Just a couple of the things I struggled with today:

- Binary output chassis had to be replaced (see other alog)
- PR2 angular dither lines were left on by guardian (presumably on a crash)- they couple to length and use about 2/3 of the PRCL actuation range.
- In PRX and PRY the system still tends to ring up if it doesn't lock on the first trigger - we need some dead-time logic.
- In the end PRMI did lock up for about 10sec at a time. I did not have the energy to track down why it lost lock again.
- My initial alignment got me a build-up of about 50.