Index: firmware/App/Controllers/SyringePump.c
===================================================================
diff -u -r4ddf1777acc4298a9ed034e56b66916256d22c18 -rba78a6ce8e6fae706146c36c361b6680b2657642
--- firmware/App/Controllers/SyringePump.c	(.../SyringePump.c)	(revision 4ddf1777acc4298a9ed034e56b66916256d22c18)
+++ firmware/App/Controllers/SyringePump.c	(.../SyringePump.c)	(revision ba78a6ce8e6fae706146c36c361b6680b2657642)
@@ -92,8 +92,8 @@
 #define MIN_SYRINGE_PUMP_RATE_FOR_DIR_ALARM           0.5F                                  ///< Minimum measured rate (in mL/hr) required before enforcing direction alarm.
 
 /// Expected position of empty in relation to home position.
-#define SYRINGE_PUMP_EMPTY_POS                        ( SYRINGE_ENCODER_COUNTS_PER_ML * 10.84F )
-/// Margin of error for empty position determination.
+#define SYRINGE_PUMP_EMPTY_POS                        ( SYRINGE_ENCODER_COUNTS_PER_ML * 11.0F )
+/// Over-travel (past empty) allowance for alarm.
 #define SYRINGE_PUMP_EMPTY_POS_MARGIN                 ( SYRINGE_ENCODER_COUNTS_PER_ML * 0.5F )
 /// Minimum retract position.
 #define SYRINGE_PUMP_RETRACT_POS_MIN                  ( SYRINGE_ENCODER_COUNTS_PER_ML * -0.5F )
@@ -156,8 +156,10 @@
 #define SYRINGE_PUMP_STALL_SPEED_THRESHOLD            0.05F                                 ///< Minimum syringe pump speed to be considered not stalled.
 
 #define SYRINGE_PUMP_ADC_FPGA_ERROR_TIMEOUT_MS        ( 2 * MS_PER_SECOND )                 ///< Syringe pump ADC FPGA error timeout in milliseconds.
+
 #define SYRINGE_PUMP_DAC_MAX_RETRIES                  5                                     ///< Syringe pump DAC retries to write.
 #define SYRINGE_PUMP_DAC_TIMER                        ( 200 / TASK_PRIORITY_INTERVAL )      ///< Syringe pump DAC timer between retries.
+
 /// Defined states for the syringe pump control state machine.
 typedef enum SyringePump_States
 {
@@ -1410,6 +1412,7 @@
         syringePumpPlungerFound = FALSE;
         syringeVolumeAdequate = FALSE;
         syringePumpPrimeCompleted = FALSE;
+        syringePumpPreLoadCompleted = FALSE;
         syringePumpVolumeRequired = 0.0F;
         // Clear insufficient volume alarm condition in case we're retracting to allow user to resolve alarm
         clearAlarmCondition( ALARM_ID_HD_SYRINGE_PUMP_NOT_ENOUGH_HEPARIN_ALARM );
@@ -1815,7 +1818,7 @@
     S32  pos = getSyringePumpPosition();
 
     // If near empty position, assume syringe is empty
-    if ( fabs( pos - SYRINGE_PUMP_EMPTY_POS ) < SYRINGE_PUMP_EMPTY_POS_MARGIN )
+    if ( pos >= SYRINGE_PUMP_EMPTY_POS )
     {
         heparinDeliveryState = HEPARIN_STATE_EMPTY;
         SET_ALARM_WITH_2_F32_DATA( ALARM_ID_HD_SYRINGE_PUMP_SYRINGE_EMPTY, (F32)pos, force )
@@ -1888,20 +1891,11 @@
     BOOL result = stopPump;
     S32 pos = getSyringePumpPosition();
 
-    if ( pos > ( SYRINGE_PUMP_EMPTY_POS - SYRINGE_PUMP_EMPTY_POS_MARGIN ) )
+    if ( pos >= maxPos )
     {
         result = TRUE;
-        heparinDeliveryState = HEPARIN_STATE_EMPTY;
-        SET_ALARM_WITH_2_F32_DATA( ALARM_ID_HD_SYRINGE_PUMP_SYRINGE_EMPTY, (F32)pos, getSyringePumpForceV() )
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SYRINGE_PUMP_OVER_TRAVEL_ERROR, (U32)pos, (U32)syringePumpState );
     }
-    else if ( pos > maxPos )
-    {
-        result = TRUE;
-        if ( syringePumpState != SYRINGE_PUMP_PRIME_STATE )
-        {
-            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SYRINGE_PUMP_OVER_TRAVEL_ERROR, (U32)pos, (U32)syringePumpState );
-        }
-    }
 
     return result;
 }