[Keiko, Terri]

Yarm ITMY and ETMY pitch and yaw loops have been closed using the sensing matrix (from klog22602, repeated here for clarity). The DHARD and DSOFT channels have been used for ETMY and ITMY respectively. When turned on, the locking can be seen in ndscope K1:ASC-DHARD_P_IN1_DQ (or DSOFT or Y).

All filter banks have a null, a pole at 0.03, a zero at 0.03 (int), and the respective gain. When closing each individual loop an offset was used to adjust the zero point but when all are on this isnt needed so has been removed, so ensure all filters are on at the same time. 

The null option has been left on with a gain of 1. To turn on the loop, ensure WFS shutter are open (from ASC_OVERVIEW) and DC centering loops are on, turn off null, wait 5 seconds (ramp time) and then turn on the int option (called int as this happens second and then makes an integrator when combined with the pole). A guardian will be implemented for this.