Source Code
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These source-code files are part of a reconstructed copy of Luminary 173, the
second (unflown) release of the Apollo 14 Lunar Module (LM) Apollo Guidance
Computer (AGC) software.
The reconstruction began with reconstructed source code for Luminary 178. Changes
between revision 173 and 178 were backed out, as described by Luminary memo 167
(revision 1). The reconstruction was verified by matching memory-bank checksums
to those listed in drawing 2021152N. Note that page numbers in the reconstructed
code match those for the baseline log section mentioned in each file's changelog;
the page numbers for a real Luminary 173 listing would be different.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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060391,000002: ## Copyright: Public domain.
060392,000003: ## Filename: P-AXIS_RCS_AUTOPILOT.agc
060393,000004: ## Purpose: A section of Luminary revision 173.
060394,000005: ## It is part of the reconstructed source code for the second
060395,000006: ## (unflown) release of the flight software for the Lunar
060396,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
060397,000008: ## The code has been recreated from a reconstructed copy of
060398,000009: ## Luminary 178, as well as Luminary memo 167 (revision 1).
060399,000010: ## It has been adapted such that the resulting bugger words
060400,000011: ## exactly match those specified for Luminary 173 in NASA
060401,000012: ## drawing 2021152N, which gives relatively high confidence
060402,000013: ## that the reconstruction is correct.
060403,000014: ## Reference: pp. 1409-1429
060404,000015: ## Assembler: yaYUL
060405,000016: ## Contact: Ron Burkey <info@sandroid.org>.
060406,000017: ## Website: www.ibiblio.org/apollo/index.html
060407,000018: ## Mod history: 2019-09-18 MAS Created from Luminary 178.
060408,000019:
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Page 1409
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060410,000021: 16,2213 BANK 16
060411,000022: 16,2000 SETLOC DAPS1
060412,000023: 16,2000 BANK
060413,000024:
060414,000025: 16,2213 E6,1464 EBANK= PERROR
060415,000026: 16,2213 COUNT* $$/DAPP
060416,000027:
060417,000028: # THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS.
060418,000029: # THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP.
060419,000030:
060420,000031: 16,2213 37732 PAXIS CA MS100
060421,000032: 16,2214 26030 ADS TIME5 # *** NECESSARY IN ORDER TO ALLOW SYN-
060422,000033: # CHRONIZATION WITH OTHER INTERRUPTS ***
060423,000034:
060424,000035: 16,2215 22016 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED)
060425,000036: 16,2216 00006 EXTEND
060426,000037: 16,2217 22012 QXCH QRUPT
060427,000038:
060428,000039: # CHECK IF DAP PASS IS PERMISSIBLE
060429,000040:
060430,000041: 16,2220 11756 CCS DAPZRUPT # IF DAPZRUPT POSITIVE, DAP (JASK) IS
060431,000042: 16,2221 05635 TC BAILOUT # STILL IN PROGRESS AND A RESTART IS
060432,000043: 16,2222 32000 OCT 32000 # CALLED FOR. IT IS NEVER ZERO
060433,000044:
060434,000045: 16,2223 02000 TC CHEKBITS # RETURN IS TO I+1 IF DAP SHOULD STAY ON.
060435,000046:
060436,000047: 16,2224 30032 CA CDUX # READ AND STORE CDU'S
060437,000048: 16,2225 55747 TS DAPTREG4
060438,000049: 16,2226 30033 CA CDUY
060439,000050: 16,2227 55750 TS DAPTREG5
060440,000051: 16,2230 30034 CA CDUZ
060441,000052: 16,2231 55751 TS DAPTREG6
060442,000053: # ***** KALCMANU-DAP AND "RATE-HOLD"-DAP INTERFACE *****
060443,000054:
060444,000055: # THE FOLLOWING SECTION IS EXECUTED EVERY 100 MS (10 TIMES A SECOND) WITHIN THE P-AXIS REACTION CONTROL SYSTEM
060445,000056: # AUTOPILOT (WHENEVER THE DAP IS IN OPERATION).
060446,000057:
060447,000058: 16,2232 31634 CA CDUXD
060448,000059: 16,2233 00006 EXTEND
060449,000060: 16,2234 21637 MSU DELCDUX
060450,000061: 16,2235 02256 TC 1STOTWOS
060451,000062: 16,2236 55634 TS CDUXD
060452,000063: 16,2237 31635 CA CDUYD
060453,000064: 16,2240 00006 EXTEND
060454,000065: 16,2241 21640 MSU DELCDUY
060455,000066: 16,2242 02256 TC 1STOTWOS
060456,000067: 16,2243 55635 TS CDUYD
060457,000068: 16,2244 31636 CA CDUZD
060458,000069: 16,2245 00006 EXTEND
060459,000070: 16,2246 21641 MSU DELCDUZ
060460,000071:
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Page 1410
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060462,000073: 16,2247 02256 TC 1STOTWOS
060463,000074: 16,2250 55636 TS CDUZD
060464,000075: 16,2251 00006 EXTEND # DIMINISH MANUAL CONTROL DIRECT RATE
060465,000076: 16,2252 27445 DIM TCP # TIME COUNTERS.
060466,000077: 16,2253 00006 EXTEND
060467,000078: 16,2254 27457 DIM TCQR
060468,000079: # RATELOOP COMPUTES JETRATEQ, JETRATER, AND 1JACC*NO. PJETS IN ITEMP1.
060469,000080: # RETURNS TO BACKP.
060470,000081:
060471,000082: # JETRATE = 1JACC*NO.PJETS*TJP (NOTE TJ IS THE TIME FIRED DURING CSP)
060472,000083:
060473,000084: # JETRATEQ= 1JACCQ(TJU*NO.UJETS - TJV*NO.VJETS)
060474,000085:
060475,000086: # JETRATER= 1JACCR(TJU*NO.UJETS + TJV*NO.VJETS)
060476,000087:
060477,000088: 16,2255 12647 TCF PAXFILT # PROCEEDS TO RATELOOP AFTER SUPERJOB
060478,000089: 16,2256 10000 1STOTWOS CCS A
060479,000090: 16,2257 64753 AD ONE
060480,000091: 16,2260 00002 TC Q
060481,000092: 16,2261 40000 CS A
060482,000093: 16,2262 00002 TC Q
060483,000094: 16,2263 00006 SUBDIVDE EXTEND # OVERFLOW PROCTION ROUTINE TO GIVE
060484,000095: 16,2264 71740 MP DAPTEMP3 # POSMAX OR NEGMAX IF THE DIVIDE WOULD
060485,000096: 16,2265 21427 DAS OMEGAU # OVERFLOW
060486,000097:
060487,000098: 16,2266 00006 +3 EXTEND
060488,000099: 16,2267 31427 DCA OMEGAU
060489,000100: 16,2270 53743 DXCH DAPTEMP5
060490,000101: 16,2271 11426 CCS OMEGAU
060491,000102: 16,2272 12274 TCF +2
060492,000103: 16,2273 12304 TCF DIVIDER
060493,000104: 16,2274 62315 AD -OCT630
060494,000105: 16,2275 00006 EXTEND
060495,000106: 16,2276 62304 BZMF DIVIDER
060496,000107:
060497,000108: 16,2277 11426 CCS OMEGAU
060498,000109: 16,2300 34733 CA POSMAX # 45 DEG/SEC
060499,000110: 16,2301 00002 TC Q
060500,000111: 16,2302 44733 CS POSMAX
060501,000112: 16,2303 00002 TC Q
060502,000113:
060503,000114: 16,2304 53427 DIVIDER DXCH OMEGAU
060504,000115: 16,2305 00006 EXTEND
060505,000116: 16,2306 11747 DV DAPTREG4
060506,000117: 16,2307 00002 TC Q
060507,000118:
060508,000119: 16,2310 54007 OVERSUB TS 7 # RETURNS A UNCHANGED OR LIMITED TO
060509,000120: 16,2311 00002 TC Q # POSMAX OR NEGMAX IF A HAS OVERFLOW
060510,000121: 16,2312 50000 INDEX A
060511,000122: 16,2313 44734 CS BIT15 -1
060512,000123:
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Page 1411
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060514,000125: 16,2314 00002 TC Q
060515,000126:
060516,000127: 16,2315 77147 -OCT630 OCT 77147
060517,000128:
060518,000129: 16,2316 31736 BACKP CA DAPTEMP1
060519,000130: 16,2317 00006 EXTEND
060520,000131: 16,2320 71530 MP 1JACC
060521,000132: 16,2321 55744 TS JETRATE
060522,000133: # BEGINNING OF THE RATE DERIVATION
060523,000134: # OMEGAP,Q,R BODY RATES SCALED AT PI/4
060524,000135: # TRAPER,Q,R BODY ANGLE ERRORS FROM PREDICTED ANGLE (PI/40)
060525,000136: # NP(QR)TRAPS NUMBER OF TIMES ANGLE ERROR HAS BEEN ACCUMULATED
060526,000137: # AOSQ(R)TERM CHANGE IN RATE DUE TO OFFSET ACCELLERATION. (PI/4)
060527,000138: # JETRATE,Q,R CHANGE IN RATE DUE TO JET ACCELLERATION. (PI/4)
060528,000139: # TRAPSIZE NEGATIVE LIMIT OF MAGNITUDE OF TRAPEDP,ECT.
060529,000140: # OMEGAU DP-TEMPORARY STORAGE
060530,000141:
060531,000142: # OMEGA = OMEGA + JETRATE + AOSTERM (+TRAPED/NTRAPS IF TRAPED BIG)
060532,000143:
060533,000144: 16,2322 31747 CAE DAPTREG4 # CDUX IS STORED HERE
060534,000145: 16,2323 54001 TS L
060535,000146: 16,2324 00006 EXTEND
060536,000147: 16,2325 21440 MSU OLDXFORP # SCALED AT PI
060537,000148: 16,2326 23440 LXCH OLDXFORP
060538,000149: 16,2327 55736 TS DAPTEMP1
060539,000150: 16,2330 33623 CA 1/40
060540,000151: 16,2331 55747 TS DAPTREG4
060541,000152: 16,2332 41744 CS JETRATE
060542,000153: 16,2333 00006 EXTEND
060543,000154: 16,2334 74736 MP BIT14
060544,000155: 16,2335 27430 ADS TRAPEDP
060545,000156: 16,2336 31745 CA JETRATEQ
060546,000157: 16,2337 61544 AD AOSQTERM
060547,000158: 16,2340 00006 EXTEND
060548,000159: 16,2341 77741 MP -BIT14
060549,000160: 16,2342 27431 ADS TRAPEDQ
060550,000161: 16,2343 31746 CA JETRATER
060551,000162: 16,2344 61545 AD AOSRTERM
060552,000163: 16,2345 00006 EXTEND
060553,000164: 16,2346 77741 MP -BIT14
060554,000165: 16,2347 27432 ADS TRAPEDR
060555,000166:
060556,000167: 16,2350 31750 CA DAPTREG5 # CDUY IS STORED HERE
060557,000168: 16,2351 54001 TS L
060558,000169: 16,2352 00006 EXTEND
060559,000170: 16,2353 21441 MSU OLDYFORP # SCALED AT PI
060560,000171: 16,2354 23441 LXCH OLDYFORP
060561,000172: 16,2355 55737 TS DAPTEMP2
060562,000173: 16,2356 00006 EXTEND
060563,000174: 16,2357 71414 MP M11 # M11 SCALED AT 1
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Page 1412
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060565,000176: 16,2360 61736 AD DAPTEMP1
060566,000177: 16,2361 53427 DXCH OMEGAU
060567,000178:
060568,000179: 16,2362 02266 TC SUBDIVDE +3 # RETURNS WITH CDU-RATE AT PI/4
060569,000180:
060570,000181: 16,2363 00006 EXTEND
060571,000182: 16,2364 61421 SU OMEGAP
060572,000183: 16,2365 27430 ADS TRAPEDP
060573,000184: 16,2366 02310 TC OVERSUB
060574,000185: 16,2367 55430 TS TRAPEDP
060575,000186: 16,2370 00006 EXTEND
060576,000187: 16,2371 31743 DCA DAPTEMP5
060577,000188: 16,2372 21447 DAS DXERROR
060578,000189: 16,2373 41454 CS PLAST
060579,000190: 16,2374 00006 EXTEND
060580,000191: 16,2375 73623 MP 1/40
060581,000192: 16,2376 21447 DAS DXERROR # MANUAL MODE X-ATTITUDE ERROR (DP)
060582,000193: 16,2377 31751 CA DAPTREG6 # CDUZ IS STORED HERE
060583,000194: 16,2400 54001 TS L
060584,000195: 16,2401 00006 EXTEND
060585,000196: 16,2402 21442 MSU OLDZFORQ
060586,000197: 16,2403 55740 TS DAPTEMP3
060587,000198: 16,2404 23442 LXCH OLDZFORQ
060588,000199: 16,2405 31415 CA M21
060589,000200: 16,2406 00006 EXTEND
060590,000201: 16,2407 71737 MP DAPTEMP2
060591,000202: 16,2410 53427 DXCH OMEGAU
060592,000203: 16,2411 31417 CA M22
060593,000204: 16,2412 02263 TC SUBDIVDE
060594,000205:
060595,000206: 16,2413 00006 EXTEND
060596,000207: 16,2414 61422 SU OMEGAQ
060597,000208: 16,2415 27431 ADS TRAPEDQ
060598,000209: 16,2416 02310 TC OVERSUB
060599,000210: 16,2417 55431 TS TRAPEDQ
060600,000211: 16,2420 00006 EXTEND
060601,000212: 16,2421 31743 DCA DAPTEMP5
060602,000213: 16,2422 21451 DAS DYERROR
060603,000214: 16,2423 41455 CS QLAST
060604,000215: 16,2424 00006 EXTEND
060605,000216: 16,2425 73623 MP 1/40
060606,000217: 16,2426 21451 DAS DYERROR # MANUAL MODE Y-ATTITUDE ERROR (DP)
060607,000218: 16,2427 31416 CA M31
060608,000219: 16,2430 00006 EXTEND
060609,000220: 16,2431 71737 MP DAPTEMP2
060610,000221: 16,2432 53427 DXCH OMEGAU
060611,000222: 16,2433 31420 CA M32
060612,000223:
060613,000224: 16,2434 02263 TC SUBDIVDE
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Page 1413
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060615,000226: 16,2435 00006 EXTEND
060616,000227: 16,2436 61423 SU OMEGAR
060617,000228: 16,2437 27432 ADS TRAPEDR
060618,000229: 16,2440 02310 TC OVERSUB
060619,000230: 16,2441 55432 TS TRAPEDR # TRAPEDS HAVE ALL BEEN COMPUTED
060620,000231:
060621,000232: 16,2442 00006 EXTEND
060622,000233: 16,2443 31743 DCA DAPTEMP5
060623,000234: 16,2444 21453 DAS DZERROR
060624,000235: 16,2445 41456 CS RLAST
060625,000236: 16,2446 00006 EXTEND
060626,000237: 16,2447 73623 MP 1/40
060627,000238: 16,2450 21453 DAS DZERROR # MANUAL MODE Z-ATTITUDE ERROR (DP)
060628,000239: 16,2451 30111 CA DAPBOOLS # PICK UP PAD LOADED STATE ESTIMATOR GAINS
060629,000240: 16,2452 74737 MASK CSMDOCKD
060630,000241: 16,2453 00006 EXTEND
060631,000242: 16,2454 12462 BZF LMONLY
060632,000243: 16,2455 00006 EXTEND # DOCKED
060633,000244: 16,2456 31405 DCA DKOMEGAN
060634,000245: 16,2457 53750 DXCH DAPTREG4
060635,000246: 16,2460 31403 CA DKTRAP
060636,000247: 16,2461 12466 TCF +5
060637,000248: 16,2462 00006 LMONLY EXTEND # UNDOCKED
060638,000249: 16,2463 31410 DCA LMOMEGAN
060639,000250: 16,2464 53750 DXCH DAPTREG4
060640,000251: 16,2465 31406 CA LMTRAP
060641,000252: 16,2466 55751 +5 TS DAPTREG6
060642,000253: 16,2467 11430 CCS TRAPEDP
060643,000254: 16,2470 12472 TCF +2
060644,000255: 16,2471 12507 TCF SMALPDIF
060645,000256: 16,2472 61751 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
060646,000257: 16,2473 00006 EXTEND
060647,000258: 16,2474 62507 BZMF SMALPDIF
060648,000259: 16,2475 22007 ZL
060649,000260: 16,2476 23430 LXCH TRAPEDP
060650,000261: 16,2477 34755 CA ZERO
060651,000262: 16,2500 00006 EXTEND
060652,000263: 16,2501 11433 DV NPTRAPS
060653,000264: 16,2502 27421 ADS OMEGAP
060654,000265: 16,2503 02310 TC OVERSUB
060655,000266: 16,2504 55421 TS OMEGAP
060656,000267: 16,2505 31747 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
060657,000268: 16,2506 55433 TS NPTRAPS
060658,000269: 16,2507 25433 SMALPDIF INCR NPTRAPS
060659,000270: 16,2510 31744 P-RATE CA JETRATE
060660,000271: 16,2511 27421 ADS OMEGAP
060661,000272: 16,2512 02310 TC OVERSUB
060662,000273: 16,2513 55421 TS OMEGAP
060663,000274:
060664,000275: 16,2514 11431 CCS TRAPEDQ
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Page 1414
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060666,000277: 16,2515 12517 TCF +2
060667,000278: 16,2516 12544 TCF Q-RATE
060668,000279: 16,2517 61751 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
060669,000280: 16,2520 00006 EXTEND
060670,000281: 16,2521 62544 BZMF Q-RATE
060671,000282: 16,2522 22007 ZL
060672,000283: 16,2523 23431 LXCH TRAPEDQ
060673,000284: 16,2524 34755 CA ZERO
060674,000285: 16,2525 00006 EXTEND
060675,000286: 16,2526 11434 DV NQTRAPS
060676,000287: 16,2527 55736 TS DAPTEMP1 # SAVE FOR OFFSET ESTIMATE
060677,000288: 16,2530 27422 ADS OMEGAQ
060678,000289: 16,2531 02310 TC OVERSUB
060679,000290: 16,2532 55422 TS OMEGAQ
060680,000291: 16,2533 31747 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
060681,000292: 16,2534 57434 XCH NQTRAPS
060682,000293: 16,2535 61750 AD DAPTREG5 # KAOS > ABOUT 60D %N/N_60"
060683,000294: 16,2536 57736 XCH DAPTEMP1
060684,000295: 16,2537 00006 EXTEND
060685,000296: 16,2540 74756 MP FIVE
060686,000297: 16,2541 00006 EXTEND
060687,000298: 16,2542 11736 DV DAPTEMP1
060688,000299: 16,2543 27536 ADS AOSQ
060689,000300: 16,2544 25434 Q-RATE INCR NQTRAPS
060690,000301: 16,2545 31745 CA JETRATEQ
060691,000302: 16,2546 61544 AD AOSQTERM
060692,000303: 16,2547 27422 ADS OMEGAQ
060693,000304: 16,2550 02310 TC OVERSUB
060694,000305: 16,2551 55422 TS OMEGAQ
060695,000306:
060696,000307: 16,2552 11432 CCS TRAPEDR
060697,000308: 16,2553 12555 TCF +2
060698,000309: 16,2554 12602 TCF R-RATE
060699,000310: 16,2555 61751 AD DAPTREG6 # TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
060700,000311: 16,2556 00006 EXTEND
060701,000312: 16,2557 62602 BZMF R-RATE
060702,000313: 16,2560 22007 ZL
060703,000314: 16,2561 23432 LXCH TRAPEDR
060704,000315: 16,2562 34755 CA ZERO
060705,000316: 16,2563 00006 EXTEND
060706,000317: 16,2564 11435 DV NRTRAPS
060707,000318: 16,2565 55737 TS DAPTEMP2 # SAVE FOR OFFSET ESTIMATE
060708,000319: 16,2566 27423 ADS OMEGAR
060709,000320: 16,2567 02310 TC OVERSUB
060710,000321: 16,2570 55423 TS OMEGAR
060711,000322: 16,2571 31747 CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
060712,000323: 16,2572 57435 XCH NRTRAPS
060713,000324: 16,2573 61750 AD DAPTREG5 # KAOS > ABOUT 60D %N/N_60"
060714,000325: 16,2574 57737 XCH DAPTEMP2
060715,000326: 16,2575 00006 EXTEND
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Page 1415
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060717,000328: 16,2576 74756 MP FIVE
060718,000329: 16,2577 00006 EXTEND
060719,000330: 16,2600 11737 DV DAPTEMP2
060720,000331: 16,2601 27540 ADS AOSR
060721,000332: 16,2602 25435 R-RATE INCR NRTRAPS
060722,000333: 16,2603 31746 CA JETRATER
060723,000334: 16,2604 61545 AD AOSRTERM
060724,000335: 16,2605 27423 ADS OMEGAR
060725,000336: 16,2606 02310 TC OVERSUB
060726,000337: 16,2607 55423 TS OMEGAR
060727,000338:
060728,000339: # END OF RATE DERIVATION
060729,000340:
060730,000341: # BEGIN OFFSET ESTIMATER
060731,000342:
060732,000343: # IN POWERED FLIGHT, AOSTASK WILL BE CALLED EVERY 2 SECONDS.
060733,000344:
060734,000345: # AOS = AOS + K*SUMRATE
060735,000346:
060736,000347: 16,2610 40111 CS DAPBOOLS
060737,000348: 16,2611 74744 MASK DRIFTBIT
060738,000349: 16,2612 10000 CCS A
060739,000350: 16,2613 12624 TCF WORKTIME
060740,000351: 16,2614 55424 TS ALPHAQ # ZERO THE OFFSET ACCELERATION VALUES.
060741,000352: 16,2615 55425 TS ALPHAR
060742,000353: 16,2616 55544 TS AOSQTERM
060743,000354: 16,2617 55545 TS AOSRTERM
060744,000355: 16,2620 55536 TS AOSQ
060745,000356: 16,2621 55540 TS AOSR
060746,000357: 16,2622 12667 TCF PRETIMCK
060747,000358: 16,2623 00074 KAOS DEC 60 B-14
060748,000359: 16,2624 31510 WORKTIME CA QACCDOT
060749,000360: 16,2625 00006 EXTEND
060750,000361: 16,2626 74766 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
060751,000362: 16,2627 21537 DAS AOSQ
060752,000363: 16,2630 31536 CA AOSQ
060753,000364: 16,2631 55424 TS ALPHAQ
060754,000365: 16,2632 00006 EXTEND
060755,000366: 16,2633 73621 MP 200MS # .2 AT 1
060756,000367: 16,2634 55544 TS AOSQTERM
060757,000368: 16,2635 31512 CA RACCDOT
060758,000369: 16,2636 00006 EXTEND
060759,000370: 16,2637 74766 MP CALLCODE # OCTAL 00032 IS DECIMAL .1 AT 2(6).
060760,000371: 16,2640 21541 DAS AOSR
060761,000372: 16,2641 31540 CA AOSR
060762,000373: 16,2642 55425 TS ALPHAR
060763,000374: 16,2643 00006 EXTEND
060764,000375: 16,2644 73621 MP 200MS # .2 AT 1
060765,000376: 16,2645 55545 TS AOSRTERM
060766,000377: 16,2646 12667 TCF PRETIMCK
060767,000378:
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Page 1416
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060769,000380:
060770,000381:
060771,000382: 16,2647 34747 PAXFILT CA CALLGMBL # EXECUTE ACDT+C12, IF NEEDED.
060772,000383: 16,2650 71262 MASK RCSFLAGS
060773,000384: 16,2651 10000 CCS A # CALLGMBL IS NOT BIT15, SO THIS TEST IS
060774,000385: 16,2652 03741 TC ACDT+C12 # VALID.
060775,000386:
060776,000387: 16,2653 52011 DXCH ARUPT
060777,000388: 16,2654 53753 DXCH DAPARUPT
060778,000389: 16,2655 32666 CA SUPERJOB # SETTING UP THE SUPERJOB
060779,000390: 16,2656 56017 XCH BRUPT
060780,000391: 16,2657 22012 LXCH QRUPT
060781,000392: 16,2660 53755 DXCH DAPBQRPT
060782,000393: 16,2661 32665 CA SUPERADR
060783,000394: 16,2662 52016 DXCH ZRUPT
060784,000395: 16,2663 53757 DXCH DAPZRUPT
060785,000396: 16,2664 15306 TCF NOQBRSM +1 # RELINT (JUST IN CASE) AND RESUME, IN THE
060786,000397: # FORM OF A JASK, AT SUPERJOB.
060787,000398:
060788,000399: 16,2665 02667 SUPERADR GENADR SUPERJOB +1
060789,000400: # COUNT DOWN GIMBAL DRIVE TIMERS AND TURN OFF DRIVES IF REQUIRED.
060790,000401:
060791,000402: 16,2666 13644 SUPERJOB TCF RATELOOP
060792,000403: 16,2667 11631 PRETIMCK CCS QGIMTIMR
060793,000404: 16,2670 12710 TCF DECQTIMR # POSITIVE- COUNTING DOWN
060794,000405: 16,2671 12714 TCF TURNOFFQ # NEGATIVE- DRIVE SHOULD BE ENDED
060795,000406: 16,2672 11633 CHKRTIMR CCS RGIMTIMR # NEGATIVE- INACTIVE
060796,000407: 16,2673 12712 TCF DECRTIMR # (NEG ZERO- IMPOSSIBLE)
060797,000408: 16,2674 12724 TCF TURNOFFR # REPEATED (ABOVE) FOR R AXIS.
060798,000409:
060799,000410: 16,2675 00006 EXTEND # DECREMENT DOCKED JET INHIBITION COUNTERS
060800,000411: 16,2676 27766 DIM PJETCTR
060801,000412: 16,2677 00006 EXTEND
060802,000413: 16,2700 27767 DIM UJETCTR
060803,000414: 16,2701 00006 EXTEND
060804,000415: 16,2702 27770 DIM VJETCTR
060805,000416: 16,2703 34740 CA BIT12
060806,000417: 16,2704 71262 MASK RCSFLAGS
060807,000418: 16,2705 00006 EXTEND
060808,000419: 16,2706 12734 BZF SKIPPAXS
060809,000420: 16,2707 02740 TC CHKVISFZ
060810,000421: 16,2710 55631 DECQTIMR TS QGIMTIMR # COUNT TIMERS DOWN TO POS ZERO.
060811,000422: 16,2711 12672 TCF CHKRTIMR
060812,000423: 16,2712 55633 DECRTIMR TS RGIMTIMR
060813,000424: 16,2713 12675 TCF CHKRTIMR +3
060814,000425:
060815,000426: 16,2714 55501 TURNOFFQ TS NEGUQ # HALT DRIVES.
060816,000427: 16,2715 55510 TS QACCDOT
060817,000428: 16,2716 45007 CS QGIMBITS
060818,000429: 16,2717 00006 EXTEND
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Page 1417
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060820,000431: 16,2720 03012 WAND CHAN12
060821,000432: 16,2721 34735 CAF NEGMAX
060822,000433: 16,2722 55631 TS QGIMTIMR
060823,000434: 16,2723 12672 TCF CHKRTIMR
060824,000435: 16,2724 55503 TURNOFFR TS NEGUR
060825,000436: 16,2725 55512 TS RACCDOT
060826,000437: 16,2726 45020 CS RGIMBITS
060827,000438: 16,2727 00006 EXTEND
060828,000439: 16,2730 03012 WAND CHAN12
060829,000440: 16,2731 34735 CAF NEGMAX
060830,000441: 16,2732 55633 TS RGIMTIMR
060831,000442: 16,2733 12675 TCF CHKRTIMR +3
060832,000443: 16,2734 5007 QGIMBITS EQUALS OCT1400 # BITS 9 AND 10 (OF CHANNEL 12).
060833,000444: 16,2734 5020 RGIMBITS EQUALS PRIO6 # BITS 11 AND 12 (OF CHANNEL 12).
060834,000445:
060835,000446: 16,2734 41262 SKIPPAXS CS RCSFLAGS
060836,000447: 16,2735 74740 MASK BIT12
060837,000448: 16,2736 27262 ADS RCSFLAGS # BIT 12 SET TO 1.
060838,000449: 16,2737 13627 TCF QRAXIS # GO TO QRAXIS OR TO GTS.
060839,000450:
060840,000451: # Y-Z TRANSLATION
060841,000452:
060842,000453: # INPUT: BITS 9-12 OF CH31 (FROM TRANSLATION CONTROLER)
060843,000454:
060844,000455: # OUTPUT: NEXTP
060845,000456:
060846,000457: # NEXTP IS THE CHANNEL 6 CODE OF JETS FOR THE DESIRED TRANSLATION.
060847,000458: # IF THERE ARE FAILURES IN THE DESIRED POLICY, THEN
060848,000459:
060849,000460: # (1) FOR DIAGONAL TRANS: UNFAILED PAIR
060850,000461: # ALARM (IF NO PAIR)
060851,000462:
060852,000463: # (2) FOR PRINCIPAL TRANS: TRY TO TACK WITH DIAGONAL PAIRS
060853,000464: # ALARM (IF DIAGONAL PAIRS ARE FAILED)
060854,000465: 16,2740 00006 CHKVISFZ EXTEND
060855,000466: 16,2741 00031 READ CHAN31
060856,000467: 16,2742 40000 CS A
060857,000468: 16,2743 73616 MASK 07400OCT
060858,000469: 16,2744 00006 EXTEND
060859,000470: 16,2745 13014 BZF TSNEXTP
060860,000471: 16,2746 00006 EXTEND
060861,000472: 16,2747 74745 MP BIT7
060862,000473: 16,2750 50000 INDEX A
060863,000474: 16,2751 33575 CA INDXYZ
060864,000475: 16,2752 55743 TS ROTINDEX
060865,000476: 16,2753 36245 TRYUORV CA SIX
060866,000477: 16,2754 03554 TC SELECTYZ
060867,000478: 16,2755 46245 CS SIX
060868,000479: 16,2756 61742 AD NUMBERT
060869,000480: 16,2757 00006 EXTEND
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Page 1418
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060871,000482: 16,2760 13013 BZF TSNEXTP -1
060872,000483: 16,2761 44756 CS FIVE
060873,000484: 16,2762 61743 AD ROTINDEX
060874,000485: 16,2763 00006 EXTEND
060875,000486: 16,2764 63002 BZMF ALTERYZ
060876,000487: 16,2765 41742 CS NUMBERT
060877,000488: 16,2766 64751 AD FOUR
060878,000489: 16,2767 00006 EXTEND
060879,000490: 16,2770 63013 BZMF TSNEXTP -1
060880,000491: 16,2771 05600 ABORTYZ TC ALARM
060881,000492: 16,2772 02001 OCT 02001
060882,000493: 16,2773 34753 CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
060883,000494: 16,2774 23262 LXCH RCSFLAGS
060884,000495: 16,2775 00006 EXTEND
060885,000496: 16,2776 06001 RXOR 1
060886,000497: 16,2777 55262 TS RCSFLAGS
060887,000498: 16,3000 34755 CA ZERO
060888,000499: 16,3001 13014 TCF TSNEXTP
060889,000500: 16,3002 34753 ALTERYZ CA BIT1 # INVERT BIT 1 OF RCSFLAGS.
060890,000501: 16,3003 23262 LXCH RCSFLAGS
060891,000502: 16,3004 00006 EXTEND
060892,000503: 16,3005 06001 RXOR 1
060893,000504: 16,3006 55262 TS RCSFLAGS
060894,000505: 16,3007 74753 MASK BIT1
060895,000506: 16,3010 64751 AD FOUR
060896,000507: 16,3011 27743 ADS ROTINDEX
060897,000508: 16,3012 12753 TCF TRYUORV
060898,000509: 16,3013 31740 CA POLYTEMP
060899,000510: 16,3014 55472 TSNEXTP TS NEXTP
060900,000511: # STATE LOGIC
060901,000512:
060902,000513: # CHECK IN ORDER: IF ON
060903,000514: # LPDPHASE GO TO PURGENCY
060904,000515: # PULSES MINIMUM PULSE LOGIC
060905,000516: # DETENT(BIT15 CH31) RATE COMMAND
060906,000517: # GO TO PURGENCY
060907,000518: 16,3015 34737 CA BIT13 # CHECK STICK IF IN ATT. HOLD.
060908,000519: 16,3016 00006 EXTEND
060909,000520: 16,3017 02031 RAND CHAN31
060910,000521: 16,3020 00006 EXTEND
060911,000522: 16,3021 13027 BZF MANMODE
060912,000523:
060913,000524: 16,3022 30111 CA DAPBOOLS
060914,000525: 16,3023 74743 MASK XOVINHIB
060915,000526: 16,3024 10000 CCS A
060916,000527: 16,3025 13466 TCF PURGENCY # ATTITUDE STEER DURING VISIBILITY PHASE
060917,000528:
060918,000529: 16,3026 13071 TCF DETENTCK
060919,000530: 16,3027 34735 MANMODE CA PULSES # PULSES IS ONE FOR PULSE MODE
060920,000531: 16,3030 70111 MASK DAPBOOLS
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Page 1419
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060922,000533: 16,3031 00006 EXTEND
060923,000534: 16,3032 13071 BZF DETENTCK # BRANCH FOR RATE COMMAND
060924,000535:
060925,000536: 16,3033 34755 CA ZERO
060926,000537: 16,3034 55464 TS PERROR
060927,000538: # MINIMUM IMPULSE MODE
060928,000539:
060929,000540: 16,3035 30032 CA CDUX
060930,000541: 16,3036 55634 TS CDUXD
060931,000542:
060932,000543: 16,3037 11460 CCS OLDPMIN
060933,000544: 16,3040 13054 TCF CHECKP
060934,000545:
060935,000546: 16,3041 34751 FIREP CA BIT3
060936,000547: 16,3042 00006 EXTEND
060937,000548: 16,3043 02031 RAND CHAN31
060938,000549: 16,3044 00006 EXTEND
060939,000550: 16,3045 13064 BZF +XMIN
060940,000551:
060941,000552: 16,3046 34750 CA BIT4
060942,000553: 16,3047 00006 EXTEND
060943,000554: 16,3050 02031 RAND CHAN31
060944,000555: 16,3051 00006 EXTEND
060945,000556: 16,3052 13062 BZF -XMIN
060946,000557:
060947,000558: 16,3053 13445 TCF JETSOFF
060948,000559:
060949,000560: 16,3054 00006 CHECKP EXTEND
060950,000561: 16,3055 00031 READ CHAN31
060951,000562: 16,3056 40000 CS A
060952,000563: 16,3057 75752 MASK OCT14
060953,000564: 16,3060 55460 TS OLDPMIN
060954,000565: 16,3061 13445 TCF JETSOFF
060955,000566:
060956,000567: 16,3062 44363 -XMIN CS TEN # ANYTHING LESS THAN 14MS. CORRECTED
060957,000568: 16,3063 13065 TCF +2 # IN JET SELECTION ROUTINE
060958,000569: 16,3064 34363 +XMIN CA TEN
060959,000570: 16,3065 55524 TS TJP
060960,000571: 16,3066 34753 CA ONE
060961,000572: 16,3067 55460 TS OLDPMIN
060962,000573: 16,3070 13353 TCF PJETSLEC -6
060963,000574:
060964,000575: # MANUAL RATE COMMAND MODE
060965,000576: # ========================
060966,000577: # BY ROBERT F. STENGEL
060967,000578:
060968,000579: # THIS MODE PROVIDES RCAH MANUAL CONTROL THRU 2 CONTROL LAWS: 1) DIRECT RATE AND 2) PSEUDO-AUTO.
060969,000580: # THE DIRECT RATE MODE AFFORDS IMMEDIATE CONTROL WITHOUT OVERSHOOT. THE PSEUDO-AUTO MODE PROVIDES PRECISE
060970,000581: # RATE CONTROL AND ATTITUDE HOLD.
060971,000582:
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Page 1420
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060973,000584: # IN DIRECT RATE, JETS ARE FIRED WHEN STICK POSITION CHANGES BY A FIXED NUMBER OF INCREMENTS IN ONE DAP CYCLE.
060974,000585: # THE 'BREAKOUT LEVEL' IS .6 D/S FOR LM-ONLY AND .3 D/S FOR CSM-DOCKED. THIS LAW NULLS THE RATE ERROR TO WITHIN
060975,000586: # THE 'TARGET DEADBAND', WHICH EQUALS THE BREAKOUT LEVEL.
060976,000587: # IN PSEUDO-AUTO, BODY-FIXED RATE AND ATTITUDE ERRORS ARE SUPPLIED TO TJETLAW, WHICH EXERCISES CONTROL.
060977,000588: # CONTROL SWITCHES FROM DIRECT RATE TO PSEUDO-AUTO IF THE TARGET DB IS ACHIEVED OR IF TIME IN (1) EXCEEDS 4 SEC.
060978,000589: # IF THE INITIAL COMMAND DOES NOT EXCEED THE BREAKOUT LEVEL, CONTROL GOES TO PSEUDO-AUTO IMMEDIATELY.
060979,000590:
060980,000591: # SINCE P-AXIS CONTROL IS SEPARATE FROM Q,R AXES CONTROL, IT IS POSSIBLE TO USE (1) IN P-AXIS AND (2) IN Q,R AXES,
060981,000592: # OR VICE VERSA. THIS ALLOWS A DEGREE OF ATTITUDE HOLD IN UNCONTROLLED AXES. DUE TO U,V CONTROL, HOWEVER, Q AND
060982,000593: # R AXES ARE COUPLED AND MUST USE THE SAME CONTROL LAW.
060983,000594:
060984,000595: # HAND CONTROLLER COMMANDS ARE SCALED BY A LINEAR/QUADRATIC LAW. FOR THE LM-ALONE, MAXIMUM COMMANDED RATES ARE 20
060985,000596: # AND 4 D/S IN NORMAL AND FINE SCALING; HOWEVER, STICK SENSITIVITY AT ZERO COUNTS (OBTAINED AT A STICK DEFLECTION
060986,000597: # OF 2 DEGREES FROM THE CENTERED POSITION) IS .5 OR .1 D/S PER DEGREE. NORMAL AND FINE SCALINGS FOR THE CSM-DOCKED
060987,000598: # CASE IS AUTOMATICALLY SET TO 1/10 THE ABOVE VALUES. SCALING IS DETERMINED IN ROUTINE 3.
060988,000599: # ZEROENBL ENABLES COUNTERS SO THEY CAN BE READ NEXT TIME
060989,000600: # JUSTOUT FIRST DETECTION OF OUT OF DETENT (BY OURRCBIT)
060990,000601:
060991,000602:
060992,000603: 16,3071 00006 DETENTCK EXTEND
060993,000604: 16,3072 00031 READ CHAN31
060994,000605: 16,3073 55443 TS CH31TEMP
060995,000606: 16,3074 74735 MASK BIT15 # CHECK OUT-OF-DETENT BIT.
060996,000607: 16,3075 00006 EXTEND
060997,000608: 16,3076 13222 BZF RHCMOVED # BRANCH IF OUT OF DETENT.
060998,000609: 16,3077 34740 CAF OURRCBIT # IN DETENT. CHECK THE RATE COMMAND BIT.
060999,000610: 16,3100 70111 MASK DAPBOOLS
061000,000611: 16,3101 00006 EXTEND
061001,000612: 16,3102 13466 BZF PURGENCY # BRANCH IF NOT IN RATE COMMAND LAST PASS.
061002,000613: # ........................................................................
061003,000614: 16,3103 34743 CA BIT9 # JUST IN DETENT??
061004,000615: 16,3104 71262 MASK RCSFLAGS
061005,000616: 16,3105 00006 EXTEND
061006,000617: 16,3106 13120 BZF RUTH
061007,000618: 16,3107 34737 CAF BIT13 # CHECK FOR ATTITUDE HOLD.
061008,000619: 16,3110 00006 EXTEND
061009,000620: 16,3111 02031 RAND CHAN31
061010,000621: 16,3112 00006 EXTEND
061011,000622: 16,3113 13217 BZF RATEDAMP # BRANCH IF IN ATTITUDE HOLD.
061012,000623:
061013,000624: 16,3114 45014 CS BITS9,11 # IN AUTO.
061014,000625: 16,3115 71262 MASK RCSFLAGS # (X-AXIS OVERRIDE)
061015,000626: 16,3116 55262 TS RCSFLAGS # ZERO ORBIT (BIT 11) AND JUST-IN BIT (9).
061016,000627: 16,3117 13217 TCF RATEDAMP
061017,000628:
061018,000629: 16,3120 31262 RUTH CA RCSFLAGS
061019,000630: 16,3121 74742 MASK PBIT # IN ATTITUDE HOLD.
061020,000631: 16,3122 00006 EXTEND
061021,000632: 16,3123 13125 BZF +2 # BRANCH IF P-RATE DAMPING IS FINISHED.
061022,000633: 16,3124 13217 TCF RATEDAMP
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Page 1421
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061024,000635: 16,3125 31262 CA RCSFLAGS
061025,000636: 16,3126 74741 MASK QRBIT
061026,000637: 16,3127 00006 EXTEND
061027,000638: 16,3130 13134 BZF RATEDONE # BRANCH IF Q,R RATE DAMPING IS FINISHED.
061028,000639: 16,3131 13217 TCF RATEDAMP
061029,000640: # ============================================
061030,000641: 16,3132 4753 1/10SEC = BIT1
061031,000642: 16,3132 4771 40CYC = OCT50
061032,000643: 16,3132 74777 PQRBIT OCT 74777
061033,000644: 16,3133 5014 BITS9,11 EQUALS EBANK5
061034,000645: 16,3133 00056 LINRATP DEC 46 B-14
061035,000646: # ============================================
061036,000647: 16,3134 44740 RATEDONE CS OURRCBIT # MANUAL COMMAND AND DAMPING COMPLETED IN
061037,000648: 16,3135 00004 INHINT # ALL AXES.
061038,000649: 16,3136 70111 MASK DAPBOOLS
061039,000650: 16,3137 54111 TS DAPBOOLS
061040,000651:
061041,000652: # READ CDUS INTO CDU DESIRED REGISTERS
061042,000653:
061043,000654: 16,3140 34737 CAF BIT13
061044,000655: 16,3141 00006 EXTEND
061045,000656: 16,3142 02031 RAND CHAN31
061046,000657: 16,3143 00006 EXTEND
061047,000658: 16,3144 13150 BZF +4
061048,000659: 16,3145 30032 CA CDUX # (X-AXIS OVERRIDE)
061049,000660: 16,3146 55634 TS CDUXD
061050,000661: 16,3147 03152 TC +3
061051,000662: 16,3150 04674 TC IBNKCALL
061052,000663: 16,3151 40154 FCADR ZATTEROR
061053,000664: 16,3152 00003 RELINT
061054,000665: 16,3153 13466 TCF PURGENCY
061055,000666:
061056,000667: 16,3154 55464 JUSTOUT TS PERROR # INITIALIZATION - FIRST MANUAL PASS (A=0)
061057,000668: 16,3155 55446 TS DXERROR
061058,000669: 16,3156 55447 TS DXERROR +1
061059,000670: 16,3157 55450 TS DYERROR
061060,000671: 16,3160 55451 TS DYERROR +1
061061,000672: 16,3161 55452 TS DZERROR
061062,000673: 16,3162 55453 TS DZERROR +1
061063,000674: 16,3163 55454 TS PLAST
061064,000675: 16,3164 55455 TS QLAST
061065,000676: 16,3165 55456 TS RLAST
061066,000677: 16,3166 54042 TS Q-RHCCTR
061067,000678: 16,3167 54044 TS R-RHCCTR
061068,000679: 16,3170 33132 CA PQRBIT
061069,000680: 16,3171 71262 MASK RCSFLAGS
061070,000681: 16,3172 55262 TS RCSFLAGS # BITS 10 AND 11 OF RCSFLAGS ARE 0.
061071,000682: 16,3173 03200 TC ZEROENBL
061072,000683: 16,3174 34740 CA OURRCBIT # SET INTERNAL RATE COMMAND FLAG (WHICH
061073,000684: 16,3175 26111 ADS DAPBOOLS # WAS FOUND TO BE ZERO EARLIER)
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Page 1422
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061075,000686: 16,3176 00003 RELINT
061076,000687: 16,3177 13445 TCF JETSOFF
061077,000688: 16,3200 22044 ZEROENBL LXCH R-RHCCTR
061078,000689: 16,3201 30042 CA Q-RHCCTR
061079,000690: 16,3202 53463 DXCH SAVEHAND
061080,000691: 16,3203 34755 CA ZERO
061081,000692: 16,3204 54043 TS P-RHCCTR
061082,000693: 16,3205 54042 TS Q-RHCCTR
061083,000694: 16,3206 54044 TS R-RHCCTR
061084,000695: 16,3207 00004 INHINT
061085,000696: 16,3210 00006 EXTEND
061086,000697: 16,3211 23265 QXCH C13QSAV
061087,000698: 16,3212 06022 TC C13STALL
061088,000699:
061089,000700: 16,3213 33622 CA BITS8,9
061090,000701: 16,3214 00006 EXTEND
061091,000702: 16,3215 05013 WOR CHAN13 # COUNTERS ZEROED AND ENABLED
061092,000703: 16,3216 01265 TC C13QSAV
061093,000704:
061094,000705: 16,3217 34755 RATEDAMP CA ZERO
061095,000706: 16,3220 54043 TS P-RHCCTR
061096,000707: 16,3221 13231 TCF RATERROR
061097,000708:
061098,000709: 16,3222 41262 RHCMOVED CS RCSFLAGS # SET JUSTIN BIT TO 1
061099,000710: 16,3223 74743 MASK BIT9
061100,000711: 16,3224 27262 ADS RCSFLAGS
061101,000712: 16,3225 34740 CA OURRCBIT # P CONTROL
061102,000713: 16,3226 70111 MASK DAPBOOLS
061103,000714: 16,3227 00006 EXTEND
061104,000715: 16,3230 13154 BZF JUSTOUT
061105,000716: 16,3231 30032 RATERROR CA CDUX # FINDCDUW REQUIRES THAT CDUXD=CDUX DURING
061106,000717: 16,3232 55634 TS CDUXD # X-AXIS OVERRIDE
061107,000718: 16,3233 10043 CCS P-RHCCTR
061108,000719: 16,3234 13237 TCF +3
061109,000720: 16,3235 13237 TCF +2
061110,000721: 16,3236 13237 TCF +1
061111,000722: 16,3237 60000 DOUBLE # LINEAR/QUADRATIC CONTROLLER SCALING
061112,000723: 16,3240 60000 DOUBLE # (SEE EXPLANATION IN Q,R-AXES RCS
061113,000724: 16,3241 63133 AD LINRATP # AUTOPILOT)
061114,000725: 16,3242 00006 EXTEND
061115,000726: 16,3243 70043 MP P-RHCCTR
061116,000727: 16,3244 30001 CA L
061117,000728: 16,3245 00006 EXTEND
061118,000729: 16,3246 71444 MP STIKSENS
061119,000730: 16,3247 57454 XCH PLAST
061120,000731: 16,3250 40000 COM
061121,000732: 16,3251 61454 AD PLAST
061122,000733: 16,3252 55736 TS DAPTEMP1
061123,000734: 16,3253 03200 TC ZEROENBL # INTERVAL. ZERO AND ENABLE ACA COUNTERS.
061124,000735: 16,3254 00003 RELINT
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Page 1423
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061126,000737: 16,3255 41454 CS PLAST
061127,000738: 16,3256 61421 AD OMEGAP
061128,000739: 16,3257 55427 TS EDOTP
061129,000740: 16,3260 11736 CCS DAPTEMP1 # IF P COMMAND CHANGE EXCEEDS BREAKOUT
061130,000741: 16,3261 13264 TCF +3 # LEVEL, GO TO DIRECT RATE CONTROL. IF NOT
061131,000742: 16,3262 13272 TCF +8 # CHECK FOR DIRECT RATE CONTROL LAST TIME.
061132,000743: 16,3263 13264 TCF +1
061133,000744: 16,3264 61476 AD -RATEDB
061134,000745: 16,3265 00006 EXTEND
061135,000746: 16,3266 63272 BZMF +4
061136,000747: 16,3267 34771 CA 40CYC
061137,000748: 16,3270 55445 TS TCP
061138,000749: 16,3271 03303 TC PEGI
061139,000750: 16,3272 31262 CA RCSFLAGS # CHECK FOR DIRECT RATE COMMAND LAST TIME.
061140,000751: 16,3273 74742 MASK PBIT
061141,000752: 16,3274 00006 EXTEND
061142,000753: 16,3275 13277 BZF +2
061143,000754: 16,3276 03303 TC PEGI # TO PURE RATE COMMAND
061144,000755: 16,3277 31446 CA DXERROR # PSEUDO-AUTO CONTROL.
061145,000756: 16,3300 55751 TS E # X-ATTITUDE ERROR (SP)
061146,000757: 16,3301 55464 TS PERROR # LOAD P-AXIS ERROR FOR MODE1 FDAI DISPLAY
061147,000758: 16,3302 03472 TC PURGENCY +4
061148,000759: 16,3303 30032 PEGI CA CDUX # DIRECT RATE CONTROL.
061149,000760: 16,3304 55634 TS CDUXD
061150,000761: 16,3305 34755 CA ZERO
061151,000762: 16,3306 55446 TS DXERROR
061152,000763: 16,3307 55447 TS DXERROR +1
061153,000764: 16,3310 55464 TS PERROR # ZERO P-AXIS ERROR FOR MODE1 FDAI DISPLAY
061154,000765: 16,3311 11427 CCS EDOTP
061155,000766: 16,3312 03315 TC +3
061156,000767: 16,3313 03315 TC +2
061157,000768: 16,3314 03315 TC +1
061158,000769: 16,3315 55736 TS ABSEDOTP
061159,000770: 16,3316 61476 AD TARGETDB
061160,000771: 16,3317 00006 EXTEND # IF RATE ERROR IS LESS THAN DEADBAND,
061161,000772: 16,3320 63330 BZMF LAST # FIRE, AND SWITCH TO PSEUDO-AUTO.
061162,000773: 16,3321 31445 CA TCP
061163,000774: 16,3322 00006 EXTEND # IF TIME IN RATE COMMAND EXCEEDS 4 SEC.,
061164,000775: 16,3323 63330 BZMF LAST
061165,000776: 16,3324 41262 CS RCSFLAGS
061166,000777: 16,3325 74742 MASK PBIT
061167,000778: 16,3326 27262 ADS RCSFLAGS # BIT 10 IS 1.
061168,000779: 16,3327 13333 TCF +4
061169,000780: 16,3330 44742 LAST CS PBIT
061170,000781: 16,3331 71262 MASK RCSFLAGS
061171,000782: 16,3332 55262 TS RCSFLAGS # BIT 10 IS 0.
061172,000783: 16,3333 41427 CS EDOTP
061173,000784: 16,3334 00006 EXTEND
061174,000785: 16,3335 71550 MP 1/ANETP # 1/2JTACC SCALED AT 2EXP(7)/PI
061175,000786: 16,3336 20001 DAS A
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Page 1424
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061177,000788: 16,3337 02310 TC OVERSUB
061178,000789: 16,3340 00006 EXTEND
061179,000790: 16,3341 77721 MP 25/32 # A CONTAINS TJET SCALED AT 2EXP(4)(16/25)
061180,000791: 16,3342 55524 TS TJP # 4.JET TIME
061181,000792: 16,3343 31736 CA ABSEDOTP
061182,000793: 16,3344 61475 AD -2JETLIM # COMPARING DELTA RATE WITH 2 JET LIMIT
061183,000794: 16,3345 00006 EXTEND
061184,000795: 16,3346 63351 BZMF +3
061185,000796:
061186,000797: 16,3347 36245 CA SIX
061187,000798: 16,3350 13360 TCF +8D
061188,000799: 16,3351 31524 CA TJP
061189,000800: 16,3352 27524 ADS TJP
061190,000801: # GOES TO PJETSLEC FOR TWO JETS
061191,000802:
061192,000803: # P-JET-SELECTION-ROUTINE (ROTATION)
061193,000804:
061194,000805: # INPUT: NUMBERT 4,5,6 FOR WHICH PAIR OR 4 JETS
061195,000806: # TJP + FOR +P ROTATION
061196,000807:
061197,000808: # OUTPUT: CHANNEL 6
061198,000809: # PJUMPADR FOR P-AXIS SKIP
061199,000810: # (JTLST CALL) (SMALL TJP)
061200,000811:
061201,000812: # ORDER OF POLICIES TRIED IN CASE OF FAILURE.
061202,000813: # +P -P
061203,000814: # 7,15 8,16
061204,000815: # 4,12 3,11
061205,000816: # 4,7 8,11
061206,000817: # 7,12 11,16
061207,000818: # 12,15 3,16
061208,000819: # 4,15 3,8
061209,000820: # ALARM ALARM
061210,000821: 16,3353 34747 CA AORBSYST
061211,000822: 16,3354 70101 MASK FLAGWRD5
061212,000823: 16,3355 10000 CCS A
061213,000824: 16,3356 34753 CA ONE
061214,000825: 16,3357 64751 AD FOUR
061215,000826: 16,3360 55742 TS NUMBERT
061216,000827: 16,3361 34753 PJETSLEC CA ONE
061217,000828: 16,3362 54001 TS L
061218,000829: 16,3363 11524 CCS TJP
061219,000830: 16,3364 13371 TCF +5
061220,000831: 16,3365 13445 TCF JETSOFF
061221,000832: 16,3366 13370 TCF +2
061222,000833: 16,3367 13445 TCF JETSOFF
061223,000834: 16,3370 22007 ZL
061224,000835: 16,3371 64753 AD ONE
061225,000836: 16,3372 55736 TS ABSTJ
061226,000837: 16,3373 23743 LXCH ROTINDEX
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Page 1425
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061228,000839: 16,3374 03534 TC SELECTP
061229,000840: 16,3375 46245 CS SIX
061230,000841: 16,3376 61742 AD NUMBERT
061231,000842: 16,3377 00006 EXTEND
061232,000843: 16,3400 13402 BZF +2
061233,000844:
061234,000845: 16,3401 44752 CS TWO
061235,000846: 16,3402 64751 AD FOUR
061236,000847: 16,3403 55521 TS NO.PJETS
061237,000848: 16,3404 31740 CA POLYTEMP
061238,000849: 16,3405 05755 TC WRITEP
061239,000850: 16,3406 41736 CS ABSTJ
061240,000851: 16,3407 63615 AD +150MST6
061241,000852: 16,3410 00006 EXTEND
061242,000853: 16,3411 63627 BZMF QRAXIS # GO TO QRAXIS OR TO GTS.
061243,000854:
061244,000855: 16,3412 63575 AD -136MST6
061245,000856: 16,3413 00006 EXTEND
061246,000857: 16,3414 63421 BZMF +5
061247,000858:
061248,000859: 16,3415 27736 ADS ABSTJ
061249,000860: 16,3416 51743 INDEX ROTINDEX
061250,000861: 16,3417 33624 CA MINTIMES
061251,000862: 16,3420 55524 TS TJP
061252,000863:
061253,000864: 16,3421 31736 CA ABSTJ
061254,000865: 16,3422 22007 ZL
061255,000866: 16,3423 00004 INHINT
061256,000867: 16,3424 53471 DXCH T6FURTHA
061257,000868: 16,3425 04674 TC IBNKCALL
061258,000869: 16,3426 37143 CADR JTLST
061259,000870: 16,3427 44740 CS BIT12
061260,000871: 16,3430 71262 MASK RCSFLAGS
061261,000872: 16,3431 55262 TS RCSFLAGS # BIT 12 SET TO 0.
061262,000873: 16,3432 03434 TC ALTSYST
061263,000874: 16,3433 13627 TCF QRAXIS
061264,000875:
061265,000876: 16,3434 30101 ALTSYST CA FLAGWRD5 # ALTERNATE P-AXIS JETS
061266,000877: 16,3435 54001 TS L
061267,000878: 16,3436 34747 CA AORBSYST
061268,000879: 16,3437 00006 EXTEND
061269,000880: 16,3440 06001 RXOR LCHAN
061270,000881: 16,3441 54101 TS FLAGWRD5
061271,000882: 16,3442 00003 RELINT
061272,000883: 16,3443 00002 TC Q
061273,000884:
061274,000885: 16,3444 03434 DKALT TC ALTSYST
061275,000886:
061276,000887: 16,3445 05754 JETSOFF TC WRITEP -1
061277,000888: 16,3446 34755 CA ZERO
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Page 1426
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061279,000890: 16,3447 55524 TS TJP
061280,000891: 16,3450 13627 TCF QRAXIS
061281,000892: # (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULTIPLICATION.)
061282,000893:
061283,000894: 16,3451 30033 CALCPERR CA CDUY # P-ERROR CALCULATION.
061284,000895: 16,3452 00006 EXTEND
061285,000896: 16,3453 21635 MSU CDUYD # CDU VALUE - ANGLE DESIRED (Y-AXIS)
061286,000897: 16,3454 00006 EXTEND
061287,000898: 16,3455 71414 MP M11 # (CDUY-CDUYD)M11 SCALED AT PI RADIANS
061288,000899: 16,3456 57751 XCH E # SAVE FIRST TERM (OF TWO)
061289,000900: 16,3457 30032 CA CDUX # THIRD COMPONENT
061290,000901: 16,3460 00006 EXTEND
061291,000902: 16,3461 21634 MSU CDUXD # CDU VALUE - ANGLE DESIRED (X-AXIS)
061292,000903: # EXTEND
061293,000904: # MP M13
061294,000905: 16,3462 61274 AD DELPEROR # KALCMANU INERFACE ERROR
061295,000906: 16,3463 27751 ADS E # SAVE SUM OF TERMS. COULD BE OVERFLOW.
061296,000907: 16,3464 57464 XCH PERROR # SAVE P-ERROR FOR EIGHT-BALL DISPLAY.
061297,000908: 16,3465 00002 TC Q # RETURN TO CALLER
061298,000909:
061299,000910: # P-AXIS URGENCY FUNCTION CALCULATION.
061300,000911:
061301,000912: 16,3466 03451 PURGENCY TC CALCPERR # CALCULATE P-AXIS ERRORS.
061302,000913: 16,3467 41642 CS OMEGAPD # THIS CODING IS COMMON TO BOTH LM DAP AND
061303,000914: 16,3470 61421 AD OMEGAP # SPS-BACKUP MODE.
061304,000915: 16,3471 55427 TS EDOTP # EDOTP = OMEGAP - OMEGAPD AT PI/4 RAD/SEC
061305,000916:
061306,000917:
061307,000918: 16,3472 44753 CS ONE
061308,000919: 16,3473 55505 TS AXISCTR
061309,000920: 16,3474 30111 CA DAPBOOLS
061310,000921: 16,3475 74737 MASK CSMDOCKD
061311,000922: 16,3476 00006 EXTEND
061312,000923: 16,3477 13510 BZF HEADTJET
061313,000924: 16,3500 00004 INHINT # IF CSMDOCKD = 1, GO TO DOCKED RCS LOGIC
061314,000925: 16,3501 04674 TC IBNKCALL
061315,000926: 16,3502 43721 CADR SPSRCS
061316,000927:
061317,000928: 16,3503 31524 CA TJP
061318,000929: 16,3504 00006 EXTEND
061319,000930: 16,3505 13444 BZF DKALT # IF TJP = ZERO, CHANGE AORBSYST.
061320,000931: 16,3506 00003 RELINT
061321,000932: 16,3507 13353 TCF PJETSLEC -6 # SELECT AORBSYST AND USE TWO JETS
061322,000933: 16,3510 34755 HEADTJET CA ZERO
061323,000934: 16,3511 55500 TS SENSETYP
061324,000935: 16,3512 00004 INHINT
061325,000936: 16,3513 04674 TC IBNKCALL
061326,000937: 16,3514 37304 CADR TJETLAW
061327,000938: 16,3515 00003 RELINT
061328,000939:
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Page 1427
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061330,000941: 16,3516 41740 CS FIREFCT
061331,000942: 16,3517 63533 AD -FOURDEG
061332,000943: 16,3520 00006 EXTEND
061333,000944: 16,3521 63353 BZMF PJETSLEC -6
061334,000945: 16,3522 11524 CCS TJP
061335,000946: 16,3523 13525 TCF +2
061336,000947: 16,3524 13445 TCF JETSOFF
061337,000948: 16,3525 63532 AD -160MST6
061338,000949: 16,3526 00006 EXTEND
061339,000950: 16,3527 63353 BZMF PJETSLEC -6
061340,000951: 16,3530 36245 CA SIX
061341,000952: 16,3531 13360 TCF PJETSLEC -1
061342,000953: 16,3532 77377 -160MST6 DEC -256 B-14
061343,000954: 16,3533 75117 -FOURDEG DEC -.08888
061344,000955:
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Page 1428
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061346,000957: # JET POLICY CONSTRUCTION SUBROUTINE
061347,000958:
061348,000959: # INPUT: ROTINDEX, NUMBERT
061349,000960:
061350,000961: # OUTPUT: POLYTEMP (JET POLICY)
061351,000962:
061352,000963: # THIS SUBROUTINE SELECT A SUBSET OF THE DESIRED JETS WHICH HAS NO FAILURE
061353,000964: 16,3534 36245 SELECTP CA SIX
061354,000965: 16,3535 55741 TS TEMPNUM
061355,000966: 16,3536 51742 INDEX NUMBERT
061356,000967: 16,3537 33566 CA TYPEP
061357,000968: 16,3540 51743 INDEX ROTINDEX
061358,000969: 16,3541 73557 MASK JETSALL
061359,000970: 16,3542 55740 TS POLYTEMP
061360,000971: 16,3543 71260 MASK CH6MASK
061361,000972: 16,3544 10000 CCS A
061362,000973: 16,3545 13547 TCF +2
061363,000974: 16,3546 00002 TC Q
061364,000975: 16,3547 11741 CCS TEMPNUM
061365,000976: 16,3550 13554 TCF +4
061366,000977: 16,3551 05600 TC ALARM
061367,000978: 16,3552 02003 OCT 02003
061368,000979: 16,3553 13445 TCF JETSOFF # *****TCF ALARMJET *********************
061369,000980: 16,3554 55742 SELECTYZ TS NUMBERT
061370,000981: 16,3555 13535 TCF SELECTP +1
061371,000982: 16,3556 12773 -1 TCF ABORTYZ +2
061372,000983: 16,3557 00252 JETSALL OCT 00252
061373,000984: 16,3560 00125 OCT 00125 # +P
061374,000985: 16,3561 00140 OCT 00140 # -Y
061375,000986: 16,3562 00006 OCT 00006 # -Z
061376,000987: 16,3563 00220 OCT 00220 # +Y
061377,000988: 16,3564 00011 OCT 00011 # +Z
061378,000989: 16,3565 00151 OCT 00151 # +V
061379,000990: 16,3566 00146 TYPEP OCT 00146 # -U
061380,000991: 16,3567 00226 OCT 00226 # -V
061381,000992: 16,3570 00231 OCT 00231 # +U
061382,000993: 16,3571 00151 OCT 00151 # +V
061383,000994: 16,3572 00132 OCT 00132 # 1-3
061384,000995: 16,3573 00245 OCT 00245 # 2-4
061385,000996: 16,3574 00377 OCT 00377 # ALL
061386,000997: 16,3575 16,3575 INDXYZ = -136MST6
061387,000998: 16,3575 77445 -136MST6 DEC -218 B-14
061388,000999: 16,3576 00004 DEC 4 B-14
061389,001000: 16,3577 00002 DEC 2 B-14
061390,001001: 16,3600 07776 OCT 07776
061391,001002: 16,3601 00005 DEC 5 B-14
061392,001003: 16,3602 00011 DEC 9 B-14
061393,001004: 16,3603 00012 DEC 10 B-14
061394,001005: 16,3604 07776 OCT 07776
061395,001006: 16,3605 00003 DEC 3 B-14
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Page 1429
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061397,001008: 16,3606 00010 DEC 8 B-14
061398,001009: 16,3607 00007 DEC 7 B-14
061399,001010: 16,3610 07776 OCT 07776 # THESE INDEXES OF MASK JETSALL WILL
061400,001011: 16,3611 07776 OCT 07776 # CHANGE THE INSTRUCTION AT SELECTP +4
061401,001012: 16,3612 07776 OCT 07776 # TO BE TC JETSALL -1
061402,001013: 16,3613 07776 OCT 07776 # ONLY USED FOR TRANSLATION FAILURE
061403,001014: 16,3614 07776 OCT 07776
061404,001015: 16,3615 00360 +150MST6 DEC 240 B-14
061405,001016: 16,3616 07400 07400OCT OCT 07400
061406,001017: # T-JET LAW FIXED CONSTANTS
061407,001018:
061408,001019: 16,3617 00266 NORMSCL OCT 266
061409,001020: 16,3620 74631 -100MS DEC -.1
061410,001021: 16,3621 06315 200MS DEC .2
061411,001022: 16,3622 7721 25/32 = PRIO31 # (DEC .78125)
061412,001023: 16,3622 00600 BITS8,9 OCTAL 00600
061413,001024: 16,3623 00632 1/40 DEC .02500
061414,001025: 16,3624 77751 MINTIMES DEC -22 B-14
061415,001026: 16,3625 00026 DEC 22 B-14
061416,001027: 16,3626 02734 PSKIPADR GENADR SKIPPAXS
061417,001028:
061418,001029: # GOES TO Q,R-AXES RCS AUTOPILOT
061419,001030: 16,3627 41644 QRAXIS CS OMEGARD
061420,001031: 16,3630 61423 AD OMEGAR
061421,001032: 16,3631 02310 TC OVERSUB
061422,001033: 16,3632 55437 TS EDOTR
061423,001034: 16,3633 41643 CS OMEGAQD
061424,001035: 16,3634 61422 AD OMEGAQ
061425,001036: 16,3635 02310 TC OVERSUB
061426,001037: 16,3636 55436 TS EDOTQ
061427,001038: 16,3637 00006 EXTEND
061428,001039: 16,3640 33643 DCA QERRCALL
061429,001040: 16,3641 52006 DTCB
061430,001041:
061431,001042: 16,3642 E6,1536 EBANK= AOSQ
061432,001043: 16,3642 02124 36106 QERRCALL 2CADR CALLQERR
061433,001044:
End of include-file P-AXIS_RCS_AUTOPILOT.agc. Parent file is MAIN.agc