**DOCUMENT CHANGE RECORD**

Changes between issues are marked with a left-bar.

  ------- ---------- -------------------- --------------------------------
  Issue   Date       Paragraphs affected  Change information

  ------- ---------- -------------------- --------------------------------

  ------ ---------- -------------------- --------------------------------
  1      11 Jun     All                  New document containing a
         1999                            preliminary TC/TM interface.

  ------ ---------- -------------------- --------------------------------

TABLE OF CONTENTS PAGE

1\. INTRODUCTION [4](#introduction)

1.1 Notation [4](#notation)

2\. DOCUMENTS [4](#documents)

2.1 Applicable [4](#applicable)

2.2 Referenced [4](#referenced)

3\. COBS GYROLESS FUNCTIONS OVERVIEW
[5](#cobs-gyroless-functions-overview)

3.1 Description [5](#description)

3.2 User Interface [5](#user-interface)

4\. INSTALLATION PROCEDURE [6](#installation-procedure)

4.1 Relation to Other Patches [6](#relation-to-other-patches)

4.2 Procedure [6](#procedure)

5\. TELECOMMANDS [7](#telecommands)

5.1 Changes/Addenda to Existent TCM's
[7](#changesaddenda-to-existent-tcms)

5.1.1 Software Mode Change (KNK01000)
[7](#software-mode-change-knk01000)

5.1.2 Select PROM/RAM Mode (KNK02000) [7](#select-promram-mode-knk02000)

5.1.3 Authorize/Inhibit Function (KNK0A000)
[8](#authorizeinhibit-function-knk0a000)

5.1.4 Define Functions Authorize/Inhibit Status at Warm Start-Up
(KNK0B000) [9](#__RefHeading___Toc453749708)

5.1.5 Define Execution Profile of Process (KNK0C000)
[10](#define-execution-profile-of-process-knk0c000)

5.1.6 Reset Corrective Action Status (KNK24000)
[10](#reset-corrective-action-status-knk24000)

5.1.7 Trigger Corrective Action for Gyro Monitoring (KNK51000)
[10](#trigger-corrective-action-for-gyro-monitoring-knk51000)

5.2 Load Memory Interface [11](#__RefHeading___Toc453749712)

5.2.1 General [11](#general)

5.2.2 Initialize Gyroless Functions [12](#__RefHeading___Toc453749714)

5.2.3 Enable/Disable Corrective Action for Gyroless Functions
[12](#enabledisable-corrective-action-for-gyroless-functions)

5.2.4 Define Parameters for Gyroless Functions
[13](#define-parameters-for-gyroless-functions)

6\. TELEMETRY [14](#telemetry)

6.1 Changes/Addenda to Permanent Part
[14](#changesaddenda-to-permanent-part)

6.1.1 Function Authorization Status (§0, offset 17..18)
[14](#function-authorization-status-0-offset-17..18)

6.1.2 Corrective Action Enable/Disable Status (§0, offset 101..103)
[15](#corrective-action-enabledisable-status-0-offset-101..103)

6.1.3 Corrective Action Triggered Status (§0, offset 104..106)
[15](#corrective-action-triggered-status-0-offset-104..106)

6.2 Changes/Addenda to Programmable Part, Group 1
[15](#changesaddenda-to-programmable-part-group-1)

6.2.1 Functions Warm Start-Up Table (§1, offset 1..2)
[15](#functions-warm-start-up-table-1-offset-1..2)

6.2.2 Process Execution Profiles (§1, offset 3..18)
[15](#process-execution-profiles-1-offset-3..18)

6.3 Dump Memory Interface [16](#__RefHeading___Toc453749725)

7\. ANOMALIES [17](#__RefHeading___Toc453749726)

# INTRODUCTION

This manual describes how to install and operate the *COBS Gyroless
Functions* patch. It is intended to serve as a supplement to the COBS
Software User's Manual \[COBSUM\], describing changes and addenda to it
as a consequence of installing the patch.

The purpose and definition of the patch can be found in \[GLSPEC\].

**Note:** The present issue contains a **preliminary** TC/TM interface.

## Notation

See \[COBSUM\].

# DOCUMENTS

The valid document issue numbers are defined in \[GLTNOT\].

## Applicable

\[GLSPEC\] SOHO Gyroless -- COBS Functions Definition\
SH-MAT-NT-37922

\[COBSRD\] Software Requirements Document for SOHO COBS\
SH-SAG-SD-2A-00 (SHM/SPC/0014/SE)

## Referenced

\[COBSUM\] Software User's Manual for the SOHO CDMU COBS v14\
SH-SAG-NT-T0181 (SHM/TNT/0181/SE)

\[COBS14\] Software Configuration Item Data List for COBS v14\
SH-SAG-CS-2A-00 (SHM/MLS/0004/SE)

\[GLTNOT\] COBS Gyroless Functions -- Technical Note\
SH-SAG-NT-TP006 (P-SHM-NOT-0006-SE)

# COBS GYROLESS FUNCTIONS OVERVIEW

## Description

The *COBS Gyroless Functions* patch performs the following changes to
COBS:

-   The existent function **Thruster Monitoring** runs in all AOCS
    modes.

-   The existent function **ESR Monitoring** inhibits the five new
    Gyroless functions when triggered.

-   The existent functions **ESR Gyro Setting**, **Trouble-Shooting
    Function** ("free process"), **Gyro Monitoring**, **ISA and SAD
    Function** and **RAAD Monitoring** are disconnected from the COBS
    scheduler. The possibility to trigger CA for Gyro Monitoring by TCM
    is also removed.

-   A new function **ACU Reset Monitoring** initiates ESR when ACU reset
    is detected.

-   A new function **Hx Flag Monitoring** initiates ESR when AOCS
    indicates that the wheels X-axis momentum exceeds expected limits.

-   A new function **CRP Flag Monitoring** aborts any on-going thruster
    actuation and commands transition to CRP mode when AOCS indicates
    CRP flag (in NM or RMW mode).

-   A new function **RW Speed Monitoring** aborts any on-going thruster
    actuation and commands transition to CRP mode when a RW speed
    exceeds expected limits.

-   A new function **Experiments Off-Pointing Warning Message** sends
    off-pointing warning messages to the UVCS, LASCO, MDI and SUMER
    experiments when AOCS indicates unexpected off-pointing.

Refer to \[GLSPEC\] for a more detailed description.

## User Interface

The Gyroless functions are assigned five new **function** id's (Table 2)
but reuse the five **processes** released by the disconnected old
functions (Table 4). In addition, four new **corrective actions** (Table
9) and five new **anomalies** (section 7) are introduced.

The **general** TC/TM interface towards application functions \[COBSUM
4.9.1 & 2\] applies to the Gyroless functions as well. Changes or notes
that arise from the introduction of the Gyroless functions are
identified in sections 5.1, 6.1, 6.2 and 7.

Commands or parameters **specific** to the Gyroless functions are
accessed through memory load and dump commands as described in sections
5.2 and 6.3.

# INSTALLATION PROCEDURE

## Relation to Other Patches

The *COBS Gyroless Functions* patch is valid for COBS version 14 only
\[COBS14\]. The coexistence with previously delivered COBS patches is
restricted according to the following table:

  -------------------------------------------------------------------------
  *Other patch*             *Can coexist *Interference*
                            with         
                            Gyroless*    
  ------------------------- ------------ ----------------------------------
  ACU Monitoring Function   No           Gyroless patch does not allow TSM
                                         to execute

  Virgo LOI Cover Open      No           Gyroless patch does not allow TSM
  Function                               to execute

  DMA Patch                 Yes          \-

  TM Subformat 6, 2&3, 3B   Yes          \-

  Thruster Monitoring Patch Partly, but  Last loaded patch determines
                            not          whether the Thruster Monitoring
                            meaningful   function shall be active during
                                         ISA mode.
  -------------------------------------------------------------------------

Table 1 -- Coexistence with other COBS patches

Note that trouble-shooting modules (TSM) cannot be executed while the
Gyroless patch is installed. This is because the Gyroless patch takes
the "free process" for one of its own functions, disconnecting the
Trouble-Shooting Function from the COBS scheduler.

## Procedure

TBD

# TELECOMMANDS

## Changes/Addenda to Existent TCM's

### Software Mode Change (KNK01000)

Note:

-   Entering BOOTSTRAP mode will load the original COBS from PROM,
    discarding the Gyroless functions patch.

-   Entering INITIALIZATION mode will not affect the Gyroless functions
    patch, but the Gyroless functions are not re-initialized. To ensure
    proper initialization when this TCM is used, it is recommended to
    also perform steps 1 and 3 below:

1.  Inhibit Gyroless functions at warm start-up[^1], see 5.1.4.

2.  Enter INITIALIZATION mode, taking any else associated measures.

3.  Initialize the Gyroless functions, see 5.2.2.

-   During transition to TM/TC or NOMINAL mode, the *Gyroless Functions
    Installed* indication flag (reported in *Function Authorization
    Status*, §0, see 6.1.1) may temporarily read zero.

### Select PROM/RAM Mode (KNK02000)

Note:

-   It is not recommended to switch to PROM mode as the Gyroless patch
    is effective only in RAM mode. PROM mode will execute the original
    COBS.

### Authorize/Inhibit Function (KNK0A000)

The *Function Id* parameter is interpreted according to the following
table. Changes compared to original COBS are shown in boldface.

  --------------------------------------------------------------------------
  *Id*     *Mnemonic*           *Function*
  -------- -------------------- --------------------------------------------
  0        HGA_Stat             HGA-APME Station Keeping Function

  1        ESRW                 ESR Warning Flag

  **2**    **No function**      **-**

  3        ESR_Mon              ESR Detection Function

  4        ExpMon               Experiment Monitoring

  **5**    **No function**      **-**

  **6**    **No function**      **-**

  7        HGA_Mon              HGA-APME Monitoring Function

  8        HGA_Nom              HGA-APME Nominal Control Function

  9        IIDE                 Inter-Instrument Data Exchange

  **10**   **No function**      **-**

  11       MinMaxMon            Min/max Recording Function

  **12**   **No function**      **-**

  13       StartUpDld           Start-Up Function

  14       StdMon               Standard Monitoring

  15       SubHeatMon           Substitution Heater Monitoring

  16       TC_WD                Telecommand Watchdog Function

  17       TR_ThmCtrl           Mode 3 Thermal Control

  18       TR_ThmMon            Mode 3 Thermal Monitoring

  19       ThmCtrl              Thermal Control

  20       ThmMon               Thermal Monitoring

  21       ThrusterMon          Thruster Monitoring

  **22**   **ACU_ResetMon**     **ACU Reset Monitoring**

  **23**   **CRP_FlagMon**      **CRP Flag Monitoring**

  **24**   **RW_SpeedMon**      **RW Speed Monitoring**

  **25**   **HxFlagMon**        **Hx Flag Monitoring**

  **26**   **ExpOffPointing**   **Experiment Off-pointing Warning Message**

  100      DP                   Daily Pulse Distribution

  101      MemScr               Memory Scrubbing

  102      USO_Mon              USO Monitoring
  --------------------------------------------------------------------------

Table 2 - Function Id

Note:

-   The unused function id's 2, 5, 6, 10 and 12 are still allowed, but
    concern no function. They should be inhibited to avoid confusion.

### Define Functions Authorize/Inhibit Status at Warm Start-Up (KNK0B000)

The bit-map of the *Function Status* parameter is shown in the following
table. Changes compared to original COBS are shown in boldface.

  ----------------------------------------------------------------------------
  *Bit*    *Mnemonic*           *Function*
  -------- -------------------- ----------------------------------------------
  0        HGA_Stat             HGA-APME Station Keeping Function

  1        ESRW                 ESR Warning Flag

  2        ESR_GyroSet          ESR Gyro Setting **{1}**

  3        ESR_Mon              ESR Detection Function

  4        ExpMon               Experiment Monitoring

  5        FreeProcess          Trouble-Shooting Function **{1}**

  6        GyroMon              Gyro Monitoring **{1}**

  7        HGA_Mon              HGA-APME Monitoring Function

  8        HGA_Nom              HGA-APME Nominal Control Function

  9        IIDE                 Inter-Instrument Data Exchange

  10       ISA_SAD              ISA and SAD Function **{1}**

  11       MinMaxMon            Min/max Recording Function

  12       RAAD_Mon             RAAD Monitoring **{1}**

  13       StartUpDld           Start-Up Function

  14       StdMon               Standard Monitoring

  15       SubHeatMon           Substitution Heater Monitoring

  16       TC_WD                Telecommand Watchdog Function

  17       TR_ThmCtrl           Mode 3 Thermal Control

  18       TR_ThmMon            Mode 3 Thermal Monitoring

  19       ThmCtrl              Thermal Control

  20       ThmMon               Thermal Monitoring

  21       ThrusterMon          Thruster Monitoring

  **22**   **ACU_ResetMon**     **ACU Reset Monitoring {2}**

  **23**   **CRP_FlagMon**      **CRP Flag Monitoring {2}**

  **24**   **RW_SpeedMon**      **RW Speed Monitoring {2}**

  **25**   **HxFlagMon**        **Hx Flag Monitoring {2}**

  **26**   **ExpOffPointing**   **Experiment Off-pointing Warning Message
                                {2}**

  27..30   Don't care           \-

  **31**   **Reserved**         **Gyroless Functions Installed indication;
                                must be 0**
  ----------------------------------------------------------------------------

[]{#_Ref452634305 .anchor}Table 3 -- Functions Warm Start-Up Table

Note:

-   The authorize/inhibit status for a function has a meaning only if
    the function exists **after** the start-up. There are two cases:

1.  Normally, e.g. after reconfiguration or reset, BOOTSTRAP loads the
    original COBS from PROM, discarding the Gyroless functions. Bits
    marked {2} have no meaning in this case.

2.  The only exception is when INITIALIZATION mode is entered directly
    through the TCM *Software Mode Change*, thereby bypassing BOOTSTRAP.
    In this case, the Gyroless patch is still effective and bits marked
    {1} have no meaning.

-   Bit 31 is reserved for the *Gyroless Functions Installed*
    indication. In order for this indication to be correct after a
    reconfiguration or reset, this bit must be zero.

### Define Execution Profile of Process (KNK0C000)

The *Process Id* parameter is interpreted according to the following
table. Changes compared to original COBS are shown in boldface.

  ------------------------------------------------------------------------
  *Name*                            *Process Id*         *No. of
                                                         processes*
  --------------------------------- -------------------- -----------------
  ESRW                              1                    1

  **ACU_ResetMon**                  **2**                1

  ESR_Mon                           3                    1

  ExpMon                            4                    1

  **ExpOffPointing**                **5**                1

  **CRP_FlagMon**                   **6**                1

  HGA_Mon                           7                    1

  HGA_Nom                           8                    1

  HGA_Stat                          9                    1

  IIDE                              10                   1

  **RW_SpeedMon**                   **11**               1

  **HxFlagMon**                     **12**               1

  StartUpDld                        13                   1

  SubHeatMon                        14                   1

  TC_WD                             15                   1

  ThrusterMon                       16                   1

  MinMaxMon                         17..41               25

  StdMon                            42..76               35

  TR_ThmCtrl                        77..78               2

  TR_ThmMon                         79..80               2

  ThmCtrl                           81..180              100

  ThmMon                            181..280             100
  ------------------------------------------------------------------------

[]{#_Ref452634594 .anchor}Table 4 - Process Id

### Reset Corrective Action Status (KNK24000)

Note:

-   The corrective action triggered status for the Gyroless functions
    are reset as well.

### Trigger Corrective Action for Gyro Monitoring (KNK51000)

This TCM has no effect except being acknowledged.

## Load Memory Interface

### General

Commands and parameters that are specific to the Gyroless functions are
accessed by means of the TCM *Load Memory* (KNK2C000). This section
identifies the commands and parameters concerned.

Each command or parameter occupies one single memory address. It can be
controlled independently or as part of a parameter block on consecutive
addresses. This may be done while functions are authorized, but note
that each function may execute between each pair of TCM's, using the
newly modified value(s). Memory protection need not be disabled.

Examples:

-   Format of TCM to modify a single parameter or perform a single
    command:

  -------------------------------------------------------- --------------
  "KNK2C000"                                               0

  Address (FCxx~H~)                                        1

  Value                                                    2
  -------------------------------------------------------- --------------

-   Format of TCM to modify *n* parameters on consecutive addresses on a
    single occasion in relation to the Gyroless functions:

  -------------------------------------------------------- --------------
  "KNK2C000"                                               0

  Address of 1^st^ parameter                               1

  Value of 1^st^ parameter                                 2

  Value of 2^nd^ parameter                                 3

  \...                                                     ..

  Value of *n*^th^ parameter                               *n*+1
  -------------------------------------------------------- --------------

Caution:

-   Using incorrect memory addresses may hazard the integrity of COBS.
    The addresses to be used for accessing Gyroless commands and
    parameters ranges from FC00~H~ through FC12~H~.

### Initialize Gyroless Functions

The Gyroless functions can be (re-)initialized by writing to the address
specified below. All Gyroless parameters and internal data/states will
take their default values. Furthermore, the Gyroless functions will be
disabled, their execution profiles set to 1 Hz execution, and their
corrective actions disabled.

  ---------- ---------------- ---------- -------------------------------------
  *Address   *Label*          *Format*   *Command*
  (hex)*                                 

  FC00       InitGyroless     all-ones   Initialize Gyroless Functions
  ---------- ---------------- ---------- -------------------------------------

Table 5 - Address of Gyroless initialization command

Formats:

all-ones: FFFF~H~ =\> Perform initialization

other =\> No action

### Enable/Disable Corrective Action for Gyroless Functions

The corrective actions for the Gyroless functions can be enabled or
disabled by writing to the following addresses:

  ---------- ---------------- ---------- -------------------------------------
  *Address   *Label*          *Format*   *Command*
  (hex)*                                 

  FC01       CAS_ACU_Reset    toggle     Enable/Disable CA for ACU Reset
                                         Monitoring

  FC02       CAS_CRP_Flag     toggle     Enable/Disable CA for CRP Flag
                                         Monitoring

  FC03       CAS_RW_Speed     toggle     Enable/Disable CA for RW Speed
                                         Monitoring

  FC04       CAS_HxFlag       toggle     Enable/Disable CA for Hx Flag
                                         Monitoring
  ---------- ---------------- ---------- -------------------------------------

Table 6 - Addresses of Gyroless CA enable/disable commands

Formats:

toggle: 0000~H~ =\> Disable

> FFFF~H~ =\> Enable

other =\> No action

Note:

-   The current corrective action enable/disable status is transmitted
    in §0.

-   The Experiment Off-Pointing Warning Message function has no
    corrective action associated, but a list of experiments to warn, see
    *OffPointingExpSet* parameter in Table 7.

### Define Parameters for Gyroless Functions

The specific Gyroless parameters can be modified by writing to the
following addresses:

+------+---------------+-------+------------------------------+------+
| *Add | *Label*       | *Fo   | *Parameter*                  | *    |
| ress |               | rmat* |                              | Init |
| (h   |               |       |                              | ial* |
| ex)* |               |       |                              |      |
|      |               |       |                              | *va  |
|      |               |       |                              | lue* |
+------+---------------+-------+------------------------------+------+
| FC05 | AC            | in    | Filter value for ACU Reset   | 1    |
|      | U_ResetFilter | teger | Monitoring                   |      |
+------+---------------+-------+------------------------------+------+
| FC06 | C             | in    | Filter value for CRP Flag    | 1    |
|      | RP_FlagFilter | teger | Monitoring                   |      |
+------+---------------+-------+------------------------------+------+
| FC07 | R             | in    | Filter value for RW Speed    | 1    |
|      | W_SpeedFilter | teger | Monitoring                   |      |
+------+---------------+-------+------------------------------+------+
| FC08 | RW_SpeedMin   | rw    | RW1 minimim speed threshold  | -    |
|      | (1)           | speed |                              | 4095 |
+------+---------------+-------+------------------------------+------+
| FC09 | RW_SpeedMin   | rw    | RW2 minimim speed threshold  | -    |
|      | (2)           | speed |                              | 4095 |
+------+---------------+-------+------------------------------+------+
| FC0A | RW_SpeedMin   | rw    | RW3 minimim speed threshold  | -    |
|      | (3)           | speed |                              | 4095 |
+------+---------------+-------+------------------------------+------+
| FC0B | RW_SpeedMin   | rw    | RW4 minimim speed threshold  | -    |
|      | (4)           | speed |                              | 4095 |
+------+---------------+-------+------------------------------+------+
| FC0C | RW_SpeedMax   | rw    | RW1 maximum speed threshold  | +    |
|      | (1)           | speed |                              | 4095 |
+------+---------------+-------+------------------------------+------+
| FC0D | RW_SpeedMax   | rw    | RW2 maximum speed threshold  | +    |
|      | (2)           | speed |                              | 4095 |
+------+---------------+-------+------------------------------+------+
| FC0E | RW_SpeedMax   | rw    | RW3 maximum speed threshold  | +    |
|      | (3)           | speed |                              | 4095 |
+------+---------------+-------+------------------------------+------+
| FC0F | RW_SpeedMax   | rw    | RW4 maximum speed threshold  | +    |
|      | (4)           | speed |                              | 4095 |
+------+---------------+-------+------------------------------+------+
| FC10 | HxFlagFilter  | in    | Filter value for Hx Flag     | 1    |
|      |               | teger | Monitoring                   |      |
+------+---------------+-------+------------------------------+------+
| FC11 | OffP          | in    | Filter value for Experiment  | 1    |
|      | ointingFilter | teger | Off-pointing                 |      |
+------+---------------+-------+------------------------------+------+
| FC12 | OffP          | e     | Set of experiments to        | None |
|      | ointingExpSet | xpset | receive off-pointing warning |      |
|      |               |       | message                      |      |
+------+---------------+-------+------------------------------+------+

[]{#_Ref452705708 .anchor}Table 7 - Addresses of specific Gyroless
parameters

Formats:

integer: 16-bit signed integer (2's complement)

rwspeed: RW speed on the format provided by the AOCS Hk1 packet:

bit 0: 1 =\> positive (CW); 0 =\> negative (CCW)

bits 4-15: 12-bit unsigned integer

others: don't care

expset: One bit per experiment:

bit 6: LASCO

bit 7: MDI

bit 8: SUMER

bit 10: UVCS

others: don't care

1 =\> Send off-pointing warning message to experiment

0 =\> Do not send warning message to experiment

Note:

-   Filter values \< 1 will behave as 1.

-   The off-pointing warning message is different for each experiment,
    see \[GLSPEC\].

# TELEMETRY

## Changes/Addenda to Permanent Part

### Function Authorization Status (§0, offset 17..18)

The bit-map of the *Function Authorization Status* table (FAS) is shown
in the following table. Changes compared to original COBS are shown in
boldface.

  ------------------------------------------------------------------------------
  *Bit*    *Mnemonic*              *Function*
  -------- ----------------------- ---------------------------------------------
  0        HGA_Stat                HGA-APME Station Keeping Function

  1        ESRW                    ESR Warning Flag

  **2**    **Don't care**          **-**

  3        ESR_Mon                 ESR Detection Function

  4        ExpMon                  Experiment Monitoring

  **5**    **Don't care**          **-**

  **6**    **Don't care**          **-**

  7        HGA_Mon                 HGA-APME Monitoring Function

  8        HGA_Nom                 HGA-APME Nominal Control Function

  9        IIDE                    Inter-Instrument Data Exchange

  **10**   **Don't care**          **-**

  11       MinMaxMon               Min/max Recording Function

  **12**   **Don't care**          **-**

  13       StartUpDld              Start-Up Function

  14       StdMon                  Standard Monitoring

  15       SubHeatMon              Substitution Heater Monitoring

  16       TC_WD                   Telecommand Watchdog Function

  17       TR_ThmCtrl              Mode 3 Thermal Control

  18       TR_ThmMon               Mode 3 Thermal Monitoring

  19       ThmCtrl                 Thermal Control

  20       ThmMon                  Thermal Monitoring

  21       ThrusterMon             Thruster Monitoring

  **22**   **ACU_ResetMon**        **ACU Reset Monitoring**

  **23**   **CRP_FlagMon**         **CRP Flag Monitoring**

  **24**   **RW_SpeedMon**         **RW Speed Monitoring**

  **25**   **HxFlagMon**           **Hx Flag Monitoring**

  **26**   **ExpOffPointing**      **Experiment Off-pointing Warning Message**

  27..30   Don't care              \-

  **31**   **GyrolessInstalled**   **Gyroless Functions Installed indication;
                                   reads 1**
  ------------------------------------------------------------------------------

Table 8 -- Function Authorization Status Table

Note:

-   Bit 31 does not represent an ordinary function, but is used to
    indicate that the Gyroless functions patch is effective.

### Corrective Action Enable/Disable Status (§0, offset 101..103)

The bit-map of the *Corrective Action Enable/Disable Status* table (CAS)
is shown in the following table. Changes compared to original COBS are
shown in boldface.

  -----------------------------------------------------------------------
  *Bit*          *Corrective Action*
  -------------- --------------------------------------------------------
  0              Experiment Monitoring

  1              **Undefined**

  2              HGA Monitoring

  3..37          Standard Monitoring, entries 1..35

  38             Substitution Heater Monitoring

  39             TR Thermal Monitoring

  40             Thermal Monitoring

  41             Thruster Monitoring

  **42**         **ACU Reset Monitoring**

  **43**         **CRP Flag Monitoring**

  **44**         **RW Speed Monitoring**

  **45**         **Hx Flag Monitoring**

  46..47         Undefined
  -----------------------------------------------------------------------

Table 9 -- Corrective Action Status Table

### Corrective Action Triggered Status (§0, offset 104..106)

The bit-map of the *Corrective Action Triggered Status* table (CAT) is
shown in Table 9 above.

## Changes/Addenda to Programmable Part, Group 1

### Functions Warm Start-Up Table (§1, offset 1..2)

The bit-map of the *Functions Warm Start-Up Table* (WAR) is shown in
Table 3, page [9](#_Ref452634305).

### Process Execution Profiles (§1, offset 3..18)

The *Process numbering* (*i* in 1..16) is the same as the process id
shown in Table 4, page [10](#_Ref452634594).

## Dump Memory Interface

The parameters for the Gyroless functions are telemetered by means of
the TCM *Dump Memory* (KNK2F000). Start address and parameter formats
are given by Table 7, page [13](#_Ref452705708).

The TCM's to initiate telemetry of Gyroless parameters in §4 thus
become:

1.  *Dump Memory*:

  -------------------------------------------------------- --------------
  "KNK2F000"                                               0

  FC05~H~                                                  1
  -------------------------------------------------------- --------------

2.  *Select Item for Software Packet Programmable Part*:

  -------------------------------------------------------- --------------
  "KNK20000"                                               0

  0004~H~                                                  1

  0000~H~                                                  2
  -------------------------------------------------------- --------------

Note:

-   The data transmitted in §4 always reflects the current memory
    contents.

# ANOMALIES

The Gyroless functions add one anomaly each with id's 93~H~ through
97~H~:

**«ACU_ResetMon»** ACU reset detected

Data 0: Anomaly id (93~H~)

Data 1..5: 0

Ensuing action: Corrective action triggered if enabled.

Probable cause: ACU indicates memory parity error or watchdog elapsed.

**«CRP_FlagMon»** CRP flag detected

Data 0: Anomaly id (94~H~)

Data 1: AOCS active mode (4 =\> RMW, 7 =\> NM)

Data 2..5: 0

Ensuing action: Corrective action triggered if enabled.

Probable cause: AOCS indicates CRP flag when in NM or RMW mode.

**«RW_SpeedMon»** RW speed outside limits

Data 0: Anomaly id (95~H~)

Data 1: RW number (in the range 1..4)

Data 2..5: 0

Ensuing action: Corrective action triggered if enabled.

Probable cause: RW speed exceeds the expected limits.

**«Hx_FlagMon»** Hx flag detected

Data 0: Anomaly id (96~H~)

Data 1..5: 0

Ensuing action: Corrective action triggered if enabled.

Probable cause: AOCS indicates that the wheels X-axis momentum exceeds
expected limits.

**«ExpOffPointing»** Experiment off-pointing warning

Data 0: Anomaly id (97~H~)

Data 1..5: 0

Ensuing action: Off-pointing warning messages are sent to preselected
set of experiments.

Probable cause: AOCS indicates unexpected off-pointing.

[^1]: The start-up mode will be that indicated by the latest BOOTSTRAP
    execution (reported in §0, *Start-up mode*) rather than be
    re-evaluated.