We've been trying to trouble shoot this all day. We commented out all of the rotary encoder lines with no change. I even commented out the GPS loop with no change. Late in the day we stumbled onto some interesting stuff. We reloaded the original program and found it works pretty good if the serial monitor is not connected. If the serial monitor is connected we get the same problems shown in the debug code above. If the serial monitor is not connected we get one little glitch but other than that glitch it seems to work well. The glitch is when we turn to surf left the actuator does a brief retract, then nothing for about half a second and then deploys as it should. Overall it is working but that glitch still has me concerned. I'm wondering if it is a power supply issue. I checked my power supply output and have 9.4volts. Any ideas?