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.
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A scan by Ron Burkey has superceded it, made from a more-legible copy from the collection of original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:
|
|
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:
|
|
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:
|
|
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
|
|
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:
|
|
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:
|
|
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:
|
|
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:
|
|
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:
|
|
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
|
|
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:
|
|
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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Page 1031 |
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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Page 1032 |
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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Page 1033 |
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