Source Code
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These source-code files are part of a reconstructed copy of LM131 revision 1,
the final release of the Apollo 13 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The source reconstruction began with source code of Luminary 131 previously
transcribed from a digitized copy of that program. A dump of the flight spare
core rope memory module B5, part number 2010802-171, serial number RAY 411,
was obtained. This module is the only module different between Luminary 131
and LM131 revision 1. The dump was disassembled and all changes were incorporated
into these source files. Note that page numbers in the reconstructed code match
those on the Luminary 131 printout, although the changed code would likely have
changed page numbers for a real LM131 revision 1 listing.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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059513,000002: ## Copyright: Public domain.
059514,000003: ## Filename: P-AXIS_RCS_AUTOPILOT.agc
059515,000004: ## Purpose: A section of LM131 revision 1.
059516,000005: ## It is part of the reconstructed source code for the final
059517,000006: ## release of the flight software for the Lunar Module's (LM)
059518,000007: ## Apollo Guidance Computer (AGC) for Apollo 13. The code has
059519,000008: ## been reconstructed from a listing of Luminary 131 and a dump
059520,000009: ## of a core rope memory module B5, part number 2010802-171,
059521,000010: ## which is the only module different between LM131 revision 1
059522,000011: ## and Luminary 131. The executable generated from this source
059523,000012: ## has been verified against the module dump, so while the names,
059524,000013: ## comments, and ordering may not be exactly correct, the
059525,000014: ## resulting binary is.
059526,000015: ## Reference: pp. 1413-1433
059527,000016: ## Assembler: yaYUL
059528,000017: ## Contact: Ron Burkey <info@sandroid.org>.
059529,000018: ## Website: www.ibiblio.org/apollo/index.html
059530,000019: ## Mod history: 2022-10-28 MAS Created from Luminary 131.
059531,000020:
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Page 1413
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059533,000022: 16,2213 BANK 16
059534,000023: 16,2000 SETLOC DAPS1
059535,000024: 16,2000 BANK
059536,000025:
059537,000026: 16,2213 E6,1464 EBANK= PERROR
059538,000027: 16,2213 COUNT* $$/DAPP
059539,000028:
059540,000029: # THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS.
059541,000030: # THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP.
059542,000031:
059543,000032: 16,2213 37732 PAXIS CA MS100
059544,000033: 16,2214 26030 ADS TIME5 # *** NECESSARY IN ORDER TO ALLOW SYN-
059545,000034: # CHRONIZATION WITH OTHER INTERRUPTS ***
059546,000035:
059547,000036: 16,2215 22016 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
059548,000037: 16,2216 00006 EXTEND
059549,000038: 16,2217 22012 QXCH QRUPT
059550,000039:
059551,000040: # CHECK IF DAP PASS IS PERMISSIBLE
059552,000041:
059553,000042: 16,2220 11756 CCS DAPZRUPT # IF DAPZRUPT POSITIVE, DAP (JASK) IS
059554,000043: 16,2221 05624 TC BAILOUT # STILL IN PROGRESS AND A RESTART IS
059555,000044: 16,2222 32000 OCT 32000 # CALLED FOR. IT IS NEVER ZERO
059556,000045:
059557,000046: 16,2223 02000 TC CHEKBITS # RETURN IS TO I+1 IF DAP SHOULD STAY ON.
059558,000047:
059559,000048: 16,2224 30032 CA CDUX # READ AND STORE CDU'S
059560,000049: 16,2225 55747 TS DAPTREG4
059561,000050: 16,2226 30033 CA CDUY
059562,000051: 16,2227 55750 TS DAPTREG5
059563,000052: 16,2230 30034 CA CDUZ
059564,000053: 16,2231 55751 TS DAPTREG6
059565,000054:
059566,000055: # ***** KALCMANU-DAP AND "RATE-HOLD"-DAP INTERFACE *****
059567,000056:
059568,000057: # THE FOLLOWING SECTION IS EXECUTED EVERY 100 MS (10 TIMES A SECOND) WITHIN THE P-AXIS REACTION CONTROL SYSTEM
059569,000058: # AUTOPILOT (WHENEVER THE DAP IS IN OPERATION).
059570,000059:
059571,000060: 16,2232 31634 CA CDUXD
059572,000061: 16,2233 00006 EXTEND
059573,000062: 16,2234 21637 MSU DELCDUX
059574,000063: 16,2235 02256 TC 1STOTWOS
059575,000064: 16,2236 55634 TS CDUXD
059576,000065: 16,2237 31635 CA CDUYD
059577,000066: 16,2240 00006 EXTEND
059578,000067: 16,2241 21640 MSU DELCDUY
059579,000068: 16,2242 02256 TC 1STOTWOS
059580,000069: 16,2243 55635 TS CDUYD
059581,000070: 16,2244 31636 CA CDUZD
059582,000071: 16,2245 00006 EXTEND
059583,000072: 16,2246 21641 MSU DELCDUZ
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Page 1414
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059585,000074: 16,2247 02256 TC 1STOTWOS
059586,000075: 16,2250 55636 TS CDUZD
059587,000076: 16,2251 00006 EXTEND # DIMINISH MANUAL CONTROL DIRECT RATE
059588,000077: 16,2252 27445 DIM TCP # TIME COUNTERS.
059589,000078: 16,2253 00006 EXTEND
059590,000079: 16,2254 27457 DIM TCQR
059591,000080:
059592,000081: # RATELOOP COMPUTES JETRATEQ, JETRATER, AND 1JACC*NO. PJETS IN ITEMP1.
059593,000082: # RETURNS TO BACKP.
059594,000083:
059595,000084: # JETRATE = 1JACC*NO.PJETS*TJP (NOTE TJ IS THE TIME FIRED DURING CSP)
059596,000085: # JETRATEQ = 1JACCQ(TJU*NO.UJETS - TJV*NO.VJETS)
059597,000086: # JETRATER = 1JACCR(TJU*NO.UJETS + TJV*NO.VJETS)
059598,000087:
059599,000088: 16,2255 12647 TCF PAXFILT # PROCEEDS TO RATELOOP AFTER SUPERJOB
059600,000089: 16,2256 10000 1STOTWOS CCS A
059601,000090: 16,2257 64753 AD ONE
059602,000091: 16,2260 00002 TC Q
059603,000092: 16,2261 40000 CS A
059604,000093: 16,2262 00002 TC Q
059605,000094: 16,2263 00006 SUBDIVDE EXTEND # OVERFLOW PROCTION ROUTINE TO GIVE
059606,000095: 16,2264 71740 MP DAPTEMP3 # POSMAX OR NEGMAX IF THE DIVIDE WOULD
059607,000096: 16,2265 21427 DAS OMEGAU # OVERFLOW
059608,000097:
059609,000098: 16,2266 00006 +3 EXTEND
059610,000099: 16,2267 31427 DCA OMEGAU
059611,000100: 16,2270 53743 DXCH DAPTEMP5
059612,000101: 16,2271 11426 CCS OMEGAU
059613,000102: 16,2272 12274 TCF +2
059614,000103: 16,2273 12304 TCF DIVIDER
059615,000104: 16,2274 62315 AD -OCT630
059616,000105: 16,2275 00006 EXTEND
059617,000106: 16,2276 62304 BZMF DIVIDER
059618,000107:
059619,000108: 16,2277 11426 CCS OMEGAU
059620,000109: 16,2300 34733 CA POSMAX # 45 DEG/SEC
059621,000110: 16,2301 00002 TC Q
059622,000111: 16,2302 44733 CS POSMAX
059623,000112: 16,2303 00002 TC Q
059624,000113:
059625,000114: 16,2304 53427 DIVIDER DXCH OMEGAU
059626,000115: 16,2305 00006 EXTEND
059627,000116: 16,2306 11747 DV DAPTREG4
059628,000117: 16,2307 00002 TC Q
059629,000118:
059630,000119: 16,2310 54007 OVERSUB TS 7 # RETURNS A UNCHANGED OR LIMITED TO
059631,000120: 16,2311 00002 TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW
059632,000121: 16,2312 50000 INDEX A
059633,000122: 16,2313 44734 CS BIT15 -1
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Page 1415
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059635,000124: 16,2314 00002 TC Q
059636,000125:
059637,000126: 16,2315 77147 -OCT630 OCT 77147
059638,000127:
059639,000128: 16,2316 31736 BACKP CA DAPTEMP1
059640,000129: 16,2317 00006 EXTEND
059641,000130: 16,2320 71530 MP 1JACC
059642,000131: 16,2321 55744 TS JETRATE
059643,000132:
059644,000133: # BEGINNING OF THE RATE DERIVATION
059645,000134: # OMEGAP,Q,R BODY RATES SCALED AT PI/4
059646,000135: # TRAPER,Q,R BODY ANGLE ERRORS FROM PREDICTED ANGLE (PI/40)
059647,000136: # NP(QR)TRAPS NUMBER OF TIMES ANGLE ERROR HAS BEEN ACCUMULATED
059648,000137: # AOSQ(R)TERM CHANGE IN RATE DUE TO OFFSET ACCELLERATION. (PI/4)
059649,000138: # JETRATE,Q,R CHANGE IN RATE DUE TO JET ACCELLERATION. (PI/4)
059650,000139: # TRAPSIZE NEGATIVE LIMIT OF MAGNITUDE OF TRAPEDP, ECT.
059651,000140: # OMEGAU DP-TEMPORARY STORAGE
059652,000141: # OMEGA = OMEGA + JETRATE + AOSTERM (+TRAPED/NTRAPS IF TRAPED BIG)
059653,000142:
059654,000143: 16,2322 31747 CAE DAPTREG4 # CDUX IS STORED HERE
059655,000144: 16,2323 54001 TS L
059656,000145: 16,2324 00006 EXTEND
059657,000146: 16,2325 21440 MSU OLDXFORP # SCALED AT PI
059658,000147: 16,2326 23440 LXCH OLDXFORP
059659,000148: 16,2327 55736 TS DAPTEMP1
059660,000149: 16,2330 33624 CA 1/40
059661,000150: 16,2331 55747 TS DAPTREG4
059662,000151: 16,2332 41744 CS JETRATE
059663,000152: 16,2333 00006 EXTEND
059664,000153: 16,2334 74736 MP BIT14
059665,000154: 16,2335 27430 ADS TRAPEDP
059666,000155: 16,2336 31745 CA JETRATEQ
059667,000156: 16,2337 61544 AD AOSQTERM
059668,000157: 16,2340 00006 EXTEND
059669,000158: 16,2341 77741 MP -BIT14
059670,000159: 16,2342 27431 ADS TRAPEDQ
059671,000160: 16,2343 31746 CA JETRATER
059672,000161: 16,2344 61545 AD AOSRTERM
059673,000162: 16,2345 00006 EXTEND
059674,000163: 16,2346 77741 MP -BIT14
059675,000164: 16,2347 27432 ADS TRAPEDR
059676,000165:
059677,000166: 16,2350 31750 CA DAPTREG5 # CDUY IS STORED HERE
059678,000167: 16,2351 54001 TS L
059679,000168: 16,2352 00006 EXTEND
059680,000169: 16,2353 21441 MSU OLDYFORP # SCALED AT PI
059681,000170: 16,2354 23441 LXCH OLDYFORP
059682,000171: 16,2355 55737 TS DAPTEMP2
059683,000172: 16,2356 00006 EXTEND
059684,000173: 16,2357 71414 MP M11 # M11 SCALED AT 1
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Page 1416
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059686,000175: 16,2360 61736 AD DAPTEMP1
059687,000176: 16,2361 53427 DXCH OMEGAU
059688,000177:
059689,000178: 16,2362 02266 TC SUBDIVDE +3 # RETURNS WITH CDU-RATE AT PI/4
059690,000179:
059691,000180: 16,2363 00006 EXTEND
059692,000181: 16,2364 61421 SU OMEGAP
059693,000182: 16,2365 27430 ADS TRAPEDP
059694,000183: 16,2366 02310 TC OVERSUB
059695,000184: 16,2367 55430 TS TRAPEDP
059696,000185: 16,2370 00006 EXTEND
059697,000186: 16,2371 31743 DCA DAPTEMP5
059698,000187: 16,2372 21447 DAS DXERROR
059699,000188: 16,2373 41454 CS PLAST
059700,000189: 16,2374 00006 EXTEND
059701,000190: 16,2375 73624 MP 1/40
059702,000191: 16,2376 21447 DAS DXERROR # MANUAL MODE X-ATTITUDE ERROR (DP)
059703,000192: 16,2377 31751 CA DAPTREG6 # CDUZ IS STORED HERE
059704,000193: 16,2400 54001 TS L
059705,000194: 16,2401 00006 EXTEND
059706,000195: 16,2402 21442 MSU OLDZFORQ
059707,000196: 16,2403 55740 TS DAPTEMP3
059708,000197: 16,2404 23442 LXCH OLDZFORQ
059709,000198: 16,2405 31415 CA M21
059710,000199: 16,2406 00006 EXTEND
059711,000200: 16,2407 71737 MP DAPTEMP2
059712,000201: 16,2410 53427 DXCH OMEGAU
059713,000202: 16,2411 31417 CA M22
059714,000203: 16,2412 02263 TC SUBDIVDE
059715,000204:
059716,000205: 16,2413 00006 EXTEND
059717,000206: 16,2414 61422 SU OMEGAQ
059718,000207: 16,2415 27431 ADS TRAPEDQ
059719,000208: 16,2416 02310 TC OVERSUB
059720,000209: 16,2417 55431 TS TRAPEDQ
059721,000210: 16,2420 00006 EXTEND
059722,000211: 16,2421 31743 DCA DAPTEMP5
059723,000212: 16,2422 21451 DAS DYERROR
059724,000213: 16,2423 41455 CS QLAST
059725,000214: 16,2424 00006 EXTEND
059726,000215: 16,2425 73624 MP 1/40
059727,000216: 16,2426 21451 DAS DYERROR # MANUAL MODE Y-ATTITUDE ERROR (DP)
059728,000217: 16,2427 31416 CA M31
059729,000218: 16,2430 00006 EXTEND
059730,000219: 16,2431 71737 MP DAPTEMP2
059731,000220: 16,2432 53427 DXCH OMEGAU
059732,000221: 16,2433 31420 CA M32
059733,000222:
059734,000223: 16,2434 02263 TC SUBDIVDE
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Page 1417
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059736,000225: 16,2435 00006 EXTEND
059737,000226: 16,2436 61423 SU OMEGAR
059738,000227: 16,2437 27432 ADS TRAPEDR
059739,000228: 16,2440 02310 TC OVERSUB
059740,000229: 16,2441 55432 TS TRAPEDR # TRAPEDS HAVE ALL BEEN COMPUTED
059741,000230:
059742,000231: 16,2442 00006 EXTEND
059743,000232: 16,2443 31743 DCA DAPTEMP5
059744,000233: 16,2444 21453 DAS DZERROR
059745,000234: 16,2445 41456 CS RLAST
059746,000235: 16,2446 00006 EXTEND
059747,000236: 16,2447 73624 MP 1/40
059748,000237: 16,2450 21453 DAS DZERROR # MANUAL MODE Z-ATTITUDE ERROR (DP)
059749,000238: 16,2451 30111 CA DAPBOOLS # PICK UP PAD LOADED STATE ESTIMATOR GAINS
059750,000239: 16,2452 74737 MASK CSMDOCKD
059751,000240: 16,2453 00006 EXTEND
059752,000241: 16,2454 12462 BZF LMONLY
059753,000242: 16,2455 00006 EXTEND # DOCKED
059754,000243: 16,2456 31405 DCA DKOMEGAN
059755,000244: 16,2457 53750 DXCH DAPTREG4
059756,000245: 16,2460 31403 CA DKTRAP
059757,000246: 16,2461 12466 TCF +5
059758,000247: 16,2462 00006 LMONLY EXTEND # UNDOCKED
059759,000248: 16,2463 31410 DCA LMOMEGAN
059760,000249: 16,2464 53750 DXCH DAPTREG4
059761,000250: 16,2465 31406 CA LMTRAP
059762,000251: 16,2466 55751 +5 TS DAPTREG6
059763,000252: 16,2467 11430 CCS TRAPEDP
059764,000253: 16,2470 12472 TCF +2
059765,000254: 16,2471 12507 TCF SMALPDIF
059766,000255: 16,2472 61751 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
059767,000256: 16,2473 00006 EXTEND
059768,000257: 16,2474 62507 BZMF SMALPDIF
059769,000258: 16,2475 22007 ZL
059770,000259: 16,2476 23430 LXCH TRAPEDP
059771,000260: 16,2477 34755 CA ZERO
059772,000261: 16,2500 00006 EXTEND
059773,000262: 16,2501 11433 DV NPTRAPS
059774,000263: 16,2502 27421 ADS OMEGAP
059775,000264: 16,2503 02310 TC OVERSUB
059776,000265: 16,2504 55421 TS OMEGAP
059777,000266: 16,2505 31747 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
059778,000267: 16,2506 55433 TS NPTRAPS
059779,000268: 16,2507 25433 SMALPDIF INCR NPTRAPS
059780,000269: 16,2510 31744 P-RATE CA JETRATE
059781,000270: 16,2511 27421 ADS OMEGAP
059782,000271: 16,2512 02310 TC OVERSUB
059783,000272: 16,2513 55421 TS OMEGAP
059784,000273:
059785,000274: 16,2514 11431 CCS TRAPEDQ
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Page 1418
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059787,000276: 16,2515 12517 TCF +2
059788,000277: 16,2516 12544 TCF Q-RATE
059789,000278: 16,2517 61751 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
059790,000279: 16,2520 00006 EXTEND
059791,000280: 16,2521 62544 BZMF Q-RATE
059792,000281: 16,2522 22007 ZL
059793,000282: 16,2523 23431 LXCH TRAPEDQ
059794,000283: 16,2524 34755 CA ZERO
059795,000284: 16,2525 00006 EXTEND
059796,000285: 16,2526 11434 DV NQTRAPS
059797,000286: 16,2527 55736 TS DAPTEMP1 # SAVE FOR OFFSET ESTIMATE
059798,000287: 16,2530 27422 ADS OMEGAQ
059799,000288: 16,2531 02310 TC OVERSUB
059800,000289: 16,2532 55422 TS OMEGAQ
059801,000290: 16,2533 31747 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
059802,000291: 16,2534 57434 XCH NQTRAPS
059803,000292: 16,2535 61750 AD DAPTREG5 # KAOS > ABOUT 60D %N/N_60"
059804,000293: 16,2536 57736 XCH DAPTEMP1
059805,000294: 16,2537 00006 EXTEND
059806,000295: 16,2540 74756 MP FIVE
059807,000296: 16,2541 00006 EXTEND
059808,000297: 16,2542 11736 DV DAPTEMP1
059809,000298: 16,2543 27536 ADS AOSQ
059810,000299: 16,2544 25434 Q-RATE INCR NQTRAPS
059811,000300: 16,2545 31745 CA JETRATEQ
059812,000301: 16,2546 61544 AD AOSQTERM
059813,000302: 16,2547 27422 ADS OMEGAQ
059814,000303: 16,2550 02310 TC OVERSUB
059815,000304: 16,2551 55422 TS OMEGAQ
059816,000305:
059817,000306: 16,2552 11432 CCS TRAPEDR
059818,000307: 16,2553 12555 TCF +2
059819,000308: 16,2554 12602 TCF R-RATE
059820,000309: 16,2555 61751 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
059821,000310: 16,2556 00006 EXTEND
059822,000311: 16,2557 62602 BZMF R-RATE
059823,000312: 16,2560 22007 ZL
059824,000313: 16,2561 23432 LXCH TRAPEDR
059825,000314: 16,2562 34755 CA ZERO
059826,000315: 16,2563 00006 EXTEND
059827,000316: 16,2564 11435 DV NRTRAPS
059828,000317: 16,2565 55737 TS DAPTEMP2 # SAVE FOR OFFSET ESTIMATE
059829,000318: 16,2566 27423 ADS OMEGAR
059830,000319: 16,2567 02310 TC OVERSUB
059831,000320: 16,2570 55423 TS OMEGAR
059832,000321: 16,2571 31747 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
059833,000322: 16,2572 57435 XCH NRTRAPS
059834,000323: 16,2573 61750 AD DAPTREG5 # KAOS > ABOUT 60D %N/N_60"
059835,000324: 16,2574 57737 XCH DAPTEMP2
059836,000325: 16,2575 00006 EXTEND
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Page 1419
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059838,000327: 16,2576 74756 MP FIVE
059839,000328: 16,2577 00006 EXTEND
059840,000329: 16,2600 11737 DV DAPTEMP2
059841,000330: 16,2601 27540 ADS AOSR
059842,000331: 16,2602 25435 R-RATE INCR NRTRAPS
059843,000332: 16,2603 31746 CA JETRATER
059844,000333: 16,2604 61545 AD AOSRTERM
059845,000334: 16,2605 27423 ADS OMEGAR
059846,000335: 16,2606 02310 TC OVERSUB
059847,000336: 16,2607 55423 TS OMEGAR
059848,000337:
059849,000338: # END OF RATE DERIVATION
059850,000339: # BEGIN OFFSET ESTIMATER
059851,000340: # IN POWERED FLIGHT, AOSTASK WILL BE CALLED EVERY 2 SECONDS.
059852,000341: # AOS = AOS + K*SUMRATE
059853,000342:
059854,000343: 16,2610 40111 CS DAPBOOLS
059855,000344: 16,2611 74744 MASK DRIFTBIT
059856,000345: 16,2612 10000 CCS A
059857,000346: 16,2613 12624 TCF WORKTIME
059858,000347: 16,2614 55424 TS ALPHAQ # ZERO THE OFFSET ACCELERATION VALUES.
059859,000348: 16,2615 55425 TS ALPHAR
059860,000349: 16,2616 55544 TS AOSQTERM
059861,000350: 16,2617 55545 TS AOSRTERM
059862,000351: 16,2620 55536 TS AOSQ
059863,000352: 16,2621 55540 TS AOSR
059864,000353: 16,2622 12667 TCF PRETIMCK
059865,000354: 16,2623 00074 KAOS DEC 60 B-14
059866,000355: 16,2624 31510 WORKTIME CA QACCDOT
059867,000356: 16,2625 00006 EXTEND
059868,000357: 16,2626 74766 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
059869,000358: 16,2627 21537 DAS AOSQ
059870,000359: 16,2630 31536 CA AOSQ
059871,000360: 16,2631 55424 TS ALPHAQ
059872,000361: 16,2632 00006 EXTEND
059873,000362: 16,2633 73622 MP 200MS # .2 AT 1
059874,000363: 16,2634 55544 TS AOSQTERM
059875,000364: 16,2635 31512 CA RACCDOT
059876,000365: 16,2636 00006 EXTEND
059877,000366: 16,2637 74766 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
059878,000367: 16,2640 21541 DAS AOSR
059879,000368: 16,2641 31540 CA AOSR
059880,000369: 16,2642 55425 TS ALPHAR
059881,000370: 16,2643 00006 EXTEND
059882,000371: 16,2644 73622 MP 200MS # .2 AT 1
059883,000372: 16,2645 55545 TS AOSRTERM
059884,000373: 16,2646 12667 TCF PRETIMCK
059885,000374:
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Page 1420
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059887,000376: 16,2647 34747 PAXFILT CA CALLGMBL # EXECUTE ACDT+C12, IF NEEDED.
059888,000377: 16,2650 71262 MASK RCSFLAGS
059889,000378: 16,2651 10000 CCS A # CALLGMBL IS NOT BIT15, SO THIS TEST IS
059890,000379: 16,2652 03742 TC ACDT+C12 # VALID.
059891,000380:
059892,000381: 16,2653 52011 DXCH ARUPT
059893,000382: 16,2654 53753 DXCH DAPARUPT
059894,000383: 16,2655 32666 CA SUPERJOB # SETTING UP THE SUPERJOB
059895,000384: 16,2656 56017 XCH BRUPT
059896,000385: 16,2657 22012 LXCH QRUPT
059897,000386: 16,2660 53755 DXCH DAPBQRPT
059898,000387: 16,2661 32665 CA SUPERADR
059899,000388: 16,2662 52016 DXCH ZRUPT
059900,000389: 16,2663 53757 DXCH DAPZRUPT
059901,000390: 16,2664 15275 TCF NOQBRSM +1 # RELINT (JUST IN CASE) AND RESUME, IN THE
059902,000391: # FORM OF A JASK, AT SUPERJOB.
059903,000392:
059904,000393: 16,2665 02667 SUPERADR GENADR SUPERJOB +1
059905,000394:
059906,000395: # COUNT DOWN GIMBAL DRIVE TIMERS AND TURN OFF DRIVES IF REQUIRED.
059907,000396:
059908,000397: 16,2666 13645 SUPERJOB TCF RATELOOP
059909,000398: 16,2667 11631 PRETIMCK CCS QGIMTIMR
059910,000399: 16,2670 12710 TCF DECQTIMR # POSITIVE - COUNTING DOWN
059911,000400: 16,2671 12714 TCF TURNOFFQ # NEGATIVE - DRIVE SHOULD BE ENDED
059912,000401: 16,2672 11633 CHKRTIMR CCS RGIMTIMR # NEGATIVE - INACTIVE
059913,000402: 16,2673 12712 TCF DECRTIMR # (NEG ZERO - IMPOSSIBLE)
059914,000403: 16,2674 12724 TCF TURNOFFR # REPEATED (ABOVE) FOR R AXIS.
059915,000404:
059916,000405: 16,2675 00006 EXTEND # DECREMENT DOCKED JET INHIBITION COUNTERS
059917,000406: 16,2676 27766 DIM PJETCTR
059918,000407: 16,2677 00006 EXTEND
059919,000408: 16,2700 27767 DIM UJETCTR
059920,000409: 16,2701 00006 EXTEND
059921,000410: 16,2702 27770 DIM VJETCTR
059922,000411: 16,2703 34740 CA BIT12
059923,000412: 16,2704 71262 MASK RCSFLAGS
059924,000413: 16,2705 00006 EXTEND
059925,000414: 16,2706 12734 BZF SKIPPAXS
059926,000415: 16,2707 02740 TC CHKVISFZ
059927,000416: 16,2710 55631 DECQTIMR TS QGIMTIMR # COUNT TIMERS DOWN TO POS ZERO.
059928,000417: 16,2711 12672 TCF CHKRTIMR
059929,000418: 16,2712 55633 DECRTIMR TS RGIMTIMR
059930,000419: 16,2713 12675 TCF CHKRTIMR +3
059931,000420:
059932,000421: 16,2714 55501 TURNOFFQ TS NEGUQ # HALT DRIVES.
059933,000422: 16,2715 55510 TS QACCDOT
059934,000423: 16,2716 45007 CS QGIMBITS
059935,000424: 16,2717 00006 EXTEND
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Page 1421
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059937,000426: 16,2720 03012 WAND CHAN12
059938,000427: 16,2721 34735 CAF NEGMAX
059939,000428: 16,2722 55631 TS QGIMTIMR
059940,000429: 16,2723 12672 TCF CHKRTIMR
059941,000430: 16,2724 55503 TURNOFFR TS NEGUR
059942,000431: 16,2725 55512 TS RACCDOT
059943,000432: 16,2726 45020 CS RGIMBITS
059944,000433: 16,2727 00006 EXTEND
059945,000434: 16,2730 03012 WAND CHAN12
059946,000435: 16,2731 34735 CAF NEGMAX
059947,000436: 16,2732 55633 TS RGIMTIMR
059948,000437: 16,2733 12675 TCF CHKRTIMR +3
059949,000438: 16,2734 5007 QGIMBITS EQUALS OCT1400 # BITS 9 AND 10 (OF CHANNEL 12).
059950,000439: 16,2734 5020 RGIMBITS EQUALS PRIO6 # BITS 11 AND 12 (OF CHANNEL 12).
059951,000440:
059952,000441: 16,2734 41262 SKIPPAXS CS RCSFLAGS
059953,000442: 16,2735 74740 MASK BIT12
059954,000443: 16,2736 27262 ADS RCSFLAGS # BIT 12 SET TO 1.
059955,000444: 16,2737 13630 TCF QRAXIS # GO TO QRAXIS OR TO GTS.
059956,000445:
059957,000446: # Y-Z TRANSLATION
059958,000447:
059959,000448: # INPUT: BITS 9-12 OF CH31 (FROM TRANSLATION CONTROLER)
059960,000449:
059961,000450: # OUTPUT: NEXTP
059962,000451: # NEXTP IS THE CHANNEL 6 CODE OF JETS FOR THE DESIRED TRANSLATION.
059963,000452: # IF THERE ARE FAILURES IN THE DESIRED POLICY, THEN
059964,000453: # (1) FOR DIAGONAL TRANS: UNFAILED PAIR
059965,000454: # ALARM (IF NO PAIR)
059966,000455: # (2) FOR PRINCIPAL TRANS: TRY TO TACK WITH DIAGONAL PAIRS
059967,000456: # ALARM (IF DIAGONAL PAIRS ARE FAILED)
059968,000457:
059969,000458: 16,2740 00006 CHKVISFZ EXTEND
059970,000459: 16,2741 00031 READ CHAN31
059971,000460: 16,2742 40000 CS A
059972,000461: 16,2743 73617 MASK 07400OCT
059973,000462: 16,2744 00006 EXTEND
059974,000463: 16,2745 13014 BZF TSNEXTP
059975,000464: 16,2746 00006 EXTEND
059976,000465: 16,2747 74745 MP BIT7
059977,000466: 16,2750 50000 INDEX A
059978,000467: 16,2751 33576 CA INDXYZ
059979,000468: 16,2752 55743 TS ROTINDEX
059980,000469: 16,2753 36245 TRYUORV CA SIX
059981,000470: 16,2754 03555 TC SELECTYZ
059982,000471: 16,2755 46245 CS SIX
059983,000472: 16,2756 61742 AD NUMBERT
059984,000473: 16,2757 00006 EXTEND
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Page 1422
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059986,000475: 16,2760 13013 BZF TSNEXTP -1
059987,000476: 16,2761 44756 CS FIVE
059988,000477: 16,2762 61743 AD ROTINDEX
059989,000478: 16,2763 00006 EXTEND
059990,000479: 16,2764 63002 BZMF ALTERYZ
059991,000480: 16,2765 41742 CS NUMBERT
059992,000481: 16,2766 64751 AD FOUR
059993,000482: 16,2767 00006 EXTEND
059994,000483: 16,2770 63013 BZMF TSNEXTP -1
059995,000484: 16,2771 05567 ABORTYZ TC ALARM
059996,000485: 16,2772 02001 OCT 02001
059997,000486: 16,2773 34753 CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
059998,000487: 16,2774 23262 LXCH RCSFLAGS
059999,000488: 16,2775 00006 EXTEND
060000,000489: 16,2776 06001 RXOR 1
060001,000490: 16,2777 55262 TS RCSFLAGS
060002,000491: 16,3000 34755 CA ZERO
060003,000492: 16,3001 13014 TCF TSNEXTP
060004,000493: 16,3002 34753 ALTERYZ CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
060005,000494: 16,3003 23262 LXCH RCSFLAGS
060006,000495: 16,3004 00006 EXTEND
060007,000496: 16,3005 06001 RXOR 1
060008,000497: 16,3006 55262 TS RCSFLAGS
060009,000498: 16,3007 74753 MASK BIT1
060010,000499: 16,3010 64751 AD FOUR
060011,000500: 16,3011 27743 ADS ROTINDEX
060012,000501: 16,3012 12753 TCF TRYUORV
060013,000502: 16,3013 31740 CA POLYTEMP
060014,000503: 16,3014 55472 TSNEXTP TS NEXTP
060015,000504:
060016,000505: # STATE LOGIC
060017,000506: # CHECK IN ORDER: IF ON
060018,000507: # LPDPHASE GO TO PURGENCY
060019,000508: # PULSES MINIMUM PULSE LOGIC
060020,000509: # DETENT(BIT15 CH31) RATE COMMAND
060021,000510: # GO TO PURGENCY
060022,000511:
060023,000512: 16,3015 34737 CA BIT13 # CHECK STICK IF IN ATT. HOLD.
060024,000513: 16,3016 00006 EXTEND
060025,000514: 16,3017 02031 RAND CHAN31
060026,000515: 16,3020 00006 EXTEND
060027,000516: 16,3021 13027 BZF MANMODE
060028,000517:
060029,000518: 16,3022 30111 CA DAPBOOLS
060030,000519: 16,3023 74743 MASK XOVINHIB
060031,000520: 16,3024 10000 CCS A
060032,000521: 16,3025 13467 TCF PURGENCY # ATTITUDE STEER DURING VISIBILITY PHASE
060033,000522:
060034,000523: 16,3026 13071 TCF DETENTCK
060035,000524: 16,3027 34735 MANMODE CA PULSES # PULSES IS ONE FOR PULSE MODE
060036,000525: 16,3030 70111 MASK DAPBOOLS
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|
Page 1423
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060038,000527: 16,3031 00006 EXTEND
060039,000528: 16,3032 13071 BZF DETENTCK # BRANCH FOR RATE COMMAND
060040,000529:
060041,000530: 16,3033 34755 CA ZERO
060042,000531: 16,3034 55464 TS PERROR
060043,000532:
060044,000533: # MINIMUM IMPULSE MODE
060045,000534:
060046,000535: 16,3035 30032 CA CDUX
060047,000536: 16,3036 55634 TS CDUXD
060048,000537:
060049,000538: 16,3037 11460 CCS OLDPMIN
060050,000539: 16,3040 13054 TCF CHECKP
060051,000540:
060052,000541: 16,3041 34751 FIREP CA BIT3
060053,000542: 16,3042 00006 EXTEND
060054,000543: 16,3043 02031 RAND CHAN31
060055,000544: 16,3044 00006 EXTEND
060056,000545: 16,3045 13064 BZF +XMIN
060057,000546:
060058,000547: 16,3046 34750 CA BIT4
060059,000548: 16,3047 00006 EXTEND
060060,000549: 16,3050 02031 RAND CHAN31
060061,000550: 16,3051 00006 EXTEND
060062,000551: 16,3052 13062 BZF -XMIN
060063,000552:
060064,000553: 16,3053 13446 TCF JETSOFF
060065,000554:
060066,000555: 16,3054 00006 CHECKP EXTEND
060067,000556: 16,3055 00031 READ CHAN31
060068,000557: 16,3056 40000 CS A
060069,000558: 16,3057 75741 MASK OCT14
060070,000559: 16,3060 55460 TS OLDPMIN
060071,000560: 16,3061 13446 TCF JETSOFF
060072,000561:
060073,000562: 16,3062 44363 -XMIN CS TEN # ANYTHING LESS THAN 14MS. CORRECTED
060074,000563: 16,3063 13065 TCF +2 # IN JET SELECTION ROUTINE
060075,000564: 16,3064 34363 +XMIN CA TEN
060076,000565: 16,3065 55524 TS TJP
060077,000566: 16,3066 34753 CA ONE
060078,000567: 16,3067 55460 TS OLDPMIN
060079,000568: 16,3070 13354 TCF PJETSLEC -6
060080,000569:
060081,000570: # MANUAL RATE COMMAND MODE
060082,000571: # ========================
060083,000572: # BY ROBERT F. STENGEL
060084,000573:
060085,000574: # THIS MODE PROVIDES RCAH MANUAL CONTROL THRU 2 CONTROL LAWS: 1) DIRECT RATE AND 2) PSEUDO-AUTO.
060086,000575: # THE DIRECT RATE MODE AFFORDS IMMEDIATE CONTROL WITHOUT OVERSHOOT. THE PSEUDO-AUTO MODE PROVIDES PRECISE
060087,000576: # RATE CONTROL AND ATTITUDE HOLD.
060088,000577:
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Page 1424
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060090,000579: # IN DIRECT RATE, JETS ARE FIRED WHEN STICK POSITION CHANGES BY A FIXED NUMBER OF INCREMENTS IN ONE DAP CYCLE.
060091,000580: # THE 'BREAKOUT LEVEL' IS .6 D/S FOR LM-ONLY AND .3 D/S FOR CSM-DOCKED. THIS LAW NULLS THE RATE ERROR TO WITHIN
060092,000581: # THE 'TARGET DEADBAND', WHICH EQUALS THE BREAKOUT LEVEL.
060093,000582:
060094,000583: # IN PSEUDO-AUTO, BODY-FIXED RATE AND ATTITUDE ERRORS ARE SUPPLIED TO TJETLAW, WHICH EXERCISES CONTROL.
060095,000584: # CONTROL SWITCHES FROM DIRECT RATE TO PSEUDO-AUTO IF THE TARGET DB IS ACHIEVED OR IF TIME IN (1) EXCEEDS 4 SEC.
060096,000585: # IF THE INITIAL COMMAND DOES NOT EXCEED THE BREAKOUT LEVEL, CONTROL GOES TO PSEUDO-AUTO IMMEDIATELY.
060097,000586:
060098,000587: # SINCE P-AXIS CONTROL IS SEPARATE FROM Q,R AXES CONTROL, IT IS POSSIBLE TO USE (1) IN P-AXIS AND (2) IN Q,R AXES,
060099,000588: # OR VICE VERSA. THIS ALLOWS A DEGREE OF ATTITUDE HOLD IN UNCONTROLLED AXES. DUE TO U,V CONTROL, HOWEVER, Q AND
060100,000589: # R AXES ARE COUPLED AND MUST USE THE SAME CONTROL LAW.
060101,000590:
060102,000591: # HAND CONTROLLER COMMANDS ARE SCALED BY A LINEAR/QUADRATIC LAW. FOR THE LM-ALONE, MAXIMUM COMMANDED RATES ARE 20
060103,000592: # AND 4 D/S IN NORMAL AND FINE SCALING; HOWEVER, STICK SENSITIVITY AT ZERO COUNTS (OBTAINED AT A STICK DEFLECTION
060104,000593: # OF 2 DEGREES FROM THE CENTERED POSITION) IS .5 OR .1 D/S PER DEGREE. NORMAL AND FINE SCALINGS FOR THE CSM-DOCKED
060105,000594: # CASE IS AUTOMATICALLY SET TO 1/10 THE ABOVE VALUES. SCALING IS DETERMINED IN ROUTINE 3.
060106,000595:
060107,000596: # ZEROENBL ENABLES COUNTERS SO THEY CAN BE READ NEXT TIME
060108,000597: # JUSTOUT FIRST DETECTION OF OUT OF DETENT (BY OURRCBIT)
060109,000598:
060110,000599: 16,3071 00006 DETENTCK EXTEND
060111,000600: 16,3072 00031 READ CHAN31
060112,000601: 16,3073 55443 TS CH31TEMP
060113,000602: 16,3074 74735 MASK BIT15 # CHECK OUT-OF-DETENT BIT.
060114,000603: 16,3075 00006 EXTEND
060115,000604: 16,3076 13223 BZF RHCMOVED # BRANCH IF OUT OF DETENT.
060116,000605: 16,3077 34740 CAF OURRCBIT # IN DETENT. CHECK THE RATE COMMAND BIT.
060117,000606: 16,3100 70111 MASK DAPBOOLS
060118,000607: 16,3101 00006 EXTEND
060119,000608: 16,3102 13467 BZF PURGENCY # BRANCH IF NOT IN RATE COMMAND LAST PASS.
060120,000609:
060121,000610: # ........................................................................
060122,000611:
060123,000612: 16,3103 34743 CA BIT9 # JUST IN DETENT??
060124,000613: 16,3104 71262 MASK RCSFLAGS
060125,000614: 16,3105 00006 EXTEND
060126,000615: 16,3106 13120 BZF RUTH
060127,000616: 16,3107 34737 CAF BIT13 # CHECK FOR ATTITUDE HOLD.
060128,000617: 16,3110 00006 EXTEND
060129,000618: 16,3111 02031 RAND CHAN31
060130,000619: 16,3112 00006 EXTEND
060131,000620: 16,3113 13220 BZF RATEDAMP # BRANCH IF IN ATTITUDE HOLD.
060132,000621:
060133,000622: 16,3114 45014 CS BITS9,11 # IN AUTO.
060134,000623: 16,3115 71262 MASK RCSFLAGS # (X-AXIS OVERRIDE)
060135,000624: 16,3116 55262 TS RCSFLAGS # ZERO ORBIT (BIT 11) AND JUST-IN BIT (9).
060136,000625: 16,3117 13220 TCF RATEDAMP
060137,000626:
060138,000627: 16,3120 31262 RUTH CA RCSFLAGS
060139,000628: 16,3121 74742 MASK PBIT # IN ATTITUDE HOLD.
060140,000629: 16,3122 00006 EXTEND
060141,000630: 16,3123 13125 BZF +2 # BRANCH IF P-RATE DAMPING IS FINISHED.
060142,000631: 16,3124 13220 TCF RATEDAMP
060143,000632:
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Page 1425
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060145,000634: 16,3125 31262 CA RCSFLAGS
060146,000635: 16,3126 74741 MASK QRBIT
060147,000636: 16,3127 00006 EXTEND
060148,000637: 16,3130 13134 BZF RATEDONE # BRANCH IF Q,R RATE DAMPING IS FINISHED.
060149,000638: 16,3131 13220 TCF RATEDAMP
060150,000639:
060151,000640: # ============================================
060152,000641:
060153,000642: 16,3132 4753 1/10SEC = BIT1
060154,000643: 16,3132 4771 40CYC = OCT50
060155,000644: 16,3132 74777 PQRBIT OCT 74777
060156,000645: 16,3133 5014 BITS9,11 EQUALS EBANK5
060157,000646: 16,3133 00056 LINRATP DEC 46 B-14
060158,000647:
060159,000648: # ============================================
060160,000649:
060161,000650: 16,3134 44740 RATEDONE CS OURRCBIT # MANUAL COMMAND AND DAMPING COMPLETED IN
060162,000651: 16,3135 00004 INHINT # ALL AXES.
060163,000652: 16,3136 70111 MASK DAPBOOLS
060164,000653: 16,3137 54111 TS DAPBOOLS
060165,000654:
060166,000655: # READ CDUS INTO CDU DESIRED REGISTERS
060167,000656:
060168,000657: 16,3140 34737 CAF BIT13
060169,000658: 16,3141 00006 EXTEND
060170,000659: 16,3142 02031 RAND CHAN31
060171,000660: 16,3143 00006 EXTEND
060172,000661: 16,3144 13150 BZF +4
060173,000662: 16,3145 30032 CA CDUX # (X-AXIS OVERRIDE)
060174,000663: 16,3146 55634 TS CDUXD
060175,000664: 16,3147 03152 TC +3
060176,000665: 16,3150 04674 TC IBNKCALL
060177,000666: 16,3151 40154 FCADR ZATTEROR
060178,000667: 16,3152 00003 RELINT
060179,000668: 16,3153 13467 TCF PURGENCY
060180,000669:
060181,000670: 16,3154 55464 TS PERROR
060182,000671: 16,3155 34740 JUSTOUT CA OURRCBIT # INITIALIZATION - FIRST MANUAL PASS.
060183,000672: 16,3156 26111 ADS DAPBOOLS
060184,000673: 16,3157 34755 CA ZERO
060185,000674: 16,3160 55446 TS DXERROR
060186,000675: 16,3161 55447 TS DXERROR +1
060187,000676: 16,3162 55450 TS DYERROR
060188,000677: 16,3163 55451 TS DYERROR +1
060189,000678: 16,3164 55452 TS DZERROR
060190,000679: 16,3165 55453 TS DZERROR +1
060191,000680: 16,3166 55454 TS PLAST
060192,000681: 16,3167 55455 TS QLAST
060193,000682: 16,3170 55456 TS RLAST
060194,000683: 16,3171 54042 TS Q-RHCCTR
060195,000684: 16,3172 54044 TS R-RHCCTR
060196,000685: 16,3173 33132 CA PQRBIT
060197,000686: 16,3174 71262 MASK RCSFLAGS
060198,000687: 16,3175 55262 TS RCSFLAGS # BITS 10 AND 11 OF RCSFLAGS ARE 0.
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Page 1426
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060200,000689: 16,3176 03201 TC ZEROENBL
060201,000690: 16,3177 00003 RELINT
060202,000691: 16,3200 13446 TCF JETSOFF
060203,000692: 16,3201 22044 ZEROENBL LXCH R-RHCCTR
060204,000693: 16,3202 30042 CA Q-RHCCTR
060205,000694: 16,3203 53463 DXCH SAVEHAND
060206,000695: 16,3204 34755 CA ZERO
060207,000696: 16,3205 54043 TS P-RHCCTR
060208,000697: 16,3206 54042 TS Q-RHCCTR
060209,000698: 16,3207 54044 TS R-RHCCTR
060210,000699: 16,3210 00004 INHINT
060211,000700: 16,3211 00006 EXTEND
060212,000701: 16,3212 23265 QXCH C13QSAV
060213,000702: 16,3213 06022 TC C13STALL
060214,000703:
060215,000704: 16,3214 33623 CA BITS8,9
060216,000705: 16,3215 00006 EXTEND
060217,000706: 16,3216 05013 WOR CHAN13 # COUNTERS ZEROED AND ENABLED
060218,000707: 16,3217 01265 TC C13QSAV
060219,000708:
060220,000709: 16,3220 34755 RATEDAMP CA ZERO
060221,000710: 16,3221 54043 TS P-RHCCTR
060222,000711: 16,3222 13232 TCF RATERROR
060223,000712:
060224,000713: 16,3223 41262 RHCMOVED CS RCSFLAGS # SET JUSTIN BIT TO 1
060225,000714: 16,3224 74743 MASK BIT9
060226,000715: 16,3225 27262 ADS RCSFLAGS
060227,000716: 16,3226 34740 CA OURRCBIT # P CONTROL
060228,000717: 16,3227 70111 MASK DAPBOOLS
060229,000718: 16,3230 00006 EXTEND
060230,000719: 16,3231 13154 BZF JUSTOUT -1
060231,000720: 16,3232 30032 RATERROR CA CDUX # FINDCDUW REQUIRES THAT CDUXD=CDUX DURING
060232,000721: 16,3233 55634 TS CDUXD # X-AXIS OVERRIDE
060233,000722: 16,3234 10043 CCS P-RHCCTR
060234,000723: 16,3235 13240 TCF +3
060235,000724: 16,3236 13240 TCF +2
060236,000725: 16,3237 13240 TCF +1
060237,000726: 16,3240 60000 DOUBLE # LINEAR/QUADRATIC CONTROLLER SCALING
060238,000727: 16,3241 60000 DOUBLE # (SEE EXPLANATION IN Q,R-AXES RCS
060239,000728: 16,3242 63133 AD LINRATP # AUTOPILOT)
060240,000729: 16,3243 00006 EXTEND
060241,000730: 16,3244 70043 MP P-RHCCTR
060242,000731: 16,3245 30001 CA L
060243,000732: 16,3246 00006 EXTEND
060244,000733: 16,3247 71444 MP STIKSENS
060245,000734: 16,3250 57454 XCH PLAST
060246,000735: 16,3251 40000 COM
060247,000736: 16,3252 61454 AD PLAST
060248,000737: 16,3253 55736 TS DAPTEMP1
060249,000738: 16,3254 03201 TC ZEROENBL # INTERVAL. ZERO AND ENABLE ACA COUNTERS.
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Page 1427
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060251,000740: 16,3255 00003 RELINT
060252,000741: 16,3256 41454 CS PLAST
060253,000742: 16,3257 61421 AD OMEGAP
060254,000743: 16,3260 55427 TS EDOTP
060255,000744: 16,3261 11736 CCS DAPTEMP1 # IF P COMMAND CHANGE EXCEEDS BREAKOUT
060256,000745: 16,3262 13265 TCF +3 # LEVEL, GO TO DIRECT RATE CONTROL. IF NOT
060257,000746: 16,3263 13273 TCF +8D # CHECK FOR DIRECT RATE CONTROL LAST TIME.
060258,000747: 16,3264 13265 TCF +1
060259,000748: 16,3265 61476 AD -RATEDB
060260,000749: 16,3266 00006 EXTEND
060261,000750: 16,3267 63273 BZMF +4
060262,000751: 16,3270 34771 CA 40CYC
060263,000752: 16,3271 55445 TS TCP
060264,000753: 16,3272 03304 TC PEGI
060265,000754: 16,3273 31262 CA RCSFLAGS # CHECK FOR DIRECT RATE COMMAND LAST TIME.
060266,000755: 16,3274 74742 MASK PBIT
060267,000756: 16,3275 00006 EXTEND
060268,000757: 16,3276 13300 BZF +2
060269,000758: 16,3277 03304 TC PEGI # TO PURE RATE COMMAND
060270,000759: 16,3300 31446 CA DXERROR # PSEUDO-AUTO CONTROL.
060271,000760: 16,3301 55751 TS E # X-ATTITUDE ERROR (SP)
060272,000761: 16,3302 55464 TS PERROR # LOAD P-AXIS ERROR FOR MODE1 FDAI DISPLAY
060273,000762: 16,3303 03473 TC PURGENCY +4
060274,000763: 16,3304 30032 PEGI CA CDUX # DIRECT RATE CONTROL.
060275,000764: 16,3305 55634 TS CDUXD
060276,000765: 16,3306 34755 CA ZERO
060277,000766: 16,3307 55446 TS DXERROR
060278,000767: 16,3310 55447 TS DXERROR +1
060279,000768: 16,3311 55464 TS PERROR # ZERO P-AXIS ERROR FOR MODE1 FDAI DISPLAY
060280,000769: 16,3312 11427 CCS EDOTP
060281,000770: 16,3313 03316 TC +3
060282,000771: 16,3314 03316 TC +2
060283,000772: 16,3315 03316 TC +1
060284,000773: 16,3316 55736 TS ABSEDOTP
060285,000774: 16,3317 61476 AD TARGETDB
060286,000775: 16,3320 00006 EXTEND # IF RATE ERROR IS LESS THAN DEADBAND,
060287,000776: 16,3321 63331 BZMF LAST # FIRE, AND SWITCH TO PSEUDO-AUTO.
060288,000777: 16,3322 31445 CA TCP
060289,000778: 16,3323 00006 EXTEND # IF TIME IN RATE COMMAND EXCEEDS 4 SEC.,
060290,000779: 16,3324 63331 BZMF LAST
060291,000780: 16,3325 41262 CS RCSFLAGS
060292,000781: 16,3326 74742 MASK PBIT
060293,000782: 16,3327 27262 ADS RCSFLAGS # BIT 10 IS 1.
060294,000783: 16,3330 13334 TCF +4
060295,000784: 16,3331 44742 LAST CS PBIT
060296,000785: 16,3332 71262 MASK RCSFLAGS
060297,000786: 16,3333 55262 TS RCSFLAGS # BIT 10 IS 0.
060298,000787: 16,3334 41427 CS EDOTP
060299,000788: 16,3335 00006 EXTEND
060300,000789: 16,3336 71550 MP 1/ANETP # 1/2JTACC SCALED AT 2EXP(7)/PI
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Page 1428
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060302,000791: 16,3337 20001 DAS A
060303,000792: 16,3340 02310 TC OVERSUB
060304,000793: 16,3341 00006 EXTEND
060305,000794: 16,3342 77721 MP 25/32 # A CONTAINS TJET SCALED AT 2EXP(4)(16/25)
060306,000795: 16,3343 55524 TS TJP # 4.JET TIME
060307,000796: 16,3344 31736 CA ABSEDOTP
060308,000797: 16,3345 61475 AD -2JETLIM # COMPARING DELTA RATE WITH 2 JET LIMIT
060309,000798: 16,3346 00006 EXTEND
060310,000799: 16,3347 63352 BZMF +3
060311,000800:
060312,000801: 16,3350 36245 CA SIX
060313,000802: 16,3351 13361 TCF +8D
060314,000803: 16,3352 31524 CA TJP
060315,000804: 16,3353 27524 ADS TJP
060316,000805:
060317,000806: # GOES TO PJETSLEC FOR TWO JETS
060318,000807: # P-JET-SELECTION-ROUTINE (ROTATION)
060319,000808:
060320,000809: # INPUT: NUMBERT 4,5,6 FOR WHICH PAIR OR 4 JETS
060321,000810: # TJP + FOR +P ROTATION
060322,000811:
060323,000812: # OUTPUT: CHANNEL 6
060324,000813: # PJUMPADR FOR P-AXIS SKIP
060325,000814: # (JTLST CALL) (SMALL TJP)
060326,000815:
060327,000816: # ORDER OF POLICIES TRIED IN CASE OF FAILURE.
060328,000817: # +P -P
060329,000818: # 7,15 8,16
060330,000819: # 4,12 3,11
060331,000820: # 4,7 8,11
060332,000821: # 7,12 11,16
060333,000822: # 12,15 3,16
060334,000823: # 4,15 3,8
060335,000824: # ALARM ALARM
060336,000825:
060337,000826: 16,3354 34747 CA AORBSYST
060338,000827: 16,3355 70101 MASK FLAGWRD5
060339,000828: 16,3356 10000 CCS A
060340,000829: 16,3357 34753 CA ONE
060341,000830: 16,3360 64751 AD FOUR
060342,000831: 16,3361 55742 TS NUMBERT
060343,000832: 16,3362 34753 PJETSLEC CA ONE
060344,000833: 16,3363 54001 TS L
060345,000834: 16,3364 11524 CCS TJP
060346,000835: 16,3365 13372 TCF +5
060347,000836: 16,3366 13446 TCF JETSOFF
060348,000837: 16,3367 13371 TCF +2
060349,000838: 16,3370 13446 TCF JETSOFF
060350,000839: 16,3371 22007 ZL
060351,000840: 16,3372 64753 AD ONE
060352,000841: 16,3373 55736 TS ABSTJ
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Page 1429
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060354,000843: 16,3374 23743 LXCH ROTINDEX
060355,000844: 16,3375 03535 TC SELECTP
060356,000845: 16,3376 46245 CS SIX
060357,000846: 16,3377 61742 AD NUMBERT
060358,000847: 16,3400 00006 EXTEND
060359,000848: 16,3401 13403 BZF +2
060360,000849:
060361,000850: 16,3402 44752 CS TWO
060362,000851: 16,3403 64751 AD FOUR
060363,000852: 16,3404 55521 TS NO.PJETS
060364,000853: 16,3405 31740 CA POLYTEMP
060365,000854: 16,3406 05744 TC WRITEP
060366,000855: 16,3407 41736 CS ABSTJ
060367,000856: 16,3410 63616 AD +150MST6
060368,000857: 16,3411 00006 EXTEND
060369,000858: 16,3412 63630 BZMF QRAXIS # GO TO QRAXIS OR TO GTS.
060370,000859:
060371,000860: 16,3413 63576 AD -136MST6
060372,000861: 16,3414 00006 EXTEND
060373,000862: 16,3415 63422 BZMF +5
060374,000863:
060375,000864: 16,3416 27736 ADS ABSTJ
060376,000865: 16,3417 51743 INDEX ROTINDEX
060377,000866: 16,3420 33625 CA MINTIMES
060378,000867: 16,3421 55524 TS TJP
060379,000868:
060380,000869: 16,3422 31736 CA ABSTJ
060381,000870: 16,3423 22007 ZL
060382,000871: 16,3424 00004 INHINT
060383,000872: 16,3425 53471 DXCH T6FURTHA
060384,000873: 16,3426 04674 TC IBNKCALL
060385,000874: 16,3427 37143 CADR JTLST
060386,000875: 16,3430 44740 CS BIT12
060387,000876: 16,3431 71262 MASK RCSFLAGS
060388,000877: 16,3432 55262 TS RCSFLAGS # BIT 12 SET TO 0.
060389,000878: 16,3433 03435 TC ALTSYST
060390,000879: 16,3434 13630 TCF QRAXIS
060391,000880:
060392,000881: 16,3435 30101 ALTSYST CA FLAGWRD5 # ALTERNATE P-AXIS JETS
060393,000882: 16,3436 54001 TS L
060394,000883: 16,3437 34747 CA AORBSYST
060395,000884: 16,3440 00006 EXTEND
060396,000885: 16,3441 06001 RXOR LCHAN
060397,000886: 16,3442 54101 TS FLAGWRD5
060398,000887: 16,3443 00003 RELINT
060399,000888: 16,3444 00002 TC Q
060400,000889:
060401,000890: 16,3445 03435 DKALT TC ALTSYST
060402,000891:
060403,000892: 16,3446 05743 JETSOFF TC WRITEP -1
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Page 1430
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060405,000894: 16,3447 34755 CA ZERO
060406,000895: 16,3450 55524 TS TJP
060407,000896: 16,3451 13630 TCF QRAXIS
060408,000897:
060409,000898: # (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULTIPLICATION.)
060410,000899:
060411,000900: 16,3452 30033 CALCPERR CA CDUY # P-ERROR CALCULATION.
060412,000901: 16,3453 00006 EXTEND
060413,000902: 16,3454 21635 MSU CDUYD # CDU VALUE - ANGLE DESIRED (Y-AXIS)
060414,000903: 16,3455 00006 EXTEND
060415,000904: 16,3456 71414 MP M11 # (CDUY-CDUYD)M11 SCALED AT PI RADIANS
060416,000905: 16,3457 57751 XCH E # SAVE FIRST TERM (OF TWO)
060417,000906: 16,3460 30032 CA CDUX # THIRD COMPONENT
060418,000907: 16,3461 00006 EXTEND
060419,000908: 16,3462 21634 MSU CDUXD # CDU VALUE - ANGLE DESIRED (X-AXIS)
060420,000909: # EXTEND
060421,000910: # MP M13
060422,000911: 16,3463 61274 AD DELPEROR # KALCMANU INERFACE ERROR
060423,000912: 16,3464 27751 ADS E # SAVE SUM OF TERMS. COULD BE OVERFLOW.
060424,000913: 16,3465 57464 XCH PERROR # SAVE P-ERROR FOR EIGHT-BALL DISPLAY.
060425,000914: 16,3466 00002 TC Q # RETURN TO CALLER
060426,000915:
060427,000916: # P-AXIS URGENCY FUNCTION CALCULATION.
060428,000917:
060429,000918: 16,3467 03452 PURGENCY TC CALCPERR # CALCULATE P-AXIS ERRORS.
060430,000919: 16,3470 41642 CS OMEGAPD # THIS CODING IS COMMON TO BOTH LM DAP AND
060431,000920: 16,3471 61421 AD OMEGAP # SPS-BACKUP MODE.
060432,000921: 16,3472 55427 TS EDOTP # EDOTP = OMEGAP - OMEGAPD AT PI/4 RAD/SEC
060433,000922:
060434,000923: 16,3473 44753 CS ONE
060435,000924: 16,3474 55505 TS AXISCTR
060436,000925: 16,3475 30111 CA DAPBOOLS
060437,000926: 16,3476 74737 MASK CSMDOCKD
060438,000927: 16,3477 00006 EXTEND
060439,000928: 16,3500 13511 BZF HEADTJET
060440,000929: 16,3501 00004 INHINT # IF CSMDOCKD = 1, GO TO DOCKED RCS LOGIC
060441,000930: 16,3502 04674 TC IBNKCALL
060442,000931: 16,3503 43736 CADR SPSRCS
060443,000932:
060444,000933: 16,3504 31524 CA TJP
060445,000934: 16,3505 00006 EXTEND
060446,000935: 16,3506 13445 BZF DKALT # IF TJP = ZERO, CHANGE AORBSYST.
060447,000936: 16,3507 00003 RELINT
060448,000937: 16,3510 13354 TCF PJETSLEC -6 # SELECT AORBSYST AND USE TWO JETS
060449,000938: 16,3511 34755 HEADTJET CA ZERO
060450,000939: 16,3512 55500 TS SENSETYP
060451,000940: 16,3513 00004 INHINT
060452,000941: 16,3514 04674 TC IBNKCALL
060453,000942: 16,3515 37304 CADR TJETLAW
060454,000943: 16,3516 00003 RELINT
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Page 1431
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060456,000945: 16,3517 41740 CS FIREFCT
060457,000946: 16,3520 63534 AD -FOURDEG
060458,000947: 16,3521 00006 EXTEND
060459,000948: 16,3522 63354 BZMF PJETSLEC -6
060460,000949: 16,3523 11524 CCS TJP
060461,000950: 16,3524 13526 TCF +2
060462,000951: 16,3525 13446 TCF JETSOFF
060463,000952: 16,3526 63533 AD -160MST6
060464,000953: 16,3527 00006 EXTEND
060465,000954: 16,3530 63354 BZMF PJETSLEC -6
060466,000955: 16,3531 36245 CA SIX
060467,000956: 16,3532 13361 TCF PJETSLEC -1
060468,000957: 16,3533 77377 -160MST6 DEC -256 B-14
060469,000958: 16,3534 75117 -FOURDEG DEC -.08888
060470,000959:
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Page 1432
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060472,000961: # JET POLICY CONSTRUCTION SUBROUTINE
060473,000962:
060474,000963: # INPUT: ROTINDEX, NUMBERT
060475,000964:
060476,000965: # OUTPUT: POLYTEMP (JET POLICY)
060477,000966:
060478,000967: # THIS SUBROUTINE SELECT A SUBSET OF THE DESIRED JETS WHICH HAS NO FAILURE
060479,000968:
060480,000969: 16,3535 36245 SELECTP CA SIX
060481,000970: 16,3536 55741 TS TEMPNUM
060482,000971: 16,3537 51742 INDEX NUMBERT
060483,000972: 16,3540 33567 CA TYPEP
060484,000973: 16,3541 51743 INDEX ROTINDEX
060485,000974: 16,3542 73560 MASK JETSALL
060486,000975: 16,3543 55740 TS POLYTEMP
060487,000976: 16,3544 71260 MASK CH6MASK
060488,000977: 16,3545 10000 CCS A
060489,000978: 16,3546 13550 TCF +2
060490,000979: 16,3547 00002 TC Q
060491,000980: 16,3550 11741 CCS TEMPNUM
060492,000981: 16,3551 13555 TCF +4
060493,000982: 16,3552 05567 TC ALARM
060494,000983: 16,3553 02003 OCT 02003
060495,000984: 16,3554 13446 TCF JETSOFF # *****TCF ALARMJET *********************
060496,000985: 16,3555 55742 SELECTYZ TS NUMBERT
060497,000986: 16,3556 13536 TCF SELECTP +1
060498,000987: 16,3557 12773 -1 TCF ABORTYZ +2
060499,000988: 16,3560 00252 JETSALL OCT 00252
060500,000989: 16,3561 00125 OCT 00125 # +P
060501,000990: 16,3562 00140 OCT 00140 # -Y
060502,000991: 16,3563 00006 OCT 00006 # -Z
060503,000992: 16,3564 00220 OCT 00220 # +Y
060504,000993: 16,3565 00011 OCT 00011 # +Z
060505,000994: 16,3566 00151 OCT 00151 # +V
060506,000995: 16,3567 00146 TYPEP OCT 00146 # -U
060507,000996: 16,3570 00226 OCT 00226 # -V
060508,000997: 16,3571 00231 OCT 00231 # +U
060509,000998: 16,3572 00151 OCT 00151 # +V
060510,000999: 16,3573 00132 OCT 00132 # 1-3
060511,001000: 16,3574 00245 OCT 00245 # 2-4
060512,001001: 16,3575 00377 OCT 00377 # ALL
060513,001002: 16,3576 16,3576 INDXYZ = -136MST6
060514,001003: 16,3576 77445 -136MST6 DEC -218 B-14
060515,001004: 16,3577 00004 DEC 4 B-14
060516,001005: 16,3600 00002 DEC 2 B-14
060517,001006: 16,3601 07776 OCT 07776
060518,001007: 16,3602 00005 DEC 5 B-14
060519,001008: 16,3603 00011 DEC 9 B-14
060520,001009: 16,3604 00012 DEC 10 B-14
060521,001010: 16,3605 07776 OCT 07776
060522,001011: 16,3606 00003 DEC 3 B-14
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Page 1433
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060524,001013: 16,3607 00010 DEC 8 B-14
060525,001014: 16,3610 00007 DEC 7 B-14
060526,001015: 16,3611 07776 OCT 07776 # THESE INDEXES OF MASK JETSALL WILL
060527,001016: 16,3612 07776 OCT 07776 # CHANGE THE INSTRUCTION AT SELECTP +4
060528,001017: 16,3613 07776 OCT 07776 # TO BE TC JETSALL -1
060529,001018: 16,3614 07776 OCT 07776 # ONLY USED FOR TRANSLATION FAILURE
060530,001019: 16,3615 07776 OCT 07776
060531,001020: 16,3616 00360 +150MST6 DEC 240 B-14
060532,001021: 16,3617 07400 07400OCT OCT 07400
060533,001022:
060534,001023: # T-JET LAW FIXED CONSTANTS
060535,001024:
060536,001025: 16,3620 00266 NORMSCL OCT 266
060537,001026: 16,3621 74631 -100MS DEC -.1
060538,001027: 16,3622 06315 200MS DEC .2
060539,001028: 16,3623 7721 25/32 = PRIO31 # (DEC .78125)
060540,001029: 16,3623 00600 BITS8,9 OCTAL 00600
060541,001030: 16,3624 00632 1/40 DEC .02500
060542,001031: 16,3625 77751 MINTIMES DEC -22 B-14
060543,001032: 16,3626 00026 DEC 22 B-14
060544,001033: 16,3627 02734 PSKIPADR GENADR SKIPPAXS
060545,001034:
060546,001035: # GOES TO Q,R-AXES RCS AUTOPILOT
060547,001036:
060548,001037: 16,3630 41644 QRAXIS CS OMEGARD
060549,001038: 16,3631 61423 AD OMEGAR
060550,001039: 16,3632 02310 TC OVERSUB
060551,001040: 16,3633 55437 TS EDOTR
060552,001041: 16,3634 41643 CS OMEGAQD
060553,001042: 16,3635 61422 AD OMEGAQ
060554,001043: 16,3636 02310 TC OVERSUB
060555,001044: 16,3637 55436 TS EDOTQ
060556,001045: 16,3640 00006 EXTEND
060557,001046: 16,3641 33644 DCA QERRCALL
060558,001047: 16,3642 52006 DTCB
060559,001048:
060560,001049: 16,3643 E6,1536 EBANK= AOSQ
060561,001050: 16,3643 02124 36106 QERRCALL 2CADR CALLQERR
End of include-file P-AXIS_RCS_AUTOPILOT.agc. Parent file is MAIN.agc