diff --git a/src/modelec_com/src/pcb_odo_interface.cpp b/src/modelec_com/src/pcb_odo_interface.cpp
index a0fde01..f8bc0b1 100644
--- a/src/modelec_com/src/pcb_odo_interface.cpp
+++ b/src/modelec_com/src/pcb_odo_interface.cpp
@@ -221,7 +221,7 @@ namespace Modelec
 
     void PCBOdoInterface::PCBCallback(const std_msgs::msg::String::SharedPtr msg)
     {
-        RCLCPP_INFO(this->get_logger(), "Received from PCB: %s", msg->data.c_str());
+        RCLCPP_DEBUG(this->get_logger(), "Received from PCB: %s", msg->data.c_str());
         std::vector<std::string> tokens = split(trim(msg->data), ';');
         if (tokens.size() < 2)
         {
diff --git a/src/modelec_strat/src/missions/banner_mission.cpp b/src/modelec_strat/src/missions/banner_mission.cpp
index ae3e59f..d534f2c 100644
--- a/src/modelec_strat/src/missions/banner_mission.cpp
+++ b/src/modelec_strat/src/missions/banner_mission.cpp
@@ -80,7 +80,7 @@ namespace Modelec
         case UNDEPLOY_BANNER:
             {
                 go_timeout_ = node_->now();
-                nav_->GoTo(spawn_.x, (nav_->GetPathfinding()->robot_length_mm_ / 2) + 550, M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
+                nav_->GoTo(spawn_.x, 500, M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
 
                 step_ = GO_FORWARD;
             }
diff --git a/src/modelec_strat/src/strat_fms.cpp b/src/modelec_strat/src/strat_fms.cpp
index 7ebbbea..920e45d 100644
--- a/src/modelec_strat/src/strat_fms.cpp
+++ b/src/modelec_strat/src/strat_fms.cpp
@@ -159,7 +159,7 @@ namespace Modelec
                 {
                     Transition(State::DO_PROMOTION, "Start promotion");
                 }
-                else
+                else if (elapsed.seconds() >= 100)
                 {
                     Transition(State::STOP, "All missions done");
                 }