'Hi' Skill - Tail movement cause Nybble to fall over

I am seeking advice on whether I have a calibration issue or a general programming issue.

I have Nybble mostly working (on low pile carpet where the friction is better than a table top). Instinct sort of do as I would expect, except during the "Hi" Instinct, (Sit, Hi1, Hi2) Hi2 phase, the tail moves over too much and topples Nybble onto it's side.

The code in Instincts.h is:

const char hi[] PROGMEM = { 
1, 0, 30,
 35, -5,-60,  0, -3, -3,  3,  3,-75, 30,-60,-70, 40, 75, 45,  0,};
const char hi2[] PROGMEM = { 
1, 0, 30,
 40,  0,-35,  0, -3, -3,  3,  3,-60, 30,-60,-70, 60, 75, 45,  0,}; 

! can see that joint 2 moves from -60 to -35. I can change this (to -45) and test it by trial and error, but before I do I am seeking suggestions if this is the correct approach.

Also, If I do change this am I better off re-writing the EEPROM instinct or use a less volatile approach.

Best regards

D L