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The Cave ROVer Update: The on board computer firmware update to reduce the aft (rear) thrusters by 50% during vertical descent/ascent seems to do well. The optional enclosure guards are being fabricated for the aft thrusters. So since flooding the ballast cylinders
The Cave ROVer Update: I am dancing with glee! After going through code looking for an error with live firmware updating from sun up till wee hours for days, I found it, yay, no need to disassemble to make internal firmware modifications.