{
  "formula": "Normalized Berti (2022) ARC, exact signed 8-neighbor 3D edge cost; implicit exact A* routing.",
  "heuristic": "Global minimum ARC at -7.5° × Euclidean distance to the destination gate bounding box; admissible and independently verified with SciPy.",
  "gates": "Original 10 m gate cells represented as 10 m wide footprints, projected onto the closest fine-grid row; coordinates and original side axis fixed.",
  "cost_elevation": "Native 2 m elevation grid formed by block means of the 1 m digital terrain model (DTM). Native ascent and standardized ascent interpolated from the mean 10 m DTM are both reported. Comparing the same 2 m model before and after the cliff mask isolates the barrier effect.",
  "broad_slope": "Central gradient of the mean 10 m DTM (20 m support), interpolated to 2 m; primary cutoff 35°.",
  "fine_cliff": "Native 1 m slope ≥ 60° using a 2 m central difference AND relief ≥ 5 m in an 11 × 11 sample window (10 m center span). Sensitivity cases use 45°/70° thresholds and a 4 m stencil. A 2 m cell is blocked if ANY 1 m subcell qualifies.",
  "water": "Original modeled A–D polygons plus ponds, conservative rasterization using a half-cell diagonal; 10 m expansion sensitivity reported separately; streams remain traversable.",
  "route_rows": 200,
  "min_domain_edge_m": 745.0,
  "all_paths_verified": true,
  "no_species_passability_claim": true
}