I'll go through and review to make sure nothing has been reverted or missed but this should be the last HEPI matrices to be corrected, at least those that really affect current operation and positional studies.

The rotation and pringle dofs had magnitude errors of x2 & x4 and the output (CART2ACT) matrix was all 1s.  See the first attachment for the before (left) and correct (right) values.

The second attachment shows the times series as the platforms were taken down, the matrices corrected (shifting the Cartesian readings) and bringing things back up.  No issues in that process: the ISI ST2 was already just damping, ST1 was brought down to damping and then the HEPI deisolated.  Matrices updated, RZ Reference Location corrected, new filters loaded, HEPI and ISI reisolated.  I tweaked the yaw position a few 100nrads to recover the exact OpLev output.  Brough the system backdown to take a safe.snap and then reisolated. By the way, the Pitch & Yaw are correct.

The final two attachments are the before controllers and the new 4hz UGF generic controllers.  The TF data going into these are from H2 ETMY but I still looked at them and with some phase margins in the lower 20degrees and some gain peaking near 3 using a 5hz UGF, I lowered the UGF to 4hz and now the phase margins are lowest in the upper 20s and the worst gain peaking is just over 2.

Updated safe.snap and new foton file committed to svn.