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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060564,000002: ## Copyright: Public domain.
060565,000003: ## Filename: Q,R-AXES_RCS_AUTOPILOT.agc
060566,000004: ## Purpose: A section of LM131 revision 1.
060567,000005: ## It is part of the reconstructed source code for the final
060568,000006: ## release of the flight software for the Lunar Module's (LM)
060569,000007: ## Apollo Guidance Computer (AGC) for Apollo 13. The code has
060570,000008: ## been reconstructed from a listing of Luminary 131 and a dump
060571,000009: ## of a core rope memory module B5, part number 2010802-171,
060572,000010: ## which is the only module different between LM131 revision 1
060573,000011: ## and Luminary 131. The executable generated from this source
060574,000012: ## has been verified against the module dump, so while the names,
060575,000013: ## comments, and ordering may not be exactly correct, the
060576,000014: ## resulting binary is.
060577,000015: ## Reference: pp. 1434-1451
060578,000016: ## Assembler: yaYUL
060579,000017: ## Contact: Ron Burkey <info@sandroid.org>.
060580,000018: ## Website: www.ibiblio.org/apollo/index.html
060581,000019: ## Mod history: 2022-10-28 MAS Created from Luminary 131.
060582,000020:
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Page 1434
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060584,000022: 17,2124 BANK 17
060585,000023: 17,2000 SETLOC DAPS2
060586,000024: 17,2000 BANK
060587,000025:
060588,000026: 17,2124 E6,1634 EBANK= CDUXD
060589,000027:
060590,000028: 17,2124 COUNT* $$/DAPQR
060591,000029:
060592,000030: 17,2124 34737 CALLQERR CA BIT13 # CALCULATE Q,R ERRORS UNLESS THESE AXES
060593,000031: 17,2125 00006 EXTEND # ARE IN MANUAL RATE COMMAND.
060594,000032: 17,2126 02031 RAND CHAN31
060595,000033: 17,2127 10000 CCS A
060596,000034: 17,2130 12135 TCF +5 # IN AUTO COMPUTE Q,R ERRORS
060597,000035: 17,2131 40111 CS DAPBOOLS # IN MANUAL RATE COMMAND?
060598,000036: 17,2132 74740 MASK OURRCBIT
060599,000037: 17,2133 00006 EXTEND
060600,000038: 17,2134 12136 BZF Q,RORGTS # IF SO BYPASS CALCULATION OF ERRORS.
060601,000039: 17,2135 02655 TC QERRCALC
060602,000040:
060603,000041: 17,2136 11630 Q,RORGTS CCS COTROLER # CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
060604,000042: 17,2137 12636 TCF GOTOGTS # GTS (ALTERNATES WITH RCS WHEN DOCKED)
060605,000043: 17,2140 12623 TCF TRYGTS # GTS IF ALLOWED, OTHERWISE RCS
060606,000044: 17,2141 34755 RCS CAF ZERO # RCS (TRYGTS MAY BRANCH TO HERE)
060607,000045: 17,2142 55630 TS COTROLER
060608,000046:
060609,000047: 17,2143 53437 DXCH EDOTQ
060610,000048: 17,2144 03200 TC ROT-TOUV
060611,000049: 17,2145 53427 DXCH OMEGAU
060612,000050:
060613,000051: # X - TRANSLATION:
060614,000052:
060615,000053: # INPUT: BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
060616,000054: # ULLAGER
060617,000055: # APSFLAG, DRIFTBIT
060618,000056: # ACC40R2X, ACRBTRAN
060619,000057:
060620,000058: # OUTPUT: NEXTU, NEXTV CODES OF TRANSLATION FOR AFTER ROTATION
060621,000059: # SENSETYP TELL ROTATION DIRECTION AND DESIRE
060622,000060:
060623,000061: # X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR. IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED. A FAILURE
060624,000062: # WILL OVERRIDE THIS SPECIFICATION. AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
060625,000063:
060626,000064: 17,2146 34745 SENSEGET CA BIT7 # INPUT BITS OVERRIDE THE INTERNAL BITS
060627,000065: 17,2147 00006 EXTEND # SENSETYP WILL NOT OPPOSE ANYTRANS
060628,000066: 17,2150 02031 RAND CHAN31
060629,000067: 17,2151 00006 EXTEND
060630,000068: 17,2152 12200 BZF +XORULGE
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Page 1435
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060632,000070: 17,2153 34744 CA BIT8
060633,000071: 17,2154 00006 EXTEND
060634,000072: 17,2155 02031 RAND CHAN31
060635,000073: 17,2156 00006 EXTEND
060636,000074: 17,2157 12201 BZF -XTRANS
060637,000075:
060638,000076: 17,2160 34746 CA ULLAGER
060639,000077: 17,2161 70111 MASK DAPBOOLS
060640,000078: 17,2162 10000 CCS A
060641,000079: 17,2163 12200 TCF +XORULGE
060642,000080:
060643,000081: 17,2164 55473 TS NEXTU # STORE NULL TRANSLATION POLICIES
060644,000082: 17,2165 55474 TS NEXTV
060645,000083: 17,2166 40111 CS DAPBOOLS # BURNING OR DRIFTING?
060646,000084: 17,2167 74744 MASK DRIFTBIT
060647,000085: 17,2170 00006 EXTEND
060648,000086: 17,2171 12176 BZF TSENSE
060649,000087: 17,2172 30106 CA FLGWRD10 # DPS (INCLUDING DOCKED) OR APS?
060650,000088: 17,2173 74737 MASK APSFLBIT
060651,000089: 17,2174 10000 CCS A
060652,000090: 17,2175 34752 CAF TWO # FAVOR +X JETS DURING AN APS BURN.
060653,000091: 17,2176 55500 TSENSE TS SENSETYP
060654,000092: 17,2177 12232 TCF QRCONTRL
060655,000093:
060656,000094: 17,2200 34753 +XORULGE CAF ONE
060657,000095: 17,2201 64751 -XTRANS AD FOUR
060658,000096: 17,2202 55743 TS ROTINDEX
060659,000097: 17,2203 67750 AD NEG3
060660,000098: 17,2204 55500 TS SENSETYP # FAVOR APPROPRIATE JETS DURING TRANS.
060661,000099: 17,2205 30111 CA DAPBOOLS
060662,000100: 17,2206 74741 MASK ACC4OR2X
060663,000101: 17,2207 10000 CCS A
060664,000102: 17,2210 12352 TCF TRANS4
060665,000103:
060666,000104: 17,2211 30111 CA DAPBOOLS
060667,000105: 17,2212 74742 MASK AORBTRAN
060668,000106: 17,2213 10000 CCS A
060669,000107: 17,2214 34753 CA ONE # THREE FOR B
060670,000108: 17,2215 64752 AD TWO # TWO FOR A SYSTEM 2 JET X TRANS
060671,000109: 17,2216 55742 TSNUMBRT TS NUMBERT
060672,000110:
060673,000111: 17,2217 03225 TC SELCTSUB
060674,000112:
060675,000113: 17,2220 11740 CCS POLYTEMP
060676,000114: 17,2221 12224 TCF +3
060677,000115: 17,2222 05567 TC ALARM
060678,000116: 17,2223 02002 OCT 02002
060679,000117: 17,2224 35764 CA 00314OCT
060680,000118: 17,2225 71740 MASK POLYTEMP
060681,000119: 17,2226 55473 TSNEXTS TS NEXTU
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Page 1436
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060683,000121: 17,2227 45764 CS 00314OCT
060684,000122: 17,2230 71740 MASK POLYTEMP
060685,000123: 17,2231 55474 TS NEXTV
060686,000124:
060687,000125: # Q,R-AXES RCS CONTROL MODE SELECTION
060688,000126: # SWITCHES INDICATION WHEN SET
060689,000127: # BIT13/CHAN31 AUTO, GO TO ATTSTEER
060690,000128: # PULSES MINIMUM IMPULSE MODE
060691,000129: # (OTHERWISE) RATE COMMAND/ATTITUDE HOLD MODE
060692,000130:
060693,000131: 17,2232 34737 QRCONTRL CA BIT13 # CHECK MODE SELECT SWITCH.
060694,000132: 17,2233 00006 EXTEND
060695,000133: 17,2234 02031 RAND CHAN31 # BITS INVERTED
060696,000134: 17,2235 10000 CCS A
060697,000135: 17,2236 12710 TCF ATTSTEER
060698,000136: 17,2237 34735 CHKBIT10 CAF PULSES # PULSES = 1 FOR MIN IMP USE OF RHC
060699,000137: 17,2240 70111 MASK DAPBOOLS
060700,000138: 17,2241 00006 EXTEND
060701,000139: 17,2242 12354 BZF CHEKSTIK # IN ATT-HOLD/RATE-COMMAND IF BIT10=0
060702,000140:
060703,000141: # MINIMUM IMPULSE MODE
060704,000142:
060705,000143: 17,2243 00004 INHINT
060706,000144: 17,2244 04674 TC IBNKCALL
060707,000145: 17,2245 40154 CADR ZATTEROR
060708,000146: 17,2246 34755 CA ZERO
060709,000147: 17,2247 55450 TS QERROR
060710,000148: 17,2250 55452 TS RERROR # FOR DISPLAYS
060711,000149: 17,2251 00003 RELINT
060712,000150:
060713,000151: 17,2252 00006 EXTEND
060714,000152: 17,2253 00031 READ CHAN31
060715,000153: 17,2254 55736 TS TEMP31 # IS EQUAL TO DAPTEMP1
060716,000154: 17,2255 11461 CCS OLDQRMIN
060717,000155: 17,2256 12300 TCF CHECKIN
060718,000156:
060719,000157: 17,2257 31736 FIREQR CA TEMP31
060720,000158: 17,2260 74753 MASK BIT1
060721,000159: 17,2261 00006 EXTEND
060722,000160: 17,2262 12304 BZF +QMIN
060723,000161:
060724,000162: 17,2263 31736 CA TEMP31
060725,000163: 17,2264 74752 MASK BIT2
060726,000164: 17,2265 00006 EXTEND
060727,000165: 17,2266 12310 BZF -QMIN
060728,000166:
060729,000167: 17,2267 31736 CA TEMP31
060730,000168: 17,2270 74747 MASK BIT5
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Page 1437
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060732,000170: 17,2271 00006 EXTEND
060733,000171: 17,2272 12314 BZF +RMIN
060734,000172:
060735,000173: 17,2273 31736 CA TEMP31
060736,000174: 17,2274 74746 MASK BIT6
060737,000175: 17,2275 00006 EXTEND
060738,000176: 17,2276 12316 BZF -RMIN
060739,000177:
060740,000178: 17,2277 13112 TCF XTRANS
060741,000179:
060742,000180: 17,2300 41736 CHECKIN CS TEMP31
060743,000181: 17,2301 72351 MASK OCT63
060744,000182: 17,2302 55461 TS OLDQRMIN
060745,000183: 17,2303 13112 TCF XTRANS
060746,000184:
060747,000185: 17,2304 33136 +QMIN CA 14MS
060748,000186: 17,2305 55525 TS TJU
060749,000187: 17,2306 43136 CS 14MS
060750,000188: 17,2307 12320 TCF MINQR
060751,000189: 17,2310 43136 -QMIN CS 14MS
060752,000190: 17,2311 55525 TS TJU
060753,000191: 17,2312 33136 CA 14MS
060754,000192: 17,2313 12320 TCF MINQR
060755,000193: 17,2314 33136 +RMIN CA 14MS
060756,000194: 17,2315 12317 TCF +2
060757,000195: 17,2316 43136 -RMIN CS 14MS
060758,000196: 17,2317 55525 TS TJU
060759,000197: 17,2320 55526 MINQR TS TJV
060760,000198: 17,2321 32350 CA MINADR
060761,000199: 17,2322 55477 TS RETJADR
060762,000200: 17,2323 34753 CA ONE
060763,000201: 17,2324 55461 TS OLDQRMIN
060764,000202: 17,2325 55505 MINRTN TS AXISCTR
060765,000203: 17,2326 30111 CA DAPBOOLS
060766,000204: 17,2327 74737 MASK CSMDOCKD
060767,000205: 17,2330 00006 EXTEND
060768,000206: 17,2331 12341 BZF MIMRET
060769,000207: 17,2332 51505 INDEX AXISCTR # IF DOCKED, USE 60MS MINIMUM IMPULSE
060770,000208: 17,2333 11525 CCS TJU
060771,000209: 17,2334 34776 CA 60MS
060772,000210: 17,2335 12337 TCF +2
060773,000211: 17,2336 44776 CS 60MS
060774,000212: 17,2337 51505 INDEX AXISCTR
060775,000213: 17,2340 55525 TS TJU
060776,000214: 17,2341 30111 MIMRET CA DAPBOOLS
060777,000215: 17,2342 74742 MASK AORBTRAN
060778,000216: 17,2343 10000 CCS A
060779,000217: 17,2344 34753 CA ONE
060780,000218: 17,2345 64752 AD TWO
060781,000219: 17,2346 55742 TS NUMBERT
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Page 1438
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060783,000221: 17,2347 12756 TCF AFTERTJ
060784,000222:
060785,000223: 17,2350 4776 60MS = OCT140
060786,000224: 17,2350 02325 MINADR GENADR MINRTN
060787,000225: 17,2351 00063 OCT63 OCT 63
060788,000226: 17,2352 17,3136 14MS = +TJMINT6
060789,000227:
060790,000228: 17,2352 34751 TRANS4 CA FOUR
060791,000229: 17,2353 12216 TCF TSNUMBRT
060792,000230:
060793,000231: # RATE COMMAND MODE:
060794,000232:
060795,000233: # DESCRIPTION (SAME AS P-AXIS)
060796,000234:
060797,000235: 17,2354 55632 CHEKSTIK TS INGTS # NOT IN GTS WHEN IN ATT HOLD
060798,000236: 17,2355 44753 CS ONE # 1/ACCS WILL DO THE NULLING DRIVES
060799,000237: 17,2356 55630 TS COTROLER # COME BACK TO RCS NEXT TIME
060800,000238: 17,2357 34735 CA BIT15
060801,000239: 17,2360 71443 MASK CH31TEMP
060802,000240: 17,2361 00006 EXTEND
060803,000241: 17,2362 12377 BZF RHCACTIV # BRANCH IF OUT OF DETENT.
060804,000242: 17,2363 34740 CA OURRCBIT # ***********
060805,000243: 17,2364 70111 MASK DAPBOOLS # *IN DETENT* CHECK FOR MANUAL CONTROL
060806,000244: 17,2365 00006 EXTEND # *********** LAST TIME.
060807,000245: 17,2366 12710 BZF STILLRCS
060808,000246: 17,2367 44743 CS BIT9
060809,000247: 17,2370 71262 MASK RCSFLAGS
060810,000248: 17,2371 55262 TS RCSFLAGS # BIT 9 IS 0.
060811,000249: 17,2372 12374 TCF DAMPING
060812,000250: 17,2373 4771 40CYCL = OCT50
060813,000251: 17,2373 4753 1/10S = BIT1
060814,000252: 17,2373 00056 LINRAT DEC 46 B-14
060815,000253:
060816,000254: # ================================
060817,000255:
060818,000256: 17,2374 34755 DAMPING CA ZERO
060819,000257: 17,2375 55462 TS SAVEHAND
060820,000258: 17,2376 55463 TS SAVEHAND +1
060821,000259: 17,2377 11462 RHCACTIV CCS SAVEHAND # *******************
060822,000260: 17,2400 12403 TCF +3 # Q,R MANUAL CONTROL WC = A*(B+|D|)*D
060823,000261: 17,2401 12403 TCF +2 # *******************
060824,000262: 17,2402 12403 TCF +1
060825,000263: 17,2403 60000 DOUBLE # WHERE
060826,000264: 17,2404 60000 DOUBLE
060827,000265: 17,2405 62373 AD LINRAT # WC = COMMANDED ROTATIONAL RATE
060828,000266: 17,2406 00006 EXTEND # A = QUADRATIC SENSITIVITY FACTOR
060829,000267: 17,2407 71462 MP SAVEHAND # B = LINEAR/QUADRATIC SENSITIVITY
060830,000268: 17,2410 30001 CA L # |D| = ABS. VALUE OF DEFLECTION
060831,000269: 17,2411 00006 EXTEND # D = HAND CONTROLLER DEFLECTION
060832,000270: 17,2412 71444 MP STIKSENS
060833,000271: 17,2413 57455 XCH QLAST # COMMAND Q RATE SCALED 45 DEG/SEC
060834,000272: 17,2414 40000 COM
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Page 1439
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060836,000274: 17,2415 61455 AD QLAST
060837,000275: 17,2416 55740 TS DAPTEMP3
060838,000276: 17,2417 11463 CCS SAVEHAND +1
060839,000277: 17,2420 12423 TCF +3
060840,000278: 17,2421 12423 TCF +2
060841,000279: 17,2422 12423 TCF +1
060842,000280: 17,2423 60000 DOUBLE
060843,000281: 17,2424 60000 DOUBLE
060844,000282: 17,2425 62373 AD LINRAT
060845,000283: 17,2426 00006 EXTEND
060846,000284: 17,2427 71463 MP SAVEHAND +1
060847,000285: 17,2430 30001 CA L
060848,000286: 17,2431 00006 EXTEND
060849,000287: 17,2432 71444 MP STIKSENS
060850,000288: 17,2433 57456 XCH RLAST
060851,000289: 17,2434 40000 COM
060852,000290: 17,2435 61456 AD RLAST
060853,000291: 17,2436 55741 TS DAPTEMP4
060854,000292: 17,2437 41455 CS QLAST # INTERVAL.
060855,000293: 17,2440 61422 AD OMEGAQ
060856,000294: 17,2441 55436 TS QRATEDIF
060857,000295: 17,2442 41456 CS RLAST
060858,000296: 17,2443 61423 AD OMEGAR
060859,000297: 17,2444 55437 TS RRATEDIF
060860,000298: 17,2445 53437 ENTERQR DXCH QRATEDIF # TRANSFORM RATES FROM Q,R TO U,V AXES
060861,000299: 17,2446 03200 TC ROT-TOUV
060862,000300: 17,2447 53427 DXCH URATEDIF
060863,000301: 17,2450 11740 CCS DAPTEMP3 # CHECK IF Q COMMAND CHANGE EXCEEDS
060864,000302: 17,2451 02454 TC +3 # BREAKOUT LEVEL. IF NOT, CHECK R.
060865,000303: 17,2452 02454 TC +2
060866,000304: 17,2453 02454 TC +1
060867,000305: 17,2454 61476 AD -RATEDB
060868,000306: 17,2455 00006 EXTEND
060869,000307: 17,2456 62460 BZMF +2
060870,000308: 17,2457 12476 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
060871,000309: 17,2460 11741 CCS DAPTEMP4 # R COMMAND BREAKOUT CHECK.
060872,000310: 17,2461 02464 TC +3
060873,000311: 17,2462 02464 TC +2
060874,000312: 17,2463 02464 TC +1
060875,000313: 17,2464 61476 AD -RATEDB
060876,000314: 17,2465 00006 EXTEND
060877,000315: 17,2466 62470 BZMF +2
060878,000316: 17,2467 12476 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
060879,000317: 17,2470 31262 CA RCSFLAGS # BREAKOUT LEVEL NOT EXCEEDED. CHECK FOR
060880,000318: 17,2471 74741 MASK QRBIT # DIRECT RATE CONTROL LAST TIME.
060881,000319: 17,2472 00006 EXTEND
060882,000320: 17,2473 12475 BZF +2
060883,000321: 17,2474 12500 TCF ENTERUV # CONTINUE DIRECT RATE CONTROL.
060884,000322: 17,2475 12710 TCF STILLRCS # PSEUDO-AUTO CONTROL.
060885,000323: 17,2476 34771 CA 40CYCL
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Page 1440
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060887,000325: 17,2477 55457 TS TCQR
060888,000326: 17,2500 00004 ENTERUV INHINT # DIRECT RATE CONTROL.
060889,000327: 17,2501 04674 TC IBNKCALL
060890,000328: 17,2502 40154 FCADR ZATTEROR
060891,000329: 17,2503 00003 RELINT
060892,000330: 17,2504 34755 CA ZERO
060893,000331: 17,2505 55450 TS DYERROR
060894,000332: 17,2506 55451 TS DYERROR +1
060895,000333: 17,2507 55452 TS DZERROR
060896,000334: 17,2510 55453 TS DZERROR +1
060897,000335: 17,2511 11426 CCS URATEDIF
060898,000336: 17,2512 12515 TCF +3
060899,000337: 17,2513 12515 TCF +2
060900,000338: 17,2514 12515 TCF +1
060901,000339: 17,2515 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
060902,000340: 17,2516 00006 EXTEND # DIRECT RATE CONTROL.
060903,000341: 17,2517 62533 BZMF VDB
060904,000342: 17,2520 11427 CCS VRATEDIF
060905,000343: 17,2521 12524 TCF +3
060906,000344: 17,2522 12524 TCF +2
060907,000345: 17,2523 12524 TCF +1
060908,000346: 17,2524 61476 AD TARGETDB
060909,000347: 17,2525 00006 EXTEND
060910,000348: 17,2526 62530 BZMF +2
060911,000349: 17,2527 12544 TCF QRTIME
060912,000350: 17,2530 34755 CA ZERO
060913,000351: 17,2531 55427 TS VRATEDIF
060914,000352: 17,2532 12544 TCF QRTIME
060915,000353: 17,2533 11427 VDB CCS VRATEDIF
060916,000354: 17,2534 02537 TC +3
060917,000355: 17,2535 02537 TC +2
060918,000356: 17,2536 02537 TC +1
060919,000357: 17,2537 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
060920,000358: 17,2540 00006 EXTEND # DIRECT RATE CONTROL. IF NOT, FIRE AND
060921,000359: 17,2541 62553 BZMF TOPSEUDO # SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
060922,000360: 17,2542 34755 CA ZERO # PASS.
060923,000361: 17,2543 55426 TS URATEDIF
060924,000362: 17,2544 31457 QRTIME CA TCQR # DIRECT RATE TIME CHECK.
060925,000363: 17,2545 00006 EXTEND
060926,000364: 17,2546 62553 BZMF +5 # BRANCH IF TIME EXCEEDS 4 SEC.
060927,000365: 17,2547 41262 CS RCSFLAGS
060928,000366: 17,2550 74741 MASK QRBIT
060929,000367: 17,2551 27262 ADS RCSFLAGS # BIT 11 IS 1.
060930,000368: 17,2552 02556 TC +4
060931,000369: 17,2553 44741 TOPSEUDO CS QRBIT
060932,000370: 17,2554 71262 MASK RCSFLAGS
060933,000371: 17,2555 55262 TS RCSFLAGS # BIT 11 IS 0.
060934,000372: 17,2556 32622 CA HANDADR
060935,000373: 17,2557 55477 TS RETJADR
060936,000374: 17,2560 34753 CA ONE
060937,000375:
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Page 1441
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060939,000377: 17,2561 55505 BACKHAND TS AXISCTR
060940,000378:
060941,000379: 17,2562 34751 CA FOUR
060942,000380: 17,2563 55742 TS NUMBERT
060943,000381:
060944,000382: 17,2564 51505 INDEX AXISCTR
060945,000383: 17,2565 51534 INDEX SKIPU
060946,000384: 17,2566 12567 TCF +1
060947,000385: 17,2567 34751 CA FOUR
060948,000386: 17,2570 51505 INDEX AXISCTR
060949,000387: 17,2571 55534 TS SKIPU
060950,000388: 17,2572 13034 TCF LOOPER
060951,000389:
060952,000390: 17,2573 51505 INDEX AXISCTR
060953,000391: 17,2574 11426 CCS URATEDIF # INDEX AXIS QUANITY
060954,000392: 17,2575 34755 CA ZERO # 0 -U 1/JETACC-AOSU
060955,000393: 17,2576 12600 TCF +2 # 1 +U 1/JETACC+AOSU
060956,000394: 17,2577 34753 CA ONE # 16 -V 1/JETACC-AOSV
060957,000395: 17,2600 51505 INDEX AXISCTR # 17 +V 1/JETACC+AOSV
060958,000396: 17,2601 63755 AD AXISDIFF # JETACC = 2 JET ACCELERATION (1 FOR FAIL)
060959,000397:
060960,000398: 17,2602 50000 INDEX A
060961,000399: 17,2603 41570 CS 1/ANET2 +1
060962,000400: 17,2604 00006 EXTEND
060963,000401: 17,2605 51505 INDEX AXISCTR # URATEDIF IS SCALED AT PI/4 RAD/SEC
060964,000402: 17,2606 71426 MP URATEDIF # JET TIME IN A SCALED 32 SEC
060965,000403: 17,2607 54002 TS Q
060966,000404: 17,2610 20001 DAS A
060967,000405: 17,2611 60002 AD Q
060968,000406: 17,2612 54000 TS A # OVERFLOW SKIP
060969,000407: 17,2613 12615 TCF +2
060970,000408: 17,2614 30002 CA Q # RIGHT SIGN AND BIGGER THAN 150MS
060971,000409: 17,2615 51505 SETTIME INDEX AXISCTR
060972,000410: 17,2616 55525 TS TJU # SCALED AT 10.67 WHICH IS CLOSE TO 10.24
060973,000411: 17,2617 12756 TCF AFTERTJ
060974,000412:
060975,000413: 17,2620 34755 ZEROTJ CA ZERO
060976,000414: 17,2621 12615 TCF SETTIME
060977,000415:
060978,000416: 17,2622 02561 HANDADR GENADR BACKHAND
060979,000417:
060980,000418: # GTS WILL BE TRIED IF
060981,000419: # 1. USEQRJTS = 0,
060982,000420: # 2. ALLOWGTS POS,
060983,000421: # 3. JETS ARE OFF (Q,R-AXES)
060984,000422:
060985,000423: 17,2623 34736 TRYGTS CAF USEQRJTS # IS JET USE MANDATORY. (AS LONG AS
060986,000424: 17,2624 70111 MASK DAPBOOLS # USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
060987,000425: 17,2625 10000 CCS A
060988,000426: 17,2626 12141 TCF RCS
060989,000427: 17,2627 11502 CCS ALLOWGTS # NO. DOES AOSTASK OK CONTROL FOR GTS?
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Page 1442
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060991,000429: 17,2630 12632 TCF +2
060992,000430: 17,2631 12141 TCF RCS
060993,000431: 17,2632 00006 EXTEND
060994,000432: 17,2633 00005 READ CHAN5
060995,000433: 17,2634 10000 CCS A
060996,000434: 17,2635 12641 TCF CHKINGTS
060997,000435: 17,2636 00006 GOTOGTS EXTEND
060998,000436: 17,2637 32654 DCA GTSCADR
060999,000437: 17,2640 52006 DTCB
061000,000438:
061001,000439: 17,2641 11632 CHKINGTS CCS INGTS # WAS THE TRIM GIMBAL CONTROLLING
061002,000440: 17,2642 12644 TCF +2 # YES. SET UP A DAMPED NULLING DRIVE.
061003,000441: 17,2643 12141 TCF RCS # NO. NULLING WAS SET UP BEFORE. DO RCS
061004,000442: 17,2644 00004 INHINT
061005,000443: 17,2645 04674 TC IBNKCALL
061006,000444: 17,2646 43327 CADR TIMEGMBL
061007,000445: 17,2647 00003 RELINT
061008,000446: 17,2650 34755 CAF ZERO
061009,000447: 17,2651 55632 TS INGTS
061010,000448: 17,2652 12141 TCF RCS
061011,000449:
061012,000450: 17,2653 E6,1634 EBANK= CDUXD
061013,000451: 17,2653 03076 42106 GTSCADR 2CADR GTS
061014,000452:
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Page 1443
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061016,000454: # SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
061017,000455:
061018,000456: 17,2655 30033 QERRCALC CAE CDUY # Q-ERROR CALCULATION
061019,000457: 17,2656 00006 EXTEND
061020,000458: 17,2657 21635 MSU CDUYD # CDU ANGLE - ANGLE DESIRED (Y-AXIS)
061021,000459: 17,2660 55736 TS DAPTEMP1 # SAVE FOR RERRCALC
061022,000460: 17,2661 00006 EXTEND
061023,000461: 17,2662 71415 MP M21 # (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
061024,000462: 17,2663 55751 TS E
061025,000463: 17,2664 30034 CAE CDUZ # SECOND TERM CALCULATION:
061026,000464: 17,2665 00006 EXTEND
061027,000465: 17,2666 21636 MSU CDUZD # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
061028,000466: 17,2667 55737 TS DAPTEMP2 # SAVE FOR RERRCALC
061029,000467: 17,2670 00006 EXTEND
061030,000468: 17,2671 71417 MP M22 # (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
061031,000469: 17,2672 61275 AD DELQEROR # KALCMANU INERFACE ERROR
061032,000470: 17,2673 61751 AD E
061033,000471: 17,2674 57450 XCH QERROR # SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
061034,000472:
061035,000473: 17,2675 31736 RERRCALC CAE DAPTEMP1 # R-ERROR CALCULATION:
061036,000474: 17,2676 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Y-AXIS)
061037,000475: 17,2677 71416 MP M31 # (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
061038,000476: 17,2700 55751 TS E
061039,000477: 17,2701 31737 CAE DAPTEMP2 # SECOND TERM CALCULATION:
061040,000478: 17,2702 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
061041,000479: 17,2703 71420 MP M32 # (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
061042,000480: 17,2704 61276 AD DELREROR # KALCMANU INERFACE ERROR
061043,000481: 17,2705 61751 AD E
061044,000482: 17,2706 57452 XCH RERROR # SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
061045,000483: 17,2707 00002 TC Q
061046,000484:
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Page 1444
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061048,000486: # "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
061049,000487:
061050,000488: 17,2710 17,2710 ATTSTEER EQUALS STILLRCS # "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
061051,000489:
061052,000490: 17,2710 31452 STILLRCS CA RERROR
061053,000491: 17,2711 22000 LXCH A
061054,000492: 17,2712 31450 CA QERROR
061055,000493: 17,2713 03200 TC ROT-TOUV
061056,000494: 17,2714 53751 DXCH UERROR
061057,000495:
061058,000496: # PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
061059,000497: # PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
061060,000498:
061061,000499: 17,2715 33142 TJLAW CA TJLAWADR
061062,000500: 17,2716 55477 TS RETJADR
061063,000501: 17,2717 34753 CA ONE
061064,000502: 17,2720 55505 TS AXISCTR
061065,000503: 17,2721 51505 INDEX AXISCTR
061066,000504: 17,2722 51534 INDEX SKIPU
061067,000505: 17,2723 12724 TCF +1
061068,000506: 17,2724 34751 CA FOUR
061069,000507: 17,2725 51505 INDEX AXISCTR
061070,000508: 17,2726 55534 TS SKIPU
061071,000509: 17,2727 13034 TCF LOOPER
061072,000510: 17,2730 51505 INDEX AXISCTR
061073,000511: 17,2731 31750 CA UERROR
061074,000512: 17,2732 55751 TS E
061075,000513: 17,2733 51505 INDEX AXISCTR
061076,000514: 17,2734 31426 CA OMEGAU
061077,000515: 17,2735 55427 TS EDOT
061078,000516: 17,2736 30111 CA DAPBOOLS
061079,000517: 17,2737 74737 MASK CSMDOCKD
061080,000518: 17,2740 10000 CCS A
061081,000519: 17,2741 12744 TCF +3
061082,000520: 17,2742 03304 TC TJETLAW
061083,000521: 17,2743 12756 TCF AFTERTJ
061084,000522: 17,2744 40111 +3 CS DAPBOOLS # DOCKED. IF GIMBAL USABLE DO GTS CONTROL
061085,000523: 17,2745 74736 MASK USEQRJTS # ON THE NEXT PASS.
061086,000524: 17,2746 10000 CCS A # USEQRJTS BIT MUST NOT BE BIT 15.
061087,000525: 17,2747 55630 TS COTROLER # GIMBAL USABLE. STORE POSITIVE VALUE.
061088,000526: 17,2750 00004 INHINT
061089,000527: 17,2751 04674 TC IBNKCALL
061090,000528: 17,2752 43736 CADR SPSRCS # DETERMINE RCS CONTROL
061091,000529: 17,2753 00003 RELINT
061092,000530: 17,2754 34751 CAF FOUR # ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
061093,000531: 17,2755 55742 TS NUMBERT # FALL THROUGH TO JET SELECTION, ETC.
061094,000532:
061095,000533: # Q,R-JET-SELECTION-LOGIC
061096,000534:
061097,000535: # INPUT: AXISCTR 0,1 FOR U,V
061098,000536: # SNUFFBIT ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN
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Page 1445
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061100,000538: # TJU,TJV JET TIME SCALED 10.24 SEC.
061101,000539: # NUMBERT INDICATES NUMBER OF JETS AND TYPE OF POLICY
061102,000540: # RETJADR WHERE TO RETURN TO
061103,000541:
061104,000542: # OUTPUT: NO.U(V)JETS RATE DERIVATION FEEDBACK
061105,000543: # CHANNEL 5
061106,000544: # SKIPU,SKIRV FOR LESS THAN 150MS FIRING
061107,000545:
061108,000546: # NOTES: IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED
061109,000547: # JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY
061110,000548: # TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT
061111,000549: # IF NONE CAN BE FOUND.
061112,000550:
061113,000551: # TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
061114,000552: # MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
061115,000553:
061116,000554: 17,2756 30101 AFTERTJ CA FLAGWRD5 # IF SNUFFBIT SET DURING A DPS BURN GO TO
061117,000555: 17,2757 74737 MASK SNUFFBIT # XTRANS; THAT IS, INHIBIT CONTROL.
061118,000556: 17,2760 00006 EXTEND
061119,000557: 17,2761 12772 BZF DOROTAT
061120,000558: 17,2762 40106 CS FLGWRD10
061121,000559: 17,2763 74737 MASK APSFLBIT
061122,000560: 17,2764 00006 EXTEND
061123,000561: 17,2765 12772 BZF DOROTAT
061124,000562: 17,2766 30111 CA DAPBOOLS
061125,000563: 17,2767 74744 MASK DRIFTBIT
061126,000564: 17,2770 00006 EXTEND
061127,000565: 17,2771 13112 BZF XTRANS
061128,000566:
061129,000567: 17,2772 34752 DOROTAT CAF TWO
061130,000568: 17,2773 54001 TS L
061131,000569: 17,2774 51505 INDEX AXISCTR
061132,000570: 17,2775 11525 CCS TJU
061133,000571: 17,2776 13003 TCF +5
061134,000572: 17,2777 13026 TCF NOROTAT
061135,000573: 17,3000 13002 TCF +2
061136,000574: 17,3001 13026 TCF NOROTAT
061137,000575: 17,3002 22007 ZL
061138,000576: 17,3003 64753 AD ONE
061139,000577: 17,3004 55736 TS ABSTJ
061140,000578:
061141,000579: 17,3005 31505 CA AXISCTR
061142,000580: 17,3006 60001 AD L
061143,000581: 17,3007 55743 TS ROTINDEX # 0 1 2 3 = -U -V -+U +V
061144,000582:
061145,000583: 17,3010 31736 CA ABSTJ
061146,000584: 17,3011 63137 AD -150MS
061147,000585: 17,3012 00006 EXTEND
061148,000586: 17,3013 63037 BZMF DOSKIP
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Page 1446
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061150,000588: 17,3014 03225 TC SELCTSUB
061151,000589:
061152,000590: 17,3015 51505 INDEX AXISCTR
061153,000591: 17,3016 33134 CA INDEXES
061154,000592: 17,3017 54001 TS L
061155,000593:
061156,000594: 17,3020 31740 CA POLYTEMP
061157,000595: 17,3021 00004 INHINT
061158,000596: 17,3022 50001 INDEX L
061159,000597: 17,3023 05744 TC WRITEP
061160,000598:
061161,000599: 17,3024 00003 RELINT
061162,000600: 17,3025 13100 TCF FEEDBACK
061163,000601:
061164,000602: 17,3026 51505 NOROTAT INDEX AXISCTR
061165,000603: 17,3027 33134 CA INDEXES
061166,000604: 17,3030 00004 INHINT
061167,000605: 17,3031 50000 INDEX A
061168,000606: 17,3032 05743 TC WRITEP -1
061169,000607:
061170,000608: 17,3033 00003 RELINT
061171,000609: 17,3034 11505 LOOPER CCS AXISCTR
061172,000610: 17,3035 01477 TC RETJADR
061173,000611: 17,3036 13270 TCF CLOSEOUT
061174,000612: 17,3037 41736 DOSKIP CS ABSTJ
061175,000613: 17,3040 63136 AD +TJMINT6 # 14MS
061176,000614: 17,3041 00006 EXTEND
061177,000615: 17,3042 63061 BZMF NOTMIN
061178,000616:
061179,000617: 17,3043 27736 ADS ABSTJ
061180,000618: 17,3044 51505 INDEX AXISCTR
061181,000619: 17,3045 11525 CCS TJU
061182,000620: 17,3046 33136 CA +TJMINT6
061183,000621: 17,3047 13051 TCF +2
061184,000622: 17,3050 43136 CS +TJMINT6
061185,000623: 17,3051 51505 INDEX AXISCTR
061186,000624: 17,3052 55525 TS TJU
061187,000625:
061188,000626: 17,3053 11500 CCS SENSETYP # ENSURE MIN-IMPULSE NOT AGAINST TRANS
061189,000627: 17,3054 13060 TCF NOTMIN -1
061190,000628: 17,3055 00006 EXTEND
061191,000629: 17,3056 00004 READ LOSCALAR
061192,000630: 17,3057 74753 MASK ONE
061193,000631: 17,3060 55742 TS NUMBERT
061194,000632:
061195,000633: 17,3061 03225 NOTMIN TC SELCTSUB
061196,000634:
061197,000635: 17,3062 51505 INDEX AXISCTR
061198,000636: 17,3063 33134 CA INDEXES
061199,000637: 17,3064 00004 INHINT
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Page 1447
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061201,000639: 17,3065 55471 TS T6FURTHA +1
061202,000640: 17,3066 31740 CA POLYTEMP
061203,000641: 17,3067 51471 INDEX T6FURTHA +1
061204,000642: 17,3070 05744 TC WRITEP
061205,000643:
061206,000644: 17,3071 31736 CA ABSTJ
061207,000645: 17,3072 55470 TS T6FURTHA
061208,000646: 17,3073 03143 TC JTLST # IN QR BANK BY NOW
061209,000647:
061210,000648: 17,3074 00003 RELINT
061211,000649:
061212,000650: 17,3075 34755 CA ZERO
061213,000651: 17,3076 51505 INDEX AXISCTR
061214,000652: 17,3077 55534 TS SKIPU
061215,000653:
061216,000654: 17,3100 46250 FEEDBACK CS THREE
061217,000655: 17,3101 61742 AD NUMBERT
061218,000656: 17,3102 00006 EXTEND
061219,000657: 17,3103 63106 BZMF +3
061220,000658:
061221,000659: 17,3104 34752 CA TWO
061222,000660: 17,3105 13107 TCF +2
061223,000661: 17,3106 34753 CA ONE
061224,000662: 17,3107 51505 INDEX AXISCTR
061225,000663: 17,3110 55522 TS NO.UJETS
061226,000664: 17,3111 13034 TCF LOOPER
061227,000665:
061228,000666: 17,3112 34755 XTRANS CA ZERO
061229,000667: 17,3113 55525 TS TJU
061230,000668: 17,3114 55526 TS TJV
061231,000669: 17,3115 34751 CA FOUR
061232,000670: 17,3116 00004 INHINT
061233,000671: 17,3117 57534 XCH SKIPU
061234,000672: 17,3120 00006 EXTEND
061235,000673: 17,3121 13123 BZF +2
061236,000674: 17,3122 05747 TC WRITEU -1
061237,000675: 17,3123 34751 CA FOUR
061238,000676: 17,3124 57535 XCH SKIPV
061239,000677: 17,3125 00003 RELINT
061240,000678:
061241,000679: 17,3126 00006 EXTEND
061242,000680: 17,3127 13270 BZF CLOSEOUT
061243,000681: 17,3130 00004 INHINT
061244,000682: 17,3131 05760 TC WRITEV -1
061245,000683: 17,3132 00003 RELINT
061246,000684:
061247,000685: 17,3133 13270 TCF CLOSEOUT
061248,000686: 17,3134 00004 INDEXES DEC 4 B-14
061249,000687: 17,3135 00015 DEC 13 B-14
061250,000688: 17,3136 00026 +TJMINT6 DEC 22 B-14
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Page 1448
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061252,000690: 17,3137 77417 -150MS DEC -240 B-14
061253,000691: 17,3140 00600 BIT8,9 OCT 00600
061254,000692: 17,3141 00266 SCLNORM OCT 266
061255,000693: 17,3142 02720 TJLAWADR GENADR TJLAW +3 # RETURN ADDRESS FOR RCS ATTITUDE CONTROL
061256,000694:
061257,000695: # THE JET LIST:
061258,000696: # THIS IS A WAITLIST FOR T6RUPTS.
061259,000697:
061260,000698: # CALLED BY:
061261,000699: # CA TJ TIME WHEN NEXT JETS WILL BE WRITTEN
061262,000700: # TS T6FURTHA
061263,000701: # CA INDEX AXIS TO BE WIRTTEN AT TJ (FROM NOW)
061264,000702: # TS T6FURTHA +1
061265,000703: # TC JTLST
061266,000704:
061267,000705: # EXAMPLE - U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
061268,000706: # JETS INTO CHANNEL 5. IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
061269,000707: # 150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
061270,000708: # CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
061271,000709: # OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
061272,000710:
061273,000711: # THE LIST IS EXACTLY 3 LONG. (THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
061274,000712: # THE INPUT IS THE LAST MEMBER OF THE LIST
061275,000713:
061276,000714: # RETURNS BY:
061277,000715: # + TC Q
061278,000716:
061279,000717: # DEFINITIONS: (OUTPUT)
061280,000718: # TIME6 TIME OF NEXT RUPT
061281,000719: # T6NEXT DELTA TIME TO NEXT RUPT
061282,000720: # T6FURTHA DELTA TIME FROM 2ND TO LAST RUPT
061283,000721: # NXT6ADR AXIS INDEX Q - P-AXIS
061284,000722: # T6NEXT +1 AXIS INDEX 4 - U-AXIS
061285,000723: # T6FURTHA +1 AXIS INDEX 13 - V-AXIS
061286,000724:
061287,000725: 17,3143 41470 JTLST CS T6FURTHA
061288,000726: 17,3144 60031 AD TIME6
061289,000727: 17,3145 00006 EXTEND
061290,000728: 17,3146 63163 BZMF MIDORLST # TIME6 - T IS IN A
061291,000729:
061292,000730: 17,3147 23465 LXCH NXT6ADR
061293,000731: 17,3150 53467 DXCH T6NEXT
061294,000732: 17,3151 53471 DXCH T6FURTHA
061295,000733: 17,3152 54031 TS TIME6
061296,000734: 17,3153 23465 LXCH NXT6ADR
061297,000735:
061298,000736: 17,3154 00006 TURNON EXTEND
061299,000737: 17,3155 23265 QXCH C13QSAV
061300,000738: 17,3156 06022 TC C13STALL
061301,000739:
061302,000740: 17,3157 34735 CA BIT15
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Page 1449
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061304,000742: 17,3160 00006 EXTEND
061305,000743: 17,3161 05013 WOR CHAN13
061306,000744: 17,3162 01265 TC C13QSAV
061307,000745:
061308,000746: 17,3163 61466 MIDORLST AD T6NEXT
061309,000747: 17,3164 00006 EXTEND
061310,000748: 17,3165 63174 BZMF LASTCHG # TIME6 + T6NEXT - T IS IN A
061311,000749:
061312,000750: 17,3166 23467 LXCH T6NEXT +1
061313,000751: 17,3167 53471 DXCH T6FURTHA
061314,000752: 17,3170 00006 EXTEND
061315,000753: 17,3171 60031 SU TIME6
061316,000754: 17,3172 53467 DXCH T6NEXT
061317,000755:
061318,000756: 17,3173 00002 TC Q
061319,000757:
061320,000758: 17,3174 40000 LASTCHG CS A
061321,000759: 17,3175 64754 AD NEG0
061322,000760: 17,3176 55470 TS T6FURTHA
061323,000761:
061324,000762: 17,3177 00002 TC Q
061325,000763:
061326,000764: # ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
061327,000765: # ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM. IN THE U-V SYSTEM NO CROSS-COUPLING IS
061328,000766: # PRODUCED FROM RCS JET FIRINGS. AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
061329,000767: # A AND THE V-COMPONENT IS IN L.
061330,000768:
061331,000769: 17,3200 23737 ROT-TOUV LXCH ROTEMP2 # (R) IS PUT INTO ROTEMP2
061332,000770: 17,3201 00006 EXTEND
061333,000771: 17,3202 71626 MP COEFFQ
061334,000772: 17,3203 57737 XCH ROTEMP2 # (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
061335,000773: 17,3204 00006 EXTEND
061336,000774: 17,3205 71627 MP COEFFR
061337,000775: 17,3206 54001 TS L # COEFFR.(R) IS PUT INTO L
061338,000776: 17,3207 61737 AD ROTEMP2
061339,000777: 17,3210 55736 TS ROTEMP1 # COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
061340,000778: 17,3211 13215 TCF +4
061341,000779: 17,3212 50000 INDEX A # COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
061342,000780: 17,3213 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
061343,000781: 17,3214 55736 TS ROTEMP1
061344,000782: 17,3215 41737 CS ROTEMP2
061345,000783: 17,3216 60001 AD L # -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
061346,000784: 17,3217 54007 TS 7
061347,000785: 17,3220 13223 TCF +3
061348,000786: 17,3221 50000 INDEX A # -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
061349,000787: 17,3222 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
061350,000788: 17,3223 23736 LXCH ROTEMP1 # COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
061351,000789: 17,3224 00002 TC Q
061352,000790: 17,3225 51743 SELCTSUB INDEX ROTINDEX
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Page 1450
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061354,000792: 17,3226 33257 CA ALLJETS
061355,000793: 17,3227 51742 INDEX NUMBERT
061356,000794: 17,3230 73263 MASK TYPEPOLY
061357,000795: 17,3231 55740 TS POLYTEMP
061358,000796:
061359,000797: 17,3232 71257 MASK CH5MASK
061360,000798: 17,3233 10000 CCS A
061361,000799: 17,3234 13236 TCF +2
061362,000800:
061363,000801: 17,3235 00002 TC Q
061364,000802:
061365,000803: 17,3236 36250 CA THREE
061366,000804: 17,3237 55742 FAILOOP TS NUMBERT
061367,000805: 17,3240 51743 INDEX ROTINDEX
061368,000806: 17,3241 33257 CA ALLJETS
061369,000807: 17,3242 51742 INDEX NUMBERT
061370,000808: 17,3243 73263 MASK TYPEPOLY
061371,000809: 17,3244 55740 TS POLYTEMP
061372,000810: 17,3245 71257 MASK CH5MASK
061373,000811: 17,3246 00006 EXTEND
061374,000812: 17,3247 13235 BZF FAILOOP -2
061375,000813: 17,3250 11742 CCS NUMBERT
061376,000814: 17,3251 13237 TCF FAILOOP
061377,000815: 17,3252 51505 INDEX AXISCTR
061378,000816: 17,3253 55525 TS TJU
061379,000817: 17,3254 05567 TC ALARM
061380,000818: 17,3255 02004 OCT 02004
061381,000819: 17,3256 13026 TCF NOROTAT
061382,000820: 17,3257 00110 ALLJETS OCT 00110 # -U 6 13
061383,000821: 17,3260 00022 OCT 00022 # -V 2 9
061384,000822: 17,3261 00204 OCT 00204 # +U 5 14
061385,000823:
061386,000824: 17,3262 00041 OCT 00041 # +V 1 10
061387,000825: 17,3263 00125 TYPEPOLY OCT 00125 # -X 1 5 9 13
061388,000826: 17,3264 00252 OCT 00252 # +X 2 6 10 14
061389,000827: 17,3265 00146 OCT 00146 # A 2 5 10 13
061390,000828: 17,3266 00231 OCT 00231 # B 1 6 9 14
061391,000829: 17,3267 00377 OCT 00377 # ALL 1 2 5 6 9 10 13 14
061392,000830:
061393,000831: # THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
061394,000832:
061395,000833: 17,3270 33272 CLOSEOUT CA ADRRUPT
061396,000834: 17,3271 07757 TC MAKERUPT
061397,000835:
061398,000836: 17,3272 03273 ADRRUPT ADRES ENDJASK
061399,000837:
061400,000838: 17,3273 53753 ENDJASK DXCH DAPARUPT
061401,000839: 17,3274 52011 DXCH ARUPT
061402,000840: 17,3275 53755 DXCH DAPBQRPT
061403,000841: 17,3276 56017 XCH BRUPT
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Page 1451
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061405,000843: 17,3277 22002 LXCH Q
061406,000844: 17,3300 34735 CAF NEGMAX # NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
061407,000845: 17,3301 53757 DXCH DAPZRUPT
061408,000846: 17,3302 52016 DXCH ZRUPT
061409,000847: 17,3303 15272 TCF NOQRSM
061410,000848: 7757 BLOCK 3
061411,000849: 6000 SETLOC FFTAG6
061412,000850: 6000 BANK
061413,000851:
061414,000852: 7757 COUNT* $$/DAP
061415,000853:
061416,000854: 7757 00006 MAKERUPT EXTEND
061417,000855: 7760 07757 EDRUPT MAKERUPT
061418,000856:
End of include-file Q,R-AXES_RCS_AUTOPILOT.agc. Parent file is MAIN.agc