http://www2.usfirst.org/2003comp/tmup6.pdf
Pinning is not longer a DQ but a disablement and they clarified under which circumstances a robot that is disabled in autonomous mode will be re-enabled in human controlled mode.
Note that the link on the docs page is wrong (points to team update 5), but the link from
http://www.usfirst.org/robotics/ works.