Camilla, Vicky

We found the PSAMS servos on ZM2/4/5 were railing (initially set up in 80685), so we reset them and tried to make it more robust for next time. What we did:

• Turn servo gains to 0
• Clear history on filter banks (ran into this problem before already 81697)
• In the filter banks, we changed the integrator "p0" to have Input = Zero History, Output = Ramp, and Ramp Time = 10 sec. At first we were having an issue that turning the filter bank gains to 1 caused the PSAMS servos to slam on and saturated the limiters. Having the 10-sec ramps on both the "p0" filter output and on the filter bank helped. We have previously lost lock  by slamming on the PSAMS servos so hopefully this helps in general. We SDF'd the 10-sec ramp times to both safe.snap and observe.snap.
• Turn servo gains to 1

Then all PSAMS servos were fine. Camilla re-adjusted the ZM2,4,5 osems alignments to set alignment back to yesterday 84593.