Lucia kindly helped to set up the diagonalization matrix for SR2 geophones and implemented blending filters (which I will attempt to optimize later). I designed new damping filters and placed inside the IDAMP filter block. With inertial damping, we get to control at higher frequencies without introducing too much noise. In attachment, please see a comparision between undamped (black), normal damping with LVDT signals (yellow) and inertial damping (blue).