See attached for the time series of the process, all done less than thirty minutes.  HEPI isolates first time, ISI & IMC remained locked.  Keita says it looks good (enough?.)  I tweeked the RZ target ~100nrads to bring the ISI OpLev 'Yaw' (yes, still reversed) back to before reading.  I didn't tweek pitch but is within a couple 'units' on the ISI OpLev.

The signs changed on the RX RY & RZ with the matrix correction but all the amplitudes were correct.  The output matrix was a mess though and looks much better now--see second attachment for a before & after view of the matrices. The correct matrices are in the right column.

Updated safe.snap and foton txt file commited to svn r9202.