GAP: ASSEMBLE REVISION 131 OF AGC PROGRAM LUMINARY BY NASA 2021112-091 17:53 DEC. 19, 1969Note that the date is the date the printout was made, not the date on which the program revision was released, although these happen to be very close together.
Source Code
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This source code is very close to the Apollo Guidance Computer software for the
Apollo 13 Lunar module. This revision of the Luminary 131 program is from December
of 1969, whereas there was a later revision in January of 1970, and still another
revision in February, which is the code that flew on the mission.
As far as this transcription is concerned, it was originally from a copy made in 1991 of
a printout from the collection of AGC developer Don Eyles for collector David Craig.
It was subsequently scanned by Gary Neff, reprocessed for online
presentation at the now-discontinued History of Recent Science and Technology (HRST) website
of MIT's Dibner Institute (the full-quality scans being discarded in the process),
and finally transcribed by Ron Burkey for the Virtual AGC Project. Although a
high-quality replacement scan for a completely illegible page was later provided by Gary
Neff, the reduced legibility of the reprocessed HRST posting nevertheless caused many
errors to be introduced into the transcription. Accordingly, a second scan of the same physical
printout was made in 2017 for the Virtual AGC Project's collection at the Internet Archive,
and used to correct the transcription errors. All of the scanned materials mentioned,
as well as other Luminary 131 related material, are available online.
Don Eyles apprently made additional hand-written notes in printout between 1991 and 2017,
so the two scans are not identical in that respect. The page-headings in the printout read, in part:GAP: ASSEMBLE REVISION 131 OF AGC PROGRAM LUMINARY BY NASA 2021112-091 17:53 DEC. 19, 1969Note that the date is the date the printout was made, not the date on which the program revision was released, although these happen to be very close together. |
060764,000002: ## Copyright: Public domain.
060765,000003: ## Filename: Q_R-AXIS_RCS_AUTOPILOT.agc
060766,000004: ## Purpose: A section of Luminary 1C, revision 131.
060767,000005: ## It is part of the source code for the Lunar Module's (LM)
060768,000006: ## Apollo Guidance Computer (AGC) for Apollo 13.
060769,000007: ## This file is intended to be a faithful transcription, except
060770,000008: ## that the code format has been changed to conform to the
060771,000009: ## requirements of the yaYUL assembler rather than the
060772,000010: ## original YUL assembler.
060773,000011: ## Reference: pp. 1434-1451
060774,000012: ## Contact: Ron Burkey <info@sandroid.org>.
060775,000013: ## Website: www.ibiblio.org/apollo/index.html
060776,000014: ## Mod history: 06/07/03 RSB. Began transcribing.
060777,000015: ## 05/14/05 RSB Corrected website reference above.
060778,000016: ## 2010-10-25 JL Indentation fixes.
060779,000017: ## 2017-01-06 RSB Page numbers now agree with those on the
060780,000018: ## original hardcopy, as opposed to the PDF page
060781,000019: ## numbers in 1701.pdf.
060782,000020: ## 2017-02-28 RSB Proofed comment text using octopus/ProoferComments.
060783,000021: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
060784,000022: ## side-by-side diff of Luminary 69/99/116/131/210.
060785,000023: ## 2017-08-29 MAS Fixed a label (X0RULGE instead of XORULGE) and a
060786,000024: ## comment text error found while transcribing Zerlina 56.
060787,000025:
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Page 1434 |
060789,000027: 17,2124 BANK 17
060790,000028: 17,2000 SETLOC DAPS2
060791,000029: 17,2000 BANK
060792,000030:
060793,000031: 17,2124 E6,1634 EBANK= CDUXD
060794,000032:
060795,000033: 17,2124 COUNT* $$/DAPQR
060796,000034:
060797,000035: 17,2124 34737 CALLQERR CA BIT13 # CALCULATE Q,R ERRORS UNLESS THESE AXES
060798,000036: 17,2125 00006 EXTEND # ARE IN MANUAL RATE COMMAND.
060799,000037: 17,2126 02031 RAND CHAN31
060800,000038: 17,2127 10000 CCS A
060801,000039: 17,2130 12135 TCF +5 # IN AUTO COMPUTE Q,R ERRORS
060802,000040: 17,2131 40111 CS DAPBOOLS # IN MANUAL RATE COMMAND?
060803,000041: 17,2132 74740 MASK OURRCBIT
060804,000042: 17,2133 00006 EXTEND
060805,000043: 17,2134 12136 BZF Q,RORGTS # IF SO BYPASS CALCULATION OF ERRORS.
060806,000044: 17,2135 02655 TC QERRCALC
060807,000045:
060808,000046: 17,2136 11630 Q,RORGTS CCS COTROLER # CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
060809,000047: 17,2137 12636 TCF GOTOGTS # GTS (ALTERNATES WITH RCS WHEN DOCKED)
060810,000048: 17,2140 12623 TCF TRYGTS # GTS IF ALLOWED, OTHERWISE RCS
060811,000049: 17,2141 34755 RCS CAF ZERO # RCS (TRYGTS MAY BRANCH TO HERE)
060812,000050: 17,2142 55630 TS COTROLER
060813,000051:
060814,000052: 17,2143 53437 DXCH EDOTQ
060815,000053: 17,2144 03200 TC ROT-TOUV
060816,000054: 17,2145 53427 DXCH OMEGAU
060817,000055:
060818,000056: # X - TRANSLATION:
060819,000057:
060820,000058: # INPUT: BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
060821,000059: # ULLAGER
060822,000060: # APSFLAG, DRIFTBIT
060823,000061: # ACC40R2X, ACRBTRAN
060824,000062:
060825,000063: # OUTPUT: NEXTU, NEXTV CODES OF TRANSLATION FOR AFTER ROTATION
060826,000064: # SENSETYP TELL ROTATION DIRECTION AND DESIRE
060827,000065:
060828,000066: # X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR. IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED. A FAILURE
060829,000067: # WILL OVERRIDE THIS SPECIFICATION. AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
060830,000068:
060831,000069: 17,2146 34745 SENSEGET CA BIT7 # INPUT BITS OVERRIDE THE INTERNAL BITS
060832,000070: 17,2147 00006 EXTEND # SENSETYP WILL NOT OPPOSE ANYTRANS
060833,000071: 17,2150 02031 RAND CHAN31
060834,000072: 17,2151 00006 EXTEND
060835,000073: 17,2152 12200 BZF +XORULGE
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Page 1435 |
060837,000075: 17,2153 34744 CA BIT8
060838,000076: 17,2154 00006 EXTEND
060839,000077: 17,2155 02031 RAND CHAN31
060840,000078: 17,2156 00006 EXTEND
060841,000079: 17,2157 12201 BZF -XTRANS
060842,000080:
060843,000081: 17,2160 34746 CA ULLAGER
060844,000082: 17,2161 70111 MASK DAPBOOLS
060845,000083: 17,2162 10000 CCS A
060846,000084: 17,2163 12200 TCF +XORULGE
060847,000085:
060848,000086: 17,2164 55473 TS NEXTU # STORE NULL TRANSLATION POLICIES
060849,000087: 17,2165 55474 TS NEXTV
060850,000088: 17,2166 40111 CS DAPBOOLS # BURNING OR DRIFTING?
060851,000089: 17,2167 74744 MASK DRIFTBIT
060852,000090: 17,2170 00006 EXTEND
060853,000091: 17,2171 12176 BZF TSENSE
060854,000092: 17,2172 30106 CA FLGWRD10 # DPS (INCLUDING DOCKED) OR APS?
060855,000093: 17,2173 74737 MASK APSFLBIT
060856,000094: 17,2174 10000 CCS A
060857,000095: 17,2175 34752 CAF TWO # FAVOR +X JETS DURING AN APS BURN.
060858,000096: 17,2176 55500 TSENSE TS SENSETYP
060859,000097: 17,2177 12232 TCF QRCONTRL
060860,000098:
060861,000099: 17,2200 34753 +XORULGE CAF ONE
060862,000100: 17,2201 64751 -XTRANS AD FOUR
060863,000101: 17,2202 55743 TS ROTINDEX
060864,000102: 17,2203 67750 AD NEG3
060865,000103: 17,2204 55500 TS SENSETYP # FAVOR APPROPRIATE JETS DURING TRANS.
060866,000104: 17,2205 30111 CA DAPBOOLS
060867,000105: 17,2206 74741 MASK ACC4OR2X
060868,000106: 17,2207 10000 CCS A
060869,000107: 17,2210 12352 TCF TRANS4
060870,000108:
060871,000109: 17,2211 30111 CA DAPBOOLS
060872,000110: 17,2212 74742 MASK AORBTRAN
060873,000111: 17,2213 10000 CCS A
060874,000112: 17,2214 34753 CA ONE # THREE FOR B
060875,000113: 17,2215 64752 AD TWO # TWO FOR A SYSTEM 2 JET X TRANS
060876,000114: 17,2216 55742 TSNUMBRT TS NUMBERT
060877,000115:
060878,000116: 17,2217 03225 TC SELCTSUB
060879,000117:
060880,000118: 17,2220 11740 CCS POLYTEMP
060881,000119: 17,2221 12224 TCF +3
060882,000120: 17,2222 05567 TC ALARM
060883,000121: 17,2223 02002 OCT 02002
060884,000122: 17,2224 35764 CA 00314OCT
060885,000123: 17,2225 71740 MASK POLYTEMP
060886,000124: 17,2226 55473 TSNEXTS TS NEXTU
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Page 1436 |
060888,000126: 17,2227 45764 CS 00314OCT
060889,000127: 17,2230 71740 MASK POLYTEMP
060890,000128: 17,2231 55474 TS NEXTV
060891,000129:
060892,000130: # Q,R-AXES RCS CONTROL MODE SELECTION
060893,000131: # SWITCHES INDICATION WHEN SET
060894,000132: # BIT13/CHAN31 AUTO, GO TO ATTSTEER
060895,000133: # PULSES MINIMUM IMPULSE MODE
060896,000134: # (OTHERWISE) RATE COMMAND/ATTITUDE HOLD MODE
060897,000135:
060898,000136: 17,2232 34737 QRCONTRL CA BIT13 # CHECK MODE SELECT SWITCH.
060899,000137: 17,2233 00006 EXTEND
060900,000138: 17,2234 02031 RAND CHAN31 # BITS INVERTED
060901,000139: 17,2235 10000 CCS A
060902,000140: 17,2236 12710 TCF ATTSTEER
060903,000141: 17,2237 34735 CHKBIT10 CAF PULSES # PULSES = 1 FOR MIN IMP USE OF RHC
060904,000142: 17,2240 70111 MASK DAPBOOLS
060905,000143: 17,2241 00006 EXTEND
060906,000144: 17,2242 12354 BZF CHEKSTIK # IN ATT-HOLD/RATE-COMMAND IF BIT10=0
060907,000145:
060908,000146: # MINIMUM IMPULSE MODE
060909,000147:
060910,000148: 17,2243 00004 INHINT
060911,000149: 17,2244 04674 TC IBNKCALL
060912,000150: 17,2245 40154 CADR ZATTEROR
060913,000151: 17,2246 34755 CA ZERO
060914,000152: 17,2247 55450 TS QERROR
060915,000153: 17,2250 55452 TS RERROR # FOR DISPLAYS
060916,000154: 17,2251 00003 RELINT
060917,000155:
060918,000156: 17,2252 00006 EXTEND
060919,000157: 17,2253 00031 READ CHAN31
060920,000158: 17,2254 55736 TS TEMP31 # IS EQUAL TO DAPTEMP1
060921,000159: 17,2255 11461 CCS OLDQRMIN
060922,000160: 17,2256 12300 TCF CHECKIN
060923,000161:
060924,000162: 17,2257 31736 FIREQR CA TEMP31
060925,000163: 17,2260 74753 MASK BIT1
060926,000164: 17,2261 00006 EXTEND
060927,000165: 17,2262 12304 BZF +QMIN
060928,000166:
060929,000167: 17,2263 31736 CA TEMP31
060930,000168: 17,2264 74752 MASK BIT2
060931,000169: 17,2265 00006 EXTEND
060932,000170: 17,2266 12310 BZF -QMIN
060933,000171:
060934,000172: 17,2267 31736 CA TEMP31
060935,000173: 17,2270 74747 MASK BIT5
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Page 1437 |
060937,000175: 17,2271 00006 EXTEND
060938,000176: 17,2272 12314 BZF +RMIN
060939,000177:
060940,000178: 17,2273 31736 CA TEMP31
060941,000179: 17,2274 74746 MASK BIT6
060942,000180: 17,2275 00006 EXTEND
060943,000181: 17,2276 12316 BZF -RMIN
060944,000182:
060945,000183: 17,2277 13112 TCF XTRANS
060946,000184:
060947,000185: 17,2300 41736 CHECKIN CS TEMP31
060948,000186: 17,2301 72351 MASK OCT63
060949,000187: 17,2302 55461 TS OLDQRMIN
060950,000188: 17,2303 13112 TCF XTRANS
060951,000189:
060952,000190: 17,2304 33136 +QMIN CA 14MS
060953,000191: 17,2305 55525 TS TJU
060954,000192: 17,2306 43136 CS 14MS
060955,000193: 17,2307 12320 TCF MINQR
060956,000194: 17,2310 43136 -QMIN CS 14MS
060957,000195: 17,2311 55525 TS TJU
060958,000196: 17,2312 33136 CA 14MS
060959,000197: 17,2313 12320 TCF MINQR
060960,000198: 17,2314 33136 +RMIN CA 14MS
060961,000199: 17,2315 12317 TCF +2
060962,000200: 17,2316 43136 -RMIN CS 14MS
060963,000201: 17,2317 55525 TS TJU
060964,000202: 17,2320 55526 MINQR TS TJV
060965,000203: 17,2321 32350 CA MINADR
060966,000204: 17,2322 55477 TS RETJADR
060967,000205: 17,2323 34753 CA ONE
060968,000206: 17,2324 55461 TS OLDQRMIN
060969,000207: 17,2325 55505 MINRTN TS AXISCTR
060970,000208: 17,2326 30111 CA DAPBOOLS
060971,000209: 17,2327 74737 MASK CSMDOCKD
060972,000210: 17,2330 00006 EXTEND
060973,000211: 17,2331 12341 BZF MIMRET
060974,000212: 17,2332 51505 INDEX AXISCTR # IF DOCKED, USE 60MS MINIMUM IMPULSE
060975,000213: 17,2333 11525 CCS TJU
060976,000214: 17,2334 34776 CA 60MS
060977,000215: 17,2335 12337 TCF +2
060978,000216: 17,2336 44776 CS 60MS
060979,000217: 17,2337 51505 INDEX AXISCTR
060980,000218: 17,2340 55525 TS TJU
060981,000219: 17,2341 30111 MIMRET CA DAPBOOLS
060982,000220: 17,2342 74742 MASK AORBTRAN
060983,000221: 17,2343 10000 CCS A
060984,000222: 17,2344 34753 CA ONE
060985,000223: 17,2345 64752 AD TWO
060986,000224: 17,2346 55742 TS NUMBERT
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Page 1438 |
060988,000226: 17,2347 12756 TCF AFTERTJ
060989,000227:
060990,000228: 17,2350 4776 60MS = OCT140
060991,000229: 17,2350 02325 MINADR GENADR MINRTN
060992,000230: 17,2351 00063 OCT63 OCT 63
060993,000231: 17,2352 17,3136 14MS = +TJMINT6
060994,000232:
060995,000233: 17,2352 34751 TRANS4 CA FOUR
060996,000234: 17,2353 12216 TCF TSNUMBRT
060997,000235:
060998,000236: # RATE COMMAND MODE:
060999,000237:
061000,000238: # DESCRIPTION (SAME AS P-AXIS)
061001,000239:
061002,000240: 17,2354 55632 CHEKSTIK TS INGTS # NOT IN GTS WHEN IN ATT HOLD
061003,000241: 17,2355 44753 CS ONE # 1/ACCS WILL DO THE NULLING DRIVES
061004,000242: 17,2356 55630 TS COTROLER # COME BACK TO RCS NEXT TIME
061005,000243: 17,2357 34735 CA BIT15
061006,000244: 17,2360 71443 MASK CH31TEMP
061007,000245: 17,2361 00006 EXTEND
061008,000246: 17,2362 12377 BZF RHCACTIV # BRANCH IF OUT OF DETENT.
061009,000247: 17,2363 34740 CA OURRCBIT # ***********
061010,000248: 17,2364 70111 MASK DAPBOOLS # *IN DETENT* CHECK FOR MANUAL CONTROL
061011,000249: 17,2365 00006 EXTEND # *********** LAST TIME.
061012,000250: 17,2366 12710 BZF STILLRCS
061013,000251: 17,2367 44743 CS BIT9
061014,000252: 17,2370 71262 MASK RCSFLAGS
061015,000253: 17,2371 55262 TS RCSFLAGS # BIT 9 IS 0.
061016,000254: 17,2372 12374 TCF DAMPING
061017,000255: 17,2373 4771 40CYCL = OCT50
061018,000256: 17,2373 4753 1/10S = BIT1
061019,000257: 17,2373 00056 LINRAT DEC 46 B-14
061020,000258:
061021,000259: # ================================
061022,000260:
061023,000261: 17,2374 34755 DAMPING CA ZERO
061024,000262: 17,2375 55462 TS SAVEHAND
061025,000263: 17,2376 55463 TS SAVEHAND +1
061026,000264: 17,2377 11462 RHCACTIV CCS SAVEHAND # *******************
061027,000265: 17,2400 12403 TCF +3 # Q,R MANUAL CONTROL WC = A*(B+|D|)*D
061028,000266: 17,2401 12403 TCF +2 # *******************
061029,000267: 17,2402 12403 TCF +1
061030,000268: 17,2403 60000 DOUBLE # WHERE
061031,000269: 17,2404 60000 DOUBLE
061032,000270: 17,2405 62373 AD LINRAT # WC = COMMANDED ROTATIONAL RATE
061033,000271: 17,2406 00006 EXTEND # A = QUADRATIC SENSITIVITY FACTOR
061034,000272: 17,2407 71462 MP SAVEHAND # B = LINEAR/QUADRATIC SENSITIVITY
061035,000273: 17,2410 30001 CA L # |D| = ABS. VALUE OF DEFLECTION
061036,000274: 17,2411 00006 EXTEND # D = HAND CONTROLLER DEFLECTION
061037,000275: 17,2412 71444 MP STIKSENS
061038,000276: 17,2413 57455 XCH QLAST # COMMAND Q RATE SCALED 45 DEG/SEC
061039,000277: 17,2414 40000 COM
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Page 1439 |
061041,000279: 17,2415 61455 AD QLAST
061042,000280: 17,2416 55740 TS DAPTEMP3
061043,000281: 17,2417 11463 CCS SAVEHAND +1
061044,000282: 17,2420 12423 TCF +3
061045,000283: 17,2421 12423 TCF +2
061046,000284: 17,2422 12423 TCF +1
061047,000285: 17,2423 60000 DOUBLE
061048,000286: 17,2424 60000 DOUBLE
061049,000287: 17,2425 62373 AD LINRAT
061050,000288: 17,2426 00006 EXTEND
061051,000289: 17,2427 71463 MP SAVEHAND +1
061052,000290: 17,2430 30001 CA L
061053,000291: 17,2431 00006 EXTEND
061054,000292: 17,2432 71444 MP STIKSENS
061055,000293: 17,2433 57456 XCH RLAST
061056,000294: 17,2434 40000 COM
061057,000295: 17,2435 61456 AD RLAST
061058,000296: 17,2436 55741 TS DAPTEMP4
061059,000297: 17,2437 41455 CS QLAST # INTERVAL.
061060,000298: 17,2440 61422 AD OMEGAQ
061061,000299: 17,2441 55436 TS QRATEDIF
061062,000300: 17,2442 41456 CS RLAST
061063,000301: 17,2443 61423 AD OMEGAR
061064,000302: 17,2444 55437 TS RRATEDIF
061065,000303: 17,2445 53437 ENTERQR DXCH QRATEDIF # TRANSFORM RATES FROM Q,R TO U,V AXES
061066,000304: 17,2446 03200 TC ROT-TOUV
061067,000305: 17,2447 53427 DXCH URATEDIF
061068,000306: 17,2450 11740 CCS DAPTEMP3 # CHECK IF Q COMMAND CHANGE EXCEEDS
061069,000307: 17,2451 02454 TC +3 # BREAKOUT LEVEL. IF NOT, CHECK R.
061070,000308: 17,2452 02454 TC +2
061071,000309: 17,2453 02454 TC +1
061072,000310: 17,2454 61476 AD -RATEDB
061073,000311: 17,2455 00006 EXTEND
061074,000312: 17,2456 62460 BZMF +2
061075,000313: 17,2457 12476 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
061076,000314: 17,2460 11741 CCS DAPTEMP4 # R COMMAND BREAKOUT CHECK.
061077,000315: 17,2461 02464 TC +3
061078,000316: 17,2462 02464 TC +2
061079,000317: 17,2463 02464 TC +1
061080,000318: 17,2464 61476 AD -RATEDB
061081,000319: 17,2465 00006 EXTEND
061082,000320: 17,2466 62470 BZMF +2
061083,000321: 17,2467 12476 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
061084,000322: 17,2470 31262 CA RCSFLAGS # BREAKOUT LEVEL NOT EXCEEDED. CHECK FOR
061085,000323: 17,2471 74741 MASK QRBIT # DIRECT RATE CONTROL LAST TIME.
061086,000324: 17,2472 00006 EXTEND
061087,000325: 17,2473 12475 BZF +2
061088,000326: 17,2474 12500 TCF ENTERUV # CONTINUE DIRECT RATE CONTROL.
061089,000327: 17,2475 12710 TCF STILLRCS # PSEUDO-AUTO CONTROL.
061090,000328: 17,2476 34771 CA 40CYCL
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Page 1440 |
061092,000330: 17,2477 55457 TS TCQR
061093,000331: 17,2500 00004 ENTERUV INHINT # DIRECT RATE CONTROL.
061094,000332: 17,2501 04674 TC IBNKCALL
061095,000333: 17,2502 40154 FCADR ZATTEROR
061096,000334: 17,2503 00003 RELINT
061097,000335: 17,2504 34755 CA ZERO
061098,000336: 17,2505 55450 TS DYERROR
061099,000337: 17,2506 55451 TS DYERROR +1
061100,000338: 17,2507 55452 TS DZERROR
061101,000339: 17,2510 55453 TS DZERROR +1
061102,000340: 17,2511 11426 CCS URATEDIF
061103,000341: 17,2512 12515 TCF +3
061104,000342: 17,2513 12515 TCF +2
061105,000343: 17,2514 12515 TCF +1
061106,000344: 17,2515 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
061107,000345: 17,2516 00006 EXTEND # DIRECT RATE CONTROL.
061108,000346: 17,2517 62533 BZMF VDB
061109,000347: 17,2520 11427 CCS VRATEDIF
061110,000348: 17,2521 12524 TCF +3
061111,000349: 17,2522 12524 TCF +2
061112,000350: 17,2523 12524 TCF +1
061113,000351: 17,2524 61476 AD TARGETDB
061114,000352: 17,2525 00006 EXTEND
061115,000353: 17,2526 62530 BZMF +2
061116,000354: 17,2527 12544 TCF QRTIME
061117,000355: 17,2530 34755 CA ZERO
061118,000356: 17,2531 55427 TS VRATEDIF
061119,000357: 17,2532 12544 TCF QRTIME
061120,000358: 17,2533 11427 VDB CCS VRATEDIF
061121,000359: 17,2534 02537 TC +3
061122,000360: 17,2535 02537 TC +2
061123,000361: 17,2536 02537 TC +1
061124,000362: 17,2537 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
061125,000363: 17,2540 00006 EXTEND # DIRECT RATE CONTROL. IF NOT, FIRE AND
061126,000364: 17,2541 62553 BZMF TOPSEUDO # SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
061127,000365: 17,2542 34755 CA ZERO # PASS.
061128,000366: 17,2543 55426 TS URATEDIF
061129,000367: 17,2544 31457 QRTIME CA TCQR # DIRECT RATE TIME CHECK.
061130,000368: 17,2545 00006 EXTEND
061131,000369: 17,2546 62553 BZMF +5 # BRANCH IF TIME EXCEEDS 4 SEC.
061132,000370: 17,2547 41262 CS RCSFLAGS
061133,000371: 17,2550 74741 MASK QRBIT
061134,000372: 17,2551 27262 ADS RCSFLAGS # BIT 11 IS 1.
061135,000373: 17,2552 02556 TC +4
061136,000374: 17,2553 44741 TOPSEUDO CS QRBIT
061137,000375: 17,2554 71262 MASK RCSFLAGS
061138,000376: 17,2555 55262 TS RCSFLAGS # BIT 11 IS 0.
061139,000377: 17,2556 32622 CA HANDADR
061140,000378: 17,2557 55477 TS RETJADR
061141,000379: 17,2560 34753 CA ONE
061142,000380:
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|
Page 1441 |
061144,000382: 17,2561 55505 BACKHAND TS AXISCTR
061145,000383:
061146,000384: 17,2562 34751 CA FOUR
061147,000385: 17,2563 55742 TS NUMBERT
061148,000386:
061149,000387: 17,2564 51505 INDEX AXISCTR
061150,000388: 17,2565 51534 INDEX SKIPU
061151,000389: 17,2566 12567 TCF +1
061152,000390: 17,2567 34751 CA FOUR
061153,000391: 17,2570 51505 INDEX AXISCTR
061154,000392: 17,2571 55534 TS SKIPU
061155,000393: 17,2572 13034 TCF LOOPER
061156,000394:
061157,000395: 17,2573 51505 INDEX AXISCTR
061158,000396: 17,2574 11426 CCS URATEDIF # INDEX AXIS QUANITY
061159,000397: 17,2575 34755 CA ZERO # 0 -U 1/JETACC-AOSU
061160,000398: 17,2576 12600 TCF +2 # 1 +U 1/JETACC+AOSU
061161,000399: 17,2577 34753 CA ONE # 16 -V 1/JETACC-AOSV
061162,000400: 17,2600 51505 INDEX AXISCTR # 17 +V 1/JETACC+AOSV
061163,000401: 17,2601 63755 AD AXISDIFF # JETACC = 2 JET ACCELERATION (1 FOR FAIL)
061164,000402:
061165,000403: 17,2602 50000 INDEX A
061166,000404: 17,2603 41570 CS 1/ANET2 +1
061167,000405: 17,2604 00006 EXTEND
061168,000406: 17,2605 51505 INDEX AXISCTR # URATEDIF IS SCALED AT PI/4 RAD/SEC
061169,000407: 17,2606 71426 MP URATEDIF # JET TIME IN A SCALED 32 SEC
061170,000408: 17,2607 54002 TS Q
061171,000409: 17,2610 20001 DAS A
061172,000410: 17,2611 60002 AD Q
061173,000411: 17,2612 54000 TS A # OVERFLOW SKIP
061174,000412: 17,2613 12615 TCF +2
061175,000413: 17,2614 30002 CA Q # RIGHT SIGN AND BIGGER THAN 150MS
061176,000414: 17,2615 51505 SETTIME INDEX AXISCTR
061177,000415: 17,2616 55525 TS TJU # SCALED AT 10.67 WHICH IS CLOSE TO 10.24
061178,000416: 17,2617 12756 TCF AFTERTJ
061179,000417:
061180,000418: 17,2620 34755 ZEROTJ CA ZERO
061181,000419: 17,2621 12615 TCF SETTIME
061182,000420:
061183,000421: 17,2622 02561 HANDADR GENADR BACKHAND
061184,000422:
061185,000423: # GTS WILL BE TRIED IF
061186,000424: # 1. USEQRJTS = 0,
061187,000425: # 2. ALLOWGTS POS,
061188,000426: # 3. JETS ARE OFF (Q,R-AXES)
061189,000427:
061190,000428: 17,2623 34736 TRYGTS CAF USEQRJTS # IS JET USE MANDATORY. (AS LONG AS
061191,000429: 17,2624 70111 MASK DAPBOOLS # USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
061192,000430: 17,2625 10000 CCS A
061193,000431: 17,2626 12141 TCF RCS
061194,000432: 17,2627 11502 CCS ALLOWGTS # NO. DOES AOSTASK OK CONTROL FOR GTS?
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|
Page 1442 |
061196,000434: 17,2630 12632 TCF +2
061197,000435: 17,2631 12141 TCF RCS
061198,000436: 17,2632 00006 EXTEND
061199,000437: 17,2633 00005 READ CHAN5
061200,000438: 17,2634 10000 CCS A
061201,000439: 17,2635 12641 TCF CHKINGTS
061202,000440: 17,2636 00006 GOTOGTS EXTEND
061203,000441: 17,2637 32654 DCA GTSCADR
061204,000442: 17,2640 52006 DTCB
061205,000443:
061206,000444: 17,2641 11632 CHKINGTS CCS INGTS # WAS THE TRIM GIMBAL CONTROLLING
061207,000445: 17,2642 12644 TCF +2 # YES. SET UP A DAMPED NULLING DRIVE.
061208,000446: 17,2643 12141 TCF RCS # NO. NULLING WAS SET UP BEFORE. DO RCS
061209,000447: 17,2644 00004 INHINT
061210,000448: 17,2645 04674 TC IBNKCALL
061211,000449: 17,2646 43327 CADR TIMEGMBL
061212,000450: 17,2647 00003 RELINT
061213,000451: 17,2650 34755 CAF ZERO
061214,000452: 17,2651 55632 TS INGTS
061215,000453: 17,2652 12141 TCF RCS
061216,000454:
061217,000455: 17,2653 E6,1634 EBANK= CDUXD
061218,000456: 17,2653 03076 42106 GTSCADR 2CADR GTS
061219,000457:
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|
Page 1443 |
061221,000459: # SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
061222,000460:
061223,000461: 17,2655 30033 QERRCALC CAE CDUY # Q-ERROR CALCULATION
061224,000462: 17,2656 00006 EXTEND
061225,000463: 17,2657 21635 MSU CDUYD # CDU ANGLE - ANGLE DESIRED (Y-AXIS)
061226,000464: 17,2660 55736 TS DAPTEMP1 # SAVE FOR RERRCALC
061227,000465: 17,2661 00006 EXTEND
061228,000466: 17,2662 71415 MP M21 # (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
061229,000467: 17,2663 55751 TS E
061230,000468: 17,2664 30034 CAE CDUZ # SECOND TERM CALCULATION:
061231,000469: 17,2665 00006 EXTEND
061232,000470: 17,2666 21636 MSU CDUZD # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
061233,000471: 17,2667 55737 TS DAPTEMP2 # SAVE FOR RERRCALC
061234,000472: 17,2670 00006 EXTEND
061235,000473: 17,2671 71417 MP M22 # (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
061236,000474: 17,2672 61275 AD DELQEROR # KALCMANU INERFACE ERROR
061237,000475: 17,2673 61751 AD E
061238,000476: 17,2674 57450 XCH QERROR # SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
061239,000477:
061240,000478: 17,2675 31736 RERRCALC CAE DAPTEMP1 # R-ERROR CALCULATION:
061241,000479: 17,2676 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Y-AXIS)
061242,000480: 17,2677 71416 MP M31 # (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
061243,000481: 17,2700 55751 TS E
061244,000482: 17,2701 31737 CAE DAPTEMP2 # SECOND TERM CALCULATION:
061245,000483: 17,2702 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
061246,000484: 17,2703 71420 MP M32 # (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
061247,000485: 17,2704 61276 AD DELREROR # KALCMANU INERFACE ERROR
061248,000486: 17,2705 61751 AD E
061249,000487: 17,2706 57452 XCH RERROR # SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
061250,000488: 17,2707 00002 TC Q
061251,000489:
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|
Page 1444 |
061253,000491: # "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
061254,000492:
061255,000493: 17,2710 17,2710 ATTSTEER EQUALS STILLRCS # "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
061256,000494:
061257,000495: 17,2710 31452 STILLRCS CA RERROR
061258,000496: 17,2711 22000 LXCH A
061259,000497: 17,2712 31450 CA QERROR
061260,000498: 17,2713 03200 TC ROT-TOUV
061261,000499: 17,2714 53751 DXCH UERROR
061262,000500:
061263,000501: # PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
061264,000502: # PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
061265,000503:
061266,000504: 17,2715 33142 TJLAW CA TJLAWADR
061267,000505: 17,2716 55477 TS RETJADR
061268,000506: 17,2717 34753 CA ONE
061269,000507: 17,2720 55505 TS AXISCTR
061270,000508: 17,2721 51505 INDEX AXISCTR
061271,000509: 17,2722 51534 INDEX SKIPU
061272,000510: 17,2723 12724 TCF +1
061273,000511: 17,2724 34751 CA FOUR
061274,000512: 17,2725 51505 INDEX AXISCTR
061275,000513: 17,2726 55534 TS SKIPU
061276,000514: 17,2727 13034 TCF LOOPER
061277,000515: 17,2730 51505 INDEX AXISCTR
061278,000516: 17,2731 31750 CA UERROR
061279,000517: 17,2732 55751 TS E
061280,000518: 17,2733 51505 INDEX AXISCTR
061281,000519: 17,2734 31426 CA OMEGAU
061282,000520: 17,2735 55427 TS EDOT
061283,000521: 17,2736 30111 CA DAPBOOLS
061284,000522: 17,2737 74737 MASK CSMDOCKD
061285,000523: 17,2740 10000 CCS A
061286,000524: 17,2741 12744 TCF +3
061287,000525: 17,2742 03304 TC TJETLAW
061288,000526: 17,2743 12756 TCF AFTERTJ
061289,000527: 17,2744 40111 +3 CS DAPBOOLS # DOCKED. IF GIMBAL USABLE DO GTS CONTROL
061290,000528: 17,2745 74736 MASK USEQRJTS # ON THE NEXT PASS.
061291,000529: 17,2746 10000 CCS A # USEQRJTS BIT MUST NOT BE BIT 15.
061292,000530: 17,2747 55630 TS COTROLER # GIMBAL USABLE. STORE POSITIVE VALUE.
061293,000531: 17,2750 00004 INHINT
061294,000532: 17,2751 04674 TC IBNKCALL
061295,000533: 17,2752 43736 CADR SPSRCS # DETERMINE RCS CONTROL
061296,000534: 17,2753 00003 RELINT
061297,000535: 17,2754 34751 CAF FOUR # ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
061298,000536: 17,2755 55742 TS NUMBERT # FALL THROUGH TO JET SELECTION, ETC.
061299,000537:
061300,000538: # Q,R-JET-SELECTION-LOGIC
061301,000539:
061302,000540: # INPUT: AXISCTR 0,1 FOR U,V
061303,000541: # SNUFFBIT ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN
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Page 1445 |
061305,000543: # TJU,TJV JET TIME SCALED 10.24 SEC.
061306,000544: # NUMBERT INDICATES NUMBER OF JETS AND TYPE OF POLICY
061307,000545: # RETJADR WHERE TO RETURN TO
061308,000546:
061309,000547: # OUTPUT: NO.U(V)JETS RATE DERIVATION FEEDBACK
061310,000548: # CHANNEL 5
061311,000549: # SKIPU,SKIRV FOR LESS THAN 150MS FIRING
061312,000550:
061313,000551: # NOTES: IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED
061314,000552: # JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY
061315,000553: # TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT
061316,000554: # IF NONE CAN BE FOUND.
061317,000555:
061318,000556: # TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
061319,000557: # MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
061320,000558:
061321,000559: 17,2756 30101 AFTERTJ CA FLAGWRD5 # IF SNUFFBIT SET DURING A DPS BURN GO TO
061322,000560: 17,2757 74737 MASK SNUFFBIT # XTRANS; THAT IS, INHIBIT CONTROL.
061323,000561: 17,2760 00006 EXTEND
061324,000562: 17,2761 12772 BZF DOROTAT
061325,000563: 17,2762 40106 CS FLGWRD10
061326,000564: 17,2763 74737 MASK APSFLBIT
061327,000565: 17,2764 00006 EXTEND
061328,000566: 17,2765 12772 BZF DOROTAT
061329,000567: 17,2766 30111 CA DAPBOOLS
061330,000568: 17,2767 74744 MASK DRIFTBIT
061331,000569: 17,2770 00006 EXTEND
061332,000570: 17,2771 13112 BZF XTRANS
061333,000571:
061334,000572: 17,2772 34752 DOROTAT CAF TWO
061335,000573: 17,2773 54001 TS L
061336,000574: 17,2774 51505 INDEX AXISCTR
061337,000575: 17,2775 11525 CCS TJU
061338,000576: 17,2776 13003 TCF +5
061339,000577: 17,2777 13026 TCF NOROTAT
061340,000578: 17,3000 13002 TCF +2
061341,000579: 17,3001 13026 TCF NOROTAT
061342,000580: 17,3002 22007 ZL
061343,000581: 17,3003 64753 AD ONE
061344,000582: 17,3004 55736 TS ABSTJ
061345,000583:
061346,000584: 17,3005 31505 CA AXISCTR
061347,000585: 17,3006 60001 AD L
061348,000586: 17,3007 55743 TS ROTINDEX # 0 1 2 3 = -U -V -+U +V
061349,000587:
061350,000588: 17,3010 31736 CA ABSTJ
061351,000589: 17,3011 63137 AD -150MS
061352,000590: 17,3012 00006 EXTEND
061353,000591: 17,3013 63037 BZMF DOSKIP
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Page 1446 |
061355,000593: 17,3014 03225 TC SELCTSUB
061356,000594:
061357,000595: 17,3015 51505 INDEX AXISCTR
061358,000596: 17,3016 33134 CA INDEXES
061359,000597: 17,3017 54001 TS L
061360,000598:
061361,000599: 17,3020 31740 CA POLYTEMP
061362,000600: 17,3021 00004 INHINT
061363,000601: 17,3022 50001 INDEX L
061364,000602: 17,3023 05744 TC WRITEP
061365,000603:
061366,000604: 17,3024 00003 RELINT
061367,000605: 17,3025 13100 TCF FEEDBACK
061368,000606:
061369,000607: 17,3026 51505 NOROTAT INDEX AXISCTR
061370,000608: 17,3027 33134 CA INDEXES
061371,000609: 17,3030 00004 INHINT
061372,000610: 17,3031 50000 INDEX A
061373,000611: 17,3032 05743 TC WRITEP -1
061374,000612:
061375,000613: 17,3033 00003 RELINT
061376,000614: 17,3034 11505 LOOPER CCS AXISCTR
061377,000615: 17,3035 01477 TC RETJADR
061378,000616: 17,3036 13270 TCF CLOSEOUT
061379,000617: 17,3037 41736 DOSKIP CS ABSTJ
061380,000618: 17,3040 63136 AD +TJMINT6 # 14MS
061381,000619: 17,3041 00006 EXTEND
061382,000620: 17,3042 63061 BZMF NOTMIN
061383,000621:
061384,000622: 17,3043 27736 ADS ABSTJ
061385,000623: 17,3044 51505 INDEX AXISCTR
061386,000624: 17,3045 11525 CCS TJU
061387,000625: 17,3046 33136 CA +TJMINT6
061388,000626: 17,3047 13051 TCF +2
061389,000627: 17,3050 43136 CS +TJMINT6
061390,000628: 17,3051 51505 INDEX AXISCTR
061391,000629: 17,3052 55525 TS TJU
061392,000630:
061393,000631: 17,3053 11500 CCS SENSETYP # ENSURE MIN-IMPULSE NOT AGAINST TRANS
061394,000632: 17,3054 13060 TCF NOTMIN -1
061395,000633: 17,3055 00006 EXTEND
061396,000634: 17,3056 00004 READ LOSCALAR
061397,000635: 17,3057 74753 MASK ONE
061398,000636: 17,3060 55742 TS NUMBERT
061399,000637:
061400,000638: 17,3061 03225 NOTMIN TC SELCTSUB
061401,000639:
061402,000640: 17,3062 51505 INDEX AXISCTR
061403,000641: 17,3063 33134 CA INDEXES
061404,000642: 17,3064 00004 INHINT
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Page 1447 |
061406,000644: 17,3065 55471 TS T6FURTHA +1
061407,000645: 17,3066 31740 CA POLYTEMP
061408,000646: 17,3067 51471 INDEX T6FURTHA +1
061409,000647: 17,3070 05744 TC WRITEP
061410,000648:
061411,000649: 17,3071 31736 CA ABSTJ
061412,000650: 17,3072 55470 TS T6FURTHA
061413,000651: 17,3073 03143 TC JTLST # IN QR BANK BY NOW
061414,000652:
061415,000653: 17,3074 00003 RELINT
061416,000654:
061417,000655: 17,3075 34755 CA ZERO
061418,000656: 17,3076 51505 INDEX AXISCTR
061419,000657: 17,3077 55534 TS SKIPU
061420,000658:
061421,000659: 17,3100 46250 FEEDBACK CS THREE
061422,000660: 17,3101 61742 AD NUMBERT
061423,000661: 17,3102 00006 EXTEND
061424,000662: 17,3103 63106 BZMF +3
061425,000663:
061426,000664: 17,3104 34752 CA TWO
061427,000665: 17,3105 13107 TCF +2
061428,000666: 17,3106 34753 CA ONE
061429,000667: 17,3107 51505 INDEX AXISCTR
061430,000668: 17,3110 55522 TS NO.UJETS
061431,000669: 17,3111 13034 TCF LOOPER
061432,000670:
061433,000671: 17,3112 34755 XTRANS CA ZERO
061434,000672: 17,3113 55525 TS TJU
061435,000673: 17,3114 55526 TS TJV
061436,000674: 17,3115 34751 CA FOUR
061437,000675: 17,3116 00004 INHINT
061438,000676: 17,3117 57534 XCH SKIPU
061439,000677: 17,3120 00006 EXTEND
061440,000678: 17,3121 13123 BZF +2
061441,000679: 17,3122 05747 TC WRITEU -1
061442,000680: 17,3123 34751 CA FOUR
061443,000681: 17,3124 57535 XCH SKIPV
061444,000682: 17,3125 00003 RELINT
061445,000683:
061446,000684: 17,3126 00006 EXTEND
061447,000685: 17,3127 13270 BZF CLOSEOUT
061448,000686: 17,3130 00004 INHINT
061449,000687: 17,3131 05760 TC WRITEV -1
061450,000688: 17,3132 00003 RELINT
061451,000689:
061452,000690: 17,3133 13270 TCF CLOSEOUT
061453,000691: 17,3134 00004 INDEXES DEC 4 B-14
061454,000692: 17,3135 00015 DEC 13 B-14
061455,000693: 17,3136 00026 +TJMINT6 DEC 22 B-14
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Page 1448 |
061457,000695: 17,3137 77417 -150MS DEC -240 B-14
061458,000696: 17,3140 00600 BIT8,9 OCT 00600
061459,000697: 17,3141 00266 SCLNORM OCT 266
061460,000698: 17,3142 02720 TJLAWADR GENADR TJLAW +3 # RETURN ADDRESS FOR RCS ATTITUDE CONTROL
061461,000699:
061462,000700: # THE JET LIST:
061463,000701: # THIS IS A WAITLIST FOR T6RUPTS.
061464,000702:
061465,000703: # CALLED BY:
061466,000704: # CA TJ TIME WHEN NEXT JETS WILL BE WRITTEN
061467,000705: # TS T6FURTHA
061468,000706: # CA INDEX AXIS TO BE WIRTTEN AT TJ (FROM NOW)
061469,000707: # TS T6FURTHA +1
061470,000708: # TC JTLST
061471,000709:
061472,000710: # EXAMPLE - U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
061473,000711: # JETS INTO CHANNEL 5. IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
061474,000712: # 150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
061475,000713: # CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
061476,000714: # OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
061477,000715:
061478,000716: # THE LIST IS EXACTLY 3 LONG. (THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
061479,000717: # THE INPUT IS THE LAST MEMBER OF THE LIST
061480,000718:
061481,000719: # RETURNS BY:
061482,000720: # + TC Q
061483,000721:
061484,000722: # DEFINITIONS: (OUTPUT)
061485,000723: # TIME6 TIME OF NEXT RUPT
061486,000724: # T6NEXT DELTA TIME TO NEXT RUPT
061487,000725: # T6FURTHA DELTA TIME FROM 2ND TO LAST RUPT
061488,000726: # NXT6ADR AXIS INDEX Q - P-AXIS
061489,000727: # T6NEXT +1 AXIS INDEX 4 - U-AXIS
061490,000728: # T6FURTHA +1 AXIS INDEX 13 - V-AXIS
061491,000729:
061492,000730: 17,3143 41470 JTLST CS T6FURTHA
061493,000731: 17,3144 60031 AD TIME6
061494,000732: 17,3145 00006 EXTEND
061495,000733: 17,3146 63163 BZMF MIDORLST # TIME6 - T IS IN A
061496,000734:
061497,000735: 17,3147 23465 LXCH NXT6ADR
061498,000736: 17,3150 53467 DXCH T6NEXT
061499,000737: 17,3151 53471 DXCH T6FURTHA
061500,000738: 17,3152 54031 TS TIME6
061501,000739: 17,3153 23465 LXCH NXT6ADR
061502,000740:
061503,000741: 17,3154 00006 TURNON EXTEND
061504,000742: 17,3155 23265 QXCH C13QSAV
061505,000743: 17,3156 06022 TC C13STALL
061506,000744:
061507,000745: 17,3157 34735 CA BIT15
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Page 1449 |
061509,000747: 17,3160 00006 EXTEND
061510,000748: 17,3161 05013 WOR CHAN13
061511,000749: 17,3162 01265 TC C13QSAV
061512,000750:
061513,000751: 17,3163 61466 MIDORLST AD T6NEXT
061514,000752: 17,3164 00006 EXTEND
061515,000753: 17,3165 63174 BZMF LASTCHG # TIME6 + T6NEXT - T IS IN A
061516,000754:
061517,000755: 17,3166 23467 LXCH T6NEXT +1
061518,000756: 17,3167 53471 DXCH T6FURTHA
061519,000757: 17,3170 00006 EXTEND
061520,000758: 17,3171 60031 SU TIME6
061521,000759: 17,3172 53467 DXCH T6NEXT
061522,000760:
061523,000761: 17,3173 00002 TC Q
061524,000762:
061525,000763: 17,3174 40000 LASTCHG CS A
061526,000764: 17,3175 64754 AD NEG0
061527,000765: 17,3176 55470 TS T6FURTHA
061528,000766:
061529,000767: 17,3177 00002 TC Q
061530,000768:
061531,000769: # ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
061532,000770: # ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM. IN THE U-V SYSTEM NO CROSS-COUPLING IS
061533,000771: # PRODUCED FROM RCS JET FIRINGS. AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
061534,000772: # A AND THE V-COMPONENT IS IN L.
061535,000773:
061536,000774: 17,3200 23737 ROT-TOUV LXCH ROTEMP2 # (R) IS PUT INTO ROTEMP2
061537,000775: 17,3201 00006 EXTEND
061538,000776: 17,3202 71626 MP COEFFQ
061539,000777: 17,3203 57737 XCH ROTEMP2 # (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
061540,000778: 17,3204 00006 EXTEND
061541,000779: 17,3205 71627 MP COEFFR
061542,000780: 17,3206 54001 TS L # COEFFR.(R) IS PUT INTO L
061543,000781: 17,3207 61737 AD ROTEMP2
061544,000782: 17,3210 55736 TS ROTEMP1 # COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
061545,000783: 17,3211 13215 TCF +4
061546,000784: 17,3212 50000 INDEX A # COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
061547,000785: 17,3213 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
061548,000786: 17,3214 55736 TS ROTEMP1
061549,000787: 17,3215 41737 CS ROTEMP2
061550,000788: 17,3216 60001 AD L # -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
061551,000789: 17,3217 54007 TS 7
061552,000790: 17,3220 13223 TCF +3
061553,000791: 17,3221 50000 INDEX A # -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
061554,000792: 17,3222 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
061555,000793: 17,3223 23736 LXCH ROTEMP1 # COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
061556,000794: 17,3224 00002 TC Q
061557,000795: 17,3225 51743 SELCTSUB INDEX ROTINDEX
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Page 1450 |
061559,000797: 17,3226 33257 CA ALLJETS
061560,000798: 17,3227 51742 INDEX NUMBERT
061561,000799: 17,3230 73263 MASK TYPEPOLY
061562,000800: 17,3231 55740 TS POLYTEMP
061563,000801:
061564,000802: 17,3232 71257 MASK CH5MASK
061565,000803: 17,3233 10000 CCS A
061566,000804: 17,3234 13236 TCF +2
061567,000805:
061568,000806: 17,3235 00002 TC Q
061569,000807:
061570,000808: 17,3236 36250 CA THREE
061571,000809: 17,3237 55742 FAILOOP TS NUMBERT
061572,000810: 17,3240 51743 INDEX ROTINDEX
061573,000811: 17,3241 33257 CA ALLJETS
061574,000812: 17,3242 51742 INDEX NUMBERT
061575,000813: 17,3243 73263 MASK TYPEPOLY
061576,000814: 17,3244 55740 TS POLYTEMP
061577,000815: 17,3245 71257 MASK CH5MASK
061578,000816: 17,3246 00006 EXTEND
061579,000817: 17,3247 13235 BZF FAILOOP -2
061580,000818: 17,3250 11742 CCS NUMBERT
061581,000819: 17,3251 13237 TCF FAILOOP
061582,000820: 17,3252 51505 INDEX AXISCTR
061583,000821: 17,3253 55525 TS TJU
061584,000822: 17,3254 05567 TC ALARM
061585,000823: 17,3255 02004 OCT 02004
061586,000824: 17,3256 13026 TCF NOROTAT
061587,000825: 17,3257 00110 ALLJETS OCT 00110 # -U 6 13
061588,000826: 17,3260 00022 OCT 00022 # -V 2 9
061589,000827: 17,3261 00204 OCT 00204 # +U 5 14
061590,000828:
061591,000829: 17,3262 00041 OCT 00041 # +V 1 10
061592,000830: 17,3263 00125 TYPEPOLY OCT 00125 # -X 1 5 9 13
061593,000831: 17,3264 00252 OCT 00252 # +X 2 6 10 14
061594,000832: 17,3265 00146 OCT 00146 # A 2 5 10 13
061595,000833: 17,3266 00231 OCT 00231 # B 1 6 9 14
061596,000834: 17,3267 00377 OCT 00377 # ALL 1 2 5 6 9 10 13 14
061597,000835:
061598,000836: # THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
061599,000837:
061600,000838: 17,3270 33272 CLOSEOUT CA ADRRUPT
061601,000839: 17,3271 07757 TC MAKERUPT
061602,000840:
061603,000841: 17,3272 03273 ADRRUPT ADRES ENDJASK
061604,000842:
061605,000843: 17,3273 53753 ENDJASK DXCH DAPARUPT
061606,000844: 17,3274 52011 DXCH ARUPT
061607,000845: 17,3275 53755 DXCH DAPBQRPT
061608,000846: 17,3276 56017 XCH BRUPT
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Page 1451 |
061610,000848: 17,3277 22002 LXCH Q
061611,000849: 17,3300 34735 CAF NEGMAX # NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
061612,000850: 17,3301 53757 DXCH DAPZRUPT
061613,000851: 17,3302 52016 DXCH ZRUPT
061614,000852: 17,3303 15272 TCF NOQRSM
061615,000853: 7757 BLOCK 3
061616,000854: 6000 SETLOC FFTAG6
061617,000855: 6000 BANK
061618,000856:
061619,000857: 7757 COUNT* $$/DAP
061620,000858:
061621,000859: 7757 00006 MAKERUPT EXTEND
061622,000860: 7760 07757 EDRUPT MAKERUPT
061623,000861:
End of include-file Q,R-AXES_RCS_AUTOPILOT.agc. Parent file is MAIN.agc