Sheila, Adam, Keiko

We closed the loops of {DHARD,CHARD}_{P,Y} with MICH, with same simple filters used for MICH.

* As reported ealier, the output matrix of the D/C HARD/SOFT were wrong, and were fixed.
* DHARD CHARD here is without ITMs, bust just diff ETMx and comm ETMs. We excluded ITMs because that seemed the problem of loosing lock everytime the asc loops were closed, but now it is not clear that it was a real problem or not. Next time we can try with them.
* We put the seeting in the guardian, but not tested yet.
* See the attached screenshot for other servo settings and input matrix seeting. Y has the same input matrix.

As seen in the attached figure, super slow oscilation (~1000?sec period) are seen at the arm transmissions. The arm transmission were oscillating between 0.9 - 1.1 cts at the TRANS DC PDs.

Locked segment with the loops are 5000 sec until gps 1259755400.