diff --git a/AstroEQ-ConfigUtility/AstroEQ.exe b/AstroEQ-ConfigUtility/AstroEQ.exe
index bedca8bf5882fdc54caff9027f18d8dfbb5e3e99..372468bd8aeecbff9f9422d64ce703ba463367eb 100644
Binary files a/AstroEQ-ConfigUtility/AstroEQ.exe and b/AstroEQ-ConfigUtility/AstroEQ.exe differ
diff --git a/AstroEQ-ConfigUtility/hex/AstroEQATMega162Based(Legacy).hex b/AstroEQ-ConfigUtility/hex/AstroEQATMega162Based(Legacy).hex
index 7fa28b24ab58cd850a8eb34b2decda138b123c4c..419cf64530fabd98d295f76080dc696abc586fa7 100644
Binary files a/AstroEQ-ConfigUtility/hex/AstroEQATMega162Based(Legacy).hex and b/AstroEQ-ConfigUtility/hex/AstroEQATMega162Based(Legacy).hex differ
diff --git a/AstroEQ-ConfigUtility/hex/AstroEQATMega162Based(Legacy)EEPROMReader.hex b/AstroEQ-ConfigUtility/hex/AstroEQATMega162Based(Legacy)EEPROMReader.hex
index 6dd7b0b4e29d3a6fe44600968b516ff0bbebb40c..ee837981584a8f8b94f6707860901b75ae5926c0 100644
Binary files a/AstroEQ-ConfigUtility/hex/AstroEQATMega162Based(Legacy)EEPROMReader.hex and b/AstroEQ-ConfigUtility/hex/AstroEQATMega162Based(Legacy)EEPROMReader.hex differ
diff --git a/AstroEQ-ConfigUtility/hex/AstroEQArduinoMega1280(Legacy).hex b/AstroEQ-ConfigUtility/hex/AstroEQArduinoMega1280(Legacy).hex
index fc0da958c4035bb3a05a99a51330761cb7d8238b..7de02e01d0dcbf739c4fb2823e09893ce77261af 100644
Binary files a/AstroEQ-ConfigUtility/hex/AstroEQArduinoMega1280(Legacy).hex and b/AstroEQ-ConfigUtility/hex/AstroEQArduinoMega1280(Legacy).hex differ
diff --git a/AstroEQ-ConfigUtility/hex/AstroEQArduinoMega1280(Legacy)EEPROMReader.hex b/AstroEQ-ConfigUtility/hex/AstroEQArduinoMega1280(Legacy)EEPROMReader.hex
index d1ac8db29cc5329e3b59b41b522089bd65b84bab..f2f08ca7c4d6cfe9729dfa94944a1baf8c32c5cb 100644
Binary files a/AstroEQ-ConfigUtility/hex/AstroEQArduinoMega1280(Legacy)EEPROMReader.hex and b/AstroEQ-ConfigUtility/hex/AstroEQArduinoMega1280(Legacy)EEPROMReader.hex differ
diff --git a/AstroEQ-ConfigUtility/hex/AstroEQArduinoMega2560(Legacy).hex b/AstroEQ-ConfigUtility/hex/AstroEQArduinoMega2560(Legacy).hex
index 36e41c6fb8b0cf3c36dba5ee661cc804fc5d7af7..82065bcece7b615a9cb46dc679bce4fabdae7736 100644
Binary files a/AstroEQ-ConfigUtility/hex/AstroEQArduinoMega2560(Legacy).hex and b/AstroEQ-ConfigUtility/hex/AstroEQArduinoMega2560(Legacy).hex differ
diff --git a/AstroEQ-ConfigUtility/hex/AstroEQArduinoMega2560(Legacy)EEPROMReader.hex b/AstroEQ-ConfigUtility/hex/AstroEQArduinoMega2560(Legacy)EEPROMReader.hex
index cb7c999472e09957e1fa6a8011b2b1a5fb99ee98..ccff4f72070cf70a1ec530e88740f6e9d9a1f42d 100644
Binary files a/AstroEQ-ConfigUtility/hex/AstroEQArduinoMega2560(Legacy)EEPROMReader.hex and b/AstroEQ-ConfigUtility/hex/AstroEQArduinoMega2560(Legacy)EEPROMReader.hex differ
diff --git a/AstroEQ-ConfigUtility/hex/AstroEQV4-DIYBoard(includingKits).hex b/AstroEQ-ConfigUtility/hex/AstroEQV4-DIYBoard(includingKits).hex
index a4e35176dc480867e17a103351422a0a1a628f87..0e1618ff3cc6cf29deb31c585dd48dee2c604dea 100644
Binary files a/AstroEQ-ConfigUtility/hex/AstroEQV4-DIYBoard(includingKits).hex and b/AstroEQ-ConfigUtility/hex/AstroEQV4-DIYBoard(includingKits).hex differ
diff --git a/AstroEQ-ConfigUtility/hex/AstroEQV4-DIYBoard(includingKits)EEPROMReader.hex b/AstroEQ-ConfigUtility/hex/AstroEQV4-DIYBoard(includingKits)EEPROMReader.hex
index c268a6cb9f6d710ae94282a52de072d3a864d406..00254a11c64e336db644d920f174146b025553f1 100644
Binary files a/AstroEQ-ConfigUtility/hex/AstroEQV4-DIYBoard(includingKits)EEPROMReader.hex and b/AstroEQ-ConfigUtility/hex/AstroEQV4-DIYBoard(includingKits)EEPROMReader.hex differ
diff --git a/AstroEQ-ConfigUtility/hex/AstroEQV4-EQ5Board.hex b/AstroEQ-ConfigUtility/hex/AstroEQV4-EQ5Board.hex
index a4e35176dc480867e17a103351422a0a1a628f87..0e1618ff3cc6cf29deb31c585dd48dee2c604dea 100644
Binary files a/AstroEQ-ConfigUtility/hex/AstroEQV4-EQ5Board.hex and b/AstroEQ-ConfigUtility/hex/AstroEQV4-EQ5Board.hex differ
diff --git a/AstroEQ-ConfigUtility/hex/AstroEQV4-EQ5BoardEEPROMReader.hex b/AstroEQ-ConfigUtility/hex/AstroEQV4-EQ5BoardEEPROMReader.hex
index c268a6cb9f6d710ae94282a52de072d3a864d406..00254a11c64e336db644d920f174146b025553f1 100644
Binary files a/AstroEQ-ConfigUtility/hex/AstroEQV4-EQ5BoardEEPROMReader.hex and b/AstroEQ-ConfigUtility/hex/AstroEQV4-EQ5BoardEEPROMReader.hex differ
diff --git a/AstroEQ-Firmware/AstroEQ6.ino b/AstroEQ-Firmware/AstroEQ6.ino
index d03ae24cccbad9bc3cff47fcd8fd21b5073a95ed..6a8abed1520ea1871f9e6685fdcd5fa45a7907ae 100644
--- a/AstroEQ-Firmware/AstroEQ6.ino
+++ b/AstroEQ-Firmware/AstroEQ6.ino
@@ -119,8 +119,9 @@ void systemInitialiser(){
   modeState[STATE16][MODE1] = modeState[STATE16][MODE0];
 #endif
   
-  gotoFactor = EEPROM.readInt(NormalGoto_Address);
+  gotoFactor = EEPROM.readByte(RAGoto_Address);
   normalGotoSpeed[RA] = synta.cmd.stepIncrement[RA] * gotoFactor + 1;
+  gotoFactor = EEPROM.readByte(DECGoto_Address);
   normalGotoSpeed[DC] = synta.cmd.stepIncrement[DC] * gotoFactor + 1;
   
   minSpeed[RA] = synta.cmd.siderealIVal[RA] + ((unsigned int)synta.cmd.stepIncrement[RA] << 2);
diff --git a/AstroEQ-Firmware/EEPROMAddresses.h b/AstroEQ-Firmware/EEPROMAddresses.h
index 80db5ee970ad156b8a6e2b24541123d2273f8261..07252b4faf7e117b92c6375142a41cd4351c4d7c 100644
--- a/AstroEQ-Firmware/EEPROMAddresses.h
+++ b/AstroEQ-Firmware/EEPROMAddresses.h
@@ -5,7 +5,8 @@
 #define RAReverse_Address   (EEPROMStart_Address + 9 )
 #define DECReverse_Address  (EEPROMStart_Address + 10)
 #define Driver_Address      (EEPROMStart_Address + 11)
-#define NormalGoto_Address  (EEPROMStart_Address + 12) //and 13
+#define RAGoto_Address      (EEPROMStart_Address + 12) //and 13
+#define DECGoto_Address     (EEPROMStart_Address + 13) //and 13
 #define aVal1_Address       (EEPROMStart_Address + 14) //steps/axis
 #define aVal2_Address       (EEPROMStart_Address + 18) //steps/axis
 #define bVal1_Address       (EEPROMStart_Address + 22) //sidereal rate
diff --git a/AstroEQ-Firmware/Open me first/~$Initialisation Variable Calculator.xlsx b/AstroEQ-Firmware/Open me first/~$Initialisation Variable Calculator.xlsx
deleted file mode 100644
index 401b5d3fb4ccde7bff98db2af1fa0a49fbb23a8e..0000000000000000000000000000000000000000
Binary files a/AstroEQ-Firmware/Open me first/~$Initialisation Variable Calculator.xlsx and /dev/null differ
diff --git a/AstroEQ-Firmware/commands.cpp b/AstroEQ-Firmware/commands.cpp
index 4fe6d0092b507ae089168e1d51ed9ada13304764..53c90bc9633e8620dcdf581863ac0933d4861e53 100644
--- a/AstroEQ-Firmware/commands.cpp
+++ b/AstroEQ-Firmware/commands.cpp
@@ -44,7 +44,7 @@ void Commands::init(unsigned long _eVal, byte _gVal){
     eVal[i] = _eVal; //version number
     gVal[i] = _gVal; //High speed scalar
     
-    stepIncrement[i] = map(siderealIVal[i],300,1200,4,16);//((aVal[i] < 5600000UL) ? ((aVal[i] < 2800000UL) ? 16 : 8) : 4);
+    stepIncrement[i] = siderealIVal[i]/75;//((aVal[i] < 5600000UL) ? ((aVal[i] < 2800000UL) ? 16 : 8) : 4);
   }
 }
 
diff --git a/Downloads/AstroEQ6-ConfigUtility.zip b/Downloads/AstroEQ6-ConfigUtility.zip
index 17f2463ae01cb81c32e6b62d1bc7ce7699d6957c..4b0a42196458ff1224285ffec60250b679bb22aa 100644
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diff --git a/Downloads/AstroEQ6-Firmware.zip b/Downloads/AstroEQ6-Firmware.zip
index f3a4d7bc891f33974f0d382318ae2472c513f78f..869ad90b6d13596cefdde5a43bbd1ddb243d66f2 100644
Binary files a/Downloads/AstroEQ6-Firmware.zip and b/Downloads/AstroEQ6-Firmware.zip differ