I performed health check of PR2 and found strange behaviour.
Figure 1 shows the TF from BFGAS EXC to BFGAS.
The resonant peak at 0.3 Hz are disappeared, so suspension seems touching somewhere.
Figure 2 shows BFY EXC to BFY.
One of two resonances is disappeared and resonant frequency is shifted.
So, this TF also implies the suspension is touching somewhere.
However, TF from IMY EXC to IMY seems healthy (fig3).
Since IM TF was measured in TWR_FLOAT state, GAS position is different from the one during BFY TF measurement.
So, the situation would be recovered by offloading SF and BF GAS filters.