2016-07-07 08:47:26 +00:00
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# Copyright: Public domain.
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# Filename: IMU_PERFORMANCE_TEST_2.agc
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# Purpose: Part of the source code for Luminary 1A build 099.
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# It is part of the source code for the Lunar Module's (LM)
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# Apollo Guidance Computer (AGC), for Apollo 11.
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# Assembler: yaYUL
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# Contact: Ron Burkey <info@sandroid.org>.
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# Website: www.ibiblio.org/apollo.
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# Pages: 373-381
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2016-12-28 16:11:25 +00:00
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# Mod history: 2009-05-17 RSB Adapted from the corresponding
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# Luminary131 file, using page
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# images from Luminary 1A.
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#
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# This source code has been transcribed or otherwise adapted from
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# digitized images of a hardcopy from the MIT Museum. The digitization
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# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
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# the Museum. Many thanks to both. The images (with suitable reduction
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# in storage size and consequent reduction in image quality as well) are
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# available online at www.ibiblio.org/apollo. If for some reason you
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# find that the images are illegible, contact me at info@sandroid.org
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# about getting access to the (much) higher-quality images which Paul
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# actually created.
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#
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# Notations on the hardcopy document read, in part:
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#
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2020-08-04 01:09:29 +00:00
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# Assemble revision 001 of AGC program LMY99 by NASA 2021112-061
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2016-12-28 16:11:25 +00:00
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# 16:27 JULY 14, 1969
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# Page 373
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# NAME -- IMU PERFORMANCE TESTS 2
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#
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# DATE -- MARCH 20, 1967
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#
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# BY -- SYSTEM TEST GROUP 864-6900 EXT. 1274
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#
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# MODNO. -- ZERO
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#
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# FUNCTIONAL DESCRIPTION
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#
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# POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF
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# THE TESTS THEMSELVES. FOR A DESCRIPTION OF THESE SUBROUTINES AND THE
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# OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685. THEORETICAL REF. E-1973
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BANK 33
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SETLOC IMU2
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BANK
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EBANK= POSITON
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COUNT* $$/P07
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REDO TC NEWMODEX
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MM 07
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GEOIMUTT TC IMUZERR
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IMUBACK CA ZERO
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TS NDXCTR
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TS TORQNDX
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TS TORQNDX +1
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TS OVFLOWCK
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NBPOSPL CA DEC17
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TS ZERONDX
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CA XNBADR
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TC ZEROING
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CA HALF
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TS XNB
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GUESS TC INTPRET
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LATAZCHK DLOAD SL2
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LATITUDE
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STODL DSPTEM1 +1
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AZIMUTH
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RTB EXIT
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1STO2S
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XCH MPAC
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TS DSPTEM1
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CAF VN0641
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TC BANKCALL
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CADR GOFLASH
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TC ENDTEST1
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TC +2
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TC -5
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# Page 374
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TC INTPRET
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SLOAD RTB
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DSPTEM1
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CDULOGIC
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STORE AZIMUTH
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SLOAD SR2
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DSPTEM1 +1
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STORE LATITUDE
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COS DCOMP
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SL1
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STODL WANGI
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LATITUDE
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SIN SL1
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STODL WANGO
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AZIMUTH
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PUSH SIN
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STORE YNB +2
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STODL ZNB +4
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COS
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STORE YNB +4
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DCOMP
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POSGMBL STCALL ZNB +2
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CALCGA
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EXIT
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TC BANKCALL
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CADR IMUCOARS
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CAF BIT14 # IF BIT14 SET, GIMBAL LOCK
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MASK FLAGWRD3
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EXTEND
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BZF +2
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INCR NDXCTR # +1 IF IN GIMBAL LOCK, OTHERWISE 0
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TC DOWNFLAG
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ADRES GLOKFAIL # RESET GIMBAL LOCK FLAG
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TC IMUSLLLG
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CCS NDXCTR # IF ONE GO AND DO A PIPA TEST ONLY
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TC PIPACHK # ALIGN AND MEASURE VERTICAL PIPA RATE
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TC FINIMUDD
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EXTEND
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DCA PERFDLAY
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TC LONGCALL # DELAY WHILE SUSPENSION STABILIZES
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EBANK= POSITON
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2CADR GOESTIMS
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CA ESTICADR
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TC JOBSLEEP
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GOESTIMS CA ESTICADR
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TC JOBWAKE
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TC TASKOVER
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ESTICADR CADR ESTIMS
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TORQUE CA ZERO
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# Page 375
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TS DSPTEM2
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CA DRIFTI
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TS DSPTEM2 +1
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INDEX POSITON
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TS SOUTHDR -1
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TC SHOW
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PIPACHK INDEX NDXCTR # PIPA TEST
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TC +1
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TC EARTHR*
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CA DEC17 # ALLOW PIP COUNTER TO OVERFLOW 17 TIMES
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TS DATAPL +4 # IN THE ALLOTTED TIME INTERVAL
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CA DEC58
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TS LENGTHOT
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CA ONE
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TS RESULTCT
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CA ZERO
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INDEX PIPINDEX
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TS PIPAX
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TS DATAPL
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TC CHECKG
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INHINT
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CAF TWO
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TC TWIDDLE
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EBANK= XSM
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ADRES PIPATASK
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TC ENDOFJOB
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PIPATASK EXTEND
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DIM LENGTHOT
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CA LENGTHOT
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EXTEND
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BZMF STARTPIP
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CAF BIT10
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TC TWIDDLE
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EBANK= XSM
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ADRES PIPATASK
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STARTPIP CAF PRIO20
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TC FINDVAC
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EBANK= XSM
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2CADR PIPJOBB
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TC TASKOVER
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PIPJOBB INDEX NDXCTR
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TC +1
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TC EARTHR*
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CA LENGTHOT
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# Page 376
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EXTEND
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BZMF +2
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TC ENDOFJOB
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CA FIVE
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TS RESULTCT
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TC CHECKG
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CCS DATAPL +1
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TC +4
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TC CCSHOLE
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CS DATAPL +4
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TS DATAPL +4
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EXTEND
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DCS DATAPL
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DAS DATAPL +4
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TC INTPRET
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DLOAD DSU
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DATAPL +6
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DATAPL +2
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BPL CALL
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AINGOTN
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OVERFFIX
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AINGOTN PDDL DDV
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DATAPL +4
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DMPR RTB
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DEC585 # DEC585 HAS BEEN REDEFINED FOR LEM
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SGNAGREE
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STORE DSPTEM2
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EXIT
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CCS NDXCTR
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TC COAALIGN # TAKE PLATFORM OUT OF GIMBAL LOCK
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TC SHOW
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VERTDRFT CA 3990DEC # ABOUT 1 HOUR VERTICAL DRIFT TEST
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TS LENGTHOT
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INDEX POSITON
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CS SOUTHDR -2
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TS DRIFTT
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CCS PIPINDEX # OFFSET PLATFORM TO MISS PIP DEAD-ZONES
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TCF PON4 # Z-UP IN POS 4
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PON2 CS BIT5 # X-UP
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ADS ERCOMP +2
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CA BIT5
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ADS ERCOMP +4
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TCF PON
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PON4 CS BIT5
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ADS ERCOMP +2
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CA BIT5
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ADS ERCOMP
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PON TC EARTHR*
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# Page 377
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CA ZERO # ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS
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TS ERVECTOR
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TS ERVECTOR +1
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GUESS1 CAF POSMAX
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TS TORQNDX
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TS TORQNDX +1
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CA CDUX
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TS LOSVEC
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TC ESTIMS
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VALMIS CA DRIFTO
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TS DSPTEM2 +1
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CA ZERO
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TS DSPTEM2
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TC SHOW
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ENDTEST1 TC DOWNFLAG
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ADRES IMUSE
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CS ZERO
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TC NEWMODEA
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TC ENDEXT
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# Page 378
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OVERFFIX DAD DAD
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DPPOSMAX
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ONEDPP
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RVQ
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COAALIGN EXTEND # COARSE ALIGN SUBROUTINE
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QXCH ZERONDX
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CA ZERO
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TS THETAD
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TS THETAD +1
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TS THETAD +2
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TC BANKCALL
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CADR IMUCOARS
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ALIGNCOA TC BANKCALL
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CADR IMUSTALL
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TC SOMERR2
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TC ZERONDX
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IMUSLLLG EXTEND
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QXCH ZERONDX
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TC ALIGNCOA
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FINIMUDD EXTEND
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QXCH ZERONDX
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TC BANKCALL
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CADR IMUFINE
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TC ALIGNCOA
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IMUZERR EXTEND
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QXCH ZERONDX
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TC BANKCALL
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CADR IMUZERO
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TC ALIGNCOA
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CHECKG EXTEND # PIP PULSE CATCHING ROUTINE
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QXCH QPLACE
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TC +6
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CHECKG1 RELINT
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CA NEWJOB
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EXTEND
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BZMF +6
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TC CHANG1
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INHINT
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INDEX PIPINDEX
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CS PIPAX
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TS ZERONDX
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INHINT
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# Page 379
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INDEX PIPINDEX
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CA PIPAX
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AD ZERONDX
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EXTEND
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BZF CHECKG1
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INDEX PIPINDEX
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CA PIPAX
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INDEX RESULTCT
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TS DATAPL
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TC FINETIME
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INDEX RESULTCT
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TS DATAPL +1
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INDEX RESULTCT
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LXCH DATAPL +2
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RELINT
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ENDCHKG TC QPLACE
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ZEROING TS L
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TCF +2
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ZEROING1 TS ZERONDX
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CAF ZERO
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INDEX L
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TS 0
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INCR L
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CCS ZERONDX
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TCF ZEROING1
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TC Q
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# Page 380
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ERTHRVSE DLOAD PDDL
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SCHZEROS # PD24 = (SIN -COS 0)(OMEG/MS)
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LATITUDE
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COS DCOMP
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PDDL SIN
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LATITUDE
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VDEF VXSC
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OMEG/MS
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STORE ERVECTOR
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RTB
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LOADTIME
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STOVL TMARK
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SCHZEROS
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STORE ERCOMP
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RVQ
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2016-12-28 16:11:25 +00:00
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2016-07-07 08:47:26 +00:00
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EARTHR ITA RTB
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S2
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LOADTIME
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STORE TEMPTIME
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DSU BPL
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TMARK
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ERTHR
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CALL
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OVERFFIX
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ERTHR SL VXSC
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9D
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ERVECTOR
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MXV VAD
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XSM
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ERCOMP
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STODL ERCOMP
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TEMPTIME
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STORE TMARK
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AXT,1 RTB
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ECADR ERCOMP
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PULSEIMU
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GOTO
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S2
|
2016-12-28 16:11:25 +00:00
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2016-07-07 08:47:26 +00:00
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EARTHR* EXTEND
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QXCH QPLACES
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TC INTPRET
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CALL
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EARTHR
|
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EXIT
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TC IMUSLLLG
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TC QPLACES
|
2016-12-28 16:11:25 +00:00
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2016-07-07 08:47:26 +00:00
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SHOW EXTEND
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# Page 381
|
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QXCH QPLACE
|
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SHOW1 CA POSITON
|
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TS DSPTEM2 +2
|
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CA VB06N98
|
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TC BANKCALL
|
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CADR GOFLASH
|
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|
TC ENDTEST1 # V34
|
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|
TC QPLACE # V33
|
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|
TCF SHOW1
|
2016-12-28 16:11:25 +00:00
|
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|
2016-07-07 08:47:26 +00:00
|
|
|
3990DEC DEC 3990
|
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|
VB06N98 VN 0698
|
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|
VN0641 VN 0641
|
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|
|
DEC17 = ND1
|
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|
|
DEC58 DEC 58
|
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|
OGCPL ECADR OGC
|
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|
1SECX = 1SEC
|
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|
XNBADR GENADR XNB
|
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XSMADR GENADR XSM
|
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|
BLOCK 2
|
|
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|
|
COUNT* $$/P07
|
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|
|
FINETIME INHINT # RETURNS WITH INTERRUPT INHIBITED
|
|
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|
|
EXTEND
|
|
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|
READ LOSCALAR
|
|
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|
TS L
|
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EXTEND
|
|
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|
|
RXOR LOSCALAR
|
|
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|
EXTEND
|
|
|
|
|
BZF +4
|
|
|
|
|
EXTEND
|
|
|
|
|
READ LOSCALAR
|
|
|
|
|
TS L
|
2020-03-04 17:17:16 +00:00
|
|
|
+4 CS POSMAX
|
2016-07-07 08:47:26 +00:00
|
|
|
AD L
|
|
|
|
|
EXTEND
|
|
|
|
|
BZF FINETIME +1
|
|
|
|
|
EXTEND
|
|
|
|
|
READ HISCALAR
|
|
|
|
|
TC Q
|
2016-12-28 16:11:25 +00:00
|
|
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|
