diff --git a/g2core/g2core.cppproj b/g2core/g2core.cppproj
index 7fb39b00..36e55b55 100644
--- a/g2core/g2core.cppproj
+++ b/g2core/g2core.cppproj
@@ -68,12 +68,12 @@
     <com_atmel_avrdbg_tool_atmelice>
       <ToolOptions>
         <InterfaceProperties>
-          <SwdClock>2000000</SwdClock>
+          <SwdClock>10000000</SwdClock>
         </InterfaceProperties>
         <InterfaceName>SWD</InterfaceName>
       </ToolOptions>
       <ToolType>com.atmel.avrdbg.tool.atmelice</ToolType>
-      <ToolNumber>J41800030015</ToolNumber>
+      <ToolNumber>J41800036434</ToolNumber>
       <ToolName>Atmel-ICE</ToolName>
     </com_atmel_avrdbg_tool_atmelice>
     <UseGdb>True</UseGdb>
@@ -100,7 +100,7 @@
       <HWProgramCounterSampling>True</HWProgramCounterSampling>
     </PercepioTrace>
     <preserveEEPROM>true</preserveEEPROM>
-    <avrtoolserialnumber>J41800030015</avrtoolserialnumber>
+    <avrtoolserialnumber>J41800036434</avrtoolserialnumber>
     <avrdeviceexpectedsignature>0x284E0A60</avrdeviceexpectedsignature>
     <avrtoolinterfaceclock>10000000</avrtoolinterfaceclock>
     <custom>
diff --git a/g2core/plan_exec.cpp b/g2core/plan_exec.cpp
index e8f03851..1c838055 100644
--- a/g2core/plan_exec.cpp
+++ b/g2core/plan_exec.cpp
@@ -578,12 +578,14 @@ stat_t mp_exec_aline(mpBuf_t *bf)
             // Case (3a) - already decelerating, continue the deceleration.
             if (mr->section == SECTION_TAIL) {   // if already in a tail don't decelerate. You already are
                 if (fp_ZERO(mr->r->exit_velocity)) {
+//                if (mr->r->exit_velocity < 1)) {
                     cm->hold_state = FEEDHOLD_DECEL_TO_ZERO;
                 } else {
                     cm->hold_state = FEEDHOLD_DECEL_CONTINUE;
                 }
 
-            // Case (3b) - currently accelerating - is simply skipped and waited for
+            // Case (3b) - Currently accelerating - is simply skipped and waited for. 
+            //             This is true because to do otherwise the jerk would not have returned to zero.
             // Small exception, if we *just started* the head, then we're not actually accelerating yet.
             } else if ((mr->section != SECTION_HEAD) || (mr->section_state == SECTION_NEW)) {
                 mr->entry_velocity = mr->segment_velocity;