GAP: ASSEMBLE REVISION 055 OF AGC PROGRAM COMANCHE BY NASA 2021113-051 10:28 APR. 1,1969Note that the date is the date of the printout, not the date of the program revision.
Source Code
|
|
These source-code files were from the printout at the MIT Museum, with many thanks
to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing
it to us. The printout was digitally photographed by Paul Fjeld. A team of
volunteers transcribed the source code manually from these images or, where
appropriate, modified already-transcribed but similar source Colossus 249 (Apollo 9)
source code to agree with the images from the printout. Note that the page images
presented online are of reduced quality, and that higher-quality images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 055 OF AGC PROGRAM COMANCHE BY NASA 2021113-051 10:28 APR. 1,1969Note that the date is the date of the printout, not the date of the program revision. |
046344,000002: ## Copyright: Public domain.
046345,000003: ## Filename: JET_SELECTION_LOGIC.agc
046346,000004: ## Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
046347,000005: ## It is part of the source code for the Command Module's (CM)
046348,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
046349,000007: ## Assembler: yaYUL
046350,000008: ## Contact: Ron Burkey <info@sandroid.org>.
046351,000009: ## Website: www.ibiblio.org/apollo.
046352,000010: ## Pages: 1039-1062
046353,000011: ## Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the
046354,000012: ## same name, using Comanche055 page images.
046355,000013: ## 2016-12-21 RSB Proofed comment text using octopus/ProoferComments
046356,000014: ## and corrected the errors found.
046357,000015: ## 2017-01-15 RSB Fixed comment-text errors identified by diff'ing
046358,000016: ## against Colossus 249.
046359,000017: ## 2017-02-05 RSB Back-ported comment corrections
046360,000018: ## identified while proofing Artemis 072.
046361,000019: ##
046362,000020: ## This source code has been transcribed or otherwise adapted from digitized
046363,000021: ## images of a hardcopy from the MIT Museum. The digitization was performed
046364,000022: ## by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
046365,000023: ## thanks to both. The images (with suitable reduction in storage size and
046366,000024: ## consequent reduction in image quality as well) are available online at
046367,000025: ## www.ibiblio.org/apollo. If for some reason you find that the images are
046368,000026: ## illegible, contact me at info@sandroid.org about getting access to the
046369,000027: ## (much) higher-quality images which Paul actually created.
046370,000028: ##
046371,000029: ## Notations on the hardcopy document read, in part:
046372,000030: ##
046373,000031: ## Assemble revision 055 of AGC program Comanche by NASA
046374,000032: ## 2021113-051. 10:28 APR. 1, 1969
046375,000033: ##
046376,000034: ## This AGC program shall also be referred to as
046377,000035: ## Colossus 2A
046378,000036:
|
|
Page 1039 |
046380,000038: 21,3765 BANK 21
046381,000039: 17,2000 SETLOC DAPS4
046382,000040: 17,2000 BANK
046383,000041:
046384,000042: 17,2552 COUNT 17/DAPJS
046385,000043:
046386,000044: 17,2552 E6,1510 EBANK= KMPAC
046387,000045:
046388,000046: # EXAMINE CHANNEL 31 FOR TRANSLATION COMMANDS
046389,000047:
046390,000048: 17,2552 22016 JETSLECT LXCH BANKRUPT
046391,000049: 17,2553 32634 CAF DELTATT3 # = 60 MS RESET TO EXECUTE PHASE1
046392,000050: 17,2554 61634 AD T5TIME
046393,000051: 17,2555 54030 TS TIME5
046394,000052: 17,2556 12561 TCF +3
046395,000053: 17,2557 32635 CAF DELATT20 # = 20 MS TO ASSURE A T5RUPT
046396,000054: 17,2560 54030 TS TIME5
046397,000055: 17,2561 33313 CAF =14MS # RESET T6 TO INITIALIZE THE JET CHANNELS
046398,000056: 17,2562 54031 TS TIME6 # IN 14 MS
046399,000057: 17,2563 35001 CAF NEGMAX
046400,000058: 17,2564 00006 EXTEND
046401,000059: 17,2565 05013 WOR CHAN13
046402,000060: 17,2566 00006 EXTEND
046403,000061: 17,2567 22012 QXCH QRUPT
046404,000062: 17,2570 32633 CAF XLNMASK # = 7700 OCT
046405,000063: 17,2571 00006 EXTEND # EXAMINE THE TRANSLATION
046406,000064: 17,2572 06031 RXOR CHAN31 # HAND CONTROLLER
046407,000065: 17,2573 72633 MASK XLNMASK
046408,000066: 17,2574 00006 EXTEND
046409,000067: 17,2575 12636 BZF NOXLNCMD
046410,000068: 17,2576 55502 TS T5TEMP
046411,000069: 17,2577 00006 EXTEND
046412,000070: 17,2600 75007 MP BIT9
046413,000071: 17,2601 76214 MASK THREE
046414,000072: 17,2602 55513 TS XNDX1 # AC QUAD X-TRANSLATION INDEX
046415,000073: 17,2603 55514 TS XNDX2 # BD QUAD X-TRANSLATION INDEX
046416,000074: 17,2604 31502 CA T5TEMP
046417,000075: 17,2605 00006 EXTEND # 1 = + XLN
046418,000076: 17,2606 75011 MP BIT7 # 2 = - XLN
046419,000077: 17,2607 76214 MASK THREE # 3 = NO XLN
046420,000078: 17,2610 55515 TS YNDX # Y-TRANSLATION INDEX
046421,000079:
046422,000080: 17,2611 31502 CA T5TEMP
046423,000081: 17,2612 00006 EXTEND
046424,000082: 17,2613 75013 MP BIT5
046425,000083: 17,2614 76214 MASK THREE
046426,000084: 17,2615 55516 TS ZNDX # Z-TRANSLATION INDEX
046427,000085:
046428,000086: 17,2616 31466 CA DAPDATR1 # SET ATTKALMN TO PICK UP FILTER GAINS FOR
046429,000087: 17,2617 75002 MASK BIT14 # TRANSLATIONS.
046430,000088: 17,2620 00006 EXTEND # CHECK DAPDATR1 BIT 14 FOR LEM ATTACHED.
|
|
Page 1040 |
046432,000090: 17,2621 12624 BZF NOLEM
046433,000091: 17,2622 46214 CS THREE # IF LEM IS ON, SET ATTKALMN = -3
046434,000092: 17,2623 12625 TCF +2
046435,000093: 17,2624 45016 NOLEM CS TWO # IF LEM IS OFF, SET ATTKALMN = -2.
046436,000094: 17,2625 55617 TS ATTKALMN
046437,000095: 17,2626 11631 CCS XTRANS # (+, -1, 0)
046438,000096: 17,2627 55513 TS XNDX1 # USING BD-X ZERO XNDX1
046439,000097: 17,2630 12642 TCF PWORD
046440,000098: 17,2631 55514 TS XNDX2 # USING AC-X ZERO XNDX2
046441,000099: 17,2632 12642 TCF PWORD
046442,000100: 17,2633 07700 XLNMASK OCT 7700
046443,000101:
046444,000102: 17,2634 37772 DELTATT3 DEC 16378 B-14 # = 60 MS
046445,000103: 17,2635 37776 DELATT20 DEC 16382 B-14 # = 20 MS
046446,000104:
046447,000105: 17,2636 55513 NOXLNCMD TS XNDX1 # ZERO ALL REQUESTS FOR TRANSLATION
046448,000106: 17,2637 55514 TS XNDX2
046449,000107: 17,2640 55515 TS YNDX
046450,000108: 17,2641 55516 TS ZNDX
046451,000109:
046452,000110: # PITCH COMMANDS TIMING(NO X-TRANS, NO QUAD FAILS) 32MCT
046453,000111:
046454,000112: 17,2642 11562 PWORD CCS TAU1 # CHECK FOR PITCH COMMANDS
046455,000113: 17,2643 35017 CAF ONE
046456,000114: 17,2644 12646 TCF +2 # 0 = NO PITCH
046457,000115: 17,2645 35016 CAF TWO # +1 = + PITCH
046458,000116: 17,2646 55520 TS PINDEX # +2 = - PITCH
046459,000117:
046460,000118: 17,2647 11626 CCS RACFAIL # FLAG FOR REAL AC QUAD FAILURES
046461,000119: 17,2650 12654 TCF AFAILP
046462,000120: 17,2651 12664 TCF TABPCOM # 0 = NO REAL AC FAILURES
046463,000121: 17,2652 12656 TCF CFAILP # + = A QUAD FAILED
046464,000122: 17,2653 12664 TCF TABPCOM # - = C QUAD FAILED
046465,000123: # IF FAILURES ARE PRESENT IGNORE
046466,000124: # X-TRANSLATIONS ON THIS AXIS
046467,000125:
046468,000126: 17,2654 34334 AFAILP CAF NINE # IF FAILURE IS PRESENT 1JET OPERATION
046469,000127: 17,2655 12666 TCF TABPCOM +2 # IS ASSUMED. IGNORE X-TRANSLATION
046470,000128: 17,2656 35771 CFAILP CAF TWELVE
046471,000129: 17,2657 12666 TCF TABPCOM +2
046472,000130:
046473,000131: 17,2660 00000 XLNNDX DEC 0 B-14 # INDECES FOR TRANSLATION COMMANDS
046474,000132: 17,2661 00003 DEC 3 B-14 # FOR USE IN TABLE LOOK UP
046475,000133: 17,2662 00006 DEC 6 B-14
046476,000134: 17,2663 00000 DEC 0 B-14
046477,000135:
046478,000136: 17,2664 5771 TWELVE = OCT14
046479,000137:
046480,000138: # TABLE LOOK UP FOR PITCH COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT.
046481,000139: # BITS 9, 10 CONTAIN THE NUMBER OF PITCH JETS USED TO PERFORM THE PITCH ROTATION
|
|
Page 1041 |
046483,000141:
046484,000142: 17,2664 51513 TABPCOM INDEX XNDX1
046485,000143: 17,2665 32660 CA XLNNDX
046486,000144: 17,2666 61520 AD PINDEX
046487,000145: 17,2667 50000 INDEX A
046488,000146: 17,2670 32714 CA PYTABLE
046489,000147: 17,2671 72733 MASK PJETS # =1417 OCT
046490,000148: 17,2672 55453 TS PWORD1
046491,000149: 17,2673 00006 EXTEND
046492,000150: 17,2674 75011 MP BIT7
046493,000151: 17,2675 55523 TS NPJETS # = NO. OF PITCH JETS
046494,000152:
046495,000153: # YAW JET COMMANDS TIMING(NO X-TRANS, NO QUAD FAILURES) 32MCT
046496,000154:
046497,000155: 17,2676 11563 YWORD CCS TAU2 # CHECK FOR YAW COMMANDS
046498,000156: 17,2677 35017 CAF ONE
046499,000157: 17,2700 12702 TCF +2
046500,000158: 17,2701 35016 CAF TWO
046501,000159: 17,2702 55521 TS YINDEX # YAW ROTATION INDEX
046502,000160:
046503,000161: 17,2703 11627 CCS RBDFAIL # FLAG FOR B OR D QUAD FAILURES
046504,000162: 17,2704 12710 TCF BFAILY # 0 = NO BD FAILURE
046505,000163: 17,2705 12735 TCF TABYCOM # + = B QUAD FAILED
046506,000164: 17,2706 12712 TCF DFAILY # - = D QUAD FAILED
046507,000165: 17,2707 12735 TCF TABYCOM
046508,000166:
046509,000167: 17,2710 34334 BFAILY CAF NINE
046510,000168: 17,2711 12737 TCF TABYCOM +2
046511,000169: 17,2712 35771 DFAILY CAF TWELVE
046512,000170: 17,2713 12737 TCF TABYCOM +2
046513,000171:
|
|
Page 1042 |
046515,000173: # TABLE FOR PITCH(YAW) COMMANDS
046516,000174: # BITS 4,3,2,1 = PITCH, X-TRANSLATION JETS SELECTED
046517,000175: # BITS 10,9 = NO. PITCH JETS USED TO PERFORM ROTATION
046518,000176: # BITS 8,7,6,5 = YAW, X-TRANSLATION JETS SELECTED
046519,000177: # BITS 12,11: NO. YAW JETS USED TO PERFORM ROTATION
046520,000178:
046521,000179: # ROT TRANS QUAD BIAS
046522,000180: 17,2714 00000 PYTABLE OCT 0 # 0 0 0
046523,000181: 17,2715 05125 OCT 5125 # + 0 0
046524,000182: 17,2716 05252 OCT 5252 # - 0 0
046525,000183: 17,2717 00231 OCT 0231 # 0 + 3
046526,000184: 17,2720 02421 OCT 2421 # + + 3
046527,000185: 17,2721 02610 OCT 2610 # - + 3
046528,000186: 17,2722 00146 OCT 0146 # 0 - 6
046529,000187: 17,2723 02504 OCT 2504 # + - 6
046530,000188: 17,2724 02442 OCT 2442 # - - 6
046531,000189: 17,2725 00000 OCT 0 # 0 A(B) 9
046532,000190: 17,2726 02421 OCT 2421 # + A(B) 9
046533,000191: 17,2727 02442 OCT 2442 # - A(B) 9
046534,000192: 17,2730 00000 OCT 0 # 0 C(D) 12
046535,000193: 17,2731 02504 OCT 2504 # + C(D) 12
046536,000194: 17,2732 02610 OCT 2610 # - C(D) 12
046537,000195:
046538,000196: # MASKS FOR PITCH AND YAW COMMANDS
046539,000197:
046540,000198: 17,2733 01417 PJETS OCT 1417
046541,000199: 17,2734 06360 YJETS OCT 6360
046542,000200:
046543,000201: # TABLE LOOK UP FOR YAW COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT
046544,000202: # BITS 11, 12 CONTAIN THE NUMBER OF YAW JETS USED TO PERFORM THE YAW ROTATION
046545,000203:
046546,000204: 17,2735 51514 TABYCOM INDEX XNDX2
046547,000205: 17,2736 32660 CA XLNNDX
046548,000206: 17,2737 61521 AD YINDEX
046549,000207: 17,2740 50000 INDEX A
046550,000208: 17,2741 32714 CA PYTABLE
046551,000209: 17,2742 72734 MASK YJETS # = 6360 OCT
046552,000210: 17,2743 55455 TS YWORD1
046553,000211: 17,2744 00006 EXTEND
046554,000212: 17,2745 75013 MP BIT5
046555,000213: 17,2746 55524 TS NYJETS # NO. OF YAW JETS USED TO PERFORM ROTATION
046556,000214:
|
|
Page 1043 |
046558,000216: # ROLL COMMANDS TIMING(NO Y,Z TRANS, NO QUAD FAILS) 45MCT
046559,000217:
046560,000218: 17,2747 11561 RWORD CCS TAU # CHECK FOR ROLL COMMANDS
046561,000219: 17,2750 35017 CAF ONE
046562,000220: 17,2751 12753 TCF +2
046563,000221: 17,2752 35016 CAF TWO
046564,000222: 17,2753 55517 TS RINDEX
046565,000223:
046566,000224: 17,2754 11630 CCS ACORBD # FLAG FOR AC OR BD QUAD SELECTION FOR
046567,000225: 17,2755 13046 TCF BDROLL # ROLL COMMANDS
046568,000226: 17,2756 13046 TCF BDROLL # +, +0 = BD ROLL
046569,000227: 17,2757 12760 TCF +1 # -, -0 = AC ROLL
046570,000228:
046571,000229: 17,2760 11626 ACROLL CCS RACFAIL # CHECK FOR REAL FAILURES
046572,000230: 17,2761 12765 TCF RAFAIL # ON AC QUADS
046573,000231: 17,2762 12775 TCF RXLNS
046574,000232: 17,2763 12767 TCF RCFAIL
046575,000233: 17,2764 12775 TCF RXLNS
046576,000234:
046577,000235: 17,2765 34334 RAFAIL CAF NINE # QUAD FAILURE WILL GET
046578,000236: 17,2766 12777 TCF TABRCOM # 1-JET OPERATION
046579,000237: 17,2767 35771 RCFAIL CAF TWELVE
046580,000238: 17,2770 12777 TCF TABRCOM
046581,000239:
046582,000240: 17,2771 00000 XLN1NDX DEC 0 B-14
046583,000241: 17,2772 00001 DEC 1 B-14 # INDECES FOR TRANSLATION
046584,000242: 17,2773 00002 DEC 2 B-14
046585,000243: 17,2774 00000 DEC 0 B-14
046586,000244:
046587,000245: # TABLE LOOK UP FOR AC-ROLL COMMANDS WITH AND WITHOUT Y-TRANSLATION AND ACQUAD FAILURES PRESENT
046588,000246: # BITS 9,10,11 CONTAIN THE MAGNITUDE AND DIRECTION OF THE ROLL
046589,000247:
046590,000248: 17,2775 51515 RXLNS INDEX YNDX # NO AC QUAD FAILURES
046591,000249: 17,2776 32660 CA XLNNDX # INCLUDE +,-,0, Y-TRANSLATION
046592,000250: 17,2777 61517 TABRCOM AD RINDEX
046593,000251: 17,3000 50000 INDEX A
046594,000252: 17,3001 33130 CA RTABLE
046595,000253: 17,3002 73147 MASK ACRJETS # = 3760 OCT
046596,000254: 17,3003 55451 TS RWORD1
046597,000255:
046598,000256: # CHECK FOR Z-TRANSLATIONS ON BD
046599,000257:
046600,000258: 17,3004 31516 BDZCHECK CA ZNDX
046601,000259: 17,3005 00006 EXTEND
046602,000260: 17,3006 63040 BZMF NOBDZ # NO Z-TRANSLATION
046603,000261:
|
|
Page 1044 |
046605,000263: # TABLE LOOK UP FOR BD Z-TRANSLATION WITH AND WITHOUT REAL BD QUAD FAILURES. Z-TRANSLATION WILL BE POSS-
046606,000264: # IBLE AS LONG AS ROLL COMMANDS CAN BE SATISFIED WITH THE AC ROLL JETS. CRITERION.. IF THE RESULTANT NET ROLL
046607,000265: # COMMANDS = 0 (WITH Z-TRANSLATION) AND IF TAU = 0, THEN INCLUDE THE BD Z-TRANSLATION COMMANDS. IF THE RESULTANT
046608,000266: # ROLL COMMAND = 0, AND IF TAU NZ, THEN IGNORE THE BD Z-TRANSLATION
046609,000267:
046610,000268: 17,3007 11627 CCS RBDFAIL
046611,000269: 17,3010 36214 CAF THREE
046612,000270: 17,3011 13013 TCF +2
046613,000271: 17,3012 36211 CAF SIX
046614,000272: 17,3013 51516 INDEX ZNDX
046615,000273: 17,3014 62771 AD XLN1NDX
046616,000274: 17,3015 50000 INDEX A
046617,000275: 17,3016 33151 CA YZTABLE
046618,000276: 17,3017 73162 MASK BDZJETS # = 3417 OCT
046619,000277: 17,3020 61451 AD RWORD1 # ADD TO ROLL COMMANDS
046620,000278: 17,3021 55502 TS T5TEMP # IF POSSIBLE. MUST CHECK TAU FIRST
046621,000279:
046622,000280: 17,3022 00006 EXTEND
046623,000281: 17,3023 75011 MP BIT7 # DETERMINE THE NET ROLL COMMAND WITH
046624,000282: 17,3024 66061 AD =-4 # Z-TRANSLATION ADDED ON
046625,000283: 17,3025 55522 TS NRJETS # NET NO. OF +,- ROLL JETS ON
046626,000284: 17,3026 00006 EXTEND
046627,000285: 17,3027 13033 BZF TAUCHECK
046628,000286:
046629,000287: 17,3030 31502 ACRBDZ CA T5TEMP # Z-TRANSLATION ACCEPTED EVEN THO WE MAY
046630,000288: 17,3031 55451 TS RWORD1 # HAVE INTRODUCED AN UNDESIREABLE ROLL
046631,000289: 17,3032 13274 TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATIONS
046632,000290:
046633,000291: 17,3033 11561 TAUCHECK CCS TAU
046634,000292: 17,3034 13040 TCF NOBDZ
046635,000293: 17,3035 13030 TCF ACRBDZ
046636,000294: 17,3036 13040 TCF NOBDZ
046637,000295: 17,3037 13030 TCF ACRBDZ
046638,000296:
046639,000297: 17,3040 31451 NOBDZ CA RWORD1 # Z-TRANSLATION NOT ACCEPTED
046640,000298: 17,3041 00006 EXTEND
046641,000299: 17,3042 75011 MP BIT7
046642,000300: 17,3043 67715 AD =-2
046643,000301: 17,3044 55522 TS NRJETS
046644,000302: 17,3045 13274 TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATION
046645,000303:
|
|
Page 1045 |
046647,000305: # BD QUAD SELECTION FOR ROLL COMMANDS
046648,000306:
046649,000307: 17,3046 11627 BDROLL CCS RBDFAIL
046650,000308: 17,3047 13053 TCF RBFAIL
046651,000309: 17,3050 13057 TCF RZXLNS
046652,000310: 17,3051 13055 TCF RDFAIL
046653,000311: 17,3052 13057 TCF RZXLNS
046654,000312: 17,3053 34334 RBFAIL CAF NINE
046655,000313: 17,3054 13061 TCF TABRZCMD
046656,000314: 17,3055 35771 RDFAIL CAF TWELVE
046657,000315: 17,3056 13061 TCF TABRZCMD
046658,000316:
046659,000317: 17,3057 51516 RZXLNS INDEX ZNDX # NO BD FAILURES
046660,000318: 17,3060 32660 CA XLNNDX # +,-,0 Z-TRANSLATION PRESENT
046661,000319: 17,3061 61517 TABRZCMD AD RINDEX
046662,000320: 17,3062 50000 INDEX A
046663,000321: 17,3063 33130 CA RTABLE
046664,000322: 17,3064 73150 MASK BDRJETS # = 34017 OCT
046665,000323: 17,3065 55451 TS RWORD1
046666,000324:
046667,000325: 17,3066 31515 ACYCHECK CA YNDX # ANY Y-TRANSLATION
046668,000326: 17,3067 00006 EXTEND
046669,000327: 17,3070 13122 BZF NOACY # NO Y-TRANSLATION
046670,000328: 17,3071 11626 CCS RACFAIL
046671,000329: 17,3072 36214 CAF THREE
046672,000330: 17,3073 13075 TCF +2
046673,000331: 17,3074 36211 CAF SIX
046674,000332: 17,3075 51515 INDEX YNDX
046675,000333: 17,3076 62771 AD XLN1NDX
046676,000334: 17,3077 50000 INDEX A
046677,000335: 17,3100 33151 CA YZTABLE
046678,000336: 17,3101 73163 MASK ACYJETS # = 34360 OCT
046679,000337: 17,3102 61451 AD RWORD1
046680,000338: 17,3103 55502 TS T5TEMP
046681,000339: 17,3104 00006 EXTEND # FOR EXPLANATION SEE CODING ON RTABLE
046682,000340: 17,3105 75014 MP BIT4
046683,000341: 17,3106 66061 AD =-4
046684,000342: 17,3107 55522 TS NRJETS # NO. OF NET ROLL JETS
046685,000343: 17,3110 00006 EXTEND
046686,000344: 17,3111 13115 BZF TAUCHCK # IF NRJETS = 0
046687,000345:
046688,000346: 17,3112 31502 BDRACZ CA T5TEMP # Y-TRANSLATION ACCEPTED
046689,000347: 17,3113 55451 TS RWORD1
046690,000348: 17,3114 13274 TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATIONS
046691,000349:
046692,000350: 17,3115 11561 TAUCHCK CCS TAU
046693,000351: 17,3116 13122 TCF NOACY
046694,000352: 17,3117 13112 TCF BDRACZ
046695,000353: 17,3120 13122 TCF NOACY
046696,000354: 17,3121 13112 TCF BDRACZ
046697,000355:
|
|
Page 1046 |
046699,000357: 17,3122 31451 NOACY CA RWORD1 # Y-TRANSLATION NOT ACCEPTED
046700,000358: 17,3123 00006 EXTEND
046701,000359: 17,3124 75014 MP BIT4
046702,000360: 17,3125 67715 AD =-2
046703,000361: 17,3126 55522 TS NRJETS
046704,000362: 17,3127 13274 TCF ROLLTIME
046705,000363:
|
|
Page 1047 |
046707,000365: # TABLE FOR ROLL, Y AND Z-TRANSLATION COMMANDS
046708,000366:
046709,000367: # EITHER AC OR BD ROLL MAY BE SELECTED. IF AC ROLL IS SELECTED, Y-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY
046710,000368: # PROVIDED THAT THERE ARE NO AC QUAD FAILURES. IF THERE ARE AC FAILURES, Y-TRANSLATION COMMANDS WILL BE IGNORED,
046711,000369: # IN WHICH CASE THE ASTRONAUT SHOULD SWITCH TO BD ROLL.
046712,000370:
046713,000371: # IF BDROLL IS SELECTED, Z-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY PROVIDED THAT THERE ARE NO BD QUAD
046714,000372: # FAILURES. IF THERE ARE BD FAILURES, Z-TRANSLATION COMMANDS WILL BE IGNORED, IN WHICH CASE THE ASTRONAUT SHOULD
046715,000373: # SWITCH TO AC ROLL.
046716,000374:
046717,000375: # NOTE THAT IF ONE QUAD FAILS (E.G. B FAILED), Z-TRANSLATION IS STILL POSSIBLE AND THAT THE UNDESIREABLE ROLL
046718,000376: # INTRODUCED BY THIS TRANSLATION WILL BE COMPENSATED BY THE TWO AC ROLL JETS ACTUATED BY THE AUTOPILOT LOGIC.
046719,000377:
046720,000378: # WORD MAKE UP....RTABLE
046721,000379:
046722,000380: # TWO WORDS, CORRESPONDING TO AC OR BD ROLL SELECTION, HAVE BEEN COMBINED INTO ONE TABLE. THE WORD CORRESPOND-
046723,000381: # ING TO AC ROLL HAS THE FOLLOWING INTERPRETATION..
046724,000382:
046725,000383: # BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE FOR THE WORD SELECTED. THE CODING IS..
046726,000384:
046727,000385: # BIT NO. 11 10 9 NO. OF ROLL JETS
046728,000386:
046729,000387: # 0 0 0 -2
046730,000388: # 0 0 1 -1
046731,000389: # 0 1 0 0
046732,000390: # 0 1 1 +1
046733,000391: # 1 0 0 +2
046734,000392:
046735,000393: # THIS WORD MAY THEN BE ADDED TO THE WORD SELECTED FROM THE YZ-TRANSLATION TABLE, WHICH HAS THE SAME TYPE OF
046736,000394: # CODING AS ABOVE, AND THE NET ROLL DETERMINED BY SHIFTING THE RESULTANT WORD RIGHT 8 PLACES AND SUBTRACTING FOUR.
046737,000395:
046738,000396: # THE WORD CORRESPONDING TO BD ROLL HAS A SIMILIAR INTERPRETATION, EXCEPT THAT BITS 12, 13, 14 ARE CODED
046739,000397: # (AS ABOVE) TO GIVE THE NET ROLL TORQUE.
046740,000398:
046741,000399: # ROLL TRANS QUADFAIL BIAS
046742,000400:
046743,000401: 17,3130 11000 RTABLE OCT 11000 # 0 0
046744,000402: 17,3131 22125 OCT 22125 # + 0
046745,000403: 17,3132 00252 OCT 00252 # - 0
046746,000404: 17,3133 11231 OCT 11231 # 0 +Y(+Z) 3
046747,000405: 17,3134 15421 OCT 15421 # + +Y(+Z) 3
046748,000406: 17,3135 04610 OCT 04610 # - +Y(+Z) 3
046749,000407: 17,3136 11146 OCT 11146 # 0 -Y(-Z) 6
046750,000408: 17,3137 15504 OCT 15504 # + -Y(-Z) 6
046751,000409: 17,3140 04442 OCT 04442 # - -Y(-Z) 6
046752,000410: 17,3141 11000 OCT 11000 # 0 A(B) 9
046753,000411: 17,3142 15504 OCT 15504 # + A(B) 9
046754,000412: 17,3143 04610 OCT 04610 # - A(B) 9
046755,000413: 17,3144 11000 OCT 11000 # 0 C(D) 12
046756,000414: 17,3145 15421 OCT 15421 # + C(D) 12
046757,000415: 17,3146 04442 OCT 04442 # - C(D) 12
046758,000416:
|
|
Page 1048 |
046760,000418: # RTABLE MASKS-
046761,000419:
046762,000420: 17,3147 03760 ACRJETS OCT 03760
046763,000421: 17,3150 34017 BDRJETS OCT 34017
046764,000422:
|
|
Page 1049 |
046766,000424: # Y, Z TRANSLATION TABLE
046767,000425:
046768,000426: # ONCE AC OR BD ROLL IS SELECTED THE QUAD PAIR WHICH IS NOT BEING USED TO SATISFY THE ROLL COMMANDS MAY BE
046769,000427: # USED TO SATISFY THE REMAINING TRANSLATION COMMANDS. HOWEVER, WE MUST MAKE SURE THAT ROLL COMMANDS ARE SATISFIED
046770,000428: # WHEN THEY OCCUR. THEREFORE, THE Y-Z TRANSLATIONS FROM THIS TABLE WILL BE IGNORED IF THE NET ROLL TORQUE OF THE
046771,000429: # COMBINED WORD IS ZERO AND THE ROLL COMMANDS ARE NON-ZERO. THIS SITUATION WOULD OCCUR, FOR EXAMPLE, IF WE EN-
046772,000430: # COUNTER SIMULTANEOUS +R +Y -Z COMMANDS AND A QUAD D FAILURE WHILE USING AC FOR ROLL.
046773,000431: # TO FACILITATE THE LOGIC, THE Y-Z TRANSLATION TABLE HAS BEEN CODED IN A MANNER SIMILIAR TO THE ROLL TABLE
046774,000432: # ABOVE.
046775,000433: # BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Z-TRANSLATIONS. THE WORD SELECTED CAN THEN BE
046776,000434: # ADDED TO THE AC-ROLL WORD AND THE RESULTANT ROLL TORQUE DETERMINED FROM THE COMBINED WORD. SIMILIARLY BITS
046777,000435: # 12,13,14 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Y-TRANSLATIONS WHEN BD-ROLL IS SELECTED.
046778,000436:
046779,000437: # TRANSLATION QUADFAIL BIAS
046780,000438:
046781,000439: 17,3151 11000 YZTABLE OCT 11000 # 0 0
046782,000440: 17,3152 11231 OCT 11231 # +Z(+Y) 0
046783,000441: 17,3153 11146 OCT 11146 # -Z(-Y) 0
046784,000442: 17,3154 11000 OCT 11000 # 0 B(A) 3
046785,000443: 17,3155 04610 OCT 04610 # +Z(+Y) B(A) 3
046786,000444: 17,3156 15504 OCT 15504 # -Z(-Y) B(A) 3
046787,000445: 17,3157 11000 OCT 11000 # 0 D(C) 6
046788,000446: 17,3160 15421 OCT 15421 # +Z(+Y) D(C) 6
046789,000447: 17,3161 04442 OCT 04442 # -Z(-Y) D(C) 6
046790,000448:
046791,000449: # YZ-TABLE MASKS-
046792,000450:
046793,000451: 17,3162 03417 BDZJETS OCT 03417
046794,000452: 17,3163 34360 ACYJETS OCT 34360
046795,000453:
046796,000454: # ADDITIONAL CONSTANTS
046797,000455:
046798,000456: 17,3164 7715 =-2 = NEG2
046799,000457: 17,3164 6061 =-4 = NEG4
046800,000458:
|
|
Page 1050 |
046802,000460: # CALCULATION OF JET ON-TIMES
046803,000461:
046804,000462: # THE ROTATION COMMANDS (TAU:S), WHICH WERE DETERMINED FROM THE JET SWITCHING LOGIC ON THE BASIS OF SINGLE JET
046805,000463: # OPERATION, MUST NOW BE UPDATED BY THE ACTUAL NUMBER OF JETS TO BE USED IN SATISFYING THESE COMMANDS. TAU MUST
046806,000464: # ALSO BE DECREMENTED ACCORDING TO THE EXPECTED TORQUE GENERATED BY THE NEW COMMANDS ACTING OVER THE NEXT T5 INT-
046807,000465: # ERVAL.
046808,000466: # IN ORDER TO MAINTAIN ACCURATE KNOWLEDGE OF VEHICLE ANGULAR RATES, WE MUST ALSO PROVIDE EXPECTED FIRING TIMES
046809,000467: # (DFT:S, ALSO IN TERMS OF 1-JET OPERATION) FOR THE RATE FILTER.
046810,000468: # NOTE THAT TRANSLATIONS CAN PRODUCE ROTATIONS EVEN THOUGH NO ROTATIONS WERE CALLED FOR. NEVERTHELESS, WE MUST
046811,000469: # UPDATE DFT.
046812,000470: # WHEN THE ROTATIONS HAVE FINISHED, WE MUST PROVIDE CHANNEL INFORMATION TO THE T6 PROGRAM TO CONTINUE ON WITH
046813,000471: # THE TRANSLATIONS. THIS WILL BE DONE IN THE NEXT SECTION. HOWEVER, TO INSURE THAT JETS ARE NOT FIRED FOR LESS
046814,000472: # THAN A MINIMUM IMPULSE (14MS), ALL JET CHANNEL COMMANDS WILL BE HELD FIXED FROM THE START OF THE T5 PROGRAM FOR
046815,000473: # AT LEAST 14MS UNTIL THE INITIALIZATION OF NEW COMMANDS. MOREOVER, A 14MS ON-TIME WILL BE ADDED TO ANY ROTATIONAL
046816,000474: # COMMANDS GENERATED BY THE MANUAL CONTROLS OR THE JET SWITCHING LOGIC, AND ALL TRANSLATION COMMANDS WILL BE
046817,000475: # ACTIVE FOR AT LEAST ONE CYCLE OF THE T5 PROGRAM (.1SEC)
046818,000476:
046819,000477: # PITCH JET ON-TIME CALCULATION
046820,000478:
046821,000479: 17,3164 11562 PITCHTIM CCS TAU1
046822,000480: 17,3165 13174 TCF PTAUPOS
046823,000481: 17,3166 13170 TCF +2
046824,000482: 17,3167 13172 TCF PTAUNEG
046825,000483: 17,3170 55550 TS DFT1 # NO PITCH ROTATION
046826,000484: 17,3171 13372 TCF PBYPASS # COMMANDS
046827,000485:
046828,000486: 17,3172 41523 PTAUNEG CS NPJETS
046829,000487: 17,3173 55523 TS NPJETS
046830,000488: 17,3174 31562 PTAUPOS CA TAU1
046831,000489: 17,3175 00006 EXTEND
046832,000490: 17,3176 51523 INDEX NPJETS
046833,000491: 17,3177 73353 MP NJET
046834,000492: 17,3200 55461 TS BLAST1
046835,000493: 17,3201 63306 AD =-.1SEC
046836,000494: 17,3202 00006 EXTEND
046837,000495: 17,3203 63214 BZMF AD14MSP
046838,000496: 17,3204 51523 INDEX NPJETS
046839,000497: 17,3205 33307 CA DFTMAX # THE PITCH ON-TIME IS GREATER THAN .1 SEC
046840,000498: 17,3206 55550 TS DFT1
046841,000499: 17,3207 40000 COM
046842,000500: 17,3210 27562 ADS TAU1 # UPDATE TAU1
046843,000501: 17,3211 33310 CAF =+.1SEC # LIMIT THE LENGTH OF PITCH ROTATION
046844,000502: 17,3212 55461 TS BLAST1 # COMMANDS TO 0.1 SEC SO THAT ONLY
046845,000503: 17,3213 13357 TCF ASMBLWP # X-TRANSLATIONS WILL CONTINUE ON SWITCH
046846,000504: # OVER TO TVC
046847,000505: 17,3214 41461 AD14MSP CS BLAST1 # SEE IF JET ON TIME LESS THAN
046848,000506: 17,3215 63313 AD =14MS # MINIMUM IMPULSE TIME
046849,000507: 17,3216 00006 EXTEND
046850,000508: 17,3217 63222 BZMF PBLASTOK # IF SO LIMIT MINIMUM ON TIME TO 14 MS
046851,000509: 17,3220 33313 CAF =14MS
|
|
Page 1051 |
046853,000511: 17,3221 55461 TS BLAST1
046854,000512: 17,3222 31461 PBLASTOK CA BLAST1
046855,000513: 17,3223 00006 EXTEND # THE PITCH COMMANDS WILL BE COMPLETED
046856,000514: 17,3224 71523 MP NPJETS # WITHIN THE TS-CYCLE TIME
046857,000515: 17,3225 23550 LXCH DFT1 # FOR USE IN UPDATING RATE FILTER
046858,000516: 17,3226 55562 TS TAU1 # ZERO TAU1 (ACC CONTAINS ZERO)
046859,000517: 17,3227 13357 TCF ASMBLWP
046860,000518:
|
|
Page 1052 |
046862,000520: # YAW JET ON-TIME CALCULATION
046863,000521:
046864,000522: 17,3230 11563 YAWTIME CCS TAU2
046865,000523: 17,3231 13240 TCF YTAUPOS
046866,000524: 17,3232 13234 TCF +2
046867,000525: 17,3233 13236 TCF YTAUNEG
046868,000526: 17,3234 55551 TS DFT2 # NO YAW ROTATION COMMANDS
046869,000527: 17,3235 13536 TCF YBYPASS
046870,000528:
046871,000529: 17,3236 41524 YTAUNEG CS NYJETS
046872,000530: 17,3237 55524 TS NYJETS
046873,000531: 17,3240 31563 YTAUPOS CA TAU2
046874,000532: 17,3241 00006 EXTEND
046875,000533: 17,3242 51524 INDEX NYJETS
046876,000534: 17,3243 73353 MP NJET
046877,000535: 17,3244 55463 TS BLAST2
046878,000536: 17,3245 63306 AD =-.1SEC
046879,000537: 17,3246 00006 EXTEND
046880,000538: 17,3247 63260 BZMF AD14MSY
046881,000539: 17,3250 51524 INDEX NYJETS
046882,000540: 17,3251 33307 CA DFTMAX # YAW COMMANDS WILL LAST LONGER THAN .1SEC
046883,000541: 17,3252 55551 TS DFT2
046884,000542: 17,3253 40000 COM
046885,000543: 17,3254 27563 ADS TAU2 # DECREMENT TAU2
046886,000544: 17,3255 33310 CAF =+.1SEC # LIMIT THE LENGTH OF YAW ROTATION COMMAND
046887,000545: 17,3256 55463 TS BLAST2 # TO 0.1 SEC SO THAT ONLY X-TRANSLATION
046888,000546: 17,3257 13523 TCF ASMBLWY # WILL CONTINUE ON SWITCH OVER TO TVC
046889,000547:
046890,000548: 17,3260 41463 AD14MSY CS BLAST2 # SEE IF JET ON-TIME LESS THAN
046891,000549: 17,3261 63313 AD =14MS # MINIMUM IMPULSE TIME
046892,000550: 17,3262 00006 EXTEND
046893,000551: 17,3263 63266 BZMF YBLASTOK # IF SO, LIMIT MINIMUM ON-TIME TO 14 MS
046894,000552: 17,3264 33313 CAF =14MS
046895,000553: 17,3265 55463 TS BLAST2
046896,000554: 17,3266 31463 YBLASTOK CA BLAST2 # YAW COMMANDS WILL BE COMPLETED WITHIN
046897,000555: 17,3267 00006 EXTEND # THE T5CYCLE TIME
046898,000556: 17,3270 71524 MP NYJETS
046899,000557: 17,3271 23551 LXCH DFT2
046900,000558: 17,3272 55563 TS TAU2 # ZERO TAU2
046901,000559: 17,3273 13523 TCF ASMBLWY
046902,000560:
|
|
Page 1053 |
046904,000562: # ROLL ON-TIME CALCULATION-
046905,000563:
046906,000564: 17,3274 11561 ROLLTIME CCS TAU
046907,000565: 17,3275 13314 TCF RBLAST
046908,000566: 17,3276 13300 TCF +2
046909,000567: 17,3277 13314 TCF RBLAST
046910,000568: 17,3300 51522 INDEX NRJETS
046911,000569: 17,3301 33307 CA DFTMAX # UPDATE DFT EVEN THO NO ROLL COMMANDS ARE
046912,000570: 17,3302 55547 TS DFT # PRESENT
046913,000571: 17,3303 13516 TCF RBYPASS
046914,000572:
046915,000573: 17,3304 77037 DEC -480 B-14 # =-.3SEC
046916,000574: 17,3305 77277 DEC -320 B-14 # =-.2SEC
046917,000575: 17,3306 77537 =-.1SEC DEC -160 B-14 # =-.1SEC
046918,000576: 17,3307 00000 DFTMAX DEC 0 B-14 # 0
046919,000577: 17,3310 00240 =+.1SEC DEC 160 B-14 # =+.1SEC
046920,000578: 17,3311 00500 DEC 320 B-14 # =+.2SEC
046921,000579: 17,3312 00740 DEC 480 B-14 # =+.3SEC
046922,000580: 17,3313 00027 =14MS DEC 23 B-14 # =14MS
046923,000581:
046924,000582: 17,3314 31561 RBLAST CA TAU
046925,000583: 17,3315 00006 EXTEND
046926,000584: 17,3316 51522 INDEX NRJETS
046927,000585: 17,3317 73353 MP NJET
046928,000586: 17,3320 55457 TS BLAST # BLAST IS AN INTERMEDIATE VARIABLE
046929,000587: # USED IN DETERMINING THE JET ON-TIMES
046930,000588: 17,3321 63306 AD =-.1SEC
046931,000589: 17,3322 00006 EXTEND
046932,000590: 17,3323 63334 BZMF AD14MSR
046933,000591: 17,3324 51522 INDEX NRJETS # THE ROLL ROTATION WILL LAST LONGER
046934,000592: 17,3325 33307 CA DFTMAX # THAN THE T5 CYCLE TIME
046935,000593: 17,3326 55547 TS DFT
046936,000594: 17,3327 40000 COM
046937,000595: 17,3330 27561 ADS TAU
046938,000596: 17,3331 33310 CAF =+.1SEC # LIMIT THE LENGTH OF ROLL ROTATION
046939,000597: 17,3332 55457 TS BLAST # COMMANDS TO 0.1 SEC SO THAT ONLY Y-Z
046940,000598: 17,3333 13377 TCF ASMBLWR # TRANSLATION COMMANDS CONTINUE
046941,000599:
046942,000600: 17,3334 41457 AD14MSR CS BLAST # SEE IF THE JET ON-TIME LESS THAN
046943,000601: 17,3335 63313 AD =14MS # MINIMUM IMPULSE TIME
046944,000602: 17,3336 00006 EXTEND
046945,000603: 17,3337 63342 BZMF RBLASTOK
046946,000604: 17,3340 33313 CAF =14MS # IF SO, LIMIT MINIMUM ON-TIME TO 14 MS
046947,000605: 17,3341 55457 TS BLAST
046948,000606: 17,3342 31457 RBLASTOK CA BLAST
046949,000607: 17,3343 00006 EXTEND
046950,000608: 17,3344 71522 MP NRJETS
046951,000609: 17,3345 23547 LXCH DFT
046952,000610: 17,3346 55561 TS TAU # ZERO TAU
046953,000611: 17,3347 13377 TCF ASMBLWR
046954,000612:
|
|
Page 1054 |
046956,000614: 17,3350 65252 DEC -.333333 # = -1/3
046957,000615: 17,3351 57777 DEC -.500000 # = -1/2
046958,000616: 17,3352 40000 DEC -.999999 # = -1 (NEGMAX)
046959,000617: 17,3353 00000 NJET DEC 0 B-14
046960,000618: 17,3354 37777 DEC .999999 # = +1 (POSMAX)
046961,000619: 17,3355 20000 DEC .500000 # = +1/2
046962,000620: 17,3356 12525 DEC .333333 # = +1/3
046963,000621:
|
|
Page 1055 |
046965,000623: # WHEN THE ROTATION COMMANDS ARE COMPLETED, IT IS NECESSARY TO REPLACE THESE COMMANDS BY NEW COMMANDS WHICH
046966,000624: # CONTINUE ON WITH THE TRANSLATIONS IF ANY ARE PRESENT.
046967,000625:
046968,000626: # IN THIS SECTION THESE NEW COMMANDS ARE GENERATED AND STORED FOR REPLACEMENT OF THE CHANNEL COMMANDS WHEN THE
046969,000627: # CORRESPONDING ROTATIONS ARE COMPLETED.
046970,000628:
046971,000629: # GENERATION OF THE SECOND PITCH(X-TRANS) WORD...PWORD2
046972,000630:
046973,000631: 17,3357 11626 ASMBLWP CCS RACFAIL
046974,000632: 17,3360 13366 TCF FPX2 # IF FAILURE ON AC IGNORE X-TRANSLATION
046975,000633: 17,3361 13363 TCF +2
046976,000634: 17,3362 13366 TCF FPX2
046977,000635: 17,3363 51513 INDEX XNDX1
046978,000636: 17,3364 32660 CA XLNNDX
046979,000637: 17,3365 50000 INDEX A
046980,000638: 17,3366 32714 FPX2 CA PYTABLE
046981,000639: 17,3367 72733 MASK PJETS
046982,000640: 17,3370 55454 TS PWORD2
046983,000641: 17,3371 13230 TCF YAWTIME
046984,000642:
046985,000643: 17,3372 31453 PBYPASS CA PWORD1 # THE T6 PROGRAM WILL LOAD PWORD2
046986,000644: 17,3373 55454 TS PWORD2 # UPON ENTRY
046987,000645: 17,3374 35021 CAF ZERO
046988,000646: 17,3375 55461 TS BLAST1 # THERE IS NO PWORD2
046989,000647: 17,3376 13230 TCF YAWTIME
046990,000648:
|
|
Page 1056 |
046992,000650: # GENERATION OF THE SECOND ROLL (Y,Z) WORD (RWORD2)
046993,000651:
046994,000652: 17,3377 11515 ASMBLWR CCS YNDX # CHECK FOR Y-TRANS
046995,000653: 17,3400 13410 TCF ACBD2Y
046996,000654: 17,3401 35021 NO2Y CAF ZERO
046997,000655: 17,3402 55452 TS RWORD2
046998,000656: 17,3403 11516 CCS ZNDX # CHECK FOR Z-TRANS
046999,000657: 17,3404 13453 TCF ACBD2Z
047000,000658: 17,3405 35021 NO2Z CAF ZERO
047001,000659: 17,3406 27452 ADS RWORD2
047002,000660: 17,3407 13164 TCF PITCHTIM # RWORD2 ASSEMBLED
047003,000661:
047004,000662: 17,3410 11630 ACBD2Y CCS ACORBD
047005,000663: 17,3411 13426 TCF AC2Y # CAN DO Y-TRANS
047006,000664: 17,3412 13426 TCF AC2Y
047007,000665: 17,3413 13414 TCF +1 # USING AC FOR ROLL
047008,000666: 17,3414 11626 CCS RACFAIL
047009,000667: 17,3415 13401 TCF NO2Y # USING AC AND AC HAS FAILED
047010,000668: 17,3416 13420 TCF +2
047011,000669: 17,3417 13401 TCF NO2Y # DITTO
047012,000670:
047013,000671: 17,3420 51515 INDEX YNDX # NO FAILURES, CAN DO Y
047014,000672: 17,3421 32660 CA XLNNDX
047015,000673: 17,3422 50000 INDEX A
047016,000674: 17,3423 33130 CA RTABLE
047017,000675: 17,3424 73147 MASK ACRJETS
047018,000676: 17,3425 13402 TCF NO2Y +1
047019,000677:
047020,000678: 17,3426 11626 AC2Y CCS RACFAIL
047021,000679: 17,3427 36214 CAF THREE
047022,000680: 17,3430 13432 TCF +2
047023,000681: 17,3431 36211 CAF SIX
047024,000682: 17,3432 51515 INDEX YNDX
047025,000683: 17,3433 62771 AD XLN1NDX
047026,000684: 17,3434 50000 INDEX A
047027,000685: 17,3435 33151 CA YZTABLE
047028,000686: 17,3436 73163 MASK ACYJETS
047029,000687: 17,3437 55452 TS RWORD2
047030,000688: 17,3440 00006 EXTEND
047031,000689: 17,3441 75014 MP BIT4
047032,000690: 17,3442 67715 AD =-2
047033,000691: 17,3443 55522 TS NRJETS
047034,000692: 17,3444 41457 CS BLAST
047035,000693: 17,3445 63310 AD =+.1SEC
047036,000694: 17,3446 00006 EXTEND
047037,000695: 17,3447 71522 MP NRJETS
047038,000696: 17,3450 30001 CA L
047039,000697: 17,3451 27547 ADS DFT
047040,000698: 17,3452 13403 TCF NO2Y +2
|
|
Page 1057 |
047042,000700: 17,3453 11630 ACBD2Z CCS ACORBD
047043,000701: 17,3454 13504 TCF BDF2Z # USING BD-ROLL
047044,000702: 17,3455 13504 TCF BDF2Z # MUST CHECK FOR BD FAILURES
047045,000703: 17,3456 13457 TCF +1
047046,000704: 17,3457 11627 CCS RBDFAIL # USING AC FOR ROLL, CAN DO Z-TRANS
047047,000705: 17,3460 36214 CAF THREE
047048,000706: 17,3461 13463 TCF +2
047049,000707: 17,3462 36211 CAF SIX
047050,000708: 17,3463 51516 INDEX ZNDX
047051,000709: 17,3464 62771 AD XLN1NDX
047052,000710: 17,3465 50000 INDEX A
047053,000711: 17,3466 33151 CA YZTABLE
047054,000712: 17,3467 73162 MASK BDZJETS
047055,000713: 17,3470 27452 ADS RWORD2
047056,000714: 17,3471 00006 EXTEND
047057,000715: 17,3472 75011 MP BIT7
047058,000716: 17,3473 67715 AD =-2
047059,000717: 17,3474 55522 TS NRJETS
047060,000718: 17,3475 41457 CS BLAST
047061,000719: 17,3476 63310 AD =+.1SEC
047062,000720: 17,3477 00006 EXTEND
047063,000721: 17,3500 71522 MP NRJETS
047064,000722: 17,3501 30001 CA L
047065,000723: 17,3502 27547 ADS DFT
047066,000724: 17,3503 13164 TCF PITCHTIM
047067,000725:
047068,000726: 17,3504 11627 BDF2Z CCS RBDFAIL
047069,000727: 17,3505 13405 TCF NO2Z # USING BD-ROLL AND BD HAS FAILED
047070,000728: 17,3506 13510 TCF +2
047071,000729: 17,3507 13405 TCF NO2Z # DITTO
047072,000730: 17,3510 51516 INDEX ZNDX
047073,000731: 17,3511 32660 CA XLNNDX
047074,000732: 17,3512 50000 INDEX A
047075,000733: 17,3513 33130 CA RTABLE
047076,000734: 17,3514 73150 MASK BDRJETS
047077,000735: 17,3515 13406 TCF NO2Z +1
047078,000736:
047079,000737: 17,3516 31451 RBYPASS CA RWORD1
047080,000738: 17,3517 55452 TS RWORD2
047081,000739: 17,3520 35021 CAF ZERO
047082,000740: 17,3521 55457 TS BLAST
047083,000741: 17,3522 13164 TCF PITCHTIM
047084,000742:
|
|
Page 1058 |
047086,000744: # GENERATION OF THE SECOND YAW (X-TRANS) WORD...YWORD2
047087,000745:
047088,000746: 17,3523 11627 ASMBLWY CCS RBDFAIL
047089,000747: 17,3524 13532 TCF FYX2 # IF FAILURE ON BD IGNORE X-TRANSLATION
047090,000748: 17,3525 13527 TCF +2
047091,000749: 17,3526 13532 TCF FYX2
047092,000750: 17,3527 51514 INDEX XNDX2
047093,000751: 17,3530 32660 CA XLNNDX
047094,000752: 17,3531 50000 INDEX A
047095,000753: 17,3532 32714 FYX2 CA PYTABLE
047096,000754: 17,3533 72734 MASK YJETS
047097,000755: 17,3534 55456 TS YWORD2
047098,000756: 17,3535 13542 TCF T6SETUP
047099,000757:
047100,000758: 17,3536 31455 YBYPASS CA YWORD1
047101,000759: 17,3537 55456 TS YWORD2
047102,000760: 17,3540 35021 CAF ZERO
047103,000761: 17,3541 55463 TS BLAST2
047104,000762:
|
|
Page 1059 |
047106,000764: # SORT THE JET ON-TIMES
047107,000765:
047108,000766: # AT THIS POINT ALL THE CHANNEL COMMANDS AND JET ON-TIMES HAVE BEEN DETERMINED. IN SUMMARY THESE ARE-
047109,000767:
047110,000768: # RWORD1
047111,000769: # RWORD2 BLAST
047112,000770:
047113,000771: # PWORD1
047114,000772: # PWORD2 BLAST1
047115,000773:
047116,000774: # YWORD1
047117,000775: # YWORD2 BLAST2
047118,000776:
047119,000777: # IN THIS SECTION THE JET ON-TIMES ARE SORTED AND THE SEQUENCE OF T6 INTERRUPTS IS DETERMINED. TO FACILITATE
047120,000778: # THE SORTING PROCESS AND THE T6 PROGRAM, THE VARIABLES BLAST, BLAST1, BLAST2, ARE RESERVED AS DOUBLE PRECISION
047121,000779: # WORDS. THE LOWER PART OF THESE WORDS CONTAIN A BRANCH INDEX ASSOCIATED WITH THE ROTATION AXIS OF THE HIGHER
047122,000780: # ORDER WORD.
047123,000781:
047124,000782: 17,3542 35021 T6SETUP CAF ZERO # BRANCH INDEX FOR ROLL
047125,000783: 17,3543 55460 TS BLAST +1
047126,000784: 17,3544 35015 CAF FOUR # BRANCH INDEX FOR PITCH
047127,000785: 17,3545 55462 TS BLAST1 +1
047128,000786: 17,3546 35024 CAF ELEVEN # BRANCH INDEX FOR YAW
047129,000787: 17,3547 55464 TS BLAST2 +1
047130,000788:
047131,000789: 17,3550 41457 CS BLAST
047132,000790: 17,3551 61461 AD BLAST1
047133,000791: 17,3552 00006 EXTEND
047134,000792: 17,3553 63577 BZMF DXCHT12 # T1 GR T2
047135,000793: 17,3554 41461 CHECKT23 CS BLAST1
047136,000794: 17,3555 61463 AD BLAST2
047137,000795: 17,3556 00006 EXTEND
047138,000796: 17,3557 63603 BZMF DXCHT23
047139,000797: 17,3560 41461 CALCDT6 CS BLAST1
047140,000798: 17,3561 27463 ADS BLAST2
047141,000799: 17,3562 41457 CS BLAST
047142,000800: 17,3563 27461 ADS BLAST1 # END OF SORTING PROCEDURE
047143,000801: 17,3564 00006 EXTEND # RESET T5LOC TO BEGIN PHASE1
047144,000802: 17,3565 33576 DCA RCS2CADR
047145,000803: 17,3566 53313 DXCH T5LOC
047146,000804: 17,3567 45017 ENDJETS CS BIT1 # RESET BIT1 FOR INITIALIZATION OF
047147,000805: 17,3570 71501 MASK RCSFLAGS # T6 PROGRAM
047148,000806: 17,3571 55501 TS RCSFLAGS
047149,000807: 17,3572 45021 CS ZERO # RESET T5PHASE FOR PHASE1
047150,000808: 17,3573 55465 TS T5PHASE
047151,000809: 17,3574 15333 TCF RESUME # RESUME INTERRUPTED PROGRAM
047152,000810:
047153,000811: 17,3575 E6,1510 EBANK= KMPAC
047154,000812: 17,3575 02122 42066 RCS2CADR 2CADR RCSATT
047155,000813:
|
|
Page 1060 |
047157,000815: 17,3577 53460 DXCHT12 DXCH BLAST
047158,000816: 17,3600 53462 DXCH BLAST1
047159,000817: 17,3601 53460 DXCH BLAST
047160,000818: 17,3602 13554 TCF CHECKT23
047161,000819:
047162,000820: 17,3603 53462 DXCHT23 DXCH BLAST1
047163,000821: 17,3604 53464 DXCH BLAST2
047164,000822: 17,3605 53462 DXCH BLAST1
047165,000823: 17,3606 41457 CS BLAST
047166,000824: 17,3607 61461 AD BLAST1
047167,000825: 17,3610 00006 EXTEND
047168,000826: 17,3611 63613 BZMF +2
047169,000827: 17,3612 13560 TCF CALCDT6
047170,000828: 17,3613 53460 DXCH BLAST
047171,000829: 17,3614 53462 DXCH BLAST1
047172,000830: 17,3615 53460 DXCH BLAST
047173,000831: 17,3616 13560 TCF CALCDT6
047174,000832:
|
|
Page 1061 |
047176,000834: # T6 PROGRAM AND CHANNEL SETUP
047177,000835:
047178,000836: 21,3765 BANK 21
047179,000837: 17,2000 SETLOC DAPS5
047180,000838: 17,2000 BANK
047181,000839:
047182,000840: 17,3617 22016 T6START LXCH BANKRUPT
047183,000841: 17,3620 00006 EXTEND
047184,000842: 17,3621 22012 QXCH QRUPT
047185,000843: 17,3622 10031 CCS TIME6 # CHECK TO SEE IF TIME6 WAS RESET
047186,000844: 17,3623 15333 TCF RESUME # AFTER T6RUPT OCCURED (IN T5RUPT)
047187,000845: 17,3624 13626 TCF +2 # IF SO WAIT FOR NEXT T6RUPT BEFORE
047188,000846: 17,3625 15333 TCF RESUME # TAKING ACTION
047189,000847:
047190,000848: 17,3626 41501 CS RCSFLAGS
047191,000849: 17,3627 75017 MASK BIT1 # IF BIT1 IS 0 RESET TO 1
047192,000850: 17,3630 00006 EXTEND # AND INITIALIZE CHANNEL
047193,000851: 17,3631 13642 BZF T6RUPTOR
047194,000852: 17,3632 27501 ADS RCSFLAGS
047195,000853: 17,3633 31451 CA RWORD1
047196,000854: 17,3634 00006 EXTEND # INITIALIZE CHANNELS 5,6 WITH WORD1
047197,000855: 17,3635 01006 WRITE CHAN6
047198,000856: 17,3636 31453 CA PWORD1
047199,000857: 17,3637 61455 AD YWORD1
047200,000858: 17,3640 00006 EXTEND
047201,000859: 17,3641 01005 WRITE CHAN5
047202,000860:
047203,000861: 17,3642 11457 T6RUPTOR CCS BLAST
047204,000862: 17,3643 13722 TCF ZBLAST # ZERO BLAST1
047205,000863: 17,3644 13661 TCF REPLACE # REPLACE WORD1
047206,000864: 17,3645 13647 TCF +2
047207,000865: 17,3646 13661 TCF REPLACE
047208,000866: 17,3647 11461 T6L1 CCS BLAST1
047209,000867: 17,3650 13725 TCF ZBLAST1
047210,000868: 17,3651 13666 TCF REPLACE1
047211,000869: 17,3652 13654 TCF +2
047212,000870: 17,3653 13666 TCF REPLACE1
047213,000871: 17,3654 11463 T6L2 CCS BLAST2
047214,000872: 17,3655 13730 TCF ZBLAST2
047215,000873: 17,3656 13673 TCF REPLACE2
047216,000874: 17,3657 15333 TCF RESUME
047217,000875: 17,3660 13673 TCF REPLACE2
047218,000876:
047219,000877: 17,3661 51460 REPLACE INDEX BLAST +1
047220,000878: 17,3662 03700 TC REPLACER
047221,000879: 17,3663 45017 CS ONE
047222,000880: 17,3664 55457 TS BLAST
047223,000881: 17,3665 13647 TCF T6L1
047224,000882:
047225,000883: 17,3666 51462 REPLACE1 INDEX BLAST1 +1
|
|
Page 1062 |
047227,000885: 17,3667 03700 TC REPLACER
047228,000886: 17,3670 45017 CS ONE
047229,000887: 17,3671 55461 TS BLAST1
047230,000888: 17,3672 13654 TCF T6L2
047231,000889:
047232,000890: 17,3673 51464 REPLACE2 INDEX BLAST2 +1
047233,000891: 17,3674 03700 TC REPLACER
047234,000892: 17,3675 45017 CS ONE
047235,000893: 17,3676 55463 TS BLAST2
047236,000894: 17,3677 15333 TCF RESUME
047237,000895:
047238,000896: 17,3700 31452 REPLACER CA RWORD2 # INITIALIZE CHANNELS 5,6 WITH WORD2
047239,000897: 17,3701 00006 EXTEND
047240,000898: 17,3702 01006 WRITE CHAN6
047241,000899: 17,3703 00002 TC Q
047242,000900:
047243,000901: 17,3704 32734 REPLACEP CA YJETS
047244,000902: 17,3705 00006 EXTEND
047245,000903: 17,3706 02005 RAND CHAN5
047246,000904: 17,3707 61454 AD PWORD2
047247,000905: 17,3710 00006 EXTEND
047248,000906: 17,3711 01005 WRITE CHAN5
047249,000907: 17,3712 00002 TC Q
047250,000908:
047251,000909: 17,3713 32733 REPLACEY CA PJETS
047252,000910: 17,3714 00006 EXTEND
047253,000911: 17,3715 02005 RAND CHAN5
047254,000912: 17,3716 61456 AD YWORD2
047255,000913: 17,3717 00006 EXTEND
047256,000914: 17,3720 01005 WRITE CHAN5
047257,000915: 17,3721 00002 TC Q
047258,000916:
047259,000917: 17,3722 35021 ZBLAST CAF ZERO
047260,000918: 17,3723 57457 XCH BLAST
047261,000919: 17,3724 13732 TCF ENABT6
047262,000920: 17,3725 35021 ZBLAST1 CAF ZERO
047263,000921: 17,3726 57461 XCH BLAST1
047264,000922: 17,3727 13732 TCF ENABT6
047265,000923: 17,3730 35021 ZBLAST2 CAF ZERO
047266,000924: 17,3731 57463 XCH BLAST2
047267,000925: 17,3732 54031 ENABT6 TS TIME6
047268,000926: 17,3733 35001 CAF NEGMAX
047269,000927: 17,3734 00006 EXTEND
047270,000928: 17,3735 05013 WOR CHAN13 # ENABLE T6RUPT
047271,000929: 17,3736 15333 TCF RESUME
047272,000930:
047273,000931: # END OF T6 INTERRUPT
047274,000932:
047275,000933: 17,3737 ENDSLECT EQUALS
047276,000934:
End of include-file JET_SELECTION_LOGIC.agc. Parent file is MAIN.agc