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TEXT 65 "Y" 7400 5850 0 0 3
TEXT 100 "PROCEDURE" 850 6450 0 0 3
TEXT 100 "MOTION CONTROL" 625 6650 0 0 3
TEXT 80 "ROVER SOFTWARE FLOWCHART - 1" 7050 1175 0 0 3
TEXT 80 "MOVEMENT CONTROL PROCEDURE" 7075 1050 0 0 3
TEXT 65 "2" 9250 350 0 0 3
TEXT 65 "1" 8850 350 0 0 3
TEXT 65 "BLM" 9075 500 0 0 3
TEXT 65 "ROVSOFT.S02" 7425 350 0 0 3
TEXT 65 "3 DECEMBER 1991" 7225 500 0 0 3
TEXT 150 "A" 9225 675 0 0 3
TEXT 150 "ROV-009" 7650 700 0 0 3
TEXT 65 "PROCEDURE" 4275 3675 0 0 3
TEXT 65 "FAULT RECOVERY" 4150 3850 0 0 3
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TEXT 150 "B" 8875 1600 0 0 3
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TEXT 65 "N" 6950 2675 0 0 3
TEXT 65 "Y" 8050 3725 0 0 3
TEXT 65 "Y" 7400 2125 0 0 3
TEXT 65 "\"B\"" 7500 2400 0 0 3
TEXT 65 "3rd CHAR" 7325 2575 0 0 3
TEXT 65 "IS" 7500 2725 0 0 3
TEXT 65 "N" 7400 3150 0 0 3
TEXT 65 "3rd CHAR" 7325 3575 0 0 3
TEXT 65 "\"L\"" 7500 3400 0 0 3
TEXT 65 "IS" 7500 3750 0 0 3
TEXT 65 "Y" 8075 4700 0 0 3
TEXT 65 "N" 7400 4150 0 0 3
TEXT 65 "\"R\"" 7500 4425 0 0 3
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TEXT 65 "IS" 7500 4800 0 0 3
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TEXT 65 "Y" 2200 1850 0 0 3
TEXT 65 "N" 2650 1300 0 0 3
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TEXT 65 "N" 8075 6350 0 0 3
TEXT 150 "A" 8850 6250 0 0 3
TEXT 150 "A" 1825 2125 0 0 3
TEXT 65 "RETURN" 675 2075 0 0 3
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TEXT 65 "CODE" 700 2600 0 0 3
TEXT 65 "ERROR" 675 2750 0 0 3
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TEXT 65 "GET" 2700 5600 0 0 3
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TEXT 65 "TO" 2750 6175 0 0 3
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TEXT 65 "MOTORS" 2600 4750 0 0 3
TEXT 65 "MOVING?" 2600 4600 0 0 3
TEXT 65 "IS" 2750 3975 0 0 3
TEXT 65 "CURRENT" 2575 3825 0 0 3
TEXT 65 "O.K. ?" 2675 3550 0 0 3
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TEXT 65 "IS" 2775 2975 0 0 3
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TEXT 65 "IS" 2775 1900 0 0 3
TEXT 65 "2nd CHAR" 2600 1750 0 0 3
TEXT 65 "\"F\"" 2750 1550 0 0 3
TEXT 65 "N" 3375 3825 0 0 3
TEXT 65 "Y" 2650 3250 0 0 3
