The biggest surprise Tuesday was the return of Haloti Ngata.
The defensive tackle returned to practice for the first time since tearing his left pectoral muscle during the Pro Bowl. Ngata estimates that he is between 75 to 80 percent recovered.
He wasn't expected to suit up this offseason. Ngata was limited to individual drills, but he still expects to be ready for full practices at the start of training camp in late July.
"I think I'm a little bit ahead of schedule," Ngata said. "All I'm doing is building the strength back."
Another starting defensive lineman, Kelly Gregg, also returned to individual drills. He is recovering from offseason shoulder surgery.
Cundiff welcomes competition
In just the second Ravens practice this offseason with two kickers, Billy Cundiff and Shayne Graham were both perfect, hitting field goals from 20, 35, 43 and 51 yards.
Graham was signed by the Ravens on June 3, but Cundiff had expected competition since the end of the season.
"They've got to do what's best for the team," Cundiff said Tuesday, speaking for the first time since Graham's signing. "I knew that going in, and this is exactly where I knew I was going to be."
Gaither returns then no shows
Jared Gaither practiced for the first time in over a month on Monday, but the Ravens' offensive tackle skipped Tuesday's voluntary workout.
Gaither had been sidelined with a foot injury since May 7, the day he was switched from left to right tackle. On Monday, he practiced with the Ravens and told coach John Harbaugh that the foot "felt a lot better" and the orthotics made "a big difference."
Harbaugh said Gaither's absence on Tuesday was not injury related.
"I haven't talked to him today," Harbaugh said. "I don't know what his reason for not being here is."
End zone
Ravens offensive tackle Oniel Cousins had a surgical scope performed on his throat, a team official confirmed. Cousins has been sidelined for weeks with a severe case of strep throat. The top backup at offensive tackle, Cousins is expected to be ready for training camp. … Outside linebacker William VanDeSteeg was released by the Ravens on Tuesday. A former undrafted rookie out of Minnesota, VanDeSteeg spent all of last season on the Ravens' practice squad. … Rookie offensive tackle Ramon Harewood (knee) was sidelined after working in some individual drills last week. … There were 10 players missing from voluntary passing camp, which is the final week of the team's offseason workouts. The players who were absent: linebackers Ray Lewis, Terrell Suggs and Jarret Johnson (shoulder); safety Ed Reed (hip); running back Willis McGahee; fullback Le'Ron McClain; offensive tackles Jared Gaither and Oniel Cousins (illness); center Matt Birk and defensive end Trevor Pryce.
Baltimore Sun reporter Edward Lee contributed to this article.