After the lockloss at ENGAGE SOFT LOOPS, I made sure to have ndscopes for ASC & ADS Lines up to watch for the next lock.
Sure enough, made it through with no issues at Soft Loops. Next scary spot lately has been LOWNOISE_ASC, but we made it through there with no issues.
Not sure what helped with getting to NLN, but will note the following:
P.S. Had teeny tiny 10^-17 SDF diffs for a couple of ALS channels, so I ACCEPTED (diffs are attached).
I have modified the scripts that write these values to ensure that they get rounded also in the case of a ctrl-c exit, so hopefully we won't see these anymore. When I check the Xarm green initial alignment setpoints on Tuesday, I will test the new rounding.