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MF 141-146: free joint - same malf as 147-152, but inserted during cradle (from precradle).
Not obvious in SY, WY or WR because IC had these at zero already. As above, no [[strikethrough]]under[[/strikethrough]] annunciations...unless failed joint is back driven by commanding another joint (CNTR ERR on failed WP when driving EP & on failed WY when driving SY)

MF 80 A, B, C - THC handover malfs, input in X,(Y,Z) axis while commanding in -X. SW caught malf, dropped into idle (CR CRT, PDRS HC)....BUT...SW allows re-entry to mode, sets that axis command to zero, + allows operation of remaining 5 axes (note: check will annunciate next failure also, & zero that axis...leaving 4...etc) [ANOMALY "40" WRITTEN] 

MF 120 A, B, C - RHC partial handovers, inserted in P(Y,R) while in ORB UNL, position hold, 2 feet from IECM grapple fixture.
NOTES: (1) 1st run, wasn't watching when malf went in....if collision occured, ask for re-run 
(2) verified malf procedure
(3) bootlegged procedure: verified that bias could be nulled, & mode re-entered (delicate.....not easy)