We took a decent set of system id over the weekend and it looks like all of those people who were snickering at Brian are going to have to aplogize. The signal from rX andrY stage one actuators to rX and rY stage 2 CPS is about 50-100 times larger then the signal for the other four degrees of freedom, and since we have not normalized the actuators yet we expect a few percent of cross coupling at low frequency. The results for Stage 2 Act to stage 1 CPS are more or less the same