[AZ-696] chore: cycle-2 bootstrap — gitignore tlog inputs, Step 9 PBIs

Pre-implement chore commit to land orchestration artifacts produced by
autodev cycle-2 Step 9 (New Task), so that Step 10 (Implement) starts
against a clean working tree.

What's included:

- .gitignore: exclude _docs/00_problem/input_data/**/*.{tlog,mp4,h264}
  (derkachi.tlog is a 5.8 MB binary input and stays out-of-band).
- _docs/02_tasks/todo/AZ-697..AZ-702: 6 new PBI specs under epic AZ-696
  (tlog ground-truth extractor, mid-flight trim+align, real-flight
  validation runner, replay map viz, HTTP replay API, KHP20S30 calib).
- _docs/02_tasks/_dependencies_table.md: dep edges for the 6 PBIs.
- _docs/_autodev_state.md: status -> in_progress, step 10 cycle 2.
- _docs/_process_leftovers/...opencv_pin_deferred.md: replay-attempt
  timestamp refreshed (gtsam-numpy-2 wheels still not published;
  leftover remains open).

No source code is modified by this commit.

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

_docs/02_tasks/todo/AZ-700_replay_map_visualization.md

@@ -0,0 +1,108 @@
+# Replay map visualization (estimated vs ground-truth tracks)
+
+**Task**: AZ-700_replay_map_visualization
+**Name**: HTML map showing estimated GPS track vs tlog ground-truth track
+**Description**: New `gps-denied-render-map` console script. Takes a JSONL of estimator output + a tlog (or CSV fallback) and renders a single-file HTML map (folium / Leaflet) with both tracks in distinct colors, start/end markers, and an embedded accuracy summary from AZ-699.
+**Complexity**: 3 points
+**Dependencies**: AZ-699
+**Component**: cli (offline analysis surface)
+**Tracker**: AZ-700
+**Epic**: AZ-696
+
+## Problem
+
+Today the only feedback from a replay run is a JSONL file. There is no
+way to visually verify whether the estimator is drifting, jumping, or
+roughly tracking the real flight. A human reading the JSONL cannot
+quickly answer "does this make sense geographically?"
+
+The user's pipeline explicitly calls for: "and then show both points on
+the map."
+
+## Outcome
+
+- A standalone CLI `gps-denied-render-map` produces a self-contained
+  HTML map of the estimated track + the tlog ground-truth track for any
+  prior replay run.
+- The map is shareable as a single file (no server required); developers
+  open it locally; AZ-701's HTTP API serves it back to API consumers.
+
+## Scope
+
+### Included
+- New module `src/gps_denied_onboard/cli/render_map.py`.
+- New console script `gps-denied-render-map` in `pyproject.toml`.
+- folium dependency pin in the appropriate `[project.optional-dependencies]` group (NOT in airborne-binary deps — operator-side only).
+- Default map style + tile provider (OpenStreetMap fallback documented for offline use).
+- Auto-fit bounds; distance circles (100 m, 50 m) around start point for scale.
+- Accuracy summary banner (read from `_docs/06_metrics/real_flight_validation_{date}.md` when `--summary` is passed).
+
+### Excluded
+- Interactive time-slider playback (deferred follow-up).
+- Embedded altitude profile chart.
+- Animated marker traversal.
+
+## Acceptance Criteria
+
+**AC-1: CLI produces self-contained HTML**
+Given a JSONL + tlog
+When `gps-denied-render-map --estimated out.jsonl --truth derkachi.tlog --output map.html` runs
+Then `map.html` exists, parses as valid HTML, exits 0
+
+**AC-2: Two distinct tracks visible**
+Given the rendered map opened in a browser
+When inspected
+Then it contains exactly two polyline layers (red = truth, blue = estimated) with start/end markers
+
+**AC-3: Markers + scale circles**
+Given the rendered map
+When parsed
+Then it contains the start (green) + end (black) markers + 100 m + 50 m scale circles
+
+**AC-4: Accuracy summary inclusion**
+Given `--summary _docs/06_metrics/real_flight_validation_2026-XX-XX.md`
+When the map renders
+Then the HTML header contains the accuracy metrics table
+
+**AC-5: Offline fallback documented**
+Given an environment without internet access
+When the map is rendered with `--offline-tiles`
+Then tile loading uses a documented fallback (or fails fast with a clear error if no fallback is configured)
+
+## Non-Functional Requirements
+
+**Compatibility**
+- Output HTML must render in Chrome 110+ and Firefox 110+ without console errors.
+
+**Performance**
+- For a 60 s flight (~600 truth points + ~600 estimated points), render time < 5 s on Tier-1 hardware.
+
+## Unit Tests
+
+| AC Ref | What to Test | Required Outcome |
+|--------|-------------|-----------------|
+| AC-1 | CLI invocation with synthetic data | Output HTML file exists + non-empty |
+| AC-2 | Parse output HTML | Exactly 2 polyline layers + 4 expected markers |
+| AC-4 | Summary embed | Markdown summary metrics present in HTML |
+
+## Blackbox Tests
+
+| AC Ref | Initial Data/Conditions | What to Test | Expected Behavior | NFR References |
+|--------|------------------------|-------------|-------------------|----------------|
+| AC-1 | Real Derkachi replay JSONL + tlog | End-to-end render | HTML opens in browser, both tracks visible | Compat |
+
+## Constraints
+
+- folium MUST be in the operator-only dep group; airborne binary cold-start regression test must remain green.
+- HTML output MUST be self-contained — embedded JS/CSS, no per-page CDN calls in `--offline-tiles` mode.
+- Console script naming follows the project pattern (`gps-denied-<verb>`).
+
+## Risks & Mitigation
+
+**Risk 1: folium dep size**
+- *Risk*: folium pulls ~5 MB of JS. Adding to airborne deps would regress cold-start.
+- *Mitigation*: optional-dependencies group + ADR-002 build-time exclusion principle.
+
+**Risk 2: CDN dependency at render time**
+- *Risk*: Default folium uses Leaflet via CDN — fails on offline Jetsons.
+- *Mitigation*: Document `--offline-tiles` flag; provide bundled assets path or fail-fast.