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. |
062116,000002: ## Copyright: Public domain.
062117,000003: ## Filename: Q_R-AXIS_RCS_AUTOPILOT.agc
062118,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
062119,000005: ## It is part of the source code for the Lunar Module's (LM)
062120,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
062121,000007: ## Assembler: yaYUL
062122,000008: ## Contact: Ron Burkey <info@sandroid.org>.
062123,000009: ## Website: www.ibiblio.org/apollo.
062124,000010: ## Pages: 1442-1459
062125,000011: ## Mod history: 2009-05-27 RSB Adapted from the corresponding
062126,000012: ## Luminary131 file, using page
062127,000013: ## images from Luminary 1A.
062128,000014: ## 2009-06-07 RSB Corrected "DEC 96.0" to "DEC 96", since
062129,000015: ## the former is not compatible with yaYUL.
062130,000016: ## 2011-01-06 JL Fixed pseudo-label indentation.
062131,000017: ## 2016-12-18 RSB Proofed text comments with octopus/ProoferComments
062132,000018: ## and corrected the errors found.
062133,000019: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
062134,000020: ## side-by-side diff of Luminary 69/99/116/131/210.
062135,000021: ## 2017-08-29 MAS Fixed a label (X0RULGE instead of XORULGE) and a
062136,000022: ## comment text error found while transcribing Zerlina 56.
062137,000023:
062138,000024: ## This source code has been transcribed or otherwise adapted from
062139,000025: ## digitized images of a hardcopy from the MIT Museum. The digitization
062140,000026: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
062141,000027: ## the Museum. Many thanks to both. The images (with suitable reduction
062142,000028: ## in storage size and consequent reduction in image quality as well) are
062143,000029: ## available online at www.ibiblio.org/apollo. If for some reason you
062144,000030: ## find that the images are illegible, contact me at info@sandroid.org
062145,000031: ## about getting access to the (much) higher-quality images which Paul
062146,000032: ## actually created.
062147,000033: ##
062148,000034: ## Notations on the hardcopy document read, in part:
062149,000035: ##
062150,000036: ## Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
062151,000037: ## 16:27 JULY 14, 1969
062152,000038:
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Page 1442 |
062154,000040: 17,2072 BANK 17
062155,000041: 17,2000 SETLOC DAPS2
062156,000042: 17,2000 BANK
062157,000043:
062158,000044: 17,2072 E6,1635 EBANK= CDUXD
062159,000045:
062160,000046: 17,2072 COUNT* $$/DAPQR
062161,000047:
062162,000048: 17,2072 34737 CALLQERR CA BIT13 # CALCULATE Q,R ERRORS UNLESS THESE AXES
062163,000049: 17,2073 00006 EXTEND # ARE IN MANUAL RATE COMMAND.
062164,000050: 17,2074 02031 RAND CHAN31
062165,000051: 17,2075 10000 CCS A
062166,000052: 17,2076 12103 TCF +5 # IN AUTO COMPUTE Q,R ERRORS
062167,000053: 17,2077 40111 CS DAPBOOLS # IN MANUAL RATE COMMAND?
062168,000054: 17,2100 74740 MASK OURRCBIT
062169,000055: 17,2101 00006 EXTEND
062170,000056: 17,2102 12104 BZF Q,RORGTS # IF SO BYPASS CALCULATION OF ERRORS.
062171,000057: 17,2103 02626 TC QERRCALC
062172,000058:
062173,000059: 17,2104 11631 Q,RORGTS CCS COTROLER # CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
062174,000060: 17,2105 12607 TCF GOTOGTS # GTS (ALTERNATES WITH RCS WHEN DOCKED)
062175,000061: 17,2106 12574 TCF TRYGTS # GTS IF ALLOWED, OTHERWISE RCS
062176,000062: 17,2107 34755 RCS CAF ZERO # RCS (TRYGTS MAY BRANCH TO HERE)
062177,000063: 17,2110 55631 TS COTROLER
062178,000064:
062179,000065: 17,2111 53437 DXCH EDOTQ
062180,000066: 17,2112 03146 TC ROT-TOUV
062181,000067: 17,2113 53427 DXCH OMEGAU
062182,000068:
062183,000069: # X - TRANSLATION:
062184,000070:
062185,000071: # INPUT: BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
062186,000072: # ULLAGER
062187,000073: # APSFLAG, DRIFTBIT
062188,000074: # ACC40R2X, ACRBTRAN
062189,000075:
062190,000076: # OUTPUT: NEXTU, NEXTV CODES OF TRANSLATION FOR AFTER ROTATION
062191,000077: # SENSETYP TELL ROTATION DIRECTION AND DESIRE
062192,000078:
062193,000079: # X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR. IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED. A FAILURE
062194,000080: # WILL OVERRIDE THIS SPECIFICATION. AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
062195,000081:
062196,000082: 17,2114 34745 SENSEGET CA BIT7 # INPUT BITS OVERRIDE THE INTERNAL BITS
062197,000083: 17,2115 00006 EXTEND # SENSETYP WILL NOT OPPOSE ANYTRANS
062198,000084: 17,2116 02031 RAND CHAN31
062199,000085: 17,2117 00006 EXTEND
062200,000086: 17,2120 12146 BZF +XORULGE
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Page 1443 |
062202,000088: 17,2121 34744 CA BIT8
062203,000089: 17,2122 00006 EXTEND
062204,000090: 17,2123 02031 RAND CHAN31
062205,000091: 17,2124 00006 EXTEND
062206,000092: 17,2125 12147 BZF -XTRANS
062207,000093:
062208,000094: 17,2126 34746 CA ULLAGER
062209,000095: 17,2127 70111 MASK DAPBOOLS
062210,000096: 17,2130 10000 CCS A
062211,000097: 17,2131 12146 TCF +XORULGE
062212,000098:
062213,000099: 17,2132 55473 TS NEXTU # STORE NULL TRANSLATION POLICIES
062214,000100: 17,2133 55474 TS NEXTV
062215,000101: 17,2134 40111 CS DAPBOOLS # BURNING OR DRIFTING?
062216,000102: 17,2135 74744 MASK DRIFTBIT
062217,000103: 17,2136 00006 EXTEND
062218,000104: 17,2137 12144 BZF TSENSE
062219,000105: 17,2140 30106 CA FLGWRD10 # DPS (INCLUDING DOCKED) OR APS?
062220,000106: 17,2141 74737 MASK APSFLBIT
062221,000107: 17,2142 10000 CCS A
062222,000108: 17,2143 34752 CAF TWO # FAVOR +X JETS DURING AN APS BURN.
062223,000109: 17,2144 55500 TSENSE TS SENSETYP
062224,000110: 17,2145 12200 TCF QRCONTRL
062225,000111:
062226,000112: 17,2146 34753 +XORULGE CAF ONE
062227,000113: 17,2147 64751 -XTRANS AD FOUR
062228,000114: 17,2150 55744 TS ROTINDEX
062229,000115: 17,2151 67745 AD NEG3
062230,000116: 17,2152 55500 TS SENSETYP # FAVOR APPROPRIATE JETS DURING TRANS.
062231,000117: 17,2153 30111 CA DAPBOOLS
062232,000118: 17,2154 74741 MASK ACC4OR2X
062233,000119: 17,2155 10000 CCS A
062234,000120: 17,2156 12321 TCF TRANS4
062235,000121:
062236,000122: 17,2157 30111 CA DAPBOOLS
062237,000123: 17,2160 74742 MASK AORBTRAN
062238,000124: 17,2161 10000 CCS A
062239,000125: 17,2162 34753 CA ONE # THREE FOR B
062240,000126: 17,2163 64752 AD TWO # TWO FOR A SYSTEM 2 JET X TRANS
062241,000127: 17,2164 55743 TSNUMBRT TS NUMBERT
062242,000128:
062243,000129: 17,2165 03173 TC SELCTSUB
062244,000130:
062245,000131: 17,2166 11741 CCS POLYTEMP
062246,000132: 17,2167 12172 TCF +3
062247,000133: 17,2170 05567 TC ALARM
062248,000134: 17,2171 02002 OCT 02002
062249,000135: 17,2172 35774 CA 00314OCT
062250,000136: 17,2173 71741 MASK POLYTEMP
062251,000137: 17,2174 55473 TSNEXTS TS NEXTU
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Page 1444 |
062253,000139: 17,2175 45774 CS 00314OCT
062254,000140: 17,2176 71741 MASK POLYTEMP
062255,000141: 17,2177 55474 TS NEXTV
062256,000142:
062257,000143: # Q,R-AXES RCS CONTROL MODE SELECTION
062258,000144: # SWITCHES INDICATION WHEN SET
062259,000145: # BIT13/CHAN31 AUTO, GO TO ATTSTEER
062260,000146: # PULSES MINIMUM IMPULSE MODE
062261,000147: # (OTHERWISE) RATE COMMAND/ATTITUDE HOLD MODE
062262,000148:
062263,000149: 17,2200 34737 QRCONTRL CA BIT13 # CHECK MODE SELECT SWITCH.
062264,000150: 17,2201 00006 EXTEND
062265,000151: 17,2202 02031 RAND CHAN31 # BITS INVERTED
062266,000152: 17,2203 10000 CCS A
062267,000153: 17,2204 12661 TCF ATTSTEER
062268,000154: 17,2205 34735 CHKBIT10 CAF PULSES # PULSES = 1 FOR MIN IMP USE OF RHC
062269,000155: 17,2206 70111 MASK DAPBOOLS
062270,000156: 17,2207 00006 EXTEND
062271,000157: 17,2210 12323 BZF CHEKSTIK # IN ATT-HOLD/RATE-COMMAND IF BIT10=0
062272,000158:
062273,000159: # MINIMUM IMPULSE MODE
062274,000160:
062275,000161: 17,2211 00004 INHINT
062276,000162: 17,2212 04674 TC IBNKCALL
062277,000163: 17,2213 40153 CADR ZATTEROR
062278,000164: 17,2214 34755 CA ZERO
062279,000165: 17,2215 55450 TS QERROR
062280,000166: 17,2216 55452 TS RERROR # FOR DISPLAYS
062281,000167: 17,2217 00003 RELINT
062282,000168:
062283,000169: 17,2220 00006 EXTEND
062284,000170: 17,2221 00031 READ CHAN31
062285,000171: 17,2222 55737 TS TEMP31 # IS EQUAL TO DAPTEMP1
062286,000172: 17,2223 11461 CCS OLDQRMIN
062287,000173: 17,2224 12246 TCF CHECKIN
062288,000174:
062289,000175: 17,2225 31737 FIREQR CA TEMP31
062290,000176: 17,2226 74753 MASK BIT1
062291,000177: 17,2227 00006 EXTEND
062292,000178: 17,2230 12252 BZF +QMIN
062293,000179:
062294,000180: 17,2231 31737 CA TEMP31
062295,000181: 17,2232 74752 MASK BIT2
062296,000182: 17,2233 00006 EXTEND
062297,000183: 17,2234 12256 BZF -QMIN
062298,000184:
062299,000185: 17,2235 31737 CA TEMP31
062300,000186: 17,2236 74747 MASK BIT5
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Page 1445 |
062302,000188: 17,2237 00006 EXTEND
062303,000189: 17,2240 12262 BZF +RMIN
062304,000190:
062305,000191: 17,2241 31737 CA TEMP31
062306,000192: 17,2242 74746 MASK BIT6
062307,000193: 17,2243 00006 EXTEND
062308,000194: 17,2244 12264 BZF -RMIN
062309,000195:
062310,000196: 17,2245 13063 TCF XTRANS
062311,000197:
062312,000198: 17,2246 41737 CHECKIN CS TEMP31
062313,000199: 17,2247 72320 MASK OCT63
062314,000200: 17,2250 55461 TS OLDQRMIN
062315,000201: 17,2251 13063 TCF XTRANS
062316,000202:
062317,000203: 17,2252 33107 +QMIN CA 14MS
062318,000204: 17,2253 55525 TS TJU
062319,000205: 17,2254 43107 CS 14MS
062320,000206: 17,2255 12266 TCF MINQR
062321,000207: 17,2256 43107 -QMIN CS 14MS
062322,000208: 17,2257 55525 TS TJU
062323,000209: 17,2260 33107 CA 14MS
062324,000210: 17,2261 12266 TCF MINQR
062325,000211: 17,2262 33107 +RMIN CA 14MS
062326,000212: 17,2263 12265 TCF +2
062327,000213: 17,2264 43107 -RMIN CS 14MS
062328,000214: 17,2265 55525 TS TJU
062329,000215: 17,2266 55526 MINQR TS TJV
062330,000216: 17,2267 32317 CA MINADR
062331,000217: 17,2270 55477 TS RETJADR
062332,000218: 17,2271 34753 CA ONE
062333,000219: 17,2272 55461 TS OLDQRMIN
062334,000220: 17,2273 55505 MINRTN TS AXISCTR
062335,000221: 17,2274 30111 CA DAPBOOLS
062336,000222: 17,2275 74737 MASK CSMDOCKD
062337,000223: 17,2276 00006 EXTEND
062338,000224: 17,2277 12307 BZF MIMRET
062339,000225: 17,2300 51505 INDEX AXISCTR # IF DOCKED, USE 60MS MINIMUM IMPULSE
062340,000226: 17,2301 11525 CCS TJU
062341,000227: 17,2302 32316 CA 60MS
062342,000228: 17,2303 12305 TCF +2
062343,000229: 17,2304 42316 CS 60MS
062344,000230: 17,2305 51505 INDEX AXISCTR
062345,000231: 17,2306 55525 TS TJU
062346,000232: 17,2307 30111 MIMRET CA DAPBOOLS
062347,000233: 17,2310 74742 MASK AORBTRAN
062348,000234: 17,2311 10000 CCS A
062349,000235: 17,2312 34753 CA ONE
062350,000236: 17,2313 64752 AD TWO
062351,000237: 17,2314 55743 TS NUMBERT
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Page 1446 |
062353,000239: 17,2315 12727 TCF AFTERTJ
062354,000240:
062355,000241: 17,2316 00140 60MS DEC 96.0
062356,000242: 17,2317 02273 MINADR GENADR MINRTN
062357,000243: 17,2320 00063 OCT63 OCT 63
062358,000244: 17,2321 17,3107 14MS = +TJMINT6
062359,000245:
062360,000246: 17,2321 34751 TRANS4 CA FOUR
062361,000247: 17,2322 12164 TCF TSNUMBRT
062362,000248:
062363,000249: # RATE COMMAND MODE:
062364,000250:
062365,000251: # DESCRIPTION (SAME AS P-AXIS)
062366,000252:
062367,000253: 17,2323 55633 CHEKSTIK TS INGTS # NOT IN GTS WHEN IN ATT HOLD
062368,000254: 17,2324 44753 CS ONE # 1/ACCS WILL DO THE NULLING DRIVES
062369,000255: 17,2325 55631 TS COTROLER # COME BACK TO RCS NEXT TIME
062370,000256: 17,2326 34735 CA BIT15
062371,000257: 17,2327 71443 MASK CH31TEMP
062372,000258: 17,2330 00006 EXTEND
062373,000259: 17,2331 12350 BZF RHCACTIV # BRANCH IF OUT OF DETENT.
062374,000260: 17,2332 34740 CA OURRCBIT # ***********
062375,000261: 17,2333 70111 MASK DAPBOOLS # *IN DETENT* CHECK FOR MANUAL CONTROL
062376,000262: 17,2334 00006 EXTEND # *********** LAST TIME.
062377,000263: 17,2335 12661 BZF STILLRCS
062378,000264: 17,2336 44743 CS BIT9
062379,000265: 17,2337 71273 MASK RCSFLAGS
062380,000266: 17,2340 55273 TS RCSFLAGS # BIT 9 IS 0.
062381,000267: 17,2341 12345 TCF DAMPING
062382,000268: 17,2342 00050 40CYCL OCT 50
062383,000269: 17,2343 00001 1/10S OCT 1
062384,000270: 17,2344 00056 LINRAT DEC 46 B-14
062385,000271:
062386,000272: # ================================
062387,000273:
062388,000274: 17,2345 34755 DAMPING CA ZERO
062389,000275: 17,2346 55462 TS SAVEHAND
062390,000276: 17,2347 55463 TS SAVEHAND +1
062391,000277: 17,2350 11462 RHCACTIV CCS SAVEHAND # *******************
062392,000278: 17,2351 12354 TCF +3 # Q,R MANUAL CONTROL WC = A*(B+|D|)*D
062393,000279: 17,2352 12354 TCF +2 # *******************
062394,000280: 17,2353 12354 TCF +1
062395,000281: 17,2354 60000 DOUBLE # WHERE
062396,000282: 17,2355 60000 DOUBLE
062397,000283: 17,2356 62344 AD LINRAT # WC = COMMANDED ROTATIONAL RATE
062398,000284: 17,2357 00006 EXTEND # A = QUADRATIC SENSITIVITY FACTOR
062399,000285: 17,2360 71462 MP SAVEHAND # B = LINEAR/QUADRATIC SENSITIVITY
062400,000286: 17,2361 30001 CA L # |D| = ABS. VALUE OF DEFLECTION
062401,000287: 17,2362 00006 EXTEND # D = HAND CONTROLLER DEFLECTION
062402,000288: 17,2363 71444 MP STIKSENS
062403,000289: 17,2364 57455 XCH QLAST # COMMAND Q RATE SCALED 45 DEG/SEC
062404,000290: 17,2365 40000 COM
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Page 1447 |
062406,000292: 17,2366 61455 AD QLAST
062407,000293: 17,2367 55741 TS DAPTEMP3
062408,000294: 17,2370 11463 CCS SAVEHAND +1
062409,000295: 17,2371 12374 TCF +3
062410,000296: 17,2372 12374 TCF +2
062411,000297: 17,2373 12374 TCF +1
062412,000298: 17,2374 60000 DOUBLE
062413,000299: 17,2375 60000 DOUBLE
062414,000300: 17,2376 62344 AD LINRAT
062415,000301: 17,2377 00006 EXTEND
062416,000302: 17,2400 71463 MP SAVEHAND +1
062417,000303: 17,2401 30001 CA L
062418,000304: 17,2402 00006 EXTEND
062419,000305: 17,2403 71444 MP STIKSENS
062420,000306: 17,2404 57456 XCH RLAST
062421,000307: 17,2405 40000 COM
062422,000308: 17,2406 61456 AD RLAST
062423,000309: 17,2407 55742 TS DAPTEMP4
062424,000310: 17,2410 41455 CS QLAST # INTERVAL.
062425,000311: 17,2411 61422 AD OMEGAQ
062426,000312: 17,2412 55436 TS QRATEDIF
062427,000313: 17,2413 41456 CS RLAST
062428,000314: 17,2414 61423 AD OMEGAR
062429,000315: 17,2415 55437 TS RRATEDIF
062430,000316: 17,2416 53437 ENTERQR DXCH QRATEDIF # TRANSFORM RATES FROM Q,R TO U,V AXES
062431,000317: 17,2417 03146 TC ROT-TOUV
062432,000318: 17,2420 53427 DXCH URATEDIF
062433,000319: 17,2421 11741 CCS DAPTEMP3 # CHECK IF Q COMMAND CHANGE EXCEEDS
062434,000320: 17,2422 02425 TC +3 # BREAKOUT LEVEL. IF NOT, CHECK R.
062435,000321: 17,2423 02425 TC +2
062436,000322: 17,2424 02425 TC +1
062437,000323: 17,2425 61476 AD -RATEDB
062438,000324: 17,2426 00006 EXTEND
062439,000325: 17,2427 62431 BZMF +2
062440,000326: 17,2430 12447 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
062441,000327: 17,2431 11742 CCS DAPTEMP4 # R COMMAND BREAKOUT CHECK.
062442,000328: 17,2432 02435 TC +3
062443,000329: 17,2433 02435 TC +2
062444,000330: 17,2434 02435 TC +1
062445,000331: 17,2435 61476 AD -RATEDB
062446,000332: 17,2436 00006 EXTEND
062447,000333: 17,2437 62441 BZMF +2
062448,000334: 17,2440 12447 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
062449,000335: 17,2441 31273 CA RCSFLAGS # BREAKOUT LEVEL NOT EXCEEDED. CHECK FOR
062450,000336: 17,2442 74741 MASK QRBIT # DIRECT RATE CONTROL LAST TIME.
062451,000337: 17,2443 00006 EXTEND
062452,000338: 17,2444 12446 BZF +2
062453,000339: 17,2445 12451 TCF ENTERUV # CONTINUE DIRECT RATE CONTROL.
062454,000340: 17,2446 12661 TCF STILLRCS # PSEUDO-AUTO CONTROL.
062455,000341: 17,2447 32342 CA 40CYCL
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Page 1448 |
062457,000343: 17,2450 55457 TS TCQR
062458,000344: 17,2451 00004 ENTERUV INHINT # DIRECT RATE CONTROL.
062459,000345: 17,2452 04674 TC IBNKCALL
062460,000346: 17,2453 40153 FCADR ZATTEROR
062461,000347: 17,2454 00003 RELINT
062462,000348: 17,2455 34755 CA ZERO
062463,000349: 17,2456 55450 TS DYERROR
062464,000350: 17,2457 55451 TS DYERROR +1
062465,000351: 17,2460 55452 TS DZERROR
062466,000352: 17,2461 55453 TS DZERROR +1
062467,000353: 17,2462 11426 CCS URATEDIF
062468,000354: 17,2463 12466 TCF +3
062469,000355: 17,2464 12466 TCF +2
062470,000356: 17,2465 12466 TCF +1
062471,000357: 17,2466 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
062472,000358: 17,2467 00006 EXTEND # DIRECT RATE CONTROL.
062473,000359: 17,2470 62504 BZMF VDB
062474,000360: 17,2471 11427 CCS VRATEDIF
062475,000361: 17,2472 12475 TCF +3
062476,000362: 17,2473 12475 TCF +2
062477,000363: 17,2474 12475 TCF +1
062478,000364: 17,2475 61476 AD TARGETDB
062479,000365: 17,2476 00006 EXTEND
062480,000366: 17,2477 62501 BZMF +2
062481,000367: 17,2500 12515 TCF QRTIME
062482,000368: 17,2501 34755 CA ZERO
062483,000369: 17,2502 55427 TS VRATEDIF
062484,000370: 17,2503 12515 TCF QRTIME
062485,000371: 17,2504 11427 VDB CCS VRATEDIF
062486,000372: 17,2505 02510 TC +3
062487,000373: 17,2506 02510 TC +2
062488,000374: 17,2507 02510 TC +1
062489,000375: 17,2510 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
062490,000376: 17,2511 00006 EXTEND # DIRECT RATE CONTROL. IF NOT, FIRE AND
062491,000377: 17,2512 62524 BZMF TOPSEUDO # SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
062492,000378: 17,2513 34755 CA ZERO # PASS.
062493,000379: 17,2514 55426 TS URATEDIF
062494,000380: 17,2515 31457 QRTIME CA TCQR # DIRECT RATE TIME CHECK.
062495,000381: 17,2516 00006 EXTEND
062496,000382: 17,2517 62524 BZMF +5 # BRANCH IF TIME EXCEEDS 4 SEC.
062497,000383: 17,2520 41273 CS RCSFLAGS
062498,000384: 17,2521 74741 MASK QRBIT
062499,000385: 17,2522 27273 ADS RCSFLAGS # BIT 11 IS 1.
062500,000386: 17,2523 02527 TC +4
062501,000387: 17,2524 44741 TOPSEUDO CS QRBIT
062502,000388: 17,2525 71273 MASK RCSFLAGS
062503,000389: 17,2526 55273 TS RCSFLAGS # BIT 11 IS 0.
062504,000390: 17,2527 32573 CA HANDADR
062505,000391: 17,2530 55477 TS RETJADR
062506,000392: 17,2531 34753 CA ONE
062507,000393:
![]() |
Page 1449 |
062509,000395: 17,2532 55505 BACKHAND TS AXISCTR
062510,000396:
062511,000397: 17,2533 34751 CA FOUR
062512,000398: 17,2534 55743 TS NUMBERT
062513,000399:
062514,000400: 17,2535 51505 INDEX AXISCTR
062515,000401: 17,2536 51535 INDEX SKIPU
062516,000402: 17,2537 12540 TCF +1
062517,000403: 17,2540 34751 CA FOUR
062518,000404: 17,2541 51505 INDEX AXISCTR
062519,000405: 17,2542 55535 TS SKIPU
062520,000406: 17,2543 13005 TCF LOOPER
062521,000407:
062522,000408: 17,2544 51505 INDEX AXISCTR
062523,000409: 17,2545 11426 CCS URATEDIF # INDEX AXIS QUANITY
062524,000410: 17,2546 34755 CA ZERO # 0 -U 1/JETACC-AOSU
062525,000411: 17,2547 12551 TCF +2 # 1 +U 1/JETACC+AOSU
062526,000412: 17,2550 34753 CA ONE # 16 -V 1/JETACC-AOSV
062527,000413: 17,2551 51505 INDEX AXISCTR # 17 +V 1/JETACC+AOSV
062528,000414: 17,2552 63722 AD AXISDIFF # JETACC = 2 JET ACCELERATION (1 FOR FAIL)
062529,000415:
062530,000416: 17,2553 50000 INDEX A
062531,000417: 17,2554 41571 CS 1/ANET2 +1
062532,000418: 17,2555 00006 EXTEND
062533,000419: 17,2556 51505 INDEX AXISCTR # URATEDIF IS SCALED AT PI/4 RAD/SEC
062534,000420: 17,2557 71426 MP URATEDIF # JET TIME IN A SCALED 32 SEC
062535,000421: 17,2560 54002 TS Q
062536,000422: 17,2561 20001 DAS A
062537,000423: 17,2562 60002 AD Q
062538,000424: 17,2563 54000 TS A # OVERFLOW SKIP
062539,000425: 17,2564 12566 TCF +2
062540,000426: 17,2565 30002 CA Q # RIGHT SIGN AND BIGGER THAN 150MS
062541,000427: 17,2566 51505 SETTIME INDEX AXISCTR
062542,000428: 17,2567 55525 TS TJU # SCALED AT 10.67 WHICH IS CLOSE TO 10.24
062543,000429: 17,2570 12727 TCF AFTERTJ
062544,000430:
062545,000431: 17,2571 34755 ZEROTJ CA ZERO
062546,000432: 17,2572 12566 TCF SETTIME
062547,000433:
062548,000434: 17,2573 02532 HANDADR GENADR BACKHAND
062549,000435:
062550,000436: # GTS WILL BE TRIED IF
062551,000437: # 1. USEQRJTS = 0,
062552,000438: # 2. ALLOWGTS POS,
062553,000439: # 3. JETS ARE OFF (Q,R-AXES)
062554,000440:
062555,000441: 17,2574 34736 TRYGTS CAF USEQRJTS # IS JET USE MANDATORY. (AS LONG AS
062556,000442: 17,2575 70111 MASK DAPBOOLS # USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
062557,000443: 17,2576 10000 CCS A
062558,000444: 17,2577 12107 TCF RCS
062559,000445: 17,2600 11502 CCS ALLOWGTS # NO. DOES AOSTASK OK CONTROL FOR GTS?
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Page 1450 |
062561,000447: 17,2601 12603 TCF +2
062562,000448: 17,2602 12107 TCF RCS
062563,000449: 17,2603 00006 EXTEND
062564,000450: 17,2604 00005 READ CHAN5
062565,000451: 17,2605 10000 CCS A
062566,000452: 17,2606 12612 TCF CHKINGTS
062567,000453: 17,2607 00006 GOTOGTS EXTEND
062568,000454: 17,2610 32625 DCA GTSCADR
062569,000455: 17,2611 52006 DTCB
062570,000456:
062571,000457: 17,2612 11633 CHKINGTS CCS INGTS # WAS THE TRIM GIMBAL CONTROLLING
062572,000458: 17,2613 12615 TCF +2 # YES. SET UP A DAMPED NULLING DRIVE.
062573,000459: 17,2614 12107 TCF RCS # NO. NULLING WAS SET UP BEFORE. DO RCS
062574,000460: 17,2615 00004 INHINT
062575,000461: 17,2616 04674 TC IBNKCALL
062576,000462: 17,2617 43330 CADR TIMEGMBL
062577,000463: 17,2620 00003 RELINT
062578,000464: 17,2621 34755 CAF ZERO
062579,000465: 17,2622 55633 TS INGTS
062580,000466: 17,2623 12107 TCF RCS
062581,000467:
062582,000468: 17,2624 E6,1635 EBANK= CDUXD
062583,000469: 17,2624 03077 42106 GTSCADR 2CADR GTS
062584,000470:
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Page 1451 |
062586,000472: # SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
062587,000473:
062588,000474: 17,2626 30033 QERRCALC CAE CDUY # Q-ERROR CALCULATION
062589,000475: 17,2627 00006 EXTEND
062590,000476: 17,2630 21636 MSU CDUYD # CDU ANGLE - ANGLE DESIRED (Y-AXIS)
062591,000477: 17,2631 55737 TS DAPTEMP1 # SAVE FOR RERRCALC
062592,000478: 17,2632 00006 EXTEND
062593,000479: 17,2633 71415 MP M21 # (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
062594,000480: 17,2634 55752 TS E
062595,000481: 17,2635 30034 CAE CDUZ # SECOND TERM CALCULATION:
062596,000482: 17,2636 00006 EXTEND
062597,000483: 17,2637 21637 MSU CDUZD # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
062598,000484: 17,2640 55740 TS DAPTEMP2 # SAVE FOR RERRCALC
062599,000485: 17,2641 00006 EXTEND
062600,000486: 17,2642 71417 MP M22 # (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
062601,000487: 17,2643 61300 AD DELQEROR # KALCMANU INERFACE ERROR
062602,000488: 17,2644 61752 AD E
062603,000489: 17,2645 57450 XCH QERROR # SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
062604,000490:
062605,000491: 17,2646 31737 RERRCALC CAE DAPTEMP1 # R-ERROR CALCULATION:
062606,000492: 17,2647 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Y-AXIS)
062607,000493: 17,2650 71416 MP M31 # (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
062608,000494: 17,2651 55752 TS E
062609,000495: 17,2652 31740 CAE DAPTEMP2 # SECOND TERM CALCULATION:
062610,000496: 17,2653 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
062611,000497: 17,2654 71420 MP M32 # (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
062612,000498: 17,2655 61301 AD DELREROR # KALCMANU INERFACE ERROR
062613,000499: 17,2656 61752 AD E
062614,000500: 17,2657 57452 XCH RERROR # SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
062615,000501: 17,2660 00002 TC Q
062616,000502:
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Page 1452 |
062618,000504: # "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
062619,000505:
062620,000506: 17,2661 17,2661 ATTSTEER EQUALS STILLRCS # "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
062621,000507:
062622,000508: 17,2661 31452 STILLRCS CA RERROR
062623,000509: 17,2662 22000 LXCH A
062624,000510: 17,2663 31450 CA QERROR
062625,000511: 17,2664 03146 TC ROT-TOUV
062626,000512: 17,2665 53752 DXCH UERROR
062627,000513:
062628,000514: # PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
062629,000515: # PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
062630,000516:
062631,000517: 17,2666 33113 TJLAW CA TJLAWADR
062632,000518: 17,2667 55477 TS RETJADR
062633,000519: 17,2670 34753 CA ONE
062634,000520: 17,2671 55505 TS AXISCTR
062635,000521: 17,2672 51505 INDEX AXISCTR
062636,000522: 17,2673 51535 INDEX SKIPU
062637,000523: 17,2674 12675 TCF +1
062638,000524: 17,2675 34751 CA FOUR
062639,000525: 17,2676 51505 INDEX AXISCTR
062640,000526: 17,2677 55535 TS SKIPU
062641,000527: 17,2700 13005 TCF LOOPER
062642,000528: 17,2701 51505 INDEX AXISCTR
062643,000529: 17,2702 31751 CA UERROR
062644,000530: 17,2703 55752 TS E
062645,000531: 17,2704 51505 INDEX AXISCTR
062646,000532: 17,2705 31426 CA OMEGAU
062647,000533: 17,2706 55427 TS EDOT
062648,000534: 17,2707 30111 CA DAPBOOLS
062649,000535: 17,2710 74737 MASK CSMDOCKD
062650,000536: 17,2711 10000 CCS A
062651,000537: 17,2712 12715 TCF +3
062652,000538: 17,2713 03252 TC TJETLAW
062653,000539: 17,2714 12727 TCF AFTERTJ
062654,000540: 17,2715 40111 +3 CS DAPBOOLS # DOCKED. IF GIMBAL USABLE DO GTS CONTROL
062655,000541: 17,2716 74736 MASK USEQRJTS # ON THE NEXT PASS.
062656,000542: 17,2717 10000 CCS A # USEQRJTS BIT MUST NOT BE BIT 15.
062657,000543: 17,2720 55631 TS COTROLER # GIMBAL USABLE. STORE POSITIVE VALUE.
062658,000544: 17,2721 00004 INHINT
062659,000545: 17,2722 04674 TC IBNKCALL
062660,000546: 17,2723 43727 CADR SPSRCS # DETERMINE RCS CONTROL
062661,000547: 17,2724 00003 RELINT
062662,000548: 17,2725 34751 CAF FOUR # ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
062663,000549: 17,2726 55743 TS NUMBERT # FALL THROUGH TO JET SELECTION, ETC.
062664,000550:
062665,000551: # Q,R-JET-SELECTION-LOGIC
062666,000552:
062667,000553: # INPUT: AXISCTR 0,1 FOR U,V
062668,000554: # SNUFFBIT ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN
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Page 1453 |
062670,000556: # TJU,TJV JET TIME SCALED 10.24 SEC.
062671,000557: # NUMBERT INDICATES NUMBER OF JETS AND TYPE OF POLICY
062672,000558: # RETJADR WHERE TO RETURN TO
062673,000559:
062674,000560: # OUTPUT: NO.U(V)JETS RATE DERIVATION FEEDBACK
062675,000561: # CHANNEL 5
062676,000562: # SKIPU,SKIRV FOR LESS THAN 150MS FIRING
062677,000563:
062678,000564: # NOTES: IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED
062679,000565: # JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY
062680,000566: # TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT
062681,000567: # IF NONE CAN BE FOUND.
062682,000568:
062683,000569: # TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
062684,000570: # MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
062685,000571:
062686,000572: 17,2727 30101 AFTERTJ CA FLAGWRD5 # IF SNUFFBIT SET DURING A DPS BURN GO TO
062687,000573: 17,2730 74737 MASK SNUFFBIT # XTRANS; THAT IS, INHIBIT CONTROL.
062688,000574: 17,2731 00006 EXTEND
062689,000575: 17,2732 12743 BZF DOROTAT
062690,000576: 17,2733 40106 CS FLGWRD10
062691,000577: 17,2734 74737 MASK APSFLBIT
062692,000578: 17,2735 00006 EXTEND
062693,000579: 17,2736 12743 BZF DOROTAT
062694,000580: 17,2737 30111 CA DAPBOOLS
062695,000581: 17,2740 74744 MASK DRIFTBIT
062696,000582: 17,2741 00006 EXTEND
062697,000583: 17,2742 13063 BZF XTRANS
062698,000584:
062699,000585: 17,2743 34752 DOROTAT CAF TWO
062700,000586: 17,2744 54001 TS L
062701,000587: 17,2745 51505 INDEX AXISCTR
062702,000588: 17,2746 11525 CCS TJU
062703,000589: 17,2747 12754 TCF +5
062704,000590: 17,2750 12777 TCF NOROTAT
062705,000591: 17,2751 12753 TCF +2
062706,000592: 17,2752 12777 TCF NOROTAT
062707,000593: 17,2753 22007 ZL
062708,000594: 17,2754 64753 AD ONE
062709,000595: 17,2755 55737 TS ABSTJ
062710,000596:
062711,000597: 17,2756 31505 CA AXISCTR
062712,000598: 17,2757 60001 AD L
062713,000599: 17,2760 55744 TS ROTINDEX # 0 1 2 3 = -U -V -+U +V
062714,000600:
062715,000601: 17,2761 31737 CA ABSTJ
062716,000602: 17,2762 63110 AD -150MS
062717,000603: 17,2763 00006 EXTEND
062718,000604: 17,2764 63010 BZMF DOSKIP
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Page 1454 |
062720,000606: 17,2765 03173 TC SELCTSUB
062721,000607:
062722,000608: 17,2766 51505 INDEX AXISCTR
062723,000609: 17,2767 33105 CA INDEXES
062724,000610: 17,2770 54001 TS L
062725,000611:
062726,000612: 17,2771 31741 CA POLYTEMP
062727,000613: 17,2772 00004 INHINT
062728,000614: 17,2773 50001 INDEX L
062729,000615: 17,2774 05754 TC WRITEP
062730,000616:
062731,000617: 17,2775 00003 RELINT
062732,000618: 17,2776 13051 TCF FEEDBACK
062733,000619:
062734,000620: 17,2777 51505 NOROTAT INDEX AXISCTR
062735,000621: 17,3000 33105 CA INDEXES
062736,000622: 17,3001 00004 INHINT
062737,000623: 17,3002 50000 INDEX A
062738,000624: 17,3003 05753 TC WRITEP -1
062739,000625:
062740,000626: 17,3004 00003 RELINT
062741,000627: 17,3005 11505 LOOPER CCS AXISCTR
062742,000628: 17,3006 01477 TC RETJADR
062743,000629: 17,3007 13236 TCF CLOSEOUT
062744,000630: 17,3010 41737 DOSKIP CS ABSTJ
062745,000631: 17,3011 63107 AD +TJMINT6 # 14MS
062746,000632: 17,3012 00006 EXTEND
062747,000633: 17,3013 63032 BZMF NOTMIN
062748,000634:
062749,000635: 17,3014 27737 ADS ABSTJ
062750,000636: 17,3015 51505 INDEX AXISCTR
062751,000637: 17,3016 11525 CCS TJU
062752,000638: 17,3017 33107 CA +TJMINT6
062753,000639: 17,3020 13022 TCF +2
062754,000640: 17,3021 43107 CS +TJMINT6
062755,000641: 17,3022 51505 INDEX AXISCTR
062756,000642: 17,3023 55525 TS TJU
062757,000643:
062758,000644: 17,3024 11500 CCS SENSETYP # ENSURE MIN-IMPULSE NOT AGAINST TRANS
062759,000645: 17,3025 13031 TCF NOTMIN -1
062760,000646: 17,3026 00006 EXTEND
062761,000647: 17,3027 00004 READ LOSCALAR
062762,000648: 17,3030 74753 MASK ONE
062763,000649: 17,3031 55743 TS NUMBERT
062764,000650:
062765,000651: 17,3032 03173 NOTMIN TC SELCTSUB
062766,000652:
062767,000653: 17,3033 51505 INDEX AXISCTR
062768,000654: 17,3034 33105 CA INDEXES
062769,000655: 17,3035 00004 INHINT
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Page 1455 |
062771,000657: 17,3036 55471 TS T6FURTHA +1
062772,000658: 17,3037 31741 CA POLYTEMP
062773,000659: 17,3040 51471 INDEX T6FURTHA +1
062774,000660: 17,3041 05754 TC WRITEP
062775,000661:
062776,000662: 17,3042 31737 CA ABSTJ
062777,000663: 17,3043 55470 TS T6FURTHA
062778,000664: 17,3044 03114 TC JTLST # IN QR BANK BY NOW
062779,000665:
062780,000666: 17,3045 00003 RELINT
062781,000667:
062782,000668: 17,3046 34755 CA ZERO
062783,000669: 17,3047 51505 INDEX AXISCTR
062784,000670: 17,3050 55535 TS SKIPU
062785,000671:
062786,000672: 17,3051 46245 FEEDBACK CS THREE
062787,000673: 17,3052 61743 AD NUMBERT
062788,000674: 17,3053 00006 EXTEND
062789,000675: 17,3054 63057 BZMF +3
062790,000676:
062791,000677: 17,3055 34752 CA TWO
062792,000678: 17,3056 13060 TCF +2
062793,000679: 17,3057 34753 CA ONE
062794,000680: 17,3060 51505 INDEX AXISCTR
062795,000681: 17,3061 55522 TS NO.UJETS
062796,000682: 17,3062 13005 TCF LOOPER
062797,000683:
062798,000684: 17,3063 34755 XTRANS CA ZERO
062799,000685: 17,3064 55525 TS TJU
062800,000686: 17,3065 55526 TS TJV
062801,000687: 17,3066 34751 CA FOUR
062802,000688: 17,3067 00004 INHINT
062803,000689: 17,3070 57535 XCH SKIPU
062804,000690: 17,3071 00006 EXTEND
062805,000691: 17,3072 13074 BZF +2
062806,000692: 17,3073 05757 TC WRITEU -1
062807,000693: 17,3074 34751 CA FOUR
062808,000694: 17,3075 57536 XCH SKIPV
062809,000695: 17,3076 00003 RELINT
062810,000696:
062811,000697: 17,3077 00006 EXTEND
062812,000698: 17,3100 13236 BZF CLOSEOUT
062813,000699: 17,3101 00004 INHINT
062814,000700: 17,3102 05770 TC WRITEV -1
062815,000701: 17,3103 00003 RELINT
062816,000702:
062817,000703: 17,3104 13236 TCF CLOSEOUT
062818,000704: 17,3105 00004 INDEXES DEC 4 B-14
062819,000705: 17,3106 00015 DEC 13 B-14
062820,000706: 17,3107 00026 +TJMINT6 DEC 22 B-14
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Page 1456 |
062822,000708: 17,3110 77417 -150MS DEC -240 B-14
062823,000709: 17,3111 00600 BIT8,9 OCT 00600
062824,000710: 17,3112 00266 SCLNORM OCT 266
062825,000711: 17,3113 02671 TJLAWADR GENADR TJLAW +3 # RETURN ADDRESS FOR RCS ATTITUDE CONTROL
062826,000712:
062827,000713: # THE JET LIST:
062828,000714: # THIS IS A WAITLIST FOR T6RUPTS.
062829,000715:
062830,000716: # CALLED BY:
062831,000717: # CA TJ TIME WHEN NEXT JETS WILL BE WRITTEN
062832,000718: # TS T6FURTHA
062833,000719: # CA INDEX AXIS TO BE WIRTTEN AT TJ (FROM NOW)
062834,000720: # TS T6FURTHA +1
062835,000721: # TC JTLST
062836,000722:
062837,000723: # EXAMPLE - U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
062838,000724: # JETS INTO CHANNEL 5. IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
062839,000725: # 150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
062840,000726: # CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
062841,000727: # OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
062842,000728:
062843,000729: # THE LIST IS EXACTLY 3 LONG. (THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
062844,000730: # THE INPUT IS THE LAST MEMBER OF THE LIST
062845,000731:
062846,000732: # RETURNS BY:
062847,000733: # + TC Q
062848,000734:
062849,000735: # DEFINITIONS: (OUTPUT)
062850,000736: # TIME6 TIME OF NEXT RUPT
062851,000737: # T6NEXT DELTA TIME TO NEXT RUPT
062852,000738: # T6FURTHA DELTA TIME FROM 2ND TO LAST RUPT
062853,000739: # NXT6ADR AXIS INDEX Q - P-AXIS
062854,000740: # T6NEXT +1 AXIS INDEX 4 - U-AXIS
062855,000741: # T6FURTHA +1 AXIS INDEX 13 - V-AXIS
062856,000742:
062857,000743: 17,3114 41470 JTLST CS T6FURTHA
062858,000744: 17,3115 60031 AD TIME6
062859,000745: 17,3116 00006 EXTEND
062860,000746: 17,3117 63131 BZMF MIDORLST # TIME6 - T IS IN A
062861,000747:
062862,000748: 17,3120 23465 LXCH NXT6ADR
062863,000749: 17,3121 53467 DXCH T6NEXT
062864,000750: 17,3122 53471 DXCH T6FURTHA
062865,000751: 17,3123 54031 TS TIME6
062866,000752: 17,3124 23465 LXCH NXT6ADR
062867,000753:
062868,000754: 17,3125 34735 TURNON CA BIT15
062869,000755: 17,3126 00006 EXTEND
062870,000756: 17,3127 05013 WOR CHAN13
062871,000757: 17,3130 00002 TC Q
062872,000758:
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Page 1457 |
062874,000760: 17,3131 61466 MIDORLST AD T6NEXT
062875,000761: 17,3132 00006 EXTEND
062876,000762: 17,3133 63142 BZMF LASTCHG # TIME6 + T6NEXT - T IS IN A
062877,000763:
062878,000764: 17,3134 23467 LXCH T6NEXT +1
062879,000765: 17,3135 53471 DXCH T6FURTHA
062880,000766: 17,3136 00006 EXTEND
062881,000767: 17,3137 60031 SU TIME6
062882,000768: 17,3140 53467 DXCH T6NEXT
062883,000769:
062884,000770: 17,3141 00002 TC Q
062885,000771:
062886,000772: 17,3142 40000 LASTCHG CS A
062887,000773: 17,3143 64754 AD NEG0
062888,000774: 17,3144 55470 TS T6FURTHA
062889,000775:
062890,000776: 17,3145 00002 TC Q
062891,000777:
062892,000778: # ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
062893,000779: # ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM. IN THE U-V SYSTEM NO CROSS-COUPLING IS
062894,000780: # PRODUCED FROM RCS JET FIRINGS. AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
062895,000781: # A AND THE V-COMPONENT IS IN L.
062896,000782:
062897,000783: 17,3146 23740 ROT-TOUV LXCH ROTEMP2 # (R) IS PUT INTO ROTEMP2
062898,000784: 17,3147 00006 EXTEND
062899,000785: 17,3150 71627 MP COEFFQ
062900,000786: 17,3151 57740 XCH ROTEMP2 # (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
062901,000787: 17,3152 00006 EXTEND
062902,000788: 17,3153 71630 MP COEFFR
062903,000789: 17,3154 54001 TS L # COEFFR.(R) IS PUT INTO L
062904,000790: 17,3155 61740 AD ROTEMP2
062905,000791: 17,3156 55737 TS ROTEMP1 # COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
062906,000792: 17,3157 13163 TCF +4
062907,000793: 17,3160 50000 INDEX A # COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
062908,000794: 17,3161 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
062909,000795: 17,3162 55737 TS ROTEMP1
062910,000796: 17,3163 41740 CS ROTEMP2
062911,000797: 17,3164 60001 AD L # -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
062912,000798: 17,3165 54007 TS 7
062913,000799: 17,3166 13171 TCF +3
062914,000800: 17,3167 50000 INDEX A # -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
062915,000801: 17,3170 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
062916,000802: 17,3171 23737 LXCH ROTEMP1 # COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
062917,000803: 17,3172 00002 TC Q
062918,000804: 17,3173 51744 SELCTSUB INDEX ROTINDEX
062919,000805: 17,3174 33225 CA ALLJETS
062920,000806: 17,3175 51743 INDEX NUMBERT
062921,000807: 17,3176 73231 MASK TYPEPOLY
062922,000808: 17,3177 55741 TS POLYTEMP
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062924,000810: 17,3200 71262 MASK CH5MASK
062925,000811: 17,3201 10000 CCS A
062926,000812: 17,3202 13204 TCF +2
062927,000813:
062928,000814: 17,3203 00002 TC Q
062929,000815:
062930,000816: 17,3204 36245 CA THREE
062931,000817: 17,3205 55743 FAILOOP TS NUMBERT
062932,000818: 17,3206 51744 INDEX ROTINDEX
062933,000819: 17,3207 33225 CA ALLJETS
062934,000820: 17,3210 51743 INDEX NUMBERT
062935,000821: 17,3211 73231 MASK TYPEPOLY
062936,000822: 17,3212 55741 TS POLYTEMP
062937,000823: 17,3213 71262 MASK CH5MASK
062938,000824: 17,3214 00006 EXTEND
062939,000825: 17,3215 13203 BZF FAILOOP -2
062940,000826: 17,3216 11743 CCS NUMBERT
062941,000827: 17,3217 13205 TCF FAILOOP
062942,000828: 17,3220 51505 INDEX AXISCTR
062943,000829: 17,3221 55525 TS TJU
062944,000830: 17,3222 05567 TC ALARM
062945,000831: 17,3223 02004 OCT 02004
062946,000832: 17,3224 12777 TCF NOROTAT
062947,000833: 17,3225 00110 ALLJETS OCT 00110 # -U 6 13
062948,000834: 17,3226 00022 OCT 00022 # -V 2 9
062949,000835: 17,3227 00204 OCT 00204 # +U 5 14
062950,000836: 17,3230 00041 OCT 00041 # +V 1 10
062951,000837: 17,3231 00125 TYPEPOLY OCT 00125 # -X 1 5 9 13
062952,000838: 17,3232 00252 OCT 00252 # +X 2 6 10 14
062953,000839: 17,3233 00146 OCT 00146 # A 2 5 10 13
062954,000840: 17,3234 00231 OCT 00231 # B 1 6 9 14
062955,000841: 17,3235 00377 OCT 00377 # ALL 1 2 5 6 9 10 13 14
062956,000842:
062957,000843: # THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
062958,000844:
062959,000845: 17,3236 33240 CLOSEOUT CA ADRRUPT
062960,000846: 17,3237 07754 TC MAKERUPT
062961,000847:
062962,000848: 17,3240 03241 ADRRUPT ADRES ENDJASK
062963,000849:
062964,000850: 17,3241 53754 ENDJASK DXCH DAPARUPT
062965,000851: 17,3242 52011 DXCH ARUPT
062966,000852: 17,3243 53756 DXCH DAPBQRPT
062967,000853: 17,3244 56017 XCH BRUPT
062968,000854: 17,3245 22002 LXCH Q
062969,000855: 17,3246 34735 CAF NEGMAX # NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
062970,000856: 17,3247 53760 DXCH DAPZRUPT
062971,000857: 17,3250 52016 DXCH ZRUPT
062972,000858: 17,3251 15272 TCF NOQRSM
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062974,000860: 7754 BLOCK 3
062975,000861: 6000 SETLOC FFTAG6
062976,000862: 6000 BANK
062977,000863:
062978,000864: 7754 COUNT* $$/DAP
062979,000865:
062980,000866: 7754 00006 MAKERUPT EXTEND
062981,000867: 7755 07754 EDRUPT MAKERUPT
062982,000868:
End of include-file Q,R-AXES_RCS_AUTOPILOT.agc. Parent file is MAIN.agc