This test was an effort to improve the tension PID tuning by adding some filtering on the load-cell.  At the start of this test the anti-aliais filter in the EL3058 input card was changed from a 50Hz notch filter to a 40Hz 1st order roll-off filter.  With that we were able to increase the gains some without exciting the transverse mode of the cable in the hanger.  For this test the ROV was hanging in the docking head, so everything was at maximum extent.  

We then shut the PLC down and switched the EL3058 to use a 21Hz filter and we had to reduce the PID gains to stabilize the PID loop, so we shut down again and changed back to the 43Hz setting.

After that we implemented a digital filter in the PLC that gave us more resolution in the filtering, but it was immediately clear that futher filtering made things worse so this was abandoned.

The internal control loop is running at 100Hz, so having the anti-aliasing filter at 43Hz makes good sense.

- At 3350 seconds, changed input card filter to 23Hz
- At 4250 seconds, changed input card filter back to 41Hz

