finished pgs 966-975
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60d9cea338
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20709c05b9
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@ -1730,10 +1730,10 @@ LUNG STQ VLOAD
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TC PHASCHNG
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OCT 04024
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TC BANKCALL # DON'T NEED TO INHINT. THIS USED TO
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CADR PIPSRINE # INITIALIZE PIPAS. DON'T USE DATA
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TC BANKCALL # DONT NEED TO INHINY THIS USED TO
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CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
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TC INTPRET
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GREED EXIT # = MASK 7776 IN BASIC SO DON'T CARE
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GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
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CAF 2SECS
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TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
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ADRES GRABGRAV
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@ -1763,8 +1763,8 @@ ADDGRAV TC BANKCALL
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VLOAD UNIT
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GACC
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STCALL STAR
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CDUTRIG # TRANSFORM IN NB COOR AND STORE
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CALL # IN OUTPUT
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CDUTRIG # TRANSFORM IN NB COOR AND STORE
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CALL # IN OUTPUT
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*SMNB*
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STORE GOUT
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EXIT
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@ -1781,25 +1781,24 @@ DISGRVER VN 0604
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35DEG OCT 06211
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# Page 968
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# NAME -- GYROTRIM
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# NAME GYROTRIM
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#
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# THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
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# TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
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# VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
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# TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
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# VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
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#
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# CALL CALL
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# GYROTRIM
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# CALL CALL
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# GYROTRIM
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#
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# INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
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# CDUX,CDUY,CDUZ
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# INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
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# CDUX,CDUY,CDUZ
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#
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# OUTPUT GYRO TORQUE PULSES
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# OUTPUT - GYRO TORQUE PULSES
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#
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# SUBROUTINES TRG*NBSM, *NBSM*, CDUTRIG, AXISGEN, CALCGTA, IMUFINE
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# IMPULSE, IMUSTALL
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# _______ ______ ______ * * ___
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# DEBRIS CDUSPOT, SINCDU, COSCDU, STARAD, VAC, XDC, OGC
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# SUBROUTINES- TRG*NBSM,*NBSM*,CDUTRIG,AXISGEN,CALCGTA,IMUFINE
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# IMPULSE,IMUSTALL
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# - - - * * -
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# DEBRIS - CDUSPOT ,SINCDU ,COSCDU , STARAD ,VAC , XDC, OGC
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COUNT* $$/P57
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GYROTRIM STQ DLOAD
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QMIN
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@ -1856,7 +1855,7 @@ GYRCDR ECADR OGC
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TC PHASCHNG
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OCT 04024
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TCF R59 # GO DO STAR ACQUIRE AND AOTMARK
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TCF R59 # GO DO STAR AQUIRE AND AOTMARK
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R59RET CA STARIND # BACK FROM SURFACE MARKING
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EXTEND
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@ -1908,7 +1907,7 @@ DOALIGN CALL
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FREEFLAG
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P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
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INITBY CALL
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AXISGEN # GET DESIRED ORIENT WRT PRES. XDC,YDC,ZDC
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AXISGEN # GET DESIRED ORIENT WRT PRES.XDC,YDC,ZDC
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CALL
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CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
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EXIT
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@ -1919,9 +1918,9 @@ INITBY CALL
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CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
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TC BANKCALL
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CADR GOFLASH
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TC GOTOPOOH # V34 -- TERMINATE
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TCF 5DEGTEST # VB33 -- PROCEED TO COARSE OR FINE
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TCF P57POST +1 # VB32 -- RECYCLE, MAYBE RE-ALIGN
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TC GOTOPOOH # V34-TERMINATE
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TCF 5DEGTEST # VB33-PROCEED TO COARSE OR FINE
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TCF P57POST +1 # VB32-RECYCLE, MAYBE RE-ALIGN
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5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
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VLOAD BOV
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@ -1935,7 +1934,7 @@ SURFSUP STORE OGCT
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QMIN
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SURFDISP
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# Page 972
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JUSTTRIM # ANGLES LESS THAN 5 DEG, DO GYRO TORQ
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JUSTTRIM # ANGLES LESS THAN 5DEG. DO GYRO TORQ
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SURFDISP EXIT
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TC PHASCHNG
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@ -1956,7 +1955,7 @@ SURFDISP EXIT
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B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
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MASK FLAGWRD8
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CCS A
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TCF P57JUMP # IT'S SET
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TCF P57JUMP # ITS SET
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TC INTPRET
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CALL
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REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
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@ -1964,21 +1963,21 @@ P57POST EXIT
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CAF OCT14 # DISPLAY V50N25 CHK CODE 14
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TC BANKCALL
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CADR GOPERF1
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TCF GOTOPOOH # VB34 -- TERMINATE
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TCF P57JUMP # VB33 -- PROCEED TO RE-ALIGN
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TCF GOTOPOOH # VB34-TERMINATE
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TCF P57JUMP # VB33-PROCEED TO RE-ALIGN
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CS BIT2 # TEST TO SEE IF ALIGNED BY OPTION 2
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AD OPTION2
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EXTEND
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BZF +2 # YES -- GO CALCULATE LANDING SITE
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TCF GOTOPOOH # NO -- EXIT P57
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BZF +2 # YES-GO CALCULATE LANDING SITE
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TCF GOTOPOOH # NO-EXIT P57
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TC PHASCHNG # RESTART PLACE
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OCT 04024
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TC INTPRET
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VLOAD CALL # USE GNB
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GSAV
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CDU*NBSM # GO TO SM COORDS
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VXM SET # ON MOON SO SET LUNAFLAG
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REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
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VXM SET # ON MOON SO SET LUNAFLAG
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REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
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LUNAFLAG
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PDVL ABVAL
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RLS
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@ -2040,7 +2039,7 @@ DISPGYRO VN 0693
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# Page 975
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# LUNAR SURFACE IMU ALIGNMENT PROGRAM
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P57 TC BANKCALL # IS ISS ON -- IF NOT, IMUCHK WILL SEND
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P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
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CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH
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CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
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@ -2080,9 +2079,9 @@ P57A STORE DSPTEM1
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P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
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TC BANKCALL
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CADR GOFLASH
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TCF GOTOPOOH # V34 -- TERMINATE
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TCF GOTOPOOH # V34-TERMINATE
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TCF +2
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TCF P57AA # VB32 -- RECYCLE
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TCF P57AA # VB32-RECYCLE
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TC INTPRET
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RTB PDDL
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@ -2338,4 +2337,3 @@ LSORIENT STQ VLOAD
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XSMD
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STCALL YSMD
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QMAJ
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