Source Code
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These source-code files are part of a reconstructed copy of Luminary 96, the
original release of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with reconstructed source code for Luminary 97. Changes
between revisions 96 and 97 were backed out, as described by anomal report LNY-59.
transcribed from a digitized copy of that program. The reconstruction was
verified by matching memory-bank checksums to those listed in drawing 2021152D.
Note that page numbers in the reconstructed code match those on the Luminary 099
revision 001 printout, although the added code would likely have changed page
numbers for a real Luminary 96 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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060718,000002: ## Copyright: Public domain.
060719,000003: ## Filename: Q,R-AXES_RCS_AUTOPILOT.agc
060720,000004: ## Purpose: A section of Luminary revision 96.
060721,000005: ## It is part of the reconstructed source code for the
060722,000006: ## original release of the flight software for the Lunar
060723,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
060724,000008: ## The code has been recreated from a previously reconstructed
060725,000009: ## copy of Luminary 97 by undoing changes described in anomaly
060726,000010: ## report LNY-59. The code has been adapted such that the
060727,000011: ## resulting bugger words exactly match those specified for
060728,000012: ## Luminary 96 in NASA drawing 2021152D, which gives relatively
060729,000013: ## high confidence that the reconstruction is correct.
060730,000014: ## Reference: pp. 1442-1459
060731,000015: ## Assembler: yaYUL
060732,000016: ## Contact: Ron Burkey <info@sandroid.org>.
060733,000017: ## Website: www.ibiblio.org/apollo/index.html
060734,000018: ## Mod history: 2019-08-04 MAS Created from Luminary 97.
060735,000019:
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Page 1442
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060737,000021: 17,2072 BANK 17
060738,000022: 17,2000 SETLOC DAPS2
060739,000023: 17,2000 BANK
060740,000024:
060741,000025: 17,2072 E6,1635 EBANK= CDUXD
060742,000026:
060743,000027: 17,2072 COUNT* $$/DAPQR
060744,000028:
060745,000029: 17,2072 34737 CALLQERR CA BIT13 # CALCULATE Q,R ERRORS UNLESS THESE AXES
060746,000030: 17,2073 00006 EXTEND # ARE IN MANUAL RATE COMMAND.
060747,000031: 17,2074 02031 RAND CHAN31
060748,000032: 17,2075 10000 CCS A
060749,000033: 17,2076 12103 TCF +5 # IN AUTO COMPUTE Q,R ERRORS
060750,000034: 17,2077 40111 CS DAPBOOLS # IN MANUAL RATE COMMAND?
060751,000035: 17,2100 74740 MASK OURRCBIT
060752,000036: 17,2101 00006 EXTEND
060753,000037: 17,2102 12104 BZF Q,RORGTS # IF SO BYPASS CALCULATION OF ERRORS.
060754,000038: 17,2103 02626 TC QERRCALC
060755,000039:
060756,000040: 17,2104 11631 Q,RORGTS CCS COTROLER # CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
060757,000041: 17,2105 12607 TCF GOTOGTS # GTS (ALTERNATES WITH RCS WHEN DOCKED)
060758,000042: 17,2106 12574 TCF TRYGTS # GTS IF ALLOWED, OTHERWISE RCS
060759,000043: 17,2107 34755 RCS CAF ZERO # RCS (TRYGTS MAY BRANCH TO HERE)
060760,000044: 17,2110 55631 TS COTROLER
060761,000045:
060762,000046: 17,2111 53437 DXCH EDOTQ
060763,000047: 17,2112 03146 TC ROT-TOUV
060764,000048: 17,2113 53427 DXCH OMEGAU
060765,000049:
060766,000050: # X - TRANSLATION:
060767,000051:
060768,000052: # INPUT: BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
060769,000053: # ULLAGER
060770,000054: # APSFLAG, DRIFTBIT
060771,000055: # ACC40R2X, ACRBTRAN
060772,000056:
060773,000057: # OUTPUT: NEXTU, NEXTV CODES OF TRANSLATION FOR AFTER ROTATION
060774,000058: # SENSETYP TELL ROTATION DIRECTION AND DESIRE
060775,000059:
060776,000060: # X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR. IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED. A FAILURE
060777,000061: # WILL OVERRIDE THIS SPECIFICATION. AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
060778,000062:
060779,000063: 17,2114 34745 SENSEGET CA BIT7 # INPUT BITS OVERRIDE THE INTERNAL BITS
060780,000064: 17,2115 00006 EXTEND # SENSETYP WILL NOT OPPOSE ANYTRANS
060781,000065: 17,2116 02031 RAND CHAN31
060782,000066: 17,2117 00006 EXTEND
060783,000067: 17,2120 12146 BZF +XORULGE
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Page 1443
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060785,000069: 17,2121 34744 CA BIT8
060786,000070: 17,2122 00006 EXTEND
060787,000071: 17,2123 02031 RAND CHAN31
060788,000072: 17,2124 00006 EXTEND
060789,000073: 17,2125 12147 BZF -XTRANS
060790,000074:
060791,000075: 17,2126 34746 CA ULLAGER
060792,000076: 17,2127 70111 MASK DAPBOOLS
060793,000077: 17,2130 10000 CCS A
060794,000078: 17,2131 12146 TCF +XORULGE
060795,000079:
060796,000080: 17,2132 55473 TS NEXTU # STORE NULL TRANSLATION POLICIES
060797,000081: 17,2133 55474 TS NEXTV
060798,000082: 17,2134 40111 CS DAPBOOLS # BURNING OR DRIFTING?
060799,000083: 17,2135 74744 MASK DRIFTBIT
060800,000084: 17,2136 00006 EXTEND
060801,000085: 17,2137 12144 BZF TSENSE
060802,000086: 17,2140 30106 CA FLGWRD10 # DPS (INCLUDING DOCKED) OR APS?
060803,000087: 17,2141 74737 MASK APSFLBIT
060804,000088: 17,2142 10000 CCS A
060805,000089: 17,2143 34752 CAF TWO # FAVOR +X JETS DURING AN APS BURN.
060806,000090: 17,2144 55500 TSENSE TS SENSETYP
060807,000091: 17,2145 12200 TCF QRCONTRL
060808,000092:
060809,000093: 17,2146 34753 +XORULGE CAF ONE
060810,000094: 17,2147 64751 -XTRANS AD FOUR
060811,000095: 17,2150 55744 TS ROTINDEX
060812,000096: 17,2151 67745 AD NEG3
060813,000097: 17,2152 55500 TS SENSETYP # FAVOR APPROPRIATE JETS DURING TRANS.
060814,000098: 17,2153 30111 CA DAPBOOLS
060815,000099: 17,2154 74741 MASK ACC4OR2X
060816,000100: 17,2155 10000 CCS A
060817,000101: 17,2156 12321 TCF TRANS4
060818,000102:
060819,000103: 17,2157 30111 CA DAPBOOLS
060820,000104: 17,2160 74742 MASK AORBTRAN
060821,000105: 17,2161 10000 CCS A
060822,000106: 17,2162 34753 CA ONE # THREE FOR B
060823,000107: 17,2163 64752 AD TWO # TWO FOR A SYSTEM 2 JET X TRANS
060824,000108: 17,2164 55743 TSNUMBRT TS NUMBERT
060825,000109:
060826,000110: 17,2165 03173 TC SELCTSUB
060827,000111:
060828,000112: 17,2166 11741 CCS POLYTEMP
060829,000113: 17,2167 12172 TCF +3
060830,000114: 17,2170 05567 TC ALARM
060831,000115: 17,2171 02002 OCT 02002
060832,000116: 17,2172 35774 CA 00314OCT
060833,000117: 17,2173 71741 MASK POLYTEMP
060834,000118: 17,2174 55473 TSNEXTS TS NEXTU
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Page 1444
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060836,000120: 17,2175 45774 CS 00314OCT
060837,000121: 17,2176 71741 MASK POLYTEMP
060838,000122: 17,2177 55474 TS NEXTV
060839,000123:
060840,000124: # Q,R-AXES RCS CONTROL MODE SELECTION
060841,000125: # SWITCHES INDICATION WHEN SET
060842,000126: # BIT13/CHAN31 AUTO, GO TO ATTSTEER
060843,000127: # PULSES MINIMUM IMPULSE MODE
060844,000128: # (OTHERWISE) RATE COMMAND/ATTITUDE HOLD MODE
060845,000129:
060846,000130: 17,2200 34737 QRCONTRL CA BIT13 # CHECK MODE SELECT SWITCH.
060847,000131: 17,2201 00006 EXTEND
060848,000132: 17,2202 02031 RAND CHAN31 # BITS INVERTED
060849,000133: 17,2203 10000 CCS A
060850,000134: 17,2204 12661 TCF ATTSTEER
060851,000135: 17,2205 34735 CHKBIT10 CAF PULSES # PULSES = 1 FOR MIN IMP USE OF RHC
060852,000136: 17,2206 70111 MASK DAPBOOLS
060853,000137: 17,2207 00006 EXTEND
060854,000138: 17,2210 12323 BZF CHEKSTIK # IN ATT-HOLD/RATE-COMMAND IF BIT10=0
060855,000139:
060856,000140: # MINIMUM IMPULSE MODE
060857,000141:
060858,000142: 17,2211 00004 INHINT
060859,000143: 17,2212 04674 TC IBNKCALL
060860,000144: 17,2213 40153 CADR ZATTEROR
060861,000145: 17,2214 34755 CA ZERO
060862,000146: 17,2215 55450 TS QERROR
060863,000147: 17,2216 55452 TS RERROR # FOR DISPLAYS
060864,000148: 17,2217 00003 RELINT
060865,000149:
060866,000150: 17,2220 00006 EXTEND
060867,000151: 17,2221 00031 READ CHAN31
060868,000152: 17,2222 55737 TS TEMP31 # IS EQUAL TO DAPTEMP1
060869,000153: 17,2223 11461 CCS OLDQRMIN
060870,000154: 17,2224 12246 TCF CHECKIN
060871,000155:
060872,000156: 17,2225 31737 FIREQR CA TEMP31
060873,000157: 17,2226 74753 MASK BIT1
060874,000158: 17,2227 00006 EXTEND
060875,000159: 17,2230 12252 BZF +QMIN
060876,000160:
060877,000161: 17,2231 31737 CA TEMP31
060878,000162: 17,2232 74752 MASK BIT2
060879,000163: 17,2233 00006 EXTEND
060880,000164: 17,2234 12256 BZF -QMIN
060881,000165:
060882,000166: 17,2235 31737 CA TEMP31
060883,000167: 17,2236 74747 MASK BIT5
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Page 1445
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060885,000169: 17,2237 00006 EXTEND
060886,000170: 17,2240 12262 BZF +RMIN
060887,000171:
060888,000172: 17,2241 31737 CA TEMP31
060889,000173: 17,2242 74746 MASK BIT6
060890,000174: 17,2243 00006 EXTEND
060891,000175: 17,2244 12264 BZF -RMIN
060892,000176:
060893,000177: 17,2245 13063 TCF XTRANS
060894,000178:
060895,000179: 17,2246 41737 CHECKIN CS TEMP31
060896,000180: 17,2247 72320 MASK OCT63
060897,000181: 17,2250 55461 TS OLDQRMIN
060898,000182: 17,2251 13063 TCF XTRANS
060899,000183:
060900,000184: 17,2252 33107 +QMIN CA 14MS
060901,000185: 17,2253 55525 TS TJU
060902,000186: 17,2254 43107 CS 14MS
060903,000187: 17,2255 12266 TCF MINQR
060904,000188: 17,2256 43107 -QMIN CS 14MS
060905,000189: 17,2257 55525 TS TJU
060906,000190: 17,2260 33107 CA 14MS
060907,000191: 17,2261 12266 TCF MINQR
060908,000192: 17,2262 33107 +RMIN CA 14MS
060909,000193: 17,2263 12265 TCF +2
060910,000194: 17,2264 43107 -RMIN CS 14MS
060911,000195: 17,2265 55525 TS TJU
060912,000196: 17,2266 55526 MINQR TS TJV
060913,000197: 17,2267 32317 CA MINADR
060914,000198: 17,2270 55477 TS RETJADR
060915,000199: 17,2271 34753 CA ONE
060916,000200: 17,2272 55461 TS OLDQRMIN
060917,000201: 17,2273 55505 MINRTN TS AXISCTR
060918,000202: 17,2274 30111 CA DAPBOOLS
060919,000203: 17,2275 74737 MASK CSMDOCKD
060920,000204: 17,2276 00006 EXTEND
060921,000205: 17,2277 12307 BZF MIMRET
060922,000206: 17,2300 51505 INDEX AXISCTR # IF DOCKED, USE 60MS MINIMUM IMPULSE
060923,000207: 17,2301 11525 CCS TJU
060924,000208: 17,2302 32316 CA 60MS
060925,000209: 17,2303 12305 TCF +2
060926,000210: 17,2304 42316 CS 60MS
060927,000211: 17,2305 51505 INDEX AXISCTR
060928,000212: 17,2306 55525 TS TJU
060929,000213: 17,2307 30111 MIMRET CA DAPBOOLS
060930,000214: 17,2310 74742 MASK AORBTRAN
060931,000215: 17,2311 10000 CCS A
060932,000216: 17,2312 34753 CA ONE
060933,000217: 17,2313 64752 AD TWO
060934,000218: 17,2314 55743 TS NUMBERT
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Page 1446
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060936,000220: 17,2315 12727 TCF AFTERTJ
060937,000221:
060938,000222: 17,2316 00140 60MS DEC 96.0
060939,000223: 17,2317 02273 MINADR GENADR MINRTN
060940,000224: 17,2320 00063 OCT63 OCT 63
060941,000225: 17,2321 17,3107 14MS = +TJMINT6
060942,000226:
060943,000227: 17,2321 34751 TRANS4 CA FOUR
060944,000228: 17,2322 12164 TCF TSNUMBRT
060945,000229:
060946,000230: # RATE COMMAND MODE:
060947,000231:
060948,000232: # DESCRIPTION (SAME AS P-AXIS)
060949,000233:
060950,000234: 17,2323 55633 CHEKSTIK TS INGTS # NOT IN GTS WHEN IN ATT HOLD
060951,000235: 17,2324 44753 CS ONE # 1/ACCS WILL DO THE NULLING DRIVES
060952,000236: 17,2325 55631 TS COTROLER # COME BACK TO RCS NEXT TIME
060953,000237: 17,2326 34735 CA BIT15
060954,000238: 17,2327 71443 MASK CH31TEMP
060955,000239: 17,2330 00006 EXTEND
060956,000240: 17,2331 12350 BZF RHCACTIV # BRANCH IF OUT OF DETENT.
060957,000241: 17,2332 34740 CA OURRCBIT # ***********
060958,000242: 17,2333 70111 MASK DAPBOOLS # *IN DETENT* CHECK FOR MANUAL CONTROL
060959,000243: 17,2334 00006 EXTEND # *********** LAST TIME.
060960,000244: 17,2335 12661 BZF STILLRCS
060961,000245: 17,2336 44743 CS BIT9
060962,000246: 17,2337 71273 MASK RCSFLAGS
060963,000247: 17,2340 55273 TS RCSFLAGS # BIT 9 IS 0.
060964,000248: 17,2341 12345 TCF DAMPING
060965,000249: 17,2342 00050 40CYCL OCT 50
060966,000250: 17,2343 00001 1/10S OCT 1
060967,000251: 17,2344 00056 LINRAT DEC 46 B-14
060968,000252:
060969,000253: # ================================
060970,000254:
060971,000255: 17,2345 34755 DAMPING CA ZERO
060972,000256: 17,2346 55462 TS SAVEHAND
060973,000257: 17,2347 55463 TS SAVEHAND +1
060974,000258: 17,2350 11462 RHCACTIV CCS SAVEHAND # *******************
060975,000259: 17,2351 12354 TCF +3 # Q,R MANUAL CONTROL WC = A*(B+|D|)*D
060976,000260: 17,2352 12354 TCF +2 # *******************
060977,000261: 17,2353 12354 TCF +1
060978,000262: 17,2354 60000 DOUBLE # WHERE
060979,000263: 17,2355 60000 DOUBLE
060980,000264: 17,2356 62344 AD LINRAT # WC = COMMANDED ROTATIONAL RATE
060981,000265: 17,2357 00006 EXTEND # A = QUADRATIC SENSITIVITY FACTOR
060982,000266: 17,2360 71462 MP SAVEHAND # B = LINEAR/QUADRATIC SENSITIVITY
060983,000267: 17,2361 30001 CA L # |D| = ABS. VALUE OF DEFLECTION
060984,000268: 17,2362 00006 EXTEND # D = HAND CONTROLLER DEFLECTION
060985,000269: 17,2363 71444 MP STIKSENS
060986,000270: 17,2364 57455 XCH QLAST # COMMAND Q RATE SCALED 45 DEG/SEC
060987,000271: 17,2365 40000 COM
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Page 1447
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060989,000273: 17,2366 61455 AD QLAST
060990,000274: 17,2367 55741 TS DAPTEMP3
060991,000275: 17,2370 11463 CCS SAVEHAND +1
060992,000276: 17,2371 12374 TCF +3
060993,000277: 17,2372 12374 TCF +2
060994,000278: 17,2373 12374 TCF +1
060995,000279: 17,2374 60000 DOUBLE
060996,000280: 17,2375 60000 DOUBLE
060997,000281: 17,2376 62344 AD LINRAT
060998,000282: 17,2377 00006 EXTEND
060999,000283: 17,2400 71463 MP SAVEHAND +1
061000,000284: 17,2401 30001 CA L
061001,000285: 17,2402 00006 EXTEND
061002,000286: 17,2403 71444 MP STIKSENS
061003,000287: 17,2404 57456 XCH RLAST
061004,000288: 17,2405 40000 COM
061005,000289: 17,2406 61456 AD RLAST
061006,000290: 17,2407 55742 TS DAPTEMP4
061007,000291: 17,2410 41455 CS QLAST # INTERVAL.
061008,000292: 17,2411 61422 AD OMEGAQ
061009,000293: 17,2412 55436 TS QRATEDIF
061010,000294: 17,2413 41456 CS RLAST
061011,000295: 17,2414 61423 AD OMEGAR
061012,000296: 17,2415 55437 TS RRATEDIF
061013,000297: 17,2416 53437 ENTERQR DXCH QRATEDIF # TRANSFORM RATES FROM Q,R TO U,V AXES
061014,000298: 17,2417 03146 TC ROT-TOUV
061015,000299: 17,2420 53427 DXCH URATEDIF
061016,000300: 17,2421 11741 CCS DAPTEMP3 # CHECK IF Q COMMAND CHANGE EXCEEDS
061017,000301: 17,2422 02425 TC +3 # BREAKOUT LEVEL. IF NOT, CHECK R.
061018,000302: 17,2423 02425 TC +2
061019,000303: 17,2424 02425 TC +1
061020,000304: 17,2425 61476 AD -RATEDB
061021,000305: 17,2426 00006 EXTEND
061022,000306: 17,2427 62431 BZMF +2
061023,000307: 17,2430 12447 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
061024,000308: 17,2431 11742 CCS DAPTEMP4 # R COMMAND BREAKOUT CHECK.
061025,000309: 17,2432 02435 TC +3
061026,000310: 17,2433 02435 TC +2
061027,000311: 17,2434 02435 TC +1
061028,000312: 17,2435 61476 AD -RATEDB
061029,000313: 17,2436 00006 EXTEND
061030,000314: 17,2437 62441 BZMF +2
061031,000315: 17,2440 12447 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
061032,000316: 17,2441 31273 CA RCSFLAGS # BREAKOUT LEVEL NOT EXCEEDED. CHECK FOR
061033,000317: 17,2442 74741 MASK QRBIT # DIRECT RATE CONTROL LAST TIME.
061034,000318: 17,2443 00006 EXTEND
061035,000319: 17,2444 12446 BZF +2
061036,000320: 17,2445 12451 TCF ENTERUV # CONTINUE DIRECT RATE CONTROL.
061037,000321: 17,2446 12661 TCF STILLRCS # PSEUDO-AUTO CONTROL.
061038,000322: 17,2447 32342 CA 40CYCL
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Page 1448
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061040,000324: 17,2450 55457 TS TCQR
061041,000325: 17,2451 00004 ENTERUV INHINT # DIRECT RATE CONTROL.
061042,000326: 17,2452 04674 TC IBNKCALL
061043,000327: 17,2453 40153 FCADR ZATTEROR
061044,000328: 17,2454 00003 RELINT
061045,000329: 17,2455 34755 CA ZERO
061046,000330: 17,2456 55450 TS DYERROR
061047,000331: 17,2457 55451 TS DYERROR +1
061048,000332: 17,2460 55452 TS DZERROR
061049,000333: 17,2461 55453 TS DZERROR +1
061050,000334: 17,2462 11426 CCS URATEDIF
061051,000335: 17,2463 12466 TCF +3
061052,000336: 17,2464 12466 TCF +2
061053,000337: 17,2465 12466 TCF +1
061054,000338: 17,2466 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
061055,000339: 17,2467 00006 EXTEND # DIRECT RATE CONTROL.
061056,000340: 17,2470 62504 BZMF VDB
061057,000341: 17,2471 11427 CCS VRATEDIF
061058,000342: 17,2472 12475 TCF +3
061059,000343: 17,2473 12475 TCF +2
061060,000344: 17,2474 12475 TCF +1
061061,000345: 17,2475 61476 AD TARGETDB
061062,000346: 17,2476 00006 EXTEND
061063,000347: 17,2477 62501 BZMF +2
061064,000348: 17,2500 12515 TCF QRTIME
061065,000349: 17,2501 34755 CA ZERO
061066,000350: 17,2502 55427 TS VRATEDIF
061067,000351: 17,2503 12515 TCF QRTIME
061068,000352: 17,2504 11427 VDB CCS VRATEDIF
061069,000353: 17,2505 02510 TC +3
061070,000354: 17,2506 02510 TC +2
061071,000355: 17,2507 02510 TC +1
061072,000356: 17,2510 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
061073,000357: 17,2511 00006 EXTEND # DIRECT RATE CONTROL. IF NOT, FIRE AND
061074,000358: 17,2512 62524 BZMF TOPSEUDO # SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
061075,000359: 17,2513 34755 CA ZERO # PASS.
061076,000360: 17,2514 55426 TS URATEDIF
061077,000361: 17,2515 31457 QRTIME CA TCQR # DIRECT RATE TIME CHECK.
061078,000362: 17,2516 00006 EXTEND
061079,000363: 17,2517 62524 BZMF +5 # BRANCH IF TIME EXCEEDS 4 SEC.
061080,000364: 17,2520 41273 CS RCSFLAGS
061081,000365: 17,2521 74741 MASK QRBIT
061082,000366: 17,2522 27273 ADS RCSFLAGS # BIT 11 IS 1.
061083,000367: 17,2523 02527 TC +4
061084,000368: 17,2524 44741 TOPSEUDO CS QRBIT
061085,000369: 17,2525 71273 MASK RCSFLAGS
061086,000370: 17,2526 55273 TS RCSFLAGS # BIT 11 IS 0.
061087,000371: 17,2527 32573 CA HANDADR
061088,000372: 17,2530 55477 TS RETJADR
061089,000373: 17,2531 34753 CA ONE
061090,000374:
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Page 1449
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061092,000376: 17,2532 55505 BACKHAND TS AXISCTR
061093,000377:
061094,000378: 17,2533 34751 CA FOUR
061095,000379: 17,2534 55743 TS NUMBERT
061096,000380:
061097,000381: 17,2535 51505 INDEX AXISCTR
061098,000382: 17,2536 51535 INDEX SKIPU
061099,000383: 17,2537 12540 TCF +1
061100,000384: 17,2540 34751 CA FOUR
061101,000385: 17,2541 51505 INDEX AXISCTR
061102,000386: 17,2542 55535 TS SKIPU
061103,000387: 17,2543 13005 TCF LOOPER
061104,000388:
061105,000389: 17,2544 51505 INDEX AXISCTR
061106,000390: 17,2545 11426 CCS URATEDIF # INDEX AXIS QUANITY
061107,000391: 17,2546 34755 CA ZERO # 0 -U 1/JETACC-AOSU
061108,000392: 17,2547 12551 TCF +2 # 1 +U 1/JETACC+AOSU
061109,000393: 17,2550 34753 CA ONE # 16 -V 1/JETACC-AOSV
061110,000394: 17,2551 51505 INDEX AXISCTR # 17 +V 1/JETACC+AOSV
061111,000395: 17,2552 63722 AD AXISDIFF # JETACC = 2 JET ACCELERATION (1 FOR FAIL)
061112,000396:
061113,000397: 17,2553 50000 INDEX A
061114,000398: 17,2554 41571 CS 1/ANET2 +1
061115,000399: 17,2555 00006 EXTEND
061116,000400: 17,2556 51505 INDEX AXISCTR # URATEDIF IS SCALED AT PI/4 RAD/SEC
061117,000401: 17,2557 71426 MP URATEDIF # JET TIME IN A SCALED 32 SEC
061118,000402: 17,2560 54002 TS Q
061119,000403: 17,2561 20001 DAS A
061120,000404: 17,2562 60002 AD Q
061121,000405: 17,2563 54000 TS A # OVERFLOW SKIP
061122,000406: 17,2564 12566 TCF +2
061123,000407: 17,2565 30002 CA Q # RIGHT SIGN AND BIGGER THAN 150MS
061124,000408: 17,2566 51505 SETTIME INDEX AXISCTR
061125,000409: 17,2567 55525 TS TJU # SCALED AT 10.67 WHICH IS CLOSE TO 10.24
061126,000410: 17,2570 12727 TCF AFTERTJ
061127,000411:
061128,000412: 17,2571 34755 ZEROTJ CA ZERO
061129,000413: 17,2572 12566 TCF SETTIME
061130,000414:
061131,000415: 17,2573 02532 HANDADR GENADR BACKHAND
061132,000416:
061133,000417: # GTS WILL BE TRIED IF
061134,000418: # 1. USEQRJTS = 0,
061135,000419: # 2. ALLOWGTS POS,
061136,000420: # 3. JETS ARE OFF (Q,R-AXES)
061137,000421:
061138,000422: 17,2574 34736 TRYGTS CAF USEQRJTS # IS JET USE MANDATORY. (AS LONG AS
061139,000423: 17,2575 70111 MASK DAPBOOLS # USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
061140,000424: 17,2576 10000 CCS A
061141,000425: 17,2577 12107 TCF RCS
061142,000426: 17,2600 11502 CCS ALLOWGTS # NO. DOES AOSTASK OK CONTROL FOR GTS?
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Page 1450
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061144,000428: 17,2601 12603 TCF +2
061145,000429: 17,2602 12107 TCF RCS
061146,000430: 17,2603 00006 EXTEND
061147,000431: 17,2604 00005 READ CHAN5
061148,000432: 17,2605 10000 CCS A
061149,000433: 17,2606 12612 TCF CHKINGTS
061150,000434: 17,2607 00006 GOTOGTS EXTEND
061151,000435: 17,2610 32625 DCA GTSCADR
061152,000436: 17,2611 52006 DTCB
061153,000437:
061154,000438: 17,2612 11633 CHKINGTS CCS INGTS # WAS THE TRIM GIMBAL CONTROLLING
061155,000439: 17,2613 12615 TCF +2 # YES. SET UP A DAMPED NULLING DRIVE.
061156,000440: 17,2614 12107 TCF RCS # NO. NULLING WAS SET UP BEFORE. DO RCS
061157,000441: 17,2615 00004 INHINT
061158,000442: 17,2616 04674 TC IBNKCALL
061159,000443: 17,2617 43330 CADR TIMEGMBL
061160,000444: 17,2620 00003 RELINT
061161,000445: 17,2621 34755 CAF ZERO
061162,000446: 17,2622 55633 TS INGTS
061163,000447: 17,2623 12107 TCF RCS
061164,000448:
061165,000449: 17,2624 E6,1635 EBANK= CDUXD
061166,000450: 17,2624 03077 42106 GTSCADR 2CADR GTS
061167,000451:
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Page 1451
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061169,000453: # SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
061170,000454:
061171,000455: 17,2626 30033 QERRCALC CAE CDUY # Q-ERROR CALCULATION
061172,000456: 17,2627 00006 EXTEND
061173,000457: 17,2630 21636 MSU CDUYD # CDU ANGLE - ANGLE DESIRED (Y-AXIS)
061174,000458: 17,2631 55737 TS DAPTEMP1 # SAVE FOR RERRCALC
061175,000459: 17,2632 00006 EXTEND
061176,000460: 17,2633 71415 MP M21 # (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
061177,000461: 17,2634 55752 TS E
061178,000462: 17,2635 30034 CAE CDUZ # SECOND TERM CALCULATION:
061179,000463: 17,2636 00006 EXTEND
061180,000464: 17,2637 21637 MSU CDUZD # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
061181,000465: 17,2640 55740 TS DAPTEMP2 # SAVE FOR RERRCALC
061182,000466: 17,2641 00006 EXTEND
061183,000467: 17,2642 71417 MP M22 # (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
061184,000468: 17,2643 61300 AD DELQEROR # KALCMANU INERFACE ERROR
061185,000469: 17,2644 61752 AD E
061186,000470: 17,2645 57450 XCH QERROR # SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
061187,000471:
061188,000472: 17,2646 31737 RERRCALC CAE DAPTEMP1 # R-ERROR CALCULATION:
061189,000473: 17,2647 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Y-AXIS)
061190,000474: 17,2650 71416 MP M31 # (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
061191,000475: 17,2651 55752 TS E
061192,000476: 17,2652 31740 CAE DAPTEMP2 # SECOND TERM CALCULATION:
061193,000477: 17,2653 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
061194,000478: 17,2654 71420 MP M32 # (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
061195,000479: 17,2655 61301 AD DELREROR # KALCMANU INERFACE ERROR
061196,000480: 17,2656 61752 AD E
061197,000481: 17,2657 57452 XCH RERROR # SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
061198,000482: 17,2660 00002 TC Q
061199,000483:
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|
Page 1452
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061201,000485: # "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
061202,000486:
061203,000487: 17,2661 17,2661 ATTSTEER EQUALS STILLRCS # "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
061204,000488:
061205,000489: 17,2661 31452 STILLRCS CA RERROR
061206,000490: 17,2662 22000 LXCH A
061207,000491: 17,2663 31450 CA QERROR
061208,000492: 17,2664 03146 TC ROT-TOUV
061209,000493: 17,2665 53752 DXCH UERROR
061210,000494:
061211,000495: # PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
061212,000496: # PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
061213,000497:
061214,000498: 17,2666 33113 TJLAW CA TJLAWADR
061215,000499: 17,2667 55477 TS RETJADR
061216,000500: 17,2670 34753 CA ONE
061217,000501: 17,2671 55505 TS AXISCTR
061218,000502: 17,2672 51505 INDEX AXISCTR
061219,000503: 17,2673 51535 INDEX SKIPU
061220,000504: 17,2674 12675 TCF +1
061221,000505: 17,2675 34751 CA FOUR
061222,000506: 17,2676 51505 INDEX AXISCTR
061223,000507: 17,2677 55535 TS SKIPU
061224,000508: 17,2700 13005 TCF LOOPER
061225,000509: 17,2701 51505 INDEX AXISCTR
061226,000510: 17,2702 31751 CA UERROR
061227,000511: 17,2703 55752 TS E
061228,000512: 17,2704 51505 INDEX AXISCTR
061229,000513: 17,2705 31426 CA OMEGAU
061230,000514: 17,2706 55427 TS EDOT
061231,000515: 17,2707 30111 CA DAPBOOLS
061232,000516: 17,2710 74737 MASK CSMDOCKD
061233,000517: 17,2711 10000 CCS A
061234,000518: 17,2712 12715 TCF +3
061235,000519: 17,2713 03252 TC TJETLAW
061236,000520: 17,2714 12727 TCF AFTERTJ
061237,000521: 17,2715 40111 +3 CS DAPBOOLS # DOCKED. IF GIMBAL USABLE DO GTS CONTROL
061238,000522: 17,2716 74736 MASK USEQRJTS # ON THE NEXT PASS.
061239,000523: 17,2717 10000 CCS A # USEQRJTS BIT MUST NOT BE BIT 15.
061240,000524: 17,2720 55631 TS COTROLER # GIMBAL USABLE. STORE POSITIVE VALUE.
061241,000525: 17,2721 00004 INHINT
061242,000526: 17,2722 04674 TC IBNKCALL
061243,000527: 17,2723 43727 CADR SPSRCS # DETERMINE RCS CONTROL
061244,000528: 17,2724 00003 RELINT
061245,000529: 17,2725 34751 CAF FOUR # ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
061246,000530: 17,2726 55743 TS NUMBERT # FALL THROUGH TO JET SELECTION, ETC.
061247,000531:
061248,000532: # Q,R-JET-SELECTION-LOGIC
061249,000533:
061250,000534: # INPUT: AXISCTR 0,1 FOR U,V
061251,000535: # SNUFFBIT ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN
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Page 1453
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061253,000537: # TJU,TJV JET TIME SCALED 10.24 SEC.
061254,000538: # NUMBERT INDICATES NUMBER OF JETS AND TYPE OF POLICY
061255,000539: # RETJADR WHERE TO RETURN TO
061256,000540:
061257,000541: # OUTPUT: NO.U(V)JETS RATE DERIVATION FEEDBACK
061258,000542: # CHANNEL 5
061259,000543: # SKIPU,SKIRV FOR LESS THAN 150MS FIRING
061260,000544:
061261,000545: # NOTES: IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED
061262,000546: # JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY
061263,000547: # TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT
061264,000548: # IF NONE CAN BE FOUND.
061265,000549:
061266,000550: # TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
061267,000551: # MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
061268,000552:
061269,000553: 17,2727 30101 AFTERTJ CA FLAGWRD5 # IF SNUFFBIT SET DURING A DPS BURN GO TO
061270,000554: 17,2730 74737 MASK SNUFFBIT # XTRANS; THAT IS, INHIBIT CONTROL.
061271,000555: 17,2731 00006 EXTEND
061272,000556: 17,2732 12743 BZF DOROTAT
061273,000557: 17,2733 40106 CS FLGWRD10
061274,000558: 17,2734 74737 MASK APSFLBIT
061275,000559: 17,2735 00006 EXTEND
061276,000560: 17,2736 12743 BZF DOROTAT
061277,000561: 17,2737 30111 CA DAPBOOLS
061278,000562: 17,2740 74744 MASK DRIFTBIT
061279,000563: 17,2741 00006 EXTEND
061280,000564: 17,2742 13063 BZF XTRANS
061281,000565:
061282,000566: 17,2743 34752 DOROTAT CAF TWO
061283,000567: 17,2744 54001 TS L
061284,000568: 17,2745 51505 INDEX AXISCTR
061285,000569: 17,2746 11525 CCS TJU
061286,000570: 17,2747 12754 TCF +5
061287,000571: 17,2750 12777 TCF NOROTAT
061288,000572: 17,2751 12753 TCF +2
061289,000573: 17,2752 12777 TCF NOROTAT
061290,000574: 17,2753 22007 ZL
061291,000575: 17,2754 64753 AD ONE
061292,000576: 17,2755 55737 TS ABSTJ
061293,000577:
061294,000578: 17,2756 31505 CA AXISCTR
061295,000579: 17,2757 60001 AD L
061296,000580: 17,2760 55744 TS ROTINDEX # 0 1 2 3 = -U -V -+U +V
061297,000581:
061298,000582: 17,2761 31737 CA ABSTJ
061299,000583: 17,2762 63110 AD -150MS
061300,000584: 17,2763 00006 EXTEND
061301,000585: 17,2764 63010 BZMF DOSKIP
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Page 1454
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061303,000587: 17,2765 03173 TC SELCTSUB
061304,000588:
061305,000589: 17,2766 51505 INDEX AXISCTR
061306,000590: 17,2767 33105 CA INDEXES
061307,000591: 17,2770 54001 TS L
061308,000592:
061309,000593: 17,2771 31741 CA POLYTEMP
061310,000594: 17,2772 00004 INHINT
061311,000595: 17,2773 50001 INDEX L
061312,000596: 17,2774 05754 TC WRITEP
061313,000597:
061314,000598: 17,2775 00003 RELINT
061315,000599: 17,2776 13051 TCF FEEDBACK
061316,000600:
061317,000601: 17,2777 51505 NOROTAT INDEX AXISCTR
061318,000602: 17,3000 33105 CA INDEXES
061319,000603: 17,3001 00004 INHINT
061320,000604: 17,3002 50000 INDEX A
061321,000605: 17,3003 05753 TC WRITEP -1
061322,000606:
061323,000607: 17,3004 00003 RELINT
061324,000608: 17,3005 11505 LOOPER CCS AXISCTR
061325,000609: 17,3006 01477 TC RETJADR
061326,000610: 17,3007 13236 TCF CLOSEOUT
061327,000611: 17,3010 41737 DOSKIP CS ABSTJ
061328,000612: 17,3011 63107 AD +TJMINT6 # 14MS
061329,000613: 17,3012 00006 EXTEND
061330,000614: 17,3013 63032 BZMF NOTMIN
061331,000615:
061332,000616: 17,3014 27737 ADS ABSTJ
061333,000617: 17,3015 51505 INDEX AXISCTR
061334,000618: 17,3016 11525 CCS TJU
061335,000619: 17,3017 33107 CA +TJMINT6
061336,000620: 17,3020 13022 TCF +2
061337,000621: 17,3021 43107 CS +TJMINT6
061338,000622: 17,3022 51505 INDEX AXISCTR
061339,000623: 17,3023 55525 TS TJU
061340,000624:
061341,000625: 17,3024 11500 CCS SENSETYP # ENSURE MIN-IMPULSE NOT AGAINST TRANS
061342,000626: 17,3025 13031 TCF NOTMIN -1
061343,000627: 17,3026 00006 EXTEND
061344,000628: 17,3027 00004 READ LOSCALAR
061345,000629: 17,3030 74753 MASK ONE
061346,000630: 17,3031 55743 TS NUMBERT
061347,000631:
061348,000632: 17,3032 03173 NOTMIN TC SELCTSUB
061349,000633:
061350,000634: 17,3033 51505 INDEX AXISCTR
061351,000635: 17,3034 33105 CA INDEXES
061352,000636: 17,3035 00004 INHINT
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Page 1455
|
061354,000638: 17,3036 55471 TS T6FURTHA +1
061355,000639: 17,3037 31741 CA POLYTEMP
061356,000640: 17,3040 51471 INDEX T6FURTHA +1
061357,000641: 17,3041 05754 TC WRITEP
061358,000642:
061359,000643: 17,3042 31737 CA ABSTJ
061360,000644: 17,3043 55470 TS T6FURTHA
061361,000645: 17,3044 03114 TC JTLST # IN QR BANK BY NOW
061362,000646:
061363,000647: 17,3045 00003 RELINT
061364,000648:
061365,000649: 17,3046 34755 CA ZERO
061366,000650: 17,3047 51505 INDEX AXISCTR
061367,000651: 17,3050 55535 TS SKIPU
061368,000652:
061369,000653: 17,3051 46245 FEEDBACK CS THREE
061370,000654: 17,3052 61743 AD NUMBERT
061371,000655: 17,3053 00006 EXTEND
061372,000656: 17,3054 63057 BZMF +3
061373,000657:
061374,000658: 17,3055 34752 CA TWO
061375,000659: 17,3056 13060 TCF +2
061376,000660: 17,3057 34753 CA ONE
061377,000661: 17,3060 51505 INDEX AXISCTR
061378,000662: 17,3061 55522 TS NO.UJETS
061379,000663: 17,3062 13005 TCF LOOPER
061380,000664:
061381,000665: 17,3063 34755 XTRANS CA ZERO
061382,000666: 17,3064 55525 TS TJU
061383,000667: 17,3065 55526 TS TJV
061384,000668: 17,3066 34751 CA FOUR
061385,000669: 17,3067 00004 INHINT
061386,000670: 17,3070 57535 XCH SKIPU
061387,000671: 17,3071 00006 EXTEND
061388,000672: 17,3072 13074 BZF +2
061389,000673: 17,3073 05757 TC WRITEU -1
061390,000674: 17,3074 34751 CA FOUR
061391,000675: 17,3075 57536 XCH SKIPV
061392,000676: 17,3076 00003 RELINT
061393,000677:
061394,000678: 17,3077 00006 EXTEND
061395,000679: 17,3100 13236 BZF CLOSEOUT
061396,000680: 17,3101 00004 INHINT
061397,000681: 17,3102 05770 TC WRITEV -1
061398,000682: 17,3103 00003 RELINT
061399,000683:
061400,000684: 17,3104 13236 TCF CLOSEOUT
061401,000685: 17,3105 00004 INDEXES DEC 4 B-14
061402,000686: 17,3106 00015 DEC 13 B-14
061403,000687: 17,3107 00026 +TJMINT6 DEC 22 B-14
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Page 1456
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061405,000689: 17,3110 77417 -150MS DEC -240 B-14
061406,000690: 17,3111 00600 BIT8,9 OCT 00600
061407,000691: 17,3112 00266 SCLNORM OCT 266
061408,000692: 17,3113 02671 TJLAWADR GENADR TJLAW +3 # RETURN ADDRESS FOR RCS ATTITUDE CONTROL
061409,000693:
061410,000694: # THE JET LIST:
061411,000695: # THIS IS A WAITLIST FOR T6RUPTS.
061412,000696:
061413,000697: # CALLED BY:
061414,000698: # CA TJ TIME WHEN NEXT JETS WILL BE WRITTEN
061415,000699: # TS T6FURTHA
061416,000700: # CA INDEX AXIS TO BE WIRTTEN AT TJ (FROM NOW)
061417,000701: # TS T6FURTHA +1
061418,000702: # TC JTLST
061419,000703:
061420,000704: # EXAMPLE - U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
061421,000705: # JETS INTO CHANNEL 5. IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
061422,000706: # 150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
061423,000707: # CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
061424,000708: # OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
061425,000709:
061426,000710: # THE LIST IS EXACTLY 3 LONG. (THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
061427,000711: # THE INPUT IS THE LAST MEMBER OF THE LIST
061428,000712:
061429,000713: # RETURNS BY:
061430,000714: # + TC Q
061431,000715:
061432,000716: # DEFINITIONS: (OUTPUT)
061433,000717: # TIME6 TIME OF NEXT RUPT
061434,000718: # T6NEXT DELTA TIME TO NEXT RUPT
061435,000719: # T6FURTHA DELTA TIME FROM 2ND TO LAST RUPT
061436,000720: # NXT6ADR AXIS INDEX Q - P-AXIS
061437,000721: # T6NEXT +1 AXIS INDEX 4 - U-AXIS
061438,000722: # T6FURTHA +1 AXIS INDEX 13 - V-AXIS
061439,000723:
061440,000724: 17,3114 41470 JTLST CS T6FURTHA
061441,000725: 17,3115 60031 AD TIME6
061442,000726: 17,3116 00006 EXTEND
061443,000727: 17,3117 63131 BZMF MIDORLST # TIME6 - T IS IN A
061444,000728:
061445,000729: 17,3120 23465 LXCH NXT6ADR
061446,000730: 17,3121 53467 DXCH T6NEXT
061447,000731: 17,3122 53471 DXCH T6FURTHA
061448,000732: 17,3123 54031 TS TIME6
061449,000733: 17,3124 23465 LXCH NXT6ADR
061450,000734:
061451,000735: 17,3125 34735 TURNON CA BIT15
061452,000736: 17,3126 00006 EXTEND
061453,000737: 17,3127 05013 WOR CHAN13
061454,000738: 17,3130 00002 TC Q
061455,000739:
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Page 1457
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061457,000741: 17,3131 61466 MIDORLST AD T6NEXT
061458,000742: 17,3132 00006 EXTEND
061459,000743: 17,3133 63142 BZMF LASTCHG # TIME6 + T6NEXT - T IS IN A
061460,000744:
061461,000745: 17,3134 23467 LXCH T6NEXT +1
061462,000746: 17,3135 53471 DXCH T6FURTHA
061463,000747: 17,3136 00006 EXTEND
061464,000748: 17,3137 60031 SU TIME6
061465,000749: 17,3140 53467 DXCH T6NEXT
061466,000750:
061467,000751: 17,3141 00002 TC Q
061468,000752:
061469,000753: 17,3142 40000 LASTCHG CS A
061470,000754: 17,3143 64754 AD NEG0
061471,000755: 17,3144 55470 TS T6FURTHA
061472,000756:
061473,000757: 17,3145 00002 TC Q
061474,000758:
061475,000759: # ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
061476,000760: # ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM. IN THE U-V SYSTEM NO CROSS-COUPLING IS
061477,000761: # PRODUCED FROM RCS JET FIRINGS. AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
061478,000762: # A AND THE V-COMPONENT IS IN L.
061479,000763:
061480,000764: 17,3146 23740 ROT-TOUV LXCH ROTEMP2 # (R) IS PUT INTO ROTEMP2
061481,000765: 17,3147 00006 EXTEND
061482,000766: 17,3150 71627 MP COEFFQ
061483,000767: 17,3151 57740 XCH ROTEMP2 # (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
061484,000768: 17,3152 00006 EXTEND
061485,000769: 17,3153 71630 MP COEFFR
061486,000770: 17,3154 54001 TS L # COEFFR.(R) IS PUT INTO L
061487,000771: 17,3155 61740 AD ROTEMP2
061488,000772: 17,3156 55737 TS ROTEMP1 # COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
061489,000773: 17,3157 13163 TCF +4
061490,000774: 17,3160 50000 INDEX A # COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
061491,000775: 17,3161 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
061492,000776: 17,3162 55737 TS ROTEMP1
061493,000777: 17,3163 41740 CS ROTEMP2
061494,000778: 17,3164 60001 AD L # -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
061495,000779: 17,3165 54007 TS 7
061496,000780: 17,3166 13171 TCF +3
061497,000781: 17,3167 50000 INDEX A # -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
061498,000782: 17,3170 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
061499,000783: 17,3171 23737 LXCH ROTEMP1 # COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
061500,000784: 17,3172 00002 TC Q
061501,000785: 17,3173 51744 SELCTSUB INDEX ROTINDEX
061502,000786: 17,3174 33225 CA ALLJETS
061503,000787: 17,3175 51743 INDEX NUMBERT
061504,000788: 17,3176 73231 MASK TYPEPOLY
061505,000789: 17,3177 55741 TS POLYTEMP
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Page 1458
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061507,000791: 17,3200 71262 MASK CH5MASK
061508,000792: 17,3201 10000 CCS A
061509,000793: 17,3202 13204 TCF +2
061510,000794:
061511,000795: 17,3203 00002 TC Q
061512,000796:
061513,000797: 17,3204 36245 CA THREE
061514,000798: 17,3205 55743 FAILOOP TS NUMBERT
061515,000799: 17,3206 51744 INDEX ROTINDEX
061516,000800: 17,3207 33225 CA ALLJETS
061517,000801: 17,3210 51743 INDEX NUMBERT
061518,000802: 17,3211 73231 MASK TYPEPOLY
061519,000803: 17,3212 55741 TS POLYTEMP
061520,000804: 17,3213 71262 MASK CH5MASK
061521,000805: 17,3214 00006 EXTEND
061522,000806: 17,3215 13203 BZF FAILOOP -2
061523,000807: 17,3216 11743 CCS NUMBERT
061524,000808: 17,3217 13205 TCF FAILOOP
061525,000809: 17,3220 51505 INDEX AXISCTR
061526,000810: 17,3221 55525 TS TJU
061527,000811: 17,3222 05567 TC ALARM
061528,000812: 17,3223 02004 OCT 02004
061529,000813: 17,3224 12777 TCF NOROTAT
061530,000814: 17,3225 00110 ALLJETS OCT 00110 # -U 6 13
061531,000815: 17,3226 00022 OCT 00022 # -V 2 9
061532,000816: 17,3227 00204 OCT 00204 # +U 5 14
061533,000817: 17,3230 00041 OCT 00041 # +V 1 10
061534,000818: 17,3231 00125 TYPEPOLY OCT 00125 # -X 1 5 9 13
061535,000819: 17,3232 00252 OCT 00252 # +X 2 6 10 14
061536,000820: 17,3233 00146 OCT 00146 # A 2 5 10 13
061537,000821: 17,3234 00231 OCT 00231 # B 1 6 9 14
061538,000822: 17,3235 00377 OCT 00377 # ALL 1 2 5 6 9 10 13 14
061539,000823:
061540,000824: # THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
061541,000825:
061542,000826: 17,3236 33240 CLOSEOUT CA ADRRUPT
061543,000827: 17,3237 07754 TC MAKERUPT
061544,000828:
061545,000829: 17,3240 03241 ADRRUPT ADRES ENDJASK
061546,000830:
061547,000831: 17,3241 53754 ENDJASK DXCH DAPARUPT
061548,000832: 17,3242 52011 DXCH ARUPT
061549,000833: 17,3243 53756 DXCH DAPBQRPT
061550,000834: 17,3244 56017 XCH BRUPT
061551,000835: 17,3245 22002 LXCH Q
061552,000836: 17,3246 34735 CAF NEGMAX # NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
061553,000837: 17,3247 53760 DXCH DAPZRUPT
061554,000838: 17,3250 52016 DXCH ZRUPT
061555,000839: 17,3251 15272 TCF NOQRSM
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Page 1459
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061557,000841: 7754 BLOCK 3
061558,000842: 6000 SETLOC FFTAG6
061559,000843: 6000 BANK
061560,000844:
061561,000845: 7754 COUNT* $$/DAP
061562,000846:
061563,000847: 7754 00006 MAKERUPT EXTEND
061564,000848: 7755 07754 EDRUPT MAKERUPT
061565,000849:
End of include-file Q,R-AXES_RCS_AUTOPILOT.agc. Parent file is MAIN.agc