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Fig. 15

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Residual phase of Fig. 14 projected on petal mode. The first path creates visible petal mode residuals as oscillations are between −π and +π. uPyWFS keeps the residual petal closer to 0 petal, but with a jump of −6π (around iteration 250) where it loses its lock on the petal, while SF+uPyWFS stays locked around zero petal.
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