diff --git a/y2016/control_loops/superstructure/superstructure.cc b/y2016/control_loops/superstructure/superstructure.cc
index 43a95d9..7c370bd 100644
--- a/y2016/control_loops/superstructure/superstructure.cc
+++ b/y2016/control_loops/superstructure/superstructure.cc
@@ -481,6 +481,16 @@
                          constants::Values::kShoulderRange.lower);
           requested_wrist = 0.0;
           requested_intake = unsafe_goal->angle_intake;
+          // Transition to landing once the profile is close to finished for the
+          // shoulder.
+          if (arm_.goal(0, 0) > kShoulderTransitionToLanded + 1e-4 ||
+              arm_.unprofiled_goal(0, 0) > kShoulderTransitionToLanded + 1e-4) {
+            if (state_ == LANDING_RUNNING) {
+              state_ = RUNNING;
+            } else {
+              state_ = SLOW_RUNNING;
+            }
+          }
         } else {
           // Otherwise, give the user what he asked for.
           arm_.AdjustProfile(unsafe_goal->max_angular_velocity_shoulder,
@@ -498,7 +508,9 @@
 
           // Transition to landing once the profile is close to finished for the
           // shoulder.
-          if (arm_.goal(0, 0) <= kShoulderTransitionToLanded + 1e-4) {
+          if (arm_.goal(0, 0) <= kShoulderTransitionToLanded + 1e-4 &&
+              arm_.unprofiled_goal(0, 0) <=
+                  kShoulderTransitionToLanded + 1e-4) {
             if (state_ == RUNNING) {
               state_ = LANDING_RUNNING;
             } else {
diff --git a/y2016/control_loops/superstructure/superstructure_lib_test.cc b/y2016/control_loops/superstructure/superstructure_lib_test.cc
index 1ff958d..ab8ddf4 100644
--- a/y2016/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2016/control_loops/superstructure/superstructure_lib_test.cc
@@ -905,12 +905,21 @@
 
   ASSERT_TRUE(
       superstructure_queue_.goal.MakeWithBuilder()
+          .angle_intake(constants::Values::kIntakeRange.upper)      // stowed
+          .angle_shoulder(constants::Values::kShoulderRange.lower)  // Down
+          .angle_wrist(0.0)                                         // Stowed
+          .Send());
+
+  RunForTime(Time::InSeconds(10));
+
+  ASSERT_TRUE(
+      superstructure_queue_.goal.MakeWithBuilder()
           .angle_intake(constants::Values::kIntakeRange.upper)  // stowed
           .angle_shoulder(M_PI / 4.0)  // in the collision area
           .angle_wrist(M_PI / 2.0)     // down
           .Send());
 
-  RunForTime(Time::InSeconds(10));
+  RunForTime(Time::InSeconds(3));
 
   superstructure_queue_.status.FetchLatest();
   ASSERT_TRUE(superstructure_queue_.status.get() != nullptr);