Davej wrote: I noticed my Pantin kept coming off the rope. Is there a particular foot angle to strive for?
When you're lifting your foot up, point your toe upward, when you're standing on the Pantin point your toe downward.
The main cause of a foot ascender popping of the rope is the tail of the rope below your foot angling off vertical. In particular if the tail is angled forward as it hangs below your foot. This pretty much guarantees the Pantin will jump off the rope when you lift your foot. In tree climbing the tail of the rope is often redirected over limbs below you and does not hang conveniently vertical for you. When I see that the rope below me is at an angle going forward below me i'll put a more extreme upward angle on my Pantin foot when I lift it for the next push. Sometimes I'll use my other foot to redirect the rope back to vertical just below the Pantin, that works too.