Proof TVCRESTARTS
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@ -34,47 +34,47 @@
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# Page 956
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# NAME....TVCRESTART PACKAGE, CONSISTING OF REDOTVC, ENABL1, 2, CMDSOUT, PHSCHK2, ETC.
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# LOG SECTION....TVCRESTARTS SUBROUTINE....DAPCSM
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# LOG SECTION...TVCRESTARTS SUBROUTINE...DAPCSM
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# MODIFIED BY SCHLUNDT 21 OCTOBER 1968
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#
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# FUNCTIONAL DESCRIPTION....
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#
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# *RESTART-PROCESS THE TVC DAPS, INCLUDING PITCHDAP, YAWDAP,
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# TVCEXECUTIVE, ROLLDAP, TVCINIT4, TVCDAPON, AND CSM/.M V46 SWTCHOVR.
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# TVCEXECUTIVE, ROLLDAP, TVCINIT4, TVCDAPON, AND CSM/LM V46 SWTCHOVR.
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#
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# *TVC RESTARTS DESERVE SPECIAL CONSIDERATION IN SEVERAL AREAS.
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# RESTART DOWN-TIME IS IMPORTANT BECAUSE OF THE TRANSIENTS INTRODUCED
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# BY THE THRUST VECTOR RETURN TO THE ACTUATOR MECHANICAL NULLS
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# FOLLOWING TVC- AND OPTICS-ERROR-COUNTER-DISENABLES (CHANNEL 12).
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# TVC USES A MIXTURE OF WAITLIST, T5, T6, AND JOB CALLS. THERE IS
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# TVC USES A MIXTURE OF WAITLIST, T5, T6, AND JOB CALLS. THERE IS
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# FILTER MEMORY (UP TO 6TH ORDER) TO BE PROTECTED IF WILD TRANSIENTS
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# ARE TO BE AVOIDED. COUNTERS ARE INVOLVED FOR ONE-SHOT
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# CORRECTIONS AND GAIN UPDATES. THE GIMBAL TRIM ESTIMATORS AND THE
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# CORRECTIONS AND GAIN UPDATES. THE GIMBAL TRIM ESTIMATORS AND THE
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# BODY AXIS ATTITUDE ERROR INTEGRATORS INVOLVE DIGITAL SUMMATION.
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# DIGITAL DIFFERENTIATORS ARE INVOLVED IN THE BODY AXIS RATE ESTIMA-
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# TIONS AND IN THE OUTPUTTING OF ACTUATOR COMMANDS. THERE IS AN
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# OFFSET-TRACKER-FILTER TO PROTECT. ETC., ETC.
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# TIONS AND IN THE OUTPUTTING OF ACTUATOR COMMANDS. THERE IS AN
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# OFFSET-TRACKER-FILTER TO PROTECT. ETC., ETC.
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#
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# *THOSE QUANTITIES WHICH MUST BE PROTECTED ARE STORED IN TEMPORARY
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# REGISTERS AS THEY ARE COMPUTED, FOR UPDATING THE REAL REGISTERS
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# DURING COPYCYCLES.
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#
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# *THE SEVERAL COPYCYCLES ARE EACH PROTECTED BY PHASE POINTS AT THEIR
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# BEGINNING AND AT THEIR TERMINATION. THE PHASE POINTS ARE SIMPLY
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# "INCR" INSTRUCTIONS, EITHER "INCR TVCEXPHS" FOR COPYCYCLES
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# IN THE TVCEXECUTIVE, OR "INCR TVCPHASE" FOR THE PITCH AND YAW
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# COPYCYCLES. INDEXING ON EACH OF THESE POINTERS THEN PERMITS A
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# BEGINNING AND AT THEIR TERMINATION. THE PHASE POINTS ARE SIMPLY
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# ..INCR.. INSTRUCTIONS, EITHER ..INCR TVCEXPHS.. FOR COPYCYCLES
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# IN THE TVCEXECUTIVE, OR ..INCR TVCPHASE.. FOR THE PITCH AND YAW
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# COPYCYCLES. INDEXING ON EACH OF THESE POINTERS THEN PERMITS A
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# RETURN TO THE APPROPRIATE RESTART POINTS.
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#
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# *IF A RESTART OCCURS DURING EITHER COPYCYCLE, THAT COPYCYCLE IS
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# COMPLETED. THEN THE NORMAL TVCINIT4....DAPINIT....PITCHDAP STARTUP
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# COMPLETED. THEN THE NORMAL TVCINIT4....DAPINIT....PITCHDAP STARTUP
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# SEQUENCE IS CALLED UPON TO GET THINGS GOING AGAIN.
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#
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# *TVC-ENABLE AND OPTICS-ERROR-COUNTER ENABLE MUST BE SET ASAP
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# (ALLOWING FOR PROCEDURAL DELAYS). THEN THE ENGINES ARE COMMANDED
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# TO THE P,YACTOFF TRIM VALUES. THE DAPS ARE THEN READY TO GO ON THE
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# (ALLOWING FOR PROCEDURAL DELAYS). THEN THE ENGINES ARE COMMANDED
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# TO THE P,YACTOFF TRIM VALUES. THE DAPS ARE THEN READY TO GO ON THE
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# AIR, WITH THE REGULAR STARTUP SEQUENCE, EITHER AT MRCLEAN FOR A
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# COMPLETE INITIALIZATION OR AT TVCINIT4 FOR A PARTIAL INITIALIZATION.
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# COMPLETE INITIALIZATION OR AT TVCINIT4 FOR A PARTIAL INITIALIZATION
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#
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# *FOR RESTARTS PRIOR TO THE SETTING OF THE T5 BITS AT DOTVCON THE
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# PRE40.6 SECTION OF S40.6 TAKES CARE OF RE-ESTABLISHING TRIMS.
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@ -83,27 +83,27 @@
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# COMPUTATIONS WILL BE COMPLETED, STARTING AT THE APPROPRIATE RESTART
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# POINT, AFTER THE DAPS ARE READY TO GO ON THE AIR.
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#
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# *IF A RESTART OCCURS PRIOR TO TVCINIT4 (TVCPHAS = -1) E.G. DURING
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# *IF A RESTART OCCURS PRIOR TO TVCINIT4 (TVCPHASE = -1) E.G. DURING
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# THE EARLY DAP INITIALIZATION PHASE, THE DAP STARTUP SEQUENCE IS
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# ENTERED AT MRCLEAN FOR A FULL INITIALIZATION.
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#
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# *FOR RESTARTS DURING CSM/LM V46 SWITCH-VER, TVCPHASE IS SET TO -2.
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# *FOR RESTARTS DURING CSM/LM V46 SWITCH-OVER, TVCPHASE IS SET TO -2,
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# AND THE RESTART LOGIC GOES BACK TO REDO SWITCH-OVER (AFTER THE
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# NORMAL DAP RESTART SEQUENCE IS FOLLOWED.)
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# NORMAL DAP RESTART SEQUENCE IS FOLLOWED).
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#
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# *RESTARTS ARE NOT CRITICAL TO THE ROLL DAP PERFORMANCES HENCE THE
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# ROLL DAP IS MERELY RESTARTED.
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# *RESTARTS ARE NOT CRITICAL TO THE ROLL DAP PERFORMANCE$ HENCE THE
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# THE ROLL DAP IS MERELY RESTARTED.
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#
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# *RESTARTS DURING A STROKE TEST (STROKER IS NON-ZERO) WILL CAUSE THE
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# Page 957
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# STROKE TEST TO BE TERMINATED. A NEW V68 ENTRY WILL BE REQUIRED
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# STROKE TEST TO BE TERMINATED. A NEW V68 ENTRY WILL BE REQUIRED
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# TO GET IT GOING AGAIN (NO AUTOMATIC RESTART).
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#
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# *REDOTVC IS REACHED FOLLOWING ANY RESTART WHICH FINDS THE T5 BITS
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# (BITS 15,14 OF FLAGWRD6) SET FOR TVC. DOTVCON TVCPHASE = -1
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# (BITS 15,14 OF FLAGWRD6) SET FOR TVC. DOTVCON SETS TVCPHASE = -1
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# AND TVC EXPHS = 0 JUST BEFORE SETTING THESE BITS, JUST BEFORE
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# MAKING THE T5 CALL TO TVCDAPON. ON A NORMAL SHUTDOWN DOTVCRCS
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# CALLS RCSDAPON, WHICH RESETS THE T5 BIT FOR RCS
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# MAKING THE T5 CALL TO TVCDAPON. ON A NORMAL SHUTDOWN DOTVCRCS
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# CALLS RCSDAPON, WHICH RESETS THE T5 BIT FOR RCS.
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#
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# CALLING SEQUENCE....T5, IN PARTICULAR BY ELRSKIP OF FRESH START/RESTART
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#
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@ -116,12 +116,11 @@
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# *PCOPY+1, YCOPY+1 (PITCH AND YAW COPYCYCLES)
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# *ENABLE1,2, CMDSOUT (RE-ESTABLISH ACTUATOR TRIMS)
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# *MRCLEAN OR TVCINIT4 (TVCDAP INITIALIZATIONS)
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# *SWITCHOVR +5 (CSM/LM V46 SWITCH-OVER)
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# *SWICHOVR +5 (CSM/LM V46 SWITCH-OVER)
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# *EXRSTRT AND TVCEXECUTIVE PHASE POINTS 1 THRU 6
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# *WAITLIST, IBNKCALL, POSTJUMP, ISWCALL
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#
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# OTHER INTERFACES....DOTVCON AND RCSDAPON (T5 BITS), ELRSKIP (CALLS IT)
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#
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# ERASABLE INITIALIZATION REQUIRED....
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#
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# *T5 BITS (1,0), TVCPHASE (-2,-1,0,1,2,3), TVCEXPHS (1 THRU 6)
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@ -131,8 +130,8 @@
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#
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# OUTPUT....
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#
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# *PITCH AND YAW TVC DAP COPYCYCLES COMPLETED IF INTERRUPTED
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# *TVCEXECUTIVE COMPLETED IF INTERRUPTED
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# *PITCH AND YAW TVC DAP COPYCYCLES COMPLETED IF INTERUPTED
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# *TVCEXECUTIVE COMPLETED IF INTERUPTED
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# *STROKE TEST TERMINATED IF INTERRUPTED
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# *CSM/LM V46 SWITCH-OVER REPEATED IF INTERRUPTED
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# *ACTUATOR TRIMS RE-ESTABLISHED (ACTUATORS BACK ON THE AIR)
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@ -151,35 +150,35 @@
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REDOTVC LXCH BANKRUPT # TVC RESTART PACKAGE
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EXTEND
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QXCH QRUPT # ("TCR" IN "FINCOPY")
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QXCH QRUPT # ( ..TCR.. IN ..FINCOPY.. )
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EXECPHS CCS TVCEXPHS # CHECK TVCEXECUTIVE PHASE
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TCF +2 # MUST RESTART TVCEXECUTIVE
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TCF TVCDAPHS # NO NEED TO RESTART TVCEXECUTIVE
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TCF +2 # MUST RESTART TVCEXECUTIVE
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TCF TVCDAPHS # NO NEED TO RESTART TVCEXECUTIVE
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CAF NINE # 9CS DELAY TO FORCE EXRSTRT TO OCCUR
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TC WAITLIST # BEFORE PITCHDAP, AFTER CMDSOUT
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TC WAITLIST # BEFORE PITCHDAP, AFTER CMDSOUT
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EBANK= TVCEXPHS
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2CADR EXRSTRT
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TVCDAPHS CS OCT37776 # CHECK BITS 15 AND 1 OF TVCPHASE TO SEE
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MASK TVCPHASE # DAP RESTART LOCATION (-1,1,2,3)
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MASK TVCPHASE # DAP RESTART LOCATION (-1,1,2,3)
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CCS A
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TCF FINCOPY # FINISH THE COPYCYCLE FIRST
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TCF ENABL1 # JUST PREPARE THE OUTCOUNTERS AND GO
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TCF FINCOPY # FINISH THE COPYCYCLE FIRST
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TCF ENABL1 # JUST PREPARE THE OUTCOUNTERS AND GO
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CS TVCPHASE # TEST FOR TVCPHASE = -2
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MASK BIT2 # (THIS INDICATES RESTART OCCURRED
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EXTEND # DURING CSM/LM V46 SWITCH-OVER)
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BZF TRIM/CMD # NO. TVCPHASE = -1. RSTRT WAS IN TVCINIT
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MASK BIT2 # (THIS INDICATES RESTART OCCURRED
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EXTEND # DURING CSM/LM V46 SWITCH-OVER)
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BZF TRIM/CMD # NO, TVCPHASE = -1, RSTRT WAS IN TVCINIT
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ENABL1 CAF BIT8 # TVC ENABLE, FOLLOWED BY 40 MS (MIN) WAIT
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AD BIT11 # SET BIT FOR OPTICS-DAC-ENABLE ALSO
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EXTEND # (ENABL1 ENTERED FROM TVCDAPHS / FINCOPY)
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AD BIT11 # SET BIT FOR OPTICS-DAC-ENABLE ALSO
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EXTEND # (ENABL1 ENTERED FROM TVCDAPHS / FINCOPY)
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WOR CHAN12
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CAF TVCADDR # WAIT, CALLING ENABL2 (BBCON THERE)
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CAF TVCADDR # WAIT, CALLING ENABL2 (BBCON THERE)
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TS T5LOC
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CAF TVCADDR +4 # 60 MS (TVCEXADR)
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CAF TVCADDR +4 # 60MS (TVCEXADR)
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TS TIME5
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TCF RESUME
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@ -192,7 +191,7 @@ ENABL2 LXCH BANKRUPT # CONTINUE PREPARATION OF OUTCOUNTERS
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# Page 959
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CAF TVCADDR +2 # WAIT, CALLING CMDSOUT (BBCON THERE)
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TS T5LOC
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CAF OCT37776 # 20MS
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CAF OCT37776 # 20MS
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TS TIME5
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TCF NOQRSM
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@ -202,7 +201,7 @@ CMDSOUT LXCH BANKRUPT # CONTINUE PREPARATION OF OUTCOUNTERS
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QXCH QRUPT
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CS ZERO # MOST RECENT ACTUATOR COMMANDS
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AD PCMD # (AVOID +0)
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AD PCMD # (AVOID +0)
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TS TVCPITCH
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CS ZERO
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AD YCMD
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@ -216,22 +215,22 @@ PHSCHK2 CCS TVCPHASE # CHECK TVCPHASE AGAIN
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TCF CHKSTRK
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TCF CHKSTRK
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CCS A # A CONTAINS THE DIMINISHED ABSOLUTE OF
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TC +3 # TVCPHASE (-2 BECOMES +1. -1 BECOMES +0)
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TC +3 # TVCPHASE (-2 BECOMES +1, -1 BECOMES +0)
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TC POSTJUMP # REPEAT TVC INITIALIZATION
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CADR MRCLEAN # (DO NOT RETURN)
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TC POSTJUMP # REPEAT TVC INITIALIZATION
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CADR MRCLEAN # (DO NOT RETURN)
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+3 TC IBNKCALL # REPEAT CSM/LM V46 SWITCH-OVER
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CADR SWICHOVR +5 # (RETURN TO CHECK FOR STROKE TEST)
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+3 TC IBNKCALL # REPEAT CSM/LM V46 SWITCH-OVER
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CADR SWICHOVR +5 # (RETURN TO CHECK FOR STROKE TEST)
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CHKSTRK CCS STROKER # CHECK FOR STROKE TEST IN PROGRESS
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TCF TSTINITJ # YES, KILL IT
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TCF +2 # NO, PROCEED
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TCF TSTINITJ # YES, KILL IT
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+4 TC POSTJUMP # IF POSITIVE OR ZERO, RESTART AT
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CADR TVCINIT4 # TVCINIT4 (ZEROS TVCPHASE, AND
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# CALLS TVC DAPS VIA DAPINIT)
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+4 TC POSTJUMP # IF POSITIVE OR ZERO, RESTART AT
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CADR TVCINIT4 # TVCINIT4 (ZEROS TVCPHASE, AND
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# CALLS TVC DAPS VIA DAPINIT)
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FINCOPY INDEX TVCPHASE # PICK UP THE APPROPRIATE COPYCYCLE
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CAF TVCCADR
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TCR ISWCALL # RE-ENTER THE COPYCYCLE, RETURN AT END
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@ -239,7 +238,7 @@ FINCOPY INDEX TVCPHASE # PICK UP THE APPROPRIATE COPYCYCLE
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TRIM/CMD EXTEND # TVCDAPON INITIALIZATION NOT COMPLETED,
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# Page 960
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DCA PACTOFF # EG. P,YCMD MAY NOT BE SET. SET...
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DCA PACTOFF # EG. P,YCMD MAY NOT BE SET. SET...
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DXCH PCMD
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TCF ENABL1 # NOW PREPARE THE OUTCOUNTERS
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@ -249,7 +248,7 @@ TSTINITJ CAF ZERO # DISABLE STROKE TEST (-0 SHOWS PRIOR V68)
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TCF CHKSTRK +4
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EXRSTRT INDEX TVCEXPHS # TVCEXECUTIVE RESTARTS....GO TO
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CAF TVCEXADR # APPROPRIATE RESTART POINT
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CAF TVCEXADR # APPROPRIATE RESTART POINT
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INDEX A
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TCF 0
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@ -257,15 +256,15 @@ EXRSTRT INDEX TVCEXPHS # TVCEXECUTIVE RESTARTS....GO TO
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TVCADDR = TVCCADR # TABLE OF CADRS, UNUSED LOCS FOR GENADRS
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TVCCADR GENADR ENABL2 # (FOR T5 CALL, UNUSED TABLE LOC)
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+1 CADR PCOPY +1 # PITCH COPYCYCLE
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+1 CADR PCOPY +1 # PITCH COPYCYCLE
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+2 GENADR CMDSOUT # (FOR T5 CALL, UNUSED TABLE LOC)
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+3 CADR YCOPY +1 # YAW COPYCYCLE
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+3 CADR YCOPY +1 # YAW COPYCYCLE
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TVCEXADR OCT 37772 # (UNUSED TABLE LOC, FILL WITH 60MS, T5)
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+1 GENADR EXECCOPY +1 # TVCEXECUTIVE RESTART POINTS (ORDERED)
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+2 GENADR 1SHOTCHK
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+3 GENADR TEMPSET
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+4 GENADR CORSETUP
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+5 GENADR CORCOPY +1
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+5 GENADR CORCOPY +1
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+6 GENADR CNTRCOPY
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