Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 56 OF AGC PROGRAM ZERLINA BY ZOROASTER 9:12 OCT. 21,1970Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files were transcribed from a printout in Don Eyles's personal
collection, scanned by archive.org, and financially sponsored by Linden Sims.
A team of volunteers performed the transcription and proof-reading. The scanned
page images are available at
the Virtual AGC Project website, as well as higher-quality (but much larger)
images at
the Virtual AGC Project's collection in the Internet Archive. Report any problems by creating
"issues" at
the Virtual AGC Project's GitHub Repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 56 OF AGC PROGRAM ZERLINA BY ZOROASTER 9:12 OCT. 21,1970Note that the date is the date of the printout, not the date of the program revision. |
062825,000002: ## Copyright: Public domain.
062826,000003: ## Filename: Q,R-AXES_RCS_AUTOPILOT.agc
062827,000004: ## Purpose: A log section of Zerlina 56, the final revision of
062828,000005: ## Don Eyles's offline development program for the variable
062829,000006: ## guidance period servicer. It also includes a new P66 with LPD
062830,000007: ## (Landing Point Designator) capability, based on an idea of John
062831,000008: ## Young's. Neither of these advanced features were actually flown,
062832,000009: ## but Zerlina was also the birthplace of other big improvements to
062833,000010: ## Luminary including the terrain model and new (Luminary 1E)
062834,000011: ## analog display programs. Zerlina was branched off of Luminary 145,
062835,000012: ## and revision 56 includes all changes up to and including Luminary
062836,000013: ## 183. It is therefore quite close to the Apollo 14 program,
062837,000014: ## Luminary 178, where not modified with new features.
062838,000015: ## Reference: pp. 1430-1447
062839,000016: ## Assembler: yaYUL
062840,000017: ## Contact: Ron Burkey <info@sandroid.org>.
062841,000018: ## Website: www.ibiblio.org/apollo/index.html
062842,000019: ## Mod history: 2017-07-28 MAS Created from Luminary 210.
062843,000020: ## 2017-08-29 MAS Updated for Zerlina 56.
062844,000021:
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Page 1430 |
062846,000023: 17,2124 BANK 17
062847,000024: 17,2000 SETLOC DAPS2
062848,000025: 17,2000 BANK
062849,000026:
062850,000027: 17,2124 E6,1634 EBANK= CDUXD
062851,000028:
062852,000029: 17,2124 COUNT* $$/DAPQR
062853,000030:
062854,000031:
062855,000032: 17,2124 34737 CALLQERR CA BIT13 # CALCULATE Q,R ERRORS UNLESS THESE AXES
062856,000033: 17,2125 00006 EXTEND # ARE IN MANUAL RATE COMMAND.
062857,000034: 17,2126 02031 RAND CHAN31
062858,000035: 17,2127 10000 CCS A
062859,000036: 17,2130 12135 TCF +5 # IN AUTO COMPUTE Q,R ERRORS
062860,000037: 17,2131 40111 CS DAPBOOLS # IN MANUAL RATE COMMAND?
062861,000038: 17,2132 74740 MASK OURRCBIT
062862,000039: 17,2133 00006 EXTEND
062863,000040: 17,2134 12136 BZF Q,RORGTS # IF SO BYPASS CALCULATION OF ERRORS.
062864,000041: 17,2135 02655 TC QERRCALC
062865,000042:
062866,000043:
062867,000044: 17,2136 11630 Q,RORGTS CCS COTROLER # CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
062868,000045: 17,2137 12636 TCF GOTOGTS # GTS (ALTERNATES WITH RCS WHEN DOCKED)
062869,000046: 17,2140 12623 TCF TRYGTS # GTS IF ALLOWED, OTHERWISE RCS
062870,000047: 17,2141 34755 RCS CAF ZERO # RCS (TRYGTS MAY BRANCH TO HERE)
062871,000048: 17,2142 55630 TS COTROLER
062872,000049:
062873,000050: 17,2143 53437 DXCH EDOTQ
062874,000051: 17,2144 03200 TC ROT-TOUV
062875,000052: 17,2145 53427 DXCH OMEGAU
062876,000053:
062877,000054: # X - TRANSLATION:
062878,000055:
062879,000056: # INPUT: BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
062880,000057: # ULLAGER
062881,000058: # APSFLAG, DRIFTBIT
062882,000059: # ACC40R2X, ACRBTRAN
062883,000060:
062884,000061: # OUTPUT: NEXTU, NEXTV CODES OF TRANSLATION FOR AFTER ROTATION
062885,000062: # SENSETYP TELL ROTATION DIRECTION AND DESIRE
062886,000063:
062887,000064: # X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR. IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED. A FAILURE
062888,000065: # WILL OVERRIDE THIS SPECIFICATION. AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
062889,000066:
062890,000067: 17,2146 34745 SENSEGET CA BIT7 # INPUT BITS OVERRIDE THE INTERNAL BITS
062891,000068: 17,2147 00006 EXTEND # SENSETYP WILL NOT OPPOSE ANYTRANS
062892,000069: 17,2150 02031 RAND CHAN31
062893,000070: 17,2151 00006 EXTEND
062894,000071: 17,2152 12200 BZF +XORULGE
062895,000072:
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Page 1431 |
062897,000074: 17,2153 34744 CA BIT8
062898,000075: 17,2154 00006 EXTEND
062899,000076: 17,2155 02031 RAND CHAN31
062900,000077: 17,2156 00006 EXTEND
062901,000078: 17,2157 12201 BZF -XTRANS
062902,000079:
062903,000080: 17,2160 34746 CA ULLAGER
062904,000081: 17,2161 70111 MASK DAPBOOLS
062905,000082: 17,2162 10000 CCS A
062906,000083: 17,2163 12200 TCF +XORULGE
062907,000084:
062908,000085: 17,2164 55473 TS NEXTU # STORE NULL TRANSLATION POLICIES
062909,000086: 17,2165 55474 TS NEXTV
062910,000087: 17,2166 40111 CS DAPBOOLS # BURNING OR DRIFTING?
062911,000088: 17,2167 74744 MASK DRIFTBIT
062912,000089: 17,2170 00006 EXTEND
062913,000090: 17,2171 12176 BZF TSENSE
062914,000091: 17,2172 30106 CA FLGWRD10 # DPS (INCLUDING DOCKED) OR APS?
062915,000092: 17,2173 74737 MASK APSFLBIT
062916,000093: 17,2174 10000 CCS A
062917,000094: 17,2175 34752 CAF TWO # FAVOR +X JETS DURING AN APS BURN.
062918,000095: 17,2176 55500 TSENSE TS SENSETYP
062919,000096: 17,2177 12232 TCF QRCONTRL
062920,000097:
062921,000098: 17,2200 34753 +XORULGE CAF ONE
062922,000099: 17,2201 64751 -XTRANS AD FOUR
062923,000100: 17,2202 55743 TS ROTINDEX
062924,000101: 17,2203 67757 AD NEG3
062925,000102: 17,2204 55500 TS SENSETYP # FAVOR APPROPRIATE JETS DURING TRANS.
062926,000103: 17,2205 30111 CA DAPBOOLS
062927,000104: 17,2206 74741 MASK ACC4OR2X
062928,000105: 17,2207 10000 CCS A
062929,000106: 17,2210 12352 TCF TRANS4
062930,000107:
062931,000108: 17,2211 30111 CA DAPBOOLS
062932,000109: 17,2212 74742 MASK AORBTRAN
062933,000110: 17,2213 10000 CCS A
062934,000111: 17,2214 34753 CA ONE # THREE FOR B
062935,000112: 17,2215 64752 AD TWO # TWO FOR A SYSTEM 2 JET X TRANS
062936,000113: 17,2216 55742 TSNUMBRT TS NUMBERT
062937,000114:
062938,000115: 17,2217 03225 TC SELCTSUB
062939,000116:
062940,000117: 17,2220 11740 CCS POLYTEMP
062941,000118: 17,2221 12224 TCF +3
062942,000119: 17,2222 05600 TC ALARM
062943,000120: 17,2223 02002 OCT 02002
062944,000121: 17,2224 35775 CA 00314OCT
062945,000122: 17,2225 71740 MASK POLYTEMP
062946,000123: 17,2226 55473 TSNEXTS TS NEXTU
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Page 1432 |
062948,000125: 17,2227 45775 CS 00314OCT
062949,000126: 17,2230 71740 MASK POLYTEMP
062950,000127: 17,2231 55474 TS NEXTV
062951,000128:
062952,000129: # Q,R-AXES RCS CONTROL MODE SELECTION
062953,000130:
062954,000131: # SWITCHES INDICATION WHEN SET
062955,000132:
062956,000133: # BIT13/CHAN31 AUTO, GO TO ATTSTEER
062957,000134: # PULSES MINIMUM IMPULSE MODE
062958,000135: # (OTHERWISE) RATE COMMAND/ATTITUDE HOLD MODE
062959,000136:
062960,000137: 17,2232 34737 QRCONTRL CA BIT13 # CHECK MODE SELECT SWITCH.
062961,000138: 17,2233 00006 EXTEND
062962,000139: 17,2234 02031 RAND CHAN31 # BITS INVERTED
062963,000140: 17,2235 10000 CCS A
062964,000141: 17,2236 12710 TCF ATTSTEER
062965,000142: 17,2237 34735 CHKBIT10 CAF PULSES # PULSES = 1 FOR MIN IMP USE OF RHC
062966,000143: 17,2240 70111 MASK DAPBOOLS
062967,000144: 17,2241 00006 EXTEND
062968,000145: 17,2242 12354 BZF CHEKSTIK # IN ATT-HOLD/RATE-COMMAND IF BIT10=0
062969,000146:
062970,000147: # MINIMUM IMPULSE MODE
062971,000148:
062972,000149: 17,2243 00004 INHINT
062973,000150: 17,2244 04674 TC IBNKCALL
062974,000151: 17,2245 40154 CADR ZATTEROR
062975,000152: 17,2246 34755 CA ZERO
062976,000153: 17,2247 55450 TS QERROR
062977,000154: 17,2250 55452 TS RERROR # FOR DISPLAYS
062978,000155: 17,2251 00003 RELINT
062979,000156:
062980,000157: 17,2252 00006 EXTEND
062981,000158: 17,2253 00031 READ CHAN31
062982,000159: 17,2254 55736 TS TEMP31 # IS EQUAL TO DAPTEMP1
062983,000160: 17,2255 11461 CCS OLDQRMIN
062984,000161: 17,2256 12300 TCF CHECKIN
062985,000162:
062986,000163: 17,2257 31736 FIREQR CA TEMP31
062987,000164: 17,2260 74753 MASK BIT1
062988,000165: 17,2261 00006 EXTEND
062989,000166: 17,2262 12304 BZF +QMIN
062990,000167:
062991,000168: 17,2263 31736 CA TEMP31
062992,000169: 17,2264 74752 MASK BIT2
062993,000170: 17,2265 00006 EXTEND
062994,000171: 17,2266 12310 BZF -QMIN
062995,000172:
062996,000173: 17,2267 31736 CA TEMP31
062997,000174: 17,2270 74747 MASK BIT5
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Page 1433 |
062999,000176: 17,2271 00006 EXTEND
063000,000177: 17,2272 12314 BZF +RMIN
063001,000178:
063002,000179: 17,2273 31736 CA TEMP31
063003,000180: 17,2274 74746 MASK BIT6
063004,000181: 17,2275 00006 EXTEND
063005,000182: 17,2276 12316 BZF -RMIN
063006,000183:
063007,000184: 17,2277 13112 TCF XTRANS
063008,000185:
063009,000186: 17,2300 41736 CHECKIN CS TEMP31
063010,000187: 17,2301 72351 MASK OCT63
063011,000188: 17,2302 55461 TS OLDQRMIN
063012,000189: 17,2303 13112 TCF XTRANS
063013,000190:
063014,000191: 17,2304 33136 +QMIN CA 14MS
063015,000192: 17,2305 55525 TS TJU
063016,000193: 17,2306 43136 CS 14MS
063017,000194: 17,2307 12320 TCF MINQR
063018,000195: 17,2310 43136 -QMIN CS 14MS
063019,000196: 17,2311 55525 TS TJU
063020,000197: 17,2312 33136 CA 14MS
063021,000198: 17,2313 12320 TCF MINQR
063022,000199: 17,2314 33136 +RMIN CA 14MS
063023,000200: 17,2315 12317 TCF +2
063024,000201: 17,2316 43136 -RMIN CS 14MS
063025,000202: 17,2317 55525 TS TJU
063026,000203: 17,2320 55526 MINQR TS TJV
063027,000204: 17,2321 32350 CA MINADR
063028,000205: 17,2322 55477 TS RETJADR
063029,000206: 17,2323 34753 CA ONE
063030,000207: 17,2324 55461 TS OLDQRMIN
063031,000208: 17,2325 55505 MINRTN TS AXISCTR
063032,000209: 17,2326 30111 CA DAPBOOLS
063033,000210: 17,2327 74737 MASK CSMDOCKD
063034,000211: 17,2330 00006 EXTEND
063035,000212: 17,2331 12341 BZF MIMRET
063036,000213: 17,2332 51505 INDEX AXISCTR # IF DOCKED, USE 60MS MINIMUM IMPULSE
063037,000214: 17,2333 11525 CCS TJU
063038,000215: 17,2334 34776 CA 60MS
063039,000216: 17,2335 12337 TCF +2
063040,000217: 17,2336 44776 CS 60MS
063041,000218: 17,2337 51505 INDEX AXISCTR
063042,000219: 17,2340 55525 TS TJU
063043,000220: 17,2341 30111 MIMRET CA DAPBOOLS
063044,000221: 17,2342 74742 MASK AORBTRAN
063045,000222: 17,2343 10000 CCS A
063046,000223: 17,2344 34753 CA ONE
063047,000224: 17,2345 64752 AD TWO
063048,000225: 17,2346 55742 TS NUMBERT
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Page 1434 |
063050,000227: 17,2347 12756 TCF AFTERTJ
063051,000228:
063052,000229: 17,2350 4776 60MS = OCT140
063053,000230: 17,2350 02325 MINADR GENADR MINRTN
063054,000231: 17,2351 00063 OCT63 OCT 63
063055,000232: 17,2352 17,3136 14MS = +TJMINT6
063056,000233:
063057,000234: 17,2352 34751 TRANS4 CA FOUR
063058,000235: 17,2353 12216 TCF TSNUMBRT
063059,000236:
063060,000237: # RATE COMMAND MODE:
063061,000238:
063062,000239: # DESCRIPTION (SAME AS P-AXIS)
063063,000240:
063064,000241: 17,2354 55632 CHEKSTIK TS INGTS # NOT IN GTS WHEN IN ATT HOLD
063065,000242: 17,2355 44753 CS ONE # 1/ACCS WILL DO THE NULLING DRIVES
063066,000243: 17,2356 55630 TS COTROLER # COME BACK TO RCS NEXT TIME
063067,000244: 17,2357 34735 CA BIT15
063068,000245: 17,2360 71443 MASK CH31TEMP
063069,000246: 17,2361 00006 EXTEND
063070,000247: 17,2362 12377 BZF RHCACTIV # BRANCH IF OUT OF DETENT.
063071,000248: 17,2363 34740 CA OURRCBIT # ***********
063072,000249: 17,2364 70111 MASK DAPBOOLS # *IN DETENT* CHECK FOR MANUAL CONTROL
063073,000250: 17,2365 00006 EXTEND # *********** LAST TIME.
063074,000251: 17,2366 12710 BZF STILLRCS
063075,000252: 17,2367 44743 CS BIT9
063076,000253: 17,2370 71262 MASK RCSFLAGS
063077,000254: 17,2371 55262 TS RCSFLAGS # BIT 9 IS 0.
063078,000255: 17,2372 12374 TCF DAMPING
063079,000256: 17,2373 4771 40CYCL = OCT50
063080,000257: 17,2373 4753 1/10S = BIT1
063081,000258: 17,2373 00056 LINRAT DEC 46 B-14
063082,000259: # ================================
063083,000260: 17,2374 34755 DAMPING CA ZERO
063084,000261: 17,2375 55462 TS SAVEHAND
063085,000262: 17,2376 55463 TS SAVEHAND +1
063086,000263: 17,2377 11462 RHCACTIV CCS SAVEHAND # *******************
063087,000264: 17,2400 12403 TCF +3 # Q,R MANUAL CONTROL WC = A*(B+|D|)*D
063088,000265: 17,2401 12403 TCF +2 # *******************
063089,000266: 17,2402 12403 TCF +1
063090,000267: 17,2403 60000 DOUBLE # WHERE
063091,000268: 17,2404 60000 DOUBLE
063092,000269: 17,2405 62373 AD LINRAT # WC = COMMANDED ROTATIONAL RATE
063093,000270: 17,2406 00006 EXTEND # A = QUADRATIC SENSITIVITY FACTOR
063094,000271: 17,2407 71462 MP SAVEHAND # B = LINEAR/QUADRATIC SENSITIVITY
063095,000272: 17,2410 30001 CA L # |D|= ABS. VALUE OF DEFLECTION
063096,000273: 17,2411 00006 EXTEND # D = HAND CONTROLLER DEFLECTION
063097,000274: 17,2412 71444 MP STIKSENS
063098,000275: 17,2413 57455 XCH QLAST # COMMAND Q RATE SCALED 45 DEG/SEC
063099,000276: 17,2414 40000 COM
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Page 1435 |
063101,000278: 17,2415 61455 AD QLAST
063102,000279: 17,2416 55740 TS DAPTEMP3
063103,000280: 17,2417 11463 CCS SAVEHAND +1
063104,000281: 17,2420 12423 TCF +3
063105,000282: 17,2421 12423 TCF +2
063106,000283: 17,2422 12423 TCF +1
063107,000284: 17,2423 60000 DOUBLE
063108,000285: 17,2424 60000 DOUBLE
063109,000286: 17,2425 62373 AD LINRAT
063110,000287: 17,2426 00006 EXTEND
063111,000288: 17,2427 71463 MP SAVEHAND +1
063112,000289: 17,2430 30001 CA L
063113,000290: 17,2431 00006 EXTEND
063114,000291: 17,2432 71444 MP STIKSENS
063115,000292: 17,2433 57456 XCH RLAST
063116,000293: 17,2434 40000 COM
063117,000294: 17,2435 61456 AD RLAST
063118,000295: 17,2436 55741 TS DAPTEMP4
063119,000296: 17,2437 41455 CS QLAST # INTERVAL.
063120,000297: 17,2440 61422 AD OMEGAQ
063121,000298: 17,2441 55436 TS QRATEDIF
063122,000299: 17,2442 41456 CS RLAST
063123,000300: 17,2443 61423 AD OMEGAR
063124,000301: 17,2444 55437 TS RRATEDIF
063125,000302: 17,2445 53437 ENTERQR DXCH QRATEDIF # TRANSFORM RATES FROM Q,R TO U,V AXES
063126,000303: 17,2446 03200 TC ROT-TOUV
063127,000304: 17,2447 53427 DXCH URATEDIF
063128,000305: 17,2450 00004 INHINT # SET AUTO DESIRED ATTITUDE TO ACTUAL
063129,000306: 17,2451 04674 TC IBNKCALL # ATTITUDE AND ZERO AUTO DESIRED RATE
063130,000307: 17,2452 40154 FCADR ZATTEROR
063131,000308: 17,2453 00003 RELINT
063132,000309: 17,2454 11740 CCS DAPTEMP3 # CHECK IF Q COMMAND CHANGE EXCEEDS
063133,000310: 17,2455 02460 TC +3 # BREAKOUT LEVEL. IF NOT, CHECK R.
063134,000311: 17,2456 02460 TC +2
063135,000312: 17,2457 02460 TC +1
063136,000313: 17,2460 61476 AD -RATEDB
063137,000314: 17,2461 00006 EXTEND
063138,000315: 17,2462 62464 BZMF +2
063139,000316: 17,2463 12502 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
063140,000317: 17,2464 11741 CCS DAPTEMP4 # R COMMAND BREAKOUT CHECK.
063141,000318: 17,2465 02470 TC +3
063142,000319: 17,2466 02470 TC +2
063143,000320: 17,2467 02470 TC +1
063144,000321: 17,2470 61476 AD -RATEDB
063145,000322: 17,2471 00006 EXTEND
063146,000323: 17,2472 62474 BZMF +2
063147,000324: 17,2473 12502 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
063148,000325: 17,2474 31262 CA RCSFLAGS # BREAKOUT LEVEL NOT EXCEEDED. CHECK FOR
063149,000326: 17,2475 74741 MASK QRBIT # DIRECT RATE CONTROL LAST TIME.
063150,000327: 17,2476 00006 EXTEND
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Page 1436 |
063152,000329: 17,2477 12501 BZF +2
063153,000330: 17,2500 12504 TCF ENTERUV # CONTINUE DIRECT RATE CONTROL.
063154,000331: 17,2501 12710 TCF STILLRCS # PSEUDO-AUTO CONTROL.
063155,000332: 17,2502 34771 CA 40CYCL
063156,000333: 17,2503 55457 TS TCQR
063157,000334: 17,2504 34755 ENTERUV CA ZERO # *** DIRECT RATE CONTROL ***
063158,000335: 17,2505 55450 TS DYERROR
063159,000336: 17,2506 55451 TS DYERROR +1
063160,000337: 17,2507 55452 TS DZERROR
063161,000338: 17,2510 55453 TS DZERROR +1
063162,000339: 17,2511 11426 CCS URATEDIF
063163,000340: 17,2512 12515 TCF +3
063164,000341: 17,2513 12515 TCF +2
063165,000342: 17,2514 12515 TCF +1
063166,000343: 17,2515 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
063167,000344: 17,2516 00006 EXTEND # DIRECT RATE CONTROL.
063168,000345: 17,2517 62533 BZMF VDB
063169,000346: 17,2520 11427 CCS VRATEDIF
063170,000347: 17,2521 12524 TCF +3
063171,000348: 17,2522 12524 TCF +2
063172,000349: 17,2523 12524 TCF +1
063173,000350: 17,2524 61476 AD TARGETDB
063174,000351: 17,2525 00006 EXTEND
063175,000352: 17,2526 62530 BZMF +2
063176,000353: 17,2527 12544 TCF QRTIME
063177,000354: 17,2530 34755 CA ZERO
063178,000355: 17,2531 55427 TS VRATEDIF
063179,000356: 17,2532 12544 TCF QRTIME
063180,000357: 17,2533 11427 VDB CCS VRATEDIF
063181,000358: 17,2534 02537 TC +3
063182,000359: 17,2535 02537 TC +2
063183,000360: 17,2536 02537 TC +1
063184,000361: 17,2537 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
063185,000362: 17,2540 00006 EXTEND # DIRECT RATE CONTROL. IF NOT, FIRE AND
063186,000363: 17,2541 62553 BZMF TOPSEUDO # SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
063187,000364: 17,2542 34755 CA ZERO # PASS.
063188,000365: 17,2543 55426 TS URATEDIF
063189,000366: 17,2544 31457 QRTIME CA TCQR # DIRECT RATE TIME CHECK.
063190,000367: 17,2545 00006 EXTEND
063191,000368: 17,2546 62553 BZMF +5 # BRANCH IF TIME EXCEEDS 4 SEC.
063192,000369: 17,2547 41262 CS RCSFLAGS
063193,000370: 17,2550 74741 MASK QRBIT
063194,000371: 17,2551 27262 ADS RCSFLAGS # BIT 11 IS 1.
063195,000372: 17,2552 02556 TC +4
063196,000373: 17,2553 44741 TOPSEUDO CS QRBIT
063197,000374: 17,2554 71262 MASK RCSFLAGS
063198,000375: 17,2555 55262 TS RCSFLAGS # BIT 11 IS 0.
063199,000376: 17,2556 32622 CA HANDADR
063200,000377: 17,2557 55477 TS RETJADR
063201,000378: 17,2560 34753 CA ONE
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Page 1437 |
063203,000380: 17,2561 55505 BACKHAND TS AXISCTR
063204,000381:
063205,000382: 17,2562 34751 CA FOUR
063206,000383: 17,2563 55742 TS NUMBERT
063207,000384:
063208,000385: 17,2564 51505 INDEX AXISCTR
063209,000386: 17,2565 51534 INDEX SKIPU
063210,000387: 17,2566 12567 TCF +1
063211,000388: 17,2567 34751 CA FOUR
063212,000389: 17,2570 51505 INDEX AXISCTR
063213,000390: 17,2571 55534 TS SKIPU
063214,000391: 17,2572 13034 TCF LOOPER
063215,000392:
063216,000393: 17,2573 51505 INDEX AXISCTR
063217,000394: 17,2574 11426 CCS URATEDIF # INDEX AXIS QUANITY
063218,000395: 17,2575 34755 CA ZERO # 0 -U 1/JETACC-AOSU
063219,000396: 17,2576 12600 TCF +2 # 1 +U 1/JETACC+AOSU
063220,000397: 17,2577 34753 CA ONE # 16 -V 1/JETACC-AOSV
063221,000398: 17,2600 51505 INDEX AXISCTR # 17 +V 1/JETACC+AOSV
063222,000399: 17,2601 63755 AD AXISDIFF # JETACC = 2 JET ACCELERATION (1 FOR FAIL)
063223,000400:
063224,000401: 17,2602 50000 INDEX A
063225,000402: 17,2603 41570 CS 1/ANET2 +1
063226,000403: 17,2604 00006 EXTEND
063227,000404: 17,2605 51505 INDEX AXISCTR # URATEDIF IS SCALED AT PI/4 RAD/SEC
063228,000405: 17,2606 71426 MP URATEDIF # JET TIME IN A SCALED 32 SEC
063229,000406: 17,2607 54002 TS Q
063230,000407: 17,2610 20001 DAS A
063231,000408: 17,2611 60002 AD Q
063232,000409: 17,2612 54000 TS A # OVERFLOW SKIP
063233,000410: 17,2613 12615 TCF +2
063234,000411: 17,2614 30002 CA Q # RIGHT SIGN AND BIGGER THAN 150MS
063235,000412: 17,2615 51505 SETTIME INDEX AXISCTR
063236,000413: 17,2616 55525 TS TJU # SCALED AT 10.67 WHICH IS CLOSE TO 10.24
063237,000414: 17,2617 12756 TCF AFTERTJ
063238,000415:
063239,000416: 17,2620 34755 ZEROTJ CA ZERO
063240,000417: 17,2621 12615 TCF SETTIME
063241,000418:
063242,000419: 17,2622 02561 HANDADR GENADR BACKHAND
063243,000420:
063244,000421: # GTS WILL BE TRIED IF
063245,000422: # 1. USEQRJTS= 0,
063246,000423: # 2. ALLOWGTS POS,
063247,000424: # 3. JETS ARE OFF(Q,R-AXES)
063248,000425: 17,2623 34736 TRYGTS CAF USEQRJTS # IS JET USE MANDATORY. (AS LONG AS
063249,000426: 17,2624 70111 MASK DAPBOOLS # USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
063250,000427: 17,2625 10000 CCS A
063251,000428: 17,2626 12141 TCF RCS
063252,000429: 17,2627 11502 CCS ALLOWGTS # NO. DOES AOSTASK OK CONTROL FOR GTS?
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|
Page 1438 |
063254,000431: 17,2630 12632 TCF +2
063255,000432: 17,2631 12141 TCF RCS
063256,000433: 17,2632 00006 EXTEND
063257,000434: 17,2633 00005 READ CHAN5
063258,000435: 17,2634 10000 CCS A
063259,000436: 17,2635 12641 TCF CHKINGTS
063260,000437: 17,2636 00006 GOTOGTS EXTEND
063261,000438: 17,2637 32654 DCA GTSCADR
063262,000439: 17,2640 52006 DTCB
063263,000440:
063264,000441: 17,2641 11632 CHKINGTS CCS INGTS # WAS THE TRIM GIMBAL CONTROLLING
063265,000442: 17,2642 12644 TCF +2 # YES. SET UP A DAMPED NULLING DRIVE.
063266,000443: 17,2643 12141 TCF RCS # NO. NULLING WAS SET UP BEFORE. DO RCS
063267,000444: 17,2644 00004 INHINT
063268,000445: 17,2645 04674 TC IBNKCALL
063269,000446: 17,2646 43232 CADR TIMEGMBL
063270,000447: 17,2647 00003 RELINT
063271,000448: 17,2650 34755 CAF ZERO
063272,000449: 17,2651 55632 TS INGTS
063273,000450: 17,2652 12141 TCF RCS
063274,000451:
063275,000452: 17,2653 E6,1634 EBANK= CDUXD
063276,000453: 17,2653 03001 42106 GTSCADR 2CADR GTS
063277,000454:
063278,000455:
|
|
Page 1439 |
063280,000457: # SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
063281,000458:
063282,000459: 17,2655 30033 QERRCALC CAE CDUY # Q-ERROR CALCULATION
063283,000460: 17,2656 00006 EXTEND
063284,000461: 17,2657 21635 MSU CDUYD # CDU ANGLE - ANGLE DESIRED (Y-AXIS)
063285,000462: 17,2660 55736 TS DAPTEMP1 # SAVE FOR RERRCALC
063286,000463: 17,2661 00006 EXTEND
063287,000464: 17,2662 71415 MP M21 # (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
063288,000465: 17,2663 55751 TS E
063289,000466: 17,2664 30034 CAE CDUZ # SECOND TERM CALCULATION:
063290,000467: 17,2665 00006 EXTEND
063291,000468: 17,2666 21636 MSU CDUZD # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
063292,000469: 17,2667 55737 TS DAPTEMP2 # SAVE FOR RERRCALC
063293,000470: 17,2670 00006 EXTEND
063294,000471: 17,2671 71417 MP M22 # (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
063295,000472: 17,2672 61275 AD DELQEROR # KALCMANU INERFACE ERROR
063296,000473: 17,2673 61751 AD E
063297,000474: 17,2674 57450 XCH QERROR # SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
063298,000475:
063299,000476: 17,2675 31736 RERRCALC CAE DAPTEMP1 # R-ERROR CALCULATION:
063300,000477: 17,2676 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Y-AXIS)
063301,000478: 17,2677 71416 MP M31 # (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
063302,000479: 17,2700 55751 TS E
063303,000480: 17,2701 31737 CAE DAPTEMP2 # SECOND TERM CALCULATION:
063304,000481: 17,2702 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
063305,000482: 17,2703 71420 MP M32 # (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
063306,000483: 17,2704 61276 AD DELREROR # KALCMANU INERFACE ERROR
063307,000484: 17,2705 61751 AD E
063308,000485: 17,2706 57452 XCH RERROR # SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
063309,000486: 17,2707 00002 TC Q
063310,000487:
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|
Page 1440 |
063312,000489: # "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
063313,000490:
063314,000491: 17,2710 17,2710 ATTSTEER EQUALS STILLRCS # "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
063315,000492:
063316,000493: 17,2710 31452 STILLRCS CA RERROR
063317,000494: 17,2711 22000 LXCH A
063318,000495: 17,2712 31450 CA QERROR
063319,000496: 17,2713 03200 TC ROT-TOUV
063320,000497: 17,2714 53751 DXCH UERROR
063321,000498:
063322,000499: # PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
063323,000500: # PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
063324,000501: 17,2715 33142 TJLAW CA TJLAWADR
063325,000502: 17,2716 55477 TS RETJADR
063326,000503: 17,2717 34753 CA ONE
063327,000504: 17,2720 55505 TS AXISCTR
063328,000505: 17,2721 51505 INDEX AXISCTR
063329,000506: 17,2722 51534 INDEX SKIPU
063330,000507: 17,2723 12724 TCF +1
063331,000508: 17,2724 34751 CA FOUR
063332,000509: 17,2725 51505 INDEX AXISCTR
063333,000510: 17,2726 55534 TS SKIPU
063334,000511: 17,2727 13034 TCF LOOPER
063335,000512: 17,2730 51505 INDEX AXISCTR
063336,000513: 17,2731 31750 CA UERROR
063337,000514: 17,2732 55751 TS E
063338,000515: 17,2733 51505 INDEX AXISCTR
063339,000516: 17,2734 31426 CA OMEGAU
063340,000517: 17,2735 55427 TS EDOT
063341,000518: 17,2736 30111 CA DAPBOOLS
063342,000519: 17,2737 74737 MASK CSMDOCKD
063343,000520: 17,2740 10000 CCS A
063344,000521: 17,2741 12744 TCF +3
063345,000522: 17,2742 03304 TC TJETLAW
063346,000523: 17,2743 12756 TCF AFTERTJ
063347,000524: 17,2744 40111 +3 CS DAPBOOLS # DOCKED. IF GIMBAL USABLE DO GTS CONTROL
063348,000525: 17,2745 74736 MASK USEQRJTS # ON THE NEXT PASS.
063349,000526: 17,2746 10000 CCS A # USEQRJTS BIT MUST NOT BE BIT 15.
063350,000527: 17,2747 55630 TS COTROLER # GIMBAL USABLE. STORE POSITIVE VALUE.
063351,000528: 17,2750 00004 INHINT
063352,000529: 17,2751 04674 TC IBNKCALL
063353,000530: 17,2752 43641 CADR SPSRCS # DETERMINE RCS CONTROL
063354,000531: 17,2753 00003 RELINT
063355,000532: 17,2754 34751 CAF FOUR # ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
063356,000533: 17,2755 55742 TS NUMBERT # FALL THROUGH TO JET SELECTION, ETC.
063357,000534:
063358,000535: # Q,R-JET-SELECTION-LOGIC
063359,000536:
063360,000537: # INPUT: AXISCTR 0,1 FOR U,V
063361,000538: # SNUFFBIT ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN
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|
Page 1441 |
063363,000540: # TJU,TJV JET TIME SCALED 10.24 SEC.
063364,000541: # NUMBERT INDICATES NUMBER OF JETS AND TYPE OF POLICY
063365,000542: # RETJADR WHERE TO RETURN TO
063366,000543:
063367,000544: # OUTPUT: NO.U(V)JETS RATE DERIVATION FEEDBACK
063368,000545: # CHANNEL 5
063369,000546: # SKIPU,SKIRV FOR LESS THAN 150MS FIRING
063370,000547:
063371,000548: # NOTES: IN CASE OF FAILURE IN DESIRED ROTATION POLICY,"ALL" UNFAILED
063372,000549: # JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY
063373,000550: # TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT
063374,000551: # IF NONE CAN BE FOUND.
063375,000552:
063376,000553: # TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
063377,000554: # MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
063378,000555:
063379,000556: 17,2756 30101 AFTERTJ CA FLAGWRD5 # IF SNUFFBIT SET DURING A DPS BURN GO TO
063380,000557: 17,2757 74737 MASK SNUFFBIT # XTRANS; THAT IS, INHIBIT CONTROL.
063381,000558: 17,2760 00006 EXTEND
063382,000559: 17,2761 12772 BZF DOROTAT
063383,000560: 17,2762 40106 CS FLGWRD10
063384,000561: 17,2763 74737 MASK APSFLBIT
063385,000562: 17,2764 00006 EXTEND
063386,000563: 17,2765 12772 BZF DOROTAT
063387,000564: 17,2766 30111 CA DAPBOOLS
063388,000565: 17,2767 74744 MASK DRIFTBIT
063389,000566: 17,2770 00006 EXTEND
063390,000567: 17,2771 13112 BZF XTRANS
063391,000568:
063392,000569: 17,2772 34752 DOROTAT CAF TWO
063393,000570: 17,2773 54001 TS L
063394,000571: 17,2774 51505 INDEX AXISCTR
063395,000572: 17,2775 11525 CCS TJU
063396,000573: 17,2776 13003 TCF +5
063397,000574: 17,2777 13026 TCF NOROTAT
063398,000575: 17,3000 13002 TCF +2
063399,000576: 17,3001 13026 TCF NOROTAT
063400,000577: 17,3002 22007 ZL
063401,000578: 17,3003 64753 AD ONE
063402,000579: 17,3004 55736 TS ABSTJ
063403,000580:
063404,000581: 17,3005 31505 CA AXISCTR
063405,000582: 17,3006 60001 AD L
063406,000583: 17,3007 55743 TS ROTINDEX # 0 1 2 3 = -U -V -+U +V
063407,000584:
063408,000585: 17,3010 31736 CA ABSTJ
063409,000586: 17,3011 63137 AD -150MS
063410,000587: 17,3012 00006 EXTEND
063411,000588: 17,3013 63037 BZMF DOSKIP
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|
Page 1442 |
063413,000590: 17,3014 03225 TC SELCTSUB
063414,000591:
063415,000592: 17,3015 51505 INDEX AXISCTR
063416,000593: 17,3016 33134 CA INDEXES
063417,000594: 17,3017 54001 TS L
063418,000595:
063419,000596: 17,3020 31740 CA POLYTEMP
063420,000597: 17,3021 00004 INHINT
063421,000598: 17,3022 50001 INDEX L
063422,000599: 17,3023 05755 TC WRITEP
063423,000600:
063424,000601: 17,3024 00003 RELINT
063425,000602: 17,3025 13100 TCF FEEDBACK
063426,000603:
063427,000604: 17,3026 51505 NOROTAT INDEX AXISCTR
063428,000605: 17,3027 33134 CA INDEXES
063429,000606: 17,3030 00004 INHINT
063430,000607: 17,3031 50000 INDEX A
063431,000608: 17,3032 05754 TC WRITEP -1
063432,000609:
063433,000610: 17,3033 00003 RELINT
063434,000611: 17,3034 11505 LOOPER CCS AXISCTR
063435,000612: 17,3035 01477 TC RETJADR
063436,000613: 17,3036 13270 TCF CLOSEOUT
063437,000614: 17,3037 41736 DOSKIP CS ABSTJ
063438,000615: 17,3040 63136 AD +TJMINT6 # 14MS
063439,000616: 17,3041 00006 EXTEND
063440,000617: 17,3042 63061 BZMF NOTMIN
063441,000618:
063442,000619: 17,3043 27736 ADS ABSTJ
063443,000620: 17,3044 51505 INDEX AXISCTR
063444,000621: 17,3045 11525 CCS TJU
063445,000622: 17,3046 33136 CA +TJMINT6
063446,000623: 17,3047 13051 TCF +2
063447,000624: 17,3050 43136 CS +TJMINT6
063448,000625: 17,3051 51505 INDEX AXISCTR
063449,000626: 17,3052 55525 TS TJU
063450,000627:
063451,000628: 17,3053 11500 CCS SENSETYP # ENSURE MIN-IMPULSE NOT AGAINST TRANS
063452,000629: 17,3054 13060 TCF NOTMIN -1
063453,000630: 17,3055 00006 EXTEND
063454,000631: 17,3056 00004 READ LOSCALAR
063455,000632: 17,3057 74753 MASK ONE
063456,000633: 17,3060 55742 TS NUMBERT
063457,000634:
063458,000635: 17,3061 03225 NOTMIN TC SELCTSUB
063459,000636:
063460,000637: 17,3062 51505 INDEX AXISCTR
063461,000638: 17,3063 33134 CA INDEXES
063462,000639: 17,3064 00004 INHINT
063463,000640:
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|
Page 1443 |
063465,000642: 17,3065 55471 TS T6FURTHA +1
063466,000643: 17,3066 31740 CA POLYTEMP
063467,000644: 17,3067 51471 INDEX T6FURTHA +1
063468,000645: 17,3070 05755 TC WRITEP
063469,000646:
063470,000647: 17,3071 31736 CA ABSTJ
063471,000648: 17,3072 55470 TS T6FURTHA
063472,000649: 17,3073 03143 TC JTLST # IN QR BANK BY NOW
063473,000650:
063474,000651: 17,3074 00003 RELINT
063475,000652:
063476,000653: 17,3075 34755 CA ZERO
063477,000654: 17,3076 51505 INDEX AXISCTR
063478,000655: 17,3077 55534 TS SKIPU
063479,000656:
063480,000657: 17,3100 46257 FEEDBACK CS THREE
063481,000658: 17,3101 61742 AD NUMBERT
063482,000659: 17,3102 00006 EXTEND
063483,000660: 17,3103 63106 BZMF +3
063484,000661:
063485,000662: 17,3104 34752 CA TWO
063486,000663: 17,3105 13107 TCF +2
063487,000664: 17,3106 34753 CA ONE
063488,000665: 17,3107 51505 INDEX AXISCTR
063489,000666: 17,3110 55522 TS NO.UJETS
063490,000667: 17,3111 13034 TCF LOOPER
063491,000668:
063492,000669: 17,3112 34755 XTRANS CA ZERO
063493,000670: 17,3113 55525 TS TJU
063494,000671: 17,3114 55526 TS TJV
063495,000672: 17,3115 34751 CA FOUR
063496,000673: 17,3116 00004 INHINT
063497,000674: 17,3117 57534 XCH SKIPU
063498,000675: 17,3120 00006 EXTEND
063499,000676: 17,3121 13123 BZF +2
063500,000677: 17,3122 05760 TC WRITEU -1
063501,000678: 17,3123 34751 CA FOUR
063502,000679: 17,3124 57535 XCH SKIPV
063503,000680: 17,3125 00003 RELINT
063504,000681:
063505,000682: 17,3126 00006 EXTEND
063506,000683: 17,3127 13270 BZF CLOSEOUT
063507,000684: 17,3130 00004 INHINT
063508,000685: 17,3131 05771 TC WRITEV -1
063509,000686: 17,3132 00003 RELINT
063510,000687:
063511,000688: 17,3133 13270 TCF CLOSEOUT
063512,000689: 17,3134 00004 INDEXES DEC 4 B-14
063513,000690: 17,3135 00015 DEC 13 B-14
063514,000691: 17,3136 00026 +TJMINT6 DEC 22 B-14
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|
Page 1444 |
063516,000693: 17,3137 77417 -150MS DEC -240 B-14
063517,000694: 17,3140 00600 BIT8,9 OCT 00600
063518,000695: 17,3141 00266 SCLNORM OCT 266
063519,000696: 17,3142 02720 TJLAWADR GENADR TJLAW +3 # RETURN ADDRESS FOR RCS ATTITUDE CONTROL
063520,000697:
063521,000698: # THE JET LIST:
063522,000699: # THIS IS A WAITLIST FOR T6RUPTS.
063523,000700:
063524,000701: # CALLED BY:
063525,000702: # CA TJ TIME WHEN NEXT JETS WILL BE WRITTEN
063526,000703: # TS T6FURTHA
063527,000704: # CA INDEX AXIS TO BE WIRTTEN AT TJ (FROM NOW)
063528,000705: # TS T6FURTHA +1
063529,000706: # TC JTLST
063530,000707:
063531,000708: # EXAMPLE- U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
063532,000709: # JETS INTO CHANNEL 5. IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
063533,000710: # 150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
063534,000711: # CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
063535,000712: # OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
063536,000713:
063537,000714: # THE LIST IS EXACTLY 3 LONG.(THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
063538,000715: # THE INPUT IS THE LAST MEMBER OF THE LIST
063539,000716:
063540,000717: # RETURNS BY:
063541,000718: # + TC Q
063542,000719:
063543,000720: # DEFINITIONS:(OUTPUT)
063544,000721: # TIME6 TIME OF NEXT RUPT
063545,000722: # T6NEXT DELTA TIME TO NEXT RUPT
063546,000723: # T6FURTHA DELTA TIME FROM 2ND TO LAST RUPT
063547,000724: # NXT6ADR AXIS INDEX Q - P-AXIS
063548,000725: # T6NEXT +1 AXIS INDEX 4 - U-AXIS
063549,000726: # T6FURTHA +1 AXIS INDEX 13 - V-AXIS
063550,000727: 17,3143 41470 JTLST CS T6FURTHA
063551,000728: 17,3144 60031 AD TIME6
063552,000729: 17,3145 00006 EXTEND
063553,000730: 17,3146 63163 BZMF MIDORLST # TIME6 - T IS IN A
063554,000731:
063555,000732: 17,3147 23465 LXCH NXT6ADR
063556,000733: 17,3150 53467 DXCH T6NEXT
063557,000734: 17,3151 53471 DXCH T6FURTHA
063558,000735: 17,3152 54031 TS TIME6
063559,000736: 17,3153 23465 LXCH NXT6ADR
063560,000737:
063561,000738: 17,3154 00006 TURNON EXTEND
063562,000739: 17,3155 23265 QXCH C13QSAV
063563,000740: 17,3156 06022 TC C13STALL
063564,000741:
063565,000742: 17,3157 34735 CA BIT15
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|
Page 1445 |
063567,000744: 17,3160 00006 EXTEND
063568,000745: 17,3161 05013 WOR CHAN13
063569,000746: 17,3162 01265 TC C13QSAV
063570,000747:
063571,000748: 17,3163 61466 MIDORLST AD T6NEXT
063572,000749: 17,3164 00006 EXTEND
063573,000750: 17,3165 63174 BZMF LASTCHG # TIME6 + T6NEXT - T IS IN A
063574,000751:
063575,000752: 17,3166 23467 LXCH T6NEXT +1
063576,000753: 17,3167 53471 DXCH T6FURTHA
063577,000754: 17,3170 00006 EXTEND
063578,000755: 17,3171 60031 SU TIME6
063579,000756: 17,3172 53467 DXCH T6NEXT
063580,000757:
063581,000758: 17,3173 00002 TC Q
063582,000759:
063583,000760: 17,3174 40000 LASTCHG CS A
063584,000761: 17,3175 64754 AD NEG0
063585,000762: 17,3176 55470 TS T6FURTHA
063586,000763:
063587,000764: 17,3177 00002 TC Q
063588,000765:
063589,000766:
063590,000767: # ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
063591,000768: # ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM. IN THE U-V SYSTEM NO CROSS-COUPLING IS
063592,000769: # PRODUCED FROM RCS JET FIRINGS. AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
063593,000770: # A AND THE V-COMPONENT IS IN L.
063594,000771:
063595,000772: 17,3200 23737 ROT-TOUV LXCH ROTEMP2 # (R) IS PUT INTO ROTEMP2
063596,000773: 17,3201 00006 EXTEND
063597,000774: 17,3202 71626 MP COEFFQ
063598,000775: 17,3203 57737 XCH ROTEMP2 # (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
063599,000776: 17,3204 00006 EXTEND
063600,000777: 17,3205 71627 MP COEFFR
063601,000778: 17,3206 54001 TS L # COEFFR.(R) IS PUT INTO L
063602,000779: 17,3207 61737 AD ROTEMP2
063603,000780: 17,3210 55736 TS ROTEMP1 # COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
063604,000781: 17,3211 13215 TCF +4
063605,000782: 17,3212 50000 INDEX A # COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
063606,000783: 17,3213 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
063607,000784: 17,3214 55736 TS ROTEMP1
063608,000785: 17,3215 41737 CS ROTEMP2
063609,000786: 17,3216 60001 AD L # -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
063610,000787: 17,3217 54007 TS 7
063611,000788: 17,3220 13223 TCF +3
063612,000789: 17,3221 50000 INDEX A # -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
063613,000790: 17,3222 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
063614,000791: 17,3223 23736 LXCH ROTEMP1 # COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
063615,000792: 17,3224 00002 TC Q
063616,000793: 17,3225 51743 SELCTSUB INDEX ROTINDEX
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Page 1446 |
063618,000795: 17,3226 33257 CA ALLJETS
063619,000796: 17,3227 51742 INDEX NUMBERT
063620,000797: 17,3230 73263 MASK TYPEPOLY
063621,000798: 17,3231 55740 TS POLYTEMP
063622,000799:
063623,000800: 17,3232 71257 MASK CH5MASK
063624,000801: 17,3233 10000 CCS A
063625,000802: 17,3234 13236 TCF +2
063626,000803:
063627,000804: 17,3235 00002 TC Q
063628,000805:
063629,000806: 17,3236 36257 CA THREE
063630,000807: 17,3237 55742 FAILOOP TS NUMBERT
063631,000808: 17,3240 51743 INDEX ROTINDEX
063632,000809: 17,3241 33257 CA ALLJETS
063633,000810: 17,3242 51742 INDEX NUMBERT
063634,000811: 17,3243 73263 MASK TYPEPOLY
063635,000812: 17,3244 55740 TS POLYTEMP
063636,000813: 17,3245 71257 MASK CH5MASK
063637,000814: 17,3246 00006 EXTEND
063638,000815: 17,3247 13235 BZF FAILOOP -2
063639,000816: 17,3250 11742 CCS NUMBERT
063640,000817: 17,3251 13237 TCF FAILOOP
063641,000818: 17,3252 51505 INDEX AXISCTR
063642,000819: 17,3253 55525 TS TJU
063643,000820: 17,3254 05600 TC ALARM
063644,000821: 17,3255 02004 OCT 02004
063645,000822: 17,3256 13026 TCF NOROTAT
063646,000823: 17,3257 00110 ALLJETS OCT 00110 # -U 6 13
063647,000824: 17,3260 00022 OCT 00022 # -V 2 9
063648,000825: 17,3261 00204 OCT 00204 # +U 5 14
063649,000826:
063650,000827: 17,3262 00041 OCT 00041 # +V 1 10
063651,000828: 17,3263 00125 TYPEPOLY OCT 00125 # -X 1 5 9 13
063652,000829: 17,3264 00252 OCT 00252 # +X 2 6 10 14
063653,000830: 17,3265 00146 OCT 00146 # A 2 5 10 13
063654,000831: 17,3266 00231 OCT 00231 # B 1 6 9 14
063655,000832: 17,3267 00377 OCT 00377 # ALL 1 2 5 6 9 10 13 14
063656,000833:
063657,000834: # THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
063658,000835:
063659,000836: 17,3270 33272 CLOSEOUT CA ADRRUPT
063660,000837: 17,3271 07766 TC MAKERUPT
063661,000838:
063662,000839: 17,3272 03273 ADRRUPT ADRES ENDJASK
063663,000840:
063664,000841: 17,3273 53753 ENDJASK DXCH DAPARUPT
063665,000842: 17,3274 52011 DXCH ARUPT
063666,000843: 17,3275 53755 DXCH DAPBQRPT
063667,000844: 17,3276 56017 XCH BRUPT
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Page 1447 |
063669,000846: 17,3277 22002 LXCH Q
063670,000847: 17,3300 34735 CAF NEGMAX # NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
063671,000848: 17,3301 53757 DXCH DAPZRUPT
063672,000849: 17,3302 52016 DXCH ZRUPT
063673,000850: 17,3303 15303 TCF NOQRSM
063674,000851: 7766 BLOCK 3
063675,000852: 6000 SETLOC FFTAG6
063676,000853: 6000 BANK
063677,000854:
063678,000855: 7766 COUNT* $$/DAP
063679,000856:
063680,000857: 7766 00006 MAKERUPT EXTEND
063681,000858: 7767 07766 EDRUPT MAKERUPT
End of include-file Q,R-AXES_RCS_AUTOPILOT.agc. Parent file is MAIN.agc