Source Code
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This is the source-code for the Apollo 9 Command Module's Guidance Computer.
These files were derived originally from the scan from MIT's Dibner Institute's
now-discontinued website titled "History of Recent Science and Technology", which
in turn was originally created by Gary Neff, though his high-quality scans were
unfortunately reduced in legibility when presented online.
The markings on the front of the
printout imply that it was the original AGC developer Norm Brodeur's copy.
A scan by Ron Burkey has superceded it, made from a more-legible copy from the collection of original
AGC developer Fred Martin. The source code was transcribed from
those images by Ron Burkey. 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:ASSEMBLE REVISION 249 OF AGC PROGRAM COLOSSUS BY NASA 2021111-041 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision. |
045165,000002: ## Copyright: Public domain. 045166,000003: ## Filename: JET_SELECTION_LOGIC.agc 045167,000004: ## Purpose: Part of the source code for Colossus, build 249. 045168,000005: ## It is part of the source code for the Command Module's (CM) 045169,000006: ## Apollo Guidance Computer (AGC), for Apollo 9. 045170,000007: ## Assembler: yaYUL 045171,000008: ## Reference: Starts on p. 1010 045172,000009: ## Contact: Ron Burkey <info@sandroid.org>. 045173,000010: ## Website: www.ibiblio.org/apollo. 045174,000011: ## Mod history: 08/26/04 RSB. Began transcribing. 045175,000012: ## 2017-01-06 RSB Page numbers now agree with those on the 045176,000013: ## original harcopy, as opposed to the PDF page 045177,000014: ## numbers in 1701.pdf. 045178,000015: ## 2017-01-15 RSB Cross-diff'd comment text (not whitespace) 045179,000016: ## vs the already-proofed corresponding Colossus 045180,000017: ## 237 and Comanche 55 source-code files 045181,000018: ## and corrected errors found. No differences 045182,000019: ## remained afterward. 045183,000020: ## 2017-02-05 RSB Back-ported comment corrections 045184,000021: ## identified while proofing Artemis 072. 045185,000022: ## 045186,000023: ## The contents of the "Colossus249" files, in general, are transcribed 045187,000024: ## from a scanned copy of the program listing. Notations on this 045188,000025: ## document read, in part: 045189,000026: ## 045190,000027: ## Assemble revision 249 of AGC program Colossus by NASA 045191,000028: ## 2021111-041. October 28, 1968. 045192,000029: ## 045193,000030: ## This AGC program shall also be referred to as 045194,000031: ## Colossus 1A 045195,000032: ## 045196,000033: ## Prepared by 045197,000034: ## Massachusetts Institute of Technology 045198,000035: ## 75 Cambridge Parkway 045199,000036: ## Cambridge, Massachusetts 045200,000037: ## under NASA contract NAS 9-4065. 045201,000038: ## 045202,000039: ## Refer directly to the online document mentioned above for further information. 045203,000040: ## Please report any errors (relative to the scanned pages) to info@sandroid.org. 045204,000041: ## 045205,000042: ## In some cases, where the source code for Luminary 131 overlaps that of 045206,000043: ## Colossus 249, this code is instead copied from the corresponding Luminary 131 045207,000044: ## source file, and then is proofed to incorporate any changes. 045208,000045:
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Page 1010 |
045210,000047: 21,3751 BANK 21 045211,000048: 17,2000 SETLOC DAPS4 045212,000049: 17,2000 BANK 045213,000050: 045214,000051: 17,2577 COUNT 17/DAPJS 045215,000052: 045216,000053: 17,2577 E6,1510 EBANK= KMPAC 045217,000054: 045218,000055: # EXAMINE CHANNEL 31 FOR TRANSLATION COMMANDS 045219,000056: 045220,000057: 17,2577 22016 JETSLECT LXCH BANKRUPT 045221,000058: 17,2600 32661 CAF DELTATT3 # = 60 MS RESET TO EXECUTE PHASE1 045222,000059: 17,2601 61634 AD T5TIME 045223,000060: 17,2602 54030 TS TIME5 045224,000061: 17,2603 12606 TCF +3 045225,000062: 17,2604 32662 CAF DELATT20 # = 20 MS TO ASSURE A T5RUPT 045226,000063: 17,2605 54030 TS TIME5 045227,000064: 17,2606 33340 CAF =14MS # RESET T6 TO INITIALIZE THE JET CHANNELS 045228,000065: 17,2607 54031 TS TIME6 # IN 14 MS 045229,000066: 17,2610 34674 CAF NEGMAX 045230,000067: 17,2611 00006 EXTEND 045231,000068: 17,2612 05013 WOR CHAN13 045232,000069: 17,2613 00006 EXTEND 045233,000070: 17,2614 22012 QXCH QRUPT 045234,000071: 17,2615 32660 CAF XLNMASK # = 7700 OCT 045235,000072: 17,2616 00006 EXTEND # EXAMINE THE TRANSLATION 045236,000073: 17,2617 06031 RXOR CHAN31 # HAND CONTROLLER 045237,000074: 17,2620 72660 MASK XLNMASK 045238,000075: 17,2621 00006 EXTEND 045239,000076: 17,2622 12663 BZF NOXLNCMD 045240,000077: 17,2623 55502 TS T5TEMP 045241,000078: 17,2624 00006 EXTEND 045242,000079: 17,2625 74702 MP BIT9 045243,000080: 17,2626 76214 MASK THREE 045244,000081: 17,2627 55513 TS XNDX1 # AC QUAD X-TRANSLATION INDEX 045245,000082: 17,2630 55514 TS XNDX2 # BD QUAD X-TRANSLATION INDEX 045246,000083: 17,2631 31502 CA T5TEMP 045247,000084: 17,2632 00006 EXTEND # 1 = + XLN 045248,000085: 17,2633 74704 MP BIT7 # 2 = - XLN 045249,000086: 17,2634 76214 MASK THREE # 3 = NO XLN 045250,000087: 17,2635 55515 TS YNDX # Y-TRANSLATION INDEX 045251,000088: 045252,000089: 17,2636 31502 CA T5TEMP 045253,000090: 17,2637 00006 EXTEND 045254,000091: 17,2640 74706 MP BIT5 045255,000092: 17,2641 76214 MASK THREE 045256,000093: 17,2642 55516 TS ZNDX # Z-TRANSLATION INDEX 045257,000094: 045258,000095: 17,2643 31466 CA DAPDATR1 # SET ATTKALMN TO PICK UP FILTER GAINS FOR 045259,000096: 17,2644 74675 MASK BIT14 # TRANSLATIONS. 045260,000097: 17,2645 00006 EXTEND # CHECK DAPDATR1 BIT 14 FOR LEM ATTACHED.
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Page 1011 |
045262,000099: 17,2646 12651 BZF NOLEM 045263,000100: 17,2647 46214 CS THREE # IF LEM IS ON, SET ATTKALMN = -3 045264,000101: 17,2650 12652 TCF +2 045265,000102: 17,2651 44711 NOLEM CS TWO # IF LEM IS OFF, SET ATTKALMN = -2. 045266,000103: 17,2652 55617 TS ATTKALMN 045267,000104: 17,2653 11631 CCS XTRANS # (+, -1, 0) 045268,000105: 17,2654 55513 TS XNDX1 # USING BD-X ZERO XNDX1 045269,000106: 17,2655 12667 TCF PWORD 045270,000107: 17,2656 55514 TS XNDX2 # USING AC-X ZERO XNDX2 045271,000108: 17,2657 12667 TCF PWORD 045272,000109: 17,2660 07700 XLNMASK OCT 7700 045273,000110: 17,2661 37772 DELTATT3 DEC 16378 B-14 # = 60 MS 045274,000111: 17,2662 37776 DELATT20 DEC 16382 B-14 # = 20 MS 045275,000112: 045276,000113: 17,2663 55513 NOXLNCMD TS XNDX1 # ZERO ALL REQUESTS FOR TRANSLATION 045277,000114: 17,2664 55514 TS XNDX2 045278,000115: 17,2665 55515 TS YNDX 045279,000116: 17,2666 55516 TS ZNDX 045280,000117: 045281,000118: # PITCH COMMANDS TIMING(NO X-TRANS, NO QUAD FAILS) 32MCT 045282,000119: 045283,000120: 17,2667 11562 PWORD CCS TAU1 # CHECK FOR PITCH COMMANDS 045284,000121: 17,2670 34712 CAF ONE 045285,000122: 17,2671 12673 TCF +2 # 0 = NO PITCH 045286,000123: 17,2672 34711 CAF TWO # +1 = + PITCH 045287,000124: 17,2673 55520 TS PINDEX # +2 = - PITCH 045288,000125: 045289,000126: 17,2674 11626 CCS RACFAIL # FLAG FOR REAL AC QUAD FAILURES 045290,000127: 17,2675 12701 TCF AFAILP 045291,000128: 17,2676 12711 TCF TABPCOM # 0 = NO REAL AC FAILURES 045292,000129: 17,2677 12703 TCF CFAILP # + = A QUAD FAILED 045293,000130: 17,2700 12711 TCF TABPCOM # - = C QUAD FAILED 045294,000131: # IF FAILURES ARE PRESENT IGNORE 045295,000132: # X-TRANSLATIONS ON THIS AXIS 045296,000133: 045297,000134: 17,2701 34334 AFAILP CAF NINE # IF FAILURE IS PRESENT 1JET OPERATION 045298,000135: 17,2702 12713 TCF TABPCOM +2 # IS ASSUMED. IGNORE X-TRANSLATION 045299,000136: 17,2703 35656 CFAILP CAF TWELVE 045300,000137: 17,2704 12713 TCF TABPCOM +2 045301,000138: 045302,000139: 17,2705 00000 XLNNDX DEC 0 B-14 # INDECES FOR TRANSLATION COMMANDS 045303,000140: 17,2706 00003 DEC 3 B-14 # FOR USE IN TABLE LOOK UP 045304,000141: 17,2707 00006 DEC 6 B-14 045305,000142: 17,2710 00000 DEC 0 B-14 045306,000143: 045307,000144: 17,2711 5656 TWELVE = OCT14 045308,000145: 045309,000146: # TABLE LOOK UP FOR PITCH COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT. 045310,000147: # BITS 9, 10 CONTAIN THE NUMBER OF PITCH JETS USED TO PERFORM THE PITCH ROTATION
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Page 1012 |
045312,000149: 045313,000150: 17,2711 51513 TABPCOM INDEX XNDX1 045314,000151: 17,2712 32705 CA XLNNDX 045315,000152: 17,2713 61520 AD PINDEX 045316,000153: 17,2714 50000 INDEX A 045317,000154: 17,2715 32741 CA PYTABLE 045318,000155: 17,2716 72760 MASK PJETS # =1417 OCT 045319,000156: 17,2717 55453 TS PWORD1 045320,000157: 17,2720 00006 EXTEND 045321,000158: 17,2721 74704 MP BIT7 045322,000159: 17,2722 55523 TS NPJETS # = NO. OF PITCH JETS 045323,000160: 045324,000161: # YAW JET COMMANDS TIMING(NO X-TRANS, NO QUAD FAILURES) 32MCT 045325,000162: 045326,000163: 17,2723 11563 YWORD CCS TAU2 # CHECK FOR YAW COMMANDS 045327,000164: 17,2724 34712 CAF ONE 045328,000165: 17,2725 12727 TCF +2 045329,000166: 17,2726 34711 CAF TWO 045330,000167: 17,2727 55521 TS YINDEX # YAW ROTATION INDEX 045331,000168: 045332,000169: 17,2730 11627 CCS RBDFAIL # FLAG FOR B OR D QUAD FAILURES 045333,000170: 17,2731 12735 TCF BFAILY # 0 = NO BD FAILURE 045334,000171: 17,2732 12762 TCF TABYCOM # + = B QUAD FAILED 045335,000172: 17,2733 12737 TCF DFAILY # - = D QUAD FAILED 045336,000173: 17,2734 12762 TCF TABYCOM 045337,000174: 045338,000175: 17,2735 34334 BFAILY CAF NINE 045339,000176: 17,2736 12764 TCF TABYCOM +2 045340,000177: 17,2737 35656 DFAILY CAF TWELVE 045341,000178: 17,2740 12764 TCF TABYCOM +2 045342,000179:
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Page 1013 |
045344,000181: # TABLE FOR PITCH(YAW) COMMANDS 045345,000182: # BITS 4,3,2,1 = PITCH, X-TRANSLATION JETS SELECTED 045346,000183: # BITS 10,9 = NO. PITCH JETS USED TO PERFORM ROTATION 045347,000184: # BITS 8,7,6,5 = YAW, X-TRANSLATION JETS SELECTED 045348,000185: # BITS 12,11: NO. YAW JETS USED TO PERFORM ROTATION 045349,000186: 045350,000187: # ROT TRANS QUAD BIAS 045351,000188: 17,2741 00000 PYTABLE OCT 0 # 0 0 0 045352,000189: 17,2742 05125 OCT 5125 # + 0 0 045353,000190: 17,2743 05252 OCT 5252 # - 0 0 045354,000191: 17,2744 00231 OCT 0231 # 0 + 3 045355,000192: 17,2745 02421 OCT 2421 # + + 3 045356,000193: 17,2746 02610 OCT 2610 # - + 3 045357,000194: 17,2747 00146 OCT 0146 # 0 - 6 045358,000195: 17,2750 02504 OCT 2504 # + - 6 045359,000196: 17,2751 02442 OCT 2442 # - - 6 045360,000197: 17,2752 00000 OCT 0 # 0 A(B) 9 045361,000198: 17,2753 02421 OCT 2421 # + A(B) 9 045362,000199: 17,2754 02442 OCT 2442 # - A(B) 9 045363,000200: 17,2755 00000 OCT 0 # 0 C(D) 12 045364,000201: 17,2756 02504 OCT 2504 # + C(D) 12 045365,000202: 17,2757 02610 OCT 2610 # - C(D) 12 045366,000203: 045367,000204: # MASKS FOR PITCH AND YAW COMMANDS 045368,000205: 045369,000206: 17,2760 01417 PJETS OCT 1417 045370,000207: 17,2761 06360 YJETS OCT 6360 045371,000208: 045372,000209: # TABLE LOOK UP FOR YAW COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT 045373,000210: # BITS 11, 12 CONTAIN THE NUMBER OF YAW JETS USED TO PERFORM THE YAW ROTATION 045374,000211: 045375,000212: 17,2762 51514 TABYCOM INDEX XNDX2 045376,000213: 17,2763 32705 CA XLNNDX 045377,000214: 17,2764 61521 AD YINDEX 045378,000215: 17,2765 50000 INDEX A 045379,000216: 17,2766 32741 CA PYTABLE 045380,000217: 17,2767 72761 MASK YJETS # = 6360 OCT 045381,000218: 17,2770 55455 TS YWORD1 045382,000219: 17,2771 00006 EXTEND 045383,000220: 17,2772 74706 MP BIT5 045384,000221: 17,2773 55524 TS NYJETS # NO. OF YAW JETS USED TO PERFORM ROTATION 045385,000222:
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Page 1014 |
045387,000224: # ROLL COMMANDS TIMING(NO Y,Z TRANS, NO QUAD FAILS) 45MCT 045388,000225: 045389,000226: 17,2774 11561 RWORD CCS TAU # CHECK FOR ROLL COMMANDS 045390,000227: 17,2775 34712 CAF ONE 045391,000228: 17,2776 13000 TCF +2 045392,000229: 17,2777 34711 CAF TWO 045393,000230: 17,3000 55517 TS RINDEX 045394,000231: 045395,000232: 17,3001 11630 CCS ACORBD # FLAG FOR AC OR BD QUAD SELECTION FOR 045396,000233: 17,3002 13073 TCF BDROLL # ROLL COMMANDS 045397,000234: 17,3003 13073 TCF BDROLL # +, +0 = BD ROLL 045398,000235: 17,3004 13005 TCF +1 # -, -0 = AC ROLL 045399,000236: 045400,000237: 17,3005 11626 ACROLL CCS RACFAIL # CHECK FOR REAL FAILURES 045401,000238: 17,3006 13012 TCF RAFAIL # ON AC QUADS 045402,000239: 17,3007 13022 TCF RXLNS 045403,000240: 17,3010 13014 TCF RCFAIL 045404,000241: 17,3011 13022 TCF RXLNS 045405,000242: 045406,000243: 17,3012 34334 RAFAIL CAF NINE # QUAD FAILURE WILL GET 045407,000244: 17,3013 13024 TCF TABRCOM # 1-JET OPERATION 045408,000245: 17,3014 35656 RCFAIL CAF TWELVE 045409,000246: 17,3015 13024 TCF TABRCOM 045410,000247: 045411,000248: 17,3016 00000 XLN1NDX DEC 0 B-14 045412,000249: 17,3017 00001 DEC 1 B-14 # INDECES FOR TRANSLATION 045413,000250: 17,3020 00002 DEC 2 B-14 045414,000251: 17,3021 00000 DEC 0 B-14 045415,000252: 045416,000253: # TABLE LOOK UP FOR AC-ROLL COMMANDS WITH AND WITHOUT Y-TRANSLATION AND ACQUAD FAILURES PRESENT 045417,000254: # BITS 9,10,11 CONTAIN THE MAGNITUDE AND DIRECTION OF THE ROLL 045418,000255: 045419,000256: 17,3022 51515 RXLNS INDEX YNDX # NO AC QUAD FAILURES 045420,000257: 17,3023 32705 CA XLNNDX # INCLUDE +,-,0, Y-TRANSLATION 045421,000258: 17,3024 61517 TABRCOM AD RINDEX 045422,000259: 17,3025 50000 INDEX A 045423,000260: 17,3026 33155 CA RTABLE 045424,000261: 17,3027 73174 MASK ACRJETS # = 3760 OCT 045425,000262: 17,3030 55451 TS RWORD1 045426,000263: 045427,000264: # CHECK FOR Z-TRANSLATIONS ON BD 045428,000265: 045429,000266: 17,3031 31516 BDZCHECK CA ZNDX 045430,000267: 17,3032 00006 EXTEND 045431,000268: 17,3033 63065 BZMF NOBDZ # NO Z-TRANSLATION 045432,000269:
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Page 1015 |
045434,000271: # TABLE LOOK UP FOR BD Z-TRANSLATION WITH AND WITHOUT REAL BD QUAD FAILURES. Z-TRANSLATION WILL BE POSS- 045435,000272: # IBLE AS LONG AS ROLL COMMANDS CAN BE SATISFIED WITH THE AC ROLL JETS. CRITERION.. IF THE RESULTANT NET ROLL 045436,000273: # COMMANDS = 0 (WITH Z-TRANSLATION) AND IF TAU = 0, THEN INCLUDE THE BD Z-TRANSLATION COMMANDS. IF THE RESULTANT 045437,000274: # ROLL COMMAND = 0, AND IF TAU NZ, THEN IGNORE THE BD Z-TRANSLATION 045438,000275: 045439,000276: 17,3034 11627 CCS RBDFAIL 045440,000277: 17,3035 36214 CAF THREE 045441,000278: 17,3036 13040 TCF +2 045442,000279: 17,3037 36211 CAF SIX 045443,000280: 17,3040 51516 INDEX ZNDX 045444,000281: 17,3041 63016 AD XLN1NDX 045445,000282: 17,3042 50000 INDEX A 045446,000283: 17,3043 33176 CA YZTABLE 045447,000284: 17,3044 73207 MASK BDZJETS # = 3417 OCT 045448,000285: 17,3045 61451 AD RWORD1 # ADD TO ROLL COMMANDS 045449,000286: 17,3046 55502 TS T5TEMP # IF POSSIBLE. MUST CHECK TAU FIRST 045450,000287: 045451,000288: 17,3047 00006 EXTEND 045452,000289: 17,3050 74704 MP BIT7 # DETERMINE THE NET ROLL COMMAND WITH 045453,000290: 17,3051 66061 AD =-4 # Z-TRANSLATION ADDED ON 045454,000291: 17,3052 55522 TS NRJETS # NET NO. OF +,- ROLL JETS ON 045455,000292: 17,3053 00006 EXTEND 045456,000293: 17,3054 13060 BZF TAUCHECK 045457,000294: 045458,000295: 17,3055 31502 ACRBDZ CA T5TEMP # Z-TRANSLATION ACCEPTED EVEN THO WE MAY 045459,000296: 17,3056 55451 TS RWORD1 # HAVE INTRODUCED AN UNDESIREABLE ROLL 045460,000297: 17,3057 13321 TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATIONS 045461,000298: 045462,000299: 17,3060 11561 TAUCHECK CCS TAU 045463,000300: 17,3061 13065 TCF NOBDZ 045464,000301: 17,3062 13055 TCF ACRBDZ 045465,000302: 17,3063 13065 TCF NOBDZ 045466,000303: 17,3064 13055 TCF ACRBDZ 045467,000304: 045468,000305: 17,3065 31451 NOBDZ CA RWORD1 # Z-TRANSLATION NOT ACCEPTED 045469,000306: 17,3066 00006 EXTEND 045470,000307: 17,3067 74704 MP BIT7 045471,000308: 17,3070 67715 AD =-2 045472,000309: 17,3071 55522 TS NRJETS 045473,000310: 17,3072 13321 TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATION 045474,000311:
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Page 1016 |
045476,000313: # BD QUAD SELECTION FOR ROLL COMMANDS 045477,000314: 045478,000315: 17,3073 11627 BDROLL CCS RBDFAIL 045479,000316: 17,3074 13100 TCF RBFAIL 045480,000317: 17,3075 13104 TCF RZXLNS 045481,000318: 17,3076 13102 TCF RDFAIL 045482,000319: 17,3077 13104 TCF RZXLNS 045483,000320: 17,3100 34334 RBFAIL CAF NINE 045484,000321: 17,3101 13106 TCF TABRZCMD 045485,000322: 17,3102 35656 RDFAIL CAF TWELVE 045486,000323: 17,3103 13106 TCF TABRZCMD 045487,000324: 045488,000325: 17,3104 51516 RZXLNS INDEX ZNDX # NO BD FAILURES 045489,000326: 17,3105 32705 CA XLNNDX # +,-,0 Z-TRANSLATION PRESENT 045490,000327: 17,3106 61517 TABRZCMD AD RINDEX 045491,000328: 17,3107 50000 INDEX A 045492,000329: 17,3110 33155 CA RTABLE 045493,000330: 17,3111 73175 MASK BDRJETS # = 34017 OCT 045494,000331: 17,3112 55451 TS RWORD1 045495,000332: 045496,000333: 17,3113 31515 ACYCHECK CA YNDX # ANY Y-TRANSLATION 045497,000334: 17,3114 00006 EXTEND 045498,000335: 17,3115 13147 BZF NOACY # NO Y-TRANSLATION 045499,000336: 17,3116 11626 CCS RACFAIL 045500,000337: 17,3117 36214 CAF THREE 045501,000338: 17,3120 13122 TCF +2 045502,000339: 17,3121 36211 CAF SIX 045503,000340: 17,3122 51515 INDEX YNDX 045504,000341: 17,3123 63016 AD XLN1NDX 045505,000342: 17,3124 50000 INDEX A 045506,000343: 17,3125 33176 CA YZTABLE 045507,000344: 17,3126 73210 MASK ACYJETS # = 34360 OCT 045508,000345: 17,3127 61451 AD RWORD1 045509,000346: 17,3130 55502 TS T5TEMP 045510,000347: 17,3131 00006 EXTEND # FOR EXPLANATION SEE CODING ON RTABLE 045511,000348: 17,3132 74707 MP BIT4 045512,000349: 17,3133 66061 AD =-4 045513,000350: 17,3134 55522 TS NRJETS # NO. OF NET ROLL JETS 045514,000351: 17,3135 00006 EXTEND 045515,000352: 17,3136 13142 BZF TAUCHCK # IF NRJETS = 0 045516,000353: 045517,000354: 17,3137 31502 BDRACZ CA T5TEMP # Y-TRANSLATION ACCEPTED 045518,000355: 17,3140 55451 TS RWORD1 045519,000356: 17,3141 13321 TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATIONS 045520,000357: 045521,000358: 17,3142 11561 TAUCHCK CCS TAU 045522,000359: 17,3143 13147 TCF NOACY 045523,000360: 17,3144 13137 TCF BDRACZ 045524,000361: 17,3145 13147 TCF NOACY 045525,000362: 17,3146 13137 TCF BDRACZ 045526,000363:
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Page 1017 |
045528,000365: 17,3147 31451 NOACY CA RWORD1 # Y-TRANSLATION NOT ACCEPTED 045529,000366: 17,3150 00006 EXTEND 045530,000367: 17,3151 74707 MP BIT4 045531,000368: 17,3152 67715 AD =-2 045532,000369: 17,3153 55522 TS NRJETS 045533,000370: 17,3154 13321 TCF ROLLTIME 045534,000371:
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Page 1018 |
045536,000373: # TABLE FOR ROLL, Y AND Z-TRANSLATION COMMANDS 045537,000374: 045538,000375: # EITHER AC OR BD ROLL MAY BE SELECTED. IF AC ROLL IS SELECTED, Y-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY 045539,000376: # PROVIDED THAT THERE ARE NO AC QUAD FAILURES. IF THERE ARE AC FAILURES, Y-TRANSLATION COMMANDS WILL BE IGNORED, 045540,000377: # IN WHICH CASE THE ASTRONAUT SHOULD SWITCH TO BD ROLL. 045541,000378: 045542,000379: # IF BDROLL IS SELECTED, Z-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY PROVIDED THAT THERE ARE NO BD QUAD 045543,000380: # FAILURES. IF THERE ARE BD FAILURES, Z-TRANSLATION COMMANDS WILL BE IGNORED, IN WHICH CASE THE ASTRONAUT SHOULD 045544,000381: # SWITCH TO AC ROLL. 045545,000382: 045546,000383: # NOTE THAT IF ONE QUAD FAILS (E.G. B FAILED), Z-TRANSLATION IS STILL POSSIBLE AND THAT THE UNDESIREABLE ROLL 045547,000384: # INTRODUCED BY THIS TRANSLATION WILL BE COMPENSATED BY THE TWO AC ROLL JETS ACTUATED BY THE AUTOPILOT LOGIC. 045548,000385: 045549,000386: # WORD MAKE UP....RTABLE 045550,000387: 045551,000388: # TWO WORDS, CORRESPONDING TO AC OR BD ROLL SELECTION, HAVE BEEN COMBINED INTO ONE TABLE. THE WORD CORRESPOND- 045552,000389: # ING TO AC ROLL HAS THE FOLLOWING INTERPRETATION.. 045553,000390: 045554,000391: # BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE FOR THE WORD SELECTED. THE CODING IS.. 045555,000392: 045556,000393: # BIT NO. 11 10 9 NO. OF ROLL JETS 045557,000394: 045558,000395: # 0 0 0 -2 045559,000396: # 0 0 1 -1 045560,000397: # 0 1 0 0 045561,000398: # 0 1 1 +1 045562,000399: # 1 0 0 +2 045563,000400: 045564,000401: # THIS WORD MAY THEN BE ADDED TO THE WORD SELECTED FROM THE YZ-TRANSLATION TABLE, WHICH HAS THE SAME TYPE OF 045565,000402: # CODING AS ABOVE, AND THE NET ROLL DETERMINED BY SHIFTING THE RESULTANT WORD RIGHT 8 PLACES AND SUBTRACTING FOUR. 045566,000403: 045567,000404: # THE WORD CORRESPONDING TO BD ROLL HAS A SIMILIAR INTERPRETATION, EXCEPT THAT BITS 12, 13, 14 ARE CODED 045568,000405: # (AS ABOVE) TO GIVE THE NET ROLL TORQUE. 045569,000406: 045570,000407: # ROLL TRANS QUADFAIL BIAS 045571,000408: 045572,000409: 17,3155 11000 RTABLE OCT 11000 # 0 0 045573,000410: 17,3156 22125 OCT 22125 # + 0 045574,000411: 17,3157 00252 OCT 00252 # - 0 045575,000412: 17,3160 11231 OCT 11231 # 0 +Y(+Z) 3 045576,000413: 17,3161 15421 OCT 15421 # + +Y(+Z) 3 045577,000414: 17,3162 04610 OCT 04610 # - +Y(+Z) 3 045578,000415: 17,3163 11146 OCT 11146 # 0 -Y(-Z) 6 045579,000416: 17,3164 15504 OCT 15504 # + -Y(-Z) 6 045580,000417: 17,3165 04442 OCT 04442 # - -Y(-Z) 6 045581,000418: 17,3166 11000 OCT 11000 # 0 A(B) 9 045582,000419: 17,3167 15504 OCT 15504 # + A(B) 9 045583,000420: 17,3170 04610 OCT 04610 # - A(B) 9 045584,000421: 17,3171 11000 OCT 11000 # 0 C(D) 12 045585,000422: 17,3172 15421 OCT 15421 # + C(D) 12 045586,000423: 17,3173 04442 OCT 04442 # - C(D) 12 045587,000424:
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Page 1019 |
045589,000426: # RTABLE MASKS - 045590,000427: 045591,000428: 17,3174 03760 ACRJETS OCT 03760 045592,000429: 17,3175 34017 BDRJETS OCT 34017 045593,000430:
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Page 1020 |
045595,000432: # Y, Z TRANSLATION TABLE 045596,000433: 045597,000434: # ONCE AC OR BD ROLL IS SELECTED THE QUAD PAIR WHICH IS NOT BEING USED TO SATISFY THE ROLL COMMANDS MAY BE 045598,000435: # USED TO SATISFY THE REMAINING TRANSLATION COMMANDS. HOWEVER, WE MUST MAKE SURE THAT ROLL COMMANDS ARE SATISFIED 045599,000436: # WHEN THEY OCCUR. THEREFORE, THE Y-Z TRANSLATIONS FROM THIS TABLE WILL BE IGNORED IF THE NET ROLL TORQUE OF THE 045600,000437: # COMBINED WORD IS ZERO AND THE ROLL COMMANDS ARE NON-ZERO. THIS SITUATION WOULD OCCUR, FOR EXAMPLE, IF WE EN- 045601,000438: # COUNTER SIMULTANEOUS +R +Y -Z COMMANDS AND A QUAD D FAILURE WHILE USING AC FOR ROLL. 045602,000439: 045603,000440: # TO FACILITATE THE LOGIC, THE Y-Z TRANSLATION TABLE HAS BEEN CODED IN A MANNER SIMILIAR TO THE ROLL TABLE 045604,000441: # ABOVE. 045605,000442: 045606,000443: # BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Z-TRANSLATIONS. THE WORD SELECTED CAN THEN BE 045607,000444: # ADDED TO THE AC-ROLL WORD AND THE RESULTANT ROLL TORQUE DETERMINED FROM THE COMBINED WORD. SIMILIARLY BITS 045608,000445: # 12,13,14 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Y-TRANSLATIONS WHEN BD-ROLL IS SELECTED. 045609,000446: 045610,000447: # TRANSLATION QUADFAIL BIAS 045611,000448: 045612,000449: 17,3176 11000 YZTABLE OCT 11000 # 0 0 045613,000450: 17,3177 11231 OCT 11231 # +Z(+Y) 0 045614,000451: 17,3200 11146 OCT 11146 # -Z(-Y) 0 045615,000452: 17,3201 11000 OCT 11000 # 0 B(A) 3 045616,000453: 17,3202 04610 OCT 04610 # +Z(+Y) B(A) 3 045617,000454: 17,3203 15504 OCT 15504 # -Z(-Y) B(A) 3 045618,000455: 17,3204 11000 OCT 11000 # 0 D(C) 6 045619,000456: 17,3205 15421 OCT 15421 # +Z(+Y) D(C) 6 045620,000457: 17,3206 04442 OCT 04442 # -Z(-Y) D(C) 6 045621,000458: 045622,000459: # YZ-TABLE MASKS- 045623,000460: 045624,000461: 17,3207 03417 BDZJETS OCT 03417 045625,000462: 17,3210 34360 ACYJETS OCT 34360 045626,000463: 045627,000464: # ADDITIONAL CONSTANTS 045628,000465: 045629,000466: 17,3211 7715 =-2 = NEG2 045630,000467: 17,3211 6061 =-4 = NEG4 045631,000468:
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Page 1021 |
045633,000470: # CALCULATION OF JET ON-TIMES 045634,000471: 045635,000472: # THE ROTATION COMMANDS (TAU:S), WHICH WERE DETERMINED FROM THE JET SWITCHING LOGIC ON THE BASIS OF SINGLE JET 045636,000473: # OPERATION, MUST NOW BE UPDATED BY THE ACTUAL NUMBER OF JETS TO BE USED IN SATISFYING THESE COMMANDS. TAU MUST 045637,000474: # ALSO BE DECREMENTED ACCORDING TO THE EXPECTED TORQUE GENERATED BY THE NEW COMMANDS ACTING OVER THE NEXT T5 INT- 045638,000475: # ERVAL. 045639,000476: 045640,000477: # IN ORDER TO MAINTAIN ACCURATE KNOWLEDGE OF VEHICLE ANGULAR RATES, WE MUST ALSO PROVIDE EXPECTED FIRING TIMES 045641,000478: # (DFT:S, ALSO IN TERMS OF 1-JET OPERATION) FOR THE RATE FILTER. 045642,000479: 045643,000480: # NOTE THAT TRANSLATIONS CAN PRODUCE ROTATIONS EVEN THOUGH NO ROTATIONS WERE CALLED FOR. NEVERTHELESS, WE MUST 045644,000481: # UPDATE DFT. 045645,000482: 045646,000483: # WHEN THE ROTATIONS HAVE FINISHED, WE MUST PROVIDE CHANNEL INFORMATION TO THE T6 PROGRAM TO CONTINUE ON WITH 045647,000484: # THE TRANSLATIONS. THIS WILL BE DONE IN THE NEXT SECTION. HOWEVER, TO INSURE THAT JETS ARE NOT FIRED FOR LESS 045648,000485: # THAN A MINIMUM IMPULSE (14MS), ALL JET CHANNEL COMMANDS WILL BE HELD FIXED FROM THE START OF THE T5 PROGRAM FOR 045649,000486: # AT LEAST 14MS UNTIL THE INITIALIZATION OF NEW COMMANDS. MOREOVER, A 14MS ON-TIME WILL BE ADDED TO ANY ROTATIONAL 045650,000487: # COMMANDS GENERATED BY THE MANUAL CONTROLS OR THE JET SWITCHING LOGIC, AND ALL TRANSLATION COMMANDS WILL BE 045651,000488: # ACTIVE FOR AT LEAST ONE CYCLE OF THE T5 PROGRAM (.1SEC) 045652,000489: 045653,000490: # PITCH JET ON-TIME CALCULATION 045654,000491: 045655,000492: 17,3211 11562 PITCHTIM CCS TAU1 045656,000493: 17,3212 13221 TCF PTAUPOS 045657,000494: 17,3213 13215 TCF +2 045658,000495: 17,3214 13217 TCF PTAUNEG 045659,000496: 17,3215 55550 TS DFT1 # NO PITCH ROTATION 045660,000497: 17,3216 13417 TCF PBYPASS # COMMANDS 045661,000498: 045662,000499: 17,3217 41523 PTAUNEG CS NPJETS 045663,000500: 17,3220 55523 TS NPJETS 045664,000501: 17,3221 31562 PTAUPOS CA TAU1 045665,000502: 17,3222 00006 EXTEND 045666,000503: 17,3223 51523 INDEX NPJETS 045667,000504: 17,3224 73400 MP NJET 045668,000505: 17,3225 55461 TS BLAST1 045669,000506: 17,3226 63333 AD =-.1SEC 045670,000507: 17,3227 00006 EXTEND 045671,000508: 17,3230 63241 BZMF AD14MSP 045672,000509: 17,3231 51523 INDEX NPJETS 045673,000510: 17,3232 33334 CA DFTMAX # THE PITCH ON-TIME IS GREATER THAN .1 SEC 045674,000511: 17,3233 55550 TS DFT1 045675,000512: 17,3234 40000 COM 045676,000513: 17,3235 27562 ADS TAU1 # UPDATE TAU1 045677,000514: 17,3236 33335 CAF =+.1SEC # LIMIT THE LENGTH OF PITCH ROTATION 045678,000515: 17,3237 55461 TS BLAST1 # COMMANDS TO 0.1 SEC SO THAT ONLY 045679,000516: 17,3240 13404 TCF ASMBLWP # X-TRANSLATIONS WILL CONTINUE ON SWITCH 045680,000517: # OVER TO TVC 045681,000518: 17,3241 41461 AD14MSP CS BLAST1 # SEE IF JET ON TIME LESS THAN 045682,000519: 17,3242 63340 AD =14MS # MINIMUM IMPULSE TIME 045683,000520: 17,3243 00006 EXTEND 045684,000521: 17,3244 63247 BZMF PBLASTOK # IF SO LIMIT MINIMUM ON TIME TO 14 MS 045685,000522: 17,3245 33340 CAF =14MS
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Page 1022 |
045687,000524: 17,3246 55461 TS BLAST1 045688,000525: 17,3247 31461 PBLASTOK CA BLAST1 045689,000526: 17,3250 00006 EXTEND # THE PITCH COMMANDS WILL BE COMPLETED 045690,000527: 17,3251 71523 MP NPJETS # WITHIN THE TS-CYCLE TIME 045691,000528: 17,3252 23550 LXCH DFT1 # FOR USE IN UPDATING RATE FILTER 045692,000529: 17,3253 55562 TS TAU1 # ZERO TAU1 (ACC CONTAINS ZERO) 045693,000530: 17,3254 13404 TCF ASMBLWP 045694,000531:
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Page 1023 |
045696,000533: # YAW JET ON-TIME CALCULATION 045697,000534: 045698,000535: 17,3255 11563 YAWTIME CCS TAU2 045699,000536: 17,3256 13265 TCF YTAUPOS 045700,000537: 17,3257 13261 TCF +2 045701,000538: 17,3260 13263 TCF YTAUNEG 045702,000539: 17,3261 55551 TS DFT2 # NO YAW ROTATION COMMANDS 045703,000540: 17,3262 13563 TCF YBYPASS 045704,000541: 045705,000542: 17,3263 41524 YTAUNEG CS NYJETS 045706,000543: 17,3264 55524 TS NYJETS 045707,000544: 17,3265 31563 YTAUPOS CA TAU2 045708,000545: 17,3266 00006 EXTEND 045709,000546: 17,3267 51524 INDEX NYJETS 045710,000547: 17,3270 73400 MP NJET 045711,000548: 17,3271 55463 TS BLAST2 045712,000549: 17,3272 63333 AD =-.1SEC 045713,000550: 17,3273 00006 EXTEND 045714,000551: 17,3274 63305 BZMF AD14MSY 045715,000552: 17,3275 51524 INDEX NYJETS 045716,000553: 17,3276 33334 CA DFTMAX # YAW COMMANDS WILL LAST LONGER THAN .1SEC 045717,000554: 17,3277 55551 TS DFT2 045718,000555: 17,3300 40000 COM 045719,000556: 17,3301 27563 ADS TAU2 # DECREMENT TAU2 045720,000557: 17,3302 33335 CAF =+.1SEC # LIMIT THE LENGTH OF YAW ROTATION COMMAND 045721,000558: 17,3303 55463 TS BLAST2 # TO 0.1 SEC SO THAT ONLY X-TRANSLATION 045722,000559: 17,3304 13550 TCF ASMBLWY # WILL CONTINUE ON SWITCH OVER TO TVC 045723,000560: 045724,000561: 17,3305 41463 AD14MSY CS BLAST2 # SEE IF JET ON-TIME LESS THAN 045725,000562: 17,3306 63340 AD =14MS # MINIMUM IMPULSE TIME 045726,000563: 17,3307 00006 EXTEND 045727,000564: 17,3310 63313 BZMF YBLASTOK # IF SO, LIMIT MINIMUM ON-TIME TO 14 MS 045728,000565: 17,3311 33340 CAF =14MS 045729,000566: 17,3312 55463 TS BLAST2 045730,000567: 17,3313 31463 YBLASTOK CA BLAST2 # YAW COMMANDS WILL BE COMPLETED WITHIN 045731,000568: 17,3314 00006 EXTEND # THE T5CYCLE TIME 045732,000569: 17,3315 71524 MP NYJETS 045733,000570: 17,3316 23551 LXCH DFT2 045734,000571: 17,3317 55563 TS TAU2 # ZERO TAU2 045735,000572: 17,3320 13550 TCF ASMBLWY 045736,000573:
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Page 1024 |
045738,000575: # ROLL ON-TIME CALCULATION- 045739,000576: 045740,000577: 17,3321 11561 ROLLTIME CCS TAU 045741,000578: 17,3322 13341 TCF RBLAST 045742,000579: 17,3323 13325 TCF +2 045743,000580: 17,3324 13341 TCF RBLAST 045744,000581: 17,3325 51522 INDEX NRJETS 045745,000582: 17,3326 33334 CA DFTMAX # UPDATE DFT EVEN THO NO ROLL COMMANDS ARE 045746,000583: 17,3327 55547 TS DFT # PRESENT 045747,000584: 17,3330 13543 TCF RBYPASS 045748,000585: 045749,000586: 17,3331 77037 DEC -480 B-14 # =-.3SEC 045750,000587: 17,3332 77277 DEC -320 B-14 # =-.2SEC 045751,000588: 17,3333 77537 =-.1SEC DEC -160 B-14 # =-.1SEC 045752,000589: 17,3334 00000 DFTMAX DEC 0 B-14 # 0 045753,000590: 17,3335 00240 =+.1SEC DEC 160 B-14 # =+.1SEC 045754,000591: 17,3336 00500 DEC 320 B-14 # =+.2SEC 045755,000592: 17,3337 00740 DEC 480 B-14 # =+.3SEC 045756,000593: 17,3340 00027 =14MS DEC 23 B-14 # =14MS 045757,000594: 045758,000595: 17,3341 31561 RBLAST CA TAU 045759,000596: 17,3342 00006 EXTEND 045760,000597: 17,3343 51522 INDEX NRJETS 045761,000598: 17,3344 73400 MP NJET 045762,000599: 17,3345 55457 TS BLAST # BLAST IS AN INTERMEDIATE VARIABLE 045763,000600: # USED IN DETERMINING THE JET ON-TIMES 045764,000601: 17,3346 63333 AD =-.1SEC 045765,000602: 17,3347 00006 EXTEND 045766,000603: 17,3350 63361 BZMF AD14MSR 045767,000604: 17,3351 51522 INDEX NRJETS # THE ROLL ROTATION WILL LAST LONGER 045768,000605: 17,3352 33334 CA DFTMAX # THAN THE T5 CYCLE TIME 045769,000606: 17,3353 55547 TS DFT 045770,000607: 17,3354 40000 COM 045771,000608: 17,3355 27561 ADS TAU 045772,000609: 17,3356 33335 CAF =+.1SEC # LIMIT THE LENGTH OF ROLL ROTATION 045773,000610: 17,3357 55457 TS BLAST # COMMANDS TO 0.1 SEC SO THAT ONLY Y-Z 045774,000611: 17,3360 13424 TCF ASMBLWR # TRANSLATION COMMANDS CONTINUE 045775,000612: 045776,000613: 17,3361 41457 AD14MSR CS BLAST # SEE IF THE JET ON-TIME LESS THAN 045777,000614: 17,3362 63340 AD =14MS # MINIMUM IMPULSE TIME 045778,000615: 17,3363 00006 EXTEND 045779,000616: 17,3364 63367 BZMF RBLASTOK 045780,000617: 17,3365 33340 CAF =14MS # IF SO, LIMIT MINIMUM ON-TIME TO 14 MS 045781,000618: 17,3366 55457 TS BLAST 045782,000619: 17,3367 31457 RBLASTOK CA BLAST 045783,000620: 17,3370 00006 EXTEND 045784,000621: 17,3371 71522 MP NRJETS 045785,000622: 17,3372 23547 LXCH DFT 045786,000623: 17,3373 55561 TS TAU # ZERO TAU 045787,000624: 17,3374 13424 TCF ASMBLWR 045788,000625:
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Page 1025 |
045790,000627: 17,3375 65252 DEC -.333333 # = -1/3 045791,000628: 17,3376 57777 DEC -.500000 # = -1/2 045792,000629: 17,3377 40000 DEC -.999999 # = -1 (NEGMAX) 045793,000630: 17,3400 00000 NJET DEC 0 B-14 045794,000631: 17,3401 37777 DEC .999999 # = +1 (POSMAX) 045795,000632: 17,3402 20000 DEC .500000 # = +1/2 045796,000633: 17,3403 12525 DEC .333333 # = +1/3 045797,000634:
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Page 1026 |
045799,000636: # WHEN THE ROTATION COMMANDS ARE COMPLETED, IT IS NECESSARY TO REPLACE THESE COMMANDS BY NEW COMMANDS WHICH 045800,000637: # CONTINUE ON WITH THE TRANSLATIONS IF ANY ARE PRESENT. 045801,000638: 045802,000639: # IN THIS SECTION THESE NEW COMMANDS ARE GENERATED AND STORED FOR REPLACEMENT OF THE CHANNEL COMMANDS WHEN THE 045803,000640: # CORRESPONDING ROTATIONS ARE COMPLETED. 045804,000641: 045805,000642: # GENERATION OF THE SECOND PITCH(X-TRANS) WORD...PWORD2 045806,000643: 045807,000644: 17,3404 11626 ASMBLWP CCS RACFAIL 045808,000645: 17,3405 13413 TCF FPX2 # IF FAILURE ON AC IGNORE X-TRANSLATION 045809,000646: 17,3406 13410 TCF +2 045810,000647: 17,3407 13413 TCF FPX2 045811,000648: 17,3410 51513 INDEX XNDX1 045812,000649: 17,3411 32705 CA XLNNDX 045813,000650: 17,3412 50000 INDEX A 045814,000651: 17,3413 32741 FPX2 CA PYTABLE 045815,000652: 17,3414 72760 MASK PJETS 045816,000653: 17,3415 55454 TS PWORD2 045817,000654: 17,3416 13255 TCF YAWTIME 045818,000655: 045819,000656: 17,3417 31453 PBYPASS CA PWORD1 # THE T6 PROGRAM WILL LOAD PWORD2 045820,000657: 17,3420 55454 TS PWORD2 # UPON ENTRY 045821,000658: 17,3421 34714 CAF ZERO 045822,000659: 17,3422 55461 TS BLAST1 # THERE IS NO PWORD2 045823,000660: 17,3423 13255 TCF YAWTIME 045824,000661:
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Page 1027 |
045826,000663: # GENERATION OF THE SECOND ROLL (Y,Z) WORD (RWORD2) 045827,000664: 045828,000665: 17,3424 11515 ASMBLWR CCS YNDX # CHECK FOR Y-TRANS 045829,000666: 17,3425 13435 TCF ACBD2Y 045830,000667: 17,3426 34714 NO2Y CAF ZERO 045831,000668: 17,3427 55452 TS RWORD2 045832,000669: 17,3430 11516 CCS ZNDX # CHECK FOR Z-TRANS 045833,000670: 17,3431 13500 TCF ACBD2Z 045834,000671: 17,3432 34714 NO2Z CAF ZERO 045835,000672: 17,3433 27452 ADS RWORD2 045836,000673: 17,3434 13211 TCF PITCHTIM # RWORD2 ASSEMBLED 045837,000674: 045838,000675: 17,3435 11630 ACBD2Y CCS ACORBD 045839,000676: 17,3436 13453 TCF AC2Y # CAN DO Y-TRANS 045840,000677: 17,3437 13453 TCF AC2Y 045841,000678: 17,3440 13441 TCF +1 # USING AC FOR ROLL 045842,000679: 17,3441 11626 CCS RACFAIL 045843,000680: 17,3442 13426 TCF NO2Y # USING AC AND AC HAS FAILED 045844,000681: 17,3443 13445 TCF +2 045845,000682: 17,3444 13426 TCF NO2Y # DITTO 045846,000683: 045847,000684: 17,3445 51515 INDEX YNDX # NO FAILURES, CAN DO Y 045848,000685: 17,3446 32705 CA XLNNDX 045849,000686: 17,3447 50000 INDEX A 045850,000687: 17,3450 33155 CA RTABLE 045851,000688: 17,3451 73174 MASK ACRJETS 045852,000689: 17,3452 13427 TCF NO2Y +1 045853,000690: 045854,000691: 17,3453 11626 AC2Y CCS RACFAIL 045855,000692: 17,3454 36214 CAF THREE 045856,000693: 17,3455 13457 TCF +2 045857,000694: 17,3456 36211 CAF SIX 045858,000695: 17,3457 51515 INDEX YNDX 045859,000696: 17,3460 63016 AD XLN1NDX 045860,000697: 17,3461 50000 INDEX A 045861,000698: 17,3462 33176 CA YZTABLE 045862,000699: 17,3463 73210 MASK ACYJETS 045863,000700: 17,3464 55452 TS RWORD2 045864,000701: 17,3465 00006 EXTEND 045865,000702: 17,3466 74707 MP BIT4 045866,000703: 17,3467 67715 AD =-2 045867,000704: 17,3470 55522 TS NRJETS 045868,000705: 17,3471 41457 CS BLAST 045869,000706: 17,3472 63335 AD =+.1SEC 045870,000707: 17,3473 00006 EXTEND 045871,000708: 17,3474 71522 MP NRJETS 045872,000709: 17,3475 30001 CA L 045873,000710: 17,3476 27547 ADS DFT 045874,000711: 17,3477 13430 TCF NO2Y +2
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Page 1028 |
045876,000713: 17,3500 11630 ACBD2Z CCS ACORBD 045877,000714: 17,3501 13531 TCF BDF2Z # USING BD-ROLL 045878,000715: 17,3502 13531 TCF BDF2Z # MUST CHECK FOR BD FAILURES 045879,000716: 17,3503 13504 TCF +1 045880,000717: 17,3504 11627 CCS RBDFAIL # USING AC FOR ROLL, CAN DO Z-TRANS 045881,000718: 17,3505 36214 CAF THREE 045882,000719: 17,3506 13510 TCF +2 045883,000720: 17,3507 36211 CAF SIX 045884,000721: 17,3510 51516 INDEX ZNDX 045885,000722: 17,3511 63016 AD XLN1NDX 045886,000723: 17,3512 50000 INDEX A 045887,000724: 17,3513 33176 CA YZTABLE 045888,000725: 17,3514 73207 MASK BDZJETS 045889,000726: 17,3515 27452 ADS RWORD2 045890,000727: 17,3516 00006 EXTEND 045891,000728: 17,3517 74704 MP BIT7 045892,000729: 17,3520 67715 AD =-2 045893,000730: 17,3521 55522 TS NRJETS 045894,000731: 17,3522 41457 CS BLAST 045895,000732: 17,3523 63335 AD =+.1SEC 045896,000733: 17,3524 00006 EXTEND 045897,000734: 17,3525 71522 MP NRJETS 045898,000735: 17,3526 30001 CA L 045899,000736: 17,3527 27547 ADS DFT 045900,000737: 17,3530 13211 TCF PITCHTIM 045901,000738: 045902,000739: 17,3531 11627 BDF2Z CCS RBDFAIL 045903,000740: 17,3532 13432 TCF NO2Z # USING BD-ROLL AND BD HAS FAILED 045904,000741: 17,3533 13535 TCF +2 045905,000742: 17,3534 13432 TCF NO2Z # DITTO 045906,000743: 17,3535 51516 INDEX ZNDX 045907,000744: 17,3536 32705 CA XLNNDX 045908,000745: 17,3537 50000 INDEX A 045909,000746: 17,3540 33155 CA RTABLE 045910,000747: 17,3541 73175 MASK BDRJETS 045911,000748: 17,3542 13433 TCF NO2Z +1 045912,000749: 045913,000750: 17,3543 31451 RBYPASS CA RWORD1 045914,000751: 17,3544 55452 TS RWORD2 045915,000752: 17,3545 34714 CAF ZERO 045916,000753: 17,3546 55457 TS BLAST 045917,000754: 17,3547 13211 TCF PITCHTIM 045918,000755:
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Page 1029 |
045920,000757: # GENERATION OF THE SECOND YAW (X-TRANS) WORD...YWORD2 045921,000758: 045922,000759: 17,3550 11627 ASMBLWY CCS RBDFAIL 045923,000760: 17,3551 13557 TCF FYX2 # IF FAILURE ON BD IGNORE X-TRANSLATION 045924,000761: 17,3552 13554 TCF +2 045925,000762: 17,3553 13557 TCF FYX2 045926,000763: 17,3554 51514 INDEX XNDX2 045927,000764: 17,3555 32705 CA XLNNDX 045928,000765: 17,3556 50000 INDEX A 045929,000766: 17,3557 32741 FYX2 CA PYTABLE 045930,000767: 17,3560 72761 MASK YJETS 045931,000768: 17,3561 55456 TS YWORD2 045932,000769: 17,3562 13567 TCF T6SETUP 045933,000770: 045934,000771: 17,3563 31455 YBYPASS CA YWORD1 045935,000772: 17,3564 55456 TS YWORD2 045936,000773: 17,3565 34714 CAF ZERO 045937,000774: 17,3566 55463 TS BLAST2 045938,000775:
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Page 1030 |
045940,000777: # SORT THE JET ON-TIMES 045941,000778: 045942,000779: # AT THIS POINT ALL THE CHANNEL COMMANDS AND JET ON-TIMES HAVE BEEN DETERMINED. IN SUMMARY THESE ARE- 045943,000780: 045944,000781: # RWORD1 045945,000782: # RWORD2 BLAST 045946,000783: 045947,000784: # PWORD1 045948,000785: # PWORD2 BLAST1 045949,000786: 045950,000787: # YWORD1 045951,000788: # YWORD2 BLAST2 045952,000789: 045953,000790: # IN THIS SECTION THE JET ON-TIMES ARE SORTED AND THE SEQUENCE OF T6 INTERRUPTS IS DETERMINED. TO FACILITATE 045954,000791: # THE SORTING PROCESS AND THE T6 PROGRAM, THE VARIABLES BLAST, BLAST1, BLAST2, ARE RESERVED AS DOUBLE PRECISION 045955,000792: # WORDS. THE LOWER PART OF THESE WORDS CONTAIN A BRANCH INDEX ASSOCIATED WITH THE ROTATION AXIS OF THE HIGHER 045956,000793: # ORDER WORD. 045957,000794: 045958,000795: 17,3567 34714 T6SETUP CAF ZERO # BRANCH INDEX FOR ROLL 045959,000796: 17,3570 55460 TS BLAST +1 045960,000797: 17,3571 34710 CAF FOUR # BRANCH INDEX FOR PITCH 045961,000798: 17,3572 55462 TS BLAST1 +1 045962,000799: 17,3573 34717 CAF ELEVEN # BRANCH INDEX FOR YAW 045963,000800: 17,3574 55464 TS BLAST2 +1 045964,000801: 045965,000802: 17,3575 41457 CS BLAST 045966,000803: 17,3576 61461 AD BLAST1 045967,000804: 17,3577 00006 EXTEND 045968,000805: 17,3600 63624 BZMF DXCHT12 # T1 GR T2 045969,000806: 17,3601 41461 CHECKT23 CS BLAST1 045970,000807: 17,3602 61463 AD BLAST2 045971,000808: 17,3603 00006 EXTEND 045972,000809: 17,3604 63630 BZMF DXCHT23 045973,000810: 17,3605 41461 CALCDT6 CS BLAST1 045974,000811: 17,3606 27463 ADS BLAST2 045975,000812: 17,3607 41457 CS BLAST 045976,000813: 17,3610 27461 ADS BLAST1 # END OF SORTING PROCEDURE 045977,000814: 17,3611 00006 EXTEND # RESET T5LOC TO BEGIN PHASE1 045978,000815: 17,3612 33623 DCA RCS2CADR 045979,000816: 17,3613 53313 DXCH T5LOC 045980,000817: 17,3614 44712 ENDJETS CS BIT1 # RESET BIT1 FOR INITIALIZATION OF 045981,000818: 17,3615 71501 MASK RCSFLAGS # T6 PROGRAM 045982,000819: 17,3616 55501 TS RCSFLAGS 045983,000820: 17,3617 44714 CS ZERO # RESET T5PHASE FOR PHASE1 045984,000821: 17,3620 55465 TS T5PHASE 045985,000822: 17,3621 15222 TCF RESUME # RESUME INTERRUPTED PROGRAM 045986,000823: 17,3622 E6,1510 EBANK= KMPAC 045987,000824: 17,3622 02106 42066 RCS2CADR 2CADR RCSATT 045988,000825:
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045990,000827: 17,3624 53460 DXCHT12 DXCH BLAST 045991,000828: 17,3625 53462 DXCH BLAST1 045992,000829: 17,3626 53460 DXCH BLAST 045993,000830: 17,3627 13601 TCF CHECKT23 045994,000831: 045995,000832: 17,3630 53462 DXCHT23 DXCH BLAST1 045996,000833: 17,3631 53464 DXCH BLAST2 045997,000834: 17,3632 53462 DXCH BLAST1 045998,000835: 17,3633 41457 CS BLAST 045999,000836: 17,3634 61461 AD BLAST1 046000,000837: 17,3635 00006 EXTEND 046001,000838: 17,3636 63640 BZMF +2 046002,000839: 17,3637 13605 TCF CALCDT6 046003,000840: 17,3640 53460 DXCH BLAST 046004,000841: 17,3641 53462 DXCH BLAST1 046005,000842: 17,3642 53460 DXCH BLAST 046006,000843: 17,3643 13605 TCF CALCDT6 046007,000844:
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046009,000846: # T6 PROGRAM AND CHANNEL SETUP 046010,000847: 046011,000848: 21,3751 BANK 21 046012,000849: 17,2000 SETLOC DAPS5 046013,000850: 17,2000 BANK 046014,000851: 046015,000852: 17,3644 22016 T6START LXCH BANKRUPT 046016,000853: 17,3645 00006 EXTEND 046017,000854: 17,3646 22012 QXCH QRUPT 046018,000855: 17,3647 10031 CCS TIME6 # CHECK TO SEE IF TIME6 WAS RESET 046019,000856: 17,3650 15222 TCF RESUME # AFTER T6RUPT OCCURED (IN T5RUPT) 046020,000857: 17,3651 13653 TCF +2 # IF SO WAIT FOR NEXT T6RUPT BEFORE 046021,000858: 17,3652 15222 TCF RESUME # TAKING ACTION 046022,000859: 046023,000860: 17,3653 41501 CS RCSFLAGS 046024,000861: 17,3654 74712 MASK BIT1 # IF BIT1 IS 0 RESET TO 1 046025,000862: 17,3655 00006 EXTEND # AND INITIALIZE CHANNEL 046026,000863: 17,3656 13667 BZF T6RUPTOR 046027,000864: 17,3657 27501 ADS RCSFLAGS 046028,000865: 17,3660 31451 CA RWORD1 046029,000866: 17,3661 00006 EXTEND # INITIALIZE CHANNELS 5,6 WITH WORD1 046030,000867: 17,3662 01006 WRITE CHAN6 046031,000868: 17,3663 31453 CA PWORD1 046032,000869: 17,3664 61455 AD YWORD1 046033,000870: 17,3665 00006 EXTEND 046034,000871: 17,3666 01005 WRITE CHAN5 046035,000872: 046036,000873: 17,3667 11457 T6RUPTOR CCS BLAST 046037,000874: 17,3670 13747 TCF ZBLAST # ZERO BLAST1 046038,000875: 17,3671 13706 TCF REPLACE # REPLACE WORD1 046039,000876: 17,3672 13674 TCF +2 046040,000877: 17,3673 13706 TCF REPLACE 046041,000878: 17,3674 11461 T6L1 CCS BLAST1 046042,000879: 17,3675 13752 TCF ZBLAST1 046043,000880: 17,3676 13713 TCF REPLACE1 046044,000881: 17,3677 13701 TCF +2 046045,000882: 17,3700 13713 TCF REPLACE1 046046,000883: 17,3701 11463 T6L2 CCS BLAST2 046047,000884: 17,3702 13755 TCF ZBLAST2 046048,000885: 17,3703 13720 TCF REPLACE2 046049,000886: 17,3704 15222 TCF RESUME 046050,000887: 17,3705 13720 TCF REPLACE2 046051,000888: 046052,000889: 17,3706 51460 REPLACE INDEX BLAST +1 046053,000890: 17,3707 03725 TC REPLACER 046054,000891: 17,3710 44712 CS ONE 046055,000892: 17,3711 55457 TS BLAST 046056,000893: 17,3712 13674 TCF T6L1 046057,000894: 046058,000895: 17,3713 51462 REPLACE1 INDEX BLAST1 +1
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046060,000897: 17,3714 03725 TC REPLACER 046061,000898: 17,3715 44712 CS ONE 046062,000899: 17,3716 55461 TS BLAST1 046063,000900: 17,3717 13701 TCF T6L2 046064,000901: 046065,000902: 17,3720 51464 REPLACE2 INDEX BLAST2 +1 046066,000903: 17,3721 03725 TC REPLACER 046067,000904: 17,3722 44712 CS ONE 046068,000905: 17,3723 55463 TS BLAST2 046069,000906: 17,3724 15222 TCF RESUME 046070,000907: 046071,000908: 17,3725 31452 REPLACER CA RWORD2 # INITIALIZE CHANNELS 5,6 WITH WORD2 046072,000909: 17,3726 00006 EXTEND 046073,000910: 17,3727 01006 WRITE CHAN6 046074,000911: 17,3730 00002 TC Q 046075,000912: 046076,000913: 17,3731 32761 REPLACEP CA YJETS 046077,000914: 17,3732 00006 EXTEND 046078,000915: 17,3733 02005 RAND CHAN5 046079,000916: 17,3734 61454 AD PWORD2 046080,000917: 17,3735 00006 EXTEND 046081,000918: 17,3736 01005 WRITE CHAN5 046082,000919: 17,3737 00002 TC Q 046083,000920: 046084,000921: 17,3740 32760 REPLACEY CA PJETS 046085,000922: 17,3741 00006 EXTEND 046086,000923: 17,3742 02005 RAND CHAN5 046087,000924: 17,3743 61456 AD YWORD2 046088,000925: 17,3744 00006 EXTEND 046089,000926: 17,3745 01005 WRITE CHAN5 046090,000927: 17,3746 00002 TC Q 046091,000928: 046092,000929: 17,3747 34714 ZBLAST CAF ZERO 046093,000930: 17,3750 57457 XCH BLAST 046094,000931: 17,3751 13757 TCF ENABT6 046095,000932: 17,3752 34714 ZBLAST1 CAF ZERO 046096,000933: 17,3753 57461 XCH BLAST1 046097,000934: 17,3754 13757 TCF ENABT6 046098,000935: 17,3755 34714 ZBLAST2 CAF ZERO 046099,000936: 17,3756 57463 XCH BLAST2 046100,000937: 17,3757 54031 ENABT6 TS TIME6 046101,000938: 17,3760 34674 CAF NEGMAX 046102,000939: 17,3761 00006 EXTEND 046103,000940: 17,3762 05013 WOR CHAN13 # ENABLE T6RUPT 046104,000941: 17,3763 15222 TCF RESUME 046105,000942: 046106,000943: # END OF T6 INTERRUPT 046107,000944: 046108,000945: 17,3764 ENDSLECT EQUALS 046109,000946: End of include-file JET_SELECTION_LOGIC.agc. Parent file is MAIN.agc