[JC, Paco, Radhika, Murtaza]

IFO ALIGNED

1. WFS Relief
We tried to change the gain to offload the offsets in the reliefMCWFS script but it The gains might need some tuning to get it to work

2. WFS Error Signals Diverging
The error signal C1:IOO-WFS2_I_PIT_MON was staying at a constant offset from 0 using the existing output matrix (C1IOO_WFS_OUTMATRIX). We tried changing the matrix coefficients that may have caused this behavior but it led to divergence in other signals (C1:IOO-WFS1_I_PIT_MON, C1:IOO-WFS2_I_YAW_MON). THIS NEEDS TO BE FIXED

3. BS was aligned using OPLEV readouts and the damping filters were checked. No funny business for BS anymore.

4. The original IFO Align scripts used the suffix "COMM" for each optic. This was changed to "OFFSET" for all arguments by editing the IFO_ALIGN screen (left click-> Execute -> Edit this screen -> !Align -> Label/Cmd/Args)

5. The OPLEV gains for ITMY were unstable and needed some tuning. New gains: C1:SUS-ITMY_OL_PIT_GAIN (14->3.5) and C1:SUS-ITMY_OL_YAW_GAIN (-8->-4). (The upgrade should not have affected this so this could be revisited later).

6. YARM (transmission ~ 1) and XARM (transmission ~ 0.6) were locked successfully!

ITS A GOOD IDEA TO HAVE PRM AND SRM MISALIGNED WHILE TRYING TO LOCK THE IFO.

[Paco, JC, Murtaza]

[WIP]

To fix the WFS loops, went through the following steps

With the WFS loop turned off

- We manually aligned the optics MC1, MC2 and MC3 (IOO -> C1IOO_MC_Align) to maximize transmission (MC Trans Sum -> ~13300)

- We manually aligned the QPDS for WFS1 and WFS2 to center the beam by looking at the DC signals (C1IOO_WFS_QPD). The laser was clipping on WFS2

With the WFS loop turned on

- We changed the gains of the WFS filters for all signals (1.0 -> 2.0), this led to faster conversion but clipping on C1:IOO-WFS2_YAW_OUTPUT. The gains were restored to 1.0 and thus left unchanged.

- We increased the reliefMCWFS gain by a factor of 10 by changing the arguments (Execute -> Edit this screen -> Actions -> label/cmd/args -> Arguments) (0.02 -> 0.2) 

- We ran WFSoutMatBalancing.py (17334) to calculate the new output matrix

[Paco, Yuta]

 We checked whitening and dewhitening situations in all the suspensions, and fixed them for ETMY.

ETMY trans QPD and ETMX trans QPD whitening:
  These QPDs have analog whitening filter of two 40:4s (LIGO-D1400415 and LIGO-D1400414). So, two of 4:40 in FM1 and FM2 of C1:SUS-ETM(Y|X)_QPDx should be always on. FM2s were off, so we turned ON today (see Attachment #1).

Fixing ETMY coil dewhitening BIO switch:
  Binary switching for ETMY coil dewhitening was not working because DB37 cable from Contec 32 BO card was not connected to the Binary Output Interface Chassis (LIGO-D1002593).
  After connecting the DB37 cable with a gender changer (we need a F to F cable), some of the switching worked but not in the correct order. Using a BD37 breakout board, we noticed that the binary switching is doing the switch in the mixed order of coil dewhitening and OSEM whitening. We modified the c1scy model so that the coil dewhitening switches Run/Acq LEDs correctly (Attachment #2 was before, and modified to Attachment #3). OSEM whitening binary switches are now terminated in c1scy model, because OSEM analog whitenings are always on (LIGO-D2100144).
  We also modified c1scx model to match with c1scy, although we don't have the acromag for Xend yet.
  Attachment #4 is the BIO status when ETMX and ETMY are in run mode (coil dewhitening on). ETM(Y|X)_BO_0_0 is for coil dewhitening, and BO_0_1 is for trans QPDs.
  Attachment #5 is the photo of LEDs correctly lit when ETMY is in run mode, after all these modifications.

Summary of Coil Driver situation for all optics:
  See, also, LIGO-D1100687

  By the way, for OSEMs, analog 30:3 whitening are always ON, no matter what the BIO situations are (LIGO-D2100144). So FM1 of C1:SUS-xxxx_xxSEN should be always ON.
  Also, since the recent coil driver upgrade, the order of coil outputs in SUS_SINGLE_COIL is UL/LL/UR/LR/SD, and the signs of C1:SUS-xxxx_xxCOIL_GAIN are +--++ (or flipped one). Note that it used to be +-+-+, as the order was UL/UR/LR/LL/SD (40m/16898).

Next:
  - Check sign convensions on all the suspensions
  - Check 60 Hz noise related dewhitening situation in MC suspensions (40m/17466)
  - For LO1, LO2, AS1, AS4, PR2, PR3, SR2, make them "lower half shorted" so that analog dewhitening will be turned off similarly to other vertex suspensions.

[Paco, Yuta]

We checked the polarity of suspension damping loops if they follow the conventions we agreed in 40m/16898.
Suspensions are nicely homogenized nicely , with some exceptions (see Attachment #1).

• ​PRM SDSEN_GAIN is 0.2, but it should be 1.
• LO1, LO2, AS1, AS SDCOIL_GAIN is +/-13, but it should be +/- 1. (Unless there are reasons for these 13)
• Let's make coil dewhitening to be off (in Acq mode) for all by default to homogenize (40m/17875). MC1 and MC3 might require 28Hz ELP for 60Hz noise.
• INMAT should be normalized nicely so that SUSPOS/SIDE_IN will be um and SUSPIT/YAW_IN will be urad. (Are cnts2um in *SEN filters correct?)
• Gain offsets in *COIL filters (e.g. V2A, x0.414) can be adjusted later to have the same actuation efficiencies between suspensions.

Note that *COIL_GAIN are now +--++ or flipped one in the order of UL/LL/UR/LR/SD.

Next:
  - Address the points raised above
  - Make a script to show current EPICs values for all suspensions to check the damping configurations.

PRM/SRM OSEM input calibration

- I realized I had not yet updated the input OSEM cts2um calibration. For PRM and SRM, I changed each cts2um filter gain from 0.36 ---> 0.0417 (factor of 8.64).

- The coil output filters (V2A) had already been updated according to new actuation calibration.

PRM damping/alignment

- As noted in the previous ELOG, PRM SDSEN gain was 0.2 instead of 1. I turned on damping filters for PRM and noticed SD motion was underdamped. I changed PRM SDSEN GAIN from 0.2 ---> 1. Final PRM damping test in Attachment 1.

- With PRM alignment restored (no PIT offset in output matrix), the PRM oplev is aligned and is recording light.

- I left PRM with a misalignment offset (damping loops on; oplev loops off).

SRM damping/alignment

- I performed a damping test of SRM with the optic alignment restored (no PIT offset in output matrix). This way the OSEMs were not saturated. In this configuration, SRM passed a damping test [Attachment 2].

- However in this configuration, no light was hitting the oplev. I tried to manually align but gave up after I saw no improvement. Which raises the question, was the SRM oplev ever (recently) aligned?

- I left SRM with a misalignment offset, but in this state the OSEMs saturate and the damping loops drive unstable motion. So SRM damping loops are off.

To further homogenize the suspensions, we did the following changes.

 - Turned on DECIMATION in PR2 URCOIL
 - Changed +/- 13 in SDCOIL_GAIN of SR2,LO1,LO2,AS1,AS4 to +/-1 and increased SUSSIDE_GAIN accordingly
 - PRM SDSEN_GAIN was changed from +0.2 to +1 (see 40m/17877)
 - Moved FM6 "gain_offset" of gain(0.48) to FM1 in ETMY *COIL to align with other suspensions. Also added x0.48 to SDCOIL as well, and adjusted SUSSIDE_GAIN accordingly.
 - "Half shorted" binary inputs to coil drivers for PR2,PR3,SR2,LO1,LO2,AS1,AS4 so that they are always in "Acq" mode. FM9 SimDW filters were turned on accordingly.

Before work today:

2023-09-28 17:10:19 UTC (GPS: 1379956237)
channel\optic   MC1     MC2     MC3     BS      ITMX    ITMY    PRM     SRM     ETMX    ETMY    PR2     PR3     SR2     LO1     LO2     AS1     AS4     
ULSEN_GAIN        +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00 
LLSEN_GAIN        +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00 
URSEN_GAIN        +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00 
LRSEN_GAIN        +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00 
SDSEN_GAIN        +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +0.20   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00 
ULSEN_SWSTAT      37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923 
LLSEN_SWSTAT      37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923 
URSEN_SWSTAT      37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923 
LRSEN_SWSTAT      37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923 
SDSEN_SWSTAT      37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923 
SUSPOS_GAIN     +120.00 +150.00 +100.00 +100.00 +150.00  +50.00  +28.00  +25.00 +150.00  +41.00   +8.00  +10.00  +27.00  +10.00  +10.00  +14.00  +15.00 
SUSPIT_GAIN      +60.00  +10.00  +24.00  +10.00  +14.00   +7.00   +5.00   +1.20  +15.00   +6.00   +2.00   +5.00   +6.00   +4.00   +3.00   +2.50   +3.10 
SUSYAW_GAIN      +60.00  +10.00   +8.00   +3.00  +10.00   +8.00   +4.00   +1.50  +10.00   +6.00   +2.00   +5.00   +6.00   +3.00   +3.00   +3.00   +3.00 
SUSSIDE_GAIN    +100.00 +150.00 +125.00  +10.00  +60.00  +50.00  +50.00   +7.50 +150.00 +300.00  +11.54  +20.00  +10.77   +3.08   +3.85   +6.54   +3.15 
OL_PIT_GAIN       +1.00   +1.00   +1.00   -0.05   +5.00   +3.50   +6.00  +12.68   +1.00   -1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00 
OL_YAW_GAIN       +1.00   +1.00   +1.00   +0.10   +5.00   -4.00   -8.00  -15.85   +1.00   -1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00 
ULCOIL_GAIN       +1.01   +1.07   +0.94   +1.06   -1.10   +1.06   +0.97   +1.09   -1.01   -1.00   -1.00   -1.00   -1.00   -0.94   -1.05   -0.94   -0.98 
LLCOIL_GAIN       -0.95   -0.98   -0.94   -0.98   +0.90   -1.01   -1.04   -1.00   +0.97   +0.81   +1.00   +1.00   +1.00   +0.98   +0.63   +0.99   +0.97 
URCOIL_GAIN       -0.98   -0.98   -1.04   -1.04   +0.93   -0.99   -1.04   -0.92   +1.03   +0.74   +1.00   +1.00   +1.00   +1.00   +1.34   +1.04   +0.98 
LRCOIL_GAIN       +1.06   +0.97   +1.08   +0.92   -1.07   +0.94   +0.90   +0.99   -0.99   -1.05   -1.00   -1.00   -1.00   -1.07   -0.98   -1.03   -1.07 
SDCOIL_GAIN       +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   -1.00   -1.00   -1.00   -1.00  -13.00  -13.00  -13.00  +13.00  -13.00 
ULCOIL_SWSTAT     37889   38657   37889   38657   38657   38657   38657   38657   55041   38688   38400   38400   38400   38400   38400   38400   38400 
LLCOIL_SWSTAT     37889   38657   37889   38657   38657   38657   38657   38657   38657   38688   38400   38400   38400   38400   38400   38400   38400 
URCOIL_SWSTAT     37889   38657   37889   38657   38657   38657   38657   38657   38657   38688    5632   38400   38400   38400   38400   38400   38400 
LRCOIL_SWSTAT     37889   38657   37889   38657   38657   38657   38657   38657   38657   38688   38400   38400   38400   38400   38400   38400   38400 
SDCOIL_SWSTAT     37889   38657   37889   38145   38145   38145   38145   38145   38657   38656   38144   38144   38144   38144   38144   38144   38144 

After work today:

2023-09-28 18:26:55 UTC (GPS: 1379960833)
channel\optic   MC1     MC2     MC3     BS      ITMX    ITMY    PRM     SRM     ETMX    ETMY    PR2     PR3     SR2     LO1     LO2     AS1     AS4     
ULSEN_GAIN        +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00 
LLSEN_GAIN        +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00 
URSEN_GAIN        +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00 
LRSEN_GAIN        +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00 
SDSEN_GAIN        +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00 
**SEN_SWSTAT      37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923   37923 
(...snip...) 
SUSSIDE_GAIN    +100.00 +150.00 +125.00  +10.00  +60.00  +50.00  +50.00   +7.50 +150.00 +625.00  +11.54  +20.00 +140.00  +40.00  +50.00  +85.00  +40.00 
(...snip...)
SDCOIL_GAIN       +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   +1.00   -1.00   -1.00   -1.00   -1.00   -1.00   -1.00   -1.00   +1.00   -1.00 
ULCOIL_SWSTAT     37889   38657   37889   38657   38657   38657   38657   38657   55041   38657   38656   38656   38656   38656   38656   38656   38656 
LLCOIL_SWSTAT     37889   38657   37889   38657   38657   38657   38657   38657   38657   38657   38656   38656   38656   38656   38656   38656   38656 
URCOIL_SWSTAT     37889   38657   37889   38657   38657   38657   38657   38657   38657   38657   38656   38656   38656   38656   38656   38656   38656 
LRCOIL_SWSTAT     37889   38657   37889   38657   38657   38657   38657   38657   38657   38657   38656   38656   38656   38656   38656   38656   38656 
SDCOIL_SWSTAT     37889   38657   37889   38145   38145   38145   38145   38145   38657   38657   38144   38144   38144   38144   38144   38144   38144 

ULCOIL_STAT of ETMY being 55041 is OK. 38657+2**14 = 55041.
Script to produce these tables live in /opt/rtcds/caltech/c1/Git/40m/scripts/SUS/suspension_epics_check.py

Current coil dewhitening filter situations:

Next:
 - Investigate 60 Hz noise in laser frequency and check 28 Hz ELP situation for MC1,MC2,MC3
 - Fix ETMX acromag

While aligning today I realized the cavAlign step sizes and step factors had not been updated after the upgrade.

Here are the new MEDM command arguments to launch cavAlign. Only factors not equal to 1 are listed. The updates made by me are in red

Interesting notes:

[Rana, Radhika, Murtaza]

WFS Loop Debugging

- We turned on the WFS loops with very small gain (0.01) to see how the error signals behave. There is an existing template to look at the error signals in ndscope (users->Templates->ndscope->IOO->WFS->WFS-overview.yml). We observed C1:IOO-WFS2_IY_DQ stay at a constant offset as we increased the gain to 1.

- The output matrix for WFS (C1IOO_WFS_INMATRIX) was restored to the original value using burtgooey to mitigate the WFSoutMatBalancing.py change 17874.

- (TODO) WFS1 and WFS2 are slightly misaligned as seen on the C1IOO_LOCKMC screen. These need to be aligned when the IFO is unlocked so that the beam is centered on them.

- (TODO) With the PSL shutter turned off, WFS heads should show 0 reading which is not the case. This needs to be corrected for to mitigate the offset readings.

- The electronics upgrade should ideally only affect the suspensions (everything upstream should not need any changes).

- Note: The MC_TRANS error signals look very small in PIT and YAW.

The triple suspensions (mode cleaners: PRM, SRM) at the Livingston site have measured excess feedback noise in the local damping filters for the suspensions. 
This exercise is to familiarize myself with python-controls, python-foton using the SOS model and damping filters for one optic at the 40m and then work my way towards the diagnostics for the triple suspension (HSTS)

Simulation of a Small Optic Suspension:

Model: Ian provided the 3 DOF (POS, PIT, YAW) state space model built off the Malik Rakhmanov model in python. A few changes were made to it
- Appended the 'SIDE' DOF to be consistent with the current working state of the system
- Got rid of (1/s) factors in the control and observation matrix

Filters: Damping filters for ITMY were obtained using python-foton. The library is installed correctly on Pianossa, the zpk values (s-plane) for the active filters (30:0.0, Cheby, BounceRoll) were saved as a dictionary and imported on my local device (to avoid installing control, slycot libraries on Pianossa)

The impulse and step response for the open (Attachment 1) and closed loop (Attachment 2) systems are generated and attached.

TO-DO (for SOS):

- Generate the frequency response for the system
- Superimpose the open-loop and close-loop response of the system
- Migrate the notebook to ligocdsws and merge SmallOpticSuspension and GrabFotonFilters notebooks (it has a working library of crtools installed and thus foton works in there)
- Modify code to read the state of the filter (ON/OFF) and obtain the appropriate filter banks for the damping loops
- Inject white noise (e-10m) into the system and model the response 

TODO (for HSTS):

- Save the active damping filters for a triple suspension (HSTS) from Livingston
- Import a HSTS model to python
- Close the loop on the model using the damping filters

The optical fiber that Hiroki set up turned out that long enough for the use in the new HEPA optical bench. (Attachment 1)

The fiber was rolled and placed beneath the PSL table. The end is capped. (Attachment 2)