/* Base theme ------------------------------------------------------------ */
:root {
  --bg: #07111f;
  --bg-2: #0a1829;
  --panel: rgba(12, 28, 48, 0.78);
  --panel-strong: rgba(15, 40, 66, 0.94);
  --line: rgba(100, 210, 255, 0.22);
  --line-strong: rgba(111, 227, 255, 0.62);
  --text: #e8f6ff;
  --muted: #9bb5c9;
  --cyan: #42d9ff;
  --blue: #4c8dff;
  --green: #63e6be;
  --warning: #ffc66d;
  --danger: #ff7d8b;
  --shadow: 0 24px 80px rgba(0, 0, 0, 0.32);
  --radius: 8px;
}

* {
  box-sizing: border-box;
}

html {
  scroll-behavior: smooth;
}

body {
  margin: 0;
  color: var(--text);
  background:
    radial-gradient(circle at 18% 12%, rgba(66, 217, 255, 0.12), transparent 32rem),
    radial-gradient(circle at 86% 18%, rgba(76, 141, 255, 0.11), transparent 34rem),
    linear-gradient(180deg, #06101d 0%, #091524 42%, #07111f 100%);
  font-family: Arial, "Noto Sans KR", "Malgun Gothic", sans-serif;
  line-height: 1.65;
  overflow-x: hidden;
}

a {
  color: inherit;
  text-decoration: none;
}

button {
  font: inherit;
}

.site-grid {
  position: fixed;
  inset: 0;
  pointer-events: none;
  background-image:
    linear-gradient(rgba(87, 188, 230, 0.07) 1px, transparent 1px),
    linear-gradient(90deg, rgba(87, 188, 230, 0.07) 1px, transparent 1px);
  background-size: 58px 58px;
  mask-image: linear-gradient(to bottom, rgba(0, 0, 0, 0.8), transparent 88%);
  z-index: -1;
}

.section-panel {
  position: relative;
  min-height: 100vh;
  padding: 112px clamp(18px, 5vw, 72px);
}

.content-section {
  max-width: 1220px;
  margin: 0 auto;
}

.section-heading {
  max-width: 860px;
  margin-bottom: 38px;
}

.section-heading h2,
.hero h1,
.final-copy h2 {
  margin: 0;
  letter-spacing: 0;
  line-height: 1.06;
}

.section-heading h2 {
  font-size: clamp(2rem, 4vw, 4rem);
}

.section-heading p {
  color: var(--muted);
  font-size: 1.06rem;
}

.section-number,
.eyebrow,
.info-label {
  display: inline-flex;
  align-items: center;
  gap: 8px;
  color: var(--cyan);
  font-size: 0.78rem;
  font-weight: 700;
  letter-spacing: 0.12em;
  text-transform: uppercase;
}

.lead-question {
  color: var(--text) !important;
  font-size: clamp(1.24rem, 2.2vw, 1.6rem) !important;
  font-weight: 700;
}

.primary-button,
.secondary-button,
.mode-button,
.step-button,
.connect-button {
  display: inline-flex;
  align-items: center;
  justify-content: center;
  min-height: 46px;
  border: 1px solid rgba(98, 215, 255, 0.5);
  border-radius: var(--radius);
  color: var(--text);
  background: linear-gradient(135deg, rgba(66, 217, 255, 0.22), rgba(76, 141, 255, 0.14));
  cursor: pointer;
  transition: transform 180ms ease, border-color 180ms ease, background 180ms ease;
}

.primary-button {
  padding: 0 22px;
  font-weight: 700;
}

.secondary-button,
.mode-button,
.step-button,
.connect-button {
  padding: 0 16px;
}

.primary-button:hover,
.secondary-button:hover,
.mode-button:hover,
.step-button:hover,
.connect-button:hover {
  transform: translateY(-2px);
  border-color: rgba(99, 230, 190, 0.8);
}

/* Navigation ------------------------------------------------------------ */
.top-nav {
  position: fixed;
  top: 0;
  left: 0;
  right: 0;
  z-index: 20;
  display: flex;
  align-items: center;
  justify-content: space-between;
  gap: 24px;
  height: 76px;
  padding: 0 clamp(18px, 5vw, 72px);
  border-bottom: 1px solid rgba(99, 213, 255, 0.12);
  background: rgba(6, 16, 29, 0.62);
  backdrop-filter: blur(18px);
  transition: height 180ms ease, background 180ms ease;
}

.top-nav.compact {
  height: 62px;
  background: rgba(5, 13, 24, 0.92);
}

.brand {
  display: inline-flex;
  align-items: center;
  gap: 10px;
  font-weight: 800;
  white-space: nowrap;
}

.brand-mark {
  width: 30px;
  height: 30px;
  border: 1px solid rgba(66, 217, 255, 0.68);
  border-radius: 50%;
  background:
    radial-gradient(circle, var(--cyan) 0 3px, transparent 4px),
    conic-gradient(from 90deg, transparent, rgba(66, 217, 255, 0.42), transparent);
}

.nav-links {
  display: flex;
  align-items: center;
  gap: 6px;
}

.nav-links a {
  padding: 8px 12px;
  border-radius: 999px;
  color: var(--muted);
  font-size: 0.92rem;
  transition: color 160ms ease, background 160ms ease;
}

.nav-links a:hover,
.nav-links a.active {
  color: var(--text);
  background: rgba(66, 217, 255, 0.12);
}

.nav-toggle {
  display: none;
  width: 42px;
  height: 42px;
  border: 1px solid var(--line);
  border-radius: var(--radius);
  background: rgba(9, 24, 41, 0.8);
}

.nav-toggle span {
  display: block;
  width: 18px;
  height: 2px;
  margin: 4px auto;
  background: var(--text);
}

/* Hero ------------------------------------------------------------------ */
.hero {
  display: grid;
  grid-template-columns: minmax(0, 1fr) minmax(360px, 0.86fr);
  align-items: center;
  gap: clamp(34px, 7vw, 92px);
  max-width: 1320px;
  margin: 0 auto;
}

.hero h1 {
  max-width: 820px;
  margin-top: 14px;
  font-size: clamp(3.4rem, 8vw, 7.4rem);
}

.hero h2 {
  margin: 20px 0 0;
  color: #cfefff;
  font-size: clamp(1.35rem, 2.2vw, 2rem);
}

.hero-description {
  max-width: 700px;
  margin: 22px 0 30px;
  color: var(--muted);
  font-size: 1.12rem;
}

.hero-network {
  min-height: 480px;
  padding: 18px;
  border: 1px solid var(--line);
  border-radius: var(--radius);
  background: linear-gradient(145deg, rgba(10, 24, 41, 0.72), rgba(7, 17, 31, 0.38));
  box-shadow: var(--shadow);
}

.hero-network svg {
  display: block;
  width: 100%;
  height: 100%;
  min-height: 430px;
}

.network-line,
.coop-line {
  stroke: rgba(90, 218, 255, 0.38);
  stroke-width: 2;
  stroke-dasharray: 8 10;
}

.vehicle-node circle {
  fill: rgba(9, 30, 51, 0.96);
  stroke: rgba(99, 230, 190, 0.7);
  stroke-width: 2;
  filter: url(#heroGlow);
}

.vehicle-node text {
  fill: var(--text);
  font-size: 17px;
  font-weight: 700;
  text-anchor: middle;
}

.packet,
.coop-packet {
  fill: var(--cyan);
  filter: url(#heroGlow);
}

.packet-one {
  animation: packetVertical 2.6s linear infinite;
}

.packet-two {
  animation: packetDiagonalOne 3s linear infinite;
}

.packet-three {
  animation: packetDiagonalTwo 3.2s linear infinite;
}

.orbit-ring {
  fill: none;
  stroke: rgba(66, 217, 255, 0.16);
  stroke-width: 1;
}

@keyframes packetVertical {
  0% { transform: translateY(0); opacity: 0; }
  10%, 88% { opacity: 1; }
  100% { transform: translateY(135px); opacity: 0; }
}

@keyframes packetDiagonalOne {
  0% { transform: translate(0, 0); opacity: 0; }
  12%, 86% { opacity: 1; }
  100% { transform: translate(200px, -50px); opacity: 0; }
}

@keyframes packetDiagonalTwo {
  0% { transform: translate(0, 0); opacity: 0; }
  12%, 86% { opacity: 1; }
  100% { transform: translate(-200px, -85px); opacity: 0; }
}

/* Localization sensors -------------------------------------------------- */
.sensor-layout {
  display: grid;
  grid-template-columns: minmax(0, 1fr) 330px;
  gap: 26px;
}

.sensor-stage,
.drift-demo,
.cooperation-demo,
.step-system,
.compare-tool,
.simulator,
.ocean-scene,
.acoustic-layout,
.research-card,
.benefit-challenge article {
  border: 1px solid var(--line);
  border-radius: var(--radius);
  background: var(--panel);
  box-shadow: var(--shadow);
}

.sensor-stage {
  position: relative;
  min-height: 430px;
  overflow: hidden;
}

.sensor-stage::before {
  content: "";
  position: absolute;
  inset: 22px;
  border: 1px dashed rgba(66, 217, 255, 0.16);
}

.road {
  position: absolute;
  left: 16%;
  right: 16%;
  top: 50%;
  height: 86px;
  transform: translateY(-50%);
  background:
    linear-gradient(90deg, transparent 0 45%, rgba(255, 255, 255, 0.24) 45% 55%, transparent 55% 100%),
    rgba(16, 34, 54, 0.9);
}

.css-car {
  position: absolute;
  width: 170px;
  height: 72px;
  border: 2px solid rgba(99, 230, 190, 0.9);
  border-radius: 22px 34px 18px 18px;
  background: linear-gradient(135deg, rgba(66, 217, 255, 0.32), rgba(76, 141, 255, 0.2));
  box-shadow: 0 0 28px rgba(66, 217, 255, 0.18);
}

.css-car::before,
.css-car::after {
  content: "";
  position: absolute;
  bottom: -13px;
  width: 28px;
  height: 28px;
  border-radius: 50%;
  background: #08111e;
  border: 4px solid #c7eaff;
}

.css-car::before {
  left: 24px;
}

.css-car::after {
  right: 24px;
}

.css-car span {
  position: absolute;
  left: 48px;
  top: 14px;
  width: 68px;
  height: 22px;
  border-radius: 14px 20px 5px 5px;
  background: rgba(224, 248, 255, 0.3);
}

.main-car {
  left: 50%;
  top: 52%;
  transform: translate(-50%, -50%);
}

.sensor-chip {
  position: absolute;
  min-width: 92px;
  min-height: 42px;
  border: 1px solid rgba(66, 217, 255, 0.38);
  border-radius: var(--radius);
  color: var(--text);
  background: rgba(7, 20, 35, 0.88);
  cursor: pointer;
  transition: transform 160ms ease, border-color 160ms ease, background 160ms ease;
}

.sensor-chip:hover,
.sensor-chip.active {
  transform: translateY(-3px);
  border-color: rgba(99, 230, 190, 0.9);
  background: rgba(26, 75, 100, 0.8);
}

.sensor-chip::after {
  content: "";
  position: absolute;
  width: 2px;
  height: 88px;
  left: 50%;
  top: 100%;
  background: linear-gradient(var(--line-strong), transparent);
  transform-origin: top;
}

.sensor-gnss {
  left: 50%;
  top: 34px;
  transform: translateX(-50%);
}

.sensor-gnss:hover,
.sensor-gnss.active {
  transform: translateX(-50%) translateY(-3px);
}

.sensor-gnss::after {
  height: 110px;
}

.sensor-imu {
  left: 10%;
  top: 50%;
}

.sensor-imu::after {
  top: 50%;
  left: 100%;
  height: 160px;
  transform: rotate(90deg);
}

.sensor-lidar {
  right: 10%;
  top: 50%;
}

.sensor-lidar::after {
  top: 50%;
  left: auto;
  right: 100%;
  height: 160px;
  transform: rotate(-90deg);
}

.sensor-camera {
  left: 50%;
  bottom: 38px;
  transform: translateX(-50%);
}

.sensor-camera:hover,
.sensor-camera.active {
  transform: translateX(-50%) translateY(-3px);
}

.sensor-camera::after {
  top: auto;
  bottom: 100%;
  height: 90px;
  background: linear-gradient(transparent, var(--line-strong));
}

.sensor-info {
  min-height: 260px;
  padding: 26px;
  border: 1px solid var(--line);
  border-radius: var(--radius);
  background: var(--panel-strong);
}

.sensor-info h3 {
  margin: 16px 0 10px;
  font-size: 2rem;
}

.sensor-info p:last-child {
  color: var(--muted);
}

/* Problem section ------------------------------------------------------- */
.problem-grid {
  display: grid;
  grid-template-columns: repeat(5, minmax(0, 1fr));
  gap: 14px;
}

.problem-card,
.application-card {
  min-height: 190px;
  padding: 20px;
  border: 1px solid var(--line);
  border-radius: var(--radius);
  color: var(--text);
  background: rgba(12, 29, 49, 0.78);
}

.problem-card span,
.application-card span {
  color: var(--cyan);
  font-weight: 800;
}

.problem-card h3,
.application-card h3 {
  margin: 14px 0 8px;
  line-height: 1.2;
}

.problem-card p,
.application-card p {
  margin: 0;
  color: var(--muted);
  font-size: 0.94rem;
}

.drift-demo {
  margin-top: 26px;
  padding: 26px;
}

.drift-track {
  position: relative;
  height: 230px;
  overflow: hidden;
  border-radius: var(--radius);
  background:
    linear-gradient(90deg, rgba(66, 217, 255, 0.08) 1px, transparent 1px),
    linear-gradient(rgba(66, 217, 255, 0.08) 1px, transparent 1px),
    rgba(5, 17, 30, 0.76);
  background-size: 45px 45px;
}

.path-line {
  position: absolute;
  left: 7%;
  top: 50%;
  width: 86%;
  height: 2px;
  background: rgba(255, 255, 255, 0.16);
}

.mini-car {
  position: absolute;
  width: 86px;
  height: 34px;
  display: grid;
  place-items: center;
  border-radius: 16px 20px 10px 10px;
  font-size: 0.72rem;
  font-weight: 700;
}

.actual-car {
  left: 7%;
  top: 96px;
  color: #06201a;
  background: var(--green);
  animation: actualMove 7s linear infinite;
}

.estimated-car {
  left: 7%;
  top: 132px;
  border: 1px dashed var(--danger);
  color: var(--danger);
  background: rgba(255, 125, 139, 0.12);
  animation: estimatedDrift 7s linear infinite;
}

.bridge-message {
  margin: 22px 0 0;
  text-align: center;
  color: var(--text);
  font-size: clamp(1.3rem, 2.5vw, 2.2rem);
  font-weight: 800;
}

@keyframes actualMove {
  from { transform: translateX(0); }
  to { transform: translateX(760px); }
}

@keyframes estimatedDrift {
  from { transform: translate(0, 0); }
  to { transform: translate(760px, 42px); }
}

/* Cooperative and steps ------------------------------------------------- */
.cooperation-demo {
  position: relative;
  padding: 24px;
  overflow: hidden;
}

.connect-button {
  position: absolute;
  right: 24px;
  top: 24px;
  z-index: 1;
}

.cooperation-demo svg {
  width: 100%;
  min-height: 390px;
}

.coop-line,
.coop-packet {
  opacity: 0;
  transition: opacity 260ms ease;
}

.cooperation-demo.connected .coop-line,
.cooperation-demo.connected .coop-packet {
  opacity: 1;
}

.cooperation-demo.connected .p1 {
  animation: coopPacketOne 2.5s linear infinite;
}

.cooperation-demo.connected .p2 {
  animation: coopPacketTwo 2.8s linear infinite;
}

.cooperation-demo.connected .p3 {
  animation: coopPacketThree 3s linear infinite;
}

@keyframes coopPacketOne {
  from { transform: translate(0, 0); }
  to { transform: translate(330px, 0); }
}

@keyframes coopPacketTwo {
  from { transform: translate(0, 0); }
  to { transform: translate(-160px, 170px); }
}

@keyframes coopPacketThree {
  from { transform: translate(0, 0); }
  to { transform: translate(-170px, -170px); }
}

.data-tags {
  display: flex;
  flex-wrap: wrap;
  gap: 10px;
}

.data-tags span,
.paper-tags span {
  display: inline-flex;
  padding: 7px 11px;
  border: 1px solid rgba(66, 217, 255, 0.28);
  border-radius: 999px;
  color: #ccefff;
  background: rgba(66, 217, 255, 0.08);
  font-size: 0.86rem;
}

.step-system {
  display: grid;
  grid-template-columns: 280px minmax(0, 1fr);
  gap: 20px;
  padding: 24px;
}

.step-buttons {
  display: grid;
  align-content: start;
  gap: 10px;
}

.step-button {
  justify-content: flex-start;
  color: var(--muted);
  background: rgba(8, 22, 38, 0.8);
}

.step-button.active,
.mode-button.active {
  color: var(--text);
  border-color: rgba(99, 230, 190, 0.9);
  background: rgba(25, 84, 101, 0.74);
}

.step-visual {
  min-height: 380px;
  position: relative;
  overflow: hidden;
  border-radius: var(--radius);
  background: rgba(5, 15, 28, 0.72);
}

.flow-card {
  position: absolute;
  inset: 0;
  display: grid;
  align-content: center;
  gap: 18px;
  padding: clamp(20px, 5vw, 52px);
  opacity: 0;
  transform: translateY(12px);
  pointer-events: none;
  transition: opacity 220ms ease, transform 220ms ease;
}

.flow-card.active {
  opacity: 1;
  transform: translateY(0);
  pointer-events: auto;
}

/* STEP 3 has an intentionally longer explanation than the other steps. */
.flow-card[data-step-panel="cooperate"] {
  overflow-y: auto;
  overscroll-behavior: contain;
  scrollbar-width: thin;
  scrollbar-color: var(--cyan) rgba(66, 217, 255, 0.08);
}

.flow-card[data-step-panel="cooperate"]::-webkit-scrollbar {
  width: 8px;
}

.flow-card[data-step-panel="cooperate"]::-webkit-scrollbar-track {
  border-radius: 999px;
  background: rgba(66, 217, 255, 0.08);
}

.flow-card[data-step-panel="cooperate"]::-webkit-scrollbar-thumb {
  border-radius: 999px;
  background: rgba(66, 217, 255, 0.62);
}

.flow-card h3 {
  margin: 0;
  font-size: clamp(2rem, 5vw, 4rem);
}

.flow-card p {
  margin: 0;
  color: var(--muted);
}

.flow-line,
.two-node-flow,
.fusion-stack {
  display: grid;
  gap: 14px;
}

.flow-line span,
.flow-line strong,
.two-node-flow span,
.two-node-flow b,
.fusion-stack span,
.fusion-stack strong,
.fusion-stack em {
  display: block;
  padding: 15px 18px;
  border: 1px solid var(--line);
  border-radius: var(--radius);
  background: rgba(66, 217, 255, 0.08);
  font-style: normal;
}

.flow-line strong,
.fusion-stack em {
  color: var(--green);
}

/* Comparison ------------------------------------------------------------ */
.compare-tool {
  padding: 24px;
}

.compare-labels {
  display: grid;
  grid-template-columns: 1fr 1fr;
  gap: 24px;
  margin-bottom: 18px;
}

.compare-labels h3,
.compare-labels p {
  margin: 0;
}

.compare-labels p {
  color: var(--muted);
}

.compare-stage {
  position: relative;
  height: 300px;
  overflow: hidden;
  border: 1px solid rgba(66, 217, 255, 0.14);
  border-radius: var(--radius);
  background: rgba(5, 15, 28, 0.74);
}

.compare-layer {
  position: absolute;
  inset: 0;
}

.cooperative-layer {
  width: 100%;
  overflow: hidden;
  background: linear-gradient(90deg, rgba(19, 58, 72, 0.9), rgba(14, 35, 58, 0.9));
}

.cooperative-layer svg {
  position: absolute;
  inset: 0;
  width: 100%;
  height: 100%;
}

.cooperative-layer line {
  stroke: rgba(99, 230, 190, 0.65);
  stroke-width: 3;
  stroke-dasharray: 10 12;
  animation: dashFlow 2.6s linear infinite;
}

.dot-car {
  position: absolute;
  width: 50px;
  height: 30px;
  border-radius: 14px 18px 9px 9px;
  background: var(--cyan);
  box-shadow: 0 0 20px rgba(66, 217, 255, 0.28);
}

.dot-car::after {
  content: "";
  position: absolute;
  inset: 8px 12px auto auto;
  width: 14px;
  height: 7px;
  border-radius: 5px;
  background: rgba(255, 255, 255, 0.38);
}

.c1 { left: 18%; top: 28%; }
.c2 { left: 50%; top: 63%; }
.c3 { left: 78%; top: 26%; }

.uncertainty {
  position: absolute;
  width: 94px;
  height: 94px;
  border: 1px dashed rgba(255, 125, 139, 0.6);
  border-radius: 50%;
  background: rgba(255, 125, 139, 0.05);
}

.u1 { left: calc(18% - 22px); top: calc(28% - 28px); }
.u2 { left: calc(50% - 22px); top: calc(63% - 28px); }
.u3 { left: calc(78% - 22px); top: calc(26% - 28px); }

.compare-divider {
  position: absolute;
  top: 0;
  bottom: 0;
  left: 50%;
  width: 3px;
  background: var(--text);
  box-shadow: 0 0 16px rgba(255, 255, 255, 0.5);
}

.compare-slider {
  width: 100%;
  margin-top: 18px;
  accent-color: var(--cyan);
}

@keyframes dashFlow {
  to { stroke-dashoffset: -44; }
}

/* Simulator ------------------------------------------------------------- */
.simulator {
  padding: 22px;
}

.simulator-controls {
  display: flex;
  gap: 10px;
  flex-wrap: wrap;
  margin-bottom: 18px;
}

.simulator-body {
  display: grid;
  grid-template-columns: minmax(0, 1fr) 330px;
  gap: 18px;
}

.sim-stage {
  position: relative;
  height: 430px;
  overflow: hidden;
  border: 1px solid rgba(66, 217, 255, 0.14);
  border-radius: var(--radius);
  background:
    linear-gradient(90deg, rgba(66, 217, 255, 0.08) 1px, transparent 1px),
    linear-gradient(rgba(66, 217, 255, 0.08) 1px, transparent 1px),
    rgba(4, 16, 30, 0.86);
  background-size: 54px 54px;
}

.sim-links {
  position: absolute;
  inset: 0;
  width: 100%;
  height: 100%;
  opacity: 0;
  transition: opacity 220ms ease;
}

.sim-stage.cooperative .sim-links {
  opacity: 1;
}

.sim-link {
  stroke: rgba(99, 230, 190, 0.58);
  stroke-width: 2.5;
  stroke-dasharray: 10 10;
  animation: dashFlow 2.6s linear infinite;
}

.sim-object {
  position: absolute;
  width: 92px;
  height: 54px;
  transform: translate(-50%, -50%);
}

.sim-object b {
  position: absolute;
  left: 50%;
  top: 36px;
  transform: translateX(-50%);
  color: var(--muted);
  font-size: 0.78rem;
  white-space: nowrap;
}

.actual-dot,
.estimated-dot {
  position: absolute;
  left: 50%;
  top: 50%;
  width: 34px;
  height: 21px;
  border-radius: 12px 16px 8px 8px;
  transform: translate(-50%, -50%);
}

.actual-dot {
  background: var(--green);
  box-shadow: 0 0 18px rgba(99, 230, 190, 0.32);
}

.estimated-dot {
  border: 1px dashed var(--danger);
  background: rgba(255, 125, 139, 0.1);
}

.sim-readout {
  padding: 22px;
  border: 1px solid var(--line);
  border-radius: var(--radius);
  background: rgba(7, 20, 35, 0.88);
}

.sim-readout h3 {
  margin: 10px 0 16px;
}

.error-bar {
  height: 14px;
  overflow: hidden;
  border-radius: 999px;
  background: rgba(255, 255, 255, 0.08);
}

.error-bar span {
  display: block;
  width: 60%;
  height: 100%;
  border-radius: inherit;
  background: linear-gradient(90deg, var(--green), var(--warning), var(--danger));
  transition: width 140ms linear;
}

.legend {
  display: grid;
  gap: 8px;
  margin: 18px 0;
  color: var(--muted);
  font-size: 0.9rem;
}

.legend span {
  display: flex;
  align-items: center;
  gap: 9px;
}

.legend i {
  width: 18px;
  height: 12px;
  border-radius: 5px;
}

.legend-actual {
  background: var(--green);
}

.legend-estimated {
  border: 1px dashed var(--danger);
}

#errorChart {
  width: 100%;
  height: 120px;
}

/* AUV and acoustic ------------------------------------------------------ */
.ocean-scene {
  overflow: hidden;
}

.sky,
.underwater {
  position: relative;
  min-height: 260px;
}

.sky {
  background: linear-gradient(180deg, rgba(17, 48, 78, 0.86), rgba(13, 58, 91, 0.5));
}

.water-surface {
  height: 54px;
  display: grid;
  place-items: center;
  color: #d9fbff;
  font-weight: 800;
  background:
    linear-gradient(90deg, transparent 0 20px, rgba(255, 255, 255, 0.16) 20px 42px, transparent 42px 60px),
    rgba(54, 181, 213, 0.34);
  background-size: 60px 100%;
}

.underwater {
  display: grid;
  place-items: center;
  background: linear-gradient(180deg, rgba(5, 67, 91, 0.62), rgba(4, 20, 38, 0.98));
}

.satellite {
  position: absolute;
  top: 50px;
  left: 12%;
  padding: 13px 16px;
  border: 1px solid var(--line-strong);
  border-radius: var(--radius);
  background: rgba(5, 15, 28, 0.8);
}

.gnss-signal {
  position: absolute;
  left: 20%;
  top: 102px;
  width: 160px;
  height: 300px;
  border-left: 2px solid rgba(66, 217, 255, 0.55);
  border-right: 2px solid rgba(66, 217, 255, 0.22);
  transform: skewX(-16deg);
  animation: signalFade 2.2s ease-in-out infinite;
}

.signal-block {
  position: absolute;
  top: 34px;
  left: 28%;
  color: var(--danger);
  font-size: 4rem;
  font-weight: 900;
}

.auv-shape,
.auv-unit {
  display: grid;
  place-items: center;
  width: 128px;
  height: 46px;
  border-radius: 28px 34px 18px 18px;
  border: 1px solid rgba(99, 230, 190, 0.8);
  color: #06201a;
  background: linear-gradient(135deg, var(--green), var(--cyan));
  font-weight: 800;
}

.underwater p {
  position: absolute;
  bottom: 22px;
  margin: 0;
  color: var(--muted);
}

@keyframes signalFade {
  0%, 100% { opacity: 0.85; height: 170px; }
  50% { opacity: 0.22; height: 260px; }
}

.acoustic-layout {
  display: grid;
  grid-template-columns: minmax(0, 1fr) 330px;
  gap: 18px;
  padding: 22px;
}

.acoustic-scene {
  position: relative;
  min-height: 330px;
  overflow: hidden;
  border-radius: var(--radius);
  background: linear-gradient(180deg, rgba(7, 55, 78, 0.72), rgba(4, 18, 35, 0.9));
}

.auv-unit {
  position: absolute;
  top: 50%;
  transform: translateY(-50%);
}

.auv-unit.left {
  left: 10%;
}

.auv-unit.right {
  right: 10%;
}

.wave {
  position: absolute;
  top: 50%;
  left: 24%;
  width: 80px;
  height: 80px;
  border: 2px solid rgba(66, 217, 255, 0.58);
  border-left-color: transparent;
  border-bottom-color: transparent;
  border-radius: 50%;
  transform: translateY(-50%) rotate(45deg);
  animation: acousticWave 2.4s linear infinite;
}

.wave-two {
  animation-delay: 0.55s;
}

.wave-three {
  animation-delay: 1.1s;
}

@keyframes acousticWave {
  from { left: 23%; opacity: 0; transform: translateY(-50%) rotate(45deg) scale(0.4); }
  20%, 75% { opacity: 1; }
  to { left: 66%; opacity: 0; transform: translateY(-50%) rotate(45deg) scale(1.3); }
}

.acoustic-flow {
  display: grid;
  gap: 10px;
  align-content: center;
}

.acoustic-flow span,
.acoustic-flow strong,
.acoustic-flow em {
  padding: 13px 15px;
  border: 1px solid var(--line);
  border-radius: var(--radius);
  background: rgba(66, 217, 255, 0.08);
  font-style: normal;
}

.acoustic-flow strong,
.acoustic-flow em {
  color: var(--green);
}

/* Research, applications and final ------------------------------------- */
.research-card {
  display: grid;
  grid-template-columns: minmax(0, 1fr) auto;
  align-items: end;
  gap: 26px;
  padding: 28px;
}

.research-card h3 {
  margin: 12px 0;
  font-size: clamp(1.6rem, 3vw, 2.6rem);
}

.paper-meta,
.research-card p {
  color: var(--muted);
}

.paper-tags {
  display: flex;
  flex-wrap: wrap;
  gap: 8px;
  margin-top: 18px;
}

.application-grid {
  display: grid;
  grid-template-columns: repeat(4, minmax(0, 1fr));
  gap: 16px;
}

.application-card {
  min-height: 240px;
  text-align: left;
  cursor: pointer;
  transition: transform 180ms ease, border-color 180ms ease;
}

.application-card:hover,
.application-card.active {
  transform: translateY(-5px);
  border-color: rgba(99, 230, 190, 0.82);
}

.application-card em {
  display: block;
  max-height: 0;
  margin-top: 0;
  overflow: hidden;
  color: var(--green);
  font-style: normal;
  transition: max-height 200ms ease, margin-top 200ms ease;
}

.application-card.active em {
  max-height: 60px;
  margin-top: 18px;
}

.benefit-challenge {
  display: grid;
  grid-template-columns: 1fr 1fr;
  gap: 18px;
  background: transparent;
  border: 0;
  box-shadow: none;
}

.benefit-challenge article {
  padding: 28px;
}

.benefit-challenge h3 {
  margin-top: 0;
  color: var(--cyan);
}

.benefit-challenge ul {
  display: grid;
  gap: 12px;
  padding: 0;
  margin: 0;
  list-style: none;
}

.benefit-challenge li {
  display: flex;
  gap: 10px;
  color: var(--muted);
}

.benefit-challenge li span {
  display: grid;
  flex: 0 0 26px;
  width: 26px;
  height: 26px;
  place-items: center;
  border-radius: 50%;
  color: #07111f;
  background: var(--green);
  font-weight: 900;
}

.benefit-challenge article:last-child li span {
  background: var(--warning);
}

.final-section {
  display: grid;
  place-items: center;
  text-align: center;
}

.final-copy {
  max-width: 900px;
}

.final-copy p {
  margin: 0 0 12px;
  color: var(--muted);
  font-size: clamp(1.3rem, 3.8vw, 3.1rem);
  font-weight: 900;
}

.final-copy p:nth-child(2) {
  color: var(--text);
}

.final-copy h2 {
  margin: 28px 0 18px;
  color: var(--cyan);
  font-size: clamp(2.4rem, 6vw, 5.2rem);
}

.final-copy span {
  display: block;
  max-width: 680px;
  margin: 0 auto 28px;
  color: var(--muted);
}

.team-links {
  margin-top: 42px;
  padding-top: 28px;
  border-top: 1px solid rgba(66, 217, 255, 0.2);
}

.team-links h3 {
  margin: 0 0 16px;
  color: var(--text);
  font-size: 1rem;
  letter-spacing: 0.12em;
  text-transform: uppercase;
}

.team-link-grid {
  display: flex;
  justify-content: center;
  gap: 0;
  overflow: hidden;
  border: 1px solid rgba(66, 217, 255, 0.24);
  border-radius: var(--radius);
  background: rgba(12, 29, 49, 0.72);
}

.team-link-grid a {
  display: flex;
  flex: 1 1 0;
  align-items: center;
  justify-content: center;
  gap: 10px;
  min-width: 0;
  padding: 16px 18px;
  transition: transform 180ms ease, border-color 180ms ease, background 180ms ease;
}

.team-link-grid a + a {
  border-left: 1px solid rgba(66, 217, 255, 0.24);
}

.team-link-grid a:hover {
  transform: none;
  background: rgba(20, 55, 76, 0.78);
}

.team-link-grid strong {
  color: var(--text);
}

.team-link-grid span {
  margin: 0;
  color: var(--cyan);
  font-size: 0.9rem;
  word-break: break-all;
}

/* Scroll reveal --------------------------------------------------------- */
.reveal {
  opacity: 0;
  transform: translateY(24px);
  transition: opacity 620ms ease, transform 620ms ease;
}

.reveal.visible {
  opacity: 1;
  transform: translateY(0);
}

/* Responsive ------------------------------------------------------------ */
@media (max-width: 1040px) {
  .hero,
  .sensor-layout,
  .simulator-body,
  .acoustic-layout {
    grid-template-columns: 1fr;
  }

  .hero-network {
    min-height: 420px;
  }

  .problem-grid {
    grid-template-columns: repeat(2, minmax(0, 1fr));
  }

  .application-grid {
    grid-template-columns: repeat(2, minmax(0, 1fr));
  }
}

@media (max-width: 820px) {
  .section-panel {
    padding: 94px 18px;
  }

  .nav-toggle {
    display: block;
  }

  .nav-links {
    position: fixed;
    top: 62px;
    left: 18px;
    right: 18px;
    display: none;
    flex-direction: column;
    align-items: stretch;
    padding: 12px;
    border: 1px solid var(--line);
    border-radius: var(--radius);
    background: rgba(5, 13, 24, 0.98);
  }

  .nav-links.open {
    display: flex;
  }

  .step-system,
  .research-card,
  .benefit-challenge,
  .compare-labels {
    grid-template-columns: 1fr;
  }

  .team-link-grid {
    flex-direction: column;
  }

  .team-link-grid a + a {
    border-left: 0;
    border-top: 1px solid rgba(66, 217, 255, 0.24);
  }

  .sensor-stage {
    min-height: 380px;
  }

  .sensor-chip {
    min-width: 78px;
    font-size: 0.82rem;
  }

  .sensor-imu {
    left: 5%;
  }

  .sensor-lidar {
    right: 5%;
  }

  .problem-grid,
  .application-grid {
    grid-template-columns: 1fr;
  }

  .sim-readout {
    order: -1;
  }
}

@media (max-width: 560px) {
  .brand span:last-child {
    display: none;
  }

  .hero h1 {
    font-size: 3rem;
  }

  .hero-network svg {
    min-height: 330px;
  }

  .css-car {
    width: 132px;
    height: 58px;
  }

  .sensor-chip::after {
    display: none;
  }

  .compare-stage,
  .sim-stage {
    height: 340px;
  }

  .actual-car,
  .estimated-car {
    animation-duration: 5.5s;
  }

  .underwater p {
    left: 18px;
    right: 18px;
    text-align: center;
  }
}

@media (prefers-reduced-motion: reduce) {
  *,
  *::before,
  *::after {
    animation-duration: 1ms !important;
    animation-iteration-count: 1 !important;
    scroll-behavior: auto !important;
    transition-duration: 1ms !important;
  }
}

/* Research-led content extensions ------------------------------------- */
.section-heading > p + p { max-width: 900px; }
.info-card-grid, .auv-sensor-grid, .challenge-grid, .architecture-grid { display: grid; grid-template-columns: repeat(2, minmax(0, 1fr)); gap: 16px; }
.info-card-grid article, .auv-sensor-grid article, .challenge-grid article, .architecture-grid article { padding: 24px; border: 1px solid var(--line); border-radius: var(--radius); background: linear-gradient(145deg, rgba(15, 40, 66, .8), rgba(9, 23, 40, .76)); box-shadow: var(--shadow); }
.info-card-grid h3, .auv-sensor-grid h3, .challenge-grid h3, .architecture-grid h3 { margin: 10px 0 8px; color: var(--text); }
.info-card-grid p, .auv-sensor-grid p, .challenge-grid p, .architecture-grid p { margin: 0; color: var(--muted); }
.card-kicker, .sensor-icon, .challenge-grid article > span { color: var(--cyan); font-size: .76rem; font-weight: 800; letter-spacing: .11em; text-transform: uppercase; }
.sensor-icon { display: inline-grid; width: 68px; height: 44px; place-items: center; border: 1px solid var(--line-strong); border-radius: 6px; background: rgba(66,217,255,.08); }
.packet-example { display: grid; grid-template-columns: 1fr minmax(260px, 380px); gap: 18px; align-items: center; margin-top: 18px; padding: 22px; border: 1px solid rgba(99,230,190,.36); border-radius: var(--radius); background: rgba(7, 25, 40, .86); }
.packet-example h3 { margin: 9px 0 0; }.packet-example h3 b { color: var(--green); padding: 0 8px; }.packet-example code { padding: 16px; border: 1px solid var(--line); color: var(--green); background: rgba(0,0,0,.2); font: .86rem/1.8 Consolas, monospace; }.packet-example small { grid-column: 1 / -1; color: var(--muted); }
.callout, .tradeoff { padding: 16px 18px; border-left: 3px solid var(--green); color: var(--text) !important; background: rgba(99,230,190,.08); }
.comparison-table { margin-top: 30px; overflow-x: auto; border: 1px solid var(--line); border-radius: var(--radius); }.table-row { display: grid; grid-template-columns: 1.2fr 1fr 1.2fr; min-width: 660px; border-bottom: 1px solid rgba(100,210,255,.14); }.table-row:last-child { border-bottom: 0; }.table-row > * { padding: 13px 16px; color: var(--muted); }.table-row > b { color: var(--text); }.table-head { background: rgba(66,217,255,.1); }.table-head > * { color: var(--cyan); font-size: .78rem; letter-spacing: .08em; text-transform: uppercase; }
.why-underwater { display: grid; grid-template-columns: auto 1fr; gap: 20px; align-items: center; margin-top: 18px; padding: 20px 24px; border: 1px solid var(--line); border-radius: var(--radius); background: rgba(66,217,255,.06); }.why-underwater p { margin: 0; color: var(--muted); }
.mini-diagram { display: grid; gap: 7px; min-height: 90px; place-items: center; margin: 16px 0; padding: 14px; border: 1px dashed rgba(66,217,255,.4); border-radius: 6px; color: var(--green); background: rgba(3, 14, 26, .56); text-align: center; }.mini-diagram i { color: var(--cyan); font-style: normal; }
.related-themes { margin-top: 22px; padding: 20px 0 0; border-top: 1px solid var(--line); }.related-themes .data-tags { margin-top: 12px; }
.application-card small { display: block; margin-top: 12px; color: var(--cyan); font-size: .78rem; }.tradeoff { margin-top: 18px; text-align: center; border: 1px solid rgba(255,198,109,.42); border-left-width: 1px; background: rgba(255,198,109,.08); }.tradeoff strong { color: var(--warning); font-size: 1.15rem; }.tradeoff p { max-width: 760px; margin: 8px auto 0; color: var(--muted); }
.technology-flow { display: grid; gap: 10px; justify-items: center; }.technology-flow > div { display: grid; gap: 3px; width: min(100%, 720px); padding: 16px 20px; border: 1px solid var(--line); border-radius: var(--radius); text-align: center; background: rgba(12, 35, 57, .8); }.technology-flow b { color: var(--cyan); }.technology-flow span { color: var(--muted); font-size: .9rem; }.technology-flow i { color: var(--green); font-style: normal; }.technology-flow .flow-result { border-color: rgba(99,230,190,.66); background: rgba(99,230,190,.1); }.technology-flow .flow-result b { color: var(--green); font-size: 1.1rem; }
@media (max-width: 820px) { .info-card-grid, .auv-sensor-grid, .challenge-grid, .architecture-grid { grid-template-columns: 1fr; }.packet-example, .why-underwater { grid-template-columns: 1fr; }.packet-example code { grid-column: auto; }.packet-example small { grid-column: auto; } }

/* Paper-based cooperative navigation demo ----------------------------- */
.paper-demo { padding: 22px; }
.paper-demo-toolbar { display: flex; align-items: center; justify-content: space-between; gap: 18px; margin-bottom: 18px; }
.paper-demo-toolbar p { margin: 6px 0 0; color: var(--muted); }
.paper-demo-actions { display: flex; flex-wrap: wrap; gap: 8px; justify-content: flex-end; }
.paper-demo-actions .active { border-color: rgba(99, 230, 190, .9); background: rgba(25, 84, 101, .74); }
.paper-demo-stage { position: relative; overflow: hidden; border: 1px solid var(--line); border-radius: var(--radius); background: linear-gradient(180deg, rgba(7, 48, 70, .7), rgba(4, 18, 34, .95)); }
#paperDemoSvg { display: block; width: 100%; height: auto; min-height: 420px; background-image: linear-gradient(rgba(66, 217, 255, .07) 1px, transparent 1px), linear-gradient(90deg, rgba(66, 217, 255, .07) 1px, transparent 1px); background-size: 54px 54px; }
.paper-actual-path, .paper-dead-path, .paper-candidate { fill: none; stroke-linecap: round; stroke-linejoin: round; }
.paper-actual-path { stroke: var(--green); stroke-width: 5; }
.paper-dead-path { stroke: var(--danger); stroke-width: 4; stroke-dasharray: 9 9; }
.paper-candidate { stroke-width: 2; stroke-dasharray: 7 9; opacity: 0; transition: opacity 300ms ease; }
.candidate-high { stroke: var(--danger); }.candidate-low { stroke: var(--cyan); stroke-width: 4; }.candidate-medium { stroke: var(--warning); }
.paper-demo-stage.candidates-visible .paper-candidate { opacity: .58; }.paper-demo-stage.candidates-visible .candidate-low { opacity: 1; }
.paper-range { fill: rgba(66, 217, 255, .04); stroke: var(--cyan); stroke-width: 2; stroke-dasharray: 8 9; opacity: 0; transition: opacity 400ms ease; }
.paper-demo-stage.ranges-visible .paper-range { opacity: .8; }
.paper-ping { stroke: var(--cyan); stroke-width: 3; stroke-dasharray: 8 10; opacity: 0; }
.paper-demo-stage.pings-visible .paper-ping { opacity: .78; animation: paperPing 1.6s linear infinite; }
@keyframes paperPing { from { stroke-dashoffset: 36; } to { stroke-dashoffset: 0; } }
.paper-cna { transform: translate(205px, 165px); text-anchor: middle; }.paper-cna.cna-b { transform: translate(705px, 185px); }.paper-cna circle { fill: rgba(76, 141, 255, .9); stroke: #b7d4ff; stroke-width: 2; }.paper-cna text { fill: var(--text); font-size: 14px; font-weight: 700; }.paper-cna text + text { fill: var(--muted); font-size: 11px; font-weight: 400; }
.paper-target { text-anchor: middle; opacity: 0; transition: opacity 300ms ease; }.paper-target circle { stroke-width: 3; }.paper-target text { fill: var(--text); font-size: 13px; font-weight: 700; }.paper-target.visible { opacity: 1; }.actual-target circle { fill: var(--green); stroke: #c6ffec; }.dead-target circle { fill: rgba(255, 125, 139, .2); stroke: var(--danger); stroke-dasharray: 5 4; }.corrected-target circle { fill: var(--cyan); stroke: #d5fbff; }
.paper-uncertainty { fill: rgba(255, 125, 139, .06); stroke: var(--danger); stroke-width: 2; stroke-dasharray: 5 7; opacity: 0; transition: opacity 400ms ease, r 500ms ease; }.paper-demo-stage.drift-visible .paper-uncertainty { opacity: .7; }
.paper-label { opacity: 0; transition: opacity 300ms ease; }.paper-label rect { fill: rgba(5, 15, 28, .88); stroke: var(--line-strong); }.paper-label text { fill: var(--text); font-size: 12px; }.paper-demo-stage.ranges-visible .paper-label { opacity: 1; }.label-a { transform: translate(265px, 190px); }.label-b { transform: translate(545px, 215px); }
.paper-demo-legend { display: flex; flex-wrap: wrap; gap: 12px 20px; padding: 14px 4px 0; color: var(--muted); font-size: .82rem; }.paper-demo-legend span { display: inline-flex; align-items: center; gap: 7px; }.paper-demo-legend i { display: inline-block; width: 22px; border-top: 3px solid var(--green); }.paper-demo-legend .legend-dead { border-top-color: var(--danger); border-top-style: dashed; }.paper-demo-legend .legend-range { border-top-color: var(--cyan); border-top-style: dashed; }.paper-demo-legend .legend-candidate { border-top-color: var(--warning); border-top-style: dashed; }
.paper-demo-readouts { display: grid; grid-template-columns: 1fr 1fr; gap: 16px; margin-top: 16px; }.paper-demo-readouts article { padding: 20px; border: 1px solid var(--line); border-radius: var(--radius); background: rgba(8, 24, 42, .78); }.paper-demo-readouts strong { display: block; margin: 10px 0; color: var(--green); }.paper-demo-readouts p { margin: 10px 0 0; color: var(--muted); }.cost-row { display: grid; grid-template-columns: 100px 1fr 58px; gap: 10px; align-items: center; margin: 9px 0; color: var(--muted); font-size: .86rem; }.cost-row b { color: var(--text); }.cost-row em { color: var(--warning); font-style: normal; }.cost-bar { height: 9px; border-radius: 99px; background: var(--danger); }.cost-bar.high { width: 100%; }.cost-bar.medium { width: 62%; background: var(--warning); }.cost-bar.low { width: 25%; background: var(--green); }
.paper-note { display: grid; gap: 8px; margin-top: 18px; padding: 18px 20px; border: 1px solid rgba(99, 230, 190, .4); border-radius: var(--radius); background: rgba(99, 230, 190, .07); text-align: center; }.paper-note strong { color: var(--green); }.paper-note small { color: var(--muted); }
@media (max-width: 820px) { .paper-demo-toolbar, .paper-demo-readouts { grid-template-columns: 1fr; display: grid; }.paper-demo-actions { justify-content: flex-start; }.paper-demo-actions button { flex: 1 1 180px; }.paper-demo { padding: 16px; } #paperDemoSvg { min-height: 300px; }.cost-row { grid-template-columns: 86px 1fr 52px; } }

/* Interactive Cooperative Localization Lab ---------------------------- */
.interactive-lab { padding: 22px; }
.lab-primary-controls { display: grid; grid-template-columns: 250px minmax(0, 1fr) 280px; gap: 16px; align-items: stretch; margin-bottom: 18px; }
.lab-move-control, .lab-action-buttons, .lab-advanced { padding: 16px; border: 1px solid var(--line); border-radius: var(--radius); background: rgba(7, 22, 38, .82); }
.direction-pad { display: grid; grid-template-columns: repeat(3, 54px); grid-template-areas: ". up ." "left down right"; gap: 7px; margin-top: 11px; }
.direction-pad button { min-height: 46px; border: 1px solid var(--line-strong); border-radius: 6px; color: var(--text); background: rgba(66, 217, 255, .09); cursor: pointer; font-weight: 800; line-height: 1.05; }
.direction-pad button:hover, .direction-pad button:focus-visible { border-color: var(--green); background: rgba(99, 230, 190, .15); }
.direction-pad [data-lab-move="up"] { grid-area: up; }.direction-pad [data-lab-move="left"] { grid-area: left; }.direction-pad [data-lab-move="down"] { grid-area: down; }.direction-pad [data-lab-move="right"] { grid-area: right; }
.lab-action-buttons > div { display: flex; flex-wrap: wrap; gap: 8px; margin-top: 11px; }
.lab-action-buttons button { flex: 1 1 150px; }
.lab-action-buttons button:disabled { opacity: .42; cursor: not-allowed; transform: none; }
.lab-advanced summary { color: var(--cyan); cursor: pointer; font-weight: 800; }.lab-advanced label { display: flex; justify-content: space-between; gap: 12px; margin: 14px 0 6px; color: var(--muted); font-size: .86rem; }.lab-advanced input, .lab-advanced select { width: 100%; accent-color: var(--cyan); }.lab-advanced select { padding: 8px; border: 1px solid var(--line); border-radius: 5px; color: var(--text); background: var(--bg-2); }.lab-advanced p { margin: 9px 0 0; color: var(--warning); font-size: .75rem; }
.lab-layout { display: grid; grid-template-columns: minmax(0, 1.55fr) minmax(310px, .75fr); gap: 18px; }
.lab-stage-wrap { min-width: 0; overflow: hidden; border: 1px solid var(--line); border-radius: var(--radius); background: rgba(4, 16, 30, .92); }
#labStage { display: block; width: 100%; height: auto; min-height: 480px; touch-action: none; user-select: none; background-image: linear-gradient(rgba(66, 217, 255, .07) 1px, transparent 1px), linear-gradient(90deg, rgba(66, 217, 255, .07) 1px, transparent 1px); background-size: 54px 54px; }
.lab-path { fill: none; stroke-linecap: round; stroke-linejoin: round; }.lab-path-actual { stroke: var(--green); stroke-width: 4; }.lab-path-dr { stroke: var(--danger); stroke-width: 3; stroke-dasharray: 8 9; }.lab-path-coop { stroke: var(--cyan); stroke-width: 5; filter: url(#labGlow); }
.lab-candidate-path { fill: none; stroke: rgba(255, 198, 109, .42); stroke-width: 2; stroke-dasharray: 6 8; }.lab-candidate-path.selected { stroke: var(--cyan); stroke-width: 4; opacity: 1; }
.lab-range-circle { fill: none; stroke: var(--cyan); stroke-width: 2; stroke-dasharray: 8 9; opacity: 0; }.lab-range-band { fill: none; stroke: rgba(66, 217, 255, .13); opacity: 0; }.lab-range-circle.visible, .lab-range-band.visible { opacity: 1; }
.lab-acoustic-ping { stroke: var(--cyan); stroke-width: 4; stroke-dasharray: 10 13; opacity: 0; }.lab-acoustic-ping.active { opacity: 1; animation: labAcousticPing 1.1s linear 2; }
@keyframes labAcousticPing { from { stroke-dashoffset: 46; } to { stroke-dashoffset: 0; } }
.lab-cna { cursor: grab; outline: none; }.lab-cna:active { cursor: grabbing; }.lab-cna:focus circle { stroke: var(--green); stroke-width: 5; }.lab-cna circle { fill: var(--blue); stroke: #c2d8ff; stroke-width: 3; }.lab-cna text { fill: var(--text); text-anchor: middle; font-size: 13px; font-weight: 900; pointer-events: none; }.lab-cna .lab-cna-sub { fill: var(--muted); font-size: 9px; font-weight: 500; }
.lab-auv { text-anchor: middle; pointer-events: none; }.lab-auv text { fill: var(--text); font-size: 12px; font-weight: 800; }.lab-actual-auv ellipse { fill: var(--green); stroke: #d5fff2; stroke-width: 2; }.lab-dr-auv ellipse { fill: rgba(255, 125, 139, .18); stroke: var(--danger); stroke-width: 3; stroke-dasharray: 5 4; }.lab-coop-auv { opacity: 0; }.lab-coop-auv.visible { opacity: 1; }.lab-coop-auv ellipse { fill: var(--cyan); stroke: #d9fbff; stroke-width: 3; filter: url(#labGlow); }
.lab-stage-help { display: flex; justify-content: space-between; gap: 12px; padding: 11px 14px; border-top: 1px solid var(--line); color: var(--muted); font-size: .8rem; }.lab-stage-help span:last-child { color: var(--cyan); text-align: right; }
.lab-telemetry { display: grid; gap: 14px; align-content: start; }.lab-position-grid { display: grid; grid-template-columns: 1fr 1fr; gap: 8px; }.lab-position-grid article, .lab-measurements article, .lab-candidates { padding: 14px; border: 1px solid var(--line); border-radius: var(--radius); background: rgba(7, 20, 35, .88); }.lab-position-grid span { display: block; color: var(--muted); font-size: .72rem; text-transform: uppercase; letter-spacing: .07em; }.lab-position-grid strong { display: block; margin-top: 5px; color: var(--text); font-size: .95rem; }
.lab-measurements { display: grid; grid-template-columns: 1fr 1fr; gap: 8px; }.lab-measurements h3 { margin: 0 0 8px; color: var(--cyan); }.lab-measurements dl { margin: 0; }.lab-measurements dl div { display: flex; justify-content: space-between; gap: 8px; padding: 5px 0; border-top: 1px solid rgba(100, 210, 255, .1); font-size: .76rem; }.lab-measurements dt { color: var(--muted); }.lab-measurements dd { margin: 0; color: var(--text); font-weight: 700; }
.lab-stale-warning { display: none; padding: 9px 12px; border: 1px solid rgba(255, 198, 109, .5); border-radius: 6px; color: var(--warning); background: rgba(255, 198, 109, .08); text-align: center; font-size: .8rem; font-weight: 900; letter-spacing: .09em; }.lab-stale-warning.visible { display: block; }
.lab-candidate-heading { display: flex; justify-content: space-between; gap: 10px; align-items: center; }.lab-candidate-heading strong { color: var(--green); font-size: .78rem; }.lab-candidates ol { display: grid; gap: 6px; margin: 12px 0; padding: 0; list-style: none; }.lab-candidates li { display: flex; justify-content: space-between; gap: 12px; padding: 7px 9px; border-radius: 5px; color: var(--muted); background: rgba(66, 217, 255, .05); font-size: .82rem; }.lab-candidates li.selected { color: var(--text); outline: 1px solid var(--green); background: rgba(99, 230, 190, .11); }.lab-improvement { display: flex; justify-content: space-between; gap: 10px; padding-top: 10px; border-top: 1px solid var(--line); color: var(--muted); font-size: .8rem; }.lab-improvement strong { color: var(--green); text-align: right; }
.lab-geometry-note { margin: 16px 0 0; padding: 12px 15px; border-left: 3px solid var(--blue); color: var(--muted); background: rgba(76, 141, 255, .07); }.lab-research-note { text-align: left; }
@media (max-width: 1080px) { .lab-primary-controls { grid-template-columns: 220px 1fr; }.lab-advanced { grid-column: 1 / -1; }.lab-layout { grid-template-columns: 1fr; }.lab-telemetry { grid-template-columns: 1fr 1fr; }.lab-candidates { grid-column: 1 / -1; } }
@media (max-width: 700px) { .interactive-lab { padding: 14px; }.lab-primary-controls, .lab-telemetry { grid-template-columns: 1fr; }.lab-advanced, .lab-candidates { grid-column: auto; }.lab-move-control { display: grid; justify-items: center; }.lab-action-buttons button { flex-basis: 100%; }.lab-position-grid, .lab-measurements { grid-template-columns: 1fr; } #labStage { min-height: 360px; }.lab-stage-help { flex-direction: column; }.lab-stage-help span:last-child { text-align: left; } }