Source Code
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These source-code files are part of a reconstructed copy of Luminary 69/2,
the flown, final release of the Apollo 10 Lunar Module (LM) Apollo Guidance Computer (AGC) software.
The reconstruction is based on the source code of Luminary 69 — i.e., the
initial, unflown version, "revision 0" — of which
a contemporary listing was available. The code was then updated by incorporating the
differences between Luminary 69 and Luminary 69/2, known from other contemporary
documentation. The only such difference is the implementation in
Luminary 69/2 of the "R-2 Lunar Potential Model", the source code for which was taken
from program Luminary 99/1 (Apollo 11 LM), of which a contemporary listing was also available.
Finally, the now-reconstructed Luminary 69/2 was then validated by assembling it to
executable form and verifying that its memory banks had the correct checksums,
known from still other contemporary documentation.
Note that page numbers in the reconstructed code match those in the original Luminary 69
program listing, or in the ORBITAL INTEGRATION log section, in Luminary 99/1. Page numbers
would certainly differ somewhat in a contemporary Luminary 69/2 listing.
Moreover, annotations that were not present in the contemporary source code have been added
to the reconstructed code to justify each change in Luminary 69/2 relative to
Luminary 69. Here's a guide to the Apollo documentation referenced in those annotations:
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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062189,000002: ## Copyright: Public domain.
062190,000003: ## Filename: Q,R-AXES_RCS_AUTOPILOT.agc
062191,000004: ## Purpose: A section of LUM69 revision 2.
062192,000005: ## It is part of the reconstructed source code for the flown
062193,000006: ## version of the flight software for the Lunar Module's (LM)
062194,000007: ## Apollo Guidance Computer (AGC) for Apollo 10. The code has
062195,000008: ## been recreated from a copy of Luminary revsion 069, using
062196,000009: ## changes present in Luminary 099 which were described in
062197,000010: ## Luminary memos 75 and 78. The code has been adapted such
062198,000011: ## that the resulting bugger words exactly match those specified
062199,000012: ## for LUM69 revision 2 in NASA drawing 2021152B, which gives
062200,000013: ## relatively high confidence that the reconstruction is correct.
062201,000014: ## Reference: pp. 1436-1453
062202,000015: ## Assembler: yaYUL
062203,000016: ## Contact: Ron Burkey <info@sandroid.org>.
062204,000017: ## Website: www.ibiblio.org/apollo/index.html
062205,000018: ## Mod history: 2019-07-27 MAS Created from Luminary 69.
062206,000019:
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Page 1436
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062208,000021: 17,2043 BANK 17
062209,000022: 17,2000 SETLOC DAPS2
062210,000023: 17,2000 BANK
062211,000024:
062212,000025: 17,2043 E6,1633 EBANK= CDUXD
062213,000026:
062214,000027: 17,2043 COUNT* $$/DAPQR
062215,000028:
062216,000029: 17,2043 34737 CALLQERR CA BIT13 # CALCULATE Q,R ERRORS UNLESS THESE AXES
062217,000030: 17,2044 00006 EXTEND # ARE IN MANUAL RATE COMMAND.
062218,000031: 17,2045 02031 RAND CHAN31
062219,000032: 17,2046 10000 CCS A
062220,000033: 17,2047 12054 TCF +5 # IN AUTO COMPUTE Q,R ERRORS
062221,000034: 17,2050 40111 CS DAPBOOLS # IN MANUAL RATE COMMAND?
062222,000035: 17,2051 74740 MASK OURRCBIT
062223,000036: 17,2052 00006 EXTEND
062224,000037: 17,2053 12055 BZF Q,RORGTS # IF SO BYPASS CALCULATION OF ERRORS.
062225,000038: 17,2054 02563 TC QERRCALC
062226,000039:
062227,000040: 17,2055 11627 Q,RORGTS CCS COTROLER # CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
062228,000041: 17,2056 12544 TCF GOTOGTS # GTS (ALTERNATES WITH RCS WHEN DOCKED)
062229,000042: 17,2057 12531 TCF TRYGTS # GTS IF ALLOWED, OTHERWISE RCS
062230,000043: 17,2060 34755 RCS CAF ZERO # RCS (TRYGTS MAY BRANCH TO HERE)
062231,000044: 17,2061 55627 TS COTROLER
062232,000045:
062233,000046: 17,2062 53435 DXCH EDOTQ
062234,000047: 17,2063 03100 TC ROT45DEG
062235,000048: 17,2064 53425 DXCH OMEGAU
062236,000049:
062237,000050: # X - TRANSLATION:
062238,000051:
062239,000052: # INPUT: BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
062240,000053: # ULLAGER
062241,000054: # APSFLAG, DRIFTBIT
062242,000055: # ACC40R2X, ACRBTRAN
062243,000056:
062244,000057: # OUTPUT: NEXTU, NEXTV CODES OF TRANSLATION FOR AFTER ROTATION
062245,000058: # SENSETYP TELL ROTATION DIRECTION AND DESIRE
062246,000059:
062247,000060: # X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR. IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED. A FAILURE
062248,000061: # WILL OVERRIDE THIS SPECIFICATION. AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
062249,000062:
062250,000063: 17,2065 34745 SENSEGET CA BIT7 # INPUT BITS OVERRIDE THE INTERNAL BITS
062251,000064: 17,2066 00006 EXTEND # SENSETYP WILL NOT OPPOSE ANYTRANS
062252,000065: 17,2067 02031 RAND CHAN31
062253,000066: 17,2070 00006 EXTEND
062254,000067: 17,2071 12117 BZF +XORULGE
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Page 1437
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062256,000069: 17,2072 34744 CA BIT8
062257,000070: 17,2073 00006 EXTEND
062258,000071: 17,2074 02031 RAND CHAN31
062259,000072: 17,2075 00006 EXTEND
062260,000073: 17,2076 12120 BZF -XTRANS
062261,000074:
062262,000075: 17,2077 34746 CA ULLAGER
062263,000076: 17,2100 70111 MASK DAPBOOLS
062264,000077: 17,2101 10000 CCS A
062265,000078: 17,2102 12117 TCF +XORULGE
062266,000079:
062267,000080: 17,2103 55471 TS NEXTU # STORE NULL TRANSLATION POLICIES
062268,000081: 17,2104 55472 TS NEXTV
062269,000082: 17,2105 40111 CS DAPBOOLS # BURNING OR DRIFTING?
062270,000083: 17,2106 74744 MASK DRIFTBIT
062271,000084: 17,2107 00006 EXTEND
062272,000085: 17,2110 12115 BZF TSENSE
062273,000086: 17,2111 30106 CA FLGWRD10 # DPS (INCLUDING DOCKED) OR APS?
062274,000087: 17,2112 74737 MASK APSFLBIT
062275,000088: 17,2113 10000 CCS A
062276,000089: 17,2114 34752 CAF TWO # FAVOR +X JETS DURING AN APS BURN.
062277,000090: 17,2115 55477 TSENSE TS SENSETYP
062278,000091: 17,2116 12151 TCF QRCONTRL
062279,000092:
062280,000093: 17,2117 34753 +XORULGE CAF ONE
062281,000094: 17,2120 64751 -XTRANS AD FOUR
062282,000095: 17,2121 55742 TS ROTINDEX
062283,000096: 17,2122 67744 AD NEG3
062284,000097: 17,2123 55477 TS SENSETYP # FAVOR APPROPRIATE JETS DURING TRANS.
062285,000098: 17,2124 30111 CA DAPBOOLS
062286,000099: 17,2125 74741 MASK ACC4OR2X
062287,000100: 17,2126 10000 CCS A
062288,000101: 17,2127 12256 TCF TRANS4
062289,000102:
062290,000103: 17,2130 30111 CA DAPBOOLS
062291,000104: 17,2131 74742 MASK AORBTRAN
062292,000105: 17,2132 10000 CCS A
062293,000106: 17,2133 34753 CA ONE # THREE FOR B
062294,000107: 17,2134 64752 AD TWO # TWO FOR A SYSTEM 2 JET X TRANS
062295,000108: 17,2135 55741 TSNUMBRT TS NUMBERT
062296,000109:
062297,000110: 17,2136 03130 TC SELCTSUB
062298,000111:
062299,000112: 17,2137 11737 CCS POLYTEMP
062300,000113: 17,2140 12143 TCF +3
062301,000114: 17,2141 05567 TC ALARM
062302,000115: 17,2142 02002 OCT 02002
062303,000116: 17,2143 35765 CA 00314OCT
062304,000117: 17,2144 71737 MASK POLYTEMP
062305,000118: 17,2145 55471 TSNEXTS TS NEXTU
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Page 1438
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062307,000120: 17,2146 45765 CS 00314OCT
062308,000121: 17,2147 71737 MASK POLYTEMP
062309,000122: 17,2150 55472 TS NEXTV
062310,000123:
062311,000124: # Q,R-AXES RCS CONTROL MODE SELECTION
062312,000125: # SWITCHES INDICATION WHEN SET
062313,000126: # BIT13/CHAN31 AUTO, GO TO ATTSTEER
062314,000127: # PULSES MINIMUM IMPULSE MODE
062315,000128: # (OTHERWISE) RATE COMMAND/ATTITUDE HOLD MODE
062316,000129:
062317,000130: 17,2151 34737 QRCONTRL CA BIT13 # CHECK MODE SELECT SWITCH.
062318,000131: 17,2152 00006 EXTEND
062319,000132: 17,2153 02031 RAND CHAN31 # BITS INVERTED
062320,000133: 17,2154 10000 CCS A
062321,000134: 17,2155 12616 TCF ATTSTEER
062322,000135: 17,2156 34735 CHKBIT10 CAF PULSES # PULSES = 1 FOR MIN IMP USE OF RHC
062323,000136: 17,2157 70111 MASK DAPBOOLS
062324,000137: 17,2160 00006 EXTEND
062325,000138: 17,2161 12260 BZF CHEKSTIK # IN ATT-HOLD/RATE-COMMAND IF BIT10=0
062326,000139:
062327,000140: # MINIMUM IMPULSE MODE
062328,000141:
062329,000142: 17,2162 00004 INHINT
062330,000143: 17,2163 04674 TC IBNKCALL
062331,000144: 17,2164 40153 CADR ZATTEROR
062332,000145: 17,2165 34755 CA ZERO
062333,000146: 17,2166 55446 TS QERROR
062334,000147: 17,2167 55450 TS RERROR # FOR DISPLAYS
062335,000148: 17,2170 00003 RELINT
062336,000149:
062337,000150: 17,2171 00006 EXTEND
062338,000151: 17,2172 00031 READ CHAN31
062339,000152: 17,2173 55735 TS TEMP31 # IS EQUAL TO DAPTEMP1
062340,000153: 17,2174 11457 CCS OLDQRMIN
062341,000154: 17,2175 12217 TCF CHECKIN
062342,000155:
062343,000156: 17,2176 31735 FIREQR CA TEMP31
062344,000157: 17,2177 74753 MASK BIT1
062345,000158: 17,2200 00006 EXTEND
062346,000159: 17,2201 12223 BZF +QMIN
062347,000160:
062348,000161: 17,2202 31735 CA TEMP31
062349,000162: 17,2203 74752 MASK BIT2
062350,000163: 17,2204 00006 EXTEND
062351,000164: 17,2205 12227 BZF -QMIN
062352,000165:
062353,000166: 17,2206 31735 CA TEMP31
062354,000167: 17,2207 74747 MASK BIT5
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Page 1439
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062356,000169: 17,2210 00006 EXTEND
062357,000170: 17,2211 12233 BZF +RMIN
062358,000171:
062359,000172: 17,2212 31735 CA TEMP31
062360,000173: 17,2213 74746 MASK BIT6
062361,000174: 17,2214 00006 EXTEND
062362,000175: 17,2215 12235 BZF -RMIN
062363,000176:
062364,000177: 17,2216 13015 TCF XTRANS
062365,000178:
062366,000179: 17,2217 41735 CHECKIN CS TEMP31
062367,000180: 17,2220 72255 MASK OCT63
062368,000181: 17,2221 55457 TS OLDQRMIN
062369,000182: 17,2222 13015 TCF XTRANS
062370,000183:
062371,000184: 17,2223 33041 +QMIN CA 14MS
062372,000185: 17,2224 55525 TS TJU
062373,000186: 17,2225 43041 CS 14MS
062374,000187: 17,2226 12237 TCF MINQR
062375,000188: 17,2227 43041 -QMIN CS 14MS
062376,000189: 17,2230 55525 TS TJU
062377,000190: 17,2231 33041 CA 14MS
062378,000191: 17,2232 12237 TCF MINQR
062379,000192: 17,2233 33041 +RMIN CA 14MS
062380,000193: 17,2234 12236 TCF +2
062381,000194: 17,2235 43041 -RMIN CS 14MS
062382,000195: 17,2236 55525 TS TJU
062383,000196: 17,2237 55526 MINQR TS TJV
062384,000197: 17,2240 32254 CA MINADR
062385,000198: 17,2241 55475 TS RETJADR
062386,000199: 17,2242 34753 CA ONE
062387,000200: 17,2243 55457 TS OLDQRMIN
062388,000201: 17,2244 55476 MINRTN TS AXISCTR
062389,000202: 17,2245 30111 CA DAPBOOLS
062390,000203: 17,2246 74742 MASK AORBTRAN
062391,000204: 17,2247 10000 CCS A
062392,000205: 17,2250 34753 CA ONE
062393,000206: 17,2251 64752 AD TWO
062394,000207: 17,2252 55741 TS NUMBERT
062395,000208: 17,2253 12661 TCF AFTERTJ
062396,000209:
062397,000210: 17,2254 02244 MINADR GENADR MINRTN
062398,000211: 17,2255 00063 OCT63 OCT 63
062399,000212: 17,2256 17,3041 14MS = +TJMINT6
062400,000213:
062401,000214: 17,2256 34751 TRANS4 CA FOUR
062402,000215: 17,2257 12135 TCF TSNUMBRT
062403,000216:
062404,000217: # RATE COMMAND MODE:
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Page 1440
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062406,000219: # DESCRIPTION (SAME AS P-AXIS)
062407,000220:
062408,000221: 17,2260 55631 CHEKSTIK TS INGTS # NOT IN GTS WHEN IN ATT HOLD
062409,000222: 17,2261 44753 CS ONE # 1/ACCS WILL DO THE NULLING DRIVES
062410,000223: 17,2262 55627 TS COTROLER # COME BACK TO RCS NEXT TIME
062411,000224: 17,2263 34735 CA BIT15
062412,000225: 17,2264 71441 MASK CH31TEMP
062413,000226: 17,2265 00006 EXTEND
062414,000227: 17,2266 12305 BZF RHCACTIV # BRANCH IF OUT OF DETENT.
062415,000228: 17,2267 34740 CA OURRCBIT # ***********
062416,000229: 17,2270 70111 MASK DAPBOOLS # *IN DETENT* CHECK FOR MANUAL CONTROL
062417,000230: 17,2271 00006 EXTEND # *********** LAST TIME.
062418,000231: 17,2272 12616 BZF STILLRCS
062419,000232: 17,2273 44743 CS BIT9
062420,000233: 17,2274 71273 MASK RCSFLAGS
062421,000234: 17,2275 55273 TS RCSFLAGS # BIT 9 IS 0.
062422,000235: 17,2276 12302 TCF DAMPING
062423,000236: 17,2277 00050 40CYCL OCT 50
062424,000237: 17,2300 00001 1/10S OCT 1
062425,000238: 17,2301 00056 LINRAT DEC 46 B-14
062426,000239:
062427,000240: # ================================
062428,000241:
062429,000242: 17,2302 34755 DAMPING CA ZERO
062430,000243: 17,2303 55460 TS SAVEHAND
062431,000244: 17,2304 55461 TS SAVEHAND +1
062432,000245: 17,2305 11460 RHCACTIV CCS SAVEHAND # *******************
062433,000246: 17,2306 12311 TCF +3 # Q,R MANUAL CONTROL WC = A*(B+|D|)*D
062434,000247: 17,2307 12311 TCF +2 # *******************
062435,000248: 17,2310 12311 TCF +1
062436,000249: 17,2311 60000 DOUBLE # WHERE
062437,000250: 17,2312 60000 DOUBLE
062438,000251: 17,2313 62301 AD LINRAT # WC = COMMANDED ROTATIONAL RATE
062439,000252: 17,2314 00006 EXTEND # A = QUADRATIC SENSITIVITY FACTOR
062440,000253: 17,2315 71460 MP SAVEHAND # B = LINEAR/QUADRATIC SENSITIVITY
062441,000254: 17,2316 30001 CA L # |D| = ABS. VALUE OF DEFLECTION
062442,000255: 17,2317 00006 EXTEND # D = HAND CONTROLLER DEFLECTION
062443,000256: 17,2320 71442 MP STIKSENS
062444,000257: 17,2321 57453 XCH QLAST # COMMAND Q RATE SCALED 45 DEG/SEC
062445,000258: 17,2322 40000 COM
062446,000259: 17,2323 61453 AD QLAST
062447,000260: 17,2324 55737 TS DAPTEMP3
062448,000261: 17,2325 11461 CCS SAVEHAND +1
062449,000262: 17,2326 12331 TCF +3
062450,000263: 17,2327 12331 TCF +2
062451,000264: 17,2330 12331 TCF +1
062452,000265: 17,2331 60000 DOUBLE
062453,000266: 17,2332 60000 DOUBLE
062454,000267: 17,2333 62301 AD LINRAT
062455,000268: 17,2334 00006 EXTEND
062456,000269: 17,2335 71461 MP SAVEHAND +1
062457,000270: 17,2336 30001 CA L
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Page 1441
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062459,000272: 17,2337 00006 EXTEND
062460,000273: 17,2340 71442 MP STIKSENS
062461,000274: 17,2341 57454 XCH RLAST
062462,000275: 17,2342 40000 COM
062463,000276: 17,2343 61454 AD RLAST
062464,000277: 17,2344 55740 TS DAPTEMP4
062465,000278: 17,2345 41453 CS QLAST # INTERVAL.
062466,000279: 17,2346 61420 AD OMEGAQ
062467,000280: 17,2347 55434 TS QRATEDIF
062468,000281: 17,2350 41454 CS RLAST
062469,000282: 17,2351 61421 AD OMEGAR
062470,000283: 17,2352 55435 TS RRATEDIF
062471,000284: 17,2353 53435 ENTERQR DXCH QRATEDIF # TRANSFORM RATES FROM Q,R TO U,V AXES
062472,000285: 17,2354 03100 TC ROT45DEG
062473,000286: 17,2355 53425 DXCH URATEDIF
062474,000287: 17,2356 11737 CCS DAPTEMP3 # CHECK IF Q COMMAND CHANGE EXCEEDS
062475,000288: 17,2357 02362 TC +3 # BREAKOUT LEVEL. IF NOT, CHECK R.
062476,000289: 17,2360 02362 TC +2
062477,000290: 17,2361 02362 TC +1
062478,000291: 17,2362 61474 AD -RATEDB
062479,000292: 17,2363 00006 EXTEND
062480,000293: 17,2364 62366 BZMF +2
062481,000294: 17,2365 12404 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
062482,000295: 17,2366 11740 CCS DAPTEMP4 # R COMMAND BREAKOUT CHECK.
062483,000296: 17,2367 02372 TC +3
062484,000297: 17,2370 02372 TC +2
062485,000298: 17,2371 02372 TC +1
062486,000299: 17,2372 61474 AD -RATEDB
062487,000300: 17,2373 00006 EXTEND
062488,000301: 17,2374 62376 BZMF +2
062489,000302: 17,2375 12404 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
062490,000303: 17,2376 31273 CA RCSFLAGS # BREAKOUT LEVEL NOT EXCEEDED. CHECK FOR
062491,000304: 17,2377 74741 MASK QRBIT # DIRECT RATE CONTROL LAST TIME.
062492,000305: 17,2400 00006 EXTEND
062493,000306: 17,2401 12403 BZF +2
062494,000307: 17,2402 12406 TCF ENTERUV # CONTINUE DIRECT RATE CONTROL.
062495,000308: 17,2403 12616 TCF STILLRCS # PSEUDO-AUTO CONTROL.
062496,000309: 17,2404 32277 CA 40CYCL
062497,000310: 17,2405 55455 TS TCQR
062498,000311: 17,2406 00004 ENTERUV INHINT # DIRECT RATE CONTROL.
062499,000312: 17,2407 04674 TC IBNKCALL
062500,000313: 17,2410 40153 FCADR ZATTEROR
062501,000314: 17,2411 00003 RELINT
062502,000315: 17,2412 34755 CA ZERO
062503,000316: 17,2413 55446 TS DYERROR
062504,000317: 17,2414 55447 TS DYERROR +1
062505,000318: 17,2415 55450 TS DZERROR
062506,000319: 17,2416 55451 TS DZERROR +1
062507,000320: 17,2417 11424 CCS URATEDIF
062508,000321: 17,2420 12423 TCF +3
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Page 1442
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062510,000323: 17,2421 12423 TCF +2
062511,000324: 17,2422 12423 TCF +1
062512,000325: 17,2423 61474 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
062513,000326: 17,2424 00006 EXTEND # DIRECT RATE CONTROL.
062514,000327: 17,2425 62441 BZMF VDB
062515,000328: 17,2426 11425 CCS VRATEDIF
062516,000329: 17,2427 12432 TCF +3
062517,000330: 17,2430 12432 TCF +2
062518,000331: 17,2431 12432 TCF +1
062519,000332: 17,2432 61474 AD TARGETDB
062520,000333: 17,2433 00006 EXTEND
062521,000334: 17,2434 62436 BZMF +2
062522,000335: 17,2435 12452 TCF QRTIME
062523,000336: 17,2436 34755 CA ZERO
062524,000337: 17,2437 55425 TS VRATEDIF
062525,000338: 17,2440 12452 TCF QRTIME
062526,000339: 17,2441 11425 VDB CCS VRATEDIF
062527,000340: 17,2442 02445 TC +3
062528,000341: 17,2443 02445 TC +2
062529,000342: 17,2444 02445 TC +1
062530,000343: 17,2445 61474 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
062531,000344: 17,2446 00006 EXTEND # DIRECT RATE CONTROL. IF NOT, FIRE AND
062532,000345: 17,2447 62461 BZMF TOPSEUDO # SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
062533,000346: 17,2450 34755 CA ZERO # PASS.
062534,000347: 17,2451 55424 TS URATEDIF
062535,000348: 17,2452 31455 QRTIME CA TCQR # DIRECT RATE TIME CHECK.
062536,000349: 17,2453 00006 EXTEND
062537,000350: 17,2454 62461 BZMF +5 # BRANCH IF TIME EXCEEDS 4 SEC.
062538,000351: 17,2455 41273 CS RCSFLAGS
062539,000352: 17,2456 74741 MASK QRBIT
062540,000353: 17,2457 27273 ADS RCSFLAGS # BIT 11 IS 1.
062541,000354: 17,2460 02464 TC +4
062542,000355: 17,2461 44741 TOPSEUDO CS QRBIT
062543,000356: 17,2462 71273 MASK RCSFLAGS
062544,000357: 17,2463 55273 TS RCSFLAGS # BIT 11 IS 0.
062545,000358: 17,2464 32530 CA HANDADR
062546,000359: 17,2465 55475 TS RETJADR
062547,000360: 17,2466 34753 CA ONE
062548,000361: 17,2467 55476 BACKHAND TS AXISCTR
062549,000362:
062550,000363: 17,2470 34751 CA FOUR
062551,000364: 17,2471 55741 TS NUMBERT
062552,000365:
062553,000366: 17,2472 51476 INDEX AXISCTR
062554,000367: 17,2473 51535 INDEX SKIPU
062555,000368: 17,2474 12475 TCF +1
062556,000369: 17,2475 34751 CA FOUR
062557,000370: 17,2476 51476 INDEX AXISCTR
062558,000371: 17,2477 55535 TS SKIPU
062559,000372: 17,2500 12737 TCF LOOPER
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Page 1443
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062561,000374: 17,2501 51476 INDEX AXISCTR
062562,000375: 17,2502 11424 CCS URATEDIF # INDEX AXIS QUANITY
062563,000376: 17,2503 34755 CA ZERO # 0 -U 1/JETACC-AOSU
062564,000377: 17,2504 12506 TCF +2 # 1 +U 1/JETACC+AOSU
062565,000378: 17,2505 34753 CA ONE # 16 -V 1/JETACC-AOSV
062566,000379: 17,2506 51476 INDEX AXISCTR # 17 +V 1/JETACC+AOSV
062567,000380: 17,2507 63657 AD AXISDIFF # JETACC = 2 JET ACCELERATION (1 FOR FAIL)
062568,000381:
062569,000382: 17,2510 50000 INDEX A
062570,000383: 17,2511 41571 CS 1/ANET2 +1
062571,000384: 17,2512 00006 EXTEND
062572,000385: 17,2513 51476 INDEX AXISCTR # URATEDIF IS SCALED AT PI/4 RAD/SEC
062573,000386: 17,2514 71424 MP URATEDIF # JET TIME IN A SCALED 32 SEC
062574,000387: 17,2515 54002 TS Q
062575,000388: 17,2516 20001 DAS A
062576,000389: 17,2517 60002 AD Q
062577,000390: 17,2520 54000 TS A # OVERFLOW SKIP
062578,000391: 17,2521 12523 TCF +2
062579,000392: 17,2522 30002 CA Q # RIGHT SIGN AND BIGGER THAN 150MS
062580,000393: 17,2523 51476 SETTIME INDEX AXISCTR
062581,000394: 17,2524 55525 TS TJU # SCALED AT 10.67 WHICH IS CLOSE TO 10.24
062582,000395: 17,2525 12661 TCF AFTERTJ
062583,000396:
062584,000397: 17,2526 34755 ZEROTJ CA ZERO
062585,000398: 17,2527 12523 TCF SETTIME
062586,000399:
062587,000400: 17,2530 02467 HANDADR GENADR BACKHAND
062588,000401:
062589,000402: # GTS WILL BE TRIED IF
062590,000403: # 1. USEQRJTS= 0,
062591,000404: # 2. ALLOWGTS POS,
062592,000405: # 3. JETS ARE OFF (Q,R-AXES)
062593,000406:
062594,000407: 17,2531 34736 TRYGTS CAF USEQRJTS # IS JET USE MANDATORY. (AS LONG AS
062595,000408: 17,2532 70111 MASK DAPBOOLS # USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
062596,000409: 17,2533 10000 CCS A
062597,000410: 17,2534 12060 TCF RCS
062598,000411: 17,2535 11501 CCS ALLOWGTS # NO. DOES AOSTASK OK CONTROL FOR GTS?
062599,000412: 17,2536 12540 TCF +2
062600,000413: 17,2537 12060 TCF RCS
062601,000414: 17,2540 00006 EXTEND
062602,000415: 17,2541 00005 READ CHAN5
062603,000416: 17,2542 10000 CCS A
062604,000417: 17,2543 12547 TCF CHKINGTS
062605,000418: 17,2544 00006 GOTOGTS EXTEND
062606,000419: 17,2545 32562 DCA GTSCADR
062607,000420: 17,2546 52006 DTCB
062608,000421:
062609,000422: 17,2547 11631 CHKINGTS CCS INGTS # WAS THE TRIM GIMBAL CONTROLLING
062610,000423: 17,2550 12552 TCF +2 # YES. SET UP A DAMPED NULLING DRIVE.
062611,000424: 17,2551 12060 TCF RCS # NO. NULLING WAS SET UP BEFORE. DO RCS
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|
Page 1444
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062613,000426: 17,2552 00004 INHINT
062614,000427: 17,2553 04674 TC IBNKCALL
062615,000428: 17,2554 43450 CADR TIMEGMBL
062616,000429: 17,2555 00003 RELINT
062617,000430: 17,2556 34755 CAF ZERO
062618,000431: 17,2557 55631 TS INGTS
062619,000432: 17,2560 12060 TCF RCS
062620,000433:
062621,000434: 17,2561 E6,1633 EBANK= CDUXD
062622,000435: 17,2561 03263 42106 GTSCADR 2CADR GTS
062623,000436:
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|
Page 1445
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062625,000438: # SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
062626,000439:
062627,000440: 17,2563 30033 QERRCALC CAE CDUY # Q-ERROR CALCULATION
062628,000441: 17,2564 00006 EXTEND
062629,000442: 17,2565 21634 MSU CDUYD # CDU ANGLE - ANGLE DESIRED (Y-AXIS)
062630,000443: 17,2566 55735 TS DAPTEMP1 # SAVE FOR RERRCALC
062631,000444: 17,2567 00006 EXTEND
062632,000445: 17,2570 71413 MP M21 # (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
062633,000446: 17,2571 55750 TS E
062634,000447: 17,2572 30034 CAE CDUZ # SECOND TERM CALCULATION:
062635,000448: 17,2573 00006 EXTEND
062636,000449: 17,2574 21635 MSU CDUZD # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
062637,000450: 17,2575 55736 TS DAPTEMP2 # SAVE FOR RERRCALC
062638,000451: 17,2576 00006 EXTEND
062639,000452: 17,2577 71415 MP M22 # (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
062640,000453: 17,2600 61300 AD DELQEROR # KALCMANU INERFACE ERROR
062641,000454: 17,2601 61750 AD E
062642,000455: 17,2602 57446 XCH QERROR # SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
062643,000456:
062644,000457: 17,2603 31735 RERRCALC CAE DAPTEMP1 # R-ERROR CALCULATION:
062645,000458: 17,2604 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Y-AXIS)
062646,000459: 17,2605 71414 MP M31 # (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
062647,000460: 17,2606 55750 TS E
062648,000461: 17,2607 31736 CAE DAPTEMP2 # SECOND TERM CALCULATION:
062649,000462: 17,2610 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
062650,000463: 17,2611 71416 MP M32 # (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
062651,000464: 17,2612 61301 AD DELREROR # KALCMANU INERFACE ERROR
062652,000465: 17,2613 61750 AD E
062653,000466: 17,2614 57450 XCH RERROR # SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
062654,000467: 17,2615 00002 TC Q
062655,000468:
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|
Page 1446
|
062657,000470: # "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
062658,000471:
062659,000472: 17,2616 17,2616 ATTSTEER EQUALS STILLRCS # "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
062660,000473:
062661,000474: 17,2616 31450 STILLRCS CA RERROR
062662,000475: 17,2617 22000 LXCH A
062663,000476: 17,2620 31446 CA QERROR
062664,000477: 17,2621 03100 TC ROT45DEG
062665,000478: 17,2622 53750 DXCH UERROR
062666,000479:
062667,000480: # PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
062668,000481: # PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
062669,000482:
062670,000483: 17,2623 33045 TJLAW CA TJLAWADR
062671,000484: 17,2624 55475 TS RETJADR
062672,000485: 17,2625 34753 CA ONE
062673,000486: 17,2626 55476 TS AXISCTR
062674,000487: 17,2627 51476 INDEX AXISCTR
062675,000488: 17,2630 51535 INDEX SKIPU
062676,000489: 17,2631 12632 TCF +1
062677,000490: 17,2632 34751 CA FOUR
062678,000491: 17,2633 51476 INDEX AXISCTR
062679,000492: 17,2634 55535 TS SKIPU
062680,000493: 17,2635 12737 TCF LOOPER
062681,000494: 17,2636 51476 INDEX AXISCTR
062682,000495: 17,2637 31747 CA UERROR
062683,000496: 17,2640 55750 TS E
062684,000497: 17,2641 51476 INDEX AXISCTR
062685,000498: 17,2642 31424 CA OMEGAU
062686,000499: 17,2643 55425 TS EDOT
062687,000500: 17,2644 30111 CA DAPBOOLS
062688,000501: 17,2645 74737 MASK CSMDOCKD
062689,000502: 17,2646 10000 CCS A
062690,000503: 17,2647 12652 TCF +3
062691,000504: 17,2650 03207 TC TJETLAW
062692,000505: 17,2651 12661 TCF AFTERTJ
062693,000506: 17,2652 40111 +3 CS DAPBOOLS # DOCKED. IF GIMBAL USABLE DO GTS CONTROL
062694,000507: 17,2653 74736 MASK USEQRJTS # ON THE NEXT PASS.
062695,000508: 17,2654 10000 CCS A # USEQRJTS BIT MUST NOT BE BIT 15.
062696,000509: 17,2655 55627 TS COTROLER # GIMBAL USABLE. STORE POSITIVE VALUE.
062697,000510: 17,2656 03700 TC SPSRCS # DETERMINE RCS CONTROL.
062698,000511: 17,2657 34751 CAF FOUR # ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
062699,000512: 17,2660 55741 TS NUMBERT # FALL THROUGH TO JET SELECTION, ETC.
062700,000513:
062701,000514: # Q,R-JET-SELECTION-LOGIC
062702,000515:
062703,000516: # INPUT: AXISCTR 0,1 FOR U,V
062704,000517: # SNUFFBIT ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN
062705,000518: # TJU,TJV JET TIME SCALED 10.24 SEC.
062706,000519: # NUMBERT INDICATES NUMBER OF JETS AND TYPE OF POLICY
062707,000520: # RETJADR WHERE TO RETURN TO
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Page 1447
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062709,000522: # OUTPUT: NO.U(V)JETS RATE DERIVATION FEEDBACK
062710,000523: # CHANNEL 5
062711,000524: # SKIPU,SKIRV FOR LESS THAN 150MS FIRING
062712,000525:
062713,000526: # NOTES: IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED
062714,000527: # JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY
062715,000528: # TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT
062716,000529: # IF NONE CAN BE FOUND.
062717,000530:
062718,000531: # TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
062719,000532: # MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
062720,000533:
062721,000534: 17,2661 30101 AFTERTJ CA FLAGWRD5 # IF SNUFFBIT SET DURING A DPS BURN GO TO
062722,000535: 17,2662 74737 MASK SNUFFBIT # XTRANS; THAT IS, INHIBIT CONTROL.
062723,000536: 17,2663 00006 EXTEND
062724,000537: 17,2664 12675 BZF DOROTAT
062725,000538: 17,2665 40106 CS FLGWRD10
062726,000539: 17,2666 74737 MASK APSFLBIT
062727,000540: 17,2667 00006 EXTEND
062728,000541: 17,2670 12675 BZF DOROTAT
062729,000542: 17,2671 30111 CA DAPBOOLS
062730,000543: 17,2672 74744 MASK DRIFTBIT
062731,000544: 17,2673 00006 EXTEND
062732,000545: 17,2674 13015 BZF XTRANS
062733,000546:
062734,000547: 17,2675 34752 DOROTAT CAF TWO
062735,000548: 17,2676 54001 TS L
062736,000549: 17,2677 51476 INDEX AXISCTR
062737,000550: 17,2700 11525 CCS TJU
062738,000551: 17,2701 12706 TCF +5
062739,000552: 17,2702 12731 TCF NOROTAT
062740,000553: 17,2703 12705 TCF +2
062741,000554: 17,2704 12731 TCF NOROTAT
062742,000555: 17,2705 22007 ZL
062743,000556: 17,2706 64753 AD ONE
062744,000557: 17,2707 55735 TS ABSTJ
062745,000558:
062746,000559: 17,2710 31476 CA AXISCTR
062747,000560: 17,2711 60001 AD L
062748,000561: 17,2712 55742 TS ROTINDEX # 0 1 2 3 = -U -V -+U +V
062749,000562:
062750,000563: 17,2713 31735 CA ABSTJ
062751,000564: 17,2714 63042 AD -150MS
062752,000565: 17,2715 00006 EXTEND
062753,000566: 17,2716 62742 BZMF DOSKIP
062754,000567:
062755,000568: 17,2717 03130 TC SELCTSUB
062756,000569:
062757,000570: 17,2720 51476 INDEX AXISCTR
062758,000571: 17,2721 33037 CA INDEXES
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Page 1448
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062760,000573: 17,2722 54001 TS L
062761,000574:
062762,000575: 17,2723 31737 CA POLYTEMP
062763,000576: 17,2724 00004 INHINT
062764,000577: 17,2725 50001 INDEX L
062765,000578: 17,2726 05745 TC WRITEP
062766,000579:
062767,000580: 17,2727 00003 RELINT
062768,000581: 17,2730 13003 TCF FEEDBACK
062769,000582:
062770,000583: 17,2731 51476 NOROTAT INDEX AXISCTR
062771,000584: 17,2732 33037 CA INDEXES
062772,000585: 17,2733 00004 INHINT
062773,000586: 17,2734 50000 INDEX A
062774,000587: 17,2735 05744 TC WRITEP -1
062775,000588:
062776,000589: 17,2736 00003 RELINT
062777,000590: 17,2737 11476 LOOPER CCS AXISCTR
062778,000591: 17,2740 01475 TC RETJADR
062779,000592: 17,2741 13173 TCF CLOSEOUT
062780,000593: 17,2742 41735 DOSKIP CS ABSTJ
062781,000594: 17,2743 63041 AD +TJMINT6 # 14MS
062782,000595: 17,2744 00006 EXTEND
062783,000596: 17,2745 62764 BZMF NOTMIN
062784,000597:
062785,000598: 17,2746 27735 ADS ABSTJ
062786,000599: 17,2747 51476 INDEX AXISCTR
062787,000600: 17,2750 11525 CCS TJU
062788,000601: 17,2751 33041 CA +TJMINT6
062789,000602: 17,2752 12754 TCF +2
062790,000603: 17,2753 43041 CS +TJMINT6
062791,000604: 17,2754 51476 INDEX AXISCTR
062792,000605: 17,2755 55525 TS TJU
062793,000606:
062794,000607: 17,2756 11477 CCS SENSETYP # ENSURE MIN-IMPULSE NOT AGAINST TRANS
062795,000608: 17,2757 12763 TCF NOTMIN -1
062796,000609: 17,2760 00006 EXTEND
062797,000610: 17,2761 00004 READ LOSCALAR
062798,000611: 17,2762 74753 MASK ONE
062799,000612: 17,2763 55741 TS NUMBERT
062800,000613:
062801,000614: 17,2764 03130 NOTMIN TC SELCTSUB
062802,000615:
062803,000616: 17,2765 51476 INDEX AXISCTR
062804,000617: 17,2766 33037 CA INDEXES
062805,000618: 17,2767 00004 INHINT
062806,000619: 17,2770 55467 TS T6FURTHA +1
062807,000620: 17,2771 31737 CA POLYTEMP
062808,000621: 17,2772 51467 INDEX T6FURTHA +1
062809,000622: 17,2773 05745 TC WRITEP
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Page 1449
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062811,000624: 17,2774 31735 CA ABSTJ
062812,000625: 17,2775 55466 TS T6FURTHA
062813,000626: 17,2776 03046 TC JTLST # IN QR BANK BY NOW
062814,000627:
062815,000628: 17,2777 00003 RELINT
062816,000629:
062817,000630: 17,3000 34755 CA ZERO
062818,000631: 17,3001 51476 INDEX AXISCTR
062819,000632: 17,3002 55535 TS SKIPU
062820,000633:
062821,000634: 17,3003 46244 FEEDBACK CS THREE
062822,000635: 17,3004 61741 AD NUMBERT
062823,000636: 17,3005 00006 EXTEND
062824,000637: 17,3006 63011 BZMF +3
062825,000638:
062826,000639: 17,3007 34752 CA TWO
062827,000640: 17,3010 13012 TCF +2
062828,000641: 17,3011 34753 CA ONE
062829,000642: 17,3012 51476 INDEX AXISCTR
062830,000643: 17,3013 55522 TS NO.UJETS
062831,000644: 17,3014 12737 TCF LOOPER
062832,000645:
062833,000646: 17,3015 34755 XTRANS CA ZERO
062834,000647: 17,3016 55525 TS TJU
062835,000648: 17,3017 55526 TS TJV
062836,000649: 17,3020 34751 CA FOUR
062837,000650: 17,3021 00004 INHINT
062838,000651: 17,3022 57535 XCH SKIPU
062839,000652: 17,3023 00006 EXTEND
062840,000653: 17,3024 13026 BZF +2
062841,000654: 17,3025 05750 TC WRITEU -1
062842,000655: 17,3026 34751 CA FOUR
062843,000656: 17,3027 57536 XCH SKIPV
062844,000657: 17,3030 00003 RELINT
062845,000658:
062846,000659: 17,3031 00006 EXTEND
062847,000660: 17,3032 13173 BZF CLOSEOUT
062848,000661: 17,3033 00004 INHINT
062849,000662: 17,3034 05761 TC WRITEV -1
062850,000663: 17,3035 00003 RELINT
062851,000664:
062852,000665: 17,3036 13173 TCF CLOSEOUT
062853,000666: 17,3037 00004 INDEXES DEC 4 B-14
062854,000667: 17,3040 00015 DEC 13 B-14
062855,000668: 17,3041 00026 +TJMINT6 DEC 22 B-14
062856,000669: 17,3042 77417 -150MS DEC -240 B-14
062857,000670: 17,3043 00600 BIT8,9 OCT 00600
062858,000671: 17,3044 00266 SCLNORM OCT 266
062859,000672: 17,3045 02626 TJLAWADR GENADR TJLAW +3 # RETURN ADDRESS FOR RCS ATTITUDE CONTROL
062860,000673:
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Page 1450
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062862,000675: # THE JET LIST:
062863,000676: # THIS IS A WAITLIST FOR T6RUPTS.
062864,000677:
062865,000678: # CALLED BY:
062866,000679: # CA TJ TIME WHEN NEXT JETS WILL BE WRITTEN
062867,000680: # TS T6FURTHA
062868,000681: # CA INDEX AXIS TO BE WIRTTEN AT TJ (FROM NOW)
062869,000682: # TS T6FURTHA +1
062870,000683: # TC JTLST
062871,000684:
062872,000685: # EXAMPLE - U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
062873,000686: # JETS INTO CHANNEL 5. IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
062874,000687: # 150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
062875,000688: # CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
062876,000689: # OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
062877,000690:
062878,000691: # THE LIST IS EXACTLY 3 LONG. (THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
062879,000692: # THE INPUT IS THE LAST MEMBER OF THE LIST
062880,000693:
062881,000694: # RETURNS BY:
062882,000695: # + TC Q
062883,000696:
062884,000697: # DEFINITIONS: (OUTPUT)
062885,000698: # TIME6 TIME OF NEXT RUPT
062886,000699: # T6NEXT DELTA TIME TO NEXT RUPT
062887,000700: # T6FURTHA DELTA TIME FROM 2ND TO LAST RUPT
062888,000701: # NXT6ADR AXIS INDEX Q - P-AXIS
062889,000702: # T6NEXT +1 AXIS INDEX 4 - U-AXIS
062890,000703: # T6FURTHA +1 AXIS INDEX 13 - V-AXIS
062891,000704:
062892,000705: 17,3046 41466 JTLST CS T6FURTHA
062893,000706: 17,3047 60031 AD TIME6
062894,000707: 17,3050 00006 EXTEND
062895,000708: 17,3051 63063 BZMF MIDORLST # TIME6 - T IS IN A
062896,000709:
062897,000710: 17,3052 23463 LXCH NXT6ADR
062898,000711: 17,3053 53465 DXCH T6NEXT
062899,000712: 17,3054 53467 DXCH T6FURTHA
062900,000713: 17,3055 54031 TS TIME6
062901,000714: 17,3056 23463 LXCH NXT6ADR
062902,000715:
062903,000716: 17,3057 34735 TURNON CA BIT15
062904,000717: 17,3060 00006 EXTEND
062905,000718: 17,3061 05013 WOR CHAN13
062906,000719: 17,3062 00002 TC Q
062907,000720:
062908,000721: 17,3063 61464 MIDORLST AD T6NEXT
062909,000722: 17,3064 00006 EXTEND
062910,000723: 17,3065 63074 BZMF LASTCHG # TIME6 + T6NEXT - T IS IN A
062911,000724:
062912,000725: 17,3066 23465 LXCH T6NEXT +1
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Page 1451
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062914,000727: 17,3067 53467 DXCH T6FURTHA
062915,000728: 17,3070 00006 EXTEND
062916,000729: 17,3071 60031 SU TIME6
062917,000730: 17,3072 53465 DXCH T6NEXT
062918,000731:
062919,000732: 17,3073 00002 TC Q
062920,000733:
062921,000734: 17,3074 40000 LASTCHG CS A
062922,000735: 17,3075 64754 AD NEG0
062923,000736: 17,3076 55466 TS T6FURTHA
062924,000737:
062925,000738: 17,3077 00002 TC Q
062926,000739:
062927,000740: 17,3100 55735 ROT45DEG TS ROTEMP1
062928,000741: 17,3101 60001 AD L
062929,000742: 17,3102 55736 TS ROTEMP2
062930,000743: 17,3103 13111 TCF +6
062931,000744: 17,3104 10000 CCS A
062932,000745: 17,3105 34733 CA POSMAX
062933,000746: 17,3106 13110 TCF +2
062934,000747: 17,3107 34735 CA NEGMAX
062935,000748: 17,3110 55736 TS ROTEMP2 # Q+R
062936,000749: 17,3111 41735 CS ROTEMP1
062937,000750: 17,3112 60001 AD L
062938,000751: 17,3113 55735 TS ROTEMP1 # R-Q
062939,000752: 17,3114 13120 TCF +4
062940,000753: 17,3115 00006 EXTEND
062941,000754: 17,3116 74733 MP POSMAX
062942,000755: 17,3117 30001 CA L
062943,000756: 17,3120 00006 EXTEND
062944,000757: 17,3121 73127 MP .707
062945,000758: 17,3122 57736 XCH ROTEMP2
062946,000759: 17,3123 00006 EXTEND
062947,000760: 17,3124 73127 MP .707
062948,000761: 17,3125 23736 LXCH ROTEMP2
062949,000762: 17,3126 00002 TC Q
062950,000763:
062951,000764: 17,3127 26501 .707 DEC .70711
062952,000765:
062953,000766: 17,3130 51742 SELCTSUB INDEX ROTINDEX
062954,000767: 17,3131 33162 CA ALLJETS
062955,000768: 17,3132 51741 INDEX NUMBERT
062956,000769: 17,3133 73166 MASK TYPEPOLY
062957,000770: 17,3134 55737 TS POLYTEMP
062958,000771:
062959,000772: 17,3135 71262 MASK CH5MASK
062960,000773: 17,3136 10000 CCS A
062961,000774: 17,3137 13141 TCF +2
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062963,000776: 17,3140 00002 TC Q
062964,000777:
062965,000778: 17,3141 36244 CA THREE
062966,000779: 17,3142 55741 FAILOOP TS NUMBERT
062967,000780: 17,3143 51742 INDEX ROTINDEX
062968,000781: 17,3144 33162 CA ALLJETS
062969,000782: 17,3145 51741 INDEX NUMBERT
062970,000783: 17,3146 73166 MASK TYPEPOLY
062971,000784: 17,3147 55737 TS POLYTEMP
062972,000785: 17,3150 71262 MASK CH5MASK
062973,000786: 17,3151 00006 EXTEND
062974,000787: 17,3152 13140 BZF FAILOOP -2
062975,000788: 17,3153 11741 CCS NUMBERT
062976,000789: 17,3154 13142 TCF FAILOOP
062977,000790: 17,3155 51476 INDEX AXISCTR
062978,000791: 17,3156 55525 TS TJU
062979,000792: 17,3157 05567 TC ALARM
062980,000793: 17,3160 02004 OCT 02004
062981,000794: 17,3161 12731 TCF NOROTAT
062982,000795: 17,3162 00110 ALLJETS OCT 00110 # -U 6 13
062983,000796: 17,3163 00022 OCT 00022 # -V 2 9
062984,000797: 17,3164 00204 OCT 00204 # +U 5 14
062985,000798: 17,3165 00041 OCT 00041 # +V 1 10
062986,000799: 17,3166 00125 TYPEPOLY OCT 00125 # -X 1 5 9 13
062987,000800: 17,3167 00252 OCT 00252 # +X 2 6 10 14
062988,000801: 17,3170 00146 OCT 00146 # A 2 5 10 13
062989,000802: 17,3171 00231 OCT 00231 # B 1 6 9 14
062990,000803: 17,3172 00377 OCT 00377 # ALL 1 2 5 6 9 10 13 14
062991,000804:
062992,000805: # THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
062993,000806:
062994,000807: 17,3173 33175 CLOSEOUT CA ADRRUPT
062995,000808: 17,3174 07753 TC MAKERUPT
062996,000809:
062997,000810: 17,3175 03176 ADRRUPT ADRES ENDJASK
062998,000811:
062999,000812: 17,3176 53752 ENDJASK DXCH DAPARUPT
063000,000813: 17,3177 52011 DXCH ARUPT
063001,000814: 17,3200 53754 DXCH DAPBQRPT
063002,000815: 17,3201 56017 XCH BRUPT
063003,000816: 17,3202 22002 LXCH Q
063004,000817: 17,3203 34735 CAF NEGMAX # NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
063005,000818: 17,3204 53756 DXCH DAPZRUPT
063006,000819: 17,3205 52016 DXCH ZRUPT
063007,000820: 17,3206 15272 TCF NOQRSM
063008,000821: 7753 BLOCK 3
063009,000822: 6000 SETLOC FFTAG6
063010,000823: 6000 BANK
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063012,000825: 7753 COUNT* $$/DAP
063013,000826:
063014,000827: 7753 00006 MAKERUPT EXTEND
063015,000828: 7754 07753 EDRUPT MAKERUPT
063016,000829:
End of include-file Q,R-AXES_RCS_AUTOPILOT.agc. Parent file is MAIN.agc