Source Code
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These source-code files are part of a reconstructed copy of Luminary 98, a
development version of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
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 memo 85, using asterisks
indicating changed lines in the listing as a guide. While no listing of this
version is known to exist, nor are the memory-bank checksums available,
the reconstruction is believed to be correct because it was an an intermediate
step in reconstructing Luminary 97 whose reconstruction was
verified by matching memory-bank checksums to those listed in drawing 2021152G.
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 98 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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060579,000002: ## Copyright: Public domain.
060580,000003: ## Filename: Q,R-AXES_RCS_AUTOPILOT.agc
060581,000004: ## Purpose: A section of Luminary revision 98.
060582,000005: ## It is part of the reconstructed source code for the a
060583,000006: ## development version of the flight software for the Lunar
060584,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
060585,000008: ## The code has been recreated from a copy of Luminary 99
060586,000009: ## revision 001, using asterisks indicating changed lines in
060587,000010: ## the listing and Luminary Memo #85, which lists changes between
060588,000011: ## Luminary 98 and 99.
060589,000012: ## Reference: pp. 1442-1459
060590,000013: ## Assembler: yaYUL
060591,000014: ## Contact: Ron Burkey <info@sandroid.org>.
060592,000015: ## Website: www.ibiblio.org/apollo/index.html
060593,000016: ## Mod history: 2019-07-28 MAS Created from Luminary 99.
060594,000017:
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Page 1442
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060596,000019: 17,2072 BANK 17
060597,000020: 17,2000 SETLOC DAPS2
060598,000021: 17,2000 BANK
060599,000022:
060600,000023: 17,2072 E6,1635 EBANK= CDUXD
060601,000024:
060602,000025: 17,2072 COUNT* $$/DAPQR
060603,000026:
060604,000027: 17,2072 34737 CALLQERR CA BIT13 # CALCULATE Q,R ERRORS UNLESS THESE AXES
060605,000028: 17,2073 00006 EXTEND # ARE IN MANUAL RATE COMMAND.
060606,000029: 17,2074 02031 RAND CHAN31
060607,000030: 17,2075 10000 CCS A
060608,000031: 17,2076 12103 TCF +5 # IN AUTO COMPUTE Q,R ERRORS
060609,000032: 17,2077 40111 CS DAPBOOLS # IN MANUAL RATE COMMAND?
060610,000033: 17,2100 74740 MASK OURRCBIT
060611,000034: 17,2101 00006 EXTEND
060612,000035: 17,2102 12104 BZF Q,RORGTS # IF SO BYPASS CALCULATION OF ERRORS.
060613,000036: 17,2103 02626 TC QERRCALC
060614,000037:
060615,000038: 17,2104 11631 Q,RORGTS CCS COTROLER # CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
060616,000039: 17,2105 12607 TCF GOTOGTS # GTS (ALTERNATES WITH RCS WHEN DOCKED)
060617,000040: 17,2106 12574 TCF TRYGTS # GTS IF ALLOWED, OTHERWISE RCS
060618,000041: 17,2107 34755 RCS CAF ZERO # RCS (TRYGTS MAY BRANCH TO HERE)
060619,000042: 17,2110 55631 TS COTROLER
060620,000043:
060621,000044: 17,2111 53437 DXCH EDOTQ
060622,000045: 17,2112 03146 TC ROT-TOUV
060623,000046: 17,2113 53427 DXCH OMEGAU
060624,000047:
060625,000048: # X - TRANSLATION:
060626,000049:
060627,000050: # INPUT: BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
060628,000051: # ULLAGER
060629,000052: # APSFLAG, DRIFTBIT
060630,000053: # ACC40R2X, ACRBTRAN
060631,000054:
060632,000055: # OUTPUT: NEXTU, NEXTV CODES OF TRANSLATION FOR AFTER ROTATION
060633,000056: # SENSETYP TELL ROTATION DIRECTION AND DESIRE
060634,000057:
060635,000058: # X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR. IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED. A FAILURE
060636,000059: # WILL OVERRIDE THIS SPECIFICATION. AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
060637,000060:
060638,000061: 17,2114 34745 SENSEGET CA BIT7 # INPUT BITS OVERRIDE THE INTERNAL BITS
060639,000062: 17,2115 00006 EXTEND # SENSETYP WILL NOT OPPOSE ANYTRANS
060640,000063: 17,2116 02031 RAND CHAN31
060641,000064: 17,2117 00006 EXTEND
060642,000065: 17,2120 12146 BZF +XORULGE
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Page 1443
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060644,000067: 17,2121 34744 CA BIT8
060645,000068: 17,2122 00006 EXTEND
060646,000069: 17,2123 02031 RAND CHAN31
060647,000070: 17,2124 00006 EXTEND
060648,000071: 17,2125 12147 BZF -XTRANS
060649,000072:
060650,000073: 17,2126 34746 CA ULLAGER
060651,000074: 17,2127 70111 MASK DAPBOOLS
060652,000075: 17,2130 10000 CCS A
060653,000076: 17,2131 12146 TCF +XORULGE
060654,000077:
060655,000078: 17,2132 55473 TS NEXTU # STORE NULL TRANSLATION POLICIES
060656,000079: 17,2133 55474 TS NEXTV
060657,000080: 17,2134 40111 CS DAPBOOLS # BURNING OR DRIFTING?
060658,000081: 17,2135 74744 MASK DRIFTBIT
060659,000082: 17,2136 00006 EXTEND
060660,000083: 17,2137 12144 BZF TSENSE
060661,000084: 17,2140 30106 CA FLGWRD10 # DPS (INCLUDING DOCKED) OR APS?
060662,000085: 17,2141 74737 MASK APSFLBIT
060663,000086: 17,2142 10000 CCS A
060664,000087: 17,2143 34752 CAF TWO # FAVOR +X JETS DURING AN APS BURN.
060665,000088: 17,2144 55500 TSENSE TS SENSETYP
060666,000089: 17,2145 12200 TCF QRCONTRL
060667,000090:
060668,000091: 17,2146 34753 +XORULGE CAF ONE
060669,000092: 17,2147 64751 -XTRANS AD FOUR
060670,000093: 17,2150 55744 TS ROTINDEX
060671,000094: 17,2151 67745 AD NEG3
060672,000095: 17,2152 55500 TS SENSETYP # FAVOR APPROPRIATE JETS DURING TRANS.
060673,000096: 17,2153 30111 CA DAPBOOLS
060674,000097: 17,2154 74741 MASK ACC4OR2X
060675,000098: 17,2155 10000 CCS A
060676,000099: 17,2156 12321 TCF TRANS4
060677,000100:
060678,000101: 17,2157 30111 CA DAPBOOLS
060679,000102: 17,2160 74742 MASK AORBTRAN
060680,000103: 17,2161 10000 CCS A
060681,000104: 17,2162 34753 CA ONE # THREE FOR B
060682,000105: 17,2163 64752 AD TWO # TWO FOR A SYSTEM 2 JET X TRANS
060683,000106: 17,2164 55743 TSNUMBRT TS NUMBERT
060684,000107:
060685,000108: 17,2165 03173 TC SELCTSUB
060686,000109:
060687,000110: 17,2166 11741 CCS POLYTEMP
060688,000111: 17,2167 12172 TCF +3
060689,000112: 17,2170 05567 TC ALARM
060690,000113: 17,2171 02002 OCT 02002
060691,000114: 17,2172 35774 CA 00314OCT
060692,000115: 17,2173 71741 MASK POLYTEMP
060693,000116: 17,2174 55473 TSNEXTS TS NEXTU
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Page 1444
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060695,000118: 17,2175 45774 CS 00314OCT
060696,000119: 17,2176 71741 MASK POLYTEMP
060697,000120: 17,2177 55474 TS NEXTV
060698,000121:
060699,000122: # Q,R-AXES RCS CONTROL MODE SELECTION
060700,000123: # SWITCHES INDICATION WHEN SET
060701,000124: # BIT13/CHAN31 AUTO, GO TO ATTSTEER
060702,000125: # PULSES MINIMUM IMPULSE MODE
060703,000126: # (OTHERWISE) RATE COMMAND/ATTITUDE HOLD MODE
060704,000127:
060705,000128: 17,2200 34737 QRCONTRL CA BIT13 # CHECK MODE SELECT SWITCH.
060706,000129: 17,2201 00006 EXTEND
060707,000130: 17,2202 02031 RAND CHAN31 # BITS INVERTED
060708,000131: 17,2203 10000 CCS A
060709,000132: 17,2204 12661 TCF ATTSTEER
060710,000133: 17,2205 34735 CHKBIT10 CAF PULSES # PULSES = 1 FOR MIN IMP USE OF RHC
060711,000134: 17,2206 70111 MASK DAPBOOLS
060712,000135: 17,2207 00006 EXTEND
060713,000136: 17,2210 12323 BZF CHEKSTIK # IN ATT-HOLD/RATE-COMMAND IF BIT10=0
060714,000137:
060715,000138: # MINIMUM IMPULSE MODE
060716,000139:
060717,000140: 17,2211 00004 INHINT
060718,000141: 17,2212 04674 TC IBNKCALL
060719,000142: 17,2213 40153 CADR ZATTEROR
060720,000143: 17,2214 34755 CA ZERO
060721,000144: 17,2215 55450 TS QERROR
060722,000145: 17,2216 55452 TS RERROR # FOR DISPLAYS
060723,000146: 17,2217 00003 RELINT
060724,000147:
060725,000148: 17,2220 00006 EXTEND
060726,000149: 17,2221 00031 READ CHAN31
060727,000150: 17,2222 55737 TS TEMP31 # IS EQUAL TO DAPTEMP1
060728,000151: 17,2223 11461 CCS OLDQRMIN
060729,000152: 17,2224 12246 TCF CHECKIN
060730,000153:
060731,000154: 17,2225 31737 FIREQR CA TEMP31
060732,000155: 17,2226 74753 MASK BIT1
060733,000156: 17,2227 00006 EXTEND
060734,000157: 17,2230 12252 BZF +QMIN
060735,000158:
060736,000159: 17,2231 31737 CA TEMP31
060737,000160: 17,2232 74752 MASK BIT2
060738,000161: 17,2233 00006 EXTEND
060739,000162: 17,2234 12256 BZF -QMIN
060740,000163:
060741,000164: 17,2235 31737 CA TEMP31
060742,000165: 17,2236 74747 MASK BIT5
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Page 1445
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060744,000167: 17,2237 00006 EXTEND
060745,000168: 17,2240 12262 BZF +RMIN
060746,000169:
060747,000170: 17,2241 31737 CA TEMP31
060748,000171: 17,2242 74746 MASK BIT6
060749,000172: 17,2243 00006 EXTEND
060750,000173: 17,2244 12264 BZF -RMIN
060751,000174:
060752,000175: 17,2245 13063 TCF XTRANS
060753,000176:
060754,000177: 17,2246 41737 CHECKIN CS TEMP31
060755,000178: 17,2247 72320 MASK OCT63
060756,000179: 17,2250 55461 TS OLDQRMIN
060757,000180: 17,2251 13063 TCF XTRANS
060758,000181:
060759,000182: 17,2252 33107 +QMIN CA 14MS
060760,000183: 17,2253 55525 TS TJU
060761,000184: 17,2254 43107 CS 14MS
060762,000185: 17,2255 12266 TCF MINQR
060763,000186: 17,2256 43107 -QMIN CS 14MS
060764,000187: 17,2257 55525 TS TJU
060765,000188: 17,2260 33107 CA 14MS
060766,000189: 17,2261 12266 TCF MINQR
060767,000190: 17,2262 33107 +RMIN CA 14MS
060768,000191: 17,2263 12265 TCF +2
060769,000192: 17,2264 43107 -RMIN CS 14MS
060770,000193: 17,2265 55525 TS TJU
060771,000194: 17,2266 55526 MINQR TS TJV
060772,000195: 17,2267 32317 CA MINADR
060773,000196: 17,2270 55477 TS RETJADR
060774,000197: 17,2271 34753 CA ONE
060775,000198: 17,2272 55461 TS OLDQRMIN
060776,000199: 17,2273 55505 MINRTN TS AXISCTR
060777,000200: 17,2274 30111 CA DAPBOOLS
060778,000201: 17,2275 74737 MASK CSMDOCKD
060779,000202: 17,2276 00006 EXTEND
060780,000203: 17,2277 12307 BZF MIMRET
060781,000204: 17,2300 51505 INDEX AXISCTR # IF DOCKED, USE 60MS MINIMUM IMPULSE
060782,000205: 17,2301 11525 CCS TJU
060783,000206: 17,2302 32316 CA 60MS
060784,000207: 17,2303 12305 TCF +2
060785,000208: 17,2304 42316 CS 60MS
060786,000209: 17,2305 51505 INDEX AXISCTR
060787,000210: 17,2306 55525 TS TJU
060788,000211: 17,2307 30111 MIMRET CA DAPBOOLS
060789,000212: 17,2310 74742 MASK AORBTRAN
060790,000213: 17,2311 10000 CCS A
060791,000214: 17,2312 34753 CA ONE
060792,000215: 17,2313 64752 AD TWO
060793,000216: 17,2314 55743 TS NUMBERT
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Page 1446
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060795,000218: 17,2315 12727 TCF AFTERTJ
060796,000219:
060797,000220: 17,2316 00140 60MS DEC 96.0
060798,000221: 17,2317 02273 MINADR GENADR MINRTN
060799,000222: 17,2320 00063 OCT63 OCT 63
060800,000223: 17,2321 17,3107 14MS = +TJMINT6
060801,000224:
060802,000225: 17,2321 34751 TRANS4 CA FOUR
060803,000226: 17,2322 12164 TCF TSNUMBRT
060804,000227:
060805,000228: # RATE COMMAND MODE:
060806,000229:
060807,000230: # DESCRIPTION (SAME AS P-AXIS)
060808,000231:
060809,000232: 17,2323 55633 CHEKSTIK TS INGTS # NOT IN GTS WHEN IN ATT HOLD
060810,000233: 17,2324 44753 CS ONE # 1/ACCS WILL DO THE NULLING DRIVES
060811,000234: 17,2325 55631 TS COTROLER # COME BACK TO RCS NEXT TIME
060812,000235: 17,2326 34735 CA BIT15
060813,000236: 17,2327 71443 MASK CH31TEMP
060814,000237: 17,2330 00006 EXTEND
060815,000238: 17,2331 12350 BZF RHCACTIV # BRANCH IF OUT OF DETENT.
060816,000239: 17,2332 34740 CA OURRCBIT # ***********
060817,000240: 17,2333 70111 MASK DAPBOOLS # *IN DETENT* CHECK FOR MANUAL CONTROL
060818,000241: 17,2334 00006 EXTEND # *********** LAST TIME.
060819,000242: 17,2335 12661 BZF STILLRCS
060820,000243: 17,2336 44743 CS BIT9
060821,000244: 17,2337 71273 MASK RCSFLAGS
060822,000245: 17,2340 55273 TS RCSFLAGS # BIT 9 IS 0.
060823,000246: 17,2341 12345 TCF DAMPING
060824,000247: 17,2342 00050 40CYCL OCT 50
060825,000248: 17,2343 00001 1/10S OCT 1
060826,000249: 17,2344 00056 LINRAT DEC 46 B-14
060827,000250:
060828,000251: # ================================
060829,000252:
060830,000253: 17,2345 34755 DAMPING CA ZERO
060831,000254: 17,2346 55462 TS SAVEHAND
060832,000255: 17,2347 55463 TS SAVEHAND +1
060833,000256: 17,2350 11462 RHCACTIV CCS SAVEHAND # *******************
060834,000257: 17,2351 12354 TCF +3 # Q,R MANUAL CONTROL WC = A*(B+|D|)*D
060835,000258: 17,2352 12354 TCF +2 # *******************
060836,000259: 17,2353 12354 TCF +1
060837,000260: 17,2354 60000 DOUBLE # WHERE
060838,000261: 17,2355 60000 DOUBLE
060839,000262: 17,2356 62344 AD LINRAT # WC = COMMANDED ROTATIONAL RATE
060840,000263: 17,2357 00006 EXTEND # A = QUADRATIC SENSITIVITY FACTOR
060841,000264: 17,2360 71462 MP SAVEHAND # B = LINEAR/QUADRATIC SENSITIVITY
060842,000265: 17,2361 30001 CA L # |D| = ABS. VALUE OF DEFLECTION
060843,000266: 17,2362 00006 EXTEND # D = HAND CONTROLLER DEFLECTION
060844,000267: 17,2363 71444 MP STIKSENS
060845,000268: 17,2364 57455 XCH QLAST # COMMAND Q RATE SCALED 45 DEG/SEC
060846,000269: 17,2365 40000 COM
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Page 1447
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060848,000271: 17,2366 61455 AD QLAST
060849,000272: 17,2367 55741 TS DAPTEMP3
060850,000273: 17,2370 11463 CCS SAVEHAND +1
060851,000274: 17,2371 12374 TCF +3
060852,000275: 17,2372 12374 TCF +2
060853,000276: 17,2373 12374 TCF +1
060854,000277: 17,2374 60000 DOUBLE
060855,000278: 17,2375 60000 DOUBLE
060856,000279: 17,2376 62344 AD LINRAT
060857,000280: 17,2377 00006 EXTEND
060858,000281: 17,2400 71463 MP SAVEHAND +1
060859,000282: 17,2401 30001 CA L
060860,000283: 17,2402 00006 EXTEND
060861,000284: 17,2403 71444 MP STIKSENS
060862,000285: 17,2404 57456 XCH RLAST
060863,000286: 17,2405 40000 COM
060864,000287: 17,2406 61456 AD RLAST
060865,000288: 17,2407 55742 TS DAPTEMP4
060866,000289: 17,2410 41455 CS QLAST # INTERVAL.
060867,000290: 17,2411 61422 AD OMEGAQ
060868,000291: 17,2412 55436 TS QRATEDIF
060869,000292: 17,2413 41456 CS RLAST
060870,000293: 17,2414 61423 AD OMEGAR
060871,000294: 17,2415 55437 TS RRATEDIF
060872,000295: 17,2416 53437 ENTERQR DXCH QRATEDIF # TRANSFORM RATES FROM Q,R TO U,V AXES
060873,000296: 17,2417 03146 TC ROT-TOUV
060874,000297: 17,2420 53427 DXCH URATEDIF
060875,000298: 17,2421 11741 CCS DAPTEMP3 # CHECK IF Q COMMAND CHANGE EXCEEDS
060876,000299: 17,2422 02425 TC +3 # BREAKOUT LEVEL. IF NOT, CHECK R.
060877,000300: 17,2423 02425 TC +2
060878,000301: 17,2424 02425 TC +1
060879,000302: 17,2425 61476 AD -RATEDB
060880,000303: 17,2426 00006 EXTEND
060881,000304: 17,2427 62431 BZMF +2
060882,000305: 17,2430 12447 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
060883,000306: 17,2431 11742 CCS DAPTEMP4 # R COMMAND BREAKOUT CHECK.
060884,000307: 17,2432 02435 TC +3
060885,000308: 17,2433 02435 TC +2
060886,000309: 17,2434 02435 TC +1
060887,000310: 17,2435 61476 AD -RATEDB
060888,000311: 17,2436 00006 EXTEND
060889,000312: 17,2437 62441 BZMF +2
060890,000313: 17,2440 12447 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
060891,000314: 17,2441 31273 CA RCSFLAGS # BREAKOUT LEVEL NOT EXCEEDED. CHECK FOR
060892,000315: 17,2442 74741 MASK QRBIT # DIRECT RATE CONTROL LAST TIME.
060893,000316: 17,2443 00006 EXTEND
060894,000317: 17,2444 12446 BZF +2
060895,000318: 17,2445 12451 TCF ENTERUV # CONTINUE DIRECT RATE CONTROL.
060896,000319: 17,2446 12661 TCF STILLRCS # PSEUDO-AUTO CONTROL.
060897,000320: 17,2447 32342 CA 40CYCL
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Page 1448
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060899,000322: 17,2450 55457 TS TCQR
060900,000323: 17,2451 00004 ENTERUV INHINT # DIRECT RATE CONTROL.
060901,000324: 17,2452 04674 TC IBNKCALL
060902,000325: 17,2453 40153 FCADR ZATTEROR
060903,000326: 17,2454 00003 RELINT
060904,000327: 17,2455 34755 CA ZERO
060905,000328: 17,2456 55450 TS DYERROR
060906,000329: 17,2457 55451 TS DYERROR +1
060907,000330: 17,2460 55452 TS DZERROR
060908,000331: 17,2461 55453 TS DZERROR +1
060909,000332: 17,2462 11426 CCS URATEDIF
060910,000333: 17,2463 12466 TCF +3
060911,000334: 17,2464 12466 TCF +2
060912,000335: 17,2465 12466 TCF +1
060913,000336: 17,2466 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
060914,000337: 17,2467 00006 EXTEND # DIRECT RATE CONTROL.
060915,000338: 17,2470 62504 BZMF VDB
060916,000339: 17,2471 11427 CCS VRATEDIF
060917,000340: 17,2472 12475 TCF +3
060918,000341: 17,2473 12475 TCF +2
060919,000342: 17,2474 12475 TCF +1
060920,000343: 17,2475 61476 AD TARGETDB
060921,000344: 17,2476 00006 EXTEND
060922,000345: 17,2477 62501 BZMF +2
060923,000346: 17,2500 12515 TCF QRTIME
060924,000347: 17,2501 34755 CA ZERO
060925,000348: 17,2502 55427 TS VRATEDIF
060926,000349: 17,2503 12515 TCF QRTIME
060927,000350: 17,2504 11427 VDB CCS VRATEDIF
060928,000351: 17,2505 02510 TC +3
060929,000352: 17,2506 02510 TC +2
060930,000353: 17,2507 02510 TC +1
060931,000354: 17,2510 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
060932,000355: 17,2511 00006 EXTEND # DIRECT RATE CONTROL. IF NOT, FIRE AND
060933,000356: 17,2512 62524 BZMF TOPSEUDO # SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
060934,000357: 17,2513 34755 CA ZERO # PASS.
060935,000358: 17,2514 55426 TS URATEDIF
060936,000359: 17,2515 31457 QRTIME CA TCQR # DIRECT RATE TIME CHECK.
060937,000360: 17,2516 00006 EXTEND
060938,000361: 17,2517 62524 BZMF +5 # BRANCH IF TIME EXCEEDS 4 SEC.
060939,000362: 17,2520 41273 CS RCSFLAGS
060940,000363: 17,2521 74741 MASK QRBIT
060941,000364: 17,2522 27273 ADS RCSFLAGS # BIT 11 IS 1.
060942,000365: 17,2523 02527 TC +4
060943,000366: 17,2524 44741 TOPSEUDO CS QRBIT
060944,000367: 17,2525 71273 MASK RCSFLAGS
060945,000368: 17,2526 55273 TS RCSFLAGS # BIT 11 IS 0.
060946,000369: 17,2527 32573 CA HANDADR
060947,000370: 17,2530 55477 TS RETJADR
060948,000371: 17,2531 34753 CA ONE
060949,000372:
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Page 1449
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060951,000374: 17,2532 55505 BACKHAND TS AXISCTR
060952,000375:
060953,000376: 17,2533 34751 CA FOUR
060954,000377: 17,2534 55743 TS NUMBERT
060955,000378:
060956,000379: 17,2535 51505 INDEX AXISCTR
060957,000380: 17,2536 51535 INDEX SKIPU
060958,000381: 17,2537 12540 TCF +1
060959,000382: 17,2540 34751 CA FOUR
060960,000383: 17,2541 51505 INDEX AXISCTR
060961,000384: 17,2542 55535 TS SKIPU
060962,000385: 17,2543 13005 TCF LOOPER
060963,000386:
060964,000387: 17,2544 51505 INDEX AXISCTR
060965,000388: 17,2545 11426 CCS URATEDIF # INDEX AXIS QUANITY
060966,000389: 17,2546 34755 CA ZERO # 0 -U 1/JETACC-AOSU
060967,000390: 17,2547 12551 TCF +2 # 1 +U 1/JETACC+AOSU
060968,000391: 17,2550 34753 CA ONE # 16 -V 1/JETACC-AOSV
060969,000392: 17,2551 51505 INDEX AXISCTR # 17 +V 1/JETACC+AOSV
060970,000393: 17,2552 63722 AD AXISDIFF # JETACC = 2 JET ACCELERATION (1 FOR FAIL)
060971,000394:
060972,000395: 17,2553 50000 INDEX A
060973,000396: 17,2554 41571 CS 1/ANET2 +1
060974,000397: 17,2555 00006 EXTEND
060975,000398: 17,2556 51505 INDEX AXISCTR # URATEDIF IS SCALED AT PI/4 RAD/SEC
060976,000399: 17,2557 71426 MP URATEDIF # JET TIME IN A SCALED 32 SEC
060977,000400: 17,2560 54002 TS Q
060978,000401: 17,2561 20001 DAS A
060979,000402: 17,2562 60002 AD Q
060980,000403: 17,2563 54000 TS A # OVERFLOW SKIP
060981,000404: 17,2564 12566 TCF +2
060982,000405: 17,2565 30002 CA Q # RIGHT SIGN AND BIGGER THAN 150MS
060983,000406: 17,2566 51505 SETTIME INDEX AXISCTR
060984,000407: 17,2567 55525 TS TJU # SCALED AT 10.67 WHICH IS CLOSE TO 10.24
060985,000408: 17,2570 12727 TCF AFTERTJ
060986,000409:
060987,000410: 17,2571 34755 ZEROTJ CA ZERO
060988,000411: 17,2572 12566 TCF SETTIME
060989,000412:
060990,000413: 17,2573 02532 HANDADR GENADR BACKHAND
060991,000414:
060992,000415: # GTS WILL BE TRIED IF
060993,000416: # 1. USEQRJTS = 0,
060994,000417: # 2. ALLOWGTS POS,
060995,000418: # 3. JETS ARE OFF (Q,R-AXES)
060996,000419:
060997,000420: 17,2574 34736 TRYGTS CAF USEQRJTS # IS JET USE MANDATORY. (AS LONG AS
060998,000421: 17,2575 70111 MASK DAPBOOLS # USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
060999,000422: 17,2576 10000 CCS A
061000,000423: 17,2577 12107 TCF RCS
061001,000424: 17,2600 11502 CCS ALLOWGTS # NO. DOES AOSTASK OK CONTROL FOR GTS?
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Page 1450
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061003,000426: 17,2601 12603 TCF +2
061004,000427: 17,2602 12107 TCF RCS
061005,000428: 17,2603 00006 EXTEND
061006,000429: 17,2604 00005 READ CHAN5
061007,000430: 17,2605 10000 CCS A
061008,000431: 17,2606 12612 TCF CHKINGTS
061009,000432: 17,2607 00006 GOTOGTS EXTEND
061010,000433: 17,2610 32625 DCA GTSCADR
061011,000434: 17,2611 52006 DTCB
061012,000435:
061013,000436: 17,2612 11633 CHKINGTS CCS INGTS # WAS THE TRIM GIMBAL CONTROLLING
061014,000437: 17,2613 12615 TCF +2 # YES. SET UP A DAMPED NULLING DRIVE.
061015,000438: 17,2614 12107 TCF RCS # NO. NULLING WAS SET UP BEFORE. DO RCS
061016,000439: 17,2615 00004 INHINT
061017,000440: 17,2616 04674 TC IBNKCALL
061018,000441: 17,2617 43330 CADR TIMEGMBL
061019,000442: 17,2620 00003 RELINT
061020,000443: 17,2621 34755 CAF ZERO
061021,000444: 17,2622 55633 TS INGTS
061022,000445: 17,2623 12107 TCF RCS
061023,000446:
061024,000447: 17,2624 E6,1635 EBANK= CDUXD
061025,000448: 17,2624 03077 42106 GTSCADR 2CADR GTS
061026,000449:
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Page 1451
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061028,000451: # SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
061029,000452:
061030,000453: 17,2626 30033 QERRCALC CAE CDUY # Q-ERROR CALCULATION
061031,000454: 17,2627 00006 EXTEND
061032,000455: 17,2630 21636 MSU CDUYD # CDU ANGLE - ANGLE DESIRED (Y-AXIS)
061033,000456: 17,2631 55737 TS DAPTEMP1 # SAVE FOR RERRCALC
061034,000457: 17,2632 00006 EXTEND
061035,000458: 17,2633 71415 MP M21 # (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
061036,000459: 17,2634 55752 TS E
061037,000460: 17,2635 30034 CAE CDUZ # SECOND TERM CALCULATION:
061038,000461: 17,2636 00006 EXTEND
061039,000462: 17,2637 21637 MSU CDUZD # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
061040,000463: 17,2640 55740 TS DAPTEMP2 # SAVE FOR RERRCALC
061041,000464: 17,2641 00006 EXTEND
061042,000465: 17,2642 71417 MP M22 # (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
061043,000466: 17,2643 61300 AD DELQEROR # KALCMANU INERFACE ERROR
061044,000467: 17,2644 61752 AD E
061045,000468: 17,2645 57450 XCH QERROR # SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
061046,000469:
061047,000470: 17,2646 31737 RERRCALC CAE DAPTEMP1 # R-ERROR CALCULATION:
061048,000471: 17,2647 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Y-AXIS)
061049,000472: 17,2650 71416 MP M31 # (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
061050,000473: 17,2651 55752 TS E
061051,000474: 17,2652 31740 CAE DAPTEMP2 # SECOND TERM CALCULATION:
061052,000475: 17,2653 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
061053,000476: 17,2654 71420 MP M32 # (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
061054,000477: 17,2655 61301 AD DELREROR # KALCMANU INERFACE ERROR
061055,000478: 17,2656 61752 AD E
061056,000479: 17,2657 57452 XCH RERROR # SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
061057,000480: 17,2660 00002 TC Q
061058,000481:
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|
Page 1452
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061060,000483: # "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
061061,000484:
061062,000485: 17,2661 17,2661 ATTSTEER EQUALS STILLRCS # "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
061063,000486:
061064,000487: 17,2661 31452 STILLRCS CA RERROR
061065,000488: 17,2662 22000 LXCH A
061066,000489: 17,2663 31450 CA QERROR
061067,000490: 17,2664 03146 TC ROT-TOUV
061068,000491: 17,2665 53752 DXCH UERROR
061069,000492:
061070,000493: # PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
061071,000494: # PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
061072,000495:
061073,000496: 17,2666 33113 TJLAW CA TJLAWADR
061074,000497: 17,2667 55477 TS RETJADR
061075,000498: 17,2670 34753 CA ONE
061076,000499: 17,2671 55505 TS AXISCTR
061077,000500: 17,2672 51505 INDEX AXISCTR
061078,000501: 17,2673 51535 INDEX SKIPU
061079,000502: 17,2674 12675 TCF +1
061080,000503: 17,2675 34751 CA FOUR
061081,000504: 17,2676 51505 INDEX AXISCTR
061082,000505: 17,2677 55535 TS SKIPU
061083,000506: 17,2700 13005 TCF LOOPER
061084,000507: 17,2701 51505 INDEX AXISCTR
061085,000508: 17,2702 31751 CA UERROR
061086,000509: 17,2703 55752 TS E
061087,000510: 17,2704 51505 INDEX AXISCTR
061088,000511: 17,2705 31426 CA OMEGAU
061089,000512: 17,2706 55427 TS EDOT
061090,000513: 17,2707 30111 CA DAPBOOLS
061091,000514: 17,2710 74737 MASK CSMDOCKD
061092,000515: 17,2711 10000 CCS A
061093,000516: 17,2712 12715 TCF +3
061094,000517: 17,2713 03252 TC TJETLAW
061095,000518: 17,2714 12727 TCF AFTERTJ
061096,000519: 17,2715 40111 +3 CS DAPBOOLS # DOCKED. IF GIMBAL USABLE DO GTS CONTROL
061097,000520: 17,2716 74736 MASK USEQRJTS # ON THE NEXT PASS.
061098,000521: 17,2717 10000 CCS A # USEQRJTS BIT MUST NOT BE BIT 15.
061099,000522: 17,2720 55631 TS COTROLER # GIMBAL USABLE. STORE POSITIVE VALUE.
061100,000523: 17,2721 00004 INHINT
061101,000524: 17,2722 04674 TC IBNKCALL
061102,000525: 17,2723 43727 CADR SPSRCS # DETERMINE RCS CONTROL
061103,000526: 17,2724 00003 RELINT
061104,000527: 17,2725 34751 CAF FOUR # ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
061105,000528: 17,2726 55743 TS NUMBERT # FALL THROUGH TO JET SELECTION, ETC.
061106,000529:
061107,000530: # Q,R-JET-SELECTION-LOGIC
061108,000531:
061109,000532: # INPUT: AXISCTR 0,1 FOR U,V
061110,000533: # SNUFFBIT ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN
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Page 1453
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061112,000535: # TJU,TJV JET TIME SCALED 10.24 SEC.
061113,000536: # NUMBERT INDICATES NUMBER OF JETS AND TYPE OF POLICY
061114,000537: # RETJADR WHERE TO RETURN TO
061115,000538:
061116,000539: # OUTPUT: NO.U(V)JETS RATE DERIVATION FEEDBACK
061117,000540: # CHANNEL 5
061118,000541: # SKIPU,SKIRV FOR LESS THAN 150MS FIRING
061119,000542:
061120,000543: # NOTES: IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED
061121,000544: # JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY
061122,000545: # TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT
061123,000546: # IF NONE CAN BE FOUND.
061124,000547:
061125,000548: # TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
061126,000549: # MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
061127,000550:
061128,000551: 17,2727 30101 AFTERTJ CA FLAGWRD5 # IF SNUFFBIT SET DURING A DPS BURN GO TO
061129,000552: 17,2730 74737 MASK SNUFFBIT # XTRANS; THAT IS, INHIBIT CONTROL.
061130,000553: 17,2731 00006 EXTEND
061131,000554: 17,2732 12743 BZF DOROTAT
061132,000555: 17,2733 40106 CS FLGWRD10
061133,000556: 17,2734 74737 MASK APSFLBIT
061134,000557: 17,2735 00006 EXTEND
061135,000558: 17,2736 12743 BZF DOROTAT
061136,000559: 17,2737 30111 CA DAPBOOLS
061137,000560: 17,2740 74744 MASK DRIFTBIT
061138,000561: 17,2741 00006 EXTEND
061139,000562: 17,2742 13063 BZF XTRANS
061140,000563:
061141,000564: 17,2743 34752 DOROTAT CAF TWO
061142,000565: 17,2744 54001 TS L
061143,000566: 17,2745 51505 INDEX AXISCTR
061144,000567: 17,2746 11525 CCS TJU
061145,000568: 17,2747 12754 TCF +5
061146,000569: 17,2750 12777 TCF NOROTAT
061147,000570: 17,2751 12753 TCF +2
061148,000571: 17,2752 12777 TCF NOROTAT
061149,000572: 17,2753 22007 ZL
061150,000573: 17,2754 64753 AD ONE
061151,000574: 17,2755 55737 TS ABSTJ
061152,000575:
061153,000576: 17,2756 31505 CA AXISCTR
061154,000577: 17,2757 60001 AD L
061155,000578: 17,2760 55744 TS ROTINDEX # 0 1 2 3 = -U -V -+U +V
061156,000579:
061157,000580: 17,2761 31737 CA ABSTJ
061158,000581: 17,2762 63110 AD -150MS
061159,000582: 17,2763 00006 EXTEND
061160,000583: 17,2764 63010 BZMF DOSKIP
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Page 1454
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061162,000585: 17,2765 03173 TC SELCTSUB
061163,000586:
061164,000587: 17,2766 51505 INDEX AXISCTR
061165,000588: 17,2767 33105 CA INDEXES
061166,000589: 17,2770 54001 TS L
061167,000590:
061168,000591: 17,2771 31741 CA POLYTEMP
061169,000592: 17,2772 00004 INHINT
061170,000593: 17,2773 50001 INDEX L
061171,000594: 17,2774 05754 TC WRITEP
061172,000595:
061173,000596: 17,2775 00003 RELINT
061174,000597: 17,2776 13051 TCF FEEDBACK
061175,000598:
061176,000599: 17,2777 51505 NOROTAT INDEX AXISCTR
061177,000600: 17,3000 33105 CA INDEXES
061178,000601: 17,3001 00004 INHINT
061179,000602: 17,3002 50000 INDEX A
061180,000603: 17,3003 05753 TC WRITEP -1
061181,000604:
061182,000605: 17,3004 00003 RELINT
061183,000606: 17,3005 11505 LOOPER CCS AXISCTR
061184,000607: 17,3006 01477 TC RETJADR
061185,000608: 17,3007 13236 TCF CLOSEOUT
061186,000609: 17,3010 41737 DOSKIP CS ABSTJ
061187,000610: 17,3011 63107 AD +TJMINT6 # 14MS
061188,000611: 17,3012 00006 EXTEND
061189,000612: 17,3013 63032 BZMF NOTMIN
061190,000613:
061191,000614: 17,3014 27737 ADS ABSTJ
061192,000615: 17,3015 51505 INDEX AXISCTR
061193,000616: 17,3016 11525 CCS TJU
061194,000617: 17,3017 33107 CA +TJMINT6
061195,000618: 17,3020 13022 TCF +2
061196,000619: 17,3021 43107 CS +TJMINT6
061197,000620: 17,3022 51505 INDEX AXISCTR
061198,000621: 17,3023 55525 TS TJU
061199,000622:
061200,000623: 17,3024 11500 CCS SENSETYP # ENSURE MIN-IMPULSE NOT AGAINST TRANS
061201,000624: 17,3025 13031 TCF NOTMIN -1
061202,000625: 17,3026 00006 EXTEND
061203,000626: 17,3027 00004 READ LOSCALAR
061204,000627: 17,3030 74753 MASK ONE
061205,000628: 17,3031 55743 TS NUMBERT
061206,000629:
061207,000630: 17,3032 03173 NOTMIN TC SELCTSUB
061208,000631:
061209,000632: 17,3033 51505 INDEX AXISCTR
061210,000633: 17,3034 33105 CA INDEXES
061211,000634: 17,3035 00004 INHINT
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Page 1455
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061213,000636: 17,3036 55471 TS T6FURTHA +1
061214,000637: 17,3037 31741 CA POLYTEMP
061215,000638: 17,3040 51471 INDEX T6FURTHA +1
061216,000639: 17,3041 05754 TC WRITEP
061217,000640:
061218,000641: 17,3042 31737 CA ABSTJ
061219,000642: 17,3043 55470 TS T6FURTHA
061220,000643: 17,3044 03114 TC JTLST # IN QR BANK BY NOW
061221,000644:
061222,000645: 17,3045 00003 RELINT
061223,000646:
061224,000647: 17,3046 34755 CA ZERO
061225,000648: 17,3047 51505 INDEX AXISCTR
061226,000649: 17,3050 55535 TS SKIPU
061227,000650:
061228,000651: 17,3051 46245 FEEDBACK CS THREE
061229,000652: 17,3052 61743 AD NUMBERT
061230,000653: 17,3053 00006 EXTEND
061231,000654: 17,3054 63057 BZMF +3
061232,000655:
061233,000656: 17,3055 34752 CA TWO
061234,000657: 17,3056 13060 TCF +2
061235,000658: 17,3057 34753 CA ONE
061236,000659: 17,3060 51505 INDEX AXISCTR
061237,000660: 17,3061 55522 TS NO.UJETS
061238,000661: 17,3062 13005 TCF LOOPER
061239,000662:
061240,000663: 17,3063 34755 XTRANS CA ZERO
061241,000664: 17,3064 55525 TS TJU
061242,000665: 17,3065 55526 TS TJV
061243,000666: 17,3066 34751 CA FOUR
061244,000667: 17,3067 00004 INHINT
061245,000668: 17,3070 57535 XCH SKIPU
061246,000669: 17,3071 00006 EXTEND
061247,000670: 17,3072 13074 BZF +2
061248,000671: 17,3073 05757 TC WRITEU -1
061249,000672: 17,3074 34751 CA FOUR
061250,000673: 17,3075 57536 XCH SKIPV
061251,000674: 17,3076 00003 RELINT
061252,000675:
061253,000676: 17,3077 00006 EXTEND
061254,000677: 17,3100 13236 BZF CLOSEOUT
061255,000678: 17,3101 00004 INHINT
061256,000679: 17,3102 05770 TC WRITEV -1
061257,000680: 17,3103 00003 RELINT
061258,000681:
061259,000682: 17,3104 13236 TCF CLOSEOUT
061260,000683: 17,3105 00004 INDEXES DEC 4 B-14
061261,000684: 17,3106 00015 DEC 13 B-14
061262,000685: 17,3107 00026 +TJMINT6 DEC 22 B-14
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Page 1456
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061264,000687: 17,3110 77417 -150MS DEC -240 B-14
061265,000688: 17,3111 00600 BIT8,9 OCT 00600
061266,000689: 17,3112 00266 SCLNORM OCT 266
061267,000690: 17,3113 02671 TJLAWADR GENADR TJLAW +3 # RETURN ADDRESS FOR RCS ATTITUDE CONTROL
061268,000691:
061269,000692: # THE JET LIST:
061270,000693: # THIS IS A WAITLIST FOR T6RUPTS.
061271,000694:
061272,000695: # CALLED BY:
061273,000696: # CA TJ TIME WHEN NEXT JETS WILL BE WRITTEN
061274,000697: # TS T6FURTHA
061275,000698: # CA INDEX AXIS TO BE WIRTTEN AT TJ (FROM NOW)
061276,000699: # TS T6FURTHA +1
061277,000700: # TC JTLST
061278,000701:
061279,000702: # EXAMPLE - U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
061280,000703: # JETS INTO CHANNEL 5. IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
061281,000704: # 150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
061282,000705: # CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
061283,000706: # OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
061284,000707:
061285,000708: # THE LIST IS EXACTLY 3 LONG. (THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
061286,000709: # THE INPUT IS THE LAST MEMBER OF THE LIST
061287,000710:
061288,000711: # RETURNS BY:
061289,000712: # + TC Q
061290,000713:
061291,000714: # DEFINITIONS: (OUTPUT)
061292,000715: # TIME6 TIME OF NEXT RUPT
061293,000716: # T6NEXT DELTA TIME TO NEXT RUPT
061294,000717: # T6FURTHA DELTA TIME FROM 2ND TO LAST RUPT
061295,000718: # NXT6ADR AXIS INDEX Q - P-AXIS
061296,000719: # T6NEXT +1 AXIS INDEX 4 - U-AXIS
061297,000720: # T6FURTHA +1 AXIS INDEX 13 - V-AXIS
061298,000721:
061299,000722: 17,3114 41470 JTLST CS T6FURTHA
061300,000723: 17,3115 60031 AD TIME6
061301,000724: 17,3116 00006 EXTEND
061302,000725: 17,3117 63131 BZMF MIDORLST # TIME6 - T IS IN A
061303,000726:
061304,000727: 17,3120 23465 LXCH NXT6ADR
061305,000728: 17,3121 53467 DXCH T6NEXT
061306,000729: 17,3122 53471 DXCH T6FURTHA
061307,000730: 17,3123 54031 TS TIME6
061308,000731: 17,3124 23465 LXCH NXT6ADR
061309,000732:
061310,000733: 17,3125 34735 TURNON CA BIT15
061311,000734: 17,3126 00006 EXTEND
061312,000735: 17,3127 05013 WOR CHAN13
061313,000736: 17,3130 00002 TC Q
061314,000737:
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Page 1457
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061316,000739: 17,3131 61466 MIDORLST AD T6NEXT
061317,000740: 17,3132 00006 EXTEND
061318,000741: 17,3133 63142 BZMF LASTCHG # TIME6 + T6NEXT - T IS IN A
061319,000742:
061320,000743: 17,3134 23467 LXCH T6NEXT +1
061321,000744: 17,3135 53471 DXCH T6FURTHA
061322,000745: 17,3136 00006 EXTEND
061323,000746: 17,3137 60031 SU TIME6
061324,000747: 17,3140 53467 DXCH T6NEXT
061325,000748:
061326,000749: 17,3141 00002 TC Q
061327,000750:
061328,000751: 17,3142 40000 LASTCHG CS A
061329,000752: 17,3143 64754 AD NEG0
061330,000753: 17,3144 55470 TS T6FURTHA
061331,000754:
061332,000755: 17,3145 00002 TC Q
061333,000756:
061334,000757: # ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
061335,000758: # ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM. IN THE U-V SYSTEM NO CROSS-COUPLING IS
061336,000759: # PRODUCED FROM RCS JET FIRINGS. AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
061337,000760: # A AND THE V-COMPONENT IS IN L.
061338,000761:
061339,000762: 17,3146 23740 ROT-TOUV LXCH ROTEMP2 # (R) IS PUT INTO ROTEMP2
061340,000763: 17,3147 00006 EXTEND
061341,000764: 17,3150 71627 MP COEFFQ
061342,000765: 17,3151 57740 XCH ROTEMP2 # (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
061343,000766: 17,3152 00006 EXTEND
061344,000767: 17,3153 71630 MP COEFFR
061345,000768: 17,3154 54001 TS L # COEFFR.(R) IS PUT INTO L
061346,000769: 17,3155 61740 AD ROTEMP2
061347,000770: 17,3156 55737 TS ROTEMP1 # COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
061348,000771: 17,3157 13163 TCF +4
061349,000772: 17,3160 50000 INDEX A # COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
061350,000773: 17,3161 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
061351,000774: 17,3162 55737 TS ROTEMP1
061352,000775: 17,3163 41740 CS ROTEMP2
061353,000776: 17,3164 60001 AD L # -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
061354,000777: 17,3165 54007 TS 7
061355,000778: 17,3166 13171 TCF +3
061356,000779: 17,3167 50000 INDEX A # -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
061357,000780: 17,3170 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
061358,000781: 17,3171 23737 LXCH ROTEMP1 # COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
061359,000782: 17,3172 00002 TC Q
061360,000783: 17,3173 51744 SELCTSUB INDEX ROTINDEX
061361,000784: 17,3174 33225 CA ALLJETS
061362,000785: 17,3175 51743 INDEX NUMBERT
061363,000786: 17,3176 73231 MASK TYPEPOLY
061364,000787: 17,3177 55741 TS POLYTEMP
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Page 1458
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061366,000789: 17,3200 71262 MASK CH5MASK
061367,000790: 17,3201 10000 CCS A
061368,000791: 17,3202 13204 TCF +2
061369,000792:
061370,000793: 17,3203 00002 TC Q
061371,000794:
061372,000795: 17,3204 36245 CA THREE
061373,000796: 17,3205 55743 FAILOOP TS NUMBERT
061374,000797: 17,3206 51744 INDEX ROTINDEX
061375,000798: 17,3207 33225 CA ALLJETS
061376,000799: 17,3210 51743 INDEX NUMBERT
061377,000800: 17,3211 73231 MASK TYPEPOLY
061378,000801: 17,3212 55741 TS POLYTEMP
061379,000802: 17,3213 71262 MASK CH5MASK
061380,000803: 17,3214 00006 EXTEND
061381,000804: 17,3215 13203 BZF FAILOOP -2
061382,000805: 17,3216 11743 CCS NUMBERT
061383,000806: 17,3217 13205 TCF FAILOOP
061384,000807: 17,3220 51505 INDEX AXISCTR
061385,000808: 17,3221 55525 TS TJU
061386,000809: 17,3222 05567 TC ALARM
061387,000810: 17,3223 02004 OCT 02004
061388,000811: 17,3224 12777 TCF NOROTAT
061389,000812: 17,3225 00110 ALLJETS OCT 00110 # -U 6 13
061390,000813: 17,3226 00022 OCT 00022 # -V 2 9
061391,000814: 17,3227 00204 OCT 00204 # +U 5 14
061392,000815: 17,3230 00041 OCT 00041 # +V 1 10
061393,000816: 17,3231 00125 TYPEPOLY OCT 00125 # -X 1 5 9 13
061394,000817: 17,3232 00252 OCT 00252 # +X 2 6 10 14
061395,000818: 17,3233 00146 OCT 00146 # A 2 5 10 13
061396,000819: 17,3234 00231 OCT 00231 # B 1 6 9 14
061397,000820: 17,3235 00377 OCT 00377 # ALL 1 2 5 6 9 10 13 14
061398,000821:
061399,000822: # THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
061400,000823:
061401,000824: 17,3236 33240 CLOSEOUT CA ADRRUPT
061402,000825: 17,3237 07754 TC MAKERUPT
061403,000826:
061404,000827: 17,3240 03241 ADRRUPT ADRES ENDJASK
061405,000828:
061406,000829: 17,3241 53754 ENDJASK DXCH DAPARUPT
061407,000830: 17,3242 52011 DXCH ARUPT
061408,000831: 17,3243 53756 DXCH DAPBQRPT
061409,000832: 17,3244 56017 XCH BRUPT
061410,000833: 17,3245 22002 LXCH Q
061411,000834: 17,3246 34735 CAF NEGMAX # NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
061412,000835: 17,3247 53760 DXCH DAPZRUPT
061413,000836: 17,3250 52016 DXCH ZRUPT
061414,000837: 17,3251 15272 TCF NOQRSM
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Page 1459
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061416,000839: 7754 BLOCK 3
061417,000840: 6000 SETLOC FFTAG6
061418,000841: 6000 BANK
061419,000842:
061420,000843: 7754 COUNT* $$/DAP
061421,000844:
061422,000845: 7754 00006 MAKERUPT EXTEND
061423,000846: 7755 07754 EDRUPT MAKERUPT
061424,000847:
End of include-file Q,R-AXES_RCS_AUTOPILOT.agc. Parent file is MAIN.agc