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time for HISAM dump is changed...procedure change?
RMS contingency procedure:
(1) Memory read section of Ref Data book. Add RMS parameters: 5 Brace flag
            JOINT ANGLES
            TEMPERATURES
            EE tb
            JOINT RATES
            HC OMDS
            POSITION HOLD FLAG
            CONSISTENCY CHECK : CHECK 1 FLAG
                                      2 FLAG
            ENCODER CHECK : CHECK 1 FLAG
                                  2 FLAG
            BRAKE FLAG
            MODE FLAGS
questions : (1) any GPC indication that hardwired safing has occurred? (2) any BITE info that isn't on the CRT? Get these fed back into malf procedures.
(2) work on memory writs procedures:
   CAPTURE/RIGID FLAGS (slow down rates)
   CONSISTENCY CHECK PARAMETERS
   ENCODER CHECK PARAMETERS
   HANDCONTROLLER CHECK PARAMETERS
   PDR FLAG?
   MODE CHANGE THRESHOLD?
   CURRENT LIMIT
(3) IFM procedures?