Help for SLAM this weekend

I figured I should update everyone on my SLAM. I ended up exchanging out about half of the water, CYA was still very high (around 90) but I decided to just go for it. It took a ton of chlorine but the pool started looking much better right away and continued to improve for several days. It took about a week until my overnight loss was 0 - 0.5. I cleaned my filter at the beginning and then again at the end. Pool looks fantastic. Waiting for my chlorine level to come down into the target range so that I can do a polar plunge. I wanted to say thank you to the forum for all of your help. Also, thank you @PatricksPool for helped me a ton in person.

Now to figure out why my robot is constantly getting stuck on absolutely nothing!
 
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