Source Code
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These source-code files derive from a printout of Luminary 116 (the Apollo 12
Lunar Module guidance computer program), from the personal library of
original AGC developer Don Eyles, digitally photographed at archive.org,
financially sponsored by Ron Burkey, and transcribed to source code by a
team of volunteers. This colorized, syntax-highlighted form was created
by assembling that transcribed source code. Note that the full page images
are available on the
Virtual AGC project page at archive.org, while reduced-size images
are presented at the VirtualAGC project website. Report or fix any
transcription errors at
the Virtual AGC project code repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071 19:09 AUG. 11,1969Note that the date is the date of the printout, not the date of the program revision. |
061077,000002: ## Copyright: Public domain.
061078,000003: ## Filename: Q,R-AXES_RCS_AUTOPILOT.agc
061079,000004: ## Purpose: A section of Luminary revision 116.
061080,000005: ## It is part of the source code for the Lunar Module's (LM)
061081,000006: ## Apollo Guidance Computer (AGC) for Apollo 12.
061082,000007: ## This file is intended to be a faithful transcription, except
061083,000008: ## that the code format has been changed to conform to the
061084,000009: ## requirements of the yaYUL assembler rather than the
061085,000010: ## original YUL assembler.
061086,000011: ## Reference: pp. 1432-1449
061087,000012: ## Assembler: yaYUL
061088,000013: ## Contact: Ron Burkey <info@sandroid.org>.
061089,000014: ## Website: www.ibiblio.org/apollo/index.html
061090,000015: ## Mod history: 2017-01-22 MAS Created from Luminary 99.
061091,000016: ## 2017-01-31 RRB Updated for Luminary 116.
061092,000017: ## 2017-03-14 RSB Proofed comment text via 3-way diff vs
061093,000018: ## Luminary 99 and 131 ... no problems found.
061094,000019: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
061095,000020: ## side-by-side diff of Luminary 69/99/116/131/210.
061096,000021:
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Page 1432 |
061098,000023: 17,2124 BANK 17
061099,000024: 17,2000 SETLOC DAPS2
061100,000025: 17,2000 BANK
061101,000026:
061102,000027: 17,2124 E6,1635 EBANK= CDUXD
061103,000028:
061104,000029: 17,2124 COUNT* $$/DAPQR
061105,000030:
061106,000031: 17,2124 34737 CALLQERR CA BIT13 # CALCULATE Q,R ERRORS UNLESS THESE AXES
061107,000032: 17,2125 00006 EXTEND # ARE IN MANUAL RATE COMMAND.
061108,000033: 17,2126 02031 RAND CHAN31
061109,000034: 17,2127 10000 CCS A
061110,000035: 17,2130 12135 TCF +5 # IN AUTO COMPUTE Q,R ERRORS
061111,000036: 17,2131 40111 CS DAPBOOLS # IN MANUAL RATE COMMAND?
061112,000037: 17,2132 74740 MASK OURRCBIT
061113,000038: 17,2133 00006 EXTEND
061114,000039: 17,2134 12136 BZF Q,RORGTS # IF SO BYPASS CALCULATION OF ERRORS.
061115,000040: 17,2135 02655 TC QERRCALC
061116,000041:
061117,000042: 17,2136 11631 Q,RORGTS CCS COTROLER # CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
061118,000043: 17,2137 12636 TCF GOTOGTS # GTS (ALTERNATES WITH RCS WHEN DOCKED)
061119,000044: 17,2140 12623 TCF TRYGTS # GTS IF ALLOWED, OTHERWISE RCS
061120,000045: 17,2141 34755 RCS CAF ZERO # RCS (TRYGTS MAY BRANCH TO HERE)
061121,000046: 17,2142 55631 TS COTROLER
061122,000047:
061123,000048: 17,2143 53437 DXCH EDOTQ
061124,000049: 17,2144 03200 TC ROT-TOUV
061125,000050: 17,2145 53427 DXCH OMEGAU
061126,000051:
061127,000052: # X - TRANSLATION:
061128,000053:
061129,000054: # INPUT: BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
061130,000055: # ULLAGER
061131,000056: # APSFLAG, DRIFTBIT
061132,000057: # ACC40R2X, ACRBTRAN
061133,000058:
061134,000059: # OUTPUT: NEXTU, NEXTV CODES OF TRANSLATION FOR AFTER ROTATION
061135,000060: # SENSETYP TELL ROTATION DIRECTION AND DESIRE
061136,000061:
061137,000062: # X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR. IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED. A FAILURE
061138,000063: # WILL OVERRIDE THIS SPECIFICATION. AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
061139,000064:
061140,000065: 17,2146 34745 SENSEGET CA BIT7 # INPUT BITS OVERRIDE THE INTERNAL BITS
061141,000066: 17,2147 00006 EXTEND # SENSETYP WILL NOT OPPOSE ANYTRANS
061142,000067: 17,2150 02031 RAND CHAN31
061143,000068: 17,2151 00006 EXTEND
061144,000069: 17,2152 12200 BZF +X0RULGE
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Page 1433 |
061146,000071: 17,2153 34744 CA BIT8
061147,000072: 17,2154 00006 EXTEND
061148,000073: 17,2155 02031 RAND CHAN31
061149,000074: 17,2156 00006 EXTEND
061150,000075: 17,2157 12201 BZF -XTRANS
061151,000076:
061152,000077: 17,2160 34746 CA ULLAGER
061153,000078: 17,2161 70111 MASK DAPBOOLS
061154,000079: 17,2162 10000 CCS A
061155,000080: 17,2163 12200 TCF +X0RULGE
061156,000081:
061157,000082: 17,2164 55473 TS NEXTU # STORE NULL TRANSLATION POLICIES
061158,000083: 17,2165 55474 TS NEXTV
061159,000084: 17,2166 40111 CS DAPBOOLS # BURNING OR DRIFTING?
061160,000085: 17,2167 74744 MASK DRIFTBIT
061161,000086: 17,2170 00006 EXTEND
061162,000087: 17,2171 12176 BZF TSENSE
061163,000088: 17,2172 30106 CA FLGWRD10 # DPS (INCLUDING DOCKED) OR APS?
061164,000089: 17,2173 74737 MASK APSFLBIT
061165,000090: 17,2174 10000 CCS A
061166,000091: 17,2175 34752 CAF TWO # FAVOR +X JETS DURING AN APS BURN.
061167,000092: 17,2176 55500 TSENSE TS SENSETYP
061168,000093: 17,2177 12232 TCF QRCONTRL
061169,000094:
061170,000095: 17,2200 34753 +X0RULGE CAF ONE
061171,000096: 17,2201 64751 -XTRANS AD FOUR
061172,000097: 17,2202 55744 TS ROTINDEX
061173,000098: 17,2203 67750 AD NEG3
061174,000099: 17,2204 55500 TS SENSETYP # FAVOR APPROPRIATE JETS DURING TRANS.
061175,000100: 17,2205 30111 CA DAPBOOLS
061176,000101: 17,2206 74741 MASK ACC4OR2X
061177,000102: 17,2207 10000 CCS A
061178,000103: 17,2210 12352 TCF TRANS4
061179,000104:
061180,000105: 17,2211 30111 CA DAPBOOLS
061181,000106: 17,2212 74742 MASK AORBTRAN
061182,000107: 17,2213 10000 CCS A
061183,000108: 17,2214 34753 CA ONE # THREE FOR B
061184,000109: 17,2215 64752 AD TWO # TWO FOR A SYSTEM 2 JET X TRANS
061185,000110: 17,2216 55743 TSNUMBRT TS NUMBERT
061186,000111:
061187,000112: 17,2217 03225 TC SELCTSUB
061188,000113:
061189,000114: 17,2220 11741 CCS POLYTEMP
061190,000115: 17,2221 12224 TCF +3
061191,000116: 17,2222 05567 TC ALARM
061192,000117: 17,2223 02002 OCT 02002
061193,000118: 17,2224 35764 CA 00314OCT
061194,000119: 17,2225 71741 MASK POLYTEMP
061195,000120: 17,2226 55473 TSNEXTS TS NEXTU
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Page 1434 |
061197,000122: 17,2227 45764 CS 00314OCT
061198,000123: 17,2230 71741 MASK POLYTEMP
061199,000124: 17,2231 55474 TS NEXTV
061200,000125:
061201,000126: # Q,R-AXES RCS CONTROL MODE SELECTION
061202,000127:
061203,000128: # SWITCHES INDICATION WHEN SET
061204,000129:
061205,000130: # BIT13/CHAN31 AUTO, GO TO ATTSTEER
061206,000131: # PULSES MINIMUM IMPULSE MODE
061207,000132: # (OTHERWISE) RATE COMMAND/ATTITUDE HOLD MODE
061208,000133:
061209,000134: 17,2232 34737 QRCONTRL CA BIT13 # CHECK MODE SELECT SWITCH.
061210,000135: 17,2233 00006 EXTEND
061211,000136: 17,2234 02031 RAND CHAN31 # BITS INVERTED
061212,000137: 17,2235 10000 CCS A
061213,000138: 17,2236 12710 TCF ATTSTEER
061214,000139: 17,2237 34735 CHKBIT10 CAF PULSES # PULSES = 1 FOR MIN IMP USE OF RHC
061215,000140: 17,2240 70111 MASK DAPBOOLS
061216,000141: 17,2241 00006 EXTEND
061217,000142: 17,2242 12354 BZF CHEKSTIK # IN ATT-HOLD/RATE-COMMAND IF BIT10=0
061218,000143:
061219,000144: # MINIMUM IMPULSE MODE
061220,000145:
061221,000146: 17,2243 00004 INHINT
061222,000147: 17,2244 04674 TC IBNKCALL
061223,000148: 17,2245 40154 CADR ZATTEROR
061224,000149: 17,2246 34755 CA ZERO
061225,000150: 17,2247 55450 TS QERROR
061226,000151: 17,2250 55452 TS RERROR # FOR DISPLAYS
061227,000152: 17,2251 00003 RELINT
061228,000153:
061229,000154: 17,2252 00006 EXTEND
061230,000155: 17,2253 00031 READ CHAN31
061231,000156: 17,2254 55737 TS TEMP31 # IS EQUAL TO DAPTEMP1
061232,000157: 17,2255 11461 CCS OLDQRMIN
061233,000158: 17,2256 12300 TCF CHECKIN
061234,000159:
061235,000160: 17,2257 31737 FIREQR CA TEMP31
061236,000161: 17,2260 74753 MASK BIT1
061237,000162: 17,2261 00006 EXTEND
061238,000163: 17,2262 12304 BZF +QMIN
061239,000164:
061240,000165: 17,2263 31737 CA TEMP31
061241,000166: 17,2264 74752 MASK BIT2
061242,000167: 17,2265 00006 EXTEND
061243,000168: 17,2266 12310 BZF -QMIN
061244,000169:
061245,000170: 17,2267 31737 CA TEMP31
061246,000171: 17,2270 74747 MASK BIT5
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Page 1435 |
061248,000173: 17,2271 00006 EXTEND
061249,000174: 17,2272 12314 BZF +RMIN
061250,000175:
061251,000176: 17,2273 31737 CA TEMP31
061252,000177: 17,2274 74746 MASK BIT6
061253,000178: 17,2275 00006 EXTEND
061254,000179: 17,2276 12316 BZF -RMIN
061255,000180:
061256,000181: 17,2277 13112 TCF XTRANS
061257,000182:
061258,000183: 17,2300 41737 CHECKIN CS TEMP31
061259,000184: 17,2301 72351 MASK OCT63
061260,000185: 17,2302 55461 TS OLDQRMIN
061261,000186: 17,2303 13112 TCF XTRANS
061262,000187:
061263,000188: 17,2304 33136 +QMIN CA 14MS
061264,000189: 17,2305 55525 TS TJU
061265,000190: 17,2306 43136 CS 14MS
061266,000191: 17,2307 12320 TCF MINQR
061267,000192: 17,2310 43136 -QMIN CS 14MS
061268,000193: 17,2311 55525 TS TJU
061269,000194: 17,2312 33136 CA 14MS
061270,000195: 17,2313 12320 TCF MINQR
061271,000196: 17,2314 33136 +RMIN CA 14MS
061272,000197: 17,2315 12317 TCF +2
061273,000198: 17,2316 43136 -RMIN CS 14MS
061274,000199: 17,2317 55525 TS TJU
061275,000200: 17,2320 55526 MINQR TS TJV
061276,000201: 17,2321 32350 CA MINADR
061277,000202: 17,2322 55477 TS RETJADR
061278,000203: 17,2323 34753 CA ONE
061279,000204: 17,2324 55461 TS OLDQRMIN
061280,000205: 17,2325 55505 MINRTN TS AXISCTR
061281,000206: 17,2326 30111 CA DAPBOOLS
061282,000207: 17,2327 74737 MASK CSMDOCKD
061283,000208: 17,2330 00006 EXTEND
061284,000209: 17,2331 12341 BZF MIMRET
061285,000210: 17,2332 51505 INDEX AXISCTR # IF DOCKED,USE 60MS MINIMUM IMPULSE
061286,000211: 17,2333 11525 CCS TJU
061287,000212: 17,2334 34776 CA 60MS
061288,000213: 17,2335 12337 TCF +2
061289,000214: 17,2336 44776 CS 60MS
061290,000215: 17,2337 51505 INDEX AXISCTR
061291,000216: 17,2340 55525 TS TJU
061292,000217: 17,2341 30111 MIMRET CA DAPBOOLS
061293,000218: 17,2342 74742 MASK AORBTRAN
061294,000219: 17,2343 10000 CCS A
061295,000220: 17,2344 34753 CA ONE
061296,000221: 17,2345 64752 AD TWO
061297,000222: 17,2346 55743 TS NUMBERT
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Page 1436 |
061299,000224: 17,2347 12756 TCF AFTERTJ
061300,000225:
061301,000226: 17,2350 4776 60MS = OCT140
061302,000227: 17,2350 02325 MINADR GENADR MINRTN
061303,000228: 17,2351 00063 OCT63 OCT 63
061304,000229: 17,2352 17,3136 14MS = +TJMINT6
061305,000230:
061306,000231: 17,2352 34751 TRANS4 CA FOUR
061307,000232: 17,2353 12216 TCF TSNUMBRT
061308,000233:
061309,000234: # RATE COMMAND MODE:
061310,000235:
061311,000236: # DESCRIPTION (SAME AS P-AXIS)
061312,000237:
061313,000238: 17,2354 55633 CHEKSTIK TS INGTS # NOT IN GTS WHEN IN ATT HOLD
061314,000239: 17,2355 44753 CS ONE # 1/ACCS WILL DO THE NULLING DRIVES
061315,000240: 17,2356 55631 TS COTROLER # COME BACK TO RCS NEXT TIME
061316,000241: 17,2357 34735 CA BIT15
061317,000242: 17,2360 71443 MASK CH31TEMP
061318,000243: 17,2361 00006 EXTEND
061319,000244: 17,2362 12377 BZF RHCACTIV # BRANCH IF OUT OF DETENT.
061320,000245: 17,2363 34740 CA OURRCBIT # ***********
061321,000246: 17,2364 70111 MASK DAPBOOLS # *IN DETENT* CHECK FOR MANUAL CONTROL
061322,000247: 17,2365 00006 EXTEND # *********** LAST TIME.
061323,000248: 17,2366 12710 BZF STILLRCS
061324,000249: 17,2367 44743 CS BIT9
061325,000250: 17,2370 71262 MASK RCSFLAGS
061326,000251: 17,2371 55262 TS RCSFLAGS # BIT 9 IS 0.
061327,000252: 17,2372 12374 TCF DAMPING
061328,000253: 17,2373 4771 40CYCL = OCT50
061329,000254: 17,2373 4753 1/10S = BIT1
061330,000255: 17,2373 00056 LINRAT DEC 46 B-14
061331,000256:
061332,000257: # ================================
061333,000258:
061334,000259: 17,2374 34755 DAMPING CA ZERO
061335,000260: 17,2375 55462 TS SAVEHAND
061336,000261: 17,2376 55463 TS SAVEHAND +1
061337,000262: 17,2377 11462 RHCACTIV CCS SAVEHAND # *******************
061338,000263: 17,2400 12403 TCF +3 # Q,R MANUAL CONTROL WC = A*(B+|D|)*D
061339,000264: 17,2401 12403 TCF +2 # *******************
061340,000265: 17,2402 12403 TCF +1
061341,000266: 17,2403 60000 DOUBLE # WHERE
061342,000267: 17,2404 60000 DOUBLE
061343,000268: 17,2405 62373 AD LINRAT # WC = COMMANDED ROTATIONAL RATE
061344,000269: 17,2406 00006 EXTEND # A = QUADRATIC SENSITIVITY FACTOR
061345,000270: 17,2407 71462 MP SAVEHAND # B = LINEAR/QUADRATIC SENSITIVITY
061346,000271: 17,2410 30001 CA L # |D| = ABS. VALUE OF DEFLECTION
061347,000272: 17,2411 00006 EXTEND # D = HAND CONTROLLER DEFLECTION
061348,000273: 17,2412 71444 MP STIKSENS
061349,000274: 17,2413 57455 XCH QLAST # COMMAND Q RATE SCALED 45 DEG/SEC
061350,000275: 17,2414 40000 COM
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Page 1437 |
061352,000277: 17,2415 61455 AD QLAST
061353,000278: 17,2416 55741 TS DAPTEMP3
061354,000279: 17,2417 11463 CCS SAVEHAND +1
061355,000280: 17,2420 12423 TCF +3
061356,000281: 17,2421 12423 TCF +2
061357,000282: 17,2422 12423 TCF +1
061358,000283: 17,2423 60000 DOUBLE
061359,000284: 17,2424 60000 DOUBLE
061360,000285: 17,2425 62373 AD LINRAT
061361,000286: 17,2426 00006 EXTEND
061362,000287: 17,2427 71463 MP SAVEHAND +1
061363,000288: 17,2430 30001 CA L
061364,000289: 17,2431 00006 EXTEND
061365,000290: 17,2432 71444 MP STIKSENS
061366,000291: 17,2433 57456 XCH RLAST
061367,000292: 17,2434 40000 COM
061368,000293: 17,2435 61456 AD RLAST
061369,000294: 17,2436 55742 TS DAPTEMP4
061370,000295: 17,2437 41455 CS QLAST # INTERVAL.
061371,000296: 17,2440 61422 AD OMEGAQ
061372,000297: 17,2441 55436 TS QRATEDIF
061373,000298: 17,2442 41456 CS RLAST
061374,000299: 17,2443 61423 AD OMEGAR
061375,000300: 17,2444 55437 TS RRATEDIF
061376,000301: 17,2445 53437 ENTERQR DXCH QRATEDIF # TRANSFORM RATES FROM Q,R TO U,V AXES
061377,000302: 17,2446 03200 TC ROT-TOUV
061378,000303: 17,2447 53427 DXCH URATEDIF
061379,000304: 17,2450 11741 CCS DAPTEMP3 # CHECK IF Q COMMAND CHANGE EXCEEDS
061380,000305: 17,2451 02454 TC +3 # BREAKOUT LEVEL. IF NOT, CHECK R.
061381,000306: 17,2452 02454 TC +2
061382,000307: 17,2453 02454 TC +1
061383,000308: 17,2454 61476 AD -RATEDB
061384,000309: 17,2455 00006 EXTEND
061385,000310: 17,2456 62460 BZMF +2
061386,000311: 17,2457 12476 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
061387,000312: 17,2460 11742 CCS DAPTEMP4 # R COMMAND BREAKOUT CHECK.
061388,000313: 17,2461 02464 TC +3
061389,000314: 17,2462 02464 TC +2
061390,000315: 17,2463 02464 TC +1
061391,000316: 17,2464 61476 AD -RATEDB
061392,000317: 17,2465 00006 EXTEND
061393,000318: 17,2466 62470 BZMF +2
061394,000319: 17,2467 12476 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
061395,000320: 17,2470 31262 CA RCSFLAGS # BREAKOUT LEVEL NOT EXCEEDED. CHECK FOR
061396,000321: 17,2471 74741 MASK QRBIT # DIRECT RATE CONTROL LAST TIME.
061397,000322: 17,2472 00006 EXTEND
061398,000323: 17,2473 12475 BZF +2
061399,000324: 17,2474 12500 TCF ENTERUV # CONTINUE DIRECT RATE CONTROL.
061400,000325: 17,2475 12710 TCF STILLRCS # PSEUDO-AUTO CONTROL.
061401,000326: 17,2476 34771 CA 40CYCL
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Page 1438 |
061403,000328: 17,2477 55457 TS TCQR
061404,000329: 17,2500 00004 ENTERUV INHINT # DIRECT RATE CONTROL.
061405,000330: 17,2501 04674 TC IBNKCALL
061406,000331: 17,2502 40154 FCADR ZATTEROR
061407,000332: 17,2503 00003 RELINT
061408,000333: 17,2504 34755 CA ZERO
061409,000334: 17,2505 55450 TS DYERROR
061410,000335: 17,2506 55451 TS DYERROR +1
061411,000336: 17,2507 55452 TS DZERROR
061412,000337: 17,2510 55453 TS DZERROR +1
061413,000338: 17,2511 11426 CCS URATEDIF
061414,000339: 17,2512 12515 TCF +3
061415,000340: 17,2513 12515 TCF +2
061416,000341: 17,2514 12515 TCF +1
061417,000342: 17,2515 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
061418,000343: 17,2516 00006 EXTEND # DIRECT RATE CONTROL.
061419,000344: 17,2517 62533 BZMF VDB
061420,000345: 17,2520 11427 CCS VRATEDIF
061421,000346: 17,2521 12524 TCF +3
061422,000347: 17,2522 12524 TCF +2
061423,000348: 17,2523 12524 TCF +1
061424,000349: 17,2524 61476 AD TARGETDB
061425,000350: 17,2525 00006 EXTEND
061426,000351: 17,2526 62530 BZMF +2
061427,000352: 17,2527 12544 TCF QRTIME
061428,000353: 17,2530 34755 CA ZERO
061429,000354: 17,2531 55427 TS VRATEDIF
061430,000355: 17,2532 12544 TCF QRTIME
061431,000356: 17,2533 11427 VDB CCS VRATEDIF
061432,000357: 17,2534 02537 TC +3
061433,000358: 17,2535 02537 TC +2
061434,000359: 17,2536 02537 TC +1
061435,000360: 17,2537 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
061436,000361: 17,2540 00006 EXTEND # DIRECT RATE CONTROL. IF NOT, FIRE AND
061437,000362: 17,2541 62553 BZMF TOPSEUDO # SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
061438,000363: 17,2542 34755 CA ZERO # PASS.
061439,000364: 17,2543 55426 TS URATEDIF
061440,000365: 17,2544 31457 QRTIME CA TCQR # DIRECT RATE TIME CHECK.
061441,000366: 17,2545 00006 EXTEND
061442,000367: 17,2546 62553 BZMF +5 # BRANCH IF TIME EXCEEDS 4 SEC.
061443,000368: 17,2547 41262 CS RCSFLAGS
061444,000369: 17,2550 74741 MASK QRBIT
061445,000370: 17,2551 27262 ADS RCSFLAGS # BIT 11 IS 1.
061446,000371: 17,2552 02556 TC +4
061447,000372: 17,2553 44741 TOPSEUDO CS QRBIT
061448,000373: 17,2554 71262 MASK RCSFLAGS
061449,000374: 17,2555 55262 TS RCSFLAGS # BIT 11 IS 0.
061450,000375: 17,2556 32622 CA HANDADR
061451,000376: 17,2557 55477 TS RETJADR
061452,000377: 17,2560 34753 CA ONE
061453,000378:
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Page 1439 |
061455,000380: 17,2561 55505 BACKHAND TS AXISCTR
061456,000381:
061457,000382: 17,2562 34751 CA FOUR
061458,000383: 17,2563 55743 TS NUMBERT
061459,000384:
061460,000385: 17,2564 51505 INDEX AXISCTR
061461,000386: 17,2565 51535 INDEX SKIPU
061462,000387: 17,2566 12567 TCF +1
061463,000388: 17,2567 34751 CA FOUR
061464,000389: 17,2570 51505 INDEX AXISCTR
061465,000390: 17,2571 55535 TS SKIPU
061466,000391: 17,2572 13034 TCF LOOPER
061467,000392:
061468,000393: 17,2573 51505 INDEX AXISCTR
061469,000394: 17,2574 11426 CCS URATEDIF # INDEX AXIS QUANITY
061470,000395: 17,2575 34755 CA ZERO # 0 -U 1/JETACC-AOSU
061471,000396: 17,2576 12600 TCF +2 # 1 +U 1/JETACC+AOSU
061472,000397: 17,2577 34753 CA ONE # 16 -V 1/JETACC-AOSV
061473,000398: 17,2600 51505 INDEX AXISCTR # 17 +V 1/JETACC+AOSV
061474,000399: 17,2601 63755 AD AXISDIFF # JETACC = 2 JET ACCELERATION (1 FOR FAIL)
061475,000400:
061476,000401: 17,2602 50000 INDEX A
061477,000402: 17,2603 41571 CS 1/ANET2 +1
061478,000403: 17,2604 00006 EXTEND
061479,000404: 17,2605 51505 INDEX AXISCTR # URATEDIF IS SCALED AT PI/4 RAD/SEC
061480,000405: 17,2606 71426 MP URATEDIF # JET TIME IN A SCALED 32 SEC
061481,000406: 17,2607 54002 TS Q
061482,000407: 17,2610 20001 DAS A
061483,000408: 17,2611 60002 AD Q
061484,000409: 17,2612 54000 TS A # OVERFLOW SKIP
061485,000410: 17,2613 12615 TCF +2
061486,000411: 17,2614 30002 CA Q # RIGHT SIGN AND BIGGER THAN 150MS
061487,000412: 17,2615 51505 SETTIME INDEX AXISCTR
061488,000413: 17,2616 55525 TS TJU # SCALED AT 10.67 WHICH IS CLOSE TO 10.24
061489,000414: 17,2617 12756 TCF AFTERTJ
061490,000415:
061491,000416: 17,2620 34755 ZEROTJ CA ZERO
061492,000417: 17,2621 12615 TCF SETTIME
061493,000418:
061494,000419: 17,2622 02561 HANDADR GENADR BACKHAND
061495,000420:
061496,000421: # GTS WILL BE TRIED IF
061497,000422: # 1. USEQRJTS = 0,
061498,000423: # 2. ALLOWGTS POS,
061499,000424: # 3. JETS ARE OFF (Q,R-AXES)
061500,000425:
061501,000426: 17,2623 34736 TRYGTS CAF USEQRJTS # IS JET USE MANDATORY. (AS LONG AS
061502,000427: 17,2624 70111 MASK DAPBOOLS # USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
061503,000428: 17,2625 10000 CCS A
061504,000429: 17,2626 12141 TCF RCS
061505,000430: 17,2627 11502 CCS ALLOWGTS # NO. DOES AOSTASK OK CONTROL FOR GTS?
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Page 1440 |
061507,000432: 17,2630 12632 TCF +2
061508,000433: 17,2631 12141 TCF RCS
061509,000434: 17,2632 00006 EXTEND
061510,000435: 17,2633 00005 READ CHAN5
061511,000436: 17,2634 10000 CCS A
061512,000437: 17,2635 12641 TCF CHKINGTS
061513,000438: 17,2636 00006 GOTOGTS EXTEND
061514,000439: 17,2637 32654 DCA GTSCADR
061515,000440: 17,2640 52006 DTCB
061516,000441:
061517,000442: 17,2641 11633 CHKINGTS CCS INGTS # WAS THE TRIM GIMBAL CONTROLLING
061518,000443: 17,2642 12644 TCF +2 # YES. SET UP A DAMPED NULLING DRIVE.
061519,000444: 17,2643 12141 TCF RCS # NO. NULLING WAS SET UP BEFORE. DO RCS
061520,000445: 17,2644 00004 INHINT
061521,000446: 17,2645 04674 TC IBNKCALL
061522,000447: 17,2646 43321 CADR TIMEGMBL
061523,000448: 17,2647 00003 RELINT
061524,000449: 17,2650 34755 CAF ZERO
061525,000450: 17,2651 55633 TS INGTS
061526,000451: 17,2652 12141 TCF RCS
061527,000452:
061528,000453: 17,2653 E6,1635 EBANK= CDUXD
061529,000454: 17,2653 03070 42106 GTSCADR 2CADR GTS
061530,000455:
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Page 1441 |
061532,000457: # SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
061533,000458:
061534,000459: 17,2655 30033 QERRCALC CAE CDUY # Q-ERROR CALCULATION
061535,000460: 17,2656 00006 EXTEND
061536,000461: 17,2657 21636 MSU CDUYD # CDU ANGLE - ANGLE DESIRED (Y-AXIS)
061537,000462: 17,2660 55737 TS DAPTEMP1 # SAVE FOR RERRCALC
061538,000463: 17,2661 00006 EXTEND
061539,000464: 17,2662 71415 MP M21 # (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
061540,000465: 17,2663 55752 TS E
061541,000466: 17,2664 30034 CAE CDUZ # SECOND TERM CALCULATION:
061542,000467: 17,2665 00006 EXTEND
061543,000468: 17,2666 21637 MSU CDUZD # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
061544,000469: 17,2667 55740 TS DAPTEMP2 # SAVE FOR RERRCALC
061545,000470: 17,2670 00006 EXTEND
061546,000471: 17,2671 71417 MP M22 # (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
061547,000472: 17,2672 61275 AD DELQEROR # KALCMANU INERFACE ERROR
061548,000473: 17,2673 61752 AD E
061549,000474: 17,2674 57450 XCH QERROR # SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
061550,000475:
061551,000476: 17,2675 31737 RERRCALC CAE DAPTEMP1 # R-ERROR CALCULATION:
061552,000477: 17,2676 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Y-AXIS)
061553,000478: 17,2677 71416 MP M31 # (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
061554,000479: 17,2700 55752 TS E
061555,000480: 17,2701 31740 CAE DAPTEMP2 # SECOND TERM CALCULATION:
061556,000481: 17,2702 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
061557,000482: 17,2703 71420 MP M32 # (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
061558,000483: 17,2704 61276 AD DELREROR # KALCMANU INERFACE ERROR
061559,000484: 17,2705 61752 AD E
061560,000485: 17,2706 57452 XCH RERROR # SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
061561,000486: 17,2707 00002 TC Q
061562,000487:
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Page 1442 |
061564,000489: # "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
061565,000490:
061566,000491: 17,2710 17,2710 ATTSTEER EQUALS STILLRCS # "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
061567,000492:
061568,000493: 17,2710 31452 STILLRCS CA RERROR
061569,000494: 17,2711 22000 LXCH A
061570,000495: 17,2712 31450 CA QERROR
061571,000496: 17,2713 03200 TC ROT-TOUV
061572,000497: 17,2714 53752 DXCH UERROR
061573,000498:
061574,000499: # PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
061575,000500: # PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
061576,000501:
061577,000502: 17,2715 33142 TJLAW CA TJLAWADR
061578,000503: 17,2716 55477 TS RETJADR
061579,000504: 17,2717 34753 CA ONE
061580,000505: 17,2720 55505 TS AXISCTR
061581,000506: 17,2721 51505 INDEX AXISCTR
061582,000507: 17,2722 51535 INDEX SKIPU
061583,000508: 17,2723 12724 TCF +1
061584,000509: 17,2724 34751 CA FOUR
061585,000510: 17,2725 51505 INDEX AXISCTR
061586,000511: 17,2726 55535 TS SKIPU
061587,000512: 17,2727 13034 TCF LOOPER
061588,000513: 17,2730 51505 INDEX AXISCTR
061589,000514: 17,2731 31751 CA UERROR
061590,000515: 17,2732 55752 TS E
061591,000516: 17,2733 51505 INDEX AXISCTR
061592,000517: 17,2734 31426 CA OMEGAU
061593,000518: 17,2735 55427 TS EDOT
061594,000519: 17,2736 30111 CA DAPBOOLS
061595,000520: 17,2737 74737 MASK CSMDOCKD
061596,000521: 17,2740 10000 CCS A
061597,000522: 17,2741 12744 TCF +3
061598,000523: 17,2742 03304 TC TJETLAW
061599,000524: 17,2743 12756 TCF AFTERTJ
061600,000525: 17,2744 40111 +3 CS DAPBOOLS # DOCKED. IF GIMBAL USABLE DO GTS CONTROL
061601,000526: 17,2745 74736 MASK USEQRJTS # ON THE NEXT PASS.
061602,000527: 17,2746 10000 CCS A # USEQRJTS BIT MUST NOT BE BIT 15.
061603,000528: 17,2747 55631 TS COTROLER # GIMBAL USABLE. STORE POSITIVE VALUE.
061604,000529: 17,2750 00004 INHINT
061605,000530: 17,2751 04674 TC IBNKCALL
061606,000531: 17,2752 43730 CADR SPSRCS # DETERMINE RCS CONTROL
061607,000532: 17,2753 00003 RELINT
061608,000533: 17,2754 34751 CAF FOUR # ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
061609,000534: 17,2755 55743 TS NUMBERT # FALL THROUGH TO JET SELECTION, ETC.
061610,000535:
061611,000536: # Q,R-JET-SELECTION-LOGIC
061612,000537:
061613,000538: # INPUT: AXISCTR 0,1 FOR U,V
061614,000539: # SNUFFBIT ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN
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Page 1443 |
061616,000541: # TJU,TJV JET TIME SCALED 10.24 SEC.
061617,000542: # NUMBERT INDICATES NUMBER OF JETS AND TYPE OF POLICY
061618,000543: # RETJADR WHERE TO RETURN TO
061619,000544:
061620,000545: # OUTPUT: NO.U(V)JETS RATE DERIVATION FEEDBACK
061621,000546: # CHANNEL 5
061622,000547: # SKIPU,SKIPV FOR LESS THAN 150MS FIRING
061623,000548:
061624,000549: # NOTES: IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED
061625,000550: # JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY
061626,000551: # TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT
061627,000552: # IF NONE CAN BE FOUND.
061628,000553:
061629,000554: # TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
061630,000555: # MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
061631,000556:
061632,000557: 17,2756 30101 AFTERTJ CA FLAGWRD5 # IF SNUFFBIT SET DURING A DPS BURN GO TO
061633,000558: 17,2757 74737 MASK SNUFFBIT # XTRANS; THAT IS, INHIBIT CONTROL.
061634,000559: 17,2760 00006 EXTEND
061635,000560: 17,2761 12772 BZF DOROTAT
061636,000561: 17,2762 40106 CS FLGWRD10
061637,000562: 17,2763 74737 MASK APSFLBIT
061638,000563: 17,2764 00006 EXTEND
061639,000564: 17,2765 12772 BZF DOROTAT
061640,000565: 17,2766 30111 CA DAPBOOLS
061641,000566: 17,2767 74744 MASK DRIFTBIT
061642,000567: 17,2770 00006 EXTEND
061643,000568: 17,2771 13112 BZF XTRANS
061644,000569:
061645,000570: 17,2772 34752 DOROTAT CAF TWO
061646,000571: 17,2773 54001 TS L
061647,000572: 17,2774 51505 INDEX AXISCTR
061648,000573: 17,2775 11525 CCS TJU
061649,000574: 17,2776 13003 TCF +5
061650,000575: 17,2777 13026 TCF NOROTAT
061651,000576: 17,3000 13002 TCF +2
061652,000577: 17,3001 13026 TCF NOROTAT
061653,000578: 17,3002 22007 ZL
061654,000579: 17,3003 64753 AD ONE
061655,000580: 17,3004 55737 TS ABSTJ
061656,000581:
061657,000582: 17,3005 31505 CA AXISCTR
061658,000583: 17,3006 60001 AD L
061659,000584: 17,3007 55744 TS ROTINDEX # 0 1 2 3 = -U -V -+U +V
061660,000585:
061661,000586: 17,3010 31737 CA ABSTJ
061662,000587: 17,3011 63137 AD -150MS
061663,000588: 17,3012 00006 EXTEND
061664,000589: 17,3013 63037 BZMF DOSKIP
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Page 1444 |
061666,000591: 17,3014 03225 TC SELCTSUB
061667,000592:
061668,000593: 17,3015 51505 INDEX AXISCTR
061669,000594: 17,3016 33134 CA INDEXES
061670,000595: 17,3017 54001 TS L
061671,000596:
061672,000597: 17,3020 31741 CA POLYTEMP
061673,000598: 17,3021 00004 INHINT
061674,000599: 17,3022 50001 INDEX L
061675,000600: 17,3023 05744 TC WRITEP
061676,000601:
061677,000602: 17,3024 00003 RELINT
061678,000603: 17,3025 13100 TCF FEEDBACK
061679,000604:
061680,000605: 17,3026 51505 NOROTAT INDEX AXISCTR
061681,000606: 17,3027 33134 CA INDEXES
061682,000607: 17,3030 00004 INHINT
061683,000608: 17,3031 50000 INDEX A
061684,000609: 17,3032 05743 TC WRITEP -1
061685,000610:
061686,000611: 17,3033 00003 RELINT
061687,000612: 17,3034 11505 LOOPER CCS AXISCTR
061688,000613: 17,3035 01477 TC RETJADR
061689,000614: 17,3036 13270 TCF CLOSEOUT
061690,000615: 17,3037 41737 DOSKIP CS ABSTJ
061691,000616: 17,3040 63136 AD +TJMINT6 # 14MS
061692,000617: 17,3041 00006 EXTEND
061693,000618: 17,3042 63061 BZMF NOTMIN
061694,000619:
061695,000620: 17,3043 27737 ADS ABSTJ
061696,000621: 17,3044 51505 INDEX AXISCTR
061697,000622: 17,3045 11525 CCS TJU
061698,000623: 17,3046 33136 CA +TJMINT6
061699,000624: 17,3047 13051 TCF +2
061700,000625: 17,3050 43136 CS +TJMINT6
061701,000626: 17,3051 51505 INDEX AXISCTR
061702,000627: 17,3052 55525 TS TJU
061703,000628:
061704,000629: 17,3053 11500 CCS SENSETYP # ENSURE MIN-IMPULSE NOT AGAINST TRANS
061705,000630: 17,3054 13060 TCF NOTMIN -1
061706,000631: 17,3055 00006 EXTEND
061707,000632: 17,3056 00004 READ LOSCALAR
061708,000633: 17,3057 74753 MASK ONE
061709,000634: 17,3060 55743 TS NUMBERT
061710,000635:
061711,000636: 17,3061 03225 NOTMIN TC SELCTSUB
061712,000637:
061713,000638: 17,3062 51505 INDEX AXISCTR
061714,000639: 17,3063 33134 CA INDEXES
061715,000640: 17,3064 00004 INHINT
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Page 1445 |
061717,000642: 17,3065 55471 TS T6FURTHA +1
061718,000643: 17,3066 31741 CA POLYTEMP
061719,000644: 17,3067 51471 INDEX T6FURTHA +1
061720,000645: 17,3070 05744 TC WRITEP
061721,000646:
061722,000647: 17,3071 31737 CA ABSTJ
061723,000648: 17,3072 55470 TS T6FURTHA
061724,000649: 17,3073 03143 TC JTLST # IN QR BANK BY NOW
061725,000650:
061726,000651: 17,3074 00003 RELINT
061727,000652:
061728,000653: 17,3075 34755 CA ZERO
061729,000654: 17,3076 51505 INDEX AXISCTR
061730,000655: 17,3077 55535 TS SKIPU
061731,000656:
061732,000657: 17,3100 46250 FEEDBACK CS THREE
061733,000658: 17,3101 61743 AD NUMBERT
061734,000659: 17,3102 00006 EXTEND
061735,000660: 17,3103 63106 BZMF +3
061736,000661:
061737,000662: 17,3104 34752 CA TWO
061738,000663: 17,3105 13107 TCF +2
061739,000664: 17,3106 34753 CA ONE
061740,000665: 17,3107 51505 INDEX AXISCTR
061741,000666: 17,3110 55522 TS NO.UJETS
061742,000667: 17,3111 13034 TCF LOOPER
061743,000668:
061744,000669: 17,3112 34755 XTRANS CA ZERO
061745,000670: 17,3113 55525 TS TJU
061746,000671: 17,3114 55526 TS TJV
061747,000672: 17,3115 34751 CA FOUR
061748,000673: 17,3116 00004 INHINT
061749,000674: 17,3117 57535 XCH SKIPU
061750,000675: 17,3120 00006 EXTEND
061751,000676: 17,3121 13123 BZF +2
061752,000677: 17,3122 05747 TC WRITEU -1
061753,000678: 17,3123 34751 CA FOUR
061754,000679: 17,3124 57536 XCH SKIPV
061755,000680: 17,3125 00003 RELINT
061756,000681:
061757,000682: 17,3126 00006 EXTEND
061758,000683: 17,3127 13270 BZF CLOSEOUT
061759,000684: 17,3130 00004 INHINT
061760,000685: 17,3131 05760 TC WRITEV -1
061761,000686: 17,3132 00003 RELINT
061762,000687:
061763,000688: 17,3133 13270 TCF CLOSEOUT
061764,000689: 17,3134 00004 INDEXES DEC 4 B-14
061765,000690: 17,3135 00015 DEC 13 B-14
061766,000691: 17,3136 00026 +TJMINT6 DEC 22 B-14
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Page 1446 |
061768,000693: 17,3137 77417 -150MS DEC -240 B-14
061769,000694: 17,3140 00600 BIT8,9 OCT 00600
061770,000695: 17,3141 00266 SCLNORM OCT 266
061771,000696: 17,3142 02720 TJLAWADR GENADR TJLAW +3 # RETURN ADDRESS FOR RCS ATTITUDE CONTROL
061772,000697:
061773,000698: # THE JET LIST:
061774,000699: # THIS IS A WAITLIST FOR T6RUPTS.
061775,000700:
061776,000701: # CALLED BY:
061777,000702: # CA TJ TIME WHEN NEXT JETS WILL BE WRITTEN
061778,000703: # TS T6FURTHA
061779,000704: # CA INDEX AXIS TO BE WIRTTEN AT TJ (FROM NOW)
061780,000705: # TS T6FURTHA +1
061781,000706: # TC JTLST
061782,000707:
061783,000708: # EXAMPLE - U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
061784,000709: # JETS INTO CHANNEL 5. IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
061785,000710: # 150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
061786,000711: # CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
061787,000712: # OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
061788,000713:
061789,000714: # THE LIST IS EXACTLY 3 LONG. (THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
061790,000715: # THE INPUT IS THE LAST MEMBER OF THE LIST
061791,000716:
061792,000717: # RETURNS BY:
061793,000718: # + TC Q
061794,000719:
061795,000720: # DEFINITIONS: (OUTPUT)
061796,000721: # TIME6 TIME OF NEXT RUPT
061797,000722: # T6NEXT DELTA TIME TO NEXT RUPT
061798,000723: # T6FURTHA DELTA TIME FROM 2ND TO LAST RUPT
061799,000724: # NXT6ADR AXIS INDEX Q - P-AXIS
061800,000725: # T6NEXT +1 AXIS INDEX 4 - U-AXIS
061801,000726: # T6FURTHA +1 AXIS INDEX 13 - V-AXIS
061802,000727:
061803,000728: 17,3143 41470 JTLST CS T6FURTHA
061804,000729: 17,3144 60031 AD TIME6
061805,000730: 17,3145 00006 EXTEND
061806,000731: 17,3146 63163 BZMF MIDORLST # TIME6 - T IS IN A
061807,000732:
061808,000733: 17,3147 23465 LXCH NXT6ADR
061809,000734: 17,3150 53467 DXCH T6NEXT
061810,000735: 17,3151 53471 DXCH T6FURTHA
061811,000736: 17,3152 54031 TS TIME6
061812,000737: 17,3153 23465 LXCH NXT6ADR
061813,000738:
061814,000739: 17,3154 00006 TURNON EXTEND
061815,000740: 17,3155 23265 QXCH C13QSAV
061816,000741: 17,3156 06022 TC C13STALL
061817,000742:
061818,000743: 17,3157 34735 CA BIT15
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Page 1447 |
061820,000745: 17,3160 00006 EXTEND
061821,000746: 17,3161 05013 WOR CHAN13
061822,000747: 17,3162 01265 TC C13QSAV
061823,000748:
061824,000749:
061825,000750: 17,3163 61466 MIDORLST AD T6NEXT
061826,000751: 17,3164 00006 EXTEND
061827,000752: 17,3165 63174 BZMF LASTCHG # TIME6 + T6NEXT - T IS IN A
061828,000753:
061829,000754: 17,3166 23467 LXCH T6NEXT +1
061830,000755: 17,3167 53471 DXCH T6FURTHA
061831,000756: 17,3170 00006 EXTEND
061832,000757: 17,3171 60031 SU TIME6
061833,000758: 17,3172 53467 DXCH T6NEXT
061834,000759:
061835,000760: 17,3173 00002 TC Q
061836,000761:
061837,000762: 17,3174 40000 LASTCHG CS A
061838,000763: 17,3175 64754 AD NEG0
061839,000764: 17,3176 55470 TS T6FURTHA
061840,000765:
061841,000766: 17,3177 00002 TC Q
061842,000767:
061843,000768: # ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
061844,000769: # ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM. IN THE U-V SYSTEM NO CROSS-COUPLING IS
061845,000770: # PRODUCED FROM RCS JET FIRINGS. AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
061846,000771: # A AND THE V-COMPONENT IS IN L.
061847,000772:
061848,000773: 17,3200 23740 ROT-TOUV LXCH ROTEMP2 # (R) IS PUT INTO ROTEMP2
061849,000774: 17,3201 00006 EXTEND
061850,000775: 17,3202 71627 MP COEFFQ
061851,000776: 17,3203 57740 XCH ROTEMP2 # (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
061852,000777: 17,3204 00006 EXTEND
061853,000778: 17,3205 71630 MP COEFFR
061854,000779: 17,3206 54001 TS L # COEFFR.(R) IS PUT INTO L
061855,000780: 17,3207 61740 AD ROTEMP2
061856,000781: 17,3210 55737 TS ROTEMP1 # COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
061857,000782: 17,3211 13215 TCF +4
061858,000783: 17,3212 50000 INDEX A # COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
061859,000784: 17,3213 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
061860,000785: 17,3214 55737 TS ROTEMP1
061861,000786: 17,3215 41740 CS ROTEMP2
061862,000787: 17,3216 60001 AD L # -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
061863,000788: 17,3217 54007 TS 7
061864,000789: 17,3220 13223 TCF +3
061865,000790: 17,3221 50000 INDEX A # -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
061866,000791: 17,3222 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
061867,000792: 17,3223 23737 LXCH ROTEMP1 # COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
061868,000793: 17,3224 00002 TC Q
061869,000794: 17,3225 51744 SELCTSUB INDEX ROTINDEX
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Page 1448 |
061871,000796: 17,3226 33257 CA ALLJETS
061872,000797: 17,3227 51743 INDEX NUMBERT
061873,000798: 17,3230 73263 MASK TYPEPOLY
061874,000799: 17,3231 55741 TS POLYTEMP
061875,000800:
061876,000801: 17,3232 71257 MASK CH5MASK
061877,000802: 17,3233 10000 CCS A
061878,000803: 17,3234 13236 TCF +2
061879,000804:
061880,000805: 17,3235 00002 TC Q
061881,000806:
061882,000807: 17,3236 36250 CA THREE
061883,000808: 17,3237 55743 FAILOOP TS NUMBERT
061884,000809: 17,3240 51744 INDEX ROTINDEX
061885,000810: 17,3241 33257 CA ALLJETS
061886,000811: 17,3242 51743 INDEX NUMBERT
061887,000812: 17,3243 73263 MASK TYPEPOLY
061888,000813: 17,3244 55741 TS POLYTEMP
061889,000814: 17,3245 71257 MASK CH5MASK
061890,000815: 17,3246 00006 EXTEND
061891,000816: 17,3247 13235 BZF FAILOOP -2
061892,000817: 17,3250 11743 CCS NUMBERT
061893,000818: 17,3251 13237 TCF FAILOOP
061894,000819: 17,3252 51505 INDEX AXISCTR
061895,000820: 17,3253 55525 TS TJU
061896,000821: 17,3254 05567 TC ALARM
061897,000822: 17,3255 02004 OCT 02004
061898,000823: 17,3256 13026 TCF NOROTAT
061899,000824: 17,3257 00110 ALLJETS OCT 00110 # -U 6 13
061900,000825: 17,3260 00022 OCT 00022 # -V 2 9
061901,000826: 17,3261 00204 OCT 00204 # +U 5 14
061902,000827:
061903,000828: 17,3262 00041 OCT 00041 # +V 1 10
061904,000829: 17,3263 00125 TYPEPOLY OCT 00125 # -X 1 5 9 13
061905,000830: 17,3264 00252 OCT 00252 # +X 2 6 10 14
061906,000831: 17,3265 00146 OCT 00146 # A 2 5 10 13
061907,000832: 17,3266 00231 OCT 00231 # B 1 6 9 14
061908,000833: 17,3267 00377 OCT 00377 # ALL 1 2 5 6 9 10 13 14
061909,000834:
061910,000835: # THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
061911,000836:
061912,000837: 17,3270 33272 CLOSEOUT CA ADRRUPT
061913,000838: 17,3271 07757 TC MAKERUPT
061914,000839:
061915,000840: 17,3272 03273 ADRRUPT ADRES ENDJASK
061916,000841:
061917,000842: 17,3273 53754 ENDJASK DXCH DAPARUPT
061918,000843: 17,3274 52011 DXCH ARUPT
061919,000844: 17,3275 53756 DXCH DAPBQRPT
061920,000845: 17,3276 56017 XCH BRUPT
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Page 1449 |
061922,000847: 17,3277 22002 LXCH Q
061923,000848: 17,3300 34735 CAF NEGMAX # NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
061924,000849: 17,3301 53760 DXCH DAPZRUPT
061925,000850: 17,3302 52016 DXCH ZRUPT
061926,000851: 17,3303 15272 TCF NOQRSM
061927,000852: 7757 BLOCK 3
061928,000853: 6000 SETLOC FFTAG6
061929,000854: 6000 BANK
061930,000855:
061931,000856: 7757 COUNT* $$/DAP
061932,000857:
061933,000858: 7757 00006 MAKERUPT EXTEND
061934,000859: 7760 07757 EDRUPT MAKERUPT
061935,000860:
End of include-file Q,R-AXES_RCS_AUTOPILOT.agc. Parent file is MAIN.agc