Sheila, Cheryl

Cheryl had some trouble with ALS WFS after our recent lockloss, I looked at the ASC signals after she had tried locking several times.  

The first attachment shows that as the error signal for DOF1 (ETM) is brought to 0, the DOF2 error signal (TMS) is pushed away, and the loop is too slow to keep up, which made me think that we need more gain in DOF2 and less gain in DOF1.  I changed those gains in the guardian, which seemed to solve this problem for our next lock. I believe this is likely to be the reason why the operators have been manually turning off DOF1, so hopefully this helps. 

The second attachment shows the next locking attempt, the WFS worked OK when they first came on (both error signals are trending towards 0).  At around -1380, the boosts, which have a delayed trigger in the front end, come on.  The guardian state changes to offlaoding just a few seconds after the boosts come on, whlie the control signals are still changing rapidly, and when the offloading finishes and the top mass filters are reengaged with cleared history they drive the alignment away.  I modified the guardian state LOCKED_SLOW_ETM_TMS_WFS so that it sets a timer after the boosts come on, and waits 13 seconds before checking for convergence. I've loaded this but we haven't tested it.