[AZ-698] Tlog trim + mid-flight alignment for replay

Adds find_aligned_window cross-correlation (NCC, per-window unit norm)
between IMU energy and video optical-flow magnitude. Returns
AlignedWindow{tlog_start_ns, tlog_end_ns, offset_ms, confidence,
used_fallback}, with fallback to head-takeoff on low confidence to
preserve AZ-405 behavior. TlogReplayFcAdapter honors tlog_start_ns and
skips pre-window messages. New --auto-trim CLI flag, mutex with
--time-offset-ms. AC-1..AC-4 covered by unit tests; AC-5 skipped (no
real flight_derkachi.mp4 in repo). 106 tests pass in regression slice.
Zero new mypy --strict errors.

Co-authored-by: Cursor <cursoragent@cursor.com>

src/gps_denied_onboard/runtime_root/_replay_branch.py

@@ -226,6 +226,7 @@ def _build_replay_input_bundle(
             pace=pace,
             manual_time_offset_ms=config.replay.time_offset_ms,
             skip_auto_sync_validation=config.replay.skip_auto_sync_validation,
+            auto_trim=config.replay.auto_trim,
             auto_sync_config=auto_sync,
             mavlink_transport=mavlink_transport,
         )
@@ -267,6 +268,9 @@ def _build_auto_sync_config(config: Config) -> AutoSyncConfig:
         match_threshold_pct=block.match_threshold_pct,
         match_window_ms=block.match_window_ms,
         low_confidence_threshold=block.low_confidence_threshold,
+        alignment_resample_hz=block.alignment_resample_hz,
+        alignment_video_scan_seconds=block.alignment_video_scan_seconds,
+        alignment_low_confidence_threshold=block.alignment_low_confidence_threshold,
     )