Index: firmware/App/Modes/SelfTests.c
===================================================================
diff -u -re5006f5263e8540e730dd802016fef5973ecea4c -rd37f31cff6c20085953ecb598558e4d91e42f0af
--- firmware/App/Modes/SelfTests.c	(.../SelfTests.c)	(revision e5006f5263e8540e730dd802016fef5973ecea4c)
+++ firmware/App/Modes/SelfTests.c	(.../SelfTests.c)	(revision d37f31cff6c20085953ecb598558e4d91e42f0af)
@@ -41,7 +41,7 @@
 
 #define PUMP_RUN_SELF_TEST_TIME_MS                          ( 15 * MS_PER_SECOND )                  ///< Self-test time to run pumps in ms.
 #define PUMP_SELF_TEST_FLOW_RATE_ML_MIN                     100                                     ///< Self-test pump flow rate in mL/min.
-#define SYRINGE_PUMP_OCCLUSION_CHECK_DELAY                  ( 1 * MS_PER_SECOND )                   ///< Delay 1 second then check for syringe pump prime occlusion.
+#define SYRINGE_PUMP_OCCLUSION_CHECK_DELAY                  ( 3 * MS_PER_SECOND )                   ///< Delay 3 seconds then check for syringe pump prime occlusion.
 
 #define BLOOD_PUMP_RUN_TIME_PRESSURE_SELF_TEST              ( 5 * MS_PER_SECOND )                   ///< Pressure self-test time to run blood pump in ms.
 #define NORMALIZED_PRESSURE_SELF_TEST_TIME                  ( 4 * MS_PER_SECOND )                   ///< Time to wait for pressure to normalize in ms.
@@ -63,8 +63,9 @@
 #define WET_SELF_TEST_DISPLACEMENT_TIME_MS                  ( SEC_PER_MIN * MS_PER_SECOND )         ///< Time to displace dialysate in wet self-test in ms.
 #define RESERVOIR_SETTLE_TIME_MS                            ( 4 *  MS_PER_SECOND )                  ///< Time allotted for reservoir to settle in ms.
 
-#define MAX_NO_CARTRIDGE_SELF_TEST_TIME                     30                                       ///< Maximum no cartridge self-test time (in seconds).
+#define MAX_NO_CARTRIDGE_SELF_TEST_TIME                     30                                      ///< Maximum no cartridge self-test time (in seconds).
 #define MAX_DRY_SELF_TEST_TIME                              ( 3 * SEC_PER_MIN )                     ///< Maximum dry self-test time (in seconds).
+#define CARTRIDGE_INSERT_PRESSURE_SETTLE_TIME_MS            ( 10 * MS_PER_SECOND )                  ///< Time (in ms) required to wait for occlusion pressure to settle after cartridge insertion.
 
 #define SELF_TEST_TIME_DATA_PUB_INTERVAL                    ( MS_PER_SECOND )                       ///< Interval (ms/task time) at which self-test time data is published on the CAN bus.
 
@@ -205,7 +206,16 @@
     signalBloodPumpHardStop();
     signalDialInPumpHardStop();
     signalDialOutPumpHardStop();
-    stopSyringePump();
+
+    if ( TRUE == isAlarmActive( ALARM_ID_HD_SYRINGE_PUMP_NOT_ENOUGH_HEPARIN_ALARM ) )
+    {
+        retractSyringePump();
+    }
+    else
+    {
+        stopSyringePump();
+    }
+
     setValvePosition( VDI, VALVE_POSITION_A_INSERT_EJECT );
     setValvePosition( VDO, VALVE_POSITION_A_INSERT_EJECT );
     setValvePosition( VBA, VALVE_POSITION_A_INSERT_EJECT );
@@ -386,6 +396,7 @@
     switch ( currentDrySelfTestsState )
     {
         case DRY_SELF_TESTS_START_STATE:
+
             if ( SW_CONFIG_ENABLE_VALUE == getSoftwareConfigStatus( SW_CONFIG_DISABLE_DRY_SELF_TESTS ) )
             {
                 // TODO: Remove once dry self-test is ready to use
@@ -995,7 +1006,7 @@
                 if ( TRUE == isSyringePumpPrimed() )
                 {
                     state = DRY_SELF_TESTS_SYRINGE_PUMP_OCCLUSION_DETECTION_STATE;
-                    syringeOcclusionDelayStartTime = getMSTimerCount();                // Get the current time to check for occlusion after 1 second has elapsed
+                    syringeOcclusionDelayStartTime = getMSTimerCount();   // Get the current time to check for occlusion after 3 seconds has elapsed
                 }
                 else
                 {
@@ -1004,12 +1015,8 @@
             }
             else
             {
-                if ( TRUE == isAlarmActive( ALARM_ID_HD_SYRINGE_PUMP_NOT_ENOUGH_HEPARIN_ALARM ) )
+                if ( TRUE == isSyringePumpHome() )
                 {
-                    retractSyringePump();
-                }
-                else if ( TRUE == isSyringePumpHome() )
-                {
                     seekSyringePlunger();
                 }
             }
@@ -1127,25 +1134,14 @@
 
         if ( FALSE == cmdResp.rejected )
         {
-            if ( ( TRUE == isValvesSettingSent ) && ( TRUE == getDGCommandResponse( DG_CMD_VALVE_SETTING, &cmdResp ) ) )
-            {
-                // Re-send command if DG rejects
-                isValvesSettingSent = FALSE;
+            F32 bolusVol = getTreatmentParameterF32( TREATMENT_PARAM_HEPARIN_BOLUS_VOLUME );
 
-                if ( FALSE == cmdResp.rejected )
-                {
-                    F32 bolusVol = getTreatmentParameterF32( TREATMENT_PARAM_HEPARIN_BOLUS_VOLUME );
+            setDialInPumpTargetFlowRate( DIP_FLOW_RATE_SETUP_ML_MIN, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
+            fmdIntegratedVolume = 0.0;
 
-                    setDialInPumpTargetFlowRate( DIP_FLOW_RATE_SETUP_ML_MIN, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
-                    fmdIntegratedVolume = 0.0;
-
-                    if ( ( bolusVol > 0.0 ) && ( getSyringePumpVolumeDelivered() < bolusVol ) )
-                    {
-                        startHeparinBolus();            // moved here from startHeparinPump() in Dialysis.c
-                    }
-
-                    state = WET_SELF_TESTS_SETUP_STATE;
-                }
+            if ( ( bolusVol > 0.0 ) && ( getSyringePumpVolumeDelivered() < bolusVol ) )
+            {
+                startHeparinBolus();            // moved here from startHeparinPump() in Dialysis.c
             }
 
             state = WET_SELF_TESTS_SETUP_STATE;