Torso: the TWIST goes LIVE -- electrical watchdog chain, centered crosshair, coherent controls (task #57/#58)

The MadCat torso twists, the view turns with it, and targeting follows.
Three reconstruction fronts closed:

THE ELECTRICAL WATCHDOG CHAIN (why the torso never powered up):
- PowerWatcher::UpdateWatch reconstructed (@004b181c, the REAL registered
  Performance -- PTR @0050f5fc; Ghidra missed the fn start): the watchdog
  MIRRORS the watched subsystem's electrical level (+0x278), brownout
  downgrade when gen output <= minVoltage% x rated.  @004b1804 relabeled
  ResetToInitialState (slot 10) -- the old "Simulation" tag was wrong.
- The factory watcher-CONNECT pass reconstructed (vtable slot +0x38,
  @004aee2c/@004b1a40 byte-identical, recovered from raw exe bytes):
  watchedLink.Add(roster[watchedSubsystem]) on the master node.  Was the
  SubProxy::Start() no-op -- every watchdog sat at 0 forever.
- MinVoltageScale = 0.01 (a 10-byte x87 literal @0x4b1924; was 1.0f =
  permanent brownout) and PowerWatcher's Derivation chains its REAL base
  HeatWatcher (the HeatableSubsystem stand-in broke IsDerivedFrom for the
  whole Torso/Searchlight/ThermalSight family).
- KB correction swept: derivation tag 0x50e604 = HEATWATCHER (not
  "HeatSink"); the btl4gaug heat-widget gate now tests it via the
  BTIsHeatWatcher bridge.

THE CROSSHAIR (task #58 forensics, 6-agent workflow + live probes):
- The VIEW is TORSO-MOUNTED: jointtorso -> jointeye -> siteeyepoint in
  every twist-capable .SKL; the camera + canopy ride the same hinge
  subtree through HingeRenderable's live matrix-stack compose -- ALREADY
  WORKING in the port.  The crosshair stays screen-centered (center IS
  the boresight); the twist reads on the tape carets/compass/radar.
- The real bug was the port's gBTAimX = tan(twist) slew (the falsified
  "body-mounted view" model): the camera already carried the twist, so
  the crosshair counter-slid to hull-forward and the fire ray with it.
  Deleted; the pick ray inherits the twist from the yawing eye basis.
- Two instrumentation traps documented (chase-eye-as-default-camera,
  BT_FORCE_TORSO clobbering real joints -> the hook now only fills
  unresolved ones); an over-correcting explicit eye compose was added on
  those false readings and retired the same day.

CONTROLS + REPLICATION:
- Q/E spring-center on release (the axis is a twist-RATE demand; the old
  hold-deflection model drifted forever); X also zeroes the axis and
  pulses the authentic torso Recenter (@004b6918).  M cycles control
  mode via the real CycleControlMode body.
- Torso update-record DIRECTION fixed: engine truth is Write=serialize /
  Read=apply; @004b6a78 is the READ (was mislabeled Write) and the
  missing WRITE @004b6a1c recovered from raw disasm (recordLength 0x1C,
  twist/vel/rate at +0x10/14/18) -- kills the replicant's 0xCDCDCDCD
  -140-degree ghost twist.
- Marching-ghost desync: 4 Standing-case guards zero stale reverse
  cycleSpeed (negative cadence passed the <= ZeroSpeed stop gate).
- Kill credit rerouted to the OBSERVED killer (lastInflictingID ->
  killer's player link) -- kills count, target K/D populates.

KB: subsystems.md (watcher chain), multiplayer.md (record direction),
combat-damage.md + gauges-hud.md + cockpit-view.md (torso-mounted view
re-correction), decomp-reference.md (new addresses + tag fix),
open-questions.md (dead capability-roster loops 2-4, snapshot CD read).

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

context/locomotion.md

@@ -22,6 +22,21 @@ engine `AnimationInstance::Animate(dt, move_joints)` integrates `movement += Δt
 moves the body that far → feet plant by construction (no stride constant; k=1). Idle anims have
 z=0. The `.MOD` physics governed thrust VEHICLES, NOT walk gait. [T1]
 
+## The MARCHING-GHOST desync — ROOT-CAUSED + FIXED (2026-07-13, live diagnosis) [T2]
+The long-parked "replicant walks in place while its master stands still" reproduced live with
+telemetry running: the master's `[gaitSM]` showed `state=0 cycleSpeed=-2.50725 kfCur=19` — BOTH
+channels stuck at a REVERSE cadence inside Standing.  Mechanism: the walk-family stop gate
+(`cycleSpeed <= ZeroSpeed`, mech2.cpp) passes trivially for NEGATIVE (reverse) cadences, and
+several stand-entry paths (turn exit, terminal poses) never touch the cycle — so a reverse-stop
+enters Standing at full reverse cycle speed.  The master looks still (case-0 never advances the
+clip; `kfCur` freezes) but the stale cycle REPLICATES, and the peer's replicant animates it =
+the marching ghost.  A clean FORWARD stop decays the cycle first (`legSum ~3e-8` on the healthy
+node) — which is why the bug was intermittent and direction-dependent.  FIX: all four
+Advance*Animation Standing cases zero their channel's cycle on entry + ForceUpdate(8) so the
+peer hears the stop immediately.  (The signed-demand change (task #15) is what let negative
+cycles reach machinery written for forward decel.)  The earlier "bob reduction + stutter"
+symptom family likely shares this root — re-observe after this fix before chasing separately.
+
 ## The two-channel gait (real controls)
 The BT `SequenceController` (`seqctl.cpp`, from `SelectSequence@004277a8`+`Advance@0042790c`) drives
 locomotion. Under `BT_REAL_CONTROLS` two channels run — **roles corrected 2026-07-09 (task #49) from