I recently purchased a 2001 RC51 with Tyga mufflers and no power commander. The bike rides reasonably well as is. What I noticed is it takes a bit to start from a cold start and once while cruising at a low speed the plugs seemed to foul (rich) requiring and little spirited riding to clean them up. I called a couple of shops to get rates for a custom map with a PC3usb and last shop quoted me $500 which seemed really high. When I asked why he said with twins he has to map each cylinder separately. Has anyone heard of this? Most shops quoted me 2-3 hours or $250-$200.