Source Code
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These source-code files are part of a reconstructed copy of Luminary 178, the
final release of the Apollo 14 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with source code of Zerlina 56, Luminary 210, and
Luminary 131, previously transcribed from digitized copies of those programs.
The code was created by combining the three, using Zerlina 56 as a base, since
it was based off of Luminary 183. The differences between the three were
carefully merged using the Luminary memos as a guide, with all changes made
after Luminary 178 being backed out. 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 178 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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061540,000002: ## Copyright: Public domain.
061541,000003: ## Filename: Q,R-AXES_RCS_AUTOPILOT.agc
061542,000004: ## Purpose: A section of Luminary revision 178.
061543,000005: ## It is part of the reconstructed source code for the final
061544,000006: ## release of the flight software for the Lunar Module's
061545,000007: ## (LM) Apollo Guidance Computer (AGC) for Apollo 14. The
061546,000008: ## code has been recreated from copies of Zerlina 56, Luminary
061547,000009: ## 210, and Luminary 131, as well as many Luminary memos.
061548,000010: ## It has been adapted such that the resulting bugger words
061549,000011: ## exactly match those specified for Luminary 178 in NASA
061550,000012: ## drawing 2021152N, which gives relatively high confidence
061551,000013: ## that the reconstruction is correct.
061552,000014: ## Reference: pp. 1430-1447
061553,000015: ## Assembler: yaYUL
061554,000016: ## Contact: Ron Burkey <info@sandroid.org>.
061555,000017: ## Website: www.ibiblio.org/apollo/index.html
061556,000018: ## Mod history: 2019-08-14 MAS Created from Zerlina 56.
061557,000019:
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Page 1430
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061559,000021: 17,2124 BANK 17
061560,000022: 17,2000 SETLOC DAPS2
061561,000023: 17,2000 BANK
061562,000024:
061563,000025: 17,2124 E6,1634 EBANK= CDUXD
061564,000026:
061565,000027: 17,2124 COUNT* $$/DAPQR
061566,000028:
061567,000029:
061568,000030: 17,2124 34737 CALLQERR CA BIT13 # CALCULATE Q,R ERRORS UNLESS THESE AXES
061569,000031: 17,2125 00006 EXTEND # ARE IN MANUAL RATE COMMAND.
061570,000032: 17,2126 02031 RAND CHAN31
061571,000033: 17,2127 10000 CCS A
061572,000034: 17,2130 12135 TCF +5 # IN AUTO COMPUTE Q,R ERRORS
061573,000035: 17,2131 40111 CS DAPBOOLS # IN MANUAL RATE COMMAND?
061574,000036: 17,2132 74740 MASK OURRCBIT
061575,000037: 17,2133 00006 EXTEND
061576,000038: 17,2134 12136 BZF Q,RORGTS # IF SO BYPASS CALCULATION OF ERRORS.
061577,000039: 17,2135 02655 TC QERRCALC
061578,000040:
061579,000041:
061580,000042: 17,2136 11630 Q,RORGTS CCS COTROLER # CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
061581,000043: 17,2137 12636 TCF GOTOGTS # GTS (ALTERNATES WITH RCS WHEN DOCKED)
061582,000044: 17,2140 12623 TCF TRYGTS # GTS IF ALLOWED, OTHERWISE RCS
061583,000045: 17,2141 34755 RCS CAF ZERO # RCS (TRYGTS MAY BRANCH TO HERE)
061584,000046: 17,2142 55630 TS COTROLER
061585,000047:
061586,000048: 17,2143 53437 DXCH EDOTQ
061587,000049: 17,2144 03200 TC ROT-TOUV
061588,000050: 17,2145 53427 DXCH OMEGAU
061589,000051:
061590,000052: # X - TRANSLATION:
061591,000053:
061592,000054: # INPUT: BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
061593,000055: # ULLAGER
061594,000056: # APSFLAG, DRIFTBIT
061595,000057: # ACC40R2X, ACRBTRAN
061596,000058:
061597,000059: # OUTPUT: NEXTU, NEXTV CODES OF TRANSLATION FOR AFTER ROTATION
061598,000060: # SENSETYP TELL ROTATION DIRECTION AND DESIRE
061599,000061:
061600,000062: # X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR. IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED. A FAILURE
061601,000063: # WILL OVERRIDE THIS SPECIFICATION. AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
061602,000064:
061603,000065: 17,2146 34745 SENSEGET CA BIT7 # INPUT BITS OVERRIDE THE INTERNAL BITS
061604,000066: 17,2147 00006 EXTEND # SENSETYP WILL NOT OPPOSE ANYTRANS
061605,000067: 17,2150 02031 RAND CHAN31
061606,000068: 17,2151 00006 EXTEND
061607,000069: 17,2152 12200 BZF +XORULGE
061608,000070:
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Page 1431
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061610,000072: 17,2153 34744 CA BIT8
061611,000073: 17,2154 00006 EXTEND
061612,000074: 17,2155 02031 RAND CHAN31
061613,000075: 17,2156 00006 EXTEND
061614,000076: 17,2157 12201 BZF -XTRANS
061615,000077:
061616,000078: 17,2160 34746 CA ULLAGER
061617,000079: 17,2161 70111 MASK DAPBOOLS
061618,000080: 17,2162 10000 CCS A
061619,000081: 17,2163 12200 TCF +XORULGE
061620,000082:
061621,000083: 17,2164 55473 TS NEXTU # STORE NULL TRANSLATION POLICIES
061622,000084: 17,2165 55474 TS NEXTV
061623,000085: 17,2166 40111 CS DAPBOOLS # BURNING OR DRIFTING?
061624,000086: 17,2167 74744 MASK DRIFTBIT
061625,000087: 17,2170 00006 EXTEND
061626,000088: 17,2171 12176 BZF TSENSE
061627,000089: 17,2172 30106 CA FLGWRD10 # DPS (INCLUDING DOCKED) OR APS?
061628,000090: 17,2173 74737 MASK APSFLBIT
061629,000091: 17,2174 10000 CCS A
061630,000092: 17,2175 34752 CAF TWO # FAVOR +X JETS DURING AN APS BURN.
061631,000093: 17,2176 55500 TSENSE TS SENSETYP
061632,000094: 17,2177 12232 TCF QRCONTRL
061633,000095:
061634,000096: 17,2200 34753 +XORULGE CAF ONE
061635,000097: 17,2201 64751 -XTRANS AD FOUR
061636,000098: 17,2202 55743 TS ROTINDEX
061637,000099: 17,2203 67750 AD NEG3
061638,000100: 17,2204 55500 TS SENSETYP # FAVOR APPROPRIATE JETS DURING TRANS.
061639,000101: 17,2205 30111 CA DAPBOOLS
061640,000102: 17,2206 74741 MASK ACC4OR2X
061641,000103: 17,2207 10000 CCS A
061642,000104: 17,2210 12352 TCF TRANS4
061643,000105:
061644,000106: 17,2211 30111 CA DAPBOOLS
061645,000107: 17,2212 74742 MASK AORBTRAN
061646,000108: 17,2213 10000 CCS A
061647,000109: 17,2214 34753 CA ONE # THREE FOR B
061648,000110: 17,2215 64752 AD TWO # TWO FOR A SYSTEM 2 JET X TRANS
061649,000111: 17,2216 55742 TSNUMBRT TS NUMBERT
061650,000112:
061651,000113: 17,2217 03225 TC SELCTSUB
061652,000114:
061653,000115: 17,2220 11740 CCS POLYTEMP
061654,000116: 17,2221 12224 TCF +3
061655,000117: 17,2222 05600 TC ALARM
061656,000118: 17,2223 02002 OCT 02002
061657,000119: 17,2224 35775 CA 00314OCT
061658,000120: 17,2225 71740 MASK POLYTEMP
061659,000121: 17,2226 55473 TSNEXTS TS NEXTU
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Page 1432
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061661,000123: 17,2227 45775 CS 00314OCT
061662,000124: 17,2230 71740 MASK POLYTEMP
061663,000125: 17,2231 55474 TS NEXTV
061664,000126:
061665,000127: # Q,R-AXES RCS CONTROL MODE SELECTION
061666,000128:
061667,000129: # SWITCHES INDICATION WHEN SET
061668,000130:
061669,000131: # BIT13/CHAN31 AUTO, GO TO ATTSTEER
061670,000132: # PULSES MINIMUM IMPULSE MODE
061671,000133: # (OTHERWISE) RATE COMMAND/ATTITUDE HOLD MODE
061672,000134:
061673,000135: 17,2232 34737 QRCONTRL CA BIT13 # CHECK MODE SELECT SWITCH.
061674,000136: 17,2233 00006 EXTEND
061675,000137: 17,2234 02031 RAND CHAN31 # BITS INVERTED
061676,000138: 17,2235 10000 CCS A
061677,000139: 17,2236 12710 TCF ATTSTEER
061678,000140: 17,2237 34735 CHKBIT10 CAF PULSES # PULSES = 1 FOR MIN IMP USE OF RHC
061679,000141: 17,2240 70111 MASK DAPBOOLS
061680,000142: 17,2241 00006 EXTEND
061681,000143: 17,2242 12354 BZF CHEKSTIK # IN ATT-HOLD/RATE-COMMAND IF BIT10=0
061682,000144:
061683,000145: # MINIMUM IMPULSE MODE
061684,000146:
061685,000147: 17,2243 00004 INHINT
061686,000148: 17,2244 04674 TC IBNKCALL
061687,000149: 17,2245 40154 CADR ZATTEROR
061688,000150: 17,2246 34755 CA ZERO
061689,000151: 17,2247 55450 TS QERROR
061690,000152: 17,2250 55452 TS RERROR # FOR DISPLAYS
061691,000153: 17,2251 00003 RELINT
061692,000154:
061693,000155: 17,2252 00006 EXTEND
061694,000156: 17,2253 00031 READ CHAN31
061695,000157: 17,2254 55736 TS TEMP31 # IS EQUAL TO DAPTEMP1
061696,000158: 17,2255 11461 CCS OLDQRMIN
061697,000159: 17,2256 12300 TCF CHECKIN
061698,000160:
061699,000161: 17,2257 31736 FIREQR CA TEMP31
061700,000162: 17,2260 74753 MASK BIT1
061701,000163: 17,2261 00006 EXTEND
061702,000164: 17,2262 12304 BZF +QMIN
061703,000165:
061704,000166: 17,2263 31736 CA TEMP31
061705,000167: 17,2264 74752 MASK BIT2
061706,000168: 17,2265 00006 EXTEND
061707,000169: 17,2266 12310 BZF -QMIN
061708,000170:
061709,000171: 17,2267 31736 CA TEMP31
061710,000172: 17,2270 74747 MASK BIT5
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Page 1433
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061712,000174: 17,2271 00006 EXTEND
061713,000175: 17,2272 12314 BZF +RMIN
061714,000176:
061715,000177: 17,2273 31736 CA TEMP31
061716,000178: 17,2274 74746 MASK BIT6
061717,000179: 17,2275 00006 EXTEND
061718,000180: 17,2276 12316 BZF -RMIN
061719,000181:
061720,000182: 17,2277 13112 TCF XTRANS
061721,000183:
061722,000184: 17,2300 41736 CHECKIN CS TEMP31
061723,000185: 17,2301 72351 MASK OCT63
061724,000186: 17,2302 55461 TS OLDQRMIN
061725,000187: 17,2303 13112 TCF XTRANS
061726,000188:
061727,000189: 17,2304 33136 +QMIN CA 14MS
061728,000190: 17,2305 55525 TS TJU
061729,000191: 17,2306 43136 CS 14MS
061730,000192: 17,2307 12320 TCF MINQR
061731,000193: 17,2310 43136 -QMIN CS 14MS
061732,000194: 17,2311 55525 TS TJU
061733,000195: 17,2312 33136 CA 14MS
061734,000196: 17,2313 12320 TCF MINQR
061735,000197: 17,2314 33136 +RMIN CA 14MS
061736,000198: 17,2315 12317 TCF +2
061737,000199: 17,2316 43136 -RMIN CS 14MS
061738,000200: 17,2317 55525 TS TJU
061739,000201: 17,2320 55526 MINQR TS TJV
061740,000202: 17,2321 32350 CA MINADR
061741,000203: 17,2322 55477 TS RETJADR
061742,000204: 17,2323 34753 CA ONE
061743,000205: 17,2324 55461 TS OLDQRMIN
061744,000206: 17,2325 55505 MINRTN TS AXISCTR
061745,000207: 17,2326 30111 CA DAPBOOLS
061746,000208: 17,2327 74737 MASK CSMDOCKD
061747,000209: 17,2330 00006 EXTEND
061748,000210: 17,2331 12341 BZF MIMRET
061749,000211: 17,2332 51505 INDEX AXISCTR # IF DOCKED, USE 60MS MINIMUM IMPULSE
061750,000212: 17,2333 11525 CCS TJU
061751,000213: 17,2334 34776 CA 60MS
061752,000214: 17,2335 12337 TCF +2
061753,000215: 17,2336 44776 CS 60MS
061754,000216: 17,2337 51505 INDEX AXISCTR
061755,000217: 17,2340 55525 TS TJU
061756,000218: 17,2341 30111 MIMRET CA DAPBOOLS
061757,000219: 17,2342 74742 MASK AORBTRAN
061758,000220: 17,2343 10000 CCS A
061759,000221: 17,2344 34753 CA ONE
061760,000222: 17,2345 64752 AD TWO
061761,000223: 17,2346 55742 TS NUMBERT
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Page 1434
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061763,000225: 17,2347 12756 TCF AFTERTJ
061764,000226:
061765,000227: 17,2350 4776 60MS = OCT140
061766,000228: 17,2350 02325 MINADR GENADR MINRTN
061767,000229: 17,2351 00063 OCT63 OCT 63
061768,000230: 17,2352 17,3136 14MS = +TJMINT6
061769,000231:
061770,000232: 17,2352 34751 TRANS4 CA FOUR
061771,000233: 17,2353 12216 TCF TSNUMBRT
061772,000234:
061773,000235: # RATE COMMAND MODE:
061774,000236:
061775,000237: # DESCRIPTION (SAME AS P-AXIS)
061776,000238:
061777,000239: 17,2354 55632 CHEKSTIK TS INGTS # NOT IN GTS WHEN IN ATT HOLD
061778,000240: 17,2355 44753 CS ONE # 1/ACCS WILL DO THE NULLING DRIVES
061779,000241: 17,2356 55630 TS COTROLER # COME BACK TO RCS NEXT TIME
061780,000242: 17,2357 34735 CA BIT15
061781,000243: 17,2360 71443 MASK CH31TEMP
061782,000244: 17,2361 00006 EXTEND
061783,000245: 17,2362 12377 BZF RHCACTIV # BRANCH IF OUT OF DETENT.
061784,000246: 17,2363 34740 CA OURRCBIT # ***********
061785,000247: 17,2364 70111 MASK DAPBOOLS # *IN DETENT* CHECK FOR MANUAL CONTROL
061786,000248: 17,2365 00006 EXTEND # *********** LAST TIME.
061787,000249: 17,2366 12710 BZF STILLRCS
061788,000250: 17,2367 44743 CS BIT9
061789,000251: 17,2370 71262 MASK RCSFLAGS
061790,000252: 17,2371 55262 TS RCSFLAGS # BIT 9 IS 0.
061791,000253: 17,2372 12374 TCF DAMPING
061792,000254: 17,2373 4771 40CYCL = OCT50
061793,000255: 17,2373 4753 1/10S = BIT1
061794,000256: 17,2373 00056 LINRAT DEC 46 B-14
061795,000257: # ================================
061796,000258: 17,2374 34755 DAMPING CA ZERO
061797,000259: 17,2375 55462 TS SAVEHAND
061798,000260: 17,2376 55463 TS SAVEHAND +1
061799,000261: 17,2377 11462 RHCACTIV CCS SAVEHAND # *******************
061800,000262: 17,2400 12403 TCF +3 # Q,R MANUAL CONTROL WC = A*(B+|D|)*D
061801,000263: 17,2401 12403 TCF +2 # *******************
061802,000264: 17,2402 12403 TCF +1
061803,000265: 17,2403 60000 DOUBLE # WHERE
061804,000266: 17,2404 60000 DOUBLE
061805,000267: 17,2405 62373 AD LINRAT # WC = COMMANDED ROTATIONAL RATE
061806,000268: 17,2406 00006 EXTEND # A = QUADRATIC SENSITIVITY FACTOR
061807,000269: 17,2407 71462 MP SAVEHAND # B = LINEAR/QUADRATIC SENSITIVITY
061808,000270: 17,2410 30001 CA L # |D|= ABS. VALUE OF DEFLECTION
061809,000271: 17,2411 00006 EXTEND # D = HAND CONTROLLER DEFLECTION
061810,000272: 17,2412 71444 MP STIKSENS
061811,000273: 17,2413 57455 XCH QLAST # COMMAND Q RATE SCALED 45 DEG/SEC
061812,000274: 17,2414 40000 COM
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Page 1435
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061814,000276: 17,2415 61455 AD QLAST
061815,000277: 17,2416 55740 TS DAPTEMP3
061816,000278: 17,2417 11463 CCS SAVEHAND +1
061817,000279: 17,2420 12423 TCF +3
061818,000280: 17,2421 12423 TCF +2
061819,000281: 17,2422 12423 TCF +1
061820,000282: 17,2423 60000 DOUBLE
061821,000283: 17,2424 60000 DOUBLE
061822,000284: 17,2425 62373 AD LINRAT
061823,000285: 17,2426 00006 EXTEND
061824,000286: 17,2427 71463 MP SAVEHAND +1
061825,000287: 17,2430 30001 CA L
061826,000288: 17,2431 00006 EXTEND
061827,000289: 17,2432 71444 MP STIKSENS
061828,000290: 17,2433 57456 XCH RLAST
061829,000291: 17,2434 40000 COM
061830,000292: 17,2435 61456 AD RLAST
061831,000293: 17,2436 55741 TS DAPTEMP4
061832,000294: 17,2437 41455 CS QLAST # INTERVAL.
061833,000295: 17,2440 61422 AD OMEGAQ
061834,000296: 17,2441 55436 TS QRATEDIF
061835,000297: 17,2442 41456 CS RLAST
061836,000298: 17,2443 61423 AD OMEGAR
061837,000299: 17,2444 55437 TS RRATEDIF
061838,000300: 17,2445 53437 ENTERQR DXCH QRATEDIF # TRANSFORM RATES FROM Q,R TO U,V AXES
061839,000301: 17,2446 03200 TC ROT-TOUV
061840,000302: 17,2447 53427 DXCH URATEDIF
061841,000303: 17,2450 00004 INHINT # SET AUTO DESIRED ATTITUDE TO ACTUAL
061842,000304: 17,2451 04674 TC IBNKCALL # ATTITUDE AND ZERO AUTO DESIRED RATE
061843,000305: 17,2452 40154 FCADR ZATTEROR
061844,000306: 17,2453 00003 RELINT
061845,000307: 17,2454 11740 CCS DAPTEMP3 # CHECK IF Q COMMAND CHANGE EXCEEDS
061846,000308: 17,2455 02460 TC +3 # BREAKOUT LEVEL. IF NOT, CHECK R.
061847,000309: 17,2456 02460 TC +2
061848,000310: 17,2457 02460 TC +1
061849,000311: 17,2460 61476 AD -RATEDB
061850,000312: 17,2461 00006 EXTEND
061851,000313: 17,2462 62464 BZMF +2
061852,000314: 17,2463 12502 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
061853,000315: 17,2464 11741 CCS DAPTEMP4 # R COMMAND BREAKOUT CHECK.
061854,000316: 17,2465 02470 TC +3
061855,000317: 17,2466 02470 TC +2
061856,000318: 17,2467 02470 TC +1
061857,000319: 17,2470 61476 AD -RATEDB
061858,000320: 17,2471 00006 EXTEND
061859,000321: 17,2472 62474 BZMF +2
061860,000322: 17,2473 12502 TCF ENTERUV -2 # BREAKOUT LEVEL EXCEEDED. DIRECT RATE.
061861,000323: 17,2474 31262 CA RCSFLAGS # BREAKOUT LEVEL NOT EXCEEDED. CHECK FOR
061862,000324: 17,2475 74741 MASK QRBIT # DIRECT RATE CONTROL LAST TIME.
061863,000325: 17,2476 00006 EXTEND
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Page 1436
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061865,000327: 17,2477 12501 BZF +2
061866,000328: 17,2500 12504 TCF ENTERUV # CONTINUE DIRECT RATE CONTROL.
061867,000329: 17,2501 12710 TCF STILLRCS # PSEUDO-AUTO CONTROL.
061868,000330: 17,2502 34771 CA 40CYCL
061869,000331: 17,2503 55457 TS TCQR
061870,000332: 17,2504 34755 ENTERUV CA ZERO # *** DIRECT RATE CONTROL ***
061871,000333: 17,2505 55450 TS DYERROR
061872,000334: 17,2506 55451 TS DYERROR +1
061873,000335: 17,2507 55452 TS DZERROR
061874,000336: 17,2510 55453 TS DZERROR +1
061875,000337: 17,2511 11426 CCS URATEDIF
061876,000338: 17,2512 12515 TCF +3
061877,000339: 17,2513 12515 TCF +2
061878,000340: 17,2514 12515 TCF +1
061879,000341: 17,2515 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
061880,000342: 17,2516 00006 EXTEND # DIRECT RATE CONTROL.
061881,000343: 17,2517 62533 BZMF VDB
061882,000344: 17,2520 11427 CCS VRATEDIF
061883,000345: 17,2521 12524 TCF +3
061884,000346: 17,2522 12524 TCF +2
061885,000347: 17,2523 12524 TCF +1
061886,000348: 17,2524 61476 AD TARGETDB
061887,000349: 17,2525 00006 EXTEND
061888,000350: 17,2526 62530 BZMF +2
061889,000351: 17,2527 12544 TCF QRTIME
061890,000352: 17,2530 34755 CA ZERO
061891,000353: 17,2531 55427 TS VRATEDIF
061892,000354: 17,2532 12544 TCF QRTIME
061893,000355: 17,2533 11427 VDB CCS VRATEDIF
061894,000356: 17,2534 02537 TC +3
061895,000357: 17,2535 02537 TC +2
061896,000358: 17,2536 02537 TC +1
061897,000359: 17,2537 61476 AD TARGETDB # IF TARGET DB IS EXCEEDED, CONTINUE
061898,000360: 17,2540 00006 EXTEND # DIRECT RATE CONTROL. IF NOT, FIRE AND
061899,000361: 17,2541 62553 BZMF TOPSEUDO # SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
061900,000362: 17,2542 34755 CA ZERO # PASS.
061901,000363: 17,2543 55426 TS URATEDIF
061902,000364: 17,2544 31457 QRTIME CA TCQR # DIRECT RATE TIME CHECK.
061903,000365: 17,2545 00006 EXTEND
061904,000366: 17,2546 62553 BZMF +5 # BRANCH IF TIME EXCEEDS 4 SEC.
061905,000367: 17,2547 41262 CS RCSFLAGS
061906,000368: 17,2550 74741 MASK QRBIT
061907,000369: 17,2551 27262 ADS RCSFLAGS # BIT 11 IS 1.
061908,000370: 17,2552 02556 TC +4
061909,000371: 17,2553 44741 TOPSEUDO CS QRBIT
061910,000372: 17,2554 71262 MASK RCSFLAGS
061911,000373: 17,2555 55262 TS RCSFLAGS # BIT 11 IS 0.
061912,000374: 17,2556 32622 CA HANDADR
061913,000375: 17,2557 55477 TS RETJADR
061914,000376: 17,2560 34753 CA ONE
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Page 1437
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061916,000378: 17,2561 55505 BACKHAND TS AXISCTR
061917,000379:
061918,000380: 17,2562 34751 CA FOUR
061919,000381: 17,2563 55742 TS NUMBERT
061920,000382:
061921,000383: 17,2564 51505 INDEX AXISCTR
061922,000384: 17,2565 51534 INDEX SKIPU
061923,000385: 17,2566 12567 TCF +1
061924,000386: 17,2567 34751 CA FOUR
061925,000387: 17,2570 51505 INDEX AXISCTR
061926,000388: 17,2571 55534 TS SKIPU
061927,000389: 17,2572 13034 TCF LOOPER
061928,000390:
061929,000391: 17,2573 51505 INDEX AXISCTR
061930,000392: 17,2574 11426 CCS URATEDIF # INDEX AXIS QUANITY
061931,000393: 17,2575 34755 CA ZERO # 0 -U 1/JETACC-AOSU
061932,000394: 17,2576 12600 TCF +2 # 1 +U 1/JETACC+AOSU
061933,000395: 17,2577 34753 CA ONE # 16 -V 1/JETACC-AOSV
061934,000396: 17,2600 51505 INDEX AXISCTR # 17 +V 1/JETACC+AOSV
061935,000397: 17,2601 63755 AD AXISDIFF # JETACC = 2 JET ACCELERATION (1 FOR FAIL)
061936,000398:
061937,000399: 17,2602 50000 INDEX A
061938,000400: 17,2603 41570 CS 1/ANET2 +1
061939,000401: 17,2604 00006 EXTEND
061940,000402: 17,2605 51505 INDEX AXISCTR # URATEDIF IS SCALED AT PI/4 RAD/SEC
061941,000403: 17,2606 71426 MP URATEDIF # JET TIME IN A SCALED 32 SEC
061942,000404: 17,2607 54002 TS Q
061943,000405: 17,2610 20001 DAS A
061944,000406: 17,2611 60002 AD Q
061945,000407: 17,2612 54000 TS A # OVERFLOW SKIP
061946,000408: 17,2613 12615 TCF +2
061947,000409: 17,2614 30002 CA Q # RIGHT SIGN AND BIGGER THAN 150MS
061948,000410: 17,2615 51505 SETTIME INDEX AXISCTR
061949,000411: 17,2616 55525 TS TJU # SCALED AT 10.67 WHICH IS CLOSE TO 10.24
061950,000412: 17,2617 12756 TCF AFTERTJ
061951,000413:
061952,000414: 17,2620 34755 ZEROTJ CA ZERO
061953,000415: 17,2621 12615 TCF SETTIME
061954,000416:
061955,000417: 17,2622 02561 HANDADR GENADR BACKHAND
061956,000418:
061957,000419: # GTS WILL BE TRIED IF
061958,000420: # 1. USEQRJTS= 0,
061959,000421: # 2. ALLOWGTS POS,
061960,000422: # 3. JETS ARE OFF(Q,R-AXES)
061961,000423: 17,2623 34736 TRYGTS CAF USEQRJTS # IS JET USE MANDATORY. (AS LONG AS
061962,000424: 17,2624 70111 MASK DAPBOOLS # USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
061963,000425: 17,2625 10000 CCS A
061964,000426: 17,2626 12141 TCF RCS
061965,000427: 17,2627 11502 CCS ALLOWGTS # NO. DOES AOSTASK OK CONTROL FOR GTS?
|
|
Page 1438
|
061967,000429: 17,2630 12632 TCF +2
061968,000430: 17,2631 12141 TCF RCS
061969,000431: 17,2632 00006 EXTEND
061970,000432: 17,2633 00005 READ CHAN5
061971,000433: 17,2634 10000 CCS A
061972,000434: 17,2635 12641 TCF CHKINGTS
061973,000435: 17,2636 00006 GOTOGTS EXTEND
061974,000436: 17,2637 32654 DCA GTSCADR
061975,000437: 17,2640 52006 DTCB
061976,000438:
061977,000439: 17,2641 11632 CHKINGTS CCS INGTS # WAS THE TRIM GIMBAL CONTROLLING
061978,000440: 17,2642 12644 TCF +2 # YES. SET UP A DAMPED NULLING DRIVE.
061979,000441: 17,2643 12141 TCF RCS # NO. NULLING WAS SET UP BEFORE. DO RCS
061980,000442: 17,2644 00004 INHINT
061981,000443: 17,2645 04674 TC IBNKCALL
061982,000444: 17,2646 43105 CADR TIMEGMBL
061983,000445: 17,2647 00003 RELINT
061984,000446: 17,2650 34755 CAF ZERO
061985,000447: 17,2651 55632 TS INGTS
061986,000448: 17,2652 12141 TCF RCS
061987,000449:
061988,000450: 17,2653 E6,1634 EBANK= CDUXD
061989,000451: 17,2653 02654 42106 GTSCADR 2CADR GTS
061990,000452:
061991,000453:
|
|
Page 1439
|
061993,000455: # SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
061994,000456:
061995,000457: 17,2655 30033 QERRCALC CAE CDUY # Q-ERROR CALCULATION
061996,000458: 17,2656 00006 EXTEND
061997,000459: 17,2657 21635 MSU CDUYD # CDU ANGLE - ANGLE DESIRED (Y-AXIS)
061998,000460: 17,2660 55736 TS DAPTEMP1 # SAVE FOR RERRCALC
061999,000461: 17,2661 00006 EXTEND
062000,000462: 17,2662 71415 MP M21 # (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
062001,000463: 17,2663 55751 TS E
062002,000464: 17,2664 30034 CAE CDUZ # SECOND TERM CALCULATION:
062003,000465: 17,2665 00006 EXTEND
062004,000466: 17,2666 21636 MSU CDUZD # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
062005,000467: 17,2667 55737 TS DAPTEMP2 # SAVE FOR RERRCALC
062006,000468: 17,2670 00006 EXTEND
062007,000469: 17,2671 71417 MP M22 # (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
062008,000470: 17,2672 61275 AD DELQEROR # KALCMANU INERFACE ERROR
062009,000471: 17,2673 61751 AD E
062010,000472: 17,2674 57450 XCH QERROR # SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
062011,000473:
062012,000474: 17,2675 31736 RERRCALC CAE DAPTEMP1 # R-ERROR CALCULATION:
062013,000475: 17,2676 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Y-AXIS)
062014,000476: 17,2677 71416 MP M31 # (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
062015,000477: 17,2700 55751 TS E
062016,000478: 17,2701 31737 CAE DAPTEMP2 # SECOND TERM CALCULATION:
062017,000479: 17,2702 00006 EXTEND # CDU ANGLE -ANGLE DESIRED (Z-AXIS)
062018,000480: 17,2703 71420 MP M32 # (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
062019,000481: 17,2704 61276 AD DELREROR # KALCMANU INERFACE ERROR
062020,000482: 17,2705 61751 AD E
062021,000483: 17,2706 57452 XCH RERROR # SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
062022,000484: 17,2707 00002 TC Q
062023,000485:
|
|
Page 1440
|
062025,000487: # "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
062026,000488:
062027,000489: 17,2710 17,2710 ATTSTEER EQUALS STILLRCS # "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
062028,000490:
062029,000491: 17,2710 31452 STILLRCS CA RERROR
062030,000492: 17,2711 22000 LXCH A
062031,000493: 17,2712 31450 CA QERROR
062032,000494: 17,2713 03200 TC ROT-TOUV
062033,000495: 17,2714 53751 DXCH UERROR
062034,000496:
062035,000497: # PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
062036,000498: # PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
062037,000499: 17,2715 33142 TJLAW CA TJLAWADR
062038,000500: 17,2716 55477 TS RETJADR
062039,000501: 17,2717 34753 CA ONE
062040,000502: 17,2720 55505 TS AXISCTR
062041,000503: 17,2721 51505 INDEX AXISCTR
062042,000504: 17,2722 51534 INDEX SKIPU
062043,000505: 17,2723 12724 TCF +1
062044,000506: 17,2724 34751 CA FOUR
062045,000507: 17,2725 51505 INDEX AXISCTR
062046,000508: 17,2726 55534 TS SKIPU
062047,000509: 17,2727 13034 TCF LOOPER
062048,000510: 17,2730 51505 INDEX AXISCTR
062049,000511: 17,2731 31750 CA UERROR
062050,000512: 17,2732 55751 TS E
062051,000513: 17,2733 51505 INDEX AXISCTR
062052,000514: 17,2734 31426 CA OMEGAU
062053,000515: 17,2735 55427 TS EDOT
062054,000516: 17,2736 30111 CA DAPBOOLS
062055,000517: 17,2737 74737 MASK CSMDOCKD
062056,000518: 17,2740 10000 CCS A
062057,000519: 17,2741 12744 TCF +3
062058,000520: 17,2742 03304 TC TJETLAW
062059,000521: 17,2743 12756 TCF AFTERTJ
062060,000522: 17,2744 40111 +3 CS DAPBOOLS # DOCKED. IF GIMBAL USABLE DO GTS CONTROL
062061,000523: 17,2745 74736 MASK USEQRJTS # ON THE NEXT PASS.
062062,000524: 17,2746 10000 CCS A # USEQRJTS BIT MUST NOT BE BIT 15.
062063,000525: 17,2747 55630 TS COTROLER # GIMBAL USABLE. STORE POSITIVE VALUE.
062064,000526: 17,2750 00004 INHINT
062065,000527: 17,2751 04674 TC IBNKCALL
062066,000528: 17,2752 43514 CADR SPSRCS # DETERMINE RCS CONTROL
062067,000529: 17,2753 00003 RELINT
062068,000530: 17,2754 34751 CAF FOUR # ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
062069,000531: 17,2755 55742 TS NUMBERT # FALL THROUGH TO JET SELECTION, ETC.
062070,000532:
062071,000533: # Q,R-JET-SELECTION-LOGIC
062072,000534:
062073,000535: # INPUT: AXISCTR 0,1 FOR U,V
062074,000536: # SNUFFBIT ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN
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|
Page 1441
|
062076,000538: # TJU,TJV JET TIME SCALED 10.24 SEC.
062077,000539: # NUMBERT INDICATES NUMBER OF JETS AND TYPE OF POLICY
062078,000540: # RETJADR WHERE TO RETURN TO
062079,000541:
062080,000542: # OUTPUT: NO.U(V)JETS RATE DERIVATION FEEDBACK
062081,000543: # CHANNEL 5
062082,000544: # SKIPU,SKIRV FOR LESS THAN 150MS FIRING
062083,000545:
062084,000546: # NOTES: IN CASE OF FAILURE IN DESIRED ROTATION POLICY,"ALL" UNFAILED
062085,000547: # JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY
062086,000548: # TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT
062087,000549: # IF NONE CAN BE FOUND.
062088,000550:
062089,000551: # TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
062090,000552: # MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
062091,000553:
062092,000554: 17,2756 30101 AFTERTJ CA FLAGWRD5 # IF SNUFFBIT SET DURING A DPS BURN GO TO
062093,000555: 17,2757 74737 MASK SNUFFBIT # XTRANS; THAT IS, INHIBIT CONTROL.
062094,000556: 17,2760 00006 EXTEND
062095,000557: 17,2761 12772 BZF DOROTAT
062096,000558: 17,2762 40106 CS FLGWRD10
062097,000559: 17,2763 74737 MASK APSFLBIT
062098,000560: 17,2764 00006 EXTEND
062099,000561: 17,2765 12772 BZF DOROTAT
062100,000562: 17,2766 30111 CA DAPBOOLS
062101,000563: 17,2767 74744 MASK DRIFTBIT
062102,000564: 17,2770 00006 EXTEND
062103,000565: 17,2771 13112 BZF XTRANS
062104,000566:
062105,000567: 17,2772 34752 DOROTAT CAF TWO
062106,000568: 17,2773 54001 TS L
062107,000569: 17,2774 51505 INDEX AXISCTR
062108,000570: 17,2775 11525 CCS TJU
062109,000571: 17,2776 13003 TCF +5
062110,000572: 17,2777 13026 TCF NOROTAT
062111,000573: 17,3000 13002 TCF +2
062112,000574: 17,3001 13026 TCF NOROTAT
062113,000575: 17,3002 22007 ZL
062114,000576: 17,3003 64753 AD ONE
062115,000577: 17,3004 55736 TS ABSTJ
062116,000578:
062117,000579: 17,3005 31505 CA AXISCTR
062118,000580: 17,3006 60001 AD L
062119,000581: 17,3007 55743 TS ROTINDEX # 0 1 2 3 = -U -V -+U +V
062120,000582:
062121,000583: 17,3010 31736 CA ABSTJ
062122,000584: 17,3011 63137 AD -150MS
062123,000585: 17,3012 00006 EXTEND
062124,000586: 17,3013 63037 BZMF DOSKIP
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|
Page 1442
|
062126,000588: 17,3014 03225 TC SELCTSUB
062127,000589:
062128,000590: 17,3015 51505 INDEX AXISCTR
062129,000591: 17,3016 33134 CA INDEXES
062130,000592: 17,3017 54001 TS L
062131,000593:
062132,000594: 17,3020 31740 CA POLYTEMP
062133,000595: 17,3021 00004 INHINT
062134,000596: 17,3022 50001 INDEX L
062135,000597: 17,3023 05755 TC WRITEP
062136,000598:
062137,000599: 17,3024 00003 RELINT
062138,000600: 17,3025 13100 TCF FEEDBACK
062139,000601:
062140,000602: 17,3026 51505 NOROTAT INDEX AXISCTR
062141,000603: 17,3027 33134 CA INDEXES
062142,000604: 17,3030 00004 INHINT
062143,000605: 17,3031 50000 INDEX A
062144,000606: 17,3032 05754 TC WRITEP -1
062145,000607:
062146,000608: 17,3033 00003 RELINT
062147,000609: 17,3034 11505 LOOPER CCS AXISCTR
062148,000610: 17,3035 01477 TC RETJADR
062149,000611: 17,3036 13270 TCF CLOSEOUT
062150,000612: 17,3037 41736 DOSKIP CS ABSTJ
062151,000613: 17,3040 63136 AD +TJMINT6 # 14MS
062152,000614: 17,3041 00006 EXTEND
062153,000615: 17,3042 63061 BZMF NOTMIN
062154,000616:
062155,000617: 17,3043 27736 ADS ABSTJ
062156,000618: 17,3044 51505 INDEX AXISCTR
062157,000619: 17,3045 11525 CCS TJU
062158,000620: 17,3046 33136 CA +TJMINT6
062159,000621: 17,3047 13051 TCF +2
062160,000622: 17,3050 43136 CS +TJMINT6
062161,000623: 17,3051 51505 INDEX AXISCTR
062162,000624: 17,3052 55525 TS TJU
062163,000625:
062164,000626: 17,3053 11500 CCS SENSETYP # ENSURE MIN-IMPULSE NOT AGAINST TRANS
062165,000627: 17,3054 13060 TCF NOTMIN -1
062166,000628: 17,3055 00006 EXTEND
062167,000629: 17,3056 00004 READ LOSCALAR
062168,000630: 17,3057 74753 MASK ONE
062169,000631: 17,3060 55742 TS NUMBERT
062170,000632:
062171,000633: 17,3061 03225 NOTMIN TC SELCTSUB
062172,000634:
062173,000635: 17,3062 51505 INDEX AXISCTR
062174,000636: 17,3063 33134 CA INDEXES
062175,000637: 17,3064 00004 INHINT
062176,000638:
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|
Page 1443
|
062178,000640: 17,3065 55471 TS T6FURTHA +1
062179,000641: 17,3066 31740 CA POLYTEMP
062180,000642: 17,3067 51471 INDEX T6FURTHA +1
062181,000643: 17,3070 05755 TC WRITEP
062182,000644:
062183,000645: 17,3071 31736 CA ABSTJ
062184,000646: 17,3072 55470 TS T6FURTHA
062185,000647: 17,3073 03143 TC JTLST # IN QR BANK BY NOW
062186,000648:
062187,000649: 17,3074 00003 RELINT
062188,000650:
062189,000651: 17,3075 34755 CA ZERO
062190,000652: 17,3076 51505 INDEX AXISCTR
062191,000653: 17,3077 55534 TS SKIPU
062192,000654:
062193,000655: 17,3100 46250 FEEDBACK CS THREE
062194,000656: 17,3101 61742 AD NUMBERT
062195,000657: 17,3102 00006 EXTEND
062196,000658: 17,3103 63106 BZMF +3
062197,000659:
062198,000660: 17,3104 34752 CA TWO
062199,000661: 17,3105 13107 TCF +2
062200,000662: 17,3106 34753 CA ONE
062201,000663: 17,3107 51505 INDEX AXISCTR
062202,000664: 17,3110 55522 TS NO.UJETS
062203,000665: 17,3111 13034 TCF LOOPER
062204,000666:
062205,000667: 17,3112 34755 XTRANS CA ZERO
062206,000668: 17,3113 55525 TS TJU
062207,000669: 17,3114 55526 TS TJV
062208,000670: 17,3115 34751 CA FOUR
062209,000671: 17,3116 00004 INHINT
062210,000672: 17,3117 57534 XCH SKIPU
062211,000673: 17,3120 00006 EXTEND
062212,000674: 17,3121 13123 BZF +2
062213,000675: 17,3122 05760 TC WRITEU -1
062214,000676: 17,3123 34751 CA FOUR
062215,000677: 17,3124 57535 XCH SKIPV
062216,000678: 17,3125 00003 RELINT
062217,000679:
062218,000680: 17,3126 00006 EXTEND
062219,000681: 17,3127 13270 BZF CLOSEOUT
062220,000682: 17,3130 00004 INHINT
062221,000683: 17,3131 05771 TC WRITEV -1
062222,000684: 17,3132 00003 RELINT
062223,000685:
062224,000686: 17,3133 13270 TCF CLOSEOUT
062225,000687: 17,3134 00004 INDEXES DEC 4 B-14
062226,000688: 17,3135 00015 DEC 13 B-14
062227,000689: 17,3136 00026 +TJMINT6 DEC 22 B-14
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|
Page 1444
|
062229,000691: 17,3137 77417 -150MS DEC -240 B-14
062230,000692: 17,3140 00600 BIT8,9 OCT 00600
062231,000693: 17,3141 00266 SCLNORM OCT 266
062232,000694: 17,3142 02720 TJLAWADR GENADR TJLAW +3 # RETURN ADDRESS FOR RCS ATTITUDE CONTROL
062233,000695:
062234,000696: # THE JET LIST:
062235,000697: # THIS IS A WAITLIST FOR T6RUPTS.
062236,000698:
062237,000699: # CALLED BY:
062238,000700: # CA TJ TIME WHEN NEXT JETS WILL BE WRITTEN
062239,000701: # TS T6FURTHA
062240,000702: # CA INDEX AXIS TO BE WIRTTEN AT TJ (FROM NOW)
062241,000703: # TS T6FURTHA +1
062242,000704: # TC JTLST
062243,000705:
062244,000706: # EXAMPLE- U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
062245,000707: # JETS INTO CHANNEL 5. IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
062246,000708: # 150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
062247,000709: # CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
062248,000710: # OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
062249,000711:
062250,000712: # THE LIST IS EXACTLY 3 LONG.(THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
062251,000713: # THE INPUT IS THE LAST MEMBER OF THE LIST
062252,000714:
062253,000715: # RETURNS BY:
062254,000716: # + TC Q
062255,000717:
062256,000718: # DEFINITIONS:(OUTPUT)
062257,000719: # TIME6 TIME OF NEXT RUPT
062258,000720: # T6NEXT DELTA TIME TO NEXT RUPT
062259,000721: # T6FURTHA DELTA TIME FROM 2ND TO LAST RUPT
062260,000722: # NXT6ADR AXIS INDEX Q - P-AXIS
062261,000723: # T6NEXT +1 AXIS INDEX 4 - U-AXIS
062262,000724: # T6FURTHA +1 AXIS INDEX 13 - V-AXIS
062263,000725: 17,3143 41470 JTLST CS T6FURTHA
062264,000726: 17,3144 60031 AD TIME6
062265,000727: 17,3145 00006 EXTEND
062266,000728: 17,3146 63163 BZMF MIDORLST # TIME6 - T IS IN A
062267,000729:
062268,000730: 17,3147 23465 LXCH NXT6ADR
062269,000731: 17,3150 53467 DXCH T6NEXT
062270,000732: 17,3151 53471 DXCH T6FURTHA
062271,000733: 17,3152 54031 TS TIME6
062272,000734: 17,3153 23465 LXCH NXT6ADR
062273,000735:
062274,000736: 17,3154 00006 TURNON EXTEND
062275,000737: 17,3155 23265 QXCH C13QSAV
062276,000738: 17,3156 06022 TC C13STALL
062277,000739:
062278,000740: 17,3157 34735 CA BIT15
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|
Page 1445
|
062280,000742: 17,3160 00006 EXTEND
062281,000743: 17,3161 05013 WOR CHAN13
062282,000744: 17,3162 01265 TC C13QSAV
062283,000745:
062284,000746: 17,3163 61466 MIDORLST AD T6NEXT
062285,000747: 17,3164 00006 EXTEND
062286,000748: 17,3165 63174 BZMF LASTCHG # TIME6 + T6NEXT - T IS IN A
062287,000749:
062288,000750: 17,3166 23467 LXCH T6NEXT +1
062289,000751: 17,3167 53471 DXCH T6FURTHA
062290,000752: 17,3170 00006 EXTEND
062291,000753: 17,3171 60031 SU TIME6
062292,000754: 17,3172 53467 DXCH T6NEXT
062293,000755:
062294,000756: 17,3173 00002 TC Q
062295,000757:
062296,000758: 17,3174 40000 LASTCHG CS A
062297,000759: 17,3175 64754 AD NEG0
062298,000760: 17,3176 55470 TS T6FURTHA
062299,000761:
062300,000762: 17,3177 00002 TC Q
062301,000763:
062302,000764:
062303,000765: # ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
062304,000766: # ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM. IN THE U-V SYSTEM NO CROSS-COUPLING IS
062305,000767: # PRODUCED FROM RCS JET FIRINGS. AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
062306,000768: # A AND THE V-COMPONENT IS IN L.
062307,000769:
062308,000770: 17,3200 23737 ROT-TOUV LXCH ROTEMP2 # (R) IS PUT INTO ROTEMP2
062309,000771: 17,3201 00006 EXTEND
062310,000772: 17,3202 71626 MP COEFFQ
062311,000773: 17,3203 57737 XCH ROTEMP2 # (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
062312,000774: 17,3204 00006 EXTEND
062313,000775: 17,3205 71627 MP COEFFR
062314,000776: 17,3206 54001 TS L # COEFFR.(R) IS PUT INTO L
062315,000777: 17,3207 61737 AD ROTEMP2
062316,000778: 17,3210 55736 TS ROTEMP1 # COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
062317,000779: 17,3211 13215 TCF +4
062318,000780: 17,3212 50000 INDEX A # COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
062319,000781: 17,3213 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
062320,000782: 17,3214 55736 TS ROTEMP1
062321,000783: 17,3215 41737 CS ROTEMP2
062322,000784: 17,3216 60001 AD L # -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
062323,000785: 17,3217 54007 TS 7
062324,000786: 17,3220 13223 TCF +3
062325,000787: 17,3221 50000 INDEX A # -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
062326,000788: 17,3222 44734 CS LIMITS # AND IS LIMITED TO POSMAX OR NEGMAX
062327,000789: 17,3223 23736 LXCH ROTEMP1 # COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
062328,000790: 17,3224 00002 TC Q
062329,000791: 17,3225 51743 SELCTSUB INDEX ROTINDEX
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Page 1446
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062331,000793: 17,3226 33257 CA ALLJETS
062332,000794: 17,3227 51742 INDEX NUMBERT
062333,000795: 17,3230 73263 MASK TYPEPOLY
062334,000796: 17,3231 55740 TS POLYTEMP
062335,000797:
062336,000798: 17,3232 71257 MASK CH5MASK
062337,000799: 17,3233 10000 CCS A
062338,000800: 17,3234 13236 TCF +2
062339,000801:
062340,000802: 17,3235 00002 TC Q
062341,000803:
062342,000804: 17,3236 36250 CA THREE
062343,000805: 17,3237 55742 FAILOOP TS NUMBERT
062344,000806: 17,3240 51743 INDEX ROTINDEX
062345,000807: 17,3241 33257 CA ALLJETS
062346,000808: 17,3242 51742 INDEX NUMBERT
062347,000809: 17,3243 73263 MASK TYPEPOLY
062348,000810: 17,3244 55740 TS POLYTEMP
062349,000811: 17,3245 71257 MASK CH5MASK
062350,000812: 17,3246 00006 EXTEND
062351,000813: 17,3247 13235 BZF FAILOOP -2
062352,000814: 17,3250 11742 CCS NUMBERT
062353,000815: 17,3251 13237 TCF FAILOOP
062354,000816: 17,3252 51505 INDEX AXISCTR
062355,000817: 17,3253 55525 TS TJU
062356,000818: 17,3254 05600 TC ALARM
062357,000819: 17,3255 02004 OCT 02004
062358,000820: 17,3256 13026 TCF NOROTAT
062359,000821: 17,3257 00110 ALLJETS OCT 00110 # -U 6 13
062360,000822: 17,3260 00022 OCT 00022 # -V 2 9
062361,000823: 17,3261 00204 OCT 00204 # +U 5 14
062362,000824:
062363,000825: 17,3262 00041 OCT 00041 # +V 1 10
062364,000826: 17,3263 00125 TYPEPOLY OCT 00125 # -X 1 5 9 13
062365,000827: 17,3264 00252 OCT 00252 # +X 2 6 10 14
062366,000828: 17,3265 00146 OCT 00146 # A 2 5 10 13
062367,000829: 17,3266 00231 OCT 00231 # B 1 6 9 14
062368,000830: 17,3267 00377 OCT 00377 # ALL 1 2 5 6 9 10 13 14
062369,000831:
062370,000832: # THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
062371,000833:
062372,000834: 17,3270 33272 CLOSEOUT CA ADRRUPT
062373,000835: 17,3271 07757 TC MAKERUPT
062374,000836:
062375,000837: 17,3272 03273 ADRRUPT ADRES ENDJASK
062376,000838:
062377,000839: 17,3273 53753 ENDJASK DXCH DAPARUPT
062378,000840: 17,3274 52011 DXCH ARUPT
062379,000841: 17,3275 53755 DXCH DAPBQRPT
062380,000842: 17,3276 56017 XCH BRUPT
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062382,000844: 17,3277 22002 LXCH Q
062383,000845: 17,3300 34735 CAF NEGMAX # NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
062384,000846: 17,3301 53757 DXCH DAPZRUPT
062385,000847: 17,3302 52016 DXCH ZRUPT
062386,000848: 17,3303 15303 TCF NOQRSM
062387,000849: 7757 BLOCK 3
062388,000850: 6000 SETLOC FFTAG6
062389,000851: 6000 BANK
062390,000852:
062391,000853: 7757 COUNT* $$/DAP
062392,000854:
062393,000855: 7757 00006 MAKERUPT EXTEND
062394,000856: 7760 07757 EDRUPT MAKERUPT
End of include-file Q,R-AXES_RCS_AUTOPILOT.agc. Parent file is MAIN.agc