Q: please update this Wiki page with the go-back procedure:

https://wiki-40m.ligo.caltech.edu/CDSutils_Upgrade_Procedure

For 1/4-20 bolts made of 18-8 Stainless Steel, the recommended torque varies from 65-100 inch-pounds, depending upon the application, the lubrication, how loose the bolt is, if there's a washer, etc.

For our case, where we are going into a tapped, ferromagnetic stainless table, its less clear, but it will certainly by in the 60-80 range. This is close to the 5-6 foot-lbs that I recommended on Wednesday.

I've ordered 3 torque wrenches with 1/4" drive so that we can have one at each end and one in the toolbox near MC2. We'll indicate the recommended torque on there so that we can tighten everything appropriately.

Recently, Steve replaced the HeNe which was sourcing the BS & PRM OL. After replacement, no one checked the beam sizes and we've been living with a mostly broken BS OL. The beam spot on the QPD was so tiny that we were seeing the 'beam is nearly the size of the segment gap' effect.

Today I removed 2 of the lenses which were in the beam path: one removed from the common PRM/BS path, and one removed from the PRM path. The beams on both the BS & PRM got bigger. The BS beam is bigger by a factor of 7. I've increased the loop gains by a factor of 6 and now the UGFs are ~6 Hz. The loop gains were much too high with the small beam spots that Steve had left there. I would prefer for the beams to be ~1.5-2x smaller than they are now, but its not terrible.

Many of the mounts on the table are low quality and not constructed stably. One of the PRM turning mirror mounts twisted all the way around when I tried to align it. This table needs some help this summer.

In the future: never try locking after an OL laser change. Always redo the telescope and alignment and check the servo shape before the OL job is done.

Also, I reduced the height of the RG3.3 in the OL loops from 30 to 18 dB. The BS OL loops were conditionally stable before and thats a no-no. It makes it oscillate if it saturates.

Upgraded python on megatron. Added lines to the crontab to run autoMX.py. Edited crontab to have a PYTHONPATH so that it can run .py stuff.

But autoMX.py is still not working from inside of cron, just from command line.

Since python from crontab seemed intractable, I replaced autoMX.py with a soft link that points at autoMX.sh.

This is a simple BASH script that looks at the LSC FB stat (C1:DAQ-DC0_C1LSC_STATUS), and runs the restart mxstream script if its non-zero.

So far its run 5 times successfully. I guess this is good enough for now. Later on, someone ought to make it loop over other FE, but this ought to catch 99% of the FB issues.

If it all possible, don't use links to your home directory. Its not robust. It would be like if you clicked on your Google Music and it told you to ask me to sing that song to you. Imagine that on auto-repeat next time your fancy-bone itches.

Since the nodus upgrade, Eric/Diego changed the old csh restart procedures to be more UNIX standard. The instructions are in the wiki.

After doing some software updates on nodus today, apache and elogd didn't come back OK. Maybe because of some race condition, elog tried to start but didn't get apache. Apache couldn't start because it found that someone was already binding the ELOGD port. So I killed ELOGD several times (because it kept trying to respawn). Once it stopped trying to come back I could restart Apache using the Wiki instructions. But the instructions didn't work for ELOGD, so I had to restart that using the usual .csh script way that we used to use.

Today I tried some things, but basically, lowering the input gain by 10 made the thing stable. In the attached screenshotstrip, you can see what happens with the gain at 1. After a few cycles of oscillation, I turned the gain back to 0.1.

There still is an uncontrolled DoF, but I that's just the way it is since we only have one mirror (the BS) to steer into the x arm once the yarm pointing is fixed.

Along the way, I also changed the phase for POX, just in case that was an issue. I changed it from +86 to +101 deg. The attached spectra shows how that lowered the POX_Q noise.

I also changed the frequencies for ETM_P/Y dither from ~14/18 Hz to 11.31/14.13 Hz. This seemed to make no difference, but since the TR and PO signals were quieter there I left it like that.

This is probably OK for now and we can tune up the matrix by measuring some sensing matrix stuff again later.

We want to have a VAC page in the summaries, so Steve - please put a list of important channel names for the vacuum system into the elog so that we can start monitoring for trouble.

Also, anyone that has any ideas can feel free to just add a comment to the summary pages DisQus comment section with the 40m shared account or make your own account.

Installed libmotif3 and libmotif4 on nodus so that we can run dataviewer on there.

Also, the lscsoft stuff wasn't installed for apt-get, so I did so following the instructions on the DASWG website:

https://www.lsc-group.phys.uwm.edu/daswg/download/repositories.html#debian

Then I installed libmetaio1, libfftw3-3. Now, rather than complain about missing librarries, diaggui just silently dies.

Then I noticed that the awggui error message tells us to use 'ssh -Y' instead of 'ssh -X'. Using that I could run DTT on nodus from my office.

Still processing, but I think it should work fine once we have a day of data. Until then, here's the summary pages so far, including Vac channels:

http://www.ligo.caltech.edu/~misi/summary/day/20150501/pem/

Same thing again today. So I renamed the /etc/init/elog.conf so that it doesn't keep respawning bootlessly. Until then restart elog using the start script in /cvs/cds/caltech/elog/ as usual.

I'll let EQ debug when he gets back - probably we need to pause the elog respawn so that it waits until nodus is up for a few minutes before starting.

https://ldas-jobs.ligo.caltech.edu/~max.isi/summary/day/20150502/pem/seismic/

Looks like some of our seismometers are oscillating, not mounted well, or something like that. No reason for them to be so different.

Which Guralp is where? And where are our accelerometers mounted?

X arm was far out in yaw, so I reran the ASS for Y and then X. Ran OK; the offload from ASS outputs to SUS bias is still pretty violent - needs smoother ramping.

After this I recentered the ITMX OL- it was off by 50 microradians in pitch. Just like the BS/PRM OLs, this one has a few badly assembled & flimsly mounts. Steve, please prepare for replacing the ITMX OL mirror mounts with the proper base/post/Polaris combo. I think we need ~3 of them. Pit/yaw loop measurements attached.

Based on the PEM-SEIS summary page, it looked like GUR1 was oscillating (and thereby saturating and suppressing the Z channel). So I power cycled both Guralps by turning off the interface box for ~30 seconds and the powering back on. Still not fixed; looks like the oscillations at 110 and 520 Hz have moved but GUR2_X/Y are suppressed above 1 Hz, and GUR1_Z is suppressed below 1 Hz. We need Jenne or Zach to come and use the Gur Paddle on these things to make them OK.

From the SUS-WatchDog summary page, it looked like the PRM tripped during the little 3.8 EQ at 4AM, so I un-tripped it.

Caryn's temperature sensors look like they're still plugged in. Does anyone know where they're connected?

http://www.ligo.caltech.edu/~misi/summary/day/20150504/

I left the arms locked last night. Looks like the drift in the Y arm power is related to the Y arm control signal being much bigger than X.

Why would it be that Y > X  ?

Also, EQ gave us a better (and not pwd protected) URL for the summary pages. Please replace your previous links with this new one:

https://nodus.ligo.caltech.edu:30889/detcharsummary/

Like Steve pointed out, the summary pages show that the y-arm transmission drifts a lot when locked. The OL summary page shows that this is all due to ITMY yaw.

Could be either that they coil driver / DAC is bad or that the suspension is poorly built. We need to dig into ITMY OL trends over long term to see if this is new or now.

Also, weather station needs a reboot. And does anyone know what the MC_F calibration is?

I saw that entry, but it doesn't state what the calibration is in units of Hz/counts. It just gives the final calibrated spectrum.

Still seems to be running without causing FB issues. One thought is that we could look through the FB status channel trends and see if there is some excess of FB problems at 10 min after the hour to see if its causing problems.

I also looked into our minute trend situation. Looks like the files are comrpessed and have checksum enabled. The size changes sometimes, but its roughly 35 MB per hour. So 840 MB per day.

According to the wiper.pl script, its trying to keep the minute-trend directory to below some fixed fraction of the total /frames disk. The comment in the scripts says 0.005%,

but I'm dubious since that's only 13TB*5e-5 = 600 MB, and that would only keep us for a day. Maybe the comment should read 0.5% instead...

Reward being offered for the safe return of this thing:

Today Steve and I tried to recenter the Guralps. The breakout box technique didn't work for us, so we just turned the leveling screws until we got the mass position outputs within +/-50 mV for all DoF as read out by the breakout box.

Some points:

1. GUR1 is at the ETMY (E/W arm) and GUR2 is at the X-end (South arm)
2. The SS containers are good and make a good seal.
3. We had to replace the screws on the granite slab interface plate. The heads were too big to allow the connector to snap into place.
4. The Guralps had been left way, way off level and the brass locking screws were all the way up. We locked them down after leveling today. Steve was blaming Cathy(?).
5. The GUR1_Z channel now looks good - see the summary pages for the before and after behavior. My mistake; the low frequency is still as bad as before.
6. GUR2 X/Y still look like there is no whitening or if the masses are stuck or the interface box is broken.
7. When we first powered them up, a few of the channels of both seismometers showed 100-200 Hz oscillations. This has settled down after several minutes.

The attachment shows the 6 channels after our work. You can see that GUR2_X/Y still look deadish. I tried wiggling the cables at the interface box and powering on/off, but no luck. Next, we swap cables.

Tried to bring the weather station back to life, but no luck. The unit on the wall is alive and so is the EPICS IOC (c1pem1). But there is apparently no communication between them. telnet into c1pem and the error message repeating at the prompt is:

Weather Monitor Output: NO COMM

Might be related to the flaky connector situation that Liz and I found there a couple summers ago, but I tried jiggling and reseating that one with no luck. Looks like it stopped working around 8 PM on March 24, 2014. That's the same time as a ~30s power outage, so perhaps we just need some more power cycling? Tried hitting the reset button on the VME card for c1pem1, but didn't change anything.

Let's try power cycling that crate (which has c1pem1, c0daqawg, and some GPS receiver)...nope - no luck.

Also tried power cycling the weather box which is near the BS chamber on the wall. This didn't change the error message at the c1pem1 telnet prompt.

The CDSUTILS package has a feature where it substitutes in a C1 or H1 or L1 prefix depending upon what site you are at. The idea is that this should make code portable between LLO and LHO.

Here at the 40m, we have no need to do that, so its better for us to be able to copy and paste channel names directly from MEDM or whatever without having to remove the "C1:" from all over the place.

the way to do this on the command line is (in bash) to type:

export IFO=''

To make this easier on us, I have implemented this in our shared .bashrc so that its always the case. This might break some scripts which have been adapted to use the weird CDSUTILS convention, so beware and fix appropriately.

1) Checked the N2 pressures: the unregulated cylinder pressures are both around 1500 PSI. How long until they get to 1000?

2) The IMC has been flaky for a day or so; don't know why. I moved the gains in the autolocker so now the input gain slider to the MC board is 10 dB higher and the output slider is 10 dB lower. This is updated in the mcdown and mcup scripts and both committed to SVN. The trend shows that the MC was wandering away after ~15 minutes of lock, so I suspected the WFS offsets. I ran the offsets script (after flipping the z servo signs and adding 'C1:' prefix). So far powers are good and stable.

3) pianosa was unresponsive and I couldn't ssh to it. I powered it off and then it came back.

4) Noticed that DAQD is restarting once per hour on the hour. Why?

5) Many (but not all) EPICS readbacks are whiting out every several minutes. I remote booted c1susaux since it was one of the victims, but it didn't change any behavior.

6) The ETMX and ITMX have very different bounce mode response: should add to our Vent Todo List. Double checked that the bounce/roll bandstop is on and at the right frequency for the bounce mode. Increased the stopband from 40 to 50 dB to see if that helps.

7) op340 is still running ! The only reason to keep it alive is its crontab:

op340m:SUS>crontab -l

07 * * * * /opt/rtcds/caltech/c1/burt/autoburt/burt.cron >> /opt/rtcds/caltech/c1/burt/burtcron.log
#46 * * * * /opt/rtcds/caltech/c1/scripts/general/scripto_cron /opt/rtcds/caltech/c1/scripts/PSL/FSS/FSSSlowServo > /cvs/cds/caltech/logs/scripts/FSSslow.cronlog 2>&1
#14,44 * * * * /cvs/cds/caltech/conlog/bin/check_conlogger_and_restart_if_dead
15,45 * * * * /opt/rtcds/caltech/c1/scripts/SUS/rampdown.pl > /dev/null 2>&1
#10 * * * *  /opt/rtcds/caltech/c1/scripts/general/scripto_cron /opt/rtcds/caltech/c1/scripts/MC/autolockMCmain40m >/cvs/cds/caltech/logs/scripts/mclock.cronlog 2>&1
#27 * * * * /opt/rtcds/caltech/c1/scripts/general/scripto_cron /opt/rtcds/caltech/c1/scripts/PSL/FSS/RCthermalPID.pl >/cvs/cds/caltech/logs/scripts/RCthermalPID.cronlog 2>&1

00 0 * * * /var/scripts/ntp.sh > /dev/null 2>&1
#00 4 * * * /opt/rtcds/caltech/c1/scripts/RGA/RGAlogger.cron >> /cvs/cds/caltech/users/rward/RGA/RGAcron.out 2>&1
#00 6 * * * /cvs/cds/scripts/backupScripts.pl
00 7 * * * /opt/rtcds/caltech/c1/scripts/AutoUpdate/update_conlog.cron
00 8 * * * /opt/rtcds/caltech/c1/scripts/crontab/backupCrontab

added a new script (scripts/SUS/rampdown.py) which decrements every 30 minutes if needed. Added this to the megatron crontab and commented out the op340m crontab line. IF this works for awhile we can retire our last Solaris machine.

8) To see if we could get rid of the wandering PCDRIVE noise, I looked into the NPRO temperatures: was - T_crystal = 30.89 C, T_diode1 = 21 C, T_diode2 = 22 C. I moved up the crystal temp to 33.0 C, to see if it could make the noise more stable. Then I used the trimpots on the front of the controller to maximimize the laseroutput at these temperatures; it was basically maximized already. Lets see if there's any qualitative difference after a week. I'm attaching the pinout for the DSUB25 diagnostics connector on the back of the box. Aidan is going to help us record this stuff with AcroMag tech so that we can see if there's any correlation with PCDRIVE. The shifts in FSS_SLOW coincident with PCDRIVE noise corresponds to ~100 MHz, so it seems like it could be NPRO related.

Tried swapping cables at the Guralp interface box side. It seems that all of our seismic signal problems have to do with the GUR2 cable being flaky (not surprising since it looks like it was patched with Orange Electrical tape!! rather than proper mechanical strain relief).

After swapping the cables today, the GUR2 DAQ channels all look fine: i.e. GUR1 (the one at the Y end) is fine, as is its cable and the GUR2 analog channels inside the interface box.

OTOH, the GUR1 DAQ channels (which have GUR2 (EX) connected into it) are too small by a factor of ~1000. Seems like that end of the cable will need to be remade. Luckily Jenne is still around this week and can point us to the pinout / instructions. Looks like there could be some shorting inside the backshell, so I've left it disconnected rather than risk damaging the seismometer. We should get a GUR1 style backshell to remake this cable. It might also be possible that the end at the seismometer is bad - Steve was supposed to swap the screws on the granite-aluminum plate on Thursday; I'll double check.

Looking at the summary page trends from today, you can see that the MC transmission is pretty flat after I zeroed the MCWFS offsets. In addition, the transmission from both arms is also flat, indicating that our previous observation of long term drift in the Y arm transmission probably had more to do with bad Y-arm initial alignment than unbalanced ETMY coil-magnets.

Much like checking the N2 pressure, amount of coffee beans, frames backups, etc. we should put MC WFS offset adjustment into our periodic checklist. Would be good to have a reminder system that pings us to check these items and wait for confirmation that we have done so.

Yes - my rampdown.py script correctly ramps down the watchdog thresholds. This replaces the old rampdown.pl Perl script that Rob and Dave Barker wrote.

Unfortunately, cron doesn't correctly inherit the bashrc environment variables so its having trouble running.

On a positive note, I've resurrected the MEDM Screenshot taking cron job, so now this webpage is alive (mostly) and you can check screens from remote:

https://nodus.ligo.caltech.edu:30889/medm/screenshot.html

Too weird. I undid me changes. We'll have to make the C1: stuff work inside each python script.

The c1cal model was maxing out its CPU meter so I logged onto c1lsc and did 'rtcds c1cal stop'. Let's see if this changes any of our FB / DAQD problems.

There's a few hours so far after today's c1cal shut off that the summary page shows no dropouts. I'm not yet sure that this is related, but it seems like a clue.

Good to see that misofw.m is still alive and well. Todo:

1. Apply weighting to the filter via time domain SOS prefiltering of the signals (see Jenne's code from the LLO Global FF paper)
2. Consider using some of the MC SUSPOS signals. Its not strictly legal, but I wonder if its responsible for out noise below 1 Hz.
3. Steve was in the midst of hooking up the Wilcoxones to get better subtraction at 5-15 Hz, but couldn't find cables. We need to hunt them down in W Bridge.
4. Attach one of the medium or big Lings to the MC2 chamber platform and see if we can do this in hardware without driving the suspension. WE want to use a DAC channel (from where?) and pipe it to the Ling using a medium high current drive. Might start with the 50 Ohm output of the SR560 and later use a BUF634 ala Crackle coil driver.

Good catch; that was some seriously bad programming on my part. I had some undeclared variable garbage going on. I fixed it and re-implemented the script in CRON on megatron. The log file shows that it has detected no problems for the last several checks. I'll check it again tomorrow to see if its doing good or bad.

I was wondering about the design of the BLRMS fitlers for the seismic channels since the STS ones seem to have so little gain compared to the Guralps.

Here are some plots of the Bode magnitude and impulse responses of the bandpass filters (before the low passing). There's a bunch of entries from Masha on this from her SURF summer. Can anyone comment on why they are all so different?

One of the old Masha entries speaks of designing the lowpass filter in an intelligent way: by adjusting the filter order until the power in the stopband is less than 1% of the power in the passband. Seems like we could do that for bandpass too. For now I have made the names reasonable and changed all of the BP filters to 4th order Butterworth.

Also, it turns out that the Vel2Vel (gain ~0.02) filters were mistakenly on in the STS BP filter banks. The GUR inputs have a gain to scale the counts to velocity, but the STS seem to already be in microns/sec (where is this gain?) so I turned off and deleted the Vel2Vel filters; in any case the gain should not be done seperately in each BP bank, but altogether before the BP filtering.

I think that the real clue was that the dropouts are in some channels and not in others:

https://nodus.ligo.caltech.edu:30889/detcharsummary/day/20150519/psl/

As it turns out, the channel with no dropouts is the RAW PSL RMTEMP channel. All the others are the minute trends. So something is up with the trend making or the trend reading in the cluster.

I will move it back. We need to fix our scripts to not use any users/ libraries ever again.

Looks like a very handy code, especially with the real statistical tests.

I would make sure to use much smaller excitation amplitudes. Since the coupling is nonlinear, we expect that its only a good noise budget estimator when the excitation amplitude is less than a factor of 3 above the quiesscent excitation.

You are plotting the STS channels, not Guralp. These are for the Trillium 240 seismometer.

Also, you cannot tell if the seismometer is working by plotting the MEAN trend. That just gives the average and we need the fluctuations. Better off looking at the spectrum like I did last time.

And....its not good enough to just do the bubble. You have to do the mass centering procedure that you and I did last time with the breakout paddle.

I got goosebumps just imagining this.

after re-aligning the beam into the PMC, I touched up the steering mirros into the IOO QPDs so that the beams are now centered again. Please don't adjust these references without prior authorization and training.

This plot shows the 10-minute trends for these QPDs over the last 400 days.

To improve our sensor noise estimate, the ACC cables should be clamped using a rubber pad and a big dog clamp on the SP tabletop before exiting the table. Also the sensors themselves should be covered with a foam box or a double cardboard box. The high-frequency acoustic noise may limit the 10 Hz performance since piezos are not very linear.

Wilcoxon. Not Wilconox or Wilco or Wilcoxen. Have some pity on future keyword searchers.

• Why is there a factor of 20 power difference? Some of it is the IR laser power difference, but I thought that was just a factor of 4 in green.
• Why is the mode overlap only 50% and not more like 75%?
• IF we have enough PSL green power, we could do the Y-beat with a 80/20 instead of a 50/50 and get better SNR.
• The FFD-100 response is more like 0.33 A/W at 532 nm, not 0.25 A/W.

In any case, this signal difference is not big, so we should not need a different amplifier chain for the two signals. The 20 dB of amplification in the BeatBox was a fine way, but not great in circuit layout.

The BBPD has an input referred current noise of 10 pA/rHz and a transimpedance of 2 kOhm, so an output voltage noise of 20 nV/rHz (into 50 Ohms). This would be matched by an Amp with NF = 26 dB, which is way worse than anything we could bur from mini-circuits, so we should definitely NOT use anything like the low-noise, low output power amps used currently (e.g. ZFL-1000LN....never, ever use these for anything). We should use a single ZHL-3A-S (G = 25 dB, NF < 6 dB, Max Out = 30 dBm) for each channel (and nothing else) before driving the cables over to the LSC rack into the aLIGO demod board. I just ordered two of these now.

BALUNs

• When plotting the subtraction performance, we mainly care about the 0.5 - 10 Hz band, so we care about the RMS in this band. Don't integrate over the whole band.
• When calculating the Wiener filter, you must use the pre-weighting so as to not let the Wiener residual be dominated by the out of band signals. We don't want the filter to try to do anything outside of the 0.5 - 10 Hz band.
• Somehow, we want to assign a penalty for the filter to have high frequency gain. We do NOT want to slap on an ad-hoc low pass filter. The point of the Wiener filtering is to make the optimum.
• What is the reason for the poor filter performance from 0.5 - 2 Hz ? If we use the frequency domain (Dmass) subtraction technique, we can do better, so there's some inefficiency in this process.
• we're getting too much of the 3 Hz stack mode coupling into MCL. I think this means that our damping filters should be using RG around the suspension eigenmodes rather than just simple velocity damping. We had this years ago, but it caused some weird interaction with the angular loops...to be puzzled out.

Well, green looks better than blue, but it makes the PCDRIVE go high, which means its starting to saturate the EOM drive. So we can't just maximize the phase margin in the PZT/EOM crossover. We have to take into account the EOM drive spectrum and its RMS.

Also, your gain bump seems suspicious. See my TF measurements of the crossover in December. Maybe you were saturating the EOM in your TF ?

Lets find out what's happening with FSS servos over in Bridge and then modify ours to be less unstable.

I think what happened here is you forgot to undo the MC_F whitening filter which is the Generic Pentek Interface board next to the MC servo board. I suggest you guys measure this on Monday so you can correctly estimate the MC length noise. And then perhaps undo the whitening in the anti-whitening filter of this filter bank so that the signal which is recorded is in units of kHz.

This should allow your online subtraction filter to be more correct: roughly speaking, the phase shift below a pole or zero is going to be 45*(f/fp) deg. Since we expect there to be 2 zeros at 15 Hz, it would be 9 deg phase shift at 1.5 Hz and limit the subtraction to ~80%.

To help find out if Steve really melted the inside of our precious seismometer, lets hook it up using the handheld seismo wand and see if it produces volts when we shake the ground.

Also, please stop using names like GurA or Gur1 or GurSuzy. We have GurX and GurY because they are at those ends. Anything else is confusing.

Somehow it seems like the ELOG makes all of the thumbnails way too big by default. Did we get some sneaky upgrade recently?

I would only plot your results below 50 Hz. We don't care about the RMS at high frequencies and it can make the RMS misleading.

We definitely need to include one vertical Wilconox at each MC chamber so that it can subtract all of that junk at 10-20 Hz.

I'm not totally sure, but by eyeball, this seems like the best online MCL reduction we've ever had. Nice work.

The 3 Hz performance is the same as usual, but we've never had such good 1 Hz reduction in the online subtraction.

I would like to see a plot of the X & Y arm control signals with only the MCL filter ON/OFF. This would tell us how much of the arm signals were truly frequency noise.

Let's order a pair of 35.5 MHz Wenzel for this guy and package like Rich has done for the WB low noise oscillators.

WE're only sending 6 dBm into it now and its using a 13 dBm mixer. Bad for PMC stability.

Also, if anyone has pix of the servo card, please add them to the DCC page for the PMC.

The IMC often was making that scratchy noise when first catching lock and sometimes breaking. Thinking of the crappy crossover sit that EQ showed in his latest plots, I decided that it didn't make sense to acquire lock with an unstable PZT/EOM crossover, so I have changed mcdown to acquire with +13 dB Fast Gain and its much fast now and no longer makes that sound.

I also changed the caput command from 'caput -l' to 'caput -c -l' to see if the async 'wait for callback' feature will insure that the commands get sent. I witnessed the mcdown not actually writing all of its commands once or twice tonight. With the MC Boost left on its never going to lock.

mcdown has been committed to SVN. Please, if you have recently edit mcup and Autolock, commit them to the SVN or else I will delete them and do an svn up.

ran the ON script several times and it kept pulling it away from good alignment, even when TRX was > 0.9.

Also, for what reason was this model run at 16 kHz?? Makes no sense to me to have a low frequency servo system run so high. Only makes for more digital precision noise, more CPU time, etc. Of course, running it at 2k would mean having to think about all of the AA filtering needed to go up/down from 2k to 16k.