 back on v4, tq lim at 375
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04/24/2023
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back to v3
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04/23/2023
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uh oh bad - tq lim removed
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04/20/2023
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yet another log, lambda prot lowered + timing
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04/13/2023
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dashpot upped + tq overflow last row
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04/10/2023
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