Source Code
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These source-code files are part of a reconstructed copy of Luminary 97, the
second release of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software. It was created to fix two incorrect ephemeris constants in
Luminary 96, as described by anomaly report LNY-59.
The reconstruction began with source code of Luminary 99 revision 1 previously
transcribed from a digitized copy of that program. The code was then updated
by undoing changes described in original Luminary memos 83 and 85, using asterisks
indicating changed lines in the listing as a guide. 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 97 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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060017,000002: ## Copyright: Public domain.
060018,000003: ## Filename: P-AXIS_RCS_AUTOPILOT.agc
060019,000004: ## Purpose: A section of Luminary revision 97.
060020,000005: ## It is part of the reconstructed source code for the
060021,000006: ## second release of the flight software for the Lunar
060022,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
060023,000008: ## It was created to fix two incorrect ephemeris constants in
060024,000009: ## Luminary 96, as described by anomaly report LNY-59.
060025,000010: ## The code has been recreated from a copy of Luminary 99
060026,000011: ## revision 001, using asterisks indicating changed lines in
060027,000012: ## the listing and Luminary Memos #83 and #85, which list
060028,000013: ## changes between Luminary 97 and 98, and 98 and 99. The
060029,000014: ## code has been adapted such that the resulting bugger words
060030,000015: ## exactly match those specified for Luminary 97 in NASA drawing
060031,000016: ## 2021152D, which gives relatively high confidence that the
060032,000017: ## reconstruction is correct.
060033,000018: ## Reference: pp. 1421-1441
060034,000019: ## Assembler: yaYUL
060035,000020: ## Contact: Ron Burkey <info@sandroid.org>.
060036,000021: ## Website: www.ibiblio.org/apollo/index.html
060037,000022: ## Mod history: 2019-07-28 MAS Created from Luminary 99.
060038,000023:
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Page 1421
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060040,000025: 16,2213 BANK 16
060041,000026: 16,2000 SETLOC DAPS1
060042,000027: 16,2000 BANK
060043,000028:
060044,000029: 16,2213 E6,1464 EBANK= PERROR
060045,000030: 16,2213 COUNT* $$/DAPP
060046,000031:
060047,000032: # THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS.
060048,000033: # THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP.
060049,000034:
060050,000035: 16,2213 37727 PAXIS CA MS100
060051,000036: 16,2214 26030 ADS TIME5 # *** NECESSARY IN ORDER TO ALLOW SYN-
060052,000037: # CHRONIZATION WITH OTHER INTERRUPTS ***
060053,000038:
060054,000039: 16,2215 22016 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
060055,000040: 16,2216 00006 EXTEND
060056,000041: 16,2217 22012 QXCH QRUPT
060057,000042:
060058,000043: # CHECK IF DAP PASS IS PERMISSIBLE
060059,000044:
060060,000045: 16,2220 11757 CCS DAPZRUPT # IF DAPZRUPT POSITIVE, DAP (JASK) IS
060061,000046: 16,2221 05634 TC BAILOUT # STILL IN PROGRESS AND A RESTART IS
060062,000047: 16,2222 02000 OCT 02000 # CALLED FOR. IT IS NEVER ZERO.
060063,000048:
060064,000049: 16,2223 02000 TC CHEKBITS # RETURN IS TO I+1 IF DAP SHOULD STAY ON.
060065,000050:
060066,000051: 16,2224 30032 CA CDUX # READ AND STORE CDU'S
060067,000052: 16,2225 55750 TS DAPTREG4
060068,000053: 16,2226 30033 CA CDUY
060069,000054: 16,2227 55751 TS DAPTREG5
060070,000055: 16,2230 30034 CA CDUZ
060071,000056: 16,2231 55752 TS DAPTREG6
060072,000057:
060073,000058: # ***** KALCMANU-DAP AND "RATE-HOLD"-DAP INTERFACE *****
060074,000059:
060075,000060: # THE FOLLOWING SECTION IS EXECUTED EVERY 100 MS (10 TIMES A SECOND) WITHIN THE P-AXIS REACTION CONTROL SYSTEM
060076,000061: # AUTOPILOT (WHENEVER THE DAP IS IN OPERATION).
060077,000062:
060078,000063: 16,2232 31635 CA CDUXD
060079,000064: 16,2233 00006 EXTEND
060080,000065: 16,2234 21640 MSU DELCDUX
060081,000066: 16,2235 02256 TC 1STOTWOS
060082,000067: 16,2236 55635 TS CDUXD
060083,000068: 16,2237 31636 CA CDUYD
060084,000069: 16,2240 00006 EXTEND
060085,000070: 16,2241 21641 MSU DELCDUY
060086,000071: 16,2242 02256 TC 1STOTWOS
060087,000072: 16,2243 55636 TS CDUYD
060088,000073: 16,2244 31637 CA CDUZD
060089,000074: 16,2245 00006 EXTEND
060090,000075: 16,2246 21642 MSU DELCDUZ
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Page 1422
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060092,000077: 16,2247 02256 TC 1STOTWOS
060093,000078: 16,2250 55637 TS CDUZD
060094,000079: 16,2251 00006 EXTEND # DIMINISH MANUAL CONTROL DIRECT RATE
060095,000080: 16,2252 27445 DIM TCP # TIME COUNTERS.
060096,000081: 16,2253 00006 EXTEND
060097,000082: 16,2254 27457 DIM TCQR
060098,000083:
060099,000084: # RATELOOP COMPUTES JETRATEQ, JETRATER, AND 1JACC*NO. PJETS IN ITEMP1.
060100,000085: # RETURNS TO BACKP.
060101,000086:
060102,000087: # JETRATE = 1JACC*NO.PJETS*TJP (NOTE TJ IS THE TIME FIRED DURING CSP)
060103,000088: # JETRATEQ = 1JACCQ(TJU*NO.UJETS - TJV*NO.VJETS)
060104,000089: # JETRATER = 1JACCR(TJU*NO.UJETS + TJV*NO.VJETS)
060105,000090:
060106,000091: 16,2255 12647 TCF PAXFILT # PROCEEDS TO RATELOOP AFTER SUPERJOB
060107,000092: 16,2256 10000 1STOTWOS CCS A
060108,000093: 16,2257 64753 AD ONE
060109,000094: 16,2260 00002 TC Q
060110,000095: 16,2261 40000 CS A
060111,000096: 16,2262 00002 TC Q
060112,000097: 16,2263 00006 SUBDIVDE EXTEND # OVERFLOW PROCTION ROUTINE TO GIVE
060113,000098: 16,2264 71741 MP DAPTEMP3 # POSMAX OR NEGMAX IF THE DIVIDE WOULD
060114,000099: 16,2265 21427 DAS OMEGAU # OVERFLOW
060115,000100:
060116,000101: 16,2266 00006 +3 EXTEND
060117,000102: 16,2267 31427 DCA OMEGAU
060118,000103: 16,2270 53744 DXCH DAPTEMP5
060119,000104: 16,2271 11426 CCS OMEGAU
060120,000105: 16,2272 12274 TCF +2
060121,000106: 16,2273 12304 TCF DIVIDER
060122,000107: 16,2274 62315 AD -OCT630
060123,000108: 16,2275 00006 EXTEND
060124,000109: 16,2276 62304 BZMF DIVIDER
060125,000110:
060126,000111: 16,2277 11426 CCS OMEGAU
060127,000112: 16,2300 34733 CA POSMAX # 45 DEG/SEC
060128,000113: 16,2301 00002 TC Q
060129,000114: 16,2302 44733 CS POSMAX
060130,000115: 16,2303 00002 TC Q
060131,000116:
060132,000117: 16,2304 53427 DIVIDER DXCH OMEGAU
060133,000118: 16,2305 00006 EXTEND
060134,000119: 16,2306 11750 DV DAPTREG4
060135,000120: 16,2307 00002 TC Q
060136,000121:
060137,000122: 16,2310 54007 OVERSUB TS 7 # RETURNS A UNCHANGED OR LIMITED TO
060138,000123: 16,2311 00002 TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW
060139,000124: 16,2312 50000 INDEX A
060140,000125: 16,2313 44734 CS BIT15 -1
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Page 1423
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060142,000127: 16,2314 00002 TC Q
060143,000128:
060144,000129: 16,2315 77147 -OCT630 OCT 77147
060145,000130:
060146,000131: 16,2316 31737 BACKP CA DAPTEMP1
060147,000132: 16,2317 00006 EXTEND
060148,000133: 16,2320 71530 MP 1JACC
060149,000134: 16,2321 55745 TS JETRATE
060150,000135:
060151,000136: # BEGINNING OF THE RATE DERIVATION
060152,000137: # OMEGAP,Q,R BODY RATES SCALED AT PI/4
060153,000138: # TRAPER,Q,R BODY ANGLE ERRORS FROM PREDICTED ANGLE (PI/40)
060154,000139: # NP(QR)TRAPS NUMBER OF TIMES ANGLE ERROR HAS BEEN ACCUMULATED
060155,000140: # AOSQ(R)TERM CHANGE IN RATE DUE TO OFFSET ACCELLERATION. (PI/4)
060156,000141: # JETRATE,Q,R CHANGE IN RATE DUE TO JET ACCELLERATION. (PI/4)
060157,000142: # TRAPSIZE NEGATIVE LIMIT OF MAGNITUDE OF TRAPEDP, ECT.
060158,000143: # OMEGAU DP-TEMPORARY STORAGE
060159,000144: # OMEGA = OMEGA + JETRATE + AOSTERM (+TRAPED/NTRAPS IF TRAPED BIG)
060160,000145:
060161,000146: 16,2322 31750 CAE DAPTREG4 # CDUX IS STORED HERE
060162,000147: 16,2323 54001 TS L
060163,000148: 16,2324 00006 EXTEND
060164,000149: 16,2325 21440 MSU OLDXFORP # SCALED AT PI
060165,000150: 16,2326 23440 LXCH OLDXFORP
060166,000151: 16,2327 55737 TS DAPTEMP1
060167,000152: 16,2330 33620 CA 1/40
060168,000153: 16,2331 55750 TS DAPTREG4
060169,000154: 16,2332 41745 CS JETRATE
060170,000155: 16,2333 00006 EXTEND
060171,000156: 16,2334 74736 MP BIT14
060172,000157: 16,2335 27430 ADS TRAPEDP
060173,000158: 16,2336 31746 CA JETRATEQ
060174,000159: 16,2337 61545 AD AOSQTERM
060175,000160: 16,2340 00006 EXTEND
060176,000161: 16,2341 77736 MP -BIT14
060177,000162: 16,2342 27431 ADS TRAPEDQ
060178,000163: 16,2343 31747 CA JETRATER
060179,000164: 16,2344 61546 AD AOSRTERM
060180,000165: 16,2345 00006 EXTEND
060181,000166: 16,2346 77736 MP -BIT14
060182,000167: 16,2347 27432 ADS TRAPEDR
060183,000168:
060184,000169: 16,2350 31751 CA DAPTREG5 # CDUY IS STORED HERE
060185,000170: 16,2351 54001 TS L
060186,000171: 16,2352 00006 EXTEND
060187,000172: 16,2353 21441 MSU OLDYFORP # SCALED AT PI
060188,000173: 16,2354 23441 LXCH OLDYFORP
060189,000174: 16,2355 55740 TS DAPTEMP2
060190,000175: 16,2356 00006 EXTEND
060191,000176: 16,2357 71414 MP M11 # M11 SCALED AT 1
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Page 1424
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060193,000178: 16,2360 61737 AD DAPTEMP1
060194,000179: 16,2361 53427 DXCH OMEGAU
060195,000180:
060196,000181: 16,2362 02266 TC SUBDIVDE +3 # RETURNS WITH CDU-RATE AT PI/4
060197,000182:
060198,000183: 16,2363 00006 EXTEND
060199,000184: 16,2364 61421 SU OMEGAP
060200,000185: 16,2365 27430 ADS TRAPEDP
060201,000186: 16,2366 02310 TC OVERSUB
060202,000187: 16,2367 55430 TS TRAPEDP
060203,000188: 16,2370 00006 EXTEND
060204,000189: 16,2371 31744 DCA DAPTEMP5
060205,000190: 16,2372 21447 DAS DXERROR
060206,000191: 16,2373 41454 CS PLAST
060207,000192: 16,2374 00006 EXTEND
060208,000193: 16,2375 73620 MP 1/40
060209,000194: 16,2376 21447 DAS DXERROR # MANUAL MODE X-ATTITUDE ERROR (DP)
060210,000195: 16,2377 31752 CA DAPTREG6 # CDUZ IS STORED HERE
060211,000196: 16,2400 54001 TS L
060212,000197: 16,2401 00006 EXTEND
060213,000198: 16,2402 21442 MSU OLDZFORQ
060214,000199: 16,2403 55741 TS DAPTEMP3
060215,000200: 16,2404 23442 LXCH OLDZFORQ
060216,000201: 16,2405 31415 CA M21
060217,000202: 16,2406 00006 EXTEND
060218,000203: 16,2407 71740 MP DAPTEMP2
060219,000204: 16,2410 53427 DXCH OMEGAU
060220,000205: 16,2411 31417 CA M22
060221,000206: 16,2412 02263 TC SUBDIVDE
060222,000207:
060223,000208: 16,2413 00006 EXTEND
060224,000209: 16,2414 61422 SU OMEGAQ
060225,000210: 16,2415 27431 ADS TRAPEDQ
060226,000211: 16,2416 02310 TC OVERSUB
060227,000212: 16,2417 55431 TS TRAPEDQ
060228,000213: 16,2420 00006 EXTEND
060229,000214: 16,2421 31744 DCA DAPTEMP5
060230,000215: 16,2422 21451 DAS DYERROR
060231,000216: 16,2423 41455 CS QLAST
060232,000217: 16,2424 00006 EXTEND
060233,000218: 16,2425 73620 MP 1/40
060234,000219: 16,2426 21451 DAS DYERROR # MANUAL MODE Y-ATTITUDE ERROR (DP)
060235,000220: 16,2427 31416 CA M31
060236,000221: 16,2430 00006 EXTEND
060237,000222: 16,2431 71740 MP DAPTEMP2
060238,000223: 16,2432 53427 DXCH OMEGAU
060239,000224: 16,2433 31420 CA M32
060240,000225:
060241,000226: 16,2434 02263 TC SUBDIVDE
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Page 1425
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060243,000228: 16,2435 00006 EXTEND
060244,000229: 16,2436 61423 SU OMEGAR
060245,000230: 16,2437 27432 ADS TRAPEDR
060246,000231: 16,2440 02310 TC OVERSUB
060247,000232: 16,2441 55432 TS TRAPEDR # TRAPEDS HAVE ALL BEEN COMPUTED
060248,000233:
060249,000234: 16,2442 00006 EXTEND
060250,000235: 16,2443 31744 DCA DAPTEMP5
060251,000236: 16,2444 21453 DAS DZERROR
060252,000237: 16,2445 41456 CS RLAST
060253,000238: 16,2446 00006 EXTEND
060254,000239: 16,2447 73620 MP 1/40
060255,000240: 16,2450 21453 DAS DZERROR # MANUAL MODE Z-ATTITUDE ERROR (DP)
060256,000241: 16,2451 30111 CA DAPBOOLS # PICK UP PAD LOADED STATE ESTIMATOR GAINS
060257,000242: 16,2452 74737 MASK CSMDOCKD
060258,000243: 16,2453 00006 EXTEND
060259,000244: 16,2454 12462 BZF LMONLY
060260,000245: 16,2455 00006 EXTEND # DOCKED
060261,000246: 16,2456 31405 DCA DKOMEGAN
060262,000247: 16,2457 53751 DXCH DAPTREG4
060263,000248: 16,2460 31403 CA DKTRAP
060264,000249: 16,2461 12466 TCF +5
060265,000250: 16,2462 00006 LMONLY EXTEND # UNDOCKED
060266,000251: 16,2463 31410 DCA LMOMEGAN
060267,000252: 16,2464 53751 DXCH DAPTREG4
060268,000253: 16,2465 31406 CA LMTRAP
060269,000254: 16,2466 55752 +5 TS DAPTREG6
060270,000255: 16,2467 11430 CCS TRAPEDP
060271,000256: 16,2470 12472 TCF +2
060272,000257: 16,2471 12507 TCF SMALPDIF
060273,000258: 16,2472 61752 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
060274,000259: 16,2473 00006 EXTEND
060275,000260: 16,2474 62507 BZMF SMALPDIF
060276,000261: 16,2475 22007 ZL
060277,000262: 16,2476 23430 LXCH TRAPEDP
060278,000263: 16,2477 34755 CA ZERO
060279,000264: 16,2500 00006 EXTEND
060280,000265: 16,2501 11433 DV NPTRAPS
060281,000266: 16,2502 27421 ADS OMEGAP
060282,000267: 16,2503 02310 TC OVERSUB
060283,000268: 16,2504 55421 TS OMEGAP
060284,000269: 16,2505 31750 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
060285,000270: 16,2506 55433 TS NPTRAPS
060286,000271: 16,2507 25433 SMALPDIF INCR NPTRAPS
060287,000272: 16,2510 31745 P-RATE CA JETRATE
060288,000273: 16,2511 27421 ADS OMEGAP
060289,000274: 16,2512 02310 TC OVERSUB
060290,000275: 16,2513 55421 TS OMEGAP
060291,000276:
060292,000277: 16,2514 11431 CCS TRAPEDQ
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Page 1426
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060294,000279: 16,2515 12517 TCF +2
060295,000280: 16,2516 12544 TCF Q-RATE
060296,000281: 16,2517 61752 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
060297,000282: 16,2520 00006 EXTEND
060298,000283: 16,2521 62544 BZMF Q-RATE
060299,000284: 16,2522 22007 ZL
060300,000285: 16,2523 23431 LXCH TRAPEDQ
060301,000286: 16,2524 34755 CA ZERO
060302,000287: 16,2525 00006 EXTEND
060303,000288: 16,2526 11434 DV NQTRAPS
060304,000289: 16,2527 55737 TS DAPTEMP1 # SAVE FOR OFFSET ESTIMATE
060305,000290: 16,2530 27422 ADS OMEGAQ
060306,000291: 16,2531 02310 TC OVERSUB
060307,000292: 16,2532 55422 TS OMEGAQ
060308,000293: 16,2533 31750 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
060309,000294: 16,2534 57434 XCH NQTRAPS
060310,000295: 16,2535 61751 AD DAPTREG5 # KAOS > ABOUT 60D %N/N_60"
060311,000296: 16,2536 57737 XCH DAPTEMP1
060312,000297: 16,2537 00006 EXTEND
060313,000298: 16,2540 74756 MP FIVE
060314,000299: 16,2541 00006 EXTEND
060315,000300: 16,2542 11737 DV DAPTEMP1
060316,000301: 16,2543 27537 ADS AOSQ
060317,000302: 16,2544 25434 Q-RATE INCR NQTRAPS
060318,000303: 16,2545 31746 CA JETRATEQ
060319,000304: 16,2546 61545 AD AOSQTERM
060320,000305: 16,2547 27422 ADS OMEGAQ
060321,000306: 16,2550 02310 TC OVERSUB
060322,000307: 16,2551 55422 TS OMEGAQ
060323,000308:
060324,000309: 16,2552 11432 CCS TRAPEDR
060325,000310: 16,2553 12555 TCF +2
060326,000311: 16,2554 12602 TCF R-RATE
060327,000312: 16,2555 61752 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
060328,000313: 16,2556 00006 EXTEND
060329,000314: 16,2557 62602 BZMF R-RATE
060330,000315: 16,2560 22007 ZL
060331,000316: 16,2561 23432 LXCH TRAPEDR
060332,000317: 16,2562 34755 CA ZERO
060333,000318: 16,2563 00006 EXTEND
060334,000319: 16,2564 11435 DV NRTRAPS
060335,000320: 16,2565 55740 TS DAPTEMP2 # SAVE FOR OFFSET ESTIMATE
060336,000321: 16,2566 27423 ADS OMEGAR
060337,000322: 16,2567 02310 TC OVERSUB
060338,000323: 16,2570 55423 TS OMEGAR
060339,000324: 16,2571 31750 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
060340,000325: 16,2572 57435 XCH NRTRAPS
060341,000326: 16,2573 61751 AD DAPTREG5 # KAOS > ABOUT 60D %N/N_60"
060342,000327: 16,2574 57740 XCH DAPTEMP2
060343,000328: 16,2575 00006 EXTEND
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Page 1427
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060345,000330: 16,2576 74756 MP FIVE
060346,000331: 16,2577 00006 EXTEND
060347,000332: 16,2600 11740 DV DAPTEMP2
060348,000333: 16,2601 27541 ADS AOSR
060349,000334: 16,2602 25435 R-RATE INCR NRTRAPS
060350,000335: 16,2603 31747 CA JETRATER
060351,000336: 16,2604 61546 AD AOSRTERM
060352,000337: 16,2605 27423 ADS OMEGAR
060353,000338: 16,2606 02310 TC OVERSUB
060354,000339: 16,2607 55423 TS OMEGAR
060355,000340:
060356,000341: # END OF RATE DERIVATION
060357,000342: # BEGIN OFFSET ESTIMATER
060358,000343: # IN POWERED FLIGHT, AOSTASK WILL BE CALLED EVERY 2 SECONDS.
060359,000344: # AOS = AOS + K*SUMRATE
060360,000345:
060361,000346: 16,2610 40111 CS DAPBOOLS
060362,000347: 16,2611 74744 MASK DRIFTBIT
060363,000348: 16,2612 10000 CCS A
060364,000349: 16,2613 12624 TCF WORKTIME
060365,000350: 16,2614 55424 TS ALPHAQ # ZERO THE OFFSET ACCELERATION VALUES.
060366,000351: 16,2615 55425 TS ALPHAR
060367,000352: 16,2616 55545 TS AOSQTERM
060368,000353: 16,2617 55546 TS AOSRTERM
060369,000354: 16,2620 55537 TS AOSQ
060370,000355: 16,2621 55541 TS AOSR
060371,000356: 16,2622 12667 TCF PRETIMCK
060372,000357: 16,2623 00074 KAOS DEC 60 B-14
060373,000358: 16,2624 31510 WORKTIME CA QACCDOT
060374,000359: 16,2625 00006 EXTEND
060375,000360: 16,2626 74766 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
060376,000361: 16,2627 21540 DAS AOSQ
060377,000362: 16,2630 31537 CA AOSQ
060378,000363: 16,2631 55424 TS ALPHAQ
060379,000364: 16,2632 00006 EXTEND
060380,000365: 16,2633 73616 MP 200MS # .2 AT 1
060381,000366: 16,2634 55545 TS AOSQTERM
060382,000367: 16,2635 31512 CA RACCDOT
060383,000368: 16,2636 00006 EXTEND
060384,000369: 16,2637 74766 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
060385,000370: 16,2640 21542 DAS AOSR
060386,000371: 16,2641 31541 CA AOSR
060387,000372: 16,2642 55425 TS ALPHAR
060388,000373: 16,2643 00006 EXTEND
060389,000374: 16,2644 73616 MP 200MS # .2 AT 1
060390,000375: 16,2645 55546 TS AOSRTERM
060391,000376: 16,2646 12667 TCF PRETIMCK
060392,000377:
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Page 1428
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060394,000379: 16,2647 34747 PAXFILT CA CALLGMBL # EXECUTE ACDT+C12, IF NEEDED.
060395,000380: 16,2650 71273 MASK RCSFLAGS
060396,000381: 16,2651 10000 CCS A # CALLGMBL IS NOT BIT15, SO THIS TEST IS
060397,000382: 16,2652 03736 TC ACDT+C12 # VALID.
060398,000383:
060399,000384: 16,2653 52011 DXCH ARUPT
060400,000385: 16,2654 53754 DXCH DAPARUPT
060401,000386: 16,2655 32666 CA SUPERJOB # SETTING UP THE SUPERJOB
060402,000387: 16,2656 56017 XCH BRUPT
060403,000388: 16,2657 22012 LXCH QRUPT
060404,000389: 16,2660 53756 DXCH DAPBQRPT
060405,000390: 16,2661 32665 CA SUPERADR
060406,000391: 16,2662 52016 DXCH ZRUPT
060407,000392: 16,2663 53760 DXCH DAPZRUPT
060408,000393: 16,2664 15275 TCF NOQBRSM +1 # RELINT (JUST IN CASE) AND RESUME, IN THE
060409,000394: # FORM OF A JASK, AT SUPERJOB.
060410,000395:
060411,000396: 16,2665 02667 SUPERADR GENADR SUPERJOB +1
060412,000397:
060413,000398: # COUNT DOWN GIMBAL DRIVE TIMERS AND TURN OFF DRIVES IF REQUIRED.
060414,000399:
060415,000400: 16,2666 13641 SUPERJOB TCF RATELOOP
060416,000401: 16,2667 11632 PRETIMCK CCS QGIMTIMR
060417,000402: 16,2670 12710 TCF DECQTIMR # POSITIVE - COUNTING DOWN
060418,000403: 16,2671 12714 TCF TURNOFFQ # NEGATIVE - DRIVE SHOULD BE ENDED
060419,000404: 16,2672 11634 CHKRTIMR CCS RGIMTIMR # NEGATIVE - INACTIVE
060420,000405: 16,2673 12712 TCF DECRTIMR # (NEG ZERO - IMPOSSIBLE)
060421,000406: 16,2674 12724 TCF TURNOFFR # REPEATED (ABOVE) FOR R AXIS.
060422,000407:
060423,000408: 16,2675 00006 EXTEND # DECREMENT DOCKED JET INHIBITION COUNTERS
060424,000409: 16,2676 27767 DIM PJETCTR
060425,000410: 16,2677 00006 EXTEND
060426,000411: 16,2700 27770 DIM UJETCTR
060427,000412: 16,2701 00006 EXTEND
060428,000413: 16,2702 27771 DIM VJETCTR
060429,000414: 16,2703 34740 CA BIT12
060430,000415: 16,2704 71273 MASK RCSFLAGS
060431,000416: 16,2705 00006 EXTEND
060432,000417: 16,2706 12734 BZF SKIPPAXS
060433,000418: 16,2707 02740 TC CHKVISFZ
060434,000419: 16,2710 55632 DECQTIMR TS QGIMTIMR # COUNT TIMERS DOWN TO POS ZERO.
060435,000420: 16,2711 12672 TCF CHKRTIMR
060436,000421: 16,2712 55634 DECRTIMR TS RGIMTIMR
060437,000422: 16,2713 12675 TCF CHKRTIMR +3
060438,000423:
060439,000424: 16,2714 55501 TURNOFFQ TS NEGUQ # HALT DRIVES.
060440,000425: 16,2715 55510 TS QACCDOT
060441,000426: 16,2716 45007 CS QGIMBITS
060442,000427: 16,2717 00006 EXTEND
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Page 1429
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060444,000429: 16,2720 03012 WAND CHAN12
060445,000430: 16,2721 34735 CAF NEGMAX
060446,000431: 16,2722 55632 TS QGIMTIMR
060447,000432: 16,2723 12672 TCF CHKRTIMR
060448,000433: 16,2724 55503 TURNOFFR TS NEGUR
060449,000434: 16,2725 55512 TS RACCDOT
060450,000435: 16,2726 45020 CS RGIMBITS
060451,000436: 16,2727 00006 EXTEND
060452,000437: 16,2730 03012 WAND CHAN12
060453,000438: 16,2731 34735 CAF NEGMAX
060454,000439: 16,2732 55634 TS RGIMTIMR
060455,000440: 16,2733 12675 TCF CHKRTIMR +3
060456,000441: 16,2734 5007 QGIMBITS EQUALS OCT1400 # BITS 9 AND 10 (OF CHANNEL 12).
060457,000442: 16,2734 5020 RGIMBITS EQUALS PRIO6 # BITS 11 AND 12 (OF CHANNEL 12).
060458,000443:
060459,000444: 16,2734 41273 SKIPPAXS CS RCSFLAGS
060460,000445: 16,2735 74740 MASK BIT12
060461,000446: 16,2736 27273 ADS RCSFLAGS # BIT 12 SET TO 1.
060462,000447: 16,2737 13624 TCF QRAXIS # GO TO QRAXIS OR TO GTS.
060463,000448:
060464,000449: # Y-Z TRANSLATION
060465,000450:
060466,000451: # INPUT: BITS 9-12 OF CH31 (FROM TRANSLATION CONTROLER)
060467,000452:
060468,000453: # OUTPUT: NEXTP
060469,000454:
060470,000455: # NEXTP IS THE CHANNEL 6 CODE OF JETS FOR THE DESIRED TRANSLATION.
060471,000456: # IF THERE ARE FAILURES IN THE DESIRED POLICY, THEN
060472,000457: # (1) FOR DIAGONAL TRANS: UNFAILED PAIR
060473,000458: # ALARM (IF NO PAIR)
060474,000459: # (2) FOR PRINCIPAL TRANS: TRY TO TACK WITH DIAGONAL PAIRS
060475,000460: # ALARM (IF DIAGONAL PAIRS ARE FAILED)
060476,000461:
060477,000462: 16,2740 00006 CHKVISFZ EXTEND
060478,000463: 16,2741 00031 READ CHAN31
060479,000464: 16,2742 40000 CS A
060480,000465: 16,2743 73613 MASK 07400OCT
060481,000466: 16,2744 00006 EXTEND
060482,000467: 16,2745 13014 BZF TSNEXTP
060483,000468: 16,2746 00006 EXTEND
060484,000469: 16,2747 74745 MP BIT7
060485,000470: 16,2750 50000 INDEX A
060486,000471: 16,2751 33572 CA INDXYZ
060487,000472: 16,2752 55744 TS ROTINDEX
060488,000473: 16,2753 36242 TRYUORV CA SIX
060489,000474: 16,2754 03551 TC SELECTYZ
060490,000475: 16,2755 46242 CS SIX
060491,000476: 16,2756 61743 AD NUMBERT
060492,000477: 16,2757 00006 EXTEND
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Page 1430
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060494,000479: 16,2760 13013 BZF TSNEXTP -1
060495,000480: 16,2761 44756 CS FIVE
060496,000481: 16,2762 61744 AD ROTINDEX
060497,000482: 16,2763 00006 EXTEND
060498,000483: 16,2764 63002 BZMF ALTERYZ
060499,000484: 16,2765 41743 CS NUMBERT
060500,000485: 16,2766 64751 AD FOUR
060501,000486: 16,2767 00006 EXTEND
060502,000487: 16,2770 63013 BZMF TSNEXTP -1
060503,000488: 16,2771 05567 ABORTYZ TC ALARM
060504,000489: 16,2772 02001 OCT 02001
060505,000490: 16,2773 34753 CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
060506,000491: 16,2774 23273 LXCH RCSFLAGS
060507,000492: 16,2775 00006 EXTEND
060508,000493: 16,2776 06001 RXOR 1
060509,000494: 16,2777 55273 TS RCSFLAGS
060510,000495: 16,3000 34755 CA ZERO
060511,000496: 16,3001 13014 TCF TSNEXTP
060512,000497: 16,3002 34753 ALTERYZ CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
060513,000498: 16,3003 23273 LXCH RCSFLAGS
060514,000499: 16,3004 00006 EXTEND
060515,000500: 16,3005 06001 RXOR 1
060516,000501: 16,3006 55273 TS RCSFLAGS
060517,000502: 16,3007 74753 MASK BIT1
060518,000503: 16,3010 64751 AD FOUR
060519,000504: 16,3011 27744 ADS ROTINDEX
060520,000505: 16,3012 12753 TCF TRYUORV
060521,000506: 16,3013 31741 CA POLYTEMP
060522,000507: 16,3014 55472 TSNEXTP TS NEXTP
060523,000508:
060524,000509: # STATE LOGIC
060525,000510: # CHECK IN ORDER: IF ON
060526,000511: # LPDPHASE GO TO PURGENCY
060527,000512: # PULSES MINIMUM PULSE LOGIC
060528,000513: # DETENT(BIT15 CH31) RATE COMMAND
060529,000514: # GO TO PURGENCY
060530,000515:
060531,000516: 16,3015 34737 CA BIT13 # CHECK STICK IF IN ATT. HOLD.
060532,000517: 16,3016 00006 EXTEND
060533,000518: 16,3017 02031 RAND CHAN31
060534,000519: 16,3020 00006 EXTEND
060535,000520: 16,3021 13027 BZF MANMODE
060536,000521:
060537,000522: 16,3022 30111 CA DAPBOOLS
060538,000523: 16,3023 74743 MASK XOVINHIB
060539,000524: 16,3024 10000 CCS A
060540,000525: 16,3025 13463 TCF PURGENCY # ATTITUDE STEER DURING VISIBILITY PHASE
060541,000526:
060542,000527: 16,3026 13071 TCF DETENTCK
060543,000528: 16,3027 34735 MANMODE CA PULSES # PULSES IS ONE FOR PULSE MODE
060544,000529: 16,3030 70111 MASK DAPBOOLS
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Page 1431
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060546,000531: 16,3031 00006 EXTEND
060547,000532: 16,3032 13071 BZF DETENTCK # BRANCH FOR RATE COMMAND
060548,000533:
060549,000534: 16,3033 34755 CA ZERO
060550,000535: 16,3034 55464 TS PERROR
060551,000536:
060552,000537: # MINIMUM IMPULSE MODE
060553,000538:
060554,000539: 16,3035 30032 CA CDUX
060555,000540: 16,3036 55635 TS CDUXD
060556,000541:
060557,000542: 16,3037 11460 CCS OLDPMIN
060558,000543: 16,3040 13054 TCF CHECKP
060559,000544:
060560,000545: 16,3041 34751 FIREP CA BIT3
060561,000546: 16,3042 00006 EXTEND
060562,000547: 16,3043 02031 RAND CHAN31
060563,000548: 16,3044 00006 EXTEND
060564,000549: 16,3045 13064 BZF +XMIN
060565,000550:
060566,000551: 16,3046 34750 CA BIT4
060567,000552: 16,3047 00006 EXTEND
060568,000553: 16,3050 02031 RAND CHAN31
060569,000554: 16,3051 00006 EXTEND
060570,000555: 16,3052 13062 BZF -XMIN
060571,000556:
060572,000557: 16,3053 13442 TCF JETSOFF
060573,000558:
060574,000559: 16,3054 00006 CHECKP EXTEND
060575,000560: 16,3055 00031 READ CHAN31
060576,000561: 16,3056 40000 CS A
060577,000562: 16,3057 75751 MASK OCT14
060578,000563: 16,3060 55460 TS OLDPMIN
060579,000564: 16,3061 13442 TCF JETSOFF
060580,000565:
060581,000566: 16,3062 44363 -XMIN CS TEN # ANYTHING LESS THAN 14MS. CORRECTED
060582,000567: 16,3063 13065 TCF +2 # IN JET SELECTION ROUTINE
060583,000568: 16,3064 34363 +XMIN CA TEN
060584,000569: 16,3065 55524 TS TJP
060585,000570: 16,3066 34753 CA ONE
060586,000571: 16,3067 55460 TS OLDPMIN
060587,000572: 16,3070 13350 TCF PJETSLEC -6
060588,000573:
060589,000574: # MANUAL RATE COMMAND MODE
060590,000575: # ========================
060591,000576: # BY ROBERT F. STENGEL
060592,000577:
060593,000578: # THIS MODE PROVIDES RCAH MANUAL CONTROL THRU 2 CONTROL LAWS: 1) DIRECT RATE AND 2) PSEUDO-AUTO.
060594,000579: # THE DIRECT RATE MODE AFFORDS IMMEDIATE CONTROL WITHOUT OVERSHOOT. THE PSEUDO-AUTO MODE PROVIDES PRECISE
060595,000580: # RATE CONTROL AND ATTITUDE HOLD.
060596,000581:
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Page 1432
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060598,000583: # IN DIRECT RATE, JETS ARE FIRED WHEN STICK POSITION CHANGES BY A FIXED NUMBER OF INCREMENTS IN ONE DAP CYCLE.
060599,000584: # THE 'BREAKOUT LEVEL' IS .6 D/S FOR LM-ONLY AND .3 D/S FOR CSM-DOCKED. THIS LAW NULLS THE RATE ERROR TO WITHIN
060600,000585: # THE 'TARGET DEADBAND', WHICH EQUALS THE BREAKOUT LEVEL.
060601,000586:
060602,000587: # IN PSEUDO-AUTO, BODY-FIXED RATE AND ATTITUDE ERRORS ARE SUPPLIED TO TJETLAW, WHICH EXERCISES CONTROL.
060603,000588: # CONTROL SWITCHES FROM DIRECT RATE TO PSEUDO-AUTO IF THE TARGET DB IS ACHIEVED OR IF TIME IN (1) EXCEEDS 4 SEC.
060604,000589: # IF THE INITIAL COMMAND DOES NOT EXCEED THE BREAKOUT LEVEL, CONTROL GOES TO PSEUDO-AUTO IMMEDIATELY.
060605,000590:
060606,000591: # SINCE P-AXIS CONTROL IS SEPARATE FROM Q,R AXES CONTROL, IT IS POSSIBLE TO USE (1) IN P-AXIS AND (2) IN Q,R AXES,
060607,000592: # OR VICE VERSA. THIS ALLOWS A DEGREE OF ATTITUDE HOLD IN UNCONTROLLED AXES. DUE TO U,V CONTROL, HOWEVER, Q AND
060608,000593: # R AXES ARE COUPLED AND MUST USE THE SAME CONTROL LAW.
060609,000594:
060610,000595: # HAND CONTROLLER COMMANDS ARE SCALED BY A LINEAR/QUADRATIC LAW. FOR THE LM-ALONE, MAXIMUM COMMANDED RATES ARE 20
060611,000596: # AND 4 D/S IN NORMAL AND FINE SCALING; HOWEVER, STICK SENSITIVITY AT ZERO COUNTS (OBTAINED AT A STICK DEFLECTION
060612,000597: # OF 2 DEGREES FROM THE CENTERED POSITION) IS .5 OR .1 D/S PER DEGREE. NORMAL AND FINE SCALINGS FOR THE CSM-DOCKED
060613,000598: # CASE IS AUTOMATICALLY SET TO 1/10 THE ABOVE VALUES. SCALING IS DETERMINED IN ROUTINE 3.
060614,000599:
060615,000600: # ZEROENBL ENABLES COUNTERS SO THEY CAN BE READ NEXT TIME
060616,000601: # JUSTOUT FIRST DETECTION OF OUT OF DETENT (BY OURRCBIT)
060617,000602:
060618,000603: 16,3071 00006 DETENTCK EXTEND
060619,000604: 16,3072 00031 READ CHAN31
060620,000605: 16,3073 55443 TS CH31TEMP
060621,000606: 16,3074 74735 MASK BIT15 # CHECK OUT-OF-DETENT BIT.
060622,000607: 16,3075 00006 EXTEND
060623,000608: 16,3076 13223 BZF RHCMOVED # BRANCH IF OUT OF DETENT.
060624,000609: 16,3077 34740 CAF OURRCBIT # IN DETENT. CHECK THE RATE COMMAND BIT.
060625,000610: 16,3100 70111 MASK DAPBOOLS
060626,000611: 16,3101 00006 EXTEND
060627,000612: 16,3102 13463 BZF PURGENCY # BRANCH IF NOT IN RATE COMMAND LAST PASS.
060628,000613:
060629,000614: # ........................................................................
060630,000615:
060631,000616: 16,3103 34743 CA BIT9 # JUST IN DETENT??
060632,000617: 16,3104 71273 MASK RCSFLAGS
060633,000618: 16,3105 00006 EXTEND
060634,000619: 16,3106 13120 BZF RUTH
060635,000620: 16,3107 34737 CAF BIT13 # CHECK FOR ATTITUDE HOLD.
060636,000621: 16,3110 00006 EXTEND
060637,000622: 16,3111 02031 RAND CHAN31
060638,000623: 16,3112 00006 EXTEND
060639,000624: 16,3113 13220 BZF RATEDAMP # BRANCH IF IN ATTITUDE HOLD.
060640,000625:
060641,000626: 16,3114 45014 CS BITS9,11 # IN AUTO.
060642,000627: 16,3115 71273 MASK RCSFLAGS # (X-AXIS OVERRIDE)
060643,000628: 16,3116 55273 TS RCSFLAGS # ZERO ORBIT (BIT 11) AND JUST-IN BIT (9).
060644,000629: 16,3117 13220 TCF RATEDAMP
060645,000630:
060646,000631: 16,3120 31273 RUTH CA RCSFLAGS
060647,000632: 16,3121 74742 MASK PBIT # IN ATTITUDE HOLD.
060648,000633: 16,3122 00006 EXTEND
060649,000634: 16,3123 13125 BZF +2 # BRANCH IF P-RATE DAMPING IS FINISHED.
060650,000635: 16,3124 13220 TCF RATEDAMP
060651,000636:
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Page 1433
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060653,000638: 16,3125 31273 CA RCSFLAGS
060654,000639: 16,3126 74741 MASK QRBIT
060655,000640: 16,3127 00006 EXTEND
060656,000641: 16,3130 13136 BZF RATEDONE # BRANCH IF Q,R RATE DAMPING IS FINISHED.
060657,000642: 16,3131 13220 TCF RATEDAMP
060658,000643:
060659,000644: # ============================================
060660,000645:
060661,000646: 16,3132 00001 1/10SEC OCT 1
060662,000647: 16,3133 00050 40CYC OCT 50
060663,000648: 16,3134 74777 PQRBIT OCT 74777
060664,000649: 16,3135 5014 BITS9,11 EQUALS EBANK5
060665,000650: 16,3135 00056 LINRATP DEC 46 B-14
060666,000651:
060667,000652: # ============================================
060668,000653:
060669,000654: 16,3136 44740 RATEDONE CS OURRCBIT # MANUAL COMMAND AND DAMPING COMPLETED IN
060670,000655: 16,3137 00004 INHINT # ALL AXES.
060671,000656: 16,3140 70111 MASK DAPBOOLS
060672,000657: 16,3141 54111 TS DAPBOOLS
060673,000658:
060674,000659: # READ CDUS INTO CDU DESIRED REGISTERS
060675,000660:
060676,000661: 16,3142 34737 CAF BIT13
060677,000662: 16,3143 00006 EXTEND
060678,000663: 16,3144 02031 RAND CHAN31
060679,000664: 16,3145 00006 EXTEND
060680,000665: 16,3146 13152 BZF +4
060681,000666: 16,3147 30032 CA CDUX # (X-AXIS OVERRIDE)
060682,000667: 16,3150 55635 TS CDUXD
060683,000668: 16,3151 03154 TC +3
060684,000669: 16,3152 04674 TC IBNKCALL
060685,000670: 16,3153 40153 FCADR ZATTEROR
060686,000671: 16,3154 00003 RELINT
060687,000672: 16,3155 13463 TCF PURGENCY
060688,000673:
060689,000674: 16,3156 55464 TS PERROR
060690,000675: 16,3157 34740 JUSTOUT CA OURRCBIT # INITIALIZATION - FIRST MANUAL PASS.
060691,000676: 16,3160 26111 ADS DAPBOOLS
060692,000677: 16,3161 34755 CA ZERO
060693,000678: 16,3162 55446 TS DXERROR
060694,000679: 16,3163 55447 TS DXERROR +1
060695,000680: 16,3164 55450 TS DYERROR
060696,000681: 16,3165 55451 TS DYERROR +1
060697,000682: 16,3166 55452 TS DZERROR
060698,000683: 16,3167 55453 TS DZERROR +1
060699,000684: 16,3170 55454 TS PLAST
060700,000685: 16,3171 55455 TS QLAST
060701,000686: 16,3172 55456 TS RLAST
060702,000687: 16,3173 54042 TS Q-RHCCTR
060703,000688: 16,3174 54044 TS R-RHCCTR
060704,000689: 16,3175 33134 CA PQRBIT
060705,000690: 16,3176 71273 MASK RCSFLAGS
060706,000691: 16,3177 55273 TS RCSFLAGS # BITS 10 AND 11 OF RCSFLAGS ARE 0.
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Page 1434
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060708,000693: 16,3200 41273 CS RCSFLAGS # SET 'JUST-IN' BIT TO 1.
060709,000694: 16,3201 74743 MASK BIT9
060710,000695: 16,3202 27273 ADS RCSFLAGS
060711,000696: 16,3203 03205 TC ZEROENBL
060712,000697: 16,3204 13442 TCF JETSOFF
060713,000698: 16,3205 22044 ZEROENBL LXCH R-RHCCTR
060714,000699: 16,3206 30042 CA Q-RHCCTR
060715,000700: 16,3207 53463 DXCH SAVEHAND
060716,000701: 16,3210 34755 CA ZERO
060717,000702: 16,3211 54043 TS P-RHCCTR
060718,000703: 16,3212 54042 TS Q-RHCCTR
060719,000704: 16,3213 54044 TS R-RHCCTR
060720,000705: 16,3214 33617 CA BITS8,9
060721,000706: 16,3215 00006 EXTEND
060722,000707: 16,3216 05013 WOR CHAN13 # COUNTERS ZEROED AND ENABLED
060723,000708: 16,3217 00002 TC Q
060724,000709: 16,3220 34755 RATEDAMP CA ZERO
060725,000710: 16,3221 54043 TS P-RHCCTR
060726,000711: 16,3222 13227 TCF RATERROR
060727,000712:
060728,000713: 16,3223 34740 RHCMOVED CA OURRCBIT # P CONTROL
060729,000714: 16,3224 70111 MASK DAPBOOLS
060730,000715: 16,3225 00006 EXTEND
060731,000716: 16,3226 13156 BZF JUSTOUT -1
060732,000717: 16,3227 30032 RATERROR CA CDUX # FINDCDUW REQUIRES THAT CDUXD=CDUX DURING
060733,000718: 16,3230 55635 TS CDUXD # X-AXIS OVERRIDE
060734,000719: 16,3231 10043 CCS P-RHCCTR
060735,000720: 16,3232 13235 TCF +3
060736,000721: 16,3233 13235 TCF +2
060737,000722: 16,3234 13235 TCF +1
060738,000723: 16,3235 60000 DOUBLE # LINEAR/QUADRATIC CONTROLLER SCALING
060739,000724: 16,3236 60000 DOUBLE # (SEE EXPLANATION IN Q,R-AXES RCS
060740,000725: 16,3237 63135 AD LINRATP # AUTOPILOT)
060741,000726: 16,3240 00006 EXTEND
060742,000727: 16,3241 70043 MP P-RHCCTR
060743,000728: 16,3242 30001 CA L
060744,000729: 16,3243 00006 EXTEND
060745,000730: 16,3244 71444 MP STIKSENS
060746,000731: 16,3245 57454 XCH PLAST
060747,000732: 16,3246 40000 COM
060748,000733: 16,3247 61454 AD PLAST
060749,000734: 16,3250 55737 TS DAPTEMP1
060750,000735: 16,3251 03205 TC ZEROENBL # INTERVAL. ZERO AND ENABLE ACA COUNTERS.
060751,000736: 16,3252 41454 CS PLAST
060752,000737: 16,3253 61421 AD OMEGAP
060753,000738: 16,3254 55427 TS EDOTP
060754,000739: 16,3255 11737 CCS DAPTEMP1 # IF P COMMAND CHANGE EXCEEDS BREAKOUT
060755,000740: 16,3256 13261 TCF +3 # LEVEL, GO TO DIRECT RATE CONTROL. IF NOT
060756,000741: 16,3257 13267 TCF +8D # CHECK FOR DIRECT RATE CONTROL LAST TIME.
060757,000742: 16,3260 13261 TCF +1
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Page 1435
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060759,000744: 16,3261 61476 AD -RATEDB
060760,000745: 16,3262 00006 EXTEND
060761,000746: 16,3263 63267 BZMF +4
060762,000747: 16,3264 33133 CA 40CYC
060763,000748: 16,3265 55445 TS TCP
060764,000749: 16,3266 03300 TC PEGI
060765,000750: 16,3267 31273 CA RCSFLAGS # CHECK FOR DIRECT RATE COMMAND LAST TIME.
060766,000751: 16,3270 74742 MASK PBIT
060767,000752: 16,3271 00006 EXTEND
060768,000753: 16,3272 13274 BZF +2
060769,000754: 16,3273 03300 TC PEGI # TO PURE RATE COMMAND
060770,000755: 16,3274 31446 CA DXERROR # PSEUDO-AUTO CONTROL.
060771,000756: 16,3275 55752 TS E # X-ATTITUDE ERROR (SP)
060772,000757: 16,3276 55464 TS PERROR # LOAD P-AXIS ERROR FOR MODE1 FDAI DISPLAY
060773,000758: 16,3277 03467 TC PURGENCY +4
060774,000759: 16,3300 30032 PEGI CA CDUX # DIRECT RATE CONTROL.
060775,000760: 16,3301 55635 TS CDUXD
060776,000761: 16,3302 34755 CA ZERO
060777,000762: 16,3303 55446 TS DXERROR
060778,000763: 16,3304 55447 TS DXERROR +1
060779,000764: 16,3305 55464 TS PERROR # ZERO P-AXIS ERROR FOR MODE1 FDAI DISPLAY
060780,000765: 16,3306 11427 CCS EDOTP
060781,000766: 16,3307 03312 TC +3
060782,000767: 16,3310 03312 TC +2
060783,000768: 16,3311 03312 TC +1
060784,000769: 16,3312 55737 TS ABSEDOTP
060785,000770: 16,3313 61476 AD TARGETDB
060786,000771: 16,3314 00006 EXTEND # IF RATE ERROR IS LESS THAN DEADBAND,
060787,000772: 16,3315 63325 BZMF LAST # FIRE, AND SWITCH TO PSEUDO-AUTO.
060788,000773: 16,3316 31445 CA TCP
060789,000774: 16,3317 00006 EXTEND # IF TIME IN RATE COMMAND EXCEEDS 4 SEC.,
060790,000775: 16,3320 63325 BZMF LAST
060791,000776: 16,3321 41273 CS RCSFLAGS
060792,000777: 16,3322 74742 MASK PBIT
060793,000778: 16,3323 27273 ADS RCSFLAGS # BIT 10 IS 1.
060794,000779: 16,3324 13330 TCF +4
060795,000780: 16,3325 44742 LAST CS PBIT
060796,000781: 16,3326 71273 MASK RCSFLAGS
060797,000782: 16,3327 55273 TS RCSFLAGS # BIT 10 IS 0.
060798,000783: 16,3330 41427 CS EDOTP
060799,000784: 16,3331 00006 EXTEND
060800,000785: 16,3332 71551 MP 1/ANETP # 1/2JTACC SCALED AT 2EXP(7)/PI
060801,000786: 16,3333 20001 DAS A
060802,000787: 16,3334 02310 TC OVERSUB
060803,000788: 16,3335 00006 EXTEND
060804,000789: 16,3336 77716 MP 25/32 # A CONTAINS TJET SCALED AT 2EXP(4)(16/25)
060805,000790: 16,3337 55524 TS TJP # 4.JET TIME
060806,000791: 16,3340 31737 CA ABSEDOTP
060807,000792: 16,3341 61475 AD -2JETLIM # COMPARING DELTA RATE WITH 2 JET LIMIT
060808,000793: 16,3342 00006 EXTEND
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Page 1436
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060810,000795: 16,3343 63346 BZMF +3
060811,000796:
060812,000797: 16,3344 36242 CA SIX
060813,000798: 16,3345 13355 TCF +8D
060814,000799: 16,3346 31524 CA TJP
060815,000800: 16,3347 27524 ADS TJP
060816,000801:
060817,000802: # GOES TO PJETSLEC FOR TWO JETS
060818,000803: # P-JET-SELECTION-ROUTINE (ROTATION)
060819,000804:
060820,000805: # INPUT: NUMBERT 4,5,6 FOR WHICH PAIR OR 4 JETS
060821,000806: # TJP + FOR +P ROTATION
060822,000807:
060823,000808: # OUTPUT: CHANNEL 6
060824,000809: # PJUMPADR FOR P-AXIS SKIP
060825,000810: # (JTLST CALL) (SMALL TJP)
060826,000811:
060827,000812: # ORDER OF POLICIES TRIED IN CASE OF FAILURE.
060828,000813: # +P -P
060829,000814: # 7,15 8,16
060830,000815: # 4,12 3,11
060831,000816: # 4,7 8,11
060832,000817: # 7,12 11,16
060833,000818: # 12,15 3,16
060834,000819: # 4,15 3,8
060835,000820: # ALARM ALARM
060836,000821:
060837,000822: 16,3350 34747 CA AORBSYST
060838,000823: 16,3351 70111 MASK DAPBOOLS
060839,000824: 16,3352 10000 CCS A
060840,000825: 16,3353 34753 CA ONE
060841,000826: 16,3354 64751 AD FOUR
060842,000827: 16,3355 55743 TS NUMBERT
060843,000828: 16,3356 34753 PJETSLEC CA ONE
060844,000829: 16,3357 54001 TS L
060845,000830: 16,3360 11524 CCS TJP
060846,000831: 16,3361 13366 TCF +5
060847,000832: 16,3362 13442 TCF JETSOFF
060848,000833: 16,3363 13365 TCF +2
060849,000834: 16,3364 13442 TCF JETSOFF
060850,000835: 16,3365 22007 ZL
060851,000836: 16,3366 64753 AD ONE
060852,000837: 16,3367 55737 TS ABSTJ
060853,000838: 16,3370 23744 LXCH ROTINDEX
060854,000839: 16,3371 03531 TC SELECTP
060855,000840: 16,3372 46242 CS SIX
060856,000841: 16,3373 61743 AD NUMBERT
060857,000842: 16,3374 00006 EXTEND
060858,000843: 16,3375 13377 BZF +2
060859,000844:
060860,000845: 16,3376 44752 CS TWO
060861,000846:
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Page 1437
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060863,000848: 16,3377 64751 AD FOUR
060864,000849: 16,3400 55521 TS NO.PJETS
060865,000850: 16,3401 31741 CA POLYTEMP
060866,000851: 16,3402 05754 TC WRITEP
060867,000852: 16,3403 41737 CS ABSTJ
060868,000853: 16,3404 63612 AD +150MST6
060869,000854: 16,3405 00006 EXTEND
060870,000855: 16,3406 63624 BZMF QRAXIS # GO TO QRAXIS OR TO GTS.
060871,000856:
060872,000857: 16,3407 63572 AD -136MST6
060873,000858: 16,3410 00006 EXTEND
060874,000859: 16,3411 63416 BZMF +5
060875,000860:
060876,000861: 16,3412 27737 ADS ABSTJ
060877,000862: 16,3413 51744 INDEX ROTINDEX
060878,000863: 16,3414 33621 CA MINTIMES
060879,000864: 16,3415 55524 TS TJP
060880,000865:
060881,000866: 16,3416 31737 CA ABSTJ
060882,000867: 16,3417 22007 ZL
060883,000868: 16,3420 00004 INHINT
060884,000869: 16,3421 53471 DXCH T6FURTHA
060885,000870: 16,3422 04674 TC IBNKCALL
060886,000871: 16,3423 37114 CADR JTLST
060887,000872: 16,3424 44740 CS BIT12
060888,000873: 16,3425 71273 MASK RCSFLAGS
060889,000874: 16,3426 55273 TS RCSFLAGS # BIT 12 SET TO 0.
060890,000875: 16,3427 03431 TC ALTSYST
060891,000876: 16,3430 13624 TCF QRAXIS
060892,000877:
060893,000878: 16,3431 30111 ALTSYST CA DAPBOOLS # ALTERNATE P-AXIS JETS
060894,000879: 16,3432 54001 TS L
060895,000880: 16,3433 34747 CA AORBSYST
060896,000881: 16,3434 00006 EXTEND
060897,000882: 16,3435 06001 RXOR LCHAN
060898,000883: 16,3436 54111 TS DAPBOOLS
060899,000884: 16,3437 00003 RELINT
060900,000885: 16,3440 00002 TC Q
060901,000886:
060902,000887: 16,3441 03431 DKALT TC ALTSYST
060903,000888:
060904,000889: 16,3442 05753 JETSOFF TC WRITEP -1
060905,000890: 16,3443 34755 CA ZERO
060906,000891: 16,3444 55524 TS TJP
060907,000892: 16,3445 13624 TCF QRAXIS
060908,000893:
060909,000894: # (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULTIPLICATION.)
060910,000895:
060911,000896: 16,3446 30033 CALCPERR CA CDUY # P-ERROR CALCULATION.
060912,000897: 16,3447 00006 EXTEND
060913,000898: 16,3450 21636 MSU CDUYD # CDU VALUE - ANGLE DESIRED (Y-AXIS)
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Page 1438
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060915,000900: 16,3451 00006 EXTEND
060916,000901: 16,3452 71414 MP M11 # (CDUY-CDUYD)M11 SCALED AT PI RADIANS
060917,000902: 16,3453 57752 XCH E # SAVE FIRST TERM (OF TWO)
060918,000903: 16,3454 30032 CA CDUX # THIRD COMPONENT
060919,000904: 16,3455 00006 EXTEND
060920,000905: 16,3456 21635 MSU CDUXD # CDU VALUE - ANGLE DESIRED (X-AXIS)
060921,000906: # EXTEND
060922,000907: # MP M13
060923,000908: 16,3457 61277 AD DELPEROR # KALCMANU INERFACE ERROR
060924,000909: 16,3460 27752 ADS E # SAVE SUM OF TERMS. COULD BE OVERFLOW.
060925,000910: 16,3461 57464 XCH PERROR # SAVE P-ERROR FOR EIGHT-BALL DISPLAY.
060926,000911: 16,3462 00002 TC Q # RETURN TO CALLER
060927,000912:
060928,000913: # P-AXIS URGENCY FUNCTION CALCULATION.
060929,000914:
060930,000915: 16,3463 03446 PURGENCY TC CALCPERR # CALCULATE P-AXIS ERRORS.
060931,000916: 16,3464 41643 CS OMEGAPD # THIS CODING IS COMMON TO BOTH LM DAP AND
060932,000917: 16,3465 61421 AD OMEGAP # SPS-BACKUP MODE.
060933,000918: 16,3466 55427 TS EDOTP # EDOTP = OMEGAP - OMEGAPD AT PI/4 RAD/SEC
060934,000919:
060935,000920: 16,3467 44753 CS ONE
060936,000921: 16,3470 55505 TS AXISCTR
060937,000922: 16,3471 30111 CA DAPBOOLS
060938,000923: 16,3472 74737 MASK CSMDOCKD
060939,000924: 16,3473 00006 EXTEND
060940,000925: 16,3474 13505 BZF HEADTJET
060941,000926: 16,3475 00004 INHINT # IF CSMDOCKD = 1, GO TO DOCKED RCS LOGIC
060942,000927: 16,3476 04674 TC IBNKCALL
060943,000928: 16,3477 43727 CADR SPSRCS
060944,000929:
060945,000930: 16,3500 31524 CA TJP
060946,000931: 16,3501 00006 EXTEND
060947,000932: 16,3502 13441 BZF DKALT # IF TJP = ZERO, CHANGE AORBSYST.
060948,000933: 16,3503 00003 RELINT
060949,000934: 16,3504 13350 TCF PJETSLEC -6 # SELECT AORBSYST AND USE TWO JETS
060950,000935: 16,3505 34755 HEADTJET CA ZERO
060951,000936: 16,3506 55500 TS SENSETYP
060952,000937: 16,3507 00004 INHINT
060953,000938: 16,3510 04674 TC IBNKCALL
060954,000939: 16,3511 37252 CADR TJETLAW
060955,000940: 16,3512 00003 RELINT
060956,000941:
060957,000942: 16,3513 41741 CS FIREFCT
060958,000943: 16,3514 63530 AD -FOURDEG
060959,000944: 16,3515 00006 EXTEND
060960,000945: 16,3516 63350 BZMF PJETSLEC -6
060961,000946: 16,3517 11524 CCS TJP
060962,000947: 16,3520 13522 TCF +2
060963,000948: 16,3521 13442 TCF JETSOFF
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Page 1439
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060965,000950: 16,3522 63527 AD -160MST6
060966,000951: 16,3523 00006 EXTEND
060967,000952: 16,3524 63350 BZMF PJETSLEC -6
060968,000953: 16,3525 36242 CA SIX
060969,000954: 16,3526 13355 TCF PJETSLEC -1
060970,000955: 16,3527 77377 -160MST6 DEC -256 B-14
060971,000956: 16,3530 75117 -FOURDEG DEC -.08888
060972,000957:
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Page 1440
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060974,000959: # JET POLICY CONSTRUCTION SUBROUTINE
060975,000960:
060976,000961: # INPUT: ROTINDEX, NUMBERT
060977,000962:
060978,000963: # OUTPUT: POLYTEMP (JET POLICY)
060979,000964:
060980,000965: # THIS SUBROUTINE SELECT A SUBSET OF THE DESIRED JETS WHICH HAS NO FAILURE
060981,000966:
060982,000967: 16,3531 36242 SELECTP CA SIX
060983,000968: 16,3532 55742 TS TEMPNUM
060984,000969: 16,3533 51743 INDEX NUMBERT
060985,000970: 16,3534 33563 CA TYPEP
060986,000971: 16,3535 51744 INDEX ROTINDEX
060987,000972: 16,3536 73554 MASK JETSALL
060988,000973: 16,3537 55741 TS POLYTEMP
060989,000974: 16,3540 71263 MASK CH6MASK
060990,000975: 16,3541 10000 CCS A
060991,000976: 16,3542 13544 TCF +2
060992,000977: 16,3543 00002 TC Q
060993,000978: 16,3544 11742 CCS TEMPNUM
060994,000979: 16,3545 13551 TCF +4
060995,000980: 16,3546 05567 TC ALARM
060996,000981: 16,3547 02003 OCT 02003
060997,000982: 16,3550 13442 TCF JETSOFF # *****TCF ALARMJET *********************
060998,000983: 16,3551 55743 SELECTYZ TS NUMBERT
060999,000984: 16,3552 13532 TCF SELECTP +1
061000,000985: 16,3553 12773 -1 TCF ABORTYZ +2
061001,000986: 16,3554 00252 JETSALL OCT 00252
061002,000987: 16,3555 00125 OCT 00125 # +P
061003,000988: 16,3556 00140 OCT 00140 # -Y
061004,000989: 16,3557 00006 OCT 00006 # -Z
061005,000990: 16,3560 00220 OCT 00220 # +Y
061006,000991: 16,3561 00011 OCT 00011 # +Z
061007,000992: 16,3562 00151 OCT 00151 # +V
061008,000993: 16,3563 00146 TYPEP OCT 00146 # -U
061009,000994: 16,3564 00226 OCT 00226 # -V
061010,000995: 16,3565 00231 OCT 00231 # +U
061011,000996: 16,3566 00151 OCT 00151 # +V
061012,000997: 16,3567 00132 OCT 00132 # 1-3
061013,000998: 16,3570 00245 OCT 00245 # 2-4
061014,000999: 16,3571 00377 OCT 00377 # ALL
061015,001000: 16,3572 16,3572 INDXYZ = -136MST6
061016,001001: 16,3572 77445 -136MST6 DEC -218 B-14
061017,001002: 16,3573 00004 DEC 4 B-14
061018,001003: 16,3574 00002 DEC 2 B-14
061019,001004: 16,3575 07776 OCT 07776
061020,001005: 16,3576 00005 DEC 5 B-14
061021,001006: 16,3577 00011 DEC 9 B-14
061022,001007: 16,3600 00012 DEC 10 B-14
061023,001008: 16,3601 07776 OCT 07776
061024,001009: 16,3602 00003 DEC 3 B-14
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Page 1441
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061026,001011: 16,3603 00010 DEC 8 B-14
061027,001012: 16,3604 00007 DEC 7 B-14
061028,001013: 16,3605 07776 OCT 07776 # THESE INDEXES OF MASK JETSALL WILL
061029,001014: 16,3606 07776 OCT 07776 # CHANGE THE INSTRUCTION AT SELECTP +4
061030,001015: 16,3607 07776 OCT 07776 # TO BE TC JETSALL -1
061031,001016: 16,3610 07776 OCT 07776 # ONLY USED FOR TRANSLATION FAILURE
061032,001017: 16,3611 07776 OCT 07776
061033,001018: 16,3612 00360 +150MST6 DEC 240 B-14
061034,001019: 16,3613 07400 07400OCT OCT 07400
061035,001020:
061036,001021: # T-JET LAW FIXED CONSTANTS
061037,001022:
061038,001023: 16,3614 00266 NORMSCL OCT 266
061039,001024: 16,3615 74631 -100MS DEC -.1
061040,001025: 16,3616 06315 200MS DEC .2
061041,001026: 16,3617 7716 25/32 = PRIO31 # (DEC .78125)
061042,001027: 16,3617 00600 BITS8,9 OCTAL 00600
061043,001028: 16,3620 00632 1/40 DEC .02500
061044,001029: 16,3621 77751 MINTIMES DEC -22 B-14
061045,001030: 16,3622 00026 DEC 22 B-14
061046,001031: 16,3623 02734 PSKIPADR GENADR SKIPPAXS
061047,001032:
061048,001033: # GOES TO Q,R-AXES RCS AUTOPILOT
061049,001034:
061050,001035: 16,3624 41645 QRAXIS CS OMEGARD
061051,001036: 16,3625 61423 AD OMEGAR
061052,001037: 16,3626 02310 TC OVERSUB
061053,001038: 16,3627 55437 TS EDOTR
061054,001039: 16,3630 41644 CS OMEGAQD
061055,001040: 16,3631 61422 AD OMEGAQ
061056,001041: 16,3632 02310 TC OVERSUB
061057,001042: 16,3633 55436 TS EDOTQ
061058,001043: 16,3634 00006 EXTEND
061059,001044: 16,3635 33640 DCA QERRCALL
061060,001045: 16,3636 52006 DTCB
061061,001046:
061062,001047: 16,3637 E6,1537 EBANK= AOSQ
061063,001048: 16,3637 02072 36106 QERRCALL 2CADR CALLQERR
End of include-file P-AXIS_RCS_AUTOPILOT.agc. Parent file is MAIN.agc