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Before and after cleaning all the connections in the starting circuit the voltage drop during starting is about the same - less than 3V.
I meant to add that all the connections were tight but several had various levels of corrosion. After cleaning the overall resistance from pos or neg battery post to starter or block block went from around 1.9 to 1.4 ohms. That's not enough to prevent starting, but I suspect that one of the connections was intermittent.