Source Code
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These source-code files are part of a reconstructed copy of Luminary 97, the
original release of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with source code of Luminary 99 revision 1 previously
transcribed from a digitized copy of that program. The code was then updated
by undoing changes described in original Luminary memos 83 and 85, using asterisks
indicating changed lines in the listing as a guide. The reconstruction was
verified by matching memory-bank checksums to those listed in drawing 2021152D.
Note that page numbers in the reconstructed code match those on the Luminary 099
revision 001 printout, although the added code would likely have changed page
numbers for a real Luminary 97 listing.
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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060878,000002: ## Copyright: Public domain.
060879,000003: ## Filename: Q,R-AXES_RCS_AUTOPILOT.agc
060880,000004: ## Purpose: A section of Luminary revision 97.
060881,000005: ## It is part of the reconstructed source code for the
060882,000006: ## original release of the flight software for the Lunar
060883,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
060884,000008: ## The code has been recreated from a copy of Luminary 99
060885,000009: ## revision 001, using asterisks indicating changed lines in
060886,000010: ## the listing and Luminary Memos #83 and #85, which list
060887,000011: ## changes between Luminary 97 and 98, and 98 and 99. The
060888,000012: ## code has been adapted such that the resulting bugger words
060889,000013: ## exactly match those specified for Luminary 97 in NASA drawing
060890,000014: ## 2021152D, which gives relatively high confidence that the
060891,000015: ## reconstruction is correct.
060892,000016: ## Reference: pp. 1442-1459
060893,000017: ## Assembler: yaYUL
060894,000018: ## Contact: Ron Burkey <info@sandroid.org>.
060895,000019: ## Website: www.ibiblio.org/apollo/index.html
060896,000020: ## Mod history: 2019-07-28 MAS Created from Luminary 99.
060897,000021:
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Page 1442
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060899,000023: 17,2072 BANK 17
060900,000024: 17,2000 SETLOC DAPS2
060901,000025: 17,2000 BANK
060902,000026:
060903,000027: 17,2072 E6,1635 EBANK= CDUXD
060904,000028:
060905,000029: 17,2072 COUNT* $$/DAPQR
060906,000030:
060907,000031: 17,2072 34737 CALLQERR CA BIT13 # CALCULATE Q,R ERRORS UNLESS THESE AXES
060908,000032: 17,2073 00006 EXTEND # ARE IN MANUAL RATE COMMAND.
060909,000033: 17,2074 02031 RAND CHAN31
060910,000034: 17,2075 10000 CCS A
060911,000035: 17,2076 12103 TCF +5 # IN AUTO COMPUTE Q,R ERRORS
060912,000036: 17,2077 40111 CS DAPBOOLS # IN MANUAL RATE COMMAND?
060913,000037: 17,2100 74740 MASK OURRCBIT
060914,000038: 17,2101 00006 EXTEND
060915,000039: 17,2102 12104 BZF Q,RORGTS # IF SO BYPASS CALCULATION OF ERRORS.
060916,000040: 17,2103 02626 TC QERRCALC
060917,000041:
060918,000042: 17,2104 11631 Q,RORGTS CCS COTROLER # CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
060919,000043: 17,2105 12607 TCF GOTOGTS # GTS (ALTERNATES WITH RCS WHEN DOCKED)
060920,000044: 17,2106 12574 TCF TRYGTS # GTS IF ALLOWED, OTHERWISE RCS
060921,000045: 17,2107 34755 RCS CAF ZERO # RCS (TRYGTS MAY BRANCH TO HERE)
060922,000046: 17,2110 55631 TS COTROLER
060923,000047:
060924,000048: 17,2111 53437 DXCH EDOTQ
060925,000049: 17,2112 03146 TC ROT-TOUV
060926,000050: 17,2113 53427 DXCH OMEGAU
060927,000051:
060928,000052: # X - TRANSLATION:
060929,000053:
060930,000054: # INPUT: BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
060931,000055: # ULLAGER
060932,000056: # APSFLAG, DRIFTBIT
060933,000057: # ACC40R2X, ACRBTRAN
060934,000058:
060935,000059: # OUTPUT: NEXTU, NEXTV CODES OF TRANSLATION FOR AFTER ROTATION
060936,000060: # SENSETYP TELL ROTATION DIRECTION AND DESIRE
060937,000061:
060938,000062: # X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR. IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED. A FAILURE
060939,000063: # WILL OVERRIDE THIS SPECIFICATION. AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
060940,000064:
060941,000065: 17,2114 34745 SENSEGET CA BIT7 # INPUT BITS OVERRIDE THE INTERNAL BITS
060942,000066: 17,2115 00006 EXTEND # SENSETYP WILL NOT OPPOSE ANYTRANS
060943,000067: 17,2116 02031 RAND CHAN31
060944,000068: 17,2117 00006 EXTEND
060945,000069: 17,2120 12146 BZF +XORULGE
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Page 1443
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060947,000071: 17,2121 34744 CA BIT8
060948,000072: 17,2122 00006 EXTEND
060949,000073: 17,2123 02031 RAND CHAN31
060950,000074: 17,2124 00006 EXTEND
060951,000075: 17,2125 12147 BZF -XTRANS
060952,000076:
060953,000077: 17,2126 34746 CA ULLAGER
060954,000078: 17,2127 70111 MASK DAPBOOLS
060955,000079: 17,2130 10000 CCS A
060956,000080: 17,2131 12146 TCF +XORULGE
060957,000081:
060958,000082: 17,2132 55473 TS NEXTU # STORE NULL TRANSLATION POLICIES
060959,000083: 17,2133 55474 TS NEXTV
060960,000084: 17,2134 40111 CS DAPBOOLS # BURNING OR DRIFTING?
060961,000085: 17,2135 74744 MASK DRIFTBIT
060962,000086: 17,2136 00006 EXTEND
060963,000087: 17,2137 12144 BZF TSENSE
060964,000088: 17,2140 30106 CA FLGWRD10 # DPS (INCLUDING DOCKED) OR APS?
060965,000089: 17,2141 74737 MASK APSFLBIT
060966,000090: 17,2142 10000 CCS A
060967,000091: 17,2143 34752 CAF TWO # FAVOR +X JETS DURING AN APS BURN.
060968,000092: 17,2144 55500 TSENSE TS SENSETYP
060969,000093: 17,2145 12200 TCF QRCONTRL
060970,000094:
060971,000095: 17,2146 34753 +XORULGE CAF ONE
060972,000096: 17,2147 64751 -XTRANS AD FOUR
060973,000097: 17,2150 55744 TS ROTINDEX
060974,000098: 17,2151 67745 AD NEG3
060975,000099: 17,2152 55500 TS SENSETYP # FAVOR APPROPRIATE JETS DURING TRANS.
060976,000100: 17,2153 30111 CA DAPBOOLS
060977,000101: 17,2154 74741 MASK ACC4OR2X
060978,000102: 17,2155 10000 CCS A
060979,000103: 17,2156 12321 TCF TRANS4
060980,000104:
060981,000105: 17,2157 30111 CA DAPBOOLS
060982,000106: 17,2160 74742 MASK AORBTRAN
060983,000107: 17,2161 10000 CCS A
060984,000108: 17,2162 34753 CA ONE # THREE FOR B
060985,000109: 17,2163 64752 AD TWO # TWO FOR A SYSTEM 2 JET X TRANS
060986,000110: 17,2164 55743 TSNUMBRT TS NUMBERT
060987,000111:
060988,000112: 17,2165 03173 TC SELCTSUB
060989,000113:
060990,000114: 17,2166 11741 CCS POLYTEMP
060991,000115: 17,2167 12172 TCF +3
060992,000116: 17,2170 05567 TC ALARM
060993,000117: 17,2171 02002 OCT 02002
060994,000118: 17,2172 35774 CA 00314OCT
060995,000119: 17,2173 71741 MASK POLYTEMP
060996,000120: 17,2174 55473 TSNEXTS TS NEXTU
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Page 1444
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060998,000122: 17,2175 45774 CS 00314OCT
060999,000123: 17,2176 71741 MASK POLYTEMP
061000,000124: 17,2177 55474 TS NEXTV
061001,000125:
061002,000126: # Q,R-AXES RCS CONTROL MODE SELECTION
061003,000127: # SWITCHES INDICATION WHEN SET
061004,000128: # BIT13/CHAN31 AUTO, GO TO ATTSTEER
061005,000129: # PULSES MINIMUM IMPULSE MODE
061006,000130: # (OTHERWISE) RATE COMMAND/ATTITUDE HOLD MODE
061007,000131:
061008,000132: 17,2200 34737 QRCONTRL CA BIT13 # CHECK MODE SELECT SWITCH.
061009,000133: 17,2201 00006 EXTEND
061010,000134: 17,2202 02031 RAND CHAN31 # BITS INVERTED
061011,000135: 17,2203 10000 CCS A
061012,000136: 17,2204 12661 TCF ATTSTEER
061013,000137: 17,2205 34735 CHKBIT10 CAF PULSES # PULSES = 1 FOR MIN IMP USE OF RHC
061014,000138: 17,2206 70111 MASK DAPBOOLS
061015,000139: 17,2207 00006 EXTEND
061016,000140: 17,2210 12323 BZF CHEKSTIK # IN ATT-HOLD/RATE-COMMAND IF BIT10=0
061017,000141:
061018,000142: # MINIMUM IMPULSE MODE
061019,000143:
061020,000144: 17,2211 00004 INHINT
061021,000145: 17,2212 04674 TC IBNKCALL
061022,000146: 17,2213 40153 CADR ZATTEROR
061023,000147: 17,2214 34755 CA ZERO
061024,000148: 17,2215 55450 TS QERROR
061025,000149: 17,2216 55452 TS RERROR # FOR DISPLAYS
061026,000150: 17,2217 00003 RELINT
061027,000151:
061028,000152: 17,2220 00006 EXTEND
061029,000153: 17,2221 00031 READ CHAN31
061030,000154: 17,2222 55737 TS TEMP31 # IS EQUAL TO DAPTEMP1
061031,000155: 17,2223 11461 CCS OLDQRMIN
061032,000156: 17,2224 12246 TCF CHECKIN
061033,000157:
061034,000158: 17,2225 31737 FIREQR CA TEMP31
061035,000159: 17,2226 74753 MASK BIT1
061036,000160: 17,2227 00006 EXTEND
061037,000161: 17,2230 12252 BZF +QMIN
061038,000162:
061039,000163: 17,2231 31737 CA TEMP31
061040,000164: 17,2232 74752 MASK BIT2
061041,000165: 17,2233 00006 EXTEND
061042,000166: 17,2234 12256 BZF -QMIN
061043,000167:
061044,000168: 17,2235 31737 CA TEMP31
061045,000169: 17,2236 74747 MASK BIT5
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Page 1445
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061047,000171: 17,2237 00006 EXTEND
061048,000172: 17,2240 12262 BZF +RMIN
061049,000173:
061050,000174: 17,2241 31737 CA TEMP31
061051,000175: 17,2242 74746 MASK BIT6
061052,000176: 17,2243 00006 EXTEND
061053,000177: 17,2244 12264 BZF -RMIN
061054,000178:
061055,000179: 17,2245 13063 TCF XTRANS
061056,000180:
061057,000181: 17,2246 41737 CHECKIN CS TEMP31
061058,000182: 17,2247 72320 MASK OCT63
061059,000183: 17,2250 55461 TS OLDQRMIN
061060,000184: 17,2251 13063 TCF XTRANS
061061,000185:
061062,000186: 17,2252 33107 +QMIN CA 14MS
061063,000187: 17,2253 55525 TS TJU
061064,000188: 17,2254 43107 CS 14MS
061065,000189: 17,2255 12266 TCF MINQR
061066,000190: 17,2256 43107 -QMIN CS 14MS
061067,000191: 17,2257 55525 TS TJU
061068,000192: 17,2260 33107 CA 14MS
061069,000193: 17,2261 12266 TCF MINQR
061070,000194: 17,2262 33107 +RMIN CA 14MS
061071,000195: 17,2263 12265 TCF +2
061072,000196: 17,2264 43107 -RMIN CS 14MS
061073,000197: 17,2265 55525 TS TJU
061074,000198: 17,2266 55526 MINQR TS TJV
061075,000199: 17,2267 32317 CA MINADR
061076,000200: 17,2270 55477 TS RETJADR
061077,000201: 17,2271 34753 CA ONE
061078,000202: 17,2272 55461 TS OLDQRMIN
061079,000203: 17,2273 55505 MINRTN TS AXISCTR
061080,000204: 17,2274 30111 CA DAPBOOLS
061081,000205: 17,2275 74737 MASK CSMDOCKD
061082,000206: 17,2276 00006 EXTEND
061083,000207: 17,2277 12307 BZF MIMRET
061084,000208: 17,2300 51505 INDEX AXISCTR # IF DOCKED, USE 60MS MINIMUM IMPULSE
061085,000209: 17,2301 11525 CCS TJU
061086,000210: 17,2302 32316 CA 60MS
061087,000211: 17,2303 12305 TCF +2
061088,000212: 17,2304 42316 CS 60MS
061089,000213: 17,2305 51505 INDEX AXISCTR
061090,000214: 17,2306 55525 TS TJU
061091,000215: 17,2307 30111 MIMRET CA DAPBOOLS
061092,000216: 17,2310 74742 MASK AORBTRAN
061093,000217: 17,2311 10000 CCS A
061094,000218: 17,2312 34753 CA ONE
061095,000219: 17,2313 64752 AD TWO
061096,000220: 17,2314 55743 TS NUMBERT
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Page 1446
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061098,000222: 17,2315 12727 TCF AFTERTJ
061099,000223:
061100,000224: 17,2316 00140 60MS DEC 96.0
061101,000225: 17,2317 02273 MINADR GENADR MINRTN
061102,000226: 17,2320 00063 OCT63 OCT 63
061103,000227: 17,2321 17,3107 14MS = +TJMINT6
061104,000228:
061105,000229: 17,2321 34751 TRANS4 CA FOUR
061106,000230: 17,2322 12164 TCF TSNUMBRT
061107,000231:
061108,000232: # RATE COMMAND MODE:
061109,000233:
061110,000234: # DESCRIPTION (SAME AS P-AXIS)
061111,000235:
061112,000236: 17,2323 55633 CHEKSTIK TS INGTS # NOT IN GTS WHEN IN ATT HOLD
061113,000237: 17,2324 44753 CS ONE # 1/ACCS WILL DO THE NULLING DRIVES
061114,000238: 17,2325 55631 TS COTROLER # COME BACK TO RCS NEXT TIME
061115,000239: 17,2326 34735 CA BIT15
061116,000240: 17,2327 71443 MASK CH31TEMP
061117,000241: 17,2330 00006 EXTEND
061118,000242: 17,2331 12350 BZF RHCACTIV # BRANCH IF OUT OF DETENT.
061119,000243: 17,2332 34740 CA OURRCBIT # ***********
061120,000244: 17,2333 70111 MASK DAPBOOLS # *IN DETENT* CHECK FOR MANUAL CONTROL
061121,000245: 17,2334 00006 EXTEND # *********** LAST TIME.
061122,000246: 17,2335 12661 BZF STILLRCS
061123,000247: 17,2336 44743 CS BIT9
061124,000248: 17,2337 71273 MASK RCSFLAGS
061125,000249: 17,2340 55273 TS RCSFLAGS # BIT 9 IS 0.
061126,000250: 17,2341 12345 TCF DAMPING
061127,000251: 17,2342 00050 40CYCL OCT 50
061128,000252: 17,2343 00001 1/10S OCT 1
061129,000253: 17,2344 00056 LINRAT DEC 46 B-14
061130,000254:
061131,000255: # ================================
061132,000256:
061133,000257: 17,2345 34755 DAMPING CA ZERO
061134,000258: 17,2346 55462 TS SAVEHAND
061135,000259: 17,2347 55463 TS SAVEHAND +1
061136,000260: 17,2350 11462 RHCACTIV CCS SAVEHAND # *******************
061137,000261: 17,2351 12354 TCF +3 # Q,R MANUAL CONTROL WC = A*(B+|D|)*D
061138,000262: 17,2352 12354 TCF +2 # *******************
061139,000263: 17,2353 12354 TCF +1
061140,000264: 17,2354 60000 DOUBLE # WHERE
061141,000265: 17,2355 60000 DOUBLE
061142,000266: 17,2356 62344 AD LINRAT # WC = COMMANDED ROTATIONAL RATE
061143,000267: 17,2357 00006 EXTEND # A = QUADRATIC SENSITIVITY FACTOR
061144,000268: 17,2360 71462 MP SAVEHAND # B = LINEAR/QUADRATIC SENSITIVITY
061145,000269: 17,2361 30001 CA L # |D| = ABS. VALUE OF DEFLECTION
061146,000270: 17,2362 00006 EXTEND # D = HAND CONTROLLER DEFLECTION
061147,000271: 17,2363 71444 MP STIKSENS
061148,000272: 17,2364 57455 XCH QLAST # COMMAND Q RATE SCALED 45 DEG/SEC
061149,000273: 17,2365 40000 COM
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Page 1447
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061151,000275: 17,2366 61455 AD QLAST
061152,000276: 17,2367 55741 TS DAPTEMP3
061153,000277: 17,2370 11463 CCS SAVEHAND +1
061154,000278: 17,2371 12374 TCF +3
061155,000279: 17,2372 12374 TCF +2
061156,000280: 17,2373 12374 TCF +1
061157,000281: 17,2374 60000 DOUBLE
061158,000282: 17,2375 60000 DOUBLE
061159,000283: 17,2376 62344 AD LINRAT
061160,000284: 17,2377 00006 EXTEND
061161,000285: 17,2400 71463 MP SAVEHAND +1
061162,000286: 17,2401 30001 CA L
061163,000287: 17,2402 00006 EXTEND
061164,000288: 17,2403 71444 MP STIKSENS
061165,000289: 17,2404 57456 XCH RLAST
061166,000290: 17,2405 40000 COM
061167,000291: 17,2406 61456 AD RLAST
061168,000292: 17,2407 55742 TS DAPTEMP4
061169,000293: 17,2410 41455 CS QLAST # INTERVAL.
061170,000294: 17,2411 61422 AD OMEGAQ
061171,000295: 17,2412 55436 TS QRATEDIF
061172,000296: 17,2413 41456 CS RLAST
061173,000297: 17,2414 61423 AD OMEGAR
061174,000298: 17,2415 55437 TS RRATEDIF
061175,000299: 17,2416 53437 ENTERQR DXCH QRATEDIF # TRANSFORM RATES FROM Q,R TO U,V AXES
061176,000300: 17,2417 03146 TC ROT-TOUV
061177,000301: 17,2420 53427 DXCH URATEDIF
061178,000302: 17,2421 11741 CCS DAPTEMP3 # CHECK IF Q COMMAND CHANGE EXCEEDS
061179,000303: 17,2422 02425 TC +3 # BREAKOUT LEVEL. IF NOT, CHECK R.
061180,000304: 17,2423 02425 TC +2
061181,000305: 17,2424 02425 TC +1
061182,000306: 17,2425 61476 AD -RATEDB
061183,000307: 17,2426 00006 EXTEND
061184,000308: 17,2427 62431 BZMF +2
061185,000309: 17,2430 12447 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
061186,000310: 17,2431 11742 CCS DAPTEMP4 # R COMMAND BREAKOUT CHECK.
061187,000311: 17,2432 02435 TC +3
061188,000312: 17,2433 02435 TC +2
061189,000313: 17,2434 02435 TC +1
061190,000314: 17,2435 61476 AD -RATEDB
061191,000315: 17,2436 00006 EXTEND
061192,000316: 17,2437 62441 BZMF +2
061193,000317: 17,2440 12447 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
061194,000318: 17,2441 31273 CA RCSFLAGS # BREAKOUT LEVEL NOT EXCEEDED. CHECK FOR
061195,000319: 17,2442 74741 MASK QRBIT # DIRECT RATE CONTROL LAST TIME.
061196,000320: 17,2443 00006 EXTEND
061197,000321: 17,2444 12446 BZF +2
061198,000322: 17,2445 12451 TCF ENTERUV # CONTINUE DIRECT RATE CONTROL.
061199,000323: 17,2446 12661 TCF STILLRCS # PSEUDO-AUTO CONTROL.
061200,000324: 17,2447 32342 CA 40CYCL
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Page 1448
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061202,000326: 17,2450 55457 TS TCQR
061203,000327: 17,2451 00004 ENTERUV INHINT # DIRECT RATE CONTROL.
061204,000328: 17,2452 04674 TC IBNKCALL
061205,000329: 17,2453 40153 FCADR ZATTEROR
061206,000330: 17,2454 00003 RELINT
061207,000331: 17,2455 34755 CA ZERO
061208,000332: 17,2456 55450 TS DYERROR
061209,000333: 17,2457 55451 TS DYERROR +1
061210,000334: 17,2460 55452 TS DZERROR
061211,000335: 17,2461 55453 TS DZERROR +1
061212,000336: 17,2462 11426 CCS URATEDIF
061213,000337: 17,2463 12466 TCF +3
061214,000338: 17,2464 12466 TCF +2
061215,000339: 17,2465 12466 TCF +1
061216,000340: 17,2466 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
061217,000341: 17,2467 00006 EXTEND # DIRECT RATE CONTROL.
061218,000342: 17,2470 62504 BZMF VDB
061219,000343: 17,2471 11427 CCS VRATEDIF
061220,000344: 17,2472 12475 TCF +3
061221,000345: 17,2473 12475 TCF +2
061222,000346: 17,2474 12475 TCF +1
061223,000347: 17,2475 61476 AD TARGETDB
061224,000348: 17,2476 00006 EXTEND
061225,000349: 17,2477 62501 BZMF +2
061226,000350: 17,2500 12515 TCF QRTIME
061227,000351: 17,2501 34755 CA ZERO
061228,000352: 17,2502 55427 TS VRATEDIF
061229,000353: 17,2503 12515 TCF QRTIME
061230,000354: 17,2504 11427 VDB CCS VRATEDIF
061231,000355: 17,2505 02510 TC +3
061232,000356: 17,2506 02510 TC +2
061233,000357: 17,2507 02510 TC +1
061234,000358: 17,2510 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
061235,000359: 17,2511 00006 EXTEND # DIRECT RATE CONTROL. IF NOT, FIRE AND
061236,000360: 17,2512 62524 BZMF TOPSEUDO # SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
061237,000361: 17,2513 34755 CA ZERO # PASS.
061238,000362: 17,2514 55426 TS URATEDIF
061239,000363: 17,2515 31457 QRTIME CA TCQR # DIRECT RATE TIME CHECK.
061240,000364: 17,2516 00006 EXTEND
061241,000365: 17,2517 62524 BZMF +5 # BRANCH IF TIME EXCEEDS 4 SEC.
061242,000366: 17,2520 41273 CS RCSFLAGS
061243,000367: 17,2521 74741 MASK QRBIT
061244,000368: 17,2522 27273 ADS RCSFLAGS # BIT 11 IS 1.
061245,000369: 17,2523 02527 TC +4
061246,000370: 17,2524 44741 TOPSEUDO CS QRBIT
061247,000371: 17,2525 71273 MASK RCSFLAGS
061248,000372: 17,2526 55273 TS RCSFLAGS # BIT 11 IS 0.
061249,000373: 17,2527 32573 CA HANDADR
061250,000374: 17,2530 55477 TS RETJADR
061251,000375: 17,2531 34753 CA ONE
061252,000376:
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Page 1449
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061254,000378: 17,2532 55505 BACKHAND TS AXISCTR
061255,000379:
061256,000380: 17,2533 34751 CA FOUR
061257,000381: 17,2534 55743 TS NUMBERT
061258,000382:
061259,000383: 17,2535 51505 INDEX AXISCTR
061260,000384: 17,2536 51535 INDEX SKIPU
061261,000385: 17,2537 12540 TCF +1
061262,000386: 17,2540 34751 CA FOUR
061263,000387: 17,2541 51505 INDEX AXISCTR
061264,000388: 17,2542 55535 TS SKIPU
061265,000389: 17,2543 13005 TCF LOOPER
061266,000390:
061267,000391: 17,2544 51505 INDEX AXISCTR
061268,000392: 17,2545 11426 CCS URATEDIF # INDEX AXIS QUANITY
061269,000393: 17,2546 34755 CA ZERO # 0 -U 1/JETACC-AOSU
061270,000394: 17,2547 12551 TCF +2 # 1 +U 1/JETACC+AOSU
061271,000395: 17,2550 34753 CA ONE # 16 -V 1/JETACC-AOSV
061272,000396: 17,2551 51505 INDEX AXISCTR # 17 +V 1/JETACC+AOSV
061273,000397: 17,2552 63722 AD AXISDIFF # JETACC = 2 JET ACCELERATION (1 FOR FAIL)
061274,000398:
061275,000399: 17,2553 50000 INDEX A
061276,000400: 17,2554 41571 CS 1/ANET2 +1
061277,000401: 17,2555 00006 EXTEND
061278,000402: 17,2556 51505 INDEX AXISCTR # URATEDIF IS SCALED AT PI/4 RAD/SEC
061279,000403: 17,2557 71426 MP URATEDIF # JET TIME IN A SCALED 32 SEC
061280,000404: 17,2560 54002 TS Q
061281,000405: 17,2561 20001 DAS A
061282,000406: 17,2562 60002 AD Q
061283,000407: 17,2563 54000 TS A # OVERFLOW SKIP
061284,000408: 17,2564 12566 TCF +2
061285,000409: 17,2565 30002 CA Q # RIGHT SIGN AND BIGGER THAN 150MS
061286,000410: 17,2566 51505 SETTIME INDEX AXISCTR
061287,000411: 17,2567 55525 TS TJU # SCALED AT 10.67 WHICH IS CLOSE TO 10.24
061288,000412: 17,2570 12727 TCF AFTERTJ
061289,000413:
061290,000414: 17,2571 34755 ZEROTJ CA ZERO
061291,000415: 17,2572 12566 TCF SETTIME
061292,000416:
061293,000417: 17,2573 02532 HANDADR GENADR BACKHAND
061294,000418:
061295,000419: # GTS WILL BE TRIED IF
061296,000420: # 1. USEQRJTS = 0,
061297,000421: # 2. ALLOWGTS POS,
061298,000422: # 3. JETS ARE OFF (Q,R-AXES)
061299,000423:
061300,000424: 17,2574 34736 TRYGTS CAF USEQRJTS # IS JET USE MANDATORY. (AS LONG AS
061301,000425: 17,2575 70111 MASK DAPBOOLS # USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
061302,000426: 17,2576 10000 CCS A
061303,000427: 17,2577 12107 TCF RCS
061304,000428: 17,2600 11502 CCS ALLOWGTS # NO. DOES AOSTASK OK CONTROL FOR GTS?
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|
Page 1450
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061306,000430: 17,2601 12603 TCF +2
061307,000431: 17,2602 12107 TCF RCS
061308,000432: 17,2603 00006 EXTEND
061309,000433: 17,2604 00005 READ CHAN5
061310,000434: 17,2605 10000 CCS A
061311,000435: 17,2606 12612 TCF CHKINGTS
061312,000436: 17,2607 00006 GOTOGTS EXTEND
061313,000437: 17,2610 32625 DCA GTSCADR
061314,000438: 17,2611 52006 DTCB
061315,000439:
061316,000440: 17,2612 11633 CHKINGTS CCS INGTS # WAS THE TRIM GIMBAL CONTROLLING
061317,000441: 17,2613 12615 TCF +2 # YES. SET UP A DAMPED NULLING DRIVE.
061318,000442: 17,2614 12107 TCF RCS # NO. NULLING WAS SET UP BEFORE. DO RCS
061319,000443: 17,2615 00004 INHINT
061320,000444: 17,2616 04674 TC IBNKCALL
061321,000445: 17,2617 43330 CADR TIMEGMBL
061322,000446: 17,2620 00003 RELINT
061323,000447: 17,2621 34755 CAF ZERO
061324,000448: 17,2622 55633 TS INGTS
061325,000449: 17,2623 12107 TCF RCS
061326,000450:
061327,000451: 17,2624 E6,1635 EBANK= CDUXD
061328,000452: 17,2624 03077 42106 GTSCADR 2CADR GTS
061329,000453:
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|
Page 1451
|
061331,000455: # SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
061332,000456:
061333,000457: 17,2626 30033 QERRCALC CAE CDUY # Q-ERROR CALCULATION
061334,000458: 17,2627 00006 EXTEND
061335,000459: 17,2630 21636 MSU CDUYD # CDU ANGLE - ANGLE DESIRED (Y-AXIS)
061336,000460: 17,2631 55737 TS DAPTEMP1 # SAVE FOR RERRCALC
061337,000461: 17,2632 00006 EXTEND
061338,000462: 17,2633 71415 MP M21 # (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
061339,000463: 17,2634 55752 TS E
061340,000464: 17,2635 30034 CAE CDUZ # SECOND TERM CALCULATION:
061341,000465: 17,2636 00006 EXTEND
061342,000466: 17,2637 21637 MSU CDUZD # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
061343,000467: 17,2640 55740 TS DAPTEMP2 # SAVE FOR RERRCALC
061344,000468: 17,2641 00006 EXTEND
061345,000469: 17,2642 71417 MP M22 # (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
061346,000470: 17,2643 61300 AD DELQEROR # KALCMANU INERFACE ERROR
061347,000471: 17,2644 61752 AD E
061348,000472: 17,2645 57450 XCH QERROR # SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
061349,000473:
061350,000474: 17,2646 31737 RERRCALC CAE DAPTEMP1 # R-ERROR CALCULATION:
061351,000475: 17,2647 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Y-AXIS)
061352,000476: 17,2650 71416 MP M31 # (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
061353,000477: 17,2651 55752 TS E
061354,000478: 17,2652 31740 CAE DAPTEMP2 # SECOND TERM CALCULATION:
061355,000479: 17,2653 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
061356,000480: 17,2654 71420 MP M32 # (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
061357,000481: 17,2655 61301 AD DELREROR # KALCMANU INERFACE ERROR
061358,000482: 17,2656 61752 AD E
061359,000483: 17,2657 57452 XCH RERROR # SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
061360,000484: 17,2660 00002 TC Q
061361,000485:
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|
Page 1452
|
061363,000487: # "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
061364,000488:
061365,000489: 17,2661 17,2661 ATTSTEER EQUALS STILLRCS # "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
061366,000490:
061367,000491: 17,2661 31452 STILLRCS CA RERROR
061368,000492: 17,2662 22000 LXCH A
061369,000493: 17,2663 31450 CA QERROR
061370,000494: 17,2664 03146 TC ROT-TOUV
061371,000495: 17,2665 53752 DXCH UERROR
061372,000496:
061373,000497: # PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
061374,000498: # PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
061375,000499:
061376,000500: 17,2666 33113 TJLAW CA TJLAWADR
061377,000501: 17,2667 55477 TS RETJADR
061378,000502: 17,2670 34753 CA ONE
061379,000503: 17,2671 55505 TS AXISCTR
061380,000504: 17,2672 51505 INDEX AXISCTR
061381,000505: 17,2673 51535 INDEX SKIPU
061382,000506: 17,2674 12675 TCF +1
061383,000507: 17,2675 34751 CA FOUR
061384,000508: 17,2676 51505 INDEX AXISCTR
061385,000509: 17,2677 55535 TS SKIPU
061386,000510: 17,2700 13005 TCF LOOPER
061387,000511: 17,2701 51505 INDEX AXISCTR
061388,000512: 17,2702 31751 CA UERROR
061389,000513: 17,2703 55752 TS E
061390,000514: 17,2704 51505 INDEX AXISCTR
061391,000515: 17,2705 31426 CA OMEGAU
061392,000516: 17,2706 55427 TS EDOT
061393,000517: 17,2707 30111 CA DAPBOOLS
061394,000518: 17,2710 74737 MASK CSMDOCKD
061395,000519: 17,2711 10000 CCS A
061396,000520: 17,2712 12715 TCF +3
061397,000521: 17,2713 03252 TC TJETLAW
061398,000522: 17,2714 12727 TCF AFTERTJ
061399,000523: 17,2715 40111 +3 CS DAPBOOLS # DOCKED. IF GIMBAL USABLE DO GTS CONTROL
061400,000524: 17,2716 74736 MASK USEQRJTS # ON THE NEXT PASS.
061401,000525: 17,2717 10000 CCS A # USEQRJTS BIT MUST NOT BE BIT 15.
061402,000526: 17,2720 55631 TS COTROLER # GIMBAL USABLE. STORE POSITIVE VALUE.
061403,000527: 17,2721 00004 INHINT
061404,000528: 17,2722 04674 TC IBNKCALL
061405,000529: 17,2723 43727 CADR SPSRCS # DETERMINE RCS CONTROL
061406,000530: 17,2724 00003 RELINT
061407,000531: 17,2725 34751 CAF FOUR # ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
061408,000532: 17,2726 55743 TS NUMBERT # FALL THROUGH TO JET SELECTION, ETC.
061409,000533:
061410,000534: # Q,R-JET-SELECTION-LOGIC
061411,000535:
061412,000536: # INPUT: AXISCTR 0,1 FOR U,V
061413,000537: # SNUFFBIT ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN
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Page 1453
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061415,000539: # TJU,TJV JET TIME SCALED 10.24 SEC.
061416,000540: # NUMBERT INDICATES NUMBER OF JETS AND TYPE OF POLICY
061417,000541: # RETJADR WHERE TO RETURN TO
061418,000542:
061419,000543: # OUTPUT: NO.U(V)JETS RATE DERIVATION FEEDBACK
061420,000544: # CHANNEL 5
061421,000545: # SKIPU,SKIRV FOR LESS THAN 150MS FIRING
061422,000546:
061423,000547: # NOTES: IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED
061424,000548: # JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY
061425,000549: # TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT
061426,000550: # IF NONE CAN BE FOUND.
061427,000551:
061428,000552: # TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
061429,000553: # MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
061430,000554:
061431,000555: 17,2727 30101 AFTERTJ CA FLAGWRD5 # IF SNUFFBIT SET DURING A DPS BURN GO TO
061432,000556: 17,2730 74737 MASK SNUFFBIT # XTRANS; THAT IS, INHIBIT CONTROL.
061433,000557: 17,2731 00006 EXTEND
061434,000558: 17,2732 12743 BZF DOROTAT
061435,000559: 17,2733 40106 CS FLGWRD10
061436,000560: 17,2734 74737 MASK APSFLBIT
061437,000561: 17,2735 00006 EXTEND
061438,000562: 17,2736 12743 BZF DOROTAT
061439,000563: 17,2737 30111 CA DAPBOOLS
061440,000564: 17,2740 74744 MASK DRIFTBIT
061441,000565: 17,2741 00006 EXTEND
061442,000566: 17,2742 13063 BZF XTRANS
061443,000567:
061444,000568: 17,2743 34752 DOROTAT CAF TWO
061445,000569: 17,2744 54001 TS L
061446,000570: 17,2745 51505 INDEX AXISCTR
061447,000571: 17,2746 11525 CCS TJU
061448,000572: 17,2747 12754 TCF +5
061449,000573: 17,2750 12777 TCF NOROTAT
061450,000574: 17,2751 12753 TCF +2
061451,000575: 17,2752 12777 TCF NOROTAT
061452,000576: 17,2753 22007 ZL
061453,000577: 17,2754 64753 AD ONE
061454,000578: 17,2755 55737 TS ABSTJ
061455,000579:
061456,000580: 17,2756 31505 CA AXISCTR
061457,000581: 17,2757 60001 AD L
061458,000582: 17,2760 55744 TS ROTINDEX # 0 1 2 3 = -U -V -+U +V
061459,000583:
061460,000584: 17,2761 31737 CA ABSTJ
061461,000585: 17,2762 63110 AD -150MS
061462,000586: 17,2763 00006 EXTEND
061463,000587: 17,2764 63010 BZMF DOSKIP
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Page 1454
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061465,000589: 17,2765 03173 TC SELCTSUB
061466,000590:
061467,000591: 17,2766 51505 INDEX AXISCTR
061468,000592: 17,2767 33105 CA INDEXES
061469,000593: 17,2770 54001 TS L
061470,000594:
061471,000595: 17,2771 31741 CA POLYTEMP
061472,000596: 17,2772 00004 INHINT
061473,000597: 17,2773 50001 INDEX L
061474,000598: 17,2774 05754 TC WRITEP
061475,000599:
061476,000600: 17,2775 00003 RELINT
061477,000601: 17,2776 13051 TCF FEEDBACK
061478,000602:
061479,000603: 17,2777 51505 NOROTAT INDEX AXISCTR
061480,000604: 17,3000 33105 CA INDEXES
061481,000605: 17,3001 00004 INHINT
061482,000606: 17,3002 50000 INDEX A
061483,000607: 17,3003 05753 TC WRITEP -1
061484,000608:
061485,000609: 17,3004 00003 RELINT
061486,000610: 17,3005 11505 LOOPER CCS AXISCTR
061487,000611: 17,3006 01477 TC RETJADR
061488,000612: 17,3007 13236 TCF CLOSEOUT
061489,000613: 17,3010 41737 DOSKIP CS ABSTJ
061490,000614: 17,3011 63107 AD +TJMINT6 # 14MS
061491,000615: 17,3012 00006 EXTEND
061492,000616: 17,3013 63032 BZMF NOTMIN
061493,000617:
061494,000618: 17,3014 27737 ADS ABSTJ
061495,000619: 17,3015 51505 INDEX AXISCTR
061496,000620: 17,3016 11525 CCS TJU
061497,000621: 17,3017 33107 CA +TJMINT6
061498,000622: 17,3020 13022 TCF +2
061499,000623: 17,3021 43107 CS +TJMINT6
061500,000624: 17,3022 51505 INDEX AXISCTR
061501,000625: 17,3023 55525 TS TJU
061502,000626:
061503,000627: 17,3024 11500 CCS SENSETYP # ENSURE MIN-IMPULSE NOT AGAINST TRANS
061504,000628: 17,3025 13031 TCF NOTMIN -1
061505,000629: 17,3026 00006 EXTEND
061506,000630: 17,3027 00004 READ LOSCALAR
061507,000631: 17,3030 74753 MASK ONE
061508,000632: 17,3031 55743 TS NUMBERT
061509,000633:
061510,000634: 17,3032 03173 NOTMIN TC SELCTSUB
061511,000635:
061512,000636: 17,3033 51505 INDEX AXISCTR
061513,000637: 17,3034 33105 CA INDEXES
061514,000638: 17,3035 00004 INHINT
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Page 1455
|
061516,000640: 17,3036 55471 TS T6FURTHA +1
061517,000641: 17,3037 31741 CA POLYTEMP
061518,000642: 17,3040 51471 INDEX T6FURTHA +1
061519,000643: 17,3041 05754 TC WRITEP
061520,000644:
061521,000645: 17,3042 31737 CA ABSTJ
061522,000646: 17,3043 55470 TS T6FURTHA
061523,000647: 17,3044 03114 TC JTLST # IN QR BANK BY NOW
061524,000648:
061525,000649: 17,3045 00003 RELINT
061526,000650:
061527,000651: 17,3046 34755 CA ZERO
061528,000652: 17,3047 51505 INDEX AXISCTR
061529,000653: 17,3050 55535 TS SKIPU
061530,000654:
061531,000655: 17,3051 46245 FEEDBACK CS THREE
061532,000656: 17,3052 61743 AD NUMBERT
061533,000657: 17,3053 00006 EXTEND
061534,000658: 17,3054 63057 BZMF +3
061535,000659:
061536,000660: 17,3055 34752 CA TWO
061537,000661: 17,3056 13060 TCF +2
061538,000662: 17,3057 34753 CA ONE
061539,000663: 17,3060 51505 INDEX AXISCTR
061540,000664: 17,3061 55522 TS NO.UJETS
061541,000665: 17,3062 13005 TCF LOOPER
061542,000666:
061543,000667: 17,3063 34755 XTRANS CA ZERO
061544,000668: 17,3064 55525 TS TJU
061545,000669: 17,3065 55526 TS TJV
061546,000670: 17,3066 34751 CA FOUR
061547,000671: 17,3067 00004 INHINT
061548,000672: 17,3070 57535 XCH SKIPU
061549,000673: 17,3071 00006 EXTEND
061550,000674: 17,3072 13074 BZF +2
061551,000675: 17,3073 05757 TC WRITEU -1
061552,000676: 17,3074 34751 CA FOUR
061553,000677: 17,3075 57536 XCH SKIPV
061554,000678: 17,3076 00003 RELINT
061555,000679:
061556,000680: 17,3077 00006 EXTEND
061557,000681: 17,3100 13236 BZF CLOSEOUT
061558,000682: 17,3101 00004 INHINT
061559,000683: 17,3102 05770 TC WRITEV -1
061560,000684: 17,3103 00003 RELINT
061561,000685:
061562,000686: 17,3104 13236 TCF CLOSEOUT
061563,000687: 17,3105 00004 INDEXES DEC 4 B-14
061564,000688: 17,3106 00015 DEC 13 B-14
061565,000689: 17,3107 00026 +TJMINT6 DEC 22 B-14
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Page 1456
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061567,000691: 17,3110 77417 -150MS DEC -240 B-14
061568,000692: 17,3111 00600 BIT8,9 OCT 00600
061569,000693: 17,3112 00266 SCLNORM OCT 266
061570,000694: 17,3113 02671 TJLAWADR GENADR TJLAW +3 # RETURN ADDRESS FOR RCS ATTITUDE CONTROL
061571,000695:
061572,000696: # THE JET LIST:
061573,000697: # THIS IS A WAITLIST FOR T6RUPTS.
061574,000698:
061575,000699: # CALLED BY:
061576,000700: # CA TJ TIME WHEN NEXT JETS WILL BE WRITTEN
061577,000701: # TS T6FURTHA
061578,000702: # CA INDEX AXIS TO BE WIRTTEN AT TJ (FROM NOW)
061579,000703: # TS T6FURTHA +1
061580,000704: # TC JTLST
061581,000705:
061582,000706: # EXAMPLE - U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
061583,000707: # JETS INTO CHANNEL 5. IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
061584,000708: # 150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
061585,000709: # CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
061586,000710: # OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
061587,000711:
061588,000712: # THE LIST IS EXACTLY 3 LONG. (THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
061589,000713: # THE INPUT IS THE LAST MEMBER OF THE LIST
061590,000714:
061591,000715: # RETURNS BY:
061592,000716: # + TC Q
061593,000717:
061594,000718: # DEFINITIONS: (OUTPUT)
061595,000719: # TIME6 TIME OF NEXT RUPT
061596,000720: # T6NEXT DELTA TIME TO NEXT RUPT
061597,000721: # T6FURTHA DELTA TIME FROM 2ND TO LAST RUPT
061598,000722: # NXT6ADR AXIS INDEX Q - P-AXIS
061599,000723: # T6NEXT +1 AXIS INDEX 4 - U-AXIS
061600,000724: # T6FURTHA +1 AXIS INDEX 13 - V-AXIS
061601,000725:
061602,000726: 17,3114 41470 JTLST CS T6FURTHA
061603,000727: 17,3115 60031 AD TIME6
061604,000728: 17,3116 00006 EXTEND
061605,000729: 17,3117 63131 BZMF MIDORLST # TIME6 - T IS IN A
061606,000730:
061607,000731: 17,3120 23465 LXCH NXT6ADR
061608,000732: 17,3121 53467 DXCH T6NEXT
061609,000733: 17,3122 53471 DXCH T6FURTHA
061610,000734: 17,3123 54031 TS TIME6
061611,000735: 17,3124 23465 LXCH NXT6ADR
061612,000736:
061613,000737: 17,3125 34735 TURNON CA BIT15
061614,000738: 17,3126 00006 EXTEND
061615,000739: 17,3127 05013 WOR CHAN13
061616,000740: 17,3130 00002 TC Q
061617,000741:
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Page 1457
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061619,000743: 17,3131 61466 MIDORLST AD T6NEXT
061620,000744: 17,3132 00006 EXTEND
061621,000745: 17,3133 63142 BZMF LASTCHG # TIME6 + T6NEXT - T IS IN A
061622,000746:
061623,000747: 17,3134 23467 LXCH T6NEXT +1
061624,000748: 17,3135 53471 DXCH T6FURTHA
061625,000749: 17,3136 00006 EXTEND
061626,000750: 17,3137 60031 SU TIME6
061627,000751: 17,3140 53467 DXCH T6NEXT
061628,000752:
061629,000753: 17,3141 00002 TC Q
061630,000754:
061631,000755: 17,3142 40000 LASTCHG CS A
061632,000756: 17,3143 64754 AD NEG0
061633,000757: 17,3144 55470 TS T6FURTHA
061634,000758:
061635,000759: 17,3145 00002 TC Q
061636,000760:
061637,000761: # ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
061638,000762: # ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM. IN THE U-V SYSTEM NO CROSS-COUPLING IS
061639,000763: # PRODUCED FROM RCS JET FIRINGS. AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
061640,000764: # A AND THE V-COMPONENT IS IN L.
061641,000765:
061642,000766: 17,3146 23740 ROT-TOUV LXCH ROTEMP2 # (R) IS PUT INTO ROTEMP2
061643,000767: 17,3147 00006 EXTEND
061644,000768: 17,3150 71627 MP COEFFQ
061645,000769: 17,3151 57740 XCH ROTEMP2 # (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
061646,000770: 17,3152 00006 EXTEND
061647,000771: 17,3153 71630 MP COEFFR
061648,000772: 17,3154 54001 TS L # COEFFR.(R) IS PUT INTO L
061649,000773: 17,3155 61740 AD ROTEMP2
061650,000774: 17,3156 55737 TS ROTEMP1 # COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
061651,000775: 17,3157 13163 TCF +4
061652,000776: 17,3160 50000 INDEX A # COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
061653,000777: 17,3161 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
061654,000778: 17,3162 55737 TS ROTEMP1
061655,000779: 17,3163 41740 CS ROTEMP2
061656,000780: 17,3164 60001 AD L # -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
061657,000781: 17,3165 54007 TS 7
061658,000782: 17,3166 13171 TCF +3
061659,000783: 17,3167 50000 INDEX A # -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
061660,000784: 17,3170 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
061661,000785: 17,3171 23737 LXCH ROTEMP1 # COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
061662,000786: 17,3172 00002 TC Q
061663,000787: 17,3173 51744 SELCTSUB INDEX ROTINDEX
061664,000788: 17,3174 33225 CA ALLJETS
061665,000789: 17,3175 51743 INDEX NUMBERT
061666,000790: 17,3176 73231 MASK TYPEPOLY
061667,000791: 17,3177 55741 TS POLYTEMP
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Page 1458
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061669,000793: 17,3200 71262 MASK CH5MASK
061670,000794: 17,3201 10000 CCS A
061671,000795: 17,3202 13204 TCF +2
061672,000796:
061673,000797: 17,3203 00002 TC Q
061674,000798:
061675,000799: 17,3204 36245 CA THREE
061676,000800: 17,3205 55743 FAILOOP TS NUMBERT
061677,000801: 17,3206 51744 INDEX ROTINDEX
061678,000802: 17,3207 33225 CA ALLJETS
061679,000803: 17,3210 51743 INDEX NUMBERT
061680,000804: 17,3211 73231 MASK TYPEPOLY
061681,000805: 17,3212 55741 TS POLYTEMP
061682,000806: 17,3213 71262 MASK CH5MASK
061683,000807: 17,3214 00006 EXTEND
061684,000808: 17,3215 13203 BZF FAILOOP -2
061685,000809: 17,3216 11743 CCS NUMBERT
061686,000810: 17,3217 13205 TCF FAILOOP
061687,000811: 17,3220 51505 INDEX AXISCTR
061688,000812: 17,3221 55525 TS TJU
061689,000813: 17,3222 05567 TC ALARM
061690,000814: 17,3223 02004 OCT 02004
061691,000815: 17,3224 12777 TCF NOROTAT
061692,000816: 17,3225 00110 ALLJETS OCT 00110 # -U 6 13
061693,000817: 17,3226 00022 OCT 00022 # -V 2 9
061694,000818: 17,3227 00204 OCT 00204 # +U 5 14
061695,000819: 17,3230 00041 OCT 00041 # +V 1 10
061696,000820: 17,3231 00125 TYPEPOLY OCT 00125 # -X 1 5 9 13
061697,000821: 17,3232 00252 OCT 00252 # +X 2 6 10 14
061698,000822: 17,3233 00146 OCT 00146 # A 2 5 10 13
061699,000823: 17,3234 00231 OCT 00231 # B 1 6 9 14
061700,000824: 17,3235 00377 OCT 00377 # ALL 1 2 5 6 9 10 13 14
061701,000825:
061702,000826: # THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
061703,000827:
061704,000828: 17,3236 33240 CLOSEOUT CA ADRRUPT
061705,000829: 17,3237 07754 TC MAKERUPT
061706,000830:
061707,000831: 17,3240 03241 ADRRUPT ADRES ENDJASK
061708,000832:
061709,000833: 17,3241 53754 ENDJASK DXCH DAPARUPT
061710,000834: 17,3242 52011 DXCH ARUPT
061711,000835: 17,3243 53756 DXCH DAPBQRPT
061712,000836: 17,3244 56017 XCH BRUPT
061713,000837: 17,3245 22002 LXCH Q
061714,000838: 17,3246 34735 CAF NEGMAX # NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
061715,000839: 17,3247 53760 DXCH DAPZRUPT
061716,000840: 17,3250 52016 DXCH ZRUPT
061717,000841: 17,3251 15272 TCF NOQRSM
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Page 1459
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061719,000843: 7754 BLOCK 3
061720,000844: 6000 SETLOC FFTAG6
061721,000845: 6000 BANK
061722,000846:
061723,000847: 7754 COUNT* $$/DAP
061724,000848:
061725,000849: 7754 00006 MAKERUPT EXTEND
061726,000850: 7755 07754 EDRUPT MAKERUPT
061727,000851:
End of include-file Q,R-AXES_RCS_AUTOPILOT.agc. Parent file is MAIN.agc