I have turned off the 3.2Hz res gains in the PRC ASC loops, since those seem to make the loops unstable. 

Right now the pitch gain is -0.001, with FM1,3,9 on.  Yaw gain is -0.004, with FM1,3,9 on. 

Pitch gain can't increase by factor of 2 without oscillating. 

I tried to take transfer functions, but I think the ASC situation is really confusing, since I have OSEM damping, oplev damping, and this POP QPD damping on the PRM.  It's hard to get coherence without knocking the PRC out of lock, and it keeps looking like my gain is 0dB, with a phase of 0 degrees, from ~1 Hz to ~10 Hz.  Outside that range I haven't gotten any coherence.  Moral of the story is, I'm kind of puzzled. 

Anyhow, as it is right now, the ASC helps a bit, but not a whole lot.  I increased the trigger ON value, so that it shouldn't kick the PRM so much.  I wish that I had implemented a delay in the trigger, but I'm not in the mood to mess with the simulink diagrams right now.