2005-2010 Honda Odyssey Sliding Door Won't Latch Properly - Beeps As If Open

The sliding door on my 2006 Honda Odyssey was not closing properly. It was pulling the door in too far, straining the motor for a few seconds, then releasing it. The door was securely closed, but the door-open alarm would beep continuously unless we turned the door switch OFF (the one on the dash, above the door buttons, that makes them either automatic or manual). The problem and solution are revealed in the video.