Source Code
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These source-code files are part of a reconstructed copy of Luminary 98, a
development version 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 memo 85, using asterisks
indicating changed lines in the listing as a guide. While no listing of this
version is known to exist, nor are the memory-bank checksums available,
the reconstruction is believed to be correct because it was an an intermediate
step in reconstructing Luminary 97 whose reconstruction was
verified by matching memory-bank checksums to those listed in drawing 2021152G.
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 98 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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060557,000002: ## Copyright: Public domain.
060558,000003: ## Filename: Q,R-AXES_RCS_AUTOPILOT.agc
060559,000004: ## Purpose: A section of Luminary revision 98.
060560,000005: ## It is part of the reconstructed source code for the a
060561,000006: ## development version of the flight software for the Lunar
060562,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
060563,000008: ## The code has been recreated from a copy of Luminary 99
060564,000009: ## revision 001, using asterisks indicating changed lines in
060565,000010: ## the listing and Luminary Memo #85, which lists changes between
060566,000011: ## Luminary 98 and 99.
060567,000012: ## Reference: pp. 1442-1459
060568,000013: ## Assembler: yaYUL
060569,000014: ## Contact: Ron Burkey <info@sandroid.org>.
060570,000015: ## Website: www.ibiblio.org/apollo/index.html
060571,000016: ## Mod history: 2019-07-28 MAS Created from Luminary 99.
060572,000017:
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Page 1442
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060574,000019: 17,2072 BANK 17
060575,000020: 17,2000 SETLOC DAPS2
060576,000021: 17,2000 BANK
060577,000022:
060578,000023: 17,2072 E6,1635 EBANK= CDUXD
060579,000024:
060580,000025: 17,2072 COUNT* $$/DAPQR
060581,000026:
060582,000027: 17,2072 34737 CALLQERR CA BIT13 # CALCULATE Q,R ERRORS UNLESS THESE AXES
060583,000028: 17,2073 00006 EXTEND # ARE IN MANUAL RATE COMMAND.
060584,000029: 17,2074 02031 RAND CHAN31
060585,000030: 17,2075 10000 CCS A
060586,000031: 17,2076 12103 TCF +5 # IN AUTO COMPUTE Q,R ERRORS
060587,000032: 17,2077 40111 CS DAPBOOLS # IN MANUAL RATE COMMAND?
060588,000033: 17,2100 74740 MASK OURRCBIT
060589,000034: 17,2101 00006 EXTEND
060590,000035: 17,2102 12104 BZF Q,RORGTS # IF SO BYPASS CALCULATION OF ERRORS.
060591,000036: 17,2103 02626 TC QERRCALC
060592,000037:
060593,000038: 17,2104 11631 Q,RORGTS CCS COTROLER # CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
060594,000039: 17,2105 12607 TCF GOTOGTS # GTS (ALTERNATES WITH RCS WHEN DOCKED)
060595,000040: 17,2106 12574 TCF TRYGTS # GTS IF ALLOWED, OTHERWISE RCS
060596,000041: 17,2107 34755 RCS CAF ZERO # RCS (TRYGTS MAY BRANCH TO HERE)
060597,000042: 17,2110 55631 TS COTROLER
060598,000043:
060599,000044: 17,2111 53437 DXCH EDOTQ
060600,000045: 17,2112 03146 TC ROT-TOUV
060601,000046: 17,2113 53427 DXCH OMEGAU
060602,000047:
060603,000048: # X - TRANSLATION:
060604,000049:
060605,000050: # INPUT: BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
060606,000051: # ULLAGER
060607,000052: # APSFLAG, DRIFTBIT
060608,000053: # ACC40R2X, ACRBTRAN
060609,000054:
060610,000055: # OUTPUT: NEXTU, NEXTV CODES OF TRANSLATION FOR AFTER ROTATION
060611,000056: # SENSETYP TELL ROTATION DIRECTION AND DESIRE
060612,000057:
060613,000058: # X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR. IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED. A FAILURE
060614,000059: # WILL OVERRIDE THIS SPECIFICATION. AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
060615,000060:
060616,000061: 17,2114 34745 SENSEGET CA BIT7 # INPUT BITS OVERRIDE THE INTERNAL BITS
060617,000062: 17,2115 00006 EXTEND # SENSETYP WILL NOT OPPOSE ANYTRANS
060618,000063: 17,2116 02031 RAND CHAN31
060619,000064: 17,2117 00006 EXTEND
060620,000065: 17,2120 12146 BZF +XORULGE
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Page 1443
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060622,000067: 17,2121 34744 CA BIT8
060623,000068: 17,2122 00006 EXTEND
060624,000069: 17,2123 02031 RAND CHAN31
060625,000070: 17,2124 00006 EXTEND
060626,000071: 17,2125 12147 BZF -XTRANS
060627,000072:
060628,000073: 17,2126 34746 CA ULLAGER
060629,000074: 17,2127 70111 MASK DAPBOOLS
060630,000075: 17,2130 10000 CCS A
060631,000076: 17,2131 12146 TCF +XORULGE
060632,000077:
060633,000078: 17,2132 55473 TS NEXTU # STORE NULL TRANSLATION POLICIES
060634,000079: 17,2133 55474 TS NEXTV
060635,000080: 17,2134 40111 CS DAPBOOLS # BURNING OR DRIFTING?
060636,000081: 17,2135 74744 MASK DRIFTBIT
060637,000082: 17,2136 00006 EXTEND
060638,000083: 17,2137 12144 BZF TSENSE
060639,000084: 17,2140 30106 CA FLGWRD10 # DPS (INCLUDING DOCKED) OR APS?
060640,000085: 17,2141 74737 MASK APSFLBIT
060641,000086: 17,2142 10000 CCS A
060642,000087: 17,2143 34752 CAF TWO # FAVOR +X JETS DURING AN APS BURN.
060643,000088: 17,2144 55500 TSENSE TS SENSETYP
060644,000089: 17,2145 12200 TCF QRCONTRL
060645,000090:
060646,000091: 17,2146 34753 +XORULGE CAF ONE
060647,000092: 17,2147 64751 -XTRANS AD FOUR
060648,000093: 17,2150 55744 TS ROTINDEX
060649,000094: 17,2151 67745 AD NEG3
060650,000095: 17,2152 55500 TS SENSETYP # FAVOR APPROPRIATE JETS DURING TRANS.
060651,000096: 17,2153 30111 CA DAPBOOLS
060652,000097: 17,2154 74741 MASK ACC4OR2X
060653,000098: 17,2155 10000 CCS A
060654,000099: 17,2156 12321 TCF TRANS4
060655,000100:
060656,000101: 17,2157 30111 CA DAPBOOLS
060657,000102: 17,2160 74742 MASK AORBTRAN
060658,000103: 17,2161 10000 CCS A
060659,000104: 17,2162 34753 CA ONE # THREE FOR B
060660,000105: 17,2163 64752 AD TWO # TWO FOR A SYSTEM 2 JET X TRANS
060661,000106: 17,2164 55743 TSNUMBRT TS NUMBERT
060662,000107:
060663,000108: 17,2165 03173 TC SELCTSUB
060664,000109:
060665,000110: 17,2166 11741 CCS POLYTEMP
060666,000111: 17,2167 12172 TCF +3
060667,000112: 17,2170 05567 TC ALARM
060668,000113: 17,2171 02002 OCT 02002
060669,000114: 17,2172 35774 CA 00314OCT
060670,000115: 17,2173 71741 MASK POLYTEMP
060671,000116: 17,2174 55473 TSNEXTS TS NEXTU
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Page 1444
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060673,000118: 17,2175 45774 CS 00314OCT
060674,000119: 17,2176 71741 MASK POLYTEMP
060675,000120: 17,2177 55474 TS NEXTV
060676,000121:
060677,000122: # Q,R-AXES RCS CONTROL MODE SELECTION
060678,000123: # SWITCHES INDICATION WHEN SET
060679,000124: # BIT13/CHAN31 AUTO, GO TO ATTSTEER
060680,000125: # PULSES MINIMUM IMPULSE MODE
060681,000126: # (OTHERWISE) RATE COMMAND/ATTITUDE HOLD MODE
060682,000127:
060683,000128: 17,2200 34737 QRCONTRL CA BIT13 # CHECK MODE SELECT SWITCH.
060684,000129: 17,2201 00006 EXTEND
060685,000130: 17,2202 02031 RAND CHAN31 # BITS INVERTED
060686,000131: 17,2203 10000 CCS A
060687,000132: 17,2204 12661 TCF ATTSTEER
060688,000133: 17,2205 34735 CHKBIT10 CAF PULSES # PULSES = 1 FOR MIN IMP USE OF RHC
060689,000134: 17,2206 70111 MASK DAPBOOLS
060690,000135: 17,2207 00006 EXTEND
060691,000136: 17,2210 12323 BZF CHEKSTIK # IN ATT-HOLD/RATE-COMMAND IF BIT10=0
060692,000137:
060693,000138: # MINIMUM IMPULSE MODE
060694,000139:
060695,000140: 17,2211 00004 INHINT
060696,000141: 17,2212 04674 TC IBNKCALL
060697,000142: 17,2213 40153 CADR ZATTEROR
060698,000143: 17,2214 34755 CA ZERO
060699,000144: 17,2215 55450 TS QERROR
060700,000145: 17,2216 55452 TS RERROR # FOR DISPLAYS
060701,000146: 17,2217 00003 RELINT
060702,000147:
060703,000148: 17,2220 00006 EXTEND
060704,000149: 17,2221 00031 READ CHAN31
060705,000150: 17,2222 55737 TS TEMP31 # IS EQUAL TO DAPTEMP1
060706,000151: 17,2223 11461 CCS OLDQRMIN
060707,000152: 17,2224 12246 TCF CHECKIN
060708,000153:
060709,000154: 17,2225 31737 FIREQR CA TEMP31
060710,000155: 17,2226 74753 MASK BIT1
060711,000156: 17,2227 00006 EXTEND
060712,000157: 17,2230 12252 BZF +QMIN
060713,000158:
060714,000159: 17,2231 31737 CA TEMP31
060715,000160: 17,2232 74752 MASK BIT2
060716,000161: 17,2233 00006 EXTEND
060717,000162: 17,2234 12256 BZF -QMIN
060718,000163:
060719,000164: 17,2235 31737 CA TEMP31
060720,000165: 17,2236 74747 MASK BIT5
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Page 1445
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060722,000167: 17,2237 00006 EXTEND
060723,000168: 17,2240 12262 BZF +RMIN
060724,000169:
060725,000170: 17,2241 31737 CA TEMP31
060726,000171: 17,2242 74746 MASK BIT6
060727,000172: 17,2243 00006 EXTEND
060728,000173: 17,2244 12264 BZF -RMIN
060729,000174:
060730,000175: 17,2245 13063 TCF XTRANS
060731,000176:
060732,000177: 17,2246 41737 CHECKIN CS TEMP31
060733,000178: 17,2247 72320 MASK OCT63
060734,000179: 17,2250 55461 TS OLDQRMIN
060735,000180: 17,2251 13063 TCF XTRANS
060736,000181:
060737,000182: 17,2252 33107 +QMIN CA 14MS
060738,000183: 17,2253 55525 TS TJU
060739,000184: 17,2254 43107 CS 14MS
060740,000185: 17,2255 12266 TCF MINQR
060741,000186: 17,2256 43107 -QMIN CS 14MS
060742,000187: 17,2257 55525 TS TJU
060743,000188: 17,2260 33107 CA 14MS
060744,000189: 17,2261 12266 TCF MINQR
060745,000190: 17,2262 33107 +RMIN CA 14MS
060746,000191: 17,2263 12265 TCF +2
060747,000192: 17,2264 43107 -RMIN CS 14MS
060748,000193: 17,2265 55525 TS TJU
060749,000194: 17,2266 55526 MINQR TS TJV
060750,000195: 17,2267 32317 CA MINADR
060751,000196: 17,2270 55477 TS RETJADR
060752,000197: 17,2271 34753 CA ONE
060753,000198: 17,2272 55461 TS OLDQRMIN
060754,000199: 17,2273 55505 MINRTN TS AXISCTR
060755,000200: 17,2274 30111 CA DAPBOOLS
060756,000201: 17,2275 74737 MASK CSMDOCKD
060757,000202: 17,2276 00006 EXTEND
060758,000203: 17,2277 12307 BZF MIMRET
060759,000204: 17,2300 51505 INDEX AXISCTR # IF DOCKED, USE 60MS MINIMUM IMPULSE
060760,000205: 17,2301 11525 CCS TJU
060761,000206: 17,2302 32316 CA 60MS
060762,000207: 17,2303 12305 TCF +2
060763,000208: 17,2304 42316 CS 60MS
060764,000209: 17,2305 51505 INDEX AXISCTR
060765,000210: 17,2306 55525 TS TJU
060766,000211: 17,2307 30111 MIMRET CA DAPBOOLS
060767,000212: 17,2310 74742 MASK AORBTRAN
060768,000213: 17,2311 10000 CCS A
060769,000214: 17,2312 34753 CA ONE
060770,000215: 17,2313 64752 AD TWO
060771,000216: 17,2314 55743 TS NUMBERT
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Page 1446
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060773,000218: 17,2315 12727 TCF AFTERTJ
060774,000219:
060775,000220: 17,2316 00140 60MS DEC 96.0
060776,000221: 17,2317 02273 MINADR GENADR MINRTN
060777,000222: 17,2320 00063 OCT63 OCT 63
060778,000223: 17,2321 17,3107 14MS = +TJMINT6
060779,000224:
060780,000225: 17,2321 34751 TRANS4 CA FOUR
060781,000226: 17,2322 12164 TCF TSNUMBRT
060782,000227:
060783,000228: # RATE COMMAND MODE:
060784,000229:
060785,000230: # DESCRIPTION (SAME AS P-AXIS)
060786,000231:
060787,000232: 17,2323 55633 CHEKSTIK TS INGTS # NOT IN GTS WHEN IN ATT HOLD
060788,000233: 17,2324 44753 CS ONE # 1/ACCS WILL DO THE NULLING DRIVES
060789,000234: 17,2325 55631 TS COTROLER # COME BACK TO RCS NEXT TIME
060790,000235: 17,2326 34735 CA BIT15
060791,000236: 17,2327 71443 MASK CH31TEMP
060792,000237: 17,2330 00006 EXTEND
060793,000238: 17,2331 12350 BZF RHCACTIV # BRANCH IF OUT OF DETENT.
060794,000239: 17,2332 34740 CA OURRCBIT # ***********
060795,000240: 17,2333 70111 MASK DAPBOOLS # *IN DETENT* CHECK FOR MANUAL CONTROL
060796,000241: 17,2334 00006 EXTEND # *********** LAST TIME.
060797,000242: 17,2335 12661 BZF STILLRCS
060798,000243: 17,2336 44743 CS BIT9
060799,000244: 17,2337 71273 MASK RCSFLAGS
060800,000245: 17,2340 55273 TS RCSFLAGS # BIT 9 IS 0.
060801,000246: 17,2341 12345 TCF DAMPING
060802,000247: 17,2342 00050 40CYCL OCT 50
060803,000248: 17,2343 00001 1/10S OCT 1
060804,000249: 17,2344 00056 LINRAT DEC 46 B-14
060805,000250:
060806,000251: # ================================
060807,000252:
060808,000253: 17,2345 34755 DAMPING CA ZERO
060809,000254: 17,2346 55462 TS SAVEHAND
060810,000255: 17,2347 55463 TS SAVEHAND +1
060811,000256: 17,2350 11462 RHCACTIV CCS SAVEHAND # *******************
060812,000257: 17,2351 12354 TCF +3 # Q,R MANUAL CONTROL WC = A*(B+|D|)*D
060813,000258: 17,2352 12354 TCF +2 # *******************
060814,000259: 17,2353 12354 TCF +1
060815,000260: 17,2354 60000 DOUBLE # WHERE
060816,000261: 17,2355 60000 DOUBLE
060817,000262: 17,2356 62344 AD LINRAT # WC = COMMANDED ROTATIONAL RATE
060818,000263: 17,2357 00006 EXTEND # A = QUADRATIC SENSITIVITY FACTOR
060819,000264: 17,2360 71462 MP SAVEHAND # B = LINEAR/QUADRATIC SENSITIVITY
060820,000265: 17,2361 30001 CA L # |D| = ABS. VALUE OF DEFLECTION
060821,000266: 17,2362 00006 EXTEND # D = HAND CONTROLLER DEFLECTION
060822,000267: 17,2363 71444 MP STIKSENS
060823,000268: 17,2364 57455 XCH QLAST # COMMAND Q RATE SCALED 45 DEG/SEC
060824,000269: 17,2365 40000 COM
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Page 1447
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060826,000271: 17,2366 61455 AD QLAST
060827,000272: 17,2367 55741 TS DAPTEMP3
060828,000273: 17,2370 11463 CCS SAVEHAND +1
060829,000274: 17,2371 12374 TCF +3
060830,000275: 17,2372 12374 TCF +2
060831,000276: 17,2373 12374 TCF +1
060832,000277: 17,2374 60000 DOUBLE
060833,000278: 17,2375 60000 DOUBLE
060834,000279: 17,2376 62344 AD LINRAT
060835,000280: 17,2377 00006 EXTEND
060836,000281: 17,2400 71463 MP SAVEHAND +1
060837,000282: 17,2401 30001 CA L
060838,000283: 17,2402 00006 EXTEND
060839,000284: 17,2403 71444 MP STIKSENS
060840,000285: 17,2404 57456 XCH RLAST
060841,000286: 17,2405 40000 COM
060842,000287: 17,2406 61456 AD RLAST
060843,000288: 17,2407 55742 TS DAPTEMP4
060844,000289: 17,2410 41455 CS QLAST # INTERVAL.
060845,000290: 17,2411 61422 AD OMEGAQ
060846,000291: 17,2412 55436 TS QRATEDIF
060847,000292: 17,2413 41456 CS RLAST
060848,000293: 17,2414 61423 AD OMEGAR
060849,000294: 17,2415 55437 TS RRATEDIF
060850,000295: 17,2416 53437 ENTERQR DXCH QRATEDIF # TRANSFORM RATES FROM Q,R TO U,V AXES
060851,000296: 17,2417 03146 TC ROT-TOUV
060852,000297: 17,2420 53427 DXCH URATEDIF
060853,000298: 17,2421 11741 CCS DAPTEMP3 # CHECK IF Q COMMAND CHANGE EXCEEDS
060854,000299: 17,2422 02425 TC +3 # BREAKOUT LEVEL. IF NOT, CHECK R.
060855,000300: 17,2423 02425 TC +2
060856,000301: 17,2424 02425 TC +1
060857,000302: 17,2425 61476 AD -RATEDB
060858,000303: 17,2426 00006 EXTEND
060859,000304: 17,2427 62431 BZMF +2
060860,000305: 17,2430 12447 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
060861,000306: 17,2431 11742 CCS DAPTEMP4 # R COMMAND BREAKOUT CHECK.
060862,000307: 17,2432 02435 TC +3
060863,000308: 17,2433 02435 TC +2
060864,000309: 17,2434 02435 TC +1
060865,000310: 17,2435 61476 AD -RATEDB
060866,000311: 17,2436 00006 EXTEND
060867,000312: 17,2437 62441 BZMF +2
060868,000313: 17,2440 12447 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
060869,000314: 17,2441 31273 CA RCSFLAGS # BREAKOUT LEVEL NOT EXCEEDED. CHECK FOR
060870,000315: 17,2442 74741 MASK QRBIT # DIRECT RATE CONTROL LAST TIME.
060871,000316: 17,2443 00006 EXTEND
060872,000317: 17,2444 12446 BZF +2
060873,000318: 17,2445 12451 TCF ENTERUV # CONTINUE DIRECT RATE CONTROL.
060874,000319: 17,2446 12661 TCF STILLRCS # PSEUDO-AUTO CONTROL.
060875,000320: 17,2447 32342 CA 40CYCL
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Page 1448
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060877,000322: 17,2450 55457 TS TCQR
060878,000323: 17,2451 00004 ENTERUV INHINT # DIRECT RATE CONTROL.
060879,000324: 17,2452 04674 TC IBNKCALL
060880,000325: 17,2453 40153 FCADR ZATTEROR
060881,000326: 17,2454 00003 RELINT
060882,000327: 17,2455 34755 CA ZERO
060883,000328: 17,2456 55450 TS DYERROR
060884,000329: 17,2457 55451 TS DYERROR +1
060885,000330: 17,2460 55452 TS DZERROR
060886,000331: 17,2461 55453 TS DZERROR +1
060887,000332: 17,2462 11426 CCS URATEDIF
060888,000333: 17,2463 12466 TCF +3
060889,000334: 17,2464 12466 TCF +2
060890,000335: 17,2465 12466 TCF +1
060891,000336: 17,2466 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
060892,000337: 17,2467 00006 EXTEND # DIRECT RATE CONTROL.
060893,000338: 17,2470 62504 BZMF VDB
060894,000339: 17,2471 11427 CCS VRATEDIF
060895,000340: 17,2472 12475 TCF +3
060896,000341: 17,2473 12475 TCF +2
060897,000342: 17,2474 12475 TCF +1
060898,000343: 17,2475 61476 AD TARGETDB
060899,000344: 17,2476 00006 EXTEND
060900,000345: 17,2477 62501 BZMF +2
060901,000346: 17,2500 12515 TCF QRTIME
060902,000347: 17,2501 34755 CA ZERO
060903,000348: 17,2502 55427 TS VRATEDIF
060904,000349: 17,2503 12515 TCF QRTIME
060905,000350: 17,2504 11427 VDB CCS VRATEDIF
060906,000351: 17,2505 02510 TC +3
060907,000352: 17,2506 02510 TC +2
060908,000353: 17,2507 02510 TC +1
060909,000354: 17,2510 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
060910,000355: 17,2511 00006 EXTEND # DIRECT RATE CONTROL. IF NOT, FIRE AND
060911,000356: 17,2512 62524 BZMF TOPSEUDO # SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
060912,000357: 17,2513 34755 CA ZERO # PASS.
060913,000358: 17,2514 55426 TS URATEDIF
060914,000359: 17,2515 31457 QRTIME CA TCQR # DIRECT RATE TIME CHECK.
060915,000360: 17,2516 00006 EXTEND
060916,000361: 17,2517 62524 BZMF +5 # BRANCH IF TIME EXCEEDS 4 SEC.
060917,000362: 17,2520 41273 CS RCSFLAGS
060918,000363: 17,2521 74741 MASK QRBIT
060919,000364: 17,2522 27273 ADS RCSFLAGS # BIT 11 IS 1.
060920,000365: 17,2523 02527 TC +4
060921,000366: 17,2524 44741 TOPSEUDO CS QRBIT
060922,000367: 17,2525 71273 MASK RCSFLAGS
060923,000368: 17,2526 55273 TS RCSFLAGS # BIT 11 IS 0.
060924,000369: 17,2527 32573 CA HANDADR
060925,000370: 17,2530 55477 TS RETJADR
060926,000371: 17,2531 34753 CA ONE
060927,000372:
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Page 1449
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060929,000374: 17,2532 55505 BACKHAND TS AXISCTR
060930,000375:
060931,000376: 17,2533 34751 CA FOUR
060932,000377: 17,2534 55743 TS NUMBERT
060933,000378:
060934,000379: 17,2535 51505 INDEX AXISCTR
060935,000380: 17,2536 51535 INDEX SKIPU
060936,000381: 17,2537 12540 TCF +1
060937,000382: 17,2540 34751 CA FOUR
060938,000383: 17,2541 51505 INDEX AXISCTR
060939,000384: 17,2542 55535 TS SKIPU
060940,000385: 17,2543 13005 TCF LOOPER
060941,000386:
060942,000387: 17,2544 51505 INDEX AXISCTR
060943,000388: 17,2545 11426 CCS URATEDIF # INDEX AXIS QUANITY
060944,000389: 17,2546 34755 CA ZERO # 0 -U 1/JETACC-AOSU
060945,000390: 17,2547 12551 TCF +2 # 1 +U 1/JETACC+AOSU
060946,000391: 17,2550 34753 CA ONE # 16 -V 1/JETACC-AOSV
060947,000392: 17,2551 51505 INDEX AXISCTR # 17 +V 1/JETACC+AOSV
060948,000393: 17,2552 63722 AD AXISDIFF # JETACC = 2 JET ACCELERATION (1 FOR FAIL)
060949,000394:
060950,000395: 17,2553 50000 INDEX A
060951,000396: 17,2554 41571 CS 1/ANET2 +1
060952,000397: 17,2555 00006 EXTEND
060953,000398: 17,2556 51505 INDEX AXISCTR # URATEDIF IS SCALED AT PI/4 RAD/SEC
060954,000399: 17,2557 71426 MP URATEDIF # JET TIME IN A SCALED 32 SEC
060955,000400: 17,2560 54002 TS Q
060956,000401: 17,2561 20001 DAS A
060957,000402: 17,2562 60002 AD Q
060958,000403: 17,2563 54000 TS A # OVERFLOW SKIP
060959,000404: 17,2564 12566 TCF +2
060960,000405: 17,2565 30002 CA Q # RIGHT SIGN AND BIGGER THAN 150MS
060961,000406: 17,2566 51505 SETTIME INDEX AXISCTR
060962,000407: 17,2567 55525 TS TJU # SCALED AT 10.67 WHICH IS CLOSE TO 10.24
060963,000408: 17,2570 12727 TCF AFTERTJ
060964,000409:
060965,000410: 17,2571 34755 ZEROTJ CA ZERO
060966,000411: 17,2572 12566 TCF SETTIME
060967,000412:
060968,000413: 17,2573 02532 HANDADR GENADR BACKHAND
060969,000414:
060970,000415: # GTS WILL BE TRIED IF
060971,000416: # 1. USEQRJTS = 0,
060972,000417: # 2. ALLOWGTS POS,
060973,000418: # 3. JETS ARE OFF (Q,R-AXES)
060974,000419:
060975,000420: 17,2574 34736 TRYGTS CAF USEQRJTS # IS JET USE MANDATORY. (AS LONG AS
060976,000421: 17,2575 70111 MASK DAPBOOLS # USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
060977,000422: 17,2576 10000 CCS A
060978,000423: 17,2577 12107 TCF RCS
060979,000424: 17,2600 11502 CCS ALLOWGTS # NO. DOES AOSTASK OK CONTROL FOR GTS?
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Page 1450
|
060981,000426: 17,2601 12603 TCF +2
060982,000427: 17,2602 12107 TCF RCS
060983,000428: 17,2603 00006 EXTEND
060984,000429: 17,2604 00005 READ CHAN5
060985,000430: 17,2605 10000 CCS A
060986,000431: 17,2606 12612 TCF CHKINGTS
060987,000432: 17,2607 00006 GOTOGTS EXTEND
060988,000433: 17,2610 32625 DCA GTSCADR
060989,000434: 17,2611 52006 DTCB
060990,000435:
060991,000436: 17,2612 11633 CHKINGTS CCS INGTS # WAS THE TRIM GIMBAL CONTROLLING
060992,000437: 17,2613 12615 TCF +2 # YES. SET UP A DAMPED NULLING DRIVE.
060993,000438: 17,2614 12107 TCF RCS # NO. NULLING WAS SET UP BEFORE. DO RCS
060994,000439: 17,2615 00004 INHINT
060995,000440: 17,2616 04674 TC IBNKCALL
060996,000441: 17,2617 43330 CADR TIMEGMBL
060997,000442: 17,2620 00003 RELINT
060998,000443: 17,2621 34755 CAF ZERO
060999,000444: 17,2622 55633 TS INGTS
061000,000445: 17,2623 12107 TCF RCS
061001,000446:
061002,000447: 17,2624 E6,1635 EBANK= CDUXD
061003,000448: 17,2624 03077 42106 GTSCADR 2CADR GTS
061004,000449:
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Page 1451
|
061006,000451: # SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
061007,000452:
061008,000453: 17,2626 30033 QERRCALC CAE CDUY # Q-ERROR CALCULATION
061009,000454: 17,2627 00006 EXTEND
061010,000455: 17,2630 21636 MSU CDUYD # CDU ANGLE - ANGLE DESIRED (Y-AXIS)
061011,000456: 17,2631 55737 TS DAPTEMP1 # SAVE FOR RERRCALC
061012,000457: 17,2632 00006 EXTEND
061013,000458: 17,2633 71415 MP M21 # (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
061014,000459: 17,2634 55752 TS E
061015,000460: 17,2635 30034 CAE CDUZ # SECOND TERM CALCULATION:
061016,000461: 17,2636 00006 EXTEND
061017,000462: 17,2637 21637 MSU CDUZD # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
061018,000463: 17,2640 55740 TS DAPTEMP2 # SAVE FOR RERRCALC
061019,000464: 17,2641 00006 EXTEND
061020,000465: 17,2642 71417 MP M22 # (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
061021,000466: 17,2643 61300 AD DELQEROR # KALCMANU INERFACE ERROR
061022,000467: 17,2644 61752 AD E
061023,000468: 17,2645 57450 XCH QERROR # SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
061024,000469:
061025,000470: 17,2646 31737 RERRCALC CAE DAPTEMP1 # R-ERROR CALCULATION:
061026,000471: 17,2647 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Y-AXIS)
061027,000472: 17,2650 71416 MP M31 # (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
061028,000473: 17,2651 55752 TS E
061029,000474: 17,2652 31740 CAE DAPTEMP2 # SECOND TERM CALCULATION:
061030,000475: 17,2653 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
061031,000476: 17,2654 71420 MP M32 # (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
061032,000477: 17,2655 61301 AD DELREROR # KALCMANU INERFACE ERROR
061033,000478: 17,2656 61752 AD E
061034,000479: 17,2657 57452 XCH RERROR # SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
061035,000480: 17,2660 00002 TC Q
061036,000481:
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|
Page 1452
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061038,000483: # "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
061039,000484:
061040,000485: 17,2661 17,2661 ATTSTEER EQUALS STILLRCS # "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
061041,000486:
061042,000487: 17,2661 31452 STILLRCS CA RERROR
061043,000488: 17,2662 22000 LXCH A
061044,000489: 17,2663 31450 CA QERROR
061045,000490: 17,2664 03146 TC ROT-TOUV
061046,000491: 17,2665 53752 DXCH UERROR
061047,000492:
061048,000493: # PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
061049,000494: # PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
061050,000495:
061051,000496: 17,2666 33113 TJLAW CA TJLAWADR
061052,000497: 17,2667 55477 TS RETJADR
061053,000498: 17,2670 34753 CA ONE
061054,000499: 17,2671 55505 TS AXISCTR
061055,000500: 17,2672 51505 INDEX AXISCTR
061056,000501: 17,2673 51535 INDEX SKIPU
061057,000502: 17,2674 12675 TCF +1
061058,000503: 17,2675 34751 CA FOUR
061059,000504: 17,2676 51505 INDEX AXISCTR
061060,000505: 17,2677 55535 TS SKIPU
061061,000506: 17,2700 13005 TCF LOOPER
061062,000507: 17,2701 51505 INDEX AXISCTR
061063,000508: 17,2702 31751 CA UERROR
061064,000509: 17,2703 55752 TS E
061065,000510: 17,2704 51505 INDEX AXISCTR
061066,000511: 17,2705 31426 CA OMEGAU
061067,000512: 17,2706 55427 TS EDOT
061068,000513: 17,2707 30111 CA DAPBOOLS
061069,000514: 17,2710 74737 MASK CSMDOCKD
061070,000515: 17,2711 10000 CCS A
061071,000516: 17,2712 12715 TCF +3
061072,000517: 17,2713 03252 TC TJETLAW
061073,000518: 17,2714 12727 TCF AFTERTJ
061074,000519: 17,2715 40111 +3 CS DAPBOOLS # DOCKED. IF GIMBAL USABLE DO GTS CONTROL
061075,000520: 17,2716 74736 MASK USEQRJTS # ON THE NEXT PASS.
061076,000521: 17,2717 10000 CCS A # USEQRJTS BIT MUST NOT BE BIT 15.
061077,000522: 17,2720 55631 TS COTROLER # GIMBAL USABLE. STORE POSITIVE VALUE.
061078,000523: 17,2721 00004 INHINT
061079,000524: 17,2722 04674 TC IBNKCALL
061080,000525: 17,2723 43727 CADR SPSRCS # DETERMINE RCS CONTROL
061081,000526: 17,2724 00003 RELINT
061082,000527: 17,2725 34751 CAF FOUR # ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
061083,000528: 17,2726 55743 TS NUMBERT # FALL THROUGH TO JET SELECTION, ETC.
061084,000529:
061085,000530: # Q,R-JET-SELECTION-LOGIC
061086,000531:
061087,000532: # INPUT: AXISCTR 0,1 FOR U,V
061088,000533: # SNUFFBIT ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN
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Page 1453
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061090,000535: # TJU,TJV JET TIME SCALED 10.24 SEC.
061091,000536: # NUMBERT INDICATES NUMBER OF JETS AND TYPE OF POLICY
061092,000537: # RETJADR WHERE TO RETURN TO
061093,000538:
061094,000539: # OUTPUT: NO.U(V)JETS RATE DERIVATION FEEDBACK
061095,000540: # CHANNEL 5
061096,000541: # SKIPU,SKIRV FOR LESS THAN 150MS FIRING
061097,000542:
061098,000543: # NOTES: IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED
061099,000544: # JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY
061100,000545: # TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT
061101,000546: # IF NONE CAN BE FOUND.
061102,000547:
061103,000548: # TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
061104,000549: # MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
061105,000550:
061106,000551: 17,2727 30101 AFTERTJ CA FLAGWRD5 # IF SNUFFBIT SET DURING A DPS BURN GO TO
061107,000552: 17,2730 74737 MASK SNUFFBIT # XTRANS; THAT IS, INHIBIT CONTROL.
061108,000553: 17,2731 00006 EXTEND
061109,000554: 17,2732 12743 BZF DOROTAT
061110,000555: 17,2733 40106 CS FLGWRD10
061111,000556: 17,2734 74737 MASK APSFLBIT
061112,000557: 17,2735 00006 EXTEND
061113,000558: 17,2736 12743 BZF DOROTAT
061114,000559: 17,2737 30111 CA DAPBOOLS
061115,000560: 17,2740 74744 MASK DRIFTBIT
061116,000561: 17,2741 00006 EXTEND
061117,000562: 17,2742 13063 BZF XTRANS
061118,000563:
061119,000564: 17,2743 34752 DOROTAT CAF TWO
061120,000565: 17,2744 54001 TS L
061121,000566: 17,2745 51505 INDEX AXISCTR
061122,000567: 17,2746 11525 CCS TJU
061123,000568: 17,2747 12754 TCF +5
061124,000569: 17,2750 12777 TCF NOROTAT
061125,000570: 17,2751 12753 TCF +2
061126,000571: 17,2752 12777 TCF NOROTAT
061127,000572: 17,2753 22007 ZL
061128,000573: 17,2754 64753 AD ONE
061129,000574: 17,2755 55737 TS ABSTJ
061130,000575:
061131,000576: 17,2756 31505 CA AXISCTR
061132,000577: 17,2757 60001 AD L
061133,000578: 17,2760 55744 TS ROTINDEX # 0 1 2 3 = -U -V -+U +V
061134,000579:
061135,000580: 17,2761 31737 CA ABSTJ
061136,000581: 17,2762 63110 AD -150MS
061137,000582: 17,2763 00006 EXTEND
061138,000583: 17,2764 63010 BZMF DOSKIP
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Page 1454
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061140,000585: 17,2765 03173 TC SELCTSUB
061141,000586:
061142,000587: 17,2766 51505 INDEX AXISCTR
061143,000588: 17,2767 33105 CA INDEXES
061144,000589: 17,2770 54001 TS L
061145,000590:
061146,000591: 17,2771 31741 CA POLYTEMP
061147,000592: 17,2772 00004 INHINT
061148,000593: 17,2773 50001 INDEX L
061149,000594: 17,2774 05754 TC WRITEP
061150,000595:
061151,000596: 17,2775 00003 RELINT
061152,000597: 17,2776 13051 TCF FEEDBACK
061153,000598:
061154,000599: 17,2777 51505 NOROTAT INDEX AXISCTR
061155,000600: 17,3000 33105 CA INDEXES
061156,000601: 17,3001 00004 INHINT
061157,000602: 17,3002 50000 INDEX A
061158,000603: 17,3003 05753 TC WRITEP -1
061159,000604:
061160,000605: 17,3004 00003 RELINT
061161,000606: 17,3005 11505 LOOPER CCS AXISCTR
061162,000607: 17,3006 01477 TC RETJADR
061163,000608: 17,3007 13236 TCF CLOSEOUT
061164,000609: 17,3010 41737 DOSKIP CS ABSTJ
061165,000610: 17,3011 63107 AD +TJMINT6 # 14MS
061166,000611: 17,3012 00006 EXTEND
061167,000612: 17,3013 63032 BZMF NOTMIN
061168,000613:
061169,000614: 17,3014 27737 ADS ABSTJ
061170,000615: 17,3015 51505 INDEX AXISCTR
061171,000616: 17,3016 11525 CCS TJU
061172,000617: 17,3017 33107 CA +TJMINT6
061173,000618: 17,3020 13022 TCF +2
061174,000619: 17,3021 43107 CS +TJMINT6
061175,000620: 17,3022 51505 INDEX AXISCTR
061176,000621: 17,3023 55525 TS TJU
061177,000622:
061178,000623: 17,3024 11500 CCS SENSETYP # ENSURE MIN-IMPULSE NOT AGAINST TRANS
061179,000624: 17,3025 13031 TCF NOTMIN -1
061180,000625: 17,3026 00006 EXTEND
061181,000626: 17,3027 00004 READ LOSCALAR
061182,000627: 17,3030 74753 MASK ONE
061183,000628: 17,3031 55743 TS NUMBERT
061184,000629:
061185,000630: 17,3032 03173 NOTMIN TC SELCTSUB
061186,000631:
061187,000632: 17,3033 51505 INDEX AXISCTR
061188,000633: 17,3034 33105 CA INDEXES
061189,000634: 17,3035 00004 INHINT
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Page 1455
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061191,000636: 17,3036 55471 TS T6FURTHA +1
061192,000637: 17,3037 31741 CA POLYTEMP
061193,000638: 17,3040 51471 INDEX T6FURTHA +1
061194,000639: 17,3041 05754 TC WRITEP
061195,000640:
061196,000641: 17,3042 31737 CA ABSTJ
061197,000642: 17,3043 55470 TS T6FURTHA
061198,000643: 17,3044 03114 TC JTLST # IN QR BANK BY NOW
061199,000644:
061200,000645: 17,3045 00003 RELINT
061201,000646:
061202,000647: 17,3046 34755 CA ZERO
061203,000648: 17,3047 51505 INDEX AXISCTR
061204,000649: 17,3050 55535 TS SKIPU
061205,000650:
061206,000651: 17,3051 46245 FEEDBACK CS THREE
061207,000652: 17,3052 61743 AD NUMBERT
061208,000653: 17,3053 00006 EXTEND
061209,000654: 17,3054 63057 BZMF +3
061210,000655:
061211,000656: 17,3055 34752 CA TWO
061212,000657: 17,3056 13060 TCF +2
061213,000658: 17,3057 34753 CA ONE
061214,000659: 17,3060 51505 INDEX AXISCTR
061215,000660: 17,3061 55522 TS NO.UJETS
061216,000661: 17,3062 13005 TCF LOOPER
061217,000662:
061218,000663: 17,3063 34755 XTRANS CA ZERO
061219,000664: 17,3064 55525 TS TJU
061220,000665: 17,3065 55526 TS TJV
061221,000666: 17,3066 34751 CA FOUR
061222,000667: 17,3067 00004 INHINT
061223,000668: 17,3070 57535 XCH SKIPU
061224,000669: 17,3071 00006 EXTEND
061225,000670: 17,3072 13074 BZF +2
061226,000671: 17,3073 05757 TC WRITEU -1
061227,000672: 17,3074 34751 CA FOUR
061228,000673: 17,3075 57536 XCH SKIPV
061229,000674: 17,3076 00003 RELINT
061230,000675:
061231,000676: 17,3077 00006 EXTEND
061232,000677: 17,3100 13236 BZF CLOSEOUT
061233,000678: 17,3101 00004 INHINT
061234,000679: 17,3102 05770 TC WRITEV -1
061235,000680: 17,3103 00003 RELINT
061236,000681:
061237,000682: 17,3104 13236 TCF CLOSEOUT
061238,000683: 17,3105 00004 INDEXES DEC 4 B-14
061239,000684: 17,3106 00015 DEC 13 B-14
061240,000685: 17,3107 00026 +TJMINT6 DEC 22 B-14
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Page 1456
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061242,000687: 17,3110 77417 -150MS DEC -240 B-14
061243,000688: 17,3111 00600 BIT8,9 OCT 00600
061244,000689: 17,3112 00266 SCLNORM OCT 266
061245,000690: 17,3113 02671 TJLAWADR GENADR TJLAW +3 # RETURN ADDRESS FOR RCS ATTITUDE CONTROL
061246,000691:
061247,000692: # THE JET LIST:
061248,000693: # THIS IS A WAITLIST FOR T6RUPTS.
061249,000694:
061250,000695: # CALLED BY:
061251,000696: # CA TJ TIME WHEN NEXT JETS WILL BE WRITTEN
061252,000697: # TS T6FURTHA
061253,000698: # CA INDEX AXIS TO BE WIRTTEN AT TJ (FROM NOW)
061254,000699: # TS T6FURTHA +1
061255,000700: # TC JTLST
061256,000701:
061257,000702: # EXAMPLE - U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
061258,000703: # JETS INTO CHANNEL 5. IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
061259,000704: # 150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
061260,000705: # CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
061261,000706: # OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
061262,000707:
061263,000708: # THE LIST IS EXACTLY 3 LONG. (THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
061264,000709: # THE INPUT IS THE LAST MEMBER OF THE LIST
061265,000710:
061266,000711: # RETURNS BY:
061267,000712: # + TC Q
061268,000713:
061269,000714: # DEFINITIONS: (OUTPUT)
061270,000715: # TIME6 TIME OF NEXT RUPT
061271,000716: # T6NEXT DELTA TIME TO NEXT RUPT
061272,000717: # T6FURTHA DELTA TIME FROM 2ND TO LAST RUPT
061273,000718: # NXT6ADR AXIS INDEX Q - P-AXIS
061274,000719: # T6NEXT +1 AXIS INDEX 4 - U-AXIS
061275,000720: # T6FURTHA +1 AXIS INDEX 13 - V-AXIS
061276,000721:
061277,000722: 17,3114 41470 JTLST CS T6FURTHA
061278,000723: 17,3115 60031 AD TIME6
061279,000724: 17,3116 00006 EXTEND
061280,000725: 17,3117 63131 BZMF MIDORLST # TIME6 - T IS IN A
061281,000726:
061282,000727: 17,3120 23465 LXCH NXT6ADR
061283,000728: 17,3121 53467 DXCH T6NEXT
061284,000729: 17,3122 53471 DXCH T6FURTHA
061285,000730: 17,3123 54031 TS TIME6
061286,000731: 17,3124 23465 LXCH NXT6ADR
061287,000732:
061288,000733: 17,3125 34735 TURNON CA BIT15
061289,000734: 17,3126 00006 EXTEND
061290,000735: 17,3127 05013 WOR CHAN13
061291,000736: 17,3130 00002 TC Q
061292,000737:
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Page 1457
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061294,000739: 17,3131 61466 MIDORLST AD T6NEXT
061295,000740: 17,3132 00006 EXTEND
061296,000741: 17,3133 63142 BZMF LASTCHG # TIME6 + T6NEXT - T IS IN A
061297,000742:
061298,000743: 17,3134 23467 LXCH T6NEXT +1
061299,000744: 17,3135 53471 DXCH T6FURTHA
061300,000745: 17,3136 00006 EXTEND
061301,000746: 17,3137 60031 SU TIME6
061302,000747: 17,3140 53467 DXCH T6NEXT
061303,000748:
061304,000749: 17,3141 00002 TC Q
061305,000750:
061306,000751: 17,3142 40000 LASTCHG CS A
061307,000752: 17,3143 64754 AD NEG0
061308,000753: 17,3144 55470 TS T6FURTHA
061309,000754:
061310,000755: 17,3145 00002 TC Q
061311,000756:
061312,000757: # ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
061313,000758: # ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM. IN THE U-V SYSTEM NO CROSS-COUPLING IS
061314,000759: # PRODUCED FROM RCS JET FIRINGS. AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
061315,000760: # A AND THE V-COMPONENT IS IN L.
061316,000761:
061317,000762: 17,3146 23740 ROT-TOUV LXCH ROTEMP2 # (R) IS PUT INTO ROTEMP2
061318,000763: 17,3147 00006 EXTEND
061319,000764: 17,3150 71627 MP COEFFQ
061320,000765: 17,3151 57740 XCH ROTEMP2 # (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
061321,000766: 17,3152 00006 EXTEND
061322,000767: 17,3153 71630 MP COEFFR
061323,000768: 17,3154 54001 TS L # COEFFR.(R) IS PUT INTO L
061324,000769: 17,3155 61740 AD ROTEMP2
061325,000770: 17,3156 55737 TS ROTEMP1 # COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
061326,000771: 17,3157 13163 TCF +4
061327,000772: 17,3160 50000 INDEX A # COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
061328,000773: 17,3161 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
061329,000774: 17,3162 55737 TS ROTEMP1
061330,000775: 17,3163 41740 CS ROTEMP2
061331,000776: 17,3164 60001 AD L # -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
061332,000777: 17,3165 54007 TS 7
061333,000778: 17,3166 13171 TCF +3
061334,000779: 17,3167 50000 INDEX A # -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
061335,000780: 17,3170 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
061336,000781: 17,3171 23737 LXCH ROTEMP1 # COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
061337,000782: 17,3172 00002 TC Q
061338,000783: 17,3173 51744 SELCTSUB INDEX ROTINDEX
061339,000784: 17,3174 33225 CA ALLJETS
061340,000785: 17,3175 51743 INDEX NUMBERT
061341,000786: 17,3176 73231 MASK TYPEPOLY
061342,000787: 17,3177 55741 TS POLYTEMP
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Page 1458
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061344,000789: 17,3200 71262 MASK CH5MASK
061345,000790: 17,3201 10000 CCS A
061346,000791: 17,3202 13204 TCF +2
061347,000792:
061348,000793: 17,3203 00002 TC Q
061349,000794:
061350,000795: 17,3204 36245 CA THREE
061351,000796: 17,3205 55743 FAILOOP TS NUMBERT
061352,000797: 17,3206 51744 INDEX ROTINDEX
061353,000798: 17,3207 33225 CA ALLJETS
061354,000799: 17,3210 51743 INDEX NUMBERT
061355,000800: 17,3211 73231 MASK TYPEPOLY
061356,000801: 17,3212 55741 TS POLYTEMP
061357,000802: 17,3213 71262 MASK CH5MASK
061358,000803: 17,3214 00006 EXTEND
061359,000804: 17,3215 13203 BZF FAILOOP -2
061360,000805: 17,3216 11743 CCS NUMBERT
061361,000806: 17,3217 13205 TCF FAILOOP
061362,000807: 17,3220 51505 INDEX AXISCTR
061363,000808: 17,3221 55525 TS TJU
061364,000809: 17,3222 05567 TC ALARM
061365,000810: 17,3223 02004 OCT 02004
061366,000811: 17,3224 12777 TCF NOROTAT
061367,000812: 17,3225 00110 ALLJETS OCT 00110 # -U 6 13
061368,000813: 17,3226 00022 OCT 00022 # -V 2 9
061369,000814: 17,3227 00204 OCT 00204 # +U 5 14
061370,000815: 17,3230 00041 OCT 00041 # +V 1 10
061371,000816: 17,3231 00125 TYPEPOLY OCT 00125 # -X 1 5 9 13
061372,000817: 17,3232 00252 OCT 00252 # +X 2 6 10 14
061373,000818: 17,3233 00146 OCT 00146 # A 2 5 10 13
061374,000819: 17,3234 00231 OCT 00231 # B 1 6 9 14
061375,000820: 17,3235 00377 OCT 00377 # ALL 1 2 5 6 9 10 13 14
061376,000821:
061377,000822: # THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
061378,000823:
061379,000824: 17,3236 33240 CLOSEOUT CA ADRRUPT
061380,000825: 17,3237 07754 TC MAKERUPT
061381,000826:
061382,000827: 17,3240 03241 ADRRUPT ADRES ENDJASK
061383,000828:
061384,000829: 17,3241 53754 ENDJASK DXCH DAPARUPT
061385,000830: 17,3242 52011 DXCH ARUPT
061386,000831: 17,3243 53756 DXCH DAPBQRPT
061387,000832: 17,3244 56017 XCH BRUPT
061388,000833: 17,3245 22002 LXCH Q
061389,000834: 17,3246 34735 CAF NEGMAX # NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
061390,000835: 17,3247 53760 DXCH DAPZRUPT
061391,000836: 17,3250 52016 DXCH ZRUPT
061392,000837: 17,3251 15272 TCF NOQRSM
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Page 1459
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061394,000839: 7754 BLOCK 3
061395,000840: 6000 SETLOC FFTAG6
061396,000841: 6000 BANK
061397,000842:
061398,000843: 7754 COUNT* $$/DAP
061399,000844:
061400,000845: 7754 00006 MAKERUPT EXTEND
061401,000846: 7755 07754 EDRUPT MAKERUPT
061402,000847:
End of include-file Q,R-AXES_RCS_AUTOPILOT.agc. Parent file is MAIN.agc