Trim whitespace
This commit is contained in:
James Harris
@ -16,13 +16,13 @@
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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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# 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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# 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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@ -31,11 +31,11 @@
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BANK 21
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SETLOC DAPS4
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BANK
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COUNT 17/DAPJS
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EBANK= KMPAC
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# EXAMINE CHANNEL 31 FOR TRANSLATION COMMANDS
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JETSLECT LXCH BANKRUPT
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@ -69,13 +69,13 @@ JETSLECT LXCH BANKRUPT
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MP BIT7 # 2 = - XLN
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MASK THREE # 3 = NO XLN
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TS YNDX # Y-TRANSLATION INDEX
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CA T5TEMP
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EXTEND
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MP BIT5
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MASK THREE
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TS ZNDX # Z-TRANSLATION INDEX
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CA DAPDATR1 # SET ATTKALMN TO PICK UP FILTER GAINS FOR
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MASK BIT14 # TRANSLATIONS.
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EXTEND # CHECK DAPDATR1 BIT 14 FOR LEM ATTACHED.
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@ -99,7 +99,7 @@ NOXLNCMD TS XNDX1 # ZERO ALL REQUESTS FOR TRANSLATION
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TS XNDX2
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TS YNDX
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TS ZNDX
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# PITCH COMMANDS TIMING(NO X-TRANS, NO QUAD FAILS) 32MCT
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PWORD CCS TAU1 # CHECK FOR PITCH COMMANDS
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@ -107,7 +107,7 @@ PWORD CCS TAU1 # CHECK FOR PITCH COMMANDS
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TCF +2 # 0 = NO PITCH
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CAF TWO # +1 = + PITCH
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TS PINDEX # +2 = - PITCH
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CCS RACFAIL # FLAG FOR REAL AC QUAD FAILURES
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TCF AFAILP
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TCF TABPCOM # 0 = NO REAL AC FAILURES
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@ -115,17 +115,17 @@ PWORD CCS TAU1 # CHECK FOR PITCH COMMANDS
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TCF TABPCOM # - = C QUAD FAILED
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# IF FAILURES ARE PRESENT IGNORE
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# X-TRANSLATIONS ON THIS AXIS
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AFAILP CAF NINE # IF FAILURE IS PRESENT 1JET OPERATION
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TCF TABPCOM +2 # IS ASSUMED. IGNORE X-TRANSLATION
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CFAILP CAF TWELVE
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TCF TABPCOM +2
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XLNNDX DEC 0 # INDICES FOR TRANSLATION COMMANDS
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DEC 3 # FOR USE IN TABLE LOOK UP
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DEC 6
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DEC 0
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TWELVE = OCT14
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# TABLE LOOK UP FOR PITCH COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT.
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@ -142,7 +142,7 @@ TABPCOM INDEX XNDX1
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EXTEND
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MP BIT7
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TS NPJETS # = NO. OF PITCH JETS
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# YAW JET COMMANDS TIMING(NO X-TRANS, NO QUAD FAILURES) 32MCT
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YWORD CCS TAU2 # CHECK FOR YAW COMMANDS
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@ -150,18 +150,18 @@ YWORD CCS TAU2 # CHECK FOR YAW COMMANDS
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TCF +2
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CAF TWO
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TS YINDEX # YAW ROTATION INDEX
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CCS RBDFAIL # FLAG FOR B OR D QUAD FAILURES
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TCF BFAILY # 0 = NO BD FAILURE
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TCF TABYCOM # + = B QUAD FAILED
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TCF DFAILY # - = D QUAD FAILED
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TCF TABYCOM
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BFAILY CAF NINE
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TCF TABYCOM +2
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DFAILY CAF TWELVE
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TCF TABYCOM +2
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# Page 1042
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# TABLE FOR PITCH(YAW) COMMANDS
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# BITS 4,3,2,1 = PITCH, X-TRANSLATION JETS SELECTED
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@ -185,7 +185,7 @@ PYTABLE OCT 0 # 0 0 0
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OCT 0 # 0 C(D) 12
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OCT 2504 # + C(D) 12
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OCT 2610 # - C(D) 12
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# MASKS FOR PITCH AND YAW COMMANDS
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PJETS OCT 1417
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@ -213,28 +213,28 @@ RWORD CCS TAU # CHECK FOR ROLL COMMANDS
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TCF +2
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CAF TWO
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TS RINDEX
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CCS ACORBD # FLAG FOR AC OR BD QUAD SELECTION FOR
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TCF BDROLL # ROLL COMMANDS
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TCF BDROLL # +, +0 = BD ROLL
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TCF +1 # -, -0 = AC ROLL
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ACROLL CCS RACFAIL # CHECK FOR REAL FAILURES
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TCF RAFAIL # ON AC QUADS
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TCF RXLNS
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TCF RCFAIL
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TCF RXLNS
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RAFAIL CAF NINE # QUAD FAILURE WILL GET
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TCF TABRCOM # 1-JET OPERATION
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RCFAIL CAF TWELVE
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TCF TABRCOM
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XLN1NDX DEC 0
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DEC 1 # INDECES FOR TRANSLATION
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DEC 2
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DEC 0
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# TABLE LOOK UP FOR AC-ROLL COMMANDS WITH AND WITHOUT Y-TRANSLATION AND ACQUAD FAILURES PRESENT
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# BITS 9,10,11 CONTAIN THE MAGNITUDE AND DIRECTION OF THE ROLL
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@ -245,13 +245,13 @@ TABRCOM AD RINDEX
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CA RTABLE
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MASK ACRJETS # = 3760 OCT
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TS RWORD1
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# CHECK FOR Z-TRANSLATIONS ON BD
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BDZCHECK CA ZNDX
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EXTEND
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BZMF NOBDZ # NO Z-TRANSLATION
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# Page 1044
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# TABLE LOOK UP FOR BD Z-TRANSLATION WITH AND WITHOUT REAL BD QUAD FAILURES. Z-TRANSLATION WILL BE POSS-
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# IBLE AS LONG AS ROLL COMMANDS CAN BE SATISFIED WITH THE AC ROLL JETS. CRITERION: IF THE RESULTANT NET ROLL
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@ -269,31 +269,31 @@ BDZCHECK CA ZNDX
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MASK BDZJETS # = 3417 OCT
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AD RWORD1 # ADD TO ROLL COMMANDS
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TS T5TEMP # IF POSSIBLE. MUST CHECK TAU FIRST
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EXTEND
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MP BIT7 # DETERMINE THE NET ROLL COMMAND WITH
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AD =-4 # Z-TRANSLATION ADDED ON
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TS NRJETS # NET NO. OF +,- ROLL JETS ON
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EXTEND
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BZF TAUCHECK
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ACRBDZ CA T5TEMP # Z-TRANSLATION ACCEPTED EVEN THO WE MAY
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TS RWORD1 # HAVE INTRODUCED AN UNDESIREABLE ROLL
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TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATIONS
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TAUCHECK CCS TAU
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TCF NOBDZ
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TCF ACRBDZ
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TCF NOBDZ
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TCF ACRBDZ
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||||
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||||
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NOBDZ CA RWORD1 # Z-TRANSLATION NOT ACCEPTED
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EXTEND
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MP BIT7
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AD =-2
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TS NRJETS
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TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATION
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# Page 1045
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# BD QUAD SELECTION FOR ROLL COMMANDS
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@ -306,7 +306,7 @@ RBFAIL CAF NINE
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TCF TABRZCMD
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RDFAIL CAF TWELVE
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TCF TABRZCMD
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||||
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||||
RZXLNS INDEX ZNDX # NO BD FAILURES
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CA XLNNDX # +,-,0 Z-TRANSLATION PRESENT
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TABRZCMD AD RINDEX
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@ -314,7 +314,7 @@ TABRZCMD AD RINDEX
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CA RTABLE
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MASK BDRJETS # = 34017 OCT
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TS RWORD1
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||||
ACYCHECK CA YNDX # ANY Y-TRANSLATION
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EXTEND
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BZF NOACY # NO Y-TRANSLATION
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@ -335,17 +335,17 @@ ACYCHECK CA YNDX # ANY Y-TRANSLATION
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TS NRJETS # NO. OF NET ROLL JETS
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EXTEND
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BZF TAUCHCK # IF NRJETS = 0
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||||
BDRACZ CA T5TEMP # Y-TRANSLATION ACCEPTED
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TS RWORD1
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TCF ROLLTIME # BRANCH TO JET ON-TIME CALCULATIONS
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TAUCHCK CCS TAU
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TCF NOACY
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TCF BDRACZ
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||||
TCF NOACY
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TCF BDRACZ
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# Page 1046
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NOACY CA RWORD1 # Y-TRANSLATION NOT ACCEPTED
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EXTEND
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@ -353,7 +353,7 @@ NOACY CA RWORD1 # Y-TRANSLATION NOT ACCEPTED
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AD =-2
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TS NRJETS
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TCF ROLLTIME
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# Page 1047
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# TABLE FOR ROLL, Y AND Z-TRANSLATION COMMANDS
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#
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@ -390,7 +390,7 @@ NOACY CA RWORD1 # Y-TRANSLATION NOT ACCEPTED
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# (AS ABOVE) TO GIVE THE NET ROLL TORQUE.
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# ROLL TRANS QUADFAIL BIAS
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RTABLE OCT 11000 # 0 0
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OCT 22125 # + 0
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OCT 00252 # - 0
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@ -440,7 +440,7 @@ YZTABLE OCT 11000 # 0 0
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OCT 11000 # 0 D(C) 6
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OCT 15421 # +Z(+Y) D(C) 6
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OCT 04442 # -Z(-Y) D(C) 6
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||||
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||||
# YZ-TABLE MASKS:
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||||
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||||
BDZJETS OCT 03417
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@ -456,7 +456,7 @@ ACYJETS OCT 34360
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#
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||||
# THE ROTATION COMMANDS (TAU:S), WHICH WERE DETERMINED FROM THE JET SWITCHING LOGIC ON THE BASIS OF SINGLE JET
|
||||
# OPERATION, MUST NOW BE UPDATED BY THE ACTUAL NUMBER OF JETS TO BE USED IN SATISFYING THESE COMMANDS. TAU MUST
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# ALSO BE DECREMENTED ACCORDING TO THE EXPECTED TORQUE GENERATED BY THE NEW COMMANDS ACTING OVER THE NEXT T5
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||||
# ALSO BE DECREMENTED ACCORDING TO THE EXPECTED TORQUE GENERATED BY THE NEW COMMANDS ACTING OVER THE NEXT T5
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||||
# INTERVAL.
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||||
#
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||||
# IN ORDER TO MAINTAIN ACCURATE KNOWLEDGE OF VEHICLE ANGULAR RATES, WE MUST ALSO PROVIDE EXPECTED FIRING TIMES
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@ -480,7 +480,7 @@ PITCHTIM CCS TAU1
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||||
TCF PTAUNEG
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||||
TS DFT1 # NO PITCH ROTATION
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||||
TCF PBYPASS # COMMANDS
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||||
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||||
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||||
PTAUNEG CS NPJETS
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TS NPJETS
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PTAUPOS CA TAU1
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@ -513,7 +513,7 @@ PBLASTOK CA BLAST1
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LXCH DFT1 # FOR USE IN UPDATING RATE FILTER
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TS TAU1 # ZERO TAU1 (ACC CONTAINS ZERO)
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TCF ASMBLWP
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||||
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||||
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||||
# Page 1052
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||||
# YAW JET ON-TIME CALCULATION
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|
||||
@ -523,7 +523,7 @@ YAWTIME CCS TAU2
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||||
TCF YTAUNEG
|
||||
TS DFT2 # NO YAW ROTATION COMMANDS
|
||||
TCF YBYPASS
|
||||
|
||||
|
||||
YTAUNEG CS NYJETS
|
||||
TS NYJETS
|
||||
YTAUPOS CA TAU2
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||||
@ -542,7 +542,7 @@ YTAUPOS CA TAU2
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||||
CAF =+.1SEC # LIMIT THE LENGTH OF YAW ROTATION COMMAND
|
||||
TS BLAST2 # TO 0.1 SEC SO THAT ONLY X-TRANSLATION
|
||||
TCF ASMBLWY # WILL CONTINUE ON SWITCH OVER TO TVC
|
||||
|
||||
|
||||
AD14MSY CS BLAST2 # SEE IF JET ON-TIME LESS THAN
|
||||
AD =14MS # MINIMUM IMPULSE TIME
|
||||
EXTEND
|
||||
@ -555,7 +555,7 @@ YBLASTOK CA BLAST2 # YAW COMMANDS WILL BE COMPLETED WITHIN
|
||||
LXCH DFT2
|
||||
TS TAU2 # ZERO TAU2
|
||||
TCF ASMBLWY
|
||||
|
||||
|
||||
# Page 1053
|
||||
# ROLL ON-TIME CALCULATION-
|
||||
|
||||
@ -567,7 +567,7 @@ ROLLTIME CCS TAU
|
||||
CA DFTMAX # UPDATE DFT EVEN THO NO ROLL COMMANDS ARE
|
||||
TS DFT # PRESENT
|
||||
TCF RBYPASS
|
||||
|
||||
|
||||
DEC -480 # =-.3SEC
|
||||
DEC -320 # =-.2SEC
|
||||
=-.1SEC DEC -160 # =-.1SEC
|
||||
@ -594,7 +594,7 @@ RBLAST CA TAU
|
||||
CAF =+.1SEC # LIMIT THE LENGTH OF ROLL ROTATION
|
||||
TS BLAST # COMMANDS TO 0.1 SEC SO THAT ONLY Y-Z
|
||||
TCF ASMBLWR # TRANSLATION COMMANDS CONTINUE
|
||||
|
||||
|
||||
AD14MSR CS BLAST # SEE IF THE JET ON-TIME LESS THAN
|
||||
AD =14MS # MINIMUM IMPULSE TIME
|
||||
EXTEND
|
||||
@ -607,7 +607,7 @@ RBLASTOK CA BLAST
|
||||
LXCH DFT
|
||||
TS TAU # ZERO TAU
|
||||
TCF ASMBLWR
|
||||
|
||||
|
||||
# Page 1054
|
||||
DEC -.333333 # = -1/3
|
||||
DEC -.500000 # = -1/2
|
||||
@ -616,7 +616,7 @@ NJET DEC 0
|
||||
DEC .999999 # = +1 (POSMAX)
|
||||
DEC .500000 # = +1/2
|
||||
DEC .333333 # = +1/3
|
||||
|
||||
|
||||
# Page 1055
|
||||
# WHEN THE ROTATION COMMANDS ARE COMPLETED, IT IS NECESSARY TO REPLACE THESE COMMANDS BY NEW COMMANDS WHICH
|
||||
# CONTINUE ON WITH THE TRANSLATIONS IF ANY ARE PRESENT.
|
||||
@ -637,13 +637,13 @@ FPX2 CA PYTABLE
|
||||
MASK PJETS
|
||||
TS PWORD2
|
||||
TCF YAWTIME
|
||||
|
||||
|
||||
PBYPASS CA PWORD1 # THE T6 PROGRAM WILL LOAD PWORD2
|
||||
TS PWORD2 # UPON ENTRY
|
||||
CAF ZERO
|
||||
TS BLAST1 # THERE IS NO PWORD2
|
||||
TCF YAWTIME
|
||||
|
||||
|
||||
# Page 1056
|
||||
# GENERATION OF THE SECOND ROLL (Y,Z) WORD (RWORD2)
|
||||
|
||||
@ -656,7 +656,7 @@ NO2Y CAF ZERO
|
||||
NO2Z CAF ZERO
|
||||
ADS RWORD2
|
||||
TCF PITCHTIM # RWORD2 ASSEMBLED
|
||||
|
||||
|
||||
ACBD2Y CCS ACORBD
|
||||
TCF AC2Y # CAN DO Y-TRANS
|
||||
TCF AC2Y
|
||||
@ -665,14 +665,14 @@ ACBD2Y CCS ACORBD
|
||||
TCF NO2Y # USING AC AND AC HAS FAILED
|
||||
TCF +2
|
||||
TCF NO2Y # DITTO
|
||||
|
||||
|
||||
INDEX YNDX # NO FAILURES, CAN DO Y
|
||||
CA XLNNDX
|
||||
INDEX A
|
||||
CA RTABLE
|
||||
MASK ACRJETS
|
||||
TCF NO2Y +1
|
||||
|
||||
|
||||
AC2Y CCS RACFAIL
|
||||
CAF THREE
|
||||
TCF +2
|
||||
@ -720,7 +720,7 @@ ACBD2Z CCS ACORBD
|
||||
CA L
|
||||
ADS DFT
|
||||
TCF PITCHTIM
|
||||
|
||||
|
||||
BDF2Z CCS RBDFAIL
|
||||
TCF NO2Z # USING BD-ROLL AND BD HAS FAILED
|
||||
TCF +2
|
||||
@ -731,14 +731,14 @@ BDF2Z CCS RBDFAIL
|
||||
CA RTABLE
|
||||
MASK BDRJETS
|
||||
TCF NO2Z +1
|
||||
|
||||
|
||||
RBYPASS CA RWORD1
|
||||
TS RWORD2
|
||||
CAF ZERO
|
||||
TS BLAST
|
||||
TCF PITCHTIM
|
||||
|
||||
# Page 1058
|
||||
|
||||
# Page 1058
|
||||
# GENERATION OF THE SECOND YAW (X-TRANS) WORD...YWORD2
|
||||
|
||||
ASMBLWY CCS RBDFAIL
|
||||
@ -752,7 +752,7 @@ FYX2 CA PYTABLE
|
||||
MASK YJETS
|
||||
TS YWORD2
|
||||
TCF T6SETUP
|
||||
|
||||
|
||||
YBYPASS CA YWORD1
|
||||
TS YWORD2
|
||||
CAF ZERO
|
||||
@ -783,7 +783,7 @@ T6SETUP CAF ZERO # BRANCH INDEX FOR ROLL
|
||||
TS BLAST1 +1
|
||||
CAF ELEVEN # BRANCH INDEX FOR YAW
|
||||
TS BLAST2 +1
|
||||
|
||||
|
||||
CS BLAST
|
||||
AD BLAST1
|
||||
EXTEND
|
||||
@ -805,7 +805,7 @@ ENDJETS CS BIT1 # RESET BIT1 FOR INITIALIZATION OF
|
||||
CS ZERO # RESET T5PHASE FOR PHASE1
|
||||
TS T5PHASE
|
||||
TCF RESUME # RESUME INTERRUPTED PROGRAM
|
||||
|
||||
|
||||
EBANK= KMPAC
|
||||
RCS2CADR 2CADR RCSATT
|
||||
|
||||
@ -814,7 +814,7 @@ DXCHT12 DXCH BLAST
|
||||
DXCH BLAST1
|
||||
DXCH BLAST
|
||||
TCF CHECKT23
|
||||
|
||||
|
||||
DXCHT23 DXCH BLAST1
|
||||
DXCH BLAST2
|
||||
DXCH BLAST1
|
||||
@ -827,14 +827,14 @@ DXCHT23 DXCH BLAST1
|
||||
DXCH BLAST1
|
||||
DXCH BLAST
|
||||
TCF CALCDT6
|
||||
|
||||
|
||||
# Page 1061
|
||||
# T6 PROGRAM AND CHANNEL SETUP
|
||||
|
||||
BANK 21
|
||||
SETLOC DAPS5
|
||||
BANK
|
||||
|
||||
|
||||
T6START LXCH BANKRUPT
|
||||
EXTEND
|
||||
QXCH QRUPT
|
||||
@ -842,7 +842,7 @@ T6START LXCH BANKRUPT
|
||||
TCF RESUME # AFTER T6RUPT OCCURED(IN T5RUPT)
|
||||
TCF +2 # IF SO WAIT FOR NEXT T6RUPT BEFORE
|
||||
TCF RESUME # TAKING ACTION
|
||||
|
||||
|
||||
CS RCSFLAGS
|
||||
MASK BIT1 # IF BIT1 IS 0 RESET TO 1
|
||||
EXTEND # AND INITIALIZE CHANNEL
|
||||
@ -855,7 +855,7 @@ T6START LXCH BANKRUPT
|
||||
AD YWORD1
|
||||
EXTEND
|
||||
WRITE CHAN5
|
||||
|
||||
|
||||
T6RUPTOR CCS BLAST
|
||||
TCF ZBLAST # ZERO BLAST1
|
||||
TCF REPLACE # REPLACE WORD1
|
||||
@ -871,31 +871,31 @@ T6L2 CCS BLAST2
|
||||
TCF REPLACE2
|
||||
TCF RESUME
|
||||
TCF REPLACE2
|
||||
|
||||
|
||||
REPLACE INDEX BLAST +1
|
||||
TC REPLACER
|
||||
CS ONE
|
||||
TS BLAST
|
||||
TCF T6L1
|
||||
|
||||
|
||||
REPLACE1 INDEX BLAST1 +1
|
||||
# Page 1062
|
||||
TC REPLACER
|
||||
CS ONE
|
||||
TS BLAST1
|
||||
TCF T6L2
|
||||
|
||||
|
||||
REPLACE2 INDEX BLAST2 +1
|
||||
TC REPLACER
|
||||
CS ONE
|
||||
TS BLAST2
|
||||
TCF RESUME
|
||||
|
||||
REPLACER CA RWORD2
|
||||
|
||||
REPLACER CA RWORD2
|
||||
EXTEND # INITIALIZE CHANNELS 5,6 WITH WORD2
|
||||
WRITE CHAN6
|
||||
TC Q
|
||||
|
||||
|
||||
REPLACEP CA YJETS
|
||||
EXTEND
|
||||
RAND CHAN5
|
||||
@ -903,7 +903,7 @@ REPLACEP CA YJETS
|
||||
EXTEND
|
||||
WRITE CHAN5
|
||||
TC Q
|
||||
|
||||
|
||||
REPLACEY CA PJETS
|
||||
EXTEND
|
||||
RAND CHAN5
|
||||
@ -925,7 +925,7 @@ ENABT6 TS TIME6
|
||||
EXTEND
|
||||
WOR CHAN13 # ENABLE T6RUPT
|
||||
TCF RESUME
|
||||
|
||||
|
||||
# END OF T6 INTERRUPT
|
||||
|
||||
ENDSLECT EQUALS
|
||||
|
||||
Reference in New Issue
Block a user