2430 lines
50 KiB
ArmAsm
2430 lines
50 KiB
ArmAsm
# Copyright: Public domain.
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# Filename: P40-P47.agc
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# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
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# It is part of the source code for the Command Module's (CM)
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# Apollo Guidance Computer (AGC), for Apollo 11.
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# Assembler: yaYUL
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# Contact: Ron Burkey <info@sandroid.org>.
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# Website: www.ibiblio.org/apollo.
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# Pages: 684-736
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# Mod history: 2009-05-11 RSB Adapted from the Colossus249/ file
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# of the same name, using Comanche055 page
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# images.
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# 2009-05-20 RSB In S20.1, a DMP DDV was corrected to DMPR DDV.
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# 2009-05-22 RSB In BESTTRIM, TC PACTOFF corrected to
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# TS PACTOFF.
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# 2009-05-23 RSB Prior to the 2CADR at T5IDLDAP, added an
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# SBANK.
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#
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# This source code has been transcribed or otherwise adapted from digitized
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# images of a hardcopy from the MIT Museum. The digitization was performed
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# by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
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# thanks to both. The images (with suitable reduction in storage size and
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# consequent reduction in image quality as well) are available online at
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# www.ibiblio.org/apollo. If for some reason you find that the images are
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# illegible, contact me at info@sandroid.org about getting access to the
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# (much) higher-quality images which Paul actually created.
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#
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# Notations on the hardcopy document read, in part:
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#
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# Assemble revision 055 of AGC program Comanche by NASA
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# 2021113-051. 10:28 APR. 1, 1969
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#
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# This AGC program shall also be referred to as
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# Colossus 2A
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# Page 684
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# PROGRAM DESCRIPTION ** P40CSM **
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EBANK= DAPDATR1
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BANK 31
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SETLOC P40S
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BANK
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COUNT 24/P40
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P40CSM TC DOWNFLAG
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ADRES ENG2FLAG
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TC INTPRET
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SLOAD BOFF
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ECSTEER # IS THIS AN EXTERNAL DELTA V BURN
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XDELVFLG
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P40S/C # NO CSTEER = ECSTEER
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DLOAD # YES CSTEER = ZERO
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HI6ZEROS
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P40S/C STODL CSTEER
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FENG # SET UP THRUST FOR P40 20,000 LBS
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P40S/F STODL F # P41 ENTERS HERE
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TIG # ORIGINAL TIG MAY BE SLIPPED BY P40S/SV
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STORE NOMTIG # SET ORIGINAL TIME OF IGNITION FOR S40.9
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EXIT
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TC BANKCALL
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CADR R02BOTH # IMU STATUS CHECK
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P40PVA TC INTPRET
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CALL
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S40.1 # COMPUTE VGTIG,UT
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CALL
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S40.2,3 # COMPUTE PREFERRED ATTITUDE
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SET EXIT
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PFRATFLG
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P40SXTY TCR SETMINDB -1 # NARROW DEADBAND FOR MANEUVER (EBANK6)
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RELINT
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TC BANKCALL
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CADR R60CSM # ATTITUDE MANEUVER
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CS ONE # FOR UPDATEVG
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TS NBRCYCLS
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TC UPFLAG
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ADRES TIMRFLAG # ALLOW CLOCKTASK
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TC P41/P40
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TC P41/DSP # P41
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P40TTOG CAF V06N40 # INITIALIZE FOR CLOCKTASK WHICH IS CALLED
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# Page 685
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TS NVWORD1 # BELOW
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TC INTPRET
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VLOAD ABVAL # FOR R2
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VGTIG
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STODL VGDISP
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HI6ZEROS
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STORE DVTOTAL
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EXIT
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EXTEND
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DCA STEERADS # SET FOR UPDATEVG AND TEST FOR STEERING
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DXCH AVEGEXIT # AFTER AVERAGE G
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P40GMB CAF P40CKLS2 # (4.1 PROTECTION)
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TC BANKCALL
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CADR GOPERF1
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TCF POST41 # V34
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TCF TST,TRIM # V33
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TRIMONLY CS BIT1 # SET MRKRTEMP FOR GIMBAL TRIM (-1)
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+1 TS MRKRTMP # ENTRY FROM TST,TRIM
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CAF ZERO # SET CNTR +0 FOR RESTART LOGIC IN S40.6
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TS CNTR # +0 SAYS NORMAL ENTRY
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# +1 (PRE40.6) SAYS RESTART ENTRY
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CAF ONE
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TC WAITLIST
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EBANK= DAPDATR1
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2CADR S40.6
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CCS MRKRTMP # TEST TO FIND TIME TO WAIT FOR GIMBAL TEST
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CAF 18SEC # PLUS, DELAY FOR 18 SECONDS
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TCF +2 # HOLE
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CAF 5SEC # DELAY FOR TRIM ONLY TASK
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TC BANKCALL
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CADR DELAYJOB
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TC 2PHSCHNG
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OCT 40026 # 6.2 = PRE40.6(-0CS), CLOKTASK(100CS)
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OCT 00234 # 4.23 = P40S/SV (PRIO12)
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P40S/RS CAF ONE
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TC WAITLIST # P41/SDP
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EBANK= TIG
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2CADR CLOKTASK
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RELINT
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P40S/SV TCR E7SETTER # JOB, 4.23 PRETECTS, PREO12
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EBANK= TIG
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# Page 686
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TC INTPRET
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DLOAD DSU
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TIG
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SEC29.96
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STORE TDEC1
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CALRB # RETURN IN BASIC
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MIDTOAV1
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TCF +2
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TC P40SNEWM # INTEGRATION TIME GREATER THAN ALLOWED
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P40SET EXTEND
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DCA MPAC # DELTA TIME TO PREREAD (INT.INIT.)
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DXCH P40TMP
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EXTEND
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DCS 5SECDP # FOR TIGBLNK
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DAS P40TMP
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EXTEND
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DCA P40TMP
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TC LONGCALL
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EBANK= TIG
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2CADR TIGBLNK
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TC PHASCHNG
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OCT 20214 # 4.21 = TIGBLNK (P40TMP CS)
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TCF ENDOFJOB
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P40BLNKR TC BANKCALL
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CADR CLEANDSP # REMOVE RESIDUE
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TCF ENDOFJOB
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EBANK= TIG
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P40SNEWM EXTEND
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DCA PIPTIME1
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DXCH TIG # SET NEW TIG FOR 06 40
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EXTEND
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DCA SEC29.96
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DAS TIG
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TCF P40SET # FOR LONGCALL OF TIG-30 (OR -35)
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EBANK= DAPDATR1
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POSTBURN CAF V16N40
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TC BANKCALL
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CADR REFLASH
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TCF POST41 # V34 GO FINISH
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TCF P40RCS # PROCEED
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TCF POSTBURN # RECYCLE
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P40RCS EXTEND # V99N40 ENTERS HERE ON A P40 BYPASS SPS
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DCA ACADN85
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DXCH AVEGEXIT
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CAF 2SECS # WAIT FOR CALCN85 VIA AVEGEXIT
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TC BANKCALL
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# Page 687
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CADR DELAYJOB
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P40MINDB TCR SETMINDB -1
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RELINT
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TIGNOW TC PHASCHNG
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OCT 05024 # TYPE C GROUP 4 BELOW FOR NOUN 85
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OCT 20000 # PRIO 20
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CAF V16N85B
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TC BANKCALL
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CADR REFLASH
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TCF POST41 # FINISH P40/P41
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TCF POST41 # V03 PROCEED WITH REST OF THE CLEAN-UP
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TCF TIGNOW # V32 NOT GSOP RESPONSE BUT REDISPLAY N85
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POST41 EXTEND
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DCA SERVCADR
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DXCH AVEGEXIT
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TCF GOTOP00H
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MINDB DEC 46
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MAXDB DEC 455
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EBANK= DAPDATR1
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-1 INHINT
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SETMINDB CA CDUX # ROUTINE FOR SETTING
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TS THETADX # THE MINIMUM DEADBAND
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EXTEND # IN AUTOPILOT
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DCA CDUY
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DXCH THETADY
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CA MINDB # SHOULD BE CALLED UNDER
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TS ADB # INTERRUPT INHIBITED
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CS BIT4 # EBANK = E6
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MASK DAPDATR1
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TS DAPDATR1
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TC Q
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EBANK= DAPDATR1
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-1 INHINT
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SETMAXDB CA MAXDB # ROUTINE FOR SETTING
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TS ADB # THE MAXIMUM DEADBAND IN AUTOPILOT
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CS DAPDATR1
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MASK BIT4 # SHOULD BE CALLED UNDER
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ADS DAPDATR1 # INTERRUPT INHIBITED
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TC Q # EBANK = E6
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# Page 688
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# PROGRAM DESCRIPTION ** P41CSM **
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SETLOC P40S2
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BANK
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EBANK= DAPDATR1
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COUNT 24/P41
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P41CSM TC UPFLAG
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ADRES ENG2FLAG # SET FOR RCS
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TC INTPRET
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DLOAD
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HI6ZEROS # FOR P41 CSTEER =0
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STORE CSTEER
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DLOAD BON
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FRCS2 # 2JET THRUST FOR S40.1
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NJETSFLG
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P40S/F # NJETS = 1 2-JET
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DAD GOTO # NJETS = 0 4-JET
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FRCS2
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P40S/F
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SETLOC P40S
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BANK
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P41/P40 CS MODREG
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MASK ONE # P41EXITS AT CALL LOC +1
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EXTEND
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BZF +2 # P41
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INCR Q # P40 EXITS AT CALL LOC +2
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TC Q
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TTG/0 CAF PRIO20 # TASK (4.4 PROTECTS IN P41)
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TC NOVAC
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EBANK= DAPDATR1
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2CADR TIGNOW
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P40CLK TC DOWNFLAG
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ADRES TIMRFLAG
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TCF TASKOVER
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P41/DSP CAF V06N85B # SET UP FOR NONFLASH V 06 N85 BY CLOCKJOB
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TS NVWORD1
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TC INTPRET
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# Page 689
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CALL # COMPUTE
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P40CNV85 # VGTIG IN CTRL COORDS
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EXIT
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EXTEND # DO CONTROL COORD CALCULATION AFTER AVEG
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DCA ACADN85
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DXCH AVEGEXIT
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TC 2PHSCHNG
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OCT 40036 # 6.3=CLOKTASK(100CS)
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OCT 234 # 4.23=P40S/SV(PRIO12)
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TCF P40S/RS
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P41REDSP CAF V16N85B # ENTER FROM P41 SIDE OF TIGAVEG
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TS NVWORD1 # REDISPLAY NONFLASHING
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CAF SEC29.96 +1
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TC WAITLIST
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EBANK= DAPDATR1
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2CADR TTG/0
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CS BIT3
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TCF TTGPHS
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P40CNV85 STQ SETPD
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QTEMP1
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0
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VLOAD PUSH
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VGPREV # EQUALS VGTIG (TARGETTING INPUT)
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CALL
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S41.1
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STCALL VGBODY
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QTEMP1
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EBANK= DAPDATR1
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CALCN85 TC INTPRET
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CALL
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UPDATEVG # NEW VG, S40.8 (+MAYBE S40.9)
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CALL
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P40CNV85 # COMPUTE VGBODY
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EXIT
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TC SERVXT
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FENG 2DEC 9.1188544 B-7 # SPS THRUST (20500LBS), SC.AT B+7 NEWT/E4
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FRCS2 2DEC .087437837 B-7 # RCS ULLAGE (199.6COS10 LBS), SC.AT
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# B+7 NEWTONS/E+4
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SEC24.96 DEC 2496
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SEC29.96 2DEC 2996
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18SEC DEC 1800
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P40CKLS2 OCT 204
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40CST5 OCT 37730 # 40 CS FOR THE T5 CLOCK
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OCT12 = TEN
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# Page 690
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V1683 VN 1683
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V06N85B VN 0685
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V16N85B VN 1685
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V06N40 VN 0640
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V16N40 VN 1640
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OCT27/24 OCT 27
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OCT53 OCT 53
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OCT35 OCT 35
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EBANK= DAPDATR1
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T5IDL24 2CADR T5IDLOC
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3MDOT DEC 86.6175796 B-16 # 3SEC MASS LOSS (63.8 LBS/SEC), SC.AT
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# B+16 KB/SEC (NOT, EMDOT IS PAD-LOADED,
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# BUT 3MDOT IS NOT A CRITICAL QUANTITY, SO
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# IT CAN REMAIN IN FIXED MEMORY)
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TST,TRIM CAF BIT1 # SET UP FOR GIMB DRIVE TEST AND TRIM (+1)
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TCF TRIMONLY +1
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TIGBLNK CAF 5SEC # CALL TIGAVEG IN FIVE SEC AT TIG-30
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TC WAITLIST
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EBANK= TIG
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2CADR TIGAVEG
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CAF ZERO # DISABLE HERE, NOT IN P40BLNKR
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TS NVWORD1
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CAF PRIO14
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TC NOVAC
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EBANK= TIG
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2CADR P40BLNKR # DON'T PROTECT -- RESTARTS BLANK DSKY
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CS OCT37 # 4.37 = TIGAVEG (500CS)
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P40TSK TC NEWPHASE
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OCT 4
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TC TASKOVER
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EBANK= TIG
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ACADN83 2CADR CALCN83
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EBANK= TIG
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SERVCADR 2CADR SERVEXIT
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EBANK= DAPDATR1
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ACADN85 2CADR CALCN85
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# Page 691
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# PROGRAM DESCRIPTION ** P47CSM **
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COUNT 24/P47
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EBANK= TIG
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P47CSM TC BANKCALL # IMU STATUS CHECK
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CADR R02BOTH
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TC INTPRET
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CALRB
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MIDTOAV2
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CA MPAC +1 # DELTA TIME TO RPEREAD (LESS THAN 100
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TS P40TMP # CS, WITH A TPAGREE, INT.INIT.)
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TC WAITLIST
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EBANK= TIG
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2CADR TIGON # TIGON IS REQUIRED TO MATHCHTAT AND AVEG
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TC PHASCHNG
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OCT 40574 # A, 4.57 = TIGON (P40TMP CS)
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TCF ENDOFJOB
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EBANK= P40TMP
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TIGON EXTEND
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DCA ACADN83
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DXCH AVEGEXIT
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CAF PRIO30 # FORCE ZEROING OF N83 BEFORE SERVICER
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TC NOVAC
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EBANK= TIG
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2CADR P47BODY
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CS BIT2 # 4.2 = PRECHECK (-0CS), P47BODY (PRIO30)
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TCF TTGPHS
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EBANK= TIG
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CALCN83 TC INTPRET
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SETPD # SET UP PUSHLIST FOR S41.1
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0
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VLOAD VAD
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DELVCTL
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DELVREF
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STORE DV47TEMP # FOR COPYCYCLE BELOW
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PUSH CALL
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S41.1
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STCALL DELVIMU
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S11.1 # CALC. VI, H, HDOT FOR NOUN 62
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EXIT
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TC PHASCHNG
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OCT 10035
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# Page 692
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CAF FIVE
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TC GENTRAN
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ADRES DV47TEMP
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ADRES DELVCTL
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TC SERVXT
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P47BODY TC INTPRET
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VLOAD
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HI6ZEROS
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STORE DELVIMU # CLEAR DISPLAY AND ACCUMULATOR STORAGE
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STORE DELVCTL # UPON INITIATION OR ENTER RESPONSE
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EXIT
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P47BOD CAF PRIO15 # LOWER PRIO THAN CALCN83 (20)
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TC PRIOCHNG # TO PREVENT INTERRUPTION OF CALCN83
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TC PHASCHNG
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OCT 05024 # TYPE C GROUP 4 BELOW FOR NOUN 83
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OCT 15000 # PRIO 15
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P47/DSP CAF V1683
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TC BANKCALL
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CADR GOFLASH
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TC GOTOP00H
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TC GOTOP00H
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TCF P47BODY # RECYCLE -- CLEAR ACCUMULATED VELOCITY
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# Page 693
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# ROUTINE ** TIG-30 ** DESCRIPTION
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EBANK= TIG
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COUNT 24/P40
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TIGAVEG TC P41/P40 # TASK (4.37 PROTECTS)
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TCF P41REDSP
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CAF V06N40 # UNBLANK DISPLAY
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TS NVWORD1
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CAF SEC24.96
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TC WAITLIST
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EBANK= TIG
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2CADR TIG-5
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CS SIX # 4.6 = TIG-5 (2496CS), PRECHECK (-0CS)
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TTGPHS TC NEWPHASE # ENTRY FROM P41REDSP (P41) WITH A=-4, OR
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OCT 4 # FROM TIGON (P47) WITH A=-1
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PRECHECK CCS PHASE5 # HAS SERVICER BEEN RESTARTED
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TCF TASKOVER # YES, DON'T START ANOTHER ONE
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TC POSTJUMP
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CADR PREREAD
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# Page 694
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# ROUTINE ** TIG-5 ** DESCRIPTION
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EBANK= TIG
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TIG-5 CAF 5SEC
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TC WAITLIST
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EBANK= DAPDATR1
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2CADR TIG-0
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CS BIT9 # WILL CAUSE V99 FLASH
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TS NVWORD1
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TC 2PHSCHNG
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OCT 40074 # A, 4.7 = TIG-0 (500CS)
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OCT 00033 # A, 3.3 = S40.13 (PRIO20)
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CAF PRIO20
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TC FINDVAC
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EBANK= TGO
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2CADR S40.13
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TCF TASKOVER
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# Page 695
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# ROUTINES ** TIG-0 ** AND ** IGNITION ** DESCRIPTION
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EBANK= DAPDATR1 # TASK, 4.7 PHASE, OR 4.77 (-0CS) IN R40
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TIG-0 CS FLAGWRD7 # SET IGN FLAG
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MASK BIT13
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ADS FLAGWRD7
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CAE FLAGWRD7 # CHECK ASTN FLAG FOR V99 RESPONSE
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MASK BIT12
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EXTEND
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BZF TASKOVER # WAIT FOR V99P
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CAF V06N40 # CLEAR THE V99 (IN CASE OF A RESTART
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TS NVWORD1 # DURING THE V99 SEQUENCE)
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TC PHASCHNG # V99P HAS COME ALREADY, DO IGNITION NOW
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OCT 00614 # A, 4.61 = IGNITION (-0CS) TBASE OLD
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IGNITION CAE CDUX # SAVE FOR ROLL DAP REFERENCE OGAD
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TS OGAD # V99PJOB (CLOCKJOB) SETS UP IGNITION
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EXTEND # TASK (4.61 PROTECTION)
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DCA TIME2 # FOR RESTARTS
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DXCH TEVENT
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CS FLAGWRD5 # SET ENGONFLG
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MASK BIT7
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ADS FLAGWRD5
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SPSON CAF BIT13 # TURN ON SPS ENGINE
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|
EXTEND
|
|
WOR DSALMOUT
|
|
|
|
IMPULCHK CAF BIT9 # CHECK FOR IMPULSIVE BURN
|
|
MASK FLAGWRD2
|
|
CCS A
|
|
TCF IMPLBURN # IMPULSIVE
|
|
CS FLAGWRD6 # NON-IMPULSIVE, SET STRULLSW FOR STEERULL
|
|
MASK BIT13
|
|
ADS FLAGWRD6
|
|
|
|
PREPTVC CS OCT60000 # RESET T5 BITS
|
|
MASK FLAGWRD6
|
|
TS FLAGWRD6
|
|
|
|
EXTEND # KILL RCS
|
|
DCA T5IDL24
|
|
DXCH T5LOC
|
|
|
|
CS THREE # 4.3 = DOTVCON (40CS)
|
|
TC NEWPHASE
|
|
OCT 4
|
|
|
|
# Page 696
|
|
TC FIXDELAY
|
|
DEC 40 # 0.4 SECOND DELAY FOR THRUST BUILDUP
|
|
|
|
DOTVCON CS BIT1 # SET TVCPHASE = TVCDAPON CALL (FRESHDAP)
|
|
TS TVCPHASE
|
|
CAF ZERO # SET TVCEXECUTIVE PHASE
|
|
TS TVCEXPHS
|
|
CS OCT60000 # SET T5 BITS TO INDICATE TVC TAKEOVER ....
|
|
MASK FLAGWRD6 # BITS 15,14 = 10
|
|
AD BIT15
|
|
TS FLAGWRD6
|
|
|
|
CAF THREE # 6.3 = CLOKTASK (100CS), DROPPING PRE40.6
|
|
TS L # WHICH IS HANDLED NOW BY REDOTVC
|
|
COM
|
|
DXCH -PHASE6
|
|
|
|
EXTEND # STORE RCS ATTITUDE ERRORS FOR USE IN
|
|
DCS ERRORY # INITIALIZING TVC ATTITUDE ERRORS
|
|
DXCH ERRBTMP
|
|
|
|
CS FIVE # 4.5 = DOSTRULL (160 CS)
|
|
TC NEWPHASE
|
|
OCT 4
|
|
|
|
CAF POSMAX # SET TIME5 FOR STARTING RIGHT AWAY
|
|
TS TIME5
|
|
EXTEND
|
|
DCA TVCON2C # (TVCDAPON)
|
|
DXCH T5LOC # (KILLS RCS DAP)
|
|
|
|
TC FIXDELAY # 0.4 + 1.6 = 2.0 SEC FOR ULLAGE-OFF AND
|
|
DEC 160 # STEERING (IF NON-IMPULSIVE)
|
|
|
|
DOSTRULL CAF BIT13 # CHECK STRULLSW FOR IMPULSIVE BURN
|
|
MASK FLAGWRD6
|
|
CCS A
|
|
TCR STEERULL # NON-IMPULSIVE, STEERING AND ULLAGE OFF
|
|
TCR ULAGEOFF # ULLAGE OFF (ONLY, OR AGAIN)
|
|
|
|
EXTEND
|
|
DCA NEG0 # KILL GROUP 4 (DP NEG0 = -0,+0)
|
|
DXCH -PHASE4
|
|
|
|
ENDIGN TCF TASKOVER
|
|
|
|
STEERULL CS FLAGWRD2 # SET STEERSW
|
|
MASK BIT11
|
|
ADS FLAGWRD2
|
|
|
|
# Page 697
|
|
|
|
ULAGEOFF CAF ZERO
|
|
EXTEND
|
|
WRITE CHAN5 # ZERO CHANNEL 5
|
|
TC Q
|
|
|
|
IMPLBURN CS BIT13 # RESET STRULLSW (COULD BE AN IMPULSIVE
|
|
MASK FLAGWRD6 # ENGINE FAIL)
|
|
TS FLAGWRD6
|
|
|
|
TCR E7SETTER
|
|
|
|
EBANK= TIG
|
|
EXTEND # PREPARE FOR R1 OF V06N40 (CLOCKTASK)
|
|
DCA TGO
|
|
DXCH TIG
|
|
EXTEND
|
|
DCA TIME2
|
|
DAS TIG
|
|
|
|
TC 2PHSCHNG
|
|
OCT 40153 # A, 3.15 = ENGINOFF (TGO+1) .... NOT GROUP
|
|
OCT 07014 # C, DELTAT NEXT, TASK BELOW, IN
|
|
DEC -0 # -0 CS
|
|
EBANK= DAPDATR1
|
|
2CADR IMPLCONT
|
|
|
|
CAE TGO +1 # (TPAGREE IN S40.13, LESS THAN 600CS)
|
|
TC WAITLIST
|
|
EBANK= TGO
|
|
2CADR ENGINOFF
|
|
|
|
IMPLCONT CS BIT9 # RESET IMPULSW, ENGINOFF IS NOW SET UP
|
|
MASK FLAGWRD2
|
|
TS FLAGWRD2
|
|
|
|
TCR E6SETTER
|
|
EBANK= DAPDATR1
|
|
|
|
CAF ZERO # SET UP V97VCNTR IN CASE ENGINOFF (MASS-=
|
|
TS V97VCNTR # BACK) ARRIVES BEFORE TVCDAPON
|
|
|
|
TCF PREPTVC
|
|
|
|
EBANK= TGO # E7 FORCED BY 3.15SPOT VARIABLE DELTA-T
|
|
ENGINOFF TCR E6SETTER # TASK, 3.15 PHASE (TGO+1 CS) GET E6
|
|
EBANK= DAPDATR1
|
|
CAE CSMMASS
|
|
TS MASSTMP # COPYCYCLE FOR MASSBACK
|
|
# Page 698
|
|
TC 2PHSCHNG
|
|
OCT 00003 # KILL GROUP 3 PROTECTION OF ENGINOFF, DO
|
|
OCT 40634 # A, 4.63 = DOSPSOFF (-0CS)
|
|
DOSPSOFF TCR SPSOFF # SHUTDOWN SPS, MASS UPDATES, ETC.
|
|
CS OCT27/24 # (OCTAL 27)
|
|
TC NEWPHASE
|
|
OCT 4 # 4.27 = DOTVCRCS (250 CS)
|
|
|
|
TC FIXDELAY # 2.5 SECOND DELAY FOR SPS TAILOFF
|
|
DEC 250
|
|
|
|
DOTVCRCS TCR SETMAXDB # WIDE DEADBAND FOR CUTOFF TRANSIENT
|
|
|
|
TC IBNKCALL # SET UP RCS DAP (KILLS TVCDAPS, SETS T5
|
|
CADR RCSDAPON # BITS, WAITS 0.6SEC FOR TVCEXEC DIE)
|
|
|
|
TC IBNKCALL # UPDATE WEIGHT/G AND MASS-PROPERTIES FOR
|
|
CADR MASSPROP # RCS DAP STARTUP IN 0.6 SECONDS
|
|
|
|
TCR TVCZAP # WIPE OUT TVC, TURN OFF CLOKTASK
|
|
|
|
TC PHASCHNG
|
|
OCT 00354 # A, 4.35 = POSTBURN (NOVAC, PRIO12)
|
|
CAF PRIO12 # SET UP POSTBURN V16N40 JOB
|
|
TC NOVAC
|
|
EBANK= DAPDATR1 # (SET MAXDB IN POST41)
|
|
2CADR POSTBURN
|
|
|
|
TCF TASKOVER
|
|
|
|
EBANK= DAPDATR1
|
|
SPSOFF EXTEND # ESTABLISH SPSOFF TEVENT
|
|
DCA TIME2
|
|
DXCH TEVENT
|
|
CS BIT7 # RESET ENGONFLG
|
|
MASK FLAGWRD5
|
|
TS FLAGWRD5 # (RESTARTS WILL SHUT DOWN SPS NOW)
|
|
CS BIT13 # SHUT DOWN SPS ENGINE
|
|
EXTEND
|
|
WAND DSALMOUT
|
|
|
|
CAF BIT14 # ISSUE SIV CUTOFF COMMAND
|
|
EXTEND # FOR POSSIBLE BACK-UP USE
|
|
WOR CHAN12
|
|
MASSBACK CAE V97VCNTR # RESTORE PART OF PRE-DECREMENTED MASS
|
|
# V97CNTR = VCNTR UNLESS V97 IS
|
|
# ACTIVE. ONLY V97CNTR IS THEN RIGHT.
|
|
EXTEND # VCNTR COUNTS 1/2-SECONDS IN TVC EXEC
|
|
MP EMDOT # MDOT, SC.AT B+3 KG/CS
|
|
LXCH A
|
|
# Page 699
|
|
EXTEND
|
|
MP 1SEC # DEC 100
|
|
AD MASSTMP # CORRECTION IS ACCURATE TO 5 CS OF FLOW
|
|
TS CSMMASS # (1.44 KG OR 0.4 BITS)
|
|
|
|
CA TVCPHASE # CHECK IF OK FOR TRIM UPDATE
|
|
AD ONE # THESE CHECKS ARE ONLY NEEDED
|
|
EXTEND # FOR A LESS THAN 0.4 SEC BURN
|
|
BZF BTRIMR # NO. INITIALIZATION NOT COMPLETE
|
|
CS FLAGWRD6 # YES, CHECK IF TVC
|
|
MASK OCT60000
|
|
EXTEND
|
|
BZMF BTRIMR # NO, NOT TVC YET
|
|
BESTTRIM CAE DELPBAR # UPDATE TRIMS WITH DELFILTER VALUES
|
|
TS PACTOFF
|
|
CAE DELYBAR
|
|
TS YACTOFF
|
|
BTRIMR TC Q
|
|
EBANK= DAPDATR1
|
|
STEERADS 2CADR STEERING
|
|
|
|
.6SECT5 OCT 37703
|
|
5SECDP DEC 0 # MAKE DP 5SEC
|
|
5SEC DEC 500
|
|
OCT02202 OCT 02202 # BITS 2, 8, 11 FOR CHANNEL 12 TVC/OPTICS
|
|
EBANK= DAPDATR1
|
|
TVCON2C 2CADR TVCDAPON
|
|
|
|
-1 INHINT
|
|
TVCZAP CS OCT02202 # DISABLE TVC AND OPT ERR CNTRLS, REENGAGE
|
|
EXTEND # OPTICS DAC
|
|
WAND CHAN12
|
|
CS BIT1 # ENABLE T4RUPT OPTICS MONITOR .... PERMIT
|
|
TS OPTIND # OPTICS-ZERO BUT NOT OPTICS-DRIVE
|
|
CAF ZERO # CLEAR NVWORD1 IN CASE CLOCKJOB WAITING
|
|
TS NVWORD1
|
|
CS BIT11 # CLEAR TIMRFLAG TO STOP CLOKTASK
|
|
MASK FLAGWRD7
|
|
TS FLAGWRD7
|
|
TC Q
|
|
EBANK= DAPDATR1
|
|
UPDATEVG STQ BON
|
|
QTEMP1
|
|
XDELVFLG
|
|
CALL40.8
|
|
|
|
SLOAD BMN
|
|
NBRCYCLS
|
|
SETUP.9
|
|
# Page 700
|
|
|
|
VLOAD VAD
|
|
DELVSUM
|
|
DELVREF
|
|
STORE DELVSUMP
|
|
EXIT
|
|
CA ONE
|
|
AD NBRCYCLS
|
|
TS NBRCYCLP
|
|
|
|
TC PHASCHNG # TYPE B RESTART RESTART BELOW AND 5.3 REREADACCS
|
|
OCT 10035
|
|
|
|
CA NBRCYCLP
|
|
TS NBRCYCLS
|
|
TC INTPRET
|
|
VLOAD
|
|
DELVSUMP
|
|
STORE DELVSUM
|
|
|
|
CALL40.8 CALL
|
|
S40.8
|
|
GOTO
|
|
QTEMP1
|
|
|
|
SETUP.9 BON SLOAD
|
|
FIRSTFLG
|
|
SURELY.9
|
|
NBRCYCLP
|
|
NORM VXSC # (NORM HANDLES ZERO PROPERLY)
|
|
X1
|
|
BDT
|
|
VSR* VAD
|
|
0 -14D,1
|
|
VGTEMP
|
|
VSU
|
|
DELVSUM
|
|
STORE VGPREV
|
|
SURELY.9 EXIT
|
|
CAF PRIO10
|
|
TC FINDVAC
|
|
EBANK= DAPDATR1
|
|
2CADR S40.9
|
|
|
|
TC 2PHSCHNG
|
|
OCT 00051 # A, 1.5 = REDO40.9, PRIO 10
|
|
OCT 10035
|
|
TC INTPRET
|
|
VLOAD
|
|
RN # ACTIVE VEHICLE RADIUS VECTOR AT T1
|
|
STOVL RINIT
|
|
# Page 701
|
|
VN # ACTIVE VEHICLE VELOCITY VECTOR AT T1
|
|
STODL VINIT
|
|
PIPTIME
|
|
STORE TNIT
|
|
BDSU
|
|
TPASS4
|
|
STOVL DELLT4
|
|
HI6ZEROS
|
|
STODL DELVSUM
|
|
HI6ZEROS
|
|
STORE NBRCYCLS
|
|
GOTO
|
|
CALL40.8
|
|
EBANK= DAPDATR1
|
|
STEERING TC INTPRET
|
|
CALL
|
|
UPDATEVG
|
|
EXIT
|
|
CAF BIT9 # CHECK IMPULSW
|
|
MASK FLAGWRD2
|
|
CCS A
|
|
TCF +3 # PRE-IGNITE, REQUEST ENG-OFF, OR POST-OFF
|
|
SERVXT TC POSTJUMP
|
|
CADR SERVEXIT
|
|
CAF BIT13 # CHECK ENGINE-ON/-OFF
|
|
EXTEND
|
|
RAND DSALMOUT
|
|
EXTEND
|
|
BZF SERVXT # ENGINE-OFF, SO PRE-IGNITE OR POST-OFF
|
|
TCR E7SETTER
|
|
EBANK= TIG
|
|
INHINT
|
|
EXTEND
|
|
DCA TIG
|
|
DXCH MPAC
|
|
EXTEND
|
|
DCS TIME2
|
|
DAS MPAC
|
|
TCR DPAGREE
|
|
CAE MPAC +1 # (LESS THAN 6 (OR 4) SECONDS TO GO)
|
|
CCS A # PROTECT AGAINST NEG/ZRO W.L. CALL
|
|
TCF +3
|
|
TCF +2
|
|
CAF ZERO
|
|
AD ONE
|
|
XCH L
|
|
CA ZERO
|
|
DXCH TGO
|
|
CA TGO +1
|
|
TC WAITLIST
|
|
# Page 702
|
|
EBANK= TGO
|
|
2CADR ENGINOFF
|
|
|
|
TC 2PHSCHNG
|
|
OCT 40153 # A, 3.15 = ENGINOFF (TGO+1) .... NOTE GROUP
|
|
OCT 10035 # B, 5.3 = REREADAC, AND START BELOW
|
|
TC DOWNFLAG # CLEAR IMPULSW, ENGINOFF IS NOW SET UP
|
|
ADRES IMPULSW # RESTARTS OK
|
|
TCF SERVXT
|
|
|
|
# Page 703
|
|
# ROUTINE ** CLOKTASK ** DESCRIPTION
|
|
|
|
EBANK= TIG
|
|
CLOKTASK CAF BIT11 # IS TIMRFLAG SET
|
|
MASK FLAGWRD7
|
|
CCS A
|
|
TCF CLOCKON
|
|
TC PHASCHNG
|
|
OCT 00006 # KILL RESTART
|
|
TC TASKOVER
|
|
|
|
CLOCKON EXTEND
|
|
DCA TIME2
|
|
DXCH TTOGO
|
|
EXTEND
|
|
DCS TIG
|
|
DAS TTOGO
|
|
|
|
SETCLOCK CAF 1SEC
|
|
TC WAITLIST
|
|
EBANK= TIG
|
|
2CADR CLOKTASK
|
|
|
|
CCS NVWORD1
|
|
TCF +3
|
|
TCF SETTB6
|
|
|
|
TCF +1
|
|
CS V06N85B # CHECK FOR V06N85B (P41)
|
|
AD NVWORD1
|
|
EXTEND
|
|
BZF SETUPDYN # V06N85, SO UPDATE N85 FOR DYNAMIC DISP
|
|
|
|
CAF PRIO27
|
|
TC NOVAC
|
|
EBANK= DAPDATR1
|
|
2CADR CLOCKJOB
|
|
|
|
SETTB6 CS TIME1 # SET GROUP6 TIMEBASE
|
|
TS TBASE6
|
|
TCF TASKOVER
|
|
|
|
SETUPDYN CAF PRIO27 # SET UP A JOB TO UPDATE N85 (FOR P41=V06)
|
|
TC FINDVAC
|
|
EBANK= DAPDATR1
|
|
2CADR DYNDISP
|
|
|
|
TCF SETTB6 # CLOSE OUT CLOCKTASK
|
|
# Page 704
|
|
DYNDISP TC INTPRET # UPDATE N85 FOR A DYNAMIC V06N85 IN P41.
|
|
CALL # PRIOR TO BLANKING AND AVEG (V16N85)
|
|
P40CNV85
|
|
EXIT
|
|
TCF CKNVWRD1
|
|
|
|
# Page 705
|
|
# ROUTINE ** CLOCKJOB ** DESCRIPTION
|
|
|
|
EBANK= DAPDATR1
|
|
CLOCKJOB CA CDUX
|
|
TS CDUSPOTX
|
|
CA CDUY
|
|
TS CDUSPOTY
|
|
CA CDUZ
|
|
TS CDUSPOTZ
|
|
TC BANKCALL
|
|
CADR QUICTRIG
|
|
CKNVWRD1 INHINT
|
|
CCS NVWORD1 # DETERMINE FUNCTION, INDICATED BY NVWORD1
|
|
TCF NOFLASH
|
|
TCF ENDOFJOB
|
|
TCF ENGREQST # SPS ENGINE-ON-ENABLE V99 FLASH
|
|
FAILDSP CAF V06N40 # SPS ENGINE-FAILED V97 FLASH
|
|
TC BANKCALL
|
|
CADR CLOCPLAY
|
|
TCF V97T # TERMINATE
|
|
TCF V97P # PROCEED
|
|
TCF V97E # ENTER
|
|
|
|
ENGREQST CAF V06N40
|
|
TC BANKCALL
|
|
CADR CLOCPLAY # LINUS MAKES IT A REDO, INHINT OK
|
|
TCF V99T # TERMINATE
|
|
TCF V99P # PROCEED
|
|
TCF V99E # ENTER
|
|
|
|
NOFLASH CAE NVWORD1 # DISPLAY NVWORD1 NORMALLY
|
|
TC BANKCALL
|
|
CADR REGODSP
|
|
|
|
E7SETTER CAF EBANK7
|
|
TS EBANK
|
|
EBANK= TIG
|
|
TC Q
|
|
|
|
E6SETTER CAF EBANK6 # SET UP EBANK6
|
|
TS EBANK
|
|
EBANK= DAPDATR1
|
|
TC Q
|
|
|
|
EBANK= DAPDATR1
|
|
V99E TC 2PHSCHNG
|
|
OCT 00006 # KILL PRE40.6/CLOKTASK PROTECTION
|
|
OCT 05024 # C, PRIORITY NEXT, JOB BELOW
|
|
# Page 706
|
|
OCT 27000
|
|
V99EJOB TCR TVCZAP -1 # WIPE OUT TVC, CLOKTASK
|
|
TCF P40RCS # V16N85 POST-BURN OPERATIONS
|
|
|
|
EBANK= DAPDATR1
|
|
V99T TC 2PHSCHNG # (ENTRY FROM V97T FLOW TOO)
|
|
OCT 00006 # KILL PRE40.6/CLOKTASK PROTECTION
|
|
OCT 05024 # C, PRIORITY NEXT, JOB BELOW
|
|
OCT 27000
|
|
V99TJOB TCR TVCZAP -1 # WIPE OUT TVC, CLOKTASK
|
|
TCF POST41 # AVEGEXIT, SETMAXDB, GOTOP00H
|
|
|
|
V99P INHINT
|
|
CAE FLAGWRD7 # CHECK ASTN FLAG FOR PRIOR V99P
|
|
MASK BIT12
|
|
CCS A
|
|
TCF V99P/TIG # YES, THIS MUST BE A RESTART ENTRY
|
|
|
|
ASTNV99P CAF BIT12 # SET ASTN FLAG
|
|
ADS FLAGWRD7
|
|
CAE FLAGWRD7 # CHECK IGN FLAG FOR TIG-0 ARRIVAL
|
|
MASK BIT13
|
|
EXTEND
|
|
BZF V99P/TIG # NO, CLEAR THE V99 AND WAIT FOR TIG-0
|
|
|
|
ENDV99PI CAF BIT1 # TIG-0 HAS COME ALREADY
|
|
TC WAITLIST # SET UP IGNITION HERE
|
|
EBANK= DAPDATR1
|
|
2CADR IGNITION
|
|
|
|
V99P/TIG CAF V06N40 # CLEAR THE V99 FLASH AND WAIT FOR TIG-0
|
|
TS NVWORD1
|
|
ENDV99P TCF ENDOFJOB
|
|
|
|
EBANK= CSMMASS
|
|
V97T TC 2PHSCHNG
|
|
OCT 00006 # KILL GROUP 6 (CLOKTASK)
|
|
OCT 40674 # A, 4.67 = V97TTASK (-0 CS), TBASE NOW
|
|
CAF BIT1
|
|
TC TWIDDLE
|
|
ADRES V97TTASK # KEEP EBANK6 FOR MASSES, SPSOFF, ETC.
|
|
TCF ENDOFJOB
|
|
|
|
EBANK= CSMMASS
|
|
V97TTASK CAF ZERO # DISABLE CLOCKJOB
|
|
TS NVWORD1
|
|
CAF 3MDOT # 3 SECONDS OF MDOT (2-4 SEC ENGFAIL
|
|
AD CSMMASS # DETECTION) NOT LOST BECAUSE THRUST
|
|
TS MASSTMP # FAILED. COPYCYCLE FOR MASSBACK
|
|
# Page 707
|
|
TC PHASCHNG
|
|
OCT 05014 # C, DELTAT NEXT, TASK BELOW, IN
|
|
DEC -0 # -0 CS
|
|
|
|
TCR SPSOFF # SHUTDOWN SPS ENGINE, MASS UPDATE, ETC.
|
|
TC PHASCHNG
|
|
OCT 00714 # A, 4.71 = V97TRCS (250 CS), TBASE OLD
|
|
TC FIXDELAY # DELAY 2.5 SECONDS FOR (POSSIBLE) TAIL-
|
|
DEC 250 # OFF (FALSE THRUST-LOSS)
|
|
|
|
EBANK= DAPDATR1
|
|
V97TRCS TC IBNKCALL # RCS DAP IN 0.6SEC, SETTING T5 BITS TO
|
|
CADR RCSDAPON # KILL TVCEXEC/TVCROLLDAP STARTS
|
|
CAF PRIO27 # SET UP V99T FOR TVCZAP AND POST41 (SET-
|
|
TC NOVAC # MAXDB AND GOTOP00H)
|
|
EBANK= DAPDATR1 # EBANK6 FOR SETMAXDB IN POST41
|
|
2CADR V99T
|
|
|
|
ENDV97T TCF TASKOVER
|
|
|
|
EBANK= V97VCNTR
|
|
V97P TC PHASCHNG
|
|
OCT 40734 # A, 4.73 = V97PTASK (-0 CS), TBASE NOW
|
|
CAF BIT1
|
|
TC TWIDDLE
|
|
ADRES V97PTASK
|
|
TCF ENDOFJOB
|
|
|
|
EBANK= V97VCNTR
|
|
V97PTASK CAE V97VCNTR # GET MASS UPDATES (TVCEXEC) GOING AGAIN
|
|
TS VCNTR # (ERRORS IF FLASE THRUST-LOSS AND/OR
|
|
# POOR SYNC OF MANUAL ENGINE-ON AND
|
|
# THE VERB 97 PROCEED)
|
|
CAF V06N40 # REDISPLAY V06N40
|
|
TS NVWORD1
|
|
TC UPFLAG # SET IDLEFAIL TO ALLOW R41-BYPASS, IN
|
|
ADRES IDLEFAIL # CASE OF UNFAVORABLE S40.8 SYNCH
|
|
TC UPFLAG # SET STEERSW TO RE-ENABLE STEERING
|
|
ADRES STEERSW
|
|
TC PHASCHNG
|
|
OCT 00134 # A, 4.13 = R40ENABL (200 CS), TBASE OLD
|
|
TC FIXDELAY # WAIT 2 SECONDS, THEN
|
|
DEC 200
|
|
|
|
EBANK= WHOCARES
|
|
R40ENABL TC DOWNFLAG # RE-ENABLE R40 BY CLEARING IDLEFAIL
|
|
ADRES IDLEFAIL
|
|
TC PHASCHNG
|
|
OCT 00004 # KILL GROUP 4
|
|
# Page 708
|
|
ENDV97P TCF TASKOVER
|
|
|
|
EBANK= WHOCARES
|
|
V97E TC PHASCHNG
|
|
OCT 40534 # A, 4.53 = V97ETASK (-0 CS), TBASE NOW
|
|
CAF BIT1
|
|
TC WAITLIST
|
|
EBANK= TIG
|
|
2CADR V97ETASK
|
|
|
|
TCF ENDOFJOB
|
|
|
|
EBANK= TIG
|
|
V97ETASK CS OCT24 # FORCE R1 OF V06N40 TO READ 59X59
|
|
TS TIG
|
|
CAF V06N40 # REDISPLAY V06N40
|
|
TS NVWORD1
|
|
TCR E6SETTER # RETURN TO EBANK6 FOR REST OF V97ETASK
|
|
EBANK= CSMMASS
|
|
CAF 3MDOT # 3 SECONDS OF MDOT (2-4 SEC ENGFAIL
|
|
AD CSMMASS # DETECTION) NOT LOST BECAUSE THRUST
|
|
TS MASSTMP # FAILED....COPYCYCLE FOR MASSBACK
|
|
TC PHASCHNG
|
|
OCT 00754 # A, 4.75 = SPSOFF97 (-0 CS), TBASE OLD
|
|
SPSOFF97 TCR SPSOFF
|
|
TC PHASCHNG
|
|
OCT 00114 # A, 4.11 = V97E40.6 (250 CS), TBASE OLD
|
|
TC FIXDELAY # DELAY 2.5 SECONDS FOR (POSSIBLE) TAIL-
|
|
DEC 250 # OFF (FALSE THRUST-LOSS)
|
|
|
|
EBANK= DAPDATR1
|
|
V97E40.6 CAF BIT1
|
|
TC WAITLIST
|
|
EBANK= CNTR
|
|
2CADR PRE40.6 # USE S40.6 RESTART ENTRY TO TRIM ENGINE
|
|
|
|
TC IBNKCALL # RCS DAP IN 0.6SEC, SETTING T5 BITS TO
|
|
CADR RCSDAPON # KILL TVCEXEC/TVCROLLDAP STARTS.
|
|
# LEAVE NARROW DEADBAND FOR REIGNITE.
|
|
|
|
TC 2PHSCHNG
|
|
OCT 00026 # A, 6.2 = PRE40.6 (-0 CS), CLOKTASK (1 SEC)
|
|
OCT 05014 # C, DELTAT NEXT, TASK BELOW, IN
|
|
DEC -0 # -0 CS.
|
|
|
|
QUICKIGN CS PRIO14 # CLEAR ASTNFLAG AND SET IGNFLAG FOR
|
|
MASK FLAGWRD7 # IMMEDIATE V99 RESPONSE.
|
|
AD BIT13
|
|
TS FLAGWRD7
|
|
TC FIXDELAY # DELAY TO ALLOW TIME FOR PRE40.6
|
|
# Page 709
|
|
DEC 30
|
|
|
|
V99FLASH CS BIT9 # CAUSE V99 TO FLASH
|
|
TS NVWORD1
|
|
TC 2PHSCHNG
|
|
OCT 40774 # A, 4.77 = TIG-0 (-0 CS) TBASE FOR PREPTVC
|
|
OCT 00033 # A, 3.3 = S40.13 (PRIO 20)
|
|
CAF PRIO20 # SET UP TIMEBURN
|
|
TC FINDVAC
|
|
EBANK= TGO
|
|
2CADR S40.13
|
|
|
|
ENDV97E TCF TASKOVER # WAIT FOR CLOCKJOB (IMMEDIATE) REACTION
|
|
# TO FLASHING V99 RESPONSE.
|
|
|
|
# MOD N02 LOG SECTION P40-P47
|
|
# MOD BY ZELDIN
|
|
#
|
|
# FUNCTIONAL DESCRIPTION
|
|
# COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
|
|
# VECTOR(VGTIG).
|
|
#
|
|
# CALLING SEQUENCE
|
|
# L CALL
|
|
# L+1 S40.1
|
|
#
|
|
# NORMAL EXIT MODE
|
|
# AT L+2 OF CALLING SEQUENCE (GOTO L+2) NORMAL RETURN OR
|
|
# ERROR RETURN IF NOSOFLAG =1
|
|
#
|
|
# SUBROUTINES CALLED
|
|
# CSMPREC
|
|
# INITVEL
|
|
# CALCGRAV
|
|
# MIDGIM
|
|
#
|
|
# ALARM OR ABORT EXIT MODES
|
|
# L+2 OF CALLING SEQUENCE, UNSOLVABLE CONIC IF NOSOFLAG=1
|
|
#
|
|
# ERASABLE INITIALIZATION REQUIRED
|
|
# WEIGHT/G ANTICIPATED VEHICLE MASS SP B16 KGM
|
|
# XDELVFLG 1=DELTA-V MANEUVER, 0=AIMPT STEER
|
|
# IF DELTA-V MANEUVER:
|
|
# DELVSIN SPECIFIED DELTA-V REQUIRED IN
|
|
# INERTIAL COORDS. OF ACTIVE VEHICLE
|
|
# AT TIME OF IGNITION VECTOR B7 M/CS
|
|
# DELVSAB MAG. OF DELVSIN DP B7 M/CS
|
|
# RTIG POSITION AT TIME OF IGNITION VECTOR B29 M
|
|
# VTIG VELOCITY AT TIME OF IGNITION VECTOR B7 M/CS.
|
|
# CSTEER = 0 DP
|
|
# IF AIMPOINT STEERING:
|
|
# IF AIMPT STEER
|
|
# TIG TIME OF IGNITION DP B28 CS
|
|
# RTARG POSITION TARGET TIME VECTOR B29 M
|
|
# CSTEER = ECSTEER (GR 0) DP B1
|
|
# Page 710
|
|
# TPASS4 -- TIME OF ARRIVAL AT AIMPOINT
|
|
#
|
|
# OUTPUT
|
|
# UT 1/2 UNIT VECTOR ALIGNED WITH THRUST DIRETION IN REF COOR
|
|
# VGTIG INITIAL VALUE OF VELOCITY
|
|
# TO BE GAINED (INERT. COORD.) VECTOR B7 M/CS
|
|
# DELVLVC VGTIG IN LOC. VERT. COORDS. B7 M/CS
|
|
# F NOMINAL THRUST FOR ENG USED FOR S40.13 DP B7 M-NEWT
|
|
# BDT V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC)
|
|
# -GDT FOR S40.13 VECT B7 M/CS
|
|
# RTIG CALC IN S40.1B (AIMPT) FOR S40.2,3 VECTOR B29M
|
|
# POSITION AT TIME OF IGNITION
|
|
#
|
|
# DEBRIS QTEMP1
|
|
# MPAC, QPRET
|
|
# PUSHLIST
|
|
# RTX2,RTX1
|
|
|
|
BANK 14
|
|
SETLOC P40S1
|
|
BANK
|
|
|
|
COUNT 16/S40.1
|
|
|
|
S40.1 SET VLOAD
|
|
FIRSTFLG
|
|
LO6ZEROS
|
|
STORE BDT
|
|
STQ BOF
|
|
QTEMP
|
|
XDELVFLG
|
|
S40.1B # LAMBERT
|
|
VLOAD ABVAL # EXTERNAL DELTA-V
|
|
DELVSIN
|
|
STORE DELVSAB # COMPUTE FOR P30/P40 INTERFACE
|
|
# THUS PERMITTING MODULE-ONLY CHANGE
|
|
SETPD VLOAD
|
|
0
|
|
VTIG
|
|
STORE VINIT
|
|
VXV UNIT
|
|
RTIG
|
|
STOVL UT # UP IN UT
|
|
RTIG
|
|
STORE RINIT
|
|
VSQ PDDL
|
|
36D
|
|
DMPR DDV
|
|
THETACON
|
|
DMP DMP
|
|
DELVSAB
|
|
WEIGHT/G
|
|
DDV
|
|
# Page 711
|
|
F
|
|
STOVL 14D
|
|
DELVSIN
|
|
|
|
DOT VXSC
|
|
UT
|
|
UT
|
|
VSL2 PUSH # (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
|
|
BVSU PDDL # DELTA VP SCALED AT 2(+7) P.D.L. 6
|
|
DELVSIN
|
|
14D
|
|
SIN PDVL
|
|
6D
|
|
VXV UNIT
|
|
UT
|
|
VXSC STADR
|
|
STOVL VGTIG # UNIT(VP X UP)SIN(THETAT/2) IN VGTIG.
|
|
UNIT PDDL # UNIT(DELTA VP) IN P.D.L. 6
|
|
14D
|
|
COS VXSC
|
|
VAD VXSC
|
|
VGTIG
|
|
36D
|
|
VSL2 VAD
|
|
STADR
|
|
STORE VGTIG # VG IGNITION SCALED AT 2(+7) M/CS
|
|
|
|
UNIT
|
|
STOVL UT # THRUST DIRECTION SCALED AT 2(+1)
|
|
VGTIG
|
|
PUSH SET
|
|
AVFLAG
|
|
CALL
|
|
MIDGIM # VGTIG IN LV COOR AT 2(+7)M/CS IN DELVLVC
|
|
GOTO
|
|
QTEMP
|
|
S40.1B DLOAD DSU # LAMBERT
|
|
TIG
|
|
TWODT
|
|
STODL TDEC1
|
|
TPASS4
|
|
DSU
|
|
TDEC1
|
|
STCALL DELLT4
|
|
AGAIN
|
|
VLOAD
|
|
VIPRIME
|
|
STODL UT
|
|
TIG
|
|
STORE TDEC1
|
|
# Page 712
|
|
BDSU
|
|
TPASS4
|
|
STCALL DELLT4
|
|
AGAIN
|
|
VLOAD PUSH
|
|
DELVEET3
|
|
STORE VGTIG
|
|
SET CALL
|
|
AVFLAG
|
|
MIDGIM
|
|
SETPD GOTO
|
|
0
|
|
CALCUT
|
|
|
|
THETACON 2DEC .31830989 B-8
|
|
|
|
SETLOC P40S3
|
|
BANK
|
|
|
|
COUNT 24/S40.1
|
|
|
|
EP4(45)H 2DEC .125
|
|
|
|
EP4(10)H 2DEC .027777777
|
|
|
|
AGAIN STQ CALL
|
|
QTEMP1
|
|
THISPREC
|
|
SXA,2 SXA,1
|
|
RTX2
|
|
RTX1
|
|
VLOAD
|
|
RATT
|
|
STORE RTIG
|
|
STOVL RINIT
|
|
VATT
|
|
STORE VTIG
|
|
STORE VINIT
|
|
SETPD SLOAD
|
|
0
|
|
HI6ZEROS
|
|
PDDL BON
|
|
EP4(45)H
|
|
NORMSW
|
|
+3
|
|
DLOAD
|
|
EP4(10)H
|
|
PUSH CALL
|
|
INITVEL
|
|
SETPD GOTO
|
|
# Page 713
|
|
0
|
|
QTEMP1
|
|
CALCUT VLOAD CALL
|
|
RTIG
|
|
CALCGRAV # GDELTAT IN MPAC AT 2(+7) M/CS
|
|
VSL1 V/SC
|
|
200CS # G AT 2(-5) M/CS. CS
|
|
PDVL VSU
|
|
VIPRIME
|
|
UT
|
|
V/SC VSU
|
|
200CS
|
|
VXSC VSL2
|
|
CSTEER
|
|
STOVL 12D # B.C SCALED AT 2(-15) PDL 12D
|
|
VGTIG
|
|
UNIT PUSH # UG PDL 0 SCALED AT 2(+1)
|
|
|
|
DOT VXSC
|
|
12D
|
|
0
|
|
VSL2 BVSU
|
|
12D
|
|
STODL 12D # Q PDL SCALED AT 2(-5)
|
|
F
|
|
SRR DDV
|
|
4
|
|
WEIGHT/G
|
|
DSQ PDVL # F/MASS SQUARED PDL 6 AT 2(-10M/(CS.CS)
|
|
12D
|
|
VSQ
|
|
BDSU SQRT
|
|
VXSC VSL1
|
|
VAD UNIT
|
|
12D
|
|
STCALL UT
|
|
QTEMP
|
|
200CS 2DEC 200 B-12
|
|
|
|
# Page 714
|
|
# PROGRAM DESCRIPTION S40.2,3 DATE 15 NOV 66
|
|
# MOD NO 2 LOG SECTIONS P40-P47
|
|
# MOD BY ZELDIN
|
|
#
|
|
# FUNCTIONAL DESCRIPTION
|
|
#
|
|
# COMPUTE GIMBAL ANGLES IF THRUSTING OCCURRED WITH PRESENT IMU
|
|
# ORIENTATION, WINGS LEVEL SPACECRAFT, HEADS UP
|
|
# COMPUTE X AXIS OF ENGINE BELL
|
|
# COMPUTE PREFERRED IMU ORIENTATION (XSCREF)
|
|
# FOR THIS CALCULATION, ASSUME X AXIS OF SC ALONG UT INITIALLY,
|
|
# YSC=UNIT(XXR), ZSC=UNIT(XX(XXR)) AND ROTATE ENGINE BELL ALONG UT.
|
|
# NEW SC AXES WILL BE APPROX. WINGS LEVEL AND NEW SC AXES IN REF.
|
|
# COORDS. WILL BE PREFERRED IMU ORIENTATION.
|
|
# COMPUTE DESIRED THRUST DIRECTION IN SM COORDS.
|
|
#
|
|
# CALLING SEQUENCE
|
|
# L CALL
|
|
# L+1 S40.2,3
|
|
#
|
|
# NORMAL EXIT MODE
|
|
# AT L+2 OF CALLING SEQUENCE (GOTO L+2)
|
|
#
|
|
# SUBROUTINES CALLED
|
|
# CALCGA
|
|
#
|
|
# ALARM OR ABORT MODES
|
|
# NONE
|
|
#
|
|
# ERASABLE INITIALIZATION REQUIRED
|
|
# PACTOFF TOTAL PITCH TRIM ANGLE SP AT 1.0795111 REV.
|
|
# YACTOFF TOTAL YAW TRIM ANGLE SP AT 1.0795111 REV.
|
|
# UT DESIRED THRUST DIRECTION VECT. B2 M/(CS.CS)
|
|
# RTIG POSITION AT TIME OF IGNITION VECT. B29 M
|
|
# ENG2FLAG ON=RCS OFF=SPS
|
|
#
|
|
# OUTPUT
|
|
# SCAXIS UNIT VECT. ALIGNED WITH ENG BELL IN SC COOR. B1
|
|
# XSCREF UNIT VECTORS ALIGNED WTH PREFERRED IMU B1
|
|
# YSCREF
|
|
# ZSCREF
|
|
# GIMBAL ANGLES IN THETAD
|
|
# POINTVSM UNIT VECT ALONG DESIRED THRUST DIRECTION IN SM B1
|
|
#
|
|
# DEBRIS
|
|
# PUSHLIST, QPRET, MPAC
|
|
# QTEMP TEMP. ERASABLE
|
|
|
|
BANK 24
|
|
SETLOC P40S
|
|
BANK
|
|
COUNT* $$/S40.2
|
|
S40.2,3 VLOAD MXV
|
|
UT
|
|
REFSMMAT
|
|
VSL1 STQ
|
|
QTEMP
|
|
STORE POINTVSM # THRUST IN SM AT 2
|
|
SETPD BON
|
|
0
|
|
# Page 715
|
|
ENG2FLAG
|
|
S40.2,3B
|
|
DLOAD
|
|
HI6ZEROS
|
|
PUSH SLOAD # ZERO PDL 0
|
|
YACTOFF
|
|
DMP SL1
|
|
TRIMSCAL
|
|
DAD PUSH
|
|
YBIAS
|
|
COS PDDL # COS(Y +Y0) PDL 2
|
|
SIN PUSH # SIN(Y +Y0) PDL 4
|
|
SLOAD
|
|
PACTOFF
|
|
DMP SL1
|
|
TRIMSCAL
|
|
DAD PUSH
|
|
PBIAS
|
|
COS PDDL # COS(P +P0) PDL 6
|
|
SIN PUSH # SIN(P +P0) PDL 8D
|
|
STODL ZSCREF # SIN(P +P0)
|
|
6
|
|
DMP SL1
|
|
4
|
|
DCOMP PDDL # -SIN(Y+Y0)COS(P+P0) PDL 10
|
|
6
|
|
DMP SL1
|
|
2
|
|
VDEF
|
|
|
|
STODL XSCREF # PD POINTER AT 6 NEW SC X AXIS SCALED AT
|
|
ZSCREF
|
|
DMP SL1
|
|
4
|
|
PDDL DMP
|
|
ZSCREF
|
|
2
|
|
SL1 DCOMP
|
|
VDEF
|
|
|
|
STODL ZSCREF # PD POINTER AT 4 NEW SC Z AXIS SCALED AT 2
|
|
VDEF
|
|
|
|
STODL YSCREF # PD POINTER AT 0 NEW SC Y AXIS SCALED AT 2
|
|
ZSCREF
|
|
PDDL PDDL
|
|
YSCREF
|
|
XSCREF
|
|
VDEF
|
|
# Page 716
|
|
STOVL SCAXIS # ENGINE BELL SCALED AT 2
|
|
UT
|
|
PDVL UNIT
|
|
RTIG
|
|
VXV VCOMP
|
|
0
|
|
UNIT PUSH
|
|
CALL
|
|
TSTRXUT
|
|
VXV VCOMP
|
|
0
|
|
VSL1 PDVL # 2 RF/SC IN PDL 12D
|
|
XSCREF
|
|
VXM VSL1
|
|
0
|
|
STOVL XSCREF # X OF PREF. IMU,X OF SC IN REF COOR. AT 2
|
|
YSCREF
|
|
VXM VSL1
|
|
0
|
|
STOVL YSCREF # Y OF PREF. IMU,Y OF SC IN REF COOR. AT 2
|
|
ZSCREF
|
|
VXM VSL1
|
|
0
|
|
STORE ZSCREF # Z OF PREF. IMU,Z OF SC IN REF COOR. AT 2
|
|
SETPD GOTO
|
|
0
|
|
QTEMP
|
|
S40.2,3B VLOAD
|
|
UNITX
|
|
STOVL SCAXIS
|
|
UT
|
|
STORE XSCREF
|
|
VXV UNIT
|
|
RTIG
|
|
STCALL 6D
|
|
TSTRXUT
|
|
STORE YSCREF
|
|
VXV VCOMP
|
|
XSCREF
|
|
VSL1
|
|
STCALL ZSCREF # ZNB AXIS IN REF COOR
|
|
QTEMP
|
|
TSTRXUT DLOAD BHIZ
|
|
36D
|
|
BADVCTOR
|
|
VLOAD RVQ
|
|
6D
|
|
BADVCTOR VLOAD UNIT
|
|
RTIG
|
|
PDVL UNIT
|
|
# Page 717
|
|
VTIG
|
|
VSR3 VAD
|
|
VXV UNIT
|
|
UT
|
|
VCOMP
|
|
STORE 6D
|
|
RVQ
|
|
TRIMSCAL 2DEC 1.07975111 B-1
|
|
|
|
YBIAS 2DEC +.00263888889 # YAW MECH BIAS (+0.95 DEG, THRUST ON)
|
|
|
|
PBIAS 2DEC -.00597222222 # PITCH MECH BIAS (-2.15 DEG, THRUST ON)
|
|
|
|
# REFERENCE, TRW 68.6520.3.3-40 27 FEB, 1968
|
|
|
|
# PROGRAM DESCRIPTION S41.1 DATE 8 DEC 66
|
|
# MOD NO 1 LOG SECTION P40-P47
|
|
# MOD BY ZELDIN
|
|
#
|
|
# FUNCTIONAL DESCRIPTION
|
|
#
|
|
# COMPUTE VELOCITY TO BE GAINED INITIALLY IN REF COORDS.
|
|
# TO CONTROL COORDS.
|
|
#
|
|
# CALLING SEQUENCE
|
|
#
|
|
# L CALL
|
|
# L+1 S41.1
|
|
#
|
|
# NORMAL EXIT MODE
|
|
#
|
|
# AT L +2 OF CALLING SEQUENCE
|
|
#
|
|
# SUBROUTINES CALLED:
|
|
#
|
|
# CALCSMSC
|
|
# CDUTRIG
|
|
#
|
|
# ALARM OR ABORT MODES
|
|
#
|
|
# NONE
|
|
#
|
|
# ERASABLE INITIALIZATION REQUIRED
|
|
#
|
|
# VG IN REF. COORD. PDL L POINTER AT L+5. S41.1 WILL RETURN WITH
|
|
# POINTER AT L (L MUST BE LESS THAN OR = TO 14D)
|
|
#
|
|
# OUTPUT
|
|
#
|
|
# MPAC CONTAINS VG IN CONTROL COORDS VECT. B7 M/CS
|
|
#
|
|
# DEBRIS:
|
|
#
|
|
# QTEMP TEMP ERASABLE
|
|
# QPRET
|
|
|
|
COUNT 22/S41.1
|
|
|
|
SETLOC P40S5
|
|
BANK
|
|
|
|
S41.1 STQ CALL
|
|
QTEMP
|
|
CDUTRIG
|
|
VLOAD
|
|
MXV CALL
|
|
REFSMMAT
|
|
*SMNB*
|
|
# Page 718
|
|
MXV VXSC
|
|
QUADROT
|
|
TENBNK14 # VG IN CONTROL COORD IN MPAC SCALED AT
|
|
VSL5 GOTO # VG IN CONTROL COORDS. IN MPAC AT 2(+7)
|
|
QTEMP
|
|
TENBNK14 2DEC 10. B-4
|
|
|
|
# Page 719
|
|
# NAME S40.8 -- CROSS PRODUCT STEERING
|
|
# FUNCTION (1) UPDATES THE VELOCITY-TO-BE-GAINED VECTOR.
|
|
# (2) GENERATES ANGULAR RATE STEERING COMMANDS FOR AUTOPILOT.
|
|
# (3) ESTABLISHES ENGINE CUT-OFF SIGNALS AT APPROPRIATE TIMES.
|
|
# (4) INITIATES THRUST-FAIL ROUTINE, R40
|
|
# CALLING SEQ CALL S40.6
|
|
# INPUT VGPREV LAST VALUE OF THE VELOCITY-TO-BE-GAINED VECTOR
|
|
# PRIOR TO UPDATING IN METERS/CS AT +7.
|
|
# DELVREF CHANGE IN VEHICLE VELOCITY SINCE LAST MEASUREMENT
|
|
# IN METERS/CS AT +7.
|
|
# BDT EFFECT OF RATE OF CHANGE OF REQUIRED VELOCITY AND
|
|
# GRAVITY DURING DT UPON VELOCITY-TO-BE-GAINED IN
|
|
# METERS/CS AT +7.
|
|
# CSTEER A SCALAR OF THE STEERING LAW, SC.AT B+1, USED FOR
|
|
# SPS AIMPOINT STEERING MANEUVERS.
|
|
# IDLEFAIL A FLAG TO INHIBIT (IDLE) THE THRUST-FAIL ROUTINE.
|
|
# STEERSW A SWITCH TO PRECLUDE NEEDLESS CONDUCT OF STEERING.
|
|
# REFSMMAT, DAPDATR1, PIPTIME
|
|
# EREPFRAC, ETDECAY, KPRIMEDT FOR TVC.
|
|
# OUTPUT TTOGO TIME REMAINING FOR ENGINE BURN IN CS AT +28.
|
|
# OMEGAC DP VECTOR RATE COMMAND, SC.AT 1/(2TVCDT) REVS/SEC.
|
|
# VG, VGPREV, VGDISP, TGO, TIG, SCALED AS NOTED IN CODING
|
|
# STEERSW, IMPULSW, NVWORD1
|
|
# REPFRAC, CNTR, VCNTR, VCNTRTMP FOR TVC (R40 INTERFACING)
|
|
# DEBRIS OMEGAXC, +1
|
|
# SUBROUTINES USED: *SMNB*, ALARM
|
|
|
|
SETLOC P40S1
|
|
BANK
|
|
EBANK= DAPDATR1
|
|
COUNT 16/S40.8
|
|
|
|
S40.8 SETPD STQ
|
|
SPBIT1 00D
|
|
QTEMP
|
|
VLOAD BVSU # CONSTRUCT DELVG, SC.AT B+7 M/CS
|
|
DELVREF
|
|
BDT
|
|
VAD
|
|
VGPREV
|
|
STORE VG # VELOCITY-TO-BE-GAINED, SC.AT B+7 M/CS
|
|
|
|
ABVAL
|
|
STORE VGDISP # FOR DISPLAY PURPOSES
|
|
EXIT
|
|
TC PHASCHNG
|
|
OCT 10035 # TYPE B RESTART RESTART BELOW AND 5.3 REREADAC
|
|
|
|
TC INTPRET
|
|
VLOAD
|
|
# Page 720
|
|
VG
|
|
STORE VGPREV
|
|
BOFF VLOAD
|
|
STEERSW # SKIP TGO AND CROSS-PRODUCT
|
|
QTEMP
|
|
DELVREF
|
|
ABVAL PUSH # CHECK FOR LOTHRUST
|
|
SLOAD DMP
|
|
DVTHRESH # SC.AT B-2 M/CS
|
|
DPB-9
|
|
BDSU
|
|
BMN EXIT
|
|
LOTHRUST
|
|
CAE DAPDATR1 # ENABLE TVCDAP CG TRACKING
|
|
MASK BIT14
|
|
CCS A
|
|
CAF BIT1
|
|
INDEX A # LM-OFF, LM-ON VALUE
|
|
CAE EREPFRAC
|
|
TS REPFRAC
|
|
|
|
TC INTPRET
|
|
TGOCALC VLOAD BVSU # GET DELVG
|
|
DELVREF
|
|
BDT
|
|
UNIT
|
|
DOT PUSH # (00D)
|
|
VG
|
|
BPL DDV # ANGLE SHOULD BE GREATER THAN PI/2
|
|
INCRSVG # DISPLAY ALARM IF NOT
|
|
2VEXHUST
|
|
DAD DMP # (DOT PRODUCT UP FROM 00D)
|
|
LODPHALF
|
|
NORM SR1
|
|
X1
|
|
PDDL NORM
|
|
36D # (MAG DELVG)
|
|
X2
|
|
BDDV
|
|
XSU,2 SL*
|
|
X1
|
|
0 -9D,2
|
|
DMP PUSH # (00D)
|
|
-FOURDT
|
|
SLOAD SR
|
|
ETDECAY # ETDECAY SC.AT B+14 CS
|
|
14D
|
|
BDSU STADR
|
|
STORE TGO # TIME TO GO IN CS. AT +28
|
|
DAD
|
|
# Page 721
|
|
PIPTIME
|
|
STODL TIG
|
|
TGO
|
|
DSU BMN
|
|
FOURSEC
|
|
S40.81
|
|
|
|
XPRODUCT VLOAD VXSC
|
|
BDT
|
|
CSTEER
|
|
VSL2 VSU
|
|
DELVREF
|
|
UNIT PDVL
|
|
VG
|
|
UNIT VXV
|
|
MXV CALL
|
|
REFSMMAT # (REFSMMAT/2)
|
|
*SMNB*
|
|
VXSC
|
|
KPRIMEDT # (KPRIMEDT SCIAT PI/8 RAD)
|
|
OMEGACLC STORE OMEGAC
|
|
GOTO
|
|
QTEMP
|
|
|
|
SETLOC DAPS7
|
|
BANK
|
|
COUNT 17/S40.8
|
|
|
|
TWODT 2DEC 200.0 B-28 # 2 SEC
|
|
|
|
-FOURDT 2DEC -800 B-18 # -4(200CS), SC.AT B+18CS (-4 FOR SCALING)
|
|
|
|
2VEXHUST 2DEC 63.020792 B-7 # 2(10338.0564 FPS), SC.AT B+7 M/CS
|
|
|
|
FOURSEC 2DEC 400.0 B-28 # 4 SEC
|
|
|
|
DPB-9 2DEC 1 B-9
|
|
|
|
SETLOC DAPS6
|
|
BANK
|
|
|
|
COUNT 20/S40.8
|
|
|
|
S40.81 SET VLOAD # TGO LESS THAN 4 SECONDS
|
|
IMPULSW # FOR ENGINE-OFF CALL
|
|
HI6ZEROS
|
|
RATEZRO STORE OMEGAC # TVC TO ATTITUDE HOLD
|
|
EXIT
|
|
CAF POSMAX # INHIBIT SWITCHOVER/TVC EG TRACKING
|
|
TS CNTR
|
|
# Page 722
|
|
TC INTPRET
|
|
CLEAR GOTO
|
|
STEERSW # RESTARTS OK
|
|
QTEMP
|
|
INCRSVG EXIT # ALARM INDICATING THAT THRUST IS POINTING
|
|
TC ALARM # IN WRONG DIRECTION.
|
|
OCT 01407
|
|
TC INTPRET
|
|
GOTO
|
|
QTEMP
|
|
|
|
LOTHRUST BON VLOAD # THRUST FAILURE (LO-OR-NO) INDICATED
|
|
IDLEFAIL # SET BY V97P. ALLOWS 1 BYPASS IN CASE OF
|
|
QTEMP # UNFAVORABLE S40.8 SYNCH.
|
|
HI6ZEROS # START OF ENGINE-FAIL (R40) OPERATIONS
|
|
STORE OMEGAC # PUT TVC IN ATTITUDE HOLD
|
|
EXIT
|
|
|
|
CS ZERO
|
|
TS VCNTR # KILL CSMMASS UPDATING
|
|
TS VCNTRTMP # (TVCEXEC LOGIC REQUIRES THIS TOO)
|
|
TS REPFRAC # KILL TVCDAP CG TRIM TRACKING
|
|
TS NVWORD1 # SET UP ENGINE-FAIL V97FLASH (CLOCKJOB)
|
|
|
|
TC INTPRET
|
|
CLEAR GOTO # INHIBIT STEERING AND TGO CALC (MANUAL
|
|
STEERSW # SHUTDOWN IF NOT SET UP AGAIN)
|
|
QTEMP # RESTARTS OK
|
|
|
|
# Page 723
|
|
# NAME S40.9 -- VTOGAIN (AIMPOINT MANEUVERS ONLY)
|
|
# FUNCTION (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED
|
|
# VECTORS FOR USE DURING AIMPOINT MANEUVERS.
|
|
# (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL
|
|
# CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED.
|
|
# CALLING SEQ VIA FINDVEC AS NEW JOB.
|
|
# INPUT RNIT ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29.
|
|
# VNIT ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7.
|
|
# VRPREV LAST COMPUTED VELOCITY REQUIRED VECTOR IN
|
|
# METERS/CS AT +7.
|
|
# NONTIG TIME OF IGN. USED IN TARGETTING ROUTINES B+28
|
|
# DELLT4 TRANSFER TIME FROM PIPTIME TO TARGET B+28
|
|
# TNIT TIME OF RNIT AND VNIT IN CS AT +28
|
|
# GDT/2 HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
|
|
# ACCELERATION OF GRAVITY IN METERS/CS AT +7.
|
|
# DELVREF CHANGE IN VELOCITY DURING LAST 2 SEC IN
|
|
# METERS/CS AT +7.
|
|
# NORMSW SET=CENTRAL ANGLE BETWEEN RTARG AND RTIG IS BETWEEN
|
|
# 165 TO 195 DEGREES.
|
|
# RESET=CENTRAL ANGLE OUTSIDE CONE DESCRIBED ABOVE.
|
|
# OUTPUT VGTEMP VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7.
|
|
# COGA INPUT OF INITIAL GUESS FOR LAMBERT FROM S40.1
|
|
# OR PREVIOUS PASS THRU S40.9.
|
|
# GOBL/2 OBLATENESS TERM IN AVG GRAV CALC: GOBL*RSQ/MU
|
|
# VRPREV/ VELOCITY REQUIRED VECTOR IN METERS/CS AT +7.
|
|
# BDT B VECTOR IN METERS/CS AT +7.
|
|
# SUBROUTINES USED -- INITVEL
|
|
|
|
SETLOC P40S1
|
|
BANK
|
|
|
|
EBANK= NBRCYCLS
|
|
COUNT 16/S40.9
|
|
|
|
S40.9 TC INTPRET
|
|
SETPD DLOAD
|
|
00D
|
|
LO6ZEROS
|
|
PDDL
|
|
EP4(45)L
|
|
BON DLOAD
|
|
NORMSW
|
|
+2
|
|
EP4(10)L
|
|
PUSH
|
|
CLEAR CALL
|
|
GUESSW
|
|
HAVEGUES
|
|
EXIT
|
|
TC PHASCHNG # SAVE TIME BY NOT REDOING LAMBERT CALCS
|
|
OCT 05021 # C, PRIORITY NEXT, JOB BELOW
|
|
# Page 724
|
|
OCT 10000
|
|
TC INTPRET
|
|
ENDLAMB BON
|
|
FIRSTFLG
|
|
FIRSTTME
|
|
VLOAD VSU
|
|
VIPRIME
|
|
VRPREV
|
|
PDDL DSU
|
|
TNIT
|
|
TNITPREV
|
|
SL BDDV
|
|
17D
|
|
200CSHI
|
|
VXSC
|
|
VSU VSL1
|
|
GDT/2
|
|
STORE BDT
|
|
FIRSTTME SLOAD DCOMP
|
|
RTX2
|
|
BMN
|
|
MOONCASE
|
|
VLOAD UNIT
|
|
RN
|
|
DLOAD DSU
|
|
PIPTIME
|
|
NOMTIG
|
|
DMP DDV
|
|
EARTHMU
|
|
34D
|
|
VXSC VAD
|
|
GOBL/2
|
|
VGTEMP # NOTE: NO TEST IS MADE TO SUBTRACT GOBL
|
|
STORE VGTEMP # INSIDE 165-195 DEGREE CONE AREA.
|
|
MOONCASE EXIT
|
|
TC PHASCHNG
|
|
OCT 04021 # C, JOB BELOW
|
|
|
|
COPY40.9 TC INTPRET
|
|
DLOAD
|
|
TNIT
|
|
STOVL TNITPREV
|
|
VIPRIME
|
|
STORE VRPREV
|
|
CLEAR EXIT
|
|
FIRSTFLG
|
|
-2 CS ONE # REDO40.9 (RESTART) ENTRY TO END S40.9
|
|
TS NBRCYCLS
|
|
ENDS40.9 TC PHASCHNG
|
|
OCT 00001
|
|
# Page 725
|
|
TCF ENDOFJOB
|
|
|
|
REDO40.9 TC INTPRET # S40.9 RESTARTS COME HERE TO GRACEFULLY
|
|
VLOAD # TERMINATE S40.9 SO THAT IT CAN BE
|
|
LO6ZEROS # SET UP WITH LATEST R,V,T NEXT PASS
|
|
STODL DELVSUM # (TYPE C PHASE POINTS '04021' WILL
|
|
LO6ZEROS # FORCE NORMAL S40.9 TERMINATIONS,
|
|
STOVL NBRCYCLS # RATHER THAN LOSE TIME OF BRAND NEW
|
|
VGPREV # PASS -- QUICK OLD DATA BETTER THAN
|
|
STORE VGTEMP # NONE) NOW CAN GO THRU SETUP.9
|
|
EXIT # WITHOUT DISTURBING VGPREV.
|
|
TCF ENDS40.9 -2 # STORE 0,0 COVERED NBRCYCLS,P -- FIX UP S
|
|
|
|
200CSHI 2DEC 200 B-12
|
|
|
|
EARTHMU 2DEC* -3.986032 E10 B-36*
|
|
|
|
EP4(45)L 2DEC .125
|
|
|
|
EP4(10)L 2DEC .027777777
|
|
|
|
# Page 726
|
|
# NAME: S40.13 -- TIMEBURN
|
|
#
|
|
# FUNCTION (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY-TO-
|
|
# BE-GAINED AND ENGINE CHOICE RESULT IN A BURN TIME SUFFICIENT
|
|
# TO ALLOW STEERING AT THE VEHICLE DURING THE BURN, AND
|
|
# (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT IS SHORT --
|
|
# AND THE ASSOCIATED TIME OF THE ENGINE OFF SIGNAL.
|
|
#
|
|
# CALLING SEQUENCE VIA FINDVAC AS A NEW JOB
|
|
#
|
|
# INPUT VGTIG -- VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
|
|
# WEIGHT/G -- MASS OF VEHICLE IN KGM AT TIG
|
|
# F -- ENGINE THRUST IN M.NEWTONS AT +7
|
|
# MDOT -- RATE OF DECREASE OF VEHICLE MASS DURING ENGINE BURN
|
|
# IN KILOGRAMS/CENTISECOND AT +3. THIS SCALING MAY
|
|
# REQUIRE MODIFICATION FOR SATURN BURNS.
|
|
#
|
|
# OUTPUT IMPULSW ZERO FOR STEERING
|
|
# ONE FOR ATTITUDE HOLD
|
|
# TGO TIME TO BURN IN CENTISECONDS AT +14
|
|
# THE QUANTITY M.NEWTON SHALL BE USED TO EXPRESS WEIGHT IN TERMS OF
|
|
# (KILOGRAM*METER)/(CENTISECOND*CENTISECOND)
|
|
# (1) M.NEWTON = (10000) NEWTONS.
|
|
|
|
EBANK= TGO
|
|
COUNT 16/40.13
|
|
|
|
S40.13 TC INTPRET
|
|
SETPD SET
|
|
00D
|
|
IMPULSW # ASSUME NO STEERING UNTIL FOUND OTHERWISE
|
|
VLOAD ABVAL
|
|
VGTIG # VELOCITY TO BE GAINED AT +7
|
|
EXIT
|
|
CAF BIT7 # TEST +X TRANSLATION
|
|
EXTEND
|
|
RXOR CHAN31
|
|
MASK BIT7
|
|
EXTEND
|
|
BZF NOTADDUL
|
|
TC INTPRET
|
|
PDDL DDV # 00D = MAG OF VGTIG AT +7
|
|
S40.135 # COMPENSATION FOR 2 JET ULLAGE AT +24
|
|
WEIGHT/G # MASS IN KGMS AT +16
|
|
BON SL1 # DOUBLE CORRECTION IF FOUR JETS
|
|
NJETSFLG
|
|
S40.130
|
|
S40.130 BDSU
|
|
PDDL DDV # 00D = MAG OF VGTIG CORRECTED FOR ULLAGE
|
|
K1VAL # M.NEWTON-CS AT +24
|
|
WEIGHT/G
|
|
BDSU BMN
|
|
00D
|
|
S40.131 # TGO LESS THAN 100 CS
|
|
PDDL DMP # 02D = TEMP1 AT +7
|
|
# Page 727
|
|
EMDOT # SPS FLOW RATE SC.AT B+3 KG/CS (SP, NOTE)
|
|
3.5SEC # 350 CS AT +14
|
|
BDSU PDDL
|
|
WEIGHT/G
|
|
FANG
|
|
DMP SR2
|
|
5SECOND # 500 CS AT +14
|
|
DDV PUSH # 04D = TEMP2
|
|
BDSU BPL
|
|
02D
|
|
S40.133 # TGO GREATER THAN 600 CS
|
|
DLOAD BDDV
|
|
DMP DAD
|
|
5SECOND # 500 CS AT +14
|
|
1SEC2D # 100 CS AT +14
|
|
GOTO
|
|
S40.132
|
|
S40.131 DLOAD DMP # TGO LESS THAN 100 CS
|
|
WEIGHT/G
|
|
DAD DDV
|
|
K2VAL # M.NEWTON CS AT +24
|
|
K3VAL # M.NEWTON AT +10
|
|
S40.132 EXIT
|
|
EBANK= TGO
|
|
TC TPAGREE
|
|
CA MPAC
|
|
XCH L
|
|
CA ZERO
|
|
DXCH TGO # TGO IN CS AT +28
|
|
TC S40.134
|
|
S40.133 CLEAR EXIT # WILL STEER VEHICLE
|
|
IMPULSW
|
|
S40.134 TC PHASCHNG # KILL GROUP 3
|
|
OCT 3
|
|
|
|
TCF ENDOFJOB
|
|
|
|
NOTADDUL TC INTPRET
|
|
GOTO
|
|
S40.130 +1 # DO NOT COMPENSATE FOR 7 SEC OF ULLAGE
|
|
SETLOC DAPS7
|
|
BANK
|
|
|
|
COUNT 17/40.13
|
|
|
|
K1VAL = EK1VAL # DP PAD LOAD B+23 NEWTON-SEC/E+2
|
|
K2VAL = EK2VAL # DP PAD LOAD B+23 NEWTON-SEC/E+2
|
|
K3VAL = EK3VAL # DP PAD LOAD B+09 NEWTONS/E+4
|
|
1SEC2D 2DEC 100.0 B-14 # 100.0 CS AT +14
|
|
# Page 728
|
|
3.5SEC 2DEC 350.0 B-13 # 350 CS AT +13
|
|
|
|
5SECOND 2DEC 500.0 B-14 # 500.0 CS AT +14
|
|
|
|
S40.135 2DEC 69.6005183 B-23 # IMPULSE FROM 7.96 SECS OF 2-JET FIRING
|
|
# 7.96 (199.6)COS(10) LB-SEC, SC.AT
|
|
# B+23 NEWTON-SEC/E+2 (7 SEC ULLAGE
|
|
# TO GO, PLUS 0.96 SEC FROM PIPTIME)
|
|
|
|
# Page 729
|
|
# NAME S40.6 GIMBAL DRIVE TEST AND/OR GIMBAL TRIM
|
|
# MOD NO 5 DATE 9 MARCH, 1967
|
|
# MOD BY ENGEL LOG SECTION P40-P47
|
|
#
|
|
# FUNCTIONAL DESCRIPTION
|
|
# GIMBAL DRIVE TEST....0,+2,-2,0 DEGREE ENGINE COMMANDS, AT 2 SECOND
|
|
# INTERVALS, FIRST IN PITCH, THEN IN YAW. ASTRONAUT VERIFICATION
|
|
# OF GIMBAL MOTION ON GPI
|
|
# GIMBAL TRIM....AFTER A 4 SECOND DELAY, ENGINE COMMANDED TO
|
|
# PRE-COMPUTED TRIM POSITION. ASTRONAUT VERIFICATION ON GPI.
|
|
# PRE40.6....RESTART ENTRY TO RE-DO S40.6, ONLY IF RCS IS ON --- IF TVC
|
|
# IS NOT ON --- PRIMARILY TO GET ACTUATORS TRIMMED FOR IGNITION.
|
|
# BYPASS 4 SEC DELAY. SPEED IS CRITICAL NEAR IGNITION.
|
|
# IF TVC IS ON (TVCDAPON OR LATER) THEN REDOTVC WILL TAKE CARE
|
|
# OF RESTARTING ACTUATORS.
|
|
#
|
|
# CALLING SEQUENCE....
|
|
# WAITLIST, WITH 2CADR FOR S40.6 (OR PRE40.6), WITH EBANK= CNTR
|
|
#
|
|
# NORMAL EXIT MODE -- FIXDELAY, TASKOVER
|
|
#
|
|
# SUBROUTINES CALLED....
|
|
# OUTPUT (INTERNAL)
|
|
# FIXDELAY
|
|
#
|
|
# ALARM OR ABORT EXIT MODES --- NONE
|
|
#
|
|
# ERASABLE INITIALIZATION REQUIRED
|
|
# CNTR = +0, NORMALLY SET BY THE P40 CALL AT TST,TRIM.
|
|
# MRKRTMP....POSITIVE FOR GIMBAL DRIVE TEST AND GIMBAL TRIM (BOTH)
|
|
# NEGATIVE FOR GIMBAL TRIM ONLY
|
|
# PACTOFF, YACTOFF SC.AT 85.41 ARCSEC/BIT (V48N48 P, YTRIM)
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# "SC CONT" SWITCH AT "CMC" (A/P CONTROL SWITCH AT "GNC")
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# ACTIVE SPS GIMBAL MOTOR POWER(S), PITCH, YAW
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#
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# OUTPUT
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# TVCYAW, TVCPITCH (BITS RELEASED)
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# TVC ENABLE AND OPTICS ERROR COUNTER ENABLE
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#
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# DEBRIS
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# TBMPR60, CNTR
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BANK 17
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SETLOC DAPS6
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BANK
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EBANK= CNTR
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COUNT 20/S40.6
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PRE40.6 CS FLAGWRD6 # RESTART ENTRY TO S40.6 (DO NOT PERMIT
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MASK OCT60000 # IF TVC, BITS 15,14 = 1,0)
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EXTEND
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BZMF +2
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TCF TASKOVER # TVC, REDOTVC WILL REESTABLISH INTERFACE
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CS BIT1 # RCS, SO DO S40.6, GIMTRIM ONLY
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# Page 730
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TS MRKRTMP
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CAF BIT1 # FOR REVISED S40.6 TIMING FOR RESTARTS...
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TS CNTR # TO INDICATE A RESTART ENTRY (CNTR 1S
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# NORMALLY +0, BY S40.6)
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EBANK= CNTR
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S40.6 CS ZERO # INHIBIT OPTICS ACTIVITY
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TS OPTIND
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CS BIT2 # DISENABLE OPTICS ERROR COUNTERS (ZERO,
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EXTEND # AND INHIBIT PULSE TRANSMISSION --
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WAND CHAN12 # NORMAL STATE)
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CAF OCT02200 # TVC ENABLE (SPS SERVO AMPS SEE DAC
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EXTEND # VOLTAGES) AND DISENGAGE OPTICS/DAC
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WOR CHAN12
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TC FIXDELAY # 60MS PROCEDURAL DELAY (40MS MINIMUM) FOR
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DEC 6 # RELAY LATCHING
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CAF BIT2 # ENABLE OPTICS ERROR COUNTERS
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EXTEND
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WOR CHAN12
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TC FIXDELAY # 20MS PROCEDURAL DELAY (4MS MINIMUM) FOR
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DEC 2 # RELAY LATCHING
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RSTRTST CCS CNTR # CHECK FOR RESTART ENTRY (PRE40.6)
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TCF GIMTRIM +2 # RESTART ENTRY....BYPASS 4 SECOND DELAY
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# TST,TRIM SETS +0 ON NORMAL ENTRY
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CAE MRKRTMP # CHECK FOR TEST/TRIM OR TRIM ONLY
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TS CNTR # MRKRTMP SAVES CNTR FOR RESTARTS
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EXTEND
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BZMF GIMTRIM # (TRIM ONLY)
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GDTSETUP CS ZERO # GIMBAL DRIVE TEST SETUP, FOR PITCH
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TS CNTR
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GIMDTEST CAF +2ACTDEG # GIMBAL DRIVE TEST, 1ST INCREMENT
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TC OUTPUT # (LEAVES GIMBAL AT +2 DEG)
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CAF -4ACTDEG # 2ND INCREMENT (LEAVES GIMBAL AT -2)
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TC OUTPUT
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CAF +2ACTDEG # 3RD INCREMENT (LEAVES GIMBAL AT -0)
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TC OUTPUT
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CS CNTR # CHECK FOR COMPLETION OF YAW TEST.
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# Page 731
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CCS A
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TCF GIMTRIM # COMPLETED, GO TO GIMBAL TRIM ROUTINE
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CS BIT1 # SET UP YAW TEST
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TS CNTR
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TCF GIMDTEST # FOR YAW TEST
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OUTPUT EXTEND # OUTPUT THE INCREMENT....SAVE Q
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QXCH TEMPR60
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INDEX CNTR
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TS TVCPITCH
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INDEX CNTR
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CAF BIT11
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EXTEND
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WOR CHAN14
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TC FIXDELAY # WAIT 2SEC, WHILE ASTRONAUT VERIFIES
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DEC 200 # GIMBAL MOTION ON GPI
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TC TEMPR60
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GIMTRIM TC FIXDELAY # WAIT 4 SECONDS BEFORE GIMBAL TRIM
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DEC 400
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+2 CS ZERO # PICK UP TRIM VALUES AND OUTPUT THEM
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AD PACTOFF # (AVOID +0) ENTRY POINT FROM RSTRTST
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TS TVCPITCH # ON A RESTART, TO AVOID 4SEC DELAY
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CS ZERO
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AD YACTOFF
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TS TVCYAW
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CAF PRIO6 # RELEASE THE COUNTERS, BITS 11,12
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EXTEND
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WOR CHAN14
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ENDS40.6 TCF TASKOVER
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OCT02200 OCT 02200 # BITS 8,11 FOR CHANNEL 12 TVC/OPTICS
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-4ACTDEG DEC -168 # -2(+2ACTDEG), WHOLE BITS, NO ROUNDUP
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+2ACTDEG DEC +84 # +2 DEG, SC.AT 85.41 ARCSEC/BIT (+84D)
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# CALLED BY "DONOUN46" (VERB 48), OR DIRECTLY BY "FRESHDAP" (RCS DAP) VIA IBNKCALL
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COUNT 20/S41.2
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S41.2 CA DAPDATR1
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# Page 732
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MASK THREE
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AD A
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TS RATEINDX
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INHINT
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CAE DAPDATR1 # IS LEM ATTACHED (BITS 14,13 OF DAPDATR1
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MASK PRIO30 # =10)
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AD -BIT14 # (OCT57777)
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EXTEND
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BZF TOGETHER # YES
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CS BIT2 # NO, UNSET FLAG
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MASK FLAGWRD7
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TS FLAGWRD7
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TCF +4
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TOGETHER CS FLAGWRD7 # ATTACHED, SET FLAG FOR INTEGRATION
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MASK BIT2
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ADS FLAGWRD7
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RELINT
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CA DAPDATR1
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MASK BIT4
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EXTEND
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BZMF +2 # DEC 46 MEANS NARROW DB
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CA DEC409
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AD DEC46 # DEC 455 MEANS WIDE DB
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TS ADB
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CA DAPDATR1
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MASK BIT7 # QUAD BD
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EXTEND
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BZMF +2
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CA ONE
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TS XTRANS
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CA DAPDATR1
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MASK BIT10 # QUAD AC
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EXTEND
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BZMF +2
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CS ONE
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ADS XTRANS
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INHINT
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EXTEND
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BZF +5 # CLEAR NJETSFLG (4 JETS, OR NO JETS)
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CS FLAGWRD1 # SET NJETSFLG (2 JETS, AC OR BD QUADS)
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MASK BIT15 # NJETSFLG = 1 FOR 2 JET ULLAGE (AC OR BD)
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ADS FLAGWRD1
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# Page 733
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TCF +4
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CS BIT15 # KJETSFLG = 0 FOR 4 JET (OR 0 JET) ULLAGE
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MASK FLAGWRD1
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TS FLAGWRD1
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RELINT
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CA DAPDATR2
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MASK BIT13
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EXTEND
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BZMF +2
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TCF +2
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CS ONE
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COM
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TS ACORBD # MINUS FOR A-C, PLUS FOR B-D
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CA DAPDATR2
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MASK BIT10
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CCS A
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TCF +4
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CA ONE
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TS RACFAIL
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TCF BDFAIL
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CA ZERO
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TS RACFAIL
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CA DAPDATR2
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MASK BIT4
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CCS A
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TCF BDFAIL
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CS ONE
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TS RACFAIL
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BDFAIL CA DAPDATR2
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MASK BIT7
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CCS A
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TCF +4
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CA ONE
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TS RBDFAIL
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TC Q
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CA ZERO
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TS RBDFAIL
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CA DAPDATR2
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MASK BIT1
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CCS A
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TC Q
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CS ONE
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TS RBDFAIL
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TC Q
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# DAPFIG ENTRY VIA TC POSTJUMP AS JOB FROM "STABLISH" (VERB 46)
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BANK 42
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SETLOC EXTVBS
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# Page 734
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BANK
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DAPFIG CS BIT9 # TURN OFF SIVB TAKEOVER
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EXTEND
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WAND CHAN12
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CAE DAPDATR1 # DETERMINE VEHICLE CONFIGURATION
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EXTEND
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MP BIT3 # RIGHT SHIFT 4 OCTAL DIGITS
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MASK THREE # (IN CASE BIT 15 IS USED)
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INDEX A
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TCF +1 # BRANCH BASED ON CONFIG....
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TCF NODAPUP # CM.......ACTIVATE NODAP
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TCF RCSDAPUP # CSM......ACTIVATE RCSDAP
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TCF RCSDAPUP # CSM/LEM..ACTIVATE RCSDAP
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TC POSTJUMP
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CADR SATSTKON
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RCSDAPUP INHINT # CALL TO ACTIVATE RCSDAP, AND RETURN
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TCR IBNKCALL
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CADR RCSDAPON
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RELINT
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TCF ENDFIG # CAME IN VIA V46, GO OUT VIA GOPIN
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NODAPUP EXTEND # T5 IDLE FOR NODAP (DON'T WORRY ABOUT T)
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DCA T5IDLDAP
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DXCH T5LOC
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TC DOWNFLAG # RESET T5-USAGE FLAGS FOR NODAP
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ADRES DAPBIT1 # BIT 15 FLAG 6 = 0
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TC DOWNFLAG
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ADRES DAPBIT2 # BIT 14 FLAG 6 = 0
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INHINT
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TC IBNKCALL # ZERO JET CHANNELS IN 14 MS AND THEN
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CADR ZEROJET # LEAVE THE T6 CLOCK DISABLED.
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RELINT
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CAF BIT1 # KILL KALCMANU JOB
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TS HOLDFLAG
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ENDFIG TC POSTJUMP # CAME IN VIA V46, GO OUT VIA GOPIN
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CADR GOPIN
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SBANK= PINSUPER # Added by RSB 2009
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EBANK= PACTOFF
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T5IDLDAP 2CADR T5IDLOC
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SBANK= LOWSUPER
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BANK 17
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SETLOC DAPS6
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BANK
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DEC409 DEC 409
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DEC46 DEC 46
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# Page 735
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# CALLED BY "DONOUN47" (VERB 48), OR DIRECTLY BY "FRESHDAP" (RCS DAP)
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S40.14 CAE IXX # RCS ENTRY
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EXTEND
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MP CONTONE
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TS J/M
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CA IAVG
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EXTEND
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MP CONTONE
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TS J/M1
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TS J/M2
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EXTEND
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DCA CONTTWO
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EXTEND
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DV IXX
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TS KMJ
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EXTEND
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DCA CONTTWO
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EXTEND
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DV IAVG
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TS KMJ1
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TS KMJ2
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TC Q
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CONTONE DEC .662034 # 2PI/M
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CONTTWO 2DEC .00118
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COUNT 24/TVNG
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BANK 31
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SETLOC P40S
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BANK
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POS-2.5 OCT 37405
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EBANK= DAPDATR1
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RCSCADR 2CADR RCSUP
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6SECT5 OCT 37704
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COUNT 21/RCSUP
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BANK 20
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SETLOC DAPS3
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BANK
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# Page 736
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RCSUP LXCH BANKRUPT
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EXTEND
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QXCH QRUPT
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TCR RCSDAPON # ACTIVATE RCS DAP
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TCF RESUME
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EBANK= DAPDATR1
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RCSADDR 2CADR RCSATT
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0.6SECT5 OCT 37704
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# RCSDAPON ENTRY MUST BE UNDER INT-INHIBIT
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RCSDAPON CAF 0.6SECT5 # 0.6 SEC ALLOWS TVCEXEC/ROLLDAP TO DIE
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+1 TS TIME5 # ENTRY FROM R00TOP00
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TS T5PHASE # WILL CAUSE FRESHDAP (+1)
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CS RCSFLAGS # SET BIT3 TO REINITIALIZE FDAI ERROR
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MASK BIT3 # DISPLAY, IN CASE SC CONT SWITCH
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ADS RCSFLAGS # IN SCS NOT GNC (GUIDEMODE PRIMARY)
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EXTEND
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DCA RCSADDR # (RCSATT)
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DXCH T5LOC
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CS OCT60000 # SEE BITS 15,14 TO 01 TO INDICATE
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MASK FLAGWRD6 # T5 TAKEOVER BY RCSDAP
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AD BIT14
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TS FLAGWRD6 # KILLS TVCEXEC AND ROLLDAP STARTS
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TC Q # RETURN TO CALLER (TVCDAPOF OR RCSDAPUP)
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