Source Code
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These source-code files are part of a reconstructed copy of Luminary 163, the
first (unflown) release of the Apollo 14 Lunar Module (LM) Apollo Guidance
Computer (AGC) software.
The reconstruction began with reconstructed source code for Luminary 173. Changes
between revision 163 and 173 were backed out, as described by Luminary memos 157
and 158. The reconstruction was verified by matching memory-bank checksums
to those listed in drawing 2021152N. Note that page numbers in the reconstructed
code match those for the baseline log section mentioned in each file's changelog;
the page numbers for a real Luminary 163 listing would be different.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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061385,000002: ## Copyright: Public domain.
061386,000003: ## Filename: Q,R-AXES_RCS_AUTOPILOT.agc
061387,000004: ## Purpose: A section of Luminary revision 163.
061388,000005: ## It is part of the reconstructed source code for the first
061389,000006: ## (unflown) release of the flight software for the Lunar
061390,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
061391,000008: ## The code has been recreated from a reconstructed copy of
061392,000009: ## Luminary 173, as well as Luminary memos 157 amd 158.
061393,000010: ## It has been adapted such that the resulting bugger words
061394,000011: ## exactly match those specified for Luminary 163 in NASA
061395,000012: ## drawing 2021152N, which gives relatively high confidence
061396,000013: ## that the reconstruction is correct.
061397,000014: ## Reference: pp. 1430-1447
061398,000015: ## Assembler: yaYUL
061399,000016: ## Contact: Ron Burkey <info@sandroid.org>.
061400,000017: ## Website: www.ibiblio.org/apollo/index.html
061401,000018: ## Mod history: 2019-08-21 MAS Created from Luminary 173.
061402,000019:
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Page 1430
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061404,000021: 17,2124 BANK 17
061405,000022: 17,2000 SETLOC DAPS2
061406,000023: 17,2000 BANK
061407,000024:
061408,000025: 17,2124 E6,1634 EBANK= CDUXD
061409,000026:
061410,000027: 17,2124 COUNT* $$/DAPQR
061411,000028:
061412,000029:
061413,000030: 17,2124 34737 CALLQERR CA BIT13 # CALCULATE Q,R ERRORS UNLESS THESE AXES
061414,000031: 17,2125 00006 EXTEND # ARE IN MANUAL RATE COMMAND.
061415,000032: 17,2126 02031 RAND CHAN31
061416,000033: 17,2127 10000 CCS A
061417,000034: 17,2130 12135 TCF +5 # IN AUTO COMPUTE Q,R ERRORS
061418,000035: 17,2131 40111 CS DAPBOOLS # IN MANUAL RATE COMMAND?
061419,000036: 17,2132 74740 MASK OURRCBIT
061420,000037: 17,2133 00006 EXTEND
061421,000038: 17,2134 12136 BZF Q,RORGTS # IF SO BYPASS CALCULATION OF ERRORS.
061422,000039: 17,2135 02655 TC QERRCALC
061423,000040:
061424,000041:
061425,000042: 17,2136 11630 Q,RORGTS CCS COTROLER # CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
061426,000043: 17,2137 12636 TCF GOTOGTS # GTS (ALTERNATES WITH RCS WHEN DOCKED)
061427,000044: 17,2140 12623 TCF TRYGTS # GTS IF ALLOWED, OTHERWISE RCS
061428,000045: 17,2141 34755 RCS CAF ZERO # RCS (TRYGTS MAY BRANCH TO HERE)
061429,000046: 17,2142 55630 TS COTROLER
061430,000047:
061431,000048: 17,2143 53437 DXCH EDOTQ
061432,000049: 17,2144 03200 TC ROT-TOUV
061433,000050: 17,2145 53427 DXCH OMEGAU
061434,000051:
061435,000052: # X - TRANSLATION:
061436,000053:
061437,000054: # INPUT: BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
061438,000055: # ULLAGER
061439,000056: # APSFLAG, DRIFTBIT
061440,000057: # ACC40R2X, ACRBTRAN
061441,000058:
061442,000059: # OUTPUT: NEXTU, NEXTV CODES OF TRANSLATION FOR AFTER ROTATION
061443,000060: # SENSETYP TELL ROTATION DIRECTION AND DESIRE
061444,000061:
061445,000062: # X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR. IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED. A FAILURE
061446,000063: # WILL OVERRIDE THIS SPECIFICATION. AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
061447,000064:
061448,000065: 17,2146 34745 SENSEGET CA BIT7 # INPUT BITS OVERRIDE THE INTERNAL BITS
061449,000066: 17,2147 00006 EXTEND # SENSETYP WILL NOT OPPOSE ANYTRANS
061450,000067: 17,2150 02031 RAND CHAN31
061451,000068: 17,2151 00006 EXTEND
061452,000069: 17,2152 12200 BZF +XORULGE
061453,000070:
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Page 1431
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061455,000072: 17,2153 34744 CA BIT8
061456,000073: 17,2154 00006 EXTEND
061457,000074: 17,2155 02031 RAND CHAN31
061458,000075: 17,2156 00006 EXTEND
061459,000076: 17,2157 12201 BZF -XTRANS
061460,000077:
061461,000078: 17,2160 34746 CA ULLAGER
061462,000079: 17,2161 70111 MASK DAPBOOLS
061463,000080: 17,2162 10000 CCS A
061464,000081: 17,2163 12200 TCF +XORULGE
061465,000082:
061466,000083: 17,2164 55473 TS NEXTU # STORE NULL TRANSLATION POLICIES
061467,000084: 17,2165 55474 TS NEXTV
061468,000085: 17,2166 40111 CS DAPBOOLS # BURNING OR DRIFTING?
061469,000086: 17,2167 74744 MASK DRIFTBIT
061470,000087: 17,2170 00006 EXTEND
061471,000088: 17,2171 12176 BZF TSENSE
061472,000089: 17,2172 30106 CA FLGWRD10 # DPS (INCLUDING DOCKED) OR APS?
061473,000090: 17,2173 74737 MASK APSFLBIT
061474,000091: 17,2174 10000 CCS A
061475,000092: 17,2175 34752 CAF TWO # FAVOR +X JETS DURING AN APS BURN.
061476,000093: 17,2176 55500 TSENSE TS SENSETYP
061477,000094: 17,2177 12232 TCF QRCONTRL
061478,000095:
061479,000096: 17,2200 34753 +XORULGE CAF ONE
061480,000097: 17,2201 64751 -XTRANS AD FOUR
061481,000098: 17,2202 55743 TS ROTINDEX
061482,000099: 17,2203 67750 AD NEG3
061483,000100: 17,2204 55500 TS SENSETYP # FAVOR APPROPRIATE JETS DURING TRANS.
061484,000101: 17,2205 30111 CA DAPBOOLS
061485,000102: 17,2206 74741 MASK ACC4OR2X
061486,000103: 17,2207 10000 CCS A
061487,000104: 17,2210 12352 TCF TRANS4
061488,000105:
061489,000106: 17,2211 30111 CA DAPBOOLS
061490,000107: 17,2212 74742 MASK AORBTRAN
061491,000108: 17,2213 10000 CCS A
061492,000109: 17,2214 34753 CA ONE # THREE FOR B
061493,000110: 17,2215 64752 AD TWO # TWO FOR A SYSTEM 2 JET X TRANS
061494,000111: 17,2216 55742 TSNUMBRT TS NUMBERT
061495,000112:
061496,000113: 17,2217 03225 TC SELCTSUB
061497,000114:
061498,000115: 17,2220 11740 CCS POLYTEMP
061499,000116: 17,2221 12224 TCF +3
061500,000117: 17,2222 05600 TC ALARM
061501,000118: 17,2223 02002 OCT 02002
061502,000119: 17,2224 35775 CA 00314OCT
061503,000120: 17,2225 71740 MASK POLYTEMP
061504,000121: 17,2226 55473 TSNEXTS TS NEXTU
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Page 1432
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061506,000123: 17,2227 45775 CS 00314OCT
061507,000124: 17,2230 71740 MASK POLYTEMP
061508,000125: 17,2231 55474 TS NEXTV
061509,000126:
061510,000127: # Q,R-AXES RCS CONTROL MODE SELECTION
061511,000128:
061512,000129: # SWITCHES INDICATION WHEN SET
061513,000130:
061514,000131: # BIT13/CHAN31 AUTO, GO TO ATTSTEER
061515,000132: # PULSES MINIMUM IMPULSE MODE
061516,000133: # (OTHERWISE) RATE COMMAND/ATTITUDE HOLD MODE
061517,000134:
061518,000135: 17,2232 34737 QRCONTRL CA BIT13 # CHECK MODE SELECT SWITCH.
061519,000136: 17,2233 00006 EXTEND
061520,000137: 17,2234 02031 RAND CHAN31 # BITS INVERTED
061521,000138: 17,2235 10000 CCS A
061522,000139: 17,2236 12710 TCF ATTSTEER
061523,000140: 17,2237 34735 CHKBIT10 CAF PULSES # PULSES = 1 FOR MIN IMP USE OF RHC
061524,000141: 17,2240 70111 MASK DAPBOOLS
061525,000142: 17,2241 00006 EXTEND
061526,000143: 17,2242 12354 BZF CHEKSTIK # IN ATT-HOLD/RATE-COMMAND IF BIT10=0
061527,000144:
061528,000145: # MINIMUM IMPULSE MODE
061529,000146:
061530,000147: 17,2243 00004 INHINT
061531,000148: 17,2244 04674 TC IBNKCALL
061532,000149: 17,2245 40154 CADR ZATTEROR
061533,000150: 17,2246 34755 CA ZERO
061534,000151: 17,2247 55450 TS QERROR
061535,000152: 17,2250 55452 TS RERROR # FOR DISPLAYS
061536,000153: 17,2251 00003 RELINT
061537,000154:
061538,000155: 17,2252 00006 EXTEND
061539,000156: 17,2253 00031 READ CHAN31
061540,000157: 17,2254 55736 TS TEMP31 # IS EQUAL TO DAPTEMP1
061541,000158: 17,2255 11461 CCS OLDQRMIN
061542,000159: 17,2256 12300 TCF CHECKIN
061543,000160:
061544,000161: 17,2257 31736 FIREQR CA TEMP31
061545,000162: 17,2260 74753 MASK BIT1
061546,000163: 17,2261 00006 EXTEND
061547,000164: 17,2262 12304 BZF +QMIN
061548,000165:
061549,000166: 17,2263 31736 CA TEMP31
061550,000167: 17,2264 74752 MASK BIT2
061551,000168: 17,2265 00006 EXTEND
061552,000169: 17,2266 12310 BZF -QMIN
061553,000170:
061554,000171: 17,2267 31736 CA TEMP31
061555,000172: 17,2270 74747 MASK BIT5
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Page 1433
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061557,000174: 17,2271 00006 EXTEND
061558,000175: 17,2272 12314 BZF +RMIN
061559,000176:
061560,000177: 17,2273 31736 CA TEMP31
061561,000178: 17,2274 74746 MASK BIT6
061562,000179: 17,2275 00006 EXTEND
061563,000180: 17,2276 12316 BZF -RMIN
061564,000181:
061565,000182: 17,2277 13112 TCF XTRANS
061566,000183:
061567,000184: 17,2300 41736 CHECKIN CS TEMP31
061568,000185: 17,2301 72351 MASK OCT63
061569,000186: 17,2302 55461 TS OLDQRMIN
061570,000187: 17,2303 13112 TCF XTRANS
061571,000188:
061572,000189: 17,2304 33136 +QMIN CA 14MS
061573,000190: 17,2305 55525 TS TJU
061574,000191: 17,2306 43136 CS 14MS
061575,000192: 17,2307 12320 TCF MINQR
061576,000193: 17,2310 43136 -QMIN CS 14MS
061577,000194: 17,2311 55525 TS TJU
061578,000195: 17,2312 33136 CA 14MS
061579,000196: 17,2313 12320 TCF MINQR
061580,000197: 17,2314 33136 +RMIN CA 14MS
061581,000198: 17,2315 12317 TCF +2
061582,000199: 17,2316 43136 -RMIN CS 14MS
061583,000200: 17,2317 55525 TS TJU
061584,000201: 17,2320 55526 MINQR TS TJV
061585,000202: 17,2321 32350 CA MINADR
061586,000203: 17,2322 55477 TS RETJADR
061587,000204: 17,2323 34753 CA ONE
061588,000205: 17,2324 55461 TS OLDQRMIN
061589,000206: 17,2325 55505 MINRTN TS AXISCTR
061590,000207: 17,2326 30111 CA DAPBOOLS
061591,000208: 17,2327 74737 MASK CSMDOCKD
061592,000209: 17,2330 00006 EXTEND
061593,000210: 17,2331 12341 BZF MIMRET
061594,000211: 17,2332 51505 INDEX AXISCTR # IF DOCKED, USE 60MS MINIMUM IMPULSE
061595,000212: 17,2333 11525 CCS TJU
061596,000213: 17,2334 34776 CA 60MS
061597,000214: 17,2335 12337 TCF +2
061598,000215: 17,2336 44776 CS 60MS
061599,000216: 17,2337 51505 INDEX AXISCTR
061600,000217: 17,2340 55525 TS TJU
061601,000218: 17,2341 30111 MIMRET CA DAPBOOLS
061602,000219: 17,2342 74742 MASK AORBTRAN
061603,000220: 17,2343 10000 CCS A
061604,000221: 17,2344 34753 CA ONE
061605,000222: 17,2345 64752 AD TWO
061606,000223: 17,2346 55742 TS NUMBERT
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Page 1434
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061608,000225: 17,2347 12756 TCF AFTERTJ
061609,000226:
061610,000227: 17,2350 4776 60MS = OCT140
061611,000228: 17,2350 02325 MINADR GENADR MINRTN
061612,000229: 17,2351 00063 OCT63 OCT 63
061613,000230: 17,2352 17,3136 14MS = +TJMINT6
061614,000231:
061615,000232: 17,2352 34751 TRANS4 CA FOUR
061616,000233: 17,2353 12216 TCF TSNUMBRT
061617,000234:
061618,000235: # RATE COMMAND MODE:
061619,000236:
061620,000237: # DESCRIPTION (SAME AS P-AXIS)
061621,000238:
061622,000239: 17,2354 55632 CHEKSTIK TS INGTS # NOT IN GTS WHEN IN ATT HOLD
061623,000240: 17,2355 44753 CS ONE # 1/ACCS WILL DO THE NULLING DRIVES
061624,000241: 17,2356 55630 TS COTROLER # COME BACK TO RCS NEXT TIME
061625,000242: 17,2357 34735 CA BIT15
061626,000243: 17,2360 71443 MASK CH31TEMP
061627,000244: 17,2361 00006 EXTEND
061628,000245: 17,2362 12377 BZF RHCACTIV # BRANCH IF OUT OF DETENT.
061629,000246: 17,2363 34740 CA OURRCBIT # ***********
061630,000247: 17,2364 70111 MASK DAPBOOLS # *IN DETENT* CHECK FOR MANUAL CONTROL
061631,000248: 17,2365 00006 EXTEND # *********** LAST TIME.
061632,000249: 17,2366 12710 BZF STILLRCS
061633,000250: 17,2367 44743 CS BIT9
061634,000251: 17,2370 71262 MASK RCSFLAGS
061635,000252: 17,2371 55262 TS RCSFLAGS # BIT 9 IS 0.
061636,000253: 17,2372 12374 TCF DAMPING
061637,000254: 17,2373 4771 40CYCL = OCT50
061638,000255: 17,2373 4753 1/10S = BIT1
061639,000256: 17,2373 00056 LINRAT DEC 46 B-14
061640,000257: # ================================
061641,000258: 17,2374 34755 DAMPING CA ZERO
061642,000259: 17,2375 55462 TS SAVEHAND
061643,000260: 17,2376 55463 TS SAVEHAND +1
061644,000261: 17,2377 11462 RHCACTIV CCS SAVEHAND # *******************
061645,000262: 17,2400 12403 TCF +3 # Q,R MANUAL CONTROL WC = A*(B+|D|)*D
061646,000263: 17,2401 12403 TCF +2 # *******************
061647,000264: 17,2402 12403 TCF +1
061648,000265: 17,2403 60000 DOUBLE # WHERE
061649,000266: 17,2404 60000 DOUBLE
061650,000267: 17,2405 62373 AD LINRAT # WC = COMMANDED ROTATIONAL RATE
061651,000268: 17,2406 00006 EXTEND # A = QUADRATIC SENSITIVITY FACTOR
061652,000269: 17,2407 71462 MP SAVEHAND # B = LINEAR/QUADRATIC SENSITIVITY
061653,000270: 17,2410 30001 CA L # |D|= ABS. VALUE OF DEFLECTION
061654,000271: 17,2411 00006 EXTEND # D = HAND CONTROLLER DEFLECTION
061655,000272: 17,2412 71444 MP STIKSENS
061656,000273: 17,2413 57455 XCH QLAST # COMMAND Q RATE SCALED 45 DEG/SEC
061657,000274: 17,2414 40000 COM
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Page 1435
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061659,000276: 17,2415 61455 AD QLAST
061660,000277: 17,2416 55740 TS DAPTEMP3
061661,000278: 17,2417 11463 CCS SAVEHAND +1
061662,000279: 17,2420 12423 TCF +3
061663,000280: 17,2421 12423 TCF +2
061664,000281: 17,2422 12423 TCF +1
061665,000282: 17,2423 60000 DOUBLE
061666,000283: 17,2424 60000 DOUBLE
061667,000284: 17,2425 62373 AD LINRAT
061668,000285: 17,2426 00006 EXTEND
061669,000286: 17,2427 71463 MP SAVEHAND +1
061670,000287: 17,2430 30001 CA L
061671,000288: 17,2431 00006 EXTEND
061672,000289: 17,2432 71444 MP STIKSENS
061673,000290: 17,2433 57456 XCH RLAST
061674,000291: 17,2434 40000 COM
061675,000292: 17,2435 61456 AD RLAST
061676,000293: 17,2436 55741 TS DAPTEMP4
061677,000294: 17,2437 41455 CS QLAST # INTERVAL.
061678,000295: 17,2440 61422 AD OMEGAQ
061679,000296: 17,2441 55436 TS QRATEDIF
061680,000297: 17,2442 41456 CS RLAST
061681,000298: 17,2443 61423 AD OMEGAR
061682,000299: 17,2444 55437 TS RRATEDIF
061683,000300: 17,2445 53437 ENTERQR DXCH QRATEDIF # TRANSFORM RATES FROM Q,R TO U,V AXES
061684,000301: 17,2446 03200 TC ROT-TOUV
061685,000302: 17,2447 53427 DXCH URATEDIF
061686,000303: 17,2450 00004 INHINT # SET AUTO DESIRED ATTITUDE TO ACTUAL
061687,000304: 17,2451 04674 TC IBNKCALL # ATTITUDE AND ZERO AUTO DESIRED RATE
061688,000305: 17,2452 40154 FCADR ZATTEROR
061689,000306: 17,2453 00003 RELINT
061690,000307: 17,2454 11740 CCS DAPTEMP3 # CHECK IF Q COMMAND CHANGE EXCEEDS
061691,000308: 17,2455 02460 TC +3 # BREAKOUT LEVEL. IF NOT, CHECK R.
061692,000309: 17,2456 02460 TC +2
061693,000310: 17,2457 02460 TC +1
061694,000311: 17,2460 61476 AD -RATEDB
061695,000312: 17,2461 00006 EXTEND
061696,000313: 17,2462 62464 BZMF +2
061697,000314: 17,2463 12502 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
061698,000315: 17,2464 11741 CCS DAPTEMP4 # R COMMAND BREAKOUT CHECK.
061699,000316: 17,2465 02470 TC +3
061700,000317: 17,2466 02470 TC +2
061701,000318: 17,2467 02470 TC +1
061702,000319: 17,2470 61476 AD -RATEDB
061703,000320: 17,2471 00006 EXTEND
061704,000321: 17,2472 62474 BZMF +2
061705,000322: 17,2473 12502 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
061706,000323: 17,2474 31262 CA RCSFLAGS # BREAKOUT LEVEL NOT EXCEEDED. CHECK FOR
061707,000324: 17,2475 74741 MASK QRBIT # DIRECT RATE CONTROL LAST TIME.
061708,000325: 17,2476 00006 EXTEND
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Page 1436
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061710,000327: 17,2477 12501 BZF +2
061711,000328: 17,2500 12504 TCF ENTERUV # CONTINUE DIRECT RATE CONTROL.
061712,000329: 17,2501 12710 TCF STILLRCS # PSEUDO-AUTO CONTROL.
061713,000330: 17,2502 34771 CA 40CYCL
061714,000331: 17,2503 55457 TS TCQR
061715,000332: 17,2504 34755 ENTERUV CA ZERO # *** DIRECT RATE CONTROL ***
061716,000333: 17,2505 55450 TS DYERROR
061717,000334: 17,2506 55451 TS DYERROR +1
061718,000335: 17,2507 55452 TS DZERROR
061719,000336: 17,2510 55453 TS DZERROR +1
061720,000337: 17,2511 11426 CCS URATEDIF
061721,000338: 17,2512 12515 TCF +3
061722,000339: 17,2513 12515 TCF +2
061723,000340: 17,2514 12515 TCF +1
061724,000341: 17,2515 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
061725,000342: 17,2516 00006 EXTEND # DIRECT RATE CONTROL.
061726,000343: 17,2517 62533 BZMF VDB
061727,000344: 17,2520 11427 CCS VRATEDIF
061728,000345: 17,2521 12524 TCF +3
061729,000346: 17,2522 12524 TCF +2
061730,000347: 17,2523 12524 TCF +1
061731,000348: 17,2524 61476 AD TARGETDB
061732,000349: 17,2525 00006 EXTEND
061733,000350: 17,2526 62530 BZMF +2
061734,000351: 17,2527 12544 TCF QRTIME
061735,000352: 17,2530 34755 CA ZERO
061736,000353: 17,2531 55427 TS VRATEDIF
061737,000354: 17,2532 12544 TCF QRTIME
061738,000355: 17,2533 11427 VDB CCS VRATEDIF
061739,000356: 17,2534 02537 TC +3
061740,000357: 17,2535 02537 TC +2
061741,000358: 17,2536 02537 TC +1
061742,000359: 17,2537 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
061743,000360: 17,2540 00006 EXTEND # DIRECT RATE CONTROL. IF NOT, FIRE AND
061744,000361: 17,2541 62553 BZMF TOPSEUDO # SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
061745,000362: 17,2542 34755 CA ZERO # PASS.
061746,000363: 17,2543 55426 TS URATEDIF
061747,000364: 17,2544 31457 QRTIME CA TCQR # DIRECT RATE TIME CHECK.
061748,000365: 17,2545 00006 EXTEND
061749,000366: 17,2546 62553 BZMF +5 # BRANCH IF TIME EXCEEDS 4 SEC.
061750,000367: 17,2547 41262 CS RCSFLAGS
061751,000368: 17,2550 74741 MASK QRBIT
061752,000369: 17,2551 27262 ADS RCSFLAGS # BIT 11 IS 1.
061753,000370: 17,2552 02556 TC +4
061754,000371: 17,2553 44741 TOPSEUDO CS QRBIT
061755,000372: 17,2554 71262 MASK RCSFLAGS
061756,000373: 17,2555 55262 TS RCSFLAGS # BIT 11 IS 0.
061757,000374: 17,2556 32622 CA HANDADR
061758,000375: 17,2557 55477 TS RETJADR
061759,000376: 17,2560 34753 CA ONE
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Page 1437
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061761,000378: 17,2561 55505 BACKHAND TS AXISCTR
061762,000379:
061763,000380: 17,2562 34751 CA FOUR
061764,000381: 17,2563 55742 TS NUMBERT
061765,000382:
061766,000383: 17,2564 51505 INDEX AXISCTR
061767,000384: 17,2565 51534 INDEX SKIPU
061768,000385: 17,2566 12567 TCF +1
061769,000386: 17,2567 34751 CA FOUR
061770,000387: 17,2570 51505 INDEX AXISCTR
061771,000388: 17,2571 55534 TS SKIPU
061772,000389: 17,2572 13034 TCF LOOPER
061773,000390:
061774,000391: 17,2573 51505 INDEX AXISCTR
061775,000392: 17,2574 11426 CCS URATEDIF # INDEX AXIS QUANITY
061776,000393: 17,2575 34755 CA ZERO # 0 -U 1/JETACC-AOSU
061777,000394: 17,2576 12600 TCF +2 # 1 +U 1/JETACC+AOSU
061778,000395: 17,2577 34753 CA ONE # 16 -V 1/JETACC-AOSV
061779,000396: 17,2600 51505 INDEX AXISCTR # 17 +V 1/JETACC+AOSV
061780,000397: 17,2601 63755 AD AXISDIFF # JETACC = 2 JET ACCELERATION (1 FOR FAIL)
061781,000398:
061782,000399: 17,2602 50000 INDEX A
061783,000400: 17,2603 41570 CS 1/ANET2 +1
061784,000401: 17,2604 00006 EXTEND
061785,000402: 17,2605 51505 INDEX AXISCTR # URATEDIF IS SCALED AT PI/4 RAD/SEC
061786,000403: 17,2606 71426 MP URATEDIF # JET TIME IN A SCALED 32 SEC
061787,000404: 17,2607 54002 TS Q
061788,000405: 17,2610 20001 DAS A
061789,000406: 17,2611 60002 AD Q
061790,000407: 17,2612 54000 TS A # OVERFLOW SKIP
061791,000408: 17,2613 12615 TCF +2
061792,000409: 17,2614 30002 CA Q # RIGHT SIGN AND BIGGER THAN 150MS
061793,000410: 17,2615 51505 SETTIME INDEX AXISCTR
061794,000411: 17,2616 55525 TS TJU # SCALED AT 10.67 WHICH IS CLOSE TO 10.24
061795,000412: 17,2617 12756 TCF AFTERTJ
061796,000413:
061797,000414: 17,2620 34755 ZEROTJ CA ZERO
061798,000415: 17,2621 12615 TCF SETTIME
061799,000416:
061800,000417: 17,2622 02561 HANDADR GENADR BACKHAND
061801,000418:
061802,000419: # GTS WILL BE TRIED IF
061803,000420: # 1. USEQRJTS= 0,
061804,000421: # 2. ALLOWGTS POS,
061805,000422: # 3. JETS ARE OFF(Q,R-AXES)
061806,000423: 17,2623 34736 TRYGTS CAF USEQRJTS # IS JET USE MANDATORY. (AS LONG AS
061807,000424: 17,2624 70111 MASK DAPBOOLS # USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
061808,000425: 17,2625 10000 CCS A
061809,000426: 17,2626 12141 TCF RCS
061810,000427: 17,2627 11502 CCS ALLOWGTS # NO. DOES AOSTASK OK CONTROL FOR GTS?
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|
Page 1438
|
061812,000429: 17,2630 12632 TCF +2
061813,000430: 17,2631 12141 TCF RCS
061814,000431: 17,2632 00006 EXTEND
061815,000432: 17,2633 00005 READ CHAN5
061816,000433: 17,2634 10000 CCS A
061817,000434: 17,2635 12641 TCF CHKINGTS
061818,000435: 17,2636 00006 GOTOGTS EXTEND
061819,000436: 17,2637 32654 DCA GTSCADR
061820,000437: 17,2640 52006 DTCB
061821,000438:
061822,000439: 17,2641 11632 CHKINGTS CCS INGTS # WAS THE TRIM GIMBAL CONTROLLING
061823,000440: 17,2642 12644 TCF +2 # YES. SET UP A DAMPED NULLING DRIVE.
061824,000441: 17,2643 12141 TCF RCS # NO. NULLING WAS SET UP BEFORE. DO RCS
061825,000442: 17,2644 00004 INHINT
061826,000443: 17,2645 04674 TC IBNKCALL
061827,000444: 17,2646 43312 CADR TIMEGMBL
061828,000445: 17,2647 00003 RELINT
061829,000446: 17,2650 34755 CAF ZERO
061830,000447: 17,2651 55632 TS INGTS
061831,000448: 17,2652 12141 TCF RCS
061832,000449:
061833,000450: 17,2653 E6,1634 EBANK= CDUXD
061834,000451: 17,2653 03061 42106 GTSCADR 2CADR GTS
061835,000452:
061836,000453:
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|
Page 1439
|
061838,000455: # SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
061839,000456:
061840,000457: 17,2655 30033 QERRCALC CAE CDUY # Q-ERROR CALCULATION
061841,000458: 17,2656 00006 EXTEND
061842,000459: 17,2657 21635 MSU CDUYD # CDU ANGLE - ANGLE DESIRED (Y-AXIS)
061843,000460: 17,2660 55736 TS DAPTEMP1 # SAVE FOR RERRCALC
061844,000461: 17,2661 00006 EXTEND
061845,000462: 17,2662 71415 MP M21 # (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
061846,000463: 17,2663 55751 TS E
061847,000464: 17,2664 30034 CAE CDUZ # SECOND TERM CALCULATION:
061848,000465: 17,2665 00006 EXTEND
061849,000466: 17,2666 21636 MSU CDUZD # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
061850,000467: 17,2667 55737 TS DAPTEMP2 # SAVE FOR RERRCALC
061851,000468: 17,2670 00006 EXTEND
061852,000469: 17,2671 71417 MP M22 # (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
061853,000470: 17,2672 61275 AD DELQEROR # KALCMANU INERFACE ERROR
061854,000471: 17,2673 61751 AD E
061855,000472: 17,2674 57450 XCH QERROR # SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
061856,000473:
061857,000474: 17,2675 31736 RERRCALC CAE DAPTEMP1 # R-ERROR CALCULATION:
061858,000475: 17,2676 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Y-AXIS)
061859,000476: 17,2677 71416 MP M31 # (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
061860,000477: 17,2700 55751 TS E
061861,000478: 17,2701 31737 CAE DAPTEMP2 # SECOND TERM CALCULATION:
061862,000479: 17,2702 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
061863,000480: 17,2703 71420 MP M32 # (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
061864,000481: 17,2704 61276 AD DELREROR # KALCMANU INERFACE ERROR
061865,000482: 17,2705 61751 AD E
061866,000483: 17,2706 57452 XCH RERROR # SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
061867,000484: 17,2707 00002 TC Q
061868,000485:
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|
Page 1440
|
061870,000487: # "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
061871,000488:
061872,000489: 17,2710 17,2710 ATTSTEER EQUALS STILLRCS # "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
061873,000490:
061874,000491: 17,2710 31452 STILLRCS CA RERROR
061875,000492: 17,2711 22000 LXCH A
061876,000493: 17,2712 31450 CA QERROR
061877,000494: 17,2713 03200 TC ROT-TOUV
061878,000495: 17,2714 53751 DXCH UERROR
061879,000496:
061880,000497: # PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
061881,000498: # PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
061882,000499: 17,2715 33142 TJLAW CA TJLAWADR
061883,000500: 17,2716 55477 TS RETJADR
061884,000501: 17,2717 34753 CA ONE
061885,000502: 17,2720 55505 TS AXISCTR
061886,000503: 17,2721 51505 INDEX AXISCTR
061887,000504: 17,2722 51534 INDEX SKIPU
061888,000505: 17,2723 12724 TCF +1
061889,000506: 17,2724 34751 CA FOUR
061890,000507: 17,2725 51505 INDEX AXISCTR
061891,000508: 17,2726 55534 TS SKIPU
061892,000509: 17,2727 13034 TCF LOOPER
061893,000510: 17,2730 51505 INDEX AXISCTR
061894,000511: 17,2731 31750 CA UERROR
061895,000512: 17,2732 55751 TS E
061896,000513: 17,2733 51505 INDEX AXISCTR
061897,000514: 17,2734 31426 CA OMEGAU
061898,000515: 17,2735 55427 TS EDOT
061899,000516: 17,2736 30111 CA DAPBOOLS
061900,000517: 17,2737 74737 MASK CSMDOCKD
061901,000518: 17,2740 10000 CCS A
061902,000519: 17,2741 12744 TCF +3
061903,000520: 17,2742 03304 TC TJETLAW
061904,000521: 17,2743 12756 TCF AFTERTJ
061905,000522: 17,2744 40111 +3 CS DAPBOOLS # DOCKED. IF GIMBAL USABLE DO GTS CONTROL
061906,000523: 17,2745 74736 MASK USEQRJTS # ON THE NEXT PASS.
061907,000524: 17,2746 10000 CCS A # USEQRJTS BIT MUST NOT BE BIT 15.
061908,000525: 17,2747 55630 TS COTROLER # GIMBAL USABLE. STORE POSITIVE VALUE.
061909,000526: 17,2750 00004 INHINT
061910,000527: 17,2751 04674 TC IBNKCALL
061911,000528: 17,2752 43721 CADR SPSRCS # DETERMINE RCS CONTROL
061912,000529: 17,2753 00003 RELINT
061913,000530: 17,2754 34751 CAF FOUR # ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
061914,000531: 17,2755 55742 TS NUMBERT # FALL THROUGH TO JET SELECTION, ETC.
061915,000532:
061916,000533: # Q,R-JET-SELECTION-LOGIC
061917,000534:
061918,000535: # INPUT: AXISCTR 0,1 FOR U,V
061919,000536: # SNUFFBIT ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN
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|
Page 1441
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061921,000538: # TJU,TJV JET TIME SCALED 10.24 SEC.
061922,000539: # NUMBERT INDICATES NUMBER OF JETS AND TYPE OF POLICY
061923,000540: # RETJADR WHERE TO RETURN TO
061924,000541:
061925,000542: # OUTPUT: NO.U(V)JETS RATE DERIVATION FEEDBACK
061926,000543: # CHANNEL 5
061927,000544: # SKIPU,SKIRV FOR LESS THAN 150MS FIRING
061928,000545:
061929,000546: # NOTES: IN CASE OF FAILURE IN DESIRED ROTATION POLICY,"ALL" UNFAILED
061930,000547: # JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY
061931,000548: # TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT
061932,000549: # IF NONE CAN BE FOUND.
061933,000550:
061934,000551: # TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
061935,000552: # MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
061936,000553:
061937,000554: 17,2756 30101 AFTERTJ CA FLAGWRD5 # IF SNUFFBIT SET DURING A DPS BURN GO TO
061938,000555: 17,2757 74737 MASK SNUFFBIT # XTRANS; THAT IS, INHIBIT CONTROL.
061939,000556: 17,2760 00006 EXTEND
061940,000557: 17,2761 12772 BZF DOROTAT
061941,000558: 17,2762 40106 CS FLGWRD10
061942,000559: 17,2763 74737 MASK APSFLBIT
061943,000560: 17,2764 00006 EXTEND
061944,000561: 17,2765 12772 BZF DOROTAT
061945,000562: 17,2766 30111 CA DAPBOOLS
061946,000563: 17,2767 74744 MASK DRIFTBIT
061947,000564: 17,2770 00006 EXTEND
061948,000565: 17,2771 13112 BZF XTRANS
061949,000566:
061950,000567: 17,2772 34752 DOROTAT CAF TWO
061951,000568: 17,2773 54001 TS L
061952,000569: 17,2774 51505 INDEX AXISCTR
061953,000570: 17,2775 11525 CCS TJU
061954,000571: 17,2776 13003 TCF +5
061955,000572: 17,2777 13026 TCF NOROTAT
061956,000573: 17,3000 13002 TCF +2
061957,000574: 17,3001 13026 TCF NOROTAT
061958,000575: 17,3002 22007 ZL
061959,000576: 17,3003 64753 AD ONE
061960,000577: 17,3004 55736 TS ABSTJ
061961,000578:
061962,000579: 17,3005 31505 CA AXISCTR
061963,000580: 17,3006 60001 AD L
061964,000581: 17,3007 55743 TS ROTINDEX # 0 1 2 3 = -U -V -+U +V
061965,000582:
061966,000583: 17,3010 31736 CA ABSTJ
061967,000584: 17,3011 63137 AD -150MS
061968,000585: 17,3012 00006 EXTEND
061969,000586: 17,3013 63037 BZMF DOSKIP
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Page 1442
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061971,000588: 17,3014 03225 TC SELCTSUB
061972,000589:
061973,000590: 17,3015 51505 INDEX AXISCTR
061974,000591: 17,3016 33134 CA INDEXES
061975,000592: 17,3017 54001 TS L
061976,000593:
061977,000594: 17,3020 31740 CA POLYTEMP
061978,000595: 17,3021 00004 INHINT
061979,000596: 17,3022 50001 INDEX L
061980,000597: 17,3023 05755 TC WRITEP
061981,000598:
061982,000599: 17,3024 00003 RELINT
061983,000600: 17,3025 13100 TCF FEEDBACK
061984,000601:
061985,000602: 17,3026 51505 NOROTAT INDEX AXISCTR
061986,000603: 17,3027 33134 CA INDEXES
061987,000604: 17,3030 00004 INHINT
061988,000605: 17,3031 50000 INDEX A
061989,000606: 17,3032 05754 TC WRITEP -1
061990,000607:
061991,000608: 17,3033 00003 RELINT
061992,000609: 17,3034 11505 LOOPER CCS AXISCTR
061993,000610: 17,3035 01477 TC RETJADR
061994,000611: 17,3036 13270 TCF CLOSEOUT
061995,000612: 17,3037 41736 DOSKIP CS ABSTJ
061996,000613: 17,3040 63136 AD +TJMINT6 # 14MS
061997,000614: 17,3041 00006 EXTEND
061998,000615: 17,3042 63061 BZMF NOTMIN
061999,000616:
062000,000617: 17,3043 27736 ADS ABSTJ
062001,000618: 17,3044 51505 INDEX AXISCTR
062002,000619: 17,3045 11525 CCS TJU
062003,000620: 17,3046 33136 CA +TJMINT6
062004,000621: 17,3047 13051 TCF +2
062005,000622: 17,3050 43136 CS +TJMINT6
062006,000623: 17,3051 51505 INDEX AXISCTR
062007,000624: 17,3052 55525 TS TJU
062008,000625:
062009,000626: 17,3053 11500 CCS SENSETYP # ENSURE MIN-IMPULSE NOT AGAINST TRANS
062010,000627: 17,3054 13060 TCF NOTMIN -1
062011,000628: 17,3055 00006 EXTEND
062012,000629: 17,3056 00004 READ LOSCALAR
062013,000630: 17,3057 74753 MASK ONE
062014,000631: 17,3060 55742 TS NUMBERT
062015,000632:
062016,000633: 17,3061 03225 NOTMIN TC SELCTSUB
062017,000634:
062018,000635: 17,3062 51505 INDEX AXISCTR
062019,000636: 17,3063 33134 CA INDEXES
062020,000637: 17,3064 00004 INHINT
062021,000638:
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|
Page 1443
|
062023,000640: 17,3065 55471 TS T6FURTHA +1
062024,000641: 17,3066 31740 CA POLYTEMP
062025,000642: 17,3067 51471 INDEX T6FURTHA +1
062026,000643: 17,3070 05755 TC WRITEP
062027,000644:
062028,000645: 17,3071 31736 CA ABSTJ
062029,000646: 17,3072 55470 TS T6FURTHA
062030,000647: 17,3073 03143 TC JTLST # IN QR BANK BY NOW
062031,000648:
062032,000649: 17,3074 00003 RELINT
062033,000650:
062034,000651: 17,3075 34755 CA ZERO
062035,000652: 17,3076 51505 INDEX AXISCTR
062036,000653: 17,3077 55534 TS SKIPU
062037,000654:
062038,000655: 17,3100 46250 FEEDBACK CS THREE
062039,000656: 17,3101 61742 AD NUMBERT
062040,000657: 17,3102 00006 EXTEND
062041,000658: 17,3103 63106 BZMF +3
062042,000659:
062043,000660: 17,3104 34752 CA TWO
062044,000661: 17,3105 13107 TCF +2
062045,000662: 17,3106 34753 CA ONE
062046,000663: 17,3107 51505 INDEX AXISCTR
062047,000664: 17,3110 55522 TS NO.UJETS
062048,000665: 17,3111 13034 TCF LOOPER
062049,000666:
062050,000667: 17,3112 34755 XTRANS CA ZERO
062051,000668: 17,3113 55525 TS TJU
062052,000669: 17,3114 55526 TS TJV
062053,000670: 17,3115 34751 CA FOUR
062054,000671: 17,3116 00004 INHINT
062055,000672: 17,3117 57534 XCH SKIPU
062056,000673: 17,3120 00006 EXTEND
062057,000674: 17,3121 13123 BZF +2
062058,000675: 17,3122 05760 TC WRITEU -1
062059,000676: 17,3123 34751 CA FOUR
062060,000677: 17,3124 57535 XCH SKIPV
062061,000678: 17,3125 00003 RELINT
062062,000679:
062063,000680: 17,3126 00006 EXTEND
062064,000681: 17,3127 13270 BZF CLOSEOUT
062065,000682: 17,3130 00004 INHINT
062066,000683: 17,3131 05771 TC WRITEV -1
062067,000684: 17,3132 00003 RELINT
062068,000685:
062069,000686: 17,3133 13270 TCF CLOSEOUT
062070,000687: 17,3134 00004 INDEXES DEC 4 B-14
062071,000688: 17,3135 00015 DEC 13 B-14
062072,000689: 17,3136 00026 +TJMINT6 DEC 22 B-14
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Page 1444
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062074,000691: 17,3137 77417 -150MS DEC -240 B-14
062075,000692: 17,3140 00600 BIT8,9 OCT 00600
062076,000693: 17,3141 00266 SCLNORM OCT 266
062077,000694: 17,3142 02720 TJLAWADR GENADR TJLAW +3 # RETURN ADDRESS FOR RCS ATTITUDE CONTROL
062078,000695:
062079,000696: # THE JET LIST:
062080,000697: # THIS IS A WAITLIST FOR T6RUPTS.
062081,000698:
062082,000699: # CALLED BY:
062083,000700: # CA TJ TIME WHEN NEXT JETS WILL BE WRITTEN
062084,000701: # TS T6FURTHA
062085,000702: # CA INDEX AXIS TO BE WIRTTEN AT TJ (FROM NOW)
062086,000703: # TS T6FURTHA +1
062087,000704: # TC JTLST
062088,000705:
062089,000706: # EXAMPLE- U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
062090,000707: # JETS INTO CHANNEL 5. IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
062091,000708: # 150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
062092,000709: # CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
062093,000710: # OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
062094,000711:
062095,000712: # THE LIST IS EXACTLY 3 LONG.(THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
062096,000713: # THE INPUT IS THE LAST MEMBER OF THE LIST
062097,000714:
062098,000715: # RETURNS BY:
062099,000716: # + TC Q
062100,000717:
062101,000718: # DEFINITIONS:(OUTPUT)
062102,000719: # TIME6 TIME OF NEXT RUPT
062103,000720: # T6NEXT DELTA TIME TO NEXT RUPT
062104,000721: # T6FURTHA DELTA TIME FROM 2ND TO LAST RUPT
062105,000722: # NXT6ADR AXIS INDEX Q - P-AXIS
062106,000723: # T6NEXT +1 AXIS INDEX 4 - U-AXIS
062107,000724: # T6FURTHA +1 AXIS INDEX 13 - V-AXIS
062108,000725: 17,3143 41470 JTLST CS T6FURTHA
062109,000726: 17,3144 60031 AD TIME6
062110,000727: 17,3145 00006 EXTEND
062111,000728: 17,3146 63163 BZMF MIDORLST # TIME6 - T IS IN A
062112,000729:
062113,000730: 17,3147 23465 LXCH NXT6ADR
062114,000731: 17,3150 53467 DXCH T6NEXT
062115,000732: 17,3151 53471 DXCH T6FURTHA
062116,000733: 17,3152 54031 TS TIME6
062117,000734: 17,3153 23465 LXCH NXT6ADR
062118,000735:
062119,000736: 17,3154 00006 TURNON EXTEND
062120,000737: 17,3155 23265 QXCH C13QSAV
062121,000738: 17,3156 06022 TC C13STALL
062122,000739:
062123,000740: 17,3157 34735 CA BIT15
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|
Page 1445
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062125,000742: 17,3160 00006 EXTEND
062126,000743: 17,3161 05013 WOR CHAN13
062127,000744: 17,3162 01265 TC C13QSAV
062128,000745:
062129,000746: 17,3163 61466 MIDORLST AD T6NEXT
062130,000747: 17,3164 00006 EXTEND
062131,000748: 17,3165 63174 BZMF LASTCHG # TIME6 + T6NEXT - T IS IN A
062132,000749:
062133,000750: 17,3166 23467 LXCH T6NEXT +1
062134,000751: 17,3167 53471 DXCH T6FURTHA
062135,000752: 17,3170 00006 EXTEND
062136,000753: 17,3171 60031 SU TIME6
062137,000754: 17,3172 53467 DXCH T6NEXT
062138,000755:
062139,000756: 17,3173 00002 TC Q
062140,000757:
062141,000758: 17,3174 40000 LASTCHG CS A
062142,000759: 17,3175 64754 AD NEG0
062143,000760: 17,3176 55470 TS T6FURTHA
062144,000761:
062145,000762: 17,3177 00002 TC Q
062146,000763:
062147,000764:
062148,000765: # ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
062149,000766: # ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM. IN THE U-V SYSTEM NO CROSS-COUPLING IS
062150,000767: # PRODUCED FROM RCS JET FIRINGS. AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
062151,000768: # A AND THE V-COMPONENT IS IN L.
062152,000769:
062153,000770: 17,3200 23737 ROT-TOUV LXCH ROTEMP2 # (R) IS PUT INTO ROTEMP2
062154,000771: 17,3201 00006 EXTEND
062155,000772: 17,3202 71626 MP COEFFQ
062156,000773: 17,3203 57737 XCH ROTEMP2 # (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
062157,000774: 17,3204 00006 EXTEND
062158,000775: 17,3205 71627 MP COEFFR
062159,000776: 17,3206 54001 TS L # COEFFR.(R) IS PUT INTO L
062160,000777: 17,3207 61737 AD ROTEMP2
062161,000778: 17,3210 55736 TS ROTEMP1 # COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
062162,000779: 17,3211 13215 TCF +4
062163,000780: 17,3212 50000 INDEX A # COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
062164,000781: 17,3213 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
062165,000782: 17,3214 55736 TS ROTEMP1
062166,000783: 17,3215 41737 CS ROTEMP2
062167,000784: 17,3216 60001 AD L # -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
062168,000785: 17,3217 54007 TS 7
062169,000786: 17,3220 13223 TCF +3
062170,000787: 17,3221 50000 INDEX A # -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
062171,000788: 17,3222 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
062172,000789: 17,3223 23736 LXCH ROTEMP1 # COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
062173,000790: 17,3224 00002 TC Q
062174,000791: 17,3225 51743 SELCTSUB INDEX ROTINDEX
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062176,000793: 17,3226 33257 CA ALLJETS
062177,000794: 17,3227 51742 INDEX NUMBERT
062178,000795: 17,3230 73263 MASK TYPEPOLY
062179,000796: 17,3231 55740 TS POLYTEMP
062180,000797:
062181,000798: 17,3232 71257 MASK CH5MASK
062182,000799: 17,3233 10000 CCS A
062183,000800: 17,3234 13236 TCF +2
062184,000801:
062185,000802: 17,3235 00002 TC Q
062186,000803:
062187,000804: 17,3236 36250 CA THREE
062188,000805: 17,3237 55742 FAILOOP TS NUMBERT
062189,000806: 17,3240 51743 INDEX ROTINDEX
062190,000807: 17,3241 33257 CA ALLJETS
062191,000808: 17,3242 51742 INDEX NUMBERT
062192,000809: 17,3243 73263 MASK TYPEPOLY
062193,000810: 17,3244 55740 TS POLYTEMP
062194,000811: 17,3245 71257 MASK CH5MASK
062195,000812: 17,3246 00006 EXTEND
062196,000813: 17,3247 13235 BZF FAILOOP -2
062197,000814: 17,3250 11742 CCS NUMBERT
062198,000815: 17,3251 13237 TCF FAILOOP
062199,000816: 17,3252 51505 INDEX AXISCTR
062200,000817: 17,3253 55525 TS TJU
062201,000818: 17,3254 05600 TC ALARM
062202,000819: 17,3255 02004 OCT 02004
062203,000820: 17,3256 13026 TCF NOROTAT
062204,000821: 17,3257 00110 ALLJETS OCT 00110 # -U 6 13
062205,000822: 17,3260 00022 OCT 00022 # -V 2 9
062206,000823: 17,3261 00204 OCT 00204 # +U 5 14
062207,000824:
062208,000825: 17,3262 00041 OCT 00041 # +V 1 10
062209,000826: 17,3263 00125 TYPEPOLY OCT 00125 # -X 1 5 9 13
062210,000827: 17,3264 00252 OCT 00252 # +X 2 6 10 14
062211,000828: 17,3265 00146 OCT 00146 # A 2 5 10 13
062212,000829: 17,3266 00231 OCT 00231 # B 1 6 9 14
062213,000830: 17,3267 00377 OCT 00377 # ALL 1 2 5 6 9 10 13 14
062214,000831:
062215,000832: # THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
062216,000833:
062217,000834: 17,3270 33272 CLOSEOUT CA ADRRUPT
062218,000835: 17,3271 07757 TC MAKERUPT
062219,000836:
062220,000837: 17,3272 03273 ADRRUPT ADRES ENDJASK
062221,000838:
062222,000839: 17,3273 53753 ENDJASK DXCH DAPARUPT
062223,000840: 17,3274 52011 DXCH ARUPT
062224,000841: 17,3275 53755 DXCH DAPBQRPT
062225,000842: 17,3276 56017 XCH BRUPT
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062227,000844: 17,3277 22002 LXCH Q
062228,000845: 17,3300 34735 CAF NEGMAX # NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
062229,000846: 17,3301 53757 DXCH DAPZRUPT
062230,000847: 17,3302 52016 DXCH ZRUPT
062231,000848: 17,3303 15303 TCF NOQRSM
062232,000849: 7757 BLOCK 3
062233,000850: 6000 SETLOC FFTAG6
062234,000851: 6000 BANK
062235,000852:
062236,000853: 7757 COUNT* $$/DAP
062237,000854:
062238,000855: 7757 00006 MAKERUPT EXTEND
062239,000856: 7760 07757 EDRUPT MAKERUPT
End of include-file Q,R-AXES_RCS_AUTOPILOT.agc. Parent file is MAIN.agc