James, instantly that things are not going well, drop down to the basic building block! One lever at a time. Pause in between. The other leg weightless. Simple. Simple. Simple. Simple.
There is a horrible horrible horrible tendency of the two legs to get enmeshed. To rely on one another and to lose confidence in their ability individually to move the vehicle. This is a catastrophic breakdown. Immensely frustrating. Very discouraging to the nervous system. And it needs not be. Keep it simple James when you need to!
Maybe if James were cycling for 4 hours a day as he was he could maintain high level performance. But the complexity of that high level performance which seems so simple is and invitation to death spiral. Icarus tempted to fly to close to the Sun.
Horribly frustrating. Horribly distracting. Terribly discouraging. Everything falls apart.
I hope for James in the future to never attempt high level performance. Let it come, if indeed it will. Simply lever the vehicle forward one independent leg at a time. Paul's in between! Break any inter dependents. If anything develops out of that on a voyage, fine. If it doesn't. You get your exercise!
New rule! Start out every voyage one leg at a time, paws in between. Prove and establish confidence that one leg at a time in sort of short thrusts can and will sustainably move the vehicle!