Matt: In reviewing your very helpful video again, it appears that when you have a completed, acceptable RTPK solution while RTK is still running, you hit STOP and immediately accept the shot without waiting for the new RTPK routine to complete itself. Does that mean that you store the last completed RTPK shot with the RTK? I've been waiting for the 'final' RTPK routine to finish before accepting the shot; perhaps this isn't necessary?