As has been practical, I've been replacing prusiks with UCR's. By the time I get a prusik to grab as well as I'd like then it never lets go. I don't have that problem with UCR's. If you ever run into the scenario where the bury of the UCR won't let you get as close to the ground as you'd like just go around the stake, back to the tarp and down to the stake again. If you need to be closer than that allows skip the string all together and just stake the tarp to the ground.
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Deep peace of the running wave to you.
Deep peace of the flowing air to you.
Deep peace of the quiet earth to you.
Deep peace of the shining stars to you.
Deep peace without end to you.
adapted from - ancient gaelic runes