I tweaked all the PUM pitch/yaw notch filters for the quad bounce and roll modes so that we can have a slightly better gain margin on the hard angular loops.

The bounce notch was tuned slightly too low given our bounce mode frequencies (9.73, 9.77, 9.81, and 9.85 Hz according to our bounce monitor filters). The roll notch seemed too wide. (Are we supposed to see Shapiro effect when driving the PUM close to the bounce and roll modes?)

I changed both notches to 3rd order elliptic filters, so the filter ripple should not extend above the 0 dB mark (previously, it went as high as 2 dB). I retuned the stopbands to give >30 dB attenuation at the bounce and roll mode frequencies (previously, the highest bounce mode frequency was only notched by 16 dB). This reworking has the added benefit of giving us 10° of phase back at 8 Hz.

These filters were installed and seem to work fine in full lock at 2 W.