Co-authored-by: James Harris <wopian@wopian.me>
This commit is contained in:
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aa4a6741f5
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65bef40ca7
@ -45,34 +45,34 @@
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TCF IRIG1 # RETURN
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1/PIPA1 CAF FOUR # PIPAZ, PIPAY, PIPAX
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TS BUF +2
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TS BUF +2
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INDEX BUF +2
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INDEX BUF +2
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CA PIPASCF # (P.P.M.) X 2(-9)
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EXTEND
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INDEX BUF +2
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INDEX BUF +2
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MP DELVX # (PP) X 2(+14) NOW (PIPA PULSES) X 2(+5)
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TS Q # SAVE MAJOR PART
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CA L # MINOR PART
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EXTEND
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MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
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INDEX BUF +2
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TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
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MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
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INDEX BUF +2
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TS DELVX +1 # FRACTIONAL PIPA PULSES SCALED 2(+14)
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CA Q # MAJOR PART
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EXTEND
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MP BIT6 # SCALE 2(+9) SHIFT RIGHT 9
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INDEX BUF +2
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DAS DELVX # (PIPAI) + (PIPAI)(SF)
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INDEX BUF +2
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DAS DELVX # (PIPAI) + (PIPAI)(SFE)
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INDEX BUF +2
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CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-5) * *
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INDEX BUF +2
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CS PIPABIAS # (PIPA PULSES)/(CS) X 2(-5) *
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EXTEND
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MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+5) *
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MP 1/PIPADT # (CS) X 2(+8) NOW (PIPA PULSES) X 2(+3)*
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EXTEND
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MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11 *
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INDEX BUF +2
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MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11 *
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INDEX BUF +2
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DAS DELVX # (PIPAI) + (PIPAI)(SFE) - (BIAS)(DELTAT)
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CCS BUF +2 # PIPAZ, PIPAY, PIPAX
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@ -83,79 +83,79 @@
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# Page 328
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IRIGCOMP TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
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TS BUF # INDEX COUNTER. IRIGX, IRIGY, IRIGZ.
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TS BUF # INDEX COUNTER . IRIGX, IRIGY, IRIGZ.
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TC IRIGX # COMPENSATE ACCELERATION TERMS
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CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
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TC DRIFTSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
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TC DRIFTSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
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TC IRIGY # COMPENSATE ACCELERATION TERMS
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CS NBDY # (GYRO PULSES)/(CS) X 2(-5)
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TC DRIFTSUB # +(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
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TC DRIFTSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
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TC IRIGZ # COMPENSATE ACCELERATION TERMS
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CA NBDZ # (GYRO PULSES)/(CS) X 2(-5)
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TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
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TC DRIFTSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
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CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
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TCF +2 # YES SEND OUT GYRO TORQUING COMMANDS.
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TCF IRIG1 # NO RETURN
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TCF +2 # YES SEND OUT GYRO TORQUING COMMANDS.
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TCF IRIG1 # NO RETURN
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CA PRIO21 # PRIO GREATER THAN SERVICER.
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CA PRIO21 # PRIO GREATER THAN SERVICER
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TC NOVAC # SEND OUT GYRO TORQUING COMMANDS.
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EBANK= NBDX
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2CADR 1/GYRO
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RELINT
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IRIG1 CA MODE # RESTORE CALLER'S EBANK
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IRIG1 CA MODE # RESTORE CALLERS EBANK
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TS EBANK
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TCF SWRETURN
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# Page 329
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IRIGX EXTEND
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QXCH MPAC +2 # SAVE Q
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QXCH MPAC +2 # SAVE Q
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EXTEND
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DCS DELVX # (PIPA PULSES) X 2(+14)
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DXCH MPAC
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CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
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TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
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CA ADIAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
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TC GCOMPSUB # -(ADIAX)(PIPAX) (GYRO PULSES) X 2(+14)
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EXTEND #
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DCS DELVY # (PIPA PULSES) X 2(+14)
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DCS DELVY # (PIPA PULSES) X 2(+14)
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DXCH MPAC #
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CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
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TC GCOMPSUB # -(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
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CS ADSRAX # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
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TC GCOMPSUB # +(ADSRAX)(PIPAY) (GYRO PULSES) X 2(+14)
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# EXTEND # ***
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# DCS DELVY # *** (PIPA PULSES) X 2(+14)
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# DXCH MPAC # ***
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# CA ADOAX # *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
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# TC GCOMPSUB # *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
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# EXTEND # ***
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# DCS DELVZ # *** (PIPA PULSES) X 2(+14)
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# DXCH MPAC # ***
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# CA ADOAX # *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
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# TC GCOMPSUB # *** -(ADOAX)(PIPAZ) (GYRO PULSES) X 2(+14)
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TC MPAC +2
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TC MPAC +2
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IRIGY EXTEND
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QXCH MPAC +2 # SAVE Q
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QXCH MPAC +2 # SAVE Q
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EXTEND
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DCS DELVY # (PIPA PULSES) X 2(+14)
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DXCH MPAC
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CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
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TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14)
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CA ADIAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
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TC GCOMPSUB # -(ADIAY)(PIPAY) (GYRO PULSES) X 2(+14)
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EXTEND
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DCS DELVZ # (PIPA PULSES) X 2(+14)
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DXCH MPAC
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CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
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TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14)
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CS ADSRAY # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
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TC GCOMPSUB # +(ADSRAY)(PIPAZ) (GYRO PULSES) X 2(+14)
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# EXTEND # ***
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# DCS DELVX # *** (PIPA PULSES) X 2(+14)
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# DXCH MPAC # ***
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# CA ADOAY # *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
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# TC GCOMPSUB # *** -(ADOAY)(/PIPAX) (GYRO PULSES) X 2(+14)
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# EXTEND # ***
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# DCS DELVX # *** (PIPA PULSES) X 2(+14)
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# DXCH MPAC # ***
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# CA ADOAY # *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
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# TC GCOMPSUB # *** -(ADOAY)(PIPAX) (GYRO PULSES) X 2(+14)
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TC MPAC +2
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@ -164,46 +164,46 @@ IRIGZ EXTEND
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EXTEND
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DCS DELVY # (PIPA PULSES) X 2(+14)
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DXCH MPAC
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CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
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CA ADSRAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
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# Page 330
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TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
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TC GCOMPSUB # -(ADSRAZ)(PIPAY) (GYRO PULSES) X 2(+14)
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EXTEND
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DCS DELVZ # (PIPA PULSES) X 2(+14)
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DXCH MPAC
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CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
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TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
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CA ADIAZ # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
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TC GCOMPSUB # -(ADIAZ)(PIPAZ) (GYRO PULSES) X 2(+14)
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# EXTEND # ***
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# DCS DELVX # *** (PIPA PULSE) X 2(+14)
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# DXCH MPAC # ***
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# CS ADOAZ # *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
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# TC GCOMPSUB # *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
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# EXTEND # ***
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# DCS DELVX # *** (PIPA PULSE) X 2(+14)
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# DXCH MPAC # ***
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# CS ADOAZ # *** (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
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# TC GCOMPSUB # *** +(ADOAZ)(PIPAX) (GYRO PULSES) X 2(+14)
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TC MPAC +2
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# Page 331
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GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A
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EXTEND # C(MPAC) = (PIPA PULSES) X 2(+14)
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MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
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DXCH VBUF # NOW = (GYRO PULSES) X 2(+8) *
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MP MPAC # (GYRO PULSES)/(PIPA PULSE) X 2(-6) *
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DXCH VBUF # NOW = (GYRO PULSES) X 2(+8) *
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CA MPAC +1 # MINOR PART OF PIPA PULSES
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EXTEND
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MP MPAC # ADIA OR ADSRA
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TS L
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CAF ZERO
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DAS VBUF # NOW = (GYRO PULSES) X 2(+8) *
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DAS VBUF # NOW = (GYRO PULSES) X 2(+8) *
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CA VBUF # PARTIAL RESULT -- MAJOR
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CA VBUF # PARTIAL RESULT - MAJOR
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EXTEND
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MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
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MP BIT9 # SCALE 2(+6) SHIFT RIGHT *
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INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
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DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
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DAS GCOMP # HI(ADIA)(PIPAI) OR HI(ADSRA)(PIPAI)
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CA VBUF +1 # PARTIAL RESULT -- MINOR
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CA VBUF +1 # PARTIAL RESULT - MINOR
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EXTEND
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MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
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MP BIT9 # SCALE 2(+6) SHIFT RIGHT 6 *
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TS L
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CAF ZERO
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INDEX BUF # RESULT = (GYRO PULSES) X 2(+14)
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@ -213,23 +213,23 @@ GCOMPSUB XCH MPAC # ADIA OR ADSRA COEFFICIENT ARRIVES IN A
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# Page 332
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DRIFTSUB EXTEND
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QXCH BUF +1
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QXCH BUF +1
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EXTEND # C(A) = NBD (GYRO PULSES)/(CS) X 2(-5)
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MP 1/PIPADT # (CS) X 2(+8) NO (GYRO PULSES) X 2(+3)
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LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION
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MP 1/PIPADT # (CS) X 2(+8) NOW (GYRO PULSES) X 2(+3)
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LXCH MPAC +1 # SAVE FOR FRACTIONAL COMPENSATION
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EXTEND
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MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
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MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
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INDEX BUF
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DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
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DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
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CA MPAC +1 # NO MINOR PART
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CA MPAC +1 # NOW MINOR PART
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EXTEND
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MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
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MP BIT4 # SCALE 2(+11) SHIFT RIGHT 11
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TS L
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CAF ZERO
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INDEX BUF # ADD IN FRACTIONAL COMPENSATION
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DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
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DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
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DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
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AD BUF
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@ -237,23 +237,23 @@ DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
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INDEX A
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CCS GCOMP # ARE GYRO COMMANDS 1 PULSE OR GREATER
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TCF +2 # YES
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TC BUF +1 # NO
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TC BUF +1 # NO
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MASK COMPCHK # DEC -1
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CCS A # ARE GYRO COMMANDS GREATER THAN 2 PULSES
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TS GCOMPSW # YES -- SET GCOMPSW POSITIVE
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TC BUF +1 # NO
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TS GCOMPSW # YES - SET GCOMPSW POSITIVE
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TC BUF +1 # NO
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# Page 333
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1/GYRO CAF FOUR # PIPAZ, PIPAY, PIPAX
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TS BUF
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INDEX BUF # SCALE GYRO COMMANDS FOR IMUPULSE
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CA GCOMP +1 # FRACTIONAL PULSES
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CA GCOMP +1 # FRACTIONAL PULSES
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EXTEND
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MP BIT8 # SHIFT RIGHT 7
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INDEX BUF
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TS GCOMP +1 # FRACTIONAL PULSES SCALED
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TS GCOMP +1 # FRACTIONAL PULSES SCALED
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CAF ZERO # SET GCOMP = 0 FOR DAS INSTRUCTION
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INDEX BUF
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@ -265,7 +265,7 @@ DRFTSUB2 CAF TWO # PIPAX, PIPAY, PIPAZ
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CCS BUF # PIPAZ, PIPAY, PIPAX
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AD NEG1
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TCF 1/GYRO +1
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TCF 1/GYRO +1
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LGCOMP ECADR GCOMP # LESS THAN ZERO IMPOSSIBLE
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CAF LGCOMP
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@ -281,7 +281,7 @@ GCOMP1 CAF FOUR # PIPAZ, PIPAY, PIPAX
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INDEX BUF # RESCALE
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CA GCOMP +1
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EXTEND
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MP BIT8 # SHIFT MINOR PART LEFT 7 -- MAJOR PART = 0
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MP BIT8 # SHIFT MINOR PART LEFT 7 - MAJOR PART = 0
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INDEX BUF
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LXCH GCOMP +1 # BITS 8-14 OF MINOR PART WERE = 0
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@ -303,14 +303,14 @@ NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
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TCF ENDOFJOB
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TCF +1
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CA FLAGWRD8 # IF SURFACE FLAG IS SET, SET TEM1
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CA FLAGWRD8 # IF SURFACE FLAG IS SET. SET TEM1
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MASK BIT8 # POSITIVE SO THAT THE ACCELERATION TERMS
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TS TEM1 # WILL BE COMPENSATED.
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EXTEND
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BZF +3 # ARE WE ON THE SURFACE
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TC IBNKCALL # ON THE SURFACE
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CADR PIPASR +3 # READ PIPAS, BUT DO NOT SCALE THEM
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CADR PIPASR +3 # READ PIPAS. BUT DO NOT SCALE THEM
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CA TIME1 # (CS) X 2(+14)
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XCH 1/PIPADT # PREVIOUS TIME
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@ -319,18 +319,18 @@ NBDONLY CCS GCOMPSW # BYPASS IF GCOMPSW NEGATIVE
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AD 1/PIPADT # PRESENT TIME - PREVIOUS TIME
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NBD2 AD HALF # CORRECT FOR POSSIBLE TIME1 TICK
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AD HALF
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XCH L # IF TIME1 DID NOT DICK, REMOVE RESULTING
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XCH L # IF TIME1 DID NOT TICK. REMOVE RESULTING
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XCH L # OVERFLOW.
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NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
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NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
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MP BIT10 # SHIFT RIGHT 5
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DXCH VBUF +2
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CA ZERO
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TS GCOMPSW # INDICATE COMMANDS 2 PULSES OR LESS.
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TS BUF # INDEX X, Y, Z.
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TS BUF # INDEX X. Y, Z.
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CCS TEM1 # IF SURFACE FLAG IS SET,
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CCS TEM1 # IF SURFACE FLAG IS SET.
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TC IRIGX # COMPENSATE ACCELERATION TERMS.
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EXTEND
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@ -338,7 +338,7 @@ NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
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DXCH MPAC # DELTAT NOW SCALED (CS) X 2(+19)
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CS NBDX # (GYRO PULSES)/(CS) X 2(-5)
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TC FBIASSUB # -(NBOX)(DELTAT) (GYRO PULSES) X 2(+14)
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TC FBIASSUB # -(NBDX)(DELTAT) (GYRO PULSES) X 2(+14)
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CCS TEM1 # IF SURFACE FLAG IS SET,
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TC IRIGY # COMPENSATE ACCELERATION TERMS.
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@ -347,16 +347,16 @@ NBD3 EXTEND # C(A) = DELTAT (CS) X 2(+14)
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DCS VBUF +2
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DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
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CA NBDY # (GYRO PULSES)/(CS) X 2(-5)
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TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
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TC FBIASSUB # -(NBDY)(DELTAT) (GYRO PULSES) X 2(+14)
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CCS TEM1 # IF SURFACE FLAG IS SET,
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CCS TEM1 # IF SURFACE FLAG IS SET.
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TC IRIGZ # COMPENSATE ACCELERATION TERMS
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EXTEND
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DCS VBUF +2
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DXCH MPAC # DELTAT SCALED (CS) X 2(+19)
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CS NBDZ # (GYRO PULSES)/(CS) X 2(-5)
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TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
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TC FBIASSUB # +(NBDZ)(DELTAT) (GYRO PULSES) X 2(+14)
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CCS GCOMPSW # ARE GYRO COMMANDS GREATER THAN 2 PULSES
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TCF 1/GYRO # YES
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@ -370,7 +370,7 @@ FBIASSUB XCH Q
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EXTEND
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MP MPAC # DELTAT SCALED (CS) X 2(+19)
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INDEX BUF
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DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
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DAS GCOMP # HI(NBD)(DELTAT) (GYRO PULSES) X 2(+14)
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CA Q # NOW FRACTIONAL PART
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EXTEND
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@ -378,7 +378,7 @@ FBIASSUB XCH Q
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TS L
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CAF ZERO
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||||
INDEX BUF
|
||||
DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
|
||||
DAS GCOMP # (NBD)(DELTAT) (GYRO PULSES) X 2(+14)
|
||||
|
||||
TCF DRFTSUB2 # CHECK MAGNITUDE OF COMPENSATION
|
||||
|
||||
@ -415,4 +415,3 @@ GCOMPZER CAF LGCOMP # ROUTINE TO ZERO GCOMP BEFORE FIRST
|
||||
TS GCOMP +5
|
||||
|
||||
TCF IRIG1 # RESTORE EBANK AND RETURN
|
||||
|
||||
|
Loading…
Reference in New Issue
Block a user