Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071 19:09 AUG. 11,1969Note 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 derive from a printout of Luminary 116 (the Apollo 12
Lunar Module guidance computer program), from the personal library of
original AGC developer Don Eyles, digitally photographed at archive.org,
financially sponsored by Ron Burkey, and transcribed to source code by a
team of volunteers. This colorized, syntax-highlighted form was created
by assembling that transcribed source code. Note that the full page images
are available on the
Virtual AGC project page at archive.org, while reduced-size images
are presented at the VirtualAGC project website. Report or fix any
transcription errors at
the Virtual AGC project code repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071 19:09 AUG. 11,1969Note that the date is the date of the printout, not the date of the program revision. |
061107,000002: ## Copyright: Public domain.
061108,000003: ## Filename: Q,R-AXES_RCS_AUTOPILOT.agc
061109,000004: ## Purpose: A section of Luminary revision 116.
061110,000005: ## It is part of the source code for the Lunar Module's (LM)
061111,000006: ## Apollo Guidance Computer (AGC) for Apollo 12.
061112,000007: ## This file is intended to be a faithful transcription, except
061113,000008: ## that the code format has been changed to conform to the
061114,000009: ## requirements of the yaYUL assembler rather than the
061115,000010: ## original YUL assembler.
061116,000011: ## Reference: pp. 1432-1449
061117,000012: ## Assembler: yaYUL
061118,000013: ## Contact: Ron Burkey <info@sandroid.org>.
061119,000014: ## Website: www.ibiblio.org/apollo/index.html
061120,000015: ## Mod history: 2017-01-22 MAS Created from Luminary 99.
061121,000016: ## 2017-01-31 RRB Updated for Luminary 116.
061122,000017: ## 2017-03-14 RSB Proofed comment text via 3-way diff vs
061123,000018: ## Luminary 99 and 131 ... no problems found.
061124,000019: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
061125,000020: ## side-by-side diff of Luminary 69/99/116/131/210.
061126,000021: ## 2017-08-29 MAS Fixed a label (X0RULGE instead of XORULGE) and a
061127,000022: ## comment text error found while transcribing Zerlina 56.
061128,000023:
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Page 1432 |
061130,000025: 17,2124 BANK 17
061131,000026: 17,2000 SETLOC DAPS2
061132,000027: 17,2000 BANK
061133,000028:
061134,000029: 17,2124 E6,1635 EBANK= CDUXD
061135,000030:
061136,000031: 17,2124 COUNT* $$/DAPQR
061137,000032:
061138,000033: 17,2124 34737 CALLQERR CA BIT13 # CALCULATE Q,R ERRORS UNLESS THESE AXES
061139,000034: 17,2125 00006 EXTEND # ARE IN MANUAL RATE COMMAND.
061140,000035: 17,2126 02031 RAND CHAN31
061141,000036: 17,2127 10000 CCS A
061142,000037: 17,2130 12135 TCF +5 # IN AUTO COMPUTE Q,R ERRORS
061143,000038: 17,2131 40111 CS DAPBOOLS # IN MANUAL RATE COMMAND?
061144,000039: 17,2132 74740 MASK OURRCBIT
061145,000040: 17,2133 00006 EXTEND
061146,000041: 17,2134 12136 BZF Q,RORGTS # IF SO BYPASS CALCULATION OF ERRORS.
061147,000042: 17,2135 02655 TC QERRCALC
061148,000043:
061149,000044: 17,2136 11631 Q,RORGTS CCS COTROLER # CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
061150,000045: 17,2137 12636 TCF GOTOGTS # GTS (ALTERNATES WITH RCS WHEN DOCKED)
061151,000046: 17,2140 12623 TCF TRYGTS # GTS IF ALLOWED, OTHERWISE RCS
061152,000047: 17,2141 34755 RCS CAF ZERO # RCS (TRYGTS MAY BRANCH TO HERE)
061153,000048: 17,2142 55631 TS COTROLER
061154,000049:
061155,000050: 17,2143 53437 DXCH EDOTQ
061156,000051: 17,2144 03200 TC ROT-TOUV
061157,000052: 17,2145 53427 DXCH OMEGAU
061158,000053:
061159,000054: # X - TRANSLATION:
061160,000055:
061161,000056: # INPUT: BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
061162,000057: # ULLAGER
061163,000058: # APSFLAG, DRIFTBIT
061164,000059: # ACC40R2X, ACRBTRAN
061165,000060:
061166,000061: # OUTPUT: NEXTU, NEXTV CODES OF TRANSLATION FOR AFTER ROTATION
061167,000062: # SENSETYP TELL ROTATION DIRECTION AND DESIRE
061168,000063:
061169,000064: # X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR. IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED. A FAILURE
061170,000065: # WILL OVERRIDE THIS SPECIFICATION. AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
061171,000066:
061172,000067: 17,2146 34745 SENSEGET CA BIT7 # INPUT BITS OVERRIDE THE INTERNAL BITS
061173,000068: 17,2147 00006 EXTEND # SENSETYP WILL NOT OPPOSE ANYTRANS
061174,000069: 17,2150 02031 RAND CHAN31
061175,000070: 17,2151 00006 EXTEND
061176,000071: 17,2152 12200 BZF +XORULGE
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Page 1433 |
061178,000073: 17,2153 34744 CA BIT8
061179,000074: 17,2154 00006 EXTEND
061180,000075: 17,2155 02031 RAND CHAN31
061181,000076: 17,2156 00006 EXTEND
061182,000077: 17,2157 12201 BZF -XTRANS
061183,000078:
061184,000079: 17,2160 34746 CA ULLAGER
061185,000080: 17,2161 70111 MASK DAPBOOLS
061186,000081: 17,2162 10000 CCS A
061187,000082: 17,2163 12200 TCF +XORULGE
061188,000083:
061189,000084: 17,2164 55473 TS NEXTU # STORE NULL TRANSLATION POLICIES
061190,000085: 17,2165 55474 TS NEXTV
061191,000086: 17,2166 40111 CS DAPBOOLS # BURNING OR DRIFTING?
061192,000087: 17,2167 74744 MASK DRIFTBIT
061193,000088: 17,2170 00006 EXTEND
061194,000089: 17,2171 12176 BZF TSENSE
061195,000090: 17,2172 30106 CA FLGWRD10 # DPS (INCLUDING DOCKED) OR APS?
061196,000091: 17,2173 74737 MASK APSFLBIT
061197,000092: 17,2174 10000 CCS A
061198,000093: 17,2175 34752 CAF TWO # FAVOR +X JETS DURING AN APS BURN.
061199,000094: 17,2176 55500 TSENSE TS SENSETYP
061200,000095: 17,2177 12232 TCF QRCONTRL
061201,000096:
061202,000097: 17,2200 34753 +XORULGE CAF ONE
061203,000098: 17,2201 64751 -XTRANS AD FOUR
061204,000099: 17,2202 55744 TS ROTINDEX
061205,000100: 17,2203 67750 AD NEG3
061206,000101: 17,2204 55500 TS SENSETYP # FAVOR APPROPRIATE JETS DURING TRANS.
061207,000102: 17,2205 30111 CA DAPBOOLS
061208,000103: 17,2206 74741 MASK ACC4OR2X
061209,000104: 17,2207 10000 CCS A
061210,000105: 17,2210 12352 TCF TRANS4
061211,000106:
061212,000107: 17,2211 30111 CA DAPBOOLS
061213,000108: 17,2212 74742 MASK AORBTRAN
061214,000109: 17,2213 10000 CCS A
061215,000110: 17,2214 34753 CA ONE # THREE FOR B
061216,000111: 17,2215 64752 AD TWO # TWO FOR A SYSTEM 2 JET X TRANS
061217,000112: 17,2216 55743 TSNUMBRT TS NUMBERT
061218,000113:
061219,000114: 17,2217 03225 TC SELCTSUB
061220,000115:
061221,000116: 17,2220 11741 CCS POLYTEMP
061222,000117: 17,2221 12224 TCF +3
061223,000118: 17,2222 05567 TC ALARM
061224,000119: 17,2223 02002 OCT 02002
061225,000120: 17,2224 35764 CA 00314OCT
061226,000121: 17,2225 71741 MASK POLYTEMP
061227,000122: 17,2226 55473 TSNEXTS TS NEXTU
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Page 1434 |
061229,000124: 17,2227 45764 CS 00314OCT
061230,000125: 17,2230 71741 MASK POLYTEMP
061231,000126: 17,2231 55474 TS NEXTV
061232,000127:
061233,000128: # Q,R-AXES RCS CONTROL MODE SELECTION
061234,000129:
061235,000130: # SWITCHES INDICATION WHEN SET
061236,000131:
061237,000132: # BIT13/CHAN31 AUTO, GO TO ATTSTEER
061238,000133: # PULSES MINIMUM IMPULSE MODE
061239,000134: # (OTHERWISE) RATE COMMAND/ATTITUDE HOLD MODE
061240,000135:
061241,000136: 17,2232 34737 QRCONTRL CA BIT13 # CHECK MODE SELECT SWITCH.
061242,000137: 17,2233 00006 EXTEND
061243,000138: 17,2234 02031 RAND CHAN31 # BITS INVERTED
061244,000139: 17,2235 10000 CCS A
061245,000140: 17,2236 12710 TCF ATTSTEER
061246,000141: 17,2237 34735 CHKBIT10 CAF PULSES # PULSES = 1 FOR MIN IMP USE OF RHC
061247,000142: 17,2240 70111 MASK DAPBOOLS
061248,000143: 17,2241 00006 EXTEND
061249,000144: 17,2242 12354 BZF CHEKSTIK # IN ATT-HOLD/RATE-COMMAND IF BIT10=0
061250,000145:
061251,000146: # MINIMUM IMPULSE MODE
061252,000147:
061253,000148: 17,2243 00004 INHINT
061254,000149: 17,2244 04674 TC IBNKCALL
061255,000150: 17,2245 40154 CADR ZATTEROR
061256,000151: 17,2246 34755 CA ZERO
061257,000152: 17,2247 55450 TS QERROR
061258,000153: 17,2250 55452 TS RERROR # FOR DISPLAYS
061259,000154: 17,2251 00003 RELINT
061260,000155:
061261,000156: 17,2252 00006 EXTEND
061262,000157: 17,2253 00031 READ CHAN31
061263,000158: 17,2254 55737 TS TEMP31 # IS EQUAL TO DAPTEMP1
061264,000159: 17,2255 11461 CCS OLDQRMIN
061265,000160: 17,2256 12300 TCF CHECKIN
061266,000161:
061267,000162: 17,2257 31737 FIREQR CA TEMP31
061268,000163: 17,2260 74753 MASK BIT1
061269,000164: 17,2261 00006 EXTEND
061270,000165: 17,2262 12304 BZF +QMIN
061271,000166:
061272,000167: 17,2263 31737 CA TEMP31
061273,000168: 17,2264 74752 MASK BIT2
061274,000169: 17,2265 00006 EXTEND
061275,000170: 17,2266 12310 BZF -QMIN
061276,000171:
061277,000172: 17,2267 31737 CA TEMP31
061278,000173: 17,2270 74747 MASK BIT5
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Page 1435 |
061280,000175: 17,2271 00006 EXTEND
061281,000176: 17,2272 12314 BZF +RMIN
061282,000177:
061283,000178: 17,2273 31737 CA TEMP31
061284,000179: 17,2274 74746 MASK BIT6
061285,000180: 17,2275 00006 EXTEND
061286,000181: 17,2276 12316 BZF -RMIN
061287,000182:
061288,000183: 17,2277 13112 TCF XTRANS
061289,000184:
061290,000185: 17,2300 41737 CHECKIN CS TEMP31
061291,000186: 17,2301 72351 MASK OCT63
061292,000187: 17,2302 55461 TS OLDQRMIN
061293,000188: 17,2303 13112 TCF XTRANS
061294,000189:
061295,000190: 17,2304 33136 +QMIN CA 14MS
061296,000191: 17,2305 55525 TS TJU
061297,000192: 17,2306 43136 CS 14MS
061298,000193: 17,2307 12320 TCF MINQR
061299,000194: 17,2310 43136 -QMIN CS 14MS
061300,000195: 17,2311 55525 TS TJU
061301,000196: 17,2312 33136 CA 14MS
061302,000197: 17,2313 12320 TCF MINQR
061303,000198: 17,2314 33136 +RMIN CA 14MS
061304,000199: 17,2315 12317 TCF +2
061305,000200: 17,2316 43136 -RMIN CS 14MS
061306,000201: 17,2317 55525 TS TJU
061307,000202: 17,2320 55526 MINQR TS TJV
061308,000203: 17,2321 32350 CA MINADR
061309,000204: 17,2322 55477 TS RETJADR
061310,000205: 17,2323 34753 CA ONE
061311,000206: 17,2324 55461 TS OLDQRMIN
061312,000207: 17,2325 55505 MINRTN TS AXISCTR
061313,000208: 17,2326 30111 CA DAPBOOLS
061314,000209: 17,2327 74737 MASK CSMDOCKD
061315,000210: 17,2330 00006 EXTEND
061316,000211: 17,2331 12341 BZF MIMRET
061317,000212: 17,2332 51505 INDEX AXISCTR # IF DOCKED,USE 60MS MINIMUM IMPULSE
061318,000213: 17,2333 11525 CCS TJU
061319,000214: 17,2334 34776 CA 60MS
061320,000215: 17,2335 12337 TCF +2
061321,000216: 17,2336 44776 CS 60MS
061322,000217: 17,2337 51505 INDEX AXISCTR
061323,000218: 17,2340 55525 TS TJU
061324,000219: 17,2341 30111 MIMRET CA DAPBOOLS
061325,000220: 17,2342 74742 MASK AORBTRAN
061326,000221: 17,2343 10000 CCS A
061327,000222: 17,2344 34753 CA ONE
061328,000223: 17,2345 64752 AD TWO
061329,000224: 17,2346 55743 TS NUMBERT
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Page 1436 |
061331,000226: 17,2347 12756 TCF AFTERTJ
061332,000227:
061333,000228: 17,2350 4776 60MS = OCT140
061334,000229: 17,2350 02325 MINADR GENADR MINRTN
061335,000230: 17,2351 00063 OCT63 OCT 63
061336,000231: 17,2352 17,3136 14MS = +TJMINT6
061337,000232:
061338,000233: 17,2352 34751 TRANS4 CA FOUR
061339,000234: 17,2353 12216 TCF TSNUMBRT
061340,000235:
061341,000236: # RATE COMMAND MODE:
061342,000237:
061343,000238: # DESCRIPTION (SAME AS P-AXIS)
061344,000239:
061345,000240: 17,2354 55633 CHEKSTIK TS INGTS # NOT IN GTS WHEN IN ATT HOLD
061346,000241: 17,2355 44753 CS ONE # 1/ACCS WILL DO THE NULLING DRIVES
061347,000242: 17,2356 55631 TS COTROLER # COME BACK TO RCS NEXT TIME
061348,000243: 17,2357 34735 CA BIT15
061349,000244: 17,2360 71443 MASK CH31TEMP
061350,000245: 17,2361 00006 EXTEND
061351,000246: 17,2362 12377 BZF RHCACTIV # BRANCH IF OUT OF DETENT.
061352,000247: 17,2363 34740 CA OURRCBIT # ***********
061353,000248: 17,2364 70111 MASK DAPBOOLS # *IN DETENT* CHECK FOR MANUAL CONTROL
061354,000249: 17,2365 00006 EXTEND # *********** LAST TIME.
061355,000250: 17,2366 12710 BZF STILLRCS
061356,000251: 17,2367 44743 CS BIT9
061357,000252: 17,2370 71262 MASK RCSFLAGS
061358,000253: 17,2371 55262 TS RCSFLAGS # BIT 9 IS 0.
061359,000254: 17,2372 12374 TCF DAMPING
061360,000255: 17,2373 4771 40CYCL = OCT50
061361,000256: 17,2373 4753 1/10S = BIT1
061362,000257: 17,2373 00056 LINRAT DEC 46 B-14
061363,000258:
061364,000259: # ================================
061365,000260:
061366,000261: 17,2374 34755 DAMPING CA ZERO
061367,000262: 17,2375 55462 TS SAVEHAND
061368,000263: 17,2376 55463 TS SAVEHAND +1
061369,000264: 17,2377 11462 RHCACTIV CCS SAVEHAND # *******************
061370,000265: 17,2400 12403 TCF +3 # Q,R MANUAL CONTROL WC = A*(B+|D|)*D
061371,000266: 17,2401 12403 TCF +2 # *******************
061372,000267: 17,2402 12403 TCF +1
061373,000268: 17,2403 60000 DOUBLE # WHERE
061374,000269: 17,2404 60000 DOUBLE
061375,000270: 17,2405 62373 AD LINRAT # WC = COMMANDED ROTATIONAL RATE
061376,000271: 17,2406 00006 EXTEND # A = QUADRATIC SENSITIVITY FACTOR
061377,000272: 17,2407 71462 MP SAVEHAND # B = LINEAR/QUADRATIC SENSITIVITY
061378,000273: 17,2410 30001 CA L # |D| = ABS. VALUE OF DEFLECTION
061379,000274: 17,2411 00006 EXTEND # D = HAND CONTROLLER DEFLECTION
061380,000275: 17,2412 71444 MP STIKSENS
061381,000276: 17,2413 57455 XCH QLAST # COMMAND Q RATE SCALED 45 DEG/SEC
061382,000277: 17,2414 40000 COM
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Page 1437 |
061384,000279: 17,2415 61455 AD QLAST
061385,000280: 17,2416 55741 TS DAPTEMP3
061386,000281: 17,2417 11463 CCS SAVEHAND +1
061387,000282: 17,2420 12423 TCF +3
061388,000283: 17,2421 12423 TCF +2
061389,000284: 17,2422 12423 TCF +1
061390,000285: 17,2423 60000 DOUBLE
061391,000286: 17,2424 60000 DOUBLE
061392,000287: 17,2425 62373 AD LINRAT
061393,000288: 17,2426 00006 EXTEND
061394,000289: 17,2427 71463 MP SAVEHAND +1
061395,000290: 17,2430 30001 CA L
061396,000291: 17,2431 00006 EXTEND
061397,000292: 17,2432 71444 MP STIKSENS
061398,000293: 17,2433 57456 XCH RLAST
061399,000294: 17,2434 40000 COM
061400,000295: 17,2435 61456 AD RLAST
061401,000296: 17,2436 55742 TS DAPTEMP4
061402,000297: 17,2437 41455 CS QLAST # INTERVAL.
061403,000298: 17,2440 61422 AD OMEGAQ
061404,000299: 17,2441 55436 TS QRATEDIF
061405,000300: 17,2442 41456 CS RLAST
061406,000301: 17,2443 61423 AD OMEGAR
061407,000302: 17,2444 55437 TS RRATEDIF
061408,000303: 17,2445 53437 ENTERQR DXCH QRATEDIF # TRANSFORM RATES FROM Q,R TO U,V AXES
061409,000304: 17,2446 03200 TC ROT-TOUV
061410,000305: 17,2447 53427 DXCH URATEDIF
061411,000306: 17,2450 11741 CCS DAPTEMP3 # CHECK IF Q COMMAND CHANGE EXCEEDS
061412,000307: 17,2451 02454 TC +3 # BREAKOUT LEVEL. IF NOT, CHECK R.
061413,000308: 17,2452 02454 TC +2
061414,000309: 17,2453 02454 TC +1
061415,000310: 17,2454 61476 AD -RATEDB
061416,000311: 17,2455 00006 EXTEND
061417,000312: 17,2456 62460 BZMF +2
061418,000313: 17,2457 12476 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
061419,000314: 17,2460 11742 CCS DAPTEMP4 # R COMMAND BREAKOUT CHECK.
061420,000315: 17,2461 02464 TC +3
061421,000316: 17,2462 02464 TC +2
061422,000317: 17,2463 02464 TC +1
061423,000318: 17,2464 61476 AD -RATEDB
061424,000319: 17,2465 00006 EXTEND
061425,000320: 17,2466 62470 BZMF +2
061426,000321: 17,2467 12476 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
061427,000322: 17,2470 31262 CA RCSFLAGS # BREAKOUT LEVEL NOT EXCEEDED. CHECK FOR
061428,000323: 17,2471 74741 MASK QRBIT # DIRECT RATE CONTROL LAST TIME.
061429,000324: 17,2472 00006 EXTEND
061430,000325: 17,2473 12475 BZF +2
061431,000326: 17,2474 12500 TCF ENTERUV # CONTINUE DIRECT RATE CONTROL.
061432,000327: 17,2475 12710 TCF STILLRCS # PSEUDO-AUTO CONTROL.
061433,000328: 17,2476 34771 CA 40CYCL
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Page 1438 |
061435,000330: 17,2477 55457 TS TCQR
061436,000331: 17,2500 00004 ENTERUV INHINT # DIRECT RATE CONTROL.
061437,000332: 17,2501 04674 TC IBNKCALL
061438,000333: 17,2502 40154 FCADR ZATTEROR
061439,000334: 17,2503 00003 RELINT
061440,000335: 17,2504 34755 CA ZERO
061441,000336: 17,2505 55450 TS DYERROR
061442,000337: 17,2506 55451 TS DYERROR +1
061443,000338: 17,2507 55452 TS DZERROR
061444,000339: 17,2510 55453 TS DZERROR +1
061445,000340: 17,2511 11426 CCS URATEDIF
061446,000341: 17,2512 12515 TCF +3
061447,000342: 17,2513 12515 TCF +2
061448,000343: 17,2514 12515 TCF +1
061449,000344: 17,2515 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
061450,000345: 17,2516 00006 EXTEND # DIRECT RATE CONTROL.
061451,000346: 17,2517 62533 BZMF VDB
061452,000347: 17,2520 11427 CCS VRATEDIF
061453,000348: 17,2521 12524 TCF +3
061454,000349: 17,2522 12524 TCF +2
061455,000350: 17,2523 12524 TCF +1
061456,000351: 17,2524 61476 AD TARGETDB
061457,000352: 17,2525 00006 EXTEND
061458,000353: 17,2526 62530 BZMF +2
061459,000354: 17,2527 12544 TCF QRTIME
061460,000355: 17,2530 34755 CA ZERO
061461,000356: 17,2531 55427 TS VRATEDIF
061462,000357: 17,2532 12544 TCF QRTIME
061463,000358: 17,2533 11427 VDB CCS VRATEDIF
061464,000359: 17,2534 02537 TC +3
061465,000360: 17,2535 02537 TC +2
061466,000361: 17,2536 02537 TC +1
061467,000362: 17,2537 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
061468,000363: 17,2540 00006 EXTEND # DIRECT RATE CONTROL. IF NOT, FIRE AND
061469,000364: 17,2541 62553 BZMF TOPSEUDO # SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
061470,000365: 17,2542 34755 CA ZERO # PASS.
061471,000366: 17,2543 55426 TS URATEDIF
061472,000367: 17,2544 31457 QRTIME CA TCQR # DIRECT RATE TIME CHECK.
061473,000368: 17,2545 00006 EXTEND
061474,000369: 17,2546 62553 BZMF +5 # BRANCH IF TIME EXCEEDS 4 SEC.
061475,000370: 17,2547 41262 CS RCSFLAGS
061476,000371: 17,2550 74741 MASK QRBIT
061477,000372: 17,2551 27262 ADS RCSFLAGS # BIT 11 IS 1.
061478,000373: 17,2552 02556 TC +4
061479,000374: 17,2553 44741 TOPSEUDO CS QRBIT
061480,000375: 17,2554 71262 MASK RCSFLAGS
061481,000376: 17,2555 55262 TS RCSFLAGS # BIT 11 IS 0.
061482,000377: 17,2556 32622 CA HANDADR
061483,000378: 17,2557 55477 TS RETJADR
061484,000379: 17,2560 34753 CA ONE
061485,000380:
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Page 1439 |
061487,000382: 17,2561 55505 BACKHAND TS AXISCTR
061488,000383:
061489,000384: 17,2562 34751 CA FOUR
061490,000385: 17,2563 55743 TS NUMBERT
061491,000386:
061492,000387: 17,2564 51505 INDEX AXISCTR
061493,000388: 17,2565 51535 INDEX SKIPU
061494,000389: 17,2566 12567 TCF +1
061495,000390: 17,2567 34751 CA FOUR
061496,000391: 17,2570 51505 INDEX AXISCTR
061497,000392: 17,2571 55535 TS SKIPU
061498,000393: 17,2572 13034 TCF LOOPER
061499,000394:
061500,000395: 17,2573 51505 INDEX AXISCTR
061501,000396: 17,2574 11426 CCS URATEDIF # INDEX AXIS QUANITY
061502,000397: 17,2575 34755 CA ZERO # 0 -U 1/JETACC-AOSU
061503,000398: 17,2576 12600 TCF +2 # 1 +U 1/JETACC+AOSU
061504,000399: 17,2577 34753 CA ONE # 16 -V 1/JETACC-AOSV
061505,000400: 17,2600 51505 INDEX AXISCTR # 17 +V 1/JETACC+AOSV
061506,000401: 17,2601 63755 AD AXISDIFF # JETACC = 2 JET ACCELERATION (1 FOR FAIL)
061507,000402:
061508,000403: 17,2602 50000 INDEX A
061509,000404: 17,2603 41571 CS 1/ANET2 +1
061510,000405: 17,2604 00006 EXTEND
061511,000406: 17,2605 51505 INDEX AXISCTR # URATEDIF IS SCALED AT PI/4 RAD/SEC
061512,000407: 17,2606 71426 MP URATEDIF # JET TIME IN A SCALED 32 SEC
061513,000408: 17,2607 54002 TS Q
061514,000409: 17,2610 20001 DAS A
061515,000410: 17,2611 60002 AD Q
061516,000411: 17,2612 54000 TS A # OVERFLOW SKIP
061517,000412: 17,2613 12615 TCF +2
061518,000413: 17,2614 30002 CA Q # RIGHT SIGN AND BIGGER THAN 150MS
061519,000414: 17,2615 51505 SETTIME INDEX AXISCTR
061520,000415: 17,2616 55525 TS TJU # SCALED AT 10.67 WHICH IS CLOSE TO 10.24
061521,000416: 17,2617 12756 TCF AFTERTJ
061522,000417:
061523,000418: 17,2620 34755 ZEROTJ CA ZERO
061524,000419: 17,2621 12615 TCF SETTIME
061525,000420:
061526,000421: 17,2622 02561 HANDADR GENADR BACKHAND
061527,000422:
061528,000423: # GTS WILL BE TRIED IF
061529,000424: # 1. USEQRJTS = 0,
061530,000425: # 2. ALLOWGTS POS,
061531,000426: # 3. JETS ARE OFF (Q,R-AXES)
061532,000427:
061533,000428: 17,2623 34736 TRYGTS CAF USEQRJTS # IS JET USE MANDATORY. (AS LONG AS
061534,000429: 17,2624 70111 MASK DAPBOOLS # USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
061535,000430: 17,2625 10000 CCS A
061536,000431: 17,2626 12141 TCF RCS
061537,000432: 17,2627 11502 CCS ALLOWGTS # NO. DOES AOSTASK OK CONTROL FOR GTS?
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|
Page 1440 |
061539,000434: 17,2630 12632 TCF +2
061540,000435: 17,2631 12141 TCF RCS
061541,000436: 17,2632 00006 EXTEND
061542,000437: 17,2633 00005 READ CHAN5
061543,000438: 17,2634 10000 CCS A
061544,000439: 17,2635 12641 TCF CHKINGTS
061545,000440: 17,2636 00006 GOTOGTS EXTEND
061546,000441: 17,2637 32654 DCA GTSCADR
061547,000442: 17,2640 52006 DTCB
061548,000443:
061549,000444: 17,2641 11633 CHKINGTS CCS INGTS # WAS THE TRIM GIMBAL CONTROLLING
061550,000445: 17,2642 12644 TCF +2 # YES. SET UP A DAMPED NULLING DRIVE.
061551,000446: 17,2643 12141 TCF RCS # NO. NULLING WAS SET UP BEFORE. DO RCS
061552,000447: 17,2644 00004 INHINT
061553,000448: 17,2645 04674 TC IBNKCALL
061554,000449: 17,2646 43321 CADR TIMEGMBL
061555,000450: 17,2647 00003 RELINT
061556,000451: 17,2650 34755 CAF ZERO
061557,000452: 17,2651 55633 TS INGTS
061558,000453: 17,2652 12141 TCF RCS
061559,000454:
061560,000455: 17,2653 E6,1635 EBANK= CDUXD
061561,000456: 17,2653 03070 42106 GTSCADR 2CADR GTS
061562,000457:
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|
Page 1441 |
061564,000459: # SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
061565,000460:
061566,000461: 17,2655 30033 QERRCALC CAE CDUY # Q-ERROR CALCULATION
061567,000462: 17,2656 00006 EXTEND
061568,000463: 17,2657 21636 MSU CDUYD # CDU ANGLE - ANGLE DESIRED (Y-AXIS)
061569,000464: 17,2660 55737 TS DAPTEMP1 # SAVE FOR RERRCALC
061570,000465: 17,2661 00006 EXTEND
061571,000466: 17,2662 71415 MP M21 # (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
061572,000467: 17,2663 55752 TS E
061573,000468: 17,2664 30034 CAE CDUZ # SECOND TERM CALCULATION:
061574,000469: 17,2665 00006 EXTEND
061575,000470: 17,2666 21637 MSU CDUZD # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
061576,000471: 17,2667 55740 TS DAPTEMP2 # SAVE FOR RERRCALC
061577,000472: 17,2670 00006 EXTEND
061578,000473: 17,2671 71417 MP M22 # (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
061579,000474: 17,2672 61275 AD DELQEROR # KALCMANU INERFACE ERROR
061580,000475: 17,2673 61752 AD E
061581,000476: 17,2674 57450 XCH QERROR # SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
061582,000477:
061583,000478: 17,2675 31737 RERRCALC CAE DAPTEMP1 # R-ERROR CALCULATION:
061584,000479: 17,2676 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Y-AXIS)
061585,000480: 17,2677 71416 MP M31 # (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
061586,000481: 17,2700 55752 TS E
061587,000482: 17,2701 31740 CAE DAPTEMP2 # SECOND TERM CALCULATION:
061588,000483: 17,2702 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
061589,000484: 17,2703 71420 MP M32 # (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
061590,000485: 17,2704 61276 AD DELREROR # KALCMANU INERFACE ERROR
061591,000486: 17,2705 61752 AD E
061592,000487: 17,2706 57452 XCH RERROR # SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
061593,000488: 17,2707 00002 TC Q
061594,000489:
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|
Page 1442 |
061596,000491: # "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
061597,000492:
061598,000493: 17,2710 17,2710 ATTSTEER EQUALS STILLRCS # "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
061599,000494:
061600,000495: 17,2710 31452 STILLRCS CA RERROR
061601,000496: 17,2711 22000 LXCH A
061602,000497: 17,2712 31450 CA QERROR
061603,000498: 17,2713 03200 TC ROT-TOUV
061604,000499: 17,2714 53752 DXCH UERROR
061605,000500:
061606,000501: # PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
061607,000502: # PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
061608,000503:
061609,000504: 17,2715 33142 TJLAW CA TJLAWADR
061610,000505: 17,2716 55477 TS RETJADR
061611,000506: 17,2717 34753 CA ONE
061612,000507: 17,2720 55505 TS AXISCTR
061613,000508: 17,2721 51505 INDEX AXISCTR
061614,000509: 17,2722 51535 INDEX SKIPU
061615,000510: 17,2723 12724 TCF +1
061616,000511: 17,2724 34751 CA FOUR
061617,000512: 17,2725 51505 INDEX AXISCTR
061618,000513: 17,2726 55535 TS SKIPU
061619,000514: 17,2727 13034 TCF LOOPER
061620,000515: 17,2730 51505 INDEX AXISCTR
061621,000516: 17,2731 31751 CA UERROR
061622,000517: 17,2732 55752 TS E
061623,000518: 17,2733 51505 INDEX AXISCTR
061624,000519: 17,2734 31426 CA OMEGAU
061625,000520: 17,2735 55427 TS EDOT
061626,000521: 17,2736 30111 CA DAPBOOLS
061627,000522: 17,2737 74737 MASK CSMDOCKD
061628,000523: 17,2740 10000 CCS A
061629,000524: 17,2741 12744 TCF +3
061630,000525: 17,2742 03304 TC TJETLAW
061631,000526: 17,2743 12756 TCF AFTERTJ
061632,000527: 17,2744 40111 +3 CS DAPBOOLS # DOCKED. IF GIMBAL USABLE DO GTS CONTROL
061633,000528: 17,2745 74736 MASK USEQRJTS # ON THE NEXT PASS.
061634,000529: 17,2746 10000 CCS A # USEQRJTS BIT MUST NOT BE BIT 15.
061635,000530: 17,2747 55631 TS COTROLER # GIMBAL USABLE. STORE POSITIVE VALUE.
061636,000531: 17,2750 00004 INHINT
061637,000532: 17,2751 04674 TC IBNKCALL
061638,000533: 17,2752 43730 CADR SPSRCS # DETERMINE RCS CONTROL
061639,000534: 17,2753 00003 RELINT
061640,000535: 17,2754 34751 CAF FOUR # ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
061641,000536: 17,2755 55743 TS NUMBERT # FALL THROUGH TO JET SELECTION, ETC.
061642,000537:
061643,000538: # Q,R-JET-SELECTION-LOGIC
061644,000539:
061645,000540: # INPUT: AXISCTR 0,1 FOR U,V
061646,000541: # SNUFFBIT ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN
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|
Page 1443 |
061648,000543: # TJU,TJV JET TIME SCALED 10.24 SEC.
061649,000544: # NUMBERT INDICATES NUMBER OF JETS AND TYPE OF POLICY
061650,000545: # RETJADR WHERE TO RETURN TO
061651,000546:
061652,000547: # OUTPUT: NO.U(V)JETS RATE DERIVATION FEEDBACK
061653,000548: # CHANNEL 5
061654,000549: # SKIPU,SKIRV FOR LESS THAN 150MS FIRING
061655,000550:
061656,000551: # NOTES: IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED
061657,000552: # JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY
061658,000553: # TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT
061659,000554: # IF NONE CAN BE FOUND.
061660,000555:
061661,000556: # TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
061662,000557: # MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
061663,000558:
061664,000559: 17,2756 30101 AFTERTJ CA FLAGWRD5 # IF SNUFFBIT SET DURING A DPS BURN GO TO
061665,000560: 17,2757 74737 MASK SNUFFBIT # XTRANS; THAT IS, INHIBIT CONTROL.
061666,000561: 17,2760 00006 EXTEND
061667,000562: 17,2761 12772 BZF DOROTAT
061668,000563: 17,2762 40106 CS FLGWRD10
061669,000564: 17,2763 74737 MASK APSFLBIT
061670,000565: 17,2764 00006 EXTEND
061671,000566: 17,2765 12772 BZF DOROTAT
061672,000567: 17,2766 30111 CA DAPBOOLS
061673,000568: 17,2767 74744 MASK DRIFTBIT
061674,000569: 17,2770 00006 EXTEND
061675,000570: 17,2771 13112 BZF XTRANS
061676,000571:
061677,000572: 17,2772 34752 DOROTAT CAF TWO
061678,000573: 17,2773 54001 TS L
061679,000574: 17,2774 51505 INDEX AXISCTR
061680,000575: 17,2775 11525 CCS TJU
061681,000576: 17,2776 13003 TCF +5
061682,000577: 17,2777 13026 TCF NOROTAT
061683,000578: 17,3000 13002 TCF +2
061684,000579: 17,3001 13026 TCF NOROTAT
061685,000580: 17,3002 22007 ZL
061686,000581: 17,3003 64753 AD ONE
061687,000582: 17,3004 55737 TS ABSTJ
061688,000583:
061689,000584: 17,3005 31505 CA AXISCTR
061690,000585: 17,3006 60001 AD L
061691,000586: 17,3007 55744 TS ROTINDEX # 0 1 2 3 = -U -V -+U +V
061692,000587:
061693,000588: 17,3010 31737 CA ABSTJ
061694,000589: 17,3011 63137 AD -150MS
061695,000590: 17,3012 00006 EXTEND
061696,000591: 17,3013 63037 BZMF DOSKIP
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|
Page 1444 |
061698,000593: 17,3014 03225 TC SELCTSUB
061699,000594:
061700,000595: 17,3015 51505 INDEX AXISCTR
061701,000596: 17,3016 33134 CA INDEXES
061702,000597: 17,3017 54001 TS L
061703,000598:
061704,000599: 17,3020 31741 CA POLYTEMP
061705,000600: 17,3021 00004 INHINT
061706,000601: 17,3022 50001 INDEX L
061707,000602: 17,3023 05744 TC WRITEP
061708,000603:
061709,000604: 17,3024 00003 RELINT
061710,000605: 17,3025 13100 TCF FEEDBACK
061711,000606:
061712,000607: 17,3026 51505 NOROTAT INDEX AXISCTR
061713,000608: 17,3027 33134 CA INDEXES
061714,000609: 17,3030 00004 INHINT
061715,000610: 17,3031 50000 INDEX A
061716,000611: 17,3032 05743 TC WRITEP -1
061717,000612:
061718,000613: 17,3033 00003 RELINT
061719,000614: 17,3034 11505 LOOPER CCS AXISCTR
061720,000615: 17,3035 01477 TC RETJADR
061721,000616: 17,3036 13270 TCF CLOSEOUT
061722,000617: 17,3037 41737 DOSKIP CS ABSTJ
061723,000618: 17,3040 63136 AD +TJMINT6 # 14MS
061724,000619: 17,3041 00006 EXTEND
061725,000620: 17,3042 63061 BZMF NOTMIN
061726,000621:
061727,000622: 17,3043 27737 ADS ABSTJ
061728,000623: 17,3044 51505 INDEX AXISCTR
061729,000624: 17,3045 11525 CCS TJU
061730,000625: 17,3046 33136 CA +TJMINT6
061731,000626: 17,3047 13051 TCF +2
061732,000627: 17,3050 43136 CS +TJMINT6
061733,000628: 17,3051 51505 INDEX AXISCTR
061734,000629: 17,3052 55525 TS TJU
061735,000630:
061736,000631: 17,3053 11500 CCS SENSETYP # ENSURE MIN-IMPULSE NOT AGAINST TRANS
061737,000632: 17,3054 13060 TCF NOTMIN -1
061738,000633: 17,3055 00006 EXTEND
061739,000634: 17,3056 00004 READ LOSCALAR
061740,000635: 17,3057 74753 MASK ONE
061741,000636: 17,3060 55743 TS NUMBERT
061742,000637:
061743,000638: 17,3061 03225 NOTMIN TC SELCTSUB
061744,000639:
061745,000640: 17,3062 51505 INDEX AXISCTR
061746,000641: 17,3063 33134 CA INDEXES
061747,000642: 17,3064 00004 INHINT
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|
Page 1445 |
061749,000644: 17,3065 55471 TS T6FURTHA +1
061750,000645: 17,3066 31741 CA POLYTEMP
061751,000646: 17,3067 51471 INDEX T6FURTHA +1
061752,000647: 17,3070 05744 TC WRITEP
061753,000648:
061754,000649: 17,3071 31737 CA ABSTJ
061755,000650: 17,3072 55470 TS T6FURTHA
061756,000651: 17,3073 03143 TC JTLST # IN QR BANK BY NOW
061757,000652:
061758,000653: 17,3074 00003 RELINT
061759,000654:
061760,000655: 17,3075 34755 CA ZERO
061761,000656: 17,3076 51505 INDEX AXISCTR
061762,000657: 17,3077 55535 TS SKIPU
061763,000658:
061764,000659: 17,3100 46250 FEEDBACK CS THREE
061765,000660: 17,3101 61743 AD NUMBERT
061766,000661: 17,3102 00006 EXTEND
061767,000662: 17,3103 63106 BZMF +3
061768,000663:
061769,000664: 17,3104 34752 CA TWO
061770,000665: 17,3105 13107 TCF +2
061771,000666: 17,3106 34753 CA ONE
061772,000667: 17,3107 51505 INDEX AXISCTR
061773,000668: 17,3110 55522 TS NO.UJETS
061774,000669: 17,3111 13034 TCF LOOPER
061775,000670:
061776,000671: 17,3112 34755 XTRANS CA ZERO
061777,000672: 17,3113 55525 TS TJU
061778,000673: 17,3114 55526 TS TJV
061779,000674: 17,3115 34751 CA FOUR
061780,000675: 17,3116 00004 INHINT
061781,000676: 17,3117 57535 XCH SKIPU
061782,000677: 17,3120 00006 EXTEND
061783,000678: 17,3121 13123 BZF +2
061784,000679: 17,3122 05747 TC WRITEU -1
061785,000680: 17,3123 34751 CA FOUR
061786,000681: 17,3124 57536 XCH SKIPV
061787,000682: 17,3125 00003 RELINT
061788,000683:
061789,000684: 17,3126 00006 EXTEND
061790,000685: 17,3127 13270 BZF CLOSEOUT
061791,000686: 17,3130 00004 INHINT
061792,000687: 17,3131 05760 TC WRITEV -1
061793,000688: 17,3132 00003 RELINT
061794,000689:
061795,000690: 17,3133 13270 TCF CLOSEOUT
061796,000691: 17,3134 00004 INDEXES DEC 4 B-14
061797,000692: 17,3135 00015 DEC 13 B-14
061798,000693: 17,3136 00026 +TJMINT6 DEC 22 B-14
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|
Page 1446 |
061800,000695: 17,3137 77417 -150MS DEC -240 B-14
061801,000696: 17,3140 00600 BIT8,9 OCT 00600
061802,000697: 17,3141 00266 SCLNORM OCT 266
061803,000698: 17,3142 02720 TJLAWADR GENADR TJLAW +3 # RETURN ADDRESS FOR RCS ATTITUDE CONTROL
061804,000699:
061805,000700: # THE JET LIST:
061806,000701: # THIS IS A WAITLIST FOR T6RUPTS.
061807,000702:
061808,000703: # CALLED BY:
061809,000704: # CA TJ TIME WHEN NEXT JETS WILL BE WRITTEN
061810,000705: # TS T6FURTHA
061811,000706: # CA INDEX AXIS TO BE WIRTTEN AT TJ (FROM NOW)
061812,000707: # TS T6FURTHA +1
061813,000708: # TC JTLST
061814,000709:
061815,000710: # EXAMPLE - U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
061816,000711: # JETS INTO CHANNEL 5. IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
061817,000712: # 150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
061818,000713: # CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
061819,000714: # OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
061820,000715:
061821,000716: # THE LIST IS EXACTLY 3 LONG. (THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
061822,000717: # THE INPUT IS THE LAST MEMBER OF THE LIST
061823,000718:
061824,000719: # RETURNS BY:
061825,000720: # + TC Q
061826,000721:
061827,000722: # DEFINITIONS: (OUTPUT)
061828,000723: # TIME6 TIME OF NEXT RUPT
061829,000724: # T6NEXT DELTA TIME TO NEXT RUPT
061830,000725: # T6FURTHA DELTA TIME FROM 2ND TO LAST RUPT
061831,000726: # NXT6ADR AXIS INDEX Q - P-AXIS
061832,000727: # T6NEXT +1 AXIS INDEX 4 - U-AXIS
061833,000728: # T6FURTHA +1 AXIS INDEX 13 - V-AXIS
061834,000729:
061835,000730: 17,3143 41470 JTLST CS T6FURTHA
061836,000731: 17,3144 60031 AD TIME6
061837,000732: 17,3145 00006 EXTEND
061838,000733: 17,3146 63163 BZMF MIDORLST # TIME6 - T IS IN A
061839,000734:
061840,000735: 17,3147 23465 LXCH NXT6ADR
061841,000736: 17,3150 53467 DXCH T6NEXT
061842,000737: 17,3151 53471 DXCH T6FURTHA
061843,000738: 17,3152 54031 TS TIME6
061844,000739: 17,3153 23465 LXCH NXT6ADR
061845,000740:
061846,000741: 17,3154 00006 TURNON EXTEND
061847,000742: 17,3155 23265 QXCH C13QSAV
061848,000743: 17,3156 06022 TC C13STALL
061849,000744:
061850,000745: 17,3157 34735 CA BIT15
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|
Page 1447 |
061852,000747: 17,3160 00006 EXTEND
061853,000748: 17,3161 05013 WOR CHAN13
061854,000749: 17,3162 01265 TC C13QSAV
061855,000750:
061856,000751:
061857,000752: 17,3163 61466 MIDORLST AD T6NEXT
061858,000753: 17,3164 00006 EXTEND
061859,000754: 17,3165 63174 BZMF LASTCHG # TIME6 + T6NEXT - T IS IN A
061860,000755:
061861,000756: 17,3166 23467 LXCH T6NEXT +1
061862,000757: 17,3167 53471 DXCH T6FURTHA
061863,000758: 17,3170 00006 EXTEND
061864,000759: 17,3171 60031 SU TIME6
061865,000760: 17,3172 53467 DXCH T6NEXT
061866,000761:
061867,000762: 17,3173 00002 TC Q
061868,000763:
061869,000764: 17,3174 40000 LASTCHG CS A
061870,000765: 17,3175 64754 AD NEG0
061871,000766: 17,3176 55470 TS T6FURTHA
061872,000767:
061873,000768: 17,3177 00002 TC Q
061874,000769:
061875,000770: # ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
061876,000771: # ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM. IN THE U-V SYSTEM NO CROSS-COUPLING IS
061877,000772: # PRODUCED FROM RCS JET FIRINGS. AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
061878,000773: # A AND THE V-COMPONENT IS IN L.
061879,000774:
061880,000775: 17,3200 23740 ROT-TOUV LXCH ROTEMP2 # (R) IS PUT INTO ROTEMP2
061881,000776: 17,3201 00006 EXTEND
061882,000777: 17,3202 71627 MP COEFFQ
061883,000778: 17,3203 57740 XCH ROTEMP2 # (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
061884,000779: 17,3204 00006 EXTEND
061885,000780: 17,3205 71630 MP COEFFR
061886,000781: 17,3206 54001 TS L # COEFFR.(R) IS PUT INTO L
061887,000782: 17,3207 61740 AD ROTEMP2
061888,000783: 17,3210 55737 TS ROTEMP1 # COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
061889,000784: 17,3211 13215 TCF +4
061890,000785: 17,3212 50000 INDEX A # COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
061891,000786: 17,3213 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
061892,000787: 17,3214 55737 TS ROTEMP1
061893,000788: 17,3215 41740 CS ROTEMP2
061894,000789: 17,3216 60001 AD L # -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
061895,000790: 17,3217 54007 TS 7
061896,000791: 17,3220 13223 TCF +3
061897,000792: 17,3221 50000 INDEX A # -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
061898,000793: 17,3222 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
061899,000794: 17,3223 23737 LXCH ROTEMP1 # COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
061900,000795: 17,3224 00002 TC Q
061901,000796: 17,3225 51744 SELCTSUB INDEX ROTINDEX
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Page 1448 |
061903,000798: 17,3226 33257 CA ALLJETS
061904,000799: 17,3227 51743 INDEX NUMBERT
061905,000800: 17,3230 73263 MASK TYPEPOLY
061906,000801: 17,3231 55741 TS POLYTEMP
061907,000802:
061908,000803: 17,3232 71257 MASK CH5MASK
061909,000804: 17,3233 10000 CCS A
061910,000805: 17,3234 13236 TCF +2
061911,000806:
061912,000807: 17,3235 00002 TC Q
061913,000808:
061914,000809: 17,3236 36250 CA THREE
061915,000810: 17,3237 55743 FAILOOP TS NUMBERT
061916,000811: 17,3240 51744 INDEX ROTINDEX
061917,000812: 17,3241 33257 CA ALLJETS
061918,000813: 17,3242 51743 INDEX NUMBERT
061919,000814: 17,3243 73263 MASK TYPEPOLY
061920,000815: 17,3244 55741 TS POLYTEMP
061921,000816: 17,3245 71257 MASK CH5MASK
061922,000817: 17,3246 00006 EXTEND
061923,000818: 17,3247 13235 BZF FAILOOP -2
061924,000819: 17,3250 11743 CCS NUMBERT
061925,000820: 17,3251 13237 TCF FAILOOP
061926,000821: 17,3252 51505 INDEX AXISCTR
061927,000822: 17,3253 55525 TS TJU
061928,000823: 17,3254 05567 TC ALARM
061929,000824: 17,3255 02004 OCT 02004
061930,000825: 17,3256 13026 TCF NOROTAT
061931,000826: 17,3257 00110 ALLJETS OCT 00110 # -U 6 13
061932,000827: 17,3260 00022 OCT 00022 # -V 2 9
061933,000828: 17,3261 00204 OCT 00204 # +U 5 14
061934,000829:
061935,000830: 17,3262 00041 OCT 00041 # +V 1 10
061936,000831: 17,3263 00125 TYPEPOLY OCT 00125 # -X 1 5 9 13
061937,000832: 17,3264 00252 OCT 00252 # +X 2 6 10 14
061938,000833: 17,3265 00146 OCT 00146 # A 2 5 10 13
061939,000834: 17,3266 00231 OCT 00231 # B 1 6 9 14
061940,000835: 17,3267 00377 OCT 00377 # ALL 1 2 5 6 9 10 13 14
061941,000836:
061942,000837: # THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
061943,000838:
061944,000839: 17,3270 33272 CLOSEOUT CA ADRRUPT
061945,000840: 17,3271 07757 TC MAKERUPT
061946,000841:
061947,000842: 17,3272 03273 ADRRUPT ADRES ENDJASK
061948,000843:
061949,000844: 17,3273 53754 ENDJASK DXCH DAPARUPT
061950,000845: 17,3274 52011 DXCH ARUPT
061951,000846: 17,3275 53756 DXCH DAPBQRPT
061952,000847: 17,3276 56017 XCH BRUPT
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Page 1449 |
061954,000849: 17,3277 22002 LXCH Q
061955,000850: 17,3300 34735 CAF NEGMAX # NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
061956,000851: 17,3301 53760 DXCH DAPZRUPT
061957,000852: 17,3302 52016 DXCH ZRUPT
061958,000853: 17,3303 15272 TCF NOQRSM
061959,000854: 7757 BLOCK 3
061960,000855: 6000 SETLOC FFTAG6
061961,000856: 6000 BANK
061962,000857:
061963,000858: 7757 COUNT* $$/DAP
061964,000859:
061965,000860: 7757 00006 MAKERUPT EXTEND
061966,000861: 7760 07757 EDRUPT MAKERUPT
061967,000862:
End of include-file Q,R-AXES_RCS_AUTOPILOT.agc. Parent file is MAIN.agc