Source Code
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This is an attempt to recreate Luminary 99 Rev 2, otherwise known as LUM99R2, from Luminary 99 Rev 1 and ephemeris data from Luminary 116. The differences are confined to the last 10-12 lines of the CONTROLLED CONSTANTS. Luminary 99 Rev 1 source-code was transcribed from a printout in the MIT Museum, while Luminary 116 source code was transcribed from a printout belonging to Don Eyles. AGC developer James Kernan, the "rope mother" for the Apollo 11 Lunar Module's AGC, explains as follows: "At the last minute, Dan Lickly, our chief engineer, appeared with ephemerides updates and it took two tries to get it right. The result was that we created Lum99 Revision 1 and Lum99 Revision 2." It is suspected that the former is what's in the MIT Museum, and the latter is what we are trying to recreate here. As for which revision actually flew in Apollo 11, all of the other available surviving evidence points to Rev 1 rather than to Rev 2, so we're just not sure! |
060912,000002: ## Copyright: Public domain.
060913,000003: ## Filename: Q_R-AXIS_RCS_AUTOPILOT.agc
060914,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
060915,000005: ## It is part of the source code for the Lunar Module's (LM)
060916,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
060917,000007: ## Assembler: yaYUL
060918,000008: ## Contact: Ron Burkey <info@sandroid.org>.
060919,000009: ## Website: www.ibiblio.org/apollo.
060920,000010: ## Pages: 1442-1459
060921,000011: ## Mod history: 2009-05-27 RSB Adapted from the corresponding
060922,000012: ## Luminary131 file, using page
060923,000013: ## images from Luminary 1A.
060924,000014: ## 2009-06-07 RSB Corrected "DEC 96.0" to "DEC 96", since
060925,000015: ## the former is not compatible with yaYUL.
060926,000016: ## 2011-01-06 JL Fixed pseudo-label indentation.
060927,000017: ## 2016-12-18 RSB Proofed text comments with octopus/ProoferComments
060928,000018: ## and corrected the errors found.
060929,000019: ## 2017-03-03 RSB Snapshot of Luminary 99 Rev 1.
060930,000020: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
060931,000021: ## side-by-side diff of Luminary 69/99/116/131/210.
060932,000022: ## 2017-08-29 MAS Fixed a label (X0RULGE instead of XORULGE) and a
060933,000023: ## comment text error found while transcribing Zerlina 56.
060934,000024:
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Page 1442 |
060936,000026: 17,2072 BANK 17
060937,000027: 17,2000 SETLOC DAPS2
060938,000028: 17,2000 BANK
060939,000029:
060940,000030: 17,2072 E6,1635 EBANK= CDUXD
060941,000031:
060942,000032: 17,2072 COUNT* $$/DAPQR
060943,000033:
060944,000034: 17,2072 34737 CALLQERR CA BIT13 # CALCULATE Q,R ERRORS UNLESS THESE AXES
060945,000035: 17,2073 00006 EXTEND # ARE IN MANUAL RATE COMMAND.
060946,000036: 17,2074 02031 RAND CHAN31
060947,000037: 17,2075 10000 CCS A
060948,000038: 17,2076 12103 TCF +5 # IN AUTO COMPUTE Q,R ERRORS
060949,000039: 17,2077 40111 CS DAPBOOLS # IN MANUAL RATE COMMAND?
060950,000040: 17,2100 74740 MASK OURRCBIT
060951,000041: 17,2101 00006 EXTEND
060952,000042: 17,2102 12104 BZF Q,RORGTS # IF SO BYPASS CALCULATION OF ERRORS.
060953,000043: 17,2103 02626 TC QERRCALC
060954,000044:
060955,000045: 17,2104 11631 Q,RORGTS CCS COTROLER # CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
060956,000046: 17,2105 12607 TCF GOTOGTS # GTS (ALTERNATES WITH RCS WHEN DOCKED)
060957,000047: 17,2106 12574 TCF TRYGTS # GTS IF ALLOWED, OTHERWISE RCS
060958,000048: 17,2107 34755 RCS CAF ZERO # RCS (TRYGTS MAY BRANCH TO HERE)
060959,000049: 17,2110 55631 TS COTROLER
060960,000050:
060961,000051: 17,2111 53437 DXCH EDOTQ
060962,000052: 17,2112 03146 TC ROT-TOUV
060963,000053: 17,2113 53427 DXCH OMEGAU
060964,000054:
060965,000055: # X - TRANSLATION:
060966,000056:
060967,000057: # INPUT: BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
060968,000058: # ULLAGER
060969,000059: # APSFLAG, DRIFTBIT
060970,000060: # ACC40R2X, ACRBTRAN
060971,000061:
060972,000062: # OUTPUT: NEXTU, NEXTV CODES OF TRANSLATION FOR AFTER ROTATION
060973,000063: # SENSETYP TELL ROTATION DIRECTION AND DESIRE
060974,000064:
060975,000065: # X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR. IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED. A FAILURE
060976,000066: # WILL OVERRIDE THIS SPECIFICATION. AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
060977,000067:
060978,000068: 17,2114 34745 SENSEGET CA BIT7 # INPUT BITS OVERRIDE THE INTERNAL BITS
060979,000069: 17,2115 00006 EXTEND # SENSETYP WILL NOT OPPOSE ANYTRANS
060980,000070: 17,2116 02031 RAND CHAN31
060981,000071: 17,2117 00006 EXTEND
060982,000072: 17,2120 12146 BZF +XORULGE
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Page 1443 |
060984,000074: 17,2121 34744 CA BIT8
060985,000075: 17,2122 00006 EXTEND
060986,000076: 17,2123 02031 RAND CHAN31
060987,000077: 17,2124 00006 EXTEND
060988,000078: 17,2125 12147 BZF -XTRANS
060989,000079:
060990,000080: 17,2126 34746 CA ULLAGER
060991,000081: 17,2127 70111 MASK DAPBOOLS
060992,000082: 17,2130 10000 CCS A
060993,000083: 17,2131 12146 TCF +XORULGE
060994,000084:
060995,000085: 17,2132 55473 TS NEXTU # STORE NULL TRANSLATION POLICIES
060996,000086: 17,2133 55474 TS NEXTV
060997,000087: 17,2134 40111 CS DAPBOOLS # BURNING OR DRIFTING?
060998,000088: 17,2135 74744 MASK DRIFTBIT
060999,000089: 17,2136 00006 EXTEND
061000,000090: 17,2137 12144 BZF TSENSE
061001,000091: 17,2140 30106 CA FLGWRD10 # DPS (INCLUDING DOCKED) OR APS?
061002,000092: 17,2141 74737 MASK APSFLBIT
061003,000093: 17,2142 10000 CCS A
061004,000094: 17,2143 34752 CAF TWO # FAVOR +X JETS DURING AN APS BURN.
061005,000095: 17,2144 55500 TSENSE TS SENSETYP
061006,000096: 17,2145 12200 TCF QRCONTRL
061007,000097:
061008,000098: 17,2146 34753 +XORULGE CAF ONE
061009,000099: 17,2147 64751 -XTRANS AD FOUR
061010,000100: 17,2150 55744 TS ROTINDEX
061011,000101: 17,2151 67745 AD NEG3
061012,000102: 17,2152 55500 TS SENSETYP # FAVOR APPROPRIATE JETS DURING TRANS.
061013,000103: 17,2153 30111 CA DAPBOOLS
061014,000104: 17,2154 74741 MASK ACC4OR2X
061015,000105: 17,2155 10000 CCS A
061016,000106: 17,2156 12321 TCF TRANS4
061017,000107:
061018,000108: 17,2157 30111 CA DAPBOOLS
061019,000109: 17,2160 74742 MASK AORBTRAN
061020,000110: 17,2161 10000 CCS A
061021,000111: 17,2162 34753 CA ONE # THREE FOR B
061022,000112: 17,2163 64752 AD TWO # TWO FOR A SYSTEM 2 JET X TRANS
061023,000113: 17,2164 55743 TSNUMBRT TS NUMBERT
061024,000114:
061025,000115: 17,2165 03173 TC SELCTSUB
061026,000116:
061027,000117: 17,2166 11741 CCS POLYTEMP
061028,000118: 17,2167 12172 TCF +3
061029,000119: 17,2170 05567 TC ALARM
061030,000120: 17,2171 02002 OCT 02002
061031,000121: 17,2172 35774 CA 00314OCT
061032,000122: 17,2173 71741 MASK POLYTEMP
061033,000123: 17,2174 55473 TSNEXTS TS NEXTU
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Page 1444 |
061035,000125: 17,2175 45774 CS 00314OCT
061036,000126: 17,2176 71741 MASK POLYTEMP
061037,000127: 17,2177 55474 TS NEXTV
061038,000128:
061039,000129: # Q,R-AXES RCS CONTROL MODE SELECTION
061040,000130: # SWITCHES INDICATION WHEN SET
061041,000131: # BIT13/CHAN31 AUTO, GO TO ATTSTEER
061042,000132: # PULSES MINIMUM IMPULSE MODE
061043,000133: # (OTHERWISE) RATE COMMAND/ATTITUDE HOLD MODE
061044,000134:
061045,000135: 17,2200 34737 QRCONTRL CA BIT13 # CHECK MODE SELECT SWITCH.
061046,000136: 17,2201 00006 EXTEND
061047,000137: 17,2202 02031 RAND CHAN31 # BITS INVERTED
061048,000138: 17,2203 10000 CCS A
061049,000139: 17,2204 12661 TCF ATTSTEER
061050,000140: 17,2205 34735 CHKBIT10 CAF PULSES # PULSES = 1 FOR MIN IMP USE OF RHC
061051,000141: 17,2206 70111 MASK DAPBOOLS
061052,000142: 17,2207 00006 EXTEND
061053,000143: 17,2210 12323 BZF CHEKSTIK # IN ATT-HOLD/RATE-COMMAND IF BIT10=0
061054,000144:
061055,000145: # MINIMUM IMPULSE MODE
061056,000146:
061057,000147: 17,2211 00004 INHINT
061058,000148: 17,2212 04674 TC IBNKCALL
061059,000149: 17,2213 40153 CADR ZATTEROR
061060,000150: 17,2214 34755 CA ZERO
061061,000151: 17,2215 55450 TS QERROR
061062,000152: 17,2216 55452 TS RERROR # FOR DISPLAYS
061063,000153: 17,2217 00003 RELINT
061064,000154:
061065,000155: 17,2220 00006 EXTEND
061066,000156: 17,2221 00031 READ CHAN31
061067,000157: 17,2222 55737 TS TEMP31 # IS EQUAL TO DAPTEMP1
061068,000158: 17,2223 11461 CCS OLDQRMIN
061069,000159: 17,2224 12246 TCF CHECKIN
061070,000160:
061071,000161: 17,2225 31737 FIREQR CA TEMP31
061072,000162: 17,2226 74753 MASK BIT1
061073,000163: 17,2227 00006 EXTEND
061074,000164: 17,2230 12252 BZF +QMIN
061075,000165:
061076,000166: 17,2231 31737 CA TEMP31
061077,000167: 17,2232 74752 MASK BIT2
061078,000168: 17,2233 00006 EXTEND
061079,000169: 17,2234 12256 BZF -QMIN
061080,000170:
061081,000171: 17,2235 31737 CA TEMP31
061082,000172: 17,2236 74747 MASK BIT5
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Page 1445 |
061084,000174: 17,2237 00006 EXTEND
061085,000175: 17,2240 12262 BZF +RMIN
061086,000176:
061087,000177: 17,2241 31737 CA TEMP31
061088,000178: 17,2242 74746 MASK BIT6
061089,000179: 17,2243 00006 EXTEND
061090,000180: 17,2244 12264 BZF -RMIN
061091,000181:
061092,000182: 17,2245 13063 TCF XTRANS
061093,000183:
061094,000184: 17,2246 41737 CHECKIN CS TEMP31
061095,000185: 17,2247 72320 MASK OCT63
061096,000186: 17,2250 55461 TS OLDQRMIN
061097,000187: 17,2251 13063 TCF XTRANS
061098,000188:
061099,000189: 17,2252 33107 +QMIN CA 14MS
061100,000190: 17,2253 55525 TS TJU
061101,000191: 17,2254 43107 CS 14MS
061102,000192: 17,2255 12266 TCF MINQR
061103,000193: 17,2256 43107 -QMIN CS 14MS
061104,000194: 17,2257 55525 TS TJU
061105,000195: 17,2260 33107 CA 14MS
061106,000196: 17,2261 12266 TCF MINQR
061107,000197: 17,2262 33107 +RMIN CA 14MS
061108,000198: 17,2263 12265 TCF +2
061109,000199: 17,2264 43107 -RMIN CS 14MS
061110,000200: 17,2265 55525 TS TJU
061111,000201: 17,2266 55526 MINQR TS TJV
061112,000202: 17,2267 32317 CA MINADR
061113,000203: 17,2270 55477 TS RETJADR
061114,000204: 17,2271 34753 CA ONE
061115,000205: 17,2272 55461 TS OLDQRMIN
061116,000206: 17,2273 55505 MINRTN TS AXISCTR
061117,000207: 17,2274 30111 CA DAPBOOLS
061118,000208: 17,2275 74737 MASK CSMDOCKD
061119,000209: 17,2276 00006 EXTEND
061120,000210: 17,2277 12307 BZF MIMRET
061121,000211: 17,2300 51505 INDEX AXISCTR # IF DOCKED, USE 60MS MINIMUM IMPULSE
061122,000212: 17,2301 11525 CCS TJU
061123,000213: 17,2302 32316 CA 60MS
061124,000214: 17,2303 12305 TCF +2
061125,000215: 17,2304 42316 CS 60MS
061126,000216: 17,2305 51505 INDEX AXISCTR
061127,000217: 17,2306 55525 TS TJU
061128,000218: 17,2307 30111 MIMRET CA DAPBOOLS
061129,000219: 17,2310 74742 MASK AORBTRAN
061130,000220: 17,2311 10000 CCS A
061131,000221: 17,2312 34753 CA ONE
061132,000222: 17,2313 64752 AD TWO
061133,000223: 17,2314 55743 TS NUMBERT
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Page 1446 |
061135,000225: 17,2315 12727 TCF AFTERTJ
061136,000226:
061137,000227: 17,2316 00140 60MS DEC 96.0
061138,000228: 17,2317 02273 MINADR GENADR MINRTN
061139,000229: 17,2320 00063 OCT63 OCT 63
061140,000230: 17,2321 17,3107 14MS = +TJMINT6
061141,000231:
061142,000232: 17,2321 34751 TRANS4 CA FOUR
061143,000233: 17,2322 12164 TCF TSNUMBRT
061144,000234:
061145,000235: # RATE COMMAND MODE:
061146,000236:
061147,000237: # DESCRIPTION (SAME AS P-AXIS)
061148,000238:
061149,000239: 17,2323 55633 CHEKSTIK TS INGTS # NOT IN GTS WHEN IN ATT HOLD
061150,000240: 17,2324 44753 CS ONE # 1/ACCS WILL DO THE NULLING DRIVES
061151,000241: 17,2325 55631 TS COTROLER # COME BACK TO RCS NEXT TIME
061152,000242: 17,2326 34735 CA BIT15
061153,000243: 17,2327 71443 MASK CH31TEMP
061154,000244: 17,2330 00006 EXTEND
061155,000245: 17,2331 12350 BZF RHCACTIV # BRANCH IF OUT OF DETENT.
061156,000246: 17,2332 34740 CA OURRCBIT # ***********
061157,000247: 17,2333 70111 MASK DAPBOOLS # *IN DETENT* CHECK FOR MANUAL CONTROL
061158,000248: 17,2334 00006 EXTEND # *********** LAST TIME.
061159,000249: 17,2335 12661 BZF STILLRCS
061160,000250: 17,2336 44743 CS BIT9
061161,000251: 17,2337 71273 MASK RCSFLAGS
061162,000252: 17,2340 55273 TS RCSFLAGS # BIT 9 IS 0.
061163,000253: 17,2341 12345 TCF DAMPING
061164,000254: 17,2342 00050 40CYCL OCT 50
061165,000255: 17,2343 00001 1/10S OCT 1
061166,000256: 17,2344 00056 LINRAT DEC 46 B-14
061167,000257:
061168,000258: # ================================
061169,000259:
061170,000260: 17,2345 34755 DAMPING CA ZERO
061171,000261: 17,2346 55462 TS SAVEHAND
061172,000262: 17,2347 55463 TS SAVEHAND +1
061173,000263: 17,2350 11462 RHCACTIV CCS SAVEHAND # *******************
061174,000264: 17,2351 12354 TCF +3 # Q,R MANUAL CONTROL WC = A*(B+|D|)*D
061175,000265: 17,2352 12354 TCF +2 # *******************
061176,000266: 17,2353 12354 TCF +1
061177,000267: 17,2354 60000 DOUBLE # WHERE
061178,000268: 17,2355 60000 DOUBLE
061179,000269: 17,2356 62344 AD LINRAT # WC = COMMANDED ROTATIONAL RATE
061180,000270: 17,2357 00006 EXTEND # A = QUADRATIC SENSITIVITY FACTOR
061181,000271: 17,2360 71462 MP SAVEHAND # B = LINEAR/QUADRATIC SENSITIVITY
061182,000272: 17,2361 30001 CA L # |D| = ABS. VALUE OF DEFLECTION
061183,000273: 17,2362 00006 EXTEND # D = HAND CONTROLLER DEFLECTION
061184,000274: 17,2363 71444 MP STIKSENS
061185,000275: 17,2364 57455 XCH QLAST # COMMAND Q RATE SCALED 45 DEG/SEC
061186,000276: 17,2365 40000 COM
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Page 1447 |
061188,000278: 17,2366 61455 AD QLAST
061189,000279: 17,2367 55741 TS DAPTEMP3
061190,000280: 17,2370 11463 CCS SAVEHAND +1
061191,000281: 17,2371 12374 TCF +3
061192,000282: 17,2372 12374 TCF +2
061193,000283: 17,2373 12374 TCF +1
061194,000284: 17,2374 60000 DOUBLE
061195,000285: 17,2375 60000 DOUBLE
061196,000286: 17,2376 62344 AD LINRAT
061197,000287: 17,2377 00006 EXTEND
061198,000288: 17,2400 71463 MP SAVEHAND +1
061199,000289: 17,2401 30001 CA L
061200,000290: 17,2402 00006 EXTEND
061201,000291: 17,2403 71444 MP STIKSENS
061202,000292: 17,2404 57456 XCH RLAST
061203,000293: 17,2405 40000 COM
061204,000294: 17,2406 61456 AD RLAST
061205,000295: 17,2407 55742 TS DAPTEMP4
061206,000296: 17,2410 41455 CS QLAST # INTERVAL.
061207,000297: 17,2411 61422 AD OMEGAQ
061208,000298: 17,2412 55436 TS QRATEDIF
061209,000299: 17,2413 41456 CS RLAST
061210,000300: 17,2414 61423 AD OMEGAR
061211,000301: 17,2415 55437 TS RRATEDIF
061212,000302: 17,2416 53437 ENTERQR DXCH QRATEDIF # TRANSFORM RATES FROM Q,R TO U,V AXES
061213,000303: 17,2417 03146 TC ROT-TOUV
061214,000304: 17,2420 53427 DXCH URATEDIF
061215,000305: 17,2421 11741 CCS DAPTEMP3 # CHECK IF Q COMMAND CHANGE EXCEEDS
061216,000306: 17,2422 02425 TC +3 # BREAKOUT LEVEL. IF NOT, CHECK R.
061217,000307: 17,2423 02425 TC +2
061218,000308: 17,2424 02425 TC +1
061219,000309: 17,2425 61476 AD -RATEDB
061220,000310: 17,2426 00006 EXTEND
061221,000311: 17,2427 62431 BZMF +2
061222,000312: 17,2430 12447 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
061223,000313: 17,2431 11742 CCS DAPTEMP4 # R COMMAND BREAKOUT CHECK.
061224,000314: 17,2432 02435 TC +3
061225,000315: 17,2433 02435 TC +2
061226,000316: 17,2434 02435 TC +1
061227,000317: 17,2435 61476 AD -RATEDB
061228,000318: 17,2436 00006 EXTEND
061229,000319: 17,2437 62441 BZMF +2
061230,000320: 17,2440 12447 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
061231,000321: 17,2441 31273 CA RCSFLAGS # BREAKOUT LEVEL NOT EXCEEDED. CHECK FOR
061232,000322: 17,2442 74741 MASK QRBIT # DIRECT RATE CONTROL LAST TIME.
061233,000323: 17,2443 00006 EXTEND
061234,000324: 17,2444 12446 BZF +2
061235,000325: 17,2445 12451 TCF ENTERUV # CONTINUE DIRECT RATE CONTROL.
061236,000326: 17,2446 12661 TCF STILLRCS # PSEUDO-AUTO CONTROL.
061237,000327: 17,2447 32342 CA 40CYCL
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Page 1448 |
061239,000329: 17,2450 55457 TS TCQR
061240,000330: 17,2451 00004 ENTERUV INHINT # DIRECT RATE CONTROL.
061241,000331: 17,2452 04674 TC IBNKCALL
061242,000332: 17,2453 40153 FCADR ZATTEROR
061243,000333: 17,2454 00003 RELINT
061244,000334: 17,2455 34755 CA ZERO
061245,000335: 17,2456 55450 TS DYERROR
061246,000336: 17,2457 55451 TS DYERROR +1
061247,000337: 17,2460 55452 TS DZERROR
061248,000338: 17,2461 55453 TS DZERROR +1
061249,000339: 17,2462 11426 CCS URATEDIF
061250,000340: 17,2463 12466 TCF +3
061251,000341: 17,2464 12466 TCF +2
061252,000342: 17,2465 12466 TCF +1
061253,000343: 17,2466 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
061254,000344: 17,2467 00006 EXTEND # DIRECT RATE CONTROL.
061255,000345: 17,2470 62504 BZMF VDB
061256,000346: 17,2471 11427 CCS VRATEDIF
061257,000347: 17,2472 12475 TCF +3
061258,000348: 17,2473 12475 TCF +2
061259,000349: 17,2474 12475 TCF +1
061260,000350: 17,2475 61476 AD TARGETDB
061261,000351: 17,2476 00006 EXTEND
061262,000352: 17,2477 62501 BZMF +2
061263,000353: 17,2500 12515 TCF QRTIME
061264,000354: 17,2501 34755 CA ZERO
061265,000355: 17,2502 55427 TS VRATEDIF
061266,000356: 17,2503 12515 TCF QRTIME
061267,000357: 17,2504 11427 VDB CCS VRATEDIF
061268,000358: 17,2505 02510 TC +3
061269,000359: 17,2506 02510 TC +2
061270,000360: 17,2507 02510 TC +1
061271,000361: 17,2510 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
061272,000362: 17,2511 00006 EXTEND # DIRECT RATE CONTROL. IF NOT, FIRE AND
061273,000363: 17,2512 62524 BZMF TOPSEUDO # SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
061274,000364: 17,2513 34755 CA ZERO # PASS.
061275,000365: 17,2514 55426 TS URATEDIF
061276,000366: 17,2515 31457 QRTIME CA TCQR # DIRECT RATE TIME CHECK.
061277,000367: 17,2516 00006 EXTEND
061278,000368: 17,2517 62524 BZMF +5 # BRANCH IF TIME EXCEEDS 4 SEC.
061279,000369: 17,2520 41273 CS RCSFLAGS
061280,000370: 17,2521 74741 MASK QRBIT
061281,000371: 17,2522 27273 ADS RCSFLAGS # BIT 11 IS 1.
061282,000372: 17,2523 02527 TC +4
061283,000373: 17,2524 44741 TOPSEUDO CS QRBIT
061284,000374: 17,2525 71273 MASK RCSFLAGS
061285,000375: 17,2526 55273 TS RCSFLAGS # BIT 11 IS 0.
061286,000376: 17,2527 32573 CA HANDADR
061287,000377: 17,2530 55477 TS RETJADR
061288,000378: 17,2531 34753 CA ONE
061289,000379:
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Page 1449 |
061291,000381: 17,2532 55505 BACKHAND TS AXISCTR
061292,000382:
061293,000383: 17,2533 34751 CA FOUR
061294,000384: 17,2534 55743 TS NUMBERT
061295,000385:
061296,000386: 17,2535 51505 INDEX AXISCTR
061297,000387: 17,2536 51535 INDEX SKIPU
061298,000388: 17,2537 12540 TCF +1
061299,000389: 17,2540 34751 CA FOUR
061300,000390: 17,2541 51505 INDEX AXISCTR
061301,000391: 17,2542 55535 TS SKIPU
061302,000392: 17,2543 13005 TCF LOOPER
061303,000393:
061304,000394: 17,2544 51505 INDEX AXISCTR
061305,000395: 17,2545 11426 CCS URATEDIF # INDEX AXIS QUANITY
061306,000396: 17,2546 34755 CA ZERO # 0 -U 1/JETACC-AOSU
061307,000397: 17,2547 12551 TCF +2 # 1 +U 1/JETACC+AOSU
061308,000398: 17,2550 34753 CA ONE # 16 -V 1/JETACC-AOSV
061309,000399: 17,2551 51505 INDEX AXISCTR # 17 +V 1/JETACC+AOSV
061310,000400: 17,2552 63722 AD AXISDIFF # JETACC = 2 JET ACCELERATION (1 FOR FAIL)
061311,000401:
061312,000402: 17,2553 50000 INDEX A
061313,000403: 17,2554 41571 CS 1/ANET2 +1
061314,000404: 17,2555 00006 EXTEND
061315,000405: 17,2556 51505 INDEX AXISCTR # URATEDIF IS SCALED AT PI/4 RAD/SEC
061316,000406: 17,2557 71426 MP URATEDIF # JET TIME IN A SCALED 32 SEC
061317,000407: 17,2560 54002 TS Q
061318,000408: 17,2561 20001 DAS A
061319,000409: 17,2562 60002 AD Q
061320,000410: 17,2563 54000 TS A # OVERFLOW SKIP
061321,000411: 17,2564 12566 TCF +2
061322,000412: 17,2565 30002 CA Q # RIGHT SIGN AND BIGGER THAN 150MS
061323,000413: 17,2566 51505 SETTIME INDEX AXISCTR
061324,000414: 17,2567 55525 TS TJU # SCALED AT 10.67 WHICH IS CLOSE TO 10.24
061325,000415: 17,2570 12727 TCF AFTERTJ
061326,000416:
061327,000417: 17,2571 34755 ZEROTJ CA ZERO
061328,000418: 17,2572 12566 TCF SETTIME
061329,000419:
061330,000420: 17,2573 02532 HANDADR GENADR BACKHAND
061331,000421:
061332,000422: # GTS WILL BE TRIED IF
061333,000423: # 1. USEQRJTS = 0,
061334,000424: # 2. ALLOWGTS POS,
061335,000425: # 3. JETS ARE OFF (Q,R-AXES)
061336,000426:
061337,000427: 17,2574 34736 TRYGTS CAF USEQRJTS # IS JET USE MANDATORY. (AS LONG AS
061338,000428: 17,2575 70111 MASK DAPBOOLS # USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
061339,000429: 17,2576 10000 CCS A
061340,000430: 17,2577 12107 TCF RCS
061341,000431: 17,2600 11502 CCS ALLOWGTS # NO. DOES AOSTASK OK CONTROL FOR GTS?
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|
Page 1450 |
061343,000433: 17,2601 12603 TCF +2
061344,000434: 17,2602 12107 TCF RCS
061345,000435: 17,2603 00006 EXTEND
061346,000436: 17,2604 00005 READ CHAN5
061347,000437: 17,2605 10000 CCS A
061348,000438: 17,2606 12612 TCF CHKINGTS
061349,000439: 17,2607 00006 GOTOGTS EXTEND
061350,000440: 17,2610 32625 DCA GTSCADR
061351,000441: 17,2611 52006 DTCB
061352,000442:
061353,000443: 17,2612 11633 CHKINGTS CCS INGTS # WAS THE TRIM GIMBAL CONTROLLING
061354,000444: 17,2613 12615 TCF +2 # YES. SET UP A DAMPED NULLING DRIVE.
061355,000445: 17,2614 12107 TCF RCS # NO. NULLING WAS SET UP BEFORE. DO RCS
061356,000446: 17,2615 00004 INHINT
061357,000447: 17,2616 04674 TC IBNKCALL
061358,000448: 17,2617 43330 CADR TIMEGMBL
061359,000449: 17,2620 00003 RELINT
061360,000450: 17,2621 34755 CAF ZERO
061361,000451: 17,2622 55633 TS INGTS
061362,000452: 17,2623 12107 TCF RCS
061363,000453:
061364,000454: 17,2624 E6,1635 EBANK= CDUXD
061365,000455: 17,2624 03077 42106 GTSCADR 2CADR GTS
061366,000456:
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|
Page 1451 |
061368,000458: # SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
061369,000459:
061370,000460: 17,2626 30033 QERRCALC CAE CDUY # Q-ERROR CALCULATION
061371,000461: 17,2627 00006 EXTEND
061372,000462: 17,2630 21636 MSU CDUYD # CDU ANGLE - ANGLE DESIRED (Y-AXIS)
061373,000463: 17,2631 55737 TS DAPTEMP1 # SAVE FOR RERRCALC
061374,000464: 17,2632 00006 EXTEND
061375,000465: 17,2633 71415 MP M21 # (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
061376,000466: 17,2634 55752 TS E
061377,000467: 17,2635 30034 CAE CDUZ # SECOND TERM CALCULATION:
061378,000468: 17,2636 00006 EXTEND
061379,000469: 17,2637 21637 MSU CDUZD # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
061380,000470: 17,2640 55740 TS DAPTEMP2 # SAVE FOR RERRCALC
061381,000471: 17,2641 00006 EXTEND
061382,000472: 17,2642 71417 MP M22 # (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
061383,000473: 17,2643 61300 AD DELQEROR # KALCMANU INERFACE ERROR
061384,000474: 17,2644 61752 AD E
061385,000475: 17,2645 57450 XCH QERROR # SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
061386,000476:
061387,000477: 17,2646 31737 RERRCALC CAE DAPTEMP1 # R-ERROR CALCULATION:
061388,000478: 17,2647 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Y-AXIS)
061389,000479: 17,2650 71416 MP M31 # (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
061390,000480: 17,2651 55752 TS E
061391,000481: 17,2652 31740 CAE DAPTEMP2 # SECOND TERM CALCULATION:
061392,000482: 17,2653 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
061393,000483: 17,2654 71420 MP M32 # (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
061394,000484: 17,2655 61301 AD DELREROR # KALCMANU INERFACE ERROR
061395,000485: 17,2656 61752 AD E
061396,000486: 17,2657 57452 XCH RERROR # SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
061397,000487: 17,2660 00002 TC Q
061398,000488:
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|
Page 1452 |
061400,000490: # "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
061401,000491:
061402,000492: 17,2661 17,2661 ATTSTEER EQUALS STILLRCS # "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
061403,000493:
061404,000494: 17,2661 31452 STILLRCS CA RERROR
061405,000495: 17,2662 22000 LXCH A
061406,000496: 17,2663 31450 CA QERROR
061407,000497: 17,2664 03146 TC ROT-TOUV
061408,000498: 17,2665 53752 DXCH UERROR
061409,000499:
061410,000500: # PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
061411,000501: # PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
061412,000502:
061413,000503: 17,2666 33113 TJLAW CA TJLAWADR
061414,000504: 17,2667 55477 TS RETJADR
061415,000505: 17,2670 34753 CA ONE
061416,000506: 17,2671 55505 TS AXISCTR
061417,000507: 17,2672 51505 INDEX AXISCTR
061418,000508: 17,2673 51535 INDEX SKIPU
061419,000509: 17,2674 12675 TCF +1
061420,000510: 17,2675 34751 CA FOUR
061421,000511: 17,2676 51505 INDEX AXISCTR
061422,000512: 17,2677 55535 TS SKIPU
061423,000513: 17,2700 13005 TCF LOOPER
061424,000514: 17,2701 51505 INDEX AXISCTR
061425,000515: 17,2702 31751 CA UERROR
061426,000516: 17,2703 55752 TS E
061427,000517: 17,2704 51505 INDEX AXISCTR
061428,000518: 17,2705 31426 CA OMEGAU
061429,000519: 17,2706 55427 TS EDOT
061430,000520: 17,2707 30111 CA DAPBOOLS
061431,000521: 17,2710 74737 MASK CSMDOCKD
061432,000522: 17,2711 10000 CCS A
061433,000523: 17,2712 12715 TCF +3
061434,000524: 17,2713 03252 TC TJETLAW
061435,000525: 17,2714 12727 TCF AFTERTJ
061436,000526: 17,2715 40111 +3 CS DAPBOOLS # DOCKED. IF GIMBAL USABLE DO GTS CONTROL
061437,000527: 17,2716 74736 MASK USEQRJTS # ON THE NEXT PASS.
061438,000528: 17,2717 10000 CCS A # USEQRJTS BIT MUST NOT BE BIT 15.
061439,000529: 17,2720 55631 TS COTROLER # GIMBAL USABLE. STORE POSITIVE VALUE.
061440,000530: 17,2721 00004 INHINT
061441,000531: 17,2722 04674 TC IBNKCALL
061442,000532: 17,2723 43727 CADR SPSRCS # DETERMINE RCS CONTROL
061443,000533: 17,2724 00003 RELINT
061444,000534: 17,2725 34751 CAF FOUR # ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
061445,000535: 17,2726 55743 TS NUMBERT # FALL THROUGH TO JET SELECTION, ETC.
061446,000536:
061447,000537: # Q,R-JET-SELECTION-LOGIC
061448,000538:
061449,000539: # INPUT: AXISCTR 0,1 FOR U,V
061450,000540: # SNUFFBIT ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN
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|
Page 1453 |
061452,000542: # TJU,TJV JET TIME SCALED 10.24 SEC.
061453,000543: # NUMBERT INDICATES NUMBER OF JETS AND TYPE OF POLICY
061454,000544: # RETJADR WHERE TO RETURN TO
061455,000545:
061456,000546: # OUTPUT: NO.U(V)JETS RATE DERIVATION FEEDBACK
061457,000547: # CHANNEL 5
061458,000548: # SKIPU,SKIRV FOR LESS THAN 150MS FIRING
061459,000549:
061460,000550: # NOTES: IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED
061461,000551: # JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY
061462,000552: # TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT
061463,000553: # IF NONE CAN BE FOUND.
061464,000554:
061465,000555: # TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
061466,000556: # MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
061467,000557:
061468,000558: 17,2727 30101 AFTERTJ CA FLAGWRD5 # IF SNUFFBIT SET DURING A DPS BURN GO TO
061469,000559: 17,2730 74737 MASK SNUFFBIT # XTRANS; THAT IS, INHIBIT CONTROL.
061470,000560: 17,2731 00006 EXTEND
061471,000561: 17,2732 12743 BZF DOROTAT
061472,000562: 17,2733 40106 CS FLGWRD10
061473,000563: 17,2734 74737 MASK APSFLBIT
061474,000564: 17,2735 00006 EXTEND
061475,000565: 17,2736 12743 BZF DOROTAT
061476,000566: 17,2737 30111 CA DAPBOOLS
061477,000567: 17,2740 74744 MASK DRIFTBIT
061478,000568: 17,2741 00006 EXTEND
061479,000569: 17,2742 13063 BZF XTRANS
061480,000570:
061481,000571: 17,2743 34752 DOROTAT CAF TWO
061482,000572: 17,2744 54001 TS L
061483,000573: 17,2745 51505 INDEX AXISCTR
061484,000574: 17,2746 11525 CCS TJU
061485,000575: 17,2747 12754 TCF +5
061486,000576: 17,2750 12777 TCF NOROTAT
061487,000577: 17,2751 12753 TCF +2
061488,000578: 17,2752 12777 TCF NOROTAT
061489,000579: 17,2753 22007 ZL
061490,000580: 17,2754 64753 AD ONE
061491,000581: 17,2755 55737 TS ABSTJ
061492,000582:
061493,000583: 17,2756 31505 CA AXISCTR
061494,000584: 17,2757 60001 AD L
061495,000585: 17,2760 55744 TS ROTINDEX # 0 1 2 3 = -U -V -+U +V
061496,000586:
061497,000587: 17,2761 31737 CA ABSTJ
061498,000588: 17,2762 63110 AD -150MS
061499,000589: 17,2763 00006 EXTEND
061500,000590: 17,2764 63010 BZMF DOSKIP
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|
Page 1454 |
061502,000592: 17,2765 03173 TC SELCTSUB
061503,000593:
061504,000594: 17,2766 51505 INDEX AXISCTR
061505,000595: 17,2767 33105 CA INDEXES
061506,000596: 17,2770 54001 TS L
061507,000597:
061508,000598: 17,2771 31741 CA POLYTEMP
061509,000599: 17,2772 00004 INHINT
061510,000600: 17,2773 50001 INDEX L
061511,000601: 17,2774 05754 TC WRITEP
061512,000602:
061513,000603: 17,2775 00003 RELINT
061514,000604: 17,2776 13051 TCF FEEDBACK
061515,000605:
061516,000606: 17,2777 51505 NOROTAT INDEX AXISCTR
061517,000607: 17,3000 33105 CA INDEXES
061518,000608: 17,3001 00004 INHINT
061519,000609: 17,3002 50000 INDEX A
061520,000610: 17,3003 05753 TC WRITEP -1
061521,000611:
061522,000612: 17,3004 00003 RELINT
061523,000613: 17,3005 11505 LOOPER CCS AXISCTR
061524,000614: 17,3006 01477 TC RETJADR
061525,000615: 17,3007 13236 TCF CLOSEOUT
061526,000616: 17,3010 41737 DOSKIP CS ABSTJ
061527,000617: 17,3011 63107 AD +TJMINT6 # 14MS
061528,000618: 17,3012 00006 EXTEND
061529,000619: 17,3013 63032 BZMF NOTMIN
061530,000620:
061531,000621: 17,3014 27737 ADS ABSTJ
061532,000622: 17,3015 51505 INDEX AXISCTR
061533,000623: 17,3016 11525 CCS TJU
061534,000624: 17,3017 33107 CA +TJMINT6
061535,000625: 17,3020 13022 TCF +2
061536,000626: 17,3021 43107 CS +TJMINT6
061537,000627: 17,3022 51505 INDEX AXISCTR
061538,000628: 17,3023 55525 TS TJU
061539,000629:
061540,000630: 17,3024 11500 CCS SENSETYP # ENSURE MIN-IMPULSE NOT AGAINST TRANS
061541,000631: 17,3025 13031 TCF NOTMIN -1
061542,000632: 17,3026 00006 EXTEND
061543,000633: 17,3027 00004 READ LOSCALAR
061544,000634: 17,3030 74753 MASK ONE
061545,000635: 17,3031 55743 TS NUMBERT
061546,000636:
061547,000637: 17,3032 03173 NOTMIN TC SELCTSUB
061548,000638:
061549,000639: 17,3033 51505 INDEX AXISCTR
061550,000640: 17,3034 33105 CA INDEXES
061551,000641: 17,3035 00004 INHINT
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|
Page 1455 |
061553,000643: 17,3036 55471 TS T6FURTHA +1
061554,000644: 17,3037 31741 CA POLYTEMP
061555,000645: 17,3040 51471 INDEX T6FURTHA +1
061556,000646: 17,3041 05754 TC WRITEP
061557,000647:
061558,000648: 17,3042 31737 CA ABSTJ
061559,000649: 17,3043 55470 TS T6FURTHA
061560,000650: 17,3044 03114 TC JTLST # IN QR BANK BY NOW
061561,000651:
061562,000652: 17,3045 00003 RELINT
061563,000653:
061564,000654: 17,3046 34755 CA ZERO
061565,000655: 17,3047 51505 INDEX AXISCTR
061566,000656: 17,3050 55535 TS SKIPU
061567,000657:
061568,000658: 17,3051 46245 FEEDBACK CS THREE
061569,000659: 17,3052 61743 AD NUMBERT
061570,000660: 17,3053 00006 EXTEND
061571,000661: 17,3054 63057 BZMF +3
061572,000662:
061573,000663: 17,3055 34752 CA TWO
061574,000664: 17,3056 13060 TCF +2
061575,000665: 17,3057 34753 CA ONE
061576,000666: 17,3060 51505 INDEX AXISCTR
061577,000667: 17,3061 55522 TS NO.UJETS
061578,000668: 17,3062 13005 TCF LOOPER
061579,000669:
061580,000670: 17,3063 34755 XTRANS CA ZERO
061581,000671: 17,3064 55525 TS TJU
061582,000672: 17,3065 55526 TS TJV
061583,000673: 17,3066 34751 CA FOUR
061584,000674: 17,3067 00004 INHINT
061585,000675: 17,3070 57535 XCH SKIPU
061586,000676: 17,3071 00006 EXTEND
061587,000677: 17,3072 13074 BZF +2
061588,000678: 17,3073 05757 TC WRITEU -1
061589,000679: 17,3074 34751 CA FOUR
061590,000680: 17,3075 57536 XCH SKIPV
061591,000681: 17,3076 00003 RELINT
061592,000682:
061593,000683: 17,3077 00006 EXTEND
061594,000684: 17,3100 13236 BZF CLOSEOUT
061595,000685: 17,3101 00004 INHINT
061596,000686: 17,3102 05770 TC WRITEV -1
061597,000687: 17,3103 00003 RELINT
061598,000688:
061599,000689: 17,3104 13236 TCF CLOSEOUT
061600,000690: 17,3105 00004 INDEXES DEC 4 B-14
061601,000691: 17,3106 00015 DEC 13 B-14
061602,000692: 17,3107 00026 +TJMINT6 DEC 22 B-14
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|
Page 1456 |
061604,000694: 17,3110 77417 -150MS DEC -240 B-14
061605,000695: 17,3111 00600 BIT8,9 OCT 00600
061606,000696: 17,3112 00266 SCLNORM OCT 266
061607,000697: 17,3113 02671 TJLAWADR GENADR TJLAW +3 # RETURN ADDRESS FOR RCS ATTITUDE CONTROL
061608,000698:
061609,000699: # THE JET LIST:
061610,000700: # THIS IS A WAITLIST FOR T6RUPTS.
061611,000701:
061612,000702: # CALLED BY:
061613,000703: # CA TJ TIME WHEN NEXT JETS WILL BE WRITTEN
061614,000704: # TS T6FURTHA
061615,000705: # CA INDEX AXIS TO BE WIRTTEN AT TJ (FROM NOW)
061616,000706: # TS T6FURTHA +1
061617,000707: # TC JTLST
061618,000708:
061619,000709: # EXAMPLE - U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
061620,000710: # JETS INTO CHANNEL 5. IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
061621,000711: # 150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
061622,000712: # CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
061623,000713: # OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
061624,000714:
061625,000715: # THE LIST IS EXACTLY 3 LONG. (THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
061626,000716: # THE INPUT IS THE LAST MEMBER OF THE LIST
061627,000717:
061628,000718: # RETURNS BY:
061629,000719: # + TC Q
061630,000720:
061631,000721: # DEFINITIONS: (OUTPUT)
061632,000722: # TIME6 TIME OF NEXT RUPT
061633,000723: # T6NEXT DELTA TIME TO NEXT RUPT
061634,000724: # T6FURTHA DELTA TIME FROM 2ND TO LAST RUPT
061635,000725: # NXT6ADR AXIS INDEX Q - P-AXIS
061636,000726: # T6NEXT +1 AXIS INDEX 4 - U-AXIS
061637,000727: # T6FURTHA +1 AXIS INDEX 13 - V-AXIS
061638,000728:
061639,000729: 17,3114 41470 JTLST CS T6FURTHA
061640,000730: 17,3115 60031 AD TIME6
061641,000731: 17,3116 00006 EXTEND
061642,000732: 17,3117 63131 BZMF MIDORLST # TIME6 - T IS IN A
061643,000733:
061644,000734: 17,3120 23465 LXCH NXT6ADR
061645,000735: 17,3121 53467 DXCH T6NEXT
061646,000736: 17,3122 53471 DXCH T6FURTHA
061647,000737: 17,3123 54031 TS TIME6
061648,000738: 17,3124 23465 LXCH NXT6ADR
061649,000739:
061650,000740: 17,3125 34735 TURNON CA BIT15
061651,000741: 17,3126 00006 EXTEND
061652,000742: 17,3127 05013 WOR CHAN13
061653,000743: 17,3130 00002 TC Q
061654,000744:
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|
Page 1457 |
061656,000746: 17,3131 61466 MIDORLST AD T6NEXT
061657,000747: 17,3132 00006 EXTEND
061658,000748: 17,3133 63142 BZMF LASTCHG # TIME6 + T6NEXT - T IS IN A
061659,000749:
061660,000750: 17,3134 23467 LXCH T6NEXT +1
061661,000751: 17,3135 53471 DXCH T6FURTHA
061662,000752: 17,3136 00006 EXTEND
061663,000753: 17,3137 60031 SU TIME6
061664,000754: 17,3140 53467 DXCH T6NEXT
061665,000755:
061666,000756: 17,3141 00002 TC Q
061667,000757:
061668,000758: 17,3142 40000 LASTCHG CS A
061669,000759: 17,3143 64754 AD NEG0
061670,000760: 17,3144 55470 TS T6FURTHA
061671,000761:
061672,000762: 17,3145 00002 TC Q
061673,000763:
061674,000764: # ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
061675,000765: # ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM. IN THE U-V SYSTEM NO CROSS-COUPLING IS
061676,000766: # PRODUCED FROM RCS JET FIRINGS. AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
061677,000767: # A AND THE V-COMPONENT IS IN L.
061678,000768:
061679,000769: 17,3146 23740 ROT-TOUV LXCH ROTEMP2 # (R) IS PUT INTO ROTEMP2
061680,000770: 17,3147 00006 EXTEND
061681,000771: 17,3150 71627 MP COEFFQ
061682,000772: 17,3151 57740 XCH ROTEMP2 # (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
061683,000773: 17,3152 00006 EXTEND
061684,000774: 17,3153 71630 MP COEFFR
061685,000775: 17,3154 54001 TS L # COEFFR.(R) IS PUT INTO L
061686,000776: 17,3155 61740 AD ROTEMP2
061687,000777: 17,3156 55737 TS ROTEMP1 # COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
061688,000778: 17,3157 13163 TCF +4
061689,000779: 17,3160 50000 INDEX A # COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
061690,000780: 17,3161 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
061691,000781: 17,3162 55737 TS ROTEMP1
061692,000782: 17,3163 41740 CS ROTEMP2
061693,000783: 17,3164 60001 AD L # -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
061694,000784: 17,3165 54007 TS 7
061695,000785: 17,3166 13171 TCF +3
061696,000786: 17,3167 50000 INDEX A # -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
061697,000787: 17,3170 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
061698,000788: 17,3171 23737 LXCH ROTEMP1 # COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
061699,000789: 17,3172 00002 TC Q
061700,000790: 17,3173 51744 SELCTSUB INDEX ROTINDEX
061701,000791: 17,3174 33225 CA ALLJETS
061702,000792: 17,3175 51743 INDEX NUMBERT
061703,000793: 17,3176 73231 MASK TYPEPOLY
061704,000794: 17,3177 55741 TS POLYTEMP
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Page 1458 |
061706,000796: 17,3200 71262 MASK CH5MASK
061707,000797: 17,3201 10000 CCS A
061708,000798: 17,3202 13204 TCF +2
061709,000799:
061710,000800: 17,3203 00002 TC Q
061711,000801:
061712,000802: 17,3204 36245 CA THREE
061713,000803: 17,3205 55743 FAILOOP TS NUMBERT
061714,000804: 17,3206 51744 INDEX ROTINDEX
061715,000805: 17,3207 33225 CA ALLJETS
061716,000806: 17,3210 51743 INDEX NUMBERT
061717,000807: 17,3211 73231 MASK TYPEPOLY
061718,000808: 17,3212 55741 TS POLYTEMP
061719,000809: 17,3213 71262 MASK CH5MASK
061720,000810: 17,3214 00006 EXTEND
061721,000811: 17,3215 13203 BZF FAILOOP -2
061722,000812: 17,3216 11743 CCS NUMBERT
061723,000813: 17,3217 13205 TCF FAILOOP
061724,000814: 17,3220 51505 INDEX AXISCTR
061725,000815: 17,3221 55525 TS TJU
061726,000816: 17,3222 05567 TC ALARM
061727,000817: 17,3223 02004 OCT 02004
061728,000818: 17,3224 12777 TCF NOROTAT
061729,000819: 17,3225 00110 ALLJETS OCT 00110 # -U 6 13
061730,000820: 17,3226 00022 OCT 00022 # -V 2 9
061731,000821: 17,3227 00204 OCT 00204 # +U 5 14
061732,000822: 17,3230 00041 OCT 00041 # +V 1 10
061733,000823: 17,3231 00125 TYPEPOLY OCT 00125 # -X 1 5 9 13
061734,000824: 17,3232 00252 OCT 00252 # +X 2 6 10 14
061735,000825: 17,3233 00146 OCT 00146 # A 2 5 10 13
061736,000826: 17,3234 00231 OCT 00231 # B 1 6 9 14
061737,000827: 17,3235 00377 OCT 00377 # ALL 1 2 5 6 9 10 13 14
061738,000828:
061739,000829: # THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
061740,000830:
061741,000831: 17,3236 33240 CLOSEOUT CA ADRRUPT
061742,000832: 17,3237 07754 TC MAKERUPT
061743,000833:
061744,000834: 17,3240 03241 ADRRUPT ADRES ENDJASK
061745,000835:
061746,000836: 17,3241 53754 ENDJASK DXCH DAPARUPT
061747,000837: 17,3242 52011 DXCH ARUPT
061748,000838: 17,3243 53756 DXCH DAPBQRPT
061749,000839: 17,3244 56017 XCH BRUPT
061750,000840: 17,3245 22002 LXCH Q
061751,000841: 17,3246 34735 CAF NEGMAX # NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
061752,000842: 17,3247 53760 DXCH DAPZRUPT
061753,000843: 17,3250 52016 DXCH ZRUPT
061754,000844: 17,3251 15272 TCF NOQRSM
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Page 1459 |
061756,000846: 7754 BLOCK 3
061757,000847: 6000 SETLOC FFTAG6
061758,000848: 6000 BANK
061759,000849:
061760,000850: 7754 COUNT* $$/DAP
061761,000851:
061762,000852: 7754 00006 MAKERUPT EXTEND
061763,000853: 7755 07754 EDRUPT MAKERUPT
061764,000854:
End of include-file Q,R-AXES_RCS_AUTOPILOT.agc. Parent file is MAIN.agc