Sheila, Elli, Dave, Stefan

We spent some time to automate the transition to a CARM offset of 30ppm.

In particular:
 - The DRMI looks ok with the new TCS settings. We did not retune the loop gains - that should probably still be done.
 - Noticed that with the new TCS central heating on ETMX the WFS loops in DRMI behave differently.
 - We increased the gain of PRM pitch WFS loop by 10 to H1:ASC-PRC1_P_GAIN = -0.06
 - We increased the gain of PRM yaw   WFS loop by 20 to H1:ASC-PRC1_Y_GAIN = 0.02
 - We turned off the SRM WFS loops - they seem to be unstable with the new TCS heating.
 - We moved the transition to RF DARM to a setpoint of sqrt(TR_X+TR_Y)=1 (was 2). This seems more robust.
 - We tweaked the PREP_TR_CARM state to give the Beckhoff servo some time to converge
 - We rewrote the transition to CARM_TR in Guardian - it's now really smooth.
 - We added and commissioned the states RF_DARM, CARM_30pm, TR_QPD_TRANSITION and CARM_20PM. They do what was discussed in alog 15318.
 - The challenge is at the CARM_20PM step - it doesn't want to stay there fore too long...

The only troublesome spot is the ALS_COMM CARM fringe finder. It often grabs the wrong one, and advances to DIFF before the serve setled. Definitely needs work.

The the CARM reduction steps from DRMI_LOCKED to TR_QPD_TRANSITION worked twice in a row flawlessly.