### FILE="Main.annotation" ## Copyright: Public domain. ## Filename: P-AXIS_REACTION_CONTROL_SYSTEM_AUTOPILOT.agc ## Purpose: Part of the source code for Aurora (revision 12). ## Assembler: yaYUL ## Contact: Ron Burkey . ## Website: https://www.ibiblio.org/apollo. ## Pages: 542-556 ## Mod history: 2016-09-20 JL Created. ## 2016-10-02 MAS Began. ## 2016-10-03 MAS Completed. ## 2016-10-04 HG add missed instruction TS TOFJTCHG ## comment code look alike ## JSATCHG -> JTSATCHG ## 2016-10-15 HG Fix operand BITS13-14 -> BIT13-14 ## 2016-12-08 RSB Proofed comments with octopus/ProoferComments ## and fixed the errors found. ## This source code has been transcribed or otherwise adapted from ## digitized images of a hardcopy from the private collection of ## Don Eyles. The digitization was performed by archive.org. ## Notations on the hardcopy document read, in part: ## 473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP ## NOV 10, 1966 ## [Note that this is the date the hardcopy was made, not the ## date of the program revision or the assembly.] ## The scan images (with suitable reduction in storage size and consequent ## reduction in image quality) are available online at ## https://www.ibiblio.org/apollo. ## The original high-quality digital images are available at archive.org: ## https://archive.org/details/aurora00dapg ## Page 542 BANK 23 EBANK= DT # THE FOLLOWING SECTION DRIVES THE ATTITUDE ERROR NEEDLES IN THE "EIGHT-BALL" DISPLAY: EIGHTBAL LXCH DAPBOOLS # ATTITUDE ERRORS DISPLAYED EVERY CAF BIT7 # OTHER DAP CYCLE (.2 SECS) EXTEND # CHANGE STATE OF FLAG RXOR L TS DAPBOOLS # FLAG WORD RESTORE MASK BIT7 EXTEND # ZERO AS NEW STATE MEANS BZF PAXFILT # NO DISPLAY THIS CYCLE ATERDSPY CAF TWO # INIT. INDEX WORD TS ITEMP1 INDEX A ## The above two instructions have a line drawn by them, with handwritten notes "CA TS T5M". CCS PERROR # LOOK AT CURRENT ATT ERROR TCF ERLIMCHK # HAVE E VALUE GET MAGNITUDE TCF ZERR # ZERO VALUE TCF ERLIMCHK # GET MAGNITUDE ZERR INDEX ITEMP1 CS PERROR INDEX ITEMP1 XCH LASTPER # SAVE CURRENT E, LOAD LAST E (NEG) INDEX ITEMP1 AD PERROR # GET DIFF E(N-2) - E(N) ## "INDEX ITEMP1" and "PERROR" above are crossed out. Next to them the word "TEMP" is written in. EXTEND MP BIT13 # SHIFT RIGHT 2 INDEX ITEMP1 TS CDUXCMD # STORE CMD E VALUE CCS ITEMP1 TCF ATERDSPY +1 # GET NEXT E CA OCT70000 # ICDU DRIVE BITS 13,14,15 EXTEND WOR 14 # DRIVE AWAY TCF PAXFILT # ATT ERROR DISPLAY DONE FOR THIS CYCLE ## The above four instructions are circled. "OCT70000" is scratched out, and "BIT16" is written by it. ## "14" is also crossed out, with "12" written by it. 14, however, was the correct channel, so why ## it's crossed out like this is a mystery. ERLIMCHK AD BIT1 # HAVE MAG OF E, SEE IF GREATER THAN COM # 5 DEGREES AD 5DEGS ## The above three instructions are circled, and "AD-5+1" is written by them EXTEND BZMF BIGATER # ERROR GREATER THAN 5 DEGS, DSPY 5 DEGS TCF ZERR # E LESS THAN 5 DEGS, NORMAL PROCED ## "BIGATER" and "TCF ZERR" above are circled, with "ZERR" written next to them. BIGATER INDEX ITEMP1 ## The above instruction is circled. CCS PERROR # GET SIGN OF BIG ERROR CA 5DEGS TCF +2 # CANT BE ZERO HERE ## Page 543 CS 5DEGS INDEX ITEMP1 TS PERROR # SET BIG ERROR TO 5DEGS TCF ZERR # END OF ATTITUDE ERROR NEEDLE DRIVER. (SHOULD GO IN-LINE SOMETIME.) # THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS. # THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP. PAXIS CAF MS30P # RESET TIMER IMMEDIATELY: DT = 30 MS TS TIME5 LXCH BANKRUPT # INTERRUPT LEAD IN (CONTINUED) EXTEND QXCH QRUPT # CHECK TO SEE IF DAP IS STILL IN USE: EXTEND # IF BOTH BITS 13 AND 14 OF CHANNEL 31 ARE READ 31 # EQUAL TO 1, THEN THE SCS MODE SWITCH IS COM # IN THE OFF POSITION. ACTUALLY, THE TEST MASK BIT13-14 # IS MADE ON BOTH THE ATTITUDE HOLD AND EXTEND # AUTOMATIC MODE BITS. BZF GOIDLE # WHILE DAP IS ON, SET UP EITHER A KALMAN FILTER RUPT OR A DUMMY FILTER RUPT BY SETTING UP T5ADR FROM ERASABLE. EXTEND # T5ADR IS SET TO EITHER FILTER OR DCA PFILTADR # DUMMYFIL IN A BLIND MANNER SINCE DXCH T5ADR # PFILTADR IS SET UP ELSEWHERE # DO P AXIS RATE DERIVATION AND CONTROL LAW. # DERIVE DELTA P. FILT/PAX CAE CDUX TS L EXTEND MSU OLDXFORP # SCALED AT PI LXCH OLDXFORP EXTEND MP BIT7 LXCH DELTAP # SCALE AT PI/2(6) CA CDUY TS L EXTEND MSU OLDYFORP # SCALED AT PI LXCH OLDYFORP ## Page 544 EXTEND MP BIT7 # INTO L SCALED AT PI/2(6) CA M11 # M11 SCALED AT 1 EXTEND MP L # INTO A SCALED AT PI/2(6). AD DELTAP EXTEND MP WFORP # SCALED AT 2(4)=16, RESULT IN A AT PI/4. XCH OMEGAP # W*DELTAP IN OMEGAP LOC. OLD OMEGAP IN A. EXTEND MP ONE-K # SCALED AT 1. ## "ONE-K" is circled on the above line in red. AD JETRATE # RATE DUE TO JETS TORQUING. ADS OMEGAP # PRATE= WFORP*DELTAP+ALPHA*LAST-PRATE+TPF TC T6JOBCHK # T6JOBCHK IS IN FIXED-FIXED # ***** KALCMANU-DAP AND "RATE-HOLD"-DAP INTERFACE ***** # THE FOLLOWING SECTION IS EXECUTED EVERY 100 MS (10 TIMES A SECOND) WITHIN THE P-AXIS REACTION CONTROL SYSTEM # AUTOPILOT (WHENEVER THE DAP IS IN OPERATION). CAF TWO # SET UP LOOP TO DO Z,Y,X CDU AXES: KALCLOOP TS QRCNTR INDEX QRCNTR # KALCMANU AND RATE-HOLD USE THIS SECTION CAE CDUXD # TO PERFORM THEIR INDEPENDENT FUNCTIONS: EXTEND # BOTH PROCEDURES SET UP THE DELCUD'S INDEX QRCNTR # TO HAVE THE NEGATIVE VALUE OF THE MSU DELCDUX # DESIRED CDU CHANGE FOR EACH 100 MS CSP CCS A # DURING THE MANEUVER (OR MODE). EACH IS AD ONE # STORED AT PI RADIANS IN 2'S COMPLEMENT. TCF +2 # SINCE THE MODULAR SUBTRACT YIELDS THE COM # NEW CDUD VALUE IN 1'S COMPLEMENT, THE INDEX QRCNTR # CCS SECTION IS NEEDED FOR 1'S TO 2'S TS CDUXD # CONVERSION OF DESIRED CDU ANGLES. CCS QRCNTR # (THIS MAKES THE LOOP DO ALL THREE AXES TCF KALCLOOP # IN THE ORDER Z, Y, X.) TCF EIGHTBAL PAXFILT TC PJUMPADR SKIPPAXS CA VISFZADR TS PJUMPADR CA ZERO TS JETRATE CA TP AD NEGCSP1 CCS A ## Page 545 TC PTORQUE TCF RESUME TC PTORQUE CS JETRATE ADS OMEGAP CA ZERO TS JETRATE TCF RESUME (1-K)/8P OCTAL 20000 ## The above line is crossed out in red. PTORQUE AD ONE EXTEND MP BIT5 CA L EXTEND MP 16/25 TS TP CA WFORP ## There is an "E" written in red after "CA" above, indicating that it should be changed to "CAE". AD (1-K)/8P ## The "P" in "(1-K)/8P" is circled. EXTEND MP TP EXTEND MP BIT4 CA 1JACC EXTEND MP L EXTEND MP NO.PJETS LXCH JETRATE TC Q CHKVISFZ CAF BIT9 # VISIBILITY PHASE BIT MASK DAPBOOLS EXTEND BZF +2 TCF PURGENCY # ATTITUDE STEER DURING VISIBILITY PHASE CAF BIT10 # BIT10=1 FOR RHC MINIMUM IMPULSE MODE MASK DAPBOOLS EXTEND BZF DETENTCK # BRANCH FOR RATE COMMAND CAE DELAYCTR # SET BY RUPT10 TO TWO EXTEND BZF BITSGONE # CHECK FOR ALL SWITCHES OPEN CS -TJMINT6 TS TOFJTCHG TS TP # FOR RATE DERIVATION CA BIT3 EXTEND ## Page 546 RAND 31 EXTEND BZF +MINIMP CA BIT4 EXTEND RAND 31 EXTEND BZF -MINIMP CCS DELAYCTR # DELAYCTR ALWAYS PNZ HERE TS DELAYCTR EXTEND BZF PLETRUPT TCF JETSOFF +MINIMP CAF BIT1 TCF +2 -MINIMP CS BIT1 +2 TS TPSIG CAF ZERO TS DELAYCTR TCF 2PJETS BITSGONE EXTEND # ARE SWITCHES ALL OPEN READ 31 COM MASK DAPLOW6 EXTEND BZF +2 TCF JETSOFF CAF BIT4 # BIT4 OF DAPBOOLS ZERO IF PREVIOUS MASK DAPBOOLS # READING OF 31 FOUND ALL SWITCHES OPEN EXTEND BZF PLETRUPT CS BIT4 MASK DAPBOOLS TS DAPBOOLS TCF JETSOFF PLETRUPT CAF BIT4 ADS DAPBOOLS CAF BIT12 EXTEND WOR 13 TCF JETSOFF DETENTCK CA BIT15 EXTEND ## Page 547 RAND 31 # CHECK OUT-OF-DETENT BIT.INVERTED. EXTEND BZF RHCMOVED # BRANCH IF OUT OF DETENT # ........................................................................ CAF BIT1 # IN DETENT.CHECK THE RATE COMMAND BIT MASK DAPBOOLS # BIT1 OF DAPBOOLS IS RATE COMMAND BIT EXTEND BZF PURGENCY # BRANCH IF NOT IN RATE COMMAND # ........................................................................ CAF BIT13 # CHECK ATTITUDE HOLD BIT EXTEND RAND 31 EXTEND BZF JOEY # BRANCH IF IN ATTITUDE HOLD # ........................................................................ CCS OMEGAP # HERE IF IN Y-AXIS OVER-RIDE TCF +4 TCF RATEDONE TCF +2 TCF RATEDONE AD -RATEDB EXTEND BZMF RATEDONE TCF JOEY RATEDONE CS BIT1 MASK DAPBOOLS TS DAPBOOLS # READ CDUS INTO CDU DESIRED REGISTERS CA CDUX TS CDUXD CA CDUY TS CDUYD CA CDUZ TS CDUZD TCF JETSOFF RHCMOVED CAF BIT1 # CHECKING THE RATE COMMAND BIT MASK DAPBOOLS EXTEND BZF JUSTOUT # READ,ZERO, AND ENABLE COUNTERS # SYSTEM HAS BEEN IN RATE COMMAND FOR AT LEAST THE TIME OF A CAP CHARGE CAE P-RHCCTR # 1 BIT IN P-RHCCTR WORTH 0.6256 DEG/SEC EXTEND ## Page 548 MP BIT9 CA L EXTEND MP 0.88975 TS PRATECOM # COMMANDED RATE SCALED AT PI/4 CAF ZERO # ZERO COUNTERS TS P-RHCCTR TS Q-RHCCTR TS R-RHCCTR CA BITS8,9 # ENABALE COUNTERS, START READING EXTEND WOR 13 TCF OBEYRATE # ........................................................................ JUSTOUT INCR DAPBOOLS # ALWAYS SETS BIT1 ON RATE COMMAND BIT CAF BIT2 EXTEND RAND 30 EXTEND BZF +5 # BRANCH FOR ASCENT CONSTANTS CAF -D2JTLIM # -1.4 DEG/SEC SCALED AT PI/4 TS -2JETLIM CAF -DRATEDB # -0.4 DEG/SEC SCALED AT PI/4 TCF +4 +5 CAF -A2JTLIM # -2.0 DEG/SEC SCALED AT PI/4 TS -2JETLIM CAF -ARATEDB # -1.0 DEG/SEC SCALED AT PI/4 +4 TS -RATEDB CAF ZERO # ZERO COUNTERS TS P-RHCCTR TS Q-RHCCTR TS R-RHCCTR CA BITS8,9 EXTEND WOR 13 TCF JETSOFF # ........................................................................ JOEY CAF ZERO TS PRATECOM # IN THIS SECTION P RATE ERROR IS COMPUTED AND T-JET IS CALCULATED OBEYRATE CS OMEGAP AD PRATECOM TS TPSIG # SIGN STORAGE TO TELL DIRECTION OF ROT. OBEYRAPE CCS A # GET ABVAL OF RATE P-ERROR ## Page 549 TCF +4 TCF JETSOFF TCF +2 TCF JETSOFF AD BIT1 TS PRATEDIF # ABVAL OF RATE ERROR SCALED AT PI/4 TC T6JOBCHK # T6JOBCHK IS IN FIXED-FIXED CA -RATEDB AD PRATEDIF EXTEND BZMF JETSOFF # RATE ERROR INSIDE DEADBAND CS PRATEDIF EXTEND SU -2JETLIM EXTEND BZMF RCM4JETS CA PRATEDIF # 2 JETS ENOUGH.COMPUTE TJET EXTEND MP 1/2JTSP # 1/2JTACC SCALED AT 2EXP(8)/PI EXTEND MP BIT4 CA L EXTEND MP 25/32 # A CONTAINS TJET SCALED AT 2EXP(4)(16/25) TS TP # ........................................................................ # CHECK RATE COMMAND ON TIME AGAINST MINIMUM IMPULSE TS TOFJTCHG AD -TJMINT6 EXTEND # AS TP. TEST JET TIME. IS IT GREATER OR BZMF JETSOFF # LESS THAN A MINIMUM IMPULSE # ........................................................................ # 2-JET JET SELECT LOGIC # READ CHANNEL 6 TO SEE WHAT THE CURRENT STATE OF THE P JETS IS AND # CORRECT THE JET TIME FOR THE PROPER AMOUNT OF TIME . 2PJETS EXTEND # WHAT IS THE CURRENT STATE OF THE P JETS. READ 6 EXTEND BZF PJETSNOT CA MCOMPT # - COMPUTATION TIME FOR THE PAXIS ADS TOFJTCHG # ALTER JET OFF TIME PER STATE OF CH 6. TCF TESTSIGN PJETSNOT CA 14-TJMIN # TOTAL DELAY FOR A MIN IMP TO FULL ON. ADS TOFJTCHG # ALTER JET OFF TIME PER STATE OF CH 6. # ........................................................................ ## Page 550 # SET UP THE ALTERNATING P SELECT BIT IN DAPBOOLS. ALTPSELT CA BIT5 # COMPLEMENT BIT5 OF DAPBOOLS LXCH DAPBOOLS EXTEND RXOR L TS DAPBOOLS TESTSIGN CCS TPSIG CA BIT5 TCF +2 TCF NEGTP MASK DAPBOOLS # IN THE DAP BOOLS WORD. EXTEND BZF ALTPOS1 ALTPOS2 CA POSPJET1 TC WRITEJTS +2 CA BIT9 # NOW. ZERO AT CHG.(WRITE LOW8 IN CH.6). TS JTSATCHG # STATE OF P AXIS JETS AFTER THE T6 RUPT. TCF P+2JET ALTPOS1 CA POSPJET0 TC WRITEJTS +2 CA BIT9 # NOW. ZERO AT CHG.(WRITE LOW8 IN CH.6). TS JTSATCHG # JTSONNOW CONTAINS BITS WRITTEN INTO CH 6 TCF P+2JET # ........................................................................ # TEST DAPBOOLS TO DETERMINE WHICH JET PAIR TO USE FOR P AXIS ROTATION. NEGTP CA BIT5 MASK DAPBOOLS # IN THE DAP BOOLS WORD. EXTEND BZF ALTNEG1 ALTNEG2 CA NEGPJET1 TC WRITEJTS +2 CA BIT9 # NOW. ZERO AT CHG.(WRITE LOW8 IN CH.6). TS JTSATCHG # STATE OF P AXIS JETS AFTER THE T6 RUPT. TCF P-2JET ALTNEG1 CA NEGPJET0 TC WRITEJTS +2 CA BIT9 # NOW. ZERO AT CHG.(WRITE LOW8 IN CH.6). TS JTSATCHG # STATE OF P AXIS JETS AFTER THE T6 RUPT. TCF P-2JET RCM4JETS CA PRATEDIF EXTEND MP 1/2JTSP EXTEND MP BIT3 CA L EXTEND MP 25/32 # A NOW CONTAINS TJET SCALED AT 2EXP(4)(16 TS TP # /25). ## Page 551 # ........................................................................ # IN THIS SECTION DO THE P AXIS JET SELECT LOGIC FOR 4 JETS 4PJETS TS TOFJTCHG # TOFJTCHG WILL BE MODIFIED AND WILL = T6. CS TPSIG EXTEND BZMF POS4P EXTEND READ 6 EXTEND BZF +4 CA MCOMPT ADS TOFJTCHG # ALTER JET OFF TIME PER STATE OF CH 6. TCF +3 +4 CAF 14-TJMIN ADS TOFJTCHG # ALTER JET OFF TIME PER STATE OF CH 6. CA 4NEGPJET TC WRITEJTS +2 CA BIT9 # THE LOW 8 BITS ONLY GET WRITTEN INTO CH. TS JTSATCHG # STATE OF P AXIS JETS AFTER THE T6 RUPT. CS FOUR TCF RATE POS4P EXTEND READ 6 EXTEND BZF +4 CA MCOMPT ADS TOFJTCHG # ALTER JET OFF TIME PER STATE OF CH 6. TCF +3 +4 CA 14-TJMIN # TOTAL DELAY FOR A MIN IMP TO FULL ON. ADS TOFJTCHG # ALTER JET OFF TIME PER STATE OF CH 6. CA 4POSPJET TC WRITEJTS +2 CA BIT9 # NOW. ZERO AT CHG.(WRITE LOW8 IN CH.6). TS JTSATCHG # STATE OF P AXIS JETS AFTER THE T6 RUPT. CA FOUR TCF RATE JETSOFF CAF ZERO TS JETRATE TS TOFJTCHG TC WRITEJTS +2 TCF RESUME # P-AXIS URGENCY FUNCTION CALCULATION # (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULITPLICATION.) PURGENCY CA CDUY # P-ERROR CALCULATION EXTEND MSU CDUYD # CDU VALUE - ANGLE DESIRED (Y-AXIS) EXTEND MP M11 # (CDUY-CDUYD)M11 SCALED AT PI RADIANS ## Page 552 XCH E # SAVE FIRST TERM (OF TWO) CA CDUX # THIRD COMPONENT EXTEND MSU CDUXD # CDU VALUE - ANGLE DESIRED (X-AXIS) # EXTEND # MP M13 ADS E # SAVE SUM OF TERMS, NO OVERFLOW EVR TS PERROR # SAVE P ERR FOR DISPLAY CAE 1/2JTSP # SET-UP FOR URGENCY SUBROUTINE TS 1/NJETAC TC T6JOBCHK # CHECK T6 CLOCK HERE, BEFORE URGROUTN CS OMEGAPD AD OMEGAP TS EDOTP TC IBNKCALL # *** SUBROUTINE CALL *** (TAKES 24 MCTS) CADR URGROUTN # (RETURN TAKES 10 MCTS) EXTEND # IF URGENCY = 0, FIRE NO JETS BZF JETSOFF # (FOR EFFICIENCY ONLY) CCS A # URGENCY FUNCTION IS IN A, GET ABVAL AD UPM TCF +2 AD UPM EXTEND BZMF 2JETSP CA POSMAX TS NJET # INDICATE 4 JETS CA 1/2JTSP EXTEND MP BIT14 # USE 1/4JETSP TS 1/NJETAC TCF T-JETLAW ## The above 23 instructions (everything from "CAE 1/2JTSP" down to here) have a box drawn around them ## in red. Between comments on the write is written in "Dick Gran says: Use no urg. fcn. on PAXIS, use ## TJETLAW only! 1. How do we determine direction? 2. How do we use TPSIG?". 2JETSP CS POSMAX TS NJET # INDICATE 2 JETS T-JETLAW TC T6JOBCHK # CHECK T6 CLOCK RUPT BEFORE SUBROUTINE CAF JETLWADR # TJETLAW CALLING SEQUENCE TC ISWCALL TCF JETSOFF TS TP CCS NJET CA TP TCF 4PJETS CA TP ## Page 553 TS TOFJTCHG TCF 2PJETS # TORQUE VECTOR RECONSTRUCTION FOR THE P-AXIS P+2JET CA TWO TCF RATE P-2JET CS TWO RATE TS NO.PJETS # STORE NO. OF P JETS FOR USE LATER. CA 100MSPTQ # TORQUE FROM A 100 MS JET PULSE SET BY EXTEND # AOS TASK EVERY 2 SECONDS. ## The above two lines of comments have a box drawn around them in red. MP 1JACC EXTEND MP NO.PJETS LXCH JETRATE # STORE JET RATE FOR OMEGAP COMPUTATION. CS TOFJTCHG AD +1.5CSP # USE 150 MS. TO TEST FOR A PAXIS SKIP. EXTEND BZMF RESUME # TP GREATER THAN 150MS THEN DO NORMAL P. CA PSKIPADR # SET UP A P AXIS SKIP. TS PJUMPADR JTLST CCS TIME6 # TEST CURRENT STATE OF T6. TCF T6ONNOW # IF T6 IS + THEN CLOCK IS ON. TCF T6OFFNOW # IF T6 IS + ZERO THEN T6 MUST BE OFF TCF T6ONNOW # SINCE ALL DINC S LEAD TO MINUS ZERO. TC T6JOB # WE ARE IN THE UNIQUE STATE WHICH SAYS TCF JTLST # A T6 INTERRUPT IS WAITING.DO T6 JOB. T6OFFNOW CA TOFJTCHG TS TIME6 # WE ARE HERE IF T6 CLOCK IS OFF. CA BIT15 EXTEND # TURN CLOCK PULSE FOR T6 ON AND LOAD T6. WOR 13 CA JTSATCHG TS T6NEXTJT CA ZERO XCH ADDTLT6 # SET UP NEXT T6 INTERRUPT AFTER THE TS T6NEXT # CURRENT ONE IS COMPLETE. ADDTLT6 MAY CA ZERO # BE ZERO IN WHICH CASE NO MORE T6. XCH ADDT6JTS TS T6NEXTJT +1 TCF RESUME T6ONNOW CCS T6NEXT # HERE IF T6 IS NOW ON. SEE IF T6NEXT IS TCF T6NXT=+ # ZERO OR NOT. CS TOFJTCHG # T6NEXT IS NEVER NEGATIVE. AD TIME6 # A CONTAINS T6 - TJET. CCS A # TEST SIGN OF A (SAVING THE DIFFERENCE). AD ONE TCF JTSFIRST # TJET IS LESS THAN T6. NOOP # IF DIFFERENCE I SNEGATIVE OR ZERO ## Page 554 AD ONE # WE ADD 1 SO ZERO CAN NEVER BE IN LIST. TS T6NEXT CA JTSATCHG TS T6NEXTJT +1 # BEGIN SETTING UP JETS IN THE JET LIST. CA ZERO XCH ADDTLT6 TS T6NEXT +1 CA ZERO XCH ADDT6JTS TS T6NEXTJT +2 TCF RESUME JTSFIRST TS T6NEXT # HERE IF TJET IS LESS THAN T6. CA TOFJTCHG TS TIME6 # SWITCH T6 AND TJET) CA JTSATCHG XCH T6NEXTJT # BEGIN SWITCHING JET WORDS IN JET LIST. TS T6NEXTJT +1 CS ADDTLT6 EXTEND BZF RESUME # SEE IF AN ADDITIONAL (QR) JET TIME IS AD T6NEXT # REQUIRED. ## There is a line here saying "* DELETE THROUGH 04993", indicating a change from the last revision. CCS A # IF AN ADDITIONAL T6 IS NEEDEN, COMPARE AD ONE # IT WITH THE CONTENTS OF T6NEXT. TCF +11 NOOP AD ONE TS T6NEXT +1 CA ZERO TS ADDTLT6 XCH ADDT6JTS TS T6NEXTJT +2 TCF RESUME +11 TS T6NEXT +1 CA ZERO XCH ADDTLT6 TS T6NEXT CA ZERO XCH ADDT6JTS XCH T6NEXTJT +1 TS T6NEXTJT +2 TCF RESUME T6NXT=+ CS TOFJTCHG AD TIME6 AD T6NEXT CCS A AD ONE TCF +7 NOOP AD ONE ## Page 555 TS T6NEXT +1 CA JTSATCHG TS T6NEXTJT +2 TCF RESUME +7 TS L CS TOFJTCHG AD TIME6 CCS A AD ONE TCF JTSB4T6 NOOP AD ONE TS T6NEXT CA L TS T6NEXT +1 CA JTSATCHG TCF +7 JTSB4T6 XCH T6NEXT TS T6NEXT +1 CA TOFJTCHG TS TIME6 CA JTSATCHG XCH T6NEXTJT +7 XCH T6NEXTJT +1 XCH T6NEXTJT +2 TCF RESUME # T-JET LAW FIXED CONSTANTS +1.5CSP DEC +0.01465 ONE-K DEC 0.50000 MCOMPT DEC -0.00049 # -5 MS. SCALED AS T6 (P-AXIS COMP TIME). 14-TJMIN DEC 11 NEGCSP1 DEC -.00977 MS30P OCTAL 37775 0.88975 DEC 0.88975 16/25 DEC 0.64000 -DRATEDB OCTAL 77555 # -0.4 DEG/SEC SCALED AT PI/4 RADIANS/SEC -D2JTLIM OCTAL 77001 # -1.4 DEG/SEC SCALED AT PI/4 -A2JTLIM OCTAL 76447 # -2.0 DEG/SEC SCALED AT PI/4 -ARATEDB OCTAL 77223 # -1.0 DEG/SEC SCALED AT PI/4 25/32 DEC .78125 -TJMINT6 DEC -.00073 DAPLOW6 OCT 00077 4POSPJET OCTAL 125 4NEGPJET OCTAL 252 NEGPJET0 OCTAL 12 NEGPJET1 OCTAL 240 POSPJET0 OCTAL 120 POSPJET1 EQUALS FIVE BITS8,9 OCTAL 00600 ## Page 556 UPM DEC -.2 # TEMPORARY ESTIMATE PSKIPADR GENADR SKIPPAXS JETLWADR CADR TJETLAW SETIDLE LXCH BANKRUPT # FIRST T5RUPT AFTER FRESH START COMES CAF IDLERADR # HERE, DAPIDLER IS STARTED IN 1 SECOND. TS T5ADR CAF 1SECRUPT TS TIME5 TCF NOQRSM 1SECRUPT OCTAL 37634 # 1 SECOND SCALED AS TIME5 (100 PULSES) GOIDLE EXTEND # COME HERE TO SHUT DOWN DAP DCA GOIDLADR DXCH T5ADR # SET UP RUPT TO GO IDLE AT DAPIDLER CAF ZERO # CLEAR ALL JETS EXTEND WRITE 5 EXTEND WRITE 6 CS BGIM23 # STOP THE TRIM GIMBAL DRIVES EXTEND WAND 12 TCF RESUME BGIM23 OCTAL 07400 ## Below the address column is the calculation "3635 - 3140 = 475", seemingly calculating ## words used after the end of this section.