Our team has a question on how scoring for scaling the tower. Our primary concern; does the robot have to remain off of the ground after the field is shut down when time elapsed or does it have to only be off the ground right up to the time the time elapses. We currently use a chain device to lift the bot up to scale the tower and have to add a device to like up the chain if it has to remain on the tower, above the ground, once the field is shut down. The game manual is unclear on when scoring for scaling is conducted. Any insight would be greatly appreciated. 
Hello,
Hope this helps. Under 3.3.1 Point Values it says:
The final assessment of ROBOTS having SCALED or CHALLENGED the TOWER is made five (5) seconds after the ARENA timer displays zero (0), or when all ROBOTS have come to rest following the conclusion of the MATCH, whichever happens first.
Floris
See section 3.3.1:
All scores are assessed and updated throughout the MATCH.
The final assessment of BOULDERS scored in GOALS is made five (5) seconds after the ARENA timer displays zero (0) following TELEOP.
The final assessment of ROBOTS having SCALED or CHALLENGED the TOWER is made five (5) seconds after the ARENA timer displays zero (0), or when all ROBOTS have come to rest following the conclusion of the MATCH, whichever happens first.
Yup that darn 5 seconds negated our last scale in SF.