Sounds undergassed to me.
Does it have a pinned FSB or a low-profile gas block? If the latter, the first thing to check out would be whether or not that the gas block is centered over the gas port. If it is, then I'd measure the gas port (which if you don't have pin gauges, you can use the uncut ends of some drill bits. See which one fits the tightest, then convert the fraction into a decimal to get the port size).
Also, what ammo were you using? Was it good, quality 5.56 pressure ammo? Weak ammo can cause cycling problems.
As for gas port size. I'm no expert there, but I'd guess that your port should be at least .085". If it's smaller, I'd have a competent person open it up, going no more than .005" at a time (cut, assembly, test, etc.). I had an 18" barrel that had an undersized gas port, which I ended up opening up to .101" to get it to reliably cycle (this was for a wildcat caliber, not 5.56). It took two or three times of opening it up to get it right. We were only taking 3-5 thou off at a time. If you go slightly over, it's not big deal as you'll just be a little overgassed (which some prefer).