473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP NOV 10, 1966
Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source code files have been transcribed or otherwise adapted from
digitized images of a hardcopy from the private collection of
Don Eyles. The digitization was performed by archive.org, and
transcription was performed by a team of volunteers.
Note that the page images
presented online are of reduced quality, and that the original
high-quality images are available at archive.org.
Report any conversion errors or legibility problems in page images to info@sandroid.org.
Notations on the program listing read, in part:
473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP NOV 10, 1966
Note that the date is the date of the printout, not the date of the program revision.
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022662,000002: ## Copyright: Public domain.
022663,000003: ## Filename: P-AXIS_REACTION_CONTROL_SYSTEM_AUTOPILOT.agc
022664,000004: ## Purpose: Part of the source code for Aurora (revision 12).
022665,000005: ## Assembler: yaYUL
022666,000006: ## Contact: Ron Burkey <info@sandroid.org>.
022667,000007: ## Website: https://www.ibiblio.org/apollo.
022668,000008: ## Pages: 542-556
022669,000009: ## Mod history: 2016-09-20 JL Created.
022670,000010: ## 2016-10-02 MAS Began.
022671,000011: ## 2016-10-03 MAS Completed.
022672,000012: ## 2016-10-04 HG add missed instruction TS TOFJTCHG
022673,000013: ## comment code look alike
022674,000014: ## JSATCHG -> JTSATCHG
022675,000015: ## 2016-10-15 HG Fix operand BITS13-14 -> BIT13-14
022676,000016: ## 2016-12-08 RSB Proofed comments with octopus/ProoferComments
022677,000017: ## and fixed the errors found.
022678,000018:
022679,000019: ## This source code has been transcribed or otherwise adapted from
022680,000020: ## digitized images of a hardcopy from the private collection of
022681,000021: ## Don Eyles. The digitization was performed by archive.org.
022682,000022:
022683,000023: ## Notations on the hardcopy document read, in part:
022684,000024:
022685,000025: ## 473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP
022686,000026: ## NOV 10, 1966
022687,000027:
022688,000028: ## [Note that this is the date the hardcopy was made, not the
022689,000029: ## date of the program revision or the assembly.]
022690,000030:
022691,000031: ## The scan images (with suitable reduction in storage size and consequent
022692,000032: ## reduction in image quality) are available online at
022693,000033: ## https://www.ibiblio.org/apollo.
022694,000034: ## The original high-quality digital images are available at archive.org:
022695,000035: ## https://archive.org/details/aurora00dapg
022696,000036:
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Page 542 |
022698,000038: 23,2000 BANK 23
022699,000039: 23,2000 E6,1551 EBANK= DT
022700,000040:
022701,000041: # THE FOLLOWING SECTION DRIVES THE ATTITUDE ERROR NEEDLES IN THE "EIGHT-BALL" DISPLAY:
022702,000042:
022703,000043: 23,2000 22765 EIGHTBAL LXCH DAPBOOLS # ATTITUDE ERRORS DISPLAYED EVERY
022704,000044: 23,2001 37651 CAF BIT7 # OTHER DAP CYCLE (.2 SECS)
022705,000045: 23,2002 00006 EXTEND # CHANGE STATE OF FLAG
022706,000046: 23,2003 06001 RXOR L
022707,000047: 23,2004 54765 TS DAPBOOLS # FLAG WORD RESTORE
022708,000048: 23,2005 77651 MASK BIT7
022709,000049: 23,2006 00006 EXTEND # ZERO AS NEW STATE MEANS
022710,000050: 23,2007 12146 BZF PAXFILT # NO DISPLAY THIS CYCLE
022711,000051:
022712,000052: 23,2010 37656 ATERDSPY CAF TWO # INIT. INDEX WORD
022713,000053: 23,2011 54065 TS ITEMP1
022714,000054: 23,2012 50000 INDEX A
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The above two instructions have a line drawn by them, with handwritten notes "CA TS T5M". |
022716,000056: 23,2013 11476 CCS PERROR # LOOK AT CURRENT ATT ERROR
022717,000057: 23,2014 12037 TCF ERLIMCHK # HAVE E VALUE GET MAGNITUDE
022718,000058: 23,2015 12017 TCF ZERR # ZERO VALUE
022719,000059: 23,2016 12037 TCF ERLIMCHK # GET MAGNITUDE
022720,000060: 23,2017 50065 ZERR INDEX ITEMP1
022721,000061: 23,2020 41476 CS PERROR
022722,000062: 23,2021 50065 INDEX ITEMP1
022723,000063: 23,2022 57473 XCH LASTPER # SAVE CURRENT E, LOAD LAST E (NEG)
022724,000064: 23,2023 50065 INDEX ITEMP1
022725,000065: 23,2024 61476 AD PERROR # GET DIFF E(N-2) - E(N)
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"INDEX ITEMP1" and "PERROR" above are crossed out. Next to them the word "TEMP" is written in. |
022727,000067: 23,2025 00006 EXTEND
022728,000068: 23,2026 77643 MP BIT13 # SHIFT RIGHT 2
022729,000069: 23,2027 50065 INDEX ITEMP1
022730,000070: 23,2030 54050 TS CDUXCMD # STORE CMD E VALUE
022731,000071: 23,2031 10065 CCS ITEMP1
022732,000072: 23,2032 12011 TCF ATERDSPY +1 # GET NEXT E
022733,000073:
022734,000074: 23,2033 33405 CA OCT70000 # ICDU DRIVE BITS 13,14,15
022735,000075: 23,2034 00006 EXTEND
022736,000076: 23,2035 05014 WOR 14 # DRIVE AWAY
022737,000077: 23,2036 12146 TCF PAXFILT # ATT ERROR DISPLAY DONE FOR THIS CYCLE
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The above four instructions are circled. "OCT70000" is scratched out, and "BIT16" is written by it. "14" is also crossed out, with "12" written by it. 14, however, was the correct channel, so why it's crossed out like this is a mystery. |
022741,000081:
022742,000082: 23,2037 67657 ERLIMCHK AD BIT1 # HAVE MAG OF E, SEE IF GREATER THAN
022743,000083: 23,2040 40000 COM # 5 DEGREES
022744,000084: 23,2041 65040 AD 5DEGS
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The above three instructions are circled, and "AD-5+1" is written by them |
022746,000086: 23,2042 00006 EXTEND
022747,000087: 23,2043 62045 BZMF BIGATER # ERROR GREATER THAN 5 DEGS, DSPY 5 DEGS
022748,000088: 23,2044 12017 TCF ZERR # E LESS THAN 5 DEGS, NORMAL PROCED
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"BIGATER" and "TCF ZERR" above are circled, with "ZERR" written next to them. |
022750,000090:
022751,000091: 23,2045 50065 BIGATER INDEX ITEMP1
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The above instruction is circled. |
022753,000093: 23,2046 11476 CCS PERROR # GET SIGN OF BIG ERROR
022754,000094: 23,2047 35040 CA 5DEGS
022755,000095: 23,2050 12052 TCF +2 # CANT BE ZERO HERE
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Page 543 |
022757,000097: 23,2051 45040 CS 5DEGS
022758,000098: 23,2052 50065 INDEX ITEMP1
022759,000099: 23,2053 55476 TS PERROR # SET BIG ERROR TO 5DEGS
022760,000100: 23,2054 12017 TCF ZERR
022761,000101:
022762,000102: # END OF ATTITUDE ERROR NEEDLE DRIVER. (SHOULD GO IN-LINE SOMETIME.)
022763,000103:
022764,000104:
022765,000105: # THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS.
022766,000106: # THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP.
022767,000107:
022768,000108: 23,2055 33072 PAXIS CAF MS30P # RESET TIMER IMMEDIATELY: DT = 30 MS
022769,000109: 23,2056 54030 TS TIME5
022770,000110:
022771,000111: 23,2057 22016 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
022772,000112: 23,2060 00006 EXTEND
022773,000113: 23,2061 22012 QXCH QRUPT
022774,000114:
022775,000115: # CHECK TO SEE IF DAP IS STILL IN USE:
022776,000116:
022777,000117: 23,2062 00006 EXTEND # IF BOTH BITS 13 AND 14 OF CHANNEL 31 ARE
022778,000118: 23,2063 00031 READ 31 # EQUAL TO 1, THEN THE SCS MODE SWITCH IS
022779,000119: 23,2064 40000 COM # IN THE OFF POSITION. ACTUALLY, THE TEST
022780,000120: 23,2065 77700 MASK BIT13-14 # IS MADE ON BOTH THE ATTITUDE HOLD AND
022781,000121: 23,2066 00006 EXTEND # AUTOMATIC MODE BITS.
022782,000122: 23,2067 13124 BZF GOIDLE
022783,000123:
022784,000124: # WHILE DAP IS ON, SET UP EITHER A KALMAN FILTER RUPT OR A DUMMY FILTER RUPT BY SETTING UP T5ADR FROM ERASABLE.
022785,000125:
022786,000126: 23,2070 00006 EXTEND # T5ADR IS SET TO EITHER FILTER OR
022787,000127: 23,2071 31602 DCA PFILTADR # DUMMYFIL IN A BLIND MANNER SINCE
022788,000128: 23,2072 52346 DXCH T5ADR # PFILTADR IS SET UP ELSEWHERE
022789,000129:
022790,000130: # DO P AXIS RATE DERIVATION AND CONTROL LAW.
022791,000131: # DERIVE DELTA P.
022792,000132:
022793,000133: 23,2073 30032 FILT/PAX CAE CDUX
022794,000134: 23,2074 54001 TS L
022795,000135: 23,2075 00006 EXTEND
022796,000136: 23,2076 21431 MSU OLDXFORP # SCALED AT PI
022797,000137: 23,2077 23431 LXCH OLDXFORP
022798,000138: 23,2100 00006 EXTEND
022799,000139: 23,2101 77651 MP BIT7
022800,000140: 23,2102 22066 LXCH DELTAP # SCALE AT PI/2(6)
022801,000141: 23,2103 30033 CA CDUY
022802,000142: 23,2104 54001 TS L
022803,000143: 23,2105 00006 EXTEND
022804,000144: 23,2106 21432 MSU OLDYFORP # SCALED AT PI
022805,000145: 23,2107 23432 LXCH OLDYFORP
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Page 544 |
022807,000147: 23,2110 00006 EXTEND
022808,000148: 23,2111 77651 MP BIT7 # INTO L SCALED AT PI/2(6)
022809,000149: 23,2112 31404 CA M11 # M11 SCALED AT 1
022810,000150: 23,2113 00006 EXTEND
022811,000151: 23,2114 70001 MP L # INTO A SCALED AT PI/2(6).
022812,000152: 23,2115 60066 AD DELTAP
022813,000153: 23,2116 00006 EXTEND
022814,000154: 23,2117 71655 MP WFORP # SCALED AT 2(4)=16, RESULT IN A AT PI/4.
022815,000155: 23,2120 57416 XCH OMEGAP # W*DELTAP IN OMEGAP LOC. OLD OMEGAP IN A.
022816,000156: 23,2121 00006 EXTEND
022817,000157: 23,2122 73066 MP ONE-K # SCALED AT 1.
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"ONE-K" is circled on the above line in red. |
022819,000159: 23,2123 61615 AD JETRATE # RATE DUE TO JETS TORQUING.
022820,000160: 23,2124 27416 ADS OMEGAP # PRATE= WFORP*DELTAP+ALPHA*LAST-PRATE+TPF
022821,000161: 23,2125 04177 TC T6JOBCHK # T6JOBCHK IS IN FIXED-FIXED
022822,000162:
022823,000163: # ***** KALCMANU-DAP AND "RATE-HOLD"-DAP INTERFACE *****
022824,000164:
022825,000165: # THE FOLLOWING SECTION IS EXECUTED EVERY 100 MS (10 TIMES A SECOND) WITHIN THE P-AXIS REACTION CONTROL SYSTEM
022826,000166: # AUTOPILOT (WHENEVER THE DAP IS IN OPERATION).
022827,000167:
022828,000168: 23,2126 37656 CAF TWO # SET UP LOOP TO DO Z,Y,X CDU AXES:
022829,000169: 23,2127 54073 KALCLOOP TS QRCNTR
022830,000170:
022831,000171: 23,2130 50073 INDEX QRCNTR # KALCMANU AND RATE-HOLD USE THIS SECTION
022832,000172: 23,2131 30774 CAE CDUXD # TO PERFORM THEIR INDEPENDENT FUNCTIONS:
022833,000173: 23,2132 00006 EXTEND # BOTH PROCEDURES SET UP THE DELCUD'S
022834,000174: 23,2133 50073 INDEX QRCNTR # TO HAVE THE NEGATIVE VALUE OF THE
022835,000175: 23,2134 21673 MSU DELCDUX # DESIRED CDU CHANGE FOR EACH 100 MS CSP
022836,000176: 23,2135 10000 CCS A # DURING THE MANEUVER (OR MODE). EACH IS
022837,000177: 23,2136 67657 AD ONE # STORED AT PI RADIANS IN 2'S COMPLEMENT.
022838,000178: 23,2137 12141 TCF +2 # SINCE THE MODULAR SUBTRACT YIELDS THE
022839,000179: 23,2140 40000 COM # NEW CDUD VALUE IN 1'S COMPLEMENT, THE
022840,000180: 23,2141 50073 INDEX QRCNTR # CCS SECTION IS NEEDED FOR 1'S TO 2'S
022841,000181: 23,2142 54774 TS CDUXD # CONVERSION OF DESIRED CDU ANGLES.
022842,000182:
022843,000183: 23,2143 10073 CCS QRCNTR # (THIS MAKES THE LOOP DO ALL THREE AXES
022844,000184: 23,2144 12127 TCF KALCLOOP # IN THE ORDER Z, Y, X.)
022845,000185:
022846,000186:
022847,000187: 23,2145 12000 TCF EIGHTBAL
022848,000188:
022849,000189: 23,2146 01613 PAXFILT TC PJUMPADR
022850,000190: 23,2147 33361 SKIPPAXS CA VISFZADR
022851,000191: 23,2150 55613 TS PJUMPADR
022852,000192: 23,2151 37665 CA ZERO
022853,000193: 23,2152 55615 TS JETRATE
022854,000194: 23,2153 31625 CA TP
022855,000195: 23,2154 63071 AD NEGCSP1
022856,000196: 23,2155 10000 CCS A
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Page 545 |
022858,000198: 23,2156 02167 TC PTORQUE
022859,000199: 23,2157 14606 TCF RESUME
022860,000200: 23,2160 02167 TC PTORQUE
022861,000201: 23,2161 41615 CS JETRATE
022862,000202: 23,2162 27416 ADS OMEGAP
022863,000203: 23,2163 37665 CA ZERO
022864,000204: 23,2164 55615 TS JETRATE
022865,000205: 23,2165 14606 TCF RESUME
022866,000206: 23,2166 20000 (1-K)/8P OCTAL 20000
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The above line is crossed out in red. |
022868,000208: 23,2167 67657 PTORQUE AD ONE
022869,000209: 23,2170 00006 EXTEND
022870,000210: 23,2171 77653 MP BIT5
022871,000211: 23,2172 30001 CA L
022872,000212: 23,2173 00006 EXTEND
022873,000213: 23,2174 73074 MP 16/25
022874,000214: 23,2175 55625 TS TP
022875,000215: 23,2176 31655 CA WFORP
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There is an "E" written in red after "CA" above, indicating that it should be changed to "CAE". |
022877,000217: 23,2177 62166 AD (1-K)/8P
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The "P" in "(1-K)/8P" is circled. |
022879,000219: 23,2200 00006 EXTEND
022880,000220: 23,2201 71625 MP TP
022881,000221: 23,2202 00006 EXTEND
022882,000222: 23,2203 77654 MP BIT4
022883,000223: 23,2204 31627 CA 1JACC
022884,000224: 23,2205 00006 EXTEND
022885,000225: 23,2206 70001 MP L
022886,000226: 23,2207 00006 EXTEND
022887,000227: 23,2210 71624 MP NO.PJETS
022888,000228: 23,2211 23615 LXCH JETRATE
022889,000229: 23,2212 00002 TC Q
022890,000230: 23,2213 37647 CHKVISFZ CAF BIT9 # VISIBILITY PHASE BIT
022891,000231: 23,2214 70765 MASK DAPBOOLS
022892,000232: 23,2215 00006 EXTEND
022893,000233: 23,2216 12220 BZF +2
022894,000234: 23,2217 12617 TCF PURGENCY # ATTITUDE STEER DURING VISIBILITY PHASE
022895,000235:
022896,000236: 23,2220 37646 CAF BIT10 # BIT10=1 FOR RHC MINIMUM IMPULSE MODE
022897,000237: 23,2221 70765 MASK DAPBOOLS
022898,000238: 23,2222 00006 EXTEND
022899,000239: 23,2223 12305 BZF DETENTCK # BRANCH FOR RATE COMMAND
022900,000240:
022901,000241: 23,2224 30773 CAE DELAYCTR # SET BY RUPT10 TO TWO
022902,000242: 23,2225 00006 EXTEND
022903,000243: 23,2226 12260 BZF BITSGONE # CHECK FOR ALL SWITCHES OPEN
022904,000244:
022905,000245: 23,2227 43102 CS -TJMINT6
022906,000246: 23,2230 55505 TS TOFJTCHG
022907,000247:
022908,000248: 23,2231 55625 TS TP # FOR RATE DERIVATION
022909,000249: 23,2232 37655 CA BIT3
022910,000250: 23,2233 00006 EXTEND
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Page 546 |
022912,000252: 23,2234 02031 RAND 31
022913,000253: 23,2235 00006 EXTEND
022914,000254: 23,2236 12251 BZF +MINIMP
022915,000255:
022916,000256: 23,2237 37654 CA BIT4
022917,000257: 23,2240 00006 EXTEND
022918,000258: 23,2241 02031 RAND 31
022919,000259: 23,2242 00006 EXTEND
022920,000260: 23,2243 12253 BZF -MINIMP
022921,000261:
022922,000262: 23,2244 10773 CCS DELAYCTR # DELAYCTR ALWAYS PNZ HERE
022923,000263: 23,2245 54773 TS DELAYCTR
022924,000264: 23,2246 00006 EXTEND
022925,000265: 23,2247 12277 BZF PLETRUPT
022926,000266: 23,2250 12612 TCF JETSOFF
022927,000267:
022928,000268: 23,2251 37657 +MINIMP CAF BIT1
022929,000269: 23,2252 12254 TCF +2
022930,000270: 23,2253 47657 -MINIMP CS BIT1
022931,000271: 23,2254 55440 +2 TS TPSIG
022932,000272: 23,2255 37665 CAF ZERO
022933,000273: 23,2256 54773 TS DELAYCTR
022934,000274: 23,2257 12462 TCF 2PJETS
022935,000275:
022936,000276: 23,2260 00006 BITSGONE EXTEND # ARE SWITCHES ALL OPEN
022937,000277: 23,2261 00031 READ 31
022938,000278: 23,2262 40000 COM
022939,000279: 23,2263 73103 MASK DAPLOW6
022940,000280: 23,2264 00006 EXTEND
022941,000281: 23,2265 12267 BZF +2
022942,000282: 23,2266 12612 TCF JETSOFF
022943,000283:
022944,000284: 23,2267 37654 CAF BIT4 # BIT4 OF DAPBOOLS ZERO IF PREVIOUS
022945,000285: 23,2270 70765 MASK DAPBOOLS # READING OF 31 FOUND ALL SWITCHES OPEN
022946,000286: 23,2271 00006 EXTEND
022947,000287: 23,2272 12277 BZF PLETRUPT
022948,000288:
022949,000289: 23,2273 47654 CS BIT4
022950,000290: 23,2274 70765 MASK DAPBOOLS
022951,000291: 23,2275 54765 TS DAPBOOLS
022952,000292: 23,2276 12612 TCF JETSOFF
022953,000293:
022954,000294: 23,2277 37654 PLETRUPT CAF BIT4
022955,000295: 23,2300 26765 ADS DAPBOOLS
022956,000296: 23,2301 37644 CAF BIT12
022957,000297: 23,2302 00006 EXTEND
022958,000298: 23,2303 05013 WOR 13
022959,000299: 23,2304 12612 TCF JETSOFF
022960,000300: 23,2305 37641 DETENTCK CA BIT15
022961,000301: 23,2306 00006 EXTEND
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Page 547 |
022963,000303: 23,2307 02031 RAND 31 # CHECK OUT-OF-DETENT BIT.INVERTED.
022964,000304: 23,2310 00006 EXTEND
022965,000305: 23,2311 12346 BZF RHCMOVED # BRANCH IF OUT OF DETENT
022966,000306: # ........................................................................
022967,000307: 23,2312 37657 CAF BIT1 # IN DETENT.CHECK THE RATE COMMAND BIT
022968,000308: 23,2313 70765 MASK DAPBOOLS # BIT1 OF DAPBOOLS IS RATE COMMAND BIT
022969,000309: 23,2314 00006 EXTEND
022970,000310: 23,2315 12617 BZF PURGENCY # BRANCH IF NOT IN RATE COMMAND
022971,000311: # ........................................................................
022972,000312: 23,2316 37643 CAF BIT13 # CHECK ATTITUDE HOLD BIT
022973,000313: 23,2317 00006 EXTEND
022974,000314: 23,2320 02031 RAND 31
022975,000315: 23,2321 00006 EXTEND
022976,000316: 23,2322 12417 BZF JOEY # BRANCH IF IN ATTITUDE HOLD
022977,000317: # ........................................................................
022978,000318: 23,2323 11416 CCS OMEGAP # HERE IF IN Y-AXIS OVER-RIDE
022979,000319: 23,2324 12330 TCF +4
022980,000320: 23,2325 12334 TCF RATEDONE
022981,000321: 23,2326 12330 TCF +2
022982,000322: 23,2327 12334 TCF RATEDONE
022983,000323: 23,2330 61506 AD -RATEDB
022984,000324: 23,2331 00006 EXTEND
022985,000325: 23,2332 62334 BZMF RATEDONE
022986,000326: 23,2333 12417 TCF JOEY
022987,000327:
022988,000328: 23,2334 47657 RATEDONE CS BIT1
022989,000329: 23,2335 70765 MASK DAPBOOLS
022990,000330: 23,2336 54765 TS DAPBOOLS
022991,000331:
022992,000332: # READ CDUS INTO CDU DESIRED REGISTERS
022993,000333:
022994,000334: 23,2337 30032 CA CDUX
022995,000335: 23,2340 54774 TS CDUXD
022996,000336: 23,2341 30033 CA CDUY
022997,000337: 23,2342 54775 TS CDUYD
022998,000338: 23,2343 30034 CA CDUZ
022999,000339: 23,2344 54776 TS CDUZD
023000,000340:
023001,000341: 23,2345 12612 TCF JETSOFF
023002,000342:
023003,000343: 23,2346 37657 RHCMOVED CAF BIT1 # CHECKING THE RATE COMMAND BIT
023004,000344: 23,2347 70765 MASK DAPBOOLS
023005,000345: 23,2350 00006 EXTEND
023006,000346: 23,2351 12371 BZF JUSTOUT
023007,000347:
023008,000348: # READ,ZERO, AND ENABLE COUNTERS
023009,000349: # SYSTEM HAS BEEN IN RATE COMMAND FOR AT LEAST THE TIME OF A CAP CHARGE
023010,000350:
023011,000351: 23,2352 30043 CAE P-RHCCTR # 1 BIT IN P-RHCCTR WORTH 0.6256 DEG/SEC
023012,000352: 23,2353 00006 EXTEND
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Page 548 |
023014,000354: 23,2354 77647 MP BIT9
023015,000355: 23,2355 30001 CA L
023016,000356: 23,2356 00006 EXTEND
023017,000357: 23,2357 73073 MP 0.88975
023018,000358: 23,2360 55441 TS PRATECOM # COMMANDED RATE SCALED AT PI/4
023019,000359:
023020,000360: 23,2361 37665 CAF ZERO # ZERO COUNTERS
023021,000361: 23,2362 54043 TS P-RHCCTR
023022,000362: 23,2363 54042 TS Q-RHCCTR
023023,000363: 23,2364 54044 TS R-RHCCTR
023024,000364: 23,2365 33111 CA BITS8,9 # ENABALE COUNTERS, START READING
023025,000365: 23,2366 00006 EXTEND
023026,000366: 23,2367 05013 WOR 13
023027,000367: 23,2370 12421 TCF OBEYRATE
023028,000368: # ........................................................................
023029,000369: 23,2371 24765 JUSTOUT INCR DAPBOOLS # ALWAYS SETS BIT1 ON RATE COMMAND BIT
023030,000370: 23,2372 37656 CAF BIT2
023031,000371: 23,2373 00006 EXTEND
023032,000372: 23,2374 02030 RAND 30
023033,000373: 23,2375 00006 EXTEND
023034,000374: 23,2376 12403 BZF +5 # BRANCH FOR ASCENT CONSTANTS
023035,000375:
023036,000376: 23,2377 33076 CAF -D2JTLIM # -1.4 DEG/SEC SCALED AT PI/4
023037,000377: 23,2400 55507 TS -2JETLIM
023038,000378: 23,2401 33075 CAF -DRATEDB # -0.4 DEG/SEC SCALED AT PI/4
023039,000379: 23,2402 12406 TCF +4
023040,000380:
023041,000381: 23,2403 33077 +5 CAF -A2JTLIM # -2.0 DEG/SEC SCALED AT PI/4
023042,000382: 23,2404 55507 TS -2JETLIM
023043,000383: 23,2405 33100 CAF -ARATEDB # -1.0 DEG/SEC SCALED AT PI/4
023044,000384: 23,2406 55506 +4 TS -RATEDB
023045,000385:
023046,000386: 23,2407 37665 CAF ZERO # ZERO COUNTERS
023047,000387: 23,2410 54043 TS P-RHCCTR
023048,000388: 23,2411 54042 TS Q-RHCCTR
023049,000389: 23,2412 54044 TS R-RHCCTR
023050,000390: 23,2413 33111 CA BITS8,9
023051,000391: 23,2414 00006 EXTEND
023052,000392: 23,2415 05013 WOR 13
023053,000393: 23,2416 12612 TCF JETSOFF
023054,000394: # ........................................................................
023055,000395: 23,2417 37665 JOEY CAF ZERO
023056,000396: 23,2420 55441 TS PRATECOM
023057,000397:
023058,000398: # IN THIS SECTION P RATE ERROR IS COMPUTED AND T-JET IS CALCULATED
023059,000399:
023060,000400: 23,2421 41416 OBEYRATE CS OMEGAP
023061,000401: 23,2422 61441 AD PRATECOM
023062,000402: 23,2423 55440 TS TPSIG # SIGN STORAGE TO TELL DIRECTION OF ROT.
023063,000403: 23,2424 10000 OBEYRAPE CCS A # GET ABVAL OF RATE P-ERROR
|
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Page 549 |
023065,000405: 23,2425 12431 TCF +4
023066,000406: 23,2426 12612 TCF JETSOFF
023067,000407: 23,2427 12431 TCF +2
023068,000408: 23,2430 12612 TCF JETSOFF
023069,000409: 23,2431 67657 AD BIT1
023070,000410: 23,2432 55472 TS PRATEDIF # ABVAL OF RATE ERROR SCALED AT PI/4
023071,000411:
023072,000412: 23,2433 04177 TC T6JOBCHK # T6JOBCHK IS IN FIXED-FIXED
023073,000413:
023074,000414: 23,2434 31506 CA -RATEDB
023075,000415: 23,2435 61472 AD PRATEDIF
023076,000416: 23,2436 00006 EXTEND
023077,000417: 23,2437 62612 BZMF JETSOFF # RATE ERROR INSIDE DEADBAND
023078,000418:
023079,000419: 23,2440 41472 CS PRATEDIF
023080,000420: 23,2441 00006 EXTEND
023081,000421: 23,2442 61507 SU -2JETLIM
023082,000422: 23,2443 00006 EXTEND
023083,000423: 23,2444 62537 BZMF RCM4JETS
023084,000424:
023085,000425: 23,2445 31472 CA PRATEDIF # 2 JETS ENOUGH.COMPUTE TJET
023086,000426: 23,2446 00006 EXTEND
023087,000427: 23,2447 71444 MP 1/2JTSP # 1/2JTACC SCALED AT 2EXP(8)/PI
023088,000428: 23,2450 00006 EXTEND
023089,000429: 23,2451 77654 MP BIT4
023090,000430: 23,2452 30001 CA L
023091,000431: 23,2453 00006 EXTEND
023092,000432: 23,2454 73101 MP 25/32 # A CONTAINS TJET SCALED AT 2EXP(4)(16/25)
023093,000433: 23,2455 55625 TS TP
023094,000434:
023095,000435: # ........................................................................
023096,000436: # CHECK RATE COMMAND ON TIME AGAINST MINIMUM IMPULSE
023097,000437: 23,2456 55505 TS TOFJTCHG
023098,000438: 23,2457 63102 AD -TJMINT6
023099,000439: 23,2460 00006 EXTEND # AS TP. TEST JET TIME. IS IT GREATER OR
023100,000440: 23,2461 62612 BZMF JETSOFF # LESS THAN A MINIMUM IMPULSE
023101,000441: # ........................................................................
023102,000442: # 2-JET JET SELECT LOGIC
023103,000443: # READ CHANNEL 6 TO SEE WHAT THE CURRENT STATE OF THE P JETS IS AND
023104,000444: # CORRECT THE JET TIME FOR THE PROPER AMOUNT OF TIME .
023105,000445: 23,2462 00006 2PJETS EXTEND # WHAT IS THE CURRENT STATE OF THE P JETS.
023106,000446: 23,2463 00006 READ 6
023107,000447: 23,2464 00006 EXTEND
023108,000448: 23,2465 12471 BZF PJETSNOT
023109,000449: 23,2466 33067 CA MCOMPT # - COMPUTATION TIME FOR THE PAXIS
023110,000450: 23,2467 27505 ADS TOFJTCHG # ALTER JET OFF TIME PER STATE OF CH 6.
023111,000451: 23,2470 12500 TCF TESTSIGN
023112,000452: 23,2471 33070 PJETSNOT CA 14-TJMIN # TOTAL DELAY FOR A MIN IMP TO FULL ON.
023113,000453: 23,2472 27505 ADS TOFJTCHG # ALTER JET OFF TIME PER STATE OF CH 6.
023114,000454: # ........................................................................
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Page 550 |
023116,000456: # SET UP THE ALTERNATING P SELECT BIT IN DAPBOOLS.
023117,000457: 23,2473 37653 ALTPSELT CA BIT5 # COMPLEMENT BIT5 OF DAPBOOLS
023118,000458: 23,2474 22765 LXCH DAPBOOLS
023119,000459: 23,2475 00006 EXTEND
023120,000460: 23,2476 06001 RXOR L
023121,000461: 23,2477 54765 TS DAPBOOLS
023122,000462: 23,2500 11440 TESTSIGN CCS TPSIG
023123,000463: 23,2501 37653 CA BIT5
023124,000464: 23,2502 12504 TCF +2
023125,000465: 23,2503 12521 TCF NEGTP
023126,000466:
023127,000467: 23,2504 70765 MASK DAPBOOLS # IN THE DAP BOOLS WORD.
023128,000468: 23,2505 00006 EXTEND
023129,000469: 23,2506 12514 BZF ALTPOS1
023130,000470: 23,2507 37664 ALTPOS2 CA POSPJET1
023131,000471: 23,2510 04222 TC WRITEJTS +2
023132,000472: 23,2511 37647 CA BIT9 # NOW. ZERO AT CHG.(WRITE LOW8 IN CH.6).
023133,000473: 23,2512 55502 TS JTSATCHG # STATE OF P AXIS JETS AFTER THE T6 RUPT.
023134,000474: 23,2513 12676 TCF P+2JET
023135,000475: 23,2514 33110 ALTPOS1 CA POSPJET0
023136,000476: 23,2515 04222 TC WRITEJTS +2
023137,000477: 23,2516 37647 CA BIT9 # NOW. ZERO AT CHG.(WRITE LOW8 IN CH.6).
023138,000478: 23,2517 55502 TS JTSATCHG # JTSONNOW CONTAINS BITS WRITTEN INTO CH 6
023139,000479: 23,2520 12676 TCF P+2JET
023140,000480: # ........................................................................
023141,000481: # TEST DAPBOOLS TO DETERMINE WHICH JET PAIR TO USE FOR P AXIS ROTATION.
023142,000482: 23,2521 37653 NEGTP CA BIT5
023143,000483: 23,2522 70765 MASK DAPBOOLS # IN THE DAP BOOLS WORD.
023144,000484: 23,2523 00006 EXTEND
023145,000485: 23,2524 12532 BZF ALTNEG1
023146,000486: 23,2525 33107 ALTNEG2 CA NEGPJET1
023147,000487: 23,2526 04222 TC WRITEJTS +2
023148,000488: 23,2527 37647 CA BIT9 # NOW. ZERO AT CHG.(WRITE LOW8 IN CH.6).
023149,000489: 23,2530 55502 TS JTSATCHG # STATE OF P AXIS JETS AFTER THE T6 RUPT.
023150,000490: 23,2531 12700 TCF P-2JET
023151,000491: 23,2532 33106 ALTNEG1 CA NEGPJET0
023152,000492: 23,2533 04222 TC WRITEJTS +2
023153,000493: 23,2534 37647 CA BIT9 # NOW. ZERO AT CHG.(WRITE LOW8 IN CH.6).
023154,000494: 23,2535 55502 TS JTSATCHG # STATE OF P AXIS JETS AFTER THE T6 RUPT.
023155,000495: 23,2536 12700 TCF P-2JET
023156,000496: 23,2537 31472 RCM4JETS CA PRATEDIF
023157,000497: 23,2540 00006 EXTEND
023158,000498: 23,2541 71444 MP 1/2JTSP
023159,000499: 23,2542 00006 EXTEND
023160,000500: 23,2543 77655 MP BIT3
023161,000501: 23,2544 30001 CA L
023162,000502: 23,2545 00006 EXTEND
023163,000503: 23,2546 73101 MP 25/32 # A NOW CONTAINS TJET SCALED AT 2EXP(4)(16
023164,000504: 23,2547 55625 TS TP # /25).
023165,000505:
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Page 551 |
023167,000507: # ........................................................................
023168,000508: # IN THIS SECTION DO THE P AXIS JET SELECT LOGIC FOR 4 JETS
023169,000509: 23,2550 55505 4PJETS TS TOFJTCHG # TOFJTCHG WILL BE MODIFIED AND WILL = T6.
023170,000510: 23,2551 41440 CS TPSIG
023171,000511: 23,2552 00006 EXTEND
023172,000512: 23,2553 62573 BZMF POS4P
023173,000513: 23,2554 00006 EXTEND
023174,000514: 23,2555 00006 READ 6
023175,000515: 23,2556 00006 EXTEND
023176,000516: 23,2557 12563 BZF +4
023177,000517: 23,2560 33067 CA MCOMPT
023178,000518: 23,2561 27505 ADS TOFJTCHG # ALTER JET OFF TIME PER STATE OF CH 6.
023179,000519: 23,2562 12565 TCF +3
023180,000520: 23,2563 33070 +4 CAF 14-TJMIN
023181,000521: 23,2564 27505 ADS TOFJTCHG # ALTER JET OFF TIME PER STATE OF CH 6.
023182,000522: 23,2565 33105 CA 4NEGPJET
023183,000523: 23,2566 04222 TC WRITEJTS +2
023184,000524: 23,2567 37647 CA BIT9 # THE LOW 8 BITS ONLY GET WRITTEN INTO CH.
023185,000525: 23,2570 55502 TS JTSATCHG # STATE OF P AXIS JETS AFTER THE T6 RUPT.
023186,000526: 23,2571 47655 CS FOUR
023187,000527: 23,2572 12701 TCF RATE
023188,000528: 23,2573 00006 POS4P EXTEND
023189,000529: 23,2574 00006 READ 6
023190,000530: 23,2575 00006 EXTEND
023191,000531: 23,2576 12602 BZF +4
023192,000532: 23,2577 33067 CA MCOMPT
023193,000533: 23,2600 27505 ADS TOFJTCHG # ALTER JET OFF TIME PER STATE OF CH 6.
023194,000534: 23,2601 12604 TCF +3
023195,000535: 23,2602 33070 +4 CA 14-TJMIN # TOTAL DELAY FOR A MIN IMP TO FULL ON.
023196,000536: 23,2603 27505 ADS TOFJTCHG # ALTER JET OFF TIME PER STATE OF CH 6.
023197,000537: 23,2604 33104 CA 4POSPJET
023198,000538: 23,2605 04222 TC WRITEJTS +2
023199,000539: 23,2606 37647 CA BIT9 # NOW. ZERO AT CHG.(WRITE LOW8 IN CH.6).
023200,000540: 23,2607 55502 TS JTSATCHG # STATE OF P AXIS JETS AFTER THE T6 RUPT.
023201,000541: 23,2610 37655 CA FOUR
023202,000542: 23,2611 12701 TCF RATE
023203,000543: 23,2612 37665 JETSOFF CAF ZERO
023204,000544: 23,2613 55615 TS JETRATE
023205,000545: 23,2614 55505 TS TOFJTCHG
023206,000546: 23,2615 04222 TC WRITEJTS +2
023207,000547: 23,2616 14606 TCF RESUME
023208,000548: # P-AXIS URGENCY FUNCTION CALCULATION
023209,000549:
023210,000550: # (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULITPLICATION.)
023211,000551:
023212,000552: 23,2617 30033 PURGENCY CA CDUY # P-ERROR CALCULATION
023213,000553: 23,2620 00006 EXTEND
023214,000554: 23,2621 20775 MSU CDUYD # CDU VALUE - ANGLE DESIRED (Y-AXIS)
023215,000555: 23,2622 00006 EXTEND
023216,000556: 23,2623 71404 MP M11 # (CDUY-CDUYD)M11 SCALED AT PI RADIANS
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Page 552 |
023218,000558: 23,2624 57411 XCH E # SAVE FIRST TERM (OF TWO)
023219,000559: 23,2625 30032 CA CDUX # THIRD COMPONENT
023220,000560: 23,2626 00006 EXTEND
023221,000561: 23,2627 20774 MSU CDUXD # CDU VALUE - ANGLE DESIRED (X-AXIS)
023222,000562: # EXTEND
023223,000563: # MP M13
023224,000564: 23,2630 27411 ADS E # SAVE SUM OF TERMS, NO OVERFLOW EVR
023225,000565:
023226,000566: 23,2631 55476 TS PERROR # SAVE P ERR FOR DISPLAY
023227,000567: 23,2632 31444 CAE 1/2JTSP # SET-UP FOR URGENCY SUBROUTINE
023228,000568: 23,2633 55471 TS 1/NJETAC
023229,000569:
023230,000570: 23,2634 04177 TC T6JOBCHK # CHECK T6 CLOCK HERE, BEFORE URGROUTN
023231,000571:
023232,000572: 23,2635 41426 CS OMEGAPD
023233,000573: 23,2636 61416 AD OMEGAP
023234,000574: 23,2637 55423 TS EDOTP
023235,000575: 23,2640 04156 TC IBNKCALL # *** SUBROUTINE CALL *** (TAKES 24 MCTS)
023236,000576: 23,2641 51525 CADR URGROUTN # (RETURN TAKES 10 MCTS)
023237,000577:
023238,000578: 23,2642 00006 EXTEND # IF URGENCY = 0, FIRE NO JETS
023239,000579: 23,2643 12612 BZF JETSOFF # (FOR EFFICIENCY ONLY)
023240,000580:
023241,000581: 23,2644 10000 CCS A # URGENCY FUNCTION IS IN A, GET ABVAL
023242,000582: 23,2645 63112 AD UPM
023243,000583: 23,2646 12650 TCF +2
023244,000584: 23,2647 63112 AD UPM
023245,000585: 23,2650 00006 EXTEND
023246,000586: 23,2651 62661 BZMF 2JETSP
023247,000587: 23,2652 37637 CA POSMAX
023248,000588: 23,2653 55470 TS NJET # INDICATE 4 JETS
023249,000589: 23,2654 31444 CA 1/2JTSP
023250,000590: 23,2655 00006 EXTEND
023251,000591: 23,2656 77642 MP BIT14 # USE 1/4JETSP
023252,000592: 23,2657 55471 TS 1/NJETAC
023253,000593: 23,2660 12663 TCF T-JETLAW
|
|
The above 23 instructions (everything from "CAE 1/2JTSP" down to here) have a box drawn around them in red. Between comments on the write is written in "Dick Gran says: Use no urg. fcn. on PAXIS, use TJETLAW only! 1. How do we determine direction? 2. How do we use TPSIG?". |
023257,000597:
023258,000598: 23,2661 47637 2JETSP CS POSMAX
023259,000599: 23,2662 55470 TS NJET # INDICATE 2 JETS
023260,000600: 23,2663 04177 T-JETLAW TC T6JOBCHK # CHECK T6 CLOCK RUPT BEFORE SUBROUTINE
023261,000601:
023262,000602: 23,2664 33114 CAF JETLWADR # TJETLAW CALLING SEQUENCE
023263,000603: 23,2665 04162 TC ISWCALL
023264,000604: 23,2666 12612 TCF JETSOFF
023265,000605: 23,2667 55625 TS TP
023266,000606:
023267,000607: 23,2670 11470 CCS NJET
023268,000608: 23,2671 31625 CA TP
023269,000609: 23,2672 12550 TCF 4PJETS
023270,000610: 23,2673 31625 CA TP
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Page 553 |
023272,000612: 23,2674 55505 TS TOFJTCHG
023273,000613: 23,2675 12462 TCF 2PJETS
023274,000614:
023275,000615: # TORQUE VECTOR RECONSTRUCTION FOR THE P-AXIS
023276,000616:
023277,000617: 23,2676 37656 P+2JET CA TWO
023278,000618: 23,2677 12701 TCF RATE
023279,000619: 23,2700 47656 P-2JET CS TWO
023280,000620: 23,2701 55624 RATE TS NO.PJETS # STORE NO. OF P JETS FOR USE LATER.
023281,000621: 23,2702 31622 CA 100MSPTQ # TORQUE FROM A 100 MS JET PULSE SET BY
023282,000622: 23,2703 00006 EXTEND # AOS TASK EVERY 2 SECONDS.
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|
The above two lines of comments have a box drawn around them in red. |
023284,000624: 23,2704 71627 MP 1JACC
023285,000625: 23,2705 00006 EXTEND
023286,000626: 23,2706 71624 MP NO.PJETS
023287,000627: 23,2707 23615 LXCH JETRATE # STORE JET RATE FOR OMEGAP COMPUTATION.
023288,000628: 23,2710 41505 CS TOFJTCHG
023289,000629: 23,2711 63065 AD +1.5CSP # USE 150 MS. TO TEST FOR A PAXIS SKIP.
023290,000630: 23,2712 00006 EXTEND
023291,000631: 23,2713 64606 BZMF RESUME # TP GREATER THAN 150MS THEN DO NORMAL P.
023292,000632: 23,2714 33113 CA PSKIPADR # SET UP A P AXIS SKIP.
023293,000633: 23,2715 55613 TS PJUMPADR
023294,000634: 23,2716 10031 JTLST CCS TIME6 # TEST CURRENT STATE OF T6.
023295,000635: 23,2717 12742 TCF T6ONNOW # IF T6 IS + THEN CLOCK IS ON.
023296,000636: 23,2720 12724 TCF T6OFFNOW # IF T6 IS + ZERO THEN T6 MUST BE OFF
023297,000637: 23,2721 12742 TCF T6ONNOW # SINCE ALL DINC S LEAD TO MINUS ZERO.
023298,000638: 23,2722 04203 TC T6JOB # WE ARE IN THE UNIQUE STATE WHICH SAYS
023299,000639: 23,2723 12716 TCF JTLST # A T6 INTERRUPT IS WAITING.DO T6 JOB.
023300,000640: 23,2724 31505 T6OFFNOW CA TOFJTCHG
023301,000641: 23,2725 54031 TS TIME6 # WE ARE HERE IF T6 CLOCK IS OFF.
023302,000642: 23,2726 37641 CA BIT15
023303,000643: 23,2727 00006 EXTEND # TURN CLOCK PULSE FOR T6 ON AND LOAD T6.
023304,000644: 23,2730 05013 WOR 13
023305,000645: 23,2731 31502 CA JTSATCHG
023306,000646: 23,2732 54770 TS T6NEXTJT
023307,000647: 23,2733 37665 CA ZERO
023308,000648: 23,2734 57504 XCH ADDTLT6 # SET UP NEXT T6 INTERRUPT AFTER THE
023309,000649: 23,2735 54766 TS T6NEXT # CURRENT ONE IS COMPLETE. ADDTLT6 MAY
023310,000650:
023311,000651: 23,2736 37665 CA ZERO # BE ZERO IN WHICH CASE NO MORE T6.
023312,000652: 23,2737 57503 XCH ADDT6JTS
023313,000653: 23,2740 54771 TS T6NEXTJT +1
023314,000654: 23,2741 14606 TCF RESUME
023315,000655: 23,2742 10766 T6ONNOW CCS T6NEXT # HERE IF T6 IS NOW ON. SEE IF T6NEXT IS
023316,000656: 23,2743 13023 TCF T6NXT=+ # ZERO OR NOT.
023317,000657: 23,2744 41505 CS TOFJTCHG # T6NEXT IS NEVER NEGATIVE.
023318,000658: 23,2745 60031 AD TIME6 # A CONTAINS T6 - TJET.
023319,000659: 23,2746 10000 CCS A # TEST SIGN OF A (SAVING THE DIFFERENCE).
023320,000660: 23,2747 67657 AD ONE
023321,000661: 23,2750 12765 TCF JTSFIRST # TJET IS LESS THAN T6.
023322,000662: 23,2751 12752 NOOP # IF DIFFERENCE I SNEGATIVE OR ZERO
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Page 554 |
023324,000664: 23,2752 67657 AD ONE # WE ADD 1 SO ZERO CAN NEVER BE IN LIST.
023325,000665: 23,2753 54766 TS T6NEXT
023326,000666: 23,2754 31502 CA JTSATCHG
023327,000667: 23,2755 54771 TS T6NEXTJT +1 # BEGIN SETTING UP JETS IN THE JET LIST.
023328,000668: 23,2756 37665 CA ZERO
023329,000669: 23,2757 57504 XCH ADDTLT6
023330,000670: 23,2760 54767 TS T6NEXT +1
023331,000671: 23,2761 37665 CA ZERO
023332,000672: 23,2762 57503 XCH ADDT6JTS
023333,000673: 23,2763 54772 TS T6NEXTJT +2
023334,000674: 23,2764 14606 TCF RESUME
023335,000675: 23,2765 54766 JTSFIRST TS T6NEXT # HERE IF TJET IS LESS THAN T6.
023336,000676: 23,2766 31505 CA TOFJTCHG
023337,000677: 23,2767 54031 TS TIME6 # SWITCH T6 AND TJET)
023338,000678: 23,2770 31502 CA JTSATCHG
023339,000679: 23,2771 56770 XCH T6NEXTJT # BEGIN SWITCHING JET WORDS IN JET LIST.
023340,000680: 23,2772 54771 TS T6NEXTJT +1
023341,000681: 23,2773 41504 CS ADDTLT6
023342,000682: 23,2774 00006 EXTEND
023343,000683: 23,2775 14606 BZF RESUME # SEE IF AN ADDITIONAL (QR) JET TIME IS
023344,000684: 23,2776 60766 AD T6NEXT # REQUIRED.
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|
There is a line here saying "* DELETE THROUGH 04993", indicating a change from the last revision. |
023346,000686: 23,2777 10000 CCS A # IF AN ADDITIONAL T6 IS NEEDEN, COMPARE
023347,000687: 23,3000 67657 AD ONE # IT WITH THE CONTENTS OF T6NEXT.
023348,000688: 23,3001 13012 TCF +11
023349,000689: 23,3002 13003 NOOP
023350,000690: 23,3003 67657 AD ONE
023351,000691: 23,3004 54767 TS T6NEXT +1
023352,000692: 23,3005 37665 CA ZERO
023353,000693: 23,3006 55504 TS ADDTLT6
023354,000694: 23,3007 57503 XCH ADDT6JTS
023355,000695: 23,3010 54772 TS T6NEXTJT +2
023356,000696: 23,3011 14606 TCF RESUME
023357,000697: 23,3012 54767 +11 TS T6NEXT +1
023358,000698: 23,3013 37665 CA ZERO
023359,000699: 23,3014 57504 XCH ADDTLT6
023360,000700: 23,3015 54766 TS T6NEXT
023361,000701: 23,3016 37665 CA ZERO
023362,000702: 23,3017 57503 XCH ADDT6JTS
023363,000703: 23,3020 56771 XCH T6NEXTJT +1
023364,000704: 23,3021 54772 TS T6NEXTJT +2
023365,000705: 23,3022 14606 TCF RESUME
023366,000706: 23,3023 41505 T6NXT=+ CS TOFJTCHG
023367,000707: 23,3024 60031 AD TIME6
023368,000708: 23,3025 60766 AD T6NEXT
023369,000709: 23,3026 10000 CCS A
023370,000710: 23,3027 67657 AD ONE
023371,000711: 23,3030 13037 TCF +7
023372,000712: 23,3031 13032 NOOP
023373,000713: 23,3032 67657 AD ONE
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Page 555 |
023375,000715: 23,3033 54767 TS T6NEXT +1
023376,000716: 23,3034 31502 CA JTSATCHG
023377,000717: 23,3035 54772 TS T6NEXTJT +2
023378,000718: 23,3036 14606 TCF RESUME
023379,000719: 23,3037 54001 +7 TS L
023380,000720: 23,3040 41505 CS TOFJTCHG
023381,000721: 23,3041 60031 AD TIME6
023382,000722: 23,3042 10000 CCS A
023383,000723: 23,3043 67657 AD ONE
023384,000724: 23,3044 13054 TCF JTSB4T6
023385,000725: 23,3045 13046 NOOP
023386,000726: 23,3046 67657 AD ONE
023387,000727: 23,3047 54766 TS T6NEXT
023388,000728: 23,3050 30001 CA L
023389,000729: 23,3051 54767 TS T6NEXT +1
023390,000730: 23,3052 31502 CA JTSATCHG
023391,000731: 23,3053 13062 TCF +7
023392,000732: 23,3054 56766 JTSB4T6 XCH T6NEXT
023393,000733: 23,3055 54767 TS T6NEXT +1
023394,000734: 23,3056 31505 CA TOFJTCHG
023395,000735: 23,3057 54031 TS TIME6
023396,000736: 23,3060 31502 CA JTSATCHG
023397,000737: 23,3061 56770 XCH T6NEXTJT
023398,000738: 23,3062 56771 +7 XCH T6NEXTJT +1
023399,000739: 23,3063 56772 XCH T6NEXTJT +2
023400,000740: 23,3064 14606 TCF RESUME
023401,000741: # T-JET LAW FIXED CONSTANTS
023402,000742:
023403,000743: 23,3065 00360 +1.5CSP DEC +0.01465
023404,000744: 23,3066 20000 ONE-K DEC 0.50000
023405,000745: 23,3067 77767 MCOMPT DEC -0.00049 # -5 MS. SCALED AS T6 (P-AXIS COMP TIME).
023406,000746: 23,3070 00013 14-TJMIN DEC 11 B-14
023407,000747: 23,3071 77537 NEGCSP1 DEC -.00977
023408,000748: 23,3072 37775 MS30P OCTAL 37775
023409,000749: 23,3073 34362 0.88975 DEC 0.88975
023410,000750: 23,3074 24366 16/25 DEC 0.64000
023411,000751: 23,3075 77555 -DRATEDB OCTAL 77555 # -0.4 DEG/SEC SCALED AT PI/4 RADIANS/SEC
023412,000752: 23,3076 77001 -D2JTLIM OCTAL 77001 # -1.4 DEG/SEC SCALED AT PI/4
023413,000753: 23,3077 76447 -A2JTLIM OCTAL 76447 # -2.0 DEG/SEC SCALED AT PI/4
023414,000754: 23,3100 77223 -ARATEDB OCTAL 77223 # -1.0 DEG/SEC SCALED AT PI/4
023415,000755: 23,3101 31000 25/32 DEC .78125
023416,000756: 23,3102 77763 -TJMINT6 DEC -.00073
023417,000757: 23,3103 00077 DAPLOW6 OCT 00077
023418,000758: 23,3104 00125 4POSPJET OCTAL 125
023419,000759: 23,3105 00252 4NEGPJET OCTAL 252
023420,000760: 23,3106 00012 NEGPJET0 OCTAL 12
023421,000761: 23,3107 00240 NEGPJET1 OCTAL 240
023422,000762: 23,3110 00120 POSPJET0 OCTAL 120
023423,000763: 23,3111 7664 POSPJET1 EQUALS FIVE
023424,000764: 23,3111 00600 BITS8,9 OCTAL 00600
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Page 556 |
023426,000766: 23,3112 71462 UPM DEC -.2 # TEMPORARY ESTIMATE
023427,000767: 23,3113 02147 PSKIPADR GENADR SKIPPAXS
023428,000768: 23,3114 52000 JETLWADR CADR TJETLAW
023429,000769:
023430,000770:
023431,000771:
023432,000772: 23,3115 22016 SETIDLE LXCH BANKRUPT # FIRST T5RUPT AFTER FRESH START COMES
023433,000773: 23,3116 33357 CAF IDLERADR # HERE, DAPIDLER IS STARTED IN 1 SECOND.
023434,000774: 23,3117 54345 TS T5ADR
023435,000775: 23,3120 33123 CAF 1SECRUPT
023436,000776: 23,3121 54030 TS TIME5
023437,000777: 23,3122 14610 TCF NOQRSM
023438,000778:
023439,000779: 23,3123 37634 1SECRUPT OCTAL 37634 # 1 SECOND SCALED AS TIME5 (100 PULSES)
023440,000780:
023441,000781: 23,3124 00006 GOIDLE EXTEND # COME HERE TO SHUT DOWN DAP
023442,000782: 23,3125 33360 DCA GOIDLADR
023443,000783: 23,3126 52346 DXCH T5ADR # SET UP RUPT TO GO IDLE AT DAPIDLER
023444,000784:
023445,000785: 23,3127 37665 CAF ZERO # CLEAR ALL JETS
023446,000786: 23,3130 00006 EXTEND
023447,000787: 23,3131 01005 WRITE 5
023448,000788: 23,3132 00006 EXTEND
023449,000789: 23,3133 01006 WRITE 6
023450,000790:
023451,000791: 23,3134 43140 CS BGIM23 # STOP THE TRIM GIMBAL DRIVES
023452,000792: 23,3135 00006 EXTEND
023453,000793: 23,3136 03012 WAND 12
023454,000794:
023455,000795: 23,3137 14606 TCF RESUME
023456,000796:
023457,000797: 23,3140 07400 BGIM23 OCTAL 07400
023458,000798:
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Below the address column is the calculation "3635 - 3140 = 475", seemingly calculating words used after the end of this section. |
End of include-file P-AXIS_REACTION_CONTROL_SYSTEM_AUTOPILOT.agc. Parent file is MAIN.agc