I made an attemt to lock the ALS WFS YAW DOFs tonight.  I Inverted the sensing matrix measured in alog 10971, to make DOF1 the ETM and DOF 2 the ITM.

The WFS In matrix is now

0.065 0.042

0.045 -0.093

I could lock DOF 2 (the ITM Yaw) but could not increase the bandwidth above about 0.03 Hz.

DOF 2 seems to have an offset, when I align the cavity by hand the error signal is at around 38 counts, when I lock the loop it does supress the error signal, but this reduces the transmission of the cavity.