Thanks to Koji's nice MATLAB script using DttData functions, I was able to quickly analyze the TF data. Essentially, this measurement was a repetition of what was done here. The difference is that the modulation depth has been increased by ~25x compared to that measurement from December 2016. Here are the measured TFs (before accounting for the 1/f^2 normalization) for the various quadrants and the PIT/YAW channels:

The plots above are just to illustrate that the measurement was clean between the band over which the averaging will be done to compute the TF amplitude - i.e. 7-15Hz. The full summary of TF amplitudes, standard deviations, and the sensing matrix in the style of the referenced elog (the actual excel spreadsheet is Attachment #4, minus some of the graphics Koji had on his excel sheet):

Inverting those matrices, we get the matrices that diagonalize the sensor-actuator chain:

PITCH:

YAW:

I will try implementing these matrices tomorrow and take a look at the step responses of the loops - the idea is that perhaps the system wasn't optimally diagonalized before and perhaps we can now improve the bandwidths of all the loops.