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Looking for help with homemade yogurt

Okay, for my very first time ever, I made homemade yogurt.

I used:

1 quart whole Ronnybrook milk
1/2 cup full fat Ronnybrook plain yogurt
1/3 cup nonfat dry milk (the yogurt maker called for 1/4 to 1/2)

I heated the milk and dry milk to just below boiling, cooled it to 110, mixed in the plain yogurt, put in the preheated yogurt maker and left it there for 6 hours. Stirred it a little then stuck it in the fridge for 12 hours or so. Then hit it with a whisk.

So here's the thing - it's a little grainy. Not terribly, but it is noticeable.

So my question is - Is that how homemade yogurt is supposed to be? It's never been that way with the commercially prepared yogurt I buy (I generally go organic and plain - Stonyfield Farms or Ronnybrook (my absolute favorite). Have I under whisked? I did it for a while, but maybe not enough? Did I use too much nonfat dry milk? Or is that the nature of the beast? It's not bad, but I do prefer totally, totally smooth. If any of you make your own, can you please tell me what the deal is? It would be most appreciated.

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