Isaac and Chad disengaged the slave end of the manipulator and performed a slave removal through the slave removal roof hatch. This is part of investigation into a 'Z' motion tape that is "rubbing" on its drum on the master side of the manipulator during manual 'Z' retraction of 'Z' extension.

This also was the first test of the concept of removing the manipulator slave through the manipulator hatch that was built into the roof.

The lifting bail on the slave end of the manipulator was not centered to the hatch as per design but this did not compromise the procedure at all and the procedure otherwise followed the design intent.

Pictures can be located on Docushare  http://documants.triumf.ca/docushare/dsweb/View/Collection-20157