Source Code
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These source-code files were from the printout at the MIT Museum, with many thanks
to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing
it to us. The printout was digitally photographed by Paul Fjeld. A team of
volunteers transcribed the source code manually from these images or, where
appropriate, modified already-transcribed but similar source Luminary 131 (Apollo 13)
source code to agree with the images from the printout. Note that the page images
presented online are of reduced quality, and that higher-quality images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision. |
061694,000002: ## Copyright: Public domain.
061695,000003: ## Filename: Q_R-AXIS_RCS_AUTOPILOT.agc
061696,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
061697,000005: ## It is part of the source code for the Lunar Module's (LM)
061698,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
061699,000007: ## Assembler: yaYUL
061700,000008: ## Contact: Ron Burkey <info@sandroid.org>.
061701,000009: ## Website: www.ibiblio.org/apollo.
061702,000010: ## Pages: 1442-1459
061703,000011: ## Mod history: 2009-05-27 RSB Adapted from the corresponding
061704,000012: ## Luminary131 file, using page
061705,000013: ## images from Luminary 1A.
061706,000014: ## 2009-06-07 RSB Corrected "DEC 96.0" to "DEC 96", since
061707,000015: ## the former is not compatible with yaYUL.
061708,000016: ## 2011-01-06 JL Fixed pseudo-label indentation.
061709,000017: ##
061710,000018: ## This source code has been transcribed or otherwise adapted from
061711,000019: ## digitized images of a hardcopy from the MIT Museum. The digitization
061712,000020: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
061713,000021: ## the Museum. Many thanks to both. The images (with suitable reduction
061714,000022: ## in storage size and consequent reduction in image quality as well) are
061715,000023: ## available online at www.ibiblio.org/apollo. If for some reason you
061716,000024: ## find that the images are illegible, contact me at info@sandroid.org
061717,000025: ## about getting access to the (much) higher-quality images which Paul
061718,000026: ## actually created.
061719,000027: ##
061720,000028: ## Notations on the hardcopy document read, in part:
061721,000029: ##
061722,000030: ## Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
061723,000031: ## 16:27 JULY 14, 1969
061724,000032:
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Page 1442 |
061726,000034: 17,2072 BANK 17
061727,000035: 17,2000 SETLOC DAPS2
061728,000036: 17,2000 BANK
061729,000037:
061730,000038: 17,2072 E6,1635 EBANK= CDUXD
061731,000039:
061732,000040: 17,2072 COUNT* $$/DAPQR
061733,000041:
061734,000042: 17,2072 34737 CALLQERR CA BIT13 # CALCULATE Q,R ERRORS UNLESS THESE AXES
061735,000043: 17,2073 00006 EXTEND # ARE IN MANUAL RATE COMMAND.
061736,000044: 17,2074 02031 RAND CHAN31
061737,000045: 17,2075 10000 CCS A
061738,000046: 17,2076 12103 TCF +5 # IN AUTO COMPUTE Q,R ERRORS
061739,000047: 17,2077 40111 CS DAPBOOLS # IN MANUAL RATE COMMAND?
061740,000048: 17,2100 74740 MASK OURRCBIT
061741,000049: 17,2101 00006 EXTEND
061742,000050: 17,2102 12104 BZF Q,RORGTS # IF SO BYPASS CALCULATION OF ERROS.
061743,000051: 17,2103 02626 TC QERRCALC
061744,000052:
061745,000053: 17,2104 11631 Q,RORGTS CCS COTROLER # CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
061746,000054: 17,2105 12607 TCF GOTOGTS # GTS (ALTERNATES WITH RCS WHEN DOCKED)
061747,000055: 17,2106 12574 TCF TRYGTS # GTS IF ALLOWED, OTHERWISE RCS
061748,000056: 17,2107 34755 RCS CAF ZERO # RCS (TRYGTS MAY BRANCH TO HERE)
061749,000057: 17,2110 55631 TS COTROLER
061750,000058:
061751,000059: 17,2111 53437 DXCH EDOTQ
061752,000060: 17,2112 03146 TC ROT-TOUV
061753,000061: 17,2113 53427 DXCH OMEGAU
061754,000062:
061755,000063: # X - TRANSLATION
061756,000064:
061757,000065: # INPUT: BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
061758,000066: # ULLAGER
061759,000067: # APSFLAG, DRIFTBIT
061760,000068: # ACC40R2X, ACRBTRAN
061761,000069:
061762,000070: # OUTPUT: NEXTU, NEXTV CODES OF TRANSLATION FOR AFTER ROTATION
061763,000071: # SENSETYP TELL ROTATION DIRECTION AND DESIRE
061764,000072:
061765,000073: # X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR. IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED. A FAILURE
061766,000074: # WILL OVERRIDE THIS SPECIFICATION. AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
061767,000075:
061768,000076: 17,2114 34745 SENSEGET CA BIT7 # INPUT BITS OVERRIDE THE INTERNAL BITS
061769,000077: 17,2115 00006 EXTEND # SENSETYP WILL NOT OPPOSE ANYTRANS
061770,000078: 17,2116 02031 RAND CHAN31
061771,000079: 17,2117 00006 EXTEND
061772,000080: 17,2120 12146 BZF +X0RULGE
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Page 1443 |
061774,000082: 17,2121 34744 CA BIT8
061775,000083: 17,2122 00006 EXTEND
061776,000084: 17,2123 02031 RAND CHAN31
061777,000085: 17,2124 00006 EXTEND
061778,000086: 17,2125 12147 BZF -XTRANS
061779,000087:
061780,000088: 17,2126 34746 CA ULLAGER
061781,000089: 17,2127 70111 MASK DAPBOOLS
061782,000090: 17,2130 10000 CCS A
061783,000091: 17,2131 12146 TCF +X0RULGE
061784,000092:
061785,000093: 17,2132 55473 TS NEXTU # STORE NULL TRANSLATION POLICIES
061786,000094: 17,2133 55474 TS NEXTV
061787,000095: 17,2134 40111 CS DAPBOOLS # BURNING OR DRIFTING?
061788,000096: 17,2135 74744 MASK DRIFTBIT
061789,000097: 17,2136 00006 EXTEND
061790,000098: 17,2137 12144 BZF TSENSE
061791,000099: 17,2140 30106 CA FLGWRD10 # DPS (INCLUDING DOCKED) OR APS?
061792,000100: 17,2141 74737 MASK APSFLBIT
061793,000101: 17,2142 10000 CCS A
061794,000102: 17,2143 34752 CAF TWO # FAVOR +X JETS DURING AN APS BURN.
061795,000103: 17,2144 55500 TSENSE TS SENSETYP
061796,000104: 17,2145 12200 TCF QRCONTRL
061797,000105:
061798,000106: 17,2146 34753 +X0RULGE CAF ONE
061799,000107: 17,2147 64751 -XTRANS AD FOUR
061800,000108: 17,2150 55744 TS ROTINDEX
061801,000109: 17,2151 67745 AD NEG3
061802,000110: 17,2152 55500 TS SENSETYP # FAVOR APPROPRIATE JETS DURING TRANS.
061803,000111: 17,2153 30111 CA DAPBOOLS
061804,000112: 17,2154 74741 MASK ACC4OR2X
061805,000113: 17,2155 10000 CCS A
061806,000114: 17,2156 12321 TCF TRANS4
061807,000115:
061808,000116: 17,2157 30111 CA DAPBOOLS
061809,000117: 17,2160 74742 MASK AORBTRAN
061810,000118: 17,2161 10000 CCS A
061811,000119: 17,2162 34753 CA ONE # THREE FOR B
061812,000120: 17,2163 64752 AD TWO # TWO FOR A SYSTEM 2 JET X TRANS
061813,000121: 17,2164 55743 TSNUMBRT TS NUMBERT
061814,000122:
061815,000123: 17,2165 03173 TC SELCTSUB
061816,000124:
061817,000125: 17,2166 11741 CCS POLYTEMP
061818,000126: 17,2167 12172 TCF +3
061819,000127: 17,2170 05567 TC ALARM
061820,000128: 17,2171 02002 OCT 02002
061821,000129: 17,2172 35774 CA 00314OCT
061822,000130: 17,2173 71741 MASK POLYTEMP
061823,000131: 17,2174 55473 TSNEXTS TS NEXTU
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Page 1444 |
061825,000133: 17,2175 45774 CS 00314OCT
061826,000134: 17,2176 71741 MASK POLYTEMP
061827,000135: 17,2177 55474 TS NEXTV
061828,000136:
061829,000137: # Q,R-AXES RCS CONTROL MODE SELECTION
061830,000138: # SWITCHES INDICATION WHEN SET
061831,000139: # BIT13/CHAN31 AUTO, GO TO ATTSTEER
061832,000140: # PULSES MINIMUM IMPULSE MODE
061833,000141: # (OTHERWISE) RATE COMMAND/ATTITUDE HOLD MODE
061834,000142:
061835,000143: 17,2200 34737 QRCONTRL CA BIT13 # CHECK MODE SELECT SWITCH.
061836,000144: 17,2201 00006 EXTEND
061837,000145: 17,2202 02031 RAND CHAN31 # BITS INVERTED
061838,000146: 17,2203 10000 CCS A
061839,000147: 17,2204 12661 TCF ATTSTEER
061840,000148: 17,2205 34735 CHKBIT10 CAF PULSES # PULSES = 1 FOR MIN IMP USE OF RHC
061841,000149: 17,2206 70111 MASK DAPBOOLS
061842,000150: 17,2207 00006 EXTEND
061843,000151: 17,2210 12323 BZF CHEKSTIK # IN ATT-HOLD/RATE-COMMAND IF BIT10=0
061844,000152:
061845,000153: # MINIMUM IMPULSE MODE
061846,000154:
061847,000155: 17,2211 00004 INHINT
061848,000156: 17,2212 04674 TC IBNKCALL
061849,000157: 17,2213 40153 CADR ZATTEROR
061850,000158: 17,2214 34755 CA ZERO
061851,000159: 17,2215 55450 TS QERROR
061852,000160: 17,2216 55452 TS RERROR # FOR DISPLAYS
061853,000161: 17,2217 00003 RELINT
061854,000162:
061855,000163: 17,2220 00006 EXTEND
061856,000164: 17,2221 00031 READ CHAN31
061857,000165: 17,2222 55737 TS TEMP31 # IS EQUAL TO DAPTEMP1
061858,000166: 17,2223 11461 CCS OLDQRMIN
061859,000167: 17,2224 12246 TCF CHECKIN
061860,000168:
061861,000169: 17,2225 31737 FIREQR CA TEMP31
061862,000170: 17,2226 74753 MASK BIT1
061863,000171: 17,2227 00006 EXTEND
061864,000172: 17,2230 12252 BZF +QMIN
061865,000173:
061866,000174: 17,2231 31737 CA TEMP31
061867,000175: 17,2232 74752 MASK BIT2
061868,000176: 17,2233 00006 EXTEND
061869,000177: 17,2234 12256 BZF -QMIN
061870,000178:
061871,000179: 17,2235 31737 CA TEMP31
061872,000180: 17,2236 74747 MASK BIT5
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Page 1445 |
061874,000182: 17,2237 00006 EXTEND
061875,000183: 17,2240 12262 BZF +RMIN
061876,000184:
061877,000185: 17,2241 31737 CA TEMP31
061878,000186: 17,2242 74746 MASK BIT6
061879,000187: 17,2243 00006 EXTEND
061880,000188: 17,2244 12264 BZF -RMIN
061881,000189:
061882,000190: 17,2245 13063 TCF XTRANS
061883,000191:
061884,000192: 17,2246 41737 CHECKIN CS TEMP31
061885,000193: 17,2247 72320 MASK OCT63
061886,000194: 17,2250 55461 TS OLDQRMIN
061887,000195: 17,2251 13063 TCF XTRANS
061888,000196:
061889,000197: 17,2252 33107 +QMIN CA 14MS
061890,000198: 17,2253 55525 TS TJU
061891,000199: 17,2254 43107 CS 14MS
061892,000200: 17,2255 12266 TCF MINQR
061893,000201: 17,2256 43107 -QMIN CS 14MS
061894,000202: 17,2257 55525 TS TJU
061895,000203: 17,2260 33107 CA 14MS
061896,000204: 17,2261 12266 TCF MINQR
061897,000205: 17,2262 33107 +RMIN CA 14MS
061898,000206: 17,2263 12265 TCF +2
061899,000207: 17,2264 43107 -RMIN CS 14MS
061900,000208: 17,2265 55525 TS TJU
061901,000209: 17,2266 55526 MINQR TS TJV
061902,000210: 17,2267 32317 CA MINADR
061903,000211: 17,2270 55477 TS RETJADR
061904,000212: 17,2271 34753 CA ONE
061905,000213: 17,2272 55461 TS OLDQRMIN
061906,000214: 17,2273 55505 MINRTN TS AXISCTR
061907,000215: 17,2274 30111 CA DAPBOOLS
061908,000216: 17,2275 74737 MASK CSMDOCKD
061909,000217: 17,2276 00006 EXTEND
061910,000218: 17,2277 12307 BZF MIMRET
061911,000219: 17,2300 51505 INDEX AXISCTR # IF DOCKED, USE 60MS MINIMUM IMPULSE
061912,000220: 17,2301 11525 CCS TJU
061913,000221: 17,2302 32316 CA 60MS
061914,000222: 17,2303 12305 TCF +2
061915,000223: 17,2304 42316 CS 60MS
061916,000224: 17,2305 51505 INDEX AXISCTR
061917,000225: 17,2306 55525 TS TJU
061918,000226: 17,2307 30111 MIMRET CA DAPBOOLS
061919,000227: 17,2310 74742 MASK AORBTRAN
061920,000228: 17,2311 10000 CCS A
061921,000229: 17,2312 34753 CA ONE
061922,000230: 17,2313 64752 AD TWO
061923,000231: 17,2314 55743 TS NUMBERT
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Page 1446 |
061925,000233: 17,2315 12727 TCF AFTERTJ
061926,000234:
061927,000235: 17,2316 00140 60MS DEC 96.0
061928,000236: 17,2317 02273 MINADR GENADR MINRTN
061929,000237: 17,2320 00063 OCT63 OCT 63
061930,000238: 17,2321 17,3107 14MS = +TJMINT6
061931,000239:
061932,000240: 17,2321 34751 TRANS4 CA FOUR
061933,000241: 17,2322 12164 TCF TSNUMBRT
061934,000242:
061935,000243: # RATE COMMAND MODE:
061936,000244:
061937,000245: # DESCRIPTION (SAME AS P-AXIS)
061938,000246:
061939,000247: 17,2323 55633 CHEKSTIK TS INGTS # NOT IN GTS WHEN IN ATT HOLD
061940,000248: 17,2324 44753 CS ONE # 1/ACCS WILL DO THE NULLING DRIVES
061941,000249: 17,2325 55631 TS COTROLER # COME BACK TO RCS NEXT TIME
061942,000250: 17,2326 34735 CA BIT15
061943,000251: 17,2327 71443 MASK CH31TEMP
061944,000252: 17,2330 00006 EXTEND
061945,000253: 17,2331 12350 BZF RHCACTIV # BRANCH IF OUT OF DETENT.
061946,000254: 17,2332 34740 CA OURRCBIT # ***********
061947,000255: 17,2333 70111 MASK DAPBOOLS # *IN DETENT* CHECK FOR MANUAL CONTROL
061948,000256: 17,2334 00006 EXTEND # *********** LAST TIME.
061949,000257: 17,2335 12661 BZF STILLRCS
061950,000258: 17,2336 44743 CS BIT9
061951,000259: 17,2337 71273 MASK RCSFLAGS
061952,000260: 17,2340 55273 TS RCSFLAGS # BIT 9 IS 0.
061953,000261: 17,2341 12345 TCF DAMPING
061954,000262: 17,2342 00050 40CYCL OCT 50
061955,000263: 17,2343 00001 1/10S OCT 1
061956,000264: 17,2344 00056 LINRAT DEC 46 B-14
061957,000265:
061958,000266: # ===========================================================
061959,000267:
061960,000268: 17,2345 34755 DAMPING CA ZERO
061961,000269: 17,2346 55462 TS SAVEHAND
061962,000270: 17,2347 55463 TS SAVEHAND +1
061963,000271: 17,2350 11462 RHCACTIV CCS SAVEHAND # ******************
061964,000272: 17,2351 12354 TCF +3 # Q,R MANUAL CONTROL WC = A*(B+|D|)*D
061965,000273: 17,2352 12354 TCF +2 # ******************
061966,000274: 17,2353 12354 TCF +1
061967,000275: 17,2354 60000 DOUBLE # WHERE
061968,000276: 17,2355 60000 DOUBLE
061969,000277: 17,2356 62344 AD LINRAT # WC = COMMANDED ROTATIONAL RATE
061970,000278: 17,2357 00006 EXTEND # A = QUADRATIC SENSITIVITY FACTOR
061971,000279: 17,2360 71462 MP SAVEHAND # B = LINEAR/QUADRATIC SENSITIVITY
061972,000280: 17,2361 30001 CA L # |D| = ABS. VALUE OF DEFLECTION
061973,000281: 17,2362 00006 EXTEND # D = HAND CONTROLLER DEFLECTION
061974,000282: 17,2363 71444 MP STIKSENS
061975,000283: 17,2364 57455 XCH QLAST # COMMAND Q RATE, SCALED 45 DEG/SEC
061976,000284: 17,2365 40000 COM
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Page 1447 |
061978,000286: 17,2366 61455 AD QLAST
061979,000287: 17,2367 55741 TS DAPTEMP3
061980,000288: 17,2370 11463 CCS SAVEHAND +1
061981,000289: 17,2371 12374 TCF +3
061982,000290: 17,2372 12374 TCF +2
061983,000291: 17,2373 12374 TCF +1
061984,000292: 17,2374 60000 DOUBLE
061985,000293: 17,2375 60000 DOUBLE
061986,000294: 17,2376 62344 AD LINRAT
061987,000295: 17,2377 00006 EXTEND
061988,000296: 17,2400 71463 MP SAVEHAND +1
061989,000297: 17,2401 30001 CA L
061990,000298: 17,2402 00006 EXTEND
061991,000299: 17,2403 71444 MP STIKSENS
061992,000300: 17,2404 57456 XCH RLAST
061993,000301: 17,2405 40000 COM
061994,000302: 17,2406 61456 AD RLAST
061995,000303: 17,2407 55742 TS DAPTEMP4
061996,000304: 17,2410 41455 CS QLAST # INTERVAL.
061997,000305: 17,2411 61422 AD OMEGAQ
061998,000306: 17,2412 55436 TS QRATEDIF
061999,000307: 17,2413 41456 CS RLAST
062000,000308: 17,2414 61423 AD OMEGAR
062001,000309: 17,2415 55437 TS RRATEDIF
062002,000310: 17,2416 53437 ENTERQR DXCH QRATEDIF # TRANSFORM RATES FROM Q,R TO U,V AXES
062003,000311: 17,2417 03146 TC ROT-TOUV
062004,000312: 17,2420 53427 DXCH URATEDIF
062005,000313: 17,2421 11741 CCS DAPTEMP3 # CHECK IF Q COMMAND CHANGE EXCEEDS
062006,000314: 17,2422 02425 TC +3 # BREAKOUT LEVEL. IF NOT, CHECK R.
062007,000315: 17,2423 02425 TC +2
062008,000316: 17,2424 02425 TC +1
062009,000317: 17,2425 61476 AD -RATEDB
062010,000318: 17,2426 00006 EXTEND
062011,000319: 17,2427 62431 BZMF +2
062012,000320: 17,2430 12447 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
062013,000321: 17,2431 11742 CCS DAPTEMP4 # R COMMAND BREAKOUT CHECK.
062014,000322: 17,2432 02435 TC +3
062015,000323: 17,2433 02435 TC +2
062016,000324: 17,2434 02435 TC +1
062017,000325: 17,2435 61476 AD -RATEDB
062018,000326: 17,2436 00006 EXTEND
062019,000327: 17,2437 62441 BZMF +2
062020,000328: 17,2440 12447 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
062021,000329: 17,2441 31273 CA RCSFLAGS # BREAKOUT LEVEL NOT EXCEEDED. CHECK FOR
062022,000330: 17,2442 74741 MASK QRBIT # DIRECT RATE CONTROL LAST TIME.
062023,000331: 17,2443 00006 EXTEND
062024,000332: 17,2444 12446 BZF +2
062025,000333: 17,2445 12451 TCF ENTERUV # CONTINUE DIRECT RATE CONTROL.
062026,000334: 17,2446 12661 TCF STILLRCS # PSEUDO-AUTO CONTROL.
062027,000335: 17,2447 32342 CA 40CYCL
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Page 1448 |
062029,000337: 17,2450 55457 TS TCQR
062030,000338: 17,2451 00004 ENTERUV INHINT # DIRECT RATE CONTROL
062031,000339: 17,2452 04674 TC IBNKCALL
062032,000340: 17,2453 40153 FCADR ZATTEROR
062033,000341: 17,2454 00003 RELINT
062034,000342: 17,2455 34755 CA ZERO
062035,000343: 17,2456 55450 TS DYERROR
062036,000344: 17,2457 55451 TS DYERROR +1
062037,000345: 17,2460 55452 TS DZERROR
062038,000346: 17,2461 55453 TS DZERROR +1
062039,000347: 17,2462 11426 CCS URATEDIF
062040,000348: 17,2463 12466 TCF +3
062041,000349: 17,2464 12466 TCF +2
062042,000350: 17,2465 12466 TCF +1
062043,000351: 17,2466 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
062044,000352: 17,2467 00006 EXTEND # DIRECT RATE CONTROL.
062045,000353: 17,2470 62504 BZMF VDB
062046,000354: 17,2471 11427 CCS VRATEDIF
062047,000355: 17,2472 12475 TCF +3
062048,000356: 17,2473 12475 TCF +2
062049,000357: 17,2474 12475 TCF +1
062050,000358: 17,2475 61476 AD TARGETDB
062051,000359: 17,2476 00006 EXTEND
062052,000360: 17,2477 62501 BZMF +2
062053,000361: 17,2500 12515 TCF QRTIME
062054,000362: 17,2501 34755 CA ZERO
062055,000363: 17,2502 55427 TS VRATEDIF
062056,000364: 17,2503 12515 TCF QRTIME
062057,000365: 17,2504 11427 VDB CCS VRATEDIF
062058,000366: 17,2505 02510 TC +3
062059,000367: 17,2506 02510 TC +2
062060,000368: 17,2507 02510 TC +1
062061,000369: 17,2510 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
062062,000370: 17,2511 00006 EXTEND # DIRECT RATE CONTROL. IF NOT, FIRE AND
062063,000371: 17,2512 62524 BZMF TOPSEUDO # SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
062064,000372: 17,2513 34755 CA ZERO # PASS.
062065,000373: 17,2514 55426 TS URATEDIF
062066,000374: 17,2515 31457 QRTIME CA TCQR # DIRECT RATE TIME CHECK.
062067,000375: 17,2516 00006 EXTEND
062068,000376: 17,2517 62524 BZMF +5 # BRANCH IF TIME EXCEEDS 4 SEC.
062069,000377: 17,2520 41273 CS RCSFLAGS
062070,000378: 17,2521 74741 MASK QRBIT
062071,000379: 17,2522 27273 ADS RCSFLAGS # BIT 11 IS 1.
062072,000380: 17,2523 02527 TC +4
062073,000381: 17,2524 44741 TOPSEUDO CS QRBIT
062074,000382: 17,2525 71273 MASK RCSFLAGS
062075,000383: 17,2526 55273 TS RCSFLAGS # BIT 11 IS 0.
062076,000384: 17,2527 32573 CA HANDADR
062077,000385: 17,2530 55477 TS RETJADR
062078,000386: 17,2531 34753 CA ONE
062079,000387:
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Page 1449 |
062081,000389: 17,2532 55505 BACKHAND TS AXISCTR
062082,000390:
062083,000391: 17,2533 34751 CA FOUR
062084,000392: 17,2534 55743 TS NUMBERT
062085,000393:
062086,000394: 17,2535 51505 INDEX AXISCTR
062087,000395: 17,2536 51535 INDEX SKIPU
062088,000396: 17,2537 12540 TCF +1
062089,000397: 17,2540 34751 CA FOUR
062090,000398: 17,2541 51505 INDEX AXISCTR
062091,000399: 17,2542 55535 TS SKIPU
062092,000400: 17,2543 13005 TCF LOOPER
062093,000401:
062094,000402: 17,2544 51505 INDEX AXISCTR
062095,000403: 17,2545 11426 CCS URATEDIF # INDEX AXIS QUANTITY
062096,000404: 17,2546 34755 CA ZERO # 0 -U 1/JETACC-AOSU
062097,000405: 17,2547 12551 TCF +2 # 1 +U 1/JETACC+AOSU
062098,000406: 17,2550 34753 CA ONE # 16 -V 1/JETACC-AOSV
062099,000407: 17,2551 51505 INDEX AXISCTR # 17 +V 1/JETACC+AOSV
062100,000408: 17,2552 63722 AD AXISDIFF # JETACC = 2 JET ACCELERATION (1 FOR FAIL)
062101,000409:
062102,000410: 17,2553 50000 INDEX A
062103,000411: 17,2554 41571 CS 1/ANET2 +1
062104,000412: 17,2555 00006 EXTEND
062105,000413: 17,2556 51505 INDEX AXISCTR # UPRATEDIF IS SCALED AT PI/4 RAD/SEC
062106,000414: 17,2557 71426 MP URATEDIF # JET TIME IN A, SCALED 32 SEC
062107,000415: 17,2560 54002 TS Q
062108,000416: 17,2561 20001 DAS A
062109,000417: 17,2562 60002 AD Q
062110,000418: 17,2563 54000 TS A # OVERFLOW SKIP
062111,000419: 17,2564 12566 TCF +2
062112,000420: 17,2565 30002 CA Q # RIGHT SIGN AND BIGGER THAN 150MS
062113,000421: 17,2566 51505 SETTIME INDEX AXISCTR
062114,000422: 17,2567 55525 TS TJU # SCALED AT 10.67 WHICH IS CLOSE TO 10.24
062115,000423: 17,2570 12727 TCF AFTERTJ
062116,000424:
062117,000425: 17,2571 34755 ZEROTJ CA ZERO
062118,000426: 17,2572 12566 TCF SETTIME
062119,000427:
062120,000428: 17,2573 02532 HANDADR GENADR BACKHAND
062121,000429:
062122,000430: # GTS WILL BE TRIED IF
062123,000431: # 1. USEQRJTS = 0,
062124,000432: # 2. ALLOWGTS POS,
062125,000433: # 3. JETS ARE OFF (Q,R-AXES)
062126,000434:
062127,000435: 17,2574 34736 TRYGTS CAF USEQRJTS # IS JET USE MANDATORY. (AS LONG AS
062128,000436: 17,2575 70111 MASK DAPBOOLS # USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE.)
062129,000437: 17,2576 10000 CCS A
062130,000438: 17,2577 12107 TCF RCS
062131,000439: 17,2600 11502 CCS ALLOWGTS # NO. DOES AOSTASK OK CONTROL FOR GTS?
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Page 1450 |
062133,000441: 17,2601 12603 TCF +2
062134,000442: 17,2602 12107 TCF RCS
062135,000443: 17,2603 00006 EXTEND
062136,000444: 17,2604 00005 READ CHAN5
062137,000445: 17,2605 10000 CCS A
062138,000446: 17,2606 12612 TCF CHKINGTS
062139,000447: 17,2607 00006 GOTOGTS EXTEND
062140,000448: 17,2610 32625 DCA GTSCADR
062141,000449: 17,2611 52006 DTCB
062142,000450:
062143,000451: 17,2612 11633 CHKINGTS CCS INGTS # WAS THE TRIM GIMBAL CONTROLLING
062144,000452: 17,2613 12615 TCF +2 # YES. SET UP A DAMPED NULLING DRIVE.
062145,000453: 17,2614 12107 TCF RCS # NO. NULLING WAS SET UP BEFORE. DO RCS.
062146,000454: 17,2615 00004 INHINT
062147,000455: 17,2616 04674 TC IBNKCALL
062148,000456: 17,2617 43330 CADR TIMEGMBL
062149,000457: 17,2620 00003 RELINT
062150,000458: 17,2621 34755 CAF ZERO
062151,000459: 17,2622 55633 TS INGTS
062152,000460: 17,2623 12107 TCF RCS
062153,000461:
062154,000462: 17,2624 E6,1635 EBANK= CDUXD
062155,000463: 17,2624 03077 42106 GTSCADR 2CADR GTS
062156,000464:
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Page 1451 |
062158,000466: # SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
062159,000467:
062160,000468: 17,2626 30033 QERRCALC CAE CDUY # Q-ERROR CALCULATION
062161,000469: 17,2627 00006 EXTEND
062162,000470: 17,2630 21636 MSU CDUYD # CDU ANGLE -- ANGLE DESIRED (Y-AXIS)
062163,000471: 17,2631 55737 TS DAPTEMP1 # SAVE FOR RERRCALC
062164,000472: 17,2632 00006 EXTEND
062165,000473: 17,2633 71415 MP M21 # (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
062166,000474: 17,2634 55752 TS E
062167,000475: 17,2635 30034 CAE CDUZ # SECOND TERM CALCULATION:
062168,000476: 17,2636 00006 EXTEND
062169,000477: 17,2637 21637 MSU CDUZD # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
062170,000478: 17,2640 55740 TS DAPTEMP2 # SAVE FOR RERRCALC
062171,000479: 17,2641 00006 EXTEND
062172,000480: 17,2642 71417 MP M22 # (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
062173,000481: 17,2643 61300 AD DELQEROR # KALCMANU INERFACE ERROR
062174,000482: 17,2644 61752 AD E
062175,000483: 17,2645 57450 XCH QERROR # SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
062176,000484:
062177,000485: 17,2646 31737 RERRCALC CAE DAPTEMP1 # R-ERROR CALCULATION:
062178,000486: 17,2647 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Y-AXIS)
062179,000487: 17,2650 71416 MP M31 # (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
062180,000488: 17,2651 55752 TS E
062181,000489: 17,2652 31740 CAE DAPTEMP2 # SECOND TERM CALCULATION:
062182,000490: 17,2653 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
062183,000491: 17,2654 71420 MP M32 # (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
062184,000492: 17,2655 61301 AD DELREROR # KALCMANU INERFACE ERROR
062185,000493: 17,2656 61752 AD E
062186,000494: 17,2657 57452 XCH RERROR # SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
062187,000495: 17,2660 00002 TC Q
062188,000496:
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Page 1452 |
062190,000498: # "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
062191,000499:
062192,000500: 17,2661 17,2661 ATTSTEER EQUALS STILLRCS # "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
062193,000501:
062194,000502: 17,2661 31452 STILLRCS CA RERROR
062195,000503: 17,2662 22000 LXCH A
062196,000504: 17,2663 31450 CA QERROR
062197,000505: 17,2664 03146 TC ROT-TOUV
062198,000506: 17,2665 53752 DXCH UERROR
062199,000507:
062200,000508: # PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
062201,000509: # PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
062202,000510:
062203,000511: 17,2666 33113 TJLAW CA TJLAWADR
062204,000512: 17,2667 55477 TS RETJADR
062205,000513: 17,2670 34753 CA ONE
062206,000514: 17,2671 55505 TS AXISCTR
062207,000515: 17,2672 51505 INDEX AXISCTR
062208,000516: 17,2673 51535 INDEX SKIPU
062209,000517: 17,2674 12675 TCF +1
062210,000518: 17,2675 34751 CA FOUR
062211,000519: 17,2676 51505 INDEX AXISCTR
062212,000520: 17,2677 55535 TS SKIPU
062213,000521: 17,2700 13005 TCF LOOPER
062214,000522: 17,2701 51505 INDEX AXISCTR
062215,000523: 17,2702 31751 CA UERROR
062216,000524: 17,2703 55752 TS E
062217,000525: 17,2704 51505 INDEX AXISCTR
062218,000526: 17,2705 31426 CA OMEGAU
062219,000527: 17,2706 55427 TS EDOT
062220,000528: 17,2707 30111 CA DAPBOOLS
062221,000529: 17,2710 74737 MASK CSMDOCKD
062222,000530: 17,2711 10000 CCS A
062223,000531: 17,2712 12715 TCF +3
062224,000532: 17,2713 03252 TC TJETLAW
062225,000533: 17,2714 12727 TCF AFTERTJ
062226,000534: 17,2715 40111 +3 CS DAPBOOLS # DOCKED. IF GIMBAL USABLE DO GTS CONTROL
062227,000535: 17,2716 74736 MASK USEQRJTS # ON THE NEXT PASS.
062228,000536: 17,2717 10000 CCS A # USEQRJTS BIT MUST NOT BE BIT 15.
062229,000537: 17,2720 55631 TS COTROLER # GIMBAL USABLE. STORE POSITIVE VALUE.
062230,000538: 17,2721 00004 INHINT
062231,000539: 17,2722 04674 TC IBNKCALL
062232,000540: 17,2723 43727 CADR SPSRCS # DETERMINE RCS CONTROL
062233,000541: 17,2724 00003 RELINT
062234,000542: 17,2725 34751 CAF FOUR # ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
062235,000543: 17,2726 55743 TS NUMBERT # FALL THROUGH TO JET SLECTION, ETC.
062236,000544:
062237,000545: # Q,R-JET-SELECTION-LOGIC
062238,000546:
062239,000547: # INPUT: AXISCTR 0,1 FOR U,V
062240,000548: # SNUFFBIT ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN
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Page 1453 |
062242,000550: # TJU,TJV JET TIME SCALED 10.24 SEC.
062243,000551: # NUMBERT INDICATES NUMBER OF JETS AND TYPE OF POLICY
062244,000552: # RETJADR WHERE TO RETURN TO
062245,000553:
062246,000554: # OUTPUT: NO.U(V)JETS RATE DERIVATION FEEDBACK
062247,000555: # CHANNEL 5
062248,000556: # SKIPU,SKIPV FOR LESS THAN 150MS FIRING
062249,000557:
062250,000558: # NOTES: IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED
062251,000559: # JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY
062252,000560: # TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT
062253,000561: # IF NONE CAN BE FOUND.
062254,000562:
062255,000563: # TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
062256,000564: # MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
062257,000565:
062258,000566: 17,2727 30101 AFTERTJ CA FLAGWRD5 # IF SNUFFBIT SET DURING A DPS BURN GO TO
062259,000567: 17,2730 74737 MASK SNUFFBIT # XTRANS; THAT IS, INHIBIT CONTROL.
062260,000568: 17,2731 00006 EXTEND
062261,000569: 17,2732 12743 BZF DOROTAT
062262,000570: 17,2733 40106 CS FLGWRD10
062263,000571: 17,2734 74737 MASK APSFLBIT
062264,000572: 17,2735 00006 EXTEND
062265,000573: 17,2736 12743 BZF DOROTAT
062266,000574: 17,2737 30111 CA DAPBOOLS
062267,000575: 17,2740 74744 MASK DRIFTBIT
062268,000576: 17,2741 00006 EXTEND
062269,000577: 17,2742 13063 BZF XTRANS
062270,000578:
062271,000579: 17,2743 34752 DOROTAT CAF TWO
062272,000580: 17,2744 54001 TS L
062273,000581: 17,2745 51505 INDEX AXISCTR
062274,000582: 17,2746 11525 CCS TJU
062275,000583: 17,2747 12754 TCF +5
062276,000584: 17,2750 12777 TCF NOROTAT
062277,000585: 17,2751 12753 TCF +2
062278,000586: 17,2752 12777 TCF NOROTAT
062279,000587: 17,2753 22007 ZL
062280,000588: 17,2754 64753 AD ONE
062281,000589: 17,2755 55737 TS ABSTJ
062282,000590:
062283,000591: 17,2756 31505 CA AXISCTR
062284,000592: 17,2757 60001 AD L
062285,000593: 17,2760 55744 TS ROTINDEX # 0 1 2 3 = -U -V +U +V
062286,000594:
062287,000595: 17,2761 31737 CA ABSTJ
062288,000596: 17,2762 63110 AD -150MS
062289,000597: 17,2763 00006 EXTEND
062290,000598: 17,2764 63010 BZMF DOSKIP
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Page 1454 |
062292,000600: 17,2765 03173 TC SELCTSUB
062293,000601:
062294,000602: 17,2766 51505 INDEX AXISCTR
062295,000603: 17,2767 33105 CA INDEXES
062296,000604: 17,2770 54001 TS L
062297,000605:
062298,000606: 17,2771 31741 CA POLYTEMP
062299,000607: 17,2772 00004 INHINT
062300,000608: 17,2773 50001 INDEX L
062301,000609: 17,2774 05754 TC WRITEP
062302,000610:
062303,000611: 17,2775 00003 RELINT
062304,000612: 17,2776 13051 TCF FEEDBACK
062305,000613:
062306,000614: 17,2777 51505 NOROTAT INDEX AXISCTR
062307,000615: 17,3000 33105 CA INDEXES
062308,000616: 17,3001 00004 INHINT
062309,000617: 17,3002 50000 INDEX A
062310,000618: 17,3003 05753 TC WRITEP -1
062311,000619:
062312,000620: 17,3004 00003 RELINT
062313,000621: 17,3005 11505 LOOPER CCS AXISCTR
062314,000622: 17,3006 01477 TC RETJADR
062315,000623: 17,3007 13236 TCF CLOSEOUT
062316,000624: 17,3010 41737 DOSKIP CS ABSTJ
062317,000625: 17,3011 63107 AD +TJMINT6 # 14MS
062318,000626: 17,3012 00006 EXTEND
062319,000627: 17,3013 63032 BZMF NOTMIN
062320,000628:
062321,000629: 17,3014 27737 ADS ABSTJ
062322,000630: 17,3015 51505 INDEX AXISCTR
062323,000631: 17,3016 11525 CCS TJU
062324,000632: 17,3017 33107 CA +TJMINT6
062325,000633: 17,3020 13022 TCF +2
062326,000634: 17,3021 43107 CS +TJMINT6
062327,000635: 17,3022 51505 INDEX AXISCTR
062328,000636: 17,3023 55525 TS TJU
062329,000637:
062330,000638: 17,3024 11500 CCS SENSETYP # ENSURE MIN-IMPULSE NOT AGAINST TRANS
062331,000639: 17,3025 13031 TCF NOTMIN -1
062332,000640: 17,3026 00006 EXTEND
062333,000641: 17,3027 00004 READ LOSCALAR
062334,000642: 17,3030 74753 MASK ONE
062335,000643: 17,3031 55743 TS NUMBERT
062336,000644:
062337,000645: 17,3032 03173 NOTMIN TC SELCTSUB
062338,000646:
062339,000647: 17,3033 51505 INDEX AXISCTR
062340,000648: 17,3034 33105 CA INDEXES
062341,000649: 17,3035 00004 INHINT
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Page 1455 |
062343,000651: 17,3036 55471 TS T6FURTHA +1
062344,000652: 17,3037 31741 CA POLYTEMP
062345,000653: 17,3040 51471 INDEX T6FURTHA +1
062346,000654: 17,3041 05754 TC WRITEP
062347,000655:
062348,000656: 17,3042 31737 CA ABSTJ
062349,000657: 17,3043 55470 TS T6FURTHA
062350,000658: 17,3044 03114 TC JTLST # IN QR BANK BY NOW
062351,000659:
062352,000660: 17,3045 00003 RELINT
062353,000661:
062354,000662: 17,3046 34755 CA ZERO
062355,000663: 17,3047 51505 INDEX AXISCTR
062356,000664: 17,3050 55535 TS SKIPU
062357,000665:
062358,000666: 17,3051 46245 FEEDBACK CS THREE
062359,000667: 17,3052 61743 AD NUMBERT
062360,000668: 17,3053 00006 EXTEND
062361,000669: 17,3054 63057 BZMF +3
062362,000670:
062363,000671: 17,3055 34752 CA TWO
062364,000672: 17,3056 13060 TCF +2
062365,000673: 17,3057 34753 CA ONE
062366,000674: 17,3060 51505 INDEX AXISCTR
062367,000675: 17,3061 55522 TS NO.UJETS
062368,000676: 17,3062 13005 TCF LOOPER
062369,000677:
062370,000678: 17,3063 34755 XTRANS CA ZERO
062371,000679: 17,3064 55525 TS TJU
062372,000680: 17,3065 55526 TS TJV
062373,000681: 17,3066 34751 CA FOUR
062374,000682: 17,3067 00004 INHINT
062375,000683: 17,3070 57535 XCH SKIPU
062376,000684: 17,3071 00006 EXTEND
062377,000685: 17,3072 13074 BZF +2
062378,000686: 17,3073 05757 TC WRITEU -1
062379,000687: 17,3074 34751 CA FOUR
062380,000688: 17,3075 57536 XCH SKIPV
062381,000689: 17,3076 00003 RELINT
062382,000690:
062383,000691: 17,3077 00006 EXTEND
062384,000692: 17,3100 13236 BZF CLOSEOUT
062385,000693: 17,3101 00004 INHINT
062386,000694: 17,3102 05770 TC WRITEV -1
062387,000695: 17,3103 00003 RELINT
062388,000696:
062389,000697: 17,3104 13236 TCF CLOSEOUT
062390,000698: 17,3105 00004 INDEXES DEC 4 B-14
062391,000699: 17,3106 00015 DEC 13 B-14
062392,000700: 17,3107 00026 +TJMINT6 DEC 22 B-14
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Page 1456 |
062394,000702: 17,3110 77417 -150MS DEC -240 B-14
062395,000703: 17,3111 00600 BIT8,9 OCT 00600
062396,000704: 17,3112 00266 SCLNORM OCT 266
062397,000705: 17,3113 02671 TJLAWADR GENADR TJLAW +3 # RETURN ADDRESS FOR RCS ATTITUDE CONTROL
062398,000706:
062399,000707: # THE JET LIST:
062400,000708: # THIS IS A WAITLIST FOR T6RUPTS.
062401,000709:
062402,000710: # CALLED BY:
062403,000711: # CA TJ # TIME WHEN NEXT JETS WILL BE WRITTEN
062404,000712: # TS T6FURTHA
062405,000713: # CA INDEX # AXIS TO BE WRITTEN AT TJ (FROM NOW)
062406,000714: # TS T6FURTHA +1
062407,000715: # TC JTLST
062408,000716:
062409,000717: # EXAMPLE -- U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
062410,000718: # JETS INTO CHANNEL 5. IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
062411,000719: # 150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
062412,000720: # CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
062413,000721: # OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
062414,000722:
062415,000723: # THE LIST IS EXACTLY 3 LONG. (THIS LEADS UP TO SKIP LOGIC AND 150MS LIMIT)
062416,000724: # THE INPUT IS THE LAST MEMBER OF THE LIST.
062417,000725:
062418,000726: # RETURNS BY:
062419,000727: # + TC Q
062420,000728:
062421,000729: # DEFINITIONS: (OUTPUT)
062422,000730: # TIME6 TIME OF NEXT RUPT
062423,000731: # T6NEXT DELTA TIME TO NEXT RUPT
062424,000732: # T6FURTHA DELTA TIME FROM 2ND TO LAST RUPT
062425,000733: # NXT6ADR AXIS INDEX 0 -- P-AXIS
062426,000734: # T6NEXT +1 AXIS INDEX 4 -- U-AXIS
062427,000735: # T6FURTHA +1 AXIS INDEX 13 -- V-AXIS
062428,000736:
062429,000737: 17,3114 41470 JTLST CS T6FURTHA
062430,000738: 17,3115 60031 AD TIME6
062431,000739: 17,3116 00006 EXTEND
062432,000740: 17,3117 63131 BZMF MIDORLST # TIME6 -- TI IS IN A
062433,000741:
062434,000742: 17,3120 23465 LXCH NXT6ADR
062435,000743: 17,3121 53467 DXCH T6NEXT
062436,000744: 17,3122 53471 DXCH T6FURTHA
062437,000745: 17,3123 54031 TS TIME6
062438,000746: 17,3124 23465 LXCH NXT6ADR
062439,000747:
062440,000748: 17,3125 34735 TURNON CA BIT15
062441,000749: 17,3126 00006 EXTEND
062442,000750: 17,3127 05013 WOR CHAN13
062443,000751: 17,3130 00002 TC Q
062444,000752:
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Page 1457 |
062446,000754: 17,3131 61466 MIDORLST AD T6NEXT
062447,000755: 17,3132 00006 EXTEND
062448,000756: 17,3133 63142 BZMF LASTCHG # TIME6 + T6NEXT - T IS IN A
062449,000757:
062450,000758: 17,3134 23467 LXCH T6NEXT +1
062451,000759: 17,3135 53471 DXCH T6FURTHA
062452,000760: 17,3136 00006 EXTEND
062453,000761: 17,3137 60031 SU TIME6
062454,000762: 17,3140 53467 DXCH T6NEXT
062455,000763:
062456,000764: 17,3141 00002 TC Q
062457,000765:
062458,000766: 17,3142 40000 LASTCHG CS A
062459,000767: 17,3143 64754 AD NEG0
062460,000768: 17,3144 55470 TS T6FURTHA
062461,000769:
062462,000770: 17,3145 00002 TC Q
062463,000771:
062464,000772: # ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
062465,000773: # ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM. IN THE U-V SYSTEM NO CROSS-COUPLING IS
062466,000774: # PRODUCED FROM RCS JET FIRINGS. AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
062467,000775: # A AND THE V-COMPONENT IS IN L.
062468,000776:
062469,000777: 17,3146 23740 ROT-TOUV LXCH ROTEMP2 # (R) IS PUT INTO ROTEMP2
062470,000778: 17,3147 00006 EXTEND
062471,000779: 17,3150 71627 MP COEFFQ
062472,000780: 17,3151 57740 XCH ROTEMP2 # (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
062473,000781: 17,3152 00006 EXTEND
062474,000782: 17,3153 71630 MP COEFFR
062475,000783: 17,3154 54001 TS L # COEFFR.(R) IS PUT INTO L
062476,000784: 17,3155 61740 AD ROTEMP2
062477,000785: 17,3156 55737 TS ROTEMP1 # COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
062478,000786: 17,3157 13163 TCF +4
062479,000787: 17,3160 50000 INDEX A # COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
062480,000788: 17,3161 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
062481,000789: 17,3162 55737 TS ROTEMP1
062482,000790: 17,3163 41740 CS ROTEMP2
062483,000791: 17,3164 60001 AD L # -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
062484,000792: 17,3165 54007 TS 7
062485,000793: 17,3166 13171 TCF +3
062486,000794: 17,3167 50000 INDEX A # -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
062487,000795: 17,3170 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
062488,000796: 17,3171 23737 LXCH ROTEMP1 # COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
062489,000797: 17,3172 00002 TC Q
062490,000798: 17,3173 51744 SELCTSUB INDEX ROTINDEX
062491,000799: 17,3174 33225 CA ALLJETS
062492,000800: 17,3175 51743 INDEX NUMBERT
062493,000801: 17,3176 73231 MASK TYPEPOLY
062494,000802: 17,3177 55741 TS POLYTEMP
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Page 1458 |
062496,000804: 17,3200 71262 MASK CH5MASK
062497,000805: 17,3201 10000 CCS A
062498,000806: 17,3202 13204 TCF +2
062499,000807:
062500,000808: 17,3203 00002 TC Q
062501,000809:
062502,000810: 17,3204 36245 CA THREE
062503,000811: 17,3205 55743 FAILOOP TS NUMBERT
062504,000812: 17,3206 51744 INDEX ROTINDEX
062505,000813: 17,3207 33225 CA ALLJETS
062506,000814: 17,3210 51743 INDEX NUMBERT
062507,000815: 17,3211 73231 MASK TYPEPOLY
062508,000816: 17,3212 55741 TS POLYTEMP
062509,000817: 17,3213 71262 MASK CH5MASK
062510,000818: 17,3214 00006 EXTEND
062511,000819: 17,3215 13203 BZF FAILOOP -2
062512,000820: 17,3216 11743 CCS NUMBERT
062513,000821: 17,3217 13205 TCF FAILOOP
062514,000822: 17,3220 51505 INDEX AXISCTR
062515,000823: 17,3221 55525 TS TJU
062516,000824: 17,3222 05567 TC ALARM
062517,000825: 17,3223 02004 OCT 02004
062518,000826: 17,3224 12777 TCF NOROTAT
062519,000827: 17,3225 00110 ALLJETS OCT 00110 # -U 6 13
062520,000828: 17,3226 00022 OCT 00022 # -V 2 9
062521,000829: 17,3227 00204 OCT 00204 # +U 5 14
062522,000830: 17,3230 00041 OCT 00041 # +V 1 10
062523,000831: 17,3231 00125 TYPEPOLY OCT 00125 # -X 1 5 9 13
062524,000832: 17,3232 00252 OCT 00252 # +X 2 6 10 14
062525,000833: 17,3233 00146 OCT 00146 # A 2 5 10 13
062526,000834: 17,3234 00231 OCT 00231 # B 1 6 9 14
062527,000835: 17,3235 00377 OCT 00377 # ALL 1 2 5 6 9 10 13 14
062528,000836:
062529,000837: # THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
062530,000838:
062531,000839: 17,3236 33240 CLOSEOUT CA ADRRUPT
062532,000840: 17,3237 07754 TC MAKERUPT
062533,000841:
062534,000842: 17,3240 03241 ADRRUPT ADRES ENDJASK
062535,000843:
062536,000844: 17,3241 53754 ENDJASK DXCH DAPARUPT
062537,000845: 17,3242 52011 DXCH ARUPT
062538,000846: 17,3243 53756 DXCH DAPBQRPT
062539,000847: 17,3244 56017 XCH BRUPT
062540,000848: 17,3245 22002 LXCH Q
062541,000849: 17,3246 34735 CAF NEGMAX # NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
062542,000850: 17,3247 53760 DXCH DAPZRUPT
062543,000851: 17,3250 52016 DXCH ZRUPT
062544,000852: 17,3251 15272 TCF NOQRSM
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Page 1459 |
062546,000854: 7754 BLOCK 3
062547,000855: 6000 SETLOC FFTAG6
062548,000856: 6000 BANK
062549,000857:
062550,000858: 7754 COUNT* $$/DAP
062551,000859:
062552,000860: 7754 00006 MAKERUPT EXTEND
062553,000861: 7755 07754 EDRUPT MAKERUPT
062554,000862:
End of include-file Q_R-AXIS_RCS_AUTOPILOT.agc. Parent file is MAIN.agc