuide>,
+<doc:THREAD_SAFETY>,
+<doc:GAME_INTEGRATION#Cache-invalidation> and
+<doc:GAME_PERFORMANCE> for related limitations.
+
+Versioned saved states and reconstruction policy are documented in
+<doc:SERIALIZATION>.
diff --git a/Sources/CelMek/CelMek.docc/SERIALIZATION.md b/Sources/CelMek/CelMek.docc/SERIALIZATION.md
new file mode 100644
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+# Simulation saves and schema versions
+
+`SimulationSnapshot` is a Codable, Sendable data envelope with format
+`celmek.simulation` and integer `schemaVersion: 1`. It contains an optional clock
+checkpoint, ordered Cartesian-state snapshots, ordered two-body input records and
+ordered application-owned dependency descriptions. Use JSONEncoder/JSONDecoder or
+another Codable format; the schema is independent of live object identity.
+
+Version 1 defines SI position, velocity, acceleration and mass fields explicitly.
+A missing acceleration remains unavailable. Dry and propellant mass must either both
+be present or both absent. Body identifiers use either a signed NAIF code or a custom
+namespace/name pair. Two-body records retain their initial state, central body, GM
+value/convention/provenance and all solver options; restore never substitutes current
+solver defaults.
+
+Epochs store an atomic offset from JD 2451545.0 TT. Whole seconds are canonical decimal
+strings; fractional seconds are finite values in [0,1). This avoids integer loss in
+JSON tools that represent all numbers as Double. Keep the fraction as a binary64 value
+or an exact round-tripping decimal; avoid flattening the epoch into a Julian-date
+number. No UTC or TDB conversion takes place while restoring an epoch.
+
+Clock checkpoints include current epoch, rate, pause state, optional inclusive
+coverage, anchor epoch and elapsed real duration. Restoring recomputes the current
+epoch from that anchor using the clock's arithmetic and checks exact consistency.
+This preserves fixed-build continuation rather than introducing a new rounding
+anchor. A checkpoint may therefore fail consistency checks on a different arithmetic
+implementation; it is not a cross-platform bitwise replay guarantee. For a deliberate
+new playback session, construct a new clock from the saved epoch/rate/pause/coverage
+and explicitly accept reanchoring. A saved clock is not a log of previous commands.
+
+## Saving and restoring
+
+```swift
+let record = try SavedTwoBodyInput(id: "ship-coast", frameID: "earth-inertial-v1",
+                                  propagator: coast)
+let state = try SavedCartesianState(id: "ship", frameID: "earth-inertial-v1",
+                                    state: coast.state(at: clock.epoch))
+let snapshot = try SimulationSnapshot(clock: clock, states: [state],
+                                      twoBodyInputs: [record])
+let encoder = JSONEncoder()
+encoder.outputFormatting = [.prettyPrinted, .sortedKeys]
+let data = try encoder.encode(snapshot)
+
+let loaded = try JSONDecoder().decode(SimulationSnapshot.self, from: data)
+// The application creates/validates its physical frame graph before binding IDs.
+let restoredCoast = try loaded.twoBodyInputs[0].restore { id in
+    guard id == "earth-inertial-v1" else { throw SaveError.missingFrame }
+    return earthInertialFrame
+}
+let restoredClock = try loaded.clock?.restore()
+```
+
+`SaveError`, `coast`, `clock` and the frame binding in this snippet belong to the
+application. An ID must identify the full axes/origin/provider configuration, not just
+a display name. Resolve each ID to the same frame object within the reconstructed
+graph. Restore performs no implicit frame conversion. A two-body frame must satisfy
+the propagator's inertial contract; the caller must also bind the intended central
+origin, units and axes. Frame identities, trees, closures, open readers and caches
+are not serialized.
+
+For spacecraft snapshots, supply `mass:` when constructing `SavedCartesianState`.
+After loading, combine `restore(using:)` and `restoreMass()` into `SpacecraftState`.
+This stores an instantaneous mass inventory; it does not recreate the force model,
+fuel schedule or a numerical integrator's internal steps.
+
+## External and custom inputs
+
+`SimulationDependency` provides stable application IDs, kind/version strings and
+string-valued parameters. Applications define and validate these records when
+reconstructing frames, ephemerides, time models, assets, forces, attitude models,
+maneuvers and planners. The library retains them as data and does not execute a kind
+string, open paths or select a fallback during decoding. Unknown application kinds
+or versions must fail in the application's reconstruction dispatcher.
+
+Record explicit parameter units and ordered dependency IDs. For binary assets,
+include content digests and ordered load manifests; paths alone are insufficient.
+For model selection, include requested/effective accuracy, coverage, time model,
+fallback order, constants and provenance. Extend an application-owned envelope with
+typed records for numerical forces, torque/guidance callbacks, maneuvers, waypoint
+plans and mission state. Do not claim a Cartesian snapshot alone reproduces those
+models. Custom executable callbacks require application-defined reconstruction code.
+See <doc:REPRODUCIBILITY#Record-enough-context>.
+
+This first library schema directly reconstructs Cartesian/mass states, clocks and
+two-body inputs. It establishes the envelope/versioning policy for broader saves,
+rather than silently attempting to serialize every provider protocol. Model-specific
+saved configurations can be added in future schema versions or application envelopes.
+
+## Validation and compatibility
+
+The envelope decoder rejects unknown format/schema versions before decoding payloads.
+It requires the state/input/dependency arrays, validates unique IDs within each array,
+checks time/clock consistency and uses runtime constructors to validate vectors,
+mass, GM, body identifiers and solver options. State and input ID namespaces are
+separate. Frame IDs are external references, so the envelope does not require a frame
+description in its dependency array. Actual restoration validates the supplied frame
+and propagates binding/provider errors.
+
+Standalone Codable record decoding creates data records; call their restore methods
+before use. Envelope decoding validates its contained records without trusting saved
+physical frame claims. Additional unknown JSON fields are ignored by Codable in
+version 1; they must not be used for new required semantics. An incompatible field,
+unit, interpretation or required model input requires a new schema version. Consumers
+must not treat a dependency description as validated application configuration merely
+because envelope decoding succeeded.
+
+There is no automatic migration or best-effort loading of future versions. Implement
+explicit, tested migrations into a supported schema, retaining the original save for
+recovery. Keep application schema versions separate from the library envelope version.
+Sorted JSON keys aid review but do not define canonical signing bytes. Round-tripped
+physics inputs are independent of whitespace/key order; do not hash encoder output
+as a portable model identity without a separately specified canonical format.
+
+Bound input file size and application object counts before decoding untrusted saves;
+the Codable decoder is not a resource-limited asset loader. Stage validation and all
+bindings before replacing the live scene. Publish a new scene revision and invalidate
+old derived buffers under the <doc:GAME_INTEGRATION#Cache-invalidation>.
+Write saves atomically using the application's storage layer. Do not persist runtime
+cache entries, UUID scopes or frame object addresses.
+
+Swift Testing covers round trips, precise distant epochs, missing acceleration/mass,
+clock continuation, invalid payloads, duplicate IDs, unknown versions, binding failures
+and non-inertial two-body frame rejection. A hand-written
+[version-1 fixture](https://github.com/lorrden/swift-celmek/blob/master/Tests/CelMekTests/Fixtures/simulation-save-v1.json) pins the wire
+format independently of encoder round trips. This is not a promise of bitwise numerical
+compatibility across library/compiler/platform versions.
diff --git a/Sources/CelMek/CelMek.docc/SPACECRAFT_DYNAMICS.md b/Sources/CelMek/CelMek.docc/SPACECRAFT_DYNAMICS.md
new file mode 100644
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+# Spacecraft dynamics foundations
+
+The interfaces describe inertial or explicitly transformed translational dynamics in SI units,
+using explicit epochs and existing Cartesian/frame identities. They evaluate
+an ordinary differential equation's right-hand side, used by the adaptive
+numerical propagator described below.
+
+`SpacecraftMassProperties` holds positive finite dry mass and nonnegative finite
+propellant mass in kilograms, with a finite total. Dry mass includes everything
+outside the one represented propellant reservoir and remains constant in this
+initial model. Inertia tensors, centres of mass and rotational evolution belong
+to the attitude/rotational-dynamics milestone.
+
+`SpacecraftState` combines a `CartesianState` with instantaneous mass properties.
+Position and velocity retain their epoch, frame and SI conventions. A Cartesian
+acceleration attached to that state is optional observational data: dynamics
+computes acceleration from force models and does not add that field again.
+
+`ForceEvaluationContext` names the frame's physical origin and optionally carries
+an explicitly selected `EphemerisCollection`. The caller must ensure the frame
+actually represents that origin. Environmental body queries must be converted
+explicitly into compatible frames/origins; the context does not relabel or
+transform ephemeris states. Coverage and data errors propagate from providers.
+No global clock, body catalogue, implicit GM or ephemeris fallback is selected.
+
+A `ForceModel` evaluates `contribution(for:in:)` at a supplied spacecraft state,
+returning a `ForceContribution` carrying that same epoch and frame. Its fields
+are acceleration in m/s² and propellant mass rate in kg/s, per atomic SI second.
+Gravity models can supply acceleration directly; thrust models divide force by
+the current total spacecraft mass. This avoids forcing gravitational acceleration
+to be represented as a spacecraft-mass-dependent force in newtons.
+
+Negative mass rates represent propellant consumption; positive rates represent
+explicitly modelled inflow. The derivative contract supports both. Evaluation
+does not mutate mass, clip consumption, or silently disable thrust. Models must
+handle their operating constraints explicitly. The integrator rejects negative
+propellant stages; scheduled constant-flow burns additionally support the analytic
+cutoff policy described below. This single-reservoir interface does not yet model
+multiple tanks, staging or changing dry mass.
+
+```swift
+import CelMek
+import Math
+
+struct ExampleThrust: ForceModel {
+    func contribution(for state: SpacecraftState,
+                      in context: ForceEvaluationContext) throws -> ForceContribution {
+        // Application-defined thrust along the state's X axis, not spacecraft axes.
+        let enabled = state.mass.propellantMassKilograms > 0
+        return try ForceContribution(
+            epoch: state.epoch, frame: state.frame,
+            accelerationMetresPerSecondSquared: enabled
+                ? SIMD3(100, 0, 0) / state.mass.totalMassKilograms : .zero,
+            propellantMassRateKilogramsPerSecond: enabled ? -0.1 : 0)
+    }
+}
+
+let frame = Frame(name: "Earth-centred inertial", pseudoInertial: true)
+let state = SpacecraftState(
+    cartesian: try CartesianState(epoch: .j2000, frame: frame,
+        position: SIMD3(7_000_000, 0, 0), velocity: SIMD3(0, 7_500, 0)),
+    mass: try SpacecraftMassProperties(dryMassKilograms: 50, propellantMassKilograms: 50))
+let dynamics = try SpacecraftDynamics(
+    models: [ExampleThrust()],
+    context: ForceEvaluationContext(frame: frame, origin: .earth))
+let derivative = try dynamics.derivative(at: state)
+// Position rate (0, 7500, 0) m/s, velocity rate (1, 0, 0) m/s²,
+// propellant rate -0.1 kg/s. This example deliberately has no gravity model.
+```
+
+`SpacecraftDynamics` evaluates the models in declared order, validates each
+contribution's epoch/frame, and sums acceleration and propellant rate. Its
+`SpacecraftDerivative` carries position rate (the state's velocity), velocity
+rate (summed acceleration) and propellant mass rate. Empty models mean unforced
+motion with constant mass. Finite contribution validation and overflow checks
+prevent an invalid derivative from escaping. Model errors remain visible; no
+partial derivative or hidden fallback is returned.
+
+Construction requires a pseudo-inertial context frame; state queries must use
+that exact frame identity. Rotating-frame integration and its inertial terms are
+later work. Existing frame transforms can still be used to view states in other
+frames. Model evaluators must be deterministic for fixed inputs and tolerate
+repeated/out-of-order epochs, as an adaptive solver may revisit or reject a step.
+They must not advance an internal clock, consume propellant, or otherwise commit
+simulation state during evaluation. Mutable caches are permissible only if they
+do not change results; thread safety remains each provider/model's responsibility.
+
+Swift Testing covers state-dependent thrust acceleration, additive gravity-like
+acceleration, absence of double-counting, unchanged mass inventories, unforced
+motion, invalid mass/contributions, frame/epoch contract failures, model errors
+and overflow. Point-mass gravity models are documented below; finite thrust,
+additional force settings and propellant-event handling are follow-up work.
+
+## Adaptive numerical propagation
+
+`NumericalSpacecraftPropagator` integrates Cartesian position/velocity and
+propellant mass with the native Swift Dormand–Prince embedded 5(4) method.
+Dry mass stays constant. It implements `StateProvider` for the existing frame
+conversion/sampling APIs; `spacecraftState(at:)` also returns mass, and
+`propagation(at:)` returns that state with diagnostics.
+
+```swift
+let options = try NumericalPropagationOptions(
+    absolutePositionToleranceMetres: 1e-3,
+    absoluteVelocityToleranceMetresPerSecond: 1e-6,
+    absolutePropellantToleranceKilograms: 1e-9,
+    relativeTolerance: 1e-9,
+    initialStepSeconds: 10,
+    minimumStepSeconds: 1e-6,
+    maximumStepSeconds: 300,
+    maximumStepAttempts: 100_000,
+    maximumDerivativeEvaluations: 700_001)
+let propagator = try NumericalSpacecraftPropagator(
+    initialState: state, dynamics: dynamics, options: options)
+let result = try propagator.propagation(
+    at: state.epoch.advanced(by: Duration(seconds: 60)))
+// result.state includes mass and freshly evaluated acceleration.
+// result.diagnostics reports the work and accepted-step error estimates.
+```
+
+Each query restarts from the same immutable seed. Backward queries integrate
+with negative time steps, including the signed mass derivative; this is a replay
+of the prescribed equations, not a reversal of committed game events. Repeating
+or reordering queries does not change the trajectory. Sampling many output epochs
+currently performs a separate integration for each epoch, trading predictable
+semantics for repeated work. There is no dense interpolation or trajectory cache.
+Rendering cadence neither advances the provider nor fixes its adaptive steps.
+
+The fifth-order solution is accepted when every state component's normalized
+embedded error is at most one. Each scale is its positive absolute tolerance
+plus `relativeTolerance * max(abs(previous), abs(candidate))`; position,
+velocity and propellant have separate SI tolerances. The relative tolerance may
+be zero. These are **local numerical error controls**, not physical model accuracy
+or a guaranteed final-position error. Absolute position is measured in the
+selected frame; at a large barycentric origin a relative tolerance can permit
+large position errors, so select a suitable origin and component tolerances.
+The embedded error is formed directly from weighted stage derivatives rather
+than subtracting two large endpoint states.
+
+Initial/minimum/maximum step sizes are positive finite seconds with
+`minimum <= initial <= maximum`. The final step is shortened to land on the exact
+requested epoch and may be smaller than the minimum. Rejected trials reduce the
+step; unmet tolerances at the minimum fail explicitly. Accepted/rejected attempts
+and derivative evaluations each have bounded work limits. Every RK stage uses an
+explicit epoch, and a step whose interior epochs cannot be represented distinctly
+fails rather than looping or querying collapsed stages.
+
+Diagnostics include accepted/rejected step counts, derivative evaluations,
+smallest/largest accepted step sizes (nil for a zero-duration query), and maximum
+accepted normalized error. Seven derivative evaluations are used per complete
+trial plus one final evaluation; a rejected negative-mass trial can terminate
+earlier. A reference-epoch query performs one derivative evaluation, no steps,
+and returns seed position/velocity/mass with computed acceleration rather than
+trusting the seed's optional acceleration field.
+
+Trial states with negative propellant are rejected before force evaluation.
+Step reduction may recover a valid trial; continued depletion at the minimum
+fails with `propellantDepleted`. No propellant is clipped, no engine is implicitly
+disabled by this generic propagator, and no partial final state is returned. General depletion localization,
+staging, impacts, impulsive burns and other discontinuity events remain future
+work. Segment integration explicitly at known force discontinuities; the adaptive
+error estimate alone does not guarantee that a discontinuity is discovered.
+Nonfinite arithmetic, exhausted work limits and epoch-resolution failures are
+explicit `NumericalPropagationError` cases. Model, frame, environmental-coverage,
+mass-validation and time-arithmetic errors propagate without provider fallback.
+
+Tests compare polynomial motion/linear mass change, an exponential velocity
+solution and central-gravity motion against the existing independently validated
+two-body propagator. They check tighter-tolerance convergence, forward/backward
+integration, rejection behavior, exact requested epochs, final-step shortening,
+query-order independence, work limits and depletion/provider failures.
+The Dormand–Prince coefficient table is also documented in
+[SciPy's RK45 source](https://github.com/scipy/scipy/blob/v1.16.0/scipy/integrate/_ivp/rk.py);
+no external numerical library is required at runtime.
+
+Shared accuracy hints can select local-error presets via
+`NumericalSpacecraftPropagator(initialState:dynamics:accuracy:options:)`.
+Explicit options override the preset; the original direct-options initializer
+remains available. The selected settings and requested/preset metadata are
+inspectable. See <doc:ACCURACY> for the versioned preset table
+and its interpretation; force/environment fidelity stays independently selected.
+
+## Point-mass gravity
+
+`CentralGravity(body:gravitationalParameter:)` supplies `-μ r/|r|³` for a
+central body located at the context's declared origin. Its body identifier must
+match `context.origin`. It does not query an ephemeris for an origin already at
+zero, infer GM from mass, or apply surface-radius softening. Its sourced GM must
+be Newtonian or TT-compatible, matching the atomic-second dynamics convention;
+raw TDB/TCB-compatible GM values require an explicit justified conversion first.
+
+`ThirdBodyGravity(body:centralBody:gravitationalParameter:)` supplies a relative
+perturbation in nonrotating axes centred on the named central body:
+
+```text
+a = μ [(R-r)/|R-r|³ - R/|R|³]
+```
+
+Here `r` is spacecraft position relative to the central body, and `R` is the
+perturber's position relative to that same body. The second, indirect term
+removes the perturber's acceleration of the origin. This is not an absolute
+point-mass attraction model for arbitrary barycentric propagation, nor does it
+infer the actual acceleration of an independently prescribed origin. The caller
+must choose a physically consistent central-body relative model. A barycentre
+cannot simply replace that central body while retaining the same indirect term.
+
+```swift
+let central = try CentralGravity(body: .earth, gravitationalParameter: earthGM)
+let lunar = try ThirdBodyGravity(
+    body: .moon, centralBody: .earth, gravitationalParameter: moonGM)
+let dynamics = try SpacecraftDynamics(
+    models: [central, lunar],
+    context: ForceEvaluationContext(
+        frame: earthCentredInertialFrame, origin: .earth,
+        ephemerides: earthRelativeProviders))
+// Integrate with NumericalSpacecraftPropagator as above.
+```
+
+The third-body model resolves its target through the injected collection on each
+query, then uses the provider's checked state at the spacecraft epoch. Provider
+origin must equal the central body and frame identity must equal the propagation
+frame. Convert native DE/VSOP/lunar states and their metadata explicitly first;
+there is no implicit translation or axes relabeling. Collections can contain
+explicit fallback/cache adapters, but gravity adds no separate fallback policy.
+Missing collections, unsupported bodies, bad frame/origin metadata and uncovered
+queries remain explicit errors. Target and central body cannot be identical.
+
+Both models return acceleration independent of spacecraft mass, with zero
+propellant rate, and enforce frame identity and pseudo-inertial axes even when
+queried directly outside `SpacecraftDynamics`. Body identifiers preserve planet
+centre versus system-barycentre distinctions; supply a GM appropriate to the
+represented mass and geometry. No collision radius, gravity harmonics, tidal
+response, relativistic correction or spacecraft self-gravity is added.
+
+When `|r|/|R| <= 0.1`, third-body evaluation avoids subtracting two nearly equal
+large accelerations. With `u=r/|R|`, `n=R/|R|`, `s=|n-u|` and
+`q=u·(u-2n)`, it rationalizes `s³-1` as
+`f=q*(s²+s+1)/(s+1)` and evaluates `-(μ/|R|²)*(u+f*n)/s³`.
+Larger relative separations use direct acceleration subtraction, preserving
+precision near the perturber. A spacecraft at the origin gives exactly zero
+third-body perturbation after the provider's coverage/contract checks. The
+perturber at the origin or the spacecraft coinciding with an attracting point
+mass is singular and fails explicitly. Finite input vectors can still exceed
+supported floating arithmetic range; nonfinite intermediate/results fail rather
+than being softened or extrapolated.
+
+Independent 80-digit Decimal fixtures evaluate direct Newtonian terms and their
+difference (`Tools/generate_gravity_fixtures.py`, `Fixtures/gravity-reference.json`).
+They include a tiny distant-body tide that would lose precision under ordinary
+subtraction, as well as central, lunar-distance and general 3D cases. The numerical
+orbit/convergence tests now exercise production `CentralGravity` against the
+analytic two-body propagator. Further tests check moving provider epochs,
+force composition, mass independence, origin/frame/GM errors and singularities.
+Combined central/third-body propagation is also tested with a moving injected
+provider, unchanged mass and acceleration consistent with the summed derivative.
+The direct/indirect distinction is also described in
+[Orekit's third-body gravity API](https://www.orekit.org/site-orekit-7.1/apidocs/org/orekit/forces/gravity/ThirdBodyAttraction.html).
+
+## J2 gravity
+
+`J2Gravity` adds only the axisymmetric degree-two correction. Compose it with
+`CentralGravity` for central attraction plus oblateness; do not add it to another
+model already including degree two/order zero. The signed dimensionless coefficient
+is J2 = −C20 for **unnormalized** C20, not a normalized harmonic coefficient.
+This convention follows [Orekit's J2-only model](https://javadoc.io/static/org.orekit/orekit/12.2.1/org/orekit/forces/gravity/J2OnlyPerturbation.html).
+
+Supply the body identifier, Newtonian or TT-compatible GM, a sourced equatorial
+radius in metres, a finite J2 with its provenance, and an `OrientationProvider`.
+No body constants are inferred. Zero and negative J2 are supported. The context
+origin must be that body, and propagation requires a pseudo-inertial frame.
+The orientation provider and its result must use the exact propagation frame
+and requested epoch; provider failures propagate. An ICRF orientation cannot
+be silently relabeled to a different frame.
+
+The provider maps reference axes into body axes with the pole along body z.
+For unit body position n, distance r, and radius R, the correction is
+`1.5 J2 (GM/r²) (R/r)² [nx(5nz²−1), ny(5nz²−1), nz(5nz²−3)]`.
+Rotate this acceleration vector back into propagation axes without kinematic
+rotation terms. Spin around a fixed pole leaves this axisymmetric force unchanged;
+a changing pole changes the force. Mass and propellant remain unchanged.
+
+This is an exterior gravity expansion, with no surface collision model, radius
+cutoff, higher harmonics, tides, or relativistic corrections. The caller must
+select a physically valid domain. The origin is singular, even for zero J2;
+nonfinite arithmetic fails explicitly.
+
+Swift Testing checks equatorial/polar values, independent numerical gradients of
+the potential, signed/zero coefficients, tilted poles and spin invariance, and
+central-plus-J2 integration. A ten-orbit weak-J2 case agrees within 1% with the
+[first-order secular nodal regression](https://ai-solutions.com/_freeflyeruniversityguide/j2_perturbation.htm)
+and checks conservation of angular momentum about the pole. This validates the
+force and integrator; it does not validate a particular body's chosen constants.
+
+## Finite thrust and scheduled burns
+
+`FiniteThrust` prescribes constant thrust in newtons, positive effective exhaust
+velocity in m/s, and a normalized direction in an explicit pseudo-inertial frame.
+The effective exhaust velocity incorporates pressure effects in the selected
+engine operating condition. Acceleration is `direction * thrust / totalMass`,
+and propellant rate is `-thrust / effectiveExhaustVelocity`. These follow the
+[NASA thrust and specific impulse convention](https://www1.grc.nasa.gov/beginners-guide-to-aeronautics/specific-impulse/).
+As fuel burns, constant force produces increasing acceleration. This model has
+no implicit gravity, attitude steering, atmosphere correction, throttle history,
+staging, or multiple reservoirs. A zero-thrust engine consumes no fuel; an active
+engine with an empty reservoir throws `propellantDepleted`.
+
+`FiniteBurn` specifies a positive-duration interval. `ScheduledThrust` activates
+burns on `[start, end)`. Adjacent burns switch at their shared epoch; overlapping
+burns represent independent engines and add both thrust acceleration and fuel
+consumption. Each burn can supply different engine parameters and direction.
+The schedule is immutable and evaluates arbitrary epochs without consuming fuel
+or changing hidden state. All engines must share the exact propagation frame.
+
+Use `ScheduledThrustPropagator` for numerical schedule execution. It divides
+forward or backward propagation at every ignition/cutoff boundary and integrates
+with the segment's active engines held through its RK endpoint evaluations.
+It then reports acceleration according to the right-continuous schedule at the
+requested epoch. Position, velocity, dry mass and propellant carry continuously
+between segments. Short burns cannot disappear between adaptive steps, even if
+both their endpoints lie between requested samples. Every query restarts from
+the immutable seed; backward replay adds back the prescribed consumed fuel and
+reconstructs earlier motion, rather than reversing engine direction.
+
+```swift
+let engine = try FiniteThrust(
+    frame: initialState.frame,
+    thrustNewtons: 20,
+    effectiveExhaustVelocityMetresPerSecond: 100,
+    direction: SIMD3(1, 0, 0))
+let ignition = try initialState.epoch.advanced(by: Duration(seconds: 10))
+let cutoff = try ignition.advanced(by: Duration(seconds: 20))
+let schedule = try ScheduledThrust(frame: initialState.frame, burns: [
+    FiniteBurn(start: ignition, end: cutoff, thrust: engine)
+])
+let trajectory = try ScheduledThrustPropagator(
+    initialState: initialState, schedule: schedule,
+    backgroundModels: [centralGravity], context: context,
+    options: .preset(for: .high))
+let result = try trajectory.spacecraftState(at: cutoff)
+```
+
+The schedule accepts at most 10,000 burns. Numerical options and work budgets
+apply separately to each segment; there is no aggregate step-diagnostics API yet.
+Background models must be continuous between scheduled boundaries. Other force
+events still require explicit handling. Passing `ScheduledThrust` directly to
+the generic numerical propagator does **not** provide boundary splitting.
+
+The default `FuelDepletionPolicy.fail` preserves explicit exhaustion failures,
+including potentially at exact scheduled cutoffs. Select `.cutoff` to localize
+constant-flow scheduled depletion and continue under background forces, as
+specified below. The standalone `FiniteThrust` and generic numerical propagator
+retain their failure semantics.
+
+Swift Testing checks an independently integrated constant-thrust rocket solution
+for velocity, position and fuel, short burns followed by coast, exact boundary
+acceleration, overlapping/adjacent engines, reverse recovery, query determinism,
+invalid inputs, frame mismatches and depletion failures.
+
+## Drag and solar radiation pressure
+
+`AtmosphericDrag` uses the isotropic [drag equation](https://www1.grc.nasa.gov/beginners-guide-to-aeronautics/drag-equation/):
+`a = -rho * Cd * A * |vRelative| * vRelative / (2 * mass)`.
+Area is in m²; Cd is dimensionless. Both are finite and nonnegative; zero disables
+the force. `AtmosphereProvider` supplies a local `AtmosphereSample` containing
+nonnegative density in kg/m³ and medium velocity in m/s at the requested epoch.
+The sample must have the exact spacecraft frame and context origin. Winds and
+atmospheric rotation belong in that velocity, expressed in propagation axes;
+zero medium velocity explicitly describes a stationary atmosphere. Provider
+coverage/errors propagate. `UniformAtmosphere` supports controlled scenarios;
+it is not an Earth atmosphere or altitude/density approximation. No empirical
+planetary density model is selected automatically.
+
+`SolarRadiationPressure` uses a point source and an isotropic constant area with
+a dimensionless radiation coefficient, following the single-coefficient approach
+used by [Orekit](https://www.orekit.org/site-orekit-12.2.1/apidocs/org/orekit/forces/radiation/IsotropicRadiationSingleCoefficient.html).
+Supply a sourced reference pressure in pascals, sourced reference distance in
+metres, area in m², and coefficient. Acceleration points away from the source,
+with magnitude `pressure * (referenceDistance/distance)² * coefficient * area /
+mass * illuminatedFraction`. If the source is the context origin its position
+is zero; otherwise its checked ephemeris must have the same physical origin and
+exact frame. No automatic origin conversion or fallback is selected. The source
+position is evaluated at the spacecraft epoch without light-time correction.
+Coincidence with the source is singular, even for zero illumination.
+
+An explicit `RadiationIlluminationProvider` supplies a finite fraction in 0...1
+at each state. `ConstantRadiationIllumination(illuminatedFraction: 1)` means full
+illumination; zero means shadow and intermediate values attenuate incident flux.
+Injected providers can use ephemerides and geometry for eclipses. No built-in
+umbra/penumbra geometry or occultation detection is included, and discontinuous
+shadow transitions require event handling or known-boundary segmentation. A
+constant fraction alone makes no claim that a path is free from eclipses.
+
+Both forces use instantaneous total mass, consume no propellant, and require
+pseudo-inertial propagation. They do not model attitude-dependent projected
+area, lift, aerodynamic heating, optical panels, albedo, infrared radiation,
+or relativistic effects. The caller selects coefficients and valid domains.
+
+```swift
+let medium = try UniformAtmosphere(
+    frame: initialState.frame, origin: context.origin,
+    densityKilogramsPerCubicMetre: 1e-12,
+    velocityMetresPerSecond: SIMD3(0, 0, 0))
+let drag = try AtmosphericDrag(
+    referenceAreaSquareMetres: 10, dragCoefficient: 2.2, atmosphere: medium)
+let radiation = try SolarRadiationPressure(
+    referencePressurePascals: pressureAtReferenceDistance,
+    referenceDistanceMetres: referenceDistance,
+    referenceAreaSquareMetres: 10, radiationCoefficient: 1.3,
+    illumination: ConstantRadiationIllumination(illuminatedFraction: 1))
+let dynamics = try SpacecraftDynamics(
+    models: [centralGravity, drag, radiation], context: context)
+```
+
+Swift Testing checks relative-flow drag vectors and an independent analytic
+quadratic-drag trajectory, radiation distance/mass/illumination scaling and
+source direction, explicit ephemeris origins, invalid environments and provider
+contracts. Synthetic parameters test the equations without asserting planetary
+environment fidelity.
+
+## Event detection
+
+`SpacecraftStateProvider` extends `StateProvider` with mass-aware queries; both
+numerical propagators conform. `EventDetectedPropagation` searches any such
+trajectory from an explicit start epoch to a target, forwarding provider errors
+and checking returned epoch/frame contracts. It reports occurrences and a final
+state, whether the target was reached, and the number of state evaluations.
+It is deliberately not a `StateProvider`: a terminal event can end before the
+requested epoch, and that result must not masquerade as a target-epoch state.
+
+A `PropagationEventDetector` supplies a unique nonblank identifier, a continuous
+finite scalar value, crossing direction, and `.record` or `.stop` action.
+Directions describe increasing physical time, even during backward searches.
+`EpochEvent` localizes an explicit epoch exactly, useful for maneuver checkpoints.
+`SphericalImpactEvent` uses distance from an explicit fixed centre minus radius,
+with decreasing crossings selected by default. Its frame must match exactly;
+the caller assigns the physical origin and radius. Moving bodies, planes,
+clearance margins and illumination thresholds can use custom detectors.
+
+```swift
+let impact = try SphericalImpactEvent(
+    identifier: "surface", frame: trajectory.frame, radiusMetres: bodyRadius)
+let search = try EventDetectedPropagation(
+    trajectory: trajectory, detectors: [impact],
+    options: PropagationEventOptions(
+        maximumCheckIntervalSeconds: 1, timeToleranceSeconds: 1e-6))
+let result = try search.propagation(from: initialState.epoch, to: requestedEpoch)
+// result.state may be at an impact, before requestedEpoch.
+```
+
+Search samples at bounded time intervals and bisects detected sign changes,
+querying the actual trajectory at every trial epoch. There is no linear state
+interpolation or dense-output assumption. Occurrences are sorted in traversal
+order; the first terminal occurrence stops the result. Equal localized epochs
+use detector input order. Initial exact zeros are reported by default regardless
+of crossing direction; `includeInitialEvents: false` suppresses these. Left-end
+zeros are not emitted again on the next interval. Only events at or before a
+terminal occurrence in traversal order are returned.
+
+`PropagationEventOptions` bounds check interval, time bracket tolerance,
+localization iterations, state queries and occurrence count. Localization reports
+the final bracket width, not a physical state-error guarantee. Provider numerical
+tolerances remain independent. Nonfinite values, exhausted budgets, insufficient
+epoch resolution and failed localization throw explicit errors; no partial result
+is returned. All detector evaluations must be pure and may occur out of order.
+
+This is sign-crossing detection: an even number of crossings within one check
+interval, a tangency, an initially interior state, or a function identically zero
+requires a caller-specific policy. Choose check spacing to separate crossings;
+this is not a certified continuous collision-clearance algorithm. The provider
+and every detector must remain valid throughout sampled/localized brackets.
+A terminal search may evaluate past the root while forming its bracket, so it
+cannot prevent a singular force or depleted-fuel provider error there. A positive
+fuel-reserve detector can be used where the trajectory is still valid, but exact
+zero-fuel localization for arbitrary mass-flow models requires integration-level
+handling. Constant-flow scheduled burns support the analytic cutoff policy below.
+
+Event actions report or terminate; they do not mutate forces or automatically
+apply maneuvers. Restart from the reported state with explicit changed inputs to
+model a discontinuity. Scheduled ignition/cutoff splitting remains handled by
+`ScheduledThrustPropagator`. Underlying queries restart from their immutable seed,
+so this general search is intended as a correctness-first reference implementation,
+not an optimized accepted-step observer. Numerical work limits apply per provider
+query in addition to the search's state-query budget.
+
+Swift Testing validates analytic straight-line sphere crossings, backward crossing
+direction, record/terminal ordering, initial-root suppression, exact epoch events,
+scheduled-burn mass state, invalid detector contracts and bounded search failure.
+
+## Automatic scheduled fuel cutoff
+
+Set `fuelDepletionPolicy: .cutoff` on `ScheduledThrustPropagator`. The default is
+`.fail` for compatibility. For every segment, sum the active engines' positive
+constant consumption rates q. If the forward segment would exhaust available
+propellant P, split at `segmentStart + P/q`, integrate thrust up to that epoch,
+set the known boundary fuel to exactly zero, and continue with background forces.
+All scheduled engines draw from this one reservoir and shut down together;
+later ignitions also remain off. `propagation(at:)` returns the state and optional
+`depletionEpoch`, including depletion coincident with a scheduled cutoff.
+
+Fuel evolves analytically within each constant-flow segment. Cartesian integration
+supplies that exact inventory to every background force evaluation, so drag,
+radiation pressure and other mass-dependent forces see evolving total mass.
+The RK reservoir coordinate is held fixed internally rather than generating
+negative fuel stages. Endpoint stage evaluations use the smooth thrust left
+limit at dry mass; the public returned state uses zero fuel and thrust-free
+right-limit acceleration. This is a localized boundary condition, not clipping
+arbitrary negative inventories. Numerical position/velocity tolerances still
+apply; the exhaustion time inherits floating-point P/q precision and epoch
+resolution. An unrepresentable positive-duration depletion boundary fails.
+
+```swift
+let trajectory = try ScheduledThrustPropagator(
+    initialState: initialState, schedule: schedule,
+    backgroundModels: [centralGravity], context: context,
+    fuelDepletionPolicy: .cutoff)
+let result = try trajectory.propagation(at: requestedEpoch)
+// result.depletionEpoch reports reservoir exhaustion; result.state may be a coast state.
+```
+
+Cutoff mode requires background models to return **zero propellant mass rate**.
+Unexpected background consumption or inflow throws `backgroundMassFlowUnsupported`;
+it cannot silently invalidate the known depletion time. Variable throttle,
+refueling, staging and multiple reservoirs remain unsupported; continuous variable
+consumption uses `FuelLimitedNumericalPropagator` below.
+An initially empty reservoir coasts forward with scheduled engines disabled.
+Backward queries from the immutable wet seed integrate the prescribed mass flow
+in reverse. A new empty seed cannot infer historical cutoff/engine activity, so
+backward traversal through a positive-flow burn fails explicitly. Querying from
+the original wet seed after depletion remains deterministic.
+
+Swift Testing compares exhaustion velocity/position and subsequent coast against
+the rocket equation, verifies exact scheduled cutoff, overlapping engines,
+empty seeds, later suppressed ignitions, evolving mass in background forces,
+unsupported background mass flow, and missing backward-history failures.
+
+## Accepted-step events and explicit transitions
+
+`EventDrivenNumericalPropagator` checks detector values at error-controlled
+accepted step endpoints. It reuses those states; only a candidate crossing
+requires localization queries. Maximum step size is capped by the event check
+interval independently of the numerical tolerance preset. Localization restarts
+from the crossing step's left state, avoiding full-seed replay for every root.
+The accepted endpoint past a root is discarded; integration restarts at the
+localized state with the transition's force composition.
+
+Each detector is **one-shot per query by default**. Optional rearming thresholds
+are described below. Initial exact roots are included; fired
+identifiers are disabled for the rest of that query, preventing repeated resets
+at the same root. Recurring events opt into a caller-selected nonzero rearming band.
+Equal exact epochs use detector input order; remaining detectors are rechecked
+at every reset epoch. `.stop` returns immediately without applying a transition.
+A `.record` occurrence continues and optionally invokes the transition closure.
+Returned occurrences contain the pre-transition state. A reset at the target
+is applied and its resulting acceleration recomputed before returning.
+
+The closure receives `(occurrence, forward, currentDynamics)` and returns an
+`EventStateTransition(state:dynamics:)`. It can alter position/velocity/mass
+explicitly or replace the composed forces. State epoch/frame and dynamics
+frame/origin must match the event's propagation context. The caller supplies
+inverse reset behavior for backward replay; arbitrary changes are not implicitly
+inverted. Closures and detectors must be deterministic without external mutation.
+Each query starts from the original seed and original dynamics.
+
+```swift
+let checkpoint = try EpochEvent(
+    identifier: "impulse", epoch: burnEpoch, action: .record)
+let trajectory = try EventDrivenNumericalPropagator(
+    initialState: initialState, dynamics: dynamics, detectors: [checkpoint]
+) { event, forward, currentDynamics in
+    let state = event.state
+    let velocity = state.cartesian.velocity + (forward ? deltaV : -deltaV)
+    let reset = SpacecraftState(
+        cartesian: try CartesianState(epoch: state.epoch, frame: state.frame,
+            position: state.cartesian.position, velocity: velocity), mass: state.mass)
+    return EventStateTransition(state: reset, dynamics: currentDynamics)
+}
+let result = try trajectory.propagation(at: requestedEpoch)
+```
+
+Known discontinuities must be changed by the reset closure, rather than hidden
+inside a force's epoch-dependent branch. For example, use a continuous pre-event
+force set and return the post-event force set at an `EpochEvent`. Prescribed
+constant-flow engine schedules still use `ScheduledThrustPropagator` and its
+specialized fuel-cutoff handling.
+
+The same sign-crossing limits apply: tangencies and multiple crossings inside
+one check interval are not guaranteed. All forces must remain valid through the
+trial step and crossing bracket, so arbitrary zero-fuel events cannot yet recover
+negative fuel stages or singular-force evaluations. Variable-flow depletion
+uses the dedicated consuming-force boundary contract described below.
+Numerical work limits apply per restart/localization query; event query, accepted
+step-check and occurrence counts are bounded across the complete event run.
+`stateEvaluations` reports localization/search provider queries, not RK derivative
+evaluations. General accepted-step events have no aggregated RK diagnostics yet.
+
+Swift Testing verifies a terminal plane crossing, an impulse with inverse replay,
+two force-switch events against analytic motion, deterministic replay, initial
+one-shot roots, and rejected resets with incompatible epochs. Existing numerical
+propagation tests verify unchanged behavior when no observer is installed.
+
+## Variable-flow depletion and recurring events
+
+`VariableThrust` accepts a pure command closure `(state, context) -> FiniteThrust`.
+A command can change throttle, effective exhaust velocity and inertial direction
+continuously with epoch/state. Engine validation and frame checks apply at every
+evaluation. Commands must be defined at dry mass for depletion localization and
+must not mutate hidden state. Known discontinuities still use explicit resets.
+
+`FuelConsumingForceModel` marks a model as drawing from the shared reservoir and
+provides `depletionBoundaryContribution`. For positive fuel this must equal normal
+force evaluation; at zero fuel it provides the continuous dry-mass limit for root
+localization. This method must return a nonpositive mass rate. `FiniteThrust` and
+`VariableThrust` conform. Normal evaluation still rejects firing with zero fuel.
+Unmarked background forces must return exactly zero mass rate; incompatible
+consumption/inflow throws rather than silently changing the depletion model.
+
+`FuelLimitedNumericalPropagator` integrates the coupled position, velocity and
+variable fuel inventory. During controlled boundary trials, the private reservoir
+coordinate may go negative while force models see zero propellant and dry total
+mass. This extension exists only to bracket depletion; negative inventory is
+never exposed in a returned spacecraft state. An accepted crossing triggers
+bounded bisection through reintegration from the valid side. The reported depletion
+epoch is the last valid side of a time bracket no wider than `timeToleranceSeconds`;
+its bounded residual inventory is replaced with the known zero-fuel boundary.
+`FuelLimitedPropagationResult` reports the state, optional depletion epoch and
+final bracket width. All consuming models then switch off together and the
+background forces continue.
+No arbitrary invalid stage is accepted or silently clipped in the generic solver.
+
+```swift
+let engine = try VariableThrust(frame: initialState.frame) { state, context in
+    let elapsed = try state.epoch.duration(since: initialState.epoch).seconds
+    return try FiniteThrust(frame: state.frame,
+        thrustNewtons: 10 * (1 + elapsed),
+        effectiveExhaustVelocityMetresPerSecond: 100,
+        direction: SIMD3(1, 0, 0))
+}
+let powered = try SpacecraftDynamics(models: [centralGravity, engine], context: context)
+let trajectory = try FuelLimitedNumericalPropagator(
+    initialState: initialState, dynamics: powered,
+    eventOptions: PropagationEventOptions(timeToleranceSeconds: 1e-8))
+let result = try trajectory.propagation(at: requestedEpoch)
+```
+
+The boundary time has numerical integration error in addition to bracket width;
+a time tolerance does not certify a fuel/state error bound. Use appropriate
+mass/position/velocity tolerances. Event options bound localization iterations
+and all integration queries (initial search, trials, coast); RK work limits apply
+per query. The check-interval and occurrence-count event options are not used by
+this dedicated single, monotonic depletion search. Continuous consumption with a
+well-defined dry-mass limit is required. Refueling, staging, multiple tanks and
+other simultaneous state resets are outside this propagator. Backward queries
+use the original ordinary dynamics and require an evaluable wet seed; a dry seed
+cannot reconstruct burn history. The generic solver's depletion failure behavior
+is unchanged.
+
+For recurring general events, supply `rearmingThresholds: [identifier: threshold]`
+to `EventDrivenNumericalPropagator`. Thresholds must be finite and positive and
+identify registered detectors. They use each detector's scalar units, so the
+caller chooses a meaningful band (metres for clearance, for example). After firing,
+a detector stays disabled until an accepted step starts outside that band, then
+can trigger a later crossing. Reset states are not immediately rearmed, and the
+same root cannot repeatedly fire while remaining in the band. Check intervals
+must still separate roots and resolve the excursion outside the band. Detectors
+without a threshold retain one-shot behavior. Occurrence and evaluation limits
+bound repeated events, and backward searches use the same physical-time direction.
+
+Swift Testing validates a variable-thrust exhaustion against analytic fuel/time,
+rocket-equation velocity and independent Simpson quadrature of position, post-cutoff
+coast, unchanged pre-depletion states, deterministic replay, recurring crossings
+forward/backward, invalid bands and unsupported background mass flow.
+
+## Direct integration in moving and rotating frames
+
+Use `SpacecraftDynamics(rotatingFrame:origin:inertialDynamics:using:)` to integrate
+Cartesian position/velocity directly in a registered moving or rotating frame.
+The ordinary `SpacecraftDynamics(models:context:)` initializer continues to require
+a pseudo-inertial frame. The adapter requires an ordinary pseudo-inertial physical
+force composition and both frames registered in the supplied `FrameTree`.
+It retains the tree so frame providers remain available during propagation.
+Custom providers must not strongly capture their owning tree.
+
+At every derivative evaluation, the adapter converts the current coordinates into
+the physical force frame, preserving instantaneous mass and explicit epoch. It
+computes physical acceleration there, then applies the complete rigid transform
+back into integration axes. Optional observational acceleration in the incoming
+state is discarded; it is not added to the physical forces. The position derivative
+is the integration-frame coordinate velocity, and propellant mass rate is unchanged.
+
+For the transform convention `pDestination = R*pSource + translation`, write
+`r = R*pSource`, `v = R*vSource`, and let w/alpha be the transform's angular
+velocity/acceleration expressed in destination axes. The coordinate acceleration
+is `R*aSource + 2*w×v + alpha×r + w×(w×r) + translationAcceleration`.
+This uses exactly `FrameTransform.applying` and its coordinate-rotation sign
+convention. Expressing v in terms of destination coordinate velocity yields the
+usual Coriolis/centrifugal/Euler terms. Translational and angular derivatives are
+per atomic SI second; providers must supply physically consistent derivatives.
+The explicit inertial reference and integration-frame pseudo-forces are also the
+pattern described by [Orekit's inertial-force model](https://www.orekit.org/site-orekit-13.0.2/apidocs/org/orekit/forces/inertia/package-summary.html).
+
+```swift
+let inertial = try SpacecraftDynamics(
+    models: [centralGravity, drag, radiation], context: inertialContext)
+let dynamics = try SpacecraftDynamics(
+    rotatingFrame: rotatingFrame, origin: rotatingOrigin,
+    inertialDynamics: inertial, using: tree)
+let coordinates = try tree.convert(inertialInitialState.cartesian, to: rotatingFrame)
+let initial = SpacecraftState(cartesian: coordinates, mass: inertialInitialState.mass)
+let trajectory = try NumericalSpacecraftPropagator(
+    initialState: initial, dynamics: dynamics, accuracy: .high)
+```
+
+Physical models receive the **inertial** context and its ephemerides/origin, not
+relabeled rotating-frame data. The integration origin is explicitly supplied;
+the caller ensures it matches the tree's actual translations. Origins may differ
+when the transform represents their relative motion. Force models should supply
+physical acceleration only; additional pseudo-forces would double-count the
+adapter's kinematics. Transform coverage/disconnection/epoch failures propagate.
+
+Numerical tolerances apply in the integration axes. Equivalent inertial and
+rotating runs can take different adaptive steps and have different numerical
+errors; rapidly rotating frames may require smaller steps. The general event
+propagator can use this dynamics composition, with detectors/resets expressed in
+the integration frame. `FuelLimitedNumericalPropagator` preserves the adapter
+both during dry-limit localization and after removing consuming forces. Native
+`ScheduledThrust` schedules still require inertial axes; rotating event-driven
+force switches can instead return a new adapted inertial composition.
+
+Swift Testing validates independent centrifugal/Coriolis signs, an analytic
+circular central-gravity orbit in spinning axes, forward/backward unforced motion
+under combined accelerating translation and angular acceleration, and fuel cutoff
+followed by coast with coordinate recovery into inertial axes. These exercise Euler
+and translating-origin terms as well as mass-aware frame adaptation.
+
+Prescribed waypoint execution additionally accepts `WaypointRoutePhysicalConstraints`:
+a native-axis thrust cone and an explicit stored-heat/cooling envelope. Engine
+limits can be zero for a forced coast; exhaust velocity remains positive.
+Heat bounds carry across spatial and timed engine boundaries and appear in
+execution-segment diagnostics. Cone checks use the gravity-compensating engine
+command at RK stages; heat uses conservative engine ceilings and does not
+estimate actual temperature. All waypoint timing planners apply these constraints.
+See <doc:ORBITAL_MECHANICS> for model equations and limits.
+
+`CommandedBurnPlanner` instead searches explicit finite-thrust schedules with
+checked passage and rendezvous targets. It propagates supplied directions under
+background forces, preserving fuel and fly-through state, and retains residuals
+from rejected candidates. Its finite search is separate from prescribed cubic
+execution and does not inherit its obstacle/cone/thermal checks.
diff --git a/Sources/CelMek/CelMek.docc/SPICE_KERNELS.md b/Sources/CelMek/CelMek.docc/SPICE_KERNELS.md
new file mode 100644
index 0000000..bdd6347
--- /dev/null
+++ b/Sources/CelMek/CelMek.docc/SPICE_KERNELS.md
@@ -0,0 +1,1066 @@
+# Native Swift SPICE kernels
+
+## Support matrix
+
+This is a native Swift subset of the public SPICE formats and behavior, not the
+SPICE Toolkit or a complete replacement for its frame, time and geometry APIs.
+The library has no CSPICE/C/Fortran runtime dependency. Its algorithms are implemented
+from public documentation; a binary CSPICE oracle is used only for optional fixture
+generation. All application state outputs use metres and elapsed atomic seconds.
+
+| Kernel/format | Implemented evaluation | Time/axes requirements | Derivative availability |
+| --- | --- | --- | --- |
+| MK (`KPL/MK`) | Bounded manifests, relative dependencies and path substitution | Paths relative to containing manifest | Not applicable |
+| LSK (`KPL/LSK`) | Validated post-1971 leap history as `LeapSecondTable` | Caller supplies version and expiry; explicitly inject table into UTC APIs | Periodic TDB parameters retained, not installed as a TDB model |
+| Text PCK (`KPL/PCK`) | Sourced radii/GM, supported polynomial/periodic orientation | Explicit body/system, base axes, coverage and TDB model | Analytic angular velocity and acceleration |
+| FK (`KPL/FK`) class 4 | Fixed MATRIX/ANGLES/QUATERNION definitions and providers | Explicit relative axes and centre state provider | Fixed relative angular derivatives; centre acceleration policy explicit |
+| SPK DAF type 2 | Chebyshev position and differentiated velocity; centre chains | TDB model, exact NAIF identities and native axes bindings | Velocity converted to atomic seconds; acceleration unavailable |
+| SPK DAF type 21 | Extended modified difference lines, variable intervals; centre chains | Same explicit TDB/axes/origin contract as types 2/3 | Integrated position/velocity; acceleration unavailable in SI adapter |
+| SPK DAF type 3 | Separate position/velocity polynomials; centre chains | Same as type 2; supplied velocity need not equal position derivative | Acceleration unavailable |
+| Binary PCK DAF type 2 | Euler polynomials and continuous orientation provider | Explicit frame class ID, inertial base axes, coverage and TDB model | Analytic atomic-time angular velocity and acceleration |
+| SCLK (`KPL/SCLK`) type 1 | Partitions, canonical fields, fractional ticks, TT/TDB correlation | Explicit spacecraft ID, tick coverage and TDB model when needed | Piecewise local clock rate; jumps/gaps/ambiguity diagnosed |
+| CK DAF type 1 | Discrete pointing and exact-sample attitude | Explicit instrument/clock association, inertial axes bindings and rate convention | Optional stored angular velocity; acceleration unavailable |
+| CK DAF type 2 | Constant-rate interval pointing and continuous attitude | Explicit clock/axes; record seconds/tick combined with clock correlation | Local clock-consistent angular velocity and acceleration |
+| CK DAF type 3 | Fixed-axis pointing interpolation and independent stored-rate interpolation | Explicit clock/axes and rate convention; declared interpolation intervals | Optional stored angular velocity; acceleration unavailable in attitude adapter |
+
+Binary files require modern IEEE `LTL-IEEE` or `BIG-IEEE` DAF identification and
+integrity markers. Loading inspects descriptors; it does not certify every payload.
+Selected unsupported or malformed segments fail when evaluated. Coverage endpoints
+are inclusive; interior gaps remain possible. All supplied coefficients are evaluated;
+accuracy hints do not truncate kernel data. Synthetic fixtures exercise both byte orders;
+pinned CSPICE N0067 outputs check the supported state/orientation/time conventions.
+
+## Frame combinations and identity contracts
+
+A native integer frame ID is bound explicitly to a library `Frame` through
+`SpiceFrameBindings`. `.icrfJ2000(provenance:)` is a caller assertion about the
+particular dataset's axes, not an automatic equivalence inferred from a label.
+Origins and body identities must also be explicit: planet centres, system barycentres
+and frame class IDs are not interchangeable. An FK centre field alone does not construct
+a physical centre provider or connect the entire frame graph.
+
+| Combination | Supported integration |
+| --- | --- |
+| SPK native axes equal requested axes | Direct SI ephemeris output with explicit physical origin |
+| SPK chain links in different native axes | Convert each displacement through caller-owned FrameTree; apply rotation derivatives without duplicating origin translation |
+| Fixed FK relative to registered axes | Decode class-4 definition and create a frame with explicit relative axes and centre provider |
+| Text/binary PCK orientation | Inject supported orientation provider into body-fixed frame machinery; bind base axes explicitly |
+| CK type 2 orientation | Use `SpiceCKAttitudeProvider` through `AttitudeOrientationProvider`; local derivatives support rotating frames |
+| CK types 1/3 orientation | Primitive pointing/attitude supported; frame adapter rejects unavailable acceleration |
+| Automatic FK class-2/class-3 registration | Deferred; binary PCK/CK providers are available directly with explicit bindings |
+| FK dynamic/switch frames and arbitrary SPICE name lookup | Deferred; no implicit toolkit graph resolver |
+
+SPK axes conversions can use registered rotating frames. PCK/CK orientation adapters
+currently require pseudo-inertial reference/base axes; their explicit frame-tree conversions
+do not imply unrestricted non-inertial base support. Keep a supplied FrameTree alive
+externally: providers hold it weakly to avoid reference cycles. A body-fixed centre state
+without acceleration requires the caller to select an explicit acceleration policy.
+See [frame API](https://github.com/lorrden/swift-celmek/blob/master/Sources/CelMek/FrameTransform.swift) and the provider sections below.
+
+## Supported kernel loading
+
+`SpiceKernelSet` is a caller-owned, synchronized text kernel pool. It loads
+numeric/string assignments in identified `KPL/PCK`, `KPL/FK`, `KPL/LSK`, `KPL/SCLK` and
+`KPL/MK` files. Explicit snapshot adapters supply leap-second tables, sourced
+constants, PCK orientations, fixed FK frame providers and type-1 clock correlation. Modern IEEE DAF/SPK, DAF/PCK and DAF/CK
+files can also be loaded for inspection and bounded array reads.
+Geometric SPK types 2/3/21, binary PCK type 2 and CK types 1/2/3 have evaluation
+adapters described below; other architectures are rejected by the kernel set.
+
+```swift
+let kernels = try SpiceKernelSet()
+let load = try kernels.load(URL(fileURLWithPath: "/assets/solar-system.tm"))
+let view = kernels.snapshot()
+if case .numbers(let radii)? = view["BODY399_RADII"]?.value {
+    // Raw PCK radii are conventionally kilometres, not library SI states.
+    let radiiMetres = radii.map { $0 * 1_000 }
+}
+try kernels.unload(load)
+```
+
+Supported syntax includes comment/data blocks, case-sensitive names of at most
+32 ASCII characters, direct and incremental assignments, parenthesized vectors,
+commas or whitespace, finite decimal numbers with E/D exponents, and single-quoted
+strings with doubled quotes. String elements are limited to 80 characters and
+cannot cross lines. Numeric and string elements cannot be mixed within a vector.
+An incremental assignment appends to a preceding value of the same type; changing
+the type replaces that value. Raw string arrays retain continuation markers.
+Empty vectors, non-ASCII text and non-finite numbers are rejected.
+Date literals support `@YYYY-MON-D` or `@D-MON-YYYY`, with optional clock
+components introduced by `-`, `/` or `//`. Hours may stand alone; minutes and
+seconds are optional, and seconds may have a fraction. Four-digit years
+0001–9999, abbreviated case-insensitive months and Gregorian validation are used. They become unscaled nominal seconds from J2000 noon in the numeric
+pool, without UTC/TDB conversion. Other date spellings are diagnosed as unsupported.
+The parser is a documented subset, not a claim of complete toolkit compatibility.
+
+Meta-kernels support `KERNELS_TO_LOAD`, `PATH_SYMBOLS`, `PATH_VALUES` and `+` string
+continuation. Symbols in this subset contain ASCII letters, digits or underscores.
+Undefined or duplicate symbols, mismatched arrays, dangling continuations, missing
+files and dependency cycles produce errors. Substitutions are single-pass, without
+shell/environment expansion. Nested manifests are supported with bounded depth;
+all manifest variables remain local to loading. Canonical paths detect symlink
+cycles. Dependency paths are relative to the containing manifest rather than the
+process working directory. Spaces in local paths are allowed. Those last policies
+are intentional library conventions rather than full CSPICE path compatibility.
+
+## Ownership, precedence and invalidation
+
+Every successful load creates an opaque ownership group, including its manifest
+and dependencies in traversal order. SPK/PCK/CK readers appear in `snapshot.binaryKernels`. Later groups have higher priority. Within a
+file, later direct assignments replace earlier values and incremental assignments
+append. Inspection returns contributing source paths and immediate parent manifests.
+Repeated loading creates another group, taking a fresh snapshot of file contents.
+Unloading by load ID removes exactly that group's contributions, rebuilding the
+pool from retained earlier groups without rereading files. Shared dependencies
+loaded separately remain present. Physical files are never deleted.
+
+Loads commit atomically. A parse, dependency or capacity failure leaves the previous
+set and cache scope intact. This differs deliberately from toolkit partial loading.
+Each successful load/unload/clear creates a new `EphemerisCacheScope`. External
+caches must namespace by that scope; there are currently no internal state caches.
+Immutable snapshots retain their contents and scope after mutation. Do not combine
+values from different snapshots when constructing a configured provider.
+
+An internal lock serializes mutation and snapshot creation, including file reads.
+Evaluation of immutable, `Sendable` snapshots requires no lock. There is no global
+pool and no callback-based reader. Concurrent load order follows lock acquisition;
+applications needing reproducible precedence should issue loads sequentially.
+Caller-selected limits bound text file bytes, total loaded file occurrences, dependency
+depth, assignments and values. `SpiceDAFLimits` separately bounds binary metadata
+and per-query array reads; binary assets are not copied into memory in full. Unknown unload IDs are errors.
+
+## Specification basis and validation
+
+This implementation was independently written from the public
+[NAIF Kernel Required Reading](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/kernel.html),
+revision **2021 DEC 29**, consulted 2026-10-13: Kernel Type Identification;
+Text Kernel Specifications (names, assignments, values, additional syntax);
+Additional Meta-kernel Specifications; and Kernel Management (priority, path
+symbols, relative paths, reload, unload). No NASA/NAIF implementation source was
+consulted or translated, and there is no CSPICE dependency.
+
+Swift Testing fixtures are synthesized from that specification. They cover
+replacement/append precedence, quoted strings, block comments, manifest traversal,
+continued paths, provenance, independent sets, reload/unload, retained snapshots,
+transactional rollback, missing dependencies, recursive manifests, unsupported
+formats and bounded parsing. They require neither large assets nor CSPICE.
+
+## Explicitly deferred extensions
+
+Deferred formats include IK instrument geometry, DSK shapes, EK event tables,
+additional SPK types, binary PCK types 3/20 and CK types 4/5/6. Raw variables in
+supported text kernels are not equivalent to semantic support for those subsystems.
+SCLK types/time systems beyond the documented subset, legacy DAF representations,
+DAS, transfer formats and decoded binary comment lines remain unsupported.
+
+Automatic frame-graph construction, general FK classes 1/2/3/5/6, arbitrary frame-name
+resolution, full toolkit time-string parsing, pre-1972 UTC frequency adjustments,
+light-time/stellar-aberration corrections and full toolkit tolerance-expanded descriptor
+search are outside this implementation. Half-turn CK interpolation and branch-boundary
+derivatives follow the explicit library policies below. A derivative-consistent opt-in
+CK type-3 orientation provider would need a separate contract from stored-rate interpolation.
+
+The native DE441 reader is a separate supported format; see <doc:DE441>.
+Fallback order between DE441 and SPK is explicit, followed by analytic/fitted and Kepler
+sources. Future additions should keep the documented-source implementation constraint
+and add pinned independent references rather than silently expanding compatibility.
+
+## DAF binary inspection
+
+`SpiceDAFFile` opens modern `DAF/SPK`, `DAF/CK` and `DAF/PCK` files marked
+`LTL-IEEE` or `BIG-IEEE`, with an intact published FTP integrity string. Legacy
+`NAIF/DAF`, absent format markers, VAX representations, DAS and transfer formats
+are unsupported. `SpiceKernelSet` registers SPKs, binary PCKs and CKs; supported
+segment evaluators are listed in the support matrix.
+
+Metadata includes internal name, format, size, summary dimensions, ordered arrays
+and raw double/integer summary components. SPK descriptors additionally expose NAIF
+target and centre IDs, native frame ID, segment type and inclusive coverage in TDB
+seconds past J2000. Body centres and barycentres retain distinct integer identifiers.
+Every positive segment type remains visible, including those not evaluable.
+Inspection does not select or evaluate a segment, validate its type-specific payload,
+or convert units/time/frames. Primitive type 2/3/21 evaluation is a separate layer below.
+
+Array data is read on demand through `readWords(array:offset:count:)`. Array indices
+and offsets are zero based; metadata addresses remain one based, inclusive DAF
+word addresses. Reads may cross physical record boundaries and cannot escape the
+selected array or configured read limit. Raw payload doubles are preserved, including
+non-finite values; the future type-specific reader must validate coefficient content.
+File seek/read operations are synchronized, allowing concurrent queries on one
+reader. Readers close when their final reference is released, so old kernel snapshots
+retain usable file handles after unload. Binary assets must remain unchanged while
+readers exist; reload refreshes metadata but does not snapshot payload bytes. In-place
+asset replacement therefore requires discarding existing views/readers first. Truncated
+reads fail explicitly, but equal-size external edits cannot be reliably detected.
+
+The initial profile requires complete 1024-byte physical records and an initial summary
+at or before subsequent linked summaries. It checks header dimensions, pointers,
+FTP integrity, exact integral summary controls, backward links, tail agreement,
+summary/name collisions, finite coverage, array bounds and array/structural overlaps.
+Empty summary records are allowed. Limits bound summary traversal, array count,
+reserved bytes and each data request. No coefficient caching is introduced yet.
+
+Records between the header and initial summary are exposed verbatim as
+`metadata.reservedRecords`, including padding. The public DAF and SPC required
+readings describe the comment area and its interfaces but do not specify the
+byte-level line/end delimiters. This documentation gap is explicit: the loader
+preserves those bytes and does not claim to decode comment lines. Neither the
+absence of decoded comments nor unsupported segment types is silently treated as
+missing ephemeris data.
+
+Implementation sources consulted 2026-10-13:
+
+- [DAF Required Reading](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/daf.html),
+  revision 2017 MAR 22: Format Concept, Array Addresses, Organization (File Record,
+  Comment Area, Summary Records, Name Records, Element Records), Format Extension.
+  FTP bytes come from the published file-record octal example.
+- [SPK Required Reading](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/spk.html),
+  revision 2021 AUG 31: SPK File Structure, Segments and Segment Order/Priority.
+- [SPC Required Reading](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/spc.html),
+  revision 2004 DEC 26: description of the comment area and extraction interfaces.
+
+Synthetic Swift Testing fixtures independently encode headers, multiple linked
+summaries, names, reserved bytes and element records in both byte orders. Tests
+cover descriptors and unsupported types, cross-record reads, concurrent access,
+malformed pointers/coverage/ranges, integrity damage, resource limits, truncation,
+kernel ownership and transactional manifest failure. No toolkit implementation
+source, toolkit writer or runtime was used.
+
+## SPK type 2/3 primitive states
+
+```swift
+let view = kernels.snapshot()
+let state = try view.spkState(targetID: 399, atSecondsTDB: 0)
+// Relative to state.descriptor.centreID, in state.descriptor.frameID axes.
+let positionKilometres = state.positionKilometres
+let velocityKilometresPerTDBSecond = state.velocityKilometresPerTDBSecond
+```
+
+`SpiceSPKSegment(file:array:)` validates a caller-selected type 2/3 segment's
+four-word trailing directory: initial TDB seconds past J2000 (`INIT`), positive
+interval length (`INTLEN`), integral record size (`RSIZE`) and positive integral
+record count (`N`). The payload must consist of exactly `N * RSIZE` words plus
+the directory. A type 2 record contains midpoint, radius and three equal-length
+coefficient sets; type 3 contains six sets ordered X, Y, Z, VX, VY, VZ. Degree zero
+is supported. Record size is constrained by the DAF reader's configured word limit.
+Descriptor coverage may be a subinterval of the coefficient grid.
+
+Evaluation reads only the selected record, validates finite coefficients and a
+positive radius consistent with the directory, maps time to [-1,1], and evaluates
+all supplied coefficients with Clenshaw summation. The constant coefficient is
+used in full. Type 2 analytically differentiates the recurrence and divides by
+record radius; type 3 independently evaluates the supplied velocity polynomials.
+It does not replace those velocities with derivatives of the position fit.
+Overflow or unrepresentable numerical results fail explicitly.
+
+The library's deterministic boundary rule selects the later record at a shared
+internal boundary and the last record at the final endpoint. Quotient rounding
+near a boundary is checked against the actual directory grid. Descriptor bounds
+are inclusive and enforced without broadening the query coverage. Up to eight
+ULPs of the larger time/interval scale are allowed for stored record/directory
+consistency; normalization clamps only this storage-rounding allowance at the
+coefficient endpoints. This is a numerical validation tolerance, not a physical
+accuracy bound. Pathologically unresolvable time grids are rejected. No attempt
+is made to impose continuity between separately fitted records.
+
+Snapshot target queries search files in reverse load order and arrays in reverse
+DAF order, selecting by target and descriptor coverage. They return that primitive
+state in its native centre/frame. Unsupported selected types, malformed selected
+directories/records and I/O failures propagate, even if earlier data could answer.
+Segments that do not cover the epoch do not mask earlier data. The returned state
+reports source path, segment name, array index, record index and descriptor. A
+missing covering target produces `SpiceSPKError.noSegment`; invalid epochs and
+direct out-of-coverage queries have distinct errors. The primitive API does not resolve centres or convert axes/time/units. The
+relative-state overload below resolves centres; the SI provider further below
+converts units, coordinate-time rates and explicit frame bindings.
+
+Retain a `SpiceSPKSegment` for repeated queries to reuse its validated directory.
+Convenience file/snapshot queries validate the selected directory on each call.
+No record or result cache is introduced. Initialization reads four words; each
+query reads one bounded record and performs work linear in coefficient count.
+Unqueried records remain unvalidated, so loading/inspection does not certify the
+whole payload. The existing immutable-asset and concurrent-reader contracts apply.
+
+Format basis: [SPK Required Reading, Type 2 and Type 3](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/spk.html#Type%202:%20Chebyshev%20(position%20only)),
+revision 2021 AUG 31, consulted 2026-10-13, together with its Segment Order and
+Priority sections. The recurrence was implemented independently from the
+mathematical Chebyshev series definition, without consulting toolkit source.
+Synthetic Swift Testing fixtures cover both types and byte orders, independent
+ordinary-power position/velocity references, deliberately independent type 3
+velocities, degree-zero and degree-20 series, endpoint/near-boundary selection,
+subinterval coverage, reads across physical records, malformed payloads, limits,
+file/array precedence and corrupt/unsupported high-priority rejection. These tests
+require no assets or CSPICE. Black-box toolkit reference validation remains open;
+no cross-toolkit precision or boundary compatibility claim is made yet.
+
+## Relative geometric states and centre chains
+
+```swift
+let relative = try kernels.snapshot().spkState(
+    targetID: 301, centreID: 399, frameID: 1, atSecondsTDB: 0)
+// Moon minus Earth, in kernel frame 1 axes, kilometres and TDB-second rates.
+for term in relative.contributions {
+    print(term.side, term.kernelIndex, term.state.segmentName)
+}
+```
+
+The relative-state overload resolves both bodies' precedence-selected centre links
+at one finite TDB epoch. Exact NAIF integer identifiers distinguish, for example,
+Earth (399) from the Earth–Moon barycentre (3). Negative spacecraft IDs are retained.
+ID 0 is the implicit solar-system barycentre and terminates traversal without a
+segment. A target queried relative to itself returns zero, without kernel data.
+
+Traversal alternates between target and requested centre using descriptor metadata
+until it finds a shared centre. Only the necessary target prefix is added and the
+necessary centre prefix subtracted. Thus Moon-relative-to-Earth works with their
+barycentre-relative segments alone. No barycentre-to-SSB payload is required or
+subtracted. Each contributing position and velocity is accumulated with Neumaier
+compensation per axis; non-finite intermediate or final sums fail explicitly.
+
+The algorithm applies later-file/later-array precedence independently at each body.
+A higher-priority link may change a body's centre and hence the route through the
+graph. Missing data cannot cause a lower-priority covering segment to be selected.
+A contributing corrupt or unsupported type propagates its error. Shared ancestors
+are not evaluated, so their unsupported/corrupt payloads do not invalidate a local
+relative query. Kernels above the common centre are not globally certified by a
+successful query. Cycles irrelevant to the required relative path may similarly
+remain unused; unresolved cyclic chains fail with the repeated-body path.
+
+`SpiceSPKResolutionError` distinguishes missing body links (no descriptor for the
+body), coverage gaps (descriptors exist but none covers the query), cycles, work
+limits and frame mismatches. If disconnected branches reveal multiple failures,
+cycles take diagnostic priority, followed by coverage gaps and then missing links;
+within each category the target branch is reported first. No partial state is
+returned. The selected route, rather than whole-file minimum/maximum epochs,
+determines whether a query has coverage.
+
+Every contributing segment must have the requested `frameID` (default 1); this
+layer does not sum vectors from mismatched axes or infer a rotation. Any nonzero
+native frame ID can be explicitly requested, but this does not establish its
+physical definition. The SI adapter below resolves transformations using an explicitly supplied library
+FrameTree. Text PCK orientations and fixed FK definitions now connect to FrameTree through explicit axes/centre bindings. Automatic graph construction remains deferred. Light-time and stellar aberration corrections remain
+outside this geometric API. Quantities remain kilometres and per-TDB-second rates.
+
+The result retains requested IDs/time/axes, common-centre ID, contributing signed
+primitive states with source path/array/record/descriptor, the binary-kernel snapshot
+index (distinguishing repeated loads), cache scope and metadata work counters.
+Neither the result nor evaluation mutates the snapshot. Unloading changes a new
+snapshot's selected route; existing snapshots remain independently usable.
+
+`SpiceSPKResolutionOptions` bounds total selected metadata edges explored across
+both branches (64 by default) and inspected descriptors (1,000,000 by default).
+Exploration can include unused ancestors while finding a common centre; they count
+against these budgets, although their coefficient data is never read. Each evaluated
+record remains subject to its reader's word limit. Linear metadata searches are
+currently uncached; indexing/caching can be introduced separately without changing
+precedence or the ownership contract.
+
+Specification basis remains the public [SPK Required Reading](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/spk.html),
+revision 2021 AUG 31, particularly Introduction (centre graph), State definitions,
+Computing States, Data Precedence, Segments and Primitive States, consulted
+2026-10-13. The bounded traversal and summation are independent implementations
+of relative-vector composition, not translations of toolkit implementation code.
+
+Additional synthetic Swift Testing cases cover multi-link spacecraft/Moon/Earth
+states, forward/reverse queries, body-versus-barycentre distinction, identity/SSB
+queries, unavailable or unsupported ancestors, precedence changes of centre,
+retained snapshots after unload, missing links, coverage gaps, cycles, native-frame
+contracts, both work limits, compensated cancellation and overflow. Existing
+single-file array-precedence and type 2/3 tests also exercise the shared selector.
+Black-box toolkit reference validation remains pending.
+
+## SI ephemeris provider and frame bindings
+
+```swift
+let assets = try PhysicalDataProvenance(
+    source: "My verified ICRF planetary kernel set", version: "asset-pack-1")
+let axes = try SpiceFrameBindings([
+    SpiceFrameBinding.icrfJ2000(provenance: assets)
+])
+let provider = try SpiceSPKStateProvider(
+    snapshot: kernels.snapshot(), body: .earth,
+    frameBindings: axes, coverage: usableAtomicEpochRange,
+    tdbModel: timeModel, dataProvenance: assets, accuracy: .balanced)
+let state = try provider.checkedState(at: simulationEpoch)
+let detail = try provider.evaluation(at: simulationEpoch)
+// detail.chain retains the original selected segments, records, units and frame IDs.
+```
+
+`SpiceSPKStateProvider` implements `AccuracyAwareEphemerisProvider`, so it can be
+queried directly or placed in an `EphemerisCollection`. Target/origin identifiers
+must be `.naif`; negative spacecraft identifiers work without special catalogue
+entries. Body centres and barycentres are never aliased. A non-SSB origin requires
+an explicit frame centred on that origin; SSB defaults to `CelestialFrames.icrf`.
+An explicit output frame may use any connected orientation, including rotating axes.
+The caller must ensure that its physical origin agrees with `metadata.origin`;
+frame names and NAIF axes bindings alone cannot prove an origin definition.
+
+Frame bindings are mandatory and associate each required NAIF axes ID with an
+exact library `Frame` and supplied provenance. Unknown IDs fail rather than acquire
+an assumed rotation. Duplicate IDs and ID zero are rejected. SPICE frame 1 is
+labelled J2000, but JPL DE4xx and compatible modern products use that label for
+ICRF axes. Consequently no general frame-1-to-ICRF assumption is made here.
+`icrfJ2000(provenance:)` is an explicit caller assertion that the chosen dataset
+uses ICRF axes. Historical mean-equator/equinox data may instead bind ID 1 to
+`CelestialFrames.meanEquatorJ2000` and be converted through the frame system.
+Bindings apply to the whole retained snapshot; datasets using the same ID with
+incompatible physical axes must not be combined under a single binding.
+
+An injected `TDBTimeModel` supplies the TT/atomic instant's TDB offset and rate.
+The argument is formed directly from split atomic seconds plus that correction,
+without subtracting large Julian dates, before conversion to the scalar Double ET
+required by SPK. Metres are `1000 * kilometres`; velocity is
+`1000 * velocityKilometresPerTDBSecond * dTDB/dTT`. TT advances at the same elapsed
+rate as atomic time in this epoch representation. Large ET values still have the
+scalar precision limit inherent in the file format and query argument.
+
+`spkChain` exposes only the necessary primitive links with independent native frame
+IDs. The provider converts each link to SI/atomic derivatives and then to output
+axes before signed compensated composition. It uses the registered frame tree's
+rotation and angular derivatives but discards origin translation and its derivatives,
+since each link is already a relative displacement. In particular the transformed
+velocity includes `omega × (R * displacement)`. This avoids subtracting an origin
+twice and allows chains with mixed native axes. Native bindings and output frames
+must be registered in the supplied tree whenever their identities differ.
+If every binding uses the output frame itself, no tree is needed.
+
+The frame tree is weakly referenced to avoid cycles when the tree retains an
+SPK-backed centre provider. Callers must retain it while transformations are needed.
+An unavailable tree produces an explicit error. Frame-transform dependencies can
+require origin acceleration even when this adapter uses only orientation terms;
+select any existing origin acceleration policy explicitly when building such edges.
+No acceleration is fabricated by the SPK provider: output acceleration is nil,
+metadata marks it unavailable, and velocity is described as supplied to cover both
+type 2 differentiated fits and type 3 independently supplied velocity fits.
+
+Provider metadata records caller-selected atomic coverage, TDB convention, asset
+version/provenance and paths, binding provenance, time-model provenance and requested
+accuracy. All supplied coefficients are evaluated, so effective accuracy is always
+`full`, satisfying lower hints. Construction checks time-model coverage and evaluates
+both interval endpoints. This does not certify continuous coverage between endpoints:
+interior gaps, unsupported/corrupt higher-priority segments, missing frame mappings
+and frame/time-provider failures propagate on the actual query. Select narrower
+intervals when a continuous usable route is required. No fallback is automatic.
+
+`evaluation(at:)` returns the SI state, original primitive chain and TDB correction.
+The snapshot is retained; unload/reload on the kernel set does not change an existing
+provider. Binary assets must remain immutable. No result cache is introduced. Snapshot
+cache scope identifies kernel contents only: cache keys for configured providers must
+also distinguish target/origin, output frame, frame/time-provider settings and any
+mutations of those dependencies (existing cache wrappers supply private scopes).
+File reads are synchronized, but concurrent provider evaluation additionally depends
+on the supplied time model and frame providers; no blanket thread-safety claim is made.
+
+The axes interpretation follows [NAIF Frames Required Reading, ICRF vs J2000](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/frames.html#ICRF%20vs%20J2000),
+revision 2021 DEC 31, consulted 2026-10-13. Unit conversion and coordinate-time/rotation derivatives are
+independent mathematical implementations using existing library APIs. No NASA/NAIF
+implementation source or runtime is used. Synthetic tests verify ordinary-power
+position references and numerical atomic-time derivatives under a non-unit TDB clock,
+type 3 supplied velocities, large-epoch fractional precision, mixed/rotating native
+axes, real geocentric frame construction without duplicate origin subtraction,
+EphemerisCollection integration, accuracy/provenance contracts, snapshot retention,
+weak tree lifetime, unknown bindings, stale time samples and interior coverage gaps.
+
+
+## Validated text-kernel definitions
+
+Snapshots now expose `leapSecondData()`, `bodyRadiiMetres(bodyID:)`,
+`bodyOrientationParameters(bodyID:)` and `fixedFrameDefinition(frameID:)`.
+Decoding is explicit and uses effective pool precedence; semantic errors do not
+mutate the pool. Retained snapshots and decoded values survive unload.
+
+LSK decoding validates the complete numeric DELTET parameter set and integral,
+strictly ordered post-1971 offset history through the existing `LeapSecondTable`.
+`DELTET/DELTA_T_A` must equal the library's fixed 32.184-second TT–TAI relation.
+The periodic TDB coefficients are retained rather than automatically replacing an
+injected TDB model. Construct the table with a caller-supplied version and exclusive
+`validUntilModifiedJulianDay`; an LSK does not certify future leap-second coverage.
+Existing UTC conversion handles positive and negative leap seconds and rejects
+queries outside that explicit coverage.
+
+PCK radii use conventional kilometres and return positive finite metres.
+Orientation decoding retains three polynomial coefficients each for pole RA,
+declination and prime meridian, in original degree/day/Julian-century units, plus
+available body-specific periodic amplitudes, long-axis offset and epoch/frame
+parameters. Planetary-system phase-angle arrays remain available through raw pool
+inspection. This accessor decodes parameters; the orientation provider described below performs evaluation with system-level reference metadata and phase angles. Provenance is retained on orientation
+and LSK definitions; radii provenance is also included by the sourced physical-value adapter below.
+GM conversion requires the explicit conventional-unit/convention assertion described below.
+
+FK decoding supports explicit nonzero IDs, class 4, matching class ID, numeric
+centre, named relative axes, and `MATRIX`, `ANGLES` or `QUATERNION` specification addressed by numeric ID.
+The nine values are column-major and map local vectors to relative axes by left
+multiplication. Matrices must be orthonormal and have determinant +1 (tolerance
+1e-10). Name-addressed TK parameters, built-in lookup,
+frame aliases, dependency graph construction and other frame classes remain
+deferred; unsupported classes/representations produce explicit errors.
+The relative name remains unresolved until frame-provider construction.
+
+Independent implementation references, consulted 2026-10-13:
+
+- [Kernel Required Reading](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/kernel.html),
+  revision 2021 DEC 29, Variable Value Rules (unscaled date literals).
+- [Time Required Reading](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/time.html),
+  revision 2021 DEC 23, Relationship between TDB and UTC (LSK parameter meanings).
+- [PCK Required Reading](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/pck.html),
+  revision 2021 DEC 24, Text PCK Contents and Text PCK Kernel Variable Names.
+- [Frames Required Reading](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/frames.html),
+  revision 2021 DEC 31, frame specification, TK Frames and matrix definitions.
+
+Synthetic Swift Testing fixtures verify independent date offsets, leap-second
+labels and expiry, malformed histories, radius units, retained coefficients,
+column-major rotation direction, handedness and unsupported definitions. No
+NASA/NAIF implementation source or runtime dependency is used.
+
+
+## Text-kernel providers
+
+`bodyReferenceRadii(bodyID:axesDescription:provenance:)` returns the existing
+`BodyReferenceRadii` type. `bodyGravitationalParameter(bodyID:convention:provenance:)`
+returns `GravitationalParameter`, converting conventional kernel km³/s² to m³/s².
+The caller confirms those input units and chooses the coordinate-time convention;
+no mass is inferred. Both retain contributing paths plus caller asset version and
+reference. Radii axes descriptions remain explicit, including any ellipsoid offset.
+
+`SpicePCKOrientationProvider` conforms to `OrientationProvider` and works with
+`FrameTree.makeBodyFixedFrame`. Supply the body ID, its system ID (planetary
+barycentre for a planet/satellite, body ID otherwise), explicit `SpiceFrameBindings`,
+atomic epoch coverage, TDB model and asset provenance. The system ID is required,
+so unusual NAIF relationships are never guessed.
+
+The provider evaluates the full quadratic pole/prime-meridian polynomials and
+optional sine/cosine amplitudes. System phase polynomials support degrees 0–3,
+with a default degree of 1; malformed arrays or amplitudes exceeding available
+phases fail explicitly. System-level `CONSTANTS_REF_FRAME`/`CONSTS_REF_FRAME` and
+`CONSTANTS_JED_EPOCH`/`CONSTS_JED_EPOCH` are honored, defaulting to frame 1 and
+JD 2451545.0. Conflicting long/short aliases fail instead of silently choosing one.
+The inertial axes ID must have an explicit binding. Body-specific overrides for
+planets/satellites do not replace system metadata, as specified in PCK Appendix B.
+
+Orientations map reference vectors into body axes. Rates and accelerations are
+analytic in elapsed atomic seconds, including both TDB derivative factors and the
+composition of changing pole and spin axes. Coverage is caller-selected, bounded
+by the TDB model, and evaluated at construction endpoints. It is not a certified
+physical accuracy range. Retained coefficients remain valid after kernel unload;
+`cacheScope` identifies their snapshot. No implicit fallback or global registration
+occurs, and injected time-model thread safety remains the caller's responsibility.
+`LONG_AXIS` describes shape axes and does not alter prime-meridian body axes.
+
+FK Euler definitions support all seven documented angular units. Their matrices
+use the documented coordinate-rotation signs and angle order. Quaternion definitions
+require a unit, scalar-first Hamilton quaternion. All representations normalize to
+validated column-major local-to-relative matrices; the orientation adapter inverts
+this mapping for the library's reference-to-child convention.
+
+`SpiceFixedOrientationProvider` binds a fixed definition to exact relative axes.
+`definition.makeFrame(in:relativeAxes:centre:provenance:accelerationPolicy:)` creates
+a child with those axes and the declared object's physical centre. The caller
+asserts that the supplied axes represent `relativeFrameName` and that the centre
+provider represents `centreID` in those exact axes. Origin derivatives use the
+existing explicit acceleration policy; missing acceleration is not silently zeroed.
+Callers construct dependencies in order and can add resulting identities to SPK
+frame bindings. No owning-tree references are captured by these providers.
+
+Additional public specification sections used: PCK Models for the Sun, Planets,
+and Satellites, phase polynomials and Appendix B; Frames Euler/quaternion TK
+definitions; and [Rotations Required Reading](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/rotation.html),
+revision 2017 MAR 09, consulted 2026-10-13, Quaternion arithmetic and
+quaternion-to-matrix definitions. These are public
+mathematical/behavior descriptions, not toolkit implementation source.
+
+Synthetic tests cover SI constants/provenance, coupled angular derivatives,
+non-unit TDB clock rates, periodic phase degree 3, independent basis rotations,
+alternate system epochs/axes, malformed dependencies, all FK angle units, Euler
+order, quaternion layout, matrix inversion including half turns, moving-centre
+translation and snapshot lifetime after unload. Additional binary PCK types and CSPICE
+oracle references remain subsequent work.
+
+
+## Binary PCK type 2
+
+The kernel set accepts modern IEEE `DAF/PCK` assets alongside SPKs, directly or
+through manifests. DAF PCK files require ND=2/NI=5; typed descriptors expose the
+frame **class** ID, inertial base-axes ID, data type and inclusive TDB coverage.
+Class IDs are selected explicitly; they are not inferred from a body or frame ID.
+Unknown positive segment types remain inspectable, but selected types other than
+2 fail with `unsupportedType`.
+
+`SpiceBinaryPCKSegment` validates the four-word INIT/INTLEN/RSIZE/N directory,
+record shape, descriptor containment and finite/resolvable time grid. Queries read
+only the selected coefficient record and validate MID/RADIUS and finite values.
+Evaluation uses the full constant coefficient and analytically differentiated
+Chebyshev recurrences through second order. Record reads use DAF resource limits;
+no whole-asset copy or result cache is introduced. Internal boundaries select the
+later record; the inclusive final endpoint uses the last record. Storage-rounding
+tolerance applies to record metadata, not extrapolation outside descriptors.
+
+`file.pckAngles(array:atSecondsTDB:)` returns native angles in radians, their first
+and second derivatives per TDB second, and path/array/name/record provenance.
+`snapshot.pckAngles(frameClassID:atSecondsTDB:maximumDescriptorChecks:)` selects
+covering PCK files and arrays in reverse load/list order. Missing class IDs and
+coverage gaps have separate errors. A corrupt or unsupported selected segment
+never silently substitutes older binary or text data. Mixed SPK/PCK pools preserve
+independent segment selection; PCK arrays do not consume SPK descriptor budgets.
+
+### Binary angle convention and documentation limits
+
+The PCK Required Reading type-2 diagram labels the series RA/DEC/W, but those
+labels alone do not specify the exact Euler-coordinate mapping or angle units.
+The public type-2 [PCKEUL Detailed Output contract](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/FORTRAN/spicelib/pckeul.html#Detailed_Output)
+(version 2.1.0, 2021 AUG 20, consulted 2026-10-13) defines the mapping as
+`[angle3]3 [angle2]1 [angle1]3`. The public
+[Rotations Required Reading](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/rotation.html)
+(revision 2017 MAR 09) specifies radians and coordinate-rotation signs for this
+notation. The reader treats the stored values as direct Euler angles; it does not
+add the text model's RA/node or declination/co-latitude offsets. The type-2
+implementation uses these public behavior contracts and independently implemented
+mathematics, without consulting toolkit implementation source.
+
+PCK Required Reading revision 2021 DEC 24, consulted 2026-10-13, supplies the
+binary descriptor/directory/record layout and latest-file/latest-segment rules.
+Type 3's variable-interval layout is not fully specified there; it remains deferred
+rather than borrowing an implementation. Type 20 has a different rate/integration
+format and remains a separate extension. No decoded comment delimiter format or
+unprovided derivative data is inferred.
+
+### Orientation provider
+
+`SpiceBinaryPCKOrientationProvider` implements `OrientationProvider` over a retained
+snapshot. Supply a frame class ID, exact output reference frame, explicit dataset
+axes bindings, caller-selected atomic coverage, TDB model and asset provenance.
+Construction validates both coverage endpoints; interior gaps still fail on query.
+`evaluation(at:)` retains native selected-record provenance and the TDB correction.
+The provider computes the 3-1-3 rotation and composed angular velocity/acceleration,
+including TDB rate and acceleration. It uses every coefficient supplied by the asset.
+
+Selected base axes may differ across segments. An externally retained FrameTree
+converts the output reference axes into those selected axes before the Euler
+rotation, including frame rotation rates. Origin translations are omitted because
+this provider supplies orientation only. Output/base axes must be explicitly
+pseudo-inertial; their physical interpretation follows caller bindings. The tree
+reference is weak to avoid owning-tree cycles. Standard `makeBodyFixedFrame` then
+adds the caller's centre state using the existing explicit acceleration policy.
+
+Asset paths and caller versions, axes interpretation and TDB model provenance are
+retained. Use the snapshot cache scope for external invalidation. Old providers
+remain valid after unload while assets remain immutable. File reads are synchronized;
+frame/time provider concurrency follows the injected components. Binary-to-text
+orientation fallback is not selected automatically by this adapter.
+
+Synthetic Swift Testing fixtures cover both byte orders and odd NI padding,
+independent polynomial values and first/second derivatives, degree 0/60,
+cross-storage-record reads, boundaries, invalid descriptors/directories/records,
+resource bounds, missing/gapped class IDs, file/array precedence, mixed SPK/PCK
+loads, unload/snapshot lifetime, Euler matrix signs, coupled angular derivatives,
+non-unit TDB rates and explicit base-frame conversion without origin translation.
+Large local assets and CSPICE remain optional; black-box oracle fixtures are not
+yet included.
+
+
+## Type-1 spacecraft clocks
+
+`SpiceSCLKClock` decodes effective pool variables for an explicit negative NAIF
+spacecraft ID. Kernel variable suffixes use the negated ID (for example, spacecraft
+-77 selects `_77`). `KPL/SCLK` loads directly or through a manifest, with the same
+atomic-load, precedence, unload and snapshot semantics as other text kernels.
+Common SCLK metadata dates such as `@04-SEP-1990//4:23:00` are supported; these
+pool dates remain unscaled and do not determine clock coverage or asset version.
+
+The supported format uses 1–16 fields, positive integral moduli, nonnegative
+integral offsets and all five documented output delimiters. Readings are explicit
+`SpiceSCLKReading(partition:fields:)` values; partitions are one-based. Formatting
+and parsing require an explicit partition and all canonical integral fields.
+Omitted fields/partitions, empty fields and overflowing field values are rejected;
+this is a deliberately stricter subset than CSPICE's permissive string parser.
+Typed and string readings both validate against the selected partition and
+caller coverage. No repeated clock value is assigned to a partition by guessing.
+
+Partition starts/ends are raw clock ticks. Encoded ticks accumulate `end-start`
+from preceding partitions, without adding an extra tick: the end of one partition
+and start of the next represent the same encoded instant. Both representations
+are available when a caller explicitly selects their partition. Civil decoding
+requires integral ticks; continuous correlation APIs preserve fractional ticks.
+Counts and cumulative partition lengths are bounded to the exact integer domain
+of Double (up to 2^53); this does not imply arbitrary fractional precision at large
+counts. Zero-duration partitions are outside the supported subset.
+
+Clock coefficients are triplets of encoded ticks, parallel seconds and rate.
+The rate is seconds per most-significant-field count and is divided by the product
+of lower-field moduli to obtain seconds per tick. Tick anchors must be strictly
+increasing and rates strictly positive. Later anchors apply at exact breakpoints.
+The final rate applies through the caller's explicit `encodedTickCoverage`, which
+must lie within declared partition history and begin at or after the first anchor.
+No coverage before the first anchor or outside that selected interval is inferred.
+Parallel time magnitudes are bounded below 1e15 seconds as a representation policy.
+
+`sample(atEncodedTicks:)` exposes the parallel label, local rate and coefficient
+index. Piecewise correlations may be discontinuous. `sample(atParallelSeconds:)`
+checks all covered branches and requires a unique solution: gaps and duplicate
+parallel times are explicit errors. This differs from the permissive NAIF inverse
+mapping for non-invertible correlations. Forward selection uses binary search;
+inverse work is linear in the bounded pool's coefficient count.
+
+Parallel system 1 is TDB (also the documented default when absent); system 2 is
+TDT/TT. `epoch(atEncodedTicks:using:)` and `sample(at:using:)` bridge these labels
+to atomic `Epoch`. TDB conversion requires an explicit `TDBTimeModel` and validates
+its coverage/sample contracts. TT conversion uses the existing atomic TT relation.
+No UTC conversion, LSK lookup or guessed time model is performed. Other clock types
+and parallel systems fail explicitly. Angular data and CK interpolation are not
+part of this clock adapter.
+
+```swift
+let clock = try SpiceSCLKClock(
+    snapshot: kernels.snapshot(), spacecraftID: -77,
+    encodedTickCoverage: 0...200, provenance: clockAssetProvenance)
+let reading = try clock.reading(from: "1/15:1")
+let ticks = try clock.encodedTicks(for: reading)
+let instant = try clock.epoch(atEncodedTicks: ticks, using: tdbModel)
+```
+
+The decoded model is immutable and Sendable, retaining effective source paths,
+caller asset version/reference and snapshot cache scope. It remains valid after
+unload without rereading files; time-model concurrency follows the injected model.
+
+Public implementation references, consulted 2026-10-13:
+
+- [SCLK Required Reading](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/sclk.html),
+  revision 2021 SEP 04: Encoded SCLK, Partitions, Type 1 SCLK conversion algorithms,
+  parallel time system, format constants and coefficient assignments.
+- [SCENCD public Detailed Output contract](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/cspice/scencd_c.html#Detailed_Output):
+  adjacent partition endpoints have identical encoded ticks. This public behavior
+  description supplies the boundary rule; no toolkit implementation source is used.
+
+Synthetic tests independently verify mixed-radix fields and offsets, reset
+partitions/shared endpoints, explicit string formats, rate normalization,
+fractional ticks and breakpoint selection, discontinuity gaps and ambiguous
+inverse mappings, TDB/TT Epoch conversion, stale time-model contracts, malformed
+constants, representational bounds, manifest loading, precedence/unload and retained
+clock provenance. CK formats and attitude/frame integration remain next.
+
+
+## Discrete spacecraft attitude: CK type 1
+
+CK files now participate in kernel-set loading, manifests, snapshots and unloads.
+Their typed descriptors contain encoded SCLK bounds, instrument ID, reference
+frame ID, segment type and angular-velocity flag. Modern little- and big-endian
+IEEE DAF files are supported. CK types other than 1, 2 and 3 are inspectable but evaluation
+throws an explicit unsupported-type error.
+
+`SpiceCKSegment` implements the public type-1 layout: scalar-first Hamilton
+quaternions, optional three-component angular velocity, strictly increasing
+encoded times, midpoint directory entries and the final record count. The reader
+validates layout, times and directory, then reads only the selected pointing
+record. Record count is bounded (100,000 by default), with DAF read limits still
+applied. Non-unit/non-finite selected quaternions and invalid rates fail explicitly.
+
+`SpiceKernelSnapshot.ckPointing` searches latest loaded files and latest segments
+first. A discrete gap permits an older segment; malformed or unsupported selected
+segments fail. Exact matching is the default. Optional nearest-sample tolerance is
+in encoded ticks, applies within descriptor bounds, and equal-distance ties select
+the later record (an explicit library policy). The result preserves both requested
+and selected times. There is no interpolation or extrapolation, and queries outside
+a descriptor are not expanded by tolerance. This bounded subset is not a complete
+replacement for all toolkit tolerance-search behavior.
+
+The returned quaternion maps base-reference coordinates into instrument coordinates.
+Optional physical angular velocity is in base-reference axes, radians per second.
+`SpiceCKAttitudeProvider` requires an explicit `SpiceSCLKClock`, instrument/body
+association, native axes bindings and rate time-scale convention (`atomic` or `tdb`).
+The caller is responsible for associating that clock with the instrument; instrument
+IDs do not imply spacecraft IDs. TDB clock/rate conversion requires a TDB model.
+The provider accepts exact discrete samples only, converts rates into body axes and
+atomic seconds, and produces the inverse body-to-reference attitude quaternion.
+Alternate inertial base axes use the frame tree; retain that tree externally.
+
+Missing angular velocity stays nil in primitive pointing and throws from the
+`AttitudeProvider` adapter. Type-1 samples cannot establish angular acceleration;
+for type 1 the adapter returns nil acceleration, so the existing attitude-to-orientation/frame
+adapter rejects them instead of inventing a zero derivative. Nearest-sample rendering
+should use the primitive result and retain its selected timestamp. Type-2 continuous
+rotation is supported below; type-3 interpolation intervals are supported below.
+
+Swift Testing fixtures independently construct both byte orders and verify direction,
+nearest-sample timestamps, directories, malformed records, unsupported types,
+clock conversion, snapshot retention and derivative availability. These are synthetic
+public-format checks, not a claim of independent real-kernel/CSPICE validation.
+
+Format and behavior reference: [NAIF CK Required Reading](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/ck.html),
+particularly C-matrix/velocity conventions and type-1 segment structure. No NAIF
+implementation source or foreign runtime dependency was used.
+
+
+## Continuous spacecraft attitude: CK type 2
+
+`SpiceCKType2Segment` reads eight-word pointing records, interval start/stop
+arrays and the midpoint directory. There is no count footer: record count follows
+from the published segment-length formula. Reads and record counts remain bounded.
+Intervals must have positive duration and cannot overlap except at endpoints;
+the interval starting at a shared endpoint wins. Within a covered interval,
+reference-axis physical spin advances the quaternion analytically. Zero spin is
+supported. Gaps remain uncovered, even with a nonzero primitive query tolerance;
+this subset does not snap type-2 gaps to endpoints. Snapshot priority and selected
+malformed-data errors follow the type-1 policy.
+
+Primitive pointing preserves the stored radians-per-model-second angular velocity
+and exposes `secondsPerEncodedTick`. The attitude adapter differentiates the actual
+quaternion trajectory: angular velocity is multiplied by the record seconds/tick,
+divided by the selected SCLK correlation's parallel seconds/tick, and multiplied by
+dTDB/dTT when the clock's parallel system is TDB. Angular acceleration includes the
+TDB second derivative. The explicit `angularRateTimeScale` argument continues to
+apply to discrete type-1 rates; type 2 uses its record factor and clock correlation.
+This matters when nominal CK factors differ from measured clock correlations.
+
+These derivatives are local to the selected CK interval and SCLK correlation branch.
+At shared boundaries they describe the selected branch, not a claim that the attitude
+or its derivatives are continuous across a rate change, clock jump or interval boundary.
+Type-2 acceleration can therefore feed `AttitudeOrientationProvider` and the existing
+body-fixed frame machinery; type-1 acceleration remains unavailable. Frame-axis
+rotation derivatives are composed using the existing transform system.
+
+Independent synthetic Swift Testing fixtures cover both byte orders, spin direction,
+shared endpoints, gaps, directory/resource limits, malformed intervals and rate factors,
+and finite-difference verification of orientation and angular acceleration under TT and
+nonlinear TDB clocks. Real-kernel oracle checks remain roadmap work.
+The implementation uses only the [public NAIF CK type-2 specification](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/ck.html#Data%20Type%202),
+without NAIF implementation source or external C/Fortran libraries. Type 3 is supported below.
+
+
+## Interpolated spacecraft attitude: CK type 3
+
+`SpiceCKType3Segment` supports the public record layout, both time directories,
+interval starts and the two count footers. Times are strictly increasing and every
+interval start must match a pointing sample; the first interval starts at the first
+sample. Each interval ends at the sample before the next interval starts, including
+single-sample intervals. Layout, membership, directory and resource limits are checked
+before selected quaternion/rate records are read. Other CK types remain unsupported.
+
+Pointing uses shortest-arc fixed-axis rotation between adjacent samples in an interval.
+Quaternion sign changes do not change the path; exact half-turn ambiguity uses a
+canonical quaternion sign. Exact samples preserve their stored orientation. No
+interpolation crosses a gap. With nonzero tolerance, the closest gap endpoint can be
+returned, preserving its selected encoded time; ties use the later endpoint. As with
+type 1, tolerance search stays within descriptor bounds, rather than implementing the
+entire toolkit's expanded descriptor search behavior.
+
+Optional stored angular velocities are linearly interpolated in reference axes,
+independently of pointing, as required by the public specification. They may disagree
+with the derivative of the interpolated quaternion. The primitive keeps them optional;
+`SpiceCKAttitudeProvider` requires available rates and the explicit atomic/TDB rate
+convention. It returns nil angular acceleration, so the existing orientation/frame
+adapter rejects that incomplete derivative set. This avoids presenting independent
+stored rates as a derivative-consistent rotating frame. A future opt-in provider could
+derive rates from the pointing interpolation, with a separate contract and explicit
+handling of interpolation knots and singleton intervals.
+
+Synthetic Swift Testing fixtures cover both byte orders, independent rate interpolation,
+shortest arcs, quaternion sign changes, tiny rotations, noncommuting initial attitudes,
+interval gaps and singleton intervals, directory validation and malformed membership,
+and the attitude adapter's derivative-availability contract. These do not replace the
+pending real-kernel/oracle validation.
+
+Reference: [NAIF CK type-3 format and interpolation algorithm](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/ck.html#Data%20Type%203).
+Only public format and behavior documentation was used; no toolkit implementation
+source or external native library was introduced.
+
+
+## Ephemeris fallback integration
+
+`FallbackEphemeris` now accepts an optional SPK ephemeris alongside optional DE441,
+model and Kepler providers. The caller selects `.de441ThenSPK` or `.spkThenDE441`
+within the file-backed tier. Missing assets are represented by omitted providers;
+no files are loaded automatically. Exact body, origin and frame identities are required.
+
+The default SPK policy in this overload permits only missing chain links and segment
+coverage gaps to fall through. Strict `.declaredCoverageOnly` propagates these too.
+Corrupt/unsupported data, cycles, limits, frame and time-model failures, and state
+contract errors always propagate. DE441/model/Kepler query failures retain their existing
+strict behavior. Results report the selected source and skipped sources/reasons; if no
+backup succeeds, the last SPK availability error is preserved.
+
+See <doc:EPHEMERIDES> for the API and provenance/coverage contracts.
+Swift Testing covers explicit file priority, absent sources, gap diagnostics, strict
+error handling and real synthetic SPK interior gaps, including retained snapshots and
+a selected unsupported segment. No optional large asset or CSPICE installation is needed.
+
+## Pinned black-box validation
+
+Small checked-in synthetic kernels and outputs from CSPICE N0067 now independently
+check SPK types 2/3 and chained centres, CK types 1/2/3 (including missing rates), binary
+PCK type-2 orientation, leap labels and fractional SCLK correlations. The normal Swift
+Testing suite needs neither CSPICE nor network access. Existing independent public-format
+fixtures retain coverage of byte orders, malformed inputs, precedence, gaps and unload/reload.
+
+See [fixture provenance and tolerances](https://github.com/lorrden/swift-celmek/blob/master/Tests/CelMekTests/Fixtures/spice-oracle/README.md)
+and [optional generator](https://github.com/lorrden/swift-celmek/blob/master/Scripts/generate_spice_oracle.py). Toolkit/wrapper versions,
+asset hashes and a reference-output hash are pinned. The optional generator uses only
+public writer/query APIs with a binary oracle; no toolkit implementation source was used.
+These tests validate supported synthetic formats and conventions, not deferred types or
+all real mission assets. No CSPICE runtime dependency was added to the library.
+
+## Specification register
+
+These are the public document revisions used for the supported formats, checked on
+2026-10-13. A revision date identifies the document, not the version of a kernel asset.
+Public API descriptive contracts clarify conventions where the required reading is
+incomplete; toolkit implementation source is not an implementation reference.
+
+| Public NAIF reference | Stated revision | Sections used |
+| --- | --- | --- |
+| [Kernel Required Reading](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/kernel.html) | 2021 DEC 29 | Type identification, text specifications, variable rules, manifests, competing data |
+| [DAF Required Reading](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/daf.html) | 2017 MAR 22 | File record, summary/name records, addresses, array access and integrity bytes |
+| [SPK Required Reading](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/spk.html) | 2021 AUG 31 | Types 2/3, state conventions, centre graph, segment order and priority |
+| [PCK Required Reading](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/pck.html) | 2021 DEC 24 | Text constants/orientation, binary type 2, frame class IDs and base-frame/epoch aliases |
+| [Frames Required Reading](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/frames.html) | 2021 DEC 31 | Frame identities, TK class-4 specifications and matrix conventions |
+| [Time Required Reading](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/time.html) | 2021 DEC 23 | UTC/TAI/TT/TDB relationships and LSK parameters |
+| [SCLK Required Reading](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/sclk.html) | 2021 SEP 04 | Encoded clocks, partitions, type-1 constants, time systems and correlations |
+| [CK Required Reading](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/ck.html) | 2014 FEB 13 | C-matrix/rate conventions, types 1/2/3, directories, intervals and independent rate interpolation |
+| [Rotation Required Reading](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/rotation.html) | 2017 MAR 09 | Hamilton quaternions and coordinate-rotation signs |
+
+The binary PCK type-3 layout and decoded DAF comment delimiters are documented gaps
+for this implementation, not invitations to recover details from toolkit source.
+The public `pckw02`, `scencd`, quaternion and writer/query API contracts used for
+clarification or black-box generation are linked in their sections and the
+[oracle fixture provenance](https://github.com/lorrden/swift-celmek/blob/master/Tests/CelMekTests/Fixtures/spice-oracle/README.md).
+
+## Asset provenance and attribution
+
+Application code supplies `PhysicalDataProvenance` when constructing providers.
+Text adapters retain contributing source paths; binary evaluations expose selected
+file/array/record or centre-chain contributions. Snapshot `cacheScope` changes after
+pool mutation. A scope is an in-process cache namespace, not a durable content hash.
+Provider coverage is a query contract, not a certificate of physical accuracy.
+
+Keep an application-owned sidecar for every shipped or downloaded kernel set:
+
+| Field | Purpose |
+| --- | --- |
+| Asset ID, version and SHA-256 | Identify exact bytes across installs and saved games |
+| Original filename and source URL/archive identifier | Trace the acquired dataset |
+| Producer, producing institution and retrieval date | Preserve attribution and provenance |
+| Redistribution terms and notices | Record the applicable source's distribution conditions |
+| Architecture, supported segment types, body/frame IDs | Check compatibility before provider creation |
+| Actual binary coverage and application-selected usable coverage | Avoid treating filenames/title strings as authoritative coverage |
+| Native units/time scale, axes bindings and injected time-model version | Make conversion assumptions reproducible |
+| Dependency paths, file priority, DE441/SPK order and fallback policy | Preserve deterministic source selection |
+| LSK expiry and SCLK partition/correlation coverage | Keep time dependencies within the chosen validity contract |
+| Modification/subsetting history | Distinguish altered data and its last producer |
+
+The library does not authenticate assets or calculate production content hashes
+at load time. Binary comments are preserved as raw records; decoded attribution
+is not automatically extracted. Obtain producer metadata from the dataset's supplied
+comments/readme/archive record and carry it in the sidecar. A provider provenance
+string complements that manifest; it does not replace it.
+
+NAIF's published rules permit redistribution of unmodified kernels it distributes;
+modified kernels must replace attribution to identify the last modifier and institution.
+Modification guidance also calls for a new filename and documented, validated changes.
+Kernels supplied by other entities follow those entities' rules. See the
+[NAIF kernel distribution and redistribution rules](https://naif.jpl.nasa.gov/naif/rules.html).
+Do not infer a blanket license for mission assets from the Swift library's license.
+
+NAIF encourages acknowledgement of SPICE/NAIF/PDS resources and of the teams supplying
+the underlying data. Retain relevant producer references and archive identifiers in
+credits; see [NAIF credit guidance](https://naif.jpl.nasa.gov/naif/credit.html).
+The independent Swift implementation is not presented as NAIF-supported toolkit code.
+The optional oracle runtime is not shipped with the library; toolkit redistribution
+has separate rules from kernel redistribution. The checked-in oracle kernels are
+project-authored synthetic test inputs and generated outputs, documented separately.
+
+## Optional game asset packaging
+
+Kernel assets are application-owned. The library receives local URLs, never downloads
+kernels automatically, and does not require a planetary or mission asset at startup.
+Large production kernels belong in an optional application bundle/content pack or a
+versioned download managed by the game. They are not SwiftPM library resources.
+Only small synthetic reference fixtures are bundled with the test target.
+
+A content pack can use this layout (names are application conventions):
+
+```text
+CelestialData/v1/
+  assets.json          # provenance, hashes, coverage, dependencies, policy
+  solar-system.tm      # relative paths; desired load order
+  planets.bsp
+  leap-seconds.tls
+  body-constants.tpc
+  frames.tf
+  spacecraft.tsc
+  attitude.bc
+```
+
+For a concrete set, include only dependencies it needs. The manifest should not list
+files that the application deliberately omitted as optional; missing listed dependencies
+are errors. Fixed frame definitions need caller-supplied centre providers; CK providers
+need explicit instrument/spacecraft-clock association. There is no implicit association
+from a filename or numeric ID convention.
+
+Recommended application flow:
+
+1. Resolve the installed pack and verify its sidecar/hashes before opening files.
+2. Load its meta-kernel into a caller-owned `SpiceKernelSet`. A load is atomic;
+   invalid files or dependencies fail instead of publishing a partial pool.
+3. Inspect the retained snapshot, construct explicit time/frame/body providers and
+   constrain coverage to their dependencies. An LSK table can replace the built-in
+   history through the explicit <doc:TimeGuide>.
+4. Compose `FallbackEphemeris` with the selected DE441/SPK priority, then analytic/fitted
+   defaults where applicable and caller-seeded Kepler. If a pack is absent, omit that
+   provider. If a present pack is invalid, report the error; do not treat it as absent.
+5. Cache using snapshot/provider identity and query inputs. Store durable asset versions,
+   time-model configuration and fallback policy in saved simulation inputs.
+
+Files must remain unchanged while any snapshot/provider/reader using them is alive.
+Install updates in a new version directory, load a new set and replace application
+provider references deliberately. Unloading a pool group does not close readers held
+by older snapshots, and does not rewrite decoded tables or providers. Retire old packs
+only after their users release them. Binary IO is serialized and reads are bounded;
+provider evaluation can still depend on externally owned frame/time providers whose
+concurrency contracts the application must respect.
+
+The existing <doc:DE441> remains applicable to native DE assets.
+Do not infer `.bsp` support from the DE number: inspect the SPK's actual segment types.
+The checked-in [black-box validation fixtures](https://github.com/lorrden/swift-celmek/blob/master/Tests/CelMekTests/Fixtures/spice-oracle/README.md)
+and public-format tests verify the supported subset offline; shipping a different
+production dataset remains subject to its actual types, axes, time data and coverage.
+
+For component synchronization, frame/asset lifetimes and actor isolation, see
+<doc:THREAD_SAFETY>.
+
+
+## SPK type 21 small-body states
+
+Horizons small-body SPKs can be evaluated through the same primitive, centre-chain
+and `SpiceSPKStateProvider` interfaces as types 2/3. Extended difference lines store
+an acceleration polynomial in a variable-step Newton basis, with reference position
+and velocity. The independent Swift evaluator integrates that polynomial using
+Gauss-Legendre quadrature of sufficient order to integrate the polynomial exactly
+in real arithmetic; evaluation stays in the Newton basis. It does not inspect or
+translate toolkit implementation source. Numerical results remain subject to
+floating-point rounding and source ephemeris accuracy.
+
+The trailing binary words are MAXDIM and record count; each difference line has
+`4*MAXDIM+11` words. The Required Reading diagram labels the penultimate word as
+line size, but public binary SPKW21 writer output stores MAXDIM. Synthetic writer
+fixtures and a real Horizons Ceres export pin this distinction. Supported dimensions
+are 15...25, matching N0067. Epochs must be finite and strictly increasing; every
+hundredth directory entry must agree with its epoch. Record and epoch-table sizes
+are bounded by the DAF reader's `maximumReadWords`. The validated epoch directory
+is cached per array under a lock for the immutable reader's lifetime. Records and
+query results are not cached; only the selected difference line is validated.
+
+Type 21 selects the **first record ending at or after the query**, so the earlier
+record wins a shared endpoint. Descriptor coverage remains inclusive; there is no
+extrapolation. Invalid orders, zero required steps, nonfinite payloads, malformed
+layouts and numerical overflow fail explicitly without falling back to older data.
+For type 21, `intervalSeconds` is zero (variable intervals), `polynomialDegree` is
+-1 (not a Chebyshev series), and `initialSecondsTDB` is the descriptor start.
+
+`SpiceSPKType21Tests` covers both byte orders, analytic constant acceleration,
+high integration orders, boundaries surrounding hundred-record directories,
+malformed inputs, resource limits, centre resolution and the SI adapter. Pinned
+CSPICE_N0067 output includes dimension-15/25 synthetic kernels and a two-day
+Horizons Ceres kernel. See `Tests/CelMekTests/Fixtures/spk21/README.md` and
+`Tools/SmallBodies/README.md` for fixture regeneration and catalog/kernel extraction.
+
+Public references: [SPKW21](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/FORTRAN/spicelib/spkw21.html),
+[SPKE21](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/FORTRAN/spicelib/spke21.html),
+[SPK Required Reading](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/spk.html#Type%2021:%20Extended%20Modified%20Difference%20Arrays).
diff --git a/Sources/CelMek/CelMek.docc/STATES.md b/Sources/CelMek/CelMek.docc/STATES.md
new file mode 100644
index 0000000..530cb61
--- /dev/null
+++ b/Sources/CelMek/CelMek.docc/STATES.md
@@ -0,0 +1,48 @@
+# Cartesian states and providers
+
+The shared coordinate, rotation and error contract is in <doc:CONVENTIONS>.
+
+`CartesianState` carries an `Epoch`, a `Math.Frame` identity, Cartesian position in metres, velocity in metres per elapsed atomic second, and optional acceleration in metres per second squared. Missing acceleration means unavailable; it does not mean zero.
+
+```swift
+import CelMek
+import Math
+
+let state = try earth.state(at: .j2000)
+let localFrame = Frame(name: "Local inertial", pseudoInertial: true)
+let initial = try CartesianState(
+  epoch: .j2000, frame: localFrame,
+  position: SIMD3<Double>(7000, 0, 0),
+  velocity: SIMD3<Double>(0, 7.5, 0),
+  units: .kilometresAndSeconds)
+// initial.position.x is 7,000,000 m; initial.velocity.y is 7,500 m/s.
+```
+
+The initializer normalizes units once at the boundary:
+
+| Input convention | Position multiplier | Velocity multiplier | Acceleration multiplier |
+| --- | --- | --- | --- |
+| Metres and seconds (default) | 1 | 1 | 1 |
+| Kilometres and seconds | 1000 | 1000 | 1000 |
+| Astronomical units and days | 149,597,870,700 | AU / 86,400 | AU / 86,400² |
+
+Here AU is exactly 149,597,870,700 metres and a day is 86,400 seconds. Nonfinite components and conversion overflow throw `CartesianStateError`. Input vectors must already be Cartesian coordinates in the supplied frame; units do not convert spherical coordinates or time scales.
+
+Frame equality uses object identity, so two frames with the same name are distinct. A frame defines both origin and axes. <doc:FRAMES> supplies transformations between connected frames; changing a frame label cannot convert coordinates. These types do not promise concurrent mutation or Sendable conformance.
+
+## VSOP87 provider
+
+`StateProvider` exposes a native `frame` and `state(at:)`. Existing VSOP87 body instances conform, allowing queries through `any StateProvider`. Results carry the requested epoch and the shared `CelestialFrames.vsop87E` identity.
+
+The native convention is barycentric Cartesian coordinates with dynamical ecliptic and equinox J2000 axes. The original [VSOP87 evaluator](https://github.com/ctdk/vsop87/blob/master/vsop87.f) documents the E variant and its TDB input, AU positions, and AU/day velocities. This frame is distinct from an equatorial ICRF frame.
+
+The adapter evaluates the complete implemented series using split TDB date components, converts output to SI, and applies the TDB-to-atomic time rate so velocity follows `Epoch` intervals. It returns no acceleration. The provisional TDB approximation and its limits are described in <doc:TimeGuide>; its sampled time-conversion errors are characterized over 1950–2050; VSOP87 scientific coverage bounds remain separate work. Precise epoch storage does not establish model accuracy or preserve arbitrarily small changes through every floating-point evaluation.
+
+Legacy `position(jd:)` retains its TDB Julian-date input and AU/AU-day outputs for compatibility. Other legacy ephemerides retain their documented units: the lunar model and spherical outputs require their own coordinate and derivative adapters, and DE441 integration remains separate work. SI normalization currently applies to the new shared state boundary, not every legacy API.
+
+`VSOP87StateProvider(body:tdbModel:)` configures a provider with a selected time model
+for normal frame-tree queries. Direct `state(at:using:)` queries also accept a model.
+The selected correction determines both the TDB epoch and velocity chain rule; its
+coverage errors propagate. Defaults retain the two-term adapter. See <doc:TimeGuide>.
+
+Public-import Swift Testing checks cover input normalization, missing acceleration, frame identity, invalid components and overflow, a planetary reference sample, and all nine VSOP87 bodies' velocities against position differences over elapsed seconds.
diff --git a/Sources/CelMek/CelMek.docc/THREAD_SAFETY.md b/Sources/CelMek/CelMek.docc/THREAD_SAFETY.md
new file mode 100644
index 0000000..c2441a5
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+++ b/Sources/CelMek/CelMek.docc/THREAD_SAFETY.md
@@ -0,0 +1,111 @@
+# Thread safety and data ownership
+
+The library has no global simulation clock, task scheduler or mutable kernel pool.
+Applications own their configured models and choose where to evaluate them. Swift
+`Sendable` conformance and runtime synchronization are separate contracts: a lock
+inside one dependency does not make the enclosing provider graph safe to share.
+`StateProvider`, `EphemerisProvider`, `TransformProvider`, `TDBTimeModel`,
+`ForceModel`, `TorqueModel` and attitude-provider protocols do not require Sendable.
+A struct holding one of these providers can still share reference-backed state.
+
+## Component contracts
+
+| Component | Ownership and concurrent evaluation |
+| --- | --- |
+| `Epoch`, `Duration`, `SimulationClock`, `RenderState` | Sendable value types. Copies of a clock advance independently. Serialize mutation of one shared clock variable. Passing a value does not synchronize shared storage holding it. |
+| `CartesianState` and spacecraft/attitude states | Numeric fields are snapshots, but frame identities are retained references. They are not blanket Sendable transfer objects. Copying a state does not clone its frame or provider graph. |
+| `Frame` / `FrameTree` | Parent links are immutable and strong. The tree retains registered frame identities and edge providers; registration mutates arrays/dictionaries without locking. Serialize construction and registration with all queries. A frozen tree's traversal reads registration storage, but safe overlapping queries also require every edge provider and dependency to support them. The tree has no Sendable conformance. |
+| Built-in analytical models and two-body propagation | Configured coefficients/options are retained and evaluations use local working storage. Overlapping evaluation requires immutable configuration and safe injected time/frame/state dependencies. Provider types are not automatically Sendable merely because their own arithmetic is local. |
+| Numerical translation, attitude and coupled propagation | Integration state, steps and diagnostics are local to each query. Repeated queries begin from the configured initial state; they do not advance a shared integrator cursor. Force, torque, guidance, environment and event callbacks must be repeatable and separately synchronized if shared. Never mutate captured configuration while evaluating. |
+| `TrajectorySampler` and batch queries | Synchronous ordered calls on the invoking executor; no worker tasks are created. Caller-owned returned arrays retain their state/frame references. Independent calls inherit the queried provider's concurrency contract. |
+| `MemoryEphemerisCache` | Storage, count, LRU and clearing are lock-protected. Capacity bounds all scopes in that instance. This does not serialize model evaluations. |
+| `CachedEphemerisProvider` | Generation updates are synchronized. Concurrent misses may evaluate the same epoch repeatedly; no single-flight or duplicate suppression is promised. The wrapped provider must support overlap or be confined to one executor. Custom-cache callbacks must not reenter their invoking wrapper. |
+| `DE441Ephemeris` | Random-access evaluation, record-cache mutations and statistics use the reader's lock. The open asset must remain unchanged. The reader owns its handle until deinitialization. Provider-level time conversion still inherits the supplied time model's contract. No blanket Sendable conformance is supplied. |
+| `SpiceDAFFile` | Read-only metadata and synchronized seek/read operations; explicitly unchecked Sendable at this boundary. The asset must remain immutable for the reader and all snapshots retaining it. Its handle closes on deinitialization. |
+| `SpiceKernelSet` | Load, unload, clear and snapshot operations serialize under a lock; explicitly unchecked Sendable at this boundary. Loads can hold the lock during filesystem IO, so do not run large loads on the UI executor. A successful mutation publishes a new cache scope. |
+| `SpiceKernelSnapshot` | Sendable immutable pool/load metadata and retained synchronized binary readers. Providers retain their snapshot; unloading from the set does not update existing providers or close readers still retained elsewhere. Concurrent high-level queries depend on their injected time models and frame providers. |
+| `RendererAdapter` | Immutable origin/scale snapshot; adaptation uses local arithmetic. The origin retains a frame identity, so the adapter itself is not a blanket Sendable container. Its numeric `RenderState` output is Sendable. It creates no GPU resources. |
+
+For protocol implementations, document whether overlapping calls are supported,
+whether callbacks mutate state, and what external resources must stay alive. A
+lock around a coefficient file cannot protect a mutable guidance closure, frame
+tree registration or application configuration accessed by the same evaluation.
+The same applies to value-type wrappers around classes or captured closures.
+
+## Frame and asset lifetimes
+
+A child frame retains its parent. Parents have no child list. `FrameTree` owns
+its edge providers and registered identities, so releasing a caller's child handle
+does not allow identifier reuse inside the tree. A state retains its frame and
+ancestors, but that does not retain the tree's provider registrations.
+
+`FrameConvertedStateProvider` and SPICE SPK, binary-PCK and CK frame adapters hold
+weak tree references to avoid ownership cycles. Keep a strong scene-level tree
+reference while using them. A missing tree fails explicitly rather than reconstructing
+registrations from a frame handle. Custom edge providers must not strongly capture
+their owning tree. Rotating dynamics can retain a tree in their configuration; do
+not install a provider that captures that dynamics object back into the same tree.
+
+Configured providers retain their dependencies according to their own fields;
+releasing a variable does not necessarily close a file or free coefficient arrays.
+Cache entries retain states and frame identities until eviction or clearing. SPICE
+snapshots retain binary readers after unload. Release old jobs, providers, snapshots
+and scene storage when retiring an asset version. Replace assets using new immutable
+files/readers rather than editing a live reader's file in place. For invalidation
+and old jobs, see <doc:GAME_INTEGRATION#Cache-invalidation>.
+
+## A single-owner actor
+
+The simplest concurrency boundary is an actor that constructs and owns its provider
+graph. Other tasks pass Sendable input values and receive Sendable numeric outputs.
+This example evaluates Earth relative to the Sun in ICRF, with explicit render scale:
+
+```swift
+import CelMek
+
+actor SolarScene {
+    private let tree: FrameTree
+    private let earthModel: VSOP87Ephemeris
+    private let sunModel: VSOP87Ephemeris
+
+    init() throws {
+        tree = try CelestialFrames.makeTree()
+        let timeModel = try FairheadTDBModel()
+        let coverage = FairheadTDBModel.referenceCoverage
+        earthModel = try VSOP87Ephemeris(body: earth, coverage: coverage,
+                                      tdbModel: timeModel, accuracy: .balanced)
+        sunModel = try VSOP87Ephemeris(body: sun, coverage: coverage,
+                                    tdbModel: timeModel, accuracy: .balanced)
+    }
+
+    func earthForRendering(at epoch: Epoch) throws -> RenderState {
+        let origin = try tree.convert(sunModel.state(at: epoch), to: CelestialFrames.icrf)
+        let target = try tree.convert(earthModel.state(at: epoch), to: CelestialFrames.icrf)
+        return try RendererAdapter(origin: origin, metresPerRenderUnit: 1e9).adapt(target)
+    }
+}
+
+// From another task: let rendered = try await scene.earthForRendering(at: epoch)
+```
+
+The query contains no await, so another actor message cannot interleave its
+synchronous evaluation. Keep expensive path searches and asset loading off the main
+actor. If an owner method suspends, another message can change its configuration
+before it resumes; capture a revision and check it before publishing results.
+For parallel numerical jobs, create independently owned graphs in each worker, or
+share only components whose complete dependency graph has an explicit overlapping
+query contract. Avoid adding unchecked Sendable to a whole scene just to bypass
+compiler diagnostics. Frame identity comparisons require deliberately shared frame
+objects within each graph; independently constructed graphs are not interchangeable.
+
+## Validation scope
+
+Existing Swift Testing cases exercise synchronized DAF reads, cache generation
+changes during evaluation, independent clock copies and deterministic query order.
+They do not certify arbitrary custom providers, callbacks, tree mutation or every
+possible race. No new broad Sendable promises or locking are introduced by this
+policy. Runtime read-only behavior is not a substitute for Swift's static isolation
+requirements; keep non-Sendable provider graphs inside their owner.
+
+For repeatability assumptions, platform limits and replay/comparison policy, see
+<doc:REPRODUCIBILITY>.
diff --git a/Sources/CelMek/CelMek.docc/TimeGuide.md b/Sources/CelMek/CelMek.docc/TimeGuide.md
new file mode 100644
index 0000000..7e00681
--- /dev/null
+++ b/Sources/CelMek/CelMek.docc/TimeGuide.md
@@ -0,0 +1,295 @@
+# Epochs and durations
+
+`Epoch` represents an instant. `CelMek.Duration` represents an elapsed interval in SI seconds. `TimeScale` selects a representation of an instant; changing that representation does not change the instant's physical meaning.
+
+The types live in `CelMek` and are immutable, `Sendable`, `Hashable`, and comparable. `JulianDateComponents` is an immutable, scale-tagged split Julian date. The existing `JulianDate` type remains a Julian **calendar date**, not a time-scale-aware instant.
+
+## Reference instant and storage
+
+`Epoch.j2000` is JD 2451545.0 **TT**, or 2000-01-01 at 12:00 TT. `offsetFromJ2000` is elapsed continuous atomic time in SI seconds from that instant. At this instant the TAI clock representation is 32.184 seconds earlier than the TT representation.
+
+Durations store an `Int64` whole-second part and a `Double` fractional-second part. Fractions are normalized to `0..<1`; for example, −0.25 seconds is represented as −1 whole second plus 0.75 fractional seconds. An epoch stores one such duration, keeping a large epoch offset separate from fine fractional steps.
+
+The supported interval and epoch-offset range is ±9,007,199,254,740,991 seconds (2^53 − 1), approximately 285 million years. This is a storage/arithmetic range, not a scientific validity guarantee for an ephemeris or time-scale model. Fractional values retain ordinary `Double` rounding limits; operations are not exact decimal arithmetic.
+
+## Using the public API
+
+Qualify `CelMek.Duration` when necessary to distinguish it from Swift's standard-library `Duration`.
+
+```swift
+import CelMek
+
+let step = try CelMek.Duration(seconds: 0.02)
+let later = try Epoch.j2000.advanced(by: step)
+let elapsed = try later.duration(since: .j2000)
+
+let tt = try later.julianDate(in: .tt)
+let tai = try later.julianDate(in: .tai)
+let restored = try Epoch(julianDate: tt)
+
+// Bridge to an existing astronomical algorithm when its conventions match.
+let legacyJulianDate: Double = tt.value
+```
+
+`Duration.adding`, `subtracting`, and `negated` provide interval arithmetic. `Epoch.advanced(by:)` supports positive and negative intervals. Comparisons and equality use canonical stored values; equality is exact, so conversions through floating-point date representations may require a duration tolerance rather than `==`.
+
+Construction and arithmetic throw `TimeArithmeticError.nonFinite` for NaN/infinite numeric inputs and `.outOfRange` for unsupported storage or result ranges. Differences between two individually valid epochs can exceed the supported duration range and throw. A scale conversion near a range endpoint can also throw when its offset crosses that endpoint.
+
+## Julian dates and precision
+
+Use `JulianDateComponents(wholeDay:fractionalDay:scale:)` to preserve fine date information. The fraction is normalized to `0..<1`; whole Julian day boundaries occur at noon. The scalar initializer `Epoch(julianDate:scale:)` accepts existing `Double` Julian dates, but cannot recover precision already lost by the caller.
+
+At J2000 a single `Double` Julian date has a spacing of about 40 microseconds. Both `JulianDateComponents.value` and `Duration.seconds` are explicitly lossy conversions when the whole part is large. Keep simulation arithmetic in `Epoch`/`Duration`, and convert at the algorithm boundary.
+
+Regression tests demonstrate nanosecond increments on offsets of ±500 billion seconds (roughly ±16,000 years). Split Julian date round trips are checked within 30 picoseconds at the tested epochs, including these large offsets. Those results are tests of the chosen inputs, not universal error bounds; converting fractional days and seconds still rounds.
+
+## Supported scales
+
+| Scale | Adapter |
+| --- | --- |
+| TAI | Continuous atomic representation. |
+| TT | Fixed 32.184-second offset from TAI. |
+| TDB | Existing low-order periodic TT/TDB approximation, evaluated from split epoch offsets and inverted iteratively. |
+
+The TDB adapter is the two-term approximation
+`0.001658*sin(g) + 0.000014*sin(2*g)` seconds, with
+`g = (357.53 + 0.9856003*daysSinceJ2000TT)` degrees. It represents a geocentric
+conversion, without observer-dependent topocentric terms.
+
+We compared it with the full Fairhead–Bretagnon model in
+[ERFA 2.0.1 `eraDtdb`](https://github.com/liberfa/erfa/blob/v2.0.1/src/dtdb.c),
+using zero observer coordinates. The reference permits TT as its date argument
+and reports accuracy better than ±3 ns relative to DE405 time ephemerides over
+1950–2050. That reference accuracy does **not** apply to our two-term adapter.
+
+| Sampled TT interval (inclusive January 1 endpoints) | Cadence / samples | Maximum absolute offset error | RMS error |
+| --- | --- | --- | --- |
+| 1950–2050 | 6 hours / 146,101 | 36.483 µs | 16.831 µs |
+| 1900–2100 | 6 hours / 292,197 | 38.763 µs | 17.011 µs |
+
+These are empirical sampled errors, not continuous error bounds or certification
+against a modern DE time ephemeris. The 1950–2050 interval is the characterized
+use interval with the reference's stated accuracy; the wider survey is a numerical
+stress comparison. No accuracy claim is made outside these surveys, even though
+`Epoch` permits a much larger storage range. Existing calls remain available without
+an implicit coverage restriction; callers must choose whether this model suits them.
+
+For scale, a 36.483 µs epoch error corresponds to about 1.1 m of position error for
+motion at 30 km/s, before other model errors. This can suit game ephemerides, but
+metre-level work should select a more accurate time model. The optional full model
+below supports callers needing a more accurate conversion. TT/TAI arithmetic and `Epoch` storage are independent
+of the TDB approximation.
+
+Regression tests use 4,874 independently generated ERFA samples, including all four
+six-hour phases every 30 days, the final endpoint and J2000. The sampled maximum rate
+error is 9.919e-12 s/s and acceleration error is 1.121e-17 1/s. Reference derivatives
+use centred differences with a 300-second step; these derivative figures include
+that numerical approximation and are not analytic error bounds. The analytic
+Swift derivatives remain consistent with the implemented two-term model. TDB round
+trips check numerical inversion, separately from physical accuracy.
+
+`TDB_CHARACTERIZATION.json` record sample counts and worst TT Julian
+dates. `Tools/characterize_tdb_adapter.py` regenerates the survey and fixtures using
+an external ERFA shared library. This developer reference adds no C target or runtime
+dependency to the package.
+
+### Selecting a TDB model
+
+`TDBTimeModel` supplies a correction at an atomic/TT `Epoch`, a coverage interval and
+provenance. `TDBCorrection` carries TDB−TT as a split duration, `dTDB/dTT` as a positive
+finite rate, and `d²TDB/dTT²` in 1/s. Returned epochs are validated. Models should be
+deterministic for fixed inputs; custom providers define their own data errors and ownership.
+
+`FairheadTDBModel` evaluates the full 787-term geocentric Fairhead–Bretagnon series
+and the planetary-mass adjustments used by ERFA 2.0.1, in native Swift. The supported
+coverage is 1950-01-01 TT through 2050-01-01 TT inclusive; callers may narrow that
+interval. Wider intervals are rejected rather than borrowing the reference's accuracy
+claim beyond its stated range. Topocentric observer terms are absent. Analytic first
+and second derivatives include the series amplitudes' time dependence.
+
+```swift
+let model = try FairheadTDBModel()
+let date = try Epoch.j2000.julianDate(in: .tdb, using: model)
+let epoch = try Epoch(julianDate: date, using: model)
+let reading = try epoch.calendar(in: .tdb, tdbModel: model)
+let recovered = try reading.epoch(tdbModel: model)
+
+let earthProvider = VSOP87StateProvider(body: earth, tdbModel: model)
+let tree = try CelestialFrames.makeTree()
+let icrf = try earthProvider.state(at: epoch, in: CelestialFrames.icrf, using: tree)
+let marsAxes = try IAUOrientationProvider(
+  body: "mars", coverage: model.coverage, tdbModel: model)
+```
+
+Use the same selected model for forward/inverse dates and for providers that share
+those epochs. `earth.state(at:using:)` also accepts a model directly. The configured
+VSOP provider and IAU orientation provider use one correction sample for both the date
+and derivative chain rule. Orientation queries must satisfy both orientation and model
+coverage. `TwoTermTDBModel(coverage:)` offers the inexpensive approximation with an
+explicit caller-selected interval; that choice does not establish an accuracy guarantee.
+
+Existing calls without a model retain their previous two-term behavior. The optional
+model is consulted only for TDB representations; TT/TAI/UTC arithmetic does not need it.
+Reverse conversion uses Newton iteration, a 12-iteration limit and explicit errors for
+nonconvergence, wrong-epoch corrections and out-of-coverage queries. At covered boundaries,
+TDB labels within 30 picoseconds of the boundary's predicted label return that boundary
+to accommodate split-JD rounding. No uncovered model sample is evaluated.
+
+The Swift full-series offsets agree with 4,874 independent ERFA fixtures within the
+2-femtosecond test tolerance. This is numerical agreement with a reference model, **not**
+a femtosecond physical accuracy claim. Derivative checks use independently differenced
+reference values; round trips also cover both coverage boundaries and a synthetic model
+with a deliberately non-unit rate. The reference's nanosecond-level physical statement
+and its model limitations described above still apply. Coefficient extraction is reproducible
+with `Tools/generate_tdb_series.py`; BSD attribution is retained in
+`Sources/ERFASwift/LICENSE.txt` (also copied in `Documentation/licenses/ERFA.txt`).
+The evaluator and coefficient tables live in the internal BSD-licensed `ERFASwift`
+module; CelMek supplies the epoch and coverage adapter. No C target or external
+ERFA runtime dependency is added.
+
+UTC uses `UTCDate` with an integer modified Julian day (midnight) and split
+`secondOfDay`, plus an explicitly supplied `LeapSecondTable`. It is separate from
+`TimeScale`: an ordinary 86400-second Julian day cannot unambiguously label the
+extra UTC second. No implicit leap-second smearing or wall-clock conversion occurs.
+
+```swift
+let table = LeapSecondTable.iersBulletinC72
+let leap = try UTCDate(modifiedJulianDay: 57753,
+                       secondOfDay: CelMek.Duration(seconds: 86400.25))
+let instant = try Epoch(utc: leap, using: table) // 2016-12-31 23:59:60.25 UTC
+let restored = try instant.utc(using: table)
+let tai = try instant.julianDate(in: .tai)
+```
+
+The frozen table follows [IERS Leap_Second.dat](https://hpiers.obspm.fr/iers/bul/bulc/Leap_Second.dat),
+updated through Bulletin C 72 (July 2026). Its UTC coverage starts at 1972-01-01
+(MJD 41317) and ends exclusively at 2027-06-28 midnight (MJD 61584), the stated
+expiry date. Pre-1972 UTC frequency adjustments are unsupported. The table never
+extrapolates beyond coverage and never refreshes itself over the network.
+
+Supply updated entries or parse IERS text with `LeapSecondTable(iersData:...)`;
+version, source and exclusive coverage are required caller metadata. Data loading
+is separate from evaluation. Row MJD values define effective midnights; the redundant
+calendar columns are checked for integer syntax. Tables must be ordered and changes
+must be ±1 second. Negative leap days are supported, although none occur in the
+bundled history. Invalid leap labels and out-of-coverage dates throw `UTCError`.
+
+A SPICE LSK can provide the same `LeapSecondTable` in place of the bundled history:
+
+```swift
+let kernels = try SpiceKernelSet()
+try kernels.load(lskURL)
+let data = try kernels.snapshot().leapSecondData()
+let table = try data.table(
+    validUntilModifiedJulianDay: expiryMJD,
+    version: "my LSK asset version")
+let instant = try Epoch(utc: utcDate, using: table)
+let roundTrip = try instant.utc(using: table)
+```
+
+Use that table wherever UTC conversion or Earth-orientation conversion takes a table.
+It preserves kernel source paths and follows effective kernel-pool precedence. The
+caller supplies its version and exclusive expiry because an LSK does not certify a
+future validity date. Loading it does not replace a global default: time APIs receive
+the chosen table explicitly, and a retained table remains valid after kernel unload.
+The LSK's periodic TDB parameters are separate from leap-second history and do not
+automatically replace the injected `TDBTimeModel`.
+
+UTC days contain 86399, 86400 or 86401 labelled seconds. `secondOfDay` is validated
+against the chosen table, so 86400 is accepted only on positive leap days. Advance
+`Epoch` by SI durations for simulation arithmetic, rather than adding nominal UTC
+calendar days. UT1 requires separate Earth-orientation data.
+
+`EarthOrientationRecord.sample(using:)` converts UTC/DUT1 to an atomic EOP sample:
+UT1−TT = DUT1 − (TAI−UTC) − 32.184 seconds. `sample.dut1(using:)` reverses that
+conversion, including inside a labelled leap second. The tabulated EOP provider
+interpolates UT1−TT rather than the discontinuous DUT1. `epoch.ut1JulianDate(using:)`
+returns distinct two-part UT1 components; UT1 is not a model-free `TimeScale` value.
+See <doc:FRAMES> for measured file ingestion and interpolation policies.
+
+## Gregorian calendar readings
+
+`GregorianDay` validates a proleptic Gregorian date with astronomical year numbering:
+year 0 is 1 BCE. Its range is −1,000,000 through +1,000,000 inclusive, with no historical
+calendar cutover. It converts to/from integer midnight MJD using integer 400-year eras
+([algorithm derivation](https://howardhinnant.github.io/date_algorithms.html)).
+
+`CalendarDateTime` carries a `CalendarTimeScale` (`tai`, `tt`, `tdb`, or `utc`) and
+validated hour, minute and split `Duration` seconds. Seconds of 60 are allowed only
+in UTC at 23:59; the chosen leap-second table validates the actual date on conversion.
+A missing UTC table throws `CalendarConversionError.leapSecondTableRequired`.
+
+```swift
+let reading = try CalendarDateTime(
+  date: GregorianDay(year: 2016, month: 12, day: 31),
+  hour: 23, minute: 59, second: CelMek.Duration(seconds: 60.25), scale: .utc)
+let epoch = try Epoch(calendar: reading, using: .iersBulletinC72)
+let ttClock = try epoch.calendar(in: .tt)
+let utcClock = try epoch.calendar(in: .utc, using: .iersBulletinC72)
+let ttJD = try epoch.julianDate(in: .tt)
+```
+
+There is no timezone interpretation, implicit UTC default, or wall-clock dependency.
+Continuous-scale dates use split Julian dates; UTC retains its civil day and leap label.
+Day conversions are integer-exact within the calendar range; fractional clock/Julian-date
+conversion rounds in `Double` (tests use a 30-picosecond tolerance). The calendar range
+is an API arithmetic range, not a model accuracy guarantee, and UTC table coverage is
+usually much narrower. The characterized TDB limits above still apply.
+
+The legacy `Date`, `Time`, `DateTime`, and astronomical calendar algorithms retain their
+existing conventions. The new types provide an explicit alternative; locale formatting,
+ISO string parsing, timezones and historical-calendar presentation remain separate work.
+
+## Validation
+
+[EpochTests](https://github.com/lorrden/swift-celmek/blob/master/Tests/CelMekTests/EpochTests.swift) uses a normal `import CelMek`, exercising public construction and result access. It covers normalization, arithmetic, comparisons/hashing, nonfinite inputs, range errors, J2000 scale offsets, fine steps at distant epochs, split-date precision, conversion round trips, and the millisecond scale of the TDB approximation.
+
+```sh
+swift test --filter EpochTests
+```
+
+## Game simulation clocks
+
+`SimulationClock` is a caller-owned value containing an atomic `Epoch`, a finite
+signed playback rate and an optional inclusive coverage interval. It does not read
+the operating system clock, fetch ephemerides, integrate dynamics or select fidelity.
+Supply elapsed monotonic real durations from the game's update loop:
+
+```swift
+var clock = try SimulationClock(epoch: start, rate: 86_400, coverage: start...end)
+try clock.advance(realDuration: Duration(seconds: frameElapsedSeconds))
+let now = clock.epoch
+let future = try clock.prediction(after: Duration(seconds: 3_600))
+clock.setPaused(true)
+try clock.setRate(-60)           // reverse after resuming
+clock.setPaused(false)
+try clock.seek(to: savedEpoch)
+```
+
+Rate is simulation SI seconds per real second. Negative rate reverses playback;
+zero or pause freezes it. Real durations must be nonnegative even while paused.
+Prediction takes **simulation** seconds, independent of pause/rate, and never mutates
+the clock. Changing rate or pause reanchors at the current instant without a jump.
+Seeking validates coverage. Bounds throw rather than clamp, and a failed advance,
+seek or rate change leaves the stored clock unchanged.
+
+Advances accumulate split real duration and recompute from the current anchor,
+instead of repeatedly adding scaled frame increments to a distant epoch. The whole
+and fractional scaled durations are added separately. Arbitrary noninteger rates
+still use Double multiplication, so neither exact real-number scaling nor bitwise
+invariance under all update partitions/platforms is promised. Integer rates and
+split epochs preserve small epoch fractions when the scaled whole seconds remain
+representable. Duration/Epoch range errors propagate. Reanchor deliberate long-running
+sessions when appropriate; there is no automatic wall-time synchronization.
+
+Copies of the value-type clock advance independently. Own mutations on one actor or
+thread, or synchronize them yourself. The same selected epoch should drive both
+prescribed body ephemerides and propagated spacecraft queries. Reverse playback is
+suitable for analytical stored trajectories; it is not an instruction to reverse an
+irreversible numerical integrator or replay external side effects. Time warp does not
+choose integration step size or handle event crossings automatically.
+
+The [Voyager game demo](https://github.com/lorrden/swift-celmek/blob/master/Examples/Voyager2GameDemo/README.md) combines simulation-clock
+playback, independent prediction, explicit bounded coast selection, `TrajectorySampler`
+and prescribed moving planets. Its reported encounter patch discontinuities remain
+visible; changing the clock does not resolve the mission's connector residuals.
diff --git a/Sources/CelMek/CelMek.docc/VSOP87_ACCURACY_CHARACTERIZATION.md b/Sources/CelMek/CelMek.docc/VSOP87_ACCURACY_CHARACTERIZATION.md
new file mode 100644
index 0000000..83a34ac
--- /dev/null
+++ b/Sources/CelMek/CelMek.docc/VSOP87_ACCURACY_CHARACTERIZATION.md
@@ -0,0 +1,73 @@
+# VSOP87 reduced-mode characterization
+
+These results compare reduced coefficient sets against the complete built-in VSOP87E series. They measure truncation within one model, not physical error against observations or DE ephemerides.
+
+Coverage: TT JD 2433282.5 through 2469807.5 inclusive (1950-01-01 through 2050-01-01). Sample spacing: 8 days, plus the final endpoint; 4567 epochs per body/mode. Maxima are sampled maxima, not guarantees between samples. Norms are Euclidean in the native VSOP87E Cartesian frame.
+
+Time model: Fairhead–Bretagnon 1990, full geocentric ERFA 2.0.1 adaptation. State velocities use atomic seconds. All modes use the same coverage and time model.
+
+## Query cost and approximation differences
+
+| Body | Mode | Retained / full terms | Max position, km | RMS position, km | Max velocity, m/s | RMS velocity, m/s | Query, µs | Speedup |
+| --- | --- | ---: | ---: | ---: | ---: | ---: | ---: | ---: |
+| Sun | low | 65 / 6586 | 755.775 | 329.381 | 0.0300737 | 0.0134068 | 10.25 | 9.16× |
+| Sun | balanced | 314 / 6586 | 16.4459 | 7.985 | 0.00314338 | 0.00186409 | 13.64 | 6.88× |
+| Sun | high | 1819 / 6586 | 0.368516 | 0.183113 | 4.08916e-05 | 2.17339e-05 | 32.83 | 2.86× |
+| Sun | full | 6586 / 6586 | 0 | 0 | 0 | 0 | 93.85 | 1× |
+| Mercury | low | 126 / 7871 | 1574.03 | 534.884 | 2.69275 | 0.829168 | 11 | 10× |
+| Mercury | balanced | 734 / 7871 | 45.3228 | 12.4263 | 0.114374 | 0.0278137 | 18.74 | 5.89× |
+| Mercury | high | 3978 / 7871 | 0.512669 | 0.1869 | 0.000904898 | 0.000342936 | 60.86 | 1.81× |
+| Mercury | full | 7871 / 7871 | 0 | 0 | 0 | 0 | 110.4 | 1× |
+| Venus | low | 124 / 4657 | 1385.77 | 529.643 | 0.531114 | 0.199825 | 10.98 | 6.41× |
+| Venus | balanced | 696 / 4657 | 29.9123 | 11.3224 | 0.0247763 | 0.00549464 | 18.27 | 3.85× |
+| Venus | high | 2778 / 4657 | 0.251128 | 0.0730238 | 0.000174514 | 2.92237e-05 | 45.05 | 1.56× |
+| Venus | full | 4657 / 4657 | 0 | 0 | 0 | 0 | 70.42 | 1× |
+| Earth | low | 143 / 5556 | 1926 | 624.167 | 1.24327 | 0.722269 | 11.19 | 7.23× |
+| Earth | balanced | 890 / 5556 | 40.5881 | 13.6216 | 0.0478871 | 0.0174986 | 20.69 | 3.91× |
+| Earth | high | 3425 / 5556 | 0.313781 | 0.0779132 | 0.000193568 | 4.93775e-05 | 53.45 | 1.51× |
+| Earth | full | 5556 / 5556 | 0 | 0 | 0 | 0 | 80.9 | 1× |
+| Mars system | low | 270 / 7575 | 1846.2 | 721.821 | 0.379441 | 0.141431 | 12.82 | 8.27× |
+| Mars system | balanced | 1605 / 7575 | 55.8276 | 18.2887 | 0.0155703 | 0.00492511 | 29.91 | 3.54× |
+| Mars system | high | 4931 / 7575 | 0.450582 | 0.107177 | 0.000233988 | 3.44021e-05 | 73.15 | 1.45× |
+| Mars system | full | 7575 / 7575 | 0 | 0 | 0 | 0 | 106 | 1× |
+| Jupiter system | low | 387 / 4542 | 1738.22 | 828.737 | 0.0693785 | 0.0279537 | 14.3 | 4.77× |
+| Jupiter system | balanced | 2024 / 4542 | 50.743 | 19.7451 | 0.00965156 | 0.00361728 | 35.34 | 1.93× |
+| Jupiter system | high | 3785 / 4542 | 0.174369 | 0.0422236 | 1.38185e-05 | 2.4206e-06 | 57.83 | 1.18× |
+| Jupiter system | full | 4542 / 4542 | 0 | 0 | 0 | 0 | 68.13 | 1× |
+| Saturn system | low | 687 / 7522 | 2900.42 | 1558.36 | 0.108128 | 0.0322942 | 18.34 | 5.77× |
+| Saturn system | balanced | 3907 / 7522 | 52.2638 | 20.4943 | 0.0163451 | 0.00630954 | 59.57 | 1.78× |
+| Saturn system | high | 6309 / 7522 | 0.167389 | 0.0520039 | 1.16847e-05 | 2.46345e-06 | 90.17 | 1.17× |
+| Saturn system | full | 7522 / 7522 | 0 | 0 | 0 | 0 | 105.8 | 1× |
+| Uranus system | low | 704 / 5125 | 2103.97 | 1209 | 0.0826466 | 0.0317825 | 18.12 | 4.13× |
+| Uranus system | balanced | 3597 / 5125 | 19.181 | 7.23625 | 0.000666761 | 0.000167514 | 56.13 | 1.33× |
+| Uranus system | high | 4801 / 5125 | 0.12759 | 0.0380069 | 3.22576e-06 | 9.20925e-07 | 71.1 | 1.05× |
+| Uranus system | full | 5125 / 5125 | 0 | 0 | 0 | 0 | 74.78 | 1× |
+| Neptune system | low | 299 / 2389 | 1821.71 | 994.074 | 0.0907455 | 0.0384916 | 12.89 | 3.07× |
+| Neptune system | balanced | 1695 / 2389 | 12.3751 | 4.61282 | 0.00155808 | 0.000595579 | 30.58 | 1.29× |
+| Neptune system | high | 2257 / 2389 | 0.1013 | 0.0265321 | 2.28581e-06 | 4.98261e-07 | 38.47 | 1.03× |
+| Neptune system | full | 2389 / 2389 | 0 | 0 | 0 | 0 | 39.57 | 1× |
+
+## Method and limits
+
+Timing: Release public state query; includes Fairhead TDB conversion, allocations and SI conversion; warm providers; median of rotated-order batches; excludes provider preparation. Each timing batch contains 64 queries; 5 repetitions per mode. Query epochs span the sampled coverage. A checksum consumes returned positions and velocities to prevent unused-result elimination.
+
+Host: Version 27.0.1 (Build 26A434), 8 logical processors; architecture: arm64. Compiler: Apple Swift 6.4 (swiftlang-6.4.0.34.1); release configuration. Query timings are one local measurement and depend on compiler, hardware, system load and selected TDB model. They are not a CI pass/fail threshold or performance guarantee.
+
+Provider preparation is excluded from query timing and recorded separately in the JSON. Preparation selects subsets and allocates their tables; results are reused for every query. Full evaluation also performs metadata/selection preparation, so preparation costs should not be confused with steady-state query cost.
+
+Position differences are checked against each model’s conservative per-axis omitted-term bound, with 0.1 m allowance for floating evaluation differences. The full mode has zero truncation bound. No velocity bound is inferred from positional amplitudes. A small fast term may have a significant derivative. The JSON records per-axis bounds, preparation time and TT epochs of sampled position/velocity maxima (zero for full mode, whose differences are identically zero).
+
+The eight-day grid does not resolve every short-period coefficient. More densely sampled intervals and independent physical reference validation may be appropriate for a particular game. Changing the selected coverage changes the subsets; these numbers do not apply unchanged to every interval.
+
+No cutoff was tuned against these samples. Initial cutoffs remain low 1e-6 AU, balanced 1e-8 AU, high 1e-10 AU per maximum term contribution. The shared levels remain tolerance hints and permit a higher effective evaluation mode. Lunar and Pluto reduced modes are not implemented and still evaluate their full existing approximation.
+
+## Reproduce
+
+```sh
+swift run --disable-sandbox -c release VSOP87Characterization VSOP87_CHARACTERIZATION.json 8
+python3 Tools/summarize_vsop_characterization.py VSOP87_CHARACTERIZATION.json
+```
+
+The optional final argument controls positive integer sample spacing in days. Keep the release configuration and supply --compiler-description and --architecture to the summarizer when publishing a new report. The executable writes a report only at the supplied path, performs no network access and does not modify coefficient tables.
+
+Machine-readable results: `VSOP87_CHARACTERIZATION.json`. Policy and selection rules: <doc:ACCURACY>.
diff --git a/Sources/CelMek/CelestialBody.swift b/Sources/CelMek/CelestialBody.swift
new file mode 100644
index 0000000..cee0b62
--- /dev/null
+++ b/Sources/CelMek/CelestialBody.swift
@@ -0,0 +1,174 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+public enum CelestialBodyError: Error, Equatable, Sendable {
+  case invalidIdentifier, missingProvenance, invalidPhysicalValue, invalidDefinition
+  case duplicateIdentifier, unknownBody
+}
+
+/// Namespaced identity, independent of display names and model availability.
+/// NAIF codes preserve the distinction between system barycentres and body centres.
+public enum BodyIdentifier: Hashable, Sendable {
+  case naif(Int32)
+  case custom(namespace: String, name: String)
+
+  public static let solarSystemBarycentre = Self.naif(0)
+  public static let mercuryBarycentre = Self.naif(1)
+  public static let venusBarycentre = Self.naif(2)
+  public static let earthMoonBarycentre = Self.naif(3)
+  public static let marsBarycentre = Self.naif(4)
+  public static let jupiterBarycentre = Self.naif(5)
+  public static let saturnBarycentre = Self.naif(6)
+  public static let uranusBarycentre = Self.naif(7)
+  public static let neptuneBarycentre = Self.naif(8)
+  public static let plutoBarycentre = Self.naif(9)
+  public static let sun = Self.naif(10)
+  public static let mercury = Self.naif(199)
+  public static let venus = Self.naif(299)
+  public static let moon = Self.naif(301)
+  public static let earth = Self.naif(399)
+  public static let mars = Self.naif(499)
+  public static let jupiter = Self.naif(599)
+  public static let saturn = Self.naif(699)
+  public static let uranus = Self.naif(799)
+  public static let neptune = Self.naif(899)
+  public static let pluto = Self.naif(999)
+
+  internal func validate() throws {
+    if case .custom(let namespace, let name) = self {
+      guard !namespace.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty,
+            !name.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty else {
+        throw CelestialBodyError.invalidIdentifier
+      }
+    }
+  }
+}
+
+/// Caller-owned source/version metadata. No implicit current-data lookup occurs.
+public struct PhysicalDataProvenance: Hashable, Sendable {
+  public let source: String
+  public let version: String
+  public let reference: String?
+  public init(source: String, version: String, reference: String? = nil) throws {
+    guard !source.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty,
+          !version.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty else {
+      throw CelestialBodyError.missingProvenance
+    }
+    self.source = source; self.version = version; self.reference = reference
+  }
+}
+
+/// Positive finite physical quantity in the SI units specified by its containing field.
+public struct SourcedPhysicalValue: Hashable, Sendable {
+  public let value: Double
+  public let provenance: PhysicalDataProvenance
+  public init(value: Double, provenance: PhysicalDataProvenance) throws {
+    guard value.isFinite, value > 0 else { throw CelestialBodyError.invalidPhysicalValue }
+    self.value = value; self.provenance = provenance
+  }
+}
+
+/// Coordinate-time convention of a GM. SI unit conversion alone does not convert
+/// between relativistic scale conventions; callers must select compatible dynamics.
+public enum GravitationalParameterConvention: Hashable, Sendable {
+  case tdbCompatible, ttCompatible, tcbCompatible
+  /// Caller-defined Newtonian model, without a relativistic coordinate-time scaling.
+  case newtonian
+}
+public struct GravitationalParameter: Hashable, Sendable {
+  /// μ = GM, in m³/s². This is not a mass in kg.
+  public let cubicMetresPerSecondSquared: Double
+  public let convention: GravitationalParameterConvention
+  public let provenance: PhysicalDataProvenance
+  public init(cubicMetresPerSecondSquared: Double, convention: GravitationalParameterConvention,
+              provenance: PhysicalDataProvenance) throws {
+    _ = try SourcedPhysicalValue(value: cubicMetresPerSecondSquared,provenance: provenance)
+    self.cubicMetresPerSecondSquared = cubicMetresPerSecondSquared
+    self.convention = convention; self.provenance = provenance
+  }
+}
+
+/// Geometric reference radii along caller-defined body-fixed X/Y/Z axes, in metres.
+/// Metadata only: no surface, shape transform, or orientation provider is implied.
+public struct BodyReferenceRadii: Hashable, Sendable {
+  public let metres: SIMD3<Double>
+  public let axesDescription: String
+  public let provenance: PhysicalDataProvenance
+  public init(metres: SIMD3<Double>, axesDescription: String, provenance: PhysicalDataProvenance) throws {
+    guard [metres.x,metres.y,metres.z].allSatisfy({ $0.isFinite && $0 > 0 }),
+          !axesDescription.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty else {
+      throw CelestialBodyError.invalidPhysicalValue
+    }
+    self.metres = metres; self.axesDescription = axesDescription; self.provenance = provenance
+  }
+}
+
+/// Missing properties are unknown, never zero or inferred from other fields.
+public struct BodyPhysicalProperties: Hashable, Sendable {
+  public let gravitationalParameter: GravitationalParameter?
+  /// Independently sourced mass in kilograms. No assumed μ/G conversion.
+  public let massKilograms: SourcedPhysicalValue?
+  public let referenceRadii: BodyReferenceRadii?
+  public init(gravitationalParameter: GravitationalParameter? = nil,
+              massKilograms: SourcedPhysicalValue? = nil, referenceRadii: BodyReferenceRadii? = nil) {
+    self.gravitationalParameter = gravitationalParameter
+    self.massKilograms = massKilograms; self.referenceRadii = referenceRadii
+  }
+}
+
+public enum CelestialBodyKind: Hashable, Sendable {
+  case star, planet, dwarfPlanet, naturalSatellite, minorBody, barycentre, artificial, custom
+}
+
+/// Immutable body metadata, separate from ephemeris, orientation, shape and gravity models.
+public struct CelestialBody: Hashable, Sendable {
+  public let identifier: BodyIdentifier
+  public let name: String
+  public let kind: CelestialBodyKind
+  public let properties: BodyPhysicalProperties
+  public let provenance: PhysicalDataProvenance
+  public init(identifier: BodyIdentifier, name: String, kind: CelestialBodyKind,
+              properties: BodyPhysicalProperties = BodyPhysicalProperties(),
+              provenance: PhysicalDataProvenance) throws {
+    try identifier.validate()
+    guard !name.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty,
+          kind != .barycentre || properties.referenceRadii == nil else {
+      throw CelestialBodyError.invalidDefinition
+    }
+    self.identifier = identifier; self.name = name; self.kind = kind
+    self.properties = properties; self.provenance = provenance
+  }
+}
+
+/// Immutable injectable catalogue. Duplicate IDs fail; display names need not be unique.
+public struct BodyCatalogue: Sendable {
+  public let bodies: [CelestialBody]
+  private let byIdentifier: [BodyIdentifier: CelestialBody]
+  public init(bodies: [CelestialBody]) throws {
+    var lookup: [BodyIdentifier: CelestialBody] = [:]
+    for body in bodies {
+      guard lookup.updateValue(body,forKey: body.identifier) == nil else { throw CelestialBodyError.duplicateIdentifier }
+    }
+    self.bodies = bodies; byIdentifier = lookup
+  }
+  public func body(_ identifier: BodyIdentifier) throws -> CelestialBody {
+    guard let body = byIdentifier[identifier] else { throw CelestialBodyError.unknownBody }
+    return body
+  }
+}
diff --git a/Sources/CelMek/CelestialFrames.swift b/Sources/CelMek/CelestialFrames.swift
new file mode 100644
index 0000000..1889edc
--- /dev/null
+++ b/Sources/CelMek/CelestialFrames.swift
@@ -0,0 +1,141 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+
+import Foundation
+import Math
+
+/// Fixed astronomical frame identities. Origins are barycentric unless named
+/// otherwise. Use makeTree() to register their physical transform connections.
+public enum CelestialFrames {
+  public static let icrf = Frame(name: "ICRF barycentric", pseudoInertial: true)
+  /// Mean dynamical equator and equinox J2000, with IAU 2000 frame bias.
+  public static let meanEquatorJ2000 = Frame(parent: icrf, name: "Mean equator J2000 barycentric", pseudoInertial: true)
+  /// Mean ecliptic/equinox J2000 using the IAU 1976 obliquity 84381.448 arcsec.
+  public static let eclipticJ2000 = Frame(parent: meanEquatorJ2000, name: "Ecliptic J2000 barycentric", pseudoInertial: true)
+  /// FK5 axes frozen at J2000. Separate from the mean dynamical EME2000 frame.
+  public static let fk5J2000 = Frame(parent: icrf, name: "FK5 J2000 barycentric", pseudoInertial: true)
+  /// Native VSOP87E dynamical ecliptic/equinox J2000; not an alias for the
+  /// conventional ecliptic frame. Connected through the published FK5 rotation.
+  public static let vsop87E = Frame(parent: fk5J2000, name: "VSOP87E barycentric ecliptic J2000", pseudoInertial: true)
+
+  private static let arcsecond = Double.pi / (180 * 3600)
+  private static let obliquity = 84381.448 * arcsecond
+
+  // Independent implementation of the IAU 2000 fixed frame-bias rotations.
+  // SOFA/ERFA BP00 defines GCRS -> mean J2000 as Rx(-deps) Ry(dpsi*sin(eps)) Rz(dra)
+  // with passive rotations; our Hamilton coordinate mappings have opposite signs.
+  internal static var icrfToEME2000: Quaternion {
+    let z = Quaternion(angle: 0.0146 * arcsecond, axis: SIMD3(0, 0, 1))
+    let y = Quaternion(angle: 0.041775 * arcsecond * sin(obliquity), axis: SIMD3(0, 1, 0))
+    let x = Quaternion(angle: -0.0068192 * arcsecond, axis: SIMD3(1, 0, 0))
+    return x * y * z
+  }
+
+  // FK5 orientation at J2000 relative to the Hipparcos/ICRS realization.
+  // This is a fixed-epoch tie, not a time-dependent FK5 stellar catalogue model.
+  internal static var fk5ToICRF: Quaternion {
+    let vector = SIMD3<Double>(-19.9, -9.1, 22.9) * (0.001 * arcsecond)
+    return Quaternion(angle: -sqrt((vector * vector).sum()), axis: vector)
+  }
+
+  internal static var vsopToFK5: Quaternion {
+    // Reconstruct an orthogonal rotation from the rounded published matrix;
+    // avoids introducing a small scale/shear when converting states.
+    let tilt = atan2(0.397776982902, 0.917482137087)
+    let node = atan2(-0.000000479966, 1.0)
+    return Quaternion(angle: node, axis: SIMD3(0, 0, 1))
+      * Quaternion(angle: tilt, axis: SIMD3(1, 0, 0))
+  }
+
+  public static func makeTree() throws -> FrameTree {
+    let tree = try FrameTree(root: icrf)
+    try tree.registerFrame(meanEquatorJ2000, provider: FixedTransformProvider(rotation: icrfToEME2000))
+    try tree.registerFrame(eclipticJ2000,
+      provider: FixedTransformProvider(rotation: Quaternion(angle: -obliquity, axis: SIMD3(1, 0, 0))))
+    try tree.registerFrame(fk5J2000, provider: FixedTransformProvider(rotation: fk5ToICRF.conj))
+    try tree.registerFrame(vsop87E, provider: FixedTransformProvider(rotation: vsopToFK5.conj))
+    return tree
+  }
+}
+
+public enum FrameQueryError: Error, Equatable {
+  case providerFrameMismatch, frameTreeUnavailable
+}
+
+extension StateProvider {
+  /// Query the native state, then convert through the explicitly supplied tree.
+  public func state(at epoch: Epoch, in destination: Frame, using tree: FrameTree) throws -> CartesianState {
+    let native = try state(at: epoch)
+    guard native.epoch == epoch else { throw FrameTransformError.epochMismatch }
+    guard native.frame === frame else { throw FrameQueryError.providerFrameMismatch }
+    return try tree.convert(native, to: destination)
+  }
+}
+
+/// A provider viewed in another connected frame. The tree is weakly referenced
+/// to avoid tree -> body-frame provider -> converted origin provider -> tree cycles.
+/// Callers must retain the tree while using this adapter.
+public final class FrameConvertedStateProvider: StateProvider {
+  public let frame: Frame
+  private let native: any StateProvider
+  private weak var tree: FrameTree?
+  public init(_ native: any StateProvider, in frame: Frame, using tree: FrameTree) throws {
+    // Check connectivity without querying epoch-dependent provider data.
+    guard tree.isRegistered(native.frame), tree.isRegistered(frame) else {
+      throw FrameTransformError.disconnectedFrames
+    }
+    self.native = native
+    self.frame = frame
+    self.tree = tree
+  }
+  public func state(at epoch: Epoch) throws -> CartesianState {
+    guard let tree else { throw FrameQueryError.frameTreeUnavailable }
+    return try native.state(at: epoch, in: frame, using: tree)
+  }
+}
+
+extension FrameTree {
+  /// Newtonian geocentric frame with axes aligned to ICRF. This supplies origin
+  /// translation only, not the relativistic BCRS/GCRS coordinate transformation.
+  /// The caller supplies a geocentre ephemeris, not an Earth-Moon barycentre.
+  public func makeGCRF(earth: any StateProvider,
+                       accelerationPolicy: OriginAccelerationPolicy = .requireProvided) throws -> Frame {
+    let origin = try FrameConvertedStateProvider(earth, in: CelestialFrames.icrf, using: self)
+    let axes = try FixedAxisOrientationProvider(referenceFrame: CelestialFrames.icrf,
+      axis: SIMD3(0, 0, 1), rate: 0)
+    let provider = try BodyFixedTransformProvider(centre: origin, orientation: axes,
+      accelerationPolicy: accelerationPolicy)
+    return try makeFrame(parent: CelestialFrames.icrf, name: "GCRF", pseudoInertial: true, provider: provider)
+  }
+}
+
+/// Geocentric ICRF-aligned and mean-J2000 frames sharing one moving origin.
+public struct GeocentricFrames {
+  public let gcrf: Frame
+  public let eme2000: Frame
+}
+
+extension FrameTree {
+  public func makeGeocentricFrames(earth: any StateProvider,
+                                  accelerationPolicy: OriginAccelerationPolicy = .requireProvided) throws -> GeocentricFrames {
+    let gcrf = try makeGCRF(earth: earth, accelerationPolicy: accelerationPolicy)
+    let eme2000 = try makeFrame(parent: gcrf, name: "EME2000", pseudoInertial: true,
+      provider: FixedTransformProvider(rotation: CelestialFrames.icrfToEME2000))
+    return GeocentricFrames(gcrf: gcrf, eme2000: eme2000)
+  }
+}
diff --git a/Sources/CelMek/CheckedHohmannTransfer.swift b/Sources/CelMek/CheckedHohmannTransfer.swift
new file mode 100644
index 0000000..f2247a3
--- /dev/null
+++ b/Sources/CelMek/CheckedHohmannTransfer.swift
@@ -0,0 +1,232 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+
+public enum CircularHohmannStateError: Error, Equatable {
+    case invalidOptions, nonCircularSpeed, nonTangentialVelocity, epochMismatch, targetOutsideCoverage
+}
+public struct CircularHohmannValidationOptions: Equatable, Sendable {
+    public let relativeSpeedTolerance, maximumRadialSpeedFraction, maximumPlaneNormalDifference: Double
+    public init(relativeSpeedTolerance: Double = 1e-8, maximumRadialSpeedFraction: Double = 1e-8,
+                maximumPlaneNormalDifference: Double = 1e-10) throws {
+        guard [relativeSpeedTolerance, maximumRadialSpeedFraction, maximumPlaneNormalDifference]
+            .allSatisfy({ $0.isFinite && $0 >= 0 && $0 < 1 }) else {
+            throw CircularHohmannStateError.invalidOptions
+        }
+        self.relativeSpeedTolerance = relativeSpeedTolerance
+        self.maximumRadialSpeedFraction = maximumRadialSpeedFraction
+        self.maximumPlaneNormalDifference = maximumPlaneNormalDifference
+    }
+}
+extension CircularHohmannOrbit {
+    /// Validate a circular approximation and project velocity onto its exact
+    /// circular tangent. This initializer does not preserve a residual radial speed.
+    public init(referenceState: CartesianState, centralBody: BodyIdentifier,
+                gravitationalParameter: GravitationalParameter,
+                validationOptions: CircularHohmannValidationOptions = try! CircularHohmannValidationOptions()) throws {
+        let radius = checkedHohmannNorm(referenceState.position)
+        guard radius.isFinite, radius > 0 else { throw HohmannTransferError.invalidRadius }
+        let speed = try HohmannTransfer(departureRadiusMetres: radius, arrivalRadiusMetres: radius,
+            gravitationalParameter: gravitationalParameter).departureCircularSpeedMetresPerSecond
+        let radial = referenceState.position/radius
+        let radialSpeed = (referenceState.velocity*radial).sum()
+        guard abs(radialSpeed)/speed <= validationOptions.maximumRadialSpeedFraction else {
+            throw CircularHohmannStateError.nonTangentialVelocity
+        }
+        guard abs(checkedHohmannNorm(referenceState.velocity)/speed-1) <= validationOptions.relativeSpeedTolerance else {
+            throw CircularHohmannStateError.nonCircularSpeed
+        }
+        try self.init(referenceEpoch: referenceState.epoch, frame: referenceState.frame, centralBody: centralBody,
+            radiusMetres: radius, radialDirection: radial,
+            progradeDirection: referenceState.velocity-radial*radialSpeed,
+            gravitationalParameter: gravitationalParameter)
+    }
+    public init(provider: MovingWaypointRouteTarget, at epoch: Epoch, centralBody: BodyIdentifier,
+                gravitationalParameter: GravitationalParameter,
+                validationOptions: CircularHohmannValidationOptions = try! CircularHohmannValidationOptions()) throws {
+        guard provider.origin == centralBody else { throw HohmannRendezvousError.incompatibleCentralBody }
+        try self.init(referenceState: provider.state(at: epoch), centralBody: centralBody,
+            gravitationalParameter: gravitationalParameter, validationOptions: validationOptions)
+    }
+}
+public struct CheckedHohmannTransferPlan {
+    public let plan: HohmannTransferPlan
+    public let departureCircularModel: CircularHohmannOrbit
+    public let targetCircularModel: CircularHohmannOrbit
+    public let departureVelocityProjectionErrorMetresPerSecond: Double
+    public let targetVelocityProjectionErrorMetresPerSecond: Double
+    public let targetArrivalState: CartesianState
+    public let positionErrorMetres, velocityErrorMetresPerSecond: Double
+    /// Actual impulse norms, including corrections for accepted state approximations.
+    public let totalDeltaVelocityMetresPerSecond: Double
+    public let rendezvousSatisfied: Bool
+}
+
+/// Plans from sampled states, preserving actual departure position/velocity.
+/// Projection tolerances describe accepted input approximations, not rendezvous accuracy.
+public enum CheckedHohmannTransferPlanner {
+    public static func plan(departureState: CartesianState, targetState: CartesianState,
+        centralBody: BodyIdentifier, gravitationalParameter: GravitationalParameter,
+        validationOptions: CircularHohmannValidationOptions = try! CircularHohmannValidationOptions(),
+        positionToleranceMetres: Double = 0.01, velocityToleranceMetresPerSecond: Double = 1e-5,
+        propagationOptions: TwoBodyPropagationOptions = try! TwoBodyPropagationOptions()) throws -> CheckedHohmannTransferPlan {
+        try build(departureState: departureState, targetState: targetState, centralBody: centralBody,
+            gravitationalParameter: gravitationalParameter, validationOptions: validationOptions,
+            positionToleranceMetres: positionToleranceMetres,
+            velocityToleranceMetresPerSecond: velocityToleranceMetresPerSecond,
+            propagationOptions: propagationOptions, actualTarget: nil)
+    }
+    static func build(departureState: CartesianState, targetState: CartesianState,
+        centralBody: BodyIdentifier, gravitationalParameter: GravitationalParameter,
+        validationOptions: CircularHohmannValidationOptions,
+        positionToleranceMetres: Double, velocityToleranceMetresPerSecond: Double,
+        propagationOptions: TwoBodyPropagationOptions, actualTarget: MovingWaypointRouteTarget?) throws -> CheckedHohmannTransferPlan {
+        guard departureState.epoch == targetState.epoch else { throw CircularHohmannStateError.epochMismatch }
+        guard departureState.frame === targetState.frame else { throw SpacecraftDynamicsError.frameMismatch }
+        guard [positionToleranceMetres, velocityToleranceMetresPerSecond].allSatisfy({ $0.isFinite && $0 > 0 }) else {
+            throw HohmannRendezvousError.invalidTolerance
+        }
+        let departure = try CircularHohmannOrbit(referenceState: departureState, centralBody: centralBody,
+            gravitationalParameter: gravitationalParameter, validationOptions: validationOptions)
+        let target = try CircularHohmannOrbit(referenceState: targetState, centralBody: centralBody,
+            gravitationalParameter: gravitationalParameter, validationOptions: validationOptions)
+        try checkPlane(departure, target, options: validationOptions)
+        let transfer = try HohmannTransfer(departureRadiusMetres: departure.radiusMetres,
+            arrivalRadiusMetres: target.radiusMetres, gravitationalParameter: gravitationalParameter)
+        let axes = try departure.directions(at: departureState.epoch)
+        let ideal = try transfer.plan(departureEpoch: departureState.epoch, frame: departureState.frame,
+            centralBody: centralBody, radialDirection: axes.radial, progradeDirection: axes.tangent,
+            options: propagationOptions)
+        if let actualTarget, !actualTarget.coverage.contains(ideal.arrivalEpoch) {
+            throw CircularHohmannStateError.targetOutsideCoverage
+        }
+        let arrivalTarget = try actualTarget?.state(at: ideal.arrivalEpoch) ?? target.state(at: ideal.arrivalEpoch)
+        let arrivalModel = try CircularHohmannOrbit(referenceState: arrivalTarget, centralBody: centralBody,
+            gravitationalParameter: gravitationalParameter, validationOptions: validationOptions)
+        try checkPlane(departure, arrivalModel, options: validationOptions)
+        let desiredDeparture = try ideal.trajectory.state(at: departureState.epoch).velocity
+        let departureBurn = try ImpulsiveManeuver(epoch: departureState.epoch, frame: departureState.frame,
+            deltaVelocityMetresPerSecond: desiredDeparture-departureState.velocity)
+        let base = try TwoBodyPropagator(initialState: departureState, centralBody: centralBody,
+            gravitationalParameter: gravitationalParameter, options: propagationOptions)
+        let coast = try ManeuveredTwoBodyPropagator(base: base, maneuvers: [departureBurn])
+        let preArrival = try coast.state(at: ideal.arrivalEpoch)
+        // Circularize in the transfer plane. Do not "match" a remote target's
+        // velocity when the spacecraft has missed its physical position.
+        let desiredArrival = -axes.tangent*transfer.arrivalCircularSpeedMetresPerSecond
+        let arrivalBurn = try ImpulsiveManeuver(epoch: ideal.arrivalEpoch, frame: departureState.frame,
+            deltaVelocityMetresPerSecond: desiredArrival-preArrival.velocity)
+        let trajectory = try ManeuveredTwoBodyPropagator(base: base, maneuvers: [departureBurn, arrivalBurn])
+        let arrival = try trajectory.state(at: ideal.arrivalEpoch)
+        let p = checkedHohmannNorm(arrival.position-arrivalTarget.position)
+        let v = checkedHohmannNorm(arrival.velocity-arrivalTarget.velocity)
+        let departureProjection = try departure.state(at: departureState.epoch)
+        let targetProjection = try target.state(at: targetState.epoch)
+        return CheckedHohmannTransferPlan(plan: HohmannTransferPlan(transfer: transfer,
+                arrivalEpoch: ideal.arrivalEpoch, departureBurn: departureBurn, arrivalBurn: arrivalBurn, trajectory: trajectory),
+            departureCircularModel: departure, targetCircularModel: target,
+            departureVelocityProjectionErrorMetresPerSecond: checkedHohmannNorm(departureProjection.velocity-departureState.velocity),
+            targetVelocityProjectionErrorMetresPerSecond: checkedHohmannNorm(targetProjection.velocity-targetState.velocity),
+            targetArrivalState: arrivalTarget, positionErrorMetres: p, velocityErrorMetresPerSecond: v,
+            totalDeltaVelocityMetresPerSecond: checkedHohmannNorm(departureBurn.deltaVelocityMetresPerSecond) +
+                checkedHohmannNorm(arrivalBurn.deltaVelocityMetresPerSecond),
+            rendezvousSatisfied: p <= positionToleranceMetres && v <= velocityToleranceMetresPerSecond)
+    }
+    private static func checkPlane(_ departure: CircularHohmannOrbit, _ target: CircularHohmannOrbit,
+                                   options: CircularHohmannValidationOptions) throws {
+        if (departure.normal*target.normal).sum() < 0 { throw HohmannRendezvousError.opposingOrbitalDirections }
+        guard checkedHohmannNorm(departure.normal-target.normal) <= options.maximumPlaneNormalDifference else {
+            throw HohmannRendezvousError.nonCoplanarOrbits
+        }
+    }
+}
+public enum CheckedHohmannCandidateFailure: Equatable {
+    case departureOutsideCoverage, targetOutsideCoverage, rendezvousResidual, sameOrbitPhasingRequired
+    case state(CircularHohmannStateError), geometry(HohmannRendezvousError)
+}
+public struct CheckedHohmannAttempt {
+    public let departureEpoch: Epoch
+    public let failure: CheckedHohmannCandidateFailure
+    public let plan: CheckedHohmannTransferPlan?
+}
+public enum CheckedHohmannSearchStatus: Equatable, Sendable {
+    case feasible, candidateSetExhausted, evaluationLimitReached, alreadyRendezvoused
+}
+public struct CheckedHohmannSearchResult {
+    public let rendezvousState: CartesianState?
+    public let status: CheckedHohmannSearchStatus
+    public let evaluatedCandidates: Int
+    public let plan: CheckedHohmannTransferPlan?
+    public let failedAttempts: [CheckedHohmannAttempt]
+}
+extension CheckedHohmannTransferPlanner {
+    /// Bounded search of explicit dates. Samples both providers afresh at each
+    /// departure and checks the target's actual state at arrival, not its seed fit.
+    public static func search(departureProvider: MovingWaypointRouteTarget, targetProvider: MovingWaypointRouteTarget,
+        centralBody: BodyIdentifier, gravitationalParameter: GravitationalParameter, candidateDepartureEpochs: [Epoch],
+        maximumCandidateEvaluations: Int = 1000,
+        validationOptions: CircularHohmannValidationOptions = try! CircularHohmannValidationOptions(),
+        positionToleranceMetres: Double = 0.01, velocityToleranceMetresPerSecond: Double = 1e-5,
+        propagationOptions: TwoBodyPropagationOptions = try! TwoBodyPropagationOptions()) throws -> CheckedHohmannSearchResult {
+        guard !candidateDepartureEpochs.isEmpty, candidateDepartureEpochs.count <= 100_000 else {
+            throw WaypointTimingSearchError.invalidCandidates
+        }
+        guard (1...10_000).contains(maximumCandidateEvaluations) else { throw HohmannRendezvousError.invalidBudget }
+        guard departureProvider.frame === targetProvider.frame else { throw SpacecraftDynamicsError.frameMismatch }
+        guard departureProvider.origin == centralBody, targetProvider.origin == centralBody else {
+            throw HohmannRendezvousError.incompatibleCentralBody
+        }
+        guard [positionToleranceMetres, velocityToleranceMetresPerSecond].allSatisfy({ $0.isFinite && $0 > 0 }) else {
+            throw HohmannRendezvousError.invalidTolerance
+        }
+        // Reject unsupported GM/frame configuration even if every date misses coverage.
+        guard gravitationalParameter.convention == .newtonian || gravitationalParameter.convention == .ttCompatible else {
+            throw PropagationError.incompatibleGMConvention
+        }
+        guard departureProvider.frame.pseudoInertial else { throw PropagationError.nonInertialFrame }
+        var failures: [CheckedHohmannAttempt] = [], evaluated = 0
+        func finish(_ status: CheckedHohmannSearchStatus, plan: CheckedHohmannTransferPlan? = nil, state: CartesianState? = nil) -> CheckedHohmannSearchResult {
+            CheckedHohmannSearchResult(rendezvousState: state ?? plan?.targetArrivalState, status: status, evaluatedCandidates: evaluated, plan: plan, failedAttempts: failures)
+        }
+        let epochs = Array(Set(candidateDepartureEpochs)).sorted()
+        for epoch in epochs {
+            if evaluated == maximumCandidateEvaluations { return finish(.evaluationLimitReached) }
+            evaluated += 1
+            var failure: CheckedHohmannCandidateFailure?
+            var plan: CheckedHohmannTransferPlan?
+            if !departureProvider.coverage.contains(epoch) { failure = .departureOutsideCoverage }
+            else if !targetProvider.coverage.contains(epoch) { failure = .targetOutsideCoverage }
+            else {
+                do {
+                    let departureState = try departureProvider.state(at: epoch)
+                    let targetState = try targetProvider.state(at: epoch)
+                    let departureModel = try CircularHohmannOrbit(referenceState: departureState, centralBody: centralBody,
+                        gravitationalParameter: gravitationalParameter, validationOptions: validationOptions)
+                    let targetModel = try CircularHohmannOrbit(referenceState: targetState, centralBody: centralBody,
+                        gravitationalParameter: gravitationalParameter, validationOptions: validationOptions)
+                    try checkPlane(departureModel, targetModel, options: validationOptions)
+                    if departureModel.radiusMetres == targetModel.radiusMetres {
+                        if checkedHohmannNorm(departureState.position-targetState.position) <= positionToleranceMetres &&
+                            checkedHohmannNorm(departureState.velocity-targetState.velocity) <= velocityToleranceMetresPerSecond {
+                            return finish(.alreadyRendezvoused, state: targetState)
+                        }
+                        failures.append(CheckedHohmannAttempt(departureEpoch: epoch, failure: .sameOrbitPhasingRequired, plan: nil))
+                        continue
+                    }
+                    plan = try build(departureState: departureState, targetState: targetState, centralBody: centralBody,
+                        gravitationalParameter: gravitationalParameter, validationOptions: validationOptions,
+                        positionToleranceMetres: positionToleranceMetres,
+                        velocityToleranceMetresPerSecond: velocityToleranceMetresPerSecond,
+                        propagationOptions: propagationOptions, actualTarget: targetProvider)
+                    if plan!.rendezvousSatisfied { return finish(.feasible, plan: plan) }
+                    failure = .rendezvousResidual
+                } catch CircularHohmannStateError.targetOutsideCoverage { failure = .targetOutsideCoverage }
+                catch let error as CircularHohmannStateError { failure = .state(error) }
+                catch let error as HohmannRendezvousError { failure = .geometry(error) }
+            }
+            failures.append(CheckedHohmannAttempt(departureEpoch: epoch, failure: failure!, plan: plan))
+        }
+        return finish(.candidateSetExhausted)
+    }
+}
+private func checkedHohmannNorm(_ v: SIMD3<Double>) -> Double { hypot(hypot(v.x,v.y),v.z) }
diff --git a/Sources/CelMek/CircularTransferComparison.swift b/Sources/CelMek/CircularTransferComparison.swift
new file mode 100644
index 0000000..0b0b859
--- /dev/null
+++ b/Sources/CelMek/CircularTransferComparison.swift
@@ -0,0 +1,78 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+public enum CircularTransferObjective: Equatable, Sendable { case minimumDeltaVelocity, minimumDuration }
+public enum CircularTransferStrategy {
+    case hohmann(HohmannTransfer), biElliptic(BiEllipticTransfer)
+    public var duration: Duration {
+        switch self { case .hohmann(let t): return t.duration; case .biElliptic(let t): return t.duration }
+    }
+    public var totalDeltaVelocityMetresPerSecond: Double {
+        switch self {
+        case .hohmann(let t): return t.totalDeltaVelocityMetresPerSecond
+        case .biElliptic(let t): return t.totalDeltaVelocityMetresPerSecond
+        }
+    }
+}
+public struct CircularTransferComparison {
+    public let rankedCandidates: [CircularTransferStrategy]
+    public let rejectedCandidates: [CircularTransferStrategy]
+    public var best: CircularTransferStrategy? { rankedCandidates.first }
+    /// Coplanar ideal-model comparison only. Bounds filter duration and delta-v;
+    /// they do not certify phasing, clearance or perturbed trajectory feasibility.
+    public init(departureRadiusMetres: Double, arrivalRadiusMetres: Double,
+                intermediateRadiiMetres: [Double], gravitationalParameter: GravitationalParameter,
+                objective: CircularTransferObjective, maximumDuration: Duration? = nil,
+                maximumDeltaVelocityMetresPerSecond: Double? = nil) throws {
+        guard intermediateRadiiMetres.count <= 10_000,
+              maximumDuration == nil || maximumDuration! > .zero,
+              maximumDeltaVelocityMetresPerSecond == nil ||
+                (maximumDeltaVelocityMetresPerSecond!.isFinite && maximumDeltaVelocityMetresPerSecond! >= 0) else {
+            throw BiEllipticTransferError.invalidComparison
+        }
+        var candidates: [CircularTransferStrategy] = [.hohmann(try HohmannTransfer(
+            departureRadiusMetres: departureRadiusMetres, arrivalRadiusMetres: arrivalRadiusMetres,
+            gravitationalParameter: gravitationalParameter))]
+        for radius in Array(Set(intermediateRadiiMetres)).sorted() {
+            candidates.append(.biElliptic(try BiEllipticTransfer(departureRadiusMetres: departureRadiusMetres,
+                arrivalRadiusMetres: arrivalRadiusMetres, intermediateRadiusMetres: radius,
+                gravitationalParameter: gravitationalParameter)))
+        }
+        var allowed: [CircularTransferStrategy] = [], rejected: [CircularTransferStrategy] = []
+        for candidate in candidates {
+            if (maximumDuration == nil || candidate.duration <= maximumDuration!) &&
+                (maximumDeltaVelocityMetresPerSecond == nil ||
+                    candidate.totalDeltaVelocityMetresPerSecond <= maximumDeltaVelocityMetresPerSecond!) {
+                allowed.append(candidate)
+            } else { rejected.append(candidate) }
+        }
+        rankedCandidates = allowed.enumerated().sorted { a,b in
+            let ad = a.element.totalDeltaVelocityMetresPerSecond, bd = b.element.totalDeltaVelocityMetresPerSecond
+            let at = a.element.duration, bt = b.element.duration
+            switch objective {
+            case .minimumDeltaVelocity:
+                if ad != bd { return ad < bd }; if at != bt { return at < bt }
+            case .minimumDuration:
+                if at != bt { return at < bt }; if ad != bd { return ad < bd }
+            }
+            return a.offset < b.offset
+        }.map(\.element)
+        rejectedCandidates = rejected
+    }
+}
diff --git a/Sources/CelMek/CommandedBurnPlanner.swift b/Sources/CelMek/CommandedBurnPlanner.swift
new file mode 100644
index 0000000..7a6b31a
--- /dev/null
+++ b/Sources/CelMek/CommandedBurnPlanner.swift
@@ -0,0 +1,152 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Math
+
+public enum CommandedBurnPlanningError: Error, Equatable {
+    case invalidCandidates, invalidPassages, invalidTolerance, invalidBudget
+}
+public struct CommandedBurnCandidate {
+    public let arrivalEpoch: Epoch
+    public let schedule: ScheduledThrust
+    public init(arrivalEpoch: Epoch, schedule: ScheduledThrust) {
+        self.arrivalEpoch = arrivalEpoch; self.schedule = schedule
+    }
+}
+/// A physical position constraint independent of ignition and cutoff epochs.
+public struct CommandedBurnPassage {
+    public let epoch: Epoch
+    public let target: MovingWaypointRouteTarget
+    public let matchVelocity: Bool
+    public init(epoch: Epoch, target: MovingWaypointRouteTarget, matchVelocity: Bool = false) {
+        self.epoch = epoch; self.target = target; self.matchVelocity = matchVelocity
+    }
+}
+public enum CommandedBurnCandidateFailure: Equatable {
+    case scheduleOutsideFlight, targetOutsideCoverage, passageOutsideFlight(index: Int)
+    case passageOutsideCoverage(index: Int), passageResidual(index: Int)
+    case arrivalResidual, propellantReserve
+    case integration(NumericalPropagationError)
+}
+public struct CommandedBurnAttempt {
+    public let checkpoints: [CommandedBurnCheckpoint]
+    public let candidateIndex: Int
+    public let failure: CommandedBurnCandidateFailure
+}
+public struct CommandedBurnCheckpoint {
+    public let state: SpacecraftState
+    public let positionErrorMetres: Double
+    public let velocityErrorMetresPerSecond: Double
+}
+public enum CommandedBurnSearchStatus: Equatable, Sendable {
+    case feasible, candidateSetExhausted, evaluationLimitReached
+}
+public struct CommandedBurnSearchResult {
+    public let status: CommandedBurnSearchStatus
+    public let evaluatedCandidates: Int
+    public let candidateIndex: Int?
+    public let candidate: CommandedBurnCandidate?
+    /// Passage checkpoints followed by the rendezvous checkpoint, with carried mass.
+    public let checkpoints: [CommandedBurnCheckpoint]
+    public let failedAttempts: [CommandedBurnAttempt]
+}
+
+/// Bounded shooting over explicit inertial burn commands. It does not compensate
+/// gravity to follow a prescribed curve: the supplied commands drive propagation.
+/// The earliest feasible supplied candidate wins; no continuous optimum is claimed.
+public enum CommandedBurnPlanner {
+    public static func search(initialState: SpacecraftState, context: ForceEvaluationContext,
+        backgroundModels: [any ForceModel] = [], candidates: [CommandedBurnCandidate],
+        arrivalTarget: MovingWaypointRouteTarget, passages: [CommandedBurnPassage] = [],
+        maximumCandidateEvaluations: Int = 1000, minimumRemainingPropellantKilograms: Double = 0,
+        positionToleranceMetres: Double = 0.01, velocityToleranceMetresPerSecond: Double = 1e-5,
+        numericalOptions: NumericalPropagationOptions = try! NumericalPropagationOptions()) throws -> CommandedBurnSearchResult {
+        guard !candidates.isEmpty, candidates.count <= 10_000 else { throw CommandedBurnPlanningError.invalidCandidates }
+        guard (1...10_000).contains(maximumCandidateEvaluations) else { throw CommandedBurnPlanningError.invalidBudget }
+        guard passages.count <= 10_000,
+              zip(passages, passages.dropFirst()).allSatisfy({ $0.epoch < $1.epoch }),
+              passages.allSatisfy({ $0.epoch > initialState.epoch }) else {
+            throw CommandedBurnPlanningError.invalidPassages
+        }
+        guard [positionToleranceMetres, velocityToleranceMetresPerSecond].allSatisfy({ $0.isFinite && $0 > 0 }),
+              minimumRemainingPropellantKilograms.isFinite, minimumRemainingPropellantKilograms >= 0 else {
+            throw CommandedBurnPlanningError.invalidTolerance
+        }
+        guard context.frame === initialState.frame,
+              candidates.allSatisfy({ $0.schedule.frame === initialState.frame }),
+              arrivalTarget.frame === initialState.frame,
+              passages.allSatisfy({ $0.target.frame === initialState.frame }) else {
+            throw SpacecraftDynamicsError.frameMismatch
+        }
+        guard arrivalTarget.origin == context.origin, passages.allSatisfy({ $0.target.origin == context.origin }) else {
+            throw MovingWaypointTargetError.originMismatch
+        }
+        _ = try SpacecraftDynamics(models: backgroundModels, context: context)
+        var failures: [CommandedBurnAttempt] = [], evaluated = 0
+        let ordered = candidates.indices.sorted {
+            candidates[$0].arrivalEpoch == candidates[$1].arrivalEpoch ? $0 < $1 :
+                candidates[$0].arrivalEpoch < candidates[$1].arrivalEpoch
+        }
+        func finish(_ status: CommandedBurnSearchStatus) -> CommandedBurnSearchResult {
+            CommandedBurnSearchResult(status: status, evaluatedCandidates: evaluated, candidateIndex: nil,
+                candidate: nil, checkpoints: [], failedAttempts: failures)
+        }
+        for index in ordered {
+            if evaluated == maximumCandidateEvaluations { return finish(.evaluationLimitReached) }
+            evaluated += 1
+            let candidate = candidates[index]
+            var failure: CommandedBurnCandidateFailure?
+            if candidate.arrivalEpoch <= initialState.epoch || candidate.schedule.burns.contains(where: {
+                $0.start < initialState.epoch || $0.end > candidate.arrivalEpoch
+            }) { failure = .scheduleOutsideFlight }
+            else if !arrivalTarget.coverage.contains(candidate.arrivalEpoch) { failure = .targetOutsideCoverage }
+            for (i, passage) in passages.enumerated() where failure == nil {
+                if passage.epoch >= candidate.arrivalEpoch { failure = .passageOutsideFlight(index: i) }
+                else if !passage.target.coverage.contains(passage.epoch) { failure = .passageOutsideCoverage(index: i) }
+            }
+            if let failure {
+                failures.append(CommandedBurnAttempt(checkpoints: [], candidateIndex: index, failure: failure)); continue
+            }
+            var state = initialState, checkpoints: [CommandedBurnCheckpoint] = []
+            do {
+                let goals = passages + [CommandedBurnPassage(epoch: candidate.arrivalEpoch,
+                    target: arrivalTarget, matchVelocity: true)]
+                for (i, goal) in goals.enumerated() {
+                    let propagator = try ScheduledThrustPropagator(initialState: state, schedule: candidate.schedule,
+                        backgroundModels: backgroundModels, context: context, options: numericalOptions)
+                    state = try propagator.spacecraftState(at: goal.epoch)
+                    let target = try goal.target.state(at: goal.epoch)
+                    let positionError = routeNorm(state.cartesian.position-target.position)
+                    let velocityError = routeNorm(state.cartesian.velocity-target.velocity)
+                    checkpoints.append(CommandedBurnCheckpoint(state: state, positionErrorMetres: positionError,
+                        velocityErrorMetresPerSecond: velocityError))
+                    if positionError > positionToleranceMetres ||
+                        (goal.matchVelocity && velocityError > velocityToleranceMetresPerSecond) {
+                        failure = i == passages.count ? .arrivalResidual : .passageResidual(index: i); break
+                    }
+                    if state.mass.propellantMassKilograms < minimumRemainingPropellantKilograms {
+                        failure = .propellantReserve; break
+                    }
+                }
+            } catch let error as NumericalPropagationError { failure = .integration(error) }
+            if let failure { failures.append(CommandedBurnAttempt(checkpoints: checkpoints, candidateIndex: index, failure: failure)); continue }
+            return CommandedBurnSearchResult(status: .feasible, evaluatedCandidates: evaluated, candidateIndex: index,
+                candidate: candidate, checkpoints: checkpoints, failedAttempts: failures)
+        }
+        return finish(.candidateSetExhausted)
+    }
+}
diff --git a/Sources/CelMek/ConicAnomaly.swift b/Sources/CelMek/ConicAnomaly.swift
new file mode 100644
index 0000000..8d97700
--- /dev/null
+++ b/Sources/CelMek/ConicAnomaly.swift
@@ -0,0 +1,110 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+/// Distinct dynamical phase parameters. Barker's D = tan(nu/2) is
+/// dimensionless, whereas elliptic E and hyperbolic H are in radians.
+public enum ConicAnomaly: Equatable, Sendable {
+    case eccentric(Double)
+    case hyperbolic(Double)
+    case barker(Double)
+
+    /// Principal phase; elliptic revolution offsets are not retained here.
+    public static func from(trueAnomaly: Double, eccentricity e: Double) throws -> ConicAnomaly {
+        try Self.validate(e)
+        guard trueAnomaly.isFinite else { throw OrbitalElementsError.invalidElements }
+        let nu = trueAnomaly.remainder(dividingBy: 2 * .pi)
+        let denominator = try OsculatingOrbitalElements.radialDenominator(eccentricity: e, trueAnomaly: nu)
+        if e < 1 {
+            return .eccentric(2 * atan2(sqrt(1 - e) * sin(nu / 2), sqrt(1 + e) * cos(nu / 2)))
+        }
+        if e == 1 { return .barker(tan(nu / 2)) }
+        let sinhH = (sqrt(e - 1) * sqrt(e + 1)) * (sin(nu) / denominator)
+        guard sinhH.isFinite else { throw OrbitalElementsError.numericalRangeExceeded }
+        return .hyperbolic(asinh(sinhH))
+    }
+
+    /// Solves the appropriate equation. For e==1 the input is Barker's
+    /// B = D + D³/3, not an elliptic/hyperbolic mean anomaly.
+    public static func from(meanAnomaly: Double, eccentricity e: Double,
+                            options: KeplerSolverOptions = .default) throws -> ConicAnomaly {
+        try Self.validate(e)
+        guard meanAnomaly.isFinite else { throw KeplerSolverError.nonFiniteMeanAnomaly }
+        if e < 1 {
+            return .eccentric(try KeplerSolver.elliptic(meanAnomaly: meanAnomaly, eccentricity: e,
+                                                       options: options).anomaly)
+        }
+        if e > 1 {
+            return .hyperbolic(try KeplerSolver.hyperbolic(meanAnomaly: meanAnomaly, eccentricity: e,
+                                                         options: options).anomaly)
+        }
+        // D=2*sinh(asinh(3B/2)/3), evaluated without overflowing 3B/2.
+        let magnitude = abs(meanAnomaly)
+        if magnitude < 1e-8 { return .barker(meanAnomaly) }
+        let argument = magnitude > Double.greatestFiniteMagnitude / 1.5
+            ? log(magnitude) + log(3.0) : asinh(1.5 * magnitude)
+        let d = 2 * sinh(argument / 3)
+        return .barker(meanAnomaly < 0 ? -d : d)
+    }
+
+    public func trueAnomaly(eccentricity e: Double) throws -> Double {
+        try Self.validate(e)
+        let result: Double
+        switch self {
+        case .eccentric(let anomaly):
+            guard e < 1, anomaly.isFinite else { throw OrbitalElementsError.invalidElements }
+            let x = anomaly.remainder(dividingBy: 2 * .pi)
+            result = 2 * atan2(sqrt(1 + e) * sin(x / 2), sqrt(1 - e) * cos(x / 2))
+        case .hyperbolic(let anomaly):
+            guard e > 1, anomaly.isFinite else { throw OrbitalElementsError.invalidElements }
+            result = 2 * atan2(sqrt(e + 1) * tanh(anomaly / 2), sqrt(e - 1))
+        case .barker(let d):
+            guard e == 1, d.isFinite else { throw OrbitalElementsError.invalidElements }
+            result = 2 * atan(d)
+        }
+        // For extremely large unbound parameters, the angle can round to the
+        // asymptote: reject rather than silently return an unreachable state.
+        _ = try OsculatingOrbitalElements.radialDenominator(eccentricity: e, trueAnomaly: result)
+        return result
+    }
+
+    /// Elliptic/hyperbolic M, or Barker B=D+D³/3 for a parabola.
+    public func meanAnomaly(eccentricity e: Double) throws -> Double {
+        try Self.validate(e)
+        let result: Double
+        switch self {
+        case .eccentric(let anomaly):
+            guard e < 1, anomaly.isFinite else { throw OrbitalElementsError.invalidElements }
+            let phase = anomaly.remainder(dividingBy: 2 * .pi)
+            let reduced = (1 - e) * phase + e * KeplerSolver.sineDifference(phase)
+            result = (anomaly - phase) + reduced
+        case .hyperbolic(let anomaly):
+            guard e > 1, anomaly.isFinite else { throw OrbitalElementsError.invalidElements }
+            result = (e - 1) * anomaly + e * KeplerSolver.sinhDifference(anomaly)
+        case .barker(let d):
+            guard e == 1, d.isFinite else { throw OrbitalElementsError.invalidElements }
+            result = d + (d / 3) * d * d
+        }
+        guard result.isFinite else { throw OrbitalElementsError.numericalRangeExceeded }
+        return result
+    }
+
+    private static func validate(_ e: Double) throws {
+        guard e.isFinite, e >= 0 else { throw OrbitalElementsError.invalidElements }
+    }
+}
diff --git a/Sources/CelMek/DE441Ephemeris.swift b/Sources/CelMek/DE441Ephemeris.swift
new file mode 100644
index 0000000..20368a1
--- /dev/null
+++ b/Sources/CelMek/DE441Ephemeris.swift
@@ -0,0 +1,335 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2022 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+
+import Foundation
+
+public struct EphemerisVector {
+  public let position: SIMD3<Double>
+  public let velocity: SIMD3<Double>
+}
+
+public struct NutationAngles {
+  public let longitude: Double
+  public let obliquity: Double
+  public let longitudeRate: Double
+  public let obliquityRate: Double
+}
+
+public enum DE441Error: Error, CustomStringConvertible {
+  case invalidFile(String)
+  case dateOutOfRange(Double)
+  case unsupportedBody(Int)
+  case invalidCacheCapacity
+  case invalidTimeScale
+
+  public var description: String {
+    switch self {
+    case .invalidFile(let reason): "Invalid DE441 file: \(reason)"
+    case .dateOutOfRange(let date): "Julian date \(date) is outside this DE441 file"
+    case .invalidCacheCapacity: "DE441 cache capacity must be nonnegative"
+    case .invalidTimeScale: "DE441 queries require TDB Julian dates"
+    case .unsupportedBody(let body): "DE441 body \(body) is not supported"
+    }
+  }
+}
+
+/// Random-access reader for JPL's little-endian DE441 binary export.
+///
+/// Body numbers follow `testpo.441`: 1...11 are Mercury through Sun, 12 is
+/// the solar-system barycentre, and 13 is the Earth-Moon barycentre.
+public final class DE441Ephemeris {
+  public static let astronomicalUnit = 149_597_870.7
+  public static let earthMoonMassRatio = 81.3005682214972154
+
+  private struct CoefficientLayout {
+    let start: Int
+    let count: Int
+    let subdivisions: Int
+  }
+
+  private static let recordSize = 8_144
+  private static let dataRecordOffset = 2
+  private static let recordDuration = 32.0
+  private static let layouts = [
+    CoefficientLayout(start: 3, count: 14, subdivisions: 4),
+    CoefficientLayout(start: 171, count: 10, subdivisions: 2),
+    CoefficientLayout(start: 231, count: 13, subdivisions: 2),
+    CoefficientLayout(start: 309, count: 11, subdivisions: 1),
+    CoefficientLayout(start: 342, count: 8, subdivisions: 1),
+    CoefficientLayout(start: 366, count: 7, subdivisions: 1),
+    CoefficientLayout(start: 387, count: 6, subdivisions: 1),
+    CoefficientLayout(start: 405, count: 6, subdivisions: 1),
+    CoefficientLayout(start: 423, count: 6, subdivisions: 1),
+    CoefficientLayout(start: 441, count: 13, subdivisions: 8),
+    CoefficientLayout(start: 753, count: 11, subdivisions: 2),
+  ]
+  private static let nutationLayout = CoefficientLayout(start: 819, count: 10, subdivisions: 4)
+
+  public let metadata: DE441FileMetadata
+  private let handle: FileHandle
+  private let dataRecordCount: Int
+  public let maximumCachedRecords: Int
+  private let lock = NSLock()
+  private var records: [Int: [Double]] = [:]
+  private var recency: [Int] = []
+  private var hits = 0, reads = 0
+  public var cacheStatistics: DE441RecordCacheStatistics {
+    lock.lock(); defer { lock.unlock() }
+    return DE441RecordCacheStatistics(cachedRecords: records.count, cacheHits: hits, diskReads: reads)
+  }
+  public func clearRecordCache() {
+    lock.lock(); defer { lock.unlock() }
+    records.removeAll(); recency.removeAll()
+  }
+  public private(set) var startDate = 0.0
+  public private(set) var endDate = 0.0
+
+  public init(url: URL, maximumCachedRecords: Int = 4) throws {
+    guard maximumCachedRecords >= 0 else { throw DE441Error.invalidCacheCapacity }
+    self.maximumCachedRecords = maximumCachedRecords
+    let openedHandle = try FileHandle(forReadingFrom: url)
+    handle = openedHandle
+    var completed = false
+    defer { if !completed { try? openedHandle.close() } }
+    let size = try handle.seekToEnd()
+    guard size % UInt64(Self.recordSize) == 0 else {
+      throw DE441Error.invalidFile("size is not a multiple of \(Self.recordSize) bytes")
+    }
+    guard size <= UInt64(Int.max) else { throw DE441Error.invalidFile("file size exceeds platform range") }
+    let records = Int(size) / Self.recordSize
+    guard records > Self.dataRecordOffset else {
+      throw DE441Error.invalidFile("no coefficient records")
+    }
+    dataRecordCount = records - Self.dataRecordOffset
+    try handle.seek(toOffset: 0)
+    guard let header = try handle.read(upToCount: Self.recordSize), header.count == Self.recordSize,
+          let constants = try handle.read(upToCount: Self.recordSize), constants.count == Self.recordSize else {
+      throw DE441Error.invalidFile("short binary header")
+    }
+    metadata = try DE441FileMetadata(header: header, constants: constants,
+                                    fileSizeBytes: size, dataRecordCount: dataRecordCount)
+    let first = try readRecord(0)
+    let last = try readRecord(dataRecordCount - 1)
+    startDate = first[0]
+    endDate = last[1]
+    guard startDate == metadata.startJulianDateTDB, endDate == metadata.endJulianDateTDB,
+          startDate.isFinite, endDate.isFinite,
+          endDate - startDate == Double(dataRecordCount) * Self.recordDuration,
+          first[1] - first[0] == Self.recordDuration,
+          last[1] - last[0] == Self.recordDuration else {
+      throw DE441Error.invalidFile("unexpected coefficient record span")
+    }
+    completed = true
+  }
+
+  deinit {
+    try? handle.close()
+  }
+
+  /// Position in AU and velocity in AU/TDB-day. No coordinate-time scaling
+  /// into atomic seconds is performed by this low-level API.
+  public func vector(target: Int, center: Int, at julianDate: Double) throws -> EphemerisVector {
+    guard julianDate.isFinite, julianDate >= startDate, julianDate <= endDate else {
+      throw DE441Error.dateOutOfRange(julianDate)
+    }
+    return try vector(target: target, center: center,
+                      at: JulianDateComponents(value: julianDate, scale: .tdb))
+  }
+
+  public func vector(target: Int, center: Int, at date: JulianDateComponents) throws -> EphemerisVector {
+    lock.lock(); defer { lock.unlock() }
+    let location = try coefficientLocation(at: date)
+    let targetVector = try barycentricVector(body: target, at: location)
+    let centerVector = try barycentricVector(body: center, at: location)
+    let result = targetVector - centerVector
+    guard [result.position, result.velocity].allSatisfy({ [$0.x,$0.y,$0.z].allSatisfy(\.isFinite) }) else {
+      throw DE441Error.invalidFile("nonfinite relative vector")
+    }
+    return result
+  }
+
+  /// Nutation in radians and radians/TDB-day.
+  public func nutation(at julianDate: Double) throws -> NutationAngles {
+    guard julianDate.isFinite, julianDate >= startDate, julianDate <= endDate else {
+      throw DE441Error.dateOutOfRange(julianDate)
+    }
+    return try nutation(at: JulianDateComponents(value: julianDate, scale: .tdb))
+  }
+  public func nutation(at date: JulianDateComponents) throws -> NutationAngles {
+    lock.lock(); defer { lock.unlock() }
+    let values = try storedValues(layout: Self.nutationLayout, coordinates: 2,
+                                  at: coefficientLocation(at: date))
+    return NutationAngles(longitude: values[0].value, obliquity: values[1].value,
+                          longitudeRate: values[0].derivative, obliquityRate: values[1].derivative)
+  }
+
+  private struct Location { let recordIndex: Int; let daysWithinRecord: Double }
+
+  internal func validateDate(_ date: JulianDateComponents) throws {
+    _ = try coefficientLocation(at: date)
+  }
+  private func coefficientLocation(at date: JulianDateComponents) throws -> Location {
+    guard date.scale == .tdb else { throw DE441Error.invalidTimeScale }
+    let start = try JulianDateComponents(value: startDate, scale: .tdb)
+    let end = try JulianDateComponents(value: endDate, scale: .tdb)
+    guard (date.wholeDay > start.wholeDay || (date.wholeDay == start.wholeDay && date.fractionalDay >= start.fractionalDay)),
+          (date.wholeDay < end.wholeDay || (date.wholeDay == end.wholeDay && date.fractionalDay <= end.fractionalDay)) else {
+      throw DE441Error.dateOutOfRange(date.value)
+    }
+    let (difference, overflow) = date.wholeDay.subtractingReportingOverflow(start.wholeDay)
+    guard !overflow else { throw DE441Error.dateOutOfRange(date.value) }
+    var days = difference, fraction = date.fractionalDay - start.fractionalDay
+    if fraction < 0 { days -= 1; fraction += 1 }
+    guard days >= 0 else { throw DE441Error.dateOutOfRange(date.value) }
+    var index = Int(days / 32)
+    var offset = Double(days % 32) + fraction
+    if index == dataRecordCount { index -= 1; offset = 32 }
+    guard index >= 0, index < dataRecordCount else { throw DE441Error.dateOutOfRange(date.value) }
+    return Location(recordIndex: index, daysWithinRecord: offset)
+  }
+
+  private func barycentricVector(body: Int, at location: Location) throws -> EphemerisVector {
+    switch body {
+    case 1, 2, 4...9, 11:
+      return try storedVector(index: body - 1, at: location)
+    case 3:
+      let emb = try storedVector(index: 2, at: location)
+      let moon = try storedVector(index: 9, at: location)
+      return emb - moon / (1 + metadata.earthMoonMassRatio)
+    case 10:
+      let earth = try barycentricVector(body: 3, at: location)
+      return earth + (try storedVector(index: 9, at: location))
+    case 12:
+      return EphemerisVector(position: .zero, velocity: .zero)
+    case 13:
+      return try storedVector(index: 2, at: location)
+    default:
+      throw DE441Error.unsupportedBody(body)
+    }
+  }
+
+  private func storedVector(index: Int, at location: Location) throws -> EphemerisVector {
+    let values = try storedValues(layout: Self.layouts[index], coordinates: 3, at: location)
+    return EphemerisVector(
+      position: SIMD3(values[0].value, values[1].value, values[2].value) / metadata.astronomicalUnitKilometres,
+      velocity: SIMD3(values[0].derivative, values[1].derivative, values[2].derivative)
+        / metadata.astronomicalUnitKilometres
+    )
+  }
+
+  private func storedValues(
+    layout: CoefficientLayout,
+    coordinates: Int,
+    at location: Location
+  ) throws -> [(value: Double, derivative: Double)] {
+    let record = try readRecord(location.recordIndex)
+    let subdivisionDuration = Self.recordDuration / Double(layout.subdivisions)
+    var subdivision = Int(floor(location.daysWithinRecord / subdivisionDuration))
+    if subdivision == layout.subdivisions { subdivision -= 1 }
+    let offset = location.daysWithinRecord - Double(subdivision) * subdivisionDuration
+    let time = 2 * offset / subdivisionDuration - 1
+    guard subdivision >= 0, subdivision < layout.subdivisions, time >= -1, time <= 1 else {
+      throw DE441Error.invalidFile("invalid coefficient subdivision")
+    }
+    let scale = 2 / subdivisionDuration
+    let base = layout.start - 1 + subdivision * layout.count * coordinates
+
+    var result: [(value: Double, derivative: Double)] = []
+    for coordinate in 0..<coordinates {
+      let start = base + coordinate * layout.count
+      guard start >= 0, start + layout.count <= record.count else {
+        throw DE441Error.invalidFile("coefficient slice outside record")
+      }
+      let values = evaluate(
+        coefficients: record[start ..< start + layout.count],
+        at: time
+      )
+      guard values.value.isFinite, values.derivative.isFinite else {
+        throw DE441Error.invalidFile("nonfinite interpolated value")
+      }
+      result.append((values.value, values.derivative * scale))
+    }
+    return result
+  }
+
+  private func evaluate(coefficients: ArraySlice<Double>, at x: Double) -> (value: Double, derivative: Double) {
+    var tPrevious = 1.0
+    var tCurrent = x
+    var dPrevious = 0.0
+    var dCurrent = 1.0
+    var value = coefficients[coefficients.startIndex]
+    var derivative = 0.0
+    for order in 1..<coefficients.count {
+      let coefficient = coefficients[coefficients.startIndex + order]
+      value += coefficient * tCurrent
+      derivative += coefficient * dCurrent
+      let nextT = 2 * x * tCurrent - tPrevious
+      let nextD = 2 * tCurrent + 2 * x * dCurrent - dPrevious
+      tPrevious = tCurrent
+      tCurrent = nextT
+      dPrevious = dCurrent
+      dCurrent = nextD
+    }
+    return (value, derivative)
+  }
+
+  private func readRecord(_ index: Int) throws -> [Double] {
+    guard index >= 0, index < dataRecordCount else { throw DE441Error.invalidFile("coefficient record index out of range") }
+    if let record = records[index] {
+      hits += 1
+      recency.removeAll { $0 == index }; recency.append(index)
+      return record
+    }
+    let offset = UInt64(index + Self.dataRecordOffset) * UInt64(Self.recordSize)
+    try handle.seek(toOffset: offset)
+    guard let data = try handle.read(upToCount: Self.recordSize), data.count == Self.recordSize else {
+      throw DE441Error.invalidFile("short read at coefficient record \(index)")
+    }
+    reads += 1
+    let record: [Double] = data.withUnsafeBytes { bytes in
+      (0..<(Self.recordSize / 8)).map { item in
+        let bits = bytes.loadUnaligned(fromByteOffset: item * 8, as: UInt64.self)
+        return Double(bitPattern: UInt64(littleEndian: bits))
+      }
+    }
+    guard record.allSatisfy(\.isFinite) else { throw DE441Error.invalidFile("nonfinite coefficient record") }
+    let expectedStart = metadata.startJulianDateTDB + Double(index) * Self.recordDuration
+    guard record[0] == expectedStart, record[1] == expectedStart + Self.recordDuration else {
+      throw DE441Error.invalidFile("invalid span at coefficient record \(index)")
+    }
+    if maximumCachedRecords > 0 {
+      if records.count == maximumCachedRecords {
+        records.removeValue(forKey: recency.removeFirst())
+      }
+      records[index] = record; recency.append(index)
+    }
+    return record
+  }
+}
+
+private func + (lhs: EphemerisVector, rhs: EphemerisVector) -> EphemerisVector {
+  EphemerisVector(position: lhs.position + rhs.position, velocity: lhs.velocity + rhs.velocity)
+}
+
+private func - (lhs: EphemerisVector, rhs: EphemerisVector) -> EphemerisVector {
+  EphemerisVector(position: lhs.position - rhs.position, velocity: lhs.velocity - rhs.velocity)
+}
+
+private func / (lhs: EphemerisVector, rhs: Double) -> EphemerisVector {
+  EphemerisVector(position: lhs.position / rhs, velocity: lhs.velocity / rhs)
+}
diff --git a/Sources/CelMek/DE441FileMetadata.swift b/Sources/CelMek/DE441FileMetadata.swift
new file mode 100644
index 0000000..822dd49
--- /dev/null
+++ b/Sources/CelMek/DE441FileMetadata.swift
@@ -0,0 +1,107 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+/// JPL testpo identifiers. Mars through Pluto denote planetary-system
+/// barycentres, not resolved planet centres. Values are not NAIF identifiers.
+public enum DE441Body: Int, CaseIterable, Sendable {
+    case mercury = 1, venus, earth, marsBarycentre, jupiterBarycentre
+    case saturnBarycentre, uranusBarycentre, neptuneBarycentre, plutoBarycentre
+    case moon, sun, solarSystemBarycentre, earthMoonBarycentre
+}
+
+/// Validated binary-header metadata for the supported native DE441 profile.
+/// Coverage is TDB Julian date; constants retain their JPL-defined native units.
+public struct DE441FileMetadata {
+    public let ephemerisNumber: Int
+    public let titles: [String]
+    public let startJulianDateTDB: Double
+    public let endJulianDateTDB: Double
+    public let recordDurationDays: Double
+    public let coefficientRecordCount: Int
+    public let fileSizeBytes: UInt64
+    public let recordSizeBytes = 8144
+    public let astronomicalUnitKilometres: Double
+    public let earthMoonMassRatio: Double
+    public let constants: [String: Double]
+    public var frame: Frame { CelestialFrames.icrf }
+    public let modelTimeScale = TimeScale.tdb
+    public var availableBodies: [DE441Body] { DE441Body.allCases }
+    public let hasNutationCoefficients = true
+    public let hasLibrationCoefficients = true
+
+    init(header: Data, constants values: Data, fileSizeBytes: UInt64, dataRecordCount: Int) throws {
+        func int(_ offset: Int) -> Int {
+            header.withUnsafeBytes { Int(Int32(littleEndian: $0.loadUnaligned(fromByteOffset: offset, as: Int32.self))) }
+        }
+        func double(_ data: Data, _ offset: Int) -> Double {
+            data.withUnsafeBytes { Double(bitPattern: UInt64(littleEndian: $0.loadUnaligned(fromByteOffset: offset, as: UInt64.self))) }
+        }
+        func text(_ offset: Int, _ length: Int) throws -> String {
+            guard let value = String(data: header.subdata(in: offset..<offset+length), encoding: .ascii) else {
+                throw DE441Error.invalidFile("non-ASCII header text")
+            }
+            return value.trimmingCharacters(in: .whitespacesAndNewlines)
+        }
+        guard header.count == 8144, values.count == 8144 else { throw DE441Error.invalidFile("short header") }
+        guard int(2840) == 441 else { throw DE441Error.invalidFile("unsupported ephemeris or byte order (expected little-endian DE441)") }
+        let count = int(2676)
+        guard count > 0, count <= 1018 else { throw DE441Error.invalidFile("invalid constant count") }
+        // This initial implementation deliberately recognizes one documented profile.
+        let expected = [3,14,4,171,10,2,231,13,2,309,11,1,342,8,1,366,7,1,
+                        387,6,1,405,6,1,423,6,1,441,13,8,753,11,2,819,10,4,899,10,4]
+        let actual = (0..<36).map { int(2696+4*$0) } + (0..<3).map { int(2844+4*$0) }
+        guard actual == expected else { throw DE441Error.invalidFile("unsupported DE441 coefficient layout") }
+        let extraOffset = 2856 + max(0,count-400)*6
+        guard extraOffset+24 <= header.count,
+              (0..<6).map({ int(extraOffset+4*$0) }) == [1019,0,0,1019,0,0] else {
+            throw DE441Error.invalidFile("unsupported extended coefficient layout")
+        }
+        let start = double(header,2652), end = double(header,2660), step = double(header,2668)
+        let au = double(header,2680), ratio = double(header,2688)
+        guard start.isFinite, end.isFinite, start < end, step == 32,
+              end-start == Double(dataRecordCount)*step,
+              au.isFinite, au > 0, ratio.isFinite, ratio > 0 else {
+            throw DE441Error.invalidFile("invalid binary coverage or physical constants")
+        }
+        var constants: [String:Double] = [:]
+        for index in 0..<count {
+            let name = try text(index < 400 ? 252+index*6 : 2856+(index-400)*6,6)
+            let value = double(values,index*8)
+            guard !name.isEmpty, !name.contains("\0"), value.isFinite, constants[name] == nil else {
+                throw DE441Error.invalidFile("invalid or duplicate constant")
+            }
+            constants[name] = value
+        }
+        guard constants["DENUM"] == 441, constants["AU"] == au, constants["EMRAT"] == ratio else {
+            throw DE441Error.invalidFile("inconsistent header constants")
+        }
+        self.ephemerisNumber = 441; self.titles = try (0..<3).map { try text($0*84,84) }
+        self.startJulianDateTDB = start; self.endJulianDateTDB = end; self.recordDurationDays = step
+        self.coefficientRecordCount = dataRecordCount; self.fileSizeBytes = fileSizeBytes
+        self.astronomicalUnitKilometres = au; self.earthMoonMassRatio = ratio; self.constants = constants
+    }
+}
+
+extension DE441Ephemeris {
+    /// Low-level native AU/AU-day query; a common SI ephemeris adapter is separate.
+    public func vector(target: DE441Body, center: DE441Body, at julianDateTDB: Double) throws -> EphemerisVector {
+        try vector(target: target.rawValue, center: center.rawValue, at: julianDateTDB)
+    }
+}
diff --git a/Sources/CelMek/DE441StateProvider.swift b/Sources/CelMek/DE441StateProvider.swift
new file mode 100644
index 0000000..49b1d98
--- /dev/null
+++ b/Sources/CelMek/DE441StateProvider.swift
@@ -0,0 +1,105 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+public struct DE441RecordCacheStatistics: Equatable, Sendable {
+    public let cachedRecords: Int
+    public let cacheHits: Int
+    /// Successful record reads, including constructor validation. Clearing the
+    /// cache does not reset these cumulative counters.
+    public let diskReads: Int
+}
+
+extension DE441Body {
+    public var bodyIdentifier: BodyIdentifier {
+        switch self {
+        case .mercury: return .mercury
+        case .venus: return .venus
+        case .earth: return .earth
+        case .marsBarycentre: return .marsBarycentre
+        case .jupiterBarycentre: return .jupiterBarycentre
+        case .saturnBarycentre: return .saturnBarycentre
+        case .uranusBarycentre: return .uranusBarycentre
+        case .neptuneBarycentre: return .neptuneBarycentre
+        case .plutoBarycentre: return .plutoBarycentre
+        case .moon: return .moon
+        case .sun: return .sun
+        case .solarSystemBarycentre: return .solarSystemBarycentre
+        case .earthMoonBarycentre: return .earthMoonBarycentre
+        }
+    }
+}
+
+extension DE441Ephemeris {
+    public func vector(target: DE441Body, center: DE441Body, at date: JulianDateComponents) throws -> EphemerisVector {
+        try vector(target: target.rawValue, center: center.rawValue, at: date)
+    }
+}
+
+/// Common SI adapter for one file-backed target/centre pair. The supplied TDB
+/// model defines coordinate-time conversion and bounds usable epoch coverage.
+public struct DE441StateProvider: AccuracyAwareEphemerisProvider {
+    public let metadata: EphemerisMetadata
+    public let accuracy: AccuracyLevel
+    public let effectiveAccuracy: AccuracyLevel = .full
+    public var availableAccuracyLevels: Set<AccuracyLevel> { [.full] }
+    public let target: DE441Body
+    public let center: DE441Body
+    public let reader: DE441Ephemeris
+    private let tdbModel: any TDBTimeModel
+
+    /// For a non-SSB centre, frame is mandatory and must represent that centre
+    /// with ICRF-aligned nonrotating axes. No frame relabelling/conversion is inferred.
+    public init(reader: DE441Ephemeris, target: DE441Body, center: DE441Body = .solarSystemBarycentre,
+                frame: Frame? = nil, coverage: ClosedRange<Epoch>, tdbModel: any TDBTimeModel,
+                accuracy: AccuracyLevel = .full) throws {
+        let outputFrame: Frame
+        if let frame { outputFrame = frame }
+        else {
+            guard center == .solarSystemBarycentre else { throw EphemerisError.invalidMetadata }
+            outputFrame = CelestialFrames.icrf
+        }
+        guard outputFrame.pseudoInertial else { throw EphemerisError.invalidMetadata }
+        guard center != .solarSystemBarycentre || outputFrame === CelestialFrames.icrf else {
+            throw EphemerisError.frameMismatch
+        }
+        guard coverage.lowerBound >= tdbModel.coverage.lowerBound,
+              coverage.upperBound <= tdbModel.coverage.upperBound else { throw EphemerisError.outsideCoverage }
+        try reader.validateDate(coverage.lowerBound.julianDate(in: .tdb, using: tdbModel))
+        try reader.validateDate(coverage.upperBound.julianDate(in: .tdb, using: tdbModel))
+        self.reader = reader; self.target = target; self.center = center
+        self.tdbModel = tdbModel; self.accuracy = accuracy
+        metadata = try EphemerisMetadata(body: target.bodyIdentifier, origin: center.bodyIdentifier,
+            frame: outputFrame, coverage: coverage, coverageBasis: .callerSelected, modelTimeScale: .tdb,
+            velocityMethod: .analytic, accelerationMethod: .unavailable,
+            provenance: PhysicalDataProvenance(source: "JPL native DE441; \(tdbModel.provenance)", version: "DE441",
+                reference: "https://ssd.jpl.nasa.gov/planets/eph_export.html"),
+            accuracy: accuracy, effectiveAccuracy: .full)
+    }
+
+    public func state(at epoch: Epoch) throws -> CartesianState {
+        guard metadata.coverage.contains(epoch) else { throw EphemerisError.outsideCoverage }
+        let correction = try epoch.tdbCorrection(using: tdbModel)
+        let date = try epoch.tdbDate(using: correction)
+        let native = try reader.vector(target: target, center: center, at: date)
+        let length = reader.metadata.astronomicalUnitKilometres * 1000
+        return try CartesianState(epoch: epoch, frame: metadata.frame, position: native.position * length,
+            velocity: native.velocity * (length / 86400 * correction.rate))
+    }
+}
diff --git a/Sources/CelMek/DynamicalTime.swift b/Sources/CelMek/DynamicalTime.swift
index 3676f89..c8036dd 100644
--- a/Sources/CelMek/DynamicalTime.swift
+++ b/Sources/CelMek/DynamicalTime.swift
@@ -64,7 +64,11 @@ fileprivate let dt : [(Int,Double)] = [
   (1990, 56.9), (1992, 58.3), (1994, 60.0), (1996, 61.6), (1998, 63.0),
 ]
 
+/// Legacy piecewise estimate of TD - UT in seconds, using the embedded
+/// 1620...1998 table and existing polynomial extrapolations outside it.
+/// Returns NaN for nonfinite years; no modern accuracy guarantee is implied.
 public func deltaT(year: Double) -> Double {
+  guard year.isFinite else { return .nan }
   let t = (year - 2000) / 100
   if year < 948 {
     return 2177 + 497 * t + 44.1 * t * t
@@ -77,22 +81,10 @@ public func deltaT(year: Double) -> Double {
     return 102 + 102 * t + 25.3 * t * t + 0.37 * (year - 2100)
   }
   
-  let intYear = Int(year)
-  
-  var dt0: Double
-  var dt1: Double
-  if ((intYear & 1) != 0) {
-    assert(dt[(intYear - 1620) / 2].0 == intYear - 1)
-    dt0 = (dt[(intYear - 1620) / 2].1 + dt[(intYear - 1620) / 2 + 1].1) / 2
-    dt1 = dt[(intYear - 1620) / 2 + 1].1
-  } else {
-    assert(dt[(intYear - 1620) / 2].0 == intYear)
-    dt0 = dt[(intYear - 1620) / 2].1
-    dt1 = (dt[(intYear - 1620) / 2].1 + dt[(intYear - 1620) / 2 + 1].1) / 2
-  }
-  
-  let fraction = modf(year).1
-  return dt0 * (1-fraction) + dt1 * fraction
+  if year == 1998 { return dt[dt.count - 1].1 }
+  let index = Int((year - 1620) / 2)
+  let fraction = (year - Double(dt[index].0)) / 2
+  return dt[index].1 * (1 - fraction) + dt[index + 1].1 * fraction
 }
 
 
diff --git a/Sources/CelMek/EarthFrames.swift b/Sources/CelMek/EarthFrames.swift
new file mode 100644
index 0000000..11d094f
--- /dev/null
+++ b/Sources/CelMek/EarthFrames.swift
@@ -0,0 +1,195 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+import ERFASwift
+
+public enum EarthOrientationError: Error, Equatable {
+  case outsideCoverage, invalidParameters, invalidDerivativeStep, missingRealization
+  case invalidTable, excessiveGap, invalidFile(line: Int), correctionDidNotConverge
+}
+
+/// Model to which measured celestial pole offsets refer.
+public enum CelestialPoleReference: Sendable { case iau2000A, iau2006A }
+
+/// Earth orientation at an atomic epoch. Angles are radians. UT1−TT is supplied
+/// directly, avoiding implicit UTC/leap-second assumptions.
+public struct EarthOrientationSample {
+  public let epoch: Epoch
+  public let ut1MinusTT: Duration
+  public let polarMotionX: Double
+  public let polarMotionY: Double
+  public let celestialPoleX: Double
+  public let celestialPoleY: Double
+  public let poleReference: CelestialPoleReference
+  public init(epoch: Epoch, ut1MinusTT: Duration, polarMotionX: Double, polarMotionY: Double,
+              celestialPoleX: Double = 0, celestialPoleY: Double = 0,
+              poleReference: CelestialPoleReference = .iau2006A) throws {
+    guard [polarMotionX, polarMotionY, celestialPoleX, celestialPoleY].allSatisfy(\.isFinite) else { throw EarthOrientationError.invalidParameters }
+    self.epoch = epoch; self.ut1MinusTT = ut1MinusTT
+    self.polarMotionX = polarMotionX; self.polarMotionY = polarMotionY
+    self.celestialPoleX = celestialPoleX; self.celestialPoleY = celestialPoleY
+    self.poleReference = poleReference
+  }
+}
+
+/// Implementations own coverage, interpolation and data provenance. Samples must
+/// match the requested epoch; neighbouring samples also determine frame rates.
+public protocol EarthOrientationProvider {
+  var provenance: String { get }
+  func sample(at epoch: Epoch) throws -> EarthOrientationSample
+}
+
+/// Explicit approximation for games or reference cases. No extrapolation beyond
+/// caller-selected coverage; constant UT1−TT implies one UT1 second per TT second.
+public struct ConstantEarthOrientationProvider: EarthOrientationProvider {
+  public let provenance: String
+  public let coverage: ClosedRange<Epoch>
+  private let offset: Duration
+  private let x: Double
+  private let y: Double
+  private let dx: Double
+  private let dy: Double
+  private let reference: CelestialPoleReference
+  public init(ut1MinusTT: Duration, polarMotionX: Double, polarMotionY: Double,
+              coverage: ClosedRange<Epoch>, provenance: String,
+              celestialPoleX: Double = 0, celestialPoleY: Double = 0,
+              poleReference: CelestialPoleReference = .iau2006A) throws {
+    _ = try EarthOrientationSample(epoch: coverage.lowerBound, ut1MinusTT: ut1MinusTT,
+                                  polarMotionX: polarMotionX, polarMotionY: polarMotionY,
+                                  celestialPoleX: celestialPoleX, celestialPoleY: celestialPoleY, poleReference: poleReference)
+    dx = celestialPoleX; dy = celestialPoleY; reference = poleReference
+    self.offset = ut1MinusTT; x = polarMotionX; y = polarMotionY
+    self.coverage = coverage; self.provenance = provenance
+  }
+  public func sample(at epoch: Epoch) throws -> EarthOrientationSample {
+    guard coverage.contains(epoch) else { throw EarthOrientationError.outsideCoverage }
+    return try EarthOrientationSample(epoch: epoch, ut1MinusTT: offset, polarMotionX: x, polarMotionY: y,
+      celestialPoleX: dx, celestialPoleY: dy, poleReference: reference)
+  }
+}
+
+/// IAU 2006 precession, IAU 2000A nutation with 2006 adjustments, and IAU 2000
+/// Earth rotation/polar motion conventions. Numerical core: native Swift, adapted from ERFA 2.0.1.
+/// Angular derivatives use a five-point stencil in atomic SI seconds. Data must
+/// cover ±2*derivativeStep, including at the requested coverage boundaries.
+public struct EarthFrameTransformProvider: TransformProvider {
+  public enum Edge: Int32 { case celestialIntermediate, earthRotation, polarMotion, trueOfDate, apparentSidereal }
+  public let edge: Edge
+  public let earthOrientation: any EarthOrientationProvider
+  public let derivativeStep: Duration
+  public init(edge: Edge, earthOrientation: any EarthOrientationProvider,
+              derivativeStep: Duration = try! Duration(seconds: 60)) throws {
+    guard derivativeStep.seconds > 0, derivativeStep.seconds.isFinite else {
+      throw EarthOrientationError.invalidDerivativeStep
+    }
+    self.edge = edge; self.earthOrientation = earthOrientation; self.derivativeStep = derivativeStep
+  }
+  internal func matrix(at epoch: Epoch) throws -> [Double] {
+    let tt = try epoch.julianDate(in: .tt)
+    let eop = try earthOrientation.sample(at: epoch)
+    guard eop.epoch == epoch else { throw FrameTransformError.epochMismatch }
+    // Preserve the split date; ERFA accepts arbitrary two-part Julian dates.
+    let modelEdge: EarthOrientationModel.Edge
+    switch edge {
+    case .celestialIntermediate: modelEdge = .celestialIntermediate
+    case .earthRotation: modelEdge = .earthRotation
+    case .polarMotion: modelEdge = .polarMotion
+    case .trueOfDate: modelEdge = .trueOfDate
+    case .apparentSidereal: modelEdge = .apparentSidereal
+    }
+    let reference: EarthOrientationModel.PoleReference
+    switch eop.poleReference {
+    case .iau2000A: reference = .iau2000A
+    case .iau2006A: reference = .iau2006A
+    }
+    do {
+      return try EarthOrientationModel.matrix(edge: modelEdge, tt1: Double(tt.wholeDay), tt2: tt.fractionalDay,
+        ut11: Double(tt.wholeDay), ut12: tt.fractionalDay + eop.ut1MinusTT.seconds / 86400,
+        xp: eop.polarMotionX, yp: eop.polarMotionY,
+        dx: eop.celestialPoleX, dy: eop.celestialPoleY, poleReference: reference)
+    } catch let error as EarthOrientationModel.EvaluationError {
+      switch error {
+      case .invalidParameters: throw EarthOrientationError.invalidParameters
+      case .correctionDidNotConverge: throw EarthOrientationError.correctionDidNotConverge
+      }
+    }
+  }
+  public func transform(at epoch: Epoch) throws -> FrameTransform {
+    let h = derivativeStep.seconds
+    let r = try matrix(at: epoch)
+    let samples = try [-2.0, -1, 1, 2].map { try matrix(at: epoch.advanced(by: Duration(seconds: $0*h))) }
+    let d = (0..<9).map { (samples[0][$0] - 8*samples[1][$0] + 8*samples[2][$0] - samples[3][$0]) / (12*h) }
+    let dd = (0..<9).map { (-samples[3][$0] + 16*samples[2][$0] - 30*r[$0] + 16*samples[1][$0] - samples[0][$0]) / (12*h*h) }
+    func axial(_ derivative: [Double]) -> SIMD3<Double> {
+      func entry(_ i: Int, _ j: Int) -> Double { (0..<3).reduce(0) { $0 + derivative[3*i+$1]*r[3*j+$1] } }
+      return SIMD3((entry(2,1)-entry(1,2))/2, (entry(0,2)-entry(2,0))/2, (entry(1,0)-entry(0,1))/2)
+    }
+    return try FrameTransform(epoch: epoch, rotation: quaternion(r), angularVelocity: axial(d), angularAcceleration: axial(dd))
+  }
+  private func quaternion(_ m: [Double]) -> Quaternion {
+    // Largest-component construction is stable through half-turn rotations.
+    let candidates = [1+m[0]+m[4]+m[8], 1+m[0]-m[4]-m[8], 1-m[0]+m[4]-m[8], 1-m[0]-m[4]+m[8]]
+    let k = candidates.indices.max { candidates[$0] < candidates[$1] }!
+    let v = sqrt(candidates[k]) / 2, f = 1/(4*v)
+    switch k {
+    case 0: return Quaternion(x: (m[7]-m[5])*f, y: (m[2]-m[6])*f, z: (m[3]-m[1])*f, w: v)
+    case 1: return Quaternion(x: v, y: (m[1]+m[3])*f, z: (m[2]+m[6])*f, w: (m[7]-m[5])*f)
+    case 2: return Quaternion(x: (m[1]+m[3])*f, y: v, z: (m[5]+m[7])*f, w: (m[2]-m[6])*f)
+    default: return Quaternion(x: (m[2]+m[6])*f, y: (m[5]+m[7])*f, z: v, w: (m[3]-m[1])*f)
+    }
+  }
+}
+
+public struct EarthFrames {
+  public let gcrf: Frame
+  public let eme2000: Frame
+  public let cirf: Frame
+  public let tirf: Frame
+  public let itrf: Frame
+  public let tod: Frame
+  public let gtod: Frame
+  public let terrestrialRealization: String
+  public let earthOrientationProvenance: String
+}
+
+extension FrameTree {
+  /// Earth-centred frame families. The realization label describes caller EOP;
+  /// no station coordinates, tectonic motion or realization Helmert ties are applied.
+  public func makeEarthFrames(earth: any StateProvider, earthOrientation: any EarthOrientationProvider,
+    terrestrialRealization: String, derivativeStep: Duration = try! Duration(seconds: 60),
+    accelerationPolicy: OriginAccelerationPolicy = .requireProvided) throws -> EarthFrames {
+    guard !terrestrialRealization.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty else {
+      throw EarthOrientationError.missingRealization
+    }
+    // Validate configuration before registering any frames.
+    func provider(_ edge: EarthFrameTransformProvider.Edge) throws -> EarthFrameTransformProvider {
+      try EarthFrameTransformProvider(edge: edge, earthOrientation: earthOrientation, derivativeStep: derivativeStep)
+    }
+    let cirfProvider = try provider(.celestialIntermediate)
+    let geo = try makeGeocentricFrames(earth: earth, accelerationPolicy: accelerationPolicy)
+    let cirf = try makeFrame(parent: geo.gcrf, name: "CIRF", provider: cirfProvider)
+    let tirf = try makeFrame(parent: cirf, name: "TIRF", provider: provider(.earthRotation))
+    let itrf = try makeFrame(parent: tirf, name: terrestrialRealization, provider: provider(.polarMotion))
+    let tod = try makeFrame(parent: geo.gcrf, name: "TOD", provider: provider(.trueOfDate))
+    let gtod = try makeFrame(parent: tod, name: "GTOD", provider: provider(.apparentSidereal))
+    return EarthFrames(gcrf: geo.gcrf, eme2000: geo.eme2000, cirf: cirf, tirf: tirf, itrf: itrf,
+      tod: tod, gtod: gtod, terrestrialRealization: terrestrialRealization,
+      earthOrientationProvenance: earthOrientation.provenance)
+  }
+}
diff --git a/Sources/CelMek/EncounterPlanning.swift b/Sources/CelMek/EncounterPlanning.swift
new file mode 100644
index 0000000..d6b3a30
--- /dev/null
+++ b/Sources/CelMek/EncounterPlanning.swift
@@ -0,0 +1,225 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+private func encounterCross(_ a: SIMD3<Double>, _ b: SIMD3<Double>) -> SIMD3<Double> {
+    SIMD3(a.y*b.z-a.z*b.y,a.z*b.x-a.x*b.z,a.x*b.y-a.y*b.x)
+}
+private func encounterDot(_ a: SIMD3<Double>, _ b: SIMD3<Double>) -> Double {
+    a.x*b.x+a.y*b.y+a.z*b.z
+}
+public enum EncounterPlanningError: Error, Equatable {
+    case degenerateAxes, invalidGeometry, invalidWindow, insufficientPropellant, invalidExhaustVelocity
+}
+
+/// S follows incoming velocity; T = unit(S × pole), R = S × T.
+/// B is the incoming asymptote offset: B × S follows angular momentum.
+public struct FlybyBPlane {
+    public let s: SIMD3<Double>
+    public let t: SIMD3<Double>
+    public let r: SIMD3<Double>
+    public let bTMetres: Double
+    public let bRMetres: Double
+    public var vectorMetres: SIMD3<Double> { t*bTMetres+r*bRMetres }
+    public init(incomingVelocity: SIMD3<Double>, referencePole: SIMD3<Double>, bTMetres: Double, bRMetres: Double) throws {
+        let speed = routeNorm(incomingVelocity), poleLength = routeNorm(referencePole)
+        guard speed.isFinite, speed > 0, poleLength.isFinite, poleLength > 0,
+              bTMetres.isFinite, bRMetres.isFinite, hypot(bTMetres,bRMetres).isFinite,
+              hypot(bTMetres,bRMetres) > 0 else { throw EncounterPlanningError.invalidGeometry }
+        s = incomingVelocity/speed
+        let axis = encounterCross(s,referencePole/poleLength), length = routeNorm(axis)
+        guard length > 1e-12 else { throw EncounterPlanningError.degenerateAxes }
+        t = axis/length; r = encounterCross(s,t)
+        self.bTMetres = bTMetres; self.bRMetres = bRMetres
+    }
+    public init(flyby: UnpoweredFlybyResult, referencePole: SIMD3<Double>) throws {
+        let b = flyby.periapsisRadiusMetres * (flyby.periapsisSpeedMetresPerSecond/flyby.excessSpeedMetresPerSecond)
+        let vector = encounterCross(flyby.request.incomingExcessVelocityMetresPerSecond/flyby.excessSpeedMetresPerSecond,flyby.orbitalNormal)*b
+        let axes = try Self(incomingVelocity: flyby.request.incomingExcessVelocityMetresPerSecond,
+            referencePole: referencePole,bTMetres: 1,bRMetres: 0)
+        try self.init(incomingVelocity: flyby.request.incomingExcessVelocityMetresPerSecond,
+            referencePole: referencePole,bTMetres: encounterDot(vector,axes.t),bRMetres: encounterDot(vector,axes.r))
+    }
+    /// The request supplies body, epoch, axes, incoming speed and safety limits;
+    /// its outgoing vector is replaced by the B-plane prediction.
+    public func solve(_ request: FlybyEncounterRequest) throws -> UnpoweredFlybyResult {
+        let speed = routeNorm(request.incomingExcessVelocityMetresPerSecond)
+        guard routeNorm(request.incomingExcessVelocityMetresPerSecond/speed-s) < 1e-12 else {
+            throw EncounterPlanningError.invalidGeometry
+        }
+        let b = hypot(bTMetres,bRMetres), length = request.gravitationalParameter.cubicMetresPerSecondSquared/speed/speed
+        let radius = b*(b/(hypot(length,b)+length))
+        let c = 1/(1+radius/length), angle = 2*asin(c)
+        let normal = encounterCross(vectorMetres/b,s)
+        let outgoing = (s*cos(angle)+encounterCross(normal,s)*sin(angle))*speed
+        return try UnpoweredFlyby.solve(FlybyEncounterRequest(body: request.body,periapsisEpoch: request.periapsisEpoch,
+            frame: request.frame,gravitationalParameter: request.gravitationalParameter,bodyRadiusMetres: request.bodyRadiusMetres,
+            minimumPeriapsisAltitudeMetres: request.minimumPeriapsisAltitudeMetres,
+            incomingExcessVelocityMetresPerSecond: request.incomingExcessVelocityMetresPerSecond,
+            outgoingExcessVelocityMetresPerSecond: outgoing))
+    }
+}
+
+/// Ideal instantaneous rocket equation, with an explicit exhaust velocity.
+public enum EncounterImpulse {
+    public static func apply(_ maneuver: ImpulsiveManeuver, to state: SpacecraftState,
+        effectiveExhaustVelocityMetresPerSecond: Double) throws -> SpacecraftState {
+        guard maneuver.frame === state.frame else { throw SpacecraftDynamicsError.frameMismatch }
+        guard maneuver.epoch == state.epoch else { throw SpacecraftDynamicsError.epochMismatch }
+        let ve = effectiveExhaustVelocityMetresPerSecond
+        guard ve.isFinite, ve > 0 else { throw EncounterPlanningError.invalidExhaustVelocity }
+        let cost = state.mass.totalMassKilograms * -expm1(-routeNorm(maneuver.deltaVelocityMetresPerSecond)/ve)
+        guard cost.isFinite, cost <= state.mass.propellantMassKilograms else { throw EncounterPlanningError.insufficientPropellant }
+        return SpacecraftState(cartesian: try CartesianState(epoch: state.epoch,frame: state.frame,
+            position: state.cartesian.position,velocity: state.cartesian.velocity+maneuver.deltaVelocityMetresPerSecond),
+            mass: try SpacecraftMassProperties(dryMassKilograms: state.mass.dryMassKilograms,
+                propellantMassKilograms: state.mass.propellantMassKilograms-cost))
+    }
+}
+public struct PoweredFlybyResult {
+    public let incomingTrajectory: TwoBodyPropagator
+    public let outgoingTrajectory: TwoBodyPropagator
+    public let maneuver: ImpulsiveManeuver
+    public let preBurnState: SpacecraftState
+    public let postBurnState: SpacecraftState
+    public var propellantUsedKilograms: Double { preBurnState.mass.propellantMassKilograms-postBurnState.mass.propellantMassKilograms }
+}
+public enum PoweredFlyby {
+    /// Explicit common periapsis geometry. Supports unequal excess speeds and
+    /// plane-changing impulses; inconsistent radial/asymptote geometry is rejected.
+    public static func solve(_ request: FlybyEncounterRequest, periapsisRadiusMetres radius: Double,
+        radialDirection: SIMD3<Double>, mass: SpacecraftMassProperties,
+        effectiveExhaustVelocityMetresPerSecond: Double) throws -> PoweredFlybyResult {
+        guard radius.isFinite, radius > request.bodyRadiusMetres,
+              radius >= request.bodyRadiusMetres+request.minimumPeriapsisAltitudeMetres else { throw FlybyError.unsafePeriapsis }
+        let norm = routeNorm(radialDirection)
+        guard norm.isFinite, norm > 0 else { throw EncounterPlanningError.invalidGeometry }
+        let radial = radialDirection/norm, mu = request.gravitationalParameter.cubicMetresPerSecondSquared
+        func branch(_ velocity: SIMD3<Double>, incoming: Bool) throws -> TwoBodyPropagator {
+            let speed = routeNorm(velocity), u = velocity/speed
+            let c = 1/(1+radius*speed*speed/mu), expected = incoming ? c : -c
+            guard c > 0, c < 1, abs(encounterDot(u,radial)-expected) < 1e-12 else { throw EncounterPlanningError.invalidGeometry }
+            let tangent = u-radial*expected, tangentLength = routeNorm(tangent)
+            guard tangentLength > 1e-12 else { throw EncounterPlanningError.invalidGeometry }
+            let seed = try CartesianState(epoch: request.periapsisEpoch,frame: request.frame,position: radial*radius,
+                velocity: tangent/tangentLength*hypot(speed,sqrt(2)*sqrt(mu)/sqrt(radius)))
+            return try TwoBodyPropagator(initialState: seed,centralBody: request.body,gravitationalParameter: request.gravitationalParameter)
+        }
+        let before = try branch(request.incomingExcessVelocityMetresPerSecond,incoming: true)
+        let after = try branch(request.requestedOutgoingExcessVelocityMetresPerSecond,incoming: false)
+        let pre = SpacecraftState(cartesian: try before.state(at: request.periapsisEpoch),mass: mass)
+        let maneuver = try ImpulsiveManeuver(epoch: request.periapsisEpoch,frame: request.frame,
+            deltaVelocityMetresPerSecond: after.initialState.velocity-before.initialState.velocity)
+        let post = try EncounterImpulse.apply(maneuver,to: pre,effectiveExhaustVelocityMetresPerSecond: effectiveExhaustVelocityMetresPerSecond)
+        return PoweredFlybyResult(incomingTrajectory: before,outgoingTrajectory: after,maneuver: maneuver,preBurnState: pre,postBurnState: post)
+    }
+}
+
+public enum DeepSpaceManeuverCommand {
+    case impulse(ImpulsiveManeuver, effectiveExhaustVelocityMetresPerSecond: Double)
+    case finiteBurn(FiniteBurn)
+}
+public struct DeepSpaceManeuverNode {
+    public let window: ClosedRange<Epoch>
+    public let command: DeepSpaceManeuverCommand
+    public init(window: ClosedRange<Epoch>, command: DeepSpaceManeuverCommand) throws {
+        switch command {
+        case .impulse(let impulse, let ve):
+            guard window.contains(impulse.epoch), ve.isFinite, ve > 0 else { throw EncounterPlanningError.invalidWindow }
+        case .finiteBurn(let burn):
+            guard window.contains(burn.start), window.contains(burn.end) else { throw EncounterPlanningError.invalidWindow }
+        }
+        self.window = window; self.command = command
+    }
+    /// Converts one impulse to an engine-duration seed, placed wholly inside its
+    /// window. Call sequentially with the carried mass for multiple nodes.
+    public func finiteBurnSeed(initialState: SpacecraftState, thrustNewtons: Double) throws -> Self {
+        guard case .impulse(let maneuver,let ve) = command else { throw EncounterPlanningError.invalidGeometry }
+        guard initialState.epoch <= window.lowerBound else { throw EncounterPlanningError.invalidWindow }
+        let schedule = try FiniteTransferPlanner.initialGuess(initialState:
+            SpacecraftState(cartesian: CartesianState(epoch: window.lowerBound,frame: initialState.frame,
+                position: initialState.cartesian.position,velocity: initialState.cartesian.velocity),mass: initialState.mass),
+            arrivalEpoch: window.upperBound,maneuvers: [maneuver],thrustNewtons: thrustNewtons,
+            effectiveExhaustVelocityMetresPerSecond: ve)
+        guard let burn = schedule.burns.first else { throw EncounterPlanningError.invalidGeometry }
+        return try Self(window: window,command: .finiteBurn(burn))
+    }
+    /// Refines finite nodes in one propagation context. Returned burn order maps
+    /// to chronological node order; every trial retains the respective window.
+    public static func refine(_ nodes: [Self], initialState: SpacecraftState, target: CartesianState,
+        context: ForceEvaluationContext, backgroundModels: [any ForceModel] = [],
+        maximumEvaluations: Int = 500) throws -> FiniteTransferRefinementResult {
+        var pairs: [(FiniteBurn,ClosedRange<Epoch>)] = []
+        for node in nodes {
+            guard case .finiteBurn(let burn) = node.command else { throw EncounterPlanningError.invalidGeometry }
+            pairs.append((burn,node.window))
+        }
+        pairs.sort { $0.0.start < $1.0.start }
+        return try FiniteTransferPlanner.refine(initialState: initialState,
+            initialSchedule: ScheduledThrust(frame: initialState.frame,burns: pairs.map { $0.0 }),
+            target: target,context: context,backgroundModels: backgroundModels,
+            maximumEvaluations: maximumEvaluations,burnWindows: pairs.map { $0.1 })
+    }
+    private var interval: ClosedRange<Epoch> {
+        switch command { case .impulse(let m,_): return m.epoch...m.epoch
+        case .finiteBurn(let b): return b.start...b.end }
+    }
+    /// Executes chronologically with caller-supplied gravity; no implicit forces.
+    public static func execute(_ nodes: [Self], initialState: SpacecraftState, arrivalEpoch: Epoch,
+        context: ForceEvaluationContext, backgroundModels: [any ForceModel] = [],
+        options: NumericalPropagationOptions = try! NumericalPropagationOptions()) throws -> SpacecraftState {
+        guard nodes.count <= 100, arrivalEpoch >= initialState.epoch else { throw EncounterPlanningError.invalidWindow }
+        let ordered = nodes.sorted { $0.interval.lowerBound < $1.interval.lowerBound }
+        guard ordered.allSatisfy({ $0.interval.lowerBound >= initialState.epoch && $0.interval.upperBound <= arrivalEpoch }),
+              zip(ordered,ordered.dropFirst()).allSatisfy({ $0.interval.upperBound < $1.interval.lowerBound }) else {
+            throw EncounterPlanningError.invalidWindow
+        }
+        var state = initialState
+        func propagate(_ to: Epoch, burns: [FiniteBurn] = []) throws -> SpacecraftState {
+            try ScheduledThrustPropagator(initialState: state,schedule: ScheduledThrust(frame: state.frame,burns: burns),
+                backgroundModels: backgroundModels,context: context,options: options).spacecraftState(at: to)
+        }
+        for node in ordered {
+            state = try propagate(node.interval.lowerBound)
+            switch node.command {
+            case .impulse(let maneuver,let ve): state = try EncounterImpulse.apply(maneuver,to: state,effectiveExhaustVelocityMetresPerSecond: ve)
+            case .finiteBurn(let burn): state = try propagate(burn.end,burns: [burn])
+            }
+        }
+        return try propagate(arrivalEpoch)
+    }
+}
+
+/// An explicitly chosen epoch is the patch surface. Frame providers must encode
+/// the moving origins and axes. This converts the carried state, never a template.
+/// Switching force models after this handover is the caller's patched-conic approximation.
+public struct EncounterPatchBoundary {
+    public let epoch: Epoch
+    public let source: ForceEvaluationContext
+    public let destination: ForceEvaluationContext
+    public init(epoch: Epoch, source: ForceEvaluationContext, destination: ForceEvaluationContext) {
+        self.epoch = epoch; self.source = source; self.destination = destination
+    }
+    public func handover(_ state: SpacecraftState, using tree: FrameTree) throws -> SpacecraftState {
+        guard state.epoch == epoch else { throw SpacecraftDynamicsError.epochMismatch }
+        guard state.frame === source.frame else { throw SpacecraftDynamicsError.frameMismatch }
+        let transform = try tree.transform(from: source.frame,to: destination.frame,at: epoch)
+        return SpacecraftState(cartesian: try transform.applying(to: state.cartesian,destination: destination.frame),mass: state.mass)
+    }
+}
diff --git a/Sources/CelMek/EncounterSequence.swift b/Sources/CelMek/EncounterSequence.swift
new file mode 100644
index 0000000..c190b92
--- /dev/null
+++ b/Sources/CelMek/EncounterSequence.swift
@@ -0,0 +1,326 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+public enum EncounterSequenceError: Error, Equatable {
+    case invalidInput, outsideWindow(index: Int), overlappingEncounters(index: Int)
+    case legFailed(index: Int, reason: String), invalidEndpoint, incompatibleOrigin
+}
+public enum EncounterSequenceCondition {
+    /// Geometric or target-relative passage; no velocity matching impulse.
+    case passage
+    /// Explicit endpoint rest in the target's coordinates (capture/landing dynamics are not inferred).
+    case velocityMatch
+    /// Finite local arc around periapsis, connected by explicit patch impulses.
+    /// The tree must map the request's body-centred frame into route coordinates.
+    case unpoweredFlyby(request: FlybyEncounterRequest, incomingSeconds: Double, outgoingSeconds: Double, tree: FrameTree)
+}
+public struct EncounterSequenceVisit {
+    public let identifier: String
+    public let target: MovingWaypointRouteTarget
+    public let arrivalWindow: ClosedRange<Epoch>
+    public let condition: EncounterSequenceCondition
+    public init(identifier: String, target: MovingWaypointRouteTarget, arrivalWindow: ClosedRange<Epoch>,
+        condition: EncounterSequenceCondition = .passage) throws {
+        guard !identifier.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty,
+              arrivalWindow.lowerBound >= target.coverage.lowerBound,
+              arrivalWindow.upperBound <= target.coverage.upperBound else { throw EncounterSequenceError.invalidInput }
+        self.identifier = identifier; self.target = target; self.arrivalWindow = arrivalWindow; self.condition = condition
+    }
+}
+public struct EncounterSequenceCandidate {
+    public let epochs: [Epoch]
+    /// One branch per Lambert connector, including connectors before/after local flybys.
+    public let branches: [LambertWindowBranch]
+    public let deepSpaceManeuvers: [DeepSpaceManeuverNode]
+    public init(epochs: [Epoch], branches: [LambertWindowBranch], deepSpaceManeuvers: [DeepSpaceManeuverNode] = []) {
+        self.epochs = epochs; self.branches = branches; self.deepSpaceManeuvers = deepSpaceManeuvers
+    }
+}
+public struct EncounterSequencePatchResidual {
+    public let identifier: String
+    public let epoch: Epoch
+    public let positionMetres: Double
+    public let preImpulseVelocityMetresPerSecond: Double
+}
+public struct EncounterSequenceArc {
+    public let coverage: ClosedRange<Epoch>
+    public let provenance: String
+    private let query: (Epoch) throws -> CartesianState
+    init(coverage: ClosedRange<Epoch>, provenance: String, query: @escaping (Epoch) throws -> CartesianState) {
+        self.coverage = coverage; self.provenance = provenance; self.query = query
+    }
+    public func state(at epoch: Epoch) throws -> CartesianState {
+        guard coverage.contains(epoch) else { throw LambertTransferPlanningError.outsideFlight }
+        return try query(epoch)
+    }
+}
+public struct EncounterSequenceSeed {
+    public let initialState: SpacecraftState
+    public let candidate: EncounterSequenceCandidate
+    public let arcs: [EncounterSequenceArc]
+    public let maneuvers: [DeepSpaceManeuverNode]
+    public let requirements: [NumericalEncounterRequirement]
+    public let patchResiduals: [EncounterSequencePatchResidual]
+    public let finalMass: SpacecraftMassProperties
+    public let totalDeltaVelocityMetresPerSecond: Double
+    public var arrivalEpoch: Epoch { candidate.epochs.last! }
+    public var propellantUsedKilograms: Double { initialState.mass.propellantMassKilograms-finalMass.propellantMassKilograms }
+    public var provenance: String { "Lambert central-body connectors; finite unpowered two-body flybys; explicit instantaneous patch corrections. Optional DSMs perturb these nominal arcs; their residuals and all numerical dynamics are verified separately." }
+}
+public enum EncounterSequenceObjective: Equatable { case flightTime, deltaVelocity, propellant }
+public enum EncounterSequenceSearchStatus: Equatable { case candidatesExhausted, evaluationLimitReached }
+public struct EncounterSequenceSearchRow {
+    public let candidateIndex: Int
+    public let seed: EncounterSequenceSeed?
+    public let failure: String?
+}
+public struct EncounterSequenceSearchResult {
+    public let status: EncounterSequenceSearchStatus
+    public let totalCandidates: Int
+    public let rows: [EncounterSequenceSearchRow]
+    public let rankedSeeds: [EncounterSequenceSeed]
+}
+
+public enum EncounterSequencePlanner {
+    /// Explicit Cartesian grid of date, Lambert-root and independent DSM choices.
+    /// The bounded cardinality is checked before allocating combinations.
+    public static func candidates(epochOptions: [[Epoch]], branchOptions: [[LambertWindowBranch]],
+        deepSpaceOptions: [[DeepSpaceManeuverNode]] = [[]], maximumCandidates: Int = 100_000) throws -> [EncounterSequenceCandidate] {
+        guard !epochOptions.isEmpty, epochOptions.count <= 100, branchOptions.count == epochOptions.count,
+              !deepSpaceOptions.isEmpty, (1...100_000).contains(maximumCandidates),
+              epochOptions.allSatisfy({ !$0.isEmpty && $0.count <= maximumCandidates }),
+              branchOptions.allSatisfy({ !$0.isEmpty && $0.count <= 256 }),
+              deepSpaceOptions.count <= maximumCandidates,
+              deepSpaceOptions.allSatisfy({ $0.count <= 100 }) else { throw EncounterSequenceError.invalidInput }
+        let epochs = epochOptions.map { Array(Set($0)).sorted() }
+        var cardinality = deepSpaceOptions.count
+        for i in epochs.indices {
+            for count in [epochs[i].count,branchOptions[i].count] {
+                guard cardinality <= maximumCandidates/count else { throw EncounterSequenceError.invalidInput }
+                cardinality *= count
+            }
+        }
+        var result: [EncounterSequenceCandidate] = []
+        func append(_ index: Int, _ dates: [Epoch], _ branches: [LambertWindowBranch]) {
+            if index == epochs.count {
+                for commands in deepSpaceOptions { result.append(EncounterSequenceCandidate(epochs: dates,branches: branches,deepSpaceManeuvers: commands)) }
+                return
+            }
+            for epoch in epochs[index] { for branch in branchOptions[index] { append(index+1,dates+[epoch],branches+[branch]) } }
+        }
+        append(0,[],[])
+        return result
+    }
+
+    /// Date and branch search over an explicit bounded set, including independent
+    /// DSM command candidates. Provider contract errors propagate; expected physical
+    /// and solver failures remain visible as candidate rows.
+    public static func search(initialState: SpacecraftState, visits: [EncounterSequenceVisit],
+        candidates: [EncounterSequenceCandidate], context: ForceEvaluationContext,
+        gravitationalParameter: GravitationalParameter, referencePole: SIMD3<Double>,
+        effectiveExhaustVelocityMetresPerSecond: Double, additionalPassages: [NumericalEncounterRequirement] = [], objective: EncounterSequenceObjective = .deltaVelocity,
+        maximumEvaluations: Int = 1000, positionToleranceMetres: Double = 0.01,
+        velocityToleranceMetresPerSecond: Double = 1e-5, lambertOptions: LambertOptions = .default,
+        propagationOptions: TwoBodyPropagationOptions = .default) throws -> EncounterSequenceSearchResult {
+        guard !candidates.isEmpty, candidates.count <= 100_000, (1...10_000).contains(maximumEvaluations) else {
+            throw EncounterSequenceError.invalidInput
+        }
+        try validate(initialState: initialState,visits: visits,context: context,exhaustVelocity: effectiveExhaustVelocityMetresPerSecond)
+        var rows: [EncounterSequenceSearchRow] = []
+        for (i,candidate) in candidates.prefix(maximumEvaluations).enumerated() {
+            do {
+                let result = try seed(initialState: initialState,visits: visits,candidate: candidate,context: context,
+                    gravitationalParameter: gravitationalParameter,referencePole: referencePole,
+                    effectiveExhaustVelocityMetresPerSecond: effectiveExhaustVelocityMetresPerSecond,additionalPassages: additionalPassages,
+                    positionToleranceMetres: positionToleranceMetres,velocityToleranceMetresPerSecond: velocityToleranceMetresPerSecond,
+                    lambertOptions: lambertOptions,propagationOptions: propagationOptions)
+                rows.append(EncounterSequenceSearchRow(candidateIndex: i,seed: result,failure: nil))
+            } catch let error as EncounterSequenceError { rows.append(EncounterSequenceSearchRow(candidateIndex: i,seed: nil,failure: String(describing: error))) }
+            catch let error as EncounterPlanningError { rows.append(EncounterSequenceSearchRow(candidateIndex: i,seed: nil,failure: String(describing: error))) }
+            catch let error as FlybyError { rows.append(EncounterSequenceSearchRow(candidateIndex: i,seed: nil,failure: String(describing: error))) }
+            catch let error as NumericalPropagationError { rows.append(EncounterSequenceSearchRow(candidateIndex: i,seed: nil,failure: String(describing: error))) }
+        }
+        var scored: [(Int,EncounterSequenceSeed,Double)] = []
+        for row in rows {
+            guard let result = row.seed else { continue }
+            let value: Double
+            switch objective {
+            case .flightTime:
+                let duration = try result.arrivalEpoch.duration(since: initialState.epoch)
+                value = duration.seconds
+            case .deltaVelocity: value = result.totalDeltaVelocityMetresPerSecond
+            case .propellant: value = result.propellantUsedKilograms
+            }
+            scored.append((row.candidateIndex,result,value))
+        }
+        scored.sort { $0.2 == $1.2 ? $0.0 < $1.0 : $0.2 < $1.2 }
+        let ranked = scored.map { $0.1 }
+        return EncounterSequenceSearchResult(status: rows.count == candidates.count ? .candidatesExhausted : .evaluationLimitReached,
+            totalCandidates: candidates.count,rows: rows,rankedSeeds: ranked)
+    }
+    private static func validate(initialState: SpacecraftState, visits: [EncounterSequenceVisit],
+        context: ForceEvaluationContext, exhaustVelocity: Double) throws {
+        guard !visits.isEmpty, visits.count <= 100, Set(visits.map(\.identifier)).count == visits.count,
+              exhaustVelocity.isFinite, exhaustVelocity > 0 else { throw EncounterSequenceError.invalidInput }
+        guard context.frame === initialState.frame, visits.allSatisfy({ $0.target.frame === context.frame }) else { throw SpacecraftDynamicsError.frameMismatch }
+        guard visits.allSatisfy({ $0.target.origin == context.origin }) else { throw EncounterSequenceError.incompatibleOrigin }
+        guard initialState.frame.pseudoInertial else { throw PropagationError.nonInertialFrame }
+        if case .unpoweredFlyby = visits.last!.condition { throw EncounterSequenceError.invalidEndpoint }
+    }
+    public static func seed(initialState: SpacecraftState, visits: [EncounterSequenceVisit], candidate: EncounterSequenceCandidate,
+        context: ForceEvaluationContext, gravitationalParameter: GravitationalParameter, referencePole: SIMD3<Double>,
+        effectiveExhaustVelocityMetresPerSecond: Double, additionalPassages: [NumericalEncounterRequirement] = [], positionToleranceMetres: Double = 0.01,
+        velocityToleranceMetresPerSecond: Double = 1e-5, lambertOptions: LambertOptions = .default,
+        propagationOptions: TwoBodyPropagationOptions = .default) throws -> EncounterSequenceSeed {
+        try validate(initialState: initialState,visits: visits,context: context,exhaustVelocity: effectiveExhaustVelocityMetresPerSecond)
+        guard candidate.epochs.count == visits.count, candidate.branches.count == visits.count,
+              candidate.deepSpaceManeuvers.count <= 100,
+              [positionToleranceMetres,velocityToleranceMetresPerSecond].allSatisfy({ $0.isFinite && $0 > 0 }) else { throw EncounterSequenceError.invalidInput }
+        var current = initialState.cartesian, mass = initialState.mass
+        var arcs: [EncounterSequenceArc] = [], nodes: [DeepSpaceManeuverNode] = []
+        var residuals: [EncounterSequencePatchResidual] = [], requirements: [NumericalEncounterRequirement] = []
+        var totalDV = 0.0
+        func impulse(_ maneuver: ImpulsiveManeuver) throws {
+            let post = try EncounterImpulse.apply(maneuver,to: SpacecraftState(cartesian: current,mass: mass),
+                effectiveExhaustVelocityMetresPerSecond: effectiveExhaustVelocityMetresPerSecond)
+            current = post.cartesian; mass = post.mass; totalDV += routeNorm(maneuver.deltaVelocityMetresPerSecond)
+            if routeNorm(maneuver.deltaVelocityMetresPerSecond) > 0 {
+                nodes.append(try DeepSpaceManeuverNode(window: maneuver.epoch...maneuver.epoch,
+                    command: .impulse(maneuver,effectiveExhaustVelocityMetresPerSecond: effectiveExhaustVelocityMetresPerSecond)))
+            }
+        }
+        func connect(_ target: CartesianState, matchVelocity: Bool, index: Int, identifier: String) throws {
+            guard target.epoch > current.epoch else { throw EncounterSequenceError.overlappingEncounters(index: index) }
+            let branch = candidate.branches[index]
+            let plan: LambertTransferPlan
+            do {
+                plan = try LambertTransferPlanner.plan(departureState: current,arrivalTargetState: target,
+                    centralBody: context.origin,gravitationalParameter: gravitationalParameter,referencePole: referencePole,
+                    direction: branch.direction,arrivalCondition: matchVelocity ? .velocityMatchedRendezvous : .flyby,
+                    revolutions: branch.revolutions,multiRevolutionBranch: branch.multiRevolutionBranch,
+                    positionToleranceMetres: positionToleranceMetres,velocityToleranceMetresPerSecond: velocityToleranceMetresPerSecond,
+                    lambertOptions: lambertOptions,propagationOptions: propagationOptions)
+            } catch let error as LambertError { throw EncounterSequenceError.legFailed(index: index,reason: String(describing: error)) }
+            catch let error as PropagationError { throw EncounterSequenceError.legFailed(index: index,reason: String(describing: error)) }
+            guard plan.arrivalConditionSatisfied else { throw EncounterSequenceError.legFailed(index: index,reason: "endpoint residual") }
+            try impulse(plan.departureBurn)
+            arcs.append(EncounterSequenceArc(coverage: current.epoch...target.epoch,provenance: "Central-body Lambert") { try plan.trajectory.coast.state(at: $0) })
+            current = plan.preArrivalState
+            residuals.append(EncounterSequencePatchResidual(identifier: identifier,epoch: target.epoch,
+                positionMetres: routeNorm(current.position-target.position),preImpulseVelocityMetresPerSecond: routeNorm(current.velocity-target.velocity)))
+            if let burn = plan.arrivalBurn { try impulse(burn) }
+        }
+        for i in visits.indices {
+            let visit = visits[i], epoch = candidate.epochs[i]
+            guard visit.arrivalWindow.contains(epoch) else { throw EncounterSequenceError.outsideWindow(index: i) }
+            switch visit.condition {
+            case .passage, .velocityMatch:
+                if case .velocityMatch = visit.condition, i != visits.count-1 { throw EncounterSequenceError.invalidEndpoint }
+                let target = try visit.target.state(at: epoch)
+                let match: Bool
+                if case .velocityMatch = visit.condition { match = true } else { match = false }
+                try connect(target,matchVelocity: match,index: i,identifier: visit.identifier)
+                requirements.append(try NumericalEncounterRequirement(identifier: visit.identifier,target: visit.target,
+                    epoch: epoch,window: visit.arrivalWindow,matchVelocity: match,positionToleranceMetres: positionToleranceMetres,
+                    velocityToleranceMetresPerSecond: velocityToleranceMetresPerSecond))
+            case .unpoweredFlyby(let request,let lead,let trail,let tree):
+                guard lead.isFinite, lead > 0, trail.isFinite, trail > 0 else { throw EncounterSequenceError.invalidInput }
+                let shifted = try FlybyEncounterRequest(body: request.body,periapsisEpoch: epoch,frame: request.frame,
+                    gravitationalParameter: request.gravitationalParameter,bodyRadiusMetres: request.bodyRadiusMetres,
+                    minimumPeriapsisAltitudeMetres: request.minimumPeriapsisAltitudeMetres,
+                    incomingExcessVelocityMetresPerSecond: request.incomingExcessVelocityMetresPerSecond,
+                    outgoingExcessVelocityMetresPerSecond: request.requestedOutgoingExcessVelocityMetresPerSecond,
+                    relativeSpeedTolerance: request.relativeSpeedTolerance)
+                let flyby = try UnpoweredFlyby.solve(shifted,propagationOptions: propagationOptions)
+                let start = try epoch.advanced(by: Duration(seconds: -lead)), end = try epoch.advanced(by: Duration(seconds: trail))
+                guard visit.target.coverage.contains(start), visit.target.coverage.contains(end) else { throw EncounterSequenceError.outsideWindow(index: i) }
+                func localState(_ date: Epoch) throws -> CartesianState {
+                    try tree.transform(from: request.frame,to: context.frame,at: date)
+                        .applying(to: flyby.trajectory.state(at: date),destination: context.frame)
+                }
+                for date in [start,epoch,end] {
+                    let centre = try tree.transform(from: request.frame,to: context.frame,at: date).applying(
+                        to: CartesianState(epoch: date,frame: request.frame,position: .zero,velocity: .zero),destination: context.frame)
+                    let body = try visit.target.state(at: date)
+                    guard routeNorm(centre.position-body.position) <= positionToleranceMetres,
+                          routeNorm(centre.velocity-body.velocity) <= velocityToleranceMetresPerSecond else { throw EncounterSequenceError.incompatibleOrigin }
+                }
+                try connect(localState(start),matchVelocity: true,index: i,identifier: visit.identifier+" entry")
+                let entry = try localState(start)
+                let offset = current.position-entry.position
+                // Retain the propagated patch residual as a constant translation;
+                // never reset a carried position to the encounter template.
+                arcs.append(EncounterSequenceArc(coverage: start...end,provenance: "Finite local unpowered two-body flyby") { date in
+                    let state = try localState(date)
+                    return try CartesianState(epoch: date,frame: context.frame,position: state.position+offset,velocity: state.velocity)
+                })
+                current = try arcs.last!.state(at: end)
+                let periTarget = try SequenceClosureProvider(frame: context.frame) { date in
+                    let centre = try visit.target.state(at: date)
+                    let peri = try localState(epoch), body = try visit.target.state(at: epoch)
+                    return try CartesianState(epoch: date,frame: context.frame,position: centre.position+peri.position-body.position,velocity: centre.velocity)
+                }
+                let target = try MovingWaypointRouteTarget(provider: periTarget,origin: context.origin,coverage: visit.target.coverage)
+                requirements.append(try NumericalEncounterRequirement(identifier: visit.identifier,target: target,
+                    epoch: epoch,window: visit.arrivalWindow,positionToleranceMetres: positionToleranceMetres,
+                    velocityToleranceMetresPerSecond: velocityToleranceMetresPerSecond,closestApproachTarget: visit.target))
+                residuals.append(EncounterSequencePatchResidual(identifier: visit.identifier+" exit",epoch: end,
+                    positionMetres: routeNorm(offset),preImpulseVelocityMetresPerSecond: 0))
+            }
+        }
+        // DSM candidates are actual commands, not hidden state changes. Their cost
+        // is accounted by numerical replay of the complete combined command set.
+        let allNodes = nodes+candidate.deepSpaceManeuvers
+        do {
+            _ = try NumericalEncounterTrajectory(initialState: initialState,arrivalEpoch: current.epoch,nodes: allNodes,
+                context: context,backgroundModels: [])
+        } catch is NumericalSequenceError { throw EncounterSequenceError.invalidInput }
+        if !candidate.deepSpaceManeuvers.isEmpty {
+            // Rocket bookkeeping depends only on command order and mass, not on
+            // the perturbed trajectory. Actual DSM residuals are checked numerically.
+            mass = initialState.mass
+            for node in allNodes.sorted(by: { sequenceInterval($0).lowerBound < sequenceInterval($1).lowerBound }) {
+                guard case .impulse(let maneuver,let ve) = node.command else { throw EncounterSequenceError.invalidInput }
+                let inventory = try SpacecraftState(cartesian: CartesianState(epoch: maneuver.epoch,frame: context.frame,
+                    position: initialState.cartesian.position,velocity: .zero),mass: mass)
+                mass = try EncounterImpulse.apply(maneuver,to: inventory,effectiveExhaustVelocityMetresPerSecond: ve).mass
+            }
+            for node in candidate.deepSpaceManeuvers {
+                guard case .impulse(let maneuver,_) = node.command else { throw EncounterSequenceError.invalidInput }
+                totalDV += routeNorm(maneuver.deltaVelocityMetresPerSecond)
+            }
+        }
+        guard additionalPassages.count+requirements.count <= 100,
+              additionalPassages.allSatisfy({ $0.epoch > initialState.epoch && $0.epoch <= current.epoch &&
+                  $0.target.frame === context.frame && $0.target.origin == context.origin }) else { throw EncounterSequenceError.invalidInput }
+        requirements += additionalPassages
+        requirements.sort { $0.epoch < $1.epoch }
+        guard Set(requirements.map(\.identifier)).count == requirements.count,
+              zip(requirements,requirements.dropFirst()).allSatisfy({ $0.epoch < $1.epoch }) else { throw EncounterSequenceError.invalidInput }
+        return EncounterSequenceSeed(initialState: initialState,candidate: candidate,arcs: arcs,maneuvers: allNodes,
+            requirements: requirements,patchResiduals: residuals,finalMass: mass,totalDeltaVelocityMetresPerSecond: totalDV)
+    }
+}
+struct SequenceClosureProvider: StateProvider {
+    let frame: Frame
+    let query: (Epoch) throws -> CartesianState
+    init(frame: Frame, query: @escaping (Epoch) throws -> CartesianState) throws { self.frame = frame; self.query = query }
+    func state(at epoch: Epoch) throws -> CartesianState { try query(epoch) }
+}
diff --git a/Sources/CelMek/EncounterSequenceRefinement.swift b/Sources/CelMek/EncounterSequenceRefinement.swift
new file mode 100644
index 0000000..f9c61fa
--- /dev/null
+++ b/Sources/CelMek/EncounterSequenceRefinement.swift
@@ -0,0 +1,299 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+public enum EncounterSequenceRefinementStatus: Equatable {
+    case converged, unresolvedConstraints, evaluationLimitReached, proposalLimitReached, stepLimitReached, toleranceUnconverged
+}
+public struct EncounterSequenceToleranceReport {
+    public let maximumPositionDifferenceMetres: Double
+    public let maximumVelocityDifferenceMetresPerSecond: Double
+    public let maximumMassDifferenceKilograms: Double
+    public let maximumClosestApproachEpochDifferenceSeconds: Double
+    public let maximumClosestApproachDistanceDifferenceMetres: Double
+    public let consistent: Bool
+}
+public struct EncounterSequenceRefinementResult {
+    public let status: EncounterSequenceRefinementStatus
+    public let evaluations: Int
+    public let rejectedTrials: Int
+    public let proposalAttempts: Int
+    public let initial: NumericalSequenceEvaluation
+    public let best: NumericalSequenceEvaluation
+    public let verification: NumericalSequenceEvaluation?
+    public let toleranceReport: EncounterSequenceToleranceReport?
+    public let numericalOptions: NumericalPropagationOptions
+    public let verificationOptions: NumericalPropagationOptions
+    public var provenance: String { "Bounded local coordinate shooting of encounter epochs, impulse epochs/vectors and finite ignition/duration/direction; no claim of a global optimum." }
+}
+extension NumericalEncounterSequence {
+    /// Converts explicit impulse windows to engine seeds with sequential ideal fuel
+    /// consumption. Windows must have positive duration and cover the impulse.
+    public static func finiteSeed(_ seed: EncounterSequenceSeed, burnWindows: [ClosedRange<Epoch>],
+        thrustNewtons: Double) throws -> [DeepSpaceManeuverNode] {
+        let ordered = seed.maneuvers.sorted { sequenceInterval($0).lowerBound < sequenceInterval($1).lowerBound }
+        guard burnWindows.count == ordered.count else { throw NumericalSequenceError.invalidInput }
+        var mass = seed.initialState.mass, result: [DeepSpaceManeuverNode] = []
+        for (node,window) in zip(ordered,burnWindows) {
+            guard case .impulse(let impulse,let ve) = node.command else { throw NumericalSequenceError.invalidInput }
+            let state = try SpacecraftState(cartesian: CartesianState(epoch: impulse.epoch,frame: impulse.frame,
+                position: seed.initialState.cartesian.position,velocity: seed.initialState.cartesian.velocity),mass: mass)
+            let bounded = try DeepSpaceManeuverNode(window: window,command: node.command)
+            let initial = SpacecraftState(cartesian: seed.initialState.cartesian,mass: mass)
+            result.append(try bounded.finiteBurnSeed(initialState: initial,thrustNewtons: thrustNewtons))
+            mass = try EncounterImpulse.apply(impulse,to: state,effectiveExhaustVelocityMetresPerSecond: ve).mass
+        }
+        let intervals = result.map(sequenceInterval)
+        guard intervals.allSatisfy({ $0.lowerBound >= seed.initialState.epoch && $0.upperBound <= seed.arrivalEpoch }),
+              zip(intervals,intervals.dropFirst()).allSatisfy({ $0.upperBound < $1.lowerBound }) else { throw NumericalSequenceError.invalidInput }
+        return result
+    }
+    /// Fixed flight bounds; encounter epochs and command times are independent.
+    /// Multi-body gravity enters through backgroundModels (e.g. point-mass N-body
+    /// or third-body models), with no hidden central-gravity default.
+    public static func refine(initialState: SpacecraftState, arrivalEpoch: Epoch, nodes: [DeepSpaceManeuverNode],
+        requirements: [NumericalEncounterRequirement], context: ForceEvaluationContext, backgroundModels: [any ForceModel],
+        constraints: NumericalSequenceConstraints = try! NumericalSequenceConstraints(), maximumEvaluations: Int = 200, maximumProposalAttempts: Int = 10_000,
+        initialTimeStepSeconds: Double = 60, initialDeltaVelocityStepMetresPerSecond: Double = 1,
+        minimumRelativeStep: Double = 1e-5,
+        numericalOptions: NumericalPropagationOptions = .preset(for: .high),
+        verificationOptions: NumericalPropagationOptions? = nil,
+        convergencePositionMetres: Double = 0.01, convergenceVelocityMetresPerSecond: Double = 1e-5,
+        convergenceMassKilograms: Double = 1e-7,
+        eventOptions: PropagationEventOptions = try! PropagationEventOptions(), maximumStateQueriesPerEvaluation: Int = 10_000) throws -> EncounterSequenceRefinementResult {
+        guard (1...10_000).contains(maximumEvaluations), (1...100_000).contains(maximumProposalAttempts),
+              [initialTimeStepSeconds,initialDeltaVelocityStepMetresPerSecond,minimumRelativeStep,
+               convergencePositionMetres,convergenceVelocityMetresPerSecond,convergenceMassKilograms].allSatisfy({ $0.isFinite && $0 > 0 }),
+              minimumRelativeStep < 1 else { throw NumericalSequenceError.invalidInput }
+        let checkedOptions = try verificationOptions ?? NumericalPropagationOptions(
+            absolutePositionToleranceMetres: numericalOptions.absolutePositionToleranceMetres*0.1,
+            absoluteVelocityToleranceMetresPerSecond: numericalOptions.absoluteVelocityToleranceMetresPerSecond*0.1,
+            absolutePropellantToleranceKilograms: numericalOptions.absolutePropellantToleranceKilograms*0.1,
+            relativeTolerance: numericalOptions.relativeTolerance*0.1,
+            initialStepSeconds: min(numericalOptions.initialStepSeconds,numericalOptions.maximumStepSeconds/2),
+            minimumStepSeconds: min(numericalOptions.minimumStepSeconds,numericalOptions.maximumStepSeconds/2),
+            maximumStepSeconds: numericalOptions.maximumStepSeconds/2,
+            maximumStepAttempts: numericalOptions.maximumStepAttempts,
+            maximumDerivativeEvaluations: numericalOptions.maximumDerivativeEvaluations)
+        guard checkedOptions.absolutePositionToleranceMetres <= numericalOptions.absolutePositionToleranceMetres,
+              checkedOptions.absoluteVelocityToleranceMetresPerSecond <= numericalOptions.absoluteVelocityToleranceMetresPerSecond,
+              checkedOptions.absolutePropellantToleranceKilograms <= numericalOptions.absolutePropellantToleranceKilograms,
+              checkedOptions.relativeTolerance <= numericalOptions.relativeTolerance,
+              checkedOptions.maximumStepSeconds <= numericalOptions.maximumStepSeconds,
+              checkedOptions != numericalOptions else { throw NumericalSequenceError.invalidInput }
+        var evaluations = 0, rejected = 0, proposals = 0
+        func evaluate(_ nodes: [DeepSpaceManeuverNode], _ requirements: [NumericalEncounterRequirement],
+            options: NumericalPropagationOptions) throws -> NumericalSequenceEvaluation {
+            evaluations += 1
+            return try Self.evaluate(initialState: initialState,arrivalEpoch: arrivalEpoch,nodes: nodes,requirements: requirements,
+                context: context,backgroundModels: backgroundModels,constraints: constraints,numericalOptions: options,
+                eventOptions: eventOptions,maximumStateQueries: maximumStateQueriesPerEvaluation)
+        }
+        let initial = try evaluate(nodes,requirements,options: numericalOptions)
+        var best = initial, step = 1.0
+        func encountersSatisfied(_ evaluation: NumericalSequenceEvaluation) -> Bool {
+            evaluation.encounters.allSatisfy(\.satisfied) && !evaluation.clearance.contains { $0.status == .violated }
+        }
+        func trial(_ commands: [DeepSpaceManeuverNode], _ targets: [NumericalEncounterRequirement]) throws -> Bool {
+            guard evaluations < maximumEvaluations else { return false }
+            do {
+                let candidate = try evaluate(commands,targets,options: numericalOptions)
+                if candidate.normalizedResidual < best.normalizedResidual { best = candidate; return true }
+            } catch is NumericalPropagationError { rejected += 1 }
+            catch is NumericalSequenceError { rejected += 1 }
+            catch is EncounterPlanningError { rejected += 1 }
+            catch is WaypointRoutePropagationError { rejected += 1 }
+            catch is PropagationEventError { rejected += 1 }
+            return false
+        }
+        while !encountersSatisfied(best), evaluations < maximumEvaluations, proposals < maximumProposalAttempts, step >= minimumRelativeStep {
+            var improved = false
+            for i in best.nodes.indices {
+                for coordinate in 0..<5 {
+                    for sign in [-1.0,1.0] {
+                        guard evaluations < maximumEvaluations, proposals < maximumProposalAttempts else { break }
+                        proposals += 1
+                        var commands = best.nodes
+                        let old = commands[i]
+                        do {
+                            let command: DeepSpaceManeuverCommand
+                            switch old.command {
+                            case .impulse(let impulse,let ve):
+                                if coordinate == 4 { continue }
+                                var epoch = impulse.epoch, dv = impulse.deltaVelocityMetresPerSecond
+                                if coordinate == 0 { epoch = try epoch.advanced(by: Duration(seconds: sign*step*initialTimeStepSeconds)) }
+                                else { dv[coordinate-1] += sign*step*initialDeltaVelocityStepMetresPerSecond }
+                                command = .impulse(try ImpulsiveManeuver(epoch: epoch,frame: impulse.frame,deltaVelocityMetresPerSecond: dv),effectiveExhaustVelocityMetresPerSecond: ve)
+                            case .finiteBurn(let burn):
+                                var start = burn.start, duration = try burn.end.duration(since: burn.start).seconds, direction = burn.thrust.direction
+                                if coordinate == 0 { start = try start.advanced(by: Duration(seconds: sign*step*initialTimeStepSeconds)) }
+                                else if coordinate == 1 { duration *= 1+sign*step*0.25 }
+                                else { direction[coordinate-2] += sign*step*0.25 }
+                                command = .finiteBurn(try FiniteBurn(start: start,end: start.advanced(by: Duration(seconds: duration)),
+                                    thrust: FiniteThrust(frame: burn.thrust.frame,thrustNewtons: burn.thrust.thrustNewtons,
+                                        effectiveExhaustVelocityMetresPerSecond: burn.thrust.effectiveExhaustVelocityMetresPerSecond,direction: direction)))
+                            }
+                            commands[i] = try DeepSpaceManeuverNode(window: old.window,command: command)
+                            improved = try trial(commands,best.requirements) || improved
+                        } catch is EncounterPlanningError { rejected += 1 }
+                        catch is FiniteThrustError { rejected += 1 }
+                        if encountersSatisfied(best) { break }
+                    }
+                    if encountersSatisfied(best) { break }
+                }
+                if encountersSatisfied(best) { break }
+            }
+            if !encountersSatisfied(best) {
+                for i in best.requirements.indices {
+                    for sign in [-1.0,1.0] where evaluations < maximumEvaluations && proposals < maximumProposalAttempts {
+                        proposals += 1
+                        var targets = best.requirements
+                        let old = targets[i], epoch = try old.epoch.advanced(by: Duration(seconds: sign*step*initialTimeStepSeconds))
+                        guard old.window.contains(epoch), epoch > initialState.epoch, epoch <= arrivalEpoch,
+                              (i == 0 || epoch > targets[i-1].epoch), (i == targets.count-1 || epoch < targets[i+1].epoch) else { rejected += 1; continue }
+                        targets[i] = try old.shifted(to: epoch)
+                        improved = try trial(best.nodes,targets) || improved
+                        if encountersSatisfied(best) { break }
+                    }
+                    if encountersSatisfied(best) { break }
+                }
+            }
+            if !improved { step *= 0.5 }
+        }
+        var verification: NumericalSequenceEvaluation?, tolerance: EncounterSequenceToleranceReport?
+        let status: EncounterSequenceRefinementStatus
+        if encountersSatisfied(best), evaluations < maximumEvaluations {
+            let checked = try evaluate(best.nodes,best.requirements,options: checkedOptions)
+            verification = checked
+            var p = routeNorm(best.arrivalState.cartesian.position-checked.arrivalState.cartesian.position)
+            var v = routeNorm(best.arrivalState.cartesian.velocity-checked.arrivalState.cartesian.velocity)
+            var m = abs(best.arrivalState.mass.totalMassKilograms-checked.arrivalState.mass.totalMassKilograms)
+            var eventTime = 0.0, eventDistance = 0.0
+            for (a,b) in zip(best.encounters,checked.encounters) {
+                p = max(p,routeNorm(a.state.cartesian.position-b.state.cartesian.position))
+                v = max(v,routeNorm(a.state.cartesian.velocity-b.state.cartesian.velocity))
+                m = max(m,abs(a.state.mass.totalMassKilograms-b.state.mass.totalMassKilograms))
+                eventTime = max(eventTime,abs(try a.closestApproachEpoch.duration(since: b.closestApproachEpoch).seconds))
+                eventDistance = max(eventDistance,abs(a.closestApproachDistanceMetres-b.closestApproachDistanceMetres))
+            }
+            let consistent = p <= convergencePositionMetres && v <= convergenceVelocityMetresPerSecond && m <= convergenceMassKilograms
+            tolerance = EncounterSequenceToleranceReport(maximumPositionDifferenceMetres: p,
+                maximumVelocityDifferenceMetresPerSecond: v,maximumMassDifferenceKilograms: m,
+                maximumClosestApproachEpochDifferenceSeconds: eventTime,maximumClosestApproachDistanceDifferenceMetres: eventDistance,consistent: consistent)
+            if !consistent || !encountersSatisfied(checked) { status = .toleranceUnconverged }
+            else if !checked.constraintsResolved { status = .unresolvedConstraints }
+            else { status = .converged }
+        } else { status = evaluations >= maximumEvaluations ? .evaluationLimitReached :
+            (proposals >= maximumProposalAttempts ? .proposalLimitReached : .stepLimitReached) }
+        return EncounterSequenceRefinementResult(status: status,evaluations: evaluations,rejectedTrials: rejected,proposalAttempts: proposals,initial: initial,
+            best: best,verification: verification,toleranceReport: tolerance,numericalOptions: numericalOptions,verificationOptions: checkedOptions)
+    }
+}
+
+public enum NumericalSequenceCandidateStatus: Equatable {
+    case converged, infeasible, unresolved, unconverged, workLimitReached
+}
+public struct NumericalSequenceSearchRow {
+    public let seedIndex: Int
+    public let status: NumericalSequenceCandidateStatus
+    public let refinement: EncounterSequenceRefinementResult?
+    public let failure: String?
+}
+public struct NumericalSequenceSearchResult {
+    public let status: EncounterSequenceSearchStatus
+    public let totalSeeds: Int
+    public let rows: [NumericalSequenceSearchRow]
+    public let rankedConvergedRows: [NumericalSequenceSearchRow]
+}
+extension NumericalEncounterSequence {
+    /// Verifies/refines a bounded set of patched-conic seeds. Only numerically
+    /// converged, constraint-resolved rows participate in the final ranking.
+    public static func search(seeds: [EncounterSequenceSeed], context: ForceEvaluationContext,
+        backgroundModels: [any ForceModel], constraints: NumericalSequenceConstraints = try! NumericalSequenceConstraints(),
+        objective: EncounterSequenceObjective = .propellant, maximumCandidates: Int = 100,
+        maximumEvaluationsPerCandidate: Int = 200, maximumProposalAttemptsPerCandidate: Int = 10_000,
+        numericalOptions: NumericalPropagationOptions = .preset(for: .high),
+        eventOptions: PropagationEventOptions = try! PropagationEventOptions(),
+        maximumStateQueriesPerEvaluation: Int = 10_000) throws -> NumericalSequenceSearchResult {
+        guard !seeds.isEmpty, seeds.count <= 100_000, (1...10_000).contains(maximumCandidates) else { throw NumericalSequenceError.invalidInput }
+        var rows: [NumericalSequenceSearchRow] = []
+        for (index,seed) in seeds.prefix(maximumCandidates).enumerated() {
+            do {
+                let result = try refine(initialState: seed.initialState,arrivalEpoch: seed.arrivalEpoch,nodes: seed.maneuvers,
+                    requirements: seed.requirements,context: context,backgroundModels: backgroundModels,constraints: constraints,
+                    maximumEvaluations: maximumEvaluationsPerCandidate,maximumProposalAttempts: maximumProposalAttemptsPerCandidate,
+                    numericalOptions: numericalOptions,eventOptions: eventOptions,maximumStateQueriesPerEvaluation: maximumStateQueriesPerEvaluation)
+                let status: NumericalSequenceCandidateStatus
+                switch result.status {
+                case .converged: status = .converged
+                case .unresolvedConstraints: status = .unresolved
+                case .evaluationLimitReached, .proposalLimitReached: status = .workLimitReached
+                case .stepLimitReached: status = result.best.clearance.contains { $0.status == .violated } ? .infeasible : .unconverged
+                case .toleranceUnconverged: status = .unconverged
+                }
+                rows.append(NumericalSequenceSearchRow(seedIndex: index,status: status,refinement: result,failure: nil))
+            } catch let error as NumericalSequenceError {
+                let status: NumericalSequenceCandidateStatus = error == .queryLimitReached ? .workLimitReached : .infeasible
+                rows.append(NumericalSequenceSearchRow(seedIndex: index,status: status,refinement: nil,failure: String(describing: error)))
+            } catch let error as NumericalPropagationError {
+                let exhausted = error == .stepLimitExceeded || error == .evaluationLimitExceeded
+                rows.append(NumericalSequenceSearchRow(seedIndex: index,status: exhausted ? .workLimitReached : .unconverged,
+                    refinement: nil,failure: String(describing: error)))
+            } catch let error as WaypointRoutePropagationError {
+                rows.append(NumericalSequenceSearchRow(seedIndex: index,status: .infeasible,refinement: nil,failure: String(describing: error)))
+            } catch let error as EncounterPlanningError {
+                rows.append(NumericalSequenceSearchRow(seedIndex: index,status: .infeasible,refinement: nil,failure: String(describing: error)))
+            } catch let error as PropagationEventError {
+                rows.append(NumericalSequenceSearchRow(seedIndex: index,status: .workLimitReached,refinement: nil,failure: String(describing: error)))
+            } catch GravityModelError.singularPosition {
+                rows.append(NumericalSequenceSearchRow(seedIndex: index,status: .infeasible,refinement: nil,failure: "gravity singularity"))
+            }
+        }
+        var scored: [(NumericalSequenceSearchRow,Double)] = []
+        for row in rows where row.status == .converged {
+            let result = row.refinement!, evaluation = result.verification ?? result.best
+            let value: Double
+            switch objective {
+            case .propellant: value = evaluation.propellantUsedKilograms
+            case .flightTime: value = try seeds[row.seedIndex].arrivalEpoch.duration(since: seeds[row.seedIndex].initialState.epoch).seconds
+            case .deltaVelocity:
+                // Includes ideal-equivalent rocket delta-v of finite burns, not
+                // just impulse norms, using the physically carried mass inventory.
+                let mass = seeds[row.seedIndex].initialState.mass.totalMassKilograms
+                var total = 0.0, currentMass = mass
+                for node in evaluation.nodes.sorted(by: { sequenceInterval($0).lowerBound < sequenceInterval($1).lowerBound }) {
+                    switch node.command {
+                    case .impulse(let impulse,let ve):
+                        let dv = routeNorm(impulse.deltaVelocityMetresPerSecond)
+                        total += dv; currentMass *= exp(-dv/ve)
+                    case .finiteBurn(let burn):
+                        let fuel = try burn.end.duration(since: burn.start).seconds*burn.thrust.propellantConsumptionKilogramsPerSecond
+                        total += burn.thrust.effectiveExhaustVelocityMetresPerSecond*log(currentMass/(currentMass-fuel))
+                        currentMass -= fuel
+                    }
+                }
+                value = total
+            }
+            scored.append((row,value))
+        }
+        scored.sort { $0.1 == $1.1 ? $0.0.seedIndex < $1.0.seedIndex : $0.1 < $1.1 }
+        return NumericalSequenceSearchResult(status: rows.count == seeds.count ? .candidatesExhausted : .evaluationLimitReached,
+            totalSeeds: seeds.count,rows: rows,rankedConvergedRows: scored.map { $0.0 })
+    }
+}
diff --git a/Sources/CelMek/EnvironmentalForces.swift b/Sources/CelMek/EnvironmentalForces.swift
new file mode 100644
index 0000000..93cac6f
--- /dev/null
+++ b/Sources/CelMek/EnvironmentalForces.swift
@@ -0,0 +1,174 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+public enum EnvironmentalForceError: Error, Equatable {
+    case invalidParameter, invalidDensity, invalidVelocity, invalidIllumination
+    case originMismatch, missingEphemerides, singularSource, numericalRangeExceeded
+}
+
+/// Local medium properties in the same axes and physical origin as the state.
+public struct AtmosphereSample {
+    public let epoch: Epoch
+    public let frame: Frame
+    public let origin: BodyIdentifier
+    public let densityKilogramsPerCubicMetre: Double
+    public let velocityMetresPerSecond: SIMD3<Double>
+    public init(epoch: Epoch, frame: Frame, origin: BodyIdentifier,
+                densityKilogramsPerCubicMetre: Double, velocityMetresPerSecond: SIMD3<Double>) throws {
+        try origin.validate()
+        guard densityKilogramsPerCubicMetre.isFinite, densityKilogramsPerCubicMetre >= 0 else {
+            throw EnvironmentalForceError.invalidDensity
+        }
+        guard [velocityMetresPerSecond.x,velocityMetresPerSecond.y,velocityMetresPerSecond.z].allSatisfy(\.isFinite) else {
+            throw EnvironmentalForceError.invalidVelocity
+        }
+        self.epoch = epoch; self.frame = frame; self.origin = origin
+        self.densityKilogramsPerCubicMetre = densityKilogramsPerCubicMetre
+        self.velocityMetresPerSecond = velocityMetresPerSecond
+    }
+}
+
+/// Pure local sampling; implementations supply winds/rotation, coverage and density.
+public protocol AtmosphereProvider {
+    func sample(for state: SpacecraftState, in context: ForceEvaluationContext) throws -> AtmosphereSample
+}
+
+/// Explicit uniform medium for controlled scenarios; not a planetary atmosphere model.
+public struct UniformAtmosphere: AtmosphereProvider {
+    private let reference: AtmosphereSample
+    public init(frame: Frame, origin: BodyIdentifier, densityKilogramsPerCubicMetre: Double,
+                velocityMetresPerSecond: SIMD3<Double> = .zero) throws {
+        reference = try AtmosphereSample(epoch: .j2000, frame: frame, origin: origin,
+            densityKilogramsPerCubicMetre: densityKilogramsPerCubicMetre, velocityMetresPerSecond: velocityMetresPerSecond)
+    }
+    public func sample(for state: SpacecraftState, in context: ForceEvaluationContext) throws -> AtmosphereSample {
+        try AtmosphereSample(epoch: state.epoch, frame: reference.frame, origin: reference.origin,
+            densityKilogramsPerCubicMetre: reference.densityKilogramsPerCubicMetre,
+            velocityMetresPerSecond: reference.velocityMetresPerSecond)
+    }
+}
+
+/// Isotropic constant-area drag: -rho Cd A |v-relative| v-relative / (2 mass).
+public struct AtmosphericDrag: ForceModel {
+    public let referenceAreaSquareMetres: Double
+    public let dragCoefficient: Double
+    public let atmosphere: any AtmosphereProvider
+    public init(referenceAreaSquareMetres: Double, dragCoefficient: Double, atmosphere: any AtmosphereProvider) throws {
+        try validateEnvironmentParameters([referenceAreaSquareMetres,dragCoefficient])
+        self.referenceAreaSquareMetres = referenceAreaSquareMetres
+        self.dragCoefficient = dragCoefficient; self.atmosphere = atmosphere
+    }
+    public func contribution(for state: SpacecraftState, in context: ForceEvaluationContext) throws -> ForceContribution {
+        try validateEnvironmentState(state, context)
+        let medium = try atmosphere.sample(for: state, in: context)
+        guard medium.frame === state.frame else { throw SpacecraftDynamicsError.frameMismatch }
+        guard medium.epoch == state.epoch else { throw SpacecraftDynamicsError.epochMismatch }
+        guard medium.origin == context.origin else { throw EnvironmentalForceError.originMismatch }
+        let relative = state.cartesian.velocity - medium.velocityMetresPerSecond
+        let speed = hypot(hypot(relative.x,relative.y),relative.z)
+        guard speed.isFinite else { throw EnvironmentalForceError.numericalRangeExceeded }
+        var acceleration = SIMD3<Double>.zero
+        if speed > 0 && medium.densityKilogramsPerCubicMetre > 0 && dragCoefficient > 0 && referenceAreaSquareMetres > 0 {
+            let magnitude = 0.5 * medium.densityKilogramsPerCubicMetre * dragCoefficient
+                * referenceAreaSquareMetres / state.mass.totalMassKilograms * speed * speed
+            acceleration = -(relative / speed) * magnitude
+        }
+        return try environmentalContribution(acceleration, state)
+    }
+}
+
+/// Fraction of unobscured incident radiation, in 0...1. Caller models shadows.
+public protocol RadiationIlluminationProvider {
+    func fraction(for state: SpacecraftState, sourcePosition: SIMD3<Double>, in context: ForceEvaluationContext) throws -> Double
+}
+public struct ConstantRadiationIllumination: RadiationIlluminationProvider {
+    public let illuminatedFraction: Double
+    public init(illuminatedFraction: Double) throws {
+        guard illuminatedFraction.isFinite, (0...1).contains(illuminatedFraction) else {
+            throw EnvironmentalForceError.invalidIllumination
+        }
+        self.illuminatedFraction = illuminatedFraction
+    }
+    public func fraction(for state: SpacecraftState, sourcePosition: SIMD3<Double>, in context: ForceEvaluationContext) throws -> Double {
+        illuminatedFraction
+    }
+}
+
+/// Isotropic constant-area radiation pressure directed away from a point source.
+/// Pressure scales by inverse-square source distance. No implicit eclipse model.
+public struct SolarRadiationPressure: ForceModel {
+    public let source: BodyIdentifier
+    public let referencePressurePascals: SourcedPhysicalValue
+    public let referenceDistanceMetres: SourcedPhysicalValue
+    public let referenceAreaSquareMetres: Double
+    public let radiationCoefficient: Double
+    public let illumination: any RadiationIlluminationProvider
+    public init(source: BodyIdentifier = .sun, referencePressurePascals: SourcedPhysicalValue,
+                referenceDistanceMetres: SourcedPhysicalValue, referenceAreaSquareMetres: Double,
+                radiationCoefficient: Double, illumination: any RadiationIlluminationProvider) throws {
+        try source.validate()
+        try validateEnvironmentParameters([referenceAreaSquareMetres,radiationCoefficient])
+        self.source = source; self.referencePressurePascals = referencePressurePascals
+        self.referenceDistanceMetres = referenceDistanceMetres
+        self.referenceAreaSquareMetres = referenceAreaSquareMetres; self.radiationCoefficient = radiationCoefficient
+        self.illumination = illumination
+    }
+    public func contribution(for state: SpacecraftState, in context: ForceEvaluationContext) throws -> ForceContribution {
+        try validateEnvironmentState(state, context)
+        let sourcePosition: SIMD3<Double>
+        if source == context.origin {
+            sourcePosition = .zero
+        } else {
+            guard let collection = context.ephemerides else { throw EnvironmentalForceError.missingEphemerides }
+            let provider = try collection.provider(for: source)
+            guard provider.metadata.origin == context.origin else { throw EnvironmentalForceError.originMismatch }
+            guard provider.frame === state.frame else { throw SpacecraftDynamicsError.frameMismatch }
+            sourcePosition = try provider.checkedState(at: state.epoch).position
+        }
+        let displacement = state.cartesian.position - sourcePosition
+        let distance = hypot(hypot(displacement.x,displacement.y),displacement.z)
+        guard distance.isFinite else { throw EnvironmentalForceError.numericalRangeExceeded }
+        guard distance > 0 else { throw EnvironmentalForceError.singularSource }
+        let fraction = try illumination.fraction(for: state, sourcePosition: sourcePosition, in: context)
+        guard fraction.isFinite, (0...1).contains(fraction) else { throw EnvironmentalForceError.invalidIllumination }
+        var acceleration = SIMD3<Double>.zero
+        if fraction > 0 && radiationCoefficient > 0 && referenceAreaSquareMetres > 0 {
+            let ratio = referenceDistanceMetres.value / distance
+            let magnitude = referencePressurePascals.value * fraction * radiationCoefficient
+                * referenceAreaSquareMetres / state.mass.totalMassKilograms * ratio * ratio
+            acceleration = displacement / distance * magnitude
+        }
+        return try environmentalContribution(acceleration, state)
+    }
+}
+
+private func validateEnvironmentParameters(_ values: [Double]) throws {
+    guard values.allSatisfy({ $0.isFinite && $0 >= 0 }) else { throw EnvironmentalForceError.invalidParameter }
+}
+private func validateEnvironmentState(_ state: SpacecraftState, _ context: ForceEvaluationContext) throws {
+    guard state.frame === context.frame else { throw SpacecraftDynamicsError.frameMismatch }
+    guard state.frame.pseudoInertial else { throw SpacecraftDynamicsError.nonInertialFrame }
+}
+private func environmentalContribution(_ acceleration: SIMD3<Double>, _ state: SpacecraftState) throws -> ForceContribution {
+    guard [acceleration.x,acceleration.y,acceleration.z].allSatisfy(\.isFinite) else {
+        throw EnvironmentalForceError.numericalRangeExceeded
+    }
+    return try ForceContribution(epoch: state.epoch, frame: state.frame, accelerationMetresPerSecondSquared: acceleration)
+}
diff --git a/Sources/CelMek/EphemerisBatch.swift b/Sources/CelMek/EphemerisBatch.swift
new file mode 100644
index 0000000..65725b3
--- /dev/null
+++ b/Sources/CelMek/EphemerisBatch.swift
@@ -0,0 +1,42 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+public struct EphemerisRequest {
+  public let body: BodyIdentifier
+  public let epoch: Epoch
+  public init(body: BodyIdentifier, epoch: Epoch) { self.body = body; self.epoch = epoch }
+}
+
+extension EphemerisProvider {
+  /// Ordered exact queries. Duplicates are preserved; no sorting or time quantization.
+  /// Fail-fast: the first error propagates and no partial array is returned. Earlier
+  /// successful evaluations may populate an explicitly selected cache.
+  public func states(at epochs: [Epoch]) throws -> [CartesianState] {
+    try epochs.map { try checkedState(at: $0) }
+  }
+}
+
+extension EphemerisCollection {
+  public func states(of body: BodyIdentifier, at epochs: [Epoch]) throws -> [CartesianState] {
+    try provider(for: body).states(at: epochs)
+  }
+  /// Results match request order even across different origins, frames or coverage.
+  /// Inspect each body's metadata before combining coordinates.
+  public func states(for requests: [EphemerisRequest]) throws -> [CartesianState] {
+    try requests.map { try state(of: $0.body,at: $0.epoch) }
+  }
+}
diff --git a/Sources/CelMek/EphemerisCache.swift b/Sources/CelMek/EphemerisCache.swift
new file mode 100644
index 0000000..90a4739
--- /dev/null
+++ b/Sources/CelMek/EphemerisCache.swift
@@ -0,0 +1,155 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+public enum EphemerisCacheError: Error, Equatable { case invalidCapacity }
+
+/// Opaque identity for one configured provider and invalidation generation.
+public struct EphemerisCacheScope: Hashable, Sendable {
+  private let identifier: UUID
+  public init() { identifier = UUID() }
+}
+
+/// Exact atomic epoch, without rounding or interpolation. Scope prevents model,
+/// origin, frame, accuracy and data-version collisions between provider wrappers.
+public struct EphemerisCacheKey: Hashable, Sendable {
+  public let scope: EphemerisCacheScope
+  public let epoch: Epoch
+  public init(scope: EphemerisCacheScope, epoch: Epoch) { self.scope = scope; self.epoch = epoch }
+}
+
+/// Injectable native-state cache. Custom implementations own storage/concurrency;
+/// callbacks must not reenter the wrapper that invoked them. Errors propagate.
+public protocol EphemerisStateCache: AnyObject {
+  func state(for key: EphemerisCacheKey) throws -> CartesianState?
+  func store(_ state: CartesianState, for key: EphemerisCacheKey) throws
+  func removeAll(in scope: EphemerisCacheScope) throws
+}
+
+/// Bounded O(1) lookup and LRU updates, with a single lock around storage only.
+/// Cache storage is synchronized; this does not make wrapped providers thread-safe.
+public final class MemoryEphemerisCache: EphemerisStateCache {
+  public let capacity: Int
+  private final class Entry {
+    let key: EphemerisCacheKey
+    var state: CartesianState
+    weak var previous: Entry?
+    var next: Entry?
+    init(key: EphemerisCacheKey, state: CartesianState) { self.key = key; self.state = state }
+  }
+  private let lock = NSLock()
+  private var entries: [EphemerisCacheKey: Entry] = [:]
+  private var mostRecent: Entry?
+  private var leastRecent: Entry?
+  public init(capacity: Int) throws {
+    guard capacity > 0 else { throw EphemerisCacheError.invalidCapacity }
+    self.capacity = capacity
+  }
+  public var count: Int {
+    lock.lock(); defer { lock.unlock() }
+    return entries.count
+  }
+  private func detach(_ entry: Entry) {
+    if let previous = entry.previous { previous.next = entry.next } else { mostRecent = entry.next }
+    if let next = entry.next { next.previous = entry.previous } else { leastRecent = entry.previous }
+    entry.previous = nil; entry.next = nil
+  }
+  private func prepend(_ entry: Entry) {
+    entry.next = mostRecent; mostRecent?.previous = entry
+    mostRecent = entry
+    if leastRecent == nil { leastRecent = entry }
+  }
+  public func state(for key: EphemerisCacheKey) -> CartesianState? {
+    lock.lock(); defer { lock.unlock() }
+    guard let entry = entries[key] else { return nil }
+    detach(entry); prepend(entry)
+    return entry.state
+  }
+  public func store(_ state: CartesianState, for key: EphemerisCacheKey) {
+    lock.lock(); defer { lock.unlock() }
+    if let entry = entries[key] {
+      entry.state = state; detach(entry); prepend(entry)
+    } else {
+      let entry = Entry(key: key,state: state)
+      entries[key] = entry; prepend(entry)
+      if entries.count > capacity, let oldest = leastRecent {
+        detach(oldest); entries.removeValue(forKey: oldest.key)
+      }
+    }
+  }
+  public func removeAll(in scope: EphemerisCacheScope) {
+    lock.lock(); defer { lock.unlock() }
+    let keys = entries.keys.filter { $0.scope == scope }
+    for key in keys {
+      if let entry = entries.removeValue(forKey: key) { detach(entry) }
+    }
+  }
+  /// Clear all scopes, e.g. when releasing a game scene's shared storage.
+  public func removeAll() {
+    lock.lock(); defer { lock.unlock() }
+    // Break next links iteratively rather than recursively releasing a long chain.
+    while let entry = mostRecent { detach(entry) }
+    entries.removeAll(); leastRecent = nil
+  }
+  deinit { removeAll() }
+}
+
+/// Exact native-state memoization for a fixed provider configuration. Construct a
+/// new wrapper when metadata/frame/settings change; invalidate after data updates
+/// that retain metadata. Error results are never cached. No fallback or interpolation.
+public final class CachedEphemerisProvider: EphemerisProvider {
+  public let metadata: EphemerisMetadata
+  private let provider: any EphemerisProvider
+  private let cache: any EphemerisStateCache
+  private let lock = NSLock()
+  private var scope = EphemerisCacheScope()
+  public init(provider: any EphemerisProvider, cache: any EphemerisStateCache) throws {
+    guard provider.frame === provider.metadata.frame else { throw EphemerisError.frameMismatch }
+    self.provider = provider; self.cache = cache; metadata = provider.metadata
+  }
+  private func validate(_ state: CartesianState, at epoch: Epoch) throws {
+    guard state.epoch == epoch else { throw FrameTransformError.epochMismatch }
+    guard state.frame === metadata.frame else { throw EphemerisError.frameMismatch }
+    guard (state.acceleration == nil) == (metadata.accelerationMethod == .unavailable) else {
+      throw EphemerisError.accelerationMismatch
+    }
+  }
+  public func state(at epoch: Epoch) throws -> CartesianState {
+    guard metadata.coverage.contains(epoch) else { throw EphemerisError.outsideCoverage }
+    lock.lock(); let generation = scope; lock.unlock()
+    let key = EphemerisCacheKey(scope: generation,epoch: epoch)
+    if let hit = try cache.state(for: key) {
+      try validate(hit,at: epoch)
+      return hit
+    }
+    let result = try provider.checkedState(at: epoch)
+    try validate(result,at: epoch)
+    lock.lock(); defer { lock.unlock() }
+    // A query in flight during invalidation may finish, but cannot repopulate the old scope.
+    if scope == generation { try cache.store(result,for: key) }
+    return result
+  }
+  /// Rotate generation before clearing storage. In-flight queries can complete with
+  /// their original result; subsequent queries always use the new generation.
+  /// Even if storage cleanup throws, the generation remains changed. Serialize
+  /// dependency updates and discard old in-flight results at the application boundary.
+  public func invalidate() throws {
+    lock.lock(); let old = scope; scope = EphemerisCacheScope(); lock.unlock()
+    try cache.removeAll(in: old)
+  }
+}
diff --git a/Sources/CelMek/EphemerisFallback.swift b/Sources/CelMek/EphemerisFallback.swift
new file mode 100644
index 0000000..d28984b
--- /dev/null
+++ b/Sources/CelMek/EphemerisFallback.swift
@@ -0,0 +1,198 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Math
+
+public enum EphemerisFallbackError: Error, Equatable {
+  case noProviders, incompatibleBody, incompatibleOrigin, coverageGap
+}
+
+/// Ordered tiers, independent of requested numerical accuracy.
+public enum EphemerisFallbackTier: Sendable { case de441, spk, model, kepler }
+
+/// Explicit priority within the file-backed tier; absent sources are skipped.
+public enum FileBackedEphemerisOrder: Sendable { case de441ThenSPK, spkThenDE441 }
+/// Only SPK availability failures may be retried. All data/configuration errors propagate.
+public enum SPKEphemerisFallbackPolicy: Sendable { case declaredCoverageOnly, missingLinksAndGaps }
+public enum EphemerisFallbackSkipReason: Equatable, Sendable {
+  case outsideDeclaredCoverage
+  case missingSPKLink(Int32)
+  case spkCoverageGap(Int32)
+}
+public struct EphemerisFallbackSkip {
+  public let tier: EphemerisFallbackTier
+  public let source: EphemerisMetadata
+  public let reason: EphemerisFallbackSkipReason
+}
+
+public struct EphemerisFallbackResult {
+  public let state: CartesianState
+  public let tier: EphemerisFallbackTier
+  /// Metadata of the selected source, before the chain's derivative normalization.
+  public let source: EphemerisMetadata
+  /// Sources skipped before selecting this state, including availability diagnostics.
+  public let skippedSources: [EphemerisFallbackSkip]
+}
+
+/// File-backed -> analytic/fitted model -> Kepler. Missing tiers are skipped. Selection
+/// uses declared coverage and the explicitly selected SPK availability policy.
+/// Inputs must already describe the same target, origin and frame identity.
+public struct FallbackEphemeris: EphemerisProvider {
+  public let metadata: EphemerisMetadata
+  private let sources: [(EphemerisFallbackTier, any EphemerisProvider)]
+  public let spkFallbackPolicy: SPKEphemerisFallbackPolicy
+
+  public init(de441: (any EphemerisProvider)? = nil,
+              model: (any EphemerisProvider)? = nil,
+              kepler: (any EphemerisProvider)? = nil) throws {
+    try self.init(de441: de441, spk: nil, fileBackedOrder: .de441ThenSPK,
+                  spkFallbackPolicy: .declaredCoverageOnly, model: model, kepler: kepler)
+  }
+
+  /// Providers must already share exact target, origin and frame identities.
+  /// No asset is loaded implicitly; nil means the caller has no provider for that tier.
+  public init(de441: (any EphemerisProvider)? = nil, spk: (any EphemerisProvider)?,
+              fileBackedOrder: FileBackedEphemerisOrder,
+              spkFallbackPolicy: SPKEphemerisFallbackPolicy = .missingLinksAndGaps,
+              model: (any EphemerisProvider)? = nil, kepler: (any EphemerisProvider)? = nil) throws {
+    var sources: [(EphemerisFallbackTier, any EphemerisProvider)] = []
+    switch fileBackedOrder {
+    case .de441ThenSPK:
+      if let de441 { sources.append((.de441,de441)) }
+      if let spk { sources.append((.spk,spk)) }
+    case .spkThenDE441:
+      if let spk { sources.append((.spk,spk)) }
+      if let de441 { sources.append((.de441,de441)) }
+    }
+    if let model { sources.append((.model, model)) }
+    if let kepler { sources.append((.kepler, kepler)) }
+    guard let first = sources.first?.1.metadata else { throw EphemerisFallbackError.noProviders }
+    for (_, p) in sources {
+      guard p.metadata.body == first.body else { throw EphemerisFallbackError.incompatibleBody }
+      guard p.metadata.origin == first.origin else { throw EphemerisFallbackError.incompatibleOrigin }
+      guard p.frame === first.frame, p.metadata.frame === first.frame else { throw EphemerisError.frameMismatch }
+    }
+    // A single metadata interval must not claim coverage across an uncovered gap.
+    let intervals = sources.map { $0.1.metadata.coverage }.sorted { $0.lowerBound < $1.lowerBound }
+    var end = intervals[0].upperBound
+    for interval in intervals.dropFirst() {
+      guard interval.lowerBound <= end else { throw EphemerisFallbackError.coverageGap }
+      end = max(end, interval.upperBound)
+    }
+    let hasAcceleration = sources.allSatisfy { $0.1.metadata.accelerationMethod != .unavailable }
+    metadata = try EphemerisMetadata(body: first.body, origin: first.origin, frame: first.frame,
+      coverage: intervals[0].lowerBound...end, coverageBasis: .callerSelected,
+      modelTimeScale: first.modelTimeScale,
+      velocityMethod: .supplied(description: "Selected fallback source; see result source metadata"),
+      accelerationMethod: hasAcceleration ? .supplied(description: "Selected fallback source") : .unavailable,
+      provenance: PhysicalDataProvenance(source: sources.map { $0.1.metadata.provenance.source }.joined(separator: " -> "),
+        version: "Ordered file-backed -> model -> Kepler; SPK availability: \(spkFallbackPolicy)"),
+      modelTimeScales: sources.reduce(into: Set<TimeScale>()) { $0.formUnion($1.1.metadata.modelTimeScales) })
+    self.sources = sources; self.spkFallbackPolicy = spkFallbackPolicy
+  }
+
+  public func selection(at epoch: Epoch) throws -> EphemerisFallbackResult {
+    guard metadata.coverage.contains(epoch) else { throw EphemerisError.outsideCoverage }
+    var skipped: [EphemerisFallbackSkip] = []
+    var lastAvailabilityError: (any Error)?
+    for (tier, provider) in sources {
+      guard provider.metadata.coverage.contains(epoch) else {
+        skipped.append(EphemerisFallbackSkip(tier: tier,source: provider.metadata,reason: .outsideDeclaredCoverage))
+        continue
+      }
+      let native: CartesianState
+      do { native = try provider.checkedState(at: epoch) }
+      catch {
+        guard tier == .spk, spkFallbackPolicy == .missingLinksAndGaps,
+              let availability = error as? SpiceSPKResolutionError else { throw error }
+        let reason: EphemerisFallbackSkipReason
+        switch availability {
+        case .missingLink(let bodyID, _): reason = .missingSPKLink(bodyID)
+        case .coverageGap(let bodyID, _): reason = .spkCoverageGap(bodyID)
+        default: throw error
+        }
+        skipped.append(EphemerisFallbackSkip(tier: tier,source: provider.metadata,reason: reason))
+        lastAvailabilityError = error
+        continue
+      }
+      let state = try CartesianState(epoch: epoch, frame: frame, position: native.position,
+        velocity: native.velocity, acceleration: metadata.accelerationMethod == .unavailable ? nil : native.acceleration)
+      return EphemerisFallbackResult(state: state,tier: tier,source: provider.metadata,skippedSources: skipped)
+    }
+    if let lastAvailabilityError { throw lastAvailabilityError }
+    throw EphemerisError.outsideCoverage
+  }
+  public func state(at epoch: Epoch) throws -> CartesianState { try selection(at: epoch).state }
+}
+
+/// Explicit fixed-seed Kepler fallback. Coverage is a caller's usable interval,
+/// not a claim about the physical accuracy of unperturbed two-body motion.
+public struct KeplerEphemeris: EphemerisProvider {
+  public let metadata: EphemerisMetadata
+  public let propagator: TwoBodyPropagator
+  public init(body: BodyIdentifier, propagator: TwoBodyPropagator,
+              coverage: ClosedRange<Epoch>, provenance: PhysicalDataProvenance) throws {
+    self.propagator = propagator
+    metadata = try EphemerisMetadata(body: body, origin: propagator.centralBody, frame: propagator.frame,
+      coverage: coverage, coverageBasis: .callerSelected, modelTimeScale: .tt,
+      velocityMethod: .analytic, accelerationMethod: .analytic, provenance: provenance)
+  }
+  public func state(at epoch: Epoch) throws -> CartesianState {
+    guard metadata.coverage.contains(epoch) else { throw EphemerisError.outsideCoverage }
+    return try propagator.state(at: epoch)
+  }
+}
+
+/// Built-in defaults use exact body identities: a planet centre is not silently
+/// replaced with its system barycentre. Caller-supplied fitted models can override these.
+public enum DefaultEphemerisModel: Equatable, Sendable {
+  case vsop87, meeusMoon, goffinPluto
+  public static func model(for body: BodyIdentifier) -> Self? {
+    switch body {
+    case .sun, .mercury, .venus, .earth, .marsBarycentre, .jupiterBarycentre,
+         .saturnBarycentre, .uranusBarycentre, .neptuneBarycentre: return .vsop87
+    case .moon: return .meeusMoon
+    case .plutoBarycentre: return .goffinPluto
+    default: return nil
+    }
+  }
+  /// Native-frame model. Convert frames and origins explicitly before composing
+  /// with DE441 or a central-body Kepler ephemeris. Lunar/Pluto frames are required
+  /// only for those bodies. Their query coverage is shortened by derivative margins.
+  public static func makeProvider(for body: BodyIdentifier, coverage: ClosedRange<Epoch>,
+    tdbModel: any TDBTimeModel, frames: AnalyticEphemerisFrames? = nil,
+    velocityStep: Duration = try! Duration(seconds: 60), accuracy: AccuracyLevel = .full) throws -> (any EphemerisProvider)? {
+    let coefficients: vsop87_body?
+    switch body {
+    case .sun: coefficients = sun
+    case .mercury: coefficients = mercury
+    case .venus: coefficients = venus
+    case .earth: coefficients = earth
+    case .marsBarycentre: coefficients = mars
+    case .jupiterBarycentre: coefficients = jupiter
+    case .saturnBarycentre: coefficients = saturn
+    case .uranusBarycentre: coefficients = uranus
+    case .neptuneBarycentre: coefficients = neptune
+    default: coefficients = nil
+    }
+    if let coefficients { return try VSOP87Ephemeris(body: coefficients, coverage: coverage, tdbModel: tdbModel, accuracy: accuracy) }
+    guard body == .moon || body == .plutoBarycentre else { return nil }
+    guard let frames else { throw EphemerisError.frameMismatch }
+    return try SphericalAnalyticEphemeris(model: body == .moon ? .meeusMoon : .goffinPluto,
+      frames: frames, positionCoverage: coverage, velocityStep: velocityStep, accuracy: accuracy)
+  }
+}
diff --git a/Sources/CelMek/EphemerisForPhysicalObservationsOfTheSun.swift b/Sources/CelMek/EphemerisForPhysicalObservationsOfTheSun.swift
new file mode 100644
index 0000000..55d2421
--- /dev/null
+++ b/Sources/CelMek/EphemerisForPhysicalObservationsOfTheSun.swift
@@ -0,0 +1,20 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2023 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+
+import Foundation
+// Meeus, chapter 29
diff --git a/Sources/CelMek/EphemerisOrigins.swift b/Sources/CelMek/EphemerisOrigins.swift
new file mode 100644
index 0000000..23f4926
--- /dev/null
+++ b/Sources/CelMek/EphemerisOrigins.swift
@@ -0,0 +1,146 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Math
+
+public enum EphemerisOriginError: Error, Equatable {
+  case incompatibleOrigins, incompatibleFrames, disjointCoverage, invalidComponents, invalidMassRatio
+}
+
+/// Target relative to a new origin, expressed in a registered translated child frame.
+/// Construct through FrameTree.makeOriginConvertedEphemeris so the frame's physical
+/// translation and identity are established together. Native queries subtract SI states.
+public struct OriginConvertedEphemeris: EphemerisProvider {
+  public let metadata: EphemerisMetadata
+  private let target: any EphemerisProvider
+  private let newOrigin: any EphemerisProvider
+  internal init(target: any EphemerisProvider, newOrigin: any EphemerisProvider,
+                frame: Frame, coverage: ClosedRange<Epoch>) throws {
+    self.target = target; self.newOrigin = newOrigin
+    metadata = try EphemerisMetadata(body: target.metadata.body,origin: newOrigin.metadata.body,frame: frame,
+      coverage: coverage,coverageBasis: .callerSelected,modelTimeScale: target.metadata.modelTimeScale,
+      velocityMethod: combinedDerivative([target.metadata.velocityMethod,newOrigin.metadata.velocityMethod]),
+      accelerationMethod: combinedDerivative([target.metadata.accelerationMethod,newOrigin.metadata.accelerationMethod]),
+      provenance: PhysicalDataProvenance(source: "Explicit origin subtraction; target: \(target.metadata.provenance.source) [\(target.metadata.provenance.version)]; origin: \(newOrigin.metadata.provenance.source) [\(newOrigin.metadata.provenance.version)]",
+        version: "SI state composition 1"),
+      modelTimeScales: target.metadata.modelTimeScales.union(newOrigin.metadata.modelTimeScales))
+  }
+  public func state(at epoch: Epoch) throws -> CartesianState {
+    guard metadata.coverage.contains(epoch) else { throw EphemerisError.outsideCoverage }
+    let a = try target.checkedState(at: epoch), b = try newOrigin.checkedState(at: epoch)
+    let acceleration: SIMD3<Double>?
+    if let aa = a.acceleration, let ba = b.acceleration { acceleration = aa-ba } else { acceleration = nil }
+    return try CartesianState(epoch: epoch,frame: frame,position: a.position-b.position,
+      velocity: a.velocity-b.velocity,acceleration: acceleration)
+  }
+}
+
+extension FrameTree {
+  /// Both ephemerides must use the exact same native frame and declared origin.
+  /// For differently oriented frames, convert them explicitly before composition.
+  /// The edge's acceleration policy governs later frame transforms, not subtraction:
+  /// recentered acceleration is available only when both input states supply it.
+  public func makeOriginConvertedEphemeris(target: any EphemerisProvider,
+    newOrigin: any EphemerisProvider, frameName: String,
+    accelerationPolicy: OriginAccelerationPolicy = .requireProvided) throws -> OriginConvertedEphemeris {
+    guard target.metadata.origin == newOrigin.metadata.origin else { throw EphemerisOriginError.incompatibleOrigins }
+    guard target.frame === target.metadata.frame, newOrigin.frame === newOrigin.metadata.frame,
+          target.frame === newOrigin.frame else { throw EphemerisOriginError.incompatibleFrames }
+    let coverage = try intersectCoverage([target.metadata.coverage,newOrigin.metadata.coverage])
+    let axes = try FixedAxisOrientationProvider(referenceFrame: target.frame,axis: SIMD3(1,0,0),rate: 0)
+    // Use a checked wrapper even for custom implementations retained by the frame tree.
+    let checkedOrigin = CheckedEphemerisState(provider: newOrigin)
+    let child = try makeBodyFixedFrame(name: frameName,centre: checkedOrigin,orientation: axes,
+      accelerationPolicy: accelerationPolicy)
+    return try OriginConvertedEphemeris(target: target,newOrigin: newOrigin,frame: child,coverage: coverage)
+  }
+}
+
+/// A constant positive mass ratio and a constituent ephemeris. Ratios are relative
+/// weights, not independently assumed GM values or automatically inferred masses.
+public struct BarycentreComponent {
+  public let ephemeris: any EphemerisProvider
+  public let relativeMass: Double
+  public let provenance: PhysicalDataProvenance
+  public init(ephemeris: any EphemerisProvider, relativeMass: Double,
+              provenance: PhysicalDataProvenance) throws {
+    guard relativeMass.isFinite, relativeMass > 0 else { throw EphemerisOriginError.invalidMassRatio }
+    self.ephemeris = ephemeris; self.relativeMass = relativeMass; self.provenance = provenance
+  }
+}
+
+/// Constant-mass weighted barycentre. Constituents must share an origin and frame;
+/// every constituent must be present. No satellite reconstruction is implied.
+public struct BarycentreEphemeris: EphemerisProvider {
+  public let metadata: EphemerisMetadata
+  public let components: [BarycentreComponent]
+  private let weights: [Double]
+  public init(bodyIdentifier: BodyIdentifier, components: [BarycentreComponent],
+              provenance: PhysicalDataProvenance) throws {
+    try bodyIdentifier.validate()
+    guard components.count >= 2, let first = components.first else { throw EphemerisOriginError.invalidComponents }
+    let ids = components.map { $0.ephemeris.metadata.body }
+    guard Set(ids).count == ids.count, !ids.contains(bodyIdentifier) else { throw EphemerisOriginError.invalidComponents }
+    let metadata = first.ephemeris.metadata
+    for component in components {
+      guard component.ephemeris.metadata.origin == metadata.origin else { throw EphemerisOriginError.incompatibleOrigins }
+      guard component.ephemeris.frame === metadata.frame,
+            component.ephemeris.metadata.frame === metadata.frame else { throw EphemerisOriginError.incompatibleFrames }
+    }
+    let coverage = try intersectCoverage(components.map { $0.ephemeris.metadata.coverage })
+    let maximum = components.map(\.relativeMass).max()!
+    let scaled = components.map { $0.relativeMass/maximum }, total = scaled.reduce(0,+)
+    weights = scaled.map { $0/total }; self.components = components
+    let details = components.map { "\($0.ephemeris.metadata.provenance.source) [\($0.ephemeris.metadata.provenance.version)]; mass ratio: \($0.provenance.source) [\($0.provenance.version)]" }.joined(separator: "; ")
+    let source = try PhysicalDataProvenance(source: "\(provenance.source); components: \(details)",
+      version: provenance.version,reference: provenance.reference)
+    self.metadata = try EphemerisMetadata(body: bodyIdentifier,origin: metadata.origin,frame: metadata.frame,
+      coverage: coverage,coverageBasis: .callerSelected,modelTimeScale: metadata.modelTimeScale,
+      velocityMethod: combinedDerivative(components.map { $0.ephemeris.metadata.velocityMethod }),
+      accelerationMethod: combinedDerivative(components.map { $0.ephemeris.metadata.accelerationMethod }),
+      provenance: source,modelTimeScales: components.reduce(into: Set<TimeScale>()) { $0.formUnion($1.ephemeris.metadata.modelTimeScales) })
+  }
+  public func state(at epoch: Epoch) throws -> CartesianState {
+    guard metadata.coverage.contains(epoch) else { throw EphemerisError.outsideCoverage }
+    let samples = try components.map { try $0.ephemeris.checkedState(at: epoch) }
+    var p = SIMD3<Double>.zero, v = p, a = p
+    for (i,sample) in samples.enumerated() {
+      p += weights[i]*sample.position; v += weights[i]*sample.velocity
+      if let supplied = sample.acceleration { a += weights[i]*supplied }
+    }
+    return try CartesianState(epoch: epoch,frame: frame,position: p,velocity: v,
+      acceleration: metadata.accelerationMethod == .unavailable ? nil : a)
+  }
+}
+
+private struct CheckedEphemerisState: StateProvider {
+  let provider: any EphemerisProvider
+  var frame: Frame { provider.frame }
+  func state(at epoch: Epoch) throws -> CartesianState { try provider.checkedState(at: epoch) }
+}
+
+private func intersectCoverage(_ ranges: [ClosedRange<Epoch>]) throws -> ClosedRange<Epoch> {
+  guard let lower = ranges.map(\.lowerBound).max(), let upper = ranges.map(\.upperBound).min(),
+        lower <= upper else { throw EphemerisOriginError.disjointCoverage }
+  return lower...upper
+}
+
+private func combinedDerivative(_ methods: [EphemerisDerivativeMethod]) -> EphemerisDerivativeMethod {
+  if methods.contains(.unavailable) { return .unavailable }
+  if methods.allSatisfy({ $0 == .analytic }) { return .analytic }
+  return .supplied(description: "Constant linear combination of component derivatives: \(methods)")
+}
diff --git a/Sources/CelMek/EphemerisProvider.swift b/Sources/CelMek/EphemerisProvider.swift
new file mode 100644
index 0000000..10b288e
--- /dev/null
+++ b/Sources/CelMek/EphemerisProvider.swift
@@ -0,0 +1,164 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+public enum EphemerisError: Error, Equatable {
+  case invalidMetadata, invalidDerivativeMethod, outsideCoverage, frameMismatch
+  case accelerationMismatch, duplicateBody, unsupportedBody
+}
+
+/// How a derivative is obtained. All returned derivatives still use atomic SI seconds.
+public enum EphemerisDerivativeMethod: Hashable, Sendable {
+  case analytic
+  /// Numerical derivative; the interval and neighbouring coverage belong to the model.
+  case finiteDifference(step: Duration)
+  /// Model-supplied derivative, e.g. an integrated or tabulated state. Describe its origin.
+  case supplied(description: String)
+  case unavailable
+
+  fileprivate func validate() throws {
+    switch self {
+    case .finiteDifference(let step):
+      guard step > .zero else { throw EphemerisError.invalidDerivativeMethod }
+    case .supplied(let description):
+      guard !description.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty else {
+        throw EphemerisError.invalidDerivativeMethod
+      }
+    default: break
+    }
+  }
+}
+
+public enum EphemerisCoverageBasis: Sendable {
+  /// A caller's usable interval, without a claim of certified physical accuracy.
+  case callerSelected
+  /// Coverage published by the model or data source, recorded in provenance.
+  case modelDocumented
+}
+
+/// Query contract for one target relative to an explicit origin. The frame identity
+/// must actually represent that origin; metadata does not translate or rotate states.
+public struct EphemerisMetadata {
+  public let body: BodyIdentifier
+  public let origin: BodyIdentifier
+  public let frame: Frame
+  public let coverage: ClosedRange<Epoch>
+  public let coverageBasis: EphemerisCoverageBasis
+  /// Time argument consumed by the underlying model. State derivatives are converted
+  /// to elapsed atomic seconds regardless of this coordinate-time representation.
+  public let modelTimeScale: TimeScale
+  /// All coordinate-time arguments used by a composed model.
+  public let modelTimeScales: Set<TimeScale>
+  public let velocityMethod: EphemerisDerivativeMethod
+  public let accelerationMethod: EphemerisDerivativeMethod
+  public let provenance: PhysicalDataProvenance
+  /// Selected intent for this model; nil means unspecified, not full.
+  public let accuracy: AccuracyLevel?
+  /// Effective evaluation mode; may be higher than the requested hint.
+  public let effectiveAccuracy: AccuracyLevel?
+  public init(body: BodyIdentifier, origin: BodyIdentifier, frame: Frame,
+              coverage: ClosedRange<Epoch>, coverageBasis: EphemerisCoverageBasis,
+              modelTimeScale: TimeScale, velocityMethod: EphemerisDerivativeMethod,
+              accelerationMethod: EphemerisDerivativeMethod, provenance: PhysicalDataProvenance,
+              modelTimeScales: Set<TimeScale>? = nil, accuracy: AccuracyLevel? = nil, effectiveAccuracy: AccuracyLevel? = nil) throws {
+    try body.validate(); try origin.validate()
+    try velocityMethod.validate(); try accelerationMethod.validate()
+    // CartesianState always supplies velocity. An unavailable velocity cannot be represented.
+    guard velocityMethod != .unavailable else { throw EphemerisError.invalidMetadata }
+    let scales = modelTimeScales ?? [modelTimeScale]
+    guard scales.contains(modelTimeScale) else { throw EphemerisError.invalidMetadata }
+    self.modelTimeScales = scales
+    self.body = body; self.origin = origin; self.frame = frame; self.coverage = coverage
+    self.coverageBasis = coverageBasis; self.modelTimeScale = modelTimeScale
+    self.velocityMethod = velocityMethod; self.accelerationMethod = accelerationMethod
+    self.provenance = provenance; self.accuracy = accuracy; self.effectiveAccuracy = effectiveAccuracy
+  }
+}
+
+/// Prescribed ephemeris for one body, independent of force-driven propagators.
+/// Implementations must enforce metadata and return SI states at the requested epoch.
+public protocol EphemerisProvider: StateProvider {
+  var metadata: EphemerisMetadata { get }
+}
+
+extension EphemerisProvider {
+  public var frame: Frame { metadata.frame }
+
+  /// Validates custom implementations too. Coverage is checked before evaluation;
+  /// this method never extrapolates, applies fallback, or manufactures derivatives.
+  public func checkedState(at epoch: Epoch) throws -> CartesianState {
+    guard metadata.coverage.contains(epoch) else { throw EphemerisError.outsideCoverage }
+    guard frame === metadata.frame else { throw EphemerisError.frameMismatch }
+    let result = try state(at: epoch)
+    guard result.epoch == epoch else { throw FrameTransformError.epochMismatch }
+    guard result.frame === metadata.frame else { throw EphemerisError.frameMismatch }
+    guard (result.acceleration == nil) == (metadata.accelerationMethod == .unavailable) else {
+      throw EphemerisError.accelerationMismatch
+    }
+    return result
+  }
+}
+
+/// Adapter for an existing StateProvider and explicit model metadata. Coverage is
+/// caller-owned: restrict it to the intersection of all model/time-data dependencies.
+/// A narrower provider failure propagates; metadata never extends physical coverage.
+public struct StateProviderEphemeris: EphemerisProvider {
+  public let metadata: EphemerisMetadata
+  private let provider: any StateProvider
+  public init(provider: any StateProvider, metadata: EphemerisMetadata) throws {
+    guard provider.frame === metadata.frame else { throw EphemerisError.frameMismatch }
+    self.provider = provider; self.metadata = metadata
+  }
+  public func state(at epoch: Epoch) throws -> CartesianState {
+    guard metadata.coverage.contains(epoch) else { throw EphemerisError.outsideCoverage }
+    let state = try provider.state(at: epoch)
+    guard state.epoch == epoch else { throw FrameTransformError.epochMismatch }
+    guard state.frame === metadata.frame else { throw EphemerisError.frameMismatch }
+    guard (state.acceleration == nil) == (metadata.accelerationMethod == .unavailable) else {
+      throw EphemerisError.accelerationMismatch
+    }
+    return state
+  }
+}
+
+/// Immutable selection of one ephemeris per body. Origins, frames and coverage may
+/// differ per body; no implicit origin conversion or provider fallback takes place.
+/// No cache or hidden dependency on query order. Provider thread safety remains its own contract.
+public struct EphemerisCollection {
+  public let bodies: [BodyIdentifier]
+  private let providers: [BodyIdentifier: any EphemerisProvider]
+  public init(providers: [any EphemerisProvider]) throws {
+    var lookup: [BodyIdentifier: any EphemerisProvider] = [:]
+    for provider in providers {
+      guard provider.frame === provider.metadata.frame else { throw EphemerisError.frameMismatch }
+      guard lookup.updateValue(provider,forKey: provider.metadata.body) == nil else { throw EphemerisError.duplicateBody }
+    }
+    self.providers = lookup; bodies = providers.map { $0.metadata.body }
+  }
+  public func provider(for body: BodyIdentifier) throws -> any EphemerisProvider {
+    guard let provider = providers[body] else { throw EphemerisError.unsupportedBody }
+    return provider
+  }
+  public func metadata(for body: BodyIdentifier) throws -> EphemerisMetadata {
+    try provider(for: body).metadata
+  }
+  public func state(of body: BodyIdentifier, at epoch: Epoch) throws -> CartesianState {
+    try provider(for: body).checkedState(at: epoch)
+  }
+}
diff --git a/Sources/CelMek/Epoch.swift b/Sources/CelMek/Epoch.swift
new file mode 100644
index 0000000..90de847
--- /dev/null
+++ b/Sources/CelMek/Epoch.swift
@@ -0,0 +1,245 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+public enum TimeArithmeticError: Error, Equatable, Sendable {
+  case nonFinite
+  case outOfRange
+}
+
+/// Continuous time scales supported by the initial epoch adapters.
+/// UTC uses UTCDate and an explicit LeapSecondTable rather than a continuous JD.
+public enum TimeScale: Hashable, Sendable {
+  case tai
+  case tt
+  /// TDB representation. Default: the low-order geocentric approximation.
+  /// Select an explicit TDBTimeModel for different accuracy and coverage.
+  case tdb
+}
+
+/// A finite SI-second interval, stored without combining its large and small parts.
+/// Fractions are canonicalized to 0..<1, including for negative intervals.
+/// The supported total range is ±(2^53 - 1) seconds, about 285 million years.
+public struct Duration: Hashable, Comparable, Sendable {
+  public static let maximumWholeSeconds: Int64 = 9_007_199_254_740_991
+  public let wholeSeconds: Int64
+  public let fractionalSecond: Double
+
+  public init(wholeSeconds: Int64, fractionalSecond: Double = 0) throws {
+    let parts = try normalizeTimeParts(whole: wholeSeconds, fraction: fractionalSecond)
+    guard parts.whole >= -Self.maximumWholeSeconds,
+          parts.whole <= Self.maximumWholeSeconds,
+          parts.whole != Self.maximumWholeSeconds || parts.fraction == 0 else {
+      throw TimeArithmeticError.outOfRange
+    }
+    self.wholeSeconds = parts.whole
+    self.fractionalSecond = parts.fraction
+  }
+
+  public init(seconds: Double) throws {
+    try self.init(wholeSeconds: 0, fractionalSecond: seconds)
+  }
+
+  /// A potentially lossy scalar conversion. Use the split fields for precision.
+  public var seconds: Double { Double(wholeSeconds) + fractionalSecond }
+  public static let zero = Duration(uncheckedWhole: 0, fraction: 0)
+
+  public func adding(_ other: Duration) throws -> Duration {
+    try Duration(wholeSeconds: wholeSeconds + other.wholeSeconds,
+                 fractionalSecond: fractionalSecond + other.fractionalSecond)
+  }
+
+  public func subtracting(_ other: Duration) throws -> Duration {
+    try Duration(wholeSeconds: wholeSeconds - other.wholeSeconds,
+                 fractionalSecond: fractionalSecond - other.fractionalSecond)
+  }
+
+  public func negated() throws -> Duration {
+    try Duration(wholeSeconds: -wholeSeconds, fractionalSecond: -fractionalSecond)
+  }
+
+  public static func < (lhs: Duration, rhs: Duration) -> Bool {
+    lhs.wholeSeconds == rhs.wholeSeconds
+      ? lhs.fractionalSecond < rhs.fractionalSecond
+      : lhs.wholeSeconds < rhs.wholeSeconds
+  }
+
+  private init(uncheckedWhole: Int64, fraction: Double) {
+    wholeSeconds = uncheckedWhole
+    fractionalSecond = fraction
+  }
+}
+
+/// A split Julian date in a specified scale, with a canonical fraction in 0..<1.
+/// Julian date integer boundaries occur at noon, not civil midnight.
+public struct JulianDateComponents: Hashable, Sendable {
+  public let wholeDay: Int64
+  public let fractionalDay: Double
+  public let scale: TimeScale
+
+  public init(wholeDay: Int64, fractionalDay: Double = 0, scale: TimeScale) throws {
+    let parts = try normalizeTimeParts(whole: wholeDay, fraction: fractionalDay)
+    self.wholeDay = parts.whole
+    self.fractionalDay = parts.fraction
+    self.scale = scale
+  }
+
+  public init(value: Double, scale: TimeScale) throws {
+    try self.init(wholeDay: 0, fractionalDay: value, scale: scale)
+  }
+
+  /// A potentially lossy conversion suitable for legacy astronomical APIs.
+  public var value: Double { Double(wholeDay) + fractionalDay }
+}
+
+/// An instant stored as elapsed continuous atomic seconds from J2000:
+/// Julian date 2451545.0 TT (2000-01-01 12:00 TT).
+/// Time scale belongs to a representation, not to the identity of the instant.
+public struct Epoch: Hashable, Comparable, Sendable {
+  public let offsetFromJ2000: Duration
+  public static let j2000 = Epoch(offsetFromJ2000: .zero)
+
+  public init(offsetFromJ2000: Duration) {
+    self.offsetFromJ2000 = offsetFromJ2000
+  }
+
+  public init(julianDate: Double, scale: TimeScale, using model: (any TDBTimeModel)? = nil) throws {
+    try self.init(julianDate: JulianDateComponents(value: julianDate, scale: scale), using: model)
+  }
+
+  public init(julianDate: JulianDateComponents, using model: (any TDBTimeModel)? = nil) throws {
+    if julianDate.scale == .tdb, let model {
+      self = try Self.invertTDB(julianDate, using: model)
+      return
+    }
+    let (days, overflow) = julianDate.wholeDay.subtractingReportingOverflow(2_451_545)
+    guard !overflow else { throw TimeArithmeticError.outOfRange }
+    let (seconds, multiplyOverflow) = days.multipliedReportingOverflow(by: 86_400)
+    guard !multiplyOverflow else { throw TimeArithmeticError.outOfRange }
+    let represented = try Duration(wholeSeconds: seconds,
+                                   fractionalSecond: julianDate.fractionalDay * 86_400)
+    switch julianDate.scale {
+    case .tt:
+      offsetFromJ2000 = represented
+    case .tai:
+      offsetFromJ2000 = try represented.adding(Self.ttMinusTAI)
+    case .tdb:
+      var tt = represented
+      for _ in 0..<4 {
+        let correction = try Duration(seconds: Self.tdbMinusTT(at: tt))
+        let next = try represented.subtracting(correction)
+        if next == tt { break }
+        tt = next
+      }
+      offsetFromJ2000 = tt
+    }
+  }
+
+  public func advanced(by duration: Duration) throws -> Epoch {
+    Epoch(offsetFromJ2000: try offsetFromJ2000.adding(duration))
+  }
+
+  public func duration(since other: Epoch) throws -> Duration {
+    try offsetFromJ2000.subtracting(other.offsetFromJ2000)
+  }
+
+  public func julianDate(in scale: TimeScale, using model: (any TDBTimeModel)? = nil) throws -> JulianDateComponents {
+    let represented: Duration
+    switch scale {
+    case .tt: represented = offsetFromJ2000
+    case .tai: represented = try offsetFromJ2000.subtracting(Self.ttMinusTAI)
+    case .tdb:
+      let correction = try model.map { try tdbCorrection(using: $0).tdbMinusTT }
+        ?? Duration(seconds: Self.tdbMinusTT(at: offsetFromJ2000))
+      represented = try offsetFromJ2000.adding(correction)
+    }
+    // Floor division keeps the remainder positive for dates before J2000.
+    var days = represented.wholeSeconds / 86_400
+    var seconds = represented.wholeSeconds % 86_400
+    if seconds < 0 { days -= 1; seconds += 86_400 }
+    let fraction = (Double(seconds) + represented.fractionalSecond) / 86_400
+    return try JulianDateComponents(wholeDay: 2_451_545 + days,
+                                    fractionalDay: fraction, scale: scale)
+  }
+
+  public static func < (lhs: Epoch, rhs: Epoch) -> Bool {
+    lhs.offsetFromJ2000 < rhs.offsetFromJ2000
+  }
+
+  // Derivative of a scale's coordinate seconds with respect to the elapsed
+  // atomic seconds stored by Epoch. Used when adapting provider velocities.
+  internal func coordinateTimeRate(in scale: TimeScale) -> Double {
+    switch scale {
+    case .tai, .tt: return 1
+    case .tdb:
+      let g = Self.tdbMeanAnomaly(at: offsetFromJ2000)
+      let angularRate = 0.9856003 * Double.pi / (180 * 86_400)
+      return 1 + (0.001658 * cos(g) + 0.000028 * cos(2 * g)) * angularRate
+    }
+  }
+
+  // Second derivative of coordinate seconds with respect to atomic seconds.
+  internal func coordinateTimeAcceleration(in scale: TimeScale) -> Double {
+    switch scale {
+    case .tai, .tt: return 0
+    case .tdb:
+      let g = Self.tdbMeanAnomaly(at: offsetFromJ2000)
+      let angularRate = 0.9856003 * Double.pi / (180 * 86_400)
+      return -(0.001658 * sin(g) + 0.000056 * sin(2*g)) * angularRate * angularRate
+    }
+  }
+
+  // Both constants are exactly the intended decimal offsets at Double precision.
+  private static let ttMinusTAI = try! Duration(wholeSeconds: 32, fractionalSecond: 0.184)
+
+  /// Same approximation as the legacy TT/TDB conversion, evaluated from a split
+  /// offset to avoid subtracting large Julian dates. Six-hour comparisons with
+  /// ERFA Fairhead–Bretagnon over 1950–2050 found 36.49 µs maximum error.
+  /// See TIME.md for scope; this is not a precision relativistic model.
+  internal static func tdbMinusTT(at tt: Duration) -> Double {
+    let g = tdbMeanAnomaly(at: tt)
+    return 0.001658 * sin(g) + 0.000014 * sin(2 * g)
+  }
+
+  private static func tdbMeanAnomaly(at tt: Duration) -> Double {
+    let days = Double(tt.wholeSeconds) / 86_400 + tt.fractionalSecond / 86_400
+    let degrees = (357.53 + 0.9856003 * days).truncatingRemainder(dividingBy: 360)
+    return degrees * .pi / 180
+  }
+}
+
+// Bound both input parts before any integer conversion or addition. At this
+// bound their sum fits Int64, and the Double integer part converts exactly.
+private func normalizeTimeParts(whole: Int64, fraction: Double) throws -> (whole: Int64, fraction: Double) {
+  guard fraction.isFinite else { throw TimeArithmeticError.nonFinite }
+  let limit = Duration.maximumWholeSeconds
+  let integral = floor(fraction)
+  guard whole >= -2 * limit, whole <= 2 * limit,
+        integral >= -Double(limit), integral <= Double(limit) else {
+    throw TimeArithmeticError.outOfRange
+  }
+  var normalizedWhole = whole + Int64(integral)
+  var normalizedFraction = fraction - integral
+  // Rounding a tiny negative fraction can produce exactly 1 rather than <1.
+  if normalizedFraction == 1 { normalizedWhole += 1; normalizedFraction = 0 }
+  if normalizedFraction == 0 { normalizedFraction = 0 } // Canonical positive zero.
+  guard normalizedWhole >= -limit, normalizedWhole <= limit else {
+    throw TimeArithmeticError.outOfRange
+  }
+  return (normalizedWhole, normalizedFraction)
+}
diff --git a/Sources/CelMek/EquationOfKepler.swift b/Sources/CelMek/EquationOfKepler.swift
new file mode 100644
index 0000000..8116a1b
--- /dev/null
+++ b/Sources/CelMek/EquationOfKepler.swift
@@ -0,0 +1,149 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+public enum KeplerSolverError: Error, Equatable {
+    case invalidEccentricity
+    case nonFiniteMeanAnomaly
+    case invalidOptions
+    case numericalRangeExceeded
+    case convergenceFailure(iterations: Int, lowerBound: Double, upperBound: Double)
+}
+
+/// Tolerances apply to the solved anomaly, in radians. The relative tolerance
+/// scales with its magnitude; machine representability also limits resolution.
+public struct KeplerSolverOptions: Equatable, Sendable {
+    public let absoluteTolerance: Double
+    public let relativeTolerance: Double
+    public let maximumIterations: Int
+
+    public init(absoluteTolerance: Double = 1e-14,
+                relativeTolerance: Double = 1e-14,
+                maximumIterations: Int = 128) throws {
+        guard absoluteTolerance.isFinite, absoluteTolerance > 0,
+              relativeTolerance.isFinite, relativeTolerance >= 0,
+              maximumIterations > 0 else { throw KeplerSolverError.invalidOptions }
+        self.absoluteTolerance = absoluteTolerance
+        self.relativeTolerance = relativeTolerance
+        self.maximumIterations = maximumIterations
+    }
+
+    public static let `default` = try! KeplerSolverOptions()
+}
+
+public struct KeplerSolution: Equatable, Sendable {
+    /// Elliptic E or hyperbolic H, in radians.
+    public let anomaly: Double
+    public let iterations: Int
+}
+
+public enum KeplerSolver {
+    /// Solves M = E - e sin(E), for 0 <= e < 1. The result retains the
+    /// revolution offset of M. Very large M loses phase information in Double.
+    public static func elliptic(meanAnomaly: Double, eccentricity: Double,
+                                options: KeplerSolverOptions = .default) throws -> KeplerSolution {
+        guard eccentricity.isFinite, eccentricity >= 0, eccentricity < 1 else {
+            throw KeplerSolverError.invalidEccentricity
+        }
+        guard meanAnomaly.isFinite else { throw KeplerSolverError.nonFiniteMeanAnomaly }
+        if eccentricity == 0 { return KeplerSolution(anomaly: meanAnomaly, iterations: 0) }
+        let reduced = meanAnomaly.remainder(dividingBy: 2 * .pi)
+        let magnitude = abs(reduced)
+        if magnitude == 0 { return KeplerSolution(anomaly: meanAnomaly, iterations: 0) }
+        let root = try solve(lower: magnitude, upper: .pi, options: options) { x in
+            ((1 - eccentricity) * x + eccentricity * sineDifference(x) - magnitude,
+             (1 - eccentricity) + 2 * eccentricity * pow(sin(x / 2), 2))
+        }
+        let signed = reduced < 0 ? -root.anomaly : root.anomaly
+        // Add the small correction to M to preserve the revolution offset.
+        return KeplerSolution(anomaly: meanAnomaly + (signed - reduced), iterations: root.iterations)
+    }
+
+    /// Solves M = e sinh(H) - H, for e > 1. M is dimensionless and is
+    /// not periodic. Parabolic Barker/universal-variable equations are separate.
+    public static func hyperbolic(meanAnomaly: Double, eccentricity: Double,
+                                  options: KeplerSolverOptions = .default) throws -> KeplerSolution {
+        guard eccentricity.isFinite, eccentricity > 1 else { throw KeplerSolverError.invalidEccentricity }
+        guard meanAnomaly.isFinite else { throw KeplerSolverError.nonFiniteMeanAnomaly }
+        if meanAnomaly == 0 { return KeplerSolution(anomaly: meanAnomaly, iterations: 0) }
+        let magnitude = abs(meanAnomaly)
+        // For extreme inputs, fail explicitly rather than overflow an intermediate.
+        let upper = asinh(magnitude / eccentricity) + 2
+        let root = try solve(lower: 0, upper: upper, options: options) { x in
+            let value = (eccentricity - 1) * x + eccentricity * sinhDifference(x)
+            let derivative = (eccentricity - 1) + 2 * eccentricity * pow(sinh(x / 2), 2)
+            return (value - magnitude, derivative)
+        }
+        return KeplerSolution(anomaly: meanAnomaly < 0 ? -root.anomaly : root.anomaly,
+                              iterations: root.iterations)
+    }
+
+    private static func solve(lower: Double, upper: Double, options: KeplerSolverOptions,
+                              evaluate: (Double) -> (Double, Double)) throws -> KeplerSolution {
+        var low = lower
+        var high = upper
+        let endpoints = (evaluate(low).0, evaluate(high).0)
+        guard endpoints.0.isFinite, endpoints.1.isFinite else { throw KeplerSolverError.numericalRangeExceeded }
+        if endpoints.0 == 0 { return KeplerSolution(anomaly: low, iterations: 0) }
+        if endpoints.1 == 0 { return KeplerSolution(anomaly: high, iterations: 0) }
+        guard endpoints.0 < 0, endpoints.1 > 0 else { throw KeplerSolverError.numericalRangeExceeded }
+        var x = low + (high - low) / 2
+        for iteration in 1...options.maximumIterations {
+            let (residual, derivative) = evaluate(x)
+            guard residual.isFinite, derivative.isFinite, derivative > 0 else {
+                throw KeplerSolverError.numericalRangeExceeded
+            }
+            if residual == 0 { return KeplerSolution(anomaly: x, iterations: iteration) }
+            if residual < 0 { low = x } else { high = x }
+            let midpoint = low + (high - low) / 2
+            let tolerance = options.absoluteTolerance + options.relativeTolerance * abs(midpoint)
+            if (high - low) / 2 <= tolerance || midpoint == low || midpoint == high {
+                return KeplerSolution(anomaly: midpoint, iterations: iteration)
+            }
+            let newton = x - residual / derivative
+            // Require progress within the middle half of the bracket. Bisection
+            // otherwise guarantees contraction even close to a parabolic orbit.
+            let quarter = (high - low) / 4
+            x = newton > low + quarter && newton < high - quarter ? newton : midpoint
+        }
+        throw KeplerSolverError.convergenceFailure(iterations: options.maximumIterations,
+                                                   lowerBound: low, upperBound: high)
+    }
+
+    static func sineDifference(_ x: Double) -> Double {
+        if abs(x) >= 0.5 { return x - sin(x) }
+        var term = x * x * x / 6
+        var sum = term
+        for n in 2...10 {
+            term *= -x * x / Double((2 * n) * (2 * n + 1))
+            sum += term
+        }
+        return sum
+    }
+
+    static func sinhDifference(_ x: Double) -> Double {
+        if abs(x) >= 0.5 { return sinh(x) - x }
+        var term = x * x * x / 6
+        var sum = term
+        for n in 2...10 {
+            term *= x * x / Double((2 * n) * (2 * n + 1))
+            sum += term
+        }
+        return sum
+    }
+}
diff --git a/Sources/CelMek/EquationOfTime.swift b/Sources/CelMek/EquationOfTime.swift
new file mode 100644
index 0000000..db9d87d
--- /dev/null
+++ b/Sources/CelMek/EquationOfTime.swift
@@ -0,0 +1,20 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2023 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+
+import Foundation
+// Meeus, chapter 28
diff --git a/Sources/CelMek/EquinoxesAndSolstices.swift b/Sources/CelMek/EquinoxesAndSolstices.swift
new file mode 100644
index 0000000..db3e578
--- /dev/null
+++ b/Sources/CelMek/EquinoxesAndSolstices.swift
@@ -0,0 +1,20 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2023 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+
+import Foundation
+// Meeus, chapter 27
diff --git a/Sources/CelMek/EventDrivenNumericalPropagator.swift b/Sources/CelMek/EventDrivenNumericalPropagator.swift
new file mode 100644
index 0000000..3356f55
--- /dev/null
+++ b/Sources/CelMek/EventDrivenNumericalPropagator.swift
@@ -0,0 +1,177 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Math
+
+/// Explicit event reset. State epoch/frame must match the localized occurrence;
+/// dynamics must retain the same frame and physical origin. The caller implements
+/// forward and inverse resets when backward replay is required.
+public struct EventStateTransition {
+    public let state: SpacecraftState
+    public let dynamics: SpacecraftDynamics
+    public init(state: SpacecraftState, dynamics: SpacecraftDynamics) {
+        self.state = state; self.dynamics = dynamics
+    }
+}
+
+/// Accepted-step crossing detection with explicit restarts and optional rearming.
+/// Detectors are one-shot unless given a positive rearming threshold. Queries restart from the seed;
+/// no closure may mutate hidden simulation state. Forces must remain evaluable
+/// throughout a crossing bracket, including its trial stages.
+public struct EventDrivenNumericalPropagator {
+    public let initialState: SpacecraftState
+    public let dynamics: SpacecraftDynamics
+    public let detectors: [any PropagationEventDetector]
+    public let numericalOptions: NumericalPropagationOptions
+    public let eventOptions: PropagationEventOptions
+    public let rearmingThresholds: [String: Double]
+    private let transition: ((PropagationEventOccurrence, Bool, SpacecraftDynamics) throws -> EventStateTransition)?
+
+    public init(initialState: SpacecraftState, dynamics: SpacecraftDynamics,
+                detectors: [any PropagationEventDetector],
+                numericalOptions: NumericalPropagationOptions = try! NumericalPropagationOptions(),
+                eventOptions: PropagationEventOptions = try! PropagationEventOptions(),
+                rearmingThresholds: [String: Double] = [:],
+                transition: ((PropagationEventOccurrence, Bool, SpacecraftDynamics) throws -> EventStateTransition)? = nil) throws {
+        _ = try NumericalSpacecraftPropagator(initialState: initialState, dynamics: dynamics, options: numericalOptions)
+        _ = try EventDetectedPropagation(trajectory: NumericalSpacecraftPropagator(initialState: initialState,
+            dynamics: dynamics, options: numericalOptions), detectors: detectors, options: eventOptions)
+        guard rearmingThresholds.allSatisfy({ entry in
+            detectors.contains(where: { $0.identifier == entry.key }) && entry.value.isFinite && entry.value > 0
+        }) else { throw PropagationEventError.invalidOptions }
+        self.rearmingThresholds = rearmingThresholds
+        self.initialState = initialState; self.dynamics = dynamics; self.detectors = detectors
+        self.numericalOptions = numericalOptions; self.eventOptions = eventOptions; self.transition = transition
+    }
+
+    public func propagation(at target: Epoch) throws -> EventPropagationResult {
+        var current = initialState, activeDynamics = dynamics
+        var fired = Set<String>(), events: [PropagationEventOccurrence] = []
+        var queries = 0, acceptedChecks = 0
+        let forward = target >= initialState.epoch
+        // Bound accepted-step spacing independently of the numerical accuracy preset.
+        let options = try NumericalPropagationOptions(
+            absolutePositionToleranceMetres: numericalOptions.absolutePositionToleranceMetres,
+            absoluteVelocityToleranceMetresPerSecond: numericalOptions.absoluteVelocityToleranceMetresPerSecond,
+            absolutePropellantToleranceKilograms: numericalOptions.absolutePropellantToleranceKilograms,
+            relativeTolerance: numericalOptions.relativeTolerance,
+            initialStepSeconds: min(numericalOptions.initialStepSeconds,eventOptions.maximumCheckIntervalSeconds),
+            minimumStepSeconds: min(numericalOptions.minimumStepSeconds,eventOptions.maximumCheckIntervalSeconds),
+            maximumStepSeconds: min(numericalOptions.maximumStepSeconds,eventOptions.maximumCheckIntervalSeconds),
+            maximumStepAttempts: numericalOptions.maximumStepAttempts,
+            maximumDerivativeEvaluations: numericalOptions.maximumDerivativeEvaluations)
+        func search(_ seed: SpacecraftState, to end: Epoch, endpoint: SpacecraftState? = nil) throws -> PropagationEventOccurrence? {
+            if endpoint != nil {
+                for detector in detectors where fired.contains(detector.identifier) {
+                    if let threshold = rearmingThresholds[detector.identifier] {
+                        let value = try detector.value(at: seed)
+                        guard value.isFinite else { throw PropagationEventError.nonFiniteValue }
+                        if abs(value) > threshold { fired.remove(detector.identifier) }
+                    }
+                }
+            }
+            var remaining = detectors.filter { !fired.contains($0.identifier) }
+            if let endpoint {
+                // Reuse accepted states. Only an actual crossing triggers local
+                // reintegration; ordinary steps require no additional state queries.
+                remaining = try remaining.filter { detector in
+                    let a = try detector.value(at: seed), b = try detector.value(at: endpoint)
+                    guard a.isFinite, b.isFinite else { throw PropagationEventError.nonFiniteValue }
+                    if a == 0 { return true }
+                    guard b == 0 || (a < 0) != (b < 0) else { return false }
+                    let increasing = forward ? b > a : a > b
+                    return detector.direction == .any || (detector.direction == .increasing) == increasing
+                }
+            } else {
+                remaining = try remaining.filter { detector in
+                    let value = try detector.value(at: seed)
+                    guard value.isFinite else { throw PropagationEventError.nonFiniteValue }
+                    return value == 0
+                }
+            }
+            if remaining.isEmpty { return nil }
+            guard queries < eventOptions.maximumStateEvaluations else { throw PropagationEventError.evaluationLimitExceeded }
+            let bounded = try PropagationEventOptions(maximumCheckIntervalSeconds: eventOptions.maximumCheckIntervalSeconds,
+                timeToleranceSeconds: eventOptions.timeToleranceSeconds,
+                maximumLocalizationIterations: eventOptions.maximumLocalizationIterations,
+                maximumStateEvaluations: eventOptions.maximumStateEvaluations-queries,
+                maximumEvents: eventOptions.maximumEvents)
+            let local = try NumericalSpacecraftPropagator(initialState: seed, dynamics: activeDynamics, options: options)
+            let firstCrossings: [any PropagationEventDetector] = try remaining.map {
+                if let timed = $0 as? EpochEvent {
+                    return try EpochEvent(identifier: timed.identifier, epoch: timed.epoch, action: .stop)
+                }
+                return FirstCrossing(detector: $0)
+            }
+            let result = try EventDetectedPropagation(trajectory: local,
+                detectors: firstCrossings, options: bounded)
+                .propagation(from: seed.epoch, to: end)
+            queries += result.stateEvaluations
+            guard let found = result.events.first,
+                  let original = remaining.first(where: { $0.identifier == found.identifier }) else { return nil }
+            return PropagationEventOccurrence(identifier: found.identifier, action: original.action,
+                state: found.state, bracketDurationSeconds: found.bracketDurationSeconds)
+        }
+        var initial = true
+        while true {
+            var occurrence: PropagationEventOccurrence?
+            if initial { occurrence = try search(current,to: current.epoch); initial = false }
+            if occurrence == nil && current.epoch != target {
+                let integrator = try NumericalSpacecraftPropagator(initialState: current, dynamics: activeDynamics, options: options)
+                let result = try integrator.propagation(at: target) { left, right in
+                    guard acceptedChecks < eventOptions.maximumStateEvaluations else { throw PropagationEventError.evaluationLimitExceeded }
+                    acceptedChecks += 1
+                    occurrence = try search(left,to: right.epoch,endpoint: right)
+                    return occurrence == nil
+                }
+                if occurrence == nil { current = result.state }
+            }
+            guard let event = occurrence else { break }
+            guard events.count < eventOptions.maximumEvents else { throw PropagationEventError.eventLimitExceeded }
+            events.append(event); fired.insert(event.identifier); current = event.state
+            if event.action == .stop {
+                return EventPropagationResult(state: current, events: events,
+                    reachedTarget: current.epoch == target, stateEvaluations: queries)
+            }
+            if let transition {
+                let reset = try transition(event,forward,activeDynamics)
+                guard reset.state.epoch == current.epoch else { throw SpacecraftDynamicsError.epochMismatch }
+                guard reset.state.frame === initialState.frame, reset.dynamics.context.frame === initialState.frame else {
+                    throw SpacecraftDynamicsError.frameMismatch
+                }
+                guard reset.dynamics.context.origin == dynamics.context.origin else { throw EnvironmentalForceError.originMismatch }
+                current = reset.state; activeDynamics = reset.dynamics
+            }
+            // Recheck remaining detectors at the reset epoch, including simultaneous events.
+            initial = true
+        }
+        // Recompute endpoint acceleration after an event reset at the requested epoch.
+        let derivative = try activeDynamics.derivative(at: current)
+        let state = SpacecraftState(cartesian: try CartesianState(epoch: current.epoch, frame: current.frame,
+            position: current.cartesian.position, velocity: current.cartesian.velocity,
+            acceleration: derivative.velocityRateMetresPerSecondSquared), mass: current.mass)
+        return EventPropagationResult(state: state, events: events, reachedTarget: state.epoch == target, stateEvaluations: queries)
+    }
+}
+
+private struct FirstCrossing: PropagationEventDetector {
+    let detector: any PropagationEventDetector
+    var identifier: String { detector.identifier }
+    var direction: EventCrossingDirection { detector.direction }
+    var action: PropagationEventAction { .stop }
+    func value(at state: SpacecraftState) throws -> Double { try detector.value(at: state) }
+}
diff --git a/Sources/CelMek/FiniteThrust.swift b/Sources/CelMek/FiniteThrust.swift
new file mode 100644
index 0000000..160ca72
--- /dev/null
+++ b/Sources/CelMek/FiniteThrust.swift
@@ -0,0 +1,102 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+public enum FiniteThrustError: Error, Equatable {
+    case invalidThrust, invalidExhaustVelocity, invalidDirection, invalidInterval, tooManyBurns
+}
+
+/// Constant prescribed thrust in inertial axes, drawing from the single reservoir.
+/// Effective exhaust velocity includes nozzle pressure effects: mass flow = thrust / ve.
+public struct FiniteThrust: FuelConsumingForceModel {
+    public let frame: Frame
+    public let thrustNewtons: Double
+    public let effectiveExhaustVelocityMetresPerSecond: Double
+    public let direction: SIMD3<Double>
+    public let propellantConsumptionKilogramsPerSecond: Double
+
+    public init(frame: Frame, thrustNewtons: Double, effectiveExhaustVelocityMetresPerSecond: Double,
+                direction: SIMD3<Double>) throws {
+        guard frame.pseudoInertial else { throw SpacecraftDynamicsError.nonInertialFrame }
+        guard thrustNewtons.isFinite, thrustNewtons >= 0 else { throw FiniteThrustError.invalidThrust }
+        guard effectiveExhaustVelocityMetresPerSecond.isFinite, effectiveExhaustVelocityMetresPerSecond > 0 else {
+            throw FiniteThrustError.invalidExhaustVelocity
+        }
+        guard [direction.x,direction.y,direction.z].allSatisfy(\.isFinite) else { throw FiniteThrustError.invalidDirection }
+        let scale = max(abs(direction.x),abs(direction.y),abs(direction.z))
+        guard scale > 0 else { throw FiniteThrustError.invalidDirection }
+        let scaled = direction / scale
+        let flow = thrustNewtons / effectiveExhaustVelocityMetresPerSecond
+        guard flow.isFinite, thrustNewtons == 0 || flow > 0 else { throw FiniteThrustError.invalidExhaustVelocity }
+        self.frame = frame
+        self.thrustNewtons = thrustNewtons
+        self.effectiveExhaustVelocityMetresPerSecond = effectiveExhaustVelocityMetresPerSecond
+        self.direction = scaled / sqrt((scaled*scaled).sum())
+        propellantConsumptionKilogramsPerSecond = flow
+    }
+
+    public func contribution(for state: SpacecraftState, in context: ForceEvaluationContext) throws -> ForceContribution {
+        guard state.frame === frame, context.frame === frame else { throw SpacecraftDynamicsError.frameMismatch }
+        guard thrustNewtons == 0 || state.mass.propellantMassKilograms > 0 else {
+            throw NumericalPropagationError.propellantDepleted
+        }
+        return try depletionBoundaryContribution(for: state, in: context)
+    }
+    public func depletionBoundaryContribution(for state: SpacecraftState, in context: ForceEvaluationContext) throws -> ForceContribution {
+        guard state.frame === frame, context.frame === frame else { throw SpacecraftDynamicsError.frameMismatch }
+        return try ForceContribution(epoch: state.epoch, frame: frame,
+            accelerationMetresPerSecondSquared: direction * (thrustNewtons / state.mass.totalMassKilograms),
+            propellantMassRateKilogramsPerSecond: -propellantConsumptionKilogramsPerSecond)
+    }
+}
+
+/// Active on [start, end); independent engines may have overlapping burns.
+public struct FiniteBurn {
+    public let start: Epoch
+    public let end: Epoch
+    public let thrust: FiniteThrust
+    public init(start: Epoch, end: Epoch, thrust: FiniteThrust) throws {
+        guard end > start else { throw FiniteThrustError.invalidInterval }
+        self.start = start; self.end = end; self.thrust = thrust
+    }
+}
+
+/// Stateless absolute-epoch schedule. Use ScheduledThrustPropagator to ensure
+/// numerical steps land on its discontinuities; a generic integrator can miss burns.
+public struct ScheduledThrust: ForceModel {
+    public let frame: Frame
+    public let burns: [FiniteBurn]
+    public init(frame: Frame, burns: [FiniteBurn]) throws {
+        guard frame.pseudoInertial else { throw SpacecraftDynamicsError.nonInertialFrame }
+        guard burns.count <= 10_000 else { throw FiniteThrustError.tooManyBurns }
+        guard burns.allSatisfy({ $0.thrust.frame === frame }) else { throw SpacecraftDynamicsError.frameMismatch }
+        self.frame = frame; self.burns = burns.sorted { $0.start < $1.start }
+    }
+    public func contribution(for state: SpacecraftState, in context: ForceEvaluationContext) throws -> ForceContribution {
+        guard state.frame === frame, context.frame === frame else { throw SpacecraftDynamicsError.frameMismatch }
+        var acceleration = SIMD3<Double>.zero, flow = 0.0
+        for burn in burns where state.epoch >= burn.start && state.epoch < burn.end {
+            let contribution = try burn.thrust.contribution(for: state, in: context)
+            acceleration += contribution.accelerationMetresPerSecondSquared
+            flow += contribution.propellantMassRateKilogramsPerSecond
+        }
+        return try ForceContribution(epoch: state.epoch, frame: frame,
+            accelerationMetresPerSecondSquared: acceleration, propellantMassRateKilogramsPerSecond: flow)
+    }
+}
diff --git a/Sources/CelMek/FiniteTransferPlanner.swift b/Sources/CelMek/FiniteTransferPlanner.swift
new file mode 100644
index 0000000..5217a4c
--- /dev/null
+++ b/Sources/CelMek/FiniteTransferPlanner.swift
@@ -0,0 +1,184 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+public enum FiniteTransferPlanningError: Error, Equatable {
+    case invalidInput, insufficientPropellant, burnsDoNotFit
+}
+public enum FiniteTransferRefinementStatus: Equatable {
+    case converged, evaluationLimitReached, stepLimitReached
+}
+public struct FiniteTransferEvaluation {
+    public let schedule: ScheduledThrust
+    public let arrivalState: SpacecraftState
+    public let positionErrorMetres: Double
+    public let velocityErrorMetresPerSecond: Double
+    public let propellantUsedKilograms: Double
+}
+public struct FiniteTransferRefinementResult {
+    public let status: FiniteTransferRefinementStatus
+    public let evaluations: Int
+    public let rejectedTrials: Int
+    public let initial: FiniteTransferEvaluation
+    public let best: FiniteTransferEvaluation
+}
+
+/// Constant inertial engine commands, followed by bounded local coordinate shooting.
+/// The caller supplies the physical origin and gravity/background models explicitly.
+public enum FiniteTransferPlanner {
+    /// Rocket-equation durations with sequential mass depletion. Burns are centered
+    /// on impulses where possible and shifted inside the flight at its endpoints.
+    /// This is a seed, not an equivalent realization or a rendezvous certificate.
+    public static func initialGuess(initialState: SpacecraftState, arrivalEpoch: Epoch,
+        maneuvers: [ImpulsiveManeuver], thrustNewtons: Double,
+        effectiveExhaustVelocityMetresPerSecond: Double) throws -> ScheduledThrust {
+        guard arrivalEpoch > initialState.epoch, maneuvers.count <= 100,
+              thrustNewtons.isFinite, thrustNewtons > 0,
+              effectiveExhaustVelocityMetresPerSecond.isFinite, effectiveExhaustVelocityMetresPerSecond > 0 else {
+            throw FiniteTransferPlanningError.invalidInput
+        }
+        let ordered = maneuvers.sorted { $0.epoch < $1.epoch }
+        guard ordered.allSatisfy({ $0.frame === initialState.frame }) else { throw SpacecraftDynamicsError.frameMismatch }
+        guard ordered.allSatisfy({ $0.epoch >= initialState.epoch && $0.epoch <= arrivalEpoch }),
+              zip(ordered, ordered.dropFirst()).allSatisfy({ $0.epoch < $1.epoch }) else {
+            throw FiniteTransferPlanningError.invalidInput
+        }
+        var mass = initialState.mass.totalMassKilograms
+        var burns: [FiniteBurn] = []
+        for impulse in ordered {
+            let speed = routeNorm(impulse.deltaVelocityMetresPerSecond)
+            if speed == 0 { continue }
+            let consumed = mass * -expm1(-speed / effectiveExhaustVelocityMetresPerSecond)
+            let seconds = consumed * effectiveExhaustVelocityMetresPerSecond / thrustNewtons
+            guard seconds.isFinite, seconds > 0 else { throw FiniteTransferPlanningError.invalidInput }
+            mass -= consumed
+            guard mass > initialState.mass.dryMassKilograms else { throw FiniteTransferPlanningError.insufficientPropellant }
+            let duration = try Duration(seconds: seconds)
+            var start = try impulse.epoch.advanced(by: Duration(seconds: -seconds / 2))
+            start = max(start, initialState.epoch)
+            var end = try start.advanced(by: duration)
+            if end > arrivalEpoch {
+                end = arrivalEpoch
+                start = try end.advanced(by: Duration(seconds: -seconds))
+            }
+            guard start >= initialState.epoch, end > start,
+                  burns.last.map({ $0.end <= start }) ?? true else { throw FiniteTransferPlanningError.burnsDoNotFit }
+            burns.append(try FiniteBurn(start: start, end: end, thrust: FiniteThrust(frame: initialState.frame,
+                thrustNewtons: thrustNewtons, effectiveExhaustVelocityMetresPerSecond: effectiveExhaustVelocityMetresPerSecond,
+                direction: impulse.deltaVelocityMetresPerSecond)))
+        }
+        return try ScheduledThrust(frame: initialState.frame, burns: burns)
+    }
+
+    /// Fixed arrival epoch/state; thrust and exhaust velocity remain fixed per burn.
+    /// Varies ignition, duration and inertial direction, preserving burn order and
+    /// non-overlap. Optional inclusive windows correspond to chronological burn
+    /// order and constrain both ignition and cutoff on every trial.
+    /// No global optimum, collision clearance or attitude feasibility is implied.
+    public static func refine(initialState: SpacecraftState, initialSchedule: ScheduledThrust,
+        target: CartesianState, context: ForceEvaluationContext, backgroundModels: [any ForceModel] = [],
+        positionToleranceMetres: Double = 1, velocityToleranceMetresPerSecond: Double = 0.001,
+        minimumRemainingPropellantKilograms: Double = 0, maximumEvaluations: Int = 500,
+        burnWindows: [ClosedRange<Epoch>]? = nil,
+        numericalOptions: NumericalPropagationOptions = try! NumericalPropagationOptions()) throws -> FiniteTransferRefinementResult {
+        guard target.epoch > initialState.epoch, !initialSchedule.burns.isEmpty, initialSchedule.burns.count <= 100,
+              (1...10_000).contains(maximumEvaluations),
+              [positionToleranceMetres, velocityToleranceMetresPerSecond].allSatisfy({ $0.isFinite && $0 > 0 }),
+              minimumRemainingPropellantKilograms.isFinite, minimumRemainingPropellantKilograms >= 0 else {
+            throw FiniteTransferPlanningError.invalidInput
+        }
+        guard target.frame === initialState.frame, initialSchedule.frame === initialState.frame,
+              context.frame === initialState.frame else { throw SpacecraftDynamicsError.frameMismatch }
+        guard burnWindows == nil || burnWindows!.count == initialSchedule.burns.count else {
+            throw FiniteTransferPlanningError.invalidInput
+        }
+        func valid(_ burns: [FiniteBurn]) -> Bool {
+            if let windows = burnWindows, !zip(burns,windows).allSatisfy({ $1.contains($0.start) && $1.contains($0.end) }) { return false }
+            return burns.allSatisfy { $0.start >= initialState.epoch && $0.end <= target.epoch } &&
+            zip(burns, burns.dropFirst()).allSatisfy { $0.end <= $1.start }
+        }
+        guard valid(initialSchedule.burns) else { throw FiniteTransferPlanningError.burnsDoNotFit }
+        func evaluate(_ schedule: ScheduledThrust) throws -> FiniteTransferEvaluation {
+            let consumed = try schedule.burns.reduce(0.0) {
+                try $0 + $1.end.duration(since: $1.start).seconds * $1.thrust.propellantConsumptionKilogramsPerSecond
+            }
+            guard consumed.isFinite,
+                  initialState.mass.propellantMassKilograms - consumed > 0,
+                  initialState.mass.propellantMassKilograms - consumed >= minimumRemainingPropellantKilograms else {
+                throw FiniteTransferPlanningError.insufficientPropellant
+            }
+            let state = try ScheduledThrustPropagator(initialState: initialState, schedule: schedule,
+                backgroundModels: backgroundModels, context: context, options: numericalOptions).spacecraftState(at: target.epoch)
+            guard state.mass.propellantMassKilograms >= minimumRemainingPropellantKilograms else {
+                throw FiniteTransferPlanningError.insufficientPropellant
+            }
+            return FiniteTransferEvaluation(schedule: schedule, arrivalState: state,
+                positionErrorMetres: routeNorm(state.cartesian.position - target.position),
+                velocityErrorMetresPerSecond: routeNorm(state.cartesian.velocity - target.velocity),
+                propellantUsedKilograms: initialState.mass.propellantMassKilograms - state.mass.propellantMassKilograms)
+        }
+        func score(_ e: FiniteTransferEvaluation) -> Double {
+            hypot(e.positionErrorMetres / positionToleranceMetres, e.velocityErrorMetresPerSecond / velocityToleranceMetresPerSecond)
+        }
+        func converged(_ e: FiniteTransferEvaluation) -> Bool {
+            e.positionErrorMetres <= positionToleranceMetres && e.velocityErrorMetresPerSecond <= velocityToleranceMetresPerSecond
+        }
+        let initial = try evaluate(initialSchedule)
+        var best = initial, evaluations = 1, rejected = 0, step = 0.25
+        let flight = try target.epoch.duration(since: initialState.epoch).seconds
+        while !converged(best) && evaluations < maximumEvaluations && step >= 1e-6 {
+            var improved = false
+            for i in best.schedule.burns.indices {
+                for coordinate in 0..<5 {
+                    for sign in [-1.0, 1.0] {
+                        if evaluations >= maximumEvaluations { break }
+                        var burns = best.schedule.burns
+                        let b = burns[i], duration = try b.end.duration(since: b.start).seconds
+                        var start = b.start, seconds = duration, direction = b.thrust.direction
+                        switch coordinate {
+                        case 0: start = try start.advanced(by: Duration(seconds: sign * step * min(flight * 0.01, duration)))
+                        case 1: seconds *= 1 + sign * step
+                        default: direction[coordinate - 2] += sign * step
+                        }
+                        let end = try start.advanced(by: Duration(seconds: seconds))
+                        guard end > start else { rejected += 1; continue }
+                        burns[i] = try FiniteBurn(start: start, end: end, thrust: FiniteThrust(frame: b.thrust.frame,
+                            thrustNewtons: b.thrust.thrustNewtons,
+                            effectiveExhaustVelocityMetresPerSecond: b.thrust.effectiveExhaustVelocityMetresPerSecond,
+                            direction: direction))
+                        guard valid(burns) else { rejected += 1; continue }
+                        evaluations += 1
+                        do {
+                            let trial = try evaluate(ScheduledThrust(frame: initialState.frame, burns: burns))
+                            if score(trial) < score(best) { best = trial; improved = true }
+                        } catch is NumericalPropagationError { rejected += 1 }
+                        catch FiniteTransferPlanningError.insufficientPropellant { rejected += 1 }
+                        if converged(best) { break }
+                    }
+                    if converged(best) { break }
+                }
+                if converged(best) { break }
+            }
+            if !improved { step *= 0.5 }
+        }
+        return FiniteTransferRefinementResult(status: converged(best) ? .converged :
+            (evaluations >= maximumEvaluations ? .evaluationLimitReached : .stepLimitReached),
+            evaluations: evaluations, rejectedTrials: rejected, initial: initial, best: best)
+    }
+}
diff --git a/Sources/CelMek/FluidWrench.swift b/Sources/CelMek/FluidWrench.swift
new file mode 100644
index 0000000..996a1bf
--- /dev/null
+++ b/Sources/CelMek/FluidWrench.swift
@@ -0,0 +1,87 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import FluidDynamics
+import Atmospheres
+import Math
+
+/// Adapts a pure aerodynamic evaluation into one coupled force/torque contribution.
+/// Returned loads must use the attitude's body axes; reference points and the centre
+/// of mass use the same body-coordinate origin. The evaluator is called at every
+/// dynamics stage and must not advance subsystem state or a simulation clock.
+public struct FluidWrench: SpacecraftWrenchModel {
+    public let bodyFrame: Frame
+    public let centreOfMassBodyMetres: SIMD3<Double>
+    private let evaluator: (CoupledSpacecraftState, RotationalEvaluationContext) throws -> FluidLoads
+
+    public init(bodyFrame: Frame, centreOfMassBodyMetres: SIMD3<Double> = .zero,
+                evaluate: @escaping (CoupledSpacecraftState, RotationalEvaluationContext) throws -> FluidLoads) throws {
+        guard attitudeFinite(centreOfMassBodyMetres) else { throw AttitudeError.invalidVector }
+        self.bodyFrame = bodyFrame
+        self.centreOfMassBodyMetres = centreOfMassBodyMetres
+        evaluator = evaluate
+    }
+
+    public func contribution(for state: CoupledSpacecraftState,
+                             in context: RotationalEvaluationContext) throws -> SpacecraftWrenchContribution {
+        try validateRotationalState(state.attitude, spacecraft: state.spacecraft, context: context)
+        guard bodyFrame === context.bodyFrame else { throw AttitudeError.frameMismatch }
+        let loads = try evaluator(state, context).referred(to: centreOfMassBodyMetres)
+        return try SpacecraftWrenchContribution(epoch: state.epoch,
+            referenceFrame: context.referenceFrame, bodyFrame: bodyFrame,
+            forceReferenceNewtons: state.attitude.referenceVector(fromBody: loads.forceNewtons),
+            torqueBodyNewtonMetres: loads.momentNewtonMetres)
+    }
+}
+
+public extension CoupledSpacecraftState {
+    /// Checked atmosphere sample variant, requiring a matching epoch, reference
+    /// frame and explicitly supplied atmosphere origin.
+    func fluidFlow(atmosphere sample: AtmosphereSample, origin: BodyIdentifier,
+                         properties: AtmosphericProperties) throws -> FluidFlow {
+        guard sample.epoch == epoch else { throw AttitudeError.epochMismatch }
+        guard sample.frame === spacecraft.frame else { throw AttitudeError.frameMismatch }
+        guard sample.origin == origin else { throw EnvironmentalForceError.originMismatch }
+        return try fluidFlow(mediumVelocityReferenceMetresPerSecond: sample.velocityMetresPerSecond,
+                                   densityKilogramsPerCubicMetre: properties.densityKilogramsPerCubicMetre,
+            pressurePascals: properties.pressurePascals,temperatureKelvin: properties.temperatureKelvin,
+            speedOfSoundMetresPerSecond: properties.speedOfSoundMetresPerSecond,
+            dynamicViscosityPascalSeconds: properties.dynamicViscosityPascalSeconds)
+    }
+    /// Atmosphere convenience; general fluid sampling uses the scalar-properties overload.
+    func fluidFlow(mediumVelocityReferenceMetresPerSecond: SIMD3<Double>,
+                   properties: AtmosphericProperties) throws -> FluidFlow {
+        try fluidFlow(mediumVelocityReferenceMetresPerSecond: mediumVelocityReferenceMetresPerSecond,
+            densityKilogramsPerCubicMetre: properties.densityKilogramsPerCubicMetre,
+            pressurePascals: properties.pressurePascals,temperatureKelvin: properties.temperatureKelvin,
+            speedOfSoundMetresPerSecond: properties.speedOfSoundMetresPerSecond,
+            dynamicViscosityPascalSeconds: properties.dynamicViscosityPascalSeconds)
+    }
+    /// Medium and vehicle velocities share reference frame and epoch; rotate their
+    /// difference to body axes. Liquid currents and atmospheric rotation are explicit.
+    func fluidFlow(mediumVelocityReferenceMetresPerSecond: SIMD3<Double>,
+                   densityKilogramsPerCubicMetre: Double, pressurePascals: Double? = nil,
+                   temperatureKelvin: Double? = nil, speedOfSoundMetresPerSecond: Double? = nil,
+                   dynamicViscosityPascalSeconds: Double? = nil) throws -> FluidFlow {
+        try FluidFlow(relativeVelocityMetresPerSecond:
+            attitude.bodyVector(fromReference: spacecraft.cartesian.velocity-mediumVelocityReferenceMetresPerSecond),
+            densityKilogramsPerCubicMetre: densityKilogramsPerCubicMetre,
+            pressurePascals: pressurePascals,temperatureKelvin: temperatureKelvin,
+            speedOfSoundMetresPerSecond: speedOfSoundMetresPerSecond,
+            dynamicViscosityPascalSeconds: dynamicViscosityPascalSeconds)
+    }
+}
diff --git a/Sources/CelMek/FrameTransform.swift b/Sources/CelMek/FrameTransform.swift
new file mode 100644
index 0000000..f8735b4
--- /dev/null
+++ b/Sources/CelMek/FrameTransform.swift
@@ -0,0 +1,219 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+public enum FrameTransformError: Error, Equatable {
+  case invalidRotation, nonFinite, epochMismatch, disconnectedFrames
+}
+
+/// Rigid mapping p_destination = R * p_source + translation.
+/// Derivatives use elapsed atomic seconds. Angular derivatives are expressed
+/// in destination axes and satisfy d(R*p)/dt = angularVelocity × (R*p).
+public struct FrameTransform {
+  public let epoch: Epoch
+  public let rotation: Quaternion
+  public let translation: SIMD3<Double>
+  public let velocity: SIMD3<Double>
+  public let acceleration: SIMD3<Double>
+  public let angularVelocity: SIMD3<Double>
+  public let angularAcceleration: SIMD3<Double>
+
+  public init(epoch: Epoch, rotation: Quaternion = .identity,
+              translation: SIMD3<Double> = .zero, velocity: SIMD3<Double> = .zero,
+              acceleration: SIMD3<Double> = .zero, angularVelocity: SIMD3<Double> = .zero,
+              angularAcceleration: SIMD3<Double> = .zero) throws {
+    let scale = max(abs(rotation.x), abs(rotation.y), abs(rotation.z), abs(rotation.w))
+    guard scale.isFinite, scale > 0,
+          [rotation.x, rotation.y, rotation.z, rotation.w].allSatisfy({ $0.isFinite }) else {
+      throw FrameTransformError.invalidRotation
+    }
+    let q = rotation / scale
+    let norm = sqrt(Quaternion.dot(lhs: q, rhs: q))
+    guard [translation, velocity, acceleration, angularVelocity, angularAcceleration]
+      .allSatisfy({ $0.x.isFinite && $0.y.isFinite && $0.z.isFinite }) else {
+      throw FrameTransformError.nonFinite
+    }
+    self.epoch = epoch
+    self.rotation = q / norm
+    self.translation = translation
+    self.velocity = velocity
+    self.acceleration = acceleration
+    self.angularVelocity = angularVelocity
+    self.angularAcceleration = angularAcceleration
+  }
+
+  public static func identity(at epoch: Epoch) -> FrameTransform {
+    try! FrameTransform(epoch: epoch)
+  }
+
+  public func applying(to state: CartesianState, destination: Frame) throws -> CartesianState {
+    guard state.epoch == epoch else { throw FrameTransformError.epochMismatch }
+    let r = rotation.matrix * state.position
+    let v = rotation.matrix * state.velocity
+    let a = state.acceleration.map {
+      rotation.matrix * $0 + 2 * cross(angularVelocity, v)
+        + cross(angularAcceleration, r) + cross(angularVelocity, cross(angularVelocity, r)) + acceleration
+    }
+    return try CartesianState(epoch: epoch, frame: destination, position: r + translation,
+      velocity: v + cross(angularVelocity, r) + velocity, acceleration: a)
+  }
+
+  /// Applies this mapping followed by next; both must describe the same epoch.
+  public func followed(by next: FrameTransform) throws -> FrameTransform {
+    guard epoch == next.epoch else { throw FrameTransformError.epochMismatch }
+    let r = next.rotation.matrix * translation
+    let v = next.rotation.matrix * velocity
+    let w = next.rotation.matrix * angularVelocity
+    return try FrameTransform(epoch: epoch, rotation: next.rotation * rotation,
+      translation: r + next.translation,
+      velocity: v + cross(next.angularVelocity, r) + next.velocity,
+      acceleration: next.rotation.matrix * acceleration + 2 * cross(next.angularVelocity, v)
+        + cross(next.angularAcceleration, r) + cross(next.angularVelocity, cross(next.angularVelocity, r))
+        + next.acceleration,
+      angularVelocity: w + next.angularVelocity,
+      angularAcceleration: next.rotation.matrix * angularAcceleration + next.angularAcceleration
+        + cross(next.angularVelocity, w))
+  }
+
+  public func inverted() throws -> FrameTransform {
+    let inverse = rotation.conj.matrix
+    return try FrameTransform(epoch: epoch, rotation: rotation.conj,
+      translation: inverse * -translation,
+      velocity: inverse * (-velocity + cross(angularVelocity, translation)),
+      acceleration: inverse * (-acceleration + 2 * cross(angularVelocity, velocity)
+        + cross(angularAcceleration, translation) - cross(angularVelocity, cross(angularVelocity, translation))),
+      angularVelocity: inverse * -angularVelocity, angularAcceleration: inverse * -angularAcceleration)
+  }
+}
+
+private func cross(_ a: SIMD3<Double>, _ b: SIMD3<Double>) -> SIMD3<Double> {
+  SIMD3(a.y*b.z-a.z*b.y, a.z*b.x-a.x*b.z, a.x*b.y-a.y*b.x)
+}
+
+public protocol TransformProvider {
+  /// Returns the parent-to-child mapping at the requested epoch.
+  func transform(at epoch: Epoch) throws -> FrameTransform
+}
+
+/// A constant rigid mapping with zero derivatives.
+public struct FixedTransformProvider: TransformProvider {
+  private let fixed: FrameTransform
+  public init(rotation: Quaternion = .identity, translation: SIMD3<Double> = .zero) throws {
+    fixed = try FrameTransform(epoch: .j2000, rotation: rotation, translation: translation)
+  }
+  public func transform(at epoch: Epoch) throws -> FrameTransform {
+    try FrameTransform(epoch: epoch, rotation: fixed.rotation, translation: fixed.translation)
+  }
+}
+
+/// Rotation of coordinate axes about a fixed axis, with a stationary common origin.
+/// Positive rate turns the child axes by the right-hand rule in parent coordinates;
+/// the parent-to-child coordinate mapping therefore has negative angular velocity.
+public struct UniformRotationProvider: TransformProvider {
+  public let referenceEpoch: Epoch
+  public let rate: Double
+  private let axis: SIMD3<Double>
+  private let initial: Quaternion
+  public init(referenceEpoch: Epoch = .j2000, axis: SIMD3<Double>, rate: Double,
+              initialRotation: Quaternion = .identity) throws {
+    let scale = max(abs(axis.x), abs(axis.y), abs(axis.z))
+    guard scale.isFinite, scale > 0, axis.x.isFinite, axis.y.isFinite, axis.z.isFinite, rate.isFinite else {
+      throw FrameTransformError.nonFinite
+    }
+    let scaled = axis / scale
+    self.axis = scaled / sqrt((scaled * scaled).sum())
+    self.referenceEpoch = referenceEpoch
+    self.rate = rate
+    self.initial = try FrameTransform(epoch: referenceEpoch, rotation: initialRotation).rotation
+  }
+  public func transform(at epoch: Epoch) throws -> FrameTransform {
+    let angle = -rate * (try epoch.duration(since: referenceEpoch)).seconds
+    guard angle.isFinite else { throw FrameTransformError.nonFinite }
+    return try FrameTransform(epoch: epoch,
+      rotation: initial * Quaternion(angle: angle.truncatingRemainder(dividingBy: 2 * .pi), axis: axis),
+      angularVelocity: initial.matrix * (-rate * axis))
+  }
+}
+
+/// Owns the providers for a frame tree. Parent links are immutable and strong.
+/// Providers may throw for coverage or data errors; queries do not cache results.
+/// Custom providers must not strongly capture their owning tree.
+public final class FrameTree {
+  public let root: Frame
+  private var edges: [ObjectIdentifier: any TransformProvider] = [:]
+  public init(name: String = "Inertial", pseudoInertial: Bool = true) {
+    root = Frame(name: name, pseudoInertial: pseudoInertial)
+  }
+  /// Adopts an existing frame as a local tree root. Its external ancestors
+  /// are outside this tree; queries remain within the registered subtree.
+  public init(root: Frame) throws {
+    self.root = root
+  }
+  public func makeFrame(parent: Frame, name: String, pseudoInertial: Bool = false,
+                        provider: any TransformProvider) throws -> Frame {
+    guard contains(parent) else { throw FrameTransformError.disconnectedFrames }
+    let child = Frame(parent: parent, name: name, pseudoInertial: pseudoInertial)
+    edges[ObjectIdentifier(child)] = provider
+    // Retain identities to prevent ObjectIdentifier reuse after callers release a child.
+    frames.append(child)
+    return child
+  }
+  /// Registers an existing identity under its immutable parent. The provider
+  /// must map that parent into this frame. No reparenting or relabelling occurs.
+  public func registerFrame(_ frame: Frame, provider: any TransformProvider) throws {
+    guard frame !== root, !contains(frame), let parent = frame.parent, contains(parent) else {
+      throw FrameTransformError.disconnectedFrames
+    }
+    edges[ObjectIdentifier(frame)] = provider
+    frames.append(frame)
+  }
+  private var frames: [Frame] = []
+  internal func isRegistered(_ frame: Frame) -> Bool { contains(frame) }
+  private func contains(_ frame: Frame) -> Bool {
+    frame === root || edges[ObjectIdentifier(frame)] != nil
+  }
+  public func transform(from source: Frame, to destination: Frame, at epoch: Epoch) throws -> FrameTransform {
+    guard contains(source), contains(destination) else { throw FrameTransformError.disconnectedFrames }
+    // Find the common ancestor so unrelated edge providers need not be evaluated.
+    var ancestors: [Frame] = []
+    var node: Frame? = source
+    while let current = node { ancestors.append(current); node = current.parent }
+    node = destination
+    var down: [Frame] = []
+    while let current = node, !ancestors.contains(where: { $0 === current }) {
+      down.append(current); node = current.parent
+    }
+    guard let common = node else { throw FrameTransformError.disconnectedFrames }
+    var result = FrameTransform.identity(at: epoch)
+    var up = source
+    while up !== common {
+      let edge = try edges[ObjectIdentifier(up)]!.transform(at: epoch)
+      result = try result.followed(by: edge.inverted())
+      up = up.parent!
+    }
+    for child in down.reversed() {
+      result = try result.followed(by: edges[ObjectIdentifier(child)]!.transform(at: epoch))
+    }
+    return result
+  }
+  public func convert(_ state: CartesianState, to destination: Frame) throws -> CartesianState {
+    try transform(from: state.frame, to: destination, at: state.epoch)
+      .applying(to: state, destination: destination)
+  }
+}
diff --git a/Sources/CelMek/FuelLimitedNumericalPropagator.swift b/Sources/CelMek/FuelLimitedNumericalPropagator.swift
new file mode 100644
index 0000000..5b457e4
--- /dev/null
+++ b/Sources/CelMek/FuelLimitedNumericalPropagator.swift
@@ -0,0 +1,92 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Math
+
+public struct FuelLimitedPropagationResult {
+    public let state: SpacecraftState
+    public let depletionEpoch: Epoch?
+    public let depletionBracketSeconds: Double?
+}
+
+/// Variable-flow depletion search. Consumers explicitly supply a dry-mass limit;
+/// other models must have zero mass rate. All consumers switch off together.
+public struct FuelLimitedNumericalPropagator: SpacecraftStateProvider {
+    public let initialState: SpacecraftState
+    public let dynamics: SpacecraftDynamics
+    public let numericalOptions: NumericalPropagationOptions
+    public let eventOptions: PropagationEventOptions
+    public var frame: Frame { initialState.frame }
+    public init(initialState: SpacecraftState, dynamics: SpacecraftDynamics,
+                numericalOptions: NumericalPropagationOptions = try! NumericalPropagationOptions(),
+                eventOptions: PropagationEventOptions = try! PropagationEventOptions()) throws {
+        _ = try NumericalSpacecraftPropagator(initialState: initialState, dynamics: dynamics, options: numericalOptions)
+        self.initialState = initialState; self.dynamics = dynamics
+        self.numericalOptions = numericalOptions; self.eventOptions = eventOptions
+    }
+    public func state(at epoch: Epoch) throws -> CartesianState { try spacecraftState(at: epoch).cartesian }
+    public func spacecraftState(at epoch: Epoch) throws -> SpacecraftState { try propagation(at: epoch).state }
+    public func propagation(at target: Epoch) throws -> FuelLimitedPropagationResult {
+        var queries = 0
+        func consumeQueryBudget() throws {
+            guard queries < eventOptions.maximumStateEvaluations else { throw PropagationEventError.evaluationLimitExceeded }
+            queries += 1
+        }
+        if target < initialState.epoch {
+            try consumeQueryBudget()
+            return FuelLimitedPropagationResult(state: try NumericalSpacecraftPropagator(initialState: initialState,
+                dynamics: dynamics, options: numericalOptions).spacecraftState(at: target), depletionEpoch: nil, depletionBracketSeconds: nil)
+        }
+        let coast = try dynamics.withoutFuelConsumers()
+        if initialState.mass.propellantMassKilograms == 0 {
+            try consumeQueryBudget()
+            return FuelLimitedPropagationResult(state: try NumericalSpacecraftPropagator(initialState: initialState,
+                dynamics: coast, options: numericalOptions).spacecraftState(at: target), depletionEpoch: initialState.epoch, depletionBracketSeconds: 0)
+        }
+        var bracket: (SpacecraftState,SpacecraftState)?
+        try consumeQueryBudget()
+        let integrated = try NumericalSpacecraftPropagator(initialState: initialState, dynamics: dynamics, options: numericalOptions)
+            .propagation(at: target, acceptedStep: nil, extendFuelBoundary: true) { left, leftFuel, right, rightFuel in
+                if leftFuel > 0 && rightFuel <= 0 { bracket = (left,right); return false }
+                return true
+            }
+        guard var (left,right) = bracket else {
+            return FuelLimitedPropagationResult(state: integrated.state, depletionEpoch: nil, depletionBracketSeconds: nil)
+        }
+        var iterations = 0
+        var width = try right.epoch.duration(since: left.epoch).seconds
+        while width > eventOptions.timeToleranceSeconds {
+            guard iterations < eventOptions.maximumLocalizationIterations else { throw PropagationEventError.localizationLimitExceeded }
+            try consumeQueryBudget()
+            iterations += 1
+            let date = try left.epoch.advanced(by: Duration(seconds: width/2))
+            guard date > left.epoch && date < right.epoch else { throw PropagationEventError.epochResolutionExceeded }
+            let trial = try NumericalSpacecraftPropagator(initialState: left, dynamics: dynamics, options: numericalOptions)
+                .propagation(at: date, acceptedStep: nil, extendFuelBoundary: true)
+            if trial.rawPropellantMassKilograms > 0 { left = trial.state } else { right = trial.state }
+            width = try right.epoch.duration(since: left.epoch).seconds
+        }
+        // Select the last valid side, at most timeTolerance before exhaustion;
+        // replace only its bounded residual fuel with the known boundary value.
+        let boundary = SpacecraftState(cartesian: left.cartesian,
+            mass: try SpacecraftMassProperties(dryMassKilograms: left.mass.dryMassKilograms))
+        try consumeQueryBudget()
+        let final = try NumericalSpacecraftPropagator(initialState: boundary, dynamics: coast, options: numericalOptions)
+            .spacecraftState(at: target)
+        return FuelLimitedPropagationResult(state: final, depletionEpoch: boundary.epoch, depletionBracketSeconds: width)
+    }
+}
diff --git a/Sources/CelMek/HohmannRendezvous.swift b/Sources/CelMek/HohmannRendezvous.swift
new file mode 100644
index 0000000..5305886
--- /dev/null
+++ b/Sources/CelMek/HohmannRendezvous.swift
@@ -0,0 +1,201 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+public enum HohmannRendezvousError: Error, Equatable {
+    case incompatibleCentralBody, incompatibleGM, nonCoplanarOrbits, opposingOrbitalDirections
+    case invalidTolerance, invalidBudget, relativeMotionNotRepresentable
+}
+
+/// An explicit circular two-body model. State adapters validate and report
+/// the limits of a local circular approximation; they do not fit a full ephemeris.
+/// The caller guarantees the frame's physical centre is centralBody.
+public struct CircularHohmannOrbit: StateProvider {
+    public let referenceEpoch: Epoch
+    public let frame: Frame
+    public let centralBody: BodyIdentifier
+    public let radiusMetres: Double
+    public let gravitationalParameter: GravitationalParameter
+    public let angularRateRadiansPerSecond: Double
+    public let circularSpeedMetresPerSecond: Double
+    private let radial: SIMD3<Double>
+    private let tangent: SIMD3<Double>
+    var normal: SIMD3<Double> { hohmannCross(radial, tangent) }
+
+    public init(referenceEpoch: Epoch, frame: Frame, centralBody: BodyIdentifier,
+                radiusMetres: Double, radialDirection: SIMD3<Double>, progradeDirection: SIMD3<Double>,
+                gravitationalParameter: GravitationalParameter) throws {
+        try centralBody.validate()
+        guard frame.pseudoInertial else { throw PropagationError.nonInertialFrame }
+        let circular = try HohmannTransfer(departureRadiusMetres: radiusMetres,
+            arrivalRadiusMetres: radiusMetres, gravitationalParameter: gravitationalParameter)
+        let r = try hohmannUnit(radialDirection), t = try hohmannUnit(progradeDirection)
+        let dot = (r*t).sum()
+        guard abs(dot) <= 1e-12 else { throw HohmannTransferError.invalidDirections }
+        radial = r; tangent = try hohmannUnit(t-r*dot)
+        self.referenceEpoch = referenceEpoch; self.frame = frame; self.centralBody = centralBody
+        self.radiusMetres = radiusMetres; self.gravitationalParameter = gravitationalParameter
+        circularSpeedMetresPerSecond = circular.departureCircularSpeedMetresPerSecond
+        angularRateRadiansPerSecond = circularSpeedMetresPerSecond/radiusMetres
+        guard angularRateRadiansPerSecond.isFinite, angularRateRadiansPerSecond > 0 else {
+            throw HohmannTransferError.numericalRangeExceeded
+        }
+    }
+
+    func directions(at epoch: Epoch) throws -> (radial: SIMD3<Double>, tangent: SIMD3<Double>) {
+        let angle = angularRateRadiansPerSecond * (try epoch.duration(since: referenceEpoch)).seconds
+        guard angle.isFinite else { throw HohmannTransferError.numericalRangeExceeded }
+        let reduced = angle.truncatingRemainder(dividingBy: 2 * .pi)
+        let c = cos(reduced), s = sin(reduced)
+        return (radial*c+tangent*s, tangent*c-radial*s)
+    }
+    public func state(at epoch: Epoch) throws -> CartesianState {
+        let axes = try directions(at: epoch)
+        return try CartesianState(epoch: epoch, frame: frame,
+            position: axes.radial*radiusMetres, velocity: axes.tangent*circularSpeedMetresPerSecond,
+            acceleration: -axes.radial*(circularSpeedMetresPerSecond*angularRateRadiansPerSecond))
+    }
+}
+
+public enum HohmannRendezvousStatus: Equatable, Sendable {
+    case feasible, departureWindowExhausted, evaluationLimitReached
+    case alreadyRendezvoused, sameOrbitPhasingRequired
+}
+public struct HohmannRendezvousAttempt {
+    public let departureEpoch: Epoch
+    public let phaseErrorRadians: Double
+    public let positionErrorMetres: Double
+    public let velocityErrorMetresPerSecond: Double
+}
+public struct HohmannRendezvousResult {
+    public let status: HohmannRendezvousStatus
+    /// Target angle ahead of the departure radius, positive in orbital motion, [0, 2π).
+    public let requiredPhaseAngleRadians: Double
+    public let relativeAngularRateRadiansPerSecond: Double
+    public let attempts: [HohmannRendezvousAttempt]
+    /// Nil for already-coincident targets and searches without a verified transfer.
+    public let plan: HohmannTransferPlan?
+    public let departureEpoch: Epoch?
+    public let targetArrivalState: CartesianState?
+}
+
+/// Analytic launch opportunities for explicit circular, coplanar, co-directional
+/// models, followed by propagated rendezvous checks. No arbitrary epoch grid.
+public enum HohmannRendezvousPlanner {
+    public static func search(departureOrbit: CircularHohmannOrbit, targetOrbit: CircularHohmannOrbit,
+        departureWindow: ClosedRange<Epoch>, maximumOpportunityEvaluations: Int = 1000,
+        positionToleranceMetres: Double = 0.01, velocityToleranceMetresPerSecond: Double = 1e-5,
+        propagationOptions: TwoBodyPropagationOptions = try! TwoBodyPropagationOptions()) throws -> HohmannRendezvousResult {
+        guard (1...10_000).contains(maximumOpportunityEvaluations) else { throw HohmannRendezvousError.invalidBudget }
+        guard [positionToleranceMetres, velocityToleranceMetresPerSecond].allSatisfy({ $0.isFinite && $0 > 0 }) else {
+            throw HohmannRendezvousError.invalidTolerance
+        }
+        guard departureOrbit.frame === targetOrbit.frame else { throw SpacecraftDynamicsError.frameMismatch }
+        guard departureOrbit.centralBody == targetOrbit.centralBody else { throw HohmannRendezvousError.incompatibleCentralBody }
+        let gm = departureOrbit.gravitationalParameter, targetGM = targetOrbit.gravitationalParameter
+        guard gm.cubicMetresPerSecondSquared == targetGM.cubicMetresPerSecondSquared,
+              gm.convention == targetGM.convention else { throw HohmannRendezvousError.incompatibleGM }
+        let n1 = departureOrbit.normal, n2 = targetOrbit.normal
+        if hohmannNorm(n1+n2) <= 1e-12 { throw HohmannRendezvousError.opposingOrbitalDirections }
+        guard hohmannNorm(n1-n2) <= 1e-12 else { throw HohmannRendezvousError.nonCoplanarOrbits }
+        let transfer = try HohmannTransfer(departureRadiusMetres: departureOrbit.radiusMetres,
+            arrivalRadiusMetres: targetOrbit.radiusMetres, gravitationalParameter: gm)
+        let angle = targetOrbit.angularRateRadiansPerSecond*transfer.duration.seconds
+        guard angle.isFinite else { throw HohmannTransferError.numericalRangeExceeded }
+        let required = departureOrbit.radiusMetres == targetOrbit.radiusMetres ? 0 : hohmannWrap(.pi-angle)
+        // Stable mean-motion difference for nearly equal radii.
+        let ratioDifference = (departureOrbit.radiusMetres-targetOrbit.radiusMetres)/targetOrbit.radiusMetres
+        let rate = abs(ratioDifference) < 0.5 ?
+            departureOrbit.angularRateRadiansPerSecond*expm1(1.5*log1p(ratioDifference)) :
+            targetOrbit.angularRateRadiansPerSecond-departureOrbit.angularRateRadiansPerSecond
+        guard rate.isFinite else { throw HohmannRendezvousError.relativeMotionNotRepresentable }
+        var attempts: [HohmannRendezvousAttempt] = []
+        func finish(_ status: HohmannRendezvousStatus, plan: HohmannTransferPlan? = nil,
+                    departure: Epoch? = nil, target: CartesianState? = nil) -> HohmannRendezvousResult {
+            HohmannRendezvousResult(status: status, requiredPhaseAngleRadians: required,
+                relativeAngularRateRadiansPerSecond: rate, attempts: attempts,
+                plan: plan, departureEpoch: departure, targetArrivalState: target)
+        }
+        let lower = departureWindow.lowerBound
+        let axes = try departureOrbit.directions(at: lower)
+        let targetAxes = try targetOrbit.directions(at: lower)
+        let phase = atan2((targetAxes.radial*axes.tangent).sum(), (targetAxes.radial*axes.radial).sum())
+        if departureOrbit.radiusMetres == targetOrbit.radiusMetres {
+            let departure = try departureOrbit.state(at: lower), target = try targetOrbit.state(at: lower)
+            let p = hohmannNorm(departure.position-target.position), v = hohmannNorm(departure.velocity-target.velocity)
+            attempts.append(HohmannRendezvousAttempt(departureEpoch: lower, phaseErrorRadians: phase,
+                positionErrorMetres: p, velocityErrorMetresPerSecond: v))
+            if p <= positionToleranceMetres && v <= velocityToleranceMetresPerSecond {
+                return finish(.alreadyRendezvoused, departure: lower, target: target)
+            }
+            return finish(.sameOrbitPhasingRequired)
+        }
+        guard rate != 0 else { throw HohmannRendezvousError.relativeMotionNotRepresentable }
+        let gap = rate > 0 ? hohmannWrap(required-phase) : hohmannWrap(phase-required)
+        let angularTolerance = min(64*Double.ulpOfOne,
+            min(positionToleranceMetres/targetOrbit.radiusMetres,
+                velocityToleranceMetresPerSecond/targetOrbit.circularSpeedMetresPerSecond))
+        let firstOffset = min(gap, 2 * .pi-gap) <= angularTolerance ? 0 : gap/abs(rate)
+        let period = 2 * .pi/abs(rate)
+        let span = try departureWindow.upperBound.duration(since: lower).seconds
+        var previous: Epoch?
+        var opportunity = 0
+        while true {
+            // Multiplying infinity by zero must not hide a valid first opportunity.
+            let offset = opportunity == 0 ? firstOffset : firstOffset+Double(opportunity)*period
+            if !offset.isFinite || offset > span { return finish(.departureWindowExhausted) }
+            if attempts.count == maximumOpportunityEvaluations { return finish(.evaluationLimitReached) }
+            let epoch = try lower.advanced(by: Duration(seconds: offset))
+            if epoch > departureWindow.upperBound { return finish(.departureWindowExhausted) }
+            guard previous == nil || epoch > previous! else { throw HohmannRendezvousError.relativeMotionNotRepresentable }
+            previous = epoch
+            let departureAxes = try departureOrbit.directions(at: epoch)
+            let plan = try transfer.plan(departureEpoch: epoch, frame: departureOrbit.frame,
+                centralBody: departureOrbit.centralBody, radialDirection: departureAxes.radial,
+                progradeDirection: departureAxes.tangent, options: propagationOptions)
+            let arrival = try plan.trajectory.state(at: plan.arrivalEpoch)
+            let target = try targetOrbit.state(at: plan.arrivalEpoch)
+            let targetDeparture = try targetOrbit.directions(at: epoch)
+            let actualPhase = atan2((targetDeparture.radial*departureAxes.tangent).sum(),
+                (targetDeparture.radial*departureAxes.radial).sum())
+            let phaseError = atan2(sin(actualPhase-required), cos(actualPhase-required))
+            let p = hohmannNorm(arrival.position-target.position), v = hohmannNorm(arrival.velocity-target.velocity)
+            attempts.append(HohmannRendezvousAttempt(departureEpoch: epoch, phaseErrorRadians: phaseError,
+                positionErrorMetres: p, velocityErrorMetresPerSecond: v))
+            if p <= positionToleranceMetres && v <= velocityToleranceMetresPerSecond {
+                return finish(.feasible, plan: plan, departure: epoch, target: target)
+            }
+            opportunity += 1
+        }
+    }
+}
+private func hohmannWrap(_ angle: Double) -> Double {
+    let remainder = angle.truncatingRemainder(dividingBy: 2 * .pi)
+    return remainder < 0 ? remainder+2 * .pi : remainder
+}
+private func hohmannUnit(_ v: SIMD3<Double>) throws -> SIMD3<Double> {
+    let n = hohmannNorm(v)
+    guard n.isFinite, n > 0 else { throw HohmannTransferError.invalidDirections }
+    return v/n
+}
+private func hohmannCross(_ a: SIMD3<Double>, _ b: SIMD3<Double>) -> SIMD3<Double> {
+    SIMD3(a.y*b.z-a.z*b.y, a.z*b.x-a.x*b.z, a.x*b.y-a.y*b.x)
+}
+
+private func hohmannNorm(_ v: SIMD3<Double>) -> Double { hypot(hypot(v.x,v.y),v.z) }
diff --git a/Sources/CelMek/HohmannTransfer.swift b/Sources/CelMek/HohmannTransfer.swift
new file mode 100644
index 0000000..1530f43
--- /dev/null
+++ b/Sources/CelMek/HohmannTransfer.swift
@@ -0,0 +1,106 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+public enum HohmannTransferError: Error, Equatable {
+    case invalidRadius, invalidDirections, numericalRangeExceeded
+}
+
+/// Newtonian two-impulse transfer between coplanar circular orbits about one
+/// central body. Radii are measured from its centre, not surface altitudes.
+public struct HohmannTransfer {
+    public let departureRadiusMetres: Double
+    public let arrivalRadiusMetres: Double
+    public let gravitationalParameter: GravitationalParameter
+    public let semiMajorAxisMetres: Double
+    public let eccentricity: Double
+    public let departureCircularSpeedMetresPerSecond: Double
+    public let arrivalCircularSpeedMetresPerSecond: Double
+    /// Signed along the local direction of orbital motion at each burn.
+    public let departureDeltaVelocityMetresPerSecond: Double
+    public let arrivalDeltaVelocityMetresPerSecond: Double
+    public let totalDeltaVelocityMetresPerSecond: Double
+    public let duration: Duration
+
+    public init(departureRadiusMetres r1: Double, arrivalRadiusMetres r2: Double,
+                gravitationalParameter gm: GravitationalParameter) throws {
+        guard r1.isFinite, r2.isFinite, r1 > 0, r2 > 0 else { throw HohmannTransferError.invalidRadius }
+        guard gm.convention == .newtonian || gm.convention == .ttCompatible else {
+            throw PropagationError.incompatibleGMConvention
+        }
+        let scale = max(r1,r2), x = r1/scale, y = r2/scale, sum = x+y
+        let a = r1/2+r2/2
+        let v1 = sqrt(gm.cubicMetresPerSecondSquared)/sqrt(r1)
+        let v2 = sqrt(gm.cubicMetresPerSecondSquared)/sqrt(r2)
+        // Rationalized speed differences preserve small radius changes.
+        let difference = (r2-r1)/scale
+        let dv1 = v1 * (difference/sum)/(sqrt(2*y/sum)+1)
+        let dv2 = v2 * (difference/sum)/(sqrt(2*x/sum)+1)
+        let seconds = Double.pi * (a/(sqrt(gm.cubicMetresPerSecondSquared)/sqrt(a)))
+        let total = abs(dv1)+abs(dv2), e = abs(difference)/sum
+        guard [a,v1,v2,dv1,dv2,seconds,total,e].allSatisfy(\.isFinite),
+              a > 0, v1 > 0, v2 > 0, seconds > 0, e < 1 else {
+            throw HohmannTransferError.numericalRangeExceeded
+        }
+        departureRadiusMetres = r1; arrivalRadiusMetres = r2; gravitationalParameter = gm
+        semiMajorAxisMetres = a; eccentricity = e
+        departureCircularSpeedMetresPerSecond = v1; arrivalCircularSpeedMetresPerSecond = v2
+        departureDeltaVelocityMetresPerSecond = dv1; arrivalDeltaVelocityMetresPerSecond = dv2
+        totalDeltaVelocityMetresPerSecond = total; duration = try Duration(seconds: seconds)
+    }
+
+    /// Construct the initial circular state and both burns in an explicit inertial
+    /// frame centred on centralBody. Directions are normalized and must be perpendicular.
+    /// This reaches the destination orbit; it does not solve target rendezvous phasing.
+    public func plan(departureEpoch: Epoch, frame: Frame, centralBody: BodyIdentifier,
+                     radialDirection: SIMD3<Double>, progradeDirection: SIMD3<Double>,
+                     options: TwoBodyPropagationOptions = try! TwoBodyPropagationOptions()) throws -> HohmannTransferPlan {
+        guard frame.pseudoInertial else { throw PropagationError.nonInertialFrame }
+        func unit(_ v: SIMD3<Double>) throws -> SIMD3<Double> {
+            let n = hypot(hypot(v.x,v.y),v.z)
+            guard n.isFinite, n > 0 else { throw HohmannTransferError.invalidDirections }
+            return v/n
+        }
+        let radial = try unit(radialDirection), tangent = try unit(progradeDirection)
+        guard abs((radial*tangent).sum()) <= 1e-12 else { throw HohmannTransferError.invalidDirections }
+        let initial = try CartesianState(epoch: departureEpoch, frame: frame,
+            position: radial*departureRadiusMetres, velocity: tangent*departureCircularSpeedMetresPerSecond)
+        let base = try TwoBodyPropagator(initialState: initial, centralBody: centralBody,
+            gravitationalParameter: gravitationalParameter, options: options)
+        let arrival = try departureEpoch.advanced(by: duration)
+        guard arrival > departureEpoch else { throw HohmannTransferError.numericalRangeExceeded }
+        let departureBurn = try ImpulsiveManeuver(epoch: departureEpoch, frame: frame,
+            deltaVelocityMetresPerSecond: tangent*departureDeltaVelocityMetresPerSecond)
+        // Arrival is diametrically opposite departure; local prograde is reversed.
+        let arrivalBurn = try ImpulsiveManeuver(epoch: arrival, frame: frame,
+            deltaVelocityMetresPerSecond: -tangent*arrivalDeltaVelocityMetresPerSecond)
+        let trajectory = try ManeuveredTwoBodyPropagator(base: base, maneuvers: [departureBurn,arrivalBurn])
+        return HohmannTransferPlan(transfer: self, arrivalEpoch: arrival, departureBurn: departureBurn,
+            arrivalBurn: arrivalBurn, trajectory: trajectory)
+    }
+}
+
+public struct HohmannTransferPlan {
+    public let transfer: HohmannTransfer
+    public let arrivalEpoch: Epoch
+    public let departureBurn: ImpulsiveManeuver
+    public let arrivalBurn: ImpulsiveManeuver
+    /// Query before/after burns or sample with TrajectorySampler.
+    public let trajectory: ManeuveredTwoBodyPropagator
+}
diff --git a/Sources/CelMek/IAUOrientationProvider.swift b/Sources/CelMek/IAUOrientationProvider.swift
new file mode 100644
index 0000000..f385005
--- /dev/null
+++ b/Sources/CelMek/IAUOrientationProvider.swift
@@ -0,0 +1,69 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Math
+
+public enum IAUOrientationError: Error, Equatable {
+  case unknownBody, legacyModelRequiresOptIn, outsideCoverage
+}
+
+/// IAU report orientation with ICRF reference axes, as in NAIF's generic PCK.
+/// Coverage is an explicit caller-selected interval, not a library-certified
+/// physical accuracy bound. Earth/Moon legacy approximations require opt-in.
+public struct IAUOrientationProvider: OrientationProvider {
+  public let body: String
+  public let coverage: ClosedRange<Epoch>
+  public let referenceFrame: Frame = CelestialFrames.icrf
+  public let usesLegacyModel: Bool
+  public let tdbModel: (any TDBTimeModel)?
+  public static var availableBodies: [String] { iauRotationModels.keys.sorted() }
+
+  public init(body: String, coverage: ClosedRange<Epoch>, allowLegacyModel: Bool = false, tdbModel: (any TDBTimeModel)? = nil) throws {
+    guard let model = iauRotationModels[body] else { throw IAUOrientationError.unknownBody }
+    let legacy = model.provenance == .legacy2009
+    guard !legacy || allowLegacyModel else { throw IAUOrientationError.legacyModelRequiresOptIn }
+    self.tdbModel = tdbModel
+    self.body = body
+    self.coverage = coverage
+    usesLegacyModel = legacy
+  }
+
+  public func orientation(at epoch: Epoch) throws -> BodyOrientation {
+    guard coverage.contains(epoch) else { throw IAUOrientationError.outsideCoverage }
+    let sample = try tdbModel.map { try epoch.tdbCorrection(using: $0) }
+    let date = try sample.map { try epoch.tdbDate(using: $0) } ?? epoch.julianDate(in: .tdb)
+    let days = Double(date.wholeDay - 2_451_545) + date.fractionalDay
+    let elements = try IAURotModel().elements(body: body, tdbDaysSinceJ2000: days)
+    let rate = sample?.rate ?? epoch.coordinateTimeRate(in: .tdb)
+    let acceleration = sample?.acceleration ?? epoch.coordinateTimeAcceleration(in: .tdb)
+    func angleTransform(_ angle: Double, _ first: Double, _ second: Double,
+                        axis: SIMD3<Double>) throws -> FrameTransform {
+      try FrameTransform(epoch: epoch,
+        rotation: Quaternion(angle: angle.truncatingRemainder(dividingBy: 2 * .pi), axis: axis),
+        angularVelocity: axis * (first * rate),
+        angularAcceleration: axis * (second * rate * rate + first * acceleration))
+    }
+    let ra = elements.rightAscension, dec = elements.declination, w = elements.primeMeridian
+    let node = try angleTransform(-(ra.radians + .pi/2), -ra.rate, -ra.acceleration, axis: SIMD3(0, 0, 1))
+    let tilt = try angleTransform(dec.radians - .pi/2, dec.rate, dec.acceleration, axis: SIMD3(1, 0, 0))
+    let spin = try angleTransform(-w.radians, -w.rate, -w.acceleration, axis: SIMD3(0, 0, 1))
+    let transform = try node.followed(by: tilt).followed(by: spin)
+    return try BodyOrientation(referenceFrame: referenceFrame, epoch: epoch,
+      rotation: transform.rotation, angularVelocity: transform.angularVelocity,
+      angularAcceleration: transform.angularAcceleration)
+  }
+}
diff --git a/Sources/CelMek/IAURotation.swift b/Sources/CelMek/IAURotation.swift
index 79228e1..724faa8 100644
--- a/Sources/CelMek/IAURotation.swift
+++ b/Sources/CelMek/IAURotation.swift
@@ -1,7 +1,7 @@
 //
 // SPDX-License-Identifier: Apache-2.0
 //
-// Copyright 2023 Mattias Holm
+// Copyright 2026 Mattias Holm
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -15,1390 +15,104 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 //
-
 import Foundation
-import Math
-
-/*
-  This is an attempt at implementing the rotational elements described by the
-  IAU WG 'Cartographic Coordinates and Rotational Elements'.
-
-  See:
-  - https://www.iau.org/science/scientific_bodies/working_groups/100/
-  - Report of the IAU Working Group on Cartographic Coordinates and Rotational Elements: 2015
-     - [DOI 10.1007/s10569-017-9805-5](https://doi.org/10.1007/s10569-017-9805-5)
-     - [PDF](https://rdcu.be/b32V4)
-  - Correction to: Report of the IAU Working Group on Cartographic Coordinates and Rotational Elements: 2015
-     - [10.1007/s10569-019-9925-1](https://doi.org/10.1007/s10569-019-9925-1)
-     - [PDF](https://rdcu.be/b32WL)
- */
 
-enum IAUTermID : Int {
-  case IAU_TERM_E1
-  case IAU_TERM_E10
-  case IAU_TERM_E11
-  case IAU_TERM_E12
-  case IAU_TERM_E13
-  case IAU_TERM_E2
-  case IAU_TERM_E3
-  case IAU_TERM_E4
-  case IAU_TERM_E5
-  case IAU_TERM_E6
-  case IAU_TERM_E7
-  case IAU_TERM_E8
-  case IAU_TERM_E9
-  case IAU_TERM_J1
-  case IAU_TERM_J2
-  case IAU_TERM_J3
-  case IAU_TERM_J4
-  case IAU_TERM_J5
-  case IAU_TERM_J6
-  case IAU_TERM_J7
-  case IAU_TERM_J8
-  case IAU_TERM_JD
-  case IAU_TERM_JA
-  case IAU_TERM_JB
-  case IAU_TERM_JC
-  case IAU_TERM_JE
-  case IAU_TERM_M1
-  case IAU_TERM_M2
-  case IAU_TERM_M3
-  case IAU_TERM_ME1
-  case IAU_TERM_ME2
-  case IAU_TERM_ME3
-  case IAU_TERM_ME4
-  case IAU_TERM_ME5
-  case IAU_TERM_N
-  case IAU_TERM_N1
-  case IAU_TERM_N2
-  case IAU_TERM_N3
-  case IAU_TERM_N4
-  case IAU_TERM_N5
-  case IAU_TERM_N6
-  case IAU_TERM_N7
-  case IAU_TERM_S1
-  case IAU_TERM_S2
-  case IAU_TERM_S3
-  case IAU_TERM_S4
-  case IAU_TERM_S5
-  case IAU_TERM_S6
-  case IAU_TERM_U1
-  case IAU_TERM_U10
-  case IAU_TERM_U11
-  case IAU_TERM_U12
-  case IAU_TERM_U13
-  case IAU_TERM_U14
-  case IAU_TERM_U15
-  case IAU_TERM_U16
-  case IAU_TERM_U2
-  case IAU_TERM_U3
-  case IAU_TERM_U4
-  case IAU_TERM_U5
-  case IAU_TERM_U6
-  case IAU_TERM_U7
-  case IAU_TERM_U8
-  case IAU_TERM_U9
-  case IAU_TERM_COUNT
+// Internal coefficient evaluator used by the public IAUOrientationProvider.
+// Coefficients come from the pinned NAIF PCK; all stored angles are in degrees.
+enum IAURotationProvenance {
+  case iau2015Corrected2019
+  case legacy2009 // Earth/Moon approximations retained by NAIF, absent from 2015 report.
 }
 
-struct IAUTerm {
-  var term: IAUTermID
-  var a, b: Double
-  init(_ term: IAUTermID, _ a: Double, _ b: Double) {
-    self.term = term
-    self.a = a.deg
-    self.b = b.deg
-  }
+enum IAURotationError: Error, Equatable {
+  case unknownBody, nonFinite
 }
 
-let d_terms: [IAUTerm] = [
-  IAUTerm(.IAU_TERM_E11, 119.743, +0.0036096),
-  IAUTerm(.IAU_TERM_E10, 15.134, -0.1589763),
-  IAUTerm(.IAU_TERM_E13, 25.053, +12.9590088),
-  IAUTerm(.IAU_TERM_E12, 239.961, +0.1643573),
-  IAUTerm(.IAU_TERM_M1, 169.51, -0.4357640),
-  IAUTerm(.IAU_TERM_M3, 53.47, -0.0181510),
-  IAUTerm(.IAU_TERM_M2, 192.93, +1128.4096700),
-  IAUTerm(.IAU_TERM_E9, 34.226, +1.7484877),
-  IAUTerm(.IAU_TERM_E8, 276.617, +0.3287146),
-  IAUTerm(.IAU_TERM_E5, 357.529, +0.9856003),
-  IAUTerm(.IAU_TERM_E4, 176.625, +13.3407154),
-  IAUTerm(.IAU_TERM_E7, 134.963, +13.0649930),
-  IAUTerm(.IAU_TERM_E6, 311.589, +26.4057084),
-  IAUTerm(.IAU_TERM_E1, 125.045, -0.0529921),
-  IAUTerm(.IAU_TERM_E3, 260.008, +13.0120009),
-  IAUTerm(.IAU_TERM_E2, 250.089, -0.1059842),
-  IAUTerm(.IAU_TERM_ME5, 153.955429, +20.461675),
-  IAUTerm(.IAU_TERM_ME4, 339.164343, +16.369340),
-  IAUTerm(.IAU_TERM_ME1, 174.791086, +4.092335),
-  IAUTerm(.IAU_TERM_ME3, 164.373257, +12.277005),
-  IAUTerm(.IAU_TERM_ME2, 349.582171, +8.184670),
-];
-
-let T_terms: [IAUTerm] = [
-  IAUTerm(.IAU_TERM_U9, 101.81, +12872.63),
-  IAUTerm(.IAU_TERM_U8, 157.36, +16652.76),
-  IAUTerm(.IAU_TERM_U1, 115.75, +54991.87),
-  IAUTerm(.IAU_TERM_S6, 345.20, -1016.3),
-  IAUTerm(.IAU_TERM_S5, 316.45, +506.2),
-  IAUTerm(.IAU_TERM_S4, 300.00, -7225.9),
-  IAUTerm(.IAU_TERM_U11, 102.23, -2024.22),
-  IAUTerm(.IAU_TERM_JD, 114.012305, +6070.2476),
-  IAUTerm(.IAU_TERM_U10, 138.64, +8061.81),
-  IAUTerm(.IAU_TERM_U13, 304.01, -51.94),
-  IAUTerm(.IAU_TERM_U12, 316.41, +2863.96),
-  IAUTerm(.IAU_TERM_U15, 340.82, -75.32),
-  IAUTerm(.IAU_TERM_U14, 308.71, -93.17),
-  IAUTerm(.IAU_TERM_U16, 259.14, -504.81),
-  IAUTerm(.IAU_TERM_U4, 61.77, +25733.59),
-  IAUTerm(.IAU_TERM_U5, 249.32, +24471.46),
-  IAUTerm(.IAU_TERM_N3, 354.27, +46564.5),
-  IAUTerm(.IAU_TERM_U7, 77.66, +20289.42),
-  IAUTerm(.IAU_TERM_S1, 353.32, +75706.7),
-  IAUTerm(.IAU_TERM_S3, 177.40, -36505.5),
-  IAUTerm(.IAU_TERM_S2, 28.72, +75706.7),
-  IAUTerm(.IAU_TERM_JA, 99.360714, +4850.4046),
-  IAUTerm(.IAU_TERM_U6, 43.86, +22278.41),
-  IAUTerm(.IAU_TERM_N, 357.85, +52.316),
-  IAUTerm(.IAU_TERM_U3, 135.03, +29927.35),
-  IAUTerm(.IAU_TERM_JE, 49.511251, +64.3000),
-  IAUTerm(.IAU_TERM_N1, 323.92, +62606.6),
-  IAUTerm(.IAU_TERM_N2, 220.51, +55064.2),
-  IAUTerm(.IAU_TERM_U2, 141.69, +41887.66),
-  IAUTerm(.IAU_TERM_N4, 75.31, +26109.4),
-  IAUTerm(.IAU_TERM_N5, 35.36, +14325.4),
-  IAUTerm(.IAU_TERM_N6, 142.61, +2824.6),
-  IAUTerm(.IAU_TERM_N7, 177.85, +52.316),
-  IAUTerm(.IAU_TERM_J8, 113.35, +6070.0),
-  IAUTerm(.IAU_TERM_J4, 355.80, +1191.3),
-  IAUTerm(.IAU_TERM_J5, 119.90, +262.1),
-  IAUTerm(.IAU_TERM_J6, 229.80, +64.3),
-  IAUTerm(.IAU_TERM_J7, 352.25, +2382.6),
-  IAUTerm(.IAU_TERM_J1, 73.32, +91472.9),
-  IAUTerm(.IAU_TERM_J2, 24.62, +45137.2),
-  IAUTerm(.IAU_TERM_J3, 283.90, +4850.7),
-  IAUTerm(.IAU_TERM_JB, 175.895369, +1191.9605),
-  IAUTerm(.IAU_TERM_JC, 300.323162, +262.5475),
-]
-
-struct IAUTerm2 {
-  var term: IAUTermID
-  var a: Double
-  init(_ term: IAUTermID, _ a: Double) {
-    self.term = term
-    self.a = a.deg
-  }
+struct IAUAngle {
+  let radians: Double
+  let rate: Double // radians per TDB second
+  let acceleration: Double // radians per TDB second squared
 }
 
-let T2_terms: [IAUTerm2] = [
-  IAUTerm2(.IAU_TERM_M2, +8.864),
-]
-
-enum IAUBodyID : Int {
-  case IAU_BODY_19P_BORRELLY
-  case IAU_BODY_9P_TEMPEL_1
-  case IAU_BODY_ADRASTEA
-  case IAU_BODY_AMALTHEA
-  case IAU_BODY_ARIEL
-  case IAU_BODY_ATLAS
-  case IAU_BODY_BELINDA
-  case IAU_BODY_BIANCA
-  case IAU_BODY_CALLISTO
-  case IAU_BODY_CALYPSO
-  case IAU_BODY_CERES
-  case IAU_BODY_CHARON
-  case IAU_BODY_CORDELIA
-  case IAU_BODY_CRESSIDA
-  case IAU_BODY_DAVIDA
-  case IAU_BODY_DEIMOS
-  case IAU_BODY_DESDEMONA
-  case IAU_BODY_DESPINA
-  case IAU_BODY_DIONE
-  case IAU_BODY_EARTH
-  case IAU_BODY_ENCELADUS
-  case IAU_BODY_EPIMETHEUS
-  case IAU_BODY_EROS
-  case IAU_BODY_EUROPA
-  case IAU_BODY_GALATEA
-  case IAU_BODY_GANYMEDE
-  case IAU_BODY_GASPRA
-  case IAU_BODY_HELENE
-  case IAU_BODY_IAPETUS
-  case IAU_BODY_IDA
-  case IAU_BODY_IO
-  case IAU_BODY_ITOKAWA
-  case IAU_BODY_JANUS
-  case IAU_BODY_JULIET
-  case IAU_BODY_JUPITER
-  case IAU_BODY_LARISSA
-  case IAU_BODY_LUTETIA
-  case IAU_BODY_MARS
-  case IAU_BODY_MERCURY
-  case IAU_BODY_METIS
-  case IAU_BODY_MIMAS
-  case IAU_BODY_MIRANDA
-  case IAU_BODY_MOON
-  case IAU_BODY_NAIAD
-  case IAU_BODY_NEPTUNE
-  case IAU_BODY_OBERON
-  case IAU_BODY_OPHELIA
-  case IAU_BODY_PALLAS
-  case IAU_BODY_PAN
-  case IAU_BODY_PANDORA
-  case IAU_BODY_PHOBOS
-  case IAU_BODY_PHOEBE
-  case IAU_BODY_PLUTO
-  case IAU_BODY_PORTIA
-  case IAU_BODY_PROMETHEUS
-  case IAU_BODY_PROTEUS
-  case IAU_BODY_PUCK
-  case IAU_BODY_RHEA
-  case IAU_BODY_ROSALIND
-  case IAU_BODY_SATURN
-  case IAU_BODY_STEINS
-  case IAU_BODY_SUN
-  case IAUBodyELESTO
-  case IAUBodyETHYS
-  case IAUBodyHALASSA
-  case IAUBodyHEBE
-  case IAUBodyITAN
-  case IAUBodyITANIA
-  case IAUBodyRITON
-  case IAU_BODY_UMBRIEL
-  case IAU_BODY_URANUS
-  case IAU_BODY_VENUS
-  case IAU_BODY_VESTA
-  case IAU_BODY_COUNT
+struct IAURotationalElements {
+  let rightAscension: IAUAngle
+  let declination: IAUAngle
+  let primeMeridian: IAUAngle
 }
 
-enum IAUSineID : Int {
-  case IAU_SIN_U9
-  case IAU_SIN_U8
-  case IAU_SIN_8N7
-  case IAU_SIN_E11
-  case IAU_SIN_U4
-  case IAU_SIN_U7
-  case IAU_SIN_E12
-  case IAU_SIN_U1
-  case IAU_SIN_S6
-  case IAU_SIN_S5
-  case IAU_SIN_S4
-  case IAU_SIN_JD
-  case IAU_SIN_M1
-  case IAU_SIN_JB
-  case IAU_SIN_M3
-  case IAU_SIN_M2
-  case IAU_SIN_U11
-  case IAU_SIN_U10
-  case IAU_SIN_U13
-  case IAU_SIN_U12
-  case IAU_SIN_U15
-  case IAU_SIN_2U11
-  case IAU_SIN_2U12
-  case IAU_SIN_U16
-  case IAU_SIN_6N7
-  case IAU_SIN_U5
-  case IAU_SIN_2N7
-  case IAU_SIN_2J2
-  case IAU_SIN_2J1
-  case IAU_SIN_N3
-  case IAU_SIN_S1
-  case IAU_SIN_U14
-  case IAU_SIN_3N7
-  case IAU_SIN_7N7
-  case IAU_SIN_E9
-  case IAU_SIN_E8
-  case IAU_SIN_S2
-  case IAU_SIN_E10
-  case IAU_SIN_E5
-  case IAU_SIN_E4
-  case IAU_SIN_E7
-  case IAU_SIN_E6
-  case IAU_SIN_E1
-  case IAU_SIN_E13
-  case IAU_SIN_E3
-  case IAU_SIN_E2
-  case IAU_SIN_4N7
-  case IAU_SIN_U6
-  case IAU_SIN_5N7
-  case IAU_SIN_J3
-  case IAU_SIN_N
-  case IAU_SIN_U3
-  case IAU_SIN_JE
-  case IAU_SIN_N1
-  case IAU_SIN_N2
-  case IAU_SIN_U2
-  case IAU_SIN_N4
-  case IAU_SIN_N5
-  case IAU_SIN_N6
-  case IAU_SIN_N7
-  case IAU_SIN_J8
-  case IAU_SIN_9N7
-  case IAU_SIN_J4
-  case IAU_SIN_J5
-  case IAU_SIN_J6
-  case IAU_SIN_J7
-  case IAU_SIN_J1
-  case IAU_SIN_J2
-  case IAU_SIN_JA
-  case IAU_SIN_ME5
-  case IAU_SIN_ME4
-  case IAU_SIN_2N1
-  case IAU_SIN_ME1
-  case IAU_SIN_2S2
-  case IAU_SIN_ME3
-  case IAU_SIN_ME2
-  case IAU_SIN_2S1
-  case IAU_SIN_JC
-  case IAU_SIN_S3
-  case IAU_SIN_COUNT
+struct IAURotationModelData {
+  let naifID: Int
+  let provenance: IAURotationProvenance
+  let referenceJulianDate: Double
+  let rightAscension: IAUAngleSeries
+  let declination: IAUAngleSeries
+  let primeMeridian: IAUAngleSeries
 }
 
-enum IAUCosineID : Int {
-  case IAU_COS_U9
-  case IAU_COS_U8
-  case IAU_COS_2S1
-  case IAU_COS_S3
-  case IAU_COS_U4
-  case IAU_COS_U7
-  case IAU_COS_U6
-  case IAU_COS_U1
-  case IAU_COS_S6
-  case IAU_COS_U3
-  case IAU_COS_U2
-  case IAU_COS_JD
-  case IAU_COS_M1
-  case IAU_COS_JB
-  case IAU_COS_M3
-  case IAU_COS_U11
-  case IAU_COS_U10
-  case IAU_COS_U13
-  case IAU_COS_7N7
-  case IAU_COS_U15
-  case IAU_COS_2U11
-  case IAU_COS_U16
-  case IAU_COS_U5
-  case IAU_COS_2N7
-  case IAU_COS_2J2
-  case IAU_COS_N3
-  case IAU_COS_S1
-  case IAU_COS_U14
-  case IAU_COS_3N7
-  case IAU_COS_E10
-  case IAU_COS_E4
-  case IAU_COS_E7
-  case IAU_COS_E6
-  case IAU_COS_E1
-  case IAU_COS_E13
-  case IAU_COS_E3
-  case IAU_COS_E2
-  case IAU_COS_4N7
-  case IAU_COS_5N7
-  case IAU_COS_N
-  case IAU_COS_J3
-  case IAU_COS_JE
-  case IAU_COS_N1
-  case IAU_COS_N2
-  case IAU_COS_S4
-  case IAU_COS_N4
-  case IAU_COS_N5
-  case IAU_COS_N6
-  case IAU_COS_N7
-  case IAU_COS_J8
-  case IAU_COS_J4
-  case IAU_COS_J5
-  case IAU_COS_J6
-  case IAU_COS_J7
-  case IAU_COS_J1
-  case IAU_COS_J2
-  case IAU_COS_JA
-  case IAU_COS_6N7
-  case IAU_COS_2S2
-  case IAU_COS_S2
-  case IAU_COS_2N1
-  case IAU_COS_JC
-  case IAU_COS_COUNT
+struct IAUHarmonic {
+  enum Function { case sine, cosine }
+  let amplitudeDegrees: Double
+  // Polynomial in TDB centuries; includes any integer harmonic multipliers.
+  let phaseDegrees: [Double]
+  let function: Function
 }
 
-struct IAUArgRule {
-  var m: Double
-  var term: IAUTermID
-  init(_ m: Double, _ term: IAUTermID) {
-    self.m = m
-    self.term = term
-  }
-}
-
-let sine_rules: [IAUArgRule] = [
-  /* [IAU_SIN_U9] */ IAUArgRule(1, .IAU_TERM_U9),
-  /* [IAU_SIN_U8] */ IAUArgRule(1, .IAU_TERM_U8),
-  /* [IAU_SIN_8N7] */ IAUArgRule(8, .IAU_TERM_N7),
-  /* [IAU_SIN_E11] */ IAUArgRule(1, .IAU_TERM_E11),
-  /* [IAU_SIN_U4] */ IAUArgRule(1, .IAU_TERM_U4),
-  /* [IAU_SIN_U7] */ IAUArgRule(1, .IAU_TERM_U7),
-  /* [IAU_SIN_E12] */ IAUArgRule(1, .IAU_TERM_E12),
-  /* [IAU_SIN_U1] */ IAUArgRule(1, .IAU_TERM_U1),
-  /* [IAU_SIN_S6] */ IAUArgRule(1, .IAU_TERM_S6),
-  /* [IAU_SIN_S5] */ IAUArgRule(1, .IAU_TERM_S5),
-  /* [IAU_SIN_S4] */ IAUArgRule(1, .IAU_TERM_S4),
-  /* [IAU_SIN_JD] */ IAUArgRule(1, .IAU_TERM_JD),
-  /* [IAU_SIN_M1] */ IAUArgRule(1, .IAU_TERM_M1),
-  /* [IAU_SIN_JB] */ IAUArgRule(1, .IAU_TERM_JB),
-  /* [IAU_SIN_M3] */ IAUArgRule(1, .IAU_TERM_M3),
-  /* [IAU_SIN_M2] */ IAUArgRule(1, .IAU_TERM_M2),
-  /* [IAU_SIN_U11] */ IAUArgRule(1, .IAU_TERM_U11),
-  /* [IAU_SIN_U10] */ IAUArgRule(1, .IAU_TERM_U10),
-  /* [IAU_SIN_U13] */ IAUArgRule(1, .IAU_TERM_U13),
-  /* [IAU_SIN_U12] */ IAUArgRule(1, .IAU_TERM_U12),
-  /* [IAU_SIN_U15] */ IAUArgRule(1, .IAU_TERM_U15),
-  /* [IAU_SIN_2U11] */ IAUArgRule(2, .IAU_TERM_U11),
-  /* [IAU_SIN_2U12] */ IAUArgRule(2, .IAU_TERM_U12),
-  /* [IAU_SIN_U16] */ IAUArgRule(1, .IAU_TERM_U16),
-  /* [IAU_SIN_6N7] */ IAUArgRule(6, .IAU_TERM_N7),
-  /* [IAU_SIN_U5] */ IAUArgRule(1, .IAU_TERM_U5),
-  /* [IAU_SIN_2N7] */ IAUArgRule(2, .IAU_TERM_N7),
-  /* [IAU_SIN_2J2] */ IAUArgRule(2, .IAU_TERM_J2),
-  /* [IAU_SIN_2J1] */ IAUArgRule(2, .IAU_TERM_J1),
-  /* [IAU_SIN_N3] */ IAUArgRule(1, .IAU_TERM_N3),
-  /* [IAU_SIN_S1] */ IAUArgRule(1, .IAU_TERM_S1),
-  /* [IAU_SIN_U14] */ IAUArgRule(1, .IAU_TERM_U14),
-  /* [IAU_SIN_3N7] */ IAUArgRule(3, .IAU_TERM_N7),
-  /* [IAU_SIN_7N7] */ IAUArgRule(7, .IAU_TERM_N7),
-  /* [IAU_SIN_E9] */ IAUArgRule(1, .IAU_TERM_E9),
-  /* [IAU_SIN_E8] */ IAUArgRule(1, .IAU_TERM_E8),
-  /* [IAU_SIN_S2] */ IAUArgRule(1, .IAU_TERM_S2),
-  /* [IAU_SIN_E10] */ IAUArgRule(1, .IAU_TERM_E10),
-  /* [IAU_SIN_E5] */ IAUArgRule(1, .IAU_TERM_E5),
-  /* [IAU_SIN_E4] */ IAUArgRule(1, .IAU_TERM_E4),
-  /* [IAU_SIN_E7] */ IAUArgRule(1, .IAU_TERM_E7),
-  /* [IAU_SIN_E6] */ IAUArgRule(1, .IAU_TERM_E6),
-  /* [IAU_SIN_E1] */ IAUArgRule(1, .IAU_TERM_E1),
-  /* [IAU_SIN_E13] */ IAUArgRule(1, .IAU_TERM_E13),
-  /* [IAU_SIN_E3] */ IAUArgRule(1, .IAU_TERM_E3),
-  /* [IAU_SIN_E2] */ IAUArgRule(1, .IAU_TERM_E2),
-  /* [IAU_SIN_4N7] */ IAUArgRule(4, .IAU_TERM_N7),
-  /* [IAU_SIN_U6] */ IAUArgRule(1, .IAU_TERM_U6),
-  /* [IAU_SIN_5N7] */ IAUArgRule(5, .IAU_TERM_N7),
-  /* [IAU_SIN_J3] */ IAUArgRule(1, .IAU_TERM_J3),
-  /* [IAU_SIN_N] */ IAUArgRule(1, .IAU_TERM_N),
-  /* [IAU_SIN_U3] */ IAUArgRule(1, .IAU_TERM_U3),
-  /* [IAU_SIN_JE] */ IAUArgRule(1, .IAU_TERM_JE),
-  /* [IAU_SIN_N1] */ IAUArgRule(1, .IAU_TERM_N1),
-  /* [IAU_SIN_N2] */ IAUArgRule(1, .IAU_TERM_N2),
-  /* [IAU_SIN_U2] */ IAUArgRule(1, .IAU_TERM_U2),
-  /* [IAU_SIN_N4] */ IAUArgRule(1, .IAU_TERM_N4),
-  /* [IAU_SIN_N5] */ IAUArgRule(1, .IAU_TERM_N5),
-  /* [IAU_SIN_N6] */ IAUArgRule(1, .IAU_TERM_N6),
-  /* [IAU_SIN_N7] */ IAUArgRule(1, .IAU_TERM_N7),
-  /* [IAU_SIN_J8] */ IAUArgRule(1, .IAU_TERM_J8),
-  /* [IAU_SIN_9N7] */ IAUArgRule(9, .IAU_TERM_N7),
-  /* [IAU_SIN_J4] */ IAUArgRule(1, .IAU_TERM_J4),
-  /* [IAU_SIN_J5] */ IAUArgRule(1, .IAU_TERM_J5),
-  /* [IAU_SIN_J6] */ IAUArgRule(1, .IAU_TERM_J6),
-  /* [IAU_SIN_J7] */ IAUArgRule(1, .IAU_TERM_J7),
-  /* [IAU_SIN_J1] */ IAUArgRule(1, .IAU_TERM_J1),
-  /* [IAU_SIN_J2] */ IAUArgRule(1, .IAU_TERM_J2),
-  /* [IAU_SIN_JA] */ IAUArgRule(1, .IAU_TERM_JA),
-  /* [IAU_SIN_ME5] */ IAUArgRule(1, .IAU_TERM_ME5),
-  /* [IAU_SIN_ME4] */ IAUArgRule(1, .IAU_TERM_ME4),
-  /* [IAU_SIN_2N1] */ IAUArgRule(2, .IAU_TERM_N1),
-  /* [IAU_SIN_ME1] */ IAUArgRule(1, .IAU_TERM_ME1),
-  /* [IAU_SIN_2S2] */ IAUArgRule(2, .IAU_TERM_S2),
-  /* [IAU_SIN_ME3] */ IAUArgRule(1, .IAU_TERM_ME3),
-  /* [IAU_SIN_ME2] */ IAUArgRule(1, .IAU_TERM_ME2),
-  /* [IAU_SIN_2S1] */ IAUArgRule(2, .IAU_TERM_S1),
-  /* [IAU_SIN_JC] */ IAUArgRule(1, .IAU_TERM_JC),
-  /* [IAU_SIN_S3] */ IAUArgRule(1, .IAU_TERM_S3),
-]
-
-let cosine_rules: [IAUArgRule] = [
-  /* [IAU_COS_U9] */ IAUArgRule(1, .IAU_TERM_U9),
-  /* [IAU_COS_U8] */ IAUArgRule(1, .IAU_TERM_U8),
-  /* [IAU_COS_2S1] */ IAUArgRule(2, .IAU_TERM_S1),
-  /* [IAU_COS_S3] */ IAUArgRule(1, .IAU_TERM_S3),
-  /* [IAU_COS_U4] */ IAUArgRule(1, .IAU_TERM_U4),
-  /* [IAU_COS_U7] */ IAUArgRule(1, .IAU_TERM_U7),
-  /* [IAU_COS_U6] */ IAUArgRule(1, .IAU_TERM_U6),
-  /* [IAU_COS_U1] */ IAUArgRule(1, .IAU_TERM_U1),
-  /* [IAU_COS_S6] */ IAUArgRule(1, .IAU_TERM_S6),
-  /* [IAU_COS_U3] */ IAUArgRule(1, .IAU_TERM_U3),
-  /* [IAU_COS_U2] */ IAUArgRule(1, .IAU_TERM_U2),
-  /* [IAU_COS_JD] */ IAUArgRule(1, .IAU_TERM_JD),
-  /* [IAU_COS_M1] */ IAUArgRule(1, .IAU_TERM_M1),
-  /* [IAU_COS_JB] */ IAUArgRule(1, .IAU_TERM_JB),
-  /* [IAU_COS_M3] */ IAUArgRule(1, .IAU_TERM_M3),
-  /* [IAU_COS_U11] */ IAUArgRule(1, .IAU_TERM_U11),
-  /* [IAU_COS_U10] */ IAUArgRule(1, .IAU_TERM_U10),
-  /* [IAU_COS_U13] */ IAUArgRule(1, .IAU_TERM_U13),
-  /* [IAU_COS_7N7] */ IAUArgRule(7, .IAU_TERM_N7),
-  /* [IAU_COS_U15] */ IAUArgRule(1, .IAU_TERM_U15),
-  /* [IAU_COS_2U11] */ IAUArgRule(2, .IAU_TERM_U11),
-  /* [IAU_COS_U16] */ IAUArgRule(1, .IAU_TERM_U16),
-  /* [IAU_COS_U5] */ IAUArgRule(1, .IAU_TERM_U5),
-  /* [IAU_COS_2N7] */ IAUArgRule(2, .IAU_TERM_N7),
-  /* [IAU_COS_2J2] */ IAUArgRule(2, .IAU_TERM_J2),
-  /* [IAU_COS_N3] */ IAUArgRule(1, .IAU_TERM_N3),
-  /* [IAU_COS_S1] */ IAUArgRule(1, .IAU_TERM_S1),
-  /* [IAU_COS_U14] */ IAUArgRule(1, .IAU_TERM_U14),
-  /* [IAU_COS_3N7] */ IAUArgRule(3, .IAU_TERM_N7),
-  /* [IAU_COS_E10] */ IAUArgRule(1, .IAU_TERM_E10),
-  /* [IAU_COS_E4] */ IAUArgRule(1, .IAU_TERM_E4),
-  /* [IAU_COS_E7] */ IAUArgRule(1, .IAU_TERM_E7),
-  /* [IAU_COS_E6] */ IAUArgRule(1, .IAU_TERM_E6),
-  /* [IAU_COS_E1] */ IAUArgRule(1, .IAU_TERM_E1),
-  /* [IAU_COS_E13] */ IAUArgRule(1, .IAU_TERM_E13),
-  /* [IAU_COS_E3] */ IAUArgRule(1, .IAU_TERM_E3),
-  /* [IAU_COS_E2] */ IAUArgRule(1, .IAU_TERM_E2),
-  /* [IAU_COS_4N7] */ IAUArgRule(4, .IAU_TERM_N7),
-  /* [IAU_COS_5N7] */ IAUArgRule(5, .IAU_TERM_N7),
-  /* [IAU_COS_N] */ IAUArgRule(1, .IAU_TERM_N),
-  /* [IAU_COS_J3] */ IAUArgRule(1, .IAU_TERM_J3),
-  /* [IAU_COS_JE] */ IAUArgRule(1, .IAU_TERM_JE),
-  /* [IAU_COS_N1] */ IAUArgRule(1, .IAU_TERM_N1),
-  /* [IAU_COS_N2] */ IAUArgRule(1, .IAU_TERM_N2),
-  /* [IAU_COS_S4] */ IAUArgRule(1, .IAU_TERM_S4),
-  /* [IAU_COS_N4] */ IAUArgRule(1, .IAU_TERM_N4),
-  /* [IAU_COS_N5] */ IAUArgRule(1, .IAU_TERM_N5),
-  /* [IAU_COS_N6] */ IAUArgRule(1, .IAU_TERM_N6),
-  /* [IAU_COS_N7] */ IAUArgRule(1, .IAU_TERM_N7),
-  /* [IAU_COS_J8] */ IAUArgRule(1, .IAU_TERM_J8),
-  /* [IAU_COS_J4] */ IAUArgRule(1, .IAU_TERM_J4),
-  /* [IAU_COS_J5] */ IAUArgRule(1, .IAU_TERM_J5),
-  /* [IAU_COS_J6] */ IAUArgRule(1, .IAU_TERM_J6),
-  /* [IAU_COS_J7] */ IAUArgRule(1, .IAU_TERM_J7),
-  /* [IAU_COS_J1] */ IAUArgRule(1, .IAU_TERM_J1),
-  /* [IAU_COS_J2] */ IAUArgRule(1, .IAU_TERM_J2),
-  /* [IAU_COS_JA] */ IAUArgRule(1, .IAU_TERM_JA),
-  /* [IAU_COS_6N7] */ IAUArgRule(6, .IAU_TERM_N7),
-  /* [IAU_COS_2S2] */ IAUArgRule(2, .IAU_TERM_S2),
-  /* [IAU_COS_S2] */ IAUArgRule(1, .IAU_TERM_S2),
-  /* [IAU_COS_2N1] */ IAUArgRule(2, .IAU_TERM_N1),
-  /* [IAU_COS_JC] */ IAUArgRule(1, .IAU_TERM_JC),
-]
-
-struct IAUSineTerm {
-  var a: Double
-  var sine: IAUSineID
-  init(_ a: Double, _ sine: IAUSineID) {
-    self.a = a
-    self.sine = sine
+struct IAUAngleSeries {
+  enum Variable { case days, centuries }
+  let polynomialDegrees: [Double]
+  let variable: Variable
+  let harmonics: [IAUHarmonic]
+
+  func evaluate(days: Double) throws -> IAUAngle {
+    let century = days / 36_525
+    let secondsPerUnit: Double = variable == .days ? 86_400 : 36_525 * 86_400
+    let x = variable == .days ? days : century
+    let base = polynomial(polynomialDegrees, at: x)
+    var value = base.value
+    var first = base.first / secondsPerUnit
+    var second = base.second / (secondsPerUnit * secondsPerUnit)
+    let radiansPerDegree = Double.pi / 180
+    let centurySeconds: Double = 36_525 * 86_400
+    for term in harmonics {
+      let phase = polynomial(term.phaseDegrees, at: century)
+      let angle = phase.value.truncatingRemainder(dividingBy: 360) * radiansPerDegree
+      let phaseRate = phase.first * radiansPerDegree / centurySeconds
+      let phaseAcceleration = phase.second * radiansPerDegree / (centurySeconds * centurySeconds)
+      switch term.function {
+      case .sine:
+        value += term.amplitudeDegrees * sin(angle)
+        first += term.amplitudeDegrees * cos(angle) * phaseRate
+        second += term.amplitudeDegrees * (cos(angle) * phaseAcceleration - sin(angle) * phaseRate * phaseRate)
+      case .cosine:
+        value += term.amplitudeDegrees * cos(angle)
+        first -= term.amplitudeDegrees * sin(angle) * phaseRate
+        second -= term.amplitudeDegrees * (sin(angle) * phaseAcceleration + cos(angle) * phaseRate * phaseRate)
+      }
+    }
+    guard value.isFinite, first.isFinite, second.isFinite else { throw IAURotationError.nonFinite }
+    return IAUAngle(radians: value * radiansPerDegree,
+      rate: first * radiansPerDegree, acceleration: second * radiansPerDegree)
   }
 }
 
-struct IAUCosineTerm {
-  var a: Double
-  var cosine: IAUCosineID
-  init(_ a: Double, _ cosine: IAUCosineID) {
-    self.a = a
-    self.cosine = cosine
+// Simultaneous Horner evaluation of a polynomial and both derivatives.
+private func polynomial(_ coefficients: [Double], at x: Double) -> (value: Double, first: Double, second: Double) {
+  var value = 0.0, first = 0.0, second = 0.0
+  for coefficient in coefficients.reversed() {
+    second = second * x + 2 * first
+    first = first * x + value
+    value = value * x + coefficient
   }
+  return (value, first, second)
 }
 
-fileprivate let mercury_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(+0.00993822, .IAU_SIN_ME1),
-  IAUSineTerm(-0.00104581, .IAU_SIN_ME2),
-  IAUSineTerm(-0.00010280, .IAU_SIN_ME3),
-  IAUSineTerm(-0.00002364, .IAU_SIN_ME4),
-  IAUSineTerm(-0.00000532, .IAU_SIN_ME5),
-]
-
-fileprivate let galatea_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(+0.70, .IAU_SIN_N),
-  IAUSineTerm(-0.07, .IAU_SIN_N4),
-]
-
-fileprivate let  galatea_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(-0.51, .IAU_COS_N),
-  IAUCosineTerm(-0.05, .IAU_COS_N4),
-]
-
-fileprivate let  galatea_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(-0.48, .IAU_SIN_N),
-  IAUSineTerm(+0.05, .IAU_SIN_N),
-]
-
-fileprivate let  thalassa_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(+0.70, .IAU_SIN_N),
-  IAUSineTerm(-0.28, .IAU_SIN_N2),
-]
-
-fileprivate let  thalassa_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(-0.51, .IAU_COS_N),
-  IAUCosineTerm(-0.21, .IAU_COS_N2),
-]
-
-fileprivate let  thalassa_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(-0.48, .IAU_SIN_N),
-  IAUSineTerm(+0.19, .IAU_SIN_N2),
-]
-
-fileprivate let  ariel_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(+0.29, .IAU_SIN_U13),
-]
-
-fileprivate let  ariel_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(+0.28, .IAU_COS_U13),
-]
-
-fileprivate let  ariel_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(+0.05, .IAU_SIN_U12),
-  IAUSineTerm(+0.08, .IAU_SIN_U13),
-]
-
-fileprivate let  puck_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(-0.33, .IAU_SIN_U10),
-]
-
-fileprivate let  puck_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(+0.31, .IAU_COS_U10),
-]
-
-fileprivate let  puck_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(-0.09, .IAU_SIN_U10),
-]
-
-fileprivate let  phobos_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(+1.79, .IAU_SIN_M1),
-]
-
-fileprivate let  phobos_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(-1.08, .IAU_COS_M1),
-]
-
-fileprivate let phobos_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(-1.42, .IAU_SIN_M1),
-  IAUSineTerm(-0.78, .IAU_SIN_M2),
-]
-
-fileprivate let deimos_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(+2.98, .IAU_SIN_M3),
-]
-
-fileprivate let deimos_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(-1.78, .IAU_COS_M3),
-]
-
-fileprivate let deimos_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(-2.58, .IAU_SIN_M3),
-]
-
-fileprivate let deimos_w_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(+0.19, .IAU_COS_M3),
-]
-
-fileprivate let rhea_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(+3.10, .IAU_SIN_S6),
-]
-
-fileprivate let rhea_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(-0.35, .IAU_COS_S6),
-]
-
-fileprivate let rhea_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(-3.08, .IAU_SIN_S6),
-]
-
-fileprivate let oberon_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(+0.16, .IAU_SIN_U16),
-]
-
-fileprivate let oberon_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(+0.16, .IAU_COS_U16),
-]
-
-fileprivate let oberon_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(+0.04, .IAU_SIN_U16),
-]
-
-fileprivate let portia_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(-0.09, .IAU_SIN_U7),
-]
-
-fileprivate let portia_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(+0.09, .IAU_COS_U7),
-]
-
-fileprivate let portia_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(-0.02, .IAU_SIN_U7),
-]
-
-fileprivate let europa_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(+1.086, .IAU_SIN_J4),
-  IAUSineTerm(+0.060, .IAU_SIN_J5),
-  IAUSineTerm(+0.015, .IAU_SIN_J6),
-  IAUSineTerm(+0.009, .IAU_SIN_J7),
-]
-
-fileprivate let europa_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(+0.468, .IAU_COS_J4),
-  IAUCosineTerm(+0.026, .IAU_COS_J5),
-  IAUCosineTerm(+0.007, .IAU_COS_J6),
-  IAUCosineTerm(+0.002, .IAU_COS_J7),
-]
-
-fileprivate let europa_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(-0.980, .IAU_SIN_J4),
-  IAUSineTerm(-0.054, .IAU_SIN_J5),
-  IAUSineTerm(-0.014, .IAU_SIN_J6),
-  IAUSineTerm(-0.008, .IAU_SIN_J7),
-]
-
-fileprivate let tethys_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(+9.66, .IAU_SIN_S4),
-]
-
-fileprivate let tethys_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(-1.09, .IAU_COS_S4),
-]
-
-fileprivate let tethys_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(-9.60, .IAU_SIN_S4),
-  IAUSineTerm(+2.23, .IAU_SIN_S5),
-]
-
-fileprivate let ophelia_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(-0.09, .IAU_SIN_U2),
-]
-
-fileprivate let ophelia_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(+0.09, .IAU_COS_U2),
-]
-
-fileprivate let ophelia_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(-0.03, .IAU_SIN_U2),
-]
-
-fileprivate let rosalind_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(-0.29, .IAU_SIN_U8),
-]
-
-fileprivate let rosalind_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(+0.28, .IAU_COS_U8),
-]
-
-fileprivate let rosalind_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(-0.08, .IAU_SIN_U8),
-]
-
-fileprivate let bianca_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(-0.16, .IAU_SIN_U3),
-]
-
-fileprivate let bianca_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(+0.16, .IAU_COS_U3),
-]
-
-fileprivate let bianca_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(-0.04, .IAU_SIN_U3),
-]
-
-fileprivate let proteus_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(+0.70, .IAU_SIN_N),
-  IAUSineTerm(-0.05, .IAU_SIN_N6),
-]
-
-fileprivate let proteus_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(-0.51, .IAU_COS_N),
-  IAUCosineTerm(-0.04, .IAU_COS_N6),
-]
-
-fileprivate let proteus_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(-0.48, .IAU_SIN_N),
-  IAUSineTerm(+0.04, .IAU_SIN_N6),
-]
-
-fileprivate let cressida_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(-0.04, .IAU_SIN_U4),
-]
-
-fileprivate let cressida_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(+0.04, .IAU_COS_U4),
-]
-
-fileprivate let cressida_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(-0.01, .IAU_SIN_U4),
-]
-
-fileprivate let belinda_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(-0.03, .IAU_SIN_U9),
-]
-
-fileprivate let belinda_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(+0.03, .IAU_COS_U9),
-]
-
-fileprivate let belinda_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(-0.01, .IAU_SIN_U9),
-]
-
-fileprivate let miranda_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(+4.41, .IAU_SIN_U11),
-  IAUSineTerm(-0.04, .IAU_SIN_2U11),
-]
-
-fileprivate let miranda_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(+4.25, .IAU_COS_U11),
-  IAUCosineTerm(-0.02, .IAU_COS_2U11),
-]
-
-fileprivate let miranda_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(-1.27, .IAU_SIN_U12),
-  IAUSineTerm(+0.15, .IAU_SIN_2U12),
-  IAUSineTerm(+1.15, .IAU_SIN_U11),
-  IAUSineTerm(-0.09, .IAU_SIN_2U11),
-]
-
-fileprivate let larissa_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(+0.70, .IAU_SIN_N),
-  IAUSineTerm(-0.27, .IAU_SIN_N5),
-]
-
-fileprivate let larissa_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(-0.51, .IAU_COS_N),
-  IAUCosineTerm(-0.20, .IAU_COS_N5),
-]
-
-fileprivate let larissa_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(-0.48, .IAU_SIN_N),
-  IAUSineTerm(+0.19, .IAU_SIN_N),
-]
-
-fileprivate let amalthea_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(-0.84, .IAU_SIN_J1),
-  IAUSineTerm(+0.01, .IAU_SIN_2J1),
-]
-
-fileprivate let amalthea_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(-0.36, .IAU_COS_J1),
-]
-
-fileprivate let amalthea_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(+0.76, .IAU_SIN_J1),
-  IAUSineTerm(-0.01, .IAU_SIN_2J1),
-]
-
-fileprivate let moon_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(-3.8787, .IAU_SIN_E1),
-  IAUSineTerm(-0.1204, .IAU_SIN_E2),
-  IAUSineTerm(+0.0700, .IAU_SIN_E3),
-  IAUSineTerm(-0.0172, .IAU_SIN_E4),
-  IAUSineTerm(+0.0072, .IAU_SIN_E6),
-  IAUSineTerm(-0.0052, .IAU_SIN_E10),
-  IAUSineTerm(+0.0043, .IAU_SIN_E13),
-]
-
-fileprivate let moon_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(+1.5419, .IAU_COS_E1),
-  IAUCosineTerm(+0.0239, .IAU_COS_E2),
-  IAUCosineTerm(-0.0278, .IAU_COS_E3),
-  IAUCosineTerm(+0.0068, .IAU_COS_E4),
-  IAUCosineTerm(-0.0029, .IAU_COS_E6),
-  IAUCosineTerm(+0.0009, .IAU_COS_E7),
-  IAUCosineTerm(+0.0008, .IAU_COS_E10),
-  IAUCosineTerm(-0.0009, .IAU_COS_E13),
-]
-
-fileprivate let moon_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(+3.5610, .IAU_SIN_E1),
-  IAUSineTerm(+0.1208, .IAU_SIN_E2),
-  IAUSineTerm(-0.0642, .IAU_SIN_E3),
-  IAUSineTerm(+0.0158, .IAU_SIN_E4),
-  IAUSineTerm(+0.0252, .IAU_SIN_E5),
-  IAUSineTerm(-0.0066, .IAU_SIN_E6),
-  IAUSineTerm(-0.0047, .IAU_SIN_E7),
-  IAUSineTerm(-0.0046, .IAU_SIN_E8),
-  IAUSineTerm(+0.0028, .IAU_SIN_E9),
-  IAUSineTerm(+0.0052, .IAU_SIN_E10),
-  IAUSineTerm(+0.0040, .IAU_SIN_E11),
-  IAUSineTerm(+0.0019, .IAU_SIN_E12),
-  IAUSineTerm(-0.0044, .IAU_SIN_E13),
-]
-
-fileprivate let naiad_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(+0.70, .IAU_SIN_N),
-  IAUSineTerm(-6.49, .IAU_SIN_N1),
-  IAUSineTerm(+0.25, .IAU_SIN_2N1),
-]
-
-fileprivate let naiad_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(-0.51, .IAU_COS_N),
-  IAUCosineTerm(-4.75, .IAU_COS_N1),
-  IAUCosineTerm(+0.09, .IAU_COS_2N1),
-]
-
-fileprivate let naiad_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(-0.48, .IAU_SIN_N),
-  IAUSineTerm(+4.40, .IAU_SIN_N1),
-  IAUSineTerm(-0.27, .IAU_SIN_2N1),
-]
-
-fileprivate let neptune_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(+0.70, .IAU_SIN_N),
-]
-
-fileprivate let neptune_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(-0.51, .IAU_COS_N),
-]
-
-fileprivate let neptune_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(-0.48, .IAU_SIN_N),
-]
-
-fileprivate let cordelia_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(-0.15, .IAU_SIN_U1),
-]
-
-fileprivate let cordelia_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(+0.14, .IAU_COS_U1),
-]
-
-fileprivate let cordelia_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(-0.04, .IAU_SIN_U1),
-]
-
-fileprivate let titania_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(+0.29, .IAU_SIN_U15),
-]
-
-fileprivate let titania_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(+0.28, .IAU_COS_U15),
-]
-
-fileprivate let titania_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(+0.08, .IAU_SIN_U15),
-]
-
-fileprivate let janus_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(-1.623, .IAU_SIN_S2),
-  IAUSineTerm(+0.023, .IAU_SIN_2S2),
-]
-
-fileprivate let janus_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(-0.183, .IAU_COS_S2),
-  IAUCosineTerm(+0.001, .IAU_COS_2S2),
-]
-
-fileprivate let janus_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(+1.613, .IAU_SIN_S2),
-  IAUSineTerm(-0.023, .IAU_SIN_2S2),
-]
-
-fileprivate let thebe_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(-2.11, .IAU_SIN_J2),
-  IAUSineTerm(+0.04, .IAU_SIN_2J2),
-]
-
-fileprivate let thebe_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(-0.91, .IAU_COS_J2),
-  IAUCosineTerm(+0.01, .IAU_COS_2J2),
-]
-
-fileprivate let thebe_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(+1.91, .IAU_SIN_J2),
-  IAUSineTerm(-0.04, .IAU_SIN_2J2),
-]
-
-fileprivate let triton_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(-32.35, .IAU_SIN_N7),
-  IAUSineTerm(-6.28, .IAU_SIN_2N7),
-  IAUSineTerm(-2.08, .IAU_SIN_3N7),
-  IAUSineTerm(-0.74, .IAU_SIN_4N7),
-  IAUSineTerm(-0.28, .IAU_SIN_5N7),
-  IAUSineTerm(-0.11, .IAU_SIN_6N7),
-  IAUSineTerm(-0.07, .IAU_SIN_7N7),
-  IAUSineTerm(-0.02, .IAU_SIN_8N7),
-  IAUSineTerm(-0.01, .IAU_SIN_9N7),
-]
-
-fileprivate let triton_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(+22.55, .IAU_COS_N7),
-  IAUCosineTerm(+2.10, .IAU_COS_2N7),
-  IAUCosineTerm(+0.55, .IAU_COS_3N7),
-  IAUCosineTerm(+0.16, .IAU_COS_4N7),
-  IAUCosineTerm(+0.05, .IAU_COS_5N7),
-  IAUCosineTerm(+0.02, .IAU_COS_6N7),
-  IAUCosineTerm(+0.01, .IAU_COS_7N7),
-]
-
-fileprivate let triton_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(+22.25, .IAU_SIN_N7),
-  IAUSineTerm(+6.73, .IAU_SIN_2N7),
-  IAUSineTerm(+2.05, .IAU_SIN_3N7),
-  IAUSineTerm(+0.74, .IAU_SIN_4N7),
-  IAUSineTerm(+0.28, .IAU_SIN_5N7),
-  IAUSineTerm(+0.11, .IAU_SIN_6N7),
-  IAUSineTerm(+0.05, .IAU_SIN_7N7),
-  IAUSineTerm(+0.02, .IAU_SIN_8N7),
-  IAUSineTerm(+0.01, .IAU_SIN_9N7),
-]
-
-fileprivate let mimas_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(+13.56, .IAU_SIN_S3),
-]
-
-fileprivate let mimas_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(-1.53, .IAU_COS_S3),
-]
-
-fileprivate let mimas_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(-13.48, .IAU_SIN_S3),
-  IAUSineTerm(-44.85, .IAU_SIN_S5),
-]
-
-fileprivate let ganymede_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(-0.037, .IAU_SIN_J4),
-  IAUSineTerm(+0.431, .IAU_SIN_J5),
-  IAUSineTerm(+0.091, .IAU_SIN_J6),
-]
-
-fileprivate let ganymede_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(-0.016, .IAU_COS_J4),
-  IAUCosineTerm(+0.186, .IAU_COS_J5),
-  IAUCosineTerm(+0.039, .IAU_COS_J6),
-]
-
-fileprivate let ganymede_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(+0.033, .IAU_SIN_J4),
-  IAUSineTerm(-0.389, .IAU_SIN_J5),
-  IAUSineTerm(-0.082, .IAU_SIN_J6),
-]
-
-fileprivate let umbriel_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(+0.21, .IAU_SIN_U14),
-]
-
-fileprivate let umbriel_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(+0.20, .IAU_COS_U14),
-]
-
-fileprivate let umbriel_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(-0.09, .IAU_SIN_U12),
-  IAUSineTerm(+0.06, .IAU_SIN_U14),
-]
-
-fileprivate let despina_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(+0.70, .IAU_SIN_N),
-  IAUSineTerm(-0.09, .IAU_SIN_N3),
-]
-
-fileprivate let despina_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(-0.51, .IAU_COS_N),
-  IAUCosineTerm(-0.07, .IAU_COS_N3),
-]
-
-fileprivate let despina_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(-0.49, .IAU_SIN_N),
-  IAUSineTerm(+0.06, .IAU_SIN_N),
-]
-
-fileprivate let callisto_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(-0.068, .IAU_SIN_J5),
-  IAUSineTerm(+0.590, .IAU_SIN_J6),
-  IAUSineTerm(+0.010, .IAU_SIN_J8),
-]
-
-fileprivate let callisto_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(-0.029, .IAU_COS_J5),
-  IAUCosineTerm(+0.254, .IAU_COS_J6),
-  IAUCosineTerm(-0.004, .IAU_COS_J8),
-]
-
-fileprivate let callisto_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(+0.061, .IAU_SIN_J5),
-  IAUSineTerm(-0.533, .IAU_SIN_J6),
-  IAUSineTerm(-0.009, .IAU_SIN_J8),
-]
-
-fileprivate let jupiter_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(+0.000117, .IAU_SIN_JA),
-  IAUSineTerm(+0.000938, .IAU_SIN_JB),
-  IAUSineTerm(+0.001432, .IAU_SIN_JC),
-  IAUSineTerm(+0.000030, .IAU_SIN_JD),
-  IAUSineTerm(+0.002150, .IAU_SIN_JE),
-]
-
-fileprivate let jupiter_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(+0.000050, .IAU_COS_JA),
-  IAUCosineTerm(+0.000404, .IAU_COS_JB),
-  IAUCosineTerm(+0.000617, .IAU_COS_JC),
-  IAUCosineTerm(-0.000013, .IAU_COS_JD),
-  IAUCosineTerm(+0.000926, .IAU_COS_JE),
-]
-
-fileprivate let epimetheus_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(-3.153, .IAU_SIN_S1),
-  IAUSineTerm(+0.086, .IAU_SIN_2S1),
-]
-
-fileprivate let epimetheus_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(-0.356, .IAU_COS_S1),
-  IAUCosineTerm(+0.005, .IAU_COS_2S1),
-]
-
-fileprivate let epimetheus_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(+3.133, .IAU_SIN_S1),
-  IAUSineTerm(-0.086, .IAU_SIN_2S1),
-]
-
-fileprivate let io_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(+0.094, .IAU_SIN_J3),
-  IAUSineTerm(+0.024, .IAU_SIN_J4),
-]
-
-fileprivate let io_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(+0.040, .IAU_COS_J3),
-  IAUCosineTerm(+0.011, .IAU_COS_J4),
-]
-
-fileprivate let io_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(-0.085, .IAU_SIN_J3),
-  IAUSineTerm(-0.022, .IAU_SIN_J4),
-]
-
-fileprivate let desdemona_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(-0.17, .IAU_SIN_U5),
-]
-
-fileprivate let desdemona_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(+0.16, .IAU_COS_U5),
-]
-
-fileprivate let desdemona_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(-0.04, .IAU_SIN_U5),
-]
-
-fileprivate let juliet_alpha_sines: [IAUSineTerm] = [
-  IAUSineTerm(-0.06, .IAU_SIN_U6),
-]
-
-fileprivate let juliet_delta_cosines: [IAUCosineTerm] = [
-  IAUCosineTerm(+0.06, .IAU_COS_U6),
-]
-
-fileprivate let juliet_w_sines: [IAUSineTerm] = [
-  IAUSineTerm(-0.02, .IAU_SIN_U6),
-]
-
-struct IAUBody {
-  var name: String
-  var a0: Double
-  var aT: Double
-  var d0: Double
-  var dT: Double
-  var w0: Double
-  var wd: Double
-  var wd_2: Double
-  var wT_2: Double
-  var alpha_sines: [IAUSineTerm]
-  var delta_cosines: [IAUCosineTerm]
-  var w_sines: [IAUSineTerm]
-  var w_cosines: [IAUCosineTerm]
-
-  init(_ name: String, _ a0: Double, _ aT: Double, _ d0: Double, _ dT: Double,
-       _ w0: Double, _ wd: Double, _ wd_2: Double, _ wT_2: Double,
-       _ alpha_sines: [IAUSineTerm], _ delta_cosines: [IAUCosineTerm],
-       _ w_sines: [IAUSineTerm], _ w_cosines: [IAUCosineTerm]) {
-    self.name = name
-    self.a0 = a0.deg
-    self.aT = aT.deg
-    self.d0 = d0.deg
-    self.dT = dT.deg
-    self.w0 = w0.deg
-    self.wd = wd.deg
-    self.wd_2 = wd_2.deg
-    self.wT_2 = wT_2.deg
-    self.alpha_sines = alpha_sines
-    self.delta_cosines = delta_cosines
-    self.w_sines = w_sines
-    self.w_cosines = w_cosines
-  }
-}
-
-fileprivate let bodies: [IAUBody] = [
-  IAUBody("19p_borrelly", 218.5, 0.0, -12.5, 0.0, 000, +390.0, 0.0, 0.0 , [], [], [], []),
-  IAUBody("9p_tempel_1", 294, 0.0, 73, 0.0, 252.63, +212.064, 0.0, 0.0 , [], [], [], []),
-  IAUBody("adrastea", 268.05, -0.009, 64.49, +0.003, 33.29, +1206.9986602, 0.0, 0.0 , [], [], [], []),
-  IAUBody("amalthea", 268.05, -0.009, 64.49, +0.003, 231.67, +722.6314560, 0.0, 0.0 , amalthea_alpha_sines, amalthea_delta_cosines, amalthea_w_sines, []),
-  IAUBody("ariel", 257.43, 0.0, -15.10, 0.0, 156.22, -142.8356681, 0.0, 0.0 , ariel_alpha_sines, ariel_delta_cosines, ariel_w_sines, []),
-  IAUBody("atlas", 40.58, -0.036, 83.53, -0.004, 137.88, +598.3060000, 0.0, 0.0 , [], [], [], []),
-  IAUBody("belinda", 257.31, 0.0, -15.18, 0.0, 297.46, -577.3628170, 0.0, 0.0 , belinda_alpha_sines, belinda_delta_cosines, belinda_w_sines, []),
-  IAUBody("bianca", 257.31, 0.0, -15.18, 0.0, 105.46, -828.3914760, 0.0, 0.0 , bianca_alpha_sines, bianca_delta_cosines, bianca_w_sines, []),
-  IAUBody("callisto", 268.72, -0.009, 64.83, +0.003, 259.51, +21.5710715, 0.0, 0.0 , callisto_alpha_sines, callisto_delta_cosines, callisto_w_sines, []),
-  IAUBody("calypso", 36.41, -0.036, 85.04, -0.004, 153.51, +190.6742373, 0.0, 0.0 , [], [], [], []),
-  IAUBody("ceres", 291, 0.0, 59, 0.0, 170.90, +952.1532, 0.0, 0.0 , [], [], [], []),
-  IAUBody("charon", 132.993, 0.0, -6.163, 0.0, 122.695, +56.3625225, 0.0, 0.0 , [], [], [], []),
-  IAUBody("cordelia", 257.31, 0.0, -15.18, 0.0, 127.69, -1074.5205730, 0.0, 0.0 , cordelia_alpha_sines, cordelia_delta_cosines, cordelia_w_sines, []),
-  IAUBody("cressida", 257.31, 0.0, -15.18, 0.0, 59.16, -776.5816320, 0.0, 0.0 , cressida_alpha_sines, cressida_delta_cosines, cressida_w_sines, []),
-  IAUBody("davida", 297, 0.0, 5, 0.0, 268.1, +1684.4193549, 0.0, 0.0 , [], [], [], []),
-  IAUBody("deimos", 316.65, -0.108, 53.52, -0.061, 79.41, +285.1618970, 0.0, 0.0 , deimos_alpha_sines, deimos_delta_cosines, deimos_w_sines, deimos_w_cosines),
-  IAUBody("desdemona", 257.31, 0.0, -15.18, 0.0, 95.08, -760.0531690, 0.0, 0.0 , desdemona_alpha_sines, desdemona_delta_cosines, desdemona_w_sines, []),
-  IAUBody("despina", 299.36, 0.0, 43.45, 0.0, 306.51, +1075.7341562, 0.0, 0.0 , despina_alpha_sines, despina_delta_cosines, despina_w_sines, []),
-  IAUBody("dione", 40.66, -0.036, 83.52, -0.004, 357.6, +131.5349316, 0.0, 0.0 , [], [], [], []),
-  IAUBody("earth", 0.00, -0.641, 90.00, -0.557, 190.147, +360.9856235, 0.0, 0.0 , [], [], [], []),
-  IAUBody("enceladus", 40.66, -0.036, 83.52, -0.004, 6.32, +262.7318996, 0.0, 0.0 , [], [], [], []),
-  IAUBody("epimetheus", 40.58, -0.036, 83.52, -0.004, 293.87, +518.4907239, 0.0, 0.0 , epimetheus_alpha_sines, epimetheus_delta_cosines, epimetheus_w_sines, []),
-  IAUBody("eros", 11.35, 0.0, 17.22, 0.0, 326.07, +1639.38864745, 0.0, 0.0 , [], [], [], []),
-  IAUBody("europa", 268.08, -0.009, 64.51, +0.003, 36.022, +101.3747235, 0.0, 0.0 , europa_alpha_sines, europa_delta_cosines, europa_w_sines, []),
-  IAUBody("galatea", 299.36, 0.0, 43.43, 0.0, 258.09, +839.6597686, 0.0, 0.0 , galatea_alpha_sines, galatea_delta_cosines, galatea_w_sines, []),
-  IAUBody("ganymede", 268.20, -0.009, 64.57, +0.003, 44.064, +50.3176081, 0.0, 0.0 , ganymede_alpha_sines, ganymede_delta_cosines, ganymede_w_sines, []),
-  IAUBody("gaspra", 9.47, 0.0, 26.70, 0.0, 83.67, +1226.9114850, 0.0, 0.0 , [], [], [], []),
-  IAUBody("helene", 40.85, -0.036, 83.34, -0.004, 245.12, +131.6174056, 0.0, 0.0 , [], [], [], []),
-  IAUBody("iapetus", 318.16, -3.949, 75.03, -1.143, 355.2, +4.5379572, 0.0, 0.0 , [], [], [], []),
-  IAUBody("ida", 168.76, 0.0, -2.88, 0.0, 274.05, +1864.6280070, 0.0, 0.0 , [], [], [], []),
-  IAUBody("io", 268.05, -0.009, 64.50, +0.003, 200.39, +203.4889538, 0.0, 0.0 , io_alpha_sines, io_delta_cosines, io_w_sines, []),
-  IAUBody("itokawa", 90.53, 0.0, -66.30, 0.0, 000, +712.143, 0.0, 0.0 , [], [], [], []),
-  IAUBody("janus", 40.58, -0.036, 83.52, -0.004, 58.83, +518.2359876, 0.0, 0.0 , janus_alpha_sines, janus_delta_cosines, janus_w_sines, []),
-  IAUBody("juliet", 257.31, 0.0, -15.18, 0.0, 302.56, -730.1253660, 0.0, 0.0 , juliet_alpha_sines, juliet_delta_cosines, juliet_w_sines, []),
-  IAUBody("jupiter", 268.056595, -0.006499, 64.495303, +0.002413, 284.95, +870.5360000, 0.0, 0.0 , jupiter_alpha_sines, jupiter_delta_cosines, [], []),
-  IAUBody("larissa", 299.36, 0.0, 43.41, 0.0, 179.41, +649.0534470, 0.0, 0.0 , larissa_alpha_sines, larissa_delta_cosines, larissa_w_sines, []),
-  IAUBody("lutetia", 52, 0.0, 12, 0.0, 94, +1057.7515, 0.0, 0.0 , [], [], [], []),
-  IAUBody("mars", 317.68143, -0.1061, 52.88650, -0.0609, 176.630, +350.89198226, 0.0, 0.0 , [], [], [], []),
-  IAUBody("mercury", 281.0097, -0.0328, 61.4143, -0.0049, 329.5469, +6.1385025, 0.0, 0.0 , [], [], mercury_w_sines, []),
-  IAUBody("metis", 268.05, -0.009, 64.49, +0.003, 346.09, +1221.2547301, 0.0, 0.0 , [], [], [], []),
-  IAUBody("mimas", 40.66, -0.036, 83.52, -0.004, 333.46, +381.9945550, 0.0, 0.0 , mimas_alpha_sines, mimas_delta_cosines, mimas_w_sines, []),
-  IAUBody("miranda", 257.43, 0.0, -15.08, 0.0, 30.70, -254.6906892, 0.0, 0.0 , miranda_alpha_sines, miranda_delta_cosines, miranda_w_sines, []),
-  IAUBody("moon", 269.9949, +0.0031, 66.5392, +0.0130, 38.3213, +13.17635815, -1.4e-12, -1.4e-12 , moon_alpha_sines, moon_delta_cosines, moon_w_sines, []),
-  IAUBody("naiad", 299.36, 0.0, 43.36, 0.0, 254.06, +1222.8441209, 0.0, 0.0 , naiad_alpha_sines, naiad_delta_cosines, naiad_w_sines, []),
-  IAUBody("neptune", 299.36, 0.0, 43.46, 0.0, 253.18, +536.3128492, 0.0, 0.0 , neptune_alpha_sines, neptune_delta_cosines, neptune_w_sines, []),
-  IAUBody("oberon", 257.43, 0.0, -15.10, 0.0, 6.77, -26.7394932, 0.0, 0.0 , oberon_alpha_sines, oberon_delta_cosines, oberon_w_sines, []),
-  IAUBody("ophelia", 257.31, 0.0, -15.18, 0.0, 130.35, -956.4068150, 0.0, 0.0 , ophelia_alpha_sines, ophelia_delta_cosines, ophelia_w_sines, []),
-  IAUBody("pallas", 33, 0.0, -3, 0.0, 38, +1105.8036, 0.0, 0.0 , [], [], [], []),
-  IAUBody("pan", 40.6, -0.036, 83.5, -0.004, 48.8, +626.0440000, 0.0, 0.0 , [], [], [], []),
-  IAUBody("pandora", 40.58, -0.036, 83.53, -0.004, 162.92, +572.7891000, 0.0, 0.0 , [], [], [], []),
-  IAUBody("phobos", 317.68, -0.108, 52.90, -0.061, 35.06, +1128.8445850, 0.0, 0.0 , phobos_alpha_sines, phobos_delta_cosines, phobos_w_sines, []),
-  IAUBody("phoebe", 356.90, 0.0, 77.80, 0.0, 178.58, +931.639, 0.0, 0.0 , [], [], [], []),
-  IAUBody("pluto", 132.993, 0.0, -6.163, 0.0, 302.695, +56.3625225, 0.0, 0.0 , [], [], [], []),
-  IAUBody("portia", 257.31, 0.0, -15.18, 0.0, 25.03, -701.4865870, 0.0, 0.0 , portia_alpha_sines, portia_delta_cosines, portia_w_sines, []),
-  IAUBody("prometheus", 40.58, -0.036, 83.53, -0.004, 296.14, +587.289000, 0.0, 0.0 , [], [], [], []),
-  IAUBody("proteus", 299.27, 0.0, 42.91, 0.0, 93.38, +320.7654228, 0.0, 0.0 , proteus_alpha_sines, proteus_delta_cosines, proteus_w_sines, []),
-  IAUBody("puck", 257.31, 0.0, -15.18, 0.0, 91.24, -472.5450690, 0.0, 0.0 , puck_alpha_sines, puck_delta_cosines, puck_w_sines, []),
-  IAUBody("rhea", 40.38, -0.036, 83.55, -0.004, 235.16, +79.6900478, 0.0, 0.0 , rhea_alpha_sines, rhea_delta_cosines, rhea_w_sines, []),
-  IAUBody("rosalind", 257.31, 0.0, -15.18, 0.0, 314.90, -644.6311260, 0.0, 0.0 , rosalind_alpha_sines, rosalind_delta_cosines, rosalind_w_sines, []),
-  IAUBody("saturn", 40.589, -0.036, 83.537, -0.004, 38.90, +810.7939024, 0.0, 0.0 , [], [], [], []),
-  IAUBody("steins", 90, 0.0, -62, 0.0, 93.94, +1428.852332, 0.0, 0.0 , [], [], [], []),
-  IAUBody("sun", 286.13, 0.0, 63.87, 0.0, 84.176, +14.1844000, 0.0, 0.0 , [], [], [], []),
-  IAUBody("telesto", 50.51, -0.036, 84.06, -0.004, 56.88, +190.6979332, 0.0, 0.0 , [], [], [], []),
-  IAUBody("tethys", 40.66, -0.036, 83.52, -0.004, 8.95, +190.6979085, 0.0, 0.0 , tethys_alpha_sines, tethys_delta_cosines, tethys_w_sines, []),
-  IAUBody("thalassa", 299.36, 0.0, 43.45, 0.0, 102.06, +1155.7555612, 0.0, 0.0 , thalassa_alpha_sines, thalassa_delta_cosines, thalassa_w_sines, []),
-  IAUBody("thebe", 268.05, -0.009, 64.49, +0.003, 8.56, +533.7004100, 0.0, 0.0 , thebe_alpha_sines, thebe_delta_cosines, thebe_w_sines, []),
-  IAUBody("titan", 39.4827, 0.0, 83.4279, 0.0, 186.5855, +22.5769768, 0.0, 0.0 , [], [], [], []),
-  IAUBody("titania", 257.43, 0.0, -15.10, 0.0, 77.74, -41.3514316, 0.0, 0.0 , titania_alpha_sines, titania_delta_cosines, titania_w_sines, []),
-  IAUBody("triton", 299.36, 0.0, 41.17, 0.0, 296.53, -61.2572637, 0.0, 0.0 , triton_alpha_sines, triton_delta_cosines, triton_w_sines, []),
-  IAUBody("umbriel", 257.43, 0.0, -15.10, 0.0, 108.05, -86.8688923, 0.0, 0.0 , umbriel_alpha_sines, umbriel_delta_cosines, umbriel_w_sines, []),
-  IAUBody("uranus", 257.311, 0.0, -15.175, 0.0, 203.81, -501.1600928, 0.0, 0.0 , [], [], [], []),
-  IAUBody("venus", 272.76, 0.0, 67.16, 0.0, 160.20, -1.4813688, 0.0, 0.0 , [], [], [], []),
-  IAUBody("vesta", 305.8, 0.0, 41.4, 0.0, 292, +1617.332776, 0.0, 0.0 , [], [], [], []),
-]
-
-
-
-// This file implements the iau roatiaional model, for more info see the
-// IAU WG Report on Cartographic Coordinates and Rotational Elements
-// The tables are copied from the WG report and placed in machine readable
-// format. The file is then parsed with a script that generates tables in C99.
-// This table is include here, and no other place
-struct IAURotationalElements {
-  var name: String
-  var alpha0: Double
-  var alpha_T: Double
-  var delta0: Double
-  var delta_T: Double
-  var w0: Double
-  var wd: Double
-}
-
-class IAURotModel {
-  var terms: [Double] = Array<Double>(repeating: 0, count: IAUTermID.IAU_TERM_COUNT.rawValue) // IAU_TERM_COUNT
-  var cosines: [Double] = Array<Double>(repeating: 0, count: IAUCosineID.IAU_COS_COUNT.rawValue) // IAU_COS_COUNT
-  var sines: [Double] = Array<Double>(repeating: 0, count: IAUSineID.IAU_SIN_COUNT.rawValue) // IAU_SIN_COUNT
-
-  // Compute comon terms
-  // This routine computes common terms, many which are shared between
-  // different planetary bodies.
-  func step(d: Double, T: Double) {
-    // First we compute all the terms, some of these are needed for
-    // several bodies
-    let d = d - J2000_0;
-    let T = T - J2000_0/JD_PER_CENT;
-
-    for term in d_terms {
-      terms[term.term.rawValue] = term.a + term.b * d
-    }
-
-    for term in T_terms {
-      terms[term.term.rawValue] = term.a + term.b * T
-    }
-
-    for term in T2_terms {
-      terms[term.term.rawValue] += term.a * T * T
-    }
-
-    // The terms are used as arguments to sin and cos, we compute these here
-    // Note that the cosine_rules and sine_rules tables are auto generated
-    for sine in sine_rules {
-      sines[sine.term.rawValue] = sin(sine.m * terms[sine.term.rawValue])
-    }
-
-    for cosine in cosine_rules {
-      cosines[cosine.term.rawValue] = cos(cosine.m * terms[cosine.term.rawValue]);
-    }
-  }
-
-  // Compute body rotation
-  // This routine computesc the ICRF equatorial coordinates of the body rotation
-  // plus the roation around these with respect to the body's prime meridian.
-  // Note that coordinaates are in radians.
-  // The routine should not be called,
-  // without calculating the common parameters first.
-  func stepBody(body: IAUBody, d: Double, T: Double) -> (EquatorialCoordinate, Double) {
-    var alpha: Double = 0.0
-    var delta: Double = 0.0
-    var w: Double = 0.0
-
-    alpha += body.a0 + body.aT * T
-    delta += body.d0 + body.dT * T
-    w += body.w0 + body.wd * d
-    w += body.wd_2 * d * d
-    w += body.wT_2 * T * T
-
-    for asine in body.alpha_sines {
-      alpha += asine.a * sines[asine.sine.rawValue]
-    }
-
-    for dcos in body.delta_cosines {
-      delta += dcos.a * cosines[dcos.cosine.rawValue]
-    }
-
-    for wsin in body.w_sines {
-      w += wsin.a * sines[wsin.sine.rawValue];
-    }
-
-    for wcos in body.w_cosines {
-      w += wcos.a * cosines[wcos.cosine.rawValue];
-    }
-
-    // For a progam using these routines, the derivative of w is very interesting
-    // the derivative allow us to for example easily compute a rough estimate of
-    // airspeed relative to any fixed axis frame,
-    // which in turn helps us estimate drag components better.
-
-    // The general equation for the w parameter is:
-    //   w = a0 + a1 * d + a2 sin (a3 + a4 d) + a5 cos (a6 + a7 d)
-    // This means that:
-    //   w' = a1 + a2 a4 cos(a3 + a4 d) + a5 a7 sin (a6 + a7 d)
-    // Note that the parameters to the sin and cos function are sometimes given
-    // in julian centuries (i.e. d/36525).
-    // let w_prime = body.wd + 2.0 * body.wd_2 * d + 2.0 * body.wT_2 * T/JD_PER_CENT;
-
-    //for (int i = 0 ; i < body->wsin_count ; i ++) {
-    //  w_prime += body->w_sines[i].a * sines[body->w_sines[i].sine];
-    //}
-
-    //for (int i = 0 ; i < body->wcos_count ; i ++) {
-    //  w_prime += body->w_cosines[i].a * cosines[body->w_cosines[i].cosine];
-    //}
-
-    let coord = EquatorialCoordinate(rightAscension: alpha, declination: delta)
-    return (coord, w)
+struct IAURotModel {
+  /// Explicit TDB days since JD 2451545.0; no mutable shared argument cache.
+  func elements(body: String, tdbDaysSinceJ2000 days: Double) throws -> IAURotationalElements {
+    guard days.isFinite else { throw IAURotationError.nonFinite }
+    guard let model = iauRotationModels[body] else { throw IAURotationError.unknownBody }
+    let modelDays = days - (model.referenceJulianDate - 2_451_545)
+    return try IAURotationalElements(rightAscension: model.rightAscension.evaluate(days: modelDays),
+      declination: model.declination.evaluate(days: modelDays), primeMeridian: model.primeMeridian.evaluate(days: modelDays))
   }
 }
diff --git a/Sources/CelMek/IAURotationData.swift b/Sources/CelMek/IAURotationData.swift
new file mode 100644
index 0000000..56ab372
--- /dev/null
+++ b/Sources/CelMek/IAURotationData.swift
@@ -0,0 +1,810 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+
+// Generated by Tools/generate_iau_rotation_data.py; do not edit by hand.
+// NAIF pck00011.tpc (2022-12-27), SHA256 3dff7b1dbeceaa01f25467767d3fa25816051c85d162d1edf04acb310ee28bb1
+// IAU 2015 report + 2019 correction; Earth/Moon retain labelled legacy models.
+let iauRotationModels: [String: IAURotationModelData] = [
+  "19p_borrelly": IAURotationModelData(naifID: 1000005, provenance: .iau2015Corrected2019, referenceJulianDate: 2451545.0,
+    rightAscension: IAUAngleSeries(polynomialDegrees: [218.5, 0.0, 0.0], variable: .centuries, harmonics: [
+    ]),
+    declination: IAUAngleSeries(polynomialDegrees: [-12.5, 0.0, 0.0], variable: .centuries, harmonics: [
+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [0.0, 324.3, 0.0], variable: .days, harmonics: [
+    ])),
+  "9p_tempel_1": IAURotationModelData(naifID: 1000093, provenance: .iau2015Corrected2019, referenceJulianDate: 2455607.69466,
+    rightAscension: IAUAngleSeries(polynomialDegrees: [255.0, 0.0, 0.0], variable: .centuries, harmonics: [
+    ]),
+    declination: IAUAngleSeries(polynomialDegrees: [64.5, 0.0, 0.0], variable: .centuries, harmonics: [
+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [69.2, 212.807, 0.0], variable: .days, harmonics: [
+    ])),
+  "adrastea": IAURotationModelData(naifID: 515, provenance: .iau2015Corrected2019, referenceJulianDate: 2451545.0,
+    rightAscension: IAUAngleSeries(polynomialDegrees: [268.05, -0.009, 0.0], variable: .centuries, harmonics: [
+    ]),
+    declination: IAUAngleSeries(polynomialDegrees: [64.49, 0.003, 0.0], variable: .centuries, harmonics: [
+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [33.29, 1206.9986602, 0.0], variable: .days, harmonics: [
+    ])),
+  "amalthea": IAURotationModelData(naifID: 505, provenance: .iau2015Corrected2019, referenceJulianDate: 2451545.0,
+    rightAscension: IAUAngleSeries(polynomialDegrees: [268.05, -0.009, 0.0], variable: .centuries, harmonics: [
+      IAUHarmonic(amplitudeDegrees: -0.84, phaseDegrees: [73.32, 91472.9], function: .sine),
+      IAUHarmonic(amplitudeDegrees: 0.01, phaseDegrees: [146.64, 182945.8], function: .sine),
+    ]),
+    declination: IAUAngleSeries(polynomialDegrees: [64.49, 0.003, 0.0], variable: .centuries, harmonics: [
+      IAUHarmonic(amplitudeDegrees: -0.36, phaseDegrees: [73.32, 91472.9], function: .cosine),
+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [231.67, 722.631456, 0.0], variable: .days, harmonics: [
+      IAUHarmonic(amplitudeDegrees: 0.76, phaseDegrees: [73.32, 91472.9], function: .sine),
+      IAUHarmonic(amplitudeDegrees: -0.01, phaseDegrees: [146.64, 182945.8], function: .sine),
+    ])),
+  "ariel": IAURotationModelData(naifID: 701, provenance: .iau2015Corrected2019, referenceJulianDate: 2451545.0,
+    rightAscension: IAUAngleSeries(polynomialDegrees: [257.43, 0.0, 0.0], variable: .centuries, harmonics: [
+      IAUHarmonic(amplitudeDegrees: 0.29, phaseDegrees: [304.01, -51.94], function: .sine),
+    ]),
+    declination: IAUAngleSeries(polynomialDegrees: [-15.1, 0.0, 0.0], variable: .centuries, harmonics: [
+      IAUHarmonic(amplitudeDegrees: 0.28, phaseDegrees: [304.01, -51.94], function: .cosine),
+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [156.22, -142.8356681, 0.0], variable: .days, harmonics: [
+      IAUHarmonic(amplitudeDegrees: 0.05, phaseDegrees: [316.41, 2863.96], function: .sine),
+      IAUHarmonic(amplitudeDegrees: 0.08, phaseDegrees: [304.01, -51.94], function: .sine),
+    ])),
+  "atlas": IAURotationModelData(naifID: 615, provenance: .iau2015Corrected2019, referenceJulianDate: 2451545.0,
+    rightAscension: IAUAngleSeries(polynomialDegrees: [40.58, -0.036, 0.0], variable: .centuries, harmonics: [
+    ]),
+    declination: IAUAngleSeries(polynomialDegrees: [83.53, -0.004, 0.0], variable: .centuries, harmonics: [
+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [137.88, 598.306, 0.0], variable: .days, harmonics: [
+    ])),
+  "belinda": IAURotationModelData(naifID: 714, provenance: .iau2015Corrected2019, referenceJulianDate: 2451545.0,
+    rightAscension: IAUAngleSeries(polynomialDegrees: [257.31, 0.0, 0.0], variable: .centuries, harmonics: [
+      IAUHarmonic(amplitudeDegrees: -0.03, phaseDegrees: [101.81, 12872.63], function: .sine),
+    ]),
+    declination: IAUAngleSeries(polynomialDegrees: [-15.18, 0.0, 0.0], variable: .centuries, harmonics: [
+      IAUHarmonic(amplitudeDegrees: 0.03, phaseDegrees: [101.81, 12872.63], function: .cosine),
+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [297.46, -577.362817, 0.0], variable: .days, harmonics: [
+      IAUHarmonic(amplitudeDegrees: -0.01, phaseDegrees: [101.81, 12872.63], function: .sine),
+    ])),
+  "bianca": IAURotationModelData(naifID: 708, provenance: .iau2015Corrected2019, referenceJulianDate: 2451545.0,
+    rightAscension: IAUAngleSeries(polynomialDegrees: [257.31, 0.0, 0.0], variable: .centuries, harmonics: [
+      IAUHarmonic(amplitudeDegrees: -0.16, phaseDegrees: [135.03, 29927.35], function: .sine),
+    ]),
+    declination: IAUAngleSeries(polynomialDegrees: [-15.18, 0.0, 0.0], variable: .centuries, harmonics: [
+      IAUHarmonic(amplitudeDegrees: 0.16, phaseDegrees: [135.03, 29927.35], function: .cosine),
+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [105.46, -828.391476, 0.0], variable: .days, harmonics: [
+      IAUHarmonic(amplitudeDegrees: -0.04, phaseDegrees: [135.03, 29927.35], function: .sine),
+    ])),
+  "callisto": IAURotationModelData(naifID: 504, provenance: .iau2015Corrected2019, referenceJulianDate: 2451545.0,
+    rightAscension: IAUAngleSeries(polynomialDegrees: [268.72, -0.009, 0.0], variable: .centuries, harmonics: [
+      IAUHarmonic(amplitudeDegrees: -0.068, phaseDegrees: [119.9, 262.1], function: .sine),
+      IAUHarmonic(amplitudeDegrees: 0.59, phaseDegrees: [229.8, 64.3], function: .sine),
+      IAUHarmonic(amplitudeDegrees: 0.01, phaseDegrees: [113.35, 6070.0], function: .sine),
+    ]),
+    declination: IAUAngleSeries(polynomialDegrees: [64.83, 0.003, 0.0], variable: .centuries, harmonics: [
+      IAUHarmonic(amplitudeDegrees: -0.029, phaseDegrees: [119.9, 262.1], function: .cosine),
+      IAUHarmonic(amplitudeDegrees: 0.254, phaseDegrees: [229.8, 64.3], function: .cosine),
+      IAUHarmonic(amplitudeDegrees: -0.004, phaseDegrees: [113.35, 6070.0], function: .cosine),
+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [259.51, 21.5710715, 0.0], variable: .days, harmonics: [
+      IAUHarmonic(amplitudeDegrees: 0.061, phaseDegrees: [119.9, 262.1], function: .sine),
+      IAUHarmonic(amplitudeDegrees: -0.533, phaseDegrees: [229.8, 64.3], function: .sine),
+      IAUHarmonic(amplitudeDegrees: -0.009, phaseDegrees: [113.35, 6070.0], function: .sine),
+    ])),
+  "calypso": IAURotationModelData(naifID: 614, provenance: .iau2015Corrected2019, referenceJulianDate: 2451545.0,
+    rightAscension: IAUAngleSeries(polynomialDegrees: [36.41, -0.036, 0.0], variable: .centuries, harmonics: [
+    ]),
+    declination: IAUAngleSeries(polynomialDegrees: [85.04, -0.004, 0.0], variable: .centuries, harmonics: [
+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [153.51, 190.6742373, 0.0], variable: .days, harmonics: [
+    ])),
+  "ceres": IAURotationModelData(naifID: 2000001, provenance: .iau2015Corrected2019, referenceJulianDate: 2451545.0,
+    rightAscension: IAUAngleSeries(polynomialDegrees: [291.418, 0.0, 0.0], variable: .centuries, harmonics: [
+    ]),
+    declination: IAUAngleSeries(polynomialDegrees: [66.764, 0.0, 0.0], variable: .centuries, harmonics: [
+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [170.65, 952.1532, 0.0], variable: .days, harmonics: [
+    ])),
+  "charon": IAURotationModelData(naifID: 901, provenance: .iau2015Corrected2019, referenceJulianDate: 2451545.0,
+    rightAscension: IAUAngleSeries(polynomialDegrees: [132.993, 0.0, 0.0], variable: .centuries, harmonics: [
+    ]),
+    declination: IAUAngleSeries(polynomialDegrees: [-6.163, 0.0, 0.0], variable: .centuries, harmonics: [
+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [122.695, 56.3625225, 0.0], variable: .days, harmonics: [
+    ])),
+  "cordelia": IAURotationModelData(naifID: 706, provenance: .iau2015Corrected2019, referenceJulianDate: 2451545.0,
+    rightAscension: IAUAngleSeries(polynomialDegrees: [257.31, 0.0, 0.0], variable: .centuries, harmonics: [
+      IAUHarmonic(amplitudeDegrees: -0.15, phaseDegrees: [115.75, 54991.87], function: .sine),
+    ]),
+    declination: IAUAngleSeries(polynomialDegrees: [-15.18, 0.0, 0.0], variable: .centuries, harmonics: [
+      IAUHarmonic(amplitudeDegrees: 0.14, phaseDegrees: [115.75, 54991.87], function: .cosine),
+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [127.69, -1074.520573, 0.0], variable: .days, harmonics: [
+      IAUHarmonic(amplitudeDegrees: -0.04, phaseDegrees: [115.75, 54991.87], function: .sine),
+    ])),
+  "cressida": IAURotationModelData(naifID: 709, provenance: .iau2015Corrected2019, referenceJulianDate: 2451545.0,
+    rightAscension: IAUAngleSeries(polynomialDegrees: [257.31, 0.0, 0.0], variable: .centuries, harmonics: [
+      IAUHarmonic(amplitudeDegrees: -0.04, phaseDegrees: [61.77, 25733.59], function: .sine),
+    ]),
+    declination: IAUAngleSeries(polynomialDegrees: [-15.18, 0.0, 0.0], variable: .centuries, harmonics: [
+      IAUHarmonic(amplitudeDegrees: 0.04, phaseDegrees: [61.77, 25733.59], function: .cosine),
+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [59.16, -776.581632, 0.0], variable: .days, harmonics: [
+      IAUHarmonic(amplitudeDegrees: -0.01, phaseDegrees: [61.77, 25733.59], function: .sine),
+    ])),
+  "davida": IAURotationModelData(naifID: 2000511, provenance: .iau2015Corrected2019, referenceJulianDate: 2451545.0,
+    rightAscension: IAUAngleSeries(polynomialDegrees: [297.0, 0.0, 0.0], variable: .centuries, harmonics: [
+    ]),
+    declination: IAUAngleSeries(polynomialDegrees: [5.0, 0.0, 0.0], variable: .centuries, harmonics: [
+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [268.1, 1684.4193549, 0.0], variable: .days, harmonics: [
+    ])),
+  "deimos": IAURotationModelData(naifID: 402, provenance: .iau2015Corrected2019, referenceJulianDate: 2451545.0,
+    rightAscension: IAUAngleSeries(polynomialDegrees: [316.65705808, -0.10518014, 0.0], variable: .centuries, harmonics: [
+      IAUHarmonic(amplitudeDegrees: 3.09217726, phaseDegrees: [121.46893664, 660.22803474, 0.0], function: .sine),
+      IAUHarmonic(amplitudeDegrees: 0.22980637, phaseDegrees: [231.05028581, 660.9912354, 0.0], function: .sine),
+      IAUHarmonic(amplitudeDegrees: 0.06418655, phaseDegrees: [251.37314025, 1320.50145245, 0.0], function: .sine),
+      IAUHarmonic(amplitudeDegrees: 0.02533537, phaseDegrees: [217.98635955, 38279.9612555, 0.0], function: .sine),
+      IAUHarmonic(amplitudeDegrees: 0.00778695, phaseDegrees: [196.19729402, 19139.83628608, 0.0], function: .sine),
+    ]),
+    declination: IAUAngleSeries(polynomialDegrees: [53.50992033, -0.05979094, 0.0], variable: .centuries, harmonics: [
+      IAUHarmonic(amplitudeDegrees: 1.83936004, phaseDegrees: [121.46893664, 660.22803474, 0.0], function: .cosine),
+      IAUHarmonic(amplitudeDegrees: 0.1432532, phaseDegrees: [231.05028581, 660.9912354, 0.0], function: .cosine),
+      IAUHarmonic(amplitudeDegrees: 0.01911409, phaseDegrees: [251.37314025, 1320.50145245, 0.0], function: .cosine),
+      IAUHarmonic(amplitudeDegrees: -0.0148259, phaseDegrees: [217.98635955, 38279.9612555, 0.0], function: .cosine),
+      IAUHarmonic(amplitudeDegrees: 0.0019243, phaseDegrees: [196.19729402, 19139.83628608, 0.0], function: .cosine),
+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [79.39932954, 285.16188899, 0.0], variable: .days, harmonics: [
+      IAUHarmonic(amplitudeDegrees: -2.73954829, phaseDegrees: [121.46893664, 660.22803474, 0.0], function: .sine),
+      IAUHarmonic(amplitudeDegrees: -0.39968606, phaseDegrees: [231.05028581, 660.9912354, 0.0], function: .sine),
+      IAUHarmonic(amplitudeDegrees: -0.06563259, phaseDegrees: [251.37314025, 1320.50145245, 0.0], function: .sine),
+      IAUHarmonic(amplitudeDegrees: -0.0291294, phaseDegrees: [217.98635955, 38279.9612555, 0.0], function: .sine),
+      IAUHarmonic(amplitudeDegrees: 0.0169916, phaseDegrees: [196.19729402, 19139.83628608, 0.0], function: .sine),
+    ])),
+  "desdemona": IAURotationModelData(naifID: 710, provenance: .iau2015Corrected2019, referenceJulianDate: 2451545.0,
+    rightAscension: IAUAngleSeries(polynomialDegrees: [257.31, 0.0, 0.0], variable: .centuries, harmonics: [
+      IAUHarmonic(amplitudeDegrees: -0.17, phaseDegrees: [249.32, 24471.46], function: .sine),
+    ]),
+    declination: IAUAngleSeries(polynomialDegrees: [-15.18, 0.0, 0.0], variable: .centuries, harmonics: [
+      IAUHarmonic(amplitudeDegrees: 0.16, phaseDegrees: [249.32, 24471.46], function: .cosine),
+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [95.08, -760.053169, 0.0], variable: .days, harmonics: [
+      IAUHarmonic(amplitudeDegrees: -0.04, phaseDegrees: [249.32, 24471.46], function: .sine),
+    ])),
+  "despina": IAURotationModelData(naifID: 805, provenance: .iau2015Corrected2019, referenceJulianDate: 2451545.0,
+    rightAscension: IAUAngleSeries(polynomialDegrees: [299.36, 0.0, 0.0], variable: .centuries, harmonics: [
+      IAUHarmonic(amplitudeDegrees: 0.7, phaseDegrees: [357.85, 52.316], function: .sine),
+      IAUHarmonic(amplitudeDegrees: -0.09, phaseDegrees: [354.27, 46564.5], function: .sine),
+    ]),
+    declination: IAUAngleSeries(polynomialDegrees: [43.45, 0.0, 0.0], variable: .centuries, harmonics: [
+      IAUHarmonic(amplitudeDegrees: -0.51, phaseDegrees: [357.85, 52.316], function: .cosine),
+      IAUHarmonic(amplitudeDegrees: -0.07, phaseDegrees: [354.27, 46564.5], function: .cosine),
+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [306.51, 1075.7341562, 0.0], variable: .days, harmonics: [
+      IAUHarmonic(amplitudeDegrees: -0.49, phaseDegrees: [357.85, 52.316], function: .sine),
+      IAUHarmonic(amplitudeDegrees: 0.06, phaseDegrees: [354.27, 46564.5], function: .sine),
+    ])),
+  "dione": IAURotationModelData(naifID: 604, provenance: .iau2015Corrected2019, referenceJulianDate: 2451545.0,
+    rightAscension: IAUAngleSeries(polynomialDegrees: [40.66, -0.036, 0.0], variable: .centuries, harmonics: [
+    ]),
+    declination: IAUAngleSeries(polynomialDegrees: [83.52, -0.004, 0.0], variable: .centuries, harmonics: [
+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [357.6, 131.5349316, 0.0], variable: .days, harmonics: [
+    ])),
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+    ]),
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+    ]),
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+    ]),
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+      IAUHarmonic(amplitudeDegrees: 0.05, phaseDegrees: [75.31, 26109.4], function: .sine),
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+    ]),
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+    primeMeridian: IAUAngleSeries(polynomialDegrees: [355.2, 4.5379572, 0.0], variable: .days, harmonics: [
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+    ]),
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+    ]),
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+    ]),
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+    ]),
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+      IAUHarmonic(amplitudeDegrees: -0.023, phaseDegrees: [57.44, 151413.4], function: .sine),
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+    ]),
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+    ]),
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+    ])),
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+      IAUHarmonic(amplitudeDegrees: 0.00215, phaseDegrees: [49.511251, 64.3], function: .sine),
+    ]),
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+    ]),
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+      IAUHarmonic(amplitudeDegrees: -0.27, phaseDegrees: [35.36, 14325.4], function: .sine),
+    ]),
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+      IAUHarmonic(amplitudeDegrees: -0.2, phaseDegrees: [35.36, 14325.4], function: .cosine),
+    ]),
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+      IAUHarmonic(amplitudeDegrees: 0.19, phaseDegrees: [35.36, 14325.4], function: .sine),
+    ])),
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+    declination: IAUAngleSeries(polynomialDegrees: [12.0, 0.0, 0.0], variable: .centuries, harmonics: [
+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [94.0, 1057.7515, 0.0], variable: .days, harmonics: [
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+      IAUHarmonic(amplitudeDegrees: 0.000238, phaseDegrees: [226.292679, 38280.8511281, 0.0], function: .sine),
+      IAUHarmonic(amplitudeDegrees: 5.2e-05, phaseDegrees: [249.663391, 57420.7251593, 0.0], function: .sine),
+      IAUHarmonic(amplitudeDegrees: 9e-06, phaseDegrees: [266.18351, 76560.636795, 0.0], function: .sine),
+      IAUHarmonic(amplitudeDegrees: 0.419057, phaseDegrees: [79.398797, 0.5042615, 0.0], function: .sine),
+    ]),
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+      IAUHarmonic(amplitudeDegrees: 5e-06, phaseDegrees: [79.476401, 76560.6495004, 0.0], function: .cosine),
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+    ]),
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+      IAUHarmonic(amplitudeDegrees: 4e-05, phaseDegrees: [56.668646, 57420.929536, 0.0], function: .sine),
+      IAUHarmonic(amplitudeDegrees: 1e-06, phaseDegrees: [67.364003, 76560.2552215, 0.0], function: .sine),
+      IAUHarmonic(amplitudeDegrees: 1e-06, phaseDegrees: [104.79268, 95700.4387578, 0.0], function: .sine),
+      IAUHarmonic(amplitudeDegrees: 0.584542, phaseDegrees: [95.391654, 0.5042615, 0.0], function: .sine),
+    ])),
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+    rightAscension: IAUAngleSeries(polynomialDegrees: [281.0103, -0.0328, 0.0], variable: .centuries, harmonics: [
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+    declination: IAUAngleSeries(polynomialDegrees: [61.4155, -0.0049, 0.0], variable: .centuries, harmonics: [
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+    primeMeridian: IAUAngleSeries(polynomialDegrees: [329.5988, 6.1385108, 0.0], variable: .days, harmonics: [
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+      IAUHarmonic(amplitudeDegrees: -0.00112309, phaseDegrees: [349.5821714, 298945.07175000006], function: .sine),
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+      IAUHarmonic(amplitudeDegrees: -2.539e-05, phaseDegrees: [339.1643429, 597890.1435000001], function: .sine),
+      IAUHarmonic(amplitudeDegrees: -5.71e-06, phaseDegrees: [153.9554286, 747362.679375], function: .sine),
+    ])),
+  "metis": IAURotationModelData(naifID: 516, provenance: .iau2015Corrected2019, referenceJulianDate: 2451545.0,
+    rightAscension: IAUAngleSeries(polynomialDegrees: [268.05, -0.009, 0.0], variable: .centuries, harmonics: [
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+    declination: IAUAngleSeries(polynomialDegrees: [64.49, 0.003, 0.0], variable: .centuries, harmonics: [
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+    primeMeridian: IAUAngleSeries(polynomialDegrees: [346.09, 1221.2547301, 0.0], variable: .days, harmonics: [
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+  "mimas": IAURotationModelData(naifID: 601, provenance: .iau2015Corrected2019, referenceJulianDate: 2451545.0,
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+    ]),
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+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [333.46, 381.994555, 0.0], variable: .days, harmonics: [
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+      IAUHarmonic(amplitudeDegrees: -44.85, phaseDegrees: [316.45, 506.2], function: .sine),
+    ])),
+  "miranda": IAURotationModelData(naifID: 705, provenance: .iau2015Corrected2019, referenceJulianDate: 2451545.0,
+    rightAscension: IAUAngleSeries(polynomialDegrees: [257.43, 0.0, 0.0], variable: .centuries, harmonics: [
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+      IAUHarmonic(amplitudeDegrees: -0.04, phaseDegrees: [204.46, -4048.44], function: .sine),
+    ]),
+    declination: IAUAngleSeries(polynomialDegrees: [-15.08, 0.0, 0.0], variable: .centuries, harmonics: [
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+      IAUHarmonic(amplitudeDegrees: -0.02, phaseDegrees: [204.46, -4048.44], function: .cosine),
+    ]),
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+    ]),
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+    ]),
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+    ]),
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+    primeMeridian: IAUAngleSeries(polynomialDegrees: [162.92, 572.7891, 0.0], variable: .days, harmonics: [
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+    ]),
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+    ]),
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+    declination: IAUAngleSeries(polynomialDegrees: [77.8, 0.0, 0.0], variable: .centuries, harmonics: [
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+    primeMeridian: IAUAngleSeries(polynomialDegrees: [178.58, 931.639, 0.0], variable: .days, harmonics: [
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+    primeMeridian: IAUAngleSeries(polynomialDegrees: [302.695, 56.3625225, 0.0], variable: .days, harmonics: [
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+    ]),
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+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [25.03, -701.486587, 0.0], variable: .days, harmonics: [
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+    ])),
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+    declination: IAUAngleSeries(polynomialDegrees: [83.53, -0.004], variable: .centuries, harmonics: [
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+    primeMeridian: IAUAngleSeries(polynomialDegrees: [296.14, 587.289], variable: .days, harmonics: [
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+      IAUHarmonic(amplitudeDegrees: -0.05, phaseDegrees: [142.61, 2824.6], function: .sine),
+    ]),
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+      IAUHarmonic(amplitudeDegrees: -0.04, phaseDegrees: [142.61, 2824.6], function: .cosine),
+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [93.38, 320.7654228, 0.0], variable: .days, harmonics: [
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+      IAUHarmonic(amplitudeDegrees: 0.04, phaseDegrees: [142.61, 2824.6], function: .sine),
+    ])),
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+    rightAscension: IAUAngleSeries(polynomialDegrees: [257.31, 0.0, 0.0], variable: .centuries, harmonics: [
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+    ]),
+    declination: IAUAngleSeries(polynomialDegrees: [-15.18, 0.0, 0.0], variable: .centuries, harmonics: [
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+    ]),
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+    ])),
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+    rightAscension: IAUAngleSeries(polynomialDegrees: [40.38, -0.036, 0.0], variable: .centuries, harmonics: [
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+    ]),
+    declination: IAUAngleSeries(polynomialDegrees: [83.55, -0.004, 0.0], variable: .centuries, harmonics: [
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+    ]),
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+    ])),
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+    rightAscension: IAUAngleSeries(polynomialDegrees: [257.31, 0.0, 0.0], variable: .centuries, harmonics: [
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+    ]),
+    declination: IAUAngleSeries(polynomialDegrees: [-15.18, 0.0, 0.0], variable: .centuries, harmonics: [
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+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [314.9, -644.631126, 0.0], variable: .days, harmonics: [
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+    ])),
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+    rightAscension: IAUAngleSeries(polynomialDegrees: [40.589, -0.036, 0.0], variable: .centuries, harmonics: [
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+    declination: IAUAngleSeries(polynomialDegrees: [83.537, -0.004, 0.0], variable: .centuries, harmonics: [
+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [38.9, 810.7939024, 0.0], variable: .days, harmonics: [
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+  "steins": IAURotationModelData(naifID: 2002867, provenance: .iau2015Corrected2019, referenceJulianDate: 2451545.0,
+    rightAscension: IAUAngleSeries(polynomialDegrees: [91.0, 0.0, 0.0], variable: .centuries, harmonics: [
+    ]),
+    declination: IAUAngleSeries(polynomialDegrees: [-62.0, 0.0, 0.0], variable: .centuries, harmonics: [
+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [321.76, 1428.09917, 0.0], variable: .days, harmonics: [
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+  "sun": IAURotationModelData(naifID: 10, provenance: .iau2015Corrected2019, referenceJulianDate: 2451545.0,
+    rightAscension: IAUAngleSeries(polynomialDegrees: [286.13, 0.0, 0.0], variable: .centuries, harmonics: [
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+    declination: IAUAngleSeries(polynomialDegrees: [63.87, 0.0, 0.0], variable: .centuries, harmonics: [
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+    primeMeridian: IAUAngleSeries(polynomialDegrees: [84.176, 14.1844, 0.0], variable: .days, harmonics: [
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+  "telesto": IAURotationModelData(naifID: 613, provenance: .iau2015Corrected2019, referenceJulianDate: 2451545.0,
+    rightAscension: IAUAngleSeries(polynomialDegrees: [50.51, -0.036, 0.0], variable: .centuries, harmonics: [
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+    declination: IAUAngleSeries(polynomialDegrees: [84.06, -0.004, 0.0], variable: .centuries, harmonics: [
+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [56.88, 190.6979332, 0.0], variable: .days, harmonics: [
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+  "tethys": IAURotationModelData(naifID: 603, provenance: .iau2015Corrected2019, referenceJulianDate: 2451545.0,
+    rightAscension: IAUAngleSeries(polynomialDegrees: [40.66, -0.036, 0.0], variable: .centuries, harmonics: [
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+    ]),
+    declination: IAUAngleSeries(polynomialDegrees: [83.52, -0.004, 0.0], variable: .centuries, harmonics: [
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+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [8.95, 190.6979085, 0.0], variable: .days, harmonics: [
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+      IAUHarmonic(amplitudeDegrees: 2.23, phaseDegrees: [316.45, 506.2], function: .sine),
+    ])),
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+    rightAscension: IAUAngleSeries(polynomialDegrees: [299.36, 0.0, 0.0], variable: .centuries, harmonics: [
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+      IAUHarmonic(amplitudeDegrees: -0.28, phaseDegrees: [220.51, 55064.2], function: .sine),
+    ]),
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+      IAUHarmonic(amplitudeDegrees: -0.21, phaseDegrees: [220.51, 55064.2], function: .cosine),
+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [102.06, 1155.7555612, 0.0], variable: .days, harmonics: [
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+      IAUHarmonic(amplitudeDegrees: 0.19, phaseDegrees: [220.51, 55064.2], function: .sine),
+    ])),
+  "thebe": IAURotationModelData(naifID: 514, provenance: .iau2015Corrected2019, referenceJulianDate: 2451545.0,
+    rightAscension: IAUAngleSeries(polynomialDegrees: [268.05, -0.009, 0.0], variable: .centuries, harmonics: [
+      IAUHarmonic(amplitudeDegrees: -2.11, phaseDegrees: [24.62, 45137.2], function: .sine),
+      IAUHarmonic(amplitudeDegrees: 0.04, phaseDegrees: [49.24, 90274.4], function: .sine),
+    ]),
+    declination: IAUAngleSeries(polynomialDegrees: [64.49, 0.003, 0.0], variable: .centuries, harmonics: [
+      IAUHarmonic(amplitudeDegrees: -0.91, phaseDegrees: [24.62, 45137.2], function: .cosine),
+      IAUHarmonic(amplitudeDegrees: 0.01, phaseDegrees: [49.24, 90274.4], function: .cosine),
+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [8.56, 533.70041, 0.0], variable: .days, harmonics: [
+      IAUHarmonic(amplitudeDegrees: 1.91, phaseDegrees: [24.62, 45137.2], function: .sine),
+      IAUHarmonic(amplitudeDegrees: -0.04, phaseDegrees: [49.24, 90274.4], function: .sine),
+    ])),
+  "titan": IAURotationModelData(naifID: 606, provenance: .iau2015Corrected2019, referenceJulianDate: 2451545.0,
+    rightAscension: IAUAngleSeries(polynomialDegrees: [39.4827, 0.0, 0.0], variable: .centuries, harmonics: [
+    ]),
+    declination: IAUAngleSeries(polynomialDegrees: [83.4279, 0.0, 0.0], variable: .centuries, harmonics: [
+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [186.5855, 22.5769768, 0.0], variable: .days, harmonics: [
+    ])),
+  "titania": IAURotationModelData(naifID: 703, provenance: .iau2015Corrected2019, referenceJulianDate: 2451545.0,
+    rightAscension: IAUAngleSeries(polynomialDegrees: [257.43, 0.0, 0.0], variable: .centuries, harmonics: [
+      IAUHarmonic(amplitudeDegrees: 0.29, phaseDegrees: [340.82, -75.32], function: .sine),
+    ]),
+    declination: IAUAngleSeries(polynomialDegrees: [-15.1, 0.0, 0.0], variable: .centuries, harmonics: [
+      IAUHarmonic(amplitudeDegrees: 0.28, phaseDegrees: [340.82, -75.32], function: .cosine),
+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [77.74, -41.3514316, 0.0], variable: .days, harmonics: [
+      IAUHarmonic(amplitudeDegrees: 0.08, phaseDegrees: [340.82, -75.32], function: .sine),
+    ])),
+  "triton": IAURotationModelData(naifID: 801, provenance: .iau2015Corrected2019, referenceJulianDate: 2451545.0,
+    rightAscension: IAUAngleSeries(polynomialDegrees: [299.36, 0.0, 0.0], variable: .centuries, harmonics: [
+      IAUHarmonic(amplitudeDegrees: -32.35, phaseDegrees: [177.85, 52.316], function: .sine),
+      IAUHarmonic(amplitudeDegrees: -6.28, phaseDegrees: [355.7, 104.632], function: .sine),
+      IAUHarmonic(amplitudeDegrees: -2.08, phaseDegrees: [533.55, 156.948], function: .sine),
+      IAUHarmonic(amplitudeDegrees: -0.74, phaseDegrees: [711.4, 209.264], function: .sine),
+      IAUHarmonic(amplitudeDegrees: -0.28, phaseDegrees: [889.25, 261.58], function: .sine),
+      IAUHarmonic(amplitudeDegrees: -0.11, phaseDegrees: [1067.1, 313.896], function: .sine),
+      IAUHarmonic(amplitudeDegrees: -0.07, phaseDegrees: [1244.95, 366.212], function: .sine),
+      IAUHarmonic(amplitudeDegrees: -0.02, phaseDegrees: [1422.8, 418.528], function: .sine),
+      IAUHarmonic(amplitudeDegrees: -0.01, phaseDegrees: [1600.65, 470.844], function: .sine),
+    ]),
+    declination: IAUAngleSeries(polynomialDegrees: [41.17, 0.0, 0.0], variable: .centuries, harmonics: [
+      IAUHarmonic(amplitudeDegrees: 22.55, phaseDegrees: [177.85, 52.316], function: .cosine),
+      IAUHarmonic(amplitudeDegrees: 2.1, phaseDegrees: [355.7, 104.632], function: .cosine),
+      IAUHarmonic(amplitudeDegrees: 0.55, phaseDegrees: [533.55, 156.948], function: .cosine),
+      IAUHarmonic(amplitudeDegrees: 0.16, phaseDegrees: [711.4, 209.264], function: .cosine),
+      IAUHarmonic(amplitudeDegrees: 0.05, phaseDegrees: [889.25, 261.58], function: .cosine),
+      IAUHarmonic(amplitudeDegrees: 0.02, phaseDegrees: [1067.1, 313.896], function: .cosine),
+      IAUHarmonic(amplitudeDegrees: 0.01, phaseDegrees: [1244.95, 366.212], function: .cosine),
+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [296.53, -61.2572637, 0.0], variable: .days, harmonics: [
+      IAUHarmonic(amplitudeDegrees: 22.25, phaseDegrees: [177.85, 52.316], function: .sine),
+      IAUHarmonic(amplitudeDegrees: 6.73, phaseDegrees: [355.7, 104.632], function: .sine),
+      IAUHarmonic(amplitudeDegrees: 2.05, phaseDegrees: [533.55, 156.948], function: .sine),
+      IAUHarmonic(amplitudeDegrees: 0.74, phaseDegrees: [711.4, 209.264], function: .sine),
+      IAUHarmonic(amplitudeDegrees: 0.28, phaseDegrees: [889.25, 261.58], function: .sine),
+      IAUHarmonic(amplitudeDegrees: 0.11, phaseDegrees: [1067.1, 313.896], function: .sine),
+      IAUHarmonic(amplitudeDegrees: 0.05, phaseDegrees: [1244.95, 366.212], function: .sine),
+      IAUHarmonic(amplitudeDegrees: 0.02, phaseDegrees: [1422.8, 418.528], function: .sine),
+      IAUHarmonic(amplitudeDegrees: 0.01, phaseDegrees: [1600.65, 470.844], function: .sine),
+    ])),
+  "umbriel": IAURotationModelData(naifID: 702, provenance: .iau2015Corrected2019, referenceJulianDate: 2451545.0,
+    rightAscension: IAUAngleSeries(polynomialDegrees: [257.43, 0.0, 0.0], variable: .centuries, harmonics: [
+      IAUHarmonic(amplitudeDegrees: 0.21, phaseDegrees: [308.71, -93.17], function: .sine),
+    ]),
+    declination: IAUAngleSeries(polynomialDegrees: [-15.1, 0.0, 0.0], variable: .centuries, harmonics: [
+      IAUHarmonic(amplitudeDegrees: 0.2, phaseDegrees: [308.71, -93.17], function: .cosine),
+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [108.05, -86.8688923, 0.0], variable: .days, harmonics: [
+      IAUHarmonic(amplitudeDegrees: -0.09, phaseDegrees: [316.41, 2863.96], function: .sine),
+      IAUHarmonic(amplitudeDegrees: 0.06, phaseDegrees: [308.71, -93.17], function: .sine),
+    ])),
+  "uranus": IAURotationModelData(naifID: 799, provenance: .iau2015Corrected2019, referenceJulianDate: 2451545.0,
+    rightAscension: IAUAngleSeries(polynomialDegrees: [257.311, 0.0, 0.0], variable: .centuries, harmonics: [
+    ]),
+    declination: IAUAngleSeries(polynomialDegrees: [-15.175, 0.0, 0.0], variable: .centuries, harmonics: [
+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [203.81, -501.1600928, 0.0], variable: .days, harmonics: [
+    ])),
+  "venus": IAURotationModelData(naifID: 299, provenance: .iau2015Corrected2019, referenceJulianDate: 2451545.0,
+    rightAscension: IAUAngleSeries(polynomialDegrees: [272.76, 0.0, 0.0], variable: .centuries, harmonics: [
+    ]),
+    declination: IAUAngleSeries(polynomialDegrees: [67.16, 0.0, 0.0], variable: .centuries, harmonics: [
+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [160.2, -1.4813688, 0.0], variable: .days, harmonics: [
+    ])),
+  "vesta": IAURotationModelData(naifID: 2000004, provenance: .iau2015Corrected2019, referenceJulianDate: 2451545.0,
+    rightAscension: IAUAngleSeries(polynomialDegrees: [309.031, 0.0, 0.0], variable: .centuries, harmonics: [
+    ]),
+    declination: IAUAngleSeries(polynomialDegrees: [42.235, 0.0, 0.0], variable: .centuries, harmonics: [
+    ]),
+    primeMeridian: IAUAngleSeries(polynomialDegrees: [285.39, 1617.3329428, 0.0], variable: .days, harmonics: [
+    ])),
+]
diff --git a/Sources/CelMek/IdealBrachistochroneTrajectory.swift b/Sources/CelMek/IdealBrachistochroneTrajectory.swift
new file mode 100644
index 0000000..de6b31c
--- /dev/null
+++ b/Sources/CelMek/IdealBrachistochroneTrajectory.swift
@@ -0,0 +1,105 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+public enum BrachistochroneError: Error, Equatable {
+    case invalidAcceleration, nonFiniteEndpoint, nonInertialFrame
+    case numericalRangeExceeded, outsideCoverage
+}
+
+public enum BrachistochronePhase: Equatable, Sendable { case accelerating, braking, arrived }
+
+/// Minimum-time, straight-line, rest-to-rest motion with bounded acceleration
+/// magnitude in a Newtonian inertial frame. No gravity, mass or fuel model.
+/// Immutable and independent of query order; coverage is departure through arrival.
+public struct IdealBrachistochroneTrajectory: StateProvider {
+    public let frame: Frame
+    public let departureEpoch: Epoch
+    public let switchEpoch: Epoch
+    public let arrivalEpoch: Epoch
+    public let departurePositionMetres: SIMD3<Double>
+    public let arrivalPositionMetres: SIMD3<Double>
+    public let maximumAccelerationMetresPerSecondSquared: Double
+    public let distanceMetres: Double
+    public let duration: Duration
+    public let peakSpeedMetresPerSecond: Double
+    /// Integral of acceleration magnitude, not a propellant estimate.
+    public let totalDeltaVelocityMetresPerSecond: Double
+    public let accelerationDirection: SIMD3<Double>
+    public var brakingDirection: SIMD3<Double> { -accelerationDirection }
+    public var coverage: ClosedRange<Epoch> { departureEpoch...arrivalEpoch }
+    private let halfDuration: Duration
+
+    public init(departureEpoch: Epoch, frame: Frame,
+                departurePositionMetres start: SIMD3<Double>, arrivalPositionMetres end: SIMD3<Double>,
+                maximumAccelerationMetresPerSecondSquared acceleration: Double) throws {
+        guard acceleration.isFinite, acceleration > 0 else { throw BrachistochroneError.invalidAcceleration }
+        guard frame.pseudoInertial else { throw BrachistochroneError.nonInertialFrame }
+        guard [start.x,start.y,start.z,end.x,end.y,end.z].allSatisfy(\.isFinite) else {
+            throw BrachistochroneError.nonFiniteEndpoint
+        }
+        let delta = end-start, distance = hypot(hypot(delta.x,delta.y),delta.z)
+        guard distance.isFinite else { throw BrachistochroneError.numericalRangeExceeded }
+        // Split square roots avoid overflow/underflow in distance / acceleration.
+        let halfSeconds = distance == 0 ? 0 : sqrt(distance)/sqrt(acceleration)
+        let peak = distance == 0 ? 0 : sqrt(distance)*sqrt(acceleration)
+        guard halfSeconds.isFinite, peak.isFinite, (2*peak).isFinite,
+              distance == 0 || (halfSeconds > 0 && peak > 0) else {
+            throw BrachistochroneError.numericalRangeExceeded
+        }
+        let half = try Duration(seconds: halfSeconds), total = try half.adding(half)
+        let change = try departureEpoch.advanced(by: half), arrival = try change.advanced(by: half)
+        guard distance == 0 || (change > departureEpoch && arrival > change) else {
+            throw BrachistochroneError.numericalRangeExceeded
+        }
+        self.frame = frame; self.departureEpoch = departureEpoch; switchEpoch = change; arrivalEpoch = arrival
+        departurePositionMetres = start; arrivalPositionMetres = end
+        maximumAccelerationMetresPerSecondSquared = acceleration; distanceMetres = distance
+        halfDuration = half; duration = total; peakSpeedMetresPerSecond = peak
+        totalDeltaVelocityMetresPerSecond = 2*peak
+        accelerationDirection = distance == 0 ? .zero : delta/distance
+    }
+
+    /// Right-continuous at the switch (braking) and arrival (zero acceleration).
+    public func phase(at epoch: Epoch) throws -> BrachistochronePhase {
+        guard coverage.contains(epoch) else { throw BrachistochroneError.outsideCoverage }
+        if epoch == arrivalEpoch { return .arrived }
+        return epoch < switchEpoch ? .accelerating : .braking
+    }
+
+    public func state(at epoch: Epoch) throws -> CartesianState {
+        let phase = try phase(at: epoch)
+        if phase == .arrived {
+            return try CartesianState(epoch: epoch,frame: frame,position: arrivalPositionMetres,
+                velocity: .zero,acceleration: .zero)
+        }
+        let accelerating = phase == .accelerating
+        // Evaluate braking backwards from the endpoint, preserving small remaining
+        // distances and speeds rather than subtracting two large elapsed times.
+        let interval = try accelerating ? epoch.duration(since: departureEpoch) : arrivalEpoch.duration(since: epoch)
+        let fraction = interval.seconds/halfDuration.seconds
+        let displacement = 0.5*fraction*fraction
+        let endWeight = accelerating ? displacement : 1-displacement
+        let startWeight = accelerating ? 1-displacement : displacement
+        let position = departurePositionMetres*startWeight + arrivalPositionMetres*endWeight
+        let velocity = accelerationDirection*(peakSpeedMetresPerSecond*fraction)
+        let acceleration = accelerationDirection*(accelerating ? maximumAccelerationMetresPerSecondSquared : -maximumAccelerationMetresPerSecondSquared)
+        return try CartesianState(epoch: epoch,frame: frame,position: position,velocity: velocity,acceleration: acceleration)
+    }
+}
diff --git a/Sources/CelMek/ImpulsiveManeuver.swift b/Sources/CelMek/ImpulsiveManeuver.swift
new file mode 100644
index 0000000..c98a4ff
--- /dev/null
+++ b/Sources/CelMek/ImpulsiveManeuver.swift
@@ -0,0 +1,102 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+public enum ManeuverError: Error, Equatable {
+    case nonFiniteDeltaVelocity, beforeReferenceEpoch, duplicateEpoch, frameTreeRequired
+}
+
+/// An instantaneous free-vector velocity change. Units are metres/second in
+/// the explicitly supplied axes, evaluated at the burn epoch.
+public struct ImpulsiveManeuver {
+    public let epoch: Epoch
+    public let frame: Frame
+    public let deltaVelocityMetresPerSecond: SIMD3<Double>
+    public init(epoch: Epoch, frame: Frame, deltaVelocityMetresPerSecond: SIMD3<Double>) throws {
+        guard [deltaVelocityMetresPerSecond.x, deltaVelocityMetresPerSecond.y,
+               deltaVelocityMetresPerSecond.z].allSatisfy(\.isFinite) else {
+            throw ManeuverError.nonFiniteDeltaVelocity
+        }
+        self.epoch = epoch; self.frame = frame
+        self.deltaVelocityMetresPerSecond = deltaVelocityMetresPerSecond
+    }
+}
+
+public enum ManeuverEpochSide: Sendable { case before, after }
+
+public struct ResolvedImpulsiveManeuver {
+    public let maneuver: ImpulsiveManeuver
+    /// Delta-v rotated into the propagation axes, without translation or frame-rate terms.
+    public let deltaVelocityInPropagationFrame: SIMD3<Double>
+    public let preBurnState: CartesianState
+    public let postBurnState: CartesianState
+}
+
+/// Immutable piecewise two-body trajectory. Burns are resolved once, in time
+/// order during construction. Query order cannot change any segment.
+public struct ManeuveredTwoBodyPropagator: Propagator {
+    public let base: TwoBodyPropagator
+    public let resolvedManeuvers: [ResolvedImpulsiveManeuver]
+    public var referenceEpoch: Epoch { base.referenceEpoch }
+    public var frame: Frame { base.frame }
+    public var centralBody: BodyIdentifier { base.centralBody }
+    private let segments: [TwoBodyPropagator]
+
+    public init(base: TwoBodyPropagator, maneuvers: [ImpulsiveManeuver], using tree: FrameTree? = nil) throws {
+        let ordered = maneuvers.sorted { $0.epoch < $1.epoch }
+        var records: [ResolvedImpulsiveManeuver] = [], segments = [base]
+        var previousEpoch: Epoch?
+        for maneuver in ordered {
+            guard maneuver.epoch >= base.referenceEpoch else { throw ManeuverError.beforeReferenceEpoch }
+            guard maneuver.epoch != previousEpoch else { throw ManeuverError.duplicateEpoch }
+            let before = try segments.last!.state(at: maneuver.epoch)
+            let deltaVelocity: SIMD3<Double>
+            if maneuver.frame === base.frame { deltaVelocity = maneuver.deltaVelocityMetresPerSecond }
+            else {
+                guard let tree else { throw ManeuverError.frameTreeRequired }
+                let transform = try tree.transform(from: maneuver.frame, to: base.frame, at: maneuver.epoch)
+                deltaVelocity = transform.rotation.matrix * maneuver.deltaVelocityMetresPerSecond
+            }
+            let seed = try CartesianState(epoch: maneuver.epoch, frame: base.frame, position: before.position,
+                                          velocity: before.velocity + deltaVelocity)
+            let segment = try TwoBodyPropagator(initialState: seed, centralBody: base.centralBody,
+                gravitationalParameter: base.gravitationalParameter, options: base.options)
+            let after = try segment.state(at: maneuver.epoch)
+            records.append(ResolvedImpulsiveManeuver(maneuver: maneuver,
+                deltaVelocityInPropagationFrame: deltaVelocity, preBurnState: before, postBurnState: after))
+            segments.append(segment); previousEpoch = maneuver.epoch
+        }
+        self.base = base; self.resolvedManeuvers = records; self.segments = segments
+    }
+
+    /// Right-continuous: queries at a burn epoch return the post-burn state.
+    public func state(at epoch: Epoch) throws -> CartesianState { try state(at: epoch, side: .after) }
+
+    public func state(at epoch: Epoch, side: ManeuverEpochSide) throws -> CartesianState {
+        // Upper/lower-bound search chooses a fixed segment in O(log burns).
+        var low = 0, high = resolvedManeuvers.count
+        while low < high {
+            let middle = low + (high - low) / 2
+            let burnEpoch = resolvedManeuvers[middle].maneuver.epoch
+            let included = burnEpoch < epoch || (burnEpoch == epoch && side == .after)
+            if included { low = middle + 1 } else { high = middle }
+        }
+        return try segments[low].state(at: epoch)
+    }
+}
diff --git a/Sources/CelMek/J2Gravity.swift b/Sources/CelMek/J2Gravity.swift
new file mode 100644
index 0000000..a906adb
--- /dev/null
+++ b/Sources/CelMek/J2Gravity.swift
@@ -0,0 +1,69 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+
+public enum J2GravityError: Error, Equatable {
+    case invalidCoefficient
+}
+
+/// Axisymmetric degree-two gravity correction, excluding central attraction.
+/// J2 is dimensionless and equals minus the unnormalized C20 coefficient.
+/// The orientation maps propagation axes into body axes, whose z axis is the pole.
+public struct J2Gravity: ForceModel {
+    public let body: BodyIdentifier
+    public let gravitationalParameter: GravitationalParameter
+    public let equatorialRadius: SourcedPhysicalValue
+    public let j2: Double
+    public let coefficientProvenance: PhysicalDataProvenance
+    public let orientation: any OrientationProvider
+
+    public init(body: BodyIdentifier, gravitationalParameter: GravitationalParameter,
+                equatorialRadius: SourcedPhysicalValue, j2: Double,
+                coefficientProvenance: PhysicalDataProvenance,
+                orientation: any OrientationProvider) throws {
+        try body.validate()
+        guard gravitationalParameter.convention == .newtonian || gravitationalParameter.convention == .ttCompatible else {
+            throw GravityModelError.incompatibleGMConvention
+        }
+        guard j2.isFinite else { throw J2GravityError.invalidCoefficient }
+        self.body = body
+        self.gravitationalParameter = gravitationalParameter
+        self.equatorialRadius = equatorialRadius
+        self.j2 = j2
+        self.coefficientProvenance = coefficientProvenance
+        self.orientation = orientation
+    }
+
+    public func contribution(for state: SpacecraftState, in context: ForceEvaluationContext) throws -> ForceContribution {
+        guard state.frame === context.frame, orientation.referenceFrame === state.frame else {
+            throw SpacecraftDynamicsError.frameMismatch
+        }
+        guard state.frame.pseudoInertial else { throw SpacecraftDynamicsError.nonInertialFrame }
+        guard context.origin == body else { throw GravityModelError.originMismatch }
+        let axes = try orientation.orientation(at: state.epoch)
+        guard axes.referenceFrame === state.frame else { throw SpacecraftDynamicsError.frameMismatch }
+        guard axes.epoch == state.epoch else { throw SpacecraftDynamicsError.epochMismatch }
+        let p = axes.rotation.matrix * state.cartesian.position
+        let r = hypot(hypot(p.x, p.y), p.z)
+        guard r.isFinite else { throw GravityModelError.numericalRangeExceeded }
+        guard r > 0 else { throw GravityModelError.singularPosition }
+        let acceleration: SIMD3<Double>
+        if j2 == 0 {
+            acceleration = .zero
+        } else {
+            let n = p / r
+            let radiusRatio = equatorialRadius.value / r
+            let scale = 1.5 * j2 * ((gravitationalParameter.cubicMetresPerSecondSquared / r) / r)
+                * radiusRatio * radiusRatio
+            let zTerm = 5 * n.z * n.z
+            let bodyAcceleration = scale * SIMD3(n.x * (zTerm - 1), n.y * (zTerm - 1), n.z * (zTerm - 3))
+            // Transform a physical force vector only: no rotating-frame kinematic terms.
+            acceleration = axes.rotation.invMatrix * bodyAcceleration
+        }
+        guard [acceleration.x, acceleration.y, acceleration.z].allSatisfy(\.isFinite) else {
+            throw GravityModelError.numericalRangeExceeded
+        }
+        return try ForceContribution(epoch: state.epoch, frame: state.frame,
+            accelerationMetresPerSecondSquared: acceleration)
+    }
+}
diff --git a/Sources/CelMek/JPLBodyCatalogue.swift b/Sources/CelMek/JPLBodyCatalogue.swift
new file mode 100644
index 0000000..51b2b8d
--- /dev/null
+++ b/Sources/CelMek/JPLBodyCatalogue.swift
@@ -0,0 +1,64 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+extension BodyCatalogue {
+  /// Selected values from NAIF gm_de440.tpc, 2022-12-14 snapshot. The DE440 values
+  /// apply to codes 1...10, 199, 299, 301, 399. Other planet-centre values come from
+  /// the satellite solutions identified in that file, not from DE440 system GMs.
+  /// All are converted from km³/s² to m³/s². No masses or radii are inferred.
+  public static let jplGM2022: BodyCatalogue = {
+    let reference = "https://naif.jpl.nasa.gov/pub/naif/generic_kernels/pck/gm_de440.tpc"
+    let identity = try! PhysicalDataProvenance(source: "NAIF body codes",version: "named Solar System subset",
+      reference: "https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/naif_ids.html")
+    let de440 = try! PhysicalDataProvenance(source: "JPL DE440 ASTRO-VALUES via NAIF gm_de440.tpc",
+      version: "2022-12-14",reference: reference)
+    let satellites = try! PhysicalDataProvenance(source: "JPL satellite solutions via NAIF gm_de440.tpc",
+      version: "2022-12-14; source 2 in kernel",reference: reference)
+    let values: [(BodyIdentifier,String,CelestialBodyKind,Double)] = [
+      (.mercuryBarycentre,"Mercury system barycentre",.barycentre,2.2031868551400003e4),
+      (.venusBarycentre,"Venus system barycentre",.barycentre,3.2485859200000000e5),
+      (.earthMoonBarycentre,"Earth–Moon barycentre",.barycentre,4.0350323562548019e5),
+      (.marsBarycentre,"Mars system barycentre",.barycentre,4.2828375815756102e4),
+      (.jupiterBarycentre,"Jupiter system barycentre",.barycentre,1.2671276409999998e8),
+      (.saturnBarycentre,"Saturn system barycentre",.barycentre,3.7940584841799997e7),
+      (.uranusBarycentre,"Uranus system barycentre",.barycentre,5.7945563999999985e6),
+      (.neptuneBarycentre,"Neptune system barycentre",.barycentre,6.8365271005803989e6),
+      (.plutoBarycentre,"Pluto system barycentre",.barycentre,9.7550000000000000e2),
+      (.sun,"Sun",.star,1.3271244004127942e11),
+      (.mercury,"Mercury",.planet,2.2031868551400003e4),
+      (.venus,"Venus",.planet,3.2485859200000000e5),
+      (.moon,"Moon",.naturalSatellite,4.9028001184575496e3),
+      (.earth,"Earth",.planet,3.9860043550702266e5),
+      (.mars,"Mars",.planet,4.282837362069909e4),
+      (.jupiter,"Jupiter",.planet,1.266865319003704e8),
+      (.saturn,"Saturn",.planet,3.793120623436167e7),
+      (.uranus,"Uranus",.planet,5.793951256527211e6),
+      (.neptune,"Neptune",.planet,6.835103145462294e6),
+      (.pluto,"Pluto",.dwarfPlanet,8.696138177608748e2)
+    ]
+    var bodies = [try! CelestialBody(identifier: .solarSystemBarycentre,name: "Solar System barycentre",
+      kind: .barycentre,provenance: identity)]
+    for (id,name,kind,gm) in values {
+      let planetaryCentre = [BodyIdentifier.mars,.jupiter,.saturn,.uranus,.neptune,.pluto].contains(id)
+      let parameter = try! GravitationalParameter(cubicMetresPerSecondSquared: gm*1e9,
+        convention: .tdbCompatible,provenance: planetaryCentre ? satellites : de440)
+      bodies.append(try! CelestialBody(identifier: id,name: name,kind: kind,
+        properties: BodyPhysicalProperties(gravitationalParameter: parameter),provenance: identity))
+    }
+    return try! BodyCatalogue(bodies: bodies)
+  }()
+}
diff --git a/Sources/CelMek/JewishAndMoslemCalendars.swift b/Sources/CelMek/JewishAndMoslemCalendars.swift
index 7ab5cf3..01f772f 100644
--- a/Sources/CelMek/JewishAndMoslemCalendars.swift
+++ b/Sources/CelMek/JewishAndMoslemCalendars.swift
@@ -39,19 +39,19 @@ fileprivate let jewishMonthLength: [JewishYearClassifier : [Int]] = [
 extension JewishMonth: CustomStringConvertible {
   public var description: String {
     switch self {
-    case .Tishri: return "Tishri"
-    case .Heshvan: return "Heshvan"
-    case .Kislev: return "Kislev"
-    case .Tevet: return "Tevet"
-    case .Shevat: return "Shevat"
-    case .Adar: return "Adar"
-    case .Veadar: return "Vedar"
-    case .Nisan: return "Nisan"
-    case .Iyar: return "Iyar"
-    case .Sivan: return "Sivan"
-    case .Tammuz: return "Tammuz"
-    case .Av: return "Av"
-    case .Elul: return "Elul"
+    case .tishri: return "Tishri"
+    case .heshvan: return "Heshvan"
+    case .kislev: return "Kislev"
+    case .tevet: return "Tevet"
+    case .shevat: return "Shevat"
+    case .adar: return "Adar"
+    case .veadar: return "Vedar"
+    case .nisan: return "Nisan"
+    case .iyar: return "Iyar"
+    case .sivan: return "Sivan"
+    case .tammuz: return "Tammuz"
+    case .av: return "Av"
+    case .elul: return "Elul"
     }
   }
 }
@@ -105,7 +105,7 @@ public func jewishEaster(julianYear: Int) -> JulianDate {
   let A = X + 3760
   let D = jewishEaster(hebrewYear: A, julianCalendar: true)
   return JulianDate(year:julianYear,
-                    month: D > 31 ? .April : .March,
+                    month: D > 31 ? .april : .march,
                     day: D > 31 ? Double(D - 31) : Double(D))
 
 }
@@ -115,7 +115,7 @@ public func jewishEaster(gregorianYear: Int) -> GregorianDate {
   let A = X + 3760
   let D = jewishEaster(hebrewYear: A, julianCalendar: false)
   return GregorianDate(year:gregorianYear,
-                       month: D > 31 ? .April : .March,
+                       month: D > 31 ? .april : .march,
                        day: D > 31 ? Double(D - 31) : Double(D))
 }
 
@@ -158,29 +158,29 @@ public struct MoslemDate {
 extension MoslemMonth: CustomStringConvertible {
   public var description: String {
     switch self {
-    case .Muharram:
+    case .muharram:
       return "Muharram"
-    case .Safar:
+    case .safar:
       return "Safar"
-    case .RabiAlAwwal:
+    case .rabiAlAwwal:
       return "Rabi'al-Awwal"
-    case .RabiAthThani:
+    case .rabiAthThani:
       return "Rabi'ath-Thani"
-    case .JumadaLUla:
+    case .jumadaLUla:
       return "Jumada l-Ula"
-    case .JumadaTTania:
+    case .jumadaTTania:
       return "Jumada t-Tania"
-    case .Rajab:
+    case .rajab:
       return "Rajab"
-    case .ShaBan:
+    case .shaBan:
       return "Sha'ban"
-    case .Ramadan:
+    case .ramadan:
       return "Ramadan"
-    case .Shawwal:
+    case .shawwal:
       return "Shawwal"
-    case .DhuLQaDa:
+    case .dhuLQaDa:
       return "Dhu l-Qa'da"
-    case .DhuLHijja:
+    case .dhuLHijja:
       return "Dhu l-Hijja"
     }
   }
diff --git a/Sources/CelMek/JulianDay.swift b/Sources/CelMek/JulianDay.swift
index ac1eac9..ab6a0a3 100644
--- a/Sources/CelMek/JulianDay.swift
+++ b/Sources/CelMek/JulianDay.swift
@@ -30,30 +30,13 @@ public struct GregorianDate {
     self.day = day
   }
   public init?(year: Int, dayInYear: Double) {
-    // Meeus, p66
-    if dayInYear < 0 {
-      return nil
-    }
-    if isGregorianLeapYear(year) {
-      if dayInYear >= 367 {
-        return nil
-      }
-    } else {
-      if dayInYear >= 366 {
-        return nil
-      }
-    }
-
-    let K = isGregorianLeapYear(year) ? 1 : 2
-    let M1 = 9 * (Double(K) + dayInYear) / 275
-    let M = dayInYear < 32 ? 1 : Int(Double(M1) + 0.98)
-    let D1 = Int(Double(275 * M) / 9)
-    let D2 = K * Int(Double(M + 9) / 12)
-    let D = dayInYear - Double(D1) + Double(D2 + 30)
-    
+    let leap = isGregorianLeapYear(year)
+    guard dayInYear.isFinite, dayInYear >= 1,
+          dayInYear < (leap ? 367 : 366) else { return nil }
+    let (month, day) = calendarMonthAndDay(dayInYear: dayInYear, leap: leap)
     self.year = year
-    self.month = Month(rawValue: M)!
-    self.day = D
+    self.month = month
+    self.day = day
   }
 }
 
@@ -78,30 +61,13 @@ public struct JulianDate {
   }
 
   public init?(year: Int, dayInYear: Double) {
-    // Meeus, p66
-    if dayInYear < 0 {
-      return nil
-    }
-    if isJulianLeapYear(year) {
-      if dayInYear >= 367 {
-        return nil
-      }
-    } else {
-      if dayInYear >= 366 {
-        return nil
-      }
-    }
-
-    let K = isJulianLeapYear(year) ? 1 : 2
-    let M1 = 9 * (Double(K) + dayInYear) / 275
-    let M = dayInYear < 32 ? 1 : Int(Double(M1) + 0.98)
-    let D1 = Int(Double(275 * M) / 9)
-    let D2 = K * Int(Double(M + 9) / 12)
-    let D = dayInYear - Double(D1) + Double(D2 + 30)
-    
+    let leap = isJulianLeapYear(year)
+    guard dayInYear.isFinite, dayInYear >= 1,
+          dayInYear < (leap ? 367 : 366) else { return nil }
+    let (month, day) = calendarMonthAndDay(dayInYear: dayInYear, leap: leap)
     self.year = year
-    self.month = Month(rawValue: M)!
-    self.day = D
+    self.month = month
+    self.day = day
   }
 }
 extension JulianDate: CustomStringConvertible {
@@ -167,7 +133,7 @@ extension GregorianDate {
     // Meeus, p65
     let K = isGregorianLeapYear(year) ? 1 : 2
     let N1 = 275 * month.rawValue / 9
-    let N2 = (K * month.rawValue + 9) / 12
+    let N2 = K * ((month.rawValue + 9) / 12)
     let N = Double(N1 - N2 - 30) + day
     return N
   }
@@ -178,7 +144,7 @@ extension JulianDate {
     // Meeus, p65
     let K = isJulianLeapYear(year) ? 1 : 2
     let N1 = 275 * month.rawValue / 9
-    let N2 = (K * month.rawValue + 9) / 12
+    let N2 = K * ((month.rawValue + 9) / 12)
     let N = Double(N1 - N2 - 30) + day
     return N
   }
@@ -232,11 +198,10 @@ extension Double {
 
 extension Double {
   public var weekday: Weekday {
-    // Meeus, p65
-    // Flooring and adding 0.5 to ensure we handle all JDs, not only those starting at 0h
-    // Remember that JD starts at noon, so 0.5 is midnight.
-    let adjustedJD = floor(self) + 0.5 + 1.5
-    let weekdayNumber = Int(adjustedJD.remainder(dividingBy: 7))
+    precondition(isFinite, "Weekday requires a finite Julian date")
+    // Julian dates change their integer part at noon; civil days start at midnight.
+    let remainder = fmod(floor(self + 0.5), 7)
+    let weekdayNumber = Int(fmod(remainder + 8, 7))
     return Weekday(rawValue: weekdayNumber)!
   }
 }
@@ -253,3 +218,17 @@ public func julianCenturiesFromJ2000(jd: Double) -> Double {
   let T =  (jd - 2451545) / 36525
   return T
 }
+
+// The ordinal range is checked before this helper is called. Keeping the
+// fractional day intact avoids shifting late hours into the following month.
+private func calendarMonthAndDay(dayInYear: Double, leap: Bool) -> (Month, Double) {
+  let lengths = [31, leap ? 29 : 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31]
+  var remaining = dayInYear
+  for (index, length) in lengths.enumerated() {
+    if remaining < Double(length + 1) {
+      return (Month(rawValue: index + 1)!, remaining)
+    }
+    remaining -= Double(length)
+  }
+  preconditionFailure("Ordinal day outside the validated calendar year")
+}
diff --git a/Sources/CelMek/LambertSolver.swift b/Sources/CelMek/LambertSolver.swift
new file mode 100644
index 0000000..feb1a1f
--- /dev/null
+++ b/Sources/CelMek/LambertSolver.swift
@@ -0,0 +1,285 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+public enum LambertError: Error, Equatable {
+    case invalidInput, invalidOptions, unsupportedRevolutions, degenerateGeometry
+    case ambiguousDirection, numericalRangeExceeded, branchRequired, invalidBranch
+    case belowMinimumFlightTime(minimumSeconds: Double)
+    case minimumSearchFailure(iterations: Int)
+    case bracketFailure(evaluations: Int)
+    case convergenceFailure(iterations: Int, timeResidualSeconds: Double)
+}
+/// Sign of angular momentum projected on the caller's reference pole.
+public enum LambertDirection: Equatable, Sendable { case positive, negative }
+public enum LambertBranch: Equatable, Sendable { case shortWay, longWay }
+/// Root on the decreasing/increasing side of the universal time curve's minimum.
+/// These names do not imply an energy, focus-position or delta-v ranking.
+public enum LambertMultiRevolutionBranch: Equatable, Sendable {
+    case lowerUniversalParameter, upperUniversalParameter
+}
+public struct LambertOptions: Equatable, Sendable {
+    public let absoluteTimeToleranceSeconds: Double
+    public let relativeTimeTolerance: Double
+    /// Separate cap for root bisection and (when needed) minimum-time search.
+    public let maximumIterations: Int
+    public let maximumBracketExpansions: Int
+    public init(absoluteTimeToleranceSeconds: Double = 1e-9, relativeTimeTolerance: Double = 1e-13,
+        maximumIterations: Int = 128, maximumBracketExpansions: Int = 64) throws {
+        guard absoluteTimeToleranceSeconds.isFinite, absoluteTimeToleranceSeconds > 0,
+              relativeTimeTolerance.isFinite, relativeTimeTolerance >= 0,
+              (1...10_000).contains(maximumIterations), (1...1_000).contains(maximumBracketExpansions) else {
+            throw LambertError.invalidOptions
+        }
+        self.absoluteTimeToleranceSeconds = absoluteTimeToleranceSeconds
+        self.relativeTimeTolerance = relativeTimeTolerance
+        self.maximumIterations = maximumIterations
+        self.maximumBracketExpansions = maximumBracketExpansions
+    }
+    public static let `default` = try! LambertOptions()
+}
+public struct LambertSolution {
+    public let departureState: CartesianState
+    public let arrivalState: CartesianState
+    public let centralBody: BodyIdentifier
+    public let gravitationalParameter: GravitationalParameter
+    public let branch: LambertBranch
+    public let direction: LambertDirection
+    public let transferAngleRadians: Double
+    public let orbitalNormal: SIMD3<Double>
+    public let iterations: Int
+    public let bracketEvaluations: Int
+    /// Signed universal time-equation residual, not a position-error bound.
+    public let timeResidualSeconds: Double
+    public let revolutions: Int
+    public let multiRevolutionBranch: LambertMultiRevolutionBranch?
+    public let minimumFlightTimeSeconds: Double?
+    public let minimumSearchIterations: Int
+    public let branchesCoalesced: Bool
+    public let universalParameter: Double
+    public func trajectory(options: TwoBodyPropagationOptions = .default) throws -> TwoBodyPropagator {
+        try TwoBodyPropagator(initialState: departureState, centralBody: centralBody,
+            gravitationalParameter: gravitationalParameter, options: options)
+    }
+}
+
+/// Scaled universal-variable Lambert boundary-value solution.
+/// Positions are central-body-relative metres in one explicitly supplied inertial frame.
+public enum LambertSolver {
+    public static func solve(departurePosition: SIMD3<Double>, arrivalPosition: SIMD3<Double>,
+        departureEpoch: Epoch, arrivalEpoch: Epoch, frame: Frame, centralBody: BodyIdentifier,
+        gravitationalParameter gm: GravitationalParameter, referencePole: SIMD3<Double>,
+        direction: LambertDirection, revolutions: Int = 0,
+        multiRevolutionBranch: LambertMultiRevolutionBranch? = nil, options: LambertOptions = .default) throws -> LambertSolution {
+        guard (0...32).contains(revolutions) else { throw LambertError.unsupportedRevolutions }
+        if revolutions > 0 && multiRevolutionBranch == nil { throw LambertError.branchRequired }
+        if revolutions == 0 && multiRevolutionBranch != nil { throw LambertError.invalidBranch }
+        guard frame.pseudoInertial else { throw PropagationError.nonInertialFrame }
+        guard gm.convention == .newtonian || gm.convention == .ttCompatible else { throw PropagationError.incompatibleGMConvention }
+        try centralBody.validate()
+        guard arrivalEpoch > departureEpoch,
+              [departurePosition, arrivalPosition, referencePole].allSatisfy({ [$0.x,$0.y,$0.z].allSatisfy(\.isFinite) }) else {
+            throw LambertError.invalidInput
+        }
+        let radius1 = routeNorm(departurePosition), radius2 = routeNorm(arrivalPosition), poleNorm = routeNorm(referencePole)
+        guard radius1 > 0, radius2 > 0, poleNorm > 0,
+              radius1.isFinite, radius2.isFinite, poleNorm.isFinite else { throw LambertError.invalidInput }
+        let u = departurePosition / radius1, v = arrivalPosition / radius2
+        let cross = SIMD3(u.y*v.z-u.z*v.y, u.z*v.x-u.x*v.z, u.x*v.y-u.y*v.x)
+        let sine = routeNorm(cross), cosine = max(-1.0, min(1.0, (u*v).sum()))
+        // The plane and f/g reconstruction become ill-conditioned at 0 and pi.
+        guard sine > 1e-8 else { throw LambertError.degenerateGeometry }
+        let projected = (cross / sine * (referencePole / poleNorm)).sum()
+        guard abs(projected) > 1e-12 else { throw LambertError.ambiguousDirection }
+        let short = (projected > 0) == (direction == .positive)
+        let angle = short ? atan2(sine, cosine) : 2 * Double.pi - atan2(sine, cosine)
+        let scale = max(radius1, radius2), r1 = radius1 / scale, r2 = radius2 / scale
+        let speedScale = sqrt(gm.cubicMetresPerSecondSquared) / sqrt(scale), timeScale = scale / speedScale
+        let seconds = try arrivalEpoch.duration(since: departureEpoch).seconds, tau = seconds / timeScale
+        guard speedScale.isFinite, speedScale > 0, timeScale.isFinite, timeScale > 0, tau.isFinite, tau > 0 else {
+            throw LambertError.numericalRangeExceeded
+        }
+        // Equivalent to sin(theta)*sqrt(r1*r2/(1-cos(theta))), without small-angle division.
+        let a = (short ? 1.0 : -1.0) * sqrt(r1 * r2) * (cosine < 0 ? sine / sqrt(1 - cosine) : sqrt(1 + cosine))
+        let cosHalf = cosine < 0 ? sine / sqrt(2 * (1 - cosine)) : sqrt((1 + cosine)/2)
+        let sinHalf = cosine > 0 ? sine / sqrt(2 * (1 + cosine)) : sqrt((1 - cosine)/2)
+        let yAtZero = short ? pow(sqrt(r1)-sqrt(r2),2) +
+            2 * sqrt(r1*r2) * sinHalf*sinHalf / (1 + cosHalf) : r1+r2-sqrt(2)*a
+        func value(_ z: Double) throws -> (time: Double, y: Double)? {
+            let c: Double, s: Double
+            if abs(z) < 0.5 {
+                var cc = 0.5, ss = 1.0 / 6, tc = cc, ts = ss
+                for n in 1...16 {
+                    tc *= -z / Double((2*n+1)*(2*n+2)); ts *= -z / Double((2*n+2)*(2*n+3))
+                    cc += tc; ss += ts
+                }
+                c = cc; s = ss
+            } else {
+                let x = sqrt(abs(z))
+                if z > 0 {
+                    let local = x - 2 * Double.pi * Double(revolutions)
+                    c = 2 * pow(sin(local/2),2) / z; s = (x-sin(local))/(x*x*x)
+                }
+                else { c = 2 * pow(sinh(x/2),2) / -z; s = (sinh(x)-x)/(x*x*x) }
+            }
+            guard c.isFinite, s.isFinite, c > 0 else { throw LambertError.numericalRangeExceeded }
+            // Use the local anomaly within this revolution interval. The sign
+            // from sqrt(C) cancels the completed-turn parity. Half-angle differences
+            // avoid subtracting almost equal radii on short, small-angle arcs.
+            let quarter = (sqrt(abs(z)) - (z > 0 ? 2 * Double.pi * Double(revolutions) : 0))/4
+            let correction = z >= 0 ? 2 * pow(sin(quarter),2) : -2 * pow(sinh(quarter),2)
+            let y = yAtZero + sqrt(2)*a*correction
+            if y <= 0 { return nil } // Below the physical time-of-flight domain.
+            let time = pow(y/c,1.5)*s + a*sqrt(y)
+            guard y.isFinite, time.isFinite, time >= 0 else { throw LambertError.numericalRangeExceeded }
+            return (time,y)
+        }
+        let tolerance = options.absoluteTimeToleranceSeconds / timeScale + options.relativeTimeTolerance * tau
+        guard tolerance.isFinite, tolerance > 0 else { throw LambertError.numericalRangeExceeded }
+        var lower = 0.0, upper = 0.0, bracketEvaluations = 0
+        var minimumTime: Double?, minimumIterations = 0, coalesced = false
+        var startingResidual = 0.0
+        if revolutions == 0 {
+            let limit = 4 * Double.pi * Double.pi
+            bracketEvaluations = 1
+            guard let zero = try value(0) else { throw LambertError.numericalRangeExceeded }
+            startingResidual = zero.time - tau
+            if zero.time < tau {
+                upper = limit / 2
+                var found = false
+                for _ in 0..<options.maximumBracketExpansions {
+                    bracketEvaluations += 1
+                    if let test = try value(upper), test.time >= tau { found = true; break }
+                    let next = (upper + limit)/2
+                    if next == upper || next >= limit { break }
+                    upper = next
+                }
+                guard found else { throw LambertError.bracketFailure(evaluations: bracketEvaluations) }
+            } else {
+                lower = -4
+                var found = false
+                for _ in 0..<options.maximumBracketExpansions {
+                    bracketEvaluations += 1
+                    let test = try value(lower)
+                    if test == nil || test!.time <= tau { found = true; break }
+                    // Bound hyperbolic cancellation/overflow; extreme flights are explicit failures.
+                    if lower <= -4096 { break }
+                    lower *= 2
+                }
+                guard found else { throw LambertError.bracketFailure(evaluations: bracketEvaluations) }
+            }
+        } else {
+            let edge1 = pow(2 * Double.pi * Double(revolutions),2)
+            let edge2 = pow(2 * Double.pi * Double(revolutions+1),2)
+            var left = edge1, right = edge2
+            let ratio = (sqrt(5.0)-1)/2
+            var x1 = right-ratio*(right-left), x2 = left+ratio*(right-left)
+            guard var t1 = try value(x1), var t2 = try value(x2) else { throw LambertError.numericalRangeExceeded }
+            var minimumFound = false
+            for iteration in 1...options.maximumIterations {
+                minimumIterations = iteration
+                if right-left <= 1e-12 * max(1, abs((left+right)/2)) { minimumFound = true; break }
+                if t1.time < t2.time {
+                    right = x2; x2 = x1; t2 = t1
+                    x1 = right-ratio*(right-left)
+                    guard let test = try value(x1) else { throw LambertError.numericalRangeExceeded }; t1 = test
+                } else {
+                    left = x1; x1 = x2; t1 = t2
+                    x2 = left+ratio*(right-left)
+                    guard let test = try value(x2) else { throw LambertError.numericalRangeExceeded }; t2 = test
+                }
+            }
+            guard minimumFound else { throw LambertError.minimumSearchFailure(iterations: minimumIterations) }
+            let minimumZ = (left+right)/2
+            guard let minimum = try value(minimumZ) else { throw LambertError.numericalRangeExceeded }
+            minimumTime = minimum.time * timeScale
+            startingResidual = minimum.time-tau
+            guard tau >= minimum.time-tolerance else {
+                throw LambertError.belowMinimumFlightTime(minimumSeconds: minimum.time*timeScale)
+            }
+            coalesced = abs(minimum.time-tau) <= tolerance
+            if coalesced { lower = minimumZ; upper = minimumZ }
+            else {
+                let lowerBranch = multiRevolutionBranch == .lowerUniversalParameter
+                let edge = lowerBranch ? edge1 : edge2
+                var outer = (edge+minimumZ)/2, found = false
+                for _ in 0..<options.maximumBracketExpansions {
+                    bracketEvaluations += 1
+                    if let test = try value(outer), test.time >= tau { found = true; break }
+                    let next = (edge+outer)/2
+                    if next == outer || next == edge { break }
+                    outer = next
+                }
+                guard found else { throw LambertError.bracketFailure(evaluations: bracketEvaluations) }
+                lower = lowerBranch ? outer : minimumZ
+                upper = lowerBranch ? minimumZ : outer
+            }
+        }
+        var performed = 0
+        var residual = startingResidual
+        for iteration in 1...options.maximumIterations {
+            performed = iteration
+            let z = (lower+upper)/2
+            guard let test = try value(z) else { lower = z; continue }
+            residual = test.time - tau
+            if abs(residual) <= tolerance {
+                let f = 1 - test.y/r1, g = a*sqrt(test.y), gDot = 1 - test.y/r2
+                guard g.isFinite, g != 0 else { throw LambertError.numericalRangeExceeded }
+                let p1 = departurePosition / scale, p2 = arrivalPosition / scale
+                let v1 = (p2-f*p1)/g * speedScale, v2 = (gDot*p2-p1)/g * speedScale
+                guard [v1,v2].allSatisfy({ [$0.x,$0.y,$0.z].allSatisfy(\.isFinite) }) else {
+                    throw LambertError.numericalRangeExceeded
+                }
+                return LambertSolution(departureState: try CartesianState(epoch: departureEpoch, frame: frame,
+                    position: departurePosition, velocity: v1), arrivalState: try CartesianState(epoch: arrivalEpoch,
+                    frame: frame, position: arrivalPosition, velocity: v2), centralBody: centralBody,
+                    gravitationalParameter: gm, branch: short ? .shortWay : .longWay, direction: direction,
+                    transferAngleRadians: angle, orbitalNormal: cross / sine * (short ? 1 : -1),
+                    iterations: iteration, bracketEvaluations: bracketEvaluations, timeResidualSeconds: residual * timeScale,
+                    revolutions: revolutions, multiRevolutionBranch: multiRevolutionBranch,
+                    minimumFlightTimeSeconds: minimumTime, minimumSearchIterations: minimumIterations,
+                    branchesCoalesced: coalesced, universalParameter: z)
+            }
+            let increasing = revolutions == 0 || multiRevolutionBranch == .upperUniversalParameter
+            if (residual < 0) == increasing { lower = z } else { upper = z }
+            if lower == upper || (lower+upper)/2 == z { break }
+        }
+        throw LambertError.convergenceFailure(iterations: performed, timeResidualSeconds: residual * timeScale)
+    }
+
+    /// Enumerates both roots for a requested positive revolution count; one result
+    /// when they coalesce within the requested time tolerance. Budgets apply per solve.
+    public static func solveBranches(departurePosition: SIMD3<Double>, arrivalPosition: SIMD3<Double>,
+        departureEpoch: Epoch, arrivalEpoch: Epoch, frame: Frame, centralBody: BodyIdentifier,
+        gravitationalParameter: GravitationalParameter, referencePole: SIMD3<Double>,
+        direction: LambertDirection, revolutions: Int, options: LambertOptions = .default) throws -> [LambertSolution] {
+        guard revolutions > 0 else { throw LambertError.unsupportedRevolutions }
+        let lower = try solve(departurePosition: departurePosition, arrivalPosition: arrivalPosition,
+            departureEpoch: departureEpoch, arrivalEpoch: arrivalEpoch, frame: frame, centralBody: centralBody,
+            gravitationalParameter: gravitationalParameter, referencePole: referencePole, direction: direction,
+            revolutions: revolutions, multiRevolutionBranch: .lowerUniversalParameter, options: options)
+        if lower.branchesCoalesced { return [lower] }
+        let upper = try solve(departurePosition: departurePosition, arrivalPosition: arrivalPosition,
+            departureEpoch: departureEpoch, arrivalEpoch: arrivalEpoch, frame: frame, centralBody: centralBody,
+            gravitationalParameter: gravitationalParameter, referencePole: referencePole, direction: direction,
+            revolutions: revolutions, multiRevolutionBranch: .upperUniversalParameter, options: options)
+        return [lower,upper]
+    }
+
+}
diff --git a/Sources/CelMek/LambertTransferPlanner.swift b/Sources/CelMek/LambertTransferPlanner.swift
new file mode 100644
index 0000000..135b9dc
--- /dev/null
+++ b/Sources/CelMek/LambertTransferPlanner.swift
@@ -0,0 +1,164 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Math
+
+/// Conditions at the central-body two-body arc endpoint. Flyby preserves the
+/// incoming velocity; it does not solve a body's local gravity-assist geometry.
+public enum LambertArrivalCondition: Equatable, Sendable {
+    case intercept, flyby, velocityMatchedRendezvous
+}
+public enum LambertTransferPlanningError: Error, Equatable {
+    case invalidTolerance, invalidEpochs, originMismatch, numericalRangeExceeded, outsideFlight
+}
+
+/// A bounded transfer arc, including the two instantaneous endpoint state changes.
+/// No post-encounter orbit or pre-departure ephemeris history is extrapolated.
+public struct LambertTransferTrajectory: Propagator {
+    public let coast: TwoBodyPropagator
+    public let departureReferenceState: CartesianState
+    public let postArrivalState: CartesianState
+    public var frame: Frame { coast.frame }
+    public var centralBody: BodyIdentifier { coast.centralBody }
+    public var referenceEpoch: Epoch { coast.referenceEpoch }
+    public var coverage: ClosedRange<Epoch> { referenceEpoch...postArrivalState.epoch }
+    public func state(at epoch: Epoch) throws -> CartesianState { try state(at: epoch, side: .after) }
+    public func state(at epoch: Epoch, side: ManeuverEpochSide) throws -> CartesianState {
+        guard coverage.contains(epoch) else { throw LambertTransferPlanningError.outsideFlight }
+        if epoch == referenceEpoch && side == .before { return departureReferenceState }
+        if epoch == postArrivalState.epoch && side == .after { return postArrivalState }
+        return try coast.state(at: epoch)
+    }
+}
+
+public struct LambertTransferPlan {
+    public let solution: LambertSolution
+    /// Physical state before departure ignition, or the sampled departure body's
+    /// state when planning ideal co-located body-to-body velocity differences.
+    public let departureReferenceState: CartesianState
+    public let arrivalTargetState: CartesianState
+    public let arrivalCondition: LambertArrivalCondition
+    public let departureBurn: ImpulsiveManeuver
+    public let arrivalBurn: ImpulsiveManeuver?
+    public let preArrivalState: CartesianState
+    public let postArrivalState: CartesianState
+    /// Relative vectors in the common inertial axes. For sampled bodies these are
+    /// patched-conic excess-velocity inputs, not parking-orbit injection costs.
+    public let departureRelativeVelocityMetresPerSecond: SIMD3<Double>
+    public let incomingRelativeVelocityMetresPerSecond: SIMD3<Double>
+    public let outgoingRelativeVelocityMetresPerSecond: SIMD3<Double>
+    public let totalDeltaVelocityMetresPerSecond: Double
+    public let positionErrorMetres: Double
+    public let velocityErrorMetresPerSecond: Double
+    public let arrivalConditionSatisfied: Bool
+    /// Begins immediately after the departure impulse. Arrival queries are
+    /// right-continuous when a rendezvous impulse is present. No pre-departure
+    /// spacecraft history is inferred from a body's ephemeris.
+    public let trajectory: LambertTransferTrajectory
+    public var maneuvers: [ImpulsiveManeuver] { [departureBurn] + (arrivalBurn.map { [$0] } ?? []) }
+}
+
+/// Fixed-epoch, central-body two-body transfers, with actual velocity differences
+/// and independently propagated endpoint diagnostics. Sources must be geometric
+/// states relative to the same physical origin in the same inertial frame.
+public enum LambertTransferPlanner {
+    public static func plan(departureState: CartesianState, arrivalTargetState: CartesianState,
+        centralBody: BodyIdentifier, gravitationalParameter: GravitationalParameter,
+        referencePole: SIMD3<Double>, direction: LambertDirection,
+        arrivalCondition: LambertArrivalCondition, revolutions: Int = 0,
+        multiRevolutionBranch: LambertMultiRevolutionBranch? = nil,
+        positionToleranceMetres: Double = 0.01, velocityToleranceMetresPerSecond: Double = 1e-5,
+        lambertOptions: LambertOptions = .default, propagationOptions: TwoBodyPropagationOptions = .default) throws -> LambertTransferPlan {
+        guard departureState.frame === arrivalTargetState.frame else { throw SpacecraftDynamicsError.frameMismatch }
+        guard arrivalTargetState.epoch > departureState.epoch else { throw LambertTransferPlanningError.invalidEpochs }
+        guard [positionToleranceMetres,velocityToleranceMetresPerSecond].allSatisfy({ $0.isFinite && $0 > 0 }) else {
+            throw LambertTransferPlanningError.invalidTolerance
+        }
+        let solution = try LambertSolver.solve(departurePosition: departureState.position,
+            arrivalPosition: arrivalTargetState.position, departureEpoch: departureState.epoch,
+            arrivalEpoch: arrivalTargetState.epoch, frame: departureState.frame, centralBody: centralBody,
+            gravitationalParameter: gravitationalParameter, referencePole: referencePole, direction: direction,
+            revolutions: revolutions, multiRevolutionBranch: multiRevolutionBranch, options: lambertOptions)
+        let departureRelative = solution.departureState.velocity-departureState.velocity
+        let departureBurn = try ImpulsiveManeuver(epoch: departureState.epoch, frame: departureState.frame,
+            deltaVelocityMetresPerSecond: departureRelative)
+        let coast = try solution.trajectory(options: propagationOptions)
+        let before = try coast.state(at: arrivalTargetState.epoch)
+        let incoming = before.velocity-arrivalTargetState.velocity
+        let arrivalBurn: ImpulsiveManeuver?
+        if arrivalCondition == .velocityMatchedRendezvous {
+            // Correct the propagated velocity, preserving the propagated position.
+            arrivalBurn = try ImpulsiveManeuver(epoch: arrivalTargetState.epoch, frame: departureState.frame,
+                deltaVelocityMetresPerSecond: -incoming)
+        } else { arrivalBurn = nil }
+        let after = try CartesianState(epoch: before.epoch, frame: before.frame, position: before.position,
+            velocity: before.velocity + (arrivalBurn?.deltaVelocityMetresPerSecond ?? .zero), acceleration: before.acceleration)
+        let trajectory = LambertTransferTrajectory(coast: coast, departureReferenceState: departureState, postArrivalState: after)
+        let positionError = routeNorm(after.position-arrivalTargetState.position)
+        let outgoing = after.velocity-arrivalTargetState.velocity
+        let velocityError = routeNorm(outgoing)
+        let cost = routeNorm(departureRelative) + (arrivalBurn.map { routeNorm($0.deltaVelocityMetresPerSecond) } ?? 0)
+        guard [positionError,velocityError,cost].allSatisfy(\.isFinite) else {
+            throw LambertTransferPlanningError.numericalRangeExceeded
+        }
+        return LambertTransferPlan(solution: solution, departureReferenceState: departureState,
+            arrivalTargetState: arrivalTargetState, arrivalCondition: arrivalCondition,
+            departureBurn: departureBurn, arrivalBurn: arrivalBurn, preArrivalState: before, postArrivalState: after,
+            departureRelativeVelocityMetresPerSecond: departureRelative,
+            incomingRelativeVelocityMetresPerSecond: incoming, outgoingRelativeVelocityMetresPerSecond: outgoing,
+            totalDeltaVelocityMetresPerSecond: cost, positionErrorMetres: positionError,
+            velocityErrorMetresPerSecond: velocityError,
+            arrivalConditionSatisfied: positionError <= positionToleranceMetres &&
+                (arrivalCondition != .velocityMatchedRendezvous || velocityError <= velocityToleranceMetresPerSecond),
+            trajectory: trajectory)
+    }
+
+    /// Samples departure only at departureEpoch and the moving target at arrivalEpoch.
+    /// Provider coverage, exact epochs, frame identities and physical origins are checked.
+    public static func plan(departure: MovingWaypointRouteTarget, arrival: MovingWaypointRouteTarget,
+        departureEpoch: Epoch, arrivalEpoch: Epoch, centralBody: BodyIdentifier,
+        gravitationalParameter: GravitationalParameter, referencePole: SIMD3<Double>, direction: LambertDirection,
+        arrivalCondition: LambertArrivalCondition, revolutions: Int = 0,
+        multiRevolutionBranch: LambertMultiRevolutionBranch? = nil,
+        positionToleranceMetres: Double = 0.01, velocityToleranceMetresPerSecond: Double = 1e-5,
+        lambertOptions: LambertOptions = .default, propagationOptions: TwoBodyPropagationOptions = .default) throws -> LambertTransferPlan {
+        guard departure.origin == centralBody, arrival.origin == centralBody else { throw LambertTransferPlanningError.originMismatch }
+        guard departure.frame === arrival.frame else { throw SpacecraftDynamicsError.frameMismatch }
+        guard arrivalEpoch > departureEpoch else { throw LambertTransferPlanningError.invalidEpochs }
+        return try plan(departureState: departure.state(at: departureEpoch), arrivalTargetState: arrival.state(at: arrivalEpoch),
+            centralBody: centralBody, gravitationalParameter: gravitationalParameter, referencePole: referencePole,
+            direction: direction, arrivalCondition: arrivalCondition, revolutions: revolutions,
+            multiRevolutionBranch: multiRevolutionBranch, positionToleranceMetres: positionToleranceMetres,
+            velocityToleranceMetresPerSecond: velocityToleranceMetresPerSecond,
+            lambertOptions: lambertOptions, propagationOptions: propagationOptions)
+    }
+
+    public static func plan(departure: any EphemerisProvider, arrival: any EphemerisProvider,
+        departureEpoch: Epoch, arrivalEpoch: Epoch, centralBody: BodyIdentifier,
+        gravitationalParameter: GravitationalParameter, referencePole: SIMD3<Double>, direction: LambertDirection,
+        arrivalCondition: LambertArrivalCondition, revolutions: Int = 0,
+        multiRevolutionBranch: LambertMultiRevolutionBranch? = nil,
+        positionToleranceMetres: Double = 0.01, velocityToleranceMetresPerSecond: Double = 1e-5,
+        lambertOptions: LambertOptions = .default, propagationOptions: TwoBodyPropagationOptions = .default) throws -> LambertTransferPlan {
+        try plan(departure: MovingWaypointRouteTarget(ephemeris: departure), arrival: MovingWaypointRouteTarget(ephemeris: arrival),
+            departureEpoch: departureEpoch, arrivalEpoch: arrivalEpoch, centralBody: centralBody,
+            gravitationalParameter: gravitationalParameter, referencePole: referencePole, direction: direction,
+            arrivalCondition: arrivalCondition, revolutions: revolutions, multiRevolutionBranch: multiRevolutionBranch,
+            positionToleranceMetres: positionToleranceMetres, velocityToleranceMetresPerSecond: velocityToleranceMetresPerSecond,
+            lambertOptions: lambertOptions, propagationOptions: propagationOptions)
+    }
+}
diff --git a/Sources/CelMek/LambertTransferWindowSearch.swift b/Sources/CelMek/LambertTransferWindowSearch.swift
new file mode 100644
index 0000000..9a94755
--- /dev/null
+++ b/Sources/CelMek/LambertTransferWindowSearch.swift
@@ -0,0 +1,176 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Math
+
+public enum LambertWindowSearchError: Error, Equatable { case invalidGrid, invalidBudget, invalidConstraints, invalidPole }
+public enum LambertWindowObjective: Equatable, Sendable { case minimumDeltaVelocity, minimumFlightTime }
+public enum LambertWindowSearchStatus: Equatable, Sendable { case gridExhausted, evaluationLimitReached }
+public struct LambertWindowBranch: Equatable {
+    public let direction: LambertDirection
+    public let revolutions: Int
+    public let multiRevolutionBranch: LambertMultiRevolutionBranch?
+    public init(direction: LambertDirection, revolutions: Int = 0,
+                multiRevolutionBranch: LambertMultiRevolutionBranch? = nil) throws {
+        guard (0...32).contains(revolutions) else { throw LambertError.unsupportedRevolutions }
+        guard (revolutions == 0) == (multiRevolutionBranch == nil) else { throw LambertError.invalidBranch }
+        self.direction = direction; self.revolutions = revolutions; self.multiRevolutionBranch = multiRevolutionBranch
+    }
+}
+public struct LambertWindowCandidate {
+    public let departureEpoch: Epoch
+    public let flightTime: Duration
+    public let branch: LambertWindowBranch
+}
+public enum LambertWindowFailure: Equatable {
+    case departureOutsideCoverage, arrivalOutsideCoverage, arrivalEpochResolutionExceeded
+    case timeArithmetic(TimeArithmeticError)
+    case lambert(LambertError), propagation(PropagationError), planning(LambertTransferPlanningError)
+    case endpointResidual, deltaVelocityLimit, arrivalRelativeSpeedLimit
+}
+/// One table row per visited date/time/branch combination, including failed cases.
+public struct LambertWindowRow {
+    public let candidate: LambertWindowCandidate
+    public let arrivalEpoch: Epoch?
+    public let plan: LambertTransferPlan?
+    public let failure: LambertWindowFailure?
+    public var totalDeltaVelocityMetresPerSecond: Double? { plan?.totalDeltaVelocityMetresPerSecond }
+    public var departureRelativeSpeedMetresPerSecond: Double? { plan.map { routeNorm($0.departureRelativeVelocityMetresPerSecond) } }
+    public var arrivalRelativeSpeedMetresPerSecond: Double? { plan.map { routeNorm($0.incomingRelativeVelocityMetresPerSecond) } }
+    public var feasible: Bool { plan != nil && failure == nil }
+}
+public struct LambertWindowSearchResult {
+    public let status: LambertWindowSearchStatus
+    public let totalCandidates: Int
+    public let rows: [LambertWindowRow]
+    public let rankedFeasibleRows: [LambertWindowRow]
+    public var evaluatedCandidates: Int { rows.count }
+    public var best: LambertWindowRow? { rankedFeasibleRows.first }
+}
+
+/// Discrete grid exploration; ranking is over evaluated feasible samples only.
+/// No global optimum or continuous transfer-window coverage is implied.
+public enum LambertTransferWindowSearch {
+    public static func search(departure: MovingWaypointRouteTarget, arrival: MovingWaypointRouteTarget,
+        centralBody: BodyIdentifier, gravitationalParameter: GravitationalParameter, referencePole: SIMD3<Double>,
+        departureEpochs: [Epoch], flightTimes: [Duration], branches: [LambertWindowBranch],
+        arrivalCondition: LambertArrivalCondition, objective: LambertWindowObjective = .minimumDeltaVelocity,
+        maximumCandidateEvaluations: Int = 1000, maximumDeltaVelocityMetresPerSecond: Double? = nil,
+        maximumArrivalRelativeSpeedMetresPerSecond: Double? = nil,
+        positionToleranceMetres: Double = 0.01, velocityToleranceMetresPerSecond: Double = 1e-5,
+        lambertOptions: LambertOptions = .default, propagationOptions: TwoBodyPropagationOptions = .default) throws -> LambertWindowSearchResult {
+        guard !departureEpochs.isEmpty, !flightTimes.isEmpty, !branches.isEmpty,
+              departureEpochs.count <= 100_000, flightTimes.count <= 100_000, branches.count <= 256,
+              departureEpochs.count <= 100_000 / flightTimes.count,
+              departureEpochs.count * flightTimes.count <= 100_000 / branches.count,
+              flightTimes.allSatisfy({ $0 > .zero && $0.seconds.isFinite }) else { throw LambertWindowSearchError.invalidGrid }
+        guard (1...10_000).contains(maximumCandidateEvaluations) else { throw LambertWindowSearchError.invalidBudget }
+        guard [positionToleranceMetres,velocityToleranceMetresPerSecond].allSatisfy({ $0.isFinite && $0 > 0 }),
+              [maximumDeltaVelocityMetresPerSecond,maximumArrivalRelativeSpeedMetresPerSecond].allSatisfy({
+                  $0 == nil || ($0!.isFinite && $0! >= 0)
+              }) else { throw LambertWindowSearchError.invalidConstraints }
+        guard [referencePole.x,referencePole.y,referencePole.z].allSatisfy(\.isFinite),
+              routeNorm(referencePole).isFinite, routeNorm(referencePole) > 0 else { throw LambertWindowSearchError.invalidPole }
+        guard departure.frame === arrival.frame else { throw SpacecraftDynamicsError.frameMismatch }
+        guard departure.frame.pseudoInertial else { throw PropagationError.nonInertialFrame }
+        guard departure.origin == centralBody, arrival.origin == centralBody else { throw LambertTransferPlanningError.originMismatch }
+        try centralBody.validate()
+        guard gravitationalParameter.convention == .newtonian || gravitationalParameter.convention == .ttCompatible else {
+            throw PropagationError.incompatibleGMConvention
+        }
+        let epochs = Array(Set(departureEpochs)).sorted(), times = Array(Set(flightTimes)).sorted()
+        var uniqueBranches: [LambertWindowBranch] = []
+        for branch in branches where !uniqueBranches.contains(branch) { uniqueBranches.append(branch) }
+        let total = epochs.count * times.count * uniqueBranches.count
+        var rows: [LambertWindowRow] = []
+        func finish(_ status: LambertWindowSearchStatus) -> LambertWindowSearchResult {
+            let ranked = rows.enumerated().filter { $0.element.feasible }.sorted { a,b in
+                let ac = a.element.totalDeltaVelocityMetresPerSecond!, bc = b.element.totalDeltaVelocityMetresPerSecond!
+                let at = a.element.candidate.flightTime, bt = b.element.candidate.flightTime
+                switch objective {
+                case .minimumDeltaVelocity: if ac != bc { return ac < bc }; if at != bt { return at < bt }
+                case .minimumFlightTime: if at != bt { return at < bt }; if ac != bc { return ac < bc }
+                }
+                if a.element.candidate.departureEpoch != b.element.candidate.departureEpoch {
+                    return a.element.candidate.departureEpoch < b.element.candidate.departureEpoch
+                }
+                return a.offset < b.offset
+            }.map(\.element)
+            return LambertWindowSearchResult(status: status,totalCandidates: total,rows: rows,rankedFeasibleRows: ranked)
+        }
+        for epoch in epochs {
+            for time in times {
+                // Cache only this date/time pair's checked source states across roots.
+                var departureState: CartesianState?, arrivalState: CartesianState?
+                for branch in uniqueBranches {
+                    if rows.count == maximumCandidateEvaluations { return finish(.evaluationLimitReached) }
+                    let candidate = LambertWindowCandidate(departureEpoch: epoch,flightTime: time,branch: branch)
+                    let end: Epoch
+                    do { end = try epoch.advanced(by: time) }
+                    catch let error as TimeArithmeticError {
+                        rows.append(LambertWindowRow(candidate: candidate,arrivalEpoch: nil,plan: nil,failure: .timeArithmetic(error)))
+                        continue
+                    }
+                    var failure: LambertWindowFailure?, plan: LambertTransferPlan?
+                    if end <= epoch { failure = .arrivalEpochResolutionExceeded }
+                    else if !departure.coverage.contains(epoch) { failure = .departureOutsideCoverage }
+                    else if !arrival.coverage.contains(end) { failure = .arrivalOutsideCoverage }
+                    else {
+                        // Provider errors are contract/data failures, not Lambert candidate failures.
+                        if departureState == nil { departureState = try departure.state(at: epoch) }
+                        if arrivalState == nil { arrivalState = try arrival.state(at: end) }
+                        do {
+                            plan = try LambertTransferPlanner.plan(departureState: departureState!,arrivalTargetState: arrivalState!,
+                                centralBody: centralBody,gravitationalParameter: gravitationalParameter,referencePole: referencePole,
+                                direction: branch.direction,arrivalCondition: arrivalCondition,revolutions: branch.revolutions,
+                                multiRevolutionBranch: branch.multiRevolutionBranch,positionToleranceMetres: positionToleranceMetres,
+                                velocityToleranceMetresPerSecond: velocityToleranceMetresPerSecond,lambertOptions: lambertOptions,
+                                propagationOptions: propagationOptions)
+                            if !plan!.arrivalConditionSatisfied { failure = .endpointResidual }
+                            else if let limit = maximumDeltaVelocityMetresPerSecond,
+                                plan!.totalDeltaVelocityMetresPerSecond > limit { failure = .deltaVelocityLimit }
+                            else if let limit = maximumArrivalRelativeSpeedMetresPerSecond,
+                                routeNorm(plan!.incomingRelativeVelocityMetresPerSecond) > limit { failure = .arrivalRelativeSpeedLimit }
+                        } catch let error as LambertError { failure = .lambert(error) }
+                        catch let error as PropagationError { failure = .propagation(error) }
+                        catch let error as LambertTransferPlanningError { failure = .planning(error) }
+                    }
+                    rows.append(LambertWindowRow(candidate: candidate,arrivalEpoch: end,plan: plan,failure: failure))
+                }
+            }
+        }
+        return finish(.gridExhausted)
+    }
+
+    public static func search(departure: any EphemerisProvider, arrival: any EphemerisProvider,
+        centralBody: BodyIdentifier, gravitationalParameter: GravitationalParameter, referencePole: SIMD3<Double>,
+        departureEpochs: [Epoch], flightTimes: [Duration], branches: [LambertWindowBranch],
+        arrivalCondition: LambertArrivalCondition, objective: LambertWindowObjective = .minimumDeltaVelocity,
+        maximumCandidateEvaluations: Int = 1000, maximumDeltaVelocityMetresPerSecond: Double? = nil,
+        maximumArrivalRelativeSpeedMetresPerSecond: Double? = nil,
+        positionToleranceMetres: Double = 0.01, velocityToleranceMetresPerSecond: Double = 1e-5,
+        lambertOptions: LambertOptions = .default, propagationOptions: TwoBodyPropagationOptions = .default) throws -> LambertWindowSearchResult {
+        try search(departure: MovingWaypointRouteTarget(ephemeris: departure),arrival: MovingWaypointRouteTarget(ephemeris: arrival),
+            centralBody: centralBody,gravitationalParameter: gravitationalParameter,referencePole: referencePole,
+            departureEpochs: departureEpochs,flightTimes: flightTimes,branches: branches,arrivalCondition: arrivalCondition,
+            objective: objective,maximumCandidateEvaluations: maximumCandidateEvaluations,
+            maximumDeltaVelocityMetresPerSecond: maximumDeltaVelocityMetresPerSecond,
+            maximumArrivalRelativeSpeedMetresPerSecond: maximumArrivalRelativeSpeedMetresPerSecond,
+            positionToleranceMetres: positionToleranceMetres,velocityToleranceMetresPerSecond: velocityToleranceMetresPerSecond,
+            lambertOptions: lambertOptions,propagationOptions: propagationOptions)
+    }
+}
diff --git a/Sources/CelMek/LocalOrbitalFrame.swift b/Sources/CelMek/LocalOrbitalFrame.swift
new file mode 100644
index 0000000..9aa2e14
--- /dev/null
+++ b/Sources/CelMek/LocalOrbitalFrame.swift
@@ -0,0 +1,150 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+public enum LocalOrbitalFrameError: Error, Equatable {
+  case nonInertialReference, frameMismatch, zeroPosition, zeroVelocity, undefinedOrbitalPlane
+  case invalidConfiguration
+}
+
+/// Right-handed axes expressed in the orbit's inertial reference frame.
+public enum LocalOrbitalAxes: Sendable {
+  /// X = radial outward, Z = r×v, Y = Z×X (also RSW/QSW).
+  case rtn
+  /// X = velocity, Z = r×v, Y = Z×X.
+  case tnw
+  /// Z = nadir (−radial), Y = −orbital normal, X = Y×Z.
+  case lvlhCCSDS
+}
+
+/// Orbital attitude from motion relative to a supplied central body. Both providers
+/// must use the same pseudo-inertial frame. Without a central provider, the reference
+/// frame's origin defines the orbit centre. No force model or propagation is implied.
+/// Five-point angular derivatives use atomic seconds and require ±2*derivativeStep
+/// state coverage. The step must resolve motion; no accuracy guarantee is implied.
+public struct LocalOrbitalOrientationProvider: OrientationProvider {
+  public let referenceFrame: Frame
+  public let axes: LocalOrbitalAxes
+  public let derivativeStep: Duration
+  public let minimumPlaneSine: Double
+  private let spacecraft: any StateProvider
+  private let centralBody: (any StateProvider)?
+  private let mounting: FrameTransform
+
+  /// mountingRotation maps orbital coordinates into spacecraft coordinates.
+  /// minimumPlaneSine rejects nearly parallel r/v using |r̂×v̂|, independently of units.
+  public init(spacecraft: any StateProvider, centralBody: (any StateProvider)? = nil,
+              axes: LocalOrbitalAxes, derivativeStep: Duration,
+              minimumPlaneSine: Double = 1e-12, mountingRotation: Quaternion = .identity) throws {
+    guard spacecraft.frame.pseudoInertial else { throw LocalOrbitalFrameError.nonInertialReference }
+    guard centralBody == nil || centralBody!.frame === spacecraft.frame else {
+      throw LocalOrbitalFrameError.frameMismatch
+    }
+    guard derivativeStep > .zero, minimumPlaneSine.isFinite,
+          minimumPlaneSine > 0, minimumPlaneSine < 1 else { throw LocalOrbitalFrameError.invalidConfiguration }
+    self.spacecraft = spacecraft; self.centralBody = centralBody
+    referenceFrame = spacecraft.frame; self.axes = axes; self.derivativeStep = derivativeStep
+    self.minimumPlaneSine = minimumPlaneSine
+    mounting = try FrameTransform(epoch: .j2000, rotation: mountingRotation)
+  }
+  private func state(_ provider: any StateProvider, at epoch: Epoch) throws -> CartesianState {
+    let state = try provider.state(at: epoch)
+    guard state.epoch == epoch else { throw FrameTransformError.epochMismatch }
+    guard state.frame === referenceFrame else { throw LocalOrbitalFrameError.frameMismatch }
+    return state
+  }
+  private func unit(_ vector: SIMD3<Double>, zero: LocalOrbitalFrameError) throws -> SIMD3<Double> {
+    let scale = max(abs(vector.x),abs(vector.y),abs(vector.z))
+    guard scale.isFinite else { throw FrameTransformError.nonFinite }
+    guard scale > 0 else { throw zero }
+    let scaled = vector/scale
+    return scaled/sqrt((scaled*scaled).sum())
+  }
+  private func cross(_ a: SIMD3<Double>, _ b: SIMD3<Double>) -> SIMD3<Double> {
+    SIMD3(a.y*b.z-a.z*b.y,a.z*b.x-a.x*b.z,a.x*b.y-a.y*b.x)
+  }
+  internal func matrix(at epoch: Epoch) throws -> [Double] {
+    let s = try state(spacecraft,at: epoch)
+    let centre = try centralBody.map { try state($0,at: epoch) }
+    let radial = try unit(s.position-(centre?.position ?? .zero),zero: .zeroPosition)
+    let velocity = try unit(s.velocity-(centre?.velocity ?? .zero),zero: .zeroVelocity)
+    let normal = cross(radial,velocity)
+    guard sqrt((normal*normal).sum()) >= minimumPlaneSine else { throw LocalOrbitalFrameError.undefinedOrbitalPlane }
+    let zNormal = try unit(normal,zero: .undefinedOrbitalPlane)
+    let x: SIMD3<Double>, y: SIMD3<Double>, z: SIMD3<Double>
+    switch axes {
+    case .rtn: x = radial; z = zNormal; y = cross(z,x)
+    case .tnw: x = velocity; z = zNormal; y = cross(z,x)
+    case .lvlhCCSDS: z = -radial; y = -zNormal; x = cross(y,z)
+    }
+    // Rows are child axes in parent coordinates: p_child = R p_parent.
+    return [x.x,x.y,x.z,y.x,y.y,y.z,z.x,z.y,z.z]
+  }
+  public func orientation(at epoch: Epoch) throws -> BodyOrientation {
+    let h = derivativeStep.seconds, r = try matrix(at: epoch)
+    let samples = try [-2.0,-1,1,2].map {
+      try matrix(at: epoch.advanced(by: Duration(seconds: $0*h)))
+    }
+    let d = (0..<9).map { (samples[0][$0]-8*samples[1][$0]+8*samples[2][$0]-samples[3][$0])/(12*h) }
+    let dd = (0..<9).map { (-samples[3][$0]+16*samples[2][$0]-30*r[$0]+16*samples[1][$0]-samples[0][$0])/(12*h*h) }
+    func axial(_ derivative: [Double]) -> SIMD3<Double> {
+      func entry(_ i: Int,_ j: Int) -> Double { (0..<3).reduce(0) { $0+derivative[3*i+$1]*r[3*j+$1] } }
+      return SIMD3((entry(2,1)-entry(1,2))/2,(entry(0,2)-entry(2,0))/2,(entry(1,0)-entry(0,1))/2)
+    }
+    let orbital = try FrameTransform(epoch: epoch, rotation: quaternion(r),
+      angularVelocity: axial(d), angularAcceleration: axial(dd))
+    let mounted = try orbital.followed(by: FrameTransform(epoch: epoch, rotation: mounting.rotation))
+    return try BodyOrientation(referenceFrame: referenceFrame, epoch: epoch, rotation: mounted.rotation,
+      angularVelocity: mounted.angularVelocity, angularAcceleration: mounted.angularAcceleration)
+  }
+  private func quaternion(_ m: [Double]) -> Quaternion {
+    let candidates = [1+m[0]+m[4]+m[8],1+m[0]-m[4]-m[8],1-m[0]+m[4]-m[8],1-m[0]-m[4]+m[8]]
+    let k = candidates.indices.max { candidates[$0] < candidates[$1] }!
+    let v = sqrt(candidates[k])/2, f = 1/(4*v)
+    switch k {
+    case 0: return Quaternion(x:(m[7]-m[5])*f,y:(m[2]-m[6])*f,z:(m[3]-m[1])*f,w:v)
+    case 1: return Quaternion(x:v,y:(m[1]+m[3])*f,z:(m[2]+m[6])*f,w:(m[7]-m[5])*f)
+    case 2: return Quaternion(x:(m[1]+m[3])*f,y:v,z:(m[5]+m[7])*f,w:(m[2]-m[6])*f)
+    default: return Quaternion(x:(m[2]+m[6])*f,y:(m[5]+m[7])*f,z:v,w:(m[3]-m[1])*f)
+    }
+  }
+}
+
+extension FrameTree {
+  /// Spacecraft-centred orbital frame, with orbit defined relative to centralBody
+  /// or the parent origin. Translation uses the spacecraft's absolute parent state.
+  public func makeLocalOrbitalFrame(name: String, spacecraft: any StateProvider,
+    centralBody: (any StateProvider)? = nil, axes: LocalOrbitalAxes, derivativeStep: Duration,
+    minimumPlaneSine: Double = 1e-12,
+    accelerationPolicy: OriginAccelerationPolicy = .requireProvided) throws -> Frame {
+    let orientation = try LocalOrbitalOrientationProvider(spacecraft: spacecraft,centralBody: centralBody,
+      axes: axes,derivativeStep: derivativeStep,minimumPlaneSine: minimumPlaneSine)
+    return try makeSpacecraftFrame(name: name,spacecraft: spacecraft,attitude: orientation,
+      accelerationPolicy: accelerationPolicy)
+  }
+  /// Spacecraft-centred axes prescribed by any attitude provider, including a
+  /// LocalOrbitalOrientationProvider with a fixed mounting rotation. Attitude rates
+  /// are coordinate-map rates in spacecraft axes, as in BodyOrientation.
+  public func makeSpacecraftFrame(name: String, spacecraft: any StateProvider,
+    attitude: any OrientationProvider,
+    accelerationPolicy: OriginAccelerationPolicy = .requireProvided) throws -> Frame {
+    try makeBodyFixedFrame(name: name,centre: spacecraft,orientation: attitude,
+      accelerationPolicy: accelerationPolicy)
+  }
+}
diff --git a/Sources/CelMek/MeasuredEarthOrientation.swift b/Sources/CelMek/MeasuredEarthOrientation.swift
new file mode 100644
index 0000000..1302724
--- /dev/null
+++ b/Sources/CelMek/MeasuredEarthOrientation.swift
@@ -0,0 +1,185 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+/// Measured EOP at a UTC label. All angles are radians; DUT1 is UT1−UTC in seconds.
+public struct EarthOrientationRecord {
+  public let utc: UTCDate
+  public let dut1: Duration
+  public let polarMotionX: Double
+  public let polarMotionY: Double
+  public let celestialPoleX: Double
+  public let celestialPoleY: Double
+  public let poleReference: CelestialPoleReference
+  public init(utc: UTCDate, dut1: Duration, polarMotionX: Double, polarMotionY: Double,
+              celestialPoleX: Double = 0, celestialPoleY: Double = 0,
+              poleReference: CelestialPoleReference = .iau2006A) {
+    self.utc = utc; self.dut1 = dut1
+    self.polarMotionX = polarMotionX; self.polarMotionY = polarMotionY
+    self.celestialPoleX = celestialPoleX; self.celestialPoleY = celestialPoleY
+    self.poleReference = poleReference
+  }
+  public func sample(using leapSeconds: LeapSecondTable) throws -> EarthOrientationSample {
+    let epoch = try leapSeconds.epoch(from: utc)
+    let offset = try leapSeconds.taiMinusUTC(on: utc.modifiedJulianDay)
+    return try EarthOrientationSample(epoch: epoch,
+      ut1MinusTT: dut1.subtracting(Duration(wholeSeconds: Int64(offset)+32, fractionalSecond: 0.184)),
+      polarMotionX: polarMotionX, polarMotionY: polarMotionY,
+      celestialPoleX: celestialPoleX, celestialPoleY: celestialPoleY, poleReference: poleReference)
+  }
+}
+
+extension EarthOrientationSample {
+  /// Reconstruct UT1−UTC with the caller's versioned leap-second table.
+  public func dut1(using leapSeconds: LeapSecondTable) throws -> Duration {
+    let utc = try epoch.utc(using: leapSeconds)
+    let offset = try leapSeconds.taiMinusUTC(on: utc.modifiedJulianDay)
+    return try ut1MinusTT.adding(Duration(wholeSeconds: Int64(offset)+32, fractionalSecond: 0.184))
+  }
+}
+
+/// Two-part UT1 Julian date. UT1 is a measured scale rather than a TimeScale enum case.
+public struct UT1JulianDateComponents: Sendable {
+  public let wholeDay: Int64
+  public let fractionalDay: Double
+}
+extension Epoch {
+  public func ut1JulianDate(using earthOrientation: any EarthOrientationProvider) throws -> UT1JulianDateComponents {
+    let sample = try earthOrientation.sample(at: self)
+    guard sample.epoch == self else { throw FrameTransformError.epochMismatch }
+    let shifted = try advanced(by: sample.ut1MinusTT).julianDate(in: .tt)
+    return UT1JulianDateComponents(wholeDay: shifted.wholeDay, fractionalDay: shifted.fractionalDay)
+  }
+}
+
+/// Explicit interpolation on atomic seconds. UT1−UTC jumps are removed before interpolation.
+/// Natural cubic is C2 within coverage; linear interpolation has derivative discontinuities at knots.
+/// Neither policy extrapolates. Natural endpoint curvature is an interpolation assumption, not LOD data.
+public struct TabulatedEarthOrientationProvider: EarthOrientationProvider {
+  public enum Interpolation: Sendable { case linear, naturalCubic }
+  public let provenance: String
+  public let coverage: ClosedRange<Epoch>
+  public let interpolation: Interpolation
+  private let epochs: [Epoch]
+  private let times: [Double]
+  private let values: [[Double]]
+  private let secondDerivatives: [[Double]]
+  private let reference: CelestialPoleReference
+
+  public init(records: [EarthOrientationRecord], leapSeconds: LeapSecondTable,
+              interpolation: Interpolation, maximumGap: Duration, provenance: String) throws {
+    guard records.count >= 2, maximumGap.seconds > 0,
+          !provenance.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty else {
+      throw EarthOrientationError.invalidTable
+    }
+    let samples = try records.map { try $0.sample(using: leapSeconds) }
+    let epochs = samples.map(\.epoch)
+    let times = try epochs.map { try $0.duration(since: epochs[0]).seconds }
+    for i in 1..<times.count {
+      guard times[i] > times[i-1], samples[i].poleReference == samples[0].poleReference else {
+        throw EarthOrientationError.invalidTable
+      }
+      guard times[i]-times[i-1] <= maximumGap.seconds else { throw EarthOrientationError.excessiveGap }
+    }
+    let values = (0..<5).map { field in samples.map { s in
+      [s.ut1MinusTT.seconds,s.polarMotionX,s.polarMotionY,s.celestialPoleX,s.celestialPoleY][field]
+    }}
+    self.epochs = epochs; self.times = times; self.values = values
+    self.interpolation = interpolation; self.reference = samples[0].poleReference
+    self.coverage = epochs[0]...epochs.last!
+    self.provenance = "\(provenance); leap seconds: \(leapSeconds.version); interpolation: \(interpolation)"
+    self.secondDerivatives = values.map { v in
+      guard interpolation == .naturalCubic, times.count > 2 else { return Array(repeating: 0, count: times.count) }
+      var m = Array(repeating: 0.0, count: times.count)
+      var diagonal = m, rhs = m
+      for i in 1..<(times.count-1) {
+        let left = times[i]-times[i-1], right = times[i+1]-times[i]
+        let factor = i == 1 ? 0 : left/diagonal[i-1]
+        diagonal[i] = 2*(left+right)-factor*(times[i]-times[i-1])
+        rhs[i] = 6*((v[i+1]-v[i])/right-(v[i]-v[i-1])/left)-factor*rhs[i-1]
+      }
+      for i in stride(from: times.count-2, through: 1, by: -1) {
+        m[i] = (rhs[i]-(times[i+1]-times[i])*m[i+1])/diagonal[i]
+      }
+      return m
+    }
+  }
+  public func sample(at epoch: Epoch) throws -> EarthOrientationSample {
+    guard coverage.contains(epoch) else { throw EarthOrientationError.outsideCoverage }
+    let t = try epoch.duration(since: epochs[0]).seconds
+    var low = 0, high = times.count-1
+    while high-low > 1 {
+      let mid = (low+high)/2
+      if times[mid] <= t { low = mid } else { high = mid }
+    }
+    let h = times[high]-times[low], a = (times[high]-t)/h, b = (t-times[low])/h
+    let v = (0..<5).map { f in
+      a*values[f][low]+b*values[f][high]
+        + ((a*a*a-a)*secondDerivatives[f][low]+(b*b*b-b)*secondDerivatives[f][high])*h*h/6
+    }
+    return try EarthOrientationSample(epoch: epoch, ut1MinusTT: Duration(seconds: v[0]),
+      polarMotionX: v[1], polarMotionY: v[2], celestialPoleX: v[3], celestialPoleY: v[4], poleReference: reference)
+  }
+}
+
+/// USNO/IERS finals2000A Bulletin A columns. Offsets refer to IAU 2000A; file angles
+/// are arcseconds for polar motion and milliarcseconds for dX/dY. Bulletin B and errors
+/// are not consumed. Blank forecast-tail rows are skipped; incomplete selected rows fail.
+public enum Finals2000A {
+  public enum PredictionPolicy { case observedOnly, includePredictions }
+  public static func records(from text: String, predictions: PredictionPolicy,
+                             modifiedJulianDays: ClosedRange<Int64>? = nil) throws -> [EarthOrientationRecord] {
+    let arcsecond = Double.pi/(180*3600)
+    var result: [EarthOrientationRecord] = []
+    for (index, raw) in text.split(separator: "\n", omittingEmptySubsequences: false).enumerated() {
+      let row = Array(raw.utf8)
+      if row.allSatisfy({ $0 == 32 || $0 == 13 || $0 == 9 }) { continue }
+      func field(_ start: Int, _ end: Int) -> String {
+        guard row.count >= end else { return "" }
+        return String(decoding: row[(start-1)..<end], as: UTF8.self).trimmingCharacters(in: .whitespacesAndNewlines)
+      }
+      func number(_ start: Int, _ end: Int) throws -> Double {
+        guard let v = Double(field(start,end)), v.isFinite else { throw EarthOrientationError.invalidFile(line: index+1) }
+        return v
+      }
+      let mjd = try number(8,15)
+      guard mjd.rounded(.towardZero) == mjd, mjd >= Double(Int64.min), mjd < Double(Int64.max) else {
+        throw EarthOrientationError.invalidFile(line: index+1)
+      }
+      let day = Int64(mjd)
+      if let range = modifiedJulianDays, !range.contains(day) { continue }
+      let flags = [field(17,17),field(58,58),field(96,96)]
+      if flags.allSatisfy(\.isEmpty), [field(19,27),field(38,46),field(59,68),field(98,106),field(117,125)].allSatisfy(\.isEmpty) { continue }
+      if predictions == .observedOnly, flags.contains("P") { continue }
+      guard flags.allSatisfy({ $0 == "I" || $0 == "P" }) else { throw EarthOrientationError.invalidFile(line: index+1) }
+      // Date columns are redundant with MJD; reject corrupted or wrong-format files.
+      guard let shortYear = Int(field(1,2)), let month = Int(field(3,4)), let date = Int(field(5,6)) else {
+        throw EarthOrientationError.invalidFile(line: index+1)
+      }
+      guard (0...99).contains(shortYear) else { throw EarthOrientationError.invalidFile(line: index+1) }
+      let year = shortYear + (day <= 51543 ? 1900 : 2000)
+      let calendar = try GregorianDay(year: year, month: month, day: date)
+      guard calendar.modifiedJulianDay == day else { throw EarthOrientationError.invalidFile(line: index+1) }
+      result.append(try EarthOrientationRecord(utc: UTCDate(modifiedJulianDay: day, secondOfDay: .zero),
+        dut1: Duration(seconds: number(59,68)), polarMotionX: number(19,27)*arcsecond,
+        polarMotionY: number(38,46)*arcsecond, celestialPoleX: number(98,106)*arcsecond/1000,
+        celestialPoleY: number(117,125)*arcsecond/1000, poleReference: .iau2000A))
+    }
+    return result
+  }
+}
diff --git a/Sources/CelMek/Moons/Pluto.swift b/Sources/CelMek/Moons/Pluto.swift
index f2cfef1..558ce24 100644
--- a/Sources/CelMek/Moons/Pluto.swift
+++ b/Sources/CelMek/Moons/Pluto.swift
@@ -16,7 +16,7 @@
 // limitations under the License.
 //
 
-public struct PlanetaryBody {
+public struct PlanetaryBody: Sendable {
   public let name: String
   public let diameter: Double
   public let mass: Double
@@ -25,7 +25,7 @@ public struct PlanetaryBody {
   public let eccentricity: Double
   public let inclination: Double
 }
-public struct IrregularPlanetaryBody {
+public struct IrregularPlanetaryBody: Sendable {
   public let name: String
   public let dimensions: SIMD3<Double>
   public let mass: Double
diff --git a/Sources/CelMek/MovingSphericalExclusionRegion.swift b/Sources/CelMek/MovingSphericalExclusionRegion.swift
new file mode 100644
index 0000000..86fee94
--- /dev/null
+++ b/Sources/CelMek/MovingSphericalExclusionRegion.swift
@@ -0,0 +1,103 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Math
+import Foundation
+
+/// Moving sphere in the route's native frame and origin. The speed bound is a
+/// caller guarantee over the provider's entire declared coverage, not a sample.
+public struct MovingSphericalExclusionRegion {
+    public let identifier: String
+    public let centreProvider: MovingWaypointRouteTarget
+    public let radiusMetres: Double
+    public let safetyMarginMetres: Double
+    public let maximumCentreSpeedMetresPerSecond: Double
+    public var exclusionRadiusMetres: Double { radiusMetres + safetyMarginMetres }
+
+    public init(identifier: String, centreProvider: MovingWaypointRouteTarget,
+                radiusMetres: Double, safetyMarginMetres: Double = 0,
+                maximumCentreSpeedMetresPerSecond: Double) throws {
+        guard !identifier.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty,
+              radiusMetres.isFinite, radiusMetres > 0,
+              safetyMarginMetres.isFinite, safetyMarginMetres >= 0,
+              (radiusMetres + safetyMarginMetres).isFinite,
+              maximumCentreSpeedMetresPerSecond.isFinite, maximumCentreSpeedMetresPerSecond >= 0 else {
+            throw BrachistochroneRouteError.invalidObstacle
+        }
+        self.identifier = identifier; self.centreProvider = centreProvider
+        self.radiusMetres = radiusMetres; self.safetyMarginMetres = safetyMarginMetres
+        self.maximumCentreSpeedMetresPerSecond = maximumCentreSpeedMetresPerSecond
+    }
+}
+
+func validateMovingObstacles(_ obstacles: [MovingSphericalExclusionRegion],
+    staticObstacles: [SphericalExclusionRegion], frame: Frame, origin: BodyIdentifier) throws {
+    guard obstacles.count <= 10_000 - staticObstacles.count,
+          Set(obstacles.map(\.identifier) + staticObstacles.map(\.identifier)).count ==
+            obstacles.count + staticObstacles.count else { throw BrachistochroneRouteError.invalidObstacle }
+    guard obstacles.allSatisfy({ $0.centreProvider.frame === frame }) else { throw SpacecraftDynamicsError.frameMismatch }
+    guard obstacles.allSatisfy({ $0.centreProvider.origin == origin }) else { throw BrachistochroneRouteError.originMismatch }
+}
+
+func movingClearance(leg: WaypointBrachistochroneLeg, index: Int,
+                     obstacle: MovingSphericalExclusionRegion, checks: inout Int) throws -> BrachistochroneRouteClearance {
+    let provider = obstacle.centreProvider
+    guard provider.coverage.contains(leg.departureEpoch), provider.coverage.contains(leg.arrivalEpoch) else {
+        throw BrachistochroneRouteError.movingObstacleOutsideCoverage(index: index, obstacle: obstacle.identifier)
+    }
+    var pending = [(leg.controls, leg.departureEpoch, leg.arrivalEpoch, 0)]
+    var lowerBound = Double.infinity
+    while let (polygon, start, end, depth) = pending.popLast() {
+        checks += 1
+        guard checks <= 1_000_000 else { throw BrachistochroneRouteError.clearanceLimitExceeded }
+        let half = try end.duration(since: start).seconds / 2
+        let middle = try start.advanced(by: Duration(seconds: half))
+        let epochs = [start, middle, end]
+        let positions = [polygon[0], bezierPoint(polygon, 0.5), polygon[3]]
+        var centres: [SIMD3<Double>] = []
+        for (epoch, position) in zip(epochs, positions) {
+            let centre = try provider.state(at: epoch).position
+            centres.append(centre)
+            let distance = routeNorm(position-centre)
+            guard distance.isFinite else { throw BrachistochroneError.numericalRangeExceeded }
+            guard distance > obstacle.exclusionRadiusMetres else {
+                throw BrachistochroneRouteError.obstructedLeg(index: index, obstacle: obstacle.identifier)
+            }
+        }
+        let centre = centres[1]
+        let reach = obstacle.maximumCentreSpeedMetresPerSecond *
+            max(try middle.duration(since: start).seconds, try end.duration(since: middle).seconds)
+        let scale = max(1, max(routeNorm(centre), polygon.map(routeNorm).max()!))
+        let roundoff = 1024 * Double.ulpOfOne * max(scale, reach)
+        var offset = SIMD3<Double>.zero
+        for axis in 0..<3 {
+            let low = polygon.map { $0[axis] }.min()!, high = polygon.map { $0[axis] }.max()!
+            offset[axis] = max(0, max(low-centre[axis], centre[axis]-high))
+        }
+        let bound = routeNorm(offset) - obstacle.exclusionRadiusMetres - reach
+        guard bound.isFinite, roundoff.isFinite else { throw BrachistochroneError.numericalRangeExceeded }
+        if bound > roundoff { lowerBound = min(lowerBound, bound-roundoff); continue }
+        guard depth < 24, middle > start, middle < end else {
+            throw BrachistochroneRouteError.unresolvedClearance(index: index, obstacle: obstacle.identifier)
+        }
+        let split = splitBezier(polygon)
+        pending.append((split.0, start, middle, depth+1))
+        pending.append((split.1, middle, end, depth+1))
+    }
+    return BrachistochroneRouteClearance(legIndex: index, obstacleIdentifier: obstacle.identifier,
+        minimumClearanceMetres: lowerBound)
+}
diff --git a/Sources/CelMek/MovingWaypointRouteTarget.swift b/Sources/CelMek/MovingWaypointRouteTarget.swift
new file mode 100644
index 0000000..2e43441
--- /dev/null
+++ b/Sources/CelMek/MovingWaypointRouteTarget.swift
@@ -0,0 +1,140 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Math
+
+public enum MovingWaypointTargetError: Error, Equatable {
+    case invalidWaypointIndex, conflictingWaypointVelocity(index: Int), waypointOutsideCoverage(index: Int)
+    case outsideCoverage, frameMismatch, epochMismatch, originMismatch, conflictingEndpointVelocity
+}
+
+public enum MovingWaypointPassageVelocity: Equatable, Sendable {
+    /// Keep an explicit waypoint velocity, or generate the usual fly-through value.
+    case preserveRouteVelocity
+    case matchProviderVelocity
+}
+
+/// A moving intermediate position constraint. Matching a body's velocity is
+/// optional: passing a stationary body must not implicitly stop the spacecraft.
+public struct MovingWaypointPassage {
+    public let provider: MovingWaypointRouteTarget
+    public let velocityMode: MovingWaypointPassageVelocity
+    public init(provider: MovingWaypointRouteTarget,
+                velocityMode: MovingWaypointPassageVelocity = .preserveRouteVelocity) {
+        self.provider = provider; self.velocityMode = velocityMode
+    }
+    public func waypoint(at epoch: Epoch, template: BrachistochroneWaypoint) throws -> BrachistochroneWaypoint {
+        let state = try provider.state(at: epoch)
+        return try BrachistochroneWaypoint(positionMetres: state.position, dwellDuration: template.dwellDuration,
+            arrivalWindow: template.arrivalWindow,
+            velocityMetresPerSecond: velocityMode == .matchProviderVelocity ? state.velocity : template.velocityMetresPerSecond)
+    }
+}
+
+extension WaypointRouteTimingPlanner {
+    static func intersectPassageCoverage(_ windows: [ClosedRange<Epoch>],
+        movingWaypoints: [Int: MovingWaypointPassage]) throws -> [ClosedRange<Epoch>] {
+        var result = windows
+        for index in movingWaypoints.keys.sorted() {
+            let coverage = movingWaypoints[index]!.provider.coverage
+            let lower = max(result[index-1].lowerBound, coverage.lowerBound)
+            let upper = min(result[index-1].upperBound, coverage.upperBound)
+            guard lower <= upper else { throw WaypointTimingSearchError.invalidCandidates }
+            result[index-1] = lower...upper
+        }
+        return result
+    }
+}
+
+/// A rendezvous target relative to an explicit physical origin. Matching uses
+/// geometric position and velocity, with no light-time or apparent-position correction.
+public struct MovingWaypointRouteTarget {
+    public let frame: Frame
+    public let origin: BodyIdentifier
+    public let coverage: ClosedRange<Epoch>
+    private let evaluate: (Epoch) throws -> CartesianState
+
+    /// For arbitrary spacecraft/state providers, the caller supplies and guarantees
+    /// physical origin and coverage. The provider must remain pure during planning.
+    public init(provider: any StateProvider, origin: BodyIdentifier, coverage: ClosedRange<Epoch>) throws {
+        try origin.validate()
+        self.frame = provider.frame; self.origin = origin; self.coverage = coverage
+        evaluate = { try provider.state(at: $0) }
+    }
+    /// Uses the ephemeris' own physical origin and coverage, with contract checking.
+    public init(ephemeris: any EphemerisProvider) throws {
+        try ephemeris.metadata.origin.validate()
+        guard ephemeris.frame === ephemeris.metadata.frame else { throw MovingWaypointTargetError.frameMismatch }
+        frame = ephemeris.frame; origin = ephemeris.metadata.origin; coverage = ephemeris.metadata.coverage
+        evaluate = { try ephemeris.checkedState(at: $0) }
+    }
+    public func state(at epoch: Epoch) throws -> CartesianState {
+        guard coverage.contains(epoch) else { throw MovingWaypointTargetError.outsideCoverage }
+        let state = try evaluate(epoch)
+        guard state.epoch == epoch else { throw MovingWaypointTargetError.epochMismatch }
+        guard state.frame === frame else { throw MovingWaypointTargetError.frameMismatch }
+        return state
+    }
+    /// Useful for a single fixed-time route. Timing planners resolve this anew
+    /// for every candidate instead of freezing a waypoint sampled at departure.
+    public func waypoint(at epoch: Epoch) throws -> BrachistochroneWaypoint {
+        let state = try state(at: epoch)
+        return try BrachistochroneWaypoint(positionMetres: state.position, arrivalEpoch: epoch,
+            velocityMetresPerSecond: state.velocity)
+    }
+}
+
+extension MovingWaypointRouteTarget {
+    /// A constant displacement in the target's native axes, retaining its velocity.
+    public func offset(positionMetres: SIMD3<Double>) throws -> MovingWaypointRouteTarget {
+        _ = try CartesianState(epoch: coverage.lowerBound, frame: frame,
+            position: positionMetres, velocity: .zero)
+        return MovingWaypointRouteTarget(frame: frame, origin: origin, coverage: coverage) { epoch in
+            let base = try self.state(at: epoch)
+            return try CartesianState(epoch: epoch, frame: frame, position: base.position + positionMetres,
+                velocity: base.velocity, acceleration: base.acceleration)
+        }
+    }
+
+    /// A constant target-relative displacement expressed in possibly rotating axes.
+    /// Only axes and their derivatives are used; the axes frame's translation is
+    /// ignored because the physical centre is supplied by this target.
+    public func offset(positionMetres: SIMD3<Double>, in axes: Frame,
+                       using tree: FrameTree) throws -> MovingWaypointRouteTarget {
+        _ = try CartesianState(epoch: coverage.lowerBound, frame: axes,
+            position: positionMetres, velocity: .zero)
+        _ = try tree.transform(from: axes, to: frame, at: coverage.lowerBound)
+        return MovingWaypointRouteTarget(frame: frame, origin: origin, coverage: coverage) { epoch in
+            let base = try self.state(at: epoch)
+            let transform = try tree.transform(from: axes, to: frame, at: epoch)
+            let r = transform.rotation.matrix * positionMetres
+            let v = offsetCross(transform.angularVelocity, r)
+            let a = offsetCross(transform.angularAcceleration, r) + offsetCross(transform.angularVelocity, v)
+            return try CartesianState(epoch: epoch, frame: frame, position: base.position + r,
+                velocity: base.velocity + v, acceleration: base.acceleration.map { $0 + a })
+        }
+    }
+
+    private init(frame: Frame, origin: BodyIdentifier, coverage: ClosedRange<Epoch>,
+                 evaluate: @escaping (Epoch) throws -> CartesianState) {
+        self.frame = frame; self.origin = origin; self.coverage = coverage; self.evaluate = evaluate
+    }
+}
+
+private func offsetCross(_ a: SIMD3<Double>, _ b: SIMD3<Double>) -> SIMD3<Double> {
+    SIMD3(a.y*b.z-a.z*b.y, a.z*b.x-a.x*b.z, a.x*b.y-a.y*b.x)
+}
diff --git a/Sources/CelMek/NumericalEncounterSequence.swift b/Sources/CelMek/NumericalEncounterSequence.swift
new file mode 100644
index 0000000..50b8503
--- /dev/null
+++ b/Sources/CelMek/NumericalEncounterSequence.swift
@@ -0,0 +1,342 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+public enum NumericalSequenceError: Error, Equatable {
+    case invalidInput, queryLimitReached, constraintViolation(String), insufficientReserve
+}
+public struct NumericalEncounterRequirement {
+    public let identifier: String
+    public let target: MovingWaypointRouteTarget
+    public let epoch: Epoch
+    public let window: ClosedRange<Epoch>
+    public let matchVelocity: Bool
+    public let positionToleranceMetres: Double
+    public let velocityToleranceMetresPerSecond: Double
+    public let minimumPassageSpeedMetresPerSecond: Double
+    public let closestApproachTarget: MovingWaypointRouteTarget
+    public init(identifier: String, target: MovingWaypointRouteTarget, epoch: Epoch, window: ClosedRange<Epoch>,
+        matchVelocity: Bool = false, positionToleranceMetres: Double = 1,
+        velocityToleranceMetresPerSecond: Double = 0.001, minimumPassageSpeedMetresPerSecond: Double = 0,
+        closestApproachTarget: MovingWaypointRouteTarget? = nil) throws {
+        guard !identifier.isEmpty, window.contains(epoch), window.lowerBound >= target.coverage.lowerBound,
+              window.upperBound <= target.coverage.upperBound,
+              [positionToleranceMetres,velocityToleranceMetresPerSecond].allSatisfy({ $0.isFinite && $0 > 0 }),
+              minimumPassageSpeedMetresPerSecond.isFinite, minimumPassageSpeedMetresPerSecond >= 0 else { throw NumericalSequenceError.invalidInput }
+        if let closestApproachTarget {
+            guard closestApproachTarget.frame === target.frame, closestApproachTarget.origin == target.origin,
+                  closestApproachTarget.coverage.lowerBound <= window.lowerBound,
+                  closestApproachTarget.coverage.upperBound >= window.upperBound else { throw NumericalSequenceError.invalidInput }
+        }
+        self.identifier = identifier; self.target = target; self.epoch = epoch; self.window = window
+        self.matchVelocity = matchVelocity; self.positionToleranceMetres = positionToleranceMetres
+        self.velocityToleranceMetresPerSecond = velocityToleranceMetresPerSecond
+        self.minimumPassageSpeedMetresPerSecond = minimumPassageSpeedMetresPerSecond
+        self.closestApproachTarget = closestApproachTarget ?? target
+    }
+    func shifted(to epoch: Epoch) throws -> Self {
+        try Self(identifier: identifier,target: target,epoch: epoch,window: window,matchVelocity: matchVelocity,
+            positionToleranceMetres: positionToleranceMetres,velocityToleranceMetresPerSecond: velocityToleranceMetresPerSecond,
+            minimumPassageSpeedMetresPerSecond: minimumPassageSpeedMetresPerSecond,closestApproachTarget: closestApproachTarget)
+    }
+}
+public struct NumericalSequenceClearance {
+    public let identifier: String
+    public let centre: MovingWaypointRouteTarget
+    public let minimumDistanceMetres: Double
+    /// Caller-guaranteed global relative-speed bound. Enables conservative interval
+    /// certification; observed speeds alone cannot establish a between-sample bound.
+    public let relativeSpeedBoundMetresPerSecond: Double?
+    public init(identifier: String, centre: MovingWaypointRouteTarget, minimumDistanceMetres: Double,
+        relativeSpeedBoundMetresPerSecond: Double? = nil) throws {
+        guard !identifier.isEmpty, minimumDistanceMetres.isFinite, minimumDistanceMetres > 0,
+              relativeSpeedBoundMetresPerSecond == nil || (relativeSpeedBoundMetresPerSecond!.isFinite && relativeSpeedBoundMetresPerSecond! >= 0) else {
+            throw NumericalSequenceError.invalidInput
+        }
+        self.identifier = identifier; self.centre = centre; self.minimumDistanceMetres = minimumDistanceMetres
+        self.relativeSpeedBoundMetresPerSecond = relativeSpeedBoundMetresPerSecond
+    }
+}
+public enum NumericalSequenceCheckStatus: Equatable { case satisfied, violated, unresolved }
+public struct NumericalSequenceClearanceReport {
+    public let identifier: String
+    public let status: NumericalSequenceCheckStatus
+    public let minimumSampledDistanceMetres: Double
+    public let usesCallerSpeedBound: Bool
+}
+public struct NumericalSequenceConstraints {
+    public let clearances: [NumericalSequenceClearance]
+    public let physical: WaypointRoutePhysicalConstraints
+    public let minimumRemainingPropellantKilograms: Double
+    public let maximumThrustNewtons: Double?
+    public init(clearances: [NumericalSequenceClearance] = [], physical: WaypointRoutePhysicalConstraints = .unconstrained,
+        minimumRemainingPropellantKilograms: Double = 0, maximumThrustNewtons: Double? = nil) throws {
+        guard clearances.count <= 100, Set(clearances.map(\.identifier)).count == clearances.count,
+              minimumRemainingPropellantKilograms.isFinite, minimumRemainingPropellantKilograms >= 0,
+              maximumThrustNewtons == nil || (maximumThrustNewtons!.isFinite && maximumThrustNewtons! > 0) else { throw NumericalSequenceError.invalidInput }
+        self.clearances = clearances; self.physical = physical
+        self.minimumRemainingPropellantKilograms = minimumRemainingPropellantKilograms; self.maximumThrustNewtons = maximumThrustNewtons
+    }
+}
+public struct NumericalEncounterResidual {
+    public let identifier: String
+    public let epoch: Epoch
+    public let state: SpacecraftState
+    public let positionErrorMetres: Double
+    public let relativeSpeedMetresPerSecond: Double
+    public let satisfied: Bool
+    public let closestApproachEpoch: Epoch
+    public let closestApproachDistanceMetres: Double
+    public let localizationBracketSeconds: Double
+}
+public struct NumericalSequenceEvaluation {
+    public let nodes: [DeepSpaceManeuverNode]
+    public let requirements: [NumericalEncounterRequirement]
+    public let arrivalState: SpacecraftState
+    public let encounters: [NumericalEncounterResidual]
+    public let clearance: [NumericalSequenceClearanceReport]
+    public let finalHeatJoules: Double?
+    public let stateQueries: Int
+    public let normalizedResidual: Double
+    public let propellantUsedKilograms: Double
+    public var constraintsResolved: Bool { clearance.allSatisfy { $0.status == .satisfied } }
+    public var converged: Bool { encounters.allSatisfy(\.satisfied) && constraintsResolved }
+    public let provenance: String
+    public let forceModelTypes: [String]
+    public let contextOrigin: BodyIdentifier
+    public let numericalOptions: NumericalPropagationOptions
+    public let eventOptions: PropagationEventOptions
+    public let maximumStateQueries: Int
+}
+/// No reset at encounters: all queries replay the actual command sequence from
+/// one mass-aware seed in one physical origin, under the supplied force models.
+public struct NumericalEncounterTrajectory: SpacecraftStateProvider {
+    public let initialState: SpacecraftState
+    public let arrivalEpoch: Epoch
+    public let nodes: [DeepSpaceManeuverNode]
+    public let context: ForceEvaluationContext
+    public let backgroundModels: [any ForceModel]
+    public let options: NumericalPropagationOptions
+    public var frame: Frame { initialState.frame }
+    public init(initialState: SpacecraftState, arrivalEpoch: Epoch, nodes: [DeepSpaceManeuverNode],
+        context: ForceEvaluationContext, backgroundModels: [any ForceModel],
+        options: NumericalPropagationOptions = .preset(for: .high)) throws {
+        guard arrivalEpoch > initialState.epoch, nodes.count <= 100, context.frame === initialState.frame else { throw NumericalSequenceError.invalidInput }
+        var last: Epoch?
+        for node in nodes.sorted(by: { sequenceInterval($0).lowerBound < sequenceInterval($1).lowerBound }) {
+            let interval = sequenceInterval(node)
+            guard interval.lowerBound >= initialState.epoch, interval.upperBound <= arrivalEpoch,
+                  last == nil || interval.lowerBound > last! else { throw NumericalSequenceError.invalidInput }
+            switch node.command {
+            case .impulse(let maneuver,_): guard maneuver.frame === initialState.frame else { throw SpacecraftDynamicsError.frameMismatch }
+            case .finiteBurn(let burn): guard burn.thrust.frame === initialState.frame else { throw SpacecraftDynamicsError.frameMismatch }
+            }
+            last = interval.upperBound
+        }
+        self.initialState = initialState; self.arrivalEpoch = arrivalEpoch; self.nodes = nodes; self.context = context
+        self.backgroundModels = backgroundModels; self.options = options
+    }
+    public func state(at epoch: Epoch) throws -> CartesianState { try spacecraftState(at: epoch).cartesian }
+    public func spacecraftState(at epoch: Epoch) throws -> SpacecraftState {
+        guard epoch >= initialState.epoch, epoch <= arrivalEpoch else { throw LambertTransferPlanningError.outsideFlight }
+        var prefix: [DeepSpaceManeuverNode] = []
+        for node in nodes {
+            switch node.command {
+            case .impulse(let maneuver,_): if maneuver.epoch <= epoch { prefix.append(node) }
+            case .finiteBurn(let burn):
+                if burn.start < epoch {
+                    let truncated = try FiniteBurn(start: burn.start,end: min(epoch,burn.end),thrust: burn.thrust)
+                    prefix.append(try DeepSpaceManeuverNode(window: node.window,command: .finiteBurn(truncated)))
+                }
+            }
+        }
+        return try DeepSpaceManeuverNode.execute(prefix,initialState: initialState,arrivalEpoch: epoch,
+            context: context,backgroundModels: backgroundModels,options: options)
+    }
+}
+func sequenceInterval(_ node: DeepSpaceManeuverNode) -> ClosedRange<Epoch> {
+    switch node.command { case .impulse(let m,_): return m.epoch...m.epoch
+    case .finiteBurn(let b): return b.start...b.end }
+}
+private struct SequenceReserveMonitor: ForceModel {
+    let minimum: Double
+    func contribution(for state: SpacecraftState, in context: ForceEvaluationContext) throws -> ForceContribution {
+        guard state.mass.propellantMassKilograms >= minimum else { throw NumericalSequenceError.insufficientReserve }
+        return try ForceContribution(epoch: state.epoch,frame: state.frame,accelerationMetresPerSecondSquared: .zero)
+    }
+}
+private struct SequenceAttitudeMonitor: ForceModel {
+    let cone: WaypointThrustCone
+    let nodes: [DeepSpaceManeuverNode]
+    func contribution(for state: SpacecraftState, in context: ForceEvaluationContext) throws -> ForceContribution {
+        for (index,node) in nodes.enumerated() {
+            if case .finiteBurn(let burn) = node.command, state.epoch >= burn.start, state.epoch < burn.end {
+                try cone.check(burn.thrust.direction*burn.thrust.thrustNewtons,at: state.epoch,leg: index)
+            }
+        }
+        return try ForceContribution(epoch: state.epoch,frame: state.frame,accelerationMetresPerSecondSquared: .zero)
+    }
+}
+private struct MovingClosestApproachEvent: PropagationEventDetector {
+    let identifier: String
+    let target: MovingWaypointRouteTarget
+    let direction: EventCrossingDirection = .increasing
+    let action: PropagationEventAction = .record
+    func value(at state: SpacecraftState) throws -> Double {
+        let body = try target.state(at: state.epoch)
+        return ((state.cartesian.position-body.position)*(state.cartesian.velocity-body.velocity)).sum()
+    }
+}
+private final class SequenceQueryCounter { var count = 0 }
+private struct CountedSequenceTrajectory: SpacecraftStateProvider {
+    let base: NumericalEncounterTrajectory
+    let counter: SequenceQueryCounter
+    let limit: Int
+    var frame: Frame { base.frame }
+    func state(at epoch: Epoch) throws -> CartesianState { try spacecraftState(at: epoch).cartesian }
+    func spacecraftState(at epoch: Epoch) throws -> SpacecraftState {
+        guard counter.count < limit else { throw NumericalSequenceError.queryLimitReached }
+        counter.count += 1
+        return try base.spacecraftState(at: epoch)
+    }
+}
+public enum NumericalEncounterSequence {
+    public static func evaluate(initialState: SpacecraftState, arrivalEpoch: Epoch, nodes: [DeepSpaceManeuverNode],
+        requirements: [NumericalEncounterRequirement], context: ForceEvaluationContext, backgroundModels: [any ForceModel],
+        constraints: NumericalSequenceConstraints = try! NumericalSequenceConstraints(),
+        numericalOptions: NumericalPropagationOptions = .preset(for: .high),
+        eventOptions: PropagationEventOptions = try! PropagationEventOptions(), maximumStateQueries: Int = 10_000) throws -> NumericalSequenceEvaluation {
+        guard !requirements.isEmpty, requirements.count <= 100, (1...100_000).contains(maximumStateQueries),
+              Set(requirements.map(\.identifier)).count == requirements.count,
+              zip(requirements,requirements.dropFirst()).allSatisfy({ $0.epoch < $1.epoch }),
+              requirements.allSatisfy({ $0.epoch > initialState.epoch && $0.epoch <= arrivalEpoch &&
+                  $0.target.origin == context.origin && $0.target.frame === context.frame }) else { throw NumericalSequenceError.invalidInput }
+        try constraints.physical.validate(frame: context.frame)
+        guard constraints.clearances.allSatisfy({ $0.centre.frame === context.frame && $0.centre.origin == context.origin &&
+            $0.centre.coverage.lowerBound <= initialState.epoch && $0.centre.coverage.upperBound >= arrivalEpoch }) else { throw NumericalSequenceError.invalidInput }
+        var models = backgroundModels
+        if constraints.minimumRemainingPropellantKilograms > 0 { models.append(SequenceReserveMonitor(minimum: constraints.minimumRemainingPropellantKilograms)) }
+        if let cone = constraints.physical.thrustCone {
+            // Impulsive engine orientation/thermal feasibility cannot be established
+            // from a delta-v alone: require finite commands for these constraints.
+            guard !nodes.contains(where: { if case .impulse = $0.command { return true }; return false }) else { throw NumericalSequenceError.constraintViolation("attitude requires finite commands") }
+            models.append(SequenceAttitudeMonitor(cone: cone,nodes: nodes))
+        }
+        if constraints.physical.thermalEnvelope != nil || constraints.maximumThrustNewtons != nil {
+            guard !nodes.contains(where: { if case .impulse = $0.command { return true }; return false }) else { throw NumericalSequenceError.constraintViolation("thermal/engine constraints require finite commands") }
+        }
+        for node in nodes {
+            if case .finiteBurn(let burn) = node.command, let ceiling = constraints.maximumThrustNewtons,
+               burn.thrust.thrustNewtons > ceiling { throw NumericalSequenceError.constraintViolation("engine ceiling") }
+        }
+        let trajectory = try NumericalEncounterTrajectory(initialState: initialState,arrivalEpoch: arrivalEpoch,nodes: nodes,
+            context: context,backgroundModels: models,options: numericalOptions)
+        let counter = SequenceQueryCounter(), counted = CountedSequenceTrajectory(base: trajectory,counter: counter,limit: maximumStateQueries)
+        let arrival = try counted.spacecraftState(at: arrivalEpoch)
+        guard arrival.mass.propellantMassKilograms >= constraints.minimumRemainingPropellantKilograms else { throw NumericalSequenceError.insufficientReserve }
+        var residuals: [NumericalEncounterResidual] = [], score = 0.0
+        for requirement in requirements {
+            let state = try counted.spacecraftState(at: requirement.epoch), target = try requirement.target.state(at: requirement.epoch)
+            let position = routeNorm(state.cartesian.position-target.position), speed = routeNorm(state.cartesian.velocity-target.velocity)
+            var residual = position/requirement.positionToleranceMetres
+            if requirement.matchVelocity { residual = hypot(residual,speed/requirement.velocityToleranceMetresPerSecond) }
+            else if speed <= requirement.minimumPassageSpeedMetresPerSecond { residual = hypot(residual,1+(requirement.minimumPassageSpeedMetresPerSecond-speed)/requirement.velocityToleranceMetresPerSecond) }
+            score = hypot(score,residual)
+            let start = max(initialState.epoch,requirement.window.lowerBound), end = min(arrivalEpoch,requirement.window.upperBound)
+            let event = MovingClosestApproachEvent(identifier: requirement.identifier,target: requirement.closestApproachTarget)
+            // Split at every impulse/engine boundary: crossing localization must
+            // never span a discontinuous velocity command.
+            var dates = [start,end]
+            for node in nodes { for date in [sequenceInterval(node).lowerBound,sequenceInterval(node).upperBound] where date > start && date < end { dates.append(date) } }
+            dates = Array(Set(dates)).sorted()
+            var candidates: [(SpacecraftState,Double)] = try dates.map { (try counted.spacecraftState(at: $0),0) }
+            for (a,b) in zip(dates,dates.dropFirst()) {
+                // Endpoint impulses are right-continuous. Their epoch is already
+                // included as a candidate; a bracket ending there is conservatively
+                // excluded from event localization to avoid a false jump root.
+                let upper: Epoch
+                if nodes.contains(where: { if case .impulse(let m,_) = $0.command { return m.epoch == b }; return false }) {
+                    upper = try b.advanced(by: Duration(seconds: -min(eventOptions.timeToleranceSeconds,try b.duration(since: a).seconds/2)))
+                } else { upper = b }
+                if upper > a {
+                    let events = try EventDetectedPropagation(trajectory: counted,detectors: [event],options: eventOptions)
+                        .propagation(from: a,to: upper)
+                    candidates += events.events.map { ($0.state,$0.bracketDurationSeconds) }
+                }
+            }
+            let closest = try candidates.map { candidate in
+                (candidate.0,candidate.1,routeNorm(candidate.0.cartesian.position - (try requirement.closestApproachTarget.state(at: candidate.0.epoch)).position))
+            }.min { $0.2 < $1.2 }!
+            residuals.append(NumericalEncounterResidual(identifier: requirement.identifier,epoch: requirement.epoch,state: state,
+                positionErrorMetres: position,relativeSpeedMetresPerSecond: speed,
+                satisfied: position <= requirement.positionToleranceMetres && (requirement.matchVelocity ? speed <= requirement.velocityToleranceMetresPerSecond : speed > requirement.minimumPassageSpeedMetresPerSecond),
+                closestApproachEpoch: closest.0.epoch,closestApproachDistanceMetres: closest.2,localizationBracketSeconds: closest.1))
+        }
+        var clearanceReports: [NumericalSequenceClearanceReport] = []
+        var clearancePenalty = 0.0
+        if !constraints.clearances.isEmpty {
+            let seconds = try arrivalEpoch.duration(since: initialState.epoch).seconds
+            let countDouble = ceil(seconds/eventOptions.maximumCheckIntervalSeconds)
+            guard countDouble.isFinite, countDouble <= Double(maximumStateQueries) else { throw NumericalSequenceError.queryLimitReached }
+            let count = max(1,Int(countDouble))
+            let states = try (0...count).map { index in
+                try counted.spacecraftState(at: index == count ? arrivalEpoch : initialState.epoch.advanced(by: Duration(seconds: seconds*Double(index)/Double(count))))
+            }
+            for clearance in constraints.clearances {
+                var distances: [Double] = [], speedValid = true
+                for state in states {
+                    let centre = try clearance.centre.state(at: state.epoch)
+                    distances.append(routeNorm(state.cartesian.position-centre.position))
+                    if let bound = clearance.relativeSpeedBoundMetresPerSecond,
+                       routeNorm(state.cartesian.velocity-centre.velocity) > bound*(1+1e-12) { speedValid = false }
+                }
+                var status: NumericalSequenceCheckStatus = .unresolved
+                if distances.min()! < clearance.minimumDistanceMetres || !speedValid { status = .violated }
+                else if let bound = clearance.relativeSpeedBoundMetresPerSecond {
+                    let dt = seconds/Double(count)
+                    if zip(distances,distances.dropFirst()).allSatisfy({ min($0,$1)-bound*dt/2 >= clearance.minimumDistanceMetres }) { status = .satisfied }
+                }
+                if status == .violated {
+                    clearancePenalty = hypot(clearancePenalty,1+max(0,clearance.minimumDistanceMetres-distances.min()!)/clearance.minimumDistanceMetres)
+                }
+                clearanceReports.append(NumericalSequenceClearanceReport(identifier: clearance.identifier,status: status,
+                    minimumSampledDistanceMetres: distances.min()!,usesCallerSpeedBound: clearance.relativeSpeedBoundMetresPerSecond != nil))
+            }
+        }
+        var heat = constraints.physical.thermalEnvelope?.initialHeatJoules
+        if let envelope = constraints.physical.thermalEnvelope {
+            var dates = [initialState.epoch,arrivalEpoch]
+            for node in nodes { dates += [sequenceInterval(node).lowerBound,sequenceInterval(node).upperBound] }
+            dates = Array(Set(dates)).sorted()
+            for (index,pair) in zip(dates,dates.dropFirst()).enumerated() {
+                var thrust = 0.0
+                for node in nodes { if case .finiteBurn(let burn) = node.command, pair.0 >= burn.start, pair.0 < burn.end { thrust += burn.thrust.thrustNewtons } }
+                heat = try envelope.advance(heat: heat!,duration: pair.1.duration(since: pair.0).seconds,thrustCeiling: thrust,leg: index)
+            }
+        }
+        score = hypot(score,clearancePenalty)
+        guard !score.isNaN else { throw NumericalSequenceError.invalidInput }
+        return NumericalSequenceEvaluation(nodes: nodes,requirements: requirements,arrivalState: arrival,encounters: residuals,
+            clearance: clearanceReports,finalHeatJoules: heat,stateQueries: counter.count,normalizedResidual: score,
+            propellantUsedKilograms: initialState.mass.propellantMassKilograms-arrival.mass.propellantMassKilograms,
+            provenance: "Continuous numerical replay under caller-supplied forces; localized moving-target closest approaches; sampled clearance with optional caller-guaranteed speed envelopes. Local error tolerances are not global accuracy certificates.",
+            forceModelTypes: backgroundModels.map { String(reflecting: type(of: $0)) },contextOrigin: context.origin,
+            numericalOptions: numericalOptions,eventOptions: eventOptions,maximumStateQueries: maximumStateQueries)
+    }
+}
diff --git a/Sources/CelMek/NumericalSpacecraftPropagator.swift b/Sources/CelMek/NumericalSpacecraftPropagator.swift
new file mode 100644
index 0000000..4c75c96
--- /dev/null
+++ b/Sources/CelMek/NumericalSpacecraftPropagator.swift
@@ -0,0 +1,222 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+public enum NumericalPropagationError: Error, Equatable {
+    case invalidOptions, stepLimitExceeded, evaluationLimitExceeded
+    case minimumStepReached, epochResolutionExceeded, propellantDepleted, numericalRangeExceeded
+}
+
+/// Local embedded-error tolerances, not certified global/physical accuracy bounds.
+public struct NumericalPropagationOptions: Equatable, Sendable {
+    public let absolutePositionToleranceMetres: Double
+    public let absoluteVelocityToleranceMetresPerSecond: Double
+    public let absolutePropellantToleranceKilograms: Double
+    public let relativeTolerance: Double
+    public let initialStepSeconds, minimumStepSeconds, maximumStepSeconds: Double
+    public let maximumStepAttempts, maximumDerivativeEvaluations: Int
+    public init(absolutePositionToleranceMetres: Double = 1e-3,
+                absoluteVelocityToleranceMetresPerSecond: Double = 1e-6,
+                absolutePropellantToleranceKilograms: Double = 1e-9,
+                relativeTolerance: Double = 1e-9, initialStepSeconds: Double = 10,
+                minimumStepSeconds: Double = 1e-6, maximumStepSeconds: Double = 300,
+                maximumStepAttempts: Int = 100_000, maximumDerivativeEvaluations: Int = 700_001) throws {
+        guard [absolutePositionToleranceMetres,absoluteVelocityToleranceMetresPerSecond,
+               absolutePropellantToleranceKilograms,initialStepSeconds,minimumStepSeconds,maximumStepSeconds]
+            .allSatisfy({ $0.isFinite && $0 > 0 }), relativeTolerance.isFinite, relativeTolerance >= 0,
+              minimumStepSeconds <= initialStepSeconds, initialStepSeconds <= maximumStepSeconds,
+              maximumStepAttempts > 0, maximumDerivativeEvaluations > 0 else {
+            throw NumericalPropagationError.invalidOptions
+        }
+        self.absolutePositionToleranceMetres = absolutePositionToleranceMetres
+        self.absoluteVelocityToleranceMetresPerSecond = absoluteVelocityToleranceMetresPerSecond
+        self.absolutePropellantToleranceKilograms = absolutePropellantToleranceKilograms
+        self.relativeTolerance = relativeTolerance; self.initialStepSeconds = initialStepSeconds
+        self.minimumStepSeconds = minimumStepSeconds; self.maximumStepSeconds = maximumStepSeconds
+        self.maximumStepAttempts = maximumStepAttempts; self.maximumDerivativeEvaluations = maximumDerivativeEvaluations
+    }
+}
+
+extension NumericalPropagationOptions {
+    /// Version 1 local-error presets. These change numerical tolerances only;
+    /// every level evaluates all supplied force models with the same RK method.
+    public static func preset(for accuracy: AccuracyLevel) -> Self {
+        let position, velocity, mass, relative: Double
+        switch accuracy {
+        case .low: (position,velocity,mass,relative) = (10,1e-2,1e-4,1e-5)
+        case .balanced: (position,velocity,mass,relative) = (1e-1,1e-4,1e-6,1e-7)
+        case .high: (position,velocity,mass,relative) = (1e-3,1e-6,1e-9,1e-9)
+        case .full: (position,velocity,mass,relative) = (1e-5,1e-8,1e-11,1e-11)
+        }
+        return try! Self(absolutePositionToleranceMetres: position,
+            absoluteVelocityToleranceMetresPerSecond: velocity,
+            absolutePropellantToleranceKilograms: mass,relativeTolerance: relative)
+    }
+}
+
+public struct NumericalPropagationDiagnostics {
+    public let acceptedSteps, rejectedSteps, derivativeEvaluations: Int
+    public let smallestAcceptedStepSeconds, largestAcceptedStepSeconds: Double?
+    public let maximumAcceptedNormalizedError: Double
+}
+
+public struct NumericalSpacecraftPropagationResult {
+    public let state: SpacecraftState
+    public let diagnostics: NumericalPropagationDiagnostics
+    let rawPropellantMassKilograms: Double
+}
+
+/// Native Swift Dormand–Prince 5(4), integrating position/velocity/propellant.
+/// Every query restarts from the immutable seed, including backward queries.
+/// Internal adaptive steps are independent of renderer cadence; no dense output,
+/// force discontinuity detection or propellant-depletion event localization yet.
+public struct NumericalSpacecraftPropagator: StateProvider {
+    public let initialState: SpacecraftState
+    public let dynamics: SpacecraftDynamics
+    public let options: NumericalPropagationOptions
+    /// Requested hint, nil for the direct-options initializer.
+    public let accuracy: AccuracyLevel?
+    /// Selected preset, nil when explicit settings override it. This reports a
+    /// configuration, not achieved trajectory accuracy or a physical error bound.
+    public let effectiveAccuracy: AccuracyLevel?
+    public var frame: Frame { initialState.frame }
+    public var referenceEpoch: Epoch { initialState.epoch }
+    public init(initialState: SpacecraftState, dynamics: SpacecraftDynamics,
+                options: NumericalPropagationOptions = try! NumericalPropagationOptions()) throws {
+        guard initialState.frame === dynamics.context.frame else { throw SpacecraftDynamicsError.frameMismatch }
+        self.initialState = initialState; self.dynamics = dynamics; self.options = options
+        accuracy = nil; effectiveAccuracy = nil
+    }
+    /// Explicit options are authoritative; the requested hint remains visible,
+    /// while effectiveAccuracy is unspecified for a custom configuration.
+    public init(initialState: SpacecraftState, dynamics: SpacecraftDynamics,
+                accuracy: AccuracyLevel, options: NumericalPropagationOptions? = nil) throws {
+        guard initialState.frame === dynamics.context.frame else { throw SpacecraftDynamicsError.frameMismatch }
+        self.initialState = initialState; self.dynamics = dynamics
+        self.options = options ?? .preset(for: accuracy)
+        self.accuracy = accuracy; effectiveAccuracy = options == nil ? accuracy : nil
+    }
+    public func state(at epoch: Epoch) throws -> CartesianState { try propagation(at: epoch).state.cartesian }
+    public func spacecraftState(at epoch: Epoch) throws -> SpacecraftState { try propagation(at: epoch).state }
+
+    public func propagation(at target: Epoch) throws -> NumericalSpacecraftPropagationResult {
+        try propagation(at: target, acceptedStep: nil)
+    }
+    /// Internal observer receives only error-controlled accepted steps. Returning
+    /// false ends this integration at the accepted endpoint for event restart.
+    func propagation(at target: Epoch,
+                     acceptedStep: ((SpacecraftState, SpacecraftState) throws -> Bool)?,
+                     extendFuelBoundary: Bool = false,
+                     fuelStep: ((SpacecraftState, Double, SpacecraftState, Double) throws -> Bool)? = nil) throws -> NumericalSpacecraftPropagationResult {
+        var current = referenceEpoch
+        let forward = target >= current
+        var y = [initialState.cartesian.position.x,initialState.cartesian.position.y,initialState.cartesian.position.z,
+                 initialState.cartesian.velocity.x,initialState.cartesian.velocity.y,initialState.cartesian.velocity.z,
+                 initialState.mass.propellantMassKilograms]
+        var accepted = 0, rejected = 0, evaluations = 0
+        var smallest: Double?, largest: Double?, maxError = 0.0
+        var nextStep = options.initialStepSeconds
+        func state(_ values: [Double], at epoch: Epoch, acceleration: SIMD3<Double>? = nil) throws -> SpacecraftState {
+            guard values.allSatisfy(\.isFinite) else { throw NumericalPropagationError.numericalRangeExceeded }
+            return SpacecraftState(cartesian: try CartesianState(epoch: epoch,frame: frame,
+                position: SIMD3(values[0],values[1],values[2]),velocity: SIMD3(values[3],values[4],values[5]),acceleration: acceleration),
+                mass: try SpacecraftMassProperties(dryMassKilograms: initialState.mass.dryMassKilograms,propellantMassKilograms: extendFuelBoundary ? max(0,values[6]) : values[6]))
+        }
+        func derivative(_ values: [Double], at epoch: Epoch) throws -> [Double] {
+            guard evaluations < options.maximumDerivativeEvaluations else { throw NumericalPropagationError.evaluationLimitExceeded }
+            evaluations += 1
+            let local = try state(values,at: epoch)
+            let d = try extendFuelBoundary ? dynamics.fuelBoundaryDerivative(at: local) : dynamics.derivative(at: local)
+            return [d.positionRateMetresPerSecond.x,d.positionRateMetresPerSecond.y,d.positionRateMetresPerSecond.z,
+                    d.velocityRateMetresPerSecondSquared.x,d.velocityRateMetresPerSecondSquared.y,
+                    d.velocityRateMetresPerSecondSquared.z,d.propellantMassRateKilogramsPerSecond]
+        }
+        let c: [Double] = [0.0,1.0/5,3.0/10,4.0/5,8.0/9,1,1]
+        let a: [[Double]] = [[],[1.0/5],[3.0/40,9.0/40],[44.0/45,-56.0/15,32.0/9],
+            [19372.0/6561,-25360.0/2187,64448.0/6561,-212.0/729],
+            [9017.0/3168,-355.0/33,46732.0/5247,49.0/176,-5103.0/18656],
+            [35.0/384,0,500.0/1113,125.0/192,-2187.0/6784,11.0/84]]
+        let errorWeights: [Double] = [71.0/57600,0,-71.0/16695,71.0/1920,-17253.0/339200,22.0/525,-1.0/40]
+        while current != target {
+            guard accepted+rejected < options.maximumStepAttempts else { throw NumericalPropagationError.stepLimitExceeded }
+            let remaining = try forward ? target.duration(since: current) : current.duration(since: target)
+            let magnitude = min(nextStep,remaining.seconds)
+            let final = magnitude >= remaining.seconds
+            let end = final ? target : try current.advanced(by: Duration(seconds: forward ? magnitude : -magnitude))
+            guard forward ? end > current : end < current else { throw NumericalPropagationError.epochResolutionExceeded }
+            let h = try end.duration(since: current).seconds
+            var stages: [[Double]] = [], candidate = y, depleted = false
+            for stage in 0..<7 {
+                var values = y
+                for component in 0..<7 {
+                    var sum = 0.0
+                    for j in 0..<stage { sum += a[stage][j]*stages[j][component] }
+                    values[component] += h*sum
+                }
+                guard values.allSatisfy(\.isFinite) else { throw NumericalPropagationError.numericalRangeExceeded }
+                if values[6] < 0 && !extendFuelBoundary { depleted = true; break }
+                let date = stage == 0 ? current : c[stage] == 1 ? end : try current.advanced(by: Duration(seconds: c[stage]*h))
+                if c[stage] > 0 && c[stage] < 1 && !(forward ? date > current && date < end : date < current && date > end) {
+                    throw NumericalPropagationError.epochResolutionExceeded
+                }
+                stages.append(try derivative(values,at: date))
+                if stage == 6 { candidate = values }
+            }
+            var error = Double.infinity
+            if !depleted {
+                error = 0
+                for i in 0..<7 {
+                    let absolute = i < 3 ? options.absolutePositionToleranceMetres : i < 6
+                        ? options.absoluteVelocityToleranceMetresPerSecond : options.absolutePropellantToleranceKilograms
+                    let scale = absolute + options.relativeTolerance*max(abs(y[i]),abs(candidate[i]))
+                    var weighted = 0.0
+                    for stage in 0..<7 { weighted += errorWeights[stage]*stages[stage][i] }
+                    let value = abs(h*weighted)/scale
+                    guard scale.isFinite, value.isFinite else { throw NumericalPropagationError.numericalRangeExceeded }
+                    error = max(error,value)
+                }
+            }
+            if error <= 1 {
+                let previous = acceptedStep == nil && fuelStep == nil ? nil : try state(y, at: current)
+                let previousFuel = y[6]
+                y = candidate; current = end; accepted += 1
+                smallest = min(smallest ?? abs(h),abs(h)); largest = max(largest ?? abs(h),abs(h))
+                maxError = max(maxError,error)
+                if let fuelStep, let previous,
+                   try !fuelStep(previous, previousFuel, state(y, at: current), y[6]) { break }
+                if let acceptedStep, let previous,
+                   try !acceptedStep(previous, state(y, at: current)) { break }
+                let factor = error == 0 ? 5 : min(5,max(0.2,0.9*pow(error,-0.2)))
+                nextStep = max(options.minimumStepSeconds,min(options.maximumStepSeconds,abs(h)*factor))
+            } else {
+                rejected += 1
+                guard magnitude > options.minimumStepSeconds else {
+                    throw depleted ? NumericalPropagationError.propellantDepleted : NumericalPropagationError.minimumStepReached
+                }
+                let factor = depleted ? 0.5 : max(0.1,min(0.5,0.9*pow(error,-0.2)))
+                nextStep = max(options.minimumStepSeconds,magnitude*factor)
+            }
+        }
+        let finalDerivative = try derivative(y,at: current)
+        let result = try state(y,at: current,acceleration: SIMD3(finalDerivative[3],finalDerivative[4],finalDerivative[5]))
+        return NumericalSpacecraftPropagationResult(state: result,diagnostics: NumericalPropagationDiagnostics(
+            acceptedSteps: accepted,rejectedSteps: rejected,derivativeEvaluations: evaluations,
+            smallestAcceptedStepSeconds: smallest,largestAcceptedStepSeconds: largest,maximumAcceptedNormalizedError: maxError), rawPropellantMassKilograms: y[6])
+    }
+}
diff --git a/Sources/CelMek/NutationAndTheObliquityOfTheEcliptic.swift b/Sources/CelMek/NutationAndTheObliquityOfTheEcliptic.swift
index df2ad44..a52f324 100644
--- a/Sources/CelMek/NutationAndTheObliquityOfTheEcliptic.swift
+++ b/Sources/CelMek/NutationAndTheObliquityOfTheEcliptic.swift
@@ -46,11 +46,14 @@ public struct Nutation {
   let nutationInObliquity: Double
 }
 
-// Returns nutation in longitude and nutation in obliquity
+/// Four-term approximation returning nutation in longitude and obliquity in radians.
+/// For tighter accuracy, use `nutation(jd:)`. Measured differences from that
+/// implementation are documented in NUTATION_ACCURACY.md; they are not bounds
+/// on error relative to observed celestial orientation.
 public func fastNutation(jd: Double) -> Nutation {
   let T = julianCenturiesFromJ2000(jd: jd)
   let Omega = longitudeOfAscendingNodeOfMoonsMeanOrbitOnEcliptic(T: T).deg
-  let L = normalize(degrees: (280.4665 + 36000.7698*T))
+  let L = normalize(degrees: (280.4665 + 36000.7698*T)).deg
   let Lprime = normalize(degrees: (218.3165 + 481267.8813 * T)).deg
   let x = (-17.20 * sin(Omega)) - 1.32 * sin(2*L) - 0.23 * sin(2*Lprime) + 0.21 * sin(2*Omega)
   let y = 9.20 * cos(Omega) + 0.57 * cos(2*L) + 0.10 * cos(2*Lprime) - 0.09 * cos(2*Omega)
@@ -177,7 +180,7 @@ public func fastMeanObliquityOfTheEcliptic(jd: Double) -> Double {
   let T = julianCenturiesFromJ2000(jd: jd)
   let T2 = T * T
   let T3 = T * T * T
-  let e0 = AngleOfArc(degrees: 23, minutes: 26, seconds: 21.448).toRad() - 46.8150.arcsec * T - 0.00059.arcsec * T2 + 0.001813.arcsec * T3
+  let e0 = AngleOfArc(degrees: 23, minutes: 26, seconds: 21.448).radians - 46.8150.arcsec * T - 0.00059.arcsec * T2 + 0.001813.arcsec * T3
   return e0
 }
 
@@ -196,7 +199,7 @@ public func meanObliquityOfTheEcliptic(jd: Double) -> Double {
   let U10 = U5 * U5
 
 
-  let a = AngleOfArc(degrees: 23, minutes: 26, seconds: 21.448).toRad()
+  let a = AngleOfArc(degrees: 23, minutes: 26, seconds: 21.448).radians
   let b = -4680.93 * U
     - 1.55 * U2
     + 1999.25 * U3
diff --git a/Sources/CelMek/OsculatingOrbitalElements.swift b/Sources/CelMek/OsculatingOrbitalElements.swift
new file mode 100644
index 0000000..e9d3ff5
--- /dev/null
+++ b/Sources/CelMek/OsculatingOrbitalElements.swift
@@ -0,0 +1,209 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+public enum OrbitalElementsError: Error, Equatable {
+    case invalidElements, invalidOptions, nonInertialFrame
+    case zeroPosition, radialTrajectory, numericalRangeExceeded, anomalyOutsideConic
+}
+
+/// Thresholds for canonicalizing effectively circular/equatorial input states.
+/// Canonicalization may change the reconstructed state by these small amounts.
+public struct OrbitalElementConversionOptions: Equatable, Sendable {
+    public let circularEccentricityTolerance: Double
+    public let equatorialSineTolerance: Double
+    public init(circularEccentricityTolerance: Double = 1e-12,
+                equatorialSineTolerance: Double = 1e-12) throws {
+        guard circularEccentricityTolerance.isFinite, circularEccentricityTolerance >= 0,
+              circularEccentricityTolerance < 1,
+              equatorialSineTolerance.isFinite, equatorialSineTolerance >= 0,
+              equatorialSineTolerance < 1 else { throw OrbitalElementsError.invalidOptions }
+        self.circularEccentricityTolerance = circularEccentricityTolerance
+        self.equatorialSineTolerance = equatorialSineTolerance
+    }
+    public static let `default` = try! OrbitalElementConversionOptions()
+}
+
+public enum OrbitalAngleConvention: Equatable, Sendable {
+    case classical
+    /// Argument of periapsis is zero; trueAnomaly is argument of latitude.
+    case circularInclined
+    /// Node is zero; periapsis is measured from +X in the direction of motion.
+    case eccentricEquatorial
+    /// Node and periapsis are zero; trueAnomaly is longitude in direction of motion.
+    case circularEquatorial
+}
+
+public enum OrbitalConic: Equatable, Sendable { case elliptic, parabolic, hyperbolic }
+
+/// Instantaneous two-body osculating elements, in right-handed inertial axes
+/// centred on centralBody. Lengths are metres and all angles are radians.
+/// These are independent of the legacy Meeus mean planetary elements.
+public struct OsculatingOrbitalElements {
+    public let epoch: Epoch
+    public let frame: Frame
+    public let centralBody: BodyIdentifier
+    public let gravitationalParameter: GravitationalParameter
+    public let semiLatusRectumMetres: Double
+    public let eccentricity: Double
+    public let inclination: Double
+    public let longitudeOfAscendingNode: Double
+    public let argumentOfPeriapsis: Double
+    /// Signed principal angle [-pi, pi]; for unbound orbits this selects the
+    /// physically reachable branch, subject to 1 + e cos(nu) > 0.
+    public let trueAnomaly: Double
+    public let angleConvention: OrbitalAngleConvention
+
+    public var conic: OrbitalConic {
+        eccentricity < 1 ? .elliptic : eccentricity == 1 ? .parabolic : .hyperbolic
+    }
+    /// Nil for a parabola; negative for a hyperbola. Near unity, p is better conditioned.
+    public var semiMajorAxisMetres: Double? {
+        guard eccentricity != 1 else { return nil }
+        return semiLatusRectumMetres / ((1 - eccentricity) * (1 + eccentricity))
+    }
+    public var periapsisDistanceMetres: Double { semiLatusRectumMetres / (1 + eccentricity) }
+
+    public init(epoch: Epoch, frame: Frame, centralBody: BodyIdentifier,
+                gravitationalParameter: GravitationalParameter,
+                semiLatusRectumMetres: Double, eccentricity: Double,
+                inclination: Double, longitudeOfAscendingNode: Double,
+                argumentOfPeriapsis: Double, trueAnomaly: Double) throws {
+        guard frame.pseudoInertial else { throw OrbitalElementsError.nonInertialFrame }
+        try centralBody.validate()
+        guard semiLatusRectumMetres.isFinite, semiLatusRectumMetres > 0,
+              eccentricity.isFinite, eccentricity >= 0,
+              inclination.isFinite, inclination >= 0, inclination <= .pi,
+              longitudeOfAscendingNode.isFinite, argumentOfPeriapsis.isFinite,
+              trueAnomaly.isFinite else { throw OrbitalElementsError.invalidElements }
+        let anomaly = trueAnomaly.remainder(dividingBy: 2 * .pi)
+        _ = try Self.radialDenominator(eccentricity: eccentricity, trueAnomaly: anomaly)
+        // Canonicalize exact singularities, preserving the combined phase.
+        let equatorial = inclination == 0 || inclination == .pi
+        let circular = eccentricity == 0
+        let direction = inclination == .pi ? -1.0 : 1.0
+        let inputNode = Self.positiveAngle(longitudeOfAscendingNode)
+        let inputPeriapsis = Self.positiveAngle(argumentOfPeriapsis)
+        let node = equatorial ? 0 : inputNode
+        let periapsis = equatorial ? inputPeriapsis + direction * inputNode : inputPeriapsis
+        self.epoch = epoch; self.frame = frame; self.centralBody = centralBody
+        self.gravitationalParameter = gravitationalParameter
+        self.semiLatusRectumMetres = semiLatusRectumMetres; self.eccentricity = eccentricity
+        self.inclination = inclination
+        self.longitudeOfAscendingNode = Self.positiveAngle(node)
+        self.argumentOfPeriapsis = circular ? 0 : Self.positiveAngle(periapsis)
+        self.trueAnomaly = (anomaly + (circular ? periapsis : 0)).remainder(dividingBy: 2 * .pi)
+        self.angleConvention = Self.convention(circular: circular, equatorial: equatorial)
+    }
+
+    /// The state must already be relative to centralBody, including velocity,
+    /// in nonrotating axes. No origin translation or frame conversion is inferred.
+    public init(state: CartesianState, centralBody: BodyIdentifier,
+                gravitationalParameter: GravitationalParameter,
+                options: OrbitalElementConversionOptions = .default) throws {
+        guard state.frame.pseudoInertial else { throw OrbitalElementsError.nonInertialFrame }
+        let r = state.position, v = state.velocity
+        let radius = Self.norm(r), speed = Self.norm(v)
+        guard radius > 0 else { throw OrbitalElementsError.zeroPosition }
+        guard radius.isFinite, speed.isFinite else { throw OrbitalElementsError.numericalRangeExceeded }
+        guard speed > 0 else { throw OrbitalElementsError.radialTrajectory }
+        let radial = r / radius
+        let angular = Self.cross(radial, v / speed)
+        let angularNorm = Self.norm(angular)
+        guard angularNorm > 0 else { throw OrbitalElementsError.radialTrajectory }
+        let normal = angular / angularNorm
+        let mu = gravitationalParameter.cubicMetresPerSecondSquared
+        let h = radius * (speed * angularNorm)
+        let p = (h / mu) * h
+        let eccentricityVector = Self.cross(v, normal) * (h / mu) - radial
+        var e = Self.norm(eccentricityVector)
+        guard p.isFinite, p > 0, e.isFinite else { throw OrbitalElementsError.numericalRangeExceeded }
+        let nodeVector = SIMD3<Double>(-normal.y, normal.x, 0)
+        let sineInclination = Self.norm(nodeVector)
+        var inclination = atan2(sineInclination, normal.z)
+        let equatorial = sineInclination <= options.equatorialSineTolerance
+        let circular = e <= options.circularEccentricityTolerance
+        if circular { e = 0 }
+        if equatorial { inclination = normal.z >= 0 ? 0 : .pi }
+        let nodeAxis = equatorial ? SIMD3<Double>(1, 0, 0) : nodeVector / sineInclination
+        let periapsisAxis = circular ? nodeAxis : eccentricityVector / Self.norm(eccentricityVector)
+        let node = equatorial ? 0 : atan2(nodeAxis.y, nodeAxis.x)
+        let periapsis = circular ? 0 : Self.angle(from: nodeAxis, to: periapsisAxis, normal: normal)
+        let anomaly = Self.angle(from: periapsisAxis, to: radial, normal: normal)
+        try self.init(epoch: state.epoch, frame: state.frame, centralBody: centralBody,
+                      gravitationalParameter: gravitationalParameter, semiLatusRectumMetres: p,
+                      eccentricity: e, inclination: inclination, longitudeOfAscendingNode: node,
+                      argumentOfPeriapsis: periapsis, trueAnomaly: anomaly)
+    }
+
+    /// Reconstructs position and velocity at the element epoch. Acceleration is
+    /// unavailable: extracting elements does not assert a two-body force model.
+    public func cartesianState() throws -> CartesianState {
+        let p = semiLatusRectumMetres, e = eccentricity, nu = trueAnomaly
+        let denominator = try Self.radialDenominator(eccentricity: e, trueAnomaly: nu)
+        let radius = p / denominator
+        let velocityScale = sqrt(gravitationalParameter.cubicMetresPerSecondSquared) / sqrt(p)
+        let cO = cos(longitudeOfAscendingNode), sO = sin(longitudeOfAscendingNode)
+        let co = cos(argumentOfPeriapsis), so = sin(argumentOfPeriapsis)
+        let ci = cos(inclination), si = sin(inclination)
+        let x = SIMD3<Double>(cO * co - sO * so * ci, sO * co + cO * so * ci, so * si)
+        let y = SIMD3<Double>(-cO * so - sO * co * ci, -sO * so + cO * co * ci, co * si)
+        let position = radius * (cos(nu) * x + sin(nu) * y)
+        let transverse = abs(nu) > .pi / 2 ? (e - 1) + 2 * pow(cos(nu / 2), 2) : e + cos(nu)
+        let velocity = velocityScale * (-sin(nu) * x + transverse * y)
+        guard [position.x, position.y, position.z, velocity.x, velocity.y, velocity.z].allSatisfy(\.isFinite) else {
+            throw OrbitalElementsError.numericalRangeExceeded
+        }
+        return try CartesianState(epoch: epoch, frame: frame, position: position, velocity: velocity)
+    }
+
+    /// Dynamical anomaly corresponding to this element set's principal phase.
+    public func conicAnomaly() throws -> ConicAnomaly {
+        try ConicAnomaly.from(trueAnomaly: trueAnomaly, eccentricity: eccentricity)
+    }
+
+    static func radialDenominator(eccentricity e: Double, trueAnomaly nu: Double) throws -> Double {
+        if e == 1 && abs(nu) >= .pi { throw OrbitalElementsError.anomalyOutsideConic }
+        if e > 1 && abs(nu) >= acos(-1 / e) { throw OrbitalElementsError.anomalyOutsideConic }
+        // 1 + e cos(nu), written to retain the small positive apoapsis
+        // denominator when e approaches one. FMA reduces cancellation for e>1.
+        let c = cos(nu / 2)
+        let value = abs(nu) > .pi / 2 ? fma(e, 2 * c * c, 1 - e) : fma(e, cos(nu), 1)
+        guard value.isFinite else { throw OrbitalElementsError.numericalRangeExceeded }
+        guard value > 0 else { throw OrbitalElementsError.anomalyOutsideConic }
+        return value
+    }
+
+    private static func norm(_ x: SIMD3<Double>) -> Double { hypot(hypot(x.x, x.y), x.z) }
+    private static func cross(_ a: SIMD3<Double>, _ b: SIMD3<Double>) -> SIMD3<Double> {
+        SIMD3(a.y*b.z-a.z*b.y, a.z*b.x-a.x*b.z, a.x*b.y-a.y*b.x)
+    }
+    private static func dot(_ a: SIMD3<Double>, _ b: SIMD3<Double>) -> Double { a.x*b.x+a.y*b.y+a.z*b.z }
+    private static func angle(from a: SIMD3<Double>, to b: SIMD3<Double>, normal: SIMD3<Double>) -> Double {
+        atan2(dot(cross(a, b), normal), dot(a, b))
+    }
+    private static func positiveAngle(_ x: Double) -> Double {
+        let value = x.remainder(dividingBy: 2 * .pi)
+        return value < 0 ? value + 2 * .pi : value
+    }
+    private static func convention(circular: Bool, equatorial: Bool) -> OrbitalAngleConvention {
+        if circular { return equatorial ? .circularEquatorial : .circularInclined }
+        return equatorial ? .eccentricEquatorial : .classical
+    }
+}
diff --git a/Sources/CelMek/ParallacticAngle.swift b/Sources/CelMek/ParallacticAngle.swift
index d5a44f8..a92315d 100644
--- a/Sources/CelMek/ParallacticAngle.swift
+++ b/Sources/CelMek/ParallacticAngle.swift
@@ -22,7 +22,7 @@ public func parallacticAngle(geographicLatitudeOfObserver: Double, declination:
   // Meeus, Equation 14.1
   let 𝜑 = geographicLatitudeOfObserver
   let 𝛿 = declination
-  let H = rightAscension.toRad()
+  let H = rightAscension.radians
 
   let q = atan2(sin(H), tan(𝜑) * cos(𝛿) - sin(𝛿) * cos(H))
   return q
diff --git a/Sources/CelMek/ParkingOrbitTransfer.swift b/Sources/CelMek/ParkingOrbitTransfer.swift
new file mode 100644
index 0000000..592d139
--- /dev/null
+++ b/Sources/CelMek/ParkingOrbitTransfer.swift
@@ -0,0 +1,140 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+public enum ParkingOrbitTransferError: Error, Equatable {
+    case invalidRadius, unsafePeriapsis, invalidExcessSpeed, invalidDirections
+    case excessSpeedMismatch, zeroExcessDirection, numericalRangeExceeded
+}
+public enum ParkingOrbitManeuverKind: Equatable, Sendable { case escape, capture }
+
+/// Tangential periapsis impulse between a circular parking orbit and a local
+/// hyperbolic (or zero-excess parabolic) orbit. All radii are centre-relative.
+public struct ParkingOrbitTransfer {
+    public let gravitationalParameter: GravitationalParameter
+    public let parkingRadiusMetres, bodyRadiusMetres, minimumPeriapsisAltitudeMetres: Double
+    public let hyperbolicExcessSpeedMetresPerSecond: Double
+    public let circularSpeedMetresPerSecond, escapeSpeedMetresPerSecond, periapsisSpeedMetresPerSecond: Double
+    public let deltaVelocityMetresPerSecond, characteristicEnergySquareMetresPerSquareSecond: Double
+    public let hyperbolicEccentricity: Double
+    /// Acute angle between the asymptotic line and the periapsis apse line.
+    public let asymptoteAngleRadians: Double
+    private let radialAsymptoteComponent, tangentialAsymptoteComponent: Double
+
+    public init(parkingRadiusMetres: Double, bodyRadiusMetres: Double,
+                minimumPeriapsisAltitudeMetres: Double = 0,
+                hyperbolicExcessSpeedMetresPerSecond: Double,
+                gravitationalParameter: GravitationalParameter) throws {
+        guard parkingRadiusMetres.isFinite, parkingRadiusMetres > 0,
+              bodyRadiusMetres.isFinite, bodyRadiusMetres > 0,
+              minimumPeriapsisAltitudeMetres.isFinite, minimumPeriapsisAltitudeMetres >= 0,
+              (bodyRadiusMetres+minimumPeriapsisAltitudeMetres).isFinite else {
+            throw ParkingOrbitTransferError.invalidRadius
+        }
+        guard parkingRadiusMetres > bodyRadiusMetres,
+              parkingRadiusMetres >= bodyRadiusMetres+minimumPeriapsisAltitudeMetres else {
+            throw ParkingOrbitTransferError.unsafePeriapsis
+        }
+        let excess = hyperbolicExcessSpeedMetresPerSecond
+        guard excess.isFinite, excess >= 0 else { throw ParkingOrbitTransferError.invalidExcessSpeed }
+        guard gravitationalParameter.convention == .newtonian || gravitationalParameter.convention == .ttCompatible else {
+            throw PropagationError.incompatibleGMConvention
+        }
+        let circular = sqrt(gravitationalParameter.cubicMetresPerSecondSquared)/sqrt(parkingRadiusMetres)
+        let escape = sqrt(2)*circular, periapsis = hypot(excess, escape)
+        let ratio = excess/circular, x = ratio*ratio, eccentricity = 1+x
+        let radial = 1/eccentricity
+        // Avoid cancellation in 1-1/e² near the parabolic limit and e² overflow.
+        let tangent = sqrt(x)/eccentricity*sqrt(2+x)
+        let c3 = excess*excess, delta = periapsis-circular
+        guard [circular, escape, periapsis, eccentricity, radial, tangent, c3, delta].allSatisfy(\.isFinite),
+              circular > 0, escape > 0, periapsis > 0, delta > 0 else {
+            throw ParkingOrbitTransferError.numericalRangeExceeded
+        }
+        self.gravitationalParameter = gravitationalParameter
+        self.parkingRadiusMetres = parkingRadiusMetres; self.bodyRadiusMetres = bodyRadiusMetres
+        self.minimumPeriapsisAltitudeMetres = minimumPeriapsisAltitudeMetres
+        self.hyperbolicExcessSpeedMetresPerSecond = excess
+        circularSpeedMetresPerSecond = circular; escapeSpeedMetresPerSecond = escape
+        periapsisSpeedMetresPerSecond = periapsis; deltaVelocityMetresPerSecond = delta
+        characteristicEnergySquareMetresPerSquareSecond = c3; hyperbolicEccentricity = eccentricity
+        radialAsymptoteComponent = radial; tangentialAsymptoteComponent = tangent
+        asymptoteAngleRadians = atan2(tangent, radial)
+    }
+
+    /// The excess vector is the actual incoming/outgoing velocity at infinity in
+    /// body-centred native axes. The normal fixes the right-handed motion plane.
+    /// A zero-excess scalar calculation has no vector-defined asymptote plan.
+    public func plan(kind: ParkingOrbitManeuverKind, periapsisEpoch: Epoch, frame: Frame,
+        centralBody: BodyIdentifier, hyperbolicExcessVelocityMetresPerSecond: SIMD3<Double>,
+        orbitalNormal: SIMD3<Double>, relativeSpeedTolerance: Double = 1e-12,
+        propagationOptions: TwoBodyPropagationOptions = try! TwoBodyPropagationOptions()) throws -> ParkingOrbitManeuverPlan {
+        guard frame.pseudoInertial else { throw PropagationError.nonInertialFrame }
+        guard hyperbolicExcessSpeedMetresPerSecond > 0, tangentialAsymptoteComponent > 0 else {
+            throw ParkingOrbitTransferError.zeroExcessDirection
+        }
+        let magnitude = parkingNorm(hyperbolicExcessVelocityMetresPerSecond)
+        guard magnitude.isFinite, magnitude > 0, relativeSpeedTolerance.isFinite,
+              relativeSpeedTolerance >= 0, relativeSpeedTolerance < 1 else { throw ParkingOrbitTransferError.invalidDirections }
+        guard abs(magnitude/hyperbolicExcessSpeedMetresPerSecond-1) <= relativeSpeedTolerance else {
+            throw ParkingOrbitTransferError.excessSpeedMismatch
+        }
+        let direction = hyperbolicExcessVelocityMetresPerSecond/magnitude
+        let normal = try parkingUnit(orbitalNormal)
+        guard abs((direction*normal).sum()) <= 1e-12 else { throw ParkingOrbitTransferError.invalidDirections }
+        let perpendicular = try parkingUnit(parkingCross(normal, direction))
+        let c = radialAsymptoteComponent, s = tangentialAsymptoteComponent
+        let radial = kind == .escape ? -c*direction-s*perpendicular : c*direction-s*perpendicular
+        let tangent = kind == .escape ? s*direction-c*perpendicular : s*direction+c*perpendicular
+        let position = radial*parkingRadiusMetres
+        let beforeSpeed = kind == .escape ? circularSpeedMetresPerSecond : periapsisSpeedMetresPerSecond
+        let afterSpeed = kind == .escape ? periapsisSpeedMetresPerSecond : circularSpeedMetresPerSecond
+        let before = try CartesianState(epoch: periapsisEpoch, frame: frame, position: position,
+            velocity: tangent*beforeSpeed)
+        let after = try CartesianState(epoch: periapsisEpoch, frame: frame, position: position,
+            velocity: tangent*afterSpeed)
+        let impulse = try ImpulsiveManeuver(epoch: periapsisEpoch, frame: frame,
+            deltaVelocityMetresPerSecond: tangent*(kind == .escape ? deltaVelocityMetresPerSecond : -deltaVelocityMetresPerSecond))
+        let base = try TwoBodyPropagator(initialState: before, centralBody: centralBody,
+            gravitationalParameter: gravitationalParameter, options: propagationOptions)
+        let trajectory = try ManeuveredTwoBodyPropagator(base: base, maneuvers: [impulse])
+        return ParkingOrbitManeuverPlan(kind: kind, transfer: self,
+            hyperbolicExcessVelocityMetresPerSecond: hyperbolicExcessVelocityMetresPerSecond,
+            periapsisRadialDirection: radial, periapsisProgradeDirection: tangent,
+            preBurnState: before, postBurnState: after, maneuver: impulse, trajectory: trajectory)
+    }
+}
+public struct ParkingOrbitManeuverPlan {
+    public let kind: ParkingOrbitManeuverKind
+    public let transfer: ParkingOrbitTransfer
+    public let hyperbolicExcessVelocityMetresPerSecond: SIMD3<Double>
+    public let periapsisRadialDirection, periapsisProgradeDirection: SIMD3<Double>
+    public let preBurnState, postBurnState: CartesianState
+    public let maneuver: ImpulsiveManeuver
+    public let trajectory: ManeuveredTwoBodyPropagator
+}
+private func parkingNorm(_ v: SIMD3<Double>) -> Double { hypot(hypot(v.x,v.y),v.z) }
+private func parkingUnit(_ v: SIMD3<Double>) throws -> SIMD3<Double> {
+    let n = parkingNorm(v)
+    guard n.isFinite, n > 0 else { throw ParkingOrbitTransferError.invalidDirections }
+    return v/n
+}
+private func parkingCross(_ a: SIMD3<Double>, _ b: SIMD3<Double>) -> SIMD3<Double> {
+    SIMD3(a.y*b.z-a.z*b.y, a.z*b.x-a.x*b.z, a.x*b.y-a.y*b.x)
+}
diff --git a/Sources/CelMek/PlaneChangeImpulse.swift b/Sources/CelMek/PlaneChangeImpulse.swift
new file mode 100644
index 0000000..2466a80
--- /dev/null
+++ b/Sources/CelMek/PlaneChangeImpulse.swift
@@ -0,0 +1,61 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+public enum PlaneChangeError: Error, Equatable {
+    case invalidSpeed, invalidAngle, invalidDirections, numericalRangeExceeded
+}
+public enum PlaneChangeSense: Equatable, Sendable { case positive, negative }
+
+/// Simultaneous tangential speed and orbital-plane change at a common node.
+public struct PlaneChangeImpulse {
+    public let beforeSpeedMetresPerSecond, afterSpeedMetresPerSecond, angleRadians: Double
+    public let deltaVelocityMetresPerSecond: Double
+    public init(beforeSpeedMetresPerSecond: Double, afterSpeedMetresPerSecond: Double, angleRadians: Double) throws {
+        guard [beforeSpeedMetresPerSecond, afterSpeedMetresPerSecond].allSatisfy({ $0.isFinite && $0 >= 0 }) else {
+            throw PlaneChangeError.invalidSpeed
+        }
+        guard angleRadians.isFinite, angleRadians >= 0, angleRadians <= .pi else { throw PlaneChangeError.invalidAngle }
+        let lateral = (sqrt(beforeSpeedMetresPerSecond)*sin(angleRadians/2))*(2*sqrt(afterSpeedMetresPerSecond))
+        let delta = hypot(afterSpeedMetresPerSecond-beforeSpeedMetresPerSecond, lateral)
+        guard delta.isFinite else { throw PlaneChangeError.numericalRangeExceeded }
+        self.beforeSpeedMetresPerSecond = beforeSpeedMetresPerSecond
+        self.afterSpeedMetresPerSecond = afterSpeedMetresPerSecond
+        self.angleRadians = angleRadians; deltaVelocityMetresPerSecond = delta
+    }
+    /// Positive sense rotates velocity by the right-hand rule about the supplied
+    /// outward radius. Both velocities are tangential; radial changes are excluded.
+    public func maneuver(epoch: Epoch, frame: Frame, radialDirection: SIMD3<Double>,
+                         progradeDirection: SIMD3<Double>, sense: PlaneChangeSense = .positive) throws -> ImpulsiveManeuver {
+        guard frame.pseudoInertial else { throw PropagationError.nonInertialFrame }
+        let radial = try planeUnit(radialDirection), supplied = try planeUnit(progradeDirection)
+        let dot = (radial*supplied).sum()
+        guard abs(dot) <= 1e-12 else { throw PlaneChangeError.invalidDirections }
+        let tangent = try planeUnit(supplied-radial*dot)
+        let rotation = Quaternion(angle: sense == .positive ? angleRadians : -angleRadians, axis: radial)
+        let final = rotation.matrix*tangent
+        return try ImpulsiveManeuver(epoch: epoch, frame: frame,
+            deltaVelocityMetresPerSecond: final*afterSpeedMetresPerSecond-tangent*beforeSpeedMetresPerSecond)
+    }
+}
+private func planeUnit(_ v: SIMD3<Double>) throws -> SIMD3<Double> {
+    let n = hypot(hypot(v.x,v.y),v.z)
+    guard n.isFinite, n > 0 else { throw PlaneChangeError.invalidDirections }
+    return v/n
+}
diff --git a/Sources/CelMek/PlanetaryConjunctions.swift b/Sources/CelMek/PlanetaryConjunctions.swift
new file mode 100644
index 0000000..84a0fb5
--- /dev/null
+++ b/Sources/CelMek/PlanetaryConjunctions.swift
@@ -0,0 +1,20 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2023 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+
+import Foundation
+// Meeus, chapter 18
diff --git a/Sources/CelMek/PointMassGravity.swift b/Sources/CelMek/PointMassGravity.swift
new file mode 100644
index 0000000..a7c8a06
--- /dev/null
+++ b/Sources/CelMek/PointMassGravity.swift
@@ -0,0 +1,104 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+public enum GravityModelError: Error, Equatable {
+    case incompatibleGMConvention, originMismatch, identicalBodies, missingEphemerides
+    case singularPosition, numericalRangeExceeded
+}
+
+private func validateGravityGM(_ gm: GravitationalParameter) throws {
+    guard gm.convention == .newtonian || gm.convention == .ttCompatible else {
+        throw GravityModelError.incompatibleGMConvention
+    }
+}
+private func validateGravityState(_ state: SpacecraftState, _ context: ForceEvaluationContext) throws {
+    guard state.frame === context.frame else { throw SpacecraftDynamicsError.frameMismatch }
+    guard state.frame.pseudoInertial else { throw SpacecraftDynamicsError.nonInertialFrame }
+}
+private func gravityNorm(_ v: SIMD3<Double>) -> Double { hypot(hypot(v.x,v.y),v.z) }
+private func attraction(_ displacement: SIMD3<Double>, mu: Double) throws -> SIMD3<Double> {
+    let distance = gravityNorm(displacement)
+    guard distance.isFinite else { throw GravityModelError.numericalRangeExceeded }
+    guard distance > 0 else { throw GravityModelError.singularPosition }
+    let result = (displacement/distance)*((mu/distance)/distance)
+    guard [result.x,result.y,result.z].allSatisfy(\.isFinite) else { throw GravityModelError.numericalRangeExceeded }
+    return result
+}
+
+/// Newtonian point-mass gravity for a body located at the propagation origin.
+/// No radius/softening, collision handling or implicit body GM lookup.
+public struct CentralGravity: ForceModel {
+    public let body: BodyIdentifier
+    public let gravitationalParameter: GravitationalParameter
+    public init(body: BodyIdentifier, gravitationalParameter: GravitationalParameter) throws {
+        try body.validate(); try validateGravityGM(gravitationalParameter)
+        self.body = body; self.gravitationalParameter = gravitationalParameter
+    }
+    public func contribution(for state: SpacecraftState,in context: ForceEvaluationContext) throws -> ForceContribution {
+        try validateGravityState(state,context)
+        guard context.origin == body else { throw GravityModelError.originMismatch }
+        return try ForceContribution(epoch: state.epoch,frame: state.frame,
+            accelerationMetresPerSecondSquared: attraction(-state.cartesian.position,mu: gravitationalParameter.cubicMetresPerSecondSquared))
+    }
+}
+
+/// Differential perturbation relative to a central body's nonrotating origin:
+/// μ[(R-r)/|R-r|³ - R/|R|³]. The indirect term removes that body's acceleration
+/// of the origin; this is not absolute attraction in a barycentric inertial frame.
+public struct ThirdBodyGravity: ForceModel {
+    public let body: BodyIdentifier
+    public let centralBody: BodyIdentifier
+    public let gravitationalParameter: GravitationalParameter
+    public init(body: BodyIdentifier, centralBody: BodyIdentifier, gravitationalParameter: GravitationalParameter) throws {
+        try body.validate(); try centralBody.validate(); try validateGravityGM(gravitationalParameter)
+        guard body != centralBody else { throw GravityModelError.identicalBodies }
+        self.body = body; self.centralBody = centralBody; self.gravitationalParameter = gravitationalParameter
+    }
+    public func contribution(for state: SpacecraftState,in context: ForceEvaluationContext) throws -> ForceContribution {
+        try validateGravityState(state,context)
+        guard context.origin == centralBody else { throw GravityModelError.originMismatch }
+        guard let collection = context.ephemerides else { throw GravityModelError.missingEphemerides }
+        let provider = try collection.provider(for: body)
+        guard provider.metadata.origin == centralBody else { throw GravityModelError.originMismatch }
+        guard provider.frame === state.frame else { throw SpacecraftDynamicsError.frameMismatch }
+        let location = try provider.checkedState(at: state.epoch).position
+        let radius = gravityNorm(location)
+        guard radius.isFinite else { throw GravityModelError.numericalRangeExceeded }
+        guard radius > 0 else { throw GravityModelError.singularPosition }
+        let position = state.cartesian.position, mu = gravitationalParameter.cubicMetresPerSecondSquared
+        let acceleration: SIMD3<Double>
+        if position == .zero {
+            acceleration = .zero
+        } else if gravityNorm(position)/radius <= 0.1 {
+            // Rationalize s³-1 using q = s²-1, avoiding cancellation of
+            // nearly equal accelerations when the spacecraft is near the origin.
+            let u = position/radius, n = location/radius, s = gravityNorm(n-u)
+            let q = (u*(u-2*n)).sum()
+            let f = q*(s*s+s+1)/(s+1)
+            acceleration = -(u+f*n)*(((mu/radius)/radius)/(s*s*s))
+        } else {
+            acceleration = try attraction(location-position,mu: mu)-attraction(location,mu: mu)
+        }
+        guard [acceleration.x,acceleration.y,acceleration.z].allSatisfy(\.isFinite) else {
+            throw GravityModelError.numericalRangeExceeded
+        }
+        return try ForceContribution(epoch: state.epoch,frame: state.frame,accelerationMetresPerSecondSquared: acceleration)
+    }
+}
diff --git a/Sources/CelMek/Precession.swift b/Sources/CelMek/Precession.swift
new file mode 100644
index 0000000..ae7f2f0
--- /dev/null
+++ b/Sources/CelMek/Precession.swift
@@ -0,0 +1,21 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2023 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+
+import Foundation
+
+// Meeus, chapter 21
diff --git a/Sources/CelMek/PropagationEvents.swift b/Sources/CelMek/PropagationEvents.swift
new file mode 100644
index 0000000..d32f2b9
--- /dev/null
+++ b/Sources/CelMek/PropagationEvents.swift
@@ -0,0 +1,217 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+/// Mass-aware trajectory queries, including immutable-seed numerical replay.
+public protocol SpacecraftStateProvider: StateProvider {
+    func spacecraftState(at epoch: Epoch) throws -> SpacecraftState
+}
+extension NumericalSpacecraftPropagator: SpacecraftStateProvider {}
+extension ScheduledThrustPropagator: SpacecraftStateProvider {}
+
+public enum EventCrossingDirection: Sendable { case any, increasing, decreasing }
+public enum PropagationEventAction: Sendable { case record, stop }
+public enum PropagationEventError: Error, Equatable {
+    case invalidOptions, invalidDetector, nonFiniteValue, evaluationLimitExceeded
+    case eventLimitExceeded, localizationLimitExceeded, epochResolutionExceeded
+}
+
+/// A continuous scalar zero-crossing function. Pure evaluations may be repeated
+/// and out of order. Sign direction is defined with increasing physical time.
+public protocol PropagationEventDetector {
+    var identifier: String { get }
+    var direction: EventCrossingDirection { get }
+    var action: PropagationEventAction { get }
+    func value(at state: SpacecraftState) throws -> Double
+}
+
+public struct EpochEvent: PropagationEventDetector {
+    public let identifier: String
+    public let epoch: Epoch
+    public let direction: EventCrossingDirection = .any
+    public let action: PropagationEventAction
+    public init(identifier: String, epoch: Epoch, action: PropagationEventAction = .stop) throws {
+        guard !identifier.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty else { throw PropagationEventError.invalidDetector }
+        self.identifier = identifier; self.epoch = epoch; self.action = action
+    }
+    public func value(at state: SpacecraftState) throws -> Double { try state.epoch.duration(since: epoch).seconds }
+}
+
+/// Sphere centred at a fixed location in explicit trajectory axes. The caller
+/// selects the physical origin and body radius. Moving shapes use custom detectors.
+public struct SphericalImpactEvent: PropagationEventDetector {
+    public let identifier: String
+    public let frame: Frame
+    public let centreMetres: SIMD3<Double>
+    public let radiusMetres: Double
+    public let direction: EventCrossingDirection
+    public let action: PropagationEventAction
+    public init(identifier: String, frame: Frame, centreMetres: SIMD3<Double> = .zero,
+                radiusMetres: Double, direction: EventCrossingDirection = .decreasing,
+                action: PropagationEventAction = .stop) throws {
+        guard !identifier.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty,
+              radiusMetres.isFinite, radiusMetres > 0,
+              [centreMetres.x,centreMetres.y,centreMetres.z].allSatisfy(\.isFinite) else {
+            throw PropagationEventError.invalidDetector
+        }
+        self.identifier = identifier; self.frame = frame; self.centreMetres = centreMetres
+        self.radiusMetres = radiusMetres; self.direction = direction; self.action = action
+    }
+    public func value(at state: SpacecraftState) throws -> Double {
+        guard state.frame === frame else { throw SpacecraftDynamicsError.frameMismatch }
+        let p = state.cartesian.position-centreMetres
+        return hypot(hypot(p.x,p.y),p.z)-radiusMetres
+    }
+}
+
+public struct PropagationEventOptions: Equatable, Sendable {
+    public let maximumCheckIntervalSeconds: Double
+    public let timeToleranceSeconds: Double
+    public let maximumLocalizationIterations: Int
+    public let maximumStateEvaluations: Int
+    public let maximumEvents: Int
+    public init(maximumCheckIntervalSeconds: Double = 60, timeToleranceSeconds: Double = 1e-6,
+                maximumLocalizationIterations: Int = 80, maximumStateEvaluations: Int = 100_000,
+                maximumEvents: Int = 10_000) throws {
+        guard maximumCheckIntervalSeconds.isFinite, maximumCheckIntervalSeconds > 0,
+              timeToleranceSeconds.isFinite, timeToleranceSeconds > 0,
+              maximumLocalizationIterations > 0, maximumStateEvaluations > 0, maximumEvents > 0 else {
+            throw PropagationEventError.invalidOptions
+        }
+        self.maximumCheckIntervalSeconds = maximumCheckIntervalSeconds
+        self.timeToleranceSeconds = timeToleranceSeconds
+        self.maximumLocalizationIterations = maximumLocalizationIterations
+        self.maximumStateEvaluations = maximumStateEvaluations; self.maximumEvents = maximumEvents
+    }
+}
+
+public struct PropagationEventOccurrence {
+    public let identifier: String
+    public let action: PropagationEventAction
+    public let state: SpacecraftState
+    /// Width of the final sign bracket; zero for an exactly sampled root.
+    public let bracketDurationSeconds: Double
+}
+public struct EventPropagationResult {
+    public let state: SpacecraftState
+    public let events: [PropagationEventOccurrence]
+    public let reachedTarget: Bool
+    public let stateEvaluations: Int
+}
+
+/// Bounded zero-crossing search over a mass-aware trajectory. Localization queries
+/// the actual provider (no linear state interpolation). Underlying provider errors
+/// propagate. This searches smooth trajectory segments; it does not apply impulses,
+/// change forces or localize a root beyond the provider's valid domain.
+public struct EventDetectedPropagation {
+    public let trajectory: any SpacecraftStateProvider
+    public let detectors: [any PropagationEventDetector]
+    public let options: PropagationEventOptions
+    public init(trajectory: any SpacecraftStateProvider, detectors: [any PropagationEventDetector],
+                options: PropagationEventOptions = try! PropagationEventOptions()) throws {
+        let identifiers = detectors.map { $0.identifier }
+        guard identifiers.allSatisfy({ !$0.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty }),
+              Set(identifiers).count == identifiers.count else { throw PropagationEventError.invalidDetector }
+        self.trajectory = trajectory; self.detectors = detectors; self.options = options
+    }
+
+    public func propagation(from start: Epoch, to target: Epoch, includeInitialEvents: Bool = true) throws -> EventPropagationResult {
+        var evaluations = 0, occurrences: [PropagationEventOccurrence] = []
+        func query(_ epoch: Epoch) throws -> SpacecraftState {
+            guard evaluations < options.maximumStateEvaluations else { throw PropagationEventError.evaluationLimitExceeded }
+            evaluations += 1
+            let state = try trajectory.spacecraftState(at: epoch)
+            guard state.frame === trajectory.frame else { throw SpacecraftDynamicsError.frameMismatch }
+            guard state.epoch == epoch else { throw SpacecraftDynamicsError.epochMismatch }
+            return state
+        }
+        func value(_ detector: any PropagationEventDetector, _ state: SpacecraftState) throws -> Double {
+            let result = try detector.value(at: state)
+            guard result.isFinite else { throw PropagationEventError.nonFiniteValue }
+            return result
+        }
+        func append(_ occurrence: PropagationEventOccurrence) throws {
+            guard occurrences.count < options.maximumEvents else { throw PropagationEventError.eventLimitExceeded }
+            occurrences.append(occurrence)
+        }
+        var current = try query(start)
+        var values = try detectors.map { try value($0,current) }
+        if includeInitialEvents {
+            for i in detectors.indices where values[i] == 0 {
+                try append(PropagationEventOccurrence(identifier: detectors[i].identifier, action: detectors[i].action,
+                    state: current, bracketDurationSeconds: 0))
+            }
+            if occurrences.contains(where: { $0.action == .stop }) {
+                return EventPropagationResult(state: current, events: occurrences, reachedTarget: start == target, stateEvaluations: evaluations)
+            }
+        }
+        let forward = target >= start
+        while current.epoch != target {
+            let remaining = abs(try target.duration(since: current.epoch).seconds)
+            let end = remaining <= options.maximumCheckIntervalSeconds ? target :
+                try current.epoch.advanced(by: Duration(seconds: forward ? options.maximumCheckIntervalSeconds : -options.maximumCheckIntervalSeconds))
+            guard forward ? end > current.epoch : end < current.epoch else { throw PropagationEventError.epochResolutionExceeded }
+            let next = try query(end)
+            let nextValues = try detectors.map { try value($0,next) }
+            var found: [(Int,PropagationEventOccurrence)] = []
+            for i in detectors.indices {
+                let a = values[i], b = nextValues[i], detector = detectors[i]
+                // A root at the left endpoint was already handled. Tangencies and
+                // multiple crossings within one check interval are not guaranteed.
+                guard a != 0, b == 0 || (a < 0) != (b < 0) else { continue }
+                let increasing = forward ? b > a : a > b
+                guard detector.direction == .any || (detector.direction == .increasing) == increasing else { continue }
+                var left = current, right = next, leftValue = a
+                var width = abs(try right.epoch.duration(since: left.epoch).seconds)
+                var root = next
+                if let timed = detector as? EpochEvent {
+                    root = try query(timed.epoch); width = 0
+                } else if b == 0 { width = 0 } else {
+                    var iterations = 0
+                    while width > options.timeToleranceSeconds {
+                        guard iterations < options.maximumLocalizationIterations else { throw PropagationEventError.localizationLimitExceeded }
+                        iterations += 1
+                        let date = try left.epoch.advanced(by: Duration(seconds: right.epoch.duration(since: left.epoch).seconds/2))
+                        guard date != left.epoch, date != right.epoch else { throw PropagationEventError.epochResolutionExceeded }
+                        let middle = try query(date), midValue = try value(detector,middle)
+                        if midValue == 0 { left = middle; right = middle; width = 0; break }
+                        if (midValue < 0) == (leftValue < 0) { left = middle; leftValue = midValue } else { right = middle }
+                        width = abs(try right.epoch.duration(since: left.epoch).seconds)
+                    }
+                    root = abs(try value(detector,left)) <= abs(try value(detector,right)) ? left : right
+                }
+                found.append((i,PropagationEventOccurrence(identifier: detector.identifier, action: detector.action,
+                    state: root, bracketDurationSeconds: width)))
+            }
+            found.sort {
+                if $0.1.state.epoch == $1.1.state.epoch { return $0.0 < $1.0 }
+                return forward ? $0.1.state.epoch < $1.1.state.epoch : $0.1.state.epoch > $1.1.state.epoch
+            }
+            for (_,event) in found {
+                try append(event)
+                if event.action == .stop {
+                    return EventPropagationResult(state: event.state, events: occurrences,
+                        reachedTarget: event.state.epoch == target, stateEvaluations: evaluations)
+                }
+            }
+            current = next; values = nextValues
+        }
+        return EventPropagationResult(state: current, events: occurrences, reachedTarget: true, stateEvaluations: evaluations)
+    }
+}
diff --git a/Sources/CelMek/RectangularCoordinatesOfTheSun.swift b/Sources/CelMek/RectangularCoordinatesOfTheSun.swift
new file mode 100644
index 0000000..b715c64
--- /dev/null
+++ b/Sources/CelMek/RectangularCoordinatesOfTheSun.swift
@@ -0,0 +1,20 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2023 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+
+import Foundation
+// Meeus, chapter 26
diff --git a/Sources/CelMek/ReductionOfEclipticalElementsFromOneEquinoxToAnother.swift b/Sources/CelMek/ReductionOfEclipticalElementsFromOneEquinoxToAnother.swift
new file mode 100644
index 0000000..cd6ce7f
--- /dev/null
+++ b/Sources/CelMek/ReductionOfEclipticalElementsFromOneEquinoxToAnother.swift
@@ -0,0 +1,20 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2023 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+
+import Foundation
+// Meeus, chapter 24
diff --git a/Sources/CelMek/RendererAdapter.swift b/Sources/CelMek/RendererAdapter.swift
new file mode 100644
index 0000000..023df75
--- /dev/null
+++ b/Sources/CelMek/RendererAdapter.swift
@@ -0,0 +1,70 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+
+public enum RendererAdapterError: Error, Equatable, Sendable {
+    case invalidScale, epochMismatch, frameMismatch, coordinateOverflow
+}
+
+/// Render-only coordinates in the source frame's right-handed axes.
+/// Derivatives are per simulation second; unavailable acceleration stays nil.
+public struct RenderState: Sendable, Equatable {
+    public let position: SIMD3<Float>
+    public let velocity: SIMD3<Float>
+    public let acceleration: SIMD3<Float>?
+}
+
+/// A snapshot of a moving render origin at one epoch. Convert states into the
+/// origin's frame with FrameTree before adapting them. This translates axes;
+/// it does not rotate them or define a new physical reference frame.
+public struct RendererAdapter {
+    public let origin: CartesianState
+    public let metresPerRenderUnit: Double
+
+    public init(origin: CartesianState, metresPerRenderUnit: Double = 1) throws {
+        guard metresPerRenderUnit.isFinite, metresPerRenderUnit > 0 else {
+            throw RendererAdapterError.invalidScale
+        }
+        self.origin = origin
+        self.metresPerRenderUnit = metresPerRenderUnit
+    }
+
+    /// Subtracts the origin in Double before scaling and converting to Float.
+    /// Rebuild the adapter when the origin epoch changes. Float rounding is
+    /// intentional; nonfinite intermediate or output coordinates are rejected.
+    public func adapt(_ state: CartesianState) throws -> RenderState {
+        guard state.epoch == origin.epoch else { throw RendererAdapterError.epochMismatch }
+        guard state.frame === origin.frame else { throw RendererAdapterError.frameMismatch }
+        let acceleration: SIMD3<Float>?
+        if let value = state.acceleration, let reference = origin.acceleration {
+            acceleration = try convert(value - reference)
+        } else { acceleration = nil }
+        return try RenderState(position: convert(state.position - origin.position),
+                               velocity: convert(state.velocity - origin.velocity),
+                               acceleration: acceleration)
+    }
+
+    private func convert(_ relative: SIMD3<Double>) throws -> SIMD3<Float> {
+        let scaled = relative / metresPerRenderUnit
+        let result = SIMD3<Float>(Float(scaled.x), Float(scaled.y), Float(scaled.z))
+        guard scaled.x.isFinite, scaled.y.isFinite, scaled.z.isFinite,
+              result.x.isFinite, result.y.isFinite, result.z.isFinite else {
+            throw RendererAdapterError.coordinateOverflow
+        }
+        return result
+    }
+}
diff --git a/Sources/CelMek/RigidBodyDynamics.swift b/Sources/CelMek/RigidBodyDynamics.swift
new file mode 100644
index 0000000..128aaee
--- /dev/null
+++ b/Sources/CelMek/RigidBodyDynamics.swift
@@ -0,0 +1,196 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+/// Constant centre-of-mass inertia tensor (kg m²), in body axes. Off-diagonal
+/// parameters are tensor entries, not unsigned products of inertia. Validation
+/// requires positive definiteness and physical principal-moment triangle bounds.
+public struct RigidBodyInertia {
+    public let matrix: Matrix3x3
+    private let scale: Double
+    private let factor: [Double]
+    public init(xx: Double, yy: Double, zz: Double, xy: Double = 0, xz: Double = 0, yz: Double = 0) throws {
+        let values = [xx,yy,zz,xy,xz,yz]
+        guard values.allSatisfy(\.isFinite) else { throw AttitudeError.invalidInertia }
+        scale = values.map(abs).max()!
+        guard scale > 0 else { throw AttitudeError.invalidInertia }
+        let a = xx/scale, b = yy/scale, c = zz/scale, d = xy/scale, e = xz/scale, f = yz/scale
+        guard a > 0 else { throw AttitudeError.invalidInertia }
+        let l00 = sqrt(a), l10 = d/l00, l20 = e/l00, pivot1 = b-l10*l10
+        guard pivot1 > 0 else { throw AttitudeError.invalidInertia }
+        let l11 = sqrt(pivot1), l21 = (f-l20*l10)/l11, pivot2 = c-l20*l20-l21*l21
+        guard pivot2 > 0 else { throw AttitudeError.invalidInertia }
+        let traceHalf = (a+b+c)/2, s0 = traceHalf-a, s1 = traceHalf-b, s2 = traceHalf-c
+        let tolerance = 128*Double.ulpOfOne
+        let determinant = s0*s1*s2-2*d*e*f-s0*f*f-s1*e*e-s2*d*d
+        guard [s0,s1,s2,s0*s1-d*d,s0*s2-e*e,s1*s2-f*f,determinant].allSatisfy({ $0 >= -tolerance }) else { throw AttitudeError.invalidInertia }
+        factor = [l00,l10,l20,l11,l21,sqrt(pivot2)]
+        matrix = Matrix3x3(elements: [xx,xy,xz,xy,yy,yz,xz,yz,zz])
+    }
+    public init(principalMomentsKilogramSquareMetres: SIMD3<Double>) throws {
+        try self.init(xx: principalMomentsKilogramSquareMetres.x,yy: principalMomentsKilogramSquareMetres.y,zz: principalMomentsKilogramSquareMetres.z)
+    }
+    public func angularMomentumBody(for angularVelocity: SIMD3<Double>) throws -> SIMD3<Double> {
+        guard attitudeFinite(angularVelocity) else { throw AttitudeError.invalidVector }
+        let result = matrix*angularVelocity
+        guard attitudeFinite(result) else { throw AttitudeError.numericalRangeExceeded }
+        return result
+    }
+    public func kineticEnergyJoules(for angularVelocity: SIMD3<Double>) throws -> Double {
+        let result = 0.5*(angularVelocity * (try angularMomentumBody(for: angularVelocity))).sum()
+        guard result.isFinite else { throw AttitudeError.numericalRangeExceeded }
+        return result
+    }
+    public func solve(_ torque: SIMD3<Double>) throws -> SIMD3<Double> {
+        guard attitudeFinite(torque) else { throw AttitudeError.invalidVector }
+        let rhs = torque/scale
+        let y0 = rhs.x/factor[0], y1 = (rhs.y-factor[1]*y0)/factor[3]
+        let y2 = (rhs.z-factor[2]*y0-factor[4]*y1)/factor[5]
+        let z = y2/factor[5], y = (y1-factor[4]*z)/factor[3], x = (y0-factor[1]*y-factor[2]*z)/factor[0]
+        let result = SIMD3(x,y,z)
+        guard attitudeFinite(result) else { throw AttitudeError.numericalRangeExceeded }
+        return result
+    }
+}
+public struct RotationalEvaluationContext {
+    public let inertia: RigidBodyInertia
+    public let bodyFrame: Frame
+    public let referenceContext: ForceEvaluationContext
+    public var referenceFrame: Frame { referenceContext.frame }
+    public init(inertia: RigidBodyInertia, bodyFrame: Frame, referenceContext: ForceEvaluationContext) throws {
+        guard referenceContext.frame.pseudoInertial else { throw AttitudeError.nonInertialReference }
+        guard bodyFrame !== referenceContext.frame else { throw AttitudeError.frameMismatch }
+        self.inertia = inertia; self.bodyFrame = bodyFrame; self.referenceContext = referenceContext
+    }
+}
+public struct TorqueContribution {
+    public let epoch: Epoch
+    public let bodyFrame: Frame
+    public let torqueBodyNewtonMetres: SIMD3<Double>
+    public init(epoch: Epoch, bodyFrame: Frame, torqueBodyNewtonMetres: SIMD3<Double>) throws {
+        guard attitudeFinite(torqueBodyNewtonMetres) else { throw AttitudeError.invalidVector }
+        self.epoch = epoch; self.bodyFrame = bodyFrame; self.torqueBodyNewtonMetres = torqueBodyNewtonMetres
+    }
+}
+/// Pure, repeatable evaluations. Torque acts about the spacecraft centre of mass.
+/// The optional translation is prescribed for standalone rotation, carried at
+/// every RK stage for coupled dynamics. Models must declare missing inputs as errors.
+public protocol TorqueModel {
+    func contribution(for attitude: AttitudeState, spacecraft: SpacecraftState?,
+        in context: RotationalEvaluationContext) throws -> TorqueContribution
+}
+func validateRotationalState(_ attitude: AttitudeState, spacecraft: SpacecraftState?, context: RotationalEvaluationContext) throws {
+    guard attitude.referenceFrame === context.referenceFrame, attitude.bodyFrame === context.bodyFrame else { throw AttitudeError.frameMismatch }
+    if let spacecraft {
+        guard spacecraft.frame === context.referenceFrame else { throw AttitudeError.frameMismatch }
+        guard spacecraft.epoch == attitude.epoch else { throw AttitudeError.epochMismatch }
+    }
+}
+public struct RigidBodyDerivative {
+    public let quaternionRate: Quaternion
+    public let angularAccelerationBodyRadiansPerSecondSquared: SIMD3<Double>
+}
+/// Euler equation I ωdot = τ − ω × Iω; fixed inertia and no internal wheel
+/// momentum. Actuator torques are external/ideal torques unless modelled as wrenches.
+public struct RigidBodyDynamics {
+    public let context: RotationalEvaluationContext
+    public let models: [any TorqueModel]
+    public init(context: RotationalEvaluationContext, models: [any TorqueModel] = []) { self.context = context; self.models = models }
+    public func derivative(at attitude: AttitudeState, spacecraft: SpacecraftState? = nil,
+        additionalTorqueBodyNewtonMetres: SIMD3<Double> = .zero) throws -> RigidBodyDerivative {
+        try validateRotationalState(attitude,spacecraft: spacecraft,context: context)
+        var torque = additionalTorqueBodyNewtonMetres
+        guard attitudeFinite(torque) else { throw AttitudeError.invalidVector }
+        for model in models {
+            let contribution = try model.contribution(for: attitude,spacecraft: spacecraft,in: context)
+            guard contribution.epoch == attitude.epoch else { throw AttitudeError.epochMismatch }
+            guard contribution.bodyFrame === context.bodyFrame else { throw AttitudeError.frameMismatch }
+            torque += contribution.torqueBodyNewtonMetres
+            guard attitudeFinite(torque) else { throw AttitudeError.numericalRangeExceeded }
+        }
+        let omega = attitude.angularVelocityBodyRadiansPerSecond
+        let momentum = try context.inertia.angularMomentumBody(for: omega)
+        let alpha = try context.inertia.solve(torque-attitudeCross(omega,momentum))
+        return RigidBodyDerivative(quaternionRate: 0.5*(attitude.bodyToReference*Quaternion(x: omega.x,y: omega.y,z: omega.z,w: 0)),
+            angularAccelerationBodyRadiansPerSecondSquared: alpha)
+    }
+}
+public struct ConstantBodyTorque: TorqueModel {
+    public let bodyFrame: Frame
+    public let torqueBodyNewtonMetres: SIMD3<Double>
+    public init(bodyFrame: Frame, torqueBodyNewtonMetres: SIMD3<Double>) throws {
+        guard attitudeFinite(torqueBodyNewtonMetres) else { throw AttitudeError.invalidVector }
+        self.bodyFrame = bodyFrame; self.torqueBodyNewtonMetres = torqueBodyNewtonMetres
+    }
+    public func contribution(for attitude: AttitudeState, spacecraft: SpacecraftState?, in context: RotationalEvaluationContext) throws -> TorqueContribution {
+        try validateRotationalState(attitude,spacecraft: spacecraft,context: context)
+        guard bodyFrame === context.bodyFrame else { throw AttitudeError.frameMismatch }
+        return try TorqueContribution(epoch: attitude.epoch,bodyFrame: bodyFrame,torqueBodyNewtonMetres: torqueBodyNewtonMetres)
+    }
+}
+/// Ideal bounded external torque controller; no reaction-wheel momentum,
+/// desaturation, thruster allocation, sensor delay or power model is inferred.
+public struct AttitudePDController: TorqueModel {
+    public let desired: any AttitudeProvider
+    public let proportionalGainNewtonMetres: Double
+    public let derivativeGainNewtonMetreSeconds: Double
+    public let maximumTorqueNewtonMetres: Double
+    public init(desired: any AttitudeProvider, proportionalGainNewtonMetres: Double,
+        derivativeGainNewtonMetreSeconds: Double, maximumTorqueNewtonMetres: Double) throws {
+        guard [proportionalGainNewtonMetres,derivativeGainNewtonMetreSeconds].allSatisfy({ $0.isFinite && $0 >= 0 }),
+              maximumTorqueNewtonMetres.isFinite, maximumTorqueNewtonMetres > 0 else { throw AttitudeError.invalidConfiguration }
+        self.desired = desired; self.proportionalGainNewtonMetres = proportionalGainNewtonMetres
+        self.derivativeGainNewtonMetreSeconds = derivativeGainNewtonMetreSeconds; self.maximumTorqueNewtonMetres = maximumTorqueNewtonMetres
+    }
+    public func contribution(for attitude: AttitudeState, spacecraft: SpacecraftState?, in context: RotationalEvaluationContext) throws -> TorqueContribution {
+        try validateRotationalState(attitude,spacecraft: spacecraft,context: context)
+        guard desired.referenceFrame === context.referenceFrame, desired.bodyFrame === context.bodyFrame else { throw AttitudeError.frameMismatch }
+        let goal = try desired.checkedAttitude(at: attitude.epoch)
+        var error = attitude.bodyToReference.conj*goal.bodyToReference
+        let tieAxis = [error.x,error.y,error.z].first { $0 != 0 } ?? 0
+        if error.w < 0 || (error.w == 0 && tieAxis < 0) { error = -error }
+        let goalOmega = try attitude.bodyVector(fromReference: goal.referenceVector(fromBody: goal.angularVelocityBodyRadiansPerSecond))
+        var torque = 2*proportionalGainNewtonMetres*error.vector + derivativeGainNewtonMetreSeconds*(goalOmega-attitude.angularVelocityBodyRadiansPerSecond)
+        let length = routeNorm(torque)
+        guard length.isFinite else { throw AttitudeError.numericalRangeExceeded }
+        if length > maximumTorqueNewtonMetres { torque *= maximumTorqueNewtonMetres/length }
+        return try TorqueContribution(epoch: attitude.epoch,bodyFrame: context.bodyFrame,torqueBodyNewtonMetres: torque)
+    }
+}
+/// Leading-order point-mass gravity gradient about the centre of mass:
+/// τ = 3μ/r³ rHatBody × (I rHatBody). The spacecraft must be small relative to r.
+public struct GravityGradientTorque: TorqueModel {
+    public let centre: MovingWaypointRouteTarget
+    public let gravitationalParameter: GravitationalParameter
+    public init(centre: MovingWaypointRouteTarget, gravitationalParameter: GravitationalParameter) throws {
+        guard gravitationalParameter.convention == .newtonian || gravitationalParameter.convention == .ttCompatible else { throw GravityModelError.incompatibleGMConvention }
+        self.centre = centre; self.gravitationalParameter = gravitationalParameter
+    }
+    public func contribution(for attitude: AttitudeState, spacecraft: SpacecraftState?, in context: RotationalEvaluationContext) throws -> TorqueContribution {
+        try validateRotationalState(attitude,spacecraft: spacecraft,context: context)
+        guard centre.frame === context.referenceFrame, centre.origin == context.referenceContext.origin else { throw GravityModelError.originMismatch }
+        guard let spacecraft else { throw AttitudeError.invalidConfiguration }
+        let radial = spacecraft.cartesian.position - (try centre.state(at: attitude.epoch)).position, radius = routeNorm(radial)
+        guard radius.isFinite, radius > 0 else { throw GravityModelError.singularPosition }
+        let unit = try attitude.bodyVector(fromReference: radial/radius), inertiaUnit = context.inertia.matrix*unit
+        let strength = 3*((gravitationalParameter.cubicMetresPerSecondSquared/radius)/radius)/radius
+        let torque = attitudeCross(unit,inertiaUnit)*strength
+        return try TorqueContribution(epoch: attitude.epoch,bodyFrame: context.bodyFrame,torqueBodyNewtonMetres: torque)
+    }
+}
diff --git a/Sources/CelMek/RisingTransitAndSetting.swift b/Sources/CelMek/RisingTransitAndSetting.swift
new file mode 100644
index 0000000..7699412
--- /dev/null
+++ b/Sources/CelMek/RisingTransitAndSetting.swift
@@ -0,0 +1,44 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2023 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+
+import Foundation
+import Math
+// Meeus, chapter 15
+// L: geographic longitude
+// 𝜑: geographic latitude
+// dT: difference between TD - UT in seconds
+// h0: standard altitude, geometric altitude of center of body
+let MEAN_ATMOSPHERIC_REFRACTION_ARC = AngleOfArc(degrees: 0, minutes: 34, seconds: 0)
+let MEAN_ATMOSPHERIC_REFRACTION = MEAN_ATMOSPHERIC_REFRACTION_ARC.radians
+let MEAN_ATMOSPHERIC_REFRACTION_SUN_ARC = AngleOfArc(degrees: 0, minutes: 50, seconds: 0)
+let MEAN_ATMOSPHERIC_REFRACTION_SUN = MEAN_ATMOSPHERIC_REFRACTION_SUN_ARC.radians
+let MEAN_ATMOSPHERIC_REFRACTION_MOON = 0.125.deg
+
+func angleForRiseOrSet(declination: Double, observerLatitude: Double) -> Double {
+  let 𝛿 = declination
+  let 𝜑 = observerLatitude
+
+  let H0 = acos(-tan(𝜑) * tan(𝛿))
+  return H0
+}
+
+
+func hourAngleForRiseOrSet(declination: Double, observerLatitude: Double) -> HourAngle {
+  let H0 = angleForRiseOrSet(declination: declination, observerLatitude: observerLatitude)
+  return HourAngle(degrees: H0.asDeg)
+}
diff --git a/Sources/CelMek/RotationalPropagation.swift b/Sources/CelMek/RotationalPropagation.swift
new file mode 100644
index 0000000..984f7bc
--- /dev/null
+++ b/Sources/CelMek/RotationalPropagation.swift
@@ -0,0 +1,274 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+/// Native Dormand–Prince local-error settings. Quaternion error is a physical
+/// rotation angle, invariant under q/-q; no global accuracy bound is implied.
+public struct AttitudePropagationOptions: Equatable {
+    public let absoluteAngleToleranceRadians: Double
+    public let absoluteAngularVelocityToleranceRadiansPerSecond: Double
+    public let relativeTolerance: Double
+    public let initialStepSeconds, minimumStepSeconds, maximumStepSeconds: Double
+    public let maximumRotationPerStepRadians: Double
+    public let maximumStepAttempts, maximumDerivativeEvaluations: Int
+    public init(absoluteAngleToleranceRadians: Double = 1e-9, absoluteAngularVelocityToleranceRadiansPerSecond: Double = 1e-10,
+        relativeTolerance: Double = 1e-9, initialStepSeconds: Double = 0.1, minimumStepSeconds: Double = 1e-8,
+        maximumStepSeconds: Double = 10, maximumRotationPerStepRadians: Double = 0.25,
+        maximumStepAttempts: Int = 100_000, maximumDerivativeEvaluations: Int = 700_001) throws {
+        guard [absoluteAngleToleranceRadians,absoluteAngularVelocityToleranceRadiansPerSecond,initialStepSeconds,
+               minimumStepSeconds,maximumStepSeconds,maximumRotationPerStepRadians].allSatisfy({ $0.isFinite && $0 > 0 }),
+              relativeTolerance.isFinite, relativeTolerance >= 0, minimumStepSeconds <= initialStepSeconds,
+              initialStepSeconds <= maximumStepSeconds, maximumRotationPerStepRadians <= .pi/2,
+              maximumStepAttempts > 0, maximumDerivativeEvaluations > 0 else { throw NumericalPropagationError.invalidOptions }
+        self.absoluteAngleToleranceRadians = absoluteAngleToleranceRadians
+        self.absoluteAngularVelocityToleranceRadiansPerSecond = absoluteAngularVelocityToleranceRadiansPerSecond
+        self.relativeTolerance = relativeTolerance; self.initialStepSeconds = initialStepSeconds
+        self.minimumStepSeconds = minimumStepSeconds; self.maximumStepSeconds = maximumStepSeconds
+        self.maximumRotationPerStepRadians = maximumRotationPerStepRadians
+        self.maximumStepAttempts = maximumStepAttempts; self.maximumDerivativeEvaluations = maximumDerivativeEvaluations
+    }
+    public static func preset(for accuracy: AccuracyLevel) -> Self {
+        let angle, velocity, relative: Double
+        switch accuracy {
+        case .low: (angle,velocity,relative) = (1e-4,1e-5,1e-5)
+        case .balanced: (angle,velocity,relative) = (1e-7,1e-8,1e-7)
+        case .high: (angle,velocity,relative) = (1e-9,1e-10,1e-9)
+        case .full: (angle,velocity,relative) = (1e-11,1e-12,1e-11)
+        }
+        return try! Self(absoluteAngleToleranceRadians: angle,absoluteAngularVelocityToleranceRadiansPerSecond: velocity,relativeTolerance: relative)
+    }
+}
+func attitudeValues(_ state: AttitudeState) -> [Double] {
+    let q = state.bodyToReference, w = state.angularVelocityBodyRadiansPerSecond
+    return [q.x,q.y,q.z,q.w,w.x,w.y,w.z]
+}
+func attitudeFromValues(_ values: [Double], offset: Int, epoch: Epoch, context: RotationalEvaluationContext,
+    acceleration: SIMD3<Double>? = nil) throws -> AttitudeState {
+    try AttitudeState(epoch: epoch,referenceFrame: context.referenceFrame,bodyFrame: context.bodyFrame,
+        bodyToReference: Quaternion(x: values[offset],y: values[offset+1],z: values[offset+2],w: values[offset+3]),
+        angularVelocityBodyRadiansPerSecond: SIMD3(values[offset+4],values[offset+5],values[offset+6]),
+        angularAccelerationBodyRadiansPerSecondSquared: acceleration)
+}
+func rawQuaternionRate(_ values: [Double], offset: Int) -> [Double] {
+    let q = Quaternion(x: values[offset],y: values[offset+1],z: values[offset+2],w: values[offset+3])
+    let w = Quaternion(x: values[offset+4],y: values[offset+5],z: values[offset+6],w: 0)
+    let d = 0.5*(q*w)
+    return [d.x,d.y,d.z,d.w]
+}
+private struct RotationIntegrationResult {
+    let values: [Double]
+    let derivative: [Double]
+    let diagnostics: NumericalPropagationDiagnostics
+}
+/// Shared native vector integrator for rotation alone or tightly coupled motion.
+/// Accepted states normalize q; stage derivatives use raw q for qdot, unit q only
+/// for physical vector transforms. No Euler-angle chart or quaternion sign reset.
+private func integrateRotation(initial: [Double], from start: Epoch, to target: Epoch, quaternionOffset: Int,
+    attitudeOptions: AttitudePropagationOptions, translationOptions: NumericalPropagationOptions?,
+    derivative: ([Double],Epoch) throws -> [Double]) throws -> RotationIntegrationResult {
+    var current = start, y = initial, accepted = 0, rejected = 0, evaluations = 0
+    let forward = target >= start
+    let minimumStep = max(attitudeOptions.minimumStepSeconds,translationOptions?.minimumStepSeconds ?? attitudeOptions.minimumStepSeconds)
+    let maximumStep = min(attitudeOptions.maximumStepSeconds,translationOptions?.maximumStepSeconds ?? attitudeOptions.maximumStepSeconds)
+    var nextStep = min(attitudeOptions.initialStepSeconds,translationOptions?.initialStepSeconds ?? attitudeOptions.initialStepSeconds)
+    guard nextStep >= minimumStep, nextStep <= maximumStep else { throw NumericalPropagationError.invalidOptions }
+    let attempts = min(attitudeOptions.maximumStepAttempts,translationOptions?.maximumStepAttempts ?? attitudeOptions.maximumStepAttempts)
+    let evaluationLimit = min(attitudeOptions.maximumDerivativeEvaluations,translationOptions?.maximumDerivativeEvaluations ?? attitudeOptions.maximumDerivativeEvaluations)
+    var smallest: Double?, largest: Double?, largestError = 0.0
+    func query(_ values: [Double], _ epoch: Epoch) throws -> [Double] {
+        guard evaluations < evaluationLimit else { throw NumericalPropagationError.evaluationLimitExceeded }
+        evaluations += 1
+        let result = try derivative(values,epoch)
+        guard result.count == values.count, result.allSatisfy(\.isFinite) else { throw AttitudeError.numericalRangeExceeded }
+        return result
+    }
+    func quaternion(_ values: [Double]) -> Quaternion {
+        Quaternion(x: values[quaternionOffset],y: values[quaternionOffset+1],z: values[quaternionOffset+2],w: values[quaternionOffset+3])
+    }
+    let c: [Double] = [0.0,1.0/5,3.0/10,4.0/5,8.0/9,1,1]
+    let a: [[Double]] = [[],[1.0/5],[3.0/40,9.0/40],[44.0/45,-56.0/15,32.0/9],
+        [19372.0/6561,-25360.0/2187,64448.0/6561,-212.0/729],
+        [9017.0/3168,-355.0/33,46732.0/5247,49.0/176,-5103.0/18656],
+        [35.0/384,0,500.0/1113,125.0/192,-2187.0/6784,11.0/84]]
+    let weights: [Double] = [71.0/57600,0,-71.0/16695,71.0/1920,-17253.0/339200,22.0/525,-1.0/40]
+    while current != target {
+        guard accepted+rejected < attempts else { throw NumericalPropagationError.stepLimitExceeded }
+        let remaining = abs(try target.duration(since: current).seconds)
+        let w = SIMD3(y[quaternionOffset+4],y[quaternionOffset+5],y[quaternionOffset+6]), speed = routeNorm(w)
+        guard speed.isFinite else { throw AttitudeError.numericalRangeExceeded }
+        let rotationStep = speed == 0 ? maximumStep : attitudeOptions.maximumRotationPerStepRadians/speed
+        guard rotationStep >= minimumStep || remaining <= rotationStep else { throw NumericalPropagationError.minimumStepReached }
+        let magnitude = min(nextStep,remaining,rotationStep)
+        let end = magnitude >= remaining ? target : try current.advanced(by: Duration(seconds: forward ? magnitude : -magnitude))
+        guard forward ? end > current : end < current else { throw NumericalPropagationError.epochResolutionExceeded }
+        let h = try end.duration(since: current).seconds
+        var stages: [[Double]] = [], candidate = y, invalidFuel = false
+        for stage in 0..<7 {
+            var values = y
+            for i in y.indices { for j in 0..<stage { values[i] += h*a[stage][j]*stages[j][i] } }
+            guard values.allSatisfy(\.isFinite) else { throw AttitudeError.numericalRangeExceeded }
+            if translationOptions != nil && values[6] < 0 { invalidFuel = true; break }
+            let date = stage == 0 ? current : c[stage] == 1 ? end : try current.advanced(by: Duration(seconds: c[stage]*h))
+            if c[stage] > 0 && c[stage] < 1 && !(forward ? date > current && date < end : date < current && date > end) { throw NumericalPropagationError.epochResolutionExceeded }
+            stages.append(try query(values,date))
+            if stage == 6 { candidate = values }
+        }
+        var error = Double.infinity
+        if !invalidFuel {
+            var difference = y.map { _ in 0.0 }
+            for i in y.indices { for stage in 0..<7 { difference[i] += h*weights[stage]*stages[stage][i] } }
+            let low = zip(candidate,difference).map { $0.0-$0.1 }
+            let highQ = try attitudeQuaternion(quaternion(candidate)), lowQ = try attitudeQuaternion(quaternion(low))
+            let delta = Quaternion.dot(lhs: highQ,rhs: lowQ) >= 0 ? highQ-lowQ : highQ+lowQ
+            let angleError = 4*asin(min(1,sqrt(Quaternion.dot(lhs: delta,rhs: delta))/2))
+            let norm = sqrt(Quaternion.dot(lhs: quaternion(candidate),rhs: quaternion(candidate)))
+            let angleScale = attitudeOptions.absoluteAngleToleranceRadians+attitudeOptions.relativeTolerance
+            error = max(angleError,abs(norm-1))/angleScale
+            for i in (quaternionOffset+4)..<(quaternionOffset+7) {
+                let scale = attitudeOptions.absoluteAngularVelocityToleranceRadiansPerSecond+attitudeOptions.relativeTolerance*max(abs(y[i]),abs(candidate[i]))
+                error = max(error,abs(difference[i])/scale)
+            }
+            if let options = translationOptions {
+                for i in 0..<7 {
+                    let absolute = i < 3 ? options.absolutePositionToleranceMetres : i < 6 ? options.absoluteVelocityToleranceMetresPerSecond : options.absolutePropellantToleranceKilograms
+                    let scale = absolute+options.relativeTolerance*max(abs(y[i]),abs(candidate[i]))
+                    error = max(error,abs(difference[i])/scale)
+                }
+            }
+            var stageSpeed = speed
+            for stage in stages.indices {
+                var stageValues = y
+                for component in (quaternionOffset+4)..<(quaternionOffset+7) {
+                    for j in 0..<stage { stageValues[component] += h*a[stage][j]*stages[j][component] }
+                }
+                stageSpeed = max(stageSpeed,routeNorm(SIMD3(stageValues[quaternionOffset+4],stageValues[quaternionOffset+5],stageValues[quaternionOffset+6])))
+            }
+            error = max(error,abs(h)*stageSpeed/attitudeOptions.maximumRotationPerStepRadians)
+            guard error.isFinite else { throw AttitudeError.numericalRangeExceeded }
+        }
+        if error <= 1 {
+            let q = try attitudeQuaternion(quaternion(candidate))
+            candidate[quaternionOffset] = q.x; candidate[quaternionOffset+1] = q.y
+            candidate[quaternionOffset+2] = q.z; candidate[quaternionOffset+3] = q.w
+            y = candidate; current = end; accepted += 1
+            smallest = min(smallest ?? abs(h),abs(h)); largest = max(largest ?? abs(h),abs(h)); largestError = max(largestError,error)
+            nextStep = max(minimumStep,min(maximumStep,abs(h)*(error == 0 ? 5 : min(5,max(0.2,0.9*pow(error,-0.2))))))
+        } else {
+            rejected += 1
+            guard magnitude > minimumStep else { throw invalidFuel ? NumericalPropagationError.propellantDepleted : NumericalPropagationError.minimumStepReached }
+            nextStep = max(minimumStep,magnitude*(invalidFuel ? 0.5 : max(0.1,min(0.5,0.9*pow(error,-0.2)))))
+        }
+    }
+    let final = try query(y,current)
+    return RotationIntegrationResult(values: y,derivative: final,diagnostics: NumericalPropagationDiagnostics(
+        acceptedSteps: accepted,rejectedSteps: rejected,derivativeEvaluations: evaluations,
+        smallestAcceptedStepSeconds: smallest,largestAcceptedStepSeconds: largest,maximumAcceptedNormalizedError: largestError))
+}
+public struct AttitudePropagationResult {
+    public let attitude: AttitudeState
+    public let diagnostics: NumericalPropagationDiagnostics
+    public let kineticEnergyJoules: Double
+    public let angularMomentumReferenceKilogramSquareMetresPerSecond: SIMD3<Double>
+}
+public struct RigidBodyAttitudePropagator: AttitudeProvider {
+    public let initialState: AttitudeState
+    public let dynamics: RigidBodyDynamics
+    public let options: AttitudePropagationOptions
+    private let spacecraft: (any SpacecraftStateProvider)?
+    public var referenceFrame: Frame { initialState.referenceFrame }
+    public var bodyFrame: Frame { initialState.bodyFrame }
+    public init(initialState: AttitudeState, dynamics: RigidBodyDynamics,
+        spacecraft: (any SpacecraftStateProvider)? = nil, options: AttitudePropagationOptions = .preset(for: .high)) throws {
+        guard initialState.referenceFrame === dynamics.context.referenceFrame, initialState.bodyFrame === dynamics.context.bodyFrame,
+              spacecraft == nil || spacecraft!.frame === initialState.referenceFrame else { throw AttitudeError.frameMismatch }
+        self.initialState = initialState; self.dynamics = dynamics; self.spacecraft = spacecraft; self.options = options
+    }
+    public func attitude(at epoch: Epoch) throws -> AttitudeState { try propagation(at: epoch).attitude }
+    public func propagation(at epoch: Epoch) throws -> AttitudePropagationResult {
+        let result = try integrateRotation(initial: attitudeValues(initialState),from: initialState.epoch,to: epoch,quaternionOffset: 0,
+            attitudeOptions: options,translationOptions: nil) { values,date in
+            let attitude = try attitudeFromValues(values,offset: 0,epoch: date,context: dynamics.context)
+            let translation = try spacecraft?.spacecraftState(at: date)
+            let d = try dynamics.derivative(at: attitude,spacecraft: translation), alpha = d.angularAccelerationBodyRadiansPerSecondSquared
+            return rawQuaternionRate(values,offset: 0)+[alpha.x,alpha.y,alpha.z]
+        }
+        let state = try attitudeFromValues(result.values,offset: 0,epoch: epoch,context: dynamics.context,
+            acceleration: SIMD3(result.derivative[4],result.derivative[5],result.derivative[6]))
+        return try AttitudePropagationResult(attitude: state,diagnostics: result.diagnostics,
+            kineticEnergyJoules: dynamics.context.inertia.kineticEnergyJoules(for: state.angularVelocityBodyRadiansPerSecond),
+            angularMomentumReferenceKilogramSquareMetresPerSecond: state.referenceVector(fromBody:
+                dynamics.context.inertia.angularMomentumBody(for: state.angularVelocityBodyRadiansPerSecond)))
+    }
+}
+public struct CoupledSpacecraftPropagationResult {
+    public let state: CoupledSpacecraftState
+    public let diagnostics: NumericalPropagationDiagnostics
+}
+/// Immutable replay, forward/backward, of translation, fuel and rotation at the
+/// same RK stages. Continuous models only; split/reseed explicitly at command
+/// discontinuities. Fuel exhaustion fails rather than silently firing while dry.
+public struct CoupledSpacecraftPropagator {
+    public let initialState: CoupledSpacecraftState
+    public let dynamics: CoupledSpacecraftDynamics
+    public let attitudeOptions: AttitudePropagationOptions
+    public let numericalOptions: NumericalPropagationOptions
+    public init(initialState: CoupledSpacecraftState, dynamics: CoupledSpacecraftDynamics,
+        attitudeOptions: AttitudePropagationOptions = .preset(for: .high), numericalOptions: NumericalPropagationOptions = .preset(for: .high)) throws {
+        guard initialState.attitude.bodyFrame === dynamics.context.bodyFrame, initialState.spacecraft.frame === dynamics.context.referenceFrame else { throw AttitudeError.frameMismatch }
+        self.initialState = initialState; self.dynamics = dynamics; self.attitudeOptions = attitudeOptions; self.numericalOptions = numericalOptions
+    }
+    public func state(at epoch: Epoch) throws -> CoupledSpacecraftState { try propagation(at: epoch).state }
+    public func propagation(at epoch: Epoch) throws -> CoupledSpacecraftPropagationResult {
+        let s = initialState.spacecraft, p = s.cartesian.position, v = s.cartesian.velocity
+        let initial = [p.x,p.y,p.z,v.x,v.y,v.z,s.mass.propellantMassKilograms]+attitudeValues(initialState.attitude)
+        func state(_ values: [Double], at date: Epoch, derivative: [Double]? = nil) throws -> CoupledSpacecraftState {
+            let translation = try SpacecraftState(cartesian: CartesianState(epoch: date,frame: dynamics.context.referenceFrame,
+                position: SIMD3(values[0],values[1],values[2]),velocity: SIMD3(values[3],values[4],values[5]),
+                acceleration: derivative.map { SIMD3($0[3],$0[4],$0[5]) }),
+                mass: SpacecraftMassProperties(dryMassKilograms: s.mass.dryMassKilograms,propellantMassKilograms: values[6]))
+            let attitude = try attitudeFromValues(values,offset: 7,epoch: date,context: dynamics.context,
+                acceleration: derivative.map { SIMD3($0[11],$0[12],$0[13]) })
+            return try CoupledSpacecraftState(spacecraft: translation,attitude: attitude)
+        }
+        let result = try integrateRotation(initial: initial,from: initialState.epoch,to: epoch,quaternionOffset: 7,
+            attitudeOptions: attitudeOptions,translationOptions: numericalOptions) { values,date in
+            let local = try state(values,at: date), d = try dynamics.derivative(at: local)
+            let velocity = d.translation.positionRateMetresPerSecond, acceleration = d.translation.velocityRateMetresPerSecondSquared
+            let alpha = d.rotation.angularAccelerationBodyRadiansPerSecondSquared
+            return [velocity.x,velocity.y,velocity.z,acceleration.x,acceleration.y,acceleration.z,d.translation.propellantMassRateKilogramsPerSecond]
+                + rawQuaternionRate(values,offset: 7)+[alpha.x,alpha.y,alpha.z]
+        }
+        return CoupledSpacecraftPropagationResult(state: try state(result.values,at: epoch,derivative: result.derivative),diagnostics: result.diagnostics)
+    }
+    /// Separate views avoid ambiguous StateProvider/AttitudeProvider overloads.
+    public var attitudeProvider: CoupledAttitudeProvider { CoupledAttitudeProvider(propagator: self) }
+    public var spacecraftProvider: CoupledTranslationProvider { CoupledTranslationProvider(propagator: self) }
+}
+public struct CoupledAttitudeProvider: AttitudeProvider {
+    public let propagator: CoupledSpacecraftPropagator
+    public var referenceFrame: Frame { propagator.initialState.attitude.referenceFrame }
+    public var bodyFrame: Frame { propagator.initialState.attitude.bodyFrame }
+    public func attitude(at epoch: Epoch) throws -> AttitudeState { try propagator.state(at: epoch).attitude }
+}
+public struct CoupledTranslationProvider: SpacecraftStateProvider {
+    public let propagator: CoupledSpacecraftPropagator
+    public var frame: Frame { propagator.initialState.spacecraft.frame }
+    public func state(at epoch: Epoch) throws -> CartesianState { try spacecraftState(at: epoch).cartesian }
+    public func spacecraftState(at epoch: Epoch) throws -> SpacecraftState { try propagator.state(at: epoch).spacecraft }
+}
diff --git a/Sources/CelMek/ScheduledThrustPropagator.swift b/Sources/CelMek/ScheduledThrustPropagator.swift
new file mode 100644
index 0000000..266dd6d
--- /dev/null
+++ b/Sources/CelMek/ScheduledThrustPropagator.swift
@@ -0,0 +1,173 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Math
+
+public enum FuelDepletionPolicy: Sendable { case fail, cutoff }
+public enum ScheduledThrustPropagationError: Error, Equatable {
+    case backgroundMassFlowUnsupported, depletionEpochResolutionExceeded
+}
+public struct ScheduledThrustPropagationResult {
+    public let state: SpacecraftState
+    public let depletionEpoch: Epoch?
+}
+
+/// Immutable-seed numerical replay with exact scheduled ignition/cutoff boundaries.
+/// Background forces must be continuous between boundaries; their own events are
+/// not detected. Options/budgets apply to each segment. Optional automatic fuel cutoff uses
+/// the exact constant scheduled mass flow; background mass flow is unsupported in that mode.
+public struct ScheduledThrustPropagator: StateProvider {
+    public let initialState: SpacecraftState
+    public let schedule: ScheduledThrust
+    public let context: ForceEvaluationContext
+    public let options: NumericalPropagationOptions
+    public let fuelDepletionPolicy: FuelDepletionPolicy
+    private let backgroundModels: [any ForceModel]
+    public var frame: Frame { initialState.frame }
+    public var referenceEpoch: Epoch { initialState.epoch }
+
+    public init(initialState: SpacecraftState, schedule: ScheduledThrust,
+                backgroundModels: [any ForceModel] = [], context: ForceEvaluationContext,
+                options: NumericalPropagationOptions = try! NumericalPropagationOptions(),
+                fuelDepletionPolicy: FuelDepletionPolicy = .fail) throws {
+        guard initialState.frame === schedule.frame, initialState.frame === context.frame else {
+            throw SpacecraftDynamicsError.frameMismatch
+        }
+        self.initialState = initialState; self.schedule = schedule
+        self.backgroundModels = backgroundModels; self.context = context; self.options = options
+        self.fuelDepletionPolicy = fuelDepletionPolicy
+    }
+
+    public func state(at epoch: Epoch) throws -> CartesianState { try spacecraftState(at: epoch).cartesian }
+    public func spacecraftState(at target: Epoch) throws -> SpacecraftState { try propagation(at: target).state }
+    public func propagation(at target: Epoch) throws -> ScheduledThrustPropagationResult {
+        let forward = target >= referenceEpoch
+        let lower = min(target, referenceEpoch), upper = max(target, referenceEpoch)
+        var boundaries = schedule.burns.flatMap { [$0.start,$0.end] }
+            .filter { $0 > lower && $0 < upper }
+            .sorted { forward ? $0 < $1 : $0 > $1 }
+        // Shared boundaries are integrated only once, preserving exact epoch identity.
+        boundaries = boundaries.enumerated().compactMap { index, epoch in
+            index == 0 || epoch != boundaries[index-1] ? epoch : nil
+        }
+        boundaries.append(target)
+        var current = initialState
+        var depletionEpoch: Epoch?
+        for end in boundaries where end != current.epoch {
+            let start = current.epoch
+            // Segment interior has a constant set of active engines. Evaluate its
+            // smooth extension at both RK endpoints, irrespective of replay direction.
+            let active = schedule.burns.filter { $0.start <= min(start,end) && $0.end >= max(start,end) }
+            if fuelDepletionPolicy == .cutoff {
+                var flow = active.reduce(0.0) { $0 + $1.thrust.propellantConsumptionKilogramsPerSecond }
+                guard flow.isFinite else { throw NumericalPropagationError.numericalRangeExceeded }
+                let fuel = current.mass.propellantMassKilograms
+                if fuel == 0 && forward {
+                    if flow > 0 && depletionEpoch == nil { depletionEpoch = start }
+                    flow = 0
+                }
+                // Backward replay from an empty independent seed lacks the cutoff
+                // history needed to distinguish coast from a historical firing.
+                if fuel == 0 && !forward && flow > 0 { throw NumericalPropagationError.propellantDepleted }
+                let interval = try end.duration(since: start)
+                let duration = interval.seconds
+                let depletionSeconds = flow > 0 ? fuel / flow : Double.infinity
+                let depletes = try forward && depletionSeconds.isFinite && depletionSeconds <= duration
+                    && interval >= Duration(seconds: depletionSeconds)
+                let burnEnd = depletes ? try start.advanced(by: Duration(seconds: fuel / flow)) : end
+                if depletes && fuel > 0 && burnEnd <= start {
+                    throw ScheduledThrustPropagationError.depletionEpochResolutionExceeded
+                }
+                if burnEnd != start {
+                    let segment = ScheduledFuelSegment(seed: current, flow: flow, engines: flow > 0 ? active.map(\.thrust) : [],
+                        background: backgroundModels, end: burnEnd, exhaustsFuel: depletes)
+                    let dynamics = try SpacecraftDynamics(models: [segment], context: context)
+                    let propagated = try NumericalSpacecraftPropagator(initialState: current, dynamics: dynamics, options: options)
+                        .spacecraftState(at: burnEnd)
+                    let remainingFuel = depletes ? 0 : fuel - flow * duration
+                    current = SpacecraftState(cartesian: propagated.cartesian,
+                        mass: try SpacecraftMassProperties(dryMassKilograms: current.mass.dryMassKilograms,
+                            propellantMassKilograms: remainingFuel))
+                }
+                if depletes {
+                    depletionEpoch = burnEnd
+                    if burnEnd != end {
+                        let coast = ScheduledFuelSegment(seed: current, flow: 0, engines: [], background: backgroundModels,
+                            end: end, exhaustsFuel: false)
+                        current = try NumericalSpacecraftPropagator(initialState: current,
+                            dynamics: SpacecraftDynamics(models: [coast], context: context), options: options).spacecraftState(at: end)
+                    }
+                }
+                continue
+            }
+            let models: [any ForceModel] = backgroundModels + active.map { $0.thrust as any ForceModel }
+            let dynamics = try SpacecraftDynamics(models: models, context: context)
+            current = try NumericalSpacecraftPropagator(initialState: current, dynamics: dynamics, options: options)
+                .spacecraftState(at: end)
+        }
+        // Returned acceleration follows the right-continuous [start,end) schedule,
+        // not the smooth extension used for integration up to a boundary.
+        let endpointModels: [any ForceModel]
+        if fuelDepletionPolicy == .cutoff {
+            let engines = current.mass.propellantMassKilograms > 0 ? schedule.burns.filter {
+                target >= $0.start && target < $0.end
+            }.map(\.thrust) : []
+            endpointModels = [ScheduledFuelSegment(seed: current, flow: 0, engines: engines,
+                background: backgroundModels, end: target, exhaustsFuel: false)]
+        } else { endpointModels = backgroundModels + [schedule] }
+        let endpoint = try SpacecraftDynamics(models: endpointModels, context: context).derivative(at: current)
+        let result = SpacecraftState(cartesian: try CartesianState(epoch: target, frame: frame,
+            position: current.cartesian.position, velocity: current.cartesian.velocity,
+            acceleration: endpoint.velocityRateMetresPerSecondSquared), mass: current.mass)
+        return ScheduledThrustPropagationResult(state: result, depletionEpoch: depletionEpoch)
+    }
+}
+
+
+/// Integrate Cartesian motion while supplying analytically evolving fuel to every
+/// force. RK's reservoir coordinate is held constant, avoiding negative trial fuel.
+private struct ScheduledFuelSegment: ForceModel {
+    let seed: SpacecraftState
+    let flow: Double
+    let engines: [FiniteThrust]
+    let background: [any ForceModel]
+    let end: Epoch
+    let exhaustsFuel: Bool
+    func contribution(for state: SpacecraftState, in context: ForceEvaluationContext) throws -> ForceContribution {
+        let elapsed = try state.epoch.duration(since: seed.epoch).seconds
+        let fuel = exhaustsFuel && state.epoch == end ? 0 : seed.mass.propellantMassKilograms - flow * elapsed
+        guard fuel.isFinite, fuel >= 0 else { throw NumericalPropagationError.propellantDepleted }
+        let corrected = SpacecraftState(cartesian: state.cartesian,
+            mass: try SpacecraftMassProperties(dryMassKilograms: seed.mass.dryMassKilograms, propellantMassKilograms: fuel))
+        var acceleration = SIMD3<Double>.zero
+        for model in background {
+            let result = try model.contribution(for: corrected, in: context)
+            guard result.epoch == state.epoch else { throw SpacecraftDynamicsError.epochMismatch }
+            guard result.frame === state.frame else { throw SpacecraftDynamicsError.frameMismatch }
+            guard result.propellantMassRateKilogramsPerSecond == 0 else {
+                throw ScheduledThrustPropagationError.backgroundMassFlowUnsupported
+            }
+            acceleration += result.accelerationMetresPerSecondSquared
+        }
+        // Smooth left-limit thrust at depletion, evaluated with dry mass. The
+        // public FiniteThrust model still rejects actual firing with zero fuel.
+        for engine in engines {
+            acceleration += engine.direction * (engine.thrustNewtons / corrected.mass.totalMassKilograms)
+        }
+        return try ForceContribution(epoch: state.epoch, frame: state.frame, accelerationMetresPerSecondSquared: acceleration)
+    }
+}
diff --git a/Sources/CelMek/SimulationClock.swift b/Sources/CelMek/SimulationClock.swift
new file mode 100644
index 0000000..3544cf0
--- /dev/null
+++ b/Sources/CelMek/SimulationClock.swift
@@ -0,0 +1,106 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+
+public enum SimulationClockError: Error, Equatable, Sendable {
+    case invalidRate, invalidRealDuration, outsideCoverage
+}
+
+/// Caller-owned atomic simulation time. No wall-clock reads or provider queries.
+/// Positive real elapsed durations can drive forward, paused or reverse playback.
+/// A value-type clock is copied independently; serialize mutations in its owner.
+public struct SimulationClock: Sendable {
+    public private(set) var epoch: Epoch
+    /// Simulation seconds per real second; zero freezes and negative rates reverse.
+    public private(set) var rate: Double
+    public private(set) var isPaused: Bool
+    public let coverage: ClosedRange<Epoch>?
+    private var anchor: Epoch
+    private var realElapsed: Duration = .zero
+
+    public init(epoch: Epoch, rate: Double = 1, isPaused: Bool = false,
+                coverage: ClosedRange<Epoch>? = nil) throws {
+        guard rate.isFinite else { throw SimulationClockError.invalidRate }
+        guard coverage?.contains(epoch) ?? true else { throw SimulationClockError.outsideCoverage }
+        self.epoch = epoch; self.anchor = epoch; self.rate = rate
+        self.isPaused = isPaused; self.coverage = coverage
+    }
+    /// Reanchors at the current instant; no jump when changing speed or direction.
+    public mutating func setRate(_ rate: Double) throws {
+        guard rate.isFinite else { throw SimulationClockError.invalidRate }
+        if rate != self.rate { reanchor(); self.rate = rate }
+    }
+    public mutating func setPaused(_ paused: Bool) {
+        if paused != isPaused { reanchor(); isPaused = paused }
+    }
+    public mutating func seek(to epoch: Epoch) throws {
+        try validate(epoch); self.epoch = epoch; reanchor()
+    }
+    /// Caller supplies an elapsed monotonic duration, not an absolute wall-clock timestamp.
+    /// Failure leaves clock state unchanged. Bounds throw; there is no silent clamp.
+    @discardableResult public mutating func advance(realDuration: Duration) throws -> Epoch {
+        guard realDuration >= .zero else { throw SimulationClockError.invalidRealDuration }
+        guard !isPaused, rate != 0 else { return epoch }
+        let elapsed = try realElapsed.adding(realDuration)
+        // Anchor the whole interval to prevent repeated fractional epoch additions drifting.
+        let whole = try Duration(seconds: Double(elapsed.wholeSeconds)*rate)
+        let fraction = try Duration(seconds: elapsed.fractionalSecond*rate)
+        let next = try anchor.advanced(by: whole.adding(fraction))
+        try validate(next)
+        realElapsed = elapsed; epoch = next
+        return next
+    }
+    /// Offset is in simulation SI seconds, independent of playback rate/pause state.
+    /// Prediction leaves epoch and the accumulated real-time anchor unchanged.
+    public func prediction(after offset: Duration) throws -> Epoch {
+        let predicted = try epoch.advanced(by: offset)
+        try validate(predicted)
+        return predicted
+    }
+    private mutating func reanchor() { anchor = epoch; realElapsed = .zero }
+    private func validate(_ epoch: Epoch) throws {
+        guard coverage?.contains(epoch) ?? true else { throw SimulationClockError.outsideCoverage }
+    }
+}
+
+extension SimulationClock {
+    /// Includes the elapsed anchor to preserve continuation after a checkpoint.
+    public func saved() -> SavedSimulationClock {
+        SavedSimulationClock(epoch: SavedEpoch(epoch),anchor: SavedEpoch(anchor),realElapsed: SavedDuration(realElapsed),
+            rate: rate,isPaused: isPaused,coverageStart: coverage.map { SavedEpoch($0.lowerBound) },
+            coverageEnd: coverage.map { SavedEpoch($0.upperBound) })
+    }
+    internal static func restoring(_ saved: SavedSimulationClock) throws -> SimulationClock {
+        let coverage: ClosedRange<Epoch>?
+        switch (saved.coverageStart,saved.coverageEnd) {
+        case (nil,nil): coverage = nil
+        case let (start?,end?):
+            let lower = try start.restore(), upper = try end.restore()
+            guard lower <= upper else { throw SimulationSnapshotError.invalidClock }
+            coverage = lower...upper
+        default: throw SimulationSnapshotError.invalidClock
+        }
+        let elapsed = try saved.realElapsed.restore()
+        guard elapsed >= .zero, !(saved.isPaused || saved.rate == 0) || elapsed == .zero else {
+            throw SimulationSnapshotError.invalidClock
+        }
+        var clock = try SimulationClock(epoch: saved.anchor.restore(),rate: saved.rate,isPaused: saved.isPaused,coverage: coverage)
+        try clock.advance(realDuration: elapsed)
+        guard clock.epoch == (try saved.epoch.restore()) else { throw SimulationSnapshotError.invalidClock }
+        return clock
+    }
+}
diff --git a/Sources/CelMek/SimulationSnapshot.swift b/Sources/CelMek/SimulationSnapshot.swift
new file mode 100644
index 0000000..b71f1c6
--- /dev/null
+++ b/Sources/CelMek/SimulationSnapshot.swift
@@ -0,0 +1,217 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+public enum SimulationSnapshotError: Error, Equatable {
+    case unsupportedVersion, invalidIdentifier, duplicateIdentifier, invalidTime, invalidClock
+}
+
+/// Stable wire time: decimal whole seconds avoid JSON's 53-bit integer limitation.
+/// Fractions must be canonical, finite and in [0,1).
+public struct SavedDuration: Codable, Equatable, Sendable {
+    public let wholeSeconds: String
+    public let fractionalSecond: Double
+    public init(_ duration: Duration) {
+        wholeSeconds = String(duration.wholeSeconds); fractionalSecond = duration.fractionalSecond
+    }
+    public func restore() throws -> Duration {
+        guard let whole = Int64(wholeSeconds), String(whole) == wholeSeconds,
+              fractionalSecond.isFinite, fractionalSecond >= 0, fractionalSecond < 1 else {
+            throw SimulationSnapshotError.invalidTime
+        }
+        return try Duration(wholeSeconds: whole, fractionalSecond: fractionalSecond)
+    }
+}
+
+/// Atomic offset from JD 2451545.0 TT. No UTC/TDB conversion occurs on restore.
+public struct SavedEpoch: Codable, Equatable, Sendable {
+    public let offsetFromJ2000: SavedDuration
+    public init(_ epoch: Epoch) { offsetFromJ2000 = SavedDuration(epoch.offsetFromJ2000) }
+    public func restore() throws -> Epoch { try Epoch(offsetFromJ2000: offsetFromJ2000.restore()) }
+}
+
+public struct SavedVector3: Codable, Equatable, Sendable {
+    public let x, y, z: Double
+    public init(_ vector: SIMD3<Double>) { x = vector.x; y = vector.y; z = vector.z }
+    public var vector: SIMD3<Double> { SIMD3(x,y,z) }
+}
+
+/// Application IDs identify physical frame bindings; names and object addresses do not.
+public struct SavedCartesianState: Codable, Sendable {
+    public let id, frameID: String
+    public let epoch: SavedEpoch
+    public let positionMetres, velocityMetresPerSecond: SavedVector3
+    public let accelerationMetresPerSecondSquared: SavedVector3?
+    public let dryMassKilograms, propellantMassKilograms: Double?
+    public init(id: String, frameID: String, state: CartesianState, mass: SpacecraftMassProperties? = nil) throws {
+        try snapshotID(id); try snapshotID(frameID)
+        self.id = id; self.frameID = frameID; epoch = SavedEpoch(state.epoch)
+        positionMetres = SavedVector3(state.position); velocityMetresPerSecond = SavedVector3(state.velocity)
+        accelerationMetresPerSecondSquared = state.acceleration.map(SavedVector3.init)
+        dryMassKilograms = mass?.dryMassKilograms; propellantMassKilograms = mass?.propellantMassKilograms
+    }
+    public func restore(using resolveFrame: (String) throws -> Frame) throws -> CartesianState {
+        try snapshotID(id); try snapshotID(frameID)
+        return try CartesianState(epoch: epoch.restore(), frame: resolveFrame(frameID),
+            position: positionMetres.vector, velocity: velocityMetresPerSecond.vector,
+            acceleration: accelerationMetresPerSecondSquared?.vector)
+    }
+    public func restoreMass() throws -> SpacecraftMassProperties? {
+        switch (dryMassKilograms,propellantMassKilograms) {
+        case (nil,nil): return nil
+        case let (dry?,fuel?): return try SpacecraftMassProperties(dryMassKilograms: dry,propellantMassKilograms: fuel)
+        default: throw SpacecraftDynamicsError.invalidMass
+        }
+    }
+}
+
+public struct SavedSimulationClock: Codable, Sendable {
+    public let epoch, anchor: SavedEpoch
+    public let realElapsed: SavedDuration
+    public let rate: Double
+    public let isPaused: Bool
+    public let coverageStart, coverageEnd: SavedEpoch?
+    public func restore() throws -> SimulationClock { try SimulationClock.restoring(self) }
+}
+
+public struct SavedBodyIdentifier: Codable, Sendable {
+    public let naif: Int32?
+    public let namespace, name: String?
+    public init(_ body: BodyIdentifier) {
+        switch body {
+        case .naif(let code): naif = code; namespace = nil; name = nil
+        case .custom(let space,let label): naif = nil; namespace = space; name = label
+        }
+    }
+    public func restore() throws -> BodyIdentifier {
+        switch (naif,namespace,name) {
+        case let (code?,nil,nil): return .naif(code)
+        case let (nil,space?,label?):
+            let body = BodyIdentifier.custom(namespace: space,name: label); try body.validate(); return body
+        default: throw SimulationSnapshotError.invalidIdentifier
+        }
+    }
+}
+
+/// Explicit two-body inputs, including all solver options; no changing defaults on load.
+public struct SavedTwoBodyInput: Codable, Sendable {
+    public let id: String
+    public let initialState: SavedCartesianState
+    public let centralBody: SavedBodyIdentifier
+    public let gmCubicMetresPerSecondSquared: Double
+    public let gmConvention, gmSource, gmVersion: String
+    public let gmReference: String?
+    public let absoluteTimeToleranceSeconds, relativeTimeTolerance: Double
+    public let maximumIterations, maximumBracketExpansions: Int
+    public init(id: String, frameID: String, propagator: TwoBodyPropagator) throws {
+        try snapshotID(id); self.id = id
+        initialState = try SavedCartesianState(id: id,frameID: frameID,state: propagator.initialState)
+        centralBody = SavedBodyIdentifier(propagator.centralBody)
+        let gm = propagator.gravitationalParameter
+        gmCubicMetresPerSecondSquared = gm.cubicMetresPerSecondSquared
+        switch gm.convention {
+        case .newtonian: gmConvention = "newtonian"
+        case .ttCompatible: gmConvention = "ttCompatible"
+        case .tdbCompatible: gmConvention = "tdbCompatible"
+        case .tcbCompatible: gmConvention = "tcbCompatible"
+        }
+        gmSource = gm.provenance.source; gmVersion = gm.provenance.version; gmReference = gm.provenance.reference
+        absoluteTimeToleranceSeconds = propagator.options.absoluteTimeToleranceSeconds
+        relativeTimeTolerance = propagator.options.relativeTimeTolerance
+        maximumIterations = propagator.options.maximumIterations
+        maximumBracketExpansions = propagator.options.maximumBracketExpansions
+    }
+    public func restore(using resolveFrame: (String) throws -> Frame) throws -> TwoBodyPropagator {
+        try snapshotID(id)
+        let convention: GravitationalParameterConvention
+        switch gmConvention {
+        case "newtonian": convention = .newtonian
+        case "ttCompatible": convention = .ttCompatible
+        case "tdbCompatible": convention = .tdbCompatible
+        case "tcbCompatible": convention = .tcbCompatible
+        default: throw SimulationSnapshotError.unsupportedVersion
+        }
+        let gm = try GravitationalParameter(cubicMetresPerSecondSquared: gmCubicMetresPerSecondSquared,
+            convention: convention,provenance: PhysicalDataProvenance(source: gmSource,version: gmVersion,reference: gmReference))
+        return try TwoBodyPropagator(initialState: initialState.restore(using: resolveFrame),centralBody: centralBody.restore(),
+            gravitationalParameter: gm,options: TwoBodyPropagationOptions(absoluteTimeToleranceSeconds: absoluteTimeToleranceSeconds,
+            relativeTimeTolerance: relativeTimeTolerance,maximumIterations: maximumIterations,maximumBracketExpansions: maximumBracketExpansions))
+    }
+}
+
+/// Application-owned reconstruction metadata, not an executable provider or asset loader.
+public struct SimulationDependency: Codable, Sendable {
+    public let id, kind, version: String
+    public let parameters: [String:String]
+    public init(id: String, kind: String, version: String, parameters: [String:String] = [:]) throws {
+        try snapshotID(id); try snapshotID(kind); try snapshotID(version)
+        self.id = id; self.kind = kind; self.version = version; self.parameters = parameters
+    }
+}
+
+/// Version 1 portable SI snapshots. Decode checks structural/version invariants;
+/// restoration uses validating runtime constructors and caller-owned frame bindings.
+public struct SimulationSnapshot: Codable, Sendable {
+    public let schemaVersion: Int
+    public let format: String
+    public let clock: SavedSimulationClock?
+    public let states: [SavedCartesianState]
+    public let twoBodyInputs: [SavedTwoBodyInput]
+    public let dependencies: [SimulationDependency]
+    public init(clock: SimulationClock? = nil, states: [SavedCartesianState] = [],
+                twoBodyInputs: [SavedTwoBodyInput] = [], dependencies: [SimulationDependency] = []) throws {
+        schemaVersion = 1; format = "celmek.simulation"
+        self.clock = clock?.saved(); self.states = states; self.twoBodyInputs = twoBodyInputs; self.dependencies = dependencies
+        try validate()
+    }
+    private enum CodingKeys: String, CodingKey { case schemaVersion, format, clock, states, twoBodyInputs, dependencies }
+    public init(from decoder: Decoder) throws {
+        let c = try decoder.container(keyedBy: CodingKeys.self)
+        schemaVersion = try c.decode(Int.self,forKey: .schemaVersion)
+        format = try c.decode(String.self,forKey: .format)
+        guard schemaVersion == 1, format == "celmek.simulation" else { throw SimulationSnapshotError.unsupportedVersion }
+        clock = try c.decodeIfPresent(SavedSimulationClock.self,forKey: .clock)
+        states = try c.decode([SavedCartesianState].self,forKey: .states)
+        twoBodyInputs = try c.decode([SavedTwoBodyInput].self,forKey: .twoBodyInputs)
+        dependencies = try c.decode([SimulationDependency].self,forKey: .dependencies)
+        try validate()
+    }
+    private func validate() throws {
+        func unique(_ ids: [String]) throws {
+            for id in ids { try snapshotID(id) }
+            guard Set(ids).count == ids.count else { throw SimulationSnapshotError.duplicateIdentifier }
+        }
+        try unique(states.map(\.id)); try unique(twoBodyInputs.map(\.id)); try unique(dependencies.map(\.id))
+        _ = try clock?.restore()
+        // Temporary identities validate numeric payloads without trusting saved frame descriptions.
+        let inertial = Frame(name: "snapshot validation",pseudoInertial: true)
+        for state in states { _ = try state.restore { _ in inertial }; _ = try state.restoreMass() }
+        for input in twoBodyInputs {
+            _ = try input.initialState.restoreMass()
+            _ = try input.restore { _ in inertial }
+        }
+        for dependency in dependencies { try snapshotID(dependency.kind); try snapshotID(dependency.version) }
+    }
+}
+
+private func snapshotID(_ value: String) throws {
+    guard !value.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty else {
+        throw SimulationSnapshotError.invalidIdentifier
+    }
+}
diff --git a/Sources/CelMek/SolarCoordinates.swift b/Sources/CelMek/SolarCoordinates.swift
new file mode 100644
index 0000000..b2b315f
--- /dev/null
+++ b/Sources/CelMek/SolarCoordinates.swift
@@ -0,0 +1,20 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2023 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+
+import Foundation
+// Meeus, chapter 25
diff --git a/Sources/CelMek/SolarSystem.swift b/Sources/CelMek/SolarSystem.swift
index 6310f12..63768ca 100644
--- a/Sources/CelMek/SolarSystem.swift
+++ b/Sources/CelMek/SolarSystem.swift
@@ -34,8 +34,8 @@ public func geometricLongitudeOfSun(T: Double) -> Double
 {
   // Meeus, Astronomical Algorithms 2nd edition, Equation p16
   // TODO: Test Case is missing
-  let L0 = AngleOfArc(degrees: 280, minutes:27, seconds:59.245).toDeg()
-  let L1 = AngleOfArc(degrees: 0, minutes:0, seconds:129602771.380).toDeg()
-  let L2 = AngleOfArc(degrees: 0, minutes:0, seconds:1.0915).toDeg()
+  let L0 = AngleOfArc(degrees: 280, minutes:27, seconds:59.245).totalDegrees
+  let L1 = AngleOfArc(degrees: 0, minutes:0, seconds:129602771.380).totalDegrees
+  let L2 = AngleOfArc(degrees: 0, minutes:0, seconds:1.0915).totalDegrees
   return L0 + L1 * T + L2 * T * T
 }
diff --git a/Sources/CelMek/SpacecraftDynamics.swift b/Sources/CelMek/SpacecraftDynamics.swift
new file mode 100644
index 0000000..29dd626
--- /dev/null
+++ b/Sources/CelMek/SpacecraftDynamics.swift
@@ -0,0 +1,220 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Math
+
+public enum SpacecraftDynamicsError: Error, Equatable {
+    case invalidMass, invalidMassRate, nonFiniteAcceleration
+    case frameMismatch, epochMismatch, nonInertialFrame, numericalRangeExceeded
+}
+
+/// Translational mass properties. Dry mass includes everything not represented
+/// by this propellant reservoir; inertia tensors belong to rotational dynamics.
+public struct SpacecraftMassProperties: Equatable, Sendable {
+    public let dryMassKilograms: Double
+    public let propellantMassKilograms: Double
+    public var totalMassKilograms: Double { dryMassKilograms + propellantMassKilograms }
+    public init(dryMassKilograms: Double, propellantMassKilograms: Double = 0) throws {
+        guard dryMassKilograms.isFinite, dryMassKilograms > 0,
+              propellantMassKilograms.isFinite, propellantMassKilograms >= 0,
+              (dryMassKilograms+propellantMassKilograms).isFinite else {
+            throw SpacecraftDynamicsError.invalidMass
+        }
+        self.dryMassKilograms = dryMassKilograms; self.propellantMassKilograms = propellantMassKilograms
+    }
+}
+
+/// Position, velocity, epoch and frame plus the instantaneous mass inventory.
+/// Stored Cartesian acceleration is optional observational data; force evaluation
+/// computes its own derivative and does not add that acceleration again.
+public struct SpacecraftState: Equatable {
+    public let cartesian: CartesianState
+    public let mass: SpacecraftMassProperties
+    public var epoch: Epoch { cartesian.epoch }
+    public var frame: Frame { cartesian.frame }
+    public init(cartesian: CartesianState, mass: SpacecraftMassProperties) {
+        self.cartesian = cartesian; self.mass = mass
+    }
+}
+
+/// Origin and environmental providers for one dynamics evaluation. Model/time
+/// coverage remains the responsibility of the supplied ephemeris providers.
+/// Models must explicitly convert queried ephemerides to the state's coordinates.
+public struct ForceEvaluationContext {
+    public let frame: Frame
+    public let origin: BodyIdentifier
+    public let ephemerides: EphemerisCollection?
+    public init(frame: Frame, origin: BodyIdentifier, ephemerides: EphemerisCollection? = nil) throws {
+        try origin.validate()
+        self.frame = frame; self.origin = origin; self.ephemerides = ephemerides
+    }
+}
+
+/// One force model's contribution in the state's native axes. Derivatives use
+/// atomic SI seconds: m/s² and kg/s. Negative mass rate consumes propellant;
+/// positive rates describe an explicitly modelled inflow. No clipping is applied.
+public struct ForceContribution {
+    public let epoch: Epoch
+    public let frame: Frame
+    public let accelerationMetresPerSecondSquared: SIMD3<Double>
+    public let propellantMassRateKilogramsPerSecond: Double
+    public init(epoch: Epoch, frame: Frame, accelerationMetresPerSecondSquared: SIMD3<Double>,
+                propellantMassRateKilogramsPerSecond: Double = 0) throws {
+        guard [accelerationMetresPerSecondSquared.x,accelerationMetresPerSecondSquared.y,
+               accelerationMetresPerSecondSquared.z].allSatisfy(\.isFinite) else {
+            throw SpacecraftDynamicsError.nonFiniteAcceleration
+        }
+        guard propellantMassRateKilogramsPerSecond.isFinite else { throw SpacecraftDynamicsError.invalidMassRate }
+        self.epoch = epoch; self.frame = frame
+        self.accelerationMetresPerSecondSquared = accelerationMetresPerSecondSquared
+        self.propellantMassRateKilogramsPerSecond = propellantMassRateKilogramsPerSecond
+    }
+}
+
+/// Pure evaluation at an explicit state. Numerical solvers may repeat evaluations
+/// or visit epochs out of order; models must not consume fuel or advance hidden time.
+/// A model may use prescribed gravity acceleration or divide thrust force by mass.
+public protocol ForceModel {
+    func contribution(for state: SpacecraftState, in context: ForceEvaluationContext) throws -> ForceContribution
+}
+
+/// Right-hand side for integration of Cartesian position, velocity and
+/// propellant mass. Dry mass is constant in this initial translational model.
+public struct SpacecraftDerivative {
+    public let epoch: Epoch
+    public let frame: Frame
+    public let positionRateMetresPerSecond: SIMD3<Double>
+    public let velocityRateMetresPerSecondSquared: SIMD3<Double>
+    public let propellantMassRateKilogramsPerSecond: Double
+}
+
+/// Ordered, immutable force composition for inertial translational dynamics.
+/// Empty models mean unforced motion, not implicit central gravity. Provider
+/// thread safety remains each model's responsibility; no global environment/cache.
+public struct SpacecraftDynamics {
+    public let context: ForceEvaluationContext
+    private let models: [any ForceModel]
+    private let rotating: RotatingDynamicsConfiguration?
+    public init(models: [any ForceModel], context: ForceEvaluationContext) throws {
+        guard context.frame.pseudoInertial else { throw SpacecraftDynamicsError.nonInertialFrame }
+        self.models = models; self.context = context; rotating = nil
+    }
+    /// Direct integration in moving/rotating axes, with physical forces evaluated
+    /// in an explicit inertial frame. Retains the tree; providers must supply all
+    /// transform derivatives and must not strongly capture their owning tree.
+    public init(rotatingFrame: Frame, origin: BodyIdentifier,
+                inertialDynamics: SpacecraftDynamics, using tree: FrameTree) throws {
+        guard inertialDynamics.context.frame.pseudoInertial, inertialDynamics.rotating == nil else {
+            throw SpacecraftDynamicsError.nonInertialFrame
+        }
+        guard tree.isRegistered(rotatingFrame), tree.isRegistered(inertialDynamics.context.frame) else {
+            throw FrameTransformError.disconnectedFrames
+        }
+        context = try ForceEvaluationContext(frame: rotatingFrame, origin: origin)
+        models = []
+        rotating = RotatingDynamicsConfiguration(frame: rotatingFrame, origin: origin,
+            inertial: inertialDynamics, tree: tree)
+    }
+    public func derivative(at state: SpacecraftState) throws -> SpacecraftDerivative {
+        if let rotating { return try rotating.derivative(at: state, fuelBoundary: false) }
+        guard state.frame === context.frame else { throw SpacecraftDynamicsError.frameMismatch }
+        var acceleration = SIMD3<Double>.zero, massRate = 0.0
+        for model in models {
+            let contribution = try model.contribution(for: state,in: context)
+            guard contribution.epoch == state.epoch else { throw SpacecraftDynamicsError.epochMismatch }
+            guard contribution.frame === state.frame else { throw SpacecraftDynamicsError.frameMismatch }
+            acceleration += contribution.accelerationMetresPerSecondSquared
+            massRate += contribution.propellantMassRateKilogramsPerSecond
+            guard [acceleration.x,acceleration.y,acceleration.z,massRate].allSatisfy(\.isFinite) else {
+                throw SpacecraftDynamicsError.numericalRangeExceeded
+            }
+        }
+        return SpacecraftDerivative(epoch: state.epoch,frame: state.frame,
+            positionRateMetresPerSecond: state.cartesian.velocity,
+            velocityRateMetresPerSecondSquared: acceleration,propellantMassRateKilogramsPerSecond: massRate)
+    }
+}
+
+
+/// Consuming forces expose a continuous dry-mass limit for root localization.
+/// This must equal normal evaluation for positive fuel and have nonpositive mass
+/// rate. It does not authorize actual firing from an empty reservoir.
+public protocol FuelConsumingForceModel: ForceModel {
+    func depletionBoundaryContribution(for state: SpacecraftState, in context: ForceEvaluationContext) throws -> ForceContribution
+}
+public enum FuelBoundaryError: Error, Equatable {
+    case unsupportedMassFlow, positiveConsumptionRate
+}
+extension SpacecraftDynamics {
+    func withoutFuelConsumers() throws -> SpacecraftDynamics {
+        if let rotating {
+            return try SpacecraftDynamics(rotatingFrame: rotating.frame, origin: rotating.origin,
+                inertialDynamics: rotating.inertial.withoutFuelConsumers(), using: rotating.tree)
+        }
+        return try SpacecraftDynamics(models: models.filter { !($0 is any FuelConsumingForceModel) }
+            .map { FuelBoundaryModel(model: $0) as any ForceModel }, context: context)
+    }
+    func fuelBoundaryDerivative(at state: SpacecraftState) throws -> SpacecraftDerivative {
+        if let rotating { return try rotating.derivative(at: state, fuelBoundary: true) }
+        let wrapped = models.map { FuelBoundaryModel(model: $0) as any ForceModel }
+        return try SpacecraftDynamics(models: wrapped, context: context).derivative(at: state)
+    }
+}
+private struct FuelBoundaryModel: ForceModel {
+    let model: any ForceModel
+    func contribution(for state: SpacecraftState, in context: ForceEvaluationContext) throws -> ForceContribution {
+        if let consumer = model as? any FuelConsumingForceModel {
+            let result = try consumer.depletionBoundaryContribution(for: state, in: context)
+            guard result.propellantMassRateKilogramsPerSecond <= 0 else { throw FuelBoundaryError.positiveConsumptionRate }
+            return result
+        }
+        let result = try model.contribution(for: state, in: context)
+        guard result.propellantMassRateKilogramsPerSecond == 0 else { throw FuelBoundaryError.unsupportedMassFlow }
+        return result
+    }
+}
+
+
+private final class RotatingDynamicsConfiguration {
+    let frame: Frame
+    let origin: BodyIdentifier
+    let inertial: SpacecraftDynamics
+    let tree: FrameTree
+    init(frame: Frame, origin: BodyIdentifier, inertial: SpacecraftDynamics, tree: FrameTree) {
+        self.frame = frame; self.origin = origin; self.inertial = inertial; self.tree = tree
+    }
+    func derivative(at state: SpacecraftState, fuelBoundary: Bool) throws -> SpacecraftDerivative {
+        guard state.frame === frame else { throw SpacecraftDynamicsError.frameMismatch }
+        let transform = try tree.transform(from: inertial.context.frame, to: frame, at: state.epoch)
+        // Remove observational acceleration: physical force composition supplies it.
+        let coordinates = try CartesianState(epoch: state.epoch, frame: frame,
+            position: state.cartesian.position, velocity: state.cartesian.velocity)
+        let native = try transform.inverted().applying(to: coordinates, destination: inertial.context.frame)
+        let physicalState = SpacecraftState(cartesian: native, mass: state.mass)
+        let derivative = try fuelBoundary ? inertial.fuelBoundaryDerivative(at: physicalState) : inertial.derivative(at: physicalState)
+        let accelerated = try CartesianState(epoch: native.epoch, frame: native.frame,
+            position: native.position, velocity: native.velocity,
+            acceleration: derivative.velocityRateMetresPerSecondSquared)
+        // R*a plus Coriolis, Euler, centrifugal and translational terms, with the
+        // same coordinate-rotation sign convention as FrameTransform.applying.
+        let mapped = try transform.applying(to: accelerated, destination: frame)
+        return SpacecraftDerivative(epoch: state.epoch, frame: frame,
+            positionRateMetresPerSecond: state.cartesian.velocity,
+            velocityRateMetresPerSecondSquared: mapped.acceleration!,
+            propellantMassRateKilogramsPerSecond: derivative.propellantMassRateKilogramsPerSecond)
+    }
+}
diff --git a/Sources/CelMek/SpacecraftWrenches.swift b/Sources/CelMek/SpacecraftWrenches.swift
new file mode 100644
index 0000000..4e6ecec
--- /dev/null
+++ b/Sources/CelMek/SpacecraftWrenches.swift
@@ -0,0 +1,195 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+public struct CoupledSpacecraftState {
+    public let spacecraft: SpacecraftState
+    public let attitude: AttitudeState
+    public var epoch: Epoch { spacecraft.epoch }
+    public init(spacecraft: SpacecraftState, attitude: AttitudeState) throws {
+        guard spacecraft.epoch == attitude.epoch else { throw AttitudeError.epochMismatch }
+        guard spacecraft.frame === attitude.referenceFrame else { throw AttitudeError.frameMismatch }
+        self.spacecraft = spacecraft; self.attitude = attitude
+    }
+}
+public struct SpacecraftWrenchContribution {
+    public let epoch: Epoch
+    public let referenceFrame: Frame
+    public let bodyFrame: Frame
+    public let forceReferenceNewtons: SIMD3<Double>
+    public let torqueBodyNewtonMetres: SIMD3<Double>
+    public let propellantMassRateKilogramsPerSecond: Double
+    public init(epoch: Epoch, referenceFrame: Frame, bodyFrame: Frame, forceReferenceNewtons: SIMD3<Double>,
+        torqueBodyNewtonMetres: SIMD3<Double>, propellantMassRateKilogramsPerSecond: Double = 0) throws {
+        guard attitudeFinite(forceReferenceNewtons), attitudeFinite(torqueBodyNewtonMetres), propellantMassRateKilogramsPerSecond.isFinite else { throw AttitudeError.invalidVector }
+        self.epoch = epoch; self.referenceFrame = referenceFrame; self.bodyFrame = bodyFrame
+        self.forceReferenceNewtons = forceReferenceNewtons; self.torqueBodyNewtonMetres = torqueBodyNewtonMetres
+        self.propellantMassRateKilogramsPerSecond = propellantMassRateKilogramsPerSecond
+    }
+}
+/// Force and torque from one physical model, counted once in coupled dynamics.
+public protocol SpacecraftWrenchModel {
+    func contribution(for state: CoupledSpacecraftState, in context: RotationalEvaluationContext) throws -> SpacecraftWrenchContribution
+}
+/// Continuous body-mounted engine. Position is measured from the fixed centre of
+/// mass; nozzle direction is force on the spacecraft, not the exhaust direction.
+public struct BodyMountedThruster: SpacecraftWrenchModel {
+    public let bodyFrame: Frame
+    public let thrustNewtons: Double
+    public let directionBody: SIMD3<Double>
+    public let positionBodyMetres: SIMD3<Double>
+    public let effectiveExhaustVelocityMetresPerSecond: Double
+    public let propellantConsumptionKilogramsPerSecond: Double
+    public init(bodyFrame: Frame, thrustNewtons: Double, directionBody: SIMD3<Double>, positionBodyMetres: SIMD3<Double> = .zero,
+        effectiveExhaustVelocityMetresPerSecond: Double) throws {
+        guard thrustNewtons.isFinite, thrustNewtons >= 0 else { throw FiniteThrustError.invalidThrust }
+        guard effectiveExhaustVelocityMetresPerSecond.isFinite, effectiveExhaustVelocityMetresPerSecond > 0 else { throw FiniteThrustError.invalidExhaustVelocity }
+        guard attitudeFinite(positionBodyMetres) else { throw AttitudeError.invalidVector }
+        let flow = thrustNewtons/effectiveExhaustVelocityMetresPerSecond
+        guard flow.isFinite, thrustNewtons == 0 || flow > 0 else { throw FiniteThrustError.invalidExhaustVelocity }
+        self.bodyFrame = bodyFrame; self.thrustNewtons = thrustNewtons; self.directionBody = try attitudeUnit(directionBody)
+        self.positionBodyMetres = positionBodyMetres; self.effectiveExhaustVelocityMetresPerSecond = effectiveExhaustVelocityMetresPerSecond
+        propellantConsumptionKilogramsPerSecond = flow
+    }
+    public func contribution(for state: CoupledSpacecraftState, in context: RotationalEvaluationContext) throws -> SpacecraftWrenchContribution {
+        guard bodyFrame === state.attitude.bodyFrame, bodyFrame === context.bodyFrame,
+              state.spacecraft.frame === context.referenceFrame else { throw AttitudeError.frameMismatch }
+        guard thrustNewtons == 0 || state.spacecraft.mass.propellantMassKilograms > 0 else { throw NumericalPropagationError.propellantDepleted }
+        let force = directionBody*thrustNewtons
+        return try SpacecraftWrenchContribution(epoch: state.epoch,referenceFrame: context.referenceFrame,bodyFrame: bodyFrame,
+            forceReferenceNewtons: state.attitude.referenceVector(fromBody: force),torqueBodyNewtonMetres: attitudeCross(positionBodyMetres,force),
+            propellantMassRateKilogramsPerSecond: -propellantConsumptionKilogramsPerSecond)
+    }
+    /// Translation driven by a prescribed/replayed attitude. Lever-arm torque is
+    /// available through coupled dynamics; this adapter integrates translation only.
+    public func forceModel(attitude: any AttitudeProvider) throws -> BodyMountedThrustForceModel {
+        try BodyMountedThrustForceModel(thruster: self,attitude: attitude)
+    }
+}
+public struct BodyMountedThrustForceModel: FuelConsumingForceModel {
+    public let thruster: BodyMountedThruster
+    public let attitude: any AttitudeProvider
+    public init(thruster: BodyMountedThruster, attitude: any AttitudeProvider) throws {
+        guard thruster.bodyFrame === attitude.bodyFrame, attitude.referenceFrame.pseudoInertial else { throw AttitudeError.frameMismatch }
+        self.thruster = thruster; self.attitude = attitude
+    }
+    public func contribution(for state: SpacecraftState, in context: ForceEvaluationContext) throws -> ForceContribution {
+        guard thruster.thrustNewtons == 0 || state.mass.propellantMassKilograms > 0 else { throw NumericalPropagationError.propellantDepleted }
+        return try depletionBoundaryContribution(for: state,in: context)
+    }
+    public func depletionBoundaryContribution(for state: SpacecraftState, in context: ForceEvaluationContext) throws -> ForceContribution {
+        guard state.frame === attitude.referenceFrame, context.frame === attitude.referenceFrame else { throw AttitudeError.frameMismatch }
+        let axes = try attitude.checkedAttitude(at: state.epoch)
+        return try ForceContribution(epoch: state.epoch,frame: state.frame,
+            accelerationMetresPerSecondSquared: axes.referenceVector(fromBody: thruster.directionBody)*(thruster.thrustNewtons/state.mass.totalMassKilograms),
+            propellantMassRateKilogramsPerSecond: -thruster.propellantConsumptionKilogramsPerSecond)
+    }
+}
+public struct CoupledSpacecraftDerivative {
+    public let translation: SpacecraftDerivative
+    public let rotation: RigidBodyDerivative
+}
+/// Fixed mass geometry/inertia; propellant depletion changes translation mass,
+/// but never silently changes the tensor or centre of mass.
+public struct CoupledSpacecraftDynamics {
+    public let rotational: RigidBodyDynamics
+    public let translational: SpacecraftDynamics
+    public let wrenchModels: [any SpacecraftWrenchModel]
+    public var context: RotationalEvaluationContext { rotational.context }
+    public init(context: RotationalEvaluationContext, forceModels: [any ForceModel] = [], torqueModels: [any TorqueModel] = [],
+        wrenchModels: [any SpacecraftWrenchModel] = []) throws {
+        rotational = RigidBodyDynamics(context: context,models: torqueModels)
+        translational = try SpacecraftDynamics(models: forceModels,context: context.referenceContext)
+        self.wrenchModels = wrenchModels
+    }
+    public func derivative(at state: CoupledSpacecraftState) throws -> CoupledSpacecraftDerivative {
+        guard state.attitude.bodyFrame === context.bodyFrame, state.attitude.referenceFrame === context.referenceFrame else { throw AttitudeError.frameMismatch }
+        let base = try translational.derivative(at: state.spacecraft)
+        var acceleration = base.velocityRateMetresPerSecondSquared, flow = base.propellantMassRateKilogramsPerSecond, torque = SIMD3<Double>.zero
+        for model in wrenchModels {
+            let wrench = try model.contribution(for: state,in: context)
+            guard wrench.epoch == state.epoch else { throw AttitudeError.epochMismatch }
+            guard wrench.referenceFrame === context.referenceFrame, wrench.bodyFrame === context.bodyFrame else { throw AttitudeError.frameMismatch }
+            acceleration += wrench.forceReferenceNewtons/state.spacecraft.mass.totalMassKilograms
+            flow += wrench.propellantMassRateKilogramsPerSecond; torque += wrench.torqueBodyNewtonMetres
+        }
+        guard attitudeFinite(acceleration), flow.isFinite, attitudeFinite(torque) else { throw AttitudeError.numericalRangeExceeded }
+        let rotation = try rotational.derivative(at: state.attitude,spacecraft: state.spacecraft,additionalTorqueBodyNewtonMetres: torque)
+        return CoupledSpacecraftDerivative(translation: SpacecraftDerivative(epoch: state.epoch,frame: context.referenceFrame,
+            positionRateMetresPerSecond: state.spacecraft.cartesian.velocity,velocityRateMetresPerSecondSquared: acceleration,
+            propellantMassRateKilogramsPerSecond: flow),rotation: rotation)
+    }
+}
+public struct MagneticFieldSample {
+    public let epoch: Epoch
+    public let frame: Frame
+    public let origin: BodyIdentifier
+    public let fieldTeslas: SIMD3<Double>
+    public init(epoch: Epoch, frame: Frame, origin: BodyIdentifier, fieldTeslas: SIMD3<Double>) throws {
+        try origin.validate()
+        guard attitudeFinite(fieldTeslas) else { throw AttitudeError.invalidVector }
+        self.epoch = epoch; self.frame = frame; self.origin = origin; self.fieldTeslas = fieldTeslas
+    }
+}
+public protocol MagneticFieldProvider {
+    func field(at state: SpacecraftState) throws -> MagneticFieldSample
+}
+public struct UniformMagneticField: MagneticFieldProvider {
+    public let frame: Frame
+    public let origin: BodyIdentifier
+    public let fieldTeslas: SIMD3<Double>
+    public init(frame: Frame, origin: BodyIdentifier, fieldTeslas: SIMD3<Double>) throws {
+        let sample = try MagneticFieldSample(epoch: .j2000,frame: frame,origin: origin,fieldTeslas: fieldTeslas)
+        self.frame = frame; self.origin = origin; self.fieldTeslas = sample.fieldTeslas
+    }
+    public func field(at state: SpacecraftState) throws -> MagneticFieldSample {
+        guard state.frame === frame else { throw AttitudeError.frameMismatch }
+        return try MagneticFieldSample(epoch: state.epoch,frame: frame,origin: origin,fieldTeslas: fieldTeslas)
+    }
+}
+/// Bounded commanded dipole (A m²), τBody = dipoleBody × fieldBody. Also
+/// represents a fixed residual dipole with a constant command. No field model,
+/// electronics, hysteresis or power consumption is inferred.
+public struct MagnetorquerTorque: TorqueModel {
+    public let fieldProvider: any MagneticFieldProvider
+    public let maximumDipoleAmpereSquareMetres: Double
+    private let command: (AttitudeState,SpacecraftState) throws -> SIMD3<Double>
+    public init(fieldProvider: any MagneticFieldProvider, maximumDipoleAmpereSquareMetres: Double,
+        command: @escaping (AttitudeState,SpacecraftState) throws -> SIMD3<Double>) throws {
+        guard maximumDipoleAmpereSquareMetres.isFinite, maximumDipoleAmpereSquareMetres > 0 else { throw AttitudeError.invalidConfiguration }
+        self.fieldProvider = fieldProvider; self.maximumDipoleAmpereSquareMetres = maximumDipoleAmpereSquareMetres; self.command = command
+    }
+    public func contribution(for attitude: AttitudeState, spacecraft: SpacecraftState?, in context: RotationalEvaluationContext) throws -> TorqueContribution {
+        try validateRotationalState(attitude,spacecraft: spacecraft,context: context)
+        guard let spacecraft else { throw AttitudeError.invalidConfiguration }
+        let field = try fieldProvider.field(at: spacecraft)
+        guard field.epoch == attitude.epoch else { throw AttitudeError.epochMismatch }
+        guard field.frame === context.referenceFrame else { throw AttitudeError.frameMismatch }
+        guard field.origin == context.referenceContext.origin else { throw GravityModelError.originMismatch }
+        var dipole = try command(attitude,spacecraft)
+        guard attitudeFinite(dipole) else { throw AttitudeError.invalidVector }
+        let scale = max(abs(dipole.x),abs(dipole.y),abs(dipole.z))
+        if scale > 0 {
+            let scaled = dipole/scale, length = routeNorm(scaled)
+            if scale > maximumDipoleAmpereSquareMetres/length { dipole = scaled*(maximumDipoleAmpereSquareMetres/length) }
+        }
+        let torque = attitudeCross(dipole,try attitude.bodyVector(fromReference: field.fieldTeslas))
+        return try TorqueContribution(epoch: attitude.epoch,bodyFrame: context.bodyFrame,torqueBodyNewtonMetres: torque)
+    }
+}
diff --git a/Sources/CelMek/SpiceBinaryPCK.swift b/Sources/CelMek/SpiceBinaryPCK.swift
new file mode 100644
index 0000000..24a9a37
--- /dev/null
+++ b/Sources/CelMek/SpiceBinaryPCK.swift
@@ -0,0 +1,246 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+public enum SpiceBinaryPCKError: Error, Equatable {
+    case invalidEpoch, invalidSegment, outOfCoverage, numericalRangeExceeded
+    case unsupportedType(Int32)
+    case missingFrameClass(Int32)
+    case coverageGap(Int32)
+    case descriptorLimit
+    case malformedSegment(path: String, array: Int, reason: String)
+    case frameTreeRequired, frameTreeUnavailable
+}
+
+/// Native type-2 3-1-3 Euler angles, not text-PCK pole RA/declination values.
+public struct SpiceBinaryPCKAngles: Sendable {
+    public let secondsTDB: Double
+    public let eulerAnglesRadians: SIMD3<Double>
+    public let ratesRadiansPerTDBSecond: SIMD3<Double>
+    public let accelerationsRadiansPerTDBSecondSquared: SIMD3<Double>
+    public let descriptor: SpicePCKDescriptor
+    public let sourcePath: String
+    public let segmentName: String
+    public let arrayIndex: Int
+    public let recordIndex: Int
+}
+/// Validated type 2 directory and bounded on-demand record evaluation.
+/// This value retains its reader; the underlying binary asset must remain unchanged.
+public struct SpiceBinaryPCKSegment: Sendable {
+    public let file: SpiceDAFFile
+    public let arrayIndex: Int
+    public let descriptor: SpicePCKDescriptor
+    public let initialSecondsTDB: Double
+    public let intervalSeconds: Double
+    public let recordSizeWords: Int
+    public let recordCount: Int
+    public let polynomialDegree: Int
+
+    public init(file: SpiceDAFFile, array index: Int) throws {
+        guard file.metadata.kind == "PCK", file.metadata.arrays.indices.contains(index),
+              let descriptor = file.metadata.arrays[index].pck else { throw SpiceBinaryPCKError.invalidSegment }
+        guard descriptor.dataType == 2 else { throw SpiceBinaryPCKError.unsupportedType(descriptor.dataType) }
+        let array = file.metadata.arrays[index], words = array.finalAddress - array.initialAddress + 1
+        func malformed(_ reason: String) -> SpiceBinaryPCKError { .malformedSegment(path: file.url.path, array: index, reason: reason) }
+        guard words >= 4 else { throw malformed("missing directory") }
+        let directory = try file.readWords(array: index, offset: words - 4, count: 4)
+        func integer(_ value: Double) throws -> Int {
+            // DAF addresses already bound the possible count/size below Int32.max.
+            guard value.isFinite, value >= 1, value <= Double(words - 4), value.rounded(.towardZero) == value else {
+                throw malformed("invalid directory integer")
+            }
+            return Int(value)
+        }
+        let initial = directory[0], interval = directory[1]
+        let size = try integer(directory[2]), count = try integer(directory[3])
+        let components = 3
+        guard size >= 2 + components, (size - 2) % components == 0,
+              (words - 4) % size == 0, (words - 4) / size == count else { throw malformed("inconsistent record layout") }
+        guard size <= file.limits.maximumReadWords else { throw SpiceDAFError.resourceLimit("PCK record words") }
+        let end = initial + interval * Double(count)
+        guard initial.isFinite, interval.isFinite, interval > 0, (interval/2) > 0,
+              end.isFinite, end > initial, initial + interval > initial, end - interval < end else {
+            throw malformed("invalid or unresolvable directory time grid")
+        }
+        guard descriptor.startSecondsTDB >= initial - pckTimeSlack(initial, interval),
+              descriptor.endSecondsTDB <= end + pckTimeSlack(end, interval) else { throw malformed("descriptor exceeds record coverage") }
+        self.file = file; self.arrayIndex = index; self.descriptor = descriptor
+        self.initialSecondsTDB = initial; self.intervalSeconds = interval
+        self.recordSizeWords = size; self.recordCount = count; self.polynomialDegree = (size - 2)/components - 1
+    }
+
+    /// Later record wins at an internal boundary; the final endpoint uses the last record.
+    /// Only the selected record is read/validated. No extrapolation beyond descriptor coverage.
+    public func angles(atSecondsTDB seconds: Double) throws -> SpiceBinaryPCKAngles {
+        guard seconds.isFinite else { throw SpiceBinaryPCKError.invalidEpoch }
+        guard seconds >= descriptor.startSecondsTDB, seconds <= descriptor.endSecondsTDB else { throw SpiceBinaryPCKError.outOfCoverage }
+        func malformed(_ reason: String) -> SpiceBinaryPCKError { .malformedSegment(path: file.url.path, array: arrayIndex, reason: reason) }
+        let ratio = (seconds - initialSecondsTDB)/intervalSeconds
+        guard ratio.isFinite else { throw SpiceBinaryPCKError.numericalRangeExceeded }
+        var record = Int(max(0, min(Double(recordCount - 1), floor(ratio))))
+        // Correct a quotient rounded across one boundary using the directory's actual grid.
+        if record + 1 < recordCount, seconds >= initialSecondsTDB + Double(record + 1)*intervalSeconds { record += 1 }
+        if record > 0, seconds < initialSecondsTDB + Double(record)*intervalSeconds { record -= 1 }
+        let values = try file.readWords(array: arrayIndex, offset: record * recordSizeWords, count: recordSizeWords)
+        guard values.allSatisfy(\.isFinite), values[1] > 0 else { throw malformed("non-finite coefficients or invalid record radius") }
+        let start = initialSecondsTDB + Double(record)*intervalSeconds
+        let expectedMid = start + intervalSeconds/2
+        guard abs(values[0] - expectedMid) <= pckTimeSlack(expectedMid, intervalSeconds),
+              abs(values[1] - intervalSeconds/2) <= pckTimeSlack(intervalSeconds/2, intervalSeconds) else {
+            throw malformed("record interval disagrees with directory")
+        }
+        let normalized = (seconds - values[0])/values[1]
+        let slack = pckTimeSlack(values[0], intervalSeconds)/values[1] + 16*Double.ulpOfOne
+        guard normalized.isFinite, normalized >= -1 - slack, normalized <= 1 + slack else { throw malformed("epoch outside selected coefficient interval") }
+        let x = max(-1, min(1, normalized)), coefficientCount = polynomialDegree + 1
+        var angles = SIMD3<Double>.zero, rates = SIMD3<Double>.zero, accelerations = SIMD3<Double>.zero
+        for axis in 0..<3 {
+            let polynomial = try pckPolynomial(values, offset: 2 + axis*coefficientCount, count: coefficientCount, x: x)
+            angles[axis] = polynomial.value
+            rates[axis] = polynomial.first/values[1]
+            accelerations[axis] = polynomial.second/values[1]/values[1]
+        }
+        guard [angles,rates,accelerations].allSatisfy({ $0.x.isFinite && $0.y.isFinite && $0.z.isFinite }) else {
+            throw SpiceBinaryPCKError.numericalRangeExceeded
+        }
+        return SpiceBinaryPCKAngles(secondsTDB: seconds, eulerAnglesRadians: angles,
+            ratesRadiansPerTDBSecond: rates, accelerationsRadiansPerTDBSecondSquared: accelerations,
+            descriptor: descriptor, sourcePath: file.url.path, segmentName: file.metadata.arrays[arrayIndex].name,
+            arrayIndex: arrayIndex, recordIndex: record)
+    }
+}
+
+private func pckTimeSlack(_ time: Double, _ interval: Double) -> Double { 8 * max(time.ulp, interval.ulp) }
+
+// Clenshaw value and first/second differentiated recurrences, with full c0.
+private func pckPolynomial(_ coefficients: [Double], offset: Int, count: Int, x: Double) throws -> (value: Double, first: Double, second: Double) {
+    var b1 = 0.0, b2 = 0.0, d1 = 0.0, d2 = 0.0, e1 = 0.0, e2 = 0.0
+    if count > 1 {
+        for k in stride(from: count-1, through: 1, by: -1) {
+            let b = coefficients[offset+k] + 2*x*b1 - b2
+            let d = 2*b1 + 2*x*d1 - d2
+            let e = 4*d1 + 2*x*e1 - e2
+            guard b.isFinite, d.isFinite, e.isFinite else { throw SpiceBinaryPCKError.numericalRangeExceeded }
+            b2 = b1; b1 = b; d2 = d1; d1 = d; e2 = e1; e1 = e
+        }
+    }
+    let value = coefficients[offset] + x*b1 - b2, first = b1 + x*d1 - d2, second = 2*d1 + x*e1 - e2
+    guard value.isFinite, first.isFinite, second.isFinite else { throw SpiceBinaryPCKError.numericalRangeExceeded }
+    return (value,first,second)
+}
+
+extension SpiceDAFFile {
+    public func pckAngles(array index: Int, atSecondsTDB seconds: Double) throws -> SpiceBinaryPCKAngles {
+        try SpiceBinaryPCKSegment(file: self,array: index).angles(atSecondsTDB: seconds)
+    }
+}
+extension SpiceKernelSnapshot {
+    /// Later covering file/array wins; unsupported/corrupt selected data never falls back.
+    public func pckAngles(frameClassID: Int32, atSecondsTDB seconds: Double,
+                          maximumDescriptorChecks: Int = 1_000_000) throws -> SpiceBinaryPCKAngles {
+        guard seconds.isFinite else { throw SpiceBinaryPCKError.invalidEpoch }
+        guard frameClassID != 0 else { throw SpiceBinaryPCKError.invalidSegment }
+        guard maximumDescriptorChecks > 0 else { throw SpiceBinaryPCKError.descriptorLimit }
+        var checked = 0, found = false
+        for kernel in binaryKernels.reversed() where kernel.file.metadata.kind == "PCK" {
+            for index in kernel.file.metadata.arrays.indices.reversed() {
+                guard checked < maximumDescriptorChecks else { throw SpiceBinaryPCKError.descriptorLimit }
+                checked += 1
+                guard let descriptor = kernel.file.metadata.arrays[index].pck, descriptor.frameClassID == frameClassID else { continue }
+                found = true
+                if seconds >= descriptor.startSecondsTDB, seconds <= descriptor.endSecondsTDB {
+                    return try kernel.file.pckAngles(array: index,atSecondsTDB: seconds)
+                }
+            }
+        }
+        if found { throw SpiceBinaryPCKError.coverageGap(frameClassID) }
+        throw SpiceBinaryPCKError.missingFrameClass(frameClassID)
+    }
+}
+
+public struct SpiceBinaryPCKEvaluation {
+    public let orientation: BodyOrientation
+    public let nativeAngles: SpiceBinaryPCKAngles
+    public let tdbCorrection: TDBCorrection
+}
+
+/// Binary type-2 orientation with explicit axes bindings and caller-selected coverage.
+/// Retain frameTree externally when selected segments use different base axes.
+public final class SpiceBinaryPCKOrientationProvider: OrientationProvider {
+    public let referenceFrame: Frame
+    public let frameClassID: Int32
+    public let coverage: ClosedRange<Epoch>
+    public let snapshot: SpiceKernelSnapshot
+    public let provenance: PhysicalDataProvenance
+    public let maximumDescriptorChecks: Int
+    private let bindings: SpiceFrameBindings
+    private let tdbModel: any TDBTimeModel
+    private weak var tree: FrameTree?
+    public init(snapshot: SpiceKernelSnapshot, frameClassID: Int32, referenceFrame: Frame,
+                frameBindings: SpiceFrameBindings, frameTree: FrameTree? = nil,
+                coverage: ClosedRange<Epoch>, tdbModel: any TDBTimeModel,
+                provenance: PhysicalDataProvenance, maximumDescriptorChecks: Int = 1_000_000) throws {
+        guard frameClassID != 0 else { throw SpiceBinaryPCKError.invalidSegment }
+        guard maximumDescriptorChecks > 0 else { throw SpiceBinaryPCKError.descriptorLimit }
+        guard referenceFrame.pseudoInertial else { throw SpiceTextProviderError.invalidReferenceFrame }
+        guard tdbModel.coverage.contains(coverage.lowerBound), tdbModel.coverage.contains(coverage.upperBound) else { throw TDBModelError.outsideCoverage }
+        for binding in frameBindings.bindings {
+            guard binding.axesFrame.pseudoInertial else { throw SpiceTextProviderError.invalidReferenceFrame }
+            if binding.axesFrame !== referenceFrame {
+                guard let frameTree else { throw SpiceBinaryPCKError.frameTreeRequired }
+                guard frameTree.isRegistered(binding.axesFrame), frameTree.isRegistered(referenceFrame) else {
+                    throw FrameTransformError.disconnectedFrames
+                }
+            }
+        }
+        self.snapshot = snapshot; self.frameClassID = frameClassID; self.referenceFrame = referenceFrame
+        self.bindings = frameBindings; self.tree = frameTree; self.coverage = coverage; self.tdbModel = tdbModel
+        self.maximumDescriptorChecks = maximumDescriptorChecks
+        self.provenance = try PhysicalDataProvenance(source: provenance.source + "; " + snapshot.binaryKernels.filter { $0.file.metadata.kind == "PCK" }.map { $0.source.path }.joined(separator: "; ") + "; time: " + tdbModel.provenance + "; axes: " + frameBindings.bindings.map { $0.provenance.source + " (" + $0.provenance.version + ")" }.joined(separator: "; "), version: provenance.version,reference: provenance.reference)
+        _ = try evaluation(at: coverage.lowerBound)
+        _ = try evaluation(at: coverage.upperBound)
+    }
+    public func orientation(at epoch: Epoch) throws -> BodyOrientation { try evaluation(at: epoch).orientation }
+    public func evaluation(at epoch: Epoch) throws -> SpiceBinaryPCKEvaluation {
+        guard coverage.contains(epoch) else { throw SpiceBinaryPCKError.outOfCoverage }
+        let clock = try epoch.tdbCorrection(using: tdbModel)
+        let seconds = try epoch.offsetFromJ2000.adding(clock.tdbMinusTT).seconds
+        let native = try snapshot.pckAngles(frameClassID: frameClassID,atSecondsTDB: seconds,maximumDescriptorChecks: maximumDescriptorChecks)
+        let binding = try bindings.binding(for: native.descriptor.frameID)
+        var transform = FrameTransform.identity(at: epoch)
+        for (index, axis) in [SIMD3<Double>(0,0,1),SIMD3(1,0,0),SIMD3(0,0,1)].enumerated() {
+            let first = native.ratesRadiansPerTDBSecond[index], second = native.accelerationsRadiansPerTDBSecondSquared[index]
+            let part = try FrameTransform(epoch: epoch,
+                rotation: Quaternion(angle: -native.eulerAnglesRadians[index].truncatingRemainder(dividingBy: 2 * .pi),axis: axis),
+                angularVelocity: axis * (-first * clock.rate),
+                angularAcceleration: axis * (-second * clock.rate * clock.rate - first * clock.acceleration))
+            transform = try transform.followed(by: part)
+        }
+        if binding.axesFrame !== referenceFrame {
+            guard let tree else { throw SpiceBinaryPCKError.frameTreeUnavailable }
+            let axes = try tree.transform(from: referenceFrame,to: binding.axesFrame,at: epoch)
+            let rotationOnly = try FrameTransform(epoch: epoch,rotation: axes.rotation,
+                angularVelocity: axes.angularVelocity,angularAcceleration: axes.angularAcceleration)
+            transform = try rotationOnly.followed(by: transform)
+        }
+        let orientation = try BodyOrientation(referenceFrame: referenceFrame,epoch: epoch,rotation: transform.rotation,
+            angularVelocity: transform.angularVelocity,angularAcceleration: transform.angularAcceleration)
+        return SpiceBinaryPCKEvaluation(orientation: orientation,nativeAngles: native,tdbCorrection: clock)
+    }
+}
diff --git a/Sources/CelMek/SpiceCK.swift b/Sources/CelMek/SpiceCK.swift
new file mode 100644
index 0000000..df79dab
--- /dev/null
+++ b/Sources/CelMek/SpiceCK.swift
@@ -0,0 +1,195 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+@preconcurrency import Math
+
+public enum SpiceCKError: Error, Equatable {
+    case numericalRangeExceeded
+    case invalidQuery, malformedSegment, unsupportedType(Int32), resourceLimit
+    case missingInstrument, coverageGap, angularVelocityUnavailable
+    case invalidReferenceFrame, frameTreeUnavailable
+}
+/// Type-1 pointing is a discrete sample; types 2/3 are evaluated continuously. A tolerance never changes its timestamp.
+public struct SpiceCKPointing: Sendable {
+    public let requestedEncodedTicks: Double
+    public let encodedTicks: Double
+    /// Hamilton quaternion mapping base-reference coordinates into instrument coordinates.
+    public let referenceToInstrument: Quaternion
+    /// Physical instrument angular velocity, expressed in base-reference axes, radians/second.
+    public let angularVelocityReferenceRadiansPerSecond: SIMD3<Double>?
+    /// Type-2 model seconds per encoded tick; nil for types 1 and 3.
+    public let secondsPerEncodedTick: Double?
+    public let descriptor: SpiceCKDescriptor
+    public let sourcePath: String
+    public let recordIndex: Int
+}
+
+/// Public CK type-1 layout; no interpolation or extrapolation of pointing records.
+public struct SpiceCKSegment {
+    public let descriptor: SpiceCKDescriptor
+    private let file: SpiceDAFFile
+    private let array: Int
+    private let times: [Double]
+    private let width: Int
+    public init(file: SpiceDAFFile, array: Int, maximumRecords: Int = 100_000) throws {
+        guard file.metadata.arrays.indices.contains(array), let descriptor = file.metadata.arrays[array].ck else {
+            throw SpiceCKError.malformedSegment
+        }
+        guard descriptor.dataType == 1 else { throw SpiceCKError.unsupportedType(descriptor.dataType) }
+        guard maximumRecords > 0 else { throw SpiceCKError.resourceLimit }
+        let a = file.metadata.arrays[array], length = a.finalAddress - a.initialAddress + 1
+        let last = try file.readWords(array: array, offset: length-1, count: 1)[0]
+        guard last.isFinite, last >= 1, last <= Double(maximumRecords), last < Double(Int.max), last.rounded() == last else {
+            throw SpiceCKError.resourceLimit
+        }
+        let count = Int(last), width = descriptor.hasAngularVelocity ? 7 : 4
+        guard count <= (length-1)/(width+1), length == count*(width+1)+(count-1)/100+1 else {
+            throw SpiceCKError.malformedSegment
+        }
+        var times: [Double] = []
+        var offset = 0
+        while offset < count {
+            let n = min(count-offset,file.limits.maximumReadWords)
+            times += try file.readWords(array: array,offset: count*width+offset,count: n)
+            offset += n
+        }
+        guard times.allSatisfy({ $0.isFinite && $0 >= descriptor.startEncodedTicks && $0 <= descriptor.endEncodedTicks }),
+              zip(times,times.dropFirst()).allSatisfy({ $0 < $1 }) else { throw SpiceCKError.malformedSegment }
+        for i in 1...max(1,(count-1)/100) where i <= (count-1)/100 {
+            let stored = try file.readWords(array: array,offset: count*(width+1)+i-1,count: 1)[0]
+            let midpoint = times[i*100-1] + (times[i*100]-times[i*100-1])/2
+            guard stored.isFinite, abs(stored-midpoint) <= 8*max(midpoint.ulp,stored.ulp) else { throw SpiceCKError.malformedSegment }
+        }
+        self.file = file; self.array = array; self.descriptor = descriptor; self.times = times; self.width = width
+    }
+    /// Equal-distance ties select the later record. Tolerance is in encoded ticks.
+    public func pointing(atEncodedTicks ticks: Double, toleranceTicks: Double = 0) throws -> SpiceCKPointing? {
+        guard ticks.isFinite, toleranceTicks.isFinite, toleranceTicks >= 0 else { throw SpiceCKError.invalidQuery }
+        guard ticks >= descriptor.startEncodedTicks, ticks <= descriptor.endEncodedTicks else { return nil }
+        var lo = 0, hi = times.count
+        while lo < hi { let mid = lo+(hi-lo)/2; if times[mid] < ticks { lo = mid+1 } else { hi = mid } }
+        var index = min(lo,times.count-1)
+        if lo > 0, abs(times[lo-1]-ticks) < abs(times[index]-ticks) { index = lo-1 }
+        guard abs(times[index]-ticks) <= toleranceTicks else { return nil }
+        let words = try file.readWords(array: array,offset: index*width,count: width)
+        guard words.allSatisfy(\.isFinite) else { throw SpiceCKError.malformedSegment }
+        let norm = words.prefix(4).reduce(0) { $0+$1*$1 }
+        guard abs(norm-1) <= 1e-10 else { throw SpiceCKError.malformedSegment }
+        let q = try attitudeQuaternion(Quaternion(x: words[1],y: words[2],z: words[3],w: words[0]))
+        return SpiceCKPointing(requestedEncodedTicks: ticks,encodedTicks: times[index],referenceToInstrument: q,
+            angularVelocityReferenceRadiansPerSecond: width == 7 ? SIMD3(words[4],words[5],words[6]) : nil, secondsPerEncodedTick: nil,
+            descriptor: descriptor,sourcePath: file.url.path,recordIndex: index)
+    }
+}
+
+extension SpiceKernelSnapshot {
+    /// Latest-file/latest-segment priority; a discrete gap permits an older segment.
+    /// Selected unsupported or malformed data fails explicitly.
+    public func ckPointing(instrumentID: Int32, atEncodedTicks ticks: Double, toleranceTicks: Double = 0,
+                           maximumDescriptorChecks: Int = 1_000_000) throws -> SpiceCKPointing {
+        guard instrumentID != 0, ticks.isFinite, toleranceTicks.isFinite, toleranceTicks >= 0,
+              maximumDescriptorChecks > 0 else { throw SpiceCKError.invalidQuery }
+        var found = false, checks = 0
+        for kernel in binaryKernels.reversed() where kernel.file.metadata.kind == "CK" {
+            for i in kernel.file.metadata.arrays.indices.reversed() {
+                guard checks < maximumDescriptorChecks else { throw SpiceCKError.resourceLimit }; checks += 1
+                guard let d = kernel.file.metadata.arrays[i].ck, d.instrumentID == instrumentID else { continue }
+                found = true
+                guard ticks >= d.startEncodedTicks, ticks <= d.endEncodedTicks else { continue }
+                let sample: SpiceCKPointing?
+                if d.dataType == 2 {
+                    sample = try SpiceCKType2Segment(file: kernel.file,array: i).pointing(atEncodedTicks: ticks)
+                } else if d.dataType == 3 {
+                    sample = try SpiceCKType3Segment(file: kernel.file,array: i).pointing(atEncodedTicks: ticks,toleranceTicks: toleranceTicks)
+                } else {
+                    sample = try SpiceCKSegment(file: kernel.file,array: i).pointing(atEncodedTicks: ticks,toleranceTicks: toleranceTicks)
+                }
+                if let sample { return sample }
+            }
+        }
+        throw found ? SpiceCKError.coverageGap : SpiceCKError.missingInstrument
+    }
+}
+
+/// CK rates have seconds units; the caller explicitly identifies their time scale.
+public enum SpiceCKAngularRateTimeScale: Sendable { case atomic, tdb }
+/// Type-1 exact samples and type-2/3 continuous attitude. Type-1/3 acceleration is unavailable.
+/// Type-3 stored rates are independent of the quaternion interpolation; they cannot
+/// supply a derivative-consistent orientation/frame mapping through this adapter.
+/// For nearest-sample rendering use ckPointing and preserve its returned clock timestamp.
+public final class SpiceCKAttitudeProvider: AttitudeProvider {
+    public let referenceFrame: Frame
+    public let bodyFrame: Frame
+    public let snapshot: SpiceKernelSnapshot
+    public let clock: SpiceSCLKClock
+    public let instrumentID: Int32
+    private let bindings: SpiceFrameBindings
+    private let model: (any TDBTimeModel)?
+    private let rateScale: SpiceCKAngularRateTimeScale
+    private weak var tree: FrameTree?
+    public init(snapshot: SpiceKernelSnapshot, instrumentID: Int32, clock: SpiceSCLKClock,
+                referenceFrame: Frame, bodyFrame: Frame, frameBindings: SpiceFrameBindings,
+                angularRateTimeScale: SpiceCKAngularRateTimeScale, tdbModel: (any TDBTimeModel)? = nil,
+                frameTree: FrameTree? = nil) throws {
+        guard instrumentID != 0 else { throw SpiceCKError.invalidQuery }
+        guard referenceFrame.pseudoInertial, bodyFrame !== referenceFrame,
+              frameBindings.bindings.allSatisfy({ $0.axesFrame.pseudoInertial }) else { throw SpiceCKError.invalidReferenceFrame }
+        self.snapshot = snapshot; self.instrumentID = instrumentID; self.clock = clock
+        self.referenceFrame = referenceFrame; self.bodyFrame = bodyFrame; self.bindings = frameBindings
+        self.rateScale = angularRateTimeScale; self.model = tdbModel; self.tree = frameTree
+    }
+    public func attitude(at epoch: Epoch) throws -> AttitudeState {
+        let clockSample = try clock.sample(at: epoch,using: model)
+        let native = try snapshot.ckPointing(instrumentID: instrumentID,atEncodedTicks: clockSample.encodedTicks)
+        guard var rate = native.angularVelocityReferenceRadiansPerSecond else { throw SpiceCKError.angularVelocityUnavailable }
+        var acceleration: SIMD3<Double>?
+        if let secondsPerTick = native.secondsPerEncodedTick {
+            var parallelRate = 1.0, parallelAcceleration = 0.0
+            if clock.parallelTimeScale == .tdb {
+                guard let model else { throw SpiceSCLKError.tdbModelRequired }
+                let correction = try epoch.tdbCorrection(using: model)
+                parallelRate = correction.rate; parallelAcceleration = correction.acceleration
+            }
+            let factor = secondsPerTick/clockSample.parallelSecondsPerTick
+            acceleration = rate*(factor*parallelAcceleration)
+            rate *= factor*parallelRate
+        } else if case .tdb = rateScale {
+            guard let model else { throw SpiceSCLKError.tdbModelRequired }
+            rate *= try epoch.tdbCorrection(using: model).rate
+        }
+        let binding = try bindings.binding(for: native.descriptor.frameID)
+        var axes = FrameTransform.identity(at: epoch)
+        if binding.axesFrame !== referenceFrame {
+            guard let tree else { throw SpiceCKError.frameTreeUnavailable }
+            axes = try tree.transform(from: referenceFrame,to: binding.axesFrame,at: epoch)
+        }
+        let c = native.referenceToInstrument
+        if let acceleration {
+            let nativeTransform = try FrameTransform(epoch: epoch,rotation: c,
+                angularVelocity: -(c.matrix*rate),angularAcceleration: -(c.matrix*acceleration))
+            let composed = try axes.followed(by: nativeTransform)
+            return try AttitudeState(epoch: epoch,referenceFrame: referenceFrame,bodyFrame: bodyFrame,
+                bodyToReference: composed.rotation.conj,angularVelocityBodyRadiansPerSecond: -composed.angularVelocity,
+                angularAccelerationBodyRadiansPerSecondSquared: -composed.angularAcceleration)
+        }
+        return try AttitudeState(epoch: epoch,referenceFrame: referenceFrame,bodyFrame: bodyFrame,
+            bodyToReference: (c*axes.rotation).conj,
+            angularVelocityBodyRadiansPerSecond: c.matrix*(rate-axes.angularVelocity),
+            angularAccelerationBodyRadiansPerSecondSquared: nil)
+    }
+}
diff --git a/Sources/CelMek/SpiceCKType2.swift b/Sources/CelMek/SpiceCKType2.swift
new file mode 100644
index 0000000..0f1bd79
--- /dev/null
+++ b/Sources/CelMek/SpiceCKType2.swift
@@ -0,0 +1,89 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+@preconcurrency import Math
+
+/// Continuous constant-rate CK intervals. Seconds/tick belongs to each pointing record.
+public struct SpiceCKType2Segment {
+    public let descriptor: SpiceCKDescriptor
+    private let file: SpiceDAFFile
+    private let array: Int
+    private let starts: [Double]
+    private let stops: [Double]
+    public init(file: SpiceDAFFile, array: Int, maximumRecords: Int = 100_000) throws {
+        guard file.metadata.arrays.indices.contains(array), let d = file.metadata.arrays[array].ck else { throw SpiceCKError.malformedSegment }
+        guard d.dataType == 2 else { throw SpiceCKError.unsupportedType(d.dataType) }
+        guard d.hasAngularVelocity else { throw SpiceCKError.malformedSegment }
+        guard maximumRecords > 0, maximumRecords <= Int.max/11 else { throw SpiceCKError.resourceLimit }
+        let a = file.metadata.arrays[array], length = a.finalAddress-a.initialAddress+1
+        // The format has no count footer. Invert its strictly increasing length formula.
+        var lo = 1, hi = min(maximumRecords,length/10)
+        guard hi >= lo else { throw SpiceCKError.malformedSegment }
+        while lo < hi {
+            let mid = lo+(hi-lo)/2
+            if 10*mid+(mid-1)/100 < length { lo = mid+1 } else { hi = mid }
+        }
+        let n = lo
+        guard 10*n+(n-1)/100 == length else {
+            if length > 10*maximumRecords+(maximumRecords-1)/100 { throw SpiceCKError.resourceLimit }
+            throw SpiceCKError.malformedSegment
+        }
+        func read(_ offset: Int) throws -> [Double] {
+            var result: [Double] = [], i = 0
+            while i < n {
+                let count = min(n-i,file.limits.maximumReadWords)
+                result += try file.readWords(array: array,offset: offset+i,count: count); i += count
+            }
+            return result
+        }
+        let starts = try read(8*n), stops = try read(9*n)
+        for i in 0..<n {
+            guard starts[i].isFinite, stops[i].isFinite, starts[i] >= d.startEncodedTicks,
+                  stops[i] <= d.endEncodedTicks, starts[i] < stops[i],
+                  i == 0 || stops[i-1] <= starts[i] else { throw SpiceCKError.malformedSegment }
+        }
+        for i in 0..<((n-1)/100) {
+            let j = (i+1)*100
+            let expected = stops[j-1]+(starts[j]-stops[j-1])/2
+            let value = try file.readWords(array: array,offset: 10*n+i,count: 1)[0]
+            guard value.isFinite, abs(value-expected) <= 8*max(value.ulp,expected.ulp) else { throw SpiceCKError.malformedSegment }
+        }
+        self.file = file; self.array = array; self.descriptor = d; self.starts = starts; self.stops = stops
+    }
+    /// Inclusive intervals; at a shared endpoint the interval starting there wins.
+    /// Gaps remain gaps even when the caller uses tolerance for other CK types.
+    public func pointing(atEncodedTicks ticks: Double) throws -> SpiceCKPointing? {
+        guard ticks.isFinite else { throw SpiceCKError.invalidQuery }
+        var lo = 0, hi = starts.count
+        while lo < hi { let mid = lo+(hi-lo)/2; if starts[mid] <= ticks { lo = mid+1 } else { hi = mid } }
+        guard lo > 0 else { return nil }
+        let i = lo-1
+        guard ticks <= stops[i] else { return nil }
+        let v = try file.readWords(array: array,offset: 8*i,count: 8)
+        guard v.allSatisfy(\.isFinite), v[7] > 0, abs(v.prefix(4).reduce(0) { $0+$1*$1 }-1) <= 1e-10 else { throw SpiceCKError.malformedSegment }
+        let initial = try attitudeQuaternion(Quaternion(x: v[1],y: v[2],z: v[3],w: v[0]))
+        let omega = SIMD3(v[4],v[5],v[6]), magnitude = hypot(hypot(v[4],v[5]),v[6])
+        let angle = magnitude*((ticks-starts[i])*v[7])
+        guard angle.isFinite else { throw SpiceCKError.numericalRangeExceeded }
+        // Physical reference-axis spin: inverse coordinate rotation multiplies C on the right.
+        let delta = magnitude == 0 ? Quaternion.identity : Quaternion(angle: -angle.truncatingRemainder(dividingBy: 2 * .pi),axis: omega)
+        return SpiceCKPointing(requestedEncodedTicks: ticks,encodedTicks: ticks,referenceToInstrument: try attitudeQuaternion(initial*delta),
+            angularVelocityReferenceRadiansPerSecond: omega, secondsPerEncodedTick: v[7],
+            descriptor: descriptor,sourcePath: file.url.path,recordIndex: i)
+    }
+}
diff --git a/Sources/CelMek/SpiceCKType3.swift b/Sources/CelMek/SpiceCKType3.swift
new file mode 100644
index 0000000..f02b56a
--- /dev/null
+++ b/Sources/CelMek/SpiceCKType3.swift
@@ -0,0 +1,131 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+@preconcurrency import Math
+
+/// CK type-3 fixed-axis interpolation, limited to declared interpolation intervals.
+/// Stored angular velocities are interpolated independently of pointing.
+public struct SpiceCKType3Segment {
+    public let descriptor: SpiceCKDescriptor
+    private let file: SpiceDAFFile
+    private let array: Int
+    private let width: Int
+    private let times: [Double]
+    private let intervalIndices: [Int]
+    public init(file: SpiceDAFFile, array: Int, maximumRecords: Int = 100_000) throws {
+        guard file.metadata.arrays.indices.contains(array), let d = file.metadata.arrays[array].ck else { throw SpiceCKError.malformedSegment }
+        guard d.dataType == 3 else { throw SpiceCKError.unsupportedType(d.dataType) }
+        guard maximumRecords > 0 else { throw SpiceCKError.resourceLimit }
+        let a = file.metadata.arrays[array], length = a.finalAddress-a.initialAddress+1
+        guard length >= 2 else { throw SpiceCKError.malformedSegment }
+        let footer = try file.readWords(array: array,offset: length-2,count: 2)
+        guard footer.allSatisfy({ $0.isFinite && $0 >= 1 && $0 < Double(Int.max) && $0.rounded() == $0 }) else { throw SpiceCKError.malformedSegment }
+        guard footer[1] <= Double(maximumRecords) else { throw SpiceCKError.resourceLimit }
+        let n = Int(footer[1]), m = Int(footer[0]), width = d.hasAngularVelocity ? 7 : 4
+        guard m <= n, n <= (length-2)/(width+1) else { throw SpiceCKError.malformedSegment }
+        let timeDirectory = (n-1)/100, startDirectory = (m-1)/100
+        guard length == n*(width+1)+timeDirectory+m+startDirectory+2 else { throw SpiceCKError.malformedSegment }
+        func read(_ offset: Int, _ count: Int) throws -> [Double] {
+            var values: [Double] = [], i = 0
+            while i < count {
+                let size = min(count-i,file.limits.maximumReadWords)
+                values += try file.readWords(array: array,offset: offset+i,count: size); i += size
+            }
+            return values
+        }
+        let times = try read(n*width,n), starts = try read(n*(width+1)+timeDirectory,m)
+        guard times.allSatisfy({ $0.isFinite && $0 >= d.startEncodedTicks && $0 <= d.endEncodedTicks }),
+              zip(times,times.dropFirst()).allSatisfy({ $0 < $1 }),
+              starts.allSatisfy(\.isFinite), starts.first == times.first,
+              zip(starts,starts.dropFirst()).allSatisfy({ $0 < $1 }) else { throw SpiceCKError.malformedSegment }
+        var indices: [Int] = [], cursor = 0
+        for start in starts {
+            while cursor < n, times[cursor] < start { cursor += 1 }
+            guard cursor < n, times[cursor] == start else { throw SpiceCKError.malformedSegment }
+            indices.append(cursor)
+        }
+        for (values,offset,count) in [(times,n*(width+1),timeDirectory),(starts,n*(width+1)+timeDirectory+m,startDirectory)] {
+            for i in 0..<count {
+                let value = try file.readWords(array: array,offset: offset+i,count: 1)[0]
+                guard value == values[(i+1)*100-1] else { throw SpiceCKError.malformedSegment }
+            }
+        }
+        self.file = file; self.array = array; self.width = width; self.times = times
+        self.intervalIndices = indices; self.descriptor = d
+    }
+    /// Nearest gap endpoints preserve their own timestamps. Equal-distance ties use the later endpoint.
+    /// Tolerance applies within descriptor bounds, matching the library's bounded search policy.
+    public func pointing(atEncodedTicks ticks: Double, toleranceTicks: Double = 0) throws -> SpiceCKPointing? {
+        guard ticks.isFinite, toleranceTicks.isFinite, toleranceTicks >= 0 else { throw SpiceCKError.invalidQuery }
+        guard ticks >= descriptor.startEncodedTicks, ticks <= descriptor.endEncodedTicks else { return nil }
+        func upperBound(_ values: [Double], _ value: Double) -> Int {
+            var lo = 0, hi = values.count
+            while lo < hi { let mid = lo+(hi-lo)/2; if values[mid] <= value { lo = mid+1 } else { hi = mid } }
+            return lo
+        }
+        // Locate the interval by its start record; no interpolation across a gap.
+        var lo = 0, hi = intervalIndices.count
+        while lo < hi { let mid = lo+(hi-lo)/2; if times[intervalIndices[mid]] <= ticks { lo = mid+1 } else { hi = mid } }
+        let interval = lo-1
+        var selected = ticks, first: Int, second: Int
+        if interval >= 0 {
+            let start = intervalIndices[interval]
+            let end = interval+1 < intervalIndices.count ? intervalIndices[interval+1]-1 : times.count-1
+            if ticks <= times[end] {
+                first = max(start,min(end,upperBound(times,ticks)-1))
+                second = min(first+1,end)
+            } else {
+                first = end; second = end
+                if interval+1 < intervalIndices.count {
+                    let next = intervalIndices[interval+1]
+                    if times[next]-ticks <= ticks-times[end] { first = next; second = next }
+                }
+                selected = times[first]
+            }
+        } else { first = 0; second = 0; selected = times[0] }
+        guard abs(selected-ticks) <= toleranceTicks else { return nil }
+        func record(_ i: Int) throws -> (Quaternion,SIMD3<Double>?) {
+            let v = try file.readWords(array: array,offset: i*width,count: width)
+            guard v.allSatisfy(\.isFinite), abs(v.prefix(4).reduce(0) { $0+$1*$1 }-1) <= 1e-10 else { throw SpiceCKError.malformedSegment }
+            return (try attitudeQuaternion(Quaternion(x: v[1],y: v[2],z: v[3],w: v[0])),width == 7 ? SIMD3(v[4],v[5],v[6]) : nil)
+        }
+        let a = try record(first)
+        var q = a.0, rate = a.1
+        if second != first, selected != times[first] {
+            let b = try record(second), weight = (selected-times[first])/(times[second]-times[first])
+            // Physical reference-axis relative rotation, shortest arc. Canonicalize exact half turns.
+            var relative = try attitudeQuaternion(b.0.conj*a.0)
+            let components = [relative.w,relative.x,relative.y,relative.z]
+            if components.first(where: { $0 != 0 }).map({ $0 < 0 }) == true {
+                relative = Quaternion(x: -relative.x,y: -relative.y,z: -relative.z,w: -relative.w)
+            }
+            let magnitude = hypot(hypot(relative.x,relative.y),relative.z)
+            if magnitude > 0 {
+                let angle = 2*atan2(magnitude,relative.w)*weight
+                q = try attitudeQuaternion(a.0*Quaternion(angle: -angle,axis: relative.vector))
+            }
+            if let av = a.1, let bv = b.1 {
+                rate = av*(1-weight)+bv*weight
+                guard attitudeFinite(rate!) else { throw SpiceCKError.numericalRangeExceeded }
+            }
+        }
+        return SpiceCKPointing(requestedEncodedTicks: ticks,encodedTicks: selected,referenceToInstrument: q,
+            angularVelocityReferenceRadiansPerSecond: rate,secondsPerEncodedTick: nil,
+            descriptor: descriptor,sourcePath: file.url.path,recordIndex: first)
+    }
+}
diff --git a/Sources/CelMek/SpiceDAF.swift b/Sources/CelMek/SpiceDAF.swift
new file mode 100644
index 0000000..34a4ad0
--- /dev/null
+++ b/Sources/CelMek/SpiceDAF.swift
@@ -0,0 +1,258 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+public enum SpiceDAFError: Error, Equatable {
+    case invalidLimits
+    case unsupportedFormat(String)
+    case malformed(String)
+    case resourceLimit(String)
+    case invalidRange
+    case io(String)
+}
+public enum SpiceDAFByteOrder: String, Sendable { case littleEndian = "LTL-IEEE", bigEndian = "BIG-IEEE" }
+public struct SpiceDAFLimits: Sendable {
+    public let maximumSummaryRecords: Int
+    public let maximumArrays: Int
+    public let maximumReadWords: Int
+    public let maximumReservedBytes: Int
+    public init(maximumSummaryRecords: Int = 10_000, maximumArrays: Int = 250_000,
+                maximumReadWords: Int = 131_072, maximumReservedBytes: Int = 8_388_608) throws {
+        guard maximumSummaryRecords > 0, maximumArrays > 0, maximumReadWords > 0,
+              maximumReadWords <= Int.max / 8, maximumReservedBytes >= 0 else { throw SpiceDAFError.invalidLimits }
+        self.maximumSummaryRecords = maximumSummaryRecords; self.maximumArrays = maximumArrays
+        self.maximumReadWords = maximumReadWords; self.maximumReservedBytes = maximumReservedBytes
+    }
+}
+/// Inclusive ephemeris-second bounds in the kernel's TDB argument, not atomic Epoch seconds.
+public struct SpiceSPKDescriptor: Equatable, Sendable {
+    public let startSecondsTDB: Double
+    public let endSecondsTDB: Double
+    public let targetID: Int32
+    public let centreID: Int32
+    public let frameID: Int32
+    public let dataType: Int32
+}
+public struct SpicePCKDescriptor: Equatable, Sendable {
+    public let startSecondsTDB: Double
+    public let endSecondsTDB: Double
+    public let frameClassID: Int32
+    public let frameID: Int32
+    public let dataType: Int32
+}
+/// Bounds are encoded spacecraft-clock ticks, not ephemeris seconds.
+public struct SpiceCKDescriptor: Equatable, Sendable {
+    public let startEncodedTicks: Double
+    public let endEncodedTicks: Double
+    public let instrumentID: Int32
+    public let frameID: Int32
+    public let dataType: Int32
+    public let hasAngularVelocity: Bool
+}
+public struct SpiceDAFArray: Equatable, Sendable {
+    public let name: String
+    public let doubleComponents: [Double]
+    public let integerComponents: [Int32]
+    public let initialAddress: Int
+    public let finalAddress: Int
+    /// Present for DAF/SPK only. Unsupported types remain visible to inspection.
+    public let spk: SpiceSPKDescriptor?
+    public let pck: SpicePCKDescriptor?
+    public let ck: SpiceCKDescriptor?
+}
+public struct SpiceDAFMetadata: Sendable {
+    public let kind: String
+    public let internalName: String
+    public let byteOrder: SpiceDAFByteOrder
+    public let fileSizeBytes: UInt64
+    public let doubleComponentCount: Int
+    public let integerComponentCount: Int
+    public let firstFreeAddress: Int
+    public let arrays: [SpiceDAFArray]
+    /// Preserved verbatim. Byte-level comment delimiters are not inferred from toolkit code.
+    public let reservedRecords: Data
+}
+
+/// Read-only modern IEEE DAF reader. File seek/read operations are serialized.
+/// The asset must remain unchanged for the lifetime of this reader and all retained snapshots.
+public final class SpiceDAFFile: @unchecked Sendable {
+    public let url: URL
+    public let limits: SpiceDAFLimits
+    public let metadata: SpiceDAFMetadata
+    private let handle: FileHandle
+    private let lock = NSLock()
+    private let spkDirectoryLock = NSLock()
+    private var spk21Directories: [Int: SpiceSPKType21Directory] = [:]
+    public init(url: URL, limits: SpiceDAFLimits? = nil) throws {
+        let options = try limits ?? SpiceDAFLimits()
+        let opened: FileHandle
+        do { opened = try FileHandle(forReadingFrom: url) } catch { throw SpiceDAFError.io(String(describing: error)) }
+        do {
+            let size = try opened.seekToEnd()
+            let reader = DAFReader(handle: opened, size: size)
+            let parsed = try reader.inspect(limits: options)
+            self.url = url; self.limits = options; self.metadata = parsed; self.handle = opened
+        } catch { try? opened.close(); throw error }
+    }
+    deinit { try? handle.close() }
+    /// Binary assets are immutable for this reader's lifetime. Cache validated variable
+    /// epoch directories so snapshot queries do not rescan every record on every call.
+    func spk21Directory(array: Int) throws -> SpiceSPKType21Directory {
+        spkDirectoryLock.lock(); defer { spkDirectoryLock.unlock() }
+        if let directory = spk21Directories[array] { return directory }
+        let directory = try SpiceSPKType21Directory(file: self, array: array)
+        spk21Directories[array] = directory
+        return directory
+    }
+    /// Zero-based array index and element offset; addresses in metadata are one-based DAF words.
+    public func readWords(array index: Int, offset: Int = 0, count: Int) throws -> [Double] {
+        guard metadata.arrays.indices.contains(index), offset >= 0, count > 0 else { throw SpiceDAFError.invalidRange }
+        guard count <= limits.maximumReadWords else { throw SpiceDAFError.resourceLimit("read words") }
+        let array = metadata.arrays[index], length = array.finalAddress - array.initialAddress + 1
+        guard offset <= length, count <= length - offset else { throw SpiceDAFError.invalidRange }
+        lock.lock(); defer { lock.unlock() }
+        let reader = DAFReader(handle: handle, size: metadata.fileSizeBytes)
+        let data = try reader.read(offset: UInt64(array.initialAddress - 1 + offset) * 8, count: count * 8)
+        return (0..<count).map { dafDouble(data, $0 * 8, metadata.byteOrder) }
+    }
+}
+private func dafInt(_ data: Data, _ offset: Int, _ order: SpiceDAFByteOrder) -> Int32 {
+    let raw = data.withUnsafeBytes { $0.loadUnaligned(fromByteOffset: offset, as: UInt32.self) }
+    return Int32(bitPattern: order == .littleEndian ? UInt32(littleEndian: raw) : UInt32(bigEndian: raw))
+}
+private func dafDouble(_ data: Data, _ offset: Int, _ order: SpiceDAFByteOrder) -> Double {
+    let raw = data.withUnsafeBytes { $0.loadUnaligned(fromByteOffset: offset, as: UInt64.self) }
+    return Double(bitPattern: order == .littleEndian ? UInt64(littleEndian: raw) : UInt64(bigEndian: raw))
+}
+private func dafText(_ data: Data, _ offset: Int, _ count: Int) throws -> String {
+    let bytes = data.subdata(in: offset..<offset + count)
+    guard bytes.allSatisfy({ (32...126).contains($0) }) else { throw SpiceDAFError.malformed("non-printable header/name text") }
+    return String(decoding: bytes, as: UTF8.self).trimmingCharacters(in: .whitespaces)
+}
+private struct DAFReader {
+    let handle: FileHandle
+    let size: UInt64
+    func read(offset: UInt64, count: Int) throws -> Data {
+        guard count >= 0, offset <= size, UInt64(count) <= size - offset else { throw SpiceDAFError.malformed("read outside file") }
+        do {
+            try handle.seek(toOffset: offset)
+            var result = Data()
+            while result.count < count {
+                let chunk = try handle.read(upToCount: count - result.count) ?? Data()
+                guard !chunk.isEmpty else { throw SpiceDAFError.malformed("truncated file") }
+                result.append(chunk)
+            }
+            return result
+        } catch let error as SpiceDAFError { throw error }
+        catch { throw SpiceDAFError.io(String(describing: error)) }
+    }
+    func inspect(limits: SpiceDAFLimits) throws -> SpiceDAFMetadata {
+        guard size >= 1024, size % 1024 == 0 else { throw SpiceDAFError.malformed("incomplete DAF records") }
+        let header = try read(offset: 0, count: 1024)
+        let identifier = try dafText(header, 0, 8)
+        guard ["DAF/SPK", "DAF/CK", "DAF/PCK"].contains(identifier) else { throw SpiceDAFError.unsupportedFormat(identifier) }
+        let format = try dafText(header, 88, 8)
+        guard let order = SpiceDAFByteOrder(rawValue: format) else { throw SpiceDAFError.unsupportedFormat("DAF binary representation: \(format)") }
+        // Exact integrity bytes are published in the DAF file-record octal example.
+        let ftp: [UInt8] = Array("FTPSTR:".utf8) + [13,58,10,58,13,10,58,13,0,58,129,58,16,206,58] + Array("ENDFTP".utf8)
+        guard Array(header[699..<727]) == ftp else { throw SpiceDAFError.malformed("missing or damaged FTP integrity string") }
+        let nd = Int(dafInt(header, 8, order)), ni = Int(dafInt(header, 12, order))
+        guard (0...124).contains(nd), (2...250).contains(ni), nd + (ni + 1)/2 <= 125 else { throw SpiceDAFError.malformed("invalid summary dimensions") }
+        if identifier == "DAF/SPK", nd != 2 || ni != 6 { throw SpiceDAFError.malformed("SPK requires ND=2 NI=6") }
+        if identifier == "DAF/CK", nd != 2 || ni != 6 { throw SpiceDAFError.malformed("CK requires ND=2 NI=6") }
+        if identifier == "DAF/PCK", nd != 2 || ni != 5 { throw SpiceDAFError.malformed("PCK requires ND=2 NI=5") }
+        let first = Int(dafInt(header, 76, order)), last = Int(dafInt(header, 80, order)), free = Int(dafInt(header, 84, order))
+        let records = size / 1024
+        guard first >= 2, last >= 2, UInt64(first + 1) <= records, UInt64(last + 1) <= records,
+              free >= 1, UInt64(free) <= size/8 + 1 else { throw SpiceDAFError.malformed("invalid file pointers") }
+        let reservedSize = (first - 2) * 1024
+        guard reservedSize <= limits.maximumReservedBytes else { throw SpiceDAFError.resourceLimit("reserved records") }
+        let reserved = try read(offset: 1024, count: reservedSize)
+        let summaryWords = nd + (ni + 1)/2, nameBytes = summaryWords * 8
+        var visited: Set<Int> = [], structural: Set<Int> = [], arrays: [SpiceDAFArray] = []
+        var current = first, previous = 0
+        func control(_ value: Double, maximum: UInt64) throws -> Int {
+            guard value.isFinite, value >= 0, value.rounded(.towardZero) == value,
+                  value <= Double(maximum), value < Double(Int.max) else { throw SpiceDAFError.malformed("invalid summary control value") }
+            return Int(value)
+        }
+        while current != 0 {
+            guard visited.count < limits.maximumSummaryRecords else { throw SpiceDAFError.resourceLimit("summary records") }
+            guard current >= first, UInt64(current + 1) <= records,
+                  !structural.contains(current), !structural.contains(current + 1) else { throw SpiceDAFError.malformed("cyclic or overlapping summary/name records") }
+            visited.insert(current); structural.insert(current); structural.insert(current + 1)
+            let summary = try read(offset: UInt64(current - 1)*1024, count: 1024)
+            let names = try read(offset: UInt64(current)*1024, count: 1024)
+            let next = try control(dafDouble(summary, 0, order), maximum: records)
+            let prev = try control(dafDouble(summary, 8, order), maximum: records)
+            let count = try control(dafDouble(summary, 16, order), maximum: UInt64(125/summaryWords))
+            guard prev == previous else { throw SpiceDAFError.malformed("broken backward link") }
+            guard arrays.count <= limits.maximumArrays - count else { throw SpiceDAFError.resourceLimit("array count") }
+            for index in 0..<count {
+                let offset = 24 + index * nameBytes
+                let doubles = (0..<nd).map { dafDouble(summary, offset + $0*8, order) }
+                let integers = (0..<ni).map { dafInt(summary, offset + nd*8 + $0*4, order) }
+                let start = Int(integers[ni-2]), end = Int(integers[ni-1])
+                guard start > (first - 1)*128, end >= start, end < free,
+                      UInt64(end) <= size/8 else { throw SpiceDAFError.malformed("invalid array addresses") }
+                guard doubles.allSatisfy(\.isFinite) else { throw SpiceDAFError.malformed("non-finite summary") }
+                var spk: SpiceSPKDescriptor?
+                var pck: SpicePCKDescriptor?
+                var ck: SpiceCKDescriptor?
+                if identifier == "DAF/SPK" {
+                    guard doubles[0] <= doubles[1], integers[2] != 0, integers[3] > 0 else { throw SpiceDAFError.malformed("invalid SPK descriptor") }
+                    spk = SpiceSPKDescriptor(startSecondsTDB: doubles[0], endSecondsTDB: doubles[1], targetID: integers[0], centreID: integers[1], frameID: integers[2], dataType: integers[3])
+                }
+                if identifier == "DAF/PCK" {
+                    guard doubles[0] <= doubles[1], integers[0] != 0, integers[1] != 0, integers[2] > 0 else {
+                        throw SpiceDAFError.malformed("invalid PCK descriptor")
+                    }
+                    pck = SpicePCKDescriptor(startSecondsTDB: doubles[0], endSecondsTDB: doubles[1],
+                        frameClassID: integers[0], frameID: integers[1], dataType: integers[2])
+                }
+                if identifier == "DAF/CK" {
+                    guard doubles[0] >= 0, doubles[0] <= doubles[1], integers[0] != 0,
+                          integers[1] != 0, integers[2] > 0, [0,1].contains(integers[3]) else {
+                        throw SpiceDAFError.malformed("invalid CK descriptor")
+                    }
+                    ck = SpiceCKDescriptor(startEncodedTicks: doubles[0], endEncodedTicks: doubles[1],
+                        instrumentID: integers[0], frameID: integers[1], dataType: integers[2], hasAngularVelocity: integers[3] == 1)
+                }
+                arrays.append(SpiceDAFArray(name: try dafText(names, index*nameBytes, nameBytes), doubleComponents: doubles,
+                    integerComponents: integers, initialAddress: start, finalAddress: end, spk: spk, pck: pck, ck: ck))
+            }
+            if next == 0, current != last { throw SpiceDAFError.malformed("tail pointer mismatch") }
+            previous = current; current = next
+        }
+        // Detect element ranges aliasing structural records or other arrays, regardless of list order.
+        let structuralSorted = structural.sorted()
+        let ranges = arrays.sorted { $0.initialAddress < $1.initialAddress }
+        var priorEnd = 0, recordIndex = 0
+        for array in ranges {
+            guard array.initialAddress > priorEnd else { throw SpiceDAFError.malformed("overlapping arrays") }
+            priorEnd = array.finalAddress
+            let low = (array.initialAddress - 1)/128 + 1, high = (array.finalAddress - 1)/128 + 1
+            while recordIndex < structuralSorted.count, structuralSorted[recordIndex] < low { recordIndex += 1 }
+            guard recordIndex == structuralSorted.count || structuralSorted[recordIndex] > high else { throw SpiceDAFError.malformed("array aliases summary/name records") }
+        }
+        guard structural.allSatisfy({ $0*128 < free }) else { throw SpiceDAFError.malformed("structural records beyond free address") }
+        return SpiceDAFMetadata(kind: String(identifier.dropFirst(4)), internalName: try dafText(header, 16, 60), byteOrder: order,
+            fileSizeBytes: size, doubleComponentCount: nd, integerComponentCount: ni, firstFreeAddress: free,
+            arrays: arrays, reservedRecords: reserved)
+    }
+}
diff --git a/Sources/CelMek/SpiceKernelSet.swift b/Sources/CelMek/SpiceKernelSet.swift
new file mode 100644
index 0000000..670e75a
--- /dev/null
+++ b/Sources/CelMek/SpiceKernelSet.swift
@@ -0,0 +1,335 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+public enum SpiceKernelError: Error, Equatable {
+    case invalidLimits
+    case resourceLimit(String)
+    case unsupportedFormat(String)
+    case syntax(source: String, line: Int, reason: String)
+    case dependency(source: String, path: String, reason: String)
+    case recursiveManifest([String])
+    case unknownLoad
+}
+
+/// Resource limits are library policy, not NAIF toolkit capacity constants.
+public struct SpiceKernelLimits: Sendable {
+    public let maximumFileBytes: Int
+    public let maximumFiles: Int
+    public let maximumDepth: Int
+    public let maximumAssignments: Int
+    public let maximumValues: Int
+    public init(maximumFileBytes: Int = 8_388_608, maximumFiles: Int = 256,
+                maximumDepth: Int = 16, maximumAssignments: Int = 100_000,
+                maximumValues: Int = 1_000_000) throws {
+        guard maximumFileBytes > 0, maximumFiles > 0, maximumDepth > 0,
+              maximumAssignments > 0, maximumValues > 0 else { throw SpiceKernelError.invalidLimits }
+        self.maximumFileBytes = maximumFileBytes; self.maximumFiles = maximumFiles
+        self.maximumDepth = maximumDepth; self.maximumAssignments = maximumAssignments
+        self.maximumValues = maximumValues
+    }
+}
+
+public enum SpiceKernelValue: Equatable, Sendable {
+    case numbers([Double])
+    case strings([String])
+}
+public struct SpiceKernelLoadID: Hashable, Sendable {
+    fileprivate let rawValue: UUID
+}
+public struct SpiceKernelSource: Equatable, Sendable {
+    public let path: String
+    public let kind: String
+    /// Immediate manifest, if this file was loaded as a dependency.
+    public let parentManifest: String?
+}
+public struct SpiceKernelVariable: Equatable, Sendable {
+    public let value: SpiceKernelValue
+    /// Sources contributing to the effective value, in assignment order.
+    public let sources: [SpiceKernelSource]
+}
+public struct SpiceKernelLoad: Sendable {
+    public let id: SpiceKernelLoadID
+    public let rootPath: String
+    public let sources: [SpiceKernelSource]
+}
+
+/// Immutable evaluation view. Retained views remain valid after set mutation.
+public struct SpiceBinaryKernel: Sendable {
+    public let source: SpiceKernelSource
+    public let file: SpiceDAFFile
+}
+
+public struct SpiceKernelSnapshot: Sendable {
+    /// Changes after every successful mutation; suitable as an external cache namespace.
+    public let cacheScope: EphemerisCacheScope
+    public let loads: [SpiceKernelLoad]
+    public let variables: [String: SpiceKernelVariable]
+    /// Loaded SPKs/PCKs/CKs in increasing priority order; arrays retain DAF list order.
+    public let binaryKernels: [SpiceBinaryKernel]
+    public subscript(name: String) -> SpiceKernelVariable? { variables[name] }
+}
+
+private struct SpiceAssignment {
+    let name: String
+    let append: Bool
+    let value: SpiceKernelValue
+    let line: Int
+}
+private struct SpiceLoadedGroup {
+    let metadata: SpiceKernelLoad
+    let assignments: [(SpiceAssignment, SpiceKernelSource)]
+    var binaries: [SpiceBinaryKernel] = []
+}
+
+/// Caller-owned kernel pool. Mutations are serialized; each load commits atomically.
+/// Supports the documented text subset and SPK/PCK/CK binary inspection; evaluation is separate.
+public final class SpiceKernelSet: @unchecked Sendable {
+    public let limits: SpiceKernelLimits
+    public let dafLimits: SpiceDAFLimits
+    private let lock = NSLock()
+    private var groups: [SpiceLoadedGroup] = []
+    private var scope = EphemerisCacheScope()
+    public init(limits: SpiceKernelLimits? = nil, dafLimits: SpiceDAFLimits? = nil) throws {
+        self.limits = try limits ?? SpiceKernelLimits()
+        self.dafLimits = try dafLimits ?? SpiceDAFLimits()
+    }
+    public func snapshot() -> SpiceKernelSnapshot {
+        lock.lock(); defer { lock.unlock() }
+        return SpiceKernelSnapshot(cacheScope: scope, loads: groups.map(\.metadata), variables: pool(groups), binaryKernels: groups.flatMap(\.binaries))
+    }
+    /// Paths are resolved relative to the containing manifest, independent of process cwd.
+    /// A repeated load is a new ownership group and raises its data priority.
+    @discardableResult public func load(_ url: URL) throws -> SpiceKernelLoadID {
+        lock.lock(); defer { lock.unlock() }
+        var sources: [SpiceKernelSource] = []
+        var binaries: [SpiceBinaryKernel] = []
+        var assignments: [(SpiceAssignment, SpiceKernelSource)] = []
+        var assignmentCount = 0, valueCount = 0
+        func visit(_ input: URL, parent: String?, stack: [String]) throws {
+            let file = input.standardizedFileURL.resolvingSymlinksInPath()
+            let path = file.path
+            guard !stack.contains(path) else { throw SpiceKernelError.recursiveManifest(stack + [path]) }
+            guard stack.count < limits.maximumDepth else { throw SpiceKernelError.resourceLimit("dependency depth") }
+            guard sources.count < limits.maximumFiles else { throw SpiceKernelError.resourceLimit("file count") }
+            let data: Data
+            do {
+                let handle = try FileHandle(forReadingFrom: file)
+                defer { try? handle.close() }
+                let prefix = try handle.read(upToCount: 8) ?? Data()
+                if prefix.starts(with: Array("DAF/".utf8)) {
+                    let binary = try SpiceDAFFile(url: file, limits: dafLimits)
+                    guard ["SPK", "PCK", "CK"].contains(binary.metadata.kind) else { throw SpiceKernelError.unsupportedFormat("DAF/" + binary.metadata.kind) }
+                    let source = SpiceKernelSource(path: path, kind: binary.metadata.kind, parentManifest: parent)
+                    sources.append(source); binaries.append(SpiceBinaryKernel(source: source, file: binary))
+                    return
+                }
+                try handle.seek(toOffset: 0)
+                data = try handle.read(upToCount: limits.maximumFileBytes + (limits.maximumFileBytes < Int.max ? 1 : 0)) ?? Data()
+            } catch let error as SpiceDAFError { throw error }
+            catch let error as SpiceKernelError { throw error }
+            catch {
+                throw SpiceKernelError.dependency(source: parent ?? path, path: path, reason: "cannot read file: \(error)")
+            }
+            guard data.count <= limits.maximumFileBytes else { throw SpiceKernelError.resourceLimit("file bytes: \(path)") }
+            var parser = try SpiceTextParser(data: data, source: path, limits: limits)
+            let parsed = try parser.parse()
+            let source = SpiceKernelSource(path: path, kind: parser.kind, parentManifest: parent)
+            sources.append(source)
+            assignmentCount += parsed.count
+            valueCount += parsed.reduce(0) { $0 + $1.value.count }
+            guard assignmentCount <= limits.maximumAssignments, valueCount <= limits.maximumValues else {
+                throw SpiceKernelError.resourceLimit("assignment/value count")
+            }
+            if source.kind == "MK" {
+                let local = pool([SpiceLoadedGroup(metadata: SpiceKernelLoad(id: SpiceKernelLoadID(rawValue: UUID()), rootPath: path, sources: [source]), assignments: parsed.map { ($0, source) })])
+                func strings(_ name: String) throws -> [String] {
+                    guard let item = local[name] else { return [] }
+                    guard case .strings(let result) = item.value else {
+                        throw SpiceKernelError.dependency(source: path, path: name, reason: "manifest variable must contain strings")
+                    }
+                    return try continued(result, source: path)
+                }
+                let symbols = try strings("PATH_SYMBOLS"), replacements = try strings("PATH_VALUES")
+                guard symbols.count == replacements.count, Set(symbols).count == symbols.count,
+                      symbols.allSatisfy({ !$0.isEmpty && $0.utf8.allSatisfy { ($0 >= 65 && $0 <= 90) || ($0 >= 97 && $0 <= 122) || ($0 >= 48 && $0 <= 57) || $0 == 95 } }) else {
+                    throw SpiceKernelError.dependency(source: path, path: "PATH_SYMBOLS", reason: "invalid or mismatched substitutions")
+                }
+                for raw in try strings("KERNELS_TO_LOAD") {
+                    var expanded = "", i = raw.startIndex
+                    while i < raw.endIndex {
+                        if raw[i] != "$" { expanded.append(raw[i]); i = raw.index(after: i); continue }
+                        let start = raw.index(after: i)
+                        var end = start
+                        while end < raw.endIndex, raw[end].isASCII, raw[end].isLetter || raw[end].isNumber || raw[end] == "_" { end = raw.index(after: end) }
+                        let name = String(raw[start..<end])
+                        guard let index = symbols.firstIndex(of: name) else {
+                            throw SpiceKernelError.dependency(source: path, path: raw, reason: "undefined path symbol \(name)")
+                        }
+                        expanded += replacements[index]; i = end
+                    }
+                    guard !expanded.isEmpty, expanded.utf8.count <= 255 else {
+                        throw SpiceKernelError.dependency(source: path, path: expanded, reason: "empty or oversized dependency path")
+                    }
+                    let child = expanded.hasPrefix("/") ? URL(fileURLWithPath: expanded) : file.deletingLastPathComponent().appendingPathComponent(expanded)
+                    try visit(child, parent: path, stack: stack + [path])
+                }
+                // Manifest assignments configure loading, not the persistent kernel pool.
+            } else { assignments.append(contentsOf: parsed.map { ($0, source) }) }
+        }
+        try visit(url, parent: nil, stack: [])
+        let id = SpiceKernelLoadID(rawValue: UUID())
+        let candidate = SpiceLoadedGroup(metadata: SpiceKernelLoad(id: id, rootPath: url.standardizedFileURL.path, sources: sources), assignments: assignments, binaries: binaries)
+        let proposed = groups + [candidate]
+        guard proposed.reduce(0, { $0 + $1.metadata.sources.count }) <= limits.maximumFiles,
+              proposed.reduce(0, { $0 + $1.assignments.count }) <= limits.maximumAssignments,
+              proposed.reduce(0, { $0 + $1.assignments.reduce(0, { $0 + $1.0.value.count }) }) <= limits.maximumValues else {
+            throw SpiceKernelError.resourceLimit("loaded kernel set capacity")
+        }
+        groups = proposed; scope = EphemerisCacheScope()
+        return id
+    }
+    public func unload(_ id: SpiceKernelLoadID) throws {
+        lock.lock(); defer { lock.unlock() }
+        guard let index = groups.firstIndex(where: { $0.metadata.id == id }) else { throw SpiceKernelError.unknownLoad }
+        groups.remove(at: index); scope = EphemerisCacheScope()
+    }
+    public func removeAll() {
+        lock.lock(); defer { lock.unlock() }
+        groups.removeAll(); scope = EphemerisCacheScope()
+    }
+}
+private extension SpiceKernelValue {
+    var count: Int { switch self { case .numbers(let a): return a.count; case .strings(let a): return a.count } }
+}
+private func pool(_ groups: [SpiceLoadedGroup]) -> [String: SpiceKernelVariable] {
+    var result: [String: SpiceKernelVariable] = [:]
+    for group in groups { for (assignment, source) in group.assignments {
+        var value = assignment.value, sources = [source]
+        if assignment.append, let previous = result[assignment.name] {
+            switch (previous.value, value) {
+            case (.numbers(let a), .numbers(let b)): value = .numbers(a + b); sources = previous.sources + sources
+            case (.strings(let a), .strings(let b)): value = .strings(a + b); sources = previous.sources + sources
+            default: break // A different type replaces the previous pool value.
+            }
+        }
+        result[assignment.name] = SpiceKernelVariable(value: value, sources: sources)
+    } }
+    return result
+}
+private func continued(_ elements: [String], source: String) throws -> [String] {
+    var result: [String] = [], pending = "", awaitingContinuation = false
+    for element in elements {
+        let trimmed = element.replacingOccurrences(of: #" +$"#, with: "", options: .regularExpression)
+        if trimmed.hasSuffix("+") { pending += trimmed.dropLast(); awaitingContinuation = true }
+        else { result.append(pending + element); pending = ""; awaitingContinuation = false }
+    }
+    guard !awaitingContinuation else { throw SpiceKernelError.dependency(source: source, path: pending, reason: "unterminated path continuation") }
+    return result
+}
+
+private struct SpiceTextParser {
+    let source: String
+    let limits: SpiceKernelLimits
+    let kind: String
+    var bytes: [UInt8] = []
+    var lines: [Int] = []
+    var index = 0
+    init(data: Data, source: String, limits: SpiceKernelLimits) throws {
+        self.source = source; self.limits = limits
+        guard data.allSatisfy({ (32...126).contains($0) || [9,10,13].contains($0) }), let text = String(data: data, encoding: .ascii) else {
+            throw SpiceKernelError.unsupportedFormat("non-ASCII text or binary kernel: \(source)")
+        }
+        let rows = text.replacingOccurrences(of: "\r\n", with: "\n").replacingOccurrences(of: "\r", with: "\n").components(separatedBy: "\n")
+        let header = rows[0].trimmingCharacters(in: .whitespaces)
+        guard ["KPL/PCK", "KPL/FK", "KPL/LSK", "KPL/SCLK", "KPL/MK"].contains(header) else { throw SpiceKernelError.unsupportedFormat(header) }
+        kind = String(header.dropFirst(4))
+        var active = false
+        for (line, row) in rows.enumerated().dropFirst() {
+            let control = row.trimmingCharacters(in: .whitespaces)
+            if control == "\\begindata" { active = true; continue }
+            if control == "\\begintext" { active = false; continue }
+            if active {
+                bytes += row.utf8; bytes.append(10)
+                lines += Array(repeating: line + 1, count: row.utf8.count + 1)
+            }
+        }
+    }
+    func error(_ reason: String) -> SpiceKernelError {
+        .syntax(source: source, line: lines.isEmpty ? 1 : lines[min(index, lines.count - 1)], reason: reason)
+    }
+    mutating func whitespace() { while index < bytes.count, [9,10,32].contains(bytes[index]) { index += 1 } }
+    mutating func parse() throws -> [SpiceAssignment] {
+        var result: [SpiceAssignment] = [], count = 0
+        while true {
+            whitespace(); if index == bytes.count { return result }
+            let start = index, line = lines[index]
+            while index < bytes.count, ![9,10,32,44,40,41,61].contains(bytes[index]), !(bytes[index] == 43 && index + 1 < bytes.count && bytes[index + 1] == 61) { index += 1 }
+            let name = String(decoding: bytes[start..<index], as: UTF8.self)
+            guard !name.isEmpty, name.utf8.count <= 32 else { throw error("invalid variable name") }
+            whitespace()
+            var append = false
+            if index < bytes.count, bytes[index] == 43 { append = true; index += 1 }
+            guard index < bytes.count, bytes[index] == 61 else { throw error("expected assignment operator") }
+            index += 1; whitespace()
+            let vector = index < bytes.count && bytes[index] == 40
+            if vector { index += 1 }
+            var numbers: [Double] = [], strings: [String] = []
+            while true {
+                whitespace()
+                if vector, index < bytes.count, bytes[index] == 41 { index += 1; break }
+                guard index < bytes.count else { throw error("missing value or closing parenthesis") }
+                if bytes[index] == 39 {
+                    index += 1; var string: [UInt8] = []; var closed = false
+                    while index < bytes.count {
+                        let byte = bytes[index]; index += 1
+                        if byte == 39 {
+                            if index < bytes.count, bytes[index] == 39 { string.append(39); index += 1 }
+                            else { closed = true; break }
+                        } else { guard byte != 10 else { throw error("string crosses line") }; string.append(byte) }
+                    }
+                    guard closed, string.count <= 80 else { throw error("unterminated or oversized string") }
+                    strings.append(String(decoding: string, as: UTF8.self))
+                } else {
+                    let start = index
+                    while index < bytes.count, ![9,10,32,44,40,41].contains(bytes[index]) { index += 1 }
+                    let token = String(decoding: bytes[start..<index], as: UTF8.self)
+                    if token.hasPrefix("@") {
+                        do { numbers.append(try spiceDateSeconds(token)) }
+                        catch { throw self.error("unsupported or invalid @ date literal") }
+                    } else {
+                        let normalized = token.replacingOccurrences(of: "D", with: "E").replacingOccurrences(of: "d", with: "e")
+                        guard normalized.range(of: #"^[+-]?(?:[0-9]+(?:\.[0-9]*)?|\.[0-9]+)(?:[eE][+-]?[0-9]+)?$"#, options: .regularExpression) != nil,
+                              let number = Double(normalized), number.isFinite else { throw error("invalid finite number") }
+                        numbers.append(number)
+                    }
+                }
+                count += 1
+                guard count <= limits.maximumValues else { throw SpiceKernelError.resourceLimit("parsed values") }
+                guard numbers.isEmpty || strings.isEmpty else { throw error("mixed string/numeric vector") }
+                if !vector { break }
+                let before = index; whitespace()
+                if index < bytes.count, bytes[index] == 44 { index += 1 }
+                else if index < bytes.count, bytes[index] != 41, index == before { throw error("missing value separator") }
+            }
+            guard !numbers.isEmpty || !strings.isEmpty else { throw error("empty vector") }
+            result.append(SpiceAssignment(name: name, append: append, value: strings.isEmpty ? .numbers(numbers) : .strings(strings), line: line))
+            guard result.count <= limits.maximumAssignments else { throw SpiceKernelError.resourceLimit("parsed assignments") }
+        }
+    }
+}
diff --git a/Sources/CelMek/SpiceSCLK.swift b/Sources/CelMek/SpiceSCLK.swift
new file mode 100644
index 0000000..fa62ba6
--- /dev/null
+++ b/Sources/CelMek/SpiceSCLK.swift
@@ -0,0 +1,223 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+public enum SpiceSCLKError: Error, Equatable {
+    case invalidSpacecraftID, invalidFormat, invalidPartition, invalidFields
+    case unsupportedClockType(Double), unsupportedTimeSystem(Double)
+    case invalidCorrelation, outsideCoverage, correlationGap, ambiguousCorrelation
+    case numericalRangeExceeded, tdbModelRequired
+}
+
+public struct SpiceSCLKReading: Equatable, Sendable {
+    /// Explicit one-based partition; reset readings are never resolved by guessing.
+    public let partition: Int
+    public let fields: [Int64]
+    public init(partition: Int, fields: [Int64]) { self.partition = partition; self.fields = fields }
+}
+public struct SpiceSCLKPartition: Sendable {
+    public let startRawTicks: Double
+    public let endRawTicks: Double
+    public let startEncodedTicks: Double
+    public var endEncodedTicks: Double { startEncodedTicks + (endRawTicks - startRawTicks) }
+}
+public struct SpiceSCLKCorrelation: Sendable {
+    public let encodedTicks: Double
+    /// Seconds past J2000 noon in the declared parallel time system.
+    public let parallelSeconds: Double
+    public let parallelSecondsPerTick: Double
+}
+public struct SpiceSCLKSample: Sendable {
+    public let encodedTicks: Double
+    public let parallelSeconds: Double
+    public let parallelSecondsPerTick: Double
+    public let correlationIndex: Int
+}
+
+/// Immutable type-1 numeric/string clock and correlation data from a snapshot.
+/// Counts use Double encoded ticks as specified by SPICE; precision is finite.
+public struct SpiceSCLKClock: Sendable {
+    public let spacecraftID: Int32
+    public let parallelTimeScale: TimeScale
+    public let moduli: [Int64]
+    public let offsets: [Int64]
+    public let outputDelimiter: String
+    public let partitions: [SpiceSCLKPartition]
+    public let correlations: [SpiceSCLKCorrelation]
+    public let encodedTickCoverage: ClosedRange<Double>
+    public let provenance: PhysicalDataProvenance
+    public let cacheScope: EphemerisCacheScope
+
+    public init(snapshot: SpiceKernelSnapshot, spacecraftID: Int32,
+                encodedTickCoverage: ClosedRange<Double>, provenance: PhysicalDataProvenance) throws {
+        guard spacecraftID < 0 else { throw SpiceSCLKError.invalidSpacecraftID }
+        let suffix = String(-Int64(spacecraftID)), p = "SCLK01_"
+        var names: [String] = []
+        func values(_ name: String, count: Int? = nil) throws -> [Double] {
+            names.append(name); return try snapshot.numeric(name,count: count)
+        }
+        let type = try values("SCLK_DATA_TYPE_" + suffix,count: 1)[0]
+        guard type == 1 else { throw SpiceSCLKError.unsupportedClockType(type) }
+        let countValue = try values(p + "N_FIELDS_" + suffix,count: 1)[0]
+        guard let count = Int(exactly: countValue), (1...16).contains(count) else { throw SpiceSCLKError.invalidFormat }
+        let m = try values(p + "MODULI_" + suffix,count: count)
+        let o = try values(p + "OFFSETS_" + suffix,count: count)
+        guard m.allSatisfy({ Int64(exactly: $0) != nil && $0 > 0 }), o.allSatisfy({ Int64(exactly: $0) != nil && $0 >= 0 }) else { throw SpiceSCLKError.invalidFormat }
+        let moduli = m.map { Int64($0) }, offsets = o.map { Int64($0) }
+        var total = 1.0, mostSignificantTicks = 1.0
+        for (i, modulus) in m.enumerated() {
+            total *= modulus
+            if i > 0 { mostSignificantTicks *= modulus }
+            guard total.isFinite, total <= 9_007_199_254_740_992 else { throw SpiceSCLKError.invalidFormat }
+        }
+        let delimiterCode = try values(p + "OUTPUT_DELIM_" + suffix,count: 1)[0]
+        guard let delimiter = Int(exactly: delimiterCode), (1...5).contains(delimiter) else { throw SpiceSCLKError.invalidFormat }
+        let timeName = p + "TIME_SYSTEM_" + suffix
+        let timeCode = try snapshot[timeName].map { _ in try values(timeName,count: 1)[0] } ?? 1
+        guard timeCode == 1 || timeCode == 2 else { throw SpiceSCLKError.unsupportedTimeSystem(timeCode) }
+        let starts = try values("SCLK_PARTITION_START_" + suffix), ends = try values("SCLK_PARTITION_END_" + suffix)
+        guard starts.count == ends.count else { throw SpiceSCLKError.invalidPartition }
+        var partitions: [SpiceSCLKPartition] = [], encodedEnd = 0.0
+        for (start,end) in zip(starts,ends) {
+            guard start >= 0, start.rounded() == start, end.rounded() == end, end > start, end < total else { throw SpiceSCLKError.invalidPartition }
+            let partition = SpiceSCLKPartition(startRawTicks: start,endRawTicks: end,startEncodedTicks: encodedEnd)
+            let next = partition.endEncodedTicks
+            guard next > encodedEnd, next <= 9_007_199_254_740_992 else { throw SpiceSCLKError.invalidPartition }
+            encodedEnd = next; partitions.append(partition)
+        }
+        let raw = try values(p + "COEFFICIENTS_" + suffix)
+        guard raw.count % 3 == 0 else { throw SpiceSCLKError.invalidCorrelation }
+        var correlations: [SpiceSCLKCorrelation] = []
+        for i in stride(from: 0,to: raw.count,by: 3) {
+            let tick = raw[i], time = raw[i+1], rate = raw[i+2]/mostSignificantTicks
+            guard tick >= 0, tick <= encodedEnd, rate.isFinite, rate > 0,
+                  abs(time) < 1e15, correlations.last.map({ tick > $0.encodedTicks }) ?? true else { throw SpiceSCLKError.invalidCorrelation }
+            correlations.append(SpiceSCLKCorrelation(encodedTicks: tick,parallelSeconds: time,parallelSecondsPerTick: rate))
+        }
+        guard encodedTickCoverage.lowerBound.isFinite, encodedTickCoverage.upperBound.isFinite,
+              encodedTickCoverage.lowerBound >= correlations[0].encodedTicks,
+              encodedTickCoverage.upperBound <= encodedEnd else { throw SpiceSCLKError.outsideCoverage }
+        self.spacecraftID = spacecraftID; self.parallelTimeScale = timeCode == 1 ? .tdb : .tt
+        self.moduli = moduli; self.offsets = offsets; self.outputDelimiter = [".",":","-",","," "][delimiter-1]
+        self.partitions = partitions; self.correlations = correlations; self.encodedTickCoverage = encodedTickCoverage
+        self.provenance = try snapshot.physicalProvenance(names: names,supplied: provenance); cacheScope = snapshot.cacheScope
+        _ = try sample(atEncodedTicks: encodedTickCoverage.lowerBound)
+        _ = try sample(atEncodedTicks: encodedTickCoverage.upperBound)
+    }
+    public func encodedTicks(for reading: SpiceSCLKReading) throws -> Double {
+        guard (1...partitions.count).contains(reading.partition) else { throw SpiceSCLKError.invalidPartition }
+        guard reading.fields.count == moduli.count else { throw SpiceSCLKError.invalidFields }
+        var raw = 0.0
+        for i in moduli.indices {
+            let (value, overflow) = reading.fields[i].subtractingReportingOverflow(offsets[i])
+            guard !overflow, value >= 0, value < moduli[i] else { throw SpiceSCLKError.invalidFields }
+            raw = raw * Double(moduli[i]) + Double(value)
+        }
+        let partition = partitions[reading.partition-1]
+        guard raw >= partition.startRawTicks, raw <= partition.endRawTicks else { throw SpiceSCLKError.invalidPartition }
+        let ticks = partition.startEncodedTicks + (raw-partition.startRawTicks)
+        guard encodedTickCoverage.contains(ticks) else { throw SpiceSCLKError.outsideCoverage }
+        return ticks
+    }
+    /// Continuous input is preserved by correlation APIs. Civil readings require
+    /// integral ticks, and a caller selects the partition at shared reset boundaries.
+    public func reading(atEncodedTicks ticks: Double, partition number: Int) throws -> SpiceSCLKReading {
+        guard ticks.isFinite, encodedTickCoverage.contains(ticks), ticks.rounded() == ticks else { throw SpiceSCLKError.outsideCoverage }
+        guard (1...partitions.count).contains(number) else { throw SpiceSCLKError.invalidPartition }
+        let partition = partitions[number-1]
+        guard ticks >= partition.startEncodedTicks, ticks <= partition.endEncodedTicks else { throw SpiceSCLKError.invalidPartition }
+        var raw = Int64(partition.startRawTicks + (ticks-partition.startEncodedTicks)), fields = Array(repeating: Int64(0),count: moduli.count)
+        for i in moduli.indices.reversed() {
+            let value = raw % moduli[i]; raw /= moduli[i]
+            let (field, overflow) = value.addingReportingOverflow(offsets[i])
+            guard !overflow else { throw SpiceSCLKError.invalidFields }; fields[i] = field
+        }
+        guard raw == 0 else { throw SpiceSCLKError.invalidFields }
+        return SpiceSCLKReading(partition: number,fields: fields)
+    }
+    /// Strict canonical subset: explicit partition and all integral fields.
+    public func reading(from string: String) throws -> SpiceSCLKReading {
+        guard string.utf8.count <= 512 else { throw SpiceSCLKError.invalidFields }
+        let parts = string.split(separator: "/",omittingEmptySubsequences: false)
+        guard parts.count == 2, let partition = Int(parts[0].trimmingCharacters(in: .whitespaces)) else { throw SpiceSCLKError.invalidPartition }
+        let fieldString = parts[1].trimmingCharacters(in: .whitespaces)
+        guard fieldString.range(of: #"^[0-9]+(?:\s*(?:[.:,-]\s*|\s+)[0-9]+)*$"#, options: .regularExpression) != nil else {
+            throw SpiceSCLKError.invalidFields
+        }
+        let tokens = fieldString.split(whereSeparator: { " .:,-".contains($0) })
+        guard tokens.count == moduli.count else { throw SpiceSCLKError.invalidFields }
+        let fields = try tokens.map { token -> Int64 in
+            guard token.allSatisfy(\.isNumber), let value = Int64(token) else { throw SpiceSCLKError.invalidFields }; return value
+        }
+        let reading = SpiceSCLKReading(partition: partition,fields: fields)
+        _ = try encodedTicks(for: reading); return reading
+    }
+    public func string(for reading: SpiceSCLKReading) throws -> String {
+        _ = try encodedTicks(for: reading)
+        return String(reading.partition) + "/" + reading.fields.map(String.init).joined(separator: outputDelimiter)
+    }
+    public func sample(atEncodedTicks ticks: Double) throws -> SpiceSCLKSample {
+        guard ticks.isFinite, encodedTickCoverage.contains(ticks) else { throw SpiceSCLKError.outsideCoverage }
+        var low = 0, high = correlations.count
+        while low < high { let mid = low+(high-low)/2; if correlations[mid].encodedTicks <= ticks { low = mid+1 } else { high = mid } }
+        let index = low-1, correlation = correlations[index]
+        let time = correlation.parallelSeconds + correlation.parallelSecondsPerTick*(ticks-correlation.encodedTicks)
+        guard time.isFinite, abs(time) < 1e15 else { throw SpiceSCLKError.numericalRangeExceeded }
+        return SpiceSCLKSample(encodedTicks: ticks,parallelSeconds: time,parallelSecondsPerTick: correlation.parallelSecondsPerTick,correlationIndex: index)
+    }
+    /// Inverse requires a unique covered branch. Discontinuous correlations may
+    /// leave gaps or duplicate times; neither is silently resolved.
+    public func sample(atParallelSeconds time: Double) throws -> SpiceSCLKSample {
+        guard time.isFinite else { throw SpiceSCLKError.outsideCoverage }
+        var result: SpiceSCLKSample?
+        for i in correlations.indices {
+            let c = correlations[i], lower = max(c.encodedTicks,encodedTickCoverage.lowerBound)
+            let upper = min(i+1 < correlations.count ? correlations[i+1].encodedTicks : encodedTickCoverage.upperBound,encodedTickCoverage.upperBound)
+            guard lower <= upper else { continue }
+            let ticks = c.encodedTicks + (time-c.parallelSeconds)/c.parallelSecondsPerTick
+            let exclusiveUpper = i+1 < correlations.count && upper == correlations[i+1].encodedTicks
+            guard ticks.isFinite, ticks >= lower, ticks <= upper, !(exclusiveUpper && ticks == upper) else { continue }
+            let sample = try sample(atEncodedTicks: ticks)
+            if result != nil { throw SpiceSCLKError.ambiguousCorrelation }; result = sample
+        }
+        guard let result else { throw SpiceSCLKError.correlationGap }; return result
+    }
+    public func epoch(atEncodedTicks ticks: Double, using tdbModel: (any TDBTimeModel)? = nil) throws -> Epoch {
+        let time = try sample(atEncodedTicks: ticks).parallelSeconds
+        let nominal = Epoch(offsetFromJ2000: try Duration(seconds: time))
+        if parallelTimeScale == .tt { return nominal }
+        guard let tdbModel else { throw SpiceSCLKError.tdbModelRequired }
+        return try Epoch.invertTDB(try nominal.julianDate(in: .tt).withScale(.tdb),using: tdbModel)
+    }
+    public func sample(at epoch: Epoch, using tdbModel: (any TDBTimeModel)? = nil) throws -> SpiceSCLKSample {
+        let time: Double
+        if parallelTimeScale == .tt { time = epoch.offsetFromJ2000.seconds }
+        else {
+            guard let tdbModel else { throw SpiceSCLKError.tdbModelRequired }
+            let correction = try epoch.tdbCorrection(using: tdbModel)
+            time = try epoch.offsetFromJ2000.adding(correction.tdbMinusTT).seconds
+        }
+        return try sample(atParallelSeconds: time)
+    }
+}
+
+private extension JulianDateComponents {
+    func withScale(_ scale: TimeScale) throws -> JulianDateComponents {
+        try JulianDateComponents(wholeDay: wholeDay,fractionalDay: fractionalDay,scale: scale)
+    }
+}
diff --git a/Sources/CelMek/SpiceSPK.swift b/Sources/CelMek/SpiceSPK.swift
new file mode 100644
index 0000000..27d0a6f
--- /dev/null
+++ b/Sources/CelMek/SpiceSPK.swift
@@ -0,0 +1,186 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+public enum SpiceSPKError: Error, Equatable {
+    case invalidEpoch
+    case invalidSegment
+    case unsupportedType(Int32)
+    case outOfCoverage
+    case noSegment(targetID: Int32, secondsTDB: Double)
+    case malformedSegment(path: String, array: Int, reason: String)
+    case numericalRangeExceeded
+}
+
+/// Primitive geometric state in native SPK axes, relative to the descriptor's centre.
+/// Velocity is per TDB argument second; this is not yet an atomic-Epoch/SI adapter.
+public struct SpiceSPKState: Sendable {
+    public let secondsTDB: Double
+    public let positionKilometres: SIMD3<Double>
+    public let velocityKilometresPerTDBSecond: SIMD3<Double>
+    public let descriptor: SpiceSPKDescriptor
+    public let sourcePath: String
+    public let segmentName: String
+    public let arrayIndex: Int
+    public let recordIndex: Int
+}
+
+/// Validated type 2/3/21 directory and bounded on-demand record evaluation.
+/// This value retains its reader; the underlying binary asset must remain unchanged.
+public struct SpiceSPKSegment: Sendable {
+    public let file: SpiceDAFFile
+    public let arrayIndex: Int
+    public let descriptor: SpiceSPKDescriptor
+    public let initialSecondsTDB: Double
+    /// Zero for variable-interval type 21 records.
+    public let intervalSeconds: Double
+    public let recordSizeWords: Int
+    public let recordCount: Int
+    /// Chebyshev degree for types 2/3; -1 for type 21 difference lines.
+    public let polynomialDegree: Int
+    private let type21: SpiceSPKType21Directory?
+
+    public init(file: SpiceDAFFile, array index: Int) throws {
+        guard file.metadata.kind == "SPK", file.metadata.arrays.indices.contains(index),
+              let descriptor = file.metadata.arrays[index].spk else { throw SpiceSPKError.invalidSegment }
+        guard [2, 3, 21].contains(descriptor.dataType) else { throw SpiceSPKError.unsupportedType(descriptor.dataType) }
+        if descriptor.dataType == 21 {
+            let directory = try file.spk21Directory(array: index)
+            self.file = file; self.arrayIndex = index; self.descriptor = descriptor
+            self.initialSecondsTDB = descriptor.startSecondsTDB; self.intervalSeconds = 0
+            self.recordSizeWords = directory.size; self.recordCount = directory.count
+            self.polynomialDegree = -1; self.type21 = directory
+            return
+        }
+        self.type21 = nil
+        let array = file.metadata.arrays[index], words = array.finalAddress - array.initialAddress + 1
+        func malformed(_ reason: String) -> SpiceSPKError { .malformedSegment(path: file.url.path, array: index, reason: reason) }
+        guard words >= 4 else { throw malformed("missing directory") }
+        let directory = try file.readWords(array: index, offset: words - 4, count: 4)
+        func integer(_ value: Double) throws -> Int {
+            // DAF addresses already bound the possible count/size below Int32.max.
+            guard value.isFinite, value >= 1, value <= Double(words - 4), value.rounded(.towardZero) == value else {
+                throw malformed("invalid directory integer")
+            }
+            return Int(value)
+        }
+        let initial = directory[0], interval = directory[1]
+        let size = try integer(directory[2]), count = try integer(directory[3])
+        let components = descriptor.dataType == 2 ? 3 : 6
+        guard size >= 2 + components, (size - 2) % components == 0,
+              (words - 4) % size == 0, (words - 4) / size == count else { throw malformed("inconsistent record layout") }
+        guard size <= file.limits.maximumReadWords else { throw SpiceDAFError.resourceLimit("SPK record words") }
+        let end = initial + interval * Double(count)
+        guard initial.isFinite, interval.isFinite, interval > 0, (interval/2) > 0,
+              end.isFinite, end > initial, initial + interval > initial, end - interval < end else {
+            throw malformed("invalid or unresolvable directory time grid")
+        }
+        guard descriptor.startSecondsTDB >= initial - spkTimeSlack(initial, interval),
+              descriptor.endSecondsTDB <= end + spkTimeSlack(end, interval) else { throw malformed("descriptor exceeds record coverage") }
+        self.file = file; self.arrayIndex = index; self.descriptor = descriptor
+        self.initialSecondsTDB = initial; self.intervalSeconds = interval
+        self.recordSizeWords = size; self.recordCount = count; self.polynomialDegree = (size - 2)/components - 1
+    }
+
+    /// Types 2/3 select the later record at an internal boundary; type 21 selects the earlier.
+    /// The final endpoint uses the last covering record.
+    /// Only the selected record is read/validated. No extrapolation beyond descriptor coverage.
+    public func state(atSecondsTDB seconds: Double) throws -> SpiceSPKState {
+        guard seconds.isFinite else { throw SpiceSPKError.invalidEpoch }
+        guard seconds >= descriptor.startSecondsTDB, seconds <= descriptor.endSecondsTDB else { throw SpiceSPKError.outOfCoverage }
+        func malformed(_ reason: String) -> SpiceSPKError { .malformedSegment(path: file.url.path, array: arrayIndex, reason: reason) }
+        if let directory = type21 {
+            let (record, position, velocity) = try directory.evaluate(file: file, array: arrayIndex, seconds: seconds)
+            return SpiceSPKState(secondsTDB: seconds, positionKilometres: position, velocityKilometresPerTDBSecond: velocity,
+                descriptor: descriptor, sourcePath: file.url.path, segmentName: file.metadata.arrays[arrayIndex].name,
+                arrayIndex: arrayIndex, recordIndex: record)
+        }
+        let ratio = (seconds - initialSecondsTDB)/intervalSeconds
+        guard ratio.isFinite else { throw SpiceSPKError.numericalRangeExceeded }
+        var record = Int(max(0, min(Double(recordCount - 1), floor(ratio))))
+        // Correct a quotient rounded across one boundary using the directory's actual grid.
+        if record + 1 < recordCount, seconds >= initialSecondsTDB + Double(record + 1)*intervalSeconds { record += 1 }
+        if record > 0, seconds < initialSecondsTDB + Double(record)*intervalSeconds { record -= 1 }
+        let values = try file.readWords(array: arrayIndex, offset: record * recordSizeWords, count: recordSizeWords)
+        guard values.allSatisfy(\.isFinite), values[1] > 0 else { throw malformed("non-finite coefficients or invalid record radius") }
+        let start = initialSecondsTDB + Double(record)*intervalSeconds
+        let expectedMid = start + intervalSeconds/2
+        guard abs(values[0] - expectedMid) <= spkTimeSlack(expectedMid, intervalSeconds),
+              abs(values[1] - intervalSeconds/2) <= spkTimeSlack(intervalSeconds/2, intervalSeconds) else {
+            throw malformed("record interval disagrees with directory")
+        }
+        let normalized = (seconds - values[0])/values[1]
+        let slack = spkTimeSlack(values[0], intervalSeconds)/values[1] + 16*Double.ulpOfOne
+        guard normalized.isFinite, normalized >= -1 - slack, normalized <= 1 + slack else { throw malformed("epoch outside selected coefficient interval") }
+        let x = max(-1, min(1, normalized)), coefficientCount = polynomialDegree + 1
+        var position = SIMD3<Double>.zero, velocity = SIMD3<Double>.zero
+        for axis in 0..<3 {
+            let polynomial = try spkPolynomial(values, offset: 2 + axis*coefficientCount, count: coefficientCount, x: x, differentiate: descriptor.dataType == 2)
+            position[axis] = polynomial.value
+            if descriptor.dataType == 2 { velocity[axis] = polynomial.derivative/values[1] }
+            else {
+                velocity[axis] = try spkPolynomial(values, offset: 2 + (axis + 3)*coefficientCount, count: coefficientCount, x: x, differentiate: false).value
+            }
+        }
+        guard (0..<3).allSatisfy({ position[$0].isFinite && velocity[$0].isFinite }) else { throw SpiceSPKError.numericalRangeExceeded }
+        return SpiceSPKState(secondsTDB: seconds, positionKilometres: position, velocityKilometresPerTDBSecond: velocity,
+            descriptor: descriptor, sourcePath: file.url.path, segmentName: file.metadata.arrays[arrayIndex].name,
+            arrayIndex: arrayIndex, recordIndex: record)
+    }
+}
+
+// Allow only storage-rounding discrepancies in record/directory consistency checks.
+private func spkTimeSlack(_ time: Double, _ interval: Double) -> Double { 8 * max(time.ulp, interval.ulp) }
+
+/// Clenshaw summation of c0*T0 + c1*T1 + ... and its differentiated recurrence.
+/// In particular c0 is used in full; some mathematical series use a different convention.
+private func spkPolynomial(_ coefficients: [Double], offset: Int, count: Int, x: Double, differentiate: Bool) throws -> (value: Double, derivative: Double) {
+    var b1 = 0.0, b2 = 0.0, d1 = 0.0, d2 = 0.0
+    if count > 1 {
+        for k in stride(from: count - 1, through: 1, by: -1) {
+            let b = coefficients[offset + k] + 2*x*b1 - b2
+            let d = differentiate ? 2*b1 + 2*x*d1 - d2 : 0
+            guard b.isFinite, d.isFinite else { throw SpiceSPKError.numericalRangeExceeded }
+            b2 = b1; b1 = b; d2 = d1; d1 = d
+        }
+    }
+    let value = coefficients[offset] + x*b1 - b2, derivative = differentiate ? b1 + x*d1 - d2 : 0
+    guard value.isFinite, derivative.isFinite else { throw SpiceSPKError.numericalRangeExceeded }
+    return (value, derivative)
+}
+
+extension SpiceDAFFile {
+    /// Direct primitive state from a caller-selected SPK array.
+    public func spkState(array index: Int, atSecondsTDB seconds: Double) throws -> SpiceSPKState {
+        guard seconds.isFinite else { throw SpiceSPKError.invalidEpoch }
+        return try SpiceSPKSegment(file: self, array: index).state(atSecondsTDB: seconds)
+    }
+}
+extension SpiceKernelSnapshot {
+    /// Selects the highest-priority covering target segment and evaluates its native primitive state.
+    /// A corrupt or unsupported selected segment fails; lower-priority data is not substituted.
+    /// Does not yet chain centres, transform axes, or apply aberration corrections.
+    public func spkState(targetID: Int32, atSecondsTDB seconds: Double) throws -> SpiceSPKState {
+        guard seconds.isFinite else { throw SpiceSPKError.invalidEpoch }
+        var checks = Int.max
+        if case .selected(let segment) = try lookupSPK(targetID: targetID, seconds: seconds, remainingChecks: &checks, checkLimit: Int.max) {
+            return try segment.file.spkState(array: segment.arrayIndex, atSecondsTDB: seconds)
+        }
+        throw SpiceSPKError.noSegment(targetID: targetID, secondsTDB: seconds)
+    }
+}
diff --git a/Sources/CelMek/SpiceSPKResolution.swift b/Sources/CelMek/SpiceSPKResolution.swift
new file mode 100644
index 0000000..a67efcb
--- /dev/null
+++ b/Sources/CelMek/SpiceSPKResolution.swift
@@ -0,0 +1,204 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+public enum SpiceSPKResolutionError: Error, Equatable, Sendable {
+    case invalidOptions
+    case invalidFrame
+    case missingLink(bodyID: Int32, secondsTDB: Double)
+    case coverageGap(bodyID: Int32, secondsTDB: Double)
+    case cycle([Int32])
+    case chainLimit(Int)
+    case descriptorLimit(Int)
+    case frameMismatch(bodyID: Int32, expected: Int32, actual: Int32)
+}
+public struct SpiceSPKResolutionOptions: Sendable {
+    /// Bounds selected metadata edges explored across both branches, including unused ancestors.
+    public let maximumChainLinks: Int
+    /// Bounds descriptor inspections, including those that do not match the requested body.
+    public let maximumDescriptorChecks: Int
+    public init(maximumChainLinks: Int = 64, maximumDescriptorChecks: Int = 1_000_000) throws {
+        guard maximumChainLinks > 0, maximumDescriptorChecks > 0 else { throw SpiceSPKResolutionError.invalidOptions }
+        self.maximumChainLinks = maximumChainLinks; self.maximumDescriptorChecks = maximumDescriptorChecks
+    }
+}
+public enum SpiceSPKChainSide: Equatable, Sendable { case target, centre }
+public struct SpiceSPKChainContribution: Sendable {
+    /// Add target-branch states and subtract centre-branch states.
+    public let side: SpiceSPKChainSide
+    /// Index in the snapshot's binaryKernels array, distinguishing repeated loads.
+    public let kernelIndex: Int
+    public let state: SpiceSPKState
+}
+/// Necessary primitive links, with independent native axes and no implicit frame relabelling.
+public struct SpiceSPKChain: Sendable {
+    public let targetID: Int32
+    public let centreID: Int32
+    public let secondsTDB: Double
+    public let commonCentreID: Int32
+    public let contributions: [SpiceSPKChainContribution]
+    public let cacheScope: EphemerisCacheScope
+    public let exploredChainLinks: Int
+    public let inspectedDescriptors: Int
+}
+/// Geometric target-minus-centre state in explicitly requested, common native axes.
+/// Kilometres and TDB argument-second derivatives; no light-time/aberration corrections.
+public struct SpiceSPKResolvedState: Sendable {
+    public let targetID: Int32
+    public let centreID: Int32
+    public let frameID: Int32
+    public let secondsTDB: Double
+    public let positionKilometres: SIMD3<Double>
+    public let velocityKilometresPerTDBSecond: SIMD3<Double>
+    public let commonCentreID: Int32
+    public let contributions: [SpiceSPKChainContribution]
+    public let cacheScope: EphemerisCacheScope
+    public let exploredChainLinks: Int
+    public let inspectedDescriptors: Int
+}
+
+struct SelectedSPKSegment {
+    let file: SpiceDAFFile
+    let kernelIndex: Int
+    let arrayIndex: Int
+    let descriptor: SpiceSPKDescriptor
+}
+enum SPKSelectionLookup { case selected(SelectedSPKSegment), missing, gap }
+extension SpiceKernelSnapshot {
+    func lookupSPK(targetID: Int32, seconds: Double, remainingChecks: inout Int, checkLimit: Int) throws -> SPKSelectionLookup {
+        var hasBody = false
+        for kernelIndex in binaryKernels.indices.reversed() {
+            let file = binaryKernels[kernelIndex].file
+            guard file.metadata.kind == "SPK" else { continue }
+            for arrayIndex in file.metadata.arrays.indices.reversed() {
+                guard remainingChecks > 0 else { throw SpiceSPKResolutionError.descriptorLimit(checkLimit) }
+                remainingChecks -= 1
+                guard let descriptor = file.metadata.arrays[arrayIndex].spk, descriptor.targetID == targetID else { continue }
+                hasBody = true
+                guard seconds >= descriptor.startSecondsTDB, seconds <= descriptor.endSecondsTDB else { continue }
+                return .selected(SelectedSPKSegment(file: file, kernelIndex: kernelIndex, arrayIndex: arrayIndex, descriptor: descriptor))
+            }
+        }
+        return hasBody ? .gap : .missing
+    }
+
+    /// Resolves two precedence-selected centre chains at the same epoch.
+    /// Returned links retain independent native frame IDs for explicit downstream conversion.
+    public func spkChain(targetID: Int32, centreID: Int32,
+                         atSecondsTDB seconds: Double, options: SpiceSPKResolutionOptions? = nil) throws -> SpiceSPKChain {
+        guard seconds.isFinite else { throw SpiceSPKError.invalidEpoch }
+        let options = try options ?? SpiceSPKResolutionOptions()
+        var target = SPKBranch(targetID), centre = SPKBranch(centreID)
+        var links = 0, remainingChecks = options.maximumDescriptorChecks
+        func advance(_ branch: inout SPKBranch) throws {
+            guard branch.stop == nil else { return }
+            let body = branch.nodes.last!
+            if body == 0 { branch.stop = .root; return }
+            guard links < options.maximumChainLinks else { throw SpiceSPKResolutionError.chainLimit(options.maximumChainLinks) }
+            switch try lookupSPK(targetID: body, seconds: seconds, remainingChecks: &remainingChecks, checkLimit: options.maximumDescriptorChecks) {
+            case .missing: branch.stop = .missing(body)
+            case .gap: branch.stop = .gap(body)
+            case .selected(let segment):
+                links += 1
+                let next = segment.descriptor.centreID
+                if let index = branch.indices[next] {
+                    branch.stop = .cycle(Array(branch.nodes[index...]) + [next])
+                } else {
+                    branch.edges.append(segment); branch.indices[next] = branch.nodes.count; branch.nodes.append(next)
+                }
+            }
+        }
+        var common: Int32? = targetID == centreID ? targetID : nil
+        // Alternating metadata traversal can meet before an absolute SSB state is available.
+        // Payloads on shared ancestors are never evaluated.
+        while common == nil, target.stop == nil || centre.stop == nil {
+            try advance(&target)
+            if let node = target.nodes.last, centre.indices[node] != nil { common = node; break }
+            try advance(&centre)
+            if let node = centre.nodes.last, target.indices[node] != nil { common = node; break }
+        }
+        guard let common else {
+            // Cycles take priority over a missing/disconnected opposite branch.
+            for stop in [target.stop,centre.stop] { if case .cycle(let path)? = stop { throw SpiceSPKResolutionError.cycle(path) } }
+            for stop in [target.stop,centre.stop] {
+                if case .gap(let body)? = stop { throw SpiceSPKResolutionError.coverageGap(bodyID: body,secondsTDB: seconds) }
+            }
+            for stop in [target.stop,centre.stop] {
+                if case .missing(let body)? = stop { throw SpiceSPKResolutionError.missingLink(bodyID: body,secondsTDB: seconds) }
+            }
+            throw SpiceSPKResolutionError.missingLink(bodyID: targetID,secondsTDB: seconds)
+        }
+        let targetEdges = target.edges.prefix(target.indices[common]!)
+        let centreEdges = centre.edges.prefix(centre.indices[common]!)
+        var contributions: [SpiceSPKChainContribution] = []
+        for (side,edges) in [(SpiceSPKChainSide.target,targetEdges),(.centre,centreEdges)] {
+            for edge in edges {
+                let state = try edge.file.spkState(array: edge.arrayIndex,atSecondsTDB: seconds)
+                contributions.append(SpiceSPKChainContribution(side: side,kernelIndex: edge.kernelIndex,state: state))
+            }
+        }
+        return SpiceSPKChain(targetID: targetID,centreID: centreID,secondsTDB: seconds,commonCentreID: common,
+            contributions: contributions,cacheScope: cacheScope,exploredChainLinks: links,
+            inspectedDescriptors: options.maximumDescriptorChecks - remainingChecks)
+    }
+
+    /// Composes a chain only when every contributing native frame ID equals frameID.
+    public func spkState(targetID: Int32, centreID: Int32, frameID: Int32 = 1,
+                         atSecondsTDB seconds: Double, options: SpiceSPKResolutionOptions? = nil) throws -> SpiceSPKResolvedState {
+        guard seconds.isFinite else { throw SpiceSPKError.invalidEpoch }
+        guard frameID != 0 else { throw SpiceSPKResolutionError.invalidFrame }
+        let chain = try spkChain(targetID: targetID,centreID: centreID,atSecondsTDB: seconds,options: options)
+        var p = SPKCompensatedVector(), v = SPKCompensatedVector()
+        for term in chain.contributions {
+            let state = term.state
+            guard state.descriptor.frameID == frameID else {
+                throw SpiceSPKResolutionError.frameMismatch(bodyID: state.descriptor.targetID,expected: frameID,actual: state.descriptor.frameID)
+            }
+            let sign = term.side == .target ? 1.0 : -1.0
+            try p.add(sign*state.positionKilometres); try v.add(sign*state.velocityKilometresPerTDBSecond)
+        }
+        return try SpiceSPKResolvedState(targetID: targetID,centreID: centreID,frameID: frameID,secondsTDB: seconds,
+            positionKilometres: p.value(),velocityKilometresPerTDBSecond: v.value(),commonCentreID: chain.commonCentreID,
+            contributions: chain.contributions,cacheScope: cacheScope,exploredChainLinks: chain.exploredChainLinks,
+            inspectedDescriptors: chain.inspectedDescriptors)
+    }
+}
+private enum SPKBranchStop: Equatable { case root, missing(Int32), gap(Int32), cycle([Int32]) }
+private struct SPKBranch {
+    var nodes: [Int32]
+    var indices: [Int32:Int]
+    var edges: [SelectedSPKSegment] = []
+    var stop: SPKBranchStop?
+    init(_ body: Int32) { nodes = [body]; indices = [body:0] }
+}
+struct SPKCompensatedVector {
+    var sum = SIMD3<Double>.zero, correction = SIMD3<Double>.zero
+    mutating func add(_ term: SIMD3<Double>) throws {
+        for axis in 0..<3 {
+            let next = sum[axis] + term[axis]
+            correction[axis] += abs(sum[axis]) >= abs(term[axis]) ? (sum[axis]-next)+term[axis] : (term[axis]-next)+sum[axis]
+            sum[axis] = next
+            guard next.isFinite, correction[axis].isFinite else { throw SpiceSPKError.numericalRangeExceeded }
+        }
+    }
+    func value() throws -> SIMD3<Double> {
+        let value = sum + correction
+        guard (0..<3).allSatisfy({ value[$0].isFinite }) else { throw SpiceSPKError.numericalRangeExceeded }
+        return value
+    }
+}
diff --git a/Sources/CelMek/SpiceSPKStateProvider.swift b/Sources/CelMek/SpiceSPKStateProvider.swift
new file mode 100644
index 0000000..990c1a9
--- /dev/null
+++ b/Sources/CelMek/SpiceSPKStateProvider.swift
@@ -0,0 +1,154 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+public enum SpiceSPKAdapterError: Error, Equatable {
+    case invalidFrameBinding
+    case duplicateFrameBinding(Int32)
+    case unsupportedBodyIdentifier
+    case originFrameRequired
+    case unknownNativeFrame(Int32)
+    case frameTreeRequired
+    case frameTreeUnavailable
+}
+
+/// Explicit interpretation of a kernel axes ID using an exact library frame identity.
+/// The frame's origin is ignored for displacement conversion; its orientation/rates are used.
+public struct SpiceFrameBinding {
+    public let frameID: Int32
+    public let axesFrame: Frame
+    public let provenance: PhysicalDataProvenance
+    public init(frameID: Int32, axesFrame: Frame, provenance: PhysicalDataProvenance) throws {
+        guard frameID != 0 else { throw SpiceSPKAdapterError.invalidFrameBinding }
+        self.frameID = frameID; self.axesFrame = axesFrame; self.provenance = provenance
+    }
+    /// Caller confirms the dataset really uses ICRF axes under its J2000 label.
+    public static func icrfJ2000(provenance: PhysicalDataProvenance) throws -> SpiceFrameBinding {
+        try SpiceFrameBinding(frameID: 1,axesFrame: CelestialFrames.icrf,provenance: provenance)
+    }
+}
+public struct SpiceFrameBindings {
+    public let bindings: [SpiceFrameBinding]
+    private let lookup: [Int32:SpiceFrameBinding]
+    public init(_ bindings: [SpiceFrameBinding]) throws {
+        var lookup: [Int32:SpiceFrameBinding] = [:]
+        for binding in bindings {
+            guard lookup.updateValue(binding,forKey: binding.frameID) == nil else {
+                throw SpiceSPKAdapterError.duplicateFrameBinding(binding.frameID)
+            }
+        }
+        self.bindings = bindings; self.lookup = lookup
+    }
+    public func binding(for frameID: Int32) throws -> SpiceFrameBinding {
+        guard let binding = lookup[frameID] else { throw SpiceSPKAdapterError.unknownNativeFrame(frameID) }
+        return binding
+    }
+}
+public struct SpiceSPKEphemerisEvaluation {
+    public let state: CartesianState
+    /// Native contributing states and selection provenance, before unit/time/frame conversion.
+    public let chain: SpiceSPKChain
+    public let tdbCorrection: TDBCorrection
+}
+
+/// Geometric SI ephemeris over a retained kernel snapshot. No implicit fallback.
+/// Output frame must physically represent the declared origin. Caller owns that assertion.
+/// Retain the supplied FrameTree externally; the weak reference avoids frame-provider cycles.
+public final class SpiceSPKStateProvider: AccuracyAwareEphemerisProvider {
+    public let metadata: EphemerisMetadata
+    public let accuracy: AccuracyLevel
+    public let effectiveAccuracy: AccuracyLevel = .full
+    public var availableAccuracyLevels: Set<AccuracyLevel> { [.full] }
+    public let snapshot: SpiceKernelSnapshot
+    public let frameBindings: SpiceFrameBindings
+    public let resolutionOptions: SpiceSPKResolutionOptions
+    private let targetID: Int32
+    private let centreID: Int32
+    private let tdbModel: any TDBTimeModel
+    private weak var tree: FrameTree?
+
+    /// A non-SSB origin requires an explicit origin-centred frame. For SSB, nil uses ICRF.
+    /// Bindings must describe every native axes ID needed by the selected chain.
+    /// Coverage is caller-selected; endpoints are validated, while interior gaps fail on query.
+    public init(snapshot: SpiceKernelSnapshot, body: BodyIdentifier,
+                origin: BodyIdentifier = .solarSystemBarycentre, frame: Frame? = nil,
+                frameBindings: SpiceFrameBindings, frameTree: FrameTree? = nil,
+                coverage: ClosedRange<Epoch>, tdbModel: any TDBTimeModel,
+                dataProvenance: PhysicalDataProvenance, accuracy: AccuracyLevel = .full,
+                resolutionOptions: SpiceSPKResolutionOptions? = nil) throws {
+        guard case .naif(let target) = body, case .naif(let centre) = origin else {
+            throw SpiceSPKAdapterError.unsupportedBodyIdentifier
+        }
+        guard frame != nil || centre == 0 else { throw SpiceSPKAdapterError.originFrameRequired }
+        let output = frame ?? CelestialFrames.icrf
+        for binding in frameBindings.bindings where binding.axesFrame !== output {
+            guard let frameTree else { throw SpiceSPKAdapterError.frameTreeRequired }
+            guard frameTree.isRegistered(binding.axesFrame), frameTree.isRegistered(output) else {
+                throw FrameTransformError.disconnectedFrames
+            }
+        }
+        guard coverage.lowerBound >= tdbModel.coverage.lowerBound,
+              coverage.upperBound <= tdbModel.coverage.upperBound else { throw EphemerisError.outsideCoverage }
+        self.snapshot = snapshot; self.targetID = target; self.centreID = centre
+        self.frameBindings = frameBindings; self.tree = frameTree; self.tdbModel = tdbModel
+        self.resolutionOptions = try resolutionOptions ?? SpiceSPKResolutionOptions(); self.accuracy = accuracy
+        let assets = snapshot.binaryKernels.map { $0.source.path }.joined(separator: "; ")
+        let axes = frameBindings.bindings.map { "\($0.frameID): \($0.provenance.source) [\($0.provenance.version)]" }.joined(separator: "; ")
+        metadata = try EphemerisMetadata(body: body,origin: origin,frame: output,coverage: coverage,
+            coverageBasis: .callerSelected,modelTimeScale: .tdb,
+            velocityMethod: .supplied(description: "SPK type 2 position derivative / type 3 supplied velocity / type 21 integrated acceleration; TDB rate and explicit frame kinematics"),
+            accelerationMethod: .unavailable,
+            provenance: PhysicalDataProvenance(source: "\(dataProvenance.source); SPK snapshot assets: \(assets); axes: \(axes); TDB: \(tdbModel.provenance)",
+                version: dataProvenance.version,reference: dataProvenance.reference),
+            accuracy: accuracy,effectiveAccuracy: .full)
+        _ = try evaluation(at: coverage.lowerBound)
+        if coverage.upperBound != coverage.lowerBound { _ = try evaluation(at: coverage.upperBound) }
+    }
+    public func state(at epoch: Epoch) throws -> CartesianState { try evaluation(at: epoch).state }
+
+    public func evaluation(at epoch: Epoch) throws -> SpiceSPKEphemerisEvaluation {
+        guard metadata.coverage.contains(epoch) else { throw EphemerisError.outsideCoverage }
+        let correction = try epoch.tdbCorrection(using: tdbModel)
+        // Avoid subtracting large Julian dates. SPK ultimately consumes one Double ET.
+        let seconds = try epoch.offsetFromJ2000.adding(correction.tdbMinusTT).seconds
+        let chain = try snapshot.spkChain(targetID: targetID,centreID: centreID,atSecondsTDB: seconds,options: resolutionOptions)
+        var p = SPKCompensatedVector(), v = SPKCompensatedVector()
+        for term in chain.contributions {
+            let binding = try frameBindings.binding(for: term.state.descriptor.frameID)
+            let native = try CartesianState(epoch: epoch,frame: binding.axesFrame,
+                position: term.state.positionKilometres*1000,
+                velocity: term.state.velocityKilometresPerTDBSecond*1000*correction.rate)
+            let converted: CartesianState
+            if binding.axesFrame === frame { converted = native }
+            else {
+                guard let tree else { throw SpiceSPKAdapterError.frameTreeUnavailable }
+                let transform = try tree.transform(from: binding.axesFrame,to: frame,at: epoch)
+                // Centre subtraction is already in the chain. These are relative vectors:
+                // use only R and its derivatives, never the tree's origin translation.
+                let orientation = try FrameTransform(epoch: epoch,rotation: transform.rotation,
+                    angularVelocity: transform.angularVelocity,angularAcceleration: transform.angularAcceleration)
+                converted = try orientation.applying(to: native,destination: frame)
+            }
+            let sign = term.side == .target ? 1.0 : -1.0
+            try p.add(sign*converted.position); try v.add(sign*converted.velocity)
+        }
+        let state = try CartesianState(epoch: epoch,frame: frame,position: p.value(),velocity: v.value())
+        return SpiceSPKEphemerisEvaluation(state: state,chain: chain,tdbCorrection: correction)
+    }
+}
diff --git a/Sources/CelMek/SpiceSPKType21.swift b/Sources/CelMek/SpiceSPKType21.swift
new file mode 100644
index 0000000..71fc429
--- /dev/null
+++ b/Sources/CelMek/SpiceSPKType21.swift
@@ -0,0 +1,143 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+/// Extended modified divided differences, in km and TDB seconds.
+/// Public format: NAIF SPK Required Reading and SPKW21/SPKE21 API documentation.
+/// Implements Newton acceleration polynomials and their two integrals independently
+/// of toolkit implementation source. Binary CSPICE is used only as a test oracle.
+struct SpiceSPKType21Directory: Sendable {
+    let size: Int
+    let count: Int
+    let dimension: Int
+    let epochs: [Double]
+
+    init(file: SpiceDAFFile, array: Int) throws {
+        let metadata = file.metadata.arrays[array]
+        let words = metadata.finalAddress - metadata.initialAddress + 1
+        func malformed(_ reason: String) -> SpiceSPKError {
+            .malformedSegment(path: file.url.path, array: array, reason: "type 21: " + reason)
+        }
+        guard words >= 2 else { throw malformed("missing directory") }
+        let tail = try file.readWords(array: array, offset: words - 2, count: 2)
+        guard tail[0].isFinite, tail[0] >= 15, tail[0] <= 25,
+              tail[0].rounded(.towardZero) == tail[0],
+              tail[1].isFinite, tail[1] >= 1, tail[1] <= Double(words),
+              tail[1].rounded(.towardZero) == tail[1] else { throw malformed("invalid size/count") }
+        // The binary writer stores MAXDIM in the penultimate word, despite the
+        // Required Reading diagram labelling it as difference-line size.
+        let size = 4 * Int(tail[0]) + 11, count = Int(tail[1])
+        guard (size - 11) % 4 == 0, count <= (words - 2) / (size + 1),
+              count * (size + 1) + count / 100 + 2 == words else { throw malformed("inconsistent layout") }
+        guard size <= file.limits.maximumReadWords, count <= file.limits.maximumReadWords else {
+            throw SpiceDAFError.resourceLimit("SPK type 21 record/epoch words")
+        }
+        let epochs = try file.readWords(array: array, offset: size * count, count: count)
+        guard epochs.allSatisfy(\.isFinite), zip(epochs, epochs.dropFirst()).allSatisfy({ $0 < $1 }),
+              let descriptor = metadata.spk, epochs.last! >= descriptor.endSecondsTDB else {
+            throw malformed("unordered epochs or incomplete coverage")
+        }
+        if count >= 100 {
+            let directory = try file.readWords(array: array, offset: (size + 1) * count, count: count / 100)
+            for i in directory.indices {
+                guard directory[i] == epochs[(i + 1) * 100 - 1] else { throw malformed("epoch directory mismatch") }
+            }
+        }
+        self.size = size; self.count = count; self.dimension = (size - 11) / 4; self.epochs = epochs
+    }
+
+    /// First record ending at or after the query; the earlier record wins a shared endpoint.
+    func evaluate(file: SpiceDAFFile, array: Int, seconds: Double) throws -> (Int, SIMD3<Double>, SIMD3<Double>) {
+        var lower = 0, upper = count
+        while lower < upper {
+            let mid = lower + (upper - lower) / 2
+            if epochs[mid] < seconds { lower = mid + 1 } else { upper = mid }
+        }
+        guard lower < count else { throw SpiceSPKError.outOfCoverage }
+        let record = try file.readWords(array: array, offset: lower * size, count: size)
+        func malformed(_ reason: String) -> SpiceSPKError {
+            .malformedSegment(path: file.url.path, array: array, reason: "type 21: " + reason)
+        }
+        guard record.allSatisfy(\.isFinite) else { throw malformed("nonfinite difference line") }
+        func integer(_ x: Double, max: Int) throws -> Int {
+            guard x >= 1, x <= Double(max), x.rounded(.towardZero) == x else { throw malformed("invalid integration order") }
+            return Int(x)
+        }
+        let orderOffset = 7 + 4 * dimension
+        let orders = try (1...3).map { try integer(record[orderOffset + $0], max: dimension) }
+        let maximumOrder = orders.max()!
+        let maximumOrderPlusOne = try integer(record[orderOffset], max: dimension + 1)
+        guard maximumOrderPlusOne >= max(3, maximumOrder + 1),
+              record[1..<maximumOrder].allSatisfy({ $0 != 0 }) else { throw malformed("inconsistent order or zero step") }
+        let dt = seconds - record[0]
+        guard dt.isFinite else { throw SpiceSPKError.numericalRangeExceeded }
+        var position = SIMD3<Double>.zero, velocity = SIMD3<Double>.zero
+        for axis in 0..<3 {
+            position[axis] = record[1 + dimension + 2 * axis]
+            velocity[axis] = record[2 + dimension + 2 * axis]
+        }
+        if dt == 0 { return (lower, position, velocity) }
+        // Acceleration has degree maximumOrder-1. Gauss-Legendre integrates both
+        // acceleration and (1-u)*acceleration exactly in real arithmetic with this node count.
+        // Evaluate in Newton form to avoid converting to ill-conditioned monomial coefficients.
+        let quadrature = spk21Quadratures[(maximumOrder + 2) / 2 - 1]
+        var velocityIntegral = SIMD3<Double>.zero, positionIntegral = SIMD3<Double>.zero
+        for (u, weight) in quadrature {
+            var acceleration = SIMD3<Double>.zero, basis = 1.0
+            for j in 0..<maximumOrder {
+                for axis in 0..<3 where j < orders[axis] {
+                    acceleration[axis] += record[7 + dimension + axis * dimension + j] * basis
+                }
+                if j + 1 < maximumOrder {
+                    let shift = j == 0 ? 0 : record[j]
+                    basis *= (dt * u + shift) / record[j + 1]
+                }
+            }
+            velocityIntegral += acceleration * weight
+            positionIntegral += acceleration * (weight * (1 - u))
+        }
+        position += dt * (velocity + dt * positionIntegral)
+        velocity += dt * velocityIntegral
+        guard (0..<3).allSatisfy({ position[$0].isFinite && velocity[$0].isFinite }) else {
+            throw SpiceSPKError.numericalRangeExceeded
+        }
+        return (lower, position, velocity)
+    }
+}
+
+/// Orders 1...13, enough for the NAIF N0067 maximum difference table dimension of 25.
+private let spk21Quadratures: [[(Double, Double)]] = (1...13).map { count in
+    var result = [(Double, Double)]()
+    for i in 0..<count {
+        var x = cos(.pi * (Double(i) + 0.75) / (Double(count) + 0.5))
+        var derivative = 0.0
+        for _ in 0..<32 {
+            var p = 1.0, previous = 0.0
+            for j in 1...count {
+                let next = ((2 * Double(j) - 1) * x * p - (Double(j) - 1) * previous) / Double(j)
+                previous = p; p = next
+            }
+            derivative = Double(count) * (x * p - previous) / (x * x - 1)
+            let step = p / derivative
+            x -= step
+            if abs(step) < 2e-16 { break }
+        }
+        result.append(((x + 1) / 2, 1 / ((1 - x * x) * derivative * derivative)))
+    }
+    return result
+}
diff --git a/Sources/CelMek/SpiceTextKernels.swift b/Sources/CelMek/SpiceTextKernels.swift
new file mode 100644
index 0000000..e2d5c98
--- /dev/null
+++ b/Sources/CelMek/SpiceTextKernels.swift
@@ -0,0 +1,208 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+public enum SpiceTextKernelError: Error, Equatable {
+    case missingVariable(String)
+    case invalidVariable(String)
+    case unsupportedFrameClass(Int32)
+    case unsupportedFrameRepresentation(String)
+}
+
+// Bounded Gregorian date subset for ordinary LSK and SCLK metadata.
+// Pool dates carry no implied time scale.
+internal func spiceDateSeconds(_ token: String) throws -> Double {
+    guard token.utf8.count <= 80 else { throw SpiceTextKernelError.invalidVariable(token) }
+    let pattern = #"^@(?:([0-9]{4})-([A-Za-z]{3})-([0-9]{1,2})|([0-9]{1,2})-([A-Za-z]{3})-([0-9]{4}))(?:(?:-|//?)([0-9]{1,2})(?::([0-9]{2}))?(?::([0-9]{2}(?:\.[0-9]+)?))?)?$"#
+    let regex = try NSRegularExpression(pattern: pattern)
+    let ns = token as NSString
+    guard let match = regex.firstMatch(in: token, range: NSRange(location: 0, length: ns.length)) else {
+        throw SpiceTextKernelError.invalidVariable(token)
+    }
+    func field(_ i: Int) -> String? { let r = match.range(at: i); return r.location == NSNotFound ? nil : ns.substring(with: r) }
+    let months = ["JAN","FEB","MAR","APR","MAY","JUN","JUL","AUG","SEP","OCT","NOV","DEC"]
+    guard let month = months.firstIndex(of: (field(2) ?? field(5)!).uppercased()),
+          let year = Int(field(1) ?? field(6)!), year >= 1,
+          let day = Int(field(3) ?? field(4)!) else { throw SpiceTextKernelError.invalidVariable(token) }
+    let date = try GregorianDay(year: year, month: month + 1, day: day)
+    let hour = Int(field(7) ?? "0")!, minute = Int(field(8) ?? "0")!, second = Double(field(9) ?? "0")!
+    guard hour < 24, minute < 60, second < 60 else { throw SpiceTextKernelError.invalidVariable(token) }
+    return Double(date.modifiedJulianDay - 51544) * 86400 - 43200 + Double(hour * 3600 + minute * 60) + second
+}
+
+/// Validated LSK parameters. The periodic coefficients are retained, not silently
+/// installed as a replacement for a caller's TDB model.
+public struct SpiceLeapSecondData: Sendable {
+    public let ttMinusTAI: Double
+    public let periodicAmplitude: Double
+    public let eccentricity: Double
+    public let meanAnomaly: [Double]
+    public let entries: [LeapSecondTable.Entry]
+    public let sources: [SpiceKernelSource]
+    /// LSKs do not certify a future validity date; callers must supply one.
+    public func table(validUntilModifiedJulianDay: Int64, version: String) throws -> LeapSecondTable {
+        try LeapSecondTable(entries: entries, validUntilModifiedJulianDay: validUntilModifiedJulianDay,
+                            version: version, source: sources.map(\.path).joined(separator: "; "))
+    }
+}
+
+/// Raw orientation parameters retain their documented degree/day/century units.
+/// Evaluation and frame construction are separate from validated pool decoding.
+public struct SpiceBodyOrientationParameters: Sendable {
+    public let poleRightAscension: [Double]
+    public let poleDeclination: [Double]
+    public let primeMeridian: [Double]
+    public let additionalParameters: [String: [Double]]
+    public let sources: [SpiceKernelSource]
+}
+
+public struct SpiceFixedFrameDefinition: Sendable {
+    public let frameID: Int32
+    public let name: String
+    public let centreID: Int32
+    public let classID: Int32
+    public let relativeFrameName: String
+    /// Column-major proper rotation, mapping this frame's vectors to relative axes.
+    public let matrix: [Double]
+    public let sources: [SpiceKernelSource]
+}
+
+extension SpiceKernelSnapshot {
+    internal func numeric(_ name: String, count: Int? = nil) throws -> [Double] {
+        guard let variable = self[name] else { throw SpiceTextKernelError.missingVariable(name) }
+        guard case .numbers(let values) = variable.value, !values.isEmpty,
+              values.allSatisfy(\.isFinite), count == nil || values.count == count else {
+            throw SpiceTextKernelError.invalidVariable(name)
+        }
+        return values
+    }
+    private func string(_ name: String) throws -> String {
+        guard let variable = self[name] else { throw SpiceTextKernelError.missingVariable(name) }
+        guard case .strings(let values) = variable.value, values.count == 1, !values[0].isEmpty else {
+            throw SpiceTextKernelError.invalidVariable(name)
+        }
+        return values[0]
+    }
+    private func integer(_ name: String) throws -> Int32 {
+        let value = try numeric(name, count: 1)[0]
+        guard let integer = Int32(exactly: value) else { throw SpiceTextKernelError.invalidVariable(name) }
+        return integer
+    }
+    internal func sources(for names: [String]) -> [SpiceKernelSource] {
+        var result: [SpiceKernelSource] = []
+        for name in names { for source in self[name]?.sources ?? [] where !result.contains(source) { result.append(source) } }
+        return result
+    }
+    public func leapSecondData() throws -> SpiceLeapSecondData {
+        let names = ["DELTET/DELTA_T_A", "DELTET/K", "DELTET/EB", "DELTET/M", "DELTET/DELTA_AT"]
+        let offset = try numeric(names[0], count: 1)[0]
+        // Existing Epoch has the standard fixed TT-TAI relation.
+        guard offset == 32.184 else { throw SpiceTextKernelError.invalidVariable(names[0]) }
+        let k = try numeric(names[1], count: 1)[0], eb = try numeric(names[2], count: 1)[0]
+        let m = try numeric(names[3], count: 2), pairs = try numeric(names[4])
+        guard pairs.count % 2 == 0 else { throw SpiceTextKernelError.invalidVariable(names[4]) }
+        var entries: [LeapSecondTable.Entry] = []
+        for i in stride(from: 0, to: pairs.count, by: 2) {
+            let day = (pairs[i+1] + 43200) / 86400 + 51544
+            guard let mjd = Int64(exactly: day), let tai = Int(exactly: pairs[i]) else {
+                throw SpiceTextKernelError.invalidVariable(names[4])
+            }
+            entries.append(.init(effectiveModifiedJulianDay: mjd, taiMinusUTC: tai))
+        }
+        guard let last = entries.last, last.effectiveModifiedJulianDay < Int64.max else {
+            throw SpiceTextKernelError.invalidVariable(names[4])
+        }
+        let provenance = sources(for: names)
+        _ = try LeapSecondTable(entries: entries, validUntilModifiedJulianDay: last.effectiveModifiedJulianDay + 1,
+                               version: "validation", source: provenance.map(\.path).joined(separator: "; "))
+        return SpiceLeapSecondData(ttMinusTAI: offset, periodicAmplitude: k, eccentricity: eb,
+                                   meanAnomaly: m, entries: entries, sources: provenance)
+    }
+    /// Caller confirms conventional PCK kilometres; returns metres.
+    public func bodyRadiiMetres(bodyID: Int32) throws -> [Double] {
+        let name = "BODY\(bodyID)_RADII"
+        let radii = try numeric(name, count: 3).map { $0 * 1000 }
+        guard radii.allSatisfy({ $0.isFinite && $0 > 0 }) else { throw SpiceTextKernelError.invalidVariable(name) }
+        return radii
+    }
+    public func bodyOrientationParameters(bodyID: Int32) throws -> SpiceBodyOrientationParameters {
+        let prefix = "BODY\(bodyID)_"
+        let names = [prefix + "POLE_RA", prefix + "POLE_DEC", prefix + "PM"]
+        let ra = try numeric(names[0], count: 3), dec = try numeric(names[1], count: 3), pm = try numeric(names[2], count: 3)
+        var additional: [String: [Double]] = [:]
+        for suffix in ["NUT_PREC_RA", "NUT_PREC_DEC", "NUT_PREC_PM", "LONG_AXIS", "CONSTANTS_JED_EPOCH", "CONSTANTS_REF_FRAME"] {
+            if self[prefix + suffix] != nil { additional[suffix] = try numeric(prefix + suffix) }
+        }
+        return SpiceBodyOrientationParameters(poleRightAscension: ra, poleDeclination: dec, primeMeridian: pm,
+            additionalParameters: additional, sources: sources(for: names + additional.keys.sorted().map { prefix + $0 }))
+    }
+    /// Explicit ID lookup; built-in frames and name aliases are not synthesized.
+    public func fixedFrameDefinition(frameID: Int32) throws -> SpiceFixedFrameDefinition {
+        guard frameID != 0 else { throw SpiceTextKernelError.invalidVariable("frameID") }
+        let prefix = "FRAME_\(frameID)_"
+        let name = try string(prefix + "NAME"), frameClass = try integer(prefix + "CLASS")
+        guard frameClass == 4 else { throw SpiceTextKernelError.unsupportedFrameClass(frameClass) }
+        let classID = try integer(prefix + "CLASS_ID"), centre = try integer(prefix + "CENTER")
+        guard classID == frameID else { throw SpiceTextKernelError.invalidVariable(prefix + "CLASS_ID") }
+        let tk = "TKFRAME_\(frameID)_"
+        let relative = try string(tk + "RELATIVE"), spec = try string(tk + "SPEC")
+        var usedNames = [tk + "RELATIVE", tk + "SPEC"]
+        let matrix: [Double]
+        func columns(_ q: Quaternion) -> [Double] {
+            let m = q.matrix
+            return (0..<9).map { m[$0 % 3, $0 / 3] }
+        }
+        switch spec {
+        case "MATRIX":
+            matrix = try numeric(tk + "MATRIX", count: 9); usedNames.append(tk + "MATRIX")
+        case "ANGLES":
+            let angles = try numeric(tk + "ANGLES", count: 3), axes = try numeric(tk + "AXES", count: 3)
+            let units = try string(tk + "UNITS")
+            let scales: [String: Double] = ["RADIANS": 1, "DEGREES": .pi/180, "ARCSECONDS": .pi/648000,
+                "ARCMINUTES": .pi/10800, "HOURANGLE": .pi/12, "MINUTEANGLE": .pi/720, "SECONDANGLE": .pi/43200]
+            guard let scale = scales[units] else { throw SpiceTextKernelError.invalidVariable(tk + "UNITS") }
+            var q = Quaternion.identity
+            for i in 0..<3 {
+                guard let axis = Int(exactly: axes[i]), (1...3).contains(axis) else {
+                    throw SpiceTextKernelError.invalidVariable(tk + "AXES")
+                }
+                let angle = angles[i] * scale
+                guard angle.isFinite else { throw SpiceTextKernelError.invalidVariable(tk + "ANGLES") }
+                var direction = SIMD3<Double>.zero; direction[axis-1] = 1
+                // Public SPICE Euler matrices rotate coordinates with negative Hamilton angles.
+                q = q * Quaternion(angle: -angle.truncatingRemainder(dividingBy: 2 * .pi), axis: direction)
+            }
+            matrix = columns(q); usedNames += [tk + "ANGLES", tk + "AXES", tk + "UNITS"]
+        case "QUATERNION":
+            let q = try numeric(tk + "Q", count: 4)
+            let norm = q.reduce(0.0) { $0 + $1 * $1 }
+            guard norm.isFinite, abs(norm-1) <= 1e-10 else { throw SpiceTextKernelError.invalidVariable(tk + "Q") }
+            matrix = columns(Quaternion(x: q[1], y: q[2], z: q[3], w: q[0])); usedNames.append(tk + "Q")
+        default: throw SpiceTextKernelError.unsupportedFrameRepresentation(spec)
+        }
+        for a in 0..<3 { for b in 0..<3 {
+            let dot = (0..<3).reduce(0.0) { $0 + matrix[a*3+$1] * matrix[b*3+$1] }
+            guard abs(dot - (a == b ? 1 : 0)) <= 1e-10 else { throw SpiceTextKernelError.invalidVariable(tk + "MATRIX") }
+        } }
+        let det = matrix[0]*(matrix[4]*matrix[8]-matrix[7]*matrix[5]) - matrix[3]*(matrix[1]*matrix[8]-matrix[7]*matrix[2]) + matrix[6]*(matrix[1]*matrix[5]-matrix[4]*matrix[2])
+        guard abs(det - 1) <= 1e-10 else { throw SpiceTextKernelError.invalidVariable(tk + "MATRIX") }
+        return SpiceFixedFrameDefinition(frameID: frameID, name: name, centreID: centre, classID: classID,
+            relativeFrameName: relative, matrix: matrix, sources: sources(for: [prefix+"NAME",prefix+"CLASS",prefix+"CLASS_ID",prefix+"CENTER"] + usedNames))
+    }
+}
diff --git a/Sources/CelMek/SpiceTextProviders.swift b/Sources/CelMek/SpiceTextProviders.swift
new file mode 100644
index 0000000..564400a
--- /dev/null
+++ b/Sources/CelMek/SpiceTextProviders.swift
@@ -0,0 +1,191 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+public enum SpiceTextProviderError: Error, Equatable {
+    case outsideCoverage
+    case invalidReferenceFrame
+    case conflictingReferenceParameters
+    case invalidPhaseParameters
+}
+
+extension SpiceKernelSnapshot {
+    internal func physicalProvenance(names: [String], supplied: PhysicalDataProvenance) throws -> PhysicalDataProvenance {
+        try PhysicalDataProvenance(source: supplied.source + "; " + sources(for: names).map(\.path).joined(separator: "; "),
+                                   version: supplied.version, reference: supplied.reference)
+    }
+    public func bodyReferenceRadii(bodyID: Int32, axesDescription: String,
+                                   provenance: PhysicalDataProvenance) throws -> BodyReferenceRadii {
+        let radii = try bodyRadiiMetres(bodyID: bodyID)
+        return try BodyReferenceRadii(metres: SIMD3(radii[0], radii[1], radii[2]), axesDescription: axesDescription,
+            provenance: physicalProvenance(names: ["BODY\(bodyID)_RADII"], supplied: provenance))
+    }
+    /// Caller confirms conventional km³/s² input and its coordinate-time convention.
+    public func bodyGravitationalParameter(bodyID: Int32, convention: GravitationalParameterConvention,
+                                            provenance: PhysicalDataProvenance) throws -> GravitationalParameter {
+        let name = "BODY\(bodyID)_GM"
+        return try GravitationalParameter(cubicMetresPerSecondSquared: numeric(name, count: 1)[0] * 1e9,
+            convention: convention, provenance: physicalProvenance(names: [name], supplied: provenance))
+    }
+}
+
+/// Full text PCK polynomial/periodic model using a caller-declared system ID.
+/// Coverage is caller-selected, not a certified physical accuracy interval.
+public struct SpicePCKOrientationProvider: OrientationProvider {
+    public let bodyID: Int32
+    public let systemID: Int32
+    public let referenceFrame: Frame
+    public let referenceFrameID: Int32
+    public let referenceJulianDate: Double
+    public let coverage: ClosedRange<Epoch>
+    public let provenance: PhysicalDataProvenance
+    public let cacheScope: EphemerisCacheScope
+    private let tdbModel: any TDBTimeModel
+    private let ra: IAUAngleSeries
+    private let dec: IAUAngleSeries
+    private let pm: IAUAngleSeries
+
+    /// systemID is the planetary barycentre for planets/satellites, otherwise bodyID.
+    /// This explicit argument avoids guessing relationships for unusual NAIF IDs.
+    public init(snapshot: SpiceKernelSnapshot, bodyID: Int32, systemID: Int32,
+                frameBindings: SpiceFrameBindings, coverage: ClosedRange<Epoch>,
+                tdbModel: any TDBTimeModel, provenance: PhysicalDataProvenance) throws {
+        guard tdbModel.coverage.contains(coverage.lowerBound), tdbModel.coverage.contains(coverage.upperBound) else {
+            throw TDBModelError.outsideCoverage
+        }
+        let parameters = try snapshot.bodyOrientationParameters(bodyID: bodyID)
+        let prefix = "BODY\(systemID)_"
+        var names = ["BODY\(bodyID)_POLE_RA", "BODY\(bodyID)_POLE_DEC", "BODY\(bodyID)_PM"]
+        func reference(_ suffix: String, fallback: Double) throws -> Double {
+            let long = prefix + "CONSTANTS_" + suffix, short = prefix + "CONSTS_" + suffix
+            let a = try snapshot[long].map { _ in try snapshot.numeric(long, count: 1)[0] }
+            let b = try snapshot[short].map { _ in try snapshot.numeric(short, count: 1)[0] }
+            if a != nil { names.append(long) }; if b != nil { names.append(short) }
+            if let a, let b, a != b { throw SpiceTextProviderError.conflictingReferenceParameters }
+            return a ?? b ?? fallback
+        }
+        let frameNumber = try reference("REF_FRAME", fallback: 1)
+        guard let frameID = Int32(exactly: frameNumber), (1...21).contains(frameID) else {
+            throw SpiceTextProviderError.invalidReferenceFrame
+        }
+        let epoch = try reference("JED_EPOCH", fallback: 2451545)
+        let binding = try frameBindings.binding(for: frameID)
+        guard binding.axesFrame.pseudoInertial else { throw SpiceTextProviderError.invalidReferenceFrame }
+        // Ensure representability in the library's supported continuous date range.
+        _ = try Epoch(julianDate: epoch, scale: .tt)
+        let degreeName = prefix + "MAX_PHASE_DEGREE", phasesName = prefix + "NUT_PREC_ANGLES"
+        var phaseDegree = 1
+        if snapshot[degreeName] != nil {
+            let degree = try snapshot.numeric(degreeName, count: 1)[0]
+            guard let value = Int(exactly: degree), (0...3).contains(value) else {
+                throw SpiceTextProviderError.invalidPhaseParameters
+            }
+            phaseDegree = value; names.append(degreeName)
+        }
+        var phases: [[Double]] = []
+        if snapshot[phasesName] != nil {
+            let values = try snapshot.numeric(phasesName)
+            guard values.count % (phaseDegree + 1) == 0 else { throw SpiceTextProviderError.invalidPhaseParameters }
+            phases = stride(from: 0, to: values.count, by: phaseDegree + 1).map { Array(values[$0...($0 + phaseDegree)]) }
+            names.append(phasesName)
+        }
+        func series(_ polynomial: [Double], _ suffix: String, _ variable: IAUAngleSeries.Variable,
+                    _ function: IAUHarmonic.Function) throws -> IAUAngleSeries {
+            let key = "BODY\(bodyID)_NUT_PREC_" + suffix
+            let amplitudes = parameters.additionalParameters["NUT_PREC_" + suffix] ?? []
+            guard amplitudes.count <= phases.count else { throw SpiceTextProviderError.invalidPhaseParameters }
+            if !amplitudes.isEmpty { names.append(key) }
+            return IAUAngleSeries(polynomialDegrees: polynomial, variable: variable,
+                harmonics: amplitudes.enumerated().map { IAUHarmonic(amplitudeDegrees: $0.element, phaseDegrees: phases[$0.offset], function: function) })
+        }
+        ra = try series(parameters.poleRightAscension, "RA", .centuries, .sine)
+        dec = try series(parameters.poleDeclination, "DEC", .centuries, .cosine)
+        pm = try series(parameters.primeMeridian, "PM", .days, .sine)
+        self.bodyID = bodyID; self.systemID = systemID; self.coverage = coverage; self.tdbModel = tdbModel
+        referenceFrame = binding.axesFrame; referenceFrameID = frameID; referenceJulianDate = epoch
+        cacheScope = snapshot.cacheScope
+        let data = try snapshot.physicalProvenance(names: names, supplied: provenance)
+        self.provenance = try PhysicalDataProvenance(source: data.source + "; axes: " + binding.provenance.source + " (" + binding.provenance.version + "); time: " + tdbModel.provenance,
+            version: data.version, reference: data.reference)
+        _ = try orientation(at: coverage.lowerBound)
+        _ = try orientation(at: coverage.upperBound)
+    }
+    public func orientation(at epoch: Epoch) throws -> BodyOrientation {
+        guard coverage.contains(epoch) else { throw SpiceTextProviderError.outsideCoverage }
+        let clock = try epoch.tdbCorrection(using: tdbModel)
+        let seconds = try epoch.offsetFromJ2000.adding(clock.tdbMinusTT).seconds
+        let days = seconds / 86400 + (2451545 - referenceJulianDate)
+        let r = try ra.evaluate(days: days), d = try dec.evaluate(days: days), w = try pm.evaluate(days: days)
+        func rotation(_ angle: Double, _ first: Double, _ second: Double, _ axis: SIMD3<Double>) throws -> FrameTransform {
+            guard angle.isFinite else { throw FrameTransformError.nonFinite }
+            return try FrameTransform(epoch: epoch,
+                rotation: Quaternion(angle: angle.truncatingRemainder(dividingBy: 2 * .pi), axis: axis),
+                angularVelocity: axis * (first * clock.rate),
+                angularAcceleration: axis * (second * clock.rate * clock.rate + first * clock.acceleration))
+        }
+        let node = try rotation(-(r.radians + .pi/2), -r.rate, -r.acceleration, SIMD3(0,0,1))
+        let tilt = try rotation(d.radians - .pi/2, d.rate, d.acceleration, SIMD3(1,0,0))
+        let spin = try rotation(-w.radians, -w.rate, -w.acceleration, SIMD3(0,0,1))
+        let transform = try node.followed(by: tilt).followed(by: spin)
+        return try BodyOrientation(referenceFrame: referenceFrame, epoch: epoch, rotation: transform.rotation,
+                                   angularVelocity: transform.angularVelocity, angularAcceleration: transform.angularAcceleration)
+    }
+}
+
+/// Constant FK axes relative to the exact caller-bound parent axes.
+public struct SpiceFixedOrientationProvider: OrientationProvider {
+    public let referenceFrame: Frame
+    public let definition: SpiceFixedFrameDefinition
+    public let provenance: PhysicalDataProvenance
+    private let rotation: Quaternion
+    /// Caller asserts relativeAxes physically represents definition.relativeFrameName.
+    public init(definition: SpiceFixedFrameDefinition, relativeAxes: Frame, provenance: PhysicalDataProvenance) throws {
+        self.definition = definition; referenceFrame = relativeAxes
+        self.provenance = try PhysicalDataProvenance(source: provenance.source + "; " + definition.sources.map(\.path).joined(separator: "; "),
+            version: provenance.version, reference: provenance.reference)
+        // Decode a validated proper column-major matrix using its largest quaternion component.
+        let m = definition.matrix
+        let diagonal = [1+m[0]+m[4]+m[8], 1+m[0]-m[4]-m[8], 1-m[0]+m[4]-m[8], 1-m[0]-m[4]+m[8]]
+        let i = diagonal.indices.max(by: { diagonal[$0] < diagonal[$1] })!
+        let s = sqrt(max(0, diagonal[i])) * 2
+        let q: Quaternion
+        switch i {
+        case 0: q = Quaternion(x: (m[5]-m[7])/s, y: (m[6]-m[2])/s, z: (m[1]-m[3])/s, w: s/4)
+        case 1: q = Quaternion(x: s/4, y: (m[3]+m[1])/s, z: (m[6]+m[2])/s, w: (m[5]-m[7])/s)
+        case 2: q = Quaternion(x: (m[3]+m[1])/s, y: s/4, z: (m[7]+m[5])/s, w: (m[6]-m[2])/s)
+        default: q = Quaternion(x: (m[6]+m[2])/s, y: (m[7]+m[5])/s, z: s/4, w: (m[1]-m[3])/s)
+        }
+        // FK matrix is local-to-relative; OrientationProvider is reference-to-local.
+        rotation = try FrameTransform(epoch: .j2000, rotation: q.conj).rotation
+    }
+    public func orientation(at epoch: Epoch) throws -> BodyOrientation {
+        try BodyOrientation(referenceFrame: referenceFrame, epoch: epoch, rotation: rotation)
+    }
+}
+
+extension SpiceFixedFrameDefinition {
+    /// Caller supplies the physical centreID's state in relativeAxes coordinates.
+    /// Translation and its derivatives are handled by the existing body-fixed provider.
+    public func makeFrame(in tree: FrameTree, relativeAxes: Frame, centre: any StateProvider,
+                          provenance: PhysicalDataProvenance,
+                          accelerationPolicy: OriginAccelerationPolicy = .requireProvided) throws -> Frame {
+        let orientation = try SpiceFixedOrientationProvider(definition: self, relativeAxes: relativeAxes, provenance: provenance)
+        return try tree.makeBodyFixedFrame(name: name, centre: centre, orientation: orientation, accelerationPolicy: accelerationPolicy)
+    }
+}
diff --git a/Sources/CelMek/TDBTimeModel.swift b/Sources/CelMek/TDBTimeModel.swift
new file mode 100644
index 0000000..61ce026
--- /dev/null
+++ b/Sources/CelMek/TDBTimeModel.swift
@@ -0,0 +1,112 @@
+// SPDX-License-Identifier: Apache-2.0
+// Copyright 2026 Mattias Holm
+// ERFA-derived evaluation is implemented in the separate ERFASwift module.
+import Foundation
+import ERFASwift
+
+public enum TDBModelError: Error, Equatable, Sendable {
+  case outsideCoverage, invalidCorrection, epochMismatch, noConvergence
+}
+
+/// Offset and analytic coordinate-time derivatives at a TT/atomic instant.
+/// rate is dTDB/dTT (approximately 1); acceleration is d²TDB/dTT² in 1/s.
+public struct TDBCorrection: Sendable {
+  public let epoch: Epoch
+  public let tdbMinusTT: Duration
+  public let rate: Double
+  public let acceleration: Double
+  public init(epoch: Epoch, tdbMinusTT: Duration, rate: Double, acceleration: Double) throws {
+    guard rate.isFinite, rate > 0, acceleration.isFinite else { throw TDBModelError.invalidCorrection }
+    self.epoch = epoch; self.tdbMinusTT = tdbMinusTT; self.rate = rate; self.acceleration = acceleration
+  }
+}
+
+/// Injectable geocentric TT↔TDB model. Coverage is in atomic Epochs, not TDB labels.
+/// Implementations own accuracy and provenance; sample derivatives use atomic seconds.
+public protocol TDBTimeModel {
+  var coverage: ClosedRange<Epoch> { get }
+  var provenance: String { get }
+  func correction(at epoch: Epoch) throws -> TDBCorrection
+}
+
+extension Epoch {
+  /// Validates the provider contract before using offsets or derivatives.
+  public func tdbCorrection(using model: any TDBTimeModel) throws -> TDBCorrection {
+    guard model.coverage.contains(self) else { throw TDBModelError.outsideCoverage }
+    let sample = try model.correction(at: self)
+    guard sample.epoch == self else { throw TDBModelError.epochMismatch }
+    return sample
+  }
+  internal func tdbDate(using sample: TDBCorrection) throws -> JulianDateComponents {
+    guard sample.epoch == self else { throw TDBModelError.epochMismatch }
+    let shifted = Epoch(offsetFromJ2000: try offsetFromJ2000.adding(sample.tdbMinusTT))
+    let date = try shifted.julianDate(in: .tt)
+    return try JulianDateComponents(wholeDay: date.wholeDay,fractionalDay: date.fractionalDay,scale: .tdb)
+  }
+  internal static func invertTDB(_ date: JulianDateComponents, using model: any TDBTimeModel) throws -> Epoch {
+    let clock = try Epoch(julianDate: JulianDateComponents(wholeDay: date.wholeDay,
+      fractionalDay: date.fractionalDay,scale: .tt))
+    // TDB may label a covered TT boundary just outside the TT numeric interval.
+    var estimate = min(max(clock,model.coverage.lowerBound),model.coverage.upperBound)
+    for _ in 0..<12 {
+      let sample = try estimate.tdbCorrection(using: model)
+      // Newton iteration uses the model's derivative, not an assumed unit rate.
+      let predicted = try estimate.offsetFromJ2000.adding(sample.tdbMinusTT)
+      let residual = try predicted.subtracting(clock.offsetFromJ2000)
+      let boundary = estimate == model.coverage.lowerBound || estimate == model.coverage.upperBound
+      if abs(residual.seconds) <= (boundary ? 3e-11 : 1e-12) { return estimate }
+      let next = try estimate.advanced(by: Duration(seconds: -residual.seconds/sample.rate))
+      if !model.coverage.contains(next) {
+        let boundary = min(max(next,model.coverage.lowerBound),model.coverage.upperBound)
+        let correction = try boundary.tdbCorrection(using: model)
+        let clockAtBoundary = try boundary.offsetFromJ2000.adding(correction.tdbMinusTT)
+        // Split JD conversion rounds; accept only a label within 30 ps of a
+        // covered boundary, returning that boundary rather than extrapolating.
+        if abs(try clockAtBoundary.subtracting(clock.offsetFromJ2000).seconds) <= 3e-11 { return boundary }
+        throw TDBModelError.outsideCoverage
+      }
+      estimate = next
+    }
+    throw TDBModelError.noConvergence
+  }
+}
+
+/// The existing two-term approximation with caller-selected, enforced coverage.
+/// The selected interval does not create an accuracy guarantee; see TIME.md.
+public struct TwoTermTDBModel: TDBTimeModel {
+  public let coverage: ClosedRange<Epoch>
+  public let provenance = "CelMek two-term geocentric TDB approximation"
+  public init(coverage: ClosedRange<Epoch>) { self.coverage = coverage }
+  public func correction(at epoch: Epoch) throws -> TDBCorrection {
+    guard coverage.contains(epoch) else { throw TDBModelError.outsideCoverage }
+    return try TDBCorrection(epoch: epoch,tdbMinusTT: Duration(seconds: Epoch.tdbMinusTT(at: epoch.offsetFromJ2000)),
+      rate: epoch.coordinateTimeRate(in: .tdb),acceleration: epoch.coordinateTimeAcceleration(in: .tdb))
+  }
+}
+
+/// Full 787-term geocentric Fairhead–Bretagnon model with ERFA's planetary-mass
+/// adjustments. Native Swift; adapted from ERFA 2.0.1 under its BSD terms.
+/// No observer-dependent topocentric terms. TT is used as the series argument,
+/// as permitted by the reference implementation. Derivatives are analytic.
+public struct FairheadTDBModel: TDBTimeModel {
+  public static let referenceCoverage: ClosedRange<Epoch> = {
+    let start = try! Epoch(julianDate: 2433282.5,scale: .tt) // 1950-01-01
+    let end = try! Epoch(julianDate: 2469807.5,scale: .tt) // 2050-01-01
+    return start...end
+  }()
+  public let coverage: ClosedRange<Epoch>
+  public let provenance = "Fairhead–Bretagnon 1990, full geocentric ERFA 2.0.1 adaptation"
+  public init(coverage: ClosedRange<Epoch> = Self.referenceCoverage) throws {
+    guard coverage.lowerBound >= Self.referenceCoverage.lowerBound,
+          coverage.upperBound <= Self.referenceCoverage.upperBound else { throw TDBModelError.outsideCoverage }
+    self.coverage = coverage
+  }
+  public func correction(at epoch: Epoch) throws -> TDBCorrection {
+    guard coverage.contains(epoch) else { throw TDBModelError.outsideCoverage }
+    let tt = epoch.offsetFromJ2000
+    let sample = FairheadTDBEvaluator.correction(wholeSeconds: tt.wholeSeconds,
+                                               fractionalSecond: tt.fractionalSecond)
+    return try TDBCorrection(epoch: epoch, tdbMinusTT: Duration(seconds: sample.offsetSeconds),
+                             rate: sample.rate, acceleration: sample.acceleration)
+  }
+}
diff --git a/Sources/CelMek/Time.swift b/Sources/CelMek/Time.swift
index 47b7595..cf0faa9 100644
--- a/Sources/CelMek/Time.swift
+++ b/Sources/CelMek/Time.swift
@@ -16,11 +16,7 @@
 // limitations under the License.
 //
 
-#if os(Linux)
-import Glibc
-#else
-import Darwin
-#endif
+import Foundation
 
 fileprivate let month_length : [Int] = [31, 28, 31, 30, 31, 30,
                                         31, 31, 30, 31, 30, 31];
@@ -33,285 +29,245 @@ fileprivate let month_offset_leap : [Int]  = [  0,  31,  60,  91, 121, 152,
                                                 182, 213, 244, 274, 305, 335];
 
 // Ordered in work week order, but numbered to simplify calculations
-public enum Weekday : Int {
-  case Monday = 1
-  case Tuesday = 2
-  case Wednesday = 3
-  case Thursday = 4
-  case Friday = 5
-  case Saturday = 6
-  case Sunday = 0
+public enum Weekday: Int, Sendable {
+  case monday = 1
+  case tuesday = 2
+  case wednesday = 3
+  case thursday = 4
+  case friday = 5
+  case saturday = 6
+  case sunday = 0
 
+  @available(*, deprecated, renamed: "monday")
+  public static var Monday: Self { .monday }
+  @available(*, deprecated, renamed: "tuesday")
+  public static var Tuesday: Self { .tuesday }
+  @available(*, deprecated, renamed: "wednesday")
+  public static var Wednesday: Self { .wednesday }
+  @available(*, deprecated, renamed: "thursday")
+  public static var Thursday: Self { .thursday }
+  @available(*, deprecated, renamed: "friday")
+  public static var Friday: Self { .friday }
+  @available(*, deprecated, renamed: "saturday")
+  public static var Saturday: Self { .saturday }
+  @available(*, deprecated, renamed: "sunday")
+  public static var Sunday: Self { .sunday }
 }
-public enum Month : Int {
-  case January = 1;
-  case February = 2;
-  case March = 3;
-  case April = 4;
-  case May = 5;
-  case June = 6;
-  case July = 7;
-  case August = 8;
-  case September = 9;
-  case October = 10;
-  case November = 11;
-  case December = 12;
+public enum Month: Int, Sendable {
+  case january = 1
+  case february = 2
+  case march = 3
+  case april = 4
+  case may = 5
+  case june = 6
+  case july = 7
+  case august = 8
+  case september = 9
+  case october = 10
+  case november = 11
+  case december = 12
+
+  @available(*, deprecated, renamed: "january")
+  public static var January: Self { .january }
+  @available(*, deprecated, renamed: "february")
+  public static var February: Self { .february }
+  @available(*, deprecated, renamed: "march")
+  public static var March: Self { .march }
+  @available(*, deprecated, renamed: "april")
+  public static var April: Self { .april }
+  @available(*, deprecated, renamed: "may")
+  public static var May: Self { .may }
+  @available(*, deprecated, renamed: "june")
+  public static var June: Self { .june }
+  @available(*, deprecated, renamed: "july")
+  public static var July: Self { .july }
+  @available(*, deprecated, renamed: "august")
+  public static var August: Self { .august }
+  @available(*, deprecated, renamed: "september")
+  public static var September: Self { .september }
+  @available(*, deprecated, renamed: "october")
+  public static var October: Self { .october }
+  @available(*, deprecated, renamed: "november")
+  public static var November: Self { .november }
+  @available(*, deprecated, renamed: "december")
+  public static var December: Self { .december }
 }
 extension Month: CustomStringConvertible {
   public var description: String {
     switch self {
-    case .January:
+    case .january:
       return "January"
-    case .February:
+    case .february:
       return "February"
-    case .March:
+    case .march:
       return "March"
-    case .April:
+    case .april:
       return "April"
-    case .May:
+    case .may:
       return "May"
-    case .June:
+    case .june:
       return "June"
-    case .July:
+    case .july:
       return "July"
-    case .August:
+    case .august:
       return "August"
-    case .September:
+    case .september:
       return "September"
-    case .October:
+    case .october:
       return "October"
-    case .November:
+    case .november:
       return "November"
-    case .December:
+    case .december:
       return "December"
     }
   }
 }
 
-public enum JewishMonth : Int {
-  case Tishri = 1;
-  case Heshvan = 2;
-  case Kislev = 3;
-  case Tevet = 4;
-  case Shevat = 5;
-  case Adar = 6;
-  case Veadar = 7;
-  case Nisan = 8;
-  case Iyar = 9;
-  case Sivan = 10;
-  case Tammuz = 11;
-  case Av = 12;
-  case Elul = 13;
+public enum JewishMonth: Int, Sendable {
+  case tishri = 1
+  case heshvan = 2
+  case kislev = 3
+  case tevet = 4
+  case shevat = 5
+  case adar = 6
+  case veadar = 7
+  case nisan = 8
+  case iyar = 9
+  case sivan = 10
+  case tammuz = 11
+  case av = 12
+  case elul = 13
+
+  @available(*, deprecated, renamed: "tishri")
+  public static var Tishri: Self { .tishri }
+  @available(*, deprecated, renamed: "heshvan")
+  public static var Heshvan: Self { .heshvan }
+  @available(*, deprecated, renamed: "kislev")
+  public static var Kislev: Self { .kislev }
+  @available(*, deprecated, renamed: "tevet")
+  public static var Tevet: Self { .tevet }
+  @available(*, deprecated, renamed: "shevat")
+  public static var Shevat: Self { .shevat }
+  @available(*, deprecated, renamed: "adar")
+  public static var Adar: Self { .adar }
+  @available(*, deprecated, renamed: "veadar")
+  public static var Veadar: Self { .veadar }
+  @available(*, deprecated, renamed: "nisan")
+  public static var Nisan: Self { .nisan }
+  @available(*, deprecated, renamed: "iyar")
+  public static var Iyar: Self { .iyar }
+  @available(*, deprecated, renamed: "sivan")
+  public static var Sivan: Self { .sivan }
+  @available(*, deprecated, renamed: "tammuz")
+  public static var Tammuz: Self { .tammuz }
+  @available(*, deprecated, renamed: "av")
+  public static var Av: Self { .av }
+  @available(*, deprecated, renamed: "elul")
+  public static var Elul: Self { .elul }
 }
 
-public enum MoslemMonth : Int {
-  case Muharram = 1;
-  case Safar = 2;
-  case RabiAlAwwal = 3;
-  case RabiAthThani = 4;
-  case JumadaLUla = 5;
-  case JumadaTTania = 6;
-  case Rajab = 7;
-  case ShaBan = 8;
-  case Ramadan = 9;
-  case Shawwal = 10;
-  case DhuLQaDa = 11;
-  case DhuLHijja = 12;
+public enum MoslemMonth: Int, Sendable {
+  case muharram = 1
+  case safar = 2
+  case rabiAlAwwal = 3
+  case rabiAthThani = 4
+  case jumadaLUla = 5
+  case jumadaTTania = 6
+  case rajab = 7
+  case shaBan = 8
+  case ramadan = 9
+  case shawwal = 10
+  case dhuLQaDa = 11
+  case dhuLHijja = 12
+
+  @available(*, deprecated, renamed: "muharram")
+  public static var Muharram: Self { .muharram }
+  @available(*, deprecated, renamed: "safar")
+  public static var Safar: Self { .safar }
+  @available(*, deprecated, renamed: "rabiAlAwwal")
+  public static var RabiAlAwwal: Self { .rabiAlAwwal }
+  @available(*, deprecated, renamed: "rabiAthThani")
+  public static var RabiAthThani: Self { .rabiAthThani }
+  @available(*, deprecated, renamed: "jumadaLUla")
+  public static var JumadaLUla: Self { .jumadaLUla }
+  @available(*, deprecated, renamed: "jumadaTTania")
+  public static var JumadaTTania: Self { .jumadaTTania }
+  @available(*, deprecated, renamed: "rajab")
+  public static var Rajab: Self { .rajab }
+  @available(*, deprecated, renamed: "shaBan")
+  public static var ShaBan: Self { .shaBan }
+  @available(*, deprecated, renamed: "ramadan")
+  public static var Ramadan: Self { .ramadan }
+  @available(*, deprecated, renamed: "shawwal")
+  public static var Shawwal: Self { .shawwal }
+  @available(*, deprecated, renamed: "dhuLQaDa")
+  public static var DhuLQaDa: Self { .dhuLQaDa }
+  @available(*, deprecated, renamed: "dhuLHijja")
+  public static var DhuLHijja: Self { .dhuLHijja }
 }
 
+/// A Gregorian calendar date; this legacy type does not identify a time scale.
 public struct Date {
-  var year: Int32;
-  var month: Month;
-  var day: UInt8;
-  
-  /*
-   init?(packedDate str: String)
-   {
-   // I, J, K designate 1800, 1900 and 2000, we assume this is consistent
-   // in the future
-   var year = (str[str.startIndex].unicodeScalars.first!.value - Character("I").unicodeScalars.first!.value) * 100 + 1800;
-   year += 10 * (str[str.index(str.startIndex, offsetBy:1)].unicodeScalars.first!.value - Character("0").unicodeScalars.first!.value);
-   year += str[str.index(str.startIndex, offsetBy:2)].unicodeScalars.first!.value - Character("0").unicodeScalars.first!.value;
-   var month = -1;
-   if str[str.index(str.startIndex, offestBy:3)].isASCII && str[str.index(str.startIndex, offsetBy:3)].isNumber {
-   month = str[str.index(str.startIndex, offsetBy:3)].unicodeScalars.first!.value - Character("0").unicodeScalars.first!.value;
-   } else {
-   month = str[str.index(str.startIndex, offsetBy:3)] - "A" + 10;
-   }
-   var day = -1;
-   if str[str.index(str.startIndex, offestBy:4)].isASCII && str[str.index(str.startIndex, offestBy:4)].isNumber {
-   day = str[str.index(str.startIndex, offestBy:4)] - Character("0").unicodeScalars.first!.value;
-   } else {
-   day = str[str.index(str.startIndex, offestBy:4)] - Character("A").unicodeScalars.first!.value + 10;
-   }
-   
-   self.year = year;
-   self.month = month;
-   self.day = day;
-   }
-   */
-  func
-  isValid() -> Bool
-  {
-    if isLeapYear(year) {
-      if (day <= month_length_leap[Int(month.rawValue)-1]) {
-        return true;
-      }
-    } else {
-      if (day <= month_length[Int(month.rawValue)-1]) {
-        return true;
-      }
-    }
-    return false;
+  var year: Int32
+  var month: Month
+  var day: UInt8
+
+  func isValid() -> Bool {
+    let lengths = isLeapYear(year) ? month_length_leap : month_length
+    return day >= 1 && Int(day) <= lengths[month.rawValue - 1]
   }
 }
 
+/// A clock reading without timezone or leap-second information.
 public struct Time {
-  var hh: UInt8;
-  var mm: UInt8;
-  var sec: Double;
-  func
-  isValid() -> Bool
-  {
-    // Using 61 for seconds bounds to account for possible leap seconds
-    if (hh < 24 && mm < 60 && 0.0 <= sec && sec < 61.0) {
-      return true;
-    }
-    
-    return false;
+  var hh: UInt8
+  var mm: UInt8
+  var sec: Double
+
+  func isValid() -> Bool {
+    return hh < 24 && mm < 60 && sec.isFinite && sec >= 0 && sec < 60
   }
-  
 }
 
 public struct DateTime {
-  var date: Date;
-  var time: Time;
-  func
-  isValid() -> Bool
-  {
-    return date.isValid() && time.isValid();
+  var date: Date
+  var time: Time
+
+  func isValid() -> Bool {
+    return date.isValid() && time.isValid()
   }
 
-  init?(isoDate str: String)
-  {
-    //    var year:Int32 = 0, month:Int32 = 1, day:UInt8 = 1, hour:UInt8 = 0, minute:UInt8 = 0;
-    //    var tz : Character = "\0"; var dummy: Character;
-    //    var tz_h_offset:UInt8 = 0, tz_m_offset:UInt8 = 0;
-    //    var secs: Double = 0.0;
-    var dateTimeComps: [String];
-    if str.firstIndex(of: "T") !=  nil {
-      dateTimeComps = str.components(separatedBy: "T")
-    } else {
-      dateTimeComps = str.components(separatedBy: " ")
-    }
-    if dateTimeComps.count > 2 {
-      return nil;
-    }
-    
-    // Parse date
-    let dateComps = dateTimeComps[0].components(separatedBy: "-");
-    if dateComps.count != 3 {
-      return nil
-    }
+  /// Parses YYYY-MM-DD with optional HH:mm:ss[.fraction], separated by T or space.
+  /// This is a calendar reading, not a UTC instant. Timezone suffixes and leap
+  /// seconds are rejected until a time-scale-aware API can validate them.
+  init?(isoDate str: String) {
+    let components = str.components(separatedBy: str.contains("T") ? "T" : " ")
+    guard components.count == 1 || components.count == 2 else { return nil }
+    let dateComponents = components[0].components(separatedBy: "-")
+    guard dateComponents.count == 3,
+          dateComponents.allSatisfy({ !$0.isEmpty && $0.allSatisfy({ $0.isASCII && $0.isNumber }) }),
+          let year = Int32(dateComponents[0]),
+          let monthNumber = Int(dateComponents[1]),
+          let month = Month(rawValue: monthNumber),
+          let day = UInt8(dateComponents[2]) else { return nil }
+    date = Date(year: year, month: month, day: day)
+    guard date.isValid() else { return nil }
 
-    guard let yyyy = Int32(dateComps[0]) else {
-      return nil
-    }
-    guard let mm = Int(dateComps[1]) else {
-      return nil
-    }
-    guard let dd = UInt8(dateComps[2]) else {
-      return nil
-    }
-    guard let mmAsMonth = Month(rawValue: mm) else {
-      return nil
-    }
-    
-    if (dd < 1) {
-      return nil;
-    }
-    
-    if (isLeapYear(yyyy)) {
-      if (dd > month_length_leap[Int(mmAsMonth.rawValue)-1]) {
-        return nil;
-      }
-    } else {
-      if (dd > month_length[Int(mmAsMonth.rawValue)-1]) {
-        return nil;
-      }
-    }
-    
-    date = Date(year: yyyy, month: mmAsMonth, day: dd)
-    
-    if dateTimeComps.count == 2 {
-      // Parse time
-      let timeComps = dateTimeComps[1].components(separatedBy: ":")
-      
-      guard let hh = UInt8(timeComps[0]) else {
-        return nil
-      }
-      guard let mm = UInt8(timeComps[1]) else {
-        return nil;
-      }
-      guard let secs = Double(timeComps[2]) else {
-        return nil;
-      }
-      
-      if hh >= 24 {
-        return nil
-      }
-      if mm >= 60 {
-        return nil
-      }
-      
-      if secs >= 61 { // Leapseconds
-        return nil
-      }
-      
-      time = Time(hh: hh, mm: mm, sec: secs)
+    if components.count == 2 {
+      let clock = components[1].components(separatedBy: ":")
+      guard clock.count == 3,
+            clock[0].allSatisfy({ $0.isASCII && $0.isNumber }),
+            clock[1].allSatisfy({ $0.isASCII && $0.isNumber }),
+            let hour = UInt8(clock[0]), let minute = UInt8(clock[1]) else { return nil }
+      let seconds = clock[2].components(separatedBy: ".")
+      guard seconds.count == 1 || seconds.count == 2,
+            seconds.allSatisfy({ !$0.isEmpty && $0.allSatisfy({ $0.isASCII && $0.isNumber }) }),
+            let second = Double(clock[2]) else { return nil }
+      time = Time(hh: hour, mm: minute, sec: second)
     } else {
       time = Time(hh: 0, mm: 0, sec: 0)
     }
-    
-#if false
-    
-    if (i == 4) {
-      var hhmm_bytes = 0, sec_bytes = 0;
-      
-      var j = sscanf(str + iso_date_bytes, "%d:%d%n", &hour, &minute, &hhmm_bytes);
-      j = sscanf(str + iso_date_bytes + hhmm_bytes, ":%lf%n", &secs, &sec_bytes);
-      
-      j = sscanf(str + iso_date_bytes + hhmm_bytes + sec_bytes, "%c%d:%d",
-                 &tz, &tz_h_offset, &tz_m_offset);
-      
-    }
-    
-    
-    if (tz == "+") {
-      time.hh -= tz_h_offset;
-      time.mm -= tz_m_offset;
-    }
-    
-    if (tz == "-") {
-      time.hh += tz_h_offset;
-      time.mm -= tz_m_offset;
-    }
-    
-    if (time.sec >= 60.0) {
-      time.mm += UInt8(time.sec / 60.0);
-      time.sec = fmod(time.sec, 60.0);
-    }
-    
-    if (time.mm >= 60) {
-      time.hh += time.mm / 60;
-      time.mm = time.mm % 60;
-    }
-    
-    if (time.hh >= 24) {
-      date.day += time.hh / 24;
-      time.hh = time.hh % 24;
-    }
-#endif
+    guard time.isValid() else { return nil }
   }
 }
 
@@ -346,18 +302,29 @@ cm_tdbToTcb(tdb: Double) -> Double
   return (tdb - CM_TDB0 / 86400.0 - CM_LB * CM_TCB_0) / (1.0-CM_LB);
 }
 
-func
-cm_ttToTdb(tt: Double)->Double
-{
-  let g = 357.53.deg + 0.9856003.deg * ( tt - 2451545.0 );
-  
-  return tt + (0.001658 * sin( g ) + 0.000014 * sin( 2*g ))/SEC_PER_JD;
+/// Low-order periodic approximation to TDB - TT, in Julian days.
+/// Both arguments/results of the conversion routines are Julian dates.
+/// This is not a replacement for a precision relativistic time model.
+private func tdbMinusTT(atTT tt: Double) -> Double {
+  let g = 357.53.deg + 0.9856003.deg * (tt - 2451545.0)
+  return (0.001658 * sin(g) + 0.000014 * sin(2 * g)) / SEC_PER_JD
+}
+
+func cm_ttToTdb(tt: Double) -> Double {
+  return tt + tdbMinusTT(atTT: tt)
 }
 
 func
 cm_tdbToTt(tdb: Double) -> Double
 {
-  return 0
+  // Solve the same forward approximation rather than using a different model.
+  var tt = tdb
+  for _ in 0..<3 {
+    let next = tdb - tdbMinusTT(atTT: tt)
+    if next == tt { break }
+    tt = next
+  }
+  return tt
 }
 
 func
@@ -397,21 +364,12 @@ cm_ttToTcg(tt: Double)->Double
   return (tt - EJD)/(1.0 - CM_LG) + EJD;
 }
 
-func
-cm_tdtToTdb( tdt: Double)->Double
-{
-  let T = (tdt - 2451545.0) / 36525;
-  let g = (M_2_PI * (357.528 + 35999.050 * T)) / 360.0;
-  let TDB = tdt + 0.001658 * sin(g + 0.0167 * sin(g));
-  return TDB;
+/// Legacy TDT spelling for TT; delegates to the shared approximation.
+func cm_tdtToTdb(tdt: Double) -> Double {
+  return cm_ttToTdb(tt: tdt)
 }
 
-func
-cm_tdbToTdt( tdb: Double)->Double
-{
-  let T = (tdb - 2451545.0) / 36525;
-  let g = (M_2_PI * (357.528 + 35999.050 * T)) / 360.0;
-  let TDT = tdb - 0.001658 * sin(g + 0.0167 * sin(g));
-  return TDT;
+/// Legacy TDT spelling for TT; delegates to the shared approximation inverse.
+func cm_tdbToTdt(tdb: Double) -> Double {
+  return cm_tdbToTt(tdb: tdb)
 }
-
diff --git a/Sources/CelMek/TrajectorySampling.swift b/Sources/CelMek/TrajectorySampling.swift
new file mode 100644
index 0000000..7203c9a
--- /dev/null
+++ b/Sources/CelMek/TrajectorySampling.swift
@@ -0,0 +1,76 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Math
+
+public enum TrajectorySamplingError: Error, Equatable {
+    case invalidSampleLimit, sampleLimitExceeded, invalidStep, frameTreeRequired
+}
+
+/// Bounded, discrete samples for rendering or prediction. No interpolation or
+/// hidden integration steps: each returned value is queried at its own epoch.
+public enum TrajectorySampler {
+    /// Preserves input order and duplicate epochs. Provider contracts are checked
+    /// before optional frame conversion; errors propagate without a partial result.
+    public static func sample(_ provider: any StateProvider, at epochs: [Epoch],
+                              in destination: Frame? = nil, using tree: FrameTree? = nil,
+                              maximumSamples: Int = 100_000) throws -> [CartesianState] {
+        guard maximumSamples > 0 else { throw TrajectorySamplingError.invalidSampleLimit }
+        guard epochs.count <= maximumSamples else { throw TrajectorySamplingError.sampleLimitExceeded }
+        let destination = destination ?? provider.frame
+        if destination !== provider.frame && tree == nil { throw TrajectorySamplingError.frameTreeRequired }
+        return try epochs.map { epoch in
+            let state = try provider.state(at: epoch)
+            guard state.epoch == epoch else { throw FrameTransformError.epochMismatch }
+            guard state.frame === provider.frame else { throw FrameQueryError.providerFrameMismatch }
+            if destination === provider.frame { return state }
+            return try tree!.convert(state, to: destination)
+        }
+    }
+
+    /// Includes both endpoints, with a possibly shorter final interval. A
+    /// positive step is used in either time direction. Scheduling is validated
+    /// in full before providers are queried; the sample count is bounded.
+    public static func sample(_ provider: any StateProvider, from start: Epoch, through end: Epoch,
+                              step: Duration, in destination: Frame? = nil, using tree: FrameTree? = nil,
+                              maximumSamples: Int = 100_000) throws -> [CartesianState] {
+        guard maximumSamples > 0 else { throw TrajectorySamplingError.invalidSampleLimit }
+        guard step > .zero else { throw TrajectorySamplingError.invalidStep }
+        let forward = start <= end
+        var epochs = [start], current = start
+        while current != end {
+            guard epochs.count < maximumSamples else { throw TrajectorySamplingError.sampleLimitExceeded }
+            // Avoid advancing outside the supported epoch range at the final interval.
+            let remaining = forward ? try end.duration(since: current) : try current.duration(since: end)
+            let next: Epoch
+            if remaining <= step { next = end }
+            else {
+                // Anchor every interval to start; repeated fractional additions
+                // would drift and could create a spurious near-duplicate endpoint.
+                let (whole, overflow) = step.wholeSeconds.multipliedReportingOverflow(by: Int64(epochs.count))
+                guard !overflow else { throw TimeArithmeticError.outOfRange }
+                let offset = try Duration(wholeSeconds: whole,
+                                          fractionalSecond: step.fractionalSecond * Double(epochs.count))
+                let candidate = try start.advanced(by: forward ? offset : offset.negated())
+                next = forward ? min(candidate, end) : max(candidate, end)
+            }
+            guard forward ? next > current : next < current else { throw TrajectorySamplingError.invalidStep }
+            epochs.append(next); current = next
+        }
+        return try sample(provider, at: epochs, in: destination, using: tree, maximumSamples: maximumSamples)
+    }
+}
diff --git a/Sources/CelMek/TwoBodyPropagator.swift b/Sources/CelMek/TwoBodyPropagator.swift
new file mode 100644
index 0000000..4467930
--- /dev/null
+++ b/Sources/CelMek/TwoBodyPropagator.swift
@@ -0,0 +1,206 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+public enum PropagationError: Error, Equatable {
+    case nonInertialFrame, incompatibleGMConvention, invalidOptions
+    case zeroPosition, radialTrajectory, numericalRangeExceeded
+    case bracketFailure
+    case convergenceFailure(iterations: Int)
+}
+
+/// A trajectory queried at an absolute epoch, independently of previous queries.
+public protocol Propagator: StateProvider {
+    var referenceEpoch: Epoch { get }
+    var centralBody: BodyIdentifier { get }
+}
+
+public struct TwoBodyPropagationOptions: Equatable, Sendable {
+    /// Universal time-equation residual tolerances, not physical position bounds.
+    public let absoluteTimeToleranceSeconds: Double
+    public let relativeTimeTolerance: Double
+    public let maximumIterations: Int
+    public let maximumBracketExpansions: Int
+    public init(absoluteTimeToleranceSeconds: Double = 1e-9,
+                relativeTimeTolerance: Double = 1e-13,
+                maximumIterations: Int = 128, maximumBracketExpansions: Int = 128) throws {
+        guard absoluteTimeToleranceSeconds.isFinite, absoluteTimeToleranceSeconds > 0,
+              relativeTimeTolerance.isFinite, relativeTimeTolerance >= 0,
+              maximumIterations > 0, maximumBracketExpansions > 0 else {
+            throw PropagationError.invalidOptions
+        }
+        self.absoluteTimeToleranceSeconds = absoluteTimeToleranceSeconds
+        self.relativeTimeTolerance = relativeTimeTolerance
+        self.maximumIterations = maximumIterations
+        self.maximumBracketExpansions = maximumBracketExpansions
+    }
+    public static let `default` = try! TwoBodyPropagationOptions()
+}
+
+public struct TwoBodyPropagationResult {
+    public let state: CartesianState
+    public let iterations: Int
+    public let bracketExpansions: Int
+}
+
+/// Newtonian point-mass motion in central-body-relative, nonrotating axes.
+/// Uses scaled universal variables without a near-parabolic conic switch.
+public struct TwoBodyPropagator: Propagator {
+    public let initialState: CartesianState
+    public let centralBody: BodyIdentifier
+    public let gravitationalParameter: GravitationalParameter
+    public let options: TwoBodyPropagationOptions
+    public var frame: Frame { initialState.frame }
+    public var referenceEpoch: Epoch { initialState.epoch }
+    private let radiusScale: Double
+    private let velocityScale: Double
+    private let timeScale: Double
+    private let radial: SIMD3<Double>
+    private let scaledVelocity: SIMD3<Double>
+    private let alpha: Double
+    private let radialVelocity: Double
+
+    public init(initialState: CartesianState, centralBody: BodyIdentifier,
+                gravitationalParameter: GravitationalParameter,
+                options: TwoBodyPropagationOptions = .default) throws {
+        guard initialState.frame.pseudoInertial else { throw PropagationError.nonInertialFrame }
+        // Epoch differences and state derivatives use uniform atomic/TT seconds.
+        guard gravitationalParameter.convention == .newtonian || gravitationalParameter.convention == .ttCompatible else {
+            throw PropagationError.incompatibleGMConvention
+        }
+        try centralBody.validate()
+        let r = Self.norm(initialState.position)
+        guard r > 0 else { throw PropagationError.zeroPosition }
+        let scale = sqrt(gravitationalParameter.cubicMetresPerSecondSquared) / sqrt(r)
+        let t = r / scale
+        let u = initialState.position / r, v = initialState.velocity / scale
+        let a = 2 - (v * v).sum(), b = (u * v).sum()
+        guard r.isFinite, scale.isFinite, scale > 0, t.isFinite, t > 0, a.isFinite, b.isFinite else {
+            throw PropagationError.numericalRangeExceeded
+        }
+        guard Self.norm(Self.cross(u, v)) > 0 else { throw PropagationError.radialTrajectory }
+        self.initialState = initialState; self.centralBody = centralBody
+        self.gravitationalParameter = gravitationalParameter; self.options = options
+        radiusScale = r; velocityScale = scale; timeScale = t
+        radial = u; scaledVelocity = v; alpha = a; radialVelocity = b
+    }
+
+    public func state(at epoch: Epoch) throws -> CartesianState { try propagation(at: epoch).state }
+
+    public func propagation(at epoch: Epoch) throws -> TwoBodyPropagationResult {
+        var tau = try epoch.duration(since: referenceEpoch).seconds / timeScale
+        guard tau.isFinite else { throw PropagationError.numericalRangeExceeded }
+        // Bound trigonometric arguments and f/g cancellation on multi-orbit queries.
+        if alpha > 0 {
+            let period = (2 * Double.pi / alpha) / sqrt(alpha)
+            if period.isFinite { tau = tau.remainder(dividingBy: period) }
+        }
+        if tau == 0 {
+            return TwoBodyPropagationResult(state: try makeState(epoch: epoch, position: initialState.position,
+                                                                 velocity: initialState.velocity),
+                                             iterations: 0, bracketExpansions: 0)
+        }
+        let sign = tau < 0 ? -1.0 : 1.0
+        let magnitude = abs(tau)
+        func evaluate(_ positiveAnomaly: Double) -> (residual: Double, derivative: Double)? {
+            let x = sign * positiveAnomaly
+            guard let functions = Self.stumpff(alpha * x * x) else { return nil }
+            let x2c = x * x * functions.c, x3s = x * x * x * functions.s
+            let value = radialVelocity * x2c + (1 - alpha) * x3s + x
+            let derivative = radialVelocity * x * (1 - alpha * x * x * functions.s) + (1 - alpha) * x2c + 1
+            guard value.isFinite, derivative.isFinite else { return nil }
+            return (sign * value - magnitude, derivative)
+        }
+        var low = 0.0, high = 1.0, expansions = 0
+        while let upper = evaluate(high), upper.residual < 0 {
+            guard expansions < options.maximumBracketExpansions else { throw PropagationError.bracketFailure }
+            high *= 2; expansions += 1
+            guard high.isFinite else { throw PropagationError.numericalRangeExceeded }
+        }
+        let tolerance = options.absoluteTimeToleranceSeconds / timeScale + options.relativeTimeTolerance * magnitude
+        var x = min(magnitude, high / 2)
+        var root: Double?
+        var iterations = 0
+        for iteration in 1...options.maximumIterations {
+            iterations = iteration
+            guard let value = evaluate(x) else {
+                high = x; x = low + (high - low) / 2
+                continue
+            }
+            guard value.derivative > 0 else { throw PropagationError.numericalRangeExceeded }
+            if abs(value.residual) <= tolerance { root = sign * x; break }
+            if value.residual < 0 { low = x } else { high = x }
+            let midpoint = low + (high - low) / 2
+            if midpoint == low || midpoint == high { root = sign * midpoint; break }
+            let newton = x - value.residual / value.derivative
+            let quarter = (high - low) / 4
+            x = newton > low + quarter && newton < high - quarter ? newton : midpoint
+        }
+        guard let chi = root else { throw PropagationError.convergenceFailure(iterations: iterations) }
+        guard let functions = Self.stumpff(alpha * chi * chi) else { throw PropagationError.numericalRangeExceeded }
+        let x2c = chi * chi * functions.c, x3s = chi * chi * chi * functions.s
+        let f = 1 - x2c, g = tau - x3s
+        let position = f * radial + g * scaledVelocity
+        let radius = Self.norm(position)
+        guard radius.isFinite, radius > 0 else { throw PropagationError.numericalRangeExceeded }
+        let fdot = (alpha * x3s - chi) / radius, gdot = 1 - x2c / radius
+        let velocity = fdot * radial + gdot * scaledVelocity
+        let state = try makeState(epoch: epoch, position: radiusScale * position, velocity: velocityScale * velocity)
+        return TwoBodyPropagationResult(state: state, iterations: iterations, bracketExpansions: expansions)
+    }
+
+    private func makeState(epoch: Epoch, position: SIMD3<Double>, velocity: SIMD3<Double>) throws -> CartesianState {
+        let r = Self.norm(position)
+        let magnitude = (gravitationalParameter.cubicMetresPerSecondSquared / r) / r
+        let acceleration = -magnitude * (position / r)
+        guard [position, velocity, acceleration].allSatisfy({ [$0.x, $0.y, $0.z].allSatisfy(\.isFinite) }) else {
+            throw PropagationError.numericalRangeExceeded
+        }
+        return try CartesianState(epoch: epoch, frame: frame, position: position, velocity: velocity, acceleration: acceleration)
+    }
+
+    // Series near zero; half-angle C avoids cancellation elsewhere. Large
+    // hyperbolic arguments return nil so root bracketing can bisect inward.
+    private static func stumpff(_ z: Double) -> (c: Double, s: Double)? {
+        guard z.isFinite else { return nil }
+        if abs(z) < 0.5 {
+            var c = 0.5, s = 1.0 / 6, tc = c, ts = s
+            for n in 1...16 {
+                tc *= -z / Double((2*n+1)*(2*n+2))
+                ts *= -z / Double((2*n+2)*(2*n+3))
+                c += tc; s += ts
+            }
+            return (c, s)
+        }
+        let x = sqrt(abs(z))
+        let c: Double, s: Double
+        if z > 0 {
+            c = 2 * pow(sin(x / 2), 2) / z
+            s = (x - sin(x)) / (x * x * x)
+        } else {
+            c = 2 * pow(sinh(x / 2), 2) / (-z)
+            s = (sinh(x) - x) / (x * x * x)
+        }
+        return c.isFinite && s.isFinite ? (c, s) : nil
+    }
+    private static func norm(_ x: SIMD3<Double>) -> Double { hypot(hypot(x.x, x.y), x.z) }
+    private static func cross(_ a: SIMD3<Double>, _ b: SIMD3<Double>) -> SIMD3<Double> {
+        SIMD3(a.y*b.z-a.z*b.y, a.z*b.x-a.x*b.z, a.x*b.y-a.y*b.x)
+    }
+}
diff --git a/Sources/CelMek/UTC.swift b/Sources/CelMek/UTC.swift
new file mode 100644
index 0000000..e5b554d
--- /dev/null
+++ b/Sources/CelMek/UTC.swift
@@ -0,0 +1,149 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+public enum UTCError: Error, Equatable, Sendable {
+  case invalidTable, outsideCoverage, invalidSecondOfDay, malformedData
+}
+
+/// UTC civil day (integer Modified Julian Date at midnight) and labelled seconds
+/// since midnight. The leap second is 86400..<86401; it is not the next midnight.
+/// Validation of day length belongs to the selected leap-second table.
+public struct UTCDate: Hashable, Sendable {
+  public let modifiedJulianDay: Int64
+  public let secondOfDay: Duration
+  public init(modifiedJulianDay: Int64, secondOfDay: Duration) throws {
+    guard secondOfDay >= .zero, secondOfDay.wholeSeconds < 86401 else { throw UTCError.invalidSecondOfDay }
+    self.modifiedJulianDay = modifiedJulianDay
+    self.secondOfDay = secondOfDay
+  }
+}
+
+/// Immutable, versioned post-1971 UTC history. Coverage ends at an exclusive
+/// UTC midnight. Unknown dates never extrapolate the last known offset.
+public struct LeapSecondTable: Sendable {
+  public struct Entry: Hashable, Sendable {
+    public let effectiveModifiedJulianDay: Int64
+    public let taiMinusUTC: Int
+    public init(effectiveModifiedJulianDay: Int64, taiMinusUTC: Int) {
+      self.effectiveModifiedJulianDay = effectiveModifiedJulianDay
+      self.taiMinusUTC = taiMinusUTC
+    }
+  }
+  public let version: String
+  public let source: String
+  public let entries: [Entry]
+  public let validUntilModifiedJulianDay: Int64
+
+  public init(entries: [Entry], validUntilModifiedJulianDay: Int64, version: String, source: String) throws {
+    guard let first = entries.first, let last = entries.last,
+          first.effectiveModifiedJulianDay >= 41317,
+          last.effectiveModifiedJulianDay < validUntilModifiedJulianDay,
+          !version.isEmpty, !source.isEmpty else { throw UTCError.invalidTable }
+    for (index, entry) in entries.enumerated() {
+      guard (-86400...86400).contains(entry.taiMinusUTC) else { throw UTCError.invalidTable }
+      if index > 0 {
+        let previous = entries[index-1]
+        guard entry.effectiveModifiedJulianDay > previous.effectiveModifiedJulianDay,
+              abs(entry.taiMinusUTC - previous.taiMinusUTC) == 1 else { throw UTCError.invalidTable }
+      }
+    }
+    self.entries = entries; self.validUntilModifiedJulianDay = validUntilModifiedJulianDay
+    self.version = version; self.source = source
+    // Reject tables outside Epoch's supported range, including integer overflow.
+    _ = try midnight(first.effectiveModifiedJulianDay, offset: first.taiMinusUTC)
+    _ = try midnight(validUntilModifiedJulianDay, offset: last.taiMinusUTC)
+  }
+
+  /// Load IERS Leap_Second.dat rows (MJD, day, month, year, TAI−UTC).
+  /// Caller supplies version, provenance and exclusive coverage from metadata.
+  public init(iersData: String, validUntilModifiedJulianDay: Int64, version: String, source: String) throws {
+    var entries: [Entry] = []
+    for line in iersData.split(whereSeparator: \.isNewline) {
+      let row = line.split(separator: "#", omittingEmptySubsequences: false)[0]
+      let fields = row.split(whereSeparator: \.isWhitespace)
+      if fields.isEmpty { continue }
+      guard fields.count == 5, let day = Double(fields[0]), day.isFinite,
+            day.rounded() == day, day >= 41317, day < Double(Int64.max),
+            let offset = Int(fields[4]), fields[1...3].allSatisfy({ Int($0) != nil }) else {
+        throw UTCError.malformedData
+      }
+      entries.append(Entry(effectiveModifiedJulianDay: Int64(day), taiMinusUTC: offset))
+    }
+    try self.init(entries: entries, validUntilModifiedJulianDay: validUntilModifiedJulianDay, version: version, source: source)
+  }
+
+  public func taiMinusUTC(on modifiedJulianDay: Int64) throws -> Int {
+    guard modifiedJulianDay >= entries[0].effectiveModifiedJulianDay,
+          modifiedJulianDay < validUntilModifiedJulianDay else { throw UTCError.outsideCoverage }
+    return entries.last(where: { $0.effectiveModifiedJulianDay <= modifiedJulianDay })!.taiMinusUTC
+  }
+  public func dayLength(on modifiedJulianDay: Int64) throws -> Int {
+    let offset = try taiMinusUTC(on: modifiedJulianDay)
+    let next = entries.first(where: { $0.effectiveModifiedJulianDay == modifiedJulianDay+1 })
+    return 86400 + (next.map { $0.taiMinusUTC-offset } ?? 0)
+  }
+  public func epoch(from utc: UTCDate) throws -> Epoch {
+    let offset = try taiMinusUTC(on: utc.modifiedJulianDay)
+    guard utc.secondOfDay.wholeSeconds < Int64(try dayLength(on: utc.modifiedJulianDay)) else {
+      throw UTCError.invalidSecondOfDay
+    }
+    return try midnight(utc.modifiedJulianDay, offset: offset).advanced(by: utc.secondOfDay)
+  }
+  public func utc(from epoch: Epoch) throws -> UTCDate {
+    var low = entries[0].effectiveModifiedJulianDay
+    var high = validUntilModifiedJulianDay
+    guard epoch >= (try midnight(low, offset: entries[0].taiMinusUTC)),
+          epoch < (try midnight(high, offset: entries.last!.taiMinusUTC)) else { throw UTCError.outsideCoverage }
+    // Search actual atomic midnights; positive and negative leap days are unambiguous.
+    while high-low > 1 {
+      let mid = low+(high-low)/2
+      if try epoch < midnight(mid, offset: taiMinusUTC(on: mid)) { high = mid } else { low = mid }
+    }
+    let start = try midnight(low, offset: taiMinusUTC(on: low))
+    var elapsed = try epoch.duration(since: start)
+    let length = Int64(try dayLength(on: low))
+    // Subtraction can round a fraction immediately below midnight up to 1.
+    // The midnight search already established that this instant is in this day.
+    if elapsed.wholeSeconds >= length {
+      elapsed = try Duration(wholeSeconds: length-1, fractionalSecond: Double(1).nextDown)
+    }
+    return try UTCDate(modifiedJulianDay: low, secondOfDay: elapsed)
+  }
+  private func midnight(_ day: Int64, offset: Int) throws -> Epoch {
+    let (jd, overflow) = day.addingReportingOverflow(2400000)
+    guard !overflow else { throw TimeArithmeticError.outOfRange }
+    let nominal = try Epoch(julianDate: JulianDateComponents(wholeDay: jd, fractionalDay: 0.5, scale: .tt))
+    return try nominal.advanced(by: Duration(wholeSeconds: Int64(offset)+32, fractionalSecond: 0.184))
+  }
+
+  /// Frozen IERS Bulletin C 72 snapshot, July 2026; strict expiry at 2027-06-28.
+  /// No automatic network access. Replace/inject a table to extend coverage.
+  public static let iersBulletinC72: LeapSecondTable = try! LeapSecondTable(
+    entries: zip([41317,41499,41683,42048,42413,42778,43144,43509,43874,44239,
+                  44786,45151,45516,46247,47161,47892,48257,48804,49169,49534,
+                  50083,50630,51179,53736,54832,56109,57204,57754], 10...37)
+      .map { Entry(effectiveModifiedJulianDay: Int64($0.0), taiMinusUTC: $0.1) },
+    validUntilModifiedJulianDay: 61584, version: "IERS Bulletin C 72 (2026-07)",
+    source: "https://hpiers.obspm.fr/iers/bul/bulc/Leap_Second.dat")
+}
+
+extension Epoch {
+  public init(utc: UTCDate, using table: LeapSecondTable) throws { self = try table.epoch(from: utc) }
+  public func utc(using table: LeapSecondTable) throws -> UTCDate { try table.utc(from: self) }
+}
diff --git a/Sources/CelMek/UnpoweredFlyby.swift b/Sources/CelMek/UnpoweredFlyby.swift
new file mode 100644
index 0000000..33b39ac
--- /dev/null
+++ b/Sources/CelMek/UnpoweredFlyby.swift
@@ -0,0 +1,135 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+public enum FlybyError: Error, Equatable {
+    case invalidBodyRadius, invalidAltitude, invalidVelocity, invalidTolerance
+    case excessSpeedMismatch, degenerateTurn, unsafePeriapsis, numericalRangeExceeded
+}
+/// Incoming/outgoing vectors are actual velocity directions at infinity, not
+/// position-asymptote directions. The caller guarantees body-centred inertial axes.
+public struct FlybyEncounterRequest {
+    public let body: BodyIdentifier
+    /// Interpreted as the epoch of closest approach in the local two-body model.
+    public let periapsisEpoch: Epoch
+    public let frame: Frame
+    public let gravitationalParameter: GravitationalParameter
+    public let bodyRadiusMetres: Double
+    public let minimumPeriapsisAltitudeMetres: Double
+    public let incomingExcessVelocityMetresPerSecond: SIMD3<Double>
+    public let requestedOutgoingExcessVelocityMetresPerSecond: SIMD3<Double>
+    public let relativeSpeedTolerance: Double
+    public init(body: BodyIdentifier, periapsisEpoch: Epoch, frame: Frame,
+        gravitationalParameter: GravitationalParameter, bodyRadiusMetres: Double,
+        minimumPeriapsisAltitudeMetres: Double = 0,
+        incomingExcessVelocityMetresPerSecond: SIMD3<Double>,
+        outgoingExcessVelocityMetresPerSecond: SIMD3<Double>, relativeSpeedTolerance: Double = 1e-12) throws {
+        try body.validate()
+        guard frame.pseudoInertial else { throw PropagationError.nonInertialFrame }
+        guard gravitationalParameter.convention == .newtonian || gravitationalParameter.convention == .ttCompatible else {
+            throw PropagationError.incompatibleGMConvention
+        }
+        guard bodyRadiusMetres.isFinite, bodyRadiusMetres > 0 else { throw FlybyError.invalidBodyRadius }
+        guard minimumPeriapsisAltitudeMetres.isFinite, minimumPeriapsisAltitudeMetres >= 0,
+              (bodyRadiusMetres+minimumPeriapsisAltitudeMetres).isFinite else { throw FlybyError.invalidAltitude }
+        guard relativeSpeedTolerance.isFinite, relativeSpeedTolerance >= 0, relativeSpeedTolerance < 1 else { throw FlybyError.invalidTolerance }
+        for velocity in [incomingExcessVelocityMetresPerSecond,outgoingExcessVelocityMetresPerSecond] {
+            guard [velocity.x,velocity.y,velocity.z].allSatisfy(\.isFinite), routeNorm(velocity).isFinite,
+                  routeNorm(velocity) > 0 else { throw FlybyError.invalidVelocity }
+        }
+        self.body = body; self.periapsisEpoch = periapsisEpoch; self.frame = frame
+        self.gravitationalParameter = gravitationalParameter; self.bodyRadiusMetres = bodyRadiusMetres
+        self.minimumPeriapsisAltitudeMetres = minimumPeriapsisAltitudeMetres
+        self.incomingExcessVelocityMetresPerSecond = incomingExcessVelocityMetresPerSecond
+        requestedOutgoingExcessVelocityMetresPerSecond = outgoingExcessVelocityMetresPerSecond
+        self.relativeSpeedTolerance = relativeSpeedTolerance
+    }
+}
+public struct UnpoweredFlybyResult {
+    public let request: FlybyEncounterRequest
+    public let excessSpeedMetresPerSecond: Double
+    public let outgoingExcessVelocityMetresPerSecond: SIMD3<Double>
+    /// Residual between the speed-conserving model and the original requested vector.
+    public let outgoingVelocityResidualMetresPerSecond: Double
+    public let requestedOutgoingSpeedDifferenceMetresPerSecond: Double
+    public let turningAngleRadians: Double
+    public let periapsisRadiusMetres: Double
+    public let periapsisAltitudeMetres: Double
+    public let eccentricity: Double
+    public let periapsisSpeedMetresPerSecond: Double
+    public let orbitalNormal: SIMD3<Double>
+    public let periapsisRadialDirection: SIMD3<Double>
+    public let periapsisProgradeDirection: SIMD3<Double>
+    public let periapsisState: CartesianState
+    public let trajectory: TwoBodyPropagator
+}
+
+/// Ideal spherical point-mass patched-conic geometry, with no impulse/fuel cost.
+/// Does not patch a heliocentric arc or certify atmospheric/terrain clearance.
+public enum UnpoweredFlyby {
+    public static func solve(_ request: FlybyEncounterRequest,
+        propagationOptions: TwoBodyPropagationOptions = .default) throws -> UnpoweredFlybyResult {
+        let incoming = request.incomingExcessVelocityMetresPerSecond
+        let requested = request.requestedOutgoingExcessVelocityMetresPerSecond
+        let speed = routeNorm(incoming), requestedSpeed = routeNorm(requested)
+        guard abs(requestedSpeed/speed-1) <= request.relativeSpeedTolerance else { throw FlybyError.excessSpeedMismatch }
+        let u = incoming/speed, w = requested/requestedSpeed
+        let difference = u-w, sum = u+w, dn = routeNorm(difference), sn = routeNorm(sum)
+        // No finite flyby for zero turn; opposite vectors have no unique plane
+        // and would require a zero-radius collision. Never choose an arbitrary plane.
+        guard dn > 1e-12, sn > 1e-12 else { throw FlybyError.degenerateTurn }
+        func cross(_ a: SIMD3<Double>, _ b: SIMD3<Double>) -> SIMD3<Double> {
+            SIMD3(a.y*b.z-a.z*b.y,a.z*b.x-a.x*b.z,a.x*b.y-a.y*b.x)
+        }
+        let plane = cross(u,w), normal = plane/routeNorm(plane)
+        let radial: SIMD3<Double>, tangent: SIMD3<Double>
+        // Use the better-conditioned bisector, deriving its orthogonal partner
+        // rather than retaining subtraction noise as a radial periapsis velocity.
+        if dn < sn {
+            tangent = sum/sn
+            let direction = cross(tangent,normal); radial = direction/routeNorm(direction)
+        } else {
+            radial = difference/dn
+            let direction = cross(normal,radial); tangent = direction/routeNorm(direction)
+        }
+        let halfNorm = hypot(dn,sn), c = dn/halfNorm, s = sn/halfNorm
+        let turn = 2*atan2(c,s), length = sqrt(request.gravitationalParameter.cubicMetresPerSecondSquared)/speed
+        // (1/sin(turn/2)-1), rationalized near a pi turn.
+        let radius = (length*s)*(length*s)/(c*(1+c))
+        guard radius.isFinite, radius > 0 else { throw FlybyError.numericalRangeExceeded }
+        guard radius > request.bodyRadiusMetres,
+              radius >= request.bodyRadiusMetres+request.minimumPeriapsisAltitudeMetres else { throw FlybyError.unsafePeriapsis }
+        let periSpeed = hypot(speed,sqrt(2)*sqrt(request.gravitationalParameter.cubicMetresPerSecondSquared)/sqrt(radius))
+        let outgoing = w*speed, eccentricity = 1/c
+        let residual = routeNorm(outgoing-requested)
+        guard [periSpeed,eccentricity,residual].allSatisfy(\.isFinite), periSpeed > speed,
+              eccentricity > 1 else { throw FlybyError.numericalRangeExceeded }
+        let seed = try CartesianState(epoch: request.periapsisEpoch,frame: request.frame,
+            position: radial*radius,velocity: tangent*periSpeed)
+        let trajectory = try TwoBodyPropagator(initialState: seed,centralBody: request.body,
+            gravitationalParameter: request.gravitationalParameter,options: propagationOptions)
+        return UnpoweredFlybyResult(request: request,excessSpeedMetresPerSecond: speed,
+            outgoingExcessVelocityMetresPerSecond: outgoing,outgoingVelocityResidualMetresPerSecond: residual,
+            requestedOutgoingSpeedDifferenceMetresPerSecond: requestedSpeed-speed,turningAngleRadians: turn,
+            periapsisRadiusMetres: radius,periapsisAltitudeMetres: radius-request.bodyRadiusMetres,
+            eccentricity: eccentricity,periapsisSpeedMetresPerSecond: periSpeed,orbitalNormal: normal,
+            periapsisRadialDirection: radial,periapsisProgradeDirection: tangent,
+            periapsisState: try trajectory.state(at: request.periapsisEpoch),trajectory: trajectory)
+    }
+}
diff --git a/Sources/CelMek/VSOP87CoefficientSelection.swift b/Sources/CelMek/VSOP87CoefficientSelection.swift
new file mode 100644
index 0000000..a9765dd
--- /dev/null
+++ b/Sources/CelMek/VSOP87CoefficientSelection.swift
@@ -0,0 +1,71 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+/// Coefficient subset prepared once, outside queries. Bounds describe truncation
+/// relative to the complete built-in series, not physical ephemeris accuracy.
+public struct VSOP87CoefficientSelection {
+  public let originalTermCount: Int
+  public let retainedTermCount: Int
+  /// Sum of absolute omitted amplitudes times the largest |t| power in coverage,
+  /// per native Cartesian axis, in metres. No velocity error bound is implied.
+  public let positionErrorBoundMetres: SIMD3<Double>
+  /// Individual term contribution cutoff in AU over the selected interval.
+  public let termCutoffAU: Double
+  internal let selectedBody: vsop87_body
+
+  internal init(body: vsop87_body, coverage: ClosedRange<Epoch>, tdbModel: any TDBTimeModel,
+                accuracy: AccuracyLevel) throws {
+    switch accuracy {
+    case .low: termCutoffAU = 1e-6
+    case .balanced: termCutoffAU = 1e-8
+    case .high: termCutoffAU = 1e-10
+    case .full: termCutoffAU = 0
+    }
+    func argument(_ epoch: Epoch) throws -> Double {
+      let date = try epoch.julianDate(in: .tdb,using: tdbModel)
+      return (Double(date.wholeDay-2451545)+date.fractionalDay)/365250
+    }
+    let maximumT = try max(abs(argument(coverage.lowerBound)),abs(argument(coverage.upperBound))) + 1e-12
+    var count = 0, retained = 0, bounds = SIMD3<Double>.zero
+    let cutoff = termCutoffAU
+    func select(_ series: [[(Double,Double,Double)]], axis: Int) throws -> [[(Double,Double,Double)]] {
+      var power = 1.0, output = [[(Double,Double,Double)]]()
+      for terms in series {
+        var selected = [(Double,Double,Double)]()
+        for term in terms {
+          count += 1
+          let bound = abs(term.0)*power
+          guard bound.isFinite else { throw TimeArithmeticError.outOfRange }
+          if accuracy == .full || bound >= cutoff {
+            selected.append(term); retained += 1
+          } else {
+            // Round the bound upward at each addition to cover floating summation.
+            bounds[axis] = (bounds[axis]+bound).nextUp
+          }
+        }
+        output.append(selected); power *= maximumT
+      }
+      return output
+    }
+    let x = try select(body.terms_x,axis: 0), y = try select(body.terms_y,axis: 1), z = try select(body.terms_z,axis: 2)
+    originalTermCount = count; retainedTermCount = retained
+    positionErrorBoundMetres = bounds * CartesianUnits.metresPerAstronomicalUnit
+    selectedBody = accuracy == .full ? body : vsop87_body(body: body.body_id,tx: x,ty: y,tz: z)
+  }
+}
diff --git a/Sources/CelMek/VariableThrust.swift b/Sources/CelMek/VariableThrust.swift
new file mode 100644
index 0000000..a760825
--- /dev/null
+++ b/Sources/CelMek/VariableThrust.swift
@@ -0,0 +1,43 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Math
+
+/// Pure state/epoch-dependent engine command, including throttle and direction.
+/// The command must be defined at dry mass for depletion-boundary localization.
+/// It must remain continuous within integration segments; schedule discontinuities
+/// through explicit event resets. Normal evaluation still rejects firing dry.
+public struct VariableThrust: FuelConsumingForceModel {
+    public let frame: Frame
+    private let command: (SpacecraftState, ForceEvaluationContext) throws -> FiniteThrust
+    public init(frame: Frame, command: @escaping (SpacecraftState, ForceEvaluationContext) throws -> FiniteThrust) throws {
+        guard frame.pseudoInertial else { throw SpacecraftDynamicsError.nonInertialFrame }
+        self.frame = frame; self.command = command
+    }
+    public func contribution(for state: SpacecraftState, in context: ForceEvaluationContext) throws -> ForceContribution {
+        try engine(state, context).contribution(for: state, in: context)
+    }
+    public func depletionBoundaryContribution(for state: SpacecraftState, in context: ForceEvaluationContext) throws -> ForceContribution {
+        try engine(state, context).depletionBoundaryContribution(for: state, in: context)
+    }
+    private func engine(_ state: SpacecraftState, _ context: ForceEvaluationContext) throws -> FiniteThrust {
+        guard state.frame === frame, context.frame === frame else { throw SpacecraftDynamicsError.frameMismatch }
+        let result = try command(state, context)
+        guard result.frame === frame else { throw SpacecraftDynamicsError.frameMismatch }
+        return result
+    }
+}
diff --git a/Sources/CelMek/WaypointBrachistochroneRoute.swift b/Sources/CelMek/WaypointBrachistochroneRoute.swift
new file mode 100644
index 0000000..b4bfd40
--- /dev/null
+++ b/Sources/CelMek/WaypointBrachistochroneRoute.swift
@@ -0,0 +1,370 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+public enum BrachistochroneRouteError: Error, Equatable {
+    case movingObstacleOutsideCoverage(index: Int, obstacle: String), unsupportedMovingObstacleDwell
+    case invalidLegDuration, arrivalWindowNotSatisfied(index: Int)
+    case velocityDwellConflict(index: Int), velocityTimingLimitReached
+    case departureOutsideArrivalWindow, uniformRetimingUnavailable
+    case timingAccelerationLimitExceeded(leg: Int)
+    case invalidWaypointCount, legCountMismatch, invalidDwell, invalidObstacle
+    case originMismatch, clearanceLimitExceeded, unsupportedWaypointDwell, degeneratePassage(index: Int)
+    case unresolvedClearance(index: Int, obstacle: String), obstructedLeg(index: Int, obstacle: String)
+}
+
+/// Fixed inertial fly-through waypoint. Dwell is permitted only at route endpoints.
+public struct BrachistochroneWaypoint {
+    public let positionMetres: SIMD3<Double>
+    public let dwellDuration: Duration
+    /// Optional fixed inertial velocity at passage. Defaults to rest at endpoints
+    /// and the generated fly-through velocity at intermediate waypoints.
+    public let velocityMetresPerSecond: SIMD3<Double>?
+    /// Inclusive passage-time constraint; an equal pair specifies an exact epoch.
+    public let arrivalWindow: ClosedRange<Epoch>?
+    public init(positionMetres: SIMD3<Double>, dwellDuration: Duration = .zero,
+                arrivalWindow: ClosedRange<Epoch>? = nil, velocityMetresPerSecond: SIMD3<Double>? = nil) throws {
+        guard [positionMetres.x,positionMetres.y,positionMetres.z].allSatisfy(\.isFinite) else {
+            throw BrachistochroneError.nonFiniteEndpoint
+        }
+        guard dwellDuration >= .zero else { throw BrachistochroneRouteError.invalidDwell }
+        if let velocity = velocityMetresPerSecond,
+           ![velocity.x,velocity.y,velocity.z].allSatisfy(\.isFinite) {
+            throw BrachistochroneError.nonFiniteEndpoint
+        }
+        self.positionMetres = positionMetres; self.dwellDuration = dwellDuration
+        self.arrivalWindow = arrivalWindow
+        self.velocityMetresPerSecond = velocityMetresPerSecond
+    }
+    public init(positionMetres: SIMD3<Double>, arrivalEpoch: Epoch, dwellDuration: Duration = .zero,
+                velocityMetresPerSecond: SIMD3<Double>? = nil) throws {
+        try self.init(positionMetres: positionMetres, dwellDuration: dwellDuration,
+            arrivalWindow: arrivalEpoch...arrivalEpoch, velocityMetresPerSecond: velocityMetresPerSecond)
+    }
+}
+
+/// Fixed spherical exclusion region, including a caller-selected safety margin.
+public struct SphericalExclusionRegion {
+    public let identifier: String
+    public let frame: Frame
+    public let origin: BodyIdentifier
+    public let centreMetres: SIMD3<Double>
+    public let radiusMetres: Double
+    public let safetyMarginMetres: Double
+    public var exclusionRadiusMetres: Double { radiusMetres+safetyMarginMetres }
+    public init(identifier: String, frame: Frame, origin: BodyIdentifier, centreMetres: SIMD3<Double>,
+                radiusMetres: Double, safetyMarginMetres: Double = 0) throws {
+        try origin.validate()
+        guard !identifier.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty,
+              [centreMetres.x,centreMetres.y,centreMetres.z].allSatisfy(\.isFinite),
+              radiusMetres.isFinite, radiusMetres > 0, safetyMarginMetres.isFinite, safetyMarginMetres >= 0,
+              (radiusMetres+safetyMarginMetres).isFinite else { throw BrachistochroneRouteError.invalidObstacle }
+        self.identifier = identifier; self.frame = frame; self.origin = origin; self.centreMetres = centreMetres
+        self.radiusMetres = radiusMetres; self.safetyMarginMetres = safetyMarginMetres
+    }
+}
+public struct BrachistochroneRouteClearance {
+    public let legIndex: Int
+    public let obstacleIdentifier: String
+    /// Conservative lower bound for the entire curved leg's surface clearance.
+    public let minimumClearanceMetres: Double
+}
+public enum BrachistochroneRoutePhase: Equatable, Sendable {
+    case leg(index: Int)
+    case dwelling(waypointIndex: Int)
+    case arrived
+}
+
+/// Cubic Hermite leg with continuous endpoint velocity and a certified acceleration
+/// magnitude bound (acceleration is affine in time). No gravity/fuel model.
+public struct WaypointBrachistochroneLeg: StateProvider {
+    public let frame: Frame
+    public let departureEpoch: Epoch
+    public let arrivalEpoch: Epoch
+    public let duration: Duration
+    public let maximumAccelerationMetresPerSecondSquared: Double
+    public let departurePositionMetres: SIMD3<Double>
+    public let arrivalPositionMetres: SIMD3<Double>
+    public let departureVelocityMetresPerSecond: SIMD3<Double>
+    public let arrivalVelocityMetresPerSecond: SIMD3<Double>
+    let controls: [SIMD3<Double>]
+    public var coverage: ClosedRange<Epoch> { departureEpoch...arrivalEpoch }
+    public func state(at epoch: Epoch) throws -> CartesianState {
+        guard coverage.contains(epoch) else { throw BrachistochroneError.outsideCoverage }
+        let u = epoch == arrivalEpoch ? 1 : try epoch.duration(since: departureEpoch).seconds/duration.seconds
+        let t = duration.seconds, v = 1-u
+        let d0 = controls[1]-controls[0], d1 = controls[2]-controls[1], d2 = controls[3]-controls[2]
+        let velocity = epoch == departureEpoch ? departureVelocityMetresPerSecond : epoch == arrivalEpoch ? arrivalVelocityMetresPerSecond :
+            (d0*(v*v)+d1*(2*u*v)+d2*(u*u))*(3/t)
+        let acceleration = ((d1-d0)*v+(d2-d1)*u)*(6/t/t)
+        return try CartesianState(epoch: epoch, frame: frame,
+            position: epoch == departureEpoch ? departurePositionMetres : epoch == arrivalEpoch ? arrivalPositionMetres : bezierPoint(controls,u),
+            velocity: velocity, acceleration: acceleration)
+    }
+}
+
+/// Feasible gravity-free fly-through route with independently supplied leg limits.
+/// Cubic curves carry continuous velocity through waypoints; endpoint velocities
+/// default to rest and can be constrained explicitly.
+/// Durations are conservatively scaled to satisfy acceleration bounds. This is a
+/// smooth approximation, not a minimum-time/global brachistochrone optimizer.
+public struct WaypointBrachistochroneRoute: StateProvider {
+    public let frame: Frame
+    public let origin: BodyIdentifier
+    public let departureEpoch: Epoch
+    public let arrivalEpoch: Epoch
+    public let completionEpoch: Epoch
+    public let waypoints: [BrachistochroneWaypoint]
+    public let legs: [WaypointBrachistochroneLeg]
+    public let waypointArrivalEpochs: [Epoch]
+    public let waypointDepartureEpochs: [Epoch]
+    public let waypointVelocitiesMetresPerSecond: [SIMD3<Double>]
+    public let clearances: [BrachistochroneRouteClearance]
+    public let duration: Duration
+    public var coverage: ClosedRange<Epoch> { departureEpoch...completionEpoch }
+
+    public init(departureEpoch: Epoch, frame: Frame, origin: BodyIdentifier,
+                waypoints: [BrachistochroneWaypoint], legAccelerationsMetresPerSecondSquared: [Double],
+                obstacles: [SphericalExclusionRegion] = [], legDurations: [Duration]? = nil,
+                movingObstacles: [MovingSphericalExclusionRegion] = []) throws {
+        try validateMovingObstacles(movingObstacles, staticObstacles: obstacles, frame: frame, origin: origin)
+        guard movingObstacles.isEmpty || waypoints.allSatisfy({ $0.dwellDuration == .zero }) else {
+            throw BrachistochroneRouteError.unsupportedMovingObstacleDwell
+        }
+        try origin.validate()
+        guard frame.pseudoInertial else { throw BrachistochroneError.nonInertialFrame }
+        guard (2...10_001).contains(waypoints.count), obstacles.count <= 10_000 else {
+            throw BrachistochroneRouteError.invalidWaypointCount
+        }
+        guard legAccelerationsMetresPerSecondSquared.count == waypoints.count-1 else { throw BrachistochroneRouteError.legCountMismatch }
+        guard waypoints.dropFirst().dropLast().allSatisfy({ $0.dwellDuration == .zero }) else {
+            throw BrachistochroneRouteError.unsupportedWaypointDwell
+        }
+        for (index, waypoint) in waypoints.enumerated() {
+            if waypoint.dwellDuration > .zero, let velocity = waypoint.velocityMetresPerSecond, velocity != .zero {
+                throw BrachistochroneRouteError.velocityDwellConflict(index: index)
+            }
+        }
+        guard obstacles.count + movingObstacles.count == 0 || waypoints.count-1 <= 1_000_000/(obstacles.count + movingObstacles.count) else { throw BrachistochroneRouteError.clearanceLimitExceeded }
+        guard obstacles.allSatisfy({ $0.frame === frame }) else { throw SpacecraftDynamicsError.frameMismatch }
+        guard obstacles.allSatisfy({ $0.origin == origin }) else { throw BrachistochroneRouteError.originMismatch }
+        guard Set(obstacles.map(\.identifier)).count == obstacles.count else { throw BrachistochroneRouteError.invalidObstacle }
+        let points = waypoints.map(\.positionMetres)
+        var times: [Double] = []
+        for i in 0..<points.count-1 {
+            let leg = try IdealBrachistochroneTrajectory(departureEpoch: departureEpoch, frame: frame,
+                departurePositionMetres: points[i], arrivalPositionMetres: points[i+1],
+                maximumAccelerationMetresPerSecondSquared: legAccelerationsMetresPerSecondSquared[i])
+            guard leg.distanceMetres > 0 else { throw BrachistochroneRouteError.degeneratePassage(index: i) }
+            times.append(leg.duration.seconds)
+        }
+        func velocities(_ durations: [Double]) throws -> [SIMD3<Double>] {
+            var result = [waypoints[0].velocityMetresPerSecond ?? .zero]
+            for i in 1..<points.count-1 {
+                let value = waypoints[i].velocityMetresPerSecond ?? (points[i+1]-points[i-1])/(durations[i-1]+durations[i])
+                guard routeNorm(value).isFinite else { throw BrachistochroneError.numericalRangeExceeded }
+                guard routeNorm(value) > 0 else { throw BrachistochroneRouteError.degeneratePassage(index: i) }
+                result.append(value)
+            }
+            result.append(waypoints.last!.velocityMetresPerSecond ?? .zero); return result
+        }
+        let nominalVelocities = try velocities(times)
+        var scale = 1.0
+        for i in times.indices {
+            let c = routeControls(points[i],points[i+1],nominalVelocities[i],nominalVelocities[i+1],times[i])
+            guard c.allSatisfy({ $0.x.isFinite && $0.y.isFinite && $0.z.isFinite }) else {
+                throw BrachistochroneError.numericalRangeExceeded
+            }
+            let bound = max(routeNorm((c[2]-c[1]-(c[1]-c[0]))*(6/times[i]/times[i])),
+                routeNorm((c[3]-c[2]-(c[2]-c[1]))*(6/times[i]/times[i])))
+            guard bound.isFinite else { throw BrachistochroneError.numericalRangeExceeded }
+            scale = max(scale,sqrt(bound)/sqrt(legAccelerationsMetresPerSecondSquared[i]))
+        }
+        guard scale.isFinite else { throw BrachistochroneError.numericalRangeExceeded }
+        // Margin protects the analytic bound from final floating-point rounding.
+        times = times.map { $0*scale*1.01 }
+        if legDurations == nil, waypoints.contains(where: { $0.velocityMetresPerSecond != nil }) {
+            // Fixed velocities do not scale with duration. Recompute the actual
+            // affine-acceleration bound instead of assuming a 1/T² reduction.
+            var feasible = false
+            for _ in 0..<64 {
+                let values = try velocities(times)
+                var fits = true
+                for index in times.indices {
+                    let c = routeControls(points[index], points[index+1], values[index], values[index+1], times[index])
+                    let bound = max(routeNorm((c[2]-2*c[1]+c[0])*(6/times[index]/times[index])),
+                        routeNorm((c[3]-2*c[2]+c[1])*(6/times[index]/times[index])))
+                    guard bound.isFinite, c.allSatisfy({ $0.x.isFinite && $0.y.isFinite && $0.z.isFinite }) else {
+                        throw BrachistochroneError.numericalRangeExceeded
+                    }
+                    if bound > legAccelerationsMetresPerSecondSquared[index]*0.99 { fits = false }
+                }
+                if fits { feasible = true; break }
+                times = times.map { $0*2 }
+                guard times.allSatisfy({ $0.isFinite && $0 > 0 }) else { throw BrachistochroneError.numericalRangeExceeded }
+            }
+            guard feasible else { throw BrachistochroneRouteError.velocityTimingLimitReached }
+        }
+        if let window = waypoints[0].arrivalWindow, !window.contains(departureEpoch) {
+            throw BrachistochroneRouteError.departureOutsideArrivalWindow
+        }
+        var plannedArrivals: [Epoch]?
+        if let legDurations {
+            guard legDurations.count == times.count else { throw BrachistochroneRouteError.legCountMismatch }
+            var epochs = [departureEpoch]
+            var previous = try departureEpoch.advanced(by: waypoints[0].dwellDuration)
+            for (index, interval) in legDurations.enumerated() {
+                guard interval > .zero, interval.seconds.isFinite, interval.seconds > 0 else {
+                    throw BrachistochroneRouteError.invalidLegDuration
+                }
+                let end = try previous.advanced(by: interval)
+                guard end > previous else { throw BrachistochroneRouteError.invalidLegDuration }
+                if let window = waypoints[index+1].arrivalWindow, !window.contains(end) {
+                    throw BrachistochroneRouteError.arrivalWindowNotSatisfied(index: index+1)
+                }
+                epochs.append(end); previous = end; times[index] = interval.seconds
+            }
+            plannedArrivals = epochs
+        } else if waypoints.dropFirst().contains(where: { $0.arrivalWindow != nil }) {
+            let start = try departureEpoch.advanced(by: waypoints[0].dwellDuration)
+            var cumulative: [Double] = [], elapsed = 0.0
+            var lowerScale = 1.0, upperScale = Double.infinity
+            for i in times.indices {
+                elapsed += times[i]
+                guard elapsed.isFinite, elapsed > 0 else { throw BrachistochroneError.numericalRangeExceeded }
+                cumulative.append(elapsed)
+                if let window = waypoints[i+1].arrivalWindow {
+                    let earliest = try window.lowerBound.duration(since: start).seconds/elapsed
+                    let latest = try window.upperBound.duration(since: start).seconds/elapsed
+                    guard earliest.isFinite, latest.isFinite else { throw BrachistochroneError.numericalRangeExceeded }
+                    lowerScale = max(lowerScale, earliest); upperScale = min(upperScale, latest)
+                }
+            }
+            guard lowerScale <= upperScale else { throw BrachistochroneRouteError.uniformRetimingUnavailable }
+            var epochs = [departureEpoch], previous = start
+            for i in times.indices {
+                var end = try start.advanced(by: Duration(seconds: cumulative[i]*lowerScale))
+                if let window = waypoints[i+1].arrivalWindow {
+                    // Resolve fractional-second rounding at inclusive/exact endpoints.
+                    end = max(window.lowerBound, min(end, window.upperBound))
+                }
+                guard end > previous else { throw BrachistochroneRouteError.uniformRetimingUnavailable }
+                times[i] = try end.duration(since: previous).seconds
+                epochs.append(end); previous = end
+            }
+            plannedArrivals = epochs
+        }
+        let passageVelocities = try velocities(times)
+        var arrivals = [departureEpoch], departures: [Epoch] = [], paths: [WaypointBrachistochroneLeg] = []
+        var reports: [BrachistochroneRouteClearance] = [], clearanceChecks = 0
+        for i in waypoints.indices {
+            let leave = try arrivals[i].advanced(by: waypoints[i].dwellDuration)
+            departures.append(leave)
+            guard i < times.count else { break }
+            let end = try plannedArrivals?[i+1] ?? leave.advanced(by: Duration(seconds: times[i]))
+            let interval = try end.duration(since: leave)
+            guard end > leave else { throw BrachistochroneError.numericalRangeExceeded }
+            let c = routeControls(points[i],points[i+1],passageVelocities[i],passageVelocities[i+1],interval.seconds)
+            guard c.allSatisfy({ $0.x.isFinite && $0.y.isFinite && $0.z.isFinite }) else {
+                throw BrachistochroneError.numericalRangeExceeded
+            }
+            let actualBound = max(routeNorm((c[2]-c[1]-(c[1]-c[0]))*(6/interval.seconds/interval.seconds)),
+                routeNorm((c[3]-c[2]-(c[2]-c[1]))*(6/interval.seconds/interval.seconds)))
+            guard actualBound.isFinite else { throw BrachistochroneError.numericalRangeExceeded }
+            guard actualBound <= legAccelerationsMetresPerSecondSquared[i] else {
+                if plannedArrivals != nil { throw BrachistochroneRouteError.timingAccelerationLimitExceeded(leg: i) }
+                throw BrachistochroneError.numericalRangeExceeded
+            }
+            let leg = WaypointBrachistochroneLeg(frame: frame, departureEpoch: leave, arrivalEpoch: end, duration: interval,
+                maximumAccelerationMetresPerSecondSquared: legAccelerationsMetresPerSecondSquared[i],
+                departurePositionMetres: points[i], arrivalPositionMetres: points[i+1],
+                departureVelocityMetresPerSecond: passageVelocities[i], arrivalVelocityMetresPerSecond: passageVelocities[i+1], controls: c)
+            for obstacle in obstacles {
+                let coordinateScale = max(1,max(routeNorm(obstacle.centreMetres),c.map(routeNorm).max()!))
+                let roundoffMargin = 1024*Double.ulpOfOne*coordinateScale
+                guard roundoffMargin.isFinite else { throw BrachistochroneError.numericalRangeExceeded }
+                var pending = [(c,0)], lowerBound = Double.infinity
+                while let (polygon,depth) = pending.popLast() {
+                    clearanceChecks += 1
+                    guard clearanceChecks <= 1_000_000 else { throw BrachistochroneRouteError.clearanceLimitExceeded }
+                    let middle = bezierPoint(polygon,0.5)
+                    for sample in [polygon[0],middle,polygon[3]] {
+                        let distance = routeNorm(sample-obstacle.centreMetres)
+                        guard distance.isFinite else { throw BrachistochroneError.numericalRangeExceeded }
+                        guard distance > obstacle.exclusionRadiusMetres else {
+                            throw BrachistochroneRouteError.obstructedLeg(index: i, obstacle: obstacle.identifier)
+                        }
+                    }
+                    var offset = SIMD3<Double>.zero
+                    for axis in 0..<3 {
+                        let low = polygon.map { $0[axis] }.min()!, high = polygon.map { $0[axis] }.max()!
+                        offset[axis] = max(0,max(low-obstacle.centreMetres[axis],obstacle.centreMetres[axis]-high))
+                    }
+                    let bound = routeNorm(offset)-obstacle.exclusionRadiusMetres
+                    guard bound.isFinite else { throw BrachistochroneError.numericalRangeExceeded }
+                    if bound > roundoffMargin { lowerBound = min(lowerBound,bound-roundoffMargin); continue }
+                    guard depth < 24 else { throw BrachistochroneRouteError.unresolvedClearance(index: i, obstacle: obstacle.identifier) }
+                    let split = splitBezier(polygon)
+                    pending.append((split.0,depth+1)); pending.append((split.1,depth+1))
+                }
+                reports.append(BrachistochroneRouteClearance(legIndex: i, obstacleIdentifier: obstacle.identifier,
+                    minimumClearanceMetres: lowerBound))
+            }
+            for obstacle in movingObstacles {
+                reports.append(try movingClearance(leg: leg, index: i, obstacle: obstacle, checks: &clearanceChecks))
+            }
+            paths.append(leg); arrivals.append(end)
+        }
+        self.frame = frame; self.origin = origin; self.departureEpoch = departureEpoch
+        arrivalEpoch = arrivals.last!; completionEpoch = departures.last!
+        duration = try completionEpoch.duration(since: departureEpoch)
+        self.waypoints = waypoints; legs = paths; waypointArrivalEpochs = arrivals; waypointDepartureEpochs = departures
+        waypointVelocitiesMetresPerSecond = passageVelocities; clearances = reports
+    }
+    public func phase(at epoch: Epoch) throws -> BrachistochroneRoutePhase {
+        guard coverage.contains(epoch) else { throw BrachistochroneError.outsideCoverage }
+        if epoch == completionEpoch { return .arrived }
+        for i in waypoints.indices {
+            if epoch >= waypointArrivalEpochs[i] && epoch < waypointDepartureEpochs[i] { return .dwelling(waypointIndex: i) }
+            if i < legs.count && epoch >= legs[i].departureEpoch && epoch < legs[i].arrivalEpoch { return .leg(index: i) }
+        }
+        throw BrachistochroneError.outsideCoverage
+    }
+    public func state(at epoch: Epoch) throws -> CartesianState {
+        switch try phase(at: epoch) {
+        case .leg(let index): return try legs[index].state(at: epoch)
+        case .dwelling(let index): return try CartesianState(epoch: epoch, frame: frame, position: waypoints[index].positionMetres, velocity: .zero, acceleration: .zero)
+        case .arrived: return try CartesianState(epoch: epoch, frame: frame, position: waypoints.last!.positionMetres,
+            velocity: waypointVelocitiesMetresPerSecond.last!, acceleration: .zero)
+        }
+    }
+}
+func routeNorm(_ v: SIMD3<Double>) -> Double { hypot(hypot(v.x,v.y),v.z) }
+private func routeControls(_ p0: SIMD3<Double>, _ p1: SIMD3<Double>, _ v0: SIMD3<Double>, _ v1: SIMD3<Double>, _ t: Double) -> [SIMD3<Double>] {
+    [p0,p0+v0*(t/3),p1-v1*(t/3),p1]
+}
+func bezierPoint(_ c: [SIMD3<Double>], _ u: Double) -> SIMD3<Double> {
+    let a = c[0]*(1-u)+c[1]*u, b = c[1]*(1-u)+c[2]*u, d = c[2]*(1-u)+c[3]*u
+    return (a*(1-u)+b*u)*(1-u)+(b*(1-u)+d*u)*u
+}
+func splitBezier(_ c: [SIMD3<Double>]) -> ([SIMD3<Double>],[SIMD3<Double>]) {
+    let a = c[0]*0.5+c[1]*0.5, b = c[1]*0.5+c[2]*0.5, d = c[2]*0.5+c[3]*0.5
+    let e = a*0.5+b*0.5, f = b*0.5+d*0.5, m = e*0.5+f*0.5
+    return ([c[0],a,e,m],[m,f,d,c[3]])
+}
diff --git a/Sources/CelMek/WaypointRoutePhysicalConstraints.swift b/Sources/CelMek/WaypointRoutePhysicalConstraints.swift
new file mode 100644
index 0000000..ad5a369
--- /dev/null
+++ b/Sources/CelMek/WaypointRoutePhysicalConstraints.swift
@@ -0,0 +1,97 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+/// A prescribed thrust cone in native route axes. The axis provider is pure,
+/// evaluated at RK stages; this does not integrate attitude or certify slew rates.
+public struct WaypointThrustCone {
+    public let frame: Frame
+    public let halfAngleRadians: Double
+    private let axis: (Epoch) throws -> SIMD3<Double>
+    public init(frame: Frame, halfAngleRadians: Double,
+                axis: @escaping (Epoch) throws -> SIMD3<Double>) throws {
+        guard halfAngleRadians.isFinite, halfAngleRadians >= 0, halfAngleRadians <= .pi else {
+            throw WaypointRoutePropagationError.invalidLimits
+        }
+        self.frame = frame; self.halfAngleRadians = halfAngleRadians; self.axis = axis
+    }
+    func check(_ acceleration: SIMD3<Double>, at epoch: Epoch, leg: Int) throws {
+        let length = routeNorm(acceleration)
+        guard length > 0 else { return } // No attitude requirement while coasting.
+        let direction = try axis(epoch)
+        let scale = max(abs(direction.x), max(abs(direction.y), abs(direction.z)))
+        guard [direction.x, direction.y, direction.z].allSatisfy(\.isFinite), scale.isFinite, scale > 0 else { throw WaypointRoutePropagationError.invalidLimits }
+        let scaled = direction/scale
+        let unit = scaled/routeNorm(scaled)
+        let cosine = (unit * (acceleration/length)).sum()
+        guard cosine + 64*Double.ulpOfOne >= cos(halfAngleRadians) else {
+            throw WaypointRoutePropagationError.attitudeLimitExceeded(leg: leg)
+        }
+    }
+}
+
+/// Conservative stored-heat envelope: dH/dt = gain*thrust - coolingRate*H.
+/// Heat is carried across spatial/temporal boundaries using each interval's
+/// engine ceiling, rather than inferring a thermal model from acceleration limits.
+public struct WaypointThermalEnvelope: Equatable, Sendable {
+    public let initialHeatJoules, maximumHeatJoules: Double
+    public let heatingWattsPerNewton, coolingRatePerSecond: Double
+    public init(initialHeatJoules: Double = 0, maximumHeatJoules: Double,
+                heatingWattsPerNewton: Double, coolingRatePerSecond: Double) throws {
+        guard [initialHeatJoules, maximumHeatJoules, heatingWattsPerNewton, coolingRatePerSecond]
+            .allSatisfy(\.isFinite),
+            initialHeatJoules >= 0, maximumHeatJoules > 0, initialHeatJoules <= maximumHeatJoules,
+            heatingWattsPerNewton >= 0, coolingRatePerSecond >= 0 else {
+            throw WaypointRoutePropagationError.invalidLimits
+        }
+        self.initialHeatJoules = initialHeatJoules; self.maximumHeatJoules = maximumHeatJoules
+        self.heatingWattsPerNewton = heatingWattsPerNewton; self.coolingRatePerSecond = coolingRatePerSecond
+    }
+    func advance(heat: Double, duration: Double, thrustCeiling: Double, leg: Int) throws -> Double {
+        let power = heatingWattsPerNewton * thrustCeiling
+        let x = coolingRatePerSecond * duration
+        let integral: Double
+        if x == 0 { integral = duration }
+        else if x.isInfinite { integral = 1/coolingRatePerSecond }
+        else { integral = duration * (-expm1(-x)/x) }
+        let added = power * integral
+        var end = heat * exp(-x) + added
+        // An upper envelope, including a small allowance for floating arithmetic.
+        if duration > 0 && (power > 0 || coolingRatePerSecond > 0) {
+            end += 64*Double.ulpOfOne*max(heat, added)
+        }
+        guard end.isFinite else { throw SpacecraftDynamicsError.numericalRangeExceeded }
+        guard max(heat, end) <= maximumHeatJoules else {
+            throw WaypointRoutePropagationError.thermalBoundExceeded(leg: leg)
+        }
+        return end
+    }
+}
+
+public struct WaypointRoutePhysicalConstraints {
+    public let thrustCone: WaypointThrustCone?
+    public let thermalEnvelope: WaypointThermalEnvelope?
+    public static var unconstrained: Self { Self() }
+    public init(thrustCone: WaypointThrustCone? = nil, thermalEnvelope: WaypointThermalEnvelope? = nil) {
+        self.thrustCone = thrustCone; self.thermalEnvelope = thermalEnvelope
+    }
+    func validate(frame: Frame) throws {
+        guard thrustCone == nil || thrustCone!.frame === frame else { throw SpacecraftDynamicsError.frameMismatch }
+    }
+}
diff --git a/Sources/CelMek/WaypointRoutePropagator.swift b/Sources/CelMek/WaypointRoutePropagator.swift
new file mode 100644
index 0000000..d4087bc
--- /dev/null
+++ b/Sources/CelMek/WaypointRoutePropagator.swift
@@ -0,0 +1,281 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import Math
+
+public enum WaypointRoutePropagationError: Error, Equatable {
+    case attitudeLimitExceeded(leg: Int), thermalBoundExceeded(leg: Int)
+    case invalidLimits, unsupportedDwell, backgroundMassFlow
+    case accelerationLimitExceeded(leg: Int), thrustLimitExceeded(leg: Int)
+    case endpointToleranceExceeded(leg: Int)
+    case invalidTimedPhase, overlappingTimedPhases, timedPhaseOutsideCoverage
+}
+
+/// Engine limits apply to thrust acceleration, including compensation for gravity.
+public struct WaypointRouteEngineLimits: Equatable, Sendable {
+    /// Standard gravity, for converting an explicitly requested limit in g to SI.
+    public static let standardGravityMetresPerSecondSquared = 9.80665
+    public let maximumAccelerationMetresPerSecondSquared: Double
+    public let maximumThrustNewtons: Double
+    public let effectiveExhaustVelocityMetresPerSecond: Double
+    public init(maximumAccelerationMetresPerSecondSquared: Double, maximumThrustNewtons: Double,
+                effectiveExhaustVelocityMetresPerSecond: Double) throws {
+        guard maximumAccelerationMetresPerSecondSquared.isFinite, maximumAccelerationMetresPerSecondSquared >= 0,
+              maximumThrustNewtons.isFinite, maximumThrustNewtons >= 0,
+              effectiveExhaustVelocityMetresPerSecond.isFinite, effectiveExhaustVelocityMetresPerSecond > 0 else {
+            throw WaypointRoutePropagationError.invalidLimits
+        }
+        self.maximumAccelerationMetresPerSecondSquared = maximumAccelerationMetresPerSecondSquared
+        self.maximumThrustNewtons = maximumThrustNewtons
+        self.effectiveExhaustVelocityMetresPerSecond = effectiveExhaustVelocityMetresPerSecond
+    }
+}
+
+/// Engine-limit override on [startEpoch, endEpoch), independent of spatial legs.
+/// At final arrival the incoming phase supplies the left-limit engine evaluation.
+public struct WaypointRouteEnginePhase: Equatable {
+    public let startEpoch: Epoch
+    public let endEpoch: Epoch
+    public let limits: WaypointRouteEngineLimits
+    public init(startEpoch: Epoch, endEpoch: Epoch, limits: WaypointRouteEngineLimits) throws {
+        guard endEpoch > startEpoch else { throw WaypointRoutePropagationError.invalidTimedPhase }
+        self.startEpoch = startEpoch; self.endEpoch = endEpoch; self.limits = limits
+    }
+    public init(departureEpoch: Epoch, startOffset: Duration, duration: Duration,
+                limits: WaypointRouteEngineLimits) throws {
+        guard startOffset >= .zero, duration > .zero else { throw WaypointRoutePropagationError.invalidTimedPhase }
+        let start = try departureEpoch.advanced(by: startOffset)
+        try self.init(startEpoch: start, endEpoch: start.advanced(by: duration), limits: limits)
+    }
+}
+
+public struct WaypointRouteExecutionSegment {
+    public let initialHeatUpperBoundJoules: Double?
+    public let finalHeatUpperBoundJoules: Double?
+    public let legIndex: Int
+    /// Index in the propagator's chronologically sorted phases; nil uses leg limits.
+    public let timedEnginePhaseIndex: Int?
+    public let initialState: SpacecraftState
+    public let finalState: SpacecraftState
+    public let diagnostics: NumericalPropagationDiagnostics
+}
+
+public struct WaypointRouteCheckpoint {
+    public let legIndex: Int
+    public let state: SpacecraftState
+    public let positionErrorMetres: Double
+    public let velocityErrorMetresPerSecond: Double
+    public let diagnostics: NumericalPropagationDiagnostics
+}
+
+public struct WaypointRoutePropagationResult {
+    public let finalHeatUpperBoundJoules: Double?
+    public let state: SpacecraftState
+    /// Completed legs only; checkpoint mass is the next leg's initial mass.
+    public let checkpoints: [WaypointRouteCheckpoint]
+    /// Positive-duration intervals split at both spatial and temporal boundaries.
+    public let segments: [WaypointRouteExecutionSegment]
+}
+
+/// Numerically executes a prescribed cubic route using ideal, instantaneous
+/// thrust steering. This is inverse dynamics, not a trajectory/time optimizer.
+/// Queries replay forward from departure and split exactly at every waypoint.
+public struct WaypointRoutePropagator: SpacecraftStateProvider {
+    public let route: WaypointBrachistochroneRoute
+    public let initialMass: SpacecraftMassProperties
+    public let backgroundDynamics: SpacecraftDynamics
+    public let legEngineLimits: [WaypointRouteEngineLimits]
+    public let timedEnginePhases: [WaypointRouteEnginePhase]
+    private let temporalBoundaries: [Epoch]
+    public let physicalConstraints: WaypointRoutePhysicalConstraints
+    public let numericalOptions: NumericalPropagationOptions
+    public let endpointPositionToleranceMetres: Double
+    public let endpointVelocityToleranceMetresPerSecond: Double
+    public var frame: Frame { route.frame }
+    public var coverage: ClosedRange<Epoch> { route.coverage }
+
+    public init(route: WaypointBrachistochroneRoute, initialMass: SpacecraftMassProperties,
+                backgroundDynamics: SpacecraftDynamics, legEngineLimits: [WaypointRouteEngineLimits],
+                timedEnginePhases: [WaypointRouteEnginePhase] = [],
+                numericalOptions: NumericalPropagationOptions = try! NumericalPropagationOptions(),
+                endpointPositionToleranceMetres: Double = 0.01,
+                endpointVelocityToleranceMetresPerSecond: Double = 1e-5,
+                physicalConstraints: WaypointRoutePhysicalConstraints = .unconstrained) throws {
+        try physicalConstraints.validate(frame: route.frame)
+        self.physicalConstraints = physicalConstraints
+        guard route.frame === backgroundDynamics.context.frame else { throw SpacecraftDynamicsError.frameMismatch }
+        guard route.origin == backgroundDynamics.context.origin else { throw BrachistochroneRouteError.originMismatch }
+        guard legEngineLimits.count == route.legs.count,
+              [endpointPositionToleranceMetres, endpointVelocityToleranceMetresPerSecond]
+                .allSatisfy({ $0.isFinite && $0 > 0 }) else { throw WaypointRoutePropagationError.invalidLimits }
+        guard route.waypoints.allSatisfy({ $0.dwellDuration == .zero }) else {
+            throw WaypointRoutePropagationError.unsupportedDwell
+        }
+        guard timedEnginePhases.count <= 10_000 else { throw WaypointRoutePropagationError.invalidTimedPhase }
+        let phases = timedEnginePhases.sorted { $0.startEpoch < $1.startEpoch }
+        for (index, phase) in phases.enumerated() {
+            guard phase.startEpoch >= route.departureEpoch, phase.endEpoch <= route.arrivalEpoch else {
+                throw WaypointRoutePropagationError.timedPhaseOutsideCoverage
+            }
+            guard index == 0 || phases[index-1].endEpoch <= phase.startEpoch else {
+                throw WaypointRoutePropagationError.overlappingTimedPhases
+            }
+        }
+        self.timedEnginePhases = phases
+        let boundaries = phases.flatMap { [$0.startEpoch, $0.endEpoch] }.sorted()
+        self.temporalBoundaries = boundaries.enumerated().compactMap { index, epoch in
+            index == 0 || boundaries[index-1] != epoch ? epoch : nil
+        }
+        self.route = route; self.initialMass = initialMass; self.backgroundDynamics = backgroundDynamics
+        self.legEngineLimits = legEngineLimits; self.numericalOptions = numericalOptions
+        self.endpointPositionToleranceMetres = endpointPositionToleranceMetres
+        self.endpointVelocityToleranceMetresPerSecond = endpointVelocityToleranceMetresPerSecond
+    }
+
+    public func state(at epoch: Epoch) throws -> CartesianState { try spacecraftState(at: epoch).cartesian }
+    public func spacecraftState(at epoch: Epoch) throws -> SpacecraftState { try propagation(at: epoch).state }
+
+    public func propagation(at epoch: Epoch) throws -> WaypointRoutePropagationResult {
+        guard coverage.contains(epoch) else { throw BrachistochroneError.outsideCoverage }
+        var current = SpacecraftState(cartesian: try route.legs[0].state(at: route.departureEpoch), mass: initialMass)
+        var checkpoints: [WaypointRouteCheckpoint] = [], segments: [WaypointRouteExecutionSegment] = []
+        var heat = physicalConstraints.thermalEnvelope?.initialHeatJoules
+        var boundaryIndex = 0
+        for (index, leg) in route.legs.enumerated() {
+            guard epoch >= leg.departureEpoch else { break }
+            var diagnostics: NumericalPropagationDiagnostics?
+            repeat {
+                while boundaryIndex < temporalBoundaries.count && temporalBoundaries[boundaryIndex] <= current.epoch {
+                    boundaryIndex += 1
+                }
+                let phaseIndex = enginePhaseIndex(at: current.epoch)
+                let model = RouteExecutionModel(leg: leg, index: index, background: backgroundDynamics,
+                    limits: phaseIndex.map { timedEnginePhases[$0].limits } ?? legEngineLimits[index],
+                    thrustCone: physicalConstraints.thrustCone)
+                let dynamics = try SpacecraftDynamics(models: [model], context: backgroundDynamics.context)
+                var end = min(epoch, leg.arrivalEpoch)
+                if boundaryIndex < temporalBoundaries.count { end = min(end, temporalBoundaries[boundaryIndex]) }
+                let initial = current
+                let initialHeat = heat
+                if let envelope = physicalConstraints.thermalEnvelope, let initialHeat {
+                    let ceiling = min(model.limits.maximumThrustNewtons,
+                        model.limits.maximumAccelerationMetresPerSecondSquared * current.mass.totalMassKilograms)
+                    heat = try envelope.advance(heat: initialHeat, duration: end.duration(since: current.epoch).seconds,
+                        thrustCeiling: ceiling, leg: index)
+                }
+                let result = try NumericalSpacecraftPropagator(initialState: initial, dynamics: dynamics,
+                    options: numericalOptions).propagation(at: end)
+                current = result.state
+                diagnostics = mergeRouteDiagnostics(diagnostics, result.diagnostics)
+                if end > initial.epoch {
+                    segments.append(WaypointRouteExecutionSegment(initialHeatUpperBoundJoules: initialHeat,
+                        finalHeatUpperBoundJoules: heat, legIndex: index, timedEnginePhaseIndex: phaseIndex,
+                        initialState: initial, finalState: current, diagnostics: result.diagnostics))
+                }
+                if end == epoch || end == leg.arrivalEpoch { break }
+            } while true
+            if current.epoch == leg.arrivalEpoch {
+                let end = current.epoch
+                let reference = try leg.state(at: end)
+                let positionError = executionNorm(current.cartesian.position-reference.position)
+                let velocityError = executionNorm(current.cartesian.velocity-reference.velocity)
+                guard positionError <= endpointPositionToleranceMetres,
+                      velocityError <= endpointVelocityToleranceMetresPerSecond else {
+                    throw WaypointRoutePropagationError.endpointToleranceExceeded(leg: index)
+                }
+                checkpoints.append(WaypointRouteCheckpoint(legIndex: index, state: current,
+                    positionErrorMetres: positionError, velocityErrorMetresPerSecond: velocityError,
+                    diagnostics: diagnostics!))
+            }
+            if epoch < leg.arrivalEpoch {
+                // A phase change at the query epoch takes effect immediately.
+                // The incoming segment used its own left limit for all RK stages.
+                let phaseIndex = enginePhaseIndex(at: epoch)
+                let model = RouteExecutionModel(leg: leg, index: index, background: backgroundDynamics,
+                    limits: phaseIndex.map { timedEnginePhases[$0].limits } ?? legEngineLimits[index],
+                    thrustCone: physicalConstraints.thrustCone)
+                let force = try model.contribution(for: current, in: backgroundDynamics.context)
+                current = SpacecraftState(cartesian: try CartesianState(epoch: epoch, frame: frame,
+                    position: current.cartesian.position, velocity: current.cartesian.velocity,
+                    acceleration: force.accelerationMetresPerSecondSquared), mass: current.mass)
+            }
+            // At a shared boundary evaluate the outgoing leg too, for right-continuous
+            // acceleration and engine constraints. Never reset position/velocity/mass.
+            if epoch < leg.arrivalEpoch || index == route.legs.count-1 { break }
+        }
+        return WaypointRoutePropagationResult(finalHeatUpperBoundJoules: heat, state: current, checkpoints: checkpoints, segments: segments)
+    }
+
+    private func enginePhaseIndex(at epoch: Epoch) -> Int? {
+        var low = 0, high = timedEnginePhases.count
+        while low < high {
+            let middle = low+(high-low)/2
+            if timedEnginePhases[middle].startEpoch <= epoch { low = middle+1 } else { high = middle }
+        }
+        guard low > 0, epoch < timedEnginePhases[low-1].endEpoch else { return nil }
+        return low-1
+    }
+}
+
+private func mergeRouteDiagnostics(_ previous: NumericalPropagationDiagnostics?,
+                                   _ next: NumericalPropagationDiagnostics) -> NumericalPropagationDiagnostics {
+    guard let previous else { return next }
+    return NumericalPropagationDiagnostics(acceptedSteps: previous.acceptedSteps+next.acceptedSteps,
+        rejectedSteps: previous.rejectedSteps+next.rejectedSteps,
+        derivativeEvaluations: previous.derivativeEvaluations+next.derivativeEvaluations,
+        smallestAcceptedStepSeconds: [previous.smallestAcceptedStepSeconds, next.smallestAcceptedStepSeconds].compactMap { $0 }.min(),
+        largestAcceptedStepSeconds: [previous.largestAcceptedStepSeconds, next.largestAcceptedStepSeconds].compactMap { $0 }.max(),
+        maximumAcceptedNormalizedError: max(previous.maximumAcceptedNormalizedError, next.maximumAcceptedNormalizedError))
+}
+
+private struct RouteExecutionModel: ForceModel {
+    let leg: WaypointBrachistochroneLeg
+    let index: Int
+    let background: SpacecraftDynamics
+    let limits: WaypointRouteEngineLimits
+    let thrustCone: WaypointThrustCone?
+    func contribution(for state: SpacecraftState, in context: ForceEvaluationContext) throws -> ForceContribution {
+        let environment = try background.derivative(at: state)
+        guard environment.propellantMassRateKilogramsPerSecond == 0 else {
+            throw WaypointRoutePropagationError.backgroundMassFlow
+        }
+        let reference = try leg.state(at: state.epoch)
+        let acceleration = reference.acceleration!
+        let commandedAcceleration = acceleration-environment.velocityRateMetresPerSecondSquared
+        try thrustCone?.check(commandedAcceleration, at: state.epoch, leg: index)
+        let thrustAcceleration = executionNorm(commandedAcceleration)
+        guard thrustAcceleration.isFinite else { throw SpacecraftDynamicsError.numericalRangeExceeded }
+        guard thrustAcceleration <= limits.maximumAccelerationMetresPerSecondSquared else {
+            throw WaypointRoutePropagationError.accelerationLimitExceeded(leg: index)
+        }
+        let thrust = thrustAcceleration*state.mass.totalMassKilograms
+        guard thrust.isFinite else { throw SpacecraftDynamicsError.numericalRangeExceeded }
+        guard thrust <= limits.maximumThrustNewtons else {
+            throw WaypointRoutePropagationError.thrustLimitExceeded(leg: index)
+        }
+        guard thrust == 0 || state.mass.propellantMassKilograms > 0 else {
+            throw NumericalPropagationError.propellantDepleted
+        }
+        // Sum the environment and its compensating engine analytically to avoid
+        // losing a small prescribed acceleration in cancellation of large forces.
+        return try ForceContribution(epoch: state.epoch, frame: context.frame,
+            accelerationMetresPerSecondSquared: acceleration,
+            propellantMassRateKilogramsPerSecond: -thrust/limits.effectiveExhaustVelocityMetresPerSecond)
+    }
+}
+private func executionNorm(_ value: SIMD3<Double>) -> Double { hypot(hypot(value.x,value.y),value.z) }
diff --git a/Sources/CelMek/WaypointRouteTimingPlanner.swift b/Sources/CelMek/WaypointRouteTimingPlanner.swift
new file mode 100644
index 0000000..9896c54
--- /dev/null
+++ b/Sources/CelMek/WaypointRouteTimingPlanner.swift
@@ -0,0 +1,296 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Math
+
+public enum WaypointTimingSearchError: Error, Equatable {
+    case invalidCandidates, invalidBudget, invalidCandidateSpacing
+    case candidateGenerationLimitExceeded, epochResolutionExceeded
+}
+public enum WaypointTimingSearchStatus: Equatable, Sendable {
+    case feasible, candidateSetExhausted, evaluationLimitReached
+}
+public enum WaypointTimingCandidateFailure: Equatable {
+    case movingWaypointOutsideCoverage(index: Int)
+    case targetOutsideCoverage
+    case invalidOrdering
+    case geometry(BrachistochroneRouteError)
+    case engine(WaypointRoutePropagationError)
+    case integration(NumericalPropagationError)
+}
+public struct WaypointTimingAttempt {
+    public let arrivalEpochs: [Epoch]
+    public let failure: WaypointTimingCandidateFailure
+}
+public struct WaypointTimingSearchResult {
+    public let status: WaypointTimingSearchStatus
+    public let evaluatedCandidates: Int
+    public let route: WaypointBrachistochroneRoute?
+    public let propagation: WaypointRoutePropagationResult?
+    public let failedAttempts: [WaypointTimingAttempt]
+}
+
+/// Bounded lexicographic search of explicit arrival candidates. All spatial
+/// passages retain their supplied order, while their order relative to engine
+/// phase boundaries is determined by each candidate. No continuous optimum or
+/// global infeasibility claim follows from exhausting this discrete set.
+public enum WaypointRouteTimingPlanner {
+    /// Generate bounded candidates for each ordered spatial passage. Endpoints
+    /// and engine-phase boundaries supplement the regular grid; exact windows
+    /// yield one candidate. This does not enumerate their Cartesian product.
+    public static func arrivalCandidates(in windows: [ClosedRange<Epoch>], spacing: Duration,
+        including timedEnginePhases: [WaypointRouteEnginePhase] = [],
+        maximumTotalCandidates: Int = 100_000) throws -> [[Epoch]] {
+        guard spacing > .zero, spacing.seconds.isFinite, spacing.seconds > 0 else {
+            throw WaypointTimingSearchError.invalidCandidateSpacing
+        }
+        guard (1...100_000).contains(maximumTotalCandidates) else { throw WaypointTimingSearchError.invalidBudget }
+        guard !windows.isEmpty, windows.count <= 10_000, timedEnginePhases.count <= 10_000 else {
+            throw WaypointTimingSearchError.invalidCandidates
+        }
+        let sortedBoundaries = timedEnginePhases.flatMap { [$0.startEpoch, $0.endEpoch] }.sorted()
+        let boundaries = sortedBoundaries.enumerated().compactMap { index, epoch in
+            index == 0 || sortedBoundaries[index-1] != epoch ? epoch : nil
+        }
+        var result: [[Epoch]] = [], count = 0
+        for window in windows {
+            var epochs = [window.lowerBound], current = window.lowerBound
+            guard count+epochs.count <= maximumTotalCandidates else {
+                throw WaypointTimingSearchError.candidateGenerationLimitExceeded
+            }
+            while current < window.upperBound {
+                let remaining = try window.upperBound.duration(since: current)
+                let next = spacing >= remaining ? window.upperBound : try current.advanced(by: spacing)
+                guard next > current else { throw WaypointTimingSearchError.epochResolutionExceeded }
+                epochs.append(next); current = next
+                guard count+epochs.count <= maximumTotalCandidates else {
+                    throw WaypointTimingSearchError.candidateGenerationLimitExceeded
+                }
+            }
+            // Find only the temporal boundaries in this window, avoiding a full
+            // scan of every engine phase for every spatial waypoint.
+            var low = 0, high = boundaries.count
+            while low < high {
+                let middle = low+(high-low)/2
+                if boundaries[middle] < window.lowerBound { low = middle+1 } else { high = middle }
+            }
+            var boundaryIndex = low
+            while boundaryIndex < boundaries.count, boundaries[boundaryIndex] <= window.upperBound {
+                epochs.append(boundaries[boundaryIndex]); boundaryIndex += 1
+            }
+            let sorted = epochs.sorted()
+            let unique = sorted.enumerated().compactMap { index, epoch in
+                index == 0 || sorted[index-1] != epoch ? epoch : nil
+            }
+            count += unique.count
+            guard count <= maximumTotalCandidates else {
+                throw WaypointTimingSearchError.candidateGenerationLimitExceeded
+            }
+            result.append(unique)
+        }
+        return result
+    }
+
+    public static func search(departureEpoch: Epoch, frame: Frame, origin: BodyIdentifier,
+        waypoints: [BrachistochroneWaypoint], legAccelerationsMetresPerSecondSquared: [Double],
+        candidateArrivalEpochs: [[Epoch]], initialMass: SpacecraftMassProperties,
+        backgroundDynamics: SpacecraftDynamics, legEngineLimits: [WaypointRouteEngineLimits],
+        timedEnginePhases: [WaypointRouteEnginePhase] = [], obstacles: [SphericalExclusionRegion] = [],
+        maximumCandidateEvaluations: Int = 1000,
+        numericalOptions: NumericalPropagationOptions = try! NumericalPropagationOptions(),
+        endpointPositionToleranceMetres: Double = 0.01,
+        endpointVelocityToleranceMetresPerSecond: Double = 1e-5,
+        movingTarget: MovingWaypointRouteTarget? = nil,
+        movingWaypoints: [Int: MovingWaypointPassage] = [:],
+        movingObstacles: [MovingSphericalExclusionRegion] = [],
+        physicalConstraints: WaypointRoutePhysicalConstraints = .unconstrained) throws -> WaypointTimingSearchResult {
+        try searchImpl(departureEpoch: departureEpoch, frame: frame, origin: origin, waypoints: waypoints,
+            legAccelerationsMetresPerSecondSquared: legAccelerationsMetresPerSecondSquared,
+            candidateArrivalEpochs: candidateArrivalEpochs, initialMass: initialMass,
+            backgroundDynamics: backgroundDynamics, legEngineLimits: legEngineLimits,
+            timedEnginePhases: timedEnginePhases, obstacles: obstacles,
+            maximumCandidateEvaluations: maximumCandidateEvaluations, numericalOptions: numericalOptions,
+            endpointPositionToleranceMetres: endpointPositionToleranceMetres,
+            endpointVelocityToleranceMetresPerSecond: endpointVelocityToleranceMetresPerSecond,
+            excluding: [], movingTarget: movingTarget, movingWaypoints: movingWaypoints, movingObstacles: movingObstacles, physicalConstraints: physicalConstraints)
+    }
+
+    static func searchImpl(departureEpoch: Epoch, frame: Frame, origin: BodyIdentifier,
+        waypoints: [BrachistochroneWaypoint], legAccelerationsMetresPerSecondSquared: [Double],
+        candidateArrivalEpochs: [[Epoch]], initialMass: SpacecraftMassProperties,
+        backgroundDynamics: SpacecraftDynamics, legEngineLimits: [WaypointRouteEngineLimits],
+        timedEnginePhases: [WaypointRouteEnginePhase], obstacles: [SphericalExclusionRegion],
+        maximumCandidateEvaluations: Int, numericalOptions: NumericalPropagationOptions,
+        endpointPositionToleranceMetres: Double, endpointVelocityToleranceMetresPerSecond: Double,
+        excluding: Set<[Epoch]>, movingTarget: MovingWaypointRouteTarget? = nil,
+        movingWaypoints: [Int: MovingWaypointPassage] = [:],
+        movingObstacles: [MovingSphericalExclusionRegion] = [],
+        physicalConstraints: WaypointRoutePhysicalConstraints = .unconstrained) throws -> WaypointTimingSearchResult {
+        guard (1...10_000).contains(maximumCandidateEvaluations) else { throw WaypointTimingSearchError.invalidBudget }
+        guard (2...10_001).contains(waypoints.count), candidateArrivalEpochs.count == waypoints.count-1,
+              candidateArrivalEpochs.allSatisfy({ !$0.isEmpty }),
+              candidateArrivalEpochs.reduce(0, { $0+$1.count }) <= 100_000 else {
+            throw WaypointTimingSearchError.invalidCandidates
+        }
+        let sortedPhases = try validateTimingConfiguration(departureEpoch: departureEpoch, frame: frame, origin: origin,
+            waypoints: waypoints, legAccelerationsMetresPerSecondSquared: legAccelerationsMetresPerSecondSquared,
+            backgroundDynamics: backgroundDynamics, legEngineLimits: legEngineLimits,
+            timedEnginePhases: timedEnginePhases, obstacles: obstacles,
+            endpointPositionToleranceMetres: endpointPositionToleranceMetres,
+            endpointVelocityToleranceMetresPerSecond: endpointVelocityToleranceMetresPerSecond, movingTarget: movingTarget, movingWaypoints: movingWaypoints, movingObstacles: movingObstacles, physicalConstraints: physicalConstraints)
+        let candidates = candidateArrivalEpochs.map { values -> [Epoch] in
+            let sorted = values.sorted()
+            return sorted.enumerated().compactMap { index, epoch in
+                index == 0 || sorted[index-1] != epoch ? epoch : nil
+            }
+        }
+        var indices = Array(repeating: 0, count: candidates.count)
+        var failures: [WaypointTimingAttempt] = []
+        var evaluated = 0
+        while true {
+            let arrivals = candidates.indices.map { candidates[$0][indices[$0]] }
+            if !excluding.contains(arrivals) {
+                evaluated += 1
+                do {
+                    var previous = departureEpoch, durations: [Duration] = []
+                    var ordered = true
+                    for arrival in arrivals {
+                        if arrival <= previous { ordered = false; break }
+                        durations.append(try arrival.duration(since: previous)); previous = arrival
+                    }
+                    if !ordered {
+                        failures.append(WaypointTimingAttempt(arrivalEpochs: arrivals, failure: .invalidOrdering))
+                    } else {
+                        var resolved = waypoints
+                        for index in movingWaypoints.keys.sorted() {
+                            let passage = movingWaypoints[index]!
+                            let epoch = arrivals[index-1]
+                            guard passage.provider.coverage.contains(epoch) else {
+                                throw MovingWaypointTargetError.waypointOutsideCoverage(index: index)
+                            }
+                            resolved[index] = try passage.waypoint(at: epoch, template: waypoints[index])
+                        }
+                        if let movingTarget {
+                            let target = try movingTarget.state(at: arrivals.last!)
+                            resolved[resolved.count-1] = try BrachistochroneWaypoint(positionMetres: target.position,
+                                arrivalWindow: waypoints.last!.arrivalWindow, velocityMetresPerSecond: target.velocity)
+                        }
+                        let route = try WaypointBrachistochroneRoute(departureEpoch: departureEpoch, frame: frame, origin: origin,
+                            waypoints: resolved, legAccelerationsMetresPerSecondSquared: legAccelerationsMetresPerSecondSquared,
+                            obstacles: obstacles, legDurations: durations, movingObstacles: movingObstacles)
+                        let execution = try WaypointRoutePropagator(route: route, initialMass: initialMass,
+                            backgroundDynamics: backgroundDynamics, legEngineLimits: legEngineLimits,
+                            timedEnginePhases: sortedPhases, numericalOptions: numericalOptions,
+                            endpointPositionToleranceMetres: endpointPositionToleranceMetres,
+                            endpointVelocityToleranceMetresPerSecond: endpointVelocityToleranceMetresPerSecond,
+                            physicalConstraints: physicalConstraints)
+                        let result = try execution.propagation(at: route.arrivalEpoch)
+                        return WaypointTimingSearchResult(status: .feasible, evaluatedCandidates: evaluated,
+                            route: route, propagation: result, failedAttempts: failures)
+                    }
+                } catch MovingWaypointTargetError.waypointOutsideCoverage(let index) {
+                    failures.append(WaypointTimingAttempt(arrivalEpochs: arrivals, failure: .movingWaypointOutsideCoverage(index: index)))
+                } catch MovingWaypointTargetError.outsideCoverage {
+                    failures.append(WaypointTimingAttempt(arrivalEpochs: arrivals, failure: .targetOutsideCoverage))
+                } catch let error as BrachistochroneRouteError {
+                    failures.append(WaypointTimingAttempt(arrivalEpochs: arrivals, failure: .geometry(error)))
+                } catch let error as WaypointRoutePropagationError {
+                    // A shorter candidate can fail to cover a scheduled phase. Other
+                    // static errors and background mass flow must remain caller errors.
+                    switch error {
+                    case .attitudeLimitExceeded, .thermalBoundExceeded, .accelerationLimitExceeded, .thrustLimitExceeded, .endpointToleranceExceeded, .timedPhaseOutsideCoverage:
+                        failures.append(WaypointTimingAttempt(arrivalEpochs: arrivals, failure: .engine(error)))
+                    default: throw error
+                    }
+                } catch let error as NumericalPropagationError {
+                    failures.append(WaypointTimingAttempt(arrivalEpochs: arrivals, failure: .integration(error)))
+                }
+            }
+            var position = indices.count-1
+            while indices[position]+1 == candidates[position].count {
+                indices[position] = 0
+                if position == 0 {
+                    return WaypointTimingSearchResult(status: .candidateSetExhausted, evaluatedCandidates: evaluated,
+                        route: nil, propagation: nil, failedAttempts: failures)
+                }
+                position -= 1
+            }
+            indices[position] += 1
+            if evaluated == maximumCandidateEvaluations {
+                return WaypointTimingSearchResult(status: .evaluationLimitReached, evaluatedCandidates: evaluated,
+                    route: nil, propagation: nil, failedAttempts: failures)
+            }
+        }
+    }
+    static func validateTimingConfiguration(departureEpoch: Epoch, frame: Frame, origin: BodyIdentifier,
+        waypoints: [BrachistochroneWaypoint], legAccelerationsMetresPerSecondSquared: [Double],
+        backgroundDynamics: SpacecraftDynamics, legEngineLimits: [WaypointRouteEngineLimits],
+        timedEnginePhases: [WaypointRouteEnginePhase], obstacles: [SphericalExclusionRegion],
+        endpointPositionToleranceMetres: Double, endpointVelocityToleranceMetresPerSecond: Double,
+        movingTarget: MovingWaypointRouteTarget? = nil,
+        movingWaypoints: [Int: MovingWaypointPassage] = [:],
+        movingObstacles: [MovingSphericalExclusionRegion] = [],
+        physicalConstraints: WaypointRoutePhysicalConstraints = .unconstrained
+    ) throws -> [WaypointRouteEnginePhase] {
+        try physicalConstraints.validate(frame: frame)
+        try validateMovingObstacles(movingObstacles, staticObstacles: obstacles, frame: frame, origin: origin)
+        // Validate frame, budget and engine configuration before searching.
+        guard frame === backgroundDynamics.context.frame else { throw SpacecraftDynamicsError.frameMismatch }
+        guard origin == backgroundDynamics.context.origin else { throw BrachistochroneRouteError.originMismatch }
+        guard frame.pseudoInertial else { throw SpacecraftDynamicsError.nonInertialFrame }
+        for index in movingWaypoints.keys.sorted() {
+            guard index > 0, index < waypoints.count-1 else { throw MovingWaypointTargetError.invalidWaypointIndex }
+            let passage = movingWaypoints[index]!
+            guard passage.provider.frame === frame else { throw MovingWaypointTargetError.frameMismatch }
+            guard passage.provider.origin == origin else { throw MovingWaypointTargetError.originMismatch }
+            if passage.velocityMode == .matchProviderVelocity, waypoints[index].velocityMetresPerSecond != nil {
+                throw MovingWaypointTargetError.conflictingWaypointVelocity(index: index)
+            }
+        }
+        if let movingTarget {
+            guard movingTarget.frame === frame else { throw MovingWaypointTargetError.frameMismatch }
+            guard movingTarget.origin == origin else { throw MovingWaypointTargetError.originMismatch }
+            guard waypoints.last!.velocityMetresPerSecond == nil else { throw MovingWaypointTargetError.conflictingEndpointVelocity }
+        }
+        guard legEngineLimits.count == waypoints.count-1,
+              legAccelerationsMetresPerSecondSquared.count == waypoints.count-1 else {
+            throw BrachistochroneRouteError.legCountMismatch
+        }
+        guard legAccelerationsMetresPerSecondSquared.allSatisfy({ $0.isFinite && $0 > 0 }),
+              [endpointPositionToleranceMetres, endpointVelocityToleranceMetresPerSecond]
+                .allSatisfy({ $0.isFinite && $0 > 0 }) else { throw WaypointRoutePropagationError.invalidLimits }
+        guard waypoints.allSatisfy({ $0.dwellDuration == .zero }) else { throw WaypointRoutePropagationError.unsupportedDwell }
+        guard obstacles.count <= 10_000, Set(obstacles.map(\.identifier)).count == obstacles.count else {
+            throw BrachistochroneRouteError.invalidObstacle
+        }
+        guard obstacles.allSatisfy({ $0.frame === frame }) else { throw SpacecraftDynamicsError.frameMismatch }
+        guard obstacles.allSatisfy({ $0.origin == origin }) else { throw BrachistochroneRouteError.originMismatch }
+        if let window = waypoints[0].arrivalWindow, !window.contains(departureEpoch) {
+            throw BrachistochroneRouteError.departureOutsideArrivalWindow
+        }
+        let sortedPhases = timedEnginePhases.sorted { $0.startEpoch < $1.startEpoch }
+        guard sortedPhases.count <= 10_000 else { throw WaypointRoutePropagationError.invalidTimedPhase }
+        for (index, phase) in sortedPhases.enumerated() {
+            guard phase.startEpoch >= departureEpoch else { throw WaypointRoutePropagationError.timedPhaseOutsideCoverage }
+            guard index == 0 || sortedPhases[index-1].endEpoch <= phase.startEpoch else {
+                throw WaypointRoutePropagationError.overlappingTimedPhases
+            }
+        }
+        return sortedPhases
+    }
+
+}
diff --git a/Sources/CelMek/WaypointTimingOptimization.swift b/Sources/CelMek/WaypointTimingOptimization.swift
new file mode 100644
index 0000000..6c2b310
--- /dev/null
+++ b/Sources/CelMek/WaypointTimingOptimization.swift
@@ -0,0 +1,252 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Math
+
+public struct WaypointTimingOptimizationOptions: Equatable, Sendable {
+    public let initialStepSeconds, minimumStepSeconds: Double
+    public let maximumIterations, maximumCandidateEvaluations: Int
+    public init(initialStepSeconds: Double, minimumStepSeconds: Double,
+                maximumIterations: Int = 256, maximumCandidateEvaluations: Int = 1000) throws {
+        guard initialStepSeconds.isFinite, minimumStepSeconds.isFinite,
+              minimumStepSeconds > 0, initialStepSeconds >= minimumStepSeconds,
+              (try? Duration(seconds: initialStepSeconds)) != nil,
+              (try? Duration(seconds: minimumStepSeconds)) != nil else {
+            throw WaypointTimingSearchError.invalidCandidateSpacing
+        }
+        guard (1...1000).contains(maximumIterations), (1...10_000).contains(maximumCandidateEvaluations) else {
+            throw WaypointTimingSearchError.invalidBudget
+        }
+        self.initialStepSeconds = initialStepSeconds; self.minimumStepSeconds = minimumStepSeconds
+        self.maximumIterations = maximumIterations; self.maximumCandidateEvaluations = maximumCandidateEvaluations
+    }
+}
+public enum WaypointTimingOptimizationStatus: Equatable, Sendable {
+    case seedRejected, stepLimitReached, evaluationLimitReached, iterationLimitReached
+}
+public struct WaypointTimingOptimizationIteration {
+    public let stepSeconds: Double
+    public let evaluatedCandidates: Int
+    public let improved: Bool
+    public let bestArrivalEpoch: Epoch
+}
+public struct WaypointTimingOptimizationResult {
+    public let status: WaypointTimingOptimizationStatus
+    public let evaluatedCandidates: Int
+    public let iterations: [WaypointTimingOptimizationIteration]
+    public let route: WaypointBrachistochroneRoute?
+    public let propagation: WaypointRoutePropagationResult?
+    public let failedAttempts: [WaypointTimingAttempt]
+}
+
+extension WaypointRouteTimingPlanner {
+    /// Feasible-seed direct search for an earlier final arrival. Only strict
+    /// improvements are accepted. The tested pattern and step size do not prove
+    /// stationarity, global optimality or continuous constraint feasibility.
+    public static func optimizeTiming(departureEpoch: Epoch, frame: Frame, origin: BodyIdentifier,
+        waypoints: [BrachistochroneWaypoint], legAccelerationsMetresPerSecondSquared: [Double],
+        arrivalWindows: [ClosedRange<Epoch>], seedArrivalEpochs: [Epoch],
+        optimizationOptions: WaypointTimingOptimizationOptions, initialMass: SpacecraftMassProperties,
+        backgroundDynamics: SpacecraftDynamics, legEngineLimits: [WaypointRouteEngineLimits],
+        timedEnginePhases: [WaypointRouteEnginePhase] = [], obstacles: [SphericalExclusionRegion] = [],
+        numericalOptions: NumericalPropagationOptions = try! NumericalPropagationOptions(),
+        endpointPositionToleranceMetres: Double = 0.01,
+        endpointVelocityToleranceMetresPerSecond: Double = 1e-5,
+        movingTarget: MovingWaypointRouteTarget? = nil,
+        movingWaypoints: [Int: MovingWaypointPassage] = [:],
+        movingObstacles: [MovingSphericalExclusionRegion] = [],
+        physicalConstraints: WaypointRoutePhysicalConstraints = .unconstrained) throws -> WaypointTimingOptimizationResult {
+        guard (2...10_001).contains(waypoints.count), arrivalWindows.count == waypoints.count-1,
+              seedArrivalEpochs.count == arrivalWindows.count else { throw WaypointTimingSearchError.invalidCandidates }
+        _ = try validateTimingConfiguration(departureEpoch: departureEpoch, frame: frame, origin: origin,
+            waypoints: waypoints, legAccelerationsMetresPerSecondSquared: legAccelerationsMetresPerSecondSquared,
+            backgroundDynamics: backgroundDynamics, legEngineLimits: legEngineLimits,
+            timedEnginePhases: timedEnginePhases, obstacles: obstacles,
+            endpointPositionToleranceMetres: endpointPositionToleranceMetres,
+            endpointVelocityToleranceMetresPerSecond: endpointVelocityToleranceMetresPerSecond, movingTarget: movingTarget, movingWaypoints: movingWaypoints, movingObstacles: movingObstacles, physicalConstraints: physicalConstraints)
+        var windows = try intersectPassageCoverage(arrivalWindows, movingWaypoints: movingWaypoints)
+        for index in windows.indices {
+            if let constraint = waypoints[index+1].arrivalWindow {
+                let low = max(windows[index].lowerBound, constraint.lowerBound)
+                let high = min(windows[index].upperBound, constraint.upperBound)
+                guard low <= high else { throw WaypointTimingSearchError.invalidCandidates }
+                windows[index] = low...high
+            }
+            if index == windows.count-1, let movingTarget {
+                let lower = max(windows[index].lowerBound, movingTarget.coverage.lowerBound)
+                let upper = min(windows[index].upperBound, movingTarget.coverage.upperBound)
+                guard lower <= upper else { throw WaypointTimingSearchError.invalidCandidates }
+                windows[index] = lower...upper
+            }
+            guard windows[index].contains(seedArrivalEpochs[index]) else { throw WaypointTimingSearchError.invalidCandidates }
+        }
+        var evaluated = 0, tried = Set<[Epoch]>()
+        var failures: [WaypointTimingAttempt] = [], iterations: [WaypointTimingOptimizationIteration] = []
+        func evaluate(_ epochs: [Epoch]) throws -> WaypointTimingSearchResult {
+            tried.insert(epochs); evaluated += 1
+            let result = try searchImpl(departureEpoch: departureEpoch, frame: frame, origin: origin, waypoints: waypoints,
+                legAccelerationsMetresPerSecondSquared: legAccelerationsMetresPerSecondSquared,
+                candidateArrivalEpochs: epochs.map { [$0] }, initialMass: initialMass,
+                backgroundDynamics: backgroundDynamics, legEngineLimits: legEngineLimits,
+                timedEnginePhases: timedEnginePhases, obstacles: obstacles, maximumCandidateEvaluations: 1,
+                numericalOptions: numericalOptions, endpointPositionToleranceMetres: endpointPositionToleranceMetres,
+                endpointVelocityToleranceMetresPerSecond: endpointVelocityToleranceMetresPerSecond, excluding: [], movingTarget: movingTarget, movingWaypoints: movingWaypoints, movingObstacles: movingObstacles, physicalConstraints: physicalConstraints)
+            failures.append(contentsOf: result.failedAttempts)
+            return result
+        }
+        var best = try evaluate(seedArrivalEpochs)
+        var bestEpochs = seedArrivalEpochs
+        func finish(_ status: WaypointTimingOptimizationStatus) -> WaypointTimingOptimizationResult {
+            WaypointTimingOptimizationResult(status: status, evaluatedCandidates: evaluated, iterations: iterations,
+                route: best.route, propagation: best.propagation, failedAttempts: failures)
+        }
+        guard best.status == .feasible else { return finish(.seedRejected) }
+        var step = optimizationOptions.initialStepSeconds
+        let last = bestEpochs.count-1
+        for _ in 0..<optimizationOptions.maximumIterations {
+            let before = evaluated
+            var improved = false, exhaustedBudget = false
+            let delta = try Duration(seconds: step)
+            let available = try bestEpochs[last].duration(since: windows[last].lowerBound)
+            let final = delta >= available ? windows[last].lowerBound : try bestEpochs[last].advanced(by: Duration(seconds: -step))
+            if final < bestEpochs[last], final > departureEpoch {
+                // Final-only, proportional compression, then +/- one intermediate
+                // passage paired with an earlier final arrival. Generate lazily.
+                for pattern in 0..<(4+6*last) {
+                    var proposal = bestEpochs
+                    proposal[last] = final
+                    if pattern == 1 {
+                        let ratio = try final.duration(since: departureEpoch).seconds /
+                            bestEpochs[last].duration(since: departureEpoch).seconds
+                        for index in 0..<last {
+                            proposal[index] = try departureEpoch.advanced(by: Duration(seconds:
+                                bestEpochs[index].duration(since: departureEpoch).seconds*ratio))
+                        }
+                    } else if pattern >= 2 && pattern < 2+2*last {
+                        let index = (pattern-2)/2
+                        if pattern.isMultiple(of: 2) {
+                            let available = try proposal[index].duration(since: windows[index].lowerBound)
+                            proposal[index] = delta >= available ? windows[index].lowerBound :
+                                try proposal[index].advanced(by: Duration(seconds: -step))
+                        } else {
+                            let available = try windows[index].upperBound.duration(since: proposal[index])
+                            proposal[index] = delta >= available ? windows[index].upperBound :
+                                try proposal[index].advanced(by: delta)
+                        }
+                    }
+                    if pattern >= 2+2*last {
+                        // Joint shifts of all intermediates, then each prefix/suffix.
+                        let joint = pattern-(2+2*last)
+                        let direction = joint.isMultiple(of: 2) ? -step : step
+                        let selection: Range<Int>
+                        if joint < 2 { selection = 0..<last }
+                        else {
+                            let group = (joint-2)/4
+                            selection = ((joint-2)%4 < 2) ? 0..<(group+1) : group..<last
+                        }
+                        for index in selection {
+                            let available = try direction < 0 ?
+                                proposal[index].duration(since: windows[index].lowerBound) :
+                                windows[index].upperBound.duration(since: proposal[index])
+                            proposal[index] = delta >= available ?
+                                (direction < 0 ? windows[index].lowerBound : windows[index].upperBound) :
+                                try proposal[index].advanced(by: Duration(seconds: direction))
+                        }
+                    }
+                    for index in proposal.indices {
+                        proposal[index] = max(windows[index].lowerBound, min(proposal[index], windows[index].upperBound))
+                    }
+                    guard !tried.contains(proposal) else { continue }
+                    if evaluated == optimizationOptions.maximumCandidateEvaluations { exhaustedBudget = true; break }
+                    let candidate = try evaluate(proposal)
+                    if candidate.status == .feasible {
+                        best = candidate; bestEpochs = proposal; improved = true; break
+                    }
+                }
+            }
+            iterations.append(WaypointTimingOptimizationIteration(stepSeconds: step,
+                evaluatedCandidates: evaluated-before, improved: improved, bestArrivalEpoch: bestEpochs[last]))
+            if exhaustedBudget { return finish(.evaluationLimitReached) }
+            if !improved {
+                if step <= optimizationOptions.minimumStepSeconds { return finish(.stepLimitReached) }
+                step = max(optimizationOptions.minimumStepSeconds, step/2)
+            }
+        }
+        return finish(.iterationLimitReached)
+    }
+}
+
+
+public enum WaypointTimingMultiStartStatus: Equatable, Sendable {
+    case seedsExhausted, evaluationLimitReached
+}
+public struct WaypointTimingMultiStartResult {
+    public let status: WaypointTimingMultiStartStatus
+    public let evaluatedCandidates: Int
+    public let starts: [WaypointTimingOptimizationResult]
+    public let route: WaypointBrachistochroneRoute?
+    public let propagation: WaypointRoutePropagationResult?
+}
+extension WaypointRouteTimingPlanner {
+    /// Explore bounded, caller-selected seeds, retaining the earliest feasible
+    /// local result. Seeds may span the full windows; no global optimum is implied.
+    public static func optimizeTimingFromSeeds(departureEpoch: Epoch, frame: Frame, origin: BodyIdentifier,
+        waypoints: [BrachistochroneWaypoint], legAccelerationsMetresPerSecondSquared: [Double],
+        arrivalWindows: [ClosedRange<Epoch>], seedArrivalEpochs: [[Epoch]], maximumTotalCandidateEvaluations: Int = 1000,
+        optimizationOptions: WaypointTimingOptimizationOptions, initialMass: SpacecraftMassProperties,
+        backgroundDynamics: SpacecraftDynamics, legEngineLimits: [WaypointRouteEngineLimits],
+        timedEnginePhases: [WaypointRouteEnginePhase] = [], obstacles: [SphericalExclusionRegion] = [],
+        numericalOptions: NumericalPropagationOptions = try! NumericalPropagationOptions(),
+        endpointPositionToleranceMetres: Double = 0.01,
+        endpointVelocityToleranceMetresPerSecond: Double = 1e-5,
+        movingTarget: MovingWaypointRouteTarget? = nil,
+        movingWaypoints: [Int: MovingWaypointPassage] = [:],
+        movingObstacles: [MovingSphericalExclusionRegion] = [],
+        physicalConstraints: WaypointRoutePhysicalConstraints = .unconstrained) throws -> WaypointTimingMultiStartResult {
+        guard !seedArrivalEpochs.isEmpty, seedArrivalEpochs.count <= 256,
+              (1...10_000).contains(maximumTotalCandidateEvaluations) else {
+            throw WaypointTimingSearchError.invalidBudget
+        }
+        var starts: [WaypointTimingOptimizationResult] = []
+        var seen = Set<[Epoch]>(), evaluated = 0
+        var best: WaypointTimingOptimizationResult?
+        for seed in seedArrivalEpochs where seen.insert(seed).inserted {
+            if evaluated == maximumTotalCandidateEvaluations { break }
+            let options = try WaypointTimingOptimizationOptions(
+                initialStepSeconds: optimizationOptions.initialStepSeconds,
+                minimumStepSeconds: optimizationOptions.minimumStepSeconds,
+                maximumIterations: optimizationOptions.maximumIterations,
+                maximumCandidateEvaluations: min(optimizationOptions.maximumCandidateEvaluations,
+                    maximumTotalCandidateEvaluations-evaluated))
+            let result = try optimizeTiming(departureEpoch: departureEpoch, frame: frame, origin: origin,
+                waypoints: waypoints, legAccelerationsMetresPerSecondSquared: legAccelerationsMetresPerSecondSquared,
+                arrivalWindows: arrivalWindows, seedArrivalEpochs: seed, optimizationOptions: options,
+                initialMass: initialMass, backgroundDynamics: backgroundDynamics, legEngineLimits: legEngineLimits,
+                timedEnginePhases: timedEnginePhases, obstacles: obstacles, numericalOptions: numericalOptions,
+                endpointPositionToleranceMetres: endpointPositionToleranceMetres,
+                endpointVelocityToleranceMetresPerSecond: endpointVelocityToleranceMetresPerSecond,
+                movingTarget: movingTarget, movingWaypoints: movingWaypoints, movingObstacles: movingObstacles, physicalConstraints: physicalConstraints)
+            evaluated += result.evaluatedCandidates; starts.append(result)
+            if let route = result.route, best?.route == nil || route.arrivalEpoch < best!.route!.arrivalEpoch {
+                best = result
+            }
+        }
+        return WaypointTimingMultiStartResult(
+            status: evaluated == maximumTotalCandidateEvaluations ? .evaluationLimitReached : .seedsExhausted,
+            evaluatedCandidates: evaluated, starts: starts, route: best?.route, propagation: best?.propagation)
+    }
+}
diff --git a/Sources/CelMek/elp2000-82b.swift b/Sources/CelMek/elp2000-82b.swift
index 77b455c..5b9657d 100644
--- a/Sources/CelMek/elp2000-82b.swift
+++ b/Sources/CelMek/elp2000-82b.swift
@@ -321,7 +321,10 @@ fileprivate let ELP_115_0_RAD = (115.0 * 1.0e-6).deg
 public func
 elp2000_82b(_ jde:Double) -> SIMD3<Double>
 {
-  let T = elp2000_82b_T(jde);
+  return meeusMoonPosition(centuries: elp2000_82b_T(jde))
+}
+
+internal func meeusMoonPosition(centuries T: Double) -> SIMD3<Double> {
 
   // Compute parameters in degrees.
   // Mean longitude . mean equinox of the date, incl light delay
diff --git a/Sources/CelMek/goffin2000.swift b/Sources/CelMek/goffin2000.swift
index 44e6c93..60a72ee 100644
--- a/Sources/CelMek/goffin2000.swift
+++ b/Sources/CelMek/goffin2000.swift
@@ -100,7 +100,10 @@ fileprivate let PLUTO_3_908202_RAD =  (  3.908202).deg
 public func
 goffin2000(_ jde: Double) -> SIMD3<Double>
 {
-  let T = (jde - 2451545.0) / 36525.0;
+  return goffinPosition(centuries: (jde - 2451545.0) / 36525.0)
+}
+
+internal func goffinPosition(centuries T: Double) -> SIMD3<Double> {
   let J =  PLUTO_34_35_RAD + PLUTO_3034_9057_RAD * T;
   let S =  PLUTO_50_08_RAD + PLUTO_1222_1138_RAD * T;
   let P =  PLUTO_238_96_RAD +  PLUTO_144_9600_RAD * T;
@@ -119,7 +122,7 @@ goffin2000(_ jde: Double) -> SIMD3<Double>
   latitude -= PLUTO_3_908202_RAD;
   rad += 40.7247248;
 
-  // We now have heliocentric equatorial coordinates for J2000
+  // Heliocentric ecliptic longitude/latitude for J2000, with distance in AU.
   // We need to convert these to rectangular coordinates. One problem is that
   // This method results in heliocentric coordinates, these need to be
   // translated by the sun
diff --git a/Sources/CelMek/vsop87.swift b/Sources/CelMek/vsop87.swift
index f1f1a4d..a5e91bf 100644
--- a/Sources/CelMek/vsop87.swift
+++ b/Sources/CelMek/vsop87.swift
@@ -17,8 +17,9 @@
 //
 
 import Foundation
+import Math
 
-public enum vsop87_body_id : Int {
+public enum vsop87_body_id: Int, Sendable {
   case vsop87_sun
   case vsop87_mercury
   case vsop87_venus
@@ -30,7 +31,7 @@ public enum vsop87_body_id : Int {
   case vsop87_neptune
 }
 
-public class vsop87_body {
+public final class vsop87_body: Sendable {
   let body_id: vsop87_body_id
   let terms_x: [[(Double,Double,Double)]];
   let terms_y: [[(Double,Double,Double)]];
@@ -41,10 +42,16 @@ public class vsop87_body {
     terms_y = ty;
     terms_z = tz;
   }
+  /// Legacy VSOP87E query: TDB Julian date in, position AU and velocity AU/day out.
+  /// Use state(at:) for an epoch/frame-tagged result normalized to SI units.
   public func position(jd : Double) -> (SIMD3<Double>, SIMD3<Double>, Double, vsop87_body_id)
   {
-    let t = (jd - 2451545.0) / 365250.0;
+    let t = (jd - 2451545.0) / 365250.0
+    let (position, velocity) = positionAndVelocity(t: t)
+    return (position, velocity, jd, body_id)
+  }
 
+  private func positionAndVelocity(t: Double) -> (SIMD3<Double>, SIMD3<Double>) {
     var x = [Double](repeating: 0, count: 6);
     var y = [Double](repeating: 0, count: 6);
     var z = [Double](repeating: 0, count: 6);
@@ -107,9 +114,9 @@ public class vsop87_body {
     (2.0 * T[1] * x[2] - T[2] * vx[2]) + (3.0 * T[2] * x[3] - T[3] * vx[3]) +
     (4.0 * T[3] * x[4] - T[4] * vx[4]) + (5.0 * T[4] * x[5] - T[5] * vx[5]);
     let vely =
-    -vy[0] + (1.0 * x[1] - T[1] * vy[1]) +
-    (2.0 * T[1] * x[2] - T[2] * vy[2]) + (3.0 * T[2] * x[3] - T[3] * vy[3]) +
-    (4.0 * T[3] * x[4] - T[4] * vy[4]) + (5.0 * T[4] * x[5] - T[5] * vy[5]);
+    -vy[0] + (1.0 * y[1] - T[1] * vy[1]) +
+    (2.0 * T[1] * y[2] - T[2] * vy[2]) + (3.0 * T[2] * y[3] - T[3] * vy[3]) +
+    (4.0 * T[3] * y[4] - T[4] * vy[4]) + (5.0 * T[4] * y[5] - T[5] * vy[5]);
     let velz =
     -vz[0] + (1.0 * z[1] - T[1] * vz[1]) +
     (2.0 * T[1] * z[2] - T[2] * vz[2]) + (3.0 * T[2] * z[3] - T[3] * vz[3]) +
@@ -117,6 +124,43 @@ public class vsop87_body {
 
     let pos = SIMD3<Double>(px, py, pz);
     let vel = SIMD3<Double>(velx/365250.0, vely/365250.0,  velz/365250.0);
-    return (pos, vel, jd, body_id);
+    return (pos, vel)
+  }
+}
+
+extension vsop87_body: StateProvider {
+  public var frame: Math.Frame { CelestialFrames.vsop87E }
+
+  /// Native barycentric state in metres and metres per elapsed atomic second.
+  /// Uses the provisional Epoch TDB approximation and the complete coefficient
+  /// series. Acceleration is unavailable. No scientific coverage bound is implied.
+  public func state(at epoch: Epoch) throws -> CartesianState {
+    try state(at: epoch, using: nil)
+  }
+
+  /// Select a TDB model with enforced coverage and matching derivative conversion.
+  public func state(at epoch: Epoch, using model: (any TDBTimeModel)?) throws -> CartesianState {
+    let sample = try model.map { try epoch.tdbCorrection(using: $0) }
+    let date = try sample.map { try epoch.tdbDate(using: $0) } ?? epoch.julianDate(in: .tdb)
+    let t = (Double(date.wholeDay - 2_451_545) + date.fractionalDay) / 365_250
+    let (position, velocity) = positionAndVelocity(t: t)
+    // The series differentiates with respect to TDB time. Apply the same time
+    // adapter's rate so the state derivative follows Epoch's atomic seconds.
+    let atomicVelocity = velocity * (sample?.rate ?? epoch.coordinateTimeRate(in: .tdb))
+    return try CartesianState(epoch: epoch, frame: frame, position: position,
+                               velocity: atomicVelocity, units: .astronomicalUnitsAndDays)
+  }
+}
+
+/// A VSOP87 provider configured with an explicit TDB model for frame-tree queries.
+public struct VSOP87StateProvider: StateProvider {
+  public let body: vsop87_body
+  public let tdbModel: any TDBTimeModel
+  public var frame: Math.Frame { body.frame }
+  public init(body: vsop87_body, tdbModel: any TDBTimeModel) {
+    self.body = body; self.tdbModel = tdbModel
+  }
+  public func state(at epoch: Epoch) throws -> CartesianState {
+    try body.state(at: epoch, using: tdbModel)
   }
 }
diff --git a/Sources/ERFASwift/EarthOrientationModel.swift b/Sources/ERFASwift/EarthOrientationModel.swift
new file mode 100644
index 0000000..2e33e99
--- /dev/null
+++ b/Sources/ERFASwift/EarthOrientationModel.swift
@@ -0,0 +1,175 @@
+// Swift adaptation of ERFA 2.0.1: Copyright (C) 2013-2023 NumFOCUS.
+// BSD terms and SOFA heritage: Sources/ERFASwift/LICENSE.txt.
+import Foundation
+import Math
+
+/// Native Swift IAU 2006/2000A numerical model. All angles are radians.
+package enum EarthOrientationModel {
+  package enum Edge: Sendable {
+    case celestialIntermediate, earthRotation, polarMotion, trueOfDate, apparentSidereal
+  }
+  package enum PoleReference: Sendable { case iau2000A, iau2006A }
+  package enum EvaluationError: Error { case invalidParameters, correctionDidNotConverge }
+
+  private static let arcsecond = Double.pi / (180 * 3600)
+  private static let turn = 2 * Double.pi
+  private static func polynomial(_ t: Double, _ coefficients: [Double]) -> Double {
+    coefficients.reversed().reduce(0) { $0*t + $1 }
+  }
+  private static func argument(_ t: Double, _ coefficients: [Double]) -> Double {
+    polynomial(t, coefficients).truncatingRemainder(dividingBy: 1296000) * arcsecond
+  }
+  private static func longitude(_ t: Double, _ a: Double, _ b: Double) -> Double {
+    (a+b*t).truncatingRemainder(dividingBy: turn)
+  }
+  private static func fundamentalArguments(_ t: Double) -> [Double] {
+    [argument(t, [485868.249036,1717915923.2178,31.8792,0.051635,-0.00024470]),
+     argument(t, [1287104.793048,129596581.0481,-0.5532,0.000136,-0.00001149]),
+     argument(t, [335779.526232,1739527262.8478,-12.7512,-0.001037,0.00000417]),
+     argument(t, [1072260.703692,1602961601.2090,-6.3706,0.006593,-0.00003169]),
+     argument(t, [450160.398036,-6962890.5431,7.4722,0.007702,-0.00005939]),
+     longitude(t,3.176146697,1021.3285546211), longitude(t,1.753470314,628.3075849991),
+     (0.024381750+0.00000538691*t)*t]
+  }
+  private static func phase(_ row: [Double], _ arguments: [Double]) -> Double {
+    arguments.indices.reduce(0) { $0 + row[$1]*arguments[$1] }
+  }
+  private static func nutation(_ t: Double) -> (longitude: Double, obliquity: Double) {
+    var args = Array(fundamentalArguments(t).prefix(5))
+    // MHB2000 uses slightly different solar anomaly and elongation expressions.
+    args[1] = argument(t,[1287104.79305,129596581.0481,-0.5532,0.000136,-0.00001149])
+    args[3] = argument(t,[1072260.70369,1602961601.2090,-6.3706,0.006593,-0.00003169])
+    var dp = 0.0, de = 0.0
+    for row in EarthOrientationSeries.xls.reversed() {
+      let a = phase(row,args).truncatingRemainder(dividingBy: turn)
+      dp += (row[5]+row[6]*t)*sin(a) + row[7]*cos(a)
+      de += (row[8]+row[9]*t)*cos(a) + row[10]*sin(a)
+    }
+    let lsLongitude = dp * (arcsecond/1e7), lsObliquity = de * (arcsecond/1e7)
+    args = [longitude(t,2.35555598,8328.6914269554),longitude(t,1.627905234,8433.466158131),
+      longitude(t,5.198466741,7771.3771468121),longitude(t,2.18243920,-33.757045),
+      longitude(t,4.402608842,2608.7903141574),longitude(t,3.176146697,1021.3285546211),
+      longitude(t,1.753470314,628.3075849991),longitude(t,6.203480913,334.0612426700),
+      longitude(t,0.599546497,52.9690962641),longitude(t,0.874016757,21.3299104960),
+      longitude(t,5.481293872,7.4781598567),longitude(t,5.321159000,3.8127774000),
+      (0.024381750+0.00000538691*t)*t]
+    dp = 0; de = 0
+    for row in EarthOrientationSeries.xpl.reversed() {
+      let a = phase(row,args).truncatingRemainder(dividingBy: turn)
+      dp += row[13]*sin(a) + row[14]*cos(a)
+      de += row[15]*sin(a) + row[16]*cos(a)
+    }
+    // IAU 2006 secular J2 correction and adjustment to 2000A longitude.
+    let j2 = -2.7774e-6*t
+    return ((lsLongitude+dp*(arcsecond/1e7))*(1+0.4697e-6+j2),
+            (lsObliquity+de*(arcsecond/1e7))*(1+j2))
+  }
+  private static func cioLocator(_ t: Double, x: Double, y: Double) -> Double {
+    let args = fundamentalArguments(t)
+    var w = [94.00e-6,3808.65e-6,-122.68e-6,-72574.11e-6,27.98e-6,15.62e-6]
+    let series = [EarthOrientationSeries.s0,EarthOrientationSeries.s1,EarthOrientationSeries.s2,
+                  EarthOrientationSeries.s3,EarthOrientationSeries.s4]
+    for order in series.indices {
+      for row in series[order].reversed() {
+        let a = phase(row,args)
+        w[order] += row[8]*sin(a) + row[9]*cos(a)
+      }
+    }
+    return polynomial(t,w)*arcsecond - x*y/2
+  }
+  /// Passive coordinate rotations, premultiplied in the published sequence.
+  private static func rotation(_ angle: Double, axis: Int) -> Matrix3x3 {
+    let c = cos(angle), s = sin(angle)
+    switch axis {
+    case 0: return Matrix3x3(elements: [1,0,0,0,c,s,0,-s,c])
+    case 1: return Matrix3x3(elements: [c,0,-s,0,1,0,s,0,c])
+    default: return Matrix3x3(elements: [c,s,0,-s,c,0,0,0,1])
+    }
+  }
+  private static func earthRotationAngle(_ date1: Double, _ date2: Double) -> Double {
+    let d1 = min(date1,date2), d2 = max(date1,date2)
+    let t = d1 + (d2-2451545)
+    let f = d1.truncatingRemainder(dividingBy: 1) + d2.truncatingRemainder(dividingBy: 1)
+    let a = (turn*(f+0.7790572732640+0.00273781191135448*t)).truncatingRemainder(dividingBy: turn)
+    return a < 0 ? a+turn : a
+  }
+  /// IAU 2000A bias/precession/nutation (ERFA bp00, obl80, pr00, numat).
+  private static func precessionNutation2000(_ t: Double, n: (longitude: Double, obliquity: Double)) -> Matrix3x3 {
+    let eps0 = 84381.448*arcsecond
+    let dp = -0.29965*t*arcsecond, de = -0.02524*t*arcsecond
+    let psi = polynomial(t,[0,5038.7784,-1.07259,-0.001147])*arcsecond+dp
+    let omega = eps0+polynomial(t,[0,0,0.05127,-0.007726])*arcsecond+de
+    let chi = polynomial(t,[0,10.5526,-2.38064,-0.001125])*arcsecond
+    let bias = rotation(0.0068192*arcsecond,axis: 0)
+      * rotation(-0.041775*arcsecond*sin(eps0),axis: 1) * rotation(-0.0146*arcsecond,axis: 2)
+    let precession = rotation(chi,axis: 2) * rotation(-omega,axis: 0)
+      * rotation(-psi,axis: 2) * rotation(eps0,axis: 0)
+    let eps = polynomial(t,[84381.448,-46.8150,-0.00059,0.001813])*arcsecond+de
+    let j2 = -2.7774e-6*t
+    let nut = rotation(-(eps+n.obliquity/(1+j2)),axis: 0)
+      * rotation(-n.longitude/(1+0.4697e-6+j2),axis: 2) * rotation(eps,axis: 0)
+    return nut * precession * bias
+  }
+  package static func matrix(edge: Edge, tt1: Double, tt2: Double,
+                     ut11: Double, ut12: Double, xp: Double, yp: Double,
+                     dx: Double = 0, dy: Double = 0,
+                     poleReference: PoleReference = .iau2006A) throws -> [Double] {
+    let t = ((tt1-2451545)+tt2)/36525
+    let r: Matrix3x3
+    if edge == .polarMotion {
+      r = rotation(-yp,axis: 0) * rotation(-xp,axis: 1) * rotation(-47e-6*t*arcsecond,axis: 2)
+    } else if edge == .earthRotation {
+      r = rotation(earthRotationAngle(ut11,ut12),axis: 2)
+    } else {
+      let n = nutation(t)
+      let gamma = polynomial(t,[-0.052928,10.556378,0.4932044,-0.00031238,-0.000002788,0.0000000260])*arcsecond
+      let phi = polynomial(t,[84381.412819,-46.811016,0.0511268,0.00053289,-0.000000440,-0.0000000176])*arcsecond
+      let psi = polynomial(t,[-0.041775,5038.481484,1.5584175,-0.00018522,-0.000026452,-0.0000000148])*arcsecond+n.longitude
+      let eps = polynomial(t,[84381.406,-46.836769,-0.0001831,0.00200340,-0.000000576,-0.0000000434])*arcsecond+n.obliquity
+      func bpn(_ p: Double, _ e: Double) -> Matrix3x3 {
+        rotation(-e,axis: 0) * rotation(-p,axis: 2) * rotation(phi,axis: 0) * rotation(gamma,axis: 2)
+      }
+      var b = bpn(psi, eps)
+      // SOFA procedure: retain the theoretical locator s when applying observed CIP offsets.
+      let s = cioLocator(t,x: b[2,0],y: b[2,1])
+      var x = b[2,0] + dx, y = b[2,1] + dy
+      if poleReference == .iau2000A {
+        let old = precessionNutation2000(t, n: n)
+        x = old[2,0] + dx; y = old[2,1] + dy
+      }
+      guard x.isFinite, y.isFinite, x*x+y*y < 1 else { throw EvaluationError.invalidParameters }
+      if dx != 0 || dy != 0 || poleReference == .iau2000A {
+        // Recover nutation angles for the observed pole, preserving the P03 equinox convention.
+        var p = psi, e = eps
+        var converged = false
+        for _ in 0..<10 {
+          b = bpn(p,e)
+          let rx = x-b[2,0], ry = y-b[2,1]
+          if max(abs(rx),abs(ry)) < 2e-16 { converged = true; break }
+          let h = 1e-6
+          let pp = bpn(p+h,e), pm = bpn(p-h,e), ep = bpn(p,e+h), em = bpn(p,e-h)
+          let a = (pp[2,0]-pm[2,0])/(2*h), c = (pp[2,1]-pm[2,1])/(2*h)
+          let bb = (ep[2,0]-em[2,0])/(2*h), d = (ep[2,1]-em[2,1])/(2*h)
+          let determinant = a*d-bb*c
+          guard abs(determinant) > 1e-12 else { throw EvaluationError.correctionDidNotConverge }
+          p += (rx*d-bb*ry)/determinant; e += (a*ry-rx*c)/determinant
+        }
+        guard converged else { throw EvaluationError.correctionDidNotConverge }
+      }
+      if edge == .trueOfDate { r = b }
+      else if edge == .celestialIntermediate {
+        let radius = x*x+y*y
+        let e = radius > 0 ? atan2(y,x) : 0
+        let d = atan(sqrt(radius/(1-radius)))
+        r = rotation(-(e+s),axis: 2) * rotation(d,axis: 1) * rotation(e,axis: 2)
+      } else {
+        let ax = x/(1+b[2,2])
+        let v = SIMD3(1-ax*x,-ax*y,-x)
+        let p = (b[0]*v).sum(), q = (b[1]*v).sum()
+        let origins = p != 0 || q != 0 ? s-atan2(q,p) : s
+        r = rotation(earthRotationAngle(ut11,ut12)-origins,axis: 2)
+      }
+    }
+    return (0..<3).flatMap { i in (0..<3).map { r[i,$0] } }
+  }
+}
diff --git a/Sources/ERFASwift/EarthOrientationSeries.swift b/Sources/ERFASwift/EarthOrientationSeries.swift
new file mode 100644
index 0000000..19d5851
--- /dev/null
+++ b/Sources/ERFASwift/EarthOrientationSeries.swift
@@ -0,0 +1,1543 @@
+// Copyright (C) 2013-2023, NumFOCUS Foundation.
+// Swift coefficient data derived from ERFA 2.0.1 (NumFOCUS).
+// See Sources/ERFASwift/LICENSE.txt for BSD terms and SOFA heritage.
+internal enum EarthOrientationSeries {
+  static let xls: [[Double]] = [xls0,xls1,xls2,xls3,xls4,xls5,xls6,xls7,xls8,xls9,xls10,xls11,xls12,xls13,xls14,xls15,xls16,xls17,xls18,xls19,xls20,xls21].flatMap { $0 }
+  private static let xls0: [[Double]] = [
+    [0,0,0,0,1,-172064161.0,-174666.0,33386.0,92052331.0,9086.0,15377.0],
+    [0,0,2,-2,2,-13170906.0,-1675.0,-13696.0,5730336.0,-3015.0,-4587.0],
+    [0,0,2,0,2,-2276413.0,-234.0,2796.0,978459.0,-485.0,1374.0],
+    [0,0,0,0,2,2074554.0,207.0,-698.0,-897492.0,470.0,-291.0],
+    [0,1,0,0,0,1475877.0,-3633.0,11817.0,73871.0,-184.0,-1924.0],
+    [0,1,2,-2,2,-516821.0,1226.0,-524.0,224386.0,-677.0,-174.0],
+    [1,0,0,0,0,711159.0,73.0,-872.0,-6750.0,0.0,358.0],
+    [0,0,2,0,1,-387298.0,-367.0,380.0,200728.0,18.0,318.0],
+    [1,0,2,0,2,-301461.0,-36.0,816.0,129025.0,-63.0,367.0],
+    [0,-1,2,-2,2,215829.0,-494.0,111.0,-95929.0,299.0,132.0],
+    [0,0,2,-2,1,128227.0,137.0,181.0,-68982.0,-9.0,39.0],
+    [-1,0,2,0,2,123457.0,11.0,19.0,-53311.0,32.0,-4.0],
+    [-1,0,0,2,0,156994.0,10.0,-168.0,-1235.0,0.0,82.0],
+    [1,0,0,0,1,63110.0,63.0,27.0,-33228.0,0.0,-9.0],
+    [-1,0,0,0,1,-57976.0,-63.0,-189.0,31429.0,0.0,-75.0],
+    [-1,0,2,2,2,-59641.0,-11.0,149.0,25543.0,-11.0,66.0],
+    [1,0,2,0,1,-51613.0,-42.0,129.0,26366.0,0.0,78.0],
+    [-2,0,2,0,1,45893.0,50.0,31.0,-24236.0,-10.0,20.0],
+    [0,0,0,2,0,63384.0,11.0,-150.0,-1220.0,0.0,29.0],
+    [0,0,2,2,2,-38571.0,-1.0,158.0,16452.0,-11.0,68.0],
+    [0,-2,2,-2,2,32481.0,0.0,0.0,-13870.0,0.0,0.0],
+    [-2,0,0,2,0,-47722.0,0.0,-18.0,477.0,0.0,-25.0],
+    [2,0,2,0,2,-31046.0,-1.0,131.0,13238.0,-11.0,59.0],
+    [1,0,2,-2,2,28593.0,0.0,-1.0,-12338.0,10.0,-3.0],
+    [-1,0,2,0,1,20441.0,21.0,10.0,-10758.0,0.0,-3.0],
+    [2,0,0,0,0,29243.0,0.0,-74.0,-609.0,0.0,13.0],
+    [0,0,2,0,0,25887.0,0.0,-66.0,-550.0,0.0,11.0],
+    [0,1,0,0,1,-14053.0,-25.0,79.0,8551.0,-2.0,-45.0],
+    [-1,0,0,2,1,15164.0,10.0,11.0,-8001.0,0.0,-1.0],
+    [0,2,2,-2,2,-15794.0,72.0,-16.0,6850.0,-42.0,-5.0],
+    [0,0,-2,2,0,21783.0,0.0,13.0,-167.0,0.0,13.0],
+    [1,0,0,-2,1,-12873.0,-10.0,-37.0,6953.0,0.0,-14.0],
+  ]
+  private static let xls1: [[Double]] = [
+    [0,-1,0,0,1,-12654.0,11.0,63.0,6415.0,0.0,26.0],
+    [-1,0,2,2,1,-10204.0,0.0,25.0,5222.0,0.0,15.0],
+    [0,2,0,0,0,16707.0,-85.0,-10.0,168.0,-1.0,10.0],
+    [1,0,2,2,2,-7691.0,0.0,44.0,3268.0,0.0,19.0],
+    [-2,0,2,0,0,-11024.0,0.0,-14.0,104.0,0.0,2.0],
+    [0,1,2,0,2,7566.0,-21.0,-11.0,-3250.0,0.0,-5.0],
+    [0,0,2,2,1,-6637.0,-11.0,25.0,3353.0,0.0,14.0],
+    [0,-1,2,0,2,-7141.0,21.0,8.0,3070.0,0.0,4.0],
+    [0,0,0,2,1,-6302.0,-11.0,2.0,3272.0,0.0,4.0],
+    [1,0,2,-2,1,5800.0,10.0,2.0,-3045.0,0.0,-1.0],
+    [2,0,2,-2,2,6443.0,0.0,-7.0,-2768.0,0.0,-4.0],
+    [-2,0,0,2,1,-5774.0,-11.0,-15.0,3041.0,0.0,-5.0],
+    [2,0,2,0,1,-5350.0,0.0,21.0,2695.0,0.0,12.0],
+    [0,-1,2,-2,1,-4752.0,-11.0,-3.0,2719.0,0.0,-3.0],
+    [0,0,0,-2,1,-4940.0,-11.0,-21.0,2720.0,0.0,-9.0],
+    [-1,-1,0,2,0,7350.0,0.0,-8.0,-51.0,0.0,4.0],
+    [2,0,0,-2,1,4065.0,0.0,6.0,-2206.0,0.0,1.0],
+    [1,0,0,2,0,6579.0,0.0,-24.0,-199.0,0.0,2.0],
+    [0,1,2,-2,1,3579.0,0.0,5.0,-1900.0,0.0,1.0],
+    [1,-1,0,0,0,4725.0,0.0,-6.0,-41.0,0.0,3.0],
+    [-2,0,2,0,2,-3075.0,0.0,-2.0,1313.0,0.0,-1.0],
+    [3,0,2,0,2,-2904.0,0.0,15.0,1233.0,0.0,7.0],
+    [0,-1,0,2,0,4348.0,0.0,-10.0,-81.0,0.0,2.0],
+    [1,-1,2,0,2,-2878.0,0.0,8.0,1232.0,0.0,4.0],
+    [0,0,0,1,0,-4230.0,0.0,5.0,-20.0,0.0,-2.0],
+    [-1,-1,2,2,2,-2819.0,0.0,7.0,1207.0,0.0,3.0],
+    [-1,0,2,0,0,-4056.0,0.0,5.0,40.0,0.0,-2.0],
+    [0,-1,2,2,2,-2647.0,0.0,11.0,1129.0,0.0,5.0],
+    [-2,0,0,0,1,-2294.0,0.0,-10.0,1266.0,0.0,-4.0],
+    [1,1,2,0,2,2481.0,0.0,-7.0,-1062.0,0.0,-3.0],
+    [2,0,0,0,1,2179.0,0.0,-2.0,-1129.0,0.0,-2.0],
+    [-1,1,0,1,0,3276.0,0.0,1.0,-9.0,0.0,0.0],
+  ]
+  private static let xls2: [[Double]] = [
+    [1,1,0,0,0,-3389.0,0.0,5.0,35.0,0.0,-2.0],
+    [1,0,2,0,0,3339.0,0.0,-13.0,-107.0,0.0,1.0],
+    [-1,0,2,-2,1,-1987.0,0.0,-6.0,1073.0,0.0,-2.0],
+    [1,0,0,0,2,-1981.0,0.0,0.0,854.0,0.0,0.0],
+    [-1,0,0,1,0,4026.0,0.0,-353.0,-553.0,0.0,-139.0],
+    [0,0,2,1,2,1660.0,0.0,-5.0,-710.0,0.0,-2.0],
+    [-1,0,2,4,2,-1521.0,0.0,9.0,647.0,0.0,4.0],
+    [-1,1,0,1,1,1314.0,0.0,0.0,-700.0,0.0,0.0],
+    [0,-2,2,-2,1,-1283.0,0.0,0.0,672.0,0.0,0.0],
+    [1,0,2,2,1,-1331.0,0.0,8.0,663.0,0.0,4.0],
+    [-2,0,2,2,2,1383.0,0.0,-2.0,-594.0,0.0,-2.0],
+    [-1,0,0,0,2,1405.0,0.0,4.0,-610.0,0.0,2.0],
+    [1,1,2,-2,2,1290.0,0.0,0.0,-556.0,0.0,0.0],
+    [-2,0,2,4,2,-1214.0,0.0,5.0,518.0,0.0,2.0],
+    [-1,0,4,0,2,1146.0,0.0,-3.0,-490.0,0.0,-1.0],
+    [2,0,2,-2,1,1019.0,0.0,-1.0,-527.0,0.0,-1.0],
+    [2,0,2,2,2,-1100.0,0.0,9.0,465.0,0.0,4.0],
+    [1,0,0,2,1,-970.0,0.0,2.0,496.0,0.0,1.0],
+    [3,0,0,0,0,1575.0,0.0,-6.0,-50.0,0.0,0.0],
+    [3,0,2,-2,2,934.0,0.0,-3.0,-399.0,0.0,-1.0],
+    [0,0,4,-2,2,922.0,0.0,-1.0,-395.0,0.0,-1.0],
+    [0,1,2,0,1,815.0,0.0,-1.0,-422.0,0.0,-1.0],
+    [0,0,-2,2,1,834.0,0.0,2.0,-440.0,0.0,1.0],
+    [0,0,2,-2,3,1248.0,0.0,0.0,-170.0,0.0,1.0],
+    [-1,0,0,4,0,1338.0,0.0,-5.0,-39.0,0.0,0.0],
+    [2,0,-2,0,1,716.0,0.0,-2.0,-389.0,0.0,-1.0],
+    [-2,0,0,4,0,1282.0,0.0,-3.0,-23.0,0.0,1.0],
+    [-1,-1,0,2,1,742.0,0.0,1.0,-391.0,0.0,0.0],
+    [-1,0,0,1,1,1020.0,0.0,-25.0,-495.0,0.0,-10.0],
+    [0,1,0,0,2,715.0,0.0,-4.0,-326.0,0.0,2.0],
+    [0,0,-2,0,1,-666.0,0.0,-3.0,369.0,0.0,-1.0],
+    [0,-1,2,0,1,-667.0,0.0,1.0,346.0,0.0,1.0],
+  ]
+  private static let xls3: [[Double]] = [
+    [0,0,2,-1,2,-704.0,0.0,0.0,304.0,0.0,0.0],
+    [0,0,2,4,2,-694.0,0.0,5.0,294.0,0.0,2.0],
+    [-2,-1,0,2,0,-1014.0,0.0,-1.0,4.0,0.0,-1.0],
+    [1,1,0,-2,1,-585.0,0.0,-2.0,316.0,0.0,-1.0],
+    [-1,1,0,2,0,-949.0,0.0,1.0,8.0,0.0,-1.0],
+    [-1,1,0,1,2,-595.0,0.0,0.0,258.0,0.0,0.0],
+    [1,-1,0,0,1,528.0,0.0,0.0,-279.0,0.0,0.0],
+    [1,-1,2,2,2,-590.0,0.0,4.0,252.0,0.0,2.0],
+    [-1,1,2,2,2,570.0,0.0,-2.0,-244.0,0.0,-1.0],
+    [3,0,2,0,1,-502.0,0.0,3.0,250.0,0.0,2.0],
+    [0,1,-2,2,0,-875.0,0.0,1.0,29.0,0.0,0.0],
+    [-1,0,0,-2,1,-492.0,0.0,-3.0,275.0,0.0,-1.0],
+    [0,1,2,2,2,535.0,0.0,-2.0,-228.0,0.0,-1.0],
+    [-1,-1,2,2,1,-467.0,0.0,1.0,240.0,0.0,1.0],
+    [0,-1,0,0,2,591.0,0.0,0.0,-253.0,0.0,0.0],
+    [1,0,2,-4,1,-453.0,0.0,-1.0,244.0,0.0,-1.0],
+    [-1,0,-2,2,0,766.0,0.0,1.0,9.0,0.0,0.0],
+    [0,-1,2,2,1,-446.0,0.0,2.0,225.0,0.0,1.0],
+    [2,-1,2,0,2,-488.0,0.0,2.0,207.0,0.0,1.0],
+    [0,0,0,2,2,-468.0,0.0,0.0,201.0,0.0,0.0],
+    [1,-1,2,0,1,-421.0,0.0,1.0,216.0,0.0,1.0],
+    [-1,1,2,0,2,463.0,0.0,0.0,-200.0,0.0,0.0],
+    [0,1,0,2,0,-673.0,0.0,2.0,14.0,0.0,0.0],
+    [0,-1,-2,2,0,658.0,0.0,0.0,-2.0,0.0,0.0],
+    [0,3,2,-2,2,-438.0,0.0,0.0,188.0,0.0,0.0],
+    [0,0,0,1,1,-390.0,0.0,0.0,205.0,0.0,0.0],
+    [-1,0,2,2,0,639.0,-11.0,-2.0,-19.0,0.0,0.0],
+    [2,1,2,0,2,412.0,0.0,-2.0,-176.0,0.0,-1.0],
+    [1,1,0,0,1,-361.0,0.0,0.0,189.0,0.0,0.0],
+    [1,1,2,0,1,360.0,0.0,-1.0,-185.0,0.0,-1.0],
+    [2,0,0,2,0,588.0,0.0,-3.0,-24.0,0.0,0.0],
+    [1,0,-2,2,0,-578.0,0.0,1.0,5.0,0.0,0.0],
+  ]
+  private static let xls4: [[Double]] = [
+    [-1,0,0,2,2,-396.0,0.0,0.0,171.0,0.0,0.0],
+    [0,1,0,1,0,565.0,0.0,-1.0,-6.0,0.0,0.0],
+    [0,1,0,-2,1,-335.0,0.0,-1.0,184.0,0.0,-1.0],
+    [-1,0,2,-2,2,357.0,0.0,1.0,-154.0,0.0,0.0],
+    [0,0,0,-1,1,321.0,0.0,1.0,-174.0,0.0,0.0],
+    [-1,1,0,0,1,-301.0,0.0,-1.0,162.0,0.0,0.0],
+    [1,0,2,-1,2,-334.0,0.0,0.0,144.0,0.0,0.0],
+    [1,-1,0,2,0,493.0,0.0,-2.0,-15.0,0.0,0.0],
+    [0,0,0,4,0,494.0,0.0,-2.0,-19.0,0.0,0.0],
+    [1,0,2,1,2,337.0,0.0,-1.0,-143.0,0.0,-1.0],
+    [0,0,2,1,1,280.0,0.0,-1.0,-144.0,0.0,0.0],
+    [1,0,0,-2,2,309.0,0.0,1.0,-134.0,0.0,0.0],
+    [-1,0,2,4,1,-263.0,0.0,2.0,131.0,0.0,1.0],
+    [1,0,-2,0,1,253.0,0.0,1.0,-138.0,0.0,0.0],
+    [1,1,2,-2,1,245.0,0.0,0.0,-128.0,0.0,0.0],
+    [0,0,2,2,0,416.0,0.0,-2.0,-17.0,0.0,0.0],
+    [-1,0,2,-1,1,-229.0,0.0,0.0,128.0,0.0,0.0],
+    [-2,0,2,2,1,231.0,0.0,0.0,-120.0,0.0,0.0],
+    [4,0,2,0,2,-259.0,0.0,2.0,109.0,0.0,1.0],
+    [2,-1,0,0,0,375.0,0.0,-1.0,-8.0,0.0,0.0],
+    [2,1,2,-2,2,252.0,0.0,0.0,-108.0,0.0,0.0],
+    [0,1,2,1,2,-245.0,0.0,1.0,104.0,0.0,0.0],
+    [1,0,4,-2,2,243.0,0.0,-1.0,-104.0,0.0,0.0],
+    [-1,-1,0,0,1,208.0,0.0,1.0,-112.0,0.0,0.0],
+    [0,1,0,2,1,199.0,0.0,0.0,-102.0,0.0,0.0],
+    [-2,0,2,4,1,-208.0,0.0,1.0,105.0,0.0,0.0],
+    [2,0,2,0,0,335.0,0.0,-2.0,-14.0,0.0,0.0],
+    [1,0,0,1,0,-325.0,0.0,1.0,7.0,0.0,0.0],
+    [-1,0,0,4,1,-187.0,0.0,0.0,96.0,0.0,0.0],
+    [-1,0,4,0,1,197.0,0.0,-1.0,-100.0,0.0,0.0],
+    [2,0,2,2,1,-192.0,0.0,2.0,94.0,0.0,1.0],
+    [0,0,2,-3,2,-188.0,0.0,0.0,83.0,0.0,0.0],
+  ]
+  private static let xls5: [[Double]] = [
+    [-1,-2,0,2,0,276.0,0.0,0.0,-2.0,0.0,0.0],
+    [2,1,0,0,0,-286.0,0.0,1.0,6.0,0.0,0.0],
+    [0,0,4,0,2,186.0,0.0,-1.0,-79.0,0.0,0.0],
+    [0,0,0,0,3,-219.0,0.0,0.0,43.0,0.0,0.0],
+    [0,3,0,0,0,276.0,0.0,0.0,2.0,0.0,0.0],
+    [0,0,2,-4,1,-153.0,0.0,-1.0,84.0,0.0,0.0],
+    [0,-1,0,2,1,-156.0,0.0,0.0,81.0,0.0,0.0],
+    [0,0,0,4,1,-154.0,0.0,1.0,78.0,0.0,0.0],
+    [-1,-1,2,4,2,-174.0,0.0,1.0,75.0,0.0,0.0],
+    [1,0,2,4,2,-163.0,0.0,2.0,69.0,0.0,1.0],
+    [-2,2,0,2,0,-228.0,0.0,0.0,1.0,0.0,0.0],
+    [-2,-1,2,0,1,91.0,0.0,-4.0,-54.0,0.0,-2.0],
+    [-2,0,0,2,2,175.0,0.0,0.0,-75.0,0.0,0.0],
+    [-1,-1,2,0,2,-159.0,0.0,0.0,69.0,0.0,0.0],
+    [0,0,4,-2,1,141.0,0.0,0.0,-72.0,0.0,0.0],
+    [3,0,2,-2,1,147.0,0.0,0.0,-75.0,0.0,0.0],
+    [-2,-1,0,2,1,-132.0,0.0,0.0,69.0,0.0,0.0],
+    [1,0,0,-1,1,159.0,0.0,-28.0,-54.0,0.0,11.0],
+    [0,-2,0,2,0,213.0,0.0,0.0,-4.0,0.0,0.0],
+    [-2,0,0,4,1,123.0,0.0,0.0,-64.0,0.0,0.0],
+    [-3,0,0,0,1,-118.0,0.0,-1.0,66.0,0.0,0.0],
+    [1,1,2,2,2,144.0,0.0,-1.0,-61.0,0.0,0.0],
+    [0,0,2,4,1,-121.0,0.0,1.0,60.0,0.0,0.0],
+    [3,0,2,2,2,-134.0,0.0,1.0,56.0,0.0,1.0],
+    [-1,1,2,-2,1,-105.0,0.0,0.0,57.0,0.0,0.0],
+    [2,0,0,-4,1,-102.0,0.0,0.0,56.0,0.0,0.0],
+    [0,0,0,-2,2,120.0,0.0,0.0,-52.0,0.0,0.0],
+    [2,0,2,-4,1,101.0,0.0,0.0,-54.0,0.0,0.0],
+    [-1,1,0,2,1,-113.0,0.0,0.0,59.0,0.0,0.0],
+    [0,0,2,-1,1,-106.0,0.0,0.0,61.0,0.0,0.0],
+    [0,-2,2,2,2,-129.0,0.0,1.0,55.0,0.0,0.0],
+    [2,0,0,2,1,-114.0,0.0,0.0,57.0,0.0,0.0],
+  ]
+  private static let xls6: [[Double]] = [
+    [4,0,2,-2,2,113.0,0.0,-1.0,-49.0,0.0,0.0],
+    [2,0,0,-2,2,-102.0,0.0,0.0,44.0,0.0,0.0],
+    [0,2,0,0,1,-94.0,0.0,0.0,51.0,0.0,0.0],
+    [1,0,0,-4,1,-100.0,0.0,-1.0,56.0,0.0,0.0],
+    [0,2,2,-2,1,87.0,0.0,0.0,-47.0,0.0,0.0],
+    [-3,0,0,4,0,161.0,0.0,0.0,-1.0,0.0,0.0],
+    [-1,1,2,0,1,96.0,0.0,0.0,-50.0,0.0,0.0],
+    [-1,-1,0,4,0,151.0,0.0,-1.0,-5.0,0.0,0.0],
+    [-1,-2,2,2,2,-104.0,0.0,0.0,44.0,0.0,0.0],
+    [-2,-1,2,4,2,-110.0,0.0,0.0,48.0,0.0,0.0],
+    [1,-1,2,2,1,-100.0,0.0,1.0,50.0,0.0,0.0],
+    [-2,1,0,2,0,92.0,0.0,-5.0,12.0,0.0,-2.0],
+    [-2,1,2,0,1,82.0,0.0,0.0,-45.0,0.0,0.0],
+    [2,1,0,-2,1,82.0,0.0,0.0,-45.0,0.0,0.0],
+    [-3,0,2,0,1,-78.0,0.0,0.0,41.0,0.0,0.0],
+    [-2,0,2,-2,1,-77.0,0.0,0.0,43.0,0.0,0.0],
+    [-1,1,0,2,2,2.0,0.0,0.0,54.0,0.0,0.0],
+    [0,-1,2,-1,2,94.0,0.0,0.0,-40.0,0.0,0.0],
+    [-1,0,4,-2,2,-93.0,0.0,0.0,40.0,0.0,0.0],
+    [0,-2,2,0,2,-83.0,0.0,10.0,40.0,0.0,-2.0],
+    [-1,0,2,1,2,83.0,0.0,0.0,-36.0,0.0,0.0],
+    [2,0,0,0,2,-91.0,0.0,0.0,39.0,0.0,0.0],
+    [0,0,2,0,3,128.0,0.0,0.0,-1.0,0.0,0.0],
+    [-2,0,4,0,2,-79.0,0.0,0.0,34.0,0.0,0.0],
+    [-1,0,-2,0,1,-83.0,0.0,0.0,47.0,0.0,0.0],
+    [-1,1,2,2,1,84.0,0.0,0.0,-44.0,0.0,0.0],
+    [3,0,0,0,1,83.0,0.0,0.0,-43.0,0.0,0.0],
+    [-1,0,2,3,2,91.0,0.0,0.0,-39.0,0.0,0.0],
+    [2,-1,2,0,1,-77.0,0.0,0.0,39.0,0.0,0.0],
+    [0,1,2,2,1,84.0,0.0,0.0,-43.0,0.0,0.0],
+    [0,-1,2,4,2,-92.0,0.0,1.0,39.0,0.0,0.0],
+    [2,-1,2,2,2,-92.0,0.0,1.0,39.0,0.0,0.0],
+  ]
+  private static let xls7: [[Double]] = [
+    [0,2,-2,2,0,-94.0,0.0,0.0,0.0,0.0,0.0],
+    [-1,-1,2,-1,1,68.0,0.0,0.0,-36.0,0.0,0.0],
+    [0,-2,0,0,1,-61.0,0.0,0.0,32.0,0.0,0.0],
+    [1,0,2,-4,2,71.0,0.0,0.0,-31.0,0.0,0.0],
+    [1,-1,0,-2,1,62.0,0.0,0.0,-34.0,0.0,0.0],
+    [-1,-1,2,0,1,-63.0,0.0,0.0,33.0,0.0,0.0],
+    [1,-1,2,-2,2,-73.0,0.0,0.0,32.0,0.0,0.0],
+    [-2,-1,0,4,0,115.0,0.0,0.0,-2.0,0.0,0.0],
+    [-1,0,0,3,0,-103.0,0.0,0.0,2.0,0.0,0.0],
+    [-2,-1,2,2,2,63.0,0.0,0.0,-28.0,0.0,0.0],
+    [0,2,2,0,2,74.0,0.0,0.0,-32.0,0.0,0.0],
+    [1,1,0,2,0,-103.0,0.0,-3.0,3.0,0.0,-1.0],
+    [2,0,2,-1,2,-69.0,0.0,0.0,30.0,0.0,0.0],
+    [1,0,2,1,1,57.0,0.0,0.0,-29.0,0.0,0.0],
+    [4,0,0,0,0,94.0,0.0,0.0,-4.0,0.0,0.0],
+    [2,1,2,0,1,64.0,0.0,0.0,-33.0,0.0,0.0],
+    [3,-1,2,0,2,-63.0,0.0,0.0,26.0,0.0,0.0],
+    [-2,2,0,2,1,-38.0,0.0,0.0,20.0,0.0,0.0],
+    [1,0,2,-3,1,-43.0,0.0,0.0,24.0,0.0,0.0],
+    [1,1,2,-4,1,-45.0,0.0,0.0,23.0,0.0,0.0],
+    [-1,-1,2,-2,1,47.0,0.0,0.0,-24.0,0.0,0.0],
+    [0,-1,0,-1,1,-48.0,0.0,0.0,25.0,0.0,0.0],
+    [0,-1,0,-2,1,45.0,0.0,0.0,-26.0,0.0,0.0],
+    [-2,0,0,0,2,56.0,0.0,0.0,-25.0,0.0,0.0],
+    [-2,0,-2,2,0,88.0,0.0,0.0,2.0,0.0,0.0],
+    [-1,0,-2,4,0,-75.0,0.0,0.0,0.0,0.0,0.0],
+    [1,-2,0,0,0,85.0,0.0,0.0,0.0,0.0,0.0],
+    [0,1,0,1,1,49.0,0.0,0.0,-26.0,0.0,0.0],
+    [-1,2,0,2,0,-74.0,0.0,-3.0,-1.0,0.0,-1.0],
+    [1,-1,2,-2,1,-39.0,0.0,0.0,21.0,0.0,0.0],
+    [1,2,2,-2,2,45.0,0.0,0.0,-20.0,0.0,0.0],
+    [2,-1,2,-2,2,51.0,0.0,0.0,-22.0,0.0,0.0],
+  ]
+  private static let xls8: [[Double]] = [
+    [1,0,2,-1,1,-40.0,0.0,0.0,21.0,0.0,0.0],
+    [2,1,2,-2,1,41.0,0.0,0.0,-21.0,0.0,0.0],
+    [-2,0,0,-2,1,-42.0,0.0,0.0,24.0,0.0,0.0],
+    [1,-2,2,0,2,-51.0,0.0,0.0,22.0,0.0,0.0],
+    [0,1,2,1,1,-42.0,0.0,0.0,22.0,0.0,0.0],
+    [1,0,4,-2,1,39.0,0.0,0.0,-21.0,0.0,0.0],
+    [-2,0,4,2,2,46.0,0.0,0.0,-18.0,0.0,0.0],
+    [1,1,2,1,2,-53.0,0.0,0.0,22.0,0.0,0.0],
+    [1,0,0,4,0,82.0,0.0,0.0,-4.0,0.0,0.0],
+    [1,0,2,2,0,81.0,0.0,-1.0,-4.0,0.0,0.0],
+    [2,0,2,1,2,47.0,0.0,0.0,-19.0,0.0,0.0],
+    [3,1,2,0,2,53.0,0.0,0.0,-23.0,0.0,0.0],
+    [4,0,2,0,1,-45.0,0.0,0.0,22.0,0.0,0.0],
+    [-2,-1,2,0,0,-44.0,0.0,0.0,-2.0,0.0,0.0],
+    [0,1,-2,2,1,-33.0,0.0,0.0,16.0,0.0,0.0],
+    [1,0,-2,1,0,-61.0,0.0,0.0,1.0,0.0,0.0],
+    [0,-1,-2,2,1,28.0,0.0,0.0,-15.0,0.0,0.0],
+    [2,-1,0,-2,1,-38.0,0.0,0.0,19.0,0.0,0.0],
+    [-1,0,2,-1,2,-33.0,0.0,0.0,21.0,0.0,0.0],
+    [1,0,2,-3,2,-60.0,0.0,0.0,0.0,0.0,0.0],
+    [0,1,2,-2,3,48.0,0.0,0.0,-10.0,0.0,0.0],
+    [0,0,2,-3,1,27.0,0.0,0.0,-14.0,0.0,0.0],
+    [-1,0,-2,2,1,38.0,0.0,0.0,-20.0,0.0,0.0],
+    [0,0,2,-4,2,31.0,0.0,0.0,-13.0,0.0,0.0],
+    [-2,1,0,0,1,-29.0,0.0,0.0,15.0,0.0,0.0],
+    [-1,0,0,-1,1,28.0,0.0,0.0,-15.0,0.0,0.0],
+    [2,0,2,-4,2,-32.0,0.0,0.0,15.0,0.0,0.0],
+    [0,0,4,-4,4,45.0,0.0,0.0,-8.0,0.0,0.0],
+    [0,0,4,-4,2,-44.0,0.0,0.0,19.0,0.0,0.0],
+    [-1,-2,0,2,1,28.0,0.0,0.0,-15.0,0.0,0.0],
+    [-2,0,0,3,0,-51.0,0.0,0.0,0.0,0.0,0.0],
+    [1,0,-2,2,1,-36.0,0.0,0.0,20.0,0.0,0.0],
+  ]
+  private static let xls9: [[Double]] = [
+    [-3,0,2,2,2,44.0,0.0,0.0,-19.0,0.0,0.0],
+    [-3,0,2,2,1,26.0,0.0,0.0,-14.0,0.0,0.0],
+    [-2,0,2,2,0,-60.0,0.0,0.0,2.0,0.0,0.0],
+    [2,-1,0,0,1,35.0,0.0,0.0,-18.0,0.0,0.0],
+    [-2,1,2,2,2,-27.0,0.0,0.0,11.0,0.0,0.0],
+    [1,1,0,1,0,47.0,0.0,0.0,-1.0,0.0,0.0],
+    [0,1,4,-2,2,36.0,0.0,0.0,-15.0,0.0,0.0],
+    [-1,1,0,-2,1,-36.0,0.0,0.0,20.0,0.0,0.0],
+    [0,0,0,-4,1,-35.0,0.0,0.0,19.0,0.0,0.0],
+    [1,-1,0,2,1,-37.0,0.0,0.0,19.0,0.0,0.0],
+    [1,1,0,2,1,32.0,0.0,0.0,-16.0,0.0,0.0],
+    [-1,2,2,2,2,35.0,0.0,0.0,-14.0,0.0,0.0],
+    [3,1,2,-2,2,32.0,0.0,0.0,-13.0,0.0,0.0],
+    [0,-1,0,4,0,65.0,0.0,0.0,-2.0,0.0,0.0],
+    [2,-1,0,2,0,47.0,0.0,0.0,-1.0,0.0,0.0],
+    [0,0,4,0,1,32.0,0.0,0.0,-16.0,0.0,0.0],
+    [2,0,4,-2,2,37.0,0.0,0.0,-16.0,0.0,0.0],
+    [-1,-1,2,4,1,-30.0,0.0,0.0,15.0,0.0,0.0],
+    [1,0,0,4,1,-32.0,0.0,0.0,16.0,0.0,0.0],
+    [1,-2,2,2,2,-31.0,0.0,0.0,13.0,0.0,0.0],
+    [0,0,2,3,2,37.0,0.0,0.0,-16.0,0.0,0.0],
+    [-1,1,2,4,2,31.0,0.0,0.0,-13.0,0.0,0.0],
+    [3,0,0,2,0,49.0,0.0,0.0,-2.0,0.0,0.0],
+    [-1,0,4,2,2,32.0,0.0,0.0,-13.0,0.0,0.0],
+    [1,1,2,2,1,23.0,0.0,0.0,-12.0,0.0,0.0],
+    [-2,0,2,6,2,-43.0,0.0,0.0,18.0,0.0,0.0],
+    [2,1,2,2,2,26.0,0.0,0.0,-11.0,0.0,0.0],
+    [-1,0,2,6,2,-32.0,0.0,0.0,14.0,0.0,0.0],
+    [1,0,2,4,1,-29.0,0.0,0.0,14.0,0.0,0.0],
+    [2,0,2,4,2,-27.0,0.0,0.0,12.0,0.0,0.0],
+    [1,1,-2,1,0,30.0,0.0,0.0,0.0,0.0,0.0],
+    [-3,1,2,1,2,-11.0,0.0,0.0,5.0,0.0,0.0],
+  ]
+  private static let xls10: [[Double]] = [
+    [2,0,-2,0,2,-21.0,0.0,0.0,10.0,0.0,0.0],
+    [-1,0,0,1,2,-34.0,0.0,0.0,15.0,0.0,0.0],
+    [-4,0,2,2,1,-10.0,0.0,0.0,6.0,0.0,0.0],
+    [-1,-1,0,1,0,-36.0,0.0,0.0,0.0,0.0,0.0],
+    [0,0,-2,2,2,-9.0,0.0,0.0,4.0,0.0,0.0],
+    [1,0,0,-1,2,-12.0,0.0,0.0,5.0,0.0,0.0],
+    [0,-1,2,-2,3,-21.0,0.0,0.0,5.0,0.0,0.0],
+    [-2,1,2,0,0,-29.0,0.0,0.0,-1.0,0.0,0.0],
+    [0,0,2,-2,4,-15.0,0.0,0.0,3.0,0.0,0.0],
+    [-2,-2,0,2,0,-20.0,0.0,0.0,0.0,0.0,0.0],
+    [-2,0,-2,4,0,28.0,0.0,0.0,0.0,0.0,-2.0],
+    [0,-2,-2,2,0,17.0,0.0,0.0,0.0,0.0,0.0],
+    [1,2,0,-2,1,-22.0,0.0,0.0,12.0,0.0,0.0],
+    [3,0,0,-4,1,-14.0,0.0,0.0,7.0,0.0,0.0],
+    [-1,1,2,-2,2,24.0,0.0,0.0,-11.0,0.0,0.0],
+    [1,-1,2,-4,1,11.0,0.0,0.0,-6.0,0.0,0.0],
+    [1,1,0,-2,2,14.0,0.0,0.0,-6.0,0.0,0.0],
+    [-3,0,2,0,0,24.0,0.0,0.0,0.0,0.0,0.0],
+    [-3,0,2,0,2,18.0,0.0,0.0,-8.0,0.0,0.0],
+    [-2,0,0,1,0,-38.0,0.0,0.0,0.0,0.0,0.0],
+    [0,0,-2,1,0,-31.0,0.0,0.0,0.0,0.0,0.0],
+    [-3,0,0,2,1,-16.0,0.0,0.0,8.0,0.0,0.0],
+    [-1,-1,-2,2,0,29.0,0.0,0.0,0.0,0.0,0.0],
+    [0,1,2,-4,1,-18.0,0.0,0.0,10.0,0.0,0.0],
+    [2,1,0,-4,1,-10.0,0.0,0.0,5.0,0.0,0.0],
+    [0,2,0,-2,1,-17.0,0.0,0.0,10.0,0.0,0.0],
+    [1,0,0,-3,1,9.0,0.0,0.0,-4.0,0.0,0.0],
+    [-2,0,2,-2,2,16.0,0.0,0.0,-6.0,0.0,0.0],
+    [-2,-1,0,0,1,22.0,0.0,0.0,-12.0,0.0,0.0],
+    [-4,0,0,2,0,20.0,0.0,0.0,0.0,0.0,0.0],
+    [1,1,0,-4,1,-13.0,0.0,0.0,6.0,0.0,0.0],
+    [-1,0,2,-4,1,-17.0,0.0,0.0,9.0,0.0,0.0],
+  ]
+  private static let xls11: [[Double]] = [
+    [0,0,4,-4,1,-14.0,0.0,0.0,8.0,0.0,0.0],
+    [0,3,2,-2,2,0.0,0.0,0.0,-7.0,0.0,0.0],
+    [-3,-1,0,4,0,14.0,0.0,0.0,0.0,0.0,0.0],
+    [-3,0,0,4,1,19.0,0.0,0.0,-10.0,0.0,0.0],
+    [1,-1,-2,2,0,-34.0,0.0,0.0,0.0,0.0,0.0],
+    [-1,-1,0,2,2,-20.0,0.0,0.0,8.0,0.0,0.0],
+    [1,-2,0,0,1,9.0,0.0,0.0,-5.0,0.0,0.0],
+    [1,-1,0,0,2,-18.0,0.0,0.0,7.0,0.0,0.0],
+    [0,0,0,1,2,13.0,0.0,0.0,-6.0,0.0,0.0],
+    [-1,-1,2,0,0,17.0,0.0,0.0,0.0,0.0,0.0],
+    [1,-2,2,-2,2,-12.0,0.0,0.0,5.0,0.0,0.0],
+    [0,-1,2,-1,1,15.0,0.0,0.0,-8.0,0.0,0.0],
+    [-1,0,2,0,3,-11.0,0.0,0.0,3.0,0.0,0.0],
+    [1,1,0,0,2,13.0,0.0,0.0,-5.0,0.0,0.0],
+    [-1,1,2,0,0,-18.0,0.0,0.0,0.0,0.0,0.0],
+    [1,2,0,0,0,-35.0,0.0,0.0,0.0,0.0,0.0],
+    [-1,2,2,0,2,9.0,0.0,0.0,-4.0,0.0,0.0],
+    [-1,0,4,-2,1,-19.0,0.0,0.0,10.0,0.0,0.0],
+    [3,0,2,-4,2,-26.0,0.0,0.0,11.0,0.0,0.0],
+    [1,2,2,-2,1,8.0,0.0,0.0,-4.0,0.0,0.0],
+    [1,0,4,-4,2,-10.0,0.0,0.0,4.0,0.0,0.0],
+    [-2,-1,0,4,1,10.0,0.0,0.0,-6.0,0.0,0.0],
+    [0,-1,0,2,2,-21.0,0.0,0.0,9.0,0.0,0.0],
+    [-2,1,0,4,0,-15.0,0.0,0.0,0.0,0.0,0.0],
+    [-2,-1,2,2,1,9.0,0.0,0.0,-5.0,0.0,0.0],
+    [2,0,-2,2,0,-29.0,0.0,0.0,0.0,0.0,0.0],
+    [1,0,0,1,1,-19.0,0.0,0.0,10.0,0.0,0.0],
+    [0,1,0,2,2,12.0,0.0,0.0,-5.0,0.0,0.0],
+    [1,-1,2,-1,2,22.0,0.0,0.0,-9.0,0.0,0.0],
+    [-2,0,4,0,1,-10.0,0.0,0.0,5.0,0.0,0.0],
+    [2,1,0,0,1,-20.0,0.0,0.0,11.0,0.0,0.0],
+    [0,1,2,0,0,-20.0,0.0,0.0,0.0,0.0,0.0],
+  ]
+  private static let xls12: [[Double]] = [
+    [0,-1,4,-2,2,-17.0,0.0,0.0,7.0,0.0,0.0],
+    [0,0,4,-2,4,15.0,0.0,0.0,-3.0,0.0,0.0],
+    [0,2,2,0,1,8.0,0.0,0.0,-4.0,0.0,0.0],
+    [-3,0,0,6,0,14.0,0.0,0.0,0.0,0.0,0.0],
+    [-1,-1,0,4,1,-12.0,0.0,0.0,6.0,0.0,0.0],
+    [1,-2,0,2,0,25.0,0.0,0.0,0.0,0.0,0.0],
+    [-1,0,0,4,2,-13.0,0.0,0.0,6.0,0.0,0.0],
+    [-1,-2,2,2,1,-14.0,0.0,0.0,8.0,0.0,0.0],
+    [-1,0,0,-2,2,13.0,0.0,0.0,-5.0,0.0,0.0],
+    [1,0,-2,-2,1,-17.0,0.0,0.0,9.0,0.0,0.0],
+    [0,0,-2,-2,1,-12.0,0.0,0.0,6.0,0.0,0.0],
+    [-2,0,-2,0,1,-10.0,0.0,0.0,5.0,0.0,0.0],
+    [0,0,0,3,1,10.0,0.0,0.0,-6.0,0.0,0.0],
+    [0,0,0,3,0,-15.0,0.0,0.0,0.0,0.0,0.0],
+    [-1,1,0,4,0,-22.0,0.0,0.0,0.0,0.0,0.0],
+    [-1,-1,2,2,0,28.0,0.0,0.0,-1.0,0.0,0.0],
+    [-2,0,2,3,2,15.0,0.0,0.0,-7.0,0.0,0.0],
+    [1,0,0,2,2,23.0,0.0,0.0,-10.0,0.0,0.0],
+    [0,-1,2,1,2,12.0,0.0,0.0,-5.0,0.0,0.0],
+    [3,-1,0,0,0,29.0,0.0,0.0,-1.0,0.0,0.0],
+    [2,0,0,1,0,-25.0,0.0,0.0,1.0,0.0,0.0],
+    [1,-1,2,0,0,22.0,0.0,0.0,0.0,0.0,0.0],
+    [0,0,2,1,0,-18.0,0.0,0.0,0.0,0.0,0.0],
+    [1,0,2,0,3,15.0,0.0,0.0,3.0,0.0,0.0],
+    [3,1,0,0,0,-23.0,0.0,0.0,0.0,0.0,0.0],
+    [3,-1,2,-2,2,12.0,0.0,0.0,-5.0,0.0,0.0],
+    [2,0,2,-1,1,-8.0,0.0,0.0,4.0,0.0,0.0],
+    [1,1,2,0,0,-19.0,0.0,0.0,0.0,0.0,0.0],
+    [0,0,4,-1,2,-10.0,0.0,0.0,4.0,0.0,0.0],
+    [1,2,2,0,2,21.0,0.0,0.0,-9.0,0.0,0.0],
+    [-2,0,0,6,0,23.0,0.0,0.0,-1.0,0.0,0.0],
+    [0,-1,0,4,1,-16.0,0.0,0.0,8.0,0.0,0.0],
+  ]
+  private static let xls13: [[Double]] = [
+    [-2,-1,2,4,1,-19.0,0.0,0.0,9.0,0.0,0.0],
+    [0,-2,2,2,1,-22.0,0.0,0.0,10.0,0.0,0.0],
+    [0,-1,2,2,0,27.0,0.0,0.0,-1.0,0.0,0.0],
+    [-1,0,2,3,1,16.0,0.0,0.0,-8.0,0.0,0.0],
+    [-2,1,2,4,2,19.0,0.0,0.0,-8.0,0.0,0.0],
+    [2,0,0,2,2,9.0,0.0,0.0,-4.0,0.0,0.0],
+    [2,-2,2,0,2,-9.0,0.0,0.0,4.0,0.0,0.0],
+    [-1,1,2,3,2,-9.0,0.0,0.0,4.0,0.0,0.0],
+    [3,0,2,-1,2,-8.0,0.0,0.0,4.0,0.0,0.0],
+    [4,0,2,-2,1,18.0,0.0,0.0,-9.0,0.0,0.0],
+    [-1,0,0,6,0,16.0,0.0,0.0,-1.0,0.0,0.0],
+    [-1,-2,2,4,2,-10.0,0.0,0.0,4.0,0.0,0.0],
+    [-3,0,2,6,2,-23.0,0.0,0.0,9.0,0.0,0.0],
+    [-1,0,2,4,0,16.0,0.0,0.0,-1.0,0.0,0.0],
+    [3,0,0,2,1,-12.0,0.0,0.0,6.0,0.0,0.0],
+    [3,-1,2,0,1,-8.0,0.0,0.0,4.0,0.0,0.0],
+    [3,0,2,0,0,30.0,0.0,0.0,-2.0,0.0,0.0],
+    [1,0,4,0,2,24.0,0.0,0.0,-10.0,0.0,0.0],
+    [5,0,2,-2,2,10.0,0.0,0.0,-4.0,0.0,0.0],
+    [0,-1,2,4,1,-16.0,0.0,0.0,7.0,0.0,0.0],
+    [2,-1,2,2,1,-16.0,0.0,0.0,7.0,0.0,0.0],
+    [0,1,2,4,2,17.0,0.0,0.0,-7.0,0.0,0.0],
+    [1,-1,2,4,2,-24.0,0.0,0.0,10.0,0.0,0.0],
+    [3,-1,2,2,2,-12.0,0.0,0.0,5.0,0.0,0.0],
+    [3,0,2,2,1,-24.0,0.0,0.0,11.0,0.0,0.0],
+    [5,0,2,0,2,-23.0,0.0,0.0,9.0,0.0,0.0],
+    [0,0,2,6,2,-13.0,0.0,0.0,5.0,0.0,0.0],
+    [4,0,2,2,2,-15.0,0.0,0.0,7.0,0.0,0.0],
+    [0,-1,1,-1,1,0.0,0.0,-1988.0,0.0,0.0,-1679.0],
+    [-1,0,1,0,3,0.0,0.0,-63.0,0.0,0.0,-27.0],
+    [0,-2,2,-2,3,-4.0,0.0,0.0,0.0,0.0,0.0],
+    [1,0,-1,0,1,0.0,0.0,5.0,0.0,0.0,4.0],
+  ]
+  private static let xls14: [[Double]] = [
+    [2,-2,0,-2,1,5.0,0.0,0.0,-3.0,0.0,0.0],
+    [-1,0,1,0,2,0.0,0.0,364.0,0.0,0.0,176.0],
+    [-1,0,1,0,1,0.0,0.0,-1044.0,0.0,0.0,-891.0],
+    [-1,-1,2,-1,2,-3.0,0.0,0.0,1.0,0.0,0.0],
+    [-2,2,0,2,2,4.0,0.0,0.0,-2.0,0.0,0.0],
+    [-1,0,1,0,0,0.0,0.0,330.0,0.0,0.0,0.0],
+    [-4,1,2,2,2,5.0,0.0,0.0,-2.0,0.0,0.0],
+    [-3,0,2,1,1,3.0,0.0,0.0,-2.0,0.0,0.0],
+    [-2,-1,2,0,2,-3.0,0.0,0.0,1.0,0.0,0.0],
+    [1,0,-2,1,1,-5.0,0.0,0.0,2.0,0.0,0.0],
+    [2,-1,-2,0,1,3.0,0.0,0.0,-1.0,0.0,0.0],
+    [-4,0,2,2,0,3.0,0.0,0.0,0.0,0.0,0.0],
+    [-3,1,0,3,0,3.0,0.0,0.0,0.0,0.0,0.0],
+    [-1,0,-1,2,0,0.0,0.0,5.0,0.0,0.0,0.0],
+    [0,-2,0,0,2,0.0,0.0,0.0,1.0,0.0,0.0],
+    [0,-2,0,0,2,4.0,0.0,0.0,-2.0,0.0,0.0],
+    [-3,0,0,3,0,6.0,0.0,0.0,0.0,0.0,0.0],
+    [-2,-1,0,2,2,5.0,0.0,0.0,-2.0,0.0,0.0],
+    [-1,0,-2,3,0,-7.0,0.0,0.0,0.0,0.0,0.0],
+    [-4,0,0,4,0,-12.0,0.0,0.0,0.0,0.0,0.0],
+    [2,1,-2,0,1,5.0,0.0,0.0,-3.0,0.0,0.0],
+    [2,-1,0,-2,2,3.0,0.0,0.0,-1.0,0.0,0.0],
+    [0,0,1,-1,0,-5.0,0.0,0.0,0.0,0.0,0.0],
+    [-1,2,0,1,0,3.0,0.0,0.0,0.0,0.0,0.0],
+    [-2,1,2,0,2,-7.0,0.0,0.0,3.0,0.0,0.0],
+    [1,1,0,-1,1,7.0,0.0,0.0,-4.0,0.0,0.0],
+    [1,0,1,-2,1,0.0,0.0,-12.0,0.0,0.0,-10.0],
+    [0,2,0,0,2,4.0,0.0,0.0,-2.0,0.0,0.0],
+    [1,-1,2,-3,1,3.0,0.0,0.0,-2.0,0.0,0.0],
+    [-1,1,2,-1,1,-3.0,0.0,0.0,2.0,0.0,0.0],
+    [-2,0,4,-2,2,-7.0,0.0,0.0,3.0,0.0,0.0],
+    [-2,0,4,-2,1,-4.0,0.0,0.0,2.0,0.0,0.0],
+  ]
+  private static let xls15: [[Double]] = [
+    [-2,-2,0,2,1,-3.0,0.0,0.0,1.0,0.0,0.0],
+    [-2,0,-2,4,0,0.0,0.0,0.0,0.0,0.0,0.0],
+    [1,2,2,-4,1,-3.0,0.0,0.0,1.0,0.0,0.0],
+    [1,1,2,-4,2,7.0,0.0,0.0,-3.0,0.0,0.0],
+    [-1,2,2,-2,1,-4.0,0.0,0.0,2.0,0.0,0.0],
+    [2,0,0,-3,1,4.0,0.0,0.0,-2.0,0.0,0.0],
+    [-1,2,0,0,1,-5.0,0.0,0.0,3.0,0.0,0.0],
+    [0,0,0,-2,0,5.0,0.0,0.0,0.0,0.0,0.0],
+    [-1,-1,2,-2,2,-5.0,0.0,0.0,2.0,0.0,0.0],
+    [-1,1,0,0,2,5.0,0.0,0.0,-2.0,0.0,0.0],
+    [0,0,0,-1,2,-8.0,0.0,0.0,3.0,0.0,0.0],
+    [-2,1,0,1,0,9.0,0.0,0.0,0.0,0.0,0.0],
+    [1,-2,0,-2,1,6.0,0.0,0.0,-3.0,0.0,0.0],
+    [1,0,-2,0,2,-5.0,0.0,0.0,2.0,0.0,0.0],
+    [-3,1,0,2,0,3.0,0.0,0.0,0.0,0.0,0.0],
+    [-1,1,-2,2,0,-7.0,0.0,0.0,0.0,0.0,0.0],
+    [-1,-1,0,0,2,-3.0,0.0,0.0,1.0,0.0,0.0],
+    [-3,0,0,2,0,5.0,0.0,0.0,0.0,0.0,0.0],
+    [-3,-1,0,2,0,3.0,0.0,0.0,0.0,0.0,0.0],
+    [2,0,2,-6,1,-3.0,0.0,0.0,2.0,0.0,0.0],
+    [0,1,2,-4,2,4.0,0.0,0.0,-2.0,0.0,0.0],
+    [2,0,0,-4,2,3.0,0.0,0.0,-1.0,0.0,0.0],
+    [-2,1,2,-2,1,-5.0,0.0,0.0,2.0,0.0,0.0],
+    [0,-1,2,-4,1,4.0,0.0,0.0,-2.0,0.0,0.0],
+    [0,1,0,-2,2,9.0,0.0,0.0,-3.0,0.0,0.0],
+    [-1,0,0,-2,0,4.0,0.0,0.0,0.0,0.0,0.0],
+    [2,0,-2,-2,1,4.0,0.0,0.0,-2.0,0.0,0.0],
+    [-4,0,2,0,1,-3.0,0.0,0.0,2.0,0.0,0.0],
+    [-1,-1,0,-1,1,-4.0,0.0,0.0,2.0,0.0,0.0],
+    [0,0,-2,0,2,9.0,0.0,0.0,-3.0,0.0,0.0],
+    [-3,0,0,1,0,-4.0,0.0,0.0,0.0,0.0,0.0],
+    [-1,0,-2,1,0,-4.0,0.0,0.0,0.0,0.0,0.0],
+  ]
+  private static let xls16: [[Double]] = [
+    [-2,0,-2,2,1,3.0,0.0,0.0,-2.0,0.0,0.0],
+    [0,0,-4,2,0,8.0,0.0,0.0,0.0,0.0,0.0],
+    [-2,-1,-2,2,0,3.0,0.0,0.0,0.0,0.0,0.0],
+    [1,0,2,-6,1,-3.0,0.0,0.0,2.0,0.0,0.0],
+    [-1,0,2,-4,2,3.0,0.0,0.0,-1.0,0.0,0.0],
+    [1,0,0,-4,2,3.0,0.0,0.0,-1.0,0.0,0.0],
+    [2,1,2,-4,2,-3.0,0.0,0.0,1.0,0.0,0.0],
+    [2,1,2,-4,1,6.0,0.0,0.0,-3.0,0.0,0.0],
+    [0,1,4,-4,4,3.0,0.0,0.0,0.0,0.0,0.0],
+    [0,1,4,-4,2,-3.0,0.0,0.0,1.0,0.0,0.0],
+    [-1,-1,-2,4,0,-7.0,0.0,0.0,0.0,0.0,0.0],
+    [-1,-3,0,2,0,9.0,0.0,0.0,0.0,0.0,0.0],
+    [-1,0,-2,4,1,-3.0,0.0,0.0,2.0,0.0,0.0],
+    [-2,-1,0,3,0,-3.0,0.0,0.0,0.0,0.0,0.0],
+    [0,0,-2,3,0,-4.0,0.0,0.0,0.0,0.0,0.0],
+    [-2,0,0,3,1,-5.0,0.0,0.0,3.0,0.0,0.0],
+    [0,-1,0,1,0,-13.0,0.0,0.0,0.0,0.0,0.0],
+    [-3,0,2,2,0,-7.0,0.0,0.0,0.0,0.0,0.0],
+    [1,1,-2,2,0,10.0,0.0,0.0,0.0,0.0,0.0],
+    [-1,1,0,2,2,3.0,0.0,0.0,-1.0,0.0,0.0],
+    [1,-2,2,-2,1,10.0,0.0,13.0,6.0,0.0,-5.0],
+    [0,0,1,0,2,0.0,0.0,30.0,0.0,0.0,14.0],
+    [0,0,1,0,1,0.0,0.0,-162.0,0.0,0.0,-138.0],
+    [0,0,1,0,0,0.0,0.0,75.0,0.0,0.0,0.0],
+    [-1,2,0,2,1,-7.0,0.0,0.0,4.0,0.0,0.0],
+    [0,0,2,0,2,-4.0,0.0,0.0,2.0,0.0,0.0],
+    [-2,0,2,0,2,4.0,0.0,0.0,-2.0,0.0,0.0],
+    [2,0,0,-1,1,5.0,0.0,0.0,-2.0,0.0,0.0],
+    [3,0,0,-2,1,5.0,0.0,0.0,-3.0,0.0,0.0],
+    [1,0,2,-2,3,-3.0,0.0,0.0,0.0,0.0,0.0],
+    [1,2,0,0,1,-3.0,0.0,0.0,2.0,0.0,0.0],
+    [2,0,2,-3,2,-4.0,0.0,0.0,2.0,0.0,0.0],
+  ]
+  private static let xls17: [[Double]] = [
+    [-1,1,4,-2,2,-5.0,0.0,0.0,2.0,0.0,0.0],
+    [-2,-2,0,4,0,6.0,0.0,0.0,0.0,0.0,0.0],
+    [0,-3,0,2,0,9.0,0.0,0.0,0.0,0.0,0.0],
+    [0,0,-2,4,0,5.0,0.0,0.0,0.0,0.0,0.0],
+    [-1,-1,0,3,0,-7.0,0.0,0.0,0.0,0.0,0.0],
+    [-2,0,0,4,2,-3.0,0.0,0.0,1.0,0.0,0.0],
+    [-1,0,0,3,1,-4.0,0.0,0.0,2.0,0.0,0.0],
+    [2,-2,0,0,0,7.0,0.0,0.0,0.0,0.0,0.0],
+    [1,-1,0,1,0,-4.0,0.0,0.0,0.0,0.0,0.0],
+    [-1,0,0,2,0,4.0,0.0,0.0,0.0,0.0,0.0],
+    [0,-2,2,0,1,-6.0,0.0,-3.0,3.0,0.0,1.0],
+    [-1,0,1,2,1,0.0,0.0,-3.0,0.0,0.0,-2.0],
+    [-1,1,0,3,0,11.0,0.0,0.0,0.0,0.0,0.0],
+    [-1,-1,2,1,2,3.0,0.0,0.0,-1.0,0.0,0.0],
+    [0,-1,2,0,0,11.0,0.0,0.0,0.0,0.0,0.0],
+    [-2,1,2,2,1,-3.0,0.0,0.0,2.0,0.0,0.0],
+    [2,-2,2,-2,2,-1.0,0.0,3.0,3.0,0.0,-1.0],
+    [1,1,0,1,1,4.0,0.0,0.0,-2.0,0.0,0.0],
+    [1,0,1,0,1,0.0,0.0,-13.0,0.0,0.0,-11.0],
+    [1,0,1,0,0,3.0,0.0,6.0,0.0,0.0,0.0],
+    [0,2,0,2,0,-7.0,0.0,0.0,0.0,0.0,0.0],
+    [2,-1,2,-2,1,5.0,0.0,0.0,-3.0,0.0,0.0],
+    [0,-1,4,-2,1,-3.0,0.0,0.0,1.0,0.0,0.0],
+    [0,0,4,-2,3,3.0,0.0,0.0,0.0,0.0,0.0],
+    [0,1,4,-2,1,5.0,0.0,0.0,-3.0,0.0,0.0],
+    [4,0,2,-4,2,-7.0,0.0,0.0,3.0,0.0,0.0],
+    [2,2,2,-2,2,8.0,0.0,0.0,-3.0,0.0,0.0],
+    [2,0,4,-4,2,-4.0,0.0,0.0,2.0,0.0,0.0],
+    [-1,-2,0,4,0,11.0,0.0,0.0,0.0,0.0,0.0],
+    [-1,-3,2,2,2,-3.0,0.0,0.0,1.0,0.0,0.0],
+    [-3,0,2,4,2,3.0,0.0,0.0,-1.0,0.0,0.0],
+    [-3,0,2,-2,1,-4.0,0.0,0.0,2.0,0.0,0.0],
+  ]
+  private static let xls18: [[Double]] = [
+    [-1,-1,0,-2,1,8.0,0.0,0.0,-4.0,0.0,0.0],
+    [-3,0,0,0,2,3.0,0.0,0.0,-1.0,0.0,0.0],
+    [-3,0,-2,2,0,11.0,0.0,0.0,0.0,0.0,0.0],
+    [0,1,0,-4,1,-6.0,0.0,0.0,3.0,0.0,0.0],
+    [-2,1,0,-2,1,-4.0,0.0,0.0,2.0,0.0,0.0],
+    [-4,0,0,0,1,-8.0,0.0,0.0,4.0,0.0,0.0],
+    [-1,0,0,-4,1,-7.0,0.0,0.0,3.0,0.0,0.0],
+    [-3,0,0,-2,1,-4.0,0.0,0.0,2.0,0.0,0.0],
+    [0,0,0,3,2,3.0,0.0,0.0,-1.0,0.0,0.0],
+    [-1,1,0,4,1,6.0,0.0,0.0,-3.0,0.0,0.0],
+    [1,-2,2,0,1,-6.0,0.0,0.0,3.0,0.0,0.0],
+    [0,1,0,3,0,6.0,0.0,0.0,0.0,0.0,0.0],
+    [-1,0,2,2,3,6.0,0.0,0.0,-1.0,0.0,0.0],
+    [0,0,2,2,2,5.0,0.0,0.0,-2.0,0.0,0.0],
+    [-2,0,2,2,2,-5.0,0.0,0.0,2.0,0.0,0.0],
+    [-1,1,2,2,0,-4.0,0.0,0.0,0.0,0.0,0.0],
+    [3,0,0,0,2,-4.0,0.0,0.0,2.0,0.0,0.0],
+    [2,1,0,1,0,4.0,0.0,0.0,0.0,0.0,0.0],
+    [2,-1,2,-1,2,6.0,0.0,0.0,-3.0,0.0,0.0],
+    [0,0,2,0,1,-4.0,0.0,0.0,2.0,0.0,0.0],
+    [0,0,3,0,3,0.0,0.0,-26.0,0.0,0.0,-11.0],
+    [0,0,3,0,2,0.0,0.0,-10.0,0.0,0.0,-5.0],
+    [-1,2,2,2,1,5.0,0.0,0.0,-3.0,0.0,0.0],
+    [-1,0,4,0,0,-13.0,0.0,0.0,0.0,0.0,0.0],
+    [1,2,2,0,1,3.0,0.0,0.0,-2.0,0.0,0.0],
+    [3,1,2,-2,1,4.0,0.0,0.0,-2.0,0.0,0.0],
+    [1,1,4,-2,2,7.0,0.0,0.0,-3.0,0.0,0.0],
+    [-2,-1,0,6,0,4.0,0.0,0.0,0.0,0.0,0.0],
+    [0,-2,0,4,0,5.0,0.0,0.0,0.0,0.0,0.0],
+    [-2,0,0,6,1,-3.0,0.0,0.0,2.0,0.0,0.0],
+    [-2,-2,2,4,2,-6.0,0.0,0.0,2.0,0.0,0.0],
+    [0,-3,2,2,2,-5.0,0.0,0.0,2.0,0.0,0.0],
+  ]
+  private static let xls19: [[Double]] = [
+    [0,0,0,4,2,-7.0,0.0,0.0,3.0,0.0,0.0],
+    [-1,-1,2,3,2,5.0,0.0,0.0,-2.0,0.0,0.0],
+    [-2,0,2,4,0,13.0,0.0,0.0,0.0,0.0,0.0],
+    [2,-1,0,2,1,-4.0,0.0,0.0,2.0,0.0,0.0],
+    [1,0,0,3,0,-3.0,0.0,0.0,0.0,0.0,0.0],
+    [0,1,0,4,1,5.0,0.0,0.0,-2.0,0.0,0.0],
+    [0,1,0,4,0,-11.0,0.0,0.0,0.0,0.0,0.0],
+    [1,-1,2,1,2,5.0,0.0,0.0,-2.0,0.0,0.0],
+    [0,0,2,2,3,4.0,0.0,0.0,0.0,0.0,0.0],
+    [1,0,2,2,2,4.0,0.0,0.0,-2.0,0.0,0.0],
+    [-1,0,2,2,2,-4.0,0.0,0.0,2.0,0.0,0.0],
+    [-2,0,4,2,1,6.0,0.0,0.0,-3.0,0.0,0.0],
+    [2,1,0,2,1,3.0,0.0,0.0,-2.0,0.0,0.0],
+    [2,1,0,2,0,-12.0,0.0,0.0,0.0,0.0,0.0],
+    [2,-1,2,0,0,4.0,0.0,0.0,0.0,0.0,0.0],
+    [1,0,2,1,0,-3.0,0.0,0.0,0.0,0.0,0.0],
+    [0,1,2,2,0,-4.0,0.0,0.0,0.0,0.0,0.0],
+    [2,0,2,0,3,3.0,0.0,0.0,0.0,0.0,0.0],
+    [3,0,2,0,2,3.0,0.0,0.0,-1.0,0.0,0.0],
+    [1,0,2,0,2,-3.0,0.0,0.0,1.0,0.0,0.0],
+    [1,0,3,0,3,0.0,0.0,-5.0,0.0,0.0,-2.0],
+    [1,1,2,1,1,-7.0,0.0,0.0,4.0,0.0,0.0],
+    [0,2,2,2,2,6.0,0.0,0.0,-3.0,0.0,0.0],
+    [2,1,2,0,0,-3.0,0.0,0.0,0.0,0.0,0.0],
+    [2,0,4,-2,1,5.0,0.0,0.0,-3.0,0.0,0.0],
+    [4,1,2,-2,2,3.0,0.0,0.0,-1.0,0.0,0.0],
+    [-1,-1,0,6,0,3.0,0.0,0.0,0.0,0.0,0.0],
+    [-3,-1,2,6,2,-3.0,0.0,0.0,1.0,0.0,0.0],
+    [-1,0,0,6,1,-5.0,0.0,0.0,3.0,0.0,0.0],
+    [-3,0,2,6,1,-3.0,0.0,0.0,2.0,0.0,0.0],
+    [1,-1,0,4,1,-3.0,0.0,0.0,2.0,0.0,0.0],
+    [1,-1,0,4,0,12.0,0.0,0.0,0.0,0.0,0.0],
+  ]
+  private static let xls20: [[Double]] = [
+    [-2,0,2,5,2,3.0,0.0,0.0,-1.0,0.0,0.0],
+    [1,-2,2,2,1,-4.0,0.0,0.0,2.0,0.0,0.0],
+    [3,-1,0,2,0,4.0,0.0,0.0,0.0,0.0,0.0],
+    [1,-1,2,2,0,6.0,0.0,0.0,0.0,0.0,0.0],
+    [0,0,2,3,1,5.0,0.0,0.0,-3.0,0.0,0.0],
+    [-1,1,2,4,1,4.0,0.0,0.0,-2.0,0.0,0.0],
+    [0,1,2,3,2,-6.0,0.0,0.0,3.0,0.0,0.0],
+    [-1,0,4,2,1,4.0,0.0,0.0,-2.0,0.0,0.0],
+    [2,0,2,1,1,6.0,0.0,0.0,-3.0,0.0,0.0],
+    [5,0,0,0,0,6.0,0.0,0.0,0.0,0.0,0.0],
+    [2,1,2,1,2,-6.0,0.0,0.0,3.0,0.0,0.0],
+    [1,0,4,0,1,3.0,0.0,0.0,-2.0,0.0,0.0],
+    [3,1,2,0,1,7.0,0.0,0.0,-4.0,0.0,0.0],
+    [3,0,4,-2,2,4.0,0.0,0.0,-2.0,0.0,0.0],
+    [-2,-1,2,6,2,-5.0,0.0,0.0,2.0,0.0,0.0],
+    [0,0,0,6,0,5.0,0.0,0.0,0.0,0.0,0.0],
+    [0,-2,2,4,2,-6.0,0.0,0.0,3.0,0.0,0.0],
+    [-2,0,2,6,1,-6.0,0.0,0.0,3.0,0.0,0.0],
+    [2,0,0,4,1,-4.0,0.0,0.0,2.0,0.0,0.0],
+    [2,0,0,4,0,10.0,0.0,0.0,0.0,0.0,0.0],
+    [2,-2,2,2,2,-4.0,0.0,0.0,2.0,0.0,0.0],
+    [0,0,2,4,0,7.0,0.0,0.0,0.0,0.0,0.0],
+    [1,0,2,3,2,7.0,0.0,0.0,-3.0,0.0,0.0],
+    [4,0,0,2,0,4.0,0.0,0.0,0.0,0.0,0.0],
+    [2,0,2,2,0,11.0,0.0,0.0,0.0,0.0,0.0],
+    [0,0,4,2,2,5.0,0.0,0.0,-2.0,0.0,0.0],
+    [4,-1,2,0,2,-6.0,0.0,0.0,2.0,0.0,0.0],
+    [3,0,2,1,2,4.0,0.0,0.0,-2.0,0.0,0.0],
+    [2,1,2,2,1,3.0,0.0,0.0,-2.0,0.0,0.0],
+    [4,1,2,0,2,5.0,0.0,0.0,-2.0,0.0,0.0],
+    [-1,-1,2,6,2,-4.0,0.0,0.0,2.0,0.0,0.0],
+    [-1,0,2,6,1,-4.0,0.0,0.0,2.0,0.0,0.0],
+  ]
+  private static let xls21: [[Double]] = [
+    [1,-1,2,4,1,-3.0,0.0,0.0,2.0,0.0,0.0],
+    [1,1,2,4,2,4.0,0.0,0.0,-2.0,0.0,0.0],
+    [3,1,2,2,2,3.0,0.0,0.0,-1.0,0.0,0.0],
+    [5,0,2,0,1,-3.0,0.0,0.0,1.0,0.0,0.0],
+    [2,-1,2,4,2,-3.0,0.0,0.0,1.0,0.0,0.0],
+    [2,0,2,4,1,-3.0,0.0,0.0,2.0,0.0,0.0],
+  ]
+  static let xpl: [[Double]] = [xpl0,xpl1,xpl2,xpl3,xpl4,xpl5,xpl6,xpl7,xpl8,xpl9,xpl10,xpl11,xpl12,xpl13,xpl14,xpl15,xpl16,xpl17,xpl18,xpl19,xpl20,xpl21].flatMap { $0 }
+  private static let xpl0: [[Double]] = [
+    [0,0,0,0,0,0,8,-16,4,5,0,0,0,1440,0,0,0],
+    [0,0,0,0,0,0,-8,16,-4,-5,0,0,2,56,-117,-42,-40],
+    [0,0,0,0,0,0,8,-16,4,5,0,0,2,125,-43,0,-54],
+    [0,0,0,0,0,0,0,0,0,0,-1,2,2,0,5,0,0],
+    [0,0,0,0,0,0,-4,8,-1,-5,0,0,2,3,-7,-3,0],
+    [0,0,0,0,0,0,4,-8,3,0,0,0,1,3,0,0,-2],
+    [0,1,-1,1,0,0,3,-8,3,0,0,0,0,-114,0,0,61],
+    [-1,0,0,0,0,10,-3,0,0,0,0,0,0,-219,89,0,0],
+    [0,0,0,0,0,0,0,0,-2,6,-3,0,2,-3,0,0,0],
+    [0,0,0,0,0,0,4,-8,3,0,0,0,0,-462,1604,0,0],
+    [0,1,-1,1,0,0,-5,8,-3,0,0,0,0,99,0,0,-53],
+    [0,0,0,0,0,0,-4,8,-3,0,0,0,1,-3,0,0,2],
+    [0,0,0,0,0,0,4,-8,1,5,0,0,2,0,6,2,0],
+    [0,0,0,0,0,-5,6,4,0,0,0,0,2,3,0,0,0],
+    [0,0,0,0,0,0,0,0,2,-5,0,0,2,-12,0,0,0],
+    [0,0,0,0,0,0,0,0,2,-5,0,0,1,14,-218,117,8],
+    [0,1,-1,1,0,0,-1,0,2,-5,0,0,0,31,-481,-257,-17],
+    [0,0,0,0,0,0,0,0,2,-5,0,0,0,-491,128,0,0],
+    [0,1,-1,1,0,0,-1,0,-2,5,0,0,0,-3084,5123,2735,1647],
+    [0,0,0,0,0,0,0,0,-2,5,0,0,1,-1444,2409,-1286,-771],
+    [0,0,0,0,0,0,0,0,-2,5,0,0,2,11,-24,-11,-9],
+    [2,-1,-1,0,0,0,3,-7,0,0,0,0,0,26,-9,0,0],
+    [1,0,-2,0,0,19,-21,3,0,0,0,0,0,103,-60,0,0],
+    [0,1,-1,1,0,2,-4,0,-3,0,0,0,0,0,-13,-7,0],
+    [1,0,-1,1,0,0,-1,0,2,0,0,0,0,-26,-29,-16,14],
+    [0,1,-1,1,0,0,-1,0,-4,10,0,0,0,9,-27,-14,-5],
+    [-2,0,2,1,0,0,2,0,0,-5,0,0,0,12,0,0,-6],
+    [0,0,0,0,0,3,-7,4,0,0,0,0,0,-7,0,0,0],
+    [0,-1,1,0,0,0,1,0,1,-1,0,0,0,0,24,0,0],
+    [-2,0,2,1,0,0,2,0,-2,0,0,0,0,284,0,0,-151],
+    [-1,0,0,0,0,18,-16,0,0,0,0,0,0,226,101,0,0],
+    [-2,1,1,2,0,0,1,0,-2,0,0,0,0,0,-8,-2,0],
+  ]
+  private static let xpl1: [[Double]] = [
+    [-1,1,-1,1,0,18,-17,0,0,0,0,0,0,0,-6,-3,0],
+    [-1,0,1,1,0,0,2,-2,0,0,0,0,0,5,0,0,-3],
+    [0,0,0,0,0,-8,13,0,0,0,0,0,2,-41,175,76,17],
+    [0,2,-2,2,0,-8,11,0,0,0,0,0,0,0,15,6,0],
+    [0,0,0,0,0,-8,13,0,0,0,0,0,1,425,212,-133,269],
+    [0,1,-1,1,0,-8,12,0,0,0,0,0,0,1200,598,319,-641],
+    [0,0,0,0,0,8,-13,0,0,0,0,0,0,235,334,0,0],
+    [0,1,-1,1,0,8,-14,0,0,0,0,0,0,11,-12,-7,-6],
+    [0,0,0,0,0,8,-13,0,0,0,0,0,1,5,-6,3,3],
+    [-2,0,2,1,0,0,2,0,-4,5,0,0,0,-5,0,0,3],
+    [-2,0,2,2,0,3,-3,0,0,0,0,0,0,6,0,0,-3],
+    [-2,0,2,0,0,0,2,0,-3,1,0,0,0,15,0,0,0],
+    [0,0,0,1,0,3,-5,0,2,0,0,0,0,13,0,0,-7],
+    [-2,0,2,0,0,0,2,0,-4,3,0,0,0,-6,-9,0,0],
+    [0,-1,1,0,0,0,0,2,0,0,0,0,0,266,-78,0,0],
+    [0,0,0,1,0,0,-1,2,0,0,0,0,0,-460,-435,-232,246],
+    [0,1,-1,2,0,0,-2,2,0,0,0,0,0,0,15,7,0],
+    [-1,1,0,1,0,3,-5,0,0,0,0,0,0,-3,0,0,2],
+    [-1,0,1,0,0,3,-4,0,0,0,0,0,0,0,131,0,0],
+    [-2,0,2,0,0,0,2,0,-2,-2,0,0,0,4,0,0,0],
+    [-2,2,0,2,0,0,-5,9,0,0,0,0,0,0,3,0,0],
+    [0,1,-1,1,0,0,-1,0,0,0,-1,0,0,0,4,2,0],
+    [0,0,0,0,0,0,0,0,0,0,1,0,0,0,3,0,0],
+    [0,1,-1,1,0,0,-1,0,0,0,0,2,0,-17,-19,-10,9],
+    [0,0,0,0,0,0,0,0,0,0,0,2,1,-9,-11,6,-5],
+    [0,0,0,0,0,0,0,0,0,0,0,2,2,-6,0,0,3],
+    [-1,0,1,0,0,0,3,-4,0,0,0,0,0,-16,8,0,0],
+    [0,-1,1,0,0,0,1,0,0,2,0,0,0,0,3,0,0],
+    [0,1,-1,2,0,0,-1,0,0,2,0,0,0,11,24,11,-5],
+    [0,0,0,1,0,0,-9,17,0,0,0,0,0,-3,-4,-2,1],
+    [0,0,0,2,0,-3,5,0,0,0,0,0,0,3,0,0,-1],
+    [0,1,-1,1,0,0,-1,0,-1,2,0,0,0,0,-8,-4,0],
+  ]
+  private static let xpl2: [[Double]] = [
+    [0,0,0,0,0,0,0,0,1,-2,0,0,0,0,3,0,0],
+    [1,0,-2,0,0,17,-16,0,-2,0,0,0,0,0,5,0,0],
+    [0,1,-1,1,0,0,-1,0,1,-3,0,0,0,0,3,2,0],
+    [-2,0,2,1,0,0,5,-6,0,0,0,0,0,-6,4,2,3],
+    [0,-2,2,0,0,0,9,-13,0,0,0,0,0,-3,-5,0,0],
+    [0,1,-1,2,0,0,-1,0,0,1,0,0,0,-5,0,0,2],
+    [0,0,0,1,0,0,0,0,0,1,0,0,0,4,24,13,-2],
+    [0,-1,1,0,0,0,1,0,0,1,0,0,0,-42,20,0,0],
+    [0,-2,2,0,0,5,-6,0,0,0,0,0,0,-10,233,0,0],
+    [0,-1,1,1,0,5,-7,0,0,0,0,0,0,-3,0,0,1],
+    [-2,0,2,0,0,6,-8,0,0,0,0,0,0,78,-18,0,0],
+    [2,1,-3,1,0,-6,7,0,0,0,0,0,0,0,3,1,0],
+    [0,0,0,2,0,0,0,0,1,0,0,0,0,0,-3,-1,0],
+    [0,-1,1,1,0,0,1,0,1,0,0,0,0,0,-4,-2,1],
+    [0,1,-1,1,0,0,-1,0,0,0,2,0,0,0,-8,-4,-1],
+    [0,0,0,0,0,0,0,0,0,0,2,0,1,0,-5,3,0],
+    [0,0,0,0,0,0,0,0,0,0,2,0,2,-7,0,0,3],
+    [0,0,0,0,0,0,-8,15,0,0,0,0,2,-14,8,3,6],
+    [0,0,0,0,0,0,-8,15,0,0,0,0,1,0,8,-4,0],
+    [0,1,-1,1,0,0,-9,15,0,0,0,0,0,0,19,10,0],
+    [0,0,0,0,0,0,8,-15,0,0,0,0,0,45,-22,0,0],
+    [1,-1,-1,0,0,0,8,-15,0,0,0,0,0,-3,0,0,0],
+    [2,0,-2,0,0,2,-5,0,0,0,0,0,0,0,-3,0,0],
+    [-2,0,2,0,0,0,2,0,-5,5,0,0,0,0,3,0,0],
+    [2,0,-2,1,0,0,-6,8,0,0,0,0,0,3,5,3,-2],
+    [2,0,-2,1,0,0,-2,0,3,0,0,0,0,89,-16,-9,-48],
+    [-2,1,1,0,0,0,1,0,-3,0,0,0,0,0,3,0,0],
+    [-2,1,1,1,0,0,1,0,-3,0,0,0,0,-3,7,4,2],
+    [-2,0,2,0,0,0,2,0,-3,0,0,0,0,-349,-62,0,0],
+    [-2,0,2,0,0,0,6,-8,0,0,0,0,0,-15,22,0,0],
+    [-2,0,2,0,0,0,2,0,-1,-5,0,0,0,-3,0,0,0],
+    [-1,0,1,0,0,0,1,0,-1,0,0,0,0,-53,0,0,0],
+  ]
+  private static let xpl3: [[Double]] = [
+    [-1,1,1,1,0,-20,20,0,0,0,0,0,0,5,0,0,-3],
+    [1,0,-2,0,0,20,-21,0,0,0,0,0,0,0,-8,0,0],
+    [0,0,0,1,0,0,8,-15,0,0,0,0,0,15,-7,-4,-8],
+    [0,2,-2,1,0,0,-10,15,0,0,0,0,0,-3,0,0,1],
+    [0,-1,1,0,0,0,1,0,1,0,0,0,0,-21,-78,0,0],
+    [0,0,0,1,0,0,0,0,1,0,0,0,0,20,-70,-37,-11],
+    [0,1,-1,2,0,0,-1,0,1,0,0,0,0,0,6,3,0],
+    [0,1,-1,1,0,0,-1,0,-2,4,0,0,0,5,3,2,-2],
+    [2,0,-2,1,0,-6,8,0,0,0,0,0,0,-17,-4,-2,9],
+    [0,-2,2,1,0,5,-6,0,0,0,0,0,0,0,6,3,0],
+    [0,0,0,0,0,0,0,0,0,-1,0,0,1,32,15,-8,17],
+    [0,1,-1,1,0,0,-1,0,0,-1,0,0,0,174,84,45,-93],
+    [0,0,0,0,0,0,0,0,0,1,0,0,0,11,56,0,0],
+    [0,1,-1,1,0,0,-1,0,0,1,0,0,0,-66,-12,-6,35],
+    [0,0,0,0,0,0,0,0,0,1,0,0,1,47,8,4,-25],
+    [0,0,0,0,0,0,0,0,0,1,0,0,2,0,8,4,0],
+    [0,2,-2,1,0,0,-9,13,0,0,0,0,0,10,-22,-12,-5],
+    [0,0,0,1,0,0,7,-13,0,0,0,0,0,-3,0,0,2],
+    [-2,0,2,0,0,0,5,-6,0,0,0,0,0,-24,12,0,0],
+    [0,0,0,0,0,0,9,-17,0,0,0,0,0,5,-6,0,0],
+    [0,0,0,0,0,0,-9,17,0,0,0,0,2,3,0,0,-2],
+    [1,0,-1,1,0,0,-3,4,0,0,0,0,0,4,3,1,-2],
+    [1,0,-1,1,0,-3,4,0,0,0,0,0,0,0,29,15,0],
+    [0,0,0,2,0,0,-1,2,0,0,0,0,0,-5,-4,-2,2],
+    [0,-1,1,1,0,0,0,2,0,0,0,0,0,8,-3,-1,-5],
+    [0,-2,2,0,1,0,-2,0,0,0,0,0,0,0,-3,0,0],
+    [0,0,0,0,0,3,-5,0,2,0,0,0,0,10,0,0,0],
+    [-2,0,2,1,0,0,2,0,-3,1,0,0,0,3,0,0,-2],
+    [-2,0,2,1,0,3,-3,0,0,0,0,0,0,-5,0,0,3],
+    [0,0,0,1,0,8,-13,0,0,0,0,0,0,46,66,35,-25],
+    [0,-1,1,0,0,8,-12,0,0,0,0,0,0,-14,7,0,0],
+    [0,2,-2,1,0,-8,11,0,0,0,0,0,0,0,3,2,0],
+  ]
+  private static let xpl4: [[Double]] = [
+    [-1,0,1,0,0,0,2,-2,0,0,0,0,0,-5,0,0,0],
+    [-1,0,0,1,0,18,-16,0,0,0,0,0,0,-68,-34,-18,36],
+    [0,1,-1,1,0,0,-1,0,-1,1,0,0,0,0,14,7,0],
+    [0,0,0,1,0,3,-7,4,0,0,0,0,0,10,-6,-3,-5],
+    [-2,1,1,1,0,0,-3,7,0,0,0,0,0,-5,-4,-2,3],
+    [0,1,-1,2,0,0,-1,0,-2,5,0,0,0,-3,5,2,1],
+    [0,0,0,1,0,0,0,0,-2,5,0,0,0,76,17,9,-41],
+    [0,0,0,1,0,0,-4,8,-3,0,0,0,0,84,298,159,-45],
+    [1,0,0,1,0,-10,3,0,0,0,0,0,0,3,0,0,-1],
+    [0,2,-2,1,0,0,-2,0,0,0,0,0,0,-3,0,0,2],
+    [-1,0,0,1,0,10,-3,0,0,0,0,0,0,-3,0,0,1],
+    [0,0,0,1,0,0,4,-8,3,0,0,0,0,-82,292,156,44],
+    [0,0,0,1,0,0,0,0,2,-5,0,0,0,-73,17,9,39],
+    [0,-1,1,0,0,0,1,0,2,-5,0,0,0,-9,-16,0,0],
+    [2,-1,-1,1,0,0,3,-7,0,0,0,0,0,3,0,-1,-2],
+    [-2,0,2,0,0,0,2,0,0,-5,0,0,0,-3,0,0,0],
+    [0,0,0,1,0,-3,7,-4,0,0,0,0,0,-9,-5,-3,5],
+    [-2,0,2,0,0,0,2,0,-2,0,0,0,0,-439,0,0,0],
+    [1,0,0,1,0,-18,16,0,0,0,0,0,0,57,-28,-15,-30],
+    [-2,1,1,1,0,0,1,0,-2,0,0,0,0,0,-6,-3,0],
+    [0,1,-1,2,0,-8,12,0,0,0,0,0,0,-4,0,0,2],
+    [0,0,0,1,0,-8,13,0,0,0,0,0,0,-40,57,30,21],
+    [0,0,0,0,0,0,1,-2,0,0,0,0,1,23,7,3,-13],
+    [0,1,-1,1,0,0,0,-2,0,0,0,0,0,273,80,43,-146],
+    [0,0,0,0,0,0,1,-2,0,0,0,0,0,-449,430,0,0],
+    [0,1,-1,1,0,0,-2,2,0,0,0,0,0,-8,-47,-25,4],
+    [0,0,0,0,0,0,-1,2,0,0,0,0,1,6,47,25,-3],
+    [-1,0,1,1,0,3,-4,0,0,0,0,0,0,0,23,13,0],
+    [-1,0,1,1,0,0,3,-4,0,0,0,0,0,-3,0,0,2],
+    [0,1,-1,1,0,0,-1,0,0,-2,0,0,0,3,-4,-2,-2],
+    [0,1,-1,1,0,0,-1,0,0,2,0,0,0,-48,-110,-59,26],
+    [0,0,0,0,0,0,0,0,0,2,0,0,1,51,114,61,-27],
+  ]
+  private static let xpl5: [[Double]] = [
+    [0,0,0,0,0,0,0,0,0,2,0,0,2,-133,0,0,57],
+    [0,1,-1,0,0,3,-6,0,0,0,0,0,0,0,4,0,0],
+    [0,0,0,1,0,-3,5,0,0,0,0,0,0,-21,-6,-3,11],
+    [0,1,-1,2,0,-3,4,0,0,0,0,0,0,0,-3,-1,0],
+    [0,0,0,1,0,0,-2,4,0,0,0,0,0,-11,-21,-11,6],
+    [0,2,-2,1,0,-5,6,0,0,0,0,0,0,-18,-436,-233,9],
+    [0,-1,1,0,0,5,-7,0,0,0,0,0,0,35,-7,0,0],
+    [0,0,0,1,0,5,-8,0,0,0,0,0,0,0,5,3,0],
+    [-2,0,2,1,0,6,-8,0,0,0,0,0,0,11,-3,-1,-6],
+    [0,0,0,1,0,0,-8,15,0,0,0,0,0,-5,-3,-1,3],
+    [-2,0,2,1,0,0,2,0,-3,0,0,0,0,-53,-9,-5,28],
+    [-2,0,2,1,0,0,6,-8,0,0,0,0,0,0,3,2,1],
+    [1,0,-1,1,0,0,-1,0,1,0,0,0,0,4,0,0,-2],
+    [0,0,0,0,0,0,0,0,3,-5,0,0,0,0,-4,0,0],
+    [0,1,-1,1,0,0,-1,0,-1,0,0,0,0,-50,194,103,27],
+    [0,0,0,0,0,0,0,0,-1,0,0,0,1,-13,52,28,7],
+    [0,0,0,0,0,0,0,0,1,0,0,0,0,-91,248,0,0],
+    [0,0,0,0,0,0,0,0,1,0,0,0,1,6,49,26,-3],
+    [0,1,-1,1,0,0,-1,0,1,0,0,0,0,-6,-47,-25,3],
+    [0,0,0,0,0,0,0,0,1,0,0,0,1,0,5,3,0],
+    [0,0,0,0,0,0,0,0,1,0,0,0,2,52,23,10,-23],
+    [0,1,-1,2,0,0,-1,0,0,-1,0,0,0,-3,0,0,1],
+    [0,0,0,1,0,0,0,0,0,-1,0,0,0,0,5,3,0],
+    [0,-1,1,0,0,0,1,0,0,-1,0,0,0,-4,0,0,0],
+    [0,0,0,0,0,0,-7,13,0,0,0,0,2,-4,8,3,2],
+    [0,0,0,0,0,0,7,-13,0,0,0,0,0,10,0,0,0],
+    [2,0,-2,1,0,0,-5,6,0,0,0,0,0,3,0,0,-2],
+    [0,2,-2,1,0,0,-8,11,0,0,0,0,0,0,8,4,0],
+    [0,2,-2,1,-1,0,2,0,0,0,0,0,0,0,8,4,1],
+    [-2,0,2,0,0,0,4,-4,0,0,0,0,0,-4,0,0,0],
+    [0,0,0,0,0,0,0,0,2,-2,0,0,0,-4,0,0,0],
+    [0,1,-1,1,0,0,-1,0,0,3,0,0,0,-8,4,2,4],
+  ]
+  private static let xpl6: [[Double]] = [
+    [0,0,0,0,0,0,0,0,0,3,0,0,1,8,-4,-2,-4],
+    [0,0,0,0,0,0,0,0,0,3,0,0,2,0,15,7,0],
+    [-2,0,2,0,0,3,-3,0,0,0,0,0,0,-138,0,0,0],
+    [0,0,0,2,0,0,-4,8,-3,0,0,0,0,0,-7,-3,0],
+    [0,0,0,2,0,0,4,-8,3,0,0,0,0,0,-7,-3,0],
+    [2,0,-2,1,0,0,-2,0,2,0,0,0,0,54,0,0,-29],
+    [0,1,-1,2,0,0,-1,0,2,0,0,0,0,0,10,4,0],
+    [0,1,-1,2,0,0,0,-2,0,0,0,0,0,-7,0,0,3],
+    [0,0,0,1,0,0,1,-2,0,0,0,0,0,-37,35,19,20],
+    [0,-1,1,0,0,0,2,-2,0,0,0,0,0,0,4,0,0],
+    [0,-1,1,0,0,0,1,0,0,-2,0,0,0,-4,9,0,0],
+    [0,2,-2,1,0,0,-2,0,0,2,0,0,0,8,0,0,-4],
+    [0,1,-1,1,0,3,-6,0,0,0,0,0,0,-9,-14,-8,5],
+    [0,0,0,0,0,3,-5,0,0,0,0,0,1,-3,-9,-5,3],
+    [0,0,0,0,0,3,-5,0,0,0,0,0,0,-145,47,0,0],
+    [0,1,-1,1,0,-3,4,0,0,0,0,0,0,-10,40,21,5],
+    [0,0,0,0,0,-3,5,0,0,0,0,0,1,11,-49,-26,-7],
+    [0,0,0,0,0,-3,5,0,0,0,0,0,2,-2150,0,0,932],
+    [0,2,-2,2,0,-3,3,0,0,0,0,0,0,-12,0,0,5],
+    [0,0,0,0,0,-3,5,0,0,0,0,0,2,85,0,0,-37],
+    [0,0,0,0,0,0,2,-4,0,0,0,0,1,4,0,0,-2],
+    [0,1,-1,1,0,0,1,-4,0,0,0,0,0,3,0,0,-2],
+    [0,0,0,0,0,0,2,-4,0,0,0,0,0,-86,153,0,0],
+    [0,0,0,0,0,0,-2,4,0,0,0,0,1,-6,9,5,3],
+    [0,1,-1,1,0,0,-3,4,0,0,0,0,0,9,-13,-7,-5],
+    [0,0,0,0,0,0,-2,4,0,0,0,0,1,-8,12,6,4],
+    [0,0,0,0,0,0,-2,4,0,0,0,0,2,-51,0,0,22],
+    [0,0,0,0,0,-5,8,0,0,0,0,0,2,-11,-268,-116,5],
+    [0,2,-2,2,0,-5,6,0,0,0,0,0,0,0,12,5,0],
+    [0,0,0,0,0,-5,8,0,0,0,0,0,2,0,7,3,0],
+    [0,0,0,0,0,-5,8,0,0,0,0,0,1,31,6,3,-17],
+    [0,1,-1,1,0,-5,7,0,0,0,0,0,0,140,27,14,-75],
+  ]
+  private static let xpl7: [[Double]] = [
+    [0,0,0,0,0,-5,8,0,0,0,0,0,1,57,11,6,-30],
+    [0,0,0,0,0,5,-8,0,0,0,0,0,0,-14,-39,0,0],
+    [0,1,-1,2,0,0,-1,0,-1,0,0,0,0,0,-6,-2,0],
+    [0,0,0,1,0,0,0,0,-1,0,0,0,0,4,15,8,-2],
+    [0,-1,1,0,0,0,1,0,-1,0,0,0,0,0,4,0,0],
+    [0,2,-2,1,0,0,-2,0,1,0,0,0,0,-3,0,0,1],
+    [0,0,0,0,0,0,-6,11,0,0,0,0,2,0,11,5,0],
+    [0,0,0,0,0,0,6,-11,0,0,0,0,0,9,6,0,0],
+    [0,0,0,0,-1,0,4,0,0,0,0,0,2,-4,10,4,2],
+    [0,0,0,0,1,0,-4,0,0,0,0,0,0,5,3,0,0],
+    [2,0,-2,1,0,-3,3,0,0,0,0,0,0,16,0,0,-9],
+    [-2,0,2,0,0,0,2,0,0,-2,0,0,0,-3,0,0,0],
+    [0,2,-2,1,0,0,-7,9,0,0,0,0,0,0,3,2,-1],
+    [0,0,0,0,0,0,0,0,4,-5,0,0,2,7,0,0,-3],
+    [0,0,0,0,0,0,0,0,2,0,0,0,0,-25,22,0,0],
+    [0,0,0,0,0,0,0,0,2,0,0,0,1,42,223,119,-22],
+    [0,1,-1,1,0,0,-1,0,2,0,0,0,0,-27,-143,-77,14],
+    [0,0,0,0,0,0,0,0,2,0,0,0,1,9,49,26,-5],
+    [0,0,0,0,0,0,0,0,2,0,0,0,2,-1166,0,0,505],
+    [0,2,-2,2,0,0,-2,0,2,0,0,0,0,-5,0,0,2],
+    [0,0,0,0,0,0,0,0,0,5,0,0,2,-6,0,0,3],
+    [0,0,0,1,0,3,-5,0,0,0,0,0,0,-8,0,1,4],
+    [0,-1,1,0,0,3,-4,0,0,0,0,0,0,0,-4,0,0],
+    [0,2,-2,1,0,-3,3,0,0,0,0,0,0,117,0,0,-63],
+    [0,0,0,1,0,0,2,-4,0,0,0,0,0,-4,8,4,2],
+    [0,2,-2,1,0,0,-4,4,0,0,0,0,0,3,0,0,-2],
+    [0,1,-1,2,0,-5,7,0,0,0,0,0,0,-5,0,0,2],
+    [0,0,0,0,0,0,3,-6,0,0,0,0,0,0,31,0,0],
+    [0,0,0,0,0,0,-3,6,0,0,0,0,1,-5,0,1,3],
+    [0,1,-1,1,0,0,-4,6,0,0,0,0,0,4,0,0,-2],
+    [0,0,0,0,0,0,-3,6,0,0,0,0,1,-4,0,0,2],
+    [0,0,0,0,0,0,-3,6,0,0,0,0,2,-24,-13,-6,10],
+  ]
+  private static let xpl8: [[Double]] = [
+    [0,-1,1,0,0,2,-2,0,0,0,0,0,0,3,0,0,0],
+    [0,0,0,1,0,2,-3,0,0,0,0,0,0,0,-32,-17,0],
+    [0,0,0,0,0,0,-5,9,0,0,0,0,2,8,12,5,-3],
+    [0,0,0,0,0,0,-5,9,0,0,0,0,1,3,0,0,-1],
+    [0,0,0,0,0,0,5,-9,0,0,0,0,0,7,13,0,0],
+    [0,-1,1,0,0,0,1,0,-2,0,0,0,0,-3,16,0,0],
+    [0,2,-2,1,0,0,-2,0,2,0,0,0,0,50,0,0,-27],
+    [-2,1,1,1,0,0,1,0,0,0,0,0,0,0,-5,-3,0],
+    [0,-2,2,0,0,3,-3,0,0,0,0,0,0,13,0,0,0],
+    [0,0,0,0,0,-6,10,0,0,0,0,0,1,0,5,3,1],
+    [0,0,0,0,0,-6,10,0,0,0,0,0,2,24,5,2,-11],
+    [0,0,0,0,0,-2,3,0,0,0,0,0,2,5,-11,-5,-2],
+    [0,0,0,0,0,-2,3,0,0,0,0,0,1,30,-3,-2,-16],
+    [0,1,-1,1,0,-2,2,0,0,0,0,0,0,18,0,0,-9],
+    [0,0,0,0,0,2,-3,0,0,0,0,0,0,8,614,0,0],
+    [0,0,0,0,0,2,-3,0,0,0,0,0,1,3,-3,-1,-2],
+    [0,0,0,0,0,0,0,0,3,0,0,0,1,6,17,9,-3],
+    [0,1,-1,1,0,0,-1,0,3,0,0,0,0,-3,-9,-5,2],
+    [0,0,0,0,0,0,0,0,3,0,0,0,1,0,6,3,-1],
+    [0,0,0,0,0,0,0,0,3,0,0,0,2,-127,21,9,55],
+    [0,0,0,0,0,0,4,-8,0,0,0,0,0,3,5,0,0],
+    [0,0,0,0,0,0,-4,8,0,0,0,0,2,-6,-10,-4,3],
+    [0,-2,2,0,0,0,2,0,-2,0,0,0,0,5,0,0,0],
+    [0,0,0,0,0,0,-4,7,0,0,0,0,2,16,9,4,-7],
+    [0,0,0,0,0,0,-4,7,0,0,0,0,1,3,0,0,-2],
+    [0,0,0,0,0,0,4,-7,0,0,0,0,0,0,22,0,0],
+    [0,0,0,1,0,-2,3,0,0,0,0,0,0,0,19,10,0],
+    [0,2,-2,1,0,0,-2,0,3,0,0,0,0,7,0,0,-4],
+    [0,0,0,0,0,0,-5,10,0,0,0,0,2,0,-5,-2,0],
+    [0,0,0,1,0,-1,2,0,0,0,0,0,0,0,3,1,0],
+    [0,0,0,0,0,0,0,0,4,0,0,0,2,-9,3,1,4],
+    [0,0,0,0,0,0,-3,5,0,0,0,0,2,17,0,0,-7],
+  ]
+  private static let xpl9: [[Double]] = [
+    [0,0,0,0,0,0,-3,5,0,0,0,0,1,0,-3,-2,-1],
+    [0,0,0,0,0,0,3,-5,0,0,0,0,0,-20,34,0,0],
+    [0,0,0,0,0,1,-2,0,0,0,0,0,1,-10,0,1,5],
+    [0,1,-1,1,0,1,-3,0,0,0,0,0,0,-4,0,0,2],
+    [0,0,0,0,0,1,-2,0,0,0,0,0,0,22,-87,0,0],
+    [0,0,0,0,0,-1,2,0,0,0,0,0,1,-4,0,0,2],
+    [0,0,0,0,0,-1,2,0,0,0,0,0,2,-3,-6,-2,1],
+    [0,0,0,0,0,-7,11,0,0,0,0,0,2,-16,-3,-1,7],
+    [0,0,0,0,0,-7,11,0,0,0,0,0,1,0,-3,-2,0],
+    [0,-2,2,0,0,4,-4,0,0,0,0,0,0,4,0,0,0],
+    [0,0,0,0,0,0,2,-3,0,0,0,0,0,-68,39,0,0],
+    [0,2,-2,1,0,-4,4,0,0,0,0,0,0,27,0,0,-14],
+    [0,-1,1,0,0,4,-5,0,0,0,0,0,0,0,-4,0,0],
+    [0,0,0,0,0,0,1,-1,0,0,0,0,0,-25,0,0,0],
+    [0,0,0,0,0,-4,7,0,0,0,0,0,1,-12,-3,-2,6],
+    [0,1,-1,1,0,-4,6,0,0,0,0,0,0,3,0,0,-1],
+    [0,0,0,0,0,-4,7,0,0,0,0,0,2,3,66,29,-1],
+    [0,0,0,0,0,-4,6,0,0,0,0,0,2,490,0,0,-213],
+    [0,0,0,0,0,-4,6,0,0,0,0,0,1,-22,93,49,12],
+    [0,1,-1,1,0,-4,5,0,0,0,0,0,0,-7,28,15,4],
+    [0,0,0,0,0,-4,6,0,0,0,0,0,1,-3,13,7,2],
+    [0,0,0,0,0,4,-6,0,0,0,0,0,0,-46,14,0,0],
+    [-2,0,2,0,0,2,-2,0,0,0,0,0,0,-5,0,0,0],
+    [0,0,0,0,0,0,0,1,0,0,0,0,0,2,1,0,0],
+    [0,-1,1,0,0,1,0,0,0,0,0,0,0,0,-3,0,0],
+    [0,0,0,1,0,1,-1,0,0,0,0,0,0,-28,0,0,15],
+    [0,0,0,0,0,0,-1,0,5,0,0,0,2,5,0,0,-2],
+    [0,0,0,0,0,0,1,-3,0,0,0,0,0,0,3,0,0],
+    [0,0,0,0,0,0,-1,3,0,0,0,0,2,-11,0,0,5],
+    [0,0,0,0,0,0,-7,12,0,0,0,0,2,0,3,1,0],
+    [0,0,0,0,0,-1,1,0,0,0,0,0,2,-3,0,0,1],
+    [0,0,0,0,0,-1,1,0,0,0,0,0,1,25,106,57,-13],
+  ]
+  private static let xpl10: [[Double]] = [
+    [0,1,-1,1,0,-1,0,0,0,0,0,0,0,5,21,11,-3],
+    [0,0,0,0,0,1,-1,0,0,0,0,0,0,1485,0,0,0],
+    [0,0,0,0,0,1,-1,0,0,0,0,0,1,-7,-32,-17,4],
+    [0,1,-1,1,0,1,-2,0,0,0,0,0,0,0,5,3,0],
+    [0,0,0,0,0,0,-2,5,0,0,0,0,2,-6,-3,-2,3],
+    [0,0,0,0,0,0,-1,0,4,0,0,0,2,30,-6,-2,-13],
+    [0,0,0,0,0,0,1,0,-4,0,0,0,0,-4,4,0,0],
+    [0,0,0,1,0,-1,1,0,0,0,0,0,0,-19,0,0,10],
+    [0,0,0,0,0,0,-6,10,0,0,0,0,2,0,4,2,-1],
+    [0,0,0,0,0,0,-6,10,0,0,0,0,0,0,3,0,0],
+    [0,2,-2,1,0,0,-3,0,3,0,0,0,0,4,0,0,-2],
+    [0,0,0,0,0,0,-3,7,0,0,0,0,2,0,-3,-1,0],
+    [-2,0,2,0,0,4,-4,0,0,0,0,0,0,-3,0,0,0],
+    [0,0,0,0,0,0,-5,8,0,0,0,0,2,5,3,1,-2],
+    [0,0,0,0,0,0,5,-8,0,0,0,0,0,0,11,0,0],
+    [0,0,0,0,0,0,-1,0,3,0,0,0,2,118,0,0,-52],
+    [0,0,0,0,0,0,-1,0,3,0,0,0,1,0,-5,-3,0],
+    [0,0,0,0,0,0,1,0,-3,0,0,0,0,-28,36,0,0],
+    [0,0,0,0,0,2,-4,0,0,0,0,0,0,5,-5,0,0],
+    [0,0,0,0,0,-2,4,0,0,0,0,0,1,14,-59,-31,-8],
+    [0,1,-1,1,0,-2,3,0,0,0,0,0,0,0,9,5,1],
+    [0,0,0,0,0,-2,4,0,0,0,0,0,2,-458,0,0,198],
+    [0,0,0,0,0,-6,9,0,0,0,0,0,2,0,-45,-20,0],
+    [0,0,0,0,0,-6,9,0,0,0,0,0,1,9,0,0,-5],
+    [0,0,0,0,0,6,-9,0,0,0,0,0,0,0,-3,0,0],
+    [0,0,0,1,0,0,1,0,-2,0,0,0,0,0,-4,-2,-1],
+    [0,2,-2,1,0,-2,2,0,0,0,0,0,0,11,0,0,-6],
+    [0,0,0,0,0,0,-4,6,0,0,0,0,2,6,0,0,-2],
+    [0,0,0,0,0,0,4,-6,0,0,0,0,0,-16,23,0,0],
+    [0,0,0,1,0,3,-4,0,0,0,0,0,0,0,-4,-2,0],
+    [0,0,0,0,0,0,-1,0,2,0,0,0,2,-5,0,0,2],
+    [0,0,0,0,0,0,1,0,-2,0,0,0,0,-166,269,0,0],
+  ]
+  private static let xpl11: [[Double]] = [
+    [0,0,0,1,0,0,1,0,-1,0,0,0,0,15,0,0,-8],
+    [0,0,0,0,0,-5,9,0,0,0,0,0,2,10,0,0,-4],
+    [0,0,0,0,0,0,3,-4,0,0,0,0,0,-78,45,0,0],
+    [0,0,0,0,0,-3,4,0,0,0,0,0,2,0,-5,-2,0],
+    [0,0,0,0,0,-3,4,0,0,0,0,0,1,7,0,0,-4],
+    [0,0,0,0,0,3,-4,0,0,0,0,0,0,-5,328,0,0],
+    [0,0,0,0,0,3,-4,0,0,0,0,0,1,3,0,0,-2],
+    [0,0,0,1,0,0,2,-2,0,0,0,0,0,5,0,0,-2],
+    [0,0,0,1,0,0,-1,0,2,0,0,0,0,0,3,1,0],
+    [0,0,0,0,0,0,1,0,0,-3,0,0,0,-3,0,0,0],
+    [0,0,0,0,0,0,1,0,1,-5,0,0,0,-3,0,0,0],
+    [0,0,0,0,0,0,-1,0,1,0,0,0,1,0,-4,-2,0],
+    [0,0,0,0,0,0,1,0,-1,0,0,0,0,-1223,-26,0,0],
+    [0,0,0,0,0,0,1,0,-1,0,0,0,1,0,7,3,0],
+    [0,0,0,0,0,0,1,0,-3,5,0,0,0,3,0,0,0],
+    [0,0,0,1,0,-3,4,0,0,0,0,0,0,0,3,2,0],
+    [0,0,0,0,0,0,1,0,0,-2,0,0,0,-6,20,0,0],
+    [0,0,0,0,0,0,2,-2,0,0,0,0,0,-368,0,0,0],
+    [0,0,0,0,0,0,1,0,0,-1,0,0,0,-75,0,0,0],
+    [0,0,0,1,0,0,-1,0,1,0,0,0,0,11,0,0,-6],
+    [0,0,0,1,0,0,-2,2,0,0,0,0,0,3,0,0,-2],
+    [0,0,0,0,0,-8,14,0,0,0,0,0,2,-3,0,0,1],
+    [0,0,0,0,0,0,1,0,2,-5,0,0,0,-13,-30,0,0],
+    [0,0,0,0,0,0,5,-8,3,0,0,0,0,21,3,0,0],
+    [0,0,0,0,0,0,5,-8,3,0,0,0,2,-3,0,0,1],
+    [0,0,0,0,0,0,-1,0,0,0,0,0,1,-4,0,0,2],
+    [0,0,0,0,0,0,1,0,0,0,0,0,0,8,-27,0,0],
+    [0,0,0,0,0,0,3,-8,3,0,0,0,0,-19,-11,0,0],
+    [0,0,0,0,0,0,-3,8,-3,0,0,0,2,-4,0,0,2],
+    [0,0,0,0,0,0,1,0,-2,5,0,0,2,0,5,2,0],
+    [0,0,0,0,0,-8,12,0,0,0,0,0,2,-6,0,0,2],
+    [0,0,0,0,0,-8,12,0,0,0,0,0,0,-8,0,0,0],
+  ]
+  private static let xpl12: [[Double]] = [
+    [0,0,0,0,0,0,1,0,1,-2,0,0,0,-1,0,0,0],
+    [0,0,0,0,0,0,1,0,0,1,0,0,2,-14,0,0,6],
+    [0,0,0,0,0,0,0,2,0,0,0,0,0,6,0,0,0],
+    [0,0,0,0,0,0,0,2,0,0,0,0,2,-74,0,0,32],
+    [0,0,0,0,0,0,1,0,0,2,0,0,2,0,-3,-1,0],
+    [0,2,-2,1,0,-5,5,0,0,0,0,0,0,4,0,0,-2],
+    [0,0,0,0,0,0,1,0,1,0,0,0,0,8,11,0,0],
+    [0,0,0,0,0,0,1,0,1,0,0,0,1,0,3,2,0],
+    [0,0,0,0,0,0,1,0,1,0,0,0,2,-262,0,0,114],
+    [0,0,0,0,0,3,-6,0,0,0,0,0,0,0,-4,0,0],
+    [0,0,0,0,0,-3,6,0,0,0,0,0,1,-7,0,0,4],
+    [0,0,0,0,0,-3,6,0,0,0,0,0,2,0,-27,-12,0],
+    [0,0,0,0,0,0,-1,4,0,0,0,0,2,-19,-8,-4,8],
+    [0,0,0,0,0,-5,7,0,0,0,0,0,2,202,0,0,-87],
+    [0,0,0,0,0,-5,7,0,0,0,0,0,1,-8,35,19,5],
+    [0,1,-1,1,0,-5,6,0,0,0,0,0,0,0,4,2,0],
+    [0,0,0,0,0,5,-7,0,0,0,0,0,0,16,-5,0,0],
+    [0,2,-2,1,0,0,-1,0,1,0,0,0,0,5,0,0,-3],
+    [0,0,0,0,0,0,-1,0,1,0,0,0,0,0,-3,0,0],
+    [0,0,0,0,-1,0,3,0,0,0,0,0,2,1,0,0,0],
+    [0,0,0,0,0,0,1,0,2,0,0,0,2,-35,-48,-21,15],
+    [0,0,0,0,0,0,-2,6,0,0,0,0,2,-3,-5,-2,1],
+    [0,0,0,1,0,2,-2,0,0,0,0,0,0,6,0,0,-3],
+    [0,0,0,0,0,0,-6,9,0,0,0,0,2,3,0,0,-1],
+    [0,0,0,0,0,0,6,-9,0,0,0,0,0,0,-5,0,0],
+    [0,0,0,0,0,-2,2,0,0,0,0,0,1,12,55,29,-6],
+    [0,1,-1,1,0,-2,1,0,0,0,0,0,0,0,5,3,0],
+    [0,0,0,0,0,2,-2,0,0,0,0,0,0,-598,0,0,0],
+    [0,0,0,0,0,2,-2,0,0,0,0,0,1,-3,-13,-7,1],
+    [0,0,0,0,0,0,1,0,3,0,0,0,2,-5,-7,-3,2],
+    [0,0,0,0,0,0,-5,7,0,0,0,0,2,3,0,0,-1],
+    [0,0,0,0,0,0,5,-7,0,0,0,0,0,5,-7,0,0],
+  ]
+  private static let xpl13: [[Double]] = [
+    [0,0,0,1,0,-2,2,0,0,0,0,0,0,4,0,0,-2],
+    [0,0,0,0,0,0,4,-5,0,0,0,0,0,16,-6,0,0],
+    [0,0,0,0,0,1,-3,0,0,0,0,0,0,8,-3,0,0],
+    [0,0,0,0,0,-1,3,0,0,0,0,0,1,8,-31,-16,-4],
+    [0,1,-1,1,0,-1,2,0,0,0,0,0,0,0,3,1,0],
+    [0,0,0,0,0,-1,3,0,0,0,0,0,2,113,0,0,-49],
+    [0,0,0,0,0,-7,10,0,0,0,0,0,2,0,-24,-10,0],
+    [0,0,0,0,0,-7,10,0,0,0,0,0,1,4,0,0,-2],
+    [0,0,0,0,0,0,3,-3,0,0,0,0,0,27,0,0,0],
+    [0,0,0,0,0,-4,8,0,0,0,0,0,2,-3,0,0,1],
+    [0,0,0,0,0,-4,5,0,0,0,0,0,2,0,-4,-2,0],
+    [0,0,0,0,0,-4,5,0,0,0,0,0,1,5,0,0,-2],
+    [0,0,0,0,0,4,-5,0,0,0,0,0,0,0,-3,0,0],
+    [0,0,0,0,0,0,1,1,0,0,0,0,2,-13,0,0,6],
+    [0,0,0,0,0,0,-2,0,5,0,0,0,2,5,0,0,-2],
+    [0,0,0,0,0,0,0,3,0,0,0,0,2,-18,-10,-4,8],
+    [0,0,0,0,0,1,0,0,0,0,0,0,0,-4,-28,0,0],
+    [0,0,0,0,0,1,0,0,0,0,0,0,2,-5,6,3,2],
+    [0,0,0,0,0,-9,13,0,0,0,0,0,2,-3,0,0,1],
+    [0,0,0,0,0,0,-1,5,0,0,0,0,2,-5,-9,-4,2],
+    [0,0,0,0,0,0,-2,0,4,0,0,0,2,17,0,0,-7],
+    [0,0,0,0,0,0,2,0,-4,0,0,0,0,11,4,0,0],
+    [0,0,0,0,0,0,-2,7,0,0,0,0,2,0,-6,-2,0],
+    [0,0,0,0,0,0,2,0,-3,0,0,0,0,83,15,0,0],
+    [0,0,0,0,0,-2,5,0,0,0,0,0,1,-4,0,0,2],
+    [0,0,0,0,0,-2,5,0,0,0,0,0,2,0,-114,-49,0],
+    [0,0,0,0,0,-6,8,0,0,0,0,0,2,117,0,0,-51],
+    [0,0,0,0,0,-6,8,0,0,0,0,0,1,-5,19,10,2],
+    [0,0,0,0,0,6,-8,0,0,0,0,0,0,-3,0,0,0],
+    [0,0,0,1,0,0,2,0,-2,0,0,0,0,-3,0,0,2],
+    [0,0,0,0,0,0,-3,9,0,0,0,0,2,0,-3,-1,0],
+    [0,0,0,0,0,0,5,-6,0,0,0,0,0,3,0,0,0],
+  ]
+  private static let xpl14: [[Double]] = [
+    [0,0,0,0,0,0,5,-6,0,0,0,0,2,0,-6,-2,0],
+    [0,0,0,0,0,0,2,0,-2,0,0,0,0,393,3,0,0],
+    [0,0,0,0,0,0,2,0,-2,0,0,0,1,-4,21,11,2],
+    [0,0,0,0,0,0,2,0,-2,0,0,0,2,-6,0,-1,3],
+    [0,0,0,0,0,-5,10,0,0,0,0,0,2,-3,8,4,1],
+    [0,0,0,0,0,0,4,-4,0,0,0,0,0,8,0,0,0],
+    [0,0,0,0,0,0,4,-4,0,0,0,0,2,18,-29,-13,-8],
+    [0,0,0,0,0,-3,3,0,0,0,0,0,1,8,34,18,-4],
+    [0,0,0,0,0,3,-3,0,0,0,0,0,0,89,0,0,0],
+    [0,0,0,0,0,3,-3,0,0,0,0,0,1,3,12,6,-1],
+    [0,0,0,0,0,3,-3,0,0,0,0,0,2,54,-15,-7,-24],
+    [0,0,0,0,0,0,2,0,0,-3,0,0,0,0,3,0,0],
+    [0,0,0,0,0,0,-5,13,0,0,0,0,2,3,0,0,-1],
+    [0,0,0,0,0,0,2,0,-1,0,0,0,0,0,35,0,0],
+    [0,0,0,0,0,0,2,0,-1,0,0,0,2,-154,-30,-13,67],
+    [0,0,0,0,0,0,2,0,0,-2,0,0,0,15,0,0,0],
+    [0,0,0,0,0,0,2,0,0,-2,0,0,1,0,4,2,0],
+    [0,0,0,0,0,0,3,-2,0,0,0,0,0,0,9,0,0],
+    [0,0,0,0,0,0,3,-2,0,0,0,0,2,80,-71,-31,-35],
+    [0,0,0,0,0,0,2,0,0,-1,0,0,2,0,-20,-9,0],
+    [0,0,0,0,0,0,-6,15,0,0,0,0,2,11,5,2,-5],
+    [0,0,0,0,0,-8,15,0,0,0,0,0,2,61,-96,-42,-27],
+    [0,0,0,0,0,-3,9,-4,0,0,0,0,2,14,9,4,-6],
+    [0,0,0,0,0,0,2,0,2,-5,0,0,2,-11,-6,-3,5],
+    [0,0,0,0,0,0,-2,8,-1,-5,0,0,2,0,-3,-1,0],
+    [0,0,0,0,0,0,6,-8,3,0,0,0,2,123,-415,-180,-53],
+    [0,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,-35],
+    [0,0,0,0,0,0,2,0,0,0,0,0,0,-5,0,0,0],
+    [0,0,0,0,0,0,2,0,0,0,0,0,1,7,-32,-17,-4],
+    [0,1,-1,1,0,0,1,0,0,0,0,0,0,0,-9,-5,0],
+    [0,0,0,0,0,0,2,0,0,0,0,0,1,0,-4,2,0],
+    [0,0,0,0,0,0,2,0,0,0,0,0,2,-89,0,0,38],
+  ]
+  private static let xpl15: [[Double]] = [
+    [0,0,0,0,0,0,-6,16,-4,-5,0,0,2,0,-86,-19,-6],
+    [0,0,0,0,0,0,-2,8,-3,0,0,0,2,0,0,-19,6],
+    [0,0,0,0,0,0,-2,8,-3,0,0,0,2,-123,-416,-180,53],
+    [0,0,0,0,0,0,6,-8,1,5,0,0,2,0,-3,-1,0],
+    [0,0,0,0,0,0,2,0,-2,5,0,0,2,12,-6,-3,-5],
+    [0,0,0,0,0,3,-5,4,0,0,0,0,2,-13,9,4,6],
+    [0,0,0,0,0,-8,11,0,0,0,0,0,2,0,-15,-7,0],
+    [0,0,0,0,0,-8,11,0,0,0,0,0,1,3,0,0,-1],
+    [0,0,0,0,0,-8,11,0,0,0,0,0,2,-62,-97,-42,27],
+    [0,0,0,0,0,0,11,0,0,0,0,0,2,-11,5,2,5],
+    [0,0,0,0,0,0,2,0,0,1,0,0,2,0,-19,-8,0],
+    [0,0,0,0,0,3,-3,0,2,0,0,0,2,-3,0,0,1],
+    [0,2,-2,1,0,0,4,-8,3,0,0,0,0,0,4,2,0],
+    [0,1,-1,0,0,0,1,0,0,0,0,0,0,0,3,0,0],
+    [0,2,-2,1,0,0,-4,8,-3,0,0,0,0,0,4,2,0],
+    [0,0,0,0,0,0,1,2,0,0,0,0,2,-85,-70,-31,37],
+    [0,0,0,0,0,0,2,0,1,0,0,0,2,163,-12,-5,-72],
+    [0,0,0,0,0,-3,7,0,0,0,0,0,2,-63,-16,-7,28],
+    [0,0,0,0,0,0,0,4,0,0,0,0,2,-21,-32,-14,9],
+    [0,0,0,0,0,-5,6,0,0,0,0,0,2,0,-3,-1,0],
+    [0,0,0,0,0,-5,6,0,0,0,0,0,1,3,0,0,-2],
+    [0,0,0,0,0,5,-6,0,0,0,0,0,0,0,8,0,0],
+    [0,0,0,0,0,5,-6,0,0,0,0,0,2,3,10,4,-1],
+    [0,0,0,0,0,0,2,0,2,0,0,0,2,3,0,0,-1],
+    [0,0,0,0,0,0,-1,6,0,0,0,0,2,0,-7,-3,0],
+    [0,0,0,0,0,0,7,-9,0,0,0,0,2,0,-4,-2,0],
+    [0,0,0,0,0,2,-1,0,0,0,0,0,0,6,19,0,0],
+    [0,0,0,0,0,2,-1,0,0,0,0,0,2,5,-173,-75,-2],
+    [0,0,0,0,0,0,6,-7,0,0,0,0,2,0,-7,-3,0],
+    [0,0,0,0,0,0,5,-5,0,0,0,0,2,7,-12,-5,-3],
+    [0,0,0,0,0,-1,4,0,0,0,0,0,1,-3,0,0,2],
+    [0,0,0,0,0,-1,4,0,0,0,0,0,2,3,-4,-2,-1],
+  ]
+  private static let xpl16: [[Double]] = [
+    [0,0,0,0,0,-7,9,0,0,0,0,0,2,74,0,0,-32],
+    [0,0,0,0,0,-7,9,0,0,0,0,0,1,-3,12,6,2],
+    [0,0,0,0,0,0,4,-3,0,0,0,0,2,26,-14,-6,-11],
+    [0,0,0,0,0,0,3,-1,0,0,0,0,2,19,0,0,-8],
+    [0,0,0,0,0,-4,4,0,0,0,0,0,1,6,24,13,-3],
+    [0,0,0,0,0,4,-4,0,0,0,0,0,0,83,0,0,0],
+    [0,0,0,0,0,4,-4,0,0,0,0,0,1,0,-10,-5,0],
+    [0,0,0,0,0,4,-4,0,0,0,0,0,2,11,-3,-1,-5],
+    [0,0,0,0,0,0,2,1,0,0,0,0,2,3,0,1,-1],
+    [0,0,0,0,0,0,-3,0,5,0,0,0,2,3,0,0,-1],
+    [0,0,0,0,0,1,1,0,0,0,0,0,0,-4,0,0,0],
+    [0,0,0,0,0,1,1,0,0,0,0,0,1,5,-23,-12,-3],
+    [0,0,0,0,0,1,1,0,0,0,0,0,2,-339,0,0,147],
+    [0,0,0,0,0,-9,12,0,0,0,0,0,2,0,-10,-5,0],
+    [0,0,0,0,0,0,3,0,-4,0,0,0,0,5,0,0,0],
+    [0,2,-2,1,0,1,-1,0,0,0,0,0,0,3,0,0,-1],
+    [0,0,0,0,0,0,7,-8,0,0,0,0,2,0,-4,-2,0],
+    [0,0,0,0,0,0,3,0,-3,0,0,0,0,18,-3,0,0],
+    [0,0,0,0,0,0,3,0,-3,0,0,0,2,9,-11,-5,-4],
+    [0,0,0,0,0,-2,6,0,0,0,0,0,2,-8,0,0,4],
+    [0,0,0,0,0,-6,7,0,0,0,0,0,1,3,0,0,-1],
+    [0,0,0,0,0,6,-7,0,0,0,0,0,0,0,9,0,0],
+    [0,0,0,0,0,0,6,-6,0,0,0,0,2,6,-9,-4,-2],
+    [0,0,0,0,0,0,3,0,-2,0,0,0,0,-4,-12,0,0],
+    [0,0,0,0,0,0,3,0,-2,0,0,0,2,67,-91,-39,-29],
+    [0,0,0,0,0,0,5,-4,0,0,0,0,2,30,-18,-8,-13],
+    [0,0,0,0,0,3,-2,0,0,0,0,0,0,0,0,0,0],
+    [0,0,0,0,0,3,-2,0,0,0,0,0,2,0,-114,-50,0],
+    [0,0,0,0,0,0,3,0,-1,0,0,0,2,0,0,0,23],
+    [0,0,0,0,0,0,3,0,-1,0,0,0,2,517,16,7,-224],
+    [0,0,0,0,0,0,3,0,0,-2,0,0,2,0,-7,-3,0],
+    [0,0,0,0,0,0,4,-2,0,0,0,0,2,143,-3,-1,-62],
+  ]
+  private static let xpl17: [[Double]] = [
+    [0,0,0,0,0,0,3,0,0,-1,0,0,2,29,0,0,-13],
+    [0,2,-2,1,0,0,1,0,-1,0,0,0,0,-4,0,0,2],
+    [0,0,0,0,0,-8,16,0,0,0,0,0,2,-6,0,0,3],
+    [0,0,0,0,0,0,3,0,2,-5,0,0,2,5,12,5,-2],
+    [0,0,0,0,0,0,7,-8,3,0,0,0,2,-25,0,0,11],
+    [0,0,0,0,0,0,-5,16,-4,-5,0,0,2,-3,0,0,1],
+    [0,0,0,0,0,0,3,0,0,0,0,0,2,0,4,2,0],
+    [0,0,0,0,0,0,-1,8,-3,0,0,0,2,-22,12,5,10],
+    [0,0,0,0,0,-8,10,0,0,0,0,0,2,50,0,0,-22],
+    [0,0,0,0,0,-8,10,0,0,0,0,0,1,0,7,4,0],
+    [0,0,0,0,0,-8,10,0,0,0,0,0,2,0,3,1,0],
+    [0,0,0,0,0,0,2,2,0,0,0,0,2,-4,4,2,2],
+    [0,0,0,0,0,0,3,0,1,0,0,0,2,-5,-11,-5,2],
+    [0,0,0,0,0,-3,8,0,0,0,0,0,2,0,4,2,0],
+    [0,0,0,0,0,-5,5,0,0,0,0,0,1,4,17,9,-2],
+    [0,0,0,0,0,5,-5,0,0,0,0,0,0,59,0,0,0],
+    [0,0,0,0,0,5,-5,0,0,0,0,0,1,0,-4,-2,0],
+    [0,0,0,0,0,5,-5,0,0,0,0,0,2,-8,0,0,4],
+    [0,0,0,0,0,2,0,0,0,0,0,0,0,-3,0,0,0],
+    [0,0,0,0,0,2,0,0,0,0,0,0,1,4,-15,-8,-2],
+    [0,0,0,0,0,2,0,0,0,0,0,0,2,370,-8,0,-160],
+    [0,0,0,0,0,0,7,-7,0,0,0,0,2,0,0,-3,0],
+    [0,0,0,0,0,0,7,-7,0,0,0,0,2,0,3,1,0],
+    [0,0,0,0,0,0,6,-5,0,0,0,0,2,-6,3,1,3],
+    [0,0,0,0,0,7,-8,0,0,0,0,0,0,0,6,0,0],
+    [0,0,0,0,0,0,5,-3,0,0,0,0,2,-10,0,0,4],
+    [0,0,0,0,0,4,-3,0,0,0,0,0,2,0,9,4,0],
+    [0,0,0,0,0,1,2,0,0,0,0,0,2,4,17,7,-2],
+    [0,0,0,0,0,-9,11,0,0,0,0,0,2,34,0,0,-15],
+    [0,0,0,0,0,-9,11,0,0,0,0,0,1,0,5,3,0],
+    [0,0,0,0,0,0,4,0,-4,0,0,0,2,-5,0,0,2],
+    [0,0,0,0,0,0,4,0,-3,0,0,0,2,-37,-7,-3,16],
+  ]
+  private static let xpl18: [[Double]] = [
+    [0,0,0,0,0,-6,6,0,0,0,0,0,1,3,13,7,-2],
+    [0,0,0,0,0,6,-6,0,0,0,0,0,0,40,0,0,0],
+    [0,0,0,0,0,6,-6,0,0,0,0,0,1,0,-3,-2,0],
+    [0,0,0,0,0,0,4,0,-2,0,0,0,2,-184,-3,-1,80],
+    [0,0,0,0,0,0,6,-4,0,0,0,0,2,-3,0,0,1],
+    [0,0,0,0,0,3,-1,0,0,0,0,0,0,-3,0,0,0],
+    [0,0,0,0,0,3,-1,0,0,0,0,0,1,0,-10,-6,-1],
+    [0,0,0,0,0,3,-1,0,0,0,0,0,2,31,-6,0,-13],
+    [0,0,0,0,0,0,4,0,-1,0,0,0,2,-3,-32,-14,1],
+    [0,0,0,0,0,0,4,0,0,-2,0,0,2,-7,0,0,3],
+    [0,0,0,0,0,0,5,-2,0,0,0,0,2,0,-8,-4,0],
+    [0,0,0,0,0,0,4,0,0,0,0,0,0,3,-4,0,0],
+    [0,0,0,0,0,8,-9,0,0,0,0,0,0,0,4,0,0],
+    [0,0,0,0,0,5,-4,0,0,0,0,0,2,0,3,1,0],
+    [0,0,0,0,0,2,1,0,0,0,0,0,2,19,-23,-10,2],
+    [0,0,0,0,0,2,1,0,0,0,0,0,1,0,0,0,-10],
+    [0,0,0,0,0,2,1,0,0,0,0,0,1,0,3,2,0],
+    [0,0,0,0,0,-7,7,0,0,0,0,0,1,0,9,5,-1],
+    [0,0,0,0,0,7,-7,0,0,0,0,0,0,28,0,0,0],
+    [0,0,0,0,0,4,-2,0,0,0,0,0,1,0,-7,-4,0],
+    [0,0,0,0,0,4,-2,0,0,0,0,0,2,8,-4,0,-4],
+    [0,0,0,0,0,4,-2,0,0,0,0,0,0,0,0,-2,0],
+    [0,0,0,0,0,4,-2,0,0,0,0,0,0,0,3,0,0],
+    [0,0,0,0,0,0,5,0,-4,0,0,0,2,-3,0,0,1],
+    [0,0,0,0,0,0,5,0,-3,0,0,0,2,-9,0,1,4],
+    [0,0,0,0,0,0,5,0,-2,0,0,0,2,3,12,5,-1],
+    [0,0,0,0,0,3,0,0,0,0,0,0,2,17,-3,-1,0],
+    [0,0,0,0,0,-8,8,0,0,0,0,0,1,0,7,4,0],
+    [0,0,0,0,0,8,-8,0,0,0,0,0,0,19,0,0,0],
+    [0,0,0,0,0,5,-3,0,0,0,0,0,1,0,-5,-3,0],
+    [0,0,0,0,0,5,-3,0,0,0,0,0,2,14,-3,0,-1],
+    [0,0,0,0,0,-9,9,0,0,0,0,0,1,0,0,-1,0],
+  ]
+  private static let xpl19: [[Double]] = [
+    [0,0,0,0,0,-9,9,0,0,0,0,0,1,0,0,0,-5],
+    [0,0,0,0,0,-9,9,0,0,0,0,0,1,0,5,3,0],
+    [0,0,0,0,0,9,-9,0,0,0,0,0,0,13,0,0,0],
+    [0,0,0,0,0,6,-4,0,0,0,0,0,1,0,-3,-2,0],
+    [0,0,0,0,0,0,6,0,0,0,0,0,2,2,9,4,3],
+    [0,0,0,0,0,0,6,0,0,0,0,0,0,0,0,0,-4],
+    [0,0,0,0,0,0,6,0,0,0,0,0,0,8,0,0,0],
+    [0,0,0,0,0,0,6,0,0,0,0,0,1,0,4,2,0],
+    [0,0,0,0,0,0,6,0,0,0,0,0,2,6,0,0,-3],
+    [0,0,0,0,0,0,6,0,0,0,0,0,0,6,0,0,0],
+    [0,0,0,0,0,0,6,0,0,0,0,0,1,0,3,1,0],
+    [0,0,0,0,0,0,6,0,0,0,0,0,2,5,0,0,-2],
+    [0,0,0,0,0,0,0,0,0,0,0,0,2,3,0,0,-1],
+    [1,0,-2,0,0,0,2,0,-2,0,0,0,0,-3,0,0,0],
+    [1,0,-2,0,0,2,-2,0,0,0,0,0,0,6,0,0,0],
+    [1,0,-2,0,0,0,1,0,-1,0,0,0,0,7,0,0,0],
+    [1,0,-2,0,0,1,-1,0,0,0,0,0,0,-4,0,0,0],
+    [-1,0,0,0,0,3,-3,0,0,0,0,0,0,4,0,0,0],
+    [-1,0,0,0,0,0,2,0,-2,0,0,0,0,6,0,0,0],
+    [-1,0,2,0,0,0,4,-8,3,0,0,0,0,0,-4,0,0],
+    [1,0,-2,0,0,0,4,-8,3,0,0,0,0,0,-4,0,0],
+    [-2,0,2,0,0,0,4,-8,3,0,0,0,0,5,0,0,0],
+    [-1,0,0,0,0,0,2,0,-3,0,0,0,0,-3,0,0,0],
+    [-1,0,0,0,0,0,1,0,-1,0,0,0,0,4,0,0,0],
+    [-1,0,0,0,0,1,-1,0,0,0,0,0,0,-5,0,0,0],
+    [-1,0,2,0,0,2,-2,0,0,0,0,0,0,4,0,0,0],
+    [1,-1,1,0,0,0,1,0,0,0,0,0,0,0,3,0,0],
+    [-1,0,2,0,0,0,2,0,-3,0,0,0,0,13,0,0,0],
+    [-2,0,0,0,0,0,2,0,-3,0,0,0,0,21,11,0,0],
+    [1,0,0,0,0,0,4,-8,3,0,0,0,0,0,-5,0,0],
+    [-1,1,-1,1,0,0,-1,0,0,0,0,0,0,0,-5,-2,0],
+    [1,1,-1,1,0,0,-1,0,0,0,0,0,0,0,5,3,0],
+  ]
+  private static let xpl20: [[Double]] = [
+    [-1,0,0,0,0,0,4,-8,3,0,0,0,0,0,-5,0,0],
+    [-1,0,2,1,0,0,2,0,-2,0,0,0,0,-3,0,0,2],
+    [0,0,0,0,0,0,2,0,-2,0,0,0,0,20,10,0,0],
+    [-1,0,2,0,0,0,2,0,-2,0,0,0,0,-34,0,0,0],
+    [-1,0,2,0,0,3,-3,0,0,0,0,0,0,-19,0,0,0],
+    [1,0,-2,1,0,0,-2,0,2,0,0,0,0,3,0,0,-2],
+    [1,2,-2,2,0,-3,3,0,0,0,0,0,0,-3,0,0,1],
+    [1,2,-2,2,0,0,-2,0,2,0,0,0,0,-6,0,0,3],
+    [1,0,0,0,0,1,-1,0,0,0,0,0,0,-4,0,0,0],
+    [1,0,0,0,0,0,1,0,-1,0,0,0,0,3,0,0,0],
+    [0,0,-2,0,0,2,-2,0,0,0,0,0,0,3,0,0,0],
+    [0,0,-2,0,0,0,1,0,-1,0,0,0,0,4,0,0,0],
+    [0,2,0,2,0,-2,2,0,0,0,0,0,0,3,0,0,-1],
+    [0,2,0,2,0,0,-1,0,1,0,0,0,0,6,0,0,-3],
+    [0,2,0,2,0,-1,1,0,0,0,0,0,0,-8,0,0,3],
+    [0,2,0,2,0,-2,3,0,0,0,0,0,0,0,3,1,0],
+    [0,0,2,0,0,0,2,0,-2,0,0,0,0,-3,0,0,0],
+    [0,1,1,2,0,0,1,0,0,0,0,0,0,0,-3,-2,0],
+    [1,2,0,2,0,0,1,0,0,0,0,0,0,126,-63,-27,-55],
+    [-1,2,0,2,0,10,-3,0,0,0,0,0,0,-5,0,1,2],
+    [0,1,1,1,0,0,1,0,0,0,0,0,0,-3,28,15,2],
+    [1,2,0,2,0,0,1,0,0,0,0,0,0,5,0,1,-2],
+    [0,2,0,2,0,0,4,-8,3,0,0,0,0,0,9,4,1],
+    [0,2,0,2,0,0,-4,8,-3,0,0,0,0,0,9,4,-1],
+    [-1,2,0,2,0,0,-4,8,-3,0,0,0,0,-126,-63,-27,55],
+    [2,2,-2,2,0,0,-2,0,3,0,0,0,0,3,0,0,-1],
+    [1,2,0,1,0,0,-2,0,3,0,0,0,0,21,-11,-6,-11],
+    [0,1,1,0,0,0,1,0,0,0,0,0,0,0,-4,0,0],
+    [-1,2,0,1,0,0,1,0,0,0,0,0,0,-21,-11,-6,11],
+    [-2,2,2,2,0,0,2,0,-2,0,0,0,0,-3,0,0,1],
+    [0,2,0,2,0,2,-3,0,0,0,0,0,0,0,3,1,0],
+    [0,2,0,2,0,1,-1,0,0,0,0,0,0,8,0,0,-4],
+  ]
+  private static let xpl21: [[Double]] = [
+    [0,2,0,2,0,0,1,0,-1,0,0,0,0,-6,0,0,3],
+    [0,2,0,2,0,2,-2,0,0,0,0,0,0,-3,0,0,1],
+    [-1,2,2,2,0,0,-1,0,1,0,0,0,0,3,0,0,-1],
+    [1,2,0,2,0,-1,1,0,0,0,0,0,0,-3,0,0,1],
+    [-1,2,2,2,0,0,2,0,-3,0,0,0,0,-5,0,0,2],
+    [2,2,0,2,0,0,2,0,-3,0,0,0,0,24,-12,-5,-11],
+    [1,2,0,2,0,0,-4,8,-3,0,0,0,0,0,3,1,0],
+    [1,2,0,2,0,0,4,-8,3,0,0,0,0,0,3,1,0],
+    [1,1,1,1,0,0,1,0,0,0,0,0,0,0,3,2,0],
+    [0,2,0,2,0,0,1,0,0,0,0,0,0,-24,-12,-5,10],
+    [2,2,0,1,0,0,1,0,0,0,0,0,0,4,0,-1,-2],
+    [-1,2,2,2,0,0,2,0,-2,0,0,0,0,13,0,0,-6],
+    [-1,2,2,2,0,3,-3,0,0,0,0,0,0,7,0,0,-3],
+    [1,2,0,2,0,1,-1,0,0,0,0,0,0,3,0,0,-1],
+    [0,2,2,2,0,0,2,0,-2,0,0,0,0,3,0,0,-1],
+  ]
+  static let s0: [[Double]] = [s00,s01].flatMap { $0 }
+  private static let s00: [[Double]] = [
+    [0,0,0,0,1,0,0,0,-2640.73e-6,0.39e-6],
+    [0,0,0,0,2,0,0,0,-63.53e-6,0.02e-6],
+    [0,0,2,-2,3,0,0,0,-11.75e-6,-0.01e-6],
+    [0,0,2,-2,1,0,0,0,-11.21e-6,-0.01e-6],
+    [0,0,2,-2,2,0,0,0,4.57e-6,0.00e-6],
+    [0,0,2,0,3,0,0,0,-2.02e-6,0.00e-6],
+    [0,0,2,0,1,0,0,0,-1.98e-6,0.00e-6],
+    [0,0,0,0,3,0,0,0,1.72e-6,0.00e-6],
+    [0,1,0,0,1,0,0,0,1.41e-6,0.01e-6],
+    [0,1,0,0,-1,0,0,0,1.26e-6,0.01e-6],
+    [1,0,0,0,-1,0,0,0,0.63e-6,0.00e-6],
+    [1,0,0,0,1,0,0,0,0.63e-6,0.00e-6],
+    [0,1,2,-2,3,0,0,0,-0.46e-6,0.00e-6],
+    [0,1,2,-2,1,0,0,0,-0.45e-6,0.00e-6],
+    [0,0,4,-4,4,0,0,0,-0.36e-6,0.00e-6],
+    [0,0,1,-1,1,-8,12,0,0.24e-6,0.12e-6],
+    [0,0,2,0,0,0,0,0,-0.32e-6,0.00e-6],
+    [0,0,2,0,2,0,0,0,-0.28e-6,0.00e-6],
+    [1,0,2,0,3,0,0,0,-0.27e-6,0.00e-6],
+    [1,0,2,0,1,0,0,0,-0.26e-6,0.00e-6],
+    [0,0,2,-2,0,0,0,0,0.21e-6,0.00e-6],
+    [0,1,-2,2,-3,0,0,0,-0.19e-6,0.00e-6],
+    [0,1,-2,2,-1,0,0,0,-0.18e-6,0.00e-6],
+    [0,0,0,0,0,8,-13,-1,0.10e-6,-0.05e-6],
+    [0,0,0,2,0,0,0,0,-0.15e-6,0.00e-6],
+    [2,0,-2,0,-1,0,0,0,0.14e-6,0.00e-6],
+    [0,1,2,-2,2,0,0,0,0.14e-6,0.00e-6],
+    [1,0,0,-2,1,0,0,0,-0.14e-6,0.00e-6],
+    [1,0,0,-2,-1,0,0,0,-0.14e-6,0.00e-6],
+    [0,0,4,-2,4,0,0,0,-0.13e-6,0.00e-6],
+    [0,0,2,-2,4,0,0,0,0.11e-6,0.00e-6],
+    [1,0,-2,0,-3,0,0,0,-0.11e-6,0.00e-6],
+  ]
+  private static let s01: [[Double]] = [
+    [1,0,-2,0,-1,0,0,0,-0.11e-6,0.00e-6],
+  ]
+  static let s1: [[Double]] = [s10].flatMap { $0 }
+  private static let s10: [[Double]] = [
+    [0,0,0,0,2,0,0,0,-0.07e-6,3.57e-6],
+    [0,0,0,0,1,0,0,0,1.73e-6,-0.03e-6],
+    [0,0,2,-2,3,0,0,0,0.00e-6,0.48e-6],
+  ]
+  static let s2: [[Double]] = [s20].flatMap { $0 }
+  private static let s20: [[Double]] = [
+    [0,0,0,0,1,0,0,0,743.52e-6,-0.17e-6],
+    [0,0,2,-2,2,0,0,0,56.91e-6,0.06e-6],
+    [0,0,2,0,2,0,0,0,9.84e-6,-0.01e-6],
+    [0,0,0,0,2,0,0,0,-8.85e-6,0.01e-6],
+    [0,1,0,0,0,0,0,0,-6.38e-6,-0.05e-6],
+    [1,0,0,0,0,0,0,0,-3.07e-6,0.00e-6],
+    [0,1,2,-2,2,0,0,0,2.23e-6,0.00e-6],
+    [0,0,2,0,1,0,0,0,1.67e-6,0.00e-6],
+    [1,0,2,0,2,0,0,0,1.30e-6,0.00e-6],
+    [0,1,-2,2,-2,0,0,0,0.93e-6,0.00e-6],
+    [1,0,0,-2,0,0,0,0,0.68e-6,0.00e-6],
+    [0,0,2,-2,1,0,0,0,-0.55e-6,0.00e-6],
+    [1,0,-2,0,-2,0,0,0,0.53e-6,0.00e-6],
+    [0,0,0,2,0,0,0,0,-0.27e-6,0.00e-6],
+    [1,0,0,0,1,0,0,0,-0.27e-6,0.00e-6],
+    [1,0,-2,-2,-2,0,0,0,-0.26e-6,0.00e-6],
+    [1,0,0,0,-1,0,0,0,-0.25e-6,0.00e-6],
+    [1,0,2,0,1,0,0,0,0.22e-6,0.00e-6],
+    [2,0,0,-2,0,0,0,0,-0.21e-6,0.00e-6],
+    [2,0,-2,0,-1,0,0,0,0.20e-6,0.00e-6],
+    [0,0,2,2,2,0,0,0,0.17e-6,0.00e-6],
+    [2,0,2,0,2,0,0,0,0.13e-6,0.00e-6],
+    [2,0,0,0,0,0,0,0,-0.13e-6,0.00e-6],
+    [1,0,2,-2,2,0,0,0,-0.12e-6,0.00e-6],
+    [0,0,2,0,0,0,0,0,-0.11e-6,0.00e-6],
+  ]
+  static let s3: [[Double]] = [s30].flatMap { $0 }
+  private static let s30: [[Double]] = [
+    [0,0,0,0,1,0,0,0,0.30e-6,-23.42e-6],
+    [0,0,2,-2,2,0,0,0,-0.03e-6,-1.46e-6],
+    [0,0,2,0,2,0,0,0,-0.01e-6,-0.25e-6],
+    [0,0,0,0,2,0,0,0,0.00e-6,0.23e-6],
+  ]
+  static let s4: [[Double]] = [s40].flatMap { $0 }
+  private static let s40: [[Double]] = [
+    [0,0,0,0,1,0,0,0,-0.26e-6,-0.01e-6],
+  ]
+}
diff --git a/Sources/ERFASwift/FairheadTDBEvaluator.swift b/Sources/ERFASwift/FairheadTDBEvaluator.swift
new file mode 100644
index 0000000..c392ebd
--- /dev/null
+++ b/Sources/ERFASwift/FairheadTDBEvaluator.swift
@@ -0,0 +1,41 @@
+// Fairhead evaluator adapted from ERFA 2.0.1: Copyright 2013-2023 NumFOCUS.
+// BSD terms and SOFA heritage: Sources/ERFASwift/LICENSE.txt.
+import Foundation
+
+/// Geocentric offset and analytic derivatives from the full Fairhead series.
+/// Input is split TT seconds from J2000; the output offset is in SI seconds.
+package enum FairheadTDBEvaluator {
+  package static func correction(wholeSeconds: Int64, fractionalSecond: Double)
+    -> (offsetSeconds: Double, rate: Double, acceleration: Double) {
+    let secondsPerMillennium = 365250.0*86400
+    let t = Double(wholeSeconds)/secondsPerMillennium + fractionalSecond/secondsPerMillennium
+    // Store value and first/second derivatives with respect to Julian millennia.
+    var value = 0.0, first = 0.0, second = 0.0
+    let ranges = [0..<474,474..<679,679..<764,764..<784,784..<787]
+    for order in (0..<5).reversed() {
+      var v = 0.0, d = 0.0, dd = 0.0
+      for index in ranges[order].reversed() {
+        let row = FairheadTDBSeries.terms[index]
+        let amplitude = row[0], frequency = row[1], phase = frequency*t+row[2]
+        let harmonic = amplitude*sin(phase)
+        v += harmonic; d += amplitude*frequency*cos(phase); dd -= harmonic*frequency*frequency
+      }
+      // Differentiate Horner's rule, retaining the previous derivatives.
+      second = second*t + 2*first + dd
+      first = first*t + value + d
+      value = value*t + v
+    }
+    for row in [[0.00065e-6,6069.776754,4.021194],[0.00033e-6,213.299095,5.543132],
+                [-0.00196e-6,6208.294251,5.696701],[-0.00173e-6,74.781599,2.435900]] {
+      let harmonic = row[0]*sin(row[1]*t+row[2])
+      value += harmonic
+      first += row[0]*row[1]*cos(row[1]*t+row[2])
+      second -= harmonic*row[1]*row[1]
+    }
+    value += 0.03638e-6*t*t
+    first += 2*0.03638e-6*t
+    second += 2*0.03638e-6
+    return (value, 1+first/secondsPerMillennium,
+            second/(secondsPerMillennium*secondsPerMillennium))
+  }
+}
diff --git a/Sources/ERFASwift/FairheadTDBSeries.swift b/Sources/ERFASwift/FairheadTDBSeries.swift
new file mode 100644
index 0000000..622054b
--- /dev/null
+++ b/Sources/ERFASwift/FairheadTDBSeries.swift
@@ -0,0 +1,844 @@
+// Copyright (C) 2013-2023, NumFOCUS Foundation.
+// Full Fairhead–Bretagnon series adapted from ERFA 2.0.1 (NumFOCUS).
+// BSD terms and SOFA heritage: Sources/ERFASwift/LICENSE.txt.
+// Source SHA256: 228bd7c7c1c88dda44c29a076f289c968f64d77a2dc389138b03ab5d1d442105
+internal enum FairheadTDBSeries {
+  static let terms: [[Double]] = [chunk0,chunk1,chunk2,chunk3,chunk4,chunk5,chunk6,chunk7,chunk8,chunk9,chunk10,chunk11,chunk12,chunk13,chunk14,chunk15,chunk16,chunk17,chunk18,chunk19,chunk20,chunk21,chunk22,chunk23,chunk24].flatMap { $0 }
+  private static let chunk0: [[Double]] = [
+    [1656.674564e-6,     6283.075849991,  6.240054195],
+    [22.417471e-6,     5753.384884897,  4.296977442],
+    [13.839792e-6,    12566.151699983,  6.196904410],
+    [4.770086e-6,      529.690965095,  0.444401603],
+    [4.676740e-6,     6069.776754553,  4.021195093],
+    [2.256707e-6,      213.299095438,  5.543113262],
+    [1.694205e-6,      -3.523118349,   5.025132748],
+    [1.554905e-6,    77713.771467920,  5.198467090],
+    [1.276839e-6,     7860.419392439,  5.988822341],
+    [1.193379e-6,     5223.693919802,  3.649823730],
+    [1.115322e-6,     3930.209696220,  1.422745069],
+    [0.794185e-6,    11506.769769794,  2.322313077],
+    [0.447061e-6,       26.298319800,  3.615796498],
+    [0.435206e-6,     -398.149003408,  4.349338347],
+    [0.600309e-6,     1577.343542448,  2.678271909],
+    [0.496817e-6,     6208.294251424,  5.696701824],
+    [0.486306e-6,     5884.926846583,  0.520007179],
+    [0.432392e-6,       74.781598567,  2.435898309],
+    [0.468597e-6,     6244.942814354,  5.866398759],
+    [0.375510e-6,     5507.553238667,  4.103476804],
+    [0.243085e-6,     -775.522611324,  3.651837925],
+    [0.173435e-6,    18849.227549974,  6.153743485],
+    [0.230685e-6,     5856.477659115,  4.773852582],
+    [0.203747e-6,    12036.460734888,  4.333987818],
+    [0.143935e-6,     -796.298006816,  5.957517795],
+    [0.159080e-6,    10977.078804699,  1.890075226],
+    [0.119979e-6,       38.133035638,  4.551585768],
+    [0.118971e-6,     5486.777843175,  1.914547226],
+    [0.116120e-6,     1059.381930189,  0.873504123],
+    [0.137927e-6,    11790.629088659,  1.135934669],
+    [0.098358e-6,     2544.314419883,  0.092793886],
+    [0.101868e-6,    -5573.142801634,  5.984503847],
+  ]
+  private static let chunk1: [[Double]] = [
+    [0.080164e-6,      206.185548437,  2.095377709],
+    [0.079645e-6,     4694.002954708,  2.949233637],
+    [0.062617e-6,       20.775395492,  2.654394814],
+    [0.075019e-6,     2942.463423292,  4.980931759],
+    [0.064397e-6,     5746.271337896,  1.280308748],
+    [0.063814e-6,     5760.498431898,  4.167901731],
+    [0.048042e-6,     2146.165416475,  1.495846011],
+    [0.048373e-6,      155.420399434,  2.251573730],
+    [0.058844e-6,      426.598190876,  4.839650148],
+    [0.046551e-6,       -0.980321068,  0.921573539],
+    [0.054139e-6,    17260.154654690,  3.411091093],
+    [0.042411e-6,     6275.962302991,  2.869567043],
+    [0.040184e-6,       -7.113547001,  3.565975565],
+    [0.036564e-6,     5088.628839767,  3.324679049],
+    [0.040759e-6,    12352.852604545,  3.981496998],
+    [0.036507e-6,      801.820931124,  6.248866009],
+    [0.036955e-6,     3154.687084896,  5.071801441],
+    [0.042732e-6,      632.783739313,  5.720622217],
+    [0.042560e-6,   161000.685737473,  1.270837679],
+    [0.040480e-6,    15720.838784878,  2.546610123],
+    [0.028244e-6,    -6286.598968340,  5.069663519],
+    [0.033477e-6,     6062.663207553,  4.144987272],
+    [0.034867e-6,      522.577418094,  5.210064075],
+    [0.032438e-6,     6076.890301554,  0.749317412],
+    [0.030215e-6,     7084.896781115,  3.389610345],
+    [0.029247e-6,   -71430.695617928,  4.183178762],
+    [0.033529e-6,     9437.762934887,  2.404714239],
+    [0.032423e-6,     8827.390269875,  5.541473556],
+    [0.027567e-6,     6279.552731642,  5.040846034],
+    [0.029862e-6,    12139.553509107,  1.770181024],
+    [0.022509e-6,    10447.387839604,  1.460726241],
+    [0.020937e-6,     8429.241266467,  0.652303414],
+  ]
+  private static let chunk2: [[Double]] = [
+    [0.020322e-6,      419.484643875,  3.735430632],
+    [0.024816e-6,    -1194.447010225,  1.087136918],
+    [0.025196e-6,     1748.016413067,  2.901883301],
+    [0.021691e-6,    14143.495242431,  5.952658009],
+    [0.017673e-6,     6812.766815086,  3.186129845],
+    [0.022567e-6,     6133.512652857,  3.307984806],
+    [0.016155e-6,    10213.285546211,  1.331103168],
+    [0.014751e-6,     1349.867409659,  4.308933301],
+    [0.015949e-6,     -220.412642439,  4.005298270],
+    [0.015974e-6,    -2352.866153772,  6.145309371],
+    [0.014223e-6,    17789.845619785,  2.104551349],
+    [0.017806e-6,       73.297125859,  3.475975097],
+    [0.013671e-6,     -536.804512095,  5.971672571],
+    [0.011942e-6,     8031.092263058,  2.053414715],
+    [0.014318e-6,    16730.463689596,  3.016058075],
+    [0.012462e-6,      103.092774219,  1.737438797],
+    [0.010962e-6,        3.590428652,  2.196567739],
+    [0.015078e-6,    19651.048481098,  3.969480770],
+    [0.010396e-6,      951.718406251,  5.717799605],
+    [0.011707e-6,    -4705.732307544,  2.654125618],
+    [0.010453e-6,     5863.591206116,  1.913704550],
+    [0.012420e-6,     4690.479836359,  4.734090399],
+    [0.011847e-6,     5643.178563677,  5.489005403],
+    [0.008610e-6,     3340.612426700,  3.661698944],
+    [0.011622e-6,     5120.601145584,  4.863931876],
+    [0.010825e-6,      553.569402842,  0.842715011],
+    [0.008666e-6,     -135.065080035,  3.293406547],
+    [0.009963e-6,      149.563197135,  4.870690598],
+    [0.009858e-6,     6309.374169791,  1.061816410],
+    [0.007959e-6,      316.391869657,  2.465042647],
+    [0.010099e-6,      283.859318865,  1.942176992],
+    [0.007147e-6,     -242.728603974,  3.661486981],
+  ]
+  private static let chunk3: [[Double]] = [
+    [0.007505e-6,     5230.807466803,  4.920937029],
+    [0.008323e-6,    11769.853693166,  1.229392026],
+    [0.007490e-6,    -6256.777530192,  3.658444681],
+    [0.009370e-6,   149854.400134205,  0.673880395],
+    [0.007117e-6,       38.027672636,  5.294249518],
+    [0.007857e-6,    12168.002696575,  0.525733528],
+    [0.007019e-6,     6206.809778716,  0.837688810],
+    [0.006056e-6,      955.599741609,  4.194535082],
+    [0.008107e-6,    13367.972631107,  3.793235253],
+    [0.006731e-6,     5650.292110678,  5.639906583],
+    [0.007332e-6,       36.648562930,  0.114858677],
+    [0.006366e-6,     4164.311989613,  2.262081818],
+    [0.006858e-6,     5216.580372801,  0.642063318],
+    [0.006919e-6,     6681.224853400,  6.018501522],
+    [0.006826e-6,     7632.943259650,  3.458654112],
+    [0.005308e-6,    -1592.596013633,  2.500382359],
+    [0.005096e-6,    11371.704689758,  2.547107806],
+    [0.004841e-6,     5333.900241022,  0.437078094],
+    [0.005582e-6,     5966.683980335,  2.246174308],
+    [0.006304e-6,    11926.254413669,  2.512929171],
+    [0.006603e-6,    23581.258177318,  5.393136889],
+    [0.005123e-6,       -1.484472708,  2.999641028],
+    [0.004648e-6,     1589.072895284,  1.275847090],
+    [0.005119e-6,     6438.496249426,  1.486539246],
+    [0.004521e-6,     4292.330832950,  6.140635794],
+    [0.005680e-6,    23013.539539587,  4.557814849],
+    [0.005488e-6,       -3.455808046,  0.090675389],
+    [0.004193e-6,     7234.794256242,  4.869091389],
+    [0.003742e-6,     7238.675591600,  4.691976180],
+    [0.004148e-6,     -110.206321219,  3.016173439],
+    [0.004553e-6,    11499.656222793,  5.554998314],
+    [0.004892e-6,     5436.993015240,  1.475415597],
+  ]
+  private static let chunk4: [[Double]] = [
+    [0.004044e-6,     4732.030627343,  1.398784824],
+    [0.004164e-6,    12491.370101415,  5.650931916],
+    [0.004349e-6,    11513.883316794,  2.181745369],
+    [0.003919e-6,    12528.018664345,  5.823319737],
+    [0.003129e-6,     6836.645252834,  0.003844094],
+    [0.004080e-6,    -7058.598461315,  3.690360123],
+    [0.003270e-6,       76.266071276,  1.517189902],
+    [0.002954e-6,     6283.143160294,  4.447203799],
+    [0.002872e-6,       28.449187468,  1.158692983],
+    [0.002881e-6,      735.876513532,  0.349250250],
+    [0.003279e-6,     5849.364112115,  4.893384368],
+    [0.003625e-6,     6209.778724132,  1.473760578],
+    [0.003074e-6,      949.175608970,  5.185878737],
+    [0.002775e-6,     9917.696874510,  1.030026325],
+    [0.002646e-6,    10973.555686350,  3.918259169],
+    [0.002575e-6,    25132.303399966,  6.109659023],
+    [0.003500e-6,      263.083923373,  1.892100742],
+    [0.002740e-6,    18319.536584880,  4.320519510],
+    [0.002464e-6,      202.253395174,  4.698203059],
+    [0.002409e-6,        2.542797281,  5.325009315],
+    [0.003354e-6,   -90955.551694697,  1.942656623],
+    [0.002296e-6,     6496.374945429,  5.061810696],
+    [0.003002e-6,     6172.869528772,  2.797822767],
+    [0.003202e-6,    27511.467873537,  0.531673101],
+    [0.002954e-6,    -6283.008539689,  4.533471191],
+    [0.002353e-6,      639.897286314,  3.734548088],
+    [0.002401e-6,    16200.772724501,  2.605547070],
+    [0.003053e-6,   233141.314403759,  3.029030662],
+    [0.003024e-6,    83286.914269554,  2.355556099],
+    [0.002863e-6,    17298.182327326,  5.240963796],
+    [0.002103e-6,    -7079.373856808,  5.756641637],
+    [0.002303e-6,    83996.847317911,  2.013686814],
+  ]
+  private static let chunk5: [[Double]] = [
+    [0.002303e-6,    18073.704938650,  1.089100410],
+    [0.002381e-6,       63.735898303,  0.759188178],
+    [0.002493e-6,     6386.168624210,  0.645026535],
+    [0.002366e-6,        3.932153263,  6.215885448],
+    [0.002169e-6,    11015.106477335,  4.845297676],
+    [0.002397e-6,     6243.458341645,  3.809290043],
+    [0.002183e-6,     1162.474704408,  6.179611691],
+    [0.002353e-6,     6246.427287062,  4.781719760],
+    [0.002199e-6,     -245.831646229,  5.956152284],
+    [0.001729e-6,     3894.181829542,  1.264976635],
+    [0.001896e-6,    -3128.388765096,  4.914231596],
+    [0.002085e-6,       35.164090221,  1.405158503],
+    [0.002024e-6,    14712.317116458,  2.752035928],
+    [0.001737e-6,     6290.189396992,  5.280820144],
+    [0.002229e-6,      491.557929457,  1.571007057],
+    [0.001602e-6,    14314.168113050,  4.203664806],
+    [0.002186e-6,      454.909366527,  1.402101526],
+    [0.001897e-6,    22483.848574493,  4.167932508],
+    [0.001825e-6,    -3738.761430108,  0.545828785],
+    [0.001894e-6,     1052.268383188,  5.817167450],
+    [0.001421e-6,       20.355319399,  2.419886601],
+    [0.001408e-6,    10984.192351700,  2.732084787],
+    [0.001847e-6,    10873.986030480,  2.903477885],
+    [0.001391e-6,    -8635.942003763,  0.593891500],
+    [0.001388e-6,       -7.046236698,  1.166145902],
+    [0.001810e-6,   -88860.057071188,  0.487355242],
+    [0.001288e-6,    -1990.745017041,  3.913022880],
+    [0.001297e-6,    23543.230504682,  3.063805171],
+    [0.001335e-6,     -266.607041722,  3.995764039],
+    [0.001376e-6,    10969.965257698,  5.152914309],
+    [0.001745e-6,   244287.600007027,  3.626395673],
+    [0.001649e-6,    31441.677569757,  1.952049260],
+  ]
+  private static let chunk6: [[Double]] = [
+    [0.001416e-6,     9225.539273283,  4.996408389],
+    [0.001238e-6,     4804.209275927,  5.503379738],
+    [0.001472e-6,     4590.910180489,  4.164913291],
+    [0.001169e-6,     6040.347246017,  5.841719038],
+    [0.001039e-6,     5540.085789459,  2.769753519],
+    [0.001004e-6,     -170.672870619,  0.755008103],
+    [0.001284e-6,    10575.406682942,  5.306538209],
+    [0.001278e-6,       71.812653151,  4.713486491],
+    [0.001321e-6,    18209.330263660,  2.624866359],
+    [0.001297e-6,    21228.392023546,  0.382603541],
+    [0.000954e-6,     6282.095528923,  0.882213514],
+    [0.001145e-6,     6058.731054289,  1.169483931],
+    [0.000979e-6,     5547.199336460,  5.448375984],
+    [0.000987e-6,    -6262.300454499,  2.656486959],
+    [0.001070e-6,  -154717.609887482,  1.827624012],
+    [0.000991e-6,     4701.116501708,  4.387001801],
+    [0.001155e-6,      -14.227094002,  3.042700750],
+    [0.001176e-6,      277.034993741,  3.335519004],
+    [0.000890e-6,    13916.019109642,  5.601498297],
+    [0.000884e-6,    -1551.045222648,  1.088831705],
+    [0.000876e-6,     5017.508371365,  3.969902609],
+    [0.000806e-6,    15110.466119866,  5.142876744],
+    [0.000773e-6,    -4136.910433516,  0.022067765],
+    [0.001077e-6,      175.166059800,  1.844913056],
+    [0.000954e-6,    -6284.056171060,  0.968480906],
+    [0.000737e-6,     5326.786694021,  4.923831588],
+    [0.000845e-6,     -433.711737877,  4.749245231],
+    [0.000819e-6,     8662.240323563,  5.991247817],
+    [0.000852e-6,      199.072001436,  2.189604979],
+    [0.000723e-6,    17256.631536341,  6.068719637],
+    [0.000940e-6,     6037.244203762,  6.197428148],
+    [0.000885e-6,    11712.955318231,  3.280414875],
+  ]
+  private static let chunk7: [[Double]] = [
+    [0.000706e-6,    12559.038152982,  2.824848947],
+    [0.000732e-6,     2379.164473572,  2.501813417],
+    [0.000764e-6,    -6127.655450557,  2.236346329],
+    [0.000908e-6,      131.541961686,  2.521257490],
+    [0.000907e-6,    35371.887265976,  3.370195967],
+    [0.000673e-6,     1066.495477190,  3.876512374],
+    [0.000814e-6,    17654.780539750,  4.627122566],
+    [0.000630e-6,       36.027866677,  0.156368499],
+    [0.000798e-6,      515.463871093,  5.151962502],
+    [0.000798e-6,      148.078724426,  5.909225055],
+    [0.000806e-6,      309.278322656,  6.054064447],
+    [0.000607e-6,      -39.617508346,  2.839021623],
+    [0.000601e-6,      412.371096874,  3.984225404],
+    [0.000646e-6,    11403.676995575,  3.852959484],
+    [0.000704e-6,    13521.751441591,  2.300991267],
+    [0.000603e-6,   -65147.619767937,  4.140083146],
+    [0.000609e-6,    10177.257679534,  0.437122327],
+    [0.000631e-6,     5767.611978898,  4.026532329],
+    [0.000576e-6,    11087.285125918,  4.760293101],
+    [0.000674e-6,    14945.316173554,  6.270510511],
+    [0.000726e-6,     5429.879468239,  6.039606892],
+    [0.000710e-6,    28766.924424484,  5.672617711],
+    [0.000647e-6,    11856.218651625,  3.397132627],
+    [0.000678e-6,    -5481.254918868,  6.249666675],
+    [0.000618e-6,    22003.914634870,  2.466427018],
+    [0.000738e-6,     6134.997125565,  2.242668890],
+    [0.000660e-6,      625.670192312,  5.864091907],
+    [0.000694e-6,     3496.032826134,  2.668309141],
+    [0.000531e-6,     6489.261398429,  1.681888780],
+    [0.000611e-6,  -143571.324284214,  2.424978312],
+    [0.000575e-6,    12043.574281889,  4.216492400],
+    [0.000553e-6,    12416.588502848,  4.772158039],
+  ]
+  private static let chunk8: [[Double]] = [
+    [0.000689e-6,     4686.889407707,  6.224271088],
+    [0.000495e-6,     7342.457780181,  3.817285811],
+    [0.000567e-6,     3634.621024518,  1.649264690],
+    [0.000515e-6,    18635.928454536,  3.945345892],
+    [0.000486e-6,     -323.505416657,  4.061673868],
+    [0.000662e-6,    25158.601719765,  1.794058369],
+    [0.000509e-6,      846.082834751,  3.053874588],
+    [0.000472e-6,   -12569.674818332,  5.112133338],
+    [0.000461e-6,     6179.983075773,  0.513669325],
+    [0.000641e-6,    83467.156352816,  3.210727723],
+    [0.000520e-6,    10344.295065386,  2.445597761],
+    [0.000493e-6,    18422.629359098,  1.676939306],
+    [0.000478e-6,     1265.567478626,  5.487314569],
+    [0.000472e-6,      -18.159247265,  1.999707589],
+    [0.000559e-6,    11190.377900137,  5.783236356],
+    [0.000494e-6,     9623.688276691,  3.022645053],
+    [0.000463e-6,     5739.157790895,  1.411223013],
+    [0.000432e-6,    16858.482532933,  1.179256434],
+    [0.000574e-6,    72140.628666286,  1.758191830],
+    [0.000484e-6,    17267.268201691,  3.290589143],
+    [0.000550e-6,     4907.302050146,  0.864024298],
+    [0.000399e-6,       14.977853527,  2.094441910],
+    [0.000491e-6,      224.344795702,  0.878372791],
+    [0.000432e-6,    20426.571092422,  6.003829241],
+    [0.000481e-6,     5749.452731634,  4.309591964],
+    [0.000480e-6,     5757.317038160,  1.142348571],
+    [0.000485e-6,     6702.560493867,  0.210580917],
+    [0.000426e-6,     6055.549660552,  4.274476529],
+    [0.000480e-6,     5959.570433334,  5.031351030],
+    [0.000466e-6,    12562.628581634,  4.959581597],
+    [0.000520e-6,    39302.096962196,  4.788002889],
+    [0.000458e-6,    12132.439962106,  1.880103788],
+  ]
+  private static let chunk9: [[Double]] = [
+    [0.000470e-6,    12029.347187887,  1.405611197],
+    [0.000416e-6,    -7477.522860216,  1.082356330],
+    [0.000449e-6,    11609.862544012,  4.179989585],
+    [0.000465e-6,    17253.041107690,  0.353496295],
+    [0.000362e-6,    -4535.059436924,  1.583849576],
+    [0.000383e-6,    21954.157609398,  3.747376371],
+    [0.000389e-6,       17.252277143,  1.395753179],
+    [0.000331e-6,    18052.929543158,  0.566790582],
+    [0.000430e-6,    13517.870106233,  0.685827538],
+    [0.000368e-6,    -5756.908003246,  0.731374317],
+    [0.000330e-6,    10557.594160824,  3.710043680],
+    [0.000332e-6,    20199.094959633,  1.652901407],
+    [0.000384e-6,    11933.367960670,  5.827781531],
+    [0.000387e-6,    10454.501386605,  2.541182564],
+    [0.000325e-6,    15671.081759407,  2.178850542],
+    [0.000318e-6,      138.517496871,  2.253253037],
+    [0.000305e-6,     9388.005909415,  0.578340206],
+    [0.000352e-6,     5749.861766548,  3.000297967],
+    [0.000311e-6,     6915.859589305,  1.693574249],
+    [0.000297e-6,    24072.921469776,  1.997249392],
+    [0.000363e-6,     -640.877607382,  5.071820966],
+    [0.000323e-6,    12592.450019783,  1.072262823],
+    [0.000341e-6,    12146.667056108,  4.700657997],
+    [0.000290e-6,     9779.108676125,  1.812320441],
+    [0.000342e-6,     6132.028180148,  4.322238614],
+    [0.000329e-6,     6268.848755990,  3.033827743],
+    [0.000374e-6,    17996.031168222,  3.388716544],
+    [0.000285e-6,     -533.214083444,  4.687313233],
+    [0.000338e-6,     6065.844601290,  0.877776108],
+    [0.000276e-6,       24.298513841,  0.770299429],
+    [0.000336e-6,    -2388.894020449,  5.353796034],
+    [0.000290e-6,     3097.883822726,  4.075291557],
+  ]
+  private static let chunk10: [[Double]] = [
+    [0.000318e-6,      709.933048357,  5.941207518],
+    [0.000271e-6,    13095.842665077,  3.208912203],
+    [0.000331e-6,     6073.708907816,  4.007881169],
+    [0.000292e-6,      742.990060533,  2.714333592],
+    [0.000362e-6,    29088.811415985,  3.215977013],
+    [0.000280e-6,    12359.966151546,  0.710872502],
+    [0.000267e-6,    10440.274292604,  4.730108488],
+    [0.000262e-6,      838.969287750,  1.327720272],
+    [0.000250e-6,    16496.361396202,  0.898769761],
+    [0.000325e-6,    20597.243963041,  0.180044365],
+    [0.000268e-6,     6148.010769956,  5.152666276],
+    [0.000284e-6,     5636.065016677,  5.655385808],
+    [0.000301e-6,     6080.822454817,  2.135396205],
+    [0.000294e-6,     -377.373607916,  3.708784168],
+    [0.000236e-6,     2118.763860378,  1.733578756],
+    [0.000234e-6,     5867.523359379,  5.575209112],
+    [0.000268e-6,  -226858.238553767,  0.069432392],
+    [0.000265e-6,   167283.761587465,  4.369302826],
+    [0.000280e-6,    28237.233459389,  5.304829118],
+    [0.000292e-6,    12345.739057544,  4.096094132],
+    [0.000223e-6,    19800.945956225,  3.069327406],
+    [0.000301e-6,    43232.306658416,  6.205311188],
+    [0.000264e-6,    18875.525869774,  1.417263408],
+    [0.000304e-6,    -1823.175188677,  3.409035232],
+    [0.000301e-6,      109.945688789,  0.510922054],
+    [0.000260e-6,      813.550283960,  2.389438934],
+    [0.000299e-6,   316428.228673312,  5.384595078],
+    [0.000211e-6,     5756.566278634,  3.789392838],
+    [0.000209e-6,     5750.203491159,  1.661943545],
+    [0.000240e-6,    12489.885628707,  5.684549045],
+    [0.000216e-6,     6303.851245484,  3.862942261],
+    [0.000203e-6,     1581.959348283,  5.549853589],
+  ]
+  private static let chunk11: [[Double]] = [
+    [0.000200e-6,     5642.198242609,  1.016115785],
+    [0.000197e-6,      -70.849445304,  4.690702525],
+    [0.000227e-6,     6287.008003254,  2.911891613],
+    [0.000197e-6,      533.623118358,  1.048982898],
+    [0.000205e-6,    -6279.485421340,  1.829362730],
+    [0.000209e-6,   -10988.808157535,  2.636140084],
+    [0.000208e-6,     -227.526189440,  4.127883842],
+    [0.000191e-6,      415.552490612,  4.401165650],
+    [0.000190e-6,    29296.615389579,  4.175658539],
+    [0.000264e-6,    66567.485864652,  4.601102551],
+    [0.000256e-6,    -3646.350377354,  0.506364778],
+    [0.000188e-6,    13119.721102825,  2.032195842],
+    [0.000185e-6,     -209.366942175,  4.694756586],
+    [0.000198e-6,    25934.124331089,  3.832703118],
+    [0.000195e-6,     4061.219215394,  3.308463427],
+    [0.000234e-6,     5113.487598583,  1.716090661],
+    [0.000188e-6,     1478.866574064,  5.686865780],
+    [0.000222e-6,    11823.161639450,  1.942386641],
+    [0.000181e-6,    10770.893256262,  1.999482059],
+    [0.000171e-6,     6546.159773364,  1.182807992],
+    [0.000206e-6,       70.328180442,  5.934076062],
+    [0.000169e-6,    20995.392966449,  2.169080622],
+    [0.000191e-6,    10660.686935042,  5.405515999],
+    [0.000228e-6,    33019.021112205,  4.656985514],
+    [0.000184e-6,    -4933.208440333,  3.327476868],
+    [0.000220e-6,     -135.625325010,  1.765430262],
+    [0.000166e-6,    23141.558382925,  3.454132746],
+    [0.000191e-6,     6144.558353121,  5.020393445],
+    [0.000180e-6,     6084.003848555,  0.602182191],
+    [0.000163e-6,    17782.732072784,  4.960593133],
+    [0.000225e-6,    16460.333529525,  2.596451817],
+    [0.000222e-6,     5905.702242076,  3.731990323],
+  ]
+  private static let chunk12: [[Double]] = [
+    [0.000204e-6,      227.476132789,  5.636192701],
+    [0.000159e-6,    16737.577236597,  3.600691544],
+    [0.000200e-6,     6805.653268085,  0.868220961],
+    [0.000187e-6,    11919.140866668,  2.629456641],
+    [0.000161e-6,      127.471796607,  2.862574720],
+    [0.000205e-6,     6286.666278643,  1.742882331],
+    [0.000189e-6,      153.778810485,  4.812372643],
+    [0.000168e-6,    16723.350142595,  0.027860588],
+    [0.000149e-6,    11720.068865232,  0.659721876],
+    [0.000189e-6,     5237.921013804,  5.245313000],
+    [0.000143e-6,     6709.674040867,  4.317625647],
+    [0.000146e-6,     4487.817406270,  4.815297007],
+    [0.000144e-6,     -664.756045130,  5.381366880],
+    [0.000175e-6,     5127.714692584,  4.728443327],
+    [0.000162e-6,     6254.626662524,  1.435132069],
+    [0.000187e-6,    47162.516354635,  1.354371923],
+    [0.000146e-6,    11080.171578918,  3.369695406],
+    [0.000180e-6,     -348.924420448,  2.490902145],
+    [0.000148e-6,      151.047669843,  3.799109588],
+    [0.000157e-6,     6197.248551160,  1.284375887],
+    [0.000167e-6,      146.594251718,  0.759969109],
+    [0.000133e-6,    -5331.357443741,  5.409701889],
+    [0.000154e-6,       95.979227218,  3.366890614],
+    [0.000148e-6,    -6418.140930027,  3.384104996],
+    [0.000128e-6,    -6525.804453965,  3.803419985],
+    [0.000130e-6,    11293.470674356,  0.939039445],
+    [0.000152e-6,    -5729.506447149,  0.734117523],
+    [0.000138e-6,      210.117701700,  2.564216078],
+    [0.000123e-6,     6066.595360816,  4.517099537],
+    [0.000140e-6,    18451.078546566,  0.642049130],
+    [0.000126e-6,    11300.584221356,  3.485280663],
+    [0.000119e-6,    10027.903195729,  3.217431161],
+  ]
+  private static let chunk13: [[Double]] = [
+    [0.000151e-6,     4274.518310832,  4.404359108],
+    [0.000117e-6,     6072.958148291,  0.366324650],
+    [0.000165e-6,    -7668.637425143,  4.298212528],
+    [0.000117e-6,    -6245.048177356,  5.379518958],
+    [0.000130e-6,    -5888.449964932,  4.527681115],
+    [0.000121e-6,     -543.918059096,  6.109429504],
+    [0.000162e-6,     9683.594581116,  5.720092446],
+    [0.000141e-6,     6219.339951688,  0.679068671],
+    [0.000118e-6,    22743.409379516,  4.881123092],
+    [0.000129e-6,     1692.165669502,  0.351407289],
+    [0.000126e-6,     5657.405657679,  5.146592349],
+    [0.000114e-6,      728.762966531,  0.520791814],
+    [0.000120e-6,       52.596639600,  0.948516300],
+    [0.000115e-6,       65.220371012,  3.504914846],
+    [0.000126e-6,     5881.403728234,  5.577502482],
+    [0.000158e-6,   163096.180360983,  2.957128968],
+    [0.000134e-6,    12341.806904281,  2.598576764],
+    [0.000151e-6,    16627.370915377,  3.985702050],
+    [0.000109e-6,     1368.660252845,  0.014730471],
+    [0.000131e-6,     6211.263196841,  0.085077024],
+    [0.000146e-6,     5792.741760812,  0.708426604],
+    [0.000146e-6,      -77.750543984,  3.121576600],
+    [0.000107e-6,     5341.013788022,  0.288231904],
+    [0.000138e-6,     6281.591377283,  2.797450317],
+    [0.000113e-6,    -6277.552925684,  2.788904128],
+    [0.000115e-6,     -525.758811831,  5.895222200],
+    [0.000138e-6,     6016.468808270,  6.096188999],
+    [0.000139e-6,    23539.707386333,  2.028195445],
+    [0.000146e-6,    -4176.041342449,  4.660008502],
+    [0.000107e-6,    16062.184526117,  4.066520001],
+    [0.000142e-6,    83783.548222473,  2.936315115],
+    [0.000128e-6,     9380.959672717,  3.223844306],
+  ]
+  private static let chunk14: [[Double]] = [
+    [0.000135e-6,     6205.325306007,  1.638054048],
+    [0.000101e-6,     2699.734819318,  5.481603249],
+    [0.000104e-6,     -568.821874027,  2.205734493],
+    [0.000103e-6,     6321.103522627,  2.440421099],
+    [0.000119e-6,     6321.208885629,  2.547496264],
+    [0.000138e-6,     1975.492545856,  2.314608466],
+    [0.000121e-6,      137.033024162,  4.539108237],
+    [0.000123e-6,    19402.796952817,  4.538074405],
+    [0.000119e-6,    22805.735565994,  2.869040566],
+    [0.000133e-6,    64471.991241142,  6.056405489],
+    [0.000129e-6,      -85.827298831,  2.540635083],
+    [0.000131e-6,    13613.804277336,  4.005732868],
+    [0.000104e-6,     9814.604100291,  1.959967212],
+    [0.000112e-6,    16097.679950283,  3.589026260],
+    [0.000123e-6,     2107.034507542,  1.728627253],
+    [0.000121e-6,    36949.230808424,  6.072332087],
+    [0.000108e-6,   -12539.853380183,  3.716133846],
+    [0.000113e-6,    -7875.671863624,  2.725771122],
+    [0.000109e-6,     4171.425536614,  4.033338079],
+    [0.000101e-6,     6247.911759770,  3.441347021],
+    [0.000113e-6,     7330.728427345,  0.656372122],
+    [0.000113e-6,    51092.726050855,  2.791483066],
+    [0.000106e-6,     5621.842923210,  1.815323326],
+    [0.000101e-6,      111.430161497,  5.711033677],
+    [0.000103e-6,      909.818733055,  2.812745443],
+    [0.000101e-6,     1790.642637886,  1.965746028],
+    [102.156724e-6,     6283.075849991,  4.249032005],
+    [1.706807e-6,    12566.151699983,  4.205904248],
+    [0.269668e-6,      213.299095438,  3.400290479],
+    [0.265919e-6,      529.690965095,  5.836047367],
+    [0.210568e-6,       -3.523118349,  6.262738348],
+    [0.077996e-6,     5223.693919802,  4.670344204],
+  ]
+  private static let chunk15: [[Double]] = [
+    [0.054764e-6,     1577.343542448,  4.534800170],
+    [0.059146e-6,       26.298319800,  1.083044735],
+    [0.034420e-6,     -398.149003408,  5.980077351],
+    [0.032088e-6,    18849.227549974,  4.162913471],
+    [0.033595e-6,     5507.553238667,  5.980162321],
+    [0.029198e-6,     5856.477659115,  0.623811863],
+    [0.027764e-6,      155.420399434,  3.745318113],
+    [0.025190e-6,     5746.271337896,  2.980330535],
+    [0.022997e-6,     -796.298006816,  1.174411803],
+    [0.024976e-6,     5760.498431898,  2.467913690],
+    [0.021774e-6,      206.185548437,  3.854787540],
+    [0.017925e-6,     -775.522611324,  1.092065955],
+    [0.013794e-6,      426.598190876,  2.699831988],
+    [0.013276e-6,     6062.663207553,  5.845801920],
+    [0.011774e-6,    12036.460734888,  2.292832062],
+    [0.012869e-6,     6076.890301554,  5.333425680],
+    [0.012152e-6,     1059.381930189,  6.222874454],
+    [0.011081e-6,       -7.113547001,  5.154724984],
+    [0.010143e-6,     4694.002954708,  4.044013795],
+    [0.009357e-6,     5486.777843175,  3.416081409],
+    [0.010084e-6,      522.577418094,  0.749320262],
+    [0.008587e-6,    10977.078804699,  2.777152598],
+    [0.008628e-6,     6275.962302991,  4.562060226],
+    [0.008158e-6,     -220.412642439,  5.806891533],
+    [0.007746e-6,     2544.314419883,  1.603197066],
+    [0.007670e-6,     2146.165416475,  3.000200440],
+    [0.007098e-6,       74.781598567,  0.443725817],
+    [0.006180e-6,     -536.804512095,  1.302642751],
+    [0.005818e-6,     5088.628839767,  4.827723531],
+    [0.004945e-6,    -6286.598968340,  0.268305170],
+    [0.004774e-6,     1349.867409659,  5.808636673],
+    [0.004687e-6,     -242.728603974,  5.154890570],
+  ]
+  private static let chunk16: [[Double]] = [
+    [0.006089e-6,     1748.016413067,  4.403765209],
+    [0.005975e-6,    -1194.447010225,  2.583472591],
+    [0.004229e-6,      951.718406251,  0.931172179],
+    [0.005264e-6,      553.569402842,  2.336107252],
+    [0.003049e-6,     5643.178563677,  1.362634430],
+    [0.002974e-6,     6812.766815086,  1.583012668],
+    [0.003403e-6,    -2352.866153772,  2.552189886],
+    [0.003030e-6,      419.484643875,  5.286473844],
+    [0.003210e-6,       -7.046236698,  1.863796539],
+    [0.003058e-6,     9437.762934887,  4.226420633],
+    [0.002589e-6,    12352.852604545,  1.991935820],
+    [0.002927e-6,     5216.580372801,  2.319951253],
+    [0.002425e-6,     5230.807466803,  3.084752833],
+    [0.002656e-6,     3154.687084896,  2.487447866],
+    [0.002445e-6,    10447.387839604,  2.347139160],
+    [0.002990e-6,     4690.479836359,  6.235872050],
+    [0.002890e-6,     5863.591206116,  0.095197563],
+    [0.002498e-6,     6438.496249426,  2.994779800],
+    [0.001889e-6,     8031.092263058,  3.569003717],
+    [0.002567e-6,      801.820931124,  3.425611498],
+    [0.001803e-6,   -71430.695617928,  2.192295512],
+    [0.001782e-6,        3.932153263,  5.180433689],
+    [0.001694e-6,    -4705.732307544,  4.641779174],
+    [0.001704e-6,    -1592.596013633,  3.997097652],
+    [0.001735e-6,     5849.364112115,  0.417558428],
+    [0.001643e-6,     8429.241266467,  2.180619584],
+    [0.001680e-6,       38.133035638,  4.164529426],
+    [0.002045e-6,     7084.896781115,  0.526323854],
+    [0.001458e-6,     4292.330832950,  1.356098141],
+    [0.001437e-6,       20.355319399,  3.895439360],
+    [0.001738e-6,     6279.552731642,  0.087484036],
+    [0.001367e-6,    14143.495242431,  3.987576591],
+  ]
+  private static let chunk17: [[Double]] = [
+    [0.001344e-6,     7234.794256242,  0.090454338],
+    [0.001438e-6,    11499.656222793,  0.974387904],
+    [0.001257e-6,     6836.645252834,  1.509069366],
+    [0.001358e-6,    11513.883316794,  0.495572260],
+    [0.001628e-6,     7632.943259650,  4.968445721],
+    [0.001169e-6,      103.092774219,  2.838496795],
+    [0.001162e-6,     4164.311989613,  3.408387778],
+    [0.001092e-6,     6069.776754553,  3.617942651],
+    [0.001008e-6,    17789.845619785,  0.286350174],
+    [0.001008e-6,      639.897286314,  1.610762073],
+    [0.000918e-6,    10213.285546211,  5.532798067],
+    [0.001011e-6,    -6256.777530192,  0.661826484],
+    [0.000753e-6,    16730.463689596,  3.905030235],
+    [0.000737e-6,    11926.254413669,  4.641956361],
+    [0.000694e-6,     3340.612426700,  2.111120332],
+    [0.000701e-6,     3894.181829542,  2.760823491],
+    [0.000689e-6,     -135.065080035,  4.768800780],
+    [0.000700e-6,    13367.972631107,  5.760439898],
+    [0.000664e-6,     6040.347246017,  1.051215840],
+    [0.000654e-6,     5650.292110678,  4.911332503],
+    [0.000788e-6,     6681.224853400,  4.699648011],
+    [0.000628e-6,     5333.900241022,  5.024608847],
+    [0.000755e-6,     -110.206321219,  4.370971253],
+    [0.000628e-6,     6290.189396992,  3.660478857],
+    [0.000635e-6,    25132.303399966,  4.121051532],
+    [0.000534e-6,     5966.683980335,  1.173284524],
+    [0.000543e-6,     -433.711737877,  0.345585464],
+    [0.000517e-6,    -1990.745017041,  5.414571768],
+    [0.000504e-6,     5767.611978898,  2.328281115],
+    [0.000485e-6,     5753.384884897,  1.685874771],
+    [0.000463e-6,     7860.419392439,  5.297703006],
+    [0.000604e-6,      515.463871093,  0.591998446],
+  ]
+  private static let chunk18: [[Double]] = [
+    [0.000443e-6,    12168.002696575,  4.830881244],
+    [0.000570e-6,      199.072001436,  3.899190272],
+    [0.000465e-6,    10969.965257698,  0.476681802],
+    [0.000424e-6,    -7079.373856808,  1.112242763],
+    [0.000427e-6,      735.876513532,  1.994214480],
+    [0.000478e-6,    -6127.655450557,  3.778025483],
+    [0.000414e-6,    10973.555686350,  5.441088327],
+    [0.000512e-6,     1589.072895284,  0.107123853],
+    [0.000378e-6,    10984.192351700,  0.915087231],
+    [0.000402e-6,    11371.704689758,  4.107281715],
+    [0.000453e-6,     9917.696874510,  1.917490952],
+    [0.000395e-6,      149.563197135,  2.763124165],
+    [0.000371e-6,     5739.157790895,  3.112111866],
+    [0.000350e-6,    11790.629088659,  0.440639857],
+    [0.000356e-6,     6133.512652857,  5.444568842],
+    [0.000344e-6,      412.371096874,  5.676832684],
+    [0.000383e-6,      955.599741609,  5.559734846],
+    [0.000333e-6,     6496.374945429,  0.261537984],
+    [0.000340e-6,     6055.549660552,  5.975534987],
+    [0.000334e-6,     1066.495477190,  2.335063907],
+    [0.000399e-6,    11506.769769794,  5.321230910],
+    [0.000314e-6,    18319.536584880,  2.313312404],
+    [0.000424e-6,     1052.268383188,  1.211961766],
+    [0.000307e-6,       63.735898303,  3.169551388],
+    [0.000329e-6,       29.821438149,  6.106912080],
+    [0.000357e-6,     6309.374169791,  4.223760346],
+    [0.000312e-6,    -3738.761430108,  2.180556645],
+    [0.000301e-6,      309.278322656,  1.499984572],
+    [0.000268e-6,    12043.574281889,  2.447520648],
+    [0.000257e-6,    12491.370101415,  3.662331761],
+    [0.000290e-6,      625.670192312,  1.272834584],
+    [0.000256e-6,     5429.879468239,  1.913426912],
+  ]
+  private static let chunk19: [[Double]] = [
+    [0.000339e-6,     3496.032826134,  4.165930011],
+    [0.000283e-6,     3930.209696220,  4.325565754],
+    [0.000241e-6,    12528.018664345,  3.832324536],
+    [0.000304e-6,     4686.889407707,  1.612348468],
+    [0.000259e-6,    16200.772724501,  3.470173146],
+    [0.000238e-6,    12139.553509107,  1.147977842],
+    [0.000236e-6,     6172.869528772,  3.776271728],
+    [0.000296e-6,    -7058.598461315,  0.460368852],
+    [0.000306e-6,    10575.406682942,  0.554749016],
+    [0.000251e-6,    17298.182327326,  0.834332510],
+    [0.000290e-6,     4732.030627343,  4.759564091],
+    [0.000261e-6,     5884.926846583,  0.298259862],
+    [0.000249e-6,     5547.199336460,  3.749366406],
+    [0.000213e-6,    11712.955318231,  5.415666119],
+    [0.000223e-6,     4701.116501708,  2.703203558],
+    [0.000268e-6,     -640.877607382,  0.283670793],
+    [0.000209e-6,     5636.065016677,  1.238477199],
+    [0.000193e-6,    10177.257679534,  1.943251340],
+    [0.000182e-6,     6283.143160294,  2.456157599],
+    [0.000184e-6,     -227.526189440,  5.888038582],
+    [0.000182e-6,    -6283.008539689,  0.241332086],
+    [0.000228e-6,    -6284.056171060,  2.657323816],
+    [0.000166e-6,     7238.675591600,  5.930629110],
+    [0.000167e-6,     3097.883822726,  5.570955333],
+    [0.000159e-6,     -323.505416657,  5.786670700],
+    [0.000154e-6,    -4136.910433516,  1.517805532],
+    [0.000176e-6,    12029.347187887,  3.139266834],
+    [0.000167e-6,    12132.439962106,  3.556352289],
+    [0.000153e-6,      202.253395174,  1.463313961],
+    [0.000157e-6,    17267.268201691,  1.586837396],
+    [0.000142e-6,    83996.847317911,  0.022670115],
+    [0.000152e-6,    17260.154654690,  0.708528947],
+  ]
+  private static let chunk20: [[Double]] = [
+    [0.000144e-6,     6084.003848555,  5.187075177],
+    [0.000135e-6,     5756.566278634,  1.993229262],
+    [0.000134e-6,     5750.203491159,  3.457197134],
+    [0.000144e-6,     5326.786694021,  6.066193291],
+    [0.000160e-6,    11015.106477335,  1.710431974],
+    [0.000133e-6,     3634.621024518,  2.836451652],
+    [0.000134e-6,    18073.704938650,  5.453106665],
+    [0.000134e-6,     1162.474704408,  5.326898811],
+    [0.000128e-6,     5642.198242609,  2.511652591],
+    [0.000160e-6,      632.783739313,  5.628785365],
+    [0.000132e-6,    13916.019109642,  0.819294053],
+    [0.000122e-6,    14314.168113050,  5.677408071],
+    [0.000125e-6,    12359.966151546,  5.251984735],
+    [0.000121e-6,     5749.452731634,  2.210924603],
+    [0.000136e-6,     -245.831646229,  1.646502367],
+    [0.000120e-6,     5757.317038160,  3.240883049],
+    [0.000134e-6,    12146.667056108,  3.059480037],
+    [0.000137e-6,     6206.809778716,  1.867105418],
+    [0.000141e-6,    17253.041107690,  2.069217456],
+    [0.000129e-6,    -7477.522860216,  2.781469314],
+    [0.000116e-6,     5540.085789459,  4.281176991],
+    [0.000116e-6,     9779.108676125,  3.320925381],
+    [0.000129e-6,     5237.921013804,  3.497704076],
+    [0.000113e-6,     5959.570433334,  0.983210840],
+    [0.000122e-6,     6282.095528923,  2.674938860],
+    [0.000140e-6,      -11.045700264,  4.957936982],
+    [0.000108e-6,    23543.230504682,  1.390113589],
+    [0.000106e-6,   -12569.674818332,  0.429631317],
+    [0.000110e-6,     -266.607041722,  5.501340197],
+    [0.000115e-6,    12559.038152982,  4.691456618],
+    [0.000134e-6,    -2388.894020449,  0.577313584],
+    [0.000109e-6,    10440.274292604,  6.218148717],
+  ]
+  private static let chunk21: [[Double]] = [
+    [0.000102e-6,     -543.918059096,  1.477842615],
+    [0.000108e-6,    21228.392023546,  2.237753948],
+    [0.000101e-6,    -4535.059436924,  3.100492232],
+    [0.000103e-6,       76.266071276,  5.594294322],
+    [0.000104e-6,      949.175608970,  5.674287810],
+    [0.000101e-6,    13517.870106233,  2.196632348],
+    [0.000100e-6,    11933.367960670,  4.056084160],
+    [4.322990e-6,     6283.075849991,  2.642893748],
+    [0.406495e-6,        0.000000000,  4.712388980],
+    [0.122605e-6,    12566.151699983,  2.438140634],
+    [0.019476e-6,      213.299095438,  1.642186981],
+    [0.016916e-6,      529.690965095,  4.510959344],
+    [0.013374e-6,       -3.523118349,  1.502210314],
+    [0.008042e-6,       26.298319800,  0.478549024],
+    [0.007824e-6,      155.420399434,  5.254710405],
+    [0.004894e-6,     5746.271337896,  4.683210850],
+    [0.004875e-6,     5760.498431898,  0.759507698],
+    [0.004416e-6,     5223.693919802,  6.028853166],
+    [0.004088e-6,       -7.113547001,  0.060926389],
+    [0.004433e-6,    77713.771467920,  3.627734103],
+    [0.003277e-6,    18849.227549974,  2.327912542],
+    [0.002703e-6,     6062.663207553,  1.271941729],
+    [0.003435e-6,     -775.522611324,  0.747446224],
+    [0.002618e-6,     6076.890301554,  3.633715689],
+    [0.003146e-6,      206.185548437,  5.647874613],
+    [0.002544e-6,     1577.343542448,  6.232904270],
+    [0.002218e-6,     -220.412642439,  1.309509946],
+    [0.002197e-6,     5856.477659115,  2.407212349],
+    [0.002897e-6,     5753.384884897,  5.863842246],
+    [0.001766e-6,      426.598190876,  0.754113147],
+    [0.001738e-6,     -796.298006816,  2.714942671],
+    [0.001695e-6,      522.577418094,  2.629369842],
+  ]
+  private static let chunk22: [[Double]] = [
+    [0.001584e-6,     5507.553238667,  1.341138229],
+    [0.001503e-6,     -242.728603974,  0.377699736],
+    [0.001552e-6,     -536.804512095,  2.904684667],
+    [0.001370e-6,     -398.149003408,  1.265599125],
+    [0.001889e-6,    -5573.142801634,  4.413514859],
+    [0.001722e-6,     6069.776754553,  2.445966339],
+    [0.001124e-6,     1059.381930189,  5.041799657],
+    [0.001258e-6,      553.569402842,  3.849557278],
+    [0.000831e-6,      951.718406251,  2.471094709],
+    [0.000767e-6,     4694.002954708,  5.363125422],
+    [0.000756e-6,     1349.867409659,  1.046195744],
+    [0.000775e-6,      -11.045700264,  0.245548001],
+    [0.000597e-6,     2146.165416475,  4.543268798],
+    [0.000568e-6,     5216.580372801,  4.178853144],
+    [0.000711e-6,     1748.016413067,  5.934271972],
+    [0.000499e-6,    12036.460734888,  0.624434410],
+    [0.000671e-6,    -1194.447010225,  4.136047594],
+    [0.000488e-6,     5849.364112115,  2.209679987],
+    [0.000621e-6,     6438.496249426,  4.518860804],
+    [0.000495e-6,    -6286.598968340,  1.868201275],
+    [0.000456e-6,     5230.807466803,  1.271231591],
+    [0.000451e-6,     5088.628839767,  0.084060889],
+    [0.000435e-6,     5643.178563677,  3.324456609],
+    [0.000387e-6,    10977.078804699,  4.052488477],
+    [0.000547e-6,   161000.685737473,  2.841633844],
+    [0.000522e-6,     3154.687084896,  2.171979966],
+    [0.000375e-6,     5486.777843175,  4.983027306],
+    [0.000421e-6,     5863.591206116,  4.546432249],
+    [0.000439e-6,     7084.896781115,  0.522967921],
+    [0.000309e-6,     2544.314419883,  3.172606705],
+    [0.000347e-6,     4690.479836359,  1.479586566],
+    [0.000317e-6,      801.820931124,  3.553088096],
+  ]
+  private static let chunk23: [[Double]] = [
+    [0.000262e-6,      419.484643875,  0.606635550],
+    [0.000248e-6,     6836.645252834,  3.014082064],
+    [0.000245e-6,    -1592.596013633,  5.519526220],
+    [0.000225e-6,     4292.330832950,  2.877956536],
+    [0.000214e-6,     7234.794256242,  1.605227587],
+    [0.000205e-6,     5767.611978898,  0.625804796],
+    [0.000180e-6,    10447.387839604,  3.499954526],
+    [0.000229e-6,      199.072001436,  5.632304604],
+    [0.000214e-6,      639.897286314,  5.960227667],
+    [0.000175e-6,     -433.711737877,  2.162417992],
+    [0.000209e-6,      515.463871093,  2.322150893],
+    [0.000173e-6,     6040.347246017,  2.556183691],
+    [0.000184e-6,     6309.374169791,  4.732296790],
+    [0.000227e-6,   149854.400134205,  5.385812217],
+    [0.000154e-6,     8031.092263058,  5.120720920],
+    [0.000151e-6,     5739.157790895,  4.815000443],
+    [0.000197e-6,     7632.943259650,  0.222827271],
+    [0.000197e-6,       74.781598567,  3.910456770],
+    [0.000138e-6,     6055.549660552,  1.397484253],
+    [0.000149e-6,    -6127.655450557,  5.333727496],
+    [0.000137e-6,     3894.181829542,  4.281749907],
+    [0.000135e-6,     9437.762934887,  5.979971885],
+    [0.000139e-6,    -2352.866153772,  4.715630782],
+    [0.000142e-6,     6812.766815086,  0.513330157],
+    [0.000120e-6,    -4705.732307544,  0.194160689],
+    [0.000131e-6,   -71430.695617928,  0.000379226],
+    [0.000124e-6,     6279.552731642,  2.122264908],
+    [0.000108e-6,    -6256.777530192,  0.883445696],
+    [0.143388e-6,     6283.075849991,  1.131453581],
+    [0.006671e-6,    12566.151699983,  0.775148887],
+    [0.001480e-6,      155.420399434,  0.480016880],
+    [0.000934e-6,      213.299095438,  6.144453084],
+  ]
+  private static let chunk24: [[Double]] = [
+    [0.000795e-6,      529.690965095,  2.941595619],
+    [0.000673e-6,     5746.271337896,  0.120415406],
+    [0.000672e-6,     5760.498431898,  5.317009738],
+    [0.000389e-6,     -220.412642439,  3.090323467],
+    [0.000373e-6,     6062.663207553,  3.003551964],
+    [0.000360e-6,     6076.890301554,  1.918913041],
+    [0.000316e-6,      -21.340641002,  5.545798121],
+    [0.000315e-6,     -242.728603974,  1.884932563],
+    [0.000278e-6,      206.185548437,  1.266254859],
+    [0.000238e-6,     -536.804512095,  4.532664830],
+    [0.000185e-6,      522.577418094,  4.578313856],
+    [0.000245e-6,    18849.227549974,  0.587467082],
+    [0.000180e-6,      426.598190876,  5.151178553],
+    [0.000200e-6,      553.569402842,  5.355983739],
+    [0.000141e-6,     5223.693919802,  1.336556009],
+    [0.000104e-6,     5856.477659115,  4.239842759],
+    [0.003826e-6,     6283.075849991,  5.705257275],
+    [0.000303e-6,    12566.151699983,  5.407132842],
+    [0.000209e-6,      155.420399434,  1.989815753],
+  ]
+}
diff --git a/Sources/ERFASwift/LICENSE.txt b/Sources/ERFASwift/LICENSE.txt
new file mode 100644
index 0000000..d19fad0
--- /dev/null
+++ b/Sources/ERFASwift/LICENSE.txt
@@ -0,0 +1,56 @@
+The Swift Earth-orientation implementation and series are adapted from ERFA 2.0.1.
+This is a modified Swift implementation, not the official SOFA library.
+
+Copyright (C) 2013-2023, NumFOCUS Foundation.
+All rights reserved.
+
+This library is derived, with permission, from the International
+Astronomical Union's "Standards of Fundamental Astronomy" library,
+available from http://www.iausofa.org.
+
+The ERFA version is intended to retain identical
+functionality to the SOFA library, but made distinct through
+different function and file names, as set out in the SOFA license
+conditions. The SOFA original has a role as a reference standard
+for the IAU and IERS, and consequently redistribution is permitted only
+in its unaltered state. The ERFA version is not subject to this
+restriction and therefore can be included in distributions which do not
+support the concept of "read only" software.
+
+Although the intent is to replicate the SOFA API (other than replacement of
+prefix names) and results (with the exception of bugs; any that are
+discovered will be fixed), SOFA is not responsible for any errors found
+in this version of the library.
+
+If you wish to acknowledge the SOFA heritage, please acknowledge that
+you are using a library derived from SOFA, rather than SOFA itself.
+
+
+TERMS AND CONDITIONS
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1 Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+
+2 Redistributions in binary form must reproduce the above copyright
+   notice, this list of conditions and the following disclaimer in the
+   documentation and/or other materials provided with the distribution.
+
+3 Neither the name of the Standards Of Fundamental Astronomy Board, the
+   International Astronomical Union nor the names of its contributors
+   may be used to endorse or promote products derived from this software
+   without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
+IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
+PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/Sources/ERFASwift/README.md b/Sources/ERFASwift/README.md
new file mode 100644
index 0000000..15b2019
--- /dev/null
+++ b/Sources/ERFASwift/README.md
@@ -0,0 +1,22 @@
+# ERFASwift
+
+This internal Swift module contains the numerical code and coefficient tables
+adapted from ERFA 2.0.1:
+
+- IAU Earth orientation, precession, nutation, CIO locator, and Earth rotation.
+- The full geocentric Fairhead–Bretagnon TT–TDB series and analytic derivatives.
+
+The ERFA copyright, BSD terms, and SOFA heritage notice are retained verbatim in
+[LICENSE.txt](LICENSE.txt). This is a modified Swift implementation derived from
+ERFA, not the official SOFA library. Retain the notice with distributions as
+specified in that file. A documentation copy remains at
+`Documentation/licenses/ERFA.txt`.
+
+The module depends on the package's Apache-2.0 `Math` module and does not depend
+on `CelMek`. Its entry points have Swift `package` access: this target is an
+implementation detail, with no standalone library product or public API.
+
+`CelMek` owns epochs, coverage checks, frame providers, and its public errors;
+it adapts those to the numerical module without changing the public API.
+Regenerate `FairheadTDBSeries.swift` using `Tools/generate_tdb_series.py` with a
+caller-supplied ERFA 2.0.1 `dtdb.c` file. No external ERFA binary is required.
diff --git a/Sources/FluidDynamics/Buoyancy.swift b/Sources/FluidDynamics/Buoyancy.swift
new file mode 100644
index 0000000..25e408b
--- /dev/null
+++ b/Sources/FluidDynamics/Buoyancy.swift
@@ -0,0 +1,53 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+/// Two alternative descriptions of the same ambient pressure force. All vectors
+/// use the load axes. Gravity must be physical gravity, not vehicle acceleration.
+public enum BuoyancyField: Sendable {
+    case hydrostaticGravityMetresPerSecondSquared(SIMD3<Double>)
+    case pressureGradientPascalsPerMetre(SIMD3<Double>)
+}
+
+/// Local uniform-density/gradient displaced-volume pressure force. Volume and centre
+/// of buoyancy are supplied current geometry; no gas mass or envelope evolution.
+public struct Buoyancy: Sendable {
+    public let displacedVolumeCubicMetres: Double
+    public let centreOfBuoyancyMetres: SIMD3<Double>
+    public init(displacedVolumeCubicMetres: Double, centreOfBuoyancyMetres: SIMD3<Double> = .zero) throws {
+        guard displacedVolumeCubicMetres.isFinite, displacedVolumeCubicMetres >= 0,
+              fluidFinite(centreOfBuoyancyMetres) else { throw FluidError.invalidGeometry }
+        self.displacedVolumeCubicMetres = displacedVolumeCubicMetres; self.centreOfBuoyancyMetres = centreOfBuoyancyMetres
+    }
+    public func evaluate(densityKilogramsPerCubicMetre density: Double, field: BuoyancyField,
+                         momentReferencePointMetres: SIMD3<Double> = .zero) throws -> FluidLoads {
+        guard density.isFinite, density >= 0 else { throw FluidError.invalidFlow }
+        let force: SIMD3<Double>
+        switch field {
+        case .hydrostaticGravityMetresPerSecondSquared(let gravity):
+            guard fluidFinite(gravity) else { throw FluidError.invalidFlow }
+            force = -gravity*(density*displacedVolumeCubicMetres)
+        case .pressureGradientPascalsPerMetre(let gradient):
+            guard fluidFinite(gradient) else { throw FluidError.invalidFlow }
+            force = -gradient*displacedVolumeCubicMetres
+        }
+        return try FluidLoads(forceNewtons: force, momentNewtonMetres: .zero,
+            referencePointMetres: centreOfBuoyancyMetres).referred(to: momentReferencePointMetres)
+    }
+}
+
diff --git a/Sources/FluidDynamics/CartesianFluidGrid.swift b/Sources/FluidDynamics/CartesianFluidGrid.swift
new file mode 100644
index 0000000..b564272
--- /dev/null
+++ b/Sources/FluidDynamics/CartesianFluidGrid.swift
@@ -0,0 +1,55 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+/// Shared uniform Cartesian geometry. X varies fastest; cells are cubic, dimensions
+/// may be rectangular. Solver-specific resolution/coverage restrictions are additional.
+public struct CartesianFluidGrid: Sendable {
+    public let dimensions: SIMD3<Int>
+    public let minimumCornerMetres: SIMD3<Double>
+    public let cellSizeMetres: Double
+    public var cellCount: Int { dimensions.x*dimensions.y*dimensions.z }
+    public var cellVolumeCubicMetres: Double { cellSizeMetres*cellSizeMetres*cellSizeMetres }
+    public init(dimensions: SIMD3<Int> = SIMD3(repeating: 16), minimumCornerMetres: SIMD3<Double>, cellSizeMetres: Double) throws {
+        guard [dimensions.x,dimensions.y,dimensions.z].allSatisfy({ (1...512).contains($0) }),
+              dimensions.x*dimensions.y*dimensions.z <= 262144,
+              fluidFinite(minimumCornerMetres), cellSizeMetres.isFinite, cellSizeMetres > 0,
+              (cellSizeMetres*cellSizeMetres*cellSizeMetres).isFinite,
+              cellSizeMetres*cellSizeMetres*cellSizeMetres > 0 else { throw FluidError.invalidGeometry }
+        let extent = SIMD3(Double(dimensions.x),Double(dimensions.y),Double(dimensions.z))*cellSizeMetres
+        guard fluidFinite(minimumCornerMetres+extent),
+              (0..<3).allSatisfy({ minimumCornerMetres[$0]+cellSizeMetres > minimumCornerMetres[$0] }) else { throw FluidError.invalidGeometry }
+        self.dimensions = dimensions; self.minimumCornerMetres = minimumCornerMetres; self.cellSizeMetres = cellSizeMetres
+    }
+    package func index(_ q: SIMD3<Int>) -> Int { q.x+dimensions.x*(q.y+dimensions.y*q.z) }
+    package func centre(_ q: SIMD3<Int>) -> SIMD3<Double> {
+        minimumCornerMetres+SIMD3(Double(q.x)+0.5,Double(q.y)+0.5,Double(q.z)+0.5)*cellSizeMetres
+    }
+    public func cellCentreMetres(index: Int) throws -> SIMD3<Double> {
+        guard (0..<cellCount).contains(index) else { throw FluidError.invalidParameter }
+        return centre(SIMD3(index%dimensions.x,(index/dimensions.x)%dimensions.y,index/(dimensions.x*dimensions.y)))
+    }
+    public func cellIndex(at positionMetres: SIMD3<Double>) throws -> Int {
+        guard fluidFinite(positionMetres) else { throw FluidError.invalidParameter }
+        let q = (positionMetres-minimumCornerMetres)/cellSizeMetres, n = dimensions
+        guard fluidFinite(q), q.x >= 0, q.y >= 0, q.z >= 0, q.x <= Double(n.x), q.y <= Double(n.y), q.z <= Double(n.z) else {
+            throw FluidError.outsideCoverage
+        }
+        return index(SIMD3(min(n.x-1,Int(q.x)),min(n.y-1,Int(q.y)),min(n.z-1,Int(q.z))))
+    }
+}
diff --git a/Sources/FluidDynamics/CompressibleFlowGrid.swift b/Sources/FluidDynamics/CompressibleFlowGrid.swift
new file mode 100644
index 0000000..0564d35
--- /dev/null
+++ b/Sources/FluidDynamics/CompressibleFlowGrid.swift
@@ -0,0 +1,206 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+public enum CompressibleBoundary: Sendable {
+    case periodic
+    /// Zero-gradient ghost state; not a nonreflecting far-field boundary.
+    case transmissive
+    /// Stationary adiabatic slip wall, reversing normal momentum.
+    case reflecting
+    case fixed(ConservedFluidState)
+}
+public struct CompressibleFlowConfiguration: Sendable {
+    public let grid: CartesianFluidGrid
+    public let equationOfState: any CompressibleEquationOfState
+    /// Low/high boundaries for X, then Y, then Z. Periodic boundaries must be paired.
+    public let boundaries: [CompressibleBoundary]
+    public let courantNumber: Double
+    public init(grid: CartesianFluidGrid, equationOfState: any CompressibleEquationOfState,
+                boundaries: [CompressibleBoundary] = Array(repeating: .transmissive,count: 6), courantNumber: Double = 0.4) throws {
+        guard boundaries.count == 6, courantNumber.isFinite, courantNumber > 0, courantNumber <= 0.45 else { throw FluidError.invalidParameter }
+        for axis in 0..<3 {
+            let a: Bool, b: Bool
+            if case .periodic = boundaries[2*axis] { a = true } else { a = false }
+            if case .periodic = boundaries[2*axis+1] { b = true } else { b = false }
+            guard a == b else { throw FluidError.invalidParameter }
+        }
+        for boundary in boundaries { if case .fixed(let state) = boundary { _ = try state.primitive(using: equationOfState) } }
+        self.grid = grid; self.equationOfState = equationOfState; self.boundaries = boundaries; self.courantNumber = courantNumber
+    }
+}
+public struct ConservedFluidTotals: Sendable {
+    public let massKilograms: Double
+    public let momentumKilogramMetresPerSecond: SIMD3<Double>
+    public let energyJoules: Double
+}
+public struct CompressibleStepReport: Sendable {
+    public let substeps: Int
+    public let maximumCourantNumber: Double
+    public let maximumSignalSpeedMetresPerSecond: Double
+    /// Net outward domain flux integrated over this call, including wall impulse.
+    public let boundaryMassOutflowKilograms: Double
+    public let boundaryMomentumOutflowKilogramMetresPerSecond: SIMD3<Double>
+    public let boundaryEnergyOutflowJoules: Double
+    /// Step-average reaction from reflected solid-face momentum flux, not heat/shear.
+    public let averageLoadsOnSolids: FluidLoads
+}
+
+/// First-order conservative finite-volume Euler solver with local Lax–Friedrichs
+/// (Rusanov) fluxes. Captures shocks/expansion waves; evolves mass, three momentum
+/// components and total energy. No viscous wall heat flux, turbulence or chemistry
+/// solver. EOS and continuum applicability must be established separately.
+public struct CompressibleFlowGrid: FluidVelocityField {
+    public let configuration: CompressibleFlowConfiguration
+    public let solidCells: [Bool]
+    public private(set) var cells: [ConservedFluidState]
+    public init(configuration: CompressibleFlowConfiguration,
+                solidAtCellCentre: (SIMD3<Double>) throws -> Bool = { _ in false },
+                initialState: (SIMD3<Double>) throws -> ConservedFluidState) throws {
+        self.configuration = configuration
+        let grid = configuration.grid, n = grid.dimensions
+        var solids: [Bool] = [], states: [ConservedFluidState] = []
+        for k in 0..<n.z { for j in 0..<n.y { for i in 0..<n.x {
+            let p = grid.centre(SIMD3(i,j,k)), solid = try solidAtCellCentre(p)
+            guard !solid || (i > 0 && j > 0 && k > 0 && i < n.x-1 && j < n.y-1 && k < n.z-1) else { throw FluidError.invalidGeometry }
+            let state = try initialState(p); _ = try state.primitive(using: configuration.equationOfState)
+            solids.append(solid); states.append(state)
+        } } }
+        self.solidCells = solids; self.cells = states
+    }
+    public func state(at positionMetres: SIMD3<Double>) throws -> CompressiblePrimitiveState {
+        let index = try configuration.grid.cellIndex(at: positionMetres)
+        guard !solidCells[index] else { throw FluidError.unsupportedQuery }
+        return try cells[index].primitive(using: configuration.equationOfState)
+    }
+    /// Piecewise-constant sampling, matching the initial first-order spatial scheme.
+    public func velocityMetresPerSecond(at positionMetres: SIMD3<Double>) throws -> SIMD3<Double> {
+        try state(at: positionMetres).velocityMetresPerSecond
+    }
+    public func conservedTotals() throws -> ConservedFluidTotals {
+        var total = SIMD8<Double>.zero
+        for i in cells.indices where !solidCells[i] { total += cells[i].vector*configuration.grid.cellVolumeCubicMetres }
+        guard (0..<5).allSatisfy({ total[$0].isFinite }) else { throw FluidError.nonFiniteResult }
+        return ConservedFluidTotals(massKilograms: total[0],momentumKilogramMetresPerSecond: SIMD3(total[1],total[2],total[3]),energyJoules: total[4])
+    }
+    private func reflected(_ state: ConservedFluidState, axis: Int) throws -> ConservedFluidState {
+        var vector = state.vector; vector[axis+1] = -vector[axis+1]; return try ConservedFluidState(vector: vector)
+    }
+    private func ghost(_ adjacent: ConservedFluidState, boundary: CompressibleBoundary, axis: Int) throws -> ConservedFluidState {
+        switch boundary {
+        case .transmissive: return adjacent
+        case .fixed(let state): return state
+        case .reflecting: return try reflected(adjacent,axis: axis)
+        case .periodic: throw FluidError.invalidParameter // Periodic neighbours are explicitly wrapped.
+        }
+    }
+    private func physicalFlux(_ state: ConservedFluidState, primitive: CompressiblePrimitiveState, axis: Int) -> SIMD8<Double> {
+        let u = primitive.velocityMetresPerSecond[axis], pressure = primitive.thermodynamics.pressurePascals
+        var flux = state.vector*u
+        flux[axis+1] += pressure; flux[4] = (state.totalEnergyDensityJoulesPerCubicMetre+pressure)*u
+        return flux
+    }
+    private func numericalFlux(_ left: ConservedFluidState, _ right: ConservedFluidState,
+                               lp: CompressiblePrimitiveState, rp: CompressiblePrimitiveState, axis: Int) -> SIMD8<Double> {
+        let signal = max(abs(lp.velocityMetresPerSecond[axis])+lp.thermodynamics.speedOfSoundMetresPerSecond,
+                         abs(rp.velocityMetresPerSecond[axis])+rp.thermodynamics.speedOfSoundMetresPerSecond)
+        return 0.5*(physicalFlux(left,primitive: lp,axis: axis)+physicalFlux(right,primitive: rp,axis: axis))
+            - (0.5*signal)*(right.vector-left.vector)
+    }
+    /// All updates are transactional. A budget/positivity/EOS failure leaves the
+    /// original grid unchanged. No density, pressure or energy floors repair the state.
+    public mutating func advance(timeStepSeconds: Double, maximumSubsteps: Int = 128,
+                                 momentReferencePointMetres: SIMD3<Double> = .zero) throws -> CompressibleStepReport {
+        guard timeStepSeconds.isFinite, timeStepSeconds > 0, (1...100000).contains(maximumSubsteps),
+              fluidFinite(momentReferencePointMetres) else { throw FluidError.invalidParameter }
+        let grid = configuration.grid, n = grid.dimensions, h = grid.cellSizeMetres, area = h*h, eos = configuration.equationOfState
+        var next = self, remaining = timeStepSeconds, substeps = 0, maximumCFL = 0.0, maxSignal = 0.0
+        var boundaryIntegral = SIMD8<Double>.zero, solidImpulse = SIMD3<Double>.zero, solidAngularImpulse = SIMD3<Double>.zero
+        while remaining > 0 {
+            guard substeps < maximumSubsteps else { throw FluidError.workBudgetExceeded }
+            let primitives = try next.cells.map { try $0.primitive(using: eos) }
+            var signals = SIMD3<Double>.zero
+            for p in primitives {
+                for axis in 0..<3 { signals[axis] = max(signals[axis],abs(p.velocityMetresPerSecond[axis])+p.thermodynamics.speedOfSoundMetresPerSecond) }
+            }
+            for boundary in configuration.boundaries {
+                if case .fixed(let state) = boundary {
+                    let p = try state.primitive(using: eos)
+                    for axis in 0..<3 { signals[axis] = max(signals[axis],abs(p.velocityMetresPerSecond[axis])+p.thermodynamics.speedOfSoundMetresPerSecond) }
+                }
+            }
+            let sum = signals.sum(), dt = min(remaining,configuration.courantNumber*h/sum)
+            guard sum.isFinite, dt.isFinite, dt > 0, remaining-dt < remaining else { throw FluidError.nonFiniteResult }
+            maximumCFL = max(maximumCFL,dt*sum/h); maxSignal = max(maxSignal,max(signals.x,signals.y,signals.z))
+            var change = [SIMD8<Double>](repeating: .zero,count: next.cells.count)
+            for axis in 0..<3 {
+                var shape = n; shape[axis] += 1
+                for k in 0..<shape.z { for j in 0..<shape.y { for i in 0..<shape.x {
+                    let face = SIMD3(i,j,k)
+                    var lq = face; lq[axis] -= 1
+                    let leftIndex: Int? = lq[axis] >= 0 ? grid.index(lq) : nil
+                    let rightIndex: Int? = face[axis] < n[axis] ? grid.index(face) : nil
+                    if let l = leftIndex, let r = rightIndex, solidCells[l] && solidCells[r] { continue }
+                    var left: ConservedFluidState, right: ConservedFluidState
+                    if let l = leftIndex { left = next.cells[l] }
+                    else {
+                        let adjacent = next.cells[rightIndex!]
+                        if case .periodic = configuration.boundaries[2*axis] {
+                            var wrapped = face; wrapped[axis] = n[axis]-1; left = next.cells[grid.index(wrapped)]
+                        } else { left = try ghost(adjacent,boundary: configuration.boundaries[2*axis],axis: axis) }
+                    }
+                    if let r = rightIndex { right = next.cells[r] }
+                    else {
+                        let adjacent = next.cells[leftIndex!]
+                        if case .periodic = configuration.boundaries[2*axis+1] {
+                            var wrapped = face; wrapped[axis] = 0; right = next.cells[grid.index(wrapped)]
+                        } else { right = try ghost(adjacent,boundary: configuration.boundaries[2*axis+1],axis: axis) }
+                    }
+                    let leftSolid = leftIndex.map { solidCells[$0] } ?? false, rightSolid = rightIndex.map { solidCells[$0] } ?? false
+                    if leftSolid { left = try reflected(right,axis: axis) }
+                    if rightSolid { right = try reflected(left,axis: axis) }
+                    let lp = !leftSolid && leftIndex != nil ? primitives[leftIndex!] : try left.primitive(using: eos)
+                    let rp = !rightSolid && rightIndex != nil ? primitives[rightIndex!] : try right.primitive(using: eos)
+                    let flux = numericalFlux(left,right,lp: lp,rp: rp,axis: axis)
+                    guard (0..<5).allSatisfy({ flux[$0].isFinite }) else { throw FluidError.nonFiniteResult }
+                    if let l = leftIndex, !leftSolid { change[l] -= flux*(dt/h) }
+                    if let r = rightIndex, !rightSolid { change[r] += flux*(dt/h) }
+                    if leftIndex == nil { boundaryIntegral -= flux*(area*dt) }
+                    if rightIndex == nil { boundaryIntegral += flux*(area*dt) }
+                    if leftSolid != rightSolid {
+                        let impulse = SIMD3(flux[1],flux[2],flux[3])*(area*dt*(rightSolid ? 1 : -1))
+                        var position = grid.centre(face); position[axis] -= h/2
+                        solidImpulse += impulse; solidAngularImpulse += fluidCross(position-momentReferencePointMetres,impulse)
+                    }
+                } } }
+            }
+            for index in next.cells.indices where !solidCells[index] {
+                let updated = try ConservedFluidState(vector: next.cells[index].vector+change[index])
+                _ = try updated.primitive(using: eos); next.cells[index] = updated
+            }
+            substeps += 1; remaining -= dt
+        }
+        let loads = try FluidLoads(forceNewtons: solidImpulse/timeStepSeconds,
+            momentNewtonMetres: solidAngularImpulse/timeStepSeconds,referencePointMetres: momentReferencePointMetres)
+        guard (0..<5).allSatisfy({ boundaryIntegral[$0].isFinite }) else { throw FluidError.nonFiniteResult }
+        self = next
+        return CompressibleStepReport(substeps: substeps,maximumCourantNumber: maximumCFL,maximumSignalSpeedMetresPerSecond: maxSignal,
+            boundaryMassOutflowKilograms: boundaryIntegral[0],boundaryMomentumOutflowKilogramMetresPerSecond: SIMD3(boundaryIntegral[1],boundaryIntegral[2],boundaryIntegral[3]),
+            boundaryEnergyOutflowJoules: boundaryIntegral[4],averageLoadsOnSolids: loads)
+    }
+}
diff --git a/Sources/FluidDynamics/CompressibleThermodynamics.swift b/Sources/FluidDynamics/CompressibleThermodynamics.swift
new file mode 100644
index 0000000..cbf64b5
--- /dev/null
+++ b/Sources/FluidDynamics/CompressibleThermodynamics.swift
@@ -0,0 +1,129 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+public struct FluidThermodynamicState: Sendable {
+    public let pressurePascals: Double
+    public let temperatureKelvin: Double
+    public let speedOfSoundMetresPerSecond: Double
+    public init(pressurePascals: Double, temperatureKelvin: Double, speedOfSoundMetresPerSecond: Double) throws {
+        guard [pressurePascals,temperatureKelvin,speedOfSoundMetresPerSecond].allSatisfy({ $0.isFinite && $0 > 0 }) else {
+            throw FluidError.invalidFlow
+        }
+        self.pressurePascals = pressurePascals; self.temperatureKelvin = temperatureKelvin
+        self.speedOfSoundMetresPerSecond = speedOfSoundMetresPerSecond
+    }
+}
+
+/// Thermodynamic closure for conservative compressible flow. The energy reference
+/// must yield positive internal energy in the supported domain; sound speed is the
+/// thermodynamic acoustic speed. Chemistry/phase assumptions belong to the provider.
+public protocol CompressibleEquationOfState: Sendable {
+    var identifier: String { get }
+    func thermodynamics(densityKilogramsPerCubicMetre: Double, specificInternalEnergyJoulesPerKilogram: Double) throws -> FluidThermodynamicState
+    func specificInternalEnergyJoulesPerKilogram(densityKilogramsPerCubicMetre: Double, pressurePascals: Double) throws -> Double
+}
+
+/// Calorically perfect ideal gas with explicit temperature bounds and provenance.
+/// p=(gamma-1) rho e; e=cv T. No dissociation, ionization or non-equilibrium chemistry.
+public struct CaloricallyPerfectGasEOS: CompressibleEquationOfState {
+    public let identifier: String
+    public let specificGasConstantJoulesPerKilogramKelvin: Double
+    public let specificHeatRatio: Double
+    public let temperatureRangeKelvin: ClosedRange<Double>
+    public let source: String
+    public init(identifier: String, specificGasConstantJoulesPerKilogramKelvin: Double, specificHeatRatio: Double,
+                temperatureRangeKelvin: ClosedRange<Double>, source: String) throws {
+        guard !identifier.isEmpty, !source.isEmpty, specificGasConstantJoulesPerKilogramKelvin.isFinite,
+              specificGasConstantJoulesPerKilogramKelvin > 0, specificHeatRatio.isFinite, specificHeatRatio > 1, specificHeatRatio <= 2,
+              temperatureRangeKelvin.lowerBound.isFinite, temperatureRangeKelvin.lowerBound > 0, temperatureRangeKelvin.upperBound.isFinite else {
+            throw FluidError.invalidParameter
+        }
+        self.identifier = identifier; self.specificGasConstantJoulesPerKilogramKelvin = specificGasConstantJoulesPerKilogramKelvin
+        self.specificHeatRatio = specificHeatRatio; self.temperatureRangeKelvin = temperatureRangeKelvin; self.source = source
+    }
+    public func thermodynamics(densityKilogramsPerCubicMetre rho: Double, specificInternalEnergyJoulesPerKilogram e: Double) throws -> FluidThermodynamicState {
+        guard rho.isFinite, rho > 0, e.isFinite, e > 0 else { throw FluidError.invalidFlow }
+        let temperature = e*(specificHeatRatio-1)/specificGasConstantJoulesPerKilogramKelvin
+        guard temperature.isFinite, temperatureRangeKelvin.contains(temperature) else { throw FluidError.outsideCoverage }
+        return try FluidThermodynamicState(pressurePascals: (specificHeatRatio-1)*rho*e,temperatureKelvin: temperature,
+            speedOfSoundMetresPerSecond: sqrt(specificHeatRatio*(specificHeatRatio-1)*e))
+    }
+    public func specificInternalEnergyJoulesPerKilogram(densityKilogramsPerCubicMetre rho: Double, pressurePascals p: Double) throws -> Double {
+        guard rho.isFinite, rho > 0, p.isFinite, p > 0 else { throw FluidError.invalidFlow }
+        let e = p/rho/(specificHeatRatio-1)
+        _ = try thermodynamics(densityKilogramsPerCubicMetre: rho,specificInternalEnergyJoulesPerKilogram: e)
+        return e
+    }
+}
+
+public struct CompressiblePrimitiveState: Sendable {
+    public let densityKilogramsPerCubicMetre: Double
+    public let velocityMetresPerSecond: SIMD3<Double>
+    public let thermodynamics: FluidThermodynamicState
+}
+public struct ConservedFluidState: Sendable, Equatable {
+    public let densityKilogramsPerCubicMetre: Double
+    public let momentumDensityKilogramsPerSquareMetreSecond: SIMD3<Double>
+    public let totalEnergyDensityJoulesPerCubicMetre: Double
+    public init(densityKilogramsPerCubicMetre: Double, momentumDensityKilogramsPerSquareMetreSecond: SIMD3<Double>,
+                totalEnergyDensityJoulesPerCubicMetre: Double) throws {
+        guard densityKilogramsPerCubicMetre.isFinite, densityKilogramsPerCubicMetre > 0,
+              fluidFinite(momentumDensityKilogramsPerSquareMetreSecond), totalEnergyDensityJoulesPerCubicMetre.isFinite,
+              totalEnergyDensityJoulesPerCubicMetre > 0 else { throw FluidError.invalidFlow }
+        self.densityKilogramsPerCubicMetre = densityKilogramsPerCubicMetre
+        self.momentumDensityKilogramsPerSquareMetreSecond = momentumDensityKilogramsPerSquareMetreSecond
+        self.totalEnergyDensityJoulesPerCubicMetre = totalEnergyDensityJoulesPerCubicMetre
+    }
+    public init(densityKilogramsPerCubicMetre rho: Double, velocityMetresPerSecond v: SIMD3<Double>, pressurePascals: Double,
+                equationOfState: any CompressibleEquationOfState) throws {
+        guard fluidFinite(v) else { throw FluidError.invalidFlow }
+        let e = try equationOfState.specificInternalEnergyJoulesPerKilogram(densityKilogramsPerCubicMetre: rho,pressurePascals: pressurePascals)
+        try self.init(densityKilogramsPerCubicMetre: rho,momentumDensityKilogramsPerSquareMetreSecond: rho*v,
+            totalEnergyDensityJoulesPerCubicMetre: rho*(e+0.5*(v*v).sum()))
+        _ = try primitive(using: equationOfState)
+    }
+    public func primitive(using eos: any CompressibleEquationOfState) throws -> CompressiblePrimitiveState {
+        let v = momentumDensityKilogramsPerSquareMetreSecond/densityKilogramsPerCubicMetre
+        guard fluidFinite(v) else { throw FluidError.nonFiniteResult }
+        let e = totalEnergyDensityJoulesPerCubicMetre/densityKilogramsPerCubicMetre-0.5*(v*v).sum()
+        let thermo = try eos.thermodynamics(densityKilogramsPerCubicMetre: densityKilogramsPerCubicMetre,specificInternalEnergyJoulesPerKilogram: e)
+        return CompressiblePrimitiveState(densityKilogramsPerCubicMetre: densityKilogramsPerCubicMetre,velocityMetresPerSecond: v,thermodynamics: thermo)
+    }
+    package var vector: SIMD8<Double> {
+        SIMD8(densityKilogramsPerCubicMetre,momentumDensityKilogramsPerSquareMetreSecond.x,
+              momentumDensityKilogramsPerSquareMetreSecond.y,momentumDensityKilogramsPerSquareMetreSecond.z,
+              totalEnergyDensityJoulesPerCubicMetre,0,0,0)
+    }
+    package init(vector: SIMD8<Double>) throws {
+        try self.init(densityKilogramsPerCubicMetre: vector[0],momentumDensityKilogramsPerSquareMetreSecond: SIMD3(vector[1],vector[2],vector[3]),
+            totalEnergyDensityJoulesPerCubicMetre: vector[4])
+    }
+}
+
+public extension CompressiblePrimitiveState {
+    /// All velocities share axes/frame. Viscosity and molecular mean free path are
+    /// transport inputs, not inferred from the pressure/energy closure.
+    func relativeFlow(bodyVelocityMetresPerSecond: SIMD3<Double>, dynamicViscosityPascalSeconds: Double? = nil,
+                      meanFreePathMetres: Double? = nil) throws -> FluidFlow {
+        try FluidFlow(relativeVelocityMetresPerSecond: bodyVelocityMetresPerSecond-velocityMetresPerSecond,
+            densityKilogramsPerCubicMetre: densityKilogramsPerCubicMetre,pressurePascals: thermodynamics.pressurePascals,
+            temperatureKelvin: thermodynamics.temperatureKelvin,speedOfSoundMetresPerSecond: thermodynamics.speedOfSoundMetresPerSecond,
+            dynamicViscosityPascalSeconds: dynamicViscosityPascalSeconds,meanFreePathMetres: meanFreePathMetres)
+    }
+}
diff --git a/Sources/FluidDynamics/DragAreaForces.swift b/Sources/FluidDynamics/DragAreaForces.swift
new file mode 100644
index 0000000..bef7248
--- /dev/null
+++ b/Sources/FluidDynamics/DragAreaForces.swift
@@ -0,0 +1,134 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+public struct DragCoefficientQuery: Sendable {
+    public let flow: FluidFlow
+    public let referenceLengthMetres: Double
+    public let axisAngleRadians: Double?
+    public init(flow: FluidFlow, referenceLengthMetres: Double, axisAngleRadians: Double? = nil) throws {
+        guard referenceLengthMetres.isFinite, referenceLengthMetres > 0,
+              axisAngleRadians.map({ $0.isFinite && (0...Double.pi).contains($0) }) ?? true else {
+            throw FluidError.invalidParameter
+        }
+        self.flow = flow; self.referenceLengthMetres = referenceLengthMetres; self.axisAngleRadians = axisAngleRadians
+    }
+    public func reynoldsNumber() throws -> Double? { try flow.reynoldsNumber(referenceLengthMetres: referenceLengthMetres) }
+}
+public protocol DragCoefficientModel: Sendable {
+    func dragCoefficient(for query: DragCoefficientQuery) throws -> Double
+}
+public struct DragCoefficientSample: Sendable {
+    public let machNumber: Double
+    public let reynoldsNumber: Double
+    public let dragCoefficient: Double
+    public init(machNumber: Double, reynoldsNumber: Double, dragCoefficient: Double) {
+        self.machNumber = machNumber; self.reynoldsNumber = reynoldsNumber; self.dragCoefficient = dragCoefficient
+    }
+}
+
+/// Rectangular Mach/Reynolds grid with linear interpolation and reject-only coverage.
+/// Orientation-invariant when maximumAxisAngleRadians is nil. No default real canopy
+/// or balloon dataset is implied; area definitions must match the supplied coefficients.
+public struct TabulatedDragCoefficients: DragCoefficientModel {
+    public let source: String
+    public let version: String
+    public let maximumAxisAngleRadians: Double?
+    public let machNumbers: [Double]
+    public let reynoldsNumbers: [Double]
+    private let values: [[Double]]
+    public init(samples: [DragCoefficientSample], source: String, version: String,
+                maximumAxisAngleRadians: Double? = nil) throws {
+        guard !samples.isEmpty, [source,version].allSatisfy({ !$0.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty }),
+              maximumAxisAngleRadians.map({ $0.isFinite && (0...Double.pi).contains($0) }) ?? true,
+              samples.allSatisfy({ $0.machNumber.isFinite && $0.machNumber >= 0 && $0.reynoldsNumber.isFinite
+                  && $0.reynoldsNumber > 0 && $0.dragCoefficient.isFinite && $0.dragCoefficient >= 0 }) else {
+            throw FluidError.invalidCoefficients
+        }
+        machNumbers = Array(Set(samples.map(\.machNumber))).sorted()
+        reynoldsNumbers = Array(Set(samples.map(\.reynoldsNumber))).sorted()
+        var grid = [[Double]]()
+        for mach in machNumbers {
+            var row = [Double]()
+            for re in reynoldsNumbers {
+                let matching = samples.filter { $0.machNumber == mach && $0.reynoldsNumber == re }
+                guard matching.count <= 1 else { throw FluidError.duplicateCondition }
+                guard let sample = matching.first else { throw FluidError.incompleteGrid }
+                row.append(sample.dragCoefficient)
+            }
+            grid.append(row)
+        }
+        self.source = source; self.version = version; self.maximumAxisAngleRadians = maximumAxisAngleRadians; values = grid
+    }
+    private func bracket(_ value: Double, grid: [Double]) throws -> (Int,Int,Double) {
+        guard value.isFinite, value >= grid[0], value <= grid.last! else { throw FluidError.outsideCoverage }
+        if grid.count == 1 { return (0,0,0) }
+        let upper = grid.firstIndex { $0 >= value }!
+        if upper == 0 { return (0,0,0) }
+        let lower = upper-1
+        return (lower,upper,(value-grid[lower])/(grid[upper]-grid[lower]))
+    }
+    public func dragCoefficient(for query: DragCoefficientQuery) throws -> Double {
+        guard let mach = query.flow.machNumber, let re = try query.reynoldsNumber() else { throw FluidError.missingFlowProperty }
+        if let maximumAxisAngleRadians {
+            guard let angle = query.axisAngleRadians else { throw FluidError.missingFlowProperty }
+            guard angle <= maximumAxisAngleRadians else { throw FluidError.outsideCoverage }
+        }
+        let (m0,m1,mt) = try bracket(mach, grid: machNumbers), (r0,r1,rt) = try bracket(re, grid: reynoldsNumbers)
+        let low = values[m0][r0]*(1-rt)+values[m0][r1]*rt
+        let high = values[m1][r0]*(1-rt)+values[m1][r1]*rt
+        return low*(1-mt)+high*mt
+    }
+}
+
+/// Steady drag opposing medium-relative motion. Supplied area already represents
+/// current shape, reefing/inflation or wake corrections; this evaluator evolves none.
+public struct DragAreaForces: Sendable {
+    public let areaSquareMetres: Double
+    public let referenceLengthMetres: Double
+    public let forceApplicationPointMetres: SIMD3<Double>
+    public let axis: SIMD3<Double>?
+    public let model: any DragCoefficientModel
+    public init(areaSquareMetres: Double, referenceLengthMetres: Double,
+                forceApplicationPointMetres: SIMD3<Double> = .zero, axis: SIMD3<Double>? = nil,
+                model: any DragCoefficientModel) throws {
+        guard areaSquareMetres.isFinite, areaSquareMetres >= 0, referenceLengthMetres.isFinite,
+              referenceLengthMetres > 0, fluidFinite(forceApplicationPointMetres) else { throw FluidError.invalidGeometry }
+        if let axis {
+            let length = fluidNorm(axis)
+            guard fluidFinite(axis), length.isFinite, length > 0 else { throw FluidError.invalidGeometry }
+            self.axis = axis/length
+        } else { self.axis = nil }
+        self.areaSquareMetres = areaSquareMetres; self.referenceLengthMetres = referenceLengthMetres
+        self.forceApplicationPointMetres = forceApplicationPointMetres; self.model = model
+    }
+    public func evaluate(flow: FluidFlow, momentReferencePointMetres: SIMD3<Double> = .zero) throws -> FluidLoads {
+        var force = SIMD3<Double>.zero
+        if flow.dynamicPressurePascals > 0 && areaSquareMetres > 0 {
+            let direction = flow.relativeVelocityMetresPerSecond/flow.speedMetresPerSecond
+            let angle = axis.map { acos(max(-1,min(1,($0*direction).sum()))) }
+            let coefficient = try model.dragCoefficient(for: DragCoefficientQuery(flow: flow,
+                referenceLengthMetres: referenceLengthMetres, axisAngleRadians: angle))
+            guard coefficient.isFinite, coefficient >= 0 else { throw FluidError.invalidCoefficients }
+            force = -direction*((flow.dynamicPressurePascals*areaSquareMetres)*coefficient)
+        }
+        return try FluidLoads(forceNewtons: force, momentNewtonMetres: .zero,
+            referencePointMetres: forceApplicationPointMetres).referred(to: momentReferencePointMetres)
+    }
+}
+
diff --git a/Sources/FluidDynamics/FluidDynamics.docc/CompressibleFlow.md b/Sources/FluidDynamics/FluidDynamics.docc/CompressibleFlow.md
new file mode 100644
index 0000000..a0f7b3a
--- /dev/null
+++ b/Sources/FluidDynamics/FluidDynamics.docc/CompressibleFlow.md
@@ -0,0 +1,96 @@
+# Conservative compressible flow
+
+Capture shocks and expansion waves with a separate energy-conserving Euler formulation.
+
+``CompressibleFlowGrid`` evolves density, three momentum-density components and
+total energy density on ``CartesianFluidGrid`` geometry. It uses an unsplit,
+first-order finite-volume method with Rusanov/local Lax–Friedrichs face fluxes.
+The same interface flux updates both adjacent fluid cells. Its numerical diffusion
+is substantial at coarse resolution, especially across contact discontinuities;
+this is a bounded initial solver rather than a high-resolution aircraft database.
+
+``CompressibleEquationOfState`` provides pressure, temperature and acoustic speed
+from density/internal energy, and an inverse pressure initializer.
+``CaloricallyPerfectGasEOS`` supplies a constant-R/gamma ideal gas with explicit
+identifier, source and temperature coverage. Every reconstructed/updated state is
+checked against the EOS. There is no energy/pressure/density clipping to hide a
+failed state. A failed EOS, positivity check or substep budget leaves the original
+grid unchanged. `workBudgetExceeded` is distinct from physical `outsideCoverage`.
+
+```swift
+let gas = try CaloricallyPerfectGasEOS(identifier: "synthetic-gas",
+    specificGasConstantJoulesPerKilogramKelvin: 1, specificHeatRatio: 1.4,
+    temperatureRangeKelvin: 1e-4...1e4, source: "Sod numerical benchmark")
+let geometry = try CartesianFluidGrid(dimensions: SIMD3(160, 1, 1),
+    minimumCornerMetres: .zero, cellSizeMetres: 1.0 / 160)
+var solver = try CompressibleFlowGrid(configuration:
+    CompressibleFlowConfiguration(grid: geometry, equationOfState: gas)) { p in
+    try ConservedFluidState(densityKilogramsPerCubicMetre: p.x < 0.5 ? 1 : 0.125,
+        velocityMetresPerSecond: .zero, pressurePascals: p.x < 0.5 ? 1 : 0.1,
+        equationOfState: gas)
+}
+let report = try solver.advance(timeStepSeconds: 0.2, maximumSubsteps: 10000)
+```
+
+Use the labelled `initialState:` closure if also supplying `solidAtCellCentre:`.
+Numerical benchmark units are synthetic SI; the 1 K state is not an Earth-air preset.
+Dimensions may include one-cell directions for 1-D/2-D reference problems, with a
+maximum of 262,144 total cells. Sampling is piecewise constant. Physical continuum
+applicability, microscopic transport and material validity remain caller/provider
+responsibilities; positive density is not proof of continuum coverage.
+
+The acoustic CFL condition uses a conservative sum of maxima `|u_d| + c` over all
+three axes, including prescribed boundary states. The Courant factor is at most
+0.45 (default 0.4). Sound waves therefore impose work even at zero bulk speed, and
+hypersonic flow can require many substeps for a rendering/vehicle timestep.
+The caller sets a work cap and update cadence; there is no automatic real-time
+fallback. Cost is O(cells × substeps), with O(cells) storage, and up to three face
+sweeps per substep. This initial implementation is serial CPU Swift.
+
+## Boundaries and coupled loads
+
+Low/high boundaries are supplied in X/Y/Z order. Periodic boundaries must be
+paired; fixed-state boundaries prescribe a ghost state; transmissive boundaries
+copy the adjacent state and are not a nonreflecting far field. Reflecting boundaries
+reverse normal momentum while retaining density and energy: stationary adiabatic
+slip walls. Static solid voxels use the same reflected face flux, and may not touch
+the outer cell layer. They do not represent moving geometry or no-slip walls.
+
+``CompressibleStepReport`` returns net outward mass/momentum/energy integrals and
+step-average solid reaction loads from the **same** face momentum flux used by the
+fluid update. Lever arms are at voxel-face centres about the requested reference.
+Use that contribution once; do not also add a pressure/whole-body force for the
+same contribution. Tests balance fluid momentum change, solid impulse and boundary
+flux, and verify periodic mass/energy conservation. General hybrid coupling and
+angular-momentum accuracy still depend on discretization and model ownership.
+
+The grid owns no vehicle state or clock. `state(at:)` returns density, velocity,
+pressure, temperature and sound speed. `relativeFlow(bodyVelocityMetresPerSecond:)`
+constructs shared flow inputs after subtracting the sampled medium velocity, with
+optional separately supplied viscosity and mean free path. Positions/velocities
+must share a nonrotating inertial or constant-translating frame; moving grids and
+rotating/accelerating-frame source terms are not inferred.
+
+## Entry use and limits
+
+This solver provides compressible pressure/shock physics. The energy equation
+includes shock-induced internal-energy changes, but the initial Euler formulation
+has no viscous stress, thermal conduction, radiation transport or wall heat flux.
+A reflected adiabatic boundary does not establish zero physical reentry heating.
+Constant gamma is not a high-enthalpy chemistry model. More elaborate equilibrium
+EOS providers can use the closure; finite-rate species/vibrational chemistry needs
+additional evolved states and source terms, not just another EOS implementation.
+
+Aerodynamics retains the separate bounded stagnation/leading-edge/heating-data
+providers. Stagnation correlations require their declared freestream conditions;
+do not feed an already compressed stagnation cell to a freestream correlation and
+count the shock twice. Local enthalpy/Stanton data needs the appropriate boundary-
+layer-edge state and its own geometry/transport coverage. No automatic coupling
+claims to turn an unresolved voxel cell into a validated boundary-layer heat flux.
+
+Tests compare the Sod solution with independently specified exact star/fan/shock
+states, demonstrate grid convergence, preserve a uniform supersonic state, check
+conservative solid reaction and exercise budget/positivity/EOS failures.
+Run `swift run FluidPhysicsDemo --compressible` for the reference harness.
+
+Background: [Clawpack Euler equations and Riemann solvers](https://www.clawpack.org/riemann_book/html/Euler_approximate.html).
diff --git a/Sources/FluidDynamics/FluidDynamics.docc/FluidDynamics.md b/Sources/FluidDynamics/FluidDynamics.docc/FluidDynamics.md
new file mode 100644
index 0000000..7e89614
--- /dev/null
+++ b/Sources/FluidDynamics/FluidDynamics.docc/FluidDynamics.md
@@ -0,0 +1,77 @@
+# ``FluidDynamics``
+
+Shared gas/liquid flow contracts, physical loads, propeller slipstreams and numerical fluid solvers.
+
+FluidDynamics has no dependency on Aerodynamics, Hydrodynamics, Atmospheres, CelMek
+or Yams. Those consumers supply material, geometry and regime-specific physics.
+All values use SI in caller-selected common axes. `FluidFlow` is body motion
+relative to the medium; a `FluidVelocityField` is physical medium velocity, so
+subtract it from body velocity before rotating the difference into body axes.
+Body conventions are X forward, Y right, Z down. Forces/moments and application
+points share axes and an explicit reference point.
+
+The physics owns field state and numerical timesteps where necessary; applications
+own scheduling, frames, rigid-body integration and system/configuration evolution.
+No old-name aliases or module re-exports preserve the pre-extraction API.
+
+## Topics
+
+### Shared contracts
+- ``FluidError``
+- ``FluidFlow``
+- ``FluidLoads``
+- ``FluidCoefficients``
+- ``FluidReferenceGeometry``
+- ``SurfaceHeatFlux``
+- ``FluidScalarTable``
+- ``FluidTableAxis``
+- ``CartesianFluidGrid``
+
+### Surface integration and displacement
+- ``FluidSurfacePanel``
+- ``SurfacePressureCoefficientModel``
+- ``SurfacePressureIntegration``
+- ``SurfacePressureResult``
+- ``SurfaceTraction``
+- ``SurfaceTractionModel``
+- ``SurfaceTractionIntegration``
+- ``SurfaceTractionResult``
+- ``PressureOnlyTraction``
+- ``DragCoefficientQuery``
+- ``DragCoefficientModel``
+- ``DragCoefficientSample``
+- ``TabulatedDragCoefficients``
+- ``DragAreaForces``
+- ``Buoyancy``
+- ``BuoyancyField``
+
+### Materials and thermodynamics
+- ``ThermalTransportProperties``
+- ``PerfectGasSpecies``
+- ``PerfectGasMassFraction``
+- ``PerfectGasMixture``
+- ``CompressibleEquationOfState``
+- ``CaloricallyPerfectGasEOS``
+- ``FluidThermodynamicState``
+- ``ConservedFluidState``
+- ``CompressiblePrimitiveState``
+
+### Propellers and incompressible flow
+- <doc:PropellersAndCFD>
+- ``FluidVelocityField``
+- ``InducedFluidVelocityField``
+- ``SuperposedFluidVelocityField``
+- ``ActuatorDiskSlipstream``
+- ``ActuatorDiskAccelerationField``
+- ``IncompressibleFlowConfiguration``
+- ``IncompressibleFlowGrid``
+- ``PressureProjectionReport``
+- ``IncompressibleStepReport``
+
+### Compressible flow
+- <doc:CompressibleFlow>
+- ``CompressibleFlowConfiguration``
+- ``CompressibleBoundary``
+- ``CompressibleFlowGrid``
+- ``ConservedFluidTotals``
+- ``CompressibleStepReport``
diff --git a/Sources/FluidDynamics/FluidDynamics.docc/PropellersAndCFD.md b/Sources/FluidDynamics/FluidDynamics.docc/PropellersAndCFD.md
new file mode 100644
index 0000000..534f736
--- /dev/null
+++ b/Sources/FluidDynamics/FluidDynamics.docc/PropellersAndCFD.md
@@ -0,0 +1,196 @@
+# Optional propwash and local CFD
+
+Choose a prescribed slipstream or evolve a local incompressible flow field, and sample either through the existing aerodynamic evaluators.
+
+## Shared velocity convention
+
+``FluidVelocityField`` returns physical **fluid** velocity in caller-selected common
+axes and frame. ``InducedFluidVelocityField`` marks an increment; the actuator-disk
+provider conforms to it. ``SuperposedFluidVelocityField`` adds increments to one
+background. A ``IncompressibleFlowGrid`` returns total fluid velocity, including its boundary
+background, and is deliberately not an induced-increment provider.
+
+FluidFlow stores body motion relative to the medium, the opposite sign for a
+stationary body in a moving-air grid. Subtract fluid velocity from body velocity in
+the same frame before expressing the difference in section/body axes:
+
+```swift
+let localFlow = try ambientFlow.replacingRelativeVelocity(
+    bodyVelocityInGridAxes - field.velocityMetresPerSecond(at: surfacePoint))
+```
+
+Do not add a total CFD velocity to the same background again. Atmosphere rotation,
+vehicle translation and frame conversion remain explicit as in [fluid conventions](/documentation/fluiddynamics).
+
+## Actuator-disk propwash
+
+``ActuatorDiskSlipstream`` accepts supplied positive thrust, signed fluid torque,
+radius, centre, downstream axis, density and nonnegative aligned upstream speed.
+For disk area A it solves `T = 2 rho A vi (V + vi)`, with disk speed `V + vi`, far
+wake speed `V + 2vi` and mass flow `rho A (V + vi)`. Downstream radius follows
+constant mass flow as axial velocity increases. These are ideal axial momentum
+relations; thrust and torque are inputs, not calculated from blade geometry or RPM.
+
+Intermediate downstream development uses the explicitly chosen approximation
+`vi(z) = vi_disk (1 + z / sqrt(z² + R²))`, with a uniform top-hat cross-section.
+Solid-body swirl carries supplied torque: `omega = 2 Q / (massFlow Rwake²)` and
+`tangentialVelocity = omega axis × radialOffset`. This predicts a spiral slipstream,
+not individual tip-vortex filaments or blade-passage fluctuations. The returned
+field is zero upstream and outside the wake, with an abrupt disk/wake edge. It is
+not a divergence-free solution around obstacles. Swirl does not feed back into
+the axial momentum calculation; no shaft-power/efficiency closure is inferred.
+
+```swift
+let disk = try ActuatorDiskSlipstream(centreMetres: .zero,
+    downstreamAxis: SIMD3(-1, 0, 0), radiusMetres: 1,
+    thrustNewtons: 500, fluidTorqueNewtonMetres: 40,
+    densityKilogramsPerCubicMetre: 1.2,
+    upstreamAxialSpeedMetresPerSecond: 30)
+let field = try SuperposedFluidVelocityField(
+    backgroundMetresPerSecond: SIMD3(-30, 0, 0), increments: [disk])
+let airAtTail = try field.velocityMetresPerSecond(at: SIMD3(-3, 0.4, 0))
+```
+
+The axis points along force **on the fluid**; aircraft thrust and torque have opposite
+signs. ``ActuatorDiskSlipstream/reactionLoads(momentReferencePointMetres:)`` returns
+that reaction once, including its lever arm. Do not add it to the same propeller
+loads already returned by a propulsion provider. With an existing propulsion model,
+use its supplied thrust/torque only to construct the wake.
+
+This idealization assumes aligned incompressible normal propeller operation.
+Crossflow, reversed thrust, windmilling, vortex-ring states, upstream induction,
+wake breakdown and body deflection need other providers. Sound-speed and gas/flow
+validity must be established by the caller; density alone is not coverage.
+Evaluation is O(1) per sample. Multiple disks can be superposed as a prescribed
+approximation, without solving mutual induction.
+
+Reference: [NASA ideal propeller momentum theory](https://www1.grc.nasa.gov/beginners-guide-to-aeronautics/propeller-thrust/).
+Tests independently integrate axial/angular momentum, check hover/forward-flight
+limits, axis/torque reversal, reaction moments and wing response to local wash.
+
+## Local incompressible CFD
+
+``IncompressibleFlowGrid`` is an optional experimental CPU solver, not a replacement for every
+coefficient or heating model. ``IncompressibleFlowConfiguration`` accepts rectangular grids
+of 4–64 cells per axis, with a default of 16³ (4,096 cells); powers of two are not
+required. Spacing, origin, constant density, sound speed, kinematic
+viscosity and outer boundary velocity are explicit. It conservatively restricts
+its component-wise speed bound to Mach ≤ 0.3 throughout the domain.
+This is a continuum, constant-density approximation without shock/energy equations.
+
+Velocity lives on staggered faces and gauge pressure at cell centres. Each step
+uses first-order semi-Lagrangian advection, explicit viscosity, prescribed fluid
+acceleration and pressure projection with a Jacobi-preconditioned conjugate-gradient
+solve. The pressure operator uses the same face gradient/divergence discretization.
+Projection reports iterations, relative L2 residual and maximum divergence before
+and after the solve. A relative residual tolerance and absolute-divergence floor
+control convergence; the actual reported maximum divergence should be inspected.
+
+Static solids occupy whole cells and impose zero normal velocity with a free-slip
+viscous treatment. They may not touch the outermost cell layer. Outer faces have
+prescribed normal velocity with balanced total box flux; tangential interpolation
+uses edge values. These are finite-domain boundary conditions, **not** a nonreflecting
+far-field or unlimited downstream wake. Increase domain extent independently of
+resolution to assess boundary influence. Thin wings, boundary layers and detailed
+separation cannot be resolved on a handful of voxels. No RANS/LES closure or artificial
+vorticity-confinement force is added. Semi-Lagrangian advection dissipates vorticity.
+
+The grid axes must not rotate and its origin must translate at constant velocity.
+No planetary/vehicle rotation or fictitious acceleration is inferred. Fixed geometry
+is supplied at cell centres; moving bodies and moving-grid/remeshing support remain
+future extensions. The application owns frame transformations and motion coupling.
+
+```swift
+let config = try IncompressibleFlowConfiguration(minimumCornerMetres: SIMD3(repeating: -4),
+    cellSizeMetres: 0.5, densityKilogramsPerCubicMetre: 1.2,
+    speedOfSoundMetresPerSecond: 340,
+    kinematicViscositySquareMetresPerSecond: 1.5e-5,
+    boundaryVelocityMetresPerSecond: SIMD3(-10, 0, 0))
+var grid = try IncompressibleFlowGrid(configuration: config,
+    solidAtCellCentre: { p in (p*p).sum() < 1 })
+let initialProjection = try grid.project(timeStepSeconds: 0.01)
+let report = try grid.advance(timeStepSeconds: 0.01,
+    maximumSubsteps: 8, maximumPressureIterations: 300,
+    relativePressureTolerance: 1e-6)
+let air = try grid.velocityMetresPerSecond(at: SIMD3(-2, 0, 0))
+```
+
+Arbitrary initial velocity may contain divergence: project it before treating it
+as incompressible. Sampling outside the box or inside a solid throws. Projection
+and advance operate transactionally: invalid forcing, coverage failure, pressure
+nonconvergence or substep-budget exhaustion leave the original state unchanged.
+There is no unconverged fallback. Snapshots are Swift values; thread ownership,
+update cadence, asynchronous work and interpolation between updates are external.
+
+Substeps enforce an advective distance limit of 0.75 cell (including a conservative
+forcing bound) and the explicit diffusion limit `dt ≤ h²/(6 nu)`. The caller caps
+substeps and pressure iterations. A call's supplied acceleration field is held
+fixed over its substeps; it is acceleration of the **fluid**, not a requested velocity.
+Cost is O(substeps × cells × pressureIterations), plus O(cells) interpolation/stencil
+work, with O(cells) storage. The first implementation is serial CPU Swift; SIMD,
+parallel/GPU backends and more efficient pressure solvers remain possible improvements.
+
+Numerical formulation background:
+[Bridson and Müller-Fischer, Fluid Simulation course notes](https://www.cs.ubc.ca/~rbridson/fluidsimulation/fluids_notes.pdf).
+Tests use a manufactured discrete Poisson/gradient solution, a divergence-free
+vortex, an independent viscous eigenmode, uniform transport, hydrostatic buoyancy,
+obstacle symmetry, rotor forcing and transactional failure checks. These establish
+numerical contracts, not validated aircraft drag/stall or turbulence predictions.
+
+## Rotor forcing and load coupling
+
+``ActuatorDiskAccelerationField`` spreads prescribed disk thrust and fluid torque over
+a finite cylinder. Its continuous force and torque integrals match the inputs;
+face-sampled grid quadrature has discretization error. Use the same density as the
+grid, resolve radius/thickness with multiple cells, keep the source away from outer
+boundaries/solids and check resolution convergence. Clipped/blocked source faces
+lose that source contribution. This initial source is not discretely normalized to
+guarantee exact prescribed total thrust/torque on an arbitrary coarse grid.
+
+```swift
+let cfdDisk = try ActuatorDiskSlipstream(centreMetres: SIMD3(2, 0, 0),
+    downstreamAxis: SIMD3(-1, 0, 0), radiusMetres: 0.75,
+    thrustNewtons: 80, fluidTorqueNewtonMetres: 2,
+    densityKilogramsPerCubicMetre: 1.2, upstreamAxialSpeedMetresPerSecond: 10)
+let source = try ActuatorDiskAccelerationField(disk: cfdDisk, thicknessMetres: 1)
+let report = try grid.advance(timeStepSeconds: 0.01,
+    accelerationMetresPerSecondSquared: source.accelerationMetresPerSecondSquared)
+```
+
+Use this **instead of** adding analytic propwash to that CFD field. The pressure
+solve and advection then determine how the forced flow meets voxel bodies. This is
+one-way prescribed rotor forcing; it does not infer rotor loading from the altered
+inflow or close an engine/propeller operating-point solve.
+
+Sample the resulting velocity for existing wing/tail/body/drag-area evaluators.
+``IncompressibleFlowGrid/pressureLoadsOnSolids(momentReferencePointMetres:)`` optionally
+integrates gauge pressure on voxel solids using one-sided linear reconstruction
+(falling back to adjacent-cell pressure where necessary). It includes lever arms,
+but no viscous shear or unresolved thin-wing lift. Choose which model owns each
+pressure/lift/wake contribution. Do not also add the same whole-body coefficient
+loads, buoyancy from the same pressure gradient, or a second wake correction.
+Sampled-flow coupling alone does not deposit wing forces back into the fluid;
+mutual coupling must supply consistent fluid forcing and account for discretization
+error. The library does not claim automatic conservation for arbitrary hybrid models.
+
+## Budget measurement
+
+Run the opt-in workload with an optimized build:
+
+```sh
+swift run --disable-sandbox -c release -debug-info-format none FluidPhysicsDemo --cfd
+```
+
+It reports 16³, 20³ and 32³ timings, pressure iterations, divergence and voxel
+pressure force for a fixed 8 m box, free-slip sphere and rotor forcing. Each case
+measures three 0.01 s steps after an initial projection, with relative pressure
+tolerance 1e-8. This short serial workload excludes setup and rigid-body/render work;
+it is not a sustained real-time guarantee or a validated sphere drag coefficient.
+Choose resolution, domain, tolerance, cadence and maximum work from measurements
+on the target hardware. Propwash and CFD are both optional; neither is scheduled
+automatically by other aerodynamic evaluators.
+
+The common solver does not require gas molecular properties for a liquid. Continuum
+applicability is a material/model responsibility. Hydrodynamics adds liquid-property
+and absolute-pressure reference helpers; see [Hydrodynamics](/documentation/hydrodynamics).
+Compressible flow uses a distinct conservation solver described in <doc:CompressibleFlow>.
diff --git a/Sources/FluidDynamics/FluidError.swift b/Sources/FluidDynamics/FluidError.swift
new file mode 100644
index 0000000..58db375
--- /dev/null
+++ b/Sources/FluidDynamics/FluidError.swift
@@ -0,0 +1,23 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+public enum FluidError: Error, Equatable {
+    case invalidParameter, invalidGeometry, invalidFlow, invalidCoefficients
+    case malformedData, duplicateCondition, incompleteGrid, outsideCoverage, nonFiniteResult
+    case missingFlowProperty, unsupportedQuery, nonConvergence, workBudgetExceeded
+}
+
diff --git a/Sources/FluidDynamics/FluidFlow.swift b/Sources/FluidDynamics/FluidFlow.swift
new file mode 100644
index 0000000..32a1605
--- /dev/null
+++ b/Sources/FluidDynamics/FluidFlow.swift
@@ -0,0 +1,113 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+/// Pure local flow in caller-selected right-handed body/section axes:
+/// +X forward, +Y right, +Z down. Velocity is body motion relative to the medium,
+/// not the opposite fluid-on-body velocity. All vectors in a query must use the same axes.
+/// Subtract atmosphere velocity from body velocity in a common frame before rotating
+/// the difference into these axes. A co-rotating atmosphere is at rest in the planet's
+/// rotating frame, but has velocity Ω×r in a planet-centred inertial frame.
+public struct FluidFlow: Sendable {
+    public let relativeVelocityMetresPerSecond: SIMD3<Double>
+    public let densityKilogramsPerCubicMetre: Double
+    public let pressurePascals: Double?
+    public let temperatureKelvin: Double?
+    public let speedOfSoundMetresPerSecond: Double?
+    public let dynamicViscosityPascalSeconds: Double?
+    public let meanFreePathMetres: Double?
+    public var speedMetresPerSecond: Double { fluidNorm(relativeVelocityMetresPerSecond) }
+    public var dynamicPressurePascals: Double { (0.5*densityKilogramsPerCubicMetre*speedMetresPerSecond)*speedMetresPerSecond }
+    public var machNumber: Double? { speedOfSoundMetresPerSecond.map { speedMetresPerSecond/$0 } }
+    /// Positive incidence has a positive downward velocity component in body axes.
+    public var angleOfAttackRadians: Double? {
+        let v = relativeVelocityMetresPerSecond
+        return v.x == 0 && v.z == 0 ? nil : atan2(v.z,v.x)
+    }
+    public var sideslipRadians: Double? {
+        let v = relativeVelocityMetresPerSecond
+        return speedMetresPerSecond == 0 ? nil : atan2(v.y,hypot(v.x,v.z))
+    }
+    public init(relativeVelocityMetresPerSecond: SIMD3<Double>, densityKilogramsPerCubicMetre: Double,
+                pressurePascals: Double? = nil, temperatureKelvin: Double? = nil,
+                speedOfSoundMetresPerSecond: Double? = nil, dynamicViscosityPascalSeconds: Double? = nil,
+                meanFreePathMetres: Double? = nil) throws {
+        guard fluidFinite(relativeVelocityMetresPerSecond), densityKilogramsPerCubicMetre.isFinite,
+              densityKilogramsPerCubicMetre >= 0,
+              pressurePascals.map({ $0.isFinite && $0 >= 0 }) ?? true,
+              [temperatureKelvin,speedOfSoundMetresPerSecond,dynamicViscosityPascalSeconds,meanFreePathMetres]
+                .compactMap({ $0 }).allSatisfy({ $0.isFinite && $0 > 0 }) else { throw FluidError.invalidFlow }
+        self.relativeVelocityMetresPerSecond = relativeVelocityMetresPerSecond
+        self.densityKilogramsPerCubicMetre = densityKilogramsPerCubicMetre
+        self.pressurePascals = pressurePascals; self.temperatureKelvin = temperatureKelvin
+        self.speedOfSoundMetresPerSecond = speedOfSoundMetresPerSecond
+        self.dynamicViscosityPascalSeconds = dynamicViscosityPascalSeconds; self.meanFreePathMetres = meanFreePathMetres
+        guard speedMetresPerSecond.isFinite, dynamicPressurePascals.isFinite,
+              machNumber.map(\.isFinite) ?? true else { throw FluidError.nonFiniteResult }
+    }
+    public func reynoldsNumber(referenceLengthMetres length: Double) throws -> Double? {
+        try fluidPositiveLength(length)
+        guard let viscosity = dynamicViscosityPascalSeconds else { return nil }
+        let result = (densityKilogramsPerCubicMetre*speedMetresPerSecond)*length/viscosity
+        guard result.isFinite else { throw FluidError.nonFiniteResult }
+        return result
+    }
+    public func knudsenNumber(referenceLengthMetres length: Double) throws -> Double? {
+        try fluidPositiveLength(length)
+        guard let path = meanFreePathMetres else { return nil }
+        let result = path/length
+        guard result.isFinite else { throw FluidError.nonFiniteResult }
+        return result
+    }
+    /// Local relative velocity v + (ωBody − ωMedium)×r for a rigidly rotating
+    /// medium. Both angular velocities must be measured relative to the same frame
+    /// and expressed in these axes. The default medium rate describes uniform air.
+    /// Offset is from this flow's velocity reference point. Callers sample additional
+    /// wind gradients separately. In planet-fixed coordinates, co-rotating air has
+    /// zero medium rate; in inertial coordinates, supply the planet's rotation rate.
+    public func atLocalPoint(offsetMetres: SIMD3<Double>, angularVelocityRadiansPerSecond: SIMD3<Double>,
+                             mediumAngularVelocityRadiansPerSecond: SIMD3<Double> = .zero) throws -> Self {
+        guard fluidFinite(offsetMetres), fluidFinite(angularVelocityRadiansPerSecond),
+              fluidFinite(mediumAngularVelocityRadiansPerSecond) else { throw FluidError.invalidFlow }
+        return try Self(relativeVelocityMetresPerSecond: relativeVelocityMetresPerSecond
+            + fluidCross(angularVelocityRadiansPerSecond-mediumAngularVelocityRadiansPerSecond,offsetMetres),
+            densityKilogramsPerCubicMetre: densityKilogramsPerCubicMetre,pressurePascals: pressurePascals,
+            temperatureKelvin: temperatureKelvin,speedOfSoundMetresPerSecond: speedOfSoundMetresPerSecond,
+            dynamicViscosityPascalSeconds: dynamicViscosityPascalSeconds,meanFreePathMetres: meanFreePathMetres)
+    }
+}
+
+package func fluidNorm(_ v: SIMD3<Double>) -> Double { hypot(hypot(v.x,v.y),v.z) }
+package func fluidFinite(_ v: SIMD3<Double>) -> Bool { [v.x,v.y,v.z].allSatisfy(\.isFinite) }
+package func fluidCross(_ a: SIMD3<Double>, _ b: SIMD3<Double>) -> SIMD3<Double> {
+    SIMD3(a.y*b.z-a.z*b.y,a.z*b.x-a.x*b.z,a.x*b.y-a.y*b.x)
+}
+private func fluidPositiveLength(_ length: Double) throws {
+    guard length.isFinite, length > 0 else { throw FluidError.invalidGeometry }
+}
+
+public extension FluidFlow {
+    /// Preserve thermodynamic properties while applying caller-supplied wind/wake
+    /// or other physical relative-velocity corrections in the same axes and frame.
+    func replacingRelativeVelocity(_ velocityMetresPerSecond: SIMD3<Double>) throws -> Self {
+        try Self(relativeVelocityMetresPerSecond: velocityMetresPerSecond,
+            densityKilogramsPerCubicMetre: densityKilogramsPerCubicMetre,pressurePascals: pressurePascals,
+            temperatureKelvin: temperatureKelvin,speedOfSoundMetresPerSecond: speedOfSoundMetresPerSecond,
+            dynamicViscosityPascalSeconds: dynamicViscosityPascalSeconds,meanFreePathMetres: meanFreePathMetres)
+    }
+}
diff --git a/Sources/FluidDynamics/FluidLoads.swift b/Sources/FluidDynamics/FluidLoads.swift
new file mode 100644
index 0000000..3c9fdad
--- /dev/null
+++ b/Sources/FluidDynamics/FluidLoads.swift
@@ -0,0 +1,101 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+/// Dimensions for nondimensional force/moment coefficients in one stated set of axes.
+/// Moment lengths are per axis (typically span, chord, span for aircraft body axes).
+public struct FluidReferenceGeometry: Sendable {
+    public let areaSquareMetres: Double
+    public let momentLengthsMetres: SIMD3<Double>
+    public let momentReferencePointMetres: SIMD3<Double>
+    public init(areaSquareMetres: Double, momentLengthsMetres: SIMD3<Double>,
+                momentReferencePointMetres: SIMD3<Double> = .zero) throws {
+        guard areaSquareMetres.isFinite, areaSquareMetres > 0,
+              [momentLengthsMetres.x,momentLengthsMetres.y,momentLengthsMetres.z].allSatisfy({ $0.isFinite && $0 > 0 }),
+              fluidFinite(momentReferencePointMetres) else { throw FluidError.invalidGeometry }
+        self.areaSquareMetres = areaSquareMetres; self.momentLengthsMetres = momentLengthsMetres
+        self.momentReferencePointMetres = momentReferencePointMetres
+    }
+}
+
+/// Six signed Cartesian coefficients, including all moments about the supplied
+/// geometry's reference point. Axes must match geometry and the returned loads.
+public struct FluidCoefficients: Sendable, Codable {
+    public let force: SIMD3<Double>
+    public let moment: SIMD3<Double>
+    public init(force: SIMD3<Double>, moment: SIMD3<Double>) throws {
+        guard fluidFinite(force), fluidFinite(moment) else { throw FluidError.invalidCoefficients }
+        self.force = force; self.moment = moment
+    }
+    private enum CodingKeys: String, CodingKey { case force, moment }
+    public init(from decoder: Decoder) throws {
+        let c = try decoder.container(keyedBy: CodingKeys.self)
+        try self.init(force: c.decode(SIMD3<Double>.self,forKey: .force),moment: c.decode(SIMD3<Double>.self,forKey: .moment))
+    }
+    /// F=q S Cforce, M=q S L Cmoment. No separate centre-of-pressure moment is added.
+    public func loads(dynamicPressurePascals q: Double, geometry: FluidReferenceGeometry) throws -> FluidLoads {
+        guard q.isFinite, q >= 0 else { throw FluidError.invalidFlow }
+        let scale = q*geometry.areaSquareMetres
+        guard scale.isFinite else { throw FluidError.nonFiniteResult }
+        return try FluidLoads(forceNewtons: force*scale,
+            momentNewtonMetres: (moment*scale)*geometry.momentLengthsMetres,
+            referencePointMetres: geometry.momentReferencePointMetres)
+    }
+}
+
+/// Physical force and moment about an explicit reference point, all in the same axes.
+/// No body identity, spacecraft state, assembly or integrator is owned here.
+public struct FluidLoads: Sendable {
+    public let forceNewtons: SIMD3<Double>
+    public let momentNewtonMetres: SIMD3<Double>
+    public let referencePointMetres: SIMD3<Double>
+    public init(forceNewtons: SIMD3<Double>, momentNewtonMetres: SIMD3<Double>,
+                referencePointMetres: SIMD3<Double> = .zero) throws {
+        guard fluidFinite(forceNewtons), fluidFinite(momentNewtonMetres), fluidFinite(referencePointMetres) else {
+            throw FluidError.nonFiniteResult
+        }
+        self.forceNewtons = forceNewtons; self.momentNewtonMetres = momentNewtonMetres
+        self.referencePointMetres = referencePointMetres
+    }
+    /// Transfer an already complete moment: Mnew = Mold + (oldPoint−newPoint)×F.
+    public func referred(to pointMetres: SIMD3<Double>) throws -> Self {
+        guard fluidFinite(pointMetres) else { throw FluidError.invalidGeometry }
+        return try Self(forceNewtons: forceNewtons,
+            momentNewtonMetres: momentNewtonMetres+fluidCross(referencePointMetres-pointMetres,forceNewtons),
+            referencePointMetres: pointMetres)
+    }
+    /// Sum loads after expressing both moments about this load's reference point.
+    public func adding(_ other: Self) throws -> Self {
+        let shifted = try other.referred(to: referencePointMetres)
+        return try Self(forceNewtons: forceNewtons+shifted.forceNewtons,
+            momentNewtonMetres: momentNewtonMetres+shifted.momentNewtonMetres,referencePointMetres: referencePointMetres)
+    }
+}
+
+/// Surface-local heat-flux contract for future correlations and external thermal models.
+/// Positive values represent heat into the surface. This type does not evolve temperature.
+public struct SurfaceHeatFlux: Sendable {
+    public let wattsPerSquareMetre: Double
+    public let surfacePositionMetres: SIMD3<Double>
+    public init(wattsPerSquareMetre: Double, surfacePositionMetres: SIMD3<Double>) throws {
+        guard wattsPerSquareMetre.isFinite, wattsPerSquareMetre >= 0, fluidFinite(surfacePositionMetres) else {
+            throw FluidError.invalidParameter
+        }
+        self.wattsPerSquareMetre = wattsPerSquareMetre; self.surfacePositionMetres = surfacePositionMetres
+    }
+}
diff --git a/Sources/FluidDynamics/FluidScalarTable.swift b/Sources/FluidDynamics/FluidScalarTable.swift
new file mode 100644
index 0000000..0debbb7
--- /dev/null
+++ b/Sources/FluidDynamics/FluidScalarTable.swift
@@ -0,0 +1,96 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+/// One strictly ordered interpolation coordinate, with explicit name and units.
+public struct FluidTableAxis: Sendable, Codable, Equatable {
+    public let name: String
+    public let units: String
+    public let coordinates: [Double]
+    public init(name: String, units: String, coordinates: [Double]) throws {
+        guard !name.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty, !units.isEmpty,
+              !coordinates.isEmpty, coordinates.allSatisfy(\.isFinite),
+              zip(coordinates,coordinates.dropFirst()).allSatisfy({ $0 < $1 && ($1-$0).isFinite }) else {
+            throw FluidError.malformedData
+        }
+        self.name = name; self.units = units; self.coordinates = coordinates
+    }
+    private enum CodingKeys: String, CodingKey { case name, units, coordinates }
+    public init(from decoder: Decoder) throws {
+        let c = try decoder.container(keyedBy: CodingKeys.self)
+        try self.init(name: c.decode(String.self,forKey: .name),units: c.decode(String.self,forKey: .units),
+                      coordinates: c.decode([Double].self,forKey: .coordinates))
+    }
+}
+
+/// Checked rectangular scalar data. Last axis varies fastest; interpolation is
+/// linear in the supplied coordinates (use an explicit log coordinate if intended).
+/// No extrapolation, automatic blending of regimes or inferred scientific validity.
+public struct FluidScalarTable: Sendable, Codable {
+    public let axes: [FluidTableAxis]
+    public let values: [Double]
+    public let valueUnits: String
+    public let source: String
+    public let version: String
+    public let assumptions: String
+    public init(axes: [FluidTableAxis], values: [Double], valueUnits: String,
+                source: String, version: String, assumptions: String) throws {
+        guard (1...8).contains(axes.count), Set(axes.map(\.name)).count == axes.count,
+              [valueUnits,source,version,assumptions].allSatisfy({ !$0.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty }),
+              values.allSatisfy(\.isFinite) else { throw FluidError.malformedData }
+        var count = 1
+        for axis in axes {
+            guard axis.coordinates.count <= 1_000_000/count else { throw FluidError.malformedData }
+            count *= axis.coordinates.count
+        }
+        guard values.count == count else { throw FluidError.incompleteGrid }
+        self.axes = axes; self.values = values; self.valueUnits = valueUnits
+        self.source = source; self.version = version; self.assumptions = assumptions
+    }
+    /// O(sum(axis lengths) + 2^dimensions), at most eight dimensions.
+    public func value(at coordinates: [Double]) throws -> Double {
+        guard coordinates.count == axes.count, coordinates.allSatisfy(\.isFinite) else {
+            throw FluidError.invalidParameter
+        }
+        var corners: [(index: Int, weight: Double)] = [(0,1)]
+        for (axis,x) in zip(axes,coordinates) {
+            let grid = axis.coordinates
+            guard x >= grid[0], x <= grid[grid.count-1] else { throw FluidError.outsideCoverage }
+            let lower = grid.lastIndex(where: { $0 <= x })!
+            let upper = min(lower+1,grid.count-1)
+            let weight = lower == upper ? 0 : (x-grid[lower])/(grid[upper]-grid[lower])
+            guard weight.isFinite else { throw FluidError.nonFiniteResult }
+            var next: [(Int,Double)] = []
+            for corner in corners {
+                if weight < 1 { next.append((corner.index*grid.count+lower,corner.weight*(1-weight))) }
+                if weight > 0 { next.append((corner.index*grid.count+upper,corner.weight*weight)) }
+            }
+            corners = next
+        }
+        let result = corners.reduce(0.0) { $0+values[$1.index]*$1.weight }
+        guard result.isFinite else { throw FluidError.nonFiniteResult }
+        return result
+    }
+    private enum CodingKeys: String, CodingKey { case axes, values, valueUnits, source, version, assumptions }
+    public init(from decoder: Decoder) throws {
+        let c = try decoder.container(keyedBy: CodingKeys.self)
+        try self.init(axes: c.decode([FluidTableAxis].self,forKey: .axes),values: c.decode([Double].self,forKey: .values),
+            valueUnits: c.decode(String.self,forKey: .valueUnits),source: c.decode(String.self,forKey: .source),
+            version: c.decode(String.self,forKey: .version),assumptions: c.decode(String.self,forKey: .assumptions))
+    }
+}
diff --git a/Sources/FluidDynamics/IncompressibleFlowGrid.swift b/Sources/FluidDynamics/IncompressibleFlowGrid.swift
new file mode 100644
index 0000000..a307c58
--- /dev/null
+++ b/Sources/FluidDynamics/IncompressibleFlowGrid.swift
@@ -0,0 +1,396 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+/// Uniform Cartesian MAC-grid geometry and constant fluid properties, in SI.
+/// The frame must translate at constant velocity without rotating; moving-frame
+/// acceleration/rotation and moving solid geometry are not inferred.
+public struct IncompressibleFlowConfiguration: Sendable {
+    public let grid: CartesianFluidGrid
+    public var dimensions: SIMD3<Int> { grid.dimensions }
+    public var minimumCornerMetres: SIMD3<Double> { grid.minimumCornerMetres }
+    public var cellSizeMetres: Double { grid.cellSizeMetres }
+    public let densityKilogramsPerCubicMetre: Double
+    public let speedOfSoundMetresPerSecond: Double
+    public let kinematicViscositySquareMetresPerSecond: Double
+    /// Prescribed normal velocity at all six outer faces; net box flux is zero.
+    public let boundaryVelocityMetresPerSecond: SIMD3<Double>
+    public var cellCount: Int { dimensions.x*dimensions.y*dimensions.z }
+    public init(dimensions: SIMD3<Int> = SIMD3(repeating: 16), minimumCornerMetres: SIMD3<Double>,
+                cellSizeMetres: Double, densityKilogramsPerCubicMetre: Double,
+                speedOfSoundMetresPerSecond: Double, kinematicViscositySquareMetresPerSecond: Double = 0,
+                boundaryVelocityMetresPerSecond: SIMD3<Double> = .zero) throws {
+        guard [dimensions.x,dimensions.y,dimensions.z].allSatisfy({ (4...64).contains($0) }),
+              fluidFinite(minimumCornerMetres), cellSizeMetres.isFinite, cellSizeMetres > 0,
+              (cellSizeMetres*cellSizeMetres*cellSizeMetres).isFinite,
+              cellSizeMetres*cellSizeMetres*cellSizeMetres > 0,
+              densityKilogramsPerCubicMetre.isFinite, densityKilogramsPerCubicMetre > 0,
+              speedOfSoundMetresPerSecond.isFinite, speedOfSoundMetresPerSecond > 0,
+              kinematicViscositySquareMetresPerSecond.isFinite, kinematicViscositySquareMetresPerSecond >= 0,
+              fluidFinite(boundaryVelocityMetresPerSecond) else { throw FluidError.invalidParameter }
+        let extent = SIMD3(Double(dimensions.x),Double(dimensions.y),Double(dimensions.z))*cellSizeMetres
+        guard fluidFinite(minimumCornerMetres+extent),
+              (0..<3).allSatisfy({ minimumCornerMetres[$0]+cellSizeMetres > minimumCornerMetres[$0] }) else { throw FluidError.invalidGeometry }
+        guard fluidNorm(boundaryVelocityMetresPerSecond)/speedOfSoundMetresPerSecond <= 0.3 else { throw FluidError.outsideCoverage }
+        self.grid = try CartesianFluidGrid(dimensions: dimensions,minimumCornerMetres: minimumCornerMetres,cellSizeMetres: cellSizeMetres)
+        self.densityKilogramsPerCubicMetre = densityKilogramsPerCubicMetre
+        self.speedOfSoundMetresPerSecond = speedOfSoundMetresPerSecond
+        self.kinematicViscositySquareMetresPerSecond = kinematicViscositySquareMetresPerSecond
+        self.boundaryVelocityMetresPerSecond = boundaryVelocityMetresPerSecond
+    }
+}
+
+public struct PressureProjectionReport: Sendable {
+    public let iterations: Int
+    public let relativePressureResidual: Double
+    public let maximumDivergenceBeforePerSecond: Double
+    public let maximumDivergenceAfterPerSecond: Double
+}
+public struct IncompressibleStepReport: Sendable {
+    public let substeps: Int
+    public let totalPressureIterations: Int
+    public let maximumDivergenceAfterPerSecond: Double
+    public let maximumSpeedBoundMetresPerSecond: Double
+}
+
+/// Optional CPU constant-density incompressible flow solver. Face-centred velocity,
+/// cell pressure, first-order semi-Lagrangian advection, explicit viscosity and
+/// Jacobi-preconditioned conjugate-gradient pressure projection. No turbulence,
+/// boundary-layer, compressible shock or thermal model. Fixed stair-step solids
+/// impose zero normal velocity (free-slip inviscid boundary, not resolved no-slip).
+/// Owns fluid state, not scheduling, a vehicle assembly or rigid-body integration.
+public struct IncompressibleFlowGrid: FluidVelocityField {
+    public let configuration: IncompressibleFlowConfiguration
+    public let solidCells: [Bool]
+    /// Gauge pressure in Pa; zero mean over fluid cells after projection.
+    public private(set) var pressurePascals: [Double]
+    private var faces: [[Double]]
+    private let neighbours: [Int]
+    private let diagonal: [Double]
+    private var nx: Int { configuration.dimensions.x }
+    private var ny: Int { configuration.dimensions.y }
+    private var nz: Int { configuration.dimensions.z }
+    private var h: Double { configuration.cellSizeMetres }
+
+    /// Initial velocity is total fluid velocity in grid axes, including background.
+    /// Project after arbitrary initialization before treating it as divergence-free.
+    /// Solids may not touch the outermost cell layer, preserving balanced box flux.
+    public init(configuration: IncompressibleFlowConfiguration,
+                solidAtCellCentre: (SIMD3<Double>) throws -> Bool = { _ in false },
+                initialVelocity: ((SIMD3<Double>) throws -> SIMD3<Double>)? = nil) throws {
+        self.configuration = configuration
+        let n = configuration.dimensions, count = configuration.cellCount, origin = configuration.minimumCornerMetres
+        let dx = configuration.cellSizeMetres
+        var solids = [Bool](repeating: false,count: count)
+        for k in 0..<n.z { for j in 0..<n.y { for i in 0..<n.x {
+            let p = origin+SIMD3(Double(i)+0.5,Double(j)+0.5,Double(k)+0.5)*dx
+            let solid = try solidAtCellCentre(p)
+            guard !solid || (i > 0 && j > 0 && k > 0 && i < n.x-1 && j < n.y-1 && k < n.z-1) else {
+                throw FluidError.invalidGeometry
+            }
+            solids[i+n.x*(j+n.y*k)] = solid
+        } } }
+        self.solidCells = solids; self.pressurePascals = [Double](repeating: 0,count: count)
+        var adjacent = [Int](repeating: -1,count: count*6), diag = [Double](repeating: 0,count: count)
+        let offsets = [SIMD3(-1,0,0),SIMD3(1,0,0),SIMD3(0,-1,0),SIMD3(0,1,0),SIMD3(0,0,-1),SIMD3(0,0,1)]
+        for k in 0..<n.z { for j in 0..<n.y { for i in 0..<n.x {
+            let index = i+n.x*(j+n.y*k)
+            if solids[index] { continue }
+            for d in 0..<6 {
+                let q = SIMD3(i,j,k) &+ offsets[d]
+                if q.x >= 0 && q.x < n.x && q.y >= 0 && q.y < n.y && q.z >= 0 && q.z < n.z {
+                    let other = q.x+n.x*(q.y+n.y*q.z)
+                    if !solids[other] { adjacent[6*index+d] = other; diag[index] += 1/(dx*dx) }
+                }
+            }
+        } } }
+        self.neighbours = adjacent; self.diagonal = diag
+        self.faces = (0..<3).map { axis in
+            var shape = n; shape[axis] += 1
+            return [Double](repeating: 0,count: shape.x*shape.y*shape.z)
+        }
+        for axis in 0..<3 {
+            let shape = faceShape(axis)
+            for k in 0..<shape.z { for j in 0..<shape.y { for i in 0..<shape.x {
+                let p = facePosition(axis,i,j,k)
+                let v = try initialVelocity?(p) ?? configuration.boundaryVelocityMetresPerSecond
+                guard fluidFinite(v) else { throw FluidError.invalidFlow }
+                faces[axis][flat(i,j,k,shape)] = v[axis]
+            } } }
+        }
+        enforceBoundaries()
+        try validateSpeed()
+    }
+    private func flat(_ i: Int, _ j: Int, _ k: Int, _ shape: SIMD3<Int>) -> Int { i+shape.x*(j+shape.y*k) }
+    private func faceShape(_ axis: Int) -> SIMD3<Int> {
+        var shape = configuration.dimensions; shape[axis] += 1; return shape
+    }
+    private func facePosition(_ axis: Int, _ i: Int, _ j: Int, _ k: Int) -> SIMD3<Double> {
+        var p = SIMD3(Double(i)+0.5,Double(j)+0.5,Double(k)+0.5); p[axis] -= 0.5
+        return configuration.minimumCornerMetres+p*h
+    }
+    private func blocked(_ axis: Int, _ i: Int, _ j: Int, _ k: Int) -> Bool {
+        let q = SIMD3(i,j,k), n = configuration.dimensions
+        if q[axis] == 0 || q[axis] == n[axis] { return false }
+        var a = q; a[axis] -= 1
+        return solidCells[flat(a.x,a.y,a.z,n)] || solidCells[flat(q.x,q.y,q.z,n)]
+    }
+    private mutating func enforceBoundaries() {
+        let n = configuration.dimensions
+        for axis in 0..<3 {
+            let shape = faceShape(axis)
+            for k in 0..<shape.z { for j in 0..<shape.y { for i in 0..<shape.x {
+                let q = SIMD3(i,j,k), index = flat(i,j,k,shape)
+                if q[axis] == 0 || q[axis] == n[axis] { faces[axis][index] = configuration.boundaryVelocityMetresPerSecond[axis] }
+                else if blocked(axis,i,j,k) { faces[axis][index] = 0 }
+            } } }
+        }
+    }
+    /// Conservative component-wise maximum speed bound, also used for low-Mach checks.
+    public var maximumSpeedBoundMetresPerSecond: Double {
+        fluidNorm(SIMD3(faces[0].reduce(0) { max($0,abs($1)) },faces[1].reduce(0) { max($0,abs($1)) },faces[2].reduce(0) { max($0,abs($1)) }))
+    }
+    private func validateSpeed() throws {
+        guard faces.allSatisfy({ $0.allSatisfy(\.isFinite) }) else { throw FluidError.nonFiniteResult }
+        let speed = maximumSpeedBoundMetresPerSecond
+        guard speed.isFinite else { throw FluidError.nonFiniteResult }
+        guard speed/configuration.speedOfSoundMetresPerSecond <= 0.3 else { throw FluidError.outsideCoverage }
+    }
+    private func gridCoordinate(_ p: SIMD3<Double>) -> SIMD3<Double> { (p-configuration.minimumCornerMetres)/h }
+    private func cellIndex(at p: SIMD3<Double>) throws -> Int {
+        guard fluidFinite(p) else { throw FluidError.invalidParameter }
+        let q = gridCoordinate(p), n = configuration.dimensions
+        guard fluidFinite(q), q.x >= 0, q.y >= 0, q.z >= 0,
+              q.x <= Double(n.x), q.y <= Double(n.y), q.z <= Double(n.z) else { throw FluidError.outsideCoverage }
+        return flat(min(n.x-1,Int(q.x)),min(n.y-1,Int(q.y)),min(n.z-1,Int(q.z)),n)
+    }
+    private func sampleComponent(_ field: [Double], axis: Int, coordinate: SIMD3<Double>) -> Double {
+        let shape = faceShape(axis)
+        var q = coordinate-SIMD3(repeating: 0.5); q[axis] += 0.5
+        for d in 0..<3 { q[d] = max(0,min(Double(shape[d]-1),q[d])) }
+        let lo = SIMD3(Int(q.x),Int(q.y),Int(q.z)), w = q-SIMD3(Double(lo.x),Double(lo.y),Double(lo.z))
+        var value = 0.0
+        for z in 0...1 { for y in 0...1 { for x in 0...1 {
+            let weight = (x == 0 ? 1-w.x : w.x)*(y == 0 ? 1-w.y : w.y)*(z == 0 ? 1-w.z : w.z)
+            let i = min(shape.x-1,lo.x+x), j = min(shape.y-1,lo.y+y), k = min(shape.z-1,lo.z+z)
+            value += field[flat(i,j,k,shape)]*weight
+        } } }
+        return value
+    }
+    private func sample(_ field: [[Double]], at p: SIMD3<Double>) -> SIMD3<Double> {
+        let coordinate = gridCoordinate(p)
+        return SIMD3(sampleComponent(field[0],axis: 0,coordinate: coordinate),
+                     sampleComponent(field[1],axis: 1,coordinate: coordinate),
+                     sampleComponent(field[2],axis: 2,coordinate: coordinate))
+    }
+    public func velocityMetresPerSecond(at positionMetres: SIMD3<Double>) throws -> SIMD3<Double> {
+        let index = try cellIndex(at: positionMetres)
+        guard !solidCells[index] else { throw FluidError.unsupportedQuery }
+        let velocity = sample(faces,at: positionMetres)
+        guard fluidFinite(velocity) else { throw FluidError.nonFiniteResult }
+        return velocity
+    }
+    /// Gauge pressure at the containing fluid cell. A pressure reference is needed
+    /// before using this value for phase/cavitation or structural absolute pressure.
+    public func gaugePressurePascals(at positionMetres: SIMD3<Double>) throws -> Double {
+        let index = try cellIndex(at: positionMetres)
+        guard !solidCells[index] else { throw FluidError.unsupportedQuery }
+        return pressurePascals[index]
+    }
+    /// Cell-centred discrete divergence, 1/s. Solid entries are zero.
+    public func divergencePerSecond() -> [Double] {
+        var result = [Double](repeating: 0,count: configuration.cellCount)
+        let us = faceShape(0), vs = faceShape(1), ws = faceShape(2), n = configuration.dimensions
+        for k in 0..<nz { for j in 0..<ny { for i in 0..<nx {
+            let index = flat(i,j,k,n)
+            if solidCells[index] { continue }
+            result[index] = (faces[0][flat(i+1,j,k,us)]-faces[0][flat(i,j,k,us)]
+                + faces[1][flat(i,j+1,k,vs)]-faces[1][flat(i,j,k,vs)]
+                + faces[2][flat(i,j,k+1,ws)]-faces[2][flat(i,j,k,ws)])/h
+        } } }
+        return result
+    }
+    private func matrix(_ p: [Double]) -> [Double] {
+        var result = [Double](repeating: 0,count: p.count)
+        let inverseCellSizeSquared = 1/(h*h)
+        for i in p.indices where !solidCells[i] {
+            var value = diagonal[i]*p[i]
+            for d in 0..<6 { let j = neighbours[6*i+d]; if j >= 0 { value -= p[j]*inverseCellSizeSquared } }
+            result[i] = value
+        }
+        return result
+    }
+    private func dot(_ a: [Double], _ b: [Double]) -> Double { zip(a,b).reduce(0) { $0+$1.0*$1.1 } }
+    /// Atomic projection: failed solves leave the grid unchanged. Relative residual
+    /// is L2; absolute divergence tolerance also supplies a stopping floor (1/s).
+    public mutating func project(timeStepSeconds: Double, maximumIterations: Int = 300,
+                                 relativeTolerance: Double = 1e-8, absoluteDivergenceTolerancePerSecond: Double = 1e-8) throws -> PressureProjectionReport {
+        var next = self
+        let report = try next.projectInPlace(dt: timeStepSeconds,maximumIterations: maximumIterations,
+            relativeTolerance: relativeTolerance,absoluteTolerance: absoluteDivergenceTolerancePerSecond)
+        self = next; return report
+    }
+    private mutating func projectInPlace(dt: Double, maximumIterations: Int, relativeTolerance: Double,
+                                        absoluteTolerance: Double) throws -> PressureProjectionReport {
+        guard dt.isFinite, dt > 0, (1...5000).contains(maximumIterations),
+              relativeTolerance.isFinite, relativeTolerance > 0, relativeTolerance <= 1e-2,
+              absoluteTolerance.isFinite, absoluteTolerance > 0 else { throw FluidError.invalidParameter }
+        enforceBoundaries()
+        let divergence = divergencePerSecond(), scale = configuration.densityKilogramsPerCubicMetre/dt
+        var b = divergence.map { -scale*$0 }
+        guard b.allSatisfy(\.isFinite) else { throw FluidError.nonFiniteResult }
+        let fluidCount = solidCells.filter { !$0 }.count
+        let mean = b.reduce(0,+)/Double(fluidCount)
+        for i in b.indices where !solidCells[i] { b[i] -= mean }
+        let normB = sqrt(dot(b,b)), threshold = max(relativeTolerance*normB,scale*absoluteTolerance)
+        guard normB.isFinite, threshold.isFinite else { throw FluidError.nonFiniteResult }
+        var p = [Double](repeating: 0,count: b.count), r = b
+        var z = r.indices.map { diagonal[$0] > 0 ? r[$0]/diagonal[$0] : 0 }, direction = z
+        var rz = dot(r,z), residual = normB, iterations = 0
+        while residual > threshold && iterations < maximumIterations {
+            let ad = matrix(direction), denominator = dot(direction,ad)
+            guard denominator.isFinite, denominator > 0, rz.isFinite, rz > 0 else { throw FluidError.nonConvergence }
+            let alpha = rz/denominator
+            for i in p.indices { p[i] += alpha*direction[i]; r[i] -= alpha*ad[i] }
+            iterations += 1; residual = sqrt(dot(r,r))
+            if residual <= threshold { break }
+            z = r.indices.map { diagonal[$0] > 0 ? r[$0]/diagonal[$0] : 0 }
+            let nextRZ = dot(r,z), beta = nextRZ/rz
+            for i in direction.indices { direction[i] = z[i]+beta*direction[i] }
+            rz = nextRZ
+        }
+        guard residual.isFinite, residual <= threshold else { throw FluidError.nonConvergence }
+        let pressureMean = p.reduce(0,+)/Double(fluidCount)
+        pressurePascals = p.indices.map { solidCells[$0] ? 0 : p[$0]-pressureMean }
+        guard pressurePascals.allSatisfy(\.isFinite) else { throw FluidError.nonFiniteResult }
+        let n = configuration.dimensions
+        for axis in 0..<3 {
+            let shape = faceShape(axis)
+            for k in 0..<shape.z { for j in 0..<shape.y { for i in 0..<shape.x {
+                let q = SIMD3(i,j,k)
+                if q[axis] == 0 || q[axis] == n[axis] || blocked(axis,i,j,k) { continue }
+                var a = q; a[axis] -= 1
+                let pressureDifference = pressurePascals[flat(q.x,q.y,q.z,n)]-pressurePascals[flat(a.x,a.y,a.z,n)]
+                faces[axis][flat(i,j,k,shape)] -= (dt/configuration.densityKilogramsPerCubicMetre)*pressureDifference/h
+            } } }
+        }
+        enforceBoundaries(); try validateSpeed()
+        return PressureProjectionReport(iterations: iterations,relativePressureResidual: normB == 0 ? 0 : residual/normB,
+            maximumDivergenceBeforePerSecond: divergence.map(abs).max() ?? 0,
+            maximumDivergenceAfterPerSecond: divergencePerSecond().map(abs).max() ?? 0)
+    }
+    /// Caller supplies acceleration of the fluid (m/s²), evaluated at face positions.
+    /// This is a source term, not a target velocity or an extra aircraft force.
+    /// Advection is numerically dissipative; no sub-grid turbulence is invented.
+    /// Atomic on failure, including substep-budget exhaustion and pressure failure.
+    public mutating func advance(timeStepSeconds: Double, maximumSubsteps: Int = 64,
+                                 maximumPressureIterations: Int = 300, relativePressureTolerance: Double = 1e-8,
+                                 accelerationMetresPerSecondSquared: (SIMD3<Double>) throws -> SIMD3<Double> = { _ in .zero }) throws -> IncompressibleStepReport {
+        guard timeStepSeconds.isFinite, timeStepSeconds > 0, (1...10000).contains(maximumSubsteps) else {
+            throw FluidError.invalidParameter
+        }
+        var next = self, remaining = timeStepSeconds, substeps = 0, totalIterations = 0, maximumDivergence = 0.0
+        var acceleration = next.faces
+        for axis in 0..<3 {
+            let shape = faceShape(axis)
+            for k in 0..<shape.z { for j in 0..<shape.y { for i in 0..<shape.x {
+                let value = try accelerationMetresPerSecondSquared(facePosition(axis,i,j,k))
+                guard fluidFinite(value) else { throw FluidError.invalidFlow }
+                acceleration[axis][flat(i,j,k,shape)] = value[axis]
+            } } }
+        }
+        let accelerationBound = fluidNorm(SIMD3(acceleration[0].map(abs).max() ?? 0,
+            acceleration[1].map(abs).max() ?? 0,acceleration[2].map(abs).max() ?? 0))
+        guard accelerationBound.isFinite else { throw FluidError.nonFiniteResult }
+        while remaining > 0 {
+            guard substeps < maximumSubsteps else { throw FluidError.workBudgetExceeded }
+            let speedBound = next.maximumSpeedBoundMetresPerSecond+accelerationBound*remaining
+            guard speedBound.isFinite else { throw FluidError.nonFiniteResult }
+            let advectiveLimit = speedBound > 0 ? 0.75*h/speedBound : remaining
+            let nu = configuration.kinematicViscositySquareMetresPerSecond
+            let viscousLimit = nu > 0 ? h*h/(6*nu) : remaining
+            let dt = min(remaining,advectiveLimit,viscousLimit)
+            guard dt.isFinite, dt > 0, remaining-dt < remaining else { throw FluidError.outsideCoverage }
+            let old = next.faces
+            var updated = old
+            for axis in 0..<3 {
+                let shape = faceShape(axis)
+                for k in 0..<shape.z { for j in 0..<shape.y { for i in 0..<shape.x {
+                    let q = SIMD3(i,j,k), index = flat(i,j,k,shape)
+                    if q[axis] == 0 || q[axis] == configuration.dimensions[axis] || blocked(axis,i,j,k) { continue }
+                    let position = facePosition(axis,i,j,k), departure = position-next.sample(old,at: position)*dt
+                    // Avoid advecting values out of a solid cell. Coarse stair-step
+                    // boundaries do not resolve near-wall flow or sub-cell geometry.
+                    let departureCell = try? next.cellIndex(at: departure)
+                    let advected = departureCell.map { next.solidCells[$0] } == true ? old[axis][index] : next.sampleComponent(old[axis],axis: axis,coordinate: next.gridCoordinate(departure))
+                    var laplacian = 0.0
+                    if nu > 0 {
+                        for d in 0..<3 {
+                            var lo = q, hi = q
+                            lo[d] = max(0,q[d]-1); hi[d] = min(shape[d]-1,q[d]+1)
+                            // Reflect tangential velocity across a solid: free slip.
+                            let low = d != axis && blocked(axis,lo.x,lo.y,lo.z) ? old[axis][index] : old[axis][flat(lo.x,lo.y,lo.z,shape)]
+                            let high = d != axis && blocked(axis,hi.x,hi.y,hi.z) ? old[axis][index] : old[axis][flat(hi.x,hi.y,hi.z,shape)]
+                            laplacian += (low-2*old[axis][index]+high)/(h*h)
+                        }
+                    }
+                    updated[axis][index] = advected+dt*(nu*laplacian+acceleration[axis][index])
+                } } }
+            }
+            next.faces = updated; next.enforceBoundaries(); try next.validateSpeed()
+            let report = try next.projectInPlace(dt: dt,maximumIterations: maximumPressureIterations,
+                relativeTolerance: relativePressureTolerance,absoluteTolerance: 1e-8)
+            totalIterations += report.iterations; maximumDivergence = max(maximumDivergence,report.maximumDivergenceAfterPerSecond)
+            remaining -= dt; substeps += 1
+        }
+        self = next
+        return IncompressibleStepReport(substeps: substeps,totalPressureIterations: totalIterations,
+            maximumDivergenceAfterPerSecond: maximumDivergence,maximumSpeedBoundMetresPerSecond: maximumSpeedBoundMetresPerSecond)
+    }
+    /// Gauge-pressure force on the supplied fixed voxel solids, at grid-face centres.
+    /// One-sided linear pressure reconstruction (cell value if no fluid neighbour).
+    /// No viscous stress or sub-grid wing lift is included. This replaces the same
+    /// pressure contribution in other models; it is not an extra force to add twice.
+    public func pressureLoadsOnSolids(momentReferencePointMetres: SIMD3<Double> = .zero) throws -> FluidLoads {
+        var force = SIMD3<Double>.zero, moment = SIMD3<Double>.zero
+        let n = configuration.dimensions
+        guard fluidFinite(momentReferencePointMetres) else { throw FluidError.invalidParameter }
+        for axis in 0..<3 {
+            let shape = faceShape(axis)
+            for k in 0..<shape.z { for j in 0..<shape.y { for i in 0..<shape.x {
+                let q = SIMD3(i,j,k)
+                if q[axis] == 0 || q[axis] == n[axis] { continue }
+                var a = q; a[axis] -= 1
+                let left = flat(a.x,a.y,a.z,n), right = flat(q.x,q.y,q.z,n)
+                if solidCells[left] == solidCells[right] { continue }
+                let fluid = solidCells[right] ? left : right
+                var away = solidCells[right] ? a : q
+                away[axis] += solidCells[right] ? -1 : 1
+                var facePressure = pressurePascals[fluid]
+                if away[axis] >= 0 && away[axis] < n[axis] {
+                    let other = flat(away.x,away.y,away.z,n)
+                    if !solidCells[other] { facePressure += 0.5*(pressurePascals[fluid]-pressurePascals[other]) }
+                }
+                var f = SIMD3<Double>.zero
+                f[axis] = (solidCells[right] ? facePressure : -facePressure)*h*h
+                force += f; moment += fluidCross(facePosition(axis,i,j,k)-momentReferencePointMetres,f)
+            } } }
+        }
+        return try FluidLoads(forceNewtons: force,momentNewtonMetres: moment,referencePointMetres: momentReferencePointMetres)
+    }
+}
diff --git a/Sources/FluidDynamics/PerfectGasMixture.swift b/Sources/FluidDynamics/PerfectGasMixture.swift
new file mode 100644
index 0000000..b9d25ad
--- /dev/null
+++ b/Sources/FluidDynamics/PerfectGasMixture.swift
@@ -0,0 +1,101 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+/// Calorically perfect species over a caller-declared temperature interval.
+/// No temperature-dependent cp, dissociation, ionization or transport mixing law.
+public struct PerfectGasSpecies: Sendable {
+    public let identifier: String
+    public let molarMassKilogramsPerMole: Double
+    public let specificHeatJoulesPerKilogramKelvin: Double
+    public let temperatureRangeKelvin: ClosedRange<Double>
+    public let source: String
+    public var specificGasConstantJoulesPerKilogramKelvin: Double { 8.31446261815324/molarMassKilogramsPerMole }
+    public init(identifier: String, molarMassKilogramsPerMole: Double,
+                specificHeatJoulesPerKilogramKelvin: Double, temperatureRangeKelvin: ClosedRange<Double>, source: String) throws {
+        guard !identifier.isEmpty, !source.isEmpty, molarMassKilogramsPerMole.isFinite, molarMassKilogramsPerMole > 0,
+              specificHeatJoulesPerKilogramKelvin.isFinite,
+              specificHeatJoulesPerKilogramKelvin > 8.31446261815324/molarMassKilogramsPerMole,
+              temperatureRangeKelvin.lowerBound.isFinite, temperatureRangeKelvin.lowerBound > 0,
+              temperatureRangeKelvin.upperBound.isFinite else { throw FluidError.invalidParameter }
+        self.identifier = identifier; self.molarMassKilogramsPerMole = molarMassKilogramsPerMole
+        self.specificHeatJoulesPerKilogramKelvin = specificHeatJoulesPerKilogramKelvin
+        self.temperatureRangeKelvin = temperatureRangeKelvin; self.source = source
+    }
+}
+public struct PerfectGasMassFraction: Sendable {
+    public let species: PerfectGasSpecies
+    public let massFraction: Double
+    public init(species: PerfectGasSpecies, massFraction: Double) throws {
+        guard massFraction.isFinite, massFraction > 0, massFraction <= 1 else { throw FluidError.invalidParameter }
+        self.species = species; self.massFraction = massFraction
+    }
+}
+
+/// Explicit composition, mass-weighted cp and R. Transport remains separately
+/// supplied at the evaluation temperature; Earth-air defaults are never inferred.
+public struct PerfectGasMixture: Sendable {
+    public let identifier: String
+    public let components: [PerfectGasMassFraction]
+    public let source: String
+    public let temperatureRangeKelvin: ClosedRange<Double>
+    public let specificGasConstantJoulesPerKilogramKelvin: Double
+    public let specificHeatJoulesPerKilogramKelvin: Double
+    public var specificHeatRatio: Double {
+        specificHeatJoulesPerKilogramKelvin/(specificHeatJoulesPerKilogramKelvin-specificGasConstantJoulesPerKilogramKelvin)
+    }
+    public init(identifier: String, components: [PerfectGasMassFraction], source: String) throws {
+        let total = components.reduce(0) { $0+$1.massFraction }
+        guard !identifier.isEmpty, !source.isEmpty, !components.isEmpty, abs(total-1) <= 1e-10,
+              Set(components.map { $0.species.identifier }).count == components.count else { throw FluidError.invalidParameter }
+        let lower = components.map { $0.species.temperatureRangeKelvin.lowerBound }.max()!
+        let upper = components.map { $0.species.temperatureRangeKelvin.upperBound }.min()!
+        guard lower <= upper else { throw FluidError.outsideCoverage }
+        let r = components.reduce(0) { $0+$1.massFraction/total*$1.species.specificGasConstantJoulesPerKilogramKelvin }
+        let cp = components.reduce(0) { $0+$1.massFraction/total*$1.species.specificHeatJoulesPerKilogramKelvin }
+        guard r.isFinite, cp.isFinite, cp > r else { throw FluidError.nonFiniteResult }
+        self.identifier = identifier; self.components = try components.map { try PerfectGasMassFraction(species: $0.species,massFraction: $0.massFraction/total) }
+        self.source = source; self.temperatureRangeKelvin = lower...upper
+        self.specificGasConstantJoulesPerKilogramKelvin = r; self.specificHeatJoulesPerKilogramKelvin = cp
+    }
+    public func densityKilogramsPerCubicMetre(temperatureKelvin: Double, pressurePascals: Double) throws -> Double {
+        guard temperatureKelvin.isFinite, temperatureRangeKelvin.contains(temperatureKelvin) else { throw FluidError.outsideCoverage }
+        guard pressurePascals.isFinite, pressurePascals >= 0 else { throw FluidError.invalidParameter }
+        let density = pressurePascals/(specificGasConstantJoulesPerKilogramKelvin*temperatureKelvin)
+        guard density.isFinite else { throw FluidError.nonFiniteResult }
+        return density
+    }
+    public func speedOfSoundMetresPerSecond(temperatureKelvin: Double) throws -> Double {
+        guard temperatureKelvin.isFinite, temperatureRangeKelvin.contains(temperatureKelvin) else { throw FluidError.outsideCoverage }
+        let speed = sqrt(specificHeatRatio*specificGasConstantJoulesPerKilogramKelvin*temperatureKelvin)
+        guard speed.isFinite else { throw FluidError.nonFiniteResult }
+        return speed
+    }
+    /// All supplied transport values must describe this mixture at this temperature.
+    public func transport(temperatureKelvin: Double, pressurePascals: Double,
+                          dynamicViscosityPascalSeconds: Double, thermalConductivityWattsPerMetreKelvin: Double,
+                          transportSource: String) throws -> ThermalTransportProperties {
+        guard !transportSource.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty else { throw FluidError.invalidParameter }
+        return try ThermalTransportProperties(fluidIdentifier: identifier,source: source+"; transport: "+transportSource,
+            temperatureKelvin: temperatureKelvin,
+            densityKilogramsPerCubicMetre: densityKilogramsPerCubicMetre(temperatureKelvin: temperatureKelvin,pressurePascals: pressurePascals),
+            dynamicViscosityPascalSeconds: dynamicViscosityPascalSeconds,
+            thermalConductivityWattsPerMetreKelvin: thermalConductivityWattsPerMetreKelvin,
+            specificHeatJoulesPerKilogramKelvin: specificHeatJoulesPerKilogramKelvin)
+    }
+}
diff --git a/Sources/FluidDynamics/PropellerSlipstream.swift b/Sources/FluidDynamics/PropellerSlipstream.swift
new file mode 100644
index 0000000..7be40c0
--- /dev/null
+++ b/Sources/FluidDynamics/PropellerSlipstream.swift
@@ -0,0 +1,151 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+/// Physical fluid velocity in the caller's common axes and reference frame.
+/// Providers document whether they return total velocity or an induced increment.
+public protocol FluidVelocityField: Sendable {
+    func velocityMetresPerSecond(at positionMetres: SIMD3<Double>) throws -> SIMD3<Double>
+}
+
+/// A velocity increment, suitable for addition to one supplied background field.
+public protocol InducedFluidVelocityField: FluidVelocityField {}
+
+/// Prescribed-thrust axial actuator disk with a uniform contracting slipstream and
+/// solid-body swirl carrying the supplied torque. Returns induced fluid velocity only.
+/// No engine/RPM dynamics, blade loading, crossflow, windmilling or obstacle deflection.
+public struct ActuatorDiskSlipstream: InducedFluidVelocityField {
+    public let centreMetres: SIMD3<Double>
+    /// Points downstream, along force exerted on the fluid (opposite aircraft thrust).
+    public let downstreamAxis: SIMD3<Double>
+    public let radiusMetres: Double
+    public let thrustNewtons: Double
+    /// Signed torque exerted on the fluid about downstreamAxis.
+    public let fluidTorqueNewtonMetres: Double
+    public let densityKilogramsPerCubicMetre: Double
+    public let upstreamAxialSpeedMetresPerSecond: Double
+    public let inducedSpeedAtDiskMetresPerSecond: Double
+    public let massFlowKilogramsPerSecond: Double
+    public var idealAxialPowerWatts: Double {
+        thrustNewtons*(upstreamAxialSpeedMetresPerSecond+inducedSpeedAtDiskMetresPerSecond)
+    }
+    public init(centreMetres: SIMD3<Double>, downstreamAxis: SIMD3<Double>, radiusMetres: Double,
+                thrustNewtons: Double, fluidTorqueNewtonMetres: Double = 0,
+                densityKilogramsPerCubicMetre: Double, upstreamAxialSpeedMetresPerSecond: Double) throws {
+        let length = fluidNorm(downstreamAxis)
+        guard fluidFinite(centreMetres), fluidFinite(downstreamAxis), length.isFinite, length > 0,
+              radiusMetres.isFinite, radiusMetres > 0, thrustNewtons.isFinite, thrustNewtons >= 0,
+              fluidTorqueNewtonMetres.isFinite, densityKilogramsPerCubicMetre.isFinite, densityKilogramsPerCubicMetre > 0,
+              upstreamAxialSpeedMetresPerSecond.isFinite, upstreamAxialSpeedMetresPerSecond >= 0,
+              thrustNewtons > 0 || fluidTorqueNewtonMetres == 0 else { throw FluidError.invalidParameter }
+        let area = Double.pi*radiusMetres*radiusMetres, v = upstreamAxialSpeedMetresPerSecond
+        let loading = thrustNewtons/(densityKilogramsPerCubicMetre*area)
+        let vi = thrustNewtons == 0 ? 0 : loading/(hypot(v,sqrt(2*loading))+v)
+        let massFlow = densityKilogramsPerCubicMetre*area*(v+vi)
+        guard area.isFinite, area > 0, loading.isFinite, vi.isFinite, massFlow.isFinite,
+              thrustNewtons == 0 || (loading > 0 && vi > 0 && massFlow > 0),
+              (thrustNewtons*(v+vi)).isFinite else { throw FluidError.nonFiniteResult }
+        self.centreMetres = centreMetres; self.downstreamAxis = downstreamAxis/length; self.radiusMetres = radiusMetres
+        self.thrustNewtons = thrustNewtons; self.fluidTorqueNewtonMetres = fluidTorqueNewtonMetres
+        self.densityKilogramsPerCubicMetre = densityKilogramsPerCubicMetre
+        self.upstreamAxialSpeedMetresPerSecond = v; self.inducedSpeedAtDiskMetresPerSecond = vi
+        self.massFlowKilogramsPerSecond = massFlow
+    }
+    /// Chosen downstream interpolation: vi(z)=vi_disk*(1+z/sqrt(z²+R²)).
+    /// Only disk/far-wake endpoints are fixed by momentum theory; intermediate
+    /// development and top-hat cross-section are explicit idealizations.
+    public func wakeRadiusMetres(downstreamDistanceMetres z: Double) throws -> Double {
+        guard z.isFinite, z >= 0 else { throw FluidError.outsideCoverage }
+        let vi = inducedSpeedAtDiskMetresPerSecond, v = upstreamAxialSpeedMetresPerSecond
+        if thrustNewtons == 0 { return radiusMetres }
+        let speed = v+vi*(1+z/hypot(z,radiusMetres))
+        return radiusMetres*sqrt((v+vi)/speed)
+    }
+    public func velocityMetresPerSecond(at positionMetres: SIMD3<Double>) throws -> SIMD3<Double> {
+        guard fluidFinite(positionMetres) else { throw FluidError.invalidParameter }
+        let offset = positionMetres-centreMetres, z = (offset*downstreamAxis).sum()
+        guard fluidFinite(offset), z.isFinite else { throw FluidError.nonFiniteResult }
+        // Deliberately downstream-only. Upstream induction and the sharp wake edge
+        // are not resolved; this is a prescribed slipstream, not a divergence-free CFD solution.
+        if z < 0 || thrustNewtons == 0 { return .zero }
+        let radial = offset-downstreamAxis*z, radius = try wakeRadiusMetres(downstreamDistanceMetres: z)
+        if fluidNorm(radial) > radius { return .zero }
+        let axial = inducedSpeedAtDiskMetresPerSecond*(1+z/hypot(z,radiusMetres))
+        let omega = 2*fluidTorqueNewtonMetres/(massFlowKilogramsPerSecond*radius*radius)
+        let result = downstreamAxis*axial+fluidCross(downstreamAxis,radial)*omega
+        guard fluidFinite(result) else { throw FluidError.nonFiniteResult }
+        return result
+    }
+    /// Equal/opposite prescribed propeller force and torque, including the lever arm.
+    /// Use once; this is not an additional force to add to an existing propulsion model.
+    public func reactionLoads(momentReferencePointMetres: SIMD3<Double> = .zero) throws -> FluidLoads {
+        try FluidLoads(forceNewtons: -downstreamAxis*thrustNewtons,
+            momentNewtonMetres: -downstreamAxis*fluidTorqueNewtonMetres,referencePointMetres: centreMetres)
+            .referred(to: momentReferencePointMetres)
+    }
+}
+
+/// Sum prescribed induced increments and a background fluid velocity. A CFD field
+/// already contains its background; do not add the same background a second time.
+public struct SuperposedFluidVelocityField: FluidVelocityField {
+    public let backgroundMetresPerSecond: SIMD3<Double>
+    public let increments: [any InducedFluidVelocityField]
+    public init(backgroundMetresPerSecond: SIMD3<Double> = .zero, increments: [any InducedFluidVelocityField]) throws {
+        guard fluidFinite(backgroundMetresPerSecond) else { throw FluidError.invalidFlow }
+        self.backgroundMetresPerSecond = backgroundMetresPerSecond; self.increments = increments
+    }
+    public func velocityMetresPerSecond(at positionMetres: SIMD3<Double>) throws -> SIMD3<Double> {
+        guard fluidFinite(positionMetres) else { throw FluidError.invalidParameter }
+        var velocity = backgroundMetresPerSecond
+        for field in increments { velocity += try field.velocityMetresPerSecond(at: positionMetres) }
+        guard fluidFinite(velocity) else { throw FluidError.nonFiniteResult }
+        return velocity
+    }
+}
+
+/// Alternative to prescribing the analytic slipstream: apply the rotor's force
+/// and torque to CFD fluid over a finite cylinder centred at the disk. The continuous
+/// volume integral is thrust/torque; face-sampled grid quadrature has resolution
+/// error and must be checked. Do not also add the analytic propwash velocity.
+public struct ActuatorDiskAccelerationField: Sendable {
+    public let disk: ActuatorDiskSlipstream
+    public let thicknessMetres: Double
+    public init(disk: ActuatorDiskSlipstream, thicknessMetres: Double) throws {
+        guard thicknessMetres.isFinite, thicknessMetres > 0,
+              (Double.pi*disk.radiusMetres*disk.radiusMetres*thicknessMetres).isFinite,
+              Double.pi*disk.radiusMetres*disk.radiusMetres*thicknessMetres > 0 else {
+            throw FluidError.invalidParameter
+        }
+        let fluidMass = disk.densityKilogramsPerCubicMetre*Double.pi*disk.radiusMetres*disk.radiusMetres*thicknessMetres
+        guard fluidMass.isFinite, fluidMass > 0 else { throw FluidError.nonFiniteResult }
+        self.disk = disk; self.thicknessMetres = thicknessMetres
+    }
+    public func accelerationMetresPerSecondSquared(at positionMetres: SIMD3<Double>) throws -> SIMD3<Double> {
+        guard fluidFinite(positionMetres) else { throw FluidError.invalidParameter }
+        let offset = positionMetres-disk.centreMetres, axial = (offset*disk.downstreamAxis).sum()
+        guard fluidFinite(offset), axial.isFinite else { throw FluidError.nonFiniteResult }
+        let radial = offset-disk.downstreamAxis*axial
+        if abs(axial) > thicknessMetres/2 || fluidNorm(radial) > disk.radiusMetres { return .zero }
+        let fluidMass = disk.densityKilogramsPerCubicMetre*Double.pi*disk.radiusMetres*disk.radiusMetres*thicknessMetres
+        let axialAcceleration = disk.thrustNewtons/fluidMass
+        let angularAcceleration = 2*disk.fluidTorqueNewtonMetres/(fluidMass*disk.radiusMetres*disk.radiusMetres)
+        let result = disk.downstreamAxis*axialAcceleration+fluidCross(disk.downstreamAxis,radial)*angularAcceleration
+        guard fluidFinite(result) else { throw FluidError.nonFiniteResult }
+        return result
+    }
+}
diff --git a/Sources/FluidDynamics/SurfacePressureIntegration.swift b/Sources/FluidDynamics/SurfacePressureIntegration.swift
new file mode 100644
index 0000000..fb2e2de
--- /dev/null
+++ b/Sources/FluidDynamics/SurfacePressureIntegration.swift
@@ -0,0 +1,81 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+/// Flat surface quadrature element. Normal points outward; centre is the force
+/// application point. All elements and flow vectors use the same body axes.
+public struct FluidSurfacePanel: Sendable {
+    public let areaSquareMetres: Double
+    public let centreMetres: SIMD3<Double>
+    public let outwardNormal: SIMD3<Double>
+    /// Caller-supplied exposure; this library does not trace geometry occlusion.
+    public let exposedToFlow: Bool
+    public init(areaSquareMetres: Double, centreMetres: SIMD3<Double>,
+                outwardNormal: SIMD3<Double>, exposedToFlow: Bool = true) throws {
+        let length = fluidNorm(outwardNormal)
+        guard areaSquareMetres.isFinite, areaSquareMetres > 0, fluidFinite(centreMetres),
+              fluidFinite(outwardNormal), length.isFinite, length > 0 else { throw FluidError.invalidGeometry }
+        self.areaSquareMetres = areaSquareMetres; self.centreMetres = centreMetres
+        self.outwardNormal = outwardNormal/length; self.exposedToFlow = exposedToFlow
+    }
+}
+
+/// Gauge pressure coefficient relative to ambient, not absolute pressure.
+public protocol SurfacePressureCoefficientModel: Sendable {
+    func pressureCoefficient(panel: FluidSurfacePanel, flow: FluidFlow,
+                             referenceLengthMetres: Double) throws -> Double
+}
+
+public struct SurfacePressureResult: Sendable {
+    public let pressureCoefficients: [Double]
+    public let gaugePressuresPascals: [Double]
+    public let loads: FluidLoads
+}
+
+/// O(N) independent-panel pressure integration. Ambient pressure is subtracted;
+/// an open panel set represents aerodynamic gauge loads, not total structural pressure.
+public struct SurfacePressureIntegration: Sendable {
+    public let panels: [FluidSurfacePanel]
+    public let referenceLengthMetres: Double
+    public let model: any SurfacePressureCoefficientModel
+    public init(panels: [FluidSurfacePanel], referenceLengthMetres: Double,
+                model: any SurfacePressureCoefficientModel) throws {
+        guard !panels.isEmpty, referenceLengthMetres.isFinite, referenceLengthMetres > 0 else { throw FluidError.invalidGeometry }
+        self.panels = panels; self.referenceLengthMetres = referenceLengthMetres; self.model = model
+    }
+    public func evaluate(flow: FluidFlow, momentReferencePointMetres: SIMD3<Double> = .zero) throws -> SurfacePressureResult {
+        try evaluate(momentReferencePointMetres: momentReferencePointMetres) { _ in flow }
+    }
+    /// Caller samples rotation, winds or gradients at each panel's centre.
+    public func evaluate(momentReferencePointMetres: SIMD3<Double> = .zero,
+                         flowAtPanel: (FluidSurfacePanel) throws -> FluidFlow) throws -> SurfacePressureResult {
+        var loads = try FluidLoads(forceNewtons: .zero, momentNewtonMetres: .zero,
+                                         referencePointMetres: momentReferencePointMetres)
+        var coefficients = [Double](), pressures = [Double]()
+        for panel in panels {
+            let flow = try flowAtPanel(panel)
+            let cp = try model.pressureCoefficient(panel: panel, flow: flow, referenceLengthMetres: referenceLengthMetres)
+            let pressure = cp*flow.dynamicPressurePascals
+            guard cp.isFinite, pressure.isFinite else { throw FluidError.nonFiniteResult }
+            let local = try FluidLoads(forceNewtons: -panel.outwardNormal*(pressure*panel.areaSquareMetres),
+                momentNewtonMetres: .zero, referencePointMetres: panel.centreMetres)
+            loads = try loads.adding(local); coefficients.append(cp); pressures.append(pressure)
+        }
+        return SurfacePressureResult(pressureCoefficients: coefficients, gaugePressuresPascals: pressures, loads: loads)
+    }
+}
diff --git a/Sources/FluidDynamics/SurfaceTraction.swift b/Sources/FluidDynamics/SurfaceTraction.swift
new file mode 100644
index 0000000..e6d8871
--- /dev/null
+++ b/Sources/FluidDynamics/SurfaceTraction.swift
@@ -0,0 +1,83 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+/// Signed pressure above ambient and tangential stress in the panel's body axes, Pa.
+/// Force per unit area is −pressure*outwardNormal + shear. Negative pressure is suction.
+public struct SurfaceTraction: Sendable {
+    public let gaugePressurePascals: Double
+    public let shearPascals: SIMD3<Double>
+    public init(gaugePressurePascals: Double, shearPascals: SIMD3<Double>) throws {
+        guard gaugePressurePascals.isFinite, fluidFinite(shearPascals) else { throw FluidError.nonFiniteResult }
+        self.gaugePressurePascals = gaugePressurePascals; self.shearPascals = shearPascals
+    }
+}
+public protocol SurfaceTractionModel: Sendable {
+    func traction(panel: FluidSurfacePanel, flow: FluidFlow,
+                  referenceLengthMetres: Double) throws -> SurfaceTraction
+}
+public struct SurfaceTractionResult: Sendable {
+    public let tractions: [SurfaceTraction]
+    public let loads: FluidLoads
+}
+
+/// Pressure and shear quadrature; no additional pressure-only load is implied.
+public struct SurfaceTractionIntegration: Sendable {
+    public let panels: [FluidSurfacePanel]
+    public let referenceLengthMetres: Double
+    public let model: any SurfaceTractionModel
+    public init(panels: [FluidSurfacePanel], referenceLengthMetres: Double,
+                model: any SurfaceTractionModel) throws {
+        guard !panels.isEmpty, referenceLengthMetres.isFinite, referenceLengthMetres > 0 else { throw FluidError.invalidGeometry }
+        self.panels = panels; self.referenceLengthMetres = referenceLengthMetres; self.model = model
+    }
+    public func evaluate(flow: FluidFlow, momentReferencePointMetres: SIMD3<Double> = .zero) throws -> SurfaceTractionResult {
+        try evaluate(momentReferencePointMetres: momentReferencePointMetres) { _ in flow }
+    }
+    public func evaluate(momentReferencePointMetres: SIMD3<Double> = .zero,
+                         flowAtPanel: (FluidSurfacePanel) throws -> FluidFlow) throws -> SurfaceTractionResult {
+        var total = try FluidLoads(forceNewtons: .zero,momentNewtonMetres: .zero,referencePointMetres: momentReferencePointMetres)
+        var tractions = [SurfaceTraction]()
+        for panel in panels {
+            let traction = try model.traction(panel: panel,flow: flowAtPanel(panel),referenceLengthMetres: referenceLengthMetres)
+            let scale = max(abs(traction.shearPascals.x),abs(traction.shearPascals.y),abs(traction.shearPascals.z))
+            if scale > 0 {
+                guard abs(((traction.shearPascals/scale)*panel.outwardNormal).sum()) <= 1e-10 else {
+                    throw FluidError.invalidCoefficients
+                }
+            }
+            let force = (-panel.outwardNormal*traction.gaugePressurePascals+traction.shearPascals)*panel.areaSquareMetres
+            total = try total.adding(FluidLoads(forceNewtons: force,momentNewtonMetres: .zero,
+                referencePointMetres: panel.centreMetres))
+            tractions.append(traction)
+        }
+        return SurfaceTractionResult(tractions: tractions,loads: total)
+    }
+}
+
+/// Adapt a continuum pressure model with explicitly zero shear. This is an alternative
+/// load evaluation, not a second force to add to the original pressure evaluator.
+public struct PressureOnlyTraction: SurfaceTractionModel {
+    public let pressureModel: any SurfacePressureCoefficientModel
+    public init(_ pressureModel: any SurfacePressureCoefficientModel) { self.pressureModel = pressureModel }
+    public func traction(panel: FluidSurfacePanel, flow: FluidFlow,
+                         referenceLengthMetres: Double) throws -> SurfaceTraction {
+        let coefficient = try pressureModel.pressureCoefficient(panel: panel,flow: flow,referenceLengthMetres: referenceLengthMetres)
+        return try SurfaceTraction(gaugePressurePascals: coefficient*flow.dynamicPressurePascals,shearPascals: .zero)
+    }
+}
diff --git a/Sources/FluidDynamics/ThermalTransportProperties.swift b/Sources/FluidDynamics/ThermalTransportProperties.swift
new file mode 100644
index 0000000..7e6967c
--- /dev/null
+++ b/Sources/FluidDynamics/ThermalTransportProperties.swift
@@ -0,0 +1,47 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+/// Caller-supplied fluid properties at the film temperature (edge + wall)/2.
+/// Composition and property evaluation remain with the gas-property provider.
+public struct ThermalTransportProperties: Sendable {
+    public let fluidIdentifier: String
+    public let source: String
+    public let temperatureKelvin: Double
+    public let densityKilogramsPerCubicMetre: Double
+    public let dynamicViscosityPascalSeconds: Double
+    public let thermalConductivityWattsPerMetreKelvin: Double
+    public let specificHeatJoulesPerKilogramKelvin: Double
+    public var prandtlNumber: Double {
+        (dynamicViscosityPascalSeconds/thermalConductivityWattsPerMetreKelvin)*specificHeatJoulesPerKilogramKelvin
+    }
+    public init(fluidIdentifier: String, source: String, temperatureKelvin: Double,
+                densityKilogramsPerCubicMetre: Double, dynamicViscosityPascalSeconds: Double,
+                thermalConductivityWattsPerMetreKelvin: Double, specificHeatJoulesPerKilogramKelvin: Double) throws {
+        guard [fluidIdentifier,source].allSatisfy({ !$0.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty }),
+              [temperatureKelvin,densityKilogramsPerCubicMetre,dynamicViscosityPascalSeconds,
+               thermalConductivityWattsPerMetreKelvin,specificHeatJoulesPerKilogramKelvin]
+                .allSatisfy({ $0.isFinite && $0 > 0 }) else { throw FluidError.invalidParameter }
+        self.fluidIdentifier = fluidIdentifier; self.source = source; self.temperatureKelvin = temperatureKelvin
+        self.densityKilogramsPerCubicMetre = densityKilogramsPerCubicMetre
+        self.dynamicViscosityPascalSeconds = dynamicViscosityPascalSeconds
+        self.thermalConductivityWattsPerMetreKelvin = thermalConductivityWattsPerMetreKelvin
+        self.specificHeatJoulesPerKilogramKelvin = specificHeatJoulesPerKilogramKelvin
+        guard prandtlNumber.isFinite, prandtlNumber > 0 else { throw FluidError.nonFiniteResult }
+    }
+}
+
diff --git a/Sources/Hydrodynamics/Hydrodynamics.docc/Hydrodynamics.md b/Sources/Hydrodynamics/Hydrodynamics.docc/Hydrodynamics.md
new file mode 100644
index 0000000..a7270c0
--- /dev/null
+++ b/Sources/Hydrodynamics/Hydrodynamics.docc/Hydrodynamics.md
@@ -0,0 +1,29 @@
+# ``Hydrodynamics``
+
+Liquid properties, displacement, hydrostatic loads and supplied-state submerged-body physics.
+
+Hydrodynamics depends only on FluidDynamics. Airfoils and gas-specific entry models
+remain in Aerodynamics; orbital/body frames and rigid-body dynamics remain in CelMek.
+Both domains return the same `FluidLoads`. All positions, velocities and gravity
+vectors use common caller axes; water/air currents and rotating-body frames must
+be handled before local force evaluation.
+
+## Topics
+
+### Floating and submerged physics
+- <doc:LiquidPhysics>
+- ``LiquidProperties``
+- ``LiquidPropertyModel``
+- ``ConstantLiquidModel``
+- ``TabulatedLiquidModel``
+- ``HydrostaticLiquid``
+- ``DisplacementGeometry``
+- ``DisplacedLiquidVolume``
+- ``ConvexDisplacementHull``
+- ``SphereDisplacement``
+- ``HydrodynamicDamping``
+- ``HydrodynamicAddedInertia``
+- ``SubmergedBodyHydrodynamics``
+
+### Shared CFD coupling
+- ``LiquidCFDPressureReference``
diff --git a/Sources/Hydrodynamics/Hydrodynamics.docc/LiquidPhysics.md b/Sources/Hydrodynamics/Hydrodynamics.docc/LiquidPhysics.md
new file mode 100644
index 0000000..abb50e1
--- /dev/null
+++ b/Sources/Hydrodynamics/Hydrodynamics.docc/LiquidPhysics.md
@@ -0,0 +1,123 @@
+# Liquid buoyancy, hulls and submersibles
+
+Evaluate dedicated liquid models first, and use the shared incompressible solver for fully filled submerged-flow domains.
+
+## Material and pressure inputs
+
+``LiquidPropertyModel`` evaluates material state at supplied temperature and absolute
+pressure. ``LiquidProperties`` carries identifier/provenance, density, dynamic
+viscosity, sound speed and vapor pressure. ``ConstantLiquidModel`` is an explicit
+bounded approximation; its declared range must remain above its supplied vapor
+pressure. There is no default ocean composition, stratification, salinity correction,
+thermal evolution or phase-equilibrium solver. ``TabulatedLiquidModel`` accepts
+matched scalar data with `temperature` (K) and absolute `pressure` (Pa) axes for
+density (kg/m³), viscosity (Pa·s), sound speed (m/s) and vapor pressure (Pa). It
+validates common grids/units, positive properties and liquid-phase coverage at
+all nodes, and preserves source/version data without extrapolation. Composition
+is an explicit dataset identity; no lake mixture is selected automatically.
+User-supplied providers can add richer phase/thermodynamic models.
+
+Titan's seas require composition/temperature/pressure-dependent hydrocarbon
+properties rather than a water model with a different density. The demo uses
+explicitly labelled constant-property illustrations for Earth and Titan, not a
+calibrated cryogenic property catalogue. NASA's conceptual Titan submarine work is
+one useful source of declared design assumptions:
+[NASA/TM-2015-218831](https://ntrs.nasa.gov/api/citations/20150014581/downloads/20150014581.pdf).
+
+``LiquidProperties/cavitationNumber(absolutePressurePascals:speedMetresPerSecond:)``
+provides `(p_absolute - p_vapor) / (0.5 rho V²)` as a diagnostic. A positive value
+alone does not establish safe propeller/hydrofoil operation; blade-local pressure
+coefficients and appropriate reference speed are still needed. Cavitation/ventilation,
+bubbles and mass transfer are not simulated by the initial models.
+
+## Calm-surface displacement
+
+``HydrostaticLiquid`` defines a flat surface, constant density, physical gravity,
+surface absolute pressure and a declared maximum depth. Up must oppose gravity.
+The hydrostatic pressure is `p_surface + rho |g| depth`; queries above the surface
+return no liquid pressure. Gravity is physical gravity, not vehicle acceleration.
+The depth bound is additional to material-property coverage, not a density EOS.
+
+``DisplacementGeometry`` allows custom supplied geometry to return a checked
+``DisplacedLiquidVolume``. ``ConvexDisplacementHull`` validates closed outward-wound
+planar convex faces, clips them against the liquid plane and integrates exact
+polyhedral volume/centroid. Its clipping cap closes the displaced volume but is
+excluded from wetted hull area. ``SphereDisplacement`` evaluates spherical caps
+analytically. Dry shapes have zero displacement and no buoyancy centre.
+
+```swift
+let material = try LiquidProperties(identifier: "supplied-liquid", source: "caller data",
+    densityKilogramsPerCubicMetre: 1000, dynamicViscosityPascalSeconds: 0.001,
+    speedOfSoundMetresPerSecond: 1500, vaporPressurePascals: 2000)
+let liquid = try HydrostaticLiquid(properties: material, up: SIMD3(0, 0, -1),
+    gravityMetresPerSecondSquared: SIMD3(0, 0, 9.80665),
+    surfaceAbsolutePressurePascals: 101325, maximumDepthMetres: 100)
+let hull = try ConvexDisplacementHull.box(halfExtentsMetres: SIMD3(2, 1, 0.5))
+let displacement = try hull.displacement(in: liquid)
+let loads = try displacement.buoyancy(in: liquid,
+    momentReferencePointMetres: suppliedCentreOfMass)
+```
+
+Rotate/translate the liquid plane and gravity into body axes externally for a
+heeled/pitched hull. The buoyancy lever arm then supplies restoring or overturning
+moments without a separate invented stability force. Weight acts at the actual
+centre of mass through the consumer's gravity model, once. Convex components may
+approximate a concave hull only if their displaced volumes do not overlap; no
+vehicle assembly or automatic constructive-solid-geometry union is owned here.
+Mesh construction checks convex face ordering and paired edges with a relative
+geometry tolerance. Construction is O(faces × vertices); clipping includes cap
+sorting/uniqueness work and is intended for modest dedicated buoyancy geometry.
+
+This is calm-surface hydrostatics, without wave evolution, slamming, planing,
+capillarity or air displacement above the waterline. Add atmospheric buoyancy for
+the dry volume separately where needed. Pressure-datum contributions must not be
+double counted across gas/liquid models.
+
+## Submerged loads
+
+``HydrodynamicDamping`` accepts nonnegative body-axis linear/quadratic force and
+moment coefficients. Relative velocity must be sampled at the damping reference
+point, and relative rates must match the coefficient convention. The model is
+passive: force/torque remove energy from relative motion. Coefficients are supplied
+data, not universal submarine drag or a substitute for Reynolds-dependent tables.
+Shared `DragAreaForces` and surface traction integration remain available.
+
+``HydrodynamicAddedInertia`` provides diagonal translational/rotational added inertia
+and a fixed-axis small-motion acceleration-reaction approximation. Include that
+in effective inertia **or** apply the acceleration reaction; never both. General
+rotating-frame marine Coriolis terms and translation/rotation coupling are not
+inferred. ``SubmergedBodyHydrodynamics`` combines supplied displaced-volume
+buoyancy with damping for a fully wetted body, without subtracting vehicle weight.
+
+Ballast/gas inventory, flooding, pumps, seals, actuators, control logic, failure and
+mass/inertia evolution belong to external systems/vehicle consumers. This module
+evaluates the supplied physical state and does not run a vessel controller.
+
+## Liquid CFD and shared propellers
+
+The shared `IncompressibleFlowGrid` accepts a liquid configuration through
+`IncompressibleFlowConfiguration(grid:liquid:boundaryVelocityMetresPerSecond:)`.
+It uses the liquid density, sound speed and kinematic viscosity without requiring
+gas mean-free-path inputs. Actuator-disk slipstream and volume-force models in
+FluidDynamics accept the same supplied thrust/torque with liquid density. Source
+quadrature, low-Mach coverage, fixed voxel/free-slip boundaries and duplicate-force
+rules remain as documented in [FluidDynamics](/documentation/fluiddynamics/propellersandcfd).
+
+``LiquidCFDPressureReference`` calibrates the arbitrary CFD gauge pressure to a known
+absolute pressure at a known fluid point in the same connected fluid region. Include gravity/hydrostatic pressure consistently
+before evaluating depth/phase/cavitation. An uncalibrated zero-mean pressure array
+is not an absolute pressure measurement. If CFD pressure already contains hydrostatic
+displacement or an unsteady added-inertia contribution, do not add that contribution
+again from the dedicated models. A consistent decomposition can instead combine
+dynamic-only CFD pressure with separately evaluated hydrostatic buoyancy.
+
+The current grid is a **fully filled single-phase domain**. It does not evolve an
+air/liquid interface. Sailing/floating can already use dedicated hull displacement
+with atmospheric sail loads; CFD-resolved waves, waterline evolution and breaking
+wakes need a later free-surface/volume-fraction extension. Do not voxelize the entire
+box as liquid and interpret its top as a simulated lake surface.
+
+Tests cover exact clipped tetrahedron/box/sphere volumes and centres, a metacentric
+restoring slope, density/gravity scaling, passive damping, added inertia and a
+calibrated hydrostatic CFD pressure field. `FluidPhysicsDemo` runs illustrative
+Earth/Titan cases; its synthetic properties and loads are not validated vessel data.
diff --git a/Sources/Hydrodynamics/Hydrostatics.swift b/Sources/Hydrodynamics/Hydrostatics.swift
new file mode 100644
index 0000000..9128ef8
--- /dev/null
+++ b/Sources/Hydrodynamics/Hydrostatics.swift
@@ -0,0 +1,209 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import FluidDynamics
+
+/// Flat hydrostatic free surface. Up points out of the liquid; gravity must point
+/// in the opposite direction. Positions, geometry and gravity share caller axes.
+public struct HydrostaticLiquid: Sendable {
+    public let properties: LiquidProperties
+    public let surfacePointMetres: SIMD3<Double>
+    public let up: SIMD3<Double>
+    public let gravityMetresPerSecondSquared: SIMD3<Double>
+    public let surfaceAbsolutePressurePascals: Double
+    public let maximumDepthMetres: Double
+    public init(properties: LiquidProperties, surfacePointMetres: SIMD3<Double> = .zero, up: SIMD3<Double>,
+                gravityMetresPerSecondSquared: SIMD3<Double>, surfaceAbsolutePressurePascals: Double,
+                maximumDepthMetres: Double) throws {
+        let length = fluidNorm(up), g = fluidNorm(gravityMetresPerSecondSquared)
+        guard fluidFinite(surfacePointMetres), fluidFinite(up), length.isFinite, length > 0,
+              fluidFinite(gravityMetresPerSecondSquared), g.isFinite, g > 0,
+              surfaceAbsolutePressurePascals.isFinite, surfaceAbsolutePressurePascals > properties.vaporPressurePascals,
+              maximumDepthMetres.isFinite, maximumDepthMetres > 0 else { throw FluidError.invalidParameter }
+        guard fluidNorm(up/length+gravityMetresPerSecondSquared/g) < 1e-10 else { throw FluidError.unsupportedQuery }
+        self.properties = properties; self.surfacePointMetres = surfacePointMetres; self.up = up/length
+        self.gravityMetresPerSecondSquared = gravityMetresPerSecondSquared
+        self.surfaceAbsolutePressurePascals = surfaceAbsolutePressurePascals; self.maximumDepthMetres = maximumDepthMetres
+    }
+    /// Signed distance above the liquid surface; negative inside the liquid.
+    public func surfaceDistanceMetres(at positionMetres: SIMD3<Double>) throws -> Double {
+        guard fluidFinite(positionMetres) else { throw FluidError.invalidGeometry }
+        let distance = ((positionMetres-surfacePointMetres)*up).sum()
+        guard distance.isFinite else { throw FluidError.nonFiniteResult }
+        guard distance >= -maximumDepthMetres else { throw FluidError.outsideCoverage }
+        return distance
+    }
+    /// Nil above the surface. Absolute liquid pressure includes atmosphere/surface pressure.
+    public func absolutePressurePascals(at positionMetres: SIMD3<Double>) throws -> Double? {
+        let distance = try surfaceDistanceMetres(at: positionMetres)
+        guard distance <= 0 else { return nil }
+        let pressure = surfaceAbsolutePressurePascals-properties.densityKilogramsPerCubicMetre*fluidNorm(gravityMetresPerSecondSquared)*distance
+        guard pressure.isFinite else { throw FluidError.nonFiniteResult }; return pressure
+    }
+}
+
+public struct DisplacedLiquidVolume: Sendable {
+    public let volumeCubicMetres: Double
+    public let centreOfBuoyancyMetres: SIMD3<Double>?
+    /// Actual hull area below the surface; excludes the artificial clipping cap.
+    public let wettedAreaSquareMetres: Double
+    public init(volumeCubicMetres: Double, centreOfBuoyancyMetres: SIMD3<Double>?, wettedAreaSquareMetres: Double) throws {
+        guard volumeCubicMetres.isFinite, volumeCubicMetres >= 0, wettedAreaSquareMetres.isFinite, wettedAreaSquareMetres >= 0,
+              centreOfBuoyancyMetres.map(fluidFinite) ?? true,
+              volumeCubicMetres == 0 || centreOfBuoyancyMetres != nil else { throw FluidError.invalidGeometry }
+        self.volumeCubicMetres = volumeCubicMetres; self.centreOfBuoyancyMetres = volumeCubicMetres == 0 ? nil : centreOfBuoyancyMetres
+        self.wettedAreaSquareMetres = wettedAreaSquareMetres
+    }
+    public func buoyancy(in liquid: HydrostaticLiquid, momentReferencePointMetres: SIMD3<Double> = .zero) throws -> FluidLoads {
+        try Buoyancy(displacedVolumeCubicMetres: volumeCubicMetres,centreOfBuoyancyMetres: centreOfBuoyancyMetres ?? .zero)
+            .evaluate(densityKilogramsPerCubicMetre: liquid.properties.densityKilogramsPerCubicMetre,
+                field: .hydrostaticGravityMetresPerSecondSquared(liquid.gravityMetresPerSecondSquared),
+                momentReferencePointMetres: momentReferencePointMetres)
+    }
+}
+
+public protocol DisplacementGeometry: Sendable {
+    func displacement(in liquid: HydrostaticLiquid) throws -> DisplacedLiquidVolume
+}
+
+/// Analytic spherical-cap displacement, useful for floats and buoyancy primitives.
+public struct SphereDisplacement: DisplacementGeometry {
+    public let centreMetres: SIMD3<Double>
+    public let radiusMetres: Double
+    public init(centreMetres: SIMD3<Double>, radiusMetres: Double) throws {
+        guard fluidFinite(centreMetres), radiusMetres.isFinite, radiusMetres > 0,
+              (4*Double.pi/3*radiusMetres*radiusMetres*radiusMetres).isFinite,
+              4*Double.pi/3*radiusMetres*radiusMetres*radiusMetres > 0 else { throw FluidError.invalidGeometry }
+        self.centreMetres = centreMetres; self.radiusMetres = radiusMetres
+    }
+    public func displacement(in liquid: HydrostaticLiquid) throws -> DisplacedLiquidVolume {
+        let r = radiusMetres
+        _ = try liquid.surfaceDistanceMetres(at: centreMetres-liquid.up*r)
+        let d = try liquid.surfaceDistanceMetres(at: centreMetres)
+        if d >= r { return try DisplacedLiquidVolume(volumeCubicMetres: 0,centreOfBuoyancyMetres: nil,wettedAreaSquareMetres: 0) }
+        if d <= -r { return try DisplacedLiquidVolume(volumeCubicMetres: 4*Double.pi/3*r*r*r,centreOfBuoyancyMetres: centreMetres,wettedAreaSquareMetres: 4*Double.pi*r*r) }
+        let h = r-d, volume = Double.pi*h*h*(r-h/3)
+        let offset = -(2*r-h)*(2*r-h)/(4*(r-h/3))
+        return try DisplacedLiquidVolume(volumeCubicMetres: volume,centreOfBuoyancyMetres: centreMetres+liquid.up*offset,wettedAreaSquareMetres: 2*Double.pi*r*h)
+    }
+}
+
+/// Closed convex displacement geometry, with outward-wound planar polygon faces.
+/// Clip against a supplied surface plane to obtain partial immersion and restoring
+/// moments. Rotate the surface/gravity into body axes externally for a heeled hull.
+public struct ConvexDisplacementHull: DisplacementGeometry {
+    public let verticesMetres: [SIMD3<Double>]
+    public let faces: [[Int]]
+    public let volumeCubicMetres: Double
+    public let volumeCentroidMetres: SIMD3<Double>
+    private let tolerance: Double
+    public init(verticesMetres: [SIMD3<Double>], faces: [[Int]]) throws {
+        guard verticesMetres.count >= 4, verticesMetres.count <= 4096, faces.count >= 4, faces.count <= 8192,
+              verticesMetres.allSatisfy(fluidFinite) else { throw FluidError.invalidGeometry }
+        let reference = verticesMetres.reduce(SIMD3<Double>.zero,+)/Double(verticesMetres.count)
+        let scale = verticesMetres.map { fluidNorm($0-reference) }.max()!
+        guard scale.isFinite, scale > 0 else { throw FluidError.invalidGeometry }
+        let epsilon = scale*1e-10
+        var edges: [String:Int] = [:], polygons: [[SIMD3<Double>]] = []
+        for face in faces {
+            guard face.count >= 3, Set(face).count == face.count, face.allSatisfy({ verticesMetres.indices.contains($0) }) else { throw FluidError.invalidGeometry }
+            let polygon = face.map { verticesMetres[$0] }, normal = fluidCross(polygon[1]-polygon[0],polygon[2]-polygon[0])
+            let normalLength = fluidNorm(normal)
+            guard normalLength.isFinite, normalLength > epsilon*epsilon else { throw FluidError.invalidGeometry }
+            let n = normal/normalLength
+            guard polygon.allSatisfy({ abs((($0-polygon[0])*n).sum()) <= epsilon }),
+                  verticesMetres.allSatisfy({ (($0-polygon[0])*n).sum() <= epsilon }) else { throw FluidError.invalidGeometry }
+            for i in polygon.indices {
+                let a = polygon[i], edge = polygon[(i+1)%polygon.count]-a
+                guard fluidNorm(edge) > epsilon, polygon.allSatisfy({ (fluidCross(edge,$0-a)*n).sum() >= -epsilon*fluidNorm(edge) }) else {
+                    throw FluidError.invalidGeometry
+                }
+            }
+            for i in face.indices {
+                let a = face[i], b = face[(i+1)%face.count], key = "\(a):\(b)"
+                edges[key,default: 0] += 1
+            }
+            polygons.append(polygon)
+        }
+        for (key,count) in edges {
+            let parts = key.split(separator: ":")
+            guard count == 1, edges["\(parts[1]):\(parts[0])"] == 1 else { throw FluidError.invalidGeometry }
+        }
+        let integral = try Self.integrate(polygons,reference: reference)
+        guard integral.volume > epsilon*epsilon*epsilon else { throw FluidError.invalidGeometry }
+        self.verticesMetres = verticesMetres; self.faces = faces; self.tolerance = epsilon
+        self.volumeCubicMetres = integral.volume; self.volumeCentroidMetres = integral.centroid
+    }
+    public static func box(halfExtentsMetres e: SIMD3<Double>, centreMetres c: SIMD3<Double> = .zero) throws -> Self {
+        guard fluidFinite(e), fluidFinite(c), e.x > 0, e.y > 0, e.z > 0 else { throw FluidError.invalidGeometry }
+        let v = [SIMD3(-e.x,-e.y,-e.z),SIMD3(e.x,-e.y,-e.z),SIMD3(e.x,e.y,-e.z),SIMD3(-e.x,e.y,-e.z),
+                 SIMD3(-e.x,-e.y,e.z),SIMD3(e.x,-e.y,e.z),SIMD3(e.x,e.y,e.z),SIMD3(-e.x,e.y,e.z)].map { $0+c }
+        return try Self(verticesMetres: v,faces: [[0,3,2,1],[4,5,6,7],[0,1,5,4],[1,2,6,5],[2,3,7,6],[3,0,4,7]])
+    }
+    private static func integrate(_ polygons: [[SIMD3<Double>]], reference: SIMD3<Double>) throws -> (volume: Double, centroid: SIMD3<Double>) {
+        var volume = 0.0, moment = SIMD3<Double>.zero
+        for p in polygons where p.count >= 3 {
+            for j in 1..<(p.count-1) {
+                let a = p[0]-reference, b = p[j]-reference, c = p[j+1]-reference
+                let v = (a*fluidCross(b,c)).sum()/6
+                volume += v; moment += (a+b+c)*(v/4)
+            }
+        }
+        guard volume.isFinite, fluidFinite(moment) else { throw FluidError.nonFiniteResult }
+        return (volume,volume > 0 ? reference+moment/volume : reference)
+    }
+    public func displacement(in liquid: HydrostaticLiquid) throws -> DisplacedLiquidVolume {
+        var polygons: [[SIMD3<Double>]] = [], cap: [SIMD3<Double>] = [], area = 0.0
+        let distances = try verticesMetres.map { try liquid.surfaceDistanceMetres(at: $0) }
+        if distances.allSatisfy({ $0 >= 0 }) { return try DisplacedLiquidVolume(volumeCubicMetres: 0,centreOfBuoyancyMetres: nil,wettedAreaSquareMetres: 0) }
+        for face in faces {
+            var clipped: [SIMD3<Double>] = []
+            for i in face.indices {
+                let ai = face[i], bi = face[(i+1)%face.count], a = verticesMetres[ai], b = verticesMetres[bi]
+                let da = distances[ai], db = distances[bi]
+                if da <= 0 { clipped.append(a) }
+                if (da <= 0) != (db <= 0) {
+                    let point = a+(b-a)*(da/(da-db)); clipped.append(point)
+                    if !cap.contains(where: { fluidNorm($0-point) <= tolerance }) { cap.append(point) }
+                }
+            }
+            // Remove repeated vertices caused by a clipping plane passing through a vertex.
+            var unique: [SIMD3<Double>] = []
+            for p in clipped where !unique.contains(where: { fluidNorm($0-p) <= tolerance }) { unique.append(p) }
+            if unique.count >= 3 {
+                polygons.append(unique)
+                for j in 1..<(unique.count-1) { area += fluidNorm(fluidCross(unique[j]-unique[0],unique[j+1]-unique[0]))/2 }
+            }
+        }
+        if cap.count >= 3 {
+            let centre = cap.reduce(SIMD3<Double>.zero,+)/Double(cap.count)
+            let candidate = abs(liquid.up.x) < 0.8 ? SIMD3(1.0,0,0) : SIMD3(0.0,1,0)
+            let raw = fluidCross(candidate,liquid.up), u = raw/fluidNorm(raw), v = fluidCross(liquid.up,u)
+            cap.sort { a,b in
+                atan2(((a-centre)*v).sum(),((a-centre)*u).sum()) < atan2(((b-centre)*v).sum(),((b-centre)*u).sum())
+            }
+            polygons.append(cap)
+        }
+        let integral = try Self.integrate(polygons,reference: volumeCentroidMetres)
+        guard integral.volume >= -tolerance*tolerance*tolerance, integral.volume <= volumeCubicMetres*(1+1e-9), area.isFinite else {
+            throw FluidError.nonFiniteResult
+        }
+        let volume = max(0,min(volumeCubicMetres,integral.volume))
+        return try DisplacedLiquidVolume(volumeCubicMetres: volume,centreOfBuoyancyMetres: volume > 0 ? integral.centroid : nil,wettedAreaSquareMetres: area)
+    }
+}
diff --git a/Sources/Hydrodynamics/LiquidCFD.swift b/Sources/Hydrodynamics/LiquidCFD.swift
new file mode 100644
index 0000000..a9055ae
--- /dev/null
+++ b/Sources/Hydrodynamics/LiquidCFD.swift
@@ -0,0 +1,44 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import FluidDynamics
+
+public extension IncompressibleFlowConfiguration {
+    /// Fully filled single-phase liquid domain. No free-surface tracking is implied.
+    init(grid: CartesianFluidGrid, liquid: LiquidProperties, boundaryVelocityMetresPerSecond: SIMD3<Double> = .zero) throws {
+        try self.init(dimensions: grid.dimensions,minimumCornerMetres: grid.minimumCornerMetres,cellSizeMetres: grid.cellSizeMetres,
+            densityKilogramsPerCubicMetre: liquid.densityKilogramsPerCubicMetre,
+            speedOfSoundMetresPerSecond: liquid.speedOfSoundMetresPerSecond,
+            kinematicViscositySquareMetresPerSecond: liquid.kinematicViscositySquareMetresPerSecond,
+            boundaryVelocityMetresPerSecond: boundaryVelocityMetresPerSecond)
+    }
+}
+/// Calibrates the arbitrary incompressible pressure gauge at a known fluid point.
+/// Include hydrostatic pressure in that reference consistently with applied gravity.
+public struct LiquidCFDPressureReference: Sendable {
+    public let positionMetres: SIMD3<Double>
+    public let absolutePressurePascals: Double
+    public init(positionMetres: SIMD3<Double>, absolutePressurePascals: Double) throws {
+        guard fluidFinite(positionMetres), absolutePressurePascals.isFinite, absolutePressurePascals >= 0 else { throw FluidError.invalidParameter }
+        self.positionMetres = positionMetres; self.absolutePressurePascals = absolutePressurePascals
+    }
+    public func absolutePressurePascals(in grid: IncompressibleFlowGrid, at position: SIMD3<Double>) throws -> Double {
+        let pressure = try absolutePressurePascals+grid.gaugePressurePascals(at: position)-grid.gaugePressurePascals(at: positionMetres)
+        guard pressure.isFinite, pressure >= 0 else { throw FluidError.outsideCoverage }; return pressure
+    }
+}
diff --git a/Sources/Hydrodynamics/LiquidProperties.swift b/Sources/Hydrodynamics/LiquidProperties.swift
new file mode 100644
index 0000000..6067f32
--- /dev/null
+++ b/Sources/Hydrodynamics/LiquidProperties.swift
@@ -0,0 +1,88 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import FluidDynamics
+
+/// State-local liquid properties, not a claim that one composition describes every sea.
+/// Vapor pressure is absolute and must use the same temperature/composition as the sample.
+public struct LiquidProperties: Sendable {
+    public let identifier: String
+    public let source: String
+    public let densityKilogramsPerCubicMetre: Double
+    public let dynamicViscosityPascalSeconds: Double
+    public let speedOfSoundMetresPerSecond: Double
+    public let vaporPressurePascals: Double
+    public init(identifier: String, source: String, densityKilogramsPerCubicMetre: Double,
+                dynamicViscosityPascalSeconds: Double, speedOfSoundMetresPerSecond: Double,
+                vaporPressurePascals: Double) throws {
+        guard !identifier.isEmpty, !source.isEmpty,
+              [densityKilogramsPerCubicMetre,dynamicViscosityPascalSeconds,speedOfSoundMetresPerSecond]
+                .allSatisfy({ $0.isFinite && $0 > 0 }), vaporPressurePascals.isFinite, vaporPressurePascals >= 0,
+              (dynamicViscosityPascalSeconds/densityKilogramsPerCubicMetre).isFinite,
+              dynamicViscosityPascalSeconds/densityKilogramsPerCubicMetre > 0 else {
+            throw FluidError.invalidParameter
+        }
+        self.identifier = identifier; self.source = source; self.densityKilogramsPerCubicMetre = densityKilogramsPerCubicMetre
+        self.dynamicViscosityPascalSeconds = dynamicViscosityPascalSeconds
+        self.speedOfSoundMetresPerSecond = speedOfSoundMetresPerSecond; self.vaporPressurePascals = vaporPressurePascals
+    }
+    public var kinematicViscositySquareMetresPerSecond: Double { dynamicViscosityPascalSeconds/densityKilogramsPerCubicMetre }
+    /// Diagnostic only: positive sigma does not establish a propeller cavitation margin.
+    public func cavitationNumber(absolutePressurePascals: Double, speedMetresPerSecond: Double) throws -> Double {
+        guard absolutePressurePascals.isFinite, absolutePressurePascals >= 0,
+              speedMetresPerSecond.isFinite, speedMetresPerSecond > 0 else { throw FluidError.invalidParameter }
+        let result = (absolutePressurePascals-vaporPressurePascals)/(0.5*densityKilogramsPerCubicMetre*speedMetresPerSecond*speedMetresPerSecond)
+        guard result.isFinite else { throw FluidError.nonFiniteResult }; return result
+    }
+}
+public protocol LiquidPropertyModel: Sendable {
+    func properties(temperatureKelvin: Double, absolutePressurePascals: Double) throws -> LiquidProperties
+}
+
+/// Explicit constant-property approximation within declared temperature/pressure bounds.
+/// No ocean composition, stratification, phase equilibrium or pressure EOS is inferred.
+public struct ConstantLiquidModel: LiquidPropertyModel {
+    public let value: LiquidProperties
+    public let temperatureRangeKelvin: ClosedRange<Double>
+    public let pressureRangePascals: ClosedRange<Double>
+    public init(value: LiquidProperties, temperatureRangeKelvin: ClosedRange<Double>, pressureRangePascals: ClosedRange<Double>) throws {
+        guard temperatureRangeKelvin.lowerBound.isFinite, temperatureRangeKelvin.lowerBound > 0,
+              temperatureRangeKelvin.upperBound.isFinite, pressureRangePascals.lowerBound.isFinite,
+              pressureRangePascals.lowerBound > value.vaporPressurePascals, pressureRangePascals.upperBound.isFinite else {
+            throw FluidError.invalidParameter
+        }
+        self.value = value; self.temperatureRangeKelvin = temperatureRangeKelvin; self.pressureRangePascals = pressureRangePascals
+    }
+    public func properties(temperatureKelvin: Double, absolutePressurePascals: Double) throws -> LiquidProperties {
+        guard temperatureKelvin.isFinite, absolutePressurePascals.isFinite,
+              temperatureRangeKelvin.contains(temperatureKelvin), pressureRangePascals.contains(absolutePressurePascals) else {
+            throw FluidError.outsideCoverage
+        }
+        return value
+    }
+}
+public extension FluidFlow {
+    init(relativeVelocityMetresPerSecond: SIMD3<Double>, liquid: LiquidProperties,
+         temperatureKelvin: Double, absolutePressurePascals: Double) throws {
+        guard absolutePressurePascals > liquid.vaporPressurePascals else { throw FluidError.outsideCoverage }
+        try self.init(relativeVelocityMetresPerSecond: relativeVelocityMetresPerSecond,
+            densityKilogramsPerCubicMetre: liquid.densityKilogramsPerCubicMetre,pressurePascals: absolutePressurePascals,
+            temperatureKelvin: temperatureKelvin,speedOfSoundMetresPerSecond: liquid.speedOfSoundMetresPerSecond,
+            dynamicViscosityPascalSeconds: liquid.dynamicViscosityPascalSeconds)
+    }
+}
diff --git a/Sources/Hydrodynamics/SubmergedBody.swift b/Sources/Hydrodynamics/SubmergedBody.swift
new file mode 100644
index 0000000..988505c
--- /dev/null
+++ b/Sources/Hydrodynamics/SubmergedBody.swift
@@ -0,0 +1,86 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import FluidDynamics
+
+/// Passive body-axis damping about one supplied velocity/moment reference point.
+/// Coefficients are dimensional supplied data, not universal hull/fin coefficients.
+public struct HydrodynamicDamping: Sendable {
+    public let linearForce: SIMD3<Double>
+    public let quadraticForce: SIMD3<Double>
+    public let linearMoment: SIMD3<Double>
+    public let quadraticMoment: SIMD3<Double>
+    public let referencePointMetres: SIMD3<Double>
+    public let source: String
+    public init(linearForce: SIMD3<Double> = .zero, quadraticForce: SIMD3<Double> = .zero,
+                linearMoment: SIMD3<Double> = .zero, quadraticMoment: SIMD3<Double> = .zero,
+                referencePointMetres: SIMD3<Double> = .zero, source: String) throws {
+        guard [linearForce,quadraticForce,linearMoment,quadraticMoment].allSatisfy({ fluidFinite($0) && $0.x >= 0 && $0.y >= 0 && $0.z >= 0 }),
+              fluidFinite(referencePointMetres), !source.isEmpty else { throw FluidError.invalidParameter }
+        self.linearForce = linearForce; self.quadraticForce = quadraticForce
+        self.linearMoment = linearMoment; self.quadraticMoment = quadraticMoment
+        self.referencePointMetres = referencePointMetres; self.source = source
+    }
+    /// Relative rates use the same axes and frame convention as the supplied data.
+    public func evaluate(relativeVelocityMetresPerSecond v: SIMD3<Double>, relativeAngularVelocityRadiansPerSecond w: SIMD3<Double>,
+                         momentReferencePointMetres: SIMD3<Double> = .zero) throws -> FluidLoads {
+        guard fluidFinite(v), fluidFinite(w) else { throw FluidError.invalidFlow }
+        let av = SIMD3(abs(v.x),abs(v.y),abs(v.z)), aw = SIMD3(abs(w.x),abs(w.y),abs(w.z))
+        return try FluidLoads(forceNewtons: -(linearForce+quadraticForce*av)*v,
+            momentNewtonMetres: -(linearMoment+quadraticMoment*aw)*w,referencePointMetres: referencePointMetres)
+            .referred(to: momentReferencePointMetres)
+    }
+}
+
+/// Diagonal added inertia for a fixed-axis small-motion approximation. General
+/// rotating-frame/translation-rotation coupling requires a full marine dynamics model.
+/// Incorporate in effective inertia OR use the acceleration reaction, never both.
+public struct HydrodynamicAddedInertia: Sendable {
+    public let massKilograms: SIMD3<Double>
+    public let momentKilogramSquareMetres: SIMD3<Double>
+    public init(massKilograms: SIMD3<Double>, momentKilogramSquareMetres: SIMD3<Double>) throws {
+        guard [massKilograms,momentKilogramSquareMetres].allSatisfy({ fluidFinite($0) && $0.x >= 0 && $0.y >= 0 && $0.z >= 0 }) else {
+            throw FluidError.invalidParameter
+        }
+        self.massKilograms = massKilograms; self.momentKilogramSquareMetres = momentKilogramSquareMetres
+    }
+    public func accelerationReaction(relativeLinearAccelerationMetresPerSecondSquared a: SIMD3<Double>,
+                                     relativeAngularAccelerationRadiansPerSecondSquared alpha: SIMD3<Double>,
+                                     referencePointMetres: SIMD3<Double> = .zero) throws -> FluidLoads {
+        guard fluidFinite(a), fluidFinite(alpha) else { throw FluidError.invalidFlow }
+        return try FluidLoads(forceNewtons: -massKilograms*a,momentNewtonMetres: -momentKilogramSquareMetres*alpha,
+            referencePointMetres: referencePointMetres)
+    }
+}
+
+/// Fully wetted supplied-state body loads. Buoyancy and damping are evaluated once;
+/// current velocity, displaced geometry and rigid-body motion remain caller-owned.
+public struct SubmergedBodyHydrodynamics: Sendable {
+    public let buoyancy: Buoyancy
+    public let damping: HydrodynamicDamping
+    public init(buoyancy: Buoyancy, damping: HydrodynamicDamping) { self.buoyancy = buoyancy; self.damping = damping }
+    public func evaluate(liquid: LiquidProperties, flow: FluidFlow, relativeAngularVelocityRadiansPerSecond: SIMD3<Double> = .zero,
+                         gravityMetresPerSecondSquared: SIMD3<Double>, momentReferencePointMetres: SIMD3<Double> = .zero) throws -> FluidLoads {
+        guard flow.densityKilogramsPerCubicMetre == liquid.densityKilogramsPerCubicMetre else { throw FluidError.unsupportedQuery }
+        let pressure = try buoyancy.evaluate(densityKilogramsPerCubicMetre: liquid.densityKilogramsPerCubicMetre,
+            field: .hydrostaticGravityMetresPerSecondSquared(gravityMetresPerSecondSquared),momentReferencePointMetres: momentReferencePointMetres)
+        let resistance = try damping.evaluate(relativeVelocityMetresPerSecond: flow.relativeVelocityMetresPerSecond,
+            relativeAngularVelocityRadiansPerSecond: relativeAngularVelocityRadiansPerSecond,momentReferencePointMetres: momentReferencePointMetres)
+        return try pressure.adding(resistance)
+    }
+}
diff --git a/Sources/Hydrodynamics/TabulatedLiquidModel.swift b/Sources/Hydrodynamics/TabulatedLiquidModel.swift
new file mode 100644
index 0000000..0aa9033
--- /dev/null
+++ b/Sources/Hydrodynamics/TabulatedLiquidModel.swift
@@ -0,0 +1,56 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+import FluidDynamics
+
+/// State-local material data with matched temperature/absolute-pressure axes.
+/// Composition belongs to the supplied identifier and dataset assumptions. The
+/// rectangular domain must be supported single-phase liquid; no extrapolation.
+public struct TabulatedLiquidModel: LiquidPropertyModel {
+    public let identifier: String
+    public let density: FluidScalarTable
+    public let viscosity: FluidScalarTable
+    public let soundSpeed: FluidScalarTable
+    public let vaporPressure: FluidScalarTable
+    public init(identifier: String, density: FluidScalarTable, viscosity: FluidScalarTable,
+                soundSpeed: FluidScalarTable, vaporPressure: FluidScalarTable) throws {
+        guard !identifier.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty,
+              density.axes.map(\.name) == ["temperature","pressure"], density.axes.map(\.units) == ["K","Pa"],
+              density.axes[0].coordinates.first! > 0, density.axes[1].coordinates.first! > 0,
+              viscosity.axes == density.axes, soundSpeed.axes == density.axes, vaporPressure.axes == density.axes,
+              density.valueUnits == "kg/m^3", viscosity.valueUnits == "Pa*s", soundSpeed.valueUnits == "m/s", vaporPressure.valueUnits == "Pa",
+              [density,viscosity,soundSpeed].allSatisfy({ $0.values.allSatisfy({ $0 > 0 }) }), vaporPressure.values.allSatisfy({ $0 >= 0 }) else {
+            throw FluidError.malformedData
+        }
+        let pressures = density.axes[1].coordinates
+        for index in vaporPressure.values.indices {
+            guard pressures[index%pressures.count] > vaporPressure.values[index] else { throw FluidError.outsideCoverage }
+        }
+        self.identifier = identifier; self.density = density; self.viscosity = viscosity
+        self.soundSpeed = soundSpeed; self.vaporPressure = vaporPressure
+    }
+    public func properties(temperatureKelvin: Double, absolutePressurePascals: Double) throws -> LiquidProperties {
+        let query = [temperatureKelvin,absolutePressurePascals]
+        let vapor = try vaporPressure.value(at: query)
+        guard absolutePressurePascals > vapor else { throw FluidError.outsideCoverage }
+        let provenance = [density,viscosity,soundSpeed,vaporPressure].map { $0.source+" ("+$0.version+")" }.joined(separator: "; ")
+        return try LiquidProperties(identifier: identifier,source: provenance,
+            densityKilogramsPerCubicMetre: density.value(at: query),dynamicViscosityPascalSeconds: viscosity.value(at: query),
+            speedOfSoundMetresPerSecond: soundSpeed.value(at: query),vaporPressurePascals: vapor)
+    }
+}
diff --git a/Sources/MagneticFields/GeomagneticCoefficients.swift b/Sources/MagneticFields/GeomagneticCoefficients.swift
new file mode 100644
index 0000000..5527482
--- /dev/null
+++ b/Sources/MagneticFields/GeomagneticCoefficients.swift
@@ -0,0 +1,123 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+public enum GeomagneticCoefficientError: Error, Equatable {
+    case malformedLine(Int), invalidHeader, duplicateCoefficient, incompleteCoefficients, unsupportedDegree
+}
+
+/// Immutable Schmidt semi-normalized coefficients in nT and nT/year.
+/// Parsers accept standard WMM .COF and IGRF g/h epoch-table text, independently of file paths.
+struct GeomagneticCoefficients: Sendable {
+    let epochs: [Double]
+    let values: [[Double]] // Alternating g,h at triangular index.
+    let secularVariation: [Double]
+    let endYear: Double
+    let degree: Int
+    let name: String
+    static func index(_ n: Int, _ m: Int) -> Int { n*(n+1)/2+m }
+    static func validDegree(_ n: Int, _ m: Int) throws {
+        guard n >= 1, n <= 64 else { throw GeomagneticCoefficientError.unsupportedDegree }
+        guard m >= 0, m <= n else { throw GeomagneticCoefficientError.incompleteCoefficients }
+    }
+    func at(_ year: Double) -> [Double] {
+        if year >= epochs.last! {
+            return zip(values.last!,secularVariation).map { $0 + (year-epochs.last!)*$1 }
+        }
+        let lower = epochs.lastIndex(where: { $0 <= year })!
+        let weight = (year-epochs[lower])/(epochs[lower+1]-epochs[lower])
+        return zip(values[lower],values[lower+1]).map { $0 + weight*($1-$0) }
+    }
+    static func lines(_ text: String) -> [(Int,[Substring])] {
+        text.split(whereSeparator: \.isNewline).enumerated().compactMap { i,line in
+            let tokens = line.split(whereSeparator: \.isWhitespace)
+            guard let first = tokens.first, !first.hasPrefix("#") else { return nil }
+            return (i+1,tokens)
+        }
+    }
+    static func wmm(_ text: String, validityYears: Double) throws -> Self {
+        let rows = lines(text)
+        guard let header = rows.first?.1, header.count >= 2, let epoch = Double(header[0]), epoch.isFinite,
+              validityYears.isFinite, validityYears > 0, (epoch+validityYears).isFinite else {
+            throw GeomagneticCoefficientError.invalidHeader
+        }
+        var records: [Int:(Double,Double,Double,Double)] = [:], degree = 0
+        var ended = false
+        for (line,t) in rows.dropFirst() {
+            if t[0].hasPrefix("9999") { ended = true; continue }
+            guard !ended, t.count == 6, let n = Int(t[0]), let m = Int(t[1]) else {
+                throw GeomagneticCoefficientError.malformedLine(line)
+            }
+            try validDegree(n,m)
+            let numbers = t.dropFirst(2).compactMap { Double($0) }
+            guard numbers.count == 4, numbers.allSatisfy(\.isFinite), m != 0 || (numbers[1] == 0 && numbers[3] == 0) else {
+                throw GeomagneticCoefficientError.malformedLine(line)
+            }
+            let key = index(n,m)
+            guard records[key] == nil else { throw GeomagneticCoefficientError.duplicateCoefficient }
+            records[key] = (numbers[0],numbers[1],numbers[2],numbers[3]); degree = max(degree,n)
+        }
+        guard ended, degree > 0, records.count == index(degree,degree) else {
+            throw GeomagneticCoefficientError.incompleteCoefficients
+        }
+        var values = [Double](repeating: 0,count: 2*(index(degree,degree)+1)), rate = values
+        for (i,v) in records { values[2*i] = v.0; values[2*i+1] = v.1; rate[2*i] = v.2; rate[2*i+1] = v.3 }
+        return Self(epochs: [epoch],values: [values],secularVariation: rate,endYear: epoch+validityYears,
+                    degree: degree,name: String(header[1]))
+    }
+    static func igrf(_ text: String) throws -> Self {
+        let rows = lines(text)
+        guard let headerIndex = rows.firstIndex(where: { $0.1.first == "g/h" }) else {
+            throw GeomagneticCoefficientError.invalidHeader
+        }
+        let header = rows[headerIndex].1
+        guard header.count >= 5 else { throw GeomagneticCoefficientError.invalidHeader }
+        let epochs = header.dropFirst(3).dropLast().compactMap { Double($0) }
+        let interval = header.last!.split(separator: "-")
+        guard epochs.count == header.count-4, epochs.count >= 2, epochs.allSatisfy(\.isFinite),
+              zip(epochs,epochs.dropFirst()).allSatisfy({ $0 < $1 }), interval.count == 2,
+              let start = Double(interval[0]), start == epochs.last!, let suffix = Double(interval[1]) else {
+            throw GeomagneticCoefficientError.invalidHeader
+        }
+        var end = interval[1].count == 2 ? floor(start/100)*100+suffix : suffix
+        if interval[1].count == 2, end <= start { end += 100 }
+        guard end.isFinite, end > start else { throw GeomagneticCoefficientError.invalidHeader }
+        var records: [Int:[Double]] = [:], degree = 0
+        for (line,t) in rows.dropFirst(headerIndex+1) {
+            guard t.count == epochs.count+4, t[0] == "g" || t[0] == "h",
+                  let n = Int(t[1]), let m = Int(t[2]) else { throw GeomagneticCoefficientError.malformedLine(line) }
+            try validDegree(n,m)
+            guard t[0] != "h" || m > 0 else { throw GeomagneticCoefficientError.malformedLine(line) }
+            let key = 2*index(n,m)+(t[0] == "h" ? 1 : 0)
+            guard records[key] == nil else { throw GeomagneticCoefficientError.duplicateCoefficient }
+            let numbers = t.dropFirst(3).compactMap { Double($0) }
+            guard numbers.count == epochs.count+1, numbers.allSatisfy(\.isFinite) else {
+                throw GeomagneticCoefficientError.malformedLine(line)
+            }
+            records[key] = numbers; degree = max(degree,n)
+        }
+        guard degree > 0, records.count == degree*(degree+2) else { throw GeomagneticCoefficientError.incompleteCoefficients }
+        let count = 2*(index(degree,degree)+1)
+        var values = epochs.map { _ in [Double](repeating: 0,count: count) }, rate = [Double](repeating: 0,count: count)
+        for (key,numbers) in records {
+            for i in epochs.indices { values[i][key] = numbers[i] }
+            rate[key] = numbers.last!
+        }
+        return Self(epochs: epochs,values: values,secularVariation: rate,endYear: end,degree: degree,name: "IGRF epoch table")
+    }
+}
diff --git a/Sources/MagneticFields/GeomagneticModels.swift b/Sources/MagneticFields/GeomagneticModels.swift
new file mode 100644
index 0000000..a411c33
--- /dev/null
+++ b/Sources/MagneticFields/GeomagneticModels.swift
@@ -0,0 +1,109 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+public struct WMMMagneticField: MagneticFieldModel {
+    private let evaluator: GeomagneticHarmonics
+    public var metadata: MagneticFieldMetadata { evaluator.metadata }
+    /// Standard WMM .COF text; validity is explicit, normally five years.
+    public init(coefficientText: String, validityYears: Double = 5,
+                source: String = "Caller-supplied WMM coefficient text") throws {
+        evaluator = try GeomagneticHarmonics(coefficients: .wmm(coefficientText,validityYears: validityYears),source: source)
+    }
+    public init(coefficientFile: URL, validityYears: Double = 5) throws {
+        try self.init(coefficientText: String(contentsOf: coefficientFile,encoding: .utf8),
+                      validityYears: validityYears,source: coefficientFile.absoluteString)
+    }
+    public static func wmm2025() throws -> Self {
+        try Self(coefficientText: String(contentsOf: Bundle.module.url(forResource: "WMM2025",withExtension: "COF")!,encoding: .utf8),
+                 source: "https://www.ncei.noaa.gov/products/world-magnetic-model; WMM2025 2024-11-13")
+    }
+    public func field(at query: MagneticFieldQuery) throws -> MagneticFluxDensity { try evaluator.field(at: query) }
+}
+
+public struct IGRFMagneticField: MagneticFieldModel {
+    private let evaluator: GeomagneticHarmonics
+    public var metadata: MagneticFieldMetadata { evaluator.metadata }
+    /// Traditional IGRF g/h table with epoch columns and a final SV interval column.
+    public init(coefficientText: String, source: String = "Caller-supplied IGRF coefficient text") throws {
+        evaluator = try GeomagneticHarmonics(coefficients: .igrf(coefficientText),source: source)
+    }
+    public init(coefficientFile: URL) throws {
+        try self.init(coefficientText: String(contentsOf: coefficientFile,encoding: .utf8),source: coefficientFile.absoluteString)
+    }
+    public static func igrf14() throws -> Self {
+        try Self(coefficientText: String(contentsOf: Bundle.module.url(forResource: "igrf14coeffs",withExtension: "txt")!,encoding: .utf8),
+                 source: "https://www.ngdc.noaa.gov/IAGA/vmod/coeffs/igrf14coeffs.txt; IGRF-14 2024-11-18")
+    }
+    public func field(at query: MagneticFieldQuery) throws -> MagneticFluxDensity { try evaluator.field(at: query) }
+}
+
+/// Geodetic latitude/longitude in radians, height above WGS84 ellipsoid in metres.
+/// Mean-sea-level/geoid heights must be converted by the caller.
+public struct GeodeticMagneticQuery: Sendable {
+    public let latitudeRadians: Double
+    public let longitudeRadians: Double
+    public let ellipsoidHeightMetres: Double
+    public let decimalYear: Double
+    public init(latitudeRadians: Double, longitudeRadians: Double, ellipsoidHeightMetres: Double,
+                decimalYear: Double) throws {
+        guard [latitudeRadians,longitudeRadians,ellipsoidHeightMetres].allSatisfy(\.isFinite),
+              abs(latitudeRadians) <= .pi/2, (-1000.0...850000.0).contains(ellipsoidHeightMetres) else {
+            throw MagneticFieldError.invalidPosition
+        }
+        guard decimalYear.isFinite else { throw MagneticFieldError.invalidDate }
+        self.latitudeRadians = latitudeRadians; self.longitudeRadians = longitudeRadians
+        self.ellipsoidHeightMetres = ellipsoidHeightMetres; self.decimalYear = decimalYear
+    }
+    public func cartesianQuery() throws -> MagneticFieldQuery {
+        let s = sin(latitudeRadians), c = cos(latitudeRadians)
+        let a = 6_378_137.0, inverseFlattening = 298.257223563
+        let f = 1/inverseFlattening, e2 = f*(2-f)
+        let n = a/sqrt(1-e2*s*s), h = ellipsoidHeightMetres
+        return try MagneticFieldQuery(positionMetres: SIMD3((n+h)*c*cos(longitudeRadians),
+            (n+h)*c*sin(longitudeRadians),(n*(1-e2)+h)*s),decimalYear: decimalYear)
+    }
+}
+
+public struct GeomagneticElements: Sendable {
+    /// Local north/east/down components in tesla.
+    public let northEastDownTesla: SIMD3<Double>
+    public var horizontalIntensityTesla: Double { hypot(northEastDownTesla.x,northEastDownTesla.y) }
+    public var totalIntensityTesla: Double { hypot(horizontalIntensityTesla,northEastDownTesla.z) }
+    /// East-positive declination; undefined for zero horizontal field.
+    public var declinationRadians: Double? {
+        horizontalIntensityTesla > 0 ? atan2(northEastDownTesla.y,northEastDownTesla.x) : nil
+    }
+    public var inclinationRadians: Double? {
+        totalIntensityTesla > 0 ? atan2(northEastDownTesla.z,horizontalIntensityTesla) : nil
+    }
+}
+public extension MagneticFieldModel {
+    /// WGS84 geographic convenience evaluation; also usable with dipole/constant models
+    /// whose axes match Earth-fixed XYZ. At geographic poles the supplied longitude
+    /// defines the local north/east basis; compass declination has no unique geographic meaning.
+    func elements(at query: GeodeticMagneticQuery) throws -> GeomagneticElements {
+        let b = try checkedField(at: query.cartesianQuery()).vectorTesla
+        let s = sin(query.latitudeRadians), c = cos(query.latitudeRadians)
+        let sl = sin(query.longitudeRadians), cl = cos(query.longitudeRadians)
+        let ned = SIMD3(-s*cl*b.x-s*sl*b.y+c*b.z,
+                         -sl*b.x+cl*b.y,-c*cl*b.x-c*sl*b.y-s*b.z)
+        _ = try MagneticFluxDensity(vectorTesla: ned)
+        return GeomagneticElements(northEastDownTesla: ned)
+    }
+}
diff --git a/Sources/MagneticFields/MagneticCatalogue.swift b/Sources/MagneticFields/MagneticCatalogue.swift
new file mode 100644
index 0000000..ba99af2
--- /dev/null
+++ b/Sources/MagneticFields/MagneticCatalogue.swift
@@ -0,0 +1,54 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+public enum MagneticBody: Int32, CaseIterable, Sendable {
+    case mercury = 199, earth = 399, jupiter = 599, saturn = 699, uranus = 799, neptune = 899
+}
+
+/// Deliberately aligned, centred ideal dipoles, using nominal NASA field strengths.
+/// No measured pole longitude, tilt, offset or secular variation is implied.
+public struct BodyMagneticField: MagneticFieldModel {
+    public let body: MagneticBody
+    public let dipole: DipoleMagneticField
+    public var metadata: MagneticFieldMetadata { dipole.metadata }
+    public func field(at query: MagneticFieldQuery) throws -> MagneticFluxDensity { try dipole.field(at: query) }
+    public static func model(for body: MagneticBody) -> BodyMagneticField {
+        let radius: Double, gauss: Double, name: String
+        switch body {
+        case .mercury: (radius,gauss,name) = (2_439_700,-0.002,"mercury")
+        case .earth: (radius,gauss,name) = (6_378_000,-0.306,"earth")
+        case .jupiter: (radius,gauss,name) = (71_398_000,4.30,"jupiter")
+        case .saturn: (radius,gauss,name) = (60_330_000,0.215,"saturn")
+        case .uranus: (radius,gauss,name) = (25_600_000,0.228,"uranus")
+        case .neptune: (radius,gauss,name) = (24_765_000,0.142,"neptune")
+        }
+        let metadata = try! MagneticFieldMetadata(name: "Nominal aligned \(name) dipole",
+            source: "https://nssdc.gsfc.nasa.gov/planetary/factsheet/\(name)fact.html",
+            version: "Idealized catalogue v1; reference strengths reviewed 2026-10-14",
+            axesDescription: "Body-fixed right-handed axes; +Z north rotation pole, X/Y equatorial",
+            assumptions: "Centred aligned dipole; signed -Z moment for Earth/Mercury, +Z for giant presets. Giant polarities are prescribed simplifications. Ignores measured tilts/offsets (especially large for Uranus/Neptune), harmonics, secular variation and external fields. Radius coverage 1...10 reference radii is a chosen simulation bound, not magnetopause geometry.",
+            radiusRangeMetres: radius...10*radius)
+        return BodyMagneticField(body: body, dipole: try! DipoleMagneticField(referenceRadiusMetres: radius,
+            momentAxisFieldTesla: SIMD3(0,0,gauss*1e-4), metadata: metadata))
+    }
+    /// nil means no supplied intrinsic model, not a zero total magnetic field.
+    public static func model(naifBodyCode: Int32) -> BodyMagneticField? {
+        MagneticBody(rawValue: naifBodyCode).map { model(for: $0) }
+    }
+}
diff --git a/Sources/MagneticFields/MagneticField.swift b/Sources/MagneticFields/MagneticField.swift
new file mode 100644
index 0000000..e8549ba
--- /dev/null
+++ b/Sources/MagneticFields/MagneticField.swift
@@ -0,0 +1,144 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+public enum MagneticFieldError: Error, Equatable {
+    case invalidParameters, invalidPosition, invalidDate, outsideCoverage, singularField, nonFiniteResult
+}
+
+/// Position relative to the body centre in the provider's stated body-fixed axes.
+/// Decimal year is a caller-supplied calendar date, not elapsed Julian years from J2000.
+public struct MagneticFieldQuery: Sendable {
+    public let positionMetres: SIMD3<Double>
+    public let decimalYear: Double
+    public init(positionMetres: SIMD3<Double>, decimalYear: Double) throws {
+        guard [positionMetres.x,positionMetres.y,positionMetres.z].allSatisfy(\.isFinite) else {
+            throw MagneticFieldError.invalidPosition
+        }
+        guard decimalYear.isFinite else { throw MagneticFieldError.invalidDate }
+        self.positionMetres = positionMetres; self.decimalYear = decimalYear
+    }
+}
+
+public struct MagneticFluxDensity: Sendable {
+    /// Magnetic flux density B in tesla, in the same axes as the query position.
+    public let vectorTesla: SIMD3<Double>
+    public var magnitudeTesla: Double { hypot(hypot(vectorTesla.x,vectorTesla.y),vectorTesla.z) }
+    public init(vectorTesla: SIMD3<Double>) throws {
+        guard [vectorTesla.x,vectorTesla.y,vectorTesla.z].allSatisfy(\.isFinite),
+              hypot(hypot(vectorTesla.x,vectorTesla.y),vectorTesla.z).isFinite else {
+            throw MagneticFieldError.nonFiniteResult
+        }
+        self.vectorTesla = vectorTesla
+    }
+}
+
+/// Coverage is geocentric radius, not altitude. nil date coverage means time-independent.
+public struct MagneticFieldMetadata: Sendable {
+    public let name: String
+    public let source: String
+    public let version: String
+    public let axesDescription: String
+    public let assumptions: String
+    public let radiusRangeMetres: ClosedRange<Double>
+    public let decimalYearRange: ClosedRange<Double>?
+    public init(name: String, source: String, version: String, axesDescription: String,
+                assumptions: String, radiusRangeMetres: ClosedRange<Double>,
+                decimalYearRange: ClosedRange<Double>? = nil) throws {
+        guard [name,source,version,axesDescription].allSatisfy({ !$0.trimmingCharacters(in: .whitespacesAndNewlines).isEmpty }),
+              radiusRangeMetres.lowerBound.isFinite, radiusRangeMetres.upperBound.isFinite,
+              radiusRangeMetres.lowerBound >= 0,
+              decimalYearRange.map({ $0.lowerBound.isFinite && $0.upperBound.isFinite }) ?? true else {
+            throw MagneticFieldError.invalidParameters
+        }
+        self.name = name; self.source = source; self.version = version
+        self.axesDescription = axesDescription; self.assumptions = assumptions
+        self.radiusRangeMetres = radiusRangeMetres; self.decimalYearRange = decimalYearRange
+    }
+    public func validate(_ query: MagneticFieldQuery) throws {
+        let p = query.positionMetres
+        let radius = hypot(hypot(p.x,p.y),p.z)
+        guard radius.isFinite, radiusRangeMetres.contains(radius),
+              decimalYearRange.map({ $0.contains(query.decimalYear) }) ?? true else {
+            throw MagneticFieldError.outsideCoverage
+        }
+    }
+}
+
+/// Pluggable field evaluator: dipoles, prescribed fields or future WMM/IGRF harmonics.
+/// Providers perform no origin translations, frame transforms or calendar conversions.
+public protocol MagneticFieldModel: Sendable {
+    var metadata: MagneticFieldMetadata { get }
+    func field(at query: MagneticFieldQuery) throws -> MagneticFluxDensity
+}
+public extension MagneticFieldModel {
+    /// Enforces metadata coverage even for a caller-supplied provider.
+    func checkedField(at query: MagneticFieldQuery) throws -> MagneticFluxDensity {
+        try metadata.validate(query)
+        return try field(at: query)
+    }
+}
+
+/// B = (a/r)^3 [3 n (b·n) − b], where b = μ₀ m/(4π a³).
+/// b points along the signed dipole moment; at the magnetic equator B points opposite b.
+/// Supports tilted and displaced dipoles. No magnetopause, solar wind, induction or multipoles.
+public struct DipoleMagneticField: MagneticFieldModel {
+    public let metadata: MagneticFieldMetadata
+    public let referenceRadiusMetres: Double
+    public let momentAxisFieldTesla: SIMD3<Double>
+    public let offsetMetres: SIMD3<Double>
+    public init(referenceRadiusMetres: Double, momentAxisFieldTesla: SIMD3<Double>,
+                offsetMetres: SIMD3<Double> = .zero, metadata: MagneticFieldMetadata) throws {
+        guard referenceRadiusMetres.isFinite, referenceRadiusMetres > 0,
+              [momentAxisFieldTesla.x,momentAxisFieldTesla.y,momentAxisFieldTesla.z,
+               offsetMetres.x,offsetMetres.y,offsetMetres.z].allSatisfy(\.isFinite),
+              hypot(hypot(momentAxisFieldTesla.x,momentAxisFieldTesla.y),momentAxisFieldTesla.z).isFinite else {
+            throw MagneticFieldError.invalidParameters
+        }
+        self.referenceRadiusMetres = referenceRadiusMetres; self.momentAxisFieldTesla = momentAxisFieldTesla
+        self.offsetMetres = offsetMetres; self.metadata = metadata
+    }
+    public func field(at query: MagneticFieldQuery) throws -> MagneticFluxDensity {
+        try metadata.validate(query)
+        let p = query.positionMetres-offsetMetres
+        let radius = hypot(hypot(p.x,p.y),p.z)
+        guard radius.isFinite else { throw MagneticFieldError.nonFiniteResult }
+        guard radius > 0 else { throw MagneticFieldError.singularField }
+        let n = p/radius, ratio = referenceRadiusMetres/radius
+        // Normalize the moment before dot products to avoid avoidable overflow.
+        let magnitude = hypot(hypot(momentAxisFieldTesla.x,momentAxisFieldTesla.y),momentAxisFieldTesla.z)
+        if magnitude == 0 { return try MagneticFluxDensity(vectorTesla: .zero) }
+        let axis = momentAxisFieldTesla/magnitude
+        let dot = (axis*n).sum()
+        let scale = magnitude*ratio*ratio*ratio
+        guard scale.isFinite else { throw MagneticFieldError.nonFiniteResult }
+        return try MagneticFluxDensity(vectorTesla: (3*dot*n-axis)*scale)
+    }
+}
+
+/// Explicit caller-prescribed field, useful for controlled experiments and external fields.
+public struct ConstantMagneticField: MagneticFieldModel {
+    public let metadata: MagneticFieldMetadata
+    private let sample: MagneticFluxDensity
+    public init(vectorTesla: SIMD3<Double>, metadata: MagneticFieldMetadata) throws {
+        self.sample = try MagneticFluxDensity(vectorTesla: vectorTesla); self.metadata = metadata
+    }
+    public func field(at query: MagneticFieldQuery) throws -> MagneticFluxDensity {
+        try metadata.validate(query); return sample
+    }
+}
diff --git a/Sources/MagneticFields/MagneticFields.docc/Guide.md b/Sources/MagneticFields/MagneticFields.docc/Guide.md
new file mode 100644
index 0000000..1fc3127
--- /dev/null
+++ b/Sources/MagneticFields/MagneticFields.docc/Guide.md
@@ -0,0 +1,111 @@
+# MagneticFields
+
+Swift target with no dependencies, available via this repository's
+`MagneticFields` and `Physics` products. All fields are **magnetic flux
+density B in tesla**, positions in metres, in the model's stated body-fixed axes.
+
+```swift
+import MagneticFields
+let earth = BodyMagneticField.model(for: .earth)
+let query = try MagneticFieldQuery(
+    positionMetres: SIMD3(earth.dipole.referenceRadiusMetres, 0, 0),
+    decimalYear: 2026.5)
+let field = try earth.checkedField(at: query)
+// Earth magnetic equator: nominal 30.6 µT in the +Z direction.
+```
+
+`MagneticFieldModel` is the interchangeable interface. It accepts a body-centred
+Cartesian position and calendar decimal year and returns Cartesian B in the same
+axes. Models expose source, version, assumptions, axis convention, geocentric-radius
+coverage and optional date coverage. `checkedField` enforces coverage for any provider.
+A nil date range explicitly denotes a time-independent model. Spatial coverage is a
+chosen evaluation bound, not a surface, collision boundary or magnetopause.
+
+`DipoleMagneticField` supports arbitrary tilt, signed polarity and displacement.
+Its moment-axis vector is `μ₀ m/(4π a³)` in tesla at reference radius a. An equatorial
+field is opposite that vector; the axial field has twice its magnitude. Displaced
+dipoles use displacement from the dipole for evaluation while radius coverage remains
+relative to the body centre. Evaluation at the dipole centre throws.
+`ConstantMagneticField` supplies prescribed fields for controlled scenarios.
+
+Presets: Mercury, Earth, Jupiter, Saturn, Uranus and Neptune. These are deliberately
+centred, aligned, static dipoles with nominal strengths from the
+[NASA fact sheets](https://nssdc.gsfc.nasa.gov/planetary/factsheet/).
+They omit measured tilts and offsets, especially important for Uranus and Neptune,
+as well as multipoles, secular variation and external magnetospheric fields.
+Signed moments are -Z for Earth/Mercury and prescribed +Z for giant presets;
+these are simulation conventions, not full reconstructions of measured polarities.
+Coverage is 1...10 reference radii. Unsupported bodies and system barycentres return
+nil, meaning no supplied intrinsic model. Venus, Mars and moons can still experience
+external or induced fields; absence of a preset never implies zero total field.
+
+## WMM and IGRF
+
+`WMMMagneticField` reads standard six-column WMM `.COF` files. `IGRFMagneticField`
+reads traditional IGRF g/h epoch tables. Both use an immutable Swift internal-field
+harmonic evaluator with local scratch arrays and no C/Fortran runtime dependency.
+WMM applies secular variation from its reference epoch; IGRF interpolates between
+epochs and uses the final SV column after the last epoch. Dates outside the file's
+coverage throw. Harmonic degrees 1...64 are supported; WMMHR is not supported.
+
+```swift
+import Foundation
+import MagneticFields
+let wmm = try WMMMagneticField.wmm2025() // Bundled NOAA WMM2025, 2025...2030
+let igrf = try IGRFMagneticField.igrf14() // Bundled IAGA IGRF-14, 1900...2030
+let updated = try WMMMagneticField(coefficientFile: URL(fileURLWithPath: "/path/to/WMM.COF"))
+let local = try wmm.elements(at: GeodeticMagneticQuery(
+    latitudeRadians: 52.0 * .pi / 180, longitudeRadians: 5.0 * .pi / 180,
+    ellipsoidHeightMetres: 0, decimalYear: 2026.5))
+// local.northEastDownTesla, totalIntensityTesla, declinationRadians, inclinationRadians
+```
+
+File loaders are explicit I/O; evaluators never fetch data. New coefficient editions
+in these formats can be loaded without modifying the evaluator. Parsers reject
+missing, duplicate, malformed and nonfinite coefficients. `.COF` files have no end
+date, so WMM loading accepts an explicit `validityYears` (default five).
+Geodetic queries use WGS84 ellipsoid heights, radians and metres; supported heights
+are −1 to 850 km. Geocentric queries retain the common XYZ interface. The 6000...7500 km
+radius bound is numerical coverage, not a promise of physical accuracy throughout.
+There is no geoid correction, external-field model, crustal anomaly model, grid
+variation output or uncertainty estimator. Compass declination at geographic poles
+has no unique meaning even though Cartesian fields remain well defined.
+
+The bundled IGRF-14 table is attributed to IAGA:
+[IGRF-14 coefficients](https://doi.org/10.5281/zenodo.14012302),
+[NOAA coefficient distribution](https://www.ngdc.noaa.gov/IAGA/vmod/coeffs/igrf14coeffs.txt).
+WMM2025 coefficients/test data come from NOAA's public-domain download.
+Tests compare the full published WMM2025 vector table and 48 independent IGRF-14
+Fortran reference vectors, including historical interpolation and polar cases.
+
+[NOAA WMM documentation](https://www.ncei.noaa.gov/products/world-magnetic-model)
+describes five-year coefficient validity and calendar decimal years. Calendar decimal
+year means year + fraction of that calendar year, including its actual length; it is
+not `(JulianDate-J2000)/365.25 + 2000`. The geographic helper explicitly uses WGS84 ellipsoid height; other
+coordinate adapters must state their ellipsoid and altitude datum.
+
+## CelMek integration
+
+`BodyIdentifier.earth.magneticModel` provides lookup. `ModelBodyMagneticField` wraps
+any provider with body identity and an explicit `(Epoch) throws -> Double` date mapping:
+
+```swift
+import CelMek
+import MagneticFields
+let model = try ModelBodyMagneticField(
+    bodyIdentifier: .earth, model: BodyMagneticField.model(for: .earth),
+    decimalYear: { _ in 2026.5 }) // Fixed date is suitable here only because the dipole is static.
+let sample = try model.magneticField(at: .j2000,
+    displacementMetres: SIMD3(7_000_000, 0, 0))
+```
+
+`CelestialBodyModels` accepts an optional `BodyMagneticProvider`, enforcing body
+identity. `OrientedBodyMagneticField` combines that provider with a matching
+`BodyOrientationProvider`: it rotates a body-centred reference position into the
+model's axes, evaluates B, then rotates B back into reference axes. Epoch and frame
+identities are checked. This adapter also implements CelMek's existing
+`MagneticFieldProvider`, so it can be passed directly to `MagnetorquerTorque`.
+Axes must agree with the supplied orientation; no ephemeris
+translation, calendar conversion or implicit orientation selection occurs.
+
+Run `swift test --filter 'MagneticFieldTests|GeomagneticTests'` from the repository root.
diff --git a/Sources/MagneticFields/MagneticFields.docc/MagneticFields.md b/Sources/MagneticFields/MagneticFields.docc/MagneticFields.md
new file mode 100644
index 0000000..4734560
--- /dev/null
+++ b/Sources/MagneticFields/MagneticFields.docc/MagneticFields.md
@@ -0,0 +1,22 @@
+# ``MagneticFields``
+
+Pluggable magnetic-field models with explicit coordinates, units and coefficient coverage.
+
+Use ideal dipoles or Earth WMM/IGRF harmonics. Field vectors use tesla and body-fixed
+Cartesian coordinates; geographic convenience queries use WGS84 ellipsoid heights.
+
+## Topics
+
+### Using field models
+- <doc:Guide>
+- ``MagneticFieldModel``
+- ``MagneticFieldQuery``
+- ``MagneticFluxDensity``
+- ``DipoleMagneticField``
+- ``BodyMagneticField``
+
+### Earth reference models
+- ``WMMMagneticField``
+- ``IGRFMagneticField``
+- ``GeodeticMagneticQuery``
+- ``GeomagneticElements``
diff --git a/Sources/MagneticFields/Resources/WMM2025.COF b/Sources/MagneticFields/Resources/WMM2025.COF
new file mode 100644
index 0000000..b8eb8fc
--- /dev/null
+++ b/Sources/MagneticFields/Resources/WMM2025.COF
@@ -0,0 +1,93 @@
+    2025.0            WMM-2025        11/13/2024
+  1  0  -29351.8       0.0       12.0        0.0
+  1  1   -1410.8    4545.4        9.7      -21.5
+  2  0   -2556.6       0.0      -11.6        0.0
+  2  1    2951.1   -3133.6       -5.2      -27.7
+  2  2    1649.3    -815.1       -8.0      -12.1
+  3  0    1361.0       0.0       -1.3        0.0
+  3  1   -2404.1     -56.6       -4.2        4.0
+  3  2    1243.8     237.5        0.4       -0.3
+  3  3     453.6    -549.5      -15.6       -4.1
+  4  0     895.0       0.0       -1.6        0.0
+  4  1     799.5     278.6       -2.4       -1.1
+  4  2      55.7    -133.9       -6.0        4.1
+  4  3    -281.1     212.0        5.6        1.6
+  4  4      12.1    -375.6       -7.0       -4.4
+  5  0    -233.2       0.0        0.6        0.0
+  5  1     368.9      45.4        1.4       -0.5
+  5  2     187.2     220.2        0.0        2.2
+  5  3    -138.7    -122.9        0.6        0.4
+  5  4    -142.0      43.0        2.2        1.7
+  5  5      20.9     106.1        0.9        1.9
+  6  0      64.4       0.0       -0.2        0.0
+  6  1      63.8     -18.4       -0.4        0.3
+  6  2      76.9      16.8        0.9       -1.6
+  6  3    -115.7      48.8        1.2       -0.4
+  6  4     -40.9     -59.8       -0.9        0.9
+  6  5      14.9      10.9        0.3        0.7
+  6  6     -60.7      72.7        0.9        0.9
+  7  0      79.5       0.0       -0.0        0.0
+  7  1     -77.0     -48.9       -0.1        0.6
+  7  2      -8.8     -14.4       -0.1        0.5
+  7  3      59.3      -1.0        0.5       -0.8
+  7  4      15.8      23.4       -0.1        0.0
+  7  5       2.5      -7.4       -0.8       -1.0
+  7  6     -11.1     -25.1       -0.8        0.6
+  7  7      14.2      -2.3        0.8       -0.2
+  8  0      23.2       0.0       -0.1        0.0
+  8  1      10.8       7.1        0.2       -0.2
+  8  2     -17.5     -12.6        0.0        0.5
+  8  3       2.0      11.4        0.5       -0.4
+  8  4     -21.7      -9.7       -0.1        0.4
+  8  5      16.9      12.7        0.3       -0.5
+  8  6      15.0       0.7        0.2       -0.6
+  8  7     -16.8      -5.2       -0.0        0.3
+  8  8       0.9       3.9        0.2        0.2
+  9  0       4.6       0.0       -0.0        0.0
+  9  1       7.8     -24.8       -0.1       -0.3
+  9  2       3.0      12.2        0.1        0.3
+  9  3      -0.2       8.3        0.3       -0.3
+  9  4      -2.5      -3.3       -0.3        0.3
+  9  5     -13.1      -5.2        0.0        0.2
+  9  6       2.4       7.2        0.3       -0.1
+  9  7       8.6      -0.6       -0.1       -0.2
+  9  8      -8.7       0.8        0.1        0.4
+  9  9     -12.9      10.0       -0.1        0.1
+ 10  0      -1.3       0.0        0.1        0.0
+ 10  1      -6.4       3.3        0.0        0.0
+ 10  2       0.2       0.0        0.1       -0.0
+ 10  3       2.0       2.4        0.1       -0.2
+ 10  4      -1.0       5.3       -0.0        0.1
+ 10  5      -0.6      -9.1       -0.3       -0.1
+ 10  6      -0.9       0.4        0.0        0.1
+ 10  7       1.5      -4.2       -0.1        0.0
+ 10  8       0.9      -3.8       -0.1       -0.1
+ 10  9      -2.7       0.9       -0.0        0.2
+ 10 10      -3.9      -9.1       -0.0       -0.0
+ 11  0       2.9       0.0        0.0        0.0
+ 11  1      -1.5       0.0       -0.0       -0.0
+ 11  2      -2.5       2.9        0.0        0.1
+ 11  3       2.4      -0.6        0.0       -0.0
+ 11  4      -0.6       0.2        0.0        0.1
+ 11  5      -0.1       0.5       -0.1       -0.0
+ 11  6      -0.6      -0.3        0.0       -0.0
+ 11  7      -0.1      -1.2       -0.0        0.1
+ 11  8       1.1      -1.7       -0.1       -0.0
+ 11  9      -1.0      -2.9       -0.1        0.0
+ 11 10      -0.2      -1.8       -0.1        0.0
+ 11 11       2.6      -2.3       -0.1        0.0
+ 12  0      -2.0       0.0        0.0        0.0
+ 12  1      -0.2      -1.3        0.0       -0.0
+ 12  2       0.3       0.7       -0.0        0.0
+ 12  3       1.2       1.0       -0.0       -0.1
+ 12  4      -1.3      -1.4       -0.0        0.1
+ 12  5       0.6      -0.0       -0.0       -0.0
+ 12  6       0.6       0.6        0.1       -0.0
+ 12  7       0.5      -0.1       -0.0       -0.0
+ 12  8      -0.1       0.8        0.0        0.0
+ 12  9      -0.4       0.1        0.0       -0.0
+ 12 10      -0.2      -1.0       -0.1       -0.0
+ 12 11      -1.3       0.1       -0.0        0.0
+ 12 12      -0.7       0.2       -0.1       -0.1
+999999999999999999999999999999999999999999999999
+999999999999999999999999999999999999999999999999
diff --git a/Sources/MagneticFields/Resources/igrf14coeffs.txt b/Sources/MagneticFields/Resources/igrf14coeffs.txt
new file mode 100644
index 0000000..13e7122
--- /dev/null
+++ b/Sources/MagneticFields/Resources/igrf14coeffs.txt
@@ -0,0 +1,199 @@
+# 14th Generation International Geomagnetic Reference Field Schmidt semi-normalised spherical harmonic coefficients, degree n=1,13
+# in units nanoTesla for IGRF and definitive DGRF main-field models (degree n=1,8 nanoTesla/year for secular variation (SV))
+c/s deg ord IGRF IGRF   IGRF   IGRF   IGRF   IGRF   IGRF   IGRF   IGRF   DGRF   DGRF   DGRF   DGRF   DGRF   DGRF   DGRF   DGRF   DGRF   DGRF   DGRF   DGRF   DGRF     DGRF      DGRF      DGRF      IGRF        SV
+g/h n m 1900.0 1905.0 1910.0 1915.0 1920.0 1925.0 1930.0 1935.0 1940.0 1945.0 1950.0 1955.0 1960.0 1965.0 1970.0 1975.0 1980.0 1985.0 1990.0 1995.0   2000.0    2005.0    2010.0    2015.0    2020.0   2025.0 2025-30
+g  1  0 -31543 -31464 -31354 -31212 -31060 -30926 -30805 -30715 -30654 -30594 -30554 -30500 -30421 -30334 -30220 -30100 -29992 -29873 -29775 -29692 -29619.4 -29554.63 -29496.57 -29441.46 -29403.41 -29350.0    12.6
+g  1  1  -2298  -2298  -2297  -2306  -2317  -2318  -2316  -2306  -2292  -2285  -2250  -2215  -2169  -2119  -2068  -2013  -1956  -1905  -1848  -1784  -1728.2  -1669.05  -1586.42  -1501.77  -1451.37  -1410.3    10.0
+h  1  1   5922   5909   5898   5875   5845   5817   5808   5812   5821   5810   5815   5820   5791   5776   5737   5675   5604   5500   5406   5306   5186.1   5077.99   4944.26   4795.99   4653.35   4545.5   -21.5
+g  2  0   -677   -728   -769   -802   -839   -893   -951  -1018  -1106  -1244  -1341  -1440  -1555  -1662  -1781  -1902  -1997  -2072  -2131  -2200  -2267.7  -2337.24  -2396.06  -2445.88  -2499.78  -2556.2   -11.2
+g  2  1   2905   2928   2948   2956   2959   2969   2980   2984   2981   2990   2998   3003   3002   2997   3000   3010   3027   3044   3059   3070   3068.4   3047.69   3026.34   3012.20   2981.96   2950.9    -5.3
+h  2  1  -1061  -1086  -1128  -1191  -1259  -1334  -1424  -1520  -1614  -1702  -1810  -1898  -1967  -2016  -2047  -2067  -2129  -2197  -2279  -2366  -2481.6  -2594.50  -2708.54  -2845.41  -2991.72  -3133.6   -27.3
+g  2  2    924   1041   1176   1309   1407   1471   1517   1550   1566   1578   1576   1581   1590   1594   1611   1632   1663   1687   1686   1681   1670.9   1657.76   1668.17   1676.35   1676.85   1648.7    -8.3
+h  2  2   1121   1065   1000    917    823    728    644    586    528    477    381    291    206    114     25    -68   -200   -306   -373   -413   -458.0   -515.43   -575.73   -642.17   -734.62   -814.2   -11.1
+g  3  0   1022   1037   1058   1084   1111   1140   1172   1206   1240   1282   1297   1302   1302   1297   1287   1276   1281   1296   1314   1335   1339.6   1336.30   1339.85   1350.33   1363.00   1360.9    -1.5
+g  3  1  -1469  -1494  -1524  -1559  -1600  -1645  -1692  -1740  -1790  -1834  -1889  -1944  -1992  -2038  -2091  -2144  -2180  -2208  -2239  -2267  -2288.0  -2305.83  -2326.54  -2352.26  -2380.80  -2404.2    -4.4
+h  3  1   -330   -357   -389   -421   -445   -462   -480   -494   -499   -499   -476   -462   -414   -404   -366   -333   -336   -310   -284   -262   -227.6   -198.86   -160.40   -115.29    -81.96    -56.9     3.8
+g  3  2   1256   1239   1223   1212   1205   1202   1205   1215   1232   1255   1274   1288   1289   1292   1278   1260   1251   1247   1248   1249   1252.1   1246.39   1232.10   1225.85   1236.06   1243.8     0.4
+h  3  2      3     34     62     84    103    119    133    146    163    186    206    216    224    240    251    262    271    284    293    302    293.4    269.72    251.75    245.04    241.80    237.6    -0.2
+g  3  3    572    635    705    778    839    881    907    918    916    913    896    882    878    856    838    830    833    829    802    759    714.5    672.51    633.73    581.69    525.60    453.4   -15.6
+h  3  3    523    480    425    360    293    229    166    101     43    -11    -46    -83   -130   -165   -196   -223   -252   -297   -352   -427   -491.1   -524.72   -537.03   -538.70   -542.52   -549.6    -3.9
+g  4  0    876    880    884    887    889    891    896    903    914    944    954    958    957    957    952    946    938    936    939    940    932.3    920.55    912.66    907.42    902.82    894.7    -1.7
+g  4  1    628    643    660    678    695    711    727    744    762    776    792    796    800    804    800    791    782    780    780    780    786.8    797.96    808.97    813.68    809.47    799.6    -2.3
+h  4  1    195    203    211    218    220    216    205    188    169    144    136    133    135    148    167    191    212    232    247    262    272.6    282.07    286.48    283.54    282.10    278.6    -1.3
+g  4  2    660    653    644    631    616    601    584    565    550    544    528    510    504    479    461    438    398    361    325    290    250.0    210.65    166.58    120.49     86.18     55.8    -5.8
+h  4  2    -69    -77    -90   -109   -134   -163   -195   -226   -252   -276   -278   -274   -278   -269   -266   -265   -257   -249   -240   -236   -231.9   -225.23   -211.03   -188.43   -158.50   -134.0     4.1
+g  4  3   -361   -380   -400   -416   -424   -426   -422   -415   -405   -421   -408   -397   -394   -390   -395   -405   -419   -424   -423   -418   -403.0   -379.86   -356.83   -334.85   -309.47   -281.1     5.4
+h  4  3   -210   -201   -189   -173   -153   -130   -109    -90    -72    -55    -37    -23      3     13     26     39     53     69     84     97    119.8    145.15    164.46    180.95    199.75    212.0     1.6
+g  4  4    134    146    160    178    199    217    234    249    265    304    303    290    269    252    234    216    199    170    141    122    111.3    100.00     89.40     70.38     47.44     12.0    -6.8
+h  4  4    -75    -65    -55    -51    -57    -70    -90   -114   -141   -178   -210   -230   -255   -269   -279   -288   -297   -297   -299   -306   -303.8   -305.36   -309.72   -329.23   -350.30   -375.4    -4.1
+g  5  0   -184   -192   -201   -211   -221   -230   -237   -241   -241   -253   -240   -229   -222   -219   -216   -218   -218   -214   -214   -214   -218.8   -227.00   -230.87   -232.91   -234.42   -232.9     0.6
+g  5  1    328    328    327    327    326    326    327    329    334    346    349    360    362    358    359    356    357    355    353    352    351.4    354.41    357.29    360.14    363.26    369.0     1.3
+h  5  1   -210   -193   -172   -148   -122    -96    -72    -51    -33    -12      3     15     16     19     26     31     46     47     46     46     43.8     42.72     44.58     46.98     47.52     45.3    -0.5
+g  5  2    264    259    253    245    236    226    218    211    208    194    211    230    242    254    262    264    261    253    245    235    222.3    208.95    200.26    192.35    187.86    187.2     0.0
+h  5  2     53     56     57     58     58     58     60     64     71     95    103    110    125    128    139    148    150    150    154    165    171.9    180.25    189.01    196.98    208.36    220.0     2.1
+g  5  3      5     -1     -9    -16    -23    -28    -32    -33    -33    -20    -20    -23    -26    -31    -42    -59    -74    -93   -109   -118   -130.4   -136.54   -141.05   -140.94   -140.73   -138.7     0.7
+h  5  3    -33    -32    -33    -34    -38    -44    -53    -64    -75    -67    -87    -98   -117   -126   -139   -152   -151   -154   -153   -143   -133.1   -123.45   -118.06   -119.14   -121.43   -122.9     0.5
+g  5  4    -86    -93   -102   -111   -119   -125   -131   -136   -141   -142   -147   -152   -156   -157   -160   -159   -162   -164   -165   -166   -168.6   -168.05   -163.17   -157.40   -151.16   -141.9     2.3
+h  5  4   -124   -125   -126   -126   -125   -122   -118   -115   -113   -119   -122   -121   -114    -97    -91    -83    -78    -75    -69    -55    -39.3    -19.57     -0.01     15.98     32.09     42.9     1.7
+g  5  5    -16    -26    -38    -51    -62    -69    -74    -76    -76    -82    -76    -69    -63    -62    -56    -49    -48    -46    -36    -17    -12.9    -13.55     -8.03      4.30     13.98     20.9     1.0
+h  5  5      3     11     21     32     43     51     58     64     69     82     80     78     81     81     83     88     92     95     97    107    106.3    103.85    101.04    100.12     99.14    106.2     1.9
+g  6  0     63     62     62     61     61     61     60     59     57     59     54     47     46     45     43     45     48     53     61     68     72.3     73.60     72.78     69.55     65.97     64.3    -0.2
+g  6  1     61     60     58     57     55     54     53     53     54     57     57     57     58     61     64     66     66     65     65     67     68.2     69.56     68.69     67.57     65.56     63.8    -0.3
+h  6  1     -9     -7     -5     -2      0      3      4      4      4      6     -1     -9    -10    -11    -12    -13    -15    -16    -16    -17    -17.4    -20.33    -20.90    -20.61    -19.22    -18.4     0.3
+g  6  2    -11    -11    -11    -10    -10     -9     -9     -8     -7      6      4      3      1      8     15     28     42     51     59     68     74.2     76.74     75.92     72.79     72.96     76.7     0.8
+h  6  2     83     86     89     93     96     99    102    104    105    100     99     96     99    100    100     99     93     88     82     72     63.7     54.75     44.18     33.30     25.02     16.8    -1.6
+g  6  3   -217   -221   -224   -228   -233   -238   -242   -246   -249   -246   -247   -247   -237   -228   -212   -198   -192   -185   -178   -170   -160.9   -151.34   -141.40   -129.85   -121.57   -115.7     1.2
+h  6  3      2      4      5      8     11     14     19     25     33     16     33     48     60     68     72     75     71     69     69     67     65.1     63.63     61.54     58.74     52.76     48.9    -0.4
+g  6  4    -58    -57    -54    -51    -46    -40    -32    -25    -18    -25    -16     -8     -1      4      2      1      4      4      3     -1     -5.9    -14.58    -22.83    -28.93    -36.06    -40.9    -0.8
+h  6  4    -35    -32    -29    -26    -22    -18    -16    -15    -15     -9    -12    -16    -20    -32    -37    -41    -43    -48    -52    -58    -61.2    -63.53    -66.26    -66.64    -64.40    -59.8     0.8
+g  6  5     59     57     54     49     44     39     32     25     18     21     12      7     -2      1      3      6     14     16     18     19     16.9     14.58     13.10     13.14     13.60     14.9     0.4
+h  6  5     36     32     28     23     18     13      8      4      0    -16    -12    -12    -11     -8     -6     -4     -2     -1      1      1      0.7      0.24      3.02      7.35      8.96     10.9     0.7
+g  6  6    -90    -92    -95    -98   -101   -103   -104   -106   -107   -104   -105   -107   -113   -111   -112   -111   -108   -102    -96    -93    -90.4    -86.36    -78.09    -70.85    -64.80    -60.8     0.9
+h  6  6    -69    -67    -65    -62    -57    -52    -46    -40    -33    -39    -30    -24    -17     -7      1     11     17     21     24     36     43.8     50.94     55.40     62.41     68.04     72.8     0.9
+g  7  0     70     70     71     72     73     73     74     74     74     70     65     65     67     75     72     71     72     74     77     77     79.0     79.88     80.44     81.29     80.54     79.6    -0.1
+g  7  1    -55    -54    -54    -54    -54    -54    -54    -53    -53    -40    -55    -56    -56    -57    -57    -56    -59    -62    -64    -72    -74.0    -74.46    -75.00    -75.99    -76.63    -76.9    -0.1
+h  7  1    -45    -46    -47    -48    -49    -50    -51    -52    -52    -45    -35    -50    -55    -61    -70    -77    -82    -83    -80    -69    -64.6    -61.14    -57.80    -54.27    -51.50    -48.9     0.6
+g  7  2      0      0      1      2      2      3      4      4      4      0      2      2      5      4      1      1      2      3      2      1      0.0     -1.65     -4.55     -6.79     -8.23     -8.8    -0.1
+h  7  2    -13    -14    -14    -14    -14    -14    -15    -17    -18    -18    -17    -24    -28    -27    -27    -26    -27    -27    -26    -25    -24.2    -22.57    -21.20    -19.53    -16.85    -14.4     0.5
+g  7  3     34     33     32     31     29     27     25     23     20      0      1     10     15     13     14     16     21     24     26     28     33.3     38.73     45.24     51.82     56.45     59.3     0.5
+h  7  3    -10    -11    -12    -12    -13    -14    -14    -14    -14      2      0     -4     -6     -2     -4     -5     -5     -2      0      4      6.2      6.82      6.54      5.59      2.36     -1.0    -0.7
+g  7  4    -41    -41    -40    -38    -37    -35    -34    -33    -31    -29    -40    -32    -32    -26    -22    -14    -12     -6     -1      5      9.1     12.30     14.00     15.07     15.80     15.8    -0.1
+h  7  4     -1      0      1      2      4      5      6      7      7      6     10      8      7      6      8     10     16     20     21     24     24.0     25.35     24.96     24.45     23.56     23.5     0.0
+g  7  5    -21    -20    -19    -18    -16    -14    -12    -11     -9    -10     -7    -11     -7     -6     -2      0      1      4      5      4      6.9      9.37     10.46      9.32      6.30      2.5    -0.8
+h  7  5     28     28     28     28     28     29     29     29     29     28     36     28     23     26     23     22     18     17     17     17     14.8     10.93      7.03      3.27     -2.19     -7.4    -0.9
+g  7  6     18     18     18     19     19     19     18     18     17     15      5      9     17     13     13     12     11     10      9      8      7.3      5.42      1.64     -2.88     -7.21    -11.2    -0.8
+h  7  6    -12    -12    -13    -15    -16    -17    -18    -19    -20    -17    -18    -20    -18    -23    -23    -23    -23    -23    -23    -24    -25.4    -26.32    -27.61    -27.50    -27.19    -25.1     0.5
+g  7  7      6      6      6      6      6      6      6      6      5     29     19     18      8      1     -2     -5     -2      0      0     -2     -1.2      1.94      4.92      6.61      9.77     14.3     0.9
+h  7  7    -22    -22    -22    -22    -22    -21    -20    -19    -19    -22    -16    -18    -17    -12    -11    -12    -10     -7     -4     -6     -5.8     -4.64     -3.28     -2.32     -1.90     -2.2    -0.3
+g  8  0     11     11     11     11     11     11     11     11     11     13     22     11     15     13     14     14     18     21     23     25     24.4     24.80     24.41     23.98     23.66     23.1    -0.1
+g  8  1      8      8      8      8      7      7      7      7      7      7     15      9      6      5      6      6      6      6      5      6      6.6      7.62      8.21      8.89      9.74     10.9     0.2
+h  8  1      8      8      8      8      8      8      8      8      8     12      5     10     11      7      7      6      7      8     10     11     11.9     11.20     10.84     10.04      8.43      7.2    -0.3
+g  8  2     -4     -4     -4     -4     -3     -3     -3     -3     -3     -8     -4     -6     -4     -4     -2     -1      0      0     -1     -6     -9.2    -11.73    -14.50    -16.78    -17.49    -17.5     0.0
+h  8  2    -14    -15    -15    -15    -15    -15    -15    -15    -14    -21    -22    -15    -14    -12    -15    -16    -18    -19    -19    -21    -21.5    -20.88    -20.03    -18.26    -15.23    -12.6     0.4
+g  8  3     -9     -9     -9     -9     -9     -9     -9     -9    -10     -5     -1    -14    -11    -14    -13    -12    -11    -11    -10     -9     -7.9     -6.88     -5.59     -3.16     -0.49      2.0     0.4
+h  8  3      7      7      6      6      6      6      5      5      5    -12      0      5      7      9      6      4      4      5      6      8      8.5      9.83     11.83     13.18     12.83     11.5    -0.3
+g  8  4      1      1      1      2      2      2      2      1      1      9     11      6      2      0     -3     -8     -7     -9    -12    -14    -16.6    -18.11    -19.34    -20.56    -21.07    -21.8    -0.1
+h  8  4    -13    -13    -13    -13    -14    -14    -14    -15    -15     -7    -21    -23    -18    -16    -17    -19    -22    -23    -22    -23    -21.5    -19.71    -17.41    -14.60    -11.76     -9.7     0.4
+g  8  5      2      2      2      3      4      4      5      6      6      7     15     10     10      8      5      4      4      4      3      9      9.1     10.17     11.61     13.33     15.28     16.9     0.3
+h  8  5      5      5      5      5      5      5      5      5      5      2     -8      3      4      4      6      6      9     11     12     15     15.5     16.22     16.71     16.16     14.94     12.7    -0.5
+g  8  6     -9     -8     -8     -8     -7     -7     -6     -6     -5    -10    -13     -7     -5     -1      0      0      3      4      4      6      7.0      9.36     10.85     11.76     13.65     14.9     0.1
+h  8  6     16     16     16     16     17     17     18     18     19     18     17     23     23     24     21     18     16     14     12     11      8.9      7.61      6.96      5.69      3.62      0.7    -0.6
+g  8  7      5      5      5      6      6      7      8      8      9      7      5      6     10     11     11     10      6      4      2     -5     -7.9    -11.25    -14.05    -15.98    -16.59    -16.8     0.0
+h  8  7     -5     -5     -5     -5     -5     -5     -5     -5     -5      3     -4     -4      1     -3     -6    -10    -13    -15    -16    -16    -14.9    -12.76    -10.74     -9.10     -6.90     -5.2     0.3
+g  8  8      8      8      8      8      8      8      8      7      7      2     -1      9      8      4      3      1     -1     -4     -6     -7     -7.0     -4.87     -3.54     -2.02     -0.34      1.0     0.3
+h  8  8    -18    -18    -18    -18    -19    -19    -19    -19    -19    -11    -17    -13    -20    -17    -16    -17    -15    -11    -10     -4     -2.1     -0.06      1.64      2.26      2.90      3.9     0.2
+g  9  0      8      8      8      8      8      8      8      8      8      5      3      4      4      8      8      7      5      5      4      4      5.0      5.58      5.50      5.33      5.03      4.7     0.0
+g  9  1     10     10     10     10     10     10     10     10     10    -21     -7      9      6     10     10     10     10     10      9      9      9.4      9.76      9.45      8.83      8.36      8.0     0.0
+h  9  1    -20    -20    -20    -20    -20    -20    -20    -20    -21    -27    -24    -11    -18    -22    -21    -21    -21    -21    -20    -20    -19.7    -20.11    -20.54    -21.77    -23.44    -24.8     0.0
+g  9  2      1      1      1      1      1      1      1      1      1      1     -1     -4      0      2      2      2      1      1      1      3      3.0      3.58      3.45      3.02      2.84      3.0     0.0
+h  9  2     14     14     14     14     14     14     14     15     15     17     19     12     12     15     16     16     16     15     15     15     13.4     12.69     11.51     10.76     11.04     12.1     0.0
+g  9  3    -11    -11    -11    -11    -11    -11    -12    -12    -12    -11    -25     -5     -9    -13    -12    -12    -12    -12    -12    -10     -8.4     -6.94     -5.27     -3.22     -1.48     -0.2     0.0
+h  9  3      5      5      5      5      5      5      5      5      5     29     12      7      2      7      6      7      9      9     11     12     12.5     12.67     12.75     11.74      9.86      8.3     0.0
+g  9  4     12     12     12     12     12     12     12     11     11      3     10      2      1     10     10     10      9      9      9      8      6.3      5.01      3.13      0.67     -1.14     -2.5     0.0
+h  9  4     -3     -3     -3     -3     -3     -3     -3     -3     -3     -9      2      6      0     -4     -4     -4     -5     -6     -7     -6     -6.2     -6.72     -7.14     -6.74     -5.13     -3.4     0.0
+g  9  5      1      1      1      1      1      1      1      1      1     16      5      4      4     -1     -1     -1     -3     -3     -4     -8     -8.9    -10.76    -12.38    -13.20    -13.22    -13.1     0.0
+h  9  5     -2     -2     -2     -2     -2     -2     -2     -3     -3      4      2     -2     -3     -5     -5     -5     -6     -6     -7     -8     -8.4     -8.16     -7.42     -6.88     -6.20     -5.3     0.0
+g  9  6     -2     -2     -2     -2     -2     -2     -2     -2     -2     -3     -5      1     -1     -1      0     -1     -1     -1     -2     -1     -1.5     -1.25     -0.76     -0.10      1.08      2.4     0.0
+h  9  6      8      8      8      8      9      9      9      9      9      9      8     10      9     10     10     10      9      9      9      8      8.4      8.10      7.97      7.79      7.79      7.2     0.0
+g  9  7      2      2      2      2      2      2      3      3      3     -4     -2      2     -2      5      3      4      7      7      7     10      9.3      8.76      8.43      8.68      8.82      8.6     0.0
+h  9  7     10     10     10     10     10     10     10     11     11      6      8      7      8     10     11     11     10      9      8      5      3.8      2.92      2.14      1.04      0.40     -0.6     0.0
+g  9  8     -1      0      0      0      0      0      0      0      1     -3      3      2      3      1      1      1      2      1      1     -2     -4.3     -6.66     -8.42     -9.06     -9.23     -8.7     0.0
+h  9  8     -2     -2     -2     -2     -2     -2     -2     -2     -2      1    -11     -6      0     -4     -2     -3     -6     -7     -7     -8     -8.2     -7.73     -6.08     -3.89     -1.44      0.8     0.0
+g  9  9     -1     -1     -1     -1     -1     -1     -2     -2     -2     -4      8      5     -1     -2     -1     -2     -5     -5     -6     -8     -8.2     -9.22    -10.08    -10.54    -11.86    -12.8     0.0
+h  9  9      2      2      2      2      2      2      2      2      2      8     -7      5      5      1      1      1      2      2      2      3      4.8      6.01      7.01      8.44      9.60      9.8     0.0
+g 10  0     -3     -3     -3     -3     -3     -3     -3     -3     -3     -3     -8     -3      1     -2     -3     -3     -4     -4     -3     -3     -2.6     -2.17     -1.94     -2.01     -1.84     -1.3     0.0
+g 10  1     -4     -4     -4     -4     -4     -4     -4     -4     -4     11      4     -5     -3     -3     -3     -3     -4     -4     -4     -6     -6.0     -6.12     -6.24     -6.26     -6.25     -6.4     0.0
+h 10  1      2      2      2      2      2      2      2      2      2      5     13     -4      4      2      1      1      1      1      2      1      1.7      2.19      2.73      3.28      3.38      3.3     0.0
+g 10  2      2      2      2      2      2      2      2      2      2      1     -1     -1      4      2      2      2      2      3      2      2      1.7      1.42      0.89      0.17     -0.11      0.2     0.0
+h 10  2      1      1      1      1      1      1      1      1      1      1     -2      0      1      1      1      1      0      0      1      0      0.0      0.10     -0.10     -0.40     -0.18      0.1     0.0
+g 10  3     -5     -5     -5     -5     -5     -5     -5     -5     -5      2     13      2      0     -5     -5     -5     -5     -5     -5     -4     -3.1     -2.35     -1.07      0.55      1.66      2.0     0.0
+h 10  3      2      2      2      2      2      2      2      2      2    -20    -10     -8      0      2      3      3      3      3      3      4      4.0      4.46      4.71      4.55      3.50      2.5     0.0
+g 10  4     -2     -2     -2     -2     -2     -2     -2     -2     -2     -5     -4     -3     -1     -2     -1     -2     -2     -2     -2     -1     -0.5     -0.15     -0.16     -0.55     -0.86     -1.0     0.0
+h 10  4      6      6      6      6      6      6      6      6      6     -1      2     -2      2      6      4      4      6      6      6      5      4.9      4.76      4.44      4.40      4.86      5.4     0.0
+g 10  5      6      6      6      6      6      6      6      6      6     -1      4      7      4      4      6      5      5      5      4      4      3.7      3.06      2.45      1.70      0.65     -0.5     0.0
+h 10  5     -4     -4     -4     -4     -4     -4     -4     -4     -4     -6     -3     -4     -5     -4     -4     -4     -4     -4     -4     -5     -5.9     -6.58     -7.22     -7.92     -8.62     -9.0     0.0
+g 10  6      4      4      4      4      4      4      4      4      4      8     12      4      6      4      4      4      3      3      3      2      1.0      0.29     -0.33     -0.67     -0.88     -0.9     0.0
+h 10  6      0      0      0      0      0      0      0      0      0      6      6      1      1      0      0     -1      0      0      0     -1     -1.2     -1.01     -0.96     -0.61     -0.11      0.4     0.0
+g 10  7      0      0      0      0      0      0      0      0      0     -1      3     -2      1      0      1      1      1      1      1      2      2.0      2.06      2.13      2.13      1.88      1.5     0.0
+h 10  7     -2     -2     -2     -2     -2     -2     -2     -1     -1     -4     -3     -3     -1     -2     -1     -1     -1     -1     -2     -2     -2.9     -3.47     -3.95     -4.16     -4.26     -4.2     0.0
+g 10  8      2      2      2      1      1      1      1      2      2     -3      2      6     -1      2      0      0      2      2      3      5      4.2      3.77      3.09      2.33      1.44      0.9     0.0
+h 10  8      4      4      4      4      4      4      4      4      4     -2      6      7      6      3      3      3      4      4      3      1      0.2     -0.86     -1.99     -2.85     -3.43     -3.8     0.0
+g 10  9      2      2      2      2      3      3      3      3      3      5     10     -2      2      2      3      3      3      3      3      1      0.3     -0.21     -1.03     -1.80     -2.38     -2.6     0.0
+h 10  9      0      0      0      0      0      0      0      0      0      0     11     -1      0      0      1      1      0      0     -1     -2     -2.2     -2.31     -1.97     -1.12     -0.10      0.9     0.0
+g 10 10      0      0      0      0      0      0      0      0      0     -2      3      0      0      0     -1     -1      0      0      0      0     -1.1     -2.09     -2.80     -3.59     -3.84     -3.9     0.0
+h 10 10     -6     -6     -6     -6     -6     -6     -6     -6     -6     -2      8     -3     -7     -6     -4     -5     -6     -6     -6     -7     -7.4     -7.93     -8.31     -8.72     -8.84     -9.0     0.0
+g 11  0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      2.7      2.95      3.05      3.00      2.96      3.0     0.0
+g 11  1      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -1.7     -1.60     -1.48     -1.40     -1.36     -1.4     0.0
+h 11  1      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0.1      0.26      0.13      0.00     -0.02      0.0     0.0
+g 11  2      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -1.9     -1.88     -2.03     -2.30     -2.51     -2.5     0.0
+h 11  2      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      1.3      1.44      1.67      2.11      2.50      2.8     0.0
+g 11  3      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      1.5      1.44      1.65      2.08      2.31      2.4     0.0
+h 11  3      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -0.9     -0.77     -0.66     -0.60     -0.55     -0.6     0.0
+g 11  4      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -0.1     -0.31     -0.51     -0.79     -0.85     -0.6     0.0
+h 11  4      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -2.6     -2.27     -1.76     -1.05     -0.39      0.1     0.0
+g 11  5      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0.1      0.29      0.54      0.58      0.28      0.0     0.0
+h 11  5      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0.9      0.90      0.85      0.76      0.62      0.5     0.0
+g 11  6      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -0.7     -0.79     -0.79     -0.70     -0.66     -0.6     0.0
+h 11  6      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -0.7     -0.58     -0.39     -0.20     -0.21     -0.3     0.0
+g 11  7      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0.7      0.53      0.37      0.14     -0.07     -0.1     0.0
+h 11  7      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -2.8     -2.69     -2.51     -2.12     -1.66     -1.2     0.0
+g 11  8      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      1.7      1.80      1.79      1.70      1.44      1.1     0.0
+h 11  8      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -0.9     -1.08     -1.27     -1.44     -1.60     -1.7     0.0
+g 11  9      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0.1      0.16      0.12     -0.22     -0.59     -1.0     0.0
+h 11  9      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -1.2     -1.58     -2.11     -2.57     -2.98     -2.9     0.0
+g 11 10      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      1.2      0.96      0.75      0.44      0.18     -0.1     0.0
+h 11 10      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -1.9     -1.90     -1.94     -2.01     -1.97     -1.8     0.0
+g 11 11      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      4.0      3.99      3.75      3.49      3.09      2.6     0.0
+h 11 11      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -0.9     -1.39     -1.86     -2.34     -2.51     -2.3     0.0
+g 12  0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -2.2     -2.15     -2.12     -2.09     -2.00     -2.0     0.0
+g 12  1      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -0.3     -0.29     -0.21     -0.16     -0.13     -0.1     0.0
+h 12  1      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -0.4     -0.55     -0.87     -1.08     -1.15     -1.2     0.0
+g 12  2      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0.2      0.21      0.30      0.46      0.43      0.4     0.0
+h 12  2      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0.3      0.23      0.27      0.37      0.52      0.6     0.0
+g 12  3      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0.9      0.89      1.04      1.23      1.28      1.2     0.0
+h 12  3      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      2.5      2.38      2.13      1.75      1.37      1.0     0.0
+g 12  4      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -0.2     -0.38     -0.63     -0.89     -1.14     -1.2     0.0
+h 12  4      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -2.6     -2.63     -2.49     -2.19     -1.81     -1.5     0.0
+g 12  5      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0.9      0.96      0.95      0.85      0.71      0.6     0.0
+h 12  5      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0.7      0.61      0.49      0.27      0.08      0.0     0.0
+g 12  6      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -0.5     -0.30     -0.11      0.10      0.31      0.5     0.0
+h 12  6      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0.3      0.40      0.59      0.72      0.71      0.6     0.0
+g 12  7      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0.3      0.46      0.52      0.54      0.49      0.5     0.0
+h 12  7      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0.0      0.01      0.00     -0.09     -0.15     -0.2     0.0
+g 12  8      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -0.3     -0.35     -0.39     -0.37     -0.26     -0.1     0.0
+h 12  8      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0.0      0.02      0.13      0.29      0.55      0.8     0.0
+g 12  9      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -0.4     -0.36     -0.37     -0.43     -0.47     -0.5     0.0
+h 12  9      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0.3      0.28      0.27      0.23      0.16      0.1     0.0
+g 12 10      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -0.1      0.08      0.21      0.22      0.09     -0.2     0.0
+h 12 10      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -0.9     -0.87     -0.86     -0.89     -0.93     -0.9     0.0
+g 12 11      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -0.2     -0.49     -0.77     -0.94     -1.13     -1.2     0.0
+h 12 11      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -0.4     -0.34     -0.23     -0.16     -0.04      0.1     0.0
+g 12 12      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -0.4     -0.08      0.04     -0.03     -0.33     -0.7     0.0
+h 12 12      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0.8      0.88      0.87      0.72      0.52      0.2     0.0
+g 13  0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -0.2     -0.16     -0.09     -0.02      0.08      0.2     0.0
+g 13  1      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -0.9     -0.88     -0.89     -0.92     -0.93     -0.9     0.0
+h 13  1      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -0.9     -0.76     -0.87     -0.88     -0.88     -0.9     0.0
+g 13  2      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0.3      0.30      0.31      0.42      0.53      0.6     0.0
+h 13  2      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0.2      0.33      0.30      0.49      0.64      0.7     0.0
+g 13  3      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0.1      0.28      0.42      0.63      0.72      0.7     0.0
+h 13  3      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      1.8      1.72      1.66      1.56      1.40      1.2     0.0
+g 13  4      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -0.4     -0.43     -0.45     -0.42     -0.30     -0.2     0.0
+h 13  4      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -0.4     -0.54     -0.59     -0.50     -0.38     -0.3     0.0
+g 13  5      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      1.3      1.18      1.08      0.96      0.75      0.5     0.0
+h 13  5      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -1.0     -1.07     -1.14     -1.24     -1.31     -1.3     0.0
+g 13  6      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -0.4     -0.37     -0.31     -0.19     -0.01      0.1     0.0
+h 13  6      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -0.1     -0.04     -0.07     -0.10     -0.09     -0.1     0.0
+g 13  7      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0.7      0.75      0.78      0.81      0.76      0.7     0.0
+h 13  7      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0.7      0.63      0.54      0.42      0.29      0.2     0.0
+g 13  8      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -0.4     -0.26     -0.18     -0.13     -0.05      0.0     0.0
+h 13  8      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0.3      0.21      0.10     -0.04     -0.11     -0.2     0.0
+g 13  9      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0.3      0.35      0.38      0.38      0.37      0.3     0.0
+h 13  9      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0.6      0.53      0.49      0.48      0.47      0.5     0.0
+g 13 10      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -0.1     -0.05      0.02      0.08      0.13      0.2     0.0
+h 13 10      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0.3      0.38      0.44      0.48      0.54      0.6     0.0
+g 13 11      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0.4      0.41      0.42      0.46      0.45      0.4     0.0
+h 13 11      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -0.2     -0.22     -0.25     -0.30     -0.41     -0.6     0.0
+g 13 12      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0.0     -0.10     -0.26     -0.35     -0.46     -0.5     0.0
+h 13 12      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -0.5     -0.57     -0.53     -0.43     -0.36     -0.3     0.0
+g 13 13      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0.1     -0.18     -0.26     -0.36     -0.40     -0.4     0.0
+h 13 13      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0      0     -0.9     -0.82     -0.79     -0.71     -0.60     -0.5     0.0
diff --git a/Sources/MagneticFields/SphericalHarmonics.swift b/Sources/MagneticFields/SphericalHarmonics.swift
new file mode 100644
index 0000000..ccf14b4
--- /dev/null
+++ b/Sources/MagneticFields/SphericalHarmonics.swift
@@ -0,0 +1,94 @@
+//
+// SPDX-License-Identifier: Apache-2.0
+//
+// Copyright 2026 Mattias Holm
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+import Foundation
+
+/// Internal-field potential V = a Σ (a/r)^(n+1) (g cos(mλ)+h sin(mλ)) P̅nm(cos θ).
+/// Schmidt semi-normalization without the Condon–Shortley phase; B = −∇V.
+/// All evaluation scratch storage is local. Coefficients remain immutable and reusable.
+struct GeomagneticHarmonics: MagneticFieldModel {
+    let coefficients: GeomagneticCoefficients
+    let metadata: MagneticFieldMetadata
+    private let normalization: [Double]
+    init(coefficients: GeomagneticCoefficients, source: String) throws {
+        self.coefficients = coefficients
+        metadata = try MagneticFieldMetadata(name: coefficients.name,source: source,version: "File coefficients; epochs \(coefficients.epochs.first!)...\(coefficients.endYear)",
+            axesDescription: "Earth-fixed geocentric XYZ: +X latitude 0 longitude 0, +Y longitude 90° east, +Z north",
+            assumptions: "Schmidt semi-normalized internal harmonics; 6371200 m reference sphere. Linear epoch interpolation and final secular variation. No external/crustal field or geoid correction. Radius bound is a numerical evaluation bound, not model accuracy certification.",
+            radiusRangeMetres: 6_000_000...7_500_000,
+            decimalYearRange: coefficients.epochs.first!...coefficients.endYear)
+        var factors = [Double](repeating: 0,count: GeomagneticCoefficients.index(coefficients.degree,coefficients.degree)+1)
+        factors[0] = 1
+        for n in 1...coefficients.degree {
+            var s = 1.0
+            factors[GeomagneticCoefficients.index(n,0)] = s
+            for m in 1...n {
+                s *= sqrt((m == 1 ? 2.0 : 1.0)/Double((n-m+1)*(n+m)))
+                factors[GeomagneticCoefficients.index(n,m)] = s
+            }
+        }
+        normalization = factors
+    }
+    func field(at query: MagneticFieldQuery) throws -> MagneticFluxDensity {
+        try metadata.validate(query)
+        let p = query.positionMetres, r = hypot(hypot(p.x,p.y),p.z)
+        guard r > 0 else { throw MagneticFieldError.singularField }
+        let horizontal = hypot(p.x,p.y), c = p.z/r, s = horizontal/r
+        let longitude = horizontal == 0 ? 0 : atan2(p.y,p.x)
+        let size = normalization.count
+        var legendre = [Double](repeating: 0,count: size), derivative = legendre, overSin = legendre
+        legendre[0] = 1
+        let index = GeomagneticCoefficients.index
+        for n in 1...coefficients.degree {
+            for m in 0...n {
+                let i = index(n,m)
+                if n == m {
+                    let prev = index(n-1,m-1), factor = Double(2*n-1)
+                    legendre[i] = factor*s*legendre[prev]
+                    derivative[i] = factor*(c*legendre[prev]+s*derivative[prev])
+                    overSin[i] = factor*legendre[prev]
+                } else {
+                    let prev = index(n-1,m), denominator = Double(n-m)
+                    let a = Double(2*n-1)
+                    let old = n > m+1 ? index(n-2,m) : 0
+                    let b = n > m+1 ? Double(n+m-1) : 0
+                    legendre[i] = (a*c*legendre[prev]-b*legendre[old])/denominator
+                    derivative[i] = (a*(-s*legendre[prev]+c*derivative[prev])-b*derivative[old])/denominator
+                    if m > 0 { overSin[i] = (a*c*overSin[prev]-b*overSin[old])/denominator }
+                }
+            }
+        }
+        let values = coefficients.at(query.decimalYear), ratio = 6_371_200/r
+        var radial = 0.0, colatitude = 0.0, azimuthal = 0.0, radialPower = ratio*ratio
+        for n in 1...coefficients.degree {
+            radialPower *= ratio
+            for m in 0...n {
+                let i = index(n,m), cosM = cos(Double(m)*longitude), sinM = sin(Double(m)*longitude)
+                let g = values[2*i], h = values[2*i+1], term = g*cosM+h*sinM
+                let scale = radialPower*normalization[i]
+                radial += Double(n+1)*scale*term*legendre[i]
+                colatitude -= scale*term*derivative[i]
+                azimuthal += scale*Double(m)*(g*sinM-h*cosM)*overSin[i]
+            }
+        }
+        let cl = cos(longitude), sl = sin(longitude)
+        let vector = SIMD3(radial*s*cl+colatitude*c*cl-azimuthal*sl,
+                           radial*s*sl+colatitude*c*sl+azimuthal*cl,
+                           radial*c-colatitude*s)*1e-9
+        return try MagneticFluxDensity(vectorTesla: vector)
+    }
+}
diff --git a/Sources/Math/Angles.swift b/Sources/Math/Angles.swift
index c6194c9..afd0ced 100644
--- a/Sources/Math/Angles.swift
+++ b/Sources/Math/Angles.swift
@@ -108,7 +108,7 @@ public func normalize(hours: Int) -> Int {
 }
 
 @frozen
-public struct HourAngle {
+public struct HourAngle: Sendable {
   public var hours: Int
   public var minutes: Int
   public var seconds: Double
@@ -151,7 +151,8 @@ public extension HourAngle {
     return ha
   }
 
-  func toDeg() -> Double {
+  /// The complete angle in degrees, including minutes and seconds.
+  var degrees: Double {
     let totalHours = Double(abs(self.hours)) + Double(self.minutes) / MINUTES_PER_HOUR + self.seconds / SECONDS_PER_HOUR
 
     if self.hours >= 0 {
@@ -161,13 +162,18 @@ public extension HourAngle {
     }
   }
 
-  func toRad() -> Double {
-    return toDeg().deg
-  }
+  /// The complete angle in radians, including minutes and seconds.
+  var radians: Double { degrees.deg }
+
+  @available(*, deprecated, renamed: "degrees")
+  func toDeg() -> Double { degrees }
+
+  @available(*, deprecated, renamed: "radians")
+  func toRad() -> Double { radians }
 }
 
 @frozen
-public struct AngleOfArc {
+public struct AngleOfArc: Sendable {
   public var degrees: Int
   public var minutes: Int
   public var seconds: Double
@@ -180,7 +186,8 @@ public struct AngleOfArc {
 }
 
 public extension AngleOfArc {
-  func toDeg() -> Double {
+  /// The complete angle in degrees; `degrees` stores only the degree component.
+  var totalDegrees: Double {
     let totalDegrees = Double(abs(self.degrees)) + Double(self.minutes) / MINUTES_OF_ARC_PER_DEGREE + self.seconds / SECONDS_OF_ARC_PER_DEGREE
     if self.degrees >= 0 {
       return totalDegrees
@@ -189,7 +196,12 @@ public extension AngleOfArc {
     }
   }
 
-  func toRad() -> Double {
-    return toDeg().deg
-  }
+  /// The complete angle in radians, including minutes and seconds.
+  var radians: Double { totalDegrees.deg }
+
+  @available(*, deprecated, renamed: "totalDegrees")
+  func toDeg() -> Double { totalDegrees }
+
+  @available(*, deprecated, renamed: "radians")
+  func toRad() -> Double { radians }
 }
diff --git a/Sources/Math/Frames.swift b/Sources/Math/Frames.swift
index 75c0488..f136333 100644
--- a/Sources/Math/Frames.swift
+++ b/Sources/Math/Frames.swift
@@ -21,27 +21,46 @@ import Foundation
 
 /*
  Frames are related to parent frames with a transformation of:
-  Position, Velocity and Accelleration
-  Rotation, Rotational Velocity and Rotational Accelleration
+  Position, Velocity and Acceleration
+  Rotation, Rotational Velocity and Rotational Acceleration
  */
 
-public struct Transformation {
+public struct Transformation: Sendable {
   public let date: Double
   public let position: SIMD3<Double>
   public let velocity: SIMD3<Double>
-  public let accelleration: SIMD3<Double>
+  public let acceleration: SIMD3<Double>
 
   public let quaternion: Quaternion
   public var rotationMatrix: Matrix3x3 {
     return quaternion.matrix
   }
   public let rotationRate: SIMD3<Double>
-  public let rotationAccelleration: SIMD3<Double>
+  public let rotationAcceleration: SIMD3<Double>
+
+  public init(date: Double, position: SIMD3<Double>, velocity: SIMD3<Double>,
+              acceleration: SIMD3<Double>, quaternion: Quaternion,
+              rotationRate: SIMD3<Double>, rotationAcceleration: SIMD3<Double>) {
+    self.date = date
+    self.position = position
+    self.velocity = velocity
+    self.acceleration = acceleration
+    self.quaternion = quaternion
+    self.rotationRate = rotationRate
+    self.rotationAcceleration = rotationAcceleration
+  }
+
+  @available(*, deprecated, renamed: "acceleration")
+  public var accelleration: SIMD3<Double> { acceleration }
+
+  @available(*, deprecated, renamed: "rotationAcceleration")
+  public var rotationAccelleration: SIMD3<Double> { rotationAcceleration }
 }
 
-public class Frame {
-  weak var parent: Frame?
-  var depth: Int
+/// Immutable reference-frame identity. Equality is determined by object identity.
+public final class Frame: Sendable {
+  public let parent: Frame?
+  public let depth: Int
   public let name: String
   public let pseudoInertial: Bool
 
@@ -84,12 +103,6 @@ public class Frame {
 }
 
 
-// GCRF
-// ICRF
-// Ecliptic
-// EME2000
-// TIRF
-// ITRF
-// CIRF
-// GTOD
-// TOD
+// Astronomical identities and providers live above Math in CelMek:
+// ICRF, EME2000, Ecliptic J2000, and Newtonian GCRF are implemented there.
+// CIRF/TIRF/ITRF and TOD/GTOD are constructed by CelMek.FrameTree.makeEarthFrames.
diff --git a/Sources/Math/Math.docc/Math.md b/Sources/Math/Math.docc/Math.md
new file mode 100644
index 0000000..8ce0619
--- /dev/null
+++ b/Sources/Math/Math.docc/Math.md
@@ -0,0 +1,21 @@
+# ``Math``
+
+Numerical and geometric primitives shared by the physics modules.
+
+Math provides right-handed coordinates, rotations, matrices and frame identity.
+Astronomical epochs and time-dependent frame transformations live in CelMek.
+
+## Topics
+
+### Rotations and frames
+- ``Quaternion``
+- ``Matrix3x3``
+- ``Frame``
+- ``Transformation``
+
+### Angles and coordinates
+- ``HourAngle``
+- ``AngleOfArc``
+- ``GeographicCoordinate``
+- ``EquatorialCoordinate``
+- ``EclipticCoordinate``
diff --git a/Sources/Math/Matrices.swift b/Sources/Math/Matrices.swift
index d9cacc6..c199df1 100644
--- a/Sources/Math/Matrices.swift
+++ b/Sources/Math/Matrices.swift
@@ -18,7 +18,7 @@
 
 import Foundation
 
-public struct Matrix3x3 {
+public struct Matrix3x3: Sendable {
   var elements: [SIMD3<Double>]
 
   public init() {
@@ -92,11 +92,7 @@ public struct Matrix3x3 {
     return result
   }
   public static func *(lhs: borrowing Matrix3x3, rhs: Double) -> Matrix3x3{
-    var result = Matrix3x3(rows: [lhs[0] * rhs, lhs[1], lhs[2]])
-    result[0] *= rhs
-    result[1] *= rhs
-    result[2] *= rhs
-    return result
+    return Matrix3x3(rows: [lhs[0] * rhs, lhs[1] * rhs, lhs[2] * rhs])
   }
 
   public static func *(lhs: borrowing Matrix3x3, rhs: SIMD3<Double>) -> SIMD3<Double>{
diff --git a/Sources/Math/Quaternions.swift b/Sources/Math/Quaternions.swift
index 24671da..ade133c 100644
--- a/Sources/Math/Quaternions.swift
+++ b/Sources/Math/Quaternions.swift
@@ -18,7 +18,7 @@
 
 import Foundation
 
-public struct Quaternion {
+public struct Quaternion: Sendable {
   var elements: SIMD4<Double>
   public var x : Double { get { return elements.x } set { elements.x = newValue }}
   public var y : Double { get { return elements.y } set { elements.y = newValue }}
@@ -33,12 +33,19 @@ public struct Quaternion {
   public init(vector: SIMD4<Double>) {
     elements = vector
   }
+  /// Constructs a Hamilton rotation from an angle in radians and a finite axis.
+  /// The axis is normalized. A zero axis is allowed only for a zero angle.
   public init(angle: Double, axis: SIMD3<Double>) {
-    elements = SIMD4(axis, angle)
-    let  Omega = angle * 0.5
-    let sin_Omega = sin(Omega)
-    let sincos = SIMD4(sin_Omega, sin_Omega, sin_Omega, cos(Omega))
-    elements *= sincos
+    precondition(angle.isFinite && axis.x.isFinite && axis.y.isFinite && axis.z.isFinite)
+    let scale = max(abs(axis.x), abs(axis.y), abs(axis.z))
+    guard scale > 0 else {
+      precondition(angle == 0, "A nonzero rotation requires a nonzero axis")
+      self = .identity
+      return
+    }
+    let scaledAxis = axis / scale
+    let unitAxis = scaledAxis / (scaledAxis * scaledAxis).sum().squareRoot()
+    elements = SIMD4(unitAxis * sin(angle * 0.5), cos(angle * 0.5))
   }
   public init() {
     elements = SIMD4(repeating: 0)
@@ -46,15 +53,20 @@ public struct Quaternion {
 
 //  init(from: SIMD3<Double>, to: SIMD3<Double>) {
 //  }
+  /// Rotation angle in radians in 0...2π, independent of positive quaternion scale.
+  /// The zero quaternion returns zero; it does not represent a valid rotation.
   public var angle : Double {
-    get {
-      elements.w
-    }
+    let scale = max(abs(x), abs(y), abs(z), abs(w))
+    guard scale > 0 else { return 0 }
+    let scaledVector = vector / scale
+    return 2 * atan2((scaledVector * scaledVector).sum().squareRoot(), w / scale)
   }
+  /// Unit rotation axis; rotations with no vector component use the x axis.
   public var axis : SIMD3<Double> {
-    get {
-      SIMD3<Double>(elements.x, elements.y, elements.z)
-    }
+    let scale = max(abs(x), abs(y), abs(z))
+    guard scale > 0 else { return SIMD3(1, 0, 0) }
+    let scaledVector = vector / scale
+    return scaledVector / (scaledVector * scaledVector).sum().squareRoot()
   }
   public var matrix: Matrix3x3 {
     get {
@@ -96,7 +108,7 @@ public struct Quaternion {
   // length
   public var conj : Quaternion {
     get {
-      return Quaternion(vector: elements * SIMD4<Double>(repeating: -1))
+      return Quaternion(x: -x, y: -y, z: -z, w: w)
     }
   }
 
diff --git a/Tests/AerodynamicsTests/AerodynamicsFoundationTests.swift b/Tests/AerodynamicsTests/AerodynamicsFoundationTests.swift
new file mode 100644
index 0000000..444df4b
--- /dev/null
+++ b/Tests/AerodynamicsTests/AerodynamicsFoundationTests.swift
@@ -0,0 +1,170 @@
+import Atmospheres
+// SPDX-License-Identifier: Apache-2.0
+import FluidDynamics
+import Foundation
+import Testing
+import Aerodynamics
+
+@Suite struct AerodynamicsFoundationTests {
+    private func polar(re: Double, mach: Double) throws -> AirfoilPolar {
+        // Synthetic affine field has an exact independent interpolation result in all three coordinates.
+        try AirfoilPolar(reynoldsNumber: re,machNumber: mach,samples: [-0.2,0.0,0.3].map {
+            AirfoilSample(angleOfAttackRadians: $0,coefficients: AirfoilCoefficients(
+                lift: 2*$0+re/100+3*mach,drag: 0.1+$0+re/1000+mach,moment: -$0+mach))
+        })
+    }
+    @Test func irregularAnglesReynoldsMachAndCoverage() throws {
+        let model = try TabulatedAirfoil(polars: [polar(re:100,mach:0),polar(re:300,mach:0),
+            polar(re:100,mach:1),polar(re:300,mach:1)],source:"Synthetic affine field",version:"1")
+        let result = try model.coefficients(angleOfAttackRadians:0.15,reynoldsNumber:200,machNumber:0.4)
+        #expect(abs(result.lift-3.5) < 1e-12)
+        #expect(abs(result.drag-0.85) < 1e-12)
+        #expect(abs(result.moment-0.25) < 1e-12)
+        #expect(throws: FluidError.outsideCoverage) {
+            try model.coefficients(angleOfAttackRadians:0.31,reynoldsNumber:200,machNumber:0.4)
+        }
+        #expect(throws: FluidError.outsideCoverage) {
+            try model.coefficients(angleOfAttackRadians:0,reynoldsNumber:400,machNumber:0.4)
+        }
+        #expect(throws: FluidError.outsideCoverage) {
+            try model.coefficients(angleOfAttackRadians:0,reynoldsNumber:200,machNumber:1.1)
+        }
+        let clamp = try TabulatedAirfoil(polars:model.polars,boundaryPolicy:.clamp,source:"Test",version:"1")
+        #expect(try clamp.coefficients(angleOfAttackRadians:0.5,reynoldsNumber:400,machNumber:2).lift == 6.6)
+        let decoded = try JSONDecoder().decode(TabulatedAirfoil.self,from:JSONEncoder().encode(model))
+        #expect(try decoded.coefficients(angleOfAttackRadians:0.15,reynoldsNumber:200,machNumber:0.4).lift == result.lift)
+    }
+    @Test func validatesGridAndDecodedPolars() throws {
+        #expect(throws: FluidError.duplicateCondition) {
+            try TabulatedAirfoil(polars:[polar(re:100,mach:0),polar(re:100,mach:0)],source:"Test",version:"1")
+        }
+        #expect(throws: FluidError.incompleteGrid) {
+            try TabulatedAirfoil(polars:[polar(re:100,mach:0),polar(re:300,mach:1)],source:"Test",version:"1")
+        }
+        let bad = Data("{\"reynoldsNumber\":100,\"machNumber\":0,\"samples\":[]}".utf8)
+        #expect(throws: FluidError.invalidCoefficients) { try JSONDecoder().decode(AirfoilPolar.self,from:bad) }
+    }
+    @Test func yamlPreservesSamplesAndUsesAllReynoldsEntries() throws {
+        let yaml = """
+        data:
+        - reynolds-number: 100
+          coefficients:
+          - [-10, -1, 0.1, 0, -0.1]
+          - [3, 1, 0.2, 0, 0.1]
+        - reynolds-number: 300
+          coefficients:
+          - [-10, 1, 0.3, 0, 0.1]
+          - [3, 3, 0.4, 0, 0.3]
+        """
+        let model = try AirfoilTableLoader.yaml(yaml)
+        let legacy = try #require(ParametricAirfoil(withString:yaml))
+        let angle = -3.5 * .pi/180
+        #expect(abs(try model.coefficients(angleOfAttackRadians:angle,reynoldsNumber:200,machNumber:0).lift-1) < 1e-12)
+        #expect(abs(legacy.liftCoefficient(at:angle,for:200)-1) < 1e-12)
+        #expect(model.polars[0].samples.count == 2)
+        for malformed in ["data: []", "data: [{reynolds-number: 100, coefficients: [[0,1]]}]",
+            yaml.replacingOccurrences(of:"[3, 1,",with:"[-10, 1,")] {
+            #expect(ParametricAirfoil(withString:malformed) == nil)
+        }
+        let decoded = try JSONDecoder().decode(ParametricAirfoil.self,from:JSONEncoder().encode(legacy))
+        #expect(decoded.liftCoefficient(at:angle,for:200) == legacy.liftCoefficient(at:angle,for:200))
+    }
+    @Test func legacyCodableValidationAndAtmosphereIntegration() throws {
+        let values = (-180...180).map { AirfoilCoefficients(lift:Double($0),drag:0.1,moment:0) }
+        struct Legacy: Encodable { let reynoldsNumber: Double; let coefficients: [AirfoilCoefficients] }
+        for count in [361,362] {
+            let encoded = try JSONEncoder().encode(Legacy(reynoldsNumber:1e6,
+                coefficients: count == 361 ? values : [values[0]]+values))
+            let decoded = try JSONDecoder().decode(ParametricAirfoil.self,from:encoded)
+            #expect(abs(decoded.liftCoefficient(at:0.5 * .pi/180,for:1e6)-0.5) < 1e-12)
+        }
+        let invalid = try JSONEncoder().encode(Legacy(reynoldsNumber:1e6,coefficients:[]))
+        #expect(throws:FluidError.invalidCoefficients) { try JSONDecoder().decode(ParametricAirfoil.self,from:invalid) }
+        let properties = try ISAAtmosphere().properties(at:0)
+        let flow = try FluidFlow(relativeVelocityMetresPerSecond:SIMD3(100,0,0),properties:properties)
+        #expect(abs(flow.dynamicPressurePascals-6125) < 0.01)
+        #expect(flow.machNumber != nil)
+        #expect(try flow.reynoldsNumber(referenceLengthMetres:1) != nil)
+        #expect(try flow.knudsenNumber(referenceLengthMetres:1) == nil)
+    }
+
+    @Test func nacaCamberAndSurfaceNormal() throws {
+        let symmetric = try NACA4(validatingCamberPercentage:0,maximumCamber:0,maximumThicknessPercentage:12)
+        #expect(symmetric.meanCamberLine(0) == 0)
+        #expect(symmetric.meanCamberSlope(0) == 0)
+        let foil = try NACA4(validatingCamberPercentage:2,maximumCamber:4,maximumThicknessPercentage:12)
+        #expect(abs(foil.meanCamberLine(0.4)-0.02) < 1e-15)
+        #expect(abs(foil.meanCamberSlope(0)-0.1) < 1e-15)
+        #expect(foil.meanCamberSlope(0.4) == 0)
+        for x in [0.1,0.4,0.7] {
+            let (upper,lower) = foil.surfaceCoord(x:x), delta = upper-lower
+            let slope = foil.meanCamberSlope(x)
+            // Thickness is normal to camber tangent (1,slope), not a vertical offset.
+            #expect(abs(delta.x+slope*delta.y) < 1e-14)
+            #expect(abs(hypot(delta.x,delta.y)-2*foil.thickness(x)) < 1e-14)
+            #expect(abs((upper.y+lower.y)/2-foil.meanCamberLine(x)) < 1e-14)
+            let step = 1e-5
+            let numericalSlope = (foil.meanCamberLine(x+step)-foil.meanCamberLine(x-step))/(2*step)
+            #expect(abs(numericalSlope-slope) < 1e-6)
+        }
+        #expect(throws:FluidError.invalidGeometry) {
+            try NACA4(validatingCamberPercentage:2,maximumCamber:0,maximumThicknessPercentage:12)
+        }
+        #expect(throws:FluidError.invalidGeometry) { try foil.surfaceCoordinates(atChordFraction:1.01) }
+        let cambered = ThinCamberedAirfoil(cl0:0.4)
+        #expect(cambered.coefficients(at:0.1,for:1e6).lift == cambered.liftCoefficient(at:0.1,for:1e6))
+    }
+    @Test func flowNumbersRotationAndMissingProperties() throws {
+        let flow = try FluidFlow(relativeVelocityMetresPerSecond:SIMD3(3,0,4),densityKilogramsPerCubicMetre:2,
+            speedOfSoundMetresPerSecond:10,dynamicViscosityPascalSeconds:0.5,meanFreePathMetres:0.01)
+        #expect(flow.speedMetresPerSecond == 5)
+        #expect(flow.dynamicPressurePascals == 25)
+        #expect(flow.machNumber == 0.5)
+        #expect(try flow.reynoldsNumber(referenceLengthMetres:2) == 40)
+        #expect(try flow.knudsenNumber(referenceLengthMetres:2) == 0.005)
+        #expect(flow.angleOfAttackRadians == atan2(4.0,3.0))
+        let local = try flow.atLocalPoint(offsetMetres:SIMD3(0,2,0),angularVelocityRadiansPerSecond:SIMD3(0,0,1))
+        #expect(local.relativeVelocityMetresPerSecond == SIMD3(1,0,4))
+        let still = try FluidFlow(relativeVelocityMetresPerSecond:.zero,densityKilogramsPerCubicMetre:0)
+        #expect(still.dynamicPressurePascals == 0)
+        #expect(still.angleOfAttackRadians == nil)
+        #expect(still.sideslipRadians == nil)
+        #expect(still.machNumber == nil)
+        #expect(try still.reynoldsNumber(referenceLengthMetres:1) == nil)
+        #expect(throws:FluidError.invalidFlow) {
+            try FluidFlow(relativeVelocityMetresPerSecond:.zero,densityKilogramsPerCubicMetre:-1)
+        }
+        #expect(throws:FluidError.invalidGeometry) { try flow.reynoldsNumber(referenceLengthMetres:0) }
+    }
+    @Test func rotatingMediumLocalVelocityIsFrameIndependent() throws {
+        let flow = try FluidFlow(relativeVelocityMetresPerSecond: SIMD3(100, 2, 3),
+                                       densityKilogramsPerCubicMetre: 1)
+        let offset = SIMD3<Double>(4, -3, 2)
+        let planetRate = SIMD3<Double>(0.01, -0.02, 0.03)
+        let vehicleRelativeRate = SIMD3<Double>(0.2, 0.1, -0.3)
+        let inertial = try flow.atLocalPoint(offsetMetres: offset,
+            angularVelocityRadiansPerSecond: planetRate + vehicleRelativeRate,
+            mediumAngularVelocityRadiansPerSecond: planetRate)
+        let rotating = try flow.atLocalPoint(offsetMetres: offset,
+            angularVelocityRadiansPerSecond: vehicleRelativeRate)
+        let difference = inertial.relativeVelocityMetresPerSecond - rotating.relativeVelocityMetresPerSecond
+        #expect(abs(difference.x) + abs(difference.y) + abs(difference.z) < 1e-12)
+        let coRotating = try flow.atLocalPoint(offsetMetres: offset,
+            angularVelocityRadiansPerSecond: planetRate,
+            mediumAngularVelocityRadiansPerSecond: planetRate)
+        #expect(coRotating.relativeVelocityMetresPerSecond == flow.relativeVelocityMetresPerSecond)
+    }
+    @Test func coefficientScalingMomentTransferAndAddition() throws {
+        let geometry = try FluidReferenceGeometry(areaSquareMetres:2,momentLengthsMetres:SIMD3(4,3,4),
+            momentReferencePointMetres:SIMD3(2,0,0))
+        let coefficients = try FluidCoefficients(force:SIMD3(-1,0,-2),moment:SIMD3(0,0.5,0))
+        let loads = try coefficients.loads(dynamicPressurePascals:10,geometry:geometry)
+        #expect(loads.forceNewtons == SIMD3(-20,0,-40))
+        #expect(loads.momentNewtonMetres == SIMD3(0,30,0))
+        let shifted = try loads.referred(to:.zero)
+        #expect(shifted.momentNewtonMetres == SIMD3(0,110,0))
+        #expect(try shifted.referred(to:geometry.momentReferencePointMetres).momentNewtonMetres == loads.momentNewtonMetres)
+        #expect(try shifted.adding(loads).momentNewtonMetres == SIMD3(0,220,0))
+        #expect(try coefficients.loads(dynamicPressurePascals:0,geometry:geometry).forceNewtons == .zero)
+    }
+}
diff --git a/Tests/AerodynamicsTests/AerothermalHeatingTests.swift b/Tests/AerodynamicsTests/AerothermalHeatingTests.swift
new file mode 100644
index 0000000..4462fa7
--- /dev/null
+++ b/Tests/AerodynamicsTests/AerothermalHeatingTests.swift
@@ -0,0 +1,51 @@
+// SPDX-License-Identifier: Apache-2.0
+import FluidDynamics
+import Testing
+import Aerodynamics
+
+@Suite struct AerothermalHeatingTests {
+    func model(parameters: SuttonGravesParameters = .earthAirColdWall) throws -> SuttonGravesHeating {
+        SuttonGravesHeating(parameters: parameters, coverage: try StagnationHeatingCoverage(
+            speedMetresPerSecond: 1000...10000, densityKilogramsPerCubicMetre: 1e-6...0.1,
+            noseRadiusMetres: 0.1...10, machNumber: 5...50))
+    }
+    func query(speed: Double = 3535, density: Double = 3.1459e-4, radius: Double = 1,
+               path: Double? = 1e-4, gas: String = "earth-air",
+               wall: AerothermalWallState? = nil) throws -> StagnationHeatingQuery {
+        try StagnationHeatingQuery(flow: FluidFlow(relativeVelocityMetresPerSecond: SIMD3(speed,0,0),
+            densityKilogramsPerCubicMetre: density, speedOfSoundMetresPerSecond: 300, meanFreePathMetres: path),
+            gasIdentifier: gas, noseRadiusMetres: radius, surfacePositionMetres: SIMD3(2,0,0), wall: wall)
+    }
+    @Test func nasaShuttleReferenceAndScaling() throws {
+        let heating = try model()
+        let base = try heating.heatFlux(for: query())
+        // NASA TFAWS 2012 course: 13.6 W/cm², rounded. SI output is W/m².
+        #expect(abs(base.wattsPerSquareMetre/10000-13.6) < 0.05)
+        #expect(base.surfacePositionMetres == SIMD3(2,0,0))
+        #expect(abs((try heating.heatFlux(for: query(speed: 7070))).wattsPerSquareMetre/base.wattsPerSquareMetre-8) < 1e-12)
+        #expect(abs((try heating.heatFlux(for: query(density: 4*3.1459e-4))).wattsPerSquareMetre/base.wattsPerSquareMetre-2) < 1e-12)
+        #expect(abs((try heating.heatFlux(for: query(radius: 4))).wattsPerSquareMetre/base.wattsPerSquareMetre-0.5) < 1e-12)
+    }
+    @Test func explicitGasSelectionAndCustomParameters() throws {
+        let earth = try model()
+        #expect(throws: FluidError.unsupportedQuery) { try earth.heatFlux(for: query(gas: "titan-mixture")) }
+        let parameters = try SuttonGravesParameters(gasIdentifier: "synthetic", coefficientSI: 2e-4,
+            source: "Synthetic algebraic reference", version: "1")
+        let custom = try model(parameters: parameters)
+        // sqrt(0.01/1)=0.1; V³=27×10⁹; k=0.0002 -> 540000 W/m².
+        #expect(abs((try custom.heatFlux(for: query(speed: 3000,density: 0.01,gas: "synthetic"))).wattsPerSquareMetre-540000) < 1e-8)
+    }
+    @Test func missingPropertiesCoverageAndWallState() throws {
+        let heating = try model()
+        #expect(throws: FluidError.missingFlowProperty) { try heating.heatFlux(for: query(path: nil)) }
+        #expect(throws: FluidError.outsideCoverage) { try heating.heatFlux(for: query(path: 0.02)) }
+        #expect(throws: FluidError.outsideCoverage) { try heating.heatFlux(for: query(speed: 900)) }
+        #expect(throws: FluidError.outsideCoverage) { try heating.heatFlux(for: query(density: 0)) }
+        #expect(throws: FluidError.outsideCoverage) { try heating.heatFlux(for: query(radius: 20)) }
+        #expect(throws: FluidError.unsupportedQuery) {
+            try heating.heatFlux(for: query(wall: AerothermalWallState(temperatureKelvin: 1000)))
+        }
+        #expect(try heating.heatFlux(for: query(speed: 0,path: nil)).wattsPerSquareMetre == 0)
+        #expect(throws: FluidError.invalidParameter) { try query(radius: 0) }
+    }
+}
diff --git a/Tests/AerodynamicsTests/AirfoilTest.swift b/Tests/AerodynamicsTests/AirfoilTest.swift
index 311b253..030b8f7 100644
--- a/Tests/AerodynamicsTests/AirfoilTest.swift
+++ b/Tests/AerodynamicsTests/AirfoilTest.swift
@@ -5,10 +5,12 @@
 //  Created by Mattias Holm on 2023-11-03.
 //
 
-import XCTest
+import Testing
 @testable import Aerodynamics
 
-final class AirfoilTest: XCTestCase {
+@Suite
+struct AirfoilTest {
+    @Test
     func testParametricAirfoil() throws {
       let airfoilString = """
 name: NACA 2412
@@ -54,8 +56,36 @@ data:
   - [ 18.000,   1.5415,   0.06805,  0.06374,  -0.0116]
   - [ 19.000,   1.4942,   0.08893,  0.08508,  -0.0189]
 """
-      let airfoil = ParametricAirfoil(withString: airfoilString)!
-      print("\(airfoil.liftCoefficient(at: 0.0, for: 1e6))")
-      XCTAssert(0.2442 == airfoil.liftCoefficient(at: 0.0, for: 1e6))
+      let airfoil = try #require(ParametricAirfoil(withString: airfoilString))
+      #expect(0.2442 == airfoil.liftCoefficient(at: 0.0, for: 1e6))
+      let half = airfoil.coefficients(at: 0.5 * .pi / 180, for: 1e6)
+      #expect(abs(half.lift - (0.2442 + 0.3469) / 2) < 1e-12)
+      #expect(abs(half.drag - (0.00568 + 0.00547) / 2) < 1e-12)
+      #expect(abs(half.moment - (-0.0525 - 0.0499) / 2) < 1e-12)
+      #expect(airfoil.liftCoefficient(at: -.pi, for: 1e6) == -1.2296)
+      #expect(airfoil.liftCoefficient(at: .pi, for: 1e6) == 1.4942)
+
+    }
+}
+
+@Suite struct AirfoilInterpolationTests {
+    private var airfoil: ParametricAirfoil {
+        ParametricAirfoil(reynoldsNumber: 1e6, coefficients: (-180...180).map { degree in
+            let a = Double(degree)
+            return AirfoilCoefficients(lift: a, drag: 200 + 2*a, moment: -3*a)
+        })
+    }
+
+    @Test(arguments: [-180.0, -179.75, -10.25, -1.0, -0.75, -0.25, 0.0, 0.25, 0.75, 1.0, 10.25, 179.75, 180.0])
+    func interpolatesInDegreesAndAgreesAcrossQueries(degrees: Double) {
+        let alpha = degrees * .pi / 180
+        let foil = airfoil
+        let combined = foil.coefficients(at: alpha, for: 1e6)
+        #expect(abs(combined.lift - degrees) < 1e-12)
+        #expect(abs(combined.drag - (200 + 2*degrees)) < 1e-12)
+        #expect(abs(combined.moment + 3*degrees) < 1e-12)
+        #expect(foil.liftCoefficient(at: alpha, for: 1e6) == combined.lift)
+        #expect(foil.dragCoefficient(at: alpha, for: 1e6) == combined.drag)
+        #expect(foil.momentCoefficient(at: alpha, for: 1e6) == combined.moment)
     }
 }
diff --git a/Tests/AerodynamicsTests/AtmosphereTest.swift b/Tests/AerodynamicsTests/AtmosphereTest.swift
deleted file mode 100644
index e0fcb5b..0000000
--- a/Tests/AerodynamicsTests/AtmosphereTest.swift
+++ /dev/null
@@ -1,16 +0,0 @@
-//
-//  AtmosphereTest.swift
-//  
-//
-//  Created by Mattias Holm on 2023-11-05.
-//
-
-import XCTest
-import Aerodynamics
-final class AtmosphereTest: XCTestCase {
-
-    func testExample() throws {
-      let atm = EarthAtmosphere()
-      XCTAssertEqual(1.789, atm.dynamicViscosity(at: 0))
-    }
-}
diff --git a/Tests/AerodynamicsTests/BodyRateTests.swift b/Tests/AerodynamicsTests/BodyRateTests.swift
new file mode 100644
index 0000000..5fdaad2
--- /dev/null
+++ b/Tests/AerodynamicsTests/BodyRateTests.swift
@@ -0,0 +1,73 @@
+// SPDX-License-Identifier: Apache-2.0
+import FluidDynamics
+import Testing
+import Aerodynamics
+
+@Suite struct BodyRateTests {
+    func flow(speed: Double = 10) throws -> FluidFlow {
+        try FluidFlow(relativeVelocityMetresPerSecond: SIMD3(speed,0,0),densityKilogramsPerCubicMetre: 2,
+            speedOfSoundMetresPerSecond: 100,dynamicViscosityPascalSeconds: 0.02)
+    }
+    func model(reference: BodyAerodynamicRateReference = .inertialReference) throws -> LinearBodyRateAerodynamics {
+        let zero = try FluidCoefficients(force: .zero,moment: .zero)
+        let derivatives = BodyAerodynamicRateDerivatives(
+            rollRate: try FluidCoefficients(force: SIMD3(0,1,0),moment: SIMD3(-2,0,0)),
+            pitchRate: try FluidCoefficients(force: SIMD3(0,0,1),moment: SIMD3(0,-3,0)),
+            yawRate: try FluidCoefficients(force: SIMD3(0,1,0),moment: SIMD3(0,0,-4)))
+        return try LinearBodyRateAerodynamics(staticModel: ConstantBodyCoefficients(value: zero,source: "Synthetic static",version: "1"),
+            derivativeModel: ConstantBodyRateDerivatives(value: derivatives,source: "Synthetic derivatives",version: "1",
+                machRange: 0...1,reynoldsRange: 100...10000,incidenceRangeRadians: -0.2...0.2,sideslipRangeRadians: -0.2...0.2,
+                momentLengthsMetres: SIMD3(4,2,4),reynoldsReferenceLengthMetres: 2),rateReference: reference,
+            minimumSpeedMetresPerSecond: 1,maximumAbsoluteNondimensionalRates: SIMD3(repeating: 0.2))
+    }
+    @Test func analyticDampingLoadsOpposeRotation() throws {
+        let geometry = try FluidReferenceGeometry(areaSquareMetres: 2,momentLengthsMetres: SIMD3(4,2,4))
+        let body = try WholeBodyAerodynamics(geometry: geometry,reynoldsReferenceLengthMetres: 2,model: model())
+        let rates = SIMD3<Double>(0.5,1,0.5) // All normalized rates = 0.1.
+        let loads = try body.evaluate(flow: flow(),angularVelocityRadiansPerSecond: rates)
+        #expect(loads.forceNewtons == SIMD3(0,40,20))
+        #expect(abs(loads.momentNewtonMetres.x+160) < 1e-12)
+        #expect(abs(loads.momentNewtonMetres.y+120) < 1e-12)
+        #expect(abs(loads.momentNewtonMetres.z+320) < 1e-12)
+        #expect((loads.momentNewtonMetres*rates).sum() < 0) // Negative rotational power.
+        let reversed = try body.evaluate(flow: flow(),angularVelocityRadiansPerSecond: -rates)
+        #expect(reversed.forceNewtons == -loads.forceNewtons)
+        #expect(reversed.momentNewtonMetres == -loads.momentNewtonMetres)
+        let fast = try body.evaluate(flow: flow(speed: 20),angularVelocityRadiansPerSecond: rates)
+        // Rate coefficient ~1/V and q~V²: dimensional damping scales linearly with V.
+        #expect(fast.momentNewtonMetres == 2*loads.momentNewtonMetres)
+    }
+    @Test func coverageAndRateReferenceAreExplicit() throws {
+        let model = try model(reference: .rigidlyRotatingMedium)
+        func query(speed: Double = 10, rates: SIMD3<Double> = .zero,
+                   reference: BodyAerodynamicRateReference = .rigidlyRotatingMedium,
+                   lengths: SIMD3<Double> = SIMD3(4,2,4)) throws -> BodyAerodynamicQuery {
+            try BodyAerodynamicQuery(flow: flow(speed: speed),reynoldsReferenceLengthMetres: 2,
+                momentLengthsMetres: lengths,angularVelocityRadiansPerSecond: rates,angularRateReference: reference)
+        }
+        #expect(throws: FluidError.unsupportedQuery) { try model.coefficients(for: query(reference: .inertialReference)) }
+        #expect(throws: FluidError.outsideCoverage) { try model.coefficients(for: query(speed: 0.5)) }
+        #expect(throws: FluidError.outsideCoverage) { try model.coefficients(for: query(rates: SIMD3(2,0,0))) }
+        #expect(throws: FluidError.invalidGeometry) { try model.coefficients(for: query(lengths: SIMD3(repeating: 1))) }
+        #expect(try model.coefficients(for: query()).moment == .zero)
+    }
+    struct ZeroRateStatic: BodyAerodynamicCoefficientModel {
+        let source = "Zero-rate query check", version = "1"
+        func coefficients(for query: BodyAerodynamicQuery) throws -> FluidCoefficients {
+            #expect(query.angularVelocityRadiansPerSecond == .zero)
+            return try FluidCoefficients(force: SIMD3(-1,0,-0.5),moment: SIMD3(0,0.2,0))
+        }
+    }
+    @Test func preservesStaticLiftAndRestoringMomentWithoutDoubleCounting() throws {
+        let template = try model()
+        let wrapper = try LinearBodyRateAerodynamics(staticModel: ZeroRateStatic(),derivativeModel: template.derivativeModel,
+            rateReference: .inertialReference,minimumSpeedMetresPerSecond: 1,
+            maximumAbsoluteNondimensionalRates: SIMD3(repeating: 0.2))
+        let query = try BodyAerodynamicQuery(flow: flow(),reynoldsReferenceLengthMetres: 2,
+            momentLengthsMetres: SIMD3(4,2,4),angularVelocityRadiansPerSecond: SIMD3(0,1,0))
+        let result = try wrapper.coefficients(for: query)
+        #expect(result.force.x == -1)
+        #expect(abs(result.force.z+0.4) < 1e-12)
+        #expect(abs(result.moment.y+0.1) < 1e-12)
+    }
+}
diff --git a/Tests/AerodynamicsTests/ControlSurfaceTests.swift b/Tests/AerodynamicsTests/ControlSurfaceTests.swift
new file mode 100644
index 0000000..ba3705f
--- /dev/null
+++ b/Tests/AerodynamicsTests/ControlSurfaceTests.swift
@@ -0,0 +1,89 @@
+// SPDX-License-Identifier: Apache-2.0
+import FluidDynamics
+import Foundation
+import Testing
+import Aerodynamics
+
+@Suite struct ControlSurfaceTests {
+    func setting(_ deflection: Double, angles: [Double] = [-0.2,0.2]) throws -> ControlSurfaceSetting {
+        var polars = [AirfoilPolar]()
+        for mach in [0.0,1.0] { for re in [1000.0,10000.0] {
+            polars.append(try AirfoilPolar(reynoldsNumber: re,machNumber: mach,samples: angles.map {
+                AirfoilSample(angleOfAttackRadians: $0,coefficients: AirfoilCoefficients(
+                    lift: 2*$0+3*deflection+re/10000+mach,drag: 0.2+0.1*deflection+0.01*$0,
+                    moment: -0.5*$0-deflection+0.01*mach))
+            }))
+        } }
+        return try ControlSurfaceSetting(deflectionRadians: deflection,
+            airfoil: TabulatedAirfoil(polars: polars,source: "Synthetic affine polar",version: "1"))
+    }
+    func table(_ settings: [ControlSurfaceSetting], policy: CoefficientBoundaryPolicy = .reject) throws -> TabulatedControlSurface {
+        try TabulatedControlSurface(settings: settings,deflectionBoundaryPolicy: policy,
+            source: "Synthetic control surface",version: "1",deflectionConvention: "Positive trailing edge down",
+            momentReferenceDescription: "Quarter chord")
+    }
+    func query(alpha: Double = 0.1, deflection: Double = 0.05) throws -> WingSectionQuery {
+        try WingSectionQuery(flow: FluidFlow(relativeVelocityMetresPerSecond: SIMD3(50*cos(alpha),0,50*sin(alpha)),
+            densityKilogramsPerCubicMetre: 1,speedOfSoundMetresPerSecond: 100,dynamicViscosityPascalSeconds: 0.01),
+            chordMetres: 1,controlDeflectionRadians: deflection)
+    }
+    @Test func fourCoordinateInterpolationAndValidatedJSON() throws {
+        let model = try table([setting(0.2),setting(-0.1),setting(0)])
+        let value = try model.coefficients(for: query())
+        #expect(abs(value.lift-1.35) < 1e-12)
+        #expect(abs(value.drag-0.206) < 1e-12)
+        #expect(abs(value.moment+0.095) < 1e-12)
+        let decoded = try ControlSurfaceTableLoader.load(data: JSONEncoder().encode(model))
+        #expect(try decoded.coefficients(for: query()).lift == value.lift)
+        #expect(decoded.settings.map(\.deflectionRadians) == [-0.1,0,0.2])
+        var json = try #require(JSONSerialization.jsonObject(with: JSONEncoder().encode(model)) as? [String: Any])
+        json["settings"] = []
+        #expect(throws: FluidError.invalidParameter) {
+            try ControlSurfaceTableLoader.load(data: JSONSerialization.data(withJSONObject: json))
+        }
+    }
+    @Test func exactSettingsAndCoveragePolicies() throws {
+        let settings = try [setting(0),setting(0.2,angles: [-0.05,0.05])]
+        let model = try table(settings)
+        #expect(try model.coefficients(for: query(deflection: 0)).lift > 0)
+        #expect(throws: FluidError.outsideCoverage) { try model.coefficients(for: query(deflection: 0.1)) }
+        #expect(throws: FluidError.outsideCoverage) { try model.coefficients(for: query(deflection: -0.01)) }
+        let clamped = try table(settings,policy: .clamp)
+        #expect(try clamped.coefficients(for: query(deflection: -0.01)).lift == model.coefficients(for: query(deflection: 0)).lift)
+        #expect(throws: FluidError.duplicateCondition) { try table([setting(0),setting(0)]) }
+        #expect(throws: FluidError.invalidParameter) { try ControlSurfaceSetting(deflectionRadians: .nan,airfoil: setting(0).airfoil) }
+    }
+    @Test func suppliedPostStallSamplesArePreserved() throws {
+        let samples = [
+            AirfoilSample(angleOfAttackRadians: 0,coefficients: AirfoilCoefficients(lift: 0,drag: 0.02,moment: 0)),
+            AirfoilSample(angleOfAttackRadians: 0.2,coefficients: AirfoilCoefficients(lift: 1,drag: 0.1,moment: -0.1)),
+            AirfoilSample(angleOfAttackRadians: 0.4,coefficients: AirfoilCoefficients(lift: 0.6,drag: 0.4,moment: -0.2))]
+        let polars = try [0.0,1.0].flatMap { mach in
+            try [1000.0,10000.0].map { try AirfoilPolar(reynoldsNumber: $0,machNumber: mach,samples: samples) }
+        }
+        let model = try table([ControlSurfaceSetting(deflectionRadians: 0,
+            airfoil: TabulatedAirfoil(polars: polars,source: "Synthetic post-stall shape",version: "1"))])
+        let coefficient = try model.coefficients(for: query(alpha: 0.3,deflection: 0))
+        #expect(abs(coefficient.lift-0.8) < 1e-12)
+        #expect(abs(coefficient.drag-0.25) < 1e-12)
+        #expect(throws: FluidError.outsideCoverage) { try model.coefficients(for: query(alpha: 0.5,deflection: 0)) }
+    }
+    @Test func differentialWingAndVerticalTailLoads() throws {
+        let model = try table([setting(-0.1),setting(0.1)])
+        let axes = try WingSectionAxes()
+        let wing = try SegmentedWing(segments: [-1.0,1.0].map { y in
+            try WingSegment(positionMetres: SIMD3(0,y,0),axes: axes,chordMetres: 1,areaSquareMetres: 1,
+                controlDeflectionRadians: 0.1*y,model: model)
+        })
+        let flow = try query(alpha: 0).flow
+        let loads = try wing.evaluate(flow: flow).loads
+        #expect(abs(loads.momentNewtonMetres.x+750) < 1e-10)
+        #expect(abs(loads.forceNewtons.z+2500) < 1e-10)
+        let tail = try WingSegment(positionMetres: SIMD3(-3,0,0),
+            axes: WingSectionAxes(forward: SIMD3(1,0,0),span: SIMD3(0,0,1)),
+            chordMetres: 1,areaSquareMetres: 1,controlDeflectionRadians: 0.1,model: model)
+        let tailLoads = try tail.evaluate(bodyFlow: flow).loads.referred(to: .zero)
+        #expect(abs(tailLoads.forceNewtons.y-1625) < 1e-10)
+        #expect(abs(tailLoads.momentNewtonMetres.z+4993.75) < 1e-10)
+    }
+}
diff --git a/Tests/AerodynamicsTests/CoverageDataTests.swift b/Tests/AerodynamicsTests/CoverageDataTests.swift
new file mode 100644
index 0000000..4467460
--- /dev/null
+++ b/Tests/AerodynamicsTests/CoverageDataTests.swift
@@ -0,0 +1,99 @@
+// SPDX-License-Identifier: Apache-2.0
+import FluidDynamics
+import Foundation
+import Testing
+import Aerodynamics
+
+@Suite struct CoverageDataTests {
+    func axis(_ name: String, _ coordinates: [Double], units: String = "1") throws -> FluidTableAxis {
+        try FluidTableAxis(name: name,units: units,coordinates: coordinates)
+    }
+    func table(_ axes: [FluidTableAxis], units: String = "1", function: ([Double]) -> Double) throws -> FluidScalarTable {
+        var points: [[Double]] = [[]]
+        for axis in axes { points = points.flatMap { p in axis.coordinates.map { p+[$0] } } }
+        return try FluidScalarTable(axes: axes,values: points.map(function),valueUnits: units,
+            source: "Synthetic affine validation fixture",version: "1",assumptions: "Tests interpolation only; no physical calibration")
+    }
+    @Test func checkedGridInterpolationAndDecodedValidation() throws {
+        let axes = try [axis("a",[1,2]),axis("b",[3,5,8]),axis("c",[7])]
+        let t = try table(axes) { 2*$0[0]-3*$0[1]+$0[2] }
+        #expect(abs(try t.value(at: [1.4,6,7])+8.2) < 1e-12)
+        #expect(try t.value(at: [2,8,7]) == -13)
+        #expect(throws: FluidError.outsideCoverage) { try t.value(at: [0,6,7]) }
+        #expect(throws: FluidError.invalidParameter) { try t.value(at: [.nan,6,7]) }
+        #expect(throws: FluidError.self) { try axis("bad",[2,1]) }
+        #expect(throws: FluidError.self) { try axis("bad",[1,1]) }
+        #expect(throws: FluidError.self) { try axis("overflow",[-1e308,1e308]) }
+        let decoded = try JSONDecoder().decode(FluidScalarTable.self,from: JSONEncoder().encode(t))
+        #expect(try decoded.value(at: [1.4,6,7]) == t.value(at: [1.4,6,7]))
+        var object = try #require(JSONSerialization.jsonObject(with: JSONEncoder().encode(t)) as? [String:Any])
+        object["values"] = [1.0]
+        let invalid = try JSONSerialization.data(withJSONObject: object)
+        #expect(throws: FluidError.incompleteGrid) { try JSONDecoder().decode(FluidScalarTable.self,from: invalid) }
+    }
+    @Test func transitionalTractionIsContinuousWithinSuppliedDataset() throws {
+        let axes = try [axis("log10Kn",[-3,0,2]),axis("incidenceCosine",[-1,1]),
+                        axis("speedRatio",[0,3]),axis("wallTemperatureRatio",[1,3])]
+        let p = try table(axes) { 1+0.1*$0[0]+0.2*$0[1]+0.3*$0[2]+0.4*$0[3] }
+        let shear = try table(axes) { _ in 0.5 }
+        let gas = try FreeMolecularGas(identifier: "synthetic",specificGasConstantJoulesPerKilogramKelvin: 4,source: "test")
+        let model = try TabulatedRarefiedTraction(gas: gas,wallTemperatureKelvin: 8,pressure: p,shear: shear)
+        let panel = try FluidSurfacePanel(areaSquareMetres: 2,centreMetres: SIMD3(0,0,1),outwardNormal: SIMD3(1,0,0))
+        for logKn in [-3.0,-1,-1e-8,0,1e-8,1,2] {
+            let flow = try FluidFlow(relativeVelocityMetresPerSecond: SIMD3(3,4,0),densityKilogramsPerCubicMetre: 2,
+                temperatureKelvin: 4,meanFreePathMetres: pow(10,logKn))
+            let t = try model.traction(panel: panel,flow: flow,referenceLengthMetres: 1)
+            #expect(abs(t.gaugePressurePascals-32*(2.295+0.1*logKn)) < 1e-11)
+            #expect(abs(t.shearPascals.y+16) < 1e-12)
+            #expect(t.shearPascals.x == 0 && t.shearPascals.z == 0)
+            let load = try SurfaceTractionIntegration(panels: [panel],referenceLengthMetres: 1,model: model).evaluate(flow: flow).loads
+            #expect(abs(load.momentNewtonMetres.y+2*t.gaugePressurePascals) < 1e-10)
+        }
+        let outside = try FluidFlow(relativeVelocityMetresPerSecond: SIMD3(3,4,0),densityKilogramsPerCubicMetre: 2,
+            temperatureKelvin: 4,meanFreePathMetres: 1000)
+        #expect(throws: FluidError.outsideCoverage) { try model.traction(panel: panel,flow: outside,referenceLengthMetres: 1) }
+        #expect(throws: FluidError.malformedData) {
+            try TabulatedRarefiedTraction(gas: gas,wallTemperatureKelvin: 8,pressure: p,shear: table(axes) { _ in -1 })
+        }
+    }
+    @Test func explicitMachDispatchAcrossAllFlightRegimes() throws {
+        let bounds = [0.0...0.8,0.8...1.2,1.2...5,5...25]
+        let models = try bounds.enumerated().map { index, bound in
+            try CoveredBodyCoefficients(model: ConstantBodyCoefficients(value: FluidCoefficients(
+                force: SIMD3(-Double(index+1),0,0),moment: .zero),source: "Synthetic regime test",version: "1"),
+                coverage: GasFlowCoverage(machNumber: bound,reynoldsNumber: 1...1e10,
+                    angleOfAttackRadians: -.pi...(.pi),sideslipRadians: -1...1,knudsenNumber: 0...0.01),
+                reynoldsReferenceLengthMetres: 1,momentLengthsMetres: SIMD3(repeating: 1))
+        }
+        let model = try MachRegimeBodyCoefficients(models: models,machThresholds: [0.8,1.2,5],source: "test dispatch",version: "1")
+        for (mach, expected) in [(0.3,1.0),(0.8,2),(1.2,3),(5,4),(20,4)] {
+            let flow = try FluidFlow(relativeVelocityMetresPerSecond: SIMD3(mach*100,0,0),densityKilogramsPerCubicMetre: 1,
+                speedOfSoundMetresPerSecond: 100,dynamicViscosityPascalSeconds: 1e-5,meanFreePathMetres: 1e-7)
+            let query = try BodyAerodynamicQuery(flow: flow,reynoldsReferenceLengthMetres: 1,momentLengthsMetres: SIMD3(repeating: 1))
+            #expect(try model.coefficients(for: query).force.x == -expected)
+            #expect(throws: FluidError.unsupportedQuery) {
+                try model.coefficients(for: BodyAerodynamicQuery(flow: flow,reynoldsReferenceLengthMetres: 2,momentLengthsMetres: SIMD3(repeating: 1)))
+            }
+        }
+    }
+    @Test func explicitCompositionAndTransport() throws {
+        let a = try PerfectGasSpecies(identifier: "a",molarMassKilogramsPerMole: 8.31446261815324/200,
+            specificHeatJoulesPerKilogramKelvin: 1000,temperatureRangeKelvin: 200...500,source: "synthetic")
+        let b = try PerfectGasSpecies(identifier: "b",molarMassKilogramsPerMole: 8.31446261815324/400,
+            specificHeatJoulesPerKilogramKelvin: 1500,temperatureRangeKelvin: 250...600,source: "synthetic")
+        let components = try [PerfectGasMassFraction(species: a,massFraction: 0.25),PerfectGasMassFraction(species: b,massFraction: 0.75)]
+        let mixture = try PerfectGasMixture(identifier: "mix",components: components,source: "synthetic")
+        #expect(abs(mixture.specificGasConstantJoulesPerKilogramKelvin-350) < 1e-12)
+        #expect(mixture.specificHeatJoulesPerKilogramKelvin == 1375)
+        #expect(mixture.temperatureRangeKelvin == 250...500)
+        let density = try mixture.densityKilogramsPerCubicMetre(temperatureKelvin: 300,pressurePascals: 105000)
+        #expect(abs(density-1) < 1e-12)
+        #expect(abs(try mixture.speedOfSoundMetresPerSecond(temperatureKelvin: 300)-sqrt(1375.0/1025*350*300)) < 1e-10)
+        let transport = try mixture.transport(temperatureKelvin: 300,pressurePascals: 105000,
+            dynamicViscosityPascalSeconds: 2e-5,thermalConductivityWattsPerMetreKelvin: 0.03,transportSource: "supplied")
+        #expect(transport.fluidIdentifier == "mix")
+        #expect(abs(transport.prandtlNumber-1375*2e-5/0.03) < 1e-12)
+        #expect(throws: FluidError.outsideCoverage) { try mixture.speedOfSoundMetresPerSecond(temperatureKelvin: 800) }
+        #expect(throws: FluidError.invalidParameter) { try PerfectGasMixture(identifier: "bad",components: [components[0]],source: "test") }
+    }
+}
diff --git a/Tests/AerodynamicsTests/EntrySurfaceHeatingTests.swift b/Tests/AerodynamicsTests/EntrySurfaceHeatingTests.swift
new file mode 100644
index 0000000..6b08b23
--- /dev/null
+++ b/Tests/AerodynamicsTests/EntrySurfaceHeatingTests.swift
@@ -0,0 +1,107 @@
+// SPDX-License-Identifier: Apache-2.0
+import FluidDynamics
+import Foundation
+import Testing
+import Aerodynamics
+
+@Suite struct EntrySurfaceHeatingTests {
+    let data = CoverageDataTests()
+    func flow(speed: Double = 2000, density: Double = 0.001, path: Double = 1e-6) throws -> FluidFlow {
+        try FluidFlow(relativeVelocityMetresPerSecond: SIMD3(speed,0,0),densityKilogramsPerCubicMetre: density,
+            pressurePascals: 100,temperatureKelvin: 400,speedOfSoundMetresPerSecond: 400,dynamicViscosityPascalSeconds: 2e-5,meanFreePathMetres: path)
+    }
+    func coverage() throws -> StagnationHeatingCoverage {
+        try StagnationHeatingCoverage(speedMetresPerSecond: 1000...5000,densityKilogramsPerCubicMetre: 1e-4...0.01,
+            noseRadiusMetres: 0.01...1,machNumber: 5...20)
+    }
+    @Test func suppliedEnthalpyDataPreservesRecoveryAndWallCooling() throws {
+        let axes = try [data.axis("mach",[5,10]),data.axis("log10Re",[4,7]),data.axis("wallEnthalpyRatio",[0,1,2])]
+        let table = try data.table(axes) { 0.001+0.0001*$0[0]+0.00001*$0[1]+0.0002*$0[2] }
+        let model = try TabulatedEnthalpySurfaceHeating(gasIdentifier: "test",boundaryLayer: .turbulent,stanton: table,coverage: EnthalpySurfaceHeatingCoverage(
+            edgeTemperatureKelvin: 200...1000,edgePressurePascals: 1...1000,
+            adiabaticWallEnthalpyJoulesPerKilogram: 1e6...3e6,distanceFromLeadingEdgeMetres: 0.1...10))
+        for wall in [0.0,1e6,2e6,3e6] {
+            let result = try model.evaluate(EnthalpySurfaceHeatingQuery(edgeFlow: flow(),gasIdentifier: "test",
+                distanceFromLeadingEdgeMetres: 1,adiabaticWallEnthalpyJoulesPerKilogram: 2e6,
+                wallEnthalpyJoulesPerKilogram: wall,surfacePositionMetres: SIMD3(1,2,3)))
+            let st = 0.00155+0.0002*wall/2e6
+            #expect(abs(result.stantonNumber-st) < 1e-14)
+            #expect(abs(result.wattsPerSquareMetre-2*st*(2e6-wall)) < 1e-8)
+        }
+        #expect(throws: FluidError.unsupportedQuery) {
+            try model.evaluate(EnthalpySurfaceHeatingQuery(edgeFlow: flow(),gasIdentifier: "other",distanceFromLeadingEdgeMetres: 1,
+                adiabaticWallEnthalpyJoulesPerKilogram: 2e6,wallEnthalpyJoulesPerKilogram: 1e6,surfacePositionMetres: .zero))
+        }
+        #expect(throws: FluidError.outsideCoverage) {
+            try model.evaluate(EnthalpySurfaceHeatingQuery(edgeFlow: flow(),gasIdentifier: "test",distanceFromLeadingEdgeMetres: 1,
+                adiabaticWallEnthalpyJoulesPerKilogram: 1e8,wallEnthalpyJoulesPerKilogram: 1e6,surfacePositionMetres: .zero))
+        }
+        #expect(throws: FluidError.outsideCoverage) {
+            try model.evaluate(EnthalpySurfaceHeatingQuery(edgeFlow: flow(path: 1),gasIdentifier: "test",distanceFromLeadingEdgeMetres: 1,
+                adiabaticWallEnthalpyJoulesPerKilogram: 2e6,wallEnthalpyJoulesPerKilogram: 1e6,surfacePositionMetres: .zero))
+        }
+    }
+    struct SphereReference: ConvectiveHeatingModel {
+        func heatFlux(for query: StagnationHeatingQuery) throws -> SurfaceHeatFlux {
+            guard query.noseRadiusMetres == 0.3048, query.gasIdentifier == "earth-air", query.wall == nil else { throw FluidError.unsupportedQuery }
+            return try SurfaceHeatFlux(wattsPerSquareMetre: 1000,surfacePositionMetres: query.surfacePositionMetres)
+        }
+    }
+    @Test func sweptLeadingEdgeReferenceRadiusAndSweep() throws {
+        let model = try SweptCylinderStagnationHeating(referenceSphereModel: SphereReference(),referenceSphereRadiusMetres: 0.3048,coverage: coverage())
+        let query = try StagnationHeatingQuery(flow: flow(),gasIdentifier: "earth-air",noseRadiusMetres: 0.0762,surfacePositionMetres: SIMD3(1,2,3))
+        let pluggable: any LeadingEdgeConvectiveHeatingModel = model
+        let unswept = try pluggable.heatFlux(for: LeadingEdgeHeatingQuery(stagnation: query,effectiveSweepRadians: 0))
+        #expect(abs(unswept.wattsPerSquareMetre-1414.213562373095) < 1e-10)
+        let swept = try model.heatFlux(for: query,effectiveSweepRadians: .pi/3)
+        #expect(abs(swept.wattsPerSquareMetre-659.753955386447) < 1e-9)
+        #expect(try model.heatFlux(for: query,effectiveSweepRadians: -.pi/3).wattsPerSquareMetre == swept.wattsPerSquareMetre)
+        #expect(swept.surfacePositionMetres == SIMD3(1,2,3))
+        #expect(throws: FluidError.outsideCoverage) { try model.heatFlux(for: query,effectiveSweepRadians: 1.1) }
+        #expect(throws: FluidError.invalidGeometry) { try LeadingEdgeHeatingQuery(stagnation: query,effectiveSweepRadians: .pi/2) }
+        let wrongGas = try StagnationHeatingQuery(flow: flow(),gasIdentifier: "other",noseRadiusMetres: 0.0762,surfacePositionMetres: .zero)
+        #expect(throws: FluidError.unsupportedQuery) { try model.heatFlux(for: wrongGas,effectiveSweepRadians: 0) }
+        let rarefied = try StagnationHeatingQuery(flow: flow(path: 1),gasIdentifier: "earth-air",noseRadiusMetres: 0.0762,surfacePositionMetres: .zero)
+        #expect(throws: FluidError.outsideCoverage) { try model.heatFlux(for: rarefied,effectiveSweepRadians: 0) }
+    }
+    @Test func suppliedRadiationIsIndependentIncomingFlux() throws {
+        let axes = try [data.axis("speed",[1000,5000],units: "m/s"),data.axis("density",[1e-4,0.01],units: "kg/m^3"),
+                        data.axis("radius",[0.01,1],units: "m")]
+        let table = try data.table(axes,units: "W/m^2") { 100*$0[0]+1000*$0[1]+10*$0[2] }
+        let model = try TabulatedRadiativeHeating(gasIdentifier: "test",flux: table,coverage: coverage(),freestreamTemperatureKelvin: 300...500)
+        let query = try StagnationHeatingQuery(flow: flow(),gasIdentifier: "test",noseRadiusMetres: 0.5,surfacePositionMetres: .zero)
+        #expect(abs(try model.heatFlux(for: query).wattsPerSquareMetre-200006) < 1e-7)
+        let hotFlow = try FluidFlow(relativeVelocityMetresPerSecond: SIMD3(2000,0,0),densityKilogramsPerCubicMetre: 0.001,
+            temperatureKelvin: 600,speedOfSoundMetresPerSecond: 400,meanFreePathMetres: 1e-6)
+        let hotQuery = try StagnationHeatingQuery(flow: hotFlow,gasIdentifier: "test",noseRadiusMetres: 0.5,surfacePositionMetres: .zero)
+        #expect(throws: FluidError.outsideCoverage) { try model.heatFlux(for: hotQuery) }
+        let wallQuery = try StagnationHeatingQuery(flow: flow(),gasIdentifier: "test",noseRadiusMetres: 0.5,
+            surfacePositionMetres: .zero,wall: AerothermalWallState(temperatureKelvin: 300))
+        #expect(throws: FluidError.unsupportedQuery) { try model.heatFlux(for: wallQuery) }
+    }
+    @Test func fullyTurbulentFlatPlateAndIntegratedDistribution() throws {
+        let model = TurbulentFlatPlateHeating()
+        let fixture = SurfaceHeatingTests()
+        let end = try model.evaluate(fixture.query(x: 2))
+        // At Pr=1, Re=2e6. Numerical constant reference from local turbulent correlation.
+        #expect(abs(end.localNusseltNumber-3251.739208186111) < 1e-6)
+        #expect(end.wattsPerSquareMetre > 0)
+        var lastError = Double.infinity
+        let exactIntegral = end.wattsPerSquareMetre*2/pow(2,0.8)*(pow(2,0.8)-1)/0.8
+        for count in [16,64] {
+            var integral = 0.0
+            for i in 0..<count {
+                let x = 1+(Double(i)+0.5)/Double(count)
+                integral += try model.evaluate(fixture.query(x: x)).wattsPerSquareMetre/Double(count)
+            }
+            let error = abs(integral-exactIntegral)
+            #expect(error < lastError); lastError = error
+        }
+        #expect(lastError/exactIntegral < 1e-5)
+
+        let start = try model.evaluate(fixture.query(x: 1))
+        #expect(abs(start.wattsPerSquareMetre/end.wattsPerSquareMetre-pow(2,0.2)) < 1e-12)
+        #expect(try model.evaluate(fixture.query(x: 2,wall: 330,edge: 300)).wattsPerSquareMetre < 0)
+        #expect(throws: FluidError.outsideCoverage) { try model.evaluate(fixture.query(x: 0.1)) }
+    }
+}
diff --git a/Tests/AerodynamicsTests/FiniteWingTests.swift b/Tests/AerodynamicsTests/FiniteWingTests.swift
new file mode 100644
index 0000000..276ad67
--- /dev/null
+++ b/Tests/AerodynamicsTests/FiniteWingTests.swift
@@ -0,0 +1,69 @@
+// SPDX-License-Identifier: Apache-2.0
+import FluidDynamics
+import Foundation
+import Testing
+import Aerodynamics
+
+@Suite struct FiniteWingTests {
+    private struct LinearPolar: AirfoilCoefficientModel {
+        var offset = 0.0
+        func coefficients(angleOfAttackRadians: Double,reynoldsNumber: Double,machNumber: Double) throws -> AirfoilCoefficients {
+            AirfoilCoefficients(lift: offset+2 * .pi*angleOfAttackRadians,drag:0.02,moment:-0.03)
+        }
+    }
+    private func model(aspectRatio:Double = 8, offset:Double = 0, iterations:Int = 64) throws -> FiniteWingAirfoil {
+        try FiniteWingAirfoil(airfoil:LinearPolar(offset:offset),aspectRatio:aspectRatio,spanEfficiency:0.8,
+            effectiveAngleRangeRadians:-0.3...0.3,operatingAngleRangeRadians:-0.2...0.2,maximumIterations:iterations)
+    }
+    @Test(arguments:[-0.15,0.0,0.15]) func matchesClassicalFiniteWingSlope(alpha:Double) throws {
+        let finite = try model()
+        let result = try finite.solve(angleOfAttackRadians:alpha,reynoldsNumber:1e6,machNumber:0.2)
+        let a0 = 2*Double.pi
+        let expectedLift = a0*alpha/(1+a0/(Double.pi*0.8*8))
+        #expect(abs(result.coefficients.lift-expectedLift) < 1e-9)
+        #expect(abs(result.inducedDragCoefficient-expectedLift*expectedLift/(Double.pi*0.8*8)) < 1e-9)
+        #expect(abs(result.coefficients.drag-0.02-result.inducedDragCoefficient) < 1e-14)
+        #expect(result.coefficients.moment == -0.03)
+        #expect(abs(result.angleResidualRadians) <= finite.angleToleranceRadians)
+        #expect(result.iterations <= 64)
+    }
+    @Test func camberAndAspectRatioLimits() throws {
+        let cambered = try model(offset:0.4)
+        let result = try cambered.solve(angleOfAttackRadians:0,reynoldsNumber:1e6,machNumber:0.1)
+        #expect(abs(result.coefficients.lift-0.4/(1+2/(0.8*8))) < 1e-9)
+        #expect(result.effectiveAngleOfAttackRadians < 0)
+        let low = try model(aspectRatio:4).solve(angleOfAttackRadians:0.1,reynoldsNumber:1e6,machNumber:0.1)
+        let high = try model(aspectRatio:10000).solve(angleOfAttackRadians:0.1,reynoldsNumber:1e6,machNumber:0.1)
+        #expect(low.coefficients.lift < high.coefficients.lift)
+        #expect(low.inducedDragCoefficient > high.inducedDragCoefficient)
+        #expect(abs(high.coefficients.lift-2 * .pi*0.1) < 0.001)
+    }
+    @Test func boundsAndWorkLimits() throws {
+        let finite = try model()
+        #expect(throws:FluidError.outsideCoverage) { try finite.solve(angleOfAttackRadians:0.3,reynoldsNumber:1e6,machNumber:0.1) }
+        #expect(throws:FluidError.outsideCoverage) { try finite.solve(angleOfAttackRadians:0.1,reynoldsNumber:1e6,machNumber:0.4) }
+        #expect(throws:FiniteWingError.iterationLimit) { try model(iterations:1).solve(angleOfAttackRadians:0.1,reynoldsNumber:1e6,machNumber:0.1) }
+        let narrow = try FiniteWingAirfoil(airfoil:LinearPolar(),aspectRatio:8,spanEfficiency:1,
+            effectiveAngleRangeRadians:-0.01...0.01,operatingAngleRangeRadians:-0.2...0.2)
+        #expect(throws:FiniteWingError.unbracketedSolution) { try narrow.solve(angleOfAttackRadians:0.1,reynoldsNumber:1e6,machNumber:0.1) }
+        #expect(throws:FluidError.invalidParameter) {
+            try FiniteWingAirfoil(airfoil:LinearPolar(),aspectRatio:0,spanEfficiency:1,
+                effectiveAngleRangeRadians:-0.2...0.2,operatingAngleRangeRadians:-0.2...0.2)
+        }
+    }
+    @Test func uniformStripIntegrationAvoidsResolutionDependentCorrection() throws {
+        let finite = try model(), section = AirfoilWingSectionModel(airfoil:finite)
+        let angle = 0.1
+        let flow = try FluidFlow(relativeVelocityMetresPerSecond:SIMD3(10*cos(angle),0,10*sin(angle)),
+            densityKilogramsPerCubicMetre:2,speedOfSoundMetresPerSecond:100,dynamicViscosityPascalSeconds:0.001)
+        let expected = try finite.coefficients(angleOfAttackRadians:angle,reynoldsNumber:20000,machNumber:0.1)
+        for count in [1,8,32] {
+            let wing = try SegmentedWing.rectangular(spanMetres:16,chordMetres:2,segmentCount:count,model:section)
+            let loads = try wing.evaluate(flow:flow).loads
+            let direction = flow.relativeVelocityMetresPerSecond/flow.speedMetresPerSecond
+            let lift = SIMD3(sin(angle),0,-cos(angle))
+            #expect(abs((loads.forceNewtons*lift).sum()-3200*expected.lift) < 1e-7)
+            #expect(abs(-(loads.forceNewtons*direction).sum()-3200*expected.drag) < 1e-7)
+        }
+    }
+}
diff --git a/Tests/AerodynamicsTests/FreeMolecularTests.swift b/Tests/AerodynamicsTests/FreeMolecularTests.swift
new file mode 100644
index 0000000..78e1eca
--- /dev/null
+++ b/Tests/AerodynamicsTests/FreeMolecularTests.swift
@@ -0,0 +1,85 @@
+// SPDX-License-Identifier: Apache-2.0
+import FluidDynamics
+import Foundation
+import Testing
+import Aerodynamics
+
+@Suite struct FreeMolecularTests {
+    func model(specular: Double = 0, wall: Double = 2) throws -> MaxwellianFreeMolecularTraction {
+        try MaxwellianFreeMolecularTraction(gas: FreeMolecularGas(identifier: "Synthetic single species",
+            specificGasConstantJoulesPerKilogramKelvin: 2,source: "Analytic kinetic test"),
+            surface: GasSurfaceReflection(specularFraction: specular,wallTemperatureKelvin: wall))
+    }
+    func flow(_ v: SIMD3<Double>, path: Double? = 20, temperature: Double? = 2) throws -> FluidFlow {
+        try FluidFlow(relativeVelocityMetresPerSecond: v,densityKilogramsPerCubicMetre: 1,
+                            temperatureKelvin: temperature,meanFreePathMetres: path)
+    }
+    func panel() throws -> FluidSurfacePanel {
+        try FluidSurfacePanel(areaSquareMetres: 2,centreMetres: SIMD3(0,1,0),outwardNormal: SIMD3(1,0,0))
+    }
+    @Test func gaussianMomentumMatchesIndependentQuadrature() throws {
+        for normalSpeed in [-25.0,-3.0,0,3,25] {
+            // Independent Simpson integration over incoming normal molecular velocities.
+            let sigma = 2.0, lower = -max(20*sigma,normalSpeed+12*sigma), count = 4096
+            let step = -lower/Double(count)
+            var mass = 0.0, pressure = 0.0
+            for i in 0...count {
+                let c = lower+Double(i)*step
+                let density = exp(-pow((c+normalSpeed)/sigma,2)/2)/(sigma*sqrt(2*Double.pi))
+                let weight = i == 0 || i == count ? 1.0 : (i%2 == 0 ? 2.0 : 4.0)
+                mass += weight*(-c)*density; pressure += weight*c*c*density
+            }
+            mass *= step/3; pressure *= step/3
+            for specular in [0.0,0.35,1] {
+                let value = try model(specular: specular,wall: 8).traction(panel: panel(),
+                    flow: flow(SIMD3(normalSpeed,4,0)),referenceLengthMetres: 1)
+                let expectedPressure = (1+specular)*pressure+(1-specular)*mass*sqrt(2*8*Double.pi/2)-4
+                #expect(abs(value.gaugePressurePascals-expectedPressure) < 1e-7)
+                #expect(abs(value.shearPascals.y+(1-specular)*mass*4) < 1e-7)
+                #expect(value.shearPascals.x == 0)
+            }
+        }
+    }
+    @Test func thermalRestAndLeewardImpacts() throws {
+        let rest = try model().traction(panel: panel(),flow: flow(.zero),referenceLengthMetres: 1)
+        #expect(abs(rest.gaugePressurePascals) < 1e-12)
+        #expect(rest.shearPascals == .zero)
+        let hotWall = try model(wall: 8).traction(panel: panel(),flow: flow(.zero),referenceLengthMetres: 1)
+        #expect(abs(hotWall.gaugePressurePascals-2) < 1e-12)
+        let specular = try model(specular: 1,wall: 8).traction(panel: panel(),flow: flow(.zero),referenceLengthMetres: 1)
+        #expect(abs(specular.gaugePressurePascals) < 1e-12)
+        let leeward = try model().traction(panel: panel(),flow: flow(SIMD3(-3,4,0)),referenceLengthMetres: 1)
+        #expect(leeward.gaugePressurePascals > -4)
+        #expect(leeward.shearPascals.y < 0)
+    }
+    @Test func specularBeamLimitAndMomentTransfer() throws {
+        let normal = SIMD3<Double>(1/sqrt(2),1/sqrt(2),0)
+        let surfacePanel = try FluidSurfacePanel(areaSquareMetres: 2,centreMetres: SIMD3(0,0,1),outwardNormal: normal)
+        let evaluator = try SurfaceTractionIntegration(panels: [surfacePanel],referenceLengthMetres: 1,model: model(specular: 1))
+        let result = try evaluator.evaluate(flow: flow(SIMD3(1000,0,0)))
+        // 2 rho (V·n)^2 + rho RT, after subtracting ambient rho RT.
+        #expect(abs(result.tractions[0].gaugePressurePascals-(1e6+4)) < 1e-8)
+        #expect(result.tractions[0].shearPascals == .zero)
+        #expect(abs(result.loads.forceNewtons.x+sqrt(2)*(1e6+4)) < 1e-8)
+        #expect(abs(result.loads.momentNewtonMetres.y+sqrt(2)*(1e6+4)) < 1e-8)
+    }
+    @Test func continuumAdapterAndCoverage() throws {
+        let continuum = try ModifiedNewtonianPressure(specificHeatRatio: 1.4)
+        let local = try FluidFlow(relativeVelocityMetresPerSecond: SIMD3(1000,0,0),
+            densityKilogramsPerCubicMetre: 0.02,speedOfSoundMetresPerSecond: 100,meanFreePathMetres: 0.001)
+        let original = try SurfacePressureIntegration(panels: [panel()],referenceLengthMetres: 1,model: continuum).evaluate(flow: local)
+        let adapted = try SurfaceTractionIntegration(panels: [panel()],referenceLengthMetres: 1,
+            model: PressureOnlyTraction(continuum)).evaluate(flow: local)
+        #expect(original.loads.forceNewtons == adapted.loads.forceNewtons)
+        #expect(original.loads.momentNewtonMetres == adapted.loads.momentNewtonMetres)
+        #expect(throws: FluidError.outsideCoverage) { try model().traction(panel: panel(),flow: flow(.zero,path: 1),referenceLengthMetres: 1) }
+        #expect(throws: FluidError.missingFlowProperty) { try model().traction(panel: panel(),flow: flow(.zero,path: nil),referenceLengthMetres: 1) }
+        #expect(throws: FluidError.missingFlowProperty) { try model().traction(panel: panel(),flow: flow(.zero,temperature: nil),referenceLengthMetres: 1) }
+        let oblique = try FluidSurfacePanel(areaSquareMetres: 1,centreMetres: .zero,
+                                                  outwardNormal: SIMD3(1,2,3))
+        let evaluator = try SurfaceTractionIntegration(panels: [oblique],referenceLengthMetres: 1,model: model())
+        let parallel = try evaluator.evaluate(flow: flow(oblique.outwardNormal*1000))
+        #expect(abs(parallel.tractions[0].shearPascals.x)+abs(parallel.tractions[0].shearPascals.y)
+            + abs(parallel.tractions[0].shearPascals.z) < 1e-8)
+    }
+}
diff --git a/Tests/AerodynamicsTests/LiftingLineTests.swift b/Tests/AerodynamicsTests/LiftingLineTests.swift
new file mode 100644
index 0000000..d6d9263
--- /dev/null
+++ b/Tests/AerodynamicsTests/LiftingLineTests.swift
@@ -0,0 +1,71 @@
+// SPDX-License-Identifier: Apache-2.0
+import FluidDynamics
+import Foundation
+import Testing
+import Aerodynamics
+
+@Suite struct LiftingLineTests {
+    func flow(alpha: Double = 0.1, speed: Double = 50, sideways: Double = 0) throws -> FluidFlow {
+        try FluidFlow(relativeVelocityMetresPerSecond: SIMD3(speed*cos(alpha),sideways,speed*sin(alpha)),
+            densityKilogramsPerCubicMetre: 1,speedOfSoundMetresPerSecond: 300,dynamicViscosityPascalSeconds: 0.001)
+    }
+    func wing(count: Int = 8, ellipse: Bool = true, asymmetricTwist: Double = 0,
+              centre: SIMD3<Double> = .zero, profileDrag: Double = 0) throws -> LiftingLineWing {
+        try LiftingLineWing(spanMetres: 8,referenceAreaSquareMetres: ellipse ? 4*Double.pi : 16,
+            stationCount: count,momentReferenceLineCentreMetres: centre,source: "Analytic reference geometry",version: "1") { fraction in
+                try LiftingLineSection(chordMetres: ellipse ? 2*sqrt(1-fraction*fraction) : 2,
+                    liftSlopePerRadian: 2*Double.pi,geometricIncidenceRadians: -asymmetricTwist*fraction,
+                    profileDragCoefficient: profileDrag,effectiveAngleRangeRadians: -0.2...0.2,reynoldsRange: 100...1e8)
+            }
+    }
+    @Test(arguments: [4,8,16,32]) func ellipticalWingMatchesClassicalReference(count: Int) throws {
+        let wing = try wing(count: count)
+        let result = try wing.evaluate(flow: flow())
+        let slope = 2*Double.pi/(1+2/wing.aspectRatio)
+        let expectedCL = slope*0.1
+        #expect(abs(result.liftCoefficient-expectedCL) < 1e-12)
+        #expect(abs(result.inducedDragCoefficient-expectedCL*expectedCL/(Double.pi*wing.aspectRatio)) < 1e-12)
+        #expect(abs(try #require(result.spanEfficiency)-1) < 1e-12)
+        #expect(result.maximumEquationResidualRadians < 1e-12)
+        for station in result.stations {
+            #expect(abs(station.sectionLiftCoefficient-2*Double.pi*station.effectiveAngleRadians) < 1e-12)
+        }
+        #expect(abs(result.loads.momentNewtonMetres.x)+abs(result.loads.momentNewtonMetres.z) < 1e-9)
+    }
+    @Test func asymmetricTwistProducesAnalyticSecondHarmonicAndRoll() throws {
+        let wing = try wing(asymmetricTwist: 0.04)
+        let result = try wing.evaluate(flow: flow(alpha: 0))
+        let lambda = 4*8/(2*Double.pi*2)
+        let expectedA2 = 0.04/(2*(lambda+2))
+        #expect(abs(result.fourierCoefficients[1]-expectedA2) < 1e-12)
+        #expect(abs(result.liftCoefficient) < 1e-12)
+        #expect(result.spanEfficiency == nil)
+        #expect(result.inducedDragCoefficient > 0)
+        let expectedRoll = Double.pi*1250*pow(8,3)*expectedA2/4
+        #expect(abs(result.loads.momentNewtonMetres.x-expectedRoll) < 1e-9)
+    }
+    @Test func rectangularWingConvergenceAndProfileDrag() throws {
+        let reference = try wing(count: 64,ellipse: false,profileDrag: 0.02).evaluate(flow: flow())
+        var lastError = Double.infinity
+        for count in [8,16,32] {
+            let result = try wing(count: count,ellipse: false,profileDrag: 0.02).evaluate(flow: flow())
+            let error = abs(result.liftCoefficient-reference.liftCoefficient)
+            #expect(error < lastError); lastError = error
+            #expect(abs(result.profileDragCoefficient-0.02) < 1e-12)
+            #expect((try #require(result.spanEfficiency)) < 1)
+            #expect((try #require(result.spanEfficiency)) > 0.8)
+        }
+        let atLine = try wing(centre: SIMD3(2,0,0)).evaluate(flow: flow(),momentReferencePointMetres: SIMD3(2,0,0))
+        let atOrigin = try wing(centre: SIMD3(2,0,0)).evaluate(flow: flow())
+        #expect(abs(atOrigin.loads.momentNewtonMetres.y-atLine.loads.momentNewtonMetres.y+2*atOrigin.loads.forceNewtons.z) < 1e-9)
+    }
+    @Test func coverageAndMissingProperties() throws {
+        let wing = try wing()
+        #expect(throws: FluidError.outsideCoverage) { try wing.evaluate(flow: flow(speed: 100)) }
+        #expect(throws: FluidError.outsideCoverage) { try wing.evaluate(flow: flow(sideways: 1)) }
+        #expect(throws: FluidError.outsideCoverage) { try wing.evaluate(flow: flow(alpha: 0.34)) }
+        #expect(throws: FluidError.missingFlowProperty) {
+            try wing.evaluate(flow: FluidFlow(relativeVelocityMetresPerSecond: SIMD3(50,0,0),densityKilogramsPerCubicMetre: 1))
+        }
+    }
+}
diff --git a/Tests/AerodynamicsTests/NonlinearLiftingLineTests.swift b/Tests/AerodynamicsTests/NonlinearLiftingLineTests.swift
new file mode 100644
index 0000000..23d87cc
--- /dev/null
+++ b/Tests/AerodynamicsTests/NonlinearLiftingLineTests.swift
@@ -0,0 +1,108 @@
+// SPDX-License-Identifier: Apache-2.0
+import FluidDynamics
+import Foundation
+import Testing
+import Aerodynamics
+
+@Suite struct NonlinearLiftingLineTests {
+    struct Polar: WingSectionCoefficientModel {
+        var nonlinear = false
+        func coefficients(for query: WingSectionQuery) throws -> AirfoilCoefficients {
+            guard let alpha = query.angleOfAttackRadians else { throw FluidError.missingFlowProperty }
+            return AirfoilCoefficients(lift: nonlinear ? 3*sin(2*alpha) : 2*Double.pi*alpha,drag: 0.01,moment: -0.02)
+        }
+    }
+    func flow(alpha: Double = 0.08, speed: Double = 30) throws -> FluidFlow {
+        try FluidFlow(relativeVelocityMetresPerSecond: SIMD3(speed*cos(alpha),0,speed*sin(alpha)),
+            densityKilogramsPerCubicMetre: 1,speedOfSoundMetresPerSecond: 340,dynamicViscosityPascalSeconds: 1.8e-5)
+    }
+    func segments(count: Int = 8, span: Double = 8, centre: SIMD3<Double> = .zero, nonlinear: Bool = false) throws -> [WingSegment] {
+        try SegmentedWing.rectangular(spanMetres: span,chordMetres: 1,segmentCount: count,
+            centreMetres: centre,model: Polar(nonlinear: nonlinear)).segments
+    }
+    func solver(_ segments: [WingSegment], length: Double = 800, core: Double = 0.0001,
+                iterations: Int = 1000) throws -> NonlinearLiftingLine {
+        try NonlinearLiftingLine(segments: segments,wakeLengthMetres: length,vortexCoreRadiusMetres: core,
+            relaxation: 0.05,tolerance: 1e-9,maximumIterations: iterations)
+    }
+    @Test func singleHorseshoeMatchesAnalyticSemiInfiniteWake() throws {
+        let wing = try solver(segments(count: 1),length: 80000,core: 1e-6)
+        let result = try wing.evaluate { _ in try flow() }
+        let gamma = result.circulationSquareMetresPerSecond[0]
+        // Two semi-infinite trailing legs, each distance b/2: total w=Gamma/(pi*b).
+        #expect(abs(result.inducedAirVelocityMetresPerSecond[0].z/(gamma/(Double.pi*8))-1) < 1e-8)
+        #expect(abs(result.inducedAirVelocityMetresPerSecond[0].x) < 1e-12)
+        // Independent scalar bisection of nonlinear section/circulation compatibility.
+        var lower = 0.0, upper = 30.0
+        for _ in 0..<80 {
+            let g = (lower+upper)/2, vx = 30*cos(0.08), vz = 30*sin(0.08)-g/(Double.pi*8)
+            let target = 0.5*hypot(vx,vz)*2*Double.pi*atan2(vz,vx)
+            if g > target { upper = g } else { lower = g }
+        }
+        #expect(abs(gamma-(lower+upper)/2) < 1e-7)
+        #expect(result.maximumNormalizedCirculationResidual <= 1e-9)
+    }
+    @Test func rectangularConvergenceAgainstFourierLiftingLine() throws {
+        let referenceWing = try LiftingLineWing(spanMetres: 8,referenceAreaSquareMetres: 8,stationCount: 64,
+            source: "linear rectangular reference",version: "1") { _ in
+                try LiftingLineSection(chordMetres: 1,liftSlopePerRadian: 2*Double.pi,
+                    effectiveAngleRangeRadians: -0.2...0.2,reynoldsRange: 1...1e9)
+            }
+        let alpha = 0.01
+        let reference = try referenceWing.evaluate(flow: flow(alpha: alpha))
+        var previous = Double.infinity
+        for count in [8,16,32,64] {
+            let result = try solver(segments(count: count)).evaluate { _ in try flow(alpha: alpha) }
+            let cl = -result.loads.forceNewtons.z/(450*8)
+            let error = abs(cl-reference.liftCoefficient)
+            #expect(error < previous); previous = error
+            #expect(abs(result.loads.momentNewtonMetres.x) < 1e-7)
+            #expect(abs(result.loads.momentNewtonMetres.z) < 1e-7)
+        }
+        #expect(previous/reference.liftCoefficient < 0.02)
+    }
+    @Test func coupledTailNonuniformFlowAndExternalWake() throws {
+        let main = try segments(nonlinear: true)
+        let tail = try segments(count: 4,span: 3,centre: SIMD3(-4,0,0.5),nonlinear: true)
+        let isolated = try solver(tail).evaluate { _ in try flow() }
+        let coupled = try solver(main+tail).evaluate { _ in try flow() }
+        let tailLift = coupled.segments.suffix(tail.count).reduce(0.0) { $0-$1.loads.forceNewtons.z }
+        #expect(tailLift < -isolated.loads.forceNewtons.z)
+        let mainSolver = try solver(main)
+        let mainResult = try mainSolver.evaluate { _ in try flow() }
+        let wake = try mainSolver.inducedAirVelocity(at: SIMD3(-4,0,0.5),circulation: mainResult.circulationSquareMetresPerSecond)
+        #expect(wake.z > 0)
+        let nonuniform = try mainSolver.evaluate { segment in
+            try flow(alpha: 0.08+0.005*segment.positionMetres.y,speed: 30+segment.positionMetres.y)
+        }
+        #expect(abs(nonuniform.loads.momentNewtonMetres.x) > 1)
+        let shifted = try mainSolver.evaluate(momentReferencePointMetres: SIMD3(1,2,3)) { _ in try flow() }
+        let expected = try mainResult.loads.referred(to: SIMD3(1,2,3))
+        #expect(hypot(hypot((shifted.loads.momentNewtonMetres-expected.momentNewtonMetres).x,
+                           (shifted.loads.momentNewtonMetres-expected.momentNewtonMetres).y),
+                          (shifted.loads.momentNewtonMetres-expected.momentNewtonMetres).z) < 1e-8)
+    }
+    @Test func wakeLengthAndCoreSensitivity() throws {
+        let s = try segments(count: 16)
+        let reference = try solver(s,length: 8000,core: 1e-6).evaluate { _ in try flow() }
+        var previous = Double.infinity
+        for length in [80.0,800] {
+            let result = try solver(s,length: length,core: 1e-6).evaluate { _ in try flow() }
+            let error = abs(result.loads.forceNewtons.z-reference.loads.forceNewtons.z)
+            #expect(error < previous); previous = error
+        }
+        let finiteCore = try solver(s,length: 8000,core: 0.001).evaluate { _ in try flow() }
+        #expect(abs((finiteCore.loads.forceNewtons.z-reference.loads.forceNewtons.z)/reference.loads.forceNewtons.z) < 1e-4)
+    }
+    @Test func failureIsExplicitAndNoInvalidFlowFallback() throws {
+        let s = try segments()
+        #expect(throws: FluidError.nonConvergence) {
+            try solver(s,iterations: 1).evaluate { _ in try flow() }
+        }
+        #expect(throws: FluidError.outsideCoverage) { try solver(s).evaluate { _ in try flow(speed: 200) } }
+        #expect(throws: FluidError.invalidGeometry) { try solver([s[0],s[0]]) }
+        #expect(throws: FluidError.invalidGeometry) { try solver(s,core: 1) }
+        let wing = try solver(s)
+        #expect(throws: FluidError.invalidParameter) { try wing.inducedAirVelocity(at: .zero,circulation: []) }
+    }
+}
diff --git a/Tests/AerodynamicsTests/ParachuteBalloonTests.swift b/Tests/AerodynamicsTests/ParachuteBalloonTests.swift
new file mode 100644
index 0000000..84bd626
--- /dev/null
+++ b/Tests/AerodynamicsTests/ParachuteBalloonTests.swift
@@ -0,0 +1,80 @@
+// SPDX-License-Identifier: Apache-2.0
+import FluidDynamics
+import Testing
+import Aerodynamics
+
+@Suite struct ParachuteBalloonTests {
+    func coefficients(maximumAngle: Double? = nil) throws -> TabulatedDragCoefficients {
+        try TabulatedDragCoefficients(samples: [0.0,1.0].flatMap { mach in
+            [100.0,10000.0].map { DragCoefficientSample(machNumber: mach,reynoldsNumber: $0,dragCoefficient: 2) }
+        }, source: "Synthetic drag reference",version: "1",maximumAxisAngleRadians: maximumAngle)
+    }
+    func flow(_ v: SIMD3<Double> = SIMD3(10,0,0), density: Double = 2) throws -> FluidFlow {
+        try FluidFlow(relativeVelocityMetresPerSecond: v,densityKilogramsPerCubicMetre: density,
+            speedOfSoundMetresPerSecond: 100,dynamicViscosityPascalSeconds: 0.02)
+    }
+    @Test func steadyParachuteDragDirectionAndMoment() throws {
+        let drag = try DragAreaForces(areaSquareMetres: 3,referenceLengthMetres: 1,
+            forceApplicationPointMetres: SIMD3(0,2,0),axis: SIMD3(2,0,0),model: coefficients(maximumAngle: 0.2))
+        let chute = ParachuteAerodynamics(drag: drag)
+        let loads = try chute.evaluate(flow: flow())
+        #expect(loads.forceNewtons == SIMD3(-600,0,0))
+        #expect(loads.momentNewtonMetres == SIMD3(0,0,1200))
+        let shifted = try chute.evaluate(flow: flow(),momentReferencePointMetres: SIMD3(0,2,0))
+        #expect(shifted.momentNewtonMetres == .zero)
+        #expect(throws: FluidError.outsideCoverage) { try chute.evaluate(flow: flow(SIMD3(-10,0,0))) }
+        // Coefficients are orientation-invariant when no angle coverage is declared.
+        let oblique = try DragAreaForces(areaSquareMetres: 2,referenceLengthMetres: 1,model: coefficients())
+        #expect(try oblique.evaluate(flow: flow(SIMD3(3,4,0))).forceNewtons == SIMD3(-60,-80,0))
+    }
+    @Test func terminalDescentBalancesExternalWeight() throws {
+        let chute = ParachuteAerodynamics(drag: try DragAreaForces(areaSquareMetres: 2,
+            referenceLengthMetres: 1,model: coefficients()))
+        // m=20 kg, g=10, rho=1, Cd=2, A=2 -> terminal speed 10 m/s.
+        let loads = try chute.evaluate(flow: flow(SIMD3(0,0,10),density: 1))
+        #expect(loads.forceNewtons+SIMD3(0,0,200) == .zero)
+    }
+    @Test func buoyancyAlternativeFieldsAndBalloonDrag() throws {
+        let buoyancy = try Buoyancy(displacedVolumeCubicMetres: 10,centreOfBuoyancyMetres: SIMD3(1,0,0))
+        let gravity = BuoyancyField.hydrostaticGravityMetresPerSecondSquared(SIMD3(0,0,10))
+        let pressure = BuoyancyField.pressureGradientPascalsPerMetre(SIMD3(0,0,20))
+        let a = try buoyancy.evaluate(densityKilogramsPerCubicMetre: 2,field: gravity)
+        let b = try buoyancy.evaluate(densityKilogramsPerCubicMetre: 2,field: pressure)
+        #expect(a.forceNewtons == SIMD3(0,0,-200))
+        #expect(a.momentNewtonMetres == SIMD3(0,200,0))
+        #expect(a.forceNewtons == b.forceNewtons)
+        #expect(a.momentNewtonMetres == b.momentNewtonMetres)
+        // Total external mass=displaced air mass (20 kg) gives equilibrium at rest.
+        #expect(a.forceNewtons+SIMD3(0,0,200) == .zero)
+        let balloon = BalloonAerodynamics(buoyancy: buoyancy,drag: try DragAreaForces(
+            areaSquareMetres: 3,referenceLengthMetres: 1,forceApplicationPointMetres: SIMD3(0,2,0),model: coefficients()))
+        let total = try balloon.evaluate(flow: flow(),field: gravity)
+        #expect(total.forceNewtons == SIMD3(-600,0,-200))
+        #expect(total.momentNewtonMetres == SIMD3(0,200,1200))
+    }
+    @Test func dragInterpolationAndSuppliedStateLimits() throws {
+        let table = try TabulatedDragCoefficients(samples: [0.0,1.0].flatMap { mach in
+            [1000.0,10000.0].map { DragCoefficientSample(machNumber: mach,reynoldsNumber: $0,
+                dragCoefficient: 0.1+2*mach+$0/10000) }
+        },source: "Synthetic affine coefficients",version: "1")
+        let local = try FluidFlow(relativeVelocityMetresPerSecond: SIMD3(50,0,0),
+            densityKilogramsPerCubicMetre: 1,speedOfSoundMetresPerSecond: 100,dynamicViscosityPascalSeconds: 0.01)
+        #expect(abs((try table.dragCoefficient(for: DragCoefficientQuery(flow: local,referenceLengthMetres: 1)))-1.6) < 1e-12)
+        let rest = try FluidFlow(relativeVelocityMetresPerSecond: .zero,densityKilogramsPerCubicMetre: 2)
+        let drag = try DragAreaForces(areaSquareMetres: 1,referenceLengthMetres: 1,model: table)
+        #expect(try drag.evaluate(flow: rest).forceNewtons == .zero)
+        let collapsed = try DragAreaForces(areaSquareMetres: 0,referenceLengthMetres: 1,model: table)
+        #expect(try collapsed.evaluate(flow: flow()).forceNewtons == .zero)
+        #expect(throws: FluidError.missingFlowProperty) {
+            try drag.evaluate(flow: FluidFlow(relativeVelocityMetresPerSecond: SIMD3(10,0,0),densityKilogramsPerCubicMetre: 1))
+        }
+        #expect(throws: FluidError.invalidGeometry) { try Buoyancy(displacedVolumeCubicMetres: -1) }
+        #expect(throws: FluidError.invalidGeometry) {
+            try DragAreaForces(areaSquareMetres: 1,referenceLengthMetres: 1,axis: .zero,model: table)
+        }
+        #expect(throws: FluidError.incompleteGrid) {
+            try TabulatedDragCoefficients(samples: [DragCoefficientSample(machNumber: 0,reynoldsNumber: 1,dragCoefficient: 1),
+                DragCoefficientSample(machNumber: 1,reynoldsNumber: 2,dragCoefficient: 1)],source: "Incomplete",version: "1")
+        }
+    }
+}
diff --git a/Tests/AerodynamicsTests/PlanetaryHeatingTests.swift b/Tests/AerodynamicsTests/PlanetaryHeatingTests.swift
new file mode 100644
index 0000000..b79bb35
--- /dev/null
+++ b/Tests/AerodynamicsTests/PlanetaryHeatingTests.swift
@@ -0,0 +1,73 @@
+// SPDX-License-Identifier: Apache-2.0
+import FluidDynamics
+import Foundation
+import Testing
+import Aerodynamics
+
+@Suite struct PlanetaryHeatingTests {
+    func coverage() throws -> StagnationHeatingCoverage {
+        try StagnationHeatingCoverage(speedMetresPerSecond: 1000...10000,
+            densityKilogramsPerCubicMetre: 1e-6...0.1, noseRadiusMetres: 0.1...5, machNumber: 5...50)
+    }
+    @Test func marsAndVenusMixtures() throws {
+        let mars = SuttonGravesHeating(parameters: .marsCarbonDioxideNitrogenColdWall, coverage: try coverage())
+        let flow = try FluidFlow(relativeVelocityMetresPerSecond: SIMD3(3000,0,0),
+            densityKilogramsPerCubicMetre: 0.01, speedOfSoundMetresPerSecond: 300, meanFreePathMetres: 1e-4)
+        let query = try StagnationHeatingQuery(flow: flow, gasIdentifier: mars.parameters.gasIdentifier,
+            noseRadiusMetres: 1, surfacePositionMetres: .zero)
+        #expect(abs((try mars.heatFlux(for: query)).wattsPerSquareMetre-494100) < 1e-8)
+        let venus = SuttonGravesMixtureParameters.venusCarbonDioxideNitrogen
+        #expect(abs(venus.massFractions[.carbonDioxide]!-0.977434008541) < 1e-6)
+        // Compare Eq42's transport approximation with table II's independent
+        // boundary-layer computer fit for air; agreement is approximate, not exact.
+        let air = try SuttonGravesMixtureParameters(gasIdentifier: "air", massFractions: [.oxygen: 0.232,.nitrogen: 0.768])
+        #expect(abs(air.enthalpyCoefficient/0.1113-1) < 0.035)
+        let heating = SuttonGravesMixtureHeating(parameters: venus, coverage: try coverage())
+        let state = try StagnationGasState(pressurePascals: 101325, edgeSpecificEnthalpyJoulesPerKilogram: 10e6)
+        let venusQuery = try StagnationHeatingQuery(flow: flow, gasIdentifier: venus.gasIdentifier,
+            noseRadiusMetres: 1, surfacePositionMetres: SIMD3(1,0,0), gasState: state)
+        #expect(abs((try heating.heatFlux(for: venusQuery)).wattsPerSquareMetre-venus.enthalpyCoefficient*10e6) < 1e-8)
+        #expect(throws: FluidError.missingFlowProperty) {
+            try heating.heatFlux(for: StagnationHeatingQuery(flow: flow, gasIdentifier: venus.gasIdentifier,
+                noseRadiusMetres: 1, surfacePositionMetres: .zero))
+        }
+        #expect(throws: FluidError.invalidParameter) {
+            try SuttonGravesMixtureParameters(gasIdentifier: "invalid", massFractions: [.nitrogen: 0.5])
+        }
+    }
+    func query(v: Double, rho: Double, radius: Double, mixture: HydrogenHeliumHeatingMixture = .neptuneReference,
+               temperature: Double = 141.2, wall: Double = 300, path: Double? = 1e-5) throws -> StagnationHeatingQuery {
+        try StagnationHeatingQuery(flow: FluidFlow(relativeVelocityMetresPerSecond: SIMD3(v,0,0),
+            densityKilogramsPerCubicMetre: rho, temperatureKelvin: temperature,
+            speedOfSoundMetresPerSecond: 1000, meanFreePathMetres: path), gasIdentifier: mixture.gasIdentifier,
+            noseRadiusMetres: radius, surfacePositionMetres: SIMD3(1,0,0), wall: AerothermalWallState(temperatureKelvin: wall))
+    }
+    @Test func hydrogenHeliumPublishedColdWallReferences() throws {
+        struct References: Decodable { let rows: [[Double]] }
+        let url = try #require(Bundle.module.url(forResource: "H2HeColdWallReferences", withExtension: "json"))
+        let rows = try JSONDecoder().decode(References.self,from: Data(contentsOf: url)).rows
+        #expect(rows.count == 180)
+        let model = HydrogenHeliumColdWallHeating(mixture: .neptuneReference)
+        for row in rows {
+            let result = try model.evaluate(query(v: row[0],rho: row[1],radius: row[2]))
+            // Published fitted correlation is approximate; compare with independent CFD data.
+            #expect(abs(result.heatFlux.wattsPerSquareMetre/row[3]-1) < 0.20)
+            #expect(abs(result.enthalpyCoefficient/row[4]-1) < 0.20)
+        }
+    }
+    @Test func hydrogenHeliumCoverageAndCompositionScaling() throws {
+        let model = HydrogenHeliumColdWallHeating(mixture: .neptuneReference)
+        let reference = try model.evaluate(query(v: 19000,rho: 1e-4,radius: 0.4))
+        for (mixture,scale) in [(HydrogenHeliumHeatingMixture.saturnApproximation,0.952),(.uranusApproximation,0.980)] {
+            let result = try HydrogenHeliumColdWallHeating(mixture: mixture).evaluate(query(v: 19000,rho: 1e-4,radius: 0.4,mixture: mixture))
+            #expect(abs(result.heatFlux.wattsPerSquareMetre/reference.heatFlux.wattsPerSquareMetre-scale) < 1e-12)
+        }
+        #expect(try model.evaluate(query(v: 28999,rho: 1e-4,radius: 0.4)).usesHighSpeedFit == false)
+        #expect(try model.evaluate(query(v: 29000,rho: 1e-4,radius: 0.4)).usesHighSpeedFit)
+        #expect(throws: FluidError.outsideCoverage) { try model.evaluate(query(v: 45000,rho: 0.1,radius: 0.4)) }
+        #expect(throws: FluidError.outsideCoverage) { try model.evaluate(query(v: 7000,rho: 1e-5,radius: 0.4)) }
+        #expect(throws: FluidError.unsupportedQuery) { try model.evaluate(query(v: 19000,rho: 1e-4,radius: 0.4,temperature: 150)) }
+        #expect(throws: FluidError.unsupportedQuery) { try model.evaluate(query(v: 19000,rho: 1e-4,radius: 0.4,wall: 1000)) }
+        #expect(throws: FluidError.missingFlowProperty) { try model.evaluate(query(v: 19000,rho: 1e-4,radius: 0.4,path: nil)) }
+    }
+}
diff --git a/Tests/AerodynamicsTests/PropwashWingTests.swift b/Tests/AerodynamicsTests/PropwashWingTests.swift
new file mode 100644
index 0000000..8422664
--- /dev/null
+++ b/Tests/AerodynamicsTests/PropwashWingTests.swift
@@ -0,0 +1,24 @@
+// SPDX-License-Identifier: Apache-2.0
+import Testing
+import FluidDynamics
+import Aerodynamics
+
+@Suite struct PropwashWingTests {
+    @Test func localWingResponseAndVelocityComposition() throws {
+        struct Section: WingSectionCoefficientModel {
+            func coefficients(for query: WingSectionQuery) throws -> AirfoilCoefficients {
+                AirfoilCoefficients(lift: 1,drag: 0.1,moment: 0)
+            }
+        }
+        let rotor = try ActuatorDiskSlipstream(centreMetres: .zero,downstreamAxis: SIMD3(-1,0,0),radiusMetres: 1,
+            thrustNewtons: 200,fluidTorqueNewtonMetres: 10,densityKilogramsPerCubicMetre: 2,upstreamAxialSpeedMetresPerSecond: 10)
+        let field = try SuperposedFluidVelocityField(backgroundMetresPerSecond: SIMD3(-10,0,0),increments: [rotor])
+        let segment = try WingSegment(positionMetres: SIMD3(-2,0,0),axes: WingSectionAxes(),chordMetres: 1,
+            areaSquareMetres: 1,model: Section())
+        let base = try FluidFlow(relativeVelocityMetresPerSecond: SIMD3(10,0,0),densityKilogramsPerCubicMetre: 2)
+        let local = try base.replacingRelativeVelocity(-field.velocityMetresPerSecond(at: segment.positionMetres))
+        #expect(try segment.evaluate(bodyFlow: local).loads.forceNewtons.z < segment.evaluate(bodyFlow: base).loads.forceNewtons.z)
+        #expect(try rotor.velocityMetresPerSecond(at: SIMD3(1,0,0)) == .zero)
+        #expect(try rotor.velocityMetresPerSecond(at: SIMD3(-1,2,0)) == .zero)
+    }
+}
diff --git a/Tests/AerodynamicsTests/Resources/H2HeColdWallReferences.json b/Tests/AerodynamicsTests/Resources/H2HeColdWallReferences.json
new file mode 100644
index 0000000..1d2d74a
--- /dev/null
+++ b/Tests/AerodynamicsTests/Resources/H2HeColdWallReferences.json
@@ -0,0 +1,1272 @@
+{
+  "source": "Carroll and Brandis 2022, Appendix B; W/cm\u00b2 converted to W/m\u00b2; K2 in source atm units",
+  "columns": [
+    "speedMetresPerSecond",
+    "densityKilogramsPerCubicMetre",
+    "noseRadiusMetres",
+    "heatFluxWattsPerSquareMetre",
+    "enthalpyCoefficient"
+  ],
+  "rows": [
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+    [
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+  ]
+}
diff --git a/Tests/AerodynamicsTests/SurfaceHeatingTests.swift b/Tests/AerodynamicsTests/SurfaceHeatingTests.swift
new file mode 100644
index 0000000..1ef16e0
--- /dev/null
+++ b/Tests/AerodynamicsTests/SurfaceHeatingTests.swift
@@ -0,0 +1,70 @@
+// SPDX-License-Identifier: Apache-2.0
+import FluidDynamics
+import Foundation
+import Testing
+import Aerodynamics
+
+@Suite struct SurfaceHeatingTests {
+    func query(x: Double = 0.1, speed: Double = 10, wall: Double = 300, edge: Double = 330,
+               pr: Double = 1, sound: Double? = 340, path: Double? = 1e-7,
+               film: Double? = nil) throws -> SurfaceHeatingQuery {
+        try SurfaceHeatingQuery(edgeFlow: FluidFlow(relativeVelocityMetresPerSecond: SIMD3(speed,0,0),
+            densityKilogramsPerCubicMetre: 2,temperatureKelvin: edge,
+            speedOfSoundMetresPerSecond: sound,meanFreePathMetres: path),
+            distanceFromLeadingEdgeMetres: x,surfacePositionMetres: SIMD3(x,2,3),
+            wall: AerothermalWallState(temperatureKelvin: wall),
+            transport: ThermalTransportProperties(fluidIdentifier: "synthetic",source: "test constant properties",
+                temperatureKelvin: film ?? (wall+edge)/2,densityKilogramsPerCubicMetre: 1,
+                dynamicViscosityPascalSeconds: 1e-5,thermalConductivityWattsPerMetreKelvin: 0.01,
+                specificHeatJoulesPerKilogramKelvin: pr*1000))
+    }
+    @Test func similarityReferenceTable() throws {
+        // Independent numerical similarity solutions: NPTEL lecture 8, table 2.2.
+        for (pr, coefficient) in [(0.6,0.276),(0.8,0.307),(1,0.332),(7,0.645),(15,0.835)] {
+            let result = try LaminarFlatPlateHeating().evaluate(query(pr: pr))
+            #expect(abs(result.localNusseltNumber/sqrt(result.localReynoldsNumber)/coefficient-1) < 0.02)
+            // Reynolds number uses film density, not the different edge density.
+            #expect(abs(result.localReynoldsNumber-100000) < 1e-8)
+            #expect(result.surfacePositionMetres == SIMD3(0.1,2,3))
+        }
+    }
+    @Test func localDistributionIntegratesToMeanPlateCorrelation() throws {
+        let model = LaminarFlatPlateHeating(), length = 0.4
+        let end = try model.evaluate(query(x: length))
+        // Integral from the leading edge: mean Nu_L = 0.664 sqrt(Re_L) at Pr=1.
+        // Use x=L*t² to integrate the integrable leading-edge singularity.
+        var integral = 0.0
+        let count = 16
+        for i in 0..<count {
+            let t = (Double(i)+0.5)/Double(count)
+            // Integrate t=0.1...1 to keep every station inside Reynolds coverage.
+            let boundedT = 0.1+0.9*t
+            let result = try model.evaluate(query(x: length*boundedT*boundedT))
+            integral += result.wattsPerSquareMetre*2*length*boundedT*0.9/Double(count)
+        }
+        let expected = 2*end.wattsPerSquareMetre*length*0.9
+        #expect(abs(integral/expected-1) < 1e-12)
+        let upstream = try model.evaluate(query(x: 0.1))
+        #expect(abs(upstream.wattsPerSquareMetre/end.wattsPerSquareMetre-2) < 1e-12)
+    }
+    @Test func coolingAndEquilibriumPreserveSign() throws {
+        let model = LaminarFlatPlateHeating()
+        let heating = try model.evaluate(query())
+        let cooling = try model.evaluate(query(wall: 330,edge: 300))
+        #expect(heating.wattsPerSquareMetre > 0)
+        #expect(abs(heating.wattsPerSquareMetre+cooling.wattsPerSquareMetre) < 1e-12)
+        #expect(try model.evaluate(query(wall: 315,edge: 315)).wattsPerSquareMetre == 0)
+    }
+    @Test func coverageAndRequiredProperties() throws {
+        let model = LaminarFlatPlateHeating()
+        for q in [try query(speed: 0),try query(speed: 110),try query(x: 1),try query(x: 0.0001),
+                  try query(pr: 0.5),try query(pr: 16),try query(path: 0.002),try query(wall: 100)] {
+            #expect(throws: FluidError.outsideCoverage) { try model.evaluate(q) }
+        }
+        #expect(throws: FluidError.missingFlowProperty) { try model.evaluate(query(sound: nil)) }
+        #expect(throws: FluidError.missingFlowProperty) { try model.evaluate(query(path: nil)) }
+        #expect(throws: FluidError.unsupportedQuery) { try model.evaluate(query(film: 300)) }
+        #expect(throws: FluidError.self) { try query(x: 0) }
+        #expect(throws: FluidError.self) { try query(pr: .nan) }
+    }
+}
diff --git a/Tests/AerodynamicsTests/SurfacePressureTests.swift b/Tests/AerodynamicsTests/SurfacePressureTests.swift
new file mode 100644
index 0000000..6b31956
--- /dev/null
+++ b/Tests/AerodynamicsTests/SurfacePressureTests.swift
@@ -0,0 +1,79 @@
+// SPDX-License-Identifier: Apache-2.0
+import FluidDynamics
+import Foundation
+import Testing
+import Aerodynamics
+
+@Suite struct SurfacePressureTests {
+    func flow(_ velocity: SIMD3<Double> = SIMD3(1000,0,0), path: Double? = 0.001) throws -> FluidFlow {
+        try FluidFlow(relativeVelocityMetresPerSecond: velocity, densityKilogramsPerCubicMetre: 0.02,
+                            speedOfSoundMetresPerSecond: 100, meanFreePathMetres: path)
+    }
+    @Test func normalShockReferenceAndInclinedPanel() throws {
+        let model = try ModifiedNewtonianPressure(specificHeatRatio: 1.4)
+        // Independently evaluated normal-shock + downstream stagnation reference, M=10.
+        let maximum = try model.stagnationPressureCoefficient(machNumber: 10)
+        #expect(abs(maximum-1.831670977387537) < 1e-12)
+        // γ=2, M=5 has an exact rational result from the normal-shock relations.
+        let otherGas = try ModifiedNewtonianPressure(specificHeatRatio: 2)
+        #expect(abs((try otherGas.stagnationPressureCoefficient(machNumber: 5))-20141.0/12100) < 1e-12)
+        let panel = try FluidSurfacePanel(areaSquareMetres: 2, centreMetres: SIMD3(0,1,0),
+                                               outwardNormal: SIMD3(1,0,1))
+        let surface = try SurfacePressureIntegration(panels: [panel], referenceLengthMetres: 1, model: model)
+        let result = try surface.evaluate(flow: flow())
+        #expect(abs(result.pressureCoefficients[0]-maximum/2) < 1e-12)
+        let component = -10000*maximum/sqrt(2)
+        #expect(abs(result.loads.forceNewtons.x-component) < 1e-8)
+        #expect(abs(result.loads.forceNewtons.z-component) < 1e-8)
+        #expect(abs(result.loads.momentNewtonMetres.x-component) < 1e-8)
+        #expect(abs(result.loads.momentNewtonMetres.z+component) < 1e-8)
+    }
+    @Test func sphereMatchesAnalyticDragWithConvergence() throws {
+        let model = try ModifiedNewtonianPressure(specificHeatRatio: 1.4)
+        let maximum = try model.stagnationPressureCoefficient(machNumber: 10)
+        var previous = Double.infinity
+        for count in [8,16,32] {
+            var panels = [FluidSurfacePanel]()
+            for i in 0..<count {
+                let mu = (Double(i)+0.5)/Double(count)
+                for j in 0..<16 {
+                    let phi = 2*Double.pi*(Double(j)+0.5)/16
+                    let normal = SIMD3(mu,sqrt(1-mu*mu)*cos(phi),sqrt(1-mu*mu)*sin(phi))
+                    panels.append(try FluidSurfacePanel(areaSquareMetres: 2*Double.pi/Double(count*16),
+                        centreMetres: normal, outwardNormal: normal))
+                }
+            }
+            let surface = try SurfacePressureIntegration(panels: panels, referenceLengthMetres: 1, model: model)
+            let result = try surface.evaluate(flow: flow())
+            // Unit sphere: CD=2 CpMax ∫₀¹ μ³ dμ = CpMax/2, based on πR².
+            let expected = -10000*Double.pi*maximum/2
+            let error = abs(result.loads.forceNewtons.x-expected)
+            #expect(error < previous/3); previous = error
+            #expect(abs(result.loads.forceNewtons.y)+abs(result.loads.forceNewtons.z) < 1e-8)
+            #expect(abs(result.loads.momentNewtonMetres.x)+abs(result.loads.momentNewtonMetres.y)
+                + abs(result.loads.momentNewtonMetres.z) < 1e-8)
+        }
+    }
+    @Test func exposureRestAndCoverage() throws {
+        let model = try ModifiedNewtonianPressure(specificHeatRatio: 1.4)
+        for normal in [SIMD3<Double>(-1,0,0), SIMD3(0,1,0)] {
+            let panel = try FluidSurfacePanel(areaSquareMetres: 1, centreMetres: .zero, outwardNormal: normal)
+            #expect(try model.pressureCoefficient(panel: panel, flow: flow(), referenceLengthMetres: 1) == 0)
+        }
+        let panel = try FluidSurfacePanel(areaSquareMetres: 1, centreMetres: .zero,
+            outwardNormal: SIMD3(1,0,0), exposedToFlow: false)
+        #expect(try model.pressureCoefficient(panel: panel, flow: flow(), referenceLengthMetres: 1) == 0)
+        #expect(throws: FluidError.outsideCoverage) {
+            try model.pressureCoefficient(panel: panel, flow: flow(path: 0.02), referenceLengthMetres: 1)
+        }
+        #expect(throws: FluidError.missingFlowProperty) {
+            try model.pressureCoefficient(panel: panel, flow: flow(path: nil), referenceLengthMetres: 1)
+        }
+        #expect(throws: FluidError.outsideCoverage) { try model.stagnationPressureCoefficient(machNumber: 4.9) }
+        #expect(throws: FluidError.invalidGeometry) {
+            try FluidSurfacePanel(areaSquareMetres: 1, centreMetres: .zero, outwardNormal: .zero)
+        }
+        let surface = try SurfacePressureIntegration(panels: [panel], referenceLengthMetres: 1, model: model)
+        #expect(try surface.evaluate(flow: flow(.zero,path: nil)).loads.forceNewtons == .zero)
+    }
+}
diff --git a/Tests/AerodynamicsTests/WingAndBodyTests.swift b/Tests/AerodynamicsTests/WingAndBodyTests.swift
new file mode 100644
index 0000000..59ec6fc
--- /dev/null
+++ b/Tests/AerodynamicsTests/WingAndBodyTests.swift
@@ -0,0 +1,154 @@
+// SPDX-License-Identifier: Apache-2.0
+import FluidDynamics
+import Foundation
+import Testing
+import Aerodynamics
+
+@Suite struct WingAndBodyTests {
+    private struct FixedSection: WingSectionCoefficientModel {
+        let value: AirfoilCoefficients
+        func coefficients(for query: WingSectionQuery) throws -> AirfoilCoefficients { value }
+    }
+    private struct ThrowingSection: WingSectionCoefficientModel {
+        func coefficients(for query: WingSectionQuery) throws -> AirfoilCoefficients { throw FluidError.outsideCoverage }
+    }
+    private struct ControlledSection: WingSectionCoefficientModel {
+        func coefficients(for query: WingSectionQuery) throws -> AirfoilCoefficients {
+            AirfoilCoefficients(lift: query.controlDeflectionRadians,drag:0,moment:0)
+        }
+    }
+    private struct FixedPolar: AirfoilCoefficientModel {
+        func coefficients(angleOfAttackRadians: Double,reynoldsNumber: Double,machNumber: Double) throws -> AirfoilCoefficients {
+            AirfoilCoefficients(lift:1,drag:0.1,moment:0)
+        }
+    }
+    private func flow(_ v: SIMD3<Double> = SIMD3(10,0,0)) throws -> FluidFlow {
+        try FluidFlow(relativeVelocityMetresPerSecond:v,densityKilogramsPerCubicMetre:2,
+            speedOfSoundMetresPerSecond:100,dynamicViscosityPascalSeconds:0.02)
+    }
+    @Test(arguments:[1,8,64]) func uniformWingMatchesAnalyticAreaAndMoment(segmentCount:Int) throws {
+        let wing = try SegmentedWing.rectangular(spanMetres:8,chordMetres:2,segmentCount:segmentCount,
+            centreMetres:SIMD3(3,0,0),model:FixedSection(value:AirfoilCoefficients(lift:1,drag:0.1,moment:0.2)))
+        let result = try wing.evaluate(flow:flow())
+        // q=100 Pa, S=16 m²; CM about segment reference gives 640 N m.
+        #expect(abs(result.loads.forceNewtons.x + 160) < 1e-10)
+        #expect(abs(result.loads.forceNewtons.z + 1600) < 1e-10)
+        #expect(abs(result.loads.momentNewtonMetres.y - (640+4800)) < 1e-10)
+        #expect(abs(result.loads.momentNewtonMetres.x) < 1e-10)
+        #expect(abs(result.loads.momentNewtonMetres.z) < 1e-10)
+        #expect(result.segments.count == segmentCount)
+    }
+    @Test func rotationalLocalFlowAndMidpointConvergence() throws {
+        var errors = [Double]()
+        for count in [8,16,32] {
+            let wing = try SegmentedWing.rectangular(spanMetres:8,chordMetres:2,segmentCount:count,
+                model:FixedSection(value:AirfoilCoefficients(lift:0,drag:1,moment:0)))
+            let result = try wing.evaluate(flow:flow(),angularVelocityRadiansPerSecond:SIMD3(0,0,1))
+            // Independently integrate q(y)=rho/2*(10-y)^2 along an 8 m span.
+            let exactDrag = 2*(100*8+512.0/12)
+            errors.append(abs(-result.loads.forceNewtons.x-exactDrag))
+            #expect(result.segments.first!.sectionFlow.speedMetresPerSecond > result.segments.last!.sectionFlow.speedMetresPerSecond)
+            #expect(result.loads.momentNewtonMetres.z < 0)
+        }
+        #expect(abs(errors[0]/errors[1]-4) < 1e-10)
+        #expect(abs(errors[1]/errors[2]-4) < 1e-10)
+        let wing = try SegmentedWing.rectangular(spanMetres:8,chordMetres:1,
+            model:FixedSection(value:AirfoilCoefficients(lift:1,drag:0,moment:0)))
+        let result = try wing.evaluate(flow:flow(),angularVelocityRadiansPerSecond:SIMD3(1,0,0))
+        #expect(result.segments.first!.sectionFlow.angleOfAttackRadians! < 0)
+        #expect(result.segments.last!.sectionFlow.angleOfAttackRadians! > 0)
+    }
+    @Test func twistAxesAndLocalSampling() throws {
+        let axes = try WingSectionAxes(incidenceRadians:0.1)
+        let segment = try WingSegment(positionMetres:SIMD3(0,2,0),axes:axes,chordMetres:1,areaSquareMetres:1,
+            model:FixedSection(value:AirfoilCoefficients(lift:1,drag:0,moment:0)))
+        let result = try segment.evaluate(bodyFlow:flow())
+        #expect(abs(result.sectionFlow.angleOfAttackRadians!-0.1) < 1e-14)
+        #expect(abs(result.loads.forceNewtons.x) < 1e-12)
+        #expect(abs(result.loads.forceNewtons.z+100) < 1e-12)
+        let wing = try SegmentedWing(segments:[segment])
+        let sampled = try wing.evaluate { _ in try flow(SIMD3(20,0,0)) }
+        #expect(abs(sampled.loads.forceNewtons.z+400) < 1e-12)
+        #expect(abs(sampled.loads.momentNewtonMetres.x+800) < 1e-12)
+        let vertical = try WingSectionAxes(forward:SIMD3(1,0,0),span:SIMD3(0,0,-1))
+        #expect(vertical.bodyVector(fromSection:SIMD3(0,0,-1)) == SIMD3(0,-1,0))
+        #expect(throws:FluidError.invalidGeometry) { try WingSectionAxes(forward:SIMD3(1,0,0),span:SIMD3(1,1,0)) }
+    }
+    @Test func zeroFlowControlsAndCoverage() throws {
+        let axes = try WingSectionAxes()
+        let inactive = try WingSegment(positionMetres:.zero,axes:axes,chordMetres:1,areaSquareMetres:1,model:ThrowingSection())
+        #expect(try inactive.evaluate(bodyFlow:flow(.zero)).coefficients == nil)
+        #expect(try inactive.evaluate(bodyFlow:flow(SIMD3(0,10,0))).loads.forceNewtons == .zero)
+        #expect(throws:FluidError.outsideCoverage) { try inactive.evaluate(bodyFlow:flow()) }
+        let controlled = try WingSegment(positionMetres:.zero,axes:axes,chordMetres:1,areaSquareMetres:1,
+            controlDeflectionRadians:0.3,model:ControlledSection())
+        #expect(try controlled.evaluate(bodyFlow:flow()).loads.forceNewtons.z == -30)
+        let polarModel = AirfoilWingSectionModel(airfoil:FixedPolar())
+        let unsupported = try WingSegment(positionMetres:.zero,axes:axes,chordMetres:1,areaSquareMetres:1,
+            controlDeflectionRadians:0.3,model:polarModel)
+        #expect(throws:FluidError.unsupportedQuery) { try unsupported.evaluate(bodyFlow:flow()) }
+        let missing = try FluidFlow(relativeVelocityMetresPerSecond:SIMD3(10,0,0),densityKilogramsPerCubicMetre:2)
+        let ordinary = try WingSegment(positionMetres:.zero,axes:axes,chordMetres:1,areaSquareMetres:1,model:polarModel)
+        #expect(throws:FluidError.missingFlowProperty) { try ordinary.evaluate(bodyFlow:missing) }
+    }
+    private func samples() throws -> [BodyCoefficientSample] {
+        var records = [BodyCoefficientSample]()
+        for alpha in [-0.2,0.2] { for beta in [-0.1,0.1] { for mach in [0.1,0.5] { for re in [100.0,500.0] {
+            let f = alpha+2*beta+3*mach+re/100
+            records.append(BodyCoefficientSample(angleOfAttackRadians:alpha,sideslipRadians:beta,machNumber:mach,reynoldsNumber:re,
+                coefficients:try FluidCoefficients(force:SIMD3(-f,2*f,-3*f),moment:SIMD3(f,2*f,3*f))))
+        } } } }
+        return records
+    }
+    @Test func fourDimensionalBodyGridAndValidatedLoading() throws {
+        let model = try TabulatedBodyCoefficients(samples:samples(),source:"Synthetic affine grid",version:"1")
+        let value = try model.coefficients(angleOfAttackRadians:0.05,sideslipRadians:0.025,machNumber:0.3,reynoldsNumber:300)
+        #expect(abs(value.force.x+4) < 1e-12)
+        #expect(abs(value.moment.z-12) < 1e-12)
+        let geometry = try FluidReferenceGeometry(areaSquareMetres:2,momentLengthsMetres:SIMD3(repeating:1))
+        let body = try WholeBodyAerodynamics(geometry:geometry,reynoldsReferenceLengthMetres:1,model:model)
+        let localFlow = try FluidFlow(relativeVelocityMetresPerSecond:SIMD3(10,0,0),
+            densityKilogramsPerCubicMetre:0.6,speedOfSoundMetresPerSecond:100,dynamicViscosityPascalSeconds:0.02)
+        let loads = try body.evaluate(flow:localFlow)
+        // alpha=beta=0, Mach=.1, Re=300 gives Cx=-3.3 and q*S=60.
+        #expect(abs(loads.forceNewtons.x+198) < 1e-10)
+        #expect(try body.evaluate(flow:flow(.zero)).forceNewtons == .zero)
+        #expect(throws:FluidError.outsideCoverage) { try body.evaluate(flow:flow()) }
+        let clamped = try TabulatedBodyCoefficients(samples:model.samples,boundaryPolicy:.clamp,source:"Test",version:"1")
+        let boundary = try clamped.coefficients(angleOfAttackRadians:0.3,sideslipRadians:0.2,machNumber:0.6,reynoldsNumber:600)
+        #expect(abs(boundary.force.x+6.9) < 1e-12)
+
+        let decoded = try BodyCoefficientTableLoader.json(JSONEncoder().encode(model))
+        #expect(try decoded.coefficients(angleOfAttackRadians:0.05,sideslipRadians:0.025,machNumber:0.3,reynoldsNumber:300).force == value.force)
+        #expect(throws:FluidError.outsideCoverage) {
+            try model.coefficients(angleOfAttackRadians:0.3,sideslipRadians:0,machNumber:0.3,reynoldsNumber:300)
+        }
+        #expect(throws:FluidError.incompleteGrid) {
+            try TabulatedBodyCoefficients(samples:Array(samples().dropLast()),source:"Test",version:"1")
+        }
+        let duplicate = try samples()
+        #expect(throws:FluidError.duplicateCondition) {
+            try TabulatedBodyCoefficients(samples:duplicate+[duplicate[0]],source:"Test",version:"1")
+        }
+    }
+    @Test func windTransformAndCapsuleLoads() throws {
+        let wind = try WindForceCoefficients(drag:1,lift:0.5)
+        let coefficients = try wind.bodyCoefficients(angleOfAttackRadians:0,sideslipRadians:0,momentBody:SIMD3(0,0.1,0))
+        let model = try ConstantBodyCoefficients(value:coefficients,source:"Synthetic lifting capsule",version:"1")
+        let geometry = try FluidReferenceGeometry(areaSquareMetres:2,momentLengthsMetres:SIMD3(repeating:3),
+            momentReferencePointMetres:SIMD3(2,0,0))
+        let capsule = try WholeBodyAerodynamics(geometry:geometry,reynoldsReferenceLengthMetres:3,model:model)
+        let loads = try capsule.evaluate(flow:flow(),momentReferencePointMetres:.zero)
+        #expect(loads.forceNewtons == SIMD3(-200,0,-100))
+        #expect(loads.momentNewtonMetres == SIMD3(0,260,0))
+        #expect(try capsule.evaluate(flow:flow(.zero)).forceNewtons == .zero)
+        let dragOnly = try WindForceCoefficients(drag:2,lift:0)
+        let alpha = 0.3, beta = 0.2
+        let rotated = try dragOnly.bodyCoefficients(angleOfAttackRadians:alpha,sideslipRadians:beta)
+        let direction = SIMD3(cos(alpha)*cos(beta),sin(beta),sin(alpha)*cos(beta))
+        #expect(abs((rotated.force*direction).sum()+2) < 1e-14)
+        let query = try BodyAerodynamicQuery(flow:flow(),reynoldsReferenceLengthMetres:2,
+            momentLengthsMetres:SIMD3(4,2,4),angularVelocityRadiansPerSecond:SIMD3(1,2,3))
+        #expect(query.nondimensionalAngularRates == SIMD3(0.2,0.2,0.6))
+    }
+}
diff --git a/Tests/AerodynamicsTests/naca2412.yaml b/Tests/AerodynamicsTests/naca2412.yaml
new file mode 100644
index 0000000..c20d4be
--- /dev/null
+++ b/Tests/AerodynamicsTests/naca2412.yaml
@@ -0,0 +1,42 @@
+name: NACA 2412
+generated-with: xfoil
+data:
+- reynolds-number: 1000000
+  coefficients: # Alpha, CL, CD, CDp, CM
+    - [-17.000,  -1.2296,   0.05928,  0.05617,  -0.0502]
+    - [-16.000,  -1.2869,   0.03455,  0.03080,  -0.0685]
+    - [-15.000,  -1.2674,   0.02752,  0.02333,  -0.0671]
+    - [-14.000,  -1.2251,   0.02358,  0.01917,  -0.0608]
+    - [-13.000,  -1.1561,   0.02124,  0.01656,  -0.0556]
+    - [-12.000,  -1.0881,   0.01933,  0.01452,  -0.0492]
+    - [-11.000,  -1.0222,   0.01737,  0.01233,  -0.0419]
+    - [-10.000,  -0.9125,   0.01582,  0.01065,  -0.0430]
+    - [ -9.000,  -0.7863,   0.01373,  0.00840,  -0.0475]
+    - [ -8.000,  -0.6520,   0.01227,  0.00679,  -0.0530]
+    - [ -7.000,  -0.5207,   0.01059,  0.00503,  -0.0578]
+    - [ -6.000,  -0.4073,   0.00939,  0.00376,  -0.0579]
+    - [ -5.000,  -0.3006,   0.00836,  0.00282,  -0.0565]
+    - [ -4.000,  -0.1918,   0.00768,  0.00219,  -0.0555]
+    - [ -3.000,  -0.0825,   0.00704,  0.00170,  -0.0547]
+    - [ -2.000,   0.0272,   0.00653,  0.00140,  -0.0541]
+    - [ -1.000,   0.1362,   0.00602,  0.00122,  -0.0534]
+    - [  0.000,   0.2442,   0.00568,  0.00122,  -0.0525]
+    - [  1.000,   0.3469,   0.00547,  0.00140,  -0.0499]
+    - [  2.000,   0.4549,   0.00581,  0.00168,  -0.0482]
+    - [  3.000,   0.5945,   0.00639,  0.00200,  -0.0542]
+    - [  4.000,   0.7153,   0.00711,  0.00236,  -0.0566]
+    - [  5.000,   0.8089,   0.00804,  0.00291,  -0.0531]
+    - [  6.000,   0.9016,   0.00945,  0.00381,  -0.0497]
+    - [  7.000,   0.9944,   0.01114,  0.00504,  -0.0467]
+    - [  8.000,   1.0885,   0.01270,  0.00642,  -0.0440]
+    - [  9.000,   1.1801,   0.01435,  0.00805,  -0.0409]
+    - [ 10.000,   1.2696,   0.01591,  0.00970,  -0.0378]
+    - [ 11.000,   1.3500,   0.01780,  0.01173,  -0.0333]
+    - [ 12.000,   1.4114,   0.02015,  0.01423,  -0.0262]
+    - [ 13.000,   1.4699,   0.02284,  0.01705,  -0.0201]
+    - [ 14.000,   1.5228,   0.02622,  0.02064,  -0.0147]
+    - [ 15.000,   1.5597,   0.03141,  0.02607,  -0.0101]
+    - [ 16.000,   1.5775,   0.03935,  0.03427,  -0.0073]
+    - [ 17.000,   1.5784,   0.05040,  0.04566,  -0.0073]
+    - [ 18.000,   1.5415,   0.06805,  0.06374,  -0.0116]
+    - [ 19.000,   1.4942,   0.08893,  0.08508,  -0.0189]
diff --git a/Tests/AtmospheresTests/LegacyAtmosphereTests.swift b/Tests/AtmospheresTests/LegacyAtmosphereTests.swift
new file mode 100644
index 0000000..3eb00b5
--- /dev/null
+++ b/Tests/AtmospheresTests/LegacyAtmosphereTests.swift
@@ -0,0 +1,12 @@
+import Testing
+import Atmospheres
+@Suite struct AtmosphereTest {
+    @Test func legacyFacadeUsesSI() {
+        let atm = EarthAtmosphere()
+        #expect(abs(atm.dynamicViscosity(at: 0)-1.7894e-5) < 1e-9)
+        #expect(abs(atm.pressure(at: 0)-101325) < 1e-8)
+        #expect(abs(atm.density(at: 0)-1.225) < 1e-6)
+        #expect(atm.temperature(at: 0) == 288.15)
+        #expect(atm.dynamicViscosity(at: -10000).isNaN)
+    }
+}
diff --git a/Tests/AtmospheresTests/ProfileTests.swift b/Tests/AtmospheresTests/ProfileTests.swift
new file mode 100644
index 0000000..d2e382b
--- /dev/null
+++ b/Tests/AtmospheresTests/ProfileTests.swift
@@ -0,0 +1,59 @@
+import Foundation
+import Testing
+@testable import Atmospheres
+@Suite struct ProfileTests {
+    @Test func isaReferenceAndBoundaries() throws {
+        let model = ISAAtmosphere()
+        let sea = try model.properties(at: 0)
+        #expect(abs(sea.pressurePascals-101325) < 1e-8)
+        #expect(abs(sea.densityKilogramsPerCubicMetre-1.225) < 1e-6)
+        #expect(abs(sea.speedOfSoundMetresPerSecond!-340.294) < 0.001)
+        for (h,t,p) in [(11000.0,216.65,22632.06),(20000,216.65,5474.889),
+                        (32000,228.65,868.0187),(47000,270.65,110.9063),
+                        (51000,270.65,66.93887),(71000,214.65,3.956420),(84852,186.946,0.3733836)] {
+            let geometric = 6356766*h/(6356766-h)
+            let sample = try model.properties(at: geometric)
+            #expect(abs(sample.temperatureKelvin-t) < 1e-8)
+            // Published tables use slightly different rounded gas constants.
+            #expect(abs(sample.pressurePascals/p-1) < 1e-5)
+            if h < 84852 {
+                let below = try model.properties(at: geometric-0.001)
+                let above = try model.properties(at: geometric+0.001)
+                #expect(abs(above.pressurePascals/below.pressurePascals-1) < 1e-6)
+            }
+        }
+        #expect(throws: AtmosphericModelError.altitudeOutsideCoverage) { try model.properties(at: .nan) }
+        #expect(throws: AtmosphericModelError.altitudeOutsideCoverage) { try model.properties(at: 90000) }
+    }
+    @Test func catalogueAndGiantDescent() throws {
+        for body in AtmosphericBody.allCases {
+            let model = BodyAtmosphere.model(for: body)
+            let zero = try model.properties(at: 0)
+            let high = try model.properties(at: model.altitudeRangeMetres.upperBound)
+            #expect(zero.pressurePascals > high.pressurePascals)
+            #expect(high.densityKilogramsPerCubicMetre > 0)
+            #expect(!model.source.isEmpty)
+            if [.jupiter,.saturn,.uranus,.neptune].contains(body) {
+                let deep = try model.properties(at: model.altitudeRangeMetres.lowerBound)
+                #expect(abs(deep.pressurePascals/1e7-1) < 1e-12)
+                #expect(deep.temperatureKelvin > zero.temperatureKelvin)
+                #expect(deep.densityKilogramsPerCubicMetre > zero.densityKilogramsPerCubicMetre)
+            }
+        }
+        #expect(BodyAtmosphere.model(naifBodyCode: 5) == nil)
+        #expect(try BodyAtmosphere.model(for: .callisto).properties(at: 0).speedOfSoundMetresPerSecond == nil)
+        #expect(try BodyAtmosphere.model(for: .mars).properties(at: 0).dynamicViscosityPascalSeconds == nil)
+    }
+    @Test func isothermalAnalyticAndValidation() throws {
+        let model = try HydrostaticAtmosphere(levels: [.init(altitudeMetres: 0,temperatureKelvin: 300),
+            .init(altitudeMetres: 1000,temperatureKelvin: 300)], referencePressurePascals: 100000,
+            specificGasConstant: 300, gravityMetresPerSecondSquared: 10,
+            altitudeDatum: "Test", source: "Synthetic", assumptions: "Test")
+        #expect(abs(try model.properties(at: 1000).pressurePascals-100000*exp(-1.0/9)) < 1e-8)
+        #expect(throws: AtmosphericModelError.invalidParameters) {
+            try HydrostaticAtmosphere(levels: [], referencePressurePascals: -1,
+                specificGasConstant: 300, gravityMetresPerSecondSquared: 10,
+                altitudeDatum: "Test", source: "Test", assumptions: "")
+        }
+    }
+}
diff --git a/Tests/CelMekTests/AdaptiveWaypointTimingTests.swift b/Tests/CelMekTests/AdaptiveWaypointTimingTests.swift
new file mode 100644
index 0000000..dd86ce7
--- /dev/null
+++ b/Tests/CelMekTests/AdaptiveWaypointTimingTests.swift
@@ -0,0 +1,67 @@
+// SPDX-License-Identifier: Apache-2.0
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct AdaptiveWaypointTimingTests {
+    let frame = Frame(name: "Adaptive timing", pseudoInertial: true)
+    func epoch(_ seconds: Double) throws -> Epoch { try Epoch.j2000.advanced(by: Duration(seconds: seconds)) }
+    func search(minimumSpacing: Double = 15, budget: Int = 10, rounds: Int = 8, generated: Int = 100,
+                window: ClosedRange<Epoch>? = nil) throws -> WaypointTimingRefinementResult {
+        let passage = try window ?? epoch(10)...epoch(40), arrival = try epoch(50)
+        let limits = try WaypointRouteEngineLimits(maximumAccelerationMetresPerSecondSquared: 0.1,
+            maximumThrustNewtons: 1000, effectiveExhaustVelocityMetresPerSecond: 100)
+        return try WaypointRouteTimingPlanner.adaptiveSearch(departureEpoch: .j2000, frame: frame, origin: .sun,
+            waypoints: [BrachistochroneWaypoint(positionMetres: .zero),
+                BrachistochroneWaypoint(positionMetres: SIMD3(4,0,0), arrivalWindow: passage),
+                BrachistochroneWaypoint(positionMetres: SIMD3(8,0,0), arrivalEpoch: arrival)],
+            legAccelerationsMetresPerSecondSquared: [1,1], arrivalWindows: [passage, arrival...arrival],
+            refinementOptions: WaypointTimingRefinementOptions(initialSpacingSeconds: 30,
+                minimumSpacingSeconds: minimumSpacing, maximumRounds: rounds,
+                maximumCandidateEvaluations: budget, maximumGeneratedCandidates: generated),
+            initialMass: SpacecraftMassProperties(dryMassKilograms: 50, propellantMassKilograms: 50),
+            backgroundDynamics: SpacecraftDynamics(models: [], context: ForceEvaluationContext(frame: frame, origin: .sun)),
+            legEngineLimits: [limits, limits], numericalOptions: .preset(for: .full))
+    }
+    @Test func refinementFindsInteriorFeasibilityWithoutRepeatingFailures() throws {
+        let result = try search()
+        #expect(result.status == .feasible)
+        #expect(result.evaluatedCandidates == 3)
+        #expect(result.rounds.map(\.spacingSeconds) == [30,15])
+        #expect(result.rounds.map(\.evaluatedCandidates) == [2,1])
+        #expect(result.failedAttempts.count == 2)
+        #expect(result.failedAttempts[0].failure == .engine(.accelerationLimitExceeded(leg: 0)))
+        #expect(result.failedAttempts[1].failure == .engine(.accelerationLimitExceeded(leg: 1)))
+        let route = try #require(result.route)
+        #expect(try route.waypointArrivalEpochs[1] == epoch(25))
+        let propagation = try #require(result.propagation)
+        #expect(propagation.checkpoints[0].state.cartesian.velocity.x > 0)
+        #expect(propagation.checkpoints[0].state.mass == propagation.segments[1].initialState.mass)
+        #expect(try search().propagation?.state == propagation.state)
+    }
+    @Test func terminationReasonsRemainDistinct() throws {
+        #expect(try search(budget: 2).status == .evaluationLimitReached)
+        #expect(try search(rounds: 1).status == .refinementLimitReached)
+        #expect(try search(generated: 3).status == .candidateGenerationLimitReached)
+        let coarse = try search(minimumSpacing: 30)
+        #expect(coarse.status == .resolutionLimitReached)
+        #expect(coarse.route == nil)
+        #expect(coarse.evaluatedCandidates == 2)
+        // An interior feasible route exists even though the requested resolution
+        // is exhausted: this result must not be called global infeasibility.
+        #expect(try search().status == .feasible)
+    }
+    @Test func exactFailedWindowsTerminateWithoutUnnecessaryRefinement() throws {
+        let instant = try epoch(10)
+        let result = try search(minimumSpacing: 0.01, window: instant...instant)
+        #expect(result.status == .resolutionLimitReached)
+        #expect(result.rounds.count == 1)
+        #expect(result.evaluatedCandidates == 1)
+        #expect(throws: WaypointTimingSearchError.invalidCandidateSpacing) {
+            try WaypointTimingRefinementOptions(initialSpacingSeconds: 1, minimumSpacingSeconds: 2)
+        }
+        #expect(throws: WaypointTimingSearchError.invalidBudget) {
+            try WaypointTimingRefinementOptions(initialSpacingSeconds: 1, minimumSpacingSeconds: 0.1, maximumRounds: 33)
+        }
+    }
+}
diff --git a/Tests/CelMekTests/AnalyticEphemerisTests.swift b/Tests/CelMekTests/AnalyticEphemerisTests.swift
new file mode 100644
index 0000000..490dfa4
--- /dev/null
+++ b/Tests/CelMekTests/AnalyticEphemerisTests.swift
@@ -0,0 +1,140 @@
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct AnalyticEphemerisTests {
+  private struct Centre: StateProvider {
+    let frame = CelestialFrames.icrf
+    let position: SIMD3<Double>
+    func state(at epoch: Epoch) throws -> CartesianState {
+      try CartesianState(epoch: epoch,frame: frame,position: position,velocity: .zero,acceleration: .zero)
+    }
+  }
+  private func setup() throws -> (FrameTree,AnalyticEphemerisFrames) {
+    let tree = try CelestialFrames.makeTree()
+    let frames = try tree.makeAnalyticEphemerisFrames(earth: Centre(position: SIMD3(1e11,2e11,3e10)),
+      sun: Centre(position: SIMD3(1e8,2e8,3e8)))
+    return (tree,frames)
+  }
+  private func adapter(_ model: SphericalAnalyticEphemeris.Model, epoch: Epoch,
+    frames: AnalyticEphemerisFrames, step: Double = 30) throws -> SphericalAnalyticEphemeris {
+    try SphericalAnalyticEphemeris(model: model,frames: frames,
+      positionCoverage: epoch.advanced(by: CelMek.Duration(seconds: -1000))...epoch.advanced(by: CelMek.Duration(seconds: 1000)),
+      velocityStep: CelMek.Duration(seconds: step))
+  }
+  @Test func sphericalPublishedCasesAndUnits() throws {
+    let (_,frames) = try setup()
+    for (model,jd,longitude,latitude,distance) in [
+      (SphericalAnalyticEphemeris.Model.meeusMoon,2448724.5,133.162659,-3.229127,368409700.0),
+      (.goffinPluto,2448908.5,232.74009,14.58769,29.711383*CartesianUnits.metresPerAstronomicalUnit)] {
+      let epoch = try Epoch(julianDate: jd,scale: .tt)
+      let p = try adapter(model,epoch: epoch,frames: frames)
+      let s = try p.checkedState(at: epoch)
+      let r = sqrt((s.position*s.position).sum())
+      let lon = atan2(s.position.y,s.position.x)*180/Double.pi
+      let lat = asin(s.position.z/r)*180/Double.pi
+      let expected = longitude > 180 ? longitude-360 : longitude
+      #expect(abs(lon-expected) < 3e-5)
+      #expect(abs(lat-latitude) < 3e-5)
+      #expect(abs(r-distance) < (model == .meeusMoon ? 100 : 150000))
+      #expect(s.acceleration == nil)
+      #expect(p.metadata.origin == (model == .meeusMoon ? .earth : .sun))
+      #expect(p.metadata.body == (model == .meeusMoon ? .moon : .plutoBarycentre))
+    }
+  }
+  @Test func frameConversionsAndDifferentiatedICRFStates() throws {
+    let (tree,frames) = try setup(), epoch = Epoch.j2000
+    for model in [SphericalAnalyticEphemeris.Model.meeusMoon,.goffinPluto] {
+      let p = try adapter(model,epoch: epoch,frames: frames)
+      let other = try adapter(model,epoch: epoch,frames: frames,step: 60)
+      let s = try p.state(at: epoch), second = try other.state(at: epoch)
+      for i in 0..<3 { #expect(abs(s.velocity[i]-second.velocity[i]) < 0.001) }
+      let converted = try p.state(at: epoch,in: CelestialFrames.icrf,using: tree)
+      let before = try p.state(at: epoch.advanced(by: CelMek.Duration(seconds: -120)),in: CelestialFrames.icrf,using: tree)
+      let after = try p.state(at: epoch.advanced(by: CelMek.Duration(seconds: 120)),in: CelestialFrames.icrf,using: tree)
+      let numerical = (after.position-before.position)/240
+      for i in 0..<3 { #expect(abs(converted.velocity[i]-numerical[i]) < 0.01) }
+      let back = try tree.transform(from: converted.frame,to: p.frame,at: epoch).applying(to: converted,destination: p.frame)
+      for i in 0..<3 {
+        #expect(abs(back.position[i]-s.position[i]) < 0.01)
+        #expect(abs(back.velocity[i]-s.velocity[i]) < 1e-8)
+      }
+    }
+  }
+  @Test func coverageStencilAndVSOPIntegration() throws {
+    let (_,frames) = try setup()
+    let p = try adapter(.meeusMoon,epoch: .j2000,frames: frames)
+    #expect(try p.metadata.coverage.lowerBound.duration(since: p.positionCoverage.lowerBound).seconds == 60)
+    _ = try p.state(at: p.metadata.coverage.lowerBound)
+    _ = try p.state(at: p.metadata.coverage.upperBound)
+    #expect(throws: EphemerisError.outsideCoverage) { try p.state(at: p.positionCoverage.lowerBound) }
+    #expect(throws: EphemerisError.invalidDerivativeMethod) { try adapter(.meeusMoon,epoch: .j2000,frames: frames,step: 0) }
+    let tdb = try FairheadTDBModel()
+    let vsop = try VSOP87Ephemeris(body: earth,coverage: p.metadata.coverage,tdbModel: tdb)
+    #expect(vsop.accuracy == .full && vsop.metadata.accuracy == .full)
+    #expect(vsop.availableAccuracyLevels == Set(AccuracyLevel.allCases))
+    #expect(p.accuracy == .full && p.metadata.accuracy == .full)
+    let direct = try earth.state(at: .j2000,using: tdb)
+    #expect(try vsop.state(at: .j2000) == direct)
+    let collection = try EphemerisCollection(providers: [vsop,p])
+    #expect(collection.bodies == [.earth,.moon])
+    #expect(try collection.state(of: .moon,at: .j2000).frame === frames.moonEclipticOfDate)
+  }
+
+  @Test func meanDatePrecessionMatchesPublishedERFA() throws {
+    // ERFA 2.0.1 t_pmat76; BSD attribution in Documentation/licenses/ERFA.txt.
+    let epoch = try Epoch(julianDate: JulianDateComponents(wholeDay: 2450124,fractionalDay: 0.4999,scale: .tt))
+    let t = try centuriesTT(epoch)
+    let eps = (84381.448-46.815*t-0.00059*t*t+0.001813*t*t*t)*Double.pi/(180*3600)
+    let q = try MeanEclipticOfDateProvider(step: CelMek.Duration(seconds: 60)).rotation(at: epoch)
+    let precession = (Quaternion(angle: eps,axis: SIMD3(1,0,0))*q).matrix
+    let expected = [0.9999995504328350733,0.8696632209480960785e-3,0.3779153474959888345e-3,
+      -0.8696632209485112192e-3,0.9999996218428560614,-0.1643284776111886407e-6,
+      -0.3779153474950335077e-3,-0.1643306746147366896e-6,0.9999999285899790119]
+    for i in 0..<3 { for j in 0..<3 { #expect(abs(precession[i,j]-expected[3*i+j]) < 2e-14) } }
+  }
+
+
+  @Test(arguments: [AccuracyLevel.low,.balanced,.high])
+  func accuracyHintsMayUseFullEvaluation(_ level: AccuracyLevel) throws {
+    let (_,frames) = try setup()
+    let coverage = try Epoch.j2000.advanced(by: CelMek.Duration(seconds: -1000))...Epoch.j2000.advanced(by: CelMek.Duration(seconds: 1000))
+    for model in [SphericalAnalyticEphemeris.Model.meeusMoon,.goffinPluto] {
+      let p = try SphericalAnalyticEphemeris(model: model,frames: frames,positionCoverage: coverage,
+        velocityStep: CelMek.Duration(seconds: 30),accuracy: level)
+      let full = try adapter(model,epoch: .j2000,frames: frames)
+      let actual = try p.checkedState(at: .j2000), expected = try full.state(at: .j2000)
+      #expect(actual == expected)
+      #expect(p.accuracy == level && p.effectiveAccuracy == .full)
+      #expect(p.metadata.accuracy == level && p.metadata.effectiveAccuracy == .full)
+    }
+  }
+  @Test func preparedVSOPSubsetsBoundPositionErrorAndRetainAnalyticVelocity() throws {
+    let tdb = try FairheadTDBModel()
+    let coverage = try Epoch.j2000.advanced(by: CelMek.Duration(seconds: -86400*365))...Epoch.j2000.advanced(by: CelMek.Duration(seconds: 86400*365))
+    let full = try VSOP87Ephemeris(body: earth,coverage: coverage,tdbModel: tdb)
+    var lastCount = 0
+    for level in AccuracyLevel.allCases {
+      let p = try VSOP87Ephemeris(body: earth,coverage: coverage,tdbModel: tdb,accuracy: level)
+      let selection = p.coefficientSelection
+      #expect(selection.retainedTermCount >= lastCount)
+      lastCount = selection.retainedTermCount
+      #expect(p.metadata.accuracy == level)
+      if level != .full { #expect(selection.retainedTermCount < selection.originalTermCount) }
+      else { #expect(selection.positionErrorBoundMetres == .zero) }
+      for day in stride(from: -365,through: 365,by: 73) {
+        let epoch = try Epoch.j2000.advanced(by: CelMek.Duration(seconds: Double(day)*86400))
+        let reduced = try p.state(at: epoch), reference = try full.state(at: epoch)
+        for i in 0..<3 {
+          #expect(abs(reduced.position[i]-reference.position[i]) <= selection.positionErrorBoundMetres[i]+0.05)
+        }
+      }
+      let centre = try p.state(at: .j2000)
+      let before = try p.state(at: Epoch.j2000.advanced(by: CelMek.Duration(seconds: -60)))
+      let after = try p.state(at: Epoch.j2000.advanced(by: CelMek.Duration(seconds: 60)))
+      let differentiated = (after.position-before.position)/120
+      for i in 0..<3 { #expect(abs(centre.velocity[i]-differentiated[i]) < 0.001) }
+    }
+  }
+}
diff --git a/Tests/CelMekTests/AngularSeparation_tests.swift b/Tests/CelMekTests/AngularSeparation_tests.swift
index 2410e72..cfe251d 100644
--- a/Tests/CelMekTests/AngularSeparation_tests.swift
+++ b/Tests/CelMekTests/AngularSeparation_tests.swift
@@ -16,11 +16,13 @@
 // limitations under the License.
 //
 
-import XCTest
+import Testing
 @testable import CelMek;
 import Math
 
-final class angularSeparation_tests : XCTestCase {
+@Suite
+struct angularSeparation_tests {
+  @Test
   func testAngularSeparation() {
     // Meeus, Example 17.a
     let p0 = EquatorialCoordinate(rightAscension: 213.9154.deg,
@@ -29,7 +31,7 @@ final class angularSeparation_tests : XCTestCase {
                                   declination: -11.1614.deg)
     let d = angularSeparation(p0, p1)
 
-    XCTAssertEqual(d, 32.7930.deg, accuracy: 0.000005)
+    #expect(abs((d) - (32.7930.deg)) <= 0.000005)
   }
 }
 
diff --git a/Tests/CelMekTests/AttitudeDynamicsTests.swift b/Tests/CelMekTests/AttitudeDynamicsTests.swift
new file mode 100644
index 0000000..2679ae7
--- /dev/null
+++ b/Tests/CelMekTests/AttitudeDynamicsTests.swift
@@ -0,0 +1,249 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct AttitudeDynamicsTests {
+    let reference = Frame(name: "Attitude inertial",pseudoInertial: true)
+    func body() -> Frame { Frame(parent: reference,name: "Spacecraft body",pseudoInertial: false) }
+    func epoch(_ seconds: Double) throws -> Epoch { try Epoch.j2000.advanced(by: CelMek.Duration(seconds: seconds)) }
+    func context(_ body: Frame, inertia: RigidBodyInertia? = nil) throws -> RotationalEvaluationContext {
+        try RotationalEvaluationContext(inertia: inertia ?? RigidBodyInertia(principalMomentsKilogramSquareMetres: SIMD3(2,3,4)),
+            bodyFrame: body,referenceContext: ForceEvaluationContext(frame: reference,origin: .earth))
+    }
+    func attitude(_ body: Frame, q: Quaternion = .identity, omega: SIMD3<Double> = .zero) throws -> AttitudeState {
+        try AttitudeState(epoch: .j2000,referenceFrame: reference,bodyFrame: body,bodyToReference: q,angularVelocityBodyRadiansPerSecond: omega)
+    }
+    func translation(_ p: SIMD3<Double> = .zero, _ v: SIMD3<Double> = .zero) throws -> SpacecraftState {
+        try SpacecraftState(cartesian: CartesianState(epoch: .j2000,frame: reference,position: p,velocity: v),
+            mass: SpacecraftMassProperties(dryMassKilograms: 5,propellantMassKilograms: 5))
+    }
+    func angleDifference(_ a: Quaternion, _ b: Quaternion) -> Double {
+        let delta = Quaternion.dot(lhs: a,rhs: b) >= 0 ? a-b : a+b
+        return 4*asin(min(1,sqrt(Quaternion.dot(lhs: delta,rhs: delta))/2))
+    }
+    struct Circle: StateProvider {
+        let frame: Frame
+        let rate: Double
+        func state(at epoch: Epoch) throws -> CartesianState {
+            let t = try epoch.duration(since: .j2000).seconds, angle = rate*t
+            let p = SIMD3<Double>(10*cos(angle),10*sin(angle),0)
+            return try CartesianState(epoch: epoch,frame: frame,position: p,
+                velocity: SIMD3(-10*rate*sin(angle),10*rate*cos(angle),0),acceleration: -p*rate*rate)
+        }
+    }
+    @Test func quaternionConventionAndFrameKinematics() throws {
+        let b = body(), seed = try attitude(b,q: Quaternion(angle: .pi/2,axis: SIMD3(0,0,1)),omega: SIMD3(0,0,0.2))
+        let spin = UniformSpinAttitudeProvider(initialState: seed), axes = try spin.attitude(at: .j2000)
+        #expect(routeNorm(try axes.referenceVector(fromBody: SIMD3(1,0,0))-SIMD3(0,1,0)) < 1e-14)
+        let orientation = try axes.orientation()
+        #expect(orientation.angularVelocity == SIMD3(0,0,-0.2))
+        let old = OrientationAttitudeProvider(orientation: AttitudeOrientationProvider(spin),bodyFrame: b)
+        #expect(try angleDifference(old.attitude(at: epoch(2)).bodyToReference,spin.attitude(at: epoch(2)).bodyToReference) < 1e-14)
+        let tree = try FrameTree(root: reference)
+        let centre = LambertTransferPlannerTests.Linear(frame: reference,p: SIMD3(100,0,0),v: SIMD3(3,0,0))
+        try tree.registerSpacecraftFrame(spacecraft: centre,attitude: spin,accelerationPolicy: .assumeZero)
+        // A point fixed at body +X moves around the translating centre with ω×r.
+        let local = try CartesianState(epoch: .j2000,frame: b,position: SIMD3(1,0,0),velocity: .zero,acceleration: .zero)
+        let global = try tree.transform(from: b,to: reference,at: .j2000).applying(to: local,destination: reference)
+        #expect(routeNorm(global.position-SIMD3(100,1,0)) < 1e-13)
+        #expect(routeNorm(global.velocity-SIMD3(2.8,0,0)) < 1e-13)
+        #expect(routeNorm(global.acceleration!-SIMD3(0,-0.04,0)) < 1e-13)
+        #expect(throws: AttitudeError.angularAccelerationUnavailable) { try seed.orientation() }
+    }
+    @Test func prescribedTrackingAndDegeneracies() throws {
+        let b = body(), circle = Circle(frame: reference,rate: 0.1)
+        for direction in [AttitudeTrackingDirection.nadir,.velocity] {
+            let provider = try TrackingAttitudeProvider(spacecraft: circle,bodyFrame: b,direction: direction,rollReference: SIMD3(0,0,1),derivativeStep: CelMek.Duration(seconds: 0.01))
+            for t in [0.0,5,Double.pi/0.1] {
+                let state = try provider.attitude(at: epoch(t)), orbital = try circle.state(at: epoch(t))
+                let expected = direction == .nadir ? -orbital.position/10 : orbital.velocity
+                #expect(routeNorm(try state.referenceVector(fromBody: SIMD3(1,0,0))-attitudeUnit(expected)) < 1e-12)
+                #expect(routeNorm(state.angularVelocityBodyRadiansPerSecond-SIMD3(0,0,0.1)) < 1e-10)
+                #expect(routeNorm(state.angularAccelerationBodyRadiansPerSecondSquared!) < 1e-7)
+            }
+        }
+        let stationary = LambertTransferPlannerTests.Linear(frame: reference,p: .zero,v: .zero)
+        let tracking = try TrackingAttitudeProvider(spacecraft: stationary,bodyFrame: b,direction: .target,target: circle,
+            rollReference: SIMD3(0,0,1),derivativeStep: CelMek.Duration(seconds: 0.01))
+        #expect(routeNorm(try tracking.attitude(at: .j2000).referenceVector(fromBody: SIMD3(1,0,0))-SIMD3(1,0,0)) < 1e-14)
+        #expect(throws: AttitudeError.undefinedDirection) {
+            try TrackingAttitudeProvider(spacecraft: stationary,bodyFrame: b,direction: .velocity,rollReference: SIMD3(0,0,1),derivativeStep: CelMek.Duration(seconds: 0.01)).attitude(at: .j2000)
+        }
+        #expect(throws: AttitudeError.undefinedRoll) {
+            try TrackingAttitudeProvider(spacecraft: circle,bodyFrame: b,direction: .nadir,rollReference: SIMD3(1,0,0),derivativeStep: CelMek.Duration(seconds: 0.01)).attitude(at: .j2000)
+        }
+    }
+    @Test func fullInertiaSolveAndPhysicalValidation() throws {
+        // Rotation of principal moments (2,3,4) by 45 degrees around Z.
+        let inertia = try RigidBodyInertia(xx: 2.5,yy: 2.5,zz: 4,xy: -0.5), v = SIMD3<Double>(1,2,3)
+        #expect(routeNorm(try inertia.solve(inertia.matrix*v)-v) < 1e-14)
+        #expect(abs(try inertia.kineticEnergyJoules(for: v)-23.25) < 1e-14)
+        #expect(throws: AttitudeError.invalidInertia) { try RigidBodyInertia(xx: 1,yy: 1,zz: 10) }
+        #expect(throws: AttitudeError.invalidInertia) { try RigidBodyInertia(xx: 1,yy: 1,zz: 1,xy: 2) }
+        #expect(throws: AttitudeError.invalidInertia) { try RigidBodyInertia(xx: .nan,yy: 1,zz: 1) }
+        let small = try RigidBodyInertia(xx: 2e-200,yy: 3e-200,zz: 4e-200)
+        #expect(routeNorm(try small.solve(SIMD3(2e-200,6e-200,12e-200))-v) < 1e-14)
+    }
+    @Test func torqueFreeSymmetricTopAndConservation() throws {
+        let b = body(), inertia = try RigidBodyInertia(xx: 2,yy: 2,zz: 3)
+        let seed = try attitude(b,omega: SIMD3(0.2,0.3,0.4)), dynamics = RigidBodyDynamics(context: try context(b,inertia: inertia))
+        let propagator = try RigidBodyAttitudePropagator(initialState: seed,dynamics: dynamics,options: .preset(for: .full))
+        let end = try propagator.propagation(at: epoch(50)), w = end.attitude.angularVelocityBodyRadiansPerSecond
+        let phase = 0.2*50, expected = SIMD3<Double>(0.2*cos(phase)-0.3*sin(phase),0.2*sin(phase)+0.3*cos(phase),0.4)
+        #expect(routeNorm(w-expected) < 1e-9)
+        #expect(abs(end.kineticEnergyJoules - (try inertia.kineticEnergyJoules(for: seed.angularVelocityBodyRadiansPerSecond))) < 1e-9)
+        #expect(routeNorm(end.angularMomentumReferenceKilogramSquareMetresPerSecond - (try inertia.angularMomentumBody(for: seed.angularVelocityBodyRadiansPerSecond))) < 1e-9)
+        #expect(abs(Quaternion.dot(lhs: end.attitude.bodyToReference,rhs: end.attitude.bodyToReference)-1) < 1e-14)
+        let reversed = try RigidBodyAttitudePropagator(initialState: end.attitude,dynamics: dynamics,options: .preset(for: .full)).attitude(at: .j2000)
+        #expect(angleDifference(reversed.bodyToReference,seed.bodyToReference) < 1e-8)
+        #expect(routeNorm(reversed.angularVelocityBodyRadiansPerSecond-seed.angularVelocityBodyRadiansPerSecond) < 1e-9)
+        let triaxial = try context(b), asymmetric = try RigidBodyAttitudePropagator(initialState: seed,dynamics: RigidBodyDynamics(context: triaxial),options: .preset(for: .full)).propagation(at: epoch(100))
+        #expect(abs(asymmetric.kineticEnergyJoules - (try triaxial.inertia.kineticEnergyJoules(for: seed.angularVelocityBodyRadiansPerSecond))) < 1e-8)
+        #expect(routeNorm(asymmetric.angularMomentumReferenceKilogramSquareMetresPerSecond - (try triaxial.inertia.angularMomentumBody(for: seed.angularVelocityBodyRadiansPerSecond))) < 1e-8)
+    }
+    @Test func constantTorqueAndController() throws {
+        let b = body(), torque = try ConstantBodyTorque(bodyFrame: b,torqueBodyNewtonMetres: SIMD3(0,0,0.8))
+        let seed = try attitude(b,omega: SIMD3(0,0,0.1))
+        let end = try RigidBodyAttitudePropagator(initialState: seed,dynamics: RigidBodyDynamics(context: context(b),models: [torque]),options: .preset(for: .full)).attitude(at: epoch(3))
+        #expect(routeNorm(end.angularVelocityBodyRadiansPerSecond-SIMD3(0,0,0.7)) < 1e-12)
+        #expect(angleDifference(end.bodyToReference,Quaternion(angle: 1.2,axis: SIMD3(0,0,1))) < 1e-9)
+        let goal = try InertialHoldAttitudeProvider(referenceFrame: reference,bodyFrame: b)
+        let controller = try AttitudePDController(desired: goal,proportionalGainNewtonMetres: 2,derivativeGainNewtonMetreSeconds: 3,maximumTorqueNewtonMetres: 1)
+        let turned = try attitude(b,q: Quaternion(angle: .pi/2,axis: SIMD3(0,0,1)))
+        let command = try controller.contribution(for: turned,spacecraft: nil,in: context(b)).torqueBodyNewtonMetres
+        #expect(abs(routeNorm(command)-1) < 1e-14 && command.z < 0)
+        let equivalent = try attitude(b,q: -turned.bodyToReference)
+        #expect(routeNorm(try controller.contribution(for: equivalent,spacecraft: nil,in: context(b)).torqueBodyNewtonMetres-command) < 1e-14)
+        let halfTurn = try attitude(b,q: Quaternion(x: 0,y: 0,z: 1,w: 0))
+        let negativeHalfTurn = try attitude(b,q: Quaternion(x: 0,y: 0,z: -1,w: 0))
+        let a = try controller.contribution(for: halfTurn,spacecraft: nil,in: context(b)).torqueBodyNewtonMetres
+        let c = try controller.contribution(for: negativeHalfTurn,spacecraft: nil,in: context(b)).torqueBodyNewtonMetres
+        #expect(a == c)
+        let controlled = try RigidBodyAttitudePropagator(initialState: turned,dynamics: RigidBodyDynamics(context: context(b),models: [controller])).attitude(at: epoch(40))
+        #expect(angleDifference(controlled.bodyToReference,.identity) < 1e-5)
+        #expect(routeNorm(controlled.angularVelocityBodyRadiansPerSecond) < 1e-5)
+    }
+    @Test func gravityGradientAndMagneticActuation() throws {
+        let b = body(), ctx = try context(b), state = try attitude(b), spacecraft = try translation(SIMD3(1,1,0))
+        let centre = try MovingWaypointRouteTarget(provider: LambertTransferPlannerTests.Linear(frame: reference,p: .zero,v: .zero),origin: .earth,coverage: epoch(-10)...epoch(10))
+        let gm = try GravitationalParameter(cubicMetresPerSecondSquared: 1,convention: .newtonian,provenance: PhysicalDataProvenance(source: "Analytic",version: "1"))
+        let gradient = try GravityGradientTorque(centre: centre,gravitationalParameter: gm)
+        let torque = try gradient.contribution(for: state,spacecraft: spacecraft,in: ctx).torqueBodyNewtonMetres
+        #expect(abs(torque.z-3/(4*sqrt(2))) < 1e-14)
+        let aligned = try gradient.contribution(for: state,spacecraft: translation(SIMD3(1,0,0)),in: ctx)
+        #expect(aligned.torqueBodyNewtonMetres == .zero)
+        #expect(throws: GravityModelError.singularPosition) { try gradient.contribution(for: state,spacecraft: translation(),in: ctx) }
+        let field = try UniformMagneticField(frame: reference,origin: .earth,fieldTeslas: SIMD3(0,0,2e-5))
+        let magnetic = try MagnetorquerTorque(fieldProvider: field,maximumDipoleAmpereSquareMetres: 2) { _,_ in SIMD3(10,0,0) }
+        let magneticTorque = try magnetic.contribution(for: state,spacecraft: spacecraft,in: ctx).torqueBodyNewtonMetres
+        #expect(routeNorm(magneticTorque-SIMD3(0,-4e-5,0)) < 1e-15)
+        #expect(abs((magneticTorque*field.fieldTeslas).sum()) < 1e-15)
+        let rotated = try attitude(b,q: Quaternion(angle: .pi/2,axis: SIMD3(1,0,0)))
+        let rotatedTorque = try magnetic.contribution(for: rotated,spacecraft: spacecraft,in: ctx).torqueBodyNewtonMetres
+        #expect(routeNorm(rotatedTorque-SIMD3(0,0,4e-5)) < 1e-15)
+    }
+    @Test func prescribedThrustAndCoupledCentredEngine() throws {
+        let b = body(), seed = try translation(), hold = try InertialHoldAttitudeProvider(referenceFrame: reference,bodyFrame: b,bodyToReference: Quaternion(angle: .pi/2,axis: SIMD3(0,0,1)))
+        let engine = try BodyMountedThruster(bodyFrame: b,thrustNewtons: 1,directionBody: SIMD3(1,0,0),effectiveExhaustVelocityMetresPerSecond: 100)
+        let prescribed = try NumericalSpacecraftPropagator(initialState: seed,dynamics: SpacecraftDynamics(models: [engine.forceModel(attitude: hold)],
+            context: context(b).referenceContext),options: .preset(for: .full)).spacecraftState(at: epoch(2))
+        let initial = try CoupledSpacecraftState(spacecraft: seed,attitude: hold.attitude(at: .j2000))
+        let coupled = try CoupledSpacecraftPropagator(initialState: initial,dynamics: CoupledSpacecraftDynamics(context: context(b),wrenchModels: [engine]),
+            attitudeOptions: .preset(for: .full),numericalOptions: .preset(for: .full)).state(at: epoch(2))
+        #expect(abs(coupled.spacecraft.mass.totalMassKilograms-9.98) < 1e-12)
+        #expect(routeNorm(coupled.spacecraft.cartesian.velocity-prescribed.cartesian.velocity) < 1e-9)
+        #expect(abs(coupled.spacecraft.cartesian.velocity.y-100*log(10/9.98)) < 1e-9)
+        #expect(abs(coupled.spacecraft.cartesian.velocity.x) < 1e-14)
+        #expect(angleDifference(coupled.attitude.bodyToReference,initial.attitude.bodyToReference) < 1e-14)
+    }
+    @Test func offCentreEngineCouplesRotationAndTranslation() throws {
+        let b = body(), seed = try CoupledSpacecraftState(spacecraft: translation(),attitude: attitude(b))
+        let engine = try BodyMountedThruster(bodyFrame: b,thrustNewtons: 1,directionBody: SIMD3(1,0,0),positionBodyMetres: SIMD3(0,1,0),effectiveExhaustVelocityMetresPerSecond: 100)
+        let propagator = try CoupledSpacecraftPropagator(initialState: seed,dynamics: CoupledSpacecraftDynamics(context: context(b),wrenchModels: [engine]),
+            attitudeOptions: .preset(for: .full),numericalOptions: .preset(for: .full))
+        let end = try propagator.state(at: epoch(2)), q = Quaternion(angle: -0.5,axis: SIMD3(0,0,1))
+        #expect(angleDifference(end.attitude.bodyToReference,q) < 1e-9)
+        #expect(routeNorm(end.attitude.angularVelocityBodyRadiansPerSecond-SIMD3(0,0,-0.5)) < 1e-12)
+        #expect(end.spacecraft.cartesian.velocity.y < -0.01)
+        // Independent composite Simpson integral of rotated F/m; Simpson is only
+        // the test oracle, not the propagation implementation.
+        let n = 10000, dt = 2.0/Double(n)
+        var velocity = SIMD3<Double>.zero, position = SIMD3<Double>.zero
+        for i in 0...n {
+            let t = Double(i)*dt, angle = -0.125*t*t, mass = 10-0.01*t
+            let a = SIMD3<Double>(cos(angle),sin(angle),0)/mass
+            let weight = i == 0 || i == n ? 1.0 : i.isMultiple(of: 2) ? 2.0 : 4.0
+            velocity += a*weight; position += a*((2-t)*weight)
+        }
+        velocity *= dt/3; position *= dt/3
+        #expect(routeNorm(end.spacecraft.cartesian.velocity-velocity) < 1e-9)
+        #expect(routeNorm(end.spacecraft.cartesian.position-position) < 1e-9)
+        #expect(try angleDifference(propagator.attitudeProvider.attitude(at: epoch(1)).bodyToReference,propagator.state(at: epoch(1)).attitude.bodyToReference) < 1e-14)
+        #expect(try propagator.spacecraftProvider.spacecraftState(at: epoch(2)).mass == end.spacecraft.mass)
+    }
+    struct StaleAttitude: AttitudeProvider {
+        let seed: AttitudeState
+        var referenceFrame: Frame { seed.referenceFrame }
+        var bodyFrame: Frame { seed.bodyFrame }
+        func attitude(at epoch: Epoch) throws -> AttitudeState { seed }
+    }
+    struct BadTorqueEpoch: TorqueModel {
+        func contribution(for attitude: AttitudeState, spacecraft: SpacecraftState?, in context: RotationalEvaluationContext) throws -> TorqueContribution {
+            try TorqueContribution(epoch: .j2000,bodyFrame: context.bodyFrame,torqueBodyNewtonMetres: .zero)
+        }
+    }
+    @Test func invalidContractsAndWorkLimits() throws {
+        let b = body(), seed = try attitude(b,omega: SIMD3(0,0,1)), dynamics = RigidBodyDynamics(context: try context(b))
+        #expect(throws: AttitudeError.invalidRotation) { try attitude(b,q: Quaternion()) }
+        let scaled = try attitude(b,q: Quaternion(x: 1e300,y: 0,z: 0,w: 1e300))
+        #expect(abs(Quaternion.dot(lhs: scaled.bodyToReference,rhs: scaled.bodyToReference)-1) < 1e-14)
+        #expect(throws: AttitudeError.epochMismatch) { try StaleAttitude(seed: seed).checkedAttitude(at: epoch(1)) }
+        let future = try UniformSpinAttitudeProvider(initialState: seed).attitude(at: epoch(1))
+        #expect(throws: AttitudeError.epochMismatch) { try RigidBodyDynamics(context: context(b),models: [BadTorqueEpoch()]).derivative(at: future) }
+        #expect(throws: AttitudeError.frameMismatch) { try dynamics.derivative(at: attitude(body())) }
+        #expect(throws: NumericalPropagationError.evaluationLimitExceeded) {
+            try RigidBodyAttitudePropagator(initialState: seed,dynamics: dynamics,options: AttitudePropagationOptions(maximumDerivativeEvaluations: 1)).attitude(at: epoch(1))
+        }
+        #expect(throws: NumericalPropagationError.stepLimitExceeded) {
+            try RigidBodyAttitudePropagator(initialState: seed,dynamics: dynamics,options: AttitudePropagationOptions(maximumStepAttempts: 1)).attitude(at: epoch(100))
+        }
+        #expect(throws: NumericalPropagationError.minimumStepReached) {
+            try RigidBodyAttitudePropagator(initialState: attitude(b,omega: SIMD3(0,0,1e10)),dynamics: dynamics,
+                options: AttitudePropagationOptions(initialStepSeconds: 0.001,minimumStepSeconds: 0.001,maximumStepSeconds: 1)).attitude(at: epoch(1))
+        }
+        #expect(throws: NumericalPropagationError.invalidOptions) { try AttitudePropagationOptions(absoluteAngleToleranceRadians: 0) }
+        let zero = try RigidBodyAttitudePropagator(initialState: attitude(b),dynamics: dynamics).propagation(at: .j2000)
+        #expect(zero.diagnostics.acceptedSteps == 0 && zero.diagnostics.derivativeEvaluations == 1)
+    }
+    @Test func tighterTolerancesImprovePhysicalRotation() throws {
+        let b = body(), inertia = try RigidBodyInertia(xx: 1,yy: 1,zz: 1), seed = try attitude(b,omega: SIMD3(0.2,-0.3,0.4))
+        let dynamics = RigidBodyDynamics(context: try context(b,inertia: inertia)), end = try epoch(50)
+        let exact = try UniformSpinAttitudeProvider(initialState: seed).attitude(at: end)
+        let low = try RigidBodyAttitudePropagator(initialState: seed,dynamics: dynamics,options: .preset(for: .low)).propagation(at: end)
+        let full = try RigidBodyAttitudePropagator(initialState: seed,dynamics: dynamics,options: .preset(for: .full)).propagation(at: end)
+        let lowError = angleDifference(low.attitude.bodyToReference,exact.bodyToReference), fullError = angleDifference(full.attitude.bodyToReference,exact.bodyToReference)
+        #expect(fullError < lowError/10)
+        #expect(fullError < 1e-9)
+        #expect(full.diagnostics.derivativeEvaluations > low.diagnostics.derivativeEvaluations)
+    }
+    @Test func coupledBackwardReplayAndDryEngine() throws {
+        let b = body(), initial = try CoupledSpacecraftState(spacecraft: translation(),attitude: attitude(b))
+        let engine = try BodyMountedThruster(bodyFrame: b,thrustNewtons: 1,directionBody: SIMD3(1,0,0),positionBodyMetres: SIMD3(0,1,0),effectiveExhaustVelocityMetresPerSecond: 100)
+        let dynamics = try CoupledSpacecraftDynamics(context: context(b),wrenchModels: [engine])
+        let end = try CoupledSpacecraftPropagator(initialState: initial,dynamics: dynamics,attitudeOptions: .preset(for: .full),numericalOptions: .preset(for: .full)).state(at: epoch(2))
+        let replay = try CoupledSpacecraftPropagator(initialState: end,dynamics: dynamics,attitudeOptions: .preset(for: .full),numericalOptions: .preset(for: .full)).state(at: .j2000)
+        #expect(angleDifference(replay.attitude.bodyToReference,initial.attitude.bodyToReference) < 1e-9)
+        #expect(routeNorm(replay.spacecraft.cartesian.position-initial.spacecraft.cartesian.position) < 1e-9)
+        #expect(routeNorm(replay.spacecraft.cartesian.velocity-initial.spacecraft.cartesian.velocity) < 1e-9)
+        #expect(abs(replay.spacecraft.mass.totalMassKilograms-10) < 1e-10)
+        let dry = try CoupledSpacecraftState(spacecraft: SpacecraftState(cartesian: initial.spacecraft.cartesian,
+            mass: SpacecraftMassProperties(dryMassKilograms: 5)),attitude: initial.attitude)
+        #expect(throws: NumericalPropagationError.propellantDepleted) { try CoupledSpacecraftPropagator(initialState: dry,dynamics: dynamics).state(at: epoch(1)) }
+        let wrongField = try UniformMagneticField(frame: reference,origin: .sun,fieldTeslas: SIMD3(0,0,1))
+        let magnetic = try MagnetorquerTorque(fieldProvider: wrongField,maximumDipoleAmpereSquareMetres: 1) { _,_ in SIMD3(1,0,0) }
+        #expect(throws: GravityModelError.originMismatch) { try magnetic.contribution(for: initial.attitude,spacecraft: initial.spacecraft,in: context(b)) }
+    }
+
+}
diff --git a/Tests/CelMekTests/BodyAtmosphereTests.swift b/Tests/CelMekTests/BodyAtmosphereTests.swift
new file mode 100644
index 0000000..7811350
--- /dev/null
+++ b/Tests/CelMekTests/BodyAtmosphereTests.swift
@@ -0,0 +1,48 @@
+// SPDX-License-Identifier: Apache-2.0
+import Testing
+import Math
+import Atmospheres
+@testable import CelMek
+@Suite struct BodyAtmosphereTests {
+    @Test func coRotatingVehicleHasNoDrag() throws {
+        let frame = Frame(name: "Co-rotation inertial", pseudoInertial: true)
+        let atmosphere = try SphericalBodyAtmosphere(bodyIdentifier: .earth,
+            profile: ISAAtmosphere(), referenceRadiusMetres: 6371000, frame: frame,
+            angularVelocityRadiansPerSecond: SIMD3(0, 0, 1e-4))
+        let context = try ForceEvaluationContext(frame: frame, origin: .earth)
+        let drag = try AtmosphericDrag(referenceAreaSquareMetres: 1, dragCoefficient: 2,
+                                       atmosphere: atmosphere)
+        for position in [SIMD3<Double>(6371000, 0, 0), SIMD3(0, 6371000, 0), SIMD3(0, 0, 6371000)] {
+            let velocity = SIMD3(-1e-4 * position.y, 1e-4 * position.x, 0)
+            let state = SpacecraftState(cartesian: try CartesianState(epoch: .j2000, frame: frame,
+                position: position, velocity: velocity),
+                mass: try SpacecraftMassProperties(dryMassKilograms: 100))
+            let medium = try atmosphere.sample(for: state, in: context)
+            #expect(medium.velocityMetresPerSecond == velocity)
+            #expect(try drag.contribution(for: state, in: context).accelerationMetresPerSecondSquared == .zero)
+        }
+    }
+    @Test func lookupRotationAndDrag() throws {
+        let frame = Frame(name: "Atmosphere inertial", pseudoInertial: true)
+        let earth = try #require(BodyIdentifier.earth.atmosphericModel)
+        #expect(BodyIdentifier.jupiterBarycentre.atmosphericModel == nil)
+        let atmosphere = try SphericalBodyAtmosphere(bodyIdentifier: .earth, profile: earth,
+            referenceRadiusMetres: 6371000, frame: frame, angularVelocityRadiansPerSecond: SIMD3(0,0,1e-4))
+        let context = try ForceEvaluationContext(frame: frame, origin: .earth)
+        let state = SpacecraftState(cartesian: try CartesianState(epoch: .j2000,frame: frame,
+            position: SIMD3(6371000,0,0), velocity: SIMD3(0,700,0)),
+            mass: try SpacecraftMassProperties(dryMassKilograms: 100))
+        let medium = try atmosphere.sample(for: state, in: context)
+        #expect(abs(medium.densityKilogramsPerCubicMetre-1.225) < 1e-6)
+        #expect(abs(medium.velocityMetresPerSecond.y-637.1) < 1e-10)
+        let drag = try AtmosphericDrag(referenceAreaSquareMetres: 1, dragCoefficient: 2, atmosphere: atmosphere)
+        let force = try drag.contribution(for: state,in: context)
+        #expect(abs(force.accelerationMetresPerSecondSquared.y + medium.densityKilogramsPerCubicMetre*62.9*62.9/100) < 1e-8)
+        #expect(throws: EnvironmentalForceError.originMismatch) {
+            try atmosphere.sample(for: state,in: ForceEvaluationContext(frame: frame,origin: .mars))
+        }
+        #expect(throws: BodyModelError.bodyMismatch) {
+            try SphericalBodyAtmosphere(bodyIdentifier: .mars,profile: earth,referenceRadiusMetres: 1,frame: frame)
+        }
+    }
+}
diff --git a/Tests/CelMekTests/BodyFixedFrameTests.swift b/Tests/CelMekTests/BodyFixedFrameTests.swift
new file mode 100644
index 0000000..49125d3
--- /dev/null
+++ b/Tests/CelMekTests/BodyFixedFrameTests.swift
@@ -0,0 +1,152 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Testing
+import Math
+import CelMek
+
+@Suite
+struct BodyFixedFrameTests {
+  struct Centre: StateProvider {
+    let frame: Frame
+    var suppliesAcceleration = true
+    func state(at epoch: Epoch) throws -> CartesianState {
+      let t = epoch.offsetFromJ2000.seconds
+      return try CartesianState(epoch: epoch, frame: frame,
+        position: SIMD3(10 + 2*t + t*t, -3 + t, 4), velocity: SIMD3(2 + 2*t, 1, 0),
+        acceleration: suppliesAcceleration ? SIMD3(2, 0, 0) : nil)
+    }
+  }
+  func close(_ actual: SIMD3<Double>, _ expected: SIMD3<Double>, tolerance: Double = 1e-10) {
+    for axis in 0..<3 { #expect(abs(actual[axis] - expected[axis]) < tolerance) }
+  }
+
+  @Test
+  func centreIsStationaryAtOriginAndConversionsRoundTrip() throws {
+    let tree = FrameTree()
+    let centre = Centre(frame: tree.root)
+    let spin = try FixedAxisOrientationProvider(referenceFrame: tree.root,
+      axis: SIMD3(0, 0, 1), rate: 0.3, initialRotation: Quaternion(angle: 0.4, axis: SIMD3(1, 0, 0)))
+    let child = try tree.makeBodyFixedFrame(name: "Body", centre: centre, orientation: spin)
+    let epoch = try Epoch.j2000.advanced(by: CelMek.Duration(seconds: 3))
+    let origin = try centre.state(at: epoch)
+    let mapped = try tree.convert(origin, to: child)
+    close(mapped.position, .zero)
+    close(mapped.velocity, .zero)
+    close(mapped.acceleration!, .zero)
+    let state = try CartesianState(epoch: epoch, frame: tree.root,
+      position: SIMD3(3, 8, -2), velocity: SIMD3(2, -1, 4), acceleration: SIMD3(1, 3, -2))
+    let restored = try tree.convert(tree.convert(state, to: child), to: tree.root)
+    close(restored.position, state.position)
+    close(restored.velocity, state.velocity)
+    close(restored.acceleration!, state.acceleration!)
+    #expect(child.parent === tree.root && !child.pseudoInertial)
+  }
+
+  @Test
+  func movingOriginAndRotatingAxesMatchIndependentDifferences() throws {
+    let tree = FrameTree()
+    let child = try tree.makeBodyFixedFrame(name: "Body", centre: Centre(frame: tree.root),
+      orientation: FixedAxisOrientationProvider(referenceFrame: tree.root, axis: SIMD3(0, 0, 1), rate: 0.3))
+    func point(_ t: Double) -> SIMD3<Double> {
+      let x = 5 + t - (10 + 2*t + t*t)
+      let y = 2 - 2*t - (-3 + t)
+      return SIMD3(cos(0.3*t)*x + sin(0.3*t)*y,
+                   -sin(0.3*t)*x + cos(0.3*t)*y, -3)
+    }
+    let t = 0.7
+    let epoch = try Epoch.j2000.advanced(by: CelMek.Duration(seconds: t))
+    let state = try CartesianState(epoch: epoch, frame: tree.root,
+      position: SIMD3(5+t, 2-2*t, 1), velocity: SIMD3(1, -2, 0), acceleration: .zero)
+    let result = try tree.convert(state, to: child)
+    let h = 0.0001
+    close(result.position, point(t))
+    close(result.velocity, (point(t+h)-point(t-h))/(2*h), tolerance: 1e-7)
+    close(result.acceleration!, (point(t+h)-2*point(t)+point(t-h))/(h*h), tolerance: 1e-6)
+  }
+
+  @Test
+  func missingOriginAccelerationRequiresExplicitPolicy() throws {
+    let tree = FrameTree()
+    let centre = Centre(frame: tree.root, suppliesAcceleration: false)
+    let spin = try FixedAxisOrientationProvider(referenceFrame: tree.root, axis: SIMD3(0, 0, 1), rate: 0)
+    let strict = try BodyFixedTransformProvider(centre: centre, orientation: spin)
+    #expect(throws: BodyFixedFrameError.accelerationUnavailable) { try strict.transform(at: .j2000) }
+    let estimated = try BodyFixedTransformProvider(centre: centre, orientation: spin,
+      accelerationPolicy: .estimate(step: CelMek.Duration(seconds: 1)))
+    close(try estimated.transform(at: .j2000).acceleration, SIMD3(-2, 0, 0))
+    let zero = try BodyFixedTransformProvider(centre: centre, orientation: spin, accelerationPolicy: .assumeZero)
+    close(try zero.transform(at: .j2000).acceleration, .zero)
+    #expect(throws: BodyFixedFrameError.invalidDifferenceStep) {
+      try BodyFixedTransformProvider(centre: centre, orientation: spin, accelerationPolicy: .estimate(step: .zero))
+    }
+    let child = try tree.makeBodyFixedFrame(name: "Estimated", centre: centre, orientation: spin,
+      accelerationPolicy: .estimate(step: CelMek.Duration(seconds: 1)))
+    #expect(try tree.convert(centre.state(at: .j2000), to: child).acceleration == nil)
+  }
+
+  @Test
+  func validatesProviderConventionsAndSupportsVSOP() throws {
+    let tree = try FrameTree(root: CelestialFrames.vsop87E)
+    let spin = try FixedAxisOrientationProvider(referenceFrame: tree.root, axis: SIMD3(0, 0, 1), rate: 0.001)
+    let child = try tree.makeBodyFixedFrame(name: "Prescribed Earth axes", centre: earth, orientation: spin,
+      accelerationPolicy: .estimate(step: CelMek.Duration(seconds: 60)))
+    let centre = try earth.state(at: .j2000)
+    let result = try tree.convert(centre, to: child)
+    close(result.position, .zero, tolerance: 1e-4)
+    close(result.velocity, .zero, tolerance: 1e-7)
+    let other = Frame(name: tree.root.name, pseudoInertial: true)
+    #expect(throws: BodyFixedFrameError.frameMismatch) {
+      try BodyFixedTransformProvider(centre: Centre(frame: other), orientation: spin)
+    }
+    #expect(throws: FrameTransformError.disconnectedFrames) {
+      try FrameTree().makeBodyFixedFrame(name: "Disconnected", centre: earth, orientation: spin)
+    }
+  }
+  struct StaticCentre: StateProvider {
+    let frame: Frame
+    let result: CartesianState
+    func state(at epoch: Epoch) throws -> CartesianState { result }
+  }
+  struct StaticOrientation: OrientationProvider {
+    let referenceFrame: Frame
+    let result: BodyOrientation
+    func orientation(at epoch: Epoch) throws -> BodyOrientation { result }
+  }
+
+  @Test
+  func rejectsIncorrectReturnedEpochsAndFrames() throws {
+    let frame = Frame(name: "Reference", pseudoInertial: true)
+    let other = Frame(name: "Reference", pseudoInertial: true)
+    let spin = try FixedAxisOrientationProvider(referenceFrame: frame, axis: SIMD3(0, 0, 1), rate: 0)
+    let wrongState = try CartesianState(epoch: .j2000, frame: other, position: .zero, velocity: .zero,
+      acceleration: .zero)
+    let wrongCentre = StaticCentre(frame: frame, result: wrongState)
+    #expect(throws: BodyFixedFrameError.frameMismatch) {
+      try BodyFixedTransformProvider(centre: wrongCentre, orientation: spin).transform(at: .j2000)
+    }
+    let centre = Centre(frame: frame)
+    let later = try Epoch.j2000.advanced(by: CelMek.Duration(seconds: 1))
+    let stale = StaticCentre(frame: frame, result: try centre.state(at: .j2000))
+    #expect(throws: FrameTransformError.epochMismatch) {
+      try BodyFixedTransformProvider(centre: stale, orientation: spin).transform(at: later)
+    }
+    let wrongOrientation = StaticOrientation(referenceFrame: frame,
+      result: try BodyOrientation(referenceFrame: other, epoch: .j2000, rotation: .identity))
+    #expect(throws: BodyFixedFrameError.frameMismatch) {
+      try BodyFixedTransformProvider(centre: centre, orientation: wrongOrientation).transform(at: .j2000)
+    }
+    let staleOrientation = StaticOrientation(referenceFrame: frame,
+      result: try BodyOrientation(referenceFrame: frame, epoch: .j2000, rotation: .identity))
+    #expect(throws: FrameTransformError.epochMismatch) {
+      try BodyFixedTransformProvider(centre: centre, orientation: staleOrientation).transform(at: later)
+    }
+    // A provider supplying only the central sample cannot satisfy estimation.
+    let fixedSample = StaticCentre(frame: frame,
+      result: try Centre(frame: frame, suppliesAcceleration: false).state(at: .j2000))
+    #expect(throws: FrameTransformError.epochMismatch) {
+      try BodyFixedTransformProvider(centre: fixedSample, orientation: spin,
+        accelerationPolicy: .estimate(step: CelMek.Duration(seconds: 1))).transform(at: .j2000)
+    }
+  }
+
+}
diff --git a/Tests/CelMekTests/BodyMagneticFieldTests.swift b/Tests/CelMekTests/BodyMagneticFieldTests.swift
new file mode 100644
index 0000000..b065571
--- /dev/null
+++ b/Tests/CelMekTests/BodyMagneticFieldTests.swift
@@ -0,0 +1,74 @@
+// SPDX-License-Identifier: Apache-2.0
+import Testing
+import Math
+import MagneticFields
+@testable import CelMek
+@Suite struct BodyMagneticFieldTests {
+    private struct CustomField: MagneticFieldModel {
+        let metadata: MagneticFieldMetadata
+        func field(at query: MagneticFieldQuery) throws -> MagneticFluxDensity {
+            try MagneticFluxDensity(vectorTesla: SIMD3(query.positionMetres.x,query.decimalYear,0))
+        }
+    }
+    private func metadata() throws -> MagneticFieldMetadata {
+        try MagneticFieldMetadata(name: "Test",source: "Synthetic",version: "1",axesDescription: "XYZ",
+            assumptions: "Test",radiusRangeMetres: 0...100,decimalYearRange: 2025...2030)
+    }
+    @Test func harmonicModelsPlugIntoBodyProvider() throws {
+        let position = SIMD3(7_000_000.0,0,0)
+        let models: [any MagneticFieldModel] = [try WMMMagneticField.wmm2025(), try IGRFMagneticField.igrf14()]
+        for model in models {
+            let provider = try ModelBodyMagneticField(bodyIdentifier: .earth,model: model,decimalYear: { _ in 2026.5 })
+            let expected = try model.checkedField(at: MagneticFieldQuery(positionMetres: position,decimalYear: 2026.5))
+            let actual = try provider.magneticField(at: .j2000,displacementMetres: position)
+            #expect(actual.vectorTesla == expected.vectorTesla)
+            #expect(actual.epoch == .j2000)
+        }
+    }
+    @Test func customProviderCalendarAndBodyValidation() throws {
+        let custom = try ModelBodyMagneticField(bodyIdentifier: .earth,model: CustomField(metadata: metadata()),
+                                                decimalYear: { _ in 2026.5 })
+        let field = try custom.magneticField(at: .j2000,displacementMetres: SIMD3(5,0,0))
+        #expect(field.epoch == .j2000)
+        #expect(field.vectorTesla == SIMD3(5,2026.5,0))
+        let invalidDate = try ModelBodyMagneticField(bodyIdentifier: .earth,model: CustomField(metadata: metadata()),
+                                                     decimalYear: { _ in 2031 })
+        #expect(throws: MagneticFieldError.outsideCoverage) {
+            try invalidDate.magneticField(at: .j2000,displacementMetres: .zero)
+        }
+        #expect(BodyIdentifier.venus.magneticModel == nil)
+        #expect(throws: BodyModelError.bodyMismatch) {
+            try ModelBodyMagneticField(bodyIdentifier: .mars,model: BodyMagneticField.model(for: .earth),decimalYear: { _ in 2026 })
+        }
+        let earth = try BodyCatalogue.jplGM2022.body(.earth)
+        #expect(try CelestialBodyModels(body: earth,magneticField: custom).magneticField != nil)
+        #expect(throws: BodyModelError.bodyMismatch) {
+            try CelestialBodyModels(body: BodyCatalogue.jplGM2022.body(.mars),magneticField: custom)
+        }
+    }
+    @Test func rotatesPositionAndVectorAndChecksIdentity() throws {
+        let frame = Frame(name: "Magnetic reference",pseudoInertial: true)
+        let provenance = try PhysicalDataProvenance(source: "Test",version: "1")
+        let orientation = try IdentifiedBodyOrientationProvider(bodyIdentifier: .earth,
+            provider: FixedAxisOrientationProvider(referenceFrame: frame,axis: SIMD3(0,0,1),rate: 0,
+                initialRotation: Quaternion(angle: .pi/2,axis: SIMD3(0,0,1))),provenance: provenance)
+        let model = try ModelBodyMagneticField(bodyIdentifier: .earth,model: CustomField(metadata: metadata()),
+                                               decimalYear: { _ in 2026 })
+        let oriented = try OrientedBodyMagneticField(provider: model,orientation: orientation)
+        let field = try oriented.magneticField(at: .j2000,displacementMetres: SIMD3(0,10,0),in: frame)
+        // Reference position +Y becomes body -X. Body field (-10,2026,0) becomes (2026,10,0).
+        #expect(abs(field.fieldTeslas.x-2026) < 1e-10)
+        #expect(abs(field.fieldTeslas.y-10) < 1e-10)
+        #expect(field.frame === frame)
+        #expect(field.origin == .earth)
+        let spacecraft = SpacecraftState(cartesian: try CartesianState(epoch: .j2000,frame: frame,
+            position: SIMD3(0,10,0),velocity: .zero),mass: try SpacecraftMassProperties(dryMassKilograms: 1))
+        let provider: any MagneticFieldProvider = oriented
+        #expect(try provider.field(at: spacecraft).fieldTeslas == field.fieldTeslas)
+        #expect(throws: BodyFixedFrameError.frameMismatch) {
+            try oriented.magneticField(at: .j2000,displacementMetres: .zero,in: Frame(name: "Other",pseudoInertial: true))
+        }
+        let other = try IdentifiedBodyOrientationProvider(bodyIdentifier: .mars,provider: orientation,provenance: provenance)
+        #expect(throws: BodyModelError.bodyMismatch) { try OrientedBodyMagneticField(provider: model,orientation: other) }
+    }
+}
diff --git a/Tests/CelMekTests/BodyModelTests.swift b/Tests/CelMekTests/BodyModelTests.swift
new file mode 100644
index 0000000..086e100
--- /dev/null
+++ b/Tests/CelMekTests/BodyModelTests.swift
@@ -0,0 +1,94 @@
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct BodyModelTests {
+  private func source() throws -> PhysicalDataProvenance {
+    try PhysicalDataProvenance(source: "test field and geometry",version: "1")
+  }
+  private func shape(_ radii: SIMD3<Double>, body: BodyIdentifier = .earth) throws -> EllipsoidBodyShape {
+    try EllipsoidBodyShape(bodyIdentifier: body,referenceRadii: BodyReferenceRadii(metres: radii,
+      axesDescription: "body-fixed XYZ",provenance: source()))
+  }
+  @Test func sphereAndEllipsoidSurfaceNormals() throws {
+    let sphere = try shape(SIMD3(repeating: 10))
+    let p = try sphere.surface(inDirection: SIMD3(3,4,0))
+    #expect(p.positionMetres == SIMD3(6,8,0))
+    #expect(abs(p.outwardNormal.x-0.6) < 1e-15)
+    #expect(abs(p.outwardNormal.y-0.8) < 1e-15)
+    let ellipsoid = try shape(SIMD3(3,2,1))
+    let diagonal = try ellipsoid.surface(inDirection: SIMD3(1,1,1))
+    for i in 0..<3 { #expect(abs(diagonal.positionMetres[i]-6.0/7) < 1e-15) }
+    #expect(abs(diagonal.outwardNormal.y/diagonal.outwardNormal.x-9.0/4) < 1e-14)
+    #expect(abs(diagonal.outwardNormal.z/diagonal.outwardNormal.x-9) < 1e-14)
+    #expect(try ellipsoid.surface(inDirection: SIMD3(0,-1,0)).positionMetres == SIMD3(0,-2,0))
+    let scaled = try sphere.surface(inDirection: SIMD3(3e200,4e200,0))
+    for i in 0..<3 { #expect(abs(scaled.positionMetres[i]-p.positionMetres[i]) < 1e-14) }
+    #expect(throws: BodyModelError.invalidDirection) { try sphere.surface(inDirection: .zero) }
+    #expect(throws: BodyModelError.invalidDirection) { try sphere.surface(inDirection: SIMD3(.nan,1,0)) }
+  }
+  @Test func pointMassFieldAndPotentialGradient() throws {
+    let gm = try GravitationalParameter(cubicMetresPerSecondSquared: 4e14,convention: .newtonian,provenance: source())
+    let gravity = try PointMassBodyGravity(bodyIdentifier: .earth,parameter: gm)
+    let s = try gravity.gravity(at: .j2000,displacementMetres: SIMD3(1e7,0,0))
+    #expect(s.acceleration == SIMD3(-4,0,0))
+    #expect(s.potential == -4e7)
+    #expect(s.convention == .newtonian && s.epoch == .j2000)
+    let far = try gravity.gravity(at: .j2000,displacementMetres: SIMD3(2e7,0,0))
+    #expect(far.acceleration == SIMD3(-1,0,0))
+    let r = SIMD3<Double>(3e6,-4e6,5e6), h = 10.0
+    let field = try gravity.gravity(at: .j2000,displacementMetres: r)
+    for i in 0..<3 {
+      var plus = r, minus = r; plus[i] += h; minus[i] -= h
+      let p = try gravity.gravity(at: .j2000,displacementMetres: plus).potential
+      let m = try gravity.gravity(at: .j2000,displacementMetres: minus).potential
+      #expect(abs(field.acceleration[i]+(p-m)/(2*h)) < 1e-8)
+    }
+    #expect(throws: BodyModelError.singularGravity) { try gravity.gravity(at: .j2000,displacementMetres: .zero) }
+    #expect(throws: BodyModelError.invalidPosition) { try gravity.gravity(at: .j2000,displacementMetres: SIMD3(.infinity,0,0)) }
+  }
+  @Test func modelsStayIndependentAndRejectIdentityMismatch() throws {
+    let body = try BodyCatalogue.jplGM2022.body(.earth)
+    let empty = try CelestialBodyModels(body: body)
+    #expect(empty.gravity == nil && empty.shape == nil && empty.ephemeris == nil && empty.orientation == nil)
+    let gravity = try PointMassBodyGravity(bodyIdentifier: .earth,parameter: #require(body.properties.gravitationalParameter))
+    let geometry = try shape(SIMD3(repeating: 10))
+    let models = try CelestialBodyModels(body: body,shape: geometry,gravity: gravity)
+    #expect(models.gravity?.convention == .tdbCompatible)
+    #expect(models.body.properties.referenceRadii == nil)
+    #expect(throws: BodyModelError.bodyMismatch) {
+      try CelestialBodyModels(body: body,shape: shape(SIMD3(repeating: 10),body: .moon))
+    }
+    let lunarGravity = try PointMassBodyGravity(bodyIdentifier: .moon,parameter: gravity.parameter)
+    #expect(throws: BodyModelError.bodyMismatch) { try CelestialBodyModels(body: body,gravity: lunarGravity) }
+  }
+  private struct WrongOrientation: OrientationProvider {
+    let referenceFrame: Frame
+    let wrongFrame: Frame
+    var wrongEpoch: Bool
+    func orientation(at epoch: Epoch) throws -> BodyOrientation {
+      try BodyOrientation(referenceFrame: wrongEpoch ? referenceFrame : wrongFrame,
+        epoch: wrongEpoch ? epoch.advanced(by: CelMek.Duration(seconds: 1)) : epoch,rotation: .identity)
+    }
+  }
+  @Test func identifiedAttitudePreservesKinematicsAndValidatesResults() throws {
+    let frame = Frame(name: "reference",pseudoInertial: true)
+    let spin = try FixedAxisOrientationProvider(referenceFrame: frame,axis: SIMD3(0,0,1),rate: 0.1)
+    let wrapper = try IdentifiedBodyOrientationProvider(bodyIdentifier: .earth,provider: spin,provenance: source())
+    let actual = try wrapper.orientation(at: .j2000), expected = try spin.orientation(at: .j2000)
+    #expect(actual.angularVelocity == expected.angularVelocity)
+    #expect(actual.referenceFrame === frame)
+    let body = try BodyCatalogue.jplGM2022.body(.earth)
+    #expect(try CelestialBodyModels(body: body,orientation: wrapper).orientation?.bodyIdentifier == .earth)
+    let wrongBody = try IdentifiedBodyOrientationProvider(bodyIdentifier: .moon,provider: spin,provenance: source())
+    #expect(throws: BodyModelError.bodyMismatch) { try CelestialBodyModels(body: body,orientation: wrongBody) }
+    for wrongEpoch in [true,false] {
+      let p = try IdentifiedBodyOrientationProvider(bodyIdentifier: .earth,
+        provider: WrongOrientation(referenceFrame: frame,wrongFrame: Frame(name: "wrong",pseudoInertial: true),wrongEpoch: wrongEpoch),
+        provenance: source())
+      if wrongEpoch { #expect(throws: FrameTransformError.epochMismatch) { try p.orientation(at: .j2000) } }
+      else { #expect(throws: BodyFixedFrameError.frameMismatch) { try p.orientation(at: .j2000) } }
+    }
+  }
+}
diff --git a/Tests/CelMekTests/BrachistochroneTests.swift b/Tests/CelMekTests/BrachistochroneTests.swift
new file mode 100644
index 0000000..3141730
--- /dev/null
+++ b/Tests/CelMekTests/BrachistochroneTests.swift
@@ -0,0 +1,142 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct BrachistochroneTests {
+    private func epoch(_ t: Double) throws -> Epoch { try .j2000.advanced(by: Duration(seconds: t)) }
+    private func norm(_ v: SIMD3<Double>) -> Double { hypot(hypot(v.x,v.y),v.z) }
+    private func vector(_ v: [Double]) -> SIMD3<Double> { SIMD3(v[0],v[1],v[2]) }
+    private func trajectory(frame: Frame = Frame(name: "inertial",pseudoInertial: true)) throws -> IdealBrachistochroneTrajectory {
+        try IdealBrachistochroneTrajectory(departureEpoch: .j2000,frame: frame,
+            departurePositionMetres: .zero,arrivalPositionMetres: SIMD3(100,0,0),
+            maximumAccelerationMetresPerSecondSquared: 4)
+    }
+    private struct Reference: Decodable {
+        struct Sample: Decodable { let seconds: Double; let position,velocity,acceleration: [Double] }
+        let start,end: [Double]
+        let acceleration,distance,seconds,peak: Double
+        let samples: [Sample]
+    }
+    @Test func independentIntegratedReferences() throws {
+        let url = try #require(Bundle.module.url(forResource: "brachistochrone-reference",withExtension: "json",subdirectory: "Fixtures"))
+        let rows = try JSONDecoder().decode([Reference].self,from: Data(contentsOf: url))
+        #expect(rows.count == 4)
+        for row in rows {
+            let model = try IdealBrachistochroneTrajectory(departureEpoch: .j2000,
+                frame: Frame(name: "test inertial",pseudoInertial: true),
+                departurePositionMetres: vector(row.start),arrivalPositionMetres: vector(row.end),
+                maximumAccelerationMetresPerSecondSquared: row.acceleration)
+            #expect(abs(model.duration.seconds-row.seconds) <= max(1e-12,row.seconds*1e-14))
+            #expect(abs(model.distanceMetres-row.distance) <= max(1e-12,row.distance*1e-14))
+            #expect(abs(model.peakSpeedMetresPerSecond-row.peak) <= max(1e-12,row.peak*1e-14))
+            for (index,sample) in row.samples.enumerated() {
+                let date = index == 3 ? model.switchEpoch : index == row.samples.count-1 ? model.arrivalEpoch : try epoch(sample.seconds)
+                let state = try model.state(at: date)
+                #expect(norm(state.position-vector(sample.position)) <= max(1e-10,norm(vector(sample.position))*2e-15))
+                #expect(norm(state.velocity-vector(sample.velocity)) <= max(1e-10,row.peak*1e-14))
+                #expect(norm(try #require(state.acceleration)-vector(sample.acceleration)) < 1e-12)
+                #expect(state.epoch == date && state.frame === model.frame)
+            }
+        }
+    }
+    @Test func exactSwitchEndpointsAndCoverage() throws {
+        let model = try trajectory()
+        #expect(model.duration.seconds == 10)
+        #expect(model.switchEpoch == (try epoch(5)))
+        #expect(model.peakSpeedMetresPerSecond == 20)
+        #expect(model.totalDeltaVelocityMetresPerSecond == 40)
+        #expect(model.accelerationDirection == SIMD3(1,0,0) && model.brakingDirection == SIMD3(-1,0,0))
+        let start = try model.state(at: .j2000), middle = try model.state(at: model.switchEpoch), end = try model.state(at: model.arrivalEpoch)
+        #expect(start.position == .zero && start.velocity == .zero && start.acceleration == SIMD3(4,0,0))
+        #expect(middle.position == SIMD3(50,0,0) && middle.velocity == SIMD3(20,0,0) && middle.acceleration == SIMD3(-4,0,0))
+        #expect(end.position == SIMD3(100,0,0) && end.velocity == .zero && end.acceleration == .zero)
+        #expect(try model.phase(at: .j2000) == .accelerating)
+        #expect(try model.phase(at: model.switchEpoch) == .braking)
+        #expect(try model.phase(at: model.arrivalEpoch) == .arrived)
+        let before = try model.state(at: epoch(5-1e-8)), after = try model.state(at: epoch(5+1e-8))
+        #expect(norm(before.velocity-after.velocity) < 1e-12)
+        #expect(before.acceleration == SIMD3(4,0,0) && after.acceleration == SIMD3(-4,0,0))
+        #expect(norm(before.position-after.position) < 1e-6)
+        for date in [try epoch(-1e-8),try epoch(10+1e-8)] {
+            #expect(throws: BrachistochroneError.outsideCoverage) { try model.state(at: date) }
+            #expect(throws: BrachistochroneError.outsideCoverage) { try model.phase(at: date) }
+        }
+    }
+    @Test func derivativesSamplingAndRotatingFrames() throws {
+        let tree = FrameTree(), model = try trajectory(frame: tree.root)
+        let rotating = try tree.makeFrame(parent: tree.root,name: "rotating view",
+            provider: UniformRotationProvider(axis: SIMD3(0,0,1),rate: 0.1))
+        for t in [2.5,7.5] {
+            let date = try epoch(t), h = 0.001
+            let state = try model.state(at: date), before = try model.state(at: epoch(t-h)), after = try model.state(at: epoch(t+h))
+            #expect(norm((after.position-before.position)/(2*h)-state.velocity) < 1e-9)
+            #expect(norm((after.velocity-before.velocity)/(2*h)-(try #require(state.acceleration))) < 1e-9)
+            let converted = try model.state(at: date,in: rotating,using: tree)
+            let b = try model.state(at: epoch(t-h),in: rotating,using: tree)
+            let a = try model.state(at: epoch(t+h),in: rotating,using: tree)
+            #expect(norm((a.position-b.position)/(2*h)-converted.velocity) < 1e-6)
+            #expect(norm((a.velocity-b.velocity)/(2*h)-(try #require(converted.acceleration))) < 1e-6)
+        }
+        let forward = try TrajectorySampler.sample(model,from: .j2000,through: model.arrivalEpoch,step: Duration(seconds: 2))
+        let backward = try TrajectorySampler.sample(model,from: model.arrivalEpoch,through: .j2000,step: Duration(seconds: 2))
+        #expect(backward == Array(forward.reversed()))
+        let dates = [model.arrivalEpoch,model.switchEpoch,.j2000,model.switchEpoch]
+        let samples = try TrajectorySampler.sample(model,at: dates,in: rotating,using: tree)
+        #expect(samples.map(\.epoch) == dates && samples[1] == samples[3])
+    }
+    @Test func coincidentEndpointsAndInvalidInputs() throws {
+        let frame = Frame(name: "inertial",pseudoInertial: true)
+        let point = SIMD3<Double>(1,2,3)
+        let zero = try IdealBrachistochroneTrajectory(departureEpoch: .j2000,frame: frame,
+            departurePositionMetres: point,arrivalPositionMetres: point,maximumAccelerationMetresPerSecondSquared: 1)
+        #expect(zero.duration == .zero && zero.switchEpoch == .j2000 && zero.arrivalEpoch == .j2000)
+        #expect(zero.peakSpeedMetresPerSecond == 0 && zero.accelerationDirection == .zero)
+        #expect(try zero.state(at: .j2000).position == point)
+        #expect(try zero.state(at: .j2000).acceleration == .zero)
+        for value in [0.0,-1,.nan,.infinity] {
+            #expect(throws: BrachistochroneError.invalidAcceleration) {
+                try IdealBrachistochroneTrajectory(departureEpoch: .j2000,frame: frame,
+                    departurePositionMetres: .zero,arrivalPositionMetres: point,maximumAccelerationMetresPerSecondSquared: value)
+            }
+        }
+        #expect(throws: BrachistochroneError.nonInertialFrame) {
+            try trajectory(frame: Frame(name: "rotating",pseudoInertial: false))
+        }
+        #expect(throws: BrachistochroneError.nonFiniteEndpoint) {
+            try IdealBrachistochroneTrajectory(departureEpoch: .j2000,frame: frame,
+                departurePositionMetres: SIMD3(.nan,0,0),arrivalPositionMetres: point,maximumAccelerationMetresPerSecondSquared: 1)
+        }
+        #expect(throws: BrachistochroneError.numericalRangeExceeded) {
+            try IdealBrachistochroneTrajectory(departureEpoch: .j2000,frame: frame,
+                departurePositionMetres: SIMD3(-Double.greatestFiniteMagnitude,0,0),
+                arrivalPositionMetres: SIMD3(Double.greatestFiniteMagnitude,0,0),maximumAccelerationMetresPerSecondSquared: 1)
+        }
+    }
+    @Test func scaledProductsAndFineRemainingTime() throws {
+        let frame = Frame(name: "inertial",pseudoInertial: true)
+        let huge = try IdealBrachistochroneTrajectory(departureEpoch: .j2000,frame: frame,
+            departurePositionMetres: .zero,arrivalPositionMetres: SIMD3(1e200,0,0),
+            maximumAccelerationMetresPerSecondSquared: 1e200)
+        #expect(huge.duration.seconds == 2)
+        #expect(huge.peakSpeedMetresPerSecond.isFinite)
+        #expect(try huge.state(at: huge.switchEpoch).position.x == 5e199)
+        let long = try IdealBrachistochroneTrajectory(departureEpoch: .j2000,frame: frame,
+            departurePositionMetres: .zero,arrivalPositionMetres: SIMD3(1e18,0,0),
+            maximumAccelerationMetresPerSecondSquared: 1)
+        let date = try long.arrivalEpoch.advanced(by: Duration(seconds: -1e-9))
+        #expect(try date.duration(since: .j2000).seconds == long.duration.seconds)
+        let remaining = try long.arrivalEpoch.duration(since: date).seconds
+        let state = try long.state(at: date)
+        #expect(remaining > 0 && state.velocity.x > 0)
+        #expect(abs(state.velocity.x-remaining) < 1e-20)
+        #expect(state.acceleration == SIMD3(-1,0,0))
+        #expect(throws: BrachistochroneError.numericalRangeExceeded) {
+            try IdealBrachistochroneTrajectory(departureEpoch: epoch(0.5),frame: frame,
+                departurePositionMetres: .zero,arrivalPositionMetres: SIMD3(1e-300,0,0),
+                maximumAccelerationMetresPerSecondSquared: 1e300)
+        }
+    }
+
+}
diff --git a/Tests/CelMekTests/CalendarDateTimeTests.swift b/Tests/CelMekTests/CalendarDateTimeTests.swift
new file mode 100644
index 0000000..b9d8bac
--- /dev/null
+++ b/Tests/CelMekTests/CalendarDateTimeTests.swift
@@ -0,0 +1,72 @@
+import Testing
+import CelMek
+
+@Suite struct CalendarDateTimeTests {
+  @Test func knownDayNumbersAndNegativeYears() throws {
+    for (year,month,day,mjd) in [(1858,11,17,0),(1970,1,1,40587),(2000,1,1,51544),
+      (2017,1,1,57754),(0,1,1,-678941),(-1,1,1,-679306)] {
+      let date = try GregorianDay(year: year,month: month,day: day)
+      #expect(date.modifiedJulianDay == Int64(mjd))
+      #expect(try GregorianDay(modifiedJulianDay: Int64(mjd)) == date)
+    }
+    for year in [-1_000_000,-400,-100,0,100,400,1900,2000,1_000_000] {
+      for month in 1...12 {
+        let date = try GregorianDay(year: year,month: month,day: 1)
+        #expect(try GregorianDay(modifiedJulianDay: date.modifiedJulianDay) == date)
+      }
+    }
+  }
+  @Test func j2000ClockScalesAndNoonBoundary() throws {
+    let tt = try Epoch.j2000.calendar(in: .tt)
+    #expect(try tt.date == GregorianDay(year: 2000,month: 1,day: 1))
+    #expect(tt.hour == 12 && tt.minute == 0 && tt.second == .zero)
+    let tai = try Epoch.j2000.calendar(in: .tai)
+    #expect(tai.hour == 11 && tai.minute == 59)
+    #expect(abs(tai.second.seconds-27.816) < 2e-11)
+    for scale in [CalendarTimeScale.tai,.tt,.tdb] {
+      for seconds in [0.0,0.125,43199.125,43200,86399.999999] {
+        let reading = try CalendarDateTime(date: tt.date,hour: Int(seconds)/3600,
+          minute: Int(seconds)%3600/60,second: CelMek.Duration(seconds: seconds.truncatingRemainder(dividingBy: 60)),scale: scale)
+        let epoch = try reading.epoch()
+        let restored = try epoch.calendar(in: scale)
+        #expect(restored.date == reading.date && restored.hour == reading.hour && restored.minute == reading.minute)
+        #expect(abs(restored.second.seconds-reading.second.seconds) < 3e-11)
+      }
+    }
+  }
+  @Test func utcLeapLabelAndTableRequirements() throws {
+    let reading = try CalendarDateTime(date: GregorianDay(year: 2016,month: 12,day: 31),hour: 23,minute: 59,
+      second: CelMek.Duration(seconds: 60.25),scale: .utc)
+    #expect(throws: CalendarConversionError.leapSecondTableRequired) { try reading.epoch() }
+    let epoch = try Epoch(calendar: reading,using: .iersBulletinC72)
+    #expect(try epoch.calendar(in: .utc,using: .iersBulletinC72) == reading)
+    let next = try epoch.advanced(by: CelMek.Duration(seconds: 1)).calendar(in: .utc,using: .iersBulletinC72)
+    #expect(try next.date == GregorianDay(year: 2017,month: 1,day: 1))
+    #expect(next.hour == 0 && next.minute == 0 && abs(next.second.seconds-0.25) < 1e-12)
+    let invalid = try CalendarDateTime(date: next.date,hour: 23,minute: 59,second: CelMek.Duration(seconds: 60),scale: .utc)
+    #expect(throws: UTCError.invalidSecondOfDay) { try invalid.epoch(using: .iersBulletinC72) }
+  }
+  @Test func fullGregorianEraAndDistantEpochs() throws {
+    let start = try GregorianDay(year: 2000,month: 3,day: 1).modifiedJulianDay
+    for mjd in start..<(start+146097) {
+      let date = try GregorianDay(modifiedJulianDay: mjd)
+      #expect(date.modifiedJulianDay == mjd)
+    }
+    for year in [-1_000_000, -16000, 0, 16000, 1_000_000] {
+      let reading = try CalendarDateTime(date: GregorianDay(year: year,month: 12,day: 31),
+        hour: 23,minute: 59,second: CelMek.Duration(seconds: 59.125),scale: .tt)
+      let restored = try reading.epoch().calendar(in: .tt)
+      #expect(restored.date == reading.date && restored.hour == 23 && restored.minute == 59)
+      #expect(abs(restored.second.seconds-59.125) < 3e-11)
+    }
+  }
+  @Test func invalidAndRangeInputs() throws {
+    #expect(throws: CalendarConversionError.invalidDate) { try GregorianDay(year: 1900,month: 2,day: 29) }
+    #expect(throws: CalendarConversionError.invalidDate) { try GregorianDay(year: 2000,month: 13,day: 1) }
+    #expect(throws: CalendarConversionError.outsideCalendarRange) { try GregorianDay(year: Int.max,month: 1,day: 1) }
+    #expect(throws: CalendarConversionError.outsideCalendarRange) { try GregorianDay(modifiedJulianDay: Int64.min) }
+    let date = try GregorianDay(year: 2000,month: 2,day: 29)
+    #expect(throws: CalendarConversionError.invalidClock) { try CalendarDateTime(date: date,hour: 24,minute: 0,second: .zero,scale: .tt) }
+    #expect(throws: CalendarConversionError.invalidClock) { try CalendarDateTime(date: date,hour: 23,minute: 59,second: CelMek.Duration(seconds: 60),scale: .tai) }
+  }
+}
diff --git a/Tests/CelMekTests/CartesianStateTests.swift b/Tests/CelMekTests/CartesianStateTests.swift
new file mode 100644
index 0000000..77f3966
--- /dev/null
+++ b/Tests/CelMekTests/CartesianStateTests.swift
@@ -0,0 +1,97 @@
+// SPDX-License-Identifier: Apache-2.0
+import Testing
+import CelMek
+import Math
+
+@Suite
+struct CartesianStateTests {
+  let frame = Frame(name: "Test", pseudoInertial: true)
+
+  @Test
+  func normalizesUnitsAndPreservesMissingAcceleration() throws {
+    let vector = SIMD3<Double>(1, -2, 3)
+    let si = try CartesianState(epoch: .j2000, frame: frame, position: vector, velocity: vector)
+    #expect(si.position == vector && si.velocity == vector)
+    #expect(si.acceleration == nil)
+    let km = try CartesianState(epoch: .j2000, frame: frame, position: vector, velocity: vector,
+                                acceleration: .zero, units: .kilometresAndSeconds)
+    #expect(km.position == vector * 1000 && km.velocity == vector * 1000)
+    #expect(km.acceleration == .zero)
+    let au = try CartesianState(epoch: .j2000, frame: frame, position: vector, velocity: vector,
+                                acceleration: vector, units: .astronomicalUnitsAndDays)
+    for axis in 0..<3 {
+      #expect(au.position[axis] == vector[axis] * 149_597_870_700)
+      #expect(abs(au.velocity[axis] - vector[axis] * 149_597_870_700 / 86_400) < 1e-9)
+      #expect(abs(au.acceleration![axis] - vector[axis] * 149_597_870_700 / (86_400 * 86_400)) < 1e-13)
+    }
+  }
+
+  @Test
+  func equalityIncludesEpochAndFrameIdentity() throws {
+    let state = try CartesianState(epoch: .j2000, frame: frame, position: .zero, velocity: .zero)
+    #expect(state == state)
+    let otherFrame = Frame(name: frame.name, pseudoInertial: true)
+    #expect(state != (try CartesianState(epoch: .j2000, frame: otherFrame, position: .zero, velocity: .zero)))
+    let later = try Epoch.j2000.advanced(by: CelMek.Duration(seconds: 1))
+    #expect(state != (try CartesianState(epoch: later, frame: frame, position: .zero, velocity: .zero)))
+  }
+
+  @Test(arguments: [Double.nan, .infinity, -.infinity], [0, 1, 2])
+  func rejectsNonfiniteComponents(value: Double, axis: Int) {
+    var vector = SIMD3<Double>.zero
+    vector[axis] = value
+    #expect(throws: CartesianStateError.nonFinitePosition) {
+      try CartesianState(epoch: .j2000, frame: frame, position: vector, velocity: .zero)
+    }
+    #expect(throws: CartesianStateError.nonFiniteVelocity) {
+      try CartesianState(epoch: .j2000, frame: frame, position: .zero, velocity: vector)
+    }
+    #expect(throws: CartesianStateError.nonFiniteAcceleration) {
+      try CartesianState(epoch: .j2000, frame: frame, position: .zero, velocity: .zero, acceleration: vector)
+    }
+  }
+
+  @Test
+  func rejectsConversionOverflow() {
+    #expect(throws: CartesianStateError.nonFinitePosition) {
+      try CartesianState(epoch: .j2000, frame: frame,
+                         position: SIMD3(repeating: Double.greatestFiniteMagnitude), velocity: .zero,
+                         units: .astronomicalUnitsAndDays)
+    }
+  }
+
+  @Test
+  func publicProviderReturnsSIReferenceState() throws {
+    let epoch = try Epoch(julianDate: 2451545, scale: .tdb)
+    let provider: any StateProvider = earth
+    let state = try provider.state(at: epoch)
+    #expect(state.epoch == epoch)
+    #expect(state.frame === provider.frame && state.frame === CelestialFrames.vsop87E)
+    #expect(state.acceleration == nil)
+    let position = SIMD3<Double>(-0.1842769826, 0.9644534530, 0.0002022407) * 149_597_870_700
+    let velocity = SIMD3<Double>(-0.0172022466, -0.0031661954, 0.0000000125) * (149_597_870_700 / 86_400)
+    for axis in 0..<3 {
+      #expect(abs(state.position[axis] - position[axis]) < 15)
+      #expect(abs(state.velocity[axis] - velocity[axis]) < 0.0002)
+    }
+  }
+
+  @Test(arguments: [0.0, -3_155_760_000, 3_155_760_000])
+  func providerVelocitiesFollowElapsedSeconds(offset: Double) throws {
+    let epoch = try Epoch.j2000.advanced(by: CelMek.Duration(seconds: offset))
+    let before = try epoch.advanced(by: CelMek.Duration(seconds: -100))
+    let after = try epoch.advanced(by: CelMek.Duration(seconds: 100))
+    let before2 = try epoch.advanced(by: CelMek.Duration(seconds: -200))
+    let after2 = try epoch.advanced(by: CelMek.Duration(seconds: 200))
+    // A five-point difference reduces orbital-curvature error while a longer
+    // interval limits cancellation in distant-epoch series evaluation.
+    for body in [sun, mercury, venus, earth, mars, jupiter, saturn, uranus, neptune] {
+      let state = try body.state(at: epoch)
+      let difference = try (8 * (body.state(at: after).position - body.state(at: before).position)
+        - (body.state(at: after2).position - body.state(at: before2).position)) / 1200
+      for axis in 0..<3 {
+        #expect(abs(state.velocity[axis] - difference[axis]) < 0.001)
+      }
+    }
+  }
+}
diff --git a/Tests/CelMekTests/CelestialBodyTests.swift b/Tests/CelMekTests/CelestialBodyTests.swift
new file mode 100644
index 0000000..3106f58
--- /dev/null
+++ b/Tests/CelMekTests/CelestialBodyTests.swift
@@ -0,0 +1,77 @@
+import Foundation
+import Testing
+@testable import CelMek
+
+@Suite struct CelestialBodyTests {
+  private func provenance() throws -> PhysicalDataProvenance {
+    try PhysicalDataProvenance(source: "game configuration",version: "1")
+  }
+  @Test func catalogueMatchesIndependentKernelSubset() throws {
+    struct Reference: Decodable { let naif: Int32; let km3PerSecond2: Double }
+    let url = try #require(Bundle.module.url(forResource: "jpl-gm-2022",withExtension: "json",subdirectory: "Fixtures"))
+    let rows = try JSONDecoder().decode([Reference].self,from: Data(contentsOf: url))
+    let catalogue = BodyCatalogue.jplGM2022
+    #expect(rows.count == 20)
+    #expect(catalogue.bodies.count == 21)
+    for row in rows {
+      let body = try catalogue.body(.naif(row.naif))
+      let gm = try #require(body.properties.gravitationalParameter)
+      #expect(gm.cubicMetresPerSecondSquared == row.km3PerSecond2*1e9)
+      #expect(gm.convention == .tdbCompatible)
+      #expect(gm.provenance.version.contains("2022-12-14"))
+      #expect(body.properties.massKilograms == nil)
+      #expect(body.properties.referenceRadii == nil)
+    }
+    #expect(try catalogue.body(.solarSystemBarycentre).properties.gravitationalParameter == nil)
+    let earth = try #require(catalogue.body(.earth).properties.gravitationalParameter)
+    let moon = try #require(catalogue.body(.moon).properties.gravitationalParameter)
+    let emb = try #require(catalogue.body(.earthMoonBarycentre).properties.gravitationalParameter)
+    #expect(abs(earth.cubicMetresPerSecondSquared+moon.cubicMetresPerSecondSquared-emb.cubicMetresPerSecondSquared) < 0.125)
+    let jupiter = try catalogue.body(.jupiter), system = try catalogue.body(.jupiterBarycentre)
+    #expect(jupiter.identifier != system.identifier)
+    #expect(jupiter.kind == .planet && system.kind == .barycentre)
+    #expect(jupiter.properties.gravitationalParameter!.cubicMetresPerSecondSquared < system.properties.gravitationalParameter!.cubicMetresPerSecondSquared)
+    #expect(jupiter.properties.gravitationalParameter!.provenance.source.contains("satellite"))
+    #expect(system.properties.gravitationalParameter!.provenance.source.contains("DE440"))
+  }
+  @Test func injectableCustomBodyAndNamespaceIdentity() throws {
+    let source = try provenance()
+    let mu = try GravitationalParameter(cubicMetresPerSecondSquared: 1e12,convention: .newtonian,provenance: source)
+    let radii = try BodyReferenceRadii(metres: SIMD3(1000,900,800),axesDescription: "game body-fixed XYZ",provenance: source)
+    let mass = try SourcedPhysicalValue(value: 2e20,provenance: source)
+    let properties = BodyPhysicalProperties(gravitationalParameter: mu,massKilograms: mass,referenceRadii: radii)
+    let first = try CelestialBody(identifier: .custom(namespace: "world-a",name: "terra"),name: "Terra",kind: .custom,
+      properties: properties,provenance: source)
+    let second = try CelestialBody(identifier: .custom(namespace: "world-b",name: "terra"),name: "Terra",kind: .custom,provenance: source)
+    let catalogue = try BodyCatalogue(bodies: [first,second])
+    #expect(try catalogue.body(first.identifier).properties.referenceRadii?.metres == SIMD3(1000,900,800))
+    #expect(try catalogue.body(second.identifier).properties.massKilograms == nil)
+    #expect(first.identifier != .earth)
+    #expect(throws: CelestialBodyError.unknownBody) { try catalogue.body(.earth) }
+    #expect(throws: CelestialBodyError.duplicateIdentifier) { try BodyCatalogue(bodies: [first,first]) }
+  }
+  @Test func invalidPropertiesAndMetadataFailExplicitly() throws {
+    let source = try provenance()
+    for value in [0.0,-1,.nan,.infinity] {
+      #expect(throws: CelestialBodyError.invalidPhysicalValue) {
+        try GravitationalParameter(cubicMetresPerSecondSquared: value,convention: .newtonian,provenance: source)
+      }
+      #expect(throws: CelestialBodyError.invalidPhysicalValue) { try SourcedPhysicalValue(value: value,provenance: source) }
+    }
+    #expect(throws: CelestialBodyError.missingProvenance) { try PhysicalDataProvenance(source: " ",version: "1") }
+    #expect(throws: CelestialBodyError.invalidIdentifier) {
+      try CelestialBody(identifier: .custom(namespace: "",name: "body"),name: "Body",kind: .custom,provenance: source)
+    }
+    #expect(throws: CelestialBodyError.invalidPhysicalValue) {
+      try BodyReferenceRadii(metres: SIMD3(1,0,1),axesDescription: "XYZ",provenance: source)
+    }
+    let radii = try BodyReferenceRadii(metres: SIMD3(1,1,1),axesDescription: "XYZ",provenance: source)
+    #expect(throws: CelestialBodyError.invalidDefinition) {
+      try CelestialBody(identifier: .earthMoonBarycentre,name: "EMB",kind: .barycentre,
+        properties: BodyPhysicalProperties(referenceRadii: radii),provenance: source)
+    }
+    #expect(throws: CelestialBodyError.invalidDefinition) {
+      try CelestialBody(identifier: .earth,name: "",kind: .planet,provenance: source)
+    }
+  }
+}
diff --git a/Tests/CelMekTests/CelestialFrameTests.swift b/Tests/CelMekTests/CelestialFrameTests.swift
new file mode 100644
index 0000000..c6c4baa
--- /dev/null
+++ b/Tests/CelMekTests/CelestialFrameTests.swift
@@ -0,0 +1,117 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Testing
+import CelMek
+import Math
+
+@Suite
+struct CelestialFrameTests {
+  func matrixClose(_ actual: Matrix3x3, _ expected: [Double], tolerance: Double) {
+    for row in 0..<3 { for col in 0..<3 {
+      #expect(abs(actual[row,col] - expected[3*row+col]) < tolerance)
+    }}
+  }
+  @Test
+  func biasAndFK5TieMatchERFAReferenceMatrices() throws {
+    let tree = try CelestialFrames.makeTree()
+    let bias = try tree.transform(from: CelestialFrames.icrf, to: CelestialFrames.meanEquatorJ2000, at: .j2000)
+    matrixClose(bias.rotation.matrix, [
+      0.9999999999999942498, -0.7078279744199196626e-7, 0.8056217146976134152e-7,
+      0.7078279477857337206e-7, 0.9999999999999969484, 0.3306041454222136517e-7,
+      -0.8056217380986972157e-7, -0.3306040883980552500e-7, 0.9999999999999962084], tolerance: 3e-16)
+    let tie = try tree.transform(from: CelestialFrames.fk5J2000, to: CelestialFrames.icrf, at: .j2000)
+    matrixClose(tie.rotation.matrix, [
+      0.9999999999999928638, 0.1110223351022919694e-6, 0.4411803962536558154e-7,
+      -0.1110223308458746430e-6, 0.9999999999999891830, -0.9647792498984142358e-7,
+      -0.4411805033656962252e-7, 0.9647792009175314354e-7, 0.9999999999999943728], tolerance: 3e-16)
+    #expect(CelestialFrames.fk5J2000 !== CelestialFrames.meanEquatorJ2000)
+  }
+
+  @Test
+  func nativeVSOPRotationMatchesPublishedMatrixAndRoundTrips() throws {
+    let tree = try CelestialFrames.makeTree()
+    let rotation = try tree.transform(from: CelestialFrames.vsop87E, to: CelestialFrames.fk5J2000, at: .j2000)
+    matrixClose(rotation.rotation.matrix, [1, 0.000000440360, -0.000000190919,
+      -0.000000479966, 0.917482137087, -0.397776982902,
+      0, 0.397776982902, 0.917482137087], tolerance: 8e-13)
+    let native = try earth.state(at: .j2000)
+    let icrf = try earth.state(at: .j2000, in: CelestialFrames.icrf, using: tree)
+    #expect(icrf.frame === CelestialFrames.icrf && icrf.epoch == native.epoch)
+    let restored = try tree.convert(icrf, to: native.frame)
+    for axis in 0..<3 {
+      #expect(abs(restored.position[axis]-native.position[axis]) < 0.0002)
+      #expect(abs(restored.velocity[axis]-native.velocity[axis]) < 1e-10)
+    }
+    #expect(icrf.acceleration == nil)
+    let ecliptic = try tree.transform(from: CelestialFrames.eclipticJ2000, to: CelestialFrames.meanEquatorJ2000, at: .j2000)
+    let vector = ecliptic.rotation.matrix * SIMD3<Double>(0, 1, 0)
+    #expect(abs(vector.y - cos(84381.448 * .pi/(180*3600))) < 1e-15)
+    #expect(vector.z > 0)
+  }
+
+  @Test
+  func geocentreAndIAUBodyFramesComposeThroughNativeModel() throws {
+    let tree = try CelestialFrames.makeTree()
+    let geocentric = try tree.makeGeocentricFrames(earth: earth, accelerationPolicy: .estimate(step: CelMek.Duration(seconds: 60)))
+    let gcrf = geocentric.gcrf
+    let centre = try earth.state(at: .j2000, in: gcrf, using: tree)
+    for axis in 0..<3 {
+      #expect(abs(centre.position[axis]) < 0.0002)
+      #expect(abs(centre.velocity[axis]) < 1e-10)
+    }
+    #expect(gcrf.pseudoInertial && gcrf.parent === CelestialFrames.icrf)
+    #expect(geocentric.eme2000.parent === gcrf && geocentric.eme2000.pseudoInertial)
+    let emeCentre = try earth.state(at: .j2000, in: geocentric.eme2000, using: tree)
+    for axis in 0..<3 { #expect(abs(emeCentre.position[axis]) < 0.0002) }
+    let bias = try tree.transform(from: gcrf, to: geocentric.eme2000, at: .j2000)
+    let barycentricBias = try tree.transform(from: CelestialFrames.icrf, to: CelestialFrames.meanEquatorJ2000, at: .j2000)
+    for row in 0..<3 { for col in 0..<3 {
+      #expect(bias.rotation.matrix[row,col] == barycentricBias.rotation.matrix[row,col])
+    }}
+    let start = try Epoch.j2000.advanced(by: CelMek.Duration(seconds: -100))
+    let end = try Epoch.j2000.advanced(by: CelMek.Duration(seconds: 100))
+    let orientation = try IAUOrientationProvider(body: "mars", coverage: start...end)
+    let origin = try FrameConvertedStateProvider(mars, in: CelestialFrames.icrf, using: tree)
+    let bodyFrame = try tree.makeBodyFixedFrame(name: "IAU Mars", centre: origin, orientation: orientation,
+      accelerationPolicy: .estimate(step: CelMek.Duration(seconds: 60)))
+    let result = try mars.state(at: .j2000, in: bodyFrame, using: tree)
+    for axis in 0..<3 {
+      #expect(abs(result.position[axis]) < 0.0002)
+      #expect(abs(result.velocity[axis]) < 1e-7)
+    }
+  }
+
+  @Test
+  func convertedProvidersDoNotCreateOwnershipCycles() throws {
+    var tree: FrameTree? = try CelestialFrames.makeTree()
+    weak let observed = tree
+    let adapter = try FrameConvertedStateProvider(earth, in: CelestialFrames.icrf, using: tree!)
+    _ = try tree!.makeGCRF(earth: earth, accelerationPolicy: .assumeZero)
+    tree = nil
+    #expect(observed == nil)
+    #expect(throws: FrameQueryError.frameTreeUnavailable) { try adapter.state(at: .j2000) }
+    let local = try FrameTree(root: CelestialFrames.vsop87E)
+    #expect(throws: FrameTransformError.disconnectedFrames) {
+      try FrameConvertedStateProvider(earth, in: CelestialFrames.icrf, using: local)
+    }
+  }
+
+  @Test
+  func orientationCoverageAndLegacyOptInAreEnforced() throws {
+    let epoch = Epoch.j2000
+    #expect(IAUOrientationProvider.availableBodies.count == 73)
+    #expect(throws: IAUOrientationError.legacyModelRequiresOptIn) {
+      try IAUOrientationProvider(body: "earth", coverage: epoch...epoch)
+    }
+    let legacy = try IAUOrientationProvider(body: "moon", coverage: epoch...epoch, allowLegacyModel: true)
+    #expect(legacy.usesLegacyModel)
+    let mars = try IAUOrientationProvider(body: "mars", coverage: epoch...epoch)
+    #expect(mars.referenceFrame === CelestialFrames.icrf)
+    #expect(throws: IAUOrientationError.outsideCoverage) {
+      try mars.orientation(at: epoch.advanced(by: CelMek.Duration(seconds: 1)))
+    }
+    #expect(throws: IAUOrientationError.unknownBody) {
+      try IAUOrientationProvider(body: "missing", coverage: epoch...epoch)
+    }
+  }
+}
diff --git a/Tests/CelMekTests/CheckedHohmannTransferTests.swift b/Tests/CelMekTests/CheckedHohmannTransferTests.swift
new file mode 100644
index 0000000..9a6a8ef
--- /dev/null
+++ b/Tests/CelMekTests/CheckedHohmannTransferTests.swift
@@ -0,0 +1,128 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct CheckedHohmannTransferTests {
+    let frame = Frame(name: "Checked transfers", pseudoInertial: true)
+    let flight = 12.418235332245126543
+    func epoch(_ t: Double) throws -> Epoch { try Epoch.j2000.advanced(by: CelMek.Duration(seconds: t)) }
+    func gm() throws -> GravitationalParameter {
+        try GravitationalParameter(cubicMetresPerSecondSquared: 1, convention: .newtonian,
+            provenance: PhysicalDataProvenance(source: "Analytic normalized test", version: "1"))
+    }
+    func orbit(_ radius: Double, phase: Double = 0) throws -> CircularHohmannOrbit {
+        try CircularHohmannOrbit(referenceEpoch: .j2000, frame: frame, centralBody: .sun,
+            radiusMetres: radius, radialDirection: SIMD3(cos(phase),sin(phase),0),
+            progradeDirection: SIMD3(-sin(phase),cos(phase),0), gravitationalParameter: gm())
+    }
+    struct ChangingProvider: StateProvider {
+        let model: CircularHohmannOrbit
+        let changeAfter: Epoch
+        var frame: Frame { model.frame }
+        func state(at epoch: Epoch) throws -> CartesianState {
+            let state = try model.state(at: epoch)
+            guard epoch > changeAfter else { return state }
+            let c = cos(0.01), s = sin(0.01)
+            func rotate(_ v: SIMD3<Double>) -> SIMD3<Double> { SIMD3(c*v.x-s*v.y,s*v.x+c*v.y,v.z) }
+            return try CartesianState(epoch: epoch, frame: frame, position: rotate(state.position),
+                velocity: rotate(state.velocity), acceleration: state.acceleration.map(rotate))
+        }
+    }
+    func provider(_ model: any StateProvider, start: Double = 0, end: Double = 40,
+                  origin: BodyIdentifier = .sun) throws -> MovingWaypointRouteTarget {
+        try MovingWaypointRouteTarget(provider: model, origin: origin, coverage: epoch(start)...epoch(end))
+    }
+    @Test func checkedStateProjectionPreservesActualDepartureAndBurnAccounting() throws {
+        let actual = try CartesianState(epoch: .j2000, frame: frame, position: SIMD3(1,0,0),
+            velocity: SIMD3(1e-9,1+5e-9,0))
+        let target = try orbit(4, phase: .pi-flight/8).state(at: .j2000)
+        let result = try CheckedHohmannTransferPlanner.plan(departureState: actual, targetState: target,
+            centralBody: .sun, gravitationalParameter: gm(), positionToleranceMetres: 1e-8,
+            velocityToleranceMetresPerSecond: 1e-8)
+        #expect(result.rendezvousSatisfied)
+        let before = try result.plan.trajectory.state(at: .j2000, side: .before)
+        #expect(before.position == actual.position && before.velocity == actual.velocity)
+        #expect(result.departureVelocityProjectionErrorMetresPerSecond > 5e-9)
+        let burn = result.plan.departureBurn.deltaVelocityMetresPerSecond
+        #expect(abs(burn.x+1e-9) < 1e-16)
+        let total = routeNorm(burn)+routeNorm(result.plan.arrivalBurn.deltaVelocityMetresPerSecond)
+        #expect(result.totalDeltaVelocityMetresPerSecond == total)
+        #expect(abs(total-result.plan.transfer.totalDeltaVelocityMetresPerSecond) > 1e-9)
+        let unphased = try CheckedHohmannTransferPlanner.plan(departureState: orbit(1).state(at: .j2000),
+            targetState: orbit(4).state(at: .j2000), centralBody: .sun, gravitationalParameter: gm())
+        #expect(!unphased.rendezvousSatisfied && unphased.positionErrorMetres > 1)
+    }
+    @Test func providerCandidatesUseActualArrivalAndRespectCoverageAndBudget() throws {
+        let departure = try provider(orbit(1))
+        let model = try orbit(4, phase: .pi-flight/8+0.875*2.75)
+        let target = try provider(model)
+        let result = try CheckedHohmannTransferPlanner.search(departureProvider: departure, targetProvider: target,
+            centralBody: .sun, gravitationalParameter: gm(),
+            candidateDepartureEpochs: [epoch(2.75),epoch(-1),epoch(0),epoch(2.75)])
+        #expect(result.status == .feasible && result.evaluatedCandidates == 3)
+        #expect(result.failedAttempts[0].failure == .departureOutsideCoverage)
+        #expect(result.failedAttempts[1].failure == .rendezvousResidual)
+        let plan = try #require(result.plan)
+        #expect(plan.plan.departureBurn.epoch == (try epoch(2.75)))
+        #expect(plan.targetArrivalState == (try model.state(at: plan.plan.arrivalEpoch)))
+        let changed = try provider(ChangingProvider(model: model, changeAfter: epoch(8)))
+        let rejected = try CheckedHohmannTransferPlanner.search(departureProvider: departure, targetProvider: changed,
+            centralBody: .sun, gravitationalParameter: gm(), candidateDepartureEpochs: [epoch(2.75)])
+        #expect(rejected.status == .candidateSetExhausted)
+        #expect(rejected.failedAttempts[0].failure == .rendezvousResidual)
+        #expect(try #require(rejected.failedAttempts[0].plan).positionErrorMetres > 0.01)
+        let limited = try CheckedHohmannTransferPlanner.search(departureProvider: departure, targetProvider: target,
+            centralBody: .sun, gravitationalParameter: gm(), candidateDepartureEpochs: [epoch(0),epoch(2.75)],
+            maximumCandidateEvaluations: 1)
+        #expect(limited.status == .evaluationLimitReached)
+        let uncovered = try CheckedHohmannTransferPlanner.search(departureProvider: departure,
+            targetProvider: provider(model, end: 10), centralBody: .sun, gravitationalParameter: gm(),
+            candidateDepartureEpochs: [epoch(2.75)])
+        #expect(uncovered.failedAttempts[0].failure == .targetOutsideCoverage)
+    }
+    @Test func relaxedPlaneToleranceDoesNotGuaranteeRendezvous() throws {
+        let phase = Double.pi-flight/8, tilt = 1e-5
+        let target = try CartesianState(epoch: .j2000, frame: frame,
+            position: SIMD3(4*cos(phase),4*sin(phase)*cos(tilt),4*sin(phase)*sin(tilt)),
+            velocity: SIMD3(-0.5*sin(phase),0.5*cos(phase)*cos(tilt),0.5*cos(phase)*sin(tilt)))
+        #expect(throws: HohmannRendezvousError.nonCoplanarOrbits) {
+            try CheckedHohmannTransferPlanner.plan(departureState: orbit(1).state(at: .j2000),
+                targetState: target, centralBody: .sun, gravitationalParameter: gm())
+        }
+        let result = try CheckedHohmannTransferPlanner.plan(departureState: orbit(1).state(at: .j2000),
+            targetState: target, centralBody: .sun, gravitationalParameter: gm(),
+            validationOptions: CircularHohmannValidationOptions(maximumPlaneNormalDifference: 2e-5),
+            positionToleranceMetres: 1e-8, velocityToleranceMetresPerSecond: 1e-8)
+        #expect(!result.rendezvousSatisfied)
+        #expect(result.velocityErrorMetresPerSecond > 1e-6)
+    }
+    @Test func unsupportedStatesAndOriginsFailExplicitly() throws {
+        let slow = try CartesianState(epoch: .j2000, frame: frame, position: SIMD3(1,0,0), velocity: SIMD3(0,0.8,0))
+        #expect(throws: CircularHohmannStateError.nonCircularSpeed) {
+            try CircularHohmannOrbit(referenceState: slow, centralBody: .sun, gravitationalParameter: gm())
+        }
+        let radial = try CartesianState(epoch: .j2000, frame: frame, position: SIMD3(1,0,0), velocity: SIMD3(0.1,1,0))
+        #expect(throws: CircularHohmannStateError.nonTangentialVelocity) {
+            try CircularHohmannOrbit(referenceState: radial, centralBody: .sun, gravitationalParameter: gm())
+        }
+        #expect(throws: CircularHohmannStateError.invalidOptions) { try CircularHohmannValidationOptions(relativeSpeedTolerance: .nan) }
+        #expect(throws: CircularHohmannStateError.epochMismatch) {
+            try CheckedHohmannTransferPlanner.plan(departureState: orbit(1).state(at: epoch(0)),
+                targetState: orbit(4).state(at: epoch(1)), centralBody: .sun, gravitationalParameter: gm())
+        }
+        #expect(throws: HohmannRendezvousError.incompatibleCentralBody) {
+            try CircularHohmannOrbit(provider: provider(orbit(1), origin: .earth), at: .j2000,
+                centralBody: .sun, gravitationalParameter: gm())
+        }
+        let coincident = try CheckedHohmannTransferPlanner.search(departureProvider: provider(orbit(1), end: 0),
+            targetProvider: provider(orbit(1), end: 0), centralBody: .sun, gravitationalParameter: gm(),
+            candidateDepartureEpochs: [.j2000])
+        #expect(coincident.status == .alreadyRendezvoused && coincident.plan == nil)
+        let separated = try CheckedHohmannTransferPlanner.search(departureProvider: provider(orbit(1)),
+            targetProvider: provider(orbit(1, phase: 1)), centralBody: .sun, gravitationalParameter: gm(),
+            candidateDepartureEpochs: [.j2000])
+        #expect(separated.failedAttempts[0].failure == .sameOrbitPhasingRequired)
+    }
+}
diff --git a/Tests/CelMekTests/CommandedBurnPlannerTests.swift b/Tests/CelMekTests/CommandedBurnPlannerTests.swift
new file mode 100644
index 0000000..86fa525
--- /dev/null
+++ b/Tests/CelMekTests/CommandedBurnPlannerTests.swift
@@ -0,0 +1,83 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct CommandedBurnPlannerTests {
+    let frame = Frame(name: "Commanded burns", pseudoInertial: true)
+    func epoch(_ t: Double) throws -> Epoch { try Epoch.j2000.advanced(by: CelMek.Duration(seconds: t)) }
+    struct LinearGoal: StateProvider {
+        let frame: Frame
+        let p, v: SIMD3<Double>
+        func state(at epoch: Epoch) throws -> CartesianState {
+            try CartesianState(epoch: epoch, frame: frame,
+                position: p + v*epoch.duration(since: .j2000).seconds, velocity: v, acceleration: .zero)
+        }
+    }
+    struct Gravity: ForceModel {
+        func contribution(for state: SpacecraftState, in context: ForceEvaluationContext) throws -> ForceContribution {
+            try ForceContribution(epoch: state.epoch, frame: context.frame,
+                accelerationMetresPerSecondSquared: SIMD3(0.1,0,0))
+        }
+    }
+    func goal(position: Double, velocity: Double, at t: Double) throws -> MovingWaypointRouteTarget {
+        try MovingWaypointRouteTarget(provider: LinearGoal(frame: frame,
+            p: SIMD3(position-velocity*t,0,0), v: SIMD3(velocity,0,0)),
+            origin: .sun, coverage: epoch(0)...epoch(20))
+    }
+    func candidates() throws -> [CommandedBurnCandidate] {
+        let forward = try FiniteThrust(frame: frame, thrustNewtons: 10,
+            effectiveExhaustVelocityMetresPerSecond: 100, direction: SIMD3(1,0,0))
+        let reverse = try FiniteThrust(frame: frame, thrustNewtons: 10,
+            effectiveExhaustVelocityMetresPerSecond: 100, direction: SIMD3(-1,0,0))
+        let schedule = try ScheduledThrust(frame: frame, burns: [
+            FiniteBurn(start: .j2000, end: epoch(5), thrust: forward),
+            FiniteBurn(start: epoch(5), end: epoch(10), thrust: reverse)])
+        return try [CommandedBurnCandidate(arrivalEpoch: epoch(10), schedule: schedule),
+            CommandedBurnCandidate(arrivalEpoch: epoch(8), schedule: schedule),
+            CommandedBurnCandidate(arrivalEpoch: epoch(9), schedule: ScheduledThrust(frame: frame, burns: []))]
+    }
+    func reference(_ t: Double) -> (p: Double, v: Double) {
+        let firstTime = min(t,5), m1 = 100-0.1*firstTime
+        let v1 = 100*log(100/m1)
+        let p1 = 100*(firstTime-m1/0.1*log(100/m1))
+        if t <= 5 { return (p1+0.05*t*t, v1+0.1*t) }
+        let dt = t-5, m2 = m1-0.1*dt
+        return (p1+v1*dt-100*(dt-m2/0.1*log(m1/m2))+0.05*t*t,
+            v1-100*log(m1/m2)+0.1*t)
+    }
+    func search(budget: Int = 1000, reserve: Double = 0) throws -> CommandedBurnSearchResult {
+        let arrival = reference(10), passage = reference(2.5)
+        return try CommandedBurnPlanner.search(initialState:
+            SpacecraftState(cartesian: CartesianState(epoch: .j2000, frame: frame, position: .zero, velocity: .zero),
+                mass: SpacecraftMassProperties(dryMassKilograms: 50, propellantMassKilograms: 50)),
+            context: ForceEvaluationContext(frame: frame, origin: .sun), backgroundModels: [Gravity()],
+            candidates: candidates(), arrivalTarget: goal(position: arrival.p, velocity: arrival.v, at: 10),
+            passages: [CommandedBurnPassage(epoch: epoch(2.5),
+                target: goal(position: passage.p, velocity: passage.v, at: 2.5))],
+            maximumCandidateEvaluations: budget, minimumRemainingPropellantKilograms: reserve,
+            positionToleranceMetres: 1e-7, velocityToleranceMetresPerSecond: 1e-8,
+            numericalOptions: .preset(for: .full))
+    }
+    @Test func commandedDirectionsCarryFuelThroughIndependentPassage() throws {
+        let found = try search()
+        #expect(found.status == .feasible); #expect(found.candidateIndex == 0)
+        #expect(found.evaluatedCandidates == 3)
+        #expect(found.failedAttempts[0].failure == .scheduleOutsideFlight)
+        #expect(found.failedAttempts[1].failure == .passageResidual(index: 0))
+        #expect(found.checkpoints.count == 2)
+        #expect(found.checkpoints[0].state.cartesian.velocity.x > 0)
+        #expect(abs(found.checkpoints[0].state.mass.propellantMassKilograms-49.75) < 1e-10)
+        #expect(abs(found.checkpoints[1].state.mass.propellantMassKilograms-49) < 1e-10)
+        #expect(found.checkpoints.allSatisfy { $0.positionErrorMetres < 1e-7 && $0.velocityErrorMetresPerSecond < 1e-8 })
+    }
+    @Test func budgetAndFuelReserveAreExplicitFailures() throws {
+        let limited = try search(budget: 1)
+        #expect(limited.status == .evaluationLimitReached); #expect(limited.evaluatedCandidates == 1)
+        #expect(limited.candidate == nil)
+        let reserve = try search(reserve: 50)
+        #expect(reserve.status == .candidateSetExhausted)
+        #expect(reserve.failedAttempts.last?.failure == .propellantReserve)
+    }
+}
diff --git a/Tests/CelMekTests/ConicAnomalyTests.swift b/Tests/CelMekTests/ConicAnomalyTests.swift
new file mode 100644
index 0000000..1bff8d1
--- /dev/null
+++ b/Tests/CelMekTests/ConicAnomalyTests.swift
@@ -0,0 +1,94 @@
+import Foundation
+import Testing
+@testable import CelMek
+
+@Suite struct ConicAnomalyTests {
+    @Test func anomalyRoundTripsAcrossUnity() throws {
+        for e in [0.0, 0.3, 0.9999999999999999, 1, 1.0000000000000002, 1.5, 10] {
+            for nu in [-0.9, -1e-6, 0, 1e-6, 0.9] {
+                let anomaly = try ConicAnomaly.from(trueAnomaly: nu, eccentricity: e)
+                #expect(abs(try anomaly.trueAnomaly(eccentricity: e) - nu) < 2e-14)
+                let m = try anomaly.meanAnomaly(eccentricity: e)
+                // Tight absolute anomaly tolerance is necessary because E/H is
+                // tiny near e=1; the default tolerance does not bound nu error.
+                let options = try KeplerSolverOptions(absoluteTolerance: 1e-25, relativeTolerance: 1e-14,
+                                                       maximumIterations: 256)
+                let solved = try ConicAnomaly.from(meanAnomaly: m, eccentricity: e, options: options)
+                #expect(abs(try solved.trueAnomaly(eccentricity: e) - nu) < 2e-12)
+            }
+        }
+    }
+
+    @Test func knownAnomaliesAndRevolutions() throws {
+        let elliptic = try ConicAnomaly.from(trueAnomaly: .pi/2, eccentricity: 0.5)
+        guard case .eccentric(let eccentric) = elliptic else { Issue.record("Wrong conic"); return }
+        #expect(abs(eccentric - .pi/3) < 1e-14)
+        let hyperbolic = try ConicAnomaly.from(trueAnomaly: .pi/2, eccentricity: 2)
+        guard case .hyperbolic(let h) = hyperbolic else { Issue.record("Wrong conic"); return }
+        #expect(abs(h - acosh(2)) < 1e-14)
+        #expect(abs(try hyperbolic.meanAnomaly(eccentricity: 2) - (2*sqrt(3)-acosh(2))) < 1e-14)
+        let parabolic = try ConicAnomaly.from(trueAnomaly: .pi/2, eccentricity: 1)
+        guard case .barker(let d) = parabolic else { Issue.record("Wrong conic"); return }
+        #expect(abs(d - 1) < 1e-14)
+        #expect(abs(try parabolic.meanAnomaly(eccentricity: 1) - 4.0/3) < 1e-14)
+        for b in [-1e100, -4.0/3, -1e-100, 0, 1e-100, 4.0/3, 1e100, Double.greatestFiniteMagnitude] {
+            let solution = try ConicAnomaly.from(meanAnomaly: b, eccentricity: 1)
+            if b == .greatestFiniteMagnitude {
+                // Cubing the rounded root can overflow at this boundary;
+                // inversion still gives a finite parameter.
+                if case .barker(let x) = solution { #expect(x.isFinite) }
+            } else {
+                let reconstructed = try solution.meanAnomaly(eccentricity: 1)
+                #expect(abs(reconstructed-b) <= abs(b)*1e-13)
+            }
+        }
+        let mean = 8 * Double.pi + 0.1
+        let phase = try ConicAnomaly.from(meanAnomaly: mean, eccentricity: 0.9)
+        #expect(abs(try phase.meanAnomaly(eccentricity: 0.9) - mean) < 1e-12)
+        #expect(abs(try phase.trueAnomaly(eccentricity: 0.9)) < .pi)
+    }
+
+    @Test func nearUnityMeanAnomaliesMatchIndependentDecimalReferences() throws {
+        // Inverse of the 80-digit fixtures from generate_kepler_fixtures.py.
+        let elliptic = ConicAnomaly.eccentric(1.8169983969771785e-6)
+        let hyperbolic = ConicAnomaly.hyperbolic(1.8168762011230227e-6)
+        #expect(abs(try elliptic.meanAnomaly(eccentricity: 1.0.nextDown) - 1e-18) < 1e-32)
+        #expect(abs(try hyperbolic.meanAnomaly(eccentricity: 1.0.nextUp) - 1e-18) < 1e-32)
+    }
+
+    @Test func nearParabolicApoapsisRemainsFinite() throws {
+        let tree = FrameTree()
+        let mu = try GravitationalParameter(cubicMetresPerSecondSquared: 1, convention: .newtonian,
+            provenance: PhysicalDataProvenance(source: "Test", version: "1", reference: "analytic"))
+        let e = 1.0.nextDown
+        let elements = try OsculatingOrbitalElements(epoch: .j2000, frame: tree.root, centralBody: .earth,
+            gravitationalParameter: mu, semiLatusRectumMetres: 1, eccentricity: e, inclination: 0,
+            longitudeOfAscendingNode: 0, argumentOfPeriapsis: 0, trueAnomaly: .pi)
+        let state = try elements.cartesianState()
+        #expect(abs(state.position.x + 1/(1-e)) < 4)
+        let almostPi = Double.pi.nextDown
+        let denominator = try OsculatingOrbitalElements.radialDenominator(eccentricity: 1, trueAnomaly: almostPi)
+        #expect(denominator > 0)
+        #expect(1 + cos(almostPi) == 0) // The naive formula loses this finite branch.
+    }
+
+    @Test func rejectsWrongKindsAndAsymptotes() throws {
+        #expect(throws: OrbitalElementsError.invalidElements) {
+            try ConicAnomaly.barker(1).meanAnomaly(eccentricity: 0.5)
+        }
+        #expect(throws: OrbitalElementsError.invalidElements) {
+            try ConicAnomaly.eccentric(.nan).trueAnomaly(eccentricity: 0.5)
+        }
+        for (e, nu) in [(1.0, Double.pi), (2.0, acos(-0.5)), (2.0, Double.pi)] {
+            #expect(throws: OrbitalElementsError.anomalyOutsideConic) {
+                try ConicAnomaly.from(trueAnomaly: nu, eccentricity: e)
+            }
+        }
+        #expect(throws: OrbitalElementsError.anomalyOutsideConic) {
+            try ConicAnomaly.barker(1e100).trueAnomaly(eccentricity: 1)
+        }
+        #expect(throws: OrbitalElementsError.numericalRangeExceeded) {
+            try ConicAnomaly.hyperbolic(1000).meanAnomaly(eccentricity: 2)
+        }
+    }
+}
diff --git a/Tests/CelMekTests/DE441AdapterTests.swift b/Tests/CelMekTests/DE441AdapterTests.swift
new file mode 100644
index 0000000..518a644
--- /dev/null
+++ b/Tests/CelMekTests/DE441AdapterTests.swift
@@ -0,0 +1,159 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Synchronization
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct DE441AdapterTests {
+    private let jd = 2451545.0
+    private func date(_ offset: Double) throws -> JulianDateComponents {
+        try JulianDateComponents(wholeDay: 2451545, fractionalDay: offset, scale: .tdb)
+    }
+    private struct LinearTDB: TDBTimeModel {
+        let coverage: ClosedRange<Epoch>
+        let provenance = "Test affine TDB model"
+        func correction(at epoch: Epoch) throws -> TDBCorrection {
+            let t = try epoch.duration(since: .j2000).seconds
+            return try TDBCorrection(epoch: epoch, tdbMinusTT: Duration(seconds: 0.1*t), rate: 1.1, acceleration: 0)
+        }
+    }
+
+    @Test func splitDatesRetainFinePrecisionAndEnforceScale() throws {
+        let url = try DE441EphemerisTests().fixture()
+        defer { try? FileManager.default.removeItem(at: url) }
+        let reader = try DE441Ephemeris(url: url)
+        let first = try date(6), second = try date(6 + 1e-10)
+        #expect(first.value == second.value) // A combined JD loses the distinction.
+        let a = try reader.vector(target: .mercury, center: .solarSystemBarycentre, at: first)
+        let b = try reader.vector(target: .mercury, center: .solarSystemBarycentre, at: second)
+        #expect(b.position.x > a.position.x)
+        let deltaKm = (b.position.x-a.position.x)*reader.metadata.astronomicalUnitKilometres
+        #expect(abs(deltaKm-2e-10) < 1e-15)
+        #expect(throws: DE441Error.self) {
+            try reader.vector(target: .sun, center: .sun, at: JulianDateComponents(value: jd, scale: .tt))
+        }
+        let end = try JulianDateComponents(wholeDay: 2451609, fractionalDay: 1e-10, scale: .tdb)
+        #expect(throws: DE441Error.self) { try reader.vector(target: .sun, center: .sun, at: end) }
+    }
+
+    @Test func commonSIAdapterUsesCoordinateTimeRate() throws {
+        let url = try DE441EphemerisTests().fixture()
+        defer { try? FileManager.default.removeItem(at: url) }
+        let reader = try DE441Ephemeris(url: url)
+        let upper = try Epoch.j2000.advanced(by: Duration(seconds: 1e6))
+        let model = LinearTDB(coverage: .j2000...upper)
+        let provider = try DE441StateProvider(reader: reader, target: .mercury,
+            coverage: .j2000...upper, tdbModel: model, accuracy: .low)
+        let epoch = try Epoch.j2000.advanced(by: Duration(seconds: 6*86400/1.1))
+        let state = try provider.checkedState(at: epoch)
+        #expect(abs(state.position.x+500) < 1e-7)
+        #expect(abs(state.velocity.x-2000/86400*1.1) < 1e-12)
+        #expect(state.acceleration == nil)
+        #expect(provider.metadata.body == .mercury)
+        #expect(provider.metadata.origin == .solarSystemBarycentre)
+        #expect(state.frame === CelestialFrames.icrf)
+        #expect(provider.accuracy == .low && provider.effectiveAccuracy == .full)
+        let collection = try EphemerisCollection(providers: [provider])
+        #expect(try collection.state(of: .mercury, at: epoch) == state)
+        #expect(throws: EphemerisError.outsideCoverage) {
+            try provider.state(at: upper.advanced(by: Duration(seconds: 1)))
+        }
+        #expect(throws: EphemerisError.invalidMetadata) {
+            try DE441StateProvider(reader: reader, target: .moon, center: .earth, coverage: .j2000...upper, tdbModel: model)
+        }
+        let frame = FrameTree(name: "Earth-centred ICRF axes").root
+        let lunar = try DE441StateProvider(reader: reader, target: .moon, center: .earth, frame: frame,
+                                           coverage: .j2000...upper, tdbModel: model)
+        #expect(lunar.metadata.origin == .earth)
+        #expect(try lunar.state(at: .j2000).frame === frame)
+    }
+
+    @Test func reconstructionUsesFileAUAndMassRatio() throws {
+        let url = try DE441EphemerisTests().fixture()
+        defer { try? FileManager.default.removeItem(at: url) }
+        var data = try Data(contentsOf: url)
+        for (offset,value) in [(2680,1000.0),(8152,1000.0),(2688,40.0),(8160,40.0)] {
+            var bits = value.bitPattern.littleEndian
+            withUnsafeBytes(of: &bits) { data.replaceSubrange(offset..<offset+8, with: $0) }
+        }
+        try data.write(to: url)
+        let reader = try DE441Ephemeris(url: url)
+        let earth = try reader.vector(target: .earth, center: .solarSystemBarycentre, at: jd+2)
+        let relative = try reader.vector(target: .moon, center: .earth, at: jd+2)
+        #expect(abs(earth.position.x-(198.875-897.0/41)/1000) < 1e-15)
+        #expect(abs(relative.position.x-0.897) < 1e-15)
+        #expect(abs(relative.velocity.x-0.001) < 1e-15)
+    }
+
+    @Test func nonfiniteInteriorCoefficientsAndArithmeticOverflowFail() throws {
+        let url = try DE441EphemerisTests().fixture(spans: [(jd,jd+32),(jd+32,jd+64),(jd+64,jd+96)])
+        defer { try? FileManager.default.removeItem(at: url) }
+        let original = try Data(contentsOf: url)
+        for coefficients in [[Double.nan,2,3],[1e308,1e308,1e308]] {
+            var data = original
+            for (index,value) in coefficients.enumerated() {
+                var bits = value.bitPattern.littleEndian
+                let offset = 3*8144+(2+index)*8
+                withUnsafeBytes(of: &bits) { data.replaceSubrange(offset..<offset+8, with: $0) }
+            }
+            try data.write(to: url)
+            let reader = try DE441Ephemeris(url: url)
+            #expect(throws: DE441Error.self) {
+                try reader.vector(target: .mercury, center: .solarSystemBarycentre, at: jd+38)
+            }
+        }
+    }
+
+    @Test func boundedLRUAndDisabledCacheHaveIdenticalResults() throws {
+        let url = try DE441EphemerisTests().fixture(spans: [(jd,jd+32),(jd+32,jd+64),(jd+64,jd+96)])
+        defer { try? FileManager.default.removeItem(at: url) }
+        let cached = try DE441Ephemeris(url: url, maximumCachedRecords: 2)
+        let uncached = try DE441Ephemeris(url: url, maximumCachedRecords: 0)
+        cached.clearRecordCache()
+        let before = cached.cacheStatistics.diskReads
+        for offset in [1.0,33,1,65,1,33] {
+            let a = try cached.vector(target: .mercury, center: .sun, at: jd+offset)
+            let b = try uncached.vector(target: .mercury, center: .sun, at: jd+offset)
+            #expect(a.position == b.position && a.velocity == b.velocity)
+            #expect(cached.cacheStatistics.cachedRecords <= 2)
+        }
+        #expect(cached.cacheStatistics.diskReads-before == 4)
+        #expect(uncached.cacheStatistics.cachedRecords == 0)
+        #expect(throws: DE441Error.self) { try DE441Ephemeris(url: url, maximumCachedRecords: -1) }
+    }
+
+    // Sendability of the reader relies on its internal file/cache lock; the
+    // failure collection is protected independently by Mutex.
+    private final class ConcurrentQueries: @unchecked Sendable {
+        let reader: DE441Ephemeris
+        private let failedIndices = Mutex<[Int]>([])
+
+        init(reader: DE441Ephemeris) { self.reader = reader }
+
+        func recordFailure(_ index: Int) {
+            failedIndices.withLock { $0.append(index) }
+        }
+
+        var failures: [Int] {
+            failedIndices.withLock { $0 }
+        }
+    }
+
+    @Test func sharedReaderConcurrentQueriesAreRepeatable() throws {
+        let url = try DE441EphemerisTests().fixture()
+        defer { try? FileManager.default.removeItem(at: url) }
+        let reader = try DE441Ephemeris(url: url, maximumCachedRecords: 1)
+        let queries = ConcurrentQueries(reader: reader)
+        let julianDate = jd
+        DispatchQueue.concurrentPerform(iterations: 100) { index in
+            do {
+                let offset = index % 2 == 0 ? 6.0 : 38.0
+                let value = try queries.reader.vector(target: .mercury, center: .solarSystemBarycentre, at: julianDate+offset)
+                let expected = (index % 2 == 0 ? -0.5 : 999.5)/queries.reader.metadata.astronomicalUnitKilometres
+                if abs(value.position.x-expected) > 1e-15 { queries.recordFailure(index) }
+            } catch { queries.recordFailure(index) }
+        }
+        #expect(queries.failures.isEmpty)
+    }
+}
diff --git a/Tests/CelMekTests/DE441EphemerisTests.swift b/Tests/CelMekTests/DE441EphemerisTests.swift
new file mode 100644
index 0000000..6e79e3a
--- /dev/null
+++ b/Tests/CelMekTests/DE441EphemerisTests.swift
@@ -0,0 +1,201 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Testing
+@testable import CelMek
+
+@Suite
+struct DE441EphemerisTests {
+  private let epoch = 2_451_545.0
+
+  // Synthetic records are deliberately independent of astronomical datasets.
+  // Every component uses p(x) = a + 2x + 3(2x² - 1), p'(x) = 2 + 12x.
+  func fixture(spans: [(Double, Double)]? = nil) throws -> URL {
+    let spans = spans ?? [(epoch, epoch + 32), (epoch + 32, epoch + 64)]
+    let layouts = [(3,14,4,3), (171,10,2,3), (231,13,2,3),
+                   (309,11,1,3), (342,8,1,3), (366,7,1,3),
+                   (387,6,1,3), (405,6,1,3), (423,6,1,3),
+                   (441,13,8,3), (753,11,2,3), (819,10,4,2)]
+    var data = Data(repeating: 0, count: 2 * 8_144)
+    func putInt(_ value: Int32, at offset: Int) {
+      var bits = value.littleEndian
+      withUnsafeBytes(of: &bits) { data.replaceSubrange(offset..<offset+4, with: $0) }
+    }
+    func putDouble(_ value: Double, at offset: Int) {
+      var bits = value.bitPattern.littleEndian
+      withUnsafeBytes(of: &bits) { data.replaceSubrange(offset..<offset+8, with: $0) }
+    }
+    for row in 0..<3 {
+      data.replaceSubrange(row*84..<(row+1)*84, with: [UInt8](repeating: 32, count: 84))
+    }
+    putDouble(spans.first?.0 ?? epoch, at: 2652)
+    putDouble(spans.last?.1 ?? epoch, at: 2660)
+    putDouble(32, at: 2668); putInt(645, at: 2676)
+    putDouble(DE441Ephemeris.astronomicalUnit, at: 2680)
+    putDouble(DE441Ephemeris.earthMoonMassRatio, at: 2688)
+    putInt(441, at: 2840)
+    for (index, layout) in layouts.enumerated() {
+      for (column, value) in [layout.0,layout.1,layout.2].enumerated() {
+        putInt(Int32(value), at: 2696+index*12+column*4)
+      }
+    }
+    for (column,value) in [899,10,4].enumerated() { putInt(Int32(value), at: 2844+column*4) }
+    for (column,value) in [1019,0,0,1019,0,0].enumerated() { putInt(Int32(value), at: 4326+column*4) }
+    for index in 0..<645 {
+      let name: String
+      switch index { case 0: name = "DENUM "; case 1: name = "AU    "; case 2: name = "EMRAT "
+      default: name = String(format: "C%05d", index) }
+      let offset = index < 400 ? 252+index*6 : 2856+(index-400)*6
+      data.replaceSubrange(offset..<offset+6, with: name.utf8)
+    }
+    putDouble(441, at: 8144)
+    putDouble(DE441Ephemeris.astronomicalUnit, at: 8152)
+    putDouble(DE441Ephemeris.earthMoonMassRatio, at: 8160)
+    for (recordIndex, span) in spans.enumerated() {
+      var record = [Double](repeating: 0, count: 1_018)
+      record[0] = span.0
+      record[1] = span.1
+      for (body, layout) in layouts.enumerated() {
+        let (start, count, subdivisions, coordinates) = layout
+        for subdivision in 0..<subdivisions {
+          for axis in 0..<coordinates {
+            let base = start - 1 + (subdivision * coordinates + axis) * count
+            record[base] = Double(1000 * recordIndex + 100 * body + 10 * subdivision + axis)
+            record[base + 1] = 2
+            record[base + 2] = 3
+          }
+        }
+      }
+      for value in record {
+        var bits = value.bitPattern.littleEndian
+        withUnsafeBytes(of: &bits) { data.append(contentsOf: $0) }
+      }
+    }
+    let url = FileManager.default.temporaryDirectory.appendingPathComponent(UUID().uuidString)
+    try data.write(to: url)
+    return url
+  }
+
+  @Test
+  func testPolynomialValuesAndVelocities() throws {
+    let url = try fixture()
+    defer { try? FileManager.default.removeItem(at: url) }
+    let reader = try DE441Ephemeris(url: url)
+    #expect(reader.startDate == epoch)
+    #expect(reader.endDate == epoch + 64)
+    // Mercury: first subdivision has duration 8 days; t=6 gives x=0.5.
+    let state = try reader.vector(target: 1, center: 12, at: epoch + 6)
+    for axis in 0..<3 {
+      #expect(abs((state.position[axis]) - ((Double(axis) - 0.5) / DE441Ephemeris.astronomicalUnit)) <= 1e-15)
+      #expect(abs((state.velocity[axis]) - (2 / DE441Ephemeris.astronomicalUnit)) <= 1e-15)
+    }
+  }
+
+  @Test
+  func testSubdivisionRecordAndCoverageBoundaries() throws {
+    let url = try fixture()
+    defer { try? FileManager.default.removeItem(at: url) }
+    let reader = try DE441Ephemeris(url: url)
+    // Exact internal boundaries select the next subdivision or record.
+    for (offset, expected) in [(0.0, 1.0), (8, 11), (32, 1001), (64, 1035), (0, 1)] {
+      let state = try reader.vector(target: 1, center: 12, at: epoch + offset)
+      #expect(abs((state.position.x) - (expected / DE441Ephemeris.astronomicalUnit)) <= 1e-15)
+    }
+  }
+
+  @Test
+  func testEarthMoonReconstructionAndRelativeVelocity() throws {
+    let url = try fixture()
+    defer { try? FileManager.default.removeItem(at: url) }
+    let reader = try DE441Ephemeris(url: url)
+    let date = epoch + 2
+    let earth = try reader.vector(target: 3, center: 12, at: date)
+    let moon = try reader.vector(target: 10, center: 12, at: date)
+    let emb = try reader.vector(target: 13, center: 12, at: date)
+    let relative = try reader.vector(target: 10, center: 3, at: date)
+    let ratio = DE441Ephemeris.earthMoonMassRatio
+    // Moon first subdivision midpoint: x=0, derivative scale=1/2.
+    for axis in 0..<3 {
+      #expect(abs((relative.position[axis]) - (Double(897 + axis) / DE441Ephemeris.astronomicalUnit)) <= 1e-15)
+      #expect(abs((relative.velocity[axis]) - (1 / DE441Ephemeris.astronomicalUnit)) <= 1e-15)
+      #expect(abs(((earth.position[axis] * ratio + moon.position[axis]) / (ratio + 1)) - (emb.position[axis])) <= 1e-15)
+      #expect(abs(((earth.velocity[axis] * ratio + moon.velocity[axis]) / (ratio + 1)) - (emb.velocity[axis])) <= 1e-15)
+    }
+    let reverse = try reader.vector(target: 3, center: 10, at: date)
+    #expect(reverse.position == -relative.position)
+    #expect(reverse.velocity == -relative.velocity)
+  }
+
+  @Test
+  func testNutationUsesRadiansAndDailyDerivatives() throws {
+    let url = try fixture()
+    defer { try? FileManager.default.removeItem(at: url) }
+    let reader = try DE441Ephemeris(url: url)
+    let angles = try reader.nutation(at: epoch + 6)
+    #expect(angles.longitude == 1099.5)
+    #expect(angles.obliquity == 1100.5)
+    #expect(angles.longitudeRate == 2)
+    #expect(angles.obliquityRate == 2)
+  }
+
+  @Test
+  func testInvalidQueriesThrowIncludingBarycentreOnly() throws {
+    let url = try fixture()
+    defer { try? FileManager.default.removeItem(at: url) }
+    let reader = try DE441Ephemeris(url: url)
+    for date in [epoch - 1, epoch + 65, .nan, .infinity, -.infinity] {
+      #expect {
+        try reader.vector(target: 12, center: 12, at: date)
+      } throws: { error in
+        guard case DE441Error.dateOutOfRange = error else { return false }
+        return true
+      }
+      #expect(throws: (any Error).self) { try reader.nutation(at: date) }
+    }
+    for body in [0, 14, -1] {
+      #expect(throws: (any Error).self) { try reader.vector(target: body, center: 12, at: epoch) }
+      #expect(throws: (any Error).self) { try reader.vector(target: 12, center: body, at: epoch) }
+    }
+  }
+
+  @Test func validatesHeaderAndExposesMetadata() throws {
+    let url = try fixture()
+    defer { try? FileManager.default.removeItem(at: url) }
+    let reader = try DE441Ephemeris(url: url)
+    #expect(reader.metadata.ephemerisNumber == 441)
+    #expect(reader.metadata.constants.count == 645)
+    #expect(reader.metadata.coefficientRecordCount == 2)
+    #expect(reader.metadata.startJulianDateTDB == epoch)
+    #expect(reader.metadata.availableBodies.count == 13)
+    #expect(try reader.vector(target: .earth, center: .earth, at: epoch).position == .zero)
+    let original = try Data(contentsOf: url)
+    // DE number, constant count, coverage, layout and constant-name corruption.
+    for offset in [2840,2676,2652,2696,252,4326] {
+      var corrupt = original
+      corrupt.replaceSubrange(offset..<offset+4, with: [UInt8](repeating: 255, count: 4))
+      try corrupt.write(to: url)
+      #expect(throws: DE441Error.self) { try DE441Ephemeris(url: url) }
+    }
+  }
+
+  @Test func corruptInteriorDatesAreRejectedBeforeIndexArithmetic() throws {
+    let url = try fixture(spans: [(epoch,epoch+32),(-1e300,1e300),(epoch+64,epoch+96)])
+    defer { try? FileManager.default.removeItem(at: url) }
+    let reader = try DE441Ephemeris(url: url)
+    #expect(throws: DE441Error.self) { try reader.vector(target: .mercury, center: .sun, at: epoch+40) }
+  }
+
+  @Test
+  func testMalformedFilesThrow() throws {
+    for spans in [[], [(epoch, epoch + 31)], [(epoch, epoch + 32), (epoch + 33, epoch + 65)], [(.nan, .nan)]] as [[(Double, Double)]] {
+      let url = try fixture(spans: spans)
+      defer { try? FileManager.default.removeItem(at: url) }
+      #expect(throws: DE441Error.self) { try DE441Ephemeris(url: url) }
+    }
+    let url = try fixture()
+    defer { try? FileManager.default.removeItem(at: url) }
+    let handle = try FileHandle(forWritingTo: url)
+    try handle.truncate(atOffset: 123)
+    try handle.close()
+    #expect(throws: (any Error).self) { try DE441Ephemeris(url: url) }
+  }
+}
diff --git a/Tests/CelMekTests/DE441LocalDataTests.swift b/Tests/CelMekTests/DE441LocalDataTests.swift
new file mode 100644
index 0000000..fbb8c9c
--- /dev/null
+++ b/Tests/CelMekTests/DE441LocalDataTests.swift
@@ -0,0 +1,96 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Testing
+@testable import CelMek
+
+enum LocalDE441Assets {
+    static let directory: URL = {
+        if let override = ProcessInfo.processInfo.environment["CELMEK_DE441_DATA_DIRECTORY"] {
+            return URL(fileURLWithPath: override, isDirectory: true)
+        }
+        return URL(fileURLWithPath: #filePath).deletingLastPathComponent().deletingLastPathComponent()
+            .deletingLastPathComponent().appendingPathComponent("Data/DE441", isDirectory: true)
+    }()
+    static var available: Bool {
+        FileManager.default.fileExists(atPath: directory.appendingPathComponent("linux_m13000p17000.441").path)
+        && FileManager.default.fileExists(atPath: directory.appendingPathComponent("testpo.441").path)
+    }
+}
+
+@Suite(.enabled(if: LocalDE441Assets.available, "Optional DE441 binary and testpo.441 are not installed"))
+struct DE441LocalDataTests {
+    @Test func commonAdapterAtInteriorAndRecordBoundaryEpochs() throws {
+        let reader = try DE441Ephemeris(url: LocalDE441Assets.directory.appendingPathComponent("linux_m13000p17000.441"))
+        let model = try FairheadTDBModel()
+        let start = try Epoch.j2000.advanced(by: Duration(seconds: -86400*40))
+        let end = try Epoch.j2000.advanced(by: Duration(seconds: 86400*40))
+        let provider = try DE441StateProvider(reader: reader, target: .earth, coverage: start...end, tdbModel: model)
+        let index = floor((2451545-reader.startDate)/32)
+        let boundary = reader.startDate+index*32
+        for jd in [boundary, boundary+4, boundary+32, 2451545] {
+            let date = try JulianDateComponents(value: jd, scale: .tdb)
+            let epoch = try Epoch(julianDate: date, using: model)
+            let actual = try provider.checkedState(at: epoch)
+            let native = try reader.vector(target: .earth, center: .solarSystemBarycentre,
+                                           at: epoch.julianDate(in: .tdb, using: model))
+            let rate = try epoch.tdbCorrection(using: model).rate
+            let scale = reader.metadata.astronomicalUnitKilometres*1000
+            for axis in 0..<3 {
+                #expect(abs(actual.position[axis]-native.position[axis]*scale) < 1e-5)
+                #expect(abs(actual.velocity[axis]-native.velocity[axis]*(scale/86400*rate)) < 1e-9)
+            }
+            let before = try provider.state(at: epoch.advanced(by: Duration(seconds: -0.5)))
+            let after = try provider.state(at: epoch.advanced(by: Duration(seconds: 0.5)))
+            for axis in 0..<3 { #expect(abs(after.position[axis]-before.position[axis]-actual.velocity[axis]) < 0.002) }
+        }
+    }
+
+    @Test func binaryHeaderAndJPLTestpoReferences() throws {
+        let reader = try DE441Ephemeris(url: LocalDE441Assets.directory.appendingPathComponent("linux_m13000p17000.441"))
+        #expect(reader.metadata.constants.count == 645)
+        #expect(reader.metadata.constants["DENUM"] == 441)
+        #expect(reader.metadata.recordSizeBytes == 8144)
+        let text = try String(contentsOf: LocalDE441Assets.directory.appendingPathComponent("testpo.441"), encoding: .ascii)
+        guard let eot = text.range(of: "EOT") else { throw DE441Error.invalidFile("testpo has no EOT marker") }
+        let fullValidation = ProcessInfo.processInfo.environment["CELMEK_DE441_FULL_VALIDATION"] == "1"
+        var checked = 0, outside = 0, supported = 0
+        var targets: Set<Int> = []
+        for line in text[eot.upperBound...].split(whereSeparator: \.isNewline) {
+            let fields = line.dropFirst(15).split(whereSeparator: \.isWhitespace)
+            guard fields.count == 5, let date = Double(fields[0]),
+                  let target = Int(fields[1]), let center = Int(fields[2]),
+                  let component = Int(fields[3]), let expected = Double(fields[4]) else {
+                throw DE441Error.invalidFile("malformed testpo row")
+            }
+            if date < reader.startDate || date > reader.endDate { outside += 1; continue }
+            // Native reader currently exposes vectors and nutation, not libration.
+            if target == 15 { continue }
+            supported += 1
+            // Normal local validation samples throughout the whole file. Full
+            // validation is opt-in because it reads nearly the entire 2.6 GB export.
+            if !fullValidation && supported % 83 != 1 { continue }
+            targets.insert(target)
+            let actual: Double
+            if target == 14 {
+                let value = try reader.nutation(at: date)
+                switch component {
+                case 1: actual = value.longitude
+                case 2: actual = value.obliquity
+                case 3: actual = value.longitudeRate
+                case 4: actual = value.obliquityRate
+                default: throw DE441Error.invalidFile("invalid nutation component")
+                }
+            } else {
+                guard (1...6).contains(component) else { throw DE441Error.invalidFile("invalid vector component") }
+                let value = try reader.vector(target: target, center: center, at: date)
+                actual = component <= 3 ? value.position[component-1] : value.velocity[component-4]
+            }
+            #expect(abs(actual-expected) <= 1e-12, "JPL reference at JD \(date), target \(target), component \(component)")
+            checked += 1
+        }
+        #expect(checked > (fullValidation ? 100_000 : 3_000))
+        #expect(targets.contains(14))
+        #expect((1...13).allSatisfy { targets.contains($0) })
+        #expect(outside > 0) // ASCII master header/testpo coverage exceeds this binary export.
+    }
+}
diff --git a/Tests/CelMekTests/DE441ReferenceTests.swift b/Tests/CelMekTests/DE441ReferenceTests.swift
new file mode 100644
index 0000000..0fe2aef
--- /dev/null
+++ b/Tests/CelMekTests/DE441ReferenceTests.swift
@@ -0,0 +1,93 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Testing
+import Math
+@testable import CelMek
+
+private struct DE441References: Decodable {
+    struct Row: Decodable {
+        let jd: Double
+        let target, center, component: Int
+        let expected: Double
+    }
+    let source, sourceURL, sourceSHA256, units: String
+    let binaryCoverage: [Double]
+    let recordDays, tolerance: Double
+    let rows: [Row]
+    static func load() throws -> Self {
+        let url = try #require(Bundle.module.url(forResource: "de441-testpo", withExtension: "json", subdirectory: "Fixtures"))
+        return try JSONDecoder().decode(Self.self, from: Data(contentsOf: url))
+    }
+}
+
+@Suite struct DE441ReferenceFixtureTests {
+    @Test func independentFixtureIncludesEveryComponentAndBoundaryCases() throws {
+        let fixture = try DE441References.load()
+        #expect(fixture.source.contains("JPL"))
+        #expect(fixture.sourceSHA256 == "e60c08ced7741a07d4dfe89b124afb4b1648bd1e3d0eb68dd9a79bf6990bb9c2")
+        #expect(fixture.recordDays == 32 && fixture.tolerance == 1e-12)
+        #expect(fixture.binaryCoverage == [-3027215.5,7930192.5])
+        for target in 1...14 {
+            for component in 1...(target == 14 ? 4 : 6) {
+                #expect(fixture.rows.contains { $0.target == target && $0.component == component })
+            }
+        }
+        for target in [3,10,13,14] {
+            for boundary in [false,true] {
+                for derivative in [false,true] {
+                    #expect(fixture.rows.contains {
+                        $0.target == target && (($0.jd-fixture.binaryCoverage[0]).truncatingRemainder(dividingBy: 32) == 0) == boundary
+                        && ($0.component > (target == 14 ? 2 : 3)) == derivative
+                    })
+                }
+            }
+        }
+        #expect(fixture.rows.allSatisfy { $0.expected.isFinite && $0.jd >= fixture.binaryCoverage[0] && $0.jd <= fixture.binaryCoverage[1] })
+    }
+}
+
+@Suite(.enabled(if: FileManager.default.fileExists(atPath:
+    LocalDE441Assets.directory.appendingPathComponent("linux_m13000p17000.441").path),
+    "Optional DE441 binary is not installed"))
+struct DE441PinnedReferenceTests {
+    @Test func nativeValuesMatchIndependentJPLFixtures() throws {
+        let fixture = try DE441References.load()
+        let reader = try DE441Ephemeris(url: LocalDE441Assets.directory.appendingPathComponent("linux_m13000p17000.441"))
+        for row in fixture.rows {
+            let date = try JulianDateComponents(value: row.jd, scale: .tdb)
+            let actual: Double
+            if row.target == 14 {
+                let value = try reader.nutation(at: date)
+                actual = [value.longitude,value.obliquity,value.longitudeRate,value.obliquityRate][row.component-1]
+            } else {
+                let value = try reader.vector(target: row.target, center: row.center, at: date)
+                actual = row.component <= 3 ? value.position[row.component-1] : value.velocity[row.component-4]
+            }
+            #expect(abs(actual-row.expected) <= fixture.tolerance,
+                "JPL JD \(row.jd), target \(row.target), centre \(row.center), component \(row.component)")
+        }
+    }
+    @Test func SIAdapterMatchesIndependentRelativeReferences() throws {
+        let fixture = try DE441References.load()
+        let reader = try DE441Ephemeris(url: LocalDE441Assets.directory.appendingPathComponent("linux_m13000p17000.441"))
+        let model = try FairheadTDBModel()
+        var checked = 0
+        for row in fixture.rows where [3,10,13].contains(row.target)
+            && row.jd >= 2433282.5 && row.jd <= 2469807.5 {
+            let epoch = try Epoch(julianDate: JulianDateComponents(value: row.jd,scale: .tdb), using: model)
+            let provider = try DE441StateProvider(reader: reader, target: DE441Body(rawValue: row.target)!,
+                center: DE441Body(rawValue: row.center)!,
+                frame: row.center == 12 ? nil : Frame(name: "ICRF-aligned reference origin", pseudoInertial: true),
+                coverage: epoch...epoch, tdbModel: model)
+            let state = try provider.checkedState(at: epoch)
+            let rate = try epoch.tdbCorrection(using: model).rate
+            let au = reader.metadata.astronomicalUnitKilometres*1000
+            let scale = row.component <= 3 ? au : au/86400*rate
+            let actual = row.component <= 3 ? state.position[row.component-1] : state.velocity[row.component-4]
+            #expect(abs(actual-row.expected*scale) <= fixture.tolerance*scale,
+                "SI JPL JD \(row.jd), target \(row.target), component \(row.component)")
+            checked += 1
+        }
+        #expect(checked >= 18)
+    }
+}
diff --git a/Tests/CelMekTests/DayOfEaster_tests.swift b/Tests/CelMekTests/DayOfEaster_tests.swift
index 99a947c..5684e9f 100644
--- a/Tests/CelMekTests/DayOfEaster_tests.swift
+++ b/Tests/CelMekTests/DayOfEaster_tests.swift
@@ -16,58 +16,61 @@
 // limitations under the License.
 //
 
-import XCTest
+import Testing
 @testable import CelMek;
 
-final class dayOfEaster_tests : XCTestCase {
+@Suite
+struct dayOfEaster_tests {
+  @Test
   func testGregorianDateOfEaster() {
     // Meeus, p68
     let date_0 = gregorianDateOfEaster(year: 1991)
-    XCTAssertEqual(date_0.year, 1991)
-    XCTAssertEqual(date_0.month, .March)
-    XCTAssertEqual(date_0.day, 31)
+    #expect(date_0.year == 1991)
+    #expect(date_0.month == .march)
+    #expect(date_0.day == 31)
 
     let date_1 = gregorianDateOfEaster(year: 1992)
-    XCTAssertEqual(date_1.year, 1992)
-    XCTAssertEqual(date_1.month, .April)
-    XCTAssertEqual(date_1.day, 19)
+    #expect(date_1.year == 1992)
+    #expect(date_1.month == .april)
+    #expect(date_1.day == 19)
 
     let date_2 = gregorianDateOfEaster(year: 1993)
-    XCTAssertEqual(date_2.year, 1993)
-    XCTAssertEqual(date_2.month, .April)
-    XCTAssertEqual(date_2.day, 11)
+    #expect(date_2.year == 1993)
+    #expect(date_2.month == .april)
+    #expect(date_2.day == 11)
 
     let date_3 = gregorianDateOfEaster(year: 1954)
-    XCTAssertEqual(date_3.year, 1954)
-    XCTAssertEqual(date_3.month, .April)
-    XCTAssertEqual(date_3.day, 18)
+    #expect(date_3.year == 1954)
+    #expect(date_3.month == .april)
+    #expect(date_3.day == 18)
 
     let date_4 = gregorianDateOfEaster(year: 2000)
-    XCTAssertEqual(date_4.year, 2000)
-    XCTAssertEqual(date_4.month, .April)
-    XCTAssertEqual(date_4.day, 23)
+    #expect(date_4.year == 2000)
+    #expect(date_4.month == .april)
+    #expect(date_4.day == 23)
 
     let date_5 = gregorianDateOfEaster(year: 1818)
-    XCTAssertEqual(date_5.year, 1818)
-    XCTAssertEqual(date_5.month, .March)
-    XCTAssertEqual(date_5.day, 22)
+    #expect(date_5.year == 1818)
+    #expect(date_5.month == .march)
+    #expect(date_5.day == 22)
   }
   
+  @Test
   func testJulianDateOfEaster() {
     let date_0 = julianDateOfEaster(year: 179)
-    XCTAssertEqual(date_0.year, 179)
-    XCTAssertEqual(date_0.month, .April)
-    XCTAssertEqual(date_0.day, 12)
+    #expect(date_0.year == 179)
+    #expect(date_0.month == .april)
+    #expect(date_0.day == 12)
 
     let date_1 = julianDateOfEaster(year: 711)
-    XCTAssertEqual(date_1.year, 711)
-    XCTAssertEqual(date_1.month, .April)
-    XCTAssertEqual(date_1.day, 12)
+    #expect(date_1.year == 711)
+    #expect(date_1.month == .april)
+    #expect(date_1.day == 12)
 
     let date_2 = julianDateOfEaster(year: 1243)
-    XCTAssertEqual(date_2.year, 1243)
-    XCTAssertEqual(date_2.month, .April)
-    XCTAssertEqual(date_2.day, 12)
+    #expect(date_2.year == 1243)
+    #expect(date_2.month == .april)
+    #expect(date_2.day == 12)
   }
 }
 
diff --git a/Tests/CelMekTests/DynamiclTime_test.swift b/Tests/CelMekTests/DynamiclTime_test.swift
index b9b499e..c53a7c0 100644
--- a/Tests/CelMekTests/DynamiclTime_test.swift
+++ b/Tests/CelMekTests/DynamiclTime_test.swift
@@ -16,26 +16,28 @@
 // limitations under the License.
 //
 
-import XCTest
+import Testing
 @testable import CelMek;
 
-final class DynamicalTime_tests : XCTestCase {
+@Suite
+struct DynamicalTime_tests {
+  @Test
   func testDynamicalTime() {
     // Meeus, p 78
-    let date0 = GregorianDate(year: 1990, month: .January, day: 27)
+    let date0 = GregorianDate(year: 1990, month: .january, day: 27)
     let dt0 = deltaT(year: date0.years())
-    XCTAssertEqual(dt0, 57, accuracy: 0.1)
+    #expect(abs((dt0) - (57)) <= 0.1)
 
 
     // Meeus, example 10.a
-    let date1 = GregorianDate(year: 1977, month: .February, day: 18)
+    let date1 = GregorianDate(year: 1977, month: .february, day: 18)
     let dt1 = deltaT(year: date1.years())
-    XCTAssertEqual(dt1, 48, accuracy: 0.4)
+    #expect(abs((dt1) - (48)) <= 0.4)
 
 
     // Meeus, example 10.b
-    let date2 = JulianDate(year: 333, month: .February, day: 6.3333333333)
+    let date2 = JulianDate(year: 333, month: .february, day: 6.3333333333)
     let dt2 = deltaT(year: date2.years())
-    XCTAssertEqual(dt2, 6146, accuracy: 0.1)
+    #expect(abs((dt2) - (6146)) <= 0.1)
   }
 }
diff --git a/Tests/CelMekTests/EarthFrameTests.swift b/Tests/CelMekTests/EarthFrameTests.swift
new file mode 100644
index 0000000..1991247
--- /dev/null
+++ b/Tests/CelMekTests/EarthFrameTests.swift
@@ -0,0 +1,119 @@
+import Foundation
+import Testing
+@testable import CelMek
+import Math
+
+@Suite struct EarthFrameTests {
+  private struct Reference: Decodable {
+    let day: Int64
+    let fraction: Double
+    let edge: Int32
+    let matrix: [Double]
+  }
+  @Test func nativeSwiftMatchesExternalReferenceAcrossCenturies() throws {
+    let url = try #require(Bundle.module.url(forResource: "earth-orientation-erfa", withExtension: "json", subdirectory: "Fixtures"))
+    let references = try JSONDecoder().decode([Reference].self, from: Data(contentsOf: url))
+    #expect(references.count == 150)
+    for reference in references {
+      let epoch = try Epoch(julianDate: JulianDateComponents(wholeDay: reference.day,
+        fractionalDay: reference.fraction, scale: .tt))
+      let edge = try #require(EarthFrameTransformProvider.Edge(rawValue: reference.edge))
+      let p = try EarthFrameTransformProvider(edge: edge, earthOrientation: eop(at: epoch, offset: -64.184))
+      let actual = try p.transform(at: epoch).rotation.matrix
+      // Long-baseline ERA arithmetic differs slightly with compiler contraction.
+      let tolerance = edge == .earthRotation || edge == .apparentSidereal ? 2e-12 : 2e-14
+      for i in 0..<3 { for j in 0..<3 {
+        #expect(abs(actual[i,j]-reference.matrix[3*i+j]) < tolerance, "day=\(reference.day) f=\(reference.fraction) edge=\(reference.edge) error=\(actual[i,j]-reference.matrix[3*i+j])")
+      }}
+    }
+  }
+  func eop(at epoch: Epoch, offset: Double = 0) throws -> ConstantEarthOrientationProvider {
+    try ConstantEarthOrientationProvider(ut1MinusTT: CelMek.Duration(seconds: offset),
+      polarMotionX: 2.55060238e-7, polarMotionY: 1.860359247e-6,
+      coverage: epoch.advanced(by: CelMek.Duration(seconds: -1000))...epoch.advanced(by: CelMek.Duration(seconds: 1000)),
+      provenance: "ERFA validation case; constant approximation")
+  }
+  @Test func celestialToTerrestrialReferenceAndRouteAgreement() throws {
+    let epoch = try Epoch(julianDate: 2453736.5, scale: .tt)
+    let data = try eop(at: epoch)
+    func transform(_ edge: EarthFrameTransformProvider.Edge) throws -> FrameTransform {
+      try EarthFrameTransformProvider(edge: edge, earthOrientation: data).transform(at: epoch)
+    }
+    let cirf = try transform(.celestialIntermediate)
+    let tirf = try cirf.followed(by: transform(.earthRotation))
+    let itrf = try tirf.followed(by: transform(.polarMotion))
+    // Published ERFA t_c2t06a reference, independent of the Swift composition.
+    let expected = [-0.1810332128305897282, 0.9834769806938592296, 0.6555550962998436505e-4,
+      -0.9834768134136214897, -0.1810332203649130832, 0.5749800844905594110e-3,
+      0.5773474024748545878e-3, 0.3961816829632690581e-4, 0.9999998325501747785]
+    for i in 0..<3 { for j in 0..<3 { #expect(abs(itrf.rotation.matrix[i,j]-expected[3*i+j]) < 1e-12) } }
+    let gtod = try transform(.trueOfDate).followed(by: transform(.apparentSidereal))
+    for i in 0..<3 { for j in 0..<3 { #expect(abs(gtod.rotation.matrix[i,j]-tirf.rotation.matrix[i,j]) < 1e-14) } }
+    for i in 0..<3 {
+      #expect(abs(gtod.angularVelocity[i]-tirf.angularVelocity[i]) < 1e-16)
+      #expect(abs(gtod.angularAcceleration[i]-tirf.angularAcceleration[i]) < 1e-18)
+    }
+  }
+  @Test func trueOfDateReference() throws {
+    let epoch = try Epoch(julianDate: JulianDateComponents(wholeDay: 2450124, fractionalDay: 0.4999, scale: .tt))
+    let t = try EarthFrameTransformProvider(edge: .trueOfDate, earthOrientation: eop(at: epoch)).transform(at: epoch)
+    let expected = [0.9999995832794205484, 0.8372382772630962111e-3, 0.3639684771140623099e-3,
+      -0.8372533744743683605e-3, 0.9999996486492861646, 0.4132905944611019498e-4,
+      -0.3639337469629464969e-3, -0.4163377605910663999e-4, 0.9999999329094260057]
+    for i in 0..<3 { for j in 0..<3 { #expect(abs(t.rotation.matrix[i,j]-expected[3*i+j]) < 1e-14) } }
+  }
+  @Test func rotationRatesAndStateDerivatives() throws {
+    let epoch = Epoch.j2000
+    let p = try EarthFrameTransformProvider(edge: .earthRotation, earthOrientation: eop(at: epoch, offset: -64.184))
+    let t = try p.transform(at: epoch)
+    #expect(abs(t.angularVelocity.z + 7.29211514670698e-5) < 2e-14)
+    #expect(abs(t.angularAcceleration.z) < 1e-18)
+    let frame = Frame(name: "reference", pseudoInertial: true)
+    let state = try CartesianState(epoch: epoch, frame: frame, position: SIMD3(7e6, 2e6, 1e6), velocity: .zero, acceleration: .zero)
+    let result = try t.applying(to: state, destination: frame)
+    let delta = 0.5
+    let plus = try p.transform(at: epoch.advanced(by: CelMek.Duration(seconds: delta))).rotation.matrix * state.position
+    let minus = try p.transform(at: epoch.advanced(by: CelMek.Duration(seconds: -delta))).rotation.matrix * state.position
+    for i in 0..<3 {
+      #expect(abs((plus[i]-minus[i])/(2*delta)-result.velocity[i]) < 1e-5)
+      let second = (plus[i] - 2.0 * result.position[i] + minus[i]) / (delta * delta)
+      #expect(abs(second - result.acceleration![i]) < 1e-7)
+    }
+  }
+  @Test func frameTreeGeocentreAndCoverage() throws {
+    let tree = try CelestialFrames.makeTree()
+    let data = try eop(at: .j2000, offset: -64.184)
+    let frames = try tree.makeEarthFrames(earth: earth, earthOrientation: data, terrestrialRealization: "ITRF2020",
+      accelerationPolicy: .estimate(step: CelMek.Duration(seconds: 60)))
+    let centre = try earth.state(at: .j2000, in: frames.itrf, using: tree)
+    for i in 0..<3 { #expect(abs(centre.position[i]) < 0.0002); #expect(abs(centre.velocity[i]) < 1e-8) }
+    #expect(frames.tirf.parent === frames.cirf && frames.itrf.parent === frames.tirf)
+    #expect(frames.gtod.parent === frames.tod && frames.tod.parent === frames.gcrf)
+    #expect(frames.earthOrientationProvenance == data.provenance)
+    #expect(throws: EarthOrientationError.outsideCoverage) {
+      try tree.transform(from: frames.gcrf, to: frames.itrf, at: data.coverage.upperBound)
+    }
+    #expect(throws: EarthOrientationError.invalidDerivativeStep) {
+      try EarthFrameTransformProvider(edge: .earthRotation, earthOrientation: data, derivativeStep: .zero)
+    }
+    #expect(throws: EarthOrientationError.invalidParameters) {
+      try EarthOrientationSample(epoch: .j2000, ut1MinusTT: .zero, polarMotionX: .nan, polarMotionY: 0)
+    }
+  }
+  private struct DriftingUT1: EarthOrientationProvider {
+    let provenance = "Synthetic UT1 rate validation"
+    func sample(at epoch: Epoch) throws -> EarthOrientationSample {
+      let t = epoch.offsetFromJ2000.seconds
+      return try EarthOrientationSample(epoch: epoch,
+        ut1MinusTT: CelMek.Duration(seconds: -64.184 + 0.001*t + 1e-7*t*t),
+        polarMotionX: 0, polarMotionY: 0)
+    }
+  }
+  @Test func eopTimeVariationDrivesBothAngularDerivatives() throws {
+    let provider = try EarthFrameTransformProvider(edge: .earthRotation, earthOrientation: DriftingUT1())
+    let t = try provider.transform(at: .j2000)
+    let rate = 7.29211514670698e-5
+    #expect(abs(t.angularVelocity.z + rate*1.001) < 2e-14)
+    #expect(abs(t.angularAcceleration.z + rate*2e-7) < 1e-18)
+  }
+}
diff --git a/Tests/CelMekTests/EarthGlobe_tests.swift b/Tests/CelMekTests/EarthGlobe_tests.swift
index fa5512a..e021838 100644
--- a/Tests/CelMekTests/EarthGlobe_tests.swift
+++ b/Tests/CelMekTests/EarthGlobe_tests.swift
@@ -16,65 +16,71 @@
 // limitations under the License.
 //
 
-import XCTest
+import Testing
 @testable import CelMek;
 import Math
 
-final class EarthGlobe_tests : XCTestCase {
+@Suite
+struct EarthGlobe_tests {
+  @Test
   func testPComp() {
     // Meeus, example 11.a
     let (psin, pcos) = pcomp(H: 1706, geographicLat: 33.356111.deg)
-    XCTAssertEqual(psin, 0.546861, accuracy: 0.0000005)
-    XCTAssertEqual(pcos, 0.836339, accuracy: 0.0000005)
+    #expect(abs((psin) - (0.546861)) <= 0.0000005)
+    #expect(abs((pcos) - (0.836339)) <= 0.0000005)
   }
   
+  @Test
   func testRadiusOfCurvatureOfMeridian() {
     // Meeus, p84
     let eqRad = radiusOfCurvatureOfMeridian(geographicalLat: 0.0)
-    XCTAssertEqual(eqRad, 6335.44, accuracy: 0.005)
+    #expect(abs((eqRad) - (6335.44)) <= 0.005)
     let polRad = radiusOfCurvatureOfMeridian(geographicalLat: 90.0.deg)
-    XCTAssertEqual(polRad, 6399.60, accuracy: 0.005)
+    #expect(abs((polRad) - (6399.60)) <= 0.005)
     
     // Meeus, example 11.b
     let chicagoRad = radiusOfCurvatureOfMeridian(geographicalLat: 42.0.deg)
-    XCTAssertEqual(chicagoRad, 6364.033, accuracy: 0.0005)
+    #expect(abs((chicagoRad) - (6364.033)) <= 0.0005)
   }
   
+  @Test
   func testParallelOfLatitudeRadius() {
     // Meeus, p84
     let eqRad = parallelOfLatitudeRadius(geographicalLat: 0.0)
-    XCTAssertEqual(eqRad, EARTH_EQUATORIAL_RADIUS_KM, accuracy: 0.000005)
+    #expect(abs((eqRad) - (EARTH_EQUATORIAL_RADIUS_KM)) <= 0.000005)
     let polRad = parallelOfLatitudeRadius(geographicalLat: 90.0.deg)
-    XCTAssertEqual(polRad, 0.0, accuracy: 0.00001)
+    #expect(abs((polRad) - (0.0)) <= 0.00001)
     
     // Meeus, example 11.b
     let chicagoRad = parallelOfLatitudeRadius(geographicalLat: 42.0.deg)
-    XCTAssertEqual(chicagoRad, 4747.001, accuracy: 0.0005)
+    #expect(abs((chicagoRad) - (4747.001)) <= 0.0005)
   }
   
+  @Test
   func testGeodesicDistanceFast() {
     // Meeus, Example 11.c
     let paris = GeographicCoordinate(
-      latitude: AngleOfArc(degrees: 48, minutes: 50, seconds: 11).toRad(),
-      longitude: AngleOfArc(degrees: -2, minutes: 20, seconds: 14).toRad())
+      latitude: AngleOfArc(degrees: 48, minutes: 50, seconds: 11).radians,
+      longitude: AngleOfArc(degrees: -2, minutes: 20, seconds: 14).radians)
     
     let washington = GeographicCoordinate(
-      latitude: AngleOfArc(degrees: 38, minutes: 55, seconds: 17).toRad(),
-      longitude: AngleOfArc(degrees: 77, minutes: 3, seconds: 56).toRad())
+      latitude: AngleOfArc(degrees: 38, minutes: 55, seconds: 17).radians,
+      longitude: AngleOfArc(degrees: 77, minutes: 3, seconds: 56).radians)
     let s = geodesicDistanceFast(p0: paris, p1: washington)
-    XCTAssertEqual(s, 6166, accuracy: 0.5)
+    #expect(abs((s) - (6166)) <= 0.5)
   }
 
+  @Test
   func testGeodesicDistance() {
     // Meeus, Example 11.c
     let paris = GeographicCoordinate(
-      latitude: AngleOfArc(degrees: 48, minutes: 50, seconds: 11).toRad(),
-      longitude: AngleOfArc(degrees: -2, minutes: 20, seconds: 14).toRad())
+      latitude: AngleOfArc(degrees: 48, minutes: 50, seconds: 11).radians,
+      longitude: AngleOfArc(degrees: -2, minutes: 20, seconds: 14).radians)
     
     let washington = GeographicCoordinate(
-      latitude: AngleOfArc(degrees: 38, minutes: 55, seconds: 17).toRad(),
-      longitude: AngleOfArc(degrees: 77, minutes: 3, seconds: 56).toRad())
+      latitude: AngleOfArc(degrees: 38, minutes: 55, seconds: 17).radians,
+      longitude: AngleOfArc(degrees: 77, minutes: 3, seconds: 56).radians)
     let s = geodesicDistance(p0: paris, p1: washington)
-    XCTAssertEqual(s, 6181.63, accuracy: 0.005)
+    #expect(abs((s) - (6181.63)) <= 0.005)
   }
 }
diff --git a/Tests/CelMekTests/ElementsOfThePlanetaryOrbits_tests.swift b/Tests/CelMekTests/ElementsOfThePlanetaryOrbits_tests.swift
index 7c477ce..ebf585d 100644
--- a/Tests/CelMekTests/ElementsOfThePlanetaryOrbits_tests.swift
+++ b/Tests/CelMekTests/ElementsOfThePlanetaryOrbits_tests.swift
@@ -16,19 +16,21 @@
 // limitations under the License.
 //
 
-import XCTest
+import Testing
 @testable import CelMek;
 
-final class PlanetaryOrbits_tests : XCTestCase {
+@Suite
+struct PlanetaryOrbits_tests {
+  @Test
   func testMercuryMean() {
     // Meeus, Example 31.a
     let elements = elementsOfMercuryForMeanEquinox(jd: 2475460.5)
-    XCTAssertEqual(elements.meanLongitude, 203.494701, accuracy: 0.0000005)
-    XCTAssertEqual(elements.semimajorAxis, 0.387098310)
-    XCTAssertEqual(elements.eccentricity, 0.20564510, accuracy: 0.0000005)
-    XCTAssertEqual(elements.inclinationOnEclipticPlane, 7.006171, accuracy: 0.0000005)
-    XCTAssertEqual(elements.longitudeOfAscendingNode, 49.107650, accuracy: 0.0000005)
-    XCTAssertEqual(elements.longitudeOfPerihelion, 78.475382, accuracy: 0.0000005)
+    #expect(abs((elements.meanLongitude) - (203.494701)) <= 0.0000005)
+    #expect(elements.semimajorAxis == 0.387098310)
+    #expect(abs((elements.eccentricity) - (0.20564510)) <= 0.0000005)
+    #expect(abs((elements.inclinationOnEclipticPlane) - (7.006171)) <= 0.0000005)
+    #expect(abs((elements.longitudeOfAscendingNode) - (49.107650)) <= 0.0000005)
+    #expect(abs((elements.longitudeOfPerihelion) - (78.475382)) <= 0.0000005)
   }
 }
 
diff --git a/Tests/CelMekTests/EncounterPlanningTests.swift b/Tests/CelMekTests/EncounterPlanningTests.swift
new file mode 100644
index 0000000..b112574
--- /dev/null
+++ b/Tests/CelMekTests/EncounterPlanningTests.swift
@@ -0,0 +1,125 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct EncounterPlanningTests {
+    let fixture = UnpoweredFlybyTests()
+    func epoch(_ seconds: Double) throws -> Epoch { try Epoch.j2000.advanced(by: CelMek.Duration(seconds: seconds)) }
+    @Test func bPlaneSignsAndRoundTrip() throws {
+        let flyby = try UnpoweredFlyby.solve(fixture.request())
+        let b = try FlybyBPlane(flyby: flyby,referencePole: SIMD3(0,0,1))
+        // p=mu=vInf=1 implies impact parameter 1, B=-Y.
+        #expect(routeNorm(b.s-SIMD3(1,0,0)) < 1e-14)
+        #expect(routeNorm(b.t-SIMD3(0,-1,0)) < 1e-14)
+        #expect(abs(b.bTMetres-1) < 1e-14)
+        #expect(abs(b.bRMetres) < 1e-14)
+        let recovered = try b.solve(fixture.request())
+        #expect(routeNorm(recovered.periapsisState.position-flyby.periapsisState.position) < 1e-13)
+        #expect(routeNorm(recovered.outgoingExcessVelocityMetresPerSecond-SIMD3(0,1,0)) < 1e-13)
+        #expect(throws: EncounterPlanningError.degenerateAxes) {
+            try FlybyBPlane(incomingVelocity: SIMD3(1,0,0),referencePole: SIMD3(1,0,0),bTMetres: 1,bRMetres: 0)
+        }
+        #expect(throws: FlybyError.unsafePeriapsis) {
+            try FlybyBPlane(incomingVelocity: SIMD3(1,0,0),referencePole: SIMD3(0,0,1),bTMetres: 0.01,bRMetres: 0).solve(fixture.request())
+        }
+    }
+    @Test func poweredUnequalSpeedsFuelAndAsymptotes() throws {
+        // rp=mu=1, incoming e=2, outgoing e=5; common radial +X.
+        let incoming = SIMD3<Double>(0.5,sqrt(0.75),0)
+        let outgoing = SIMD3<Double>(-0.4,2*sqrt(0.96),0)
+        let request = try fixture.request(incoming: incoming,outgoing: outgoing)
+        let mass = try SpacecraftMassProperties(dryMassKilograms: 50,propellantMassKilograms: 50)
+        let result = try PoweredFlyby.solve(request,periapsisRadiusMetres: 1,radialDirection: SIMD3(1,0,0),
+            mass: mass,effectiveExhaustVelocityMetresPerSecond: 100)
+        let dv = sqrt(6.0)-sqrt(3.0)
+        #expect(abs(result.maneuver.deltaVelocityMetresPerSecond.y-dv) < 1e-13)
+        #expect(abs(result.propellantUsedKilograms-100 * -expm1(-dv/100)) < 1e-12)
+        #expect(result.preBurnState.cartesian.position == result.postBurnState.cartesian.position)
+        for (trajectory,seconds,expected) in [(result.incomingTrajectory,-1e6,incoming),(result.outgoingTrajectory,1e6,outgoing)] {
+            let state = try trajectory.state(at: epoch(seconds))
+            #expect(routeNorm(state.velocity-expected) < 1e-5)
+        }
+        #expect(throws: EncounterPlanningError.invalidGeometry) {
+            try PoweredFlyby.solve(request,periapsisRadiusMetres: 1,radialDirection: SIMD3(0,1,0),mass: mass,effectiveExhaustVelocityMetresPerSecond: 100)
+        }
+        #expect(throws: EncounterPlanningError.insufficientPropellant) {
+            try PoweredFlyby.solve(request,periapsisRadiusMetres: 1,radialDirection: SIMD3(1,0,0),
+                mass: SpacecraftMassProperties(dryMassKilograms: 50),effectiveExhaustVelocityMetresPerSecond: 100)
+        }
+    }
+    @Test func poweredPlaneChangeAndUnpoweredLimit() throws {
+        let mass = try SpacecraftMassProperties(dryMassKilograms: 50,propellantMassKilograms: 50)
+        let flyby = try UnpoweredFlyby.solve(fixture.request())
+        let zero = try PoweredFlyby.solve(flyby.request,periapsisRadiusMetres: flyby.periapsisRadiusMetres,
+            radialDirection: flyby.periapsisRadialDirection,mass: mass,effectiveExhaustVelocityMetresPerSecond: 100)
+        #expect(routeNorm(zero.maneuver.deltaVelocityMetresPerSecond) < 1e-13)
+        let incoming = SIMD3<Double>(0.5,sqrt(0.75),0), outgoing = SIMD3<Double>(-0.5,0,sqrt(0.75))
+        let turn = try PoweredFlyby.solve(fixture.request(incoming: incoming,outgoing: outgoing),
+            periapsisRadiusMetres: 1,radialDirection: SIMD3(1,0,0),mass: mass,effectiveExhaustVelocityMetresPerSecond: 100)
+        #expect(routeNorm(turn.maneuver.deltaVelocityMetresPerSecond-SIMD3(0,-sqrt(3),sqrt(3))) < 1e-13)
+        #expect(throws: FlybyError.unsafePeriapsis) {
+            try PoweredFlyby.solve(fixture.request(),periapsisRadiusMetres: 0.1,radialDirection: SIMD3(1,0,0),
+                mass: mass,effectiveExhaustVelocityMetresPerSecond: 100)
+        }
+    }
+    @Test func mixedNodesCarryVelocityAndMass() throws {
+        let f = fixture.frame, context = try ForceEvaluationContext(frame: f,origin: .sun)
+        let seed = try SpacecraftState(cartesian: CartesianState(epoch: .j2000,frame: f,position: SIMD3(1,0,0),velocity: SIMD3(0,1,0)),
+            mass: SpacecraftMassProperties(dryMassKilograms: 50,propellantMassKilograms: 50))
+        let impulse = try ImpulsiveManeuver(epoch: epoch(2),frame: f,deltaVelocityMetresPerSecond: SIMD3(1,0,0))
+        let burn = try FiniteBurn(start: epoch(4),end: epoch(6),thrust: FiniteThrust(frame: f,thrustNewtons: 10,
+            effectiveExhaustVelocityMetresPerSecond: 100,direction: SIMD3(1,0,0)))
+        let nodes = try [DeepSpaceManeuverNode(window: epoch(1)...epoch(3),command: .impulse(impulse,effectiveExhaustVelocityMetresPerSecond: 100)),
+            DeepSpaceManeuverNode(window: epoch(4)...epoch(6),command: .finiteBurn(burn))]
+        let finiteSeed = try nodes[0].finiteBurnSeed(initialState: seed,thrustNewtons: 100)
+        if case .finiteBurn(let converted) = finiteSeed.command {
+            #expect(finiteSeed.window.contains(converted.start))
+            #expect(finiteSeed.window.contains(converted.end))
+            #expect(abs(try converted.end.duration(since: converted.start).seconds-100 * -expm1(-0.01)) < 1e-12)
+        } else { Issue.record("Expected finite seed") }
+        let result = try DeepSpaceManeuverNode.execute(nodes.reversed(),initialState: seed,arrivalEpoch: epoch(10),context: context)
+        let m = 100*exp(-0.01), expectedVX = 1+100*log(m/(m-0.2))
+        #expect(abs(result.mass.totalMassKilograms-(m-0.2)) < 1e-10)
+        #expect(abs(result.cartesian.velocity.x-expectedVX) < 1e-8)
+        #expect(abs(result.cartesian.position.y-10) < 1e-8)
+        #expect(throws: EncounterPlanningError.invalidWindow) {
+            try DeepSpaceManeuverNode(window: epoch(5)...epoch(7),command: .finiteBurn(burn))
+        }
+    }
+    @Test func refinementRespectsEveryWindow() throws {
+        let f = FiniteTransferPlannerTests(), context = try ForceEvaluationContext(frame: f.frame,origin: .sun)
+        let burn = try FiniteBurn(start: f.epoch(2),end: f.epoch(4),thrust: FiniteThrust(frame: f.frame,thrustNewtons: 10,
+            effectiveExhaustVelocityMetresPerSecond: 100,direction: SIMD3(1,0,0)))
+        let schedule = try ScheduledThrust(frame: f.frame,burns: [burn])
+        let target = try CartesianState(epoch: f.epoch(10),frame: f.frame,position: SIMD3(20,10,0),velocity: SIMD3(2,1,0))
+        let window = try f.epoch(2)...f.epoch(4)
+        let result = try DeepSpaceManeuverNode.refine([DeepSpaceManeuverNode(window: window,command: .finiteBurn(burn))],
+            initialState: f.seed(),target: target,context: context,maximumEvaluations: 20)
+        #expect(result.rejectedTrials > 0)
+        #expect(result.best.schedule.burns.allSatisfy { window.contains($0.start) && window.contains($0.end) })
+        #expect(throws: FiniteTransferPlanningError.burnsDoNotFit) {
+            try FiniteTransferPlanner.refine(initialState: f.seed(),initialSchedule: schedule,target: target,
+                context: context,burnWindows: [f.epoch(3)...f.epoch(4)])
+        }
+    }
+    @Test func patchTranslationRotationRoundTrip() throws {
+        let tree = FrameTree(), root = tree.root
+        let translated = try tree.makeFrame(parent: root,name: "Body origin",pseudoInertial: true,
+            provider: FixedTransformProvider(translation: SIMD3(100,200,300)))
+        let rotating = try tree.makeFrame(parent: translated,name: "Rotating body",provider:
+            UniformRotationProvider(axis: SIMD3(0,0,1),rate: 0.01))
+        let source = try ForceEvaluationContext(frame: root,origin: .sun)
+        let destination = try ForceEvaluationContext(frame: rotating,origin: .earth)
+        let state = try SpacecraftState(cartesian: CartesianState(epoch: epoch(10),frame: root,
+            position: SIMD3(1000,2000,3000),velocity: SIMD3(10,20,30)),mass: SpacecraftMassProperties(dryMassKilograms: 50,propellantMassKilograms: 40))
+        let local = try EncounterPatchBoundary(epoch: state.epoch,source: source,destination: destination).handover(state,using: tree)
+        let restored = try EncounterPatchBoundary(epoch: state.epoch,source: destination,destination: source).handover(local,using: tree)
+        #expect(routeNorm(restored.cartesian.position-state.cartesian.position) < 1e-10)
+        #expect(routeNorm(restored.cartesian.velocity-state.cartesian.velocity) < 1e-12)
+        #expect(restored.mass == state.mass)
+        #expect(local.epoch == state.epoch)
+        #expect(routeNorm(local.cartesian.velocity-state.cartesian.velocity) > 1)
+    }
+}
diff --git a/Tests/CelMekTests/EncounterSequenceTests.swift b/Tests/CelMekTests/EncounterSequenceTests.swift
new file mode 100644
index 0000000..979b97a
--- /dev/null
+++ b/Tests/CelMekTests/EncounterSequenceTests.swift
@@ -0,0 +1,243 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct EncounterSequenceTests {
+    let frame = Frame(name: "Sequence central inertial",pseudoInertial: true)
+    func epoch(_ seconds: Double) throws -> Epoch { try Epoch.j2000.advanced(by: CelMek.Duration(seconds: seconds)) }
+    func gm(_ value: Double = 1) throws -> GravitationalParameter {
+        try GravitationalParameter(cubicMetresPerSecondSquared: value,convention: .newtonian,
+            provenance: PhysicalDataProvenance(source: "Independent analytic fixture",version: "1"))
+    }
+    func target(_ p: SIMD3<Double>, _ v: SIMD3<Double> = .zero, origin: BodyIdentifier = .sun) throws -> MovingWaypointRouteTarget {
+        try MovingWaypointRouteTarget(provider: LambertTransferPlannerTests.Linear(frame: frame,p: p,v: v),origin: origin,coverage: epoch(0)...epoch(30))
+    }
+    func mass() throws -> SpacecraftMassProperties { try SpacecraftMassProperties(dryMassKilograms: 50,propellantMassKilograms: 50) }
+    @Test func directTransferSearchAndNumericalConvergence() throws {
+        let end = try epoch(.pi/2), context = try ForceEvaluationContext(frame: frame,origin: .sun)
+        let initial = try SpacecraftState(cartesian: CartesianState(epoch: .j2000,frame: frame,position: SIMD3(1,0,0),velocity: SIMD3(0,0.5,0)),mass: mass())
+        let arrival = try target(SIMD3(0,1,0))
+        let visit = try EncounterSequenceVisit(identifier: "Mars passage",target: arrival,arrivalWindow: end...end)
+        let branch = try LambertWindowBranch(direction: .positive)
+        let good = EncounterSequenceCandidate(epochs: [end],branches: [branch])
+        let bad = try EncounterSequenceCandidate(epochs: [epoch(1)],branches: [branch])
+        let search = try EncounterSequencePlanner.search(initialState: initial,visits: [visit],candidates: [bad,good],
+            context: context,gravitationalParameter: gm(),referencePole: SIMD3(0,0,1),effectiveExhaustVelocityMetresPerSecond: 100)
+        #expect(search.status == .candidatesExhausted)
+        #expect(search.rows[0].failure?.contains("outsideWindow") == true)
+        let seed = try #require(search.rankedSeeds.first)
+        #expect(abs(seed.totalDeltaVelocityMetresPerSecond-0.5) < 1e-10)
+        #expect(abs(seed.propellantUsedKilograms-100 * -expm1(-0.005)) < 1e-10)
+        let result = try NumericalEncounterSequence.refine(initialState: initial,arrivalEpoch: end,nodes: seed.maneuvers,
+            requirements: seed.requirements,context: context,backgroundModels: [CentralGravity(body: .sun,gravitationalParameter: gm())],maximumEvaluations: 10,numericalOptions: .preset(for: .full),
+            eventOptions: PropagationEventOptions(maximumCheckIntervalSeconds: 0.1))
+        #expect(result.status == .converged)
+        #expect(result.toleranceReport?.consistent == true)
+        #expect(result.best.encounters[0].relativeSpeedMetresPerSecond > 0.99)
+        #expect(abs(result.best.arrivalState.mass.totalMassKilograms-seed.finalMass.totalMassKilograms) < 1e-10)
+        let limited = try EncounterSequencePlanner.search(initialState: initial,visits: [visit],candidates: [good,bad],
+            context: context,gravitationalParameter: gm(),referencePole: SIMD3(0,0,1),effectiveExhaustVelocityMetresPerSecond: 100,maximumEvaluations: 1)
+        #expect(limited.status == .evaluationLimitReached && limited.rows.count == 1)
+    }
+    @Test func finiteLocalAssistWithIndependentInteriorPassage() throws {
+        let tree = try FrameTree(root: frame)
+        let local = try tree.makeFrame(parent: frame,name: "Encounter-centred",pseudoInertial: true,provider: FixedTransformProvider())
+        let peri = try epoch(10), context = try ForceEvaluationContext(frame: frame,origin: .earth)
+        let request = try FlybyEncounterRequest(body: .earth,periapsisEpoch: peri,frame: local,
+            gravitationalParameter: gm(),bodyRadiusMetres: 0.1,incomingExcessVelocityMetresPerSecond: SIMD3(1,0,0),outgoingExcessVelocityMetresPerSecond: SIMD3(0,1,0))
+        let flyby = try UnpoweredFlyby.solve(request)
+        func physical(_ epoch: Epoch) throws -> CartesianState {
+            try tree.transform(from: local,to: frame,at: epoch).applying(to: flyby.trajectory.state(at: epoch),destination: frame)
+        }
+        let initial = SpacecraftState(cartesian: try physical(.j2000),mass: try mass())
+        let body = try target(.zero,origin: .earth), end = try epoch(12), interiorEpoch = try epoch(10.5)
+        let final = try target(physical(end).position,origin: .earth)
+        let visits = try [EncounterSequenceVisit(identifier: "Earth assist",target: body,arrivalWindow: epoch(9.8)...epoch(10.2),
+            condition: .unpoweredFlyby(request: request,incomingSeconds: 1,outgoingSeconds: 1,tree: tree)),
+            EncounterSequenceVisit(identifier: "Departure passage",target: final,arrivalWindow: end...end)]
+        let interior = try NumericalEncounterRequirement(identifier: "Independent physical waypoint",target: target(physical(interiorEpoch).position,origin: .earth),
+            epoch: interiorEpoch,window: epoch(10.4)...epoch(10.6),positionToleranceMetres: 1e-4)
+        let branch = try LambertWindowBranch(direction: .positive)
+        let seed = try EncounterSequencePlanner.seed(initialState: initial,visits: visits,
+            candidate: EncounterSequenceCandidate(epochs: [peri,end],branches: [branch,branch]),context: context,
+            gravitationalParameter: gm(),referencePole: SIMD3(0,0,1),effectiveExhaustVelocityMetresPerSecond: 100,additionalPassages: [interior])
+        let unsafe = try FlybyEncounterRequest(body: .earth,periapsisEpoch: peri,frame: local,gravitationalParameter: gm(),bodyRadiusMetres: 0.5,
+            incomingExcessVelocityMetresPerSecond: SIMD3(1,0,0),outgoingExcessVelocityMetresPerSecond: SIMD3(0,1,0))
+        let rejectedVisits = try [EncounterSequenceVisit(identifier: "Unsafe assist",target: body,arrivalWindow: visits[0].arrivalWindow,
+            condition: .unpoweredFlyby(request: unsafe,incomingSeconds: 1,outgoingSeconds: 1,tree: tree)),visits[1]]
+        let rejected = try EncounterSequencePlanner.search(initialState: initial,visits: rejectedVisits,candidates: [seed.candidate],context: context,
+            gravitationalParameter: gm(),referencePole: SIMD3(0,0,1),effectiveExhaustVelocityMetresPerSecond: 100)
+        #expect(rejected.rows[0].failure?.contains("unsafePeriapsis") == true)
+        #expect(rejected.rankedSeeds.isEmpty)
+        #expect(seed.arcs.count == 3)
+        #expect(seed.requirements.count == 3)
+        #expect(seed.arcs[1].coverage.contains(interiorEpoch))
+        let result = try NumericalEncounterSequence.refine(initialState: initial,arrivalEpoch: end,nodes: seed.maneuvers,
+            requirements: seed.requirements,context: context,backgroundModels: [CentralGravity(body: .earth,gravitationalParameter: gm())],
+            maximumEvaluations: 10,numericalOptions: .preset(for: .full),
+            eventOptions: PropagationEventOptions(maximumCheckIntervalSeconds: 0.05,timeToleranceSeconds: 1e-7))
+        #expect(result.status == .converged)
+        let encounter = result.best.encounters[0]
+        #expect(abs(try encounter.closestApproachEpoch.duration(since: peri).seconds) < 1e-5)
+        #expect(abs(encounter.closestApproachDistanceMetres-(sqrt(2)-1)) < 1e-5)
+        #expect(encounter.relativeSpeedMetresPerSecond > 2)
+        #expect(result.best.encounters[1].relativeSpeedMetresPerSecond > 1)
+        #expect(abs(result.best.arrivalState.mass.totalMassKilograms-initial.mass.totalMassKilograms) < 1e-7)
+        for (a,b) in zip(seed.arcs,seed.arcs.dropFirst()) {
+            #expect(routeNorm(try a.state(at: a.coverage.upperBound).position-b.state(at: b.coverage.lowerBound).position) < 1e-10)
+        }
+    }
+    @Test func refinementBurnsAndIndependentEpochs() throws {
+        let context = try ForceEvaluationContext(frame: frame,origin: .sun), end = try epoch(10)
+        let initial = try SpacecraftState(cartesian: CartesianState(epoch: .j2000,frame: frame,position: SIMD3(1,0,0),velocity: SIMD3(0,1,0)),mass: mass())
+        let impulse = try ImpulsiveManeuver(epoch: epoch(2),frame: frame,deltaVelocityMetresPerSecond: SIMD3(0.8,0,0))
+        let node = try DeepSpaceManeuverNode(window: epoch(1)...epoch(3),command: .impulse(impulse,effectiveExhaustVelocityMetresPerSecond: 100))
+        let requirement = try NumericalEncounterRequirement(identifier: "End",target: target(SIMD3(9,10,0)),epoch: end,window: end...end,positionToleranceMetres: 1e-6)
+        let result = try NumericalEncounterSequence.refine(initialState: initial,arrivalEpoch: end,nodes: [node],requirements: [requirement],
+            context: context,backgroundModels: [],maximumEvaluations: 100,initialTimeStepSeconds: 0.1,initialDeltaVelocityStepMetresPerSecond: 0.2)
+        #expect(result.status == .converged)
+        #expect(result.best.normalizedResidual < result.initial.normalizedResidual)
+        let exhausted = try NumericalEncounterSequence.refine(initialState: initial,arrivalEpoch: end,nodes: [node],requirements: [requirement],
+            context: context,backgroundModels: [],maximumEvaluations: 1)
+        #expect(exhausted.status == .evaluationLimitReached)
+        let burn = try FiniteBurn(start: epoch(2),end: epoch(4),thrust: FiniteThrust(frame: frame,thrustNewtons: 10,
+            effectiveExhaustVelocityMetresPerSecond: 100,direction: SIMD3(1,0,0)))
+        let exactNode = try DeepSpaceManeuverNode(window: epoch(1)...epoch(5),command: .finiteBurn(burn))
+        let exactTrajectory = try NumericalEncounterTrajectory(initialState: initial,arrivalEpoch: end,nodes: [exactNode],context: context,backgroundModels: [])
+        let exact = try exactTrajectory.state(at: end)
+        let endpoint = try NumericalEncounterRequirement(identifier: "Finite endpoint",target: target(exact.position),epoch: end,window: end...end,positionToleranceMetres: 1e-5)
+        let shorter = try FiniteBurn(start: epoch(2),end: epoch(3.6),thrust: burn.thrust)
+        let finite = try NumericalEncounterSequence.refine(initialState: initial,arrivalEpoch: end,
+            nodes: [DeepSpaceManeuverNode(window: exactNode.window,command: .finiteBurn(shorter))],requirements: [endpoint],context: context,
+            backgroundModels: [],maximumEvaluations: 200,initialTimeStepSeconds: 0.1)
+        #expect(finite.best.normalizedResidual < finite.initial.normalizedResidual)
+        #expect(finite.best.nodes.allSatisfy { $0.window.contains(sequenceInterval($0).lowerBound) && $0.window.contains(sequenceInterval($0).upperBound) })
+        #expect(abs(try exactTrajectory.spacecraftState(at: epoch(3)).mass.totalMassKilograms-99.9) < 1e-8)
+    }
+    @Test func independentPassageEpochAndPhysicalConstraints() throws {
+        let context = try ForceEvaluationContext(frame: frame,origin: .sun), end = try epoch(3)
+        let initial = try SpacecraftState(cartesian: CartesianState(epoch: .j2000,frame: frame,position: SIMD3(1,0,0),velocity: SIMD3(1,0,0)),mass: mass())
+        let passage = try NumericalEncounterRequirement(identifier: "Interior",target: target(SIMD3(3,0,0)),epoch: epoch(1),window: epoch(0.5)...epoch(2.5),positionToleranceMetres: 1e-6)
+        let timed = try NumericalEncounterSequence.refine(initialState: initial,arrivalEpoch: end,nodes: [],requirements: [passage],context: context,
+            backgroundModels: [],maximumEvaluations: 20,initialTimeStepSeconds: 1,eventOptions: PropagationEventOptions(maximumCheckIntervalSeconds: 0.1))
+        #expect(timed.status == .converged)
+        #expect(timed.best.requirements[0].epoch == (try epoch(2)))
+        let engine = try FiniteThrust(frame: frame,thrustNewtons: 10,effectiveExhaustVelocityMetresPerSecond: 100,direction: SIMD3(1,0,0))
+        let node = try DeepSpaceManeuverNode(window: epoch(0.5)...epoch(2),command: .finiteBurn(FiniteBurn(start: epoch(1),end: epoch(2),thrust: engine)))
+        let endpoint = try NumericalEncounterRequirement(identifier: "Endpoint",target: target(SIMD3(4,0,0)),epoch: end,window: end...end)
+        let cone = try WaypointThrustCone(frame: frame,halfAngleRadians: 0.1) { _ in SIMD3(1,0,0) }
+        let thermal = try WaypointThermalEnvelope(maximumHeatJoules: 20,heatingWattsPerNewton: 1,coolingRatePerSecond: 0)
+        let evaluated = try NumericalEncounterSequence.evaluate(initialState: initial,arrivalEpoch: end,nodes: [node],requirements: [endpoint],context: context,
+            backgroundModels: [],constraints: NumericalSequenceConstraints(physical: WaypointRoutePhysicalConstraints(thrustCone: cone,thermalEnvelope: thermal),maximumThrustNewtons: 10))
+        #expect(abs(evaluated.finalHeatJoules!-10) < 1e-10)
+        let wrongCone = try WaypointThrustCone(frame: frame,halfAngleRadians: 0.1) { _ in SIMD3(0,1,0) }
+        #expect(throws: WaypointRoutePropagationError.attitudeLimitExceeded(leg: 0)) {
+            try NumericalEncounterSequence.evaluate(initialState: initial,arrivalEpoch: end,nodes: [node],requirements: [endpoint],context: context,
+                backgroundModels: [],constraints: NumericalSequenceConstraints(physical: WaypointRoutePhysicalConstraints(thrustCone: wrongCone)))
+        }
+        #expect(throws: NumericalSequenceError.constraintViolation("engine ceiling")) {
+            try NumericalEncounterSequence.evaluate(initialState: initial,arrivalEpoch: end,nodes: [node],requirements: [endpoint],context: context,
+                backgroundModels: [],constraints: NumericalSequenceConstraints(maximumThrustNewtons: 5))
+        }
+        let hot = try WaypointThermalEnvelope(maximumHeatJoules: 5,heatingWattsPerNewton: 1,coolingRatePerSecond: 0)
+        #expect(throws: WaypointRoutePropagationError.thermalBoundExceeded(leg: 1)) {
+            try NumericalEncounterSequence.evaluate(initialState: initial,arrivalEpoch: end,nodes: [node],requirements: [endpoint],context: context,
+                backgroundModels: [],constraints: NumericalSequenceConstraints(physical: WaypointRoutePhysicalConstraints(thermalEnvelope: hot)))
+        }
+        #expect(throws: NumericalSequenceError.insufficientReserve) {
+            try NumericalEncounterSequence.evaluate(initialState: initial,arrivalEpoch: end,nodes: [node],requirements: [endpoint],context: context,
+                backgroundModels: [],constraints: NumericalSequenceConstraints(minimumRemainingPropellantKilograms: 50))
+        }
+        let bounded = try NumericalEncounterSequence.refine(initialState: initial,arrivalEpoch: end,nodes: [],requirements: [passage],context: context,
+            backgroundModels: [],maximumEvaluations: 10,maximumProposalAttempts: 1,initialTimeStepSeconds: 100)
+        #expect(bounded.status == .proposalLimitReached)
+    }
+    @Test func interplanetaryScaleSeedUnderMultiBodyGravity() throws {
+        let au = 149_597_870_700.0, mu = 1.32712440018e20, days = 200*86400.0
+        let end = try epoch(days), coverage = Epoch.j2000...end
+        let earthSpeed = sqrt(mu/au), marsRadius = 1.524*au
+        let marsPosition = SIMD3<Double>(0,marsRadius,0), marsVelocity = SIMD3<Double>(-sqrt(mu/marsRadius),0,0)
+        let departure = try SpacecraftState(cartesian: CartesianState(epoch: .j2000,frame: frame,position: SIMD3(au,0,0),velocity: SIMD3(0,earthSpeed,0)),mass: mass())
+        let mars = try MovingWaypointRouteTarget(provider: LambertTransferPlannerTests.Linear(frame: frame,p: marsPosition-marsVelocity*days,v: marsVelocity),origin: .sun,coverage: coverage)
+        let moonMetadata = try EphemerisMetadata(body: .jupiter,origin: .sun,frame: frame,coverage: coverage,
+            coverageBasis: .callerSelected,modelTimeScale: .tt,velocityMethod: .analytic,accelerationMethod: .unavailable,
+            provenance: PhysicalDataProvenance(source: "Synthetic distant perturber",version: "1"))
+        let jupiter = try StateProviderEphemeris(provider: LambertTransferPlannerTests.Linear(frame: frame,p: SIMD3(1000*au,0,0),v: .zero),metadata: moonMetadata)
+        let context = try ForceEvaluationContext(frame: frame,origin: .sun,ephemerides: EphemerisCollection(providers: [jupiter]))
+        let visit = try EncounterSequenceVisit(identifier: "Mars",target: mars,arrivalWindow: end...end)
+        let seed = try EncounterSequencePlanner.seed(initialState: departure,visits: [visit],candidate: EncounterSequenceCandidate(epochs: [end],branches: [LambertWindowBranch(direction: .positive)]),
+            context: context,gravitationalParameter: gm(mu),referencePole: SIMD3(0,0,1),effectiveExhaustVelocityMetresPerSecond: 50_000,positionToleranceMetres: 100)
+        let options = try NumericalPropagationOptions(absolutePositionToleranceMetres: 0.001,absoluteVelocityToleranceMetresPerSecond: 1e-8,
+            relativeTolerance: 1e-13,initialStepSeconds: 10,maximumStepSeconds: 3600)
+        let requirement = try NumericalEncounterRequirement(identifier: "Mars",target: mars,epoch: end,window: end...end,positionToleranceMetres: 100)
+        let result = try NumericalEncounterSequence.refine(initialState: departure,arrivalEpoch: end,nodes: seed.maneuvers,requirements: [requirement],context: context,
+            backgroundModels: [CentralGravity(body: .sun,gravitationalParameter: gm(mu)),ThirdBodyGravity(body: .jupiter,centralBody: .sun,gravitationalParameter: gm(1e14))],
+            maximumEvaluations: 5,numericalOptions: options,convergencePositionMetres: 1,convergenceVelocityMetresPerSecond: 1e-5)
+        #expect(result.status == .converged)
+        #expect(result.best.encounters[0].positionErrorMetres < 100)
+        #expect(result.best.encounters[0].relativeSpeedMetresPerSecond > 1000)
+        #expect(result.best.propellantUsedKilograms > 0)
+    }
+    @Test func seedDsmCandidatesFiniteConversionAndVerifiedRanking() throws {
+        let end = try epoch(.pi/2), context = try ForceEvaluationContext(frame: frame,origin: .sun)
+        let initial = try SpacecraftState(cartesian: CartesianState(epoch: .j2000,frame: frame,position: SIMD3(1,0,0),velocity: SIMD3(0,0.5,0)),mass: mass())
+        let visit = try EncounterSequenceVisit(identifier: "Arrival",target: target(SIMD3(0,1,0)),arrivalWindow: end...end)
+        let branch = try LambertWindowBranch(direction: .positive)
+        let dsm = try DeepSpaceManeuverNode(window: epoch(0.4)...epoch(0.6),command: .impulse(
+            ImpulsiveManeuver(epoch: epoch(0.5),frame: frame,deltaVelocityMetresPerSecond: SIMD3(0.1,0,0)),effectiveExhaustVelocityMetresPerSecond: 100))
+        let grid = try EncounterSequencePlanner.candidates(epochOptions: [[end,epoch(1)]],branchOptions: [[branch]],deepSpaceOptions: [[],[dsm]])
+        #expect(grid.count == 4)
+        #expect(throws: EncounterSequenceError.invalidInput) {
+            try EncounterSequencePlanner.candidates(epochOptions: [[end,epoch(1)]],branchOptions: [[branch]],deepSpaceOptions: [[],[dsm]],maximumCandidates: 3)
+        }
+        let candidates = [EncounterSequenceCandidate(epochs: [end],branches: [branch],deepSpaceManeuvers: [dsm]),
+            EncounterSequenceCandidate(epochs: [end],branches: [branch])]
+        let searched = try EncounterSequencePlanner.search(initialState: initial,visits: [visit],candidates: candidates,context: context,
+            gravitationalParameter: gm(),referencePole: SIMD3(0,0,1),effectiveExhaustVelocityMetresPerSecond: 100,objective: .propellant)
+        #expect(searched.rankedSeeds.count == 2)
+        let seed = try #require(searched.rankedSeeds.first)
+        #expect(seed.maneuvers.count == 1)
+        #expect(searched.rankedSeeds[1].propellantUsedKilograms > seed.propellantUsedKilograms)
+        let finite = try NumericalEncounterSequence.finiteSeed(seed,burnWindows: [.j2000...epoch(0.4)],thrustNewtons: 1000)
+        let propagated = try NumericalEncounterTrajectory(initialState: initial,arrivalEpoch: end,nodes: finite,context: context,
+            backgroundModels: [CentralGravity(body: .sun,gravitationalParameter: gm())]).spacecraftState(at: end)
+        #expect(abs(propagated.mass.totalMassKilograms-seed.finalMass.totalMassKilograms) < 1e-8)
+        let verified = try NumericalEncounterSequence.search(seeds: [seed,seed],context: context,
+            backgroundModels: [CentralGravity(body: .sun,gravitationalParameter: gm())],maximumCandidates: 1,
+            maximumEvaluationsPerCandidate: 5,numericalOptions: .preset(for: .full))
+        #expect(verified.status == .evaluationLimitReached)
+        #expect(verified.rows[0].status == .converged)
+        #expect(verified.rankedConvergedRows.count == 1)
+        let reserve = try NumericalEncounterSequence.search(seeds: [seed],context: context,
+            backgroundModels: [CentralGravity(body: .sun,gravitationalParameter: gm())],
+            constraints: NumericalSequenceConstraints(minimumRemainingPropellantKilograms: 50))
+        #expect(reserve.rows[0].status == .infeasible)
+        #expect(reserve.rankedConvergedRows.isEmpty)
+        let budget = try NumericalEncounterSequence.search(seeds: [seed],context: context,backgroundModels: [],maximumStateQueriesPerEvaluation: 1)
+        #expect(budget.rows[0].status == .workLimitReached)
+    }
+    @Test func clearanceResolvedUnresolvedAndRejected() throws {
+        let initial = try SpacecraftState(cartesian: CartesianState(epoch: .j2000,frame: frame,position: SIMD3(0,2,0),velocity: SIMD3(1,0,0)),mass: mass())
+        let context = try ForceEvaluationContext(frame: frame,origin: .sun), end = try epoch(2)
+        let requirement = try NumericalEncounterRequirement(identifier: "Pass",target: target(SIMD3(2,2,0)),epoch: end,window: end...end)
+        let centre = try target(.zero)
+        func evaluate(_ radius: Double, _ bound: Double?) throws -> NumericalSequenceEvaluation {
+            try NumericalEncounterSequence.evaluate(initialState: initial,arrivalEpoch: end,nodes: [],requirements: [requirement],
+                context: context,backgroundModels: [],constraints: NumericalSequenceConstraints(clearances:
+                    [NumericalSequenceClearance(identifier: "Sun clearance",centre: centre,minimumDistanceMetres: radius,relativeSpeedBoundMetresPerSecond: bound)]),
+                eventOptions: PropagationEventOptions(maximumCheckIntervalSeconds: 0.1))
+        }
+        #expect(try evaluate(1,1).clearance[0].status == .satisfied)
+        #expect(try evaluate(1,nil).clearance[0].status == .unresolved)
+        #expect(try evaluate(3,1).clearance[0].status == .violated)
+        #expect(throws: NumericalSequenceError.queryLimitReached) {
+            try NumericalEncounterSequence.evaluate(initialState: initial,arrivalEpoch: end,nodes: [],requirements: [requirement],
+                context: context,backgroundModels: [],maximumStateQueries: 1)
+        }
+        let unresolved = try NumericalEncounterSequence.refine(initialState: initial,arrivalEpoch: end,nodes: [],requirements: [requirement],context: context,
+            backgroundModels: [],constraints: NumericalSequenceConstraints(clearances: [NumericalSequenceClearance(identifier: "Unbounded",centre: centre,minimumDistanceMetres: 1)]))
+        #expect(unresolved.status == .unresolvedConstraints)
+    }
+}
diff --git a/Tests/CelMekTests/EnvironmentalForceTests.swift b/Tests/CelMekTests/EnvironmentalForceTests.swift
new file mode 100644
index 0000000..ca05ee4
--- /dev/null
+++ b/Tests/CelMekTests/EnvironmentalForceTests.swift
@@ -0,0 +1,100 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct EnvironmentalForceTests {
+    private let frame = Frame(name: "Environmental inertial", pseudoInertial: true)
+    private func state(position: SIMD3<Double> = SIMD3(10,0,0), velocity: SIMD3<Double> = .zero, mass: Double = 10) throws -> SpacecraftState {
+        SpacecraftState(cartesian: try CartesianState(epoch: .j2000, frame: frame, position: position, velocity: velocity),
+            mass: try SpacecraftMassProperties(dryMassKilograms: mass))
+    }
+    private func context(_ origin: BodyIdentifier = .sun) throws -> ForceEvaluationContext {
+        try ForceEvaluationContext(frame: frame, origin: origin)
+    }
+    private func radiation(_ fraction: Double = 1) throws -> SolarRadiationPressure {
+        let provenance = try PhysicalDataProvenance(source: "Synthetic reference radiation", version: "1")
+        return try SolarRadiationPressure(referencePressurePascals: SourcedPhysicalValue(value: 2, provenance: provenance),
+            referenceDistanceMetres: SourcedPhysicalValue(value: 10, provenance: provenance),
+            referenceAreaSquareMetres: 3, radiationCoefficient: 1.5,
+            illumination: ConstantRadiationIllumination(illuminatedFraction: fraction))
+    }
+    @Test func dragRelativeVelocityAndAnalyticDecay() throws {
+        let atmosphere = try UniformAtmosphere(frame: frame, origin: .sun, densityKilogramsPerCubicMetre: 0.1,
+            velocityMetresPerSecond: SIMD3(1,0,0))
+        let drag = try AtmosphericDrag(referenceAreaSquareMetres: 2, dragCoefficient: 2, atmosphere: atmosphere)
+        let input = try state(velocity: SIMD3(4,4,0)) // relative (3,4,0), speed 5
+        let force = try drag.contribution(for: input, in: context())
+        #expect(abs(force.accelerationMetresPerSecondSquared.x + 0.3) < 1e-15)
+        #expect(abs(force.accelerationMetresPerSecondSquared.y + 0.4) < 1e-15)
+        #expect(force.propellantMassRateKilogramsPerSecond == 0)
+        #expect(try drag.contribution(for: state(velocity: SIMD3(1,0,0)), in: context()).accelerationMetresPerSecondSquared == .zero)
+        let dynamics = try SpacecraftDynamics(models: [drag], context: context())
+        let seed = try state(position: .zero, velocity: SIMD3(6,0,0))
+        let options = try NumericalPropagationOptions(absolutePositionToleranceMetres: 1e-9,
+            absoluteVelocityToleranceMetresPerSecond: 1e-10, relativeTolerance: 1e-12)
+        let end = try NumericalSpacecraftPropagator(initialState: seed, dynamics: dynamics, options: options)
+            .spacecraftState(at: Epoch.j2000.advanced(by: Duration(seconds: 10)))
+        // du/dt=-k*u², u0=5, k=.02; v=wind+u, x=wind*t+log(1+k*u0*t)/k.
+        #expect(abs(end.cartesian.velocity.x-3.5) < 1e-8)
+        #expect(abs(end.cartesian.position.x-(10+log(2)/0.02)) < 1e-7)
+        #expect(end.mass == seed.mass)
+    }
+    @Test func radiationDirectionDistanceMassAndIllumination() throws {
+        let model = try radiation()
+        let full = try model.contribution(for: state(), in: context())
+        #expect(abs(full.accelerationMetresPerSecondSquared.x-0.9) < 1e-15)
+        let distant = try model.contribution(for: state(position: SIMD3(0,-20,0), mass: 20), in: context())
+        #expect(abs(distant.accelerationMetresPerSecondSquared.y+0.1125) < 1e-15)
+        #expect(distant.accelerationMetresPerSecondSquared.x == 0)
+        #expect(try radiation(0).contribution(for: state(), in: context()).accelerationMetresPerSecondSquared == .zero)
+        #expect(abs(try radiation(0.25).contribution(for: state(), in: context()).accelerationMetresPerSecondSquared.x-0.225) < 1e-15)
+        #expect(full.propellantMassRateKilogramsPerSecond == 0)
+    }
+    private struct Source: EphemerisProvider {
+        let metadata: EphemerisMetadata
+        func state(at epoch: Epoch) throws -> CartesianState {
+            try CartesianState(epoch: epoch, frame: frame, position: SIMD3(-10,0,0), velocity: .zero)
+        }
+    }
+    @Test func ephemerisSourceAndCoverage() throws {
+        let source = Source(metadata: try EphemerisMetadata(body: .sun, origin: .earth, frame: frame,
+            coverage: Epoch.j2000...Epoch.j2000, coverageBasis: .callerSelected, modelTimeScale: .tt,
+            velocityMethod: .analytic, accelerationMethod: .unavailable,
+            provenance: PhysicalDataProvenance(source: "Synthetic Sun", version: "1")))
+        let environment = try ForceEvaluationContext(frame: frame, origin: .earth, ephemerides: EphemerisCollection(providers: [source]))
+        let force = try radiation().contribution(for: state(position: .zero), in: environment)
+        #expect(abs(force.accelerationMetresPerSecondSquared.x-0.9) < 1e-15)
+        #expect(throws: EnvironmentalForceError.originMismatch) {
+            try radiation().contribution(for: state(), in: ForceEvaluationContext(frame: frame, origin: .moon,
+                ephemerides: EphemerisCollection(providers: [source])))
+        }
+        #expect(throws: EnvironmentalForceError.missingEphemerides) { try radiation().contribution(for: state(), in: context(.earth)) }
+    }
+    private struct WrongSample: AtmosphereProvider {
+        let sample: AtmosphereSample
+        func sample(for state: SpacecraftState, in context: ForceEvaluationContext) throws -> AtmosphereSample { sample }
+    }
+    private struct BadIllumination: RadiationIlluminationProvider {
+        func fraction(for state: SpacecraftState, sourcePosition: SIMD3<Double>, in context: ForceEvaluationContext) throws -> Double { .nan }
+    }
+    @Test func invalidEnvironmentAndContracts() throws {
+        #expect(throws: EnvironmentalForceError.invalidDensity) {
+            try UniformAtmosphere(frame: frame, origin: .earth, densityKilogramsPerCubicMetre: -1)
+        }
+        #expect(throws: EnvironmentalForceError.invalidIllumination) { try ConstantRadiationIllumination(illuminatedFraction: 1.1) }
+        #expect(throws: EnvironmentalForceError.singularSource) { try radiation().contribution(for: state(position: .zero), in: context()) }
+        let wrong = try AtmosphereSample(epoch: Epoch.j2000.advanced(by: Duration(seconds: 1)), frame: frame, origin: .sun,
+            densityKilogramsPerCubicMetre: 1, velocityMetresPerSecond: .zero)
+        #expect(throws: SpacecraftDynamicsError.epochMismatch) {
+            try AtmosphericDrag(referenceAreaSquareMetres: 1, dragCoefficient: 1, atmosphere: WrongSample(sample: wrong))
+                .contribution(for: state(), in: context())
+        }
+        let prototype = try radiation()
+        let bad = try SolarRadiationPressure(referencePressurePascals: prototype.referencePressurePascals,
+            referenceDistanceMetres: prototype.referenceDistanceMetres, referenceAreaSquareMetres: 1,
+            radiationCoefficient: 1, illumination: BadIllumination())
+        #expect(throws: EnvironmentalForceError.invalidIllumination) { try bad.contribution(for: state(), in: context()) }
+    }
+}
diff --git a/Tests/CelMekTests/EphemerisCacheTests.swift b/Tests/CelMekTests/EphemerisCacheTests.swift
new file mode 100644
index 0000000..e601b5b
--- /dev/null
+++ b/Tests/CelMekTests/EphemerisCacheTests.swift
@@ -0,0 +1,146 @@
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct EphemerisCacheTests {
+  private enum TestError: Error { case transient, cacheFailure }
+  private final class Model: EphemerisProvider {
+    let metadata: EphemerisMetadata
+    var calls = 0, base: Double = 0
+    var fail = false
+    var hook: (() throws -> Void)?
+    init(frame: Frame, body: BodyIdentifier = .earth) throws {
+      metadata = try EphemerisMetadata(body: body,origin: .solarSystemBarycentre,frame: frame,
+        coverage: Epoch.j2000.advanced(by: CelMek.Duration(seconds: -10))...Epoch.j2000.advanced(by: CelMek.Duration(seconds: 10)),
+        coverageBasis: .callerSelected,modelTimeScale: .tt,velocityMethod: .analytic,
+        accelerationMethod: .unavailable,provenance: PhysicalDataProvenance(source: "deterministic test trajectory",version: "1"))
+    }
+    func state(at epoch: Epoch) throws -> CartesianState {
+      calls += 1
+      if fail { throw TestError.transient }
+      try hook?()
+      let t = try epoch.duration(since: .j2000).seconds
+      return try CartesianState(epoch: epoch,frame: frame,position: SIMD3(base+t,0,0),velocity: SIMD3(1,0,0))
+    }
+  }
+  private func epoch(_ seconds: Double) throws -> Epoch {
+    try Epoch.j2000.advanced(by: CelMek.Duration(seconds: seconds))
+  }
+  @Test func exactEpochsAndOrderedBatches() throws {
+    let model = try Model(frame: Frame(name: "reference",pseudoInertial: true))
+    let cache = try MemoryEphemerisCache(capacity: 10)
+    let cached = try CachedEphemerisProvider(provider: model,cache: cache)
+    let epochs = try [epoch(1),epoch(-1),epoch(1),epoch(0),epoch(1e-9)]
+    let states = try cached.states(at: epochs)
+    #expect(states.map(\.epoch) == epochs)
+    #expect(model.calls == 4 && cache.count == 4)
+    #expect(states[3].position != states[4].position)
+    let reversed = try cached.states(at: Array(epochs.reversed()))
+    #expect(reversed == Array(states.reversed()))
+    #expect(model.calls == 4)
+    #expect(try cached.states(at: []).isEmpty)
+    let collection = try EphemerisCollection(providers: [cached])
+    #expect(try collection.states(of: .earth,at: epochs) == states)
+    let requests = epochs.map { EphemerisRequest(body: .earth,epoch: $0) }
+    #expect(try collection.states(for: requests) == states)
+    #expect(throws: EphemerisError.outsideCoverage) { try cached.state(at: epoch(11)) }
+    #expect(model.calls == 4)
+  }
+  @Test func leastRecentlyUsedEvictionIsBounded() throws {
+    let model = try Model(frame: Frame(name: "reference",pseudoInertial: true))
+    let cache = try MemoryEphemerisCache(capacity: 2)
+    let cached = try CachedEphemerisProvider(provider: model,cache: cache)
+    for t in [0.0,1,0,2,1] { _ = try cached.state(at: epoch(t)) }
+    #expect(model.calls == 4 && cache.count == 2)
+    cache.removeAll()
+    #expect(cache.count == 0)
+    _ = try cached.state(at: .j2000)
+    #expect(model.calls == 5)
+    #expect(throws: EphemerisCacheError.invalidCapacity) { try MemoryEphemerisCache(capacity: 0) }
+  }
+  @Test func sharedStorageAndExplicitInvalidation() throws {
+    let frame = Frame(name: "reference",pseudoInertial: true)
+    let a = try Model(frame: frame), b = try Model(frame: frame)
+    a.base = 10; b.base = 20
+    let cache = try MemoryEphemerisCache(capacity: 10)
+    let first = try CachedEphemerisProvider(provider: a,cache: cache)
+    let second = try CachedEphemerisProvider(provider: b,cache: cache)
+    #expect(try first.state(at: .j2000).position.x == 10)
+    #expect(try second.state(at: .j2000).position.x == 20)
+    a.base = 30
+    try first.invalidate()
+    #expect(cache.count == 1)
+    #expect(try second.state(at: .j2000).position.x == 20)
+    #expect(b.calls == 1)
+    #expect(try first.state(at: .j2000).position.x == 30)
+    #expect(a.calls == 2)
+    // Invalidation during provider evaluation must prevent the old generation from being stored.
+    try first.invalidate()
+    a.hook = { try first.invalidate() }
+    _ = try first.state(at: .j2000)
+    a.hook = nil
+    #expect(cache.count == 1)
+    _ = try first.state(at: .j2000)
+    #expect(a.calls == 4 && cache.count == 2)
+  }
+  private final class CleanupFailingCache: EphemerisStateCache {
+    let storage = try! MemoryEphemerisCache(capacity: 10)
+    func state(for key: EphemerisCacheKey) throws -> CartesianState? { storage.state(for: key) }
+    func store(_ state: CartesianState, for key: EphemerisCacheKey) { storage.store(state, for: key) }
+    func removeAll(in scope: EphemerisCacheScope) throws { throw TestError.cacheFailure }
+  }
+  @Test func failedCleanupStillSeparatesNewGeneration() throws {
+    let model = try Model(frame: Frame(name: "reference", pseudoInertial: true))
+    let cache = CleanupFailingCache()
+    let cached = try CachedEphemerisProvider(provider: model, cache: cache)
+    #expect(try cached.state(at: .j2000).position.x == 0)
+    model.base = 42
+    #expect(throws: TestError.cacheFailure) { try cached.invalidate() }
+    #expect(cache.storage.count == 1) // Old entries remain, but cannot be reused.
+    #expect(try cached.state(at: .j2000).position.x == 42)
+    #expect(try cached.state(at: .j2000).position.x == 42)
+    #expect(model.calls == 2 && cache.storage.count == 2)
+    cache.storage.removeAll()
+  }
+  private final class BadCache: EphemerisStateCache {
+    var hit: CartesianState?
+    var fails = false
+    func state(for key: EphemerisCacheKey) throws -> CartesianState? {
+      if fails { throw TestError.cacheFailure }; return hit
+    }
+    func store(_ state: CartesianState,for key: EphemerisCacheKey) {}
+    func removeAll(in scope: EphemerisCacheScope) {}
+  }
+  @Test func failedEvaluationsAndInvalidCacheHitsAreNeverAccepted() throws {
+    let model = try Model(frame: Frame(name: "reference",pseudoInertial: true))
+    let cache = try MemoryEphemerisCache(capacity: 10)
+    let cached = try CachedEphemerisProvider(provider: model,cache: cache)
+    model.fail = true
+    #expect(throws: TestError.transient) { try cached.state(at: .j2000) }
+    #expect(cache.count == 0)
+    model.fail = false
+    _ = try cached.state(at: .j2000); _ = try cached.state(at: .j2000)
+    #expect(model.calls == 2)
+    let bad = BadCache(), untrusted = try CachedEphemerisProvider(provider: model,cache: bad)
+    bad.hit = try model.state(at: epoch(1))
+    #expect(throws: FrameTransformError.epochMismatch) { try untrusted.state(at: .j2000) }
+    bad.hit = try CartesianState(epoch: .j2000,frame: Frame(name: "wrong",pseudoInertial: true),position: .zero,velocity: .zero)
+    #expect(throws: EphemerisError.frameMismatch) { try untrusted.state(at: .j2000) }
+    bad.fails = true
+    #expect(throws: TestError.cacheFailure) { try untrusted.state(at: .j2000) }
+  }
+  @Test func multiBodyBatchesPreserveOrderAndFailFast() throws {
+    let frame = Frame(name: "reference",pseudoInertial: true)
+    let earth = try Model(frame: frame), moon = try Model(frame: frame,body: .moon)
+    moon.base = 10
+    let collection = try EphemerisCollection(providers: [earth,moon])
+    let requests = try [EphemerisRequest(body: .moon,epoch: epoch(2)),EphemerisRequest(body: .earth,epoch: epoch(-1))]
+    let states = try collection.states(for: requests)
+    #expect(states.map { $0.position.x } == [12,-1])
+    let before = earth.calls
+    #expect(throws: EphemerisError.unsupportedBody) {
+      try collection.states(for: [EphemerisRequest(body: .sun,epoch: .j2000),EphemerisRequest(body: .earth,epoch: .j2000)])
+    }
+    #expect(earth.calls == before)
+  }
+}
diff --git a/Tests/CelMekTests/EphemerisFallbackTests.swift b/Tests/CelMekTests/EphemerisFallbackTests.swift
new file mode 100644
index 0000000..7df7562
--- /dev/null
+++ b/Tests/CelMekTests/EphemerisFallbackTests.swift
@@ -0,0 +1,189 @@
+import Testing
+import Math
+@testable import CelMek
+
+@Suite struct EphemerisFallbackTests {
+  private enum Failure: Error { case corrupt }
+  private struct Source: EphemerisProvider {
+    let metadata: EphemerisMetadata
+    let value: Double
+    var error: (any Error)?
+    var fails = false
+    var wrongEpoch = false
+    func state(at epoch: Epoch) throws -> CartesianState {
+      if let error { throw error }
+      if fails { throw Failure.corrupt }
+      return try CartesianState(epoch: wrongEpoch ? .j2000 : epoch, frame: frame,
+        position: SIMD3(value,0,0), velocity: .zero,
+        acceleration: metadata.accelerationMethod == .unavailable ? nil : .zero)
+    }
+  }
+  private func epoch(_ t: Double) throws -> Epoch { try Epoch.j2000.advanced(by: CelMek.Duration(seconds: t)) }
+  private func source(_ frame: Frame, _ lower: Double, _ upper: Double, _ value: Double,
+    body: BodyIdentifier = .earth, origin: BodyIdentifier = .sun, acceleration: Bool = false) throws -> Source {
+    Source(metadata: try EphemerisMetadata(body: body, origin: origin, frame: frame,
+      coverage: epoch(lower)...epoch(upper), coverageBasis: .callerSelected, modelTimeScale: .tt,
+      velocityMethod: .analytic, accelerationMethod: acceleration ? .analytic : .unavailable,
+      provenance: PhysicalDataProvenance(source: "source \(value)", version: "1")), value: value)
+  }
+  @Test func priorityBoundariesAndOrderIndependence() throws {
+    let frame = Frame(name: "test", pseudoInertial: true)
+    let chain = try FallbackEphemeris(de441: source(frame,-1,1,1), model: source(frame,-2,2,2),
+      kepler: source(frame,-3,3,3,acceleration: true))
+    for (t, expected, tier) in [(3.0,3.0,EphemerisFallbackTier.kepler), (1,1,.de441),
+      (-2,2,.model), (0,1,.de441), (-3,3,.kepler), (2,2,.model)] {
+      let result = try chain.selection(at: epoch(t))
+      #expect(result.state.position.x == expected)
+      #expect(result.tier == tier)
+      #expect(result.source.provenance.source == "source \(expected)")
+      #expect(result.state.acceleration == nil)
+      #expect(try chain.checkedState(at: epoch(t)) == result.state)
+    }
+    #expect(throws: EphemerisError.outsideCoverage) { try chain.state(at: epoch(4)) }
+  }
+  @Test func missingTiersAndErrors() throws {
+    let frame = Frame(name: "test", pseudoInertial: true)
+    var primary = try source(frame,-1,1,1); primary.fails = true
+    let backup = try source(frame,-3,3,3)
+    let chain = try FallbackEphemeris(de441: primary, kepler: backup)
+    #expect(throws: Failure.corrupt) { try chain.state(at: .j2000) }
+    #expect(try chain.selection(at: epoch(2)).tier == .kepler)
+    primary.fails = false; primary.wrongEpoch = true
+    let invalid = try FallbackEphemeris(de441: primary, model: backup)
+    #expect(throws: FrameTransformError.epochMismatch) { try invalid.state(at: epoch(1)) }
+    #expect(try FallbackEphemeris(kepler: backup).selection(at: .j2000).tier == .kepler)
+    #expect(throws: EphemerisFallbackError.noProviders) { try FallbackEphemeris() }
+  }
+  @Test func rejectsIncompatibleSourcesAndGaps() throws {
+    let frame = Frame(name: "test", pseudoInertial: true)
+    let p = try source(frame,-1,1,1)
+    #expect(throws: EphemerisFallbackError.incompatibleBody) {
+      try FallbackEphemeris(de441: p, model: source(frame,-2,2,2,body: .moon))
+    }
+    #expect(throws: EphemerisFallbackError.incompatibleOrigin) {
+      try FallbackEphemeris(de441: p, model: source(frame,-2,2,2,origin: .earth))
+    }
+    #expect(throws: EphemerisError.frameMismatch) {
+      try FallbackEphemeris(de441: p, model: source(Frame(name: "other", pseudoInertial: true),-2,2,2))
+    }
+    #expect(throws: EphemerisFallbackError.coverageGap) {
+      try FallbackEphemeris(de441: p, model: source(frame,2,3,2))
+    }
+    let touching = try FallbackEphemeris(de441: p, model: source(frame,1,3,2))
+    #expect(try touching.selection(at: epoch(1)).tier == .de441)
+    #expect(try touching.selection(at: epoch(3)).tier == .model)
+  }
+  @Test func explicitFilePriorityAvailabilityDiagnosticsAndFatalErrors() throws {
+    let frame = Frame(name: "file fallback",pseudoInertial: true)
+    let de = try source(frame,-1,1,1), spk = try source(frame,-2,2,2), model = try source(frame,-3,3,3)
+    for (order,expected) in [(FileBackedEphemerisOrder.de441ThenSPK,EphemerisFallbackTier.de441),(.spkThenDE441,.spk)] {
+      let chain = try FallbackEphemeris(de441: de,spk: spk,fileBackedOrder: order,model: model)
+      #expect(try chain.selection(at: .j2000).tier == expected)
+      let selected = try chain.selection(at: epoch(2))
+      #expect(selected.tier == .spk)
+      #expect(selected.source.provenance.source == "source 2.0")
+    }
+    for failure in [SpiceSPKResolutionError.missingLink(bodyID: 399,secondsTDB: 0),.coverageGap(bodyID: 399,secondsTDB: 0)] {
+      var unavailable = spk; unavailable.error = failure
+      let chain = try FallbackEphemeris(de441: de,spk: unavailable,fileBackedOrder: .spkThenDE441,model: model)
+      let result = try chain.selection(at: .j2000)
+      #expect(result.tier == .de441 && result.skippedSources.count == 1)
+      #expect(result.skippedSources[0].tier == .spk)
+      #expect(result.skippedSources[0].source.provenance.source == "source 2.0")
+      let strict = try FallbackEphemeris(spk: unavailable,fileBackedOrder: .spkThenDE441,spkFallbackPolicy: .declaredCoverageOnly,model: model)
+      #expect(throws: failure) { try strict.state(at: .j2000) }
+      let exhausted = try FallbackEphemeris(spk: unavailable,fileBackedOrder: .spkThenDE441)
+      #expect(throws: failure) { try exhausted.state(at: .j2000) }
+      // A model cannot use an SPK error to masquerade as an availability skip.
+      let mislabeled = try FallbackEphemeris(model: unavailable,kepler: model)
+      #expect(throws: failure) { try mislabeled.state(at: .j2000) }
+    }
+    for failure: any Error in [Failure.corrupt,SpiceSPKResolutionError.cycle([399,3]),
+      SpiceSPKResolutionError.descriptorLimit(1),EphemerisError.outsideCoverage,
+      SpiceSPKAdapterError.unknownNativeFrame(2)] {
+      var bad = spk; bad.error = failure
+      let chain = try FallbackEphemeris(spk: bad,fileBackedOrder: .spkThenDE441,model: model)
+      #expect(throws: (any Error).self) { try chain.state(at: .j2000) }
+    }
+    let optional = try FallbackEphemeris(spk: nil,fileBackedOrder: .spkThenDE441,model: model)
+    #expect(try optional.selection(at: .j2000).tier == .model)
+  }
+  @Test func realSPKInteriorGapAndRetainedSnapshotFallback() throws {
+    let files = SpiceDAFTests(), helpers = SpiceSPKAdapterTests()
+    try files.withFile(SPKFixture(records: 1).daf.bytes) { early in
+      try files.withFile(SPKFixture(initial: 10,records: 1).daf.bytes) { late in
+        let set = try SpiceKernelSet(); try set.load(early); let latest = try set.load(late)
+        let coverage = try epoch(-18)...epoch(18)
+        let provider = try SpiceSPKStateProvider(snapshot: set.snapshot(),body: .earth,
+          frameBindings: helpers.bindings(),coverage: coverage,tdbModel: SpiceSPKAdapterTests.Clock(coverage: coverage),
+          dataProvenance: helpers.provenance)
+        let backup = try source(CelestialFrames.icrf,-30,30,42,origin: .solarSystemBarycentre,acceleration: true)
+        let chain = try FallbackEphemeris(spk: provider,fileBackedOrder: .spkThenDE441,model: backup)
+        try set.unload(latest)
+        for t in [-18.0,18,-15,15] {
+          let result = try chain.selection(at: epoch(t))
+          #expect(result.tier == .spk && result.skippedSources.isEmpty)
+          let expected = try provider.checkedState(at: epoch(t))
+          #expect(result.state == expected)
+        }
+        let gap = try chain.selection(at: .j2000)
+        #expect(gap.tier == .model && gap.state.position.x == 42 && gap.state.acceleration == nil)
+        #expect(gap.skippedSources[0].reason == .spkCoverageGap(399))
+        #expect(gap.skippedSources[0].source.provenance.source.contains(resolvedSpiceTestPath(late)))
+        let outside = try chain.selection(at: epoch(25))
+        #expect(outside.skippedSources[0].reason == .outsideDeclaredCoverage)
+        // A highest-priority unsupported segment inside the interval must not become a gap.
+        try set.load(late)
+        try files.withFile(SPKFixture(type: 99,initial: -1,interval: 2,records: 1).daf.bytes) { unsupported in
+          try set.load(unsupported)
+          let broken = try SpiceSPKStateProvider(snapshot: set.snapshot(),body: .earth,
+            frameBindings: helpers.bindings(),coverage: coverage,tdbModel: SpiceSPKAdapterTests.Clock(coverage: coverage),
+            dataProvenance: helpers.provenance)
+          let protected = try FallbackEphemeris(spk: broken,fileBackedOrder: .spkThenDE441,model: backup)
+          #expect(throws: SpiceSPKError.unsupportedType(99)) { try protected.state(at: .j2000) }
+        }
+      }
+    }
+  }
+  @Test func defaultBodyIdentityMapping() {
+    for body: BodyIdentifier in [.sun,.mercury,.venus,.earth,.marsBarycentre,.jupiterBarycentre,
+      .saturnBarycentre,.uranusBarycentre,.neptuneBarycentre] {
+      #expect(DefaultEphemerisModel.model(for: body) == .vsop87)
+    }
+    #expect(DefaultEphemerisModel.model(for: .moon) == .meeusMoon)
+    #expect(DefaultEphemerisModel.model(for: .plutoBarycentre) == .goffinPluto)
+    #expect(DefaultEphemerisModel.model(for: .mars) == nil)
+    #expect(DefaultEphemerisModel.model(for: .naif(123456)) == nil)
+  }
+  @Test func realKeplerFallbackAndBuiltInFactory() throws {
+    let frame = Frame(name: "Earth-centred inertial", pseudoInertial: true)
+    let provenance = try PhysicalDataProvenance(source: "explicit orbit seed", version: "1")
+    let gm = try GravitationalParameter(cubicMetresPerSecondSquared: 3.986004418e14,
+      convention: .newtonian, provenance: provenance)
+    let initial = try CartesianState(epoch: .j2000, frame: frame,
+      position: SIMD3(7e6,0,0), velocity: SIMD3(0,7500,0))
+    let propagator = try TwoBodyPropagator(initialState: initial, centralBody: .earth, gravitationalParameter: gm)
+    let body = BodyIdentifier.naif(123456)
+    let kepler = try KeplerEphemeris(body: body, propagator: propagator,
+      coverage: epoch(-100)...epoch(100), provenance: provenance)
+    let chain = try FallbackEphemeris(kepler: kepler)
+    for t in [100.0,-100,0,50] {
+      #expect(try chain.checkedState(at: epoch(t)) == propagator.state(at: epoch(t)))
+      #expect(try chain.selection(at: epoch(t)).tier == .kepler)
+    }
+    #expect(chain.metadata.origin == .earth)
+    let tdb = try FairheadTDBModel()
+    #expect(try DefaultEphemerisModel.makeProvider(for: body, coverage: epoch(-100)...epoch(100), tdbModel: tdb) == nil)
+    let optionalBuiltin = try DefaultEphemerisModel.makeProvider(for: .earth,
+      coverage: epoch(-100)...epoch(100), tdbModel: tdb, accuracy: .low)
+    let builtin = try #require(optionalBuiltin)
+    #expect(builtin.metadata.body == .earth)
+    #expect(builtin.metadata.accuracy == .low)
+    let expected = try VSOP87Ephemeris(body: earth, coverage: epoch(-100)...epoch(100), tdbModel: tdb, accuracy: .low)
+    #expect(try builtin.checkedState(at: .j2000) == expected.checkedState(at: .j2000))
+    #expect(throws: EphemerisError.frameMismatch) {
+      try DefaultEphemerisModel.makeProvider(for: .moon, coverage: epoch(-100)...epoch(100), tdbModel: tdb)
+    }
+  }
+
+}
diff --git a/Tests/CelMekTests/EphemerisOriginTests.swift b/Tests/CelMekTests/EphemerisOriginTests.swift
new file mode 100644
index 0000000..09a0706
--- /dev/null
+++ b/Tests/CelMekTests/EphemerisOriginTests.swift
@@ -0,0 +1,107 @@
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct EphemerisOriginTests {
+  private func source() throws -> PhysicalDataProvenance {
+    try PhysicalDataProvenance(source: "synthetic trajectories and mass ratios",version: "1")
+  }
+  private struct Motion: EphemerisProvider {
+    let metadata: EphemerisMetadata
+    let base: Double
+    let hasAcceleration: Bool
+    func state(at epoch: Epoch) throws -> CartesianState {
+      let t = try epoch.duration(since: .j2000).seconds
+      return try CartesianState(epoch: epoch,frame: frame,position: SIMD3(base+base*t+0.5*base*t*t,0,0),
+        velocity: SIMD3(base+base*t,0,0),acceleration: hasAcceleration ? SIMD3(base,0,0) : nil)
+    }
+  }
+  private func motion(body: BodyIdentifier, frame: Frame, base: Double, origin: BodyIdentifier = .solarSystemBarycentre,
+    acceleration: Bool = true, lower: Double = -10, upper: Double = 10, scale: TimeScale = .tdb) throws -> Motion {
+    let m = try EphemerisMetadata(body: body,origin: origin,frame: frame,
+      coverage: Epoch.j2000.advanced(by: CelMek.Duration(seconds: lower))...Epoch.j2000.advanced(by: CelMek.Duration(seconds: upper)),
+      coverageBasis: .callerSelected,modelTimeScale: scale,velocityMethod: .analytic,
+      accelerationMethod: acceleration ? .analytic : .unavailable,provenance: source())
+    return Motion(metadata: m,base: base,hasAcceleration: acceleration)
+  }
+  @Test func recenteringAndFrameRoundTrip() throws {
+    let tree = FrameTree()
+    let a = try motion(body: .moon,frame: tree.root,base: 10)
+    let b = try motion(body: .earth,frame: tree.root,base: 2,lower: -5,scale: .tt)
+    let relative = try tree.makeOriginConvertedEphemeris(target: a,newOrigin: b,frameName: "Earth-centred")
+    #expect(relative.metadata.origin == .earth)
+    #expect(relative.metadata.body == .moon)
+    #expect(relative.metadata.modelTimeScales == [.tt,.tdb])
+    #expect(relative.metadata.coverage == b.metadata.coverage)
+    let epoch = try Epoch.j2000.advanced(by: CelMek.Duration(seconds: 2))
+    let local = try relative.checkedState(at: epoch)
+    #expect(local.position == SIMD3(40,0,0))
+    #expect(local.velocity == SIMD3(24,0,0))
+    #expect(local.acceleration == SIMD3(8,0,0))
+    let throughTree = try a.state(at: epoch,in: relative.frame,using: tree)
+    #expect(local == throughTree)
+    let parent = try relative.state(at: epoch,in: tree.root,using: tree)
+    let original = try a.state(at: epoch)
+    #expect(parent == original)
+    #expect(throws: EphemerisError.outsideCoverage) {
+      try relative.state(at: Epoch.j2000.advanced(by: CelMek.Duration(seconds: -6)))
+    }
+  }
+  @Test func barycentreIndependentMassWeightedValues() throws {
+    let tree = FrameTree()
+    let earth = try motion(body: .earth,frame: tree.root,base: 10)
+    let moon = try motion(body: .moon,frame: tree.root,base: 2)
+    let barycentre = try BarycentreEphemeris(bodyIdentifier: .earthMoonBarycentre,components: [
+      BarycentreComponent(ephemeris: earth,relativeMass: 3,provenance: source()),
+      BarycentreComponent(ephemeris: moon,relativeMass: 1,provenance: source())],provenance: source())
+    let s = try barycentre.checkedState(at: .j2000)
+    #expect(s.position == SIMD3(8,0,0))
+    #expect(s.velocity == SIMD3(8,0,0))
+    #expect(s.acceleration == SIMD3(8,0,0))
+    let localEarth = try tree.makeOriginConvertedEphemeris(target: earth,newOrigin: barycentre,frameName: "EMB")
+    #expect(try localEarth.state(at: .j2000).position == SIMD3(2,0,0))
+    let scaled = try BarycentreEphemeris(bodyIdentifier: .earthMoonBarycentre,components: [
+      BarycentreComponent(ephemeris: earth,relativeMass: 3e300,provenance: source()),
+      BarycentreComponent(ephemeris: moon,relativeMass: 1e300,provenance: source())],provenance: source())
+    #expect(try scaled.state(at: .j2000).position == s.position)
+  }
+  @Test func missingAccelerationRemainsUnknown() throws {
+    let tree = FrameTree()
+    let a = try motion(body: .moon,frame: tree.root,base: 10)
+    let b = try motion(body: .earth,frame: tree.root,base: 2,acceleration: false)
+    let relative = try tree.makeOriginConvertedEphemeris(target: a,newOrigin: b,frameName: "Earth")
+    #expect(try relative.checkedState(at: .j2000).acceleration == nil)
+    #expect(relative.metadata.accelerationMethod == .unavailable)
+    #expect(throws: BodyFixedFrameError.accelerationUnavailable) {
+      try tree.transform(from: tree.root,to: relative.frame,at: .j2000)
+    }
+    let barycentre = try BarycentreEphemeris(bodyIdentifier: .earthMoonBarycentre,components: [
+      BarycentreComponent(ephemeris: a,relativeMass: 1,provenance: source()),
+      BarycentreComponent(ephemeris: b,relativeMass: 1,provenance: source())],provenance: source())
+    #expect(try barycentre.checkedState(at: .j2000).acceleration == nil)
+  }
+  @Test func incompatibleInputsAndDisjointCoverageFail() throws {
+    let tree = FrameTree()
+    let a = try motion(body: .earth,frame: tree.root,base: 1)
+    let wrongOrigin = try motion(body: .moon,frame: tree.root,base: 1,origin: .sun)
+    let wrongFrame = try motion(body: .moon,frame: Frame(name: "other",pseudoInertial: true),base: 1)
+    let noOverlap = try motion(body: .moon,frame: tree.root,base: 1,lower: 11,upper: 20)
+    for (b,error) in [(wrongOrigin,EphemerisOriginError.incompatibleOrigins),(wrongFrame,.incompatibleFrames),(noOverlap,.disjointCoverage)] {
+      #expect(throws: error) { try tree.makeOriginConvertedEphemeris(target: a,newOrigin: b,frameName: "invalid") }
+      #expect(throws: error) {
+        try BarycentreEphemeris(bodyIdentifier: .earthMoonBarycentre,components: [
+          BarycentreComponent(ephemeris: a,relativeMass: 1,provenance: source()),
+          BarycentreComponent(ephemeris: b,relativeMass: 1,provenance: source())],provenance: source())
+      }
+    }
+    for weight in [0.0,-1,.nan,.infinity] {
+      #expect(throws: EphemerisOriginError.invalidMassRatio) {
+        try BarycentreComponent(ephemeris: a,relativeMass: weight,provenance: source())
+      }
+    }
+    let component = try BarycentreComponent(ephemeris: a,relativeMass: 1,provenance: source())
+    #expect(throws: EphemerisOriginError.invalidComponents) {
+      try BarycentreEphemeris(bodyIdentifier: .earthMoonBarycentre,components: [component,component],provenance: source())
+    }
+  }
+}
diff --git a/Tests/CelMekTests/EphemerisProviderTests.swift b/Tests/CelMekTests/EphemerisProviderTests.swift
new file mode 100644
index 0000000..4f726a9
--- /dev/null
+++ b/Tests/CelMekTests/EphemerisProviderTests.swift
@@ -0,0 +1,98 @@
+import Testing
+import Math
+@testable import CelMek
+
+@Suite struct EphemerisProviderTests {
+  private func metadata(frame: Frame, body: BodyIdentifier = .earth,
+    acceleration: EphemerisDerivativeMethod = .unavailable) throws -> EphemerisMetadata {
+    try EphemerisMetadata(body: body,origin: .solarSystemBarycentre,frame: frame,
+      coverage: Epoch.j2000.advanced(by: CelMek.Duration(seconds: -10))...Epoch.j2000.advanced(by: CelMek.Duration(seconds: 10)),
+      coverageBasis: .callerSelected,modelTimeScale: .tdb,velocityMethod: .analytic,
+      accelerationMethod: acceleration,provenance: PhysicalDataProvenance(source: "test trajectory",version: "1"))
+  }
+  private struct Linear: StateProvider {
+    let frame: Frame
+    var wrongEpoch = false
+    var outputFrame: Frame? = nil
+    var acceleration: SIMD3<Double>? = nil
+    func state(at epoch: Epoch) throws -> CartesianState {
+      let t = try epoch.duration(since: .j2000).seconds
+      return try CartesianState(epoch: wrongEpoch ? epoch.advanced(by: CelMek.Duration(seconds: 1)) : epoch,
+        frame: outputFrame ?? frame,position: SIMD3(1+t,2+2*t,3+3*t),velocity: SIMD3(1,2,3),acceleration: acceleration)
+    }
+  }
+  @Test func queryAndCoverageThroughBothInterfaces() throws {
+    let frame = Frame(name: "barycentric",pseudoInertial: true)
+    let p = try StateProviderEphemeris(provider: Linear(frame: frame),metadata: metadata(frame: frame))
+    let collection = try EphemerisCollection(providers: [p])
+    for t in [-10.0,0,10] {
+      let epoch = try Epoch.j2000.advanced(by: CelMek.Duration(seconds: t))
+      let state = try collection.state(of: .earth,at: epoch)
+      #expect(state.position == SIMD3(1+t,2+2*t,3+3*t))
+      let direct = try p.state(at: epoch)
+      #expect(state == direct)
+      #expect(state.frame === frame)
+    }
+    #expect(collection.bodies == [.earth])
+    #expect(try collection.metadata(for: .earth).origin == .solarSystemBarycentre)
+    #expect(throws: EphemerisError.outsideCoverage) {
+      try p.state(at: Epoch.j2000.advanced(by: CelMek.Duration(seconds: 11)))
+    }
+    #expect(throws: EphemerisError.unsupportedBody) { try collection.state(of: .moon,at: .j2000) }
+    #expect(throws: EphemerisError.duplicateBody) { try EphemerisCollection(providers: [p,p]) }
+  }
+  @Test func providerContractFailures() throws {
+    let frame = Frame(name: "one",pseudoInertial: true), other = Frame(name: "two",pseudoInertial: true)
+    let m = try metadata(frame: frame)
+    #expect(throws: EphemerisError.frameMismatch) { try StateProviderEphemeris(provider: Linear(frame: other),metadata: m) }
+    let wrongTime = try StateProviderEphemeris(provider: Linear(frame: frame,wrongEpoch: true),metadata: m)
+    #expect(throws: FrameTransformError.epochMismatch) { try wrongTime.state(at: .j2000) }
+    let wrongFrame = try StateProviderEphemeris(provider: Linear(frame: frame,outputFrame: other),metadata: m)
+    #expect(throws: EphemerisError.frameMismatch) { try wrongFrame.state(at: .j2000) }
+    let unexpected = try StateProviderEphemeris(provider: Linear(frame: frame,acceleration: .zero),metadata: m)
+    #expect(throws: EphemerisError.accelerationMismatch) { try unexpected.state(at: .j2000) }
+    let missing = try StateProviderEphemeris(provider: Linear(frame: frame),metadata: metadata(frame: frame,acceleration: .analytic))
+    #expect(throws: EphemerisError.accelerationMismatch) { try missing.state(at: .j2000) }
+  }
+  @Test func existingVSOPStateIntegration() throws {
+    let m = try metadata(frame: earth.frame)
+    let wrapped = try StateProviderEphemeris(provider: earth,metadata: m)
+    let checked = try wrapped.checkedState(at: .j2000)
+    let native = try earth.state(at: .j2000)
+    #expect(checked == native)
+    let tree = try CelestialFrames.makeTree()
+    let converted = try wrapped.state(at: .j2000,in: CelestialFrames.icrf,using: tree)
+    #expect(converted.frame === CelestialFrames.icrf)
+    #expect(converted.acceleration == nil)
+  }
+  @Test func metadataRejectsInvalidDerivativeClaims() throws {
+    let frame = Frame(name: "reference",pseudoInertial: true)
+    #expect(throws: EphemerisError.invalidDerivativeMethod) {
+      try metadata(frame: frame,acceleration: .finiteDifference(step: .zero))
+    }
+    #expect(throws: EphemerisError.invalidDerivativeMethod) {
+      try metadata(frame: frame,acceleration: .supplied(description: " "))
+    }
+  }
+
+  private final class CustomProvider: EphemerisProvider {
+    let metadata: EphemerisMetadata
+    var evaluations = 0
+    init(metadata: EphemerisMetadata) { self.metadata = metadata }
+    func state(at epoch: Epoch) throws -> CartesianState {
+      evaluations += 1
+      return try CartesianState(epoch: epoch,frame: metadata.frame,position: .zero,velocity: .zero)
+    }
+  }
+  @Test func collectionValidatesCustomProviderBeforeEvaluation() throws {
+    let frame = Frame(name: "reference",pseudoInertial: true)
+    let p = CustomProvider(metadata: try metadata(frame: frame,acceleration: .analytic))
+    let collection = try EphemerisCollection(providers: [p])
+    #expect(throws: EphemerisError.outsideCoverage) {
+      try collection.state(of: .earth,at: Epoch.j2000.advanced(by: CelMek.Duration(seconds: 11)))
+    }
+    #expect(p.evaluations == 0)
+    #expect(throws: EphemerisError.accelerationMismatch) { try collection.state(of: .earth,at: .j2000) }
+    #expect(p.evaluations == 1)
+  }
+}
diff --git a/Tests/CelMekTests/EpochTests.swift b/Tests/CelMekTests/EpochTests.swift
new file mode 100644
index 0000000..54507b9
--- /dev/null
+++ b/Tests/CelMekTests/EpochTests.swift
@@ -0,0 +1,117 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Testing
+import CelMek
+
+// Normal imports exercise the public API. Qualify Duration to avoid Swift.Duration.
+@Suite
+struct EpochTests {
+  @Test
+  func normalizesSignedIntervals() throws {
+    let negative = try CelMek.Duration(seconds: -0.25)
+    #expect(negative.wholeSeconds == -1)
+    #expect(negative.fractionalSecond == 0.75)
+    let carry = try CelMek.Duration(wholeSeconds: 4, fractionalSecond: 1.25)
+    #expect(carry.wholeSeconds == 5 && carry.fractionalSecond == 0.25)
+    let borrow = try CelMek.Duration(wholeSeconds: 4, fractionalSecond: -0.25)
+    #expect(borrow.wholeSeconds == 3 && borrow.fractionalSecond == 0.75)
+    #expect(try negative.negated() == CelMek.Duration(seconds: 0.25))
+    #expect(try negative.adding(carry) == CelMek.Duration(seconds: 5))
+    #expect(negative < .zero)
+    #expect(Set([negative, try CelMek.Duration(wholeSeconds: -1, fractionalSecond: 0.75)]).count == 1)
+  }
+
+  @Test(arguments: [Double.nan, .infinity, -.infinity])
+  func rejectsNonfiniteInput(value: Double) {
+    #expect(throws: TimeArithmeticError.nonFinite) { try CelMek.Duration(seconds: value) }
+    #expect(throws: TimeArithmeticError.nonFinite) { try JulianDateComponents(value: value, scale: .tt) }
+    #expect(throws: TimeArithmeticError.nonFinite) { try Epoch(julianDate: value, scale: .tt) }
+  }
+
+  @Test
+  func reportsRangeAndArithmeticOverflow() throws {
+    let limit = CelMek.Duration.maximumWholeSeconds
+    let maximum = try CelMek.Duration(wholeSeconds: limit)
+    let minimum = try CelMek.Duration(wholeSeconds: -limit)
+    #expect(try maximum.negated() == minimum)
+    #expect(try maximum.adding(minimum) == .zero)
+    #expect(throws: TimeArithmeticError.outOfRange) { try maximum.adding(CelMek.Duration(seconds: 1)) }
+    #expect(throws: TimeArithmeticError.outOfRange) { try minimum.subtracting(CelMek.Duration(seconds: 1)) }
+    #expect(throws: TimeArithmeticError.outOfRange) { try maximum.subtracting(minimum) }
+    #expect(throws: TimeArithmeticError.outOfRange) { try CelMek.Duration(wholeSeconds: .max) }
+    #expect(throws: TimeArithmeticError.outOfRange) { try CelMek.Duration(wholeSeconds: .min) }
+    #expect(throws: TimeArithmeticError.outOfRange) { try CelMek.Duration(seconds: .greatestFiniteMagnitude) }
+    #expect(throws: TimeArithmeticError.outOfRange) {
+      try Epoch(julianDate: JulianDateComponents(wholeDay: limit, scale: .tt))
+    }
+  }
+
+  @Test
+  func j2000IsAnInstantWithDifferentScaleRepresentations() throws {
+    let tt = try Epoch.j2000.julianDate(in: .tt)
+    #expect(tt.wholeDay == 2_451_545 && tt.fractionalDay == 0)
+    #expect(tt.scale == .tt)
+    let tai = try Epoch.j2000.julianDate(in: .tai)
+    #expect(tai.wholeDay == 2_451_544)
+    #expect(abs((1 - tai.fractionalDay) * 86400 - 32.184) < 1e-11)
+    #expect(abs(try Epoch(julianDate: tai).duration(since: .j2000).seconds) < 2e-11)
+    #expect(try Epoch(julianDate: 2451545, scale: .tt) == .j2000)
+    let taiNoon = try Epoch(julianDate: 2451545, scale: .tai)
+    #expect(abs(try taiNoon.duration(since: .j2000).seconds - 32.184) < 1e-14)
+  }
+
+  @Test(arguments: [-500_000_000_000 as Int64, 500_000_000_000])
+  func nanosecondStepsSurviveFarFromReference(whole: Int64) throws {
+    // Approximately 16,000 years from J2000, representative of DE441-scale spans.
+    let initial = Epoch(offsetFromJ2000: try CelMek.Duration(wholeSeconds: whole, fractionalSecond: 0.25))
+    let step = try CelMek.Duration(seconds: 1e-9)
+    var advanced = initial
+    for _ in 0..<1000 { advanced = try advanced.advanced(by: step) }
+    #expect(advanced > initial)
+    #expect(abs(try advanced.duration(since: initial).seconds - 1e-6) < 3e-14)
+    let earlier = try initial.advanced(by: step.negated())
+    #expect(earlier < initial)
+    #expect(abs(try initial.duration(since: earlier).seconds - 1e-9) < 1e-16)
+  }
+
+  @Test
+  func splitJulianDatePreservesFineStepsThatScalarDatesLose() throws {
+    let initial = Epoch.j2000
+    let next = try initial.advanced(by: CelMek.Duration(seconds: 1e-9))
+    let firstDate = try initial.julianDate(in: .tt)
+    let nextDate = try next.julianDate(in: .tt)
+    #expect(firstDate.value == nextDate.value)
+    #expect(nextDate.fractionalDay > firstDate.fractionalDay)
+    #expect(abs(try Epoch(julianDate: nextDate).duration(since: initial).seconds - 1e-9) < 1e-20)
+  }
+
+  @Test(arguments: [TimeScale.tai, .tt, .tdb])
+  func splitDateConversionsRoundTrip(scale: TimeScale) throws {
+    for whole in [-500_000_000_000 as Int64, -1, 0, 1, 500_000_000_000] {
+      let initial = Epoch(offsetFromJ2000: try CelMek.Duration(wholeSeconds: whole, fractionalSecond: 0.123456789))
+      let date = try initial.julianDate(in: scale)
+      #expect(date.fractionalDay >= 0 && date.fractionalDay < 1)
+      let recovered = try Epoch(julianDate: date)
+      #expect(abs(try recovered.duration(since: initial).seconds) < 3e-11)
+    }
+  }
+
+  @Test
+  func approximateTDBHasMillisecondCorrection() throws {
+    let tt = try Epoch.j2000.julianDate(in: .tt)
+    let tdb = try Epoch.j2000.julianDate(in: .tdb)
+    let differenceDays = Double(tdb.wholeDay - tt.wholeDay) + tdb.fractionalDay - tt.fractionalDay
+    #expect(abs(differenceDays * 86400) < 0.002)
+    #expect(differenceDays != 0)
+    // Same numeric JD in TDB is a different instant from that JD in TT.
+    let tdbNoon = try Epoch(julianDate: 2451545, scale: .tdb)
+    #expect(abs(try tdbNoon.duration(since: .j2000).seconds) > 0.00001)
+  }
+
+  @Test
+  func negativeJulianFractionsNormalizeAcrossNoon() throws {
+    let date = try JulianDateComponents(wholeDay: 2451545, fractionalDay: -0.25, scale: .tt)
+    #expect(date.wholeDay == 2451544 && date.fractionalDay == 0.75)
+    #expect(try Epoch(julianDate: date).offsetFromJ2000.seconds == -21600)
+  }
+}
diff --git a/Tests/CelMekTests/EventDrivenNumericalTests.swift b/Tests/CelMekTests/EventDrivenNumericalTests.swift
new file mode 100644
index 0000000..58b0f23
--- /dev/null
+++ b/Tests/CelMekTests/EventDrivenNumericalTests.swift
@@ -0,0 +1,76 @@
+// SPDX-License-Identifier: Apache-2.0
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct EventDrivenNumericalTests {
+    private let frame = Frame(name: "Event reset axes", pseudoInertial: true)
+    private func epoch(_ t: Double) throws -> Epoch { try Epoch.j2000.advanced(by: Duration(seconds: t)) }
+    private func seed() throws -> SpacecraftState {
+        SpacecraftState(cartesian: try CartesianState(epoch: .j2000, frame: frame, position: .zero, velocity: SIMD3(1,0,0)),
+            mass: try SpacecraftMassProperties(dryMassKilograms: 1))
+    }
+    private func dynamics(_ acceleration: Double = 0) throws -> SpacecraftDynamics {
+        try SpacecraftDynamics(models: [ConstantAcceleration(value: acceleration)],
+            context: ForceEvaluationContext(frame: frame, origin: .earth))
+    }
+    private struct ConstantAcceleration: ForceModel {
+        let value: Double
+        func contribution(for state: SpacecraftState, in context: ForceEvaluationContext) throws -> ForceContribution {
+            try ForceContribution(epoch: state.epoch, frame: state.frame, accelerationMetresPerSecondSquared: SIMD3(value,0,0))
+        }
+    }
+    private struct Plane: PropagationEventDetector {
+        let identifier = "plane"
+        let action: PropagationEventAction = .stop
+        let direction: EventCrossingDirection = .increasing
+        func value(at state: SpacecraftState) throws -> Double { state.cartesian.position.x-2.25 }
+    }
+    @Test func acceptedStepTerminalCrossing() throws {
+        let result = try EventDrivenNumericalPropagator(initialState: seed(), dynamics: dynamics(), detectors: [Plane()],
+            eventOptions: PropagationEventOptions(maximumCheckIntervalSeconds: 1, timeToleranceSeconds: 1e-9)).propagation(at: epoch(10))
+        #expect(!result.reachedTarget && result.events.count == 1)
+        #expect(abs(result.state.cartesian.position.x-2.25) < 1e-8)
+        #expect(try abs(result.state.epoch.duration(since: epoch(2.25)).seconds) < 1e-8)
+    }
+    @Test func impulseAndInverseReplay() throws {
+        let event = try EpochEvent(identifier: "impulse", epoch: epoch(2), action: .record)
+        let reset: (PropagationEventOccurrence,Bool,SpacecraftDynamics) throws -> EventStateTransition = { occurrence, forward, force in
+            let s = occurrence.state
+            return EventStateTransition(state: SpacecraftState(cartesian: try CartesianState(epoch: s.epoch, frame: s.frame,
+                position: s.cartesian.position, velocity: s.cartesian.velocity+SIMD3(forward ? 2 : -2,0,0)), mass: s.mass), dynamics: force)
+        }
+        let provider = try EventDrivenNumericalPropagator(initialState: seed(), dynamics: dynamics(), detectors: [event], transition: reset)
+        let result = try provider.propagation(at: epoch(5))
+        #expect(result.reachedTarget && result.events.count == 1)
+        #expect(abs(result.state.cartesian.position.x-11) < 1e-9)
+        #expect(abs(result.state.cartesian.velocity.x-3) < 1e-9)
+        #expect(try provider.propagation(at: epoch(5)).state == result.state)
+        let reverse = try EventDrivenNumericalPropagator(initialState: result.state, dynamics: dynamics(), detectors: [event], transition: reset)
+            .propagation(at: .j2000)
+        #expect(abs(reverse.state.cartesian.position.x) < 1e-8)
+        #expect(abs(reverse.state.cartesian.velocity.x-1) < 1e-9)
+    }
+    @Test func forceChangesAtTwoEvents() throws {
+        let on = try EpochEvent(identifier: "on", epoch: epoch(2), action: .record)
+        let off = try EpochEvent(identifier: "off", epoch: epoch(4), action: .record)
+        let provider = try EventDrivenNumericalPropagator(initialState: seed(), dynamics: dynamics(), detectors: [off,on]) { event, _, _ in
+            EventStateTransition(state: event.state, dynamics: try dynamics(event.identifier == "on" ? 2 : 0))
+        }
+        let result = try provider.propagation(at: epoch(6))
+        #expect(result.events.map(\.identifier) == ["on","off"])
+        #expect(abs(result.state.cartesian.position.x-18) < 1e-8)
+        #expect(abs(result.state.cartesian.velocity.x-5) < 1e-9)
+        #expect(result.state.cartesian.acceleration == .zero)
+    }
+    @Test func resetValidationAndOneShotInitialRoot() throws {
+        let event = try EpochEvent(identifier: "initial", epoch: .j2000, action: .record)
+        let result = try EventDrivenNumericalPropagator(initialState: seed(), dynamics: dynamics(), detectors: [event]).propagation(at: epoch(3))
+        #expect(result.events.count == 1 && result.reachedTarget)
+        let bad = try EventDrivenNumericalPropagator(initialState: seed(), dynamics: dynamics(), detectors: [event]) { occurrence, _, force in
+            let wrong = try CartesianState(epoch: epoch(1), frame: frame, position: .zero, velocity: .zero)
+            return EventStateTransition(state: SpacecraftState(cartesian: wrong, mass: occurrence.state.mass), dynamics: force)
+        }
+        #expect(throws: SpacecraftDynamicsError.epochMismatch) { try bad.propagation(at: epoch(3)) }
+    }
+}
diff --git a/Tests/CelMekTests/ExtendedCircularTransferTests.swift b/Tests/CelMekTests/ExtendedCircularTransferTests.swift
new file mode 100644
index 0000000..e31013d
--- /dev/null
+++ b/Tests/CelMekTests/ExtendedCircularTransferTests.swift
@@ -0,0 +1,103 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct ExtendedCircularTransferTests {
+    func gm() throws -> GravitationalParameter {
+        try GravitationalParameter(cubicMetresPerSecondSquared: 1, convention: .newtonian,
+            provenance: PhysicalDataProvenance(source: "Independent normalized references", version: "1"))
+    }
+    @Test func planeChangeAndCombinedImpulseHaveCorrectVectorsAndStableCosts() throws {
+        let pure = try PlaneChangeImpulse(beforeSpeedMetresPerSecond: 5, afterSpeedMetresPerSecond: 5, angleRadians: .pi/3)
+        #expect(abs(pure.deltaVelocityMetresPerSecond-5) < 1e-14)
+        let combined = try PlaneChangeImpulse(beforeSpeedMetresPerSecond: 3, afterSpeedMetresPerSecond: 4, angleRadians: .pi/2)
+        #expect(abs(combined.deltaVelocityMetresPerSecond-5) < 1e-14)
+        let frame = Frame(name: "Plane change", pseudoInertial: true)
+        for sense in [PlaneChangeSense.positive, .negative] {
+            let burn = try combined.maneuver(epoch: .j2000, frame: frame,
+                radialDirection: SIMD3(1,0,0), progradeDirection: SIMD3(0,1,0), sense: sense)
+            #expect(routeNorm(burn.deltaVelocityMetresPerSecond-SIMD3(0,-3,sense == .positive ? 4 : -4)) < 1e-14)
+            #expect(abs(routeNorm(burn.deltaVelocityMetresPerSecond)-combined.deltaVelocityMetresPerSecond) < 1e-14)
+        }
+        let reversal = try PlaneChangeImpulse(beforeSpeedMetresPerSecond: 3, afterSpeedMetresPerSecond: 4, angleRadians: .pi)
+        #expect(abs(reversal.deltaVelocityMetresPerSecond-7) < 1e-14)
+        let tiny = try PlaneChangeImpulse(beforeSpeedMetresPerSecond: 1e150, afterSpeedMetresPerSecond: 1e150, angleRadians: 1e-150)
+        #expect(abs(tiny.deltaVelocityMetresPerSecond-1) < 1e-14)
+        #expect(throws: PlaneChangeError.invalidAngle) {
+            try PlaneChangeImpulse(beforeSpeedMetresPerSecond: 1, afterSpeedMetresPerSecond: 1, angleRadians: -0.1)
+        }
+        #expect(throws: PlaneChangeError.invalidDirections) {
+            try pure.maneuver(epoch: .j2000, frame: frame, radialDirection: SIMD3(1,0,0), progradeDirection: SIMD3(1,0,0))
+        }
+    }
+    @Test func independentBiEllipticScalarReferencesAndNearEqualRadii() throws {
+        // 55-digit Decimal arithmetic from vis-viva and half-period equations.
+        let rows: [(Double,Double,Double,Double,Double,Double,Double)] = [
+            (1,20,0.4106912317171965376,0.0230976782991903796,-0.0779045468277846530,3165.1840264250561955,3624.4231896744530571),
+            (20,1,0.0779045468277846530,-0.0230976782991903796,-0.4106912317171965376,3624.4231896744530571,3165.1840264250561955)]
+        for (r1,r2,d1,d2,d3,t1,t2) in rows {
+            let t = try BiEllipticTransfer(departureRadiusMetres: r1, arrivalRadiusMetres: r2,
+                intermediateRadiusMetres: 200, gravitationalParameter: gm())
+            for (actual,expected) in [(t.departureDeltaVelocityMetresPerSecond,d1),
+                (t.intermediateSpeedChangeMetresPerSecond,d2),(t.arrivalDeltaVelocityMetresPerSecond,d3),
+                (t.totalDeltaVelocityMetresPerSecond,0.5116934568441715702),
+                (t.firstLegDuration.seconds,t1),(t.secondLegDuration.seconds,t2)] {
+                #expect(abs(actual-expected) < max(1e-16,abs(expected)*3e-15))
+            }
+        }
+        let near = try BiEllipticTransfer(departureRadiusMetres: 1, arrivalRadiusMetres: 1.nextUp,
+            intermediateRadiusMetres: 4, gravitationalParameter: gm())
+        #expect(near.intermediateSpeedChangeMetresPerSecond > 0)
+        let equal = try BiEllipticTransfer(departureRadiusMetres: 1, arrivalRadiusMetres: 1,
+            intermediateRadiusMetres: 4, gravitationalParameter: gm())
+        #expect(equal.intermediateSpeedChangeMetresPerSecond == 0)
+        #expect(abs(equal.totalDeltaVelocityMetresPerSecond-0.5298221281347034656) < 1e-15)
+    }
+    @Test(arguments: [0.0, Double.pi/3]) func threeBurnPlansReachExpectedOrbit(angle: Double) throws {
+        let frame = Frame(name: "Bi-elliptic", pseudoInertial: true)
+        let radial = SIMD3<Double>(1,2,2)/3, tangent = SIMD3<Double>(2,-1,0)/sqrt(5)
+        for (r1,r2) in [(1.0,20.0),(20.0,1.0)] {
+            let transfer = try BiEllipticTransfer(departureRadiusMetres: r1, arrivalRadiusMetres: r2,
+                intermediateRadiusMetres: 200, gravitationalParameter: gm(), planeChangeRadians: angle)
+            let plan = try transfer.plan(departureEpoch: .j2000, frame: frame, centralBody: .sun,
+                radialDirection: radial, progradeDirection: tangent)
+            let apoBefore = try plan.trajectory.state(at: plan.intermediateEpoch, side: .before)
+            let apoAfter = try plan.trajectory.state(at: plan.intermediateEpoch)
+            #expect(routeNorm(apoBefore.position+radial*200) < 1e-6)
+            #expect(apoBefore.position == apoAfter.position)
+            #expect(routeNorm(apoAfter.velocity-apoBefore.velocity-plan.intermediateBurn.deltaVelocityMetresPerSecond) < 1e-14)
+            let actual = try plan.trajectory.state(at: plan.arrivalEpoch)
+            #expect(routeNorm(actual.position-plan.expectedArrivalState.position) < 1e-6)
+            #expect(routeNorm(actual.velocity-plan.expectedArrivalState.velocity) < 1e-7)
+            #expect(abs((actual.position*actual.velocity).sum()) < 1e-6)
+            let spent = [plan.departureBurn,plan.intermediateBurn,plan.arrivalBurn]
+                .reduce(0.0) { $0+routeNorm($1.deltaVelocityMetresPerSecond) }
+            #expect(abs(spent-transfer.totalDeltaVelocityMetresPerSecond) < 1e-14)
+            #expect(plan.arrivalEpoch == (try Epoch.j2000.advanced(by: transfer.duration)))
+        }
+    }
+    @Test func callerObjectivesAndLimitsSelectDifferentStrategies() throws {
+        func comparison(_ objective: CircularTransferObjective, time: CelMek.Duration? = nil, delta: Double? = nil) throws -> CircularTransferComparison {
+            try CircularTransferComparison(departureRadiusMetres: 1, arrivalRadiusMetres: 20,
+                intermediateRadiiMetres: [200,40,200], gravitationalParameter: gm(), objective: objective,
+                maximumDuration: time, maximumDeltaVelocityMetresPerSecond: delta)
+        }
+        let fuel = try comparison(.minimumDeltaVelocity)
+        #expect(fuel.rankedCandidates.count == 3)
+        if case .biElliptic(let transfer) = fuel.best { #expect(transfer.intermediateRadiusMetres == 200) }
+        else { Issue.record("Expected the lower-delta-v bi-elliptic candidate") }
+        let fast = try comparison(.minimumDuration)
+        if case .hohmann = fast.best {} else { Issue.record("Expected the faster Hohmann candidate") }
+        let limit = try HohmannTransfer(departureRadiusMetres: 1, arrivalRadiusMetres: 20, gravitationalParameter: gm()).duration
+        let timed = try comparison(.minimumDeltaVelocity, time: limit)
+        #expect(timed.rankedCandidates.count == 1 && timed.rejectedCandidates.count == 2)
+        let impossible = try comparison(.minimumDeltaVelocity, delta: 0)
+        #expect(impossible.best == nil && impossible.rejectedCandidates.count == 3)
+        #expect(throws: BiEllipticTransferError.invalidIntermediateRadius) {
+            try BiEllipticTransfer(departureRadiusMetres: 1, arrivalRadiusMetres: 20,
+                intermediateRadiusMetres: 20, gravitationalParameter: gm())
+        }
+    }
+}
diff --git a/Tests/CelMekTests/FastNutationAccuracyTests.swift b/Tests/CelMekTests/FastNutationAccuracyTests.swift
new file mode 100644
index 0000000..d31f50f
--- /dev/null
+++ b/Tests/CelMekTests/FastNutationAccuracyTests.swift
@@ -0,0 +1,54 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Testing
+import Math
+@testable import CelMek
+
+@Suite
+struct FastNutationAccuracyTests {
+  @Test
+  func dailyComparisonWithFullModelFrom1900Through2100() {
+    // Empirical regression budgets on this sampled interval, not universal
+    // accuracy guarantees or a comparison with modern observed orientation.
+    let start = GregorianDate(year: 1900, month: .january, day: 1).toJD()
+    let end = GregorianDate(year: 2100, month: .december, day: 31).toJD()
+    var maximum = SIMD3<Double>.zero
+    var worstEpoch = SIMD3<Double>.zero
+    var squareSum = SIMD3<Double>.zero
+    var count = 0
+    for jd in stride(from: start, through: end, by: 1) {
+      let fast = fastNutation(jd: jd)
+      let full = nutation(jd: jd)
+      let differences = SIMD3(abs(fast.nutationInLongitude - full.nutationInLongitude).asArcSec,
+                              abs(fast.nutationInObliquity - full.nutationInObliquity).asArcSec,
+                              abs(fastTrueObliquityOfTheEcliptic(jd: jd)
+                                  - trueObliquityOfTheEcliptic(jd: jd)).asArcSec)
+      squareSum += differences * differences
+      for component in 0..<3 {
+        if differences[component] > maximum[component] {
+          maximum[component] = differences[component]
+          worstEpoch[component] = jd
+        }
+      }
+      count += 1
+    }
+    #expect(count == 73_414)
+    let maximumBudgets = SIMD3<Double>(0.35, 0.1, 0.1)
+    let rmsBudgets = SIMD3<Double>(0.12, 0.03, 0.03)
+    for component in 0..<3 {
+      #expect(maximum[component].isFinite && maximum[component] < maximumBudgets[component],
+              "Component \(component), worst JD \(worstEpoch[component])")
+      #expect(sqrt(squareSum[component] / Double(count)) < rmsBudgets[component])
+    }
+  }
+
+  @Test(arguments: [2415020.75, 2446895.625, 2451545.0, 2465910.125, 2481630.25, 2488433.9])
+  func fractionalEpochsStayWithinApproximationBudget(jd: Double) {
+    let fast = fastNutation(jd: jd)
+    let full = nutation(jd: jd)
+    #expect(abs(fast.nutationInLongitude - full.nutationInLongitude) < 0.35.arcsec)
+    #expect(abs(fast.nutationInObliquity - full.nutationInObliquity) < 0.1.arcsec)
+    #expect(abs(fastTrueObliquityOfTheEcliptic(jd: jd)
+                - trueObliquityOfTheEcliptic(jd: jd)) < 0.1.arcsec)
+  }
+}
diff --git a/Tests/CelMekTests/FiniteThrustTests.swift b/Tests/CelMekTests/FiniteThrustTests.swift
new file mode 100644
index 0000000..5c4100f
--- /dev/null
+++ b/Tests/CelMekTests/FiniteThrustTests.swift
@@ -0,0 +1,95 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct FiniteThrustTests {
+    private let frame = Frame(name: "Thrust inertial", pseudoInertial: true)
+    private func epoch(_ seconds: Double) throws -> Epoch { try Epoch.j2000.advanced(by: Duration(seconds: seconds)) }
+    private func thrust(_ force: Double = 20, direction: SIMD3<Double> = SIMD3(1,0,0)) throws -> FiniteThrust {
+        try FiniteThrust(frame: frame, thrustNewtons: force, effectiveExhaustVelocityMetresPerSecond: 100, direction: direction)
+    }
+    private func seed(propellant: Double = 10) throws -> SpacecraftState {
+        SpacecraftState(cartesian: try CartesianState(epoch: .j2000, frame: frame, position: .zero, velocity: .zero),
+            mass: try SpacecraftMassProperties(dryMassKilograms: 90, propellantMassKilograms: propellant))
+    }
+    private func context() throws -> ForceEvaluationContext { try ForceEvaluationContext(frame: frame, origin: .earth) }
+    private func options() throws -> NumericalPropagationOptions {
+        try NumericalPropagationOptions(absolutePositionToleranceMetres: 1e-9,
+            absoluteVelocityToleranceMetresPerSecond: 1e-10, relativeTolerance: 1e-12,
+            initialStepSeconds: 10, maximumStepSeconds: 300)
+    }
+    private func propagator(_ burns: [FiniteBurn], initial: SpacecraftState? = nil) throws -> ScheduledThrustPropagator {
+        try ScheduledThrustPropagator(initialState: initial ?? seed(),
+            schedule: ScheduledThrust(frame: frame, burns: burns), context: context(), options: options())
+    }
+    @Test func rocketEquationAndPosition() throws {
+        let engine = try thrust()
+        let initial = try seed()
+        let dynamics = try SpacecraftDynamics(models: [engine], context: context())
+        let provider = try NumericalSpacecraftPropagator(initialState: initial, dynamics: dynamics, options: options())
+        let result = try provider.spacecraftState(at: epoch(20))
+        let finalMass = 96.0, exhaust = 100.0, flow = 0.2
+        let velocity = exhaust * log(100/finalMass)
+        let position = exhaust * (20-finalMass/flow*log(100/finalMass))
+        #expect(abs(result.cartesian.velocity.x-velocity) < 1e-8)
+        #expect(abs(result.cartesian.position.x-position) < 1e-7)
+        #expect(abs(result.mass.propellantMassKilograms-6) < 1e-12)
+        #expect(result.mass.dryMassKilograms == 90)
+        #expect(result.cartesian.velocity.y == 0 && result.cartesian.position.z == 0)
+        let derivative = try engine.contribution(for: result, in: context())
+        #expect(abs(derivative.accelerationMetresPerSecondSquared.x-20/96.0) < 1e-14)
+        #expect(derivative.propellantMassRateKilogramsPerSecond == -0.2)
+    }
+    @Test func shortBurnBoundariesCoastAndReplay() throws {
+        let burn = try FiniteBurn(start: epoch(10), end: epoch(10.1), thrust: thrust())
+        let provider = try propagator([burn])
+        let ignition = try provider.spacecraftState(at: burn.start)
+        #expect(ignition.cartesian.position == .zero)
+        #expect(ignition.cartesian.acceleration == SIMD3(0.2,0,0))
+        let cutoff = try provider.spacecraftState(at: burn.end)
+        #expect(cutoff.cartesian.acceleration == .zero)
+        let late = try provider.spacecraftState(at: epoch(100))
+        let expectedVelocity = 100*log(100/99.98)
+        #expect(abs(late.cartesian.velocity.x-expectedVelocity) < 1e-9)
+        #expect(abs(late.mass.propellantMassKilograms-9.98) < 1e-12)
+        #expect(abs(late.cartesian.position.x-cutoff.cartesian.position.x-expectedVelocity*89.9) < 1e-7)
+        #expect(try provider.spacecraftState(at: epoch(100)) == late)
+        let reverse = try propagator([burn], initial: late).spacecraftState(at: .j2000)
+        #expect(abs(reverse.cartesian.position.x) < 1e-7)
+        #expect(abs(reverse.cartesian.velocity.x) < 1e-9)
+        #expect(abs(reverse.mass.propellantMassKilograms-10) < 1e-12)
+    }
+    @Test func overlappingAndAdjacentEngines() throws {
+        let a = try FiniteBurn(start: epoch(1), end: epoch(3), thrust: thrust())
+        let b = try FiniteBurn(start: epoch(2), end: epoch(3), thrust: thrust(10, direction: SIMD3(0,1,0)))
+        let c = try FiniteBurn(start: epoch(3), end: epoch(4), thrust: thrust(10, direction: SIMD3(0,0,1)))
+        let provider = try propagator([c,b,a])
+        let atThree = try provider.spacecraftState(at: epoch(3))
+        #expect(abs(atThree.mass.propellantMassKilograms-9.5) < 1e-12)
+        #expect(atThree.cartesian.acceleration?.x == 0 && atThree.cartesian.acceleration?.y == 0)
+        let end = try provider.spacecraftState(at: epoch(4))
+        #expect(abs(end.mass.propellantMassKilograms-9.4) < 1e-12)
+        #expect(end.cartesian.velocity.x > 0 && end.cartesian.velocity.y > 0 && end.cartesian.velocity.z > 0)
+        #expect(end.cartesian.acceleration == .zero)
+    }
+    @Test func invalidInputsAndDepletion() throws {
+        #expect(throws: FiniteThrustError.invalidThrust) { try thrust(-1) }
+        #expect(throws: FiniteThrustError.invalidDirection) { try thrust(direction: .zero) }
+        #expect(throws: FiniteThrustError.invalidExhaustVelocity) {
+            try FiniteThrust(frame: frame, thrustNewtons: 1, effectiveExhaustVelocityMetresPerSecond: 0, direction: SIMD3(1,0,0))
+        }
+        #expect(throws: FiniteThrustError.invalidInterval) { try FiniteBurn(start: epoch(2), end: epoch(1), thrust: thrust()) }
+        let burn = try FiniteBurn(start: epoch(0), end: epoch(100), thrust: thrust())
+        #expect(throws: NumericalPropagationError.propellantDepleted) { try propagator([burn]).state(at: epoch(80)) }
+        let empty = try seed(propellant: 0)
+        #expect(throws: NumericalPropagationError.propellantDepleted) { try thrust().contribution(for: empty, in: context()) }
+        #expect(try thrust(0).contribution(for: empty, in: context()).accelerationMetresPerSecondSquared == .zero)
+        let normalized = try thrust(direction: SIMD3(1e308,1e308,0))
+        #expect(abs(normalized.direction.x-1/sqrt(2)) < 1e-15)
+        #expect(throws: SpacecraftDynamicsError.frameMismatch) {
+            try thrust().contribution(for: seed(), in: ForceEvaluationContext(frame: Frame(name: "Other", pseudoInertial: true), origin: .earth))
+        }
+    }
+}
diff --git a/Tests/CelMekTests/FiniteTransferPlannerTests.swift b/Tests/CelMekTests/FiniteTransferPlannerTests.swift
new file mode 100644
index 0000000..8f98df6
--- /dev/null
+++ b/Tests/CelMekTests/FiniteTransferPlannerTests.swift
@@ -0,0 +1,85 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Testing
+import Math
+@testable import CelMek
+
+@Suite struct FiniteTransferPlannerTests {
+    let frame = Frame(name: "Finite transfer", pseudoInertial: true)
+    func epoch(_ seconds: Double) throws -> Epoch { try Epoch.j2000.advanced(by: CelMek.Duration(seconds: seconds)) }
+    func seed() throws -> SpacecraftState {
+        try SpacecraftState(cartesian: CartesianState(epoch: .j2000, frame: frame,
+            position: SIMD3(1,0,0), velocity: SIMD3(0,1,0)),
+            mass: SpacecraftMassProperties(dryMassKilograms: 50, propellantMassKilograms: 50))
+    }
+    @Test func rocketEquationAndEndpointPlacement() throws {
+        let maneuvers = try [ImpulsiveManeuver(epoch: .j2000, frame: frame, deltaVelocityMetresPerSecond: SIMD3(1,0,0)),
+            ImpulsiveManeuver(epoch: epoch(10), frame: frame, deltaVelocityMetresPerSecond: SIMD3(0,2,0))]
+        let schedule = try FiniteTransferPlanner.initialGuess(initialState: seed(), arrivalEpoch: epoch(10),
+            maneuvers: maneuvers, thrustNewtons: 100, effectiveExhaustVelocityMetresPerSecond: 100)
+        #expect(schedule.burns.first?.start == .j2000)
+        let end = try epoch(10)
+        #expect(schedule.burns.last?.end == end)
+        let used = try schedule.burns.reduce(0.0) { try $0 + $1.end.duration(since: $1.start).seconds }
+        #expect(abs(used - 100 * -expm1(-0.03)) < 1e-12)
+        #expect(throws: FiniteTransferPlanningError.insufficientPropellant) {
+            try FiniteTransferPlanner.initialGuess(initialState: seed(), arrivalEpoch: epoch(10),
+                maneuvers: maneuvers, thrustNewtons: 100, effectiveExhaustVelocityMetresPerSecond: 1)
+        }
+        #expect(throws: FiniteTransferPlanningError.burnsDoNotFit) {
+            try FiniteTransferPlanner.initialGuess(initialState: seed(), arrivalEpoch: epoch(10),
+                maneuvers: maneuvers, thrustNewtons: 0.01, effectiveExhaustVelocityMetresPerSecond: 100)
+        }
+    }
+    @Test func shootingImprovesRealEndpointAndReportsBudget() throws {
+        let context = try ForceEvaluationContext(frame: frame, origin: .sun)
+        let engine = try FiniteThrust(frame: frame, thrustNewtons: 10,
+            effectiveExhaustVelocityMetresPerSecond: 100, direction: SIMD3(1,0,0))
+        let exact = try ScheduledThrust(frame: frame, burns: [FiniteBurn(start: epoch(2), end: epoch(4), thrust: engine)])
+        let target = try ScheduledThrustPropagator(initialState: seed(), schedule: exact, context: context).state(at: epoch(10))
+        let perturbed = try ScheduledThrust(frame: frame, burns: [FiniteBurn(start: epoch(2), end: epoch(3.6), thrust: engine)])
+        let result = try FiniteTransferPlanner.refine(initialState: seed(), initialSchedule: perturbed,
+            target: target, context: context, positionToleranceMetres: 1e-6, velocityToleranceMetresPerSecond: 1e-6)
+        #expect(result.status == .converged)
+        #expect(result.best.positionErrorMetres < result.initial.positionErrorMetres)
+        #expect(abs(result.best.propellantUsedKilograms - 0.2) < 1e-6)
+        let limited = try FiniteTransferPlanner.refine(initialState: seed(), initialSchedule: perturbed,
+            target: target, context: context, maximumEvaluations: 1)
+        #expect(limited.status == .evaluationLimitReached)
+        #expect(limited.evaluations == 1)
+        #expect(throws: FiniteTransferPlanningError.insufficientPropellant) {
+            try FiniteTransferPlanner.refine(initialState: seed(), initialSchedule: perturbed,
+                target: target, context: context, minimumRemainingPropellantKilograms: 50)
+        }
+    }
+    @Test func shorterBurnsApproachImpulsiveHohmannUnderGravity() throws {
+        let gm = try GravitationalParameter(cubicMetresPerSecondSquared: 1, convention: .newtonian, provenance: PhysicalDataProvenance(source: "Test", version: "1"))
+        let transfer = try HohmannTransfer(departureRadiusMetres: 1, arrivalRadiusMetres: 2, gravitationalParameter: gm)
+        let plan = try transfer.plan(departureEpoch: .j2000, frame: frame, centralBody: .sun,
+            radialDirection: SIMD3(1,0,0), progradeDirection: SIMD3(0,1,0))
+        let arrival = plan.arrivalEpoch
+        let target = try plan.trajectory.state(at: arrival)
+        let context = try ForceEvaluationContext(frame: frame, origin: .sun)
+        let gravity = try CentralGravity(body: .sun, gravitationalParameter: gm)
+        var errors: [Double] = []
+        for thrust in [1_000.0, 10_000.0] {
+            let schedule = try FiniteTransferPlanner.initialGuess(initialState: seed(), arrivalEpoch: arrival,
+                maneuvers: [plan.departureBurn, plan.arrivalBurn], thrustNewtons: thrust,
+                effectiveExhaustVelocityMetresPerSecond: 100)
+            let actual = try ScheduledThrustPropagator(initialState: seed(), schedule: schedule,
+                backgroundModels: [gravity], context: context, options: .preset(for: .full)).state(at: arrival)
+            errors.append(routeNorm(actual.position - target.position) + routeNorm(actual.velocity - target.velocity))
+            if thrust == 1_000 {
+                let refined = try FiniteTransferPlanner.refine(initialState: seed(), initialSchedule: schedule,
+                    target: target, context: context, backgroundModels: [gravity],
+                    positionToleranceMetres: 1e-5, velocityToleranceMetresPerSecond: 1e-5,
+                    maximumEvaluations: 100, numericalOptions: .preset(for: .full))
+                #expect(hypot(refined.best.positionErrorMetres, refined.best.velocityErrorMetresPerSecond) <
+                    hypot(refined.initial.positionErrorMetres, refined.initial.velocityErrorMetresPerSecond))
+                #expect(refined.evaluations <= 100)
+            }
+        }
+        #expect(errors[1] < errors[0] * 0.2)
+        #expect(errors[1] > 0)
+    }
+}
diff --git a/Tests/CelMekTests/Fixtures/brachistochrone-reference.json b/Tests/CelMekTests/Fixtures/brachistochrone-reference.json
new file mode 100644
index 0000000..1fa6b65
--- /dev/null
+++ b/Tests/CelMekTests/Fixtures/brachistochrone-reference.json
@@ -0,0 +1,578 @@
+[
+  {
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+          0.0,
+          0.0
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+      },
+      {
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+          1.0,
+          2.0,
+          3.0
+        ],
+        "velocity": [
+          0.0,
+          0.0,
+          0.0
+        ],
+        "acceleration": [
+          0.0,
+          0.0,
+          0.0
+        ]
+      },
+      {
+        "seconds": 0.0,
+        "position": [
+          1.0,
+          2.0,
+          3.0
+        ],
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+          0.0,
+          0.0,
+          0.0
+        ],
+        "acceleration": [
+          0.0,
+          0.0,
+          0.0
+        ]
+      }
+    ]
+  }
+]
diff --git a/Tests/CelMekTests/Fixtures/de441-reference.md b/Tests/CelMekTests/Fixtures/de441-reference.md
new file mode 100644
index 0000000..89c73bf
--- /dev/null
+++ b/Tests/CelMekTests/Fixtures/de441-reference.md
@@ -0,0 +1,29 @@
+# Independent DE441 regression references
+
+`de441-testpo.json` contains numerical reference facts selected from JPL's
+independently supplied `testpo.441`, not output generated by the Swift reader.
+Source: https://ssd.jpl.nasa.gov/ftp/eph/planets/ascii/de441/testpo.441
+Source SHA-256: e60c08ced7741a07d4dfe89b124afb4b1648bd1e3d0eb68dd9a79bf6990bb9c2
+
+Regenerate from a local reference file, with no external library or network:
+
+```sh
+python3 Tools/extract_de441_reference_fixtures.py Data/DE441/testpo.441 Tests/CelMekTests/Fixtures/de441-testpo.json
+```
+
+The selection covers all six vector components of targets 1–13 and all four
+nutation components of target 14. It includes record-boundary and interior
+position/derivative cases for Earth, Moon, EMB and nutation, modern relative
+Earth/Moon/EMB components for the SI adapter, and widely separated epochs across
+the supported local binary subset. Native vector units are AU and AU/TDB-day;
+nutation units are radians and radians/TDB-day. The absolute native tolerance
+is 1e-12; adapter tolerances multiply it by the appropriate SI/rate scale.
+Identifiers are JPL testpo identifiers, not NAIF IDs; centre 12 is SSB.
+
+The fixture's contents and coverage mix are checked even without external data.
+Numerical comparisons run only if the optional native binary exists in
+Data/DE441 or CELMEK_DE441_DATA_DIRECTORY; testpo.441 is not required for these
+pinned checks. Invalid present binaries fail. Full testpo scanning remains an
+additional optional validation path, not a replacement for pinned cases.
+These checks establish reader agreement with JPL reference interpolation;
+they do not certify the ephemeris's physical accuracy at every epoch.
diff --git a/Tests/CelMekTests/Fixtures/de441-testpo.json b/Tests/CelMekTests/Fixtures/de441-testpo.json
new file mode 100644
index 0000000..c8d8dc5
--- /dev/null
+++ b/Tests/CelMekTests/Fixtures/de441-testpo.json
@@ -0,0 +1,665 @@
+{
+  "source": "JPL DE441 testpo.441 independently supplied reference values",
+  "sourceURL": "https://ssd.jpl.nasa.gov/ftp/eph/planets/ascii/de441/testpo.441",
+  "sourceSHA256": "e60c08ced7741a07d4dfe89b124afb4b1648bd1e3d0eb68dd9a79bf6990bb9c2",
+  "binaryCoverage": [
+    -3027215.5,
+    7930192.5
+  ],
+  "recordDays": 32,
+  "tolerance": 1e-12,
+  "units": "vectors AU and AU/TDB-day; nutations radians and radians/TDB-day",
+  "rows": [
+    {
+      "jd": -3027192.5,
+      "target": 10,
+      "center": 11,
+      "component": 5,
+      "expected": -0.01341169303288234
+    },
+    {
+      "jd": -287878.5,
+      "target": 12,
+      "center": 4,
+      "component": 5,
+      "expected": 0.007192953041596485
+    },
+    {
+      "jd": 2432976.5,
+      "target": 3,
+      "center": 8,
+      "component": 4,
+      "expected": -0.0067037082764800195
+    },
+    {
+      "jd": 2446278.5,
+      "target": 8,
+      "center": 12,
+      "component": 3,
+      "expected": -11.474221574991345
+    },
+    {
+      "jd": 2446704.5,
+      "target": 13,
+      "center": 12,
+      "component": 5,
+      "expected": 0.015576406593592744
+    },
+    {
+      "jd": 2447069.5,
+      "target": 10,
+      "center": 4,
+      "component": 4,
+      "expected": 0.0004953940082323219
+    },
+    {
+      "jd": 2447951.5,
+      "target": 11,
+      "center": 12,
+      "component": 2,
+      "expected": 0.0002344056270938633
+    },
+    {
+      "jd": 2447982.5,
+      "target": 9,
+      "center": 10,
+      "component": 2,
+      "expected": -21.925249444154574
+    },
+    {
+      "jd": 2448591.5,
+      "target": 10,
+      "center": 13,
+      "component": 5,
+      "expected": -0.0005317131274498788
+    },
+    {
+      "jd": 2448653.5,
+      "target": 12,
+      "center": 2,
+      "component": 1,
+      "expected": 0.4607413197244218
+    },
+    {
+      "jd": 2449047.5,
+      "target": 2,
+      "center": 1,
+      "component": 5,
+      "expected": 0.0007183102103564124
+    },
+    {
+      "jd": 2449261.5,
+      "target": 14,
+      "center": 0,
+      "component": 3,
+      "expected": -6.6667362883096e-07
+    },
+    {
+      "jd": 2449353.5,
+      "target": 13,
+      "center": 1,
+      "component": 6,
+      "expected": -0.001265900679423492
+    },
+    {
+      "jd": 2449384.5,
+      "target": 9,
+      "center": 7,
+      "component": 6,
+      "expected": -0.001861094027672815
+    },
+    {
+      "jd": 2449534.5,
+      "target": 10,
+      "center": 3,
+      "component": 3,
+      "expected": 0.00035318549699607445
+    },
+    {
+      "jd": 2449749.5,
+      "target": 7,
+      "center": 12,
+      "component": 4,
+      "expected": 0.003485917190168687
+    },
+    {
+      "jd": 2449808.5,
+      "target": 14,
+      "center": 0,
+      "component": 1,
+      "expected": 4.900437992140744e-05
+    },
+    {
+      "jd": 2449838.5,
+      "target": 6,
+      "center": 13,
+      "component": 6,
+      "expected": 0.007284984948701985
+    },
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diff --git a/Tests/CelMekTests/Fixtures/earth-orientation-erfa.json b/Tests/CelMekTests/Fixtures/earth-orientation-erfa.json
new file mode 100644
index 0000000..9f8f07e
--- /dev/null
+++ b/Tests/CelMekTests/Fixtures/earth-orientation-erfa.json
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diff --git a/Tests/CelMekTests/Fixtures/earth-orientation-reference.md b/Tests/CelMekTests/Fixtures/earth-orientation-reference.md
new file mode 100644
index 0000000..57a4a30
--- /dev/null
+++ b/Tests/CelMekTests/Fixtures/earth-orientation-reference.md
@@ -0,0 +1,9 @@
+Earth-orientation matrices generated using ERFA 2.0.1 in an external temporary
+shared library. Generator: Tools/generate_earth_orientation_fixtures.py.
+No C code or ERFA library is required to build or test this Swift package.
+
+150 matrices cover all five edges at 30 split TT dates spanning J2000 ±1000
+Julian years, including fractional dates near integer-day boundaries. These
+are numerical port regression cases, not a claim of physical accuracy over
+that entire interval. UT1−TT = −64.184 s; xp = 2.55060238e−7 rad;
+yp = 1.860359247e−6 rad. Adaptation license: Documentation/licenses/ERFA.txt.
diff --git a/Tests/CelMekTests/Fixtures/gravity-reference.json b/Tests/CelMekTests/Fixtures/gravity-reference.json
new file mode 100644
index 0000000..199b79b
--- /dev/null
+++ b/Tests/CelMekTests/Fixtures/gravity-reference.json
@@ -0,0 +1,102 @@
+[
+  {
+    "position": [
+      7000000.0,
+      0,
+      0
+    ],
+    "bodyPosition": null,
+    "gm": 398600441800000.0,
+    "acceleration": [
+      -8.13470289387755,
+      0.0,
+      0.0
+    ]
+  },
+  {
+    "position": [
+      1,
+      2,
+      3
+    ],
+    "bodyPosition": null,
+    "gm": 1,
+    "acceleration": [
+      -0.019090088708030313,
+      -0.038180177416060626,
+      -0.05727026612409094
+    ]
+  },
+  {
+    "position": [
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+    "bodyPosition": [
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+    "acceleration": [
+      1.2427847504714688e-06,
+      0.0,
+      0.0
+    ]
+  },
+  {
+    "position": [
+      0.001,
+      0.002,
+      -0.003
+    ],
+    "bodyPosition": [
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+      0,
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+    ],
+    "gm": 1e+20,
+    "acceleration": [
+      1.9999999999999836e-19,
+      -2.000000000000006e-19,
+      3.000000000000009e-19
+    ]
+  },
+  {
+    "position": [
+      2,
+      3,
+      4
+    ],
+    "bodyPosition": [
+      -4,
+      8,
+      1
+    ],
+    "gm": 10,
+    "acceleration": [
+      -0.04757848201506247,
+      -0.024365896903314425,
+      -0.06494150438201683
+    ]
+  },
+  {
+    "position": [
+      0,
+      0,
+      0
+    ],
+    "bodyPosition": [
+      3,
+      4,
+      5
+    ],
+    "gm": 1,
+    "acceleration": [
+      0.0,
+      0.0,
+      0.0
+    ]
+  }
+]
diff --git a/Tests/CelMekTests/Fixtures/hohmann-reference.json b/Tests/CelMekTests/Fixtures/hohmann-reference.json
new file mode 100644
index 0000000..02eecc2
--- /dev/null
+++ b/Tests/CelMekTests/Fixtures/hohmann-reference.json
@@ -0,0 +1,79 @@
+[
+  {
+    "r1": 7000000.0,
+    "r2": 42164000.0,
+    "gm": 398600441800000.0,
+    "a": 24582000.0,
+    "e": 0.7152387926124807,
+    "dv1": 2336.7957823862034,
+    "dv2": 1433.9314509179267,
+    "total": 3770.72723330413,
+    "seconds": 19178.154205709034
+  },
+  {
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diff --git a/Tests/CelMekTests/Fixtures/iau-pck00011.json b/Tests/CelMekTests/Fixtures/iau-pck00011.json
new file mode 100644
index 0000000..c163941
--- /dev/null
+++ b/Tests/CelMekTests/Fixtures/iau-pck00011.json
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diff --git a/Tests/CelMekTests/Fixtures/jpl-gm-2022.json b/Tests/CelMekTests/Fixtures/jpl-gm-2022.json
new file mode 100644
index 0000000..c2def90
--- /dev/null
+++ b/Tests/CelMekTests/Fixtures/jpl-gm-2022.json
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diff --git a/Tests/CelMekTests/Fixtures/observed-pole-erfa.json b/Tests/CelMekTests/Fixtures/observed-pole-erfa.json
new file mode 100644
index 0000000..6100f30
--- /dev/null
+++ b/Tests/CelMekTests/Fixtures/observed-pole-erfa.json
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+  },
+  {
+    "mjd": 62502.0,
+    "old": true,
+    "dx": 1.2e-09,
+    "dy": -2.3e-09,
+    "matrix": [
+      0.9999956537879418,
+      -8.793848984936263e-09,
+      -0.0029482885250214285,
+      5.784093867122784e-08,
+      0.9999999998616251,
+      1.6635698264043567e-05,
+      0.002948288524467168,
+      -1.6635796493546935e-05,
+      0.999995653649568
+    ]
+  },
+  {
+    "mjd": 62502.0,
+    "old": true,
+    "dx": -8e-09,
+    "dy": 5e-09,
+    "matrix": [
+      0.999995653815066,
+      -8.804686753743353e-09,
+      -0.0029482793250211847,
+      5.783010090430021e-08,
+      0.9999999998617466,
+      1.6628398264350078e-05,
+      0.002948279324467167,
+      -1.6628496493546926e-05,
+      0.9999956536768138
+    ]
+  }
+]
diff --git a/Tests/CelMekTests/Fixtures/simulation-save-v1.json b/Tests/CelMekTests/Fixtures/simulation-save-v1.json
new file mode 100644
index 0000000..d355d56
--- /dev/null
+++ b/Tests/CelMekTests/Fixtures/simulation-save-v1.json
@@ -0,0 +1,45 @@
+{
+  "format": "celmek.simulation",
+  "schemaVersion": 1,
+  "clock": {
+    "epoch": {"offsetFromJ2000": {"wholeSeconds": "2", "fractionalSecond": 0.5}},
+    "anchor": {"offsetFromJ2000": {"wholeSeconds": "0", "fractionalSecond": 0}},
+    "realElapsed": {"wholeSeconds": "1", "fractionalSecond": 0.25},
+    "rate": 2,
+    "isPaused": false
+  },
+  "states": [{
+    "id": "ship",
+    "frameID": "earth-inertial-v1",
+    "epoch": {"offsetFromJ2000": {"wholeSeconds": "8000000000000", "fractionalSecond": 0.125}},
+    "positionMetres": {"x": 7000000, "y": 0, "z": 0},
+    "velocityMetresPerSecond": {"x": 0, "y": 7500, "z": 0},
+    "dryMassKilograms": 100,
+    "propellantMassKilograms": 25
+  }],
+  "twoBodyInputs": [{
+    "id": "coast",
+    "initialState": {
+      "id": "coast",
+      "frameID": "earth-inertial-v1",
+      "epoch": {"offsetFromJ2000": {"wholeSeconds": "0", "fractionalSecond": 0}},
+      "positionMetres": {"x": 7000000, "y": 0, "z": 0},
+      "velocityMetresPerSecond": {"x": 0, "y": 7500, "z": 0}
+    },
+    "centralBody": {"naif": 399},
+    "gmCubicMetresPerSecondSquared": 398600441800000,
+    "gmConvention": "newtonian",
+    "gmSource": "Version 1 fixture",
+    "gmVersion": "1",
+    "absoluteTimeToleranceSeconds": 0.00000001,
+    "relativeTimeTolerance": 0.000000000001,
+    "maximumIterations": 100,
+    "maximumBracketExpansions": 90
+  }],
+  "dependencies": [{
+    "id": "earth-inertial-v1",
+    "kind": "frame",
+    "version": "1",
+    "parameters": {"origin": "naif:399", "axes": "ICRF", "pseudoInertial": "true"}
+  }]
+}
diff --git a/Tests/CelMekTests/Fixtures/spice-oracle/README.md b/Tests/CelMekTests/Fixtures/spice-oracle/README.md
new file mode 100644
index 0000000..bea3b2e
--- /dev/null
+++ b/Tests/CelMekTests/Fixtures/spice-oracle/README.md
@@ -0,0 +1,76 @@
+# Pinned SPICE black-box references
+
+Generated on 2026-10-13 with **CSPICE_N0067**, binary SpiceyPy **8.3.0**, NumPy
+2.5.4, on macOS arm64. The input states, attitude samples, polynomial coefficients,
+clock correlations and abbreviated leap-second history are synthetic test data.
+They do not represent a mission or a physical accuracy claim.
+
+`Scripts/generate_spice_oracle.py` calls public writer/query APIs against the binary
+oracle. No NASA/NAIF toolkit implementation source was inspected, translated or
+used to derive the native Swift algorithms. Writer output supplies independent
+small standard DAF files; query output supplies reference values for those files.
+The script uses `m2q` to create attitude input quaternions independently of Swift.
+
+| Asset | Coverage and purpose |
+| --- | --- |
+| states.bsp | SPK 2/3, targets 399/499 relative to centre 3, plus 3 relative to 0; -20 to +20 TDB seconds |
+| attitudes.bc | CK 1/2/3 with rates, CK 3 without rates; encoded ticks 0 to 100, multiple intervals/gaps |
+| rotation.bpc | Binary PCK 2, frame class 3000 in J2000; -20 to +20 TDB seconds |
+| frames.tf | Oracle-only class-2 frame registration for querying binary PCK via pxform |
+| time.tls | Synthetic post-1971 leap history, including the 1972 positive leap labels |
+| clock.tsc | Two partitions and two TDB correlation slopes; ticks 0 to 2000 |
+
+`reference.json` pins the toolkit/wrapper identity, inputs, expected outputs and
+SHA-256 for all six kernel files. Its own SHA-256 is
+`666a60aa902cd7bfffb479f8cf9ecc136575b144e54b3c29caf74fbdc17850be`.
+The Swift test pins that hash and verifies asset hashes when CryptoKit is available;
+all numeric checks run regardless. The fixture folder is copied by the existing
+test-resource declaration, and needs no network or oracle installation to test.
+
+Reference units/conventions:
+
+- SPK: geometric J2000 Cartesian states, km and km/TDB second, aberration `NONE`;
+  primitive centre composition and SI/atomic-epoch adapter are both compared.
+- CK: reference-to-instrument row-major matrices, encoded requested/selected times,
+  stored physical angular rates in reference axes (rad/model second).
+- Binary PCK: J2000-to-body row-major orientation matrices from `pxform`.
+- UTC: UTC labels converted by `str2et` then `unitim(ET, TT)` into TT seconds past
+  J2000. Absolute-double precision at these distant epochs sets the 0.3 microsecond
+  comparison tolerance; Swift UTC round trips remain exact.
+- SCLK: fractional ticks converted by `sct2e` into TDB seconds, including correlation
+  boundaries. This is a synthetic kernel-specific convention, not a universal clock.
+
+Typical numeric comparison tolerances are 2e-12 km, 2e-13 km/s, and 2e-13 matrix/rate
+components. Boundary and timestamp selection is exact. Synthetic public-format tests
+separately cover both byte orders, malformed inputs, priority and unload/reload.
+This oracle set contains the platform's little-endian writer output. Large real
+mission/planetary assets remain optional; these fixtures do not validate deferred
+SPK/CK/PCK types, all toolkit frame classes, or aberration corrections.
+
+## Optional regeneration
+
+Install binary wheels only into an external environment (not a library dependency),
+then run:
+
+```sh
+PYTHONPATH=/path/to/optional/oracle python3 Scripts/generate_spice_oracle.py
+```
+
+The script replaces its generated files. Review numerical changes and update the
+pinned reference hash deliberately. The required binary oracle and Python wrapper
+are not distributed here. The bundled kernel data and reference outputs are generated
+test artifacts from project-authored synthetic inputs, rather than redistributed JPL
+mission datasets. Their file structure follows public SPICE documentation.
+
+Public format/behavior references (not implementation source):
+
+- [DAF Required Reading](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/daf.html)
+- [SPK Required Reading](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/spk.html)
+- [CK Required Reading](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/ck.html), including type-3 independent rate interpolation
+- [PCK Required Reading](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/pck.html)
+- [Time Required Reading](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/time.html)
+- [SCLK Required Reading](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/sclk.html)
+
+Public API contracts used by the optional generator: spkopn/spkw02/spkw03/spkcls,
+spkez, ckopn/ckw01/ckw02/ckw03/ckcls, ckgp/ckgpav, rotate/m2q,
+pckopn/pckw02/pckcls, furnsh/pxform, str2et/unitim and sct2e.
diff --git a/Tests/CelMekTests/Fixtures/spice-oracle/attitudes.bc b/Tests/CelMekTests/Fixtures/spice-oracle/attitudes.bc
new file mode 100644
index 0000000..992bbc3
Binary files /dev/null and b/Tests/CelMekTests/Fixtures/spice-oracle/attitudes.bc differ
diff --git a/Tests/CelMekTests/Fixtures/spice-oracle/clock.tsc b/Tests/CelMekTests/Fixtures/spice-oracle/clock.tsc
new file mode 100644
index 0000000..b613cdb
--- /dev/null
+++ b/Tests/CelMekTests/Fixtures/spice-oracle/clock.tsc
@@ -0,0 +1,11 @@
+KPL/SCLK
+\begindata
+SCLK_DATA_TYPE_77=1
+SCLK01_N_FIELDS_77=2
+SCLK01_MODULI_77=(1000 10)
+SCLK01_OFFSETS_77=(0 0)
+SCLK01_OUTPUT_DELIM_77=2
+SCLK01_TIME_SYSTEM_77=1
+SCLK_PARTITION_START_77=(0 0)
+SCLK_PARTITION_END_77=(1000 1000)
+SCLK01_COEFFICIENTS_77=(0 0 20 1000 2000 10)
diff --git a/Tests/CelMekTests/Fixtures/spice-oracle/frames.tf b/Tests/CelMekTests/Fixtures/spice-oracle/frames.tf
new file mode 100644
index 0000000..fc54f25
--- /dev/null
+++ b/Tests/CelMekTests/Fixtures/spice-oracle/frames.tf
@@ -0,0 +1,7 @@
+KPL/FK
+\begindata
+FRAME_ORACLE_PCK = 13000
+FRAME_13000_NAME = 'ORACLE_PCK'
+FRAME_13000_CLASS = 2
+FRAME_13000_CLASS_ID = 3000
+FRAME_13000_CENTER = 301
diff --git a/Tests/CelMekTests/Fixtures/spice-oracle/reference.json b/Tests/CelMekTests/Fixtures/spice-oracle/reference.json
new file mode 100644
index 0000000..22aae5d
--- /dev/null
+++ b/Tests/CelMekTests/Fixtures/spice-oracle/reference.json
@@ -0,0 +1,884 @@
+{
+  "schema": 1,
+  "toolkit": "CSPICE_N0067",
+  "wrapper": "8.3.0",
+  "generator": "Scripts/generate_spice_oracle.py",
+  "platform": "macOS-27.0.1-arm64-arm-64bit-Mach-O",
+  "basis": "Public NAIF format/behavior/API documentation; binary oracle only",
+  "spk": [
+    {
+      "body": 399,
+      "centre": 0,
+      "t": -20,
+      "state": [
+        11.0,
+        0.9500000000000002,
+        0.9100000000000001,
+        0.135,
+        -0.020000000000000004,
+        0.011000000000000003
+      ]
+    },
+    {
+      "body": 399,
+      "centre": 0,
+      "t": -17.125,
+      "state": [
+        11.3550625,
+        0.9007656249999996,
+        0.9432781249999997,
+        0.11199999999999999,
+        -0.01425,
+        0.012149999999999998
+      ]
+    },
+    {
+      "body": 399,
+      "centre": 0,
+      "t": -1e-06,
+      "state": [
+        12.100000024999996,
+        0.9499999800000012,
+        1.2099999810000002,
+        -0.024999992000000006,
+        0.019999998,
+        0.018999999599999998
+      ]
+    },
+    {
+      "body": 399,
+      "centre": 0,
+      "t": 0,
+      "state": [
+        11.51,
+        1.1600000000000001,
+        0.8200000000000001,
+        0.13199999999999998,
+        -0.023,
+        0.008
+      ]
+    },
+    {
+      "body": 399,
+      "centre": 0,
+      "t": 6.25,
+      "state": [
+        12.1865625,
+        1.0631249999999994,
+        0.8856250000000001,
+        0.08449999999999999,
+        -0.008000000000000002,
+        0.012999999999999998
+      ]
+    },
+    {
+      "body": 399,
+      "centre": 0,
+      "t": 20,
+      "state": [
+        12.629999999999999,
+        1.1800000000000002,
+        1.14,
+        -0.019999999999999997,
+        0.025,
+        0.023999999999999997
+      ]
+    },
+    {
+      "body": 499,
+      "centre": 0,
+      "t": -20,
+      "state": [
+        11.0,
+        0.9500000000000002,
+        0.9100000000000001,
+        0.405,
+        0.113,
+        -0.21500000000000002
+      ]
+    },
+    {
+      "body": 499,
+      "centre": 0,
+      "t": -17.125,
+      "state": [
+        11.3550625,
+        0.9007656249999996,
+        0.9432781249999997,
+        0.41075000000000006,
+        0.1100459375,
+        -0.212125
+      ]
+    },
+    {
+      "body": 499,
+      "centre": 0,
+      "t": -1e-06,
+      "state": [
+        12.100000024999996,
+        0.9499999800000012,
+        1.2099999810000002,
+        0.44499999800000006,
+        0.11299999880000006,
+        -0.195000001
+      ]
+    },
+    {
+      "body": 499,
+      "centre": 0,
+      "t": 0,
+      "state": [
+        11.51,
+        1.1600000000000001,
+        0.8200000000000001,
+        0.41500000000000004,
+        0.123,
+        -0.20500000000000002
+      ]
+    },
+    {
+      "body": 499,
+      "centre": 0,
+      "t": 6.25,
+      "state": [
+        12.1865625,
+        1.0631249999999994,
+        0.8856250000000001,
+        0.41656250000000006,
+        0.10690625,
+        -0.2096875
+      ]
+    },
+    {
+      "body": 499,
+      "centre": 0,
+      "t": 20,
+      "state": [
+        12.629999999999999,
+        1.1800000000000002,
+        1.14,
+        0.47500000000000003,
+        0.14300000000000002,
+        -0.165
+      ]
+    }
+  ],
+  "ck": [
+    {
+      "instrument": -77001,
+      "tick": 0,
+      "tolerance": 0,
+      "selected": 0.0,
+      "matrix": [
+        [
+          0.9553364891256061,
+          0.2721921352954314,
+          0.11508098899676864
+        ],
+        [
+          -0.2955202066613395,
+          0.8799231762812572,
+          0.3720255519422596
+        ],
+        [
+          -2.0816681711721685e-17,
+          -0.38941834230865047,
+          0.9210609940028851
+        ]
+      ],
+      "rate": [
+        0.0,
+        0.02,
+        -0.03
+      ]
+    },
+    {
+      "instrument": -77001,
+      "tick": 20,
+      "tolerance": 0,
+      "selected": 20.0,
+      "matrix": [
+        [
+          0.7648421872844884,
+          0.5933637833613874,
+          0.2508701838500143
+        ],
+        [
+          -0.644217687237691,
+          0.7044663052755917,
+          0.2978435767000479
+        ],
+        [
+          0.0,
+          -0.38941834230865047,
+          0.9210609940028851
+        ]
+      ],
+      "rate": [
+        0.01,
+        0.02,
+        -0.03
+      ]
+    },
+    {
+      "instrument": -77001,
+      "tick": 19,
+      "tolerance": 2,
+      "selected": 20.0,
+      "matrix": [
+        [
+          0.7648421872844884,
+          0.5933637833613874,
+          0.2508701838500143
+        ],
+        [
+          -0.644217687237691,
+          0.7044663052755917,
+          0.2978435767000479
+        ],
+        [
+          0.0,
+          -0.38941834230865047,
+          0.9210609940028851
+        ]
+      ],
+      "rate": [
+        0.01,
+        0.02,
+        -0.03
+      ]
+    },
+    {
+      "instrument": -77001,
+      "tick": 100,
+      "tolerance": 0,
+      "selected": 100.0,
+      "matrix": [
+        [
+          -0.02919952230128886,
+          0.9206682563964541,
+          0.3892522955119081
+        ],
+        [
+          -0.9995736030415052,
+          -0.026894541035234587,
+          -0.011370829570772345
+        ],
+        [
+          2.7755575615628914e-17,
+          -0.3894183423086506,
+          0.9210609940028851
+        ]
+      ],
+      "rate": [
+        0.04,
+        0.02,
+        -0.03
+      ]
+    },
+    {
+      "instrument": -77002,
+      "tick": 0,
+      "tolerance": 0,
+      "selected": 0.0,
+      "matrix": [
+        [
+          0.9553364891256061,
+          0.2721921352954314,
+          0.11508098899676864
+        ],
+        [
+          -0.2955202066613395,
+          0.8799231762812572,
+          0.3720255519422596
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+        [
+          -2.0816681711721685e-17,
+          -0.38941834230865047,
+          0.9210609940028851
+        ]
+      ],
+      "rate": [
+        0.0,
+        0.02,
+        -0.03
+      ]
+    },
+    {
+      "instrument": -77002,
+      "tick": 15,
+      "tolerance": 0,
+      "selected": 15.0,
+      "matrix": [
+        [
+          0.7051447000408294,
+          -0.5575467528198863,
+          -0.43807826974677655
+        ],
+        [
+          0.6896027528763062,
+          0.6830009733346479,
+          0.2407440833111868
+        ],
+        [
+          0.16498180272305446,
+          -0.4718593952057373,
+          0.8661002920714937
+        ]
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+      "rate": [
+        0.0,
+        0.02,
+        -0.03
+      ]
+    },
+    {
+      "instrument": -77002,
+      "tick": 40,
+      "tolerance": 0,
+      "selected": 40.0,
+      "matrix": [
+        [
+          -0.850089019401699,
+          -0.4051365390843592,
+          -0.3364714605897584
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+        [
+          0.5244895403547609,
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+          -0.61034166107183
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+          0.047532948058262636,
+          -0.6953205058677734,
+          0.717126218296803
+        ]
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+      "rate": [
+        0.0,
+        0.02,
+        -0.03
+      ]
+    },
+    {
+      "instrument": -77002,
+      "tick": 60,
+      "tolerance": 0,
+      "selected": 60.0,
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+          0.4535961214255775,
+          0.8208563369208727,
+          0.3470524928083928
+        ],
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+          -0.3894183423086505,
+          0.9210609940028851
+        ]
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+      "rate": [
+        0.02,
+        0.02,
+        -0.03
+      ]
+    },
+    {
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+      "tick": 77,
+      "tolerance": 0,
+      "selected": 77.0,
+      "matrix": [
+        [
+          0.6970728592430422,
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+      "rate": [
+        0.02,
+        0.02,
+        -0.03
+      ]
+    },
+    {
+      "instrument": -77002,
+      "tick": 100,
+      "tolerance": 0,
+      "selected": 100.0,
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+        ],
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+          0.8777695970705189
+        ]
+      ],
+      "rate": [
+        0.02,
+        0.02,
+        -0.03
+      ]
+    },
+    {
+      "instrument": -77003,
+      "tick": 0,
+      "tolerance": 0,
+      "selected": 0.0,
+      "matrix": [
+        [
+          0.9553364891256061,
+          0.2721921352954314,
+          0.11508098899676864
+        ],
+        [
+          -0.2955202066613395,
+          0.8799231762812572,
+          0.3720255519422596
+        ],
+        [
+          -2.0816681711721685e-17,
+          -0.38941834230865047,
+          0.9210609940028851
+        ]
+      ],
+      "rate": [
+        0.0,
+        0.02,
+        -0.03
+      ]
+    },
+    {
+      "instrument": -77003,
+      "tick": 7,
+      "tolerance": 0,
+      "selected": 7.0,
+      "matrix": [
+        [
+          0.9047516632199634,
+          0.3923162270787467,
+          0.16586864040983487
+        ],
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+          -0.4259394650659995,
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+        ],
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+          0.9210609940028851
+        ]
+      ],
+      "rate": [
+        0.0034999999999999996,
+        0.02,
+        -0.03
+      ]
+    },
+    {
+      "instrument": -77003,
+      "tick": 20,
+      "tolerance": 0,
+      "selected": 20.0,
+      "matrix": [
+        [
+          0.7648421872844884,
+          0.5933637833613874,
+          0.2508701838500143
+        ],
+        [
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+      "selected": 20.0,
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+    {
+      "instrument": -77003,
+      "tick": 60,
+      "tolerance": 0,
+      "selected": 60.0,
+      "matrix": [
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+          0.8208563369208727,
+          0.3470524928083928
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+          0.17663864968318171
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+          -0.3894183423086505,
+          0.9210609940028851
+        ]
+      ],
+      "rate": [
+        0.02,
+        0.02,
+        -0.03
+      ]
+    },
+    {
+      "instrument": -77003,
+      "tick": 73,
+      "tolerance": 0,
+      "selected": 73.0,
+      "matrix": [
+        [
+          0.2723132557491779,
+          0.8862528578128667,
+          0.3747016983705964
+        ],
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+          0.25081711802049966,
+          0.10604377664251645
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+        [
+          -3.046596596323086e-17,
+          -0.3894183423086505,
+          0.9210609940028851
+        ]
+      ],
+      "rate": [
+        0.0265,
+        0.02,
+        -0.03
+      ]
+    },
+    {
+      "instrument": -77003,
+      "tick": 100,
+      "tolerance": 0,
+      "selected": 100.0,
+      "matrix": [
+        [
+          -0.02919952230128886,
+          0.9206682563964541,
+          0.3892522955119081
+        ],
+        [
+          -0.9995736030415052,
+          -0.026894541035234587,
+          -0.011370829570772345
+        ],
+        [
+          2.7755575615628914e-17,
+          -0.3894183423086506,
+          0.9210609940028851
+        ]
+      ],
+      "rate": [
+        0.04,
+        0.02,
+        -0.03
+      ]
+    },
+    {
+      "instrument": -77004,
+      "tick": 7,
+      "tolerance": 0,
+      "selected": 7.0,
+      "matrix": [
+        [
+          0.9047516632199634,
+          0.3923162270787467,
+          0.16586864040983487
+        ],
+        [
+          -0.4259394650659995,
+          0.8333314662511432,
+          0.35232689289211255
+        ],
+        [
+          -2.2079545191983576e-17,
+          -0.3894183423086505,
+          0.9210609940028851
+        ]
+      ],
+      "rate": null
+    },
+    {
+      "instrument": -77004,
+      "tick": 73,
+      "tolerance": 0,
+      "selected": 73.0,
+      "matrix": [
+        [
+          0.2723132557491779,
+          0.8862528578128667,
+          0.3747016983705964
+        ],
+        [
+          -0.9622086523947303,
+          0.25081711802049966,
+          0.10604377664251645
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+        [
+          -3.046596596323086e-17,
+          -0.3894183423086505,
+          0.9210609940028851
+        ]
+      ],
+      "rate": null
+    }
+  ],
+  "pck": [
+    {
+      "t": -20,
+      "matrix": [
+        [
+          0.9980136004577793,
+          0.040959211789793684,
+          -0.04786644201169176
+        ],
+        [
+          -0.018399885730713432,
+          0.9161825803362498,
+          0.40033851137944226
+        ],
+        [
+          0.060251950228988535,
+          -0.3986625420803539,
+          0.9151163204946318
+        ]
+      ]
+    },
+    {
+      "t": -17.125,
+      "matrix": [
+        [
+          0.9962941183477161,
+          0.0732127766941459,
+          -0.04514331705225418
+        ],
+        [
+          -0.049631246143070615,
+          0.9180010755536974,
+          0.39345999121707514
+        ],
+        [
+          0.07024791208308724,
+          -0.3897613559743809,
+          0.9182327135519507
+        ]
+      ]
+    },
+    {
+      "t": -1e-06,
+      "matrix": [
+        [
+          0.9901649639041565,
+          0.1365690830864449,
+          -0.030368236722074116
+        ],
+        [
+          -0.11462357795678028,
+          0.9163549114368651,
+          0.38360801824508417
+        ],
+        [
+          0.08021707818828935,
+          -0.3763543035896662,
+          0.9229965647479254
+        ]
+      ]
+    },
+    {
+      "t": 0,
+      "matrix": [
+        [
+          0.9971579658506932,
+          0.060531873556890235,
+          -0.0448540235006899
+        ],
+        [
+          -0.0368888571182362,
+          0.9113959998744794,
+          0.40987381428106445
+        ],
+        [
+          0.06569020749714637,
+          -0.40705432523987606,
+          0.9110387329540337
+        ]
+      ]
+    },
+    {
+      "t": 6.25,
+      "matrix": [
+        [
+          0.9939554565953826,
+          0.10128908351479021,
+          -0.042344679299746106
+        ],
+        [
+          -0.07720017370250387,
+          0.9191009567511701,
+          0.3863852539621397
+        ],
+        [
+          0.0780556435151727,
+          -0.3807807149263442,
+          0.9213649459663714
+        ]
+      ]
+    },
+    {
+      "t": 20,
+      "matrix": [
+        [
+          0.9807791298280912,
+          0.19407327184332046,
+          -0.020195634421350573
+        ],
+        [
+          -0.16871985887781285,
+          0.8955071444787154,
+          0.41182588967648465
+        ],
+        [
+          0.0980097327509014,
+          -0.4005028331280639,
+          0.9110387329540337
+        ]
+      ]
+    }
+  ],
+  "utc": [
+    {
+      "label": "1972 JAN 01 00:00:00 UTC",
+      "mjd": 41317,
+      "seconds": 0,
+      "tt": -883655957.816
+    },
+    {
+      "label": "1972 JUN 30 23:59:59 UTC",
+      "mjd": 41498,
+      "seconds": 86399,
+      "tt": -867931158.816
+    },
+    {
+      "label": "1972 JUN 30 23:59:60 UTC",
+      "mjd": 41498,
+      "seconds": 86400,
+      "tt": -867931157.816
+    },
+    {
+      "label": "1972 JUL 01 00:00:00 UTC",
+      "mjd": 41499,
+      "seconds": 0,
+      "tt": -867931156.816
+    },
+    {
+      "label": "1973 JAN 01 00:00:00 UTC",
+      "mjd": 41683,
+      "seconds": 0,
+      "tt": -852033555.816
+    }
+  ],
+  "sclk": [
+    {
+      "tick": 0,
+      "tdb": 0.0
+    },
+    {
+      "tick": 17.125,
+      "tdb": 34.25
+    },
+    {
+      "tick": 999.5,
+      "tdb": 1999.0
+    },
+    {
+      "tick": 1000,
+      "tdb": 2000.0
+    },
+    {
+      "tick": 1000.5,
+      "tdb": 2000.5
+    },
+    {
+      "tick": 1750,
+      "tdb": 2750.0
+    },
+    {
+      "tick": 2000,
+      "tdb": 3000.0
+    }
+  ],
+  "assets": {
+    "attitudes.bc": "aaa860029aff7e7007ae93706896a609f0d52dc32e95334873342bbf2dd41a87",
+    "clock.tsc": "2cb35970e32743fa3c8bd1716282f92ec89162026c19cdbc59af6030ef397a49",
+    "frames.tf": "18467abf43bdf716a81e9be455aba624ecf13d194a4dd1e4ada53e6f0d92c94c",
+    "rotation.bpc": "3ee93b158958324760969bc4b704a3eb5be1586199132db8259e7fa3f7141194",
+    "states.bsp": "718165e7c6c41e96b7d8f823cec97a325a9290c2324aed687f4fb90fb33a15f8",
+    "time.tls": "522d4b5a8e4331f389db6aecab51cc0b546ebc7cb210fe3f27c790d2838985ad"
+  }
+}
diff --git a/Tests/CelMekTests/Fixtures/spice-oracle/rotation.bpc b/Tests/CelMekTests/Fixtures/spice-oracle/rotation.bpc
new file mode 100644
index 0000000..491336b
Binary files /dev/null and b/Tests/CelMekTests/Fixtures/spice-oracle/rotation.bpc differ
diff --git a/Tests/CelMekTests/Fixtures/spice-oracle/states.bsp b/Tests/CelMekTests/Fixtures/spice-oracle/states.bsp
new file mode 100644
index 0000000..684c314
Binary files /dev/null and b/Tests/CelMekTests/Fixtures/spice-oracle/states.bsp differ
diff --git a/Tests/CelMekTests/Fixtures/spice-oracle/time.tls b/Tests/CelMekTests/Fixtures/spice-oracle/time.tls
new file mode 100644
index 0000000..0040322
--- /dev/null
+++ b/Tests/CelMekTests/Fixtures/spice-oracle/time.tls
@@ -0,0 +1,7 @@
+KPL/LSK
+\begindata
+DELTET/DELTA_T_A=32.184
+DELTET/K=1.657D-3
+DELTET/EB=1.671D-2
+DELTET/M=(6.239996 1.99096871D-7)
+DELTET/DELTA_AT=(10 @1972-JAN-1 11 @1972-JUL-1 12 @1973-JAN-1)
diff --git a/Tests/CelMekTests/Fixtures/spk21/README.md b/Tests/CelMekTests/Fixtures/spk21/README.md
new file mode 100644
index 0000000..fd3a167
--- /dev/null
+++ b/Tests/CelMekTests/Fixtures/spk21/README.md
@@ -0,0 +1,35 @@
+# Type 21 binary oracle fixtures
+
+Generated with binary SpiceyPy 8.3.0 and CSPICE_N0067. No toolkit implementation
+source was inspected or translated. Scripts/generate_spk21_oracle.py calls the
+published SPKW21 writer contract via its Fortran entry point (no C wrapper), then
+queries geometric J2000 states through spkez. Synthetic difference tables have
+independent random coefficients, per-axis orders, interleaved reference states,
+and variable steps. Dimension 15 has 201 records to exercise both directory blocks;
+dimension 25 has two records to exercise maximum supported integration orders.
+Reference epochs are interior to their records; queries lie on both sides.
+
+The real fixture is NASA/JPL Horizons' Ceres export, obtained through
+Tools/SmallBodies/extract.py kernels with requested 2000-01-01 through 2000-01-03
+TDB. Its original kernel comments are preserved. It is target 20000001 relative to
+Sun (10), frame J2000 (1), type 21. It is test data, not a production coverage choice.
+The real reference states were evaluated against the binary oracle, including both
+sides of every internal boundary. References pin file SHA-256, native centre/axes,
+record selections, positions in km and velocities in km/TDB second. Synthetic
+position tolerance is 6e-8 km; real tolerance is 1e-7 km; velocity tolerances are
+2e-13 and 1e-12 km/s respectively. These are implementation comparison tolerances.
+
+Regenerate synthetic fixtures with an external optional binary installation:
+
+```sh
+PYTHONPATH=/path/to/oracle python3 Scripts/generate_spk21_oracle.py
+```
+
+Add or replace the real references with:
+
+```sh
+PYTHONPATH=/path/to/oracle python3 Scripts/generate_spk21_oracle.py --horizons /path/to/20000001.bsp
+```
+
+The public-format synthetic Swift fixtures separately cover big-endian input and
+malformed directories/records. There is no toolkit runtime dependency in CelMek.
diff --git a/Tests/CelMekTests/Fixtures/spk21/dimension15.bsp b/Tests/CelMekTests/Fixtures/spk21/dimension15.bsp
new file mode 100644
index 0000000..373704b
Binary files /dev/null and b/Tests/CelMekTests/Fixtures/spk21/dimension15.bsp differ
diff --git a/Tests/CelMekTests/Fixtures/spk21/dimension25.bsp b/Tests/CelMekTests/Fixtures/spk21/dimension25.bsp
new file mode 100644
index 0000000..3029bce
Binary files /dev/null and b/Tests/CelMekTests/Fixtures/spk21/dimension25.bsp differ
diff --git a/Tests/CelMekTests/Fixtures/spk21/horizons-ceres.bsp b/Tests/CelMekTests/Fixtures/spk21/horizons-ceres.bsp
new file mode 100644
index 0000000..158bb3b
Binary files /dev/null and b/Tests/CelMekTests/Fixtures/spk21/horizons-ceres.bsp differ
diff --git a/Tests/CelMekTests/Fixtures/spk21/horizons-reference.json b/Tests/CelMekTests/Fixtures/spk21/horizons-reference.json
new file mode 100644
index 0000000..d86067d
--- /dev/null
+++ b/Tests/CelMekTests/Fixtures/spk21/horizons-reference.json
@@ -0,0 +1,241 @@
+{
+  "schema": 1,
+  "toolkit": "CSPICE_N0067",
+  "wrapper": "8.3.0",
+  "file": "horizons-ceres.bsp",
+  "body": 20000001,
+  "center": 10,
+  "frame": 1,
+  "sha256": "ddde6e92a88fd62079a9fb3e6a7b6e00c5a4946ed1b9e886fea49e100e9092b5",
+  "origin": "NASA/JPL Horizons API; Ceres; requested 2000-01-01 through 2000-01-03 TDB",
+  "states": [
+    {
+      "t": -43200.0,
+      "record": 0,
+      "state": [
+        -355673469.3089466,
+        82367468.7019014,
+        111177562.04612058,
+        -6.2426329705505745,
+        -17.038106991700797,
+        -6.749095017754345
+      ]
+    },
+    {
+      "t": -18514.285714285714,
+      "record": 0,
+      "state": [
+        -355827314.39651287,
+        81946811.01205397,
+        111010874.96125586,
+        -6.221666713110847,
+        -17.04295168271867,
+        -6.7556439792126755
+      ]
+    },
+    {
+      "t": 43200.0,
+      "record": 0,
+      "state": [
+        -356209661.8604216,
+        80894646.25732003,
+        110593451.04749043,
+        -6.169214688790309,
+        -17.05495416824947,
+        -6.771972367243308
+      ]
+    },
+    {
+      "t": 96153.98172092436,
+      "record": 0,
+      "state": [
+        -356535153.78482497,
+        79991248.63446487,
+        110234478.31334575,
+        -6.124167125322807,
+        -17.0651284407602,
+        -6.785932723159241
+      ]
+    },
+    {
+      "t": 96153.98172092438,
+      "record": 0,
+      "state": [
+        -356535153.78482497,
+        79991248.63446487,
+        110234478.31334575,
+        -6.124167125322807,
+        -17.0651284407602,
+        -6.785932723159241
+      ]
+    },
+    {
+      "t": 96153.98172092439,
+      "record": 1,
+      "state": [
+        -356535153.7848254,
+        79991248.63446389,
+        110234478.31334534,
+        -6.124167125322758,
+        -17.065128440760212,
+        -6.785932723159258
+      ]
+    },
+    {
+      "t": 125249.15520465373,
+      "record": 1,
+      "state": [
+        -356712977.21634495,
+        79494655.06638262,
+        110036929.09131333,
+        -6.099400073665966,
+        -17.070669659883734,
+        -6.793583348906672
+      ]
+    },
+    {
+      "t": 125249.15520465374,
+      "record": 1,
+      "state": [
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+        110036929.09131333,
+        -6.099400073665966,
+        -17.070669659883734,
+        -6.793583348906672
+      ]
+    },
+    {
+      "t": 125249.15520465375,
+      "record": 2,
+      "state": [
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+        79494655.06638268,
+        110036929.09131335,
+        -6.099400073665968,
+        -17.070669659883734,
+        -6.793583348906671
+      ]
+    },
+    {
+      "t": 128867.05880475043,
+      "record": 2,
+      "state": [
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+        79432893.78696305,
+        110012348.8424519,
+        -6.096319570942293,
+        -17.071356266974824,
+        -6.79453370056958
+      ]
+    },
+    {
+      "t": 128867.05880475044,
+      "record": 2,
+      "state": [
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+        110012348.8424519,
+        -6.096319570942293,
+        -17.071356266974824,
+        -6.79453370056958
+      ]
+    },
+    {
+      "t": 128867.05880475046,
+      "record": 3,
+      "state": [
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+        110012348.84245212,
+        -6.096319570942323,
+        -17.071356266974817,
+        -6.794533700569572
+      ]
+    },
+    {
+      "t": 129515.62499999999,
+      "record": 3,
+      "state": [
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+        110007942.08234186,
+        -6.095767323909814,
+        -17.071479295334317,
+        -6.794704043094202
+      ]
+    },
+    {
+      "t": 129515.625,
+      "record": 3,
+      "state": [
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+        110007942.08234186,
+        -6.095767323909814,
+        -17.071479295334317,
+        -6.794704043094202
+      ]
+    },
+    {
+      "t": 129515.62500000001,
+      "record": 4,
+      "state": [
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+        110007942.08234201,
+        -6.095767323909831,
+        -17.071479295334314,
+        -6.794704043094195
+      ]
+    },
+    {
+      "t": 129557.81249999999,
+      "record": 4,
+      "state": [
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+        110007655.43053147,
+        -6.095731401520493,
+        -17.071487297402822,
+        -6.794715123178789
+      ]
+    },
+    {
+      "t": 129557.8125,
+      "record": 4,
+      "state": [
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+        110007655.43053147,
+        -6.095731401520493,
+        -17.071487297402822,
+        -6.794715123178789
+      ]
+    },
+    {
+      "t": 129557.81250000001,
+      "record": 5,
+      "state": [
+        -356739249.5375325,
+        79421101.63928363,
+        110007655.43053149,
+        -6.095731401520494,
+        -17.071487297402822,
+        -6.794715123178788
+      ]
+    },
+    {
+      "t": 129600.0,
+      "record": 5,
+      "state": [
+        -356739506.70044327,
+        79420381.43574448,
+        110007368.77825351,
+        -6.095695479107485,
+        -17.071495299398293,
+        -6.794726203233822
+      ]
+    }
+  ]
+}
diff --git a/Tests/CelMekTests/Fixtures/spk21/reference.json b/Tests/CelMekTests/Fixtures/spk21/reference.json
new file mode 100644
index 0000000..25d4325
--- /dev/null
+++ b/Tests/CelMekTests/Fixtures/spk21/reference.json
@@ -0,0 +1,282 @@
+{
+  "schema": 1,
+  "toolkit": "CSPICE_N0067",
+  "wrapper": "8.3.0",
+  "basis": "Published API contracts; binary oracle only",
+  "files": [
+    {
+      "name": "dimension15.bsp",
+      "dimension": 15,
+      "count": 201,
+      "sha256": "dd5d91306426791f127e9dbc0734b0e10668edcd1135c93eae5eab461a20d912"
+    },
+    {
+      "name": "dimension25.bsp",
+      "dimension": 25,
+      "count": 2,
+      "sha256": "0ece1bbbebee3e36ffffa4bc978b49eb2978b8b17580d712b50aca0d441ed067"
+    }
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diff --git a/Tests/CelMekTests/Fixtures/tdb-erfa.json b/Tests/CelMekTests/Fixtures/tdb-erfa.json
new file mode 100644
index 0000000..c43524f
--- /dev/null
+++ b/Tests/CelMekTests/Fixtures/tdb-erfa.json
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diff --git a/Tests/CelMekTests/Fixtures/tdb-reference.md b/Tests/CelMekTests/Fixtures/tdb-reference.md
new file mode 100644
index 0000000..d446ac4
--- /dev/null
+++ b/Tests/CelMekTests/Fixtures/tdb-reference.md
@@ -0,0 +1,15 @@
+Geocentric TDB−TT samples generated with external ERFA 2.0.1 eraDtdb.
+Source: https://github.com/liberfa/erfa/blob/v2.0.1/src/dtdb.c
+Generator: Tools/characterize_tdb_adapter.py.
+
+TT dates are supplied as (2451545, daysSinceJ2000), as permitted by the
+reference. UT1, longitude and observer coordinates are all zero; u=v=0
+removes topocentric terms. Rate and acceleration are centred differences of
+the reference offset with a 300-second step. The stored rate is d(TDB−TT)/dTT,
+so add 1 to obtain dTDB/dTT. Acceleration is d²(TDB−TT)/dTT².
+
+4,874 samples: four six-hour phases every 30 days from 1950-01-01 TT through
+2050-01-01 TT, plus final endpoint and J2000. These are independent reference
+values, not snapshots generated by the Swift approximation. See TIME.md and
+TDB_CHARACTERIZATION.json for measured limitations and denser survey results.
+No external reference library is needed to run the Swift tests.
diff --git a/Tests/CelMekTests/Fixtures/two_body_reference.json b/Tests/CelMekTests/Fixtures/two_body_reference.json
new file mode 100644
index 0000000..31f7d67
--- /dev/null
+++ b/Tests/CelMekTests/Fixtures/two_body_reference.json
@@ -0,0 +1,464 @@
+{
+  "provenance": "80-digit Decimal conic equations; generate_two_body_fixtures.py",
+  "cases": [
+    {
+      "name": "circular",
+      "radius": 1.0,
+      "speed": 1.0,
+      "gm": 1.0,
+      "seconds": 0.1,
+      "position": [
+        0.9950041652780258,
+        0.09983341664682815,
+        0
+      ],
+      "velocity": [
+        -0.09983341664682815,
+        0.9950041652780258,
+        0
+      ]
+    },
+    {
+      "name": "circular",
+      "radius": 1.0,
+      "speed": 1.0,
+      "gm": 1.0,
+      "seconds": -1.0,
+      "position": [
+        0.5403023058681398,
+        -0.8414709848078965,
+        0
+      ],
+      "velocity": [
+        0.8414709848078965,
+        0.5403023058681398,
+        0
+      ]
+    },
+    {
+      "name": "circular",
+      "radius": 1.0,
+      "speed": 1.0,
+      "gm": 1.0,
+      "seconds": 10.0,
+      "position": [
+        -0.8390715290764524,
+        -0.5440211108893698,
+        0
+      ],
+      "velocity": [
+        0.5440211108893698,
+        -0.8390715290764524,
+        0
+      ]
+    },
+    {
+      "name": "circular",
+      "radius": 1.0,
+      "speed": 1.0,
+      "gm": 1.0,
+      "seconds": -100.0,
+      "position": [
+        0.8623188722876839,
+        0.5063656411097588,
+        0
+      ],
+      "velocity": [
+        -0.5063656411097588,
+        0.8623188722876839,
+        0
+      ]
+    },
+    {
+      "name": "elliptic",
+      "radius": 1.0,
+      "speed": 1.2,
+      "gm": 1.0,
+      "seconds": 0.1,
+      "position": [
+        0.9950096386101678,
+        0.11980049437941588,
+        0
+      ],
+      "velocity": [
+        -0.09961501474985958,
+        1.1940246866802697,
+        0
+      ]
+    },
+    {
+      "name": "elliptic",
+      "radius": 1.0,
+      "speed": 1.2,
+      "gm": 1.0,
+      "seconds": -1.0,
+      "position": [
+        0.5756971781441452,
+        -1.0376962989118375,
+        0
+      ],
+      "velocity": [
+        0.7287029920064775,
+        0.7709393393583193,
+        0
+      ]
+    },
+    {
+      "name": "elliptic",
+      "radius": 1.0,
+      "speed": 1.2,
+      "gm": 1.0,
+      "seconds": 10.0,
+      "position": [
+        -2.093090723116187,
+        -1.0922925249288986,
+        0
+      ],
+      "velocity": [
+        0.38553969670064847,
+        -0.3721185434671154,
+        0
+      ]
+    },
+    {
+      "name": "elliptic",
+      "radius": 1.0,
+      "speed": 1.2,
+      "gm": 1.0,
+      "seconds": -100.0,
+      "position": [
+        -2.0775119278574827,
+        1.107138523167906,
+        0
+      ],
+      "velocity": [
+        -0.3919176666617829,
+        -0.3687549722608456,
+        0
+      ]
+    },
+    {
+      "name": "near-parabolic-bound",
+      "radius": 1.0,
+      "speed": 1.414213562373095,
+      "gm": 1.0,
+      "seconds": 0.1,
+      "position": [
+        0.9950165701334183,
+        0.14118682469099852,
+        0
+      ],
+      "velocity": [
+        -0.09933911165724892,
+        1.4072008755018393,
+        0
+      ]
+    },
+    {
+      "name": "near-parabolic-bound",
+      "radius": 1.0,
+      "speed": 1.414213562373095,
+      "gm": 1.0,
+      "seconds": -1.0,
+      "position": [
+        0.6087217812824688,
+        -1.2510447133776332,
+        0
+      ],
+      "velocity": [
+        0.6358341476892686,
+        1.0164850878472784,
+        0
+      ]
+    },
+    {
+      "name": "near-parabolic-bound",
+      "radius": 1.0,
+      "speed": 1.414213562373095,
+      "gm": 1.0,
+      "seconds": 10.0,
+      "position": [
+        -4.804720802155884,
+        4.8185976392124195,
+        0
+      ],
+      "velocity": [
+        -0.5007204800257341,
+        0.2078283008944377,
+        0
+      ]
+    },
+    {
+      "name": "near-parabolic-bound",
+      "radius": 1.0,
+      "speed": 1.414213562373095,
+      "gm": 1.0,
+      "seconds": -100.0,
+      "position": [
+        -32.59757398407958,
+        -11.592682861888248,
+        0
+      ],
+      "velocity": [
+        0.23693177641756932,
+        0.04087609041673971,
+        0
+      ]
+    },
+    {
+      "name": "parabolic",
+      "radius": 1.0,
+      "speed": 1.0,
+      "gm": 0.5,
+      "seconds": 0.1,
+      "position": [
+        0.9975041545571199,
+        0.09991687430819703,
+        0
+      ],
+      "velocity": [
+        -0.04983405904493101,
+        0.9975103682930702,
+        0
+      ]
+    },
+    {
+      "name": "parabolic",
+      "radius": 1.0,
+      "speed": 1.0,
+      "gm": 0.5,
+      "seconds": -1.0,
+      "position": [
+        0.7826384230843639,
+        -0.9324410478215469,
+        0
+      ],
+      "velocity": [
+        0.3829762108083052,
+        0.8214486303515892,
+        0
+      ]
+    },
+    {
+      "name": "parabolic",
+      "radius": 1.0,
+      "speed": 1.0,
+      "gm": 0.5,
+      "seconds": 10.0,
+      "position": [
+        -3.2640616510696154,
+        4.129920895644185,
+        0
+      ],
+      "velocity": [
+        -0.39227512607161596,
+        0.18996737999768828,
+        0
+      ]
+    },
+    {
+      "name": "parabolic",
+      "radius": 1.0,
+      "speed": 1.0,
+      "gm": 0.5,
+      "seconds": -100.0,
+      "position": [
+        -25.267338202384362,
+        -10.250334277941255,
+        0
+      ],
+      "velocity": [
+        0.18795993583717174,
+        0.036673913404299804,
+        0
+      ]
+    },
+    {
+      "name": "near-parabolic-unbound",
+      "radius": 1.0,
+      "speed": 1.4142135623730951,
+      "gm": 1.0,
+      "seconds": 0.1,
+      "position": [
+        0.9950165701334183,
+        0.14118682469099852,
+        0
+      ],
+      "velocity": [
+        -0.09933911165724892,
+        1.4072008755018395,
+        0
+      ]
+    },
+    {
+      "name": "near-parabolic-unbound",
+      "radius": 1.0,
+      "speed": 1.4142135623730951,
+      "gm": 1.0,
+      "seconds": -1.0,
+      "position": [
+        0.6087217812824688,
+        -1.2510447133776335,
+        0
+      ],
+      "velocity": [
+        0.6358341476892686,
+        1.0164850878472786,
+        0
+      ]
+    },
+    {
+      "name": "near-parabolic-unbound",
+      "radius": 1.0,
+      "speed": 1.4142135623730951,
+      "gm": 1.0,
+      "seconds": 10.0,
+      "position": [
+        -4.804720802155884,
+        4.818597639212425,
+        0
+      ],
+      "velocity": [
+        -0.5007204800257343,
+        0.20782830089443838,
+        0
+      ]
+    },
+    {
+      "name": "near-parabolic-unbound",
+      "radius": 1.0,
+      "speed": 1.4142135623730951,
+      "gm": 1.0,
+      "seconds": -100.0,
+      "position": [
+        -32.597573984079645,
+        -11.592682861888322,
+        0
+      ],
+      "velocity": [
+        0.23693177641757024,
+        0.040876090416740486,
+        0
+      ]
+    },
+    {
+      "name": "hyperbolic",
+      "radius": 1.0,
+      "speed": 2.0,
+      "gm": 1.0,
+      "seconds": 0.1,
+      "position": [
+        0.9950410156007705,
+        0.19967124831585098,
+        0
+      ],
+      "velocity": [
+        -0.0983721463408564,
+        1.9902274174546881,
+        0
+      ]
+    },
+    {
+      "name": "hyperbolic",
+      "radius": 1.0,
+      "speed": 2.0,
+      "gm": 1.0,
+      "seconds": -1.0,
+      "position": [
+        0.6787983516107053,
+        -1.8425463843654948,
+        0
+      ],
+      "velocity": [
+        0.46917441028545614,
+        1.6728449384080843,
+        0
+      ]
+    },
+    {
+      "name": "hyperbolic",
+      "radius": 1.0,
+      "speed": 2.0,
+      "gm": 1.0,
+      "seconds": 10.0,
+      "position": [
+        -3.7448082302739474,
+        14.766993836891606,
+        0
+      ],
+      "velocity": [
+        -0.4846587297053677,
+        1.3770938743577874,
+        0
+      ]
+    },
+    {
+      "name": "hyperbolic",
+      "radius": 1.0,
+      "speed": 2.0,
+      "gm": 1.0,
+      "seconds": -100.0,
+      "position": [
+        -46.519367210723765,
+        -135.81191780748352,
+        0
+      ],
+      "velocity": [
+        0.47302073607613154,
+        1.337977213818566,
+        0
+      ]
+    },
+    {
+      "name": "earth-elliptic",
+      "radius": 7000000.0,
+      "speed": 9000.0,
+      "gm": 398600441800000.0,
+      "seconds": 100.0,
+      "position": [
+        6959415.505848428,
+        898261.695568692,
+        0
+      ],
+      "velocity": [
+        -809.915280844067,
+        8947.947435273923,
+        0
+      ]
+    },
+    {
+      "name": "earth-elliptic",
+      "radius": 7000000.0,
+      "speed": 9000.0,
+      "gm": 398600441800000.0,
+      "seconds": -1000.0,
+      "position": [
+        3614426.6980998646,
+        -7616189.080411359,
+        0
+      ],
+      "velocity": [
+        5715.97753755317,
+        5385.649210936937,
+        0
+      ]
+    },
+    {
+      "name": "earth-elliptic",
+      "radius": 7000000.0,
+      "speed": 9000.0,
+      "gm": 398600441800000.0,
+      "seconds": 10000.0,
+      "position": [
+        -9552992.116101637,
+        -10225051.071639633,
+        0
+      ],
+      "velocity": [
+        4623.211970845323,
+        -1646.3346030174323,
+        0
+      ]
+    }
+  ]
+}
diff --git a/Tests/CelMekTests/FluidWrenchTests.swift b/Tests/CelMekTests/FluidWrenchTests.swift
new file mode 100644
index 0000000..f3a2d6c
--- /dev/null
+++ b/Tests/CelMekTests/FluidWrenchTests.swift
@@ -0,0 +1,55 @@
+// SPDX-License-Identifier: Apache-2.0
+import FluidDynamics
+import Atmospheres
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct FluidWrenchTests {
+    @Test func rotatesForceTransfersMomentAndSubtractsAirVelocity() throws {
+        let frame = Frame(name: "Aero inertial", pseudoInertial: true)
+        let body = Frame(parent: frame, name: "Aero body", pseudoInertial: false)
+        let spacecraft = try SpacecraftState(cartesian: CartesianState(epoch: .j2000, frame: frame,
+            position: SIMD3(6371000, 0, 0), velocity: SIMD3(0, 737.1, 0)),
+            mass: SpacecraftMassProperties(dryMassKilograms: 100))
+        let attitude = try AttitudeState(epoch: .j2000, referenceFrame: frame, bodyFrame: body,
+            bodyToReference: Quaternion(angle: .pi/2, axis: SIMD3(0, 0, 1)))
+        let state = try CoupledSpacecraftState(spacecraft: spacecraft, attitude: attitude)
+        let context = try RotationalEvaluationContext(inertia: RigidBodyInertia(
+            principalMomentsKilogramSquareMetres: SIMD3(2, 3, 4)), bodyFrame: body,
+            referenceContext: ForceEvaluationContext(frame: frame, origin: .earth))
+        let ambient = try ISAAtmosphere().properties(at: 0)
+        let flow = try state.fluidFlow(mediumVelocityReferenceMetresPerSecond: SIMD3(0, 637.1, 0),
+                                            properties: ambient)
+        #expect(abs(flow.relativeVelocityMetresPerSecond.x-100) < 1e-10)
+        #expect(abs(flow.relativeVelocityMetresPerSecond.y) < 1e-10)
+        let sample = try AtmosphereSample(epoch: .j2000, frame: frame, origin: .earth,
+            densityKilogramsPerCubicMetre: ambient.densityKilogramsPerCubicMetre,
+            velocityMetresPerSecond: SIMD3(0, 637.1, 0))
+        let checked = try state.fluidFlow(atmosphere: sample, origin: .earth, properties: ambient)
+        #expect(checked.relativeVelocityMetresPerSecond == flow.relativeVelocityMetresPerSecond)
+        #expect(throws: EnvironmentalForceError.originMismatch) {
+            try state.fluidFlow(atmosphere: sample, origin: .mars, properties: ambient)
+        }
+        let adapter = try FluidWrench(bodyFrame: body, centreOfMassBodyMetres: SIMD3(1, 0, 0)) { _, _ in
+            try FluidLoads(forceNewtons: SIMD3(-10, 0, -20),
+                momentNewtonMetres: SIMD3(0, 3, 0), referencePointMetres: SIMD3(2, 0, 0))
+        }
+        let wrench = try adapter.contribution(for: state, in: context)
+        #expect(abs(wrench.forceReferenceNewtons.x) < 1e-12)
+        #expect(abs(wrench.forceReferenceNewtons.y+10) < 1e-12)
+        #expect(wrench.forceReferenceNewtons.z == -20)
+        #expect(wrench.torqueBodyNewtonMetres == SIMD3(0, 23, 0))
+        #expect(wrench.propellantMassRateKilogramsPerSecond == 0)
+        let derivative = try CoupledSpacecraftDynamics(context: context, wrenchModels: [adapter]).derivative(at: state)
+        #expect(abs(derivative.translation.velocityRateMetresPerSecondSquared.y+0.1) < 1e-12)
+        #expect(derivative.translation.velocityRateMetresPerSecondSquared.z == -0.2)
+        #expect(abs(derivative.rotation.angularAccelerationBodyRadiansPerSecondSquared.y-23.0/3) < 1e-12)
+        let wrongBody = Frame(name: "Other body", pseudoInertial: false)
+        let wrong = try FluidWrench(bodyFrame: wrongBody) { _, _ in
+            Issue.record("Frame mismatch must fail before evaluation")
+            return try FluidLoads(forceNewtons: .zero, momentNewtonMetres: .zero)
+        }
+        #expect(throws: AttitudeError.frameMismatch) { try wrong.contribution(for: state, in: context) }
+    }
+}
diff --git a/Tests/CelMekTests/FrameTransformTests.swift b/Tests/CelMekTests/FrameTransformTests.swift
new file mode 100644
index 0000000..1d912ca
--- /dev/null
+++ b/Tests/CelMekTests/FrameTransformTests.swift
@@ -0,0 +1,167 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Testing
+import Math
+import CelMek
+
+@Suite
+struct FrameTransformTests {
+  func close(_ actual: SIMD3<Double>, _ expected: SIMD3<Double>, tolerance: Double = 1e-10) {
+    for axis in 0..<3 { #expect(abs(actual[axis] - expected[axis]) < tolerance) }
+  }
+
+  @Test
+  func rotatingCoordinatesIncludeCentripetalAndCoriolisTerms() throws {
+    let tree = FrameTree()
+    let child = try tree.makeFrame(parent: tree.root, name: "Rotating",
+      provider: UniformRotationProvider(axis: SIMD3(0, 0, 2), rate: 0.5))
+    let state = try CartesianState(epoch: .j2000, frame: tree.root,
+      position: SIMD3(2, 0, 0), velocity: SIMD3(0, 3, 0), acceleration: .zero)
+    let converted = try tree.convert(state, to: child)
+    close(converted.position, SIMD3(2, 0, 0))
+    close(converted.velocity, SIMD3(0, 2, 0))
+    close(converted.acceleration!, SIMD3(2.5, 0, 0))
+    let restored = try tree.convert(converted, to: tree.root)
+    close(restored.position, state.position)
+    close(restored.velocity, state.velocity)
+    close(restored.acceleration!, state.acceleration!)
+    let quarterTurn = try Epoch.j2000.advanced(by: CelMek.Duration(seconds: .pi))
+    let transform = try tree.transform(from: tree.root, to: child, at: quarterTurn)
+    close(transform.rotation.matrix * SIMD3(2, 0, 0), SIMD3(0, -2, 0))
+  }
+
+  @Test
+  func compositionAndInverseRecoverAllDerivatives() throws {
+    let frame = Frame(name: "Source", pseudoInertial: true)
+    let destination = Frame(name: "Destination", pseudoInertial: false)
+    let a = try FrameTransform(epoch: .j2000, rotation: Quaternion(angle: 0.7, axis: SIMD3(1, 2, 3)),
+      translation: SIMD3(5, -2, 7), velocity: SIMD3(2, 3, -1), acceleration: SIMD3(-1, 2, 4),
+      angularVelocity: SIMD3(0.1, -0.2, 0.3), angularAcceleration: SIMD3(-0.2, 0.05, 0.1))
+    let b = try FrameTransform(epoch: .j2000, rotation: Quaternion(angle: -0.4, axis: SIMD3(2, -1, 1)),
+      translation: SIMD3(-3, 8, 1), velocity: SIMD3(4, -1, 2), acceleration: SIMD3(3, 1, -2),
+      angularVelocity: SIMD3(-0.3, 0.2, 0.1), angularAcceleration: SIMD3(0.1, 0.2, -0.1))
+    let state = try CartesianState(epoch: .j2000, frame: frame,
+      position: SIMD3(3, 7, -4), velocity: SIMD3(1, -2, 5), acceleration: SIMD3(-2, 1, 3))
+    let composed = try a.followed(by: b)
+    let sequential = try b.applying(to: a.applying(to: state, destination: destination), destination: destination)
+    let direct = try composed.applying(to: state, destination: destination)
+    close(direct.position, sequential.position)
+    close(direct.velocity, sequential.velocity)
+    close(direct.acceleration!, sequential.acceleration!)
+    let restored = try composed.inverted().applying(to: direct, destination: frame)
+    close(restored.position, state.position)
+    close(restored.velocity, state.velocity)
+    close(restored.acceleration!, state.acceleration!)
+  }
+
+  @Test
+  func derivativesMatchIndependentMovingTrajectory() throws {
+    // Independent explicit trajectory: rotate a polynomial inertial path into
+    // clockwise-turning axes, then add a polynomial translation. Angle has
+    // nonzero acceleration to exercise the Euler term.
+    let frame = Frame(name: "Test", pseudoInertial: true)
+    func point(_ t: Double) -> SIMD3<Double> {
+      let theta = -(0.3*t + 0.02*t*t)
+      let x = 2 + 3*t + 0.5*t*t
+      let y = -1 + 2*t - t*t
+      return SIMD3(cos(theta)*x - sin(theta)*y + t*t,
+                   sin(theta)*x + cos(theta)*y - 3*t, 4 + t + 2*t*t)
+    }
+    let t = 0.7
+    let epoch = try Epoch.j2000.advanced(by: CelMek.Duration(seconds: t))
+    let transform = try FrameTransform(epoch: epoch,
+      rotation: Quaternion(angle: -(0.3*t + 0.02*t*t), axis: SIMD3(0, 0, 1)),
+      translation: SIMD3(t*t, -3*t, 2*t*t), velocity: SIMD3(2*t, -3, 4*t),
+      acceleration: SIMD3(2, 0, 4), angularVelocity: SIMD3(0, 0, -(0.3 + 0.04*t)),
+      angularAcceleration: SIMD3(0, 0, -0.04))
+    let state = try CartesianState(epoch: epoch, frame: frame,
+      position: SIMD3(2 + 3*t + 0.5*t*t, -1 + 2*t - t*t, 4 + t),
+      velocity: SIMD3(3 + t, 2 - 2*t, 1), acceleration: SIMD3(1, -2, 0))
+    let result = try transform.applying(to: state, destination: frame)
+    let h = 0.0001
+    close(result.position, point(t))
+    close(result.velocity, (point(t+h)-point(t-h))/(2*h), tolerance: 1e-7)
+    close(result.acceleration!, (point(t+h)-2*point(t)+point(t-h))/(h*h), tolerance: 1e-6)
+  }
+
+  @Test
+  func treeHandlesSiblingsIdentityOwnershipAndUnknownAcceleration() throws {
+    let tree = FrameTree()
+    let parent = try tree.makeFrame(parent: tree.root, name: "Offset",
+      provider: FixedTransformProvider(translation: SIMD3(5, 0, 0)))
+    let a = try tree.makeFrame(parent: parent, name: "Same",
+      provider: FixedTransformProvider(translation: SIMD3(0, 2, 0)))
+    let b = try tree.makeFrame(parent: parent, name: "Same",
+      provider: FixedTransformProvider(translation: SIMD3(0, 0, 3)))
+    #expect(a.parent === parent && a.depth == 2)
+    let state = try CartesianState(epoch: .j2000, frame: a, position: SIMD3(1, 2, 3), velocity: .zero)
+    let converted = try tree.convert(state, to: b)
+    close(converted.position, SIMD3(1, 0, 6))
+    #expect(converted.acceleration == nil)
+    #expect(try tree.convert(state, to: a) == state)
+    let outsider = Frame(name: "Same", pseudoInertial: true)
+    #expect(throws: FrameTransformError.disconnectedFrames) { try tree.convert(state, to: outsider) }
+    #expect(throws: FrameTransformError.disconnectedFrames) {
+      try tree.makeFrame(parent: outsider, name: "Bad", provider: FixedTransformProvider())
+    }
+    // A child retains its parent even without a tree or another owner.
+    var temporary: Frame? = Frame(name: "Retained", pseudoInertial: true)
+    weak let weakParent = temporary
+    let child = Frame(parent: temporary, name: "Child", pseudoInertial: false)
+    temporary = nil
+    #expect(weakParent != nil && child.parent === weakParent)
+  }
+
+  @Test
+  func releasingTreeDoesNotCycleThroughFramesOrBuiltInProviders() throws {
+    var tree: FrameTree? = FrameTree()
+    weak let observedTree = tree
+    weak let observedRoot = tree!.root
+    var child: Frame? = try tree!.makeFrame(parent: tree!.root, name: "Child",
+      provider: UniformRotationProvider(axis: SIMD3(0, 0, 1), rate: 1))
+    tree = nil
+    #expect(observedTree == nil)
+    #expect(observedRoot != nil && child!.parent === observedRoot)
+    child = nil
+    #expect(observedRoot == nil)
+  }
+
+  struct FailingProvider: TransformProvider {
+    func transform(at epoch: Epoch) throws -> FrameTransform { throw FrameTransformError.nonFinite }
+  }
+  struct WrongEpochProvider: TransformProvider {
+    func transform(at epoch: Epoch) throws -> FrameTransform { .identity(at: .j2000) }
+  }
+
+  @Test
+  func sharedEdgesAreSkippedAndProviderErrorsPropagate() throws {
+    let tree = FrameTree()
+    let parent = try tree.makeFrame(parent: tree.root, name: "Unavailable", provider: FailingProvider())
+    let child = try tree.makeFrame(parent: parent, name: "Available", provider: FixedTransformProvider())
+    _ = try tree.transform(from: parent, to: child, at: .j2000)
+    #expect(throws: FrameTransformError.nonFinite) { try tree.transform(from: tree.root, to: child, at: .j2000) }
+    let wrong = try tree.makeFrame(parent: tree.root, name: "Wrong epoch", provider: WrongEpochProvider())
+    let later = try Epoch.j2000.advanced(by: CelMek.Duration(seconds: 1))
+    #expect(throws: FrameTransformError.epochMismatch) { try tree.transform(from: tree.root, to: wrong, at: later) }
+  }
+
+  @Test
+  func validatesInputsAndAdoptsCelestialRoot() throws {
+    #expect(throws: FrameTransformError.invalidRotation) { try FrameTransform(epoch: .j2000, rotation: Quaternion()) }
+    #expect(throws: FrameTransformError.nonFinite) {
+      try FrameTransform(epoch: .j2000, angularVelocity: SIMD3(.infinity, 0, 0))
+    }
+    #expect(throws: FrameTransformError.nonFinite) { try UniformRotationProvider(axis: .zero, rate: 1) }
+    let tree = try FrameTree(root: CelestialFrames.vsop87E)
+    let child = try tree.makeFrame(parent: tree.root, name: "Fixed",
+      provider: FixedTransformProvider(translation: SIMD3(100, 0, 0)))
+    let state = try earth.state(at: .j2000)
+    let converted = try tree.convert(state, to: child)
+    close(converted.position, state.position + SIMD3(100, 0, 0), tolerance: 1e-5)
+    close(converted.velocity, state.velocity)
+    let later = try Epoch.j2000.advanced(by: CelMek.Duration(seconds: 1))
+    #expect(throws: FrameTransformError.epochMismatch) {
+      try FrameTransform.identity(at: later).applying(to: state, destination: child)
+    }
+  }
+}
diff --git a/Tests/CelMekTests/FuelDepletionTests.swift b/Tests/CelMekTests/FuelDepletionTests.swift
new file mode 100644
index 0000000..0ff8608
--- /dev/null
+++ b/Tests/CelMekTests/FuelDepletionTests.swift
@@ -0,0 +1,91 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct FuelDepletionTests {
+    private let frame = Frame(name: "Fuel inertial", pseudoInertial: true)
+    private func epoch(_ t: Double) throws -> Epoch { try Epoch.j2000.advanced(by: Duration(seconds: t)) }
+    private func make(burnEnd: Double = 100, background: [any ForceModel] = [], fuel: Double = 10) throws -> ScheduledThrustPropagator {
+        let initial = SpacecraftState(cartesian: try CartesianState(epoch: .j2000, frame: frame, position: .zero, velocity: .zero),
+            mass: try SpacecraftMassProperties(dryMassKilograms: 90, propellantMassKilograms: fuel))
+        let engine = try FiniteThrust(frame: frame, thrustNewtons: 20, effectiveExhaustVelocityMetresPerSecond: 100,
+            direction: SIMD3(1,0,0))
+        let schedule = try ScheduledThrust(frame: frame, burns: [FiniteBurn(start: .j2000, end: epoch(burnEnd), thrust: engine)])
+        return try ScheduledThrustPropagator(initialState: initial, schedule: schedule, backgroundModels: background,
+            context: ForceEvaluationContext(frame: frame, origin: .earth),
+            options: NumericalPropagationOptions(absolutePositionToleranceMetres: 1e-9,
+                absoluteVelocityToleranceMetresPerSecond: 1e-10, relativeTolerance: 1e-12), fuelDepletionPolicy: .cutoff)
+    }
+    @Test func exhaustionAndCoastAgainstRocketEquation() throws {
+        let provider = try make()
+        let result = try provider.propagation(at: epoch(80))
+        let dv = 100 * log(100.0/90)
+        let position = 100 * (50-450*log(100.0/90)) + 30*dv
+        #expect(try result.depletionEpoch == epoch(50))
+        #expect(result.state.mass.propellantMassKilograms == 0)
+        #expect(result.state.mass.dryMassKilograms == 90)
+        #expect(abs(result.state.cartesian.velocity.x-dv) < 1e-8)
+        #expect(abs(result.state.cartesian.position.x-position) < 1e-7)
+        #expect(result.state.cartesian.acceleration == .zero)
+        #expect(try provider.spacecraftState(at: epoch(80)) == result.state)
+        let boundary = try provider.propagation(at: epoch(50))
+        #expect(boundary.state.mass.propellantMassKilograms == 0)
+        #expect(boundary.state.cartesian.acceleration == .zero)
+        #expect(try boundary.depletionEpoch == epoch(50))
+        let before = try provider.propagation(at: epoch(20))
+        #expect(before.depletionEpoch == nil && abs(before.state.mass.propellantMassKilograms-6) < 1e-12)
+        let reverse = try ScheduledThrustPropagator(initialState: before.state, schedule: provider.schedule,
+            context: provider.context, options: provider.options, fuelDepletionPolicy: .cutoff)
+            .spacecraftState(at: .j2000)
+        #expect(abs(reverse.mass.propellantMassKilograms-10) < 1e-12)
+        #expect(abs(reverse.cartesian.velocity.x) < 1e-8)
+        #expect(abs(reverse.cartesian.position.x) < 1e-7)
+    }
+    @Test func exactScheduledCutoffAndEmptySeed() throws {
+        let result = try make(burnEnd: 50).propagation(at: epoch(70))
+        #expect(try result.depletionEpoch == epoch(50))
+        #expect(result.state.mass.propellantMassKilograms == 0)
+        let empty = try make(fuel: 0).propagation(at: epoch(70))
+        #expect(empty.depletionEpoch == .j2000)
+        #expect(empty.state.cartesian.position == .zero && empty.state.cartesian.velocity == .zero)
+    }
+    private struct SideForce: ForceModel {
+        let massRate: Double
+        func contribution(for state: SpacecraftState, in context: ForceEvaluationContext) throws -> ForceContribution {
+            try ForceContribution(epoch: state.epoch, frame: state.frame,
+                accelerationMetresPerSecondSquared: SIMD3(0,10/state.mass.totalMassKilograms,0),
+                propellantMassRateKilogramsPerSecond: massRate)
+        }
+    }
+    @Test func backgroundSeesEvolvingMassAndContinuesAfterCutoff() throws {
+        let result = try make(background: [SideForce(massRate: 0)]).spacecraftState(at: epoch(80))
+        let expected = 50*log(100.0/90) + 30*10/90.0
+        #expect(abs(result.cartesian.velocity.y-expected) < 1e-8)
+        #expect(abs((result.cartesian.acceleration?.y ?? 0)-10/90.0) < 1e-14)
+        #expect(throws: ScheduledThrustPropagationError.backgroundMassFlowUnsupported) {
+            try make(background: [SideForce(massRate: -1)]).spacecraftState(at: epoch(1))
+        }
+    }
+    @Test func overlappingEnginesAndLaterIgnitionsStayOff() throws {
+        let base = try make()
+        let engine = base.schedule.burns[0].thrust
+        let other = try FiniteThrust(frame: frame, thrustNewtons: 20, effectiveExhaustVelocityMetresPerSecond: 100,
+            direction: SIMD3(0,1,0))
+        let schedule = try ScheduledThrust(frame: frame, burns: [
+            FiniteBurn(start: .j2000, end: epoch(40), thrust: engine),
+            FiniteBurn(start: .j2000, end: epoch(40), thrust: other),
+            FiniteBurn(start: epoch(60), end: epoch(80), thrust: engine)])
+        let provider = try ScheduledThrustPropagator(initialState: base.initialState, schedule: schedule,
+            context: base.context, options: base.options, fuelDepletionPolicy: .cutoff)
+        let result = try provider.propagation(at: epoch(90))
+        #expect(try result.depletionEpoch == epoch(25))
+        #expect(abs(result.state.cartesian.velocity.x-50*log(100.0/90)) < 1e-8)
+        #expect(abs(result.state.cartesian.velocity.y-result.state.cartesian.velocity.x) < 1e-12)
+        #expect(result.state.mass.propellantMassKilograms == 0)
+        let dryReplay = try ScheduledThrustPropagator(initialState: result.state, schedule: schedule,
+            context: base.context, fuelDepletionPolicy: .cutoff)
+        #expect(throws: NumericalPropagationError.propellantDepleted) { try dryReplay.spacecraftState(at: .j2000) }
+    }
+}
diff --git a/Tests/CelMekTests/GravityModelTests.swift b/Tests/CelMekTests/GravityModelTests.swift
new file mode 100644
index 0000000..8921c59
--- /dev/null
+++ b/Tests/CelMekTests/GravityModelTests.swift
@@ -0,0 +1,145 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct GravityModelTests {
+    private struct Body: EphemerisProvider {
+        let metadata: EphemerisMetadata
+        let position: SIMD3<Double>
+        var velocity: SIMD3<Double> = .zero
+        func state(at epoch: Epoch) throws -> CartesianState {
+            try CartesianState(epoch: epoch,frame: frame,
+                position: position+velocity*epoch.duration(since: .j2000).seconds,velocity: velocity)
+        }
+    }
+    private func vector(_ values: [Double]) -> SIMD3<Double> { SIMD3(values[0],values[1],values[2]) }
+    private func gm(_ value: Double) throws -> GravitationalParameter {
+        try GravitationalParameter(cubicMetresPerSecondSquared: value,convention: .newtonian,
+            provenance: PhysicalDataProvenance(source: "Explicit reference GM",version: "1"))
+    }
+    private func body(_ frame: Frame, position: SIMD3<Double>, origin: BodyIdentifier = .earth) throws -> Body {
+        Body(metadata: try EphemerisMetadata(body: .moon,origin: origin,frame: frame,
+            coverage: Epoch.j2000.advanced(by: Duration(seconds: -100))...Epoch.j2000.advanced(by: Duration(seconds: 100)),
+            coverageBasis: .callerSelected,modelTimeScale: .tt,velocityMethod: .analytic,accelerationMethod: .unavailable,
+            provenance: PhysicalDataProvenance(source: "Synthetic prescribed body",version: "1")),position: position)
+    }
+    private func state(_ frame: Frame,position: SIMD3<Double>,epoch: Epoch = .j2000, mass: Double = 1) throws -> SpacecraftState {
+        SpacecraftState(cartesian: try CartesianState(epoch: epoch,frame: frame,position: position,velocity: .zero),
+            mass: try SpacecraftMassProperties(dryMassKilograms: mass))
+    }
+    private struct Reference: Decodable {
+        let position: [Double]; let bodyPosition: [Double]?; let gm: Double; let acceleration: [Double]
+    }
+    @Test func independentHighPrecisionReferences() throws {
+        let url = try #require(Bundle.module.url(forResource: "gravity-reference",withExtension: "json",subdirectory: "Fixtures"))
+        let rows = try JSONDecoder().decode([Reference].self,from: Data(contentsOf: url))
+        let frame = Frame(name: "Earth inertial",pseudoInertial: true)
+        for row in rows {
+            let model: any ForceModel
+            let collection: EphemerisCollection?
+            if let position = row.bodyPosition {
+                model = try ThirdBodyGravity(body: .moon,centralBody: .earth,gravitationalParameter: gm(row.gm))
+                collection = try EphemerisCollection(providers: [body(frame,position: vector(position))])
+            } else {
+                model = try CentralGravity(body: .earth,gravitationalParameter: gm(row.gm)); collection = nil
+            }
+            let context = try ForceEvaluationContext(frame: frame,origin: .earth,ephemerides: collection)
+            let input = try state(frame,position: vector(row.position))
+            let actual = try model.contribution(for: input,in: context)
+            for axis in 0..<3 {
+                #expect(abs(actual.accelerationMetresPerSecondSquared[axis]-row.acceleration[axis]) <= max(abs(row.acceleration[axis])*1e-13,1e-32))
+            }
+            #expect(actual.propellantMassRateKilogramsPerSecond == 0)
+            let heavier = try state(frame,position: vector(row.position),mass: 1e6)
+            #expect(try model.contribution(for: heavier,in: context).accelerationMetresPerSecondSquared == actual.accelerationMetresPerSecondSquared)
+        }
+    }
+    @Test func movingEphemerisAndForceComposition() throws {
+        let frame = Frame(name: "Earth inertial",pseudoInertial: true)
+        var provider = try body(frame,position: SIMD3(100,0,0)); provider.velocity = SIMD3(1,0,0)
+        let context = try ForceEvaluationContext(frame: frame,origin: .earth,
+            ephemerides: EphemerisCollection(providers: [provider]))
+        let central = try CentralGravity(body: .earth,gravitationalParameter: gm(10))
+        let third = try ThirdBodyGravity(body: .moon,centralBody: .earth,gravitationalParameter: gm(1))
+        let dynamics = try SpacecraftDynamics(models: [central,third],context: context)
+        let epoch = try Epoch.j2000.advanced(by: Duration(seconds: 20))
+        let input = try state(frame,position: SIMD3(1,0,0),epoch: epoch)
+        let result = try dynamics.derivative(at: input)
+        let expected = -10 + 1/(119.0*119)-1/(120.0*120)
+        #expect(abs(result.velocityRateMetresPerSecondSquared.x-expected) < 1e-14)
+        #expect(result.velocityRateMetresPerSecondSquared.y == 0)
+        #expect(try third.contribution(for: state(frame,position: .zero),in: context).accelerationMetresPerSecondSquared == .zero)
+        #expect(throws: EphemerisError.outsideCoverage) {
+            try third.contribution(for: state(frame,position: .zero,
+                epoch: Epoch.j2000.advanced(by: Duration(seconds: 101))),in: context)
+        }
+    }
+    @Test func originFrameBodyAndGMErrors() throws {
+        let frame = Frame(name: "Earth inertial",pseudoInertial: true)
+        let input = try state(frame,position: SIMD3(1,0,0))
+        let third = try ThirdBodyGravity(body: .moon,centralBody: .earth,gravitationalParameter: gm(1))
+        #expect(throws: GravityModelError.identicalBodies) { try ThirdBodyGravity(body: .earth,centralBody: .earth,gravitationalParameter: gm(1)) }
+        let incompatible = try GravitationalParameter(cubicMetresPerSecondSquared: 1,convention: .tdbCompatible,
+            provenance: PhysicalDataProvenance(source: "Test",version: "1"))
+        #expect(throws: GravityModelError.incompatibleGMConvention) { try CentralGravity(body: .earth,gravitationalParameter: incompatible) }
+        #expect(throws: GravityModelError.incompatibleGMConvention) { try ThirdBodyGravity(body: .moon,centralBody: .earth,gravitationalParameter: incompatible) }
+        #expect(throws: GravityModelError.missingEphemerides) {
+            try third.contribution(for: input,in: ForceEvaluationContext(frame: frame,origin: .earth))
+        }
+        #expect(throws: GravityModelError.originMismatch) {
+            try third.contribution(for: input,in: ForceEvaluationContext(frame: frame,origin: .sun))
+        }
+        #expect(throws: GravityModelError.originMismatch) {
+            try third.contribution(for: input,in: ForceEvaluationContext(frame: frame,origin: .earth,
+                ephemerides: EphemerisCollection(providers: [body(frame,position: SIMD3(100,0,0),origin: .sun)])))
+        }
+        #expect(throws: SpacecraftDynamicsError.frameMismatch) {
+            try third.contribution(for: input,in: ForceEvaluationContext(frame: frame,origin: .earth,
+                ephemerides: EphemerisCollection(providers: [body(Frame(name: "other",pseudoInertial: true),position: SIMD3(100,0,0))])))
+        }
+        #expect(throws: EphemerisError.unsupportedBody) {
+            try third.contribution(for: input,in: ForceEvaluationContext(frame: frame,origin: .earth,ephemerides: EphemerisCollection(providers: [])))
+        }
+        let central = try CentralGravity(body: .earth,gravitationalParameter: gm(1))
+        #expect(throws: GravityModelError.originMismatch) {
+            try central.contribution(for: input,in: ForceEvaluationContext(frame: frame,origin: .sun))
+        }
+        #expect(throws: GravityModelError.singularPosition) {
+            try central.contribution(for: state(frame,position: .zero),in: ForceEvaluationContext(frame: frame,origin: .earth))
+        }
+        for position in [SIMD3<Double>.zero,SIMD3(1,0,0)] {
+            #expect(throws: GravityModelError.singularPosition) {
+                try third.contribution(for: input,in: ForceEvaluationContext(frame: frame,origin: .earth,
+                    ephemerides: EphemerisCollection(providers: [body(frame,position: position)])))
+            }
+        }
+    }
+    @Test func combinedGravityIntegratesWithMovingProvider() throws {
+        let frame = Frame(name: "relative inertial",pseudoInertial: true)
+        let primaryGM = try gm(10)
+        let seed = SpacecraftState(cartesian: try CartesianState(epoch: .j2000,frame: frame,
+            position: SIMD3(1,0,0),velocity: SIMD3(0,sqrt(10),0)),mass: try SpacecraftMassProperties(dryMassKilograms: 1))
+        var moon = try body(frame,position: SIMD3(100,0,0)); moon.velocity = SIMD3(1,0,0)
+        let context = try ForceEvaluationContext(frame: frame,origin: .earth,ephemerides: EphemerisCollection(providers: [moon]))
+        let primary = try CentralGravity(body: .earth,gravitationalParameter: primaryGM)
+        let perturber = try ThirdBodyGravity(body: .moon,centralBody: .earth,gravitationalParameter: gm(1))
+        let dynamics = try SpacecraftDynamics(models: [primary,perturber],context: context)
+        let model = try NumericalSpacecraftPropagator(initialState: seed,dynamics: dynamics,accuracy: .full,
+            options: NumericalPropagationOptions(absolutePositionToleranceMetres: 1e-12,
+                absoluteVelocityToleranceMetresPerSecond: 1e-12,relativeTolerance: 1e-12,
+                initialStepSeconds: 0.1,maximumStepSeconds: 0.1))
+        let analytic = try TwoBodyPropagator(initialState: seed.cartesian,centralBody: .earth,gravitationalParameter: primaryGM)
+        let date = try Epoch.j2000.advanced(by: Duration(seconds: 1))
+        let actual = try model.spacecraftState(at: date), unperturbed = try analytic.state(at: date)
+        let delta = actual.cartesian.position-unperturbed.position
+        let difference = hypot(hypot(delta.x,delta.y),delta.z)
+        #expect(difference > 1e-9 && difference < 1e-3)
+        #expect(actual.mass == seed.mass)
+        let derivative = try dynamics.derivative(at: actual)
+        #expect(actual.cartesian.acceleration == derivative.velocityRateMetresPerSecondSquared)
+        #expect(try model.state(at: date) == actual.cartesian)
+    }
+
+}
diff --git a/Tests/CelMekTests/HohmannRendezvousTests.swift b/Tests/CelMekTests/HohmannRendezvousTests.swift
new file mode 100644
index 0000000..78d6669
--- /dev/null
+++ b/Tests/CelMekTests/HohmannRendezvousTests.swift
@@ -0,0 +1,149 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct HohmannRendezvousTests {
+    let frame = Frame(name: "Circular rendezvous", pseudoInertial: true)
+    let radial = SIMD3<Double>(1,2,2)/3
+    let tangent = SIMD3<Double>(2,-1,0)/sqrt(5)
+    // Independent 55-digit Decimal calculations: a=2.5, GM=1,
+    // half-period = pi*sqrt(a^3), synodic period = 2*pi/(1-1/8).
+    let flight = 12.418235332245126543041938337900438906
+    let synodic = 7.180783208205241687914613447496006592
+    func epoch(_ t: Double) throws -> Epoch { try Epoch.j2000.advanced(by: CelMek.Duration(seconds: t)) }
+    func gm(_ value: Double = 1) throws -> GravitationalParameter {
+        try GravitationalParameter(cubicMetresPerSecondSquared: value, convention: .newtonian,
+            provenance: PhysicalDataProvenance(source: "Dimensionless analytic test", version: "1"))
+    }
+    func orbit(_ radius: Double, phase: Double = 0, reference: Double = 0, reversed: Bool = false,
+               body: BodyIdentifier = .sun) throws -> CircularHohmannOrbit {
+        let t = reversed ? -tangent : tangent
+        return try CircularHohmannOrbit(referenceEpoch: epoch(reference), frame: frame, centralBody: body,
+            radiusMetres: radius, radialDirection: radial*cos(phase)+t*sin(phase),
+            progradeDirection: t*cos(phase)-radial*sin(phase), gravitationalParameter: gm())
+    }
+    func pair(inward: Bool, launch: Double = 2.75) throws -> (CircularHohmannOrbit, CircularHohmannOrbit) {
+        let r1 = inward ? 4.0 : 1.0, r2 = inward ? 1.0 : 4.0
+        let n1 = inward ? 0.125 : 1.0, n2 = inward ? 1.0 : 0.125
+        // Target has a different reference epoch. Phase required at launch:
+        // thetaTarget(launch)-thetaDeparture(launch) = pi-n2*flight.
+        let phaseAtReference = .pi-n2*flight+(n1-n2)*launch+n2*3
+        return try (orbit(r1), orbit(r2, phase: phaseAtReference, reference: 3))
+    }
+    @Test(arguments: [false,true]) func independentlyPhasedTransfersReachMovingTarget(inward: Bool) throws {
+        let (departure,target) = try pair(inward: inward)
+        let result = try HohmannRendezvousPlanner.search(departureOrbit: departure, targetOrbit: target,
+            departureWindow: epoch(0)...epoch(6), positionToleranceMetres: 1e-8,
+            velocityToleranceMetresPerSecond: 1e-8)
+        #expect(result.status == .feasible)
+        let launch = try #require(result.departureEpoch)
+        #expect(abs(try launch.duration(since: .j2000).seconds-2.75) < 1e-12)
+        let expectedPhase = inward ? 3.2897279357038396493 : 1.5893132370591524206
+        #expect(abs(result.requiredPhaseAngleRadians-expectedPhase) < 2e-15)
+        #expect(abs(result.relativeAngularRateRadiansPerSecond-(inward ? 0.875 : -0.875)) < 1e-15)
+        let plan = try #require(result.plan)
+        #expect(abs(plan.transfer.duration.seconds-flight) < 1e-14)
+        let actual = try plan.trajectory.state(at: plan.arrivalEpoch)
+        let expected = try target.state(at: plan.arrivalEpoch)
+        #expect(routeNorm(actual.position-expected.position) < 1e-8)
+        #expect(routeNorm(actual.velocity-expected.velocity) < 1e-8)
+        #expect(result.targetArrivalState == expected)
+        #expect(abs(result.attempts[0].phaseErrorRadians) < 1e-14)
+        // Before ignition the plan remains on the actual departure circular orbit.
+        let before = try plan.trajectory.state(at: launch, side: .before)
+        let circular = try departure.state(at: launch)
+        #expect(routeNorm(before.position-circular.position) < 1e-14)
+        #expect(routeNorm(before.velocity-circular.velocity) < 1e-14)
+    }
+    @Test func inclusiveWindowsAndSynodicRepetition() throws {
+        let (departure,target) = try pair(inward: false)
+        let exact = try HohmannRendezvousPlanner.search(departureOrbit: departure, targetOrbit: target,
+            departureWindow: epoch(2.75)...epoch(2.75))
+        #expect(exact.status == .feasible); #expect(exact.departureEpoch == (try epoch(2.75)))
+        let next = try HohmannRendezvousPlanner.search(departureOrbit: departure, targetOrbit: target,
+            departureWindow: epoch(3)...epoch(11))
+        #expect(abs(try #require(next.departureEpoch).duration(since: .j2000).seconds-(2.75+synodic)) < 1e-12)
+        let negative = try HohmannRendezvousPlanner.search(departureOrbit: departure, targetOrbit: target,
+            departureWindow: epoch(-5)...epoch(0))
+        #expect(abs(try #require(negative.departureEpoch).duration(since: .j2000).seconds-(2.75-synodic)) < 1e-12)
+        let missed = try HohmannRendezvousPlanner.search(departureOrbit: departure, targetOrbit: target,
+            departureWindow: epoch(2.75001)...epoch(2.8))
+        #expect(missed.status == .departureWindowExhausted)
+        #expect(missed.attempts.isEmpty && missed.plan == nil)
+    }
+    @Test func equalRadiiAreNotArtificialRendezvous() throws {
+        let departure = try orbit(1)
+        let same = try HohmannRendezvousPlanner.search(departureOrbit: departure,
+            targetOrbit: orbit(1, phase: 2, reference: 2), departureWindow: epoch(1)...epoch(100))
+        #expect(same.status == .alreadyRendezvoused); #expect(same.plan == nil)
+        #expect(same.departureEpoch == (try epoch(1)))
+        let separated = try HohmannRendezvousPlanner.search(departureOrbit: departure,
+            targetOrbit: orbit(1, phase: 1), departureWindow: epoch(0)...epoch(100))
+        #expect(separated.status == .sameOrbitPhasingRequired)
+        #expect(separated.plan == nil && separated.departureEpoch == nil)
+        #expect(separated.relativeAngularRateRadiansPerSecond == 0)
+    }
+    @Test func residualFailuresAndBudgetsRemainExplicit() throws {
+        let (departure,target) = try pair(inward: false)
+        let bounded = try HohmannRendezvousPlanner.search(departureOrbit: departure, targetOrbit: target,
+            departureWindow: epoch(0)...epoch(15), maximumOpportunityEvaluations: 1,
+            positionToleranceMetres: 1e-30, velocityToleranceMetresPerSecond: 1e-30)
+        #expect(bounded.status == .evaluationLimitReached)
+        #expect(bounded.attempts.count == 1 && bounded.plan == nil)
+        #expect(bounded.attempts[0].positionErrorMetres > 1e-30 ||
+            bounded.attempts[0].velocityErrorMetresPerSecond > 1e-30)
+        let exhausted = try HohmannRendezvousPlanner.search(departureOrbit: departure, targetOrbit: target,
+            departureWindow: epoch(0)...epoch(6), maximumOpportunityEvaluations: 1,
+            positionToleranceMetres: 1e-30, velocityToleranceMetresPerSecond: 1e-30)
+        #expect(exhausted.status == .departureWindowExhausted)
+        #expect(throws: HohmannRendezvousError.invalidBudget) {
+            try HohmannRendezvousPlanner.search(departureOrbit: departure, targetOrbit: target,
+                departureWindow: epoch(0)...epoch(1), maximumOpportunityEvaluations: 0)
+        }
+        #expect(throws: HohmannRendezvousError.invalidTolerance) {
+            try HohmannRendezvousPlanner.search(departureOrbit: departure, targetOrbit: target,
+                departureWindow: epoch(0)...epoch(1), positionToleranceMetres: .nan)
+        }
+    }
+    @Test func modelCompatibilityAndCircularDerivatives() throws {
+        let departure = try orbit(1)
+        #expect(throws: HohmannRendezvousError.incompatibleCentralBody) {
+            try HohmannRendezvousPlanner.search(departureOrbit: departure,
+                targetOrbit: orbit(4, body: .earth), departureWindow: epoch(0)...epoch(10))
+        }
+        #expect(throws: HohmannRendezvousError.opposingOrbitalDirections) {
+            try HohmannRendezvousPlanner.search(departureOrbit: departure,
+                targetOrbit: orbit(4, reversed: true), departureWindow: epoch(0)...epoch(10))
+        }
+        let tilted = try CircularHohmannOrbit(referenceEpoch: .j2000, frame: frame, centralBody: .sun,
+            radiusMetres: 4, radialDirection: radial, progradeDirection: SIMD3(-4,-4,6)/sqrt(68),
+            gravitationalParameter: gm())
+        #expect(throws: HohmannRendezvousError.nonCoplanarOrbits) {
+            try HohmannRendezvousPlanner.search(departureOrbit: departure, targetOrbit: tilted,
+                departureWindow: epoch(0)...epoch(10))
+        }
+        let otherGM = try CircularHohmannOrbit(referenceEpoch: .j2000, frame: frame, centralBody: .sun,
+            radiusMetres: 4, radialDirection: radial, progradeDirection: tangent, gravitationalParameter: gm(2))
+        #expect(throws: HohmannRendezvousError.incompatibleGM) {
+            try HohmannRendezvousPlanner.search(departureOrbit: departure, targetOrbit: otherGM,
+                departureWindow: epoch(0)...epoch(10))
+        }
+        let otherFrame = try CircularHohmannOrbit(referenceEpoch: .j2000,
+            frame: Frame(name: "Circular rendezvous", pseudoInertial: true), centralBody: .sun,
+            radiusMetres: 4, radialDirection: radial, progradeDirection: tangent, gravitationalParameter: gm())
+        #expect(throws: SpacecraftDynamicsError.frameMismatch) {
+            try HohmannRendezvousPlanner.search(departureOrbit: departure, targetOrbit: otherFrame,
+                departureWindow: epoch(0)...epoch(10))
+        }
+        let at = try departure.state(at: epoch(0.7)), h = 1e-4
+        let plus = try departure.state(at: epoch(0.7+h)), minus = try departure.state(at: epoch(0.7-h))
+        #expect(routeNorm((plus.position-minus.position)/(2*h)-at.velocity) < 1e-8)
+        #expect(routeNorm((plus.velocity-minus.velocity)/(2*h)-(try #require(at.acceleration))) < 1e-8)
+        let near = try HohmannRendezvousPlanner.search(departureOrbit: departure,
+            targetOrbit: orbit(1+1e-10), departureWindow: epoch(0)...epoch(0))
+        #expect(near.relativeAngularRateRadiansPerSecond < 0)
+        #expect(abs(near.relativeAngularRateRadiansPerSecond) < 2e-10)
+    }
+}
diff --git a/Tests/CelMekTests/HohmannTransferTests.swift b/Tests/CelMekTests/HohmannTransferTests.swift
new file mode 100644
index 0000000..4d7a177
--- /dev/null
+++ b/Tests/CelMekTests/HohmannTransferTests.swift
@@ -0,0 +1,93 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct HohmannTransferTests {
+    private func gm(_ value: Double = 3.986004418e14) throws -> GravitationalParameter {
+        try GravitationalParameter(cubicMetresPerSecondSquared: value, convention: .newtonian,
+            provenance: PhysicalDataProvenance(source: "Explicit test GM",version: "1"))
+    }
+    private func norm(_ v: SIMD3<Double>) -> Double { hypot(hypot(v.x,v.y),v.z) }
+    private struct Reference: Decodable {
+        let r1,r2,gm,a,e,dv1,dv2,total,seconds: Double
+    }
+    @Test func independentHighPrecisionReferences() throws {
+        let url = try #require(Bundle.module.url(forResource: "hohmann-reference", withExtension: "json", subdirectory: "Fixtures"))
+        let rows = try JSONDecoder().decode([Reference].self,from: Data(contentsOf: url))
+        #expect(rows.count == 7)
+        for row in rows {
+            let t = try HohmannTransfer(departureRadiusMetres: row.r1,arrivalRadiusMetres: row.r2,gravitationalParameter: gm(row.gm))
+            for (actual,expected) in [(t.semiMajorAxisMetres,row.a),(t.eccentricity,row.e),
+                (t.departureDeltaVelocityMetresPerSecond,row.dv1),(t.arrivalDeltaVelocityMetresPerSecond,row.dv2),
+                (t.totalDeltaVelocityMetresPerSecond,row.total),(t.duration.seconds,row.seconds)] {
+                #expect(abs(actual-expected) <= max(abs(expected)*2e-14,1e-25))
+            }
+        }
+    }
+    @Test(arguments: [false,true]) func executablePlansReachCircularOrbits(inward: Bool) throws {
+        let r1 = inward ? 42164e3 : 7e6, r2 = inward ? 7e6 : 42164e3
+        let transfer = try HohmannTransfer(departureRadiusMetres: r1,arrivalRadiusMetres: r2,gravitationalParameter: gm())
+        let frame = Frame(name: "Earth-centred inertial",pseudoInertial: true)
+        // Inclined plane and arbitrary start angle; no assumed global XY orbit.
+        let radial = SIMD3<Double>(1,2,2)/3, tangent = SIMD3<Double>(2,-1,0)/sqrt(5)
+        let plan = try transfer.plan(departureEpoch: .j2000,frame: frame,centralBody: .earth,
+            radialDirection: radial*5,progradeDirection: tangent*10)
+        #expect((transfer.departureDeltaVelocityMetresPerSecond < 0) == inward)
+        #expect((transfer.arrivalDeltaVelocityMetresPerSecond < 0) == inward)
+        let before = try plan.trajectory.state(at: .j2000,side: .before)
+        #expect(norm(before.position-radial*r1) < 1e-7)
+        #expect(norm(before.velocity-tangent*transfer.departureCircularSpeedMetresPerSecond) < 1e-10)
+        let arriving = try plan.trajectory.state(at: plan.arrivalEpoch,side: .before)
+        let after = try plan.trajectory.state(at: plan.arrivalEpoch)
+        #expect(norm(after.position+radial*r2) < 0.002)
+        #expect(norm(after.velocity+tangent*transfer.arrivalCircularSpeedMetresPerSecond) < 1e-6)
+        #expect(arriving.position == after.position)
+        #expect(norm(after.velocity-arriving.velocity-plan.arrivalBurn.deltaVelocityMetresPerSecond) < 1e-10)
+        #expect(abs((after.position*after.velocity).sum())/(r2*norm(after.velocity)) < 1e-10)
+        let future = try plan.arrivalEpoch.advanced(by: Duration(seconds: 1000))
+        #expect(abs(norm(try plan.trajectory.state(at: future).position)-r2) < 0.002)
+        let epochs = [.j2000,plan.arrivalEpoch,future]
+        let sampled = try TrajectorySampler.sample(plan.trajectory,at: epochs)
+        #expect(sampled.map(\.epoch) == epochs)
+        for (epoch,state) in zip(epochs.reversed(),sampled.reversed()) {
+            #expect(try plan.trajectory.state(at: epoch) == state)
+        }
+    }
+    @Test func equalRadiiAndValidation() throws {
+        let transfer = try HohmannTransfer(departureRadiusMetres: 7e6,arrivalRadiusMetres: 7e6,gravitationalParameter: gm())
+        #expect(transfer.totalDeltaVelocityMetresPerSecond == 0 && transfer.eccentricity == 0)
+        let frame = Frame(name: "inertial",pseudoInertial: true)
+        let plan = try transfer.plan(departureEpoch: .j2000,frame: frame,centralBody: .earth,
+            radialDirection: SIMD3(1,0,0),progradeDirection: SIMD3(0,-1,0))
+        #expect(norm(try plan.trajectory.state(at: plan.arrivalEpoch).position-SIMD3(-7e6,0,0)) < 0.001)
+        for radius in [0.0,-1,.nan,.infinity] {
+            #expect(throws: HohmannTransferError.invalidRadius) {
+                try HohmannTransfer(departureRadiusMetres: radius,arrivalRadiusMetres: 7e6,gravitationalParameter: gm())
+            }
+            #expect(throws: HohmannTransferError.invalidRadius) {
+                try HohmannTransfer(departureRadiusMetres: 7e6,arrivalRadiusMetres: radius,gravitationalParameter: gm())
+            }
+        }
+        let coordinateGM = try GravitationalParameter(cubicMetresPerSecondSquared: 3.986004418e14,
+            convention: .tdbCompatible, provenance: PhysicalDataProvenance(source: "coordinate GM",version: "1"))
+        #expect(throws: PropagationError.incompatibleGMConvention) {
+            try HohmannTransfer(departureRadiusMetres: 7e6,arrivalRadiusMetres: 8e6,gravitationalParameter: coordinateGM)
+        }
+        #expect(throws: HohmannTransferError.numericalRangeExceeded) {
+            try HohmannTransfer(departureRadiusMetres: Double.greatestFiniteMagnitude,
+                arrivalRadiusMetres: Double.greatestFiniteMagnitude,gravitationalParameter: gm(1))
+        }
+        for direction in [SIMD3<Double>.zero,SIMD3(1,0,0),SIMD3(.nan,1,0)] {
+            #expect(throws: HohmannTransferError.invalidDirections) {
+                try transfer.plan(departureEpoch: .j2000,frame: frame,centralBody: .earth,
+                    radialDirection: SIMD3(1,0,0),progradeDirection: direction)
+            }
+        }
+        #expect(throws: PropagationError.nonInertialFrame) {
+            try transfer.plan(departureEpoch: .j2000,frame: Frame(name: "rotating",pseudoInertial: false),centralBody: .earth,
+                radialDirection: SIMD3(1,0,0),progradeDirection: SIMD3(0,1,0))
+        }
+    }
+}
diff --git a/Tests/CelMekTests/IAURotationTests.swift b/Tests/CelMekTests/IAURotationTests.swift
new file mode 100644
index 0000000..f85c0f2
--- /dev/null
+++ b/Tests/CelMekTests/IAURotationTests.swift
@@ -0,0 +1,153 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Testing
+import Math
+@testable import CelMek
+
+@Suite
+struct IAURotationTests {
+  struct Reference: Decodable {
+    let toolkit: String
+    let kernelSHA256: String
+    let samples: [Sample]
+  }
+  struct Sample: Decodable {
+    let body: String
+    let days: Double
+    let rotation: [Double]
+    let derivative: [Double]
+    let secondDerivative: [Double]
+  }
+
+  // Coordinate mapping from corrected node convention (90° + alpha).
+  // Each elemental mapping supplies the analytic derivatives of its Euler angle.
+  func mapping(_ elements: IAURotationalElements) throws -> FrameTransform {
+    let ra = elements.rightAscension, dec = elements.declination, w = elements.primeMeridian
+    let node = try FrameTransform(epoch: .j2000,
+      rotation: Quaternion(angle: -(ra.radians + .pi/2), axis: SIMD3(0, 0, 1)),
+      angularVelocity: SIMD3(0, 0, -ra.rate), angularAcceleration: SIMD3(0, 0, -ra.acceleration))
+    let tilt = try FrameTransform(epoch: .j2000,
+      rotation: Quaternion(angle: dec.radians - .pi/2, axis: SIMD3(1, 0, 0)),
+      angularVelocity: SIMD3(dec.rate, 0, 0), angularAcceleration: SIMD3(dec.acceleration, 0, 0))
+    let spin = try FrameTransform(epoch: .j2000,
+      rotation: Quaternion(angle: -w.radians, axis: SIMD3(0, 0, 1)),
+      angularVelocity: SIMD3(0, 0, -w.rate), angularAcceleration: SIMD3(0, 0, -w.acceleration))
+    return try node.followed(by: tilt).followed(by: spin)
+  }
+
+  @Test
+  func allModelsMatchIndependentCSPICEReference() throws {
+    let url = try #require(Bundle.module.url(forResource: "iau-pck00011", withExtension: "json", subdirectory: "Fixtures"))
+    let reference = try JSONDecoder().decode(Reference.self, from: Data(contentsOf: url))
+    #expect(reference.toolkit == "CSPICE_N0067")
+    #expect(reference.kernelSHA256 == "3dff7b1dbeceaa01f25467767d3fa25816051c85d162d1edf04acb310ee28bb1")
+    #expect(Set(reference.samples.map(\.body)) == Set(iauRotationModels.keys))
+    #expect(reference.samples.count == 73 * 7)
+    let frame = Frame(name: "Test", pseudoInertial: true)
+    for sample in reference.samples {
+      let transform = try mapping(IAURotModel().elements(body: sample.body, tdbDaysSinceJ2000: sample.days))
+      for column in 0..<3 {
+        var basis = SIMD3<Double>.zero
+        basis[column] = 1
+        let state = try CartesianState(epoch: .j2000, frame: frame, position: basis, velocity: .zero, acceleration: .zero)
+        let result = try transform.applying(to: state, destination: frame)
+        for row in 0..<3 {
+          let index = 3*row + column
+          #expect(abs(result.position[row] - sample.rotation[index]) < 2e-9,
+                  "\(sample.body), day \(sample.days), matrix \(row),\(column)")
+          #expect(abs(result.velocity[row] - sample.derivative[index]) < 2e-12,
+                  "\(sample.body), day \(sample.days), derivative \(row),\(column)")
+          #expect(abs(result.acceleration![row] - sample.secondDerivative[index]) < 2e-14,
+                  "\(sample.body), day \(sample.days), acceleration \(row),\(column)")
+        }
+      }
+    }
+  }
+
+  @Test
+  func correctedPhobosAndUpdatedMercuryCoefficients() throws {
+    let phobos = try #require(iauRotationModels["phobos"])
+    #expect(phobos.primeMeridian.polynomialDegrees[0] == 35.18774440)
+    #expect(phobos.primeMeridian.harmonics.last?.amplitudeDegrees == -1.143)
+    #expect(phobos.primeMeridian.harmonics.last?.phaseDegrees.count == 3)
+    #expect(iauRotationModels["mercury"]?.primeMeridian.polynomialDegrees[0] == 329.5988)
+    #expect(iauRotationModels["ida"]?.declination.polynomialDegrees[0] == -87.12)
+    #expect(iauRotationModels["moon"]?.primeMeridian.polynomialDegrees[2] == -1.4e-12)
+    let tempel = try #require(iauRotationModels["9p_tempel_1"])
+    #expect(tempel.referenceJulianDate == 2455607.694660)
+    let atEncounter = try IAURotModel().elements(body: "9p_tempel_1",
+      tdbDaysSinceJ2000: tempel.referenceJulianDate - 2451545)
+    #expect(abs(atEncounter.primeMeridian.radians - 69.2 * .pi/180) < 1e-12)
+  }
+
+  @Test
+  func provenanceAndInvalidInputAreExplicit() throws {
+    #expect(iauRotationModels["earth"]?.provenance == .legacy2009)
+    #expect(iauRotationModels["moon"]?.provenance == .legacy2009)
+    #expect(iauRotationModels.filter { $0.value.provenance == .iau2015Corrected2019 }.count == 71)
+    #expect(throws: IAURotationError.unknownBody) {
+      try IAURotModel().elements(body: "unknown", tdbDaysSinceJ2000: 0)
+    }
+    #expect(throws: IAURotationError.nonFinite) {
+      try IAURotModel().elements(body: "mars", tdbDaysSinceJ2000: .nan)
+    }
+    #expect(throws: IAURotationError.nonFinite) {
+      try IAURotModel().elements(body: "phobos", tdbDaysSinceJ2000: Double.greatestFiniteMagnitude)
+    }
+  }
+
+  @Test
+  func quadraticPhasesAndCosineDerivativesFollowIndependentFormula() throws {
+    let series = IAUAngleSeries(polynomialDegrees: [1, 2, 3], variable: .days,
+      harmonics: [IAUHarmonic(amplitudeDegrees: 4, phaseDegrees: [20, 30, 40], function: .cosine)])
+    let d = 36525.0, t = 1.0, rad = Double.pi/180, seconds = 36525.0*86400
+    let result = try series.evaluate(days: d)
+    let g = (20 + 30*t + 40*t*t)*rad
+    let rate = (30 + 80*t)*rad/seconds
+    let accel = 80*rad/(seconds*seconds)
+    #expect(abs(result.rate - ((2+6*d)/86400 - 4*sin(g)*rate)*rad) < 1e-15)
+    #expect(abs(result.acceleration - (6/(86400.0*86400) - 4*(cos(g)*rate*rate+sin(g)*accel))*rad) < 1e-22)
+  }
+  @Test
+  func publicOrientationMatchesCSPICEWithAtomicTimeDerivatives() throws {
+    let url = try #require(Bundle.module.url(forResource: "iau-pck00011", withExtension: "json", subdirectory: "Fixtures"))
+    let reference = try JSONDecoder().decode(Reference.self, from: Data(contentsOf: url))
+    let start = try Epoch.j2000.advanced(by: CelMek.Duration(seconds: -4e9))
+    let end = try Epoch.j2000.advanced(by: CelMek.Duration(seconds: 4e9))
+    for sample in reference.samples {
+      let epoch = try Epoch(julianDate: JulianDateComponents(wholeDay: 2_451_545,
+        fractionalDay: sample.days, scale: .tdb))
+      let provider = try IAUOrientationProvider(body: sample.body, coverage: start...end, allowLegacyModel: true)
+      let orientation = try provider.orientation(at: epoch)
+      let transform = try FrameTransform(epoch: epoch, rotation: orientation.rotation,
+        angularVelocity: orientation.angularVelocity, angularAcceleration: orientation.angularAcceleration)
+      let rate = epoch.coordinateTimeRate(in: .tdb)
+      let second = epoch.coordinateTimeAcceleration(in: .tdb)
+      for column in 0..<3 {
+        var basis = SIMD3<Double>.zero
+        basis[column] = 1
+        let state = try CartesianState(epoch: epoch, frame: provider.referenceFrame,
+          position: basis, velocity: .zero, acceleration: .zero)
+        let result = try transform.applying(to: state, destination: provider.referenceFrame)
+        for row in 0..<3 {
+          let index = row*3+column
+          #expect(abs(result.position[row]-sample.rotation[index]) < 2e-9)
+          #expect(abs(result.velocity[row]-sample.derivative[index]*rate) < 2e-12)
+          let expected = sample.secondDerivative[index]*rate*rate + sample.derivative[index]*second
+          #expect(abs(result.acceleration![row]-expected) < 2e-14)
+        }
+      }
+    }
+  }
+
+  @Test
+  func timeScaleAccelerationMatchesRateDifferences() throws {
+    let epoch = try Epoch.j2000.advanced(by: CelMek.Duration(seconds: 1_000_000))
+    let step = try CelMek.Duration(seconds: 86400)
+    let before = try epoch.advanced(by: step.negated())
+    let after = try epoch.advanced(by: step)
+    let difference = (after.coordinateTimeRate(in: .tdb)-before.coordinateTimeRate(in: .tdb))/(2*86400)
+    #expect(abs(difference-epoch.coordinateTimeAcceleration(in: .tdb)) < 1e-20)
+  }
+
+}
diff --git a/Tests/CelMekTests/J2GravityTests.swift b/Tests/CelMekTests/J2GravityTests.swift
new file mode 100644
index 0000000..d33c3d8
--- /dev/null
+++ b/Tests/CelMekTests/J2GravityTests.swift
@@ -0,0 +1,101 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct J2GravityTests {
+    private let frame = Frame(name: "Synthetic inertial", pseudoInertial: true)
+    private func model(_ j2: Double = 0.01, rotation: Quaternion = .identity, rate: Double = 0) throws -> J2Gravity {
+        let provenance = try PhysicalDataProvenance(source: "Synthetic test parameters", version: "1")
+        return try J2Gravity(body: .earth,
+            gravitationalParameter: GravitationalParameter(cubicMetresPerSecondSquared: 100, convention: .newtonian, provenance: provenance),
+            equatorialRadius: SourcedPhysicalValue(value: 2, provenance: provenance), j2: j2,
+            coefficientProvenance: provenance,
+            orientation: FixedAxisOrientationProvider(referenceFrame: frame, axis: SIMD3(0,0,1), rate: rate, initialRotation: rotation))
+    }
+    private func state(_ p: SIMD3<Double>, epoch: Epoch = .j2000) throws -> SpacecraftState {
+        SpacecraftState(cartesian: try CartesianState(epoch: epoch, frame: frame, position: p, velocity: .zero),
+            mass: try SpacecraftMassProperties(dryMassKilograms: 1))
+    }
+    private func acceleration(_ p: SIMD3<Double>, model: J2Gravity, epoch: Epoch = .j2000) throws -> SIMD3<Double> {
+        try model.contribution(for: state(p, epoch: epoch), in: ForceEvaluationContext(frame: frame, origin: .earth)).accelerationMetresPerSecondSquared
+    }
+    @Test func equatorPoleAndSignedCoefficient() throws {
+        let gravity = try model()
+        let equator = try acceleration(SIMD3(10,0,0), model: gravity)
+        let pole = try acceleration(SIMD3(0,0,10), model: gravity)
+        #expect(abs(equator.x + 0.0006) < 1e-18)
+        #expect(abs(pole.z - 0.0012) < 1e-18)
+        #expect(equator.y == 0 && equator.z == 0 && pole.x == 0 && pole.y == 0)
+        #expect(try acceleration(SIMD3(3,4,5), model: model(-0.01)) == -acceleration(SIMD3(3,4,5), model: gravity))
+        #expect(try acceleration(SIMD3(3,4,5), model: model(0)) == .zero)
+        #expect(throws: J2GravityError.invalidCoefficient) { try model(.nan) }
+        #expect(throws: GravityModelError.singularPosition) { try acceleration(.zero, model: gravity) }
+    }
+    @Test func independentPotentialGradient() throws {
+        // J2 potential per unit mass: mu*J2*R²/(2r³)*(3z²/r²-1).
+        // Central differences of the potential independently check all force components.
+        func potential(_ p: SIMD3<Double>) -> Double {
+            let r = sqrt((p*p).sum())
+            return 100 * 0.01 * 4 / (2*r*r*r) * (3*p.z*p.z/(r*r)-1)
+        }
+        let gravity = try model()
+        for p in [SIMD3(3.0,4,5), SIMD3(-7.0,2,-3), SIMD3(0.0,0,8)] {
+            let a = try acceleration(p, model: gravity)
+            for axis in 0..<3 {
+                var plus = p, minus = p
+                plus[axis] += 1e-4; minus[axis] -= 1e-4
+                let reference = -(potential(plus)-potential(minus))/2e-4
+                #expect(abs(a[axis]-reference) < 1e-11)
+            }
+        }
+    }
+    @Test func tiltedPoleAndSpinInvariance() throws {
+        let q = Quaternion(angle: 0.8, axis: SIMD3(1,2,3))
+        let p = SIMD3(3.0,4,5)
+        let expected = try q.invMatrix * acceleration(q.matrix*p, model: model())
+        let actual = try acceleration(p, model: model(rotation: q))
+        #expect(sqrt(((actual-expected)*(actual-expected)).sum()) < 1e-16)
+        let later = try Epoch.j2000.advanced(by: Duration(seconds: 17))
+        let spinning = try acceleration(p, model: model(rate: 2), epoch: later)
+        let fixed = try acceleration(p, model: model())
+        #expect(sqrt(((spinning-fixed)*(spinning-fixed)).sum()) < 1e-16)
+        #expect(throws: GravityModelError.originMismatch) {
+            try model().contribution(for: state(p), in: ForceEvaluationContext(frame: frame, origin: .moon))
+        }
+        #expect(throws: SpacecraftDynamicsError.frameMismatch) {
+            try model().contribution(for: state(p), in: ForceEvaluationContext(frame: Frame(name: "Other", pseudoInertial: true), origin: .earth))
+        }
+    }
+
+    @Test func orbitalNodalRegression() throws {
+        // First-order secular prediction: ΔΩ = -3π J2 (R/p)² cos(i) per orbit.
+        // https://ai-solutions.com/_freeflyeruniversityguide/j2_perturbation.htm
+        // A weak synthetic coefficient limits omitted higher-order/short-period terms.
+        let gravity = try model(1e-5)
+        let inclination = Double.pi / 3
+        let speed = sqrt(100.0 / 10)
+        let initial = SpacecraftState(cartesian: try CartesianState(epoch: .j2000, frame: frame,
+            position: SIMD3(10,0,0), velocity: SIMD3(0,speed*cos(inclination),speed*sin(inclination))),
+            mass: try SpacecraftMassProperties(dryMassKilograms: 1))
+        let central = try CentralGravity(body: .earth, gravitationalParameter: gravity.gravitationalParameter)
+        let dynamics = try SpacecraftDynamics(models: [central,gravity],
+            context: ForceEvaluationContext(frame: frame, origin: .earth))
+        // Synthetic metre-scale orbit needs tighter absolute tolerances than game presets.
+        let options = try NumericalPropagationOptions(absolutePositionToleranceMetres: 1e-11,
+            absoluteVelocityToleranceMetresPerSecond: 1e-12, relativeTolerance: 1e-12,
+            initialStepSeconds: 0.1, maximumStepSeconds: 1)
+        let propagator = try NumericalSpacecraftPropagator(initialState: initial, dynamics: dynamics, options: options)
+        let duration = 10 * 2 * Double.pi * sqrt(1000.0 / 100)
+        let result = try propagator.state(at: Epoch.j2000.advanced(by: Duration(seconds: duration)))
+        let r = result.position, v = result.velocity
+        let hx = r.y*v.z-r.z*v.y, hy = r.z*v.x-r.x*v.z
+        let measured = atan2(hx,-hy)
+        let expected = -30 * Double.pi * 1e-5 * 0.04 * cos(inclination)
+        #expect(measured < 0)
+        #expect(abs((measured-expected)/expected) < 0.01)
+        // Axisymmetry conserves angular momentum about the fixed pole.
+        #expect(abs((r.x*v.y-r.y*v.x)-10*speed*cos(inclination)) < 1e-7)
+    }
+}
diff --git a/Tests/CelMekTests/JewishAndMoslemCalendars_test.swift b/Tests/CelMekTests/JewishAndMoslemCalendars_test.swift
index 3f82ad2..a31b27d 100644
--- a/Tests/CelMekTests/JewishAndMoslemCalendars_test.swift
+++ b/Tests/CelMekTests/JewishAndMoslemCalendars_test.swift
@@ -16,84 +16,91 @@
 // limitations under the License.
 //
 
-import XCTest
+import Testing
 @testable import CelMek;
 
-final class JewishCalendar_tests : XCTestCase {
+@Suite
+struct JewishCalendar_tests {
+  @Test
   func testJewishEaster() {
     // Meeus, example 9.a
     let date = jewishEaster(gregorianYear: 1990)
     
-    XCTAssertEqual(date.year, 1990)
-    XCTAssertEqual(date.month, .April)
-    XCTAssertEqual(date.day, 10.0)
+    #expect(date.year == 1990)
+    #expect(date.month == .april)
+    #expect(date.day == 10.0)
   }
   
+  @Test
   func testJewishCommonYear() {
     // Meeu,s example 9.a
     let isCommon = jewishYearIsCommon(jewishYear: 5751)
-    XCTAssertEqual(isCommon, true)
+    #expect(isCommon == true)
   }
   
+  @Test
   func testJewishYearStart() {
     // Meeu,s example 9.a
     let date = jewishYearStart(jewishYear: 5751)
-    XCTAssertEqual(date.year, 1990)
-    XCTAssertEqual(date.month, .September)
-    XCTAssertEqual(date.day, 20.0)
+    #expect(date.year == 1990)
+    #expect(date.month == .september)
+    #expect(date.day == 20.0)
   }
   
+  @Test
   func testDaysOfJewishYear() {
     // Meeu,s example 9.a
     let days = daysOfJewishYear(jewishYear: 5751)
-    XCTAssertEqual(days, 354)
+    #expect(days == 354)
   }
   
+  @Test
   func testMoslemToJulian() {
     // Meeu,s example 9.b
     let date = JulianDate(
       moslemDate: MoslemDate(year: 1421,
-                             month: .Muharram,
+                             month: .muharram,
                              day: 1))
     
-    XCTAssertEqual(date.year, 2000)
-    XCTAssertEqual(date.dayOfYear(), 84.0)
+    #expect(date.year == 2000)
+    #expect(date.dayOfYear() == 84.0)
 
     let jd = date.toJD()
     let gregDate = jd.toGregorian()
-    XCTAssertEqual(gregDate.year, 2000)
-    XCTAssertEqual(gregDate.month, .April)
-    XCTAssertEqual(gregDate.day, 6.0)
+    #expect(gregDate.year == 2000)
+    #expect(gregDate.month == .april)
+    #expect(gregDate.day == 6.0)
   }
   
-  func testJulianToMoslem() {
+  @Test
+  func testJulianToMoslem() throws {
     // Meeu,s example 9.c
     let date = MoslemDate(
       julianDate: JulianDate(year: 1991,
-                             month: .July,
+                             month: .july,
                              day: 31))
 
-    XCTAssertEqual(date.year, 1412)
-    XCTAssertEqual(date.month, .Safar)
-    XCTAssertEqual(date.day, 2)
+    #expect(date.year == 1412)
+    #expect(date.month == .safar)
+    #expect(date.day == 2)
 
-    let julianDate = JulianDate(year: 2000, dayInYear: 84.0)!
-    XCTAssertEqual(julianDate.year, 2000)
-    XCTAssertEqual(julianDate.month, .March)
-    XCTAssertEqual(julianDate.day, 24)
+    let julianDate = try #require(JulianDate(year: 2000, dayInYear: 84.0))
+    #expect(julianDate.year == 2000)
+    #expect(julianDate.month == .march)
+    #expect(julianDate.day == 24)
     
     let date2 = MoslemDate(julianDate: julianDate)
-    XCTAssertEqual(date2.year, 1421)
-    XCTAssertEqual(date2.month, .Muharram)
-    XCTAssertEqual(date2.day, 1)
+    #expect(date2.year == 1421)
+    #expect(date2.month == .muharram)
+    #expect(date2.day == 1)
     // Currently incorrect
     // Gregorian date 2023-01-04
     // Julian date 2022-12-22
     // Islamic date: 1444-06-11 According to Wiki
-    let date3 = MoslemDate(julianDate: JulianDate(year: 2022, month: .December, day: 22))
-    XCTAssertEqual(date3.year, 1444)
-    XCTAssertEqual(date3.month, .JumadaTTania)
-    XCTAssertEqual(date3.day, 11)
+    let date3 = MoslemDate(julianDate: JulianDate(year: 2022, month: .december, day: 22))
+    #expect(date3.year == 1444)
+    #expect(date3.month == .jumadaTTania)
+    #expect(date3.day == 11)
 
   }
 }
diff --git a/Tests/CelMekTests/KeplerSolverTests.swift b/Tests/CelMekTests/KeplerSolverTests.swift
new file mode 100644
index 0000000..9270ac0
--- /dev/null
+++ b/Tests/CelMekTests/KeplerSolverTests.swift
@@ -0,0 +1,76 @@
+import Foundation
+import Testing
+@testable import CelMek
+
+@Test func ellipticKeplerKnownAnomalies() throws {
+    for e in [0.0, 0.1, 0.9, 0.999999999999] {
+        for expected in [-3.0, -1.0, -0.001, 0, 0.001, 1, 3] {
+            let m = expected - e * sin(expected)
+            let result = try KeplerSolver.elliptic(meanAnomaly: m, eccentricity: e)
+            #expect(abs(result.anomaly - expected) < 2e-10)
+            #expect(result.iterations <= 128)
+        }
+    }
+    let m = 20 * Double.pi + 0.8
+    let result = try KeplerSolver.elliptic(meanAnomaly: m, eccentricity: 0.7)
+    #expect(abs(result.anomaly - 0.7 * sin(result.anomaly) - m) < 1e-12)
+    #expect(try KeplerSolver.elliptic(meanAnomaly: 0, eccentricity: 0.999).anomaly == 0)
+}
+
+@Test func hyperbolicKeplerKnownAnomalies() throws {
+    for e in [1.000000000001, 1.1, 2.0, 100.0] {
+        for expected in [-10.0, -1, -0.001, 0, 0.001, 1, 10] {
+            let m = e * sinh(expected) - expected
+            let result = try KeplerSolver.hyperbolic(meanAnomaly: m, eccentricity: e)
+            #expect(abs(result.anomaly - expected) < 2e-10)
+        }
+    }
+}
+
+@Test func keplerSolverRejectsInvalidInputsAndReportsExhaustion() throws {
+    #expect(throws: KeplerSolverError.invalidEccentricity) {
+        try KeplerSolver.elliptic(meanAnomaly: 1, eccentricity: 1)
+    }
+    #expect(throws: KeplerSolverError.invalidEccentricity) {
+        try KeplerSolver.hyperbolic(meanAnomaly: 1, eccentricity: 0.5)
+    }
+    #expect(throws: KeplerSolverError.nonFiniteMeanAnomaly) {
+        try KeplerSolver.elliptic(meanAnomaly: .nan, eccentricity: 0.5)
+    }
+    #expect(throws: KeplerSolverError.invalidOptions) { try KeplerSolverOptions(maximumIterations: 0) }
+    #expect(throws: KeplerSolverError.invalidOptions) { try KeplerSolverOptions(absoluteTolerance: .infinity) }
+    let options = try KeplerSolverOptions(maximumIterations: 1)
+    do {
+        _ = try KeplerSolver.elliptic(meanAnomaly: 0.1, eccentricity: 0.99, options: options)
+        Issue.record("Expected iteration exhaustion")
+    } catch let KeplerSolverError.convergenceFailure(iterations, low, high) {
+        #expect(iterations == 1)
+        #expect(low < high)
+    }
+    #expect(throws: KeplerSolverError.numericalRangeExceeded) {
+        try KeplerSolver.hyperbolic(meanAnomaly: .greatestFiniteMagnitude, eccentricity: 2)
+    }
+}
+
+@Test func keplerHighPrecisionReferenceCases() throws {
+    // Generated independently by Tools/generate_kepler_fixtures.py using
+    // 80-digit Decimal arithmetic and bisection of the defining equations.
+    let cases: [(Bool, Double, Double, Double)] = [
+        (false, 0.9, 0.1, 0.6308435275631535),
+        (false, 0.9999999999999999, 1e-18, 1.8169983969771785e-06),
+        (false, 0.999999, 1e-08, 0.003407264597719929),
+        (false, 0.5, 2.0, 2.3542427582227807),
+        (true, 1.0000000000000002, 1e-18, 1.8168762011230227e-06),
+        (true, 1.000001, 1e-08, 0.0034072615353025817),
+        (true, 2.0, 10.0, 2.5348145176603545),
+        (true, 1.1, 1000.0, 7.513077572718448),
+    ]
+    for (hyperbolic, e, m, expected) in cases {
+        for sign in [-1.0, 1.0] {
+            let result = try hyperbolic
+                ? KeplerSolver.hyperbolic(meanAnomaly: sign * m, eccentricity: e)
+                : KeplerSolver.elliptic(meanAnomaly: sign * m, eccentricity: e)
+            #expect(abs(result.anomaly - sign * expected) <= 2e-14 * (1 + abs(expected)))
+        }
+    }
+}
diff --git a/Tests/CelMekTests/LambertSolverTests.swift b/Tests/CelMekTests/LambertSolverTests.swift
new file mode 100644
index 0000000..57464a0
--- /dev/null
+++ b/Tests/CelMekTests/LambertSolverTests.swift
@@ -0,0 +1,130 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Testing
+import Math
+@testable import CelMek
+
+@Suite struct LambertSolverTests {
+    let frame = Frame(name: "Lambert", pseudoInertial: true)
+    func gm(_ value: Double = 1) throws -> GravitationalParameter {
+        try GravitationalParameter(cubicMetresPerSecondSquared: value, convention: .newtonian,
+            provenance: PhysicalDataProvenance(source: "Analytic test", version: "1"))
+    }
+    func solve(_ r1: SIMD3<Double>, _ r2: SIMD3<Double>, _ time: Double,
+        direction: LambertDirection = .positive, options: LambertOptions = try! LambertOptions(absoluteTimeToleranceSeconds: 1e-13)) throws -> LambertSolution {
+        try LambertSolver.solve(departurePosition: r1, arrivalPosition: r2, departureEpoch: .j2000,
+            arrivalEpoch: Epoch.j2000.advanced(by: CelMek.Duration(seconds: time)), frame: frame,
+            centralBody: .sun, gravitationalParameter: gm(), referencePole: SIMD3(0,0,1), direction: direction, options: options)
+    }
+    func check(_ solution: LambertSolution, _ v1: SIMD3<Double>, _ v2: SIMD3<Double>, tolerance: Double = 1e-9) throws {
+        #expect(routeNorm(solution.departureState.velocity-v1) < tolerance)
+        #expect(routeNorm(solution.arrivalState.velocity-v2) < tolerance)
+        let endpoint = try solution.trajectory().state(at: solution.arrivalState.epoch)
+        #expect(routeNorm(endpoint.position-solution.arrivalState.position) < tolerance * 10)
+        #expect(routeNorm(endpoint.velocity-v2) < tolerance * 10)
+        #expect(abs(solution.timeResidualSeconds) < 2e-9)
+    }
+    @Test func circularBothDirectionsAndLongWay() throws {
+        let positive = try solve(SIMD3(1,0,0), SIMD3(0,1,0), .pi/2)
+        try check(positive, SIMD3(0,1,0), SIMD3(-1,0,0))
+        #expect(positive.branch == .shortWay)
+        let negative = try solve(SIMD3(1,0,0), SIMD3(0,1,0), 3 * .pi/2, direction: .negative)
+        try check(negative, SIMD3(0,-1,0), SIMD3(1,0,0))
+        #expect(negative.branch == .longWay)
+        #expect(negative.orbitalNormal.z == -1)
+    }
+    @Test func analyticConics() throws {
+        // Independent Kepler eccentric-anomaly equations, a=1, mu=1.
+        let e = 0.4, b = sqrt(1-e*e), e1 = 0.2, e2 = 2.1
+        func ellipse(_ anomaly: Double) -> (SIMD3<Double>, SIMD3<Double>) {
+            (SIMD3(cos(anomaly)-e,b*sin(anomaly),0), SIMD3(-sin(anomaly),b*cos(anomaly),0)/(1-e*cos(anomaly)))
+        }
+        let first = ellipse(e1), second = ellipse(e2)
+        try check(solve(first.0, second.0, e2-e*sin(e2)-e1+e*sin(e1)), first.1, second.1)
+        // Hyperbolic anomaly equations, |a|=1, e=1.5, mu=1.
+        let eh = 1.5, bh = sqrt(eh*eh-1), h1 = -0.3, h2 = 0.6
+        func hyperbola(_ anomaly: Double) -> (SIMD3<Double>, SIMD3<Double>) {
+            (SIMD3(eh-cosh(anomaly),bh*sinh(anomaly),0), SIMD3(-sinh(anomaly),bh*cosh(anomaly),0)/(eh*cosh(anomaly)-1))
+        }
+        let hf = hyperbola(h1), hs = hyperbola(h2)
+        try check(solve(hf.0, hs.0, eh*sinh(h2)-h2-eh*sinh(h1)+h1), hf.1, hs.1)
+        // Barker's equation for a parabola, p=1 and mu=1.
+        let f1 = -0.4, f2 = 0.7, d1 = tan(f1/2), d2 = tan(f2/2)
+        func parabola(_ f: Double) -> (SIMD3<Double>, SIMD3<Double>) {
+            (SIMD3(cos(f),sin(f),0)/(1+cos(f)), SIMD3(-sin(f),1+cos(f),0))
+        }
+        let pf = parabola(f1), ps = parabola(f2)
+        try check(solve(pf.0, ps.0, (d2+d2*d2*d2/3-d1-d1*d1*d1/3)/2), pf.1, ps.1)
+    }
+    @Test func inclinedNearCollinearAndTimeReversal() throws {
+        let r1 = SIMD3<Double>(1,0,0), r2 = SIMD3<Double>(0,0,1)
+        let end = try Epoch.j2000.advanced(by: CelMek.Duration(seconds: .pi/2))
+        let inclined = try LambertSolver.solve(departurePosition: r1, arrivalPosition: r2,
+            departureEpoch: .j2000, arrivalEpoch: end, frame: frame, centralBody: .sun,
+            gravitationalParameter: gm(), referencePole: SIMD3(0,-1,0), direction: .positive)
+        try check(inclined, SIMD3(0,0,1), SIMD3(-1,0,0))
+        let angle = 1e-4
+        let near = try solve(SIMD3(1,0,0), SIMD3(cos(angle),sin(angle),0), angle,
+            options: LambertOptions(absoluteTimeToleranceSeconds: 1e-14))
+        try check(near, SIMD3(0,1,0), SIMD3(-sin(angle),cos(angle),0), tolerance: 1e-7)
+        let nearPi = Double.pi - 1e-4
+        let almostOpposite = try solve(SIMD3(1,0,0), SIMD3(cos(nearPi),sin(nearPi),0), nearPi)
+        try check(almostOpposite, SIMD3(0,1,0), SIMD3(-sin(nearPi),cos(nearPi),0), tolerance: 1e-6)
+        let reversed = try solve(SIMD3(0,1,0), SIMD3(1,0,0), .pi/2, direction: .negative)
+        try check(reversed, SIMD3(1,0,0), SIMD3(0,-1,0))
+    }
+    @Test func longWayConicsAndSIUnits() throws {
+        let e = 0.3, b = sqrt(1-e*e), first = 0.1, last = 5.2
+        func ellipse(_ anomaly: Double) -> (SIMD3<Double>, SIMD3<Double>) {
+            (SIMD3(cos(anomaly)-e,b*sin(anomaly),0), SIMD3(-sin(anomaly),b*cos(anomaly),0)/(1-e*cos(anomaly)))
+        }
+        let ef = ellipse(first), es = ellipse(last)
+        let elliptic = try solve(ef.0, es.0, last-e*sin(last)-first+e*sin(first))
+        #expect(elliptic.branch == .longWay)
+        try check(elliptic, ef.1, es.1)
+        let f1 = -2.0, f2 = 2.0, d1 = tan(f1/2), d2 = tan(f2/2)
+        func parabola(_ f: Double) -> (SIMD3<Double>, SIMD3<Double>) {
+            (SIMD3(cos(f),sin(f),0)/(1+cos(f)), SIMD3(-sin(f),1+cos(f),0))
+        }
+        let pf = parabola(f1), ps = parabola(f2)
+        let parabolic = try solve(pf.0, ps.0, (d2+d2*d2*d2/3-d1-d1*d1*d1/3)/2)
+        #expect(parabolic.branch == .longWay)
+        try check(parabolic, pf.1, ps.1)
+        let radius = 7e6, mu = 3.986004418e14, speed = sqrt(mu/radius)
+        let seconds = Double.pi/2 * radius/speed
+        let arrival = try Epoch.j2000.advanced(by: CelMek.Duration(seconds: seconds))
+        let si = try LambertSolver.solve(departurePosition: SIMD3(radius,0,0), arrivalPosition: SIMD3(0,radius,0),
+            departureEpoch: .j2000, arrivalEpoch: arrival, frame: frame, centralBody: .earth,
+            gravitationalParameter: gm(mu), referencePole: SIMD3(0,0,1), direction: .positive)
+        #expect(routeNorm(si.departureState.velocity-SIMD3(0,speed,0)) < 1e-7)
+        #expect(routeNorm(si.arrivalState.velocity-SIMD3(-speed,0,0)) < 1e-7)
+        let actual = try si.trajectory().state(at: arrival)
+        #expect(routeNorm(actual.position-si.arrivalState.position) < 1e-3)
+    }
+    @Test func explicitFailuresAndBudgets() throws {
+        #expect(throws: LambertError.degenerateGeometry) { try solve(SIMD3(1,0,0), SIMD3(-1,0,0), 1) }
+        #expect(throws: LambertError.degenerateGeometry) { try solve(SIMD3(1,0,0), SIMD3(2,0,0), 1) }
+        #expect(throws: LambertError.invalidInput) { try solve(.zero, SIMD3(1,0,0), 1) }
+        #expect(throws: LambertError.invalidInput) { try solve(SIMD3(1,0,0), SIMD3(0,1,0), -1) }
+        #expect(throws: LambertError.invalidOptions) { try LambertOptions(maximumIterations: 0) }
+        do {
+            _ = try solve(SIMD3(1,0,0), SIMD3(0,1,0), .pi/2, options: LambertOptions(maximumIterations: 1))
+            Issue.record("Expected iteration limit")
+        } catch LambertError.convergenceFailure(let iterations, _) { #expect(iterations == 1) }
+        do {
+            _ = try solve(SIMD3(1,0,0), SIMD3(0,1,0), 1e4, options: LambertOptions(maximumBracketExpansions: 1))
+            Issue.record("Expected bracket limit")
+        } catch LambertError.bracketFailure(let evaluations) { #expect(evaluations == 2) }
+        let end = try Epoch.j2000.advanced(by: CelMek.Duration(seconds: 1))
+        #expect(throws: LambertError.unsupportedRevolutions) {
+            try LambertSolver.solve(departurePosition: SIMD3(1,0,0), arrivalPosition: SIMD3(0,1,0),
+                departureEpoch: .j2000, arrivalEpoch: end, frame: frame, centralBody: .sun,
+                gravitationalParameter: gm(), referencePole: SIMD3(0,0,1), direction: .positive, revolutions: 33)
+        }
+        #expect(throws: LambertError.ambiguousDirection) {
+            try LambertSolver.solve(departurePosition: SIMD3(1,0,0), arrivalPosition: SIMD3(0,1,0),
+                departureEpoch: .j2000, arrivalEpoch: end, frame: frame, centralBody: .sun,
+                gravitationalParameter: gm(), referencePole: SIMD3(1,0,0), direction: .positive)
+        }
+    }
+}
diff --git a/Tests/CelMekTests/LambertTransferPlannerTests.swift b/Tests/CelMekTests/LambertTransferPlannerTests.swift
new file mode 100644
index 0000000..718f763
--- /dev/null
+++ b/Tests/CelMekTests/LambertTransferPlannerTests.swift
@@ -0,0 +1,138 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Testing
+import Math
+@testable import CelMek
+
+@Suite struct LambertTransferPlannerTests {
+    let frame = Frame(name: "Lambert transfer", pseudoInertial: true)
+    func epoch(_ t: Double) throws -> Epoch { try Epoch.j2000.advanced(by: CelMek.Duration(seconds: t)) }
+    func gm() throws -> GravitationalParameter {
+        try GravitationalParameter(cubicMetresPerSecondSquared: 1, convention: .newtonian,
+            provenance: PhysicalDataProvenance(source: "Analytic circular transfer", version: "1"))
+    }
+    struct Linear: StateProvider {
+        let frame: Frame
+        let p, v: SIMD3<Double>
+        func state(at epoch: Epoch) throws -> CartesianState {
+            try CartesianState(epoch: epoch, frame: frame,
+                position: p + v*epoch.duration(since: .j2000).seconds, velocity: v)
+        }
+    }
+    func provider(_ p: SIMD3<Double>, _ v: SIMD3<Double>, origin: BodyIdentifier = .sun,
+        coverage: ClosedRange<Epoch>? = nil) throws -> MovingWaypointRouteTarget {
+        try MovingWaypointRouteTarget(provider: Linear(frame: frame,p: p,v: v), origin: origin,
+            coverage: coverage ?? epoch(0)...epoch(20))
+    }
+    func plan(_ condition: LambertArrivalCondition) throws -> LambertTransferPlan {
+        let time = Double.pi/2, targetVelocity = SIMD3<Double>(-0.5,0.2,0)
+        return try LambertTransferPlanner.plan(departure: provider(SIMD3(1,0,0),SIMD3(0,0.5,0)),
+            arrival: provider(SIMD3(0,1,0)-targetVelocity*time,targetVelocity),
+            departureEpoch: .j2000, arrivalEpoch: epoch(time), centralBody: .sun,
+            gravitationalParameter: gm(), referencePole: SIMD3(0,0,1), direction: .positive,
+            arrivalCondition: condition, lambertOptions: LambertOptions(absoluteTimeToleranceSeconds: 1e-13))
+    }
+    @Test func movingEndpointsAndIndependentVelocityDifferences() throws {
+        let intercept = try plan(.intercept), flyby = try plan(.flyby), rendezvous = try plan(.velocityMatchedRendezvous)
+        for result in [intercept,flyby,rendezvous] {
+            #expect(routeNorm(result.arrivalTargetState.position-SIMD3(0,1,0)) < 1e-12)
+            #expect(routeNorm(result.departureBurn.deltaVelocityMetresPerSecond-SIMD3(0,0.5,0)) < 1e-10)
+            #expect(routeNorm(result.incomingRelativeVelocityMetresPerSecond-SIMD3(-0.5,-0.2,0)) < 1e-10)
+            #expect(result.positionErrorMetres < 1e-10)
+            #expect(result.arrivalConditionSatisfied)
+            let beforeDeparture = try result.trajectory.state(at: .j2000,side: .before)
+            let afterDeparture = try result.trajectory.state(at: .j2000)
+            #expect(beforeDeparture == result.departureReferenceState)
+            #expect(routeNorm(afterDeparture.velocity-beforeDeparture.velocity-result.departureBurn.deltaVelocityMetresPerSecond) < 1e-12)
+        }
+        #expect(intercept.arrivalBurn == nil && flyby.arrivalBurn == nil)
+        #expect(intercept.maneuvers.count == 1 && flyby.maneuvers.count == 1)
+        #expect(intercept.velocityErrorMetresPerSecond > 0.5)
+        #expect(flyby.postArrivalState.velocity == flyby.preArrivalState.velocity)
+        #expect(abs(flyby.totalDeltaVelocityMetresPerSecond-0.5) < 1e-10)
+        let burn = try #require(rendezvous.arrivalBurn)
+        #expect(routeNorm(burn.deltaVelocityMetresPerSecond-SIMD3(0.5,0.2,0)) < 1e-10)
+        #expect(abs(rendezvous.totalDeltaVelocityMetresPerSecond-(0.5+sqrt(0.29))) < 1e-10)
+        #expect(rendezvous.maneuvers.count == 2)
+        let before = try rendezvous.trajectory.state(at: rendezvous.arrivalTargetState.epoch,side: .before)
+        let after = try rendezvous.trajectory.state(at: rendezvous.arrivalTargetState.epoch)
+        #expect(before.position == after.position)
+        #expect(routeNorm(after.velocity-before.velocity-burn.deltaVelocityMetresPerSecond) < 1e-12)
+        #expect(rendezvous.velocityErrorMetresPerSecond < 1e-12)
+    }
+    @Test func stationaryTargetAndNoHistoryExtrapolation() throws {
+        let depart = try CartesianState(epoch: .j2000,frame: frame,position: SIMD3(1,0,0),velocity: .zero)
+        let arrival = try CartesianState(epoch: epoch(.pi/2),frame: frame,position: SIMD3(0,1,0),velocity: .zero)
+        let plan = try LambertTransferPlanner.plan(departureState: depart, arrivalTargetState: arrival,
+            centralBody: .sun,gravitationalParameter: gm(),referencePole: SIMD3(0,0,1),direction: .positive,
+            arrivalCondition: .velocityMatchedRendezvous)
+        #expect(plan.postArrivalState.velocity == .zero)
+        #expect(plan.arrivalConditionSatisfied)
+        #expect(throws: LambertTransferPlanningError.outsideFlight) { try plan.trajectory.state(at: epoch(-1)) }
+        #expect(throws: LambertTransferPlanningError.outsideFlight) { try plan.trajectory.state(at: epoch(3)) }
+    }
+    @Test func residualDoesNotResetArrivalPosition() throws {
+        let departure = try CartesianState(epoch: .j2000,frame: frame,position: SIMD3(1,0,0),velocity: .zero)
+        let target = try CartesianState(epoch: epoch(2),frame: frame,position: SIMD3(0,1,0),velocity: SIMD3(0.2,0.3,0))
+        let result = try LambertTransferPlanner.plan(departureState: departure,arrivalTargetState: target,
+            centralBody: .sun,gravitationalParameter: gm(),referencePole: SIMD3(0,0,1),direction: .positive,
+            arrivalCondition: .velocityMatchedRendezvous,positionToleranceMetres: 1e-25,
+            lambertOptions: LambertOptions(absoluteTimeToleranceSeconds: 1e-6,relativeTimeTolerance: 0))
+        #expect(result.positionErrorMetres > 1e-25)
+        #expect(!result.arrivalConditionSatisfied)
+        #expect(result.preArrivalState.position == result.postArrivalState.position)
+        #expect(result.postArrivalState.position != target.position)
+        #expect(result.velocityErrorMetresPerSecond < 1e-12)
+    }
+    @Test func multiRevolutionBranchIsRetained() throws {
+        let time = 2 * Double.pi + Double.pi/2
+        for branch in [LambertMultiRevolutionBranch.lowerUniversalParameter,.upperUniversalParameter] {
+            let departure = try CartesianState(epoch: .j2000,frame: frame,position: SIMD3(1,0,0),velocity: SIMD3(0,1,0))
+            let arrival = try CartesianState(epoch: epoch(time),frame: frame,position: SIMD3(0,1,0),velocity: SIMD3(-1,0,0))
+            let plan = try LambertTransferPlanner.plan(departureState: departure,arrivalTargetState: arrival,
+                centralBody: .sun,gravitationalParameter: gm(),referencePole: SIMD3(0,0,1),direction: .positive,
+                arrivalCondition: .flyby,revolutions: 1,multiRevolutionBranch: branch)
+            #expect(plan.solution.multiRevolutionBranch == branch)
+            #expect(plan.solution.revolutions == 1)
+            #expect(plan.positionErrorMetres < 1e-8)
+            #expect(plan.arrivalBurn == nil)
+        }
+    }
+    @Test func ephemerisAdapterUsesMetadataAndArrivalEpoch() throws {
+        func metadata(_ body: BodyIdentifier) throws -> EphemerisMetadata {
+            try EphemerisMetadata(body: body,origin: .sun,frame: frame,coverage: epoch(0)...epoch(20),
+                coverageBasis: .callerSelected,modelTimeScale: .tt,velocityMethod: .analytic,
+                accelerationMethod: .unavailable,provenance: PhysicalDataProvenance(source: "Test linear ephemeris",version: "1"))
+        }
+        let time = Double.pi/2, velocity = SIMD3<Double>(-0.5,0.2,0)
+        let departure = try StateProviderEphemeris(provider: Linear(frame: frame,p: SIMD3(1,0,0),v: SIMD3(0,0.5,0)),metadata: metadata(.earth))
+        let target = try StateProviderEphemeris(provider: Linear(frame: frame,p: SIMD3(0,1,0)-velocity*time,v: velocity),metadata: metadata(.mars))
+        let fromEphemerides = try LambertTransferPlanner.plan(departure: departure,arrival: target,
+            departureEpoch: .j2000,arrivalEpoch: epoch(time),centralBody: .sun,gravitationalParameter: gm(),
+            referencePole: SIMD3(0,0,1),direction: .positive,arrivalCondition: .flyby,
+            lambertOptions: LambertOptions(absoluteTimeToleranceSeconds: 1e-13))
+        let reference = try plan(.flyby)
+        #expect(fromEphemerides.arrivalTargetState == reference.arrivalTargetState)
+        #expect(fromEphemerides.departureReferenceState == reference.departureReferenceState)
+        #expect(fromEphemerides.departureBurn.deltaVelocityMetresPerSecond == reference.departureBurn.deltaVelocityMetresPerSecond)
+    }
+    @Test func providerContractFailures() throws {
+        let departure = try provider(SIMD3(1,0,0),.zero), target = try provider(SIMD3(0,1,0),.zero,origin: .earth)
+        #expect(throws: LambertTransferPlanningError.originMismatch) {
+            try LambertTransferPlanner.plan(departure: departure,arrival: target,departureEpoch: .j2000,arrivalEpoch: epoch(1),
+                centralBody: .sun,gravitationalParameter: gm(),referencePole: SIMD3(0,0,1),direction: .positive,arrivalCondition: .intercept)
+        }
+        let short = try provider(SIMD3(0,1,0),.zero,coverage: epoch(0)...epoch(0.5))
+        #expect(throws: MovingWaypointTargetError.outsideCoverage) {
+            try LambertTransferPlanner.plan(departure: departure,arrival: short,departureEpoch: .j2000,arrivalEpoch: epoch(1),
+                centralBody: .sun,gravitationalParameter: gm(),referencePole: SIMD3(0,0,1),direction: .positive,arrivalCondition: .flyby)
+        }
+        let otherFrame = Frame(name: frame.name,pseudoInertial: true)
+        let wrong = try MovingWaypointRouteTarget(provider: Linear(frame: otherFrame,p: SIMD3(0,1,0),v: .zero),origin: .sun,
+            coverage: epoch(0)...epoch(20))
+        #expect(throws: SpacecraftDynamicsError.frameMismatch) {
+            try LambertTransferPlanner.plan(departure: departure,arrival: wrong,departureEpoch: .j2000,arrivalEpoch: epoch(1),
+                centralBody: .sun,gravitationalParameter: gm(),referencePole: SIMD3(0,0,1),direction: .positive,arrivalCondition: .flyby)
+        }
+    }
+}
diff --git a/Tests/CelMekTests/LambertTransferWindowSearchTests.swift b/Tests/CelMekTests/LambertTransferWindowSearchTests.swift
new file mode 100644
index 0000000..b95b46c
--- /dev/null
+++ b/Tests/CelMekTests/LambertTransferWindowSearchTests.swift
@@ -0,0 +1,167 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct LambertTransferWindowSearchTests {
+    let frame = Frame(name: "Transfer windows",pseudoInertial: true)
+    func epoch(_ t: Double) throws -> Epoch { try Epoch.j2000.advanced(by: CelMek.Duration(seconds: t)) }
+    func gm(_ value: Double = 1) throws -> GravitationalParameter {
+        try GravitationalParameter(cubicMetresPerSecondSquared: value,convention: .newtonian,
+            provenance: PhysicalDataProvenance(source: "Explicit test model",version: "1"))
+    }
+    struct Linear: StateProvider {
+        let frame: Frame
+        let p,v: SIMD3<Double>
+        func state(at epoch: Epoch) throws -> CartesianState {
+            try CartesianState(epoch: epoch,frame: frame,position: p+v*epoch.duration(since: .j2000).seconds,velocity: v)
+        }
+    }
+    func sources() throws -> (MovingWaypointRouteTarget,MovingWaypointRouteTarget) {
+        try (MovingWaypointRouteTarget(provider: Linear(frame: frame,p: SIMD3(1,0,0),v: SIMD3(0,0.5,0)),origin: .sun,
+                coverage: epoch(0)...epoch(10)),
+            MovingWaypointRouteTarget(provider: Linear(frame: frame,p: SIMD3(0,1,0),v: .zero),origin: .sun,
+                coverage: epoch(0)...epoch(10)))
+    }
+    func search(budget: Int = 1000,objective: LambertWindowObjective = .minimumDeltaVelocity,
+        cost: Double? = nil,speed: Double? = nil) throws -> LambertWindowSearchResult {
+        let (departure,arrival) = try sources()
+        let positive = try LambertWindowBranch(direction: .positive), negative = try LambertWindowBranch(direction: .negative)
+        return try LambertTransferWindowSearch.search(departure: departure,arrival: arrival,centralBody: .sun,
+            gravitationalParameter: gm(),referencePole: SIMD3(0,0,1),departureEpochs: [epoch(0.5),.j2000,.j2000],
+            flightTimes: [CelMek.Duration(seconds: .pi/2),CelMek.Duration(seconds: .pi/4),CelMek.Duration(seconds: .pi/2)],
+            branches: [positive,negative,positive],arrivalCondition: .velocityMatchedRendezvous,objective: objective,
+            maximumCandidateEvaluations: budget,maximumDeltaVelocityMetresPerSecond: cost,
+            maximumArrivalRelativeSpeedMetresPerSecond: speed)
+    }
+    @Test func gridDeduplicationRankingAndBudgets() throws {
+        let all = try search()
+        #expect(all.totalCandidates == 8 && all.evaluatedCandidates == 8)
+        #expect(all.status == .gridExhausted)
+        #expect(all.rows.allSatisfy { $0.feasible })
+        #expect(all.rows.first?.candidate.departureEpoch == .j2000)
+        let costs = all.rankedFeasibleRows.compactMap(\.totalDeltaVelocityMetresPerSecond)
+        #expect(costs == costs.sorted())
+        let fastest = try search(objective: .minimumFlightTime)
+        let minimumTime = try CelMek.Duration(seconds: .pi/4)
+        #expect(fastest.best?.candidate.flightTime == minimumTime)
+        let limited = try search(budget: 1)
+        #expect(limited.status == .evaluationLimitReached && limited.evaluatedCandidates == 1)
+        #expect(limited.best != nil && limited.totalCandidates == 8)
+        #expect(try search(budget: 8).status == .gridExhausted)
+        for row in all.rows {
+            let plan = try #require(row.plan)
+            let endpoint = try plan.trajectory.state(at: plan.arrivalTargetState.epoch)
+            #expect(routeNorm(endpoint.position-plan.arrivalTargetState.position) < 1e-7)
+            #expect(routeNorm(endpoint.velocity-plan.arrivalTargetState.velocity) < 1e-7)
+            #expect(row.arrivalRelativeSpeedMetresPerSecond! > 0)
+        }
+    }
+    @Test func limitsKeepRejectedPlansAndIncomingSpeed() throws {
+        let expensive = try search(cost: 0)
+        #expect(expensive.best == nil)
+        #expect(expensive.rows.allSatisfy { $0.failure == .deltaVelocityLimit && $0.plan != nil })
+        let fast = try search(speed: 0)
+        #expect(fast.best == nil)
+        #expect(fast.rows.allSatisfy { $0.failure == .arrivalRelativeSpeedLimit && $0.plan!.velocityErrorMetresPerSecond < 1e-7 })
+        let reference = try search(budget: 1)
+        let inclusive = try search(budget: 1,cost: reference.best!.totalDeltaVelocityMetresPerSecond!,
+            speed: reference.best!.arrivalRelativeSpeedMetresPerSecond!)
+        #expect(inclusive.best != nil)
+    }
+    @Test func coverageGeometryAndMultiRevolutionFailures() throws {
+        let (departure,arrival) = try sources()
+        let zero = try LambertWindowBranch(direction: .positive)
+        let coverage = try LambertTransferWindowSearch.search(departure: departure,arrival: arrival,centralBody: .sun,
+            gravitationalParameter: gm(),referencePole: SIMD3(0,0,1),departureEpochs: [epoch(-1),epoch(9)],
+            flightTimes: [CelMek.Duration(seconds: 2)],branches: [zero],arrivalCondition: .flyby)
+        #expect(coverage.rows[0].failure == .departureOutsideCoverage)
+        #expect(coverage.rows[1].failure == .arrivalOutsideCoverage)
+        let collinear = try MovingWaypointRouteTarget(provider: Linear(frame: frame,p: SIMD3(-1,0,0),v: .zero),origin: .sun,
+            coverage: epoch(0)...epoch(10))
+        let failed = try LambertTransferWindowSearch.search(departure: departure,arrival: collinear,centralBody: .sun,
+            gravitationalParameter: gm(),referencePole: SIMD3(0,0,1),departureEpochs: [.j2000],
+            flightTimes: [CelMek.Duration(seconds: 2)],branches: [zero],arrivalCondition: .intercept)
+        #expect(failed.rows[0].failure == .lambert(.degenerateGeometry))
+        let lower = try LambertWindowBranch(direction: .positive,revolutions: 1,multiRevolutionBranch: .lowerUniversalParameter)
+        let upper = try LambertWindowBranch(direction: .positive,revolutions: 1,multiRevolutionBranch: .upperUniversalParameter)
+        let multi = try LambertTransferWindowSearch.search(departure: departure,arrival: arrival,centralBody: .sun,
+            gravitationalParameter: gm(),referencePole: SIMD3(0,0,1),departureEpochs: [.j2000],
+            flightTimes: [CelMek.Duration(seconds: 1),CelMek.Duration(seconds: 8)],branches: [lower,upper],arrivalCondition: .flyby)
+        #expect(multi.rows.count == 4 && multi.rankedFeasibleRows.count == 2)
+        if case .lambert(.belowMinimumFlightTime) = multi.rows[0].failure {} else { Issue.record("Expected minimum-time failure") }
+        #expect(multi.rows[2].candidate.branch.multiRevolutionBranch == .lowerUniversalParameter)
+        #expect(multi.rows[3].candidate.branch.multiRevolutionBranch == .upperUniversalParameter)
+    }
+    struct Broken: StateProvider {
+        let frame: Frame
+        func state(at epoch: Epoch) throws -> CartesianState { throw LambertError.invalidInput }
+    }
+    @Test func configurationAndProviderErrorsPropagate() throws {
+        let (departure,arrival) = try sources()
+        #expect(throws: LambertWindowSearchError.invalidBudget) { try search(budget: 0) }
+        #expect(throws: LambertWindowSearchError.invalidConstraints) { try search(cost: -.infinity) }
+        let broken = try MovingWaypointRouteTarget(provider: Broken(frame: frame),origin: .sun,coverage: epoch(0)...epoch(10))
+        #expect(throws: LambertError.invalidInput) {
+            try LambertTransferWindowSearch.search(departure: broken,arrival: arrival,centralBody: .sun,
+                gravitationalParameter: gm(),referencePole: SIMD3(0,0,1),departureEpochs: [.j2000],
+                flightTimes: [CelMek.Duration(seconds: 1)],branches: [LambertWindowBranch(direction: .positive)],arrivalCondition: .flyby)
+        }
+        #expect(throws: LambertWindowSearchError.invalidGrid) {
+            try LambertTransferWindowSearch.search(departure: departure,arrival: arrival,centralBody: .sun,
+                gravitationalParameter: gm(),referencePole: SIMD3(0,0,1),departureEpochs: Array(repeating: .j2000,count: 400),
+                flightTimes: Array(repeating: CelMek.Duration(seconds: 1),count: 300),
+                branches: [LambertWindowBranch(direction: .positive)],arrivalCondition: .flyby)
+        }
+    }
+    @Test func epochRangeAndResolutionFailuresAreRows() throws {
+        let (departure,arrival) = try sources()
+        let branch = try LambertWindowBranch(direction: .positive)
+        let maximum = Epoch(offsetFromJ2000: try CelMek.Duration(wholeSeconds: CelMek.Duration.maximumWholeSeconds))
+        let range = try LambertTransferWindowSearch.search(departure: departure,arrival: arrival,centralBody: .sun,
+            gravitationalParameter: gm(),referencePole: SIMD3(0,0,1),departureEpochs: [maximum],
+            flightTimes: [CelMek.Duration(seconds: 2)],branches: [branch],arrivalCondition: .flyby)
+        #expect(range.rows[0].failure == .timeArithmetic(.outOfRange))
+        #expect(range.rows[0].arrivalEpoch == nil)
+        let resolution = try LambertTransferWindowSearch.search(departure: departure,arrival: arrival,centralBody: .sun,
+            gravitationalParameter: gm(),referencePole: SIMD3(0,0,1),departureEpochs: [epoch(0.5)],
+            flightTimes: [CelMek.Duration(seconds: 1e-30)],branches: [branch],arrivalCondition: .flyby)
+        #expect(resolution.rows[0].failure == .arrivalEpochResolutionExceeded)
+        #expect(resolution.best == nil && resolution.status == .gridExhausted)
+        #expect(throws: LambertWindowSearchError.invalidPole) {
+            try LambertTransferWindowSearch.search(departure: departure,arrival: arrival,centralBody: .sun,
+                gravitationalParameter: gm(),referencePole: .zero,departureEpochs: [maximum],
+                flightTimes: [CelMek.Duration(seconds: 2)],branches: [branch],arrivalCondition: .flyby)
+        }
+    }
+    @Test func interplanetaryKeplerEphemerisGrid() throws {
+        // Ideal heliocentric Earth/Mars-sized circular models, not a dated mission prediction.
+        let mu = 1.32712440018e20, au = CartesianUnits.metresPerAstronomicalUnit
+        let parameter = try gm(mu), coverage = try epoch(0)...epoch(600*86400)
+        func body(_ id: BodyIdentifier,_ radius: Double,_ phase: Double) throws -> KeplerEphemeris {
+            let state = try CartesianState(epoch: .j2000,frame: frame,
+                position: SIMD3(cos(phase),sin(phase),0)*radius,
+                velocity: SIMD3(-sin(phase),cos(phase),0)*sqrt(mu/radius))
+            return try KeplerEphemeris(body: id,propagator: TwoBodyPropagator(initialState: state,centralBody: .sun,
+                gravitationalParameter: parameter),coverage: coverage,
+                provenance: PhysicalDataProvenance(source: "Ideal circular demonstration",version: "1"))
+        }
+        let departure = try body(.earth,au,0), arrival = try body(.marsBarycentre,1.524*au,0.7)
+        let result = try LambertTransferWindowSearch.search(departure: departure,arrival: arrival,centralBody: .sun,
+            gravitationalParameter: parameter,referencePole: SIMD3(0,0,1),departureEpochs: [epoch(0),epoch(30*86400)],
+            flightTimes: [CelMek.Duration(seconds: 180*86400),CelMek.Duration(seconds: 240*86400)],
+            branches: [LambertWindowBranch(direction: .positive)],arrivalCondition: .velocityMatchedRendezvous,
+            positionToleranceMetres: 100,velocityToleranceMetresPerSecond: 1e-4)
+        #expect(result.status == .gridExhausted && result.rows.count == 4)
+        #expect(result.rankedFeasibleRows.count == 4)
+        for row in result.rows {
+            let plan = try #require(row.plan)
+            let sampled = try arrival.state(at: plan.arrivalTargetState.epoch)
+            #expect(sampled == plan.arrivalTargetState)
+            #expect(row.totalDeltaVelocityMetresPerSecond! > 0)
+            #expect(row.departureRelativeSpeedMetresPerSecond! > 0)
+            #expect(row.arrivalRelativeSpeedMetresPerSecond! > 0)
+        }
+    }
+}
diff --git a/Tests/CelMekTests/LocalOrbitalFrameTests.swift b/Tests/CelMekTests/LocalOrbitalFrameTests.swift
new file mode 100644
index 0000000..9c138e5
--- /dev/null
+++ b/Tests/CelMekTests/LocalOrbitalFrameTests.swift
@@ -0,0 +1,162 @@
+import Foundation
+import Testing
+import Math
+@testable import CelMek
+
+@Suite struct LocalOrbitalFrameTests {
+  private struct Orbit: StateProvider {
+    let frame: Frame
+    var offset = SIMD3<Double>(1000,2000,3000)
+    var drift = SIMD3<Double>(10,20,30)
+    var radialRate = 0.0
+    func state(at epoch: Epoch) throws -> CartesianState {
+      let t = try epoch.duration(since: .j2000).seconds
+      let n = 0.001, a = n*t, r = 7e6+radialRate*t
+      let u = SIMD3(cos(a),sin(a),0), tangent = SIMD3(-sin(a),cos(a),0)
+      return try CartesianState(epoch: epoch,frame: frame,position: offset+drift*t+r*u,
+        velocity: drift+radialRate*u+r*n*tangent,acceleration: -r*n*n*u+2*radialRate*n*tangent)
+    }
+  }
+  private struct Centre: StateProvider {
+    let frame: Frame
+    func state(at epoch: Epoch) throws -> CartesianState {
+      let t = try epoch.duration(since: .j2000).seconds
+      return try CartesianState(epoch: epoch,frame: frame,position: SIMD3(1000,2000,3000)+SIMD3(10,20,30)*t,
+        velocity: SIMD3(10,20,30),acceleration: .zero)
+    }
+  }
+  @Test func circularAxesRatesAndSpacecraftOrigin() throws {
+    let tree = FrameTree(), orbit = Orbit(frame: tree.root), centre = Centre(frame: tree.root)
+    for axes in [LocalOrbitalAxes.rtn,.tnw,.lvlhCCSDS] {
+      let p = try LocalOrbitalOrientationProvider(spacecraft: orbit,centralBody: centre,axes: axes,
+        derivativeStep: CelMek.Duration(seconds: 0.5))
+      let attitude = try p.orientation(at: .j2000)
+      let expected: [[Double]]
+      let omega: SIMD3<Double>
+      switch axes {
+      case .rtn: expected = [[1,0,0],[0,1,0],[0,0,1]]; omega = SIMD3(0,0,-0.001)
+      case .tnw: expected = [[0,1,0],[-1,0,0],[0,0,1]]; omega = SIMD3(0,0,-0.001)
+      case .lvlhCCSDS: expected = [[0,1,0],[0,0,-1],[-1,0,0]]; omega = SIMD3(0,0.001,0)
+      }
+      for i in 0..<3 { for j in 0..<3 { #expect(abs(attitude.rotation.matrix[i,j]-expected[i][j]) < 1e-14) } }
+      for i in 0..<3 {
+        #expect(abs(attitude.angularVelocity[i]-omega[i]) < 1e-15)
+        #expect(abs(attitude.angularAcceleration[i]) < 1e-14)
+      }
+      let frame = try tree.makeLocalOrbitalFrame(name: "local",spacecraft: orbit,centralBody: centre,
+        axes: axes,derivativeStep: CelMek.Duration(seconds: 0.5))
+      let state = try orbit.state(at: .j2000)
+      let local = try tree.transform(from: tree.root,to: frame,at: .j2000).applying(to: state,destination: frame)
+      #expect(local.position == .zero)
+      #expect(local.velocity == .zero)
+      #expect(local.acceleration == .zero)
+    }
+  }
+
+  @Test func nonCircularVelocityAxesAndMountedAttitude() throws {
+    let tree = FrameTree(), orbit = Orbit(frame: tree.root,radialRate: 1000), centre = Centre(frame: tree.root)
+    let p = try LocalOrbitalOrientationProvider(spacecraft: orbit,centralBody: centre,axes: .tnw,
+      derivativeStep: CelMek.Duration(seconds: 0.5))
+    let a = try p.orientation(at: .j2000)
+    #expect(abs(a.rotation.matrix[0,0]-1/sqrt(50)) < 1e-14)
+    #expect(abs(a.rotation.matrix[0,1]-7/sqrt(50)) < 1e-14)
+    // atan2(r*n, radialRate): frame angle and its exact first/second derivatives.
+    let n = 0.001, r = 7e6, k = 1000.0, denominator = k*k+r*r*n*n
+    let rate = n+n*k*k/denominator
+    let acceleration = -2*n*n*n*k*k*k*r/(denominator*denominator)
+    #expect(abs(a.angularVelocity.z+rate) < 2e-14)
+    #expect(abs(a.angularAcceleration.z+acceleration) < 2e-14)
+    let mount = Quaternion(angle: .pi/2,axis: SIMD3(1,0,0))
+    let mounted = try LocalOrbitalOrientationProvider(spacecraft: orbit,centralBody: centre,axes: .tnw,
+      derivativeStep: CelMek.Duration(seconds: 0.5),mountingRotation: mount)
+    let b = try mounted.orientation(at: .j2000)
+    for i in 0..<3 { #expect(abs(b.angularVelocity[i]-(mount.matrix*a.angularVelocity)[i]) < 1e-15) }
+    let frame = try tree.makeSpacecraftFrame(name: "mounted",spacecraft: orbit,attitude: mounted)
+    let transform = try tree.transform(from: tree.root,to: frame,at: .j2000)
+    let local = try transform.applying(to: orbit.state(at: .j2000),destination: frame)
+    #expect(local.position == .zero)
+    #expect(local.velocity == .zero)
+  }
+  private struct Static: StateProvider {
+    let frame: Frame
+    let r: SIMD3<Double>, v: SIMD3<Double>
+    var wrongEpoch = false
+    func state(at epoch: Epoch) throws -> CartesianState {
+      try CartesianState(epoch: wrongEpoch ? epoch.advanced(by: CelMek.Duration(seconds: 1)) : epoch,
+        frame: frame,position: r,velocity: v)
+    }
+  }
+  @Test func degenerateInputsAndConfiguration() throws {
+    let frame = Frame(name: "reference",pseudoInertial: true)
+    for (r,v,error) in [
+      (SIMD3<Double>.zero,SIMD3(0,1,0),LocalOrbitalFrameError.zeroPosition),
+      (SIMD3(1,0,0),SIMD3<Double>.zero,.zeroVelocity),
+      (SIMD3(1,0,0),SIMD3(1,0,0),.undefinedOrbitalPlane),
+      (SIMD3(1,0,0),SIMD3(1,1e-14,0),.undefinedOrbitalPlane)] {
+      let p = try LocalOrbitalOrientationProvider(spacecraft: Static(frame: frame,r: r,v: v),axes: .rtn,
+        derivativeStep: CelMek.Duration(seconds: 1))
+      #expect(throws: error) { try p.orientation(at: .j2000) }
+    }
+    let state = Static(frame: frame,r: SIMD3(1,0,0),v: SIMD3(0,1,0),wrongEpoch: true)
+    let p = try LocalOrbitalOrientationProvider(spacecraft: state,axes: .rtn,derivativeStep: CelMek.Duration(seconds: 1))
+    #expect(throws: FrameTransformError.epochMismatch) { try p.orientation(at: .j2000) }
+    #expect(throws: LocalOrbitalFrameError.invalidConfiguration) {
+      try LocalOrbitalOrientationProvider(spacecraft: state,axes: .rtn,derivativeStep: .zero)
+    }
+    let rotating = Static(frame: Frame(name: "rotating",pseudoInertial: false),r: SIMD3(1,0,0),v: SIMD3(0,1,0))
+    #expect(throws: LocalOrbitalFrameError.nonInertialReference) {
+      try LocalOrbitalOrientationProvider(spacecraft: rotating,axes: .rtn,derivativeStep: CelMek.Duration(seconds: 1))
+    }
+    #expect(throws: LocalOrbitalFrameError.frameMismatch) {
+      try LocalOrbitalOrientationProvider(spacecraft: state,centralBody: rotating,axes: .rtn,
+        derivativeStep: CelMek.Duration(seconds: 1))
+    }
+  }
+
+  private struct RotatedOrbit: StateProvider {
+    let frame: Frame
+    let rotation: Quaternion
+    func state(at epoch: Epoch) throws -> CartesianState {
+      let s = try Orbit(frame: frame,offset: .zero,drift: .zero).state(at: epoch)
+      return try CartesianState(epoch: epoch,frame: frame,position: rotation.matrix*s.position,
+        velocity: rotation.matrix*s.velocity,acceleration: s.acceleration.map { rotation.matrix*$0 })
+    }
+  }
+  @Test func inclinedHalfTurnAndTransformedStateDerivatives() throws {
+    let tree = FrameTree()
+    let orbit = RotatedOrbit(frame: tree.root,rotation: Quaternion(angle: .pi,axis: SIMD3(1,2,3)))
+    let frame = try tree.makeLocalOrbitalFrame(name: "inclined",spacecraft: orbit,axes: .rtn,
+      derivativeStep: CelMek.Duration(seconds: 0.5))
+    let t = try tree.transform(from: tree.root,to: frame,at: .j2000)
+    let expected = orbit.rotation.matrix
+    for i in 0..<3 { for j in 0..<3 { #expect(abs(t.rotation.matrix[i,j]-expected[j,i]) < 1e-14) } }
+    // A stationary parent point moves in the rotating, translating local frame.
+    func local(_ seconds: Double) throws -> CartesianState {
+      let epoch = try Epoch.j2000.advanced(by: CelMek.Duration(seconds: seconds))
+      let point = try CartesianState(epoch: epoch,frame: tree.root,position: SIMD3(2e6,-1e6,3e6),
+        velocity: .zero,acceleration: .zero)
+      return try tree.transform(from: tree.root,to: frame,at: epoch).applying(to: point,destination: frame)
+    }
+    let centre = try local(0), before = try local(-0.1), after = try local(0.1)
+    let v = (after.position-before.position)/0.2
+    let a = (after.velocity-before.velocity)/0.2
+    for i in 0..<3 {
+      #expect(abs(v[i]-centre.velocity[i]) < 1e-5)
+      #expect(abs(a[i]-centre.acceleration![i]) < 1e-7)
+    }
+  }
+  private enum CoverageError: Error { case outside }
+  private struct LimitedOrbit: StateProvider {
+    let frame: Frame
+    func state(at epoch: Epoch) throws -> CartesianState {
+      guard abs(try epoch.duration(since: .j2000).seconds) < 1 else { throw CoverageError.outside }
+      return try Orbit(frame: frame).state(at: epoch)
+    }
+  }
+  @Test func derivativeStencilRequiresNeighbourCoverage() throws {
+    let frame = Frame(name: "reference",pseudoInertial: true)
+    let p = try LocalOrbitalOrientationProvider(spacecraft: LimitedOrbit(frame: frame),axes: .rtn,
+      derivativeStep: CelMek.Duration(seconds: 1))
+    #expect(throws: CoverageError.outside) { try p.orientation(at: .j2000) }
+  }
+}
diff --git a/Tests/CelMekTests/ManeuverAndSamplingTests.swift b/Tests/CelMekTests/ManeuverAndSamplingTests.swift
new file mode 100644
index 0000000..7944606
--- /dev/null
+++ b/Tests/CelMekTests/ManeuverAndSamplingTests.swift
@@ -0,0 +1,162 @@
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct ManeuverAndSamplingTests {
+    private func norm(_ x: SIMD3<Double>) -> Double { hypot(hypot(x.x, x.y), x.z) }
+    private func gm() throws -> GravitationalParameter {
+        try GravitationalParameter(cubicMetresPerSecondSquared: 3.986004418e14, convention: .newtonian,
+            provenance: PhysicalDataProvenance(source: "Test", version: "1", reference: "game model"))
+    }
+    private func base(_ frame: Frame) throws -> TwoBodyPropagator {
+        let initial = try CartesianState(epoch: .j2000, frame: frame,
+            position: SIMD3(7e6,0,0), velocity: SIMD3(0,7546.053290107542,0))
+        return try TwoBodyPropagator(initialState: initial, centralBody: .earth, gravitationalParameter: gm())
+    }
+    private func epoch(_ seconds: Double) throws -> Epoch { try .j2000.advanced(by: Duration(seconds: seconds)) }
+
+    @Test func burnsAreSortedAndRightContinuous() throws {
+        let tree = FrameTree(), model = try base(tree.root)
+        let first = try ImpulsiveManeuver(epoch: epoch(100), frame: tree.root, deltaVelocityMetresPerSecond: SIMD3(1,100,3))
+        let second = try ImpulsiveManeuver(epoch: epoch(500), frame: tree.root, deltaVelocityMetresPerSecond: SIMD3(-30,5,0))
+        let trajectory = try ManeuveredTwoBodyPropagator(base: model, maneuvers: [second,first])
+        #expect(trajectory.resolvedManeuvers.map(\.maneuver.epoch) == [first.epoch, second.epoch])
+        for record in trajectory.resolvedManeuvers {
+            let before = try trajectory.state(at: record.maneuver.epoch, side: .before)
+            let after = try trajectory.state(at: record.maneuver.epoch)
+            #expect(before.position == after.position)
+            #expect(norm(after.velocity-before.velocity-record.deltaVelocityInPropagationFrame) < 1e-12)
+            #expect(before == record.preBurnState)
+            #expect(after == record.postBurnState)
+        }
+        let earlier = try epoch(-1000)
+        #expect(try trajectory.state(at: earlier) == model.state(at: earlier))
+        let dates = try [1000.0, 100, -100, 500, 1000].map { try epoch($0) }
+        let states = try dates.map { try trajectory.state(at: $0) }
+        for (date, state) in zip(dates.reversed(), states.reversed()) { #expect(try trajectory.state(at: date) == state) }
+        let empty = try ManeuveredTwoBodyPropagator(base: model, maneuvers: [])
+        #expect(try empty.state(at: epoch(1000)) == model.state(at: epoch(1000)))
+    }
+
+    @Test func rotatingTranslatedBurnFrameUsesOnlyRotation() throws {
+        let tree = FrameTree(), model = try base(tree.root)
+        struct MovingAxes: TransformProvider {
+            func transform(at epoch: Epoch) throws -> FrameTransform {
+                try FrameTransform(epoch: epoch, rotation: Quaternion(angle: -.pi/2, axis: SIMD3(0,0,1)),
+                    translation: SIMD3(1e9,2e9,3e9), velocity: SIMD3(100,200,300),
+                    acceleration: SIMD3(1,2,3), angularVelocity: SIMD3(0,0,-0.1))
+            }
+        }
+        let axes = try tree.makeFrame(parent: tree.root, name: "Rotating and translated", provider: MovingAxes())
+        let burn = try ImpulsiveManeuver(epoch: epoch(100), frame: axes, deltaVelocityMetresPerSecond: SIMD3(10,0,0))
+        let trajectory = try ManeuveredTwoBodyPropagator(base: model, maneuvers: [burn], using: tree)
+        let record = trajectory.resolvedManeuvers[0]
+        #expect(norm(record.deltaVelocityInPropagationFrame-SIMD3(0.0,10,0)) < 1e-12)
+        #expect(record.preBurnState.position == record.postBurnState.position)
+        #expect(norm(record.postBurnState.velocity-record.preBurnState.velocity-SIMD3(0.0,10,0)) < 1e-12)
+        #expect(throws: ManeuverError.frameTreeRequired) { try ManeuveredTwoBodyPropagator(base: model, maneuvers: [burn]) }
+    }
+
+    @Test func maneuverValidationAndReferenceEpochBurn() throws {
+        let tree = FrameTree(), model = try base(tree.root)
+        let burn = try ImpulsiveManeuver(epoch: .j2000, frame: tree.root, deltaVelocityMetresPerSecond: SIMD3(0,10,0))
+        let trajectory = try ManeuveredTwoBodyPropagator(base: model, maneuvers: [burn])
+        #expect(try trajectory.state(at: .j2000, side: .before) == model.state(at: .j2000))
+        #expect(try trajectory.state(at: .j2000).velocity == model.initialState.velocity + SIMD3(0.0,10,0))
+        #expect(throws: ManeuverError.duplicateEpoch) { try ManeuveredTwoBodyPropagator(base: model, maneuvers: [burn,burn]) }
+        let past = try ImpulsiveManeuver(epoch: epoch(-1), frame: tree.root, deltaVelocityMetresPerSecond: .zero)
+        #expect(throws: ManeuverError.beforeReferenceEpoch) { try ManeuveredTwoBodyPropagator(base: model, maneuvers: [past]) }
+        #expect(throws: ManeuverError.nonFiniteDeltaVelocity) {
+            try ImpulsiveManeuver(epoch: .j2000, frame: tree.root, deltaVelocityMetresPerSecond: SIMD3(.nan,0,0))
+        }
+        // A burn that removes all tangential motion creates an unsupported radial segment.
+        let radial = try ImpulsiveManeuver(epoch: .j2000, frame: tree.root,
+                                           deltaVelocityMetresPerSecond: -model.initialState.velocity)
+        #expect(throws: PropagationError.radialTrajectory) { try ManeuveredTwoBodyPropagator(base: model, maneuvers: [radial]) }
+    }
+
+    @Test func samplingOrderEndpointsAndBounds() throws {
+        let tree = FrameTree(), model = try base(tree.root)
+        let dates = try [100.0, 0, -100, 100].map { try epoch($0) }
+        let samples = try TrajectorySampler.sample(model, at: dates)
+        #expect(samples.map(\.epoch) == dates)
+        #expect(samples[0] == samples[3])
+        let end = try epoch(10)
+        let uniform = try TrajectorySampler.sample(model, from: .j2000, through: end, step: Duration(seconds: 3))
+        #expect(try uniform.map { try $0.epoch.duration(since: .j2000).seconds } == [0,3,6,9,10])
+        let reversed = try TrajectorySampler.sample(model, from: end, through: .j2000, step: Duration(seconds: 3))
+        #expect(try reversed.map { try $0.epoch.duration(since: .j2000).seconds } == [10,7,4,1,0])
+        let fractional = try TrajectorySampler.sample(model, from: .j2000, through: epoch(1),
+                                                        step: Duration(seconds: 0.1))
+        #expect(fractional.count == 11)
+        #expect(try fractional.last?.epoch == epoch(1))
+        #expect(try TrajectorySampler.sample(model, at: []).isEmpty)
+        #expect(try TrajectorySampler.sample(model, from: end, through: end, step: Duration(seconds: 1)).count == 1)
+        #expect(throws: TrajectorySamplingError.sampleLimitExceeded) {
+            try TrajectorySampler.sample(model, from: .j2000, through: end, step: Duration(seconds: 1), maximumSamples: 5)
+        }
+        #expect(throws: TrajectorySamplingError.invalidStep) {
+            try TrajectorySampler.sample(model, from: .j2000, through: end, step: .zero)
+        }
+        #expect(throws: TrajectorySamplingError.invalidSampleLimit) {
+            try TrajectorySampler.sample(model, at: dates, maximumSamples: 0)
+        }
+        #expect(throws: TrajectorySamplingError.sampleLimitExceeded) {
+            try TrajectorySampler.sample(model, at: dates, maximumSamples: 2)
+        }
+    }
+
+    @Test func samplingValidatesProviderContractsBeforeConversion() throws {
+        final class Bad: StateProvider {
+            let frame: Frame
+            let other: Frame
+            var calls = 0
+            var wrongEpoch = false
+            init(frame: Frame, other: Frame) { self.frame = frame; self.other = other }
+            func state(at epoch: Epoch) throws -> CartesianState {
+                calls += 1
+                return try CartesianState(epoch: wrongEpoch ? epoch.advanced(by: Duration(seconds: 1)) : epoch,
+                    frame: wrongEpoch ? frame : other, position: .zero, velocity: .zero)
+            }
+        }
+        let tree = FrameTree(), other = FrameTree(), bad = Bad(frame: tree.root, other: other.root)
+        #expect(throws: FrameQueryError.providerFrameMismatch) { try TrajectorySampler.sample(bad, at: [.j2000]) }
+        bad.wrongEpoch = true
+        #expect(throws: FrameTransformError.epochMismatch) { try TrajectorySampler.sample(bad, at: [.j2000]) }
+        let before = bad.calls
+        #expect(throws: TrajectorySamplingError.sampleLimitExceeded) {
+            try TrajectorySampler.sample(bad, from: .j2000, through: epoch(10), step: Duration(seconds: 1), maximumSamples: 2)
+        }
+        #expect(bad.calls == before)
+        #expect(throws: TrajectorySamplingError.frameTreeRequired) {
+            try TrajectorySampler.sample(bad, at: [.j2000], in: other.root)
+        }
+    }
+
+    @Test func ephemerisAndSpacecraftGameCheckpoint() throws {
+        let tree = try CelestialFrames.makeTree()
+        let coverage = try epoch(-1000)...epoch(2000)
+        let ephemeris = try VSOP87Ephemeris(body: earth, coverage: coverage, tdbModel: FairheadTDBModel(), accuracy: .low)
+        let bodies = try EphemerisCollection(providers: [ephemeris])
+        let centre = try FrameConvertedStateProvider(ephemeris, in: CelestialFrames.icrf, using: tree)
+        let inertial = try tree.makeGCRF(earth: centre, accelerationPolicy: .assumeZero)
+        let spin = try FixedAxisOrientationProvider(referenceFrame: CelestialFrames.icrf, axis: SIMD3(0,0,1), rate: 7.292115e-5)
+        let rotating = try tree.makeBodyFixedFrame(name: "Game Earth rotation", centre: centre,
+                                                   orientation: spin, accelerationPolicy: .assumeZero)
+        let spacecraft = try base(inertial)
+        let dates = try [0.0, 600, -300, 0, 1200].map { try epoch($0) }
+        let samples = try TrajectorySampler.sample(spacecraft, at: dates, in: rotating, using: tree)
+        #expect(samples[0] == samples[3]) // Pause/resume and time warp don't advance stored state.
+        for (date, sample) in zip(dates, samples) {
+            let planet = try bodies.state(of: .earth, at: date)
+            #expect(planet.epoch == date)
+            #expect(planet.frame === CelestialFrames.vsop87E)
+            #expect(abs(norm(sample.position)-7e6) < 0.001)
+            let original = try spacecraft.state(at: date)
+            let roundTrip = try tree.convert(sample, to: inertial)
+            #expect(norm(roundTrip.position-original.position) < 0.001)
+            #expect(norm(roundTrip.velocity-original.velocity) < 1e-7)
+        }
+    }
+}
diff --git a/Tests/CelMekTests/MeasuredEarthOrientationTests.swift b/Tests/CelMekTests/MeasuredEarthOrientationTests.swift
new file mode 100644
index 0000000..a0c1150
--- /dev/null
+++ b/Tests/CelMekTests/MeasuredEarthOrientationTests.swift
@@ -0,0 +1,113 @@
+import Foundation
+import Testing
+@testable import CelMek
+
+@Suite struct MeasuredEarthOrientationTests {
+  private struct Reference: Decodable {
+    let mjd: Double, old: Bool, dx: Double, dy: Double, matrix: [Double]
+  }
+  private struct Provider: EarthOrientationProvider {
+    let dx: Double, dy: Double
+    let reference: CelestialPoleReference
+    let provenance = "independent reference test"
+    func sample(at epoch: Epoch) throws -> EarthOrientationSample {
+      try EarthOrientationSample(epoch: epoch, ut1MinusTT: .zero, polarMotionX: 0, polarMotionY: 0,
+        celestialPoleX: dx, celestialPoleY: dy, poleReference: reference)
+    }
+  }
+  @Test func observedPolesMatchIndependentERFAAndBothFrameChains() throws {
+    let url = try #require(Bundle.module.url(forResource: "observed-pole-erfa", withExtension: "json", subdirectory: "Fixtures"))
+    let rows = try JSONDecoder().decode([Reference].self, from: Data(contentsOf: url))
+    #expect(rows.count == 36)
+    for row in rows {
+      let epoch = try Epoch(julianDate: row.mjd+2400000.5, scale: .tt)
+      let data = Provider(dx: row.dx, dy: row.dy, reference: row.old ? .iau2000A : .iau2006A)
+      func matrix(_ edge: EarthFrameTransformProvider.Edge) throws -> [Double] {
+        try EarthFrameTransformProvider(edge: edge, earthOrientation: data).matrix(at: epoch)
+      }
+      let cirf = try matrix(.celestialIntermediate), tod = try matrix(.trueOfDate)
+      let era = try matrix(.earthRotation), gast = try matrix(.apparentSidereal)
+      for i in 0..<9 { #expect(abs(cirf[i]-row.matrix[i]) < 2e-14) }
+      // Every terrestrial coordinate must agree through the CIO and equinox routes.
+      for i in 0..<3 { for j in 0..<3 {
+        let a = (0..<3).reduce(0.0) { $0+era[i*3+$1]*cirf[$1*3+j] }
+        let b = (0..<3).reduce(0.0) { $0+gast[i*3+$1]*tod[$1*3+j] }
+        #expect(abs(a-b) < 3e-14)
+      }}
+      for i in 6..<9 { #expect(abs(tod[i]-cirf[i]) < 3e-16) }
+    }
+  }
+  private func record(_ day: Int64, dut1: Double, x: Double = 0) throws -> EarthOrientationRecord {
+    try EarthOrientationRecord(utc: UTCDate(modifiedJulianDay: day, secondOfDay: .zero),
+      dut1: CelMek.Duration(seconds: dut1), polarMotionX: x, polarMotionY: 0)
+  }
+  @Test func leapSecondInterpolationAndUT1Conversion() throws {
+    let leap = LeapSecondTable.iersBulletinC72
+    let records = try [record(57753,dut1: -0.4), record(57754,dut1: 0.6), record(57755,dut1: 0.6)]
+    for method in [TabulatedEarthOrientationProvider.Interpolation.linear, .naturalCubic] {
+      let table = try TabulatedEarthOrientationProvider(records: records, leapSeconds: leap,
+        interpolation: method, maximumGap: CelMek.Duration(seconds: 86401), provenance: "synthetic leap case")
+      let utc = try UTCDate(modifiedJulianDay: 57753, secondOfDay: CelMek.Duration(seconds: 86400.5))
+      let epoch = try Epoch(utc: utc, using: leap)
+      let sample = try table.sample(at: epoch)
+      #expect(abs(sample.ut1MinusTT.seconds + 68.584) < 2e-14)
+      #expect(abs(try sample.dut1(using: leap).seconds + 0.4) < 2e-14)
+      let next = try table.sample(at: records[1].sample(using: leap).epoch)
+      #expect(abs(try next.dut1(using: leap).seconds - 0.6) < 2e-14)
+      let jd = try epoch.ut1JulianDate(using: table)
+      #expect(jd.wholeDay == 2457754)
+      #expect(abs(jd.fractionalDay - (0.5+0.1/86400)) < 2e-16)
+      #expect(throws: EarthOrientationError.outsideCoverage) {
+        try table.sample(at: table.coverage.lowerBound.advanced(by: CelMek.Duration(seconds: -1)))
+      }
+    }
+  }
+  @Test func tableValidationAndCubicInterpolation() throws {
+    let leap = LeapSecondTable.iersBulletinC72
+    let rows = try [record(60000,dut1: 0,x: 0), record(60001,dut1: 0,x: 1e-6), record(60002,dut1: 0,x: 0)]
+    let table = try TabulatedEarthOrientationProvider(records: rows, leapSeconds: leap,
+      interpolation: .naturalCubic, maximumGap: CelMek.Duration(seconds: 86400), provenance: "cubic")
+    let epoch = try table.coverage.lowerBound.advanced(by: CelMek.Duration(seconds: 43200))
+    #expect(abs(try table.sample(at: epoch).polarMotionX - 0.6875e-6) < 1e-20)
+    #expect(throws: EarthOrientationError.invalidTable) {
+      try TabulatedEarthOrientationProvider(records: [rows[0],rows[0]], leapSeconds: leap,
+        interpolation: .linear, maximumGap: CelMek.Duration(seconds: 86401), provenance: "duplicates")
+    }
+    #expect(throws: EarthOrientationError.excessiveGap) {
+      try TabulatedEarthOrientationProvider(records: rows, leapSeconds: leap,
+        interpolation: .linear, maximumGap: CelMek.Duration(seconds: 1), provenance: "gap")
+    }
+    #expect(throws: EarthOrientationError.invalidParameters) {
+      try EarthOrientationSample(epoch: .j2000, ut1MinusTT: .zero, polarMotionX: 0, polarMotionY: 0, celestialPoleX: .nan)
+    }
+  }
+  private func line(flag: String = "I", dx: String = "0.123", year: String = "23") -> String {
+    var bytes = Array(repeating: UInt8(32), count: 185)
+    func put(_ column: Int, _ text: String) {
+      for (i,b) in text.utf8.enumerated() { bytes[column-1+i] = b }
+    }
+    put(1,year); put(3," 2"); put(5,"25"); put(8,"60000.00")
+    put(17,flag); put(19," 0.100000"); put(38," 0.200000")
+    put(58,flag); put(59,"-0.1234567"); put(96,flag)
+    put(98,dx); put(117,"-0.456")
+    return String(decoding: bytes, as: UTF8.self)
+  }
+  @Test func finalsUnitsPredictionSelectionAndMalformedRows() throws {
+    let rows = try Finals2000A.records(from: line()+"\n"+line(flag: "P"), predictions: .observedOnly)
+    #expect(rows.count == 1)
+    let r = try #require(rows.first)
+    #expect(r.utc.modifiedJulianDay == 60000)
+    #expect(r.poleReference == .iau2000A)
+    #expect(abs(r.polarMotionX - 0.1 * .pi/(180*3600)) < 1e-20)
+    #expect(abs(r.celestialPoleX - 0.123 * .pi/(180*3600*1000)) < 1e-23)
+    #expect(abs(r.dut1.seconds + 0.1234567) < 1e-16)
+    #expect(try Finals2000A.records(from: line(flag: "P"), predictions: .includePredictions).count == 1)
+    #expect(try Finals2000A.records(from: line(), predictions: .observedOnly, modifiedJulianDays: 60001...60002).isEmpty)
+    #expect(throws: EarthOrientationError.invalidFile(line: 1)) {
+      try Finals2000A.records(from: line(dx: "NaN"), predictions: .observedOnly)
+    }
+    #expect(throws: EarthOrientationError.invalidFile(line: 1)) {
+      try Finals2000A.records(from: line(year: "22"), predictions: .observedOnly)
+    }
+  }
+}
diff --git a/Tests/CelMekTests/MilestoneSixPlanningTests.swift b/Tests/CelMekTests/MilestoneSixPlanningTests.swift
new file mode 100644
index 0000000..8f82e0e
--- /dev/null
+++ b/Tests/CelMekTests/MilestoneSixPlanningTests.swift
@@ -0,0 +1,183 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct MilestoneSixPlanningTests {
+    let frame = Frame(name: "M6 planning", pseudoInertial: true)
+    func epoch(_ t: Double) throws -> Epoch { try Epoch.j2000.advanced(by: CelMek.Duration(seconds: t)) }
+    struct LinearTarget: StateProvider {
+        let frame: Frame
+        let p: SIMD3<Double>
+        let v: SIMD3<Double>
+        func state(at epoch: Epoch) throws -> CartesianState {
+            try CartesianState(epoch: epoch, frame: frame,
+                position: p + v*epoch.duration(since: .j2000).seconds, velocity: v, acceleration: .zero)
+        }
+    }
+    func target(p: SIMD3<Double>, v: SIMD3<Double> = .zero) throws -> MovingWaypointRouteTarget {
+        try MovingWaypointRouteTarget(provider: LinearTarget(frame: frame, p: p, v: v),
+            origin: .sun, coverage: epoch(0)...epoch(100))
+    }
+    func mass() throws -> SpacecraftMassProperties {
+        try SpacecraftMassProperties(dryMassKilograms: 50, propellantMassKilograms: 50)
+    }
+    func background() throws -> SpacecraftDynamics {
+        try SpacecraftDynamics(models: [], context: ForceEvaluationContext(frame: frame, origin: .sun))
+    }
+    func limits() throws -> WaypointRouteEngineLimits {
+        try WaypointRouteEngineLimits(maximumAccelerationMetresPerSecondSquared: 1,
+            maximumThrustNewtons: 1000, effectiveExhaustVelocityMetresPerSecond: 100)
+    }
+    @Test func relativeOffsetsHaveIndependentRotatingDerivatives() throws {
+        let tree = FrameTree()
+        let translated = try tree.makeFrame(parent: tree.root, name: "Unrelated origin",
+            provider: FixedTransformProvider(translation: SIMD3(1000,-2000,500)))
+        let axes = try tree.makeFrame(parent: translated, name: "Offset axes",
+            provider: UniformRotationProvider(axis: SIMD3(0,0,1), rate: 0.5))
+        let native = try MovingWaypointRouteTarget(provider:
+            LinearTarget(frame: tree.root, p: SIMD3(10,0,0), v: SIMD3(1,0,0)),
+            origin: .sun, coverage: epoch(0)...epoch(10))
+        let shifted = try native.offset(positionMetres: SIMD3(2,0,0), in: axes, using: tree)
+        let t = 2.0, theta = 0.5*t
+        let state = try shifted.state(at: epoch(t))
+        #expect(routeNorm(state.position-SIMD3(12+2*cos(theta),2*sin(theta),0)) < 1e-12)
+        #expect(routeNorm(state.velocity-SIMD3(1-sin(theta),cos(theta),0)) < 1e-12)
+        #expect(routeNorm(try #require(state.acceleration)-SIMD3(-0.5*cos(theta),-0.5*sin(theta),0)) < 1e-12)
+        let fixed = try native.offset(positionMetres: SIMD3(0,3,0)).state(at: epoch(t))
+        #expect(fixed.position == SIMD3(12,3,0)); #expect(fixed.velocity == SIMD3(1,0,0))
+        #expect(shifted.origin == .sun); #expect(shifted.coverage == native.coverage)
+        #expect(throws: CartesianStateError.nonFinitePosition) { try native.offset(positionMetres: SIMD3(.nan,0,0)) }
+        #expect(throws: MovingWaypointTargetError.outsideCoverage) { try shifted.state(at: epoch(11)) }
+    }
+    @Test func relativePassageRetainsFlyThroughAndMatchesOffsetRendezvous() throws {
+        let shifted = try target(p: SIMD3(1,0,0), v: SIMD3(0.1,0,0)).offset(positionMetres: SIMD3(0,1,0))
+        let result = try WaypointRouteTimingPlanner.search(departureEpoch: .j2000, frame: frame, origin: .sun,
+            waypoints: [BrachistochroneWaypoint(positionMetres: .zero),
+                BrachistochroneWaypoint(positionMetres: SIMD3(-99,0,0)),
+                BrachistochroneWaypoint(positionMetres: SIMD3(6,0,0))],
+            legAccelerationsMetresPerSecondSquared: [1,1], candidateArrivalEpochs: [[epoch(10)],[epoch(20)]],
+            initialMass: mass(), backgroundDynamics: background(), legEngineLimits: [limits(),limits()],
+            movingWaypoints: [1: MovingWaypointPassage(provider: shifted)])
+        let route = try #require(result.route)
+        #expect(route.waypoints[1].positionMetres == SIMD3(2,1,0))
+        #expect(route.waypointVelocitiesMetresPerSecond[1].x > 0)
+        #expect(try shifted.waypoint(at: epoch(10)).velocityMetresPerSecond == SIMD3(0.1,0,0))
+    }
+    @Test func multipleSeedsShareBudgetAndKeepEarliestFeasibleResult() throws {
+        func run(_ budget: Int) throws -> WaypointTimingMultiStartResult {
+            try WaypointRouteTimingPlanner.optimizeTimingFromSeeds(departureEpoch: .j2000, frame: frame, origin: .sun,
+                waypoints: [BrachistochroneWaypoint(positionMetres: .zero),
+                    BrachistochroneWaypoint(positionMetres: SIMD3(4,0,0))],
+                legAccelerationsMetresPerSecondSquared: [1], arrivalWindows: [epoch(4)...epoch(12)],
+                seedArrivalEpochs: [[epoch(4)],[epoch(10)],[epoch(10)]], maximumTotalCandidateEvaluations: budget,
+                optimizationOptions: WaypointTimingOptimizationOptions(initialStepSeconds: 2, minimumStepSeconds: 0.01,
+                    maximumIterations: 1), initialMass: mass(), backgroundDynamics: background(),
+                legEngineLimits: [limits()])
+        }
+        let result = try run(10)
+        #expect(result.status == .seedsExhausted); #expect(result.starts.count == 2)
+        #expect(result.starts[0].status == .seedRejected)
+        #expect(result.evaluatedCandidates == 3)
+        #expect(try #require(result.route).arrivalEpoch == epoch(8))
+        let bounded = try run(2)
+        #expect(bounded.status == .evaluationLimitReached)
+        #expect(bounded.evaluatedCandidates == 2)
+        #expect(try #require(bounded.route).arrivalEpoch == epoch(10))
+    }
+    @Test func multipleSeedsExploreSeparatedObstacleTimingBasins() throws {
+        let obstacle = try MovingSphericalExclusionRegion(identifier: "crossing",
+            centreProvider: target(p: SIMD3(5,-5,0), v: SIMD3(0,1,0)), radiusMetres: 0.3,
+            maximumCentreSpeedMetresPerSecond: 1)
+        let result = try WaypointRouteTimingPlanner.optimizeTimingFromSeeds(departureEpoch: .j2000,
+            frame: frame, origin: .sun,
+            waypoints: [BrachistochroneWaypoint(positionMetres: .zero),
+                BrachistochroneWaypoint(positionMetres: SIMD3(10,0,0))],
+            legAccelerationsMetresPerSecondSquared: [1], arrivalWindows: [epoch(7)...epoch(20)],
+            seedArrivalEpochs: [[epoch(20)],[epoch(8)]], maximumTotalCandidateEvaluations: 400,
+            optimizationOptions: WaypointTimingOptimizationOptions(initialStepSeconds: 1, minimumStepSeconds: 0.02),
+            initialMass: mass(), backgroundDynamics: background(), legEngineLimits: [limits()],
+            movingObstacles: [obstacle])
+        #expect(result.starts.count == 2)
+        #expect(try #require(result.starts[0].route).arrivalEpoch > epoch(10))
+        #expect(try #require(result.starts[1].route).arrivalEpoch < epoch(9))
+        #expect(result.route?.arrivalEpoch == result.starts[1].route?.arrivalEpoch)
+    }
+    @Test func heatEnvelopeCarriesAcrossPassageAndCooldown() throws {
+        let v = SIMD3<Double>(1,0,0)
+        let route = try WaypointBrachistochroneRoute(departureEpoch: .j2000, frame: frame, origin: .sun,
+            waypoints: [BrachistochroneWaypoint(positionMetres: .zero, velocityMetresPerSecond: v),
+                BrachistochroneWaypoint(positionMetres: SIMD3(3,0,0), velocityMetresPerSecond: v),
+                BrachistochroneWaypoint(positionMetres: SIMD3(6,0,0), velocityMetresPerSecond: v)],
+            legAccelerationsMetresPerSecondSquared: [1,1],
+            legDurations: [CelMek.Duration(seconds: 3), CelMek.Duration(seconds: 3)])
+        let burn = try WaypointRouteEngineLimits(maximumAccelerationMetresPerSecondSquared: 1,
+            maximumThrustNewtons: 2, effectiveExhaustVelocityMetresPerSecond: 100)
+        let coast = try WaypointRouteEngineLimits(maximumAccelerationMetresPerSecondSquared: 0,
+            maximumThrustNewtons: 0, effectiveExhaustVelocityMetresPerSecond: 100)
+        let phase = try WaypointRouteEnginePhase(startEpoch: epoch(3), endEpoch: epoch(6), limits: coast)
+        func execute(cap: Double) throws -> WaypointRoutePropagationResult {
+            try WaypointRoutePropagator(route: route, initialMass: mass(), backgroundDynamics: background(),
+                legEngineLimits: [burn,burn], timedEnginePhases: [phase],
+                physicalConstraints: WaypointRoutePhysicalConstraints(thermalEnvelope:
+                    WaypointThermalEnvelope(maximumHeatJoules: cap, heatingWattsPerNewton: 1,
+                        coolingRatePerSecond: log(2)/3))).propagation(at: epoch(6))
+        }
+        let result = try execute(cap: 5)
+        let peak = try #require(result.segments[0].finalHeatUpperBoundJoules)
+        #expect(abs(peak-3/log(2)) < 1e-11)
+        #expect(result.segments[1].initialHeatUpperBoundJoules == peak)
+        #expect(abs(try #require(result.finalHeatUpperBoundJoules)-peak/2) < 1e-11)
+        #expect(result.segments[0].finalState.mass == result.segments[1].initialState.mass)
+        #expect(result.state.mass == (try mass()))
+        #expect(throws: WaypointRoutePropagationError.thermalBoundExceeded(leg: 0)) { try execute(cap: 4) }
+        let linear = try WaypointThermalEnvelope(initialHeatJoules: 1, maximumHeatJoules: 10,
+            heatingWattsPerNewton: 2, coolingRatePerSecond: 0)
+        #expect(abs(try linear.advance(heat: 1, duration: 2, thrustCeiling: 1, leg: 0)-5) < 1e-12)
+    }
+    @Test func physicalConstraintsReachAdaptiveAndMultiStartSearches() throws {
+        let points = try [BrachistochroneWaypoint(positionMetres: .zero),
+            BrachistochroneWaypoint(positionMetres: SIMD3(4,0,0))]
+        let constraints = try WaypointRoutePhysicalConstraints(thermalEnvelope:
+            WaypointThermalEnvelope(maximumHeatJoules: 1, heatingWattsPerNewton: 1, coolingRatePerSecond: 0))
+        let adaptive = try WaypointRouteTimingPlanner.adaptiveSearch(departureEpoch: .j2000,
+            frame: frame, origin: .sun, waypoints: points, legAccelerationsMetresPerSecondSquared: [1],
+            arrivalWindows: [epoch(10)...epoch(10)],
+            refinementOptions: WaypointTimingRefinementOptions(initialSpacingSeconds: 1, minimumSpacingSeconds: 1),
+            initialMass: mass(), backgroundDynamics: background(), legEngineLimits: [limits()],
+            physicalConstraints: constraints)
+        #expect(adaptive.route == nil)
+        #expect(adaptive.failedAttempts.first?.failure == .engine(.thermalBoundExceeded(leg: 0)))
+        let multiple = try WaypointRouteTimingPlanner.optimizeTimingFromSeeds(departureEpoch: .j2000,
+            frame: frame, origin: .sun, waypoints: points, legAccelerationsMetresPerSecondSquared: [1],
+            arrivalWindows: [epoch(10)...epoch(10)], seedArrivalEpochs: [[epoch(10)]],
+            optimizationOptions: WaypointTimingOptimizationOptions(initialStepSeconds: 1, minimumStepSeconds: 1),
+            initialMass: mass(), backgroundDynamics: background(), legEngineLimits: [limits()],
+            physicalConstraints: constraints)
+        #expect(multiple.route == nil)
+        #expect(multiple.starts[0].status == .seedRejected)
+        #expect(multiple.starts[0].failedAttempts.first?.failure == .engine(.thermalBoundExceeded(leg: 0)))
+    }
+    @Test func attitudeConeChecksActualRequiredThrustAndSearchDiagnostics() throws {
+        let points = try [BrachistochroneWaypoint(positionMetres: .zero),
+            BrachistochroneWaypoint(positionMetres: SIMD3(4,0,0))]
+        let fixed = try WaypointThrustCone(frame: frame, halfAngleRadians: 0.1) { _ in SIMD3(1,0,0) }
+        let failed = try WaypointRouteTimingPlanner.search(departureEpoch: .j2000, frame: frame, origin: .sun,
+            waypoints: points, legAccelerationsMetresPerSecondSquared: [1], candidateArrivalEpochs: [[epoch(10)]],
+            initialMass: mass(), backgroundDynamics: background(), legEngineLimits: [limits()],
+            physicalConstraints: WaypointRoutePhysicalConstraints(thrustCone: fixed))
+        #expect(failed.status == .candidateSetExhausted)
+        #expect(failed.failedAttempts.first?.failure == .engine(.attitudeLimitExceeded(leg: 0)))
+        let rotating = try WaypointThrustCone(frame: frame, halfAngleRadians: 0) { epoch in
+            try epoch.duration(since: .j2000).seconds <= 5 ? SIMD3(1,0,0) : SIMD3(-1,0,0)
+        }
+        let route = try WaypointBrachistochroneRoute(departureEpoch: .j2000, frame: frame, origin: .sun,
+            waypoints: points, legAccelerationsMetresPerSecondSquared: [1],
+            legDurations: [CelMek.Duration(seconds: 10)])
+        let result = try WaypointRoutePropagator(route: route, initialMass: mass(), backgroundDynamics: background(),
+            legEngineLimits: [limits()], physicalConstraints:
+                WaypointRoutePhysicalConstraints(thrustCone: rotating)).propagation(at: epoch(10))
+        #expect(result.checkpoints[0].positionErrorMetres < 1e-8)
+    }
+}
diff --git a/Tests/CelMekTests/MovingObstacleTests.swift b/Tests/CelMekTests/MovingObstacleTests.swift
new file mode 100644
index 0000000..f7cf557
--- /dev/null
+++ b/Tests/CelMekTests/MovingObstacleTests.swift
@@ -0,0 +1,88 @@
+// SPDX-License-Identifier: Apache-2.0
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct MovingObstacleTests {
+    let frame = Frame(name: "Moving obstacle", pseudoInertial: true)
+    func epoch(_ t: Double) throws -> Epoch { try Epoch.j2000.advanced(by: Duration(seconds: t)) }
+    struct Centre: StateProvider {
+        let frame: Frame
+        let offset: Double
+        func state(at epoch: Epoch) throws -> CartesianState {
+            let t = try epoch.duration(since: .j2000).seconds
+            return try CartesianState(epoch: epoch, frame: frame,
+                position: SIMD3(5, t-5+offset, 0), velocity: SIMD3(0,1,0))
+        }
+    }
+    func obstacle(offset: Double = 0, coverageEnd: Double = 30, bound: Double = 1) throws -> MovingSphericalExclusionRegion {
+        try MovingSphericalExclusionRegion(identifier: "crossing", centreProvider:
+            MovingWaypointRouteTarget(provider: Centre(frame: frame, offset: offset), origin: .sun,
+                coverage: epoch(0)...epoch(coverageEnd)), radiusMetres: 0.2,
+            maximumCentreSpeedMetresPerSecond: bound)
+    }
+    func points() throws -> [BrachistochroneWaypoint] {
+        try [BrachistochroneWaypoint(positionMetres: .zero),
+             BrachistochroneWaypoint(positionMetres: SIMD3(10,0,0))]
+    }
+    func route(_ obstacle: MovingSphericalExclusionRegion, time: Double = 10) throws -> WaypointBrachistochroneRoute {
+        try WaypointBrachistochroneRoute(departureEpoch: .j2000, frame: frame, origin: .sun,
+            waypoints: points(), legAccelerationsMetresPerSecondSquared: [1],
+            legDurations: [Duration(seconds: time)], movingObstacles: [obstacle])
+    }
+    @Test func crossingCollisionAndConservativeClearance() throws {
+        #expect(throws: BrachistochroneRouteError.obstructedLeg(index: 0, obstacle: "crossing")) {
+            try route(obstacle())
+        }
+        let safe = try route(obstacle(offset: 10))
+        let report = try #require(safe.clearances.first)
+        #expect(report.minimumClearanceMetres > 0)
+        for i in 0...1000 {
+            let t = Double(i)/100
+            let p = try safe.state(at: epoch(t)).position
+            let c = try Centre(frame: frame, offset: 10).state(at: epoch(t)).position
+            let delta = p-c
+            let distance = (delta.x*delta.x+delta.y*delta.y).squareRoot()-0.2
+            #expect(distance >= report.minimumClearanceMetres)
+        }
+        #expect(throws: BrachistochroneRouteError.movingObstacleOutsideCoverage(index: 0, obstacle: "crossing")) {
+            try route(obstacle(coverageEnd: 9))
+        }
+        #expect(throws: BrachistochroneRouteError.invalidObstacle) { try obstacle(bound: -1) }
+        #expect(throws: BrachistochroneRouteError.unresolvedClearance(index: 0, obstacle: "crossing")) {
+            try route(obstacle(offset: 10, bound: 1e15))
+        }
+    }
+    @Test func metadataAndDwellValidation() throws {
+        let other = Frame(name: "Other", pseudoInertial: true)
+        let mismatch = try MovingSphericalExclusionRegion(identifier: "other",
+            centreProvider: MovingWaypointRouteTarget(provider: Centre(frame: other, offset: 10),
+                origin: .sun, coverage: epoch(0)...epoch(30)),
+            radiusMetres: 1, maximumCentreSpeedMetresPerSecond: 1)
+        #expect(throws: SpacecraftDynamicsError.frameMismatch) { try route(mismatch) }
+        #expect(throws: BrachistochroneRouteError.invalidObstacle) {
+            try WaypointBrachistochroneRoute(departureEpoch: .j2000, frame: frame, origin: .sun,
+                waypoints: points(), legAccelerationsMetresPerSecondSquared: [1],
+                movingObstacles: [obstacle(offset: 10), obstacle(offset: 10)])
+        }
+        #expect(throws: BrachistochroneRouteError.unsupportedMovingObstacleDwell) {
+            try WaypointBrachistochroneRoute(departureEpoch: .j2000, frame: frame, origin: .sun,
+                waypoints: [BrachistochroneWaypoint(positionMetres: .zero, dwellDuration: Duration(seconds: 1)),
+                    BrachistochroneWaypoint(positionMetres: SIMD3(10,0,0))],
+                legAccelerationsMetresPerSecondSquared: [1], movingObstacles: [obstacle(offset: 10)])
+        }
+    }
+    @Test func candidateTimingChangesClearance() throws {
+        let engine = try WaypointRouteEngineLimits(maximumAccelerationMetresPerSecondSquared: 1,
+            maximumThrustNewtons: 1000, effectiveExhaustVelocityMetresPerSecond: 100)
+        let result = try WaypointRouteTimingPlanner.search(departureEpoch: .j2000, frame: frame, origin: .sun,
+            waypoints: points(), legAccelerationsMetresPerSecondSquared: [1],
+            candidateArrivalEpochs: [[epoch(10),epoch(20)]],
+            initialMass: SpacecraftMassProperties(dryMassKilograms: 50, propellantMassKilograms: 50),
+            backgroundDynamics: SpacecraftDynamics(models: [], context: ForceEvaluationContext(frame: frame, origin: .sun)),
+            legEngineLimits: [engine], movingObstacles: [obstacle()])
+        #expect(result.status == .feasible)
+        #expect(result.failedAttempts.first?.failure == .geometry(.obstructedLeg(index: 0, obstacle: "crossing")))
+        #expect(try #require(result.route).arrivalEpoch == epoch(20))
+    }
+}
diff --git a/Tests/CelMekTests/MovingWaypointPassageTests.swift b/Tests/CelMekTests/MovingWaypointPassageTests.swift
new file mode 100644
index 0000000..c0acc57
--- /dev/null
+++ b/Tests/CelMekTests/MovingWaypointPassageTests.swift
@@ -0,0 +1,94 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct MovingWaypointPassageTests {
+    let frame = Frame(name: "Moving passage", pseudoInertial: true)
+    func epoch(_ seconds: Double) throws -> Epoch { try Epoch.j2000.advanced(by: Duration(seconds: seconds)) }
+    func passage(speed: Double = 0.1, matching: Bool = false, origin: BodyIdentifier = .sun) throws -> MovingWaypointPassage {
+        MovingWaypointPassage(provider: try MovingWaypointRouteTarget(provider: LinearPoint(frame: frame, speed: speed),
+            origin: origin, coverage: epoch(8)...epoch(12)), velocityMode: matching ? .matchProviderVelocity : .preserveRouteVelocity)
+    }
+    func points(velocity: SIMD3<Double>? = nil) throws -> [BrachistochroneWaypoint] {
+        try [BrachistochroneWaypoint(positionMetres: .zero),
+            BrachistochroneWaypoint(positionMetres: SIMD3(-999,0,0), velocityMetresPerSecond: velocity),
+            BrachistochroneWaypoint(positionMetres: SIMD3(6,0,0))]
+    }
+    func limits() throws -> WaypointRouteEngineLimits {
+        try WaypointRouteEngineLimits(maximumAccelerationMetresPerSecondSquared: 1,
+            maximumThrustNewtons: 1000, effectiveExhaustVelocityMetresPerSecond: 100)
+    }
+    func background() throws -> SpacecraftDynamics {
+        try SpacecraftDynamics(models: [], context: ForceEvaluationContext(frame: frame, origin: .sun))
+    }
+    func search(_ passage: MovingWaypointPassage, index: Int = 1, velocity: SIMD3<Double>? = nil) throws -> WaypointTimingSearchResult {
+        try WaypointRouteTimingPlanner.search(departureEpoch: .j2000, frame: frame, origin: .sun,
+            waypoints: points(velocity: velocity), legAccelerationsMetresPerSecondSquared: [1,1],
+            candidateArrivalEpochs: [[epoch(5),epoch(10)],[epoch(20)]],
+            initialMass: SpacecraftMassProperties(dryMassKilograms: 50, propellantMassKilograms: 50),
+            backgroundDynamics: background(), legEngineLimits: [limits(),limits()], numericalOptions: .preset(for: .full),
+            movingWaypoints: [index: passage])
+    }
+    @Test func movingAndStationaryPositionsRemainFlyThroughByDefault() throws {
+        let found = try search(passage())
+        #expect(found.status == .feasible)
+        #expect(found.failedAttempts[0].failure == .movingWaypointOutsideCoverage(index: 1))
+        let route = try #require(found.route)
+        #expect(route.waypoints[1].positionMetres == SIMD3(2,0,0))
+        #expect(abs(route.waypointVelocitiesMetresPerSecond[1].x-0.3) < 1e-12)
+        let result = try #require(found.propagation)
+        #expect(abs(result.checkpoints[0].state.cartesian.position.x-2) < 1e-10)
+        #expect(result.checkpoints[0].state.mass == result.segments[1].initialState.mass)
+        let stationary = try search(passage(speed: 0))
+        #expect(stationary.status == .feasible)
+        #expect(try #require(stationary.route).waypointVelocitiesMetresPerSecond[1].x > 0)
+        let matched = try search(passage(matching: true))
+        #expect(try #require(matched.route).waypointVelocitiesMetresPerSecond[1] == SIMD3(0.1,0,0))
+        let stopped = try search(passage(speed: 0, matching: true))
+        #expect(stopped.status == .candidateSetExhausted)
+        #expect(stopped.failedAttempts.last?.failure == .geometry(.degeneratePassage(index: 1)))
+    }
+    @Test func adaptiveAndOptimizedPassagesRespectProviderCoverage() throws {
+        let moving = try passage()
+        let mass = try SpacecraftMassProperties(dryMassKilograms: 50, propellantMassKilograms: 50)
+        let found = try WaypointRouteTimingPlanner.adaptiveSearch(departureEpoch: .j2000, frame: frame, origin: .sun,
+            waypoints: points(), legAccelerationsMetresPerSecondSquared: [1,1],
+            arrivalWindows: [epoch(0)...epoch(20), epoch(24)...epoch(24)],
+            refinementOptions: WaypointTimingRefinementOptions(initialSpacingSeconds: 10, minimumSpacingSeconds: 1),
+            initialMass: mass, backgroundDynamics: background(), legEngineLimits: [limits(),limits()], movingWaypoints: [1: moving])
+        #expect(found.status == .feasible)
+        let seed = try #require(found.route)
+        #expect(try seed.waypointArrivalEpochs[1] == epoch(8))
+        let optimized = try WaypointRouteTimingPlanner.optimizeTiming(departureEpoch: .j2000, frame: frame, origin: .sun,
+            waypoints: points(), legAccelerationsMetresPerSecondSquared: [1,1],
+            arrivalWindows: [epoch(0)...epoch(20), epoch(18)...epoch(24)],
+            seedArrivalEpochs: Array(seed.waypointArrivalEpochs.dropFirst()),
+            optimizationOptions: WaypointTimingOptimizationOptions(initialStepSeconds: 2, minimumStepSeconds: 0.01),
+            initialMass: mass, backgroundDynamics: background(), legEngineLimits: [limits(),limits()], movingWaypoints: [1: moving])
+        let route = try #require(optimized.route)
+        #expect(moving.provider.coverage.contains(route.waypointArrivalEpochs[1]))
+        #expect(try route.waypoints[1].positionMetres == moving.provider.state(at: route.waypointArrivalEpochs[1]).position)
+        #expect(route.arrivalEpoch < seed.arrivalEpoch)
+        #expect(route.waypointVelocitiesMetresPerSecond[1].x > 0)
+    }
+    @Test func rejectsIndexOriginAndVelocityConflicts() throws {
+        #expect(throws: MovingWaypointTargetError.invalidWaypointIndex) { try search(passage(), index: 0) }
+        #expect(throws: MovingWaypointTargetError.invalidWaypointIndex) { try search(passage(), index: 2) }
+        #expect(throws: MovingWaypointTargetError.originMismatch) { try search(passage(origin: .earth)) }
+        #expect(throws: MovingWaypointTargetError.conflictingWaypointVelocity(index: 1)) {
+            try search(passage(matching: true), velocity: SIMD3(1,0,0))
+        }
+        let explicit = try search(passage(), velocity: SIMD3(0.7,0,0))
+        #expect(try #require(explicit.route).waypointVelocitiesMetresPerSecond[1] == SIMD3(0.7,0,0))
+    }
+    private struct LinearPoint: StateProvider {
+        let frame: Frame
+        let speed: Double
+        func state(at epoch: Epoch) throws -> CartesianState {
+            try CartesianState(epoch: epoch, frame: frame,
+                position: SIMD3(1+speed*epoch.duration(since: .j2000).seconds,0,0), velocity: SIMD3(speed,0,0))
+        }
+    }
+}
diff --git a/Tests/CelMekTests/MovingWaypointTargetTests.swift b/Tests/CelMekTests/MovingWaypointTargetTests.swift
new file mode 100644
index 0000000..7c34ca5
--- /dev/null
+++ b/Tests/CelMekTests/MovingWaypointTargetTests.swift
@@ -0,0 +1,103 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct MovingWaypointTargetTests {
+    let frame = Frame(name: "Target axes", pseudoInertial: true)
+    func epoch(_ seconds: Double) throws -> Epoch { try Epoch.j2000.advanced(by: Duration(seconds: seconds)) }
+    func target(origin: BodyIdentifier = .sun) throws -> MovingWaypointRouteTarget {
+        try MovingWaypointRouteTarget(provider: LinearTarget(frame: frame), origin: origin, coverage: epoch(3)...epoch(20))
+    }
+    func points() throws -> [BrachistochroneWaypoint] {
+        try [BrachistochroneWaypoint(positionMetres: .zero), BrachistochroneWaypoint(positionMetres: SIMD3(-999,0,0))]
+    }
+    func limits() throws -> WaypointRouteEngineLimits {
+        try WaypointRouteEngineLimits(maximumAccelerationMetresPerSecondSquared: 1,
+            maximumThrustNewtons: 1000, effectiveExhaustVelocityMetresPerSecond: 100)
+    }
+    func background() throws -> SpacecraftDynamics {
+        try SpacecraftDynamics(models: [], context: ForceEvaluationContext(frame: frame, origin: .sun))
+    }
+    func search(_ target: MovingWaypointRouteTarget) throws -> WaypointTimingSearchResult {
+        try WaypointRouteTimingPlanner.search(departureEpoch: .j2000, frame: frame, origin: .sun,
+            waypoints: points(), legAccelerationsMetresPerSecondSquared: [1],
+            candidateArrivalEpochs: [[epoch(2),epoch(4),epoch(8)]],
+            initialMass: SpacecraftMassProperties(dryMassKilograms: 50, propellantMassKilograms: 50),
+            backgroundDynamics: background(), legEngineLimits: [limits()], numericalOptions: .preset(for: .full), movingTarget: target)
+    }
+    @Test func movingRendezvousAndIndependentTimingThreshold() throws {
+        let moving = try target()
+        let found = try search(moving)
+        #expect(found.status == .feasible)
+        #expect(found.evaluatedCandidates == 3)
+        #expect(found.failedAttempts[0].failure == .targetOutsideCoverage)
+        let route = try #require(found.route)
+        #expect(try route.arrivalEpoch == epoch(8))
+        #expect(route.waypoints.last?.positionMetres == SIMD3(8,0,0))
+        let final = try #require(found.propagation).state.cartesian
+        #expect(abs(final.position.x-8) < 1e-10)
+        #expect(abs(final.velocity.x-0.5) < 1e-10)
+        let optimized = try WaypointRouteTimingPlanner.optimizeTiming(departureEpoch: .j2000, frame: frame, origin: .sun,
+            waypoints: points(), legAccelerationsMetresPerSecondSquared: [1], arrivalWindows: [epoch(4)...epoch(12)],
+            seedArrivalEpochs: [epoch(10)],
+            optimizationOptions: WaypointTimingOptimizationOptions(initialStepSeconds: 2, minimumStepSeconds: 0.001),
+            initialMass: SpacecraftMassProperties(dryMassKilograms: 50, propellantMassKilograms: 50),
+            backgroundDynamics: background(), legEngineLimits: [limits()], numericalOptions: .preset(for: .full), movingTarget: moving)
+        let improved = try #require(optimized.route)
+        // p_target(T)=4+0.5*T, v_target=0.5. Cubic a_depart=24/T²+2/T;
+        // acceleration <=1 requires T>=6. This differs from a frozen target.
+        #expect(improved.duration.seconds >= 6)
+        #expect(improved.duration.seconds-6 < 0.002)
+        let expected = try moving.state(at: improved.arrivalEpoch)
+        let actual = try #require(optimized.propagation).state.cartesian
+        #expect(abs(actual.position.x-expected.position.x) < 1e-10)
+        #expect(abs(actual.velocity.x-expected.velocity.x) < 1e-10)
+    }
+    @Test func ephemerisAdapterAndAdaptiveCoverageIntersection() throws {
+        let provider = try TargetEphemeris(metadata: EphemerisMetadata(body: .moon, origin: .sun, frame: frame,
+            coverage: epoch(3)...epoch(8), coverageBasis: .callerSelected, modelTimeScale: .tt,
+            velocityMethod: .analytic, accelerationMethod: .analytic,
+            provenance: PhysicalDataProvenance(source: "Synthetic moving target", version: "1")))
+        let moving = try MovingWaypointRouteTarget(ephemeris: provider)
+        let waypoint = try moving.waypoint(at: epoch(8))
+        #expect(waypoint.positionMetres == SIMD3(8,0,0))
+        #expect(waypoint.velocityMetresPerSecond == SIMD3(0.5,0,0))
+        let result = try WaypointRouteTimingPlanner.adaptiveSearch(departureEpoch: .j2000, frame: frame, origin: .sun,
+            waypoints: points(), legAccelerationsMetresPerSecondSquared: [1], arrivalWindows: [epoch(2)...epoch(20)],
+            refinementOptions: WaypointTimingRefinementOptions(initialSpacingSeconds: 10, minimumSpacingSeconds: 1),
+            initialMass: SpacecraftMassProperties(dryMassKilograms: 50, propellantMassKilograms: 50),
+            backgroundDynamics: background(), legEngineLimits: [limits()], movingTarget: moving)
+        #expect(result.status == .feasible)
+        #expect(result.evaluatedCandidates == 2)
+        #expect(try result.route?.arrivalEpoch == epoch(8))
+        #expect(throws: MovingWaypointTargetError.outsideCoverage) { try moving.state(at: epoch(9)) }
+    }
+    @Test func targetContractsAndPhysicalOriginAreExplicit() throws {
+        #expect(throws: MovingWaypointTargetError.originMismatch) { try search(target(origin: .earth)) }
+        let other = Frame(name: "Other target axes", pseudoInertial: true)
+        let mismatch = try MovingWaypointRouteTarget(provider: LinearTarget(frame: other), origin: .sun, coverage: epoch(3)...epoch(20))
+        #expect(throws: MovingWaypointTargetError.frameMismatch) { try search(mismatch) }
+        let wrongEpoch = try MovingWaypointRouteTarget(provider: LinearTarget(frame: frame, wrongEpoch: true),
+            origin: .sun, coverage: epoch(3)...epoch(20))
+        #expect(throws: MovingWaypointTargetError.epochMismatch) { try search(wrongEpoch) }
+        let wrongFrame = try MovingWaypointRouteTarget(provider: LinearTarget(frame: frame, returnedFrame: other),
+            origin: .sun, coverage: epoch(3)...epoch(20))
+        #expect(throws: MovingWaypointTargetError.frameMismatch) { try search(wrongFrame) }
+    }
+    private struct LinearTarget: StateProvider {
+        let frame: Frame
+        var wrongEpoch = false
+        var returnedFrame: Frame? = nil
+        func state(at epoch: Epoch) throws -> CartesianState {
+            let elapsed = try epoch.duration(since: .j2000).seconds
+            return try CartesianState(epoch: wrongEpoch ? .j2000 : epoch, frame: returnedFrame ?? frame,
+                position: SIMD3(4+0.5*elapsed,0,0), velocity: SIMD3(0.5,0,0), acceleration: .zero)
+        }
+    }
+    private struct TargetEphemeris: EphemerisProvider {
+        let metadata: EphemerisMetadata
+        func state(at epoch: Epoch) throws -> CartesianState { try LinearTarget(frame: frame).state(at: epoch) }
+    }
+}
diff --git a/Tests/CelMekTests/MultiRevolutionLambertTests.swift b/Tests/CelMekTests/MultiRevolutionLambertTests.swift
new file mode 100644
index 0000000..4c852f8
--- /dev/null
+++ b/Tests/CelMekTests/MultiRevolutionLambertTests.swift
@@ -0,0 +1,105 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Testing
+import Math
+@testable import CelMek
+
+@Suite struct MultiRevolutionLambertTests {
+    let frame = Frame(name: "Multi-revolution Lambert", pseudoInertial: true)
+    func end(_ seconds: Double) throws -> Epoch { try Epoch.j2000.advanced(by: CelMek.Duration(seconds: seconds)) }
+    func gm() throws -> GravitationalParameter {
+        try GravitationalParameter(cubicMetresPerSecondSquared: 1, convention: .newtonian,
+            provenance: PhysicalDataProvenance(source: "Analytic conics", version: "1"))
+    }
+    func branches(_ r1: SIMD3<Double>, _ r2: SIMD3<Double>, _ time: Double, _ count: Int,
+        direction: LambertDirection = .positive, options: LambertOptions = .default) throws -> [LambertSolution] {
+        try LambertSolver.solveBranches(departurePosition: r1, arrivalPosition: r2,
+            departureEpoch: .j2000, arrivalEpoch: end(time), frame: frame, centralBody: .sun,
+            gravitationalParameter: gm(), referencePole: SIMD3(0,0,1), direction: direction,
+            revolutions: count, options: options)
+    }
+    func verify(_ solution: LambertSolution, _ time: Double) throws {
+        let trajectory = try solution.trajectory()
+        let endpoint = try trajectory.state(at: solution.arrivalState.epoch)
+        #expect(routeNorm(endpoint.position-solution.arrivalState.position) < 1e-7)
+        #expect(routeNorm(endpoint.velocity-solution.arrivalState.velocity) < 1e-7)
+        #expect(abs(solution.timeResidualSeconds) < 2e-9)
+        let samples = 128*(solution.revolutions+1)
+        var previous = atan2(solution.departureState.position.y, solution.departureState.position.x), sweep = 0.0
+        for index in 1...samples {
+            let p = try trajectory.state(at: end(time*Double(index)/Double(samples))).position
+            let angle = atan2(p.y,p.x)
+            sweep += (angle-previous).remainder(dividingBy: 2 * .pi)
+            previous = angle
+        }
+        let signedSweep = solution.direction == .positive ? sweep : -sweep
+        #expect(abs(signedSweep-(2 * .pi * Double(solution.revolutions)+solution.transferAngleRadians)) < 1e-7)
+    }
+    @Test func bothRootsDirectionsAndRevolutionCounts() throws {
+        for count in [1,2,5,32] {
+            for direction in [LambertDirection.positive, .negative] {
+                let partial = direction == .positive ? Double.pi/2 : 3 * Double.pi/2
+                let time = 2 * Double.pi * Double(count) + partial
+                let solutions = try branches(SIMD3(1,0,0), SIMD3(0,1,0), time, count, direction: direction)
+                #expect(solutions.count == 2)
+                #expect(solutions[0].multiRevolutionBranch == .lowerUniversalParameter)
+                #expect(solutions[1].multiRevolutionBranch == .upperUniversalParameter)
+                #expect(solutions[0].universalParameter < solutions[1].universalParameter)
+                #expect(routeNorm(solutions[0].departureState.velocity-solutions[1].departureState.velocity) > 1e-3)
+                let expected = SIMD3<Double>(0,direction == .positive ? 1 : -1,0)
+                #expect(solutions.map { routeNorm($0.departureState.velocity-expected) }.min()! < 1e-8)
+                for solution in solutions { try verify(solution,time) }
+            }
+        }
+    }
+    @Test func independentEccentricOrbitWithTwoRevolutions() throws {
+        let e = 0.4, b = sqrt(1-e*e), first = 0.2, last = 2.1
+        let r1 = SIMD3<Double>(cos(first)-e,b*sin(first),0), r2 = SIMD3<Double>(cos(last)-e,b*sin(last),0)
+        let v1 = SIMD3<Double>(-sin(first),b*cos(first),0)/(1-e*cos(first))
+        let v2 = SIMD3<Double>(-sin(last),b*cos(last),0)/(1-e*cos(last))
+        let time = last-e*sin(last)-first+e*sin(first)+4 * Double.pi
+        let solutions = try branches(r1,r2,time,2)
+        let known = solutions.min { routeNorm($0.departureState.velocity-v1) < routeNorm($1.departureState.velocity-v1) }!
+        #expect(routeNorm(known.departureState.velocity-v1) < 1e-8)
+        #expect(routeNorm(known.arrivalState.velocity-v2) < 1e-8)
+        for solution in solutions { try verify(solution,time) }
+    }
+    @Test func minimumCoalescenceAndInfeasibleTime() throws {
+        let supplied = try branches(SIMD3(1,0,0),SIMD3(0,1,0),10,1)
+        let minimum = try #require(supplied[0].minimumFlightTimeSeconds)
+        #expect(minimum > 0 && minimum < 10)
+        let merged = try branches(SIMD3(1,0,0),SIMD3(0,1,0),minimum,1)
+        #expect(merged.count == 1)
+        #expect(merged[0].branchesCoalesced)
+        try verify(merged[0],minimum)
+        let near = try branches(SIMD3(1,0,0),SIMD3(0,1,0),minimum+1e-5,1)
+        #expect(near.count == 2)
+        #expect(near.allSatisfy { !$0.branchesCoalesced })
+        for solution in near { try verify(solution,minimum+1e-5) }
+        do {
+            _ = try branches(SIMD3(1,0,0),SIMD3(0,1,0),minimum-0.01,1)
+            Issue.record("Expected infeasible flight time")
+        } catch LambertError.belowMinimumFlightTime(let reported) { #expect(abs(reported-minimum) < 1e-10) }
+    }
+    @Test func explicitBranchAndWorkLimits() throws {
+        let arrival = try end(10)
+        #expect(throws: LambertError.branchRequired) {
+            try LambertSolver.solve(departurePosition: SIMD3(1,0,0), arrivalPosition: SIMD3(0,1,0),
+                departureEpoch: .j2000, arrivalEpoch: arrival, frame: frame, centralBody: .sun,
+                gravitationalParameter: gm(), referencePole: SIMD3(0,0,1), direction: .positive, revolutions: 1)
+        }
+        #expect(throws: LambertError.invalidBranch) {
+            try LambertSolver.solve(departurePosition: SIMD3(1,0,0), arrivalPosition: SIMD3(0,1,0),
+                departureEpoch: .j2000, arrivalEpoch: arrival, frame: frame, centralBody: .sun,
+                gravitationalParameter: gm(), referencePole: SIMD3(0,0,1), direction: .positive,
+                multiRevolutionBranch: .lowerUniversalParameter)
+        }
+        #expect(throws: LambertError.minimumSearchFailure(iterations: 1)) {
+            try branches(SIMD3(1,0,0),SIMD3(0,1,0),10,1,options: LambertOptions(maximumIterations: 1))
+        }
+        do {
+            _ = try branches(SIMD3(1,0,0),SIMD3(0,1,0),1e6,1,options: LambertOptions(maximumBracketExpansions: 1))
+            Issue.record("Expected bracket failure")
+        } catch LambertError.bracketFailure(let evaluations) { #expect(evaluations == 1) }
+    }
+}
diff --git a/Tests/CelMekTests/NumericalAccuracyTests.swift b/Tests/CelMekTests/NumericalAccuracyTests.swift
new file mode 100644
index 0000000..0bdd89a
--- /dev/null
+++ b/Tests/CelMekTests/NumericalAccuracyTests.swift
@@ -0,0 +1,52 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct NumericalAccuracyTests {
+    private struct Exponential: ForceModel {
+        func contribution(for state: SpacecraftState,in context: ForceEvaluationContext) throws -> ForceContribution {
+            try ForceContribution(epoch: state.epoch,frame: state.frame,accelerationMetresPerSecondSquared: state.cartesian.velocity)
+        }
+    }
+    @Test func presetsTightenAndKeepWorkControlsExplicit() {
+        let levels = AccuracyLevel.allCases, presets = levels.map { NumericalPropagationOptions.preset(for: $0) }
+        #expect(presets[2] == (try? NumericalPropagationOptions()))
+        for (loose,tight) in zip(presets,presets.dropFirst()) {
+            #expect(tight.absolutePositionToleranceMetres < loose.absolutePositionToleranceMetres)
+            #expect(tight.absoluteVelocityToleranceMetresPerSecond < loose.absoluteVelocityToleranceMetresPerSecond)
+            #expect(tight.absolutePropellantToleranceKilograms < loose.absolutePropellantToleranceKilograms)
+            #expect(tight.relativeTolerance < loose.relativeTolerance)
+            #expect(tight.minimumStepSeconds == loose.minimumStepSeconds && tight.maximumStepSeconds == loose.maximumStepSeconds)
+            #expect(tight.maximumStepAttempts == loose.maximumStepAttempts)
+        }
+    }
+    @Test func hintsAndAuthoritativeOverrides() throws {
+        let frame = Frame(name: "inertial",pseudoInertial: true)
+        let seed = SpacecraftState(cartesian: try CartesianState(epoch: .j2000,frame: frame,position: .zero,velocity: SIMD3(1,0,0)),
+            mass: try SpacecraftMassProperties(dryMassKilograms: 1))
+        let dynamics = try SpacecraftDynamics(models: [Exponential()],context: ForceEvaluationContext(frame: frame,origin: .earth))
+        let target = try Epoch.j2000.advanced(by: Duration(seconds: 3))
+        var errors: [Double] = [], counts: [Int] = []
+        for level in AccuracyLevel.allCases {
+            let provider = try NumericalSpacecraftPropagator(initialState: seed,dynamics: dynamics,accuracy: level)
+            #expect(provider.accuracy == level && provider.effectiveAccuracy == level)
+            #expect(provider.options == .preset(for: level))
+            let result = try provider.propagation(at: target)
+            errors.append(abs(result.state.cartesian.velocity.x-exp(3)))
+            counts.append(result.diagnostics.derivativeEvaluations)
+            #expect(result.diagnostics.maximumAcceptedNormalizedError <= 1)
+        }
+        #expect(errors[3] < errors[0]*0.01)
+        #expect(counts[3] > counts[0])
+        let custom = try NumericalPropagationOptions(absolutePositionToleranceMetres: 1e-8,
+            absoluteVelocityToleranceMetresPerSecond: 1e-10,relativeTolerance: 1e-12,maximumStepSeconds: 20)
+        let override = try NumericalSpacecraftPropagator(initialState: seed,dynamics: dynamics,accuracy: .low,options: custom)
+        let direct = try NumericalSpacecraftPropagator(initialState: seed,dynamics: dynamics,options: custom)
+        #expect(override.accuracy == .low && override.effectiveAccuracy == nil)
+        #expect(direct.accuracy == nil && direct.effectiveAccuracy == nil)
+        #expect(override.options == custom)
+        #expect(try override.state(at: target) == direct.state(at: target))
+    }
+}
diff --git a/Tests/CelMekTests/NumericalPropagationTests.swift b/Tests/CelMekTests/NumericalPropagationTests.swift
new file mode 100644
index 0000000..58420cd
--- /dev/null
+++ b/Tests/CelMekTests/NumericalPropagationTests.swift
@@ -0,0 +1,140 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct NumericalPropagationTests {
+    private struct Constant: ForceModel {
+        let acceleration: SIMD3<Double>
+        var massRate = 0.0
+        func contribution(for state: SpacecraftState,in context: ForceEvaluationContext) throws -> ForceContribution {
+            try ForceContribution(epoch: state.epoch,frame: state.frame,accelerationMetresPerSecondSquared: acceleration,
+                propellantMassRateKilogramsPerSecond: massRate)
+        }
+    }
+    private struct Exponential: ForceModel {
+        func contribution(for state: SpacecraftState,in context: ForceEvaluationContext) throws -> ForceContribution {
+            try ForceContribution(epoch: state.epoch,frame: state.frame,
+                accelerationMetresPerSecondSquared: state.cartesian.velocity)
+        }
+    }
+    private func norm(_ v: SIMD3<Double>) -> Double { hypot(hypot(v.x,v.y),v.z) }
+    private func epoch(_ t: Double) throws -> Epoch { try .j2000.advanced(by: Duration(seconds: t)) }
+    private func setup(_ models: [any ForceModel], options: NumericalPropagationOptions = try! NumericalPropagationOptions(),
+                       propellant: Double = 10) throws -> NumericalSpacecraftPropagator {
+        let frame = Frame(name: "test inertial",pseudoInertial: true)
+        let seed = SpacecraftState(cartesian: try CartesianState(epoch: .j2000,frame: frame,
+            position: SIMD3(1,2,3),velocity: SIMD3(1,0,0)),
+            mass: try SpacecraftMassProperties(dryMassKilograms: 100,propellantMassKilograms: propellant))
+        return try NumericalSpacecraftPropagator(initialState: seed,
+            dynamics: SpacecraftDynamics(models: models,context: ForceEvaluationContext(frame: frame,origin: .earth)),options: options)
+    }
+    @Test func polynomialMotionMassAndExactEpochs() throws {
+        let acceleration = SIMD3<Double>(2,-3,4)
+        let model = try setup([Constant(acceleration: acceleration,massRate: -0.01)])
+        for seconds in [100.0,-100,0,15.125,100] {
+            let date = try epoch(seconds), result = try model.propagation(at: date)
+            let p = model.initialState.cartesian.position + model.initialState.cartesian.velocity*seconds + acceleration*(0.5*seconds*seconds)
+            #expect(norm(result.state.cartesian.position-p) < 1e-8)
+            #expect(norm(result.state.cartesian.velocity-model.initialState.cartesian.velocity-acceleration*seconds) < 1e-10)
+            #expect(abs(result.state.mass.propellantMassKilograms-(10-0.01*seconds)) < 1e-12)
+            #expect(result.state.cartesian.acceleration == acceleration)
+            #expect(result.state.epoch == date && result.state.frame === model.frame)
+            #expect(result.diagnostics.maximumAcceptedNormalizedError <= 1)
+            #expect(result.diagnostics.derivativeEvaluations == 7*(result.diagnostics.acceptedSteps+result.diagnostics.rejectedSteps)+1)
+        }
+        let zero = try model.propagation(at: .j2000)
+        #expect(zero.diagnostics.acceptedSteps == 0 && zero.diagnostics.derivativeEvaluations == 1)
+        #expect(zero.diagnostics.smallestAcceptedStepSeconds == nil)
+        let free = try setup([]), date = try epoch(50)
+        #expect(norm(try free.state(at: date).position-SIMD3(51,2,3)) < 1e-12)
+        #expect(try free.spacecraftState(at: date).mass == free.initialState.mass)
+        let samples = try TrajectorySampler.sample(model,at: [date,.j2000,date])
+        #expect(samples[0] == samples[2])
+    }
+    @Test func orbitalReferenceAndToleranceConvergence() throws {
+        let frame = Frame(name: "Earth inertial",pseudoInertial: true), mu = 3.986004418e14
+        let seed = SpacecraftState(cartesian: try CartesianState(epoch: .j2000,frame: frame,
+            position: SIMD3(7e6,0,0),velocity: SIMD3(0,7500,0)),mass: try SpacecraftMassProperties(dryMassKilograms: 100))
+        let gm = try GravitationalParameter(cubicMetresPerSecondSquared: mu,convention: .newtonian,
+            provenance: PhysicalDataProvenance(source: "Test Earth GM",version: "1"))
+        let dynamics = try SpacecraftDynamics(models: [CentralGravity(body: .earth,gravitationalParameter: gm)],
+            context: ForceEvaluationContext(frame: frame,origin: .earth))
+        let analytic = try TwoBodyPropagator(initialState: seed.cartesian,centralBody: .earth,gravitationalParameter: gm)
+        let loose = try NumericalSpacecraftPropagator(initialState: seed,dynamics: dynamics,
+            options: NumericalPropagationOptions(absolutePositionToleranceMetres: 100,absoluteVelocityToleranceMetresPerSecond: 0.1,
+                relativeTolerance: 1e-4,initialStepSeconds: 1000,maximumStepSeconds: 1000))
+        let fine = try NumericalSpacecraftPropagator(initialState: seed,dynamics: dynamics,
+            options: NumericalPropagationOptions(absolutePositionToleranceMetres: 1e-4,absoluteVelocityToleranceMetresPerSecond: 1e-7,
+                relativeTolerance: 1e-11,initialStepSeconds: 1000,maximumStepSeconds: 1000))
+        for seconds in [3600.0,-3600] {
+            let date = try epoch(seconds), reference = try analytic.state(at: date)
+            let coarse = try loose.propagation(at: date), accurate = try fine.propagation(at: date)
+            let coarseError = norm(coarse.state.cartesian.position-reference.position)
+            let fineError = norm(accurate.state.cartesian.position-reference.position)
+            #expect(fineError < 0.1 && fineError < coarseError*0.01)
+            #expect(norm(accurate.state.cartesian.velocity-reference.velocity) < 1e-4)
+            #expect(accurate.diagnostics.acceptedSteps > coarse.diagnostics.acceptedSteps)
+            #expect(accurate.diagnostics.rejectedSteps > 0)
+        }
+        let end = try fine.spacecraftState(at: epoch(3600))
+        let reverse = try NumericalSpacecraftPropagator(initialState: end,dynamics: dynamics,options: fine.options)
+        #expect(norm(try reverse.state(at: .j2000).position-seed.cartesian.position) < 0.2)
+    }
+    @Test func adaptiveErrorAndBoundedWork() throws {
+        let options = try NumericalPropagationOptions(absolutePositionToleranceMetres: 1e-12,
+            absoluteVelocityToleranceMetresPerSecond: 1e-12,relativeTolerance: 1e-12,
+            initialStepSeconds: 1,maximumStepSeconds: 1)
+        let model = try setup([Exponential()],options: options)
+        let result = try model.propagation(at: epoch(1))
+        #expect(abs(result.state.cartesian.velocity.x-exp(1)) < 1e-10)
+        #expect(abs(result.state.cartesian.position.x-exp(1)) < 1e-10)
+        #expect(result.diagnostics.rejectedSteps > 0)
+        #expect(result.diagnostics.largestAcceptedStepSeconds! <= options.maximumStepSeconds)
+        let limited = try setup([],options: NumericalPropagationOptions(initialStepSeconds: 1,maximumStepSeconds: 1,maximumStepAttempts: 1))
+        #expect(throws: NumericalPropagationError.stepLimitExceeded) { try limited.state(at: epoch(2)) }
+        let evaluations = try setup([],options: NumericalPropagationOptions(maximumDerivativeEvaluations: 1))
+        #expect(throws: NumericalPropagationError.evaluationLimitExceeded) { try evaluations.state(at: epoch(1)) }
+        let minimum = try setup([Exponential()],options: NumericalPropagationOptions(absolutePositionToleranceMetres: 1e-14,
+            absoluteVelocityToleranceMetresPerSecond: 1e-14,relativeTolerance: 0,initialStepSeconds: 1,minimumStepSeconds: 1,maximumStepSeconds: 1))
+        #expect(throws: NumericalPropagationError.minimumStepReached) { try minimum.state(at: epoch(1)) }
+        let short = try setup([],options: NumericalPropagationOptions(initialStepSeconds: 1,minimumStepSeconds: 1,maximumStepSeconds: 1))
+        #expect(try short.propagation(at: epoch(0.125)).diagnostics.smallestAcceptedStepSeconds == 0.125)
+    }
+    private enum Failure: Error { case environment }
+    private struct Broken: ForceModel {
+        func contribution(for state: SpacecraftState,in context: ForceEvaluationContext) throws -> ForceContribution { throw Failure.environment }
+    }
+    @Test func invalidOptionsDepletionAndProviderFailure() throws {
+        #expect(throws: NumericalPropagationError.invalidOptions) { try NumericalPropagationOptions(relativeTolerance: -.infinity) }
+        #expect(throws: NumericalPropagationError.invalidOptions) { try NumericalPropagationOptions(absolutePositionToleranceMetres: 0) }
+        #expect(throws: NumericalPropagationError.invalidOptions) { try NumericalPropagationOptions(initialStepSeconds: 1000,maximumStepSeconds: 10) }
+        #expect(throws: NumericalPropagationError.invalidOptions) { try NumericalPropagationOptions(maximumStepAttempts: 0) }
+        let depleted = try setup([Constant(acceleration: .zero,massRate: -1)],propellant: 0)
+        #expect(throws: NumericalPropagationError.propellantDepleted) { try depleted.state(at: epoch(1)) }
+        let consuming = try setup([Constant(acceleration: .zero,massRate: -1)],propellant: 1)
+        #expect(throws: NumericalPropagationError.propellantDepleted) { try consuming.state(at: epoch(2)) }
+        #expect(consuming.initialState.mass.propellantMassKilograms == 1)
+        let broken = try setup([Broken()])
+        #expect(throws: Failure.environment) { try broken.state(at: .j2000) }
+        #expect(throws: Failure.environment) { try broken.state(at: epoch(1)) }
+    }
+    @Test func collapsedStageEpochsAndSeedFramesAreRejected() throws {
+        let frame = Frame(name: "inertial",pseudoInertial: true)
+        let start = try epoch(0.5)
+        let seed = SpacecraftState(cartesian: try CartesianState(epoch: start,frame: frame,position: .zero,velocity: .zero),
+            mass: try SpacecraftMassProperties(dryMassKilograms: 1))
+        let dynamics = try SpacecraftDynamics(models: [],context: ForceEvaluationContext(frame: frame,origin: .earth))
+        let model = try NumericalSpacecraftPropagator(initialState: seed,dynamics: dynamics)
+        let target = try start.advanced(by: Duration(seconds: 1e-16))
+        #expect(target > start)
+        #expect(throws: NumericalPropagationError.epochResolutionExceeded) { try model.state(at: target) }
+        let other = try SpacecraftDynamics(models: [],context: ForceEvaluationContext(
+            frame: Frame(name: "other",pseudoInertial: true),origin: .earth))
+        #expect(throws: SpacecraftDynamicsError.frameMismatch) {
+            try NumericalSpacecraftPropagator(initialState: seed,dynamics: other)
+        }
+    }
+
+}
diff --git a/Tests/CelMekTests/Nutation_test.swift b/Tests/CelMekTests/Nutation_test.swift
index 283e7b0..dfe97a3 100644
--- a/Tests/CelMekTests/Nutation_test.swift
+++ b/Tests/CelMekTests/Nutation_test.swift
@@ -16,35 +16,34 @@
 // limitations under the License.
 //
 
-import XCTest
+import Testing
 @testable import CelMek;
 import Math
 
-final class Nutation_tests : XCTestCase {
+@Suite
+struct Nutation_tests {
+  @Test
   func testFastNutation() {
     // Meeus, example 22.a
     let nut = fastNutation(jd: 2446895.5)
     let e0 = fastMeanObliquityOfTheEcliptic(jd: 2446895.5)
-    XCTAssertEqual(nut.nutationInLongitude, -3.788.arcsec, accuracy: 0.00001)
-    XCTAssertEqual(nut.nutationInObliquity, 9.443.arcsec, accuracy: 0.00001)
-    XCTAssertEqual(e0, AngleOfArc(degrees: 23, minutes: 26, seconds: 27.407).toRad(),
-                   accuracy: 0.00001)
+    #expect(abs(nut.nutationInLongitude - (-3.788.arcsec)) <= 0.35.arcsec)
+    #expect(abs(nut.nutationInObliquity - 9.443.arcsec) <= 0.1.arcsec)
+    #expect(abs((e0) - (AngleOfArc(degrees: 23, minutes: 26, seconds: 27.407).radians)) <= 0.00001)
 
     let e = fastTrueObliquityOfTheEcliptic(jd: 2446895.5)
-    XCTAssertEqual(e, AngleOfArc(degrees: 23, minutes: 26, seconds: 36.850).toRad(),
-                   accuracy: 0.00001)
+    #expect(abs(e - AngleOfArc(degrees: 23, minutes: 26, seconds: 36.850).radians) <= 0.1.arcsec)
    }
 
+  @Test
   func testNutation() {
     // Meeus, example 22.a
     let nut = nutation(jd: 2446895.5)
     let e0 = meanObliquityOfTheEcliptic(jd: 2446895.5)
-    XCTAssertEqual(nut.nutationInLongitude, -3.788.arcsec, accuracy: 0.000000001)
-    XCTAssertEqual(nut.nutationInObliquity, 9.443.arcsec, accuracy: 0.00000001)
-    XCTAssertEqual(e0, AngleOfArc(degrees: 23, minutes: 26, seconds: 27.407).toRad(),
-                   accuracy: 0.00000001)
+    #expect(abs((nut.nutationInLongitude) - (-3.788.arcsec)) <= 0.000000001)
+    #expect(abs((nut.nutationInObliquity) - (9.443.arcsec)) <= 0.00000001)
+    #expect(abs((e0) - (AngleOfArc(degrees: 23, minutes: 26, seconds: 27.407).radians)) <= 0.00000001)
     let e = trueObliquityOfTheEcliptic(jd: 2446895.5)
-    XCTAssertEqual(e, AngleOfArc(degrees: 23, minutes: 26, seconds: 36.850).toRad(),
-                   accuracy: 0.00000001)
+    #expect(abs((e) - (AngleOfArc(degrees: 23, minutes: 26, seconds: 36.850).radians)) <= 0.00000001)
   }
 }
diff --git a/Tests/CelMekTests/OrbitalElementsTests.swift b/Tests/CelMekTests/OrbitalElementsTests.swift
new file mode 100644
index 0000000..cb701a8
--- /dev/null
+++ b/Tests/CelMekTests/OrbitalElementsTests.swift
@@ -0,0 +1,135 @@
+import Foundation
+import Testing
+@testable import CelMek
+
+@Suite struct OrbitalElementsTests {
+    private func gm(_ value: Double = 3.986004418e14) throws -> GravitationalParameter {
+        try GravitationalParameter(cubicMetresPerSecondSquared: value, convention: .newtonian,
+            provenance: PhysicalDataProvenance(source: "Test model", version: "1", reference: "analytic fixture"))
+    }
+    private func norm(_ x: SIMD3<Double>) -> Double { hypot(hypot(x.x, x.y), x.z) }
+
+    @Test func analyticallyKnownPolarState() throws {
+        // p=6 Mm, e=0.5, i=Omega=omega=nu=pi/2. Perifocal axes
+        // are +Z and -Y. mu=p gives a unit velocity scale.
+        let tree = FrameTree()
+        let state = try CartesianState(epoch: .j2000, frame: tree.root,
+            position: SIMD3(0, -6e6, 0), velocity: SIMD3(0, -0.5, -1))
+        let elements = try OsculatingOrbitalElements(state: state, centralBody: .earth,
+                                                      gravitationalParameter: gm(6e6))
+        #expect(abs(elements.semiLatusRectumMetres - 6e6) < 1e-8)
+        #expect(abs(elements.eccentricity - 0.5) < 1e-14)
+        for angle in [elements.inclination, elements.longitudeOfAscendingNode,
+                      elements.argumentOfPeriapsis, elements.trueAnomaly] {
+            #expect(abs(angle - .pi/2) < 1e-14)
+        }
+        let rebuilt = try elements.cartesianState()
+        #expect(norm(rebuilt.position - state.position) < 1e-8)
+        #expect(norm(rebuilt.velocity - state.velocity) < 1e-14)
+        #expect(rebuilt.acceleration == nil)
+        #expect(rebuilt.epoch == state.epoch)
+        #expect(rebuilt.frame === state.frame)
+    }
+
+    @Test func conicsAndSingularitiesRoundTrip() throws {
+        let tree = FrameTree(), parameter = try gm()
+        for e in [0.0, 1e-8, 0.3, 0.999999999, 1, 1.000000001, 2.0] {
+            for i in [0.0, 1e-8, 0.7, .pi/2, .pi-1e-8, .pi] {
+                for nu in [-0.8, 0.0, 0.8] {
+                    let original = try OsculatingOrbitalElements(epoch: .j2000, frame: tree.root,
+                        centralBody: .earth, gravitationalParameter: parameter,
+                        semiLatusRectumMetres: 7e6, eccentricity: e, inclination: i,
+                        longitudeOfAscendingNode: 1.2, argumentOfPeriapsis: 0.6, trueAnomaly: nu)
+                    let state = try original.cartesianState()
+                    let extracted = try OsculatingOrbitalElements(state: state, centralBody: .earth,
+                                                                  gravitationalParameter: parameter)
+                    let rebuilt = try extracted.cartesianState()
+                    #expect(norm(rebuilt.position - state.position) < 1e-6)
+                    #expect(norm(rebuilt.velocity - state.velocity) < 1e-8)
+                    #expect(abs(extracted.eccentricity - e) < 2e-14)
+                    #expect(extracted.centralBody == .earth)
+                    #expect(extracted.gravitationalParameter == parameter)
+                    if e == 0 { #expect(extracted.argumentOfPeriapsis == 0) }
+                    if i == 0 || i == .pi { #expect(extracted.longitudeOfAscendingNode == 0) }
+                }
+            }
+        }
+    }
+
+    @Test func circularEquatorialCartesianFixtures() throws {
+        let tree = FrameTree(), mu = try gm(1)
+        for sign in [-1.0, 1.0] {
+            let state = try CartesianState(epoch: .j2000, frame: tree.root,
+                position: SIMD3(0, 1, 0), velocity: SIMD3(-sign, 0, 0))
+            let elements = try OsculatingOrbitalElements(state: state, centralBody: .earth,
+                                                          gravitationalParameter: mu)
+            #expect(elements.angleConvention == .circularEquatorial)
+            #expect(elements.inclination == (sign > 0 ? 0 : .pi))
+            #expect(abs(elements.trueAnomaly - sign * .pi/2) < 1e-14)
+            #expect(elements.semiMajorAxisMetres == 1)
+            #expect(norm(try elements.cartesianState().velocity - state.velocity) < 1e-14)
+        }
+        let parabola = try OsculatingOrbitalElements(epoch: .j2000, frame: tree.root, centralBody: .earth,
+            gravitationalParameter: mu, semiLatusRectumMetres: 2, eccentricity: 1, inclination: 0,
+            longitudeOfAscendingNode: 0, argumentOfPeriapsis: 0, trueAnomaly: 0)
+        #expect(parabola.conic == .parabolic)
+        #expect(parabola.semiMajorAxisMetres == nil)
+        #expect(parabola.periapsisDistanceMetres == 1)
+    }
+
+    @Test func explicitSingularityThresholds() throws {
+        let tree = FrameTree(), mu = try gm()
+        let original = try OsculatingOrbitalElements(epoch: .j2000, frame: tree.root,
+            centralBody: .earth, gravitationalParameter: mu, semiLatusRectumMetres: 7e6,
+            eccentricity: 1e-7, inclination: 1e-7, longitudeOfAscendingNode: 1.0,
+            argumentOfPeriapsis: 0.8, trueAnomaly: 0.3)
+        let state = try original.cartesianState()
+        let precise = try OsculatingOrbitalElements(state: state, centralBody: .earth,
+            gravitationalParameter: mu,
+            options: OrbitalElementConversionOptions(circularEccentricityTolerance: 0,
+                                                       equatorialSineTolerance: 0))
+        #expect(precise.angleConvention == .classical)
+        #expect(norm(try precise.cartesianState().position - state.position) < 1e-6)
+        let snapped = try OsculatingOrbitalElements(state: state, centralBody: .earth,
+            gravitationalParameter: mu,
+            options: OrbitalElementConversionOptions(circularEccentricityTolerance: 1e-6,
+                                                       equatorialSineTolerance: 1e-6))
+        #expect(snapped.angleConvention == .circularEquatorial)
+        #expect(snapped.eccentricity == 0)
+        #expect(snapped.inclination == 0)
+        #expect(norm(try snapped.cartesianState().position - state.position) < 2)
+        #expect(throws: OrbitalElementsError.invalidElements) {
+            try OsculatingOrbitalElements(epoch: .j2000, frame: tree.root, centralBody: .earth,
+                gravitationalParameter: mu, semiLatusRectumMetres: -1, eccentricity: 0,
+                inclination: 0, longitudeOfAscendingNode: 0, argumentOfPeriapsis: 0, trueAnomaly: 0)
+        }
+    }
+
+    @Test func rejectsDegenerateStatesAndUnreachableAnomalies() throws {
+        let tree = FrameTree(), mu = try gm()
+        for (r, v, error) in [
+            (SIMD3<Double>.zero, SIMD3(1.0,0,0), OrbitalElementsError.zeroPosition),
+            (SIMD3(1.0,0,0), SIMD3(2.0,0,0), .radialTrajectory),
+            (SIMD3(1.0,0,0), SIMD3<Double>.zero, .radialTrajectory)
+        ] {
+            let state = try CartesianState(epoch: .j2000, frame: tree.root, position: r, velocity: v)
+            #expect(throws: error) {
+                try OsculatingOrbitalElements(state: state, centralBody: .earth, gravitationalParameter: mu)
+            }
+        }
+        #expect(throws: OrbitalElementsError.anomalyOutsideConic) {
+            try OsculatingOrbitalElements(epoch: .j2000, frame: tree.root, centralBody: .earth,
+                gravitationalParameter: mu, semiLatusRectumMetres: 7e6, eccentricity: 2, inclination: 0,
+                longitudeOfAscendingNode: 0, argumentOfPeriapsis: 0, trueAnomaly: .pi)
+        }
+        let rotating = FrameTree(pseudoInertial: false)
+        let state = try CartesianState(epoch: .j2000, frame: rotating.root,
+                                       position: SIMD3(1.0,0,0), velocity: SIMD3(0,1.0,0))
+        #expect(throws: OrbitalElementsError.nonInertialFrame) {
+            try OsculatingOrbitalElements(state: state, centralBody: .earth, gravitationalParameter: mu)
+        }
+        #expect(throws: OrbitalElementsError.invalidOptions) {
+            try OrbitalElementConversionOptions(circularEccentricityTolerance: -1)
+        }
+    }
+}
diff --git a/Tests/CelMekTests/ParallaticAngle_tests.swift b/Tests/CelMekTests/ParallaticAngle_tests.swift
index d8c63a7..643b6df 100644
--- a/Tests/CelMekTests/ParallaticAngle_tests.swift
+++ b/Tests/CelMekTests/ParallaticAngle_tests.swift
@@ -16,64 +16,60 @@
 // limitations under the License.
 //
 
-import XCTest
+import Testing
 @testable import CelMek;
 import Math
 
-final class ParallaticAngle_tests : XCTestCase {
+@Suite
+struct ParallaticAngle_tests {
+  @Test
   func testEclipticAndHorizon() {
     // Meeus, p99
     let (_, I0) = eclipticAndHorizon(
-      obliquityOfEcliptic: AngleOfArc(degrees: 23, minutes: 26, seconds: 0).toRad(),
-      geographicLatitudeOfObserver: AngleOfArc(degrees: 48, minutes: 0, seconds: 0).toRad(),
+      obliquityOfEcliptic: AngleOfArc(degrees: 23, minutes: 26, seconds: 0).radians,
+      geographicLatitudeOfObserver: AngleOfArc(degrees: 48, minutes: 0, seconds: 0).radians,
       localSiderealTime: 90.deg)
 
-    XCTAssertEqual(I0, AngleOfArc(degrees: 65, minutes: 26, seconds: 0).toRad(),
-                   accuracy: 0.000000005)
+    #expect(abs((I0) - (AngleOfArc(degrees: 65, minutes: 26, seconds: 0).radians)) <= 0.000000005)
     
     let (_, I1) = eclipticAndHorizon(
-      obliquityOfEcliptic: AngleOfArc(degrees: 23, minutes: 26, seconds: 0).toRad(),
-      geographicLatitudeOfObserver: AngleOfArc(degrees: 48, minutes: 0, seconds: 0).toRad(),
+      obliquityOfEcliptic: AngleOfArc(degrees: 23, minutes: 26, seconds: 0).radians,
+      geographicLatitudeOfObserver: AngleOfArc(degrees: 48, minutes: 0, seconds: 0).radians,
       localSiderealTime: 270.deg)
     
-    XCTAssertEqual(I1, AngleOfArc(degrees: 18, minutes: 34, seconds: 0).toRad(),
-                   accuracy: 0.000000005)
+    #expect(abs((I1) - (AngleOfArc(degrees: 18, minutes: 34, seconds: 0).radians)) <= 0.000000005)
     
     
     // Meeus, Example 14.a
     let (L, I2) = eclipticAndHorizon(
-      obliquityOfEcliptic: AngleOfArc(degrees: 23, minutes: 44, seconds: 0).toRad(),
+      obliquityOfEcliptic: AngleOfArc(degrees: 23, minutes: 44, seconds: 0).radians,
       geographicLatitudeOfObserver: 51.deg,
-      localSiderealTime: HourAngle(hours: 5, minutes: 0, seconds: 0).toRad())
+      localSiderealTime: HourAngle(hours: 5, minutes: 0, seconds: 0).radians)
     
-    XCTAssertEqual(normalize(radians: L), AngleOfArc(degrees: 349, minutes: 21, seconds: 0).toRad(),
-                   accuracy: 0.005)
+    #expect(abs((normalize(radians: L)) - (AngleOfArc(degrees: 349, minutes: 21, seconds: 0).radians)) <= 0.005)
 
-    XCTAssertEqual(normalize(radians: I2), 62.deg,
-                   accuracy: 0.005)
+    #expect(abs((normalize(radians: I2)) - (62.deg)) <= 0.005)
   }
   
   
+  @Test
   func testEclipticExtremeAngles() {
     // Meeus, p99
     let (I0, I1) = extremeEclipticHorizonAngles(
-      obliquityOfEcliptic: AngleOfArc(degrees: 23, minutes: 26, seconds: 0).toRad(),
-      geographicLatitudeOfObserver: AngleOfArc(degrees: 48, minutes: 0, seconds: 0).toRad())
+      obliquityOfEcliptic: AngleOfArc(degrees: 23, minutes: 26, seconds: 0).radians,
+      geographicLatitudeOfObserver: AngleOfArc(degrees: 48, minutes: 0, seconds: 0).radians)
 
-    XCTAssertEqual(I0, AngleOfArc(degrees: 65, minutes: 26, seconds: 0).toRad(),
-                   accuracy: 0.000000005)
-    XCTAssertEqual(I1, AngleOfArc(degrees: 18, minutes: 34, seconds: 0).toRad(),
-                   accuracy: 0.000000005)
+    #expect(abs((I0) - (AngleOfArc(degrees: 65, minutes: 26, seconds: 0).radians)) <= 0.000000005)
+    #expect(abs((I1) - (AngleOfArc(degrees: 18, minutes: 34, seconds: 0).radians)) <= 0.000000005)
 
   }
 
+  @Test
   func testAngleOfDiurnalPath() {
     let J0 = angleOfDiurnalPath(declination: 0, geographicLatitudeOfObserver: 0.deg)
-    XCTAssertEqual(J0, 90.deg - 0.deg,
-                   accuracy: 0.000000005)
+    #expect(abs((J0) - (90.deg - 0.deg)) <= 0.000000005)
     let J1 = angleOfDiurnalPath(declination: 0, geographicLatitudeOfObserver: 10.deg)
-    XCTAssertEqual(J1, 90.deg - 10.deg,
-                   accuracy: 0.000000005)
+    #expect(abs((J1) - (90.deg - 10.deg)) <= 0.000000005)
   }
 }
 
diff --git a/Tests/CelMekTests/ParkingOrbitTransferTests.swift b/Tests/CelMekTests/ParkingOrbitTransferTests.swift
new file mode 100644
index 0000000..93f7cdd
--- /dev/null
+++ b/Tests/CelMekTests/ParkingOrbitTransferTests.swift
@@ -0,0 +1,99 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct ParkingOrbitTransferTests {
+    func gm(_ value: Double = 1) throws -> GravitationalParameter {
+        try GravitationalParameter(cubicMetresPerSecondSquared: value, convention: .newtonian,
+            provenance: PhysicalDataProvenance(source: "Explicit analytic reference GM", version: "1"))
+    }
+    func transfer(_ speed: Double = 1) throws -> ParkingOrbitTransfer {
+        try ParkingOrbitTransfer(parkingRadiusMetres: 1, bodyRadiusMetres: 0.5,
+            minimumPeriapsisAltitudeMetres: 0.5, hyperbolicExcessSpeedMetresPerSecond: speed,
+            gravitationalParameter: gm())
+    }
+    func epoch(_ t: Double) throws -> Epoch { try Epoch.j2000.advanced(by: CelMek.Duration(seconds: t)) }
+    @Test func independentHighPrecisionScalarReferences() throws {
+        // Values calculated independently with 55-digit Decimal arithmetic.
+        let rows: [(Double,Double,Double,Double,Double,Double,Double)] = [
+            (398600441800000,6671000,3000,7729.8918473558424098,11335.892375267005691,3606.0005279111632816,1.1506245194533048307),
+            (42828375214000,3590000,2500,3453.9701113880700447,5487.2414800812469787,2033.2713686931769340,1.5238933274467412767)]
+        for (mu,r,v,vc,vp,dv,e) in rows {
+            let t = try ParkingOrbitTransfer(parkingRadiusMetres: r, bodyRadiusMetres: r-100000,
+                hyperbolicExcessSpeedMetresPerSecond: v, gravitationalParameter: gm(mu))
+            for (actual,expected) in [(t.circularSpeedMetresPerSecond,vc),
+                (t.periapsisSpeedMetresPerSecond,vp),(t.deltaVelocityMetresPerSecond,dv),(t.hyperbolicEccentricity,e)] {
+                #expect(abs(actual-expected) < abs(expected)*3e-15)
+            }
+            #expect(t.characteristicEnergySquareMetresPerSquareSecond == v*v)
+        }
+        let parabolic = try transfer(0)
+        #expect(parabolic.hyperbolicEccentricity == 1)
+        #expect(abs(parabolic.deltaVelocityMetresPerSecond-(sqrt(2)-1)) < 1e-15)
+        #expect(parabolic.asymptoteAngleRadians == 0)
+    }
+    @Test(arguments: [ParkingOrbitManeuverKind.escape, .capture])
+    func orientedBurnsMatchEnergyAndIndependentAsymptotes(kind: ParkingOrbitManeuverKind) throws {
+        let frame = Frame(name: "Local planet frame", pseudoInertial: true)
+        let radial = SIMD3<Double>(1,2,2)/3, tangent = SIMD3<Double>(2,-1,0)/sqrt(5)
+        let normal = SIMD3<Double>(2,4,-5)/(3*sqrt(5))
+        let excess = radial*(kind == .escape ? -0.5 : 0.5)+tangent*(sqrt(3)/2)
+        let t = try transfer()
+        #expect(abs(t.asymptoteAngleRadians-Double.pi/3) < 1e-15)
+        let plan = try t.plan(kind: kind, periapsisEpoch: .j2000, frame: frame, centralBody: .earth,
+            hyperbolicExcessVelocityMetresPerSecond: excess, orbitalNormal: normal*3)
+        #expect(routeNorm(plan.periapsisRadialDirection-radial) < 1e-14)
+        #expect(routeNorm(plan.periapsisProgradeDirection-tangent) < 1e-14)
+        let expectedImpulse = tangent*((kind == .escape ? 1 : -1)*(sqrt(3)-1))
+        #expect(routeNorm(plan.maneuver.deltaVelocityMetresPerSecond-expectedImpulse) < 1e-14)
+        #expect(routeNorm(plan.postBurnState.velocity-plan.preBurnState.velocity-expectedImpulse) < 1e-14)
+        let hyperbolic = kind == .escape ? plan.postBurnState : plan.preBurnState
+        let circular = kind == .escape ? plan.preBurnState : plan.postBurnState
+        func energy(_ s: CartesianState) -> Double { (s.velocity*s.velocity).sum()/2-1/routeNorm(s.position) }
+        #expect(abs(energy(hyperbolic)-0.5) < 1e-14)
+        #expect(abs(energy(circular)+0.5) < 1e-14)
+        let far = try plan.trajectory.state(at: epoch(kind == .escape ? 10000 : -10000))
+        #expect(routeNorm(far.velocity-excess) < 1e-3)
+        let parkingEpoch = try epoch(kind == .escape ? -2*Double.pi : 2*Double.pi)
+        let parking = try plan.trajectory.state(at: parkingEpoch)
+        #expect(routeNorm(parking.position-radial) < 1e-8)
+        #expect(routeNorm(parking.velocity-tangent) < 1e-8)
+        let before = try plan.trajectory.state(at: .j2000, side: .before)
+        let after = try plan.trajectory.state(at: .j2000)
+        #expect(routeNorm(before.velocity-plan.preBurnState.velocity) < 1e-14)
+        #expect(routeNorm(after.velocity-plan.postBurnState.velocity) < 1e-14)
+    }
+    @Test func safetyAndDirectionValidation() throws {
+        let frame = Frame(name: "Local", pseudoInertial: true)
+        #expect(throws: ParkingOrbitTransferError.unsafePeriapsis) {
+            try ParkingOrbitTransfer(parkingRadiusMetres: 1, bodyRadiusMetres: 0.5,
+                minimumPeriapsisAltitudeMetres: 0.6, hyperbolicExcessSpeedMetresPerSecond: 1, gravitationalParameter: gm())
+        }
+        #expect(throws: ParkingOrbitTransferError.unsafePeriapsis) {
+            try ParkingOrbitTransfer(parkingRadiusMetres: 0.5, bodyRadiusMetres: 0.5,
+                hyperbolicExcessSpeedMetresPerSecond: 1, gravitationalParameter: gm())
+        }
+        #expect(throws: ParkingOrbitTransferError.invalidExcessSpeed) { try transfer(-1) }
+        #expect(throws: ParkingOrbitTransferError.zeroExcessDirection) {
+            try transfer(0).plan(kind: .escape, periapsisEpoch: .j2000, frame: frame, centralBody: .earth,
+                hyperbolicExcessVelocityMetresPerSecond: .zero, orbitalNormal: SIMD3(0,0,1))
+        }
+        #expect(throws: ParkingOrbitTransferError.excessSpeedMismatch) {
+            try transfer().plan(kind: .escape, periapsisEpoch: .j2000, frame: frame, centralBody: .earth,
+                hyperbolicExcessVelocityMetresPerSecond: SIMD3(2,0,0), orbitalNormal: SIMD3(0,0,1))
+        }
+        for normal in [SIMD3<Double>.zero, SIMD3(1,0,0), SIMD3(.nan,0,1)] {
+            #expect(throws: ParkingOrbitTransferError.invalidDirections) {
+                try transfer().plan(kind: .capture, periapsisEpoch: .j2000, frame: frame, centralBody: .earth,
+                    hyperbolicExcessVelocityMetresPerSecond: SIMD3(1,0,0), orbitalNormal: normal)
+            }
+        }
+        #expect(throws: PropagationError.nonInertialFrame) {
+            try transfer().plan(kind: .escape, periapsisEpoch: .j2000,
+                frame: Frame(name: "Rotating", pseudoInertial: false), centralBody: .earth,
+                hyperbolicExcessVelocityMetresPerSecond: SIMD3(1,0,0), orbitalNormal: SIMD3(0,0,1))
+        }
+    }
+}
diff --git a/Tests/CelMekTests/PropagationEventTests.swift b/Tests/CelMekTests/PropagationEventTests.swift
new file mode 100644
index 0000000..608f40e
--- /dev/null
+++ b/Tests/CelMekTests/PropagationEventTests.swift
@@ -0,0 +1,83 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct PropagationEventTests {
+    private let frame = Frame(name: "Event inertial", pseudoInertial: true)
+    private func epoch(_ t: Double) throws -> Epoch { try Epoch.j2000.advanced(by: Duration(seconds: t)) }
+    private func trajectory() throws -> NumericalSpacecraftPropagator {
+        let initial = SpacecraftState(cartesian: try CartesianState(epoch: .j2000, frame: frame,
+            position: SIMD3(10,0,0), velocity: SIMD3(-1,0,0)), mass: try SpacecraftMassProperties(dryMassKilograms: 1))
+        return try NumericalSpacecraftPropagator(initialState: initial,
+            dynamics: SpacecraftDynamics(models: [], context: ForceEvaluationContext(frame: frame, origin: .earth)))
+    }
+    @Test func impactLocalizationAndBackwardDirection() throws {
+        let impact = try SphericalImpactEvent(identifier: "surface", frame: frame, radiusMetres: 2)
+        let search = try EventDetectedPropagation(trajectory: trajectory(), detectors: [impact],
+            options: PropagationEventOptions(maximumCheckIntervalSeconds: 3, timeToleranceSeconds: 1e-8))
+        let result = try search.propagation(from: .j2000, to: epoch(9))
+        #expect(!result.reachedTarget)
+        #expect(result.events.count == 1)
+        #expect(try abs(result.state.epoch.duration(since: epoch(8)).seconds) <= 1e-8)
+        #expect(abs(result.state.cartesian.position.x-2) <= 1e-8)
+        #expect(result.events[0].bracketDurationSeconds <= 1e-8)
+        let reverse = try search.propagation(from: epoch(9), to: .j2000)
+        #expect(try abs(reverse.state.epoch.duration(since: epoch(8)).seconds) <= 1e-8)
+    }
+    @Test func orderedRecordsTerminalAndInitialRoots() throws {
+        let a = try EpochEvent(identifier: "first", epoch: epoch(2), action: .record)
+        let b = try EpochEvent(identifier: "stop", epoch: epoch(5))
+        let c = try EpochEvent(identifier: "later", epoch: epoch(7), action: .record)
+        let search = try EventDetectedPropagation(trajectory: trajectory(), detectors: [c,b,a],
+            options: PropagationEventOptions(maximumCheckIntervalSeconds: 10, timeToleranceSeconds: 1e-8))
+        let result = try search.propagation(from: .j2000, to: epoch(9))
+        #expect(result.events.map(\.identifier) == ["first","stop"])
+        #expect(try result.state.epoch == epoch(5))
+        #expect(result.events[1].bracketDurationSeconds == 0)
+        let initial = try search.propagation(from: epoch(5), to: epoch(9))
+        #expect(try initial.state.epoch == epoch(5))
+        #expect(initial.events.count == 1)
+        let ignored = try search.propagation(from: epoch(5), to: epoch(9), includeInitialEvents: false)
+        #expect(ignored.reachedTarget && ignored.events.map(\.identifier) == ["later"])
+        let records = try EventDetectedPropagation(trajectory: trajectory(), detectors: [a,c])
+        #expect(try records.propagation(from: .j2000, to: epoch(9)).events.map(\.identifier) == ["first","later"])
+    }
+    private struct BadDetector: PropagationEventDetector {
+        let identifier = "bad"
+        let direction: EventCrossingDirection = .any
+        let action: PropagationEventAction = .record
+        func value(at state: SpacecraftState) throws -> Double { .nan }
+    }
+    @Test func limitsAndInvalidContracts() throws {
+        #expect(throws: PropagationEventError.invalidOptions) { try PropagationEventOptions(timeToleranceSeconds: 0) }
+        let event = try EpochEvent(identifier: "time", epoch: epoch(2))
+        #expect(throws: PropagationEventError.invalidDetector) { try EventDetectedPropagation(trajectory: trajectory(), detectors: [event,event]) }
+        let budget = try EventDetectedPropagation(trajectory: trajectory(), detectors: [event],
+            options: PropagationEventOptions(maximumStateEvaluations: 1))
+        #expect(throws: PropagationEventError.evaluationLimitExceeded) { try budget.propagation(from: .j2000, to: epoch(3)) }
+        let bad = try EventDetectedPropagation(trajectory: trajectory(), detectors: [BadDetector()])
+        #expect(throws: PropagationEventError.nonFiniteValue) { try bad.propagation(from: .j2000, to: epoch(3)) }
+        let wrong = try SphericalImpactEvent(identifier: "wrong", frame: Frame(name: "Other", pseudoInertial: true), radiusMetres: 2)
+        #expect(throws: SpacecraftDynamicsError.frameMismatch) {
+            try EventDetectedPropagation(trajectory: trajectory(), detectors: [wrong]).propagation(from: .j2000, to: epoch(3))
+        }
+    }
+    @Test func scheduledBurnSearch() throws {
+        let base = try trajectory()
+        let engine = try FiniteThrust(frame: frame, thrustNewtons: 1, effectiveExhaustVelocityMetresPerSecond: 100, direction: SIMD3(1,0,0))
+        let initial = SpacecraftState(cartesian: base.initialState.cartesian,
+            mass: try SpacecraftMassProperties(dryMassKilograms: 1, propellantMassKilograms: 1))
+        let burn = try FiniteBurn(start: epoch(1), end: epoch(2), thrust: engine)
+        let scheduled = try ScheduledThrustPropagator(initialState: initial,
+            schedule: ScheduledThrust(frame: frame, burns: [burn]), context: base.dynamics.context)
+        let end = try EpochEvent(identifier: "cutoff", epoch: burn.end)
+        let result = try EventDetectedPropagation(trajectory: scheduled, detectors: [end])
+            .propagation(from: .j2000, to: epoch(4))
+        #expect(result.events.count == 1)
+        #expect(abs(result.state.mass.propellantMassKilograms-0.99) < 1e-8)
+        #expect(result.state.epoch == burn.end)
+        #expect(result.state.cartesian.acceleration == .zero)
+    }
+}
diff --git a/Tests/CelMekTests/PublicAPIContractTests.swift b/Tests/CelMekTests/PublicAPIContractTests.swift
new file mode 100644
index 0000000..12d4ec9
--- /dev/null
+++ b/Tests/CelMekTests/PublicAPIContractTests.swift
@@ -0,0 +1,29 @@
+// SPDX-License-Identifier: Apache-2.0
+import Testing
+import CelMek
+
+@Suite
+struct CalendarAndStateAPIContractTests {
+  private func requireSendable<T: Sendable>(_ value: T) {}
+
+  @Test
+  func renamedCalendarCasesPreserveRawValuesAndDescriptions() {
+    #expect(Month.january.rawValue == 1)
+    #expect(Month.december.rawValue == 12)
+    #expect(Month.march.description == "March")
+    #expect(Weekday.sunday.rawValue == 0)
+    #expect(Weekday.monday.rawValue == 1)
+    #expect(JewishMonth.tishri.rawValue == 1)
+    #expect(MoslemMonth.muharram.rawValue == 1)
+    requireSendable(Month.january)
+    requireSendable(Weekday.monday)
+  }
+
+  @Test
+  func cartesianStateCanCrossIsolationBoundaries() throws {
+    let state = try CartesianState(epoch: .j2000, frame: CelestialFrames.icrf,
+      position: .zero, velocity: .zero)
+    requireSendable(state)
+    #expect(state.frame === CelestialFrames.icrf)
+  }
+}
diff --git a/Tests/CelMekTests/RendererAdapterTests.swift b/Tests/CelMekTests/RendererAdapterTests.swift
new file mode 100644
index 0000000..16903e4
--- /dev/null
+++ b/Tests/CelMekTests/RendererAdapterTests.swift
@@ -0,0 +1,60 @@
+// SPDX-License-Identifier: Apache-2.0
+import Testing
+import CelMek
+import Math
+
+@Suite struct RendererAdapterTests {
+    let frame = Frame(name: "Rendering", pseudoInertial: true)
+    func state(_ position: SIMD3<Double>, velocity: SIMD3<Double> = .zero,
+               acceleration: SIMD3<Double>? = nil) throws -> CartesianState {
+        try CartesianState(epoch: .j2000, frame: frame, position: position,
+                           velocity: velocity, acceleration: acceleration)
+    }
+
+    @Test func preservesNearbyDetailAndMovingOriginDerivatives() throws {
+        let base = SIMD3<Double>(1e12, -2e12, 3e12)
+        let origin = try state(base, velocity: SIMD3(10, 20, 30), acceleration: SIMD3(1, 2, 3))
+        let target = try state(base + SIMD3(1, -2, 3), velocity: SIMD3(14, 15, 36), acceleration: SIMD3(3, 1, 7))
+        let render = try RendererAdapter(origin: origin, metresPerRenderUnit: 2).adapt(target)
+        #expect(render.position == SIMD3<Float>(0.5, -1, 1.5))
+        #expect(render.velocity == SIMD3<Float>(2, -2.5, 3))
+        #expect(render.acceleration == SIMD3<Float>(1, -0.5, 2))
+        #expect(Float(base.x + 1) == Float(base.x)) // Premature conversion loses the metre.
+        #expect(try RendererAdapter(origin: origin).adapt(origin).position == .zero)
+        #expect(target.position == base + SIMD3(1, -2, 3))
+    }
+
+    @Test func missingAccelerationAndSnapshotContracts() throws {
+        let origin = try state(.zero)
+        let adapter = try RendererAdapter(origin: origin)
+        #expect(try adapter.adapt(state(.zero, acceleration: .zero)).acceleration == nil)
+        let acceleratingOrigin = try RendererAdapter(origin: state(.zero, acceleration: .zero))
+        #expect(try acceleratingOrigin.adapt(origin).acceleration == nil)
+        let later = try CartesianState(epoch: Epoch.j2000.advanced(by: CelMek.Duration(seconds: 1)),
+                                       frame: frame, position: .zero, velocity: .zero)
+        #expect(throws: RendererAdapterError.epochMismatch) { try adapter.adapt(later) }
+        let other = try CartesianState(epoch: .j2000, frame: Frame(name: frame.name, pseudoInertial: true),
+                                       position: .zero, velocity: .zero)
+        #expect(throws: RendererAdapterError.frameMismatch) { try adapter.adapt(other) }
+    }
+
+    @Test func rejectsInvalidScaleAndOverflow() throws {
+        for scale in [0, -1, Double.nan, .infinity] {
+            #expect(throws: RendererAdapterError.invalidScale) {
+                try RendererAdapter(origin: state(.zero), metresPerRenderUnit: scale)
+            }
+        }
+        let adapter = try RendererAdapter(origin: state(.zero))
+        #expect(throws: RendererAdapterError.coordinateOverflow) {
+            try adapter.adapt(state(SIMD3(repeating: Double.greatestFiniteMagnitude)))
+        }
+        let remote = try state(SIMD3(repeating: -Double.greatestFiniteMagnitude))
+        #expect(throws: RendererAdapterError.coordinateOverflow) {
+            try RendererAdapter(origin: remote).adapt(state(SIMD3(repeating: Double.greatestFiniteMagnitude)))
+        }
+        #expect(throws: RendererAdapterError.coordinateOverflow) {
+            try RendererAdapter(origin: state(.zero), metresPerRenderUnit: Double.leastNonzeroMagnitude)
+                .adapt(state(SIMD3(1, 0, 0)))
+        }
+    }
+}
diff --git a/Tests/CelMekTests/RotatingDynamicsTests.swift b/Tests/CelMekTests/RotatingDynamicsTests.swift
new file mode 100644
index 0000000..3a367c6
--- /dev/null
+++ b/Tests/CelMekTests/RotatingDynamicsTests.swift
@@ -0,0 +1,102 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct RotatingDynamicsTests {
+    private func epoch(_ t: Double) throws -> Epoch { try Epoch.j2000.advanced(by: Duration(seconds: t)) }
+    private func options() throws -> NumericalPropagationOptions {
+        try NumericalPropagationOptions(absolutePositionToleranceMetres: 1e-10,
+            absoluteVelocityToleranceMetresPerSecond: 1e-11, relativeTolerance: 1e-12,
+            initialStepSeconds: 0.1, maximumStepSeconds: 0.5)
+    }
+    private func distance(_ a: SIMD3<Double>, _ b: SIMD3<Double>) -> Double { sqrt(((a-b)*(a-b)).sum()) }
+    private struct AcceleratingOrigin: TransformProvider {
+        func transform(at epoch: Epoch) throws -> FrameTransform {
+            let t = try epoch.duration(since: .j2000).seconds
+            return try FrameTransform(epoch: epoch, translation: SIMD3(-0.15*t*t,0,0),
+                velocity: SIMD3(-0.3*t,0,0), acceleration: SIMD3(-0.3,0,0))
+        }
+    }
+    private struct AcceleratingRotation: TransformProvider {
+        func transform(at epoch: Epoch) throws -> FrameTransform {
+            let t = try epoch.duration(since: .j2000).seconds
+            return try FrameTransform(epoch: epoch, rotation: Quaternion(angle: -0.2*t-0.01*t*t, axis: SIMD3(0,0,1)),
+                angularVelocity: SIMD3(0,0,-0.2-0.02*t), angularAcceleration: SIMD3(0,0,-0.02))
+        }
+    }
+    @Test func translatingAndAcceleratingRotationMatchesAnalyticInertialMotion() throws {
+        let tree = FrameTree()
+        let translated = try tree.makeFrame(parent: tree.root, name: "Accelerating origin", provider: AcceleratingOrigin())
+        let rotating = try tree.makeFrame(parent: translated, name: "Accelerating rotation", provider: AcceleratingRotation())
+        let inertial = try SpacecraftDynamics(models: [], context: ForceEvaluationContext(frame: tree.root, origin: .earth))
+        let dynamics = try SpacecraftDynamics(rotatingFrame: rotating, origin: .custom(namespace: "test", name: "moving-origin"), inertialDynamics: inertial, using: tree)
+        let original = try CartesianState(epoch: .j2000, frame: tree.root, position: SIMD3(3,1,0), velocity: SIMD3(0.2,0.5,0), acceleration: .zero)
+        let initial = SpacecraftState(cartesian: try tree.convert(original, to: rotating), mass: try SpacecraftMassProperties(dryMassKilograms: 1))
+        let provider = try NumericalSpacecraftPropagator(initialState: initial, dynamics: dynamics, options: options())
+        for t in [-10.0,10.0] {
+            let end = try epoch(t)
+            let reference = try tree.convert(CartesianState(epoch: end, frame: tree.root,
+                position: original.position+original.velocity*t, velocity: original.velocity, acceleration: .zero), to: rotating)
+            let actual = try provider.spacecraftState(at: end)
+            #expect(distance(actual.cartesian.position,reference.position) < 1e-8)
+            #expect(distance(actual.cartesian.velocity,reference.velocity) < 1e-8)
+            #expect(distance(try #require(actual.cartesian.acceleration),try #require(reference.acceleration)) < 1e-8)
+            #expect(actual.mass == initial.mass)
+        }
+    }
+    @Test func centrifugalAndCoriolisSigns() throws {
+        let tree = FrameTree()
+        let frame = try tree.makeFrame(parent: tree.root, name: "Spinning", provider: UniformRotationProvider(axis: SIMD3(0,0,1), rate: 2))
+        let inertial = try SpacecraftDynamics(models: [], context: ForceEvaluationContext(frame: tree.root, origin: .earth))
+        let dynamics = try SpacecraftDynamics(rotatingFrame: frame, origin: .earth, inertialDynamics: inertial, using: tree)
+        let stationary = SpacecraftState(cartesian: try CartesianState(epoch: .j2000, frame: frame,
+            position: SIMD3(3,0,0), velocity: .zero), mass: try SpacecraftMassProperties(dryMassKilograms: 1))
+        #expect(distance(try dynamics.derivative(at: stationary).velocityRateMetresPerSecondSquared,SIMD3(12,0,0)) < 1e-14)
+        let moving = SpacecraftState(cartesian: try CartesianState(epoch: .j2000, frame: frame,
+            position: SIMD3(3,0,0), velocity: SIMD3(0,1,0)), mass: stationary.mass)
+        #expect(distance(try dynamics.derivative(at: moving).velocityRateMetresPerSecondSquared,SIMD3(16,0,0)) < 1e-14)
+    }
+    @Test func centralGravityOrbitMatchesTwoBodyInRotatingAxes() throws {
+        let tree = FrameTree()
+        let frame = try tree.makeFrame(parent: tree.root, name: "Orbit view", provider: UniformRotationProvider(axis: SIMD3(0,0,1), rate: 0.3))
+        let provenance = try PhysicalDataProvenance(source: "Synthetic GM", version: "1")
+        let gm = try GravitationalParameter(cubicMetresPerSecondSquared: 10, convention: .newtonian, provenance: provenance)
+        let inertial = try SpacecraftDynamics(models: [CentralGravity(body: .earth, gravitationalParameter: gm)],
+            context: ForceEvaluationContext(frame: tree.root, origin: .earth))
+        let dynamics = try SpacecraftDynamics(rotatingFrame: frame, origin: .earth, inertialDynamics: inertial, using: tree)
+        let seed = try CartesianState(epoch: .j2000, frame: tree.root, position: SIMD3(2,0,0), velocity: SIMD3(0,sqrt(5),0))
+        let initial = SpacecraftState(cartesian: try tree.convert(seed, to: frame), mass: try SpacecraftMassProperties(dryMassKilograms: 1))
+        let provider = try NumericalSpacecraftPropagator(initialState: initial, dynamics: dynamics, options: options())
+        let t = 20.0, n = sqrt(10.0/8), angle = (n-0.3)*t
+        let actual = try provider.state(at: epoch(t))
+        #expect(distance(actual.position,SIMD3(2*cos(angle),2*sin(angle),0)) < 1e-7)
+        #expect(distance(actual.velocity,SIMD3(-2*(n-0.3)*sin(angle),2*(n-0.3)*cos(angle),0)) < 1e-7)
+        #expect(throws: FrameTransformError.disconnectedFrames) {
+            try SpacecraftDynamics(rotatingFrame: Frame(name: "Unregistered", pseudoInertial: false), origin: .earth, inertialDynamics: inertial, using: tree)
+        }
+    }
+    @Test func fuelCutoffPreservesFrameDynamics() throws {
+        let tree = FrameTree()
+        let frame = try tree.makeFrame(parent: tree.root, name: "Powered view",
+            provider: UniformRotationProvider(axis: SIMD3(0,0,1), rate: 0.01))
+        let engine = try FiniteThrust(frame: tree.root, thrustNewtons: 2,
+            effectiveExhaustVelocityMetresPerSecond: 100, direction: SIMD3(1,0,0))
+        let inertial = try SpacecraftDynamics(models: [engine],
+            context: ForceEvaluationContext(frame: tree.root, origin: .earth))
+        let dynamics = try SpacecraftDynamics(rotatingFrame: frame, origin: .earth, inertialDynamics: inertial, using: tree)
+        let initial = SpacecraftState(cartesian: try CartesianState(epoch: .j2000, frame: frame, position: .zero, velocity: .zero),
+            mass: try SpacecraftMassProperties(dryMassKilograms: 9, propellantMassKilograms: 1))
+        let result = try FuelLimitedNumericalPropagator(initialState: initial, dynamics: dynamics,
+            numericalOptions: options(), eventOptions: PropagationEventOptions(timeToleranceSeconds: 1e-8))
+            .propagation(at: epoch(60))
+        let recovered = try tree.convert(result.state.cartesian, to: tree.root)
+        let speed = 100*log(10.0/9)
+        let position = 100*(50-450*log(10.0/9))+10*speed
+        #expect(abs(recovered.velocity.x-speed) < 1e-7)
+        #expect(abs(recovered.position.x-position) < 1e-6)
+        #expect(distance(try #require(recovered.acceleration),.zero) < 1e-9)
+        #expect(result.state.mass.propellantMassKilograms == 0)
+    }
+}
diff --git a/Tests/CelMekTests/SiderealTime_tests.swift b/Tests/CelMekTests/SiderealTime_tests.swift
index 4b4534f..c819d78 100644
--- a/Tests/CelMekTests/SiderealTime_tests.swift
+++ b/Tests/CelMekTests/SiderealTime_tests.swift
@@ -16,54 +16,60 @@
 // limitations under the License.
 //
 
-import XCTest
+import Testing
 @testable import CelMek;
 import Math
 
-final class SiderealTime_tests : XCTestCase {
+@Suite
+struct SiderealTime_tests {
+  @Test
   func testSiderealTimeUT0() {
     // Meeus, example 12.a
     // TODO: Calculate also apperent time
     let 𝛩₀ = meanSideralTimeUT0(jd: 2446895.5)
-    let expected = HourAngle(hours: 13, minutes: 10, seconds: 46.3668).toDeg()
-    XCTAssertEqual(𝛩₀.toDeg(), expected, accuracy: 0.000005)
-    XCTAssertEqual(𝛩₀.hours, 13)
-    XCTAssertEqual(𝛩₀.minutes, 10)
-    XCTAssertEqual(𝛩₀.seconds, 46.3668, accuracy: 0.00005)
+    let expected = HourAngle(hours: 13, minutes: 10, seconds: 46.3668).degrees
+    #expect(abs((𝛩₀.degrees) - (expected)) <= 0.000005)
+    #expect(𝛩₀.hours == 13)
+    #expect(𝛩₀.minutes == 10)
+    #expect(abs((𝛩₀.seconds) - (46.3668)) <= 0.00005)
   }
   
+  @Test
   func testMeanSiderealTimeDegrees0() {
     // Meeus, example 12.b
     let 𝜃₀ = meanSiderealTimeDegrees0(jd: 2446896.30625)
-    XCTAssertEqual(𝜃₀, 128.7378734, accuracy: 0.0000005)
+    #expect(abs((𝜃₀) - (128.7378734)) <= 0.0000005)
     let ra = HourAngle(degrees: 𝜃₀)
-    XCTAssertEqual(ra.hours, 8)
-    XCTAssertEqual(ra.minutes, 34)
-    XCTAssertEqual(ra.seconds, 57.0896, accuracy: 0.00005)
+    #expect(ra.hours == 8)
+    #expect(ra.minutes == 34)
+    #expect(abs((ra.seconds) - (57.0896)) <= 0.00005)
   }
 
+  @Test
   func testSiderealTimeCorrection() {
     // Meeus, example 12.a
     let correction = apparentSiderealTimeCorrection(jd: 2446895.5)
-    XCTAssertEqual(correction, -0.2317.arcsec, accuracy: 0.00005)
+    #expect(abs((correction) - (-0.2317.arcsec)) <= 0.00005)
   }
 
 
+  @Test
   func testApparentSiderealTimeUT0() {
     // Meeus, example 12.a
     // TODO: Calculate also apperent time
     let 𝛩₀ = apparentSiderealTimeUT0(jd: 2446895.5)
-    let expected = HourAngle(hours: 13, minutes: 10, seconds: 46.1351).toDeg()
-    XCTAssertEqual(𝛩₀.toDeg(), expected, accuracy: 0.000005)
-    XCTAssertEqual(𝛩₀.hours, 13)
-    XCTAssertEqual(𝛩₀.minutes, 10)
-    XCTAssertEqual(𝛩₀.seconds, 46.1351, accuracy: 0.00005)
+    let expected = HourAngle(hours: 13, minutes: 10, seconds: 46.1351).degrees
+    #expect(abs((𝛩₀.degrees) - (expected)) <= 0.000005)
+    #expect(𝛩₀.hours == 13)
+    #expect(𝛩₀.minutes == 10)
+    #expect(abs((𝛩₀.seconds) - (46.1351)) <= 0.00005)
   }
 
+  @Test
   func testApparentSiderealTimeDegreesUT0() {
     // Meeus, example 12.a
     let 𝛩₀ = apparentSiderealTimeDegreesUT0(jd: 2446895.5)
-    let expected = HourAngle(hours: 13, minutes: 10, seconds: 46.1351).toDeg()
-    XCTAssertEqual(𝛩₀, expected, accuracy: 0.005)
+    let expected = HourAngle(hours: 13, minutes: 10, seconds: 46.1351).degrees
+    #expect(abs((𝛩₀) - (expected)) <= 0.005)
   }
 }
diff --git a/Tests/CelMekTests/SimulationClockTests.swift b/Tests/CelMekTests/SimulationClockTests.swift
new file mode 100644
index 0000000..a41c723
--- /dev/null
+++ b/Tests/CelMekTests/SimulationClockTests.swift
@@ -0,0 +1,55 @@
+// SPDX-License-Identifier: Apache-2.0
+import Testing
+import CelMek
+
+@Suite struct SimulationClockTests {
+    private func duration(_ seconds: Double) throws -> CelMek.Duration { try CelMek.Duration(seconds: seconds) }
+    private func epoch(_ seconds: Double) throws -> Epoch { try Epoch.j2000.advanced(by: duration(seconds)) }
+    @Test func pauseReverseSeekAndIndependentPrediction() throws {
+        var clock = try SimulationClock(epoch: .j2000,rate: 60,coverage: epoch(-100)...epoch(100))
+        #expect(try clock.advance(realDuration: duration(1)) == (try epoch(60)))
+        clock.setPaused(true)
+        #expect(try clock.advance(realDuration: duration(1000)) == (try epoch(60)))
+        #expect(try clock.prediction(after: duration(20)) == (try epoch(80)))
+        #expect(clock.epoch == (try epoch(60)))
+        try clock.setRate(-10); clock.setPaused(false)
+        #expect(try clock.advance(realDuration: duration(2)) == (try epoch(40)))
+        try clock.seek(to: epoch(-20))
+        #expect(try clock.advance(realDuration: duration(1)) == (try epoch(-30)))
+        try clock.setRate(0)
+        #expect(try clock.advance(realDuration: duration(1000)) == (try epoch(-30)))
+        var copy = clock; try copy.seek(to: .j2000)
+        #expect(clock.epoch == (try epoch(-30)) && copy.epoch == .j2000)
+    }
+    @Test func repeatedSubsecondUpdatesPreserveDistantEpochFractions() throws {
+        let start = Epoch(offsetFromJ2000: try CelMek.Duration(wholeSeconds: 8_000_000_000_000,fractionalSecond: 0.125))
+        var many = try SimulationClock(epoch: start,rate: 86400), one = many
+        for _ in 0..<1000 { try many.advance(realDuration: duration(0.001)) }
+        try one.advance(realDuration: duration(1))
+        let difference = try many.epoch.duration(since: one.epoch).seconds
+        #expect(abs(difference) < 1e-7)
+        #expect(one.epoch.offsetFromJ2000.fractionalSecond == 0.125)
+        try many.setRate(0.5)
+        let before = many.epoch
+        try many.advance(realDuration: duration(0.25))
+        #expect(try many.epoch.duration(since: before).seconds == 0.125)
+    }
+    @Test func failuresAreTransactionalAndBoundsAreInclusive() throws {
+        var clock = try SimulationClock(epoch: .j2000,rate: 2,coverage: epoch(-2)...epoch(2))
+        #expect(throws: SimulationClockError.outsideCoverage) { try clock.advance(realDuration: duration(2)) }
+        #expect(clock.epoch == .j2000)
+        #expect(try clock.advance(realDuration: duration(1)) == (try epoch(2)))
+        #expect(throws: SimulationClockError.outsideCoverage) { try clock.prediction(after: duration(0.1)) }
+        #expect(throws: SimulationClockError.outsideCoverage) { try clock.seek(to: epoch(3)) }
+        #expect(throws: SimulationClockError.invalidRate) { try clock.setRate(.nan) }
+        #expect(clock.rate == 2)
+        #expect(clock.epoch == (try epoch(2)))
+        clock.setPaused(true)
+        #expect(throws: SimulationClockError.invalidRealDuration) { try clock.advance(realDuration: duration(-1)) }
+        #expect(throws: SimulationClockError.invalidRate) { try SimulationClock(epoch: .j2000,rate: .infinity) }
+        #expect(throws: SimulationClockError.outsideCoverage) { try SimulationClock(epoch: .j2000,coverage: epoch(1)...epoch(2)) }
+        var overflow = try SimulationClock(epoch: .j2000,rate: Double.greatestFiniteMagnitude)
+        #expect(throws: (any Error).self) { try overflow.advance(realDuration: duration(2)) }
+        #expect(overflow.epoch == .j2000)
+    }
+}
diff --git a/Tests/CelMekTests/SimulationSnapshotTests.swift b/Tests/CelMekTests/SimulationSnapshotTests.swift
new file mode 100644
index 0000000..31e114e
--- /dev/null
+++ b/Tests/CelMekTests/SimulationSnapshotTests.swift
@@ -0,0 +1,114 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Testing
+import CelMek
+import Math
+
+@Suite struct SimulationSnapshotTests {
+    private let frame = Frame(name: "save inertial",pseudoInertial: true)
+    private func model() throws -> TwoBodyPropagator {
+        let gm = try GravitationalParameter(cubicMetresPerSecondSquared: 3.986004418e14,convention: .newtonian,
+            provenance: PhysicalDataProvenance(source: "save test",version: "1",reference: "test reference"))
+        let state = try CartesianState(epoch: .j2000,frame: frame,position: SIMD3(7e6,0,0),velocity: SIMD3(0,7500,0))
+        return try TwoBodyPropagator(initialState: state,centralBody: .custom(namespace: "game",name: "Earth"),
+            gravitationalParameter: gm,options: TwoBodyPropagationOptions(absoluteTimeToleranceSeconds: 1e-8,
+            relativeTimeTolerance: 1e-12,maximumIterations: 100,maximumBracketExpansions: 90))
+    }
+    @Test func roundTripPreservesInputsStateAndClockContinuation() throws {
+        let model = try model()
+        var clock = try SimulationClock(epoch: .j2000,rate: 0.3)
+        try clock.advance(realDuration: CelMek.Duration(seconds: 0.7))
+        let mass = try SpacecraftMassProperties(dryMassKilograms: 100,propellantMassKilograms: 50)
+        let state = try model.state(at: clock.epoch)
+        let savedState = try SavedCartesianState(id: "ship",frameID: "earth-inertial",state: state,mass: mass)
+        let savedInput = try SavedTwoBodyInput(id: "coast",frameID: "earth-inertial",propagator: model)
+        let snapshot = try SimulationSnapshot(clock: clock,states: [savedState],twoBodyInputs: [savedInput],
+            dependencies: [SimulationDependency(id: "earth-inertial",kind: "frame",version: "1",parameters: ["origin":"game:Earth"])])
+        let data = try JSONEncoder().encode(snapshot)
+        let decoded = try JSONDecoder().decode(SimulationSnapshot.self,from: data)
+        let restored = try decoded.states[0].restore { id in
+            #expect(id == "earth-inertial"); return frame
+        }
+        #expect(restored == state)
+        #expect(restored.acceleration == state.acceleration)
+        #expect(try decoded.states[0].restoreMass() == mass)
+        let restoredModel = try decoded.twoBodyInputs[0].restore { _ in frame }
+        #expect(restoredModel.options == model.options)
+        #expect(restoredModel.gravitationalParameter == model.gravitationalParameter)
+        #expect(restoredModel.centralBody == model.centralBody)
+        let later = try Epoch.j2000.advanced(by: CelMek.Duration(seconds: 900))
+        #expect(try restoredModel.state(at: later) == model.state(at: later))
+        var restoredClock = try #require(decoded.clock).restore()
+        for _ in 0..<20 {
+            let step = try CelMek.Duration(seconds: 0.11)
+            try clock.advance(realDuration: step); try restoredClock.advance(realDuration: step)
+            #expect(clock.epoch == restoredClock.epoch)
+        }
+        clock.setPaused(true)
+        var paused = try clock.saved().restore()
+        try paused.advance(realDuration: CelMek.Duration(seconds: 10))
+        #expect(paused.epoch == clock.epoch && paused.isPaused)
+    }
+    @Test func preciseTimeAndMissingAcceleration() throws {
+        let epoch = Epoch(offsetFromJ2000: try CelMek.Duration(wholeSeconds: 8_000_000_000_000,fractionalSecond: 0.125))
+        let state = try CartesianState(epoch: epoch,frame: frame,position: .zero,velocity: .zero)
+        let snapshot = try SimulationSnapshot(states: [SavedCartesianState(id: "point",frameID: "frame",state: state)])
+        let data = try JSONEncoder().encode(snapshot)
+        #expect(String(decoding: data,as: UTF8.self).contains("\"8000000000000\""))
+        let decoded = try JSONDecoder().decode(SimulationSnapshot.self,from: data)
+        #expect(try decoded.states[0].restore { _ in frame } == state)
+        #expect(try decoded.states[0].restoreMass() == nil)
+    }
+    private func corrupted(_ change: (inout [String:Any]) -> Void) throws -> Data {
+        let model = try model()
+        let state = try SavedCartesianState(id: "ship",frameID: "frame",state: model.initialState)
+        let snapshot = try SimulationSnapshot(clock: SimulationClock(epoch: .j2000,rate: 2),states: [state],
+            twoBodyInputs: [SavedTwoBodyInput(id: "coast",frameID: "frame",propagator: model)])
+        var json = try #require(JSONSerialization.jsonObject(with: JSONEncoder().encode(snapshot)) as? [String:Any])
+        change(&json)
+        return try JSONSerialization.data(withJSONObject: json)
+    }
+    @Test func rejectsUnknownVersionsDuplicateIDsAndMalformedPayloads() throws {
+        let changes: [(inout [String:Any]) -> Void] = [
+            { $0["schemaVersion"] = 2 },
+            { $0["format"] = "other" },
+            { json in let states = json["states"] as! [Any]; json["states"] = states+states },
+            { json in var c = json["clock"] as! [String:Any]; c["rate"] = 3; c["epoch"] = ["offsetFromJ2000":["wholeSeconds":"1","fractionalSecond":0]]; json["clock"] = c },
+            { json in var s = (json["states"] as! [[String:Any]])[0]; s["frameID"] = " "; json["states"] = [s] },
+            { json in var s = (json["states"] as! [[String:Any]])[0]; s["epoch"] = ["offsetFromJ2000":["wholeSeconds":"00","fractionalSecond":0]]; json["states"] = [s] },
+            { json in var s = (json["states"] as! [[String:Any]])[0]; s["dryMassKilograms"] = 100; json["states"] = [s] },
+            { json in var s = (json["twoBodyInputs"] as! [[String:Any]])[0]; s["maximumIterations"] = 0; json["twoBodyInputs"] = [s] },
+            { json in var s = (json["twoBodyInputs"] as! [[String:Any]])[0]; s["gmConvention"] = "unknown"; json["twoBodyInputs"] = [s] }
+        ]
+        for change in changes {
+            let data = try corrupted(change)
+            #expect(throws: (any Error).self) { try JSONDecoder().decode(SimulationSnapshot.self,from: data) }
+        }
+    }
+    @Test func versionOneFixtureRemainsReadable() throws {
+        let url = try #require(Bundle.module.url(forResource: "simulation-save-v1",withExtension: "json",subdirectory: "Fixtures"))
+        let snapshot = try JSONDecoder().decode(SimulationSnapshot.self,from: Data(contentsOf: url))
+        var clock = try #require(snapshot.clock).restore()
+        #expect(clock.epoch.offsetFromJ2000 == (try CelMek.Duration(seconds: 2.5)))
+        try clock.advance(realDuration: CelMek.Duration(seconds: 0.25))
+        #expect(clock.epoch.offsetFromJ2000 == (try CelMek.Duration(seconds: 3)))
+        let state = try snapshot.states[0].restore { _ in frame }
+        #expect(state.epoch.offsetFromJ2000.wholeSeconds == 8_000_000_000_000)
+        #expect(state.epoch.offsetFromJ2000.fractionalSecond == 0.125)
+        #expect(state.acceleration == nil)
+        #expect(try snapshot.states[0].restoreMass()?.totalMassKilograms == 125)
+        let coast = try snapshot.twoBodyInputs[0].restore { _ in frame }
+        #expect(coast.centralBody == .earth)
+        #expect(coast.gravitationalParameter.cubicMetresPerSecondSquared == 3.986004418e14)
+        #expect(coast.options.maximumIterations == 100)
+        #expect(snapshot.dependencies[0].parameters["origin"] == "naif:399")
+    }
+    @Test func callerBindingErrorsAndPhysicalFrameValidationPropagate() throws {
+        enum BindingError: Error { case missing }
+        let input = try SavedTwoBodyInput(id: "coast",frameID: "frame",propagator: model())
+        #expect(throws: BindingError.missing) { try input.restore { _ in throw BindingError.missing } }
+        #expect(throws: PropagationError.nonInertialFrame) {
+            try input.restore { _ in Frame(name: "rotating",pseudoInertial: false) }
+        }
+    }
+}
diff --git a/Tests/CelMekTests/SmallestCircle_test.swift b/Tests/CelMekTests/SmallestCircle_test.swift
index 9028281..49f10d7 100644
--- a/Tests/CelMekTests/SmallestCircle_test.swift
+++ b/Tests/CelMekTests/SmallestCircle_test.swift
@@ -16,40 +16,42 @@
 // limitations under the License.
 //
 
-import XCTest
+import Testing
 @testable import CelMek;
 import Math
 
-final class SmallestCircle_tests : XCTestCase {
+@Suite
+struct SmallestCircle_tests {
+  @Test
   func testSmallestCircle() {
     // Meeus, Example 20.a
     let mercury = EquatorialCoordinate(rightAscension:
                                     HourAngle(hours: 12,
                                               minutes: 41,
-                                              seconds: 8.63).toRad(),
+                                              seconds: 8.63).radians,
                                   declination:
                                     AngleOfArc(degrees: -5,
                                                minutes: 37,
-                                               seconds: 54.2).toRad())
+                                               seconds: 54.2).radians)
     let jupiter = EquatorialCoordinate(rightAscension:
                                     HourAngle(hours: 12,
                                               minutes: 52,
-                                              seconds: 5.21).toRad(),
+                                              seconds: 5.21).radians,
                                   declination:
                                     AngleOfArc(degrees: -4,
                                                minutes: 22,
-                                               seconds: 26.2).toRad())
+                                               seconds: 26.2).radians)
     let saturn = EquatorialCoordinate(rightAscension:
                                     HourAngle(hours: 12,
                                               minutes: 39,
-                                              seconds: 28.11).toRad(),
+                                              seconds: 28.11).radians,
                                   declination:
                                     AngleOfArc(degrees: -1,
                                                minutes: 50,
-                                               seconds: 3.7).toRad())
+                                               seconds: 3.7).radians)
     let d = smallestCircle(mercury, jupiter, saturn)
 
-    XCTAssertEqual(d, 4.26364.deg, accuracy: 0.000005)
+    #expect(abs((d) - (4.26364.deg)) <= 0.000005)
   }
 }
 
diff --git a/Tests/CelMekTests/SpacecraftDynamicsTests.swift b/Tests/CelMekTests/SpacecraftDynamicsTests.swift
new file mode 100644
index 0000000..d28490a
--- /dev/null
+++ b/Tests/CelMekTests/SpacecraftDynamicsTests.swift
@@ -0,0 +1,104 @@
+// SPDX-License-Identifier: Apache-2.0
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct SpacecraftDynamicsTests {
+    private struct Acceleration: ForceModel {
+        let value: SIMD3<Double>
+        var massRate = 0.0
+        func contribution(for state: SpacecraftState,in context: ForceEvaluationContext) throws -> ForceContribution {
+            try ForceContribution(epoch: state.epoch,frame: state.frame,
+                accelerationMetresPerSecondSquared: value,propellantMassRateKilogramsPerSecond: massRate)
+        }
+    }
+    private struct Thrust: ForceModel {
+        func contribution(for state: SpacecraftState,in context: ForceEvaluationContext) throws -> ForceContribution {
+            try ForceContribution(epoch: state.epoch,frame: state.frame,
+                accelerationMetresPerSecondSquared: SIMD3(100,0,0)/state.mass.totalMassKilograms,
+                propellantMassRateKilogramsPerSecond: -0.1)
+        }
+    }
+    private func state(_ frame: Frame, propellant: Double = 50) throws -> SpacecraftState {
+        SpacecraftState(cartesian: try CartesianState(epoch: .j2000,frame: frame,
+            position: SIMD3(7e6,0,0),velocity: SIMD3(0,7500,0),acceleration: SIMD3(999,999,999)),
+            mass: try SpacecraftMassProperties(dryMassKilograms: 50,propellantMassKilograms: propellant))
+    }
+    @Test func compositionIsStateDependentAndDoesNotDoubleCountAcceleration() throws {
+        let frame = Frame(name: "Earth inertial",pseudoInertial: true)
+        let context = try ForceEvaluationContext(frame: frame,origin: .earth)
+        let dynamics = try SpacecraftDynamics(models: [Acceleration(value: SIMD3(0,-8,0)),Thrust()],context: context)
+        let heavy = try state(frame), lighter = try state(frame,propellant: 0)
+        let derivative = try dynamics.derivative(at: heavy)
+        #expect(derivative.positionRateMetresPerSecond == SIMD3(0,7500,0))
+        #expect(derivative.velocityRateMetresPerSecondSquared == SIMD3(1,-8,0))
+        #expect(derivative.propellantMassRateKilogramsPerSecond == -0.1)
+        #expect(derivative.frame === frame && derivative.epoch == heavy.epoch)
+        #expect(try dynamics.derivative(at: lighter).velocityRateMetresPerSecondSquared == SIMD3(2,-8,0))
+        #expect(try dynamics.derivative(at: heavy).velocityRateMetresPerSecondSquared == derivative.velocityRateMetresPerSecondSquared)
+        #expect(heavy.mass.propellantMassKilograms == 50)
+        let empty = try SpacecraftDynamics(models: [],context: context).derivative(at: heavy)
+        #expect(empty.velocityRateMetresPerSecondSquared == .zero && empty.propellantMassRateKilogramsPerSecond == 0)
+    }
+    @Test func physicalInputValidation() throws {
+        for dry in [0.0,-1,.nan,.infinity] {
+            #expect(throws: SpacecraftDynamicsError.invalidMass) { try SpacecraftMassProperties(dryMassKilograms: dry) }
+        }
+        for propellant in [-1.0,.nan,.infinity] {
+            #expect(throws: SpacecraftDynamicsError.invalidMass) {
+                try SpacecraftMassProperties(dryMassKilograms: 1,propellantMassKilograms: propellant)
+            }
+        }
+        #expect(throws: SpacecraftDynamicsError.invalidMass) {
+            try SpacecraftMassProperties(dryMassKilograms: Double.greatestFiniteMagnitude,
+                propellantMassKilograms: Double.greatestFiniteMagnitude)
+        }
+        #expect(try SpacecraftMassProperties(dryMassKilograms: 10).totalMassKilograms == 10)
+        let frame = Frame(name: "test",pseudoInertial: true)
+        #expect(throws: SpacecraftDynamicsError.nonFiniteAcceleration) {
+            try ForceContribution(epoch: .j2000,frame: frame,accelerationMetresPerSecondSquared: SIMD3(.nan,0,0))
+        }
+        #expect(throws: SpacecraftDynamicsError.invalidMassRate) {
+            try ForceContribution(epoch: .j2000,frame: frame,accelerationMetresPerSecondSquared: .zero,
+                propellantMassRateKilogramsPerSecond: .infinity)
+        }
+    }
+    private enum Failure: Error { case unavailableEnvironment }
+    private struct Broken: ForceModel {
+        enum Mode { case frame, epoch, environment }
+        let mode: Mode
+        func contribution(for state: SpacecraftState,in context: ForceEvaluationContext) throws -> ForceContribution {
+            if mode == .environment { throw Failure.unavailableEnvironment }
+            return try ForceContribution(epoch: mode == .epoch ? state.epoch.advanced(by: Duration(seconds: 1)) : state.epoch,
+                frame: mode == .frame ? Frame(name: "wrong",pseudoInertial: true) : state.frame,
+                accelerationMetresPerSecondSquared: .zero)
+        }
+    }
+    @Test func contractFailuresAndOverflowRemainVisible() throws {
+        let frame = Frame(name: "test",pseudoInertial: true), context = try ForceEvaluationContext(frame: frame,origin: .earth)
+        let input = try state(frame)
+        #expect(throws: SpacecraftDynamicsError.frameMismatch) {
+            try SpacecraftDynamics(models: [Broken(mode: .frame)],context: context).derivative(at: input)
+        }
+        #expect(throws: SpacecraftDynamicsError.epochMismatch) {
+            try SpacecraftDynamics(models: [Broken(mode: .epoch)],context: context).derivative(at: input)
+        }
+        #expect(throws: Failure.unavailableEnvironment) {
+            try SpacecraftDynamics(models: [Broken(mode: .environment)],context: context).derivative(at: input)
+        }
+        #expect(throws: SpacecraftDynamicsError.frameMismatch) {
+            try SpacecraftDynamics(models: [],context: context).derivative(at: state(Frame(name: "other",pseudoInertial: true)))
+        }
+        #expect(throws: SpacecraftDynamicsError.nonInertialFrame) {
+            try SpacecraftDynamics(models: [],context: ForceEvaluationContext(frame: Frame(name: "rotating",pseudoInertial: false),origin: .earth))
+        }
+        let huge = Acceleration(value: SIMD3(Double.greatestFiniteMagnitude,0,0))
+        #expect(throws: SpacecraftDynamicsError.numericalRangeExceeded) {
+            try SpacecraftDynamics(models: [huge,huge],context: context).derivative(at: input)
+        }
+        let mass = Acceleration(value: .zero,massRate: Double.greatestFiniteMagnitude)
+        #expect(throws: SpacecraftDynamicsError.numericalRangeExceeded) {
+            try SpacecraftDynamics(models: [mass,mass],context: context).derivative(at: input)
+        }
+    }
+}
diff --git a/Tests/CelMekTests/SpiceBinaryPCKTests.swift b/Tests/CelMekTests/SpiceBinaryPCKTests.swift
new file mode 100644
index 0000000..500141c
--- /dev/null
+++ b/Tests/CelMekTests/SpiceBinaryPCKTests.swift
@@ -0,0 +1,175 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+struct PCKFixture {
+    var spk: SPKFixture
+    var bytes: Data { spk.daf.bytes }
+    init(big: Bool = false, type: Int32 = 2, classID: Int32 = 301, frameID: Int32 = 1,
+         coefficients: [[Double]]? = nil, initial: Double = -20, interval: Double = 10, records: Int = 2) {
+        spk = SPKFixture(big: big, initial: initial, interval: interval, coefficients: coefficients, records: records)
+        spk.daf.text("DAF/PCK",0,8); spk.daf.int(5,12)
+        let end = Int32(512 + spk.size*records + 4)
+        for (i,v) in [classID,frameID,type,Int32(513),end,Int32(123456)].enumerated() { spk.daf.int(v,2048+40+i*4) }
+    }
+}
+@Suite struct SpiceBinaryPCKTests {
+    let files = SpiceDAFTests()
+    var provenance: PhysicalDataProvenance { try! PhysicalDataProvenance(source: "Independent public-format PCK",version: "fixture-1") }
+    func epoch(_ t: Double) throws -> Epoch { Epoch(offsetFromJ2000: try CelMek.Duration(seconds: t)) }
+    func near(_ a: SIMD3<Double>, _ b: SIMD3<Double>, tolerance: Double = 1e-11) -> Bool {
+        (0..<3).allSatisfy { abs(a[$0]-b[$0]) < tolerance }
+    }
+    @Test func independentAngleDerivativesBothEndianAndBoundaries() throws {
+        for big in [false,true] {
+            let f = PCKFixture(big: big)
+            try files.withFile(f.bytes) { url in
+                let file = try SpiceDAFFile(url: url), segment = try SpiceBinaryPCKSegment(file: file,array: 0)
+                #expect(file.metadata.integerComponentCount == 5)
+                #expect(file.metadata.arrays[0].spk == nil)
+                #expect(segment.descriptor.frameClassID == 301 && segment.descriptor.frameID == 1)
+                for t in [-20.0,-18.75,-15,-12.5,-10,-7.5,-5,-1.25,0] {
+                    let record = t < -10 ? 0 : 1, mid = record == 0 ? -15.0 : -5.0, x = (t-mid)/5
+                    let sample = try segment.angles(atSecondsTDB: t)
+                    let reference = SpiceSPKTests().reference(x,record: record,type: 2,radius: 5)
+                    let second = SIMD3<Double>((-8+12*x+24*x*x)/25,0,(24-96*x*x)/25)
+                    #expect(near(sample.eulerAnglesRadians,reference.0))
+                    #expect(near(sample.ratesRadiansPerTDBSecond,reference.1))
+                    #expect(near(sample.accelerationsRadiansPerTDBSecondSquared,second))
+                    #expect(sample.recordIndex == record && sample.sourcePath == url.path)
+                }
+                #expect(try segment.angles(atSecondsTDB: (-10.0).nextDown).recordIndex == 0)
+                #expect(try segment.angles(atSecondsTDB: (-10.0).nextUp).recordIndex == 1)
+                #expect(throws: SpiceBinaryPCKError.outOfCoverage) { try segment.angles(atSecondsTDB: 0.0.nextUp) }
+                #expect(throws: SpiceBinaryPCKError.invalidEpoch) { try segment.angles(atSecondsTDB: .nan) }
+            }
+        }
+    }
+    @Test func degreeZeroAndHighDegreeAcrossStorageRecords() throws {
+        for degree in [0,60] {
+            var coefficients = Array(repeating: 0.0,count: degree+1); coefficients[degree] = 1
+            let f = PCKFixture(coefficients: [coefficients,coefficients,coefficients])
+            try files.withFile(f.bytes) { url in
+                let segment = try SpiceBinaryPCKSegment(file: SpiceDAFFile(url: url),array: 0)
+                let x = 0.4, theta = acos(x), n = Double(degree)
+                let sample = try segment.angles(atSecondsTDB: -15+5*x)
+                #expect(abs(sample.eulerAnglesRadians.x - cos(n*theta)) < 1e-12)
+                let first = degree == 0 ? 0 : n*sin(n*theta)/sqrt(1-x*x)/5
+                let second = degree == 0 ? 0 : (x*(first*5)-n*n*cos(n*theta))/(1-x*x)/25
+                #expect(abs(sample.ratesRadiansPerTDBSecond.x-first) < 1e-10)
+                #expect(abs(sample.accelerationsRadiansPerTDBSecondSquared.x-second) < 1e-8)
+            }
+        }
+    }
+    @Test func descriptorsDirectoryAndRecordFailuresAreExplicit() throws {
+        for type: Int32 in [3,20,99] {
+            try files.withFile(PCKFixture(type: type).bytes) { url in
+                #expect(throws: SpiceBinaryPCKError.unsupportedType(type)) { try SpiceDAFFile(url: url).pckAngles(array: 0,atSecondsTDB: -15) }
+            }
+        }
+        for field in [8,12,2048+40,2048+44,2048+48] {
+            var f = PCKFixture(); f.spk.daf.int(0,field)
+            try files.withFile(f.bytes) { url in #expect(throws: SpiceDAFError.self) { try SpiceDAFFile(url: url) } }
+        }
+        let f = PCKFixture()
+        for (offset,value) in [(f.spk.directoryOffset+8,0.0),(f.spk.directoryOffset+16,4.5),(f.spk.directoryOffset+24,3.0),
+                               (4096,123.0),(4104,-1.0),(4112,Double.nan)] {
+            var bad = f; bad.spk.daf.double(value,offset)
+            try files.withFile(bad.bytes) { url in
+                #expect(throws: (any Error).self) { try SpiceDAFFile(url: url).pckAngles(array: 0,atSecondsTDB: -15) }
+            }
+        }
+        try files.withFile(f.bytes) { url in
+            #expect(throws: SpiceDAFError.self) { try SpiceBinaryPCKSegment(file: SpiceDAFFile(url: url,limits: SpiceDAFLimits(maximumReadWords: 10)),array: 0) }
+        }
+    }
+    @Test func priorityGapsUnloadAndMixedSPKPool() throws {
+        let directory = try SpiceKernelSetTests().directory(); defer { try? FileManager.default.removeItem(at: directory) }
+        let a = directory.appendingPathComponent("a.bpc"), b = directory.appendingPathComponent("b.bpc"), spk = directory.appendingPathComponent("state.bsp")
+        try PCKFixture().bytes.write(to: a); try PCKFixture(type: 20).bytes.write(to: b); try SPKFixture().daf.bytes.write(to: spk)
+        let set = try SpiceKernelSet(); try set.load(a); try set.load(spk)
+        let old = set.snapshot(); #expect(try old.pckAngles(frameClassID: 301,atSecondsTDB: -15).sourcePath == resolvedSpiceTestPath(a))
+        #expect(try old.spkState(targetID: 399,atSecondsTDB: -15).sourcePath == resolvedSpiceTestPath(spk))
+        let id = try set.load(b)
+        #expect(throws: SpiceBinaryPCKError.unsupportedType(20)) { try set.snapshot().pckAngles(frameClassID: 301,atSecondsTDB: -15) }
+        try set.unload(id)
+        #expect(try set.snapshot().pckAngles(frameClassID: 301,atSecondsTDB: -15).sourcePath == resolvedSpiceTestPath(a))
+        #expect(old.cacheScope != set.snapshot().cacheScope)
+        #expect(throws: SpiceBinaryPCKError.coverageGap(301)) { try old.pckAngles(frameClassID: 301,atSecondsTDB: 1) }
+        #expect(throws: SpiceBinaryPCKError.missingFrameClass(399)) { try old.pckAngles(frameClassID: 399,atSecondsTDB: -15) }
+        #expect(throws: SpiceBinaryPCKError.descriptorLimit) { try old.pckAngles(frameClassID: 301,atSecondsTDB: -15,maximumDescriptorChecks: 0) }
+    }
+    @Test func providerEulerConventionAndNonUnitAtomicClock() throws {
+        let f = PCKFixture(coefficients: [[0,0,0],[0,0,0],[0.5,0.2,0.01]])
+        try files.withFile(f.bytes) { url in
+            let set = try SpiceKernelSet(), id = try set.load(url), coverage = try epoch(-18)...epoch(-12)
+            let clock = SpiceSPKAdapterTests.Clock(coverage: coverage,offset: 0.1,drift: 0.01,quadratic: 0.0001)
+            let provider = try SpiceBinaryPCKOrientationProvider(snapshot: set.snapshot(),frameClassID: 301,referenceFrame: CelestialFrames.icrf,
+                frameBindings: SpiceFrameBindings([.icrfJ2000(provenance: provenance)]),coverage: coverage,tdbModel: clock,provenance: provenance)
+            let t = -15.0, sample = try provider.evaluation(at: epoch(t))
+            let et = t+0.1+0.01*t+0.0001*t*t, x = (et+15)/5
+            let w = 0.49+0.2*x+0.02*x*x, first = (0.2+0.04*x)/5, second = 0.04/25
+            #expect(near(sample.orientation.rotation.matrix * SIMD3<Double>(1,0,0),SIMD3(cos(w),-sin(w),0)))
+            let rate = 1.01+0.0002*t
+            #expect(near(sample.orientation.angularVelocity,SIMD3(0,0,-first*rate)))
+            #expect(near(sample.orientation.angularAcceleration,SIMD3(0,0,-second*rate*rate-first*0.0002)))
+            #expect(sample.nativeAngles.descriptor.frameClassID == 301)
+            try set.unload(id)
+            #expect(try provider.evaluation(at: epoch(t)).nativeAngles.eulerAnglesRadians == sample.nativeAngles.eulerAnglesRadians)
+            #expect(throws: SpiceBinaryPCKError.outOfCoverage) { try provider.orientation(at: epoch(-11)) }
+        }
+    }
+    @Test func coupledEulerRatesAndFrameComposition() throws {
+        let f = PCKFixture(frameID: 2)
+        try files.withFile(f.bytes) { url in
+            let set = try SpiceKernelSet(); try set.load(url)
+            var tree: FrameTree? = FrameTree()
+            let root = tree!.root
+            let q = Quaternion(angle: 0.3,axis: SIMD3(0,0,1))
+            let native = try tree!.makeFrame(parent: root,name: "alternate inertial axes",pseudoInertial: true,
+                provider: FixedTransformProvider(rotation: q,translation: SIMD3(123,456,789)))
+            let bindings = try SpiceFrameBindings([SpiceFrameBinding(frameID: 2,axesFrame: native,provenance: provenance)])
+            let coverage = try epoch(-18)...epoch(-12), clock = SpiceSPKAdapterTests.Clock(coverage: coverage)
+            let provider = try SpiceBinaryPCKOrientationProvider(snapshot: set.snapshot(),frameClassID: 301,referenceFrame: root,
+                frameBindings: bindings,frameTree: tree,coverage: coverage,tdbModel: clock,provenance: provenance)
+            let t = -15.0, h = 0.00001, input = SIMD3<Double>(0.3,0.5,0.7)
+            let sample = try provider.evaluation(at: epoch(t)), angles = sample.nativeAngles.eulerAnglesRadians
+            func z(_ a: Double, _ v: SIMD3<Double>) -> SIMD3<Double> { SIMD3(cos(a)*v.x-sin(a)*v.y,sin(a)*v.x+cos(a)*v.y,v.z) }
+            func x(_ a: Double, _ v: SIMD3<Double>) -> SIMD3<Double> { SIMD3(v.x,cos(a)*v.y-sin(a)*v.z,sin(a)*v.y+cos(a)*v.z) }
+            let expected = z(-angles.z,x(-angles.y,z(-angles.x,z(0.3,input))))
+            let r = sample.orientation.rotation.matrix * input
+            #expect(near(r,expected))
+            let plus = try provider.orientation(at: epoch(t+h)), minus = try provider.orientation(at: epoch(t-h))
+            let numerical = (plus.rotation.matrix*input-minus.rotation.matrix*input)/(2*h)
+            let omega = sample.orientation.angularVelocity
+            #expect(near(numerical,SIMD3(omega.y*r.z-omega.z*r.y,omega.z*r.x-omega.x*r.z,omega.x*r.y-omega.y*r.x),tolerance: 1e-8))
+            #expect(near((plus.angularVelocity-minus.angularVelocity)/(2*h),sample.orientation.angularAcceleration,tolerance: 1e-8))
+            tree = nil
+            #expect(throws: SpiceBinaryPCKError.frameTreeUnavailable) { try provider.orientation(at: epoch(t)) }
+        }
+    }
+    @Test func laterArrayPriorityAndBoundedDescriptorSearch() throws {
+        var f = PCKFixture()
+        let recordWords = f.spk.size*2+4, secondStart = 513+recordWords, secondEnd = secondStart+recordWords-1
+        let payload = f.spk.daf.bytes.subdata(in: 4096..<(4096+recordWords*8))
+        f.spk.daf.bytes.replaceSubrange((secondStart-1)*8..<secondEnd*8,with: payload)
+        f.spk.daf.int(Int32(secondEnd+1),84)
+        f.spk.daf.summary(record: 3,previous: 0,next: 0,count: 2)
+        let descriptor = 2048+24+40
+        f.spk.daf.double(-20,descriptor); f.spk.daf.double(0,descriptor+8)
+        for (i,v) in [Int32(301),Int32(1),Int32(2),Int32(secondStart),Int32(secondEnd)].enumerated() {
+            f.spk.daf.int(v,descriptor+16+i*4)
+        }
+        f.spk.daf.double(777,(secondStart-1)*8+16)
+        try files.withFile(f.bytes) { url in
+            let set = try SpiceKernelSet(); try set.load(url)
+            let snapshot = set.snapshot()
+            #expect(try snapshot.pckAngles(frameClassID: 301,atSecondsTDB: -15,maximumDescriptorChecks: 1).arrayIndex == 1)
+            #expect(try snapshot.pckAngles(frameClassID: 301,atSecondsTDB: -15).eulerAnglesRadians.x == 778.25)
+            #expect(throws: SpiceBinaryPCKError.descriptorLimit) { try snapshot.pckAngles(frameClassID: 399,atSecondsTDB: -15,maximumDescriptorChecks: 1) }
+        }
+    }
+
+}
diff --git a/Tests/CelMekTests/SpiceCKTests.swift b/Tests/CelMekTests/SpiceCKTests.swift
new file mode 100644
index 0000000..319d848
--- /dev/null
+++ b/Tests/CelMekTests/SpiceCKTests.swift
@@ -0,0 +1,117 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+struct CKFixture {
+    var daf: DAFFixture
+    init(big: Bool = false, velocity: Bool = true, type: Int32 = 1, times: [Double] = [0,50,100]) {
+        daf = DAFFixture(big: big)
+        let width = velocity ? 7 : 4
+        let size = times.count*(width+1)+(times.count-1)/100+1
+        daf.bytes = Data(repeating: 0,count: max(8,(512+size+127)/128)*1024)
+        // Recreate the documented file record and integrity marker before replacing its summary.
+        let header = DAFFixture(big: big).bytes
+        daf.bytes.replaceSubrange(0..<4096,with: header.prefix(4096))
+        daf.text("DAF/CK",0,8); daf.int(3,80); daf.int(Int32(513+size),84)
+        daf.summary(record: 3,previous: 0,next: 0,count: 1)
+        daf.double(0,2072); daf.double(100,2080)
+        for (i,v) in [Int32(-77001),1,type,velocity ? 1 : 0,513,Int32(512+size)].enumerated() { daf.int(v,2088+i*4) }
+        for i in times.indices {
+            let angle = Double(i)*Double.pi/4
+            var values = [cos(angle/2),0,0,sin(angle/2)]
+            if velocity { values += [1,0,0] }
+            for (j,value) in values.enumerated() { daf.double(value,4096+(i*width+j)*8) }
+            daf.double(times[i],4096+(times.count*width+i)*8)
+        }
+        for i in 1...max(1,(times.count-1)/100) where i <= (times.count-1)/100 {
+            daf.double((times[i*100-1]+times[i*100])/2,4096+(times.count*(width+1)+i-1)*8)
+        }
+        daf.double(Double(times.count),4096+(size-1)*8)
+    }
+}
+@Suite struct SpiceCKTests {
+    let files = SpiceDAFTests()
+    @Test func discreteSamplesBothEndianAndMissingRates() throws {
+        for big in [false,true] { for velocity in [false,true] {
+            let f = CKFixture(big: big,velocity: velocity)
+            try files.withFile(f.daf.bytes) { url in
+                let file = try SpiceDAFFile(url: url), s = try SpiceCKSegment(file: file,array: 0)
+                #expect(file.metadata.arrays[0].ck?.hasAngularVelocity == velocity)
+                #expect(try s.pointing(atEncodedTicks: 25) == nil)
+                let p = try #require(try s.pointing(atEncodedTicks: 25,toleranceTicks: 25))
+                #expect(p.encodedTicks == 50 && p.requestedEncodedTicks == 25 && p.recordIndex == 1)
+                #expect((p.angularVelocityReferenceRadiansPerSecond != nil) == velocity)
+                let v = p.referenceToInstrument.matrix*SIMD3<Double>(1,0,0)
+                #expect(abs(v.x-sqrt(0.5)) < 1e-12 && abs(v.y-sqrt(0.5)) < 1e-12)
+                #expect(try s.pointing(atEncodedTicks: 100)?.recordIndex == 2)
+                #expect(throws: SpiceCKError.invalidQuery) { try s.pointing(atEncodedTicks: .nan) }
+            }
+        } }
+    }
+    @Test func directoriesMalformedDataAndUnsupportedTypes() throws {
+        var f = CKFixture(times: (0..<101).map(Double.init))
+        try files.withFile(f.daf.bytes) { url in
+            let segment = try SpiceCKSegment(file: SpiceDAFFile(url: url),array: 0)
+            #expect(try segment.pointing(atEncodedTicks: 100)?.recordIndex == 100)
+        }
+        f.daf.double(99,4096+101*8*8)
+        try files.withFile(f.daf.bytes) { url in
+            #expect(throws: SpiceCKError.malformedSegment) { try SpiceCKSegment(file: SpiceDAFFile(url: url),array: 0) }
+        }
+        for type in [Int32(4),5] {
+            try files.withFile(CKFixture(type: type).daf.bytes) { url in
+                #expect(throws: SpiceCKError.unsupportedType(type)) { try SpiceCKSegment(file: SpiceDAFFile(url: url),array: 0) }
+            }
+        }
+        var bad = CKFixture(); bad.daf.double(2,4096)
+        try files.withFile(bad.daf.bytes) { url in
+            #expect(throws: SpiceCKError.malformedSegment) { try SpiceCKSegment(file: SpiceDAFFile(url: url),array: 0).pointing(atEncodedTicks: 0) }
+        }
+    }
+    @Test func priorityGapsAndSelectedFailures() throws {
+        try files.withFile(CKFixture().daf.bytes) { oldURL in
+            try files.withFile(CKFixture(times: [0,100]).daf.bytes) { newURL in
+                let set = try SpiceKernelSet(); try set.load(oldURL); let newest = try set.load(newURL)
+                let retained = set.snapshot()
+                #expect(try retained.ckPointing(instrumentID: -77001,atEncodedTicks: 50).sourcePath == resolvedSpiceTestPath(oldURL))
+                #expect(try retained.ckPointing(instrumentID: -77001,atEncodedTicks: 100).sourcePath == resolvedSpiceTestPath(newURL))
+                #expect(throws: SpiceCKError.resourceLimit) {
+                    try retained.ckPointing(instrumentID: -77001,atEncodedTicks: 50,maximumDescriptorChecks: 1)
+                }
+                try set.unload(newest)
+                #expect(try retained.ckPointing(instrumentID: -77001,atEncodedTicks: 100).sourcePath == resolvedSpiceTestPath(newURL))
+                #expect(try set.snapshot().ckPointing(instrumentID: -77001,atEncodedTicks: 100).sourcePath == resolvedSpiceTestPath(oldURL))
+                try files.withFile(CKFixture(type: 4).daf.bytes) { unsupported in
+                    try set.load(unsupported)
+                    #expect(throws: SpiceCKError.unsupportedType(4)) { try set.snapshot().ckPointing(instrumentID: -77001,atEncodedTicks: 50) }
+                }
+            }
+        }
+    }
+    @Test func clockAdapterPreservesUnavailableAccelerationAndSnapshot() throws {
+        for velocity in [false,true] {
+            try files.withFile(CKFixture(velocity: velocity).daf.bytes) { url in
+                let set = try SpiceKernelSet(), id = try set.load(url), snapshot = set.snapshot()
+                let helper = SpiceSCLKTests()
+                let clock = try helper.clock(helper.text + "\nSCLK01_TIME_SYSTEM_77=2\n")
+                let ref = CelestialFrames.icrf, body = Frame(parent: ref,name: "CK body",pseudoInertial: false)
+                let provider = try SpiceCKAttitudeProvider(snapshot: snapshot,instrumentID: -77001,clock: clock,
+                    referenceFrame: ref,bodyFrame: body,frameBindings: SpiceFrameBindings([.icrfJ2000(provenance: helper.provenance)]),angularRateTimeScale: .atomic)
+                try set.unload(id)
+                if velocity {
+                    let state = try provider.attitude(at: helper.epoch(100))
+                    #expect(state.angularAccelerationBodyRadiansPerSecondSquared == nil)
+                    #expect(abs(state.angularVelocityBodyRadiansPerSecond.x-sqrt(0.5)) < 1e-12)
+                    #expect(abs(state.angularVelocityBodyRadiansPerSecond.y-sqrt(0.5)) < 1e-12)
+                    #expect(throws: AttitudeError.angularAccelerationUnavailable) { try state.orientation() }
+                } else {
+                    #expect(throws: SpiceCKError.angularVelocityUnavailable) { try provider.attitude(at: helper.epoch(100)) }
+                }
+                #expect(throws: SpiceCKError.coverageGap) { try provider.attitude(at: helper.epoch(50)) }
+                #expect(throws: SpiceCKError.missingInstrument) { try snapshot.ckPointing(instrumentID: -1,atEncodedTicks: 0) }
+            }
+        }
+    }
+}
diff --git a/Tests/CelMekTests/SpiceCKType2Tests.swift b/Tests/CelMekTests/SpiceCKType2Tests.swift
new file mode 100644
index 0000000..4abd5fe
--- /dev/null
+++ b/Tests/CelMekTests/SpiceCKType2Tests.swift
@@ -0,0 +1,93 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+struct CK2Fixture {
+    var daf: DAFFixture
+    init(big: Bool = false, starts: [Double] = [0,50], stops: [Double] = [50,100], rate: Double = 3) {
+        daf = DAFFixture(big: big)
+        let n = starts.count, length = 10*n+(n-1)/100
+        daf.bytes.append(Data(repeating: 0,count: max(0,((512+length+127)/128)*1024-daf.bytes.count)))
+        daf.text("DAF/CK",0,8); daf.int(3,80); daf.int(Int32(513+length),84)
+        daf.summary(record: 3,previous: 0,next: 0,count: 1)
+        daf.double(starts[0],2072); daf.double(stops[n-1],2080)
+        for (i,v) in [Int32(-77001),1,2,1,513,Int32(512+length)].enumerated() { daf.int(v,2088+i*4) }
+        for i in 0..<n {
+            for (j,v) in [1.0,0,0,0,0,0,0.01,rate].enumerated() { daf.double(v,4096+(8*i+j)*8) }
+            daf.double(starts[i],4096+(8*n+i)*8); daf.double(stops[i],4096+(9*n+i)*8)
+        }
+        for i in 0..<((n-1)/100) {
+            let j = (i+1)*100
+            daf.double((stops[j-1]+starts[j])/2,4096+(10*n+i)*8)
+        }
+    }
+}
+@Suite struct SpiceCKType2Tests {
+    let files = SpiceDAFTests()
+    @Test func constantSpinDirectionSharedEndpointsAndGaps() throws {
+        for big in [false,true] {
+            try files.withFile(CK2Fixture(big: big).daf.bytes) { url in
+                let segment = try SpiceCKType2Segment(file: SpiceDAFFile(url: url),array: 0)
+                let sample = try #require(try segment.pointing(atEncodedTicks: 25))
+                let x = sample.referenceToInstrument.matrix*SIMD3<Double>(1,0,0)
+                #expect(abs(x.x-cos(0.75)) < 1e-12 && abs(x.y+sin(0.75)) < 1e-12)
+                #expect(sample.secondsPerEncodedTick == 3 && sample.encodedTicks == 25)
+                #expect(try segment.pointing(atEncodedTicks: 50)?.recordIndex == 1)
+                #expect(try segment.pointing(atEncodedTicks: 100)?.recordIndex == 1)
+                #expect(try segment.pointing(atEncodedTicks: 100.0.nextUp) == nil)
+            }
+        }
+        try files.withFile(CK2Fixture(starts: [0,60],stops: [40,100]).daf.bytes) { url in
+            let set = try SpiceKernelSet(); try set.load(url)
+            #expect(throws: SpiceCKError.coverageGap) { try set.snapshot().ckPointing(instrumentID: -77001,atEncodedTicks: 50,toleranceTicks: 20) }
+        }
+    }
+    @Test func directoryBoundsAndMalformedIntervals() throws {
+        let starts = (0..<101).map { Double($0*2) }, stops = starts.map { $0+1 }
+        var f = CK2Fixture(starts: starts,stops: stops)
+        try files.withFile(f.daf.bytes) { url in
+            let segment = try SpiceCKType2Segment(file: SpiceDAFFile(url: url),array: 0)
+            #expect(try segment.pointing(atEncodedTicks: 200.5)?.recordIndex == 100)
+            #expect(throws: SpiceCKError.resourceLimit) { try SpiceCKType2Segment(file: SpiceDAFFile(url: url),array: 0,maximumRecords: 100) }
+        }
+        f.daf.double(1,4096+1010*8)
+        try files.withFile(f.daf.bytes) { url in
+            #expect(throws: SpiceCKError.malformedSegment) { try SpiceCKType2Segment(file: SpiceDAFFile(url: url),array: 0) }
+        }
+        for fixture in [CK2Fixture(starts: [0,30],stops: [40,100]), CK2Fixture(starts: [0,50],stops: [0,100]), CK2Fixture(rate: 0)] {
+            try files.withFile(fixture.daf.bytes) { url in
+                #expect(throws: SpiceCKError.malformedSegment) { try SpiceCKType2Segment(file: SpiceDAFFile(url: url),array: 0).pointing(atEncodedTicks: 0) }
+            }
+        }
+    }
+    @Test func atomicDerivativesFollowClockAndRecordRate() throws {
+        for tdb in [false,true] {
+            try files.withFile(CK2Fixture(starts: [0],stops: [100]).daf.bytes) { url in
+                let set = try SpiceKernelSet(); try set.load(url)
+                let helper = SpiceSCLKTests()
+                let clock = try helper.clock(tdb ? helper.text : helper.text+"\nSCLK01_TIME_SYSTEM_77=2\n")
+                let model = SpiceSPKAdapterTests.Clock(coverage: try helper.epoch(0)...helper.epoch(150),drift: 0.01,quadratic: 0.0001)
+                let ref = CelestialFrames.icrf, body = Frame(parent: ref,name: "CK2 body",pseudoInertial: false)
+                let provider = try SpiceCKAttitudeProvider(snapshot: set.snapshot(),instrumentID: -77001,clock: clock,
+                    referenceFrame: ref,bodyFrame: body,frameBindings: SpiceFrameBindings([.icrfJ2000(provenance: helper.provenance)]),
+                    angularRateTimeScale: .atomic,tdbModel: model)
+                let t = 40.0, h = 0.001, state = try provider.attitude(at: helper.epoch(t))
+                let before = try provider.attitude(at: helper.epoch(t-h)), after = try provider.attitude(at: helper.epoch(t+h))
+                let expectedRate = 0.015*(tdb ? 1.01+0.0002*t : 1)
+                #expect(abs(state.angularVelocityBodyRadiansPerSecond.z-expectedRate) < 1e-12)
+                let alpha = try #require(state.angularAccelerationBodyRadiansPerSecondSquared)
+                #expect(abs(alpha.z-(tdb ? 0.000003 : 0)) < 1e-12)
+                let derivative = (after.angularVelocityBodyRadiansPerSecond-before.angularVelocityBodyRadiansPerSecond)/(2*h)
+                #expect(abs(derivative.z-alpha.z) < 1e-10)
+                let x = SIMD3<Double>(1,0,0)
+                let dx = (after.bodyToReference.matrix*x-before.bodyToReference.matrix*x)/(2*h)
+                let expected = state.bodyToReference.matrix*SIMD3<Double>(0,expectedRate,0)
+                #expect(abs(dx.x-expected.x) < 1e-9 && abs(dx.y-expected.y) < 1e-9)
+                let orientation = try state.orientation()
+                #expect(abs(orientation.angularVelocity.z+expectedRate) < 1e-12)
+            }
+        }
+    }
+}
diff --git a/Tests/CelMekTests/SpiceCKType3Tests.swift b/Tests/CelMekTests/SpiceCKType3Tests.swift
new file mode 100644
index 0000000..dc6c236
--- /dev/null
+++ b/Tests/CelMekTests/SpiceCKType3Tests.swift
@@ -0,0 +1,117 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+struct CK3Fixture {
+    var daf: DAFFixture
+    init(big: Bool = false, velocity: Bool = true, times: [Double] = [0,20,60,80,100], starts: [Double] = [0,60,100], angles: [Double]? = nil) {
+        daf = DAFFixture(big: big)
+        let n = times.count, m = starts.count, width = velocity ? 7 : 4
+        let length = n*(width+1)+(n-1)/100+m+(m-1)/100+2
+        daf.bytes.append(Data(repeating: 0,count: max(0,((512+length+127)/128)*1024-daf.bytes.count)))
+        daf.text("DAF/CK",0,8); daf.int(3,80); daf.int(Int32(513+length),84)
+        daf.summary(record: 3,previous: 0,next: 0,count: 1)
+        daf.double(times.first!,2072); daf.double(times.last!,2080)
+        for (i,v) in [Int32(-77001),1,3,velocity ? 1 : 0,513,Int32(512+length)].enumerated() { daf.int(v,2088+i*4) }
+        for i in 0..<n {
+            let a = angles?[i] ?? Double(i)*0.4
+            var values = [cos(a/2),0,0,sin(a/2)]
+            if velocity { values += [Double(i),0,9] }
+            for (j,v) in values.enumerated() { daf.double(v,4096+(width*i+j)*8) }
+            daf.double(times[i],4096+(n*width+i)*8)
+        }
+        for i in 0..<((n-1)/100) { daf.double(times[(i+1)*100-1],4096+(n*(width+1)+i)*8) }
+        let offset = n*(width+1)+(n-1)/100
+        for (i,v) in starts.enumerated() { daf.double(v,4096+(offset+i)*8) }
+        for i in 0..<((m-1)/100) { daf.double(starts[(i+1)*100-1],4096+(offset+m+i)*8) }
+        daf.double(Double(m),4096+(length-2)*8); daf.double(Double(n),4096+(length-1)*8)
+    }
+}
+@Suite struct SpiceCKType3Tests {
+    let files = SpiceDAFTests()
+    @Test func independentPointingAndRatesBothEndianAndGapEndpoints() throws {
+        for big in [false,true] { for velocity in [false,true] {
+            try files.withFile(CK3Fixture(big: big,velocity: velocity).daf.bytes) { url in
+                let s = try SpiceCKType3Segment(file: SpiceDAFFile(url: url),array: 0)
+                let p = try #require(try s.pointing(atEncodedTicks: 10))
+                let x = p.referenceToInstrument.matrix*SIMD3<Double>(1,0,0)
+                #expect(abs(x.x-cos(0.2)) < 1e-12 && abs(x.y-sin(0.2)) < 1e-12)
+                #expect(p.encodedTicks == 10 && p.secondsPerEncodedTick == nil)
+                if velocity { #expect(p.angularVelocityReferenceRadiansPerSecond == SIMD3(0.5,0,9)) }
+                else { #expect(p.angularVelocityReferenceRadiansPerSecond == nil) }
+                #expect(try s.pointing(atEncodedTicks: 40) == nil)
+                let endpoint = try #require(try s.pointing(atEncodedTicks: 40,toleranceTicks: 20))
+                #expect(endpoint.encodedTicks == 60 && endpoint.requestedEncodedTicks == 40)
+                #expect(try s.pointing(atEncodedTicks: 90) == nil)
+                #expect(try s.pointing(atEncodedTicks: 100)?.recordIndex == 4)
+                #expect(throws: SpiceCKError.invalidQuery) { try s.pointing(atEncodedTicks: 10,toleranceTicks: -1) }
+            }
+        } }
+    }
+    @Test func shortestArcAntipodalAndTinyRotations() throws {
+        for (angles,expected) in [([0.0,2*Double.pi-0.4],-0.2),([0,2*Double.pi],0),([0,1e-12],5e-13)] {
+            try files.withFile(CK3Fixture(times: [0,100],starts: [0],angles: angles).daf.bytes) { url in
+                let s = try SpiceCKType3Segment(file: SpiceDAFFile(url: url),array: 0)
+                let p = try #require(try s.pointing(atEncodedTicks: 50))
+                let x = p.referenceToInstrument.matrix*SIMD3<Double>(1,0,0)
+                #expect(abs(x.x-cos(expected)) < 1e-14 && abs(x.y-sin(expected)) < 1e-14)
+            }
+        }
+    }
+    @Test func interpolationWithNoncommutingInitialAttitude() throws {
+        var f = CK3Fixture(times: [0,100],starts: [0])
+        let initial = Quaternion(angle: 0.6,axis: SIMD3<Double>(1,0,0))
+        let end = initial*Quaternion(angle: 0.8,axis: SIMD3<Double>(0,0,1))
+        for (i,q) in [initial,end].enumerated() {
+            for (j,v) in [q.w,q.x,q.y,q.z].enumerated() { f.daf.double(v,4096+(7*i+j)*8) }
+        }
+        try files.withFile(f.daf.bytes) { url in
+            let s = try SpiceCKType3Segment(file: SpiceDAFFile(url: url),array: 0)
+            let p = try #require(try s.pointing(atEncodedTicks: 25))
+            let expected = (initial*Quaternion(angle: 0.2,axis: SIMD3<Double>(0,0,1))).matrix*SIMD3<Double>(1,0,0)
+            let actual = p.referenceToInstrument.matrix*SIMD3<Double>(1,0,0)
+            #expect((0..<3).allSatisfy { abs(actual[$0]-expected[$0]) < 1e-12 })
+        }
+    }
+    @Test func directoriesAndMalformedIntervalMembership() throws {
+        let times = (0..<101).map(Double.init)
+        var f = CK3Fixture(times: times,starts: times)
+        try files.withFile(f.daf.bytes) { url in
+            let s = try SpiceCKType3Segment(file: SpiceDAFFile(url: url),array: 0)
+            #expect(try s.pointing(atEncodedTicks: 100)?.recordIndex == 100)
+            #expect(try s.pointing(atEncodedTicks: 50.5) == nil)
+            #expect(throws: SpiceCKError.resourceLimit) { try SpiceCKType3Segment(file: SpiceDAFFile(url: url),array: 0,maximumRecords: 100) }
+        }
+        f.daf.double(98,4096+808*8)
+        try files.withFile(f.daf.bytes) { url in
+            #expect(throws: SpiceCKError.malformedSegment) { try SpiceCKType3Segment(file: SpiceDAFFile(url: url),array: 0) }
+        }
+        for f in [CK3Fixture(starts: [0,61]),CK3Fixture(starts: [20,60]),CK3Fixture(times: [0,20,20,80,100])] {
+            try files.withFile(f.daf.bytes) { url in
+                #expect(throws: SpiceCKError.malformedSegment) { try SpiceCKType3Segment(file: SpiceDAFFile(url: url),array: 0) }
+            }
+        }
+    }
+    @Test func adapterRatesAreExplicitAndAccelerationUnavailable() throws {
+        for velocity in [false,true] {
+            try files.withFile(CK3Fixture(velocity: velocity).daf.bytes) { url in
+                let set = try SpiceKernelSet(); try set.load(url)
+                let helper = SpiceSCLKTests(), clock = try helper.clock(helper.text+"\nSCLK01_TIME_SYSTEM_77=2\n")
+                let ref = CelestialFrames.icrf, body = Frame(parent: ref,name: "CK3 body",pseudoInertial: false)
+                let p = try SpiceCKAttitudeProvider(snapshot: set.snapshot(),instrumentID: -77001,clock: clock,
+                    referenceFrame: ref,bodyFrame: body,frameBindings: SpiceFrameBindings([.icrfJ2000(provenance: helper.provenance)]),angularRateTimeScale: .atomic)
+                if velocity {
+                    let state = try p.attitude(at: helper.epoch(20))
+                    #expect(state.angularVelocityBodyRadiansPerSecond.z == 9)
+                    #expect(state.angularAccelerationBodyRadiansPerSecondSquared == nil)
+                    #expect(throws: AttitudeError.angularAccelerationUnavailable) { try state.orientation() }
+                } else {
+                    #expect(throws: SpiceCKError.angularVelocityUnavailable) { try p.attitude(at: helper.epoch(20)) }
+                }
+                #expect(throws: SpiceCKError.coverageGap) { try p.attitude(at: helper.epoch(80)) }
+            }
+        }
+    }
+}
diff --git a/Tests/CelMekTests/SpiceDAFTests.swift b/Tests/CelMekTests/SpiceDAFTests.swift
new file mode 100644
index 0000000..f2adb50
--- /dev/null
+++ b/Tests/CelMekTests/SpiceDAFTests.swift
@@ -0,0 +1,181 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Testing
+@testable import CelMek
+
+/// Generated directly from the published DAF header/summary layout; no toolkit writer.
+struct DAFFixture {
+    var bytes = Data(repeating: 0, count: 8*1024)
+    let big: Bool
+    mutating func text(_ value: String, _ offset: Int, _ width: Int) {
+        bytes.replaceSubrange(offset..<offset+width, with: Array(value.utf8) + Array(repeating: 32, count: width-value.utf8.count))
+    }
+    mutating func int(_ value: Int32, _ offset: Int) {
+        let bits = UInt32(bitPattern: value)
+        let encoded = (0..<4).map { UInt8(truncatingIfNeeded: bits >> (8*(big ? 3-$0 : $0))) }
+        bytes.replaceSubrange(offset..<offset+4, with: encoded)
+    }
+    mutating func double(_ value: Double, _ offset: Int) {
+        let bits = value.bitPattern
+        bytes.replaceSubrange(offset..<offset+8, with: (0..<8).map { UInt8(truncatingIfNeeded: bits >> (8*(big ? 7-$0 : $0))) })
+    }
+    mutating func summary(record: Int, previous: Int, next: Int, count: Int) {
+        let offset = (record-1)*1024
+        double(Double(next),offset); double(Double(previous),offset+8); double(Double(count),offset+16)
+    }
+    mutating func array(record: Int, slot: Int, target: Int32, type: Int32 = 2, start: Int32, end: Int32) {
+        let offset = (record-1)*1024+24+slot*40
+        double(-100,offset); double(200,offset+8)
+        for (i,v) in [target,Int32(0),Int32(1),type,start,end].enumerated() { int(v,offset+16+4*i) }
+        text("Synthetic \(target)", record*1024+slot*40,40)
+    }
+    init(big: Bool = false) {
+        self.big = big
+        text("DAF/SPK",0,8); int(2,8); int(6,12); text("Independent synthetic DAF",16,60)
+        int(3,76); int(6,80); int(1025,84); text(big ? "BIG-IEEE" : "LTL-IEEE",88,8)
+        let ftp = Array("FTPSTR:".utf8)+[13,58,10,58,13,10,58,13,0,58,129,58,16,206,58]+Array("ENDFTP".utf8)
+        bytes.replaceSubrange(699..<727,with: ftp)
+        bytes.replaceSubrange(1024..<1032,with: Array("Comments".utf8))
+        summary(record: 3,previous: 0,next: 6,count: 2)
+        array(record: 3,slot: 0,target: -123,start: 513,end: 515)
+        array(record: 3,slot: 1,target: 399,type: 99,start: 516,end: 518)
+        summary(record: 6,previous: 3,next: 0,count: 1)
+        array(record: 6,slot: 0,target: 301,type: 3,start: 897,end: 1024)
+        for (i,v) in [1.25,-2.5,3.75,4,5,6].enumerated() { double(v,4096+i*8) }
+        double(123,8192-8)
+    }
+}
+@Suite struct SpiceDAFTests {
+    func withFile(_ bytes: Data, _ action: (URL) throws -> Void) throws {
+        let url = FileManager.default.temporaryDirectory.appendingPathComponent(UUID().uuidString + ".bsp")
+        try bytes.write(to: url); defer { try? FileManager.default.removeItem(at: url) }
+        try action(url)
+    }
+    @Test func bothByteOrdersAndBoundedArrayReads() throws {
+        for big in [false,true] {
+            try withFile(DAFFixture(big: big).bytes) { url in
+                let file = try SpiceDAFFile(url: url), meta = file.metadata
+                #expect(meta.byteOrder == (big ? .bigEndian : .littleEndian))
+                #expect(meta.internalName == "Independent synthetic DAF")
+                #expect(meta.arrays.count == 3)
+                #expect(meta.arrays[0].spk?.targetID == -123)
+                #expect(meta.arrays[1].spk?.dataType == 99)
+                #expect(meta.arrays[2].spk?.startSecondsTDB == -100)
+                #expect(meta.arrays[2].spk?.endSecondsTDB == 200)
+                #expect(meta.reservedRecords.count == 1024)
+                #expect(String(decoding: meta.reservedRecords.prefix(8),as: UTF8.self) == "Comments")
+                #expect(try file.readWords(array: 0,count: 3) == [1.25,-2.5,3.75])
+                #expect(try file.readWords(array: 1,offset: 1,count: 2) == [5,6])
+                #expect(try file.readWords(array: 2,offset: 127,count: 1) == [123])
+                #expect(throws: SpiceDAFError.invalidRange) { try file.readWords(array: 0,offset: 2,count: 2) }
+                #expect(throws: SpiceDAFError.invalidRange) { try file.readWords(array: -1,count: 1) }
+                #expect(throws: SpiceDAFError.self) { try file.readWords(array: 0,count: Int.max) }
+            }
+        }
+    }
+    @Test func malformedHeadersLinksDescriptorsAndRanges() throws {
+        var variants: [Data] = []
+        func changed(_ edit: (inout DAFFixture) -> Void) {
+            var f = DAFFixture(); edit(&f); variants.append(f.bytes)
+        }
+        changed { $0.int(-1,8) }
+        changed { $0.int(5,12) }
+        changed { $0.int(0,76) }
+        changed { $0.int(3,80) }
+        changed { $0.int(100,84) }
+        changed { $0.bytes[699] = 0 }
+        changed { $0.double(.nan,2048) }
+        changed { $0.double(3.5,2048) }
+        changed { $0.double(3,5120) }
+        changed { $0.double(4,5120+8) }
+        changed { $0.double(26,2048+16) }
+        changed { $0.double(300,2048+24) }
+        changed { $0.int(512,2048+24+36) }
+        changed { $0.int(0,2048+24+32) }
+        changed { $0.int(300,2048+24+32) }
+        changed { $0.int(514,2048+24+40+32) }
+        changed { $0.bytes[3072] = 255 }
+        variants.append(Data(DAFFixture().bytes.dropLast()))
+        for bytes in variants { try withFile(bytes) { url in
+            #expect(throws: SpiceDAFError.self) { try SpiceDAFFile(url: url) }
+        } }
+    }
+    @Test func unsupportedFormatsAndLimits() throws {
+        for format in ["VAX-GFLT", "        "] {
+            var f = DAFFixture(); f.text(format,88,8)
+            try withFile(f.bytes) { url in #expect(throws: SpiceDAFError.self) { try SpiceDAFFile(url: url) } }
+        }
+        try withFile(DAFFixture().bytes) { url in
+            for limits in [try SpiceDAFLimits(maximumSummaryRecords: 1),try SpiceDAFLimits(maximumArrays: 2),try SpiceDAFLimits(maximumReservedBytes: 10)] {
+                #expect(throws: SpiceDAFError.self) { try SpiceDAFFile(url: url,limits: limits) }
+            }
+            let limited = try SpiceDAFFile(url: url,limits: SpiceDAFLimits(maximumReadWords: 2))
+            #expect(throws: SpiceDAFError.self) { try limited.readWords(array: 0,count: 3) }
+        }
+    }
+    @Test func kernelSetBinaryOwnershipAndManifestRollback() throws {
+        try withFile(DAFFixture().bytes) { url in
+            let set = try SpiceKernelSet(limits: SpiceKernelLimits(maximumFileBytes: 1))
+            let id = try set.load(url), snapshot = set.snapshot()
+            #expect(snapshot.binaryKernels.count == 1)
+            #expect(snapshot.loads[0].sources[0].kind == "SPK")
+            try set.unload(id)
+            #expect(set.snapshot().binaryKernels.isEmpty)
+            #expect(try snapshot.binaryKernels[0].file.readWords(array: 0,count: 1) == [1.25])
+            let manifest = url.deletingPathExtension().appendingPathExtension("tm")
+            defer { try? FileManager.default.removeItem(at: manifest) }
+            try Data("KPL/MK\n\\begindata\nKERNELS_TO_LOAD=('\(url.lastPathComponent)' 'missing.bsp')".utf8).write(to: manifest)
+            let ordinary = try SpiceKernelSet(), before = ordinary.snapshot()
+            #expect(throws: SpiceKernelError.self) { try ordinary.load(manifest) }
+            #expect(ordinary.snapshot().cacheScope == before.cacheScope)
+            #expect(ordinary.snapshot().binaryKernels.isEmpty)
+        }
+    }
+    @Test func readsAcrossRecordBoundariesAndDetectsTruncation() throws {
+        var fixture = DAFFixture()
+        fixture.bytes.append(Data(repeating: 0,count: 1024))
+        fixture.int(1153,84)
+        fixture.int(1152,5120+24+36)
+        fixture.double(456,8192)
+        try withFile(fixture.bytes) { url in
+            let reader = try SpiceDAFFile(url: url)
+            #expect(try reader.readWords(array: 2,offset: 127,count: 2) == [123,456])
+            let writer = try FileHandle(forWritingTo: url)
+            try writer.truncate(atOffset: 4096); try writer.close()
+            #expect(throws: SpiceDAFError.self) { try reader.readWords(array: 2,count: 1) }
+        }
+    }
+    @Test func concurrentFileReadsUseIndependentPositions() async throws {
+        let url = FileManager.default.temporaryDirectory.appendingPathComponent(UUID().uuidString)
+        try DAFFixture(big: true).bytes.write(to: url)
+        defer { try? FileManager.default.removeItem(at: url) }
+        let reader = try SpiceDAFFile(url: url)
+        try await withThrowingTaskGroup(of: Bool.self) { group in
+            for i in 0..<100 {
+                group.addTask {
+                    let index = i % 2
+                    return try reader.readWords(array: index,count: 3) == (index == 0 ? [1.25,-2.5,3.75] : [4,5,6])
+                }
+            }
+            for try await correct in group { #expect(correct) }
+        }
+    }
+
+    @Test func invalidCKDimensionsAndEmptyRecords() throws {
+        for big in [false,true] {
+            var fixture = DAFFixture(big: big)
+            fixture.summary(record: 3,previous: 0,next: 6,count: 1)
+            fixture.summary(record: 6,previous: 3,next: 0,count: 0)
+            try withFile(fixture.bytes) { url in
+                let file = try SpiceDAFFile(url: url)
+                #expect(file.metadata.arrays.count == 1)
+                #expect(try file.readWords(array: 0,count: 3) == [1.25,-2.5,3.75])
+            }
+            fixture.text("DAF/CK",0,8); fixture.int(0,8); fixture.int(3,12)
+            try withFile(fixture.bytes) { url in
+                #expect(throws: SpiceDAFError.malformed("CK requires ND=2 NI=6")) { try SpiceDAFFile(url: url) }
+            }
+        }
+    }
+
+}
diff --git a/Tests/CelMekTests/SpiceKernelSetTests.swift b/Tests/CelMekTests/SpiceKernelSetTests.swift
new file mode 100644
index 0000000..c605655
--- /dev/null
+++ b/Tests/CelMekTests/SpiceKernelSetTests.swift
@@ -0,0 +1,99 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Testing
+@testable import CelMek
+
+@Suite struct SpiceKernelSetTests {
+    func directory() throws -> URL {
+        let url = FileManager.default.temporaryDirectory.appendingPathComponent(UUID().uuidString)
+        try FileManager.default.createDirectory(at: url, withIntermediateDirectories: true)
+        return url
+    }
+    func write(_ text: String, _ name: String, in directory: URL) throws -> URL {
+        let url = directory.appendingPathComponent(name)
+        try Data(text.utf8).write(to: url)
+        return url
+    }
+    @Test func precedenceUnloadSnapshotsAndIsolation() throws {
+        let dir = try directory(); defer { try? FileManager.default.removeItem(at: dir) }
+        let a = try write("KPL/PCK\ncomments ignored\n\\begindata\nX = (1, 2D1)\nX += 3\nMessage = 'You can''t'\n\\begintext\nX=100", "a.tpc", in: dir)
+        let b = try write("KPL/FK\n\\begindata\nX = 9\nX += 10", "b.tf", in: dir)
+        let set = try SpiceKernelSet(), other = try SpiceKernelSet()
+        let aID = try set.load(a), old = set.snapshot()
+        #expect(old["X"]?.value == .numbers([1,20,3]))
+        #expect(old["Message"]?.value == .strings(["You can't"]))
+        #expect(old["MESSAGE"] == nil)
+        let bID = try set.load(b), current = set.snapshot()
+        #expect(current["X"]?.value == .numbers([9,10]))
+        #expect(current["X"]?.sources.allSatisfy { $0.path == resolvedSpiceTestPath(b) } == true)
+        #expect(current.cacheScope != old.cacheScope)
+        try set.unload(bID)
+        #expect(set.snapshot()["X"]?.value == old["X"]?.value)
+        #expect(current["X"]?.value == .numbers([9,10]))
+        #expect(other.snapshot().variables.isEmpty)
+        try set.unload(aID)
+        #expect(set.snapshot().variables.isEmpty)
+        #expect(throws: SpiceKernelError.unknownLoad) { try set.unload(aID) }
+    }
+    @Test func manifestPathsDependenciesReloadAndRollback() throws {
+        let dir = try directory(); defer { try? FileManager.default.removeItem(at: dir) }
+        let child = try write("KPL/PCK\n\\begindata\nGM = 123", "child.tpc", in: dir)
+        let manifest = try write("KPL/MK\n\\begindata\nPATH_SYMBOLS = ('ROOT')\nPATH_VALUES = ('.')\nKERNELS_TO_LOAD = ('$ROOT/chi+' 'ld.tpc')", "set.tm", in: dir)
+        let set = try SpiceKernelSet(), id = try set.load(manifest), old = set.snapshot()
+        #expect(old["GM"]?.value == .numbers([123]))
+        #expect(old["PATH_SYMBOLS"] == nil)
+        #expect(old.loads[0].sources.count == 2)
+        #expect(old["GM"]?.sources[0].parentManifest == resolvedSpiceTestPath(manifest))
+        _ = try write("KPL/PCK\n\\begindata\nGM = 456", "child.tpc", in: dir)
+        let second = try set.load(manifest)
+        #expect(set.snapshot()["GM"]?.value == .numbers([456]))
+        try set.unload(second)
+        #expect(set.snapshot()["GM"]?.value == .numbers([123]))
+        let bad = try write("KPL/MK\n\\begindata\nKERNELS_TO_LOAD = ('child.tpc' 'absent.tpc')", "bad.tm", in: dir)
+        let before = set.snapshot()
+        #expect(throws: SpiceKernelError.self) { try set.load(bad) }
+        #expect(set.snapshot().cacheScope == before.cacheScope)
+        #expect(set.snapshot().loads.count == 1)
+        try set.unload(id)
+        #expect(set.snapshot().variables.isEmpty)
+        #expect(FileManager.default.fileExists(atPath: child.path))
+    }
+    @Test func malformedUnsupportedAndBoundedWork() throws {
+        let dir = try directory(); defer { try? FileManager.default.removeItem(at: dir) }
+        let badValues = ["A=(1 'two')", "A=(1", "A='unterminated", "A=nan", "A=inf", "A=@2000-FEB-30", "A=()", "A=(1(2))", "A=(1'bad')"]
+        let set = try SpiceKernelSet()
+        for (i, value) in badValues.enumerated() {
+            let file = try write("KPL/PCK\n\\begindata\n" + value, "bad\(i).tpc", in: dir)
+            #expect(throws: SpiceKernelError.self) { try set.load(file) }
+        }
+        let binary = try write("DAF/SPK ", "x.bsp", in: dir)
+        #expect(throws: SpiceDAFError.self) { try set.load(binary) }
+        let cycle = try write("KPL/MK\n\\begindata\nKERNELS_TO_LOAD='cycle.tm'", "cycle.tm", in: dir)
+        #expect(throws: SpiceKernelError.self) { try set.load(cycle) }
+        let symbols = try write("KPL/MK\n\\begindata\nKERNELS_TO_LOAD='$UNKNOWN/a'", "symbol.tm", in: dir)
+        #expect(throws: SpiceKernelError.self) { try set.load(symbols) }
+        let file = try write("KPL/PCK\n\\begindata\nA=(1 2 3)", "limit.tpc", in: dir)
+        let bounded = try SpiceKernelSet(limits: SpiceKernelLimits(maximumValues: 2))
+        #expect(throws: SpiceKernelError.self) { try bounded.load(file) }
+        let byteBounded = try SpiceKernelSet(limits: SpiceKernelLimits(maximumFileBytes: 10))
+        #expect(throws: SpiceKernelError.self) { try byteBounded.load(file) }
+        #expect(set.snapshot().variables.isEmpty)
+    }
+    @Test func setCapacityTypeChangesAndClear() throws {
+        let dir = try directory(); defer { try? FileManager.default.removeItem(at: dir) }
+        let file = try write("KPL/PCK\r\n\\begindata\r\nA=.5d+2\r\nA += 'changed'\r\nA += 'again'", "types.tpc", in: dir)
+        let set = try SpiceKernelSet(limits: SpiceKernelLimits(maximumFiles: 1))
+        _ = try set.load(file)
+        #expect(set.snapshot()["A"]?.value == .strings(["changed", "again"]))
+        let old = set.snapshot()
+        #expect(throws: SpiceKernelError.self) { try set.load(file) }
+        #expect(set.snapshot().cacheScope == old.cacheScope)
+        set.removeAll()
+        #expect(set.snapshot().cacheScope != old.cacheScope)
+        #expect(old["A"]?.value == .strings(["changed", "again"]))
+        #expect(set.snapshot().loads.isEmpty)
+        let dangling = try write("KPL/MK\n\\begindata\nKERNELS_TO_LOAD=('+')", "dangling.tm", in: dir)
+        #expect(throws: SpiceKernelError.self) { try set.load(dangling) }
+    }
+
+}
diff --git a/Tests/CelMekTests/SpiceOracleReferenceTests.swift b/Tests/CelMekTests/SpiceOracleReferenceTests.swift
new file mode 100644
index 0000000..037c06b
--- /dev/null
+++ b/Tests/CelMekTests/SpiceOracleReferenceTests.swift
@@ -0,0 +1,109 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+#if canImport(CryptoKit)
+import CryptoKit
+#endif
+@testable import CelMek
+
+private struct SpiceOracleReferences: Decodable {
+    struct SPK: Decodable { let body,centre: Int32; let t: Double; let state: [Double] }
+    struct CK: Decodable { let instrument: Int32; let tick,tolerance,selected: Double; let matrix: [[Double]]; let rate: [Double]? }
+    struct PCK: Decodable { let t: Double; let matrix: [[Double]] }
+    struct UTC: Decodable { let label: String; let mjd: Int64; let seconds,tt: Double }
+    struct SCLK: Decodable { let tick,tdb: Double }
+    let schema: Int
+    let toolkit,wrapper,basis: String
+    let assets: [String:String]
+    let spk: [SPK]; let ck: [CK]; let pck: [PCK]; let utc: [UTC]; let sclk: [SCLK]
+}
+@Suite struct SpiceOracleReferenceTests {
+    private func url(_ name: String) throws -> URL {
+        try #require(Bundle.module.url(forResource: name,withExtension: nil,subdirectory: "Fixtures/spice-oracle"))
+    }
+    private func references() throws -> SpiceOracleReferences {
+        try JSONDecoder().decode(SpiceOracleReferences.self,from: Data(contentsOf: url("reference.json")))
+    }
+    private func epoch(_ seconds: Double) throws -> Epoch { Epoch(offsetFromJ2000: try CelMek.Duration(seconds: seconds)) }
+    private func matrixMatches(_ rotation: Quaternion,_ expected: [[Double]],tolerance: Double = 2e-13) -> Bool {
+        for column in 0..<3 {
+            var axis = SIMD3<Double>.zero; axis[column] = 1
+            let actual = rotation.matrix*axis
+            for row in 0..<3 { if abs(actual[row]-expected[row][column]) > tolerance { return false } }
+        }
+        return true
+    }
+    @Test func pinnedAssetIntegrityAndOracleIdentity() throws {
+        let refs = try references()
+        #if canImport(CryptoKit)
+        let referenceBytes = try Data(contentsOf: url("reference.json"))
+        #expect(SHA256.hash(data: referenceBytes).map { String(format: "%02x",$0) }.joined() ==
+            "666a60aa902cd7bfffb479f8cf9ecc136575b144e54b3c29caf74fbdc17850be")
+        #endif
+        #expect(refs.schema == 1 && refs.toolkit == "CSPICE_N0067" && refs.wrapper == "8.3.0")
+        #expect(refs.assets.count == 6 && refs.basis.contains("binary oracle only"))
+        for (name,hash) in refs.assets {
+            let bytes = try Data(contentsOf: url(name))
+            #expect(!bytes.isEmpty && hash.count == 64)
+            #if canImport(CryptoKit)
+            #expect(SHA256.hash(data: bytes).map { String(format: "%02x",$0) }.joined() == hash)
+            #endif
+        }
+    }
+    @Test func geometricSPKStatesAndSIAdapterAgainstOracle() throws {
+        let refs = try references(), set = try SpiceKernelSet(); try set.load(url("states.bsp"))
+        let snapshot = set.snapshot(), coverage = try epoch(-20)...epoch(20)
+        let helper = SpiceSPKAdapterTests()
+        for body: Int32 in [399,499] {
+            let provider = try SpiceSPKStateProvider(snapshot: snapshot,body: .naif(body),
+                frameBindings: helper.bindings(),coverage: coverage,tdbModel: SpiceSPKAdapterTests.Clock(coverage: coverage),dataProvenance: helper.provenance)
+            for row in refs.spk where row.body == body {
+                let native = try snapshot.spkState(targetID: body,centreID: row.centre,atSecondsTDB: row.t)
+                let state = try provider.checkedState(at: epoch(row.t))
+                #expect(native.contributions.count == 2)
+                for i in 0..<3 {
+                    #expect(abs(native.positionKilometres[i]-row.state[i]) < 2e-12)
+                    #expect(abs(native.velocityKilometresPerTDBSecond[i]-row.state[i+3]) < 2e-13)
+                    #expect(abs(state.position[i]-1000*row.state[i]) < 2e-9)
+                    #expect(abs(state.velocity[i]-1000*row.state[i+3]) < 2e-10)
+                }
+            }
+        }
+    }
+    @Test func allCKTypesAndOptionalRatesAgainstOracle() throws {
+        let refs = try references(), set = try SpiceKernelSet(); try set.load(url("attitudes.bc"))
+        let snapshot = set.snapshot()
+        for row in refs.ck {
+            let p = try snapshot.ckPointing(instrumentID: row.instrument,atEncodedTicks: row.tick,toleranceTicks: row.tolerance)
+            #expect(p.encodedTicks == row.selected)
+            #expect(matrixMatches(p.referenceToInstrument,row.matrix))
+            if let expected = row.rate {
+                let actual = try #require(p.angularVelocityReferenceRadiansPerSecond)
+                for i in 0..<3 { #expect(abs(actual[i]-expected[i]) < 2e-13) }
+            } else { #expect(p.angularVelocityReferenceRadiansPerSecond == nil) }
+        }
+        #expect(throws: SpiceCKError.coverageGap) { try snapshot.ckPointing(instrumentID: -77003,atEncodedTicks: 40) }
+    }
+    @Test func binaryPCKOrientationAgainstOracle() throws {
+        let refs = try references(), set = try SpiceKernelSet(); try set.load(url("rotation.bpc"))
+        let helper = SpiceSPKAdapterTests(), coverage = try epoch(-20)...epoch(20)
+        let provider = try SpiceBinaryPCKOrientationProvider(snapshot: set.snapshot(),frameClassID: 3000,
+            referenceFrame: CelestialFrames.icrf,frameBindings: helper.bindings(),coverage: coverage,
+            tdbModel: SpiceSPKAdapterTests.Clock(coverage: coverage),provenance: helper.provenance)
+        for row in refs.pck { #expect(matrixMatches(try provider.orientation(at: epoch(row.t)).rotation,row.matrix)) }
+    }
+    @Test func leapLabelsAndFractionalClockCorrelationAgainstOracle() throws {
+        let refs = try references(), set = try SpiceKernelSet(); try set.load(url("time.tls")); try set.load(url("clock.tsc"))
+        let table = try set.snapshot().leapSecondData().table(validUntilModifiedJulianDay: 42000,version: "oracle-fixture")
+        for row in refs.utc {
+            let label = try UTCDate(modifiedJulianDay: row.mjd,secondOfDay: CelMek.Duration(seconds: row.seconds))
+            let instant = try Epoch(utc: label,using: table)
+            #expect(abs(instant.offsetFromJ2000.seconds-row.tt) <= 3e-7)
+            #expect(try instant.utc(using: table) == label)
+        }
+        let clock = try SpiceSCLKClock(snapshot: set.snapshot(),spacecraftID: -77,encodedTickCoverage: 0...2000,
+            provenance: SpiceSPKAdapterTests().provenance)
+        for row in refs.sclk { #expect(abs(try clock.sample(atEncodedTicks: row.tick).parallelSeconds-row.tdb) < 1e-12) }
+    }
+}
diff --git a/Tests/CelMekTests/SpiceSCLKTests.swift b/Tests/CelMekTests/SpiceSCLKTests.swift
new file mode 100644
index 0000000..8b90f12
--- /dev/null
+++ b/Tests/CelMekTests/SpiceSCLKTests.swift
@@ -0,0 +1,122 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Testing
+@testable import CelMek
+
+@Suite struct SpiceSCLKTests {
+    let helpers = SpiceTextKernelTests()
+    var provenance: PhysicalDataProvenance { try! PhysicalDataProvenance(source: "Synthetic documented SCLK",version: "clock-1") }
+    let text = """
+    KPL/SCLK
+    \\begindata
+    SCLK_KERNEL_ID=@04-SEP-1990//4:23:00
+    SCLK_DATA_TYPE_77=1
+    SCLK01_N_FIELDS_77=2
+    SCLK01_MODULI_77=(100 10)
+    SCLK01_OFFSETS_77=(0 1)
+    SCLK01_OUTPUT_DELIM_77=2
+    SCLK_PARTITION_START_77=(100 50)
+    SCLK_PARTITION_END_77=(200 150)
+    SCLK01_COEFFICIENTS_77=(0 0 20 100 200 10)
+    """
+    func clock(_ input: String? = nil, coverage: ClosedRange<Double> = 0...200) throws -> SpiceSCLKClock {
+        try SpiceSCLKClock(snapshot: helpers.snapshot(input ?? text),spacecraftID: -77,encodedTickCoverage: coverage,provenance: provenance)
+    }
+    func epoch(_ seconds: Double) throws -> Epoch { Epoch(offsetFromJ2000: try CelMek.Duration(seconds: seconds)) }
+    @Test func partitionResetsOffsetsAndCanonicalStrings() throws {
+        let model = try clock()
+        let first = SpiceSCLKReading(partition: 1,fields: [15,1]), second = SpiceSCLKReading(partition: 2,fields: [15,1])
+        #expect(try model.encodedTicks(for: first) == 50)
+        #expect(try model.encodedTicks(for: second) == 200)
+        #expect(try model.string(for: first) == "1/15:1")
+        #expect(try model.reading(from: " 1 / 15 : 1 ") == first)
+        #expect(try model.reading(atEncodedTicks: 50,partition: 1) == first)
+        #expect(try model.encodedTicks(for: SpiceSCLKReading(partition: 1,fields: [20,1])) == 100)
+        #expect(try model.encodedTicks(for: SpiceSCLKReading(partition: 2,fields: [5,1])) == 100)
+        #expect(try model.reading(atEncodedTicks: 100,partition: 1).fields == [20,1])
+        #expect(try model.reading(atEncodedTicks: 100,partition: 2).fields == [5,1])
+        #expect(model.cacheScope != EphemerisCacheScope())
+        #expect(model.provenance.source.contains("kernel.txt") && model.provenance.version == "clock-1")
+        for string in ["15:1","1/15::1","1/15:0","1/15:11","3/15:1","1/99:1","1/15:1:2","1/-15:1"] {
+            #expect(throws: (any Error).self) { try model.reading(from: string) }
+        }
+        #expect(throws: SpiceSCLKError.invalidPartition) { try model.encodedTicks(for: SpiceSCLKReading(partition: Int.min,fields: [15,1])) }
+        #expect(throws: SpiceSCLKError.invalidPartition) { try model.reading(atEncodedTicks: 50,partition: Int.min) }
+        #expect(throws: SpiceSCLKError.self) { try model.reading(atEncodedTicks: 50.5,partition: 1) }
+    }
+    @Test func correlationRatesUseMostSignificantFieldAndPreserveFractions() throws {
+        let model = try clock()
+        for (ticks,time,rate,index) in [(0.0,0.0,2.0,0),(50.25,100.5,2.0,0),(100.0,200.0,1.0,1),(150.125,250.125,1.0,1),(200.0,300.0,1.0,1)] {
+            let sample = try model.sample(atEncodedTicks: ticks)
+            #expect(sample.parallelSeconds == time)
+            #expect(sample.parallelSecondsPerTick == rate && sample.correlationIndex == index)
+            #expect(try model.sample(atParallelSeconds: time).encodedTicks == ticks)
+        }
+        #expect(try model.sample(atEncodedTicks: 100.0.nextDown).correlationIndex == 0)
+        #expect(throws: SpiceSCLKError.outsideCoverage) { try model.sample(atEncodedTicks: 200.0.nextUp) }
+        #expect(throws: SpiceSCLKError.outsideCoverage) { try model.sample(atEncodedTicks: .nan) }
+        let limited = try clock(coverage: 20...180)
+        #expect(throws: SpiceSCLKError.outsideCoverage) { try limited.sample(atEncodedTicks: 19) }
+        #expect(throws: SpiceSCLKError.correlationGap) { try limited.sample(atParallelSeconds: 0) }
+    }
+    @Test func discontinuityGapsAndAmbiguityAreNotHidden() throws {
+        let gap = try clock(text.replacingOccurrences(of: "100 200 10", with: "100 250 10"))
+        #expect(try gap.sample(atEncodedTicks: 100).parallelSeconds == 250)
+        #expect(throws: SpiceSCLKError.correlationGap) { try gap.sample(atParallelSeconds: 225) }
+        let overlap = try clock(text.replacingOccurrences(of: "100 200 10", with: "100 150 10"))
+        #expect(throws: SpiceSCLKError.ambiguousCorrelation) { try overlap.sample(atParallelSeconds: 175) }
+        #expect(try overlap.sample(atParallelSeconds: 100).encodedTicks == 50)
+    }
+    @Test func tdbAndTTCorrelationUseExplicitEpochModels() throws {
+        let model = try clock(), coverage = try epoch(-100)...epoch(1000)
+        let time = SpiceSPKAdapterTests.Clock(coverage: coverage,offset: 0.25,drift: 0.001)
+        let e = try model.epoch(atEncodedTicks: 50,using: time)
+        #expect(abs(e.offsetFromJ2000.seconds - 99.75/1.001) < 1e-10)
+        #expect(abs(try model.sample(at: e,using: time).encodedTicks - 50) < 1e-10)
+        #expect(throws: SpiceSCLKError.tdbModelRequired) { try model.epoch(atEncodedTicks: 50) }
+        #expect(throws: SpiceSCLKError.tdbModelRequired) { try model.sample(at: e) }
+        let tt = try clock(text + "\nSCLK01_TIME_SYSTEM_77=2")
+        #expect(tt.parallelTimeScale == .tt)
+        #expect(try tt.epoch(atEncodedTicks: 50).offsetFromJ2000.seconds == 100)
+        #expect(try tt.sample(at: epoch(100)).encodedTicks == 50)
+        let stale = SpiceSPKAdapterTests.Clock(coverage: coverage,stale: true)
+        #expect(throws: TDBModelError.epochMismatch) { try model.sample(at: e,using: stale) }
+    }
+    @Test func malformedConstantsAndBoundedRepresentation() throws {
+        for (old,new) in [("TYPE_77=1","TYPE_77=2"),("FIELDS_77=2","FIELDS_77=17"),
+                          ("(100 10)","(100 0)"),("(100 10)","(1e12 1e12)"),
+                          ("(0 1)","(0 -1)"),("DELIM_77=2","DELIM_77=6"),
+                          ("(200 150)","(99 150)"),("100 200 10","0 200 10"),
+                          ("100 200 10","100 200 0"),("100 200 10","100 200") ] {
+            #expect(throws: (any Error).self) { try clock(text.replacingOccurrences(of: old,with: new)) }
+        }
+        #expect(throws: SpiceSCLKError.unsupportedTimeSystem(3)) { try clock(text+"\nSCLK01_TIME_SYSTEM_77=3") }
+        #expect(throws: SpiceSCLKError.outsideCoverage) { try clock(coverage: 0...201) }
+        #expect(throws: SpiceSCLKError.invalidSpacecraftID) {
+            try SpiceSCLKClock(snapshot: helpers.snapshot(text),spacecraftID: 77,encodedTickCoverage: 0...200,provenance: provenance)
+        }
+    }
+    @Test func dateMetadataSupportsDocumentedSCLKSpelling() throws {
+        #expect(try spiceDateSeconds("@04-SEP-1990//4:23:00") == spiceDateSeconds("@1990-SEP-4-04:23:00"))
+        #expect(try spiceDateSeconds("@04-SEP-1990/4:23") == spiceDateSeconds("@1990-SEP-4-04:23:00"))
+        #expect(try spiceDateSeconds("@2000-JAN-1-12") == 0)
+        #expect(throws: (any Error).self) { try spiceDateSeconds("@04-SEP-1990//4:99:00") }
+    }
+    @Test func kernelPrecedenceUnloadAndRetainedClock() throws {
+        let helper = SpiceKernelSetTests(), dir = try helper.directory(); defer { try? FileManager.default.removeItem(at: dir) }
+        let first = try helper.write(text,"first.tsc",in: dir)
+        let second = try helper.write("KPL/SCLK\n\\begindata\nSCLK01_COEFFICIENTS_77=(0 10 20 100 210 10)","second.tsc",in: dir)
+        let manifest = try helper.write("KPL/MK\n\\begindata\nKERNELS_TO_LOAD=('first.tsc')","clock.tm",in: dir)
+        let set = try SpiceKernelSet(); try set.load(manifest)
+        let snapshot = set.snapshot(), old = try SpiceSCLKClock(snapshot: snapshot,spacecraftID: -77,encodedTickCoverage: 0...200,provenance: provenance)
+        #expect(snapshot.loads[0].sources.contains { $0.path == resolvedSpiceTestPath(first) && $0.kind == "SCLK" })
+        let id = try set.load(second)
+        let current = try SpiceSCLKClock(snapshot: set.snapshot(),spacecraftID: -77,encodedTickCoverage: 0...200,provenance: provenance)
+        #expect(try current.sample(atEncodedTicks: 0).parallelSeconds == 10)
+        #expect(current.provenance.source.contains("first.tsc") && current.provenance.source.contains("second.tsc"))
+        try set.unload(id)
+        #expect(try old.sample(atEncodedTicks: 0).parallelSeconds == 0)
+        #expect(old.cacheScope != current.cacheScope)
+        #expect(set.snapshot()["SCLK01_COEFFICIENTS_77"]?.value == snapshot["SCLK01_COEFFICIENTS_77"]?.value)
+    }
+}
diff --git a/Tests/CelMekTests/SpiceSPKAdapterTests.swift b/Tests/CelMekTests/SpiceSPKAdapterTests.swift
new file mode 100644
index 0000000..9e280a0
--- /dev/null
+++ b/Tests/CelMekTests/SpiceSPKAdapterTests.swift
@@ -0,0 +1,160 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct SpiceSPKAdapterTests {
+    let fixtures = SpiceSPKResolutionTests()
+    var provenance: PhysicalDataProvenance { try! PhysicalDataProvenance(source: "Synthetic public-format SPK",version: "test-1") }
+    func epoch(_ seconds: Double) throws -> Epoch { Epoch(offsetFromJ2000: try CelMek.Duration(seconds: seconds)) }
+    func range(_ start: Double = -18, _ end: Double = -12) throws -> ClosedRange<Epoch> { try epoch(start)...epoch(end) }
+    func bindings(_ frame: Frame = CelestialFrames.icrf, id: Int32 = 1) throws -> SpiceFrameBindings {
+        try SpiceFrameBindings([SpiceFrameBinding(frameID: id,axesFrame: frame,provenance: provenance)])
+    }
+    struct Clock: TDBTimeModel {
+        let coverage: ClosedRange<Epoch>
+        var offset = 0.0
+        var drift = 0.0
+        var quadratic = 0.0
+        var stale = false
+        let provenance = "Test clock, specified TT offset and derivatives"
+        func correction(at epoch: Epoch) throws -> TDBCorrection {
+            let t = epoch.offsetFromJ2000.seconds
+            return try TDBCorrection(epoch: stale ? .j2000 : epoch,
+                tdbMinusTT: CelMek.Duration(seconds: offset+drift*t+quadratic*t*t),
+                rate: 1+drift+2*quadratic*t,acceleration: 2*quadratic)
+        }
+    }
+    @Test func type2SIAtomicRateAndEpochPrecision() throws {
+        let f = SPKFixture()
+        try SpiceDAFTests().withFile(f.daf.bytes) { url in
+            let set = try SpiceKernelSet(); _ = try set.load(url)
+            let coverage = try range(), clock = Clock(coverage: try range(-100,100),offset: 0.125,drift: 0.001,quadratic: 0.00001)
+            let provider = try SpiceSPKStateProvider(snapshot: set.snapshot(),body: .earth,
+                frameBindings: bindings(),coverage: coverage,tdbModel: clock,dataProvenance: provenance,accuracy: .low)
+            let t = try epoch(-15), sample = try provider.evaluation(at: t)
+            let et = -15+0.125+0.001*(-15)+0.00001*225
+            let reference = SpiceSPKTests().reference((et+15)/5,record: 0,type: 2,radius: 5)
+            #expect(fixtures.near(sample.state.position,reference.0*1000))
+            #expect(fixtures.near(sample.state.velocity,reference.1*1000*sample.tdbCorrection.rate))
+            #expect(sample.state.epoch == t && sample.state.frame === CelestialFrames.icrf)
+            #expect(sample.state.acceleration == nil)
+            #expect(sample.chain.secondsTDB == et)
+            #expect(provider.accuracy == .low && provider.effectiveAccuracy == .full)
+            #expect(provider.metadata.modelTimeScale == .tdb)
+            #expect(provider.metadata.accelerationMethod == .unavailable)
+            #expect(provider.metadata.origin == .solarSystemBarycentre && provider.metadata.body == .earth)
+            #expect(provider.metadata.provenance.source.contains(clock.provenance))
+            let h = 0.001
+            let plus = try provider.checkedState(at: epoch(-15+h)), minus = try provider.checkedState(at: epoch(-15-h))
+            let derivative = (plus.position-minus.position)/(2*h)
+            #expect((0..<3).allSatisfy { abs(derivative[$0]-sample.state.velocity[$0]) < 1e-4 })
+            let collection = try EphemerisCollection(providers: [provider])
+            let collected = try collection.state(of: .earth,at: t)
+            #expect(collected.position == sample.state.position)
+        }
+        let large = 1e9, far = SPKFixture(initial: large,interval: 1)
+        try SpiceDAFTests().withFile(far.daf.bytes) { url in
+            let set = try SpiceKernelSet(); _ = try set.load(url)
+            let coverage = try range(large,large+1), clock = Clock(coverage: coverage,offset: 0.02)
+            let provider = try SpiceSPKStateProvider(snapshot: set.snapshot(),body: .earth,
+                frameBindings: bindings(),coverage: coverage,tdbModel: clock,dataProvenance: provenance)
+            let at = Epoch(offsetFromJ2000: try CelMek.Duration(wholeSeconds: 1_000_000_000,fractionalSecond: 0.123456))
+            let result = try provider.evaluation(at: at)
+            #expect(result.chain.secondsTDB == large+0.143456)
+            #expect(result.state.epoch == at)
+        }
+    }
+    @Test func type3PreservesSuppliedVelocitiesAndSnapshotAfterUnload() throws {
+        try fixtures.withKernels([.init(target: -123,centre: 0,p: SIMD3(1,2,3),v: SIMD3(4,5,6))]) { set,_ in
+            let view = set.snapshot(), coverage = try range(), clock = Clock(coverage: try range(-100,100),drift: 0.1)
+            let provider = try SpiceSPKStateProvider(snapshot: view,body: .naif(-123),
+                frameBindings: bindings(),coverage: coverage,tdbModel: clock,dataProvenance: provenance)
+            try set.unload(view.loads[0].id)
+            let s = try provider.checkedState(at: epoch(-15))
+            #expect(s.position == SIMD3(1000,2000,3000))
+            #expect(fixtures.near(s.velocity,SIMD3(4400,5500,6600)))
+            #expect(s.acceleration == nil)
+            #expect(set.snapshot().binaryKernels.isEmpty)
+            #expect(provider.metadata.provenance.version == provenance.version)
+        }
+    }
+    @Test func mixedNativeAxesUseFrameSystemBeforeComposition() throws {
+        let root = Frame(name: "SPK test inertial",pseudoInertial: true), tree = try FrameTree(root: root)
+        let native = try tree.makeFrame(parent: root,name: "Native axes",pseudoInertial: true,
+            provider: FixedTransformProvider(rotation: Quaternion(angle: -.pi/2,axis: SIMD3(0,0,1))))
+        let axes = try SpiceFrameBindings([SpiceFrameBinding(frameID: 1,axesFrame: root,provenance: provenance),
+                                          SpiceFrameBinding(frameID: 17,axesFrame: native,provenance: provenance)])
+        let links = [SpiceSPKResolutionTests.Link(target: 301,centre: 0,p: SIMD3(5,6,7),v: SIMD3(0.5,0.6,0.7)),
+                     .init(target: 399,centre: 0,p: SIMD3(1,2,3),v: SIMD3(0.1,0.2,0.3),frame: 17)]
+        try fixtures.withKernels(links) { set,_ in
+            let coverage = try range(), clock = Clock(coverage: coverage)
+            // root is explicitly asserted to represent Earth-centred output axes in this synthetic test.
+            let provider = try SpiceSPKStateProvider(snapshot: set.snapshot(),body: .moon,origin: .earth,frame: root,
+                frameBindings: axes,frameTree: tree,coverage: coverage,tdbModel: clock,dataProvenance: provenance)
+            let sample = try provider.evaluation(at: epoch(-15))
+            #expect(fixtures.near(sample.state.position,SIMD3(7000,5000,4000)))
+            #expect(fixtures.near(sample.state.velocity,SIMD3(700,500,400)))
+            #expect(sample.chain.contributions.map { $0.state.descriptor.frameID } == [1,17])
+            #expect(sample.state.frame === root)
+        }
+    }
+    @Test func rotatingAxesIncludeRateAndOriginTranslationIsNotDoubleCounted() throws {
+        let root = Frame(name: "Rotating test origin",pseudoInertial: true), tree = try FrameTree(root: root)
+        let rotating = try tree.makeFrame(parent: root,name: "Rotating native",
+            provider: UniformRotationProvider(referenceEpoch: .j2000,axis: SIMD3(0,0,1),rate: 0.2))
+        try fixtures.withKernels([.init(target: 399,centre: 0,p: SIMD3(1,0,0),frame: 17)]) { set,_ in
+            let coverage = try range(), clock = Clock(coverage: coverage)
+            let provider = try SpiceSPKStateProvider(snapshot: set.snapshot(),body: .earth,frame: root,
+                frameBindings: bindings(rotating,id: 17),frameTree: tree,coverage: coverage,tdbModel: clock,dataProvenance: provenance)
+            let state = try provider.checkedState(at: epoch(-15)), angle = -3.0
+            #expect(fixtures.near(state.position,SIMD3(1000*cos(angle),1000*sin(angle),0)))
+            #expect(fixtures.near(state.velocity,SIMD3(-200*sin(angle),200*cos(angle),0)))
+            let h = 0.001, plus = try provider.state(at: epoch(-15+h)), minus = try provider.state(at: epoch(-15-h))
+            #expect((0..<3).allSatisfy { abs((plus.position[$0]-minus.position[$0])/(2*h)-state.velocity[$0]) < 1e-5 })
+        }
+        try fixtures.withKernels([.init(target: 399,centre: 0,p: SIMD3(10,20,30),v: SIMD3(1,2,3)),
+                                 .init(target: 301,centre: 0,p: SIMD3(12,23,34),v: SIMD3(1.5,2.3,3.1))]) { set,_ in
+            let coverage = try range(), clock = Clock(coverage: coverage), axes = try bindings()
+            let earth = try SpiceSPKStateProvider(snapshot: set.snapshot(),body: .earth,
+                frameBindings: axes,coverage: coverage,tdbModel: clock,dataProvenance: provenance)
+            let celestialTree = try CelestialFrames.makeTree()
+            let gcrf = try celestialTree.makeGCRF(earth: earth,accelerationPolicy: .assumeZero)
+            let moon = try SpiceSPKStateProvider(snapshot: set.snapshot(),body: .moon,origin: .earth,frame: gcrf,
+                frameBindings: axes,frameTree: celestialTree,coverage: coverage,tdbModel: clock,dataProvenance: provenance)
+            let relative = try moon.checkedState(at: epoch(-15))
+            #expect(relative.position == SIMD3(2000,3000,4000))
+            #expect(fixtures.near(relative.velocity,SIMD3(500,300,100)))
+            #expect(relative.frame === gcrf && moon.metadata.origin == .earth)
+        }
+    }
+    @Test func bindingsCoverageTimeContractsAndWeakTreeLifetime() throws {
+        let coverage = try range(), clock = Clock(coverage: coverage)
+        #expect(throws: SpiceSPKAdapterError.duplicateFrameBinding(1)) { try SpiceFrameBindings([SpiceFrameBinding.icrfJ2000(provenance: provenance),SpiceFrameBinding.icrfJ2000(provenance: provenance)]) }
+        #expect(throws: SpiceSPKAdapterError.invalidFrameBinding) { try SpiceFrameBinding(frameID: 0,axesFrame: CelestialFrames.icrf,provenance: provenance) }
+        try fixtures.withKernels([.init(target: 399,centre: 0,p: SIMD3(1,2,3))]) { set,_ in
+            let view = set.snapshot()
+            #expect(throws: SpiceSPKAdapterError.originFrameRequired) { try SpiceSPKStateProvider(snapshot: view,body: .moon,origin: .earth,frameBindings: bindings(),coverage: coverage,tdbModel: clock,dataProvenance: provenance) }
+            #expect(throws: SpiceSPKAdapterError.unsupportedBodyIdentifier) { try SpiceSPKStateProvider(snapshot: view,body: .custom(namespace: "test",name: "craft"),frameBindings: bindings(),coverage: coverage,tdbModel: clock,dataProvenance: provenance) }
+            #expect(throws: SpiceSPKAdapterError.unknownNativeFrame(1)) { try SpiceSPKStateProvider(snapshot: view,body: .earth,frameBindings: SpiceFrameBindings([]),coverage: coverage,tdbModel: clock,dataProvenance: provenance) }
+            #expect(throws: TDBModelError.epochMismatch) { try SpiceSPKStateProvider(snapshot: view,body: .earth,frameBindings: bindings(),coverage: coverage,tdbModel: Clock(coverage: coverage,stale: true),dataProvenance: provenance) }
+            #expect(throws: EphemerisError.outsideCoverage) { try SpiceSPKStateProvider(snapshot: view,body: .earth,frameBindings: bindings(),coverage: range(-19,-11),tdbModel: clock,dataProvenance: provenance) }
+            let provider = try SpiceSPKStateProvider(snapshot: view,body: .earth,frameBindings: bindings(),coverage: coverage,tdbModel: clock,dataProvenance: provenance)
+            #expect(throws: EphemerisError.outsideCoverage) { try provider.state(at: epoch(-19)) }
+            var tree: FrameTree? = try CelestialFrames.makeTree()
+            let destination = CelestialFrames.meanEquatorJ2000
+            #expect(throws: SpiceSPKAdapterError.frameTreeRequired) { try SpiceSPKStateProvider(snapshot: view,body: .earth,frame: destination,frameBindings: bindings(),coverage: coverage,tdbModel: clock,dataProvenance: provenance) }
+            let rotated = try SpiceSPKStateProvider(snapshot: view,body: .earth,frame: destination,
+                frameBindings: bindings(),frameTree: tree!,coverage: coverage,tdbModel: clock,dataProvenance: provenance)
+            tree = nil
+            #expect(throws: SpiceSPKAdapterError.frameTreeUnavailable) { try rotated.state(at: epoch(-15)) }
+        }
+        try fixtures.withKernels([.init(target: 399,centre: 0,initial: -20),.init(target: 399,centre: 0,initial: 0)]) { set,_ in
+            let broad = try range(-19,9)
+            let provider = try SpiceSPKStateProvider(snapshot: set.snapshot(),body: .earth,
+                frameBindings: bindings(),coverage: broad,tdbModel: Clock(coverage: broad),dataProvenance: provenance)
+            #expect(throws: SpiceSPKResolutionError.coverageGap(bodyID: 399,secondsTDB: -5)) { try provider.state(at: epoch(-5)) }
+        }
+    }
+}
diff --git a/Tests/CelMekTests/SpiceSPKResolutionTests.swift b/Tests/CelMekTests/SpiceSPKResolutionTests.swift
new file mode 100644
index 0000000..e896531
--- /dev/null
+++ b/Tests/CelMekTests/SpiceSPKResolutionTests.swift
@@ -0,0 +1,168 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Testing
+@testable import CelMek
+
+@Suite struct SpiceSPKResolutionTests {
+    struct Link {
+        let target: Int32
+        let centre: Int32
+        var p = SIMD3<Double>.zero
+        var v = SIMD3<Double>.zero
+        var frame: Int32 = 1
+        var type: Int32 = 3
+        var initial = -20.0
+        var corrupt = false
+    }
+    func withKernels(_ links: [Link], _ action: (SpiceKernelSet,[URL]) throws -> Void) throws {
+        let directory = FileManager.default.temporaryDirectory.appendingPathComponent(UUID().uuidString)
+        try FileManager.default.createDirectory(at: directory,withIntermediateDirectories: true)
+        defer { try? FileManager.default.removeItem(at: directory) }
+        let set = try SpiceKernelSet()
+        var urls: [URL] = []
+        for (index,link) in links.enumerated() {
+            var fixture = SPKFixture(type: 3,initial: link.initial,coefficients: [[link.p.x],[link.p.y],[link.p.z],[link.v.x],[link.v.y],[link.v.z]],records: 1,target: link.target)
+            fixture.daf.int(link.centre,2048+24+20); fixture.daf.int(link.frame,2048+24+24)
+            fixture.daf.int(link.type,2048+24+28)
+            if link.corrupt { fixture.daf.double(.nan,fixture.directoryOffset) }
+            let url = directory.appendingPathComponent("\(index).bsp")
+            try fixture.daf.bytes.write(to: url); _ = try set.load(url); urls.append(url)
+        }
+        try action(set,urls)
+    }
+    func near(_ a: SIMD3<Double>, _ b: SIMD3<Double>) -> Bool { (0..<3).allSatisfy { abs(a[$0]-b[$0]) < 1e-12 } }
+    var solarLinks: [Link] {
+        [Link(target: 3,centre: 0,p: SIMD3(1000,2000,3000),v: SIMD3(10,20,30)),
+         Link(target: 399,centre: 3,p: SIMD3(-4,5,6),v: SIMD3(0.1,0.2,0.3)),
+         Link(target: 301,centre: 3,p: SIMD3(380000,-10,11),v: SIMD3(1,2,3)),
+         Link(target: -123,centre: 301,p: SIMD3(1,2,3),v: SIMD3(4,5,6))]
+    }
+    @Test func commonCentreForwardReverseAndBodyBarycentreIdentity() throws {
+        try withKernels(solarLinks) { set,_ in
+            let view = set.snapshot()
+            let moon = try view.spkState(targetID: 301,centreID: 399,atSecondsTDB: -15)
+            #expect(moon.positionKilometres == SIMD3(380004,-15,5))
+            #expect(near(moon.velocityKilometresPerTDBSecond,SIMD3(0.9,1.8,2.7)))
+            #expect(moon.commonCentreID == 3)
+            #expect(moon.contributions.map { $0.state.descriptor.targetID } == [301,399])
+            #expect(moon.contributions.map(\.side) == [.target,.centre])
+            #expect(moon.cacheScope == view.cacheScope)
+            let reverse = try view.spkState(targetID: 399,centreID: 301,atSecondsTDB: -15)
+            #expect(reverse.positionKilometres == -moon.positionKilometres)
+            #expect(near(reverse.velocityKilometresPerTDBSecond,-moon.velocityKilometresPerTDBSecond))
+            let craft = try view.spkState(targetID: -123,centreID: 399,atSecondsTDB: -15)
+            #expect(craft.positionKilometres == SIMD3(380005,-13,8))
+            #expect(near(craft.velocityKilometresPerTDBSecond,SIMD3(4.9,6.8,8.7)))
+            #expect(craft.contributions.map { $0.state.descriptor.targetID } == [-123,301,399])
+            let earth = try view.spkState(targetID: 399,centreID: 0,atSecondsTDB: -15)
+            #expect(earth.positionKilometres == SIMD3(996,2005,3006))
+            #expect(near(earth.velocityKilometresPerTDBSecond,SIMD3(10.1,20.2,30.3)))
+            let emb = try view.spkState(targetID: 3,centreID: 0,atSecondsTDB: -15)
+            #expect(earth.positionKilometres != emb.positionKilometres)
+            let origin = try view.spkState(targetID: 0,centreID: 399,atSecondsTDB: -15)
+            #expect(origin.positionKilometres == -earth.positionKilometres)
+        }
+    }
+    @Test func localQueriesDoNotRequireAbsoluteOrUnusedAncestorData() throws {
+        var links = Array(solarLinks.dropFirst())
+        links.append(Link(target: 3,centre: 0,type: 99))
+        try withKernels(links) { set,_ in
+            let view = set.snapshot()
+            let moon = try view.spkState(targetID: 301,centreID: 399,atSecondsTDB: -15)
+            #expect(moon.positionKilometres == SIMD3(380004,-15,5))
+            #expect(moon.contributions.count == 2)
+            #expect(throws: SpiceSPKError.unsupportedType(99)) { try view.spkState(targetID: 399,centreID: 0,atSecondsTDB: -15) }
+            let verified1 = try view.spkState(targetID: -123,centreID: 301,atSecondsTDB: -15).contributions.count == 1
+            #expect(verified1)
+        }
+        try withKernels(Array(solarLinks.dropFirst())) { set,_ in
+            let verified2 = try set.snapshot().spkState(targetID: 301,centreID: 399,atSecondsTDB: -15).commonCentreID == 3
+            #expect(verified2)
+            #expect(throws: SpiceSPKResolutionError.missingLink(bodyID: 3,secondsTDB: -15)) {
+                try set.snapshot().spkState(targetID: 399,centreID: 0,atSecondsTDB: -15)
+            }
+        }
+        // Reverse a direct link even when the desired target has no own segment.
+        try withKernels([Link(target: 301,centre: 399,p: SIMD3(1,2,3))]) { set,_ in
+            let verified3 = try set.snapshot().spkState(targetID: 399,centreID: 301,atSecondsTDB: -15).positionKilometres == SIMD3(-1,-2,-3)
+            #expect(verified3)
+        }
+    }
+    @Test func precedenceChangesCentresAndSnapshotOwnership() throws {
+        try withKernels(solarLinks + [Link(target: 399,centre: 0,p: SIMD3(900,1900,2900))]) { set,urls in
+            let old = set.snapshot(), query = try old.spkState(targetID: 301,centreID: 399,atSecondsTDB: -15)
+            #expect(query.commonCentreID == 0)
+            #expect(query.positionKilometres == SIMD3(380100,90,111))
+            #expect(query.contributions.map(\.kernelIndex) == [2,0,4])
+            #expect(query.contributions.last?.state.sourcePath == resolvedSpiceTestPath(urls[4]))
+            let last = old.loads.last!.id
+            try set.unload(last)
+            let verified4 = try set.snapshot().spkState(targetID: 301,centreID: 399,atSecondsTDB: -15).commonCentreID == 3
+            #expect(verified4)
+            let verified5 = try old.spkState(targetID: 301,centreID: 399,atSecondsTDB: -15).positionKilometres == query.positionKilometres
+            #expect(verified5)
+            #expect(set.snapshot().cacheScope != old.cacheScope)
+        }
+        try withKernels(solarLinks + [Link(target: 399,centre: 0,type: 99)]) { set,_ in
+            #expect(throws: SpiceSPKError.unsupportedType(99)) { try set.snapshot().spkState(targetID: 301,centreID: 399,atSecondsTDB: -15) }
+        }
+        try withKernels(solarLinks + [Link(target: 399,centre: 0,corrupt: true)]) { set,_ in
+            #expect(throws: SpiceSPKError.self) { try set.snapshot().spkState(targetID: 301,centreID: 399,atSecondsTDB: -15) }
+        }
+        try withKernels(solarLinks + [Link(target: 399,centre: 0,type: 99,initial: -40)]) { set,_ in
+            let verified6 = try set.snapshot().spkState(targetID: 301,centreID: 399,atSecondsTDB: -15).commonCentreID == 3
+            #expect(verified6)
+        }
+    }
+    @Test func missingLinksGapsAndCyclesHaveDistinctFailures() throws {
+        try withKernels([Link(target: 399,centre: 9)]) { set,_ in
+            #expect(throws: SpiceSPKResolutionError.missingLink(bodyID: 9,secondsTDB: -15)) { try set.snapshot().spkState(targetID: 399,centreID: 0,atSecondsTDB: -15) }
+        }
+        try withKernels([Link(target: 399,centre: 3),Link(target: 3,centre: 0,initial: -40)]) { set,_ in
+            #expect(throws: SpiceSPKResolutionError.coverageGap(bodyID: 3,secondsTDB: -15)) { try set.snapshot().spkState(targetID: 399,centreID: 0,atSecondsTDB: -15) }
+        }
+        try withKernels([Link(target: 399,centre: 3),Link(target: 3,centre: 399)]) { set,_ in
+            #expect(throws: SpiceSPKResolutionError.cycle([399,3,399])) { try set.snapshot().spkState(targetID: 399,centreID: 0,atSecondsTDB: -15) }
+            // A direct query does not require or evaluate the cyclic ancestor above its common centre.
+            let verified7 = try set.snapshot().spkState(targetID: 399,centreID: 3,atSecondsTDB: -15).contributions.count == 1
+            #expect(verified7)
+        }
+        try withKernels([Link(target: 399,centre: 399)]) { set,_ in
+            #expect(throws: SpiceSPKResolutionError.cycle([399,399])) { try set.snapshot().spkState(targetID: 399,centreID: 0,atSecondsTDB: -15) }
+        }
+    }
+    @Test func frameContractsWorkLimitsAndIdentityQueries() throws {
+        try withKernels([Link(target: 301,centre: 399,p: SIMD3(1,2,3),frame: 17)]) { set,_ in
+            let view = set.snapshot()
+            #expect(throws: SpiceSPKResolutionError.frameMismatch(bodyID: 301,expected: 1,actual: 17)) { try view.spkState(targetID: 301,centreID: 399,atSecondsTDB: -15) }
+            let verified8 = try view.spkState(targetID: 301,centreID: 399,frameID: 17,atSecondsTDB: -15).positionKilometres == SIMD3(1,2,3)
+            #expect(verified8)
+        }
+        try withKernels(solarLinks) { set,_ in
+            let view = set.snapshot()
+            #expect(throws: SpiceSPKResolutionError.chainLimit(1)) { try view.spkState(targetID: -123,centreID: 0,atSecondsTDB: -15,options: SpiceSPKResolutionOptions(maximumChainLinks: 1)) }
+            #expect(throws: SpiceSPKResolutionError.descriptorLimit(1)) { try view.spkState(targetID: 399,centreID: 0,atSecondsTDB: -15,options: SpiceSPKResolutionOptions(maximumDescriptorChecks: 1)) }
+            #expect(throws: SpiceSPKResolutionError.invalidFrame) { try view.spkState(targetID: 301,centreID: 301,frameID: 0,atSecondsTDB: -15) }
+            #expect(throws: SpiceSPKError.invalidEpoch) { try view.spkState(targetID: 301,centreID: 301,atSecondsTDB: .nan) }
+        }
+        let empty = try SpiceKernelSet().snapshot()
+        let same = try empty.spkState(targetID: -123,centreID: -123,atSecondsTDB: 10)
+        #expect(same.positionKilometres == .zero && same.velocityKilometresPerTDBSecond == .zero)
+        #expect(same.contributions.isEmpty && same.exploredChainLinks == 0 && same.inspectedDescriptors == 0)
+        #expect(throws: SpiceSPKResolutionError.invalidOptions) { try SpiceSPKResolutionOptions(maximumChainLinks: 0) }
+        #expect(throws: SpiceSPKResolutionError.invalidOptions) { try SpiceSPKResolutionOptions(maximumDescriptorChecks: -1) }
+    }
+    @Test func compensatedCompositionAndOverflowRejection() throws {
+        let large = 1e16
+        try withKernels([Link(target: -1,centre: 3,p: SIMD3(large,0,0),v: SIMD3(large,0,0)),
+                         Link(target: 3,centre: 0,p: SIMD3(1,0,0),v: SIMD3(1,0,0)),
+                         Link(target: -2,centre: 0,p: SIMD3(large,0,0),v: SIMD3(large,0,0))]) { set,_ in
+            let s = try set.snapshot().spkState(targetID: -1,centreID: -2,atSecondsTDB: -15)
+            #expect(s.positionKilometres.x == 1 && s.velocityKilometresPerTDBSecond.x == 1)
+        }
+        let huge = Double.greatestFiniteMagnitude*0.75
+        try withKernels([Link(target: -1,centre: 3,p: SIMD3(huge,0,0)),Link(target: 3,centre: 0,p: SIMD3(huge,0,0))]) { set,_ in
+            #expect(throws: SpiceSPKError.numericalRangeExceeded) { try set.snapshot().spkState(targetID: -1,centreID: 0,atSecondsTDB: -15) }
+        }
+    }
+}
diff --git a/Tests/CelMekTests/SpiceSPKTests.swift b/Tests/CelMekTests/SpiceSPKTests.swift
new file mode 100644
index 0000000..a363c0d
--- /dev/null
+++ b/Tests/CelMekTests/SpiceSPKTests.swift
@@ -0,0 +1,186 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Testing
+@testable import CelMek
+
+struct SPKFixture {
+    var daf: DAFFixture
+    let size: Int
+    let directoryOffset: Int
+    init(type: Int32 = 2, big: Bool = false, initial: Double = -20, interval: Double = 10,
+         coefficients: [[Double]]? = nil, records: Int = 2, target: Int32 = 399) {
+        daf = DAFFixture(big: big)
+        let position = [[3.0,2,-1,0.5,0.25],[-7,0,0,0,0],[1,0,2,0,-1]]
+        let velocity = [[11.0,3,0,0,0],[4,0,-1,0,0],[0,0,0,1,0]]
+        let all = coefficients ?? (type == 3 ? position + velocity : position)
+        size = 2 + all.count*all[0].count
+        directoryOffset = 4096 + size*records*8
+        let last = 512 + size*records + 4
+        if daf.bytes.count < last*8 { daf.bytes.append(Data(repeating: 0,count: ((last+127)/128)*1024-daf.bytes.count)) }
+        daf.summary(record: 3,previous: 0,next: 0,count: 1); daf.int(3,80); daf.int(Int32(last+1),84)
+        daf.array(record: 3,slot: 0,target: target,type: type,start: 513,end: Int32(last))
+        daf.double(initial,2048+24); daf.double(initial+interval*Double(records),2048+32)
+        for r in 0..<records {
+            let offset = 4096+r*size*8
+            daf.double(initial+interval*(Double(r)+0.5),offset); daf.double(interval/2,offset+8)
+            for (axis,cs) in all.enumerated() {
+                for (k,c) in cs.enumerated() {
+                    daf.double(c + (axis == 0 && k == 0 ? Double(r)*100 : 0),offset+16+(axis*cs.count+k)*8)
+                }
+            }
+        }
+        for (i,v) in [initial,interval,Double(size),Double(records)].enumerated() { daf.double(v,directoryOffset+i*8) }
+    }
+}
+@Suite struct SpiceSPKTests {
+    let files = SpiceDAFTests()
+    func close(_ a: SIMD3<Double>, _ b: SIMD3<Double>, tolerance: Double = 1e-12) -> Bool {
+        (0..<3).allSatisfy { abs(a[$0]-b[$0]) <= tolerance }
+    }
+    // Independent expansion in ordinary powers, rather than the evaluation recurrence.
+    func reference(_ x: Double, record: Int, type: Int32, radius: Double) -> (SIMD3<Double>,SIMD3<Double>) {
+        let p = SIMD3(4.25+0.5*x-4*x*x+2*x*x*x+2*pow(x,4)+Double(record)*100,
+                      -7,-2+12*x*x-8*pow(x,4))
+        let v = type == 2 ? SIMD3((0.5-8*x+6*x*x+8*x*x*x)/radius,0,(24*x-32*x*x*x)/radius)
+            : SIMD3(11+3*x,5-2*x*x,4*x*x*x-3*x)
+        return (p,v)
+    }
+    @Test func type2And3IndependentPolynomialStatesInBothByteOrders() throws {
+        for type: Int32 in [2,3] { for big in [false,true] {
+            let fixture = SPKFixture(type: type,big: big)
+            try files.withFile(fixture.daf.bytes) { url in
+                let file = try SpiceDAFFile(url: url), segment = try SpiceSPKSegment(file: file,array: 0)
+                #expect(segment.polynomialDegree == 4)
+                #expect(segment.recordCount == 2)
+                for t in [-20.0,-18.75,-15,-12.5,-10,-7.5,-5,-1.25,0] {
+                    let record = t < -10 ? 0 : 1, mid = record == 0 ? -15.0 : -5.0
+                    let expected = reference((t-mid)/5,record: record,type: type,radius: 5)
+                    let state = try segment.state(atSecondsTDB: t)
+                    #expect(close(state.positionKilometres,expected.0))
+                    #expect(close(state.velocityKilometresPerTDBSecond,expected.1))
+                    #expect(state.recordIndex == record)
+                    #expect(state.secondsTDB == t)
+                    #expect(state.descriptor.targetID == 399)
+                    #expect(state.descriptor.centreID == 0)
+                    #expect(state.descriptor.frameID == 1)
+                    #expect(state.sourcePath == url.path)
+                }
+            }
+        } }
+    }
+    @Test func boundarySelectionAndDescriptorSubinterval() throws {
+        var fixture = SPKFixture(initial: 10,interval: 4)
+        fixture.daf.double(11,2048+24); fixture.daf.double(17,2048+32)
+        try files.withFile(fixture.daf.bytes) { url in
+            let segment = try SpiceSPKSegment(file: SpiceDAFFile(url: url),array: 0)
+            #expect(try segment.state(atSecondsTDB: 14.0.nextDown).recordIndex == 0)
+            #expect(try segment.state(atSecondsTDB: 14).recordIndex == 1)
+            #expect(try segment.state(atSecondsTDB: 14.0.nextUp).recordIndex == 1)
+            #expect(throws: SpiceSPKError.outOfCoverage) { try segment.state(atSecondsTDB: 11.0.nextDown) }
+            #expect(throws: SpiceSPKError.outOfCoverage) { try segment.state(atSecondsTDB: 17.0.nextUp) }
+            #expect(throws: SpiceSPKError.invalidEpoch) { try segment.state(atSecondsTDB: .nan) }
+        }
+        for initial in [0.1,1e9,-1e9] {
+            let interval = 0.3, f = SPKFixture(initial: initial,interval: interval)
+            try files.withFile(f.daf.bytes) { url in
+                let s = try SpiceSPKSegment(file: SpiceDAFFile(url: url),array: 0)
+                let boundary = initial+interval, end = initial+interval*2
+                #expect(try s.state(atSecondsTDB: boundary.nextDown).recordIndex == 0)
+                #expect(try s.state(atSecondsTDB: boundary).recordIndex == 1)
+                #expect(try s.state(atSecondsTDB: end).recordIndex == 1)
+            }
+        }
+    }
+    @Test func constantsHigherDegreeAndCrossRecordReads() throws {
+        for type: Int32 in [2,3] {
+            let coefficients = type == 2 ? [[2.0],[-3],[5]] : [[2.0],[-3],[5],[7],[8],[-9]]
+            let fixture = SPKFixture(type: type,coefficients: coefficients,records: 1)
+            try files.withFile(fixture.daf.bytes) { url in
+                let s = try SpiceDAFFile(url: url).spkState(array: 0,atSecondsTDB: -15)
+                #expect(s.positionKilometres == SIMD3(2,-3,5))
+                #expect(s.velocityKilometresPerTDBSecond == (type == 2 ? .zero : SIMD3(7,8,-9)))
+            }
+        }
+        var cs = Array(repeating: Array(repeating: 0.0,count: 21),count: 3)
+        cs[0][20] = 1
+        let f = SPKFixture(coefficients: cs)
+        try files.withFile(f.daf.bytes) { url in
+            let segment = try SpiceSPKSegment(file: SpiceDAFFile(url: url),array: 0)
+            for x in [-1.0,-0.75,0,0.5,1] {
+                let t = -5 + 5*x, state = try segment.state(atSecondsTDB: t)
+                #expect(abs(state.positionKilometres.x - (100+cos(20*acos(x)))) < 1e-12)
+                let d = abs(x) == 1 ? (x > 0 ? 400.0 : -400.0) : 20*sin(20*acos(x))/sqrt(1-x*x)
+                #expect(abs(state.velocityKilometresPerTDBSecond.x-d/5) < 1e-11)
+            }
+        }
+    }
+    @Test func unsupportedOrCorruptHigherPrioritySegmentDoesNotFallBack() throws {
+        try files.withFile(SPKFixture().daf.bytes) { url in
+            let set = try SpiceKernelSet(), first = try set.load(url)
+            #expect(try set.snapshot().spkState(targetID: 399,atSecondsTDB: -15).positionKilometres.x == 4.25)
+            var unsupported = SPKFixture()
+            unsupported.daf.int(99,2048+24+28)
+            try files.withFile(unsupported.daf.bytes) { badURL in
+                let second = try set.load(badURL)
+                #expect(throws: SpiceSPKError.unsupportedType(99)) { try set.snapshot().spkState(targetID: 399,atSecondsTDB: -15) }
+                try set.unload(second)
+                #expect(try set.snapshot().spkState(targetID: 399,atSecondsTDB: -15).sourcePath == resolvedSpiceTestPath(url))
+            }
+            var corrupt = SPKFixture(); corrupt.daf.double(.nan,corrupt.directoryOffset)
+            try files.withFile(corrupt.daf.bytes) { badURL in
+                let second = try set.load(badURL)
+                #expect(throws: SpiceSPKError.self) { try set.snapshot().spkState(targetID: 399,atSecondsTDB: -15) }
+                try set.unload(second)
+            }
+            #expect(throws: SpiceSPKError.noSegment(targetID: 3,secondsTDB: -15)) { try set.snapshot().spkState(targetID: 3,atSecondsTDB: -15) }
+            #expect(throws: SpiceSPKError.noSegment(targetID: 399,secondsTDB: 1)) { try set.snapshot().spkState(targetID: 399,atSecondsTDB: 1) }
+            #expect(throws: SpiceSPKError.invalidEpoch) { try set.snapshot().spkState(targetID: 399,atSecondsTDB: .infinity) }
+            try set.unload(first)
+        }
+    }
+    @Test func malformedDirectoryAndRecords() throws {
+        var variants: [SPKFixture] = []
+        for (offset,value) in [(0,Double.nan),(8,0.0),(8,-1.0),(16,17.5),(16,18.0),(24,0.0),(24,3.0),(24,Double.greatestFiniteMagnitude)] {
+            var f = SPKFixture(); f.daf.double(value,f.directoryOffset+offset); variants.append(f)
+        }
+        var f = SPKFixture(); f.daf.double(-21,2048+24); variants.append(f)
+        f = SPKFixture(); f.daf.double(1,2048+32); variants.append(f)
+        f = SPKFixture(); f.daf.double(0,4096+8); variants.append(f)
+        f = SPKFixture(); f.daf.double(-14,4096); variants.append(f)
+        f = SPKFixture(); f.daf.double(4,4096+8); variants.append(f)
+        f = SPKFixture(); f.daf.double(.infinity,4096+16); variants.append(f)
+        f = SPKFixture(); f.daf.double(Double.greatestFiniteMagnitude,4096+16+4*8); variants.append(f)
+        for fixture in variants {
+            try files.withFile(fixture.daf.bytes) { url in
+                #expect(throws: SpiceSPKError.self) { try SpiceDAFFile(url: url).spkState(array: 0,atSecondsTDB: -14) }
+            }
+        }
+        try files.withFile(SPKFixture().daf.bytes) { url in
+            let bounded = try SpiceDAFFile(url: url,limits: SpiceDAFLimits(maximumReadWords: 4))
+            #expect(throws: SpiceDAFError.self) { try SpiceSPKSegment(file: bounded,array: 0) }
+            #expect(throws: SpiceSPKError.invalidSegment) { try SpiceSPKSegment(file: bounded,array: -1) }
+        }
+    }
+    @Test func laterArrayWinsOnlyInsideItsCoverage() throws {
+        var f = SPKFixture()
+        let words = f.size*2+4, start = 513+words, end = start+words-1
+        let offset = (start-1)*8
+        let payload = f.daf.bytes.subdata(in: 4096..<4096+words*8)
+        f.daf.bytes.replaceSubrange(offset..<offset+words*8,with: payload)
+        f.daf.summary(record: 3,previous: 0,next: 0,count: 2)
+        f.daf.array(record: 3,slot: 1,target: 399,start: Int32(start),end: Int32(end))
+        f.daf.double(-18,2048+24+40); f.daf.double(-12,2048+32+40)
+        f.daf.double(50,offset+16); f.daf.int(Int32(end+1),84)
+        try files.withFile(f.daf.bytes) { url in
+            let set = try SpiceKernelSet(); _ = try set.load(url)
+            let view = set.snapshot()
+            #expect(try view.spkState(targetID: 399,atSecondsTDB: -15).arrayIndex == 1)
+            #expect(try view.spkState(targetID: 399,atSecondsTDB: -15).positionKilometres.x == 51.25)
+            #expect(try view.spkState(targetID: 399,atSecondsTDB: -19).arrayIndex == 0)
+            #expect(try view.spkState(targetID: 399,atSecondsTDB: -18).arrayIndex == 1)
+            #expect(try view.spkState(targetID: 399,atSecondsTDB: -12).arrayIndex == 1)
+            #expect(try view.spkState(targetID: 399,atSecondsTDB: -11).arrayIndex == 0)
+        }
+    }
+
+}
diff --git a/Tests/CelMekTests/SpiceSPKType21Tests.swift b/Tests/CelMekTests/SpiceSPKType21Tests.swift
new file mode 100644
index 0000000..1f3b5d4
--- /dev/null
+++ b/Tests/CelMekTests/SpiceSPKType21Tests.swift
@@ -0,0 +1,150 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+#if canImport(CryptoKit)
+import CryptoKit
+#endif
+@testable import CelMek
+
+private struct SPK21Fixture {
+    var daf: DAFFixture
+    let size = 71
+    let records: Int
+    var epochOffset: Int { 4096 + size * records * 8 }
+    var tailOffset: Int { epochOffset + (records + records/100) * 8 }
+    init(big: Bool = false, records: Int = 2) {
+        self.records = records; daf = DAFFixture(big: big)
+        let words = size * records + records + records/100 + 2, last = 512 + words
+        daf.bytes = daf.bytes.prefix(4096) + Data(repeating: 0, count: ((last+127)/128)*1024 - 4096)
+        daf.summary(record: 3, previous: 0, next: 0, count: 1); daf.int(3,80); daf.int(Int32(last+1),84)
+        daf.array(record: 3, slot: 0, target: 900021, type: 21, start: 513, end: Int32(last))
+        daf.double(0, 2048+24); daf.double(Double(records*10),2048+32)
+        for r in 0..<records {
+            let base = 4096 + r * size * 8
+            daf.double(Double(r*10),base)
+            // Reference p/v are interleaved; constant acceleration has order 1.
+            for (i,value) in [10.0+Double(r)*100,1,20,2,30,3].enumerated() { daf.double(value,base+(16+i)*8) }
+            for axis in 0..<3 { daf.double(Double(axis+1),base+(22+axis*15)*8) }
+            daf.double(3,base+67*8)
+            for axis in 0..<3 { daf.double(1,base+(68+axis)*8) }
+            daf.double(Double((r+1)*10),epochOffset+r*8)
+        }
+        for i in 0..<records/100 { daf.double(Double((i+1)*1000),epochOffset+(records+i)*8) }
+        daf.double(15,tailOffset); daf.double(Double(records),tailOffset+8)
+    }
+}
+private struct SPK21References: Decodable {
+    struct Asset: Decodable { let name,sha256: String; let dimension,count: Int }
+    struct State: Decodable { let file: String; let t: Double; let record: Int; let state: [Double] }
+    let toolkit,wrapper,basis: String
+    let files: [Asset]
+    let states: [State]
+}
+@Suite struct SpiceSPKType21Tests {
+    @Test func binaryOracleHighOrdersAndHundredRecordDirectories() throws {
+        let root = try #require(Bundle.module.url(forResource: "reference", withExtension: "json", subdirectory: "Fixtures/spk21"))
+        let refs = try JSONDecoder().decode(SPK21References.self, from: Data(contentsOf: root))
+        #expect(refs.toolkit == "CSPICE_N0067" && refs.wrapper == "8.3.0")
+        for asset in refs.files {
+            let url = root.deletingLastPathComponent().appendingPathComponent(asset.name)
+            #if canImport(CryptoKit)
+            let hash = SHA256.hash(data: try Data(contentsOf: url)).map { String(format: "%02x", $0) }.joined()
+            #expect(hash == asset.sha256)
+            #endif
+            let file = try SpiceDAFFile(url: url), segment = try SpiceSPKSegment(file: file, array: 0)
+            #expect(segment.recordSizeWords == 4*asset.dimension+11 && segment.recordCount == asset.count)
+            let kernels = try SpiceKernelSet(); try kernels.load(url)
+            for row in refs.states where row.file == asset.name {
+                let state = try segment.state(atSecondsTDB: row.t)
+                #expect(state.recordIndex == row.record)
+                let resolved = try kernels.snapshot().spkState(targetID: segment.descriptor.targetID, centreID: 0, atSecondsTDB: row.t)
+                for axis in 0..<3 {
+                    #expect(abs(state.positionKilometres[axis]-row.state[axis]) <= 6e-8)
+                    #expect(abs(state.velocityKilometresPerTDBSecond[axis]-row.state[axis+3]) <= 2e-13)
+                    #expect(resolved.positionKilometres[axis] == state.positionKilometres[axis])
+                }
+            }
+        }
+    }
+    @Test func realHorizonsCeresAgainstBinaryOracle() throws {
+        // Real references use the same numeric state shape, but omit the per-row file field.
+        struct RealReference: Decodable {
+            struct State: Decodable { let t: Double; let record: Int; let state: [Double] }
+            let file,sha256: String
+            let body,center,frame: Int32
+            let states: [State]
+        }
+        let referenceURL = try #require(Bundle.module.url(forResource: "horizons-reference", withExtension: "json", subdirectory: "Fixtures/spk21"))
+        let refs = try JSONDecoder().decode(RealReference.self,from: Data(contentsOf: referenceURL))
+        let url = referenceURL.deletingLastPathComponent().appendingPathComponent(refs.file)
+        #if canImport(CryptoKit)
+        #expect(SHA256.hash(data: try Data(contentsOf: url)).map { String(format: "%02x",$0) }.joined() == refs.sha256)
+        #endif
+        let kernels = try SpiceKernelSet(); try kernels.load(url)
+        let helper = SpiceSPKAdapterTests()
+        let first = try #require(refs.states.first), last = try #require(refs.states.last)
+        let coverage = try helper.epoch(first.t)...helper.epoch(last.t)
+        let frame = Frame(name: "Ceres oracle heliocentric J2000", pseudoInertial: true)
+        let provider = try SpiceSPKStateProvider(snapshot: kernels.snapshot(), body: .naif(refs.body),
+            origin: .naif(refs.center), frame: frame, frameBindings: helper.bindings(frame, id: refs.frame),
+            coverage: coverage, tdbModel: SpiceSPKAdapterTests.Clock(coverage: coverage), dataProvenance: helper.provenance)
+        for row in refs.states {
+            let state = try kernels.snapshot().spkState(targetID: refs.body,centreID: refs.center,frameID: refs.frame,atSecondsTDB: row.t)
+            let si = try provider.checkedState(at: helper.epoch(row.t))
+            #expect(si.acceleration == nil && si.frame === frame)
+            #expect(state.contributions[0].state.recordIndex == row.record)
+            for axis in 0..<3 {
+                #expect(abs(state.positionKilometres[axis]-row.state[axis]) < 1e-7)
+                #expect(abs(state.velocityKilometresPerTDBSecond[axis]-row.state[axis+3]) < 1e-12)
+                #expect(abs(si.position[axis]-1000*row.state[axis]) < 1e-4)
+                #expect(abs(si.velocity[axis]-1000*row.state[axis+3]) < 1e-9)
+            }
+        }
+    }
+    @Test func analyticConstantAccelerationBothByteOrdersAndEndpoints() throws {
+        for big in [false,true] {
+            let fixture = SPK21Fixture(big: big)
+            try SpiceDAFTests().withFile(fixture.daf.bytes) { url in
+                let s = try SpiceSPKSegment(file: SpiceDAFFile(url: url), array: 0)
+                for t in [0.0,5,10,10.0.nextUp,15,20] {
+                    let record = t <= 10 ? 0 : 1, dt = t - Double(record*10)
+                    let state = try s.state(atSecondsTDB: t)
+                    #expect(state.recordIndex == record)
+                    for axis in 0..<3 {
+                        let speed = Double(axis+1), initial = Double((axis+1)*10) + (axis == 0 ? Double(record*100) : 0)
+                        #expect(abs(state.positionKilometres[axis] - (initial + speed*dt + speed*dt*dt/2)) < 2e-12)
+                        #expect(abs(state.velocityKilometresPerTDBSecond[axis] - speed*(1+dt)) < 2e-13)
+                    }
+                }
+                #expect(throws: SpiceSPKError.outOfCoverage) { try s.state(atSecondsTDB: -Double.leastNonzeroMagnitude) }
+                #expect(throws: SpiceSPKError.outOfCoverage) { try s.state(atSecondsTDB: 20.0.nextUp) }
+                #expect(throws: SpiceSPKError.invalidEpoch) { try s.state(atSecondsTDB: .nan) }
+            }
+        }
+    }
+    @Test func malformedLayoutEpochsOrdersStepsAndResourceLimits() throws {
+        var cases = [SPK21Fixture]()
+        for (offset,value) in [(0,14.0),(0,26),(0,15.5),(8,0),(8,1.5)] {
+            var f = SPK21Fixture(); f.daf.double(value,f.tailOffset+offset); cases.append(f)
+        }
+        var f = SPK21Fixture(); f.daf.double(10,f.epochOffset+8); cases.append(f)
+        f = SPK21Fixture(); f.daf.double(.nan,f.epochOffset); cases.append(f)
+        f = SPK21Fixture(); f.daf.double(19,f.epochOffset+8); cases.append(f)
+        f = SPK21Fixture(); f.daf.double(.infinity,4096); cases.append(f)
+        f = SPK21Fixture(); f.daf.double(1.5,4096+68*8); cases.append(f)
+        f = SPK21Fixture(); f.daf.double(16,4096+68*8); cases.append(f)
+        f = SPK21Fixture(); f.daf.double(2,4096+68*8); cases.append(f) // required step is zero
+        f = SPK21Fixture(); f.daf.double(1,4096+67*8); cases.append(f)
+        f = SPK21Fixture(records: 100); f.daf.double(999,f.epochOffset+100*8); cases.append(f)
+        for fixture in cases {
+            try SpiceDAFTests().withFile(fixture.daf.bytes) { url in
+                #expect(throws: SpiceSPKError.self) { try SpiceDAFFile(url: url).spkState(array: 0,atSecondsTDB: 5) }
+            }
+        }
+        try SpiceDAFTests().withFile(SPK21Fixture().daf.bytes) { url in
+            let file = try SpiceDAFFile(url: url, limits: SpiceDAFLimits(maximumReadWords: 70))
+            #expect(throws: SpiceDAFError.self) { try SpiceSPKSegment(file: file,array: 0) }
+        }
+    }
+}
diff --git a/Tests/CelMekTests/SpiceTestPaths.swift b/Tests/CelMekTests/SpiceTestPaths.swift
new file mode 100644
index 0000000..def0535
--- /dev/null
+++ b/Tests/CelMekTests/SpiceTestPaths.swift
@@ -0,0 +1,8 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+
+/// Kernel-set provenance uses resolved paths, including expanded Windows 8.3
+/// aliases and symlinks. Compare the complete resolved path, not just a basename.
+func resolvedSpiceTestPath(_ url: URL) -> String {
+    url.standardizedFileURL.resolvingSymlinksInPath().path
+}
diff --git a/Tests/CelMekTests/SpiceTextKernelTests.swift b/Tests/CelMekTests/SpiceTextKernelTests.swift
new file mode 100644
index 0000000..e637408
--- /dev/null
+++ b/Tests/CelMekTests/SpiceTextKernelTests.swift
@@ -0,0 +1,74 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Testing
+@testable import CelMek
+
+@Suite struct SpiceTextKernelTests {
+    func snapshot(_ text: String) throws -> SpiceKernelSnapshot {
+        let helper = SpiceKernelSetTests(), dir = try helper.directory()
+        defer { try? FileManager.default.removeItem(at: dir) }
+        let url = try helper.write(text, "kernel.txt", in: dir)
+        let set = try SpiceKernelSet(); try set.load(url)
+        return set.snapshot()
+    }
+    let lsk = """
+    KPL/LSK
+    \\begindata
+    DELTET/DELTA_T_A = 32.184
+    DELTET/K = 1.657D-3
+    DELTET/EB = 1.671D-2
+    DELTET/M = (6.239996 1.99096871D-7)
+    DELTET/DELTA_AT = (10 @1972-JAN-1 11 @1972-JUL-1)
+    """
+    @Test func datesAreUnscaledAndValidated() throws {
+        #expect(try spiceDateSeconds("@2000-JAN-1-12:00:00") == 0)
+        #expect(try spiceDateSeconds("@2000-JAN-1") == -43200)
+        #expect(try spiceDateSeconds("@2000-JAN-2-12:00:00.125") == 86400.125)
+        #expect(try spiceDateSeconds("@1972-JAN-1") == -883656000)
+        for date in ["@2001-FEB-29", "@2000-JAN-1-24:00:00", "@2000-JAN-1-23:59:60", "@00-JAN-1", "@2000-13-1"] {
+            #expect(throws: (any Error).self) { try spiceDateSeconds(date) }
+        }
+        let pool = try snapshot("KPL/PCK\n\\begindata\nDATES=(1 @2000-JAN-1 @2000-JAN-1-12:00:00)")
+        #expect(pool["DATES"]?.value == .numbers([1,-43200,0]))
+    }
+    @Test func leapSecondsUseExistingUTCConversionAndExplicitExpiry() throws {
+        let pool = try snapshot(lsk), data = try pool.leapSecondData()
+        let table = try data.table(validUntilModifiedJulianDay: 41683, version: "synthetic")
+        #expect(data.entries.map(\.effectiveModifiedJulianDay) == [41317,41499])
+        #expect(data.sources.count == 1)
+        #expect(try table.dayLength(on: 41498) == 86401)
+        let leap = try Epoch(utc: UTCDate(modifiedJulianDay: 41498, secondOfDay: Duration(seconds: 86400)), using: table)
+        let midnight = try Epoch(utc: UTCDate(modifiedJulianDay: 41499, secondOfDay: .zero), using: table)
+        #expect(try midnight.utc(using: table).secondOfDay == .zero)
+        #expect(try leap.utc(using: table).secondOfDay.seconds == 86400)
+        #expect(throws: UTCError.outsideCoverage) { try table.taiMinusUTC(on: 41683) }
+        for malformed in [lsk.replacingOccurrences(of: "11 @1972", with: "13 @1972"),
+                          lsk.replacingOccurrences(of: "32.184", with: "32.0"),
+                          lsk.replacingOccurrences(of: "@1972-JUL-1", with: "@1972-JUL-1-01:00:00")] {
+            #expect(throws: (any Error).self) { try snapshot(malformed).leapSecondData() }
+        }
+    }
+    @Test func pckRetainsOrientationAndConvertsRadii() throws {
+        let pool = try snapshot("KPL/PCK\n\\begindata\nBODY399_RADII=(6378 6378 6357)\nBODY399_POLE_RA=(0 -.641 0)\nBODY399_POLE_DEC=(90 -.557 0)\nBODY399_PM=(190.16 360.9856235 0)\nBODY399_NUT_PREC_RA=(1 2)")
+        #expect(try pool.bodyRadiiMetres(bodyID: 399) == [6378000,6378000,6357000])
+        let parameters = try pool.bodyOrientationParameters(bodyID: 399)
+        #expect(parameters.primeMeridian == [190.16,360.9856235,0])
+        #expect(parameters.additionalParameters["NUT_PREC_RA"] == [1,2])
+        #expect(parameters.sources.count == 1)
+        #expect(throws: SpiceTextKernelError.self) { try pool.bodyRadiiMetres(bodyID: 301) }
+        #expect(throws: SpiceTextKernelError.self) { try snapshot("KPL/PCK\n\\begindata\nBODY1_RADII=(1 0 2)").bodyRadiiMetres(bodyID: 1) }
+    }
+    @Test func fixedMatrixDirectionAndUnsupportedDefinitions() throws {
+        let fk = "KPL/FK\n\\begindata\nFRAME_123_NAME='TEST'\nFRAME_123_CLASS=4\nFRAME_123_CLASS_ID=123\nFRAME_123_CENTER=-10\nTKFRAME_123_RELATIVE='J2000'\nTKFRAME_123_SPEC='MATRIX'\nTKFRAME_123_MATRIX=(0 1 0 -1 0 0 0 0 1)"
+        let frame = try snapshot(fk).fixedFrameDefinition(frameID: 123)
+        // First column maps +X to relative +Y; no transpose or handedness flip.
+        #expect(Array(frame.matrix[0..<3]) == [0,1,0])
+        #expect(frame.centreID == -10)
+        #expect(frame.relativeFrameName == "J2000")
+        #expect(throws: SpiceTextKernelError.unsupportedFrameClass(5)) { try snapshot(fk.replacingOccurrences(of: "CLASS=4", with: "CLASS=5")).fixedFrameDefinition(frameID: 123) }
+        #expect(throws: SpiceTextKernelError.unsupportedFrameRepresentation("UNKNOWN")) { try snapshot(fk.replacingOccurrences(of: "'MATRIX'", with: "'UNKNOWN'")).fixedFrameDefinition(frameID: 123) }
+        for bad in ["(1 0 0 0 1 0 0 0 -1)", "(2 0 0 0 1 0 0 0 1)", "(1 0)"] {
+            #expect(throws: SpiceTextKernelError.self) { try snapshot(fk.replacingOccurrences(of: "(0 1 0 -1 0 0 0 0 1)", with: bad)).fixedFrameDefinition(frameID: 123) }
+        }
+    }
+}
diff --git a/Tests/CelMekTests/SpiceTextProviderTests.swift b/Tests/CelMekTests/SpiceTextProviderTests.swift
new file mode 100644
index 0000000..a076f78
--- /dev/null
+++ b/Tests/CelMekTests/SpiceTextProviderTests.swift
@@ -0,0 +1,143 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct SpiceTextProviderTests {
+    let helper = SpiceTextKernelTests()
+    var provenance: PhysicalDataProvenance { try! PhysicalDataProvenance(source: "Synthetic public-format data", version: "fixture-1") }
+    func epoch(_ t: Double) throws -> Epoch { Epoch(offsetFromJ2000: try CelMek.Duration(seconds: t)) }
+    var base: String { "KPL/PCK\n\\begindata\nBODY301_POLE_RA=(270 0 0)\nBODY301_POLE_DEC=(90 0 0)\nBODY301_PM=(0 10 0)\n" }
+    func provider(_ text: String, clock: (any TDBTimeModel)? = nil, bindings: SpiceFrameBindings? = nil) throws -> SpicePCKOrientationProvider {
+        let coverage = try clock?.coverage ?? (epoch(-1e10)...epoch(1e10))
+        return try SpicePCKOrientationProvider(snapshot: helper.snapshot(text), bodyID: 301, systemID: 3,
+            frameBindings: bindings ?? SpiceFrameBindings([.icrfJ2000(provenance: provenance)]), coverage: coverage,
+            tdbModel: clock ?? SpiceSPKAdapterTests.Clock(coverage: coverage), provenance: provenance)
+    }
+    func near(_ a: SIMD3<Double>, _ b: SIMD3<Double>, _ tolerance: Double = 1e-10) -> Bool {
+        (0..<3).allSatisfy { abs(a[$0]-b[$0]) < tolerance }
+    }
+    @Test func sourcedSIConstantsAndConventions() throws {
+        let pool = try helper.snapshot("KPL/PCK\n\\begindata\nBODY301_RADII=(1 2 3)\nBODY301_GM=4.5")
+        let radii = try pool.bodyReferenceRadii(bodyID: 301, axesDescription: "Declared ellipsoid axes", provenance: provenance)
+        #expect(radii.metres == SIMD3(1000,2000,3000))
+        let gm = try pool.bodyGravitationalParameter(bodyID: 301, convention: .tdbCompatible, provenance: provenance)
+        #expect(gm.cubicMetresPerSecondSquared == 4.5e9 && gm.convention == .tdbCompatible)
+        #expect(gm.provenance.version == "fixture-1" && gm.provenance.source.contains("kernel.txt"))
+        #expect(radii.provenance.source.contains("kernel.txt"))
+        #expect(throws: (any Error).self) { try helper.snapshot("KPL/PCK\n\\begindata\nBODY301_GM=-1").bodyGravitationalParameter(bodyID: 301, convention: .newtonian, provenance: provenance) }
+    }
+    @Test func spinDirectionAndAtomicDerivatives() throws {
+        let coverage = try epoch(-10000)...epoch(10000)
+        let clock = SpiceSPKAdapterTests.Clock(coverage: coverage, offset: 20, drift: 0.01, quadratic: 1e-8)
+        let model = try provider(base, clock: clock), t = 1000.0, sample = try model.orientation(at: epoch(t))
+        let et = t+20+0.01*t+1e-8*t*t, angle = -10 * et/86400 * .pi/180
+        let v = sample.rotation.matrix * SIMD3<Double>(1,0,0)
+        #expect(near(v, SIMD3(cos(angle),sin(angle),0)))
+        #expect(abs(sample.angularVelocity.z - (-10 * .pi/180/86400)*(1.01+2e-8*t)) < 1e-16)
+        #expect(abs(sample.angularAcceleration.z - (-10 * .pi/180/86400)*2e-8) < 1e-20)
+        #expect(sample.referenceFrame === CelestialFrames.icrf)
+        #expect(model.provenance.source.contains(clock.provenance))
+    }
+    @Test func periodicTermsHigherDegreeAndCoupledRates() throws {
+        let text = base.replacingOccurrences(of: "(270 0 0)", with: "(30 .2 .01)").replacingOccurrences(of: "(90 0 0)", with: "(60 -.3 .02)") + "BODY3_MAX_PHASE_DEGREE=3\nBODY3_NUT_PREC_ANGLES=(10 30 2 .5 80 -20 1 .1)\nBODY301_NUT_PREC_RA=(2 3)\nBODY301_NUT_PREC_DEC=(4 5)\nBODY301_NUT_PREC_PM=(6 7)"
+        let model = try provider(text), t = 2e8, c = t/(36525*86400)
+        let p1 = (10+30*c+2*c*c+0.5*c*c*c)*Double.pi/180
+        let p2 = (80-20*c+c*c+0.1*c*c*c)*Double.pi/180
+        let ra = (30+0.2*c+0.01*c*c+2*sin(p1)+3*sin(p2))*Double.pi/180
+        let dec = (60-0.3*c+0.02*c*c+4*cos(p1)+5*cos(p2))*Double.pi/180
+        let w = (10*t/86400+6*sin(p1)+7*sin(p2))*Double.pi/180
+        // Independent explicit basis rotations from public PCK Euler definitions.
+        func z(_ a: Double, _ v: SIMD3<Double>) -> SIMD3<Double> { SIMD3(cos(a)*v.x-sin(a)*v.y,sin(a)*v.x+cos(a)*v.y,v.z) }
+        func x(_ a: Double, _ v: SIMD3<Double>) -> SIMD3<Double> { SIMD3(v.x,cos(a)*v.y-sin(a)*v.z,sin(a)*v.y+cos(a)*v.z) }
+        let sample = try model.orientation(at: epoch(t)), input = SIMD3<Double>(0.3,0.5,0.7)
+        let r = sample.rotation.matrix * input
+        #expect(near(r, z(-w,x(dec - .pi/2,z(-ra - .pi/2,input))), 1e-11))
+        let h = 10.0, plus = try model.orientation(at: epoch(t+h)), minus = try model.orientation(at: epoch(t-h))
+        let numerical = (plus.rotation.matrix * input - minus.rotation.matrix * input)/(2*h)
+        let omega = sample.angularVelocity
+        let expected = SIMD3(omega.y*r.z-omega.z*r.y,omega.z*r.x-omega.x*r.z,omega.x*r.y-omega.y*r.x)
+        #expect(near(numerical,expected,1e-11))
+        #expect(near((plus.angularVelocity-minus.angularVelocity)/(2*h),sample.angularAcceleration,1e-16))
+    }
+    @Test func alternateEpochAxesAndMalformedDependencies() throws {
+        let tree = FrameTree(name: "explicit alternate inertial axes")
+        let bindings = try SpiceFrameBindings([SpiceFrameBinding(frameID: 2, axesFrame: tree.root, provenance: provenance)])
+        let text = base + "BODY3_CONSTS_REF_FRAME=2\nBODY3_CONSTS_JED_EPOCH=2451546"
+        let model = try provider(text, bindings: bindings), sample = try model.orientation(at: epoch(86400))
+        #expect(sample.referenceFrame === tree.root && model.referenceFrameID == 2)
+        #expect(near(sample.rotation.matrix * SIMD3<Double>(1,0,0), SIMD3(1,0,0)))
+        #expect(throws: SpiceTextProviderError.conflictingReferenceParameters) { try provider(text + "\nBODY3_CONSTANTS_REF_FRAME=1", bindings: bindings) }
+        for suffix in ["BODY301_NUT_PREC_PM=(1)", "BODY3_MAX_PHASE_DEGREE=4", "BODY3_NUT_PREC_ANGLES=(1 2 3)", "BODY3_CONSTS_REF_FRAME=1.5"] {
+            #expect(throws: (any Error).self) { try provider(base+suffix) }
+        }
+        #expect(throws: SpiceTextProviderError.outsideCoverage) { try model.orientation(at: epoch(1e10+1)) }
+    }
+    struct Centre: StateProvider {
+        let frame: Frame
+        func state(at epoch: Epoch) throws -> CartesianState {
+            try CartesianState(epoch: epoch, frame: frame, position: SIMD3(100+2*epoch.offsetFromJ2000.seconds,0,0), velocity: SIMD3(2,0,0), acceleration: .zero)
+        }
+    }
+    @Test func fixedFramesInvertLocalMatrixAndTranslateCentre() throws {
+        let prefix = "KPL/FK\n\\begindata\nFRAME_123_NAME='TEST'\nFRAME_123_CLASS=4\nFRAME_123_CLASS_ID=123\nFRAME_123_CENTER=301\nTKFRAME_123_RELATIVE='J2000'\nTKFRAME_123_SPEC='MATRIX'\nTKFRAME_123_MATRIX="
+        for matrix in ["(1 0 0 0 1 0 0 0 1)", "(1 0 0 0 -1 0 0 0 -1)", "(-1 0 0 0 1 0 0 0 -1)", "(-1 0 0 0 -1 0 0 0 1)", "(0 1 0 -1 0 0 0 0 1)"] {
+            let definition = try helper.snapshot(prefix+matrix).fixedFrameDefinition(frameID: 123)
+            let tree = FrameTree(), centre = Centre(frame: tree.root)
+            let frame = try definition.makeFrame(in: tree, relativeAxes: tree.root, centre: centre, provenance: provenance)
+            let state = try CartesianState(epoch: .j2000, frame: tree.root, position: SIMD3(101,2,3), velocity: SIMD3(3,2,3), acceleration: .zero)
+            let actual = try tree.transform(from: tree.root,to: frame,at: .j2000).applying(to: state,destination: frame)
+            let m = definition.matrix, input = SIMD3<Double>(1,2,3)
+            func dotColumn(_ column: Int) -> Double {
+                var result = 0.0
+                for row in 0..<3 { result += m[column*3+row]*input[row] }
+                return result
+            }
+            let expected = SIMD3<Double>(dotColumn(0),dotColumn(1),dotColumn(2))
+            #expect(near(actual.position,expected))
+            #expect(near(actual.velocity,expected))
+            #expect(actual.acceleration == .zero)
+        }
+    }
+    @Test func eulerUnitsOrderAndScalarFirstQuaternion() throws {
+        let prefix = "KPL/FK\n\\begindata\nFRAME_123_NAME='TEST'\nFRAME_123_CLASS=4\nFRAME_123_CLASS_ID=123\nFRAME_123_CENTER=301\nTKFRAME_123_RELATIVE='J2000'\n"
+        let units: [(String, Double)] = [("DEGREES",90),("RADIANS",.pi/2),("ARCSECONDS",324000),
+            ("ARCMINUTES",5400),("HOURANGLE",6),("MINUTEANGLE",360),("SECONDANGLE",21600)]
+        for (unit, angle) in units {
+            let d = try helper.snapshot(prefix + "TKFRAME_123_SPEC='ANGLES'\nTKFRAME_123_ANGLES=(\(angle) 0 0)\nTKFRAME_123_AXES=(3 2 1)\nTKFRAME_123_UNITS='\(unit)'").fixedFrameDefinition(frameID: 123)
+            let model = try SpiceFixedOrientationProvider(definition: d, relativeAxes: CelestialFrames.icrf, provenance: provenance)
+            #expect(near(try model.orientation(at: .j2000).rotation.matrix * SIMD3<Double>(1,0,0), SIMD3(0,1,0)))
+        }
+        let a = try helper.snapshot(prefix + "TKFRAME_123_SPEC='ANGLES'\nTKFRAME_123_ANGLES=(90 90 90)\nTKFRAME_123_AXES=(3 2 1)\nTKFRAME_123_UNITS='DEGREES'").fixedFrameDefinition(frameID: 123)
+        // M=[90]z[90]y[90]x: local +X maps to relative +Z.
+        #expect(near(SIMD3(a.matrix[0],a.matrix[1],a.matrix[2]), SIMD3(0,0,1)))
+        let q = try helper.snapshot(prefix + "TKFRAME_123_SPEC='QUATERNION'\nTKFRAME_123_Q=(0.7071067811865476 0 0 0.7071067811865476)").fixedFrameDefinition(frameID: 123)
+        #expect(near(SIMD3(q.matrix[0],q.matrix[1],q.matrix[2]), SIMD3(0,1,0)))
+        for tail in ["TKFRAME_123_SPEC='QUATERNION'\nTKFRAME_123_Q=(2 0 0 0)",
+                     "TKFRAME_123_SPEC='ANGLES'\nTKFRAME_123_ANGLES=(1 2 3)\nTKFRAME_123_AXES=(1 4 3)\nTKFRAME_123_UNITS='DEGREES'"] {
+            #expect(throws: SpiceTextKernelError.self) { try helper.snapshot(prefix+tail).fixedFrameDefinition(frameID: 123) }
+        }
+    }
+    @Test func retainedProviderSurvivesUnloadAndBodyFixedComposition() throws {
+        let fixture = SpiceKernelSetTests(), dir = try fixture.directory()
+        defer { try? FileManager.default.removeItem(at: dir) }
+        let file = try fixture.write(base, "orientation.tpc", in: dir)
+        let set = try SpiceKernelSet(), id = try set.load(file), snapshot = set.snapshot()
+        let tree = FrameTree(), coverage = try epoch(-100)...epoch(100)
+        let bindings = try SpiceFrameBindings([SpiceFrameBinding(frameID: 1, axesFrame: tree.root, provenance: provenance)])
+        let model = try SpicePCKOrientationProvider(snapshot: snapshot, bodyID: 301, systemID: 3, frameBindings: bindings,
+            coverage: coverage, tdbModel: SpiceSPKAdapterTests.Clock(coverage: coverage), provenance: provenance)
+        let before = try model.orientation(at: epoch(10))
+        try set.unload(id)
+        #expect(model.cacheScope == snapshot.cacheScope && model.cacheScope != set.snapshot().cacheScope)
+        #expect(try model.orientation(at: epoch(10)).rotation.matrix * SIMD3<Double>(1,0,0) == before.rotation.matrix * SIMD3<Double>(1,0,0))
+        let frame = try tree.makeBodyFixedFrame(name: "loaded lunar axes", centre: Centre(frame: tree.root), orientation: model)
+        let state = try Centre(frame: tree.root).state(at: epoch(10))
+        let transformed = try tree.transform(from: tree.root, to: frame, at: epoch(10)).applying(to: state, destination: frame)
+        #expect(near(transformed.position,.zero))
+        #expect(near(transformed.velocity,.zero))
+        #expect(near(transformed.acceleration!,.zero))
+    }
+
+}
diff --git a/Tests/CelMekTests/TDBAccuracyTests.swift b/Tests/CelMekTests/TDBAccuracyTests.swift
new file mode 100644
index 0000000..2cb741c
--- /dev/null
+++ b/Tests/CelMekTests/TDBAccuracyTests.swift
@@ -0,0 +1,36 @@
+import Foundation
+import Testing
+@testable import CelMek
+
+@Suite struct TDBAccuracyTests {
+  private struct Reference: Decodable {
+    let daysSinceJ2000: Double
+    let tdbMinusTT: Double
+    let rate: Double
+    let acceleration: Double
+  }
+  @Test func independentGeocentricReferenceFrom1950To2050() throws {
+    let url = try #require(Bundle.module.url(forResource: "tdb-erfa", withExtension: "json", subdirectory: "Fixtures"))
+    let rows = try JSONDecoder().decode([Reference].self, from: Data(contentsOf: url))
+    #expect(rows.count == 4874)
+    var maximum = 0.0, squareSum = 0.0
+    for row in rows {
+      let epoch = try Epoch.j2000.advanced(by: CelMek.Duration(seconds: row.daysSinceJ2000*86400))
+      let tdb = try epoch.julianDate(in: .tdb)
+      // Read the representation's clock offset through split dates, avoiding
+      // subtraction of large scalar Julian dates that would mask this error.
+      let clock = try Epoch(julianDate: JulianDateComponents(wholeDay: tdb.wholeDay,
+        fractionalDay: tdb.fractionalDay, scale: .tt))
+      let offset = try clock.duration(since: epoch).seconds
+      let error = abs(offset-row.tdbMinusTT)
+      maximum = max(maximum,error); squareSum += error*error
+      #expect(error < 37e-6)
+      #expect(abs((epoch.coordinateTimeRate(in: .tdb)-1)-row.rate) < 1.1e-11)
+      #expect(abs(epoch.coordinateTimeAcceleration(in: .tdb)-row.acceleration) < 1.3e-17)
+      let restored = try Epoch(julianDate: tdb)
+      #expect(abs(try restored.duration(since: epoch).seconds) < 3e-11)
+    }
+    #expect(maximum > 30e-6)
+    #expect(sqrt(squareSum/Double(rows.count)) < 18e-6)
+  }
+}
diff --git a/Tests/CelMekTests/TDBTimeModelTests.swift b/Tests/CelMekTests/TDBTimeModelTests.swift
new file mode 100644
index 0000000..ef00959
--- /dev/null
+++ b/Tests/CelMekTests/TDBTimeModelTests.swift
@@ -0,0 +1,103 @@
+import Foundation
+import Testing
+import CelMek
+import Math
+
+@Suite struct TDBTimeModelTests {
+  private struct Reference: Decodable {
+    let daysSinceJ2000: Double
+    let tdbMinusTT: Double
+    let rate: Double
+    let acceleration: Double
+  }
+  @Test func fullSeriesMatchesIndependentReferenceAndDerivatives() throws {
+    let model = try FairheadTDBModel()
+    let url = try #require(Bundle.module.url(forResource: "tdb-erfa",withExtension: "json",subdirectory: "Fixtures"))
+    let rows = try JSONDecoder().decode([Reference].self,from: Data(contentsOf: url))
+    #expect(rows.count == 4874)
+    for row in rows {
+      let epoch = try Epoch.j2000.advanced(by: CelMek.Duration(seconds: row.daysSinceJ2000*86400))
+      let sample = try epoch.tdbCorrection(using: model)
+      #expect(abs(sample.tdbMinusTT.seconds-row.tdbMinusTT) < 2e-15)
+      // Independent centred differences have a finite 300-second stencil error.
+      #expect(abs((sample.rate-1)-row.rate) < 3e-16)
+      #expect(abs(sample.acceleration-row.acceleration) < 2e-21)
+      do {
+        let date = try epoch.julianDate(in: .tdb,using: model)
+        let recovered = try Epoch(julianDate: date,using: model)
+        #expect(abs(try recovered.duration(since: epoch).seconds) < 3e-11)
+      }
+    }
+  }
+  @Test func coverageAndModelContract() throws {
+    let model = try FairheadTDBModel()
+    for boundary in [model.coverage.lowerBound,model.coverage.upperBound] {
+      #expect(try model.correction(at: boundary).epoch == boundary)
+    }
+    let outside = try model.coverage.lowerBound.advanced(by: CelMek.Duration(seconds: -1))
+    #expect(throws: TDBModelError.outsideCoverage) { try outside.julianDate(in: .tdb,using: model) }
+    #expect(throws: TDBModelError.outsideCoverage) { try FairheadTDBModel(coverage: outside...model.coverage.upperBound) }
+    #expect(throws: TDBModelError.invalidCorrection) {
+      try TDBCorrection(epoch: .j2000,tdbMinusTT: .zero,rate: .nan,acceleration: 0)
+    }
+    let cheap = TwoTermTDBModel(coverage: model.coverage)
+    let defaultDate = try Epoch.j2000.julianDate(in: .tdb)
+    let selectedDate = try Epoch.j2000.julianDate(in: .tdb,using: cheap)
+    #expect(defaultDate == selectedDate)
+  }
+  private struct LinearModel: TDBTimeModel {
+    let coverage: ClosedRange<Epoch>
+    let provenance = "Synthetic exact linear model"
+    func correction(at epoch: Epoch) throws -> TDBCorrection {
+      let seconds = epoch.offsetFromJ2000.seconds
+      return try TDBCorrection(epoch: epoch,tdbMinusTT: CelMek.Duration(seconds: 0.125+0.001*seconds),rate: 1.001,acceleration: 0)
+    }
+  }
+  @Test func inversionUsesSelectedDerivativeAndHandlesCoverageBoundaries() throws {
+    let limit = try CelMek.Duration(seconds: 100)
+    let lower = try Epoch.j2000.advanced(by: limit.negated())
+    let upper = try Epoch.j2000.advanced(by: limit)
+    let model = LinearModel(coverage: lower...upper)
+    for epoch in [model.coverage.lowerBound,Epoch.j2000,model.coverage.upperBound] {
+      let date = try epoch.julianDate(in: .tdb,using: model)
+      let recovered = try Epoch(julianDate: date,using: model)
+      #expect(abs(try recovered.duration(since: epoch).seconds) < 3e-11)
+    }
+    let reading = try Epoch.j2000.calendar(in: .tdb,tdbModel: model)
+    #expect(abs(try reading.epoch(tdbModel: model).duration(since: .j2000).seconds) < 3e-11)
+  }
+  private struct FaultyModel: TDBTimeModel {
+    let coverage = FairheadTDBModel.referenceCoverage
+    let provenance = "Synthetic invalid contract"
+    let wrongEpoch: Bool
+    func correction(at epoch: Epoch) throws -> TDBCorrection {
+      try TDBCorrection(epoch: wrongEpoch ? .j2000 : epoch,
+        tdbMinusTT: CelMek.Duration(seconds: 0.125+epoch.offsetFromJ2000.seconds),
+        rate: 1,acceleration: 0) // Incorrect derivative intentionally prevents Newton convergence.
+    }
+  }
+  @Test func rejectsWrongEpochAndNonconvergentCustomModels() throws {
+    let later = try Epoch.j2000.advanced(by: CelMek.Duration(seconds: 1))
+    #expect(throws: TDBModelError.epochMismatch) { try later.tdbCorrection(using: FaultyModel(wrongEpoch: true)) }
+    #expect(throws: TDBModelError.noConvergence) {
+      try Epoch(julianDate: 2451545,scale: .tdb,using: FaultyModel(wrongEpoch: false))
+    }
+  }
+  @Test func selectedModelFlowsThroughVSOPAndIAUProviders() throws {
+    let model = try FairheadTDBModel()
+    let provider = VSOP87StateProvider(body: earth,tdbModel: model)
+    let tree = try CelestialFrames.makeTree()
+    let centre = try provider.state(at: .j2000,in: CelestialFrames.icrf,using: tree)
+    #expect(centre.epoch == .j2000 && centre.frame === CelestialFrames.icrf)
+    let direct = try earth.state(at: .j2000,using: model)
+    #expect(try provider.state(at: .j2000) == direct)
+    let delta = 300.0
+    let plus = try provider.state(at: Epoch.j2000.advanced(by: CelMek.Duration(seconds: delta)))
+    let minus = try provider.state(at: Epoch.j2000.advanced(by: CelMek.Duration(seconds: -delta)))
+    for i in 0..<3 { #expect(abs((plus.position[i]-minus.position[i])/(2*delta)-direct.velocity[i]) < 0.0001) }
+    let orientation = try IAUOrientationProvider(body: "mars",coverage: model.coverage,tdbModel: model)
+    #expect(try orientation.orientation(at: .j2000).epoch == .j2000)
+    let before = try model.coverage.lowerBound.advanced(by: CelMek.Duration(seconds: -1))
+    #expect(throws: TDBModelError.outsideCoverage) { try provider.state(at: before) }
+  }
+}
diff --git a/Tests/CelMekTests/TimeAndCalendarRegressionTests.swift b/Tests/CelMekTests/TimeAndCalendarRegressionTests.swift
new file mode 100644
index 0000000..0ec0e96
--- /dev/null
+++ b/Tests/CelMekTests/TimeAndCalendarRegressionTests.swift
@@ -0,0 +1,123 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Testing
+@testable import CelMek
+
+@Suite
+struct TimeAndCalendarRegressionTests {
+  @Test(arguments: ["", "2024", "2024-02", "2024-02-30", "2023-02-29",
+                    "2024-01-00", "2024-13-01", "2024-01-01T", "2024-01-01T12",
+                    "2024-01-01T12:30", "2024-01-01T12:30:00:01", "2024-01-01T24:00:00",
+                    "2024-01-01T12:60:00", "2024-01-01T12:00:-1", "2024-01-01T12:00:nan",
+                    "2024-01-01T12:00:inf", "2024-01-01T12:00:1e1", "2024-01-01T12:00:01.",
+                    "2024-01-01T12:00:.5", "2024-01-01T12:00:01Z", "2024-01-01T12:00:01+01:00",
+                    "2016-12-31T23:59:60", "2024-01-01T12:00:00T13:00:00"])
+  func rejectsMalformedOrUnsupportedCalendarReading(input: String) {
+    #expect(DateTime(isoDate: input) == nil)
+  }
+
+  @Test(arguments: ["2024-02-29T23:59:59.125", "2024-02-29 23:59:59.125"])
+  func parsesFractionalCalendarReading(input: String) throws {
+    let value = try #require(DateTime(isoDate: input))
+    #expect(value.isValid())
+    #expect(value.date.year == 2024)
+    #expect(value.date.month == .february)
+    #expect(value.date.day == 29)
+    #expect(value.time.hh == 23)
+    #expect(value.time.mm == 59)
+    #expect(value.time.sec == 59.125)
+    let dateOnly = try #require(DateTime(isoDate: "2024-02-29"))
+    #expect(dateOnly.time.hh == 0 && dateOnly.time.mm == 0 && dateOnly.time.sec == 0)
+  }
+
+  @Test
+  func validatesRawCalendarFields() {
+    #expect(!Date(year: 2024, month: .january, day: 0).isValid())
+    for second in [-1.0, 60, .nan, .infinity] {
+      #expect(!Time(hh: 23, mm: 59, sec: second).isValid())
+    }
+  }
+
+  @Test(arguments: [0.0, -1, 367, .nan, .infinity, -.infinity])
+  func rejectsInvalidOrdinals(day: Double) {
+    #expect(GregorianDate(year: 2024, dayInYear: day) == nil)
+    #expect(JulianDate(year: 2024, dayInYear: day) == nil)
+  }
+
+  @Test(arguments: [1900, 2000, 2023, 2024])
+  func ordinalAndMonthBoundaries(year: Int) throws {
+    let commonLengths = [31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31]
+    var gregorianOrdinal = 1
+    var julianOrdinal = 1
+    for (index, commonLength) in commonLengths.enumerated() {
+      let month = try #require(Month(rawValue: index + 1))
+      let gregorianLength = commonLength + (index == 1 && isGregorianLeapYear(year) ? 1 : 0)
+      let julianLength = commonLength + (index == 1 && isJulianLeapYear(year) ? 1 : 0)
+      for day in 1...gregorianLength {
+        let ordinal = Double(gregorianOrdinal) + 0.75
+        let date = try #require(GregorianDate(year: year, dayInYear: ordinal))
+        #expect(date.month == month)
+        #expect(date.day == Double(day) + 0.75)
+        #expect(date.dayOfYear() == ordinal)
+        gregorianOrdinal += 1
+      }
+      for day in 1...julianLength {
+        let ordinal = Double(julianOrdinal) + 0.75
+        let date = try #require(JulianDate(year: year, dayInYear: ordinal))
+        #expect(date.month == month)
+        #expect(date.day == Double(day) + 0.75)
+        #expect(date.dayOfYear() == ordinal)
+        julianOrdinal += 1
+      }
+    }
+    #expect(GregorianDate(year: year, dayInYear: Double(gregorianOrdinal)) == nil)
+    #expect(JulianDate(year: year, dayInYear: Double(julianOrdinal)) == nil)
+  }
+
+  @Test
+  func weekdayChangesAtMidnightRatherThanNoon() {
+    #expect(2451544.499.weekday == .friday)
+    #expect(2451544.5.weekday == .saturday)
+    #expect(2451545.0.weekday == .saturday)
+    #expect(2451545.499.weekday == .saturday)
+    #expect(2451545.5.weekday == .sunday)
+    #expect((-0.5).weekday == .monday)
+    #expect((-1.5).weekday == .sunday)
+    #expect((-2.5).weekday == .saturday)
+  }
+
+  @Test(arguments: [2415020.0, 2451545.0, 2488070.0])
+  func timeConversionsRoundTripWithinJulianDateResolution(jd: Double) {
+    #expect(abs(cm_tdbToTt(tdb: cm_ttToTdb(tt: jd)) - jd) <= jd.ulp)
+    #expect(abs(cm_ttToTdb(tt: cm_tdbToTt(tdb: jd)) - jd) <= jd.ulp)
+    #expect(abs(cm_ttToTdb(tt: jd) - jd) * 86400 < 0.002)
+    #expect(cm_tdtToTdb(tdt: jd) == cm_ttToTdb(tt: jd))
+    #expect(cm_tdbToTdt(tdb: jd) == cm_tdbToTt(tdb: jd))
+    #expect(abs(cm_ttToTai(tt: cm_taiToTt(tai: jd)) - jd) <= jd.ulp)
+    #expect(abs(cm_taiToGps(tai: cm_gpsToTai(gps: jd)) - jd) <= jd.ulp)
+    #expect(abs(cm_tcgToTt(tcg: cm_ttToTcg(tt: jd)) - jd) <= 2 * jd.ulp)
+    #expect(abs(cm_tcbToTdb(tcb: cm_tdbToTcb(tdb: jd)) - jd) <= 2 * jd.ulp)
+  }
+
+  @Test
+  func tdbApproximationHasMillisecondRatherThanDayScale() {
+    let tt = 2451545 + (90 - 357.53) / 0.9856003
+    let offsetSeconds = (cm_ttToTdb(tt: tt) - tt) * 86400
+    #expect(abs(offsetSeconds - 0.001658) <= tt.ulp * 86400)
+  }
+
+  @Test
+  func deltaTTableEndpointsAndInterpolation() {
+    #expect(deltaT(year: 1620) == 121)
+    #expect(deltaT(year: 1621) == 116.5)
+    #expect(abs(deltaT(year: 1997.5) - 62.65) < 1e-12)
+    #expect(deltaT(year: 1998) == 63)
+    #expect(deltaT(year: 1998.001).isFinite)
+    for year in [948.0, 1619.999, 2100, 2100.001] {
+      #expect(deltaT(year: year).isFinite)
+    }
+    for year in [Double.nan, .infinity, -.infinity] {
+      #expect(deltaT(year: year).isNaN)
+    }
+  }
+}
diff --git a/Tests/CelMekTests/TimedWaypointRouteTests.swift b/Tests/CelMekTests/TimedWaypointRouteTests.swift
new file mode 100644
index 0000000..53ccb20
--- /dev/null
+++ b/Tests/CelMekTests/TimedWaypointRouteTests.swift
@@ -0,0 +1,90 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct TimedWaypointRouteTests {
+    let frame = Frame(name: "Timed route", pseudoInertial: true)
+    func plan(_ positions: [SIMD3<Double>]) throws -> WaypointBrachistochroneRoute {
+        try WaypointBrachistochroneRoute(departureEpoch: .j2000, frame: frame, origin: .sun,
+            waypoints: positions.map { try BrachistochroneWaypoint(positionMetres: $0) },
+            legAccelerationsMetresPerSecondSquared: Array(repeating: 1, count: positions.count-1))
+    }
+    func limits(_ g: Double = 1, exhaust: Double = 100) throws -> WaypointRouteEngineLimits {
+        try WaypointRouteEngineLimits(maximumAccelerationMetresPerSecondSquared:
+            g*WaypointRouteEngineLimits.standardGravityMetresPerSecondSquared,
+            maximumThrustNewtons: 10_000, effectiveExhaustVelocityMetresPerSecond: exhaust)
+    }
+    func propagator(_ route: WaypointBrachistochroneRoute, phases: [WaypointRouteEnginePhase]) throws -> WaypointRoutePropagator {
+        try WaypointRoutePropagator(route: route,
+            initialMass: SpacecraftMassProperties(dryMassKilograms: 50, propellantMassKilograms: 50),
+            backgroundDynamics: SpacecraftDynamics(models: [], context: ForceEvaluationContext(frame: frame, origin: .sun)),
+            legEngineLimits: Array(repeating: limits(), count: route.legs.count),
+            timedEnginePhases: phases, numericalOptions: .preset(for: .full))
+    }
+    @Test func independentTemporalBoundariesAndAnalyticFuel() throws {
+        let route = try plan([.zero, SIMD3(4,0,0)])
+        let t = route.duration.seconds
+        let first = try WaypointRouteEnginePhase(departureEpoch: .j2000,
+            startOffset: .zero, duration: Duration(seconds: t/2), limits: limits(1, exhaust: 50))
+        let second = try WaypointRouteEnginePhase(startEpoch: first.endEpoch, endEpoch: route.arrivalEpoch,
+            limits: limits(0.3, exhaust: 200))
+        let execution = try propagator(route, phases: [second, first])
+        #expect(execution.timedEnginePhases == [first, second])
+        let result = try execution.propagation(at: route.arrivalEpoch)
+        #expect(result.segments.count == 2)
+        #expect(result.segments.map(\.timedEnginePhaseIndex) == [0, 1])
+        let before = result.segments[0].finalState, after = result.segments[1].initialState
+        #expect(before.cartesian.position == after.cartesian.position)
+        #expect(before.cartesian.velocity == after.cartesian.velocity)
+        #expect(before.mass == after.mass)
+        #expect(try execution.spacecraftState(at: first.endEpoch).mass == before.mass)
+        // Each half contributes peak speed 1.5*d/T to integral |a| dt.
+        let expected = 100*exp(-(6/t)/50-(6/t)/200)
+        #expect(abs(result.state.mass.totalMassKilograms-expected) < 1e-7)
+        #expect(result.checkpoints[0].diagnostics.acceptedSteps == result.segments.reduce(0) { $0+$1.diagnostics.acceptedSteps })
+    }
+    @Test func spatialPassageAndTemporalPhasesShareOneTimeline() throws {
+        let route = try plan([.zero, SIMD3(4,0,0), SIMD3(8,2,0)])
+        let passage = route.legs[0].arrivalEpoch
+        let early = try route.departureEpoch.advanced(by: Duration(seconds: route.legs[0].duration.seconds/2))
+        let late = try passage.advanced(by: Duration(seconds: route.legs[1].duration.seconds/2))
+        let phase = try WaypointRouteEnginePhase(startEpoch: early, endEpoch: late, limits: limits(0.3))
+        let coincident = try WaypointRouteEnginePhase(startEpoch: passage, endEpoch: late, limits: limits(0.3))
+        let execution = try propagator(route, phases: [phase])
+        let result = try execution.propagation(at: route.arrivalEpoch)
+        #expect(result.segments.count == 4)
+        #expect(result.segments.map(\.timedEnginePhaseIndex) == [nil, 0, 0, nil])
+        #expect(result.segments[1].finalState.epoch == passage)
+        #expect(result.segments[1].finalState.cartesian.velocity.x > 0)
+        #expect(result.segments[1].finalState.mass == result.segments[2].initialState.mass)
+        let shared = try propagator(route, phases: [coincident]).propagation(at: route.arrivalEpoch)
+        #expect(shared.segments.count == 3)
+        #expect(shared.checkpoints.count == 2)
+        #expect(shared.segments.allSatisfy { $0.finalState.epoch > $0.initialState.epoch })
+    }
+    @Test func rejectsConflictsAndActivatesLimitsAtExactBoundary() throws {
+        let route = try plan([.zero, SIMD3(4,0,0)])
+        let quarter = try route.departureEpoch.advanced(by: Duration(seconds: route.duration.seconds/4))
+        let phase = try WaypointRouteEnginePhase(startEpoch: quarter, endEpoch: route.arrivalEpoch, limits: limits(0.00001))
+        #expect(throws: WaypointRoutePropagationError.accelerationLimitExceeded(leg: 0)) {
+            try propagator(route, phases: [phase]).spacecraftState(at: quarter)
+        }
+        #expect(throws: WaypointRoutePropagationError.overlappingTimedPhases) {
+            try propagator(route, phases: [phase, phase])
+        }
+        #expect(throws: WaypointRoutePropagationError.invalidTimedPhase) {
+            try WaypointRouteEnginePhase(startEpoch: quarter, endEpoch: quarter, limits: limits())
+        }
+        #expect(throws: WaypointRoutePropagationError.timedPhaseOutsideCoverage) {
+            let outside = try WaypointRouteEnginePhase(startEpoch: route.departureEpoch,
+                endEpoch: route.arrivalEpoch.advanced(by: Duration(seconds: 1)), limits: limits())
+            _ = try propagator(route, phases: [outside])
+        }
+        #expect(throws: WaypointRoutePropagationError.invalidTimedPhase) {
+            try WaypointRouteEnginePhase(departureEpoch: .j2000, startOffset: Duration(seconds: -1),
+                duration: Duration(seconds: 1), limits: limits())
+        }
+    }
+}
diff --git a/Tests/CelMekTests/TransformationOfCoordinates_test.swift b/Tests/CelMekTests/TransformationOfCoordinates_test.swift
index d8da9bd..73a1856 100644
--- a/Tests/CelMekTests/TransformationOfCoordinates_test.swift
+++ b/Tests/CelMekTests/TransformationOfCoordinates_test.swift
@@ -16,11 +16,13 @@
 // limitations under the License.
 //
 
-import XCTest
+import Testing
 @testable import CelMek;
 import Math
 
-final class TransformationOfCoordinates_tests : XCTestCase {
+@Suite
+struct TransformationOfCoordinates_tests {
+  @Test
   func testEclipticalFromEquatorial() {
     // Meeus, p 95, example 13.a
     let eq = EquatorialCoordinate(rightAscension: 116.328942.deg, declination: 28.026183.deg)
@@ -29,30 +31,32 @@ final class TransformationOfCoordinates_tests : XCTestCase {
     let 𝜆 = ecl.longitude
     let 𝛽 = ecl.latitude
 
-    XCTAssertEqual(𝜆, 113.215630.deg, accuracy: 0.00000005)
-    XCTAssertEqual(𝛽, 6.684170.deg, accuracy: 0.00000005)
+    #expect(abs((𝜆) - (113.215630.deg)) <= 0.00000005)
+    #expect(abs((𝛽) - (6.684170.deg)) <= 0.00000005)
   }
   
+  @Test
   func testEquatorialFromEcliptical() {
     // Meeus, p 95, example 13.a
     let ecl = EclipticCoordinate(latitude: 6.684170.deg, longitude: 113.215630.deg)
     let eq = EquatorialCoordinate(ecliptic: ecl, obliquityOfEcliptic: J2000_OBLIQUITY_OF_ECLIPTIC)
 
-    XCTAssertEqual(eq.rightAscension, 116.328942.deg, accuracy: 0.00000005)
-    XCTAssertEqual(eq.declination, 28.026183.deg, accuracy: 0.00000005)
+    #expect(abs((eq.rightAscension) - (116.328942.deg)) <= 0.00000005)
+    #expect(abs((eq.declination) - (28.026183.deg)) <= 0.00000005)
   }
 
   // TODO: Add example 13.b when nutations have been implemented
+  @Test
   func testGalacticFromEquatorial() {
     // Meeus, p 96 exercise
     let eq = EquatorialCoordinate(
-      rightAscension: HourAngle(hours: 17, minutes: 48, seconds: 59.74).toRad(),
-      declination: AngleOfArc(degrees: -14, minutes: 43, seconds: 8.2).toRad())
+      rightAscension: HourAngle(hours: 17, minutes: 48, seconds: 59.74).radians,
+      declination: AngleOfArc(degrees: -14, minutes: 43, seconds: 8.2).radians)
     let gal = GalacticCoordinate(equatorial: eq)
     
     
-    XCTAssertEqual(gal.latitude, 6.0463.deg, accuracy: 0.00005)
-    XCTAssertEqual(gal.longitude, 12.9593.deg, accuracy: 0.00005)
+    #expect(abs((gal.latitude) - (6.0463.deg)) <= 0.00005)
+    #expect(abs((gal.longitude) - (12.9593.deg)) <= 0.00005)
   }
 
 
diff --git a/Tests/CelMekTests/TwoBodyPropagationTests.swift b/Tests/CelMekTests/TwoBodyPropagationTests.swift
new file mode 100644
index 0000000..42193f5
--- /dev/null
+++ b/Tests/CelMekTests/TwoBodyPropagationTests.swift
@@ -0,0 +1,152 @@
+import Foundation
+import Testing
+@testable import CelMek
+
+@Suite struct TwoBodyPropagationTests {
+    private func gm(_ value: Double, convention: GravitationalParameterConvention = .newtonian) throws -> GravitationalParameter {
+        try GravitationalParameter(cubicMetresPerSecondSquared: value, convention: convention,
+            provenance: PhysicalDataProvenance(source: "Test", version: "1", reference: "analytic model"))
+    }
+    private func norm(_ v: SIMD3<Double>) -> Double { hypot(hypot(v.x, v.y), v.z) }
+    private func cross(_ a: SIMD3<Double>, _ b: SIMD3<Double>) -> SIMD3<Double> {
+        SIMD3(a.y*b.z-a.z*b.y, a.z*b.x-a.x*b.z, a.x*b.y-a.y*b.x)
+    }
+    private func orbit(radius: Double = 7e6, speed: Double = 9000, mu: Double = 3.986004418e14,
+                       options: TwoBodyPropagationOptions = .default) throws -> TwoBodyPropagator {
+        let tree = FrameTree()
+        let state = try CartesianState(epoch: .j2000, frame: tree.root,
+                                       position: SIMD3(radius, 0, 0), velocity: SIMD3(0, speed, 0))
+        return try TwoBodyPropagator(initialState: state, centralBody: .earth,
+                                     gravitationalParameter: gm(mu), options: options)
+    }
+
+    @Test func independentConicReferences() throws {
+        struct Case: Decodable {
+            let name: String
+            let radius, speed, gm, seconds: Double
+            let position, velocity: [Double]
+        }
+        struct File: Decodable { let cases: [Case] }
+        let url = Bundle.module.url(forResource: "two_body_reference", withExtension: "json", subdirectory: "Fixtures")!
+        let fixtures = try JSONDecoder().decode(File.self, from: Data(contentsOf: url))
+        let options = try TwoBodyPropagationOptions(absoluteTimeToleranceSeconds: 1e-13,
+                                                   relativeTimeTolerance: 1e-14)
+        for fixture in fixtures.cases {
+            let model = try orbit(radius: fixture.radius, speed: fixture.speed, mu: fixture.gm, options: options)
+            let epoch = try Epoch.j2000.advanced(by: Duration(seconds: fixture.seconds))
+            let result = try model.propagation(at: epoch)
+            let p = SIMD3(fixture.position[0], fixture.position[1], fixture.position[2])
+            let v = SIMD3(fixture.velocity[0], fixture.velocity[1], fixture.velocity[2])
+            #expect(norm(result.state.position - p) < max(1e-10, norm(p) * 3e-12), "\(fixture.name)")
+            #expect(norm(result.state.velocity - v) < max(1e-11, norm(v) * 3e-12), "\(fixture.name)")
+            #expect(result.state.epoch == epoch)
+        }
+    }
+
+    @Test func nonPeriapsisAnalyticEllipseReference() throws {
+        // mu=1, a=2, e=1/2 at eccentric anomaly pi/2. These
+        // Cartesian values and elapsed times follow the conic equations directly.
+        let tree = FrameTree()
+        let initial = try CartesianState(epoch: .j2000, frame: tree.root,
+            position: SIMD3(-1.0,sqrt(3),0), velocity: SIMD3(-1/sqrt(2.0),0,0))
+        let model = try TwoBodyPropagator(initialState: initial, centralBody: .earth,
+            gravitationalParameter: gm(1), options: TwoBodyPropagationOptions(absoluteTimeToleranceSeconds: 1e-13))
+        let periapsisEpoch = try Epoch.j2000.advanced(by: Duration(seconds: -2*sqrt(2.0)*(.pi/2-0.5)))
+        let apoapsisEpoch = try Epoch.j2000.advanced(by: Duration(seconds: 2*sqrt(2.0)*(.pi/2+0.5)))
+        let periapsis = try model.state(at: periapsisEpoch)
+        let apoapsis = try model.state(at: apoapsisEpoch)
+        #expect(norm(periapsis.position-SIMD3(1.0,0,0)) < 1e-11)
+        #expect(norm(periapsis.velocity-SIMD3(0.0,sqrt(1.5),0)) < 1e-11)
+        #expect(norm(apoapsis.position-SIMD3(-3.0,0,0)) < 1e-11)
+        #expect(norm(apoapsis.velocity-SIMD3(0.0,-sqrt(1.0/6),0)) < 1e-11)
+    }
+
+    @Test func conservationAndReversePropagation() throws {
+        for speed in [5000.0, 9000, sqrt(2 * 3.986004418e14 / 7e6), 14000] {
+            let model = try orbit(speed: speed), initial = model.initialState
+            let mu = model.gravitationalParameter.cubicMetresPerSecondSquared
+            let energy = (initial.velocity * initial.velocity).sum()/2 - mu/norm(initial.position)
+            let h = cross(initial.position, initial.velocity)
+            for seconds in [-30000.0, -1000, 0, 1000, 30000] {
+                let epoch = try Epoch.j2000.advanced(by: Duration(seconds: seconds))
+                let state = try model.state(at: epoch)
+                let actualEnergy = (state.velocity * state.velocity).sum()/2 - mu/norm(state.position)
+                #expect(abs(actualEnergy-energy) < 1e-4)
+                #expect(norm(cross(state.position, state.velocity)-h) < norm(h)*2e-11)
+                let reverse = try TwoBodyPropagator(initialState: state, centralBody: .earth,
+                                                     gravitationalParameter: model.gravitationalParameter)
+                let rebuilt = try reverse.state(at: .j2000)
+                #expect(norm(rebuilt.position-initial.position) < 0.003)
+                #expect(norm(rebuilt.velocity-initial.velocity) < 3e-6)
+                let radius = norm(state.position)
+                let acceleration = try #require(state.acceleration)
+                #expect(norm(acceleration + (mu/radius/radius) * (state.position/radius)) < 1e-14)
+            }
+        }
+    }
+
+    @Test func arbitraryInclinedInitialStateAndQueryOrder() throws {
+        let tree = FrameTree(), parameter = try gm(3.986004418e14)
+        let elements = try OsculatingOrbitalElements(epoch: .j2000, frame: tree.root, centralBody: .earth,
+            gravitationalParameter: parameter, semiLatusRectumMetres: 9e6, eccentricity: 0.6,
+            inclination: 1.3, longitudeOfAscendingNode: 2, argumentOfPeriapsis: 0.7, trueAnomaly: -1)
+        let initial = try elements.cartesianState()
+        let model = try TwoBodyPropagator(initialState: initial, centralBody: .earth, gravitationalParameter: parameter)
+        let epochs = try [5000.0, -2000, 0, 100, 5000].map { try Epoch.j2000.advanced(by: Duration(seconds: $0)) }
+        let states = try epochs.map { try model.state(at: $0) }
+        for (epoch, expected) in zip(epochs.reversed(), states.reversed()) {
+            #expect(try model.state(at: epoch) == expected)
+        }
+        let end = states[0]
+        let inverse = try TwoBodyPropagator(initialState: end, centralBody: .earth, gravitationalParameter: parameter)
+        #expect(norm(try inverse.state(at: .j2000).position - initial.position) < 0.001)
+    }
+
+    @Test func multiRevolutionCircularAndZeroTime() throws {
+        let model = try orbit(radius: 1, speed: 1, mu: 1)
+        let epoch = try Epoch.j2000.advanced(by: Duration(seconds: 1000 * 2 * .pi + .pi/2))
+        let state = try model.state(at: epoch)
+        #expect(norm(state.position-SIMD3(0.0,1,0)) < 1e-10)
+        #expect(norm(state.velocity-SIMD3(-1.0,0,0)) < 1e-10)
+        let zero = try model.propagation(at: .j2000)
+        #expect(zero.iterations == 0)
+        #expect(zero.state.position == model.initialState.position)
+        #expect(zero.state.velocity == model.initialState.velocity)
+        #expect(zero.state.acceleration == SIMD3(-1.0,0,0))
+    }
+
+    @Test func explicitFailures() throws {
+        #expect(throws: PropagationError.invalidOptions) { try TwoBodyPropagationOptions(maximumIterations: 0) }
+        let model = try orbit(options: TwoBodyPropagationOptions(maximumIterations: 1))
+        let epoch = try Epoch.j2000.advanced(by: Duration(seconds: 4000))
+        #expect(throws: PropagationError.convergenceFailure(iterations: 1)) { try model.state(at: epoch) }
+        let hyperbolic = try orbit(radius: 1, speed: 2, mu: 1,
+                                  options: TwoBodyPropagationOptions(maximumBracketExpansions: 1))
+        let distant = try Epoch.j2000.advanced(by: Duration(seconds: 1e8))
+        #expect(throws: PropagationError.bracketFailure) { try hyperbolic.state(at: distant) }
+        let tree = FrameTree()
+        let radial = try CartesianState(epoch: .j2000, frame: tree.root,
+                                       position: SIMD3(1.0,0,0), velocity: SIMD3(1.0,0,0))
+        #expect(throws: PropagationError.radialTrajectory) {
+            try TwoBodyPropagator(initialState: radial, centralBody: .earth, gravitationalParameter: gm(1))
+        }
+        let zero = try CartesianState(epoch: .j2000, frame: tree.root, position: .zero, velocity: SIMD3(0.0,1,0))
+        #expect(throws: PropagationError.zeroPosition) {
+            try TwoBodyPropagator(initialState: zero, centralBody: .earth, gravitationalParameter: gm(1))
+        }
+        let rotating = FrameTree(pseudoInertial: false)
+        let rotatingState = try CartesianState(epoch: .j2000, frame: rotating.root,
+            position: SIMD3(1.0,0,0), velocity: SIMD3(0.0,1,0))
+        #expect(throws: PropagationError.nonInertialFrame) {
+            try TwoBodyPropagator(initialState: rotatingState, centralBody: .earth, gravitationalParameter: gm(1))
+        }
+        let compatible = try TwoBodyPropagator(initialState: orbit().initialState, centralBody: .earth,
+            gravitationalParameter: gm(3.986e14, convention: .ttCompatible))
+        _ = try compatible.state(at: .j2000)
+        let circular = try orbit()
+        #expect(throws: PropagationError.incompatibleGMConvention) {
+            try TwoBodyPropagator(initialState: circular.initialState, centralBody: .earth,
+                                  gravitationalParameter: gm(3.986e14, convention: .tdbCompatible))
+        }
+    }
+}
diff --git a/Tests/CelMekTests/UTCTests.swift b/Tests/CelMekTests/UTCTests.swift
new file mode 100644
index 0000000..a6a4a81
--- /dev/null
+++ b/Tests/CelMekTests/UTCTests.swift
@@ -0,0 +1,77 @@
+import Testing
+import CelMek
+
+@Suite struct UTCTests {
+  let table = LeapSecondTable.iersBulletinC72
+  func utc(_ day: Int64, _ second: Double) throws -> UTCDate {
+    try UTCDate(modifiedJulianDay: day, secondOfDay: CelMek.Duration(seconds: second))
+  }
+  @Test func j2000AndKnownTAIReference() throws {
+    let date = try Epoch.j2000.utc(using: table)
+    #expect(date.modifiedJulianDay == 51544)
+    #expect(abs(date.secondOfDay.seconds-43135.816) < 1e-11)
+    let midnight = try Epoch(utc: utc(57754,0), using: table)
+    let tai = try Epoch(julianDate: JulianDateComponents(wholeDay: 2457754,
+      fractionalDay: 0.5+37.0/86400, scale: .tai))
+    #expect(abs(try midnight.duration(since: tai).seconds) < 1e-11)
+  }
+  @Test func allHistoricalPositiveLeapBoundaries() throws {
+    for entry in table.entries.dropFirst() {
+      let day = entry.effectiveModifiedJulianDay
+      #expect(try table.dayLength(on: day-1) == 86401)
+      let before = try Epoch(utc: utc(day-1,86399), using: table)
+      let leap = try Epoch(utc: utc(day-1,86400), using: table)
+      let after = try Epoch(utc: utc(day,0), using: table)
+      #expect(abs(try leap.duration(since: before).seconds-1) < 1e-12)
+      #expect(abs(try after.duration(since: leap).seconds-1) < 1e-12)
+      for second in [86399.0,86400,86400.25,86400.999999] {
+        let original = try utc(day-1,second)
+        let restored = try Epoch(utc: original, using: table).utc(using: table)
+        #expect(restored.modifiedJulianDay == original.modifiedJulianDay)
+        #expect(abs(restored.secondOfDay.seconds-second) < 1e-11)
+      }
+      #expect(try after.utc(using: table).modifiedJulianDay == day)
+    }
+  }
+  @Test func coverageAndInvalidLeapLabels() throws {
+    #expect(throws: UTCError.outsideCoverage) { try Epoch(utc: utc(41316,0), using: table) }
+    #expect(throws: UTCError.outsideCoverage) { try Epoch(utc: utc(61584,0), using: table) }
+    #expect(throws: UTCError.invalidSecondOfDay) { try Epoch(utc: utc(57754,86400), using: table) }
+    #expect(throws: UTCError.invalidSecondOfDay) { try utc(57753,-1) }
+    #expect(throws: UTCError.invalidSecondOfDay) { try utc(57753,86401) }
+    let fineLabel = try UTCDate(modifiedJulianDay: 57753, secondOfDay: CelMek.Duration(wholeSeconds: 86400, fractionalSecond: 0.999999999999999))
+    #expect(fineLabel.secondOfDay.wholeSeconds == 86400)
+    let first = try Epoch(utc: utc(41317,0), using: table)
+    #expect(throws: UTCError.outsideCoverage) { try first.advanced(by: CelMek.Duration(seconds: -0.001)).utc(using: table) }
+    let last = try Epoch(utc: utc(61583,86399.5), using: table)
+    #expect(try last.utc(using: table).modifiedJulianDay == 61583)
+    let end = try Epoch(utc: utc(61583,0), using: table).advanced(by: CelMek.Duration(seconds: 86400))
+    #expect(throws: UTCError.outsideCoverage) { try end.utc(using: table) }
+  }
+  @Test func syntheticNegativeLeapSecond() throws {
+    let negative = try LeapSecondTable(entries: [
+      .init(effectiveModifiedJulianDay: 60000,taiMinusUTC: 37),
+      .init(effectiveModifiedJulianDay: 60002,taiMinusUTC: 36)],
+      validUntilModifiedJulianDay: 60004, version: "synthetic",source: "test")
+    #expect(try negative.dayLength(on: 60001) == 86399)
+    #expect(throws: UTCError.invalidSecondOfDay) { try Epoch(utc: utc(60001,86399), using: negative) }
+    let before = try Epoch(utc: utc(60001,86398.75), using: negative)
+    let after = try Epoch(utc: utc(60002,0), using: negative)
+    #expect(abs(try after.duration(since: before).seconds-0.25) < 1e-12)
+    #expect(try before.utc(using: negative).modifiedJulianDay == 60001)
+    #expect(try after.utc(using: negative).modifiedJulianDay == 60002)
+  }
+  @Test func injectableIERSDataAndValidation() throws {
+    let parsed = try LeapSecondTable(iersData: "# version supplied by caller\n41317.0 1 1 1972 10\n41499.0 1 7 1972 11 # comment",
+      validUntilModifiedJulianDay: 41683, version: "fixture",source: "test")
+    #expect(try parsed.taiMinusUTC(on: 41498) == 10)
+    #expect(try parsed.taiMinusUTC(on: 41499) == 11)
+    #expect(throws: UTCError.invalidTable) {
+      try LeapSecondTable(entries: [.init(effectiveModifiedJulianDay: 41317,taiMinusUTC: 10),
+        .init(effectiveModifiedJulianDay: 41318,taiMinusUTC: 12)],validUntilModifiedJulianDay: 41400,version: "bad",source: "test")
+    }
+    #expect(throws: UTCError.malformedData) {
+      try LeapSecondTable(iersData: "41317.5 1 1 1972 10",validUntilModifiedJulianDay: 41400,version: "bad",source: "test")
+    }
+  }
+}
diff --git a/Tests/CelMekTests/UnpoweredFlybyTests.swift b/Tests/CelMekTests/UnpoweredFlybyTests.swift
new file mode 100644
index 0000000..e58b798
--- /dev/null
+++ b/Tests/CelMekTests/UnpoweredFlybyTests.swift
@@ -0,0 +1,84 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct UnpoweredFlybyTests {
+    let frame = Frame(name: "Body-centred flyby",pseudoInertial: true)
+    func request(incoming: SIMD3<Double> = SIMD3(1,0,0), outgoing: SIMD3<Double> = SIMD3(0,1,0),
+        altitude: Double = 0, tolerance: Double = 1e-12) throws -> FlybyEncounterRequest {
+        try FlybyEncounterRequest(body: .earth,periapsisEpoch: .j2000,frame: frame,
+            gravitationalParameter: GravitationalParameter(cubicMetresPerSecondSquared: 1,convention: .newtonian,
+                provenance: PhysicalDataProvenance(source: "Analytic hyperbola",version: "1")),bodyRadiusMetres: 0.1,
+            minimumPeriapsisAltitudeMetres: altitude,incomingExcessVelocityMetresPerSecond: incoming,
+            outgoingExcessVelocityMetresPerSecond: outgoing,relativeSpeedTolerance: tolerance)
+    }
+    @Test func independentRightAngleHyperbolaAndFiniteStates() throws {
+        let result = try UnpoweredFlyby.solve(request())
+        // mu=vInf=p=1, e=sqrt(2), rp=sqrt(2)-1, vp=sqrt(2)+1.
+        #expect(abs(result.turningAngleRadians - .pi/2) < 1e-14)
+        #expect(abs(result.periapsisRadiusMetres-(sqrt(2)-1)) < 1e-14)
+        #expect(abs(result.eccentricity-sqrt(2)) < 1e-14)
+        #expect(abs(result.periapsisSpeedMetresPerSecond-(sqrt(2)+1)) < 1e-14)
+        #expect(routeNorm(result.orbitalNormal-SIMD3(0,0,1)) < 1e-14)
+        let r = SIMD3<Double>(1,-1,0)/sqrt(2), t = SIMD3<Double>(1,1,0)/sqrt(2)
+        #expect(routeNorm(result.periapsisRadialDirection-r) < 1e-14)
+        #expect(routeNorm(result.periapsisProgradeDirection-t) < 1e-14)
+        // Hyperbolic anomaly at true anomaly pi/3: aMagnitude=1.
+        let f = Double.pi/3, e = sqrt(2.0)
+        let h = 2*atanh(sqrt((e-1)/(e+1))*tan(f/2)), time = e*sinh(h)-h
+        for sign in [-1.0,1.0] {
+            let epoch = try Epoch.j2000.advanced(by: CelMek.Duration(seconds: sign*time))
+            let actual = try result.trajectory.state(at: epoch)
+            let angle = sign*f, radius = 1/(1+e*cos(angle))
+            let expectedPosition = (r*cos(angle)+t*sin(angle))*radius
+            let expectedVelocity = -r*sin(angle)+t*(e+cos(angle))
+            #expect(routeNorm(actual.position-expectedPosition) < 1e-9)
+            #expect(routeNorm(actual.velocity-expectedVelocity) < 1e-9)
+        }
+    }
+    @Test func incomingOutgoingAsymptotesAndCentralVelocityChange() throws {
+        for outgoing in [SIMD3<Double>(0,1,0),SIMD3(0,0,-1)] {
+            let result = try UnpoweredFlyby.solve(request(outgoing: outgoing))
+            for (sign,expected) in [(-1.0,SIMD3<Double>(1,0,0)),(1.0,outgoing)] {
+                let epoch = try Epoch.j2000.advanced(by: CelMek.Duration(seconds: sign*1e6))
+                let actual = try result.trajectory.state(at: epoch)
+                #expect(routeNorm(actual.velocity-expected) < 2e-6)
+                #expect(routeNorm(actual.position) > 1e5)
+            }
+            #expect(abs(routeNorm(result.outgoingExcessVelocityMetresPerSecond)-1) < 1e-14)
+        }
+        let bodyVelocity = SIMD3<Double>(0,2,0)
+        let incomingCentral = bodyVelocity+SIMD3<Double>(1,0,0), outgoingCentral = bodyVelocity+SIMD3<Double>(0,1,0)
+        #expect(abs(routeNorm(incomingCentral)-sqrt(5)) < 1e-14)
+        #expect(routeNorm(outgoingCentral) == 3)
+    }
+    @Test func safetySpeedConservationAndDegenerateRequests() throws {
+        let base = try UnpoweredFlyby.solve(request())
+        let boundary = try UnpoweredFlyby.solve(request(altitude: base.periapsisAltitudeMetres))
+        #expect(boundary.periapsisRadiusMetres == base.periapsisRadiusMetres)
+        #expect(throws: FlybyError.unsafePeriapsis) { try UnpoweredFlyby.solve(request(altitude: 0.4)) }
+        #expect(throws: FlybyError.excessSpeedMismatch) { try UnpoweredFlyby.solve(request(outgoing: SIMD3(0,2,0))) }
+        #expect(throws: FlybyError.degenerateTurn) { try UnpoweredFlyby.solve(request(outgoing: SIMD3(1,0,0))) }
+        #expect(throws: FlybyError.degenerateTurn) { try UnpoweredFlyby.solve(request(outgoing: SIMD3(-1,0,0))) }
+        #expect(throws: FlybyError.invalidVelocity) { try request(incoming: .zero) }
+        #expect(throws: FlybyError.invalidAltitude) { try request(altitude: -1) }
+        let accepted = try UnpoweredFlyby.solve(request(outgoing: SIMD3(0,1+1e-10,0),tolerance: 1e-9))
+        #expect(accepted.outgoingExcessVelocityMetresPerSecond == SIMD3(0,1,0))
+        #expect(accepted.outgoingVelocityResidualMetresPerSecond > 0)
+        #expect(abs(accepted.requestedOutgoingSpeedDifferenceMetresPerSecond-1e-10) < 1e-15)
+    }
+    @Test func smallTurnAndReversalGeometry() throws {
+        let angle = 1e-6
+        let small = try UnpoweredFlyby.solve(request(outgoing: SIMD3(cos(angle),sin(angle),0)))
+        #expect(abs((small.periapsisRadialDirection*small.periapsisProgradeDirection).sum()) < 1e-14)
+        #expect(abs(small.turningAngleRadians-angle) < 1e-14)
+        #expect(abs(small.periapsisRadiusMetres/(1/sin(angle/2)-1)-1) < 1e-12)
+        let first = try UnpoweredFlyby.solve(request())
+        let reversed = try UnpoweredFlyby.solve(request(incoming: SIMD3(0,-1,0),outgoing: SIMD3(-1,0,0)))
+        #expect(routeNorm(reversed.periapsisRadialDirection-first.periapsisRadialDirection) < 1e-14)
+        #expect(routeNorm(reversed.periapsisProgradeDirection+first.periapsisProgradeDirection) < 1e-14)
+        #expect(routeNorm(reversed.orbitalNormal+first.orbitalNormal) < 1e-14)
+    }
+}
diff --git a/Tests/CelMekTests/VSOP87DerivativeTests.swift b/Tests/CelMekTests/VSOP87DerivativeTests.swift
new file mode 100644
index 0000000..18152cc
--- /dev/null
+++ b/Tests/CelMekTests/VSOP87DerivativeTests.swift
@@ -0,0 +1,58 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Testing
+@testable import CelMek
+
+@Suite
+struct VSOP87DerivativeTests {
+  @Test
+  func independentLinearComponents() {
+    let body = vsop87_body(body: .vsop87_earth,
+                           tx: [[], [(2, 0, 0)]],
+                           ty: [[], [(5, 0, 0)]],
+                           tz: [[], [(-3, 0, 0)]])
+    let (_, velocity, _, _) = body.position(jd: 2451545)
+    for (component, slope) in [2.0, 5, -3].enumerated() {
+      #expect(abs(velocity[component] - slope / 365250) < 1e-18)
+    }
+  }
+
+  @Test(arguments: [-0.5, 0.0, 0.25], [1, 2, 3, 4, 5])
+  func polynomialAndPeriodicDerivatives(t: Double, order: Int) {
+    // p(t) = 3tⁿ cos(0.4 + 2t), independently differentiated below.
+    var terms = [[(Double, Double, Double)]](repeating: [], count: order + 1)
+    terms[order] = [(3, 0.4, 2)]
+    let body = vsop87_body(body: .vsop87_earth, tx: [], ty: terms, tz: terms)
+    let jd = 2451545 + t * 365250
+    let (position, velocity, _, _) = body.position(jd: jd)
+    let argument = 0.4 + 2 * t
+    let expectedPosition = 3 * pow(t, Double(order)) * cos(argument)
+    let expectedVelocity = (3 * Double(order) * pow(t, Double(order - 1)) * cos(argument)
+                            - 6 * pow(t, Double(order)) * sin(argument)) / 365250
+    #expect(position.x == 0)
+    #expect(velocity.x == 0)
+    for component in 1..<3 {
+      #expect(abs(position[component] - expectedPosition) < 1e-14)
+      #expect(abs(velocity[component] - expectedVelocity) < 1e-18)
+    }
+  }
+
+  @Test(arguments: [2451545.0, 2415020.0, 2488070.0])
+  func allBodyVelocitiesMatchPositionDifferences(jd: Double) {
+    let bodies = [sun, mercury, venus, earth, mars, jupiter, saturn, uranus, neptune]
+    let step = 0.001
+    // Use the actual representable JD interval in the denominator.
+    let beforeDate = jd - step
+    let afterDate = jd + step
+    for body in bodies {
+      let (before, _, _, _) = body.position(jd: beforeDate)
+      let (after, _, _, _) = body.position(jd: afterDate)
+      let (_, velocity, _, identifier) = body.position(jd: jd)
+      let difference = (after - before) / (afterDate - beforeDate)
+      for component in 0..<3 {
+        #expect(abs(velocity[component] - difference[component]) < 1e-9,
+                "Body \(identifier), component \(component), JD \(jd)")
+      }
+    }
+  }
+}
diff --git a/Tests/CelMekTests/VariableFuelAndRearmingTests.swift b/Tests/CelMekTests/VariableFuelAndRearmingTests.swift
new file mode 100644
index 0000000..da44952
--- /dev/null
+++ b/Tests/CelMekTests/VariableFuelAndRearmingTests.swift
@@ -0,0 +1,104 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct VariableFuelAndRearmingTests {
+    private let frame = Frame(name: "Variable fuel axes", pseudoInertial: true)
+    private func epoch(_ t: Double) throws -> Epoch { try Epoch.j2000.advanced(by: Duration(seconds: t)) }
+    private func seed(fuel: Double = 10) throws -> SpacecraftState {
+        SpacecraftState(cartesian: try CartesianState(epoch: .j2000, frame: frame, position: .zero, velocity: .zero),
+            mass: try SpacecraftMassProperties(dryMassKilograms: 90, propellantMassKilograms: fuel))
+    }
+    private func options() throws -> NumericalPropagationOptions {
+        try NumericalPropagationOptions(absolutePositionToleranceMetres: 1e-9,
+            absoluteVelocityToleranceMetresPerSecond: 1e-10, absolutePropellantToleranceKilograms: 1e-11,
+            relativeTolerance: 1e-12, initialStepSeconds: 0.1, minimumStepSeconds: 1e-9, maximumStepSeconds: 1)
+    }
+    @Test func variableFlowAnalyticDepletionAndCoast() throws {
+        let engine = try VariableThrust(frame: frame) { state, _ in
+            let t = try state.epoch.duration(since: .j2000).seconds
+            return try FiniteThrust(frame: frame, thrustNewtons: 10*(1+t),
+                effectiveExhaustVelocityMetresPerSecond: 100, direction: SIMD3(1,0,0))
+        }
+        let dynamics = try SpacecraftDynamics(models: [engine], context: ForceEvaluationContext(frame: frame, origin: .earth))
+        let provider = try FuelLimitedNumericalPropagator(initialState: seed(), dynamics: dynamics,
+            numericalOptions: options(), eventOptions: PropagationEventOptions(timeToleranceSeconds: 1e-8))
+        let result = try provider.propagation(at: epoch(20))
+        let exhaustion = sqrt(201.0)-1
+        let measured = try #require(result.depletionEpoch).duration(since: .j2000).seconds
+        #expect(abs(measured-exhaustion) < 2e-8)
+        #expect(try #require(result.depletionBracketSeconds) <= 1e-8)
+        #expect(result.state.mass.propellantMassKilograms == 0)
+        #expect(abs(result.state.cartesian.velocity.x-100*log(100.0/90)) < 1e-7)
+        // Independent Simpson quadrature of analytic v(t)=ve*ln(m0/m(t)).
+        let n = 2000, h = exhaustion/Double(n)
+        var sum = 0.0
+        for i in 0...n {
+            let t = Double(i)*h, mass = 100-0.1*(t+t*t/2)
+            sum += (i == 0 || i == n ? 1 : i % 2 == 0 ? 2 : 4)*100*log(100/mass)
+        }
+        let expectedPosition = sum*h/3 + (20-exhaustion)*100*log(100.0/90)
+        #expect(abs(result.state.cartesian.position.x-expectedPosition) < 2e-6)
+        #expect(result.state.cartesian.acceleration == .zero)
+        #expect(try provider.propagation(at: epoch(20)).state == result.state)
+        let before = try provider.propagation(at: epoch(5))
+        #expect(before.depletionEpoch == nil)
+        #expect(abs(before.state.mass.propellantMassKilograms-8.25) < 1e-9)
+        let limited = try FuelLimitedNumericalPropagator(initialState: seed(), dynamics: dynamics,
+            numericalOptions: options(), eventOptions: PropagationEventOptions(maximumStateEvaluations: 1))
+        #expect(throws: PropagationEventError.evaluationLimitExceeded) { try limited.propagation(at: epoch(20)) }
+    }
+    private struct Recurring: PropagationEventDetector {
+        let identifier = "periodic"
+        let direction: EventCrossingDirection = .any
+        let action: PropagationEventAction = .record
+        func value(at state: SpacecraftState) throws -> Double {
+            let t = try state.epoch.duration(since: .j2000).seconds
+            return sin(Double.pi*(t-0.25))
+        }
+    }
+    @Test func recurringRootsRearmAfterLeavingBand() throws {
+        let dynamics = try SpacecraftDynamics(models: [], context: ForceEvaluationContext(frame: frame, origin: .earth))
+        let provider = try EventDrivenNumericalPropagator(initialState: seed(), dynamics: dynamics, detectors: [Recurring()],
+            eventOptions: PropagationEventOptions(maximumCheckIntervalSeconds: 0.1, timeToleranceSeconds: 1e-9),
+            rearmingThresholds: ["periodic": 0.05])
+        let result = try provider.propagation(at: epoch(3.5))
+        #expect(result.events.count == 4)
+        for (i,event) in result.events.enumerated() {
+            #expect(try abs(event.state.epoch.duration(since: epoch(Double(i)+0.25)).seconds) < 1e-8)
+        }
+        let reverse = try EventDrivenNumericalPropagator(initialState: result.state, dynamics: dynamics, detectors: [Recurring()],
+            eventOptions: PropagationEventOptions(maximumCheckIntervalSeconds: 0.1), rearmingThresholds: ["periodic": 0.05])
+            .propagation(at: .j2000)
+        #expect(reverse.events.count == 4)
+        let once = try EventDrivenNumericalPropagator(initialState: seed(), dynamics: dynamics, detectors: [Recurring()])
+            .propagation(at: epoch(0.5))
+        #expect(once.events.count == 1)
+        let bounded = try EventDrivenNumericalPropagator(initialState: seed(), dynamics: dynamics, detectors: [Recurring()],
+            eventOptions: PropagationEventOptions(maximumCheckIntervalSeconds: 0.1, maximumEvents: 2),
+            rearmingThresholds: ["periodic": 0.05])
+        #expect(throws: PropagationEventError.eventLimitExceeded) { try bounded.propagation(at: epoch(3.5)) }
+    }
+    private struct UnclassifiedConsumption: ForceModel {
+        func contribution(for state: SpacecraftState, in context: ForceEvaluationContext) throws -> ForceContribution {
+            try ForceContribution(epoch: state.epoch, frame: state.frame, accelerationMetresPerSecondSquared: .zero,
+                propellantMassRateKilogramsPerSecond: -1)
+        }
+    }
+    @Test func unsupportedFlowAndInvalidRearming() throws {
+        let dynamics = try SpacecraftDynamics(models: [UnclassifiedConsumption()], context: ForceEvaluationContext(frame: frame, origin: .earth))
+        #expect(throws: FuelBoundaryError.unsupportedMassFlow) {
+            try FuelLimitedNumericalPropagator(initialState: seed(), dynamics: dynamics).propagation(at: epoch(20))
+        }
+        #expect(throws: PropagationEventError.invalidOptions) {
+            try EventDrivenNumericalPropagator(initialState: seed(), dynamics: dynamics, detectors: [Recurring()],
+                rearmingThresholds: ["periodic": 0])
+        }
+        let empty = try FuelLimitedNumericalPropagator(initialState: seed(fuel: 0),
+            dynamics: SpacecraftDynamics(models: [], context: ForceEvaluationContext(frame: frame, origin: .earth)))
+            .propagation(at: epoch(10))
+        #expect(empty.state.mass.propellantMassKilograms == 0 && empty.state.cartesian.velocity == .zero)
+    }
+}
diff --git a/Tests/CelMekTests/WaypointArrivalTimingTests.swift b/Tests/CelMekTests/WaypointArrivalTimingTests.swift
new file mode 100644
index 0000000..67485aa
--- /dev/null
+++ b/Tests/CelMekTests/WaypointArrivalTimingTests.swift
@@ -0,0 +1,73 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct WaypointArrivalTimingTests {
+    let frame = Frame(name: "Arrival timing", pseudoInertial: true)
+    func epoch(_ seconds: Double) throws -> Epoch { try Epoch.j2000.advanced(by: Duration(seconds: seconds)) }
+    func route(_ waypoints: [BrachistochroneWaypoint]) throws -> WaypointBrachistochroneRoute {
+        try WaypointBrachistochroneRoute(departureEpoch: .j2000, frame: frame, origin: .sun,
+            waypoints: waypoints, legAccelerationsMetresPerSecondSquared: Array(repeating: 1, count: waypoints.count-1))
+    }
+    @Test func exactArrivalAndEndpointDwellUsePhysicalEpochs() throws {
+        let target = try epoch(20.125)
+        let plan = try route([
+            BrachistochroneWaypoint(positionMetres: .zero, dwellDuration: Duration(seconds: 2)),
+            BrachistochroneWaypoint(positionMetres: SIMD3(4,0,0), arrivalEpoch: target, dwellDuration: Duration(seconds: 3))
+        ])
+        #expect(plan.arrivalEpoch == target)
+        #expect(try plan.completionEpoch == target.advanced(by: Duration(seconds: 3)))
+        #expect(plan.legs[0].duration.seconds == 18.125)
+        let middle = try plan.legs[0].departureEpoch.advanced(by: Duration(seconds: 18.125/2))
+        let state = try plan.state(at: middle)
+        #expect(abs(state.position.x-2) < 1e-12)
+        #expect(abs(state.velocity.x-6/18.125) < 1e-12)
+        let initialAcceleration = try #require(plan.legs[0].state(at: plan.legs[0].departureEpoch).acceleration)
+        #expect(abs(initialAcceleration.x-24/(18.125*18.125)) < 1e-12)
+    }
+    @Test func windowsRetimingAndIndependentEngineTimeline() throws {
+        let passageWindow = try epoch(15)...epoch(20)
+        let arrivalWindow = try epoch(30)...epoch(40)
+        let plan = try route([
+            BrachistochroneWaypoint(positionMetres: .zero),
+            BrachistochroneWaypoint(positionMetres: SIMD3(4,0,0), arrivalWindow: passageWindow),
+            BrachistochroneWaypoint(positionMetres: SIMD3(8,0,0), arrivalWindow: arrivalWindow)
+        ])
+        #expect(passageWindow.contains(plan.waypointArrivalEpochs[1]))
+        #expect(arrivalWindow.contains(plan.arrivalEpoch))
+        #expect(try abs(plan.waypointArrivalEpochs[1].duration(since: .j2000).seconds-15) < 1e-12)
+        #expect(plan.waypointVelocitiesMetresPerSecond[1].x > 0)
+        #expect(try plan.legs[0].state(at: plan.waypointArrivalEpochs[1]).velocity == plan.legs[1].state(at: plan.waypointArrivalEpochs[1]).velocity)
+        let limits = try WaypointRouteEngineLimits(maximumAccelerationMetresPerSecondSquared: 0.3*9.80665,
+            maximumThrustNewtons: 10_000, effectiveExhaustVelocityMetresPerSecond: 100)
+        let phase = try WaypointRouteEnginePhase(startEpoch: epoch(5), endEpoch: epoch(25), limits: limits)
+        let execution = try WaypointRoutePropagator(route: plan,
+            initialMass: SpacecraftMassProperties(dryMassKilograms: 50, propellantMassKilograms: 50),
+            backgroundDynamics: SpacecraftDynamics(models: [], context: ForceEvaluationContext(frame: frame, origin: .sun)),
+            legEngineLimits: [limits, limits], timedEnginePhases: [phase], numericalOptions: .preset(for: .full))
+        let result = try execution.propagation(at: plan.arrivalEpoch)
+        #expect(result.segments.count == 4)
+        #expect(result.checkpoints[0].state.cartesian.velocity.x > 0)
+        #expect(result.checkpoints[0].state.mass == result.segments[2].initialState.mass)
+        #expect(result.checkpoints.allSatisfy { $0.positionErrorMetres < 1e-8 && $0.velocityErrorMetresPerSecond < 1e-8 })
+    }
+    @Test func incompatibleWindowsAreFailureOfUniformRetiming() throws {
+        #expect(throws: BrachistochroneRouteError.uniformRetimingUnavailable) {
+            try route([
+                BrachistochroneWaypoint(positionMetres: .zero),
+                BrachistochroneWaypoint(positionMetres: SIMD3(4,0,0), arrivalEpoch: epoch(20)),
+                BrachistochroneWaypoint(positionMetres: SIMD3(8,0,0), arrivalEpoch: epoch(21))
+            ])
+        }
+        #expect(throws: BrachistochroneRouteError.uniformRetimingUnavailable) {
+            try route([BrachistochroneWaypoint(positionMetres: .zero),
+                BrachistochroneWaypoint(positionMetres: SIMD3(4,0,0), arrivalEpoch: epoch(0.01))])
+        }
+        #expect(throws: BrachistochroneRouteError.departureOutsideArrivalWindow) {
+            try route([BrachistochroneWaypoint(positionMetres: .zero, arrivalEpoch: epoch(1)),
+                BrachistochroneWaypoint(positionMetres: SIMD3(4,0,0))])
+        }
+    }
+}
diff --git a/Tests/CelMekTests/WaypointBrachistochroneTests.swift b/Tests/CelMekTests/WaypointBrachistochroneTests.swift
new file mode 100644
index 0000000..ac90ef8
--- /dev/null
+++ b/Tests/CelMekTests/WaypointBrachistochroneTests.swift
@@ -0,0 +1,96 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct WaypointBrachistochroneTests {
+    private let frame = Frame(name: "Route axes", pseudoInertial: true)
+    private func waypoint(_ p: SIMD3<Double>, dwell: Double = 0) throws -> BrachistochroneWaypoint {
+        try BrachistochroneWaypoint(positionMetres: p, dwellDuration: Duration(seconds: dwell))
+    }
+    private func norm(_ p: SIMD3<Double>) -> Double { hypot(hypot(p.x,p.y),p.z) }
+    private func obstacle(radius: Double = 2, margin: Double = 1) throws -> SphericalExclusionRegion {
+        try SphericalExclusionRegion(identifier: "Sun", frame: frame, origin: .sun, centreMetres: .zero,
+            radiusMetres: radius, safetyMarginMetres: margin)
+    }
+    @Test func flyThroughVelocityContinuityAndIndependentLegLimits() throws {
+        let route = try WaypointBrachistochroneRoute(departureEpoch: .j2000, frame: frame, origin: .sun,
+            waypoints: [waypoint(.zero),waypoint(SIMD3(100,0,0)),waypoint(SIMD3(100,25,0))],
+            legAccelerationsMetresPerSecondSquared: [4,0.25])
+        let boundary = route.waypointArrivalEpochs[1]
+        let incoming = try route.legs[0].state(at: boundary), outgoing = try route.legs[1].state(at: boundary)
+        #expect(incoming.position == SIMD3(100,0,0) && outgoing.position == incoming.position)
+        #expect(incoming.velocity == outgoing.velocity && norm(incoming.velocity) > 0)
+        #expect(try route.state(at: boundary).velocity == incoming.velocity)
+        for leg in route.legs {
+            for fraction in [0.0,0.2,0.5,0.8,1] {
+                let time = try leg.departureEpoch.advanced(by: Duration(seconds: fraction*leg.duration.seconds))
+                let acceleration = try #require(leg.state(at: time).acceleration)
+                #expect(norm(acceleration) <= leg.maximumAccelerationMetresPerSecondSquared*(1+1e-12))
+            }
+        }
+        #expect(try route.state(at: route.departureEpoch).velocity == .zero)
+        #expect(try route.state(at: route.completionEpoch).velocity == .zero)
+        #expect(try route.phase(at: boundary) == .leg(index: 1))
+        #expect(try route.state(at: boundary) == route.state(at: boundary))
+    }
+    @Test func solarAvoidanceAndContinuousCurveCollision() throws {
+        let points = try [waypoint(SIMD3(-10,0,0)),waypoint(SIMD3(0,10,0)),waypoint(SIMD3(10,0,0))]
+        let route = try WaypointBrachistochroneRoute(departureEpoch: .j2000, frame: frame, origin: .sun,
+            waypoints: points, legAccelerationsMetresPerSecondSquared: [1,0.25], obstacles: [obstacle()])
+        #expect(route.clearances.count == 2)
+        #expect(route.clearances.allSatisfy { $0.minimumClearanceMetres > 0 })
+        #expect(norm(route.waypointVelocitiesMetresPerSecond[1]) > 0)
+        #expect(throws: BrachistochroneRouteError.obstructedLeg(index: 0, obstacle: "Sun")) {
+            try WaypointBrachistochroneRoute(departureEpoch: .j2000, frame: frame, origin: .sun,
+                waypoints: [points[0],points[2]], legAccelerationsMetresPerSecondSquared: [1], obstacles: [obstacle()])
+        }
+        // The Hermite curve bends away from the straight chord: place an obstacle
+        // on its interior, while both endpoint positions remain outside.
+        let unblocked = try WaypointBrachistochroneRoute(departureEpoch: .j2000, frame: frame, origin: .sun,
+            waypoints: points, legAccelerationsMetresPerSecondSquared: [1,0.25])
+        let leg = unblocked.legs[0]
+        let middle = try leg.state(at: leg.departureEpoch.advanced(by: Duration(seconds: leg.duration.seconds/2))).position
+        let blocker = try SphericalExclusionRegion(identifier: "curve", frame: frame, origin: .sun,
+            centreMetres: middle, radiusMetres: 0.01)
+        #expect(norm(middle-points[0].positionMetres) > 0.01 && norm(middle-points[1].positionMetres) > 0.01)
+        #expect(throws: BrachistochroneRouteError.obstructedLeg(index: 0, obstacle: "curve")) {
+            try WaypointBrachistochroneRoute(departureEpoch: .j2000, frame: frame, origin: .sun,
+                waypoints: points, legAccelerationsMetresPerSecondSquared: [1,0.25], obstacles: [blocker])
+        }
+    }
+    @Test func independentCubicReferenceAndEndpointDwell() throws {
+        let route = try WaypointBrachistochroneRoute(departureEpoch: .j2000, frame: frame, origin: .sun,
+            waypoints: [waypoint(.zero,dwell: 2),waypoint(SIMD3(4,0,0),dwell: 3)], legAccelerationsMetresPerSecondSquared: [1])
+        let leg = route.legs[0], t = leg.duration.seconds
+        // With endpoint velocities zero: x=4*(3u²-2u³), v=24*u*(1-u)/T.
+        let u = 0.25
+        let sample = try leg.state(at: leg.departureEpoch.advanced(by: Duration(seconds: u*t)))
+        #expect(abs(sample.position.x-4*(3*u*u-2*u*u*u)) < 1e-13)
+        #expect(abs(sample.velocity.x-24*u*(1-u)/t) < 1e-13)
+        #expect(try route.phase(at: .j2000) == .dwelling(waypointIndex: 0))
+        #expect(try route.phase(at: route.arrivalEpoch) == .dwelling(waypointIndex: 1))
+        #expect(try route.phase(at: route.completionEpoch) == .arrived)
+    }
+    @Test func invalidInputsAndIntermediateStopsRejected() throws {
+        #expect(throws: BrachistochroneRouteError.invalidDwell) { try waypoint(.zero,dwell: -1) }
+        let points = try [waypoint(SIMD3(10,0,0)),waypoint(SIMD3(20,0,0))]
+        #expect(throws: BrachistochroneRouteError.legCountMismatch) {
+            try WaypointBrachistochroneRoute(departureEpoch: .j2000, frame: frame, origin: .sun,
+                waypoints: points, legAccelerationsMetresPerSecondSquared: [])
+        }
+        #expect(throws: BrachistochroneRouteError.originMismatch) {
+            try WaypointBrachistochroneRoute(departureEpoch: .j2000, frame: frame, origin: .earth,
+                waypoints: points, legAccelerationsMetresPerSecondSquared: [1], obstacles: [obstacle()])
+        }
+        #expect(throws: BrachistochroneRouteError.unsupportedWaypointDwell) {
+            try WaypointBrachistochroneRoute(departureEpoch: .j2000, frame: frame, origin: .sun,
+                waypoints: [points[0],waypoint(SIMD3(15,0,0),dwell: 1),points[1]], legAccelerationsMetresPerSecondSquared: [1,1])
+        }
+        #expect(throws: BrachistochroneRouteError.degeneratePassage(index: 1)) {
+            try WaypointBrachistochroneRoute(departureEpoch: .j2000, frame: frame, origin: .sun,
+                waypoints: [points[0],points[1],points[0]], legAccelerationsMetresPerSecondSquared: [1,1])
+        }
+    }
+}
diff --git a/Tests/CelMekTests/WaypointRoutePropagationTests.swift b/Tests/CelMekTests/WaypointRoutePropagationTests.swift
new file mode 100644
index 0000000..b38f94f
--- /dev/null
+++ b/Tests/CelMekTests/WaypointRoutePropagationTests.swift
@@ -0,0 +1,110 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct WaypointRoutePropagationTests {
+    let frame = Frame(name: "Execution", pseudoInertial: true)
+    func route(_ points: [SIMD3<Double>]) throws -> WaypointBrachistochroneRoute {
+        try WaypointBrachistochroneRoute(departureEpoch: .j2000, frame: frame, origin: .sun,
+            waypoints: points.map { try BrachistochroneWaypoint(positionMetres: $0) },
+            legAccelerationsMetresPerSecondSquared: Array(repeating: 1, count: points.count-1))
+    }
+    func limits(_ acceleration: Double = 100, thrust: Double = 10_000) throws -> WaypointRouteEngineLimits {
+        try WaypointRouteEngineLimits(maximumAccelerationMetresPerSecondSquared: acceleration,
+            maximumThrustNewtons: thrust, effectiveExhaustVelocityMetresPerSecond: 100)
+    }
+    @Test func analyticFuelAndFlyThroughContinuity() throws {
+        let plan = try route([.zero, SIMD3(4,0,0)])
+        let background = try SpacecraftDynamics(models: [], context: ForceEvaluationContext(frame: frame, origin: .sun))
+        let mass = try SpacecraftMassProperties(dryMassKilograms: 50, propellantMassKilograms: 50)
+        let execution = try WaypointRoutePropagator(route: plan, initialMass: mass, backgroundDynamics: background,
+            legEngineLimits: [limits()], numericalOptions: .preset(for: .full))
+        let result = try execution.propagation(at: plan.arrivalEpoch)
+        // Cubic rest-to-rest speed peaks at 1.5*d/T; total |a| integral is 3*d/T.
+        let expectedMass = 100*exp(-12/plan.duration.seconds/100)
+        #expect(abs(result.state.mass.totalMassKilograms-expectedMass) < 1e-7)
+        #expect(result.checkpoints.count == 1)
+        #expect(result.checkpoints[0].positionErrorMetres < 1e-9)
+        #expect(result.checkpoints[0].velocityErrorMetresPerSecond < 1e-9)
+
+        let flyThrough = try route([.zero, SIMD3(4,0,0), SIMD3(8,2,0)])
+        let multiple = try WaypointRoutePropagator(route: flyThrough, initialMass: mass,
+            backgroundDynamics: background, legEngineLimits: [limits(), limits()], numericalOptions: .preset(for: .full))
+        let boundary = try multiple.spacecraftState(at: flyThrough.legs[0].arrivalEpoch)
+        let completed = try multiple.propagation(at: flyThrough.arrivalEpoch)
+        #expect(boundary.cartesian.velocity.x > 0)
+        #expect(boundary.mass == completed.checkpoints[0].state.mass)
+        #expect(completed.state.mass.propellantMassKilograms < boundary.mass.propellantMassKilograms)
+        #expect(completed.checkpoints.count == 2)
+        #expect(try multiple.spacecraftState(at: flyThrough.arrivalEpoch) == completed.state)
+    }
+    @Test func compensationAndExplicitFailures() throws {
+        let plan = try route([SIMD3(10,0,0), SIMD3(14,0,0)])
+        let context = try ForceEvaluationContext(frame: frame, origin: .sun)
+        let mass = try SpacecraftMassProperties(dryMassKilograms: 50, propellantMassKilograms: 50)
+        let empty = try SpacecraftDynamics(models: [], context: context)
+        let environment = try SpacecraftDynamics(models: [ConstantAcceleration()], context: context)
+        let execution = try WaypointRoutePropagator(route: plan, initialMass: mass, backgroundDynamics: environment,
+            legEngineLimits: [limits()], numericalOptions: .preset(for: .full))
+        let result = try execution.propagation(at: plan.arrivalEpoch)
+        #expect(result.checkpoints[0].positionErrorMetres < 1e-9)
+        // Environment is +2 m/s²; cubic |a| < 1, so compensation is always negative.
+        // Integral |a-2| dt = 2*T since endpoint velocities are equal.
+        #expect(abs(result.state.mass.totalMassKilograms-100*exp(-2*plan.duration.seconds/100)) < 1e-7)
+        #expect(throws: WaypointRoutePropagationError.accelerationLimitExceeded(leg: 0)) {
+            try WaypointRoutePropagator(route: plan, initialMass: mass, backgroundDynamics: environment,
+                legEngineLimits: [limits(0.01)]).spacecraftState(at: plan.arrivalEpoch)
+        }
+        #expect(throws: WaypointRoutePropagationError.thrustLimitExceeded(leg: 0)) {
+            try WaypointRoutePropagator(route: plan, initialMass: mass, backgroundDynamics: empty,
+                legEngineLimits: [limits(thrust: 0.01)]).spacecraftState(at: plan.arrivalEpoch)
+        }
+        #expect(throws: NumericalPropagationError.propellantDepleted) {
+            try WaypointRoutePropagator(route: plan, initialMass: SpacecraftMassProperties(dryMassKilograms: 50),
+                backgroundDynamics: empty, legEngineLimits: [limits()]).spacecraftState(at: plan.departureEpoch)
+        }
+        #expect(throws: WaypointRoutePropagationError.backgroundMassFlow) {
+            let inflow = try SpacecraftDynamics(models: [ConstantAcceleration(massRate: 1)], context: context)
+            _ = try WaypointRoutePropagator(route: plan, initialMass: mass, backgroundDynamics: inflow,
+                legEngineLimits: [limits()]).spacecraftState(at: plan.arrivalEpoch)
+        }
+    }
+    @Test func centralGravityFuelAgainstIndependentQuadrature() throws {
+        let plan = try route([SIMD3(10,0,0), SIMD3(14,0,0)])
+        let gravity = try CentralGravity(body: .sun, gravitationalParameter: GravitationalParameter(
+            cubicMetresPerSecondSquared: 1000, convention: .newtonian,
+            provenance: PhysicalDataProvenance(source: "Synthetic test GM", version: "1")))
+        let background = try SpacecraftDynamics(models: [gravity],
+            context: ForceEvaluationContext(frame: frame, origin: .sun))
+        let execution = try WaypointRoutePropagator(route: plan,
+            initialMass: SpacecraftMassProperties(dryMassKilograms: 50, propellantMassKilograms: 50),
+            backgroundDynamics: background, legEngineLimits: [limits()], numericalOptions: NumericalPropagationOptions(
+                absolutePositionToleranceMetres: 1e-8, absoluteVelocityToleranceMetresPerSecond: 1e-10,
+                absolutePropellantToleranceKilograms: 1e-11, relativeTolerance: 1e-11,
+                initialStepSeconds: 0.01, maximumStepSeconds: 0.1))
+        let result = try execution.propagation(at: plan.arrivalEpoch)
+        // Gravity dominates cubic acceleration throughout, so |a_thrust| = a_ref + GM/r².
+        // Integral a_ref dt = 0. Independently integrate GM/r² with Simpson's rule.
+        let count = 10_000
+        var integral = 0.0
+        for i in 0...count {
+            let u = Double(i)/Double(count)
+            let radius = 10+4*(3*u*u-2*u*u*u)
+            let weight = i == 0 || i == count ? 1.0 : (i.isMultiple(of: 2) ? 2 : 4)
+            integral += weight*1000/(radius*radius)
+        }
+        integral *= plan.duration.seconds/(3*Double(count))
+        #expect(abs(result.state.mass.totalMassKilograms-100*exp(-integral/100)) < 1e-7)
+        #expect(result.checkpoints[0].positionErrorMetres < 1e-9)
+        #expect(result.checkpoints[0].velocityErrorMetresPerSecond < 1e-9)
+    }
+    private struct ConstantAcceleration: ForceModel {
+        var massRate = 0.0
+        func contribution(for state: SpacecraftState, in context: ForceEvaluationContext) throws -> ForceContribution {
+            try ForceContribution(epoch: state.epoch, frame: state.frame,
+                accelerationMetresPerSecondSquared: SIMD3(2,0,0), propellantMassRateKilogramsPerSecond: massRate)
+        }
+    }
+}
diff --git a/Tests/CelMekTests/WaypointTimingCandidateTests.swift b/Tests/CelMekTests/WaypointTimingCandidateTests.swift
new file mode 100644
index 0000000..3921b6c
--- /dev/null
+++ b/Tests/CelMekTests/WaypointTimingCandidateTests.swift
@@ -0,0 +1,61 @@
+// SPDX-License-Identifier: Apache-2.0
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct WaypointTimingCandidateTests {
+    let frame = Frame(name: "Generated timings", pseudoInertial: true)
+    func epoch(_ seconds: Double) throws -> Epoch { try Epoch.j2000.advanced(by: Duration(seconds: seconds)) }
+    func limits(_ acceleration: Double) throws -> WaypointRouteEngineLimits {
+        try WaypointRouteEngineLimits(maximumAccelerationMetresPerSecondSquared: acceleration,
+            maximumThrustNewtons: 1000, effectiveExhaustVelocityMetresPerSecond: 100)
+    }
+    @Test func fractionalGridIncludesOffGridPhaseBoundariesAndExactWindows() throws {
+        let phase = try WaypointRouteEnginePhase(startEpoch: epoch(10.375), endEpoch: epoch(11.5), limits: limits(1))
+        let windows = try [epoch(10.125)...epoch(12), epoch(50.25)...epoch(50.25)]
+        let generated = try WaypointRouteTimingPlanner.arrivalCandidates(in: windows, spacing: Duration(seconds: 1),
+            including: [phase, phase])
+        #expect(try generated[0] == [epoch(10.125), epoch(10.375), epoch(11.125), epoch(11.5), epoch(12)])
+        #expect(try generated[1] == [epoch(50.25)])
+    }
+    @Test func generatedCandidatesFindNonuniformFeasibleRoute() throws {
+        let window = try epoch(10)...epoch(20), arrival = try epoch(50)
+        let phase = try WaypointRouteEnginePhase(startEpoch: .j2000, endEpoch: epoch(15), limits: limits(0.1))
+        let candidates = try WaypointRouteTimingPlanner.arrivalCandidates(in: [window, arrival...arrival],
+            spacing: Duration(seconds: 10), including: [phase])
+        #expect(try candidates[0] == [epoch(10), epoch(15), epoch(20)])
+        let result = try WaypointRouteTimingPlanner.search(departureEpoch: .j2000, frame: frame, origin: .sun,
+            waypoints: [BrachistochroneWaypoint(positionMetres: .zero),
+                BrachistochroneWaypoint(positionMetres: SIMD3(4,0,0), arrivalWindow: window),
+                BrachistochroneWaypoint(positionMetres: SIMD3(8,0,0), arrivalEpoch: arrival)],
+            legAccelerationsMetresPerSecondSquared: [1,1], candidateArrivalEpochs: candidates,
+            initialMass: SpacecraftMassProperties(dryMassKilograms: 50, propellantMassKilograms: 50),
+            backgroundDynamics: SpacecraftDynamics(models: [], context: ForceEvaluationContext(frame: frame, origin: .sun)),
+            legEngineLimits: [limits(1), limits(1)], timedEnginePhases: [phase], numericalOptions: .preset(for: .full))
+        #expect(result.status == .feasible)
+        #expect(result.evaluatedCandidates == 2)
+        let route = try #require(result.route)
+        #expect(try route.waypointArrivalEpochs[1] == epoch(15))
+        #expect(route.legs.map { $0.duration.seconds } == [15,35])
+        let propagation = try #require(result.propagation)
+        #expect(propagation.checkpoints[0].state.cartesian.velocity.x > 0)
+    }
+    @Test func spacingAndGenerationBudgetsAreExplicit() throws {
+        let window = try epoch(0)...epoch(1_000_000)
+        #expect(throws: WaypointTimingSearchError.candidateGenerationLimitExceeded) {
+            try WaypointRouteTimingPlanner.arrivalCandidates(in: [window], spacing: Duration(seconds: 1),
+                maximumTotalCandidates: 3)
+        }
+        #expect(throws: WaypointTimingSearchError.invalidCandidateSpacing) {
+            try WaypointRouteTimingPlanner.arrivalCandidates(in: [window], spacing: .zero)
+        }
+        #expect(throws: WaypointTimingSearchError.invalidCandidates) {
+            try WaypointRouteTimingPlanner.arrivalCandidates(in: [], spacing: Duration(seconds: 1))
+        }
+        let single = try epoch(2)...epoch(2)
+        #expect(throws: WaypointTimingSearchError.candidateGenerationLimitExceeded) {
+            try WaypointRouteTimingPlanner.arrivalCandidates(in: [single, single], spacing: Duration(seconds: 1),
+                maximumTotalCandidates: 1)
+        }
+    }
+}
diff --git a/Tests/CelMekTests/WaypointTimingOptimizationTests.swift b/Tests/CelMekTests/WaypointTimingOptimizationTests.swift
new file mode 100644
index 0000000..9f89f1c
--- /dev/null
+++ b/Tests/CelMekTests/WaypointTimingOptimizationTests.swift
@@ -0,0 +1,75 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct WaypointTimingOptimizationTests {
+    let frame = Frame(name: "Optimized timings", pseudoInertial: true)
+    func epoch(_ seconds: Double) throws -> Epoch { try Epoch.j2000.advanced(by: Duration(seconds: seconds)) }
+    func optimize(seed: Double = 10, budget: Int = 1000, iterations: Int = 256) throws -> WaypointTimingOptimizationResult {
+        let limits = try WaypointRouteEngineLimits(maximumAccelerationMetresPerSecondSquared: 1,
+            maximumThrustNewtons: 1000, effectiveExhaustVelocityMetresPerSecond: 100)
+        return try WaypointRouteTimingPlanner.optimizeTiming(departureEpoch: .j2000, frame: frame, origin: .sun,
+            waypoints: [BrachistochroneWaypoint(positionMetres: .zero), BrachistochroneWaypoint(positionMetres: SIMD3(4,0,0))],
+            legAccelerationsMetresPerSecondSquared: [1], arrivalWindows: [epoch(4)...epoch(12)], seedArrivalEpochs: [epoch(seed)],
+            optimizationOptions: WaypointTimingOptimizationOptions(initialStepSeconds: 2, minimumStepSeconds: 0.001,
+                maximumIterations: iterations, maximumCandidateEvaluations: budget),
+            initialMass: SpacecraftMassProperties(dryMassKilograms: 50, propellantMassKilograms: 50),
+            backgroundDynamics: SpacecraftDynamics(models: [], context: ForceEvaluationContext(frame: frame, origin: .sun)),
+            legEngineLimits: [limits], numericalOptions: .preset(for: .full))
+    }
+    @Test func convergesToIndependentSingleCubicAccelerationThreshold() throws {
+        let result = try optimize()
+        #expect(result.status == .stepLimitReached)
+        let route = try #require(result.route)
+        // For rest-to-rest cubic motion max |a| = 6*d/T², so T >= sqrt(24).
+        // This is a threshold for this cubic family, not the ideal bang-bang optimum.
+        let threshold = sqrt(24.0)
+        #expect(route.duration.seconds >= threshold)
+        #expect(route.duration.seconds-threshold < 0.002)
+        #expect(result.iterations.contains { $0.improved })
+        let epochs = result.iterations.map(\.bestArrivalEpoch)
+        #expect(zip(epochs, epochs.dropFirst()).allSatisfy { $0.0 >= $0.1 })
+        #expect(try optimize().propagation?.state == result.propagation?.state)
+    }
+    @Test func budgetsPreserveFeasibleIncumbentAndBadSeedIsExplicit() throws {
+        let limited = try optimize(budget: 1)
+        #expect(limited.status == .evaluationLimitReached)
+        #expect(limited.evaluatedCandidates == 1)
+        #expect(limited.route?.duration.seconds == 10)
+        #expect(limited.propagation != nil)
+        let iteration = try optimize(iterations: 1)
+        #expect(iteration.status == .iterationLimitReached)
+        #expect(iteration.route?.duration.seconds == 8)
+        let rejected = try optimize(seed: 4)
+        #expect(rejected.status == .seedRejected)
+        #expect(rejected.route == nil)
+        #expect(rejected.evaluatedCandidates == 1)
+        #expect(rejected.failedAttempts[0].failure == .geometry(.timingAccelerationLimitExceeded(leg: 0)))
+    }
+    @Test func preservesExactPassageAndTimedEngineConstraints() throws {
+        let passage = try epoch(20)
+        let limits = try WaypointRouteEngineLimits(maximumAccelerationMetresPerSecondSquared: 0.1,
+            maximumThrustNewtons: 1000, effectiveExhaustVelocityMetresPerSecond: 100)
+        let phase = try WaypointRouteEnginePhase(startEpoch: .j2000, endEpoch: epoch(15), limits: limits)
+        let result = try WaypointRouteTimingPlanner.optimizeTiming(departureEpoch: .j2000, frame: frame, origin: .sun,
+            waypoints: [BrachistochroneWaypoint(positionMetres: .zero),
+                BrachistochroneWaypoint(positionMetres: SIMD3(4,0,0), arrivalEpoch: passage),
+                BrachistochroneWaypoint(positionMetres: SIMD3(8,0,0))],
+            legAccelerationsMetresPerSecondSquared: [1,1],
+            arrivalWindows: [epoch(10)...epoch(30), epoch(30)...epoch(50)], seedArrivalEpochs: [passage, epoch(50)],
+            optimizationOptions: WaypointTimingOptimizationOptions(initialStepSeconds: 2, minimumStepSeconds: 0.01),
+            initialMass: SpacecraftMassProperties(dryMassKilograms: 50, propellantMassKilograms: 50),
+            backgroundDynamics: SpacecraftDynamics(models: [], context: ForceEvaluationContext(frame: frame, origin: .sun)),
+            legEngineLimits: [limits, limits], timedEnginePhases: [phase], numericalOptions: .preset(for: .full))
+        #expect(result.status == .stepLimitReached)
+        let route = try #require(result.route)
+        #expect(route.waypointArrivalEpochs[1] == passage)
+        #expect(try route.arrivalEpoch < epoch(50))
+        let execution = try #require(result.propagation)
+        #expect(execution.checkpoints[0].state.cartesian.velocity.x > 0)
+        #expect(execution.checkpoints[0].state.mass == execution.segments[2].initialState.mass)
+        #expect(execution.checkpoints.allSatisfy { $0.positionErrorMetres < 1e-8 })
+    }
+}
diff --git a/Tests/CelMekTests/WaypointTimingSearchTests.swift b/Tests/CelMekTests/WaypointTimingSearchTests.swift
new file mode 100644
index 0000000..8ffe2c6
--- /dev/null
+++ b/Tests/CelMekTests/WaypointTimingSearchTests.swift
@@ -0,0 +1,75 @@
+// SPDX-License-Identifier: Apache-2.0
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct WaypointTimingSearchTests {
+    let frame = Frame(name: "Timing search", pseudoInertial: true)
+    func epoch(_ seconds: Double) throws -> Epoch { try Epoch.j2000.advanced(by: Duration(seconds: seconds)) }
+    func points() throws -> [BrachistochroneWaypoint] {
+        try [BrachistochroneWaypoint(positionMetres: .zero),
+            BrachistochroneWaypoint(positionMetres: SIMD3(4,0,0), arrivalWindow: epoch(10)...epoch(20)),
+            BrachistochroneWaypoint(positionMetres: SIMD3(8,0,0), arrivalEpoch: epoch(50))]
+    }
+    func search(_ midpoints: [Double], budget: Int = 10) throws -> WaypointTimingSearchResult {
+        let normal = try WaypointRouteEngineLimits(maximumAccelerationMetresPerSecondSquared: 1,
+            maximumThrustNewtons: 1000, effectiveExhaustVelocityMetresPerSecond: 100)
+        let reduced = try WaypointRouteEngineLimits(maximumAccelerationMetresPerSecondSquared: 0.1,
+            maximumThrustNewtons: 1000, effectiveExhaustVelocityMetresPerSecond: 100)
+        return try WaypointRouteTimingPlanner.search(departureEpoch: .j2000, frame: frame, origin: .sun,
+            waypoints: points(), legAccelerationsMetresPerSecondSquared: [1,1],
+            candidateArrivalEpochs: [midpoints.map { try epoch($0) }, [epoch(50)]],
+            initialMass: SpacecraftMassProperties(dryMassKilograms: 50, propellantMassKilograms: 50),
+            backgroundDynamics: SpacecraftDynamics(models: [], context: ForceEvaluationContext(frame: frame, origin: .sun)),
+            legEngineLimits: [normal, normal],
+            timedEnginePhases: [WaypointRouteEnginePhase(startEpoch: .j2000, endEpoch: epoch(15), limits: reduced)],
+            maximumCandidateEvaluations: budget, numericalOptions: .preset(for: .full))
+    }
+    @Test func nonuniformTimingMovesPassageAcrossTemporalBoundary() throws {
+        #expect(throws: BrachistochroneRouteError.uniformRetimingUnavailable) {
+            try WaypointBrachistochroneRoute(departureEpoch: .j2000, frame: frame, origin: .sun,
+                waypoints: points(), legAccelerationsMetresPerSecondSquared: [1,1])
+        }
+        let result = try search([20,10,10])
+        #expect(result.status == .feasible)
+        #expect(result.evaluatedCandidates == 2)
+        #expect(result.failedAttempts.count == 1)
+        #expect(result.failedAttempts[0].failure == .engine(.accelerationLimitExceeded(leg: 0)))
+        let route = try #require(result.route)
+        #expect(route.legs.map { $0.duration.seconds } == [20,30])
+        #expect(try route.waypointArrivalEpochs[1] == epoch(20))
+        let propagation = try #require(result.propagation)
+        #expect(propagation.segments.count == 3)
+        #expect(propagation.checkpoints[0].state.cartesian.velocity.x > 0)
+        #expect(propagation.checkpoints[0].state.mass == propagation.segments[2].initialState.mass)
+        #expect(propagation.state.mass.propellantMassKilograms < 50)
+    }
+    @Test func budgetAndExhaustionHaveDistinctMeanings() throws {
+        let bounded = try search([10,20], budget: 1)
+        #expect(bounded.status == .evaluationLimitReached)
+        #expect(bounded.evaluatedCandidates == 1)
+        #expect(bounded.route == nil)
+        let exhausted = try search([10], budget: 1)
+        #expect(exhausted.status == .candidateSetExhausted)
+        #expect(exhausted.evaluatedCandidates == 1)
+        #expect(exhausted.propagation == nil)
+        #expect(throws: WaypointTimingSearchError.invalidCandidates) { try search([]) }
+        #expect(throws: WaypointTimingSearchError.invalidBudget) { try search([20], budget: 0) }
+    }
+    @Test func explicitDurationsPreserveEpochsAndValidateConstraints() throws {
+        let route = try WaypointBrachistochroneRoute(departureEpoch: .j2000, frame: frame, origin: .sun,
+            waypoints: points(), legAccelerationsMetresPerSecondSquared: [1,1],
+            legDurations: [Duration(seconds: 20), Duration(seconds: 30)])
+        #expect(try route.arrivalEpoch == epoch(50))
+        #expect(throws: BrachistochroneRouteError.arrivalWindowNotSatisfied(index: 1)) {
+            try WaypointBrachistochroneRoute(departureEpoch: .j2000, frame: frame, origin: .sun,
+                waypoints: points(), legAccelerationsMetresPerSecondSquared: [1,1],
+                legDurations: [Duration(seconds: 25), Duration(seconds: 25)])
+        }
+        #expect(throws: BrachistochroneRouteError.invalidLegDuration) {
+            try WaypointBrachistochroneRoute(departureEpoch: .j2000, frame: frame, origin: .sun,
+                waypoints: points(), legAccelerationsMetresPerSecondSquared: [1,1],
+                legDurations: [.zero, Duration(seconds: 50)])
+        }
+    }
+}
diff --git a/Tests/CelMekTests/WaypointVelocityConstraintTests.swift b/Tests/CelMekTests/WaypointVelocityConstraintTests.swift
new file mode 100644
index 0000000..02807cf
--- /dev/null
+++ b/Tests/CelMekTests/WaypointVelocityConstraintTests.swift
@@ -0,0 +1,93 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Math
+import Testing
+@testable import CelMek
+
+@Suite struct WaypointVelocityConstraintTests {
+    let frame = Frame(name: "Velocity constraints", pseudoInertial: true)
+    func epoch(_ seconds: Double) throws -> Epoch { try Epoch.j2000.advanced(by: Duration(seconds: seconds)) }
+    func limits() throws -> WaypointRouteEngineLimits {
+        try WaypointRouteEngineLimits(maximumAccelerationMetresPerSecondSquared: 1,
+            maximumThrustNewtons: 1000, effectiveExhaustVelocityMetresPerSecond: 100)
+    }
+    func background() throws -> SpacecraftDynamics {
+        try SpacecraftDynamics(models: [], context: ForceEvaluationContext(frame: frame, origin: .sun))
+    }
+    func route(_ points: [BrachistochroneWaypoint], times: [Duration]? = nil) throws -> WaypointBrachistochroneRoute {
+        try WaypointBrachistochroneRoute(departureEpoch: .j2000, frame: frame, origin: .sun,
+            waypoints: points, legAccelerationsMetresPerSecondSquared: Array(repeating: 1, count: points.count-1), legDurations: times)
+    }
+    @Test func independentCoastingAndConstantDecelerationReferences() throws {
+        let coast = try route([
+            BrachistochroneWaypoint(positionMetres: .zero, velocityMetresPerSecond: SIMD3(1,0,0)),
+            BrachistochroneWaypoint(positionMetres: SIMD3(3,0,0), velocityMetresPerSecond: SIMD3(1,0,0))
+        ], times: [Duration(seconds: 3)])
+        let coasting = try WaypointRoutePropagator(route: coast,
+            initialMass: SpacecraftMassProperties(dryMassKilograms: 50), backgroundDynamics: background(), legEngineLimits: [limits()])
+        #expect(try coasting.spacecraftState(at: coast.arrivalEpoch).mass.propellantMassKilograms == 0)
+        #expect(try coast.state(at: coast.arrivalEpoch).velocity == SIMD3(1,0,0))
+        #expect(try abs(coasting.state(at: epoch(1)).position.x-1) < 1e-12)
+
+        let braking = try route([
+            BrachistochroneWaypoint(positionMetres: .zero, velocityMetresPerSecond: SIMD3(2,0,0)),
+            BrachistochroneWaypoint(positionMetres: SIMD3(4,0,0), velocityMetresPerSecond: .zero)
+        ], times: [Duration(seconds: 4)])
+        let middle = try braking.legs[0].state(at: epoch(2))
+        #expect(abs(middle.position.x-3) < 1e-12)
+        #expect(abs(middle.velocity.x-1) < 1e-12)
+        let acceleration = try #require(middle.acceleration)
+        #expect(abs(acceleration.x+0.5) < 1e-12)
+        let execution = try WaypointRoutePropagator(route: braking,
+            initialMass: SpacecraftMassProperties(dryMassKilograms: 50, propellantMassKilograms: 50),
+            backgroundDynamics: background(), legEngineLimits: [limits()], numericalOptions: .preset(for: .full))
+        let result = try execution.propagation(at: braking.arrivalEpoch)
+        #expect(abs(result.state.mass.totalMassKilograms-100*exp(-2/100)) < 1e-8)
+        #expect(abs(result.state.cartesian.velocity.x) < 1e-12)
+    }
+    @Test func timingSearchAndOptimizationRetainEndpointConstraints() throws {
+        let points = try [BrachistochroneWaypoint(positionMetres: .zero, velocityMetresPerSecond: SIMD3(0.5,0,0)),
+            BrachistochroneWaypoint(positionMetres: SIMD3(4,0,0), velocityMetresPerSecond: SIMD3(0.25,0,0))]
+        let mass = try SpacecraftMassProperties(dryMassKilograms: 50, propellantMassKilograms: 50)
+        let found = try WaypointRouteTimingPlanner.search(departureEpoch: .j2000, frame: frame, origin: .sun,
+            waypoints: points, legAccelerationsMetresPerSecondSquared: [1], candidateArrivalEpochs: [[epoch(10)]],
+            initialMass: mass, backgroundDynamics: background(), legEngineLimits: [limits()])
+        #expect(found.status == .feasible)
+        let optimized = try WaypointRouteTimingPlanner.optimizeTiming(departureEpoch: .j2000, frame: frame, origin: .sun,
+            waypoints: points, legAccelerationsMetresPerSecondSquared: [1],
+            arrivalWindows: [epoch(3)...epoch(12)], seedArrivalEpochs: [epoch(10)],
+            optimizationOptions: WaypointTimingOptimizationOptions(initialStepSeconds: 1, minimumStepSeconds: 0.01),
+            initialMass: mass, backgroundDynamics: background(), legEngineLimits: [limits()], numericalOptions: .preset(for: .full))
+        let plan = try #require(optimized.route)
+        #expect(try plan.state(at: .j2000).velocity == SIMD3(0.5,0,0))
+        #expect(try plan.state(at: plan.arrivalEpoch).velocity == SIMD3(0.25,0,0))
+        let execution = try #require(optimized.propagation)
+        #expect(abs(execution.state.cartesian.velocity.x-0.25) < 1e-10)
+        #expect(plan.duration.seconds < 10)
+    }
+    @Test func automaticTimingAndExplicitPassagesValidateVelocityAndDwell() throws {
+        let points = try [BrachistochroneWaypoint(positionMetres: .zero, velocityMetresPerSecond: SIMD3(10,0,0)),
+            BrachistochroneWaypoint(positionMetres: SIMD3(4,1,0), velocityMetresPerSecond: SIMD3(1,0,0)),
+            BrachistochroneWaypoint(positionMetres: SIMD3(8,0,0), velocityMetresPerSecond: SIMD3(2,0,0))]
+        let plan = try route(points)
+        #expect(plan.waypointVelocitiesMetresPerSecond == [SIMD3(10,0,0), SIMD3(1,0,0), SIMD3(2,0,0)])
+        let boundary = plan.legs[0].arrivalEpoch
+        #expect(try plan.legs[0].state(at: boundary).velocity == plan.legs[1].state(at: boundary).velocity)
+        for leg in plan.legs {
+            for end in [leg.departureEpoch, leg.arrivalEpoch] {
+                let a = try #require(leg.state(at: end).acceleration)
+                #expect(hypot(hypot(a.x,a.y),a.z) <= 1)
+            }
+        }
+        #expect(throws: BrachistochroneRouteError.velocityDwellConflict(index: 0)) {
+            try route([BrachistochroneWaypoint(positionMetres: .zero, dwellDuration: Duration(seconds: 1),
+                velocityMetresPerSecond: SIMD3(1,0,0)), points[2]])
+        }
+        #expect(throws: BrachistochroneRouteError.degeneratePassage(index: 1)) {
+            try route([points[0], BrachistochroneWaypoint(positionMetres: points[1].positionMetres, velocityMetresPerSecond: .zero), points[2]])
+        }
+        #expect(throws: BrachistochroneError.nonFiniteEndpoint) {
+            try BrachistochroneWaypoint(positionMetres: .zero, velocityMetresPerSecond: SIMD3(.nan,0,0))
+        }
+    }
+}
diff --git a/Tests/CelMekTests/elp2000-82b_tests.swift b/Tests/CelMekTests/elp2000-82b_tests.swift
index c66490e..b88b061 100644
--- a/Tests/CelMekTests/elp2000-82b_tests.swift
+++ b/Tests/CelMekTests/elp2000-82b_tests.swift
@@ -16,17 +16,19 @@
 // limitations under the License.
 //
 
-import XCTest
+import Testing
 @testable import CelMek;
 
-final class elp2000_82b_tests : XCTestCase {
+@Suite
+struct elp2000_82b_tests {
+  @Test
   func testELP2000() {
     
     let res = elp2000_82b(2448724.5);
     
-    XCTAssertEqual(res.x, 133.162659.deg, accuracy: 0.00000002)
-    XCTAssertEqual(res.y, -3.229127.deg, accuracy: 0.000000005)
-    XCTAssertEqual(res.z, 368409.7e3, accuracy: 100.0)
+    #expect(abs((res.x) - (133.162659.deg)) <= 0.00000002)
+    #expect(abs((res.y) - (-3.229127.deg)) <= 0.000000005)
+    #expect(abs((res.z) - (368409.7e3)) <= 100.0)
   }
 }
 
diff --git a/Tests/CelMekTests/goffin2000_tests.swift b/Tests/CelMekTests/goffin2000_tests.swift
index 0a38bf7..54ea475 100644
--- a/Tests/CelMekTests/goffin2000_tests.swift
+++ b/Tests/CelMekTests/goffin2000_tests.swift
@@ -16,17 +16,19 @@
 // limitations under the License.
 //
 
-import XCTest
+import Testing
 @testable import CelMek;
 
-final class goffin2000_tests : XCTestCase {
+@Suite
+struct goffin2000_tests {
+  @Test
   func testGoffin2000() {
     
     let res = goffin2000(2448908.5);
     
-    XCTAssertEqual(res.x, 232.74009.deg, accuracy:  0.0000005);
-    XCTAssertEqual(res.y, 14.58769.deg, accuracy:  0.0000005);
-    XCTAssertEqual(res.z, 29.711383, accuracy: 0.000001);
+    #expect(abs((res.x) - (232.74009.deg)) <= 0.0000005);
+    #expect(abs((res.y) - (14.58769.deg)) <= 0.0000005);
+    #expect(abs((res.z) - (29.711383)) <= 0.000001);
   }
 }
 
diff --git a/Tests/CelMekTests/julianday_tests.swift b/Tests/CelMekTests/julianday_tests.swift
index f7e59fb..f96b87f 100644
--- a/Tests/CelMekTests/julianday_tests.swift
+++ b/Tests/CelMekTests/julianday_tests.swift
@@ -16,122 +16,135 @@
 // limitations under the License.
 //
 
-import XCTest
+import Testing
 @testable import CelMek;
 
-final class jd_tests : XCTestCase {
+@Suite
+struct jd_tests {
+  @Test
   func testGregorianToJD() {
     // Meeus, example 7.a
-    let date = GregorianDate(year: 1957, month: .October, day: 4.81)
-    XCTAssertEqual(date.toJD(), 2436116.31)
+    let date = GregorianDate(year: 1957, month: .october, day: 4.81)
+    #expect(date.toJD() == 2436116.31)
   }
   
+  @Test
   func testJulianToJD() {
     // Meeus, example 7.b
-    let date = JulianDate(year: 333, month: .January, day: 27.5)
-    XCTAssertEqual(date.toJD(), 1842713.0)
+    let date = JulianDate(year: 333, month: .january, day: 27.5)
+    #expect(date.toJD() == 1842713.0)
   }
   
+  @Test
   func testGregorianConversions() {
     // Meeus, p 62
     let dates = [
-      (GregorianDate(year: 2000, month: .January, day: 1.5), 2451545.0),
-      (GregorianDate(year: 1999, month: .January, day: 1.0), 2451179.5),
-      (GregorianDate(year: 1987, month: .January, day: 27.0), 2446822.5),
-      (GregorianDate(year: 1987, month: .June, day: 19.5), 2446966.0),
-      (GregorianDate(year: 1988, month: .January, day: 27.0), 2447187.5),
-      (GregorianDate(year: 1988, month: .June, day: 19.5), 2447332.0),
-      (GregorianDate(year: 1900, month: .January, day: 1.0), 2415020.5),
-      (GregorianDate(year: 1600, month: .January, day: 1.0), 2305447.5),
-      (GregorianDate(year: 1600, month: .December, day: 31.0), 2305812.5),
+      (GregorianDate(year: 2000, month: .january, day: 1.5), 2451545.0),
+      (GregorianDate(year: 1999, month: .january, day: 1.0), 2451179.5),
+      (GregorianDate(year: 1987, month: .january, day: 27.0), 2446822.5),
+      (GregorianDate(year: 1987, month: .june, day: 19.5), 2446966.0),
+      (GregorianDate(year: 1988, month: .january, day: 27.0), 2447187.5),
+      (GregorianDate(year: 1988, month: .june, day: 19.5), 2447332.0),
+      (GregorianDate(year: 1900, month: .january, day: 1.0), 2415020.5),
+      (GregorianDate(year: 1600, month: .january, day: 1.0), 2305447.5),
+      (GregorianDate(year: 1600, month: .december, day: 31.0), 2305812.5),
     ]
     
     for (date, jd) in dates {
-      XCTAssertEqual(date.toJD(), jd)
+      #expect(date.toJD() == jd)
       
       let gdate = jd.toGregorian()
-      XCTAssertEqual(gdate.year, date.year)
-      XCTAssertEqual(gdate.month, date.month)
-      XCTAssertEqual(gdate.day, date.day)
+      #expect(gdate.year == date.year)
+      #expect(gdate.month == date.month)
+      #expect(gdate.day == date.day)
     }
   }
   
+  @Test
   func testJulianConversion() {
     // Meeus, p 62
     let dates = [
-      (JulianDate(year: 837, month: .April, day: 10.3), 2026871.8),
-      (JulianDate(year: -123, month: .December, day: 31.0), 1676496.5),
-      (JulianDate(year: -122, month: .January, day: 1.0), 1676497.5),
-      (JulianDate(year: -1000, month: .July, day: 12.5), 1356001.0),
-      (JulianDate(year: -1000, month: .February, day: 29.0), 1355866.5),
-      (JulianDate(year: -1001, month: .August, day: 17.9), 1355671.4),
-      (JulianDate(year: -4712, month: .January, day: 1.5), 0.0),
+      (JulianDate(year: 837, month: .april, day: 10.3), 2026871.8),
+      (JulianDate(year: -123, month: .december, day: 31.0), 1676496.5),
+      (JulianDate(year: -122, month: .january, day: 1.0), 1676497.5),
+      (JulianDate(year: -1000, month: .july, day: 12.5), 1356001.0),
+      (JulianDate(year: -1000, month: .february, day: 29.0), 1355866.5),
+      (JulianDate(year: -1001, month: .august, day: 17.9), 1355671.4),
+      (JulianDate(year: -4712, month: .january, day: 1.5), 0.0),
     ]
     
     for (date, jd) in dates {
-      XCTAssertEqual(date.toJD(), jd)
+      #expect(date.toJD() == jd)
     }
   }
   
+  @Test
   func testMJDConversion() {
     // Meeus, p 63
-    let date = GregorianDate(year: 1858, month: .November, day: 17.0)
-    XCTAssertEqual(date.toJD().asMJD, 0.0)
+    let date = GregorianDate(year: 1858, month: .november, day: 17.0)
+    #expect(date.toJD().asMJD == 0.0)
   }
   
+  @Test
   func testWeekday() {
     // Meeus, p65
-    let date = GregorianDate(year: 1954, month: .June, day: 30.1)
-    XCTAssertEqual(date.toJD().weekday, .Wednesday)
+    let date = GregorianDate(year: 1954, month: .june, day: 30.1)
+    #expect(date.toJD().weekday == .wednesday)
   }
   
+  @Test
   func testDayOfYear() {
     // Meeus, p65, examples 7.f and 7.g
-    let date_7f = GregorianDate(year: 1978, month: .November, day: 14)
-    XCTAssertEqual(date_7f.dayOfYear(), 318)
+    let date_7f = GregorianDate(year: 1978, month: .november, day: 14)
+    #expect(date_7f.dayOfYear() == 318)
     
-    let date_7g = GregorianDate(year: 1988, month: .April, day: 22)
-    XCTAssertEqual(date_7g.dayOfYear(), 113)
+    let date_7g = GregorianDate(year: 1988, month: .april, day: 22)
+    #expect(date_7g.dayOfYear() == 113)
   }
 
-  func testGregorianDateFromDayInYear() {
+  @Test
+  func testGregorianDateFromDayInYear() throws {
     // Meeus, p65, examples 7.f and 7.g in reverse
-    let date_7f = GregorianDate(year: 1978, dayInYear: 318)!
-    XCTAssertEqual(date_7f.year, 1978)
-    XCTAssertEqual(date_7f.month, .November)
-    XCTAssertEqual(date_7f.day, 14)
+    let date_7f = try #require(GregorianDate(year: 1978, dayInYear: 318))
+    #expect(date_7f.year == 1978)
+    #expect(date_7f.month == .november)
+    #expect(date_7f.day == 14)
     
-    let date_7g = GregorianDate(year: 1988, dayInYear: 113)!
-    XCTAssertEqual(date_7g.year, 1988)
-    XCTAssertEqual(date_7g.month, .April)
-    XCTAssertEqual(date_7g.day, 22)
+    let date_7g = try #require(GregorianDate(year: 1988, dayInYear: 113))
+    #expect(date_7g.year == 1988)
+    #expect(date_7g.month == .april)
+    #expect(date_7g.day == 22)
   }
   
+  @Test
   func testJulianYears() {
-    let date = JulianDate(year: 333, month: .February, day: 6.33333333333)
-    XCTAssertEqual(date.years(), 333.1, accuracy: 0.01)
+    let date = JulianDate(year: 333, month: .february, day: 6.33333333333)
+    #expect(abs((date.years()) - (333.1)) <= 0.01)
   }
   
+  @Test
   func testGregorianYears() {
-    let date = GregorianDate(year: 1999, month: .February, day: 6.33333333333)
-    XCTAssertEqual(date.years(), 1999.1, accuracy: 0.01)
+    let date = GregorianDate(year: 1999, month: .february, day: 6.33333333333)
+    #expect(abs((date.years()) - (1999.1)) <= 0.01)
   }
 
+  @Test
   func testJD0() {
     let jd0_1999 = jd0(year: 1999)
-    let greg0_1999 = GregorianDate(year: 1999, month: .January, day: 0.0)
+    let greg0_1999 = GregorianDate(year: 1999, month: .january, day: 0.0)
     let jd0_expect = greg0_1999.toJD()
-    XCTAssertEqual(jd0_1999, jd0_expect)
+    #expect(jd0_1999 == jd0_expect)
   }
   
+  @Test
   func testGregorianToJulianConversion() {
-    let gregDate = GregorianDate(year: 2023, month: .January, day: 4)
+    let gregDate = GregorianDate(year: 2023, month: .january, day: 4)
     let jd = gregDate.toJD()
     let julianDate = jd.toJulian()
     
-    XCTAssertEqual(julianDate.year, 2022)
-    XCTAssertEqual(julianDate.month, .December)
-    XCTAssertEqual(julianDate.day, 22)
+    #expect(julianDate.year == 2022)
+    #expect(julianDate.month == .december)
+    #expect(julianDate.day == 22)
 
   }
 }
diff --git a/Tests/CelMekTests/time_tests.swift b/Tests/CelMekTests/time_tests.swift
index 3069df2..153693b 100644
--- a/Tests/CelMekTests/time_tests.swift
+++ b/Tests/CelMekTests/time_tests.swift
@@ -16,29 +16,31 @@
 // limitations under the License.
 //
 
-import XCTest
+import Testing
 @testable import CelMek;
 
-final class time_tests: XCTestCase {
-  func testDateTime() {
-    let dt0 = DateTime(isoDate: "2020-12-12")
-    XCTAssertNotNil(dt0)
-    XCTAssertEqual(dt0!.date.year, 2020)
-    XCTAssertEqual(dt0!.date.month, Month.December)
-    XCTAssertEqual(dt0!.date.day, 12)
+@Suite
+struct time_tests {
+  @Test
+  func testDateTime() throws {
+    let dt0 = try #require(DateTime(isoDate: "2020-12-12"))
+    #expect(dt0.date.year == 2020)
+    #expect(dt0.date.month == Month.december)
+    #expect(dt0.date.day == 12)
     
     let dt1 = DateTime(isoDate: "2020-0-12")
-    XCTAssertNil(dt1)
+    #expect(dt1 == nil)
     
   }
 
+  @Test
   func testIsLeap() {
-    XCTAssertTrue(isLeapYear(2000))
-    XCTAssertTrue(isLeapYear(1996))
-    XCTAssertTrue(isLeapYear(2004))
-    XCTAssertFalse(isLeapYear(1900))
-    XCTAssertFalse(isLeapYear(2001))
-    XCTAssertFalse(isLeapYear(1999))
+    #expect(isLeapYear(2000))
+    #expect(isLeapYear(1996))
+    #expect(isLeapYear(2004))
+    #expect(!(isLeapYear(1900)))
+    #expect(!(isLeapYear(2001)))
+    #expect(!(isLeapYear(1999)))
   }
 }
 
diff --git a/Tests/CelMekTests/vsop87_tests.swift b/Tests/CelMekTests/vsop87_tests.swift
index d6c0835..c6b3a06 100644
--- a/Tests/CelMekTests/vsop87_tests.swift
+++ b/Tests/CelMekTests/vsop87_tests.swift
@@ -16,10 +16,12 @@
 // limitations under the License.
 //
 
-import XCTest
+import Testing
 @testable import CelMek;
 
-final class vsop87_tests: XCTestCase {
+@Suite
+struct vsop87_tests {
+  @Test
   func testSun() {
     let testValues: [(Double,(Double,Double,Double), (Double,Double,Double))] = [
       (2451545.0,
@@ -68,18 +70,19 @@ final class vsop87_tests: XCTestCase {
     
     for (ejd, (ex,ey,ez), (evx,evy,evz)) in testValues {
       let (p, v, jd, body) = sun.position(jd: ejd)
-      XCTAssertEqual(p.x, ex, accuracy: 0.0000000001);
-      XCTAssertEqual(p.y, ey, accuracy: 0.0000000001);
-      XCTAssertEqual(p.z, ez, accuracy: 0.0000000001);
-      XCTAssertEqual(v.x,evx, accuracy: 0.0000001);
-      XCTAssertEqual(v.y,evy, accuracy: 0.0000001)
-      XCTAssertEqual(v.z,evz, accuracy: 0.0000001);
-      XCTAssertEqual(jd,ejd)
-      XCTAssertEqual(body, .vsop87_sun)
+      #expect(abs((p.x) - (ex)) <= 0.0000000001);
+      #expect(abs((p.y) - (ey)) <= 0.0000000001);
+      #expect(abs((p.z) - (ez)) <= 0.0000000001);
+      #expect(abs((v.x) - (evx)) <= 0.0000001);
+      #expect(abs((v.y) - (evy)) <= 0.0000001)
+      #expect(abs((v.z) - (evz)) <= 0.0000001);
+      #expect(jd == ejd)
+      #expect(body == .vsop87_sun)
 
     }
     
   }
+  @Test
   func testMercury() {
     let testValues: [(Double,(Double,Double,Double), (Double,Double,Double))] = [
       
@@ -128,19 +131,20 @@ final class vsop87_tests: XCTestCase {
     
     for (ejd, (ex,ey,ez), (evx,evy,evz)) in testValues {
       let (p, v, jd, body) = mercury.position(jd: ejd)
-      XCTAssertEqual(p.x, ex, accuracy: 0.0000000001);
-      XCTAssertEqual(p.y, ey, accuracy: 0.0000000001);
-      XCTAssertEqual(p.z, ez, accuracy: 0.0000000001);
-      XCTAssertEqual(v.x,evx, accuracy: 0.0000001);
-      XCTAssertEqual(v.y,evy, accuracy: 0.0000001)
-      XCTAssertEqual(v.z,evz, accuracy: 0.0000001);
-      XCTAssertEqual(jd,ejd)
-      XCTAssertEqual(body, .vsop87_mercury)
+      #expect(abs((p.x) - (ex)) <= 0.0000000001);
+      #expect(abs((p.y) - (ey)) <= 0.0000000001);
+      #expect(abs((p.z) - (ez)) <= 0.0000000001);
+      #expect(abs((v.x) - (evx)) <= 0.0000001);
+      #expect(abs((v.y) - (evy)) <= 0.0000001)
+      #expect(abs((v.z) - (evz)) <= 0.0000001);
+      #expect(jd == ejd)
+      #expect(body == .vsop87_mercury)
 
     }
     
   }
   
+  @Test
   func testVenus() {
     let testValues: [(Double,(Double,Double,Double), (Double,Double,Double))] = [
       (2451545.0,
@@ -187,22 +191,23 @@ final class vsop87_tests: XCTestCase {
     
     for (ejd, (ex,ey,ez), (evx,evy,evz)) in testValues {
       let (p, v, jd, body) = venus.position(jd: ejd)
-      XCTAssertEqual(p.x, ex, accuracy: 0.0000000001);
-      XCTAssertEqual(p.y, ey, accuracy: 0.0000000001);
-      XCTAssertEqual(p.z, ez, accuracy: 0.0000000001);
-      XCTAssertEqual(v.x,evx, accuracy: 0.0000001);
-      XCTAssertEqual(v.y,evy, accuracy: 0.0000001)
-      XCTAssertEqual(v.z,evz, accuracy: 0.0000001);
-      XCTAssertEqual(jd,ejd)
-      XCTAssertEqual(body, .vsop87_venus)
+      #expect(abs((p.x) - (ex)) <= 0.0000000001);
+      #expect(abs((p.y) - (ey)) <= 0.0000000001);
+      #expect(abs((p.z) - (ez)) <= 0.0000000001);
+      #expect(abs((v.x) - (evx)) <= 0.0000001);
+      #expect(abs((v.y) - (evy)) <= 0.0000001)
+      #expect(abs((v.z) - (evz)) <= 0.0000001);
+      #expect(jd == ejd)
+      #expect(body == .vsop87_venus)
 
     }
     
   }  
   
+  @Test
   func testEarth() {
     // This is an example of a functional test case.
-    // Use XCTAssert and related functions to verify your tests produce the correct
+    // Use expectations to verify your tests produce the correct
     // results.
     // jd, expected pos, expected velocity
     let testValues: [(Double,(Double,Double,Double), (Double,Double,Double))] = [
@@ -248,18 +253,19 @@ final class vsop87_tests: XCTestCase {
     
     for (ejd, (ex,ey,ez), (evx,evy,evz)) in testValues {
       let (p, v, jd, body) = earth.position(jd: ejd)
-      XCTAssertEqual(p.x, ex, accuracy: 0.0000000001);
-      XCTAssertEqual(p.y, ey, accuracy: 0.0000000001);
-      XCTAssertEqual(p.z, ez, accuracy: 0.0000000001);
-      XCTAssertEqual(v.x,evx, accuracy: 0.0000001);
-      XCTAssertEqual(v.y,evy, accuracy: 0.0000001)
-      XCTAssertEqual(v.z,evz, accuracy: 0.0000001);
-      XCTAssertEqual(jd,ejd)
-      XCTAssertEqual(body, .vsop87_earth)
+      #expect(abs((p.x) - (ex)) <= 0.0000000001);
+      #expect(abs((p.y) - (ey)) <= 0.0000000001);
+      #expect(abs((p.z) - (ez)) <= 0.0000000001);
+      #expect(abs((v.x) - (evx)) <= 0.0000001);
+      #expect(abs((v.y) - (evy)) <= 0.0000001)
+      #expect(abs((v.z) - (evz)) <= 0.0000001);
+      #expect(jd == ejd)
+      #expect(body == .vsop87_earth)
     }
     
   }
   
+  @Test
   func testMars() {
     let testValues: [(Double,(Double,Double,Double), (Double,Double,Double))] = [
       (2451545.0,
@@ -306,18 +312,19 @@ final class vsop87_tests: XCTestCase {
     ];
     for (ejd, (ex,ey,ez), (evx,evy,evz)) in testValues {
       let (p, v, jd, body) = mars.position(jd: ejd)
-      XCTAssertEqual(p.x, ex, accuracy: 0.0000000001);
-      XCTAssertEqual(p.y, ey, accuracy: 0.0000000001);
-      XCTAssertEqual(p.z, ez, accuracy: 0.0000000001);
-      XCTAssertEqual(v.x,evx, accuracy: 0.0000001);
-      XCTAssertEqual(v.y,evy, accuracy: 0.0000001)
-      XCTAssertEqual(v.z,evz, accuracy: 0.0000001);
-      XCTAssertEqual(jd,ejd)
-      XCTAssertEqual(body, .vsop87_mars)
+      #expect(abs((p.x) - (ex)) <= 0.0000000001);
+      #expect(abs((p.y) - (ey)) <= 0.0000000001);
+      #expect(abs((p.z) - (ez)) <= 0.0000000001);
+      #expect(abs((v.x) - (evx)) <= 0.0000001);
+      #expect(abs((v.y) - (evy)) <= 0.0000001)
+      #expect(abs((v.z) - (evz)) <= 0.0000001);
+      #expect(jd == ejd)
+      #expect(body == .vsop87_mars)
     }
     
   }
   
+  @Test
   func testJupiter() {
     let testValues: [(Double,(Double,Double,Double), (Double,Double,Double))] = [
       (2451545.0,
@@ -364,17 +371,18 @@ final class vsop87_tests: XCTestCase {
     
     for (ejd, (ex,ey,ez), (evx,evy,evz)) in testValues {
       let (p, v, jd, body) = jupiter.position(jd: ejd)
-      XCTAssertEqual(p.x, ex, accuracy: 0.0000000001);
-      XCTAssertEqual(p.y, ey, accuracy: 0.0000000001);
-      XCTAssertEqual(p.z, ez, accuracy: 0.0000000001);
-      XCTAssertEqual(v.x,evx, accuracy: 0.0000001);
-      XCTAssertEqual(v.y,evy, accuracy: 0.0000001)
-      XCTAssertEqual(v.z,evz, accuracy: 0.0000001);
-      XCTAssertEqual(jd,ejd)
-      XCTAssertEqual(body, .vsop87_jupiter)
+      #expect(abs((p.x) - (ex)) <= 0.0000000001);
+      #expect(abs((p.y) - (ey)) <= 0.0000000001);
+      #expect(abs((p.z) - (ez)) <= 0.0000000001);
+      #expect(abs((v.x) - (evx)) <= 0.0000001);
+      #expect(abs((v.y) - (evy)) <= 0.0000001)
+      #expect(abs((v.z) - (evz)) <= 0.0000001);
+      #expect(jd == ejd)
+      #expect(body == .vsop87_jupiter)
     }
     
   }
+  @Test
   func testSaturn() {
     let testValues: [(Double,(Double,Double,Double), (Double,Double,Double))] = [
       (2451545.0,
@@ -421,16 +429,17 @@ final class vsop87_tests: XCTestCase {
     
     for (ejd, (ex,ey,ez), (evx,evy,evz)) in testValues {
       let (p, v, jd, body) = saturn.position(jd: ejd)
-      XCTAssertEqual(p.x, ex, accuracy: 0.0000000001);
-      XCTAssertEqual(p.y, ey, accuracy: 0.0000000001);
-      XCTAssertEqual(p.z, ez, accuracy: 0.0000000001);
-      XCTAssertEqual(v.x,evx, accuracy: 0.0000001);
-      XCTAssertEqual(v.y,evy, accuracy: 0.0000005)
-      XCTAssertEqual(v.z,evz, accuracy: 0.0000001);
-      XCTAssertEqual(jd,ejd)
-      XCTAssertEqual(body, .vsop87_saturn)
+      #expect(abs((p.x) - (ex)) <= 0.0000000001);
+      #expect(abs((p.y) - (ey)) <= 0.0000000001);
+      #expect(abs((p.z) - (ez)) <= 0.0000000001);
+      #expect(abs((v.x) - (evx)) <= 0.0000001);
+      #expect(abs((v.y) - (evy)) <= 0.0000005)
+      #expect(abs((v.z) - (evz)) <= 0.0000001);
+      #expect(jd == ejd)
+      #expect(body == .vsop87_saturn)
     }
   }
+  @Test
   func testUranus() {
     let testValues: [(Double,(Double,Double,Double), (Double,Double,Double))] = [
       (2451545.0,
@@ -477,16 +486,17 @@ final class vsop87_tests: XCTestCase {
     
     for (ejd, (ex,ey,ez), (evx,evy,evz)) in testValues {
       let (p, v, jd, body) = uranus.position(jd: ejd)
-      XCTAssertEqual(p.x, ex, accuracy: 0.0000000001);
-      XCTAssertEqual(p.y, ey, accuracy: 0.0000000001);
-      XCTAssertEqual(p.z, ez, accuracy: 0.0000000001);
-      XCTAssertEqual(v.x,evx, accuracy: 0.0000001);
-      XCTAssertEqual(v.y,evy, accuracy: 0.0000005)
-      XCTAssertEqual(v.z,evz, accuracy: 0.0000001);
-      XCTAssertEqual(jd,ejd)
-      XCTAssertEqual(body, .vsop87_uranus)
+      #expect(abs((p.x) - (ex)) <= 0.0000000001);
+      #expect(abs((p.y) - (ey)) <= 0.0000000001);
+      #expect(abs((p.z) - (ez)) <= 0.0000000001);
+      #expect(abs((v.x) - (evx)) <= 0.0000001);
+      #expect(abs((v.y) - (evy)) <= 0.0000005)
+      #expect(abs((v.z) - (evz)) <= 0.0000001);
+      #expect(jd == ejd)
+      #expect(body == .vsop87_uranus)
     }
   }
+  @Test
   func testNeptune() {
     let testValues: [(Double,(Double,Double,Double), (Double,Double,Double))] = [
       (2451545.0,
@@ -532,14 +542,14 @@ final class vsop87_tests: XCTestCase {
     
     for (ejd, (ex,ey,ez), (evx,evy,evz)) in testValues {
       let (p, v, jd, body) = neptune.position(jd: ejd)
-      XCTAssertEqual(p.x, ex, accuracy: 0.0000000001);
-      XCTAssertEqual(p.y, ey, accuracy: 0.0000000001);
-      XCTAssertEqual(p.z, ez, accuracy: 0.0000000001);
-      XCTAssertEqual(v.x,evx, accuracy: 0.0000001);
-      XCTAssertEqual(v.y,evy, accuracy: 0.0000001)
-      XCTAssertEqual(v.z,evz, accuracy: 0.0000001);
-      XCTAssertEqual(jd,ejd)
-      XCTAssertEqual(body, .vsop87_neptune)
+      #expect(abs((p.x) - (ex)) <= 0.0000000001);
+      #expect(abs((p.y) - (ey)) <= 0.0000000001);
+      #expect(abs((p.z) - (ez)) <= 0.0000000001);
+      #expect(abs((v.x) - (evx)) <= 0.0000001);
+      #expect(abs((v.y) - (evy)) <= 0.0000001)
+      #expect(abs((v.z) - (evz)) <= 0.0000001);
+      #expect(jd == ejd)
+      #expect(body == .vsop87_neptune)
     }
   }
 }
diff --git a/Tests/FluidDynamicsTests/CompressibleFlowTests.swift b/Tests/FluidDynamicsTests/CompressibleFlowTests.swift
new file mode 100644
index 0000000..1d1eec5
--- /dev/null
+++ b/Tests/FluidDynamicsTests/CompressibleFlowTests.swift
@@ -0,0 +1,83 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Testing
+import FluidDynamics
+
+@Suite struct CompressibleFlowTests {
+    func gas() throws -> CaloricallyPerfectGasEOS {
+        try CaloricallyPerfectGasEOS(identifier: "Synthetic gamma=1.4 gas",specificGasConstantJoulesPerKilogramKelvin: 1,
+            specificHeatRatio: 1.4,temperatureRangeKelvin: 1e-4...1e4,source: "Analytic Euler references")
+    }
+    func state(rho: Double = 1, velocity: SIMD3<Double> = .zero, pressure: Double = 1) throws -> ConservedFluidState {
+        try ConservedFluidState(densityKilogramsPerCubicMetre: rho,velocityMetresPerSecond: velocity,pressurePascals: pressure,equationOfState: gas())
+    }
+    @Test func uniformSupersonicStateAndEOSCoverage() throws {
+        let eos = try gas(), value = try state(velocity: SIMD3(5,1,-2))
+        let geometry = try CartesianFluidGrid(dimensions: SIMD3(8,4,4),minimumCornerMetres: .zero,cellSizeMetres: 0.25)
+        var grid = try CompressibleFlowGrid(configuration: CompressibleFlowConfiguration(grid: geometry,equationOfState: eos),initialState: { _ in value })
+        let before = try grid.conservedTotals(), report = try grid.advance(timeStepSeconds: 0.01)
+        #expect(report.maximumCourantNumber <= 0.4+1e-15)
+        for cell in grid.cells { #expect(abs(cell.densityKilogramsPerCubicMetre-1) < 1e-14) }
+        let after = try grid.conservedTotals()
+        #expect(abs(after.energyJoules-before.energyJoules) < 1e-12)
+        #expect(throws: FluidError.outsideCoverage) { try eos.thermodynamics(densityKilogramsPerCubicMetre: 1,specificInternalEnergyJoulesPerKilogram: 1e9) }
+    }
+    @Test func periodicConservationAndSolidActionReaction() throws {
+        let eos = try gas(), geometry = try CartesianFluidGrid(dimensions: SIMD3(repeating: 8),minimumCornerMetres: .zero,cellSizeMetres: 1)
+        let config = try CompressibleFlowConfiguration(grid: geometry,equationOfState: eos,boundaries: Array(repeating: .periodic,count: 6))
+        var grid = try CompressibleFlowGrid(configuration: config,solidAtCellCentre: { p in
+            p.x > 3 && p.x < 5 && p.y > 3 && p.y < 5 && p.z > 3 && p.z < 5
+        },initialState: { _ in try state(velocity: SIMD3(1,0,0)) })
+        let before = try grid.conservedTotals(), report = try grid.advance(timeStepSeconds: 0.05)
+        let after = try grid.conservedTotals(), impulse = report.averageLoadsOnSolids.forceNewtons*0.05
+        #expect(abs(after.massKilograms-before.massKilograms) < 1e-9)
+        #expect(abs(after.energyJoules-before.energyJoules) < 1e-9)
+        #expect(abs(after.momentumKilogramMetresPerSecond.x-before.momentumKilogramMetresPerSecond.x+impulse.x
+                    + report.boundaryMomentumOutflowKilogramMetresPerSecond.x) < 1e-9)
+        #expect(impulse.x > 0)
+    }
+    func sod(count: Int) throws -> CompressibleFlowGrid {
+        let geometry = try CartesianFluidGrid(dimensions: SIMD3(count,1,1),minimumCornerMetres: .zero,cellSizeMetres: 1/Double(count))
+        var grid = try CompressibleFlowGrid(configuration: CompressibleFlowConfiguration(grid: geometry,equationOfState: gas()),initialState: { p in
+            try state(rho: p.x < 0.5 ? 1 : 0.125,pressure: p.x < 0.5 ? 1 : 0.1)
+        })
+        _ = try grid.advance(timeStepSeconds: 0.2,maximumSubsteps: 10000)
+        return grid
+    }
+    // Independently specified exact Sod solution: standard star state and self-similar fan.
+    func exactSodDensity(x: Double) -> Double {
+        let xi = (x-0.5)/0.2, gamma = 1.4, c = sqrt(gamma), u = 0.92745262004895, p = 0.303130178050647
+        let starLeft = pow(p,1/gamma), starRight = 0.125*((p/0.1)+(gamma-1)/(gamma+1))/((gamma-1)/(gamma+1)*(p/0.1)+1)
+        let tail = u-c*pow(p,(gamma-1)/(2*gamma)), shock = sqrt((gamma+1)/(2*gamma)*(p/0.1)+(gamma-1)/(2*gamma))*sqrt(gamma*0.1/0.125)
+        if xi < -c { return 1 }
+        if xi < tail { return pow(2/(gamma+1)-(gamma-1)/(gamma+1)*xi/c,2/(gamma-1)) }
+        if xi < u { return starLeft }
+        if xi < shock { return starRight }
+        return 0.125
+    }
+    @Test func sodShockTubeConvergesToIndependentExactReference() throws {
+        var previous = Double.infinity
+        for count in [80,160] {
+            let result = try sod(count: count)
+            let error = result.cells.enumerated().reduce(0.0) { value, item in
+                value+abs(item.element.densityKilogramsPerCubicMetre-exactSodDensity(x: (Double(item.offset)+0.5)/Double(count)))/Double(count)
+            }
+            #expect(error < previous); previous = error
+            for cell in result.cells { #expect(try cell.primitive(using: gas()).thermodynamics.pressurePascals > 0) }
+        }
+        #expect(previous < 0.04)
+        let reference = try sod(count: 160).state(at: SIMD3(0.6,0.002,0.002))
+        #expect(abs(reference.thermodynamics.pressurePascals-0.30313) < 0.025)
+        #expect(abs(reference.velocityMetresPerSecond.x-0.92745) < 0.05)
+    }
+    @Test func failedBudgetAndInvalidEOSStateAreAtomic() throws {
+        let geometry = try CartesianFluidGrid(dimensions: SIMD3(8,1,1),minimumCornerMetres: .zero,cellSizeMetres: 0.1)
+        var grid = try CompressibleFlowGrid(configuration: CompressibleFlowConfiguration(grid: geometry,equationOfState: gas()),initialState: { _ in try state() })
+        let before = grid.cells
+        #expect(throws: FluidError.workBudgetExceeded) { try grid.advance(timeStepSeconds: 1,maximumSubsteps: 1) }
+        #expect(grid.cells == before)
+        #expect(throws: FluidError.invalidFlow) { try ConservedFluidState(densityKilogramsPerCubicMetre: 0,velocityMetresPerSecond: .zero,pressurePascals: 1,equationOfState: gas()) }
+        var boundaries = Array(repeating: CompressibleBoundary.transmissive,count: 6); boundaries[0] = .periodic
+        #expect(throws: FluidError.invalidParameter) { try CompressibleFlowConfiguration(grid: geometry,equationOfState: gas(),boundaries: boundaries) }
+    }
+}
diff --git a/Tests/FluidDynamicsTests/IncompressibleFlowTests.swift b/Tests/FluidDynamicsTests/IncompressibleFlowTests.swift
new file mode 100644
index 0000000..11e6fb7
--- /dev/null
+++ b/Tests/FluidDynamicsTests/IncompressibleFlowTests.swift
@@ -0,0 +1,119 @@
+// SPDX-License-Identifier: Apache-2.0
+import FluidDynamics
+import Foundation
+import Testing
+
+@Suite struct LocalCFDTests {
+    func configuration(count: Int = 8, viscosity: Double = 0, boundary: SIMD3<Double> = .zero) throws -> IncompressibleFlowConfiguration {
+        try IncompressibleFlowConfiguration(dimensions: SIMD3(repeating: count),minimumCornerMetres: .zero,
+            cellSizeMetres: 1,densityKilogramsPerCubicMetre: 2,speedOfSoundMetresPerSecond: 340,
+            kinematicViscositySquareMetresPerSecond: viscosity,boundaryVelocityMetresPerSecond: boundary)
+    }
+    @Test func uniformFlowRemainsUniformOnRectangularGrid() throws {
+        let velocity = SIMD3(2.0,1,-0.5)
+        let config = try IncompressibleFlowConfiguration(dimensions: SIMD3(4,6,8),minimumCornerMetres: SIMD3(-2,-3,-4),
+            cellSizeMetres: 1,densityKilogramsPerCubicMetre: 1,speedOfSoundMetresPerSecond: 340,
+            kinematicViscositySquareMetresPerSecond: 0.02,boundaryVelocityMetresPerSecond: velocity)
+        var grid = try IncompressibleFlowGrid(configuration: config)
+        let report = try grid.advance(timeStepSeconds: 0.1)
+        #expect(report.substeps == 1)
+        #expect(report.maximumDivergenceAfterPerSecond < 1e-12)
+        let sampled = try grid.velocityMetresPerSecond(at: .zero)
+        #expect(abs(sampled.x-2)+abs(sampled.y-1)+abs(sampled.z+0.5) < 1e-12)
+        #expect(try grid.pressureLoadsOnSolids().forceNewtons == .zero)
+    }
+    @Test func manufacturedGradientIsRemovedAndPressureMatchesPoissonSolution() throws {
+        let wave = Double.pi/8, amplitude = 2*sin(Double.pi/16)
+        var grid = try IncompressibleFlowGrid(configuration: configuration()) { _ in false } initialVelocity: { p in
+            SIMD3(-amplitude*sin(wave*p.x)*cos(wave*p.y)*cos(wave*p.z),
+                  -amplitude*cos(wave*p.x)*sin(wave*p.y)*cos(wave*p.z),
+                  -amplitude*cos(wave*p.x)*cos(wave*p.y)*sin(wave*p.z))
+        }
+        let report = try grid.project(timeStepSeconds: 0.1)
+        #expect(report.maximumDivergenceBeforePerSecond > 0.1)
+        #expect(report.maximumDivergenceAfterPerSecond < 1e-8)
+        #expect(report.relativePressureResidual < 1e-8)
+        #expect(grid.maximumSpeedBoundMetresPerSecond < 1e-8)
+        for k in 0..<8 { for j in 0..<8 { for i in 0..<8 {
+            let expected = 20*cos(wave*(Double(i)+0.5))*cos(wave*(Double(j)+0.5))*cos(wave*(Double(k)+0.5))
+            #expect(abs(grid.pressurePascals[i+8*(j+8*k)]-expected) < 1e-7)
+        } } }
+    }
+    @Test func solenoidalFieldSurvivesProjectionAndViscosityDissipates() throws {
+        let wave = Double.pi/8
+        var grid = try IncompressibleFlowGrid(configuration: configuration(viscosity: 0.1),initialVelocity: { p in
+            SIMD3(sin(wave*p.x)*cos(wave*p.y),-cos(wave*p.x)*sin(wave*p.y),0)
+        })
+        let before = grid.maximumSpeedBoundMetresPerSecond
+        #expect(grid.divergencePerSecond().map(abs).max()! < 1e-14)
+        _ = try grid.project(timeStepSeconds: 0.1)
+        #expect(abs(grid.maximumSpeedBoundMetresPerSecond-before) < 1e-12)
+        let point = SIMD3(3.5,2.5,4.5), original = try grid.velocityMetresPerSecond(at: point)
+        var inviscid = try IncompressibleFlowGrid(configuration: configuration(),initialVelocity: { p in
+            SIMD3(sin(wave*p.x)*cos(wave*p.y),-cos(wave*p.x)*sin(wave*p.y),0)
+        })
+        _ = try inviscid.advance(timeStepSeconds: 0.1)
+        let report = try grid.advance(timeStepSeconds: 0.1)
+        #expect(report.maximumDivergenceAfterPerSecond < 1e-7)
+        #expect(grid.maximumSpeedBoundMetresPerSecond < before)
+        let change = try grid.velocityMetresPerSecond(at: point)-inviscid.velocityMetresPerSecond(at: point)
+        let expected = -original*(0.1*0.1*8*pow(sin(wave/2),2))
+        #expect(abs(change.x-expected.x)+abs(change.y-expected.y)+abs(change.z-expected.z) < 1e-8)
+    }
+    @Test func obstaclesProjectionPressureLoadsAndReferencePoint() throws {
+        var grid = try IncompressibleFlowGrid(configuration: configuration(boundary: SIMD3(2,0,0)),solidAtCellCentre: { p in
+            p.x > 3 && p.x < 5 && p.y > 3 && p.y < 5 && p.z > 3 && p.z < 5
+        })
+        let report = try grid.project(timeStepSeconds: 0.1)
+        #expect(report.maximumDivergenceBeforePerSecond > 1)
+        #expect(report.maximumDivergenceAfterPerSecond < 1e-7)
+        #expect(throws: FluidError.unsupportedQuery) { try grid.velocityMetresPerSecond(at: SIMD3(4,4,4)) }
+        let loads = try grid.pressureLoadsOnSolids(momentReferencePointMetres: SIMD3(4,4,4))
+        #expect(abs(loads.forceNewtons.y)+abs(loads.forceNewtons.z) < 1e-8)
+        #expect(loads.forceNewtons.x > 0)
+        let shifted = try grid.pressureLoadsOnSolids(momentReferencePointMetres: .zero)
+        let expected = try loads.referred(to: .zero)
+        #expect(abs(shifted.momentNewtonMetres.y-expected.momentNewtonMetres.y) < 1e-8)
+        _ = try grid.advance(timeStepSeconds: 0.02)
+    }
+    @Test func hydrostaticPressureGivesDisplacedFluidBuoyancy() throws {
+        var grid = try IncompressibleFlowGrid(configuration: configuration(),solidAtCellCentre: { p in
+            p.x > 3 && p.x < 5 && p.y > 3 && p.y < 5 && p.z > 3 && p.z < 5
+        })
+        _ = try grid.advance(timeStepSeconds: 0.1,accelerationMetresPerSecondSquared: { _ in SIMD3(0,0,3) })
+        #expect(grid.maximumSpeedBoundMetresPerSecond < 1e-8)
+        let loads = try grid.pressureLoadsOnSolids(momentReferencePointMetres: SIMD3(4,4,4))
+        // Eight cubic metres displaced, rho=2 kg/m³ and gravity=3 m/s².
+        #expect(abs(loads.forceNewtons.z+48) < 1e-7)
+        #expect(abs(loads.forceNewtons.x)+abs(loads.forceNewtons.y) < 1e-7)
+    }
+    @Test func rotorForcingProducesDownstreamFlowAndSwirl() throws {
+        var grid = try IncompressibleFlowGrid(configuration: configuration(count: 12))
+        let disk = try ActuatorDiskSlipstream(centreMetres: SIMD3(6,6,6),downstreamAxis: SIMD3(1,0,0),radiusMetres: 2,
+            thrustNewtons: 50,fluidTorqueNewtonMetres: 5,densityKilogramsPerCubicMetre: 2,upstreamAxialSpeedMetresPerSecond: 0)
+        let source = try ActuatorDiskAccelerationField(disk: disk,thicknessMetres: 2)
+        for _ in 0..<3 { _ = try grid.advance(timeStepSeconds: 0.05,accelerationMetresPerSecondSquared: source.accelerationMetresPerSecondSquared) }
+        let downstream = try grid.velocityMetresPerSecond(at: SIMD3(7.5,6.5,6))
+        #expect(downstream.x > 0)
+        #expect(downstream.z > 0)
+        #expect(grid.divergencePerSecond().map(abs).max()! < 1e-7)
+    }
+    @Test func limitsAndFailuresDoNotMutateGrid() throws {
+        var grid = try IncompressibleFlowGrid(configuration: configuration(),initialVelocity: { p in SIMD3(p.x/8,p.y/8,p.z/8) })
+        let before = try grid.velocityMetresPerSecond(at: SIMD3(4,4,4))
+        #expect(throws: FluidError.nonConvergence) { try grid.project(timeStepSeconds: 0.1,maximumIterations: 1) }
+        #expect(try grid.velocityMetresPerSecond(at: SIMD3(4,4,4)) == before)
+        #expect(throws: FluidError.workBudgetExceeded) { try grid.advance(timeStepSeconds: 10,maximumSubsteps: 1) }
+        #expect(try grid.velocityMetresPerSecond(at: SIMD3(4,4,4)) == before)
+        #expect(throws: FluidError.invalidFlow) {
+            try grid.advance(timeStepSeconds: 0.1,accelerationMetresPerSecondSquared: { _ in SIMD3(.nan,0,0) })
+        }
+        #expect(throws: FluidError.nonFiniteResult) { try grid.project(timeStepSeconds: .leastNonzeroMagnitude) }
+        #expect(try grid.velocityMetresPerSecond(at: SIMD3(4,4,4)) == before)
+        #expect(throws: FluidError.outsideCoverage) { try grid.velocityMetresPerSecond(at: SIMD3(-1,4,4)) }
+        #expect(throws: FluidError.outsideCoverage) { try configuration(boundary: SIMD3(200,0,0)) }
+        #expect(throws: FluidError.invalidGeometry) { try IncompressibleFlowGrid(configuration: configuration(),solidAtCellCentre: { _ in true }) }
+        #expect(throws: FluidError.invalidParameter) { try configuration(count: 3) }
+
+    }
+}
diff --git a/Tests/FluidDynamicsTests/PropellerSlipstreamTests.swift b/Tests/FluidDynamicsTests/PropellerSlipstreamTests.swift
new file mode 100644
index 0000000..2315962
--- /dev/null
+++ b/Tests/FluidDynamicsTests/PropellerSlipstreamTests.swift
@@ -0,0 +1,72 @@
+// SPDX-License-Identifier: Apache-2.0
+import FluidDynamics
+import Foundation
+import Testing
+
+@Suite struct PropellerSlipstreamTests {
+    func disk(speed: Double = 0, torque: Double = 10, axis: SIMD3<Double> = SIMD3(1,0,0)) throws -> ActuatorDiskSlipstream {
+        try ActuatorDiskSlipstream(centreMetres: .zero,downstreamAxis: axis,radiusMetres: 1,
+            thrustNewtons: 200,fluidTorqueNewtonMetres: torque,densityKilogramsPerCubicMetre: 2,
+            upstreamAxialSpeedMetresPerSecond: speed)
+    }
+    @Test func hoverAndForwardFlightMomentumReferences() throws {
+        for speed in [0.0,10,100] {
+            let rotor = try disk(speed: speed)
+            let vi = rotor.inducedSpeedAtDiskMetresPerSecond
+            #expect(abs(200-2*2*Double.pi*vi*(speed+vi)) < 1e-10)
+            #expect(abs(try rotor.velocityMetresPerSecond(at: .zero).x-vi) < 1e-12)
+            let far = try rotor.velocityMetresPerSecond(at: SIMD3(1e6,0,0)).x
+            #expect(abs(far/(2*vi)-1) < 1e-12)
+            let radius = try rotor.wakeRadiusMetres(downstreamDistanceMetres: 1e6)
+            #expect(abs(2*Double.pi*radius*radius*(speed+far)-rotor.massFlowKilogramsPerSecond) < 1e-10)
+            #expect(abs(rotor.massFlowKilogramsPerSecond*far-200) < 1e-9)
+            #expect(abs(rotor.idealAxialPowerWatts-200*(speed+vi)) < 1e-10)
+        }
+    }
+    @Test func swirlCarriesTorqueAndRotatesWithDisk() throws {
+        let rotor = try disk(speed: 10)
+        let z = 2.0, radius = try rotor.wakeRadiusMetres(downstreamDistanceMetres: z)
+        // Radial midpoint quadrature of angular-momentum flux through the wake.
+        let count = 512, dr = radius/Double(count), axialSpeed = 10+(try rotor.velocityMetresPerSecond(at: SIMD3(z,0,0))).x
+        var torque = 0.0
+        for i in 0..<count {
+            let r = (Double(i)+0.5)*dr
+            let v = try rotor.velocityMetresPerSecond(at: SIMD3(z,r,0))
+            torque += 2*axialSpeed*r*v.z*2*Double.pi*r*dr
+        }
+        #expect(abs(torque-10) < 2e-5)
+        let reversed = try disk(speed: 10,torque: -10)
+        let a = try rotor.velocityMetresPerSecond(at: SIMD3(2,0.2,0))
+        let b = try reversed.velocityMetresPerSecond(at: SIMD3(2,0.2,0))
+        #expect(a.x == b.x && a.z == -b.z)
+        let rotated = try disk(speed: 10,axis: SIMD3(0,0,1)).velocityMetresPerSecond(at: SIMD3(0.2,0,2))
+        #expect(abs(rotated.z-a.x)+abs(rotated.y-a.z) < 1e-12)
+        let loads = try rotor.reactionLoads(momentReferencePointMetres: SIMD3(0,1,0))
+        #expect(loads.forceNewtons == SIMD3(-200,0,0))
+        #expect(loads.momentNewtonMetres == SIMD3(-10,0,-200))
+    }
+
+    @Test func volumeSourceForceAndTorqueIntegrals() throws {
+        let rotor = try disk(), source = try ActuatorDiskAccelerationField(disk: rotor,thicknessMetres: 0.5)
+        // Continuous cylinder quadrature, independent radial integration of torque.
+        var force = 0.0, torque = 0.0
+        let count = 1024, dr = 1/Double(count)
+        for i in 0..<count {
+            let r = (Double(i)+0.5)*dr
+            let acceleration = try source.accelerationMetresPerSecondSquared(at: SIMD3(0,r,0))
+            let mass = 2*2*Double.pi*r*dr*0.5
+            force += mass*acceleration.x; torque += mass*r*acceleration.z
+        }
+        #expect(abs(force-200) < 1e-10)
+        #expect(abs(torque-10) < 1e-5)
+        #expect(try source.accelerationMetresPerSecondSquared(at: SIMD3(2,0,0)) == .zero)
+    }
+    @Test func zeroThrustAndInvalidInputs() throws {
+        let off = try ActuatorDiskSlipstream(centreMetres: .zero,downstreamAxis: SIMD3(1,0,0),radiusMetres: 1,
+            thrustNewtons: 0,densityKilogramsPerCubicMetre: 1,upstreamAxialSpeedMetresPerSecond: 0)
+        #expect(try off.velocityMetresPerSecond(at: .zero) == .zero)
+        #expect(throws: FluidError.invalidParameter) { try disk(axis: .zero) }
+        #expect(throws: FluidError.outsideCoverage) { try disk().wakeRadiusMetres(downstreamDistanceMetres: -1) }
+        #expect(throws: FluidError.invalidParameter) { try disk().velocityMetresPerSecond(at: SIMD3(.nan,0,0)) }
+    }
+}
diff --git a/Tests/HydrodynamicsTests/HydrostaticsTests.swift b/Tests/HydrodynamicsTests/HydrostaticsTests.swift
new file mode 100644
index 0000000..b43d651
--- /dev/null
+++ b/Tests/HydrodynamicsTests/HydrostaticsTests.swift
@@ -0,0 +1,81 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Testing
+import FluidDynamics
+import Hydrodynamics
+
+@Suite struct HydrostaticsTests {
+    func properties(density: Double = 1000) throws -> LiquidProperties {
+        try LiquidProperties(identifier: "Synthetic test liquid",source: "Analytic reference",densityKilogramsPerCubicMetre: density,
+            dynamicViscosityPascalSeconds: 0.001,speedOfSoundMetresPerSecond: 1500,vaporPressurePascals: 2000)
+    }
+    func liquid(surface: SIMD3<Double> = .zero, up: SIMD3<Double> = SIMD3(0,0,-1), density: Double = 1000, gravity: Double = 10) throws -> HydrostaticLiquid {
+        try HydrostaticLiquid(properties: properties(density: density),surfacePointMetres: surface,up: up,
+            gravityMetresPerSecondSquared: -up*gravity,surfaceAbsolutePressurePascals: 100000,maximumDepthMetres: 100)
+    }
+    @Test func halfImmersedBoxVolumeCentroidAndPressure() throws {
+        let hull = try ConvexDisplacementHull.box(halfExtentsMetres: SIMD3(repeating: 1))
+        let water = try liquid(), displacement = try hull.displacement(in: water)
+        #expect(abs(hull.volumeCubicMetres-8) < 1e-12)
+        #expect(abs(displacement.volumeCubicMetres-4) < 1e-12)
+        #expect(abs(displacement.wettedAreaSquareMetres-12) < 1e-12)
+        let centre = try #require(displacement.centreOfBuoyancyMetres)
+        #expect(abs(centre.x)+abs(centre.y)+abs(centre.z-0.5) < 1e-12)
+        let loads = try displacement.buoyancy(in: water,momentReferencePointMetres: SIMD3(1,0,0))
+        #expect(abs(loads.forceNewtons.z+40000) < 1e-8)
+        #expect(abs(loads.momentNewtonMetres.y+40000) < 1e-8)
+        #expect(try water.absolutePressurePascals(at: SIMD3(0,0,2)) == 120000)
+        #expect(try water.absolutePressurePascals(at: SIMD3(0,0,-1)) == nil)
+        #expect(throws: FluidError.outsideCoverage) { try water.absolutePressurePascals(at: SIMD3(0,0,101)) }
+    }
+    @Test func tetrahedronClippingHasAnalyticVolumeAndCentroid() throws {
+        let tetra = try ConvexDisplacementHull(verticesMetres: [.zero,SIMD3(1,0,0),SIMD3(0,1,0),SIMD3(0,0,1)],
+            faces: [[0,2,1],[0,1,3],[0,3,2],[1,2,3]])
+        #expect(abs(tetra.volumeCubicMetres-1.0/6) < 1e-14)
+        let small = try tetra.displacement(in: liquid(surface: SIMD3(0,0,0.5)))
+        #expect(abs(small.volumeCubicMetres-1.0/48) < 1e-14)
+        let c = try #require(small.centreOfBuoyancyMetres)
+        #expect(abs(c.x-0.125)+abs(c.y-0.125)+abs(c.z-0.625) < 1e-12)
+        let full = try tetra.displacement(in: liquid(surface: SIMD3(0,0,-1)))
+        #expect(abs(full.volumeCubicMetres-tetra.volumeCubicMetres) < 1e-14)
+        let dry = try tetra.displacement(in: liquid(surface: SIMD3(0,0,1)))
+        #expect(dry.volumeCubicMetres == 0 && dry.centreOfBuoyancyMetres == nil)
+    }
+    @Test func heelRestoringSlopeAndTitanScaling() throws {
+        let hull = try ConvexDisplacementHull.box(halfExtentsMetres: SIMD3(repeating: 1))
+        for angle in [-1e-4,1e-4] {
+            let up = SIMD3(0,sin(angle),-cos(angle)), water = try liquid(up: up)
+            let displacement = try hull.displacement(in: water)
+            #expect(abs(displacement.volumeCubicMetres-4) < 1e-12)
+            let loads = try displacement.buoyancy(in: water,momentReferencePointMetres: SIMD3(0,0,0.5))
+            // At G=B upright, GM=I_waterplane/V=(2*2³/12)/4=1/3 m.
+            #expect(abs(loads.momentNewtonMetres.x/(40000*angle)-1.0/3) < 1e-7)
+        }
+        let titan = try liquid(density: 660,gravity: 1.352)
+        let force = try hull.displacement(in: titan).buoyancy(in: titan).forceNewtons.z
+        #expect(abs(force+660*1.352*4) < 1e-8)
+        let translated = try ConvexDisplacementHull.box(halfExtentsMetres: SIMD3(repeating: 1),centreMetres: SIMD3(4,-3,7))
+        let c = try #require(translated.displacement(in: liquid(surface: SIMD3(4,-3,7))).centreOfBuoyancyMetres)
+        #expect(abs(c.x-4)+abs(c.y+3)+abs(c.z-7.5) < 1e-12)
+    }
+    @Test func sphereCapsAndPluggableDisplacement() throws {
+        let shape: any DisplacementGeometry = try SphereDisplacement(centreMetres: .zero,radiusMetres: 2)
+        let sample = try shape.displacement(in: liquid())
+        #expect(abs(sample.volumeCubicMetres-16*Double.pi/3) < 1e-12)
+        #expect(abs(sample.wettedAreaSquareMetres-8*Double.pi) < 1e-12)
+        #expect(abs(try #require(sample.centreOfBuoyancyMetres).z-0.75) < 1e-12)
+        let dry = try shape.displacement(in: liquid(surface: SIMD3(0,0,2)))
+        #expect(dry.volumeCubicMetres == 0)
+        #expect(throws: FluidError.invalidGeometry) { try DisplacedLiquidVolume(volumeCubicMetres: 1,centreOfBuoyancyMetres: nil,wettedAreaSquareMetres: 1) }
+    }
+    @Test func invalidMeshAndNonhydrostaticPlaneAreRejected() throws {
+        let hull = try ConvexDisplacementHull.box(halfExtentsMetres: SIMD3(repeating: 1))
+        #expect(throws: FluidError.invalidGeometry) { try ConvexDisplacementHull(verticesMetres: hull.verticesMetres,faces: Array(hull.faces.dropLast())) }
+        var faces = hull.faces; faces[0].reverse()
+        #expect(throws: FluidError.invalidGeometry) { try ConvexDisplacementHull(verticesMetres: hull.verticesMetres,faces: faces) }
+        #expect(throws: FluidError.unsupportedQuery) {
+            try HydrostaticLiquid(properties: properties(),up: SIMD3(0,0,-1),gravityMetresPerSecondSquared: SIMD3(0,1,10),
+                surfaceAbsolutePressurePascals: 100000,maximumDepthMetres: 100)
+        }
+    }
+}
diff --git a/Tests/HydrodynamicsTests/LiquidDataTests.swift b/Tests/HydrodynamicsTests/LiquidDataTests.swift
new file mode 100644
index 0000000..02aa144
--- /dev/null
+++ b/Tests/HydrodynamicsTests/LiquidDataTests.swift
@@ -0,0 +1,37 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Testing
+import FluidDynamics
+import Hydrodynamics
+
+@Suite struct LiquidDataTests {
+    func table(units: String, value: (Double,Double) -> Double) throws -> FluidScalarTable {
+        let temperatures = [290.0,300], pressures = [1e5,1e6]
+        return try FluidScalarTable(axes: [FluidTableAxis(name: "temperature",units: "K",coordinates: temperatures),
+            FluidTableAxis(name: "pressure",units: "Pa",coordinates: pressures)],
+            values: temperatures.flatMap { t in pressures.map { value(t,$0) } },valueUnits: units,
+            source: "Synthetic affine liquid validation data",version: "1",assumptions: "Single synthetic composition; interpolation test only")
+    }
+    @Test func pressureTemperatureInterpolationAndPhaseCoverage() throws {
+        let density = try table(units: "kg/m^3") { 1000-0.1*($0-290)+1e-8*($1-1e5) }
+        let viscosity = try table(units: "Pa*s") { t,_ in 0.001*(1-0.01*(t-290)) }
+        let sound = try table(units: "m/s") { t,_ in 1500+0.01*(t-290) }
+        let vapor = try table(units: "Pa") { t,_ in 1000+10*(t-290) }
+        let model: any LiquidPropertyModel = try TabulatedLiquidModel(identifier: "Synthetic liquid",density: density,
+            viscosity: viscosity,soundSpeed: sound,vaporPressure: vapor)
+        let p = try model.properties(temperatureKelvin: 295,absolutePressurePascals: 550000)
+        #expect(abs(p.densityKilogramsPerCubicMetre-999.5045) < 1e-10)
+        #expect(abs(p.dynamicViscosityPascalSeconds-0.00095) < 1e-15)
+        #expect(abs(p.speedOfSoundMetresPerSecond-1500.05) < 1e-10)
+        #expect(p.vaporPressurePascals == 1050)
+        #expect(throws: FluidError.outsideCoverage) { try model.properties(temperatureKelvin: 94,absolutePressurePascals: 150000) }
+        #expect(throws: FluidError.outsideCoverage) {
+            try TabulatedLiquidModel(identifier: "bad-phase",density: density,viscosity: viscosity,soundSpeed: sound,
+                vaporPressure: table(units: "Pa") { _,_ in 2e5 })
+        }
+        #expect(throws: FluidError.malformedData) {
+            try TabulatedLiquidModel(identifier: "bad-units",density: table(units: "g/cm^3") { _,_ in 1 },
+                viscosity: viscosity,soundSpeed: sound,vaporPressure: vapor)
+        }
+    }
+}
diff --git a/Tests/HydrodynamicsTests/SubmersibleTests.swift b/Tests/HydrodynamicsTests/SubmersibleTests.swift
new file mode 100644
index 0000000..40152e8
--- /dev/null
+++ b/Tests/HydrodynamicsTests/SubmersibleTests.swift
@@ -0,0 +1,38 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Testing
+import FluidDynamics
+import Hydrodynamics
+
+@Suite struct SubmersibleTests {
+    @Test func passiveDampingAddedInertiaAndCombinedLoads() throws {
+        let damping = try HydrodynamicDamping(linearForce: SIMD3(1,2,3),quadraticForce: SIMD3(2,3,4),
+            linearMoment: SIMD3(4,5,6),quadraticMoment: SIMD3(1,2,3),source: "Synthetic passive coefficients")
+        let v = SIMD3(2.0,-3,1), w = SIMD3(-1.0,2,-0.5)
+        let loads = try damping.evaluate(relativeVelocityMetresPerSecond: v,relativeAngularVelocityRadiansPerSecond: w)
+        #expect((loads.forceNewtons*v).sum()+(loads.momentNewtonMetres*w).sum() < 0)
+        let reverse = try damping.evaluate(relativeVelocityMetresPerSecond: -v,relativeAngularVelocityRadiansPerSecond: -w)
+        #expect(reverse.forceNewtons == -loads.forceNewtons && reverse.momentNewtonMetres == -loads.momentNewtonMetres)
+        let inertia = try HydrodynamicAddedInertia(massKilograms: SIMD3(2,3,4),momentKilogramSquareMetres: SIMD3(5,6,7))
+        #expect(try inertia.accelerationReaction(relativeLinearAccelerationMetresPerSecondSquared: v,
+            relativeAngularAccelerationRadiansPerSecondSquared: w).forceNewtons == SIMD3(-4,9,-4))
+        let p = try HydrostaticsTests().properties()
+        let body = SubmergedBodyHydrodynamics(buoyancy: try Buoyancy(displacedVolumeCubicMetres: 2),damping: damping)
+        let flow = try FluidFlow(relativeVelocityMetresPerSecond: v,liquid: p,temperatureKelvin: 293,absolutePressurePascals: 100000)
+        let combined = try body.evaluate(liquid: p,flow: flow,relativeAngularVelocityRadiansPerSecond: w,gravityMetresPerSecondSquared: SIMD3(0,0,10))
+        #expect(combined.forceNewtons == loads.forceNewtons+SIMD3(0,0,-20000))
+    }
+    @Test func liquidPropertiesAndAbsolutePressureCFDReference() throws {
+        let liquid = try HydrostaticsTests().properties()
+        let model = try ConstantLiquidModel(value: liquid,temperatureRangeKelvin: 290...300,pressureRangePascals: 5000...1e7)
+        #expect(try model.properties(temperatureKelvin: 293,absolutePressurePascals: 100000).densityKilogramsPerCubicMetre == 1000)
+        #expect(throws: FluidError.outsideCoverage) { try model.properties(temperatureKelvin: 94,absolutePressurePascals: 100000) }
+        #expect(abs(try liquid.cavitationNumber(absolutePressurePascals: 102000,speedMetresPerSecond: 10)-2) < 1e-12)
+        let geometry = try CartesianFluidGrid(dimensions: SIMD3(repeating: 4),minimumCornerMetres: .zero,cellSizeMetres: 1)
+        var grid = try IncompressibleFlowGrid(configuration: IncompressibleFlowConfiguration(grid: geometry,liquid: liquid))
+        _ = try grid.advance(timeStepSeconds: 0.01,accelerationMetresPerSecondSquared: { _ in SIMD3(0,0,10) })
+        let reference = try LiquidCFDPressureReference(positionMetres: SIMD3(0.5,0.5,0.5),absolutePressurePascals: 100000)
+        #expect(abs(try reference.absolutePressurePascals(in: grid,at: SIMD3(0.5,0.5,3.5))-130000) < 1e-6)
+        #expect(throws: FluidError.outsideCoverage) { try FluidFlow(relativeVelocityMetresPerSecond: .zero,liquid: liquid,temperatureKelvin: 293,absolutePressurePascals: 1000) }
+    }
+}
diff --git a/Tests/MagneticFieldsTests/Fixtures/IGRF14_REFERENCE.txt b/Tests/MagneticFieldsTests/Fixtures/IGRF14_REFERENCE.txt
new file mode 100644
index 0000000..4c0c641
--- /dev/null
+++ b/Tests/MagneticFieldsTests/Fixtures/IGRF14_REFERENCE.txt
@@ -0,0 +1,49 @@
+# year WGS84-height-km latitude-deg longitude-deg north-nT east-nT down-nT total-nT
+       1900.00000000           0.00000000           0.00000000           0.00000000       28027.93664454       -8560.30582517       -5589.79770362       29834.37458266
+       1900.00000000           0.00000000          80.00000000         120.00000000        3520.53434727        1679.48493409       59022.45673594       59151.20650402
+       1900.00000000         100.00000000         -80.00000000         240.00000000        4634.32366382       12180.56608020      -61256.57930499       62627.56305337
+       1900.00000000           0.00000000          90.00000000           0.00000000        2503.27676727       -2730.94317981       56943.58473574       57063.96663203
+       1900.00000000           0.00000000         -90.00000000          90.00000000       -5144.99013414      -12284.59309833      -62757.56223550       64155.23181171
+       1900.00000000         850.00000000          42.00000000         -71.00000000       12166.89006418       -1945.05642177       38038.35473791       39984.15798144
+       1945.00000000           0.00000000           0.00000000           0.00000000       27950.50190520       -6770.19441322      -10846.67734003       30736.24079916
+       1945.00000000           0.00000000          80.00000000         120.00000000        2800.49464217         921.09216598       57936.46467044       58011.42231947
+       1945.00000000         100.00000000         -80.00000000         240.00000000        5157.55094555       13827.41106786      -57203.80031760       59076.83471016
+       1945.00000000           0.00000000          90.00000000           0.00000000        2263.23808658       -1764.02989255       55814.08544630       55887.79994154
+       1945.00000000           0.00000000         -90.00000000          90.00000000       -6510.97348536      -13949.66116209      -58864.15443602       60843.85342606
+       1945.00000000         850.00000000          42.00000000         -71.00000000       11375.42147717       -2301.81439917       36221.24373334       38035.20817482
+       1997.50000000           0.00000000           0.00000000           0.00000000       27473.43318782       -3671.02187336      -14690.23339885       31369.87233052
+       1997.50000000           0.00000000          80.00000000         120.00000000        2485.06144065          87.40907703       58254.43829899       58307.48453021
+       1997.50000000         100.00000000         -80.00000000         240.00000000        5271.85545937       14699.20743652      -51871.69579779       54171.32067972
+       1997.50000000           0.00000000          90.00000000           0.00000000        1813.76024608        -969.69170675       56264.11717233       56301.69543999
+       1997.50000000           0.00000000         -90.00000000          90.00000000       -7731.88180134      -14551.93068954      -53590.72456307       56066.98174664
+       1997.50000000         850.00000000          42.00000000         -71.00000000       12875.24898271       -2950.07950362       33746.50778332       36239.50597089
+       2000.00000000           0.00000000           0.00000000           0.00000000       27464.94891982       -3504.15340047      -14827.76270472       31408.04128006
+       2000.00000000           0.00000000          80.00000000         120.00000000        2432.20536770          58.43006736       58274.01749042       58324.78162408
+       2000.00000000         100.00000000         -80.00000000         240.00000000        5294.41101873       14731.46872988      -51664.67376977       53984.12243162
+       2000.00000000           0.00000000          90.00000000           0.00000000        1811.85283438        -875.14262431       56289.74638133       56325.69780288
+       2000.00000000           0.00000000         -90.00000000          90.00000000       -7800.05937181      -14579.38717155      -53372.49861855       55875.06657973
+       2000.00000000         850.00000000          42.00000000         -71.00000000       12938.19183942       -2958.74152823       33529.00813622       36060.30152541
+       2020.00000000           0.00000000           0.00000000           0.00000000       27539.07706421       -2244.61794597      -16008.52262084       31932.92770439
+       2020.00000000           0.00000000          80.00000000         120.00000000        1979.78472329        -167.47573089       58808.03940417       58841.59323330
+       2020.00000000         100.00000000         -80.00000000         240.00000000        5749.67918880       14789.25308543      -49981.53137330       52439.81594189
+       2020.00000000           0.00000000          90.00000000           0.00000000        1816.71355717         126.55969273       56727.88861232       56757.11243463
+       2020.00000000           0.00000000         -90.00000000          90.00000000       -8568.32885958      -14430.89704786      -52025.29396812       54665.32961139
+       2020.00000000         850.00000000          42.00000000         -71.00000000       13518.27430966       -2897.90182131       31824.08787315       34697.46596274
+       2025.00000000           0.00000000           0.00000000           0.00000000       27456.62461180       -1926.54865541      -15997.35386096       31835.40725902
+       2025.00000000           0.00000000          80.00000000         120.00000000        1814.99964038        -338.38042575       59016.41358027       59045.28598360
+       2025.00000000         100.00000000         -80.00000000         240.00000000        5906.12274190       14770.74307393      -49545.90163400       52037.03974598
+       2025.00000000           0.00000000          90.00000000           0.00000000        1730.81512133         441.13311866       56851.31062045       56879.36215074
+       2025.00000000           0.00000000         -90.00000000          90.00000000       -8781.74245146      -14341.01338792      -51702.88299212       54368.84930889
+       2025.00000000         850.00000000          42.00000000         -71.00000000       13665.99944581       -2868.58202209       31429.53767121       34391.91971810
+       2027.50000000           0.00000000           0.00000000           0.00000000       27396.38059698       -1776.76281892      -15974.25222394       31763.11209632
+       2027.50000000           0.00000000          80.00000000         120.00000000        1724.21538026        -420.20399506       59113.37797680       59140.01137896
+       2027.50000000         100.00000000         -80.00000000         240.00000000        5978.67835671       14755.71531934      -49321.83683100       51827.78519156
+       2027.50000000           0.00000000          90.00000000           0.00000000        1698.15008207         599.34495876       56908.12198071       56936.60751618
+       2027.50000000           0.00000000         -90.00000000          90.00000000       -8885.15588662      -14289.63333009      -51535.34724630       54212.83641016
+       2027.50000000         850.00000000          42.00000000         -71.00000000       13734.40882534       -2850.11148469       31225.81284236       34231.68866596
+       2030.00000000           0.00000000           0.00000000           0.00000000       27336.13658216       -1626.97698244      -15951.15058692       31691.49132475
+       2030.00000000           0.00000000          80.00000000         120.00000000        1633.43112014        -502.02756437       59210.34237333       59234.99618356
+       2030.00000000         100.00000000         -80.00000000         240.00000000        6051.23397153       14740.68756475      -49097.77202800       51618.76132351
+       2030.00000000           0.00000000          90.00000000           0.00000000        1665.48504280         757.55679887       56964.93334096       56994.30992013
+       2030.00000000           0.00000000         -90.00000000          90.00000000       -8988.56932177      -14238.25327226      -51367.81150048       54057.13914967
+       2030.00000000         850.00000000          42.00000000         -71.00000000       13802.81820487       -2831.64094728       31022.08801351       34072.06958154
diff --git a/Tests/MagneticFieldsTests/Fixtures/README.md b/Tests/MagneticFieldsTests/Fixtures/README.md
new file mode 100644
index 0000000..efd3e20
--- /dev/null
+++ b/Tests/MagneticFieldsTests/Fixtures/README.md
@@ -0,0 +1,9 @@
+WMM2025_TEST_VALUES.txt is NOAA's published WMM2025 test table from the user's
+WMM2025 Linux download. Height is kilometres above the WGS84 ellipsoid.
+Source: https://www.ncei.noaa.gov/products/world-magnetic-model
+
+IGRF14_REFERENCE.txt contains 48 vectors from NOAA's igrf14syn Fortran reference
+routine (https://www.ngdc.noaa.gov/IAGA/vmod/igrf14.f), fetched 2026-10-14.
+It covers historical epoch interpolation, final secular variation, WGS84 conversion,
+altitude and both poles. Regenerate with Tools/MagneticFields/generate_igrf_fixtures.py and gfortran.
+The small differences allowed by the test reflect rounded constants in that routine.
diff --git a/Tests/MagneticFieldsTests/Fixtures/WMM2025_TEST_VALUES.txt b/Tests/MagneticFieldsTests/Fixtures/WMM2025_TEST_VALUES.txt
new file mode 100644
index 0000000..665b47d
--- /dev/null
+++ b/Tests/MagneticFieldsTests/Fixtures/WMM2025_TEST_VALUES.txt
@@ -0,0 +1,31 @@
+# Field 1: Date
+# Field 2: Height above WGS84 ellipsoid (km)
+# Field 3: Geodetic Latitude (deg)
+# Field 4: Geodetic Longitude (deg)
+# Field 5: X (nT)
+# Field 6: Y (nT)
+# Field 7: Z (nT)
+# Field 8: H (nT)
+# Field 9: F (nT)
+# Field 10: Inclination (deg)
+# Field 11: Declination (deg)
+# Field 12: Grid Variation (deg)
+# Field 13: Xdot (nT/yr)
+# Field 14: Ydot (nT/yr)
+# Field 15: Zdot (nT/yr)
+# Field 16: Hdot (nT/yr)
+# Field 17: Fdot (nT/yr)
+# Field 18: Idot (deg/yr)
+# Field 19: Ddot (deg/yr)
+  2025.0    0.0   80.0    0.0     6521.6      145.9    54791.5     6523.2    55178.5   83.21    1.28    1.28       -8.3       59.5       31.1       -7.0       30.1    0.01    0.52
+  2025.0    0.0    0.0  120.0    39677.8     -109.6   -10580.2    39677.9    41064.3  -14.93   -0.16     NaN        9.5      -23.1       79.4        9.6      -11.2    0.11   -0.03
+  2025.0    0.0  -80.0  240.0     6117.5    15751.9   -52022.5    16898.1    54698.2  -72.00   68.78  -51.22       33.3       -8.6       95.5        4.0      -89.6    0.03   -0.12
+  2025.0  100.0   80.0    0.0     6216.0       92.4    52598.8     6216.7    52964.9   83.26    0.85    0.85       -7.7       56.5       28.7       -6.9       27.6    0.01    0.52
+  2025.0  100.0    0.0  120.0    37688.6      -96.2   -10152.1    37688.7    39032.1  -15.08   -0.15     NaN        9.2      -21.0       72.9        9.2      -10.0    0.11   -0.03
+  2025.0  100.0  -80.0  240.0     5907.6    14780.3   -49540.7    15917.1    52035.0  -72.19   68.21  -51.79       30.6       -8.0       89.2        3.9      -83.8    0.03   -0.11
+  2027.5    0.0   80.0    0.0     6500.8      294.5    54869.4     6507.5    55253.9   83.24    2.59    2.59       -8.3       59.5       31.1       -5.6       30.3    0.01    0.53
+  2027.5    0.0    0.0  120.0    39701.6     -167.4   -10381.8    39702.0    41036.9  -14.65   -0.24     NaN        9.5      -23.1       79.4        9.6      -10.7    0.11   -0.03
+  2027.5    0.0  -80.0  240.0     6200.7    15730.3   -51783.7    16908.3    54474.2  -71.92   68.49  -51.51       33.3       -8.6       95.5        4.2      -89.5    0.04   -0.12
+  2027.5  100.0   80.0    0.0     6196.7      233.8    52670.5     6201.1    53034.3   83.29    2.16    2.16       -7.7       56.5       28.7       -5.6       27.8    0.01    0.52
+  2027.5  100.0    0.0  120.0    37711.5     -148.7    -9969.8    37711.8    39007.4  -14.81   -0.23     NaN        9.2      -21.0       72.9        9.3       -9.7    0.11   -0.03
+  2027.5  100.0  -80.0  240.0     5984.0    14760.1   -49317.7    15927.0    51825.7  -72.10   67.93  -52.07       30.6       -8.0       89.2        4.0      -83.7    0.03   -0.11
diff --git a/Tests/MagneticFieldsTests/GeomagneticTests.swift b/Tests/MagneticFieldsTests/GeomagneticTests.swift
new file mode 100644
index 0000000..aee6805
--- /dev/null
+++ b/Tests/MagneticFieldsTests/GeomagneticTests.swift
@@ -0,0 +1,94 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Testing
+@testable import MagneticFields
+@Suite struct GeomagneticTests {
+    @Test func officialWMM2025Vectors() throws {
+        let model = try WMMMagneticField.wmm2025()
+        let file = Bundle.module.url(forResource: "WMM2025_TEST_VALUES",withExtension: "txt",subdirectory: "Fixtures")!
+        let text = try String(contentsOf: file,encoding: .utf8)
+        var count = 0
+        for line in text.split(whereSeparator: \.isNewline) where !line.hasPrefix("#") {
+            let v = line.split(whereSeparator: \.isWhitespace).map { Double($0)! }
+            let query = try GeodeticMagneticQuery(latitudeRadians: v[2] * .pi/180,longitudeRadians: v[3] * .pi/180,
+                ellipsoidHeightMetres: v[1]*1000,decimalYear: v[0])
+            let result = try model.elements(at: query), ned = result.northEastDownTesla*1e9
+            #expect(abs(ned.x-v[4]) < 0.11)
+            #expect(abs(ned.y-v[5]) < 0.11)
+            #expect(abs(ned.z-v[6]) < 0.11)
+            #expect(abs(result.totalIntensityTesla*1e9-v[8]) < 0.11)
+            count += 1
+        }
+        #expect(count > 10)
+    }
+    @Test func officialIGRF14ReferenceVectors() throws {
+        let model = try IGRFMagneticField.igrf14()
+        let file = Bundle.module.url(forResource: "IGRF14_REFERENCE",withExtension: "txt",subdirectory: "Fixtures")!
+        let text = try String(contentsOf: file,encoding: .utf8)
+        var count = 0
+        for line in text.split(whereSeparator: \.isNewline) where !line.hasPrefix("#") {
+            let v = line.split(whereSeparator: \.isWhitespace).map { Double($0)! }
+            let result = try model.elements(at: GeodeticMagneticQuery(latitudeRadians: v[2] * .pi/180,
+                longitudeRadians: v[3] * .pi/180,ellipsoidHeightMetres: v[1]*1000,decimalYear: v[0]))
+            let ned = result.northEastDownTesla*1e9
+            #expect(abs(ned.x-v[4]) < 0.2)
+            #expect(abs(ned.y-v[5]) < 0.2)
+            #expect(abs(ned.z-v[6]) < 0.2)
+            #expect(abs(result.totalIntensityTesla*1e9-v[7]) < 0.2)
+            count += 1
+        }
+        #expect(count == 48)
+    }
+    @Test func igrfInterpolationAndSecularVariation() throws {
+        let text = """
+        g/h n m 2000.0 2005.0 2005-10
+        g 1 0 -30000 -29000 10
+        g 1 1 0 0 0
+        h 1 1 0 0 0
+        """
+        let model = try IGRFMagneticField(coefficientText: text)
+        for (year,g) in [(2000.0,-30000.0),(2002.5,-29500),(2005,-29000),(2010,-28950)] {
+            let field = try model.field(at: MagneticFieldQuery(positionMetres: SIMD3(6371200,0,0),decimalYear: year))
+            #expect(abs(field.vectorTesla.z + g*1e-9) < 1e-15)
+        }
+        let actual = try IGRFMagneticField.igrf14()
+        #expect(actual.metadata.decimalYearRange == 1900...2030)
+        #expect(try actual.elements(at: GeodeticMagneticQuery(latitudeRadians: 0,longitudeRadians: 0,
+            ellipsoidHeightMetres: 0,decimalYear: 2025)).totalIntensityTesla > 1e-5)
+        #expect(throws: MagneticFieldError.outsideCoverage) {
+            try actual.field(at: MagneticFieldQuery(positionMetres: SIMD3(6371200,0,0),decimalYear: 2031))
+        }
+    }
+    @Test func coefficientFilesAndNewEditions() throws {
+        let directory = FileManager.default.temporaryDirectory.appendingPathComponent(UUID().uuidString)
+        try FileManager.default.createDirectory(at: directory,withIntermediateDirectories: true)
+        defer { try? FileManager.default.removeItem(at: directory) }
+        let file = directory.appendingPathComponent("WMM.COF")
+        try "2030 NEXT date\n1 0 -30000 0 10 0\n1 1 0 0 0 0\n9999999999".write(to: file,atomically: true,encoding: .utf8)
+        let model = try WMMMagneticField(coefficientFile: file)
+        #expect(model.metadata.decimalYearRange == 2030...2035)
+        let field = try model.field(at: MagneticFieldQuery(positionMetres: SIMD3(6371200,0,0),decimalYear: 2035))
+        #expect(abs(field.vectorTesla.z-29950e-9) < 1e-15)
+        let igrfFile = directory.appendingPathComponent("igrf.txt")
+        try "g/h n m 2090.0 2095.0 2095-00\ng 1 0 -30000 -29000 10\ng 1 1 0 0 0\nh 1 1 0 0 0".write(to: igrfFile,atomically: true,encoding: .utf8)
+        #expect(try IGRFMagneticField(coefficientFile: igrfFile).metadata.decimalYearRange == 2090...2100)
+    }
+    @Test func coefficientValidationAndPoles() throws {
+        let valid = "2025 TEST date\n1 0 -30000 0 0 0\n1 1 1 2 0 0\n9999999999"
+        #expect(throws: GeomagneticCoefficientError.incompleteCoefficients) {
+            try WMMMagneticField(coefficientText: "2025 TEST date\n1 0 -30000 0 0 0\n9999999999")
+        }
+        #expect(throws: GeomagneticCoefficientError.duplicateCoefficient) {
+            try WMMMagneticField(coefficientText: valid.replacingOccurrences(of: "9999999999",with: "1 0 1 0 0 0\n9999999999"))
+        }
+        #expect(throws: GeomagneticCoefficientError.invalidHeader) { try IGRFMagneticField(coefficientText: "g/h n m rubbish") }
+        let model = try WMMMagneticField(coefficientText: valid)
+        for sign in [-1.0,1.0] {
+            let exact = try model.field(at: MagneticFieldQuery(positionMetres: SIMD3(0,0,sign*6371200),decimalYear: 2025))
+            let near = try model.field(at: MagneticFieldQuery(positionMetres: SIMD3(0.001,0,sign*6371200),decimalYear: 2025))
+            #expect(abs(exact.vectorTesla.x-near.vectorTesla.x) < 1e-12)
+            #expect(abs(exact.vectorTesla.y-near.vectorTesla.y) < 1e-12)
+            #expect(abs(exact.vectorTesla.z-near.vectorTesla.z) < 1e-12)
+        }
+    }
+}
diff --git a/Tests/MagneticFieldsTests/MagneticFieldTests.swift b/Tests/MagneticFieldsTests/MagneticFieldTests.swift
new file mode 100644
index 0000000..25c3999
--- /dev/null
+++ b/Tests/MagneticFieldsTests/MagneticFieldTests.swift
@@ -0,0 +1,50 @@
+// SPDX-License-Identifier: Apache-2.0
+import Testing
+@testable import MagneticFields
+@Suite struct MagneticFieldTests {
+    private func metadata(radius: ClosedRange<Double> = 0...100,
+                          years: ClosedRange<Double>? = nil) throws -> MagneticFieldMetadata {
+        try MagneticFieldMetadata(name: "Test", source: "Synthetic", version: "1", axesDescription: "XYZ",
+                                  assumptions: "Test", radiusRangeMetres: radius,decimalYearRange: years)
+    }
+    private func query(_ p: SIMD3<Double>, year: Double = 2026) throws -> MagneticFieldQuery {
+        try MagneticFieldQuery(positionMetres: p,decimalYear: year)
+    }
+    @Test func analyticDipoleAndInverseCube() throws {
+        let model = try DipoleMagneticField(referenceRadiusMetres: 10,momentAxisFieldTesla: SIMD3(0,0,2),metadata: metadata())
+        #expect(try model.field(at: query(SIMD3(10,0,0))).vectorTesla == SIMD3(0,0,-2))
+        #expect(try model.field(at: query(SIMD3(0,0,10))).vectorTesla == SIMD3(0,0,4))
+        #expect(try model.field(at: query(SIMD3(0,0,-10))).vectorTesla == SIMD3(0,0,4))
+        #expect(try model.field(at: query(SIMD3(20,0,0))).vectorTesla == SIMD3(0,0,-0.25))
+        let tilted = try DipoleMagneticField(referenceRadiusMetres: 10,momentAxisFieldTesla: SIMD3(2,0,0),
+                                             offsetMetres: SIMD3(1,2,3),metadata: metadata())
+        #expect(try tilted.field(at: query(SIMD3(11,2,3))).vectorTesla == SIMD3(4,0,0))
+        #expect(throws: MagneticFieldError.singularField) { try tilted.field(at: query(SIMD3(1,2,3))) }
+    }
+    @Test func coverageAndValidation() throws {
+        let model = try ConstantMagneticField(vectorTesla: SIMD3(1,2,3),metadata: metadata(radius: 10...20,years: 2025...2030))
+        #expect(try model.checkedField(at: query(SIMD3(10,0,0),year: 2025)).vectorTesla == SIMD3(1,2,3))
+        #expect(throws: MagneticFieldError.outsideCoverage) { try model.checkedField(at: query(SIMD3(21,0,0))) }
+        #expect(throws: MagneticFieldError.outsideCoverage) { try model.checkedField(at: query(SIMD3(10,0,0),year: 2031)) }
+        #expect(throws: MagneticFieldError.invalidPosition) { try query(SIMD3(.nan,0,0)) }
+        #expect(throws: MagneticFieldError.invalidDate) { try query(.zero,year: .infinity) }
+        #expect(throws: MagneticFieldError.invalidParameters) {
+            try DipoleMagneticField(referenceRadiusMetres: -1,momentAxisFieldTesla: .zero,metadata: metadata())
+        }
+        #expect(throws: MagneticFieldError.nonFiniteResult) { try MagneticFluxDensity(vectorTesla: SIMD3(.infinity,0,0)) }
+    }
+    @Test func catalogueStrengthsAndMissingModels() throws {
+        for body in MagneticBody.allCases {
+            let model = BodyMagneticField.model(for: body), radius = model.dipole.referenceRadiusMetres
+            let equator = try model.field(at: query(SIMD3(radius,0,0)))
+            let pole = try model.field(at: query(SIMD3(0,0,radius)))
+            #expect(abs(pole.magnitudeTesla/equator.magnitudeTesla-2) < 1e-14)
+            #expect(model.metadata.decimalYearRange == nil)
+        }
+        let earth = BodyMagneticField.model(for: .earth)
+        let north = try earth.field(at: query(SIMD3(0,0,earth.dipole.referenceRadiusMetres)))
+        #expect(abs(north.vectorTesla.z + 61.2e-6) < 1e-15)
+        #expect(BodyMagneticField.model(naifBodyCode: 299) == nil)
+        #expect(BodyMagneticField.model(naifBodyCode: 3) == nil)
+    }
+}
diff --git a/Tests/MathTests/PublicAPIContractTests.swift b/Tests/MathTests/PublicAPIContractTests.swift
new file mode 100644
index 0000000..b8cb8b4
--- /dev/null
+++ b/Tests/MathTests/PublicAPIContractTests.swift
@@ -0,0 +1,38 @@
+// SPDX-License-Identifier: Apache-2.0
+import Testing
+import Math
+
+@Suite
+struct PublicAPIContractTests {
+  private func requireSendable<T: Sendable>(_ value: T) {}
+
+  @Test
+  func mathValuesCanCrossIsolationBoundaries() {
+    requireSendable(Quaternion.identity)
+    requireSendable(Matrix3x3.identity)
+    requireSendable(Frame(name: "root", pseudoInertial: true))
+    requireSendable(HourAngle(hours: 1, minutes: 0, seconds: 0))
+    requireSendable(AngleOfArc(degrees: 1, minutes: 0, seconds: 0))
+  }
+
+  @Test
+  func transformationCanBeConstructedFromAnotherModule() {
+    let value = Transformation(date: 1, position: SIMD3(1, 2, 3), velocity: .zero,
+      acceleration: SIMD3(4, 5, 6), quaternion: .identity,
+      rotationRate: .zero, rotationAcceleration: SIMD3(7, 8, 9))
+    requireSendable(value)
+    #expect(value.acceleration == SIMD3(4, 5, 6))
+    #expect(value.rotationAcceleration == SIMD3(7, 8, 9))
+    #expect(value.rotationMatrix * SIMD3<Double>(1, 2, 3) == SIMD3(1, 2, 3))
+  }
+
+  @Test
+  func anglePropertiesIncludeFractionalComponents() {
+    let hourAngle = HourAngle(hours: 1, minutes: 30, seconds: 0)
+    #expect(hourAngle.degrees == 22.5)
+    #expect(abs(hourAngle.radians - .pi / 8) < 1e-14)
+    let arc = AngleOfArc(degrees: -1, minutes: 30, seconds: 0)
+    #expect(arc.totalDegrees == -1.5)
+    #expect(abs(arc.radians + .pi / 120) < 1e-14)
+  }
+}
diff --git a/Tests/MathTests/RotationAndScalingTests.swift b/Tests/MathTests/RotationAndScalingTests.swift
new file mode 100644
index 0000000..3955f63
--- /dev/null
+++ b/Tests/MathTests/RotationAndScalingTests.swift
@@ -0,0 +1,62 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import Testing
+import Math
+
+@Suite
+struct RotationAndScalingTests {
+  @Test(arguments: [1.0, 7.0, 1e200, 1e-200])
+  func axisAngleNormalizesAxis(scale: Double) {
+    let rotation = Quaternion(angle: .pi / 2, axis: SIMD3(0, 0, scale))
+    #expect(abs(rotation.w - cos(Double.pi / 4)) < 1e-14)
+    #expect(abs(Quaternion.dot(lhs: rotation, rhs: rotation) - 1) < 1e-14)
+    let rotated = rotation.matrix * SIMD3<Double>(1, 0, 0)
+    #expect(abs(rotated.x) < 1e-14)
+    #expect(abs(rotated.y - 1) < 1e-14)
+    #expect(abs(rotated.z) < 1e-14)
+    #expect(abs(rotation.angle - .pi / 2) < 1e-14)
+    #expect(rotation.axis == SIMD3<Double>(0, 0, 1))
+  }
+
+  @Test
+  func extractsAngleAndAxisFromScaledQuaternion() {
+    let axis = SIMD3<Double>(1, 2, 3) / sqrt(14)
+    let rotation = Quaternion(angle: 1.2, axis: axis) * 5
+    #expect(abs(rotation.angle - 1.2) < 1e-14)
+    for component in 0..<3 {
+      #expect(abs(rotation.axis[component] - axis[component]) < 1e-14)
+    }
+    #expect(Quaternion.identity.angle == 0)
+    #expect(Quaternion.identity.axis == SIMD3<Double>(1, 0, 0))
+    let zeroAngle = Quaternion(angle: 0, axis: .zero)
+    #expect(zeroAngle.scalar == 1)
+    #expect(zeroAngle.vector == .zero)
+  }
+
+  @Test
+  func conjugationPreservesScalarAndReversesRotation() {
+    let value = Quaternion(x: 1, y: -2, z: 3, w: 4)
+    #expect(value.conj.vector == -value.vector)
+    #expect(value.conj.scalar == value.scalar)
+    let product = value * value.conj
+    #expect(product.vector == .zero)
+    #expect(product.scalar == 30)
+    let rotation = Quaternion(angle: 0.8, axis: SIMD3(1, 2, -3))
+    let original = SIMD3<Double>(2, -4, 7)
+    let recovered = rotation.conj.matrix * (rotation.matrix * original)
+    for component in 0..<3 {
+      #expect(abs(recovered[component] - original[component]) < 1e-13)
+    }
+  }
+
+  @Test(arguments: [0.0, 2.0, -3.0, 0.5])
+  func scalarMultiplicationScalesEveryEntry(scale: Double) {
+    let matrix = Matrix3x3(elements: [1, 2, 3, -4, 5, 6, 7, 8, -9])
+    let scaled = matrix * scale
+    for row in 0..<3 {
+      for column in 0..<3 {
+        #expect(scaled[row, column] == matrix[row, column] * scale)
+      }
+    }
+  }
+}
diff --git a/Tests/MathTests/math_tests.swift b/Tests/MathTests/math_tests.swift
index 01d5286..69f276e 100644
--- a/Tests/MathTests/math_tests.swift
+++ b/Tests/MathTests/math_tests.swift
@@ -16,79 +16,92 @@
 // limitations under the License.
 //
 
-import XCTest
+import Foundation
+import Testing
 @testable import Math;
 
-final class math_tests : XCTestCase {
+@Suite
+struct math_tests {
+  @Test
   func testRadToDeg() {
-    XCTAssertEqual(0.0.asDeg, 0.0);
-    XCTAssertEqual(1.0.asDeg, 57.2958, accuracy:  0.00005);
+    #expect(0.0.asDeg == 0.0);
+    #expect(abs((1.0.asDeg) - (57.2958)) <= 0.00005);
   }
   
+  @Test
   func testDegToRad() {
-    XCTAssertEqual(0.0.deg, 0.0);
-    XCTAssertEqual(1.0.deg, 0.0174533, accuracy:  0.00000005);
+    #expect(0.0.deg == 0.0);
+    #expect(abs((1.0.deg) - (0.0174533)) <= 0.00000005);
   }
   
+  @Test
   func testDegToHours() {
-    XCTAssertEqual(0.0.degAsHours, 0.0);
-    XCTAssertEqual(15.0.degAsHours, 1.0);
+    #expect(0.0.degAsHours == 0.0);
+    #expect(15.0.degAsHours == 1.0);
   }
+  @Test
   func testHoursToDeg() {
-    XCTAssertEqual(0.0.hoursAsDeg, 0.0);
-    XCTAssertEqual(1.0.hoursAsDeg, 15.0);
+    #expect(0.0.hoursAsDeg == 0.0);
+    #expect(1.0.hoursAsDeg == 15.0);
   }
   
+  @Test
   func testHourAngleToDeg() {
     // Meeus, Astronomical Algorithms 2nd edition, Example 1.a
     let ra = HourAngle(hours: 9, minutes: 14, seconds: 55.8)
-    XCTAssertEqual(ra.toDeg(), 138.73250, accuracy: 0.000005);
+    #expect(abs((ra.degrees) - (138.73250)) <= 0.000005);
   }
   
+  @Test
   func testHourAngleToRad() {
     // Meeus, p8 Example 1.a
     let ra = HourAngle(hours: 9, minutes: 14, seconds: 55.8)
-    XCTAssertEqual(ra.toRad(), 2.4213389045, accuracy: 1.0e-6);
+    #expect(abs((ra.radians) - (2.4213389045)) <= 1.0e-6);
   }
   
+  @Test
   func testAngleOfArcToDeg() {
     let angle = AngleOfArc(degrees: -14, minutes: 43, seconds: 8.2)
-    XCTAssertEqual(angle.toDeg(), -14.718944, accuracy: 0.0000005)
+    #expect(abs((angle.totalDegrees) - (-14.718944)) <= 0.0000005)
 
   }
 
+  @Test
   func testQuaternionMult() {
     let a = Quaternion(x: 1.4, y: 5.7, z: 2.0, w: -2.1)
     let b = Quaternion(x: 0.2, y: 0.1, z: 1.0, w: 8.0)
 
     let r = a * b
     
-    XCTAssertEqual(r.x, 16.28)
-    XCTAssertEqual(r.y, 44.390)
-    XCTAssertEqual(r.z, 12.900)
-    XCTAssertEqual(r.w, -19.65, accuracy:  0.00000001)
+    #expect(r.x == 16.28)
+    #expect(r.y == 44.390)
+    #expect(r.z == 12.900)
+    #expect(abs((r.w) - (-19.65)) <= 0.00000001)
   }
 
+  @Test
   func testMatrixZero() {
     let m = Matrix3x3.zero
     for i in 0..<3 {
       for j in 0..<3 {
-        XCTAssertEqual(m[i, j], 0)
+        #expect(m[i, j] == 0)
       }
     }
   }
+  @Test
   func testMatrixIdent() {
     let m = Matrix3x3.identity
     for i in 0..<3 {
       for j in 0..<3 {
         if i == j {
-          XCTAssertEqual(m[i, j], 1)
+          #expect(m[i, j] == 1)
         } else {
-          XCTAssertEqual(m[i, j], 0)
+          #expect(m[i, j] == 0)
         }
       }
     }
   }
+  @Test
   func testMatrixVectorMultiply() {
     let v = SIMD3<Double>(2, 1, 3)
     let a = Matrix3x3(elements: [1,2,3,
@@ -96,11 +109,12 @@ final class math_tests : XCTestCase {
                                  7,8,9])
     let r = a * v
 
-    XCTAssertEqual(r[0], 13)
-    XCTAssertEqual(r[1], 31)
-    XCTAssertEqual(r[2], 49)
+    #expect(r[0] == 13)
+    #expect(r[1] == 31)
+    #expect(r[2] == 49)
   }
 
+  @Test
   func testMatrixMatrixMultiply() {
     let a = Matrix3x3(elements: [2, 3, 1,
                                  7, 4, 1,
@@ -115,31 +129,33 @@ final class math_tests : XCTestCase {
                                         79,-31,-15])
     for i in 0..<3 {
       for j in 0..<3 {
-        XCTAssertEqual(expected[i,j], r[i,j])
+        #expect(expected[i,j] == r[i,j])
       }
     }
   }
+  @Test
   func testMatrixToQuaternion() {
     let identMatrix = Matrix3x3.identity
     let qFromIdentity = identMatrix.quaternion
     let qExpected = Quaternion.identity
 
-    XCTAssertEqual(qFromIdentity.x, qExpected.x)
-    XCTAssertEqual(qFromIdentity.y, qExpected.y)
-    XCTAssertEqual(qFromIdentity.z, qExpected.z)
-    XCTAssertEqual(qFromIdentity.w, qExpected.w)
+    #expect(qFromIdentity.x == qExpected.x)
+    #expect(qFromIdentity.y == qExpected.y)
+    #expect(qFromIdentity.z == qExpected.z)
+    #expect(qFromIdentity.w == qExpected.w)
     
     // Second test, 90 degree around x
     let m = Matrix3x3(elements: [1, 0, 0,
                                  0, 0,-1,
                                  0, 1, 0])
     let q = m.quaternion
-    XCTAssertEqual(q.x, 0.7071067811865475)
-    XCTAssertEqual(q.y, 0.0)
-    XCTAssertEqual(q.z, 0.0)
-    XCTAssertEqual(q.w, 0.7071067811865476)
+    #expect(q.x == 0.7071067811865475)
+    #expect(q.y == 0.0)
+    #expect(q.z == 0.0)
+    #expect(q.w == 0.7071067811865476)
   }
 
+  @Test
   func testQuaternionToMatrix() {
     let identityQuaternion = Quaternion.identity
     let mFromIdentiy = identityQuaternion.matrix
@@ -147,7 +163,7 @@ final class math_tests : XCTestCase {
 
     for i in 0..<3 {
       for j in 0..<3 {
-        XCTAssertEqual(mExpected[i,j], mFromIdentiy[i,j])
+        #expect(mExpected[i,j] == mFromIdentiy[i,j])
       }
     }
 
@@ -159,11 +175,12 @@ final class math_tests : XCTestCase {
     let m = q.matrix
     for i in 0..<3 {
       for j in 0..<3 {
-        XCTAssertEqual(m[i,j], mExpected90[i,j], accuracy: 0.000000001)
+        #expect(abs((m[i,j]) - (mExpected90[i,j])) <= 0.000000001)
       }
     }
   }
 
+  @Test
   func testCubeToSphere() {
     // Cube sphere mapping test data. Center points for each cube face are
     // supposed to be mapped to identical coordinates.
@@ -231,12 +248,13 @@ final class math_tests : XCTestCase {
 
     for testCase in testdata {
       let res = cubeToSphere(testCase[0])
-      XCTAssertEqual(res.x, testCase[1].x, accuracy: 0.00000001)
-      XCTAssertEqual(res.y, testCase[1].y, accuracy: 0.00000001)
-      XCTAssertEqual(res.z, testCase[1].z, accuracy: 0.00000001)
+      #expect(abs((res.x) - (testCase[1].x)) <= 0.00000001)
+      #expect(abs((res.y) - (testCase[1].y)) <= 0.00000001)
+      #expect(abs((res.z) - (testCase[1].z)) <= 0.00000001)
     }
   }
 
+  @Test
   func testSphereToCube() {
     // Same test data as for test_cube_sphere_map, only the reverse mapping
     // is tested.
@@ -300,9 +318,9 @@ final class math_tests : XCTestCase {
 
     for testCase in testdata {
       let res = sphereToCube(testCase[1])
-      XCTAssertEqual(res.x, testCase[0].x, accuracy: 0.000001)
-      XCTAssertEqual(res.y, testCase[0].y, accuracy: 0.000001)
-      XCTAssertEqual(res.z, testCase[0].z, accuracy: 0.000001)
+      #expect(abs((res.x) - (testCase[0].x)) <= 0.000001)
+      #expect(abs((res.y) - (testCase[0].y)) <= 0.000001)
+      #expect(abs((res.z) - (testCase[0].z)) <= 0.000001)
     }
   }
 }
diff --git a/Tools/Documentation/build.py b/Tools/Documentation/build.py
new file mode 100644
index 0000000..a4452c0
--- /dev/null
+++ b/Tools/Documentation/build.py
@@ -0,0 +1,55 @@
+"""Build module DocC archives and merge a package archive.
+Usage: python3 Tools/Documentation/build.py [--disable-sandbox]
+Requires a Swift toolchain with DocC merge support (Xcode 16 or newer).
+"""
+import argparse
+from pathlib import Path
+import shutil
+import shlex
+import subprocess
+import tempfile
+
+parser = argparse.ArgumentParser(description=__doc__)
+parser.add_argument("--disable-sandbox", action="store_true", help="Disable SwiftPM's nested plugin sandbox when running inside an existing sandbox.")
+parser.add_argument("--output", type=Path, help="Output directory (default: .build/documentation).")
+args = parser.parse_args()
+root = Path(__file__).resolve().parents[2]
+output = (args.output or root / ".build/documentation").resolve()
+output.mkdir(parents=True, exist_ok=True)
+docc = shutil.which("docc")
+if not docc:
+    docc = subprocess.check_output(["xcrun", "--find", "docc"], text=True).strip()
+help_text = subprocess.check_output([docc, "convert", "--help"], text=True)
+# Older plugin releases inject --index, which newer DocC toolchains removed.
+index_flags = ["--disable-indexing", "--emit-lmdb-index"] if "--emit-lmdb-index" in help_text else []
+modules = ["FluidDynamics", "Hydrodynamics", "CelMek", "Math", "Aerodynamics", "Atmospheres", "MagneticFields"]
+archives = []
+for module in modules:
+    archive = output / f"{module}.doccarchive"
+    command = ["swift", "package"]
+    if args.disable_sandbox:
+        command.append("--disable-sandbox")
+    # The command plugin needs explicit permission for a custom output directory.
+    command += ["--allow-writing-to-directory", str(output), "generate-documentation",
+                "--target", module, "--output-path", str(archive), "--warnings-as-errors", *index_flags]
+    print(f"Building {module} documentation", flush=True)
+    with (output / f"{module}.log").open("w") as log:
+        result = subprocess.run(command, cwd=root, stdout=log, stderr=subprocess.STDOUT)
+    if result.returncode:
+        raise SystemExit(f"{module} documentation failed; see {output / (module + '.log')}")
+    archives.append(str(archive))
+combined = output / "Physics.doccarchive"
+# Merge into staging so rebuilding an existing archive is supported, and a
+# failed merge leaves the last successful package archive intact.
+with tempfile.TemporaryDirectory(prefix="docc-merge-", dir=output) as staging:
+    merged = Path(staging) / "Physics.doccarchive"
+    subprocess.run([docc, "merge", *archives, "--output-path", str(merged),
+                    "--synthesized-landing-page-name", "Physics", "--synthesized-landing-page-kind", "Package"], check=True, cwd=root)
+    if combined.exists():
+        if not (combined / "metadata.json").is_file():
+            raise SystemExit(f"Refusing to replace a non-archive directory: {combined}")
+        shutil.rmtree(combined)
+    shutil.move(str(merged), str(combined))
+print(f"Combined documentation: {combined}", flush=True)
+
+print(f"Browser preview: python3 Tools/Documentation/preview.py --archive {shlex.quote(str(combined))}", flush=True)
diff --git a/Tools/Documentation/preview.py b/Tools/Documentation/preview.py
new file mode 100644
index 0000000..50c178d
--- /dev/null
+++ b/Tools/Documentation/preview.py
@@ -0,0 +1,50 @@
+"""Serve a built DocC archive locally so its JavaScript and JSON assets can load.
+Usage: python3 Tools/Documentation/preview.py [--port 8080] [--archive PATH]
+"""
+import argparse
+from functools import partial
+from http.server import SimpleHTTPRequestHandler, ThreadingHTTPServer
+from pathlib import Path
+from urllib.parse import urlsplit
+
+
+class DocumentationHandler(SimpleHTTPRequestHandler):
+    def do_GET(self):
+        route = urlsplit(self.path).path
+        if route == "/":
+            self.send_response(302)
+            self.send_header("Location", "/documentation")
+            self.end_headers()
+            return
+        # DocC uses client-side routes. Serve the corresponding static entry point
+        # without SimpleHTTPRequestHandler's automatic trailing-slash redirect.
+        if route == "/documentation" or route.startswith("/documentation/") or route.startswith("/tutorials/"):
+            path = Path(self.translate_path(route))
+            if path.is_dir() and (path / "index.html").is_file():
+                self.path = route.rstrip("/") + "/index.html"
+            elif not path.exists() and not path.suffix:
+                self.path = "/index.html"
+        super().do_GET()
+
+
+def main():
+    parser = argparse.ArgumentParser(description=__doc__)
+    root = Path(__file__).resolve().parents[2]
+    parser.add_argument("--archive", type=Path, default=root / ".build/documentation/Physics.doccarchive")
+    parser.add_argument("--port", type=int, default=8080)
+    args = parser.parse_args()
+    archive = args.archive.resolve()
+    if not (archive / "index.html").is_file() or not (archive / "data/documentation.json").is_file():
+        parser.error(f"No combined DocC archive at {archive}. Run Tools/Documentation/build.py first.")
+    handler = partial(DocumentationHandler, directory=str(archive))
+    with ThreadingHTTPServer(("127.0.0.1", args.port), handler) as server:
+        print(f"Documentation: http://127.0.0.1:{server.server_port}/documentation", flush=True)
+        print("Press Ctrl-C to stop the preview server.", flush=True)
+        try:
+            server.serve_forever()
+        except KeyboardInterrupt:
+            pass
+
+
+if __name__ == "__main__":
+    main()
diff --git a/Tools/GameIntegrationBenchmark/main.swift b/Tools/GameIntegrationBenchmark/main.swift
new file mode 100644
index 0000000..4d5a789
--- /dev/null
+++ b/Tools/GameIntegrationBenchmark/main.swift
@@ -0,0 +1,132 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import CelMek
+import Math
+
+// Run in release mode. These are measurements, never CI timing assertions.
+struct Timing: Encodable {
+    let workload: String
+    let operationsPerBatch: Int
+    let medianNanosecondsPerOperation, minimumNanosecondsPerOperation, maximumNanosecondsPerOperation: Double
+}
+struct Fidelity: Encodable {
+    let mode: String
+    let retainedTerms, originalTerms, comparisonEpochs: Int
+    let maximumPositionDifferenceMetres, maximumVelocityDifferenceMetresPerSecond: Double
+    let preparationSeconds: Double
+}
+struct Report: Encodable {
+    let schemaVersion: Int
+    let operatingSystem, architecture, timingMethod, coverage: String
+    let logicalProcessors, repetitions: Int
+    let checksum: Double
+    let timings: [Timing]
+    let fidelity: [Fidelity]
+}
+func now() -> UInt64 { DispatchTime.now().uptimeNanoseconds }
+func magnitude(_ v: SIMD3<Double>) -> Double { sqrt((v*v).sum()) }
+var checksum = 0.0, timings: [Timing] = []
+let repetitions = 7
+@MainActor
+func measure(_ name: String, operations: Int, prepare: () throws -> Void = {},
+             work: () throws -> Double) throws {
+    try prepare(); checksum += try work() // Warmup outside timing.
+    var values: [Double] = []
+    for _ in 0..<repetitions {
+        try prepare()
+        let start = now()
+        let result = try work()
+        let elapsed = now()-start
+        checksum += result
+        values.append(Double(elapsed)/Double(operations))
+    }
+    values.sort()
+    timings.append(Timing(workload: name, operationsPerBatch: operations,
+        medianNanosecondsPerOperation: values[repetitions/2],
+        minimumNanosecondsPerOperation: values[0], maximumNanosecondsPerOperation: values.last!))
+}
+let end = try Epoch.j2000.advanced(by: CelMek.Duration(seconds: 365.25*86400))
+let coverage = Epoch.j2000...end
+let epochs = try (0..<64).map { try Epoch.j2000.advanced(by: CelMek.Duration(seconds: Double($0)*365.25*86400/63)) }
+let tdb = try FairheadTDBModel()
+let bodies = [sun,mercury,venus,earth,mars,jupiter,saturn,uranus,neptune]
+var models: [[VSOP87Ephemeris]] = [], preparation: [Double] = []
+for mode in AccuracyLevel.allCases {
+    let start = now()
+    models.append(try bodies.map { try VSOP87Ephemeris(body: $0,coverage: coverage,tdbModel: tdb,accuracy: mode) })
+    preparation.append(Double(now()-start)*1e-9)
+}
+var fidelity: [Fidelity] = []
+for (index, mode) in AccuracyLevel.allCases.enumerated() {
+    let providers = models[index]
+    var position = 0.0, velocity = 0.0
+    for epoch in epochs {
+        for body in bodies.indices {
+            let state = try providers[body].state(at: epoch), reference = try models[3][body].state(at: epoch)
+            position = max(position,magnitude(state.position-reference.position))
+            velocity = max(velocity,magnitude(state.velocity-reference.velocity))
+        }
+    }
+    fidelity.append(Fidelity(mode: mode.rawValue,
+        retainedTerms: providers.reduce(0) { $0+$1.coefficientSelection.retainedTermCount },
+        originalTerms: providers.reduce(0) { $0+$1.coefficientSelection.originalTermCount }, comparisonEpochs: epochs.count,
+        maximumPositionDifferenceMetres: position, maximumVelocityDifferenceMetresPerSecond: velocity,
+        preparationSeconds: preparation[index]))
+    try measure("nine-body VSOP87E \(mode.rawValue)",operations: epochs.count*providers.count) {
+        var sum = 0.0
+        for epoch in epochs { for provider in providers { let state = try provider.state(at: epoch); sum += state.position.x+state.velocity.y } }
+        return sum
+    }
+}
+let cache = try MemoryEphemerisCache(capacity: 128)
+let cached = try CachedEphemerisProvider(provider: models[0][3],cache: cache)
+try measure("Earth low cache miss",operations: epochs.count,prepare: { try cached.invalidate() }) {
+    try cached.states(at: epochs).reduce(0) { $0+$1.position.x }
+}
+try measure("Earth low cache hit",operations: epochs.count) {
+    try cached.states(at: epochs).reduce(0) { $0+$1.position.x }
+}
+let frame = Frame(name: "benchmark inertial",pseudoInertial: true)
+let gm = try GravitationalParameter(cubicMetresPerSecondSquared: 3.986004418e14,convention: .newtonian,
+    provenance: PhysicalDataProvenance(source: "benchmark Newtonian Earth",version: "1"))
+let seed = try CartesianState(epoch: .j2000,frame: frame,position: SIMD3(7e6,0,0),velocity: SIMD3(0,sqrt(3.986004418e14/7e6),0))
+let coast = try TwoBodyPropagator(initialState: seed,centralBody: .earth,gravitationalParameter: gm)
+let orbitEpochs = try (0..<256).map { try Epoch.j2000.advanced(by: CelMek.Duration(seconds: Double($0)*60)) }
+try measure("two-body state",operations: orbitEpochs.count) {
+    var sum = 0.0
+    for epoch in orbitEpochs { let state = try coast.state(at: epoch); sum += state.position.x+state.velocity.y }
+    return sum
+}
+try measure("256-point orbit sampling",operations: orbitEpochs.count) {
+    try TrajectorySampler.sample(coast,at: orbitEpochs).reduce(0) { $0+$1.position.x }
+}
+let tree = try CelestialFrames.makeTree()
+let native = try models[0][3].states(at: epochs)
+try measure("VSOP axes to ICRF conversion",operations: native.count) {
+    var sum = 0.0
+    for state in native { sum += try tree.convert(state,to: CelestialFrames.icrf).position.x }
+    return sum
+}
+let origin = try CartesianState(epoch: .j2000,frame: models[0][3].frame,position: native[0].position,velocity: native[0].velocity)
+let renderer = try RendererAdapter(origin: origin,metresPerRenderUnit: 1e6)
+let renderStates = try (0..<1024).map { index in
+    try CartesianState(epoch: .j2000,frame: origin.frame,position: origin.position+SIMD3(Double(index)*1000,2000,-3000),velocity: origin.velocity)
+}
+try measure("moving-origin Float adapter",operations: renderStates.count) {
+    var sum = 0.0
+    for state in renderStates { sum += Double(try renderer.adapt(state).position.x) }
+    return sum
+}
+#if arch(arm64)
+let architecture = "arm64"
+#elseif arch(x86_64)
+let architecture = "x86_64"
+#else
+let architecture = "other"
+#endif
+let report = Report(schemaVersion: 1,operatingSystem: ProcessInfo.processInfo.operatingSystemVersionString,
+    architecture: architecture,timingMethod: "Release required; monotonic uptime; warmup then seven sequential batches; setup and cache invalidation excluded; median/min/max per operation; checksum consumed",
+    coverage: "J2000 through 365.25 TT days; 64 equally spaced ephemeris epochs",logicalProcessors: ProcessInfo.processInfo.processorCount,
+    repetitions: repetitions,checksum: checksum,timings: timings,fidelity: fidelity)
+let encoder = JSONEncoder(); encoder.outputFormatting = [.prettyPrinted,.sortedKeys]
+print(String(decoding: try encoder.encode(report),as: UTF8.self))
diff --git a/Tools/MagneticFields/generate_igrf_fixtures.py b/Tools/MagneticFields/generate_igrf_fixtures.py
new file mode 100644
index 0000000..7e06d20
--- /dev/null
+++ b/Tools/MagneticFields/generate_igrf_fixtures.py
@@ -0,0 +1,39 @@
+"""Regenerate fixtures using NOAA's independent reference Fortran (developer-only).
+Usage: python3 generate_igrf_fixtures.py /path/to/igrf14.f
+Source: https://www.ngdc.noaa.gov/IAGA/vmod/igrf14.f
+Requires gfortran. The reference implementation is never linked into the package.
+"""
+from pathlib import Path
+import subprocess
+import sys
+import tempfile
+
+source = Path(sys.argv[1]).read_text()
+source = source[source.lower().index("      subroutine igrf14syn"):]
+driver = """program oracle
+implicit none
+real(8) :: year, height, latitude, longitude, x, y, z, f
+integer :: status
+ do
+ read(*,*,iostat=status) year,height,latitude,longitude
+ if (status /= 0) exit
+ call igrf14syn(0,year,1,height,90.0d0-latitude,longitude,x,y,z,f)
+ write(*,'(8(f20.8,1x))') year,height,latitude,longitude,x,y,z,f
+ end do
+end program
+"""
+rows = [(year, height, latitude, longitude)
+        for year in [1900, 1945, 1997.5, 2000, 2020, 2025, 2027.5, 2030]
+        for height, latitude, longitude in
+        [(0, 0, 0), (0, 80, 120), (100, -80, 240), (0, 90, 0), (0, -90, 90), (850, 42, -71)]]
+with tempfile.TemporaryDirectory() as directory:
+    root = Path(directory)
+    (root / "synthesis.f").write_text(source)
+    (root / "driver.f90").write_text(driver)
+    executable = root / "oracle"
+    subprocess.run(["gfortran", "-std=legacy", str(root / "synthesis.f"),
+                    str(root / "driver.f90"), "-o", str(executable)], check=True)
+    output = subprocess.run([str(executable)], input="".join(
+        " ".join(map(str, row)) + "\n" for row in rows), text=True, capture_output=True, check=True).stdout
+fixture = Path(__file__).resolve().parents[2] / "Tests/MagneticFieldsTests/Fixtures/IGRF14_REFERENCE.txt"
+fixture.write_text("# year WGS84-height-km latitude-deg longitude-deg north-nT east-nT down-nT total-nT\n" + output)
diff --git a/Tools/SmallBodies/README.md b/Tools/SmallBodies/README.md
new file mode 100644
index 0000000..9bec3e5
--- /dev/null
+++ b/Tools/SmallBodies/README.md
@@ -0,0 +1,93 @@
+# Small-body POI extraction
+
+Python 3 standard library only. Run from the repository root:
+
+```sh
+python3 Tools/SmallBodies/extract.py select
+python3 Tools/SmallBodies/extract.py enrich --output Data/JPL/pois-enriched.json
+python3 Tools/SmallBodies/extract.py kernels --catalog Data/JPL/pois-enriched.json --start 2026-01-01 --stop 2036-01-01
+```
+
+Coverage in the last command is an example, not an adopted simulation interval.
+Select actual application coverage before requesting the full kernel collection.
+`enrich` and `kernels` accept `--limit N` for smoke checks. `select` accepts
+`--asteroids N`, `--trojans N` (0 disables the supplement), `--comets N`,
+`--manifest FILE`, and `--output FILE`. Default selection is 1000 known-diameter
+asteroids, a 50-Trojan minimum inclusion list, mandatory dwarf planets, and 100 comets.
+All are unioned/deduplicated by resolved SBDB SPK-ID; extra mandatory objects can
+increase the asteroid count. Top-1000 size ranking is among **defined SBDB effective
+diameters**, not a complete or uncertainty-aware physical size ranking.
+
+On 2026-10-13 the generated selection contains 1004 asteroid-category objects and
+100 comets. All 50 Trojan supplement entries were already in the top 1000; the
+catalog contains 146 TJN objects overall. Ceres, Pluto, Haumea, Eris and Makemake
+are included explicitly. SBDB query diameters for the latter four are absent in
+this snapshot; the script preserves null values, not inferred zeros or invented
+sizes. Their physical models need independently sourced data. Pluto's existing
+library provider remains a separate application choice; selection does not replace it.
+Greek/Trojan L4/L5 camps are not assigned by the TJN class field.
+
+`selection.json` is editorial input. Its comet seeds cover familiar historical
+apparitions, spacecraft targets, meteor-stream parents and an interstellar comet.
+Remaining places are filled round-robin among SBDB orbit families, ranked within
+families by known M1 (smaller first), then diameter and designation. Missing M1 ranks
+after known values. This is a reproducible starter selection, not an objective
+"most interesting" score or prediction of observed peak brightness. Parent comets
+are selected with fragments excluded. Edit the manifest to curate the result.
+Borisov is resolved as primary designation 2019 Q4; 2I is retained as an editorial alias.
+
+The catalog stores numeric query fields as JSON numbers, names/classifications as
+strings, and unknowns as null. `diameter_sigma` remains source text because it can
+be asymmetric (e.g. -1/+4). Original API responses are retained in cache envelopes.
+Field units are recorded: km, km^3/s^2, g/cm^3, AU, degrees, JD TDB and hours. Rotation
+periods are the source's synodic values; spin-pole text does not imply an orientation
+provider. Do not treat SBDB TDB element epochs as MPC TT epochs. SBDB SPK IDs are
+used as supplied; do not construct them from asteroid numbers or assume old offsets.
+
+`enrich` retrieves full per-object SBDB responses with physical parameters, their
+references/uncertainties and alternate designations. It retains those responses in
+`sbdb_details`, preserving source distinctions and missing properties. The base
+bulk catalog already includes available physical/orbital fields. An enrichment
+summary records how many objects have details; a limited run is visibly partial.
+
+Requests are sequential, with caching, timeout, transient-error retries and API
+version checks (Query 1.0, SBDB 1.3, Horizons 1.2). Cache entries retain the request
+URL, retrieval timestamp and original response SHA-256. The commands can be rerun
+without repeated downloads; `--offline` requires cache hits and `--refresh` fetches
+new snapshots. Global options precede the subcommand:
+
+```sh
+python3 Tools/SmallBodies/extract.py --offline select
+python3 Tools/SmallBodies/extract.py --cache /tmp/jpl-cache select --asteroids 10 --trojans 0 --comets 10
+```
+
+Horizons JSON SPK content is decoded with strict base64/header validation. Its
+returned ID is preserved independently of the requested ID/alias. Each completed
+file has an entry in the kernel manifest containing requested TDB coverage, source
+cache key and SHA-256. Actual descriptor coverage/origin/axes must still be inspected
+by the library. Reruns preserve manifest progress; use a different output directory
+for a different coverage interval. Failures are explicit rather than silently
+omitting curated targets or substituting trajectories.
+
+Horizons small-body SPKs typically use type 21, now supported natively. The Ceres
+smoke export uses Sun-relative J2000 axes. An SSB result therefore also needs a
+compatible Sun ephemeris link; heliocentric output needs an explicit origin-centred
+frame. Loading these files does not automatically register bodies or frame bindings.
+The library continues to enforce coverage, origin, axes and time-scale contracts.
+
+Validation:
+
+```sh
+python3 -m unittest discover -s Tools/SmallBodies -p 'test_*.py'
+swift test --filter Spice
+```
+
+The scripts were exercised against live JPL selection, two SBDB enrichments and a
+Ceres SPK export, then replayed from cache offline. Python tests cover selection
+union/diversity, unknown/asymmetric values, response schema failures, offline cache
+behavior, identity checks, kernel decoding and manifest resumption/conflicts.
+
+Sources: [SBDB Query API](https://ssd-api.jpl.nasa.gov/doc/sbdb_query.html),
+[filters](https://ssd-api.jpl.nasa.gov/doc/sbdb_filter.html),
+[SBDB API](https://ssd-api.jpl.nasa.gov/doc/sbdb.html),
+[Horizons API](https://ssd-api.jpl.nasa.gov/doc/horizons.html).
diff --git a/Tools/SmallBodies/extract.py b/Tools/SmallBodies/extract.py
new file mode 100644
index 0000000..61a5357
--- /dev/null
+++ b/Tools/SmallBodies/extract.py
@@ -0,0 +1,294 @@
+#!/usr/bin/env python3
+"""Versioned SBDB POI selection/enrichment and Horizons SPK extraction.
+Standard library only. Requests are sequential, cached, and resumable.
+"""
+import argparse
+import base64
+import datetime as dt
+import hashlib
+import json
+import math
+import sys
+from pathlib import Path
+import time
+import urllib.error
+import urllib.parse
+import urllib.request
+
+SBDB_QUERY = 'https://ssd-api.jpl.nasa.gov/sbdb_query.api'
+SBDB = 'https://ssd-api.jpl.nasa.gov/sbdb.api'
+HORIZONS = 'https://ssd.jpl.nasa.gov/api/horizons.api'
+FIELDS = 'spkid,pdes,full_name,name,prefix,class,diameter,diameter_sigma,albedo,H,GM,density,rot_per,pole,spec_B,spec_T,epoch,e,a,q,i,om,w,ma,tp,condition_code,orbit_id'
+COMET_FIELDS = FIELDS + ',M1,K1,M2,K2,A1,A2,A3'
+DEFAULT_MANIFEST = Path(__file__).with_name('selection.json')
+
+
+def timestamp():
+    return dt.datetime.now(dt.timezone.utc).isoformat()
+
+
+def write_json(path, value):
+    path = Path(path)
+    path.parent.mkdir(parents=True, exist_ok=True)
+    temporary = path.with_suffix(path.suffix + '.tmp')
+    temporary.write_text(json.dumps(value, indent=2, allow_nan=False) + '\n')
+    temporary.replace(path)
+
+
+class Client:
+    def __init__(self, cache, offline=False, refresh=False, delay=0.2):
+        self.cache, self.offline, self.refresh, self.delay = Path(cache), offline, refresh, delay
+        self.last_request = 0.
+        self.sources = {}
+
+    def get(self, endpoint, parameters):
+        url = endpoint + '?' + urllib.parse.urlencode(sorted(parameters.items()))
+        key = hashlib.sha256(url.encode()).hexdigest()
+        path = self.cache / (key + '.json')
+        if path.exists() and not self.refresh:
+            envelope = json.loads(path.read_text())
+            if envelope.get('url') != url or envelope.get('schema') != 1:
+                raise ValueError('Invalid cache envelope: ' + str(path))
+        else:
+            if self.offline:
+                raise ValueError('Offline cache miss: ' + url)
+            for attempt in range(4):
+                time.sleep(max(0, self.delay - (time.monotonic() - self.last_request)))
+                self.last_request = time.monotonic()
+                request = urllib.request.Request(url, headers={'User-Agent': 'CelMek-small-body-extraction/1'})
+                try:
+                    with urllib.request.urlopen(request, timeout=180) as response:
+                        raw = response.read()
+                    payload = json.loads(raw)
+                    if 'error' in payload or 'message' in payload:
+                        raise ValueError('JPL error: ' + str(payload.get('error', payload.get('message'))))
+                    signature = payload.get('signature', {})
+                    expected = {SBDB_QUERY: '1.0', SBDB: '1.3', HORIZONS: '1.2'}[endpoint]
+                    if not signature.get('version') or (expected and signature['version'] != expected):
+                        raise ValueError('Unexpected API version; review schema: ' + str(signature))
+                    envelope = dict(schema=1, url=url, fetched_at=timestamp(),
+                                    response_sha256=hashlib.sha256(raw).hexdigest(), response=payload)
+                    write_json(path, envelope)
+                    break
+                except urllib.error.HTTPError as error:
+                    if error.code not in (429, 500, 502, 503, 504) or attempt == 3:
+                        raise
+                    time.sleep(2 ** attempt)
+                except (urllib.error.URLError, TimeoutError):
+                    if attempt == 3:
+                        raise
+                    time.sleep(2 ** attempt)
+        signature = envelope['response'].get('signature', {})
+        if signature.get('version') != {SBDB_QUERY: '1.0', SBDB: '1.3', HORIZONS: '1.2'}[endpoint]:
+            raise ValueError('Unexpected cached API version; review schema: ' + str(signature))
+        self.sources[key] = {k: envelope[k] for k in ('url', 'fetched_at', 'response_sha256')}
+        return envelope['response'], key
+
+
+def query_rows(client, parameters):
+    payload, key = client.get(SBDB_QUERY, parameters)
+    fields = payload.get('fields')
+    data = payload.get('data', [])
+    if not isinstance(fields, list) or not isinstance(data, list):
+        raise ValueError('Invalid query response schema')
+    rows = []
+    for values in data:
+        if len(values) != len(fields):
+            raise ValueError('Query row width mismatch')
+        row = dict(zip(fields, values))
+        # Uncertainties can be asymmetric text, e.g. diameter_sigma='-1/+4'; preserve them.
+        object_fields = {'spkid', 'pdes', 'full_name', 'name', 'prefix', 'class', 'pole', 'spec_B', 'spec_T', 'condition_code', 'orbit_id', 'diameter_sigma'}
+        for field in fields:
+            if field not in object_fields and row[field] is not None:
+                number = float(row[field])
+                if not math.isfinite(number):
+                    raise ValueError('Nonfinite query field: ' + field)
+                row[field] = number
+        row['spkid'] = str(row['spkid'])
+        if not row['spkid'].isdigit():
+            raise ValueError('Invalid SPK identifier')
+        row['source_cache_key'] = key
+        rows.append(row)
+    return rows
+
+
+def numeric(row, field, default=math.inf):
+    try:
+        number = float(row[field])
+        return number if math.isfinite(number) else default
+    except (KeyError, TypeError, ValueError):
+        return default
+
+
+def select(client, args):
+    manifest = json.loads(Path(args.manifest).read_text())
+    if manifest.get('schema') != 1:
+        raise ValueError('Unsupported selection manifest schema')
+    bodies = {}
+    def add(row, reason, kind):
+        identifier = row['spkid']
+        if identifier not in bodies:
+            bodies[identifier] = dict(spkid=identifier, kind=kind, data=row, selection_reasons=[])
+        if reason not in bodies[identifier]['selection_reasons']:
+            bodies[identifier]['selection_reasons'].append(reason)
+
+    asteroids = query_rows(client, {'fields': FIELDS, 'sb-kind': 'a', 'sort': '-diameter,spkid',
+        'limit': str(args.asteroids), 'sb-cdata': json.dumps({'AND': ['diameter|DF']}, separators=(',', ':')),
+        'full-prec': 'true'})
+    if len(asteroids) != args.asteroids:
+        raise ValueError('Insufficient asteroids with defined diameters')
+    for rank, row in enumerate(asteroids, 1):
+        add(row, f'Diameter ranking among cataloged values: {rank}', 'asteroid')
+    for seed in manifest['mandatory_asteroids']:
+        row = next((r for r in asteroids if r['pdes'] == seed['designation']), None)
+        if row is None:
+            # Fetch the exact designation even when no diameter is known.
+            row_list = query_rows(client, {'fields': FIELDS, 'sb-kind': 'a', 'full-prec': 'true',
+                'sb-cdata': json.dumps({'AND': ['pdes|EQ|' + seed['designation']]}, separators=(',', ':'))})
+            if len(row_list) != 1:
+                raise ValueError('Mandatory asteroid unresolved: ' + seed['designation'])
+            row = row_list[0]
+        add(row, seed['reason'], 'asteroid')
+    if args.trojans:
+        trojans = query_rows(client, {'fields': FIELDS, 'sb-kind': 'a', 'sb-class': 'TJN',
+            'sort': '-diameter,spkid', 'limit': str(args.trojans), 'full-prec': 'true',
+            'sb-cdata': json.dumps({'AND': ['diameter|DF']}, separators=(',', ':'))})
+        if len(trojans) != args.trojans:
+            raise ValueError('Insufficient Trojans with defined diameters')
+        for rank, row in enumerate(trojans, 1):
+            add(row, f'Jupiter Trojan diameter ranking: {rank}; L4/L5 camp unresolved', 'asteroid')
+
+    candidates = query_rows(client, {'fields': COMET_FIELDS, 'sb-kind': 'c', 'sb-xfrag': 'true', 'full-prec': 'true'})
+    selected = set()
+    def add_comet(row, reason):
+        if len(selected) < args.comets:
+            selected.add(row['spkid']); add(row, reason, 'comet')
+    missing_seeds = []
+    for seed in manifest['comet_seeds']:
+        if len(selected) >= args.comets:
+            break
+        rows = [r for r in candidates if r['pdes'] == seed['designation']]
+        if len(rows) != 1:
+            missing_seeds.append(seed['designation']); continue
+        add_comet(rows[0], seed['reason'])
+    if missing_seeds:
+        raise ValueError('Curated comet seeds unresolved: ' + ', '.join(missing_seeds))
+    # Fill remaining slots round-robin across orbit families. Within a family,
+    # prefer known total magnitude M1, then known size, then primary designation.
+    groups = {}
+    for row in candidates:
+        if row['spkid'] not in selected:
+            groups.setdefault(row['class'], []).append(row)
+    for group in groups.values():
+        group.sort(key=lambda r: (numeric(r, 'M1'), -numeric(r, 'diameter', 0), r['pdes']))
+    while len(selected) < args.comets:
+        added = False
+        for family in sorted(groups):
+            if groups[family] and len(selected) < args.comets:
+                row = groups[family].pop(0)
+                add_comet(row, f'Representative orbit family {family}; ranked by catalog M1, then diameter')
+                added = True
+        if not added:
+            raise ValueError('Insufficient comet candidates')
+    result = dict(schema=1, generated_at=timestamp(), manifest=manifest,
+        selection=dict(asteroids_by_known_diameter=args.asteroids, additional_trojan_quota=args.trojans,
+                       comets=args.comets, comet_policy='Curated seeds then orbit-family diversity; not an objective interest ranking'),
+        units=dict(diameter='km', GM='km^3/s^2', density='g/cm^3', rot_per='hours',
+                   orbital_distances='AU', orbital_angles='degrees', epoch_and_tp='JD TDB'),
+        sources=client.sources, bodies=sorted(bodies.values(), key=lambda b: (b['kind'], int(b['spkid']))))
+    write_json(args.output, result)
+    print(f"Wrote {len(result['bodies'])} POIs ({len(selected)} comets) to {args.output}")
+
+
+def enrich(client, args):
+    catalog = json.loads(Path(args.catalog).read_text())
+    for body in catalog['bodies'][:args.limit]:
+        payload, key = client.get(SBDB, {'spk': body['spkid'], 'phys-par': 'true', 'full-prec': 'true', 'alt-des': 'true'})
+        if str(payload.get('object', {}).get('spkid')) != body['spkid']:
+            raise ValueError('SBDB identity mismatch: ' + body['spkid'])
+        body['sbdb_details'] = payload
+        body['detail_source_cache_key'] = key
+        print('Enriched', body['spkid'])
+    catalog['sources'].update(client.sources)
+    catalog['enriched_at'] = timestamp()
+    catalog['enrichment'] = dict(enriched_count=sum('sbdb_details' in b for b in catalog['bodies']), total_count=len(catalog['bodies']))
+    write_json(args.output, catalog)
+
+
+def kernels(client, args):
+    catalog = json.loads(Path(args.catalog).read_text())
+    try:
+        if dt.date.fromisoformat(args.start) >= dt.date.fromisoformat(args.stop):
+            raise ValueError('start must precede stop')
+    except ValueError as error:
+        raise ValueError('Use ordered YYYY-MM-DD coverage dates') from error
+    output = Path(args.output)
+    output.mkdir(parents=True, exist_ok=True)
+    existing = output/'manifest.json'
+    previous = json.loads(existing.read_text()) if existing.exists() else {'schema': 1, 'kernels': [], 'sources': {}}
+    if previous.get('schema') != 1 or any(k['requested_start_tdb'] != args.start or k['requested_stop_tdb'] != args.stop for k in previous['kernels']):
+        raise ValueError('Kernel output directory has incompatible coverage; select a different directory')
+    entries = {k['requested_spkid']: k for k in previous['kernels']}
+    sources = previous['sources']
+    for body in catalog['bodies'][:args.limit]:
+        payload, key = client.get(HORIZONS, {'format': 'json', 'COMMAND': "'DES=" + body['spkid'] + ";'",
+            'EPHEM_TYPE': 'SPK', 'OBJ_DATA': 'NO', 'START_TIME': "'" + args.start + "'",
+            'STOP_TIME': "'" + args.stop + "'"})
+        if 'spk' not in payload:
+            raise ValueError('Horizons did not generate SPK for ' + body['spkid'] + ': ' + payload.get('result', ''))
+        encoded = ''.join(payload['spk'].split())
+        binary = base64.b64decode(encoded, validate=True)
+        if not binary.startswith(b'DAF/SPK '):
+            raise ValueError('Unexpected kernel header')
+        identifier = str(payload.get('spk_file_id', ''))
+        if not identifier.isdigit():
+            raise ValueError('Invalid returned SPK identity')
+        # Returned IDs can differ from requested aliases; preserve both.
+        path = output / (identifier + '.bsp')
+        temporary = path.with_suffix('.bsp.tmp'); temporary.write_bytes(binary); temporary.replace(path)
+        entries[body['spkid']] = dict(requested_spkid=body['spkid'], returned_spkid=identifier, file=path.name,
+            sha256=hashlib.sha256(binary).hexdigest(), requested_start_tdb=args.start,
+            requested_stop_tdb=args.stop, source_cache_key=key)
+        # Persist after each file so interrupted downloads are inspectable/resumable.
+        sources.update(client.sources)
+        write_json(output/'manifest.json', dict(schema=1, generated_at=timestamp(), sources=sources, kernels=list(entries.values())))
+        print('Wrote', path)
+
+
+def main():
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument('--cache', default='Data/JPL/cache')
+    parser.add_argument('--offline', action='store_true')
+    parser.add_argument('--refresh', action='store_true')
+    commands = parser.add_subparsers(dest='command', required=True)
+    selection = commands.add_parser('select')
+    selection.add_argument('--manifest', default=str(DEFAULT_MANIFEST))
+    selection.add_argument('--asteroids', type=int, default=1000)
+    selection.add_argument('--trojans', type=int, default=50)
+    selection.add_argument('--comets', type=int, default=100)
+    selection.add_argument('--output', default='Data/JPL/pois.json')
+    for name in ('enrich', 'kernels'):
+        command = commands.add_parser(name)
+        command.add_argument('--catalog', default='Data/JPL/pois.json')
+        command.add_argument('--limit', type=int)
+        command.add_argument('--output', default='Data/JPL/pois-enriched.json' if name == 'enrich' else 'Data/JPL/SPK')
+        if name == 'kernels':
+            command.add_argument('--start', required=True)
+            command.add_argument('--stop', required=True)
+    args = parser.parse_args()
+    if args.offline and args.refresh:
+        parser.error('--offline and --refresh conflict')
+    if args.command == 'select' and (args.asteroids < 1 or args.comets < 1 or args.trojans < 0):
+        parser.error('positive asteroid/comet counts and nonnegative Trojan quota required')
+    if getattr(args, 'limit', None) is not None and args.limit < 1:
+        parser.error('--limit must be positive')
+    client = Client(args.cache, args.offline, args.refresh)
+    globals()[args.command](client, args)
+
+
+if __name__ == '__main__':
+    try:
+        main()
+    except (ValueError, OSError) as error:
+        print('Extraction failed:', error, file=sys.stderr)
+        sys.exit(1)
diff --git a/Tools/SmallBodies/selection.json b/Tools/SmallBodies/selection.json
new file mode 100644
index 0000000..1205820
--- /dev/null
+++ b/Tools/SmallBodies/selection.json
@@ -0,0 +1,35 @@
+{
+  "schema": 1,
+  "mandatory_asteroids": [
+    {"designation": "1", "reason": "Dwarf planet Ceres"},
+    {"designation": "134340", "reason": "Dwarf planet Pluto; retain existing provider when selected"},
+    {"designation": "136108", "reason": "Dwarf planet Haumea"},
+    {"designation": "136199", "reason": "Dwarf planet Eris"},
+    {"designation": "136472", "reason": "Dwarf planet Makemake"}
+  ],
+  "comet_seeds": [
+    {"designation": "1P", "reason": "Historical prominence: Halley"},
+    {"designation": "2P", "reason": "Short-period archetype: Encke"},
+    {"designation": "9P", "reason": "Spacecraft target: Tempel 1"},
+    {"designation": "19P", "reason": "Spacecraft target: Borrelly"},
+    {"designation": "21P", "reason": "Meteor-stream association: Giacobini-Zinner"},
+    {"designation": "26P", "reason": "Unusual activity: Grigg-Skjellerup; spacecraft target"},
+    {"designation": "29P", "reason": "Outbursting distant comet: Schwassmann-Wachmann 1"},
+    {"designation": "55P", "reason": "Meteor-stream association: Tempel-Tuttle"},
+    {"designation": "67P", "reason": "Spacecraft target: Churyumov-Gerasimenko"},
+    {"designation": "73P", "reason": "Fragmentation: Schwassmann-Wachmann 3; parent only"},
+    {"designation": "81P", "reason": "Spacecraft target: Wild 2"},
+    {"designation": "103P", "reason": "Spacecraft target: Hartley 2"},
+    {"designation": "109P", "reason": "Meteor-stream association: Swift-Tuttle"},
+    {"designation": "153P", "reason": "Bright apparition: Ikeya-Zhang"},
+    {"designation": "1995 O1", "reason": "Bright historical apparition: Hale-Bopp"},
+    {"designation": "1996 B2", "reason": "Bright historical apparition: Hyakutake"},
+    {"designation": "2006 P1", "reason": "Bright historical apparition: McNaught"},
+    {"designation": "2011 W3", "reason": "Sungrazing survivor: Lovejoy"},
+    {"designation": "2012 S1", "reason": "Sungrazing disruption: ISON"},
+    {"designation": "2014 Q2", "reason": "Bright apparition: Lovejoy"},
+    {"designation": "2020 F3", "reason": "Bright apparition: NEOWISE"},
+    {"designation": "2023 A3", "reason": "Bright apparition: Tsuchinshan-ATLAS"},
+    {"designation": "2019 Q4", "alias": "2I/Borisov", "reason": "Interstellar comet: Borisov"}
+  ]
+}
diff --git a/Tools/SmallBodies/test_extract.py b/Tools/SmallBodies/test_extract.py
new file mode 100644
index 0000000..4db39d3
--- /dev/null
+++ b/Tools/SmallBodies/test_extract.py
@@ -0,0 +1,113 @@
+# SPDX-License-Identifier: Apache-2.0
+import base64
+import hashlib
+import json
+from pathlib import Path
+from types import SimpleNamespace
+import tempfile
+import unittest
+from unittest.mock import patch
+import urllib.parse
+import extract
+
+class FakeClient:
+    def __init__(self, payload):
+        self.payload = payload
+        self.sources = {}
+    def get(self, endpoint, parameters):
+        self.sources['fake'] = {'url': endpoint, 'fetched_at': 'fixture', 'response_sha256': 'fixture'}
+        return self.payload, 'fake'
+
+class ExtractionTests(unittest.TestCase):
+    def test_query_normalizes_numbers_preserves_asymmetric_uncertainty_and_unknowns(self):
+        client = FakeClient({'fields': ['spkid','diameter','diameter_sigma','GM'],
+                             'data': [[20000001, '10.2', '-1/+4', None]]})
+        row = extract.query_rows(client, {})[0]
+        self.assertEqual(row['spkid'], '20000001')
+        self.assertEqual(row['diameter'], 10.2)
+        self.assertEqual(row['diameter_sigma'], '-1/+4')
+        self.assertIsNone(row['GM'])
+
+    def test_query_rejects_nonfinite_numbers_and_wrong_row_width(self):
+        for payload in [{'fields':['spkid','diameter'],'data':[[1,'NaN']]},
+                        {'fields':['spkid','diameter'],'data':[[1]]}]:
+            with self.assertRaises(ValueError):
+                extract.query_rows(FakeClient(payload), {})
+
+    def test_offline_cache_hit_miss_and_schema_validation(self):
+        with tempfile.TemporaryDirectory() as directory:
+            parameters = {'fields': 'spkid'}
+            url = extract.SBDB_QUERY + '?' + urllib.parse.urlencode(sorted(parameters.items()))
+            key = hashlib.sha256(url.encode()).hexdigest()
+            path = Path(directory)/(key+'.json')
+            envelope = dict(schema=1,url=url,fetched_at='fixture',response_sha256='hash',
+                            response={'signature':{'version':'1.0'},'fields':['spkid'],'data':[[1]]})
+            extract.write_json(path,envelope)
+            client = extract.Client(directory, offline=True)
+            self.assertEqual(client.get(extract.SBDB_QUERY,parameters)[1], key)
+            with self.assertRaisesRegex(ValueError,'cache miss'):
+                client.get(extract.SBDB_QUERY,{'fields':'name'})
+            envelope['response']['signature']['version']='99'
+            extract.write_json(path,envelope)
+            with self.assertRaisesRegex(ValueError,'version'):
+                client.get(extract.SBDB_QUERY,parameters)
+
+    def test_selection_deduplicates_mandatory_and_trojan_and_fills_families(self):
+        def row(id, pdes, family='MBA', magnitude=None):
+            return dict(spkid=str(id),pdes=pdes,**{'class':family},M1=magnitude,diameter=10)
+        with tempfile.TemporaryDirectory() as directory:
+            root=Path(directory)
+            manifest=dict(schema=1,mandatory_asteroids=[dict(designation='1',reason='mandatory')],
+                          comet_seeds=[dict(designation='1P',reason='curated')])
+            extract.write_json(root/'selection.json',manifest)
+            args=SimpleNamespace(manifest=root/'selection.json',asteroids=2,trojans=1,comets=3,output=root/'pois.json')
+            responses=[[row(1,'1'),row(2,'2')],[row(2,'2','TJN')],
+                       [row(11,'1P','JFC'),row(12,'2P','JFC',3),row(13,'x','HYP',1),row(14,'y','JFC',None)]]
+            with patch.object(extract,'query_rows',side_effect=responses):
+                extract.select(FakeClient({}),args)
+            catalog=json.loads(args.output.read_text())
+            self.assertEqual(len(catalog['bodies']),5)
+            self.assertEqual(len(catalog['bodies'][0]['selection_reasons']),2)
+            self.assertEqual(len(catalog['bodies'][1]['selection_reasons']),2)
+            self.assertEqual({b['spkid'] for b in catalog['bodies'] if b['kind']=='comet'}, {'11','12','13'})
+
+    def test_kernel_decode_manifest_resume_and_coverage_conflicts(self):
+        with tempfile.TemporaryDirectory() as directory:
+            root=Path(directory)
+            extract.write_json(root/'catalog.json',{'bodies':[{'spkid':'1'},{'spkid':'2'}]})
+            args=SimpleNamespace(catalog=root/'catalog.json',output=root/'kernels',limit=1,start='2000-01-01',stop='2000-01-03')
+            payload={'spk':base64.b64encode(b'DAF/SPK '+b'x'*1016).decode(),'spk_file_id':'1'}
+            extract.kernels(FakeClient(payload),args)
+            self.assertEqual((args.output/'1.bsp').read_bytes()[:8],b'DAF/SPK ')
+            args.limit=2
+            class Sequential(FakeClient):
+                def get(self,endpoint,parameters):
+                    self.payload['spk_file_id']='1' if 'DES=1;' in parameters['COMMAND'] else '2'
+                    return super().get(endpoint,parameters)
+            extract.kernels(Sequential(payload),args)
+            self.assertEqual(len(json.loads((args.output/'manifest.json').read_text())['kernels']),2)
+            args.stop='2001-01-01'
+            with self.assertRaisesRegex(ValueError,'incompatible coverage'):
+                extract.kernels(FakeClient(payload),args)
+
+    def test_kernel_rejects_missing_spk_bad_base64_and_wrong_header(self):
+        with tempfile.TemporaryDirectory() as directory:
+            root=Path(directory)
+            extract.write_json(root/'catalog.json',{'bodies':[{'spkid':'1'}]})
+            args=SimpleNamespace(catalog=root/'catalog.json',output=root/'kernels',limit=None,start='2000-01-01',stop='2000-01-03')
+            for payload in [{}, {'spk':'!!!'}, {'spk':base64.b64encode(b'bad').decode()}]:
+                with self.assertRaises(ValueError):
+                    extract.kernels(FakeClient(payload),args)
+            self.assertFalse((args.output/'manifest.json').exists())
+
+    def test_enrichment_rejects_identity_mismatch(self):
+        with tempfile.TemporaryDirectory() as directory:
+            root=Path(directory)
+            extract.write_json(root/'catalog.json',{'bodies':[{'spkid':'1'}]})
+            args=SimpleNamespace(catalog=root/'catalog.json',output=root/'output.json',limit=None)
+            with self.assertRaisesRegex(ValueError,'identity mismatch'):
+                extract.enrich(FakeClient({'object':{'spkid':'2'}}),args)
+            self.assertFalse(args.output.exists())
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/Tools/VSOP87Characterization/main.swift b/Tools/VSOP87Characterization/main.swift
new file mode 100644
index 0000000..2f6b7ad
--- /dev/null
+++ b/Tools/VSOP87Characterization/main.swift
@@ -0,0 +1,119 @@
+// SPDX-License-Identifier: Apache-2.0
+import Foundation
+import CelMek
+import Math
+
+// Reproducible public-API characterization, not a CI wall-clock performance test.
+struct Measurement: Codable {
+  let body: String, mode: String, effectiveMode: String
+  let originalTerms: Int, retainedTerms: Int, sampleCount: Int
+  let maximumPositionErrorMetres: Double, rmsPositionErrorMetres: Double
+  let maximumVelocityErrorMetresPerSecond: Double, rmsVelocityErrorMetresPerSecond: Double
+  let maximumPositionErrorTTJulianDate: Double, maximumVelocityErrorTTJulianDate: Double
+  let perAxisPositionBoundMetres: [Double]
+  let preparationSeconds: Double, medianQueryNanoseconds: Double, speedupAgainstFull: Double
+}
+struct Report: Codable {
+  let schemaVersion: Int
+  let operatingSystem: String
+  let processors: Int
+  let coverageStartTTJulianDate: Double, coverageEndTTJulianDate: Double, samplingStepDays: Int
+  let tdbModel: String, timingDescription: String
+  let timingRepetitions: Int, queriesPerRepetition: Int
+  let checksum: Double
+  let measurements: [Measurement]
+}
+struct MutableMeasurement {
+  let body: String, mode: AccuracyLevel, provider: VSOP87Ephemeris, preparationSeconds: Double
+  var positionMaximum = 0.0, positionSumSquares = 0.0, positionEpoch = 0.0
+  var velocityMaximum = 0.0, velocitySumSquares = 0.0, velocityEpoch = 0.0
+  var count = 0, times = [Double]()
+}
+func magnitude(_ value: SIMD3<Double>) -> Double { sqrt((value*value).sum()) }
+func now() -> Double { Double(DispatchTime.now().uptimeNanoseconds)*1e-9 }
+
+let arguments = CommandLine.arguments
+let output = arguments.count > 1 ? arguments[1] : "/tmp/celmek-vsop-characterization.json"
+let stepDays = arguments.count > 2 ? Int(arguments[2]) ?? 0 : 8
+guard stepDays > 0 else { fatalError("Sampling step must be a positive integer number of days") }
+let tdb = try FairheadTDBModel()
+let coverage = FairheadTDBModel.referenceCoverage
+let bodies: [(String,vsop87_body)] = [("Sun",sun),("Mercury",mercury),("Venus",venus),("Earth",earth),
+  ("Mars system",mars),("Jupiter system",jupiter),("Saturn system",saturn),("Uranus system",uranus),("Neptune system",neptune)]
+var rows = [MutableMeasurement]()
+for (name,body) in bodies {
+  for mode in AccuracyLevel.allCases {
+    let start = now()
+    let provider = try VSOP87Ephemeris(body: body,coverage: coverage,tdbModel: tdb,accuracy: mode)
+    rows.append(MutableMeasurement(body: name,mode: mode,provider: provider,preparationSeconds: now()-start))
+  }
+}
+let span = try coverage.upperBound.duration(since: coverage.lowerBound).seconds
+var epochs = [Epoch]()
+var elapsed = 0.0
+while elapsed < span {
+  epochs.append(try coverage.lowerBound.advanced(by: CelMek.Duration(seconds: elapsed)))
+  elapsed += Double(stepDays)*86400
+}
+epochs.append(coverage.upperBound)
+for (number,epoch) in epochs.enumerated() {
+  for bodyIndex in bodies.indices {
+    let base = bodyIndex*4, full = try rows[base+3].provider.state(at: epoch)
+    for index in base..<(base+4) {
+      let actual = index == base+3 ? full : try rows[index].provider.state(at: epoch)
+      let positionDifference = actual.position-full.position
+      let p = magnitude(positionDifference), v = magnitude(actual.velocity-full.velocity)
+      let bounds = rows[index].provider.coefficientSelection.positionErrorBoundMetres
+      for axis in 0..<3 {
+        guard abs(positionDifference[axis]) <= bounds[axis]+0.1 else {
+          fatalError("Position bound exceeded for \(rows[index].body) \(rows[index].mode) at \(epoch)")
+        }
+      }
+      rows[index].positionSumSquares += p*p; rows[index].velocitySumSquares += v*v; rows[index].count += 1
+      if p > rows[index].positionMaximum {
+        rows[index].positionMaximum = p; rows[index].positionEpoch = try epoch.julianDate(in: .tt).value
+      }
+      if v > rows[index].velocityMaximum {
+        rows[index].velocityMaximum = v; rows[index].velocityEpoch = try epoch.julianDate(in: .tt).value
+      }
+    }
+  }
+  if number % 500 == 0 { FileHandle.standardError.write(Data("Compared \(number)/\(epochs.count) epochs\n".utf8)) }
+}
+let repetitions = 5, queries = 64
+var checksum = 0.0
+// Warm all modes before timing. Cycle evaluation order to reduce ordering bias.
+for row in rows { checksum += try row.provider.state(at: .j2000).position.x }
+for repetition in 0..<repetitions {
+  for offset in rows.indices {
+    let index = (offset+repetition*7)%rows.count
+    let provider = rows[index].provider
+    let start = now()
+    for query in 0..<queries {
+      let epoch = epochs[(query*71+repetition*131)%epochs.count]
+      let state = try provider.state(at: epoch)
+      checksum += state.position.x + state.velocity.y
+    }
+    rows[index].times.append((now()-start)*1e9/Double(queries))
+  }
+}
+let medianTimes = rows.map { $0.times.sorted()[repetitions/2] }
+let measurements = rows.enumerated().map { index,row in
+  let selection = row.provider.coefficientSelection
+  return Measurement(body: row.body,mode: row.mode.rawValue,effectiveMode: row.provider.effectiveAccuracy.rawValue,
+    originalTerms: selection.originalTermCount,retainedTerms: selection.retainedTermCount,sampleCount: row.count,
+    maximumPositionErrorMetres: row.positionMaximum,rmsPositionErrorMetres: sqrt(row.positionSumSquares/Double(row.count)),
+    maximumVelocityErrorMetresPerSecond: row.velocityMaximum,rmsVelocityErrorMetresPerSecond: sqrt(row.velocitySumSquares/Double(row.count)),
+    maximumPositionErrorTTJulianDate: row.positionEpoch,maximumVelocityErrorTTJulianDate: row.velocityEpoch,
+    perAxisPositionBoundMetres: [selection.positionErrorBoundMetres.x,selection.positionErrorBoundMetres.y,selection.positionErrorBoundMetres.z],
+    preparationSeconds: row.preparationSeconds,medianQueryNanoseconds: medianTimes[index],
+    speedupAgainstFull: medianTimes[(index/4)*4+3]/medianTimes[index])
+}
+let report = Report(schemaVersion: 1,operatingSystem: ProcessInfo.processInfo.operatingSystemVersionString,
+  processors: ProcessInfo.processInfo.processorCount,coverageStartTTJulianDate: try coverage.lowerBound.julianDate(in: .tt).value,
+  coverageEndTTJulianDate: try coverage.upperBound.julianDate(in: .tt).value,samplingStepDays: stepDays,
+  tdbModel: tdb.provenance,timingDescription: "Release public state query; includes Fairhead TDB conversion, allocations and SI conversion; warm providers; median of rotated-order batches; excludes provider preparation",
+  timingRepetitions: repetitions,queriesPerRepetition: queries,checksum: checksum,measurements: measurements)
+let encoder = JSONEncoder(); encoder.outputFormatting = [.prettyPrinted,.sortedKeys]
+try encoder.encode(report).write(to: URL(fileURLWithPath: output))
+print("Saved \(measurements.count) measurements at \(epochs.count) epochs to \(output)")
diff --git a/Tools/characterize_tdb_adapter.py b/Tools/characterize_tdb_adapter.py
new file mode 100644
index 0000000..19e9ac1
--- /dev/null
+++ b/Tools/characterize_tdb_adapter.py
@@ -0,0 +1,50 @@
+"""Generate fixtures and an empirical survey against an external ERFA 2.0.1.
+The shared library is a developer-only reference, never a package dependency.
+Run: python3 Tools/characterize_tdb_adapter.py /path/to/erfa/shared/library
+"""
+import argparse,ctypes,datetime,hashlib,json,math
+from pathlib import Path
+parser=argparse.ArgumentParser(description=__doc__)
+parser.add_argument('library')
+args=parser.parse_args()
+lib=ctypes.CDLL(args.library)
+reference=lib.eraDtdb
+reference.argtypes=[ctypes.c_double]*6
+reference.restype=ctypes.c_double
+def ref(day):return reference(2451545.,day,0.,0.,0.,0.)
+def approximate(day):
+ g=math.fmod(357.53+0.9856003*day,360)*math.pi/180
+ return 0.001658*math.sin(g)+0.000014*math.sin(2*g)
+def days(year):return (datetime.datetime(year,1,1)-datetime.datetime(2000,1,1,12)).total_seconds()/86400
+surveys=[]
+fixtures=[]
+for start,end in [(1950,2050),(1900,2100)]:
+ count=0;squares=0.;maximum=-1;worst=None
+ first,last=days(start),days(end)
+ for tick in range(int((last-first)*4)+1):
+  day=first+tick/4
+  full=ref(day);error=abs(approximate(day)-full)
+  count+=1;squares+=error*error
+  if error>maximum:maximum=error;worst=day+2451545
+  # Every 30 days at all four phases, plus endpoints and the maximum below.
+  if start==1950 and (tick%120<4 or day==last):
+   h=300/86400
+   fixtures.append(dict(daysSinceJ2000=day,tdbMinusTT=full,
+    rate=(ref(day+h)-ref(day-h))/600,
+    acceleration=(ref(day+h)-2*full+ref(day-h))/(300*300)))
+ surveys.append(dict(start=f'{start}-01-01 TT',end=f'{end}-01-01 TT',stepSeconds=21600,
+  samples=count,maximumSeconds=maximum,rmsSeconds=math.sqrt(squares/count),worstJulianDateTT=worst))
+fixtures.append(dict(daysSinceJ2000=0.,tdbMinusTT=ref(0.),rate=(ref(300/86400)-ref(-300/86400))/600,
+ acceleration=(ref(300/86400)-2*ref(0.)+ref(-300/86400))/(300*300)))
+rateErrors=[];accelerationErrors=[]
+for row in fixtures:
+ g=math.fmod(357.53+0.9856003*row['daysSinceJ2000'],360)*math.pi/180
+ k=0.9856003*math.pi/(180*86400)
+ rateErrors.append(abs((0.001658*math.cos(g)+0.000028*math.cos(2*g))*k-row['rate']))
+ accelerationErrors.append(abs(-(0.001658*math.sin(g)+0.000056*math.sin(2*g))*k*k-row['acceleration']))
+Path('Tests/CelMekTests/Fixtures/tdb-erfa.json').write_text(json.dumps(fixtures,separators=(',',':'))+'\n')
+Path('TDB_CHARACTERIZATION.json').write_text(json.dumps(dict(reference='ERFA 2.0.1 eraDtdb, geocentric (u=v=0), TT supplied as permitted by reference documentation',
+ generator='Tools/characterize_tdb_adapter.py',referenceLibrarySHA256=hashlib.sha256(Path(args.library).read_bytes()).hexdigest(),
+ fixtureCount=len(fixtures),derivativeReferenceStepSeconds=300,
+ maximumFixtureRateError=max(rateErrors),maximumFixtureAccelerationError=max(accelerationErrors),surveys=surveys),indent=2)+'\n')
+print(json.dumps(surveys,indent=2));print('Fixtures:',len(fixtures))
diff --git a/Tools/extract_de441_reference_fixtures.py b/Tools/extract_de441_reference_fixtures.py
new file mode 100644
index 0000000..3b5d0f4
--- /dev/null
+++ b/Tools/extract_de441_reference_fixtures.py
@@ -0,0 +1,64 @@
+#!/usr/bin/env python3
+# SPDX-License-Identifier: Apache-2.0
+"""Select independent JPL testpo values; never evaluate the Swift reader."""
+import argparse
+import hashlib
+import json
+from pathlib import Path
+
+parser = argparse.ArgumentParser(description=__doc__)
+parser.add_argument('testpo', type=Path)
+parser.add_argument('output', type=Path)
+args = parser.parse_args()
+raw = args.testpo.read_bytes()
+text = raw.decode('ascii')
+start, end, record_days = -3027215.5, 7930192.5, 32
+rows = []
+for line in text.split('EOT', 1)[1].splitlines():
+    if not line.strip():
+        continue
+    fields = line[15:].split()
+    if len(fields) != 5:
+        raise ValueError(f'Malformed reference row: {line}')
+    jd, target, center, component, value = fields
+    row = dict(jd=float(jd), target=int(target), center=int(center),
+               component=int(component), expected=float(value))
+    if start <= row['jd'] <= end and 1 <= row['target'] <= 14:
+        rows.append(row)
+selected = {}
+def add(row):
+    selected[(row['jd'], row['target'], row['center'], row['component'])] = row
+# Every vector/nutation component for every supported target, near J2000.
+for target in range(1, 15):
+    for component in range(1, 5 if target == 14 else 7):
+        add(min((r for r in rows if r['target'] == target and r['component'] == component),
+                key=lambda r: abs(r['jd']-2451545)))
+# Independently supplied rows exactly on record boundaries and in interiors,
+# including the Earth/Moon/EMB reconstruction and both position and velocity.
+for target in [3, 10, 13, 14]:
+    for boundary in [False, True]:
+        for derivative in [False, True]:
+            position_components = 2 if target == 14 else 3
+            candidates = [r for r in rows if r['target'] == target
+                          and ((r['jd']-start) % record_days == 0) == boundary
+                          and (r['component'] > position_components) == derivative]
+            add(min(candidates, key=lambda r: abs(r['jd']-2451545)))
+# Modern relative Earth/Moon/EMB values also verify the SI adapter.
+for target in [3, 10, 13]:
+    for component in range(1, 7):
+        candidates = [r for r in rows if r['target'] == target
+                      and r['component'] == component and 2433282.5 <= r['jd'] <= 2469807.5]
+        if not candidates:
+            raise ValueError(f'Missing modern reference for {target}/{component}')
+        add(min(candidates, key=lambda r: abs(r['jd']-2451545)))
+# Widely separated epochs from the supplied subset, not only modern dates.
+for jd in [start, start+(end-start)/4, start+(end-start)/2, start+3*(end-start)/4, end]:
+    add(min(rows, key=lambda r: abs(r['jd']-jd)))
+fixture = dict(source='JPL DE441 testpo.441 independently supplied reference values',
+    sourceURL='https://ssd.jpl.nasa.gov/ftp/eph/planets/ascii/de441/testpo.441',
+    sourceSHA256=hashlib.sha256(raw).hexdigest(),
+    binaryCoverage=[start,end], recordDays=record_days, tolerance=1e-12,
+    units='vectors AU and AU/TDB-day; nutations radians and radians/TDB-day',
+    rows=sorted(selected.values(), key=lambda r: (r['jd'], r['target'], r['component'])))
+args.output.write_text(json.dumps(fixture, indent=2)+'\n')
+print(f"Selected {len(fixture['rows'])} independent rows")
diff --git a/Tools/generate_body_gm_fixtures.py b/Tools/generate_body_gm_fixtures.py
new file mode 100644
index 0000000..5c0e79f
--- /dev/null
+++ b/Tools/generate_body_gm_fixtures.py
@@ -0,0 +1,27 @@
+"""Extract the bundled body's GM reference subset from NAIF gm_de440.tpc.
+
+Usage: python3 Tools/generate_body_gm_fixtures.py /path/to/gm_de440.tpc
+Source: https://naif.jpl.nasa.gov/pub/naif/generic_kernels/pck/gm_de440.tpc
+Expected snapshot: 2022-12-14. All fixture values retain source km^3/s^2 units.
+"""
+import argparse
+import json
+import re
+from pathlib import Path
+
+parser = argparse.ArgumentParser(description=__doc__)
+parser.add_argument('kernel')
+args = parser.parse_args()
+text = Path(args.kernel).read_text()
+selected = set(range(1,11)) | {199,299,301,399,499,599,699,799,899,999}
+values = {}
+for code, value in re.findall(r'BODY(\d+)_GM\s*=\s*\(\s*([\d.+\-EDed]+)\s*\)',text):
+    code = int(code)
+    if code in selected:
+        if code in values:
+            raise ValueError(f'duplicate GM for {code}')
+        values[code] = float(value.upper().replace('D','E'))
+if set(values) != selected:
+    raise ValueError('Missing requested GM entries')
+rows = [dict(naif=code,km3PerSecond2=values[code]) for code in sorted(values)]
+Path('Tests/CelMekTests/Fixtures/jpl-gm-2022.json').write_text(json.dumps(rows,indent=2)+'\n')
diff --git a/Tools/generate_brachistochrone_fixtures.py b/Tools/generate_brachistochrone_fixtures.py
new file mode 100644
index 0000000..1c27d91
--- /dev/null
+++ b/Tools/generate_brachistochrone_fixtures.py
@@ -0,0 +1,42 @@
+#!/usr/bin/env python3
+# SPDX-License-Identifier: Apache-2.0
+"""80-digit independent piecewise constant-acceleration integration references."""
+import json
+from decimal import Decimal, localcontext
+from pathlib import Path
+rows = []
+with localcontext() as ctx:
+    ctx.prec = 80
+    for start,end,a in [([0,0,0],[100,0,0],4),([12,-30,7],[-288,370,-1193],2),
+                         ([1e11,-2e11,3e11],[1.1e11,-1.8e11,2.7e11],9.80665),
+                         ([1,2,3],[1,2,3],1)]:
+        p,q = [list(map(lambda x: Decimal.from_float(float(x)),v)) for v in [start,end]]
+        acc = Decimal.from_float(float(a))
+        delta = [y-x for x,y in zip(p,q)]
+        distance = sum(x*x for x in delta).sqrt()
+        half = (distance/acc).sqrt()
+        direction = [x/distance if distance else Decimal(0) for x in delta]
+        samples = []
+        for fraction in [0,.125,.25,.5,.75,.875,1]:
+            # Use exact binary64 elapsed inputs, not fractions inside Swift.
+            seconds = float(2*half*Decimal.from_float(fraction))
+            t = Decimal.from_float(seconds)
+            if fraction == 1 or not distance:
+                position,velocity,acceleration = q,[Decimal(0)]*3,[Decimal(0)]*3
+            elif t < half:
+                position = [x+u*acc*t*t/2 for x,u in zip(p,direction)]
+                velocity = [u*acc*t for u in direction]
+                acceleration = [u*acc for u in direction]
+            else:
+                remaining = 2*half-t
+                position = [y-u*acc*remaining*remaining/2 for y,u in zip(q,direction)]
+                velocity = [u*acc*remaining for u in direction]
+                acceleration = [-u*acc for u in direction]
+            # At midpoint, explicitly use the braking-side convention.
+            if fraction == .5 and distance:
+                acceleration = [-u*acc for u in direction]
+            samples.append(dict(seconds=seconds,position=list(map(float,position)),
+                                velocity=list(map(float,velocity)),acceleration=list(map(float,acceleration))))
+        rows.append(dict(start=start,end=end,acceleration=a,distance=float(distance),
+                         seconds=float(2*half),peak=float(acc*half),samples=samples))
+Path('Tests/CelMekTests/Fixtures/brachistochrone-reference.json').write_text(json.dumps(rows,indent=2)+'\n')
diff --git a/Tools/generate_earth_orientation_fixtures.py b/Tools/generate_earth_orientation_fixtures.py
new file mode 100644
index 0000000..986ab48
--- /dev/null
+++ b/Tools/generate_earth_orientation_fixtures.py
@@ -0,0 +1,43 @@
+import ctypes,json
+from pathlib import Path
+import argparse
+parser = argparse.ArgumentParser(description="Generate reference matrices using an external ERFA 2.0.1 library.")
+parser.add_argument("library", help="Path to an external ERFA shared library exporting eraPnm06a, eraC2ixys, etc.")
+args = parser.parse_args()
+lib=ctypes.CDLL(args.library)
+Matrix = (ctypes.c_double * 3) * 3
+for name in ["eraPnm06a", "eraPom00"]:
+ getattr(lib,name).restype = None
+lib.eraPnm06a.argtypes = [ctypes.c_double,ctypes.c_double,ctypes.POINTER(ctypes.c_double*3)]
+lib.eraPom00.argtypes = [ctypes.c_double]*3+[ctypes.POINTER(ctypes.c_double*3)]
+lib.eraBpn2xy.argtypes = [ctypes.POINTER(ctypes.c_double*3)]+[ctypes.POINTER(ctypes.c_double)]*2
+for name in ["eraS06","eraEra00","eraSp00","eraEors"]:
+ getattr(lib,name).restype = ctypes.c_double
+lib.eraS06.argtypes = [ctypes.c_double]*4
+lib.eraEra00.argtypes = lib.eraSp00.argtypes = [ctypes.c_double]*2
+lib.eraEors.argtypes = [ctypes.POINTER(ctypes.c_double*3),ctypes.c_double]
+lib.eraC2ixys.argtypes = [ctypes.c_double]*3+[ctypes.POINTER(ctypes.c_double*3)]
+lib.eraRz.argtypes = [ctypes.c_double,ctypes.POINTER(ctypes.c_double*3)]
+def reference(edge, tt1, tt2, ut11, ut12, xp, yp):
+ r,b = Matrix(),Matrix()
+ if edge == 2:
+  lib.eraPom00(xp,yp,lib.eraSp00(tt1,tt2),r)
+ else:
+  lib.eraPnm06a(tt1,tt2,b)
+  x,y = ctypes.c_double(),ctypes.c_double()
+  lib.eraBpn2xy(b,ctypes.byref(x),ctypes.byref(y))
+  s = lib.eraS06(tt1,tt2,x.value,y.value)
+  if edge == 0: lib.eraC2ixys(x.value,y.value,s,r)
+  elif edge == 3: r = b
+  else:
+   angle = lib.eraEra00(ut11,ut12)
+   if edge == 4: angle -= lib.eraEors(b,s)
+   lib.eraIr(r);lib.eraRz(angle,r)
+ return [r[i][j] for i in range(3) for j in range(3)]
+rows=[]
+for day in [-365250,-73050,-36525,-1,0,1,1234,36525,73050,365250]:
+ for fraction in [0.000001,0.499999,0.999999]:
+  for edge in range(5):
+   matrix=reference(edge,2451545+day,fraction,2451545+day,fraction-64.184/86400,2.55060238e-7,1.860359247e-6)
+   rows.append(dict(day=2451545+day,fraction=fraction,edge=edge,matrix=list(matrix)))
+Path('Tests/CelMekTests/Fixtures/earth-orientation-erfa.json').write_text(json.dumps(rows,indent=2)+'\n')
diff --git a/Tools/generate_gravity_fixtures.py b/Tools/generate_gravity_fixtures.py
new file mode 100644
index 0000000..d9e6db3
--- /dev/null
+++ b/Tools/generate_gravity_fixtures.py
@@ -0,0 +1,26 @@
+#!/usr/bin/env python3
+# SPDX-License-Identifier: Apache-2.0
+"""Independent 80-digit direct Newtonian acceleration differences."""
+import json
+from decimal import Decimal,localcontext
+from pathlib import Path
+rows=[]
+with localcontext() as ctx:
+    ctx.prec=80
+    for p,R,mu in [([7e6,0,0],None,3.986004418e14),([1,2,3],None,1),
+                    ([7e6,0,0],[384400e3,0,0],4.9048695e12),
+                    ([1e-3,2e-3,-3e-3],[1e12,0,0],1e20),
+                    ([2,3,4],[-4,8,1],10),([0,0,0],[3,4,5],1)]:
+        pD=[Decimal.from_float(float(x)) for x in p]; m=Decimal.from_float(float(mu))
+        def attraction(v):
+            length=sum(x*x for x in v).sqrt()
+            return [m*x/length**3 for x in v]
+        if R is None:
+            result=attraction([-x for x in pD])
+        else:
+            RD=[Decimal.from_float(float(x)) for x in R]
+            direct=attraction([y-x for x,y in zip(pD,RD)])
+            indirect=attraction(RD)
+            result=[x-y for x,y in zip(direct,indirect)]
+        rows.append(dict(position=p,bodyPosition=R,gm=mu,acceleration=list(map(float,result))))
+Path('Tests/CelMekTests/Fixtures/gravity-reference.json').write_text(json.dumps(rows,indent=2)+'\n')
diff --git a/Tools/generate_hohmann_fixtures.py b/Tools/generate_hohmann_fixtures.py
new file mode 100644
index 0000000..6e5485a
--- /dev/null
+++ b/Tools/generate_hohmann_fixtures.py
@@ -0,0 +1,22 @@
+#!/usr/bin/env python3
+# SPDX-License-Identifier: Apache-2.0
+"""Independent 80-digit energy/vis-viva transfer references, standard library only."""
+import json
+from decimal import Decimal, localcontext
+from pathlib import Path
+PI = Decimal('3.141592653589793238462643383279502884197169399375105820974944592307816406286208998628')
+rows = []
+with localcontext() as ctx:
+    ctx.prec = 80
+    for r1, r2, mu in [(7e6,42164e3,3.986004418e14),(42164e3,7e6,3.986004418e14),
+                       (1,2,1),(2,1,1),(7e6,7e6,3.986004418e14),(7e6,7e6+1e-6,3.986004418e14),
+                       (0.001,1000,1)]:
+        x,y,m = map(Decimal.from_float,[float(r1),float(r2),float(mu)])
+        a = (x+y)/2
+        circular1,circular2 = (m/x).sqrt(),(m/y).sqrt()
+        transfer1,transfer2 = (m*(2/x-1/a)).sqrt(),(m*(2/y-1/a)).sqrt()
+        dv1,dv2 = transfer1-circular1,circular2-transfer2
+        rows.append(dict(r1=r1,r2=r2,gm=mu,a=float(a),e=float(abs(x-y)/(x+y)),
+                         dv1=float(dv1),dv2=float(dv2),total=float(abs(dv1)+abs(dv2)),
+                         seconds=float(PI*(a**3/m).sqrt())))
+Path('Tests/CelMekTests/Fixtures/hohmann-reference.json').write_text(json.dumps(rows,indent=2)+'\n')
diff --git a/Tools/generate_iau_rotation_data.py b/Tools/generate_iau_rotation_data.py
new file mode 100644
index 0000000..1cf149d
--- /dev/null
+++ b/Tools/generate_iau_rotation_data.py
@@ -0,0 +1,63 @@
+#!/usr/bin/env python3
+"""Generate pinned IAU coefficient tables from NAIF pck00011.tpc.
+
+Standard library only. Parse numeric BODY assignments inside begindata blocks;
+never ingest the historical examples in begintext comments. Not a PCK loader.
+"""
+import argparse
+import hashlib
+import re
+from pathlib import Path
+
+EXPECTED_SHA256 = "3dff7b1dbeceaa01f25467767d3fa25816051c85d162d1edf04acb310ee28bb1"
+BODIES = {'19p_borrelly': 1000005, '9p_tempel_1': 1000093, 'adrastea': 515, 'amalthea': 505, 'ariel': 701, 'atlas': 615, 'belinda': 714, 'bianca': 708, 'callisto': 504, 'calypso': 614, 'ceres': 2000001, 'charon': 901, 'cordelia': 706, 'cressida': 709, 'davida': 2000511, 'deimos': 402, 'desdemona': 710, 'despina': 805, 'dione': 604, 'earth': 399, 'enceladus': 602, 'epimetheus': 611, 'eros': 2000433, 'europa': 502, 'galatea': 806, 'ganymede': 503, 'gaspra': 9511010, 'helene': 612, 'iapetus': 608, 'ida': 2431010, 'io': 501, 'itokawa': 2025143, 'janus': 610, 'juliet': 711, 'jupiter': 599, 'larissa': 807, 'lutetia': 2000021, 'mars': 499, 'mercury': 199, 'metis': 516, 'mimas': 601, 'miranda': 705, 'moon': 301, 'naiad': 803, 'neptune': 899, 'oberon': 704, 'ophelia': 707, 'pallas': 2000002, 'pan': 618, 'pandora': 617, 'phobos': 401, 'phoebe': 609, 'pluto': 999, 'portia': 712, 'prometheus': 616, 'proteus': 808, 'puck': 715, 'rhea': 605, 'rosalind': 713, 'saturn': 699, 'steins': 2002867, 'sun': 10, 'telesto': 613, 'tethys': 603, 'thalassa': 804, 'thebe': 514, 'titan': 606, 'titania': 703, 'triton': 801, 'umbriel': 702, 'uranus': 799, 'venus': 299, 'vesta': 2000004}
+
+parser = argparse.ArgumentParser(description=__doc__)
+parser.add_argument("kernel", type=Path)
+parser.add_argument("output", type=Path)
+args = parser.parse_args()
+raw = args.kernel.read_bytes()
+if hashlib.sha256(raw).hexdigest() != EXPECTED_SHA256:
+    raise SystemExit("Kernel hash differs from the reviewed 2022-12-27 pck00011.tpc")
+text = raw.decode("ascii")
+data = "\n".join(part.split("\\begintext")[0] for part in text.split("\\begindata")[1:])
+number = r"[-+]?(?:\d+(?:\.\d*)?|\.\d+)(?:[eEdD][-+]?\d+)?"
+values = {}
+for key, body in re.findall(r"(BODY\d+_\w+)\s*=\s*\((.*?)\)", data, re.S):
+    values[key] = [float(x.replace("D", "e").replace("d", "e")) for x in re.findall(number, body)]
+for key, value in re.findall(r"(BODY\d+_(?:MAX_PHASE_DEGREE|CONSTANTS_JED_EPOCH))\s*=\s*(" + number + r")", data):
+    values[key] = [float(value)]
+
+def array(coefficients):
+    return "[" + ", ".join(repr(x) for x in coefficients) + "]"
+
+lines = ["// SPDX-License-Identifier: Apache-2.0",
+         "// Generated by Tools/generate_iau_rotation_data.py; do not edit by hand.",
+         "// NAIF pck00011.tpc (2022-12-27), SHA256 " + EXPECTED_SHA256,
+         "// IAU 2015 report + 2019 correction; Earth/Moon retain labelled legacy models.",
+         "let iauRotationModels: [String: IAURotationModelData] = ["]
+for name, body_id in BODIES.items():
+    prefix = f"BODY{body_id}_"
+    system = f"BODY{body_id // 100}_"
+    width = int(values.get(system + "MAX_PHASE_DEGREE", [1])[0]) + 1
+    phases = values.get(system + "NUT_PREC_ANGLES", [])
+    assert len(phases) % width == 0
+    provenance = ".legacy2009" if name in ("earth", "moon") else ".iau2015Corrected2019"
+    lines.append(f'  "{name}": IAURotationModelData(naifID: {body_id}, provenance: {provenance}, referenceJulianDate: {values.get(prefix + "CONSTANTS_JED_EPOCH", [2451545.0])[0]!r},')
+    for index, (base_key, harmonic_key, function, variable) in enumerate([
+        ("POLE_RA", "NUT_PREC_RA", "sine", "centuries"),
+        ("POLE_DEC", "NUT_PREC_DEC", "cosine", "centuries"),
+        ("PM", "NUT_PREC_PM", "sine", "days"),
+    ]):
+        label = ["rightAscension", "declination", "primeMeridian"][index]
+        lines.append(f"    {label}: IAUAngleSeries(polynomialDegrees: {array(values[prefix + base_key])}, variable: .{variable}, harmonics: [")
+        for i, amplitude in enumerate(values.get(prefix + harmonic_key, [])):
+            if amplitude == 0:
+                continue
+            phase = phases[i*width:(i+1)*width]
+            assert len(phase) == width, (name, harmonic_key, i)
+            lines.append(f"      IAUHarmonic(amplitudeDegrees: {amplitude!r}, phaseDegrees: {array(phase)}, function: .{function}),")
+        lines.append("    ])" + (")," if index == 2 else ","))
+lines.append("]")
+args.output.write_text("\n".join(lines) + "\n")
+print(f"Generated {len(BODIES)} models in {args.output}")
diff --git a/Tools/generate_iau_rotation_fixtures.py b/Tools/generate_iau_rotation_fixtures.py
new file mode 100644
index 0000000..b0449ea
--- /dev/null
+++ b/Tools/generate_iau_rotation_fixtures.py
@@ -0,0 +1,45 @@
+#!/usr/bin/env python3
+"""Generate independent rotation/derivative fixtures with CSPICE N0067+.
+
+Usage: python generate_iau_rotation_fixtures.py pck00011.tpc output.json
+Requires spiceypy and numpy only when regenerating fixtures, never in Swift CI.
+"""
+import argparse
+import ast
+import hashlib
+import json
+from pathlib import Path
+import spiceypy as spice
+
+parser = argparse.ArgumentParser(description=__doc__)
+parser.add_argument('kernel', type=Path)
+parser.add_argument('output', type=Path)
+args = parser.parse_args()
+generator = ast.parse(Path(__file__).with_name('generate_iau_rotation_data.py').read_text())
+constants = {node.targets[0].id: ast.literal_eval(node.value) for node in generator.body
+             if isinstance(node, ast.Assign) and isinstance(node.targets[0], ast.Name)
+             and node.targets[0].id in ('BODIES', 'EXPECTED_SHA256')}
+sha = hashlib.sha256(args.kernel.read_bytes()).hexdigest()
+if sha != constants['EXPECTED_SHA256']:
+    raise SystemExit('Kernel hash differs from reviewed pck00011.tpc')
+spice.kclear()
+spice.furnsh(str(args.kernel.resolve()))
+rows = []
+for name, body_id in constants['BODIES'].items():
+    for days in [0, 1, -1, 1234.5, -1234.5, 36525, -36525]:
+        seconds = days * 86400
+        transform = spice.tisbod('J2000', body_id, seconds)
+        # Reference acceleration from a centred derivative of CSPICE Rdot.
+        # A five-point derivative with a 10 s step limits both cancellation
+        # at distant epochs and rotational-curvature truncation error.
+        second = (8*(spice.tisbod('J2000', body_id, seconds + 10)[3:, :3]
+                     - spice.tisbod('J2000', body_id, seconds - 10)[3:, :3])
+                  - (spice.tisbod('J2000', body_id, seconds + 20)[3:, :3]
+                     - spice.tisbod('J2000', body_id, seconds - 20)[3:, :3])) / 120
+        rows.append(dict(body=name, days=days, rotation=transform[:3, :3].flatten().tolist(),
+                         derivative=transform[3:, :3].flatten().tolist(),
+                         secondDerivative=second.flatten().tolist()))
+args.output.write_text(json.dumps(dict(toolkit=spice.tkvrsn('TOOLKIT'),
+    kernelSHA256=sha, frame='J2000', secondDerivativeStepSeconds=10, secondDerivativeStencil="five-point", samples=rows), indent=2)+'\n')
+spice.kclear()
+print(f'Generated {len(rows)} independent samples')
diff --git a/Tools/generate_kepler_fixtures.py b/Tools/generate_kepler_fixtures.py
new file mode 100644
index 0000000..6dfaa0b
--- /dev/null
+++ b/Tools/generate_kepler_fixtures.py
@@ -0,0 +1,40 @@
+#!/usr/bin/env python3
+"""Independent 80-digit Decimal bisection of Kepler's equations.
+
+Print Swift fixture tuples using exact binary64 inputs. No production solver or
+external numerical package is used. Small anomalies exercise cancellation.
+"""
+from decimal import Decimal, localcontext
+
+
+def trig(x, hyperbolic):
+    term = total = x
+    for n in range(1, 400):
+        term *= x * x / Decimal((2*n)*(2*n+1))
+        if not hyperbolic:
+            term = -term
+        updated = total + term
+        if updated == total:
+            return total
+        total = updated
+    raise RuntimeError('Series did not converge')
+
+
+with localcontext() as context:
+    context.prec = 80
+    for hyperbolic, eccentricity, mean in [
+        (False, 0.9, 0.1), (False, 0.9999999999999999, 1e-18),
+        (False, 0.999999, 1e-8), (False, 0.5, 2.0),
+        (True, 1.0000000000000002, 1e-18),
+        (True, 1.000001, 1e-8), (True, 2.0, 10.0), (True, 1.1, 1000.0),
+    ]:
+        e, m = map(Decimal.from_float, (eccentricity, mean))
+        low, high = Decimal(0), Decimal(20 if hyperbolic else 4)
+        for _ in range(300):
+            x = (low + high)/2
+            f = e*trig(x, True)-x-m if hyperbolic else x-e*trig(x, False)-m
+            if f < 0:
+                low = x
+            else:
+                high = x
+        print(f'({str(hyperbolic).lower()}, {eccentricity!r}, {mean!r}, {float((low+high)/2)!r}),')
diff --git a/Tools/generate_observed_pole_fixtures.py b/Tools/generate_observed_pole_fixtures.py
new file mode 100644
index 0000000..913b1fc
--- /dev/null
+++ b/Tools/generate_observed_pole_fixtures.py
@@ -0,0 +1,54 @@
+"""Generate observed-CIP matrices with an external ERFA 2.0.1 shared library.
+
+Usage: python3 Tools/generate_observed_pole_fixtures.py /path/to/liberfa.dylib
+No C runtime or build target is added to CelMek.
+"""
+import argparse
+import ctypes
+import json
+from pathlib import Path
+
+parser = argparse.ArgumentParser(description=__doc__)
+parser.add_argument('library')
+args = parser.parse_args()
+lib = ctypes.CDLL(args.library)
+D = ctypes.c_double
+Matrix = (D * 3) * 3
+M = ctypes.POINTER(D * 3)
+for name, parameters in {
+    'eraPnm06a': [D,D,M], 'eraBp00': [D,D,M,M,M],
+    'eraNut00a': [D,D,ctypes.POINTER(D),ctypes.POINTER(D)],
+    'eraBpn2xy': [M,ctypes.POINTER(D),ctypes.POINTER(D)],
+    'eraS06': [D,D,D,D], 'eraObl80': [D,D],
+    'eraIr': [M], 'eraRx': [D,M], 'eraRz': [D,M],
+    'eraRxr': [M,M,M], 'eraC2ixys': [D,D,D,M],
+}.items():
+    function = getattr(lib,name)
+    function.argtypes = parameters
+    function.restype = D if name in ['eraS06','eraObl80'] else None
+
+def reference(day, dx, dy, old):
+    b, r = Matrix(), Matrix()
+    x,y = D(),D()
+    lib.eraPnm06a(2400000.5,day,b)
+    lib.eraBpn2xy(b,ctypes.byref(x),ctypes.byref(y))
+    s = lib.eraS06(2400000.5,day,x.value,y.value)
+    if old:
+        rb,rp,bp,n = Matrix(),Matrix(),Matrix(),Matrix()
+        dp,de = D(),D()
+        lib.eraBp00(2400000.5,day,rb,rp,bp)
+        lib.eraNut00a(2400000.5,day,ctypes.byref(dp),ctypes.byref(de))
+        t = ((2400000.5-2451545)+day)/36525
+        eps = lib.eraObl80(2400000.5,day)-0.02524*t*3.141592653589793/(180*3600)
+        lib.eraIr(n); lib.eraRx(eps,n); lib.eraRz(-dp.value,n); lib.eraRx(-(eps+de.value),n)
+        lib.eraRxr(n,bp,b)
+        lib.eraBpn2xy(b,ctypes.byref(x),ctypes.byref(y))
+    lib.eraC2ixys(x.value+dx,y.value+dy,s,r)
+    return [r[i][j] for i in range(3) for j in range(3)]
+
+rows = []
+for day in [37665.,51544.5,53736.,57754.,60000.,62502.]:
+    for old in [False,True]:
+        for dx,dy in [(0.,0.),(1.2e-9,-2.3e-9),(-8e-9,5e-9)]:
+            rows.append(dict(mjd=day,old=old,dx=dx,dy=dy,matrix=reference(day,dx,dy,old)))
+Path('Tests/CelMekTests/Fixtures/observed-pole-erfa.json').write_text(json.dumps(rows,indent=2)+'\n')
diff --git a/Tools/generate_tdb_series.py b/Tools/generate_tdb_series.py
new file mode 100644
index 0000000..979dfd8
--- /dev/null
+++ b/Tools/generate_tdb_series.py
@@ -0,0 +1,26 @@
+"""Extract the full Fairhead series from a caller-supplied ERFA 2.0.1 dtdb.c.
+No source download or C build is part of the Swift package.
+"""
+import argparse,hashlib,re
+from pathlib import Path
+parser=argparse.ArgumentParser(description=__doc__)
+parser.add_argument('source',type=Path)
+args=parser.parse_args()
+data=args.source.read_bytes()
+text=re.sub(r'/\*.*?\*/','',data.decode(),flags=re.S)
+body=re.search(r'fairhd\[787\]\[3\]\s*=\s*\{(.*?)\};',text,re.S).group(1)
+rows=re.findall(r'\{([^{}]+)\}',body)
+assert len(rows)==787
+out=['// Copyright (C) 2013-2023, NumFOCUS Foundation.',
+ '// Full Fairhead–Bretagnon series adapted from ERFA 2.0.1 (NumFOCUS).',
+ '// BSD terms and SOFA heritage: Sources/ERFASwift/LICENSE.txt.',
+ '// Source SHA256: '+hashlib.sha256(data).hexdigest(),
+ 'internal enum FairheadTDBSeries {']
+chunks=[rows[i:i+32] for i in range(0,len(rows),32)]
+out.append('  static let terms: [[Double]] = ['+','.join('chunk'+str(i) for i in range(len(chunks)))+'].flatMap { $0 }')
+for i,chunk in enumerate(chunks):
+ out.append('  private static let chunk'+str(i)+': [[Double]] = [')
+ out.extend('    ['+row.strip()+'],' for row in chunk)
+ out.append('  ]')
+out.append('}')
+Path('Sources/ERFASwift/FairheadTDBSeries.swift').write_text('\n'.join(out)+'\n')
diff --git a/Tools/generate_two_body_fixtures.py b/Tools/generate_two_body_fixtures.py
new file mode 100644
index 0000000..5a0cd67
--- /dev/null
+++ b/Tools/generate_two_body_fixtures.py
@@ -0,0 +1,101 @@
+#!/usr/bin/env python3
+"""Independent 80-digit conic propagation fixtures (Python standard library).
+
+Uses eccentric/hyperbolic anomalies, not universal variables or Swift code.
+Exact binary64 initial state, GM and elapsed-time inputs are lifted to Decimal.
+Run from the repository root to regenerate Tests/CelMekTests/Fixtures/two_body_reference.json.
+"""
+import json
+from decimal import Decimal, localcontext
+from pathlib import Path
+
+PI = Decimal('3.141592653589793238462643383279502884197169399375105820974944592307816406286208998628')
+D = Decimal.from_float
+
+
+def sincos(x, hyperbolic=False):
+    sin, cos = x, Decimal(1)
+    st, ct = sin, cos
+    for n in range(1, 400):
+        sign = 1 if hyperbolic else -1
+        st *= sign*x*x/Decimal(2*n*(2*n+1))
+        ct *= sign*x*x/Decimal((2*n-1)*2*n)
+        ns, nc = sin+st, cos+ct
+        if ns == sin and nc == cos:
+            return sin, cos
+        sin, cos = ns, nc
+    raise RuntimeError('Series did not converge')
+
+
+def solve(f, target):
+    sign = -1 if target < 0 else 1
+    target = abs(target)
+    lo, hi = Decimal(0), Decimal(1)
+    while f(hi) < target:
+        hi *= 2
+    for _ in range(320):
+        mid = (lo+hi)/2
+        if f(mid) < target:
+            lo = mid
+        else:
+            hi = mid
+    return sign*(lo+hi)/2
+
+
+def state(r0, v0, mu, dt):
+    r0, v0, mu, dt = map(D, (r0, v0, mu, dt))
+    e = v0*v0*r0/mu-1
+    if e == 1:
+        p = 2*r0
+        b = 2*(mu/(p*p*p)).sqrt()*dt
+        d = solve(lambda x: x+x*x*x/3, b)
+        x, y = r0*(1-d*d), 2*r0*d
+        scale = (mu/p).sqrt()
+        vx, vy = -2*scale*d/(1+d*d), 2*scale/(1+d*d)
+    elif e < 1:
+        a = r0/(1-e)
+        mean = (mu/(a*a*a)).sqrt()*dt
+        mean %= 2*PI
+        if mean > PI:
+            mean -= 2*PI
+        if mean < -PI:
+            mean += 2*PI
+        anomaly = solve(lambda x: x-e*sincos(x)[0], mean)
+        s, c = sincos(anomaly)
+        q = (1-e*e).sqrt()
+        radius = a*(1-e*c)
+        x, y = a*(c-e), a*q*s
+        scale = (mu*a).sqrt()/radius
+        vx, vy = -scale*s, scale*q*c
+    else:
+        a = r0/(e-1)
+        mean = (mu/(a*a*a)).sqrt()*dt
+        anomaly = solve(lambda x: e*sincos(x, True)[0]-x, mean)
+        s, c = sincos(anomaly, True)
+        q = (e*e-1).sqrt()
+        radius = a*(e*c-1)
+        x, y = a*(e-c), a*q*s
+        scale = (mu*a).sqrt()/radius
+        vx, vy = -scale*s, scale*q*c
+    return [float(x), float(y), 0], [float(vx), float(vy), 0]
+
+
+with localcontext() as context:
+    context.prec = 80
+    fixtures = []
+    for name, r0, v0, mu in [
+        ('circular', 1., 1., 1.),
+        ('elliptic', 1., 1.2, 1.),
+        ('near-parabolic-bound', 1., 1.414213562373095, 1.),
+        ('parabolic', 1., 1., 0.5),
+        ('near-parabolic-unbound', 1., 1.4142135623730951, 1.),
+        ('hyperbolic', 1., 2., 1.),
+        ('earth-elliptic', 7e6, 9000., 3.986004418e14),
+    ]:
+        for dt in ([0.1, -1., 10., -100.] if r0 == 1 else [100., -1000., 10000.]):
+            position, velocity = state(r0, v0, mu, dt)
+            fixtures.append(dict(name=name, radius=r0, speed=v0, gm=mu, seconds=dt,
+                                 position=position, velocity=velocity))
+    Path('Tests/CelMekTests/Fixtures/two_body_reference.json').write_text(
+        json.dumps(dict(provenance='80-digit Decimal conic equations; generate_two_body_fixtures.py',
+                        cases=fixtures), indent=2)+'\n')
diff --git a/Tools/summarize_vsop_characterization.py b/Tools/summarize_vsop_characterization.py
new file mode 100644
index 0000000..a1a4807
--- /dev/null
+++ b/Tools/summarize_vsop_characterization.py
@@ -0,0 +1,43 @@
+"""Render a VSOP87 characterization JSON report as Markdown.
+
+Usage: python3 Tools/summarize_vsop_characterization.py VSOP87_CHARACTERIZATION.json
+"""
+import argparse
+import json
+from pathlib import Path
+
+parser = argparse.ArgumentParser(description=__doc__)
+parser.add_argument('report')
+parser.add_argument('--output',default='VSOP87_ACCURACY_CHARACTERIZATION.md')
+parser.add_argument('--compiler-description',default='not recorded')
+parser.add_argument('--architecture',default='not recorded')
+args = parser.parse_args()
+r = json.loads(Path(args.report).read_text())
+rows = r['measurements']
+assert r['schemaVersion'] == 1 and len(rows) == 36
+assert all(row['sampleCount'] == rows[0]['sampleCount'] for row in rows)
+lines = [
+    '# VSOP87 reduced-mode characterization', '',
+    'These results compare reduced coefficient sets against the complete built-in VSOP87E series. They measure truncation within one model, not physical error against observations or DE ephemerides.', '',
+    f"Coverage: TT JD {r['coverageStartTTJulianDate']} through {r['coverageEndTTJulianDate']} inclusive (1950-01-01 through 2050-01-01). Sample spacing: {r['samplingStepDays']} days, plus the final endpoint; {rows[0]['sampleCount']} epochs per body/mode. Maxima are sampled maxima, not guarantees between samples. Norms are Euclidean in the native VSOP87E Cartesian frame.", '',
+    f"Time model: {r['tdbModel']}. State velocities use atomic seconds. All modes use the same coverage and time model.", '',
+    '## Query cost and approximation differences', '',
+    '| Body | Mode | Retained / full terms | Max position, km | RMS position, km | Max velocity, m/s | RMS velocity, m/s | Query, µs | Speedup |',
+    '| --- | --- | ---: | ---: | ---: | ---: | ---: | ---: | ---: |',
+]
+for row in rows:
+    lines.append(f"| {row['body']} | {row['mode']} | {row['retainedTerms']} / {row['originalTerms']} | {row['maximumPositionErrorMetres']/1000:.6g} | {row['rmsPositionErrorMetres']/1000:.6g} | {row['maximumVelocityErrorMetresPerSecond']:.6g} | {row['rmsVelocityErrorMetresPerSecond']:.6g} | {row['medianQueryNanoseconds']/1000:.4g} | {row['speedupAgainstFull']:.3g}× |")
+lines += ['', '## Method and limits', '',
+    f"Timing: {r['timingDescription']}. Each timing batch contains {r['queriesPerRepetition']} queries; {r['timingRepetitions']} repetitions per mode. Query epochs span the sampled coverage. A checksum consumes returned positions and velocities to prevent unused-result elimination.", '',
+    f"Host: {r['operatingSystem']}, {r['processors']} logical processors; architecture: {args.architecture}. Compiler: {args.compiler_description}; release configuration. Query timings are one local measurement and depend on compiler, hardware, system load and selected TDB model. They are not a CI pass/fail threshold or performance guarantee.", '',
+    'Provider preparation is excluded from query timing and recorded separately in the JSON. Preparation selects subsets and allocates their tables; results are reused for every query. Full evaluation also performs metadata/selection preparation, so preparation costs should not be confused with steady-state query cost.', '',
+    'Position differences are checked against each model’s conservative per-axis omitted-term bound, with 0.1 m allowance for floating evaluation differences. The full mode has zero truncation bound. No velocity bound is inferred from positional amplitudes. A small fast term may have a significant derivative. The JSON records per-axis bounds, preparation time and TT epochs of sampled position/velocity maxima (zero for full mode, whose differences are identically zero).', '',
+    'The eight-day grid does not resolve every short-period coefficient. More densely sampled intervals and independent physical reference validation may be appropriate for a particular game. Changing the selected coverage changes the subsets; these numbers do not apply unchanged to every interval.', '',
+    'No cutoff was tuned against these samples. Initial cutoffs remain low 1e-6 AU, balanced 1e-8 AU, high 1e-10 AU per maximum term contribution. The shared levels remain tolerance hints and permit a higher effective evaluation mode. Lunar and Pluto reduced modes are not implemented and still evaluate their full existing approximation.', '',
+    '## Reproduce', '', '```sh',
+    'swift run --disable-sandbox -c release VSOP87Characterization VSOP87_CHARACTERIZATION.json 8',
+    'python3 Tools/summarize_vsop_characterization.py VSOP87_CHARACTERIZATION.json', '```', '',
+    'The optional final argument controls positive integer sample spacing in days. Keep the release configuration and supply --compiler-description and --architecture to the summarizer when publishing a new report. The executable writes a report only at the supplied path, performs no network access and does not modify coefficient tables.', '',
+    'Machine-readable results: [VSOP87_CHARACTERIZATION.json](VSOP87_CHARACTERIZATION.json). Policy and selection rules: [ACCURACY.md](ACCURACY.md).', '',
+]
+Path(args.output).write_text('\n'.join(lines))