diff --git a/openpilot/starpilot/flm/analyze.py b/openpilot/starpilot/flm/analyze.py
new file mode 100644
index 0000000000..3d721e36b9
--- /dev/null
+++ b/openpilot/starpilot/flm/analyze.py
@@ -0,0 +1,61 @@
+"""Desktop-only FLM diagnostic report from explicitly selected closed rlogs."""
+
+import argparse
+from collections.abc import Callable, Sequence
+from dataclasses import asdict
+import json
+from pathlib import Path
+import sys
+
+from openpilot.common.hardware import PC
+from openpilot.starpilot.galaxy.drive_history import SEGMENT_NAME
+from openpilot.starpilot.flm.local_logs import LocalLogUnavailable, read_closed_rlog
+from openpilot.starpilot.flm.log_decode import LogDecodeError, decode_segment
+from openpilot.starpilot.flm.offline import MAX_SEGMENTS, SegmentInput, analyze_segments
+
+
+def analyze_local(root: Path, names: Sequence[str], *, cancelled: Callable[[], bool] = lambda: False) -> dict:
+  """Process one bounded segment at a time; never return a partial report."""
+  if not PC:
+    raise ValueError("Use a desktop: device analysis needs a separate parked operation owner")
+  if not 1 <= len(names) <= MAX_SEGMENTS or len(set(names)) != len(names):
+    raise ValueError("Select one to five distinct closed segments")
+  reports = []
+  for name in names:
+    source = read_closed_rlog(root, name, permitted=lambda: not cancelled())
+    match = SEGMENT_NAME.fullmatch(name)
+    assert match is not None
+    events = decode_segment(source.compressed, source.codec, cancelled=cancelled)
+    report = analyze_segments((SegmentInput(match.group("route"), int(match.group("number")), events),), cancelled=cancelled)
+    reports.append({"source": {"segmentName": source.segment_name, "sha256": source.sha256,
+                               "compressedBytes": source.size, "codec": source.codec},
+                    "analysis": asdict(report.segments[0])})
+    del events, source
+  if cancelled():
+    raise ValueError("Analysis cancelled")
+  return {"schemaVersion": 1, "purpose": "offline_tracking_diagnostics", "segments": reports,
+          "tuneRecommendation": None, "vehicleQualification": False}
+
+
+def main(argv: Sequence[str] | None = None) -> int:
+  parser = argparse.ArgumentParser(description=__doc__)
+  parser.add_argument("--log-root", required=True, type=Path, help="Absolute local recording directory; no remote routes")
+  parser.add_argument("--output", type=Path, help="Create a new JSON report file; never overwrite an existing file")
+  parser.add_argument("segments", nargs="+", help="Closed segment directory names under --log-root (at most five)")
+  args = parser.parse_args(argv)
+  try:
+    result = analyze_local(args.log_root, args.segments)
+    payload = json.dumps(result, allow_nan=False, indent=2)
+    if args.output is not None:
+      with args.output.open("x", encoding="utf-8") as destination:
+        destination.write(payload + "\n")
+    else:
+      print(payload)
+  except (LocalLogUnavailable, LogDecodeError, OSError, ValueError, RuntimeError) as error:
+    print(f"FLM analysis unavailable: {error}", file=sys.stderr)
+    return 1
+  return 0
+
+
+if __name__ == "__main__":
+  raise SystemExit(main())
diff --git a/openpilot/starpilot/flm/local_logs.py b/openpilot/starpilot/flm/local_logs.py
new file mode 100644
index 0000000000..5afc4cf753
--- /dev/null
+++ b/openpilot/starpilot/flm/local_logs.py
@@ -0,0 +1,112 @@
+"""Admit one immutable, closed local rlog for offline analysis; never download."""
+
+from collections.abc import Callable
+from dataclasses import dataclass, field
+import hashlib
+import os
+from pathlib import Path
+import stat
+
+from openpilot.starpilot.galaxy.drive_history import MAX_SEGMENT_ENTRIES, SEGMENT_NAME
+
+
+MAX_COMPRESSED_BYTES = 32 * 1024 * 1024
+DIR_FLAGS = os.O_RDONLY | os.O_DIRECTORY | os.O_NOFOLLOW | os.O_NONBLOCK
+FILE_FLAGS = os.O_RDONLY | os.O_NOFOLLOW | os.O_NONBLOCK
+RLOGS = {"rlog.zst": "zst", "rlog.bz2": "bz2"}
+
+
+class LocalLogUnavailable(Exception):
+  pass
+
+
+@dataclass(frozen=True)
+class ClosedLog:
+  segment_name: str
+  codec: str
+  compressed: bytes = field(repr=False)
+  sha256: str
+  size: int
+
+
+def _identity(info: os.stat_result) -> tuple[int, int]:
+  return info.st_dev, info.st_ino
+
+
+def _revision(info: os.stat_result) -> tuple[int, ...]:
+  return (*_identity(info), info.st_size, info.st_mtime_ns, info.st_ctime_ns)
+
+
+def _allowed(permitted: Callable[[], bool]) -> None:
+  if not permitted():
+    raise LocalLogUnavailable("Analysis is no longer allowed")
+
+
+def _closed_rlog(fd: int) -> str:
+  found = []
+  with os.scandir(fd) as entries:
+    for count, entry in enumerate(entries, 1):
+      if count > MAX_SEGMENT_ENTRIES or entry.name.endswith(".lock"):
+        raise LocalLogUnavailable("Segment is open or unavailable")
+      if entry.name in RLOGS:
+        found.append(entry.name)
+  if len(found) != 1:
+    raise LocalLogUnavailable("Select a segment with exactly one closed full rlog")
+  return found[0]
+
+
+def read_closed_rlog(root: Path, segment_name: str, *, permitted: Callable[[], bool]) -> ClosedLog:
+  """Revalidate an inventory choice, then bind its receipt to the bytes read.
+
+  The inventory is not authority: locks, file type, bounds and inode revisions
+  are checked again at admission and after the complete read. The supplied
+  root is the locally configured recording directory, never an HTTP input.
+  No decoded events or successful receipt escape a partial/cancelled read.
+  """
+  matched = SEGMENT_NAME.fullmatch(segment_name) if type(segment_name) is str and len(segment_name) <= 180 else None
+  if matched is None or len(matched.group("number")) > 6 or not root.is_absolute() or ".." in root.parts:
+    raise LocalLogUnavailable("Invalid local segment selection")
+  fds = []
+  try:
+    _allowed(permitted)
+    root_fd = os.open(root, DIR_FLAGS)
+    fds.append(root_fd)
+    root_info = os.fstat(root_fd)
+    segment_fd = os.open(segment_name, DIR_FLAGS, dir_fd=root_fd)
+    fds.append(segment_fd)
+    segment_info = os.fstat(segment_fd)
+    filename = _closed_rlog(segment_fd)
+    source_fd = os.open(filename, FILE_FLAGS, dir_fd=segment_fd)
+    fds.append(source_fd)
+    before = os.fstat(source_fd)
+    if not stat.S_ISREG(before.st_mode) or not 0 < before.st_size <= MAX_COMPRESSED_BYTES:
+      raise LocalLogUnavailable("Full rlog is empty, oversized or not a regular file")
+    chunks = []
+    remaining = before.st_size
+    while remaining:
+      _allowed(permitted)
+      chunk = os.read(source_fd, min(1024 * 1024, remaining))
+      if not chunk:
+        raise LocalLogUnavailable("Full rlog changed while reading")
+      chunks.append(chunk)
+      remaining -= len(chunk)
+    if os.read(source_fd, 1):
+      raise LocalLogUnavailable("Full rlog grew while reading")
+    _allowed(permitted)
+    after = os.fstat(source_fd)
+    current = os.stat(filename, dir_fd=segment_fd, follow_symlinks=False)
+    segment_now = os.stat(segment_name, dir_fd=root_fd, follow_symlinks=False)
+    root_now = os.stat(root, follow_symlinks=False)
+    if (_revision(before) != _revision(after) or _revision(after) != _revision(current) or
+        not stat.S_ISREG(current.st_mode) or not stat.S_ISDIR(segment_now.st_mode) or
+        not stat.S_ISDIR(root_now.st_mode) or _identity(segment_now) != _identity(segment_info) or
+        _identity(root_now) != _identity(root_info) or _closed_rlog(segment_fd) != filename):
+      raise LocalLogUnavailable("Local recording identity changed")
+    raw = b"".join(chunks)
+    _allowed(permitted)
+    return ClosedLog(segment_name, RLOGS[filename], raw, hashlib.sha256(raw).hexdigest(), len(raw))
+  except (OSError, ValueError) as error:
+    raise LocalLogUnavailable("Local recording is unavailable") from error
+  finally:
+    for fd in reversed(fds):
+      os.close(fd)
diff --git a/openpilot/starpilot/flm/operation_owner.py b/openpilot/starpilot/flm/operation_owner.py
new file mode 100644
index 0000000000..753085bad0
--- /dev/null
+++ b/openpilot/starpilot/flm/operation_owner.py
@@ -0,0 +1,556 @@
+"""One parked, read-only FLM operation with an isolated local-log worker."""
+
+from collections.abc import Callable, Sequence
+from contextlib import contextmanager
+import json
+import logging
+import os
+from pathlib import Path
+import selectors
+import subprocess
+import sys
+import threading
+import time
+import uuid
+
+from openpilot.common.hardware.hw import Paths
+from openpilot.starpilot.galaxy.drive_history import SEGMENT_NAME
+
+
+MAX_REPORT_BYTES = 1024 * 1024
+MAX_PIPE_BYTES = MAX_REPORT_BYTES + 4096
+WALL_DEADLINE_SECONDS = 5 * 60
+POLL_SECONDS = 0.05
+ACTIVE_STATE = 'running'
+ERROR_CODES = frozenset(('invalid_request', 'busy', 'not_parked', 'operation_changed', 'unavailable',
+                         'canceled', 'process_failed', 'deadline', 'recording_unavailable', 'decode_failed', 'resource_limit'))
+
+
+class FlmOperationError(RuntimeError):
+  def __init__(self, code: str):
+    self.code = code if code in ERROR_CODES else 'unavailable'
+    super().__init__(self.code)
+
+
+def _stop_child(child: subprocess.Popen) -> None:
+  if child.poll() is not None:
+    child.wait()
+    return
+  try:
+    child.terminate()
+  except ProcessLookupError:
+    pass
+  try:
+    child.wait(timeout=0.5)
+  except subprocess.TimeoutExpired:
+    try:
+      child.kill()
+    except ProcessLookupError:
+      pass
+    try:
+      child.wait(timeout=0.5)
+    except subprocess.TimeoutExpired as error:
+      raise FlmOperationError('unavailable') from error
+
+
+class FlmAnalysisOwner:
+  """Parent alone owns fresh parked authority, operation identity and report visibility."""
+
+  def __init__(self, *, parked: Callable[[], bool], root: Path | None = None,
+               worker_argv: Sequence[str] | None = None, completed: Callable[[dict], bool] | None = None):
+    self.root = Path(Paths.log_root()) if root is None else root
+    self._parked = parked
+    self._completed = completed
+    self._worker_argv = tuple(worker_argv) if worker_argv is not None else (
+      sys.executable, '-m', 'openpilot.starpilot.flm.operation_worker')
+    self._lock = threading.RLock()
+    self._session = uuid.uuid4().hex
+    self._sequence = 0
+    self._closed = False
+    self._cancel = threading.Event()
+    self._child: subprocess.Popen | None = None
+    self._monitor_thread: threading.Thread | None = None
+    self._report: dict | None = None
+    self._status = self._fresh_status('idle', None, 0)
+
+  @staticmethod
+  def _fresh_status(state: str, operation_id: str | None, selected: int, processed: int = 0,
+                    error_code: str | None = None) -> dict:
+    return {'version': 1, 'operationId': operation_id, 'state': state, 'selected': selected,
+            'processed': processed, 'errorCode': error_code}
+
+  def _allowed(self) -> bool:
+    try:
+      return self._parked() is True
+    except Exception:
+      return False
+
+  def _revoke_if_unparked(self) -> None:
+    if self._allowed():
+      return
+    with self._lock:
+      if self._status['state'] != 'idle':
+        self._status = self._fresh_status('unavailable', self._status['operationId'],
+                                          self._status['selected'], self._status['processed'], 'not_parked')
+        self._report = None
+        self._cancel.set()
+
+  def snapshot(self) -> dict:
+    self._revoke_if_unparked()
+    with self._lock:
+      return dict(self._status)
+
+  def start(self, segment_names: Sequence[str], *, gm_context: dict | None = None) -> dict:
+    if (type(segment_names) not in (tuple, list) or not 1 <= len(segment_names) <= 5 or
+        any(type(name) is not str or len(name) > 180 or SEGMENT_NAME.fullmatch(name) is None
+            for name in segment_names) or len(set(segment_names)) != len(segment_names)):
+      raise FlmOperationError('invalid_request')
+    if gm_context is not None:
+      from openpilot.starpilot.flm.gm_recommend import validate_context
+      gm_context = json.loads(json.dumps(validate_context(gm_context), allow_nan=False))
+    if not self._allowed():
+      raise FlmOperationError('not_parked')
+    with self._lock:
+      if self._closed:
+        raise FlmOperationError('unavailable')
+      if self._status['state'] == ACTIVE_STATE or self._child is not None or \
+         (self._monitor_thread is not None and self._monitor_thread.is_alive()):
+        raise FlmOperationError('busy')
+      self._sequence += 1
+      token = f'{self._session}:{self._sequence}'
+      self._cancel = threading.Event()
+      self._report = None
+      self._status = self._fresh_status(ACTIVE_STATE, token, len(segment_names))
+      request_value = {'root': str(self.root), 'segments': list(segment_names), 'parentPid': os.getpid()}
+      if gm_context is not None:
+        request_value['gmContext'] = gm_context
+      request = json.dumps(request_value, sort_keys=True, allow_nan=False, separators=(',', ':')).encode()
+      if len(request) > (32768 if gm_context is not None else 2048):
+        self._status = self._fresh_status('failed', token, len(segment_names), error_code='invalid_request')
+        raise FlmOperationError('invalid_request')
+      # The monitor must create the child: Linux PR_SET_PDEATHSIG follows the
+      # creating thread, and an HTTP request thread ends after this response.
+      self._monitor_thread = threading.Thread(target=self._monitor, args=(token, self._cancel,
+                                                                           tuple(segment_names), request, gm_context), daemon=True)
+      try:
+        self._monitor_thread.start()
+      except RuntimeError as error:
+        self._monitor_thread = None
+        self._status = self._fresh_status('failed', token, len(segment_names), error_code='unavailable')
+        raise FlmOperationError('unavailable') from error
+    self._revoke_if_unparked()
+    return self.snapshot()
+
+  def _monitor(self, token: str, canceled: threading.Event, names: tuple[str, ...], request: bytes,
+               gm_context: dict | None = None) -> None:
+    result: dict | None = None
+    error: str | None = 'process_failed'
+    child: subprocess.Popen | None = None
+    reaped = False
+    try:
+      if canceled.is_set():
+        error = 'canceled'
+        return
+      if not self._allowed():
+        error = 'not_parked'
+        return
+      child = subprocess.Popen(self._worker_argv, stdin=subprocess.PIPE, stdout=subprocess.PIPE,
+                               stderr=subprocess.DEVNULL, bufsize=0, close_fds=True)
+      with self._lock:
+        if self._status['operationId'] == token:
+          self._child = child
+      if child.stdin is None:
+        raise OSError('worker input unavailable')
+      child.stdin.write(request)
+      child.stdin.close()
+      result, error = self._read_worker(token, child, canceled, names)
+      if error is None:
+        if result is None:
+          raise ValueError('missing report')
+        sources = result['segments']
+        if (result.get('schemaVersion') != 1 or
+            result.get('purpose') != ('offline_tracking_diagnostics' if gm_context is None else 'gm_flm_evidence_profiles') or
+            result.get('tuneRecommendation', 1) is not None or result.get('vehicleQualification') is not False or
+            type(sources) is not list or [row['source']['segmentName'] for row in sources] != list(names)):
+          raise ValueError('report shape')
+        if gm_context is not None:
+          from openpilot.starpilot.flm.gm_recommend import validate_context
+          evidence = result.get('gmEvidence')
+          if (type(evidence) is not dict or validate_context(evidence['context']) != gm_context or
+              evidence.get('fit') is not False or evidence.get('vehicleQualification') is not False):
+            raise ValueError('GM report source')
+        result = {**result, 'operationId': token}
+        if len(json.dumps(result, allow_nan=False).encode()) > MAX_REPORT_BYTES:
+          raise ValueError('report limit')
+    except Exception:
+      logging.exception('FLM operation failed')
+      error = 'process_failed'
+    finally:
+      if child is not None:
+        try:
+          _stop_child(child)
+          reaped = True
+        except (OSError, FlmOperationError):
+          error = 'unavailable'
+        for pipe in (child.stdin, child.stdout):
+          if pipe is None:
+            continue
+          try:
+            pipe.close()
+          except OSError:
+            error = 'unavailable'
+      else:
+        reaped = True
+      if not self._allowed():
+        error = 'not_parked'
+      # Completion effects acquire the HTTP effect guard before this owner's
+      # lock. Never invoke a callback while holding the owner lock.
+      if error is None and result is not None and not canceled.is_set() and reaped and gm_context is not None and self._completed is not None:
+        try:
+          result['gmEvidence']['progressRecorded'] = self._completed(result) is True
+        except Exception:
+          logging.exception('FLM cleanup progress was not recorded')
+          result['gmEvidence']['progressRecorded'] = False
+      with self._lock:
+        if self._status['operationId'] == token:
+          if self._closed or self._status['state'] == 'unavailable' or not self._allowed():
+            error = 'not_parked' if not self._closed else 'unavailable'
+          if error is None and not canceled.is_set() and reaped:
+            self._report = result
+            self._status = self._fresh_status('completed', token, len(names), len(names))
+          else:
+            code = 'unavailable' if self._closed else \
+                   'canceled' if canceled.is_set() and error != 'not_parked' else error or 'canceled'
+            unavailable = code in ('not_parked', 'unavailable', 'recording_unavailable', 'decode_failed', 'resource_limit')
+            state = 'canceled' if code == 'canceled' else 'unavailable' if unavailable else 'failed'
+            self._status = self._fresh_status(state, token, len(names), self._status['processed'], code)
+            self._report = None
+        if child is not None and self._child is child and reaped:
+          self._child = None
+
+  def _read_worker(self, token: str, child: subprocess.Popen, canceled: threading.Event,
+                   names: tuple[str, ...]) -> tuple[dict | None, str | None]:
+    if child.stdout is None:
+      return None, 'process_failed'
+    deadline = time.monotonic() + WALL_DEADLINE_SECONDS
+    buffer = bytearray()
+    consumed = 0
+    result = None
+    error = None
+    with selectors.DefaultSelector() as selector:
+      selector.register(child.stdout, selectors.EVENT_READ)
+      while error is None:
+        if canceled.is_set():
+          return None, 'canceled'
+        if not self._allowed():
+          return None, 'not_parked'
+        if time.monotonic() >= deadline:
+          return None, 'deadline'
+        if not selector.select(POLL_SECONDS):
+          continue
+        chunk = os.read(child.stdout.fileno(), 64 * 1024)
+        if not chunk:
+          break  # Pipe EOF; wait only a bounded time for the child to exit.
+        consumed += len(chunk)
+        if consumed > MAX_PIPE_BYTES:
+          return None, 'process_failed'
+        buffer.extend(chunk)
+        while b'\n' in buffer:
+          line, _, remainder = buffer.partition(b'\n')
+          buffer = bytearray(remainder)
+          message = json.loads(line)
+          if type(message) is not dict:
+            return None, 'process_failed'
+          if message.get('kind') == 'progress' and type(message.get('processed')) is int and \
+             0 < message['processed'] <= len(names):
+            with self._lock:
+              if self._status['operationId'] == token and self._status['state'] == ACTIVE_STATE:
+                self._status['processed'] = max(self._status['processed'], message['processed'])
+          elif message.get('kind') == 'result' and type(message.get('report')) is dict:
+            result = message['report']
+          elif message.get('kind') == 'error' and message.get('code') in (
+            'unavailable', 'process_failed', 'recording_unavailable', 'decode_failed', 'resource_limit',
+          ):
+            error = message['code']
+          else:
+            return None, 'process_failed'
+          if error is not None:
+            break
+    if error is not None:
+      return None, error
+    if buffer or child.wait(timeout=0.5) != 0 or result is None:
+      return None, 'process_failed'
+    return result, None
+
+  def report(self, operation_id: str) -> dict:
+    self._revoke_if_unparked()
+    with self._lock:
+      if self._closed:
+        raise FlmOperationError('unavailable')
+      if self._status['operationId'] != operation_id:
+        raise FlmOperationError('operation_changed')
+      if self._status['state'] != 'completed' or self._report is None:
+        raise FlmOperationError(self._status['errorCode'] or 'unavailable')
+      return json.loads(json.dumps(self._report, allow_nan=False))
+
+  @contextmanager
+  def completion_guard(self, operation_id: str):
+    # Called only after the shared HTTP effect guard, and retained through the
+    # optional metadata commit so cancel/close cannot retire this operation
+    # between its final authority check and document replacement.
+    with self._lock:
+      yield (self._status['operationId'] == operation_id and self._status['state'] == ACTIVE_STATE and
+             not self._closed and not self._cancel.is_set() and self._allowed())
+
+  def cancel(self, operation_id: str) -> dict:
+    self._revoke_if_unparked()
+    with self._lock:
+      if self._status['operationId'] != operation_id:
+        raise FlmOperationError('operation_changed')
+      if self._status['state'] != ACTIVE_STATE:
+        return dict(self._status)
+      self._cancel.set()
+      thread = self._monitor_thread
+    if thread is not None:
+      thread.join(timeout=1.5)
+      if thread.is_alive():
+        with self._lock:
+          child = self._child
+        if child is not None:
+          _stop_child(child)
+        thread.join(timeout=0.5)
+    return self.snapshot()
+
+  def close(self) -> None:
+    with self._lock:
+      self._closed = True
+      self._cancel.set()
+      thread = self._monitor_thread
+    if thread is not None:
+      thread.join(timeout=1.5)
+    with self._lock:
+      child = self._child
+    if child is not None:
+      _stop_child(child)
+    with self._lock:
+      self._report = None
+      if self._status['state'] != 'idle':
+        self._status = self._fresh_status('unavailable', self._status['operationId'],
+                                          self._status['selected'], self._status['processed'], 'unavailable')
+
+class FlmTrialOwner:
+  """Existing FLM namespace's parked exact-source atomic surface editor."""
+  def __init__(self, params, context):
+    self.params, self.context = params, context
+
+  def _sources(self):
+    import hashlib
+    from openpilot.starpilot.flm.live import gm_capability
+    from openpilot.starpilot.lateral.controller_selection import DOCUMENT_KEY as SELECTION_KEY, selection_from_bytes
+    from openpilot.starpilot.lateral.torque_settings import DOCUMENT_KEY, MAX_DOCUMENT_BYTES, parse_document
+    from openpilot.starpilot.saved_source import read_saved
+    ctx = self.context.sample()
+    raw, readable = read_saved(self.params, DOCUMENT_KEY, MAX_DOCUMENT_BYTES)
+    selection_raw, selection_readable = read_saved(self.params, SELECTION_KEY, 4096)
+    selection = None if ctx.cp is None or not selection_readable else selection_from_bytes(ctx.cp, selection_raw)
+    cap = (None if selection is None or selection.source == 'invalid' else gm_capability(ctx.cp, selection.mode))
+    if not readable or cap is None or ctx.cp_raw is None:
+      raise FlmOperationError('unavailable')
+    try:
+      profiles = {} if raw is None else parse_document(raw)
+    except (ValueError, TypeError, UnicodeError, OverflowError):
+      raise FlmOperationError('unavailable') from None
+    guards = []
+    for key, limit in (('AdvancedLateralTune', 64), ('ForceAutoTuneOff', 1)):
+      value, valid = read_saved(self.params, key, limit)
+      guards.append((key, valid, None if value is None else value.hex()))
+    token = hashlib.sha256(
+      json.dumps(cap,sort_keys=True).encode()+b'\0'+ctx.cp_raw+b'\0'+(raw or b'')+
+      b'\0'+(selection_raw or b'')+b'\0'+json.dumps(guards).encode()).hexdigest()
+    return ctx, raw, selection_raw, cap, profiles, token
+
+  def snapshot(self):
+    from opendbc.car.lateral import FRICTION_THRESHOLD
+    from openpilot.starpilot.flm.live import binding_matches
+    from openpilot.starpilot.flm.torque_surface import GmFlmBinding, GmSurface, _GM_BOUNDS, _GM_RICH_BOUNDS
+    try:
+      ctx, _, _, cap, profiles, token = self._sources()
+    except FlmOperationError:
+      return {'version': 1, 'available': False, 'editable': False}
+    profile = profiles.get(cap['fingerprint'])
+    state = GmFlmBinding(cap['controller'],cap['policy'],cap['basis']) if profile is None or profile.flm is None else profile.flm
+    matched = profile is None or (profile.basis == cap['basis'] and
+                                  (profile.flm is None or binding_matches(profile,cap)))
+    from openpilot.starpilot.flm.manual_trial import manual_snapshot, manual_profile, manual_preconditions
+    from openpilot.starpilot.lateral.torque_settings import PlatformProfile, FieldChoice
+    current = profile or PlatformProfile(cap['basis'], FieldChoice(), FieldChoice())
+    current_manual = manual_snapshot(current, cap['fingerprint'])
+    manual_conflict = state.applied_manual is not None and current_manual != state.applied_manual
+    preconditions = {}
+    for key, raw in state.manual:
+      try:
+        preconditions[key] = manual_preconditions(self.params, ctx.cp, cap['controller'],
+                                                  manual_profile(raw, cap['fingerprint'], cap['basis']))
+      except ValueError:
+        preconditions[key] = ['The saved manual controller or geometry basis changed. Review those choices in settings and save again.']
+    limits = dict(_GM_BOUNDS)
+    limits.update(_GM_RICH_BOUNDS if cap['profile'] == 'gm_bolt_2022_2023' else {'ff_gain_left':(-.4,.6),'ff_gain_right':(-.4,.6)})
+    return {'version': 1, 'available': matched, 'editable': bool(ctx.parked and matched),
+            'reason': None if matched else ('The selected controller or vehicle basis changed. Reset this surface binding to retain ' +
+              'manual choices and edit the current controller.'),
+            'manualConflict': manual_conflict, 'manual': current_manual, 'preconditions': preconditions,
+            'resettable': bool(ctx.parked and profile is not None and profile.flm is not None), 'token': token,
+            'vehicle': cap['fingerprint'], 'controller': cap['controller'], 'profile': cap['profile'],
+            'curveDefaults': [FRICTION_THRESHOLD if cap['controller'] == 'standard' else GmSurface(cap['profile'],{}).base_threshold(speed)
+                              for speed in (0.,5.,10.,15.,25.)],
+            'inactiveKnobs': {'low_speed_angle_assist_max_torque': ('The selected custom Bolt output law excludes universal angle assist. STANDARD consumes ' +
+              'this choice.')}
+                             if cap['controller'] == 'starpilot' and cap['policy'] == 'bolt' else {},
+            'state': state.document(), 'defaults': GmSurface(cap['profile'],{}).document(),
+            'knobs': {key:{'min':low,'max':high} for key,(low,high) in limits.items()}}
+
+  def action(self, payload, *, session_valid=lambda: True, generated_manual=None):
+    from dataclasses import replace
+    import re
+    import secrets
+    from openpilot.starpilot.flm.live import binding_matches
+    from openpilot.starpilot.flm.torque_surface import GmFlmBinding, GmSurface
+    from openpilot.starpilot.lateral.torque_settings import DOCUMENT_KEY, MAX_DOCUMENT_BYTES, PlatformProfile, FieldChoice, serialize_document
+    from openpilot.starpilot.saved_document import commit_exact
+    if type(payload) is not dict or payload.get('action') not in ('save','delete','trial','apply','restore','accept','disable','reset','record-progress'):
+      raise ValueError('Invalid GM FLM action')
+    action=payload['action']
+    if generated_manual is not None and action != 'save':
+      raise ValueError('Wrong generated manual action')
+    expected_fields={'action','token'} | (
+      {'id','label','surface'} if action=='save' else {'id'} if action in ('delete','trial','apply')
+      else {'trial'} if action in ('restore','accept') else set())
+    if set(payload)!=expected_fields or type(payload['token']) is not str or re.fullmatch(r'[a-f0-9]{64}',payload['token']) is None:
+      raise ValueError('Invalid GM FLM source')
+    ctx, raw, selection_raw, cap, profiles, token = self._sources()
+    if not ctx.parked or not session_valid():
+      raise FlmOperationError('not_parked')
+    if payload['token']!=token:
+      raise FlmOperationError('operation_changed')
+    profile=profiles.get(cap['fingerprint'],PlatformProfile(cap['basis'],FieldChoice(),FieldChoice()))
+    if action != 'reset' and (profile.basis != cap['basis'] or
+                              profile.flm is not None and not binding_matches(profile,cap)):
+      raise FlmOperationError('operation_changed')
+    state=profile.flm or GmFlmBinding(cap['controller'],cap['policy'],cap['basis'])
+    saved={key:(label,surface) for key,label,surface in state.saved}
+    manual = dict(state.manual)
+    from openpilot.starpilot.flm.manual_trial import manual_snapshot, manual_profile, manual_preconditions
+    current_manual = manual_snapshot(profile, cap['fingerprint'])
+    key=payload.get('id')
+    if action in ('save','delete','trial','apply') and (type(key) is not str or re.fullmatch(r'[a-zA-Z0-9_-]{1,48}',key) is None):
+      raise ValueError('Invalid saved surface identity')
+    if action=='save':
+      if state.trial is not None and key in (state.active,state.baseline_active):
+        raise FlmOperationError('busy')
+      surface=GmSurface.from_document(payload['surface'])
+      if surface.profile!=cap['profile']:
+        raise ValueError('Surface does not match selected controller')
+      saved[key]=(payload['label'],surface)
+      captured = current_manual if generated_manual is None else generated_manual
+      manual_profile(captured, cap['fingerprint'], cap['basis'])
+      manual[key] = captured
+      state=replace(state,saved=tuple((name,label,surface) for name,(label,surface) in saved.items()), manual=tuple(manual.items()))
+    elif action=='delete':
+      if key in (state.active,state.baseline_active):
+        raise FlmOperationError('busy')
+      if key not in saved:
+        raise ValueError('Unknown saved surface')
+      del saved[key]
+      manual.pop(key, None)
+      state=replace(state,saved=tuple((name,label,surface) for name,(label,surface) in saved.items()), manual=tuple(manual.items()))
+    elif action in ('trial','apply'):
+      if key not in saved:
+        raise ValueError('Unknown saved surface')
+      if state.applied_manual is not None and current_manual != state.applied_manual:
+        raise FlmOperationError('operation_changed')
+      target_manual = manual.get(key, state.baseline_manual or current_manual)
+      target = manual_profile(target_manual, cap['fingerprint'], cap['basis'])
+      if manual_preconditions(self.params, ctx.cp, cap['controller'], target):
+        raise FlmOperationError('unavailable')
+      # Every switch starts from the original owned manual baseline; the saved
+      # full canonical snapshot explicitly includes source/default choices.
+      baseline_manual = state.baseline_manual if state.trial else current_manual
+      old_flm = profile.flm
+      profile = replace(target, flm=old_flm)
+      state=replace(state,active=key,applied=True,trial=state.trial or secrets.token_hex(16),
+                    baseline_active=state.baseline_active if state.trial else state.active,
+                    baseline_applied=state.baseline_applied if state.trial else state.applied,
+                    baseline_manual=baseline_manual, applied_manual=manual_snapshot(profile,cap['fingerprint']))
+    elif action in ('restore','accept'):
+      if state.trial is None or payload['trial']!=state.trial:
+        raise FlmOperationError('operation_changed')
+      if action == 'restore' and state.baseline_manual is not None:
+        if current_manual != state.applied_manual:
+          # A later explicit manual edit is never silently overwritten. Keep
+          # as baseline resolves this conflict without rewriting preferences.
+          raise FlmOperationError('operation_changed')
+        profile = replace(manual_profile(state.baseline_manual, cap['fingerprint'], cap['basis']), flm=profile.flm)
+      state=replace(state,active=state.baseline_active if action=='restore' else state.active,
+                    applied=state.baseline_applied if action=='restore' else state.applied,
+                    trial=None,baseline_active=None,baseline_applied=False,baseline_manual=None,applied_manual=None)
+    elif action=='record-progress':
+      state=replace(state, cleanup_progress=True)
+    elif action=='disable':
+      state=replace(state,active=None,applied=False,trial=None,baseline_active=None,baseline_applied=False,baseline_manual=None,applied_manual=None)
+    # One atomic canonical document commit owns only this selected vehicle
+    # manual+surface trial; other vehicle preferences are retained unchanged.
+    profiles[cap['fingerprint']]=replace(profile,flm=None if action=='reset' else state)
+    encoded=serialize_document(profiles)
+    def authorized():
+      try:
+        fresh, fresh_raw, fresh_selection, fresh_cap, _, fresh_token=self._sources()
+        return (session_valid() and fresh.parked and fresh.cp_raw==ctx.cp_raw and fresh_raw==raw and
+                fresh_selection==selection_raw and fresh_cap==cap and fresh_token==token)
+      except FlmOperationError:
+        return False
+    result=commit_exact(self.params,key=DOCUMENT_KEY,max_bytes=MAX_DOCUMENT_BYTES,raw=encoded,expected=raw,
+                        authorized=authorized,temp_prefix='.flm-')
+    if not result.committed or not result.verified:
+      raise FlmOperationError('operation_changed')
+    return self.snapshot()
+
+
+  def training_context(self, token):
+    from openpilot.starpilot.flm.gm_recommend import source_context
+    from openpilot.starpilot.lateral.torque_settings import PlatformProfile, FieldChoice
+    ctx, _, _, cap, profiles, current = self._sources()
+    if not ctx.parked:
+      raise FlmOperationError('not_parked')
+    if token != current:
+      raise FlmOperationError('operation_changed')
+    profile = profiles.get(cap['fingerprint'], PlatformProfile(cap['basis'], FieldChoice(), FieldChoice()))
+    return source_context(ctx.cp, cap['controller'], self.params, current, profile)
+
+  def save_generated(self, report, generated_id, key, label, token, *, session_valid=lambda: True):
+    context = self.training_context(token)
+    from openpilot.starpilot.flm.gm_recommend import same_numerical_context
+    if not same_numerical_context(context, report['context']):
+      raise FlmOperationError('operation_changed')
+    matches = [profile for path in report['paths'] for profile in path['profiles'] if profile['id'] == generated_id]
+    if len(matches) != 1 or matches[0].get('canonical') is None:
+      raise ValueError('Unavailable generated trial')
+    selected = matches[0]['canonical']
+    return self.action({'action': 'save', 'token': token, 'id': key, 'label': label, 'surface': selected['surface']},
+                       generated_manual=selected['manual'], session_valid=session_valid)
+
+
+  def record_cleanup(self, report, *, session_valid=lambda: False):
+    evidence = report.get('gmEvidence')
+    if evidence is None or evidence['decision']['primaryPathKey'] != 'cleanup_pass' or evidence['stats']['sampleCount'] <= 0:
+      return False
+    try:
+      source = evidence['context']
+      # This callback belongs only to an explicit Generate GM Trials operation.
+      # It records original cleanup progression, never applies a tune or writes
+      # any global flag. Changed source/unparked authority simply declines it.
+      if self.training_context(source['sourceToken']) != source:
+        return False
+      self.action({'action': 'record-progress', 'token': source['sourceToken']}, session_valid=session_valid)
+      return True
+    except (ValueError, FlmOperationError):
+      return False
diff --git a/openpilot/starpilot/flm/operation_worker.py b/openpilot/starpilot/flm/operation_worker.py
new file mode 100644
index 0000000000..19a0e32be6
--- /dev/null
+++ b/openpilot/starpilot/flm/operation_worker.py
@@ -0,0 +1,131 @@
+"""Isolated, bounded local FLM analysis worker; never started by the desktop CLI."""
+
+from dataclasses import asdict
+import ctypes
+import json
+import logging
+import os
+from pathlib import Path
+import resource
+import signal
+import sys
+import threading
+import time
+
+from openpilot.starpilot.flm.local_logs import LocalLogUnavailable, read_closed_rlog
+from openpilot.starpilot.flm.log_decode import LogDecodeError, decode_segment
+from openpilot.starpilot.flm.offline import SegmentInput, analyze_segments
+from openpilot.starpilot.galaxy.drive_history import SEGMENT_NAME
+
+
+MAX_REQUEST_BYTES = 32768
+MAX_REPORT_BYTES = 1024 * 1024
+LINUX_ADDRESS_SPACE_BYTES = 2 * 1024**3
+LINUX_CPU_SECONDS = 240
+
+
+def _emit(value: dict) -> None:
+  payload = json.dumps(value, sort_keys=True, separators=(',', ':'), allow_nan=False).encode()
+  if len(payload) > MAX_REPORT_BYTES:
+    raise ValueError('report_limit')
+  sys.stdout.buffer.write(payload + b'\n')
+  sys.stdout.buffer.flush()
+
+
+def _limits() -> None:
+  try:
+    os.nice(10)
+  except OSError:
+    pass
+  if sys.platform.startswith('linux'):
+    for limit, ceiling in ((resource.RLIMIT_AS, LINUX_ADDRESS_SPACE_BYTES),
+                           (resource.RLIMIT_CPU, LINUX_CPU_SECONDS)):
+      soft, hard = resource.getrlimit(limit)
+      bounded = min([ceiling, *(value for value in (soft, hard) if value >= 0)])
+      resource.setrlimit(limit, (bounded, hard))
+
+
+def _parent_lifeline(expected_pid: int) -> None:
+  if type(expected_pid) is not int or expected_pid <= 1:
+    raise ValueError('invalid parent')
+  if sys.platform.startswith('linux'):
+    # Set in the child, never in preexec_fn of a threaded parent. The PID
+    # recheck closes the race where the parent exits before prctl completes.
+    if ctypes.CDLL(None).prctl(1, signal.SIGKILL, 0, 0, 0) != 0:
+      raise OSError('parent-death signal unavailable')
+  if os.getppid() != expected_pid:
+    raise ValueError('parent changed')
+  if not sys.platform.startswith('linux'):
+    def watch_parent() -> None:
+      while True:
+        time.sleep(0.1)
+        if os.getppid() != expected_pid:
+          os._exit(125)
+    threading.Thread(target=watch_parent, daemon=True).start()
+
+
+def main() -> int:
+  try:
+    _limits()
+    request = json.loads(sys.stdin.buffer.read(MAX_REQUEST_BYTES + 1))
+    root, names = request['root'], request['segments']
+    gm_context = request.get('gmContext')
+    if gm_context is not None:
+      from openpilot.starpilot.flm.gm_recommend import validate_context
+      gm_context = validate_context(gm_context)
+    elif len(json.dumps(request).encode()) > 2048:
+      raise ValueError('invalid_request')
+    if set(request) != {'root', 'segments', 'parentPid'} | ({'gmContext'} if gm_context is not None else set()):
+      raise ValueError('invalid_request')
+    _parent_lifeline(request['parentPid'])
+    if (type(root) is not str or not Path(root).is_absolute() or type(names) is not list or
+        not 1 <= len(names) <= 5 or any(type(name) is not str or len(name) > 180 or
+                                     SEGMENT_NAME.fullmatch(name) is None for name in names) or
+        len(set(names)) != len(names)):
+      raise ValueError('invalid_request')
+    selected_names = [name for name in names if type(name) is str]
+    segments = []
+    gm_groups = []
+    for index, name in enumerate(selected_names, 1):
+      source = read_closed_rlog(Path(root), name, permitted=lambda: True)
+      match = SEGMENT_NAME.fullmatch(name)
+      if match is None:
+        raise ValueError('invalid_request')
+      events = decode_segment(source.compressed, source.codec)
+      analysis = analyze_segments((SegmentInput(match.group('route'), int(match.group('number')), events),),
+                                  gm_context=gm_context, evidence=gm_groups if gm_context is not None else None)
+      segments.append({'source': {'segmentName': name, 'sha256': source.sha256,
+                                  'compressedBytes': source.size, 'codec': source.codec},
+                       'analysis': asdict(analysis.segments[0])})
+      del source, events, analysis
+      _emit({'kind': 'progress', 'processed': index})
+    report = {'schemaVersion': 1, 'purpose': 'offline_tracking_diagnostics', 'segments': segments,
+              'tuneRecommendation': None, 'vehicleQualification': False}
+    if gm_context is not None:
+      from openpilot.starpilot.flm.gm_recommend import classify_groups, build_report
+      summaries, stats = classify_groups(gm_groups)
+      report['purpose'] = 'gm_flm_evidence_profiles'
+      report['gmEvidence'] = build_report(gm_context, summaries, stats)
+    _emit({'kind': 'result', 'report': report})
+    return 0
+  except LocalLogUnavailable:
+    logging.exception('FLM recording admission failed')
+    code = 'recording_unavailable'
+  except LogDecodeError:
+    logging.exception('FLM recording decode failed')
+    code = 'decode_failed'
+  except MemoryError:
+    logging.exception('FLM worker memory limit exceeded')
+    code = 'resource_limit'
+  except Exception:
+    logging.exception('FLM worker failed')
+    code = 'process_failed'
+  try:
+    _emit({'kind': 'error', 'code': code})
+  except Exception:
+    pass
+  return 1
+
+
+if __name__ == '__main__':
+  raise SystemExit(main())
diff --git a/openpilot/starpilot/flm/test_log_decode.py b/openpilot/starpilot/flm/test_log_decode.py
new file mode 100644
index 0000000000..34c8809dca
--- /dev/null
+++ b/openpilot/starpilot/flm/test_log_decode.py
@@ -0,0 +1,97 @@
+"""No partial FLM segment success after corrupt compression or Cereal data."""
+
+import bz2
+from unittest import mock
+
+import pytest
+import zstandard as zstd
+
+from openpilot.cereal import messaging
+from openpilot.starpilot.flm import log_decode
+
+
+def _events() -> bytes:
+  first = messaging.new_message("deviceState", valid=True)
+  first.logMonoTime = 101
+  first.deviceState.started = True
+  second = messaging.new_message("carState", valid=False)
+  second.logMonoTime = 202
+  return first.to_bytes() + second.to_bytes()
+
+
+def _compressed(raw: bytes, codec: str) -> bytes:
+  return zstd.ZstdCompressor().compress(raw) if codec == "zst" else bz2.compress(raw)
+
+
+@pytest.mark.parametrize("codec", ["zst", "bz2"])
+def test_complete_segment_retains_all_event_envelopes_and_timestamps(codec):
+  decoded = log_decode.decode_segment(_compressed(_events(), codec), codec)
+  assert len(decoded) == 2
+  assert [(event.which(), event.logMonoTime, event.valid) for event in decoded] == [
+    ("deviceState", 101, True), ("carState", 202, False),
+  ]
+  assert decoded[0].deviceState.started
+
+
+@pytest.mark.parametrize("codec", ["zst", "bz2"])
+def test_truncated_trailing_and_wrong_codec_reject_entire_segment(codec):
+  source = _compressed(_events(), codec)
+  for candidate in (source[:-1], source + _compressed(_events(), codec), source + b"trailing"):
+    with pytest.raises(log_decode.LogDecodeError):
+      log_decode.decode_segment(candidate, codec)
+  other = "bz2" if codec == "zst" else "zst"
+  with pytest.raises(log_decode.LogDecodeError):
+    log_decode.decode_segment(source, other)
+
+
+def test_expansion_compressed_count_and_cereal_corruption_caps(monkeypatch):
+  raw = _events()
+  encoded = _compressed(raw, "zst")
+  monkeypatch.setattr(log_decode, "MAX_COMPRESSED_BYTES", len(encoded) - 1)
+  with pytest.raises(log_decode.LogDecodeError):
+    log_decode.decode_segment(encoded, "zst")
+  monkeypatch.setattr(log_decode, "MAX_COMPRESSED_BYTES", 32 * 1024 * 1024)
+  monkeypatch.setattr(log_decode, "MAX_EXPANDED_BYTES", len(raw) - 1)
+  with pytest.raises(log_decode.LogDecodeError):
+    log_decode.decode_segment(encoded, "zst")
+  monkeypatch.setattr(log_decode, "MAX_EXPANDED_BYTES", 64 * 1024 * 1024)
+  monkeypatch.setattr(log_decode, "MAX_MESSAGES", 1)
+  with pytest.raises(log_decode.LogDecodeError):
+    log_decode.decode_segment(encoded, "zst")
+  monkeypatch.setattr(log_decode, "MAX_MESSAGES", 250_000)
+  with pytest.raises(log_decode.LogDecodeError):
+    log_decode.decode_segment(_compressed(raw + b"not an Event", "zst"), "zst")
+
+
+def test_cancelled_and_wrong_input_never_return_prefix(monkeypatch):
+  encoded = _compressed(_events(), "zst")
+  monkeypatch.setattr(log_decode, "CHUNK_BYTES", 8)
+  calls = 0
+  def cancel():
+    nonlocal calls
+    calls += 1
+    return calls > 3
+  with pytest.raises(log_decode.LogDecodeError, match="cancelled"):
+    log_decode.decode_segment(encoded, "zst", cancelled=cancel)
+  decode = mock.Mock(wraps=log_decode.decode_segment)
+  with pytest.raises(log_decode.LogDecodeError):
+    decode(bytearray(encoded), "zst")
+  with pytest.raises(log_decode.LogDecodeError):
+    log_decode.decode_segment(encoded, "raw")
+
+
+def test_event_traversal_limit_rejects_whole_segment(monkeypatch):
+  monkeypatch.setattr(log_decode, "EVENT_TRAVERSAL_WORDS", 1)
+  with pytest.raises(log_decode.LogDecodeError, match="Cereal"):
+    log_decode.decode_segment(_compressed(_events(), "zst"), "zst")
+
+
+@pytest.mark.parametrize("codec", ["zst", "bz2"])
+def test_filtered_retention_still_validates_entire_segment(codec):
+  encoded = _compressed(_events(), codec)
+  selected = log_decode.decode_segment(encoded, codec, retain=frozenset(("carState",)))
+  assert [(event.which(), event.logMonoTime) for event in selected] == [("carState", 202)]
+  with mock.patch.object(log_decode, "MAX_MESSAGES", 1), pytest.raises(log_decode.LogDecodeError, match="message count"):
+    log_decode.decode_segment(encoded, codec, retain=frozenset())
+  with pytest.raises(log_decode.LogDecodeError):
+    log_decode.decode_segment(_compressed(_events() + b"not an Event", codec), codec, retain=frozenset())
diff --git a/openpilot/starpilot/flm/tests/__init__.py b/openpilot/starpilot/flm/tests/__init__.py
new file mode 100644
index 0000000000..4f1be0bf16
--- /dev/null
+++ b/openpilot/starpilot/flm/tests/__init__.py
@@ -0,0 +1 @@
+"""Offline FLM tests."""
diff --git a/openpilot/starpilot/flm/tests/test_analyze.py b/openpilot/starpilot/flm/tests/test_analyze.py
new file mode 100644
index 0000000000..9b70e5277c
--- /dev/null
+++ b/openpilot/starpilot/flm/tests/test_analyze.py
@@ -0,0 +1,55 @@
+"""The desktop report joins real local-file admission, decompression and events."""
+
+import json
+
+import pytest
+import zstandard as zstd
+
+from openpilot.cereal import messaging
+from openpilot.starpilot.flm import analyze
+from openpilot.starpilot.flm.local_logs import LocalLogUnavailable
+
+
+SEGMENT = "1234abcd--0123456789--0"
+
+
+def test_desktop_report_for_missing_controller_is_honest_and_source_bound(tmp_path, monkeypatch, capsys):
+  monkeypatch.setattr(analyze, "PC", True)
+  folder = tmp_path / SEGMENT
+  folder.mkdir()
+  event = messaging.new_message("carState", valid=True)
+  event.logMonoTime = 100
+  (folder / "rlog.zst").write_bytes(zstd.compress(event.to_bytes()))
+  assert analyze.main(["--log-root", str(tmp_path.resolve()), SEGMENT]) == 0
+  report = json.loads(capsys.readouterr().out)
+  assert report["purpose"] == "offline_tracking_diagnostics"
+  assert report["vehicleQualification"] is False and report["tuneRecommendation"] is None
+  segment = report["segments"][0]
+  assert segment["analysis"]["status"] == "missing_car_params"
+  assert segment["analysis"]["mean_abs_error"] is None
+  assert len(segment["source"]["sha256"]) == 64
+  assert segment["source"]["segmentName"] == SEGMENT
+  output = tmp_path / "report.json"
+  args = ["--log-root", str(tmp_path.resolve()), "--output", str(output), SEGMENT]
+  assert analyze.main(args) == 0
+  assert json.loads(output.read_text()) == report
+  original = output.read_bytes()
+  assert analyze.main(args) == 1
+  assert output.read_bytes() == original
+
+
+def test_device_duplicate_and_failed_second_segment_never_emit_partial_report(tmp_path, monkeypatch, capsys):
+  monkeypatch.setattr(analyze, "PC", False)
+  with pytest.raises(ValueError, match="desktop"):
+    analyze.analyze_local(tmp_path.resolve(), [SEGMENT])
+  monkeypatch.setattr(analyze, "PC", True)
+  with pytest.raises(ValueError, match="distinct"):
+    analyze.analyze_local(tmp_path.resolve(), [SEGMENT, SEGMENT])
+  folder = tmp_path / SEGMENT
+  folder.mkdir()
+  event = messaging.new_message("carState", valid=True)
+  (folder / "rlog.zst").write_bytes(zstd.compress(event.to_bytes()))
+  assert analyze.main(["--log-root", str(tmp_path.resolve()), SEGMENT, "1234abcd--0123456789--1"]) == 1
+  assert capsys.readouterr().out == ""
+  with pytest.raises(LocalLogUnavailable):
+    analyze.analyze_local(tmp_path.resolve(), [SEGMENT], cancelled=lambda: True)
diff --git a/openpilot/starpilot/flm/tests/test_automatic_integration.py b/openpilot/starpilot/flm/tests/test_automatic_integration.py
new file mode 100644
index 0000000000..06eaa5cef5
--- /dev/null
+++ b/openpilot/starpilot/flm/tests/test_automatic_integration.py
@@ -0,0 +1,225 @@
+"""Composed automatic fit application; synthetic evidence, actual owners and wire."""
+
+from contextlib import contextmanager
+from dataclasses import replace
+import json
+import math
+import os
+from pathlib import Path
+import struct
+import unittest
+from unittest import mock
+
+from opendbc.car.car_helpers import interfaces
+from opendbc.car.gm.values import CAR as GM
+from opendbc.car.hyundai.values import CAR as HKG
+from openpilot.cereal import messaging
+from openpilot.common.params import Params
+from openpilot.common.prefix import OpenpilotPrefix
+from openpilot.selfdrive.controls.controlsd import Controls
+from openpilot.starpilot.flm.automatic import identity_digest
+from openpilot.starpilot.flm.learning_producer import AutomaticLearningProducer
+from openpilot.starpilot.flm.learning_source import (
+  AutomaticLearningConsumer, MAX_AGE_NS, RESET_KEY, SERVICE, learning_payload,
+)
+from openpilot.starpilot.flm.tests import test_automatic as evidence
+from openpilot.starpilot.lateral.controller_selection import ControllerMode, DOCUMENT_KEY as CONTROLLER_KEY, policy_for, replace_mode
+from openpilot.starpilot.lateral.learning_preferences import KEY as PREFERENCE_KEY, replace_preference
+from openpilot.starpilot.lateral.tests.test_lane_runtime import feed, publish_corolla_params
+from openpilot.starpilot.lateral.torque_settings import DOCUMENT_KEY as TORQUE_KEY, replace_field, serialize_document
+
+NOW = 400_000_000_000
+
+
+def float32(value):
+  """The controller's CarParams torque fields are Float32, not Python doubles."""
+  return struct.unpack('<f', struct.pack('<f', value))[0]
+
+
+class AbsentCollection:
+  """Only exercise the real Params/identity refresh; no fabricated pose admission."""
+  def all_checks(self, _services):
+    return False
+
+
+class JoinedLearning:
+  def __init__(self, test, controls):
+    self.test, self.controls = test, controls
+    self.now, self.tick = NOW, 0
+    self.producer = self.new_producer()
+    self.last_publication = None
+    self.wire_readers = []
+
+  def new_producer(self):
+    producer = AutomaticLearningProducer(self.controls.CP, self.controls.params)
+    with mock.patch('openpilot.starpilot.flm.learning_producer.time.monotonic_ns', return_value=self.now), \
+         mock.patch('openpilot.starpilot.flm.learning_producer.time.clock_gettime_ns', return_value=self.now):
+      producer.update(AbsentCollection(), None)
+    self.test.assertEqual(producer.optional_errors, 0)
+    return producer
+
+  def fit(self, multiplier=1.05):
+    identity = self.producer.identity
+    self.test.assertIsNotNone(identity)
+    factor = self.controls.CP.lateralTuning.torque.latAccelFactor * multiplier
+    # Reuse the independently timed, direction/speed-balanced physical evidence
+    # fixture. Bind it to the real current factory identity, not a fabricated fit.
+    windows = []
+    for window in evidence.windows():
+      points = tuple(replace(point, lateral_accel=factor * point.applied_torque +
+                             math.copysign(.02, point.applied_torque)) for point in window.response)
+      rows = tuple(replace(row, actual_la=point.lateral_accel, desired_la=point.lateral_accel)
+                   for row, point in zip(window.controls, points, strict=True))
+      windows.append(replace(window, identity_sha256=identity_digest(identity), controls=rows, response=points))
+    self.producer.windows.extend(windows)
+    self.producer.block = len(windows)
+    self.producer.evaluate(self.now)
+    self.test.assertIsNotNone(self.producer.result)
+    return self.producer.result
+
+  def step(self, *, publish=True, change=None, **health):
+    controls = self.controls
+    feed(controls, self.now, self.tick, **health)
+    if publish and self.tick % 25 == 0:
+      with mock.patch('openpilot.starpilot.flm.learning_producer.time.monotonic_ns', return_value=self.now):
+        event = self.producer.get_msg()
+      self.test.assertIsNotNone(event)
+      self.test.assertTrue(event.valid, 'The real producer must mark its usable wire valid')
+      if change is not None:
+        change(learning_payload(event.autoSteeringLearning))
+      reader = messaging.log_from_bytes(event.to_bytes())
+      self.wire_readers.append(reader)
+      controls.sm.update_msgs(self.now / 1e9, [reader])
+      self.last_publication = self.now
+    with mock.patch('openpilot.selfdrive.controls.controlsd.time.monotonic_ns', return_value=self.now):
+      command, _ = controls.state_control()
+    self.now += 10_000_000
+    self.tick += 1
+    return command
+
+  def drive(self, ticks, **kwargs):
+    for _ in range(ticks):
+      command = self.step(**kwargs)
+    return command
+
+
+@contextmanager
+def joined(test, *, native_ack=False):
+  with OpenpilotPrefix(), mock.patch.dict(os.environ, {'REPLAY': '1', 'TORQUE_REPLAY_RUNTIME': '0',
+                                                       'AOL_REPLAY_RUNTIME': '1' if native_ack else '0', 'LANE_CENTERING_REPLAY_RUNTIME': '0',
+                                                       'SIMULATION': '0'}), \
+       mock.patch('openpilot.selfdrive.controls.controlsd.messaging.PubMaster'):
+    params = Params()
+    cp = publish_corolla_params(params)
+    params.put(CONTROLLER_KEY, json.loads(replace_mode(None, cp, ControllerMode.STANDARD)), block=True)
+    params.put(PREFERENCE_KEY, replace_preference(None, cp, True), block=True)
+    controls = Controls()
+    test.assertTrue(controls.automatic_learning.supported)
+    test.assertTrue(controls.torque_learning_allowed)
+    test.assertIsNone(controls.torque_host)
+    yield JoinedLearning(test, controls)
+
+
+class TestAutomaticLearningIntegration(unittest.TestCase):
+  def test_produced_fit_reaches_actual_controls_once_without_manual_document(self):
+    with joined(self) as run:
+      controls = run.controls
+      before_cp = controls.CP.as_builder().to_bytes()
+      basis = controls.CP.lateralTuning.torque
+      offset, friction = basis.latAccelOffset, basis.friction
+      command = run.drive(50)
+      self.assertTrue(command.latActive)
+      self.assertIsNone(controls.torque_host, 'Collecting alone must not instantiate an application owner')
+      result = run.fit()
+      self.assertEqual(result.status, 'qualified_fit')
+      native_factor = controls.LaC.torque_params.latAccelFactor
+      command = run.drive(100)
+      self.assertTrue(controls.sm.all_checks([SERVICE]))
+      self.assertFalse(controls.sm.simulation, 'Exercise actual frequency tracking, not simulation relaxation')
+      host = controls.torque_host
+      self.assertIsNotNone(host)
+      self.assertIs(host.applied_controller, controls.LaC)
+      self.assertGreater(controls.LaC.torque_params.latAccelFactor, native_factor)
+      self.assertEqual(controls.LaC.torque_params.latAccelFactor, float32(dict(result.candidate)['latAccelFactor']))
+      self.assertEqual(controls.LaC.torque_params.latAccelOffset, offset)
+      self.assertEqual(controls.LaC.torque_params.friction, friction)
+      self.assertEqual(controls.CP.as_builder().to_bytes(), before_cp)
+      self.assertIsNone(controls.params.get(TORQUE_KEY))
+      self.assertTrue(command.latActive)
+      run.drive(30)
+      self.assertIs(controls.torque_host, host, 'One controller parameter writer must survive subsequent publications')
+
+  def test_actual_application_expires_and_reset_restart_or_manual_choice_falls_back(self):
+    for reason in ('stale', 'restart', 'off', 'corrupt', 'reset', 'manual'):
+      with self.subTest(reason=reason), joined(self) as run:
+        controls = run.controls
+        self.assertEqual(run.fit().status, 'qualified_fit')
+        run.drive(100)
+        host = controls.torque_host
+        self.assertIsNotNone(host)
+        base = controls.CP.lateralTuning.torque.latAccelFactor
+        self.assertGreater(controls.LaC.torque_params.latAccelFactor, base)
+        if reason == 'restart':
+          previous_session = run.producer.session
+          run.producer = run.new_producer()
+          self.assertNotEqual(run.producer.session, previous_session)
+          self.assertIsNone(run.producer.result)
+        elif reason == 'off':
+          controls.params.put(PREFERENCE_KEY, replace_preference(None, controls.CP, False), block=True)
+        elif reason == 'corrupt':
+          Path(controls.params.get_param_path(PREFERENCE_KEY)).write_bytes(b'malformed')
+        elif reason == 'reset':
+          controls.params.put(RESET_KEY, 'a' * 32, block=True)
+        elif reason == 'manual':
+          basis = controls.CP.lateralTuning.torque
+          profile = replace_field({}, str(controls.CP.carFingerprint),
+            (basis.latAccelFactor, basis.latAccelOffset, basis.friction), 'factor', 'custom', base * 1.2)
+          controls.params.put(TORQUE_KEY, json.loads(serialize_document(profile)), block=True)
+        command = run.drive(220, publish=reason != 'stale')
+        if reason == 'stale':
+          self.assertGreater(run.now - run.last_publication, MAX_AGE_NS)
+        self.assertTrue(command.latActive, 'Learning source loss must not manufacture a driving fault')
+        self.assertIs(controls.torque_host, host)
+        self.assertEqual(controls.LaC.torque_params.latAccelFactor, float32(base * (1.2 if reason == 'manual' else 1.)))
+        self.assertEqual(host.selected.source.value, 'user' if reason == 'manual' else host.native_base.source.value)
+        if reason in ('reset', 'off', 'corrupt', 'manual'):
+          run.producer = run.new_producer()
+          self.assertIsNone(run.producer.result, 'Changed saved identity cannot recover an earlier process fit')
+        if reason in ('off', 'corrupt', 'manual'):
+          self.assertIsNone(run.producer.identity)
+
+  def test_real_controller_bounds_and_authority_are_independent_of_qualified_wire(self):
+    with joined(self, native_ack=True) as run:
+      controls = run.controls
+      before_cp = controls.CP.as_builder().to_bytes()
+      self.assertEqual(run.fit().status, 'qualified_fit')
+      commands = [run.step() for _ in range(100)]
+      self.assertIsNotNone(controls.torque_host)
+      self.assertTrue(all(math.isfinite(command.actuators.torque) and
+                          abs(command.actuators.torque) <= controls.LaC.steer_max for command in commands))
+      for health in ({'native_allowed': False}, {'can_valid': False}, {'can_timeout': True}, {'fault': True},
+                     {'active': False, 'enabled': False}):
+        command = run.step(**health)
+        self.assertFalse(command.latActive)
+        self.assertEqual(command.actuators.torque, 0.)
+        self.assertEqual(controls.LaC.pid.i, 0.)
+      # A qualified sender cannot escape consumer factor or identity admission.
+      for field, value in (('latAccelFactor', float('nan')), ('latAccelFactor', 100.), ('acceptancePolicyId', 'unknown')):
+        while run.tick % 25:
+          run.step()
+        command = run.step(change=lambda state, key=field, new=value: setattr(state, key, new))
+        self.assertEqual(controls.torque_host.selected, controls.torque_host.native_base)
+        self.assertTrue(math.isfinite(command.actuators.torque))
+      self.assertEqual(controls.CP.as_builder().to_bytes(), before_cp, 'Automatic fitting must never change native safety configuration')
+    for vehicle, mode in ((HKG.HYUNDAI_IONIQ_6, ControllerMode.STARPILOT),
+                          (GM.CHEVROLET_SILVERADO, ControllerMode.STANDARD)):
+      with self.subTest(vehicle=vehicle), OpenpilotPrefix():
+        cp = interfaces[vehicle].get_non_essential_params(vehicle)
+        params = Params()
+        if policy_for(cp) is not None:
+          params.put(CONTROLLER_KEY, json.loads(replace_mode(None, cp, mode)), block=True)
+        else:
+          self.assertIsNone(params.get(CONTROLLER_KEY))
+        params.put(PREFERENCE_KEY, replace_preference(None, cp, True), block=True)
+        consumer = AutomaticLearningConsumer(cp, interfaces[vehicle](cp), mode, params)
+        self.assertFalse(consumer.supported, 'Saved On cannot qualify a rich or fixed custom conversion')
diff --git a/openpilot/starpilot/flm/tests/test_automatic_learning_wire.py b/openpilot/starpilot/flm/tests/test_automatic_learning_wire.py
new file mode 100644
index 0000000000..9393564ea5
--- /dev/null
+++ b/openpilot/starpilot/flm/tests/test_automatic_learning_wire.py
@@ -0,0 +1,194 @@
+"""Historical CarParams wire stays readable and cannot masquerade as a fit."""
+
+from contextlib import contextmanager
+from pathlib import Path
+from tempfile import TemporaryDirectory
+import unittest
+from unittest import mock
+
+import capnp
+
+from openpilot.cereal import custom, log, messaging
+from openpilot.starpilot.flm.learning_source import SERVICE
+from openpilot.starpilot.flm.tests import test_automatic_integration as integration
+from tools.ci.custom_schema_contract import describe, validate
+
+# Exact occupied prefix from c2109496a72e85ca702ecef7aff53ff45adcfb8c,
+# cereal/custom.capnp. No learner pointer existed in these recordings.
+HISTORICAL_CAR_PARAMS = """@0xb526ba661d550a59;
+struct StarPilotCarParams @0xaedffd8f31e7b55d {
+  alternativeExperience @0 :Int16;
+  canUsePedal @1 :Bool;
+  canUseSDSU @2 :Bool;
+  flags @3 :UInt32;
+  isHDA2 @4 :Bool;
+  openpilotLongitudinalControlDisabled @5 :Bool;
+  safetyConfigs @6 :List(SafetyConfig);
+  pcmCruiseSpeed @7 :Bool = true;
+  redneckCruiseAvailable @8 :Bool;
+
+  struct SafetyConfig {
+    safetyParam @0 :UInt16;
+  }
+}
+"""
+
+
+# Exact transient c204 payload: incompatible with the older occupied prefix.
+TRANSIENT_FLAT_LEARNER = """@0xb526ba661d550a59;
+struct AutoSteeringLearning @0xaedffd8f31e7b55d {
+  version @0 :UInt16;
+  status @1 :Status;
+  reason @2 :Text;
+  identity @3 :Identity;
+  session @4 :Text;
+  sequence @5 :UInt64;
+  observedMonoTime @6 :UInt64;  # MONOTONIC, separate from Event BOOTTIME.
+  validUntilMonoTime @7 :UInt64;
+  sourceWindowStartMonoTime @8 :UInt64;
+  sourceWindowEndMonoTime @9 :UInt64;
+  family @10 :Family;
+  latAccelFactor @11 :Float64;
+  acceptancePolicyId @12 :Text;
+  trainWindows @13 :UInt32;
+  heldoutWindows @14 :UInt32;
+  trainBaselineLoss @15 :Float64;
+  trainCandidateLoss @16 :Float64;
+  heldoutBaselineLoss @17 :Float64;
+  heldoutCandidateLoss @18 :Float64;
+
+  enum Status { unavailable @0; collecting @1; candidate @2; rejected @3; qualifiedFit @4; }
+  enum Family { none @0; linearFactor @1; }
+  struct Identity {
+    vehicle @0 :Text;
+    brand @1 :Text;
+    controller @2 :Text;
+    policy @3 :Text;
+    profile @4 :Text;
+    conversionVersion @5 :Text;
+    firmwareSha256 @6 :Text;
+    basis @7 :List(Float64);
+    baselineSha256 @8 :Text;
+    preferenceSha256 @9 :Text;
+    resetGeneration @10 :Text;
+    controllerRevision @11 :Text;
+  }
+}
+"""
+
+
+@contextmanager
+def historical_car_params(source=HISTORICAL_CAR_PARAMS):
+  with TemporaryDirectory() as directory:
+    path = Path(directory) / 'historical.capnp'
+    path.write_text(source)
+    yield capnp.SchemaParser().load(str(path))
+
+
+class TestAutomaticLearningWire(unittest.TestCase):
+  def test_historical_car_params_prefix_defaults_and_nested_layout_survive(self):
+    with historical_car_params() as historical:
+      old_layout = describe(historical, ['StarPilotCarParams'])
+      current_layout = describe(custom, ['StarPilotCarParams'])
+      self.assertEqual(validate(current_layout, old_layout), [])
+      self.assertEqual(set(old_layout['nodes'][str(0xaedffd8f31e7b55d)]['fields']),
+                       {str(i) for i in range(9)})
+      field = log.Event.schema.fields[SERVICE].proto
+      self.assertEqual(field.ordinal.explicit, 108)
+      self.assertEqual(field.slot.type.struct.typeId, 0xaedffd8f31e7b55d)
+      self.assertEqual(custom.StarPilotCarParams.schema.fields['learning'].proto.ordinal.explicit, 9)
+      values = {'alternativeExperience': -123, 'canUsePedal': True, 'canUseSDSU': True,
+                'flags': 0xa5a51234, 'isHDA2': True, 'openpilotLongitudinalControlDisabled': True,
+                'safetyConfigs': [{'safetyParam': 0x5a5a}, {'safetyParam': 0xffff}],
+                'pcmCruiseSpeed': False, 'redneckCruiseAvailable': True}
+      old = historical.StarPilotCarParams.new_message(**values)
+      with custom.StarPilotCarParams.from_bytes(old.to_bytes()) as current:
+        self.assertEqual({key: value for key, value in current.to_dict().items() if key != 'learning'}, values)
+        self.assertEqual(current.learning.version, 0)
+        self.assertEqual(str(current.learning.status), 'unavailable')
+        self.assertEqual(current.learning.session, '')
+        self.assertEqual(current.learning.latAccelFactor, 0.)
+      with custom.StarPilotCarParams.from_bytes(historical.StarPilotCarParams.new_message().to_bytes()) as defaults:
+        self.assertTrue(defaults.pcmCruiseSpeed)
+        self.assertEqual(defaults.learning.version, 0)
+      new = custom.StarPilotCarParams.new_message(**values)
+      new.learning.version = 1
+      new.learning.status = 'qualifiedFit'
+      new.learning.latAccelFactor = 3.25
+      with historical.StarPilotCarParams.from_bytes(new.to_bytes()) as prior:
+        self.assertEqual(prior.to_dict(), values)
+
+  def test_real_controls_treats_valid_historical_payload_as_absent_learning(self):
+    with historical_car_params() as historical, integration.joined(self) as run:
+      controls = run.controls
+      cp_before = controls.CP.as_builder().to_bytes()
+      native_factor = controls.LaC.torque_params.latAccelFactor
+      old = historical.StarPilotCarParams.new_message(
+        alternativeExperience=123, flags=0xffffffff, canUsePedal=True,
+        safetyConfigs=[{'safetyParam': 65535}], redneckCruiseAvailable=True)
+      old_bytes = old.to_bytes()
+      readers = []
+      for tick in range(100):
+        now = integration.NOW + tick * 10_000_000
+        integration.feed(controls, now, tick)
+        if tick % 25 == 0:
+          event = messaging.new_message(SERVICE, valid=True)
+          with custom.StarPilotCarParams.from_bytes(old_bytes) as envelope:
+            event.autoSteeringLearning = envelope
+          reader = messaging.log_from_bytes(event.to_bytes())
+          readers.append(reader)
+          controls.sm.update_msgs(now / 1e9, [reader])
+        with mock.patch('openpilot.selfdrive.controls.controlsd.time.monotonic_ns', return_value=now):
+          command, _ = controls.state_control()
+        self.assertTrue(command.latActive)
+        self.assertIsNone(controls.torque_host)
+        self.assertIsNone(controls.automatic_learning.result)
+        self.assertEqual(controls.LaC.torque_params.latAccelFactor, native_factor)
+      self.assertTrue(controls.sm.all_checks([SERVICE]))
+      self.assertFalse(controls.sm.simulation)
+      self.assertEqual(len(readers), 4)
+      self.assertEqual(controls.automatic_learning.session, '')
+      self.assertEqual(controls.CP.as_builder().to_bytes(), cp_before)
+
+  def test_transient_flat_learner_bytes_cannot_be_admitted_as_nested_fit(self):
+    with historical_car_params(TRANSIENT_FLAT_LEARNER) as historical, integration.joined(self) as run:
+      controls = run.controls
+      cp_before = controls.CP.as_builder().to_bytes()
+      native_factor = controls.LaC.torque_params.latAccelFactor
+      identity = run.producer.identity
+      self.assertIsNotNone(identity)
+      old = historical.AutoSteeringLearning.new_message(
+        version=1, status='qualifiedFit', identity=identity, session='transient-c204', sequence=1,
+        observedMonoTime=integration.NOW, validUntilMonoTime=integration.NOW + 500_000_000,
+        sourceWindowStartMonoTime=integration.NOW - 10_000_000_000,
+        sourceWindowEndMonoTime=integration.NOW - 1_000_000_000,
+        family='linearFactor', latAccelFactor=native_factor * 1.05,
+        acceptancePolicyId=next(iter(controls.automatic_learning.policies)),
+        trainWindows=10, heldoutWindows=8, trainBaselineLoss=.1, trainCandidateLoss=.09,
+        heldoutBaselineLoss=.1, heldoutCandidateLoss=.09)
+      # Use the genuinely admitted policy, so only the changed wire layout denies the fit.
+      self.assertEqual(str(old.status), 'qualifiedFit')
+      self.assertEqual(old.identity.to_dict(), identity)
+      old_bytes = old.to_bytes()
+      readers = []
+      for tick in range(50):
+        now = integration.NOW + tick * 10_000_000
+        integration.feed(controls, now, tick)
+        if tick % 25 == 0:
+          event = messaging.new_message(SERVICE, valid=True)
+          with custom.StarPilotCarParams.from_bytes(old_bytes) as envelope:
+            self.assertEqual(envelope.learning.version, 0)
+            event.autoSteeringLearning = envelope
+          reader = messaging.log_from_bytes(event.to_bytes())
+          readers.append(reader)
+          controls.sm.update_msgs(now / 1e9, [reader])
+        with mock.patch('openpilot.selfdrive.controls.controlsd.time.monotonic_ns', return_value=now):
+          command, _ = controls.state_control()
+        self.assertTrue(command.latActive)
+        self.assertIsNone(controls.torque_host)
+        self.assertIsNone(controls.automatic_learning.result)
+        self.assertEqual(controls.LaC.torque_params.latAccelFactor, native_factor)
+      self.assertTrue(controls.sm.all_checks([SERVICE]))
+      self.assertEqual(len(readers), 2)
+      self.assertEqual(controls.automatic_learning.session, '')
+      self.assertEqual(controls.CP.as_builder().to_bytes(), cp_before)
diff --git a/openpilot/starpilot/flm/tests/test_controller_replay.py b/openpilot/starpilot/flm/tests/test_controller_replay.py
new file mode 100644
index 0000000000..b2b92b42fa
--- /dev/null
+++ b/openpilot/starpilot/flm/tests/test_controller_replay.py
@@ -0,0 +1,224 @@
+"""Replay-only Ioniq 6 FLM controller seam; no production profile selection."""
+
+import json
+from pathlib import Path
+from types import SimpleNamespace
+import unittest
+
+from opendbc.car import structs, scale_rot_inertia, scale_tire_stiffness
+from opendbc.car.car_helpers import interfaces
+from opendbc.car.hyundai.values import CAR as HYUNDAI
+from opendbc.car.toyota.values import CAR as TOYOTA
+from opendbc.car.vehicle_model import VehicleModel
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
+from openpilot.starpilot.lateral.torque_extension import selected_policy
+from openpilot.starpilot.flm.torque_surface import Ioniq6Surface
+from openpilot.starpilot.lateral.ioniq6_policy import Ioniq6TorquePolicy
+
+
+# Independently generated from frozen 678af783 LatControlTorque and Ioniq helpers.
+# Full controller/PID/filter rows include the recorded symmetric-unwind correction.
+_GOLDEN = json.loads((Path(__file__).parent / "testdata" / "ioniq6_controller_replay.json").read_text())
+_EXTENDED = json.loads((Path(__file__).parent / "testdata" / "ioniq6_controller_extended.json").read_text())
+_LIVE = json.loads((Path(__file__).parent / "testdata" / "ioniq6_controller_live_update.json").read_text())
+_TUNED_KNOBS = {"ff_gain_left": 0.30, "ff_gain_right": 0.12,
+                "turn_in_boost_left": 2.20, "unwind_taper_right": 10.0,
+                "center_taper_max": 0.16, "center_deadband_low_deg": 0.1,
+                "low_speed_angle_assist_max_torque": 0.7}
+
+
+def _params(*, firmware_2025=False):
+  car = HYUNDAI.HYUNDAI_IONIQ_6
+  cp = interfaces[car].get_non_essential_params(car)
+  for name, value in (("mass", 2084.0), ("wheelbase", 2.97), ("centerToFront", 1.188),
+                      ("steerRatio", 14.26), ("tireStiffnessFactor", 0.65)):
+    setattr(cp, name, value)
+  cp.rotationalInertia = scale_rot_inertia(cp.mass, cp.wheelbase)
+  cp.tireStiffnessFront, cp.tireStiffnessRear = scale_tire_stiffness(
+    cp.mass, cp.wheelbase, cp.centerToFront, cp.tireStiffnessFactor)
+  cp.lateralTuning.torque.latAccelFactor = 3.0
+  cp.lateralTuning.torque.latAccelOffset = 0.0
+  cp.lateralTuning.torque.friction = 0.09
+  cp.lateralTuning.torque.steeringAngleDeadzoneDeg = 0.0
+  if firmware_2025:
+    versions = cp.init("carFw", 2)
+    versions[0].fwVersion = b"IONIQ6-230915"
+    versions[1].fwVersion = b"IONIQ6-240206"
+  return cp
+
+
+def _controller(cp, surface=None, *, original_constructor_context=False):
+  controller = LatControlTorque(cp.as_reader(), interfaces[HYUNDAI.HYUNDAI_IONIQ_6](cp), DT_CTRL, turn_assist=True)
+  if surface is not None:
+    # Replace before the first update. The production constructor always uses None.
+    controller.starpilot_extension.policy = Ioniq6TorquePolicy(controller, cp.as_reader(), surface=surface, turn_assist=True)
+  if original_constructor_context:
+    controller.hkg_canfd_torque = False
+    # These frozen vectors invoke the original constructor directly. Dom
+    # controlsd replaces this curve with the saved/default flat gain each tick;
+    # this is not a drive-loop replay. Preserve its gain curve and raw-CP startup limits.
+    controller.pid._k_p = [[1, 1.5, 2., 3., 5, 7.5, 10, 15, 30],
+                           [250, 120, 65, 30, 11.5, 5.5, 3.5, 2., .6]]
+    controller.pid.set_limits(controller.lateral_accel_from_torque(controller.steer_max, cp.lateralTuning.torque),
+                              controller.lateral_accel_from_torque(-controller.steer_max, cp.lateralTuning.torque))
+  return controller
+
+
+def _assert_rows(test, actual, expected):
+  for row, reference in zip(actual, expected, strict=True):
+    for value, frozen in zip(row, reference, strict=True):
+      test.assertAlmostEqual(value, frozen, places=8)
+
+
+def _trace(controller, cp, sequence):
+  vm = VehicleModel(cp)
+  cs = structs.CarState.new_message()
+  cs.gearShifter = structs.CarState.GearShifter.drive
+  params = SimpleNamespace(angleOffsetDeg=0.0, roll=0.03)
+  rows = []
+  for active, speed, angle, curvature, pressed, limited in sequence:
+    cs.vEgo = speed
+    cs.steeringAngleDeg = angle
+    cs.steeringPressed = pressed
+    torque, _, state = controller.update(active, cs, vm, params, limited, curvature, limited, 0.1)
+    rows.append((torque, state.desiredLateralAccel, state.desiredLateralJerk,
+                 state.p, state.i, state.f, selected_policy(controller).directional_taper_filter.x))
+  return rows
+
+
+SEQUENCE = (
+  [(False, 0.3, 10.0, -0.001, False, False)] * 2 +
+  [(True, 0.3, 10.0, -0.001, False, False)] * 4 +
+  [(True, 3.0, 8.0, -0.001, False, False)] * 4 +
+  [(True, 14.0, -3.0, 0.0004, False, False)] * 5 +
+  [(True, 27.0, -2.0, -0.0003, False, True)] * 4 +
+  [(True, 14.0, -3.0, 0.0004, True, False)] * 2 +
+  [(True, 14.0, -3.0, 0.0004, False, False)] * 3 +
+  [(False, 0.0, 8.0, -0.001, False, False)] * 2 +
+  [(True, 3.0, 8.0, -0.001, False, False)] * 4
+)
+
+
+class TestIoniq6ControllerReplay(unittest.TestCase):
+  def test_frozen_stateful_controller_trace(self):
+    self.assertEqual(_GOLDEN["sourceCommit"], "678af783")
+    self.assertEqual(_GOLDEN["controllerSha256"], "3561d5ac43a72f9b68bc9e44042b8f5cbdca406dec940e7648c64607862a60f7")
+    self.assertEqual(_GOLDEN["fields"], ["output", "desiredLateralAccel", "desiredLateralJerk", "p", "i", "f", "directionalFilter"])
+    for firmware, fw in (("2023", False), ("2025", True)):
+      for mode in ("default", "tuned"):
+        with self.subTest(firmware=firmware, mode=mode):
+          cp = _params(firmware_2025=fw)
+          surface = Ioniq6Surface.validated("firmware_2025" if fw else "standard", _TUNED_KNOBS) if mode == "tuned" else None
+          actual = _trace(_controller(cp, surface, original_constructor_context=True), cp, SEQUENCE)
+          expected = _GOLDEN["cases"][f"{firmware}_{mode}"]
+          _assert_rows(self, actual, expected)
+
+  def test_extended_frozen_filter_limit_override_and_reset_trace(self):
+    self.assertEqual(_EXTENDED["sourceCommit"], "678af783")
+    self.assertEqual(_EXTENDED["controllerSha256"], _GOLDEN["controllerSha256"])
+    self.assertEqual(_EXTENDED["inputFields"], ["active", "speed", "angle", "curvature", "pressed", "limited"])
+    self.assertEqual(_EXTENDED["outputFields"], _GOLDEN["fields"])
+    sequence = _EXTENDED["sequence"]
+    self.assertEqual(len(sequence), 154)
+    self.assertTrue(any(not row[0] for row in sequence))
+    self.assertTrue(any(row[4] for row in sequence))
+    self.assertTrue(any(row[5] for row in sequence))
+    for firmware, fw in (("2023", False), ("2025", True)):
+      for mode in ("default", "tuned"):
+        with self.subTest(firmware=firmware, mode=mode):
+          cp = _params(firmware_2025=fw)
+          surface = Ioniq6Surface.validated("firmware_2025" if fw else "standard", _TUNED_KNOBS) if mode == "tuned" else None
+          actual = _trace(_controller(cp, surface, original_constructor_context=True), cp, sequence)
+          expected = _EXTENDED["cases"][f"{firmware}_{mode}"]
+          _assert_rows(self, actual, expected)
+
+  def test_actual_torque_parameter_update_recalculates_frozen_pid_limits(self):
+    self.assertEqual(_LIVE["sourceControllerSha256"], _GOLDEN["controllerSha256"])
+    self.assertEqual(_LIVE["fields"], _GOLDEN["fields"])
+    for firmware, fw in (("2023", False), ("2025", True)):
+      for mode in ("default", "tuned"):
+        with self.subTest(firmware=firmware, mode=mode):
+          cp = _params(firmware_2025=fw)
+          surface = Ioniq6Surface.validated("firmware_2025" if fw else "standard", _TUNED_KNOBS) if mode == "tuned" else None
+          controller = _controller(cp, surface, original_constructor_context=True)
+          expected = _LIVE["cases"][f"{firmware}_{mode}"]
+          self.assertAlmostEqual(controller.pid.pos_limit, expected["before"]["posLimit"], places=8)
+          self.assertAlmostEqual(controller.pid.neg_limit, expected["before"]["negLimit"], places=8)
+          controller.update_torque_parameters(3.0, 0.0, 0.09)
+          self.assertAlmostEqual(controller.pid.pos_limit, expected["after"]["posLimit"], places=8)
+          self.assertAlmostEqual(controller.pid.neg_limit, expected["after"]["negLimit"], places=8)
+          actual = _trace(controller, cp, _EXTENDED["sequence"])
+          _assert_rows(self, actual, expected["rows"])
+
+  def test_current_startup_and_equal_live_update_use_compensated_limits(self):
+    for firmware, fw in (("2023", False), ("2025", True)):
+      for mode in ("default", "tuned"):
+        with self.subTest(firmware=firmware, mode=mode):
+          cp = _params(firmware_2025=fw)
+          surface = Ioniq6Surface.validated("firmware_2025" if fw else "standard", _TUNED_KNOBS) if mode == "tuned" else None
+          controller = _controller(cp, surface)
+          self.assertAlmostEqual(controller.torque_params.latAccelFactor, 3.0 * 1.22, places=6)
+          limits = (controller.pid.pos_limit, controller.pid.neg_limit)
+          self.assertEqual(limits, (controller.torque_params.latAccelFactor, -controller.torque_params.latAccelFactor))
+          for sign in (-1, 1):
+            controller.pid.reset()
+            accel = controller.pid.update(0., feedforward=sign * 100., freeze_integrator=True)
+            self.assertEqual(accel, sign * controller.torque_params.latAccelFactor)
+          controller.update_torque_parameters(3.0, 0.0, 0.09)
+          self.assertEqual((controller.pid.pos_limit, controller.pid.neg_limit), limits)
+
+  def test_curvature_delay_scales_at_current_speed_without_spurious_unwind(self):
+    cp = _params()
+    controller = _controller(cp)
+    sequence = [(True, 10., 0., .001, False, False)] * 30 + [(True, 20., 0., .001, False, False)] * 20
+    actual = _trace(controller, cp, sequence)
+    alpha = selected_policy(controller).jerk_filter.alpha
+    self.assertAlmostEqual(actual[30][2], actual[29][2] * (1.0 - alpha), places=8)
+
+  def test_replay_surface_is_immutable_session_choice_and_neutral_matches_default(self):
+    for variant, fw in (("standard", False), ("firmware_2025", True)):
+      with self.subTest(variant=variant):
+        cp = _params(firmware_2025=fw)
+        original = _controller(cp)
+        neutral = _controller(cp, Ioniq6Surface.validated(variant, {}))
+        default_rows = _trace(original, cp, SEQUENCE)
+        neutral_rows = _trace(neutral, cp, SEQUENCE)
+        for row, expected in zip(neutral_rows, default_rows, strict=True):
+          for value, reference in zip(row, expected, strict=True):
+            self.assertAlmostEqual(value, reference, places=10)
+        self.assertEqual(selected_policy(original).surface, None)
+        self.assertEqual(selected_policy(neutral).surface.variant, variant)
+
+  def test_tuned_surface_changes_shaping_but_reset_is_deterministic(self):
+    for variant, fw in (("standard", False), ("firmware_2025", True)):
+      with self.subTest(variant=variant):
+        cp = _params(firmware_2025=fw)
+        surface = Ioniq6Surface.validated(variant, _TUNED_KNOBS)
+        baseline = _trace(_controller(cp), cp, SEQUENCE)
+        tuned = _trace(_controller(cp, surface), cp, SEQUENCE)
+        repeated = _trace(_controller(cp, surface), cp, SEQUENCE)
+        self.assertEqual(tuned, repeated)
+        self.assertTrue(any(abs(row[0] - base[0]) > 1e-7 for row, base in zip(tuned, baseline, strict=True)))
+        self.assertEqual(tuned[0][0], 0.0)
+        self.assertEqual(tuned[-5][0], 0.0)  # inactive reset frame
+
+  def test_invalid_surface_rejected_before_parent_mutation(self):
+    cp = _params()
+    parent = _controller(cp)
+    original = (parent.pid, parent.torque_params.latAccelFactor, selected_policy(parent))
+    with self.assertRaises(ValueError):
+      Ioniq6TorquePolicy(parent, cp.as_reader(), surface=Ioniq6Surface.validated("firmware_2025", {}))
+    self.assertIs(parent.pid, original[0])
+    self.assertEqual(parent.torque_params.latAccelFactor, original[1])
+    self.assertIs(selected_policy(parent), original[2])
+    with self.assertRaises(ValueError):
+      Ioniq6TorquePolicy(parent, cp.as_reader(), surface=object())
+    other = interfaces[TOYOTA.TOYOTA_COROLLA_TSS2].get_non_essential_params(TOYOTA.TOYOTA_COROLLA_TSS2)
+    with self.assertRaises(ValueError):
+      Ioniq6TorquePolicy(parent, other.as_reader(), surface=Ioniq6Surface.validated("standard", {}))
+    self.assertIs(parent.pid, original[0])
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/openpilot/starpilot/flm/tests/test_local_logs.py b/openpilot/starpilot/flm/tests/test_local_logs.py
new file mode 100644
index 0000000000..1c6dd66b89
--- /dev/null
+++ b/openpilot/starpilot/flm/tests/test_local_logs.py
@@ -0,0 +1,101 @@
+"""Local FLM input admission uses disposable recordings and never remote routes."""
+
+import hashlib
+import os
+from unittest.mock import patch
+
+import pytest
+
+from openpilot.starpilot.flm.local_logs import LocalLogUnavailable, read_closed_rlog
+
+
+SEGMENT = "1234abcd--0123456789--0"
+
+
+def recording(tmp_path, name="rlog.zst"):
+  root = tmp_path.resolve()
+  folder = root / SEGMENT
+  folder.mkdir()
+  path = folder / name
+  path.write_bytes(b"immutable compressed fixture")
+  return root, path
+
+
+def test_receipt_binds_exact_bytes_and_requires_full_log(tmp_path):
+  root, path = recording(tmp_path)
+  result = read_closed_rlog(root, SEGMENT, permitted=lambda: True)
+  assert result.compressed == path.read_bytes()
+  assert result.sha256 == hashlib.sha256(result.compressed).hexdigest()
+  assert result.codec == "zst" and result.size == len(result.compressed)
+  path.rename(path.with_name("qlog.zst"))
+  with pytest.raises(LocalLogUnavailable, match="full rlog"):
+    read_closed_rlog(root, SEGMENT, permitted=lambda: True)
+
+
+@pytest.mark.parametrize("name", ("rlog.lock", "writer.lock"))
+def test_open_segment_is_not_analyzed(tmp_path, name):
+  root, path = recording(tmp_path)
+  path.with_name(name).touch()
+  with pytest.raises(LocalLogUnavailable, match="open"):
+    read_closed_rlog(root, SEGMENT, permitted=lambda: True)
+
+
+def test_symlink_fifo_ambiguous_and_outside_selection_refused(tmp_path):
+  root, path = recording(tmp_path)
+  for selection in ("../" + SEGMENT, "/" + SEGMENT, SEGMENT + "/rlog.zst", "https://example.com/log"):
+    with pytest.raises(LocalLogUnavailable):
+      read_closed_rlog(root, selection, permitted=lambda: True)
+  path.with_name("rlog.bz2").write_bytes(b"ambiguous")
+  with pytest.raises(LocalLogUnavailable):
+    read_closed_rlog(root, SEGMENT, permitted=lambda: True)
+  path.with_name("rlog.bz2").unlink()
+  path.unlink()
+  external = root / "external"
+  external.write_bytes(b"not a selected recording")
+  path.symlink_to(external)
+  with pytest.raises(LocalLogUnavailable):
+    read_closed_rlog(root, SEGMENT, permitted=lambda: True)
+  path.unlink()
+  os.mkfifo(path)
+  with pytest.raises(LocalLogUnavailable):
+    read_closed_rlog(root, SEGMENT, permitted=lambda: True)
+
+
+@pytest.mark.parametrize("change", ("replace", "mutate", "lock", "segment", "cancel"))
+def test_changes_during_read_never_return_a_receipt(tmp_path, change):
+  root, path = recording(tmp_path)
+  allowed = [True]
+  native_read = os.read
+  changed = False
+  def interrupted(fd, size):
+    nonlocal changed
+    result = native_read(fd, size)
+    if result and not changed:
+      changed = True
+      if change == "replace":
+        other = path.with_name("replacement")
+        other.write_bytes(result)
+        other.replace(path)
+      elif change == "mutate":
+        path.write_bytes(b"X" * len(result))
+        os.utime(path, ns=(0, 0))
+      elif change == "lock":
+        path.with_name("rlog.lock").touch()
+      elif change == "segment":
+        path.parent.rename(root / (SEGMENT + "-moved"))
+        path.parent.mkdir()
+      else:
+        allowed[0] = False
+    return result
+  with patch("openpilot.starpilot.flm.local_logs.os.read", side_effect=interrupted), pytest.raises(LocalLogUnavailable):
+    read_closed_rlog(root, SEGMENT, permitted=lambda: allowed[0])
+
+
+def test_size_limit_and_cancel_before_any_open(tmp_path):
+  root, path = recording(tmp_path)
+  with patch("openpilot.starpilot.flm.local_logs.MAX_COMPRESSED_BYTES", len(path.read_bytes()) - 1), \
+       pytest.raises(LocalLogUnavailable, match="oversized"):
+    read_closed_rlog(root, SEGMENT, permitted=lambda: True)
+  with patch("openpilot.starpilot.flm.local_logs.os.open") as opened, pytest.raises(LocalLogUnavailable):
+    read_closed_rlog(root, SEGMENT, permitted=lambda: False)
+  opened.assert_not_called()
diff --git a/openpilot/starpilot/flm/tests/test_offline.py b/openpilot/starpilot/flm/tests/test_offline.py
new file mode 100644
index 0000000000..a3fc98a7fa
--- /dev/null
+++ b/openpilot/starpilot/flm/tests/test_offline.py
@@ -0,0 +1,272 @@
+"""Serialized current Cereal traces and frozen override-mask differential."""
+
+import math
+from contextlib import ExitStack
+import unittest
+
+from openpilot.cereal import log
+from openpilot.starpilot.flm.offline import SegmentInput, TrackingSample, _eligible, analyze_segments
+from opendbc.car.hyundai.values import CAR
+
+
+def event(kind, ns, *, valid=True, **fields):
+  builder = log.Event.new_message(logMonoTime=ns, valid=valid)
+  payload = builder.init(kind)
+  if kind == 'carParams':
+    payload.carFingerprint = fields.get('fingerprint', CAR.HYUNDAI_IONIQ_6)
+    payload.lateralTuning.init(fields.get('tuning', 'torque'))
+    payload.steerControlType = fields.get('steering_type', 'torque')
+    payload.dashcamOnly = fields.get('dashcam', False)
+  elif kind == 'carState':
+    payload.vEgo = fields.get('speed', 12.0)
+    payload.steeringPressed = fields.get('pressed', False)
+    payload.canValid = fields.get('can_valid', True)
+  elif kind == 'carControl':
+    payload.latActive = fields.get('lat_active', True)
+  elif kind == 'controlsState':
+    state = payload.lateralControlState
+    state.init(fields.get('controller', 'torqueState'))
+    if fields.get('controller', 'torqueState') == 'torqueState':
+      state.torqueState.desiredLateralAccel = fields.get('desired', 0.4)
+      state.torqueState.actualLateralAccel = fields.get('actual', 0.3)
+      state.torqueState.active = fields.get('active', True)
+  return builder
+
+
+def serialized(builders):
+  with ExitStack() as stack:
+    for builder in builders:
+      yield stack.enter_context(log.Event.from_bytes(builder.as_reader().as_builder().to_bytes()))
+
+
+def segment(*, number=0, count=25, pressed=(), fingerprint=CAR.HYUNDAI_IONIQ_6, gap_at=None,
+            invalid_first=False, other_last=False, bad_numeric_at=None, invalid_control_at=None):
+  base = 1_000_000_000
+  events = [event('carParams', base, fingerprint=fingerprint)]
+  for i in range(count):
+    ns = base + (i + 1) * 100_000_000 + (1_000_000_000 if gap_at is not None and i >= gap_at else 0)
+    events += [event('carState', ns, pressed=i in pressed, valid=not (invalid_first and i == 0)),
+               event('carControl', ns, valid=i != invalid_control_at),
+               event('controlsState', ns, controller='pidState' if other_last and i == count - 1 else 'torqueState',
+                     desired=float('nan') if i == bad_numeric_at else 0.4)]
+  return SegmentInput('synthetic', number, serialized(events))
+
+
+def frozen_mask(samples):
+  """Independent translation of frozen flm_workspace._analysis_eligibility_mask."""
+  eligible = [True for _ in samples]
+  last_override = -math.inf
+  for index, sample in enumerate(samples):
+    t = sample.mono_ns / 1e9
+    if sample.steering_pressed:
+      last_override = t
+    if sample.steering_pressed or t - last_override <= 1.0:
+      eligible[index] = False
+  next_override = math.inf
+  for index in range(len(samples) - 1, -1, -1):
+    sample = samples[index]
+    t = sample.mono_ns / 1e9
+    if sample.steering_pressed:
+      next_override = t
+    if sample.steering_pressed or next_override - t <= 0.35:
+      eligible[index] = False
+  eligible[0] = eligible[-1] = False
+  return eligible
+
+
+class OfflineTest(unittest.TestCase):
+  def test_serialized_current_ioniq_torque_tracking(self):
+    result = analyze_segments((segment(),)).segments[0]
+    self.assertEqual(result.status, 'measured')
+    self.assertEqual(result.eligible_samples, 23)
+    assert result.mean_abs_error is not None
+    assert result.root_mean_square_error is not None
+    self.assertAlmostEqual(result.mean_abs_error, 0.1, places=6)
+    self.assertAlmostEqual(result.root_mean_square_error, 0.1, places=6)
+    self.assertEqual((result.series[0].desired_lat_accel, result.series[0].actual_lat_accel), (0.4000000059604645, 0.30000001192092896))
+    self.assertEqual(len(result.windows), 1)
+    self.assertEqual(result.windows[0].sample_count, 23)
+    self.assertEqual(result.windows[0].direction, 'left')
+
+  def test_late_consistent_car_params_has_same_complete_segment_report(self):
+    base = 1_000_000_000
+    samples = []
+    for i in range(25):
+      ns = base + (i + 1) * 100_000_000
+      samples.extend((event('carState', ns), event('carControl', ns), event('controlsState', ns)))
+    def analyze(events):
+      return analyze_segments((SegmentInput('same', 0, serialized(events)),)).segments[0]
+    early = analyze([event('carParams', base), *samples])
+    late = analyze([*samples, event('carParams', base + 4_000_000_000)])
+    repeated = analyze([*samples, event('carParams', base + 4_000_000_000), event('carParams', base)])
+    self.assertEqual(early, late)
+    self.assertEqual(late.eligible_samples, 23)
+    self.assertEqual(repeated.eligible_samples, early.eligible_samples)
+    self.assertNotIn('missing_or_unsupported_car_params', dict(late.exclusions))
+
+  def test_late_invalid_or_changed_car_params_rejects_entire_segment(self):
+    base = 1_000_000_000
+    samples = []
+    for i in range(25):
+      ns = base + (i + 1) * 100_000_000
+      samples.extend((event('carState', ns), event('carControl', ns), event('controlsState', ns)))
+    changed = event('carParams', base + 4_000_000_000)
+    changed.carParams.lateralTuning.torque.friction = .2
+    for cp, reason in ((changed, 'inconsistent_car_params'),
+                       (event('carParams', base + 4_000_000_000, valid=False), 'invalid_car_params'),
+                       (event('carParams', 0), 'invalid_car_params')):
+      with self.subTest(reason=reason), self.assertRaisesRegex(ValueError, reason):
+        analyze_segments((SegmentInput('same', 0, serialized([event('carParams', base), *samples, cp])),))
+
+  def test_frozen_override_mask_and_gap_boundary(self):
+    samples = [TrackingSample(1_000_000_000 + i * 100_000_000, 12.0, .4, .3, False, i in (5, 17)) for i in range(25)]
+    self.assertEqual(_eligible(samples), frozen_mask(samples))
+    result = analyze_segments((segment(pressed=(5, 17), gap_at=12),)).segments[0]
+    self.assertGreater(dict(result.exclusions)['driver_override_or_boundary'], 0)
+    self.assertLess(result.eligible_samples, 23)
+
+  def test_wrong_car_and_non_torque_are_not_measured(self):
+    wrong = analyze_segments((segment(fingerprint='NOT_IONIQ'),)).segments[0]
+    self.assertEqual(wrong.status, 'unsupported_car')
+    self.assertEqual(wrong.eligible_samples, 0)
+    result = analyze_segments((segment(count=3, other_last=True),)).segments[0]
+    self.assertEqual(dict(result.exclusions)['other_controller'], 1)
+
+  def test_missing_invalid_stale_sources_and_segment_independence(self):
+    report = analyze_segments((segment(count=5, invalid_first=True, invalid_control_at=1, bad_numeric_at=2),
+                               segment(number=1, count=5))).segments
+    self.assertEqual(dict(report[0].exclusions)['missing_or_stale_source'], 2)
+    self.assertEqual(dict(report[0].exclusions)['invalid_numeric'], 1)
+    self.assertEqual(report[1].status, 'measured')
+
+  def test_series_and_message_bounds(self):
+    report = analyze_segments((segment(count=300),)).segments[0]
+    self.assertEqual(len(report.series), 160)
+    self.assertLess(report.series[0].mono_ns, report.series[-1].mono_ns)
+
+  def test_bounds_cancel_and_inconsistent_cp(self):
+    with self.assertRaisesRegex(ValueError, 'segment_count'):
+      analyze_segments(())
+    with self.assertRaisesRegex(RuntimeError, 'cancelled'):
+      analyze_segments((segment(),), cancelled=lambda: True)
+    events = [event('carParams', 1_000_000_000), event('carParams', 1_000_000_001, fingerprint='OTHER')]
+    with self.assertRaisesRegex(ValueError, 'inconsistent_car_params'):
+      analyze_segments((SegmentInput('a', 0, serialized(events)),))
+
+    repeated = event('carParams', 1_000_000_002)
+    repeated.carParams.lateralTuning.torque.friction = .2
+    with self.assertRaisesRegex(ValueError, 'inconsistent_car_params'):
+      analyze_segments((SegmentInput('a', 0, serialized([event('carParams', 1_000_000_000), repeated])),))
+
+  def test_inactive_press_masks_neighbors_and_breaks_window(self):
+    base = 1_000_000_000
+    events = [event('carParams', base)]
+    for i in range(30):
+      ns = base + (i + 1) * 100_000_000
+      events.extend((event('carState', ns, pressed=i == 8), event('carControl', ns, lat_active=i != 8),
+                     event('controlsState', ns)))
+    report = analyze_segments((SegmentInput('a', 0, serialized(events)),)).segments[0]
+    press_ns = base + 900_000_000
+    self.assertTrue(all(not -350_000_000 <= point.mono_ns - press_ns <= 1_000_000_000 for point in report.series))
+    self.assertEqual(len(report.windows), 1)
+    self.assertGreater(report.windows[0].start_mono_ns, press_ns + 1_000_000_000)
+
+  def test_short_invalid_gap_does_not_bridge_and_unrelated_interleaving_is_ignored(self):
+    base = 1_000_000_000
+    events = [event('carParams', base)]
+    for i in range(25):
+      ns = base + (i + 1) * 100_000_000
+      events.append(event('carState', ns))
+      if i == 10:
+        events.append(event('initData', ns - 50_000_000))  # cross-service chronology is not global
+      events.append(event('carControl', ns, valid=i != 12))
+      events.append(event('controlsState', ns))
+    report = analyze_segments((SegmentInput('a', 0, serialized(events)),)).segments[0]
+    self.assertEqual(len(report.windows), 2)
+    self.assertEqual(dict(report.exclusions)['missing_or_stale_source'], 1)
+    self.assertNotIn('invalid_or_reordered_timestamp', dict(report.exclusions))
+    before = {point.continuity_id for point in report.series if point.mono_ns < base + 1_300_000_000}
+    after = {point.continuity_id for point in report.series if point.mono_ns > base + 1_300_000_000}
+    self.assertTrue(before and after)
+    self.assertTrue(before.isdisjoint(after))
+
+  def test_future_publisher_arrives_before_earlier_controls_frame(self):
+    base = 1_000_000_000
+    events = [event('carParams', base)]
+    for i in range(12):
+      ns = base + (i + 1) * 100_000_000
+      if i != 4:
+        events.extend((event('carState', ns), event('carControl', ns)))
+      if i == 3:
+        future = ns + 100_000_000
+        events.extend((event('carState', future), event('carControl', future)))
+      events.append(event('controlsState', ns))
+    report = analyze_segments((SegmentInput('a', 0, serialized(events)),)).segments[0]
+    self.assertEqual(report.status, 'measured')
+    self.assertEqual(report.eligible_samples, 10)
+    self.assertNotIn('missing_or_stale_source', dict(report.exclusions))
+
+  def test_invalid_vehicle_source_and_extreme_values(self):
+    events = [event('carParams', 1_000_000_000)]
+    for i in range(6):
+      ns = 1_100_000_000 + i * 100_000_000
+      events.extend((event('carState', ns, can_valid=i != 0), event('carControl', ns),
+                     event('controlsState', ns, desired=3.4e38 if i == 2 else .4, active=i != 3)))
+    report = analyze_segments((SegmentInput('a', 0, serialized(events)),)).segments[0]
+    self.assertEqual(dict(report.exclusions)['invalid_car_state'], 1)
+    self.assertEqual(dict(report.exclusions)['invalid_numeric'], 1)
+    self.assertEqual(dict(report.exclusions)['lateral_inactive'], 1)
+    self.assertIsNone(report.mean_abs_error)
+
+
+if __name__ == '__main__':
+  unittest.main()
+
+
+class GmEvidenceJoinTest(unittest.TestCase):
+  def test_actual_factory_context_serialized_epochs_original_profiles_and_mismatch_rejection(self):
+    from openpilot.common.params import Params
+    from openpilot.common.prefix import OpenpilotPrefix
+    from opendbc.car.gm.tests.test_ascm_intercept import params as ordinary_params
+    from opendbc.car.gm.values import CAR as GM_CAR
+    from openpilot.starpilot.flm.gm_recommend import source_context, classify_groups, build_report
+    from openpilot.starpilot.lateral.torque_settings import PlatformProfile, FieldChoice
+    cp_builder = ordinary_params(GM_CAR.CHEVROLET_MALIBU_ASCM)
+    cp_builder.init('carFw', 1)[0].fwVersion = b'\x00\xfffirmware'
+    cp = cp_builder.as_reader()
+    tune = cp.lateralTuning.torque
+    with OpenpilotPrefix():
+      context = source_context(cp, 'starpilot', Params(), 'a'*64,
+                               PlatformProfile((tune.latAccelFactor, tune.latAccelOffset, tune.friction), FieldChoice(), FieldChoice()))
+    events = []
+    params_event = log.Event.new_message(logMonoTime=1_000_000_000, valid=True)
+    params_event.init('carParams').from_dict(cp.to_dict())
+    events.append(params_event)
+    for index in range(500):
+      ns = 1_000_000_000 + (index+1)*20_000_000 + (1_000_000_000 if index >= 250 else 0)
+      state = event('carState', ns, pressed=index == 100)
+      state.carState.steeringAngleDeg = 3.
+      command = event('carControl', ns)
+      control = event('controlsState', ns, desired=.8, actual=.1)
+      control.controlsState.lateralControlState.torqueState.output = .2
+      events.extend((state, command, control))
+    groups = []
+    result = analyze_segments((SegmentInput('synthetic-gm-recording', 0, serialized(events)),), gm_context=context, evidence=groups)
+    self.assertEqual(result.segments[0].status, 'measured')
+    self.assertGreaterEqual(len(groups), 3)
+    self.assertTrue(all(all(0 < b.t-a.t <= .251 for a,b in zip(group,group[1:], strict=False)) for group in groups))
+    self.assertTrue(all(not sample.steering_pressed for group in groups for sample in group))
+    summaries, stats = classify_groups(groups)
+    self.assertGreater(stats['sampleCount'], 0)
+    report = build_report(context, summaries, stats)
+    self.assertEqual({path['key'] for path in report['paths']}, {'baseline_fix', 'cleanup_pass'})
+    self.assertTrue(any(path['profiles'] for path in report['paths']))
+    self.assertFalse(report['fit'])
+    self.assertFalse(report['vehicleQualification'])
+    with self.assertRaises(ValueError):
+      build_report(context, summaries, stats, feedback={'acceptedDimensions':['invented-dimension']})
+    wrong = {**context, 'cpSignature': 'b'*64}
+    rejected = []
+    result = analyze_segments((SegmentInput('synthetic-gm-recording', 0, serialized(events)),), gm_context=wrong, evidence=rejected)
+    self.assertEqual(result.segments[0].status, 'unsupported_car')
+    self.assertEqual(rejected, [])
diff --git a/openpilot/starpilot/flm/tests/test_operation_owner.py b/openpilot/starpilot/flm/tests/test_operation_owner.py
new file mode 100644
index 0000000000..01f394b41f
--- /dev/null
+++ b/openpilot/starpilot/flm/tests/test_operation_owner.py
@@ -0,0 +1,574 @@
+"""One isolated FLM operation never publishes a partial or unparked report."""
+
+from pathlib import Path
+import json
+import subprocess
+import sys
+import threading
+import time
+from unittest import mock
+
+import pytest
+import zstandard as zstd
+
+from openpilot.cereal import messaging
+from openpilot.starpilot.flm.operation_owner import FlmAnalysisOwner, FlmOperationError
+
+
+SEGMENT = '1234abcd--0123456789--0'
+
+
+def recording(tmp_path: Path, *, valid: bool = True) -> Path:
+  root = tmp_path.resolve()
+  folder = root / SEGMENT
+  folder.mkdir()
+  event = messaging.new_message('deviceState', valid=True)
+  event.logMonoTime = 1234
+  (folder / 'rlog.zst').write_bytes(zstd.ZstdCompressor().compress(event.to_bytes()) if valid else b'bad zstd')
+  return root
+
+
+def terminal(owner: FlmAnalysisOwner) -> dict:
+  deadline = time.monotonic() + 5
+  while time.monotonic() < deadline:
+    state = owner.snapshot()
+    if state['state'] != 'running':
+      return state
+    time.sleep(0.01)
+  raise AssertionError('operation did not terminate')
+
+
+def test_real_local_worker_report_source_identity_and_stale_id(tmp_path):
+  owner = FlmAnalysisOwner(root=recording(tmp_path), parked=lambda: True)
+  try:
+    started = owner.start((SEGMENT,))
+    assert started['operationId'].count(':') == 1 and started['selected'] == 1
+    assert terminal(owner)['state'] == 'completed'
+    report = owner.report(started['operationId'])
+    assert report['schemaVersion'] == 1 and report['vehicleQualification'] is False
+    assert report['segments'][0]['source']['segmentName'] == SEGMENT
+    assert report['segments'][0]['analysis']['status'] == 'missing_car_params'
+    report['segments'].clear()
+    assert len(owner.report(started['operationId'])['segments']) == 1
+    next_run = owner.start((SEGMENT,))
+    with pytest.raises(FlmOperationError, match='operation_changed'):
+      owner.report(started['operationId'])
+    assert terminal(owner)['state'] == 'completed'
+    assert owner.report(next_run['operationId'])['operationId'] == next_run['operationId']
+  finally:
+    owner.close()
+
+
+def test_request_thread_can_exit_while_monitor_owned_child_completes(tmp_path):
+  owner = FlmAnalysisOwner(root=recording(tmp_path), parked=lambda: True)
+  replies = []
+  request_thread = threading.Thread(target=lambda: replies.append(owner.start((SEGMENT,))))
+  try:
+    request_thread.start()
+    request_thread.join(timeout=2)
+    assert not request_thread.is_alive() and len(replies) == 1
+    assert terminal(owner)['state'] == 'completed'
+    assert owner.report(replies[0]['operationId'])['segments'][0]['analysis']['status'] == 'missing_car_params'
+  finally:
+    owner.close()
+
+
+def test_failed_monitor_start_is_unavailable_and_does_not_wedge_future_analysis(tmp_path):
+  owner = FlmAnalysisOwner(root=recording(tmp_path), parked=lambda: True)
+  try:
+    with mock.patch.object(threading.Thread, 'start', side_effect=RuntimeError('thread unavailable')):
+      with pytest.raises(FlmOperationError, match='unavailable'):
+        owner.start((SEGMENT,))
+    assert owner.snapshot()['state'] == 'failed'
+    token = owner.start((SEGMENT,))['operationId']
+    assert terminal(owner)['state'] == 'completed'
+    assert owner.report(token)['operationId'] == token
+  finally:
+    owner.close()
+
+
+def test_corrupt_and_symlinked_local_sources_publish_no_report(tmp_path):
+  root = recording(tmp_path, valid=False)
+  owner = FlmAnalysisOwner(root=root, parked=lambda: True)
+  try:
+    token = owner.start((SEGMENT,))['operationId']
+    assert terminal(owner)['state'] == 'unavailable'
+    with pytest.raises(FlmOperationError):
+      owner.report(token)
+    path = root / SEGMENT / 'rlog.zst'
+    path.unlink()
+    path.symlink_to(root / 'outside')
+    token = owner.start((SEGMENT,))['operationId']
+    assert terminal(owner)['state'] == 'unavailable'
+    with pytest.raises(FlmOperationError):
+      owner.report(token)
+  finally:
+    owner.close()
+
+
+def test_cancel_busy_and_onroad_kill_isolated_slow_child(tmp_path):
+  root = recording(tmp_path)
+  parked = [True]
+  slow_worker = (sys.executable, '-c', 'import sys,time;sys.stdin.buffer.read();time.sleep(30)')
+  owner = FlmAnalysisOwner(root=root, parked=lambda: parked[0], worker_argv=slow_worker)
+  try:
+    token = owner.start((SEGMENT,))['operationId']
+    with pytest.raises(FlmOperationError, match='busy'):
+      owner.start((SEGMENT,))
+    assert owner.cancel(token)['state'] == 'canceled'
+    token = owner.start((SEGMENT,))['operationId']
+    with owner._lock:
+      parked[0] = False
+      assert owner.snapshot()['state'] == 'unavailable'
+      parked[0] = True
+      with pytest.raises(FlmOperationError, match='busy'):
+        owner.start((SEGMENT,))
+    parked[0] = False
+    assert terminal(owner)['state'] == 'unavailable'
+    with pytest.raises(FlmOperationError):
+      owner.report(token)
+  finally:
+    owner.close()
+
+
+def test_worker_pipe_eof_while_alive_and_selector_failure_reap(tmp_path):
+  root = recording(tmp_path)
+  eof_worker = (sys.executable, '-c', 'import os,sys,time;sys.stdin.buffer.read();os.close(1);time.sleep(30)')
+  owner = FlmAnalysisOwner(root=root, parked=lambda: True, worker_argv=eof_worker)
+  try:
+    owner.start((SEGMENT,))
+    assert terminal(owner)['state'] == 'failed'
+    assert owner._child is None
+  finally:
+    owner.close()
+
+  class BrokenSelector:
+    def __enter__(self):
+      return self
+    def __exit__(self, *args):
+      return False
+    def register(self, *_args):
+      raise OSError('injected selector failure')
+
+  with mock.patch('openpilot.starpilot.flm.operation_owner.selectors.DefaultSelector', BrokenSelector):
+    owner = FlmAnalysisOwner(root=root, parked=lambda: True, worker_argv=eof_worker)
+    try:
+      owner.start((SEGMENT,))
+      assert terminal(owner)['state'] == 'failed'
+      assert owner._child is None
+    finally:
+      owner.close()
+
+
+def test_close_stops_child_and_revokes_report(tmp_path):
+  owner = FlmAnalysisOwner(root=recording(tmp_path), parked=lambda: True)
+  token = owner.start((SEGMENT,))['operationId']
+  assert terminal(owner)['state'] == 'completed'
+  owner.close()
+  with pytest.raises(FlmOperationError, match='unavailable'):
+    owner.report(token)
+
+
+def test_worker_rejects_stale_parent_identity_before_any_log_read(tmp_path):
+  root = recording(tmp_path)
+  child = subprocess.run((sys.executable, '-m', 'openpilot.starpilot.flm.operation_worker'),
+                         input=json.dumps({'root': str(root), 'segments': [SEGMENT], 'parentPid': 1}).encode(),
+                         capture_output=True, timeout=5, check=False)
+  assert child.returncode != 0
+  assert b'"kind":"result"' not in child.stdout
+  assert b'"code":"process_failed"' in child.stdout
+
+
+def test_wall_deadline_stops_and_reaps_child(tmp_path):
+  worker = (sys.executable, '-c', 'import sys,time;sys.stdin.buffer.read();time.sleep(30)')
+  with mock.patch('openpilot.starpilot.flm.operation_owner.WALL_DEADLINE_SECONDS', 0.05):
+    owner = FlmAnalysisOwner(root=recording(tmp_path), parked=lambda: True, worker_argv=worker)
+    try:
+      owner.start((SEGMENT,))
+      status = terminal(owner)
+      assert status['state'] == 'failed' and status['errorCode'] == 'deadline'
+      assert owner._child is None
+    finally:
+      owner.close()
+
+
+def test_invalid_selection_and_unparked_start_do_not_spawn(tmp_path):
+  owner = FlmAnalysisOwner(root=tmp_path.resolve(), parked=lambda: False)
+  try:
+    for names in ((), (SEGMENT, SEGMENT), ('../outside',)):
+      with pytest.raises(FlmOperationError, match='invalid_request'):
+        owner.start(names)
+    with pytest.raises(FlmOperationError, match='not_parked'):
+      owner.start((SEGMENT,))
+    assert owner.snapshot()['state'] == 'idle'
+  finally:
+    owner.close()
+
+
+def test_gm_live_trial_atomic_restore_preserves_other_choices_and_rejects_changed_source():
+  from dataclasses import replace
+  from types import SimpleNamespace
+  from openpilot.common.params import Params
+  from openpilot.common.prefix import OpenpilotPrefix
+  from opendbc.car.gm.tests.test_ascm_intercept import params as ordinary_params
+  from opendbc.car.gm.values import CAR
+  from openpilot.starpilot.flm.operation_owner import FlmTrialOwner
+  from openpilot.starpilot.flm.live import GmLiveSource, gm_capability
+  from openpilot.starpilot.flm.torque_surface import GmSurface
+  from openpilot.starpilot.lateral.controller_selection import ControllerMode, replace_mode
+  from openpilot.starpilot.lateral.torque_settings import (DOCUMENT_KEY, FieldChoice, parse_document, replace_field,
+                                                         replace_geometry, serialize_document)
+  cp = ordinary_params(CAR.CHEVROLET_MALIBU_ASCM).as_reader()
+  with OpenpilotPrefix():
+    saved = Params()
+    mode = ControllerMode.STARPILOT
+    saved.put('LateralControllerSelection', json.loads(replace_mode(None, cp, mode)), block=True)
+    cap = gm_capability(cp, mode)
+    identity = cap['fingerprint']
+    profiles = replace_field({}, identity, cap['basis'], 'friction', 'custom', cap['basis'][2] * 1.1)
+    profiles = replace_geometry(profiles, identity, cap['basis'], (cp.steerRatio, cp.steerActuatorDelay+.2),
+                                'ratio', FieldChoice('custom', cp.steerRatio * 1.1))
+    saved.put(DOCUMENT_KEY, json.loads(serialize_document(profiles)), block=True)
+    context = SimpleNamespace(cp=cp, cp_raw=cp.as_builder().to_bytes(), parked=True)
+    owner = FlmTrialOwner(saved, SimpleNamespace(sample=lambda: context))
+
+    def action(operation, **fields):
+      return owner.action({'action': operation, 'token': owner.snapshot()['token'], **fields})
+
+    for key, gain in (('baseline', .1), ('trial', .3)):
+      action('save', id=key, label=key, surface=GmSurface(cap['profile'], {'ff_gain_left': gain}).document())
+    first = action('apply', id='baseline')
+    action('accept', trial=first['state']['trial'])
+    trial = action('trial', id='trial')
+    token = trial['state']['trial']
+    self_profile = parse_document(Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes())[identity]
+    assert self_profile.flm.active == 'trial' and self_profile.flm.baseline_active == 'baseline'
+    source = GmLiveSource(cp, mode, saved)
+    assert source.sample(active=True, speed=20., now_ns=1_000_000_000).knobs['ff_gain_left'] == .3
+    before = Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes()
+    with pytest.raises(FlmOperationError, match='busy'):
+      action('save', id='baseline', label='changed', surface=GmSurface(cap['profile'], {}).document())
+    assert Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes() == before
+    restored = action('restore', trial=token)
+    assert restored['state']['active'] == 'baseline'
+    trial = action('trial', id='trial')
+    token = trial['state']['trial']
+    before = Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes()
+    # A concurrent explicit manual edit rejects even refreshed restore. Accept
+    # keeps that user edit and clears the old baseline without overwriting it.
+    latest = parse_document(before)
+    latest = replace_field(latest, identity, cap['basis'], 'friction', 'custom', cap['basis'][2] * 1.2)
+    saved.put(DOCUMENT_KEY, json.loads(serialize_document(latest)), block=True)
+    with pytest.raises(FlmOperationError, match='operation_changed'):
+      owner.action({'action': 'restore', 'token': trial['token'], 'trial': token})
+    with pytest.raises(FlmOperationError, match='operation_changed'):
+      action('restore', trial=token)
+    assert owner.snapshot()['manualConflict']
+    restored = action('accept', trial=token)
+    after = parse_document(Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes())
+    assert after[identity].friction == latest[identity].friction
+    assert after[identity].geometry == profiles[identity].geometry
+    assert after[identity].flm.active == 'trial' and after[identity].flm.trial is None
+    assert restored['state']['applied']
+    assert source.sample(active=True, speed=20., now_ns=2_000_000_000).knobs['ff_gain_left'] == .3
+    action('disable')
+    assert source.sample(active=True, speed=20., now_ns=3_000_000_000) is None
+    assert len(parse_document(Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes())[identity].flm.saved) == 2
+    frozen = Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes()
+    valid = iter((True, False))
+    with pytest.raises(FlmOperationError, match='operation_changed'):
+      owner.action({'action': 'trial', 'token': owner.snapshot()['token'], 'id': 'trial'},
+                   session_valid=lambda: next(valid, False))
+    assert Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes() == frozen, 'authority is rechecked before atomic write'
+    context.parked = False
+    with pytest.raises(FlmOperationError, match='not_parked'):
+      action('trial', id='trial')
+    assert Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes() == frozen
+    context.parked = True
+    bad = cp.as_builder()
+    bad.lateralTuning.torque.latAccelFactor *= 1.01
+    context.cp, context.cp_raw = bad.as_reader(), bad.to_bytes()
+    snapshot = owner.snapshot()
+    assert not snapshot['available'] and snapshot['resettable']
+    with pytest.raises(FlmOperationError, match='operation_changed'):
+      action('trial', id='trial')
+    action('reset')
+    result = parse_document(Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes())
+    assert result[identity] == replace(after[identity], flm=None), 'changed-basis reset is FLM-only'
+    assert not Path(saved.get_param_path('FLMTrialApplied')).exists()
+
+
+def test_gm_live_exact_controller_vehicle_basis_absence_and_malformed_never_rewrite():
+  from types import SimpleNamespace
+  from openpilot.common.params import Params
+  from openpilot.common.prefix import OpenpilotPrefix
+  from opendbc.car.gm.tests.test_ascm_intercept import params as ordinary_params
+  from opendbc.car.gm.values import CAR
+  from openpilot.starpilot.flm.live import GmLiveSource, gm_capability
+  from openpilot.starpilot.flm.operation_owner import FlmTrialOwner
+  from openpilot.starpilot.flm.torque_surface import GmSurface, GmFlmBinding
+  from openpilot.starpilot.lateral.controller_selection import ControllerMode, replace_mode
+  from openpilot.starpilot.lateral.torque_settings import DOCUMENT_KEY, PlatformProfile, FieldChoice, parse_document, serialize_document
+  cp = ordinary_params(CAR.CHEVROLET_MALIBU_ASCM).as_reader()
+  with OpenpilotPrefix():
+    saved = Params()
+    saved.put('LateralControllerSelection', json.loads(replace_mode(None, cp, ControllerMode.STARPILOT)), block=True)
+    cap = gm_capability(cp, ControllerMode.STARPILOT)
+    source = GmLiveSource(cp, ControllerMode.STARPILOT, saved)
+    assert source.sample(active=True, speed=20., now_ns=1_000_000_000) is None
+    assert not Path(saved.get_param_path(DOCUMENT_KEY)).exists()
+    binding = GmFlmBinding('starpilot', cap['policy'], cap['basis'],
+                          (('one', 'One', GmSurface(cap['profile'], {'ff_gain_left': .3})),), 'one', True)
+    for controller, basis, identity in (('standard', cap['basis'], cap['fingerprint']),
+                                        ('starpilot', (cap['basis'][0]*1.01, *cap['basis'][1:]), cap['fingerprint']),
+                                        ('starpilot', cap['basis'], str(CAR.CADILLAC_XT4))):
+      from dataclasses import replace
+      rejected = replace(binding, controller=controller, basis=basis)
+      raw = serialize_document({identity: PlatformProfile(cap['basis'], FieldChoice(), FieldChoice(), flm=rejected)})
+      saved.put(DOCUMENT_KEY, json.loads(raw), block=True)
+      source.last_ns = None
+      assert source.sample(active=True, speed=20., now_ns=2_000_000_000) is None
+      assert parse_document(Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes()) == parse_document(raw)
+    stale_basis = (cap['basis'][0]*1.01, *cap['basis'][1:])
+    saved.put(DOCUMENT_KEY, json.loads(serialize_document({cap['fingerprint']: PlatformProfile(stale_basis, FieldChoice(), FieldChoice())})), block=True)
+    ctx = SimpleNamespace(cp=cp, cp_raw=cp.as_builder().to_bytes(), parked=True)
+    stale_owner = FlmTrialOwner(saved, SimpleNamespace(sample=lambda: ctx))
+    assert not stale_owner.snapshot()['available'], 'outer manual profile basis is also part of live admission'
+    frozen = Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes()
+    with pytest.raises(FlmOperationError, match='operation_changed'):
+      stale_owner.action({'action': 'save', 'token': stale_owner.snapshot()['token'], 'id': 'one', 'label': 'One',
+                          'surface': GmSurface(cap['profile'], {}).document()})
+    assert Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes() == frozen
+    Path(saved.get_param_path(DOCUMENT_KEY)).write_bytes(b'{')
+    source.last_ns = None
+    assert source.sample(active=True, speed=20., now_ns=3_000_000_000) is None
+    assert Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes() == b'{'
+    ctx = SimpleNamespace(cp=cp, cp_raw=cp.as_builder().to_bytes(), parked=True)
+    assert not FlmTrialOwner(saved, SimpleNamespace(sample=lambda: ctx)).snapshot()['available']
+
+
+def test_gm_bundle_full_manual_switch_restore_guard_precedence_and_other_vehicle_preserved():
+  from dataclasses import replace
+  from types import SimpleNamespace
+  from openpilot.common.params import Params
+  from openpilot.common.prefix import OpenpilotPrefix
+  from opendbc.car.gm.tests.test_bolt_cc import params as bolt_params
+  from opendbc.car.gm.values import CAR
+  from openpilot.starpilot.flm.operation_owner import FlmTrialOwner
+  from openpilot.starpilot.flm.live import gm_capability
+  from openpilot.starpilot.flm.manual_trial import manual_snapshot
+  from openpilot.starpilot.flm.torque_surface import GmSurface
+  from openpilot.starpilot.lateral.controller_selection import ControllerMode, replace_mode
+  from openpilot.starpilot.lateral.torque_settings import (DOCUMENT_KEY, FieldChoice, GainBasis, GeometryProfile,
+                                                         PlatformProfile, parse_document, serialize_document)
+  cp = bolt_params(CAR.CHEVROLET_BOLT_CC_2022_2023, alpha=True).as_reader()
+  with OpenpilotPrefix():
+    saved = Params()
+    saved.put('LateralControllerSelection', json.loads(replace_mode(None, cp, ControllerMode.STARPILOT)), block=True)
+    saved.put('AdvancedLateralTune', False, block=True)
+    saved.put('ForceAutoTuneOff', True, block=True)
+    cap = gm_capability(cp, ControllerMode.STARPILOT)
+    identity = cap['fingerprint']
+    baseline = PlatformProfile(cap['basis'], FieldChoice(), FieldChoice())
+    other = str(CAR.CHEVROLET_MALIBU_ASCM)
+    profiles = {identity: baseline, other: PlatformProfile((2., 0., .1), FieldChoice('custom', 2.2), FieldChoice())}
+    saved.put(DOCUMENT_KEY, json.loads(serialize_document(profiles)), block=True)
+    ctx = SimpleNamespace(cp=cp, cp_raw=cp.as_builder().to_bytes(), parked=True)
+    owner = FlmTrialOwner(saved, SimpleNamespace(sample=lambda: ctx))
+    gain = GainBasis('starpilot', ((0,), (.6,)), cap['basis'])
+    geometry = GeometryProfile((cp.steerRatio, cp.steerActuatorDelay + .2), FieldChoice('custom', cp.steerRatio * 1.1),
+                               FieldChoice('custom', .7), False, 'force_auto')
+    one = replace(baseline, factor=FieldChoice('custom', cap['basis'][0] * 1.1),
+                  friction=FieldChoice('custom', min(.1, cap['basis'][2]*1.1)),
+                  proportional_gain=FieldChoice('custom', .7), gain_basis=gain, geometry=geometry)
+    two = replace(baseline, geometry=replace(geometry, ratio=FieldChoice(), full_delay=FieldChoice(),
+                                           automatic_delay=True, learning='source'))
+    def save(key, profile):
+      owner.action({'action': 'save', 'token': owner.snapshot()['token'], 'id': key, 'label': key,
+                    'surface': GmSurface(cap['profile'], {}).document()}, generated_manual=manual_snapshot(profile, identity))
+    save('one', one)
+    save('two', two)
+    reasons = owner.snapshot()['preconditions']['one']
+    assert any('Advanced' in reason for reason in reasons) and any('Off remains' in reason for reason in reasons)
+    frozen = Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes()
+    with pytest.raises(FlmOperationError, match='unavailable'):
+      owner.action({'action': 'trial', 'token': owner.snapshot()['token'], 'id': 'one'})
+    assert Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes() == frozen
+    assert saved.get_bool('ForceAutoTuneOff') and not saved.get_bool('AdvancedLateralTune')
+    # Only the user explicitly changes prerequisites; FLM never writes them.
+    saved.put('ForceAutoTuneOff', False, block=True)
+    saved.put('AdvancedLateralTune', True, block=True)
+    preferences = {key: saved.get(key) for key in ('ForceAutoTuneOff', 'AdvancedLateralTune', 'LateralControllerSelection')}
+    def apply(key):
+      return owner.action({'action': 'trial', 'token': owner.snapshot()['token'], 'id': key})
+    trial = apply('one')
+    current = parse_document(Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes())
+    assert replace(current[identity], flm=None) == one
+    switched = apply('two')
+    current = parse_document(Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes())
+    assert replace(current[identity], flm=None) == two, 'source choices replace every earlier custom field'
+    assert switched['state']['trial'] == trial['state']['trial']
+    owner.action({'action': 'restore', 'token': owner.snapshot()['token'], 'trial': trial['state']['trial']})
+    current = parse_document(Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes())
+    assert replace(current[identity], flm=None) == baseline
+    assert current[other] == profiles[other]
+    assert preferences == {key: saved.get(key) for key in preferences}
+    from openpilot.starpilot.flm.gm_recommend import build_report, same_numerical_context
+    source = owner.training_context(owner.snapshot()['token'])
+    evidence = build_report(source, [], {'sampleCount': 32, 'meanErrorAbs': .03})
+    before_progress = Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes()
+    assert not owner.record_cleanup({'gmEvidence': evidence}, session_valid=lambda: False)
+    assert Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes() == before_progress
+    assert owner.record_cleanup({'gmEvidence': evidence}, session_valid=lambda: True)
+    recorded = parse_document(Path(saved.get_param_path(DOCUMENT_KEY)).read_bytes())
+    assert recorded[identity].flm.cleanup_progress and not recorded[identity].flm.applied
+    assert replace(recorded[identity], flm=None) == baseline
+    assert recorded[other] == profiles[other]
+    assert preferences == {key: saved.get(key) for key in preferences}
+    fresh = owner.training_context(owner.snapshot()['token'])
+    assert fresh['cleanupProgress'] and same_numerical_context(fresh, source)
+    assert not same_numerical_context({**fresh, 'geometryBasis': [cp.steerRatio*1.01, cp.steerActuatorDelay+.2]}, source)
+    assert build_report(fresh, [], {'sampleCount': 32, 'meanErrorAbs': .03})['decision']['cleanupProgressLocked']
+
+
+
+def test_gm_stale_rich_controller_binding_exposes_reset_only_and_preserves_manual():
+  from types import SimpleNamespace
+  from openpilot.common.params import Params
+  from openpilot.common.prefix import OpenpilotPrefix
+  from opendbc.car.gm.tests.test_bolt_cc import params as bolt_params
+  from opendbc.car.gm.values import CAR
+  from openpilot.starpilot.flm.operation_owner import FlmTrialOwner
+  from openpilot.starpilot.flm.live import gm_capability
+  from openpilot.starpilot.flm.torque_surface import GmSurface
+  from openpilot.starpilot.lateral.controller_selection import ControllerMode, replace_mode
+  from openpilot.starpilot.lateral.torque_settings import DOCUMENT_KEY, FieldChoice, PlatformProfile, parse_document, serialize_document
+  cp = bolt_params(CAR.CHEVROLET_BOLT_CC_2022_2023, alpha=True).as_reader()
+  with OpenpilotPrefix():
+    params = Params()
+    params.put('LateralControllerSelection', json.loads(replace_mode(None, cp, ControllerMode.STARPILOT)), block=True)
+    cap = gm_capability(cp, ControllerMode.STARPILOT)
+    profile = PlatformProfile(cap['basis'], FieldChoice('custom', cap['basis'][0]*1.1), FieldChoice())
+    params.put(DOCUMENT_KEY, json.loads(serialize_document({cap['fingerprint']: profile})), block=True)
+    context = SimpleNamespace(sample=lambda: SimpleNamespace(cp=cp, cp_raw=cp.as_builder().to_bytes(), parked=True))
+    owner = FlmTrialOwner(params, context)
+    owner.action({'action': 'save', 'token': owner.snapshot()['token'], 'id': 'rich', 'label': 'Rich',
+                  'surface': GmSurface(cap['profile'], {}).document()})
+    params.put('LateralControllerSelection', json.loads(replace_mode(
+      Path(params.get_param_path('LateralControllerSelection')).read_bytes(), cp, ControllerMode.STANDARD)), block=True)
+    stale = owner.snapshot()
+    assert not stale['available'] and not stale['editable'] and stale['resettable']
+    assert stale['profile'] == 'torque_universal' and stale['state']['saved']['rich']['surface']['profile'] == 'gm_bolt_2022_2023'
+    owner.action({'action': 'reset', 'token': stale['token']})
+    assert owner.snapshot()['available']
+    from opendbc.car.lateral import FRICTION_THRESHOLD
+    assert owner.snapshot()['curveDefaults'] == [FRICTION_THRESHOLD] * 5
+    assert parse_document(Path(params.get_param_path(DOCUMENT_KEY)).read_bytes())[cap['fingerprint']] == profile
+
+
+
+def test_real_gm_worker_frozen_source_report_cannot_grant_or_mutate_preferences(tmp_path):
+  from openpilot.cereal import log
+  from openpilot.common.params import Params
+  from openpilot.common.prefix import OpenpilotPrefix
+  from opendbc.car.gm.tests.test_ascm_intercept import params as ordinary_params
+  from opendbc.car.gm.values import CAR
+  from openpilot.starpilot.flm.gm_recommend import source_context
+  from openpilot.starpilot.lateral.torque_settings import PlatformProfile, FieldChoice
+  from openpilot.starpilot.flm.tests.test_offline import event
+  cp = ordinary_params(CAR.CHEVROLET_MALIBU_ASCM).as_reader()
+  tune = cp.lateralTuning.torque
+  with OpenpilotPrefix():
+    params = Params()
+    context = source_context(cp, 'starpilot', params, 'a'*64,
+                             PlatformProfile((tune.latAccelFactor, tune.latAccelOffset, tune.friction), FieldChoice(), FieldChoice()))
+    folder = tmp_path/SEGMENT
+    folder.mkdir()
+    cp_event = log.Event.new_message(logMonoTime=1_000_000_000, valid=True)
+    cp_event.init('carParams').from_dict(cp.to_dict())
+    rows = [cp_event]
+    for index in range(250):
+      ns = 1_000_000_000 + (index+1)*20_000_000
+      state = event('carState', ns)
+      state.carState.steeringAngleDeg = 3.
+      controls = event('controlsState', ns, desired=.8, actual=.1)
+      controls.controlsState.lateralControlState.torqueState.output = .2
+      rows.extend((state, event('carControl', ns), controls))
+    raw = b''.join(row.to_bytes() for row in rows)
+    (folder/'rlog.zst').write_bytes(zstd.ZstdCompressor().compress(raw))
+    owner = FlmAnalysisOwner(root=tmp_path, parked=lambda: True)
+    before = {key: params.get(key) for key in ('TorqueOverrideDocument', 'LateralControllerSelection', 'ForceAutoTuneOff', 'AdvancedLateralTune')}
+    try:
+      started = owner.start((SEGMENT,), gm_context=context)
+      assert terminal(owner)['state'] == 'completed'
+      report = owner.report(started['operationId'])
+      assert report['purpose'] == 'gm_flm_evidence_profiles'
+      assert report['gmEvidence']['context'] == context
+      assert report['gmEvidence']['stats']['sampleCount'] > 0
+      assert report['gmEvidence']['fit'] is False and report['vehicleQualification'] is False
+      assert report['tuneRecommendation'] is None, 'original symptom trials never become an autonomous tuning grant'
+      assert report['segments'][0]['source']['sha256'] == __import__('hashlib').sha256((folder/'rlog.zst').read_bytes()).hexdigest()
+      assert before == {key: params.get(key) for key in before}, 'isolated worker has no Params writer'
+    finally:
+      owner.close()
+
+
+def test_gm_bundle_preserves_inactive_finite_choices_but_rejects_consumed_bounds():
+  from dataclasses import replace
+  from types import SimpleNamespace
+  from openpilot.common.params import Params
+  from openpilot.common.prefix import OpenpilotPrefix
+  from opendbc.car.gm.tests.test_ascm_intercept import params as ordinary_params
+  from opendbc.car.gm.values import CAR
+  from openpilot.starpilot.flm.live import gm_capability
+  from openpilot.starpilot.flm.manual_trial import manual_profile, manual_snapshot
+  from openpilot.starpilot.flm.operation_owner import FlmTrialOwner
+  from openpilot.starpilot.flm.torque_surface import GmSurface
+  from openpilot.starpilot.lateral.controller_selection import ControllerMode, replace_mode
+  from openpilot.starpilot.lateral.torque_settings import (DOCUMENT_KEY, MAX_DOCUMENT_BYTES, FieldChoice, GainBasis,
+                                                         PlatformProfile, parse_document, serialize_document)
+  cp = ordinary_params(CAR.CHEVROLET_MALIBU_ASCM).as_reader()
+  with OpenpilotPrefix():
+    params = Params()
+    params.put('LateralControllerSelection', json.loads(replace_mode(None, cp, ControllerMode.STARPILOT)), block=True)
+    cap = gm_capability(cp, ControllerMode.STARPILOT)
+    identity = cap['fingerprint']
+    # Source selections retain previously entered finite numbers, even when
+    # those inactive numbers are outside the current consumption bounds.
+    baseline = PlatformProfile(cap['basis'], FieldChoice('source', 10000.), FieldChoice('source', 10000.),
+                               FieldChoice('source', 10000.), GainBasis('starpilot', ((0,), (.6,)), cap['basis']))
+    raw = serialize_document({identity: baseline})
+    params.put(DOCUMENT_KEY, json.loads(raw), block=True)
+    owner = FlmTrialOwner(params, SimpleNamespace(sample=lambda: SimpleNamespace(cp=cp, cp_raw=cp.as_builder().to_bytes(), parked=True)))
+    snapshot = manual_snapshot(baseline, identity)
+    assert manual_profile(snapshot, identity, cap['basis']) == baseline
+    assert len(snapshot.encode()) < 4096 and MAX_DOCUMENT_BYTES == 16384
+    owner.action({'action': 'save', 'token': owner.snapshot()['token'], 'id': 'latent', 'label': 'Latent',
+                  'surface': GmSurface(cap['profile'], {}).document()})
+    frozen = Path(params.get_param_path(DOCUMENT_KEY)).read_bytes()
+    for name in ('factor', 'friction', 'proportional_gain'):
+      invalid = replace(baseline, **{name: FieldChoice('custom', 10000.)})
+      with pytest.raises(ValueError):
+        owner.action({'action': 'save', 'token': owner.snapshot()['token'], 'id': 'invalid', 'label': 'Invalid',
+                      'surface': GmSurface(cap['profile'], {}).document()},
+                     generated_manual=manual_snapshot(invalid, identity))
+      assert Path(params.get_param_path(DOCUMENT_KEY)).read_bytes() == frozen
+    # An ordinary Save also validates the currently captured consumed fields,
+    # rather than depending on a later full-document parse to reject them.
+    params.put(DOCUMENT_KEY, json.loads(serialize_document({identity: replace(baseline, factor=FieldChoice('custom', 10000.))})), block=True)
+    invalid_raw = Path(params.get_param_path(DOCUMENT_KEY)).read_bytes()
+    with pytest.raises(ValueError):
+      owner.action({'action': 'save', 'token': owner.snapshot()['token'], 'id': 'invalid', 'label': 'Invalid',
+                    'surface': GmSurface(cap['profile'], {}).document()})
+    assert Path(params.get_param_path(DOCUMENT_KEY)).read_bytes() == invalid_raw
+    params.put(DOCUMENT_KEY, json.loads(frozen), block=True)
+    changed = replace(baseline, factor=FieldChoice('custom', cap['basis'][0]*1.05))
+    owner.action({'action': 'save', 'token': owner.snapshot()['token'], 'id': 'custom', 'label': 'Custom',
+                  'surface': GmSurface(cap['profile'], {}).document()}, generated_manual=manual_snapshot(changed, identity))
+    trial = owner.action({'action': 'trial', 'token': owner.snapshot()['token'], 'id': 'custom'})
+    owner.action({'action': 'trial', 'token': owner.snapshot()['token'], 'id': 'latent'})
+    assert replace(parse_document(Path(params.get_param_path(DOCUMENT_KEY)).read_bytes())[identity], flm=None) == baseline
+    owner.action({'action': 'restore', 'token': owner.snapshot()['token'], 'trial': trial['state']['trial']})
+    restored = parse_document(Path(params.get_param_path(DOCUMENT_KEY)).read_bytes())[identity]
+    assert replace(restored, flm=None) == baseline
+    assert len(Path(params.get_param_path(DOCUMENT_KEY)).read_bytes()) <= MAX_DOCUMENT_BYTES
diff --git a/openpilot/starpilot/flm/tests/test_torque_surface.py b/openpilot/starpilot/flm/tests/test_torque_surface.py
new file mode 100644
index 0000000000..494d8b4e19
--- /dev/null
+++ b/openpilot/starpilot/flm/tests/test_torque_surface.py
@@ -0,0 +1,281 @@
+import math
+from operator import setitem
+import unittest
+from unittest import mock
+
+from openpilot.starpilot.flm.torque_surface import Ioniq6Surface, SurfaceInput, _BOUNDS, directional_taper_target, evaluate
+from openpilot.starpilot.lateral import ioniq6_policy as baseline
+
+
+class TestIoniq6Surface(unittest.TestCase):
+  def test_profile_validation_and_immutability(self):
+    surface = Ioniq6Surface.validated("standard", {"ff_gain_left": 0.217})
+    self.assertEqual(surface.value("ff_gain_left"), 0.217)
+    with self.assertRaises(TypeError):
+      mock.Mock(wraps=setitem)(surface.knobs, "ff_gain_left", 0.3)
+    source = {"ff_gain_left": 0.24}
+    direct = Ioniq6Surface("standard", source)
+    source["ff_gain_left"] = 0.50
+    self.assertEqual(direct.value("ff_gain_left"), 0.24)
+    for variant, knobs in (("2023", {}), ("standard", {"unknown": 1.0}),
+                           ("standard", {"ff_gain_left": True}),
+                           ("standard", {"ff_gain_left": math.nan}),
+                           ("standard", {"ff_gain_left": 10 ** 1000}),
+                           ("standard", {"turn_in_boost_left": 0.2}),
+                           ("standard", {"ff_gain_left": 0.601}),
+                           ("standard", {"curvy_speed_min": 25.0})):
+      with self.subTest(variant=variant, knobs=knobs), self.assertRaises(ValueError):
+        Ioniq6Surface.validated(variant, knobs)
+
+  def test_neutral_matches_existing_ioniq_stages(self):
+    for variant in ("standard", "firmware_2025"):
+      surface = Ioniq6Surface.validated(variant, {})
+      for speed, setpoint, jerk, desired, actual in ((3.0, 0.7, 1.1, 11.0, 1.0),
+                                                     (14.0, -0.9, -1.5, -12.0, -3.0),
+                                                     (27.0, -0.8, 1.7, -3.0, -12.0),
+                                                     (26.0, 0.0, 0.0, 0.0, 0.0)):
+        with self.subTest(variant=variant, speed=speed, setpoint=setpoint, jerk=jerk):
+          taper = baseline.get_ioniq_6_directional_taper_scale(setpoint, jerk, speed)
+          i = SurfaceInput(speed, setpoint, jerk, desired, actual, 0.2, False, taper)
+          shape = evaluate(surface, i)
+          center = baseline.get_ioniq_6_center_taper_scale(setpoint, speed)
+          self.assertAlmostEqual(shape.directional_taper_target, taper, places=12)
+          self.assertAlmostEqual(shape.center_taper, center, places=12)
+          self.assertAlmostEqual(shape.feedforward_scale,
+                                 baseline.get_ioniq_6_ff_scale(setpoint, jerk, speed, directional_taper_scale=taper), places=12)
+          self.assertAlmostEqual(shape.friction_threshold,
+                                 baseline.get_ioniq_6_friction_threshold(speed, setpoint, jerk) / max(center, 1e-3), places=12)
+          self.assertAlmostEqual(shape.output_after_angle_assist,
+                                 baseline.get_ioniq_6_low_speed_angle_assist_torque(desired, actual, 0.2, speed), places=12)
+          self.assertEqual(shape.center_deadband_deg, 0.0)
+
+  def test_nondefault_direction_center_unwind_and_pose(self):
+    surface = Ioniq6Surface.validated("standard", {
+      "ff_gain_left": 0.30, "ff_gain_right": 0.12,
+      "turn_in_boost_left": 1.2, "unwind_taper_right": 2.5,
+      "center_taper_max": 0.16, "highway_center_taper_max": 0.15,
+      "unwind_threshold_increase_right": 3.0,
+      "curvy_turn_in_trim_left": 0.15, "curvy_unwind_extra_reduction_right": 0.25,
+      "curvy_unwind_floor_relief_right": 0.40,
+      "center_deadband_low_deg": 0.1, "center_deadband_mid_deg": 0.15,
+      "low_speed_angle_assist_max_torque": 0.7,
+    })
+    neutral = Ioniq6Surface.validated("standard", {})
+    turn = SurfaceInput(3.0, 0.8, 1.2, 12.0, 1.0, 0.0, False, 0.9)
+    unwind = SurfaceInput(14.0, -0.8, 1.2, -2.0, -10.0, 0.3, False, 0.8)
+    shaped_turn = evaluate(surface, turn)
+    shaped_unwind = evaluate(surface, unwind)
+    self.assertNotEqual(shaped_turn.feedforward_scale, evaluate(neutral, turn).feedforward_scale)
+    self.assertNotEqual(shaped_turn.center_taper, evaluate(neutral, turn).center_taper)
+    self.assertNotEqual(shaped_turn.output_after_angle_assist, evaluate(neutral, turn).output_after_angle_assist)
+    self.assertNotEqual(shaped_unwind.directional_taper_target, evaluate(neutral, unwind).directional_taper_target)
+    self.assertNotEqual(shaped_unwind.friction_threshold, evaluate(neutral, unwind).friction_threshold)
+    self.assertGreater(shaped_turn.center_deadband_deg, 0.0)
+    pressed = SurfaceInput(3.0, 0.8, 1.2, 12.0, 1.0, 0.2, True, 0.9)
+    self.assertEqual(evaluate(surface, pressed).output_after_angle_assist, 0.2)
+
+  def test_filtered_taper_is_separate_controller_owned_state(self):
+    surface = Ioniq6Surface.validated("standard", {})
+    i = SurfaceInput(14.0, -0.8, 1.2, -6.0, -2.0, 0.2, False, filtered_directional_taper=0.91)
+    shape = evaluate(surface, i)
+    self.assertAlmostEqual(shape.feedforward_scale,
+                           baseline.get_ioniq_6_ff_scale(i.setpoint, i.jerk, i.speed, directional_taper_scale=0.91))
+    self.assertNotEqual(shape.directional_taper_target, 0.91)
+    for bad in (math.nan, math.inf, -2.1):
+      with self.assertRaises(ValueError):
+        SurfaceInput(i.speed, i.setpoint, i.jerk, i.desired_angle_deg, i.actual_angle_deg, i.output_torque, False, bad)
+    for bad in (True, 10 ** 1000):
+      with self.assertRaises(ValueError):
+        SurfaceInput(bad, i.setpoint, i.jerk, i.desired_angle_deg, i.actual_angle_deg, i.output_torque, False, 0.9)
+    unchecked_input = mock.Mock(wraps=SurfaceInput)
+    with self.assertRaises(ValueError):
+      unchecked_input(i.speed, i.setpoint, i.jerk, i.desired_angle_deg, i.actual_angle_deg, i.output_torque, "false", 0.9)
+    with self.assertRaises(ValueError):
+      unchecked_input(i.speed, i.setpoint, i.jerk, i.desired_angle_deg, i.actual_angle_deg, i.output_torque, False, None)
+
+  def test_frozen_ioniq_stage_vectors(self):
+    # Compact values from frozen 678af783 latcontrol_vehicle_tunes.py SHA256
+    # 2a7793c6ee4b53b45070d3267a01e8c7105dfd8df9d38cdfc96cfe4b672a125b.
+    # Generated with private AST oracle, not by importing the frozen checkout.
+    surface = Ioniq6Surface.validated("standard", {
+      "ff_gain_left": 0.11, "ff_gain_right": 0.09,
+      "turn_in_boost_left": 2.2, "turn_in_boost_right": 2.4,
+      "unwind_taper_left": 5.0, "unwind_taper_right": 10.0,
+      "center_taper_max": 0.13, "highway_center_taper_max": 0.08,
+      "turn_in_threshold_reduction_left": 1.1, "turn_in_threshold_reduction_right": 1.6,
+      "unwind_threshold_increase_left": 5.0, "unwind_threshold_increase_right": 11.0,
+      "crawl_turn_in_ff_boost_left": 0.33, "crawl_turn_in_ff_boost_right": 0.38,
+      "low_speed_angle_assist_max_torque": 0.60,
+    })
+    # speed, accel, jerk, desired angle, actual angle; then frozen direction,
+    # center, combined pre-2023 FF, threshold and pose output from 0.2 torque.
+    vectors = (
+      (3.0, 0.18, 0.42, 11.0, 2.0, 0.988394829429103, 0.9978605797219613,
+       1.4749555335910585, 0.32048565350593106, -0.13901469137077216),
+      (14.0, -0.32, 0.55, -9.0, -15.0, 0.49398782437927313, 0.9746594981685954,
+       0.4814699250108986, 0.40460794823460716, 0.2),
+      (27.0, 0.19, 0.50, 9.0, 4.0, 0.9444309506239349, 0.8839299279089594,
+       0.9260528746519242, 0.4179582730864161, 0.2),
+    )
+    for speed, accel, jerk, desired, actual, direction, center, ff, threshold, pose in vectors:
+      with self.subTest(speed=speed, accel=accel, jerk=jerk):
+        shape = evaluate(surface, SurfaceInput(speed, accel, jerk, desired, actual, 0.2, False, direction))
+        self.assertAlmostEqual(shape.directional_taper_target, direction, places=11)
+        self.assertAlmostEqual(shape.center_taper, center, places=11)
+        self.assertAlmostEqual(shape.feedforward_scale * shape.center_taper, ff, places=11)
+        self.assertAlmostEqual(shape.friction_threshold, threshold, places=11)
+        self.assertAlmostEqual(shape.output_after_angle_assist, pose, places=11)
+
+  def test_historical_combined_extreme_is_preserved_but_unqualified(self):
+    # Every individual value is inside frozen metadata, yet the combination
+    # reverses the directional multiplier. Pure math must expose it, not clip it.
+    surface = Ioniq6Surface.validated("standard", {name: high for name, (_, high) in _BOUNDS.items()})
+    target = directional_taper_target(surface, 18.0, 0.9, -3.0)
+    self.assertAlmostEqual(target, -0.13824656992744921, places=11)
+    shape = evaluate(surface, SurfaceInput(18.0, 0.9, -3.0, 8.0, 4.0, 0.2, False, target))
+    self.assertEqual(shape.directional_taper_target, target)
+    self.assertLess(shape.feedforward_scale, 0.0)
+
+
+if __name__ == "__main__":
+  unittest.main()
+
+class TestGmSurface(unittest.TestCase):
+  def test_selected_neutral_and_rich_default_laws(self):
+    from openpilot.starpilot.flm.torque_surface import GmSurface
+    from openpilot.starpilot.lateral import bolt_shaping as gm
+    neutral = GmSurface('torque_universal', {})
+    rich = GmSurface('gm_bolt_2022_2023', {})
+    for speed, setpoint, jerk in ((3., .8, 1.2), (14., -.8, 1.2), (27., .8, -1.2), (26., 0., 0.)):
+      sample = SurfaceInput(speed, setpoint, jerk, 0., 0., 0., False, 1.)
+      ff, threshold = neutral.stages(sample, setpoint, gm.get_gm_base_friction_threshold(speed))
+      self.assertEqual(ff, setpoint)
+      self.assertEqual(threshold, gm.get_gm_base_friction_threshold(speed))
+      self.assertEqual(neutral.deadband(speed), 0.)
+      rich_ff, rich_threshold = rich.stages(sample, setpoint, threshold, rich=True)
+      self.assertAlmostEqual(rich_ff, setpoint * gm.get_bolt_2022_2023_ff_scale(setpoint, jerk, speed), places=12)
+      self.assertAlmostEqual(rich_threshold, gm.get_bolt_2022_2023_friction_threshold(speed, setpoint, jerk), places=12)
+      self.assertEqual(rich.angle_assist(sample), 0.)
+
+  def test_explicit_surface_bounds_composition_and_immutable_document(self):
+    from openpilot.starpilot.flm.torque_surface import GmSurface, GmFlmBinding
+    knobs = {'ff_gain_left': .3, 'ff_gain_right': -.1, 'center_deadband_low_deg': .1}
+    surface = GmSurface('torque_universal', knobs, [.16, .18, .20, .23, .27])
+    knobs['ff_gain_left'] = .6
+    self.assertEqual(surface.knobs['ff_gain_left'], .3)
+    with self.assertRaises(TypeError):
+      mock.Mock(wraps=setitem)(surface.knobs, 'ff_gain_left', .5)
+    self.assertEqual(GmSurface.from_document(surface.document()).document(), surface.document())
+    self.assertGreater(surface.deadband(5.), 0.)
+    self.assertAlmostEqual(surface.base_threshold(10.), .20)
+    for speed in (3., 14., 27.):
+      for sign in (-1., 1.):
+        sample = SurfaceInput(speed, sign*.8, sign*1.2, 0., 0., 0., False, 1.)
+        ff, threshold = surface.stages(sample, sign*.8, .2)
+        self.assertGreater(ff * sign, 0.)
+        if speed == 3.:
+          self.assertGreater(ff, .8) if sign > 0 else self.assertLess(abs(ff), .8)
+        self.assertTrue(math.isfinite(threshold) and threshold > 0.)
+    for knobs, curve in (({'ff_gain_left': -.4, 'turn_in_boost_left': 2.8}, None),
+                         ({'ff_gain_left': math.nan}, None), ({'ff_gain_left': 10**1000}, None),
+                         ({'ff_gain_left': True}, None), ({'curvy_speed_min': 25.}, None),
+                         ({}, [.2]*4), ({}, [.2, .2, math.inf, .2, .2]), ({}, [10**1000]*5)):
+      with self.assertRaises(ValueError):
+        GmSurface('torque_universal', knobs, curve)
+    binding = GmFlmBinding('starpilot', 'ordinary_ascm', (2., 0., .1), (('one', 'Surface', surface),), 'one', True)
+    self.assertEqual(GmFlmBinding.from_document(binding.document()), binding)
+    for value in ({**binding.document(), 'active': 'missing'}, {**binding.document(), 'baselineActive': 'one', 'baselineApplied': True}):
+      with self.assertRaises(ValueError):
+        GmFlmBinding.from_document(value)
+
+  def test_actual_selected_controller_neutral_surface_has_no_double_application(self):
+    from types import SimpleNamespace
+    from opendbc.car.gm.interface import CarInterface
+    from opendbc.car.gm.tests.test_ascm_intercept import params as ordinary_params
+    from opendbc.car.gm.tests.test_bolt_cc import params as bolt_params
+    from opendbc.car.gm.values import CAR
+    from opendbc.car.vehicle_model import VehicleModel
+    from openpilot.common.params import Params
+    from openpilot.common.prefix import OpenpilotPrefix
+    from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
+    from openpilot.starpilot.flm.live import gm_capability
+    from openpilot.starpilot.flm import live as flm
+    from openpilot.starpilot.flm.torque_surface import GmFlmBinding, GmSurface
+    from openpilot.starpilot.lateral.controller_selection import ControllerMode, replace_mode
+    from openpilot.starpilot.lateral.torque_settings import DOCUMENT_KEY, PlatformProfile, FieldChoice, serialize_document
+    import json
+    cases = (ordinary_params(CAR.CHEVROLET_MALIBU_ASCM), bolt_params(CAR.CHEVROLET_BOLT_CC_2022_2023, alpha=True))
+    for cp_builder in cases:
+      cp = cp_builder.as_reader()
+      for mode in ControllerMode:
+        with OpenpilotPrefix():
+          saved = Params()
+          saved.put('LateralControllerSelection', json.loads(replace_mode(None, cp, mode)), block=True)
+          baseline = LatControlTorque(cp, CarInterface(cp), .01, controller_mode=mode)
+          overlay = LatControlTorque(cp, CarInterface(cp), .01, controller_mode=mode)
+          cap = gm_capability(cp, mode)
+          surface = GmSurface(cap['profile'], {})
+          cs = SimpleNamespace(vEgo=20., steeringAngleDeg=0., steeringPressed=False, steeringRateDeg=0., standstill=False)
+          params = SimpleNamespace(angleOffsetDeg=0., roll=0.)
+          vm = VehicleModel(cp)
+          with mock.patch('openpilot.starpilot.flm.live.time.monotonic_ns', return_value=1_000_000_000):
+            baseline.flm_source.sample(active=True, speed=cs.vEgo)
+            binding = GmFlmBinding(str(mode), cap['policy'], cap['basis'], (('neutral', 'Neutral', surface),), 'neutral', True)
+            saved.put(DOCUMENT_KEY, json.loads(serialize_document({str(cp.carFingerprint): PlatformProfile(cap['basis'], FieldChoice(),
+              FieldChoice(), flm=binding)})), block=True)
+            with mock.patch('openpilot.starpilot.flm.live.stages', wraps=flm.stages) as stages:
+              for tick in range(100):
+                curvature = .001 if tick < 50 else -.001
+                before = baseline.update(True, cs, vm, params, False, curvature, False, .2)
+                after = overlay.update(True, cs, vm, params, False, curvature, False, .2)
+                self.assertEqual(before[:2], after[:2], (cp.carFingerprint, mode, tick))
+                self.assertEqual(before[2].to_dict(), after[2].to_dict(), (cp.carFingerprint, mode, tick))
+              self.assertEqual(stages.call_count, 200, 'exactly one generic stage call per actual controller update')
+            self.assertIsNotNone(overlay.flm_surface)
+            self.assertIsNone(baseline.flm_surface)
+            self.assertEqual(overlay.update(False, cs, vm, params, False, .001, False, .2)[0], 0.)
+            self.assertIsNone(overlay.flm_surface)
+
+
+  def test_standard_bolt_explicit_universal_angle_assist_reaches_actual_generic_controller(self):
+    import json
+    from types import SimpleNamespace
+    from opendbc.car.gm.interface import CarInterface
+    from opendbc.car.gm.tests.test_bolt_cc import params as bolt_params
+    from opendbc.car.gm.values import CAR
+    from opendbc.car.vehicle_model import VehicleModel
+    from openpilot.common.params import Params
+    from openpilot.common.prefix import OpenpilotPrefix
+    from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
+    from openpilot.starpilot.flm import live as flm
+    from openpilot.starpilot.flm.live import gm_capability
+    from openpilot.starpilot.flm.torque_surface import GmFlmBinding, GmSurface
+    from openpilot.starpilot.lateral.controller_selection import ControllerMode, replace_mode
+    from openpilot.starpilot.lateral.torque_settings import DOCUMENT_KEY, PlatformProfile, FieldChoice, serialize_document
+    cp = bolt_params(CAR.CHEVROLET_BOLT_CC_2022_2023, alpha=True).as_reader()
+    mode = ControllerMode.STANDARD
+    with OpenpilotPrefix():
+      params = Params()
+      params.put('LateralControllerSelection', json.loads(replace_mode(None, cp, mode)), block=True)
+      controller = LatControlTorque(cp, CarInterface(cp), .01, controller_mode=mode)
+      self.assertIsNone(controller.starpilot_extension)
+      cap = gm_capability(cp, mode)
+      surface = GmSurface(cap['profile'], {'low_speed_angle_assist_max_torque': .1})
+      binding = GmFlmBinding(str(mode), cap['policy'], cap['basis'], (('assist', 'Assist', surface),), 'assist', True)
+      params.put(DOCUMENT_KEY, json.loads(serialize_document({cap['fingerprint']: PlatformProfile(cap['basis'],
+        FieldChoice(), FieldChoice(), flm=binding)})), block=True)
+      cs = SimpleNamespace(vEgo=3., steeringAngleDeg=0., steeringPressed=False, steeringRateDeg=0., standstill=False)
+      learned = SimpleNamespace(angleOffsetDeg=0., roll=0.)
+      observed = []
+      original_angle = flm.angle_assist
+      def actual_angle(*args):
+        output = original_angle(*args)
+        observed.append((args[-1], output))
+        return output
+      with mock.patch('openpilot.starpilot.flm.live.time.monotonic_ns', return_value=1_000_000_000), \
+           mock.patch('openpilot.starpilot.flm.live.angle_assist', side_effect=actual_angle):
+        result = controller.update(True, cs, VehicleModel(cp), learned, False, .003, False, .2)
+      self.assertTrue(result[2].active)
+      self.assertEqual(len(observed), 1)
+      self.assertGreater(abs(observed[0][1] - observed[0][0]), 1e-6)
+      self.assertTrue(math.isfinite(result[0]) and abs(result[0]) <= 1.)
diff --git a/openpilot/starpilot/flm/tests/test_worker_limits.py b/openpilot/starpilot/flm/tests/test_worker_limits.py
new file mode 100644
index 0000000000..8443d725ac
--- /dev/null
+++ b/openpilot/starpilot/flm/tests/test_worker_limits.py
@@ -0,0 +1,21 @@
+from unittest.mock import patch
+
+from openpilot.starpilot.flm import operation_worker as worker
+
+
+def test_unlimited_linux_limits_get_finite_ceiling():
+  with patch.object(worker.sys, "platform", "linux"), patch.object(worker.os, "nice"), \
+       patch.object(worker.resource, "getrlimit", return_value=(-1, -1)), \
+       patch.object(worker.resource, "setrlimit") as set_limit:
+    worker._limits()
+  assert set_limit.call_args_list[0].args == (worker.resource.RLIMIT_AS, (worker.LINUX_ADDRESS_SPACE_BYTES, -1))
+  assert set_limit.call_args_list[1].args == (worker.resource.RLIMIT_CPU, (worker.LINUX_CPU_SECONDS, -1))
+
+
+def test_existing_tighter_linux_limits_are_preserved():
+  with patch.object(worker.sys, "platform", "linux"), patch.object(worker.os, "nice"), \
+       patch.object(worker.resource, "getrlimit", side_effect=[(1000000, 2000000), (-1, 60)]), \
+       patch.object(worker.resource, "setrlimit") as set_limit:
+    worker._limits()
+  assert set_limit.call_args_list[0].args == (worker.resource.RLIMIT_AS, (1000000, 2000000))
+  assert set_limit.call_args_list[1].args == (worker.resource.RLIMIT_CPU, (60, 60))
diff --git a/openpilot/starpilot/flm/tests/testdata/ioniq6_controller_extended.json b/openpilot/starpilot/flm/tests/testdata/ioniq6_controller_extended.json
new file mode 100644
index 0000000000..ddc9ae3a44
--- /dev/null
+++ b/openpilot/starpilot/flm/tests/testdata/ioniq6_controller_extended.json
@@ -0,0 +1,791 @@
+{
+  "sourceCommit": "678af783",
+  "controllerSha256": "3561d5ac43a72f9b68bc9e44042b8f5cbdca406dec940e7648c64607862a60f7",
+  "inputFields": ["active", "speed", "angle", "curvature", "pressed", "limited"],
+  "outputFields": ["output", "desiredLateralAccel", "desiredLateralJerk", "p", "i", "f", "directionalFilter"],
+  "sequence": [
+    [false, 0.3, 10.0, -0.001, false, false],
+    [false, 0.3, 10.0, -0.001, false, false],
+    [false, 0.3, 10.0, -0.001, false, false],
+    [true, 0.3, 10.0, -0.001, false, false],
+    [true, 0.3, 10.0, -0.001, false, false],
+    [true, 0.3, 10.0, -0.001, false, false],
+    [true, 0.3, 10.0, -0.001, false, false],
+    [true, 0.3, 10.0, -0.001, false, false],
+    [true, 0.3, 10.0, -0.001, false, false],
+    [true, 0.3, 10.0, -0.001, false, false],
+    [true, 0.3, 10.0, -0.001, false, false],
+    [true, 0.3, 10.0, -0.001, false, false],
+    [true, 0.3, 10.0, -0.001, false, false],
+    [true, 0.3, 10.0, -0.001, false, false],
+    [true, 0.3, 10.0, -0.001, false, false],
+    [true, 2.0, 5.0, -0.001, false, false],
+    [true, 2.0, 5.0, -0.001, false, false],
+    [true, 2.0, 5.0, -0.001, false, false],
+    [true, 2.0, 5.0, -0.001, false, false],
+    [true, 2.0, 5.0, -0.001, false, false],
+    [true, 2.0, 5.0, -0.001, false, false],
+    [true, 2.0, 5.0, -0.001, false, false],
+    [true, 2.0, 5.0, -0.001, false, false],
+    [true, 2.0, 5.0, -0.001, false, false],
+    [true, 2.0, 5.0, -0.001, false, false],
+    [true, 2.0, 5.0, -0.001, false, false],
+    [true, 2.0, 5.0, -0.001, false, false],
+    [true, 2.0, 5.0, -0.001, false, false],
+    [true, 2.0, 5.0, -0.001, false, false],
+    [true, 2.0, 5.0, -0.001, false, false],
+    [true, 14.0, -2.0, 0.0007, false, false],
+    [true, 14.0, -2.0, 0.0007, false, false],
+    [true, 14.0, -2.0, 0.0007, false, false],
+    [true, 14.0, -2.0, 0.0007, false, false],
+    [true, 14.0, -2.0, 0.0007, false, false],
+    [true, 14.0, -2.0, 0.0007, false, false],
+    [true, 14.0, -2.0, 0.0007, false, false],
+    [true, 14.0, -2.0, 0.0007, false, false],
+    [true, 14.0, -2.0, 0.0007, false, false],
+    [true, 14.0, -2.0, 0.0007, false, false],
+    [true, 14.0, -2.0, 0.0007, false, false],
+    [true, 14.0, -2.0, 0.0007, false, false],
+    [true, 14.0, -2.0, 0.0007, false, false],
+    [true, 14.0, -2.0, 0.0007, false, false],
+    [true, 14.0, -2.0, 0.0007, false, false],
+    [true, 14.0, -2.0, 0.0007, false, false],
+    [true, 14.0, -2.0, 0.0007, false, false],
+    [true, 14.0, -2.0, 0.0007, false, false],
+    [true, 14.0, -2.0, 0.0007, false, false],
+    [true, 14.0, -2.0, 0.0007, false, false],
+    [true, 14.0, -8.0, -0.00025, false, false],
+    [true, 14.0, -8.0, -0.00025, false, false],
+    [true, 14.0, -8.0, -0.00025, false, false],
+    [true, 14.0, -8.0, -0.00025, false, false],
+    [true, 14.0, -8.0, -0.00025, false, false],
+    [true, 14.0, -8.0, -0.00025, false, false],
+    [true, 14.0, -8.0, -0.00025, false, false],
+    [true, 14.0, -8.0, -0.00025, false, false],
+    [true, 14.0, -8.0, -0.00025, false, false],
+    [true, 14.0, -8.0, -0.00025, false, false],
+    [true, 14.0, -8.0, -0.00025, false, false],
+    [true, 14.0, -8.0, -0.00025, false, false],
+    [true, 27.0, 2.0, -0.0009, false, false],
+    [true, 27.0, 2.0, -0.0009, false, false],
+    [true, 27.0, 2.0, -0.0009, false, false],
+    [true, 27.0, 2.0, -0.0009, false, false],
+    [true, 27.0, 2.0, -0.0009, false, false],
+    [true, 27.0, 2.0, -0.0009, false, false],
+    [true, 27.0, 2.0, -0.0009, false, false],
+    [true, 27.0, 2.0, -0.0009, false, false],
+    [true, 27.0, 2.0, -0.0009, false, false],
+    [true, 27.0, 2.0, -0.0009, false, false],
+    [true, 27.0, 2.0, -0.0009, false, false],
+    [true, 27.0, 2.0, -0.0009, false, false],
+    [true, 27.0, 2.0, -0.0009, false, false],
+    [true, 27.0, 2.0, -0.0009, false, false],
+    [true, 27.0, 2.0, -0.0009, false, false],
+    [true, 27.0, 2.0, -0.0009, false, false],
+    [true, 27.0, 2.0, -0.0009, false, false],
+    [true, 27.0, 2.0, -0.0009, false, false],
+    [true, 27.0, 2.0, -0.0009, false, false],
+    [true, 27.0, 2.0, -0.0009, false, false],
+    [true, 27.0, 2.0, -0.0009, false, false],
+    [true, 27.0, 2.0, -0.0009, false, false],
+    [true, 27.0, 2.0, -0.0009, false, false],
+    [true, 27.0, 2.0, -0.0009, false, false],
+    [true, 27.0, 2.0, -0.0009, false, false],
+    [true, 27.0, 8.0, 0.00025, false, false],
+    [true, 27.0, 8.0, 0.00025, false, false],
+    [true, 27.0, 8.0, 0.00025, false, false],
+    [true, 27.0, 8.0, 0.00025, false, false],
+    [true, 27.0, 8.0, 0.00025, false, false],
+    [true, 27.0, 8.0, 0.00025, false, false],
+    [true, 27.0, 8.0, 0.00025, false, false],
+    [true, 27.0, 8.0, 0.00025, false, false],
+    [true, 27.0, 8.0, 0.00025, false, false],
+    [true, 27.0, 8.0, 0.00025, false, false],
+    [true, 27.0, 8.0, 0.00025, false, false],
+    [true, 27.0, 8.0, 0.00025, false, false],
+    [true, 20.0, 2.0, -0.0005, true, false],
+    [true, 20.0, 2.0, -0.0005, true, false],
+    [true, 20.0, 2.0, -0.0005, true, false],
+    [true, 20.0, 2.0, -0.0005, true, false],
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+      [-0.40825407552453624, 0.015828775241971016, 0.24828776717185974, 1.658023476600647, -0.0009229235001839697, -0.29179736971855164, 0.9947971654884007],
+      [-0.38586022378762674, 0.014087983407080173, 0.23087982833385468, 1.5766654014587402, -0.0007389792008325458, -0.29259806871414185, 0.9948095529007845]
+    ]
+  },
+  "corrections": {
+    "2746116c4f1040ff28312cd481ed59a43ace3fc1": "Unwind freezes the integrator when steering magnitude decreases in either direction."
+  }
+}
diff --git a/openpilot/starpilot/flm/tests/testdata/ioniq6_controller_live_update.json b/openpilot/starpilot/flm/tests/testdata/ioniq6_controller_live_update.json
new file mode 100644
index 0000000000..bb236e1e1e
--- /dev/null
+++ b/openpilot/starpilot/flm/tests/testdata/ioniq6_controller_live_update.json
@@ -0,0 +1,681 @@
+{
+  "sourceControllerSha256": "3561d5ac43a72f9b68bc9e44042b8f5cbdca406dec940e7648c64607862a60f7",
+  "fields": ["output", "desiredLateralAccel", "desiredLateralJerk", "p", "i", "f", "directionalFilter"],
+  "cases": {
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+        [-0.40825407552453624, 0.015828775241971016, 0.24828776717185974, 1.658023476600647, -0.0009229235001839697, -0.29179736971855164, 0.9947971654884007],
+        [-0.38586022378762674, 0.014087983407080173, 0.23087982833385468, 1.5766654014587402, -0.0007389792008325458, -0.29259806871414185, 0.9948095529007845]
+      ]
+    }
+  },
+  "corrections": {
+    "2746116c4f1040ff28312cd481ed59a43ace3fc1": "Unwind freezes the integrator when steering magnitude decreases in either direction."
+  }
+}
diff --git a/openpilot/starpilot/flm/tests/testdata/ioniq6_controller_replay.json b/openpilot/starpilot/flm/tests/testdata/ioniq6_controller_replay.json
new file mode 100644
index 0000000000..c8479aa328
--- /dev/null
+++ b/openpilot/starpilot/flm/tests/testdata/ioniq6_controller_replay.json
@@ -0,0 +1,139 @@
+{
+  "sourceCommit": "678af783",
+  "controllerSha256": "3561d5ac43a72f9b68bc9e44042b8f5cbdca406dec940e7648c64607862a60f7",
+  "helperSha256": "2a7793c6ee4b53b45070d3267a01e8c7105dfd8df9d38cdfc96cfe4b672a125b",
+  "fields": ["output", "desiredLateralAccel", "desiredLateralJerk", "p", "i", "f", "directionalFilter"],
+  "cases": {
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+      [0.3958426118913092, -0.6101512312889099, 1.1884877681732178, -1.0132180452346802, -0.0013800781453028321, -0.6933526396751404, 0.9304395954054268],
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+      [0.09121441906277902, 0.1974666267633438, 1.1906663179397583, -0.14468127489089966, -0.0013800781453028321, -0.19182172417640686, 0.9303986060329053],
+      [0.10272071436991616, 0.1891186386346817, 1.1071864366531372, -0.16772553324699402, -0.0013592970790341496, -0.21148933470249176, 0.9308865510565729],
+      [0.11325653863995695, 0.18135595321655273, 1.0295594930648804, -0.18915407359600067, -0.0016471401322633028, -0.2288757711648941, 0.9314381973895504],
+      [0.1228192862316972, 0.17413750290870667, 0.9573751091957092, -0.20908012986183167, -0.001965305535122752, -0.24413321912288666, 0.9320461536047748],
+      [-0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0],
+      [-0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0],
+      [-0.1838782763203542, -0.003141704946756363, -0.004417050164192915, 0.8457168340682983, 9.866696200333536e-05, -0.3018612265586853, 0.9995935936517069],
+      [-0.18010184692892778, -0.0035524412523955107, -0.008524413220584393, 0.8320255279541016, 0.00019573660392779857, -0.30209097266197205, 0.999194945848787],
+      [-0.176590585847015, -0.003934380132704973, -0.012343800626695156, 0.8192852139472961, 0.00029131988412700593, -0.30229949951171875, 0.9988040108797638],
+      [-0.23277761972196384, 0.00156875466927886, -0.02031245268881321, 1.0144683122634888, 0.00040967451059259474, -0.2919234335422516, 0.9987354006918017]
+    ]
+  },
+  "corrections": {
+    "2746116c4f1040ff28312cd481ed59a43ace3fc1": "Unwind freezes the integrator when steering magnitude decreases in either direction."
+  }
+}