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Merge pull request #175 from mgnoonan/master

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Typos pp. 1309-37. IMU_MODE_SWITCHING_ROUTINES.agc
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oldmud0 2016-08-22 22:49:07 -05:00
commit a6a23f52c3
1 changed files with 92 additions and 97 deletions
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Luminary099/IMU_MODE_SWITCHING_ROUTINES.agc
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@ -56,7 +56,7 @@ SPSCODE = BIT9
COUNT* $$/IMODE COUNT* $$/IMODE
IMUZERO INHINT # ROUTINE TO ZERO ICDUS. IMUZERO INHINT # ROUTINE TO ZERO ICDUS.
CS DSPTAB +11D # DON'T ZERO CDUS IS IMU IN GIMBAL LOCK AND CS DSPTAB +11D # DON'T ZERO CDUS IF IMU IN GIMBAL LOCK AND
MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION) MASK BITS4&6 # COARSE ALIGN (GIMBAL RUNAWAY PROTECTION)
CCS A CCS A
TCF IMUZEROA TCF IMUZEROA
@ -403,7 +403,7 @@ PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DON'T LIGHT
MASK BIT1 MASK BIT1
ADS IMODES30 ADS IMODES30
MASK BIT10 # IF PIP FAIL ON, DO PROG ALARM AND RESET MASK BIT10 # IF PIP FAIL ON, DO PROG ALSRM AND RESET
CCS A # ISS WARNING. CCS A # ISS WARNING.
TCF MODEEXIT TCF MODEEXIT
@ -415,9 +415,9 @@ PIPFREE INHINT # PROGRAM DONE WITH PIPAS. DON'T LIGHT
TCF PIPFREE2 TCF PIPFREE2
# Page 1319 # Page 1319
# THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIXE REGISTERS # THE FOLLOWING ROUTINE TORQUES THE IRIGS ACCORDING TO DOUBLE PRECISION INPUTS IN THE SIX REGISTERS
# BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE # BEGINNING AT THE ECADR ARRIVING IN A. THE MINIMUM SIZE OF ANY PULSE TRAIN IS 16 PULSES (.25 CDU COUNTS). THE
# UNSENT PORTION OF THE COMMAND IS LEFT INTACT AT THE INPUT COMMAND REGISTERS. # UNSENT PORTION OF THE COMMAND IS LEFT INTACT IN THE INPUT COMMAND REGISTERS.
EBANK= 1400 # VARIABLE, ACTUALLY. EBANK= 1400 # VARIABLE, ACTUALLY.
@ -514,7 +514,7 @@ STRTGYR2 CA LGYRO # JUMP ON PHASE COUNTER IN BITS 13-14.
CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB. CAF LGWAKE # WAKE A POSSIBLE SLEEPING JOB.
TC JOBWAKE TC JOBWAKE
NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY. NORESET TCF IMUFINED # DO NOT RESET POWER SUPPLY
# Page 1322 # Page 1322
-2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X. -2 CS FOUR # SPECIAL ENTRY TO REGRESS LGYRO FOR X.
ADS LGYRO ADS LGYRO
@ -673,7 +673,7 @@ MAJ- EXTEND # DEFINITE NEGATIVE OUTPUT.
GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS. GDESELCT OCT 1700 # TURN OFF SELECT AND ACTIVITY BITS.
GYROFRAC 2DEC .215 B-21 GYROFRAC 2DEC .215 B -21
# Page 1327 # Page 1327
# IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE. # IMU MODE SWITCHING ROUTINES COME HERE WHEN ACTION COMPLETE.
@ -701,8 +701,8 @@ CAGETSTQ CS IMODES30 # SKIP IF IMU NOT BEING CAGED.
INCR Q INCR Q
TC Q TC Q
CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION. CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION
MASK BIT6 # IT IS FOUND THAT THE IMU IS BEING CAGED. MASK BIT6 # IT IS FOUND THAT THE IMU IS BEING CAGED,
CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION CCS A # SET IMUCADR TO -0 TO INDICATE OPERATION
TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY TC Q # COMPLETE BUT FAILED. RETURN IMMEDIATELY
@ -712,7 +712,7 @@ CAGETSTJ CS IMODES30 # IF DURING MODE SWITCH INITIALIZATION.
# Page 1328 # Page 1328
# GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION # GENERALIZED MODE SWITCHING TERMINATION. ENTER AT GOODEND FOR SUCCESSFUL COMPLETION OF AN I/O OPERATION
# OR AT BADEND FOR AN UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR OPTICS. # OR AT BADEND FOR A N UNSUCCESSFUL ONE. C(A) OR ARRIVAL =0 FOR IMU, 1 FOR OPTICS.
BADEND TS RUPTREG2 # DEVICE INDEX. BADEND TS RUPTREG2 # DEVICE INDEX.
CS ZERO # FOR FAILURE. CS ZERO # FOR FAILURE.
@ -749,53 +749,49 @@ ENDMODE CA RUPTREG3 # -0 INDICATES OPERATION COMPLETE BUT
# Page 1329 # Page 1329
# GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION. # GENERAL STALLING ROUTINE. USING PROGRAMS COME HERE TO WAIT FOR I/O COMPLETION.
# #
# PROGRAM DESCRIPTION DATE -- 21 FEB 1967 # PROGRAM DESCRIPTION DATE- 21 FEB 1967
# LOG SECTION IMU MODE SWITCHING # LOG SECTION IMU MODE SWITCHING
# MOD BY -- R. MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82 # MOD BY- R.MELANSON TO ADD DOCUMENTATION ASSEMBLY SUNDISK REV. 82
# #
# FUNCTIONAL DESCRIPTION -- # FUNCTIONAL DESCRIPTION-
# TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED # TO DELAY FURTHER EXECUTION OF THE CALLING ROUTINE UNTIL ITS SELECTED
# I/O FUNCTION IS COMPLETE. THE FOLLOWING CHECKS ON THE CALLING ROUTINES # I/O FUNCTION IS COMPLETE.THE FOLLOWING CHECKS ON THE CALLING ROUTINE:S
# MODEECADR ARE MADE AND ACTED UPON. # MODECADR ARE MADE AND ACTED UPON.
# 1) +0 INDICATES INCOMPLETE I/O OPERATION. CALLING ROUTINE IS PUT TO # 1) +0 INDICATES INCOMPLETE I/O OPERATION.CALLING ROUTINE IS PUT TO
# SLEEP. # SLEEP.
# 2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP # 2) -1 INDICATES COMPLETED I/O OPERATION. STALL BYPASSES JOBSLEEP
# CALL AND RETURNS TO CALLING ROUTINE AT L+3. # CALL AND RETURNS TO CALLING ROUTINE AT L+3
# 3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR # 3) -0 INDICATES COMPLETED I/O WITH FAILURE. STALL CLEARS MODECADR
# AND RETURNS TO CALLING ROUTINE AT L+2. # AND RETURNS TO CALLING ROUTINE AT L+2.
# 4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF # 4) VALUE GREATER THAN 0 INDICATES TWO ROUTINES CALLING FOR USE OF
# SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM # SAME DEVICE. STALL EXITS TO ABORT WHICH EXECUTES A PROGRAM
# RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS. # RESTART WHICH IN TURN CLEARS ALL MODECADR REGISTERS.
# #
# CALLING SEQUENCE -- # CALLING SEQUENCE-
# L TC BANKCALL # L TC BANKCALL
# L+1 CADR (ONE OF 5 STALL ADDRESSES. I.E., IMUSTALL, OPTSTALL, RADSTALL, # L+1 CADR (ONE OF 5 STALL ADDRESSES I.E. IMUSTALL,OPTSTALL,RADSTALL,
# AOTSTALL, OR ATTSTALL) # AOTSTALL,OR ATTSTALL)
# #
# NORMAL-EXIT MODE -- # NORMAL-EXIT MODE-
# TCF JOBSLEEP OR TCF MODEXIT # TCF JOBSLEEP OR TCF MODEXIT
# #
# ALARM OR ABORT EXIT MODE -- # ALARM OR ABORT EXIT MODE-
# TC ABORT # TC ABORT
# #
# OUTPUT -- # OUTPUT-
# MODECADR=CADR IF JOBSLEEP # MODECADR= CADR IF JOBSLEEP
# MODECADR=+0 IF I/O COMPLETE # MODECADR=+0 IF I/O COMPLETE
# BUF2=L+3 IF I/O COMPLETE AND GOOD. # BUF2=L+3 IF I/O COMPLETE AND GOOD.
# BUF2=L+2 IF I/O COMPLETE BUT FAILED. # BUF2=L+2 IF I/O COMPLETE BUT FAILED.
# #
# ERASABLE INITIALIZATION -- # ERASABLE INITIALIZATION-
# BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2) # BUF2 CONTAINS RETURN ADDRESS PLUS 1,(L+2)
# BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE. # BUF2+1 CONTAINS FBANK VALUE OF CALLING ROUTINE.
# MODECADR OF CALLING ROUTINE CONTAINS +0,-1,-0 OR CADR RETURN ADDRESS. # MODECADR OF CALLING ROUTINE CONTAINS +0,-1,-0 OR CADR RETURN ADDRESS.
# #
# DEBRIS -- # DEBRIS-
# RUPTREG2 AND CALLING ROUTINE MODECADR. # RUPTREG2 AND CALLING ROUTINE MODECADR.
## [WORKAROUND] OH 2009
SBANK= LOWSUPER
## [WORKAROUND]
AOTSTALL CAF ONE # AOT. AOTSTALL CAF ONE # AOT.
TC STALL TC STALL
@ -815,7 +811,7 @@ STALL INHINT
TCF MODESLP # OPERATION INCOMPLETE. TCF MODESLP # OPERATION INCOMPLETE.
TCF MODEGOOD # COMPLETE AND GOOD IF = -1. TCF MODEGOOD # COMPLETE AND GOOD IF = -1.
MG2 INDEX RUPTREG2 # COMPLETE FAILED IF -0. RESET TO +0. MG2 INDEX RUPTREG2 # COMPLETE AND FAILED IF -0. RESET TO +0.
TS MODECADR # RETURN TO CALLER. TS MODECADR # RETURN TO CALLER.
TCF MODEEXIT TCF MODEEXIT
@ -823,7 +819,7 @@ MODEGOOD CCS A # MAKE SURE INITIAL STATE -1.
TCF MODABORT TCF MODABORT
INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND INCR BUF2 # IF SO, INCREMENT RETURN ADDRESS AND
TCF MG2 # RETURN IMMEDIATELY, SETTIN CADR = +0. TCF MG2 # RETURN IMMEDIATELY, SETTING CADR = +0.
MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY. MODESLP TC MAKECADR # CALL FROM SWITCHABLE FIXED ONLY.
INDEX RUPTREG2 INDEX RUPTREG2
@ -849,7 +845,7 @@ GOMANUR CA ATTCADR # IS KALCMANU FREE
EXTEND EXTEND
BZF +3 BZF +3
TC P00DOO # NO TC POODOO # NO
OCT 1210 # 2 TRYING TO USE SAME DEVICE OCT 1210 # 2 TRYING TO USE SAME DEVICE
+3 EXTEND +3 EXTEND
@ -862,7 +858,7 @@ GOMANUR CA ATTCADR # IS KALCMANU FREE
CA PRIORITY CA PRIORITY
MASK PRIO37 MASK PRIO37
TS ATTPRIO # SAVE USER'S PRIO TS ATTPRIO # SAVE USERS PRIO
CAF KALEBCON # SET EBANK FOR KALCMAN3 CAF KALEBCON # SET EBANK FOR KALCMAN3
TS EBANK TS EBANK
@ -873,34 +869,33 @@ KALEBCON ECADR BCDU
# Page 1332 # Page 1332
# PROGRAM DESCRIPTION # PROGRAM DESCRIPTION
# IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY) # IMU STATUS CHECK ROUTINE R02 (SUBROUTINE UTILITY)
# MOD NO -- 1 # MOD NO - 1
# MOD BY -- N.BRODEUR # MOD BY - N.BRODEUR
#
# FUNCTIONAL DESCRIPTION # FUNCTIONAL DESCRIPTION
#
# TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN # TO CHECK WHETHER IMU IS ON AND IF ON WHETHER IT IS ALIGNED TO AN
# ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE # ORIENTATION KNOWN BY THE CMC. TO REQUEST SELECTION OF THE APPROPRIATE
# PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE # PROGRAM IF THE IMU IS OFF OR NOT ALIGNED TO AN ORIENTATION KNOWN BY THE
# CMC. CALLED THROUGH BANKCALL # CMC. CALLED THROUGH BANKCALL
# CALLING SEQUENCE-
# #
# CALLING SEQUENCE --
# L TC BANKCALL # L TC BANKCALL
# L+1 CADR R02BOTH # L+1 CADR R02BOTH
#
# SUBROUTINES CALLED # SUBROUTINES CALLED
#
# VARALARM # VARALARM
# FLAGUP # FLAGUP
#
# NORMAL EXIT MODES # NORMAL EXIT MODES
#
# AT L+2 OF CALLING SEQUENCE # AT L+2 OF CALLING SEQUENCE
#
# ALARM OR ABORT EXIT MODES # ALARM OR ABORT EXIT MODES
# GOTOP00H, WITH ALARM # GOTOPOOH, WITH ALARM
#
# ERASABLE INITIALIZATION REQUIRED # ERASABLE INITIALIZATION REQUIRED
# NONE
# #
# NONE
# DEBRIS # DEBRIS
# CENTRALS -- A,Q,L #
# CENTRALS-A,Q,L
BANK 34 BANK 34
SETLOC R02 SETLOC R02
@ -920,7 +915,7 @@ R02BOTH CAF REFSMBIT
AD OCT220 # SEND REFSMM ALARM AD OCT220 # SEND REFSMM ALARM
TC VARALARM TC VARALARM
TC GOTOP00H TC GOTOPOOH
R02ZERO TC UPFLAG R02ZERO TC UPFLAG
# Page 1333 # Page 1333
@ -929,7 +924,7 @@ R02ZERO TC UPFLAG
OCT220 OCT 220 OCT220 OCT 220
# Page 1334 # Page 1334
# PROGRAM DESCRIPTION: P06 10 FEB 67 # PROGRAM DESCRIPTION P06 10FEB67
# #
# TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION. # TRANSFER THE ISS/CMC FROM THE OPERATE TO THE STANDBY CONDITION.
# #
@ -946,7 +941,7 @@ OCT220 OCT 220
# FLAGDOWN # FLAGDOWN
# #
# Page 1335 # Page 1335
# PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2. # PRESTAND PREPARES FOR STANDBY BY SNAPSHOTTING THE SCALER AND TIME1 TIME2
# THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATIBILITY # THE LOW 5 BITS OF THE SCALER ARE INSPECTED TO INSURE COMPATIBILITY
# BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING. # BETWEEN THE SCALER READING AND THE TIME1 TIME2 READING.
@ -961,7 +956,7 @@ P06 TC UPFLAG # SET NODOV37 BIT
PRESTAND INHINT PRESTAND INHINT
EXTEND EXTEND
DCA TIME2 # SNAPSHOT TIME1 TIME2 DCA TIME2 # SNAPSHOT TIME1TIME2
DXCH TIME2SAV DXCH TIME2SAV
TC SCALPREP TC SCALPREP
TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE TC PRESTAND # T1,T2,SCALER NOT COMPATIBLE
@ -1002,7 +997,7 @@ OCT62 EQUALS .5SEC # DEC 50 = OCT 62
# DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES # DATA. OTHERWISE, THE RETURN IS TO L+2 TO PROCEED. ROUTINE ALSO PREPARES
# THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE # THE SCALER READING FOR COMPUTATION OF THE INCREMENT TO UPDATE T1T2. (THE
# 10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM # 10 MS BIT (BIT 6) OF THE SCALER IS INCREMENTED 5 MS OUT OF PHASE FROM
# T1.0 ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF # T1.) ADDITION OF 5 MS (BIT 5) TO THE SCALER READING HAS THE EFFECT OF
# ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5 # ADJUSTING BIT 6 IN THE SCALER TO BE IN PHASE WITH BIT 1 OF T1. THE LOW 5
# BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER # BITS OF THE SCALER READING ARE THEN SET TO ZERO, TO TRUNCATE THE SCALER
# DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1. # DATA TO 10 MS. RESULTS ARE STORED IN MPAC, +1.
@ -1026,7 +1021,7 @@ SCALPREP EXTEND
INCR MPAC +2 # NO INCR MPAC +2 # NO
TC MPAC +2 # YES TC MPAC +2 # YES
# POSTAND RECOVERS TIME AFTER STANDBY. THE SCALER IS SNAPSHOTTED AND THE # POSTAND RECOVERS TIME AFTER STANDBY.THE SCALER IS SNAPSHOTTED AND THE
# TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE # TIME1 TIME2 COUNTER IS SET TO ZERO. THE LOW 5 BITS OF THE SCALER ARE
# INSPECTED TO INSURE COMPATIBILITY BETWEEN THE SCALER READING AND THE # INSPECTED TO INSURE COMPATIBILITY BETWEEN THE SCALER READING AND THE
# CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER # CLEARING OF THE TIME COUNTER. IT THEN COMPUTES THE DIFFERENCE IN SCALER
@ -1035,21 +1030,21 @@ SCALPREP EXTEND
COUNT* $$/P05 COUNT* $$/P05
POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY.
EXTEND EXTEND
WAND CHAN13 # CLEAR STANDBY ENABLE BIT WAND CHAN13 # CLEAR STANDBY ENABLE BIT
INHINT INHINT
CA ZERO CA ZERO
TS L TS L
DXCH TIME2 # CLEAR TIME1 TIME2 DXCH TIME2 # CLEAR TIME1TIME2
TC SCALPREP # STORE SCALER IN MPAC, MPAC+1 TC SCALPREP # STORE SCALER IN MPAC, MPAC+1
TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE TC POSTAND +3 # T1,T2,SCALER NOT COMPATIBLE
EXTEND # T1,T2 AND SCALER OK EXTEND # T1,T2 AND SCALER OK
DCS SCALSAVE DCS SCALSAVE
DAS MPAC # FORM DP DIFFERENCE OF POST-STANDBY SCALER DAS MPAC # FORM DP DIFFERENCE OF POSTSTANDBY SCALER
# Page 1337 # Page 1337
CAF BIT10 # MINUS PRE-STANDBY SCALER AND SHIFT RIGHT CAF BIT10 # MINUS PRESTANDBY SCALER AND SHIFT RIGHT
TC SHORTMP # 5 TO ALIGN BITS WITH TIME1 TIME2. TC SHORTMP # 5 TO ALIGN BITS WITH TIME1TIME2.
CAF ZERO CAF ZERO
TS MPAC +2 # NEEDED FOR TP AGREE TS MPAC +2 # NEEDED FOR TP AGREE
TC TPAGREE # MAKE DP DIFF AGREE TC TPAGREE # MAKE DP DIFF AGREE
@ -1060,7 +1055,7 @@ POSTAND CS BIT11 # RECOVER TIME AFTER STANDBY
CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT. CAF BIT10 # BIT 10 TO HIGH DIFF TO CORRECT.
ADS MPAC ADS MPAC
POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER. POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
DCA TIME2SAV # PRE-STANDBY TIME1 TIME2 DCA TIME2SAV # PRESTANDBY TIME1TIME2
DAS MPAC DAS MPAC
TC TPAGREE # FORCE SIGN AGREEMENT TC TPAGREE # FORCE SIGN AGREEMENT
DXCH MPAC # UPDATED VALUE FOR T1,T2. DXCH MPAC # UPDATED VALUE FOR T1,T2.
@ -1068,5 +1063,5 @@ POSTCOM EXTEND # C(MPAC,+1) IS MAGNITUDE OF DELTA SCALER.
TC DOWNFLAG # CLEAR NODOFLAG TC DOWNFLAG # CLEAR NODOFLAG
ADRES NODOFLAG ADRES NODOFLAG
TC GOTOP00H TC GOTOPOOH