GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 16:27 JULY 14,1969Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files were from the printout at the MIT Museum, with many thanks
to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing
it to us. The printout was digitally photographed by Paul Fjeld. A team of
volunteers transcribed the source code manually from these images or, where
appropriate, modified already-transcribed but similar source Luminary 131 (Apollo 13)
source code to agree with the images from the printout. Note that the page images
presented online are of reduced quality, and that higher-quality images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 16:27 JULY 14,1969Note that the date is the date of the printout, not the date of the program revision. |
062139,000002: ## Copyright: Public domain.
062140,000003: ## Filename: Q_R-AXIS_RCS_AUTOPILOT.agc
062141,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
062142,000005: ## It is part of the source code for the Lunar Module's (LM)
062143,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
062144,000007: ## Assembler: yaYUL
062145,000008: ## Contact: Ron Burkey <info@sandroid.org>.
062146,000009: ## Website: www.ibiblio.org/apollo.
062147,000010: ## Pages: 1442-1459
062148,000011: ## Mod history: 2009-05-27 RSB Adapted from the corresponding
062149,000012: ## Luminary131 file, using page
062150,000013: ## images from Luminary 1A.
062151,000014: ## 2009-06-07 RSB Corrected "DEC 96.0" to "DEC 96", since
062152,000015: ## the former is not compatible with yaYUL.
062153,000016: ## 2011-01-06 JL Fixed pseudo-label indentation.
062154,000017: ## 2016-12-18 RSB Proofed text comments with octopus/ProoferComments
062155,000018: ## and corrected the errors found.
062156,000019: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
062157,000020: ## side-by-side diff of Luminary 69/99/116/131/210.
062158,000021: ## 2017-08-29 MAS Fixed a label (X0RULGE instead of XORULGE) and a
062159,000022: ## comment text error found while transcribing Zerlina 56.
062160,000023:
062161,000024: ## This source code has been transcribed or otherwise adapted from
062162,000025: ## digitized images of a hardcopy from the MIT Museum. The digitization
062163,000026: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
062164,000027: ## the Museum. Many thanks to both. The images (with suitable reduction
062165,000028: ## in storage size and consequent reduction in image quality as well) are
062166,000029: ## available online at www.ibiblio.org/apollo. If for some reason you
062167,000030: ## find that the images are illegible, contact me at info@sandroid.org
062168,000031: ## about getting access to the (much) higher-quality images which Paul
062169,000032: ## actually created.
062170,000033: ##
062171,000034: ## Notations on the hardcopy document read, in part:
062172,000035: ##
062173,000036: ## Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
062174,000037: ## 16:27 JULY 14, 1969
062175,000038:
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Page 1442 |
062177,000040: 17,2072 BANK 17
062178,000041: 17,2000 SETLOC DAPS2
062179,000042: 17,2000 BANK
062180,000043:
062181,000044: 17,2072 E6,1635 EBANK= CDUXD
062182,000045:
062183,000046: 17,2072 COUNT* $$/DAPQR
062184,000047:
062185,000048: 17,2072 34737 CALLQERR CA BIT13 # CALCULATE Q,R ERRORS UNLESS THESE AXES
062186,000049: 17,2073 00006 EXTEND # ARE IN MANUAL RATE COMMAND.
062187,000050: 17,2074 02031 RAND CHAN31
062188,000051: 17,2075 10000 CCS A
062189,000052: 17,2076 12103 TCF +5 # IN AUTO COMPUTE Q,R ERRORS
062190,000053: 17,2077 40111 CS DAPBOOLS # IN MANUAL RATE COMMAND?
062191,000054: 17,2100 74740 MASK OURRCBIT
062192,000055: 17,2101 00006 EXTEND
062193,000056: 17,2102 12104 BZF Q,RORGTS # IF SO BYPASS CALCULATION OF ERRORS.
062194,000057: 17,2103 02626 TC QERRCALC
062195,000058:
062196,000059: 17,2104 11631 Q,RORGTS CCS COTROLER # CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
062197,000060: 17,2105 12607 TCF GOTOGTS # GTS (ALTERNATES WITH RCS WHEN DOCKED)
062198,000061: 17,2106 12574 TCF TRYGTS # GTS IF ALLOWED, OTHERWISE RCS
062199,000062: 17,2107 34755 RCS CAF ZERO # RCS (TRYGTS MAY BRANCH TO HERE)
062200,000063: 17,2110 55631 TS COTROLER
062201,000064:
062202,000065: 17,2111 53437 DXCH EDOTQ
062203,000066: 17,2112 03146 TC ROT-TOUV
062204,000067: 17,2113 53427 DXCH OMEGAU
062205,000068:
062206,000069: # X - TRANSLATION:
062207,000070:
062208,000071: # INPUT: BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
062209,000072: # ULLAGER
062210,000073: # APSFLAG, DRIFTBIT
062211,000074: # ACC40R2X, ACRBTRAN
062212,000075:
062213,000076: # OUTPUT: NEXTU, NEXTV CODES OF TRANSLATION FOR AFTER ROTATION
062214,000077: # SENSETYP TELL ROTATION DIRECTION AND DESIRE
062215,000078:
062216,000079: # X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR. IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED. A FAILURE
062217,000080: # WILL OVERRIDE THIS SPECIFICATION. AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
062218,000081:
062219,000082: 17,2114 34745 SENSEGET CA BIT7 # INPUT BITS OVERRIDE THE INTERNAL BITS
062220,000083: 17,2115 00006 EXTEND # SENSETYP WILL NOT OPPOSE ANYTRANS
062221,000084: 17,2116 02031 RAND CHAN31
062222,000085: 17,2117 00006 EXTEND
062223,000086: 17,2120 12146 BZF +XORULGE
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Page 1443 |
062225,000088: 17,2121 34744 CA BIT8
062226,000089: 17,2122 00006 EXTEND
062227,000090: 17,2123 02031 RAND CHAN31
062228,000091: 17,2124 00006 EXTEND
062229,000092: 17,2125 12147 BZF -XTRANS
062230,000093:
062231,000094: 17,2126 34746 CA ULLAGER
062232,000095: 17,2127 70111 MASK DAPBOOLS
062233,000096: 17,2130 10000 CCS A
062234,000097: 17,2131 12146 TCF +XORULGE
062235,000098:
062236,000099: 17,2132 55473 TS NEXTU # STORE NULL TRANSLATION POLICIES
062237,000100: 17,2133 55474 TS NEXTV
062238,000101: 17,2134 40111 CS DAPBOOLS # BURNING OR DRIFTING?
062239,000102: 17,2135 74744 MASK DRIFTBIT
062240,000103: 17,2136 00006 EXTEND
062241,000104: 17,2137 12144 BZF TSENSE
062242,000105: 17,2140 30106 CA FLGWRD10 # DPS (INCLUDING DOCKED) OR APS?
062243,000106: 17,2141 74737 MASK APSFLBIT
062244,000107: 17,2142 10000 CCS A
062245,000108: 17,2143 34752 CAF TWO # FAVOR +X JETS DURING AN APS BURN.
062246,000109: 17,2144 55500 TSENSE TS SENSETYP
062247,000110: 17,2145 12200 TCF QRCONTRL
062248,000111:
062249,000112: 17,2146 34753 +XORULGE CAF ONE
062250,000113: 17,2147 64751 -XTRANS AD FOUR
062251,000114: 17,2150 55744 TS ROTINDEX
062252,000115: 17,2151 67745 AD NEG3
062253,000116: 17,2152 55500 TS SENSETYP # FAVOR APPROPRIATE JETS DURING TRANS.
062254,000117: 17,2153 30111 CA DAPBOOLS
062255,000118: 17,2154 74741 MASK ACC4OR2X
062256,000119: 17,2155 10000 CCS A
062257,000120: 17,2156 12321 TCF TRANS4
062258,000121:
062259,000122: 17,2157 30111 CA DAPBOOLS
062260,000123: 17,2160 74742 MASK AORBTRAN
062261,000124: 17,2161 10000 CCS A
062262,000125: 17,2162 34753 CA ONE # THREE FOR B
062263,000126: 17,2163 64752 AD TWO # TWO FOR A SYSTEM 2 JET X TRANS
062264,000127: 17,2164 55743 TSNUMBRT TS NUMBERT
062265,000128:
062266,000129: 17,2165 03173 TC SELCTSUB
062267,000130:
062268,000131: 17,2166 11741 CCS POLYTEMP
062269,000132: 17,2167 12172 TCF +3
062270,000133: 17,2170 05567 TC ALARM
062271,000134: 17,2171 02002 OCT 02002
062272,000135: 17,2172 35774 CA 00314OCT
062273,000136: 17,2173 71741 MASK POLYTEMP
062274,000137: 17,2174 55473 TSNEXTS TS NEXTU
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Page 1444 |
062276,000139: 17,2175 45774 CS 00314OCT
062277,000140: 17,2176 71741 MASK POLYTEMP
062278,000141: 17,2177 55474 TS NEXTV
062279,000142:
062280,000143: # Q,R-AXES RCS CONTROL MODE SELECTION
062281,000144: # SWITCHES INDICATION WHEN SET
062282,000145: # BIT13/CHAN31 AUTO, GO TO ATTSTEER
062283,000146: # PULSES MINIMUM IMPULSE MODE
062284,000147: # (OTHERWISE) RATE COMMAND/ATTITUDE HOLD MODE
062285,000148:
062286,000149: 17,2200 34737 QRCONTRL CA BIT13 # CHECK MODE SELECT SWITCH.
062287,000150: 17,2201 00006 EXTEND
062288,000151: 17,2202 02031 RAND CHAN31 # BITS INVERTED
062289,000152: 17,2203 10000 CCS A
062290,000153: 17,2204 12661 TCF ATTSTEER
062291,000154: 17,2205 34735 CHKBIT10 CAF PULSES # PULSES = 1 FOR MIN IMP USE OF RHC
062292,000155: 17,2206 70111 MASK DAPBOOLS
062293,000156: 17,2207 00006 EXTEND
062294,000157: 17,2210 12323 BZF CHEKSTIK # IN ATT-HOLD/RATE-COMMAND IF BIT10=0
062295,000158:
062296,000159: # MINIMUM IMPULSE MODE
062297,000160:
062298,000161: 17,2211 00004 INHINT
062299,000162: 17,2212 04674 TC IBNKCALL
062300,000163: 17,2213 40153 CADR ZATTEROR
062301,000164: 17,2214 34755 CA ZERO
062302,000165: 17,2215 55450 TS QERROR
062303,000166: 17,2216 55452 TS RERROR # FOR DISPLAYS
062304,000167: 17,2217 00003 RELINT
062305,000168:
062306,000169: 17,2220 00006 EXTEND
062307,000170: 17,2221 00031 READ CHAN31
062308,000171: 17,2222 55737 TS TEMP31 # IS EQUAL TO DAPTEMP1
062309,000172: 17,2223 11461 CCS OLDQRMIN
062310,000173: 17,2224 12246 TCF CHECKIN
062311,000174:
062312,000175: 17,2225 31737 FIREQR CA TEMP31
062313,000176: 17,2226 74753 MASK BIT1
062314,000177: 17,2227 00006 EXTEND
062315,000178: 17,2230 12252 BZF +QMIN
062316,000179:
062317,000180: 17,2231 31737 CA TEMP31
062318,000181: 17,2232 74752 MASK BIT2
062319,000182: 17,2233 00006 EXTEND
062320,000183: 17,2234 12256 BZF -QMIN
062321,000184:
062322,000185: 17,2235 31737 CA TEMP31
062323,000186: 17,2236 74747 MASK BIT5
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Page 1445 |
062325,000188: 17,2237 00006 EXTEND
062326,000189: 17,2240 12262 BZF +RMIN
062327,000190:
062328,000191: 17,2241 31737 CA TEMP31
062329,000192: 17,2242 74746 MASK BIT6
062330,000193: 17,2243 00006 EXTEND
062331,000194: 17,2244 12264 BZF -RMIN
062332,000195:
062333,000196: 17,2245 13063 TCF XTRANS
062334,000197:
062335,000198: 17,2246 41737 CHECKIN CS TEMP31
062336,000199: 17,2247 72320 MASK OCT63
062337,000200: 17,2250 55461 TS OLDQRMIN
062338,000201: 17,2251 13063 TCF XTRANS
062339,000202:
062340,000203: 17,2252 33107 +QMIN CA 14MS
062341,000204: 17,2253 55525 TS TJU
062342,000205: 17,2254 43107 CS 14MS
062343,000206: 17,2255 12266 TCF MINQR
062344,000207: 17,2256 43107 -QMIN CS 14MS
062345,000208: 17,2257 55525 TS TJU
062346,000209: 17,2260 33107 CA 14MS
062347,000210: 17,2261 12266 TCF MINQR
062348,000211: 17,2262 33107 +RMIN CA 14MS
062349,000212: 17,2263 12265 TCF +2
062350,000213: 17,2264 43107 -RMIN CS 14MS
062351,000214: 17,2265 55525 TS TJU
062352,000215: 17,2266 55526 MINQR TS TJV
062353,000216: 17,2267 32317 CA MINADR
062354,000217: 17,2270 55477 TS RETJADR
062355,000218: 17,2271 34753 CA ONE
062356,000219: 17,2272 55461 TS OLDQRMIN
062357,000220: 17,2273 55505 MINRTN TS AXISCTR
062358,000221: 17,2274 30111 CA DAPBOOLS
062359,000222: 17,2275 74737 MASK CSMDOCKD
062360,000223: 17,2276 00006 EXTEND
062361,000224: 17,2277 12307 BZF MIMRET
062362,000225: 17,2300 51505 INDEX AXISCTR # IF DOCKED, USE 60MS MINIMUM IMPULSE
062363,000226: 17,2301 11525 CCS TJU
062364,000227: 17,2302 32316 CA 60MS
062365,000228: 17,2303 12305 TCF +2
062366,000229: 17,2304 42316 CS 60MS
062367,000230: 17,2305 51505 INDEX AXISCTR
062368,000231: 17,2306 55525 TS TJU
062369,000232: 17,2307 30111 MIMRET CA DAPBOOLS
062370,000233: 17,2310 74742 MASK AORBTRAN
062371,000234: 17,2311 10000 CCS A
062372,000235: 17,2312 34753 CA ONE
062373,000236: 17,2313 64752 AD TWO
062374,000237: 17,2314 55743 TS NUMBERT
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Page 1446 |
062376,000239: 17,2315 12727 TCF AFTERTJ
062377,000240:
062378,000241: 17,2316 00140 60MS DEC 96.0
062379,000242: 17,2317 02273 MINADR GENADR MINRTN
062380,000243: 17,2320 00063 OCT63 OCT 63
062381,000244: 17,2321 17,3107 14MS = +TJMINT6
062382,000245:
062383,000246: 17,2321 34751 TRANS4 CA FOUR
062384,000247: 17,2322 12164 TCF TSNUMBRT
062385,000248:
062386,000249: # RATE COMMAND MODE:
062387,000250:
062388,000251: # DESCRIPTION (SAME AS P-AXIS)
062389,000252:
062390,000253: 17,2323 55633 CHEKSTIK TS INGTS # NOT IN GTS WHEN IN ATT HOLD
062391,000254: 17,2324 44753 CS ONE # 1/ACCS WILL DO THE NULLING DRIVES
062392,000255: 17,2325 55631 TS COTROLER # COME BACK TO RCS NEXT TIME
062393,000256: 17,2326 34735 CA BIT15
062394,000257: 17,2327 71443 MASK CH31TEMP
062395,000258: 17,2330 00006 EXTEND
062396,000259: 17,2331 12350 BZF RHCACTIV # BRANCH IF OUT OF DETENT.
062397,000260: 17,2332 34740 CA OURRCBIT # ***********
062398,000261: 17,2333 70111 MASK DAPBOOLS # *IN DETENT* CHECK FOR MANUAL CONTROL
062399,000262: 17,2334 00006 EXTEND # *********** LAST TIME.
062400,000263: 17,2335 12661 BZF STILLRCS
062401,000264: 17,2336 44743 CS BIT9
062402,000265: 17,2337 71273 MASK RCSFLAGS
062403,000266: 17,2340 55273 TS RCSFLAGS # BIT 9 IS 0.
062404,000267: 17,2341 12345 TCF DAMPING
062405,000268: 17,2342 00050 40CYCL OCT 50
062406,000269: 17,2343 00001 1/10S OCT 1
062407,000270: 17,2344 00056 LINRAT DEC 46 B-14
062408,000271:
062409,000272: # ================================
062410,000273:
062411,000274: 17,2345 34755 DAMPING CA ZERO
062412,000275: 17,2346 55462 TS SAVEHAND
062413,000276: 17,2347 55463 TS SAVEHAND +1
062414,000277: 17,2350 11462 RHCACTIV CCS SAVEHAND # *******************
062415,000278: 17,2351 12354 TCF +3 # Q,R MANUAL CONTROL WC = A*(B+|D|)*D
062416,000279: 17,2352 12354 TCF +2 # *******************
062417,000280: 17,2353 12354 TCF +1
062418,000281: 17,2354 60000 DOUBLE # WHERE
062419,000282: 17,2355 60000 DOUBLE
062420,000283: 17,2356 62344 AD LINRAT # WC = COMMANDED ROTATIONAL RATE
062421,000284: 17,2357 00006 EXTEND # A = QUADRATIC SENSITIVITY FACTOR
062422,000285: 17,2360 71462 MP SAVEHAND # B = LINEAR/QUADRATIC SENSITIVITY
062423,000286: 17,2361 30001 CA L # |D| = ABS. VALUE OF DEFLECTION
062424,000287: 17,2362 00006 EXTEND # D = HAND CONTROLLER DEFLECTION
062425,000288: 17,2363 71444 MP STIKSENS
062426,000289: 17,2364 57455 XCH QLAST # COMMAND Q RATE SCALED 45 DEG/SEC
062427,000290: 17,2365 40000 COM
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Page 1447 |
062429,000292: 17,2366 61455 AD QLAST
062430,000293: 17,2367 55741 TS DAPTEMP3
062431,000294: 17,2370 11463 CCS SAVEHAND +1
062432,000295: 17,2371 12374 TCF +3
062433,000296: 17,2372 12374 TCF +2
062434,000297: 17,2373 12374 TCF +1
062435,000298: 17,2374 60000 DOUBLE
062436,000299: 17,2375 60000 DOUBLE
062437,000300: 17,2376 62344 AD LINRAT
062438,000301: 17,2377 00006 EXTEND
062439,000302: 17,2400 71463 MP SAVEHAND +1
062440,000303: 17,2401 30001 CA L
062441,000304: 17,2402 00006 EXTEND
062442,000305: 17,2403 71444 MP STIKSENS
062443,000306: 17,2404 57456 XCH RLAST
062444,000307: 17,2405 40000 COM
062445,000308: 17,2406 61456 AD RLAST
062446,000309: 17,2407 55742 TS DAPTEMP4
062447,000310: 17,2410 41455 CS QLAST # INTERVAL.
062448,000311: 17,2411 61422 AD OMEGAQ
062449,000312: 17,2412 55436 TS QRATEDIF
062450,000313: 17,2413 41456 CS RLAST
062451,000314: 17,2414 61423 AD OMEGAR
062452,000315: 17,2415 55437 TS RRATEDIF
062453,000316: 17,2416 53437 ENTERQR DXCH QRATEDIF # TRANSFORM RATES FROM Q,R TO U,V AXES
062454,000317: 17,2417 03146 TC ROT-TOUV
062455,000318: 17,2420 53427 DXCH URATEDIF
062456,000319: 17,2421 11741 CCS DAPTEMP3 # CHECK IF Q COMMAND CHANGE EXCEEDS
062457,000320: 17,2422 02425 TC +3 # BREAKOUT LEVEL. IF NOT, CHECK R.
062458,000321: 17,2423 02425 TC +2
062459,000322: 17,2424 02425 TC +1
062460,000323: 17,2425 61476 AD -RATEDB
062461,000324: 17,2426 00006 EXTEND
062462,000325: 17,2427 62431 BZMF +2
062463,000326: 17,2430 12447 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
062464,000327: 17,2431 11742 CCS DAPTEMP4 # R COMMAND BREAKOUT CHECK.
062465,000328: 17,2432 02435 TC +3
062466,000329: 17,2433 02435 TC +2
062467,000330: 17,2434 02435 TC +1
062468,000331: 17,2435 61476 AD -RATEDB
062469,000332: 17,2436 00006 EXTEND
062470,000333: 17,2437 62441 BZMF +2
062471,000334: 17,2440 12447 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
062472,000335: 17,2441 31273 CA RCSFLAGS # BREAKOUT LEVEL NOT EXCEEDED. CHECK FOR
062473,000336: 17,2442 74741 MASK QRBIT # DIRECT RATE CONTROL LAST TIME.
062474,000337: 17,2443 00006 EXTEND
062475,000338: 17,2444 12446 BZF +2
062476,000339: 17,2445 12451 TCF ENTERUV # CONTINUE DIRECT RATE CONTROL.
062477,000340: 17,2446 12661 TCF STILLRCS # PSEUDO-AUTO CONTROL.
062478,000341: 17,2447 32342 CA 40CYCL
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Page 1448 |
062480,000343: 17,2450 55457 TS TCQR
062481,000344: 17,2451 00004 ENTERUV INHINT # DIRECT RATE CONTROL.
062482,000345: 17,2452 04674 TC IBNKCALL
062483,000346: 17,2453 40153 FCADR ZATTEROR
062484,000347: 17,2454 00003 RELINT
062485,000348: 17,2455 34755 CA ZERO
062486,000349: 17,2456 55450 TS DYERROR
062487,000350: 17,2457 55451 TS DYERROR +1
062488,000351: 17,2460 55452 TS DZERROR
062489,000352: 17,2461 55453 TS DZERROR +1
062490,000353: 17,2462 11426 CCS URATEDIF
062491,000354: 17,2463 12466 TCF +3
062492,000355: 17,2464 12466 TCF +2
062493,000356: 17,2465 12466 TCF +1
062494,000357: 17,2466 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
062495,000358: 17,2467 00006 EXTEND # DIRECT RATE CONTROL.
062496,000359: 17,2470 62504 BZMF VDB
062497,000360: 17,2471 11427 CCS VRATEDIF
062498,000361: 17,2472 12475 TCF +3
062499,000362: 17,2473 12475 TCF +2
062500,000363: 17,2474 12475 TCF +1
062501,000364: 17,2475 61476 AD TARGETDB
062502,000365: 17,2476 00006 EXTEND
062503,000366: 17,2477 62501 BZMF +2
062504,000367: 17,2500 12515 TCF QRTIME
062505,000368: 17,2501 34755 CA ZERO
062506,000369: 17,2502 55427 TS VRATEDIF
062507,000370: 17,2503 12515 TCF QRTIME
062508,000371: 17,2504 11427 VDB CCS VRATEDIF
062509,000372: 17,2505 02510 TC +3
062510,000373: 17,2506 02510 TC +2
062511,000374: 17,2507 02510 TC +1
062512,000375: 17,2510 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
062513,000376: 17,2511 00006 EXTEND # DIRECT RATE CONTROL. IF NOT, FIRE AND
062514,000377: 17,2512 62524 BZMF TOPSEUDO # SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
062515,000378: 17,2513 34755 CA ZERO # PASS.
062516,000379: 17,2514 55426 TS URATEDIF
062517,000380: 17,2515 31457 QRTIME CA TCQR # DIRECT RATE TIME CHECK.
062518,000381: 17,2516 00006 EXTEND
062519,000382: 17,2517 62524 BZMF +5 # BRANCH IF TIME EXCEEDS 4 SEC.
062520,000383: 17,2520 41273 CS RCSFLAGS
062521,000384: 17,2521 74741 MASK QRBIT
062522,000385: 17,2522 27273 ADS RCSFLAGS # BIT 11 IS 1.
062523,000386: 17,2523 02527 TC +4
062524,000387: 17,2524 44741 TOPSEUDO CS QRBIT
062525,000388: 17,2525 71273 MASK RCSFLAGS
062526,000389: 17,2526 55273 TS RCSFLAGS # BIT 11 IS 0.
062527,000390: 17,2527 32573 CA HANDADR
062528,000391: 17,2530 55477 TS RETJADR
062529,000392: 17,2531 34753 CA ONE
062530,000393:
|
|
Page 1449 |
062532,000395: 17,2532 55505 BACKHAND TS AXISCTR
062533,000396:
062534,000397: 17,2533 34751 CA FOUR
062535,000398: 17,2534 55743 TS NUMBERT
062536,000399:
062537,000400: 17,2535 51505 INDEX AXISCTR
062538,000401: 17,2536 51535 INDEX SKIPU
062539,000402: 17,2537 12540 TCF +1
062540,000403: 17,2540 34751 CA FOUR
062541,000404: 17,2541 51505 INDEX AXISCTR
062542,000405: 17,2542 55535 TS SKIPU
062543,000406: 17,2543 13005 TCF LOOPER
062544,000407:
062545,000408: 17,2544 51505 INDEX AXISCTR
062546,000409: 17,2545 11426 CCS URATEDIF # INDEX AXIS QUANITY
062547,000410: 17,2546 34755 CA ZERO # 0 -U 1/JETACC-AOSU
062548,000411: 17,2547 12551 TCF +2 # 1 +U 1/JETACC+AOSU
062549,000412: 17,2550 34753 CA ONE # 16 -V 1/JETACC-AOSV
062550,000413: 17,2551 51505 INDEX AXISCTR # 17 +V 1/JETACC+AOSV
062551,000414: 17,2552 63722 AD AXISDIFF # JETACC = 2 JET ACCELERATION (1 FOR FAIL)
062552,000415:
062553,000416: 17,2553 50000 INDEX A
062554,000417: 17,2554 41571 CS 1/ANET2 +1
062555,000418: 17,2555 00006 EXTEND
062556,000419: 17,2556 51505 INDEX AXISCTR # URATEDIF IS SCALED AT PI/4 RAD/SEC
062557,000420: 17,2557 71426 MP URATEDIF # JET TIME IN A SCALED 32 SEC
062558,000421: 17,2560 54002 TS Q
062559,000422: 17,2561 20001 DAS A
062560,000423: 17,2562 60002 AD Q
062561,000424: 17,2563 54000 TS A # OVERFLOW SKIP
062562,000425: 17,2564 12566 TCF +2
062563,000426: 17,2565 30002 CA Q # RIGHT SIGN AND BIGGER THAN 150MS
062564,000427: 17,2566 51505 SETTIME INDEX AXISCTR
062565,000428: 17,2567 55525 TS TJU # SCALED AT 10.67 WHICH IS CLOSE TO 10.24
062566,000429: 17,2570 12727 TCF AFTERTJ
062567,000430:
062568,000431: 17,2571 34755 ZEROTJ CA ZERO
062569,000432: 17,2572 12566 TCF SETTIME
062570,000433:
062571,000434: 17,2573 02532 HANDADR GENADR BACKHAND
062572,000435:
062573,000436: # GTS WILL BE TRIED IF
062574,000437: # 1. USEQRJTS = 0,
062575,000438: # 2. ALLOWGTS POS,
062576,000439: # 3. JETS ARE OFF (Q,R-AXES)
062577,000440:
062578,000441: 17,2574 34736 TRYGTS CAF USEQRJTS # IS JET USE MANDATORY. (AS LONG AS
062579,000442: 17,2575 70111 MASK DAPBOOLS # USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
062580,000443: 17,2576 10000 CCS A
062581,000444: 17,2577 12107 TCF RCS
062582,000445: 17,2600 11502 CCS ALLOWGTS # NO. DOES AOSTASK OK CONTROL FOR GTS?
|
|
Page 1450 |
062584,000447: 17,2601 12603 TCF +2
062585,000448: 17,2602 12107 TCF RCS
062586,000449: 17,2603 00006 EXTEND
062587,000450: 17,2604 00005 READ CHAN5
062588,000451: 17,2605 10000 CCS A
062589,000452: 17,2606 12612 TCF CHKINGTS
062590,000453: 17,2607 00006 GOTOGTS EXTEND
062591,000454: 17,2610 32625 DCA GTSCADR
062592,000455: 17,2611 52006 DTCB
062593,000456:
062594,000457: 17,2612 11633 CHKINGTS CCS INGTS # WAS THE TRIM GIMBAL CONTROLLING
062595,000458: 17,2613 12615 TCF +2 # YES. SET UP A DAMPED NULLING DRIVE.
062596,000459: 17,2614 12107 TCF RCS # NO. NULLING WAS SET UP BEFORE. DO RCS
062597,000460: 17,2615 00004 INHINT
062598,000461: 17,2616 04674 TC IBNKCALL
062599,000462: 17,2617 43330 CADR TIMEGMBL
062600,000463: 17,2620 00003 RELINT
062601,000464: 17,2621 34755 CAF ZERO
062602,000465: 17,2622 55633 TS INGTS
062603,000466: 17,2623 12107 TCF RCS
062604,000467:
062605,000468: 17,2624 E6,1635 EBANK= CDUXD
062606,000469: 17,2624 03077 42106 GTSCADR 2CADR GTS
062607,000470:
|
|
Page 1451 |
062609,000472: # SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
062610,000473:
062611,000474: 17,2626 30033 QERRCALC CAE CDUY # Q-ERROR CALCULATION
062612,000475: 17,2627 00006 EXTEND
062613,000476: 17,2630 21636 MSU CDUYD # CDU ANGLE - ANGLE DESIRED (Y-AXIS)
062614,000477: 17,2631 55737 TS DAPTEMP1 # SAVE FOR RERRCALC
062615,000478: 17,2632 00006 EXTEND
062616,000479: 17,2633 71415 MP M21 # (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
062617,000480: 17,2634 55752 TS E
062618,000481: 17,2635 30034 CAE CDUZ # SECOND TERM CALCULATION:
062619,000482: 17,2636 00006 EXTEND
062620,000483: 17,2637 21637 MSU CDUZD # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
062621,000484: 17,2640 55740 TS DAPTEMP2 # SAVE FOR RERRCALC
062622,000485: 17,2641 00006 EXTEND
062623,000486: 17,2642 71417 MP M22 # (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
062624,000487: 17,2643 61300 AD DELQEROR # KALCMANU INERFACE ERROR
062625,000488: 17,2644 61752 AD E
062626,000489: 17,2645 57450 XCH QERROR # SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
062627,000490:
062628,000491: 17,2646 31737 RERRCALC CAE DAPTEMP1 # R-ERROR CALCULATION:
062629,000492: 17,2647 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Y-AXIS)
062630,000493: 17,2650 71416 MP M31 # (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
062631,000494: 17,2651 55752 TS E
062632,000495: 17,2652 31740 CAE DAPTEMP2 # SECOND TERM CALCULATION:
062633,000496: 17,2653 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
062634,000497: 17,2654 71420 MP M32 # (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
062635,000498: 17,2655 61301 AD DELREROR # KALCMANU INERFACE ERROR
062636,000499: 17,2656 61752 AD E
062637,000500: 17,2657 57452 XCH RERROR # SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
062638,000501: 17,2660 00002 TC Q
062639,000502:
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|
Page 1452 |
062641,000504: # "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
062642,000505:
062643,000506: 17,2661 17,2661 ATTSTEER EQUALS STILLRCS # "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
062644,000507:
062645,000508: 17,2661 31452 STILLRCS CA RERROR
062646,000509: 17,2662 22000 LXCH A
062647,000510: 17,2663 31450 CA QERROR
062648,000511: 17,2664 03146 TC ROT-TOUV
062649,000512: 17,2665 53752 DXCH UERROR
062650,000513:
062651,000514: # PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
062652,000515: # PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
062653,000516:
062654,000517: 17,2666 33113 TJLAW CA TJLAWADR
062655,000518: 17,2667 55477 TS RETJADR
062656,000519: 17,2670 34753 CA ONE
062657,000520: 17,2671 55505 TS AXISCTR
062658,000521: 17,2672 51505 INDEX AXISCTR
062659,000522: 17,2673 51535 INDEX SKIPU
062660,000523: 17,2674 12675 TCF +1
062661,000524: 17,2675 34751 CA FOUR
062662,000525: 17,2676 51505 INDEX AXISCTR
062663,000526: 17,2677 55535 TS SKIPU
062664,000527: 17,2700 13005 TCF LOOPER
062665,000528: 17,2701 51505 INDEX AXISCTR
062666,000529: 17,2702 31751 CA UERROR
062667,000530: 17,2703 55752 TS E
062668,000531: 17,2704 51505 INDEX AXISCTR
062669,000532: 17,2705 31426 CA OMEGAU
062670,000533: 17,2706 55427 TS EDOT
062671,000534: 17,2707 30111 CA DAPBOOLS
062672,000535: 17,2710 74737 MASK CSMDOCKD
062673,000536: 17,2711 10000 CCS A
062674,000537: 17,2712 12715 TCF +3
062675,000538: 17,2713 03252 TC TJETLAW
062676,000539: 17,2714 12727 TCF AFTERTJ
062677,000540: 17,2715 40111 +3 CS DAPBOOLS # DOCKED. IF GIMBAL USABLE DO GTS CONTROL
062678,000541: 17,2716 74736 MASK USEQRJTS # ON THE NEXT PASS.
062679,000542: 17,2717 10000 CCS A # USEQRJTS BIT MUST NOT BE BIT 15.
062680,000543: 17,2720 55631 TS COTROLER # GIMBAL USABLE. STORE POSITIVE VALUE.
062681,000544: 17,2721 00004 INHINT
062682,000545: 17,2722 04674 TC IBNKCALL
062683,000546: 17,2723 43727 CADR SPSRCS # DETERMINE RCS CONTROL
062684,000547: 17,2724 00003 RELINT
062685,000548: 17,2725 34751 CAF FOUR # ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
062686,000549: 17,2726 55743 TS NUMBERT # FALL THROUGH TO JET SELECTION, ETC.
062687,000550:
062688,000551: # Q,R-JET-SELECTION-LOGIC
062689,000552:
062690,000553: # INPUT: AXISCTR 0,1 FOR U,V
062691,000554: # SNUFFBIT ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN
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|
Page 1453 |
062693,000556: # TJU,TJV JET TIME SCALED 10.24 SEC.
062694,000557: # NUMBERT INDICATES NUMBER OF JETS AND TYPE OF POLICY
062695,000558: # RETJADR WHERE TO RETURN TO
062696,000559:
062697,000560: # OUTPUT: NO.U(V)JETS RATE DERIVATION FEEDBACK
062698,000561: # CHANNEL 5
062699,000562: # SKIPU,SKIRV FOR LESS THAN 150MS FIRING
062700,000563:
062701,000564: # NOTES: IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED
062702,000565: # JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY
062703,000566: # TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT
062704,000567: # IF NONE CAN BE FOUND.
062705,000568:
062706,000569: # TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
062707,000570: # MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
062708,000571:
062709,000572: 17,2727 30101 AFTERTJ CA FLAGWRD5 # IF SNUFFBIT SET DURING A DPS BURN GO TO
062710,000573: 17,2730 74737 MASK SNUFFBIT # XTRANS; THAT IS, INHIBIT CONTROL.
062711,000574: 17,2731 00006 EXTEND
062712,000575: 17,2732 12743 BZF DOROTAT
062713,000576: 17,2733 40106 CS FLGWRD10
062714,000577: 17,2734 74737 MASK APSFLBIT
062715,000578: 17,2735 00006 EXTEND
062716,000579: 17,2736 12743 BZF DOROTAT
062717,000580: 17,2737 30111 CA DAPBOOLS
062718,000581: 17,2740 74744 MASK DRIFTBIT
062719,000582: 17,2741 00006 EXTEND
062720,000583: 17,2742 13063 BZF XTRANS
062721,000584:
062722,000585: 17,2743 34752 DOROTAT CAF TWO
062723,000586: 17,2744 54001 TS L
062724,000587: 17,2745 51505 INDEX AXISCTR
062725,000588: 17,2746 11525 CCS TJU
062726,000589: 17,2747 12754 TCF +5
062727,000590: 17,2750 12777 TCF NOROTAT
062728,000591: 17,2751 12753 TCF +2
062729,000592: 17,2752 12777 TCF NOROTAT
062730,000593: 17,2753 22007 ZL
062731,000594: 17,2754 64753 AD ONE
062732,000595: 17,2755 55737 TS ABSTJ
062733,000596:
062734,000597: 17,2756 31505 CA AXISCTR
062735,000598: 17,2757 60001 AD L
062736,000599: 17,2760 55744 TS ROTINDEX # 0 1 2 3 = -U -V -+U +V
062737,000600:
062738,000601: 17,2761 31737 CA ABSTJ
062739,000602: 17,2762 63110 AD -150MS
062740,000603: 17,2763 00006 EXTEND
062741,000604: 17,2764 63010 BZMF DOSKIP
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|
Page 1454 |
062743,000606: 17,2765 03173 TC SELCTSUB
062744,000607:
062745,000608: 17,2766 51505 INDEX AXISCTR
062746,000609: 17,2767 33105 CA INDEXES
062747,000610: 17,2770 54001 TS L
062748,000611:
062749,000612: 17,2771 31741 CA POLYTEMP
062750,000613: 17,2772 00004 INHINT
062751,000614: 17,2773 50001 INDEX L
062752,000615: 17,2774 05754 TC WRITEP
062753,000616:
062754,000617: 17,2775 00003 RELINT
062755,000618: 17,2776 13051 TCF FEEDBACK
062756,000619:
062757,000620: 17,2777 51505 NOROTAT INDEX AXISCTR
062758,000621: 17,3000 33105 CA INDEXES
062759,000622: 17,3001 00004 INHINT
062760,000623: 17,3002 50000 INDEX A
062761,000624: 17,3003 05753 TC WRITEP -1
062762,000625:
062763,000626: 17,3004 00003 RELINT
062764,000627: 17,3005 11505 LOOPER CCS AXISCTR
062765,000628: 17,3006 01477 TC RETJADR
062766,000629: 17,3007 13236 TCF CLOSEOUT
062767,000630: 17,3010 41737 DOSKIP CS ABSTJ
062768,000631: 17,3011 63107 AD +TJMINT6 # 14MS
062769,000632: 17,3012 00006 EXTEND
062770,000633: 17,3013 63032 BZMF NOTMIN
062771,000634:
062772,000635: 17,3014 27737 ADS ABSTJ
062773,000636: 17,3015 51505 INDEX AXISCTR
062774,000637: 17,3016 11525 CCS TJU
062775,000638: 17,3017 33107 CA +TJMINT6
062776,000639: 17,3020 13022 TCF +2
062777,000640: 17,3021 43107 CS +TJMINT6
062778,000641: 17,3022 51505 INDEX AXISCTR
062779,000642: 17,3023 55525 TS TJU
062780,000643:
062781,000644: 17,3024 11500 CCS SENSETYP # ENSURE MIN-IMPULSE NOT AGAINST TRANS
062782,000645: 17,3025 13031 TCF NOTMIN -1
062783,000646: 17,3026 00006 EXTEND
062784,000647: 17,3027 00004 READ LOSCALAR
062785,000648: 17,3030 74753 MASK ONE
062786,000649: 17,3031 55743 TS NUMBERT
062787,000650:
062788,000651: 17,3032 03173 NOTMIN TC SELCTSUB
062789,000652:
062790,000653: 17,3033 51505 INDEX AXISCTR
062791,000654: 17,3034 33105 CA INDEXES
062792,000655: 17,3035 00004 INHINT
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|
Page 1455 |
062794,000657: 17,3036 55471 TS T6FURTHA +1
062795,000658: 17,3037 31741 CA POLYTEMP
062796,000659: 17,3040 51471 INDEX T6FURTHA +1
062797,000660: 17,3041 05754 TC WRITEP
062798,000661:
062799,000662: 17,3042 31737 CA ABSTJ
062800,000663: 17,3043 55470 TS T6FURTHA
062801,000664: 17,3044 03114 TC JTLST # IN QR BANK BY NOW
062802,000665:
062803,000666: 17,3045 00003 RELINT
062804,000667:
062805,000668: 17,3046 34755 CA ZERO
062806,000669: 17,3047 51505 INDEX AXISCTR
062807,000670: 17,3050 55535 TS SKIPU
062808,000671:
062809,000672: 17,3051 46245 FEEDBACK CS THREE
062810,000673: 17,3052 61743 AD NUMBERT
062811,000674: 17,3053 00006 EXTEND
062812,000675: 17,3054 63057 BZMF +3
062813,000676:
062814,000677: 17,3055 34752 CA TWO
062815,000678: 17,3056 13060 TCF +2
062816,000679: 17,3057 34753 CA ONE
062817,000680: 17,3060 51505 INDEX AXISCTR
062818,000681: 17,3061 55522 TS NO.UJETS
062819,000682: 17,3062 13005 TCF LOOPER
062820,000683:
062821,000684: 17,3063 34755 XTRANS CA ZERO
062822,000685: 17,3064 55525 TS TJU
062823,000686: 17,3065 55526 TS TJV
062824,000687: 17,3066 34751 CA FOUR
062825,000688: 17,3067 00004 INHINT
062826,000689: 17,3070 57535 XCH SKIPU
062827,000690: 17,3071 00006 EXTEND
062828,000691: 17,3072 13074 BZF +2
062829,000692: 17,3073 05757 TC WRITEU -1
062830,000693: 17,3074 34751 CA FOUR
062831,000694: 17,3075 57536 XCH SKIPV
062832,000695: 17,3076 00003 RELINT
062833,000696:
062834,000697: 17,3077 00006 EXTEND
062835,000698: 17,3100 13236 BZF CLOSEOUT
062836,000699: 17,3101 00004 INHINT
062837,000700: 17,3102 05770 TC WRITEV -1
062838,000701: 17,3103 00003 RELINT
062839,000702:
062840,000703: 17,3104 13236 TCF CLOSEOUT
062841,000704: 17,3105 00004 INDEXES DEC 4 B-14
062842,000705: 17,3106 00015 DEC 13 B-14
062843,000706: 17,3107 00026 +TJMINT6 DEC 22 B-14
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|
Page 1456 |
062845,000708: 17,3110 77417 -150MS DEC -240 B-14
062846,000709: 17,3111 00600 BIT8,9 OCT 00600
062847,000710: 17,3112 00266 SCLNORM OCT 266
062848,000711: 17,3113 02671 TJLAWADR GENADR TJLAW +3 # RETURN ADDRESS FOR RCS ATTITUDE CONTROL
062849,000712:
062850,000713: # THE JET LIST:
062851,000714: # THIS IS A WAITLIST FOR T6RUPTS.
062852,000715:
062853,000716: # CALLED BY:
062854,000717: # CA TJ TIME WHEN NEXT JETS WILL BE WRITTEN
062855,000718: # TS T6FURTHA
062856,000719: # CA INDEX AXIS TO BE WIRTTEN AT TJ (FROM NOW)
062857,000720: # TS T6FURTHA +1
062858,000721: # TC JTLST
062859,000722:
062860,000723: # EXAMPLE - U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
062861,000724: # JETS INTO CHANNEL 5. IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
062862,000725: # 150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
062863,000726: # CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
062864,000727: # OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
062865,000728:
062866,000729: # THE LIST IS EXACTLY 3 LONG. (THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
062867,000730: # THE INPUT IS THE LAST MEMBER OF THE LIST
062868,000731:
062869,000732: # RETURNS BY:
062870,000733: # + TC Q
062871,000734:
062872,000735: # DEFINITIONS: (OUTPUT)
062873,000736: # TIME6 TIME OF NEXT RUPT
062874,000737: # T6NEXT DELTA TIME TO NEXT RUPT
062875,000738: # T6FURTHA DELTA TIME FROM 2ND TO LAST RUPT
062876,000739: # NXT6ADR AXIS INDEX Q - P-AXIS
062877,000740: # T6NEXT +1 AXIS INDEX 4 - U-AXIS
062878,000741: # T6FURTHA +1 AXIS INDEX 13 - V-AXIS
062879,000742:
062880,000743: 17,3114 41470 JTLST CS T6FURTHA
062881,000744: 17,3115 60031 AD TIME6
062882,000745: 17,3116 00006 EXTEND
062883,000746: 17,3117 63131 BZMF MIDORLST # TIME6 - T IS IN A
062884,000747:
062885,000748: 17,3120 23465 LXCH NXT6ADR
062886,000749: 17,3121 53467 DXCH T6NEXT
062887,000750: 17,3122 53471 DXCH T6FURTHA
062888,000751: 17,3123 54031 TS TIME6
062889,000752: 17,3124 23465 LXCH NXT6ADR
062890,000753:
062891,000754: 17,3125 34735 TURNON CA BIT15
062892,000755: 17,3126 00006 EXTEND
062893,000756: 17,3127 05013 WOR CHAN13
062894,000757: 17,3130 00002 TC Q
062895,000758:
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|
Page 1457 |
062897,000760: 17,3131 61466 MIDORLST AD T6NEXT
062898,000761: 17,3132 00006 EXTEND
062899,000762: 17,3133 63142 BZMF LASTCHG # TIME6 + T6NEXT - T IS IN A
062900,000763:
062901,000764: 17,3134 23467 LXCH T6NEXT +1
062902,000765: 17,3135 53471 DXCH T6FURTHA
062903,000766: 17,3136 00006 EXTEND
062904,000767: 17,3137 60031 SU TIME6
062905,000768: 17,3140 53467 DXCH T6NEXT
062906,000769:
062907,000770: 17,3141 00002 TC Q
062908,000771:
062909,000772: 17,3142 40000 LASTCHG CS A
062910,000773: 17,3143 64754 AD NEG0
062911,000774: 17,3144 55470 TS T6FURTHA
062912,000775:
062913,000776: 17,3145 00002 TC Q
062914,000777:
062915,000778: # ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
062916,000779: # ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM. IN THE U-V SYSTEM NO CROSS-COUPLING IS
062917,000780: # PRODUCED FROM RCS JET FIRINGS. AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
062918,000781: # A AND THE V-COMPONENT IS IN L.
062919,000782:
062920,000783: 17,3146 23740 ROT-TOUV LXCH ROTEMP2 # (R) IS PUT INTO ROTEMP2
062921,000784: 17,3147 00006 EXTEND
062922,000785: 17,3150 71627 MP COEFFQ
062923,000786: 17,3151 57740 XCH ROTEMP2 # (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
062924,000787: 17,3152 00006 EXTEND
062925,000788: 17,3153 71630 MP COEFFR
062926,000789: 17,3154 54001 TS L # COEFFR.(R) IS PUT INTO L
062927,000790: 17,3155 61740 AD ROTEMP2
062928,000791: 17,3156 55737 TS ROTEMP1 # COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
062929,000792: 17,3157 13163 TCF +4
062930,000793: 17,3160 50000 INDEX A # COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
062931,000794: 17,3161 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
062932,000795: 17,3162 55737 TS ROTEMP1
062933,000796: 17,3163 41740 CS ROTEMP2
062934,000797: 17,3164 60001 AD L # -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
062935,000798: 17,3165 54007 TS 7
062936,000799: 17,3166 13171 TCF +3
062937,000800: 17,3167 50000 INDEX A # -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
062938,000801: 17,3170 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
062939,000802: 17,3171 23737 LXCH ROTEMP1 # COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
062940,000803: 17,3172 00002 TC Q
062941,000804: 17,3173 51744 SELCTSUB INDEX ROTINDEX
062942,000805: 17,3174 33225 CA ALLJETS
062943,000806: 17,3175 51743 INDEX NUMBERT
062944,000807: 17,3176 73231 MASK TYPEPOLY
062945,000808: 17,3177 55741 TS POLYTEMP
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Page 1458 |
062947,000810: 17,3200 71262 MASK CH5MASK
062948,000811: 17,3201 10000 CCS A
062949,000812: 17,3202 13204 TCF +2
062950,000813:
062951,000814: 17,3203 00002 TC Q
062952,000815:
062953,000816: 17,3204 36245 CA THREE
062954,000817: 17,3205 55743 FAILOOP TS NUMBERT
062955,000818: 17,3206 51744 INDEX ROTINDEX
062956,000819: 17,3207 33225 CA ALLJETS
062957,000820: 17,3210 51743 INDEX NUMBERT
062958,000821: 17,3211 73231 MASK TYPEPOLY
062959,000822: 17,3212 55741 TS POLYTEMP
062960,000823: 17,3213 71262 MASK CH5MASK
062961,000824: 17,3214 00006 EXTEND
062962,000825: 17,3215 13203 BZF FAILOOP -2
062963,000826: 17,3216 11743 CCS NUMBERT
062964,000827: 17,3217 13205 TCF FAILOOP
062965,000828: 17,3220 51505 INDEX AXISCTR
062966,000829: 17,3221 55525 TS TJU
062967,000830: 17,3222 05567 TC ALARM
062968,000831: 17,3223 02004 OCT 02004
062969,000832: 17,3224 12777 TCF NOROTAT
062970,000833: 17,3225 00110 ALLJETS OCT 00110 # -U 6 13
062971,000834: 17,3226 00022 OCT 00022 # -V 2 9
062972,000835: 17,3227 00204 OCT 00204 # +U 5 14
062973,000836: 17,3230 00041 OCT 00041 # +V 1 10
062974,000837: 17,3231 00125 TYPEPOLY OCT 00125 # -X 1 5 9 13
062975,000838: 17,3232 00252 OCT 00252 # +X 2 6 10 14
062976,000839: 17,3233 00146 OCT 00146 # A 2 5 10 13
062977,000840: 17,3234 00231 OCT 00231 # B 1 6 9 14
062978,000841: 17,3235 00377 OCT 00377 # ALL 1 2 5 6 9 10 13 14
062979,000842:
062980,000843: # THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
062981,000844:
062982,000845: 17,3236 33240 CLOSEOUT CA ADRRUPT
062983,000846: 17,3237 07754 TC MAKERUPT
062984,000847:
062985,000848: 17,3240 03241 ADRRUPT ADRES ENDJASK
062986,000849:
062987,000850: 17,3241 53754 ENDJASK DXCH DAPARUPT
062988,000851: 17,3242 52011 DXCH ARUPT
062989,000852: 17,3243 53756 DXCH DAPBQRPT
062990,000853: 17,3244 56017 XCH BRUPT
062991,000854: 17,3245 22002 LXCH Q
062992,000855: 17,3246 34735 CAF NEGMAX # NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
062993,000856: 17,3247 53760 DXCH DAPZRUPT
062994,000857: 17,3250 52016 DXCH ZRUPT
062995,000858: 17,3251 15272 TCF NOQRSM
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Page 1459 |
062997,000860: 7754 BLOCK 3
062998,000861: 6000 SETLOC FFTAG6
062999,000862: 6000 BANK
063000,000863:
063001,000864: 7754 COUNT* $$/DAP
063002,000865:
063003,000866: 7754 00006 MAKERUPT EXTEND
063004,000867: 7755 07754 EDRUPT MAKERUPT
063005,000868:
End of include-file Q,R-AXES_RCS_AUTOPILOT.agc. Parent file is MAIN.agc