The rate group overran

A rate group is the work that must finish before the next tick. This one is a 10 ms group: read the sensor, run the control step, then packetize telemetry. If the sum runs past the tick, the next interrupt arrives while the group is still in the telemetry call.

Four cycles are on the schedule. One of them misses. Name the step that grew, and by how many milliseconds the group ran past 10 ms.