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Cheers. That's much clearer.
Looks like I'm hitting temperature limits occasionally. I think I may need to get the dremel out and add some ventilation to my case. The stock pi case doesn't seem designed for airflow.
Upgrading to a Pi 4 seems to have speeded things up a bit and improved stability. Just found some more Pis so it seems I have four standard ones of varying vintage and two zeros. Need to work out what I'm doing with them and probably get rid of some older ones.
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I can highly recommend a case like this for Pi4 https://www.ebay.co.uk/itm/for-Raspberry-Pi-4-Model-B-Aluminum-Case-Passive-Cooling-Aluminum-Alloy-Pr-I6M9/362967021701?epid=20034378788&hash=item5482853885:g:UY0AAOSwUwRekBG0
If you're hitting heat limits in normal use, there is definitely something wrong with your case. Have you installed heatsinks? Only cost a couple of quid and make a big difference...
vgencmd outputs hex which you need to convert to binary. Position 0 is undervolt detected if set to 1.
https://harlemsquirrel.github.io/shell/2019/01/05/monitoring-raspberry-pi-power-and-thermal-issues.html
EDIT: Don't forget that you work from right to left with binary in terms of register numbers