Yuta, Sheila, Alexa
Today we found an alignment that should be acceptable to both PRMI and the Xarm, in the hopes that the green team and red team will not each have to change PR2 significantly each day.
First Yuta aligned PRX, then we aligned the Xarm, locked the IR to the X arm, and moved PR2 and IM4 to point the beam down the xarm. After this the alignment of PRX was way off and unlockable. We checked that the beam was centered on POPAir B, then restored PR2 to the intial PRX alignment. Then Yuta aligned PRM by hand, and walked PR2 back to the arm alignment. Finally Yuta realinged PRY. A screenshot of the final positions is attached.
Yuta has changed the dither guardian script for PRX so that the PR2 dither is now fed back to PRM instead of PR2.
Hopefully this means that the PRMI and arm alignments will stay compatable and both the red team and green team don't have to spend as much time aligning each day.
Just an observation from this morning:
I wanted to see how much power build up the PRC can achieve without touching the alignment. I reverted PRM, BS and ITMY to the values that Sheila had in her screen shot because their alignment wasn't saved and they had come back to some past values by the guardian. The highest build up I saw was about 12 uW in POPAIR_B_RF18 which is about 6-7 times smaller than the highest in the past. Not bad.
Note that ITMX, ETMX and TMXS had different alignment biases than that in the screen shot. I assumed that there had been a fine touch by the green team and I didn't revert them to the screen shot values. The green light mostly stays on a 01 mode and occasionally on a 00 mode.