266 lines
4.9 KiB
Plaintext
266 lines
4.9 KiB
Plaintext
# Copyright: Public domain.
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# Filename: KALCMANU_STEERING.agc
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# Purpose: Part of the source code for Comanche, build 055.
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# It is part of the source code for the Command Module's (CM)
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# Apollo Guidance Computer (AGC), Apollo 11.
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# Assembler: yaYUL
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# Reference: pp. 414-419
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# Contact: Onno Hommes <ohommes@cmu.edu>.
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# Website: www.ibiblio.org/apollo.
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# Mod history: 05/07/09 OH Transcription Batch 1 Assignment
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#
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# The contents of the "Comanche055" files, in general, are transcribed
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# from scanned documents.
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#
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# Assemble revision 055 of AGC program Comanche by NASA
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# 2021113-051. April 1, 1969.
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#
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# This AGC program shall also be referred to as Colossus 2A
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#
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# Prepared by
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# Massachusetts Institute of Technology
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# 75 Cambridge Parkway
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# Cambridge, Massachusetts
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#
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# under NASA contract NAS 9-4065.
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#
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# Refer directly to the online document mentioned above for further information.
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# Please report any errors to info@sandroid.org.
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# Page 414
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# GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
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#
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# NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
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BANK 15
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SETLOC KALCMON1
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BANK
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EBANK= BCDU
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COUNT 22/KALC
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NEWDELHI CS HOLDFLAG # SEE IF MANEUVER HAS BEEN INTERRUPTED
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EXTEND # BY ASTRONAUT
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BZMF NOGO -2 # IF SO, TERMINATE KALCMANU
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NEWANGL TC INTPRET
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AXC,1 AXC,2
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MIS # COMPUTE THE NEW MATRIX FROM S/C TO
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DEL # STABLE MEMBER AXES
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CALL
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MXM3
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VLOAD STADR
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STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
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STADR
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STOVL MIS +6D
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STADR
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STORE MIS
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AXC,1 CALL
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MIS
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DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
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RTB
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V1STO2S
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STORE NCDU # NEW CDU ANGLES
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BONCLR EXIT
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CALCMAN2
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MANUSTAT # TO START MANEUVER
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CAF TWO # +0 OTHERWISE
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INCRDCDU TS KSPNDX
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DOUBLE
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TS KDPNDX
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INDEX KSPNDX
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CA NCDU # NEW DESIRED CDU ANGLES
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EXTEND
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INDEX KSPNDX
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MSU BCDU # INITIAL S/C ANGLE OR PREVIOUS DESIRED
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EXTEND # CDU ANGLES
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MP QUADROT
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INDEX KDPNDX
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DXCH DELCDUX # ANGEL INCREMENTS TO BE ADDED TO
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# Page 415
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INDEX KSPNDX # DCDU EVERY TENTH SEC
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CA NCDU # BY LEM DAP
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INDEX KSPNDX
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XCH BCDU
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INDEX KDPNDX
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TS CDUXD
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CCS KSPNDX
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TCF INCRDCDU # LOOP FOR THREE AXES
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RELINT
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# COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
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TMANUCHK TC TIMECHK
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TC POSTJUMP
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CADR CONTMANU
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CAF ONE
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MANUSTAL TC WAITLIST
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EBANK= BCDU
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2CADR MANUSTOP
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RELINT
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TCF ENDOFJOB
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TIMECHK EXTEND
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DCS TIME2
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DXCH TTEMP
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EXTEND
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DCA TM
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DAS TTEMP
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CCS TTEMP
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TC Q
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TCF +2
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TCF 2NDRETRN
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CCS TTEMP +1
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TC Q
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TCF MANUOFF
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COM
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MANUOFF AD 1SEC
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EXTEND
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BZMF 2NDRETRN
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INCR Q
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2NDRETRN INCR Q
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INCR Q
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TC Q
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SETLOC MANUSTUF
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BANK
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# Page 416
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MANUSTAT EXIT # INITIALIZATION ROUTINE
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EXTEND # FOR AUTOMATIC MANEUVERS
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DCA TIME2
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DAS TM # TM+T0 MANEUVER COMPLETION TIME
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CS 1SEC
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TS L
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CS ZERO
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DAS TM # (TM+T0)-1
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INHINT
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CS ONE # ENABLE AUTOPILOT TO PERFORM
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TS HOLDFLAG # AUTOMATIC MANEUVERS
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CS RATEINDX # SEE IF MANEUVERING AT HIGH RATE
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AD SIX
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EXTEND
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BZMF HIGHGAIN
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TCF +4
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HIGHGAIN CS RCSFLAGS # IF SO, SET HIGH RATE FLAG (BIT 15 OF
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MASK BIT15 # RCSFLAGS)
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ADS RCSFLAGS
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DXCH BRATE # X-AXIS MANEUVER RATE
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DXCH WBODY
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DXCH BRATE +2 # Y-AXIS MANEUVER RATE
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DXCH WBODY1
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DXCH BRATE +4 # Z-AXIS MANEUVER RATE
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DXCH WBODY2
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CA BIASTEMP +1 # INSERT ATTITUDE ERROR BIASES
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TS BIAS # INTO AUTOPILOT
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CA BIASTEMP +3
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TS BIAS1
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CA BIASTEMP +5
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TS BIAS2
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CA TIME1
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AD 1SEC
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XCH NEXTIME
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TC POSTJUMP
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CADR INCRDCDU -1
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CONTMANU INHINT # CONTINUE WITH UPDATE PROCESS
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CS TIME1
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AD NEXTIME
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CCS A
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AD ONE
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TCF MANUCALL
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AD NEGMAX
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COM
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MANUCALL TC WAITLIST
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EBANK= BCDU
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2CADR UPDTCALL
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RELINT
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# Page 417
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CAF 1SEC # INCREMENT TIME FOR NEXT UPDATE
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ADS NEXTIME
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TCF ENDOFJOB
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UPDTCALL CAF PRIO26 # CALL FOR UPDATE
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TC FINDVAC # OF STEERING COMMANDS
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EBANK= BCDU
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2CADR NEWDELHI
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TC TASKOVER
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# Page 418
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# ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
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SETLOC KALCMON3
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BANK
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MANUSTOP TC STOPYZ
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TC IBNKCALL
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CADR LOADYZ
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ENDROLL CA CPHI
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TS CDUXD # SET CDUXD TO THE COMMANDED OUTER GIMBAL
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TC STOPRATE
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ENDMANU CA ATTPRIO # RESTORE USERS PRIORITY
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TS NEWPRIO
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CA ZERO # ZERO ATTCADR
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DXCH ATTCADR
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TC SPVAC # RETURN TO USER OF GOMANUR
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TC TASKOVER
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SETLOC STOPRAT
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BANK
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STOPRATE CAF ZERO
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TS DELCDUX
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TS DELCDUX +1 # ZERO ROLL INCREMENTAL ANGLES
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TS WBODY # RATE
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TS WBODY +1
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TS BIAS # BIAS
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CS BIT15 # MAKE SURE HIGH RATE FLAG (BIT 15 OF
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MASK RCSFLAGS # RCSFLAGS) IS RESET.
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TS RCSFLAGS
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STOPYZ CAF ZERO
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TS DELCDUY # ZERO PITCH, YAW
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TS DELCDUY +1 # INCREMENTAL ANGLES
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TS DELCDUZ
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TS DELCDUZ +1
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TS WBODY1 # RATES
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TS WBODY1 +1
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TS WBODY2
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TS WBODY2 +1
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TS BIAS1 # BIASES
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TS BIAS2
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TC Q
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SETLOC MANUSTUF
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BANK
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# Page 419
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ZEROERROR CA CDUX # PICK UP CDU ANGLES AND STORE IN
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TS CDUXD # CDU DESIRED
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CA CDUY
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TS CDUYD
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CA CDUZ
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TS CDUZD
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TC Q
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SETLOC KALCMON1
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BANK
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LOADCDUD CA CPHI # STORE TERMINAL ANGLES INTO
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TS CDUXD # COMMAND ANGLES
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LOADYZ CA CTHETA
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TS CDUYD
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CA CPSI
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TS CDUZD
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TC Q
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