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6/26
at SPAR (consistency check)
Old check got into false alarm problems when
(1) fwd/ backdrive flag was not included in check during deceleration phase (and removed) of envelope check 
[[small graph]]
because actual rate has "glitches" because of mechanics of the motors (gear box, etc)
[[small graph]]
the spikes were giving false alarms. Now the "spikes" correspond to backdrive condition, so no alarms.
(2) during tach data / PRCS checks
(loss of sync, JPC). They replaced the "pitched" flow diagram by a simple [[formula}} to catch the tach data failures. Claim no PRCS malfs will result: because joints are being backdriven