Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 210 OF AGC PROGRAM LUMINARY BY NASA 2021112-161 17:11 MAR. 19,1971Note 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 210 (Apollo 15-17
Lunar Module guidance computer program), from the personal library of
original AGC developer Don Eyles, digitally photographed at archive.org,
financially sponsored by Jim Lawton, 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 210 OF AGC PROGRAM LUMINARY BY NASA 2021112-161 17:11 MAR. 19,1971Note that the date is the date of the printout, not the date of the program revision. |
062390,000002: ## Copyright: Public domain.
062391,000003: ## Filename: Q,R-AXES_RCS_AUTOPILOT.agc
062392,000004: ## Purpose: A section of Luminary revision 210.
062393,000005: ## It is part of the source code for the Lunar Module's (LM)
062394,000006: ## Apollo Guidance Computer (AGC) for Apollo 15-17.
062395,000007: ## This file is intended to be a faithful transcription, except
062396,000008: ## that the code format has been changed to conform to the
062397,000009: ## requirements of the yaYUL assembler rather than the
062398,000010: ## original YUL assembler.
062399,000011: ## Reference: pp. 1440-1457
062400,000012: ## Assembler: yaYUL
062401,000013: ## Contact: Ron Burkey <info@sandroid.org>.
062402,000014: ## Website: www.ibiblio.org/apollo/index.html
062403,000015: ## Mod history: 2016-11-17 JL Created from Luminary131 version.
062404,000016: ## 2016-12-12 HG Transcribed
062405,000017: ## 2016-12-26 RSB Comment-text proofed using ProoferComments
062406,000018: ## and corrected errors found.
062407,000019: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
062408,000020: ## side-by-side diff of Luminary 69/99/116/131/210.
062409,000021: ## 2017-08-29 MAS Fixed a label (X0RULGE instead of XORULGE) and a
062410,000022: ## comment text error found while transcribing Zerlina 56.
062411,000023:
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Page 1440 |
062413,000025: 17,2124 BANK 17
062414,000026: 17,2000 SETLOC DAPS2
062415,000027: 17,2000 BANK
062416,000028:
062417,000029: 17,2124 E6,1634 EBANK= CDUXD
062418,000030:
062419,000031: 17,2124 COUNT* $$/DAPQR
062420,000032:
062421,000033: 17,2124 34730 CALLQERR CA BIT13 # CALCULATE Q,R ERRORS UNLESS THESE AXES
062422,000034: 17,2125 00006 EXTEND # ARE IN MANUAL RATE COMMAND.
062423,000035: 17,2126 02031 RAND CHAN31
062424,000036: 17,2127 10000 CCS A
062425,000037: 17,2130 12135 TCF +5 # IN AUTO COMPUTE Q,R ERRORS
062426,000038: 17,2131 40111 CS DAPBOOLS # IN MANUAL RATE COMMAND?
062427,000039: 17,2132 74731 MASK OURRCBIT
062428,000040: 17,2133 00006 EXTEND
062429,000041: 17,2134 12136 BZF Q,RORGTS # IF SO BYPASS CALCULATION OF ERRORS.
062430,000042: 17,2135 02655 TC QERRCALC
062431,000043:
062432,000044: 17,2136 11630 Q,RORGTS CCS COTROLER # CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
062433,000045: 17,2137 12636 TCF GOTOGTS # GTS (ALTERNATES WITH RCS WHEN DOCKED)
062434,000046: 17,2140 12623 TCF TRYGTS # GTS IF ALLOWED, OTHERWISE RCS
062435,000047: 17,2141 34746 RCS CAF ZERO # RCS (TRYGTS MAY BRANCH TO HERE)
062436,000048: 17,2142 55630 TS COTROLER
062437,000049:
062438,000050: 17,2143 53437 DXCH EDOTQ
062439,000051: 17,2144 03200 TC ROT-TOUV
062440,000052: 17,2145 53427 DXCH OMEGAU
062441,000053:
062442,000054: # X - TRANSLATION:
062443,000055:
062444,000056: # INPUT: BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
062445,000057: # ULLAGER
062446,000058: # APSFLAG, DRIFTBIT
062447,000059: # ACC40R2X, ACRBTRAN
062448,000060:
062449,000061: # OUTPUT: NEXTU, NEXTV CODES OF TRANSLATION FOR AFTER ROTATION
062450,000062: # SENSETYP TELL ROTATION DIRECTION AND DESIRE
062451,000063:
062452,000064: # X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR. IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED. A FAILURE
062453,000065: # WILL OVERRIDE THIS SPECIFICATION. AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
062454,000066:
062455,000067: 17,2146 34736 SENSEGET CA BIT7 # INPUT BITS OVERRIDE THE INTERNAL BITS
062456,000068: 17,2147 00006 EXTEND # SENSETYP WILL NOT OPPOSE ANYTRANS
062457,000069: 17,2150 02031 RAND CHAN31
062458,000070: 17,2151 00006 EXTEND
062459,000071: 17,2152 12200 BZF +XORULGE
062460,000072:
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Page 1441 |
062462,000074: 17,2153 34735 CA BIT8
062463,000075: 17,2154 00006 EXTEND
062464,000076: 17,2155 02031 RAND CHAN31
062465,000077: 17,2156 00006 EXTEND
062466,000078: 17,2157 12201 BZF -XTRANS
062467,000079:
062468,000080: 17,2160 34737 CA ULLAGER
062469,000081: 17,2161 70111 MASK DAPBOOLS
062470,000082: 17,2162 10000 CCS A
062471,000083: 17,2163 12200 TCF +XORULGE
062472,000084:
062473,000085: 17,2164 55473 TS NEXTU # STORE NULL TRANSLATION POLICIES
062474,000086: 17,2165 55474 TS NEXTV
062475,000087: 17,2166 40111 CS DAPBOOLS # BURNING OR DRIFTING?
062476,000088: 17,2167 74735 MASK DRIFTBIT
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Note: There is a short blue horizontal marker line right to the right of the opernad DRIFTBIT |
062478,000090: 17,2170 00006 EXTEND
062479,000091: 17,2171 12176 BZF TSENSE
062480,000092: 17,2172 30106 CA FLGWRD10 # DPS (INCLUDING DOCKED) OR APS?
062481,000093: 17,2173 74730 MASK APSFLBIT
062482,000094: 17,2174 10000 CCS A
062483,000095: 17,2175 34743 CAF TWO # FAVOR +X JETS DURING AN APS BURN.
062484,000096: 17,2176 55500 TSENSE TS SENSETYP
062485,000097: 17,2177 12232 TCF QRCONTRL
062486,000098:
062487,000099: 17,2200 34744 +XORULGE CAF ONE
062488,000100: 17,2201 64742 -XTRANS AD FOUR
062489,000101: 17,2202 55743 TS ROTINDEX
062490,000102: 17,2203 67766 AD NEG3
062491,000103: 17,2204 55500 TS SENSETYP # FAVOR APPROPRIATE JETS DURING TRANS.
062492,000104: 17,2205 30111 CA DAPBOOLS
062493,000105: 17,2206 74732 MASK ACC4OR2X
062494,000106: 17,2207 10000 CCS A
062495,000107: 17,2210 12352 TCF TRANS4
062496,000108:
062497,000109: 17,2211 30111 CA DAPBOOLS
062498,000110: 17,2212 74733 MASK AORBTRAN
062499,000111: 17,2213 10000 CCS A
062500,000112: 17,2214 34744 CA ONE # THREE FOR B
062501,000113: 17,2215 64743 AD TWO # TWO FOR A SYSTEM 2 JET X TRANS
062502,000114: 17,2216 55742 TSNUMBRT TS NUMBERT
062503,000115:
062504,000116: 17,2217 03225 TC SELCTSUB
062505,000117:
062506,000118: 17,2220 11740 CCS POLYTEMP
062507,000119: 17,2221 12224 TCF +3
062508,000120: 17,2222 05571 TC ALARM
062509,000121: 17,2223 02002 OCT 02002
062510,000122: 17,2224 35770 CA 00314OCT
062511,000123: 17,2225 71740 MASK POLYTEMP
062512,000124: 17,2226 55473 TSNEXTS TS NEXTU
062513,000125:
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Page 1442 |
062515,000127: 17,2227 45770 CS 00314OCT
062516,000128: 17,2230 71740 MASK POLYTEMP
062517,000129: 17,2231 55474 TS NEXTV
062518,000130:
062519,000131: # Q,R-AXES RCS CONTROL MODE SELECTION
062520,000132:
062521,000133: # SWITCHES INDICATION WHEN SET
062522,000134:
062523,000135: # BIT13/CHAN31 AUTO, GO TO ATTSTEER
062524,000136: # PULSES MINIMUM IMPULSE MODE
062525,000137: # (OTHERWISE) RATE COMMAND/ATTITUDE HOLD MODE
062526,000138:
062527,000139: 17,2232 34730 QRCONTRL CA BIT13 # CHECK MODE SELECT SWITCH.
062528,000140: 17,2233 00006 EXTEND
062529,000141: 17,2234 02031 RAND CHAN31 # BITS INVERTED
062530,000142: 17,2235 10000 CCS A
062531,000143: 17,2236 12710 TCF ATTSTEER
062532,000144: 17,2237 34726 CHKBIT10 CAF PULSES # PULSES = 1 FOR MIN IMP USE OF RHC
062533,000145: 17,2240 70111 MASK DAPBOOLS
062534,000146: 17,2241 00006 EXTEND
062535,000147: 17,2242 12354 BZF CHEKSTIK # IN ATT-HOLD/RATE-COMMAND IF BIT10=0
062536,000148:
062537,000149: # MINIMUM IMPULSE MODE
062538,000150:
062539,000151: 17,2243 00004 INHINT
062540,000152: 17,2244 04665 TC IBNKCALL
062541,000153: 17,2245 40154 CADR ZATTEROR
062542,000154: 17,2246 34746 CA ZERO
062543,000155: 17,2247 55450 TS QERROR
062544,000156: 17,2250 55452 TS RERROR # FOR DISPLAYS
062545,000157: 17,2251 00003 RELINT
062546,000158:
062547,000159: 17,2252 00006 EXTEND
062548,000160: 17,2253 00031 READ CHAN31
062549,000161: 17,2254 55736 TS TEMP31 # IS EQUAL TO DAPTEMP1
062550,000162: 17,2255 11461 CCS OLDQRMIN
062551,000163: 17,2256 12300 TCF CHECKIN
062552,000164:
062553,000165: 17,2257 31736 FIREQR CA TEMP31
062554,000166: 17,2260 74744 MASK BIT1
062555,000167: 17,2261 00006 EXTEND
062556,000168: 17,2262 12304 BZF +QMIN
062557,000169:
062558,000170: 17,2263 31736 CA TEMP31
062559,000171: 17,2264 74743 MASK BIT2
062560,000172: 17,2265 00006 EXTEND
062561,000173: 17,2266 12310 BZF -QMIN
062562,000174:
062563,000175: 17,2267 31736 CA TEMP31
062564,000176: 17,2270 74740 MASK BIT5
062565,000177:
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Page 1443 |
062567,000179: 17,2271 00006 EXTEND
062568,000180: 17,2272 12314 BZF +RMIN
062569,000181:
062570,000182: 17,2273 31736 CA TEMP31
062571,000183: 17,2274 74737 MASK BIT6
062572,000184: 17,2275 00006 EXTEND
062573,000185: 17,2276 12316 BZF -RMIN
062574,000186:
062575,000187: 17,2277 13112 TCF XTRANS
062576,000188:
062577,000189: 17,2300 41736 CHECKIN CS TEMP31
062578,000190: 17,2301 72351 MASK OCT63
062579,000191: 17,2302 55461 TS OLDQRMIN
062580,000192: 17,2303 13112 TCF XTRANS
062581,000193:
062582,000194: 17,2304 33136 +QMIN CA 14MS
062583,000195: 17,2305 55525 TS TJU
062584,000196: 17,2306 43136 CS 14MS
062585,000197: 17,2307 12320 TCF MINQR
062586,000198: 17,2310 43136 -QMIN CS 14MS
062587,000199: 17,2311 55525 TS TJU
062588,000200: 17,2312 33136 CA 14MS
062589,000201: 17,2313 12320 TCF MINQR
062590,000202: 17,2314 33136 +RMIN CA 14MS
062591,000203: 17,2315 12317 TCF +2
062592,000204: 17,2316 43136 -RMIN CS 14MS
062593,000205: 17,2317 55525 TS TJU
062594,000206: 17,2320 55526 MINQR TS TJV
062595,000207: 17,2321 32350 CA MINADR
062596,000208: 17,2322 55477 TS RETJADR
062597,000209: 17,2323 34744 CA ONE
062598,000210: 17,2324 55461 TS OLDQRMIN
062599,000211: 17,2325 55505 MINRTN TS AXISCTR
062600,000212: 17,2326 30111 CA DAPBOOLS
062601,000213: 17,2327 74730 MASK CSMDOCKD
062602,000214: 17,2330 00006 EXTEND
062603,000215: 17,2331 12341 BZF MIMRET
062604,000216: 17,2332 51505 INDEX AXISCTR # IF DOCKED, USE 60MS MINIMUM IMPULSE
062605,000217: 17,2333 11525 CCS TJU
062606,000218: 17,2334 34767 CA 60MS
062607,000219: 17,2335 12337 TCF +2
062608,000220: 17,2336 44767 CS 60MS
062609,000221: 17,2337 51505 INDEX AXISCTR
062610,000222: 17,2340 55525 TS TJU
062611,000223: 17,2341 30111 MIMRET CA DAPBOOLS
062612,000224: 17,2342 74733 MASK AORBTRAN
062613,000225: 17,2343 10000 CCS A
062614,000226: 17,2344 34744 CA ONE
062615,000227: 17,2345 64743 AD TWO
062616,000228: 17,2346 55742 TS NUMBERT
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Page 1444 |
062618,000230: 17,2347 12756 TCF AFTERTJ
062619,000231:
062620,000232: 17,2350 4767 60MS = OCT140
062621,000233: 17,2350 02325 MINADR GENADR MINRTN
062622,000234: 17,2351 00063 OCT63 OCT 63
062623,000235: 17,2352 17,3136 14MS = +TJMINT6
062624,000236:
062625,000237: 17,2352 34742 TRANS4 CA FOUR
062626,000238: 17,2353 12216 TCF TSNUMBRT
062627,000239:
062628,000240: # RATE COMMAND MODE:
062629,000241:
062630,000242: # DESCRIPTION (SAME AS P-AXIS)
062631,000243:
062632,000244: 17,2354 55632 CHEKSTIK TS INGTS # NOT IN GTS WHEN IN ATT HOLD
062633,000245: 17,2355 44744 CS ONE # 1/ACCS WILL DO THE NULLING DRIVES
062634,000246: 17,2356 55630 TS COTROLER # COME BACK TO RCS NEXT TIME
062635,000247: 17,2357 34726 CA BIT15
062636,000248: 17,2360 71443 MASK CH31TEMP
062637,000249: 17,2361 00006 EXTEND
062638,000250: 17,2362 12377 BZF RHCACTIV # BRANCH IF OUT OF DETENT.
062639,000251: 17,2363 34731 CA OURRCBIT # ***********
062640,000252: 17,2364 70111 MASK DAPBOOLS # *IN DETENT* CHECK FOR MANUAL CONTROL
062641,000253: 17,2365 00006 EXTEND # *********** LAST TIME.
062642,000254: 17,2366 12710 BZF STILLRCS
062643,000255: 17,2367 44734 CS BIT9
062644,000256: 17,2370 71774 MASK RCSFLAGS
062645,000257: 17,2371 55774 TS RCSFLAGS # BIT 9 IS 0.
062646,000258: 17,2372 12374 TCF DAMPING
062647,000259: 17,2373 4762 40CYCL = OCT50
062648,000260: 17,2373 4744 1/10S = BIT1
062649,000261: 17,2373 00056 LINRAT DEC 46 B-14
062650,000262: # ================================
062651,000263: 17,2374 34746 DAMPING CA ZERO
062652,000264: 17,2375 55462 TS SAVEHAND
062653,000265: 17,2376 55463 TS SAVEHAND +1
062654,000266: 17,2377 11462 RHCACTIV CCS SAVEHAND # *******************
062655,000267: 17,2400 12403 TCF +3 # Q,R MANUAL CONTROL WC = A*(B+|D|)*D
062656,000268: 17,2401 12403 TCF +2 # *******************
062657,000269: 17,2402 12403 TCF +1
062658,000270: 17,2403 60000 DOUBLE # WHERE
062659,000271: 17,2404 60000 DOUBLE
062660,000272: 17,2405 62373 AD LINRAT # WC = COMMANDED ROTATIONAL RATE
062661,000273: 17,2406 00006 EXTEND # A = QUADRATIC SENSITIVITY FACTOR
062662,000274: 17,2407 71462 MP SAVEHAND # B = LINEAR/QUADRATIC SENSITIVITY
062663,000275: 17,2410 30001 CA L # |D|= ABS. VALUE OF DEFLECTION
062664,000276: 17,2411 00006 EXTEND # D = HAND CONTROLLER DEFLECTION
062665,000277: 17,2412 71444 MP STIKSENS
062666,000278: 17,2413 57455 XCH QLAST # COMMAND Q RATE SCALED 45 DEG/SEC
062667,000279: 17,2414 40000 COM
062668,000280:
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Page 1445 |
062670,000282: 17,2415 61455 AD QLAST
062671,000283: 17,2416 55740 TS DAPTEMP3
062672,000284: 17,2417 11463 CCS SAVEHAND +1
062673,000285: 17,2420 12423 TCF +3
062674,000286: 17,2421 12423 TCF +2
062675,000287: 17,2422 12423 TCF +1
062676,000288: 17,2423 60000 DOUBLE
062677,000289: 17,2424 60000 DOUBLE
062678,000290: 17,2425 62373 AD LINRAT
062679,000291: 17,2426 00006 EXTEND
062680,000292: 17,2427 71463 MP SAVEHAND +1
062681,000293: 17,2430 30001 CA L
062682,000294: 17,2431 00006 EXTEND
062683,000295: 17,2432 71444 MP STIKSENS
062684,000296: 17,2433 57456 XCH RLAST
062685,000297: 17,2434 40000 COM
062686,000298: 17,2435 61456 AD RLAST
062687,000299: 17,2436 55741 TS DAPTEMP4
062688,000300: 17,2437 41455 CS QLAST # INTERVAL.
062689,000301: 17,2440 61422 AD OMEGAQ
062690,000302: 17,2441 55436 TS QRATEDIF
062691,000303: 17,2442 41456 CS RLAST
062692,000304: 17,2443 61423 AD OMEGAR
062693,000305: 17,2444 55437 TS RRATEDIF
062694,000306: 17,2445 53437 ENTERQR DXCH QRATEDIF # TRANSFORM RATES FROM Q,R TO U,V AXES
062695,000307: 17,2446 03200 TC ROT-TOUV
062696,000308: 17,2447 53427 DXCH URATEDIF
062697,000309: 17,2450 00004 INHINT # SET AUTO DESIRED ATTITUDE TO ACTUAL
062698,000310: 17,2451 04665 TC IBNKCALL # ATTITUDE AND ZERO AUTO DESIRED RATE
062699,000311: 17,2452 40154 FCADR ZATTEROR
062700,000312: 17,2453 00003 RELINT
062701,000313: 17,2454 11740 CCS DAPTEMP3 # CHECK IF Q COMMAND CHANGE EXCEEDS
062702,000314: 17,2455 02460 TC +3 # BREAKOUT LEVEL. IF NOT, CHECK R.
062703,000315: 17,2456 02460 TC +2
062704,000316: 17,2457 02460 TC +1
062705,000317: 17,2460 61476 AD -RATEDB
062706,000318: 17,2461 00006 EXTEND
062707,000319: 17,2462 62464 BZMF +2
062708,000320: 17,2463 12502 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
062709,000321: 17,2464 11741 CCS DAPTEMP4 # R COMMAND BREAKOUT CHECK.
062710,000322: 17,2465 02470 TC +3
062711,000323: 17,2466 02470 TC +2
062712,000324: 17,2467 02470 TC +1
062713,000325: 17,2470 61476 AD -RATEDB
062714,000326: 17,2471 00006 EXTEND
062715,000327: 17,2472 62474 BZMF +2
062716,000328: 17,2473 12502 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
062717,000329: 17,2474 31774 CA RCSFLAGS # BREAKOUT LEVEL NOT EXCEEDED. CHECK FOR
062718,000330: 17,2475 74732 MASK QRBIT # DIRECT RATE CONTROL LAST TIME.
062719,000331: 17,2476 00006 EXTEND
062720,000332:
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Page 1446 |
062722,000334: 17,2477 12501 BZF +2
062723,000335: 17,2500 12504 TCF ENTERUV # CONTINUE DIRECT RATE CONTROL.
062724,000336: 17,2501 12710 TCF STILLRCS # PSEUDO-AUTO CONTROL.
062725,000337: 17,2502 34762 CA 40CYCL
062726,000338: 17,2503 55457 TS TCQR
062727,000339: 17,2504 34746 ENTERUV CA ZERO # *** DIRECT RATE CONTROL ***
062728,000340: 17,2505 55450 TS DYERROR
062729,000341: 17,2506 55451 TS DYERROR +1
062730,000342: 17,2507 55452 TS DZERROR
062731,000343: 17,2510 55453 TS DZERROR +1
062732,000344: 17,2511 11426 CCS URATEDIF
062733,000345: 17,2512 12515 TCF +3
062734,000346: 17,2513 12515 TCF +2
062735,000347: 17,2514 12515 TCF +1
062736,000348: 17,2515 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
062737,000349: 17,2516 00006 EXTEND # DIRECT RATE CONTROL.
062738,000350: 17,2517 62533 BZMF VDB
062739,000351: 17,2520 11427 CCS VRATEDIF
062740,000352: 17,2521 12524 TCF +3
062741,000353: 17,2522 12524 TCF +2
062742,000354: 17,2523 12524 TCF +1
062743,000355: 17,2524 61476 AD TARGETDB
062744,000356: 17,2525 00006 EXTEND
062745,000357: 17,2526 62530 BZMF +2
062746,000358: 17,2527 12544 TCF QRTIME
062747,000359: 17,2530 34746 CA ZERO
062748,000360: 17,2531 55427 TS VRATEDIF
062749,000361: 17,2532 12544 TCF QRTIME
062750,000362: 17,2533 11427 VDB CCS VRATEDIF
062751,000363: 17,2534 02537 TC +3
062752,000364: 17,2535 02537 TC +2
062753,000365: 17,2536 02537 TC +1
062754,000366: 17,2537 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
062755,000367: 17,2540 00006 EXTEND # DIRECT RATE CONTROL. IF NOT, FIRE AND
062756,000368: 17,2541 62553 BZMF TOPSEUDO # SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
062757,000369: 17,2542 34746 CA ZERO # PASS.
062758,000370: 17,2543 55426 TS URATEDIF
062759,000371: 17,2544 31457 QRTIME CA TCQR # DIRECT RATE TIME CHECK.
062760,000372: 17,2545 00006 EXTEND
062761,000373: 17,2546 62553 BZMF +5 # BRANCH IF TIME EXCEEDS 4 SEC.
062762,000374: 17,2547 41774 CS RCSFLAGS
062763,000375: 17,2550 74732 MASK QRBIT
062764,000376: 17,2551 27774 ADS RCSFLAGS # BIT 11 IS 1.
062765,000377: 17,2552 02556 TC +4
062766,000378: 17,2553 44732 TOPSEUDO CS QRBIT
062767,000379: 17,2554 71774 MASK RCSFLAGS
062768,000380: 17,2555 55774 TS RCSFLAGS # BIT 11 IS 0.
062769,000381: 17,2556 32622 CA HANDADR
062770,000382: 17,2557 55477 TS RETJADR
062771,000383: 17,2560 34744 CA ONE
062772,000384:
|
|
Page 1447 |
062774,000386: 17,2561 55505 BACKHAND TS AXISCTR
062775,000387:
062776,000388: 17,2562 34742 CA FOUR
062777,000389: 17,2563 55742 TS NUMBERT
062778,000390:
062779,000391: 17,2564 51505 INDEX AXISCTR
062780,000392: 17,2565 51534 INDEX SKIPU
062781,000393: 17,2566 12567 TCF +1
062782,000394: 17,2567 34742 CA FOUR
062783,000395: 17,2570 51505 INDEX AXISCTR
062784,000396: 17,2571 55534 TS SKIPU
062785,000397: 17,2572 13034 TCF LOOPER
062786,000398:
062787,000399: 17,2573 51505 INDEX AXISCTR
062788,000400: 17,2574 11426 CCS URATEDIF # INDEX AXIS QUANITY
062789,000401: 17,2575 34746 CA ZERO # 0 -U 1/JETACC-AOSU
062790,000402: 17,2576 12600 TCF +2 # 1 +U 1/JETACC+AOSU
062791,000403: 17,2577 34744 CA ONE # 16 -V 1/JETACC-AOSV
062792,000404: 17,2600 51505 INDEX AXISCTR # 17 +V 1/JETACC+AOSV
062793,000405: 17,2601 63755 AD AXISDIFF # JETACC = 2 JET ACCELERATION (1 FOR FAIL)
062794,000406:
062795,000407: 17,2602 50000 INDEX A
062796,000408: 17,2603 41570 CS 1/ANET2 +1
062797,000409: 17,2604 00006 EXTEND
062798,000410: 17,2605 51505 INDEX AXISCTR # URATEDIF IS SCALED AT PI/4 RAD/SEC
062799,000411: 17,2606 71426 MP URATEDIF # JET TIME IN A SCALED 32 SEC
062800,000412: 17,2607 54002 TS Q
062801,000413: 17,2610 20001 DAS A
062802,000414: 17,2611 60002 AD Q
062803,000415: 17,2612 54000 TS A # OVERFLOW SKIP
062804,000416: 17,2613 12615 TCF +2
062805,000417: 17,2614 30002 CA Q # RIGHT SIGN AND BIGGER THAN 150MS
062806,000418: 17,2615 51505 SETTIME INDEX AXISCTR
062807,000419: 17,2616 55525 TS TJU # SCALED AT 10.67 WHICH IS CLOSE TO 10.24
062808,000420: 17,2617 12756 TCF AFTERTJ
062809,000421:
062810,000422: 17,2620 34746 ZEROTJ CA ZERO
062811,000423: 17,2621 12615 TCF SETTIME
062812,000424:
062813,000425: 17,2622 02561 HANDADR GENADR BACKHAND
062814,000426:
062815,000427: # GTS WILL BE TRIED IF
062816,000428: # 1. USEQRJTS= 0,
062817,000429: # 2. ALLOWGTS POS,
062818,000430: # 3. JETS ARE OFF (Q,R-AXES)
062819,000431: 17,2623 34727 TRYGTS CAF USEQRJTS # IS JET USE MANDATORY. (AS LONG AS
062820,000432: 17,2624 70111 MASK DAPBOOLS # USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
062821,000433: 17,2625 10000 CCS A
062822,000434: 17,2626 12141 TCF RCS
062823,000435: 17,2627 11502 CCS ALLOWGTS # NO. DOES AOSTASK OK CONTROL FOR GTS?
062824,000436:
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|
Page 1448 |
062826,000438: 17,2630 12632 TCF +2
062827,000439: 17,2631 12141 TCF RCS
062828,000440: 17,2632 00006 EXTEND
062829,000441: 17,2633 00005 READ CHAN5
062830,000442: 17,2634 10000 CCS A
062831,000443: 17,2635 12641 TCF CHKINGTS
062832,000444: 17,2636 00006 GOTOGTS EXTEND
062833,000445: 17,2637 32654 DCA GTSCADR
062834,000446: 17,2640 52006 DTCB
062835,000447:
062836,000448: 17,2641 11632 CHKINGTS CCS INGTS # WAS THE TRIM GIMBAL CONTROLLING
062837,000449: 17,2642 12644 TCF +2 # YES. SET UP A DAMPED NULLING DRIVE.
062838,000450: 17,2643 12141 TCF RCS # NO. NULLING WAS SET UP BEFORE. DO RCS
062839,000451: 17,2644 00004 INHINT
062840,000452: 17,2645 04665 TC IBNKCALL
062841,000453: 17,2646 43260 CADR TIMEGMBL
062842,000454: 17,2647 00003 RELINT
062843,000455: 17,2650 34746 CAF ZERO
062844,000456: 17,2651 55632 TS INGTS
062845,000457: 17,2652 12141 TCF RCS
062846,000458:
062847,000459: 17,2653 E6,1634 EBANK= CDUXD
062848,000460: 17,2653 03027 42106 GTSCADR 2CADR GTS
062849,000461:
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|
Page 1449 |
062851,000463: # SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
062852,000464:
062853,000465: 17,2655 30033 QERRCALC CAE CDUY # Q-ERROR CALCULATION
062854,000466: 17,2656 00006 EXTEND
062855,000467: 17,2657 21635 MSU CDUYD # CDU ANGLE - ANGLE DESIRED (Y-AXIS)
062856,000468: 17,2660 55736 TS DAPTEMP1 # SAVE FOR RERRCALC
062857,000469: 17,2661 00006 EXTEND
062858,000470: 17,2662 71415 MP M21 # (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
062859,000471: 17,2663 55751 TS E
062860,000472: 17,2664 30034 CAE CDUZ # SECOND TERM CALCULATION:
062861,000473: 17,2665 00006 EXTEND
062862,000474: 17,2666 21636 MSU CDUZD # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
062863,000475: 17,2667 55737 TS DAPTEMP2 # SAVE FOR RERRCALC
062864,000476: 17,2670 00006 EXTEND
062865,000477: 17,2671 71417 MP M22 # (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
062866,000478: 17,2672 61275 AD DELQEROR # KALCMANU INERFACE ERROR
062867,000479: 17,2673 61751 AD E
062868,000480: 17,2674 57450 XCH QERROR # SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
062869,000481:
062870,000482: 17,2675 31736 RERRCALC CAE DAPTEMP1 # R-ERROR CALCULATION:
062871,000483: 17,2676 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Y-AXIS)
062872,000484: 17,2677 71416 MP M31 # (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
062873,000485: 17,2700 55751 TS E
062874,000486: 17,2701 31737 CAE DAPTEMP2 # SECOND TERM CALCULATION:
062875,000487: 17,2702 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
062876,000488: 17,2703 71420 MP M32 # (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
062877,000489: 17,2704 61276 AD DELREROR # KALCMANU INERFACE ERROR
062878,000490: 17,2705 61751 AD E
062879,000491: 17,2706 57452 XCH RERROR # SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
062880,000492: 17,2707 00002 TC Q
062881,000493:
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|
Page 1450 |
062883,000495: # "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
062884,000496:
062885,000497: 17,2710 17,2710 ATTSTEER EQUALS STILLRCS # "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
062886,000498:
062887,000499: 17,2710 31452 STILLRCS CA RERROR
062888,000500: 17,2711 22000 LXCH A
062889,000501: 17,2712 31450 CA QERROR
062890,000502: 17,2713 03200 TC ROT-TOUV
062891,000503: 17,2714 53751 DXCH UERROR
062892,000504:
062893,000505: # PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
062894,000506: # PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
062895,000507: 17,2715 33142 TJLAW CA TJLAWADR
062896,000508: 17,2716 55477 TS RETJADR
062897,000509: 17,2717 34744 CA ONE
062898,000510: 17,2720 55505 TS AXISCTR
062899,000511: 17,2721 51505 INDEX AXISCTR
062900,000512: 17,2722 51534 INDEX SKIPU
062901,000513: 17,2723 12724 TCF +1
062902,000514: 17,2724 34742 CA FOUR
062903,000515: 17,2725 51505 INDEX AXISCTR
062904,000516: 17,2726 55534 TS SKIPU
062905,000517: 17,2727 13034 TCF LOOPER
062906,000518: 17,2730 51505 INDEX AXISCTR
062907,000519: 17,2731 31750 CA UERROR
062908,000520: 17,2732 55751 TS E
062909,000521: 17,2733 51505 INDEX AXISCTR
062910,000522: 17,2734 31426 CA OMEGAU
062911,000523: 17,2735 55427 TS EDOT
062912,000524: 17,2736 30111 CA DAPBOOLS
062913,000525: 17,2737 74730 MASK CSMDOCKD
062914,000526: 17,2740 10000 CCS A
062915,000527: 17,2741 12744 TCF +3
062916,000528: 17,2742 03304 TC TJETLAW
062917,000529: 17,2743 12756 TCF AFTERTJ
062918,000530: 17,2744 40111 +3 CS DAPBOOLS # DOCKED. IF GIMBAL USABLE DO GTS CONTROL
062919,000531: 17,2745 74727 MASK USEQRJTS # ON THE NEXT PASS.
062920,000532: 17,2746 10000 CCS A # USEQRJTS BIT MUST NOT BE BIT 15.
062921,000533: 17,2747 55630 TS COTROLER # GIMBAL USABLE. STORE POSITIVE VALUE.
062922,000534: 17,2750 00004 INHINT
062923,000535: 17,2751 04665 TC IBNKCALL
062924,000536: 17,2752 43667 CADR SPSRCS # DETERMINE RCS CONTROL
062925,000537: 17,2753 00003 RELINT
062926,000538: 17,2754 34742 CAF FOUR # ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
062927,000539: 17,2755 55742 TS NUMBERT # FALL THROUGH TO JET SELECTION, ETC.
062928,000540:
062929,000541: # Q,R-JET-SELECTION-LOGIC
062930,000542:
062931,000543: # INPUT: AXISCTR 0,1 FOR U,V
062932,000544: # SNUFFBIT ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN
062933,000545:
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|
Page 1451 |
062935,000547: # TJU,TJV JET TIME SCALED 10.24 SEC.
062936,000548: # NUMBERT INDICATES NUMBER OF JETS AND TYPE OF POLICY
062937,000549: # RETJADR WHERE TO RETURN TO
062938,000550:
062939,000551: # OUTPUT: NO.U(V)JETS RATE DERIVATION FEEDBACK
062940,000552: # CHANNEL 5
062941,000553: # SKIPU,SKIRV FOR LESS THAN 150MS FIRING
062942,000554:
062943,000555: # NOTES: IN CASE OF FAILURE IN DESIRED ROTATION POLICY,"ALL" UNFAILED
062944,000556: # JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY
062945,000557: # TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT
062946,000558: # IF NONE CAN BE FOUND.
062947,000559:
062948,000560: # TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
062949,000561: # MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
062950,000562:
062951,000563: 17,2756 30101 AFTERTJ CA FLAGWRD5 # IF SNUFFBIT SET DURING A DPS BURN GO TO
062952,000564: 17,2757 74730 MASK SNUFFBIT # XTRANS; THAT IS, INHIBIT CONTROL.
062953,000565: 17,2760 00006 EXTEND
062954,000566: 17,2761 12772 BZF DOROTAT
062955,000567: 17,2762 40106 CS FLGWRD10
062956,000568: 17,2763 74730 MASK APSFLBIT
062957,000569: 17,2764 00006 EXTEND
062958,000570: 17,2765 12772 BZF DOROTAT
062959,000571: 17,2766 30111 CA DAPBOOLS
062960,000572: 17,2767 74735 MASK DRIFTBIT
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|
Note: There is a short blue horizontal marker line right to the rigth of the operand DRIFTBIT |
062962,000574: 17,2770 00006 EXTEND
062963,000575: 17,2771 13112 BZF XTRANS
062964,000576:
062965,000577: 17,2772 34743 DOROTAT CAF TWO
062966,000578: 17,2773 54001 TS L
062967,000579: 17,2774 51505 INDEX AXISCTR
062968,000580: 17,2775 11525 CCS TJU
062969,000581: 17,2776 13003 TCF +5
062970,000582: 17,2777 13026 TCF NOROTAT
062971,000583: 17,3000 13002 TCF +2
062972,000584: 17,3001 13026 TCF NOROTAT
062973,000585: 17,3002 22007 ZL
062974,000586: 17,3003 64744 AD ONE
062975,000587: 17,3004 55736 TS ABSTJ
062976,000588:
062977,000589: 17,3005 31505 CA AXISCTR
062978,000590: 17,3006 60001 AD L
062979,000591: 17,3007 55743 TS ROTINDEX # 0 1 2 3 = -U -V -+U +V
062980,000592:
062981,000593: 17,3010 31736 CA ABSTJ
062982,000594: 17,3011 63137 AD -150MS
062983,000595: 17,3012 00006 EXTEND
062984,000596: 17,3013 63037 BZMF DOSKIP
062985,000597:
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|
Page 1452 |
062987,000599: 17,3014 03225 TC SELCTSUB
062988,000600:
062989,000601: 17,3015 51505 INDEX AXISCTR
062990,000602: 17,3016 33134 CA INDEXES
062991,000603: 17,3017 54001 TS L
062992,000604:
062993,000605: 17,3020 31740 CA POLYTEMP
062994,000606: 17,3021 00004 INHINT
062995,000607: 17,3022 50001 INDEX L
062996,000608: 17,3023 05750 TC WRITEP
062997,000609:
062998,000610: 17,3024 00003 RELINT
062999,000611: 17,3025 13100 TCF FEEDBACK
063000,000612:
063001,000613: 17,3026 51505 NOROTAT INDEX AXISCTR
063002,000614: 17,3027 33134 CA INDEXES
063003,000615: 17,3030 00004 INHINT
063004,000616: 17,3031 50000 INDEX A
063005,000617: 17,3032 05747 TC WRITEP -1
063006,000618:
063007,000619: 17,3033 00003 RELINT
063008,000620: 17,3034 11505 LOOPER CCS AXISCTR
063009,000621: 17,3035 01477 TC RETJADR
063010,000622: 17,3036 13270 TCF CLOSEOUT
063011,000623: 17,3037 41736 DOSKIP CS ABSTJ
063012,000624: 17,3040 63136 AD +TJMINT6 # 14MS
063013,000625: 17,3041 00006 EXTEND
063014,000626: 17,3042 63061 BZMF NOTMIN
063015,000627:
063016,000628: 17,3043 27736 ADS ABSTJ
063017,000629: 17,3044 51505 INDEX AXISCTR
063018,000630: 17,3045 11525 CCS TJU
063019,000631: 17,3046 33136 CA +TJMINT6
063020,000632: 17,3047 13051 TCF +2
063021,000633: 17,3050 43136 CS +TJMINT6
063022,000634: 17,3051 51505 INDEX AXISCTR
063023,000635: 17,3052 55525 TS TJU
063024,000636:
063025,000637: 17,3053 11500 CCS SENSETYP # ENSURE MIN-IMPULSE NOT AGAINST TRANS
063026,000638: 17,3054 13060 TCF NOTMIN -1
063027,000639: 17,3055 00006 EXTEND
063028,000640: 17,3056 00004 READ LOSCALAR
063029,000641: 17,3057 74744 MASK ONE
063030,000642: 17,3060 55742 TS NUMBERT
063031,000643:
063032,000644: 17,3061 03225 NOTMIN TC SELCTSUB
063033,000645:
063034,000646: 17,3062 51505 INDEX AXISCTR
063035,000647: 17,3063 33134 CA INDEXES
063036,000648: 17,3064 00004 INHINT
063037,000649:
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|
Page 1453 |
063039,000651: 17,3065 55471 TS T6FURTHA +1
063040,000652: 17,3066 31740 CA POLYTEMP
063041,000653: 17,3067 51471 INDEX T6FURTHA +1
063042,000654: 17,3070 05750 TC WRITEP
063043,000655:
063044,000656: 17,3071 31736 CA ABSTJ
063045,000657: 17,3072 55470 TS T6FURTHA
063046,000658: 17,3073 03143 TC JTLST # IN QR BANK BY NOW
063047,000659:
063048,000660: 17,3074 00003 RELINT
063049,000661:
063050,000662: 17,3075 34746 CA ZERO
063051,000663: 17,3076 51505 INDEX AXISCTR
063052,000664: 17,3077 55534 TS SKIPU
063053,000665:
063054,000666: 17,3100 46266 FEEDBACK CS THREE
063055,000667: 17,3101 61742 AD NUMBERT
063056,000668: 17,3102 00006 EXTEND
063057,000669: 17,3103 63106 BZMF +3
063058,000670:
063059,000671: 17,3104 34743 CA TWO
063060,000672: 17,3105 13107 TCF +2
063061,000673: 17,3106 34744 CA ONE
063062,000674: 17,3107 51505 INDEX AXISCTR
063063,000675: 17,3110 55522 TS NO.UJETS
063064,000676: 17,3111 13034 TCF LOOPER
063065,000677:
063066,000678: 17,3112 34746 XTRANS CA ZERO
063067,000679: 17,3113 55525 TS TJU
063068,000680: 17,3114 55526 TS TJV
063069,000681: 17,3115 34742 CA FOUR
063070,000682: 17,3116 00004 INHINT
063071,000683: 17,3117 57534 XCH SKIPU
063072,000684: 17,3120 00006 EXTEND
063073,000685: 17,3121 13123 BZF +2
063074,000686: 17,3122 05753 TC WRITEU -1
063075,000687: 17,3123 34742 CA FOUR
063076,000688: 17,3124 57535 XCH SKIPV
063077,000689: 17,3125 00003 RELINT
063078,000690:
063079,000691: 17,3126 00006 EXTEND
063080,000692: 17,3127 13270 BZF CLOSEOUT
063081,000693: 17,3130 00004 INHINT
063082,000694: 17,3131 05764 TC WRITEV -1
063083,000695: 17,3132 00003 RELINT
063084,000696:
063085,000697: 17,3133 13270 TCF CLOSEOUT
063086,000698: 17,3134 00004 INDEXES DEC 4 B-14
063087,000699: 17,3135 00015 DEC 13 B-14
063088,000700: 17,3136 00026 +TJMINT6 DEC 22 B-14
063089,000701:
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|
Page 1454 |
063091,000703: 17,3137 77417 -150MS DEC -240 B-14
063092,000704: 17,3140 00600 BIT8,9 OCT 00600
063093,000705: 17,3141 00266 SCLNORM OCT 266
063094,000706: 17,3142 02720 TJLAWADR GENADR TJLAW +3 # RETURN ADDRESS FOR RCS ATTITUDE CONTROL
063095,000707:
063096,000708: # THE JET LIST:
063097,000709: # THIS IS A WAITLIST FOR T6RUPTS.
063098,000710:
063099,000711: # CALLED BY:
063100,000712: # CA TJ TIME WHEN NEXT JETS WILL BE WRITTEN
063101,000713: # TS T6FURTHA
063102,000714: # CA INDEX AXIS TO BE WIRTTEN AT TJ (FROM NOW)
063103,000715: # TS T6FURTHA +1
063104,000716: # TC JTLST
063105,000717:
063106,000718: # EXAMPLE- U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
063107,000719: # JETS INTO CHANNEL 5 . IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
063108,000720: # 150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
063109,000721: # CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
063110,000722: # OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
063111,000723:
063112,000724: # THE LIST IS EXACTLY 3 LONG.(THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
063113,000725: # THE INPUT IS THE LAST MEMBER OF THE LIST
063114,000726:
063115,000727: # RETURNS BY:
063116,000728: # + TC Q
063117,000729:
063118,000730: # DEFINITIONS:(OUTPUT)
063119,000731: # TIME6 TIME OF NEXT RUPT
063120,000732: # T6NEXT DELTA TIME TO NEXT RUPT
063121,000733: # T6FURTHA DELTA TIME FROM 2ND TO LAST RUPT
063122,000734: # NXT6ADR AXIS INDEX Q - P-AXIS
063123,000735: # T6NEXT +1 AXIS INDEX 4 - U-AXIS
063124,000736: # T6FURTHA +1 AXIS INDEX 13 - V-AXIS
063125,000737: 17,3143 41470 JTLST CS T6FURTHA
063126,000738: 17,3144 60031 AD TIME6
063127,000739: 17,3145 00006 EXTEND
063128,000740: 17,3146 63163 BZMF MIDORLST # TIME6 - T IS IN A
063129,000741:
063130,000742: 17,3147 23465 LXCH NXT6ADR
063131,000743: 17,3150 53467 DXCH T6NEXT
063132,000744: 17,3151 53471 DXCH T6FURTHA
063133,000745: 17,3152 54031 TS TIME6
063134,000746: 17,3153 23465 LXCH NXT6ADR
063135,000747:
063136,000748: 17,3154 00006 TURNON EXTEND
063137,000749: 17,3155 23265 QXCH C13QSAV
063138,000750: 17,3156 06040 TC C13STALL
063139,000751:
063140,000752: 17,3157 34726 CA BIT15
063141,000753:
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|
Page 1455 |
063143,000755: 17,3160 00006 EXTEND
063144,000756: 17,3161 05013 WOR CHAN13
063145,000757: 17,3162 01265 TC C13QSAV
063146,000758:
063147,000759: 17,3163 61466 MIDORLST AD T6NEXT
063148,000760: 17,3164 00006 EXTEND
063149,000761: 17,3165 63174 BZMF LASTCHG # TIME6 + T6NEXT - T IS IN A
063150,000762:
063151,000763: 17,3166 23467 LXCH T6NEXT +1
063152,000764: 17,3167 53471 DXCH T6FURTHA
063153,000765: 17,3170 00006 EXTEND
063154,000766: 17,3171 60031 SU TIME6
063155,000767: 17,3172 53467 DXCH T6NEXT
063156,000768:
063157,000769: 17,3173 00002 TC Q
063158,000770:
063159,000771: 17,3174 40000 LASTCHG CS A
063160,000772: 17,3175 64745 AD NEG0
063161,000773: 17,3176 55470 TS T6FURTHA
063162,000774:
063163,000775: 17,3177 00002 TC Q
063164,000776:
063165,000777: # ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
063166,000778: # ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM. IN THE U-V SYSTEM NO CROSS-COUPLING IS
063167,000779: # PRODUCED FROM RCS JET FIRINGS. AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
063168,000780: # A AND THE V-COMPONENT IS IN L.
063169,000781:
063170,000782: 17,3200 23737 ROT-TOUV LXCH ROTEMP2 # (R) IS PUT INTO ROTEMP2
063171,000783: 17,3201 00006 EXTEND
063172,000784: 17,3202 71626 MP COEFFQ
063173,000785: 17,3203 57737 XCH ROTEMP2 # (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
063174,000786: 17,3204 00006 EXTEND
063175,000787: 17,3205 71627 MP COEFFR
063176,000788: 17,3206 54001 TS L # COEFFR.(R) IS PUT INTO L
063177,000789: 17,3207 61737 AD ROTEMP2
063178,000790: 17,3210 55736 TS ROTEMP1 # COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
063179,000791: 17,3211 13215 TCF +4
063180,000792: 17,3212 50000 INDEX A # COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
063181,000793: 17,3213 44725 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
063182,000794: 17,3214 55736 TS ROTEMP1
063183,000795: 17,3215 41737 CS ROTEMP2
063184,000796: 17,3216 60001 AD L # -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
063185,000797: 17,3217 54007 TS 7
063186,000798: 17,3220 13223 TCF +3
063187,000799: 17,3221 50000 INDEX A # -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
063188,000800: 17,3222 44725 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
063189,000801: 17,3223 23736 LXCH ROTEMP1 # COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
063190,000802: 17,3224 00002 TC Q
063191,000803: 17,3225 51743 SELCTSUB INDEX ROTINDEX
063192,000804:
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Page 1456 |
063194,000806: 17,3226 33257 CA ALLJETS
063195,000807: 17,3227 51742 INDEX NUMBERT
063196,000808: 17,3230 73263 MASK TYPEPOLY
063197,000809: 17,3231 55740 TS POLYTEMP
063198,000810:
063199,000811: 17,3232 71257 MASK CH5MASK
063200,000812: 17,3233 10000 CCS A
063201,000813: 17,3234 13236 TCF +2
063202,000814:
063203,000815: 17,3235 00002 TC Q
063204,000816:
063205,000817: 17,3236 36266 CA THREE
063206,000818: 17,3237 55742 FAILOOP TS NUMBERT
063207,000819: 17,3240 51743 INDEX ROTINDEX
063208,000820: 17,3241 33257 CA ALLJETS
063209,000821: 17,3242 51742 INDEX NUMBERT
063210,000822: 17,3243 73263 MASK TYPEPOLY
063211,000823: 17,3244 55740 TS POLYTEMP
063212,000824: 17,3245 71257 MASK CH5MASK
063213,000825: 17,3246 00006 EXTEND
063214,000826: 17,3247 13235 BZF FAILOOP -2
063215,000827: 17,3250 11742 CCS NUMBERT
063216,000828: 17,3251 13237 TCF FAILOOP
063217,000829: 17,3252 51505 INDEX AXISCTR
063218,000830: 17,3253 55525 TS TJU
063219,000831: 17,3254 05571 TC ALARM
063220,000832: 17,3255 02004 OCT 02004
063221,000833: 17,3256 13026 TCF NOROTAT
063222,000834: 17,3257 00110 ALLJETS OCT 00110 # -U 6 13
063223,000835: 17,3260 00022 OCT 00022 # -V 2 9
063224,000836: 17,3261 00204 OCT 00204 # +U 5 14
063225,000837:
063226,000838: 17,3262 00041 OCT 00041 # +V 1 10
063227,000839: 17,3263 00125 TYPEPOLY OCT 00125 # -X 1 5 9 13
063228,000840: 17,3264 00252 OCT 00252 # +X 2 6 10 14
063229,000841: 17,3265 00146 OCT 00146 # A 2 5 10 13
063230,000842: 17,3266 00231 OCT 00231 # B 1 6 9 14
063231,000843: 17,3267 00377 OCT 00377 # ALL 1 2 5 6 9 10 13 14
063232,000844:
063233,000845: # THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
063234,000846:
063235,000847: 17,3270 33272 CLOSEOUT CA ADRRUPT
063236,000848: 17,3271 07775 TC MAKERUPT
063237,000849:
063238,000850: 17,3272 03273 ADRRUPT ADRES ENDJASK
063239,000851:
063240,000852: 17,3273 53753 ENDJASK DXCH DAPARUPT
063241,000853: 17,3274 52011 DXCH ARUPT
063242,000854: 17,3275 53755 DXCH DAPBQRPT
063243,000855: 17,3276 56017 XCH BRUPT
063244,000856:
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Page 1457 |
063246,000858: 17,3277 22002 LXCH Q
063247,000859: 17,3300 34726 CAF NEGMAX # NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
063248,000860: 17,3301 53757 DXCH DAPZRUPT
063249,000861: 17,3302 52016 DXCH ZRUPT
063250,000862: 17,3303 15274 TCF NOQRSM
063251,000863: 7775 BLOCK 3
063252,000864: 6000 SETLOC FFTAG6
063253,000865: 6000 BANK
063254,000866:
063255,000867: 7775 COUNT* $$/DAP
063256,000868:
063257,000869: 7775 00006 MAKERUPT EXTEND
063258,000870: 7776 07775 EDRUPT MAKERUPT
End of include-file Q,R-AXES_RCS_AUTOPILOT.agc. Parent file is MAIN.agc