+-----------------------------------------------------------------------+
| Title                                                                 |
+-----------------------------------------------------------------------+
| SOHO Gyroless                                                         |
|                                                                       |
| \- User's Manual -                                                    |
+-----------------------------------------------------------------------+

+----------+----------------------------------+------+----------------+
|          | **Name and Function**            | **Da | **Signature**  |
|          |                                  | te** |                |
+----------+----------------------------------+------+----------------+
| **       | **L. BRETT** Operations          | 16/0 |                |
| Prepared |                                  | 7/99 |                |
| by :**   | **M. CHALOUPY** Operations       |      |                |
|          |                                  |      |                |
|          | **F.TERRON** Dependability Eng.  |      |                |
|          |                                  |      |                |
|          | **M. JANVIER** AOCS design Mgr   |      |                |
+----------+----------------------------------+------+----------------+
| **       | **M. JANVIER** AOCS design Mgr   | 16/0 |                |
| Verified |                                  | 7/99 |                |
| by :**   |                                  |      |                |
+----------+----------------------------------+------+----------------+
| **       | **B. POUZET** Product Assurance  | 16/0 |                |
| Approved |                                  | 7/99 |                |
| by :**   |                                  |      |                |
+----------+----------------------------------+------+----------------+
| Au       | **E. BEAUFUME** Gyroless         | 16/0 |                |
| thorised | Project. Manager                 | 7/99 |                |
| by :     |                                  |      |                |
+----------+----------------------------------+------+----------------+
| **Appli  | **B. ANDRAU** DSO/Engineering &  | 16/0 |                |
| cation** | Ops department Manager           | 7/99 |                |
|          |                                  |      |                |
| **au     |                                  |      |                |
| thorised |                                  |      |                |
| by :**   |                                  |      |                |
+----------+----------------------------------+------+----------------+

  ----------------- ------------- ---------------------------------------
  **Document type** **Nb WBS**    **Keywords :**

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

The copyright in this document is the property of Matra Marconi Space
France and the contents may not be\
reproduced or revealed to third parties without prior permission of that
company in writing.

  -----------------------------------------------------------------------
  SUMMARY

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

The aim of the SOHO gyroless user's manual is to describes the new
operational concept related to gyroless operations for the SOHO
satellite.

  -----------------------------------------------------------------------
  Document controlled by : E. BEAUFUME

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

  -----------------------------------------------------------------------
  DOCUMENT CHANGE LOG

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

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**TABLE OF CONTENTS**

# 1 GLOSSARY OF ABBREVIATIONS [10](#glossary-of-abbreviations) {#glossary-of-abbreviations-10 .TOC-1}

# 2 OVERVIEW [19](#overview) {#overview-19 .TOC-1}

# 2.1 Reference Documentation [19](#reference-documentation) {#reference-documentation-19 .TOC-2}

# 2.2 Applicable documentation [20](#applicable-documentation) {#applicable-documentation-20 .TOC-2}

# 2.3 Applicability of the ORIGINAL SOHO user's manual (SH-MAT-UM-13687) [21](#applicability-of-the-original-soho-users-manual-sh-mat-um-13687) {#applicability-of-the-original-soho-users-manual-sh-mat-um-13687-21 .TOC-2}

2.3.1 Part 1 - System user\'s manual [21](#part-1---system-users-manual)

2.3.2 Part 2- AOCS subsystem user\'s manual
[22](#part-2--aocs-subsystem-users-manual)

2.3.3 Part 3 - PROS subsystem user\'s manual
[23](#part-3---pros-subsystem-users-manual)

2.3.4 Part 4 - PTCS subsystem user\'s manual
[23](#part-4---ptcs-subsystem-users-manual)

2.3.5 Part 5 - STCS subsystem user\'s manual
[23](#part-5---stcs-subsystem-users-manual)

2.3.6 Part 6 - EPSS and SGSS user\'s manual
[23](#part-6---epss-and-sgss-users-manual)

2.3.7 Part 7 - DHSS and COBS users manual
[24](#part-7---dhss-and-cobs-users-manual)

2.3.8 Part 8 - ANTS subsystem user\'s manual
[25](#part-8---ants-subsystem-users-manual)

2.3.9 Part 9 - Contingency operations
[25](#part-9---contingency-operations)

2.3.10 Part 10 - Annexes [25](#part-10---annexes)

2.3.11 Part 11 Experiments User\'s manuals
[25](#part-11-experiments-users-manuals)

2.3.12 Part 12 Procedures [26](#part-12-procedures)

# 3 Gyroless modes [37](#gyroless-modes-1) {#gyroless-modes-37 .TOC-1}

# 3.1 Introduction [37](#introduction) {#introduction-37 .TOC-2}

# 3.2 Gyroless modes [38](#gyroless-modes-2) {#gyroless-modes-38 .TOC-2}

# 3.3 ESR mode [41](#esr-mode) {#esr-mode-41 .TOC-2}

3.3.1 Presentation [41](#presentation)

3.3.2 ESR divergence and Roll rate control in ESR
[41](#esr-divergence-and-roll-rate-control-in-esr)

3.3.3 Pitch or yaw braking in ESR [46](#pitch-or-yaw-braking-in-esr)

3.3.4 ESR operational constraints [49](#esr-operational-constraints)

# 3.4 Stand-by mode [50](#stand-by-mode) {#stand-by-mode-50 .TOC-2}

3.4.1 Presentation [50](#presentation-1)

3.4.2 Transition to CRP [50](#transition-to-crp)

3.4.2.1 The CRP entry principle [50](#the-crp-entry-principle)

3.4.2.2 Roll Rate Measurement and trim principle
[51](#roll-rate-measurement-and-trim-principle)

3.4.2.2.1 Case of nominal subset and 1/3/4 subset : measurement with
pitch momentum
[52](#case-of-nominal-subset-and-134-subset-measurement-with-pitch-momentum)

3.4.2.2.2 Case of 2/3/4 subset and 1/2/4 subset: measurement with yaw
momentum
[55](#case-of-234-subset-and-124-subset-measurement-with-yaw-momentum)

3.4.2.2.3 The roll rate trim [58](#the-roll-rate-trim)

3.4.2.3 Pitch and Yaw rate measurement and trim principle
[59](#pitch-and-yaw-rate-measurement-and-trim-principle)

3.4.2.4 Initial Roll Rate and timing of the operations
[60](#initial-roll-rate-and-timing-of-the-operations)

3.4.3 Stand-by mode operational constraints
[60](#stand-by-mode-operational-constraints)

# 3.5 CRP mode [62](#crp-mode) {#crp-mode-62 .TOC-2}

3.5.1 Presentation [62](#presentation-2)

3.5.2 The CRS sensor [62](#the-crs-sensor)

3.5.2.1 The CRS principle [62](#the-crs-principle)

3.5.2.2 The CRS algorithms [65](#the-crs-algorithms)

3.5.2.3 The reaction wheels filter algorithms
[65](#the-reaction-wheels-filter-algorithms)

3.5.2.4 The CRS drift estimation algorithms
[70](#the-crs-drift-estimation-algorithms)

3.5.2.5 The CRS performance [71](#the-crs-performance)

3.5.3 The CRP control laws [72](#the-crp-control-laws)

3.5.3.1 Pitch and yaw control laws [73](#pitch-and-yaw-control-laws)

3.5.3.2 Roll control in CRP [74](#roll-control-in-crp)

3.5.4 Attitude profiles in CRP [77](#attitude-profiles-in-crp)

3.5.4.1 Roll Manoeuvres [77](#roll-manoeuvres)

3.5.4.2 Pitch and yaw attitude trims [77](#pitch-and-yaw-attitude-trims)

3.5.5 Transitions into CRP [80](#transitions-into-crp)

3.5.5.1 Initialisations for control [80](#initialisations-for-control)

3.5.5.2 Others initialisations [80](#others-initialisations)

3.5.6 Transition to RMW [81](#transition-to-rmw)

3.5.7 Control performances in CRP [82](#control-performances-in-crp)

3.5.7.1 Pitch and yaw performances [82](#pitch-and-yaw-performances)

3.5.7.2 Roll steady state performances
[82](#roll-steady-state-performances)

3.5.7.3 Roll performances during pitch and yaw attitude trims
[82](#roll-performances-during-pitch-and-yaw-attitude-trims)

3.5.7.4 Roll performances in roll manoeuvres
[83](#roll-performances-in-roll-manoeuvres)

3.5.7.5 Miscellaneous performances [84](#miscellaneous-performances)

3.5.8 CRS and CRP operational constraints
[87](#crs-and-crp-operational-constraints)

3.5.8.1 CRP constraints [87](#crp-constraints)

3.5.8.2 CRP to RMW transition [88](#crp-to-rmw-transition)

3.5.8.3 CRS constraints [88](#crs-constraints)

3.5.8.4 Various notes : [89](#various-notes)

# 3.6 RMW mode [90](#rmw-mode) {#rmw-mode-90 .TOC-2}

3.6.1 Presentation [90](#presentation-3)

3.6.2 Maneuvers using thrusters in RMW
[91](#maneuvers-using-thrusters-in-rmw)

3.6.2.1 Presentation and general items
[91](#presentation-and-general-items)

3.6.2.2 The momentum management phase
[92](#the-momentum-management-phase)

3.6.2.3 RW4 maintenance phase [96](#rw4-maintenance-phase)

3.6.2.4 The station keeping phase [96](#the-station-keeping-phase)

3.6.3 The RMW control algorithms [100](#the-rmw-control-algorithms)

3.6.3.1 Pitch and Yaw control in RMW
[100](#pitch-and-yaw-control-in-rmw)

3.6.3.2 Roll control in RMW [101](#roll-control-in-rmw)

3.6.4 Attitude profile in RMW [102](#attitude-profile-in-rmw)

3.6.4.1 Roll trims [102](#roll-trims)

3.6.4.2 Pitch and yaw attitude trims
[102](#pitch-and-yaw-attitude-trims-1)

3.6.5 Transitions into RMW [102](#transitions-into-rmw)

3.6.6 Transition to Normal Mode [103](#transition-to-normal-mode)

3.6.7 RMW operational constraints [103](#rmw-operational-constraints)

3.6.7.1 RMW mode operations [103](#rmw-mode-operations)

3.6.7.2 Thruster manoeuvres in RMW [103](#thruster-manoeuvres-in-rmw)

# 3.7 Normal Mode, NM [106](#normal-mode-nm) {#normal-mode-nm-106 .TOC-2}

3.7.1 Presentation [106](#presentation-4)

3.7.2 The PCPG algorithm [106](#the-pcpg-algorithm)

3.7.3 The Roll Steering Law [107](#the-roll-steering-law)

3.7.4 The experiment off pointing warning function
[109](#the-experiment-off-pointing-warning-function)

3.7.5 The NM control algorithms [109](#the-nm-control-algorithms)

3.7.5.1 Pitch and Yaw control in NM [110](#pitch-and-yaw-control-in-nm)

3.7.5.2 Roll control in NM [111](#roll-control-in-nm)

3.7.6 Attitude profile in NM [111](#attitude-profile-in-nm)

3.7.6.1 Roll trims [111](#roll-trims-1)

3.7.6.2 Pitch and yaw attitude trims
[111](#pitch-and-yaw-attitude-trims-2)

3.7.7 NM operational constraints [111](#nm-operational-constraints)

# 3.8 AOCS additional features [113](#aocs-additional-features) {#aocs-additional-features-113 .TOC-2}

3.8.1 The attitude profile algorithm
[113](#the-attitude-profile-algorithm)

3.8.1.1 Presentation [113](#presentation-5)

3.8.1.2 Algorithms [114](#algorithms)

3.8.1.3 Performance and interference with monitoring functions
[115](#performance-and-interference-with-monitoring-functions)

3.8.2 Protection against SEU\'s and SSU outages
[118](#protection-against-seus-and-ssu-outages)

3.8.2.1 Presentation of selected principles
[118](#presentation-of-selected-principles)

3.8.2.2 The staircase filter and tuning
[118](#the-staircase-filter-and-tuning)

3.8.2.3 The Z spike filter and tuning
[119](#the-z-spike-filter-and-tuning)

3.8.2.4 Initialisations at modes transition and at star swaps
[120](#initialisations-at-modes-transition-and-at-star-swaps)

3.8.3 The star swap, star eligibility, and implications in algorithms
and operations
[121](#the-star-swap-star-eligibility-and-implications-in-algorithms-and-operations)

3.8.3.1 The star swap principle [121](#the-star-swap-principle)

3.8.3.2 The star swap implementation in software
[122](#the-star-swap-implementation-in-software)

3.8.3.2.1 The control reference in RMW and NM modes for the roll axis
[122](#the-control-reference-in-rmw-and-nm-modes-for-the-roll-axis)

3.8.3.2.2 Handling of eligibility [128](#handling-of-eligibility)

3.8.3.2.3 Initialisation of RSL offsets
[130](#initialisation-of-rsl-offsets)

3.8.3.2.4 Initialisations at mode transitions and at change of control
star
[130](#initialisations-at-mode-transitions-and-at-change-of-control-star)

3.8.3.3 Implication of spacecraft dynamics
[131](#implication-of-spacecraft-dynamics)

3.8.3.4 Implication in operations and principles for star selection.
[134](#implication-in-operations-and-principles-for-star-selection.)

3.8.3.5 The searching / tracking restricted mode
[135](#the-searching-tracking-restricted-mode)

3.8.4 The roll attitude telemetry [135](#the-roll-attitude-telemetry)

3.8.4.1 The roll attitude telemetry principle
[135](#the-roll-attitude-telemetry-principle)

3.8.4.2 Implication of spacecraft dynamics
[136](#implication-of-spacecraft-dynamics-1)

3.8.5 The Hx monitoring [138](#the-hx-monitoring)

3.8.6 The RW speed monitoring [141](#the-rw-speed-monitoring)

3.8.7 Operational constraints stemming from AOCS additional features
[141](#operational-constraints-stemming-from-aocs-additional-features)

3.8.7.1 Attitude profiles [141](#attitude-profiles)

3.8.7.2 SEU protection [142](#seu-protection)

3.8.7.3 Hx monitoring and RW speed monitoring
[142](#hx-monitoring-and-rw-speed-monitoring)

*3.8.7.4* *Star handling and associated items*
[143](#star-handling-and-associated-items)

# 3.9 AOCS configuration [145](#aocs-configuration) {#aocs-configuration-145 .TOC-2}

3.9.1 FDE [145](#fde)

3.9.1.1 ESR status [145](#esr-status)

3.9.1.2 FDE power [145](#fde-power)

3.9.1.3 Roll criteria [145](#roll-criteria)

3.9.1.4 Pressure criteria [146](#pressure-criteria)

3.9.1.5 Sun pointing criteria [146](#sun-pointing-criteria)

3.9.2 AOCS units [146](#aocs-units)

3.9.3 AOCS monitorings [147](#aocs-monitorings)

3.9.4 Others [147](#others)

3.9.4.1 Old IRU\'s [147](#old-irus)

3.9.4.2 Miscellaneous [148](#miscellaneous)

# 3.10 COBS gyroless functions [149](#cobs-gyroless-functions) {#cobs-gyroless-functions-149 .TOC-2}

3.10.1 Unused functions [150](#unused-functions)

3.10.2 Warm start-up / Chilly start-up
[150](#warm-start-up-chilly-start-up)

3.10.3 Thruster on-time monitoring [150](#thruster-on-time-monitoring)

3.10.4 ESR detection [150](#esr-detection)

3.10.5 ACU reset monitoring [151](#acu-reset-monitoring)

3.10.6 Hx flag monitoring [152](#hx-flag-monitoring)

3.10.7 RW speed monitoring [154](#rw-speed-monitoring)

3.10.8 CRP flag monitoring [156](#crp-flag-monitoring)

3.10.9 Experiments off-pointing warning message
[158](#experiments-off-pointing-warning-message)

# 3.11 Gyroless FDIR principles [160](#gyroless-fdir-principles) {#gyroless-fdir-principles-160 .TOC-2}

# 3.12 Gyroless contingency analysis [161](#gyroless-contingency-analysis) {#gyroless-contingency-analysis-161 .TOC-2}

# 3.13 Ground constraints -- Satellite autonomy [162](#ground-constraints-satellite-autonomy) {#ground-constraints-satellite-autonomy-162 .TOC-2}

# 4 GROUND SUPPORT SOFTWARE [165](#ground-support-software-1) {#ground-support-software-165 .TOC-1}

# 4.1 ESR and ESR exit [165](#esr-and-esr-exit) {#esr-and-esr-exit-165 .TOC-2}

# 4.2 CRP / CRS [165](#crp-crs) {#crp-crs-165 .TOC-2}

# 4.3 Attitude maneuvers [166](#attitude-maneuvers) {#attitude-maneuvers-166 .TOC-2}

# 4.4 Station keeping and momentum management maneuvers [166](#station-keeping-and-momentum-management-maneuvers) {#station-keeping-and-momentum-management-maneuvers-166 .TOC-2}

# 4.5 Others [167](#others-1) {#others-167 .TOC-2}

# 5 Gyroless database [168](#gyroless-database-1) {#gyroless-database-168 .TOC-1}

# 5.1 Introduction [168](#introduction-1) {#introduction-168 .TOC-2}

# 5.2 TM summary [169](#tm-summary) {#tm-summary-169 .TOC-2}

# 5.3 Calibration curves [175](#calibration-curves) {#calibration-curves-175 .TOC-2}

# 5.4 Monitoring limits [178](#monitoring-limits) {#monitoring-limits-178 .TOC-2}

# 5.5 Updated limits - Miscellaneous [181](#updated-limits---miscellaneous) {#updated-limits---miscellaneous-181 .TOC-2}

# 5.6 TC summary [184](#tc-summary) {#tc-summary-184 .TOC-2}

# 5.7 Gyroless Expected TM states [193](#gyroless-expected-tm-states) {#gyroless-expected-tm-states-193 .TOC-2}

# 5.8 TC to be deleted [204](#tc-to-be-deleted) {#tc-to-be-deleted-204 .TOC-2}

# 6 Gyroless PROCEDURES [205](#gyroless-procedures-1) {#gyroless-procedures-205 .TOC-1}

# 6.1 Introduction [205](#introduction-2) {#introduction-205 .TOC-2}

# 6.2 ESR_RECOVERY_GYROLESS [206](#esr_recovery_gyroless) {#esr_recovery_gyroless-206 .TOC-2}

6.2.1 Introduction [206](#introduction-3)

6.2.2 Constraints [206](#constraints)

6.2.3 Procedure [206](#procedure)

# 6.3 PROFILE_IN_CRP_GYROLESS [208](#profile_in_crp_gyroless) {#profile_in_crp_gyroless-208 .TOC-2}

6.3.1 Introduction [208](#introduction-4)

6.3.2 Constraints [208](#constraints-1)

6.3.3 Procedure [208](#procedure-1)

# 6.4 CRP_TO_RMW_GYROLESS [210](#crp_to_rmw_gyroless) {#crp_to_rmw_gyroless-210 .TOC-2}

6.4.1 Introduction [210](#introduction-5)

6.4.2 Constraints [210](#constraints-2)

6.4.3 Procedure [210](#procedure-2)

# 6.5 RMW_TO_CRP_GYROLESS [211](#rmw_to_crp_gyroless) {#rmw_to_crp_gyroless-211 .TOC-2}

6.5.1 Introduction [211](#introduction-6)

6.5.2 Constraints [211](#constraints-3)

6.5.3 Procedure [211](#procedure-3)

# 6.6 MM_SK_RMW_GYROLESS [212](#mm_sk_rmw_gyroless) {#mm_sk_rmw_gyroless-212 .TOC-2}

6.6.1 Introduction [212](#introduction-7)

6.6.2 Constraints [212](#constraints-4)

6.6.3 Procedure [212](#procedure-4)

# 6.7 PROFILE_IN_RMW_NM_GYROLESS [214](#profile_in_rmw_nm_gyroless) {#profile_in_rmw_nm_gyroless-214 .TOC-2}

6.7.1 Introduction [214](#introduction-8)

6.7.2 Constraints [214](#constraints-5)

6.7.3 Procedure [214](#procedure-5)

# 6.8 RMW_TO_NM_GYROLESS [215](#rmw_to_nm_gyroless) {#rmw_to_nm_gyroless-215 .TOC-2}

6.8.1 Introduction [215](#introduction-9)

6.8.2 Constraints [215](#constraints-6)

6.8.3 Procedure [215](#procedure-6)

# 6.9 NM_TO\_ RMW \_GYROLESS [216](#nm_to_-rmw-_gyroless) {#nm_to_-rmw-_gyroless-216 .TOC-2}

6.9.1 Introduction [216](#introduction-10)

6.9.2 Constraints [216](#constraints-7)

6.9.3 Procedure [216](#procedure-7)

# 6.10 ROUTINE_OPERATIONS_GYROLESS [217](#routine_operations_gyroless) {#routine_operations_gyroless-217 .TOC-2}

6.10.1 Introduction [217](#introduction-11)

6.10.2 Constraints [217](#constraints-8)

6.10.3 Procedure [217](#procedure-8)

# 6.11 ACU_SW_LOAD_IN_NM_GYROLESS [218](#acu_sw_load_in_nm_gyroless) {#acu_sw_load_in_nm_gyroless-218 .TOC-2}

# 6.12 CRP_RECOVERY_GYROLESS [219](#crp_recovery_gyroless) {#crp_recovery_gyroless-219 .TOC-2}

6.12.1 Introduction [219](#introduction-12)

6.12.2 Constraints [219](#constraints-9)

6.12.3 Procedure [219](#procedure-9)

# 7 Annex 1. -- COBS Gyroless Functions -- Software user's manual [220](#annex-1-cobs-gyroless-functions-software-users-manual) {#annex-1.-cobs-gyroless-functions-software-users-manual-220 .TOC-1}

# 8 Annex 2. -- AOCS TM and TC INPUTS [221](#annex-2-aocs-tm-and-tc-inputs) {#annex-2.-aocs-tm-and-tc-inputs-221 .TOC-1}

# 9 ANNEX 3. - GYROLESS PROCEDURES / STEPS [222](#annex-3---gyroless-procedures-steps) {#annex-3.---gyroless-procedures-steps-222 .TOC-1}

# 10 ANNEX 4. - SOHO GYROLESS -- FDIR ANALYSIS [223](#annex-4---soho-gyroless-fdir-analysis) {#annex-4.---soho-gyroless-fdir-analysis-223 .TOC-1}

# 11 ANNEX 5. - SOHO GYROLESS -- CONTINGENCY ANALYSIS [224](#annex-5---soho-gyroless-contingency-analysis) {#annex-5.---soho-gyroless-contingency-analysis-224 .TOC-1}

# 12 ANNEX 6. - Complements to SSU user\'s manual [225](#annex-6---complements-to-ssu-users-manual) {#annex-6.---complements-to-ssu-users-manual-225 .TOC-1}

# 13 ANNEX 7. - ERRORS IN ROLL MANOEUVRES IN CRP [230](#annex-7---errors-in-roll-manoeuvres-in-crp) {#annex-7.---errors-in-roll-manoeuvres-in-crp-230 .TOC-1}

# 14 ANNEX 8. - SOHO GYROLESS AOCS ACU SOFTWARE user\'s manual [235](#annex-8---soho-gyroless-aocs-acu-software-users-manual) {#annex-8.---soho-gyroless-aocs-acu-software-users-manual-235 .TOC-1}

# 15 ANNEX 9. - SOHO AOCS ACU SOFTWARE GYROLESS UPDATE TECHNICAL NOTE [236](#annex-9---soho-aocs-acu-software-gyroless-update-technical-note) {#annex-9.---soho-aocs-acu-software-gyroless-update-technical-note-236 .TOC-1}

# 16 ANNEX 10. - SOHO AOCS ACU TELECOMMAND REQUIREMENTS DEFINITION [237](#annex-10---soho-aocs-acu-telecommand-requirements-definition) {#annex-10.---soho-aocs-acu-telecommand-requirements-definition-237 .TOC-1}

# 17 ANNEX 11. - SOHO AOCS ACU TELEMETRY PACKET REQUIREMENTS DEFINITION [238](#annex-11---soho-aocs-acu-telemetry-packet-requirements-definition) {#annex-11.---soho-aocs-acu-telemetry-packet-requirements-definition-238 .TOC-1}

# GLOSSARY OF ABBREVIATIONS

**Acronym Signification**

AAD Attitude Anomaly Detector

ACQ BUS Acquisition Bus

ACSW Attitude Control SOFTWARE

ACU Attitude Control Unit

ADC Analog to Digital Converter

AGC Automatic Gain Control

AIT Assembly, Integration and Test

AIV Assembly, Integration and Verification

ANA Analog Acquisition

ANTS Antenna Subsystem

AOCS Attitude and Orbit Control Subsystem

AOS Acquisition Of Signal

APA Antenna Pointing Assembly (i.e. HGA + APMM)

APDU AOCS PDU

APM Antenna Pointing Mechanism (overall, i.e. HGA + APMM + APME)

APME Antenna Pointing Mechanism Electronics

APMM Antenna Pointing Mechanism

ARO Automatic Reconfiguration Order

ARTU AOCS RTU

ASW Address and Synchronization Word

ASW Application Software

BCP Broadcast Pulse

BCR Battery Charge Regulator

BDR Battery Discharge Regulator

BER Bit Error Rate

BOL Beginning Of Life

BPS Bit Per Second

BRU Battery Regulator Unit

BW Bandwidth

CA or C.A. Corrective Action

CAE Control Actuation Electronic

CBH Catalyst Bed Heater

CCD Charge Coupled Device

CCS Central Check-out System

CDHF Central Data Handling Facility

CDMU Central Data Management Unit

CDS Coronal Diagnostics Spectrometer

CELIAS Charge ELement and Isotope Analysis System

CEPAC COSTEP-ERNE Particle Analyser Collaboration

CMD CoMmand

COBS Central On Board Software

COG Center Of Gravity

COI Center Of Inertia

COMS SOHO Telecommunication subsystem

COSTEP Comprehensive SupraThermal and Energetic Particle analyser

COSTR Collaborative Solar-Terrestrial Research

CPM or CPMS Command Pulse Module Soho

CRP Coarse Roll Pointing mode

CRS Coarse Roll Sensor

CSP Coarse Sun Pointing Mode

CSPAAD Coarse Sun Pointing Attitude Anomaly Detector

CTU Central Terminal Unit

CUM Cluster User Manual

DB Digital Bilevel acquisition

DC Direct Command

DEC DECoder

DEM or DEMS DEModulator Soho

DFS Demodulator Frame Synchronizer

DH Data Handling

DHSS Data Handling Sub-System

DOD Depth Of Discharge

DP Daily Pulse

DR Digital Relay acquisition

DS Digital Serial acquisition

DS8 8 bit Digital Serial acquisition

DS16 16 bits Digital Serial acquisition

DSM Data System Manager (at GSFC)

DSN Deep Space Network

e.g. Exempli Gratia, for example

EAA Earth Aspect Angle

EDAC Error Detection And Correction

EDB Engineering Data Base

EEEOF European Extension of EOF

EGSE Electrical Ground Support Equipment

EHP Extended High Power Command

EICD Electrical Interface Control Document

EID Experiment Interface Document

EIDR Experiment Intermediate Design Review

EIT Extreme ultraviolet Imaging Telescope

EM Engineering Model

EMC ElectroMagnetic Compatibility

EOF Experiment Operation Facility

EOL End Of Life

EPD External Power Dumper

EPSS Electrical Power Sub-System

ERNE Energetic and Relative Nuclei and Electron experiment

ESA European Space Agency

ESD ElectroStatic Discharge

ESOC European Space Operation Center

ESR Emergency Sun Re-acquisition mode

ESTEC European Space research & Technology Center

EV EnVironnement

FCL Foldback Current Limiter

FCV Flow Control Valve

FDE Failure Detection ELectronic

FDF Flight Dynamics Facility

FDIR Failure Detection Isolation & Recovery

FDV Fill & Drain Valve

FM Flight Model

FMECA Failure Mode Effects and Critical Analysis

FOT Filght Operation Team

FOV Field Of View

FPSS Fine Pointing Sun Sensor

FPSSE or FSE FPSS Electronics

FPSSH FPSS Head

FSA Fine Sun pointing Acquisition mode

FSM or FSMS Frame Synchronizer Module Soho

FSPAAD Fine Sun Pointing Attitude Anomaly Detector

GDCF General Data Capture Facility

GEU Gyro Electronic Unit (= GME)

GME Gyroscope Management Electronics (= GEU)

GMU Gyro Mechanical Unit (= GYP)

GOLF Global Oscillation at Low Frequencies

G/S Ground Segment

GSFC Goddard Space Flight Center

GSID-A Ground/Spacecraft Interface Document Part A

GYP GYroscope Package (= GMU)

H/W Hardware

HF High Frequency Clock

HGA High Gain Antenna

HK Housekeeping

HLBP High Level Broadcast Pulse

HLBS High Level and Broadcast module Soho

HOI Halo Orbit Injection

HOP Halo Orbit Phase

HP High Power

HPA High Power Amplifier

HPRTC High Priority Real Time Command

HR High Rate

i.e. Id Est, that is

I/F InterFace

I/O Input/Output

IIA Illegal I/O Access

IIH Instrument Interface Hardware (FPSS, Tape Recorder, SSPA)

IMA Illegal Memory Access

IMT or IMTS Input Multiplexer and Thermistor module Soho

IRU Inertial Reference Unit

ISA Initial Sun Acquisition mode

ISTP International Solar & Terrestrial Program

IUB Internal User Bus

IVT Integrated Verification Test

KAL Keep Alive Line

KRCG Kernel Reconfiguration Command Group

KSC Kenedy Spce Center

L1 1st Libration point between Sun and Earth

LASCO Large Angle and Spectometric COronograph

LCL (switchable) Latchable Current Limiter

LEOP Launch and Early Orbit Phase

LGA Low Gain Antenna

LHC Left Hand Circular polarization

LOBT Local OBT

LPM Low Power Mode

LR Low Rate

LSB Least Significant Bit

LV Latch Valve

MACS Modular Attitude Control System data bus

MB Main Bus

MBH MACS Bus Head

MBRS Mother Board RTU Soho

MBT MACS Bus Terminator

MCC1 1st Mid-Course Correction manoeuvre

MDI Michelson Doppler Imager

MEA Main Error Amplifier

MECO1 1st centaur Main Engine Cut Off

MECO2 2nd centaur Main Engine Cut Off

MEOP Maximum Expected Operating Pressure

MES1 1st centaur Main Engine Start

MES2 2nd centaur Main Engine Start

MF Major Frame

ML Memory Load

ML10 Memory Load with 10 drivers

MLC or MLCS Memory Load and Clock module Soho

MLI Multi Layer Insulation (thermal blanket)

MM Momentum Management

MO&DSD Mission Operation & Data Systems Directorate

MOPC Mode of Operation Code

MPE Memory Parity Error

MR Medium Rate

MSB Most Significant Bit

MVL Majority Voting Logic

NASA National Aeronautics and Space Administration

NM Normal Mode

NPU Normal Power Up

OBDH On-Board Data Handling

OBT On-Board Time

OBTC On Board Time Check

OS Operating System

OSR Optical Surface Reflector

P/L PayLoad

PACOR PACket processOR facility

PAD Pressure Anomaly Detection

PCCS Power Converter CDMU Soho

PCPG Payload Calibration Profile Generator

PCM Pulse Code Modulation

PCRS Power Converter RTU Soho

PCU Power Control Unit

PDU Power Distribution Unit

PHAS Payload HARness Subsystem

PI (experiment) Principal Investigator

PLL Phase Lock Loop

PLM PayLoad Module

PM or PMS Processor Module Soho

POCC Payload Operations Control Center

PRCG Peripheral Reconfiguration Command Group

PROS PROpulsion Subsytem

PRTC Priority Real Time Command

PRTU PLM RTU

PSK Phase Shift Keying

PSR Power Supply part of RTU

PSTS PLM Structure Subsytem

PT Pressure Transducer

PTCS PLM Thermal Control Subsytem

PVT Pressure-Volume-Temperature

PWM Pulse Width Modulation

RAAD Roll Attitude Anomaly Detection

RAM Random Access Memory

RAO Roll Attitude Offset

RCC or RCCS Remote Control Core Soho

RD Reference Document

RF Radio Frequency

RFD Request For Deviation

RFDU RF distribution Unit

RHC Right Hand Circular polarization

RM or RMS

or RME Reconfiguration Module Soho

RMS Root Mean Square

RMW Roll Maneuvre Wheels mode

RRAD Roll Rate Anomaly Detection

RS Relay Status acquisition

RSL Roll Steering Law

RTU Remote Terminal Unit

RW Reaction Wheel

RWU Reaction Wheel Unit

S/C SpaceCraft

S/L SateLlite

S/N Signal/noise ratio

S/S Subsystem

S/W Software

SA Solar Array

SA Serial Acquisition

SAD Solar Array Deployment

SAS Sun Acquisition Sensor

SB Stand-By mode

SCI Science

SDB Satellite Data Base

SEU Single Event Upset

SGSS Solar Generator Sub-System

SHAS Service module HArness Subsystem

SIRD System Instrumentation Requirement Document

SIWG SOHO Investigators Working Group

SK Station Keeping

SMIP SOHO Mission Implementation Plan

SMIRD Soho Mission Implementation Requirement Document

SMOCC Soho Mission Operation Control Center

SOHO SOlar and Helioscopic Observatory

SORD System Operations Requirement Document

SP Sun Presence

SPDU SVM PDU

SRTU SVM RTU

SPF Single Point of Failure

SSPA Solid State Power Amplifier

SSR Solid State Recorder

SSTS SVM Structure Sub-System

SSU Star Sensor Unit

SSUE SSU Electronics

SSUH SSU Head

STCS SVM Thermal Control Sub-System

STSP Solar-Terrestrial Science Programme

SUM Soho Users Manual

SUMER Solar Ultraviolet Measurement of Emitted Radiation

SVM SerVice Module

S/W Software

SWAN Solar Wind ANisotropies

TBC To Be Confirmed

TBD To Be Defined

TBR To Be Reviewed

TC Telecommand

TCM Telecommand

TFG or TFGS Transfer Frame Generator Soho

TH Thermistor acquisition

TM TeleMetry

TM Bus Telemetry Bus

TOD Time Out Detection

TPOCC Transportable Payload Operations Control Center

TR or TRC Tape Recorder

TRP Temperature Reference Point

TRSP Transponder

TRX Tansponder

TSTOL TPOCC System Test and Operations Language

TTI Transfer Trajectory Injection

TTP Transfer Trajectory Phase

USO Ultra Stable Oscillator

UVCS UltraViolet Coronograph Spectrometer

VC Virtual Channel

VF Virtual Frame

VFC Virtual Frame Counter

VIRGO Variability of solar IRradiance and Gravity Oscillations

WCA Worst Case Analysis

WD Watch Dog

WDE Wheel Drive Electronics

# OVERVIEW

The SOHO GYROLESS User\'s Manual purpose is to provide to the users (ESA
and NASA) all the necessary information related to the SOHO Satellite
operations without gyros, in a self contained document. This user's
manual is a complementary documentation to the SOHO user's manual
(SH-MAT-UM-13687), and the information presented in the gyroless user's
manual takes precedence over information given in SOHO user's manual
(SH-MAT-UM-13687).

The SOHO GYROLESS User\'s Manual consists in 17 sections:

# 1 GLOSSARY OF ABBREVIATIONS {#glossary-of-abbreviations-1 .TOC-1}

# 2 OVERVIEW {#overview-1 .TOC-1}

# 3 Gyroless modes {#gyroless-modes .TOC-1}

# 4 GROUND SUPPORT SOFTWARE {#ground-support-software .TOC-1}

# 5 Gyroless database {#gyroless-database .TOC-1}

# 6 Gyroless PROCEDURES {#gyroless-procedures .TOC-1}

# 7 Annex 1. -- COBS Gyroless Functions -- Software user's manual {#annex-1.-cobs-gyroless-functions-software-users-manual .TOC-1}

# 8 Annex 2. -- AOCS TM and TC INPUTS {#annex-2.-aocs-tm-and-tc-inputs .TOC-1}

# 9 ANNEX 3. - GYROLESS PROCEDURES / STEPS {#annex-3.---gyroless-procedures-steps .TOC-1}

# 10 ANNEX 4. - SOHO GYROLESS -- FDIR ANALYSIS {#annex-4.---soho-gyroless-fdir-analysis .TOC-1}

# 11 ANNEX 5. - SOHO GYROLESS -- CONTINGENCY ANALYSIS {#annex-5.---soho-gyroless-contingency-analysis .TOC-1}

# 12 ANNEX 6. - Complements to SSU user\'s manual {#annex-6.---complements-to-ssu-users-manual .TOC-1}

# 13 ANNEX 7. - ERRORS IN ROLL MANOEUVRES IN CRP {#annex-7.---errors-in-roll-manoeuvres-in-crp .TOC-1}

# 14 ANNEX 8. - SOHO GYROLESS AOCS ACU SOFTWARE user\'s manual {#annex-8.---soho-gyroless-aocs-acu-software-users-manual .TOC-1}

# 15 ANNEX 9. - SOHO AOCS ACU SOFTWARE GYROLESS UPDATE TECHNICAL NOTE {#annex-9.---soho-aocs-acu-software-gyroless-update-technical-note .TOC-1}

# 16 ANNEX 10. - SOHO AOCS ACU TELECOMMAND REQUIREMENTS DEFINITION {#annex-10.---soho-aocs-acu-telecommand-requirements-definition .TOC-1}

# 17 ANNEX 11. - SOHO AOCS ACU TELEMTRY PACKET REQUIREMENTS DEFINITION {#annex-11.---soho-aocs-acu-telemtry-packet-requirements-definition .TOC-1}

## Reference Documentation

**RD1**: AOCS Design and Justification report

SH-MAT-DS-37925

**RD2**: GYROLESS ACU SOFTWARE FUNCTIONAL REQUIREMENTS

SH-MAT-NT-37919

**RD3**: SOHO GYROLESS AOCS ACU SOFTWARE USER REQUIREMENTS

SH-MMB-RS-7014

## Applicable documentation

AD1: SOHO User's Manual + Annexes

SH-MAT-UM-13687 refer to the applicability section 2.3

[AD2: COBS Gyroless Functions -- Software User\'s
Manual](../SUM_AD/COBS_USERS_MANUAL.DOC)

SH-SAG-NT-TP007

[AD3: AOCS TM and TC INPUTS](../SUM_AD/AOCS_TM_TC.DOC)

SH-MAT-NT-37928

[AD4: SOHO Gyroless -- FDIR Analysis](../FDIR/FDIR.DOC)

SH-MAT-NT-37923

[AD5: SOHO Gyroless -- Contingency Analysis](../CONT/CA_GYROLESS.DOC)

SH-MAT-NT-37932

[AD6: SOHO Gyroless AOCS ACU software User
Manual](../SUM_AD/ACU_SW_UM.DOC)

SH-BAe-MA-4041

[AD7: SOHO AOCS ACU Gyroless Update Technical
Note](../SUM_AD/ACU_SW_UPLOAD.DOC)

SH-MMB-TN-7017

[AD8: SOHO AOCS ACU Telecommand Requirements
definition](../SUM_AD/ACU_TC.DOC)

SH-BAe-DS-637

[AD9: SOHO AOCS ACU Telemetry Packet Requirements
definition](../SUM_AD/ACU_TM.DOC)

SH-BAe-DS-638

## Applicability of the ORIGINAL SOHO user's manual (SH-MAT-UM-13687)

The SOHO user's manual (SH-MAT-UM-13687) document is constituted of 12
parts, and this section gives a detailed definition of the applicability
to the original documentation.

### Part 1 - System user\'s manual

The following tables presents the applicability of the original
documentation:

+-------+----------+---------------------------------------------------+
| *     | *        | **Comments**                                      |
| *Sect | *Applica |                                                   |
| ion** | bility** |                                                   |
+-------+----------+---------------------------------------------------+
| 1     | Yes      |                                                   |
+-------+----------+---------------------------------------------------+
| 2     | Yes      |                                                   |
+-------+----------+---------------------------------------------------+
| 3     | Yes \*   | 3.2 : new gyroless COBS monitoring are used --    |
|       |          | refer to Gyroless user's manual                   |
|       |          |                                                   |
|       |          | 3.2 : no more gyros are used                      |
+-------+----------+---------------------------------------------------+
| 4     | Yes \*   | Refer to Gyroless user's manual for new AOCS      |
|       |          | modes and usage, COBS monitorings                 |
|       |          |                                                   |
|       |          | \- No more gyros are used                         |
|       |          |                                                   |
|       |          | \- New AOCS modes used for Station Keeping,       |
|       |          | Momentum Mgt, Roll acquisition in CRP             |
|       |          |                                                   |
|       |          | \- New Gyroless COBS monitorings                  |
+-------+----------+---------------------------------------------------+
| 5     | Yes \*   | Refer to Gyroless user's manual for new flight    |
|       |          | operations description:                           |
|       |          |                                                   |
|       |          | \- Orbital manœuvres (in RMW -- no gyros)         |
|       |          |                                                   |
|       |          | \- Station keeping along X axis only              |
|       |          |                                                   |
|       |          | \- New routine operations                         |
|       |          |                                                   |
|       |          | \- New system constraints (ground reaction time,  |
|       |          | Satellite autonomy)                               |
|       |          |                                                   |
|       |          | \- New AOCS and PROS constraints                  |
|       |          |                                                   |
|       |          | \- New COBS constraints                           |
+-------+----------+---------------------------------------------------+
| 6     | Yes \*   | Refer to Gyroless user's manual for new FDIR and  |
|       |          | CONTINGENCY analysis                              |
|       |          |                                                   |
|       |          | \- Satellite autonomy (in ESR, CRP)               |
|       |          |                                                   |
|       |          | \- Failure recovery (ESR recovery, CRP recovery)  |
|       |          |                                                   |
|       |          | \- Failure protection, Gyroless COBS monitoring   |
+-------+----------+---------------------------------------------------+

Yes \* : Refer to comments.

### Part 2- AOCS subsystem user\'s manual

The following tables presents the applicability of the original
documentation:

+-------+----------+---------------------------------------------------+
| *     | *        | **Comments**                                      |
| *Sect | *Applica |                                                   |
| ion** | bility** |                                                   |
+-------+----------+---------------------------------------------------+
| 1     | Yes \*   | Refer to Gyroless user's manual for gyroless AOCS |
|       |          | description:                                      |
|       |          |                                                   |
|       |          | \- New gyroless AOCS modes, new ACU software      |
|       |          |                                                   |
|       |          | \- Orbital manœuvres (in RMW -- no gyros --       |
|       |          | Station keeping along X axis only)                |
|       |          |                                                   |
|       |          | \- AOCS units / architecture : no gyro used       |
|       |          |                                                   |
|       |          | \- New AOCS TM packet definition / new set of     |
|       |          | commands                                          |
|       |          |                                                   |
|       |          | \- AOCS gyroless software (in RAM : impact in     |
|       |          | case of ACU reset / initialisation)               |
|       |          |                                                   |
|       |          | \- FDE usage limited to FSPAAD, CSPAAD            |
|       |          |                                                   |
|       |          | \- No roll control in ESR (ESR roll controller    |
|       |          | disabled)                                         |
|       |          |                                                   |
|       |          | \- New COBS monitorings (ESR triggering : ACU     |
|       |          | reset, Hx mon)                                    |
|       |          |                                                   |
|       |          | Note: Hardware units / architecture description   |
|       |          | are applicable (1.1.2.1)                          |
+-------+----------+---------------------------------------------------+
| 2     | Yes \*   | Refer to Gyroless user's manual for gyroless AOCS |
|       |          | description:                                      |
|       |          |                                                   |
|       |          | \- New gyroless TM/TC interface                   |
|       |          |                                                   |
|       |          | \- New COBS monitorings                           |
+-------+----------+---------------------------------------------------+
| 3     | Yes \*   | Refer to Gyroless user's manual for gyroless AOCS |
|       |          | operations description:                           |
|       |          |                                                   |
|       |          | \- New modes and transitions                      |
|       |          |                                                   |
|       |          | \- New COBS monitorings -- On board protections   |
|       |          |                                                   |
|       |          | \- SK and MM maneuvres in RMW                     |
|       |          |                                                   |
|       |          | \- Attitude profile                               |
|       |          |                                                   |
|       |          | \- Automatic switch over of guide star            |
|       |          |                                                   |
|       |          | \- AOCS units usage / modes                       |
|       |          |                                                   |
|       |          | \- New operational constraints                    |
+-------+----------+---------------------------------------------------+
| 4     | Yes \*   | Refer to Gyroless user's manual for gyroless      |
|       |          | contingency operations description:               |
|       |          |                                                   |
|       |          | \- New ESR recovery procedure                     |
|       |          |                                                   |
|       |          | \- New CRP recovery                               |
+-------+----------+---------------------------------------------------+
| 5     | Yes \*   | Refer to Gyroless user's manual for gyroless      |
|       |          | ground support software requirements              |
+-------+----------+---------------------------------------------------+
| 6     | Yes      | Unchanged                                         |
+-------+----------+---------------------------------------------------+
| 7     | Yes      | Unchanged                                         |
+-------+----------+---------------------------------------------------+
| App   | Yes \*   | Refer to Gyroless user's manual for new AOCS S/W  |
| endix |          | definition                                        |
| A1    |          |                                                   |
+-------+----------+---------------------------------------------------+
| App   | Yes      | Unchanged                                         |
| endix |          |                                                   |
| A2    |          |                                                   |
+-------+----------+---------------------------------------------------+
| App   | Yes \*   | [Refer to Gyroless user's manual]{.mark}          |
| endix |          |                                                   |
| B1    |          |                                                   |
+-------+----------+---------------------------------------------------+
| App   | Yes      | Unchanged                                         |
| endix |          |                                                   |
| B2    |          |                                                   |
+-------+----------+---------------------------------------------------+
| App   | Yes      | Unchanged                                         |
| endix |          |                                                   |
| B3    |          |                                                   |
+-------+----------+---------------------------------------------------+
| App   | Yes      | Unchanged                                         |
| endix |          |                                                   |
| B4    |          |                                                   |
+-------+----------+---------------------------------------------------+
| App   | Yes      | Unchanged                                         |
| endix |          |                                                   |
| B5    |          |                                                   |
+-------+----------+---------------------------------------------------+
| App   | Yes      | Unchanged -- unused                               |
| endix |          |                                                   |
| B6    |          |                                                   |
+-------+----------+---------------------------------------------------+
| App   | Yes      | Unchanged                                         |
| endix |          |                                                   |
| B7    |          |                                                   |
+-------+----------+---------------------------------------------------+
| App   | Yes \*   | Refer to Gyroless user's manual for new AOCS TC   |
| endix |          | definition                                        |
| B8    |          |                                                   |
+-------+----------+---------------------------------------------------+
| App   | Yes \*   | Refer to Gyroless user's manual for new AOCS TM   |
| endix |          | definition                                        |
| B9    |          |                                                   |
+-------+----------+---------------------------------------------------+
| App   | Yes \*   | Refer to Gyroless user's manual for new AOCS TC   |
| endix |          | definition                                        |
| B10   |          |                                                   |
+-------+----------+---------------------------------------------------+
| App   | Yes \*   | Refer to Gyroless user's manual for new AOCS TM   |
| endix |          | definition                                        |
| B11   |          |                                                   |
+-------+----------+---------------------------------------------------+
| App   | No       | Refer to Gyroless user's manual for new nominal   |
| endix |          | operations                                        |
| C     |          |                                                   |
+-------+----------+---------------------------------------------------+
| App   | No       | Refer to Gyroless user's manual for new           |
| endix |          | contingency operations                            |
| D     |          |                                                   |
+-------+----------+---------------------------------------------------+

Yes \* : Refer to comments.

### Part 3 - PROS subsystem user\'s manual

Unchanged, fully applicable.

### Part 4 - PTCS subsystem user\'s manual

Unchanged, fully applicable

### Part 5 - STCS subsystem user\'s manual

Unchanged, fully applicable.

Note: Thermal control / monitoring setting for gyros has been changed in
order to preserve the thermal balance of the area (Thermal loops : 22,
23, 26)

### Part 6 - EPSS and SGSS user\'s manual

Unchanged, fully applicable

### Part 7 - DHSS and COBS users manual

The following tables presents the applicability of the original
documentation:

+-------+----------+---------------------------------------------------+
| *     | *        | **Comments**                                      |
| *Sect | *Applica |                                                   |
| ion** | bility** |                                                   |
+-------+----------+---------------------------------------------------+
| 1     | Yes \*   | Refer to Gyroless user's manual and AD2           |
|       |          |                                                   |
|       |          | \- Gyroless COBS functions lost in case of warm / |
|       |          | chilly start-up                                   |
+-------+----------+---------------------------------------------------+
| 2     | Yes \*   | Refer to Gyroless user's manual and AD2           |
|       |          |                                                   |
|       |          | \- New TC for gyroless monitorings                |
+-------+----------+---------------------------------------------------+
| 3     | Yes      | Unchanged -- note: in case of warm / chilly       |
|       |          | start-up, COBS patches must be reloaded           |
|       |          | (including gyroless functions) and reactivated.   |
+-------+----------+---------------------------------------------------+
| 4     | Yes      | Unchanged                                         |
+-------+----------+---------------------------------------------------+
| 5     | Yes      | Unchanged                                         |
+-------+----------+---------------------------------------------------+
| 6     | Yes      | Unchanged                                         |
+-------+----------+---------------------------------------------------+
| App   | Yes      | Unchanged                                         |
| endix |          |                                                   |
| 1     |          |                                                   |
+-------+----------+---------------------------------------------------+
| App   | Yes      | Unchanged                                         |
| endix |          |                                                   |
| 2     |          |                                                   |
+-------+----------+---------------------------------------------------+
| App   | Yes      | Unchanged                                         |
| endix |          |                                                   |
| 3A    |          |                                                   |
+-------+----------+---------------------------------------------------+
| App   | Yes      | Unchanged                                         |
| endix |          |                                                   |
| 3B    |          |                                                   |
+-------+----------+---------------------------------------------------+
| App   | Yes      | Unchanged                                         |
| endix |          |                                                   |
| 4     |          |                                                   |
+-------+----------+---------------------------------------------------+
| App   | Yes \*   | Addendum to existing COBS user's manual provided  |
| endix |          | through AD2 (COBS Gyroless Functions -- Software  |
| 5     |          | User\'s Manual)                                   |
+-------+----------+---------------------------------------------------+
| App   | Yes      | Addendum to existing Application function user's  |
| endix |          | manual provided through AD2 (COBS Gyroless        |
| 6     |          | Functions -- Software User\'s Manual) :           |
|       |          |                                                   |
|       |          | Section 1.5 Standard mon entries 24 and 25 are no |
|       |          | more used (free entries)                          |
|       |          |                                                   |
|       |          | Section 1.6 No more available                     |
|       |          |                                                   |
|       |          | Section 7.3 No more available                     |
|       |          |                                                   |
|       |          | Section 7.5 Available for any AOCS mode           |
|       |          |                                                   |
|       |          | Section 7.6 No more available                     |
|       |          |                                                   |
|       |          | Section 7.7 No more available                     |
|       |          |                                                   |
|       |          | Section 7.8 No more used (replaced by CRP         |
|       |          | monitoring)                                       |
+-------+----------+---------------------------------------------------+

Yes \* : Refer to comments.

### Part 8 - ANTS subsystem user\'s manual

Unchanged, fully applicable

### Part 9 - Contingency operations

Refer to [AD5: SOHO Gyroless -- Contingency
Analysis](../CONT/CA_GYROLESS.DOC) for more.

### Part 10 - Annexes

Unchanged, fully applicable except new Database items (refer to gyroless
user's manual).

### Part 11 Experiments User\'s manuals

Unchanged, fully applicable

### Part 12 Procedures

The following table presents the list of all original SUM procedures and
applicability

+------------+-----------------------------------+--------------------+
| > **CODE** | > **PROCEDURE NAME**              | >                  |
|            |                                   |  **Applicability** |
+------------+-----------------------------------+--------------------+
| > ABS_ROLL | > Absolute Roll Attitude          | > Old product      |
|            | > Determination                   |                    |
+------------+-----------------------------------+--------------------+
| >          | > Swap ACUs ( A to B )            | > Old product      |
|  ACUA_ACUB |                                   |                    |
+------------+-----------------------------------+--------------------+
| > A        | > Reboot ACU A                    | > Old product      |
| CUA_REBOOT |                                   |                    |
+------------+-----------------------------------+--------------------+
| > APM      | > APM standard monitoring         | > \-               |
| _STD_MONIT |                                   |                    |
+------------+-----------------------------------+--------------------+
| > BAT      | > Battery 1 recharge via BCR 1    | > \-               |
| T1CONSRECH | > ON/OFF commands                 |                    |
+------------+-----------------------------------+--------------------+
| >          | > Battery 1 ground management via | > \-               |
| BATT1MLMNG | > Memory Load.                    |                    |
+------------+-----------------------------------+--------------------+
| > BAT      | > Battery 2 recharge via BCR 2    | > \-               |
| T2CONSRECH | > ON/OFF commands                 |                    |
+------------+-----------------------------------+--------------------+
| >          | > Battery 2 ground management via | > \-               |
| BATT2MLMNG | > Memory Load                     |                    |
+------------+-----------------------------------+--------------------+
| > B        | > BCR 1 module switch-on retry    | > \-               |
| CR1ONRETRY |                                   |                    |
+------------+-----------------------------------+--------------------+
| >          | > BCR 1 module switch-off         | > \-               |
| BCR1OSCOFF | > (oscillating failure case)      |                    |
+------------+-----------------------------------+--------------------+
| > B        | > BCR 2 module switch-on retry    | > \-               |
| CR2ONRETRY |                                   |                    |
+------------+-----------------------------------+--------------------+
| >          | > BCR 2 module switch-off         | > \-               |
| BCR2OSCOFF | > (oscillating failure case)      |                    |
+------------+-----------------------------------+--------------------+
| > B        | > BDR 11 switch-off (oscillating  | > \-               |
| DR11OSCOFF | > failure case)                   |                    |
+------------+-----------------------------------+--------------------+
| > B        | > BDR 12 switch-off (oscillating  | > \-               |
| DR12OSCOFF | > failure case)                   |                    |
+------------+-----------------------------------+--------------------+
| > B        | > BDR 21 switch-off (oscillating  | > \-               |
| DR21OSCOFF | > failure case)                   |                    |
+------------+-----------------------------------+--------------------+
| > B        | > BDR 22 switch-off (oscillating  | > \-               |
| DR22OSCOFF | > failure case)                   |                    |
+------------+-----------------------------------+--------------------+
| > CAE_SWAP | > Swap CAEs (A to B),             | > Old product :    |
|            | > Contingency.                    | > refer to         |
|            |                                   | >                  |
|            |                                   |  CAE_SWAP_Gyroless |
+------------+-----------------------------------+--------------------+
| > CAL_SENS | > Switch on IRU\"s and Calibrate  | > Old product      |
|            | > Sensors                         |                    |
+------------+-----------------------------------+--------------------+
| > CH_APME  | > Check all TMs of APME/APMM      | > \-               |
+------------+-----------------------------------+--------------------+
| > DAILY    | > Daily Maintenance               | > Old product :    |
|            |                                   | > refer to         |
|            |                                   | > ROUTINE_O        |
|            |                                   | PERATIONS_Gyroless |
+------------+-----------------------------------+--------------------+
| > D        | > Day-before-the-manoeuvre        | > Old product:     |
| AY_BEF_MAN | > Preparation                     | > refer to         |
|            |                                   | > MM_              |
|            |                                   | SK_IN_RMW_Gyroless |
+------------+-----------------------------------+--------------------+
| > DELTA_V  | > Delta-V Burn.                   | > Old product:     |
|            |                                   | > refer to         |
|            |                                   | > MM_              |
|            |                                   | SK_IN_RMW_Gyroless |
+------------+-----------------------------------+--------------------+
| > DE       | > Delta-V Trims.                  | > Old product:     |
| LTA_V_TRIM |                                   | > refer to         |
|            |                                   | > MM_              |
|            |                                   | SK_IN_RMW_Gyroless |
+------------+-----------------------------------+--------------------+
| >          | > Disconnection of battery 1      | > \-               |
|  DISCBATT1 | > section                         |                    |
+------------+-----------------------------------+--------------------+
| >          | > Disconnection of battery 2      | > \-               |
|  DISCBATT2 | > section                         |                    |
+------------+-----------------------------------+--------------------+
| > END_MAN  | > End of an orbital manoeuvre     | > Old product:     |
|            |                                   | > refer to         |
|            |                                   | >                  |
|            |                                   | MM_SK_RMW_Gyroless |
+------------+-----------------------------------+--------------------+
| > ESR_MAIN | > ESR Recovery, MAIN procedure.   | > Old product:     |
|            |                                   | > refer to         |
|            |                                   | > ESR              |
|            |                                   | _RECOVERY_Gyroless |
+------------+-----------------------------------+--------------------+
| > ESR_REC  | > ESR Recovery                    | > Old product:     |
|            |                                   | > refer to         |
|            |                                   | > ESR              |
|            |                                   | _RECOVERY_Gyroless |
+------------+-----------------------------------+--------------------+
| > EXP_     | > EXPERIMENTS SWITCH OFF          | > \-               |
| SWITCH_OFF |                                   |                    |
+------------+-----------------------------------+--------------------+
| > EXP      | > EXPERIMENTS SWITCH ON           | > \-               |
| _SWITCH_ON |                                   |                    |
+------------+-----------------------------------+--------------------+
| >          | > Advanced X delta-V for MCC1     | > Old product      |
|  FAST_MCC1 |                                   |                    |
+------------+-----------------------------------+--------------------+
| > FPSS_RAA | > FPSS/Roll Attitude Acquisition  | > Old product      |
+------------+-----------------------------------+--------------------+
| >          | > Swap FPSSs                      | > Old product:     |
|  FPSS_SWAP |                                   | > refer to         |
|            |                                   | >                  |
|            |                                   | UNIT_SWAP_Gyroless |
+------------+-----------------------------------+--------------------+
| > FP_RA_CK | > FPSS/Roll Attitude Acquisition  | > Old product:     |
|            | > Checkout                        | > ESR              |
|            |                                   | _RECOVERY_Gyroless |
+------------+-----------------------------------+--------------------+
| > HALO_    | > CHANGE TM MODES IN THE DAILY    | > \-               |
| ROUTINE_DA | > SCENARIO                        |                    |
| ILY_SCENAR |                                   |                    |
+------------+-----------------------------------+--------------------+
| > HALO_    | > Change TM modes in the daily    | > \-               |
| ROUTINE_DA | > scenario \[SSR\]                |                    |
| ILY_SCEN_S |                                   |                    |
+------------+-----------------------------------+--------------------+
| > HGA_STUC | > HGA Stuck.                      | > Applicable:      |
|            |                                   | > SG_DHSS will     |
|            |                                   | > cause the lost   |
|            |                                   | > of COBS gyroless |
|            |                                   | > functions.       |
+------------+-----------------------------------+--------------------+
| >          | > Switch IRU channels             | > Old product      |
| IRU_SWITCH |                                   |                    |
+------------+-----------------------------------+--------------------+
| > KC       | > Detection of KC 1 internal      | > \-               |
| 1OVIDETECT | > overcurrent                     |                    |
+------------+-----------------------------------+--------------------+
| > KC1R     | > Recovery of KC1 relay           | > \-               |
| ELAYONFAIL | > constantly closed               |                    |
+------------+-----------------------------------+--------------------+
| > KC       | > Detection of KC 2 internal      | > \-               |
| 2OVIDETECT | > overcurrent                     |                    |
+------------+-----------------------------------+--------------------+
| > KC2R     | > Recovery of KC2 relay           | > \-               |
| ELAYONFAIL | > constantly closed               |                    |
+------------+-----------------------------------+--------------------+
| > L        | > Loss of Telemetry during ISA.   | > Old product      |
| OSS_TM_ISA |                                   |                    |
+------------+-----------------------------------+--------------------+
| > LOSTM_HR | > Recovery action in case of loss | > [                |
|            | > of High Rate TM                 | applicable]{.mark} |
+------------+-----------------------------------+--------------------+
| > LOSTM_LR | > Recovery action in case of loss | > \-               |
|            | > of Low Rate TM                  |                    |
+------------+-----------------------------------+--------------------+
| > MAN_PREP | > Manoeuvre preparation (incl.    | > Old product:     |
|            | > momentum management)            | > refer to         |
|            |                                   | > MM_              |
|            |                                   | SK_IN_RMW_Gyroless |
+------------+-----------------------------------+--------------------+
| > MOM_MAN  | > Momentum Management (in CSP     | > Old product:     |
|            | > mode)                           | > refer to         |
|            |                                   | > MM_              |
|            |                                   | SK_IN_RMW_Gyroless |
+------------+-----------------------------------+--------------------+
| > NO       | > No telemetry at separation      | > Old product      |
| _TM_AT_SEP |                                   |                    |
+------------+-----------------------------------+--------------------+
| >          | > PDU Power Bus reconfiguration   | > \-               |
|  PDUBUSREC |                                   |                    |
+------------+-----------------------------------+--------------------+
| > POS      | > Post SAD early preparation of   | > Old product      |
| T_SAD_AOCS | > the AOCS                        |                    |
+------------+-----------------------------------+--------------------+
| > PO       | > Post SAD operations related to  | > Old product      |
| ST_SAD_HGA | > HGA                             |                    |
+------------+-----------------------------------+--------------------+
| > POST_S   | > Thermal control activation      | > Old product      |
| AD_THERMAL | > after SAD                       |                    |
+------------+-----------------------------------+--------------------+
| > RMW_F_NM | > RMW mode from Normal mode       | > Old product:     |
|            | > Transition                      | > refer to         |
|            |                                   | >                  |
|            |                                   | NM_TO_RMW_Gyroless |
+------------+-----------------------------------+--------------------+
| > RMW_T_NM | > RMW mode to Normal mode         | > Old product:     |
|            | > Transition                      | > refer to         |
|            |                                   | >                  |
|            |                                   | RMW_TO_NM_Gyroless |
+------------+-----------------------------------+--------------------+
| > RM_F_RMW | > Roll Manoeuvre from RMW Mode.   | > Old product:     |
|            |                                   | > refer to         |
|            |                                   | > PROFILE_         |
|            |                                   | IN_RMW_NM_Gyroless |
|            |                                   | > and              |
|            |                                   | > PROFI            |
|            |                                   | LE_IN_CRP_Gyroless |
+------------+-----------------------------------+--------------------+
| > ROL_MAN  | > Roll Manoeuvre of an orbital    | > Old product:     |
|            | > manoeuvre                       | > PROFILE_         |
|            |                                   | IN_RMW_NM_Gyroless |
+------------+-----------------------------------+--------------------+
| > RO       | > OBT Correction                  | > \-               |
| UTINE_OBT_ |                                   |                    |
| CORRECTION |                                   |                    |
+------------+-----------------------------------+--------------------+
| > RWU_SWAP | > Swap RWU Channels               | > Old product:     |
|            |                                   | > refer to         |
|            |                                   | >                  |
|            |                                   | UNIT_SWAP_Gyroless |
+------------+-----------------------------------+--------------------+
| >          | > Abort a slew                    | > Old product:     |
| SLEW_ABORT |                                   | > refer to         |
|            |                                   | > PROFILE_         |
|            |                                   | IN_RMW_NM_Gyroless |
|            |                                   | > and              |
|            |                                   | > PROFI            |
|            |                                   | LE_IN_CRP_Gyroless |
+------------+-----------------------------------+--------------------+
| > SSR_LOGI | > Logical reconfiguration of the  | > \-               |
| CAL_RECONF | > SSR Memory Stack                |                    |
+------------+-----------------------------------+--------------------+
| > SSU_SWAP | > Swap SSUs                       | > Old product:     |
|            |                                   | > refer to         |
|            |                                   | >                  |
|            |                                   | UNIT_SWAP_Gyroless |
+------------+-----------------------------------+--------------------+

The following table presents the list of all original SUM steps and
applicability

+------------+-----------------------------------+--------------------+
| > **STEP   | > **STEP NAME**                   | >                  |
| > CODE**   |                                   |  **Applicability** |
+------------+-----------------------------------+--------------------+
| > ABS_P    | > Absolute Pointing verification  | > \-               |
| OINT_VERIF |                                   |                    |
+------------+-----------------------------------+--------------------+
| >          | > ACU A Software Set-up           | > Old product: no  |
| ACUASW_SET |                                   | > ACU A reboot     |
|            |                                   | > allowed          |
+------------+-----------------------------------+--------------------+
| > ACUA_CK  | > ACU A Checkout                  | > Old product:     |
|            |                                   | > refer to         |
|            |                                   | > ACU              |
|            |                                   | A_ON_BOFF_Gyroless |
+------------+-----------------------------------+--------------------+
| > ACUA_OFF | > Power OFF ACU A                 | > Old product: no  |
|            |                                   | > ACU A reboot     |
|            |                                   | > allowed          |
+------------+-----------------------------------+--------------------+
| > ACUA_ON  | > To power on ACU A (contingency) | > Old product: no  |
|            |                                   | > ACU A reboot     |
|            |                                   | > allowed          |
+------------+-----------------------------------+--------------------+
| >          | > ACU B Software Set-up           | > Old product: no  |
| ACUBSW_SET |                                   | > ACU swap allowed |
+------------+-----------------------------------+--------------------+
| >          | > To start ACU B (contingency)    | > Old product: no  |
| ACUB_START |                                   | > ACU swap allowed |
+------------+-----------------------------------+--------------------+
| >          | > ACU Software Set-up             | > Old product:     |
|  ACUSW_SET |                                   | > refer to         |
|            |                                   | >                  |
|            |                                   | ACUSW_SET_Gyroless |
+------------+-----------------------------------+--------------------+
| > ACU_DUMP | > Dump ACU RAM                    | > \-               |
+------------+-----------------------------------+--------------------+
| >          | > Patch ACU S/W (Generic step)    | > \-               |
|  ACU_PATCH |                                   |                    |
+------------+-----------------------------------+--------------------+
| > ANOM_SET | > Anomaly Detection Mechanisms    | > Old product:     |
|            | > Set-up                          | > refer to         |
|            |                                   | > ESR              |
|            |                                   | _RECOVERY_Gyroless |
+------------+-----------------------------------+--------------------+
| > ANTS_G   | > Antenna good health test        | > \-               |
| OOD_HEALTH |                                   |                    |
+------------+-----------------------------------+--------------------+
| > AOCS_G   | > AOCS good health test           | > [Old             |
| OOD_HEALTH |                                   | > product]{.mark}  |
+------------+-----------------------------------+--------------------+
| > APDU_SWN | > Reconfigure APDU switchable     | > \-               |
|            | > channels to Nominal             |                    |
+------------+-----------------------------------+--------------------+
| >          | > Initialize APME Y and Z axis    | > \-               |
|  APME_INIT |                                   |                    |
+------------+-----------------------------------+--------------------+
| > APME_ON  | > Power ON nominal APME           | > \-               |
+------------+-----------------------------------+--------------------+
| > A        | > LOAD A NEW TABLE FOR APME       | > \-               |
| PM_LOAD_NO | > NORMAL MODE CONTROL             |                    |
| RMAL_TABLE |                                   |                    |
+------------+-----------------------------------+--------------------+
| >          | > Load APM roll table & settings  | > \-               |
|  APM_LOAD_ | > for roll manoeuvre              |                    |
| ROLL_TABLE |                                   |                    |
+------------+-----------------------------------+--------------------+
| > APM_N    | > SET OR RETURN HGA APME          | > \-               |
| ORMAL_MODE | > REPOINTING IN NORMAL MODE       |                    |
+------------+-----------------------------------+--------------------+
| > APM_PR   | > Prepare HGA APM repointing for  | > \-               |
| EPARE_ROLL | > roll manoeuver                  |                    |
+------------+-----------------------------------+--------------------+
| >          | > ARO/ESR Check                   | > [Old             |
|  AROESR_CK |                                   | > product]{.mark}  |
+------------+-----------------------------------+--------------------+
| > ARTU_N_R | > Reconfigure ARTU to Redundant   | > \-               |
|            | > side.                           |                    |
+------------+-----------------------------------+--------------------+
| > ARTU_R_N | > Reconfigure ARTU to Nominal     | > \-               |
|            | > side.                           |                    |
+------------+-----------------------------------+--------------------+
| > BATT1ML  | > BATT1 ML enabling and battery   | > \-               |
|            | > management                      |                    |
+------------+-----------------------------------+--------------------+
| > BA       | > BATT 1 recharge via BCR ON/OFF  | > \-               |
| TT1RECHOFF | > management                      |                    |
+------------+-----------------------------------+--------------------+
| > B        | > BATT 1 recharge via BCR ON/OFF  | > \-               |
| ATT1RECHON | > management                      |                    |
+------------+-----------------------------------+--------------------+
| > BATT2ML  | > BATT2 ML enabling and battery   | > \-               |
|            | > management                      |                    |
+------------+-----------------------------------+--------------------+
| > BA       | > BATT 2 recharge via BCR ON/OFF  | > \-               |
| TT2RECHOFF | > management                      |                    |
+------------+-----------------------------------+--------------------+
| > B        | > BATT 2 recharge via BCR ON/OFF  | > \-               |
| ATT2RECHON | > management                      |                    |
+------------+-----------------------------------+--------------------+
| > BCR11OFF | > BCR11 switch-off                | > \-               |
+------------+-----------------------------------+--------------------+
| > BCR12OFF | > BCR12 switch-off                | > \-               |
+------------+-----------------------------------+--------------------+
| > BCR1ON   | > BCR 1 switch-on                 | > \-               |
+------------+-----------------------------------+--------------------+
| > BCR      | > BCR1 anomaly detection and      | > \-               |
| 1OSCDETECT | > recovery                        |                    |
+------------+-----------------------------------+--------------------+
| > BCR2ON   | > BCR 2 switch-on                 | > \-               |
+------------+-----------------------------------+--------------------+
| > BCR      | > BCR2 anomaly detection and      | > \-               |
| 2OSCDETECT | > recovery                        |                    |
+------------+-----------------------------------+--------------------+
| > BDR11OFF | > BDR11 switch-off                | > \-               |
+------------+-----------------------------------+--------------------+
| > BDR1     | > BDR11 anomaly detection and     | > \-               |
| 1OSCDETECT | > recovery                        |                    |
+------------+-----------------------------------+--------------------+
| > BDR12OFF | > BDR12 switch-off.               | > \-               |
+------------+-----------------------------------+--------------------+
| > BDR1     | > BDR12 anomaly detection and     | > \-               |
| 2OSCDETECT | > recovery                        |                    |
+------------+-----------------------------------+--------------------+
| > BDR21OFF | > BDR21 switch-off                | > \-               |
+------------+-----------------------------------+--------------------+
| > BDR2     | > BDR21 anomaly detection and     | > \-               |
| 1OSCDETECT | > recovery                        |                    |
+------------+-----------------------------------+--------------------+
| > BDR22OFF | > BDR22 switch-off                | > \-               |
+------------+-----------------------------------+--------------------+
| > BDR2     | > BDR22 anomaly detection and     | > \-               |
| 2OSCDETECT | > recovery                        |                    |
+------------+-----------------------------------+--------------------+
| > BURN_MON | > Burn (Delta-v Manoeuvre)        | > Old product:     |
|            | > Monitor                         | > refer to         |
|            |                                   | > MM_SK_Gyroless   |
+------------+-----------------------------------+--------------------+
| > BURN_SET | > Delta-V Burn Set-up             | > Old product:     |
|            |                                   | > refer to         |
|            |                                   | > MM_SK_Gyroless   |
+------------+-----------------------------------+--------------------+
| > CAEA_CK  | > CAE A Checkout                  | > Old product:     |
|            |                                   | > refer to         |
|            |                                   | > C                |
|            |                                   | AEA_CHECK_Gyroless |
+------------+-----------------------------------+--------------------+
| > CAEA_OFF | > CAE A Power Off (contingency)   | > \-               |
+------------+-----------------------------------+--------------------+
| > CAEB_ON  | > CAE B Power On (contingency)    | > \-               |
+------------+-----------------------------------+--------------------+
| >          | > Calculate Delta-v Burn          | > Old product:     |
|  CALC_BURN | > Parameters                      | > refer to         |
|            |                                   | > MM_SK_Gyroless   |
+------------+-----------------------------------+--------------------+
| > CALC_MOM | > Calculate Momentum Mangement    | > Old product:     |
|            | > Parameters                      | > refer to         |
|            |                                   | > MM_SK_Gyroless   |
+------------+-----------------------------------+--------------------+
| >          | > Calculate Delta-vs Trims        | > Old product:     |
|  CALC_TRIM | > Parameters                      | > refer to         |
|            |                                   | > MM_SK_Gyroless   |
+------------+-----------------------------------+--------------------+
| > CBHA_OFF | > Switch Off CBH A                | > Old product:     |
|            |                                   | > refer to         |
|            |                                   | >                  |
|            |                                   |  CBHA_OFF_Gyroless |
+------------+-----------------------------------+--------------------+
| > CBHA_ON  | > Switch On CBH A                 | > Old product:     |
|            |                                   | > refer to         |
|            |                                   | > CBHA_ON_Gyroless |
+------------+-----------------------------------+--------------------+
| >          | > Check COBS thermal settings     | > \-               |
| CHK_THERMA |                                   |                    |
| L_SETTINGS |                                   |                    |
+------------+-----------------------------------+--------------------+
| > CH_ANAP  | > Check APME/APMM analog and      | > \-               |
|            | > Digital Serial TMs.             |                    |
+------------+-----------------------------------+--------------------+
| > CH_ISA   | > Check-out of the position in    | > Old product: ISA |
|            | > the ISA sequence.               | > mode             |
+------------+-----------------------------------+--------------------+
| > CH_POAP  | > Check Position TMs.             | > \-               |
+------------+-----------------------------------+--------------------+
| > CH_SAD   | > Check-out of the status of the  | > Old product: ISA |
|            | > SAD sequence                    | > mode             |
+------------+-----------------------------------+--------------------+
| > CH_TEAP  | > Check APME/APMM temperatures    | > \-               |
+------------+-----------------------------------+--------------------+
| > CH_TSAP  | > Functional check of heater      | > \-               |
|            | > channel of APMM                 |                    |
+------------+-----------------------------------+--------------------+
| > COMBU_RC | > Coms Back-Up recovery           | > \-               |
+------------+-----------------------------------+--------------------+
| > CONFIG_1 | > Configuration Set-up 1 for IRU  | > Old product: no  |
|            | > Calibration                     | > gyros            |
+------------+-----------------------------------+--------------------+
| > CONFIG_2 | > Configuration Set-up 2 for IRU  | > Old product: no  |
|            | > Calibration                     | > gyros            |
+------------+-----------------------------------+--------------------+
| > CONFIG_N | > Configuration Set-up for IRU    | > Old product: no  |
|            | > Nominal Operation               | > gyros            |
+------------+-----------------------------------+--------------------+
| >          | > Disable the CSPAAD mechanism    | > \-               |
| CSPAAD_DIS |                                   |                    |
+------------+-----------------------------------+--------------------+
| > CSP      | > Enable the CSPAAD mechanism     | > \-               |
| AAD_ENABLE |                                   |                    |
+------------+-----------------------------------+--------------------+
| > CSP_RMW  | > CSP Mode to RMW Mode Transition | > Old product:     |
|            |                                   | > Gyroless modes   |
+------------+-----------------------------------+--------------------+
| > D        | > Daily pulse for experiments     | > \-               |
| AILY_PULSE | > synchronisation                 |                    |
+------------+-----------------------------------+--------------------+
| > DEFAULT  | > Restore default thruster        | > Old product: no  |
| _THR_PARAM | > parameters                      | > thruster based   |
|            |                                   | > mode             |
+------------+-----------------------------------+--------------------+
| >          | > Spacecraft DHSS reconfiguration | > COBS Gyroless    |
| DHSSA_TO_B | > (A to B)                        | > functions to be  |
|            |                                   | > checked          |
+------------+-----------------------------------+--------------------+
| > DHSS_G   | > DHSS good health check          | > COBS Gyroless    |
| OOD_HEALTH |                                   | > functions to be  |
|            |                                   | > uploaded         |
+------------+-----------------------------------+--------------------+
| > DH_WM_RC | > Spacecraft recovery after DHSS  | > COBS Gyroless    |
|            | > Warm Start-up                   | > functions to be  |
|            |                                   | > uploaded         |
+------------+-----------------------------------+--------------------+
| > DUMP_C   | > Dump CDMU RAM or PROM Memory    | > \-               |
| DMU_MEMORY |                                   |                    |
+------------+-----------------------------------+--------------------+
| > DUMP_C   | > Dump Context Memory             | > \-               |
| TXT_MEMORY |                                   |                    |
+------------+-----------------------------------+--------------------+
| >          | > Dump Context Memory specific    | > \-               |
|  DUMP_CTXT | > addresses                       |                    |
| _MEMORY_SP |                                   |                    |
+------------+-----------------------------------+--------------------+
| > DUMP     | > Dump one software programmable  | > \-               |
| _ONE_GROUP | > TM part group                   |                    |
+------------+-----------------------------------+--------------------+
| > DUM      | > CHANGE TM MODE DUMP TO IDLE,    | > \-               |
| P_TO_IDLE_ | > ACQ FORMAT 1 (OPTION)           |                    |
| FORM_1_OPT |                                   |                    |
+------------+-----------------------------------+--------------------+
| >          | > CHANGE TM MODE FROM DUMP TO     | > \-               |
| DUMP_TO_MD | > MDI-M, FORMAT 1                 |                    |
| I-M_FORM_1 |                                   |                    |
+------------+-----------------------------------+--------------------+
| > DU       | > Change TM mode: Dump to MDI-M,. | > \-               |
| MP_TO_MDI- | > form 1 \[SSR\]                  |                    |
| M_FORM_1_S |                                   |                    |
+------------+-----------------------------------+--------------------+
| > ESR_ISA  | > ESR to ISA mode transition      | > Old product:     |
|            |                                   | > Gyroless modes - |
|            |                                   | > refer to         |
|            |                                   | > ESR              |
|            |                                   | _RECOVERY_Gyroless |
+------------+-----------------------------------+--------------------+
| > EXP_ELEC | > SWITCH ON OF PLM PDU 1 BUS 2 &  | > \-               |
| _BUS_SW_ON | > PLM PDU 2 BUS 2                 |                    |
+------------+-----------------------------------+--------------------+
| > EXP_LCL  | > DISABLE EXPERIMENTS LCL         | > \-               |
| _MONIT_DIS | > MONITORING                      |                    |
+------------+-----------------------------------+--------------------+
| > EXP_LCL  | > DEFINE AND ENABLE EXPERIMENTS   | > \-               |
| _MONIT_ENA | > LCL MONITORING                  |                    |
+------------+-----------------------------------+--------------------+
| > EXP_     | > EXPERIMENT LCL SWITCH OFF       | > \-               |
| LCL_SW_OFF |                                   |                    |
+------------+-----------------------------------+--------------------+
| > EXP      | > EXPERIMENT LCL SWITCH ON        | > \-               |
| _LCL_SW_ON |                                   |                    |
+------------+-----------------------------------+--------------------+
| > EXP_SW   | > SELECT SWITCHABLE CHANNELS FOR  | > \-               |
| _CH_SELECT | > EXPERIMENTS                     |                    |
+------------+-----------------------------------+--------------------+
| > EXT_     | > External disturbing torque      | > \-               |
| TORQUE_CAL | > calibration                     |                    |
+------------+-----------------------------------+--------------------+
| > FAST     | > FAST THERMAL RECONF RECOVERY    | > \-               |
| _TH_RECONF | > (NO SUB HEATER)                 |                    |
| _REC_NOSUB |                                   |                    |
+------------+-----------------------------------+--------------------+
| > FA       | > FAST THERMAL RECONF RECOVERY    | > \-               |
| ST_TH_RECO | > (SUB HEATER)                    |                    |
| NF_REC_SUB |                                   |                    |
+------------+-----------------------------------+--------------------+
| > FCVA_OFF | > Power Off FCV A LCL             | > Old product:     |
|            |                                   | > refer to         |
|            |                                   | >                  |
|            |                                   |  FCVA_OFF_Gyroless |
+------------+-----------------------------------+--------------------+
| > FCVA_ON  | > Power On FCV A LCL              | > Old product:     |
|            |                                   | > refer to         |
|            |                                   | > FCVA_ON_Gyroless |
+------------+-----------------------------------+--------------------+
| > FPSSA_CK | > FPSS A Checkout                 | > Old product:     |
|            |                                   | > refer to         |
|            |                                   | > FP               |
|            |                                   | SSA_CHECK_Gyroless |
+------------+-----------------------------------+--------------------+
| >          | > FPSS A Power Off (contingency)  | > \-               |
|  FPSSA_OFF |                                   |                    |
+------------+-----------------------------------+--------------------+
| > FPSSA_ON | > FPSS A Power On                 | > \-               |
+------------+-----------------------------------+--------------------+
| > FPSSB_ON | > FPSS B Power On                 | > \-               |
+------------+-----------------------------------+--------------------+
| > FP       | > compare FPSS A and B for        | > Old product:     |
| SS_COMPARE | > commissioning test SSA7         | > commissioning    |
+------------+-----------------------------------+--------------------+
| > FPSS_REF | > FPSS Reference Update           | > Old product:     |
|            |                                   | > refer to         |
|            |                                   | > PROFILE_         |
|            |                                   | IN_RMW_NM_Gyroless |
|            |                                   | > and              |
|            |                                   | > PROFI            |
|            |                                   | LE_IN_CRP_Gyroless |
+------------+-----------------------------------+--------------------+
| > FPSS     | > FPSS / SSU corellation (pitch   | > \-               |
| _SSU_COREL | > axis)                           |                    |
+------------+-----------------------------------+--------------------+
| > F        | > Switch FPSSs                    | > [Old product:    |
| PSS_SWITCH |                                   | > refer to         |
|            |                                   | > FPSS_SWA         |
|            |                                   | P_Gyroless]{.mark} |
+------------+-----------------------------------+--------------------+
| > FSA_RMW  | > FSA Mode to RMW Mode Transition | > Old product:     |
|            |                                   | > Gyroless modes   |
+------------+-----------------------------------+--------------------+
| >          | > FSA Mode to RMW Mode            | > Old product:     |
|  FSA_RMW_C | > Transition - contingency step   | > Gyroless modes   |
+------------+-----------------------------------+--------------------+
| >          | > Fuel Budget Verification        | > Old product:     |
| FUEL_CHECK | > (Commissioning test S4)         | > commissioning    |
+------------+-----------------------------------+--------------------+
| > GND_CHK  | > Ground checkout.                | > \-               |
+------------+-----------------------------------+--------------------+
| >          | > GYRO monitoring SET.            | > Old product: no  |
| GY_MON_SET |                                   | > COBS gyro mon -  |
|            |                                   | > Gyroless         |
+------------+-----------------------------------+--------------------+
| > HGA_CABL | > Cut HGA cables through nominal  | > \-               |
| ES_NOM_CUT | > chain                           |                    |
+------------+-----------------------------------+--------------------+
| > HGA_CABL | > Cut HGA cables through          | > \-               |
| ES_RED_CUT | > redundant chain                 |                    |
+------------+-----------------------------------+--------------------+
| > HGA      | > HGA centering test              | > Old product:     |
| _CENTERING | > (commissioning SSR1)            | > commissioning    |
+------------+-----------------------------------+--------------------+
| > HGA_     | > HGA depointing test             | > Old product:     |
| DEPOINTING | > (commissioning SSR2)            | > commissioning    |
+------------+-----------------------------------+--------------------+
| >          | > Orient HGA after deployment     | > \-               |
| HGA_ORIENT |                                   |                    |
+------------+-----------------------------------+--------------------+
| > HGA      | > Move HGA from launch position   | > \-               |
| _SAFE_ZONE | > to safe zone                    |                    |
+------------+-----------------------------------+--------------------+
| > HR_TO    | > CHANGE TELEMETRY MODE FROM HR   | > \-               |
| _MR_FORM_1 | > TO MR FORMAT 1                  |                    |
+------------+-----------------------------------+--------------------+
| > IAMB_SET | > Set ACU B Mode Relays to        | > \-               |
|            | > Inactive Mode.                  |                    |
+------------+-----------------------------------+--------------------+
| > IAM_SET  | > Set ACU A Mode Relays to        | > \-               |
|            | > Inactive Mode.                  |                    |
+------------+-----------------------------------+--------------------+
| > IDL      | > CHANGE TM MODE IDLE TO DUMP,    | > \-               |
| E_TO_DUMP_ | > ACQ FORMAT 1 (OPTION)           |                    |
| FORM_1_OPT |                                   |                    |
+------------+-----------------------------------+--------------------+
| > IDLE     | > CHANGE TM MODE IDLE TO MDI-H,   | > \-               |
| _TO_MDI-H_ | > ACQ FORMAT1 (OPTION)            |                    |
| FORM_1_OPT |                                   |                    |
+------------+-----------------------------------+--------------------+
| > IDLE     | > CHANGE TM MODE FROM IDLE TO     | > \-               |
| _TO_MDI-M_ | > MDI-M FORMAT1 (OPTION)          |                    |
| FORM_1_OPT |                                   |                    |
+------------+-----------------------------------+--------------------+
| > IDLE_    | > CHANGE TM MODE IDLE TO REC, ACQ | > \-               |
| TO_RECORD_ | > FORMAT 1 (OPTION)               |                    |
| FORM_1_OPT |                                   |                    |
+------------+-----------------------------------+--------------------+
| > IIDE     | > Inter Instrument Data Exchange  | > \-               |
+------------+-----------------------------------+--------------------+
| > IIDE_DIS | > Disable Inter Instrument Data   | > \-               |
|            | > Exchange                        |                    |
+------------+-----------------------------------+--------------------+
| > IRUB_CK  | > IRU Channel B Checkout          | > Old product: no  |
|            |                                   | > gyro             |
+------------+-----------------------------------+--------------------+
| > IRUC_CK  | > IRU Channel C Checkout          | > Old product: no  |
|            |                                   | > gyro             |
+------------+-----------------------------------+--------------------+
| > IRU_BIAS | > Correct IRU Bias                | > Old product: no  |
|            |                                   | > gyro             |
+------------+-----------------------------------+--------------------+
| > IRU_CAL1 | > IRU Constant Drift Calibration  | > Old product: no  |
|            | > 1                               | > gyro             |
+------------+-----------------------------------+--------------------+
| > IRU_CAL2 | > IRU Constant Drift Calibration  | > Old product: no  |
|            | > 2                               | > gyro             |
+------------+-----------------------------------+--------------------+
| > IR       | > Exchange IRU\"s                 | > Old product: no  |
| U_EXCHANGE |                                   | > gyro             |
+------------+-----------------------------------+--------------------+
| > IRU_REST | > IRU Resting status              | > Old product: no  |
|            |                                   | > gyro             |
+------------+-----------------------------------+--------------------+
| > IRU_SWAP | > Reconfigure IRU channels        | > Old product: no  |
|            |                                   | > gyro             |
+------------+-----------------------------------+--------------------+
| > IRU_USE1 | > Define nominal IRU usage for    | > Old product: no  |
|            | > the COBS                        | > gyro             |
+------------+-----------------------------------+--------------------+
| > IRU_WAKE | > IRU Wake-up                     | > Old product: no  |
|            |                                   | > gyro             |
+------------+-----------------------------------+--------------------+
| > ISA_FSA  | > ISA Mode to FSA Mode Transition | > Old product:     |
|            |                                   | > Gyroless modes   |
+------------+-----------------------------------+--------------------+
| > I        | > ISA and SAD monitoring          | > Old product      |
| SA_SAD_MON |                                   |                    |
+------------+-----------------------------------+--------------------+
| > ISA_SET  | > Set ACU B Relays to ISA mode    | > Old product      |
+------------+-----------------------------------+--------------------+
| > I        | > Interruption of the ISA         | > Old product      |
| SA_STOPPED | > sequence.                       |                    |
+------------+-----------------------------------+--------------------+
| > KC1O     | > Tentative of KC 1 relay         | > \-               |
| UTRELAYOFF | > switch-off                      |                    |
+------------+-----------------------------------+--------------------+
| > K        | > Reset of KC 1 internal          | > \-               |
| C1OVIRESET | > overcurrent protection          |                    |
+------------+-----------------------------------+--------------------+
| > KC2O     | > Tentative of KC 2 relay         | > \-               |
| UTRELAYOFF | > switch-off                      |                    |
+------------+-----------------------------------+--------------------+
| > K        | > Reset of KC 2 internal          | > \-               |
| C2OVIRESET | > overcurrent protection          |                    |
+------------+-----------------------------------+--------------------+
| > KC_OV    | > KC current oversampling         | > \-               |
| ERSAMPLING |                                   |                    |
+------------+-----------------------------------+--------------------+
| > LOA      | > Load a command list in COBS     | > \-               |
| D_CMD_LIST |                                   |                    |
+------------+-----------------------------------+--------------------+
| >          | > Load a Macrocommand in COBS     | > \-               |
| LOAD_MACRO |                                   |                    |
+------------+-----------------------------------+--------------------+
| > LR_TO_MR | > CHANGE TM MODE FROM LR TO MR    | > \-               |
| _FORM_1234 | > FORMAT 1, 2,3 OR 4              |                    |
+------------+-----------------------------------+--------------------+
| >          | > Latch Valve A Close             | > Old product:     |
|  LVA_CLOSE |                                   | > refer to         |
|            |                                   | >                  |
|            |                                   | LVA_CLOSE_Gyroless |
+------------+-----------------------------------+--------------------+
| > LVA_OPEN | > Latch Valve A Open              | > Old product:     |
|            |                                   | > refer to         |
|            |                                   | >                  |
|            |                                   |  LVA_OPEN_Gyroless |
+------------+-----------------------------------+--------------------+
| > L        | > Close LV B, and set up a        | > [Old product :   |
| VB_CLOSURE | > monitoring                      | > refer to         |
|            |                                   | > LVAB_CLOSUR      |
|            |                                   | E_Gyroless]{.mark} |
+------------+-----------------------------------+--------------------+
| > MDI-     | > CHANGE TM MODE MDI-H TO         | > \-               |
| H_TO_IDLE_ | > IDLE,ACQ FORMAT 1 (OPTION)      |                    |
| FORM_1_OPT |                                   |                    |
+------------+-----------------------------------+--------------------+
| > MD       | > CHANGE MDI-H MODE TO REC,       | > \-               |
| I-H_TO_REC | > ACQUISITION FORMAT 1            |                    |
| ORD_FORM_1 |                                   |                    |
+------------+-----------------------------------+--------------------+
| > MDI-     | > Change TM mode: MDI-H to        | > \-               |
| H_TO_RECOR | > Record, form 1 \[SSR\]          |                    |
| D_FORM_1_S |                                   |                    |
+------------+-----------------------------------+--------------------+
| > MDI-     | > CHANGE TM MODE MDI-M TO         | > \-               |
| M_TO_IDLE_ | > IDLE,ACQ FORMAT 1,(OPTION)      |                    |
| FORM_1_OPT |                                   |                    |
+------------+-----------------------------------+--------------------+
| > M        | > CHANGE TM MODE MDI-M TO         | > \-               |
| DI-M_TO_MD | > MDI-H,ACQUISITION FORMAT 1      |                    |
| I-H_FORM_1 |                                   |                    |
+------------+-----------------------------------+--------------------+
| > MD       | > CHANGE MDI-M MODE TO REC,       | > \-               |
| I-M_TO_REC | > ACQUISITION FORMAT 1            |                    |
| ORD_FORM_1 |                                   |                    |
+------------+-----------------------------------+--------------------+
| > MDI-     | > Change TM mode: MDI-M to        | > \-               |
| M_TO_RECOR | > Record, form 1 \[SSR\]          |                    |
| D_FORM_1_S |                                   |                    |
+------------+-----------------------------------+--------------------+
| >          | > Medium term Pointing            | > \-               |
| MID_TERM_P | > verification                    |                    |
| OINT_VERIF |                                   |                    |
+------------+-----------------------------------+--------------------+
| > MINMAX_M | > Disable one Min/Max monitoring  | > \-               |
| ONIT_I_DIS | > channel                         |                    |
+------------+-----------------------------------+--------------------+
| > MINMAX_M | > Define and enable one Min/Max   | > \-               |
| ONIT_I_ENA | > monitoring channel              |                    |
+------------+-----------------------------------+--------------------+
| >          | > Momentum Adjust. - RW4          | > Old product:     |
| MOM_ADJUST | > maintenance/commissioning.      | > refer to         |
|            |                                   | > MM_SK_Gyroless   |
+------------+-----------------------------------+--------------------+
| > MOM_SET  | > Momentum Adjustment Set-up      | > Old product:     |
|            |                                   | > refer to         |
|            |                                   | > MM_SK_Gyroless   |
+------------+-----------------------------------+--------------------+
| > M        | > CHANGE TM MODE FROM MR TO HR    | > \-               |
| R_TO_IDLE_ | > IDLE,FORMAT1 (OPTION)           |                    |
| FORM_1_OPT |                                   |                    |
+------------+-----------------------------------+--------------------+
| > MR_TO_MD | > CHANGE TM MODE MEDIUM RATE TO   | > \-               |
| I-H_FORM_1 | > MDI-H, ACQ FORMAT 1             |                    |
+------------+-----------------------------------+--------------------+
| > NEW_STAR | > New Guide Star Selection        | > Old product:     |
|            |                                   | > refer to         |
|            |                                   | > SSU              |
|            |                                   | _NEW_STAR_Gyroless |
+------------+-----------------------------------+--------------------+
| > NM_RMW   | > Normal Mode to RMW Mode         | > Old product:     |
|            | > Transition                      | > refer to         |
|            |                                   | >                  |
|            |                                   | NM_TO_RMW_Gyroless |
+------------+-----------------------------------+--------------------+
| > NOINITRW | > No initialisation of 1 or       | > Old product      |
|            | > several Reaction Wheels.        |                    |
+------------+-----------------------------------+--------------------+
| >          | > Execute a null slew             | > Old product      |
|  NULL_SLEW |                                   |                    |
+------------+-----------------------------------+--------------------+
| > OBT_COR1 | > OBT_COR1                        | > \-               |
+------------+-----------------------------------+--------------------+
| > OBT_COR2 | > OBT_COR2                        | > \-               |
+------------+-----------------------------------+--------------------+
| > OBT_INIT | > Initialize the OBT              | > \-               |
+------------+-----------------------------------+--------------------+
| > PAD_DIS  | > Disable the PAD                 | > Old product      |
+------------+-----------------------------------+--------------------+
| > PAD_SET  | > Set PAD Threshold and enable    | > Old product      |
|            | > criteria                        |                    |
+------------+-----------------------------------+--------------------+
| > PATCH    | > Patch memory                    | > \-               |
+------------+-----------------------------------+--------------------+
| > PCPG_OPN | > PCPG operation                  | > Old product:     |
|            |                                   | > refer to         |
|            |                                   | >                  |
|            |                                   |  PCPG_OPN_Gyroless |
+------------+-----------------------------------+--------------------+
| > PDUBUSCH | > PCU to PDU power bus change, N  | > \-               |
|            | > to R                            |                    |
+------------+-----------------------------------+--------------------+
| > P        | > Switch ON PLM nominal           | > \-               |
| LM_NOM_HEA | > (substitution) heater bus       |                    |
| TER_BUS_ON |                                   |                    |
+------------+-----------------------------------+--------------------+
| >          | > Maintain Off-pointing Flags     | > Old product:     |
| PNTG_FLAGS |                                   | > refer to         |
|            |                                   | > P                |
|            |                                   | NTG_FLAGS_Gyroless |
+------------+-----------------------------------+--------------------+
| > PO       | > Pointing Stablility During      | > Old product:     |
| INT_STAB_D | > Experiment Motion - S9          | > commissioning    |
| UR_EXP_MOT |                                   |                    |
+------------+-----------------------------------+--------------------+
| > PO       | > Pointing Stablility Outside     | > Old product:     |
| INT_STAB_O | > Experiment Motion - S8          | > commissioning    |
| UT_EXP_MOT |                                   |                    |
+------------+-----------------------------------+--------------------+
| > POS      | > Post SAD EPSS settings          | > Old product      |
| T_SAD_EPSS |                                   |                    |
+------------+-----------------------------------+--------------------+
| > PO       | > Post SAD AOCS settings          | > Old product      |
| ST_SAD_SET |                                   |                    |
+------------+-----------------------------------+--------------------+
| > POST_SA  | > Post SAD Thermal Control &      | > Old product      |
| D_TH_START | > Monitoring Start                |                    |
+------------+-----------------------------------+--------------------+
| > PO       | > Power Budget verification       | > Applicable : No  |
| WER_BUDGET |                                   | > Gyro...          |
+------------+-----------------------------------+--------------------+
| > POWER_G  | > Power Subsystem good health     | > Applicable : No  |
| OOD_HEALTH | > test - SSE1                     | > Gyro...          |
+------------+-----------------------------------+--------------------+
| > POWER_UB | > Verify ACU B power and power up | > Applicable       |
|            | > CAE B.                          |                    |
+------------+-----------------------------------+--------------------+
| > PRCG_SET | > SET WARM START-UP PRCG SEQUENCE | > \-               |
+------------+-----------------------------------+--------------------+
| > PRO      | > Survey PROS B branch against    | > [Old product :   |
| S_B_SURVEY | > hammer effect risks.            | > refer to         |
|            |                                   | > PROS_AB_SURVE    |
|            |                                   | Y_GYROLESS]{.mark} |
+------------+-----------------------------------+--------------------+
| > PRTU_N_R | > Reconfigure PRTU to Redundant   | > \-               |
|            | > side.                           |                    |
+------------+-----------------------------------+--------------------+
| > PRTU_R_N | > Reconfigure PRTU to Nominal     | > \-               |
|            | > side.                           |                    |
+------------+-----------------------------------+--------------------+
| >          | > PTCS prediction check -         | > Old product:     |
| PTCS_CHECK | > Commissioning SSP1              | > commissioning    |
+------------+-----------------------------------+--------------------+
| > RAAD_DV  | > RAAD set for a Delta-V Burn     | > Old product      |
+------------+-----------------------------------+--------------------+
| > RAAD_MM  | > RAAD set for Momentum           | > Old product      |
|            | > Management                      |                    |
+------------+-----------------------------------+--------------------+
| > RC_APME  | > Reconfiguration from nominal to | > \-               |
|            | > redundant APME                  |                    |
+------------+-----------------------------------+--------------------+
| >          | > Coms Back-Up in HR              | > \-               |
|  RC_CBU_HR |                                   |                    |
+------------+-----------------------------------+--------------------+
| >          | > Coms Back-Up recovery (LR)      | > \-               |
|  RC_CBU_LR |                                   |                    |
+------------+-----------------------------------+--------------------+
| > RC_TRXP  | > Reconfiguration TRSP from       | > \-               |
|            | > nominal to redundant            |                    |
+------------+-----------------------------------+--------------------+
| > R        | > CHANGE TM MODE REC TO DUMP      | > \-               |
| ECORD_TO_D | > ,ACQUISITION FORMAT 1           |                    |
| UMP_FORM_1 |                                   |                    |
+------------+-----------------------------------+--------------------+
| > REC      | > Change TM mode: Record to Dump, | > \-               |
| ORD_TO_DUM | > form 1 \[SSR\]                  |                    |
| P_FORM_1_S |                                   |                    |
+------------+-----------------------------------+--------------------+
| > RECOR    | > CHANGE TM MODE REC TO IDLE, ACQ | > \-               |
| D_TO_IDLE_ | > FORMAT 1, (OPTION)              |                    |
| FORM_1_OPT |                                   |                    |
+------------+-----------------------------------+--------------------+
| >          | > RF Budget with HGA              | > Old product:     |
|  RF_BG_HGA | > (Commissioning S3)              | > commissioning    |
+------------+-----------------------------------+--------------------+
| >          | > RF Budget with LGA              | > Old product:     |
|  RF_BG_LGA | > (Commissioning S2)              | > commissioning    |
+------------+-----------------------------------+--------------------+
| > RF_      | > Move RF switches in order to    | > \-               |
| HGA_TO_TX1 | > route HGA to TX1                |                    |
+------------+-----------------------------------+--------------------+
| > RMS_SET1 | > SET RMS MASK AND KRCG SEQUENCE  | > \-               |
+------------+-----------------------------------+--------------------+
| > RMW_CSP  | > RMW Mode to CSP Mode Transition | > Old product:     |
|            |                                   | > Gyroless modes   |
+------------+-----------------------------------+--------------------+
| > RMW_NM   | > RMW Mode to Normal Mode         | > Old product:     |
|            | > Transition                      | > refer to         |
|            |                                   | >                  |
|            |                                   | RMW_TO_NM_Gyroless |
+------------+-----------------------------------+--------------------+
| >          | > Roll Telemetry Set-up.          | > Old product:     |
| ROLLTM_SET |                                   | > refer to         |
|            |                                   | > ESR_             |
|            |                                   | RECOVERY_Gyroless, |
|            |                                   | > PROFI            |
|            |                                   | LE_IN_CRP_Gyroless |
|            |                                   | > and              |
|            |                                   | > C                |
|            |                                   | RP_TO_RMW_Gyroless |
+------------+-----------------------------------+--------------------+
| >          | > Roll Attitude Identification    | > Applicable       |
| ROLL_IDENT |                                   |                    |
+------------+-----------------------------------+--------------------+
| >          | > Roll Attitude Trimming          | > Old product:     |
|  ROLL_TRIM |                                   | > refer to         |
|            |                                   | > PROFILE_         |
|            |                                   | IN_RMW_NM_Gyroless |
|            |                                   | > and              |
|            |                                   | > PROFI            |
|            |                                   | LE_IN_CRP_Gyroless |
+------------+-----------------------------------+--------------------+
| >          | > RRAD Initialise                 | > Old product      |
|  RRAD_INIT |                                   |                    |
+------------+-----------------------------------+--------------------+
| > RRAD_SET | > RRAD Set                        | > Old product      |
+------------+-----------------------------------+--------------------+
| > RWU_CK   | > RWU Checkout                    | > Old product:     |
|            |                                   | > refer to         |
|            |                                   | > RW               |
|            |                                   | 123_CHECK_Gyroless |
+------------+-----------------------------------+--------------------+
| > RW       | > Exchange Reaction Wheels        | > [Old product:    |
| U_EXCHANGE |                                   | > refer to         |
|            |                                   | > RWU_SWAP         |
|            |                                   | >                  |
|            |                                   | \_Gyroless]{.mark} |
+------------+-----------------------------------+--------------------+
| > RWU_INIT | > RWU Initialisation              | > Old product      |
+------------+-----------------------------------+--------------------+
| >          | > Roll Steering Law Disable       | > Old product:     |
|  R_STR_DIS |                                   | > refer to         |
|            |                                   | >                  |
|            |                                   | R_STR_DIS_Gyroless |
+------------+-----------------------------------+--------------------+
| > R_STR_EN | > Roll Steering Law Enable        | > Old product:     |
|            |                                   | > refer to         |
|            |                                   | >                  |
|            |                                   |  R_STR_EN_Gyroless |
+------------+-----------------------------------+--------------------+
| >          | > Roll Steering Law Set-up        | > Old product:     |
|  R_STR_SET |                                   | > refer to         |
|            |                                   | >                  |
|            |                                   | R_STR_SET_Gyroless |
+------------+-----------------------------------+--------------------+
| >          | > Roll Steering Law Table Update  | > Old product:     |
|  R_STR_UPD |                                   | > refer to         |
|            |                                   | >                  |
|            |                                   | R_STR_SET_Gyroless |
|            |                                   | > (Daily)          |
+------------+-----------------------------------+--------------------+
| > SAD_FAIL | > No deployment of Solar Panels.  | > Old product      |
+------------+-----------------------------------+--------------------+
| > SAD_R    | > SAD under spin/shocks condition | > Old product      |
| OCKNROLL_1 | > (part 1)                        |                    |
+------------+-----------------------------------+--------------------+
| > SAD_R    | > SAD under spin/shocks condition | > Old product      |
| OCKNROLL_2 | > (part 2)                        |                    |
+------------+-----------------------------------+--------------------+
| > SAD_R    | > SAD under spin/shocks condition | > Old product      |
| OCKNROLL_3 | > (part 3)                        |                    |
+------------+-----------------------------------+--------------------+
| > SAD_R    | > SAD under spin/shocks condition | > Old product      |
| OCKNROLL_4 | > (part 4)                        |                    |
+------------+-----------------------------------+--------------------+
| > SAD_R    | > SAD under spin/shocks condition | > Old product      |
| OCKNROLL_5 | > (part 5)                        |                    |
+------------+-----------------------------------+--------------------+
| > SAD_R    | > SAD under spin/shocks condition | > Old product      |
| OCKNROLL_6 | > (part 6)                        |                    |
+------------+-----------------------------------+--------------------+
| >          | > SAS 1A Bias Calibration.        | > Old product      |
|  SAS1A_CAL |                                   |                    |
+------------+-----------------------------------+--------------------+
| >          | > SAS 1B Bias Calibration.        | > Old product      |
|  SAS1B_CAL |                                   |                    |
+------------+-----------------------------------+--------------------+
| > SAS_CAL  | > SAS 1 (A AND B) CALIBRATION     | > Old product      |
+------------+-----------------------------------+--------------------+
| > SBM_ISA  | > Standby Mode to ISA Mode        | > Old product      |
|            | > Transition                      |                    |
+------------+-----------------------------------+--------------------+
| >          | > Standby Mode to ISA Mode        | > Old product      |
|  SBM_ISA_B | > Transition - ACUB               |                    |
+------------+-----------------------------------+--------------------+
| > SBM_SET  | > Set ACU B to Standby Mode.      | > Applicable       |
+------------+-----------------------------------+--------------------+
| >          | > Set-up and enable ESR Warning   | > \-               |
|  SET_ESR_W | > flag function                   |                    |
+------------+-----------------------------------+--------------------+
| >          | > Enable the SSU SEU monitor      | > \-               |
| SEU_ENABLE |                                   |                    |
+------------+-----------------------------------+--------------------+
| > SG_APME  | > Switch OFF APME and initialize  | > \-               |
|            | > COMS back-up.                   |                    |
+------------+-----------------------------------+--------------------+
| > SG_DHSS  | > Initiate an automatic           | > \-               |
|            | > reconfiguration of the DHSS     |                    |
+------------+-----------------------------------+--------------------+
| > SG_ESR   | > Initiate Emergency Sun          | > \-               |
|            | > Reacquisition.                  |                    |
+------------+-----------------------------------+--------------------+
| > SG_SAD   | > Solar Array Deployment using    | > \-               |
|            | > ground commands.                |                    |
+------------+-----------------------------------+--------------------+
| > S        | > Switch OFF TX/HPA 2 and switch  | > \-               |
| G_TM_ISA_1 | > ON TX/HPA1                      |                    |
+------------+-----------------------------------+--------------------+
| > S        | > Trigg COMS BACK-UP              | > \-               |
| G_TM_ISA_2 |                                   |                    |
+------------+-----------------------------------+--------------------+
| >          | > Execute a roll slew manoeuvre   | > Old product      |
|  SLEW_EXEC |                                   |                    |
+------------+-----------------------------------+--------------------+
| >          | > Kill a slew                     | > Old product      |
|  SLEW_KILL |                                   |                    |
+------------+-----------------------------------+--------------------+
| > SLEW_SET | > Slew (Roll Manoeuvre)           | > Old product      |
|            | > Parameters Set-up               |                    |
+------------+-----------------------------------+--------------------+
| > SRTU_N_R | > Reconfigure SRTU to Redundant   | > \-               |
|            | > side.                           |                    |
+------------+-----------------------------------+--------------------+
| > SRTU_R_N | > Reconfigure SRTU to Nominal.    | > \-               |
+------------+-----------------------------------+--------------------+
| > SSA10    | > Thruster calibration            | > Old product:     |
|            |                                   | > commissioning    |
+------------+-----------------------------------+--------------------+
| > SSA6     | > FPSS Offsetting and PCPG        | > Old product:     |
|            | > verifications                   | > commissioning    |
+------------+-----------------------------------+--------------------+
| > SSD1     | > VERIFY DUMP OF SW PKT           | > Old product:     |
|            | > PROGRAMMABLE PART               | > commissioning    |
+------------+-----------------------------------+--------------------+
| > SSD11    | > VERIFY BER OF TR AND SSR        | > Old product:     |
|            |                                   | > commissioning    |
+------------+-----------------------------------+--------------------+
| > SSD12    | > CDMU SINGLE EVENT UPSET SURVEY  | > Old product:     |
|            |                                   | > commissioning    |
+------------+-----------------------------------+--------------------+
| > SSD7     | > TRANSITION FROM SSR TO TR       | > Old product:     |
|            |                                   | > commissioning    |
+------------+-----------------------------------+--------------------+
| > SSD8     | > VERIFY TC FRAME SENDING AND     | > Old product:     |
|            | > RECEPTION WITH ASW2             | > commissioning    |
+------------+-----------------------------------+--------------------+
| > SSP2     | > PTCS calibration (fine tuned    | > Old product:     |
|            | > areas)                          | > commissioning    |
+------------+-----------------------------------+--------------------+
| > SSP3     | > PTCS calibration (upper pannel) | > Old product:     |
|            |                                   | > commissioning    |
+------------+-----------------------------------+--------------------+
| > SSR4     | > UPLINK AND DOWNLINK PERFORMANCE | > Old product:     |
|            | > VERIFICATION                    | > commissioning    |
+------------+-----------------------------------+--------------------+
| > SSR5     | > UPLINK PERFORMANCE VERIFICATION | > Old product:     |
|            |                                   | > commissioning    |
+------------+-----------------------------------+--------------------+
| > SSR_C    | > Perform the SSR checklist       | > \-               |
| HECKLIST_S | > \[SSR\]                         |                    |
+------------+-----------------------------------+--------------------+
| > SSR_CHEC | > Check the Memory Unit table     | > \-               |
| K_MU_TABLE |                                   |                    |
+------------+-----------------------------------+--------------------+
| > SS       | > Monitor SSR errors (if any) on  | > \-               |
| R_DAILY_MO | > a daily basis                   |                    |
| NITORING_S |                                   |                    |
+------------+-----------------------------------+--------------------+
| > SSR      | > Dump SSR data                   | > \-               |
| _DATA_DUMP |                                   |                    |
+------------+-----------------------------------+--------------------+
| > SSR_DUM  | > Dump software data from the SSR | > \-               |
| P_S/W_DATA | > processor RAM                   |                    |
+------------+-----------------------------------+--------------------+
| > SS       | > Manage the SSR failures         | > \-               |
| R_FAILURES |                                   |                    |
+------------+-----------------------------------+--------------------+
| > SSR_LOA  | > Load software data in the SSR   | > \-               |
| D_S/W_DATA | > processor RAM                   |                    |
+------------+-----------------------------------+--------------------+
| >          | > Switch Off the SSR \[SSR\]      | > \-               |
|  SSR_OFF_S |                                   |                    |
+------------+-----------------------------------+--------------------+
| > SSR_ON_S | > Switch On and initialize the    | > \-               |
|            | > SSR \[SSR\]                     |                    |
+------------+-----------------------------------+--------------------+
| > SSR_     | > Reset the SSR controller        | > \-               |
| RESET_CTRL |                                   |                    |
+------------+-----------------------------------+--------------------+
| >          | > Reset the ML command rejection  | > \-               |
| SSR_RESET_ | > flag                            |                    |
| ML_COMMAND |                                   |                    |
+------------+-----------------------------------+--------------------+
| > SSR_S    | > Swap two Memory Units           | > \-               |
| WAP_TWO_MU |                                   |                    |
+------------+-----------------------------------+--------------------+
| > S        | > Switch Off one Memory Unit      | > \-               |
| SR_SWITCH_ |                                   |                    |
| OFF_ONE_MU |                                   |                    |
+------------+-----------------------------------+--------------------+
| >          | > Switch On one Memory Unit       | > \-               |
| SSR_SWITCH |                                   |                    |
| _ON_ONE_MU |                                   |                    |
+------------+-----------------------------------+--------------------+
| > SSUA_CK  | > SSU A Checkout                  | Old product: refer |
|            |                                   | to                 |
|            |                                   | SSUA_CK_gyroless   |
+------------+-----------------------------------+--------------------+
| >          | > SSU A Power Down (contingency)  | Old product: refer |
|  SSUA_DOWN |                                   | to                 |
|            |                                   | SSU_               |
|            |                                   | star_down_gyroless |
+------------+-----------------------------------+--------------------+
| > SSUA_ON  | > early SSU A Power On            | Old product        |
+------------+-----------------------------------+--------------------+
| >          | > SSU A Power On                  | Old product        |
|  SSUA_ON_C |                                   |                    |
+------------+-----------------------------------+--------------------+
| > SSUB_ON  | > SSU B Power On                  | Old product        |
+------------+-----------------------------------+--------------------+
| >          | > SSU B Power On                  | Old product: refer |
|  SSUB_ON_C |                                   | to                 |
|            |                                   | ssu_swap_gyroless  |
+------------+-----------------------------------+--------------------+
| >          | > SSU SEU Monitor Function Check  | Old product        |
|  SSUSEU_CK | > and Recovery                    |                    |
+------------+-----------------------------------+--------------------+
| > SSU_CCD  | > SSU CCD performance degradation | Old product: refer |
|            | > assessment                      | to                 |
|            |                                   | ssu_ccd_gyroless   |
+------------+-----------------------------------+--------------------+
| > S        | > Compare SSU A and B for         | Old product:       |
| SU_COMPARE | > commissioning test SSA8         | commissioning      |
+------------+-----------------------------------+--------------------+
| >          | > Reset SSU                       | old product        |
|  SSU_RESET |                                   |                    |
+------------+-----------------------------------+--------------------+
| >          | > Enable the Standard Monitorings | old product        |
| SSU_SEU_ST | > for SSU SEU                     |                    |
| DMONIT_ENA |                                   |                    |
+------------+-----------------------------------+--------------------+
| > S        | > Command an extra star mapping   | old product: refer |
| SU_STARMAP |                                   | to                 |
|            |                                   | ssu_map_gyroless   |
+------------+-----------------------------------+--------------------+
| >          | > SSU Search/Track Mode Set.      | old product refer  |
| SSU_ST_SET |                                   | to ssu_st_gyroless |
+------------+-----------------------------------+--------------------+
| > SSU_TEST | > Test of SSU A (Commissioning    | Old product:       |
|            | > SSA3)                           | commissioning      |
+------------+-----------------------------------+--------------------+
| >          | > SSU Star Magnitude Threshold    | old product        |
| SSU_TH_SET | > Set-up                          |                    |
+------------+-----------------------------------+--------------------+
| >          | > Update constants inside SSU RAM | old product: refer |
| SSU_UPDATE |                                   | to                 |
| _CONSTANTS |                                   | ssu_update_        |
|            |                                   | constants_gyroless |
+------------+-----------------------------------+--------------------+
| >          | > Download SSU star data          | old product: refer |
|  STAR_DOWN |                                   | to ssu star        |
|            |                                   | down_gyroless      |
+------------+-----------------------------------+--------------------+
| >          | > Verify star tracking            | Old product        |
| STAR_TRACK |                                   |                    |
+------------+-----------------------------------+--------------------+
| >          | > STCS APMM transient check -     | > \-               |
|  STCS_APMM | > Commissioning SSS4              |                    |
| _TRANSIENT |                                   |                    |
+------------+-----------------------------------+--------------------+
| > STC      | > STCS momentum dumping check -   | > \-               |
| S_MOM_DUMP | > Commissioning SSS3              |                    |
+------------+-----------------------------------+--------------------+
| > S        | > STCS static prediction check -  | > \-               |
| TCS_STATIC | > Commissioning SSS1              |                    |
+------------+-----------------------------------+--------------------+
| > STCS_TRC | > STCS TRC transient check -      | > \-               |
| _TRANSIENT | > Commissioning SSS2              |                    |
+------------+-----------------------------------+--------------------+
| > STD_M    | > Disable one Standard Monitoring | > \-               |
| ONIT_I_DIS |                                   |                    |
+------------+-----------------------------------+--------------------+
| > STD_M    | > Define and enable one Standard  | > \-               |
| ONIT_I_ENA | > Monitoring                      |                    |
+------------+-----------------------------------+--------------------+
| > SUBFORM1 | > TRANSITION TO TM SUBFORMAT 1    | > \-               |
+------------+-----------------------------------+--------------------+
| > SUBFORM2 | > TRANSITION TO TM SUBFORMAT 2    | > \-               |
+------------+-----------------------------------+--------------------+
| > SUBFORM3 | > TRANSITION TO TM SUBFORMAT 3    | > \-               |
+------------+-----------------------------------+--------------------+
| > SUBFORM4 | > TRANSITION TO TM SUBFORMAT 4    | > \-               |
+------------+-----------------------------------+--------------------+
| > SU       | > DISABLE SUBSTITUTION HEATERS    | > \-               |
| B_HEAT_LCL | > LCL MONITORING                  |                    |
| _MONIT_DIS |                                   |                    |
+------------+-----------------------------------+--------------------+
| > SU       | > DEFINE AND ENABLE SUB HEAT LCL  | > \-               |
| B_HEAT_LCL | > MONIT                           |                    |
| _MONIT_ENA |                                   |                    |
+------------+-----------------------------------+--------------------+
| > SWAP_LGA | > Switch from one LGA to the      | > \-               |
|            | > other.                          |                    |
+------------+-----------------------------------+--------------------+
| > THC      | > Adjust duty cycle of a heater   | > \-               |
| _DC_ADJUST | > channel                         |                    |
+------------+-----------------------------------+--------------------+
| > THC_DIS  | > Thermal Control Disable on one  | > \-               |
|            | > channel                         |                    |
+------------+-----------------------------------+--------------------+
| > THC_ENA  | > Thermal Control Enable on one   | > \-               |
|            | > channel                         |                    |
+------------+-----------------------------------+--------------------+
| >          | > Disable Thermal Control on TR   | > \-               |
| THC_TR_DIS | > or SSR                          |                    |
+------------+-----------------------------------+--------------------+
| >          | > Enable Thermal Control on TR or | > \-               |
| THC_TR_ENA | > SSR                             |                    |
+------------+-----------------------------------+--------------------+
| > THM_DIS  | > Thermal Monitoring Disable on   | > \-               |
|            | > one channel                     |                    |
+------------+-----------------------------------+--------------------+
| > THM_ENA  | > Thermal Monitoring Enable on    | > \-               |
|            | > one channel                     |                    |
+------------+-----------------------------------+--------------------+
| >          | > Disable Thermal Monitoring on   | > \-               |
| THM_TR_DIS | > TR or SSR                       |                    |
+------------+-----------------------------------+--------------------+
| >          | > Enable Thermal Monitoring on TR | > \-               |
| THM_TR_ENA | > or SSR                          |                    |
+------------+-----------------------------------+--------------------+
| >          | > Thruster Feedforward Torque     | > \-               |
| THR_FF_CAL | > Calibration                     |                    |
+------------+-----------------------------------+--------------------+
| > THR_M    | > Start COBS thruster monitoring  | > Old product:     |
| ONIT_START |                                   | > refer to         |
|            |                                   | > THR_             |
|            |                                   | MON_START_Gyroless |
+------------+-----------------------------------+--------------------+
| > THR_     | > Stop COBS thruster monitoring   | > Old product:     |
| MONIT_STOP |                                   | > refer to         |
|            |                                   | > THR              |
|            |                                   | _MON_STOP_Gyroless |
+------------+-----------------------------------+--------------------+
| > THR_OPEN | > Thruster failure in open        | > Old product      |
|            | > positon during a delta-V        |                    |
+------------+-----------------------------------+--------------------+
| >          | > Thruster Torque Calib. - AOCS   | > Old product      |
| THR_TQ_CAL | > TM type 3.3 verif.              |                    |
+------------+-----------------------------------+--------------------+
| > T        | > Disable the TOD.                | > [Old product:    |
| OD_DISABLE |                                   | > (TOD shall       |
|            |                                   | > always be        |
|            |                                   | > forced)]{.mark}  |
+------------+-----------------------------------+--------------------+
| >          | > Enable the TOD.                 | > [Old product:    |
| TOD_ENABLE |                                   | > (TOD shall       |
|            |                                   | > always be        |
|            |                                   | > forced)]{.mark}  |
+------------+-----------------------------------+--------------------+
| > TOD_SET  | > Set the TOD Threshold           | > [Old product:    |
|            |                                   | > (TOD shall       |
|            |                                   | > always be        |
|            |                                   | > forced)]{.mark}  |
+------------+-----------------------------------+--------------------+
| >          | > Start the TOD                   | > [Old product:    |
|  TOD_START |                                   | > (TOD shall       |
|            |                                   | > always be        |
|            |                                   | > forced)]{.mark}  |
+------------+-----------------------------------+--------------------+
| > TRIM_SET | > Second Delta-V Trim Set-up      | > Old product      |
+------------+-----------------------------------+--------------------+
| > TRSP1_1  | > Set TRSP 1 in mode 1 (TM only)  | > \-               |
+------------+-----------------------------------+--------------------+
| > TRSP23_1 | > Set TRSP 1 in mode 2 or 3       | > \-               |
|            | > (uplink + TM)                   |                    |
+------------+-----------------------------------+--------------------+
| > TRSP46_1 | > Set TRSP 1 in mode 4 or 6       | > \-               |
|            | > (uplink + ranging)              |                    |
+------------+-----------------------------------+--------------------+
| > TRSP57_1 | > Set TRSP 1 in mode 5 or 7       | > \-               |
|            | > (uplink + TM + ranging)         |                    |
+------------+-----------------------------------+--------------------+
| > TR_SBY   | > Put TR1 in standby mode         | > \-               |
+------------+-----------------------------------+--------------------+
| > TX_TM_ON | > TM ON for both transponders.    | > \-               |
+------------+-----------------------------------+--------------------+
| > US       | > SYNCHRONIZE USER LOBT WITH MAIN | > \-               |
| ER_SYNCHRO | > OBT                             |                    |
+------------+-----------------------------------+--------------------+
| > USO      | > USO STABILITY VERIFICATION      | > \-               |
| _STABILITY |                                   |                    |
+------------+-----------------------------------+--------------------+
| > WDE_OFF  | > Power OFF the WDE (contingency) | > \-               |
+------------+-----------------------------------+--------------------+
| >          | > Reaction Wheel Momenta Monitor  | > \-               |
|  WHEEL_MON |                                   |                    |
+------------+-----------------------------------+--------------------+

# Gyroless modes

## Introduction

Three gyros were nominally used on the SOHO satellite for roll attitude
control and failure detection in the different modes:

-   Gyro C for ACU control laws (ISA, FSA, RMW, CSP)

-   Gyro B for failure detection (ISA, FSA, RMW, CSP)

-   Gyro A for ESR control

Since all three gyros are now declared failed, it is presently proposed
to perform open loop roll control from ground when possible and
necessary, i.e. for survival mode (ESR mode), or closed loop on board
otherwise.

In that respect, major design modifications are introduced in order to
avoid use of a gyro for the attitude roll control in Roll Maneuver
Wheels mode (RMW mode). A new ultimate Coarse Roll Pointing mode (CRP
mode) based on monitoring the reaction wheel momentum is now proposed
when the Star Sensor Unit (SSU) is not available (e.g. during solar
flares). The Normal mode (NM mode), as well as RMW, will keep the Star
Sensor for roll attitude control, but some modification are proposed to
increase the robustness to SSU Single Event Upset (SSU SEU) in these
modes as well as automatic switch over of guide star when the SSU is
tracking more than one star.

In addition, the development of new on board surveillances restores the
safety of the spacecraft. These are achieved by the COBS.

It must be pointed out that no longer thruster based modes are
considered for SOHO attitude control, increasing the safety of the
satellite (except for ESR mode).

## Gyroless modes

The following diagram presents the new Gyroless AOCS modes:

![](media/image2.wmf)

Figure 3.2/1 : Gyroless modes and transitions

The CRP mode is a new AOCS mode. This mode uses only the FPSS and the
reaction wheels.

It will be used to recover from ESR and as a recovery mode in case of
SSU SEU outages or RW speed anomaly for both RMW & NM. This CRP mode
allows performing roll manoeuvres and enables HGA operations for medium
or high rate telemetry.

The RMW mode will be used for both Station keeping and Momentum
management.

The Normal mode will be used for science.

The nominal or permitted transitions between these modes are :

-   ESR to CRP (through ACU Inactive, then Standby mode), for ESR
    recovery

```{=html}
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```
-   CRP to RMW, to restore the nominal mission modes using the SSU after
    ESR recovery

-   RMW to CRP, for roll adjustment in CRP

-   RMW to NM, to restore science operations

-   NM to RMW, for performing manoeuvres with thrusters (station keeping
    and momentum management)

In addition to the permitted mode transitions, the following transitions
are commanded in case of anomalies:

-   From NM or RMW modes : transition to CRP mode in case of SSU outage
    or RW speed anomaly (both commanded by a dedicated COBS function).
    This replaces the old fallback to RMW with gyroscope in case of SEU
    declared on the control star.

-   From any ACU mode : transition to ESR mode (in case of FDE anomaly
    detection : FSPAAD criterion, or commanded by a dedicated COBS
    function in case of ACU reset or Hx momentum anomaly)

The old ISA, FSA, and CSP modes are no longer required. Transition from
any mode to ISA, FSA and CSP are now declared as being invalid
transitions in the gyroless AOCS software. The CRP to Stand-By
transition is not allowed in the new software definition.

Transitions from on mode on itself are also still possible, as
implemented in the initial design solution. This performs initialisation
of some of the mode variables, using default values.

The CRP mode is implemented as being ACU mode 5, making the AOCS new
mode tables as follows :

-   Inactive : mode 0, used at power up

-   Stand-By : mode 1, used at ESR recovery

-   ISA : mode 2, unused

-   FSA : mode 3, unused

-   RMW : mode 4, operational mode

-   CRP : mode 5, operational mode

-   CSP : mode 6, unused

-   NM : mode 7, operational mode

## ESR mode

### Presentation

The ESR mode is still being used as an ultimate back up mode after an on
board anomaly detection.

The ESR mode being a hardware mode, no change to this mode occurs. The
ESR performs an independent control using SAS B analogue channel and the
propulsion B branch. The only restriction is that the ESR roll
controller will be kept inhibited and the roll rate of the satellite
will be controlled from ground through regular open loop thruster
actuations (direct commands through the ACU & CAE B).

The main technique used to control the roll rate is described in section
3.3.2. It uses the SAS outputs.

### ESR divergence and Roll rate control in ESR

The need for a roll rate control in ESR is linked to a gradual spin of
the roll rate each time pitch thrusters 1B/2B (and to a lesser extent
from the yaw thrusters 3B/4B) are actuated. For all these actuations,
the roll rate builds up to negative values.

At high rates, the capability to maintain the sun pointing control is no
more granted. This is linked to the inertia cross products terms, and
forms a diverging phenomenon at high negative rates : the more the roll
rate, the more the parasitic torques on the pitch and yaw axes, hence
the more the pitch and yaw actuation and the more the roll rate becomes
negative. This phenomenon was illustrated by the June 98 mission
interruption.

The loss of control occurs at -4.5 °/s at EOL worst case (-5.12°/s worst
case for 13 bar pressure), and did occur at -7.2°/s in June 98
conditions. The dynamics of the ESR divergence on the negative rate side
(current worst case and EOL worst case) is illustrated Figure 3.3/1 :
ESR divergence dynamics (13 bar worst case) and Figure 3.3/2 : ESR
divergence dynamics (EOL worst case).

It should be also noted that the loss of ESR control can also occur at
positive rates at the same order of rates magnitude : although the
negative braking delivered by the 1B to 4B thrusters, if the initial
roll rate is too high for maintaining the SAS 1 control, the dynamics
will generate large angles and a subsequent entry into the SAS 2/SAS 3
logic, which does not recover the sun pointing.

The roll rate increase is a smooth phenomenon at beginning, when
experienced at low rate conditions. This has been verified in flight
from various opportunities.

The daily rate increase is somewhere between -0.1°/s and -0.2°/s per day
at low roll rates (around or below 0.1°/s). It goes up to -0.7°/s per
day when the roll rate is around 0.7°/s, and increases rapidly at the
end.

At -0.7°/s, when the wheels have despun and the ESR steady state is set,
the order of magnitude to reach the ESR divergence is about one day.

If kept above -0.1°/s, the autonomy of the ESR before the divergence is
the matter of several days.

![](media/image3.wmf){width="6.34375in" height="4.772916666666666in"}

Roll rate (104 \"/s, full scale at -6.94°/s) vs time (104 s, full scale
at 27h45\')

> Initial rate = -0.75°/s
>
> Divergence at -5.12°/s in 23h30\'

**Figure 3.3/1 : ESR divergence dynamics (13 bar worst case)**

![](media/image4.wmf){width="6.247222222222222in" height="4.6875in"}

Roll rate (104 \"/s, full scale at -5.55°/s) vs time (104 s, full scale
at 27h45\')

> Initial rate = -0.75°/s
>
> Divergence at -4. 5°/s in 23h30\'

**Figure 3.3/2 : ESR divergence dynamics (EOL worst case)**

Amongst the candidate roll rate measurement techniques experimented on
SOHO, the roll rate reduction from SAS-1B has been retained. The roll
rate (~x~) can be monitored on ground from the plots of the SAS-1 and
angles, plotted in polar as follows :

![](media/image5.emf)

Inside the control zone, the spacecraft exhibits free body motion. If
there is no roll rate, the , trajectories are straight lines. However,
if there is a roll rate, the , trajectories are curved. In addition, if
~x~ \< 0, the curves are in a clockwise direction. If ~x~ \> 0, the
curves are anticlockwise.

![](media/image6.emf)

The curves represent a combination of nutation and spin, as seen from
the equations for the dynamics and kinematics. The magnitude of the
curvature in the , plots is hence indicative of the roll rate magnitude.
Rather than attempting to estimate the roll rate from the free body
motion equations, it is proposed to fire elementary 5B or 6B 0.05°/s
equivalent pulses, until SAS curves becomes visually straight lines on
the polar plots or prove to indicate a barely positive roll rate.
Indeed, curvatures can easily be seen above 0.1°/s. Typical curvatures
at 0.1°/s are depicted on Figure 3.3/3 : typical SAS curvatures at
-0.1°/s (flight data, one point per 15s). Their actual shape depend on
the pitch/yaw rates experienced on the free dynamics arcs.

This operational strategy has been performed successfully in flight
since September 98.

### Pitch or yaw braking in ESR

Upon request from the orbit maintenance experts, the braking of the
pitch or yaw cycles can be performed by thrusting open loop pulses
through ACU-B and CAE-B, up to the date when ACU-A is switched ON.

The braking of the yaw (respectively the pitch) cycle is understood as
the reduction of the cycle rate to a low value on one of its edge, and
reduces the orbital perturbation on the +X axis (respectively on the - X
axis).

The pitch or yaw rate trim is achieved once the roll rate control is
established using a derivation the SAS measurements.

Owing to the shape of the limit cycling with no roll rate (refer to
Figure 3.3/4 : ESR steady state limit cycling (pitch/yaw) at low roll
rates (flight data)), the good repetitivity of the limit cycling and its
fast cycles allows to time out in advance the date at which the pitch or
yaw rate will be performed. If the correction is not accurate enough, a
fine tuning will be performed, and made more easy by the resulting
lengthening of the pitch and yaw cycling frequencies.

The principle used to damp the residual pitch and yaw momentum is as
follows :

-   The spacecraft Hy and Hz is computed using the rates estimation from
    the SAS and the spacecraft inertia (Iyy estimated at 3270 kgm² for
    130 kg fuel left and at 3190 kgm² for a dry spacecraft / Izz
    estimated at 3650 kgm² for 130 kg fuel left and at 3570 kgm² for a
    dry spacecraft, linear interpolation in between)

```{=html}
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```
-   The current thruster torque matrix is used to compute the required
    on time. This makes the on time dependant on the pressure. Thruster
    1B is used to generate + pitch rate (2B for negative), thruster 3B
    is used to generate -yaw rate (4B for positive).

![](media/image7.png){width="6.291666666666667in"
height="6.922916666666667in"}

**Figure 3.3/3 : typical SAS curvatures at -0.1°/s (flight data, one
point per 15s)**

![](media/image8.png){width="6.290972222222222in" height="7.26875in"}

**Figure 3.3/4 : ESR steady state limit cycling (pitch/yaw) at low roll
rates (flight data)**

### ESR operational constraints

-   The ESR roll rate control shall always be disabled, and checked at
    the ESR entry

-   It is not allowed to let large positive or negative roll rates in
    ESR.

-   The axis convention of the SAS plots and curvatures shall be
    respected for roll rate control in ESR.

-   As a safeguard mean, the roll rate shall be monitored on ground by
    alternative means (Doppler).

-   The ESR shall not be left without contact until the reaction wheels
    have spun down (1 hour into ESR) and the roll rate has been
    controlled by the ground

-   Once the roll rate control is established and the wheels have spun
    down (1 hour into ESR), the spacecraft shall not be left out of
    contact for more than 24 hours.

-   The reaction time to perform control in ESR (once low rate telemetry
    is established and ESR reported) shall be less than 1 hour.

-   In order to grant large ESR autonomy, the ESR roll rate control
    shall be performed above -0.1°/s, and shall target roll rate control
    within +/- 0.1°/s.

-   The orbit perturbations generated by the ESR control pulses shall be
    monitored on ground by Doppler. If required by the orbit dynamics,
    pitch braking or yaw braking can be performed to help maintaining
    the orbit.

-   Roll rate control shall be performed from ACU-B and CAE-B. SAS 1B
    plots can either be from digital and analog measurements. Other
    units than SAS 1B can be used to establish roll rate with the same
    principle if they are proved worthy versus SAS 1B.

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-   Would thrusters be used from an unhealthy ACU in ESR (ex ESR from an
    ACU B control, if ACU A failed), their actuation shall be : timed
    tagged, limited to 1s per actuation, followed 1s after by a CAE
    execute send by direct MACS command (to clear the FCV command
    register located within CAE).

## Stand-by mode

### Presentation

The Stand-By mode is the first ACU mode used to support ESR exit
operations. A transition to CRP mode is used afterwards while the ESR
controller is switched OFF.

The Stand-By mode now implements :

-   the reaction wheels speed controller, to support open loop rate
    reduction techniques with reaction wheels, exercised to prepare for
    CRP transition.

-   the reaction wheels speed filter, to anticipate filter convergence
    for CRP mode, and to enhance the reaction wheel speeds
    observability.

### Transition to CRP

#### The CRP entry principle

Several constraints have been taken into account to design the ESR to
CRP transition :

-   The Stand-By mode to CRP mode transition is not made conditional,
    within the ACU software, on the sun being present within the FPSS
    field of view.

-   The operational entry conditions set for CRP are exceeded by the ESR
    control performances.

-   Adequate failure identification shall be performed before using
    hardware for the ESR to CRP transition.

-   Adequate protections (the Hx monitoring function) shall be installed
    in CRP as soon as possible after the ESR exit.

-   A minimum request for CRP autonomy (few days) is anticipated, for
    operational robustness.

The selected principle of operations to tackle these constraints is as
follows :

-   *The failure identification activities are performed in ESR. This
    failure identification starts at ACU A level. It allows to upload
    the gyroless software, and uses the ACU A in stand by mode to
    support the investigations associated to the other remaining AOCS
    hardware (mostly FPSS and reaction wheels).*

> The logic and the rationale for these operations are described in the
> contingency analysis. The scheme of investigation gives an appraisal
> of the health of the ACU A, FPSS A, and RW\'s good enough to perform
> the CRP entry with these hardware pieces. On the other hand, although
> if proved globally healthy, the ACU A can not be tested sufficiently
> at MACS level to allow for thruster actuation (CAE A and even CAE B)
> without protection.

-   *A rate reduction technique is set on all the axes to grant the CRP
    operational entry conditions. This rate reduction technique is
    performed with the reaction wheels, under ACU control.*

> The method for performing the roll, then the pitch and yaw rate
> reduction is described in the following paragraphs. The reaction
> wheels are used to damp the rates according to the choice not to use
> thrusters commanded by ACU A. A specific initial momentum
> configuration is set to allow for roll rate measurement correction, as
> formerly done in the frame of the first gyroless ESR exit solution
> (Januark 99). The roll rate is thereafter damped by trimming the
> reaction wheels speeds. Thereafter the remaining pitch and yaw rates
> are identified from the SAS measurements, and damped the same way,
> just before the transition into CRP.

-   *The FPSS sun presence check is part of the final verification*.

This does not really calls for a timed out exit, since the FPSS has
always been proved largely in the ESR field of view so far in flight.

-   *The possibility to set the Hx monitoring in CRP and the CRP
    autonomy is granted by an adequate initial roll rate trim in ESR,
    executed as part of the end of the roll ground based control before
    the ACU A operations, and adequate reaction wheels speeds.*

This timeline and its implications are described in section 3.4.2.2. The
reaction wheels initial speeds are presented in section 3.4.2.2, for any
reaction wheels subset. It shall be noted that the value of the embedded
momentum nevertheless differs from the solution used at the date of the
early gyroless solution (first gyroless exit of ESR), making the
computation routines used at that date slightly obsolete.

#### Roll Rate Measurement and trim principle

Two roll rate trims are performed as part of the ESR exit procedure :

-   The first one applies before the start of the operations with ACU A.

It is achieved by thrusters as part of the last ground based control
actions. There is no roll rate measurement and verification principle
performed at that stage. The trim of the roll rate to the required
positive value is only performed using calibration knowledge of thruster
5B. To get accuracy, the requested procedure set in place is to trim
down to zero the negative roll rate, and thereafter to trim to the
requested positive value the roll rate.

-   The second one applies before the CRP entry.

It is performed with reaction wheels for both the achievement of the
measurement and of the trim.

The principle stands as embedding a pure +Hy (case of reaction wheels
1/2/3 or 1/3/4) or a pure -Hz (case of reaction wheels 1/2/4 or 2/3/4)
momentum on the wheels, while evaluating the perturbation observed on
the other axis : yaw axis for the case when an Hy is set, pitch axis for
the case when the Hz is set.

##### Case of nominal subset and 1/3/4 subset : measurement with pitch momentum

For these two reaction wheels subset, it is possible to embed a pure Hy
momentum. The selected momentum solution is :

h~x~ = 0

h~y~ = + 11.39 Nms

h~z~ = 0

This corresponds to the following wheel speeds for the nominal 1/2/3
subset :

h~1~ = 6.5 Nms ( 650 rpm)

h~2~ = -13 Nms ( -1300 rpm)

h~3~ = 6.5 Nms ( 650 rpm)

This corresponds to the following wheel speeds for the redundant 1/3/4
subset (usage in case of reaction wheel 2 failure) :

h~1~ = -6.5 Nms ( -650 rpm)

h~3~ = -6.5 Nms ( -650 rpm)

h~4~ = 13 Nms (1300 rpm)

Following the wheel spin up, in both cases, the presence of the wheel
pitch momentum, coupled with the residual roll rate, will give rise to a
yaw disturbance torque.

The yaw dynamics are approximately Izz dz/dt + x hy = 0, so that Izz
dz/dt = - x hy

If the rate is nearly null, a double sided steady state is always
experienced on the yaw axis :

![](media/image9.emf)

In this situation, there is no need to measure the residual roll rate :
the roll rate is low enough to proceed with the CRP entry.

If it does not, then there is a residual roll rate which may be
identified using the following method :

-   As h~y~ \> 0, then if ~x~ \> 0, there is a negative disturbance
    torque, i.e. the SAS-1 angle or the FPSS yaw angle, will exhibit the
    following limit cycle behaviour:

![](media/image10.wmf)

***Positive roll rate on yaw axis for 1/2/3 and 1/3/4 subset***

-   Similarly, if ~x~ \< 0, there is a positive disturbance torque, i.e.
    the SAS-1 angle or the FPSS yaw angle, will exhibit the following
    limit cycle behaviour:

![](media/image11.emf)

***Negative roll rate on yaw axis for 1/2/3 and 1/3/4 subset***

-   The roll rate may be evaluated from any arc of this profile as
    follows, measuring the T half period and peak angle variation as
    follows, and picking up the sign of the rate by the shape of the
    profile :

Positive case :

![](media/image12.wmf)

Negative case :

![](media/image13.wmf)

-   During any of these arcs, experienced in free dynamics under a
    nearly constant yaw disturbance, the yaw acceleration can be
    appraised by : 2 / T². This gives access to the following estimate
    of the rate (in absolute values) :

> ~x~ = 2 \* Izz \* / (T² \* hy)

The best knowledge of Izz is 3650 kgm² with 130 kg fuel left on board,
and 3570 kgm² with no fuel left on board. Linear interpolation can be
used in between.

The table below gives a rough approximation of half the single sided
limit cycle period for a given roll rate. The number of data points from
the telemetry is also given. The period of the limit cycle and hence the
number of data points is sufficient to calculate the roll rate to a
reasonable level of accuracy for roll rates up to 300 "/s to 400 "/s.
Moreover, as the roll rate is reduced, the accuracy increases.

  ------------------- ------------------------- --------------------------
  **Roll Rate ("/s)** **Half Cycle Period (s)** **Telemetry points per
                                                Half Cycle**

  50                  384                       26

  100                 192                       13

  150                 128                       9

  200                 96                        6

  250                 77                        5

  300                 64                        4

  350                 55                        4

  400                 48                        3
  ------------------- ------------------------- --------------------------

**Table 3.4/1 : Observability of yaw sine waves**

##### Case of 2/3/4 subset and 1/2/4 subset: measurement with yaw momentum

For these two reaction wheels subset, it is not possible to embed a pure
Hy momentum. Therefore a pure yaw momentum is selected :

h~x~ = 0

h~y~ = 0

h~z~ = -11.39 Nms

This corresponds to the following wheel speeds for the redundant 2/3/4
subset (usage in case of reaction wheel 1 failure):

h~2~ = -6.5 Nms ( -650 rpm)

h~3~ = -6.5 Nms ( -650 rpm)

h~4~ = 13 Nms ( 1300 rpm)

This corresponds to the following wheel speeds for the redundant 1/2/4
subset (usage in case of reaction wheel 3 failure) :

h~1~ = -13 Nms (-1300 rpm)

h~2~ = 6.5 Nms ( 650 rpm)

h~4~ = 6.5 Nms ( 650 rpm)

Following the wheel spin up, in both cases, the presence of the wheel
yaw momentum, coupled with the residual roll rate, will give rise to a
pitch disturbance torque.

The pitch dynamics are approximately Iyy dy/dt - x hz = 0, so Iyy dy/dt
= + x hz

If the rate is nearly null, a double sided steady state is always
experienced on the pitch axis :

![](media/image14.wmf)

In this situation, there is no need to measure the residual roll rate :
the roll rate is low enough to proceed with the CRP entry.

If it does not, then there is a residual roll rate which may be
identified using the following method.

-   As h~z~ \< 0, then if ~x~ \> 0, there is a negative disturbance
    torque, i.e. the SAS-1 angle or the FPSS pitch angle, will exhibit
    the following limit cycle behaviour:

![](media/image15.wmf)

***Positive roll rate on pitch axis for 1/2/4 and 2/3/4 subset***

-   Similarly, if ~x~ \< 0, there is a positive disturbance torque, i.e.
    the SAS-1 angle or the FPSS pitch angle, will exhibit the following
    limit cycle behaviour:

![](media/image16.wmf)

***Negative roll rate on pitch axis for 1/2/4 and 2/3/4 subset***

-   The roll rate may be evaluated from any arc of this profile as
    follows, measuring the T half period and peak angle variation as
    follows, and picking up the sign of the rate by the shape of the
    profile :

Positive case :

![](media/image17.wmf)

Negative case :

![](media/image18.wmf)

-   During any of these arcs, experienced in free dynamics under a
    nearly constant pitch disturbance, the pitch acceleration can be
    appraised by : 2 / T². This gives access to the following estimate
    of the rate (in absolute value) :

> ~x~ = 2 \* Iyy \* / (T² \* hz)

The best knowledge of Iyy is 3270 kgm² with 130 kg fuel left on board,
and 3190 kgm² with no fuel left on board. Linear interpolation can be
used in between.

The table below gives a rough approximation of half the single sided
limit cycle period for a given roll rate. The number of data points from
the telemetry is also given. The period of the limit cycle and hence the
number of data points is sufficient to calculate the roll rate to a
reasonable level of accuracy for roll rates up to 300 "/s to 400 "/s.
Moreover, as the roll rate is reduced, the accuracy increases.

  ------------------- ------------------------- --------------------------
  **Roll Rate ("/s)** **Half Cycle Period (s)** **Telemetry points per
                                                Half Cycle**

  50                  384                       26

  100                 192                       13

  150                 128                       9

  200                 96                        6

  250                 77                        5

  300                 64                        4

  350                 55                        4

  400                 48                        3
  ------------------- ------------------------- --------------------------

**Table 3.4/1 : Observability of pitch sine waves**

##### The roll rate trim

The roll rate trim is achieved by increasing or decreasing the speed of
the two reaction wheels of the subset acting on the Hx spacecraft
momentum.

To kill a positive roll rate, the Hx momentum of the reaction wheels
shall be increased towards the positive direction. On the other hand, to
kill a negative roll rate, the Hx momentum of the reaction wheels shall
be increased towards the negative direction.

The value of which both wheels shall be trimmed is given by :

> *x = int (Ixx \* roll rate absolute value / 2 / reaction wheel speed
> quantum / cos 61.2°)*
>
> *that is x ( rpm) = int (694.666\* roll rate absolute value (in
> deg/s))*

Pending on the wheels subset used, this translates into :

-   For subset 1/2/3 (nominal) and a positive roll rate, evolution of
    RW1 and RW3 speeds from + 650 rpm to 650 + x rpm

-   For subset 1/2/3 (nominal) and a negative roll rate, evolution of
    RW1 and RW3 speeds from + 650 rpm to 650 - x rpm

-   For subset 1/2/4 (redundant) and a positive roll rate, evolution of
    RW2 and RW4 speeds from + 650 rpm to 650 + x rpm

-   For subset 1/2/4 (redundant) and a negative roll rate, evolution of
    RW2 and RW4 speeds from + 650 rpm to 650 - x rpm

-   For subset 1/3/4 (redundant) and a positive roll rate, evolution of
    RW3 and RW4 speeds from - 650 rpm to - 650 + x rpm

-   For subset 1/3/4 (redundant) and a negative roll rate, evolution of
    RW3 and RW4 speeds from - 650 rpm to - 650 - x rpm

-   For subset 2/3/4 (redundant) and a positive roll rate, evolution of
    RW2 and RW3 speeds from - 650 rpm to - 650 + x rpm

-   For subset 2/3/4 (redundant) and a negative roll rate, evolution of
    RW2 and RW3 speeds from - 650 rpm to - 650 - x rpm

#### Pitch and Yaw rate measurement and trim principle

The pitch and yaw rate trim is achieved after the roll rate trim by
increasing or decreasing the speed of the reactions wheels to damp the
residual Hy and Hz spacecraft momentum. The measurement technique is
simply based on the use of a derivation the SAS or FPSS measurements.

Owing to the shape of the limit cycling with no roll rate (refer to
Figure 3.3/4 : ESR steady state limit cycling (pitch/yaw) at low roll
rates (flight data) in section 3.3), the good repetitivity of the limit
cycling and its fast cycles allows to time out in advance the date at
which the pitch and yaw rate will be performed. If the correction is not
accurate enough, a fine tuning will be performed, and made more easy by
the resulting lengthening of the pitch and yaw cycling frequencies.

The principle used to damp the residual pitch and yaw momentum is as
follows :

-   The spacecraft Hy and Hz is computed using the rates estimation from
    the SAS or FPSS, and the spacecraft inertia (Iyy estimated at 3270
    kgm² for 130 kg fuel left and at 3190 kgm² for a dry spacecraft /
    Izz estimated at 3650 kgm² for 130 kg fuel left and at 3570 kgm² for
    a dry spacecraft, linear interpolation can be used in between)

-   The momentum increase to apply of the reaction wheels is derived
    using the wheels to spacecraft transformation matrix : H(RWijk, SC)
    for wheels subset ijk

> *(Hi , Hj, Hk) = H(RW, SC) (0, Hy, Hz)*

-   Each of the wheels speed reference is modified accordingly.

#### Initial Roll Rate and timing of the operations

The maintain operational robustness, the procedure for exiting ESR
requires that no thruster commands are sent once ACU-A is patched and
operational, until the adequate protections are set in RMW to perform
momentum management operations.

On the other hand, at CRP entry, it is desired to set in place the Hx
protection as soon as possible (this allows to set the basic protection
for spacecraft safety) and a minimum autonomy is aimed in CRP wrt the
first momentum management request.

The solution selected to comply with these two requests has been to trim
the roll rate prior to patch and use ACU A, and set in place a rough
timeline of operations associated with initial reaction wheels speeds,
such that no thrusters actuations are needed in the first two days in
CRP mode.

A number of factors influence the final value of Hx:

-   When in ESR, the roll rate evolves at a rate between 0.1°/s per day
    and 0.2°/s per day.

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-   When in CRP mode, the environment torque on the roll axis has a
    worst case value of 1.0E-06 Nm

-   When in CRP mode, the spacecraft will rotate about an axis
    orthogonal to the roll axis at 1° per day.

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-   When in CRP mode, the disturbance torques on the pitch and yaw axis
    result in a drift of the CRS, resulting in a non-zero rate on the
    roll axis.

The recommended initial rate for the roll axis is + 408 "/s (ie +
0.11°/s). It is coherent with getting a positive Hx in CRP (largely
above the lowest edge Hx limit) even if the length of the operations is
up to 6 hours from the date of the roll rate rim up to the date of
transition into CRP. The theoretical maximal length which can be
accepted is in fact longer (about 1 day), since the operational Hx
lowest edge limit is set at -0.14°/s (-5 Nms).

### Stand-by mode operational constraints

-   The stand by mode has only to be used as part of the ESR exit
    operations from a boot up software configuration, while the ESR
    controller is still active. This mode does not perform attitude
    control on any of the axes.

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-   The stand by mode shall always be entered with reaction wheels speed
    references coherent with actual reaction wheels speeds, in order not
    to generate a rate kick on the three axes. This imposes that the
    reaction wheels have spun down before the ESR exit where default
    references are at zero : the duration of any ESR shall be higher
    than 2 hours.

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-   During the ESR exit operations, the stand by mode to CRP transition
    shall be performed while the sun is present inside the FPSS field of
    view. This check is performed under ground responsibility, and might
    impose a timed ESR to CRP exit.

-   The ESR exit procedure starts with a roll rate trimmed to +0.1°/s as
    part of the last actions performed for the ESR roll rate control
    with thrusters. The pitch and yaw braking actions are stopped at
    during the ESR exit procedure.

-   Thrusters actuation (CAE A and CAE B) from ACU A are
    [NOT]{.underline} allowed as part of the ESR exit procedure while
    the spacecraft remains unprotected on all the axes.

-   The ESR exit procedure duration shall be limited to less than 1 day.

-   After CRP entry, the Hx computation shall be performed from the
    reaction wheels speeds before enabling both the AOCS computation and
    the COBS monitoring function. If the computed Hx appears lower than
    -8 Nms, the contact with the spacecraft shall not be released until
    a momentum management is performed and the Hx protection is set.

## CRP mode

### Presentation

This new AOCS mode is ultimately proposed to cope with SSU outages, i.e.
during high solar activity and solar flares. The primary objective of
this mode is to avoid a rapid transition from NM or RMW to ESR in case
of unavailability of the SSU sensor. As a secondary objective, the roll
angle is maintained close to the position experienced at mode entry, in
the aim of keeping the HGA orientation for medium / high rate TM
communication.

The CRP mode is a gyroless and SSU less mode, using only the FPSS and
the reaction wheels for three axis attitude control. This mode can then
support SSU troubleshooting and operations related to uploading of SSU
software.

The roll angle control is based on the direction of the transverse
reaction wheel momentum in spacecraft axes to measure the roll attitude.
This principle, the CRS sensor, is detailed in section 3.5.2. It appears
accurate enough for maintaining a pertinent roll angle pointing on a
daily basis. On a longer-term basis, roll attitude information from MDI
or EIT experiments, available in the medium / high rate telemetry, will
be used to maintain a correct absolute roll attitude, hence HGA
orientation.

The pitch and yaw control is performed with the FPSS, as per RMW mode.

The CRP mode is also used for the ESR recovery and closed loop roll
maneuvers, including HGA Station Keeping operations.

The Hx monitoring function is run in CRP to grant the spacecraft safety.
It is the only spacecraft protection set in CRP, together with the
FSPAAD/CSPAAD channels from the FDE.

### The CRS sensor

#### The CRS principle

The CRS is based on the conservation of the spacecraft angular momentum,
and the observation of that momentum vector via the reaction wheels. Its
principle is broadly explained hereafter and illustrated in Figure 3.5/1
: the CRS principle :

-   The spacecraft rates being controlled to virtually zero on the pitch
    and yaw axes by the AOCS, the total spacecraft momentum transverse
    to the spacecraft to sun line is directly embedded on the wheels.
    Therefore, the evolution of this momentum vector can be observed by
    measuring the wheel speeds and having an accurate knowledge of the
    wheel inertias and the wheels to spacecraft decoupling matrix.

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-   If control is released on the sole roll axis, the external
    disturbance torque will be stored as body momentum, i.e. the roll
    axis will have a non zero rate, causing the body to rotate about
    this axis with respect to the inertial reference frame.

-   The conservation of angular momentum requires that the momentum in
    the orthogonal reference pitch and yaw axes remains constant. At low
    roll rates, the pitch and yaw attitude control being still able to
    maintain the rates to virtually zero, the momentum in the orthogonal
    body axes must change in the spacecraft axes, manifested as the
    inverse of the rotation of the spacecraft.

![](media/image19.wmf){width="4.3125in" height="5.688888888888889in"}

**Figure 3.5/1 : the CRS principle**

A number of assumptions are made in this explanation :

-   There are no disturbance torques acting on the pitch and yaw (Y
    and Z) axes of the spacecraft.

-   The pitch and yaw attitudes of the spacecraft remain fixed in
    inertial space.

-   There is no transient activity on the pitch and yaw axes.

-   The wheels speed quantum is low enough not to pollute the
    measurement.

In practice these assumptions are contravened, and the implications of
this are discussed below :

-   The spacecraft momentum is not fixed in inertial space, linked to
    the presence of a long term build up from the solar pressure torque.
    Furthermore, the geometry of SOHO orbit and its commanded attitude
    makes the transverse momentum nominally evolving in the spacecraft
    axes.

Incorporating a CRS drift compensation to correct for the natural CRS
drift solves this problem. This drift is estimated by an on board
function (the CRS drift estimator, consisting into a linear
interpolation), regularly activated by the ground. This solution offers
a suitable CRS accuracy over the typical time frame the CRS has to be
used (1 day). On a longer term, a calibration from the experiments might
be required, if no SSU measurement is still valid.

-   Transient activity on the pitch and yaw axes might take place,
    exchanging transverse momentum with body rates, and thus corrupting
    the measurement principle.

To cope with that fact, the CRS algorithms are started 40s after the
switch over to the mode using that sensor, and the pitch and yaw
attitude transients are minimised at this mode entry (rate reduction at
ESR exit, and freezing the references to the measured values at CRP
entry). This is suitable to damp the major transients. The only
remaining transient activities, namely the FPSS offsets, corrupt the
sensor measurements to an acceptable level, and are avoided it that mode
when the high gain antenna is used.

-   The wheel speed quantum of 5.33 rpm could generate an attitude noise
    up to more than 1°

To increase the CRS performance to a far better value (33\" at 1 sigma),
a filtering technique of the wheels speeds is set in place before the
usage in the CRS algorithm. This filter has been designed in conjunction
with the CRP roll control loop, and is described in section 3.5.2.3.

The momentum stored in each wheel is estimated using the measured wheel
speed already available, and multiplying by the wheel inertia. The
estimate of the wheel inertia uses the most accurate estimate of the
wheel inertia possible, as errors in this estimate results in errors
when performing large slew manoeuvres about the roll axis. The inertia
values currently proposed stem from flight wheels EIDP :

-   I~1~ = 0.095700 kgm²

-   I~2~ = 0.095273 kgm²

-   I~3~ = 0.097310 kgm²

-   I~4~ = 0.096450 kgm²

At last, it should be noted that a CRS deadband has been introduced.
This deadband avoids the divide by zero problem and very noisy CRS
behaviour if the transverse momentum appears too small. In the deadband,
entered if both the absolute value of Hy and Hz are below 0.5 Nms.

#### The CRS algorithms

The CRS algorithms are depicted in detail in RD2 : " GYROLESS ACU
SOFTWARE FUNCTIONAL REQUIREMENTS". These include also the CRS
implementation inside the CRP, related to :

-   the handling of the CRS dead band (CRS_angle_valid)

-   the associated setting the CRS reference for the CRP control (Set\_
    ref)

-   the associated slew abort function

These algorithms are synthesised in Figure 3.5/2 : the CRS algorithms in
the CRP mode.

The CRS angle computation, including the quadrant definition and
correction is depicted in Figure 3.5/3 : the CRS quadrant definition and
Figure 3.5/4 : computation of the CRS angle.

#### The reaction wheels filter algorithms

The wheel speed filter is designed to filter out the quantisation noise
introduced by the measurement process. This filter was designed in
conjunction with the roll controller, in order to avoid introducing a
significant phase lag near the pass band of the open loop transfer
function. The highest frequency quantisation noise is 20 Hz, and the
bandwidth of the controller is approximately 0.006 Hz.

A second order filter has been chosen:

![](media/image20.wmf)

> = 0.5 Hz chosen as the minimum frequency that can be tolerated
>
> ![](media/image21.wmf) optimal damping

The delay from the measured to the filtered wheel speeds introduced by
the filter is approximately 2 seconds, and the residual noise is in the
order of 0.4 rpm; an improvement by an order of magnitude.

Figure 3.5/5 : RW speed filter shows simulations of the measured wheel
speed and filtered wheel speed for a particular wheel.

The reaction wheels filter algorithms are run in all modes. This
improves the observability of the transient perturbations experienced by
the spacecraft.

![](media/image22.wmf){width="6.290277777777778in"
height="7.753472222222222in"}

**Figure 3.5/2 : the CRS algorithms in the CRP mode**

![](media/image23.wmf){width="4.809722222222222in"
height="4.236111111111111in"}

**Figure 3.5/3 : the CRS quadrant definition**

+-----------------------------------------------------------------------+
| **IF** CRS_angle_valid                                                |
|                                                                       |
| > **IF** abs_H~Y~ abs_H~Z~                                            |
| >                                                                     |
| > alpha = arctan \[abs_H~Z~ / abs_H~Y~\]                              |
| >                                                                     |
| > **ELSE**                                                            |
| >                                                                     |
| > alpha = /2 - arctan \[abs_H~Y~ / abs_H~Z~\]                         |
| >                                                                     |
| > **END**                                                             |
| >                                                                     |
| > Determine the quadrant the vector is actually in:                   |
| >                                                                     |
| > **IF** H~Y~ is 0.0                                                  |
| >                                                                     |
| > **IF** H~Z~ is 0.0                                                  |
| >                                                                     |
| > quadrant = 1                                                        |
| >                                                                     |
| > **ELSE**                                                            |
| >                                                                     |
| > quadrant = 4                                                        |
| >                                                                     |
| > **END**                                                             |
| >                                                                     |
| > **ELSE IF** H~Z~ is 0.0                                             |
| >                                                                     |
| > quadrant = 2                                                        |
| >                                                                     |
| > **ELSE**                                                            |
| >                                                                     |
| > quadrant = 3                                                        |
| >                                                                     |
| > **END**                                                             |
| >                                                                     |
| > Calculate the actual estimate of phi according to the quadrant      |
| >                                                                     |
| > **IF** quadrant = 1 CRS_roll_angle = alpha                          |
| >                                                                     |
| > **IF** quadrant = 2 CRS_roll_angle = - alpha                        |
| >                                                                     |
| > **IF** quadrant = 3 CRS_roll_angle = - + alpha                      |
| >                                                                     |
| > **IF** quadrant = 4 CRS_roll_angle = - alpha                        |
|                                                                       |
| **ELSE**                                                              |
|                                                                       |
| > CRS_roll_angle = 0                                                  |
|                                                                       |
| **END**                                                               |
+-----------------------------------------------------------------------+

**Figure 3.5/4 : computation of the CRS angle**

![](media/image24.wmf){width="4.506944444444445in"
height="3.423611111111111in"}Raw wheel speed

![](media/image25.wmf){width="4.495138888888889in"
height="3.4444444444444446in"}Filtered wheel speed

**Figure 3.5/5 : RW speed filter**

#### The CRS drift estimation algorithms

When the spacecraft is in either Normal mode or RMW mode, the effect of
external torques and the orbit can be observed directly in the evolution
of the wheel momenta. Hence the CRS drift can be estimated on a regular
basis and used on any subsequent entry into CRP mode. The drift rate of
the CRS will be reasonably constant over short time periods, say one
week, hence such a method will be sufficient to maintain the roll
attitude to within 0.5 of the initial roll angle for the majority of the
time spent in CRP.

The drift of the CRS is estimated and stored on-board, on approximately
a daily basis, in both Normal Mode and RMW mode. This stored value is
used if CRP mode is entered. When CRP is entered from ESR, the CRS drift
estimate is zero unless configured otherwise from ground.

The drift of the CRS is a delta angle in radians, and is added to the
reference angle once per compensation period when in CRP mode. The
compensation period is set at 500s in the AOCS software to get
observable compensations.

The logic associated to the CRS drift estimation on board is depicted in
Figure 3.5/6 : CRS drift estimation algorithms. It uses the CRS
algorithm and an arming logic (the Drift_estimator_initialised flag).
This logic is activated by a single telecommand.

The following on board actions are associated to that logic :

-   the default value of the CRS drift is zero, and the default arming
    status is \"not initialised\"

> This means that in the first CRP exercised after ESR exit, no
> compensation will be applied by default, and two telecommands shall be
> received in subsequent RMW or NM modes before the first drift
> compensation is computed on board. This takes approximately 12 hours
> to 24 hours to get a valuable compensation estimate.

-   Whenever the thrusters are used, be it for momentum management or a
    delta-V manoeuvre, the compensation term is invalidated and the
    Drift_estimator_initialised flag is set to false.

> This is linked to the risk of evolution of the momentum during
> thruster operations. This means that in the phase after momentum
> management or delta V manoeuvre, no compensation will be applied by
> default, and two telecommands shall be received in subsequent RMW or
> NM modes before the first drift compensation is computed on board.

-   Whenever an attitude manoeuvre is performed in any mode (CRP, NM,
    RMW), or at exit of CRP mode, the Drift_estimator_initialised flag
    is set to false, and the CRS drift compensation value is not reset
    (kept unchanged). On the other hand, if a roll manoeuvre greater
    than 10° has to occur, the CRS drift compensation value has to be
    reset prior the manoeuvre.

This is linked to the fact that after an attitude manoeuvre (whichever
the axis), the vectorisation of the wheels speeds is changed, then
corrupting the computation of CRS drift estimation. On the other hand,
the momentum evolution being more driven by the orbit than from the
constant torques in body axes, the compensation existing is deemed more
accurate than a null value. This appears true, except if a large angle
variation occurs in roll.

The commanding period for the on-board drift compensation must be
greater than 12 hours and less than 36 hours, in order to get accurate
drift estimation.

In any case, ground can override the value used for compensation at any
time, either when in CRP mode or in RMW or Normal mode. In particular,
computation of a more accurate compensation term can be performed using
an orbital dynamics/torque model. This will be applied to all the
mission phase when the drift compensation is forced to zero by the on
board logic or by ground actions.

+-----------------------------------------------------------------------+
| IF Drift_estimator_initialised = false                                |
|                                                                       |
| > Drift_estimator_initialised = true                                  |
| >                                                                     |
| > initial_time = Current_time,                                        |
| >                                                                     |
| > initial_angle = CRS_roll_angle                                      |
|                                                                       |
| **ELSE**                                                              |
|                                                                       |
| > Delta_angle = CRS_roll_angle -- initial_angle                       |
| >                                                                     |
| > IF Delta_angle \> pi                                                |
| >                                                                     |
| > Delta_angle = Delta_angle -- (2\*pi)                                |
| >                                                                     |
| > ELSE IF Delta_angle \< -pi                                          |
| >                                                                     |
| > Delta_angle = Delta_angle + (2\*pi)                                 |
| >                                                                     |
| > END                                                                 |
| >                                                                     |
| > Delta_time = Current_time -- initial_time                           |
| >                                                                     |
| > CRS_drift_delta = (Delta_angle / Delta_time) \* Compensation_period |
| >                                                                     |
| > Initial_angle = CRS_roll_angle                                      |
| >                                                                     |
| > Initial_time = Current_time                                         |
|                                                                       |
| **END**                                                               |
+-----------------------------------------------------------------------+

**Figure 3.5/6 : CRS drift estimation algorithms**

#### The CRS performance

The CRS performance is highly linked to the size of the momentum
embedded on the reaction wheels :

-   The worst case CRS noise, if performed by on ground by algorithms
    not using filtered wheels speeds, is at 1.15°, from the 5.33 rpm
    lsb.

-   The worst case CRS noise is at 0.092° = 331\". This corresponds to
    an equivalent quantisation error after filtering of 0.4 rpm.

-   The CRS noise is appraised at 33\" (1 sigma)

```{=html}
<!-- -->
```
-   The delay from the measured to the filtered wheel speeds, and hence
    from the actual angle to the measured angle, introduced by the RW
    speed filter is approximately 2 seconds.

At CRP entry, the roll angle evaluated by the CRS is corrupted by the
40s phase, where no integration and control takes place. The associated
error depends on the CRP entry rate.

The CRS drift rate is about 1° per day if uncompensated and about 0.1°
per day if compensated.

### The CRP control laws

The CRP mode control tasks are for pitch and yaw axes :

-   Acquire the FPSS data.

```{=html}
<!-- -->
```
-   Compute the error angles for the pitch and yaw axes using the FPSS
    data

```{=html}
<!-- -->
```
-   Compute the required torque demands for the pitch and yaw axes

These tasks are run at 20 Hz, straight after entry into CRP mode.

The CRP mode control tasks are for roll axis :

-   Run the wheel speed filter

This task is run at 20 Hz, straight after entry into CRP mode.

-   Perform the Coarse Roll Sensor (CRS) algorithm

```{=html}
<!-- -->
```
-   Compute the error angle for the roll axis

```{=html}
<!-- -->
```
-   Compute the required torque demand for the roll axis

These tasks are run at 2 Hz. A delay of 40 seconds is applied after the
transition into the mode before the first execution of these tasks.

An overview of the CRP control laws is given in Figure 3.5/7 : overview
of the CRP control algorithms.

![](media/image26.wmf){width="5.886805555555555in"
height="5.715277777777778in"}

**Figure 3.5/7 : overview of the CRP control algorithms**

#### Pitch and yaw control laws

The pitch and yaw control is performed with algorithms almost identical
to the ones used in the RMW mode :

-   The FPSS data acquisition and error angle computation are unchanged
    from the ones used in the original NM and RMW modes, except that the
    FPSS reference is set at the CRP mode entry at the measured FPSS
    value.

-   The pitch and yaw control algorithms in CRP mode are the same as for
    the old RMW mode, except that the algorithms linked to the pitch and
    yaw feedforward terms are now deleted.

-   A separate set of parameters is nevertheless used for the CRP pitch
    and yaw controller, to cope with the CRP to CRP initialisation
    functions

Profiled attitude demands may be commanded in pitch and yaw : they
directly act on the FPSS references. They are basically used to trim
down to zero the large FPSS references taken at ESR exit.

#### Roll control in CRP

The CRP roll control algorithms are summarised on Figure 3.5/8 : The CRP
roll control algorithms.

When CRP mode is entered, the pitch and yaw controllers are started, but
start-up of the roll controller is delayed for 40 seconds. This gives
the pitch and yaw controllers time to converge on their steady state
before the CRS is used.

The predominant design driver for the roll control law is the decoupling
of the roll axis from the pitch and yaw axes. Indeed, any transient
activity on the pitch or yaw axes will result in a temporary change in
the measurement of the roll angle due to the wheel momentum transients
induced by the pitch/yaw control laws.

The roll control law has been designed with a very low bandwidth, such
that the coupling of these transients into the roll axis is minimised.
The settling time on the roll axis is approximately 250 to 300 seconds.

If the CRS output is not valid, the roll error angle is directly set to
zero, and the calculation of the control torques directly takes place.
At the first measurement where the CRS output becomes valid, the \"set
reference\" flag is raised and the initial reference is set to the CRS
measured angle, and the CRS compensation is reset to zero.

From that status, the CRS drift compensation algorithm is started, and
takes place every 500s. Roll slew manoeuvres can also take place.

The current reference angle is calculated by subtracting the cumulative
slew angle (see specific paragraph for roll manoeuvres) from the drift
compensation angle, and adding the result to the initial roll reference
angle. The roll error angle is computed thereafter. Both the reference
angle and the roll error angle are scaled to - to +, to allow for large
roll angle rotations.

The computation of the roll error logic is summarized on Figure 3.5/9 :
The CRP roll error algorithms.

![](media/image27.wmf){width="6.233333333333333in"
height="9.366666666666667in"}Figure 3.5/8 : The CRP roll control
algorithms

+-----------------------------------------------------------------------+
| **IF** the CRP mode time is (n \* Compensation_period) + Roll_delay   |
|                                                                       |
| (Roll_delay is the time that the roll controller delayed from the     |
| beginning of CRP mode. Compensation_period is the period between      |
| update of the drift compensation variable. N is an integer between 0  |
| and )                                                                 |
|                                                                       |
| > CRS_drift_comp = CRS_drift_comp + CRS_drift_delta                   |
|                                                                       |
| **END**                                                               |
|                                                                       |
| **IF** a roll slew is in progress                                     |
|                                                                       |
| Roll_slew = cumulative delta angle from reference generator           |
|                                                                       |
| **ELSE IF** a roll slew has just ended                                |
|                                                                       |
| Perform the associated variable transfers (refer to specific          |
| paragraph) on the roll axis.                                          |
|                                                                       |
| **END**                                                               |
|                                                                       |
| Current_reference_angle = Initial_reference_angle + (CRS_drift_comp   |
| -- Roll_slew)                                                         |
|                                                                       |
| **IF** Current_reference_angle \>                                     |
|                                                                       |
| Current_reference_angle = Current_reference_angle -- (2)              |
|                                                                       |
| Initial_reference_angle = Initial_reference_angle -- (2)              |
|                                                                       |
| **ELSE IF** Current_reference_angle \< -                              |
|                                                                       |
| Current_reference_angle = Current_reference_angle + (2)               |
|                                                                       |
| Initial_reference_angle = Initial_reference_angle + (2)               |
|                                                                       |
| **END**                                                               |
|                                                                       |
| Roll_error_angle = CRS_roll_angle -- Current_reference_angle          |
|                                                                       |
| **IF** Roll_error_angle \>                                            |
|                                                                       |
| Roll_error_angle = Roll_error_angle -- (2)                            |
|                                                                       |
| **ELSE IF** Roll_error_angle \< -                                     |
|                                                                       |
| Roll_error_angle = Roll_error_angle + (2)                             |
|                                                                       |
| **END**                                                               |
+-----------------------------------------------------------------------+

![](media/image28.wmf){width="5.277083333333334in"
height="3.509027777777778in"}

**Figure 3.5/9 : The CRP roll error algorithms**

### Attitude profiles in CRP

#### Roll Manoeuvres

Roll attitude trim manoeuvres are performed by changing the reference
angle to the required position in the body axis. The reference angle is
modified using the Attitude Profile Algorithm (refer to section 3.8 :
AOCS additional features) on a dedicated software variable : roll_slew
angle (AKRSLEW in telemetry). This variable acts in the establishment of
the current CRS reference computation as a trim of the CRS reference.
The steady state rate is at 30\"/s, achieved after a 180s acceleration
period. This is illustrated on Figure 3.5/10 : 60° roll manoeuvre in
CRP. At end of the manoeuvre, the CRS reference is reinitialised
appropriately and this variable is reset to zero.

The following initialisations then take place to ensure continuity of
the CRS reference and the roll telemetry.

-   Roll_TM_offset = Roll_TM_offset + Roll_slew

-   Roll_slew = 0

-   CRS_drift_comp = 0

-   Initial_reference_angle = Current_reference_angle

There is no limit to the magnitude of a profiled trim manoeuvre.

For large manoeuvres, the error in the wheel inertia and wheel alignment
knowledge can result in significant errors in the actual angle that the
spacecraft is rotated through. This is developed in section 3.5.7. This
calls for large angle manoeuvres done in low rate telemetry.

During a roll slew, the SSU may be set into Mapping mode, thus providing
star positions to ground so that the absolute roll attitude can be
tracked. If so the stars shall be released before they exit the SSU
field of view, in order to avoid overlapping problems on SSU (and hence
an SSU reset).

#### Pitch and yaw attitude trims

The pitch and yaw trim manoeuvres are performed in the same way as in
RMW and Normal mode. The FPSS reference angle is modified using the
Attitude Profile Algorithm (see dedicated chapter). The steady state
rate is at 20\"/s, achieved after a 180s acceleration period.

The pitch and yaw attitude trims corrupt the roll angle measurement from
the CRS. This comes from two different facts :

-   Due to the rotation of the spacecraft, the transverse momentum
    changes slightly in the spacecraft axes, yielding to a roll angle
    steady state offset.

-   Due to exchange of momentum between the wheels and the spacecraft
    during the rotation, the transverse momentum changes slightly in the
    spacecraft axes, yielding to a roll angle transient corruption
    during the manoeuvre

The steady state offset is easily predicted to a high degree of accuracy
by multiplying the initial wheel momentum vector by the relevant
rotation matrix, and calculating the relative change in the CRS angle.

![](media/image29.wmf){width="4.709722222222222in"
height="3.597916666666667in"}

roll rate

![](media/image30.wmf){width="4.721527777777778in"
height="3.629166666666667in"}

roll angle

**Figure 3.5/10 : 60° roll manoeuvre in CRP**

Hence, this resultant offset in roll can be known and corrected
immediately following an FPSS trim manoeuvre.

The transient motion of the roll axis is dependant on the position of
the momentum vector in the body axes, and the coast rate of the trim
manoeuvre. Transients corrupting an HGA required pointing accuracy for
medium / high rate telemetry can take place with the baseline 20\"/s
rate. Therefore, the following strategy is proposed :

-   When entering CRP from ESR, the trim manoeuvres on the pitch and yaw
    axes will be performed prior to acquisition of medium / high rate
    telemetry via the HGA.

```{=html}
<!-- -->
```
-   When entering from Normal mode or RMW mode, no correction of FPSS
    reference will be allowed, until transition is performed in RMW.

The roll performance during pitch and yaw attitude trims is developed in
section 3.5.7.

### Transitions into CRP

#### Initialisations for control

At CRP mode entry from any mode (including the CRP mode itself), the
current FPSS pitch and yaw attitude measurements become the new pitch
and yaw attitude references, and the attitude profile manoeuvres are
aborted.

The CRS reference logic is initialised, and 40s after the mode entry,
the CRS reference is taken at the measured CRS angle, and the CRS
compensation starts.

The CRP mode roll, pitch and yaw integrators are initialised as follows
:

-   from a Stand-By mode or an CRP entry condition, the integrators are
    initialised at zero

```{=html}
<!-- -->
```
-   from a RMW or NM mode entry conditions, the integrators are
    initialised from the former mode integrators, on all the axes

At CRP mode entry from any mode, all the second order filters are set
equal to zero.

#### Others initialisations

Appropriate initialisations are made to ensure roll attitude telemetry
continuity at CRP entry :

-   The roll attitude telemetry is held constant and the source of
    attitude telemetry (SSU or CRS) is left unchanged during the CRP
    phase when the roll control is not yet started.

```{=html}
<!-- -->
```
-   After that phase, the roll attitude telemetry is forced to a "CRS
    based" telemetry, and the roll telemetry is initialised with pseudo
    -- continuity with respect to the last frozen value :

new TM offset for CRP = last roll TM value

As part of the CRP mode initialisation, any remaining actuation demands
from the execution of on going ABACU201 telecommand are cleared.

### Transition to RMW

The transition to RMW is made conditional on board on two items :

-   the SSU, as reported by the mode status word, is in the searching /
    tracking mode or in the searching / tracking restricted mode and the
    currently defined control star, at least, is tracked valid, and is
    "eligible" (see dedicated chapter)

```{=html}
<!-- -->
```
-   no attitudes manoeuvres are on going roll pitch or yaw axes.

For that purpose, an SSU mapping will be commanded in CRP before the
transition to RMW. This mapping will select and initialise automatically
a default control star for RMW. Then ground will be in charge of :

-   establishing the SSU in the searching / tracking mode while keeping
    this star, using the maximum search track window in the aim of
    acquiring as many stars as possible.

-   setting all the tracked stars eligible, if they stay valid.

If the star already identified as the candidate control star can be made
eligible, and is not at the border of the SSU field of view, it is
proposed to perform the transition to RMW using this star. Otherwise it
has to be released and one amongst the other has to be selected.
Acquisition of more stars using the searching tracking restricted mode
is the matter of RMW operations (refer to the Note presented at end of
this section).

The selection of the new control star resets the staircase filter counts
and the Z spike coordinate filter (old patch 6), and prepares for a
smooth transition in RMW. Anyway, adequate initialisations are done at
the level of the CRP exit, regarding the SEU protection strategy :

-   The staircase filter counter is cleared as part of the CRP to RMW
    modes transition

-   Adequate initialisations are performed at RMW entry from CRP such
    that the patch 6 logic is effective at RMW mode start, without
    interfering with the control error.

```{=html}
<!-- -->
```
-   The CRP flag is set to \"false\", as part of the CRP to RMW mode
    transition

Appropriate initialisations are made at the level of the mode transition
to ensure roll attitude telemetry continuity at CRP exit to RMW :

-   As part to the transition into RMW, the roll attitude telemetry is
    forced to a "SSU based" telemetry.

```{=html}
<!-- -->
```
-   The roll telemetry is initialised with pseudo -- continuity with
    respect to the last "CRS telemetry" value

new TM offset for RMW = old TM offset for CRP - current RSL value

Appropriate initialisations are made at the level of the mode transition
to ensure correct initialisations for the RSL offsets :

-   All the RSL offsets for eligible stars being tracked and valid are
    initialised to measured values

```{=html}
<!-- -->
```
-   At that stage, if any of the eligible stars is at a non valid
    condition, its \"eligibility\" flag is set to false

The Compensation level of the CRS is not changed by the CRP to RMW mode
transition. On the other hand, the CRS drift initialisation logic is
reset, requiring thus two telecommands (separated by 12 hours) before
the CRS drift compensation can be recomputed on board.

**Note** :

It is not intended to acquire in CRP more stars than can be acquired by
the searching tracking mode. These activities might be left, if
desirable, to the RMW phase.

Indeed, the residual slow drift in CRP makes the usage of the searching
tracking mode possible (the ST maximum search window is 0.34° in Y and
0.25° in Z, yielding to a valid star centre prediction valid over 6
hours for the maximum CRP uncompensated drift) and the usage of the
searching tracking restricted mode impossible (the uncertainty for using
the STR mode is 0.011° = 40\" = 1 pixel on the star position, yielding
to a valid star centre prediction valid over 13 minutes for the maximum
CRP drift).

### Control performances in CRP

#### Pitch and yaw performances

The CRP control sharing the same pitch and yaw controllers with the RMW
mode, the CRP pitch and yaw performances are as per RMW.

#### Roll steady state performances

Outside experiment perturbation, the roll rate noise in steady state
(including in steady coasting phases of roll manoeuvres) is better than
6\"/s, and the roll torque noise is smaller than 0.015 Nm.

Outside experiment perturbation, the roll angle noise is steady state is
better than 50\" peak.

When experiencing perturbations from experiments motion or attitude
glitches from reaction wheels (worst case envelope of 0.04 Nms in roll,
0.02 Nm in pitch or yaw), the roll performance depends on the size and
position of the momentum embedded on the reaction wheels, as can be in
worst case :

-   135\" roll excursion and 4.4\"/s peak roll rate, for roll
    perturbation

-   1237\" transient roll excursion with 1000\" roll steady state offset
    and 35\"/s peak roll rate, for pitch or yaw perturbation.

#### Roll performances during pitch and yaw attitude trims

The generic roll behaviour for a manoeuvre on either the pitch or yaw
axis can be described qualitatively as follows:

-   At the start of the manoeuvre, the roll axis will respond with a
    rate transient due to the application of momentum onto the
    'manoeuvre' axis.

-   The rate will then typically settle down to a non zero value. This
    is due to the rotation of the inertial angular momentum vector in
    body axes.

-   At the end of the slew, the roll axis will exhibit another rate
    transient as the 'manoeuvre momentum' is removed and the motion of
    the inertial angular momentum vector in the body axes comes to a
    stop.

-   After the manoeuvre is complete, the roll axis will reach a steady
    state roll angle that is not the same as the initial roll angle; a
    direct result of the rotation of the spacecraft body.

Of course, there are always exceptions to generic behaviour:

-   If the initial momentum vector is perfectly aligned with the
    manoeuvre axis, there will be no transient or steady-state offset on
    the roll axis.

-   If the initial momentum vector is in the plane orthogonal to the
    manoeuvre axis (a zero manoeuvre axis component), the roll axis will
    experience the transient motion, but there will be no steady state
    offset from the initial roll angle.

The worst case steady state error occurs when the initial momentum
vector has a very small component on the manoeuvre axis, a large
component on the roll axis, and zero on the other axis. It can grow up
to 3.6° for 0.5° sun pointing trims.

The roll steady state offset prediction can be performed as per ANNEX
7 - ERRORS IN ROLL MANOEUVRES IN CRP*.*

The worst case transient error occurs when the momentum vector is
orthogonal to the manoeuvre axis, and has small components in the
orthogonal axes. It can go up to a transient angle on the CRS of 4.62.

#### Roll performances in roll manoeuvres

The accuracy to which the slew is performed is determined entirely by
the assumed characteristics of the wheels used in the CRS. The
prediction of the accuracy depends principally on the wheels inertia
knowledge and on wheels misalignments. It can be performed as, follows :

-   If $H_{1}^{I}$, $H_{2}^{I}$, and $H_{3}^{I}$ are the initial wheel
    momenta, and $H_{1}^{F}$, $H_{2}^{F}$, and $H_{3}^{F}$ the final
    wheel momenta, in the roll, pitch and yaw axes respectively, the
    angle between the intial CRS vector and the final CRS vector, $e$,
    can be found using the vector dot product; hence:

> $$\text{Cos}e\left( {\underline{H}}^{I},{\underline{H}}^{F} \right) = \frac{H_{2}^{I}H_{2}^{F} + H_{3}^{I}H_{3}^{F}}{\sqrt{\left( H_{2}^{I} \right)^{2} + \left( H_{3}^{I} \right)^{2}}\sqrt{\left( H_{2}^{F} \right)^{2}\left( H_{3}^{F} \right)^{2}}}$$

-   Given a pitch rotation of $q{^\circ}$, the final components of the
    wheel momentum can be expressed in terms of the initial components,
    hence:

> $$\text{Cos}e\left( q,{\underline{H}}^{I} \right) = \frac{\left( H_{2}^{I} \right)^{2} + H_{3}^{I}H_{1}^{I}\text{Sin}q + \left( H_{3}^{I} \right)^{2}\text{Cos}q}{\sqrt{\left( H_{2}^{I} \right)^{2} + \left( H_{3}^{I} \right)^{2}}\sqrt{\left( H_{2}^{I} \right)^{2} + \left( H_{1}^{I}\text{Sin}q + H_{3}^{I}\text{Cos}q \right)^{2}}}$$

-   The equivalent expression for a yaw rotation is:

> $\text{Cos}e\left( y,{\underline{H}}^{I} \right) = \frac{\left( H_{3}^{I} \right)^{2} - H_{2}^{I}H_{1}^{I}\text{Sin}y + \left( H_{2}^{I} \right)^{2}\text{Cos}y}{\sqrt{\left( H_{2}^{I} \right)^{2} + \left( H_{3}^{I} \right)^{2}}\sqrt{\left( H_{3}^{I} \right)^{2} + \left( H_{2}^{I}\text{Cos}y - H_{1}^{I}\text{Sin}y \right)^{2}}}$
> 8.1.3-2

The roll error at end of manoeuvre can grow up to 8.7° for a 180°
rotation, assuming an inertia knowledge of the wheels by 2% and 0.25°
alignment errors.

The maximum roll manoeuvre which can be performed in CRP with the
possibility to maintain performance with medium / high rate telemetry
from HGA is 8°.

#### Miscellaneous performances

The maximum step which can be applied in roll to CRP without generating
wheels saturation is about 1°, and is damped in 800s.

The CRS/CRP response to steps in pitch or yaw attitude depend largely
form the size of the embedded momentum, and can be as high as transient
1.4° errors on the CRS and 0.14° on the roll angle if 20\" steps are
applied.

![](media/image31.wmf){width="3.713888888888889in"
height="2.859027777777778in"}

![](media/image32.wmf){width="3.713888888888889in"
height="2.8402777777777777in"}

![](media/image33.wmf){width="3.713888888888889in"
height="2.845138888888889in"}

Figure 3.5/11 : Steady state CRP (NM then CRP)

![](media/image34.wmf){width="3.713888888888889in"
height="2.841666666666667in"}

![](media/image35.wmf){width="3.713888888888889in"
height="2.8319444444444444in"}

![](media/image36.wmf){width="3.713888888888889in"
height="2.845833333333333in"}

Figure 3.5/12 : ESR entry transient

The roll attitude excursion from the initial roll reference at start if
roll control at CRP entry from ESR can be up to 2°, and is damped in
1000s worst case. The roll rate is reduced below 5\"/s after 400s.

The CRP can control roll entry rates up to 0.05°/s while maintaining sun
pointing. The capacity for CRP to control higher rates depends on the
momentum configuration on the wheels.

The CRP roll control performance close to the CRS deadband is better
than 50\" roll angle noise, 10\"/s roll rate noise, 0.08 Nm peak roll
torque demand.

### CRS and CRP operational constraints

#### CRP constraints

-   ABACU201 TC (open loop thruster block telecommand) shall not be sent
    if the current active mode is the CRP mode. This TC is rejected
    otherwise.

-   When entering CRP mode from ESR, the pitch and yaw rates must be
    less than or equal to 40"/s.

-   When entering CRP mode from ESR, the roll rate must be less than
    100"/s.

-   The usage of pitch and yaw attitude trims in CRP do not comply with
    the capability to maintain the High Gain Antenna medium / high rate
    telemetry. This would also apply to direct FPSS offset (by direct
    write to memory). Attitude trimming on FPSS shall therefore be
    performed only in low rate telemetry, with the attitude profile
    manoeuvre. They will provoke both CRS transients and steady state
    errors.

-   The proposed strategy is to trim FPSS references to zero at ESR
    exit, and to leave other FPSS trim activities to RMW, if CRP is
    entered from NM or RMW conditions.

-   When entering CRP mode from ESR, 15\' shall be elapsed before the
    attitude trims are performed on FPSS. In between the two trims, 15\'
    shall also be elapsed. This is to grant the CRP roll control
    convergence.

-   Before any manoeuvre is attempted, the ground shall verify that
    during the complete manoeuvre no overspeed condition will occur, at
    that any of the reaction wheels speed goes above the operational
    limit of 3000 rpm. The reaction wheels speed at stop of the
    manoeuvre shall not be below 500 rpm.

-   The magnitude of roll manoeuvres must be less than or equal to 8
    degrees if it is desired to ensure that the medium / high rate
    telemetry can be maintained all through the manoeuvre. This applies
    if no particular wheel speed subset is used.

-   The FPSS offsets shall be lower than 0.3° before attempting any roll
    manoeuvres with telemetry from HGA

-   In TM low rate condition, any size of roll manoeuvre can be
    commanded.

-   Attitude profile manoeuvres will not be performed by the AOCS
    software (on any axis) if the CRS is within its deadband.

-   Would CRP be entered with CRS in its deadband, the CRP exit
    activities can be performed up to the point of SSU mapping. If SSU A
    can be made available, the transition to RMW can take place. If any
    of the two SSU can not be made available, the natural exit of the
    CRS deadband shall take place before SSU operations are retried on A
    or B unit. This can take days.

-   At CRP entry from RMW or NM, any real time roll angle from the
    experiments shall be recorded

-   After one day in CRP (if applicable) :

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-   the roll angle evolution shall be checked by the experiments

-   the CRS drift can be tuned according to the predicted torque / orbit
    evolution and crossed checked with the experiment observations. The
    trim of the drift is proposed to be done if the update is higher
    than 20%.

-   the roll TM offset shall be modified according to the experiment
    observed roll angle

-   the spacecraft shall be rolled back to its nominal position

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-   As soon as the roll absolute attitude is identified in CRP,
    whichever the means, the roll telemetry offset shall be modified
    accordingly to allow suitable roll angle telemetry.

#### CRP to RMW transition

-   At the level of the CRP to RMW transition, for performing the
    transition :

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-   It is the ground responsibility to acquire and track at least a star
    using the SSU searching tracking mode

-   As many stars as possible shall be acquired using the maximum SSU
    searching / tracking window, in the respect of the star selection
    criteria applied in NM and RMW.

-   It is the ground responsibility to make these star eligible

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-   All the roll, pitch and yaw manoeuvres shall be completed

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-   Once in RMW, the roll telemetry offset shall be fine trimmed to the
    actual attitude value, pending the actual stars position in the SSU.
    Roll attitude shall be trimmed to the desired position afterwards,
    using an attitude profile. This is to compensate for the small CRS
    drift experienced in CRP since last roll attitude determination and
    roll TM offset trim.

-   In RMW, after CRP exit to RMW, the FPSS references shall always be
    trimmed to the desired values, using an attitude profile.

#### CRS constraints

-   In RMW, the value used for drift compensation is automatically set
    to zero whenever a thruster telecommand is sent.

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-   In CRP, when large slews are attempted (\>10°), the CRS drift
    compensation has to be set to zero before the manoeuvre. In
    addition, at end of manoeuvre, ground will upload a compensation
    value, derived from new ground predictions of wheel speeds
    evolution, that can be used by the CRP algorithm.

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-   In RMW or NM, this value becomes invalidated if the desired
    cumulated roll angle manoeuvres appears to be larger than 10° from
    the attitude at which the last CRS drift value was estimated.

-   In these two cases (thruster / roll), once the manoeuvres are
    completed, the ground is required to re-initiate the on-board
    measurement process. This will be performed straight after the
    manoeuvre, and between 12 and 24 hours after. In addition, ground
    will upload a temporary compensation value, derived from new ground
    predictions of wheel speeds evolution, that can be used by the CRP
    algorithm. This value can also be uploaded if the current mode
    appears already CRP before the value has been uploaded.

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-   During either NM or RMW, outside momentum management, station
    keeping manoeuvres or attitude manoeuvres, the commanding of the CRS
    drift compensation update shall be done between 12 and 36 hours. No
    commanding shall be performed before 12 hours. A daily activity is
    recommended.

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-   In NM and RMW modes, the commanding of the CRS drift compensation
    update shall be performed by procedure straight after any attitude
    or thruster manoeuvres and CRP mode exit, and 12 hours after these
    events.

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-   If applicable, upon changing the RW H/W configuration word (ON
    status or wheel subset selection) outside procedures using
    thrusters, the CRS drift compensation would have to be set to zero
    by procedure. In that case, the ground would have also to predict
    from models the new anticipated CRS drift evolution once the
    activity is completed.

#### Various notes :

-   SSU trouble shooting operations shall be performed in CRP.

-   There is no limitation on the number of revolutions which can be
    performed in CRP on the roll axis

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-   The principle of operations shall always grant a transverse momentum
    higher than 1 Nms, even during momentum management and RW4
    maintenance (baby sitting) activities. In order to get good
    performances in CRP, it is recommended to optimise the periods when
    this transverse momentum is higher than 10 Nms.

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-   The maximum change that is allowed to be made to the CRP roll
    reference is 1 degree, or 0.01745 radians, separated by 800s.

## RMW mode

### Presentation

The new RMW mode is derived from the original RMW mode. The SSU is used
to determine the satellite roll attitude, and FPSS is used as pitch and
yaw attitude sensor. The reaction wheels are used as control actuator.

The major change is linked to the fact that the SSU becomes the sole RMW
roll sensor, which simplifies the original RMW software :

-   No more software logic is used to perform swapping from the original
    gyro based control to the SSU and gyro based control. Instead, the
    roll control is a direct replica from the normal mode roll control.

-   The roll attitude telemetry is forced to a \"SSU based\" status

-   No more feedforward terms are input to the pitch and yaw RMW
    controller, which remains unchanged otherwise.

On the other hand :

-   a complementary AOCS functionality is applied in this mode to
    authorize an automatic switch over to a new control star in case of
    star outage. This functionality is only made possible when the SSU
    is tracking more than one star. The number of stars (up to 5) and
    the eligible stars which can participate to that process are left to
    ground control and responsibility. Ultimately, if no eligible and
    valid star is available within the SSU field of view, transition to
    CRP is commanded by a dedicated COBS monitoring function (refer to
    section 3.10).

-   The old \"patch 6\" Z spike filter logic is applied in RMW, as a
    complement to the old \"patch 5\" staircase filter for protection
    against corrupted SSU measurements. Both protections are exclusively
    applied on the current control star.

In RMW mode, the roll steering law is not active and attitude profiles
may be executed on all the axes. As for CRP, the FDE FSPAAD & CSPAAD
failure criteria and the Hx COBS monitoring function are enabled in RMW
mode. A monitoring of the wheels speeds is also performed by the COBS.

Open loop thruster actuations can be performed in RMW under the normal
FPSS/SSU/RW control to perform Station Keeping maneuvers (delta V\'s),
Momentum Management or RW4 maintenance maneuvers. In these phases :

-   The LVA is opened, then closed at maneuver completion.

-   The star swap logic is inhibited by the on board software by
    appropriate initializations, and the staircase filter count
    threshold is verified to be at a small value. (note: star swap logic
    is also inhibited through ground commands prior to thruster
    operations).

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-   The Hx monitoring function is disabled during both momentum
    management and station keeping phases

-   A constraint is set to get fast ground reaction times in case of
    anomaly or loss of contact.

-   Additional services are provided by the COBS software thruster on
    time monitoring.

-   The boundaries for the RW speed monitoring are extended to the full
    operational range.

### Maneuvers using thrusters in RMW

#### Presentation and general items

In the initial design, the rationale to use the gyroscope as a roll
sensor was the inability for the SSU to track stars at rates above than
40\"/s.

Given the tight planning allowed to design an early gyroless mission in
January 99, including the momentum management and delta V capability,
the only achievable solution was to design momentum management and delta
V manoeuvres by open loop pulsing while under reaction wheels control.

This solution, which has been operated several times in flight with
satisfaction, has been fully reconducted for the final gyroless
operations.

The delta V capability has been restricted to the +X and -X axes. This
latter point is not constraining, and linked to the following rationales
:

-   At mission analysis level the transverse delta V are not necessary
    to maintain the Halo orbit, even after major orbit perturbations
    such as experienced after the recovery of the spacecraft.

-   At operational level, the achievement of a transverse delta V
    necessitates a potential spacecraft roll alignment.

At spacecraft level, the achievement of delta V pulse trains on the Z
axis while keeping the rates under 40\"/s is slightly more difficult
than on the other axes. This is linked to the smallest roll inertia and
to the largest uncertainties for the achievement of a well balanced OFF
modulation.

The momentum management principle has been restricted to single axis
management at a time. This latter point allows a better control of the
restitution of the thrusters efficiency, and is a better safeguard for
granting rates on the roll and pitch axes adequate for the SSU.

The open loop thrusting service is directly available on board with the
ABACU201 telecommand. This one provides the capability to generate pulse
trains of up to four thrusters, with full programmability of ON & OFF
times.

For thruster based manoeuvres, the pulse trains respect several major
issues :

-   They do not impart rates above 40\"/s on the SSU (roll and pitch
    axes on the spacecraft). The design goal used is 25\"/s.

-   They do not generate excessive power dissipation in reaction wheels

-   Each pulse effect is damped by the reaction wheel control before the
    next pulse is exercised

-   The repetition frequency and the pulse amplitudes is close to the
    highest bound acceptable to minimise the duration of the operations
    to an acceptable level

-   The pulses trains comply with the vapour lock constraints

-   Pulses start dates are synchronized when more than one thruster is
    used

The star swapping logic is inhibited by the ACU software on receipt of
an ABACU201 open loop thruster block telecommand. This is achieved by
setting all the stars to a "not eligible" status, automatically on
board, upon the reception of the ABACU201 header. (note: star swap logic
is also inhibited through ground commands prior to thruster operations
by setting all stars to "not eligible).

The ground must re-authorise the star swapping function on completion of
the ABACU201 telecommand. This is done when the LVA is closed. The SEU
protection logic on the current guide star, however, is not affected.
The objective is to minimise the time needed to raise the "CRP flag"
(the AOCS flag send to the COBS requesting a transition to CRP mode)
once the LVA is open and thrusts are about to start.

Once thrusters are used, the CRS drift estimator logic is reset and the
estimated CRS drift correction is cleared. The ground will be in charge
of reinitialising this functionality after each manoeuvres.

The thruster on time monitoring thresholds are set to common values for
delta V and momentum management. The protection mostly cope with
clearing errors in pulse trains commands. The train is cleared once the
first pulse is executed and found of excessive size. The thresholds are
set on 1/2/3/4 at 1.1 s to allow for delta V\'s and OFF modulation. The
thresholds are set on 5/6 to 0.3 sec to allow for momentum management.
The thresholds are set to 0 on 7/8 (not used).

#### The momentum management phase

The overall momentum management is achieved by pulsing several series of
pulse trains while performing RMW control under reaction wheels and SSU.

Each pulse train corresponds to the firing of one single thruster,
delivering a torque mostly on one of the spacecraft axes (the torque
matrix at 13.6 bar, current flight pressure, is given in Figure 3.6/1 :
Thruster torques (theoretical values at current flight pressure) :

-   Thruster 1 : generates a positive pitch torque

-   Thruster 2 : generates a negative pitch torque

-   Thruster 3 : generates a negative yaw torque

-   Thruster 4 : generates a positive yaw torque

-   Thruster 5 : generates a positive roll torque

-   Thruster 6 : generates a negative roll torque

Thrusters 7 and 8 are not anticipated to be used in the frame of the
momentum management. This is to allow longer pulses to be performed on
thrusters 5 and 6. This is also linked to the fact that thrusters 7 and
8 can not be used during the delta V operations (the ABACU201 command
has a limitation to operate only 4 thrusters). A common protection
against unforeseen commands can therefore be established for both
mission phases.

> ![](media/image37.wmf){width="4.396527777777778in"
> height="4.422916666666667in"}

**Figure 3.6/1 : Thruster torques (theoretical values at current flight
pressure)**

In most of the cases, three pulse trains are sufficient to allow for the
change of the three reaction wheels speeds from an initial set of three
values to a targeted set of final speeds.

The amounts of Nms to be delivered by each of the three pulse trains are
to be derived from the difference, directly expressed in the spacecraft
axes, between the final wheels momenta and the initial wheels momenta.
This value allows selecting the three thrusters that shall be used,
looking at the roll, pitch and yaw requested momentum signs. The on time
to be delivered is finally derived using the inverted torque matrix for
the three used thrusters.

The computation of each wheel speed to be achieved at the end of each of
the three segments has to be performed. The order of the execution of
the segments will be selected such as :

-   At each intermediate stop condition, any of the reaction wheels
    speed is not over 3000 rpm or not under 500 rpm in absolute value

-   During the overall momentum evolution on the reaction wheels, a
    residual 1 Nms transverse momentum stays.

If any of these two conditions is not fulfilled, a fourth segment is to
be introduced. The simplest way is in that case to split a segment on
one axis on two (equal) segments, not performed in a row. This artefact
always allows finding a workable solution.

The sizing of the pulse trains related to the roll, pitch, yaw is linked
to targeting both a maximum rate at 25\"/s per axis, and an average
torque of 0.007 Nm on the reaction wheels. The associated boundaries at
40\"/s in roll and pitch, and 0.014 Nm if all the wheels are braking
simultaneously.

The maximum rate is verified by designing the elementary impulses of
each pulse of the train to deliver a value of 25\"/s on a free body
dynamics :

-   Thruster 5 or 6 (Roll axis) at 0.25 Nms, which correspond typically
    to 120 ms at current 13.5 bar pressure, and typically to 150 ms at
    10 bar

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-   Thruster 1 or 2 (Pitch axis) at 0.39 Nms, which correspond typically
    to 100 ms at current 13.5 bar pressure, and typically to 130 ms at
    10 bar

-   Thruster 3 or 4 (Yaw axis) at 0.44 Nms, which correspond typically
    to 235 ms at current 13.5 bar pressure, and typically to 310 ms at
    10 bar

The average torque constraint is verified by computing for the three
axes the required maximum Nms level to be stored on one of the wheels,
each time a pulse is executed, and scaling it by the 0.007 Nm average
torque value to find the pulse repetition frequency :

-   35 second on the roll axis, whichever the wheel configuration is
    used

-   60 seconds on the pitch axis, if wheels 1/2/3 or wheels 1/3/4 are
    used, and 35 seconds otherwise

-   35 seconds on the yaw axis, if wheels 1/2/3 or wheels 1/3/4 are
    used, and 60 seconds otherwise

This latter constraint is always sufficient to damp the attitude and
rates transient by the control for performing series of pulses.

Although the length of the roll and pitch thruster pulses are below the
recommendation associated for the vapour lock problem (ie 160 ms at 14
bar and 240 ms at 10 bar), there is no concern anticipated. Indeed the
high settling time between pulses yield to duty cycles well decoupled
from the 1% critical duty cycles (less than 0.3 to 0.4 %). If vapour
lock problem were to be experienced in flight in that phase, an increase
of the settling time would be recommended.

A typical momentum management (flight data) is illustrated in Figure
3.6/2 : Thruster actuation (roll segment, then pitch segment), Figure
3.6/3 : RW speed evolution (roll segment, then pitch segment) and Figure
3.6/4 : Attitude evolution (roll segment, then pitch segment).

![](media/image38.wmf){width="6.2965277777777775in"
height="3.779861111111111in"}**Figure 3.6/2 : Thruster actuation (roll
segment, then pitch segment)**

![](media/image39.wmf){width="6.2972222222222225in"
height="3.5930555555555554in"}**Figure 3.6/3 : RW speed evolution (roll
segment, then pitch segment)**

![](media/image40.wmf){width="6.2965277777777775in"
height="3.692361111111111in"}

**Figure 3.6/4 : Attitude evolution (roll segment, then pitch segment)**

#### RW4 maintenance phase

The RW4 maintenance phase (or baby sitting) is performed with the
momentum management procedure, using a strategy as follows :

\- rw 2 is driven to zero within 50 rpm by a pitch pulse train,

\- rw 4 is switched ON, and declared ON in the hardware configuration
word

\- subset 1,3,4 is declared to hardware configuration word

\- rw 2 is removed from hardware configuration word and switched OFF

\- rw 4 is driven to the 1000 rpm speed by a pitch pulse train

\- reverse operations afterwards at end of the run in phase

#### The station keeping phase

The overall delta V manoeuvre is achieved by pulsing an OFF modulated
pulse train on the delta V axis, while performing two ON modulated pulse
train on the two other axes. These actuations are performed in open loop
by an ABACU201 telecommand while RMW controls under reaction wheels and
SSU.

The OFF modulated pulse train corresponds to the balanced firing of two
thrusters, in the aim of delivering a pure force on the X-axis.
Thrusters 1 and 2 are used to perform - X delta V manoeuvres, whereas
thrusters 3 and 4 are used to perform + X delta V manoeuvres.

The objective of the balancing is to avoid the wheels speed evolutions
during the delta V\'s. It hence increases the length of the maximum
possible delta V\'s without getting out of the operational wheels speed
range, and minimises the need for momentum management.

The balanced OFF modulation avoids a momentum build up around the pitch
axis for the -X delta V, and around the yaw axis for the + X delta V.
The transverse ON modulation avoids a momentum build up on the two
others axes. The definition of the ON and OFF modulation pulses are
derived from the thruster torque matrix presented in Figure 3.6/1 :
Thruster torques (theoretical values at current flight pressure).

Thrusters 7 and 8 are not anticipated to be used in the frame of the
delta V compensation. This is linked to the fact that the ABACU201
command has a limitation to operate only 4 thrusters, leaving only one
thruster available for compensation per ON modulated axis.

As for momentum management, the sizing of the delta V pulse train
related to the + X and -X axes is linked to targeting both a maximum
rate at 25\"/s per axis, and an average torque of 0.007 Nm on the
reaction wheels. The associated boundaries at 40\"/s in roll and pitch,
and 0.014 Nm if all the wheels are braking simultaneously.

The maximum expected rate caused by the OFF modulation is verified by
designing the impulses of each delta V pulses of the train to deliver a
value of 25\"/s on a free body dynamics if the OFF modulation residual
unbalance is 5% per thruster :

-   Thruster 1 or 2 (-X delta V and Pitch axis perturbation) is
    nominally set at 1s. This imparts (at current pressure level) a
    pitch perturbation less than 0.39 Nms equivalent to the one used for
    momentum management. The roll and yaw perturbations are on their
    side kept well within the ones experienced for momentum management
    at less than 0.1 Nms for current pressure level.

-   Thruster 3 or 4 (+X delta V and Yaw axis perturbation) is nominally
    set at 1s by similarity, although the equivalent perturbations could
    have been increased to reach the ones used during momentum
    management.

The average torque constraint caused by the OFF modulation is verified
the same way as done for momentum management. For the two delta V axes,
the required maximum Nms level to be stored on one of the wheels, each
time a pulse is executed, is computed, and scaled by the 0.007 Nm
average torque value to find the pulse repetition frequency. The major
assumption taken is that the 5% error is mostly peak noise, hence the
finding for the momentum management could be reduced by a factor 3 to
really get an average value :

-   20 seconds on the -X axis, as a worst case envelope other the wheels
    configuration

-   20 seconds on the +X axis, by similarity, although less could be
    tolerated.

This latter constraint is always sufficient to damp the attitude and
rates transient by the control for performing series of pulses. It has
to be noted that this scheme yields to a delta V performed in pulsed
mode at a 5% duty cycle. The length of the pulses and the duty cycle
does not cause concern with respect to the vapour lock concern.

The actual level of torque experienced when pulsing the OFF modulated
delta V pulse imposes the level of the ON modulation. That has to be
predicted from the thruster torque matrix. The only degree of freedom
left is how often the ON modulation shall occur. The ABACU201 commanding
principle and the CAE design (a common execute) imposing the ON and OFF
modulation pulses to be synchronised, the trade off is to be performed
on firing every 20s short pulses or firing less often higher pulses.

Short pulses help to limit the rates, but appear detrimental at the
level of the vapour lock concern, and at the level of the predictability
and repeatability. On the other hand, the grouping of the pulses to
respect the vapour lock recommendation (160 ms at 14 bar and 240 ms at
10 bar) generates roll or pitch rates between 36\"/s and 44\"/s rates on
the roll and pitch axes. These rates are not acceptable with respect to
the SSU limits.

Given the foreseen duty cycles necessary to perform the ON modulation,
namely less than 0.2% for each manoeuvre - well decoupled from the 1%
critical duty cycles -, the retained solution has been to size the
maximum pulses not to exceed 100 ms at 14 bar and 150 ms at 10 bar. This
correspond to rates imparted on the roll or pitch axes less than 25\"/s,
and makes the on modulation as follows :

-   During -X delta V\'s, approximately 75 ms every 40s for roll and yaw
    in current situation, and 120 ms every 60s for yaw associated to 140
    ms every 80s for roll at end of life.

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-   During + X delta V\'s, 90 ms every 80s for pitch in current
    situation, and 140 ms every 120s for pitch at end of life, and
    virtually no compensation on roll (i.e. one 100 to 150 ms pulse on
    long manoeuvres)

This causes no concern with respect to the average torque and settling
times constraints.

The coherency between the anticipated delta V and the will speed will be
analysed before the manoeuvre from the current wheels speeds to check if
a specific momentum management as to be performed before the delta V. In
the frame of the coupled station keeping and momentum management
operations, it is recommended to perform the momentum management after
the station keeping, anticipating on the momentum management
perturbations in the delta V, rather than the other way round.

A typical delta V (flight data, 32 cm/s on + X axis) is illustrated in
Figure 3.6/5 : Thruster + X actuation in + X delta V , Figure 3.6/6 :
Attitude in + X delta V and Figure 3.6/7 : RW speeds in + X delta V.

Commands to clear the propulsion lines are executed prior any delta V\'s
: 10 times two pulses of 100 ms on 3/4 thrusters and two pulses of 115
ms on 1/2 thrusters, with a repetition frequency of 20s. This provides
at least a 1s equivalent pulse on all the thrusters that can be OFF
modulated. The delta V impact is nominally null, and the delta H impact
very low. The objective is to avoid to generate pitch or yaw attitude
spikes and rates at start of manoeuvres.

![](media/image41.wmf){width="6.2965277777777775in"
height="3.779861111111111in"}**Figure 3.6/5 : Thruster + X actuation
in + X delta V**

![](media/image42.wmf){width="6.2965277777777775in"
height="3.779861111111111in"}

**Figure 3.6/6 : Attitude in + X delta V**

![](media/image43.wmf){width="6.2965277777777775in"
height="3.779861111111111in"}

**Figure 3.6/7 : RW speeds in + X delta V**

### The RMW control algorithms

An overview of the RMW control laws is given in Figure 3.6/8 : the RMW
control algorithms.

#### Pitch and Yaw control in RMW

The pitch and yaw control is performed with algorithms almost identical
to the ones used in the old RMW mode. They are almost the same than in
CRP :

-   The FPSS data acquisition and error angle computation are unchanged
    from the ones used in the original NM and RMW modes

-   The pitch and yaw control algorithms in RMW mode are the same as for
    the old RMW mode, except that the algorithms linked to the pitch and
    yaw feedforward terms are now deleted.

The RMW pitch and yaw integrators are initialised from the CRP or NM
pitch and yaw integrators at RMW entry.

Profiled attitude demands may be commanded in pitch and yaw : they
directly act on the FPSS references. They are basically used to trim
back the pointing to the operational level, clearing any change of
references performed at CRP entry.

![](media/image44.wmf){width="6.691666666666666in"
height="6.469444444444444in"}

**Figure 3.6/8 : the RMW control algorithms**

#### Roll control in RMW

The roll control is performed with algorithms identical to the ones used
in Normal Mode. This commonality goes up to the usage of RSL and PCPG
values in the definition of the control references, although these
functions are not used in RMW.

A separate set of parameters is nevertheless used, to cope with the RMW
to RMW initialisation functions.

As per Normal Mode, a filtering logic (old patch 5 and now old patch 6,
modified to allow its use in RMW mode) is applied to the control star,
and a star swap strategy is included. This star swap is made transparent
to the control algorithms.

In case the control star is temporarily not valid, the roll control
error signal is set to zero.

The RMW roll integrator is initialised from the CRP or NM roll
integrator at RMW entry.

Profiled attitude demands may be commanded in roll. They are basically
used to trim back the pointing to the operational level, clearing any
CRP residual drift.

### Attitude profile in RMW

#### Roll trims

Roll attitude trim manoeuvres are performed by changing the control star
reference angle to the required position in the body axis. The reference
angle is modified using the Attitude Profile Algorithm Algorithm (refer
to section 3.8 : AOCS additional features) on a dedicated software
variable : Roll_Attitude_Offset angle (AKRAO in telemetry). The RAO
variable is at a non zero value only during the roll manoeuvre. The
steady state rate is at 20\"/s, achieved after a 180s acceleration
period.

At end of a roll attitude profile, the following operations are done at
the level of the last profile cycle :

-   Roll_Angle_Ref (Control_Star) = Roll_Angle_Ref (Control_Star) + RAO

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-   RSLOffset (all stars)= RSLOffset (all stars) + RAO

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-   Roll_TM_Offset = Roll_TM_Offset + RAO

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-   RAO = 0.

The Roll_Attitude_Offset angle being independent of the control star,
the star swap algorithm is made possible in the attitude trim manoeuvre.
The only limitation set to the magnitude of a profiled trim manoeuvre in
RMW is that the control star shall not leave the field of view of the
SSU.

#### Pitch and yaw attitude trims

The pitch and yaw trim manoeuvres are performed in the same way in RMW
and Normal mode. The FPSS reference angle is modified using the Attitude
Profile Algorithm (see chapter 3.8.1). The steady state rate is at
20\"/s, achieved after a 180s acceleration period.

A 2° per axis limitation is set to the magnitude of a profiled trim
manoeuvre in RMW on Sun pointing, together with the constraint that the
control star shall not exceed the field of view of the SSU.

### Transitions into RMW

The FPSS pitch and yaw references are maintained to their current values
at entry to RMW mode from any mode (Normal Mode or CRP mode).

At entry from CRP mode, the roll control is initialised on the designed
control star (valid and eligible) : the initial roll reference position
is set equal to the first measured star position through an appropriate
initialisation of the RSL offset. No automatic mapping is demanded by
the software.

At entry from Normal Mode :

-   the roll reference position is kept and the same control star are
    kept (except if stated otherwise by the star swap logic)

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-   the same stars are tracked.

### Transition to Normal Mode

There is no check of the control star validity or coordinate positions
to enable the transition towards normal mode. On the other hand, the
transition to NM is made conditional on :

-   No ABACU201 open loop thruster block telecommand is programmed to
    execute

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-   No ABACU201 open loop thruster block telecommand is in execution

### RMW operational constraints

#### RMW mode operations

-   The roll steering law shall not be active in RMW mode.

-   The transitions from RMW mode to Normal Mode and from Normal mode to
    RMW mode shall be performed with no roll steering law active and no
    attitude manoeuvres in progress.

-   The transition from RMW mode to Normal Mode shall be performed with
    no ABACU201 TC under execution.

-   The roll axis step which can be tolerated in RMW mode is as per
    Normal Mode

Note : constraints for star acquisition and handling, outside thruster
operations are addressed in section 3.8.7.4.

#### Thruster manoeuvres in RMW

-   LVA shall be open and closed for manoeuvres only.

-   Commanding of thrusters shall always take place with :

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-   Hx monitoring function disabled at COBS level, at Hx computation
    enabled at AOCS level

-   No attitude profile in execution, or programmed to execute

-   Extended RW monitoring boundaries from -3000 rpm to +3000 rpm

-   Thruster monitoring function enabled

-   Specific ground reaction time (refer to section 3.13)

-   Synchronized pulses if more than one thruster is to operate at a
    time

-   No actuations on thrusters 7/8, limited actuations to 1.1s per 15s
    for thrusters 1/2/3/4 and 0.3s per 15s for thrusters 5/6

-   CBH On and CBT temperatures stabilised

-   LV open

-   Usage of PVT method and thruster torque/force calibration to compute
    appropriate on times

-   Torque/force level feedback analyses

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-   The Hx sliding limits will be reinitialised in AOCS after the delta
    V or momentum management manoeuvre, prior re-enabling the Hx
    monitoring function in COBS

-   The star eligibility table will be automatically set to \"false\"
    upon the assertion of an ABACU201 TC (thruster actuations for
    manoeuvres). In addition, the star eligibility will be forced to
    "not eligible" from ground procedure prior to thruster operations.
    It is forbidden to restore any eligibility status to true during the
    manoeuvre. On the other hand, it will be demanded that the ground
    either checks that all the stars are set to \"not eligible\" at TC
    assertion or sets himself the stars at non eligible before sending
    the TC. The re -setting to the eligibility condition shall
    [ONLY]{.underline} be done for all the tracked and valid stars after
    the end of the burn when the latching valve is closed, upon
    monitoring of stable wheel speeds. This also applies for the control
    star.

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-   To minimise the risk of such an erroneous command, it will be
    forbidden to acquire new stars during momentum management and delta
    V scripts

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-   The staircase filter threshold shall be brought back to the default
    value of 5 before the opening of the LVA. This will have to be
    verified at both the level of the LVA opening and the thruster
    commanding. The setting of an increased value can only be used if
    the LVA is closed.

-   The Z spike (old patch 6) threshold shall be brought back to the
    default value of 125 before commanding the thrusters. This will have
    to be verified by procedure.

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-   The time delay used inside an ABACU201 TC shall be limited to less
    than 15 minutes

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-   It is recommended to check that the SSU attitude is not frozen on
    the control star channel, before attempting a momentum dumping or a
    station keeping manoeuvre, and during the manoeuvre. The corrective
    action would be to postpone the coming manoeuvre or abort the on
    going manoeuvre and change of control star. If all SSU telemetry
    appears to be frozen, CRP mode shall be triggered to avoid ESR.

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-   During delta V operations, the ground shall abort the manoeuvre if
    the wheels speed trend show that the -500 to +500 rpm region is
    entered for one wheel speed

-   During momentum management operations, the RW speeds shall be
    managed by the ground such that a residual transverse momentum
    exists, greater than 1 Nms

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-   Given the order of magnitudes of the compensation accuracy, a
    station keeping will be allowed without a preliminary momentum
    management, if the reaction wheels speeds comply with the following
    rules :

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-   For + X delta V\'s, to allow 10 cm/s, each of the reaction wheels
    shall be away from the 500 rpm & 3000 rpm boundaries by 150 rpm.

-   For - X delta V\'s, to allow 10 cm/s, each of the reaction wheels
    shall be away from the 500 rpm & 3000 rpm boundaries by 300 rpm

-   Linear extrapolation shall be used on both axis to trim the
    constraint to the size on the demanded delta V.

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-   Commands to clear the propulsion lines shall be executed prior any
    delta V\'s : 10 times two pulses of 100 ms on 3/4 thrusters and two
    pulses of 115 ms on 1/2 thrusters, with a repetition frequency of
    20s.

-   Momentum management shall be performed axis by axis, with pulses
    complying to :

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-   Thruster 5 or 6 (Roll axis) impulses at 0.25 Nms

-   Thruster 1 or 2 (Pitch axis) impulses at 0.39 Nms

-   Thruster 3 or 4 (Yaw axis) impulses at 0.44 Nms

-   35 second repetition on the roll axis, whichever the wheel
    configuration is used

-   60 seconds repetition on the pitch axis, if wheels 1/2/3 or wheels
    1/3/4 are used, and 35 seconds otherwise

-   35 seconds repetition on the yaw axis, if wheels 1/2/3 or wheels
    1/3/4 are used, and 60 seconds otherwise

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-   Delta V\'s shall only be performed on -X and + X axes, with pulsing
    complying to :

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-   Off modulation on the delta V axis, using 1s per 20s pulses

-   On modulation on the other axes, while grouping and synchronizing
    the pulses to get on times just lower than 100 ms (14 bar) and 150
    ms (10 bar)

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-   The RW4 maintenance procedure shall be performed with the momentum
    management principle, driving back the RW2 to within +/- 50 rpm
    before swapping the RW\'s, and backwards. The frequency of this
    maintenance shall be as per RW user\'s manual.

## Normal Mode, NM

### Presentation

The basis of Normal Mode is unchanged at AOCS level:

-   The SSU is used to determine the satellite roll attitude

-   The FPSS is used as pitch and yaw attitude sensor.

-   The reaction wheels are used as control actuator.

-   The control laws are unchanged.

-   The performances are unchanged.

On the other hand, improvements are performed :

-   As per RMW, a complementary AOCS functionality is applied in this
    mode to authorize an automatic switch over to a new control star in
    case of star outage. This functionality is only made possible when
    the SSU is tracking more than one star. The number of stars (up
    to 5) and the eligible stars which can participate to that process
    are left to ground control and responsibility. Ultimately, if no
    eligible and valid star is available within the SSU field of view,
    transition to CRP is commanded by a dedicated COBS monitoring
    function.

-   As per RMW, the old \"patch 6\" Z spike filter logic is applied, as
    a complement to the old \"patch 5\" staircase filter for protection
    against corrupted SSU measurements. Both protections are exclusively
    applied on the current control star.

-   As per RMW, attitude profiles may be executed on all axes.

In Normal Mode, the roll steering law can be active. The PCPG function
can also be executed in Normal Mode.

As for RMW, the FDE FSPAAD & CSPAAD failure criteria, the Hx and RW COBS
monitoring function are enabled in RMW mode.

The experiment OFF pointing monitoring function can be executed in
normal mode.

Open loop thruster actuations can not be performed in NM.

### The PCPG algorithm

The PCPG algorithm is still effective in Normal Mode, unchanged from its
original design. Its application is subject (by procedure) to :

-   No attitude profile is on going

-   No RSL active

This is to ensure that acceptable rates are granted for the SSU.

The PCPG function is still subject to maximum FPSS or SSU offset size.

In case of transition to CRP in the middle of a PCPG function, adequate
initialisations are done by the software at re-entry into NM for the
clearing of the residual PCPG variables : the task will not restart.

As a consequence to the experiment off pointing monitoring function, the
sun off pointing flag is now raised during the execution of a pitch or
yaw PCPG function.

### The Roll Steering Law

The RSL algorithm is still effective in Normal Mode, with a software
implementation basically unchanged from its original design, and the
same interfaces for execution (note : the current value of the roll
steering law table, applicable to the control algorithms in RMW and NM
has been put in telemetry under the mnemonic AKRSLVAL).

On the other hand, the physical meaning of the variables handled by the
roll steering law are changed to cope with the star swapping, and a new
notion - the RSL offset - is introduced :

-   In order to be dissociated from the control star, the roll steering
    law is now related to a sliding roll reference in the field of view
    of the SSU. This sliding reference can be materialised as a line
    along the Y axis.

-   The coordinates of all the candidate control stars are referred to
    the position of this line when they are allowed to participate to
    the swapping process (the star being made eligible), or at upload of
    a new roll steering law.

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-   These differences are held quasi - constant along the execution of
    the Roll Steering Law. They are named the RSL offsets (AKRSLOFi, i =
    1 to 5, valid only if the star is eligible).

This principle is illustrated in Figure 3.7/1 : the RSL evolution and
the RSL offsets.

The initialisation of the RSL offsets are done automatically on board
from SSU measurements. This is detailed in section 3.8.3.2.3.
Nevertheless, in some opportunities, these offsets shall be trimmed by
ground for few arcsec to reach their theoretical value. This applies
particularely on the control star, and allows to avoid accumulation of
SSU measurement and pointing errors if a star swap is to occur (refer to
section 3.8.3.3), which will cause a pointing error. The associated trim
strategy is detailed in section 3.8.3.4.

In order not to change the principle of operations and of computation of
the roll steering law, it is proposed to define and optimise the roll
steering law sliding reference from the current control star theoretical
position, each time the RSL is uploaded. This current control star is
defined as the anticipated \"nominal\" control star for the time frame
of validity of the RSL table. This solution will force the control star
RSL offset to zero, and optimise the pointing performances (refer to
section 3.8.3.3 discussing the effects of the orbit evolution around the
sun).

The enabling of the roll steering law is only possible if the current
control star is valid and eligible. If not, a software anomaly is
reported and the RSL start is aborted. In the mean time, if the
initialisation succeeds, all the star channels not being the control
star and not being valid at that time will be set to \"not eligible\".

These design solutions allows to initialise the tracked stars (including
the control star) RSL offset properly, avoiding to use potentially
corrupted data, at the expense of very little probability of
interference on the operations.

As a lesson learnt from flight experience, the RSL steps can be
increased to 10\" to 15\", and shall avoid star being positioned on both
pixel boundaries and pixel centers.

![](media/image45.wmf){width="6.294444444444444in" height="5.19375in"}

**Figure 3.7/1 : the RSL evolution and the RSL offsets**

### The experiment off pointing warning function

The experiment off pointing warning function has been designed to warn
the experiments in case of depointing from the Sun. This function is
only run in normal mode. Its detailed description can be found in
section 3.10.9.

The flag monitored by the COBS is set by AOCS in case :

-   the root sum square of the AOCS pitch and yaw control errors
    (depointing - pointing reference) exceeds 10\", that is (pitch -
    pitch_ref)² + (yaw - yaw_ref)² \> 100 arcsec²

-   PCPG profiles are attempted on the pitch and yaw axes

-   Attitude profiles are attempted on the pitch and yaw axes

In the two latter cases, the operational procedure to perform these
activities in normal mode could therefore be (to be decided on a case by
case basis with the experimenters) :

-   Verify the experiments are safed or the profile attempted is
    coherent with the experiment configuration

-   Disable the COBS function

-   Perform the AOCS activity

-   Clear the AOCS flag at end of activity

-   Enable the COBS function

If so, during these activities the experiments are not protected, hence
the usage of the attitude profiles and PCPG on the pitch and yaw axes
shall be limited to their minimum.

The setting of the AOCS threshold shall be performed at function
initialisation.

In case of fallback to CRP, this monitoring function is not disabled. If
so, it should be noted that the most stringent experiment perturbations
in CRP might trigger this monitoring.

### The NM control algorithms

An overview of the NM control laws is given in Figure 3.7/2 : the NM
control algorithms.

![](media/image46.wmf){width="5.340277777777778in"
height="5.651388888888889in"}

**Figure 3.7/2 : the NM control algorithms**

#### Pitch and Yaw control in NM

The pitch and yaw control is performed with algorithms identical to the
ones used in the old NM mode.

The NM pitch and yaw integrators are initialised from the RMW pitch and
yaw integrators at NM entry.

As for RMW, profiled attitude demands may be commanded in pitch and yaw
: they directly act on the FPSS references. They are basically used to
trim the operational offset upon experiment request.

#### Roll control in NM

The roll control is with algorithms identical to the ones used in the
old NM mode.

A separate set of parameters is nevertheless used, to cope with the RMW
to RMW initialisation functions.

As per Normal Mode, a filtering logic (old patch 5 and now old patch 6,
modified to allow its use in RMW mode) is applied to the control star,
and a star swap strategy is included. This star swap is made transparent
to the control algorithms.

In case the control star is temporarily not valid, the roll control
error signal is set to zero.

The RMW roll integrator is initialised from the RMW roll integrator at
NM entry.

As for RMW, profiled attitude demands may be commanded in roll.

### Attitude profile in NM

#### Roll trims

As per RMW mode, refer to section 3.6.4.1.

#### Pitch and yaw attitude trims

As per RMW mode, refer to section 3.6.4.2.

### NM operational constraints

-   The execution of the roll steering law, the PCPG functions, the
    attitude profiles shall be mutually exclusive.

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-   Each time a RSL start is demanded, the telemetry shall be checked to
    confirm the success of the action. If not, a retry shall be
    attempted.

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-   The roll steering law sliding reference will be defined from the
    current control star theoretical position, each time the RSL is
    uploaded. This solution will force the control star RSL offset to
    zero.

-   The roll steering law step size shall be computed such that on the
    foreseen nominal control star, the reference star position avoids
    both pixel centers and pixel boundaries.

-   The roll steering law steps size can be increased to 10\" (nominal)
    and up to 15\" (for avoiding boundaries or centers)

-   The operational threshold for the off pointing flag shall be set or
    verified to the desired threshold (baseline at 100\"²) each time the
    COBS function is activated, and the AOCS flag cleared.

-   The execution of the PCPG or attitude profile functions in NM on the
    pitch and yaw axes shall be performed in accordance with the
    experiments and the COBS experiment warning flag function. The AOCS
    off pointing flag shall be cleared after these activities.

-   The NM step constraint is increased to 135\" on the roll axis (can
    generate up to 30\"/s) and stays unchanged on the pitch and yaw axes
    (can generate up to 20\"/s).

Note : constraints for star acquisition and handling are addressed in
section 3.8.7.4.

## AOCS additional features

### The attitude profile algorithm

#### Presentation

A new AOCS service providing on-board repointing capabilities has been
developed for all AOCS modes (CRP, RMW, NM) and for all satellite axes.
This is performed trough a continuous attitude reference profile : the
software commands automatically an attitude reference adjustment to
reach the specified final position.

These profiles are performed under ground request, and functionally
replace the possibility to perform either old roll manoeuvres with
gyros, or direct offsets of FPSS references. As such, the same kind of
interfaces are used :

-   the roll attitude profiles are commanded by an update of the
    ABACU205 block telecommand, which specifies a requested slew
    magnitude (delta roll angle to be performed) and an execute order.

-   the pitch or yaw profiles are commanded by an update of the ABACU214
    block telecommand, which specifies the new desired pitch or yaw
    angle references. They are executed only if the commanded reference
    is lower than 2°.

An abort procedure is possible from any mode by one of these two
telecommands (ABACU205 for roll, ABACU214 for pitch or yaw). The abort
freezes the pointing reference of the profiled axis to the current
commanded reference value.

One single software procedure is used to trim the roll, pitch and yaw
attitudes, in all modes, allowing one single axis trim at a time. This
procedure uses a flag representing the \"attitude manoeuvre in
progress\" status : attitude_man_flag. This flag is raised at start of
attitude trims on any axis, and cleared upon manoeuvre completion
(AKGLPROF).

For roll angle, the attitude manoeuvres (CRP) or trims (RMW, NM) use
specific variables, which are reset to zero at manoeuvre completion :

-   the Roll Attitude Offset (AKRAO) in RMW an NM modes (SSU),

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-   the Roll slew angle (AKRSLEW) in CRP mode (CRS)

For pitch and yaw angles (FPSS), the variables to be trimmed are
directly the FPSS references :

-   pitch_angle_ref for CRP, RMW, NM modes

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-   yaw_angle_ref for CRP, RMW, NM modes

As a consequence of the experiment off pointing requirements, the sun
off pointing flag is raised upon the start of a pitch or yaw attitude
profile in CRP/RMW/NM modes.

Note : this remark is also true now for the PCPG function.

The only means left to perform pure offsets without the use of this
function stands now as :

-   using the PCPG profile, but at the expense of completion of a pure
    sine wave (no steady offset is commanded)

-   a trim of the RSL offset of the control star on the roll axis in
    RMW, NM. If performed, the RSL offsets of the other stars have also
    to be reinitialised in coherence, and the execution shall be
    decoupled from attitude profiles and PCPG operations. Herealso, care
    has to be taken on the maximum offset size.

-   a direct write to memory of the FPSS references for pitch or yaw
    axes in CRP, RMW, NM. These are not recommended, particularly in CRP
    due to the interference with the CRS. If performed, they have to be
    decoupled from the attitude profile execution function, and care has
    to be taken with respect to the experiment pointing limitation and
    the maximum offset size.

-   A trim of the CRS reference, achieved by a direct write to memory on
    the CRS initial reference (rather than a trim on the compensation
    value). Herealso, care has to be taken on the maximum offset size.

The two last alternatives are not recommended in the frame of nominal
actions.

#### Algorithms

The execution of the attitude profile algorithms is performed at :

-   20 Hz in all modes and all axes, except for the roll axis in CRP

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-   2 Hz for the roll axis in CRP

The attitude profile consists of :

-   an acceleration phase, where the rate of change of the trimmed
    reference is gradually increased up to a steady state value

-   a coast phase, if needed, where the rate of change of the trimmed
    reference is fixed

-   a deceleration phase, where the rate of change of the trimmed
    reference is gradually trimmed down to zero.

The way to establish the actual profile, pending the demanded attitude
excursion stems to the following principles :

-   The acceleration and deceleration phases duration are kept equal and
    constant whichever the profile commanded. For all modes and all axes
    it is selected at 180s.

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-   The steady state rate is only reached if the size of the profile
    permits, otherwise, the acceleration is computed such that the end
    of the acceleration phase, the resulting motion corresponds to half
    of the desired motion. The deceleration phase completes then the end
    of the resulting motion.

The maximum rate of evolution of reference is set at 20\"/s = 9.6962736
e-5 rad/s for all axes all modes, except in CRP where the roll axis uses
30\"/s = 1.4544410 e-4 rad/s. This choice is linked to getting peak
rates largely compatible with the SSU tracking capability in all axes
and to get accelerations small enough to get smooth control actions.

The 30\"/s is slightly increased in roll for CRP linked to the fact that
the SSU is not part in the control loop, and according to the amplitude
of the possible manoeuvres, and the resulting duration (30°/h yields to
6 hours at ESR exit in worst case). This value allows still a monitoring
of the manoeuvre by the SSU, if deemed necessary.

The illustration of the attitude profile algorithms is done in Figure
3.8/1 : the attitude trim algorithms, being the variable to trim, and t1
the acceleration period.

#### Performance and interference with monitoring functions

The selection of the fixed 180s acceleration and the default rates
yields to the following remarks :

-   The coast rate (or maximum trim rate) is achieved only if the
    angular variation commanded is higher than 1° (1.5° on roll axis in
    CRP)

-   If not, the profile will be completed

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-   in 360s.

-   with a triangular shape.

-   At the end of the acceleration period, the maximum rate will be the
    demanded delta angle / 180.

Given the selected threshold for reaction wheel speed monitoring in RMW
and NM mode (1.35 Nms), and given the selected threshold for the Hx
monitoring function (7 Nms) the following interference\'s apply between
the attitude profiles and these monitoring functions (computed for
nominal wheels configuration, axis substitution otherwise) :

-   The Hx level taken in CRP (0.3 Nms) and in RMW or NM (0.2 Nms) will
    not trigger the Hx monitoring function by itself.

-   For a roll manoeuvre in RMW or NM, if the yaw momentum is the
    highest possible, the RW2 speed boundary is exceeded for a 1.2° roll
    manoeuvre.

-   For a pitch manoeuvre, if the roll momentum is the highest possible
    (3 wheels at 30 Nms, yielding to Hx = 43.35 Nms), the RW2 speed
    boundary is exceeded for a 1.5° pitch manoeuvre.

-   For a pitch manoeuvre, if the pitch momentum is the highest
    possible, the Hx variation can be as high as 0.91 Nms for a 2°
    manoeuvre.

-   For a yaw manoeuvre, if the roll momentum is the highest possible (3
    wheels at 30 Nms, yielding to Hx = 43.35 Nms), the RW1/3 speed
    boundary is exceeded for a 1.72° yaw manoeuvre

-   For a yaw manoeuvre, if the yaw momentum is the highest possible,
    the Hx variation can be as high as 1.83 Nms for a 2° manoeuvre.

There is then no stringent interference with the Hx monitoring function.
Any manoeuvre will not exceed the 7 Nms sliding boundary, nor challenge
the margin taken between the -5 Nms operational limit and the -10 Nms
default value in software. It is therefore proposed simply to
(applicable in all modes) :

-   Reinitialise the Hx sliding boundary before the execution of the
    profile (to be sure not to trigger during the manoeuvre), and after
    the manoeuvre (to get the autonomy after the manoeuvre).

-   Verify the lowest Hx value is always greater than -8 Nms

On the contrary, for the reaction wheels speed monitoring, it is
proposed to (applicable in RMW and NM) :

-   Verify than the anticipated profile does not violate any RW speed
    monitoring function, while granting sufficient autonomy (this
    appears always to be the case if the targeted attitude is lower than
    500\" from the nominal attitude on any axis)

-   If not, disable the monitoring during the profile, and re-establish
    it after the profile.

![](media/image47.wmf){width="6.2972222222222225in"
height="7.403472222222222in"}

**Figure 3.8/1 : the attitude trim algorithms**

### Protection against SEU\'s and SSU outages

#### Presentation of selected principles

The protection against outages of SSU outputs addresses the effect of
SEU\'s, but also any commanding of the SSU in an undesired mode, or SSU
failures.

The principle is based on two separate items :

-   A star swapping logic, described in the following paragraph, which
    makes the RMW and NM modes more robust to the loss of the control
    star, and allows to carry on these modes with \"back-up\" control
    stars.

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-   A protection logic, applied on the current control star, based on
    the existing staircase filter (old patch 5), and the Z spike
    coordinate filter (old patch 6). This logic is common to the RMW and
    the NM modes, meaning that the Z spike coordinate filter is now also
    run in RMW mode.

Note : there does not remain in the gyroless software any test linked to
star position in the SSU field of view to assess condition on star
validity.

#### The staircase filter and tuning

The staircase filter principle is unchanged, and is applied only to the
control star.

This filter counts up when either the control star is not \"valid - full
accuracy\" or the SSU mode is not \"mapping\" or \"searching /
tracking\" or \"searching / tracking restricted\". The result of this
test is indicated in the \"control star valid\" telemetry AKSSUCSV. The
default for the rate of increase of the staircase is 1 (meaning each SSU
cycle). It is not anticipated to change that value.

As soon as the control star is not indicated as being valid in the sense
of the staircase condition, the roll error angle input to the RMW or NM
roll control laws is set at zero.

If the condition on star validity appears to be re-established before
the upper acceptable limit of the staircase counts is achieved, the
filter count is decreased, while the control is resumed (there is no
change in star position reference). The default for rate of decrease of
the staircase is 1 (meaning each SSU cycle). It is not anticipated to
change that value.

The current count status of the staircase filter is reflected in the
AKSEUCNT telemetry. If the upper acceptable limit of the staircase
counts is achieved (the so-called staircase threshold, reflected in
AKSEUTH telemetry), a control star swap is demanded (refer to paragraph
3.8.3.1), and the eligibility condition of the former control star is
set to false (refer to paragraph 3.8.2.1). The roll error angle is
maintained to zero up to the point when a new valid control star is
selected for the AOCS roll control, or up to the point the CRP mode is
commanded if no more valid and eligible stars remains amongst the
currently tracked stars (refer to refer to paragraph 3.10.8 for CRP flag
monitoring).

A global count of the control star invalidity condition (ie integration
of the staircase counts) is reported in the AKSSUTSU telemetry.

The default value of the staircase threshold is set at 5 (meaning 5 SSU
consecutive measurement cycles, or 2.5 seconds).

For safety purposes, this value shall not be extended during phases when
thrusters are used. Indeed, the principle for reaction times (on board
and on ground) to shut down an open thruster do rely on an on board
reaction within 2.5 second of SSU tracking rates being exceeded.

Now than the star swap principle and the CRP mode are implemented, it is
not desirable to extend this value to very high levels, outside thruster
operations, as was done formerly. Indeed there is far less need to let
the AOCS a chance to reacquire an unvalid control star, in the objective
of maintaining normal mode. On the other hand, the integration in the
free dynamics no roll control phase of any small error on the friction
estimated on board by the RMW or NM roll integrator (including the
ramp-down contribution from the phase advance) will yield rapidly to
potential high roll angle offsets. Those might not be sustained by the
RMW/NM roll controller when the control is reestabished.

As an example, a misestimation of 10-4 Nm on the roll axis (typical
1/100th of the expected value, matching well with registered data at 1.5
E-4 Nm on 20/5/99) causes the maximum RMW/NM roll offset to be exceeded
in 160 seconds. In any case, given the expected roll offsets at star
swap (see paragraph 3.8.3.3 ), would the default value of 5 be
increased, it is not desirable to go above an expected additional offset
source of 100\", that is a duration of the order of 100s (or 200 for the
threshold).

Note : The allowance of the new searching / tracking restricted mode,
declared as a valid mode for the staircase filter, is linked to its
possible use in the frame of selecting more stars for the star swapping
process (refer to § 3.8.3.4)

#### The Z spike filter and tuning

The Z spike filter principle is unchanged, and is applied only to the
control star.

This filter rejects the control star Z coordinate if the difference
between the current measured coordinate and the measured coordinate at
previous cycle is higher than a threshold, and performs the control from
the old Z coordinate measurement.

This threshold, expressed in CCD units, is reflected in the AKZFILTH
telemetry. The default value is 125 CCD units. It corresponds to maximum
variation between two consecutive SSU measurements at 30.6\".

A cumulated number of occurrence of the Z spike filtering is maintained
in the AKZSPIKE telemetry.

This threshold has been slightly decreased from the initial tuning,
flown until the gyroless software is uploaded. This is made in order to
increase the global filter efficiency, and to maximise the chance to
remain in the tracking window of the control star if the measurement is
corrupted and not reported as an SEU by the SSU.

The proposed threshold translates into a maximum rate of 61.25\"/s,
given the 0.5s SSU measurement frequency. This is largely above the
maximum anticipated rates on the SSU during station keeping and momentum
management operations (at around 35\"/s). It is not intended to decrease
more that threshold, since the principle of the filter will force no
control action if the rate on the spacecraft exceeds the acceptable
limit. This particularly applies to the phases when the experienced
rates are anticipated high, namely the operations with thrusters.

Note : the proposed tuning also corresponds to the typical SSU tracking
limit over several cycles, as seen during flight operations with SSU
patch 2 (first ESR exit in FSA). It is therefore not useful to run this
filter with higher thresholds.

#### Initialisations at modes transition and at star swaps

The cumulated number of SEU\'s (AKSSUTSU telemetry) is never reset on
board neither if a star swap occurs or at any mode transition, and
scrolls automatically to zero at 65536. This telemetry allows therefore
a trend on the SEU rates on the SSU. This trend might have to be
correlated to the magnitude of the used control stars.

On the other hand, the cumulated number of Z spike filter occurrence
(AKZSPIKE telemetry) is related to the current control star and is reset
at CRP to RMW mode transition and each time a star swap is performed
(either from ground demand by telecommand, or by the on board star swap
logic).

No specific actions have to be done on ground on the SEU protection
logic when a control star change is performed by telecommand, or to
recover a fallback in CRP after outages of the SSU measurements. This is
all handled at software level, and detailed in section 3.8.2.4.

On the other hand :

-   The staircase and Z spike filter counters are not affected by the
    RMW to NM and NM to RMW mode transitions.

-   The staircase and Z spike filter thresholds are not affected by any
    mode transition or change of control star.

### The star swap, star eligibility, and implications in algorithms and operations

#### The star swap principle

The star swapping logic is a new RMW and NM modes common feature which
makes these modes robust to the loss of the \"nominal\" control star,
and allows to carry on these modes with \"back-up\" control stars, until
the \"nominal\" control star is reacquired or changed.

The notion of \"nominal\" and \"back up\" control stars is explained in
the section 3.8.3.3, and is purely linked to pointing and telemetry fine
performance.

In that sense, the star swapping logic is an answer to outages of SSU
measurements, in the attempt to maintain the on going AOCS mode with
reasonable performances. This avoids to go to the CRP mode (the SSU-less
AOCS mode) where the AOCS performance is further degraded, and where
more lengthy operations will take place to recover the nominal AOCS
mode.

The star swap logic has been included in the AOCS software with the aim
of minimising both the on board software changes (functions and CPU
budget), and the ways to operate the spacecraft (interfaces with ground,
and programmation of the roll steering law). It is based on the
following items :

-   The ground is responsible to make the SSU tracking several stars,
    one of which being defined as the \"nominal\" control star for the
    control laws. This star is related to the computation of the roll
    steering law.

-   The roll control is based only on the measurements of one star.
    Initially, the \"nominal\" control star is used.

-   Amongst the other tracked stars, the ground is responsible to design
    the candidate \"back-up\" control stars. For that purpose, each star
    channel of the SSU (channel 1 to channel 5) is associated to a
    logical condition : the \"eligibility\" flag. In case of outage of
    measurement on the current control star, a control star swap on a
    \"back-up\" control star can only occur on a star already tracked by
    the SSU, which channel has been declared \"eligible\" by the ground.

-   Any star being tracked by the SSU while not being \"eligible\" is in
    fact kept off-line of the AOCS algorithms : its measurements are
    made available in telemetry.

-   The control reference for the \"back-up\" control stars is
    identified from the roll steering law reference with bias,
    initialised from measured values when the star is declared
    \"eligible\". These bias are named the RSL offsets (AKRSLOF1 to
    AKRSLOF5 in telemetry). They are regularly updated on board (hourly
    basis) to cope with the orbital motion distorting the roll
    measurement from the SSU (refer to section 3.8.3.3).

-   The staircase filter, presented in the previous section, identifies
    the outages on the measurements of the control star. If its
    threshold is exceeded, the current control star is declared \"not
    eligible\" and a star swap is generated by the software. The
    software will select as the new control star the one in the first
    channel (the channel with the lowest number) which is both
    \"eligible\" and \"valid\".

-   Various initialisations performed in the software, principally done
    on the RSL offsets and for setting the eligibility condition to
    false, in the general objective of ensuring to get appropriate RSL
    offset initialisations.

The star swar logic exit will be when the last valid and eligible
tracked star is identified as faulty by the staircase filter. In that
case, the AOCS software will raise the \"CRP flag\" (AKMDSCRP telemetry)
used by the COBS to set the ACU in CRP mode (refer to section 3.10.8).

The number of star swaps is reported in telemetry (AKNSWAPS telemetry).
This number is not cleared until the ground decides to do so by
telecommand .

#### The star swap implementation in software

##### The control reference in RMW and NM modes for the roll axis

The star swap implementation in the software for deriving the control
references is derived from the initial RMW and NM software. The control
reference is derived from a single control star, and copes for the RSL,
PCPG functions, and the roll trims in RMW and NM modes.

In order to be independent of the control star during swapping, the roll
scan law is now related to a sliding roll reference in the field of view
of the SSU. The reference position of the control star (used to
determine the roll error) will account for the evolution of this line :

-   Basically the roll offsets from this line, for all the tracked
    stars, can be known and initialised at star acquisition. The
    assumption is made that they will remain fixed on a short term basis
    (refer to section 3.8.3.3 for the actual impact of the orbital
    motion contravening slightly this assumption). They will be in fact
    regularly refreshed on board with measurements (hourly basis).

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-   When a new star is used for control, the control error is derived by
    evaluating the difference between the CCD Z coordinate (expressed in
    angle) and a new reference derived from the known offset + the RSL
    sliding reference.

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-   When a new roll scan law is executed, all these offsets are
    re-initialised.

For that purpose, the following equations and variable definition are
used (in the equations, the new variables are underlined) :

-   Roll_Angle_Ref (Control_Star) = RSLTable (RSLindex) + [RSLOffset
    (Control_Star)]{.underline}

This can be understood as follows :

\"control star offset from the SSU centre\" = \"offset (from SSU centre)
of the RSL sliding line\" + \"offset between the control star and RSL
the sliding line\"

This equation is performed on each roll control cycle, only for the
control star. The RSL routine updates on a long terms the RSL table.

-   Roll_Angle_Error_S = Roll_Angle_Ref (Control_Star) + PCPG_Angle
    (Roll) + [RAO]{.underline}

\- Measured_angle (Control_Star)

This can be understood as follows :

\"roll control error in RMW and NM\" = \"desired star position from the
SSU centre\"

\- \" measured star position from the SSU centre \"

The \"desired star position from the SSU centre\" being made of the
\"control star offset from the SSU centre\" adjusted with two secondary
attitude offset (generally set at zero in normal operations) :

-   the \"PCPG offset\", generated in the course of the PCPG function
    operations

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-   the \"Roll Attitude Offset\", used to perform the roll attitude
    trims (this variable will evolve only during roll attitude trims in
    RMW and NM, and will be reset at zero at manoeuvre completion),
    updated by the attitude profile algorithms.

This equation is performed on each roll control cycle, and is
illustrated on Figure 3.8/2 : roll control with SSU in RMW and NM modes.

-   ROLL TM (SSU based) =

Roll_TM_Offset

\+ Roll_Angle_Ref (Control_Star) - [RSLOffset
(Control_Star)]{.underline}

\- Roll_Angle_Error_S + PCPG_Angle (Roll) + [RAO]{.underline}

This can be understood as follows :

\"roll attitude of SSU field of view centre\" =

\"roll attitude of the spacecraft, if the RSL sliding line was at the
SSU centre\" +

\"offset (from SSU centre) of the RSL sliding line\" +

\"measured star position - reference star position (control star) from
the RSL\"

This equation is performed on each roll control cycle, and is
illustrated on Figure 3.8/3 : roll telemetry with SSU in RMW and NM
modes.

This latter equation can be reduced in :

-   ROLL TM (SSU based) =

Roll_TM_Offset

\- RSLOffset (Control_Star)

\+ Measured_angle (Control_Star)

This can be understood as follows :

\"roll attitude of SSU field of view centre\" =

\"roll attitude of the spacecraft, if the RSL sliding line was at the
SSU centre\"

\- \"offset (from SSU centre) of the RSL sliding line\"

\+ \"measured star position\"

The drawing of Figure 3.8/4 : variables for roll control with SSU in RMW
and NM modes illustrates these variables.

![](media/image48.wmf){width="6.188194444444444in"
height="6.739583333333333in"}

***Figure 3.8/2 : roll control with SSU in RMW and NM modes***

![](media/image49.wmf){width="6.042361111111111in"
height="7.5777777777777775in"}

***Figure 3.8/3 : roll telemetry with SSU in RMW and NM modes***

![](media/image50.wmf){width="6.293055555555555in" height="3.8in"}

***Figure 3.8/4 : variables for roll control with SSU in RMW and NM
modes***

##### Handling of eligibility

A table of five "eligibility" status for the five star channels is
stored in memory to determine if a star is suitable for inclusion in the
star swapping process. These status are reflected in the AKGLEL1 to
AKGLEL5 telemetries.

When a star channel is made eligible, if the star tracked in that
channel is valid at the date of the action, the RSL offset of the star
is initialised as per the following section.

The setting (and resetting) of the eligibility condition can be
performed by telecommand.

As a principle, the on board software never sets these status to
\"eligible\". On the other hand, the on board software forces some of
these status to non \"eligible\" in the following conditions :

-   The setting of the eligibility condition of a star channel by
    telecommand is only possible if the star tracked in that channel is
    valid at the date of the action. If not, the action is rejected and
    a block telecommand error is reported

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-   The eligibility condition of the current control star is set to
    \"false\" if a change of control star is demanded by the star swap
    logic

-   The eligibility table is set to \"false\" for all stars not valid,
    as part of the CRP to RMW modes transition.

-   Upon the assertion of an ABACU201 thruster telecommand, all the star
    (including the guide star) eligibility table is set to \"false\"

-   Upon the assertion of mapping commanded to the SSU, all the star
    (including the guide star) eligibility table is set to \"false\"

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-   At the start (execute order) of a new roll steering law, or when
    their RSL offset is refreshed every hour, the eligibility condition
    is set to \"false\" for all the \"back-up\" control stars (the
    tracked and eligible stars not being the control star) if they
    appear not to be at a valid condition.

The synthesis and the objectives of all the actions linked to handling
the eligibility are summarised in Figure 3.8/5 : Synthesis for
eligibility handling.

+----------------+-------+--------------------+-----------------------+
| WHEN           | WHO   | WHAT               | WHY                   |
+----------------+-------+--------------------+-----------------------+
| In CRP before  | G     | Setting            | \- Necessary on the   |
| exit to RMW    | round | eligibility to     | first control star    |
| (after mapping | by TC | \"true\" on valid  | for RMW for allowing  |
| being          |       | stars              | transition,\          |
| commanded)     |       |                    | - At transition,      |
|                |       |                    | initialise RMW and    |
|                |       |                    | RSL offsets on all    |
|                |       |                    | the eligible and      |
|                |       |                    | valid stars           |
+----------------+-------+--------------------+-----------------------+
| At transition  | On    | Setting            | \- Avoidance of       |
| to RMW.        | board | eligibility to     | inappropriate RSL     |
|                | S/W   | \"false\" on all   | offset initialisation |
|                |       | stars channels not |                       |
|                |       | valid              |                       |
+----------------+-------+--------------------+-----------------------+
| After          | G     | Setting            | \- Inclusion of stars |
| acquisition of | round | eligibility to     | in the star swap      |
| new stars in   | by TC | \"true\" on new    | process\              |
| RMW and NM     |       | stars              | - Initialise RSL      |
|                |       |                    | offset for new stars  |
+----------------+-------+--------------------+-----------------------+
| When setting   | On    | Setting            | \- Avoidance of       |
| the            | board | eligibility to     | inappropriate RSL     |
| eligibility to | S/W   | \"false\" on the   | offset initialisation |
| \"true\" by TC |       | stars channel if   |                       |
| (all modes)    |       | not valid          |                       |
+----------------+-------+--------------------+-----------------------+
| At release of  | G     | Setting            | \- Avoidance of later |
| stars in RMW   | round | eligibility to     | situations where      |
| and NM         | by TC | \"false\" on       | valid stars can be    |
|                |       | released stars     | acquired in these     |
|                |       |                    | channels, with        |
|                |       |                    | eligibility status    |
|                |       |                    | and RSL offsets not   |
|                |       |                    | initialised properly  |
+----------------+-------+--------------------+-----------------------+
| Before         | G     | Setting            | \- Inhibition of the  |
| ABACU201 being | round | eligibility to     | star swap process     |
| executed, when | by TC | \"false\" on all   | during thruster       |
| the LVA is     |       | stars channels     | manoeuvres            |
| still closed.  |       |                    |                       |
+----------------+-------+--------------------+-----------------------+
| At ABACU201    | On    | Setting            | \- Inhibition of the  |
| assertion in   | board | eligibility to     | star swap process     |
| S/W.           | S/W   | \"false\" on all   | during thruster       |
|                |       | stars channels     | manoeuvres (back-up)  |
+----------------+-------+--------------------+-----------------------+
| After ABACU201 | G     | Setting            | \- Reauthorisation of |
| being          | round | eligibility to     | the star swap         |
| executed, once | by TC | \"true\" on all    | process\              |
| the LVA is     |       | valid stars        | (will Initialise RSL  |
| closed.        |       |                    | offset for these      |
|                |       |                    | stars)                |
+----------------+-------+--------------------+-----------------------+
| At mapping     | On    | Setting            | \- avoidance of       |
| command        | board | eligibility to     | situations where      |
| assertion in   | S/W   | \"false\" on all   | several valid stars   |
| S/W in any     |       | stars channels     | can be acquired       |
| AOCS mode      |       |                    | automatically, with   |
|                |       |                    | eligibility status    |
|                |       |                    | and RSL offsets not   |
|                |       |                    | initialised properly  |
+----------------+-------+--------------------+-----------------------+
| After mapping  | G     | Setting            | \- Reauthorisation of |
| command being  | round | eligibility to     | the star swap         |
| executed in    | by TC | \"true\" on all    | process\              |
| RMW and NM     |       | valid stars        | (will Initialise RSL  |
| modes          |       |                    | offset for these      |
|                |       |                    | stars)                |
+----------------+-------+--------------------+-----------------------+
| When a star    | On    | Setting            | -Design solution to   |
| swap is        | board | eligibility to     | avoid endless swaps   |
| commanded by   | S/W   | \"false\" on the   |                       |
| the staircase  |       | control star       | -Allows eventually to |
| filter         |       |                    | go to CRP             |
+----------------+-------+--------------------+-----------------------+
| At execute of  | On    | Setting            | \- Avoidance of       |
| a new RSL or   | board | eligibility to     | inappropriate RSL     |
| during regular | S/W   | \"false\" on the   | offset initialisation |
| refresh of RSL |       | stars not being    |                       |
| offset         |       | the control star,  |                       |
|                |       | if not valid       |                       |
+----------------+-------+--------------------+-----------------------+

***Figure 3.8/5 : Synthesis for eligibility handling***

##### Initialisation of RSL offsets

The on board software initialises automatically the RSL offsets from the
SSU measurements :

-   Each time a star, including the control star, is made eligible, that
    is :

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-   after new star is acquired, when the ground authorises its
    participation into the star swap process,

-   after delta -v or momentum management operations, when the ground
    reauthorizes the star swapping

-   after a mapping in RMW or NM

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-   In the frame of the CRP to RMW transition, for all the stars
    eligible (including the control star)

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-   When a new roll scan law is uploaded, for all the stars eligible
    (including the control star), at the level of the ground demand for
    the Enable_roll_steering_law flag change from \"false\" to \"true\"
    status

-   On an hourly basis for the \"back-up\" control stars (the ones
    eligible and not being the current control star) to cope with the
    distortions induced by the orbital motion (refer to section 3.8.3.4)

In all these opportunities, the objective is to get for the concerned
star its RSL offset coherent with all the variables handled on board,
making either the \"nominal\" control star or the \"back-up\" control
star (and in some cases both) reference position initialised from
measured position of the star in the SSU field of view. For that
purpose, the initialisation can always take place if the star channel is
valid, and causes the interference with the eligibility as described in
section 3.8.3.2.2.

The initialisation is derived as follows :

> *Measured_angle (N) - RSLTable (RSLindex) - RAO - PCPG_Angle (roll)*

A specific possibility to trim the RSL offset table is provided by the
ABACU213 block telecommand.

##### Initialisations at mode transitions and at change of control star

The ground still have the ability to change the guide star, while being
in NM and in RMW mode. If a change of control star is requested directly
by ground, the current eligibility status of this star is not affected.
In that case :

-   no checks are performed by the software on the eligibility and
    validity status of the new control star requested by the ground

-   no RSL offset initialisation takes place

Appropriate checks will therefor be requested for such an operation.

If a star is released by the ground at the level of the SSU by an
ABACU211 TC, no action to set its \"eligibility\" status to \"false\" is
undergone by the software.

The eligibility flag and control star number are not affected by the RMW
to NM transition or NM to RMW transition.

The various other initialisations are performed by the software :

-   The CRP flag (AKMDSCRP telemetry) is cleared as part of the CRP to
    RMW mode transition

-   The staircase filter counter (AKSEUCNT telemetry) is cleared as part
    of the CRP to RMW modes transition and each time a star swap is
    performed (either from ground demand by telecommand, or by the on
    board star swap logic).

-   The Z spike filter logic is reinitialised as part of the CRP to RMW
    modes transition and each time a star swap is performed (either from
    ground demand by telecommand, or by the on board star swap logic).

As a last reminder about initialisations, the ground has always the
possibility to force, by telecommand, the star swap and the CRP flag,
and the staircase filter monitoring function shall never be disabled.

#### Implication of spacecraft dynamics

The design solution taken for the star swap has been to define fixed RSL
offsets in the software. This assumes that the RSL reference is not
dependant on the star position in the field of view of the SSU, meaning
that the displacement of the stars is always the same on the Z axis of
the CCD wherever in the SSU field of view, due to the roll motion.

This point is not exactly true as SOHO orbits around the sun. On top of
that Z translation, a rotation of about 1° per day (360° in 365 days)
occurs around a point on the SSU CCD Z axis, separated from the center
by the actual commanded roll angle (the roll angle derived from the sun
poles).

This behaviour is illustrated on the Figure 3.8/6 : Evolution of stars
in SSU field of view (24h for DOY 183) (day of year 183, evolutions of
all stars which can be tracked over 24 hours) and Figure 3.8/7 : Zoom on
star 19040068 at border of SSU field of view (24h for DOY 183) (zoom on
one star evolution at the border of the field of view in Y) :

-   At that date the roll angle of the spacecraft is initially 6,598°
    and will decrease by 0,052° in a day. This basically explains the
    amplitude of the projections of the evolutions on the Z coordinate
    of the CCD, which globally appear similar.

-   The magnitude of the evolution of the Y coordinate is dependant on
    the initial position of the star on the CCD, from the average
    rotation point. The typical evolution is about 6.6° \* sin 1° =
    0.11°, as expected. But the evolution of the coordinate is the
    highest when Y is close to zero and the farthest from the rotation
    center : the component of the Y motion is purely tangential to the
    circle, while the circle is the largest.

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-   On the other hand, at the extremes of the CCD field of view in Y,
    the tangent of the circle couples with both the Y and the Z
    coordinates. This makes the Y evolution smaller, but has the
    drawback to induce a perturbation on the Z axis, hence on the roll
    angle.

This latter fact corrupts the roll angle measurement, as defined on
board from the SSU Z measurement.

![](media/image51.wmf){width="5.518055555555556in"
height="3.4368055555555554in"}

***Figure 3.8/6 : Evolution of stars in SSU field of view (24h for DOY
183)***

![](media/image52.wmf){width="3.7895833333333333in" height="2.35625in"}

![](media/image53.wmf){width="4.396527777777778in"
height="1.979861111111111in"}

***Figure 3.8/7 : Zoom on star 19040068 at border of SSU field of view
(24h for DOY 183)***

With a first order approximation, neglecting magnitude of the commanded
roll angle (assuming that X SSU is at the north of ecliptic), the roll
angle perturbation is directly dependant on the Y coordinate of the
tracked star : pollution of the roll angle = pitch angle \* sin
(duration in days\*360°/365.25). This evaluation remains also valid with
a complete model of the position and evolution of the roll angle on few
days : the maximum corruption is at 127\" / day and 260\" / 2 days at 2°
in pitch.

When applied to the baseline SOHO concept, this effect manifests itself
as :

-   A corruption of the roll attitude telemetry, when the control star
    is not on the Y axis of CCD. The proposed handling of this point is
    addressed in section 3.8.4.2. It is based on ground post processing
    to allow for the best attitude reconstitution in the definitive
    attitude files for the experimenters, merged with correction of the
    roll TM offset each time the RSL is uploaded. This corruption
    impacts the raw unprocessed spacecraft telemetry by 0.1° at worst
    and does not interfere with the antenna pointing interface on board.

-   The requirement to compute the roll steering law table, anticipating
    this circular motion for the control star. This is not a new
    requirement, and has always been done by FDF.

-   Since the circular motion correction is dependant on the position in
    the SSU field of view, the roll steering law can only be optimised
    on one star. This star is defined as the \"nominal\" control star,
    and it is not anticipated nominally to change from this star as
    being the control star, unless the roll steering law is
    re-optimised. For this star, the RSL offset is fixed at zero by
    convention, in order to keep the same interface with the ground.

-   On the other hand, if a swap occurs on a star for which the RSL has
    not been optimised, a roll pointing error might grow up. This is
    basically why the \"back-up\" control stars are indeed only back-up
    solutions\... The control will then not have to remain too long in
    such a situation to respect the experiment roll absolute pointing
    requirements. The rate of increase of the roll pointing error could
    be as high as 250\" per day if the back-up star is 4° away from the
    \"nominal\" star (one edge to the other in pitch).

-   If no regular update is done, a corruption of the RSL offsets for
    the other potential control stars (named as \"back-up\" stars),
    which will generate a roll attitude step at star swap. Given the
    adaptation of the roll steering law for the \"nominal\" control
    star, this corruption will manifest itself roughly as sin1° \* the
    delta pitch angle measured from the \"nominal\" control star.

In order to keep the experienced rates very low below 30\"/s during such
a swap, the corruption of the RSL offset from the nominal control star
to one back up control star shall be kept less than 135\". The same
would apply on the differential corruption of the RSL offset for a
second swap.

The proposed solution for that is to update regularly on board the RSL
offsets for \"back-up\" stars : stars eligible and not currently being
the control star. This will force their reference to be initialise very
close to the current roll attitude if a swap is done. The anticipated
roll offset is restricted to 10\" at worst after 1 hour for a jump from
one side to the other in the SSU field of view. This places no autonomy
restriction on the star swapping principle, nor any constraint for
selecting all the tracked stars in a cluster grouped around pitch.

#### Implication in operations and principles for star selection.

The proposed principles for star selection and operations are as follows
:

-   The \"nominal\" guide star will, be selected as before. It will use
    feedback from flight experience on the behaviour of the SSU
    (magnitude\...). The purpose is to ensure nominally a star remaining
    up to 4 days in the field of view. When desired, the change of the
    \"nominal\" control star will take place, with RSL disabled.

-   For roll telemetry purpose, this star will be selected as close as
    possible from the Yccd axis.

-   When started, the RSL will be optimised for that star, and the
    resulting RSL offset will be trimmed to zero after start of RSL, to
    clear for measurement errors at initialisation. The roll TM ofsset
    will also be trimmed on ground. This performs no change from the old
    design definition.

-   On a daily basis, a revisit of the other stars to be acquired and
    release will take place. The stars exiting the field of view in the
    coming day will be released properly before, with their eligibility
    set to false appropriately afterwards. At that stage, the RSL
    offsets will be have to be reinitialised by toggling the eligibility
    for the stars not being the control star.

-   At that stage, the \"back up\" control stars will be selected in the
    field of view such that :

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-   *The desired stars number to be acquired is 3. This corresponds to
    operation performed with the searching tracking mode. If desirable
    and possible from the selection criteria, the stars number could be
    increased to 5, using potentially the tracking restricted mode.*

-   *They stay in the field of view for more than 1 day,*

-   *They comply to in flight experience acquire on the SSU (maximise
    robustness of the measurement : any criteria on magnitude, \...)*

-   *If more than 3 stars can be acquired :*

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-   *select the ones which will stay in the field of view for more than
    3 to 4 days, and get a back-up RSL table prepared for them. This
    table might be used in case of selection on of these stars as the
    next \"nominal\" control star*

-   *if more than 3 or 5 stars comply, amongst the brightest (or other
    similar criteria from flight experience) select the ones the closest
    to the Yccd axis for telemetry accuracy purpose.*

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-   If the control logic gives up on the \"nominal\" control star is
    recommended (within a day) :

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-   *Either to make the current control star the new \"nominal\" control
    star, that is to change the RSL table for fitting with the current
    star, and when done, trim its RSL offset to zero for retrieving the
    right orientation. This will also require a consistent trim (or
    reinitialisation) of the RSL offset of all the other \"back-up\"
    control stars.*

-   *Or to reacquire it, make it eligible, redeclare it as the control
    star, and trim its RSL offset to zero to recover the right
    orientation. This will also require a consistent trim (or
    reinitialisation) of the RSL offset of all the other \"back-up\"
    control stars.*

The roll rates induced by the RSL 10\" to 15\" steps is low enough to
accept any swap or change of control stars, with RSL offsets maintained
with the previously described strategy.

#### The searching / tracking restricted mode

As explained above, the usage of the searching / tracking restricted
mode is not strictly mandatory to acquire the desired numbed of stars
(3) for the star swap logic. Its use is now authorised in the ACU
software in nominal operations. If wished by the ground, pending the
result of the in-flight commissioning phase, its use can allow to go up
to 5 stars for the star swap logic.

The description and usage of the searching / tracking restricted mode is
detailed in

*ANNEX 6 - Complements to SSU user\'s manual*

### The roll attitude telemetry

#### The roll attitude telemetry principle

The roll attitude telemetry refers to either the AKARD mnemonic, or the
AKROLL00 to AKROLL15 mnemonics.

The definition of the roll attitude telemetry when based on SSU
measurements (ie in RMW and NM modes) is provided in section 3.8.3.2.1.
There is no interference on roll telemetry during RMW to NM and NM to
RMW transitions.

The definition of the roll attitude telemetry when based on CRS
measurements (ie in CRP mode) is designed to compensate for any
transverse momentum reference position evolution during roll manoeuvres.
It can be expressed as follows :

-   Roll TM = Roll_TM_offset + Roll_slew -- Roll_error_angle

This equation can be understood as follows :

" roll attitude of SSU centre " = "roll attitude of SSU centre at CRP
entry corrected by all the completed slews in CRP and any requested
error adjustments" + "current slew angle (if in progress, zero
otherwise)" - "CRP control error, defined though the delta between the
CRS measurement and the reference, after CRS drift compensation "

The telemetry is made continuous at CRP to RMW and RMW or NM to CRP mode
transition by appropriate software initialisations on the last computed
variables. This makes the roll TM offset (AKSSUROT) being changed at the
transitions, as follows :

-   At CRP entry : new TM offset for CRP = last roll TM value

-   At RMW entry : Roll_TM_Offset = old ROLL TM (CRS based) - RSLTable
    (RSLindex)

The change of the telemetry source is reported in the AKSSUATM
telemetry.

At entry into CRP, this initialisation occurs at star of the roll
control, that is 40s into CRP.

To compensate for these errors done during the initial CRP phase when
the CRS is not active, but also for any residual errors into drift
compensation of CRS, the TM offset shall be trimmed operationally in
CRP, each time a roll absolute measurement source is acquired. This is
the meaning of the "any requested error adjustments" statement into the
explanation of variable definition.

The illustration of the telemetry behaviour at CRP entry is given in
Figure 3.8/8 : the roll telemetry at RMW or NM to CRP transition.

#### Implication of spacecraft dynamics

The explanation of the corruption of the roll attitude measurement, as
derived from the SSU is explained in section 3.8.3.3. The motion of the
spacecraft around the sun makes the derivation of the roll angle from
any SSU star measurement inaccurate if the star is not on the Y axis of
the SSU CCD. The pollution sign and amplitude depends on the place of
the star in the field of view, and of the time since the last roll TM
offset correction. This can be explained as follows :

-   The circular motion around the sun, manifests itself as a modulation
    of the Z star coordinate, pending on the amplitude from the center
    of the rotation : towards +Zccd if the star is in the +Yccd domain,
    and towards -Zccd if the star is in the -Yccd domain.

-   This modulation is not sensed by the on board error algorithms and
    translates itself as an error reporting of roll angle of sign
    positive if +Yccd, negative if -Yccd. Its daily rate of increase can
    be evaluated from the Y coordinate of the control star with the
    simplified formula : pollution of the roll angle = pitch angle \*
    sin (duration in days\*360°/365.25)

The roll telemetry being used for two purposes the HGA pointing and the
experimenter, the following solution is proposed to cope with this
effect :

-   Regularly trim the roll TM offset, at worst each time the RSL is
    uploaded, with the objective to maintain the error below 0.1°, that
    is less frequently than every 4 days in any case.

-   Select as far as possible control stars close to the Y part of the
    field of view, to minimise the rate of distortion

-   Post process the attitude telemetry data on ground from the Y
    coordinate of the current control star, to remove the distortion.

The solution of post processing appear far more efficient for
performance than the solution to trim daily or more frequently the TM
offset, owing to the experimenters requirements.

![](media/image54.wmf){width="6.297916666666667in"
height="2.4034722222222222in"}

***Figure 3.8/8 : the roll telemetry at RMW or NM to CRP transition***

### The Hx monitoring

The definition of the Hx monitoring is illustrated in Figure 3.8/9 : the
Hx monitoring principle. The Hx monitoring function enables the
computation of the Hx telemetry at AOCS level, and raises an Hx flag if
the current Hx value evolves outside specific criteria. The Hx flag is
monitored by the COBS Hx monitoring function (refer to paragraph 3.10.6)
used in all modes, except during SK / MM. The purpose of this function
is to ensure the spacecraft safety, by triggering the ESR safe mode
before the ESR autonomy or control capability starts to be challenged by
its entry condition.

At AOCS level, the Hx flag is raised in AOCS if :

-   the Hx monitoring function is enabled (it is not at initialisation).
    This can be seen in AKGLHXFN telemetry.

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-   The Hx value (AKHXVAL telemetry) is lower than the Hx lowest edge
    (AKHXLOW telemetry). This lowest edge limit the ESR negative roll
    rate after the wheels have spun down.

-   The Hx value (AKHXVAL telemetry) is inside two limits, namely the Hx
    minimum limit (AKHXMIN) and the Hx maximum limit (AKHXMAX). Although
    proved by analysis not strictly mandatory, theses min & max limits
    helps to minimises ESR transient, and ensures controllability of ESR
    during transient.

The Hx minimum and maximum limits have to be updated regularly in order
not to get interference with the natural Hx evolution from the external
disturbances and the orbit. It is performed quite infrequently, by
sending a single ABACU217 TC. At that date, the Hx minimum and maximum
limits are initialised given the current Hx value and the value of the
Hx threshold, and the Hx flag is cleared :

Hx minimum limit (AKHXMIN) = current Hx value (date of TC) - Hx
threshold (AKHXTH)

Hx maximum limit (AKHXMAX) = current Hx value (date of TC) + Hx
threshold (AKHXTH)

The threshold tuning and the interference with the natural orbit
evolution is as follows :

-   Lowest edge is -10 Nms in S/W. This places operationally a yellow
    limit at -5 Nms on the Hx value, and a red limit red set at -8 Nms.
    This will always grant an ESR rate higher than -0.75°/s after ESR
    transient, hence at least 24 hours of autonomy.

-   The -5 Nms yellow limit grants two months in between station
    keepings.

-   The value of the threshold is at 7 Nms. At date of the update of the
    Hx minimum and maximum limits, the triggering of the ESR will
    therefore occur before the natural Hx evolution is below that
    threshold. Given the natural rates of Hx evolution, this gives a
    duration of 2 weeks worst case, and 4 weeks expected.

It is therefore recommended to perform this operation not less
frequently than weekly. This provides a 1 to 3 weeks autonomy margin.

Note : the Hx monitoring function (COBS part for corrective action) will
not be effective in station keeping and momentum management phase. This
is related to the following facts :

-   ground support is present in these phases, compatible with
    sufficient reaction time in case of problems,

-   the Hx monitoring is less reactive than the CRP flag for the cases
    of open thruster failures

-   this places less constraints on intermediate momentum condition for
    momentum management, and does not places constraints on the
    efficiency of the roll compensation in delta V.

Obviously, the values of the Hx min and max limits have to be
reinitialised after operations with thrusters, owing to the risk of
change into the spacecraft embedded roll momentum.

Note : the Hx monitoring function has to be has to be enabled in AOCS to
get Hx telemetry in AOCS. This is why the AOCS part of the monitoring
function is never disabled after initialisation (it is not enabled as a
default state to avoid risks of fallback at ESR exit if the momentum is
not adequate). This initialisation updates automatically the Hx minimum
and maximum bounds and clears the Hx flag.

![](media/image55.wmf){width="6.209027777777778in"
height="3.6194444444444445in"}

***Figure 3.8/9 : the Hx monitoring principle***

### The RW speed monitoring

The principle of the RW speed monitoring is broadly similar to the one
of the Hx monitoring, with the following exceptions :

-   There is no lowest edge limits. Two maximum and minimum limits are
    only used.

-   There are no automatic initialisations on board. The monitoring is
    based directly in COBS on the comparison between the reaction wheel
    speeds and two fixed limits.

The detailed definition of the COBS monitoring is performed in section
3.10.7. This monitoring is run in RMW and NM modes. Its purpose is
twofold :

-   To guarantee the reaction wheels speeds operational range in
    operations with thrusters. For that purpose the reaction wheels
    limits are set to -3000 rpm, +3000 rpm in these phases.

-   Outside these phases, to attempt a CRP mode when the RW speeds
    evolution is abnormal. For that purpose, the evolution of the
    reaction wheels speed is allowed in a range of 1.35 Nms from a fixed
    reference, updated regularly according to the natural wheel speeds
    evolution. If none of the wheels speeds variation evolve beyond this
    threshold, the entry rate in CRP will be limited to 0.05°/s. This
    ensures in any case the convergence into CRP.

In normal operations, as for the Hx monitoring function, the upper and
lower limits for the RW speed evolutions are to be updated regularly
according to the natural evolution from the orbit and the external
torques. According to the anticipated orders of magnitude, this activity
is required daily, and consists in (for each of the reaction wheels) :

-   Setting the lowest limit to the current wheel speeds (algebraic) -
    135 rpm

-   Setting the highest limit to the current wheel speeds (algebraic) +
    135 rpm

Given the size of the 1.35 Nms threshold and the anticipated natural
wheel speeds evolution, the daily update allows a 1.5 to 3.5 days margin
before interference with the limits occur.

During attitude profiles, the RW speeds evolutions have to be predicted,
to check that no interference occur with the limits. If so, the
monitoring function can be disabled, and reinitialised once the
manoeuvre is done.

### Operational constraints stemming from AOCS additional features

#### Attitude profiles

-   The attitude profiles shall be executed axes by axes. The attitude
    excursion is limited such as to stay within 2° off the FPSS
    reference on the pitch and yaw axes.

-   The targeted delta roll angle might be checked by memory dump,
    before the execute of the roll manoeuvre is performed.

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-   The attitude profiles shall be sized in RMW and NM not to loose the
    control star. If other stars are to exit the field of view, they
    shall be released before the profile is executed.

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-   The verification of the RW speed evolution shall be done in CRP, RMW
    and NM before an attitude profile.

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-   Adequate margin versus the lowest Hx edge exists

-   During any profile, the reaction wheels shall not go above 3000 rpm

-   At the end of a profile, all wheels shall be above 500 rpm

-   In RMW or NM, if the foreseen speed evolution enters in conflict
    with the RW speed monitoring limits, the RW speed monitoring shall
    be inhibited and reinitialised after the profile is performed.

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-   The Hx sliding limits shall be reinitialised before and after the
    profile is attempted.

-   The sun off pointing flag shall be cleared after each attitude
    profile in pitch and yaw axes generated by an ABACU214, and the
    programmation on the COBS experiment off pointing warning message
    function shall be handled accordingly.

-   Although the software allows to handle RSL initialisation and change
    of eligibility status in the course of roll attitude trims and PCPG
    roll operations (initialisations of RSL offsets account for that),
    it is intended to make these operations exclusive.

#### SEU protection

-   It is not desirable to extend the staircase filter when LVA is
    closed. When LVA is open, this is forbidden.

-   It is not desirable to decrease the Z spike coordinate filter when
    LVA is closed. When LVA is open, this is forbidden.

-   Outside thruster operations, it is not desirable to extend the
    staircase filter threshold above 200.

#### Hx monitoring and RW speed monitoring

-   The ground is not allowed to release the contact with the spacecraft
    if the Hx monitoring function is not operational.

-   The revisit time, with the Hx monitoring function enabled, shall be
    less than 12 hours.

-   The reaction time to a loss of contact when using the thrusters
    shall be less than 3 hours to retrieve telemetry.

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-   The Hx sliding min and max limits shall be updated not less
    frequently than 1 week.

-   The Hx sliding min and max limits shall be reinitialised before the
    execution of the profile (to be sure not to trigger during the
    manoeuvre), and straight after the manoeuvre (to get the autonomy
    after the manoeuvre).

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-   The Hx function monitoring function will be disabled at COBS level
    during thruster manoeuvres.

-   The Hx sliding min and max limits will be reinitialised in AOCS
    after the delta V or momentum management manoeuvre, prior
    re-enabling the Hx monitoring function in COBS. At that stage the Hx
    flag might have to be cleared in AOCS.

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-   Any attitude profile shall not be attempted if the Hx value goes
    below -5 Nms (nominal) or -8 Nms (contingency).

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-   The RW speed monitoring limits shall be updated daily if the
    spacecraft is in RMW or NM modes.

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-   If an attitude profile is attempted in RMW or NM modes, it is the
    ground responsibility to verify that the anticipated profile does
    not violate any RW speed monitoring function, while the resulting
    speeds grant sufficient autonomy (this appears always to be the case
    if the targeted attitude is lower than 500\" from the nominal
    attitude on any axis). If not, disable the monitoring during the
    profile, and re-establish it after the profile with appropriate
    updated limits.

#### *Star handling and associated items* 

-   In RMW and NM modes, the current control star shall never be
    released by the ground by an SSU command

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-   In any case, in RMW and NM modes, the changeover of control star
    shall be done by the ground before the star exits the field of view,
    and the other stars shall be released before they exit the SSU field
    of view (also applicable in CRP).

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-   In NM and RMW, if a star is released by the ground by an ABACU211
    TC, it is requested to set its associated eligibility status to
    false.

-   After a mapping and operations with thrusters, the eligibility of
    all the tracked and valid stars shall be re - established. This
    includes the one for the current control star to be able to restart
    the RSL.

-   A star can be made eligible only if the star is valid at the date of
    the execution of the telecommand. An associated verification is
    always requested to confirm the eligibility operation.

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-   The SSU stars shall be selected in NM and RMW according to the
    following rules of section 3.8.3.4

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-   In RMW and NM, if a star, which is not the control star becomes
    invalid on more than 40 consecutive TM packets (when applicable TM
    packets are set), that is 10 minutes, this star shall be declared
    \"not eligible\" and released. On the other hand, transients
    invalidity status can be accepted.

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-   When a star is first acquired, the following items should be
    verified, before the star can be declared eligible. If the items are
    not fulfilled, the star shall be released :

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-   In 30 minutes, if the star becomes invalid on more than 40
    consecutive TM packets (when applicable TM packets are set), that is
    10 minutes, this star shall be declared \"not eligible\" and
    released.

-   If the difference between the measured and the expected magnitude is
    more than the SSU typical magnitude error (from in flight
    experience, threshold at FDF discretion)

-   Other criteria, at ground discretion, from flight experience

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-   In RMW and NM modes, it is not allowed to release the control star
    by an ABACU211 TC or to change it to an invalid star channel, if the
    control star is the sole valid star tracked. If a NM to CRP
    transition is desired, the direct transition shall be used through
    ACU mode relays.

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-   In NM and RMW, it is not allowed to perform (under ground request) a
    control star change on a \"non eligible\" star, even if this star is
    valid. This associated risk is a fallback in CRP. This is linked to
    an inappropriate RSL offset and star reference initialisation.

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-   For the \"nominal\" control star, on which the RSL has been computed
    with the objective to get a null RSL offset, the RSL offset shall be
    trimmed back to zero once at the date of RSL start, after delta V
    operations, after mapping operations. In that case the RSL offsets
    of the others stars might have to be trimmed accordingly, if the
    delta is higher than 10\".

-   If the control star for which the RSL has been computed is flagged
    out by the SEU logic, the recovery of the pointing shall be
    performed with either of the strategies presented in section
    3.8.3.4.

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-   If the spacecraft attitude is to be trimmed with a step on the RSL
    offset on the control star, the RSL offsets of all the other
    eligible stars shall be trimmed accordingly if the trim exceeds
    10\". The trim shall respect the 135\" limit, while being decoupled
    from attitude profiles and PCPG operations. On the other hand, it is
    not necessary to stop RSL for that activity.

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-   The eligibility status of the control star itself is meaningless,
    since it makes no sense to swap from one star to itself. It has
    nevertheless to remain eligible (action needed after a delta V and a
    mapping) to avoid interference with later start of RSL.

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-   Setting eligibility is always ground action and responsibility. If a
    star is tracked and not made eligible, it is only for investigation
    or at acquisition.

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-   The ground has to set the star channel to \"not eligible\" when a
    star is released, otherwise when a new star is acquired on that
    channel the RSL offset can be not yet initialised and the star can
    be made the control star, risking thus an offset.

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-   There is no requirement to disable RSL when changing the control
    star from a on ground demand.

-   The roll TM offset shall be trimmed regularly, not less frequently
    than each time the RSL is updated.

## AOCS configuration

### FDE

The FDE configuration shall be as follows:

#### ESR status

-   ARO/ESR is enabled

-   ARO power is enabled

-   ARO/ESR ground initiate arming is at \"not armed\"

#### FDE power

-   Except relay which has been open during recovery ( ASFD12=OPEN), all
    others relays shall stay closed and not be commanded by ground.

#### Roll criteria

-   ESR roll control disabled.

-   The gain used for gyro set at low. The purpose is not to force gyro
    compensation to zero.

-   Roll rate criteria is disabled and threshold is set at maximum value
    = 1,5°/sec.

The commands to set the RRAD threshold are:

Send AZFD02, '7FF'h

> Verify ASFD52 : raw value ='7FF'
>
> 1,5°/sec

It shall be noted that in case of CDMU chilly start up, the RRAD will be
re-enabled.

-   Roll attitude anomaly criteria disabled and threshold is set at
    maximum value = 157,4°

The commands to set the RAAD threshold are:

> Send AZFD01, '7FF'
>
> Verify ASFD51 : raw value ='7FF'
>
> 157,4°

The gyro drift correction shall be ASFD57 = 0000, since FDE is in low
gain.

Yellows limits have to be set on roll attitude accumulator at 50°
typical value. When this value is reached, the accumulator shall be
reset:

> Send telecommand AZFD01, '8000'h the verification is got with
> telemetry ASFD58.

#### Pressure criteria

-   Pressure anomaly detection disabled with threshold set at 25 bars.

The commands to set threshold are:

> Send AZFD03, 'FF'
>
> Verify ASFD53 : raw value ='FF'
>
> 25 bar

#### Sun pointing criteria

-   FSPAAD and CSPAAD are always enabled.

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-   Time out detection (TOD) is always forced in order not to use timer.

### AOCS units

The nominal AOCS configuration of AOCS units is as follows :

+----------+-------------------+-------------+--------------+---------+
|          | **CRP**           | **RMW**     | **RMW        | **NM**  |
|          |                   |             | manoeuvre**  |         |
+----------+-------------------+-------------+--------------+---------+
| ACU      | A                 | A           | A            | A       |
+----------+-------------------+-------------+--------------+---------+
| **CAE**  | A                 | A           | A            | A       |
+----------+-------------------+-------------+--------------+---------+
| **FDE**  | See & 3.9.1       | See & 3.9.1 | See & 3.9.1  | See &   |
|          |                   |             |              | 3.9.1   |
+----------+-------------------+-------------+--------------+---------+
| **SSU**  | A ( not in        | A           | A            | A       |
|          | control loop)     |             |              |         |
+----------+-------------------+-------------+--------------+---------+
| **IRU**  | All OFF           | All OFF     | All OFF      | All OFF |
+----------+-------------------+-------------+--------------+---------+
| **WDE**  | 1,2,3             | 1,2,3       | 1,2,3        | 1,2,3   |
+----------+-------------------+-------------+--------------+---------+
| **FPSS** | A                 | A           | A            | A       |
+----------+-------------------+-------------+--------------+---------+
| **FCV    | OFF               | OFF         | A            | OFF     |
| d        |                   |             |              |         |
| rivers** |                   |             |              |         |
+----------+-------------------+-------------+--------------+---------+
| **LV     | OFF               | OFF         | OFF          | OFF     |
| d        |                   |             |              |         |
| rivers** |                   |             | (ON only for |         |
|          |                   |             | LV OPEN and  |         |
|          |                   |             | CLOSE)       |         |
+----------+-------------------+-------------+--------------+---------+
| **LV**   | A CLOSED,         | A CLOSED,   | A OPEN,      | A       |
|          |                   |             |              | CLOSED, |
|          | B CLOSED          | B CLOSED    | B CLOSED     | B       |
|          |                   |             |              | CLOSED  |
+----------+-------------------+-------------+--------------+---------+
| **CBH**  | B                 | B           | AB           | B       |
+----------+-------------------+-------------+--------------+---------+

### AOCS monitorings

The nominal AOCS configuration of AOCS monitorings is as follows :

  ---------------- ------------ ------------ ---------------- -------------
                   **CRP**      **RMW**      **RMW            **NM**
                                             manoeuvre**      

  CSPAAD           Enabled      enabled      enabled          enabled

  FSPAAD           Enabled      enabled      enabled          enabled

  Hx flag          Enabled      enabled      disabled         enabled

  CRP flag         Disabled     enabled      enabled          enabled

  RW speed         Disabled     enabled      enabled          enabled
  monitoring                                                  

  ACU reset        Enabled      enabled      enabled          enabled
  monitoring                                                  

  Thruster         Disabled     disabled     enabled          Disabled
  monitoring                                                  

  Experiment off   As desired   As desired   As desired       As desired,
  pointing                                                    recommended
  monitoring                                                  
  ---------------- ------------ ------------ ---------------- -------------

### Others

#### Old IRU\'s

The Three failed gyro\'s shall be left unpowered, out of the ACU
hardware configuration word, and with their MACS bus head disabled

The assignation of gyros for FDE/ESR shall never be changed

#### Miscellaneous

The relay 5 of ACU shall always be left open after mode transition
activities

Any of the possible hardware configuration words shall now be derived
from the following definition :

<table>
<colgroup>
<col style="width: 6%" />
<col style="width: 6%" />
<col style="width: 6%" />
<col style="width: 6%" />
<col style="width: 6%" />
<col style="width: 6%" />
<col style="width: 3%" />
<col style="width: 3%" />
<col style="width: 3%" />
<col style="width: 3%" />
<col style="width: 3%" />
<col style="width: 3%" />
<col style="width: 0%" />
<col style="width: 3%" />
<col style="width: 3%" />
<col style="width: 0%" />
<col style="width: 3%" />
<col style="width: 3%" />
<col style="width: 0%" />
<col style="width: 3%" />
<col style="width: 3%" />
<col style="width: 0%" />
<col style="width: 6%" />
<col style="width: 0%" />
<col style="width: 6%" />
<col style="width: 6%" />
<col style="width: 6%" />
</colgroup>
<tbody>
<tr class="odd">
<td>0</td>
<td>0</td>
<td></td>
<td></td>
<td><p>CAE B</p>
<p>1= activ</p></td>
<td><p>CAE A</p>
<p>1= activ</p></td>
<td colspan="2">0</td>
<td colspan="2">0</td>
<td colspan="2"><p>FPSS B</p>
<p>1= activ</p></td>
<td colspan="4"><p>FPSS A</p>
<p>1= activ</p></td>
<td colspan="2"><p>SSU B</p>
<p>1= activ</p></td>
<td colspan="3"><p>SSU A</p>
<p>1= activ</p></td>
<td colspan="2"><p>WDE 4</p>
<p>0=activ</p></td>
<td colspan="2"><p>WDE 3</p>
<p>0=activ</p></td>
<td><p>WDE 2</p>
<p>0=activ</p></td>
<td><p>WDE 1</p>
<p>0=activ</p></td>
</tr>
<tr class="even">
<td></td>
<td></td>
<td>0</td>
<td>0</td>
<td colspan="3">Wheels 2,3,4</td>
<td colspan="2"></td>
<td colspan="2"></td>
<td colspan="3"></td>
<td colspan="3"></td>
<td colspan="3"></td>
<td colspan="7"></td>
</tr>
<tr class="odd">
<td></td>
<td></td>
<td>0</td>
<td>1</td>
<td colspan="3">Wheels 1,3,4</td>
<td colspan="2"></td>
<td colspan="2"></td>
<td colspan="3"></td>
<td colspan="3"></td>
<td colspan="3"></td>
<td colspan="7"></td>
</tr>
<tr class="even">
<td></td>
<td></td>
<td>1</td>
<td>0</td>
<td colspan="3">Wheels 1,2,4</td>
<td colspan="2"></td>
<td colspan="2"></td>
<td colspan="3"></td>
<td colspan="3"></td>
<td colspan="3"></td>
<td colspan="7"></td>
</tr>
<tr class="odd">
<td></td>
<td></td>
<td>1</td>
<td>1</td>
<td colspan="3">Wheels 1,2,3</td>
<td colspan="6"></td>
<td colspan="2"></td>
<td colspan="4"></td>
<td colspan="3"></td>
<td colspan="2"></td>
<td colspan="3"></td>
</tr>
</tbody>
</table>

The nominal configuration is :

**AKHWCNF =** 3457h

<table>
<colgroup>
<col style="width: 6%" />
<col style="width: 6%" />
<col style="width: 6%" />
<col style="width: 6%" />
<col style="width: 6%" />
<col style="width: 6%" />
<col style="width: 6%" />
<col style="width: 6%" />
<col style="width: 6%" />
<col style="width: 6%" />
<col style="width: 6%" />
<col style="width: 6%" />
<col style="width: 6%" />
<col style="width: 6%" />
<col style="width: 6%" />
<col style="width: 6%" />
</colgroup>
<tbody>
<tr class="odd">
<td>0</td>
<td>0</td>
<td>1</td>
<td>1</td>
<td>0</td>
<td><p>1</p>
<p>CAE A</p></td>
<td>0</td>
<td>0</td>
<td>0</td>
<td><p>1</p>
<p>FPSS A</p></td>
<td>0</td>
<td><p>1</p>
<p>SSU A</p></td>
<td>0</td>
<td><p>1</p>
<p>WDE 3</p></td>
<td><p>1</p>
<p>WDE 2</p></td>
<td><p>1</p>
<p>WDE 1</p></td>
</tr>
</tbody>
</table>

  ----------------- ----------------- ------------------ -----------------
  3                 4                 5                  7

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

## COBS gyroless functions

Several new COBS functions have been developed, mainly to provide
adequate on board monitoring in order to ensure the satellite safety.
Five new COBS functions are used:

-   ACU reset monitoring (force ESR mode in case of ACU reset detection)

-   Hx flag monitoring (force ESR mode in case of unexpected Hx momentum
    evolution -- satellite autonomy in ESR)

-   RW speed monitoring in RMW mode (inhibit PROS and command transition
    to CRP mode in case of unexpected RW speed evolution)

-   CRP flag monitoring in both RMW or NM (inhibit PROS and command
    transition to CRP mode in case of SSU star loss)

-   Depointing message for experiments (a warning message will be
    broadcast to experiments in case of excessive depointing)

This last function is not directly related to the Gyroless operations,
but is used to prevent experiments damages in case of satellite
depointing, and before ESR fallback upon FSPAAD criteria detection.

These new gyroless COBS functions replace the following unused
application functions:

-   ESR gyro setting (no more used -- no more gyros)

-   Trouble shooting function (used for ACU reset detection -- replaced
    by ACU reset monitoring)

-   Gyro monitoring (no more used -- no more gyros)

-   ISA / SAD function (used after separation for initial acquisition)

-   RAAD monitoring (never used)

In addition to the new gyroless COBS functions, some modifications have
been developed on the following functions

-   Thruster on-time monitoring (running in any AOCS mode)

-   ESR detection (to disable all Gyroless monitoring in case of ESR
    detection)

The Table 3.13/1 : Gyroless COBS functions usage presents a summary of
the COBS gyroless function, the associated usage and routine operations:

### Unused functions

The existent functions ESR Gyro Setting, Trouble-Shooting Function, Gyro
Monitoring, ISA and SAD Function and RAAD Monitoring have been
disconnected from COBS scheduler. In addition, the corrective actions
have been disabled (no effect, even if the C.A. execution is commanded
through the dedicated TCM).

The ESR Gyro Setting, Trouble-Shooting Function, Gyro Monitoring, ISA
and SAD Function and RAAD Monitoring status at warm start-up shall
always be INHIBITED.

### Warm start-up / Chilly start-up

The new gyroless monitoring functions are discarded in case of warm or
chilly star-up. These function shall be uploaded to the CDMU as a part
of the DHSS recovery, in addition to the existing patches (TM packet).

Note: In case of chilly start-up, the FDE RRAD criteria will be enabled
as a part of the start-up sequence. As soon as a chilly start-up has
been detected, the FDE RRAD criteria shall be inhibited by ground
command.

### Thruster on-time monitoring

The existent function Thruster Monitoring runs in all AOCS modes. No
other modification have been introduced for that function.

This function shall be used during thruster operations, for both
Momentum Management and Station Keeping, as a protection against ground
command errors (excessive thruster actuation duration). The Thruster
(open) failure detection is achieved by both the CRP monitoring for roll
thrusters failure and FSPAAD for pitch and yaw thrusters failure.

### ESR detection

The existent function ESR Monitoring inhibits the five new Gyroless
functions when triggered. No other modification have been introduced for
that function.

### ACU reset monitoring

A new function have been developed to replace the existing Trouble
Shooting Function (TSF or Free Process) in order to monitor any
occurrence of a reinitialisation of the AOCS computer. In case of ACU
reset, all AOCS gyroless software is discarded during the boot of the
AOCS computer. The COBS is used to monitor any occurrence of the ACU
reset, and force ESR mode in case of detection, according to the
following definition:

ACU reset monitoring ("ACU reset monitoring" function = ENA)

**If** ("ACU reset" = detected) **then**

Report COBS Anomaly message "ACU reset detected" (ANO Id = 93h)

**If** ("ACU reset monitoring " CA = ENA) **then**

AOCS RTU reconfiguration (as per PRCG definition)

Disable Gyroless function "CRP flag monitoring"

Disable Gyroless function "RW speed monitoring"

Disable Gyroless function "Hx flag monitoring"

Disable Gyroless function "Experiments off-pointing warning message"

Arm and Initiate ARO / ESR : ACFD19, ACFD09

Disable "ACU reset monitoring" function

Disable "ACU reset monitoring" CA

Set "ACU reset monitoring" CA triggered flag

**End if**

**End if**

Note: this function is able to monitor ACU A or ACU B reset occurrence
(according to the switchable channels definition)

The ACU reset detection is based on ASAC53 word (ACU watchdog):

ACU reset detected if

(ASAC53\[bit_0\] and ASAC53\[bit_12\]) or (ASAC53\[bit_8\] and
ASAC53\[bit_13\])

Refer to [AD2: COBS Gyroless Functions -- Software User\'s
Manual](../SUM_AD/COBS_USERS_MANUAL.DOC) for more.

### Hx flag monitoring

A new monitoring has been introduced in order to guarantee the satellite
autonomy, in particular the Hx momentum value at ESR entry. In case of
unexpected evolution of the Hx momentum, the ACU software will report an
anomaly through Hx flag within the AOCS telemetry. This flag is used by
the COBS Hx flag monitoring function to force the ESR mode with a
minimum Hx momentum at ESR entry, in order to guarantee a maximum
autonomy.

![](media/image56.wmf)

The COBS Hx flag monitoring function process the AOCS Hx flag (two
words: word_10 & word_405), according to the following process:

Hx flag monitoring (Hx flag monitoring = ENA)

**If** (AOCS TM packet = new) **and** \[Hx flag = true\] **then**

Report COBS Anomaly message "Hx flag detected" (ANO Id = 96h)

**If** CA "Hx flag monitoring "**=** ENA **then**

AOCS RTU reconfiguration (as per PRCG definition)

Disable Gyroless function "ACU reset monitoring"

Disable Gyroless function "CRP flag monitoring"

Disable Gyroless function "RW speed monitoring"

Disable Gyroless function "Experiments off-pointing warning message"

Set function "Hx flag monitoring" CA triggered flag

Disable function "Hx flag monitoring" and associated CA

Arm and Initiate ARO / ESR : ACFD19 , ACFD09

**End if**

**End if**

Refer to [AD2: COBS Gyroless Functions -- Software User\'s
Manual](../SUM_AD/COBS_USERS_MANUAL.DOC) for more.

Note: this function can be used with any AOCS TM packets selection.

### RW speed monitoring

A new monitoring has been introduced in order to monitor the Reaction
Wheels speeds. In case of unexpected evolution of the RW speed, the COBS
RW speed monitoring function will force a transition to CRP mode and
will disable the PROS.

The COBS RW speed monitoring function process the AOCS telemetry
(word_111 to word_114), according to the following process:

RW Speed monitoring (RW speed monitoring = ENA)

**If** (AOCS TM packet = gyroless) **and** \[(RW i speed **\<** RW i
min) **or** (RW i speed **\>** RW i max)\] i \[1..4\] **then**

Report COBS Anomaly message "RW Speed outside limits" (ANO Id = 95h +
ANA data =

RW number that causes the anomaly)

**If** CA "RW Speed monitoring "**=** ENA **then**

Disable Gyroless function "CRP flag monitoring"

AOCS RTU reconfiguration (as per PRCG definition) + PDU Command

registers reconf

Switch OFF FCV A (AZFVAOFR+PZAPEXER)

Switch ON LV A (AZLVAONR+PZAPEXER)

Minimum Delay 1 sec

Close LV A (ACCA21A)

Minimum Delay 1 sec

Switch OFF LV A (AZLVAOFR+PZAPEXER)

Command AOCS mode relay 5 OFF (ACAC25A - ACAC25B if ACU B is used)

Command AOCS mode to CRP (ACAC24A+ACAC03A+ACAC22A+ACAC01A)

(ACAC24B+ACAC03B+ACAC22B+ACAC01B if ACU B is used)

Minimum Delay 1 sec

Command AOCS mode relay 5 ON (ACAC05A -- ACAC05B if ACU B is used)

Minimum Delay 1 sec

Command AOCS mode relay 5 OFF (ACAC25A - ACAC25B if ACU B is used)

Set function " RW Speed monitoring" CA triggered flag

Disable function " RW Speed monitoring" and associated CA

**End if**

**End if**

Since the RW speed TM are available only for AOCS packet type 2 and 3.2,
the function shall be disabled when another packet type is commanded.

The RW speed TM (words 111 to 114) have the following definition (bit_0
= MSB):

bit_0 = sign bit

bit_0 =1 =\> CW (+)

bit_0 = 0 =\> CCW (-)

\[bit_4.. bit_15\] = speed (12 bits, lsb = 5.333 rpm) AKWDSPi

Refer to [AD2: COBS Gyroless Functions -- Software User\'s
Manual](../SUM_AD/COBS_USERS_MANUAL.DOC) for more.

Note: this function reads both ACU A or ACU B telemetry and command ACU
A or B mode relays upon the current switchable channels definition.

### CRP flag monitoring

A new monitoring has been introduced in order to monitor the so-called
CRP flag, elaborated at ACU software level. When no more valid and
eligible star is available for roll control in both NM and RMW, the ACU
S/W will set the CRP flag and the CRP flag monitoring COBS function will
force a transition to CRP mode and will disable the PROS.

This monitoring is particularly important during manoeuvres in RMW
(Station Keeping and Momentum Management) since the SSU is used for both
roll control and as a Roll Rate Anomaly Detector. For the manoeuvres,
only one star is used for the control (all other stars being forced to a
'not eligible' status). In case of excessive (roll) rate, the SSU will
report an anomaly to the ACU (i.e. SEU / Star loss) and the ACU will
provide to COBS the CRP flag to abort the manoeuvre and initiate the
transition to CRP mode, as presented in the following figure:

![](media/image57.wmf)

The COBS CRP flag monitoring function process two words within the AOCS
telemetry (word_10 and word_405), according to the following process:

CRP flag monitoring (CRP flag monitoring = ENA)

**If** (CRP flag **=** detected) **and** (AOCS TM packet = new) **and**

\[(AOCS active mode **=** NM) **or** (AOCS active mode **=** RMW)\]
**then**

Report COBS Anomaly message " CRP flag detected" (ANO Id = 94h,

ANO data = AOCS mode)

**If** CA " CRP flag monitoring " **=** ENA **then**

Disable Gyroless function "RW speed monitoring"

AOCS RTU reconfiguration (as per PRCG definition) + PDU Command

registers reconf

Switch OFF FCV A (AZFVAOFR+PZAPEXER)

Switch ON LV A (AZLVAONR+PZAPEXER)

Minimum Delay 1 sec

Close LV A (ACCA21A)

Minimum Delay 1 sec

Switch OFF LV A (AZLVAOFR+PZAPEXER)

Command AOCS mode relay 5 OFF (ACAC25A - ACAC25B if ACU B is used)

Command AOCS mode to CRP (ACAC24A+ACAC03A+ACAC22A+ACAC01A)

(ACAC24B+ACAC03B+ACAC22B+ACAC01B if ACU B is used)

Minimum Delay 1 sec

Command AOCS mode relay 5 ON (ACAC05A - ACAC05B if ACU B is used)

Minimum Delay 1 sec

Command AOCS mode relay 5 OFF (ACAC25A - ACAC25B if ACU B is used)

Set function " CRP flag monitoring" CA triggered flag

Disable function " CRP flag monitoring" and associated CA

**End if**

**End if**

Refer to [AD2: COBS Gyroless Functions -- Software User\'s
Manual](../SUM_AD/COBS_USERS_MANUAL.DOC) for more.

Note: this function can be used with any AOCS TM packets selection.

Note: this function reads both ACU A or ACU B telemetry and command ACU
A or B mode relays upon the current switchable channels definition.

### Experiments off-pointing warning message

This new monitoring function is not exactly linked to gyroless
operations, since it is used to prevent experiments damages in case of
large depointing (transient period from nominal pointing to ESR
detection by FDE - FSPAAD criteria). In order to avoid the damages at
experiments levels, the AOCS off-pointing flags are monitored by this
specific COBS function in order to command a safe configuration in case
of pointing anomaly for LASCO, MDI, SUMER and UVCS.

This monitoring function is based on the existing AOCS off-pointing
flags, provided within the AOCS TM (word 6), according to the following
processing:

Experiment off-pointing warning message ("Experiment off-pointing"
function = ENA)

**If** (AOCS off-pointing flag = true) **then**

Report COBS Anomaly message "Experiment Off-pointing warning "

Disable "Experiment Off-pointing warning" COBS function

**If** (UVCS "Experiment Off-pointing warning" flag = AUTHORISE)
**then**

Execute CA (UVCS):

Direct High Power Command : UCMDSFN ("UVCS Enter safe mode prim")

Hexa code: 0008, 8000, 0048, 023D

Direct High Power Command: UCMDSFR ("UVCS Enter safe mode red ")

Hexa code: 0008, 8001, 0050, 02BD

**If** (LASCO/EIT "Experiment Off-pointing warning" flag = AUTHORISE)
**then**

Execute CA (LASCO):

OBDH block command : LBSESR ("LASCO ESR warning message")

Hexa code: 000A, 4482, 24A2, CCCC, F16E

**If** (MDI "Experiment Off-pointing warning" flag = AUTHORISE) **then**

Execute CA (MDI):

OBDH block command : MBLTOPNL "Limb tracker open loop"

Hexa code: 000C, 4503, 2B03, 0007, 0001, 2B0B

**If** (SUMER "Experiment Off-pointing warning" flag = AUTHORISE)
**then**

Execute CA (SUMER):

Disable ESR Warning flag distribution for SUMER (COBS "ESR warning

flag" function)

OBDH block command : SBSESR ("SUMER ESR warning message ")

Hexa code: 000A, 4584, 2CA2, CCCC, F96E

**End if**

**End if**

The configuration of the experiments concerned by this monitoring are
defined by a specific register.

Refer to [AD2: COBS Gyroless Functions -- Software User\'s
Manual](../SUM_AD/COBS_USERS_MANUAL.DOC) for more.

Note: this function can be used with any AOCS TM packets selection.

## Gyroless FDIR principles

The FDIR principles are described within [AD4: SOHO Gyroless -- FDIR
Analysis](../FDIR/FDIR.DOC), reference SH.MAT.NT.37923) provided in
ANNEX 4 - SOHO GYROLESS -- FDIR ANALYSIS.

## Gyroless contingency analysis

The gyroless contingency analysis ([AD5: SOHO Gyroless -- Contingency
Analysis](../CONT/CA_GYROLESS.DOC)), reference SH.MAT.NT.37932) is
provided in ANNEX 5 - SOHO GYROLESS -- CONTINGENCY ANALYSIS

## Ground constraints -- Satellite autonomy

The ESR autonomy, in worst case outside thruster maneuvers, is
established at nearly 24 hours. The ESR autonomy, if the failure occurs
during thruster manoeuvres, is appraised at 8 hours.

The ground reaction times and the operational scheme proposed to comply
with this autonomy, and hence grant the spacecraft safety, is therefore
determined the following way :

-   a revisit time of 12 hours, the purpose of it being nominally to
    verify that both telemetry can be acquired and no ESR has triggered.
    If not, appropriate contingency operations have to take place :
    reacquire at least low rate TM and if ESR, perform roll rate
    control.

-   A reaction time to acquire TM in less than 3 hours, if the TM is
    lost

-   A reaction time to perform roll rate control in less than 1 hour
    once ESR is notified and low rate linked is established

This strategy allows a contingency margin always more than 4 hours.

Once in ESR with roll rate control, the revisit time (ie the time
without roll rate control) can be extended to 24 hours.

The following constraints apply to grant maximal ESR entry rates, and
hence spacecraft autonomy :

-   In any case, the contact with the spacecraft shall not be released
    until the Hx protection is set in AOCS and COBS

-   In any case, the enabling of the SSU_SEU monitoring in AOCS & of the
    CRP flag in COBS shall be performed, specially when using thrusters.
    If a reconfiguration of the data handling takes place during a
    thruster manoeuvre, the manoeuvre shall be aborted as soon as
    possible.

-   In any case, the default value of the staircase filter shall be
    brought back to a value lower or equal to 5 when latching valve A is
    open.

-   The lowest Hx which can be accepted nominally is -5 Nms, and for
    contingency -8 Nms. If the value becomes lower than -5 Nms, a
    momentum management has to take place within a week. If the value
    becomes lower than -8 Nms, a momentum management has to take place
    immediately.

The autonomy provided by the RW speed monitoring limits is several days
(2.5 to 4.5). In order not to trigger intempestively a reconfiguration
to CRP, the update of these limits is requested daily.

The autonomy provided by the Hx monitoring sliding limits is several
weeks (2 to 4). In order not to trigger intempestively a reconfiguration
to ESR, the update of the sliding limits is requested weekly.

The Hx lowest edge can allow more than two months in between momentum
management. The operational yellow limit at -5 Nms allows more than 1
week autonomy before the COBS action takes place.

The operational red limit at -8 Nms allows several days autonomy before
the COBS action takes place.

The Table 3.13/1 : Gyroless COBS functions usage presents a summary of
the COBS gyroless function, the associated usage and routine operations:

+---+-----------+------------+---------------------+-------------------+
|   |           |            | **Related Ops**     | **Modes**         |
+---+-----------+------------+---------------------+-------------------+
|   | HX Mon    | COBS       | \-                  | CRP, RMW, NM      |
|   |           | function   |                     |                   |
+---+-----------+------------+---------------------+-------------------+
|   |           | AOCS       | Routine: Weekly     | (inhibited during |
|   |           | function   | update              | SK and MM)        |
+---+-----------+------------+---------------------+-------------------+
|   | RW speed  | COBS       | Routine: Daily      | RMW, NM           |
|   | Mon       | function   | update              |                   |
|   |           |            |                     | Disabled in CRP   |
|   |           |            | (Setting --3000 /   |                   |
|   |           |            | +3000 during SK and |                   |
|   |           |            | MM)                 |                   |
+---+-----------+------------+---------------------+-------------------+
|   |           | AOCS       | \-                  |                   |
|   |           | function   |                     |                   |
+---+-----------+------------+---------------------+-------------------+
|   | CRP flag  | COBS       | \-                  | RMW, NM           |
|   | Mon       | function   |                     |                   |
+---+-----------+------------+---------------------+-------------------+
|   |           | AOCS       | \-                  | Disabled in CRP   |
|   |           | function   |                     |                   |
+---+-----------+------------+---------------------+-------------------+
|   | ACU reset | COBS       | \-                  | CRP, RMW, NM      |
|   | Mon       | function   |                     |                   |
+---+-----------+------------+---------------------+-------------------+
|   |           | AOCS       | \-                  |                   |
|   |           | function   |                     |                   |
+---+-----------+------------+---------------------+-------------------+
|   | Off       | COBS       | \-                  | NM                |
|   | -pointing | function   |                     |                   |
|   | Mon       |            |                     |                   |
+---+-----------+------------+---------------------+-------------------+
|   |           | AOCS       | \-                  | (Upon exp.        |
|   |           | function   |                     | Requirement)      |
+---+-----------+------------+---------------------+-------------------+

**Table 3.13/1 : Gyroless COBS functions usage**

# GROUND SUPPORT SOFTWARE

The following items are required as ground processing to operate the
AOCS. They are sorted out by mission phases. A brief explanation of the
desired processing is performed. In some cases, the user\'s manual
section is identified for a better definition the detailed processing
requirements.

## ESR and ESR exit

-   SAS polar plots : the existing TM page of AKSAS1A (on Y axis, -2° to
    +2°) plotted versus AKSAS1B (on X axis, -2° to +2°), completed with
    a back-up page for the analog SAS outputs AXFD05 versus AXFD06 (same
    axes, same scales). This will be used to perform the roll rate
    control in ESR.

-   FPSS polar plot : a TM page from AKFPITCH versus AKFYAW, as for SAS
    plots, to be used to monitor ESR roll behaviour during the ESR exit
    phase.

-   TSTOL roll rate : update of the ground Tstol procedure, as run
    during the ESR exit operation of 1/99, customized to the size and
    axis of the selected ESR exit momentum, depending on the selescted
    wheel subset. Refer to section 3.4.2.2. Will support the ESR exit
    operations.

-   SAS / FPSS pitch and yaw rate : new ground Tstol procedure to
    evaluate the pitch and yaw rates from the SAS digital coordinates
    (AKSAS1A, AKSAS1B) or the new processed FPSS data (AKFPITCH, AKFYAW)
    evolution in time (every TM packet). Will support the ESR exit
    operations. Refer to 3.4.2.3.

-   Derivation of momentum exchange with the reaction wheels : refer to
    section 3.4.2.2.3. Will be used to reduce the roll rate before
    entering CRP.

-   Open loop thruster torque computation (any thruster) : as per
    computations done for momentum management and station keeping. Will
    be used in ESR steady state, at least for open loop roll rate
    control.

-   Yaw and pitch braking (option) : translation of the pitch or yaw
    rate to damp with thruster into commanded on times with the open
    loop thruster torque computation. Refer to section 3.3.3. Might be
    used in ESR steady state.

## CRP / CRS

-   MDI / experiment data : elaboration of absolute roll attitude from
    experiments measurements available in (at least) medium rate
    telemetry. Will allow to maintain roll attitude on a long term in
    CRP.

-   Attitude reconstitution algorithm from SSU : no change into
    processing from the current situation (already provided by FDF since
    launch). Will allow to identify accurately roll absolute attitude.

-   CRS drift estimation from wheels transverse momentum evolution in NM
    and RMW : post processing of the RW speed evolution along time in NM
    or RMW (with or without roll steering law active, pending on the
    estimated solar perturbation torques and on the orbital geometry) to
    derive the size of the transverse momentum embedded on the wheels
    and its angular position in the Y/Z spacecraft axes. The CRS drift
    estimation is derived taking the average angular evolution of the
    transverse momentum over 500s in the coming day. Refer to 3.5.2.4.
    Will allow to provide a CRS drift estimation in the phases when the
    CRS on board drift estimation logic is not yet able to identify a
    valuable estimation.

-   Roll angle monitoring in CRP from SSU (option) : ground Tstol
    procedure, as run during the roll in FSA operation of 3/99. Option
    for commissionning of CRS accuracy in roll large angle manoeuvres.

## Attitude maneuvers

-   Prediction of RW speeds all through the profile (roll) : as formerly
    done for roll manoeuvres with gyros, neglecting the momentum taken
    by the spacecraft rates (ie at each position, equivalent to the stop
    RW speeds if manoeuvre was to end in that position). Will allow to
    verify the feasability of a roll manoeuvre versus RW speed
    monitoring in RMW / NM and versus RW operational range in all modes.

-   Stop RW speeds at end of manoeuvre (pitch/yaw) : as formerly done
    for roll manoeuvres with gyros, but extended with rotations matrixes
    on pitch and yaw axes of up to 2°. Will allow to verify the
    feasability of a pitch / yaw manoeuvre versus RW speed monitoring in
    RMW / NM and versus RW operational range in all modes.

-   Hx evolution at end of manoeuvre (pitch/yaw) : post processing of
    \"Stop RW speeds at end of manoeuvre\". Will allow to verify the
    feasability of a pitch / yaw manoeuvre versus the Hx monitoring
    function (lowest Hx edge in particular).

## Station keeping and momentum management maneuvers

-   Torque and efficiency matrix : no change into processing from the
    current situation (already provided by FDF since early gyroless
    operations). Will allow to make accurate prediction for open loop
    activities with thrusters.

-   Intermediate speeds for momentum management : no change into
    processing from the current situation (already provided by FDF since
    early gyroless operations). Will allow to make the definition of the
    segments order for momentum management.

-   Open loop compensation in delta V (OFF and ON) : no change into
    processing from the current situation (already provided by FDF since
    early gyroless operations). Allows to perform delta-V\'s while not
    being at RW\'w speed mid range.

-   Manoeuvre calibration report : as currently performed after each
    manoeuvre, analysis of the thrusters accuracy and of the
    compensation accuracy for the delta V\'s.

## Others 

-   PVT analysis : no change into processing from the current situation,
    is used to evaluate the remaining fuel mass. Will allow to make the
    evaluation of the position of the center of mass for the thruster
    torque matrix.

-   Hx evolution : no change into processing from the current situation
    (already provided by FDF since early gyroless operations). Will
    allow to make the evaluation of the dates at which a momentum
    management will have to be performed, and when interference with the
    parameters of the Hx monitoring function takes place.

-   RW evolution : no change into processing from the current situation
    (already provided by FDF since launch). Will allow to make the
    evaluation of the dates at which a momentum management will have to
    be performed, and when interference with the parameters of the RW
    monitoring function takes place.

-   RW speed monitoring thresholds : It is proposed to create a new
    ground tstol procedure, wich will generate automatically the RW
    speeds limits for the COBS monitoring from the current wheels speeds
    and the 1.35 Nms threshold. Will be used daily in NM to update the
    COBS monotoring limits to cope with natural RW speed evolution.

-   RSL : no change into processing from the current situation (already
    provided by FDF since launch). The RSL still fits with the reference
    Z coordinate of the \"nominal\" control star (RSLoffset is intended
    at zero for this star). It is advised to compute \"back-up\" RSL
    tables for the \"back-up\" control strars, prepared on ground for a
    potential upload in the course of the operations.

-   Definitive attitude for experiments : new item, based on the roll
    telemetry, the current control star Y coordinate, the roll TM
    offset, and the date of upload of the roll TM offset. Used to remove
    distorsion on roll attitude telemetry for elaboration of definitive
    attitude files for the experiments. Refer to paragraph 3.8.4.2 for
    processing.

# Gyroless database

## Introduction

The SOHO gyroless Telecommand / Telemetry interface are described in the
following documents:

-   [AD2: COBS Gyroless Functions -- Software User\'s
    Manual](../SUM_AD/COBS_USERS_MANUAL.DOC)

-   [AD3: AOCS TM and TC INPUTS](../SUM_AD/AOCS_TM_TC.DOC)

## TM summary

The following table presents the COBS gyroless Telemetry summary

Note: bit 0 = MSB, \"n.a.\" means not applicable, \"n.c.\" means no
change

+----+------------------+---+---+---+---+---------------+----------+
| >  | > **short text   | > | > | > | > | > **          | > **[Va  |
|  * | > description**  |   |   |   |   | calibration** | lidity]{ |
| *M |                  | * | * | * | * |               | .mark}** |
| ne |                  | * | * | * | * |               |          |
| mo |                  | T | P | o | b |               |          |
| ** |                  | y | a | f | i |               |          |
|    |                  | p | c | f | t |               |          |
|    |                  | e | k | s | s |               |          |
|    |                  | * | e | e | > |               |          |
|    |                  | * | t | t |   |               |          |
|    |                  |   | * | * | / |               |          |
|    |                  |   | * | * | c |               |          |
|    |                  |   |   |   | o |               |          |
|    |                  |   |   |   | d |               |          |
|    |                  |   |   |   | e |               |          |
|    |                  |   |   |   | * |               |          |
|    |                  |   |   |   | * |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > Gyroless COBS  | > | > | > | > | > 0=GYLES.OF  | >        |
| KK | > functions      |   |   |   |   | > /           | [allways |
| GY | > Installed      | D | § | 1 | b | > 1=GYLES.ON  | ]{.mark} |
| RL |                  | i | 0 | 7 | i |               |          |
| ES |                  | g |   | . | t |               |          |
|    |                  | i |   | . | > |               |          |
|    |                  | t |   | 1 |   |               |          |
|    |                  | a |   | 8 | 3 |               |          |
|    |                  | l |   | > | 1 |               |          |
|    |                  |   |   |   |   |               |          |
|    |                  |   |   | ( |   |               |          |
|    |                  |   |   | 3 |   |               |          |
|    |                  |   |   | 2 |   |               |          |
|    |                  |   |   | b |   |               |          |
|    |                  |   |   | ) |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  |                  |   |   |   |   |               | > [      |
|  [ |                  |   |   |   |   |               | ]{.mark} |
| ]{ |                  |   |   |   |   |               |          |
| .m |                  |   |   |   |   |               |          |
| ar |                  |   |   |   |   |               |          |
| k} |                  |   |   |   |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > ACU Reset      | > | > | > | > | > 0=ACUR.IN / | > [KK    |
| KK | > Monitoring     |   |   |   |   | > 1=ACUR.EN   | GYRLES=1 |
| AF | > ENA/INH        | D | § | 1 | b |               | ]{.mark} |
| ES |                  | i | 0 | 7 | i |               |          |
| 16 |                  | g |   | . | t |               |          |
|    |                  | i |   | . | > |               |          |
|    |                  | t |   | 1 |   |               |          |
|    |                  | a |   | 8 | 2 |               |          |
|    |                  | l |   | > | 2 |               |          |
|    |                  |   |   |   |   |               |          |
|    |                  |   |   | ( |   |               |          |
|    |                  |   |   | 3 |   |               |          |
|    |                  |   |   | 2 |   |               |          |
|    |                  |   |   | b |   |               |          |
|    |                  |   |   | ) |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > CRP Flag       | > | > | > | > | > 0=CRP.EN /  | > [KK    |
| KK | > Monitoring     |   |   |   |   | > 1=CRP.IN    | GYRLES=1 |
| AF | > ENA/INH        | D | § | 1 | b |               | ]{.mark} |
| ES |                  | i | 0 | 7 | i |               |          |
| 17 |                  | g |   | . | t |               |          |
|    |                  | i |   | . | > |               |          |
|    |                  | t |   | 1 |   |               |          |
|    |                  | a |   | 8 | 2 |               |          |
|    |                  | l |   | > | 3 |               |          |
|    |                  |   |   |   |   |               |          |
|    |                  |   |   | ( |   |               |          |
|    |                  |   |   | 3 |   |               |          |
|    |                  |   |   | 2 |   |               |          |
|    |                  |   |   | b |   |               |          |
|    |                  |   |   | ) |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > RW Speed       | > | > | > | > | > 0=RWS.IN /  | > [KK    |
| KK | > Monitoring     |   |   |   |   | > 1=RWS.EN    | GYRLES=1 |
| AF | > ENA/INH        | D | § | 1 | b |               | ]{.mark} |
| ES |                  | i | 0 | 7 | i |               |          |
| 18 |                  | g |   | . | t |               |          |
|    |                  | i |   | . | > |               |          |
|    |                  | t |   | 1 |   |               |          |
|    |                  | a |   | 8 | 2 |               |          |
|    |                  | l |   | > | 4 |               |          |
|    |                  |   |   |   |   |               |          |
|    |                  |   |   | ( |   |               |          |
|    |                  |   |   | 3 |   |               |          |
|    |                  |   |   | 2 |   |               |          |
|    |                  |   |   | b |   |               |          |
|    |                  |   |   | ) |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > Hx Flag        | > | > | > | > | > 0=HX.IN /   | > [KK    |
| KK | > Monitoring     |   |   |   |   | > 1=HX.EN     | GYRLES=1 |
| AF | > ENA/INH        | D | § | 1 | b |               | ]{.mark} |
| ES |                  | i | 0 | 7 | i |               |          |
| 19 |                  | g |   | . | t |               |          |
|    |                  | i |   | . | > |               |          |
|    |                  | t |   | 1 |   |               |          |
|    |                  | a |   | 8 | 2 |               |          |
|    |                  | l |   | > | 5 |               |          |
|    |                  |   |   |   |   |               |          |
|    |                  |   |   | ( |   |               |          |
|    |                  |   |   | 3 |   |               |          |
|    |                  |   |   | 2 |   |               |          |
|    |                  |   |   | b |   |               |          |
|    |                  |   |   | ) |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > Experiment     | > | > | > | > | > 0=OFFP.IN / | > [KK    |
| KK | > Off-pointing   |   |   |   |   | > 1=OFFP.EN   | GYRLES=1 |
| AF | > Warning        | D | § | 1 | b |               | ]{.mark} |
| ES | > Message        | i | 0 | 7 | i |               |          |
| 1A | > ENA/INH        | g |   | . | t |               |          |
|    |                  | i |   | . | > |               |          |
|    |                  | t |   | 1 |   |               |          |
|    |                  | a |   | 8 | 2 |               |          |
|    |                  | l |   | > | 6 |               |          |
|    |                  |   |   |   |   |               |          |
|    |                  |   |   | ( |   |               |          |
|    |                  |   |   | 3 |   |               |          |
|    |                  |   |   | 2 |   |               |          |
|    |                  |   |   | b |   |               |          |
|    |                  |   |   | ) |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  |                  |   |   |   |   |               | > [      |
|  [ |                  |   |   |   |   |               | ]{.mark} |
| ]{ |                  |   |   |   |   |               |          |
| .m |                  |   |   |   |   |               |          |
| ar |                  |   |   |   |   |               |          |
| k} |                  |   |   |   |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > EXEC PROFILE   | > | > | > | > | > 0: MSB, 1:  | > [KK    |
| KK | > OF ACU Reset   |   |   |   |   | > lsb         | GYRLES=1 |
| 01 | > MONIT          | D | § | 4 | 1 |               | > and    |
| XA |                  | i | 1 |   | 0 |               | ]{.mark} |
| CU |                  | g |   |   | b |               | >        |
|    |                  | i |   |   | i |               | > [KK    |
|    |                  | t |   |   | t |               | GROIDT=1 |
|    |                  | a |   |   | s |               | ]{.mark} |
|    |                  | l |   |   | > |               |          |
|    |                  | > |   |   |   |               |          |
|    |                  |   |   |   | : |               |          |
|    |                  | ( |   |   | > |               |          |
|    |                  | 3 |   |   |   |               |          |
|    |                  | F |   |   | 0 |               |          |
|    |                  | F |   |   | . |               |          |
|    |                  | > |   |   | . |               |          |
|    |                  |   |   |   | 9 |               |          |
|    |                  | h |   |   |   |               |          |
|    |                  | e |   |   |   |               |          |
|    |                  | x |   |   |   |               |          |
|    |                  | ) |   |   |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > EXEC PROFILE   | > | > | > | > | > 0: MSB, 1:  | > [KK    |
| KK | > OF             |   |   |   |   | > lsb         | GYRLES=1 |
| 01 | > Off-pointing   | D | § | 7 | 1 |               | > and    |
| XO | > MONIT          | i | 1 |   | 0 |               | ]{.mark} |
| FP |                  | g |   |   | b |               | >        |
|    |                  | i |   |   | i |               | > [KK    |
|    |                  | t |   |   | t |               | GROIDT=1 |
|    |                  | a |   |   | s |               | ]{.mark} |
|    |                  | l |   |   | > |               |          |
|    |                  | > |   |   |   |               |          |
|    |                  |   |   |   | : |               |          |
|    |                  | ( |   |   | > |               |          |
|    |                  | 3 |   |   |   |               |          |
|    |                  | F |   |   | 0 |               |          |
|    |                  | F |   |   | . |               |          |
|    |                  | > |   |   | . |               |          |
|    |                  |   |   |   | 9 |               |          |
|    |                  | h |   |   |   |               |          |
|    |                  | e |   |   |   |               |          |
|    |                  | x |   |   |   |               |          |
|    |                  | ) |   |   |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > EXEC PROFILE   | > | > | > | > | > 0: MSB, 1:  | > [KK    |
| KK | > OF CRP MONIT   |   |   |   |   | > lsb         | GYRLES=1 |
| 01 |                  | D | § | 8 | 1 |               | > and    |
| XC |                  | i | 1 |   | 0 |               | ]{.mark} |
| RP |                  | g |   |   | b |               | >        |
|    |                  | i |   |   | i |               | > [KK    |
|    |                  | t |   |   | t |               | GROIDT=1 |
|    |                  | a |   |   | s |               | ]{.mark} |
|    |                  | l |   |   | > |               |          |
|    |                  | > |   |   |   |               |          |
|    |                  |   |   |   | : |               |          |
|    |                  | ( |   |   | > |               |          |
|    |                  | 3 |   |   |   |               |          |
|    |                  | F |   |   | 0 |               |          |
|    |                  | F |   |   | . |               |          |
|    |                  | > |   |   | . |               |          |
|    |                  |   |   |   | 9 |               |          |
|    |                  | h |   |   |   |               |          |
|    |                  | e |   |   |   |               |          |
|    |                  | x |   |   |   |               |          |
|    |                  | ) |   |   |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > EXEC PROFILE   | > | > | > | > | > 0: MSB, 1:  | > [KK    |
| KK | > OF RW Speed    |   |   |   |   | > lsb         | GYRLES=1 |
| 01 | > MONIT          | D | § | 1 | 1 |               | > and    |
| XR |                  | i | 1 | 3 | 0 |               | ]{.mark} |
| WS |                  | g |   |   | b |               | >        |
|    |                  | i |   |   | i |               | > [KK    |
|    |                  | t |   |   | t |               | GROIDT=1 |
|    |                  | a |   |   | s |               | ]{.mark} |
|    |                  | l |   |   | > |               |          |
|    |                  | > |   |   |   |               |          |
|    |                  |   |   |   | : |               |          |
|    |                  | ( |   |   | > |               |          |
|    |                  | 3 |   |   |   |               |          |
|    |                  | F |   |   | 0 |               |          |
|    |                  | F |   |   | . |               |          |
|    |                  | > |   |   | . |               |          |
|    |                  |   |   |   | 9 |               |          |
|    |                  | h |   |   |   |               |          |
|    |                  | e |   |   |   |               |          |
|    |                  | x |   |   |   |               |          |
|    |                  | ) |   |   |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > EXEC PROFILE   | > | > | > | > | > 0: MSB, 1:  | > [KK    |
|  K | > OF HX MONIT    |   |   |   |   | > lsb         | GYRLES=1 |
| K0 |                  | D | § | 1 | 1 |               | > and    |
| 1X |                  | i | 1 | 4 | 0 |               | ]{.mark} |
| HX |                  | g |   |   | b |               | >        |
|    |                  | i |   |   | i |               | > [KK    |
|    |                  | t |   |   | t |               | GROIDT=1 |
|    |                  | a |   |   | s |               | ]{.mark} |
|    |                  | l |   |   | > |               |          |
|    |                  | > |   |   |   |               |          |
|    |                  |   |   |   | : |               |          |
|    |                  | ( |   |   | > |               |          |
|    |                  | 3 |   |   |   |               |          |
|    |                  | F |   |   | 0 |               |          |
|    |                  | F |   |   | . |               |          |
|    |                  | > |   |   | . |               |          |
|    |                  |   |   |   | 9 |               |          |
|    |                  | h |   |   |   |               |          |
|    |                  | e |   |   |   |               |          |
|    |                  | x |   |   |   |               |          |
|    |                  | ) |   |   |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  |                  |   |   |   |   |               | > [      |
|  [ |                  |   |   |   |   |               | ]{.mark} |
| ]{ |                  |   |   |   |   |               |          |
| .m |                  |   |   |   |   |               |          |
| ar |                  |   |   |   |   |               |          |
| k} |                  |   |   |   |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > ACU Reset      | > | > | > | > | > 0=INHIBIT / | > [KK    |
| KK | > Monitoring E/I |   |   |   |   | > 1=ENABLE    | GYRLES=1 |
| 01 | > STATUS AT WARM | D | § | 1 | b | > (shall      | > and    |
| WA |                  | i | 1 | . | i | > always be   | ]{.mark} |
| CU |                  | g |   | . | t | > INHIBIT)    | >        |
|    |                  | i |   | 2 | > |               | > [KK    |
|    |                  | t |   | > |   |               | GROIDT=1 |
|    |                  | a |   |   | 2 |               | ]{.mark} |
|    |                  | l |   | ( | 2 |               |          |
|    |                  |   |   | 3 |   |               |          |
|    |                  |   |   | 2 |   |               |          |
|    |                  |   |   | b |   |               |          |
|    |                  |   |   | ) |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > CRP Flag       | > | > | > | > | > 0=INHIBIT / | > [KK    |
| KK | > Monitoring E/I |   |   |   |   | > 1=ENABLE    | GYRLES=1 |
| 01 | > STATUS AT WARM | D | § | 1 | b | > (shall      | > and    |
| WC |                  | i | 1 | . | i | > always be   | ]{.mark} |
| RP |                  | g |   | . | t | > INHIBIT)    | >        |
|    |                  | i |   | 2 | > |               | > [KK    |
|    |                  | t |   | > |   |               | GROIDT=1 |
|    |                  | a |   |   | 2 |               | ]{.mark} |
|    |                  | l |   | ( | 3 |               |          |
|    |                  |   |   | 3 |   |               |          |
|    |                  |   |   | 2 |   |               |          |
|    |                  |   |   | b |   |               |          |
|    |                  |   |   | ) |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > RW Speed       | > | > | > | > | > 0=INHIBIT / | > [KK    |
| KK | > Monitoring E/I |   |   |   |   | > 1=ENABLE    | GYRLES=1 |
| 01 | > STATUS AT WARM | D | § | 1 | b | > (shall      | > and    |
| WR |                  | i | 1 | . | i | > always be   | ]{.mark} |
| WS |                  | g |   | . | t | > INHIBIT)    | >        |
|    |                  | i |   | 2 | > |               | > [KK    |
|    |                  | t |   | > |   |               | GROIDT=1 |
|    |                  | a |   |   | 2 |               | ]{.mark} |
|    |                  | l |   | ( | 4 |               |          |
|    |                  |   |   | 3 |   |               |          |
|    |                  |   |   | 2 |   |               |          |
|    |                  |   |   | b |   |               |          |
|    |                  |   |   | ) |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > Hx Flag        | > | > | > | > | > 0=INHIBIT / | > [KK    |
|  K | > Monitoring E/I |   |   |   |   | > 1=ENABLE    | GYRLES=1 |
| K0 | > STATUS AT WARM | D | § | 1 | b | > (shall      | > and    |
| 1W |                  | i | 1 | . | i | > always be   | ]{.mark} |
| HX |                  | g |   | . | t | > INHIBIT)    | >        |
|    |                  | i |   | 2 | > |               | > [KK    |
|    |                  | t |   | > |   |               | GROIDT=1 |
|    |                  | a |   |   | 2 |               | ]{.mark} |
|    |                  | l |   | ( | 5 |               |          |
|    |                  |   |   | 3 |   |               |          |
|    |                  |   |   | 2 |   |               |          |
|    |                  |   |   | b |   |               |          |
|    |                  |   |   | ) |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > Experiment     | > | > | > | > | > 0=INHIBIT / | > [KK    |
| KK | > Off-pointing   |   |   |   |   | > 1=ENABLE    | GYRLES=1 |
| 01 | > E/I STATUS AT  | D | § | 1 | b | > (shall      | > and    |
| WO | > WARM           | i | 1 | . | i | > always be   | ]{.mark} |
| FP |                  | g |   | . | t | > INHIBIT)    | >        |
|    |                  | i |   | 2 | > |               | > [KK    |
|    |                  | t |   | > |   |               | GROIDT=1 |
|    |                  | a |   |   | 2 |               | ]{.mark} |
|    |                  | l |   | ( | 6 |               |          |
|    |                  |   |   | 3 |   |               |          |
|    |                  |   |   | 2 |   |               |          |
|    |                  |   |   | b |   |               |          |
|    |                  |   |   | ) |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  |                  |   |   |   |   |               | > [      |
|  [ |                  |   |   |   |   |               | ]{.mark} |
| ]{ |                  |   |   |   |   |               |          |
| .m |                  |   |   |   |   |               |          |
| ar |                  |   |   |   |   |               |          |
| k} |                  |   |   |   |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > ACU Reset      | > | > | > | > | >             | > [KK    |
| KK | > Monitoring     |   |   |   |   |  0=ACUR.CA.IN | GYRLES=1 |
| CA | > C.A. ENA/INH   | D | § | 1 | b | > /           | ]{.mark} |
| EI |                  | i | 0 | 0 | i | >             |          |
| 2A |                  | g |   | 1 | t |  1=ACUR.CA.EN |          |
|    |                  | i |   | . | > |               |          |
|    |                  | t |   | . |   |               |          |
|    |                  | a |   | 1 | 4 |               |          |
|    |                  | l |   | 0 | 2 |               |          |
|    |                  |   |   | 3 |   |               |          |
|    |                  |   |   | > |   |               |          |
|    |                  |   |   |   |   |               |          |
|    |                  |   |   | ( |   |               |          |
|    |                  |   |   | 4 |   |               |          |
|    |                  |   |   | 8 |   |               |          |
|    |                  |   |   | b |   |               |          |
|    |                  |   |   | ) |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > CRP Flag       | > | > | > | > | > 0=CRP.CA.IN | > [KK    |
| KK | > Monitoring     |   |   |   |   | > /           | GYRLES=1 |
| CA | > C.A. ENA/INH   | D | § | 1 | b | > 1=CRP.CA.EN | ]{.mark} |
| EI |                  | i | 0 | 0 | i |               |          |
| 2B |                  | g |   | 1 | t |               |          |
|    |                  | i |   | . | > |               |          |
|    |                  | t |   | . |   |               |          |
|    |                  | a |   | 1 | 4 |               |          |
|    |                  | l |   | 0 | 3 |               |          |
|    |                  |   |   | 3 |   |               |          |
|    |                  |   |   | > |   |               |          |
|    |                  |   |   |   |   |               |          |
|    |                  |   |   | ( |   |               |          |
|    |                  |   |   | 4 |   |               |          |
|    |                  |   |   | 8 |   |               |          |
|    |                  |   |   | b |   |               |          |
|    |                  |   |   | ) |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > RW Speed       | > | > | > | > | > 0=RWS.CA.IN | > [KK    |
| KK | > Monitoring     |   |   |   |   | > /           | GYRLES=1 |
| CA | > C.A. ENA/INH   | D | § | 1 | b | > 1=RWS.CA.EN | ]{.mark} |
| EI |                  | i | 0 | 0 | i |               |          |
| 2C |                  | g |   | 1 | t |               |          |
|    |                  | i |   | . | > |               |          |
|    |                  | t |   | . |   |               |          |
|    |                  | a |   | 1 | 4 |               |          |
|    |                  | l |   | 0 | 4 |               |          |
|    |                  |   |   | 3 |   |               |          |
|    |                  |   |   | > |   |               |          |
|    |                  |   |   |   |   |               |          |
|    |                  |   |   | ( |   |               |          |
|    |                  |   |   | 4 |   |               |          |
|    |                  |   |   | 8 |   |               |          |
|    |                  |   |   | b |   |               |          |
|    |                  |   |   | ) |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > Hx Flag        | > | > | > | > | > 0=HX.CA.IN  | > [KK    |
| KK | > Monitoring     |   |   |   |   | > /           | GYRLES=1 |
| CA | > C.A. ENA/INH   | D | § | 1 | b | > 1=HX.CA.EN  | ]{.mark} |
| EI |                  | i | 0 | 0 | i |               |          |
| 2D |                  | g |   | 1 | t |               |          |
|    |                  | i |   | . | > |               |          |
|    |                  | t |   | . |   |               |          |
|    |                  | a |   | 1 | 4 |               |          |
|    |                  | l |   | 0 | 5 |               |          |
|    |                  |   |   | 3 |   |               |          |
|    |                  |   |   | > |   |               |          |
|    |                  |   |   |   |   |               |          |
|    |                  |   |   | ( |   |               |          |
|    |                  |   |   | 4 |   |               |          |
|    |                  |   |   | 8 |   |               |          |
|    |                  |   |   | b |   |               |          |
|    |                  |   |   | ) |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  |                  |   |   |   |   |               | > [      |
|  [ |                  |   |   |   |   |               | ]{.mark} |
| ]{ |                  |   |   |   |   |               |          |
| .m |                  |   |   |   |   |               |          |
| ar |                  |   |   |   |   |               |          |
| k} |                  |   |   |   |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > ACU Reset      | > | > | > | > | >             | > [KK    |
| KK | > Monitoring CA  |   |   |   |   | 0=ACUR.NOTRIG | GYRLES=1 |
| CA | > TRIG FLAG      | D | § | 1 | b | > /           | ]{.mark} |
| TR |                  | i | 0 | 0 | i | >             |          |
| 2A |                  | g |   | 4 | t |  1=ACUR.TRIGG |          |
|    |                  | i |   | . | > |               |          |
|    |                  | t |   | . |   |               |          |
|    |                  | a |   | 1 | 4 |               |          |
|    |                  | l |   | 0 | 2 |               |          |
|    |                  |   |   | 6 |   |               |          |
|    |                  |   |   | > |   |               |          |
|    |                  |   |   |   |   |               |          |
|    |                  |   |   | ( |   |               |          |
|    |                  |   |   | 4 |   |               |          |
|    |                  |   |   | 8 |   |               |          |
|    |                  |   |   | b |   |               |          |
|    |                  |   |   | ) |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > CRP Flag       | > | > | > | > | > 0=CRP.      | > [KK    |
| KK | > Monitoring CA  |   |   |   |   | > NOTRIG /    | GYRLES=1 |
| CA | > TRIG FLAG      | D | § | 1 | b | > 1=CRP.      | ]{.mark} |
| TR |                  | i | 0 | 0 | i | > TRIGG       |          |
| 2B |                  | g |   | 4 | t |               |          |
|    |                  | i |   | . | > |               |          |
|    |                  | t |   | . |   |               |          |
|    |                  | a |   | 1 | 4 |               |          |
|    |                  | l |   | 0 | 3 |               |          |
|    |                  |   |   | 6 |   |               |          |
|    |                  |   |   | > |   |               |          |
|    |                  |   |   |   |   |               |          |
|    |                  |   |   | ( |   |               |          |
|    |                  |   |   | 4 |   |               |          |
|    |                  |   |   | 8 |   |               |          |
|    |                  |   |   | b |   |               |          |
|    |                  |   |   | ) |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > RW Speed       | > | > | > | > | >             | > [KK    |
| KK | > Monitoring CA  |   |   |   |   |  0=RWS.NOTRIG | GYRLES=1 |
| CA | > TRIG FLAG      | D | § | 1 | b | > /           | ]{.mark} |
| TR |                  | i | 0 | 0 | i | > 1=RWS.TRIGG |          |
| 2C |                  | g |   | 4 | t |               |          |
|    |                  | i |   | . | > |               |          |
|    |                  | t |   | . |   |               |          |
|    |                  | a |   | 1 | 4 |               |          |
|    |                  | l |   | 0 | 4 |               |          |
|    |                  |   |   | 6 |   |               |          |
|    |                  |   |   | > |   |               |          |
|    |                  |   |   |   |   |               |          |
|    |                  |   |   | ( |   |               |          |
|    |                  |   |   | 4 |   |               |          |
|    |                  |   |   | 8 |   |               |          |
|    |                  |   |   | b |   |               |          |
|    |                  |   |   | ) |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > Hx Flag        | > | > | > | > | > 0=HX.NOTRIG | > [KK    |
| KK | > Monitoring CA  |   |   |   |   | > /           | GYRLES=1 |
| CA | > TRIG FLAG      | D | § | 1 | b | > 1=HX.TRIGG  | ]{.mark} |
| TR |                  | i | 0 | 0 | i |               |          |
| 2D |                  | g |   | 4 | t |               |          |
|    |                  | i |   | . | > |               |          |
|    |                  | t |   | . |   |               |          |
|    |                  | a |   | 1 | 4 |               |          |
|    |                  | l |   | 0 | 5 |               |          |
|    |                  |   |   | 6 |   |               |          |
|    |                  |   |   | > |   |               |          |
|    |                  |   |   |   |   |               |          |
|    |                  |   |   | ( |   |               |          |
|    |                  |   |   | 4 |   |               |          |
|    |                  |   |   | 8 |   |               |          |
|    |                  |   |   | b |   |               |          |
|    |                  |   |   | ) |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  |                  |   |   |   |   |               | > [      |
|  [ |                  |   |   |   |   |               | ]{.mark} |
| ]{ |                  |   |   |   |   |               |          |
| .m |                  |   |   |   |   |               |          |
| ar |                  |   |   |   |   |               |          |
| k} |                  |   |   |   |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > FILTER Value   | > | > | > | > | > [Curve      | > [Dump  |
| KK | > for ACU Reset  |   |   |   |   | > 1]{.mark}   | > valid  |
| GL | > MONIT          | I | \ | [ | 1 |               | > only   |
| FA |                  | n | @ | n | 6 |               | > when   |
| CU |                  | t | F | . | b |               | > KK     |
|    |                  | e | C | a | i |               | GYRLES=1 |
|    |                  | g | 0 | . | t |               | ]{.mark} |
|    |                  | e | 5 | ] | s |               |          |
|    |                  | r | h | { |   |               |          |
|    |                  | > |   | . |   |               |          |
|    |                  |   |   | m |   |               |          |
|    |                  | ( |   | a |   |               |          |
|    |                  | 1 |   | r |   |               |          |
|    |                  | 6 |   | k |   |               |          |
|    |                  | b |   | } |   |               |          |
|    |                  | ) |   |   |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > FILTER Value   | > | > | > | > | > [Curve      | > [Dump  |
| KK | > for            |   |   |   |   | > 1]{.mark}   | > valid  |
| GL | > Off-pointing   | I | \ | [ | 1 |               | > only   |
| FO | > MONIT          | n | @ | n | 6 |               | > when   |
| FP |                  | t | F | . | b |               | > KK     |
|    |                  | e | C | a | i |               | GYRLES=1 |
|    |                  | g | 1 | . | t |               | ]{.mark} |
|    |                  | e | 1 | ] | s |               |          |
|    |                  | r | h | { |   |               |          |
|    |                  | > |   | . |   |               |          |
|    |                  |   |   | m |   |               |          |
|    |                  | ( |   | a |   |               |          |
|    |                  | 1 |   | r |   |               |          |
|    |                  | 6 |   | k |   |               |          |
|    |                  | b |   | } |   |               |          |
|    |                  | ) |   |   |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > FILTER Value   | > | > | > | > | > [Curve      | > [Dump  |
| KK | > for CRP MONIT  |   |   |   |   | > 1]{.mark}   | > valid  |
| GL |                  | I | \ | [ | 1 |               | > only   |
| FC |                  | n | @ | n | 6 |               | > when   |
| RP |                  | t | F | . | b |               | > KK     |
|    |                  | e | C | a | i |               | GYRLES=1 |
|    |                  | g | 0 | . | t |               | ]{.mark} |
|    |                  | e | 6 | ] | s |               |          |
|    |                  | r | h | { |   |               |          |
|    |                  | > |   | . |   |               |          |
|    |                  |   |   | m |   |               |          |
|    |                  | ( |   | a |   |               |          |
|    |                  | 1 |   | r |   |               |          |
|    |                  | 6 |   | k |   |               |          |
|    |                  | b |   | } |   |               |          |
|    |                  | ) |   |   |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > FILTER Value   | > | > | > | > | > [Curve      | > [Dump  |
| KK | > for RW Speed   |   |   |   |   | > 1]{.mark}   | > valid  |
| GL | > MONIT          | I | \ | [ | 1 |               | > only   |
| FR |                  | n | @ | n | 6 |               | > when   |
| WS |                  | t | F | . | b |               | > KK     |
|    |                  | e | C | a | i |               | GYRLES=1 |
|    |                  | g | 0 | . | t |               | ]{.mark} |
|    |                  | e | 7 | ] | s |               |          |
|    |                  | r | h | { |   |               |          |
|    |                  | > |   | . |   |               |          |
|    |                  |   |   | m |   |               |          |
|    |                  | ( |   | a |   |               |          |
|    |                  | 1 |   | r |   |               |          |
|    |                  | 6 |   | k |   |               |          |
|    |                  | b |   | } |   |               |          |
|    |                  | ) |   |   |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > FILTER Value   | > | > | > | > | > [Curve      | > [Dump  |
|  K | > for HX MONIT   |   |   |   |   | > 1]{.mark}   | > valid  |
| KG |                  | I | \ | [ | 1 |               | > only   |
| LF |                  | n | @ | n | 6 |               | > when   |
| HX |                  | t | F | . | b |               | > KK     |
|    |                  | e | C | a | i |               | GYRLES=1 |
|    |                  | g | 1 | . | t |               | ]{.mark} |
|    |                  | e | 0 | ] | s |               |          |
|    |                  | r | h | { |   |               |          |
|    |                  | > |   | . |   |               |          |
|    |                  |   |   | m |   |               |          |
|    |                  | ( |   | a |   |               |          |
|    |                  | 1 |   | r |   |               |          |
|    |                  | 6 |   | k |   |               |          |
|    |                  | b |   | } |   |               |          |
|    |                  | ) |   |   |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  |                  |   |   |   |   |               | > [      |
|  [ |                  |   |   |   |   |               | ]{.mark} |
| ]{ |                  |   |   |   |   |               |          |
| .m |                  |   |   |   |   |               |          |
| ar |                  |   |   |   |   |               |          |
| k} |                  |   |   |   |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  |                  |   |   |   |   |               | > [      |
|  [ |                  |   |   |   |   |               | ]{.mark} |
| ]{ |                  |   |   |   |   |               |          |
| .m |                  |   |   |   |   |               |          |
| ar |                  |   |   |   |   |               |          |
| k} |                  |   |   |   |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > RW 1 Speed     | > | > | > | [ | > [Curve      | > [Dump  |
| KK | > Minimum        |   |   |   | m | > 2]{.mark}   | > valid  |
| GL | > Threshold      | R | \ | [ | a |               | > only   |
| RM |                  | w | @ | n | s |               | > when   |
| I1 |                  | s | F | . | k |               | > KK     |
|    |                  | p | C | a | = |               | GYRLES=1 |
|    |                  | e | 0 | . | 8 |               | ]{.mark} |
|    |                  | e | 8 | ] | F |               |          |
|    |                  | d | h | { | F |               |          |
|    |                  | > |   | . | F |               |          |
|    |                  |   |   | m | ] |               |          |
|    |                  | ( |   | a | { |               |          |
|    |                  | 1 |   | r | . |               |          |
|    |                  | 6 |   | k | m |               |          |
|    |                  | b |   | } | a |               |          |
|    |                  | ) |   |   | r |               |          |
|    |                  |   |   |   | k |               |          |
|    |                  |   |   |   | } |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > RW 2 Speed     | > | > | > | [ | > [Curve      | > [Dump  |
| KK | > Minimum        |   |   |   | m | > 2]{.mark}   | > valid  |
| GL | > Threshold      | R | \ | [ | a |               | > only   |
| RM |                  | w | @ | n | s |               | > when   |
| I2 |                  | s | F | . | k |               | > KK     |
|    |                  | p | C | a | = |               | GYRLES=1 |
|    |                  | e | 0 | . | 8 |               | ]{.mark} |
|    |                  | e | 9 | ] | F |               |          |
|    |                  | d | h | { | F |               |          |
|    |                  | > |   | . | F |               |          |
|    |                  |   |   | m | ] |               |          |
|    |                  | ( |   | a | { |               |          |
|    |                  | 1 |   | r | . |               |          |
|    |                  | 6 |   | k | m |               |          |
|    |                  | b |   | } | a |               |          |
|    |                  | ) |   |   | r |               |          |
|    |                  |   |   |   | k |               |          |
|    |                  |   |   |   | } |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > RW 3 Speed     | > | > | > | [ | > [Curve      | > [Dump  |
| KK | > Minimum        |   |   |   | m | > 2]{.mark}   | > valid  |
| GL | > Threshold      | R | \ | [ | a |               | > only   |
| RM |                  | w | @ | n | s |               | > when   |
| I3 |                  | s | F | . | k |               | > KK     |
|    |                  | p | C | a | = |               | GYRLES=1 |
|    |                  | e | 0 | . | 8 |               | ]{.mark} |
|    |                  | e | A | ] | F |               |          |
|    |                  | d | h | { | F |               |          |
|    |                  | > |   | . | F |               |          |
|    |                  |   |   | m | ] |               |          |
|    |                  | ( |   | a | { |               |          |
|    |                  | 1 |   | r | . |               |          |
|    |                  | 6 |   | k | m |               |          |
|    |                  | b |   | } | a |               |          |
|    |                  | ) |   |   | r |               |          |
|    |                  |   |   |   | k |               |          |
|    |                  |   |   |   | } |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > RW 4 Speed     | > | > | > | [ | > [Curve      | > [Dump  |
| KK | > Minimum        |   |   |   | m | > 2]{.mark}   | > valid  |
| GL | > Threshold      | R | \ | [ | a |               | > only   |
| RM |                  | w | @ | n | s |               | > when   |
| I4 |                  | s | F | . | k |               | > KK     |
|    |                  | p | C | a | = |               | GYRLES=1 |
|    |                  | e | 0 | . | 8 |               | ]{.mark} |
|    |                  | e | B | ] | F |               |          |
|    |                  | d | h | { | F |               |          |
|    |                  | > |   | . | F |               |          |
|    |                  |   |   | m | ] |               |          |
|    |                  | ( |   | a | { |               |          |
|    |                  | 1 |   | r | . |               |          |
|    |                  | 6 |   | k | m |               |          |
|    |                  | b |   | } | a |               |          |
|    |                  | ) |   |   | r |               |          |
|    |                  |   |   |   | k |               |          |
|    |                  |   |   |   | } |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > RW 1 Speed     | > | > | > | [ | > [Curve      | > [Dump  |
| KK | > Maximum        |   |   |   | m | > 2]{.mark}   | > valid  |
| GL | > Threshold      | R | \ | [ | a |               | > only   |
| RM |                  | w | @ | n | s |               | > when   |
| A1 |                  | s | F | . | k |               | > KK     |
|    |                  | p | C | a | = |               | GYRLES=1 |
|    |                  | e | 0 | . | 8 |               | ]{.mark} |
|    |                  | e | C | ] | F |               |          |
|    |                  | d | h | { | F |               |          |
|    |                  | > |   | . | F |               |          |
|    |                  |   |   | m | ] |               |          |
|    |                  | ( |   | a | { |               |          |
|    |                  | 1 |   | r | . |               |          |
|    |                  | 6 |   | k | m |               |          |
|    |                  | b |   | } | a |               |          |
|    |                  | ) |   |   | r |               |          |
|    |                  |   |   |   | k |               |          |
|    |                  |   |   |   | } |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > RW 2 Speed     | > | > | > | [ | > [Curve      | > [Dump  |
| KK | > Maximum        |   |   |   | m | > 2]{.mark}   | > valid  |
| GL | > Threshold      | R | \ | [ | a |               | > only   |
| RM |                  | w | @ | n | s |               | > when   |
| A2 |                  | s | F | . | k |               | > KK     |
|    |                  | p | C | a | = |               | GYRLES=1 |
|    |                  | e | 0 | . | 8 |               | ]{.mark} |
|    |                  | e | D | ] | F |               |          |
|    |                  | d | h | { | F |               |          |
|    |                  | > |   | . | F |               |          |
|    |                  |   |   | m | ] |               |          |
|    |                  | ( |   | a | { |               |          |
|    |                  | 1 |   | r | . |               |          |
|    |                  | 6 |   | k | m |               |          |
|    |                  | b |   | } | a |               |          |
|    |                  | ) |   |   | r |               |          |
|    |                  |   |   |   | k |               |          |
|    |                  |   |   |   | } |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > RW 3 Speed     | > | > | > | [ | > [Curve      | > [Dump  |
| KK | > Maximum        |   |   |   | m | > 2]{.mark}   | > valid  |
| GL | > Threshold      | R | \ | [ | a |               | > only   |
| RM |                  | w | @ | n | s |               | > when   |
| A3 |                  | s | F | . | k |               | > KK     |
|    |                  | p | C | a | = |               | GYRLES=1 |
|    |                  | e | 0 | . | 8 |               | ]{.mark} |
|    |                  | e | E | ] | F |               |          |
|    |                  | d | h | { | F |               |          |
|    |                  | > |   | . | F |               |          |
|    |                  |   |   | m | ] |               |          |
|    |                  | ( |   | a | { |               |          |
|    |                  | 1 |   | r | . |               |          |
|    |                  | 6 |   | k | m |               |          |
|    |                  | b |   | } | a |               |          |
|    |                  | ) |   |   | r |               |          |
|    |                  |   |   |   | k |               |          |
|    |                  |   |   |   | } |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > RW 4 Speed     | > | > | > | [ | > [Curve      | > [Dump  |
| KK | > Maximum        |   |   |   | m | > 2]{.mark}   | > valid  |
| GL | > Threshold      | R | \ | [ | a |               | > only   |
| RM |                  | w | @ | n | s |               | > when   |
| A4 |                  | s | F | . | k |               | > KK     |
|    |                  | p | C | a | = |               | GYRLES=1 |
|    |                  | e | 0 | . | 8 |               | ]{.mark} |
|    |                  | e | F | ] | F |               |          |
|    |                  | d | h | { | F |               |          |
|    |                  | > |   | . | F |               |          |
|    |                  |   |   | m | ] |               |          |
|    |                  | ( |   | a | { |               |          |
|    |                  | 1 |   | r | . |               |          |
|    |                  | 6 |   | k | m |               |          |
|    |                  | b |   | } | a |               |          |
|    |                  | ) |   |   | r |               |          |
|    |                  |   |   |   | k |               |          |
|    |                  |   |   |   | } |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  |                  |   |   |   |   |               | > [      |
|  [ |                  |   |   |   |   |               | ]{.mark} |
| ]{ |                  |   |   |   |   |               |          |
| .m |                  |   |   |   |   |               |          |
| ar |                  |   |   |   |   |               |          |
| k} |                  |   |   |   |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > Off-pointing   | > | > | > | > | > bit 6 :     | > [Dump  |
| KK | > Experiment set |   |   |   |   | > LASCO (1=   | > valid  |
| GL |                  | S | \ | [ | 1 | > ENA ;       | > only   |
| OF |                  | t | @ | n | 6 | > 0=INH)      | > when   |
| ES |                  | a | F | . | b | >             | > KK     |
|    |                  | t | C | a | i | > bit 7 : MDI | GYRLES=1 |
|    |                  | u | 1 | . | t | > (1= ENA ;   | ]{.mark} |
|    |                  | s | 2 | ] | s | > 0=INH)      |          |
|    |                  | > | h | { |   | >             |          |
|    |                  |   |   | . |   | > bit 8 :     |          |
|    |                  | w |   | m |   | > SUMER (1=   |          |
|    |                  | o |   | a |   | > ENA ;       |          |
|    |                  | r |   | r |   | > 0=INH)      |          |
|    |                  | d |   | k |   | >             |          |
|    |                  |   |   | } |   | > bit 10 :    |          |
|    |                  |   |   |   |   | > UVCS (1=    |          |
|    |                  |   |   |   |   | > ENA ;       |          |
|    |                  |   |   |   |   | > 0=INH)      |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  |                  |   |   |   |   |               | > [      |
|  [ |                  |   |   |   |   |               | ]{.mark} |
| ]{ |                  |   |   |   |   |               |          |
| .m |                  |   |   |   |   |               |          |
| ar |                  |   |   |   |   |               |          |
| k} |                  |   |   |   |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > [GYRO setting  | > | > | > | > | >             | > [KK    |
|  [ | > at ESR         |   |   |   |   | [n.c.]{.mark} | GYRLES=0 |
| KK | >                | [ | [ | [ | [ |               | ]{.mark} |
| AF |  ENA/INH]{.mark} | n | n | n | n |               |          |
| ES |                  | . | . | . | . |               |          |
| 02 |                  | c | c | c | c |               |          |
| ]{ |                  | . | . | . | . |               |          |
| .m |                  | ] | ] | ] | ] |               |          |
| ar |                  | { | { | { | { |               |          |
| k} |                  | . | . | . | . |               |          |
|    |                  | m | m | m | m |               |          |
|    |                  | a | a | a | a |               |          |
|    |                  | r | r | r | r |               |          |
|    |                  | k | k | k | k |               |          |
|    |                  | } | } | } | } |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > [GYRO setting  | > | > | > | > | >             | > [KK    |
|  [ | > ENA/INH status |   |   |   |   | [n.c.]{.mark} | GYRLES=0 |
| KK | > at warm        | [ | [ | [ | [ |               | ]{.mark} |
| 01 | > start]{.mark}  | n | n | n | n |               |          |
| WG |                  | . | . | . | . |               |          |
| YS |                  | c | c | c | c |               |          |
| ]{ |                  | . | . | . | . |               |          |
| .m |                  | ] | ] | ] | ] |               |          |
| ar |                  | { | { | { | { |               |          |
| k} |                  | . | . | . | . |               |          |
|    |                  | m | m | m | m |               |          |
|    |                  | a | a | a | a |               |          |
|    |                  | r | r | r | r |               |          |
|    |                  | k | k | k | k |               |          |
|    |                  | } | } | } | } |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > [Exec profile  | > | > | > | > | >             | > [KK    |
|  [ | > of GYRO        |   |   |   |   | [n.c.]{.mark} | GYRLES=0 |
| KK | >                | [ | [ | [ | [ |               | ]{.mark} |
| 01 |  setting]{.mark} | n | n | n | n |               |          |
| XG |                  | . | . | . | . |               |          |
| YS |                  | c | c | c | c |               |          |
| ]{ |                  | . | . | . | . |               |          |
| .m |                  | ] | ] | ] | ] |               |          |
| ar |                  | { | { | { | { |               |          |
| k} |                  | . | . | . | . |               |          |
|    |                  | m | m | m | m |               |          |
|    |                  | a | a | a | a |               |          |
|    |                  | r | r | r | r |               |          |
|    |                  | k | k | k | k |               |          |
|    |                  | } | } | } | } |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  |                  |   |   |   |   |               | > [      |
|  [ |                  |   |   |   |   |               | ]{.mark} |
| ]{ |                  |   |   |   |   |               |          |
| .m |                  |   |   |   |   |               |          |
| ar |                  |   |   |   |   |               |          |
| k} |                  |   |   |   |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > [Gyro          | > | > | > | > | >             | > [KK    |
|  [ | > monitoring     |   |   |   |   | [n.c.]{.mark} | GYRLES=0 |
| KK | >                | [ | [ | [ | [ |               | ]{.mark} |
| AF |  ENA/INH]{.mark} | n | n | n | n |               |          |
| ES |                  | . | . | . | . |               |          |
| 06 |                  | c | c | c | c |               |          |
| ]{ |                  | . | . | . | . |               |          |
| .m |                  | ] | ] | ] | ] |               |          |
| ar |                  | { | { | { | { |               |          |
| k} |                  | . | . | . | . |               |          |
|    |                  | m | m | m | m |               |          |
|    |                  | a | a | a | a |               |          |
|    |                  | r | r | r | r |               |          |
|    |                  | k | k | k | k |               |          |
|    |                  | } | } | } | } |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > [GYRO          | > | > | > | > | >             | > [KK    |
|  [ | > monitoring     |   |   |   |   | [n.c.]{.mark} | GYRLES=0 |
| KK | > C.A.           | [ | [ | [ | [ |               | ]{.mark} |
| CA | >                | n | n | n | n |               |          |
| EI |  ENA/INH]{.mark} | . | . | . | . |               |          |
| 01 |                  | c | c | c | c |               |          |
| ]{ |                  | . | . | . | . |               |          |
| .m |                  | ] | ] | ] | ] |               |          |
| ar |                  | { | { | { | { |               |          |
| k} |                  | . | . | . | . |               |          |
|    |                  | m | m | m | m |               |          |
|    |                  | a | a | a | a |               |          |
|    |                  | r | r | r | r |               |          |
|    |                  | k | k | k | k |               |          |
|    |                  | } | } | } | } |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > [GYRO          | > | > | > | > | >             | > [KK    |
|  [ | > monitoring CA  |   |   |   |   | [n.c.]{.mark} | GYRLES=0 |
| KK | > TRIG           | [ | [ | [ | [ |               | ]{.mark} |
| CA | > FLAG]{.mark}   | n | n | n | n |               |          |
| TR |                  | . | . | . | . |               |          |
| 01 |                  | c | c | c | c |               |          |
| ]{ |                  | . | . | . | . |               |          |
| .m |                  | ] | ] | ] | ] |               |          |
| ar |                  | { | { | { | { |               |          |
| k} |                  | . | . | . | . |               |          |
|    |                  | m | m | m | m |               |          |
|    |                  | a | a | a | a |               |          |
|    |                  | r | r | r | r |               |          |
|    |                  | k | k | k | k |               |          |
|    |                  | } | } | } | } |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > [GYRO          | > | > | > | > | >             | > [KK    |
|  [ | > monitoring     |   |   |   |   | [n.c.]{.mark} | GYRLES=0 |
| KK | > ENA/INH status | [ | [ | [ | [ |               | > and    |
| 01 | > at warm        | n | n | n | n |               | > KK     |
| WG | > start]{.mark}  | . | . | . | . |               | GROIDT=1 |
| YM |                  | c | c | c | c |               | ]{.mark} |
| ]{ |                  | . | . | . | . |               |          |
| .m |                  | ] | ] | ] | ] |               |          |
| ar |                  | { | { | { | { |               |          |
| k} |                  | . | . | . | . |               |          |
|    |                  | m | m | m | m |               |          |
|    |                  | a | a | a | a |               |          |
|    |                  | r | r | r | r |               |          |
|    |                  | k | k | k | k |               |          |
|    |                  | } | } | } | } |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > [Exec profile  | > | > | > | > | >             | > [KK    |
|  [ | > of GYRO        |   |   |   |   | [n.c.]{.mark} | GYRLES=0 |
| KK | > mo             | [ | [ | [ | [ |               | > and    |
| 01 | nitoring]{.mark} | n | n | n | n |               | > KK     |
| XG |                  | . | . | . | . |               | GROIDT=1 |
| YM |                  | c | c | c | c |               | ]{.mark} |
| ]{ |                  | . | . | . | . |               |          |
| .m |                  | ] | ] | ] | ] |               |          |
| ar |                  | { | { | { | { |               |          |
| k} |                  | . | . | . | . |               |          |
|    |                  | m | m | m | m |               |          |
|    |                  | a | a | a | a |               |          |
|    |                  | r | r | r | r |               |          |
|    |                  | k | k | k | k |               |          |
|    |                  | } | } | } | } |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  |                  |   |   |   |   |               | > [      |
|  [ |                  |   |   |   |   |               | ]{.mark} |
| ]{ |                  |   |   |   |   |               |          |
| .m |                  |   |   |   |   |               |          |
| ar |                  |   |   |   |   |               |          |
| k} |                  |   |   |   |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > [GYRO          | > | > | > | > | >             | > [KK    |
| [K | > monitoring E/I |   |   |   |   | [n.c.]{.mark} | GYRLES=0 |
| K1 | > st. of GYRO A  | [ | [ | [ | [ |               | > and    |
| 7A | > thr 1]{.mark}  | n | n | n | n |               | > KKG    |
| 1E |                  | . | . | . | . |               | ROIDT=17 |
| ]{ |                  | c | c | c | c |               | ]{.mark} |
| .m |                  | . | . | . | . |               |          |
| ar |                  | ] | ] | ] | ] |               |          |
| k} |                  | { | { | { | { |               |          |
|    |                  | . | . | . | . |               |          |
|    |                  | m | m | m | m |               |          |
|    |                  | a | a | a | a |               |          |
|    |                  | r | r | r | r |               |          |
|    |                  | k | k | k | k |               |          |
|    |                  | } | } | } | } |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > [GYRO          | > | > | > | > | >             | > [KK    |
| [K | > monitoring E/I |   |   |   |   | [n.c.]{.mark} | GYRLES=0 |
| K1 | > st. of GYRO A  | [ | [ | [ | [ |               | > and    |
| 7A | > thr 2]{.mark}  | n | n | n | n |               | > KKG    |
| 2E |                  | . | . | . | . |               | ROIDT=17 |
| ]{ |                  | c | c | c | c |               | ]{.mark} |
| .m |                  | . | . | . | . |               |          |
| ar |                  | ] | ] | ] | ] |               |          |
| k} |                  | { | { | { | { |               |          |
|    |                  | . | . | . | . |               |          |
|    |                  | m | m | m | m |               |          |
|    |                  | a | a | a | a |               |          |
|    |                  | r | r | r | r |               |          |
|    |                  | k | k | k | k |               |          |
|    |                  | } | } | } | } |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > [GYRO          | > | > | > | > | >             | > [KK    |
| [K | > monitoring E/I |   |   |   |   | [n.c.]{.mark} | GYRLES=0 |
| K1 | > st. of GYRO B  | [ | [ | [ | [ |               | > and    |
| 7B | > thr 1]{.mark}  | n | n | n | n |               | > KKG    |
| 1E |                  | . | . | . | . |               | ROIDT=17 |
| ]{ |                  | c | c | c | c |               | ]{.mark} |
| .m |                  | . | . | . | . |               |          |
| ar |                  | ] | ] | ] | ] |               |          |
| k} |                  | { | { | { | { |               |          |
|    |                  | . | . | . | . |               |          |
|    |                  | m | m | m | m |               |          |
|    |                  | a | a | a | a |               |          |
|    |                  | r | r | r | r |               |          |
|    |                  | k | k | k | k |               |          |
|    |                  | } | } | } | } |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > [GYRO          | > | > | > | > | >             | > [KK    |
| [K | > monitoring E/I |   |   |   |   | [n.c.]{.mark} | GYRLES=0 |
| K1 | > st. of GYRO B  | [ | [ | [ | [ |               | > and    |
| 7B | > thr 2]{.mark}  | n | n | n | n |               | > KKG    |
| 2E |                  | . | . | . | . |               | ROIDT=17 |
| ]{ |                  | c | c | c | c |               | ]{.mark} |
| .m |                  | . | . | . | . |               |          |
| ar |                  | ] | ] | ] | ] |               |          |
| k} |                  | { | { | { | { |               |          |
|    |                  | . | . | . | . |               |          |
|    |                  | m | m | m | m |               |          |
|    |                  | a | a | a | a |               |          |
|    |                  | r | r | r | r |               |          |
|    |                  | k | k | k | k |               |          |
|    |                  | } | } | } | } |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > [GYRO          | > | > | > | > | >             | > [KK    |
| [K | > monitoring E/I |   |   |   |   | [n.c.]{.mark} | GYRLES=0 |
| K1 | > st. of GYRO C  | [ | [ | [ | [ |               | > and    |
| 7C | > thr 1]{.mark}  | n | n | n | n |               | > KKG    |
| 1E |                  | . | . | . | . |               | ROIDT=17 |
| ]{ |                  | c | c | c | c |               | ]{.mark} |
| .m |                  | . | . | . | . |               |          |
| ar |                  | ] | ] | ] | ] |               |          |
| k} |                  | { | { | { | { |               |          |
|    |                  | . | . | . | . |               |          |
|    |                  | m | m | m | m |               |          |
|    |                  | a | a | a | a |               |          |
|    |                  | r | r | r | r |               |          |
|    |                  | k | k | k | k |               |          |
|    |                  | } | } | } | } |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > [GYRO          | > | > | > | > | >             | > [KK    |
| [K | > monitoring E/I |   |   |   |   | [n.c.]{.mark} | GYRLES=0 |
| K1 | > st. of GYRO C  | [ | [ | [ | [ |               | > and    |
| 7C | > thr 2]{.mark}  | n | n | n | n |               | > KKG    |
| 2E |                  | . | . | . | . |               | ROIDT=17 |
| ]{ |                  | c | c | c | c |               | ]{.mark} |
| .m |                  | . | . | . | . |               |          |
| ar |                  | ] | ] | ] | ] |               |          |
| k} |                  | { | { | { | { |               |          |
|    |                  | . | . | . | . |               |          |
|    |                  | m | m | m | m |               |          |
|    |                  | a | a | a | a |               |          |
|    |                  | r | r | r | r |               |          |
|    |                  | k | k | k | k |               |          |
|    |                  | } | } | } | } |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  |                  |   |   |   |   |               | > [      |
|  [ |                  |   |   |   |   |               | ]{.mark} |
| ]{ |                  |   |   |   |   |               |          |
| .m |                  |   |   |   |   |               |          |
| ar |                  |   |   |   |   |               |          |
| k} |                  |   |   |   |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > [ISA and SAD   | > | > | > | > | >             | > [KK    |
|  [ | >                |   |   |   |   | [n.c.]{.mark} | GYRLES=0 |
| KK |  ENA/INH]{.mark} | [ | [ | [ | [ |               | ]{.mark} |
| AF |                  | n | n | n | n |               |          |
| ES |                  | . | . | . | . |               |          |
| 0A |                  | c | c | c | c |               |          |
| ]{ |                  | . | . | . | . |               |          |
| .m |                  | ] | ] | ] | ] |               |          |
| ar |                  | { | { | { | { |               |          |
| k} |                  | . | . | . | . |               |          |
|    |                  | m | m | m | m |               |          |
|    |                  | a | a | a | a |               |          |
|    |                  | r | r | r | r |               |          |
|    |                  | k | k | k | k |               |          |
|    |                  | } | } | } | } |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > [ISA - SAD     | > | > | > | > | >             | > [KK    |
|  [ | > current        |   |   |   |   | [n.c.]{.mark} | GYRLES=0 |
| KK | > delay]{.mark}  | [ | [ | [ | [ |               | ]{.mark} |
| IS |                  | n | n | n | n |               |          |
| AD |                  | . | . | . | . |               |          |
| EL |                  | c | c | c | c |               |          |
| ]{ |                  | . | . | . | . |               |          |
| .m |                  | ] | ] | ] | ] |               |          |
| ar |                  | { | { | { | { |               |          |
| k} |                  | . | . | . | . |               |          |
|    |                  | m | m | m | m |               |          |
|    |                  | a | a | a | a |               |          |
|    |                  | r | r | r | r |               |          |
|    |                  | k | k | k | k |               |          |
|    |                  | } | } | } | } |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > [ISA - SAD     | > | > | > | > | >             | > [KK    |
|  [ | > current        |   |   |   |   | [n.c.]{.mark} | GYRLES=0 |
| KK | > phase]{.mark}  | [ | [ | [ | [ |               | ]{.mark} |
| IS |                  | n | n | n | n |               |          |
| AP |                  | . | . | . | . |               |          |
| HA |                  | c | c | c | c |               |          |
| ]{ |                  | . | . | . | . |               |          |
| .m |                  | ] | ] | ] | ] |               |          |
| ar |                  | { | { | { | { |               |          |
| k} |                  | . | . | . | . |               |          |
|    |                  | m | m | m | m |               |          |
|    |                  | a | a | a | a |               |          |
|    |                  | r | r | r | r |               |          |
|    |                  | k | k | k | k |               |          |
|    |                  | } | } | } | } |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > [ISA and SAD   | > | > | > | > | >             | > [KK    |
|  [ | > seq. ENA/INH   |   |   |   |   | [n.c.]{.mark} | GYRLES=0 |
| KK | > status at warm | [ | [ | [ | [ |               | > and    |
| 01 | > start]{.mark}  | n | n | n | n |               | > KK     |
| WI |                  | . | . | . | . |               | GROIDT=1 |
| SA |                  | c | c | c | c |               | ]{.mark} |
| ]{ |                  | . | . | . | . |               |          |
| .m |                  | ] | ] | ] | ] |               |          |
| ar |                  | { | { | { | { |               |          |
| k} |                  | . | . | . | . |               |          |
|    |                  | m | m | m | m |               |          |
|    |                  | a | a | a | a |               |          |
|    |                  | r | r | r | r |               |          |
|    |                  | k | k | k | k |               |          |
|    |                  | } | } | } | } |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > [Exec profile  | > | > | > | > | >             | > [KK    |
|  [ | > of ISA and SAD |   |   |   |   | [n.c.]{.mark} | GYRLES=0 |
| KK | > seq.]{.mark}   | [ | [ | [ | [ |               | > and    |
| 01 |                  | n | n | n | n |               | > KK     |
| XI |                  | . | . | . | . |               | GROIDT=1 |
| SA |                  | c | c | c | c |               | ]{.mark} |
| ]{ |                  | . | . | . | . |               |          |
| .m |                  | ] | ] | ] | ] |               |          |
| ar |                  | { | { | { | { |               |          |
| k} |                  | . | . | . | . |               |          |
|    |                  | m | m | m | m |               |          |
|    |                  | a | a | a | a |               |          |
|    |                  | r | r | r | r |               |          |
|    |                  | k | k | k | k |               |          |
|    |                  | } | } | } | } |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  |                  |   |   |   |   |               | > [      |
|  [ |                  |   |   |   |   |               | ]{.mark} |
| ]{ |                  |   |   |   |   |               |          |
| .m |                  |   |   |   |   |               |          |
| ar |                  |   |   |   |   |               |          |
| k} |                  |   |   |   |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > [RAAD          | > | > | > | > | >             | > [KK    |
|  [ | > monitoring     |   |   |   |   | [n.c.]{.mark} | GYRLES=0 |
| KK | >                | [ | [ | [ | [ |               | ]{.mark} |
| AF |  ENA/INH]{.mark} | n | n | n | n |               |          |
| ES |                  | . | . | . | . |               |          |
| 0C |                  | c | c | c | c |               |          |
| ]{ |                  | . | . | . | . |               |          |
| .m |                  | ] | ] | ] | ] |               |          |
| ar |                  | { | { | { | { |               |          |
| k} |                  | . | . | . | . |               |          |
|    |                  | m | m | m | m |               |          |
|    |                  | a | a | a | a |               |          |
|    |                  | r | r | r | r |               |          |
|    |                  | k | k | k | k |               |          |
|    |                  | } | } | } | } |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > [RAAD          | > | > | > | > | >             | > [KK    |
|  [ | > monitoring     |   |   |   |   | [n.c.]{.mark} | GYRLES=0 |
| KK | > ENA/INH status | [ | [ | [ | [ |               | > and    |
| 01 | > at warm        | n | n | n | n |               | > KK     |
| WR | > start]{.mark}  | . | . | . | . |               | GROIDT=1 |
| AA |                  | c | c | c | c |               | ]{.mark} |
| ]{ |                  | . | . | . | . |               |          |
| .m |                  | ] | ] | ] | ] |               |          |
| ar |                  | { | { | { | { |               |          |
| k} |                  | . | . | . | . |               |          |
|    |                  | m | m | m | m |               |          |
|    |                  | a | a | a | a |               |          |
|    |                  | r | r | r | r |               |          |
|    |                  | k | k | k | k |               |          |
|    |                  | } | } | } | } |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > [Exec profile  | > | > | > | > | >             | > [KK    |
|  [ | > of RAAD        |   |   |   |   | [n.c.]{.mark} | GYRLES=0 |
| KK | > mo             | [ | [ | [ | [ |               | > and    |
| 01 | nitoring]{.mark} | n | n | n | n |               | > KK     |
| XR |                  | . | . | . | . |               | GROIDT=1 |
| AA |                  | c | c | c | c |               | ]{.mark} |
| ]{ |                  | . | . | . | . |               |          |
| .m |                  | ] | ] | ] | ] |               |          |
| ar |                  | { | { | { | { |               |          |
| k} |                  | . | . | . | . |               |          |
|    |                  | m | m | m | m |               |          |
|    |                  | a | a | a | a |               |          |
|    |                  | r | r | r | r |               |          |
|    |                  | k | k | k | k |               |          |
|    |                  | } | } | } | } |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  |                  |   |   |   |   |               | > [      |
|  [ |                  |   |   |   |   |               | ]{.mark} |
| ]{ |                  |   |   |   |   |               |          |
| .m |                  |   |   |   |   |               |          |
| ar |                  |   |   |   |   |               |          |
| k} |                  |   |   |   |   |               |          |
+----+------------------+---+---+---+---+---------------+----------+
| >  | > [Free process  | > | > | > | > | >             | > [KK    |
|  [ | >                |   |   |   |   | [n.c.]{.mark} | GYRLES=0 |
| KK |  ENA/INH]{.mark} | [ | [ | [ | [ |               | ]{.mark} |
| AF |                  | n | n | n | n |               |          |
| ES |                  | . | . | . | . |               |          |
| 05 |                  | c | c | c | c |               |          |
| ]{ |                  | . | . | . | . |               |          |
| .m |                  | ] | ] | ] | ] |               |          |
| ar |                  | { | { | { | { |               |          |
| k} |                  | . | . | . | . |               |          |
|    |                  | m | m | m | m |               |          |
|    |                  | a | a | a | a |               |          |
|    |                  | r | r | r | r |               |          |
|    |                  | k | k | k | k |               |          |
|    |                  | } | } | } | } |               |          |
+----+------------------+---+---+---+---+---------------+----------+

The following table presents the AOCS gyroless Telemetry summary (TM
packet type 2)

+-----+----------+---+----+----+-------------------+-------+-------+
| >   | >        | > | >  | >  | > **calibration** | >     | > *   |
| **M |  **short |   |  * | ** |                   |  **[l | *[val |
| nem | > text   | * | *w | bi |                   | imits | idity |
| o** | > desc   | * | or | ts |                   | ]{.ma | ]{.ma |
|     | rition** | t | ds | >  |                   | rk}** | rk}** |
|     |          | y | ** |  / |                   |       |       |
|     |          | p |    | co |                   |       |       |
|     |          | e |    | de |                   |       |       |
|     |          | * |    | ** |                   |       |       |
|     |          | * |    |    |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | > ACU    | > | >  | >  | > n.a.            | > [n. | > [   |
|  AK | > mode   |   | 10 |  ( |                   | a.]{. | allwa |
| MOD | > status | s | >  | al |                   | mark} | ys]{. |
| EST | > word   | t |  a | l) |                   |       | mark} |
|     |          | a | nd |    |                   |       |       |
|     |          | t | >  |    |                   |       |       |
|     |          | u |  4 |    |                   |       |       |
|     |          | s | 05 |    |                   |       |       |
|     |          | > |    |    |                   |       |       |
|     |          |   |    |    |                   |       |       |
|     |          | w |    |    |                   |       |       |
|     |          | o |    |    |                   |       |       |
|     |          | r |    |    |                   |       |       |
|     |          | d |    |    |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | > CRP    | > | >  | >  | > 0=NOT DETECT /  | > [n. | >     |
|  AK | > flag   |   | 10 |  9 | > 1=DETECT        | a.]{. |  [AKM |
| MDS |          | d | >  |    |                   | mark} | DSTMF |
| CRP |          | i |  a |    |                   |       | > =   |
|     |          | g | nd |    |                   |       | >     |
|     |          | i | >  |    |                   |       |  1]{. |
|     |          | t |  4 |    |                   |       | mark} |
|     |          | a | 05 |    |                   |       |       |
|     |          | l |    |    |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | > TM     | > | >  | >  | > 0xx000=type 2,  | > [n. | >     |
|  AK | > packet |   | 10 | 10 | > 1xx001=3.1,     | a.]{. |  [AKM |
| MDS | > type   | d | >  | ,1 | > 1xx010=3.2,     | mark} | DSTMF |
| TMP | /subtype | i |  a | 3- | > 1xx011=3.3,     |       | > =   |
|     |          | g | nd | 15 | > 1xx100=3.4      |       | >     |
|     |          | i | >  |    |                   |       |  1]{. |
|     |          | t |  4 |    |                   |       | mark} |
|     |          | a | 05 |    |                   |       |       |
|     |          | l |    |    |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | > Hx     | > | >  | >  | > 0=NOT DETECT,   | > [n. | >     |
|  AK | > flag   |   | 10 | 11 | > 1=DETECT        | a.]{. |  [AKM |
| MDS |          | d | >  |    |                   | mark} | DSTMF |
| HXF |          | i |  a |    |                   |       | > =   |
|     |          | g | nd |    |                   |       | >     |
|     |          | i | >  |    |                   |       |  1]{. |
|     |          | t |  4 |    |                   |       | mark} |
|     |          | a | 05 |    |                   |       |       |
|     |          | l |    |    |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | >        | > | >  | >  | > 0=ORIGINAL TM,  | > [n. | > [   |
|  AK | gyroless |   | 10 | 12 | > 1=GYROLESS TM   | a.]{. | allwa |
| MDS | > t      | d | >  |    |                   | mark} | ys]{. |
| TMF | elemetry | i |  a |    |                   |       | mark} |
|     | > flag   | g | nd |    |                   |       |       |
|     |          | i | >  |    |                   |       |       |
|     |          | t |  4 |    |                   |       |       |
|     |          | a | 05 |    |                   |       |       |
|     |          | l |    |    |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   |          |   |    |    |                   | >     | >     |
| []{ |          |   |    |    |                   |  []{. |  []{. |
| .ma |          |   |    |    |                   | mark} | mark} |
| rk} |          |   |    |    |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | > Wheel  | > | >  | >  | > [Curve          | > [   | >     |
|  AK | > 1      |   | 91 | si | > 3]{.mark}       | Limit |  [AKM |
| WDF | >        | a |    | gn |                   | >     | DSTMF |
| SP1 | filtered | n |    | ed |                   |  1]{. | > =   |
|     | > speed  | a |    | >  |                   | mark} | >     |
|     |          | l |    | 16 |                   |       |  1]{. |
|     |          | o |    | >  |                   |       | mark} |
|     |          | g |    |  b |                   |       |       |
|     |          |   |    | it |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | > Wheel  | > | >  | >  | > [Curve          | > [   | >     |
|  AK | > 2      |   | 92 | si | > 3]{.mark}       | Limit |  [AKM |
| WDF | >        | a |    | gn |                   | >     | DSTMF |
| SP2 | filtered | n |    | ed |                   |  1]{. | > =   |
|     | > speed  | a |    | >  |                   | mark} | >     |
|     |          | l |    | 16 |                   |       |  1]{. |
|     |          | o |    | >  |                   |       | mark} |
|     |          | g |    |  b |                   |       |       |
|     |          |   |    | it |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | > Wheel  | > | >  | >  | > [Curve          | > [   | >     |
|  AK | > 3      |   | 93 | si | > 3]{.mark}       | Limit |  [AKM |
| WDF | >        | a |    | gn |                   | >     | DSTMF |
| SP3 | filtered | n |    | ed |                   |  1]{. | > =   |
|     | > speed  | a |    | >  |                   | mark} | >     |
|     |          | l |    | 16 |                   |       |  1]{. |
|     |          | o |    | >  |                   |       | mark} |
|     |          | g |    |  b |                   |       |       |
|     |          |   |    | it |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | > Wheel  | > | >  | >  | > [Curve          | > [   | >     |
|  AK | > 4      |   | 94 | si | > 3]{.mark}       | Limit |  [AKM |
| WDF | >        | a |    | gn |                   | >     | DSTMF |
| SP4 | filtered | n |    | ed |                   |  1]{. | > =   |
|     | > speed  | a |    | >  |                   | mark} | >     |
|     |          | l |    | 16 |                   |       |  1]{. |
|     |          | o |    | >  |                   |       | mark} |
|     |          | g |    |  b |                   |       |       |
|     |          |   |    | it |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   |          |   |    |    |                   | >     | >     |
| []{ |          |   |    |    |                   |  []{. |  []{. |
| .ma |          |   |    |    |                   | mark} | mark} |
| rk} |          |   |    |    |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | > CRS    | > | >  | >  | > [Curve          | > [   | >     |
|  AK | >        |   | 95 | si | > 4]{.mark}       | Limit |  [AKM |
| CRS | measured | a |    | gn |                   | >     | DSTMF |
| MES | > angle  | n |    | ed |                   |  2]{. | > =   |
|     |          | a |    | >  |                   | mark} | >     |
|     |          | l |    | 16 |                   |       |  1]{. |
|     |          | o |    | >  |                   |       | mark} |
|     |          | g |    |  b |                   |       |       |
|     |          |   |    | it |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | > CRS    | > | >  | >  | > [Curve          | > [   | >     |
|  AK | > r      |   | 96 | si | > 4]{.mark}       | Limit |  [AKM |
| CRS | eference | a |    | gn |                   | >     | DSTMF |
| REF | > angle  | n |    | ed |                   |  2]{. | > =   |
|     |          | a |    | >  |                   | mark} | >     |
|     |          | l |    | 16 |                   |       |  1]{. |
|     |          | o |    | >  |                   |       | mark} |
|     |          | g |    |  b |                   |       |       |
|     |          |   |    | it |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | > CRS    | > | >  | >  | > [Curve          | > [n. | >     |
|  AK | > comp   |   | 97 | si | > 5]{.mark}       | a.]{. |  [AKM |
| CRS | ensation | a |    | gn |                   | mark} | DSTMF |
| CMP | > angle  | n |    | ed |                   |       | > =   |
|     |          | a |    | >  |                   |       | >     |
|     |          | l |    | 16 |                   |       |  1]{. |
|     |          | o |    | >  |                   |       | mark} |
|     |          | g |    |  b |                   |       |       |
|     |          |   |    | it |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | > CRS    | > | >  | >  | > float = rad     | > [   | >     |
|  AK | > drift  |   |  9 |  f | > (calibrate to   | Limit |  [AKM |
| CRS | > delta  | a | 8- | lo | > display in deg) | >     | DSTMF |
| DRD |          | n | 99 | at |                   |  3]{. | > =   |
|     |          | a |    | >  |                   | mark} | >     |
|     |          | l |    | 32 |                   |       |  1]{. |
|     |          | o |    | >  |                   |       | mark} |
|     |          | g |    |  b |                   |       |       |
|     |          |   |    | it |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | > Time   | > | >  | >  | > [Curve          | > [n. | >     |
|  AK | > of     |   |  1 | un | > 6]{.mark}       | a.]{. |  [AKM |
| CRS | > last   | a | 00 | si |                   | mark} | DSTMF |
| DRT | > CRS    | n |    | gn |                   |       | > =   |
|     | > drift  | a |    | ed |                   |       | >     |
|     | >        | l |    | >  |                   |       |  1]{. |
|     | estimate | o |    | 16 |                   |       | mark} |
|     |          | g |    | >  |                   |       |       |
|     |          |   |    |  b |                   |       |       |
|     |          |   |    | it |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   |          |   |    |    |                   | >     | >     |
| []{ |          |   |    |    |                   |  []{. |  []{. |
| .ma |          |   |    |    |                   | mark} | mark} |
| rk} |          |   |    |    |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | >        | > | >  | >  | > float = rad     | > [n. | >     |
|  AK |  Current |   |  2 |  f | > (calibrate to   | a.]{. |  [AKM |
| RSL | > value  | a | 92 | lo | > display in deg) | mark} | DSTMF |
| VAL | > of RSL | n | -2 | at |                   |       | > =   |
|     |          | a | 93 | >  |                   |       | >     |
|     |          | l |    | 32 |                   |       |  1]{. |
|     |          | o |    | >  |                   |       | mark} |
|     |          | g |    |  b |                   |       |       |
|     |          |   |    | it |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | > RSL    | > | >  | >  | > float = rad     | > [n. | >     |
|  AK | > offset |   |  2 |  f | > (calibrate to   | a.]{. |  [AKM |
| RSL | > for    | a | 94 | lo | > display in deg) | mark} | DSTMF |
| OF1 | > star 1 | n | -2 | at |                   |       | > =   |
|     |          | a | 95 | >  |                   |       | >     |
|     |          | l |    | 32 |                   |       |  1]{. |
|     |          | o |    | >  |                   |       | mark} |
|     |          | g |    |  b |                   |       |       |
|     |          |   |    | it |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | > RSL    | > | >  | >  | > float = rad     | > [n. | >     |
|  AK | > offset |   |  2 |  f | > (calibrate to   | a.]{. |  [AKM |
| RSL | > for    | a | 96 | lo | > display in deg) | mark} | DSTMF |
| OF2 | > star 2 | n | -2 | at |                   |       | > =   |
|     |          | a | 97 | >  |                   |       | >     |
|     |          | l |    | 32 |                   |       |  1]{. |
|     |          | o |    | >  |                   |       | mark} |
|     |          | g |    |  b |                   |       |       |
|     |          |   |    | it |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | > RSL    | > | >  | >  | > float = rad     | > [n. | >     |
|  AK | > offset |   |  2 |  f | > (calibrate to   | a.]{. |  [AKM |
| RSL | > for    | a | 98 | lo | > display in deg) | mark} | DSTMF |
| OF3 | > star 3 | n | -2 | at |                   |       | > =   |
|     |          | a | 99 | >  |                   |       | >     |
|     |          | l |    | 32 |                   |       |  1]{. |
|     |          | o |    | >  |                   |       | mark} |
|     |          | g |    |  b |                   |       |       |
|     |          |   |    | it |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | > RSL    | > | >  | >  | > float = rad     | > [n. | >     |
|  AK | > offset |   |  3 |  f | > (calibrate to   | a.]{. |  [AKM |
| RSL | > for    | a | 00 | lo | > display in deg) | mark} | DSTMF |
| OF4 | > star 4 | n | -3 | at |                   |       | > =   |
|     |          | a | 01 | >  |                   |       | >     |
|     |          | l |    | 32 |                   |       |  1]{. |
|     |          | o |    | >  |                   |       | mark} |
|     |          | g |    |  b |                   |       |       |
|     |          |   |    | it |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | > RSL    | > | >  | >  | > float = rad     | > [n. | >     |
|  AK | > offset |   |  3 |  f | > (calibrate to   | a.]{. |  [AKM |
| RSL | > for    | a | 02 | lo | > display in deg) | mark} | DSTMF |
| OF5 | > star 5 | n | -3 | at |                   |       | > =   |
|     |          | a | 03 | >  |                   |       | >     |
|     |          | l |    | 32 |                   |       |  1]{. |
|     |          | o |    | >  |                   |       | mark} |
|     |          | g |    |  b |                   |       |       |
|     |          |   |    | it |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   |          |   |    |    |                   | >     | >     |
| []{ |          |   |    |    |                   |  []{. |  []{. |
| .ma |          |   |    |    |                   | mark} | mark} |
| rk} |          |   |    |    |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | >        | > | >  | >  | > n.a.            | > [n. | >     |
|  AK | Gyroless |   |  3 |  ( |                   | a.]{. |  [AKM |
| GLW | > status | s | 04 | al |                   | mark} | DSTMF |
| ORD | > word   | t |    | l) |                   |       | > =   |
|     |          | a |    |    |                   |       | >     |
|     |          | t |    |    |                   |       |  1]{. |
|     |          | u |    |    |                   |       | mark} |
|     |          | s |    |    |                   |       |       |
|     |          | > |    |    |                   |       |       |
|     |          |   |    |    |                   |       |       |
|     |          | w |    |    |                   |       |       |
|     |          | o |    |    |                   |       |       |
|     |          | r |    |    |                   |       |       |
|     |          | d |    |    |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| > A | > Eli    | > | >  | >  | > 0=NOT ELIGIBLE, | > [n. | >     |
| KGL | gibility |   |  3 |  7 | > 1=ELIGIBLE      | a.]{. |  [AKM |
| EL1 | > status | d | 04 |    |                   | mark} | DSTMF |
|     | > for    | i |    |    |                   |       | > =   |
|     | > star 1 | g |    |    |                   |       | >     |
|     |          | i |    |    |                   |       |  1]{. |
|     |          | t |    |    |                   |       | mark} |
|     |          | a |    |    |                   |       |       |
|     |          | l |    |    |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| > A | > Eli    | > | >  | >  | > 0=NOT ELIGIBLE, | > [n. | >     |
| KGL | gibility |   |  3 |  8 | > 1=ELIGIBLE      | a.]{. |  [AKM |
| EL2 | > status | d | 04 |    |                   | mark} | DSTMF |
|     | > for    | i |    |    |                   |       | > =   |
|     | > star 2 | g |    |    |                   |       | >     |
|     |          | i |    |    |                   |       |  1]{. |
|     |          | t |    |    |                   |       | mark} |
|     |          | a |    |    |                   |       |       |
|     |          | l |    |    |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| > A | > Eli    | > | >  | >  | > 0=NOT ELIGIBLE, | > [n. | >     |
| KGL | gibility |   |  3 |  9 | > 1=ELIGIBLE      | a.]{. |  [AKM |
| EL3 | > status | d | 04 |    |                   | mark} | DSTMF |
|     | > for    | i |    |    |                   |       | > =   |
|     | > star 3 | g |    |    |                   |       | >     |
|     |          | i |    |    |                   |       |  1]{. |
|     |          | t |    |    |                   |       | mark} |
|     |          | a |    |    |                   |       |       |
|     |          | l |    |    |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| > A | > Eli    | > | >  | >  | > 0=NOT ELIGIBLE, | > [n. | >     |
| KGL | gibility |   |  3 | 10 | > 1=ELIGIBLE      | a.]{. |  [AKM |
| EL4 | > status | d | 04 |    |                   | mark} | DSTMF |
|     | > for    | i |    |    |                   |       | > =   |
|     | > star 4 | g |    |    |                   |       | >     |
|     |          | i |    |    |                   |       |  1]{. |
|     |          | t |    |    |                   |       | mark} |
|     |          | a |    |    |                   |       |       |
|     |          | l |    |    |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| > A | > Eli    | > | >  | >  | > 0=NOT ELIGIBLE, | > [n. | >     |
| KGL | gibility |   |  3 | 11 | > 1=ELIGIBLE      | a.]{. |  [AKM |
| EL5 | > status | d | 04 |    |                   | mark} | DSTMF |
|     | > for    | i |    |    |                   |       | > =   |
|     | > star 5 | g |    |    |                   |       | >     |
|     |          | i |    |    |                   |       |  1]{. |
|     |          | t |    |    |                   |       | mark} |
|     |          | a |    |    |                   |       |       |
|     |          | l |    |    |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | > Hx     | > | >  | >  | > 0=DISAB, 1=ENAB | > [n. | >     |
|  AK | >        |   |  3 | 12 |                   | a.]{. |  [AKM |
| GLH | function | d | 04 |    |                   | mark} | DSTMF |
| XFN | > status | i |    |    |                   |       | > =   |
|     |          | g |    |    |                   |       | >     |
|     |          | i |    |    |                   |       |  1]{. |
|     |          | t |    |    |                   |       | mark} |
|     |          | a |    |    |                   |       |       |
|     |          | l |    |    |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | >        | > | >  | >  | > 0=NO, 1=YES     | > [n. | >     |
|  AK | Attitude |   |  3 | 13 |                   | a.]{. |  [AKM |
| GLP | >        | d | 04 |    |                   | mark} | DSTMF |
| ROF |  profile | i |    |    |                   |       | > =   |
|     | > status | g |    |    |                   |       | >     |
|     |          | i |    |    |                   |       |  1]{. |
|     |          | t |    |    |                   |       | mark} |
|     |          | a |    |    |                   |       |       |
|     |          | l |    |    |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | > CRP    | > | >  | >  | > 0=NOT VALID,    | > [n. | >     |
|  AK | > Roll   |   |  3 | 14 | > 1=VALID         | a.]{. |  [AKM |
| GLR | > R      | d | 04 |    |                   | mark} | DSTMF |
| RVF | eference | i |    |    |                   |       | > =   |
|     | >        | g |    |    |                   |       | >     |
|     | validity | i |    |    |                   |       |  1]{. |
|     | > flag   | t |    |    |                   |       | mark} |
|     |          | a |    |    |                   |       |       |
|     |          | l |    |    |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | > CRS    | > | >  | >  | > 0=NOT VALID,    | > [n. | >     |
|  AK | > Roll   |   |  3 | 15 | > 1=VALID         | a.]{. |  [AKM |
| GLR | > Angle  | d | 04 |    |                   | mark} | DSTMF |
| AVF | >        | i |    |    |                   |       | > =   |
|     | validity | g |    |    |                   |       | >     |
|     | > flag   | i |    |    |                   |       |  1]{. |
|     |          | t |    |    |                   |       | mark} |
|     |          | a |    |    |                   |       |       |
|     |          | l |    |    |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   |          |   |    |    |                   | >     | >     |
| []{ |          |   |    |    |                   |  []{. |  []{. |
| .ma |          |   |    |    |                   | mark} | mark} |
| rk} |          |   |    |    |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| > A | > Roll   | > | >  | >  | > [Curve          | > [   | >     |
| KRS | > slew   |   |  3 | si | > 4]{.mark}       | Limit |  [AKM |
| LEW | > angle  | a | 05 | gn |                   | >     | DSTMF |
|     | > (CRP)  | n |    | ed |                   |  4]{. | > =   |
|     |          | a |    | >  |                   | mark} | >     |
|     |          | l |    | 16 |                   |       |  1]{. |
|     |          | o |    | >  |                   |       | mark} |
|     |          | g |    |  b |                   |       |       |
|     |          |   |    | it |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | > Roll   | > | >  | >  | > [Curve          | > [   | >     |
|  AK | >        |   |  3 | si | > 4]{.mark}       | Limit |  [AKM |
| RAO | Attitude | a | 06 | gn |                   | >     | DSTMF |
|     | > Offset | n |    | ed |                   |  4]{. | > =   |
|     |          | a |    | >  |                   | mark} | >     |
|     |          | l |    | 16 |                   |       |  1]{. |
|     |          | o |    | >  |                   |       | mark} |
|     |          | g |    |  b |                   |       |       |
|     |          |   |    | it |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   |          |   |    |    |                   | >     | >     |
| []{ |          |   |    |    |                   |  []{. |  []{. |
| .ma |          |   |    |    |                   | mark} | mark} |
| rk} |          |   |    |    |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | > Max.   | > | >  | >  | > [Curve          | > [   | >     |
|  AK | > s      |   |  3 | un | > 7]{.mark}       | Limit |  [AKM |
| SEU | taircase | a | 07 | si |                   | >     | DSTMF |
| MAX | > count  | n |    | gn |                   |  5]{. | > =   |
|     | > over   | a |    | ed |                   | mark} | >     |
|     | > the TM | l |    | >  |                   |       |  1]{. |
|     | > format | o |    | 16 |                   |       | mark} |
|     |          | g |    | >  |                   |       |       |
|     |          |   |    |  b |                   |       |       |
|     |          |   |    | it |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| > A | > SEU    | > | >  | >  | > [Curve          | > [   | >     |
| KSE | > s      |   |  3 | un | > 7]{.mark}       | Limit |  [AKM |
| UTH | taircase | a | 08 | si |                   | >     | DSTMF |
|     | > filter | n |    | gn |                   |  4]{. | > =   |
|     | > t      | a |    | ed |                   | mark} | >     |
|     | hreshold | l |    | >  |                   |       |  1]{. |
|     |          | o |    | 16 |                   |       | mark} |
|     |          | g |    | >  |                   |       |       |
|     |          |   |    |  b |                   |       |       |
|     |          |   |    | it |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | > SEU    | > | >  | >  | > [Curve          | > [   | >     |
|  AK | > s      |   |  3 | un | > 7]{.mark}       | Limit |  [AKM |
| SEU | taircase | a | 09 | si |                   | >     | DSTMF |
| CNT | > count  | n |    | gn |                   |  4]{. | > =   |
|     |          | a |    | ed |                   | mark} | >     |
|     |          | l |    | >  |                   |       |  1]{. |
|     |          | o |    | 16 |                   |       | mark} |
|     |          | g |    | >  |                   |       |       |
|     |          |   |    |  b |                   |       |       |
|     |          |   |    | it |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | > Number | > | >  | >  | > [Curve          | > [n. | >     |
|  AK | > of     |   |  3 | un | > 7]{.mark}       | a.]{. |  [AKM |
| NSW | > star   | a | 10 | si |                   | mark} | DSTMF |
| APS | > swaps  | n |    | gn |                   |       | > =   |
|     |          | a |    | ed |                   |       | >     |
|     |          | l |    | >  |                   |       |  1]{. |
|     |          | o |    | 16 |                   |       | mark} |
|     |          | g |    | >  |                   |       |       |
|     |          |   |    |  b |                   |       |       |
|     |          |   |    | it |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   |          |   |    |    |                   | >     | >     |
| []{ |          |   |    |    |                   |  []{. |  []{. |
| .ma |          |   |    |    |                   | mark} | mark} |
| rk} |          |   |    |    |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | > SSU Z  | > | >  | >  | > [Curve          | > [   | >     |
|  AK | > co     |   |  3 | un | > 8]{.mark}       | Limit |  [AKM |
| ZFI | ordinate | a | 11 | si |                   | >     | DSTMF |
| LTH | > filter | n |    | gn |                   |  6]{. | > =   |
|     | > t      | a |    | ed |                   | mark} | >     |
|     | hreshold | l |    | >  |                   |       |  1]{. |
|     |          | o |    | 16 |                   |       | mark} |
|     |          | g |    | >  |                   |       |       |
|     |          |   |    |  b |                   |       |       |
|     |          |   |    | it |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | > Number | > | >  | >  | > [Curve          | > [n. | >     |
|  AK | > of     |   |  3 | un | > 7]{.mark}       | a.]{. |  [AKM |
| ZSP | >        | a | 12 | si |                   | mark} | DSTMF |
| IKE | filtered | n |    | gn |                   |       | > =   |
|     | > spikes | a |    | ed |                   |       | >     |
|     | > on SSU | l |    | >  |                   |       |  1]{. |
|     | > Z      | o |    | 16 |                   |       | mark} |
|     | > co     | g |    | >  |                   |       |       |
|     | ordinate |   |    |  b |                   |       |       |
|     |          |   |    | it |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   |          |   |    |    |                   | >     | >     |
| []{ |          |   |    |    |                   |  []{. |  []{. |
| .ma |          |   |    |    |                   | mark} | mark} |
| rk} |          |   |    |    |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | > Hx     | > | >  | >  | > [Curve          | > [   | >     |
| AKH | > t      |   |  3 | si | > 9]{.mark}       | Limit |  [AKM |
| XTH | hreshold | a | 13 | gn |                   | >     | DSTMF |
|     |          | n |    | ed |                   |  7]{. | > =   |
|     |          | a |    | >  |                   | mark} | >     |
|     |          | l |    | 16 |                   |       |  1]{. |
|     |          | o |    | >  |                   |       | mark} |
|     |          | g |    |  b |                   |       |       |
|     |          |   |    | it |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| > A | > Hx     | > | >  | >  | > [Curve          | > [   | >     |
| KHX | > lowest |   |  3 | si | > 9]{.mark}       | Limit |  [AKM |
| LOW | > edge   | a | 14 | gn |                   | >     | DSTMF |
|     |          | n |    | ed |                   |  8]{. | > =   |
|     |          | a |    | >  |                   | mark} | >     |
|     |          | l |    | 16 |                   |       |  1]{. |
|     |          | o |    | >  |                   |       | mark} |
|     |          | g |    |  b |                   |       |       |
|     |          |   |    | it |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| > A | > Hx     | > | >  | >  | > [Curve          | > [n. | >     |
| KHX | >        |   |  3 | si | > 9]{.mark}       | a.]{. |  [AKM |
| MAX |  maximum | a | 15 | gn |                   | mark} | DSTMF |
|     | > bound  | n |    | ed |                   |       | > =   |
|     |          | a |    | >  |                   |       | >     |
|     |          | l |    | 16 |                   |       |  1]{. |
|     |          | o |    | >  |                   |       | mark} |
|     |          | g |    |  b |                   |       |       |
|     |          |   |    | it |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| > A | > Hx     | > | >  | >  | > [Curve          | > [n. | >     |
| KHX | >        |   |  3 | si | > 9]{.mark}       | a.]{. |  [AKM |
| MIN |  minimum | a | 16 | gn |                   | mark} | DSTMF |
|     | > bound  | n |    | ed |                   |       | > =   |
|     |          | a |    | >  |                   |       | >     |
|     |          | l |    | 16 |                   |       |  1]{. |
|     |          | o |    | >  |                   |       | mark} |
|     |          | g |    |  b |                   |       |       |
|     |          |   |    | it |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| > A | > Hx     | > | >  | >  | > [Curve          | > [   | >     |
| KHX | > value  |   |  3 | si | > 9]{.mark}       | Limit |  [AKM |
| VAL |          | a | 17 | gn |                   | >     | DSTMF |
|     |          | n |    | ed |                   |  9]{. | > =   |
|     |          | a |    | >  |                   | mark} | >     |
|     |          | l |    | 16 |                   |       |  1]{. |
|     |          | o |    | >  |                   |       | mark} |
|     |          | g |    |  b |                   |       |       |
|     |          |   |    | it |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   |          |   |    |    |                   | >     | >     |
| []{ |          |   |    |    |                   |  []{. |  []{. |
| .ma |          |   |    |    |                   | mark} | mark} |
| rk} |          |   |    |    |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | > SSU    | > | >  | >  | > n.a.            | > [n. | >     |
|  AK | >        |   |  3 |  ( |                   | a.]{. |  []{. |
| SSU |  process | s | 64 | al |                   | mark} | mark} |
| PST | > status | t |    | l) |                   |       |       |
|     | > word   | a |    |    |                   |       |       |
|     |          | t |    |    |                   |       |       |
|     |          | u |    |    |                   |       |       |
|     |          | s |    |    |                   |       |       |
|     |          | > |    |    |                   |       |       |
|     |          |   |    |    |                   |       |       |
|     |          | w |    |    |                   |       |       |
|     |          | o |    |    |                   |       |       |
|     |          | r |    |    |                   |       |       |
|     |          | d |    |    |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | > SSU    | > | >  | >  | > 0=CRS, 1=SSU    | > [n. | >     |
|  AK | >        |   |  3 |  7 |                   | a.]{. |  [AKM |
| SSU | attitude | d | 64 |    |                   | mark} | DSTMF |
| ATM | > TM     | i |    |    |                   |       | > =   |
|     | > flag   | g |    |    |                   |       | >     |
|     |          | i |    |    |                   |       |  1]{. |
|     |          | t |    |    |                   |       | mark} |
|     |          | a |    |    |                   |       |       |
|     |          | l |    |    |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | >        | > | >  | >  | > 0=NOT VALID,    | > [n. | >     |
|  AK |  Control |   |  3 | 12 | > 1=VALID         | a.]{. |  [AKM |
| SSU | > star   | d | 64 |    |                   | mark} | DSTMF |
| CSV | >        | i |    |    |                   |       | > =   |
|     | validity | g |    |    |                   |       | >     |
|     | > flag   | i |    |    |                   |       |  1]{. |
|     |          | t |    |    |                   |       | mark} |
|     |          | a |    |    |                   |       |       |
|     |          | l |    |    |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   |          |   |    |    |                   | >     | >     |
| []{ |          |   |    |    |                   |  []{. |  []{. |
| .ma |          |   |    |    |                   | mark} | mark} |
| rk} |          |   |    |    |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | > p      | > | >  | >  | > [Curve          | > [   | >     |
|  AK | rocessed |   |  4 | si | > 10]{.mark}      | Limit |  [AKM |
| FPI | > FPSS   | a | 03 | gn |                   | >     | DSTMF |
| TCH | > pitch  | n |    | ed |                   | 10]{. | > =   |
|     | >        | a |    | >  |                   | mark} | >     |
|     | attitude | l |    | 16 |                   |       |  1]{. |
|     |          | o |    | >  |                   |       | mark} |
|     |          | g |    |  b |                   |       |       |
|     |          |   |    | it |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+
| >   | > p      | > | >  | >  | > [Curve          | > [   | >     |
| AKF | rocessed |   |  4 | si | > 10]{.mark}      | Limit |  [AKM |
| YAW | > FPSS   | a | 04 | gn |                   | >     | DSTMF |
|     | > yaw    | n |    | ed |                   | 10]{. | > =   |
|     | >        | a |    | >  |                   | mark} | >     |
|     | attitude | l |    | 16 |                   |       |  1]{. |
|     |          | o |    | >  |                   |       | mark} |
|     |          | g |    |  b |                   |       |       |
|     |          |   |    | it |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+

Note : the defilition of the TM packet type 2 results in a new mnemonic
in packet 3.5

+-----+----------+---+----+----+-------------------+-------+-------+
| >   | >        | > | >  | >  | > 0=NOT VALID,    | > [n. | >     |
|  AK |  Control |   |  1 | 12 | > 1=VALID         | a.]{. |  [AKM |
| S34 | > star   | d | 21 |    |                   | mark} | DSTMF |
| CSV | >        | i |    |    |                   |       | > =   |
|     | validity | g |    |    |                   |       | >     |
|     | > flag   | i |    |    |                   |       |  1]{. |
|     |          | t |    |    |                   |       | mark} |
|     |          | a |    |    |                   |       |       |
|     |          | l |    |    |                   |       |       |
+-----+----------+---+----+----+-------------------+-------+-------+

## Calibration curves

**[Curve 1]{.underline}**

applies to filter values: KKGLFACU, KKGLFOFP, KKGLFCRP, KKGLFRWS,
KKGLFHX

format : 16 bit signed integer

  ------------------- ---------------------------------------------------
  raw (hex)           processed unit = counts

  0000                0

  7FFF                32767

  8000                -32768

  FFFF                -1
  ------------------- ---------------------------------------------------

**[Curve 2]{.underline}**

applies to RW speed thresholds: KKGLRMI1, KKGLRMI2, KKGLRMI3, KKGLRMI4,
KKGLRMA1, KKGLRMA2, KKGLRMA3, KKGLRMA4

format :

bit 0 : sign bit (1 = positive / 0 = negative)

bit 1..3 : don\'t care (mask = 8FFF h)

bit 4..15 : absolute value of wheel speed (12 bits unsigned, LSB = 5.333
rpm)

  ------------------- ---------------------------------------------------
  raw (hex)           processed unit = RPM

  0000                0

  0FFF                -21838.63

  7FFF                -21838.63

  8000                0

  8FFF                +21838.63

  FFFF                +21838.63
  ------------------- ---------------------------------------------------

**[Curve 3]{.underline}**

applies to filtered RW speeds: AKWDFSP1, AKWDFSP2, AKWDFSP3, AKWDFSP4

format : 16 bit signed integer (LSB = 0.122 RPM)

  ------------------- ---------------------------------------------------
  raw (hex)           processed unit = RPM

  0000                0

  7FFF                3997.574

  8000                -3997.696

  FFFF                -0.122
  ------------------- ---------------------------------------------------

**[Curve 4]{.underline}**

applies to : AKCRSMES, AKCRSREF, AKRSLEW, AKRAO

format : 16 bit signed integer (LSB = 5.493164e-3 deg)

  ------------------- ---------------------------------------------------
  raw (hex)           processed unit = deg

  0000                0

  7FFF                179.9945

  8000                179.9999

  FFFF                -0.00549
  ------------------- ---------------------------------------------------

**[Curve 5]{.underline}**

applies to : AKCRSCMP (CRS compensation angle)

format : 16 bit signed integer (LSB = 2,750197e-3 deg)

  ------------------- ---------------------------------------------------
  raw (hex)           processed unit = deg

  0000                0

  7FFF                90.1157

  8000                -90.1184

  FFFF                -0.00275
  ------------------- ---------------------------------------------------

**[Curve 6]{.underline}**

applies to: AKCRSDRT (Time of last CRS drift estimate)

format : 16 bit unsigned integer (LSB = 0.5688833 hour)

  ------------------- ---------------------------------------------------
  raw (hex)           processed unit = hour

  0000                0

  FFFF                37281.77
  ------------------- ---------------------------------------------------

**[Curve 7]{.underline}**

applies to: AKSEUTH, AKSEUCNT, AKSEUMAX, AKNSWAPS, AKZSPIKE

format : 16 bit unsigned integer (LSB = 1 count)

  ------------------- ---------------------------------------------------
  raw (hex)           processed unit = count

  0000                0

  FFFF                65535
  ------------------- ---------------------------------------------------

**[Curve 8]{.underline}**

applies to: AKZFILTH

format : 16 bit unsigned integer (LSB = 0.245 arcsec = 1 CCD unit)

  ------------------- ---------------------------------------------------
  raw (hex)           processed unit = arcsec

  0000                0

  FFFF                16056.075
  ------------------- ---------------------------------------------------

**[Curve 9]{.underline}**

applies to : AKHXTH, AKHXLOW, AKHXMAX, AKHXMIN, AKHXVAL

format : 16 bit signed integer (LSB=0,01Nms)

  ------------------- ---------------------------------------------------
  raw (hex)           processed unit = Nms

  0000                0

  7FFF                327.67

  8000                -327.68

  FFFF                -0.01
  ------------------- ---------------------------------------------------

**[Curve 10]{.underline}**

applies to : AKFPITCH, AKFYAW (processed FPSS angles)

format : 16 bit signed integer (LSB = 0,3 arcsec = 8.3333e-5 deg)

  ------------------- ---------------------------------------------------
  raw (hex)           processed unit = deg

  0000                0

  7FFF                2.73058

  8000                2.73066

  FFFF                -8.3333e-5
  ------------------- ---------------------------------------------------

## Monitoring limits

**[Limit 1]{.underline}**

applies to filtered RW speeds: AKWDFSP1, AKWDFSP2, AKWDFSP3, AKWDFSP4

  ----------------------- ----------------------- -----------------------
  Limit                   min                     max

  Yellow                  -3000 rpm               +3000 rpm

  Red                     -4100 rpm               +4100 rpm
  ----------------------- ----------------------- -----------------------

**[Limit 2]{.underline}**

applies to : AKCRSMES, AKCRSREF

  ----------------------- ----------------------- -----------------------
  Limit                   min                     max

  Yellow                  -180 deg                +180 deg

  Red                     n.a.                    n.a.
  ----------------------- ----------------------- -----------------------

**[Limit 3]{.underline}**

applies to : AKCRSDRD

  ----------------------- ----------------------- -----------------------
  Limit                   min                     max

  Yellow                  -3e-4 rad               +3e-4 rad

  Red                     n.a.                    n.a.
  ----------------------- ----------------------- -----------------------

**[Limit 4]{.underline}**

applies to : AKRSLEW, AKRAO, AKSEUCNT, AKSEUTH

Yellow if 0

  ----------------------- ----------------------- -----------------------
  Limit                   min                     max

  Yellow                  0                       0

  Red                     n.a.                    n.a.
  ----------------------- ----------------------- -----------------------

**[Limit 5]{.underline}**

applies to : AKSEUMAX

Yellow if 5

  ----------------------- ----------------------- -----------------------
  Limit                   min                     max

  Yellow                  5                       5

  Red                     n.a.                    n.a.
  ----------------------- ----------------------- -----------------------

**[Limit 6]{.underline}**

applies to : AKZFILTH

Yellow if 125

  ----------------------- ----------------------- -----------------------
  Limit                   min                     max

  Yellow                  125                     125

  Red                     n.a.                    n.a.
  ----------------------- ----------------------- -----------------------

**[Limit 7]{.underline}**

applies to : AKHXTH

Yellow if 7 Nms

  ----------------------- ----------------------- -----------------------
  Limit                   min                     max

  Yellow                  7                       7

  Red                     n.a.                    n.a.
  ----------------------- ----------------------- -----------------------

**[Limit 8]{.underline}**

applies to : AKHXLOW

Yellow if -10 Nms

  ----------------------- ----------------------- -----------------------
  Limit                   min                     max

  Yellow                  -10                     -10

  Red                     n.a.                    n.a.
  ----------------------- ----------------------- -----------------------

**[Limit 9]{.underline}**

applies to : AKHXVAL

  ----------------------- ----------------------- -----------------------
  Limit                   min                     Max

  Yellow                  -5                      None

  Red                     -8                      None
  ----------------------- ----------------------- -----------------------

**[Limit 10]{.underline}**

applies to : AKFPITCH, AKFYAW

  ----------------------- ----------------------- -----------------------
  Limit                   min                     Max

  Yellow                  -2 deg                  +2 deg

  Red                     n.a.                    n.a.
  ----------------------- ----------------------- -----------------------

## Updated limits - Miscellaneous

The following table presents additional database modification (limits)
for AOCS telemetry:

  -- ------------- --------------------------- --------------------- ----------
     **TM_CODE**   **TM_NAME**                 **LIMIT CRITERIA**    **LIMIT
                                                                     TYPE**

     AKIRUST       IRU status                                        N

     AKIRURA       IRU angular increment                             N

     AKWDSP1       Wheel 1 speed               Rpm\> 3000 (Y)        Y / R
                                               Rpm\>4100 (R)         

     AKWDSP2       Wheel 2 speed               Rpm\> 3000 (Y)        Y / R
                                               Rpm\>4100 (R)         

     AKWDSP3       Wheel 3 speed               Rpm\> 3000 (Y)        Y / R
                                               Rpm\>4100 (R)         

     AKWDSP4       Wheel 4 speed               Rpm\> 3000 (Y)        Y / R
                                               Rpm\>4100 (R)         

     AKWDERF1      Wheel 1 speed reference     If value \>= 314,16   RED
                                               rad/s ( 3000 rpm)     

     AKWDERF2      Wheel 2 speed reference     as per wheel 1        RED

     AKWDERF3      Wheel 3 speed reference     as per wheel 1        RED

     AKWDERF4      Wheel speed reference       as per wheel 1        RED

     AKFSS00A      FPSS fine attitudes                               N

     AKFSS00B      FPSS fine attitudes                               N

     AKFSS14A      FPSS fine attitudes                               N

     AKFSS14B      FPSS fine attitudes                               N

     AKTH1OTI      Thruster 1 ON time/format.  ON-Time \> 1.1s =\> Y Y

     AKTH2OTI      Thruster 2 ON time/format.  ON-Time \> 1.1s =\> Y Y

     AKTH3OTI      Thruster 3 ON time/format.  ON-Time \> 1.1s =\> Y Y

     AKTH4OTI      Thruster 4 ON time/format.  ON-Time \> 1.1s =\> Y Y

     AKTH5OTI      Thruster 5 ON time/format.  ON-Time \> 0.3s =\> Y Y

     AKTH6OTI      Thruster 6 ON time/format.  ON-Time \> 0.3s =\> Y Y

     AKTH7OTI      Thruster 7 ON time/format.  ON-Time \# 0 =\> Y    Y

     AKTH8OTI      Thruster 8 ON time/format.  ON-Time \# 0 =\> Y    Y

     AKFSSPAR      FPSS angle ref.             0.1° = (Y) 2° = (R)   Y / R

     AKFSSYAR      FPSS angle ref.             0.1° = (Y) 2° = (R)   Y / R

     AKSSUCST      Star selection                                    N

     AKFSS15A      FPSS fine attitudes                               N

     AKFSS15B      FPSS fine attitudes                               N

     AKFSS29A      FPSS fine attitudes                               N

     AKFSS29B      FPSS fine attitudes                               N

     AKRSLADR      Roll steering law address   If outside range (0   Y
                                               to 399)               

     **packet                                                        
     3.2**                                                           

     AYSSUBFC      SSU data block counter      If outside range (0   Y
                                               to 7)                 

     **packet                                                        
     3.3**                                                           

     AKTH1OT3      Thruster 1 ON time/format.  ON-Time \> 1.1s =\> Y Y

     AKTH2OT3      Thruster 2 ON time/format.  ON-Time \> 1.1s =\> Y Y

     AKTH3OT3      Thruster 3 ON time/format.  ON-Time \> 1.1s =\> Y Y

     AKTH4OT3      Thruster 4 ON time/format.  ON-Time \> 1.1s =\> Y Y

     AKTH5OT3      Thruster 5 ON time/format.  ON-Time \> 0.3s =\> Y Y

     AKTH6OT3      Thruster 6 ON time/format.  ON-Time \> 0.3s =\> Y Y

     AKTH7OT3      Thruster 7 ON time/format.  ON-Time \# 0 =\> Y    Y

     **packet                                                        
     3.4**                                                           

     AK1WDS34      Wheel 1 speed               Rpm\> 3000 (Y)        Y / R
                                               Rpm\>4100 (R)         

     AK2WDS34      Wheel 2 speed               Rpm\> 3000 (Y)        Y / R
                                               Rpm\>4100 (R)         

     AK3WDS34      Wheel 3 speed               Rpm\> 3000 (Y)        Y / R
                                               Rpm\>4100 (R)         

     AK4WDS34      Wheel 4 speed               Rpm\> 3000 (Y)        Y / R
                                               Rpm\>4100 (R)         

     AKF34PAR      FPSS angle ref.             0.1° = (Y) 2° = (R)   Y / R

     AKF34YAR      FPSS angle ref.             0.1° = (Y) 2° = (R)   Y / R

     AYSSUBFN      SSUdata block counter       If outside range (0   Y
                                               to 19)                

     **CAE**                                                         

     ASFD51L       RAAD THRESHOLD (LOW GAIN)   157,4 deg (R)         R

     ASFD52L       RRAD THRESHOLD (LOW GAIN)   1,5°/s (R)            R

     ASFD53        Pressure Anomaly Threshold  25 bar (R)            R

     ASFD54        TIMEOUT DETECTOR THRESHOLD  228 sec (Y)           Y

     ASFD55L       ROLLRATE FDE (LOW GAIN)     0 °/s (Y)             Y

     ASFD57        Gyro drift correction       0 °/s (Y)             Y

     ASFD58L       ROLL ATTITUDE (LOW GAIN)    50° (Y)               Y

     AXFD11        IRU A analogue output       0 °/s (Y)             Y

     AXFD12        IRU B ANALOGUE OUTPUT       0 °/s (Y)             Y

     **IRU**                                                         

     AIGYA         IRU A CURRENT LINE 1        0A                    R

     AIGYB         IRU B CURRENT LINE 1        0A                    R

     AIGYC         IRU A CURRENT LINE 2        0A                    R

     AIGYD         IRU B CURRENT LINE 2        0A                    R

     AIGYE         IRU C CURRENT               0A                    R

     AIGYG         IRU C CURRENT               0A                    R
  -- ------------- --------------------------- --------------------- ----------

The following mnemonics are only attached to the definition of the old
TM packets (AKMDSTMF = \"ORIGINAL TM\") :

-   Packet type 2 mnemonics (plus extension of validity as appropriate
    in other packets) :

```{=html}
<!-- -->
```
-   General : AKMDSSOP, AKMDSTMP (bits of word 10), AKNULL (words 403 to
    405)

-   SSU : AKSSUSLM, AKSSUAUT, AKSSUST1 (bits of word 364)

```{=html}
<!-- -->
```
-   IRU : AKIRURAA, AKIRURAR, AKIRURRR, AKIRUWD, AKIRUDK (words 91 to
    100)

-   PROS : AKPRSST, AKPRSBDT, AKPRSRT, AKPRSRS, AKPRSDUR, AKPRSBT,
    AKPRSRFF, AKPRSPFF, AKPRSYFF, AKPRSMPR, AKPRSMNR, AKPRSMPP,
    AKPRSMNP, AKPRSMPY, AKPRSMNY (words 292 to 317)

```{=html}
<!-- -->
```
-   Packet type 3.1 mnemonics :

```{=html}
<!-- -->
```
-   AKNULL31 (word 536)

```{=html}
<!-- -->
```
-   Packet type 3.3 mnemonics :

```{=html}
<!-- -->
```
-   AKTH80T3 (word 405)

```{=html}
<!-- -->
```
-   Packet type 3.4 mnemonics :

```{=html}
<!-- -->
```
-   AKSSLA34, AKS34AUT, AKS34STV (bits of word 121)

The following status text shall be created :

-   \"CRP\" when the AKMDSACT mnemonics reflect the commanding of mode 5

-   \"COM CRP\" when the AKMDSCOM mnemonics reflect the commanding of
    mode 5

-   \"RST END\", when AKSSUMST reflect the execution of the searching
    tracking restricted mode (F181 Hex)

## TC summary

The following section presents a summary of the COBS gyroless
Telecommand. Refer to

[AD2: COBS Gyroless Functions -- Software User\'s
Manual](../SUM_AD/COBS_USERS_MANUAL.DOC) ref: SH-SAG-NT-TP007 for more.

**KNK0A000** This telecommand (and its variants KNK0AAUT / KNK0AINH) is
used to enable / disable the COBS gyroless monitoring functions
execution (entries 22 to 26):

22 ACU reset monitoring

23 CRP flag monitoring

24 RW speeds monitoring

25 Hx flag monitoring

26 Experiment off-pointing monitoring

**KNK0B000** This telecommand is used to define the COBS functions
status at warm start-up. Since gyroless functions are lost in case of
warm start-up, this telecommand shall not be used only (except to force
all gyroless functions, and unused application functions status at warm
to INHIBIT)

**KNK0C000** This telecommand is used to define the gyroless COBS
functions execution profile, (i.e. the frequency of execution) according
to the following definition:

2 ACU reset monitoring

5 CRP flag monitoring

6 RW speeds monitoring

11 Hx flag monitoring

12 Experiment off-pointing monitoring

**KNK24000** This telecommand is used to clear the triggered status for
all COBS application functions including gyroless COBS monitorings:

**KNK51000** This telecommand, originally designed to trigger the
corrective action for "Gyro monitoring" has been discarded (i.e. no
effect).

**KNK2C000** This generic memory load command is used to directly write
in CDMU memory, and is particularly used to control the execution of the
gyroless COBS monitorings:

-   Initialise the gyroless functions,

-   Enable / Disable C.A. for gyroless function,

-   Define filter value for gyroless functions,

-   Define RW speeds monitoring thresholds (min / max)

-   Define the experiment off-pointing setting (set of experiments to
    receive the warning message in case of off pointing.

The following table presents the memory interface for gyroless
functions:

+-----------+---------------+------------------------------------------+
| *         | ***Label***   | ***Command***                            |
| **Address |               |                                          |
| (hex)***  |               |                                          |
+-----------+---------------+------------------------------------------+
| > FC00    | >             | > Initialize Gyroless Functions          |
|           |  InitGyroless |                                          |
+-----------+---------------+------------------------------------------+
| > FC01    | >             | > Enable/Disable CA for ACU Reset        |
|           | CAS_ACU_Reset | > Monitoring                             |
+-----------+---------------+------------------------------------------+
| > FC02    | >             | > Enable/Disable CA for CRP Flag         |
|           |  CAS_CRP_Flag | > Monitoring                             |
+-----------+---------------+------------------------------------------+
| > FC03    | >             | > Enable/Disable CA for RW Speed         |
|           |  CAS_RW_Speed | > Monitoring                             |
+-----------+---------------+------------------------------------------+
| > FC04    | > CAS_HxFlag  | > Enable/Disable CA for Hx Flag          |
|           |               | > Monitoring                             |
+-----------+---------------+------------------------------------------+
| > FC05    | > AC          | > Filter value for ACU Reset Monitoring  |
|           | U_ResetFilter |                                          |
+-----------+---------------+------------------------------------------+
| > FC06    | > C           | > Filter value for CRP Flag Monitoring   |
|           | RP_FlagFilter |                                          |
+-----------+---------------+------------------------------------------+
| > FC07    | > R           | > Filter value for RW Speed Monitoring   |
|           | W_SpeedFilter |                                          |
+-----------+---------------+------------------------------------------+
| > FC08    | > RW_SpeedMin | > RW1 minimim speed threshold            |
|           | > (1)         |                                          |
+-----------+---------------+------------------------------------------+
| > FC09    | > RW_SpeedMin | > RW2 minimim speed threshold            |
|           | > (2)         |                                          |
+-----------+---------------+------------------------------------------+
| > FC0A    | > RW_SpeedMin | > RW3 minimim speed threshold            |
|           | > (3)         |                                          |
+-----------+---------------+------------------------------------------+
| > FC0B    | > RW_SpeedMin | > RW4 minimim speed threshold            |
|           | > (4)         |                                          |
+-----------+---------------+------------------------------------------+
| > FC0C    | > RW_SpeedMax | > RW1 maximum speed threshold            |
|           | > (1)         |                                          |
+-----------+---------------+------------------------------------------+
| > FC0D    | > RW_SpeedMax | > RW2 maximum speed threshold            |
|           | > (2)         |                                          |
+-----------+---------------+------------------------------------------+
| > FC0E    | > RW_SpeedMax | > RW3 maximum speed threshold            |
|           | > (3)         |                                          |
+-----------+---------------+------------------------------------------+
| > FC0F    | > RW_SpeedMax | > RW4 maximum speed threshold            |
|           | > (4)         |                                          |
+-----------+---------------+------------------------------------------+
| > FC10    | >             | > Filter value for Hx Flag Monitoring    |
|           |  HxFlagFilter |                                          |
+-----------+---------------+------------------------------------------+
| > FC11    | > OffP        | > Filter value for Experiment            |
|           | ointingFilter | > Off-pointing                           |
+-----------+---------------+------------------------------------------+
| > FC12    | > OffP        | > Set of experiments to receive          |
|           | ointingExpSet | > off-pointing warning message           |
+-----------+---------------+------------------------------------------+

The following table presents the AOCS gyroless Telecommand summary :

  --- ------------------- -----------------------------------------------
      NAME                DESCRIPTION

      ABACU001            Unchecked i/o write

      ABACU002            Unchecked memory write

      ABACU003            Write to telemetry packet

      ABACU004            Dummy telecommand

      ABACU101            MACS bus command

      ABACU102            Change task parameters

      ABACU103            Checked memory write

      ABACU104            Set telemetry packet type

      ABACU105            Set memory dump parameters

      ABACU106            I/o read

      ABACU107            not defined

      ABACU108            On board time transmission

      ABACU201            Thruster command

      ABACU202            Unused

      ABACU203            SAS bias

      ABACU204            Unused

      ABACU205            Roll Manoeuvre command

      ABACU206            Roll Attitude Telemetry command

      ABACU207            Unused

      ABACU208            Unused

      ABACU209            Modify h/w config. parameter

      ABACU210            Roll Steering Law Command

      ABACU211            SSU command

      ABACU212            Unused

      ABACU213            SSU Common Function Command

      ABACU214            FPSS Common Function Command

      ABACU215            General Mode command

      ABACU216            Unused

      ABACU217            WDE Common Function Command

      ABACU218            General Common Function Command

      ABACU219            Set PCPG task parameters
  --- ------------------- -----------------------------------------------

The evolutions of these telecommands, as part of the AOCS software
modification, are detailed hereafter.

As per the synthesis provided in the old SOHO User\'s manual, the
definition of a telecommand identifier in the following text is often
followed by a backslash and another number. This refers to the instance
of the telecommand corresponding to the identifier but with the Data
Description Word defined by the number following the backslash.

The unchanged telecommands are not detailed. The formerly unused and
unchanged telecommands are not reprinted.

For further details of the ACU software telecommands, see Section 3.5 of
the ACU Software User Manual in Appendix of this document.

***Level 0 telecommands :***

**ABACU001** Unchecked i/o write Unchanged.

**ABACU002** Unchecked memory write Unchanged.

**ABACU003** Write to telemetry packet Unchanged.

**ABACU004** Dummy telecommand Unchanged.

***Level 1 telecommands :***

**ABACU101** MACS bus command Unchanged.

**ABACU102** Change task parameters Unchanged.

**ABACU103** Checked memory write Unchanged.

**ABACU104** This block telecommand is used to set the telemetry packet
type.

The pre‑defined types available are still being Type 2, Type 3.1, Type
3.2, Type 3.3, and Type 3.4. The change in the telecommand occurs at the
level of the definition of the interface word used to command the packet
types.

**ABACU105** Set memory dump parameters Unchanged.

**ABACU106** I/o read Unchanged.

**ABACU108** On board time transmission Unchanged.

***Level 2 telecommands :***

**ABACU201** This block telecommand is used to command open loop
thruster firings.

There is no change into the definition, but this telecommand is now
rejected in CRP mode and in Normal Mode. Note that if more than one
thruster has to be commanded at a time with this telecommand, the start
times of the pulses have to be synchronized. Upon assertion of this
telecommand, the CRS drift estimation and estimation logic are reset and
the stars are set to non eligible

**ABACU203** SAS bias (new name) Unchanged (except the updated name)

**ABACU205** Roll Manoeuvre command

> **ABACU205/0** This block telecommand is now made invalid. Its use has
> been superseded by ABACU205/4
>
> **ABACU205/1** This block telecommand is now made invalid. The Jrc
> term is no more used in the roll algorithms.
>
> **ABACU205/2** This block telecommand is now made invalid. The SSU
> mapping threshold is directly handled by the ABACU211/6 mapping
> command sent to the SSU.
>
> **ABACU205/3** This block telecommand is now made invalid. There is no
> more IRU to SSU swapping logic.
>
> **ABACU205/4** This block telecommand is used to set up the requested
> roll slew angle used to define a slew manoeuvre in CRP or in RMW and
> NM modes. The telecommand sets the parameters as defined, and they can
> be verified in ACU through a memory dump, if required, prior to the
> manoeuvre being initiated (using ABACU205/5).
>
> **ABACU205/5** This block telecommand is used to initiate a roll slew
> manoeuvre after the required slew parameters have been uplinked using
> ABACU205/4 and verified by memory dump.
>
> **ABACU205/6** This block telecommand can be used to abort a roll slew
> manoeuvre. Upon the execution of this abort, in either CRP, RMW or NM
> modes, the roll angle reference will be kept to the current commanded
> reference at the date of the abort.

**ABACU206** Roll Attitude Telemetry command

> **ABACU206/0** This block telecommand is now made invalid. The source
> of telemetry selection is made mode dependant.
>
> **ABACU206/1** This block telecommand is used to set the roll attitude
> telemetry offset. This telecommand definition is unchanged. It is
> possible to set the roll attitude telemetry reference point to any
> position around the roll axis. It is a ground operations
> responsibility to set and trim this variable to an appropriate value
> that meets the end‑users needs. The physical interpretation of this
> value is mode dependant. The roll attitude telemetry offset is
> automatically initialised from the roll telemetry value at modes
> transitions from/to the CRP mode.

**ABACU209** Modify h/w config. parameter Unchanged.

**ABACU210** Roll Steering Law Command

> **ABACU210/0** This block telecommand is used to set the roll steering
> law function control parameters. There is no change in the definition
> of that telecommand, except that the start of the roll scan law is now
> made conditional to the SSU being in a valid mode (mapping, searching
> tracking, searching tracking restricted), and control star being valid
> and eligible.
>
> **ABACU210/1‑400** This block telecommand is used to set the contents
> of the roll steering law data table. The physical definition of the
> loaded parameters changes if the roll steering law is not related to
> the position of the control star at date of upload. Otherwise, there
> is no change of interface.

**ABACU211** SSU commands Unchanged, with clarifications.

The reset command (ABACU211/0), the CCD test command (ABACU211/1), the
memory test mode command (ABACU211/2), the stand-by mode command
(ABACU211/3), the program uploading mode (ABACU211/7), the SSU
downloading mode (ABACU211/8) shall not be used if the operation mode is
either RMW or NM modes. These modes can only be used in CRP mode form
SSU trouble shooting.

Note that upon commanding of the SSU reset (ABACU211/0), the SSU patches
are not lost. This occurs only if the SSU resets itself.

The SSU Search/Track mode (ABACU211/4) and mapping mode (ABACU211/6) are
to be operated while retaining no more than 2 stars.

The SSU to Search/Track Restricted mode (ABACU211/5) is now a valid
mode. The level of roll angle drift experienced in CRP mode makes its
used only suitable in RMW and NM modes.

**ABACU212** The former IRU common function commands are now made
unvalid. The block telecommand is renamed unused.

**ABACU213** SSU Common Function Command

> **ABACU213/0** Unchanged. This block telecommand is used to update the
> value of the variable Control_Star in the SSU processing function. It
> is essential to check that the star data is valid and the star has
> been declared eligible (and the RSL offset has been adequately
> updated) for the value of control star to be selected. This
> telecommand resets the SEU staircase counts.
>
> **ABACU213/1** This block telecommand, which was used to update the
> roll reference angle of star 1, is now made invalid. Its use has been
> superseded by ABACU213/A, which updates the RSL offset of star 1.
>
> **ABACU213/2** This block telecommand, which was used to update the
> roll reference angle of star 2, is now made invalid. Its use has been
> superseded by ABACU213/B, which updates the RSL offset of star 2.
>
> **ABACU213/3** This block telecommand, which was used to update the
> roll reference angle of star 3, is now made invalid. Its use has been
> superseded by ABACU213/C, which updates the RSL offset of star 3.
>
> **ABACU213/4** This block telecommand, which was used to update the
> roll reference angle of star 4, is now made invalid. Its use has been
> superseded by ABACU213/D, which updates the RSL offset of star 4.
>
> **ABACU213/5** This block telecommand, which was used to update the
> roll reference angle of star 5, is now made invalid. Its use has been
> superseded by ABACU213/E, which updates the RSL offset of star 5.
>
> **ABACU213/6** There is no change associated to that telecommand. This
> block telecommand is used to update the state of the Roll_Off_Pointing
> flag.
>
> **ABACU213/7** There is no change associated to that telecommand This
> block telecommand is used to set the threshold for the
> Roll_Off_Pointing flag.
>
> **ABACU213/8** This block telecommand is now used to force a star
> swap.
>
> **ABACU213/9** This block telecommand, which was used to
> enable/disable the SSU_SEU monitor, is now made unvalid. The SSU_SEU
> monitor is now always enabled.
>
> **ABACU213/A** This new block telecommand is used to trim the RSL
> offset of star 1. The trim shall respect the roll offset constraints.
>
> **ABACU213/B** This new block telecommand is used to trim the RSL
> offset of star 2. The trim shall respect the roll offset constraints.
>
> **ABACU213/C** This new block telecommand is used to trim the RSL
> offset of star 3. The trim shall respect the roll offset constraints.
>
> **ABACU213/D** This new block telecommand is used to trim the RSL
> offset of star 4. The trim shall respect the roll offset constraints.
>
> **ABACU213/E** This new block telecommand is used to trim the RSL
> offset of star 5. The trim shall respect the roll offset constraints.
>
> **ABACU213/F** This new block telecommand is used to force the CRP
> flag.
>
> **ABACU213/10** This new block telecommand is used to set the star
> eligibility flag. The telecommand consists in one star selection word
> (1 to 5) and the associated star eligibility status. If the is SSU in
> a valid mode (mapping, searching tracking, searching tracking
> restricted), and the selected star is valid, its RSL offset is
> initialised to a measured value.
>
> **ABACU213/11** This new block telecommand is used to set the
> staircase filter threshold. Its is forbidden to increase the staircase
> filter threshold from its default value when the LVA is opened.
>
> **ABACU213/12** This new block telecommand is used to force the CRP
> flag.

**ABACU214** FPSS Common Function Command

> **ABACU214/0** There is no change associated to that telecommand. This
> block telecommand is used to update the upper and lower thresholds for
> the pitch axis FPSS consistency check.
>
> **ABACU214/1** There is no change associated to that telecommand. This
> block telecommand is used to update the upper and lower thresholds for
> the yaw axis FPSS consistency check.
>
> **ABACU214/2** There is no change associated to that telecommand. This
> block telecommand is used to update the scale factor for the pitch and
> yaw axis FPSS processing function.
>
> **ABACU214/3** This block telecommand, which was used to trim the
> pitch and yaw angles references, is made unvalid. It is superseded by
> the use of ABACU214/6 for the pitch angle and ABACU214/7 for the yaw
> angle.
>
> **ABACU214/4** There is no change associated to that telecommand. This
> block telecommand is used to update the threshold for the
> Xaxis_Off_Pointing flag. This flag is set true (and latched) if the
> pitch and/or yaw controller error (sum of squares) exceeds a
> threshold, or at start of PCPG or attitude profiles on the pitch or
> yaw axis.
>
> **ABACU214/5** This block telecommand is used to set or reset the
> Xaxis_Off_Pointing flag (see above). Note that the default threshold
> is zero, hence this flag is set until the threshold is set to an
> appropriate level, and this telecommand is used to clear the flag.
>
> **ABACU214/6** This new block telecommand is used to generate a pitch
> attitude profile. This profile is executed if the targeted pitch
> reference is below 2°, and no attitude profile is currently on going.
>
> **ABACU214/7** This new block telecommand is used to generate a yaw
> attitude profile. This profile is executed if the targeted yaw
> reference is below 2°, and no attitude profile is currently on going.

**ABACU215** General Mode command Unchanged, with clarifications.

This block telecommand is used to update mode specific \"infrequent\"
variables. The mode word has been extended to mode 5 (new CRP mode).

**ABACU216** The former PROS common function commands are now made
unvalid. The block telecommand is renamed unused.

**ABACU217** WDE Common Function Command

> **ABACU217/0** There is no change associated to that telecommand. This
> block telecommand is used to update the speed references for the
> reaction wheel speed loops. The main purpose of this telecommand is to
> assign required speeds (and hence required momentum) to the reaction
> wheels at ESR exit.
>
> **ABACU217/1** There is no change associated to that telecommand. This
> block telecommand is used to update the maximum torque level that the
> reaction wheel speed control loops use to decelerate the wheels.
>
> **ABACU217/2** This new block telecommand is used to execute the CRS
> drift estimation algorithms. This command is only relevant to RMW and
> NM modes.
>
> **ABACU217/3** This new block telecommand is used to update the CRS
> drift compensation delta value. This command can be send in CRP, RMW,
> NM modes.
>
> **ABACU217/4** This new block telecommand is used to authorise the Hx
> computation and monitoring functions inside the AOCS S/W. This command
> can be send in CRP, RMW, NM modes. This command can not be send in
> stand-by mode.

**ABACU218** General Common Function Command Unchanged, with
clarifications

This block telecommand is used to update common function specific
\"infrequent\" variables. The telecommand updates the current values so
the effect is immediate. Common functions now includes the attitude
profile and the momentum (Hx, CRS) common functions.

**ABACU219** Set PCPG task parameter Unchanged

## Gyroless Expected TM states

This section presents the expected states for many gyroless digital
telemetries (not the one found useless), so as to enable FOT to monitor
these TM efficiently. Note that analog TM, being covered by SDB limits,
are not treated here.

Of course, only nominal scenario is envisaged here. Many of these states
would have to be reviewed in case of reconfiguration on back‑up
equipments.

For each listed TM, the expected value is given in upper case. Lower
case indications shall be interpreted as guideline for knowing what
value is expected.

A column labeled \"CRIT\" gives a criticity flag. One star flags
critical TM\'s and two stars flag very critical TM\'s. These criticity
levels mean that the more critical the TM is, the more severe the
anomaly (affecting this TM) can be.

Note: this section supersedes the user's manual AOCS expected TM states
definition (Part 12 - section 3 -- AOCS expected TM).

The TM state is defined for following modes: CRP, RMW and NM. The list
of all \"AOCS related\" telemetries has been divided into 4 TM sets
named AOCS_always, AOCS_CRP, AOCS_RMW and AOCS_NM.

The following table indicates for each mode which version of the four
sets shall be considered.

  ------------------- ---------------------------------------------------
  **AOCS MODE**       **TM expected states**

  **CRP**             AOCS_CRP + AOCS_Always

  **RMW**             AOCS_RMW + AOCS_Always

  **NM**              AOCS_NM + AOCS_Always
  ------------------- ---------------------------------------------------

+---------+-------------------------+-------------+-----+-------------+
| E       |                         |             |     |             |
| XPECTED |                         |             |     |             |
| TE      |                         |             |     |             |
| LEMETRY |                         |             |     |             |
| STATUS  |                         |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| **TM    | **AOCS_Always**         |             |     |             |
| set:**  |                         |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| **U     | **ALWAYS, for any       |             |     |             |
| SAGE:** | gyroless modes**        |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| **MNE   | **NAME**                | **EXPECTED  | **  | **COMMENT** |
| MONIC** |                         | VALUE**     | CRI |             |
|         |                         |             | T** |             |
+---------+-------------------------+-------------+-----+-------------+
| **ACU A |                         |             |     |             |
| st      |                         |             |     |             |
| atus:** |                         |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| ASACA   | ACU A STATUS            | ON          | \   |             |
|         |                         |             | *\* |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | NON REC ERROR COUNTER   | Counter     | \*  |             |
| AACSNRE |                         | shouldn\'t  |     |             |
|         |                         | increase    |     |             |
|         |                         | nor         |     |             |
|         |                         | wrap-around |     |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | RECOVERABLE ERROR       | Counter     | \*  |             |
| AACSREC | COUNTER                 | shouldn\'t  |     |             |
|         |                         | increase    |     |             |
|         |                         | nor         |     |             |
|         |                         | wrap-around |     |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | CAUSE OF COMPUTER RESET | POWER RST   |     |             |
| AACSRST |                         |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | RESET DETECT            | NO RESET    |     |             |
| AASWRST |                         |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | ACU ERROR i CODE        | 0000h       | \*  |             |
| AERR1CD |                         |             |     |             |
| to      |                         |             |     |             |
|         |                         |             |     |             |
| A       |                         |             |     |             |
| AERR8CD |                         |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | ACU ERROR i DATE        | 0           |     |             |
| AERR1DT |                         |             |     |             |
| to      |                         |             |     |             |
|         |                         |             |     |             |
| A       |                         |             |     |             |
| AERR8DT |                         |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | 1750 BITE STATUS        | NO BITE ERR | \*  |             |
| AFTBITE |                         |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| AAFTDT  | FAULT REGISTER DATATION | 0           |     |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | ILLEGAL ADDRESS FAULT   | NO ILAD ERR | \*  |             |
| AFTILAD |                         |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | ILLEGAL INSTRUCTION     | NO ILINS    | \*  |             |
| AFTILIN | FAULT                   | ERR         |     |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | MEMORY PARITY ERROR     | PARITY OK   |     |             |
| AFTMPAR |                         |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | WATCHDOG TIMER STATUS   | NO WDOG ERR | \*  |             |
| AFTWDOG |                         |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | MACS ERROR DATATION     | 0           |     |             |
| AMERRDT |                         |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| [A      | MACS ERROR COUNT        | 0           | \*  |             |
| AMERRN] |                         |             |     |             |
| {.mark} |                         |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | PARITY ERROR DATATION   | 0           |     |             |
| AMPARDT |                         |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| AAMPARN | MEMORY PARITY ERROR     | 0           |     |             |
|         | COUNT                   |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | RAM FAILURE COUNT       | 0           |     |             |
| ARAMFAI |                         |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| AATCEDT | TC FAIL DATATION        | 0           |     |             |
+---------+-------------------------+-------------+-----+-------------+
| AATCEN  | TC ERROR COUNT          | 0           | \*  |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | n-th LAST TC ERROR CODE | shouldn\'t  |     | compare     |
| ATCERR1 |                         | change      |     | with        |
| to      |                         |             |     | previous    |
|         |                         |             |     |             |
| A       |                         |             |     | value       |
| ATCERRA |                         |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | WATCHD ERR DATATION     | 0           |     |             |
| AWDOGDT |                         |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| AAWDOGN | WATCHDOG TIMEOUT COUNT  | 0           | \*  |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | ACU A:PAR. ERR. FLAG    | MPE LATCH   |     |             |
| SACCPCA | LATCH CLEAR             |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | ACU A:WATCHDOG ERR      | WTO LATCH   |     |             |
| SACCTCA | LATCH FLAG              |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | ACU A:PROC. DMA FLAG    | DMA NOT     |     | may be      |
| SACDMAA |                         | ACK.        |     | transiently |
|         |                         |             |     |             |
|         |                         |             |     | DMA ACK.    |
+---------+-------------------------+-------------+-----+-------------+
| A       | ACU A:MEM PARITY ERR    | 0           |     |             |
| SACMPAA | ADDRESS                 |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | ACU A:MEM PARITY        | NO MPE/SEU  | \*  |             |
| SACMPSA | ERR/SEU FLAG            |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | ACU A:PROC. NORMAL      | NPU OK      |     |             |
| SACNPUA | POWER UP FLAG           |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | ACU A:PROC. START UP    | SURE OFF    |     |             |
| SACSURA | ROM FLAG                |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | ACU A:PROC RESET UPON   | RES(MPE)    |     |             |
| SACTCPA | SEU EVENT               | ENA         |     |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | ACU A:PROC RESET UPON   | RES(WTO)    |     |             |
| SACTCTA | TIME-OUT                | ENA         |     |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | ACU A:WATCHDOG TIMER    | NO WTO ERR  | \*  |             |
| SACWTEA | ERR FLAG                |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| AKPCMST | PAYLOAD CALIB MANOEUVRE | ENDED       |     | Except if   |
| or      | ST                      |             |     | the ground  |
|         |                         |             |     |             |
| AKPCM34 |                         |             |     | has         |
|         |                         |             |     | initiated a |
|         |                         |             |     | PCPG.       |
|         |                         |             |     |             |
|         |                         |             |     | Valid TM    |
|         |                         |             |     | depend on   |
|         |                         |             |     |             |
|         |                         |             |     | TM type (A  |
|         |                         |             |     | MDSTMP)     |
+---------+-------------------------+-------------+-----+-------------+
| A       | MODE TRANSITION STATE   | NO TRANSIT  |     | Except      |
| KMDSTRP |                         |             |     | during mode |
|         |                         |             |     |             |
|         |                         |             |     | transition  |
+---------+-------------------------+-------------+-----+-------------+
| ASAC05A | Mode Relay 5 A          | OFF         | \*  | To reboot   |
|         |                         |             |     | in IAM in   |
|         |                         |             |     | case of ACU |
|         |                         |             |     | reset       |
+---------+-------------------------+-------------+-----+-------------+
| A       | ACU TM Packet Type      | 2           |     | Unless      |
| KMDSTMP |                         |             |     | another TM  |
|         |                         |             |     | packet is   |
|         |                         |             |     | selected    |
+---------+-------------------------+-------------+-----+-------------+
| AKHWCNF | Hardware Configuration  | 3458 hex    | \   |             |
|         | Word                    |             | *\* |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | TELEMETRY PACKET TYPE   | GYROLESS TM |     | Gyroless    |
| KMDSTMF |                         |             |     | Telemetry   |
+---------+-------------------------+-------------+-----+-------------+

  -------------- -------------------------- -------------- ---------- --------------
  **MNEMONIC**   **NAME**                   **EXPECTED     **CRIT**   **COMMENT**
                                            VALUE**                   

  **ACU B                                                             
  status:**                                                           

  ASACB          ACU B STATUS               OFF            \*         

  ASAC01B        Mode Relay 1 B             OFF            \*         

  ASAC02B        Mode Relay 2 B             OFF            \*         

  ASAC03B        Mode Relay 3 B             OFF            \*         

  ASAC04B        Mode Relay 4 B             OFF            \*         

  ASAC05B        Mode Relay 5 B             ON             \*         

  ASACCPCB       ACU B:PAR. ERR. FLAG LATCH don\'t care               since ACU B is
                 CLEAR                                                off

  ASACCTCB       ACU B:WATCHDOG ERROR LATCH don\'t care               since ACU B is
                 FLAG                                                 off

  ASACDMAB       ACU B:PROC. DMA FLAG       don\'t care               since ACU B is
                                                                      off

  ASACMPAB       ACU B:MEM PARITY           don\'t care               since ACU B is
                 ERR/ADDRESS                                          off

  ASACMPSB       ACU B:MEM PARITY ERR/SEU   don\'t care               since ACU B is
                 FLAG                                                 off

  ASACNPUB       ACU B:PROC. NORMAL POWER   don\'t care               since ACU B is
                 UP FLAG                                              off

  ASACSURB       ACU B:PROC. START UP ROM   don\'t care               since ACU B is
                 FLAG                                                 off

  ASACTCPB       ACU B:PROC. RESET UPON SEU don\'t care               since ACU B is
                 EVENT                                                off

  ASACTCTB       ACU B:PROC. RESET UPON     don\'t care               since ACU B is
                 TIME-OUT                                             off

  ASACWTEB       ACU B:WATCHDOG TIMER ERR   don\'t care               since ACU B is
                 FLAG                                                 off

  **CAE                                                               
  status:**                                                           

  ASCAA          CAE A STATUS               ON                        

  ASCAB          CAE B STATUS               OFF            \*         

  **IRU                                                               
  powering**                                                          

  ASGYA          IRU A STATUS LINE 1        OFF            \*         No gyro used

  ASGYC          IRU A STATUS LINE 2        OFF            \*         No gyro used

  ASGYB          IRU B STATUS LINE 1        OFF            \*         No gyro used

  ASGYD          IRU B STATUS LINE 2        OFF            \*         No gyro used

  ASGYE          IRU C STATUS LINE 1        OFF            \*         No gyro used

  ASGYG          IRU C STATUS LINE 2        OFF            \*         No gyro used

  AKIRUST        IRU STATUS                 Don\'t care               No gyro used

  ASIR01A        IRUA MACS bus              DISAB                     No gyro used
                 enabled/disabled                                     

  ASIR01B        IRUB MACS bus              DISAB                     No gyro used
                 enabled/disabled                                     

  ASIR01C        IRUC MACS bus              DISAB                     No gyro used
                 enabled/disabled                                     

  **COBS                                                              
  Settings**                                                          

  KK01CM01       AOCS TM PACKET ACQ.CHANNEL APACOIA                   

  KK0lCM42       TOGGLE BIT OF AOCS.BC      ASACG1A                   
                 ACQ.CHAN                                             

  KK0lML03       BLOCK HEADER FOR ACU       AZAC01A                   
                 CMD.CHAN                                             

  KK0lML04       BLOCK DATA FOR ACU         AZAC02A                   
                 CMD.CHAN                                             

  KK01WGYS       GYRO SETTING E/ I STATUS   INHIBIT        \*         
                 AT WARM                                              

  KK01WTSF       TROUBLE-SHOOT E/ I STATUS  INHIBIT        \*         
                 AT WARM                                              

  KK01WGYM       GYRO MON E/I STATUS AT     INHIBIT        \*         
                 WARM                                                 

  KK01WISA       ISA & SAD SEQ E/I STAT. AT INHIBIT        \*         
                 WARM                                                 

  KK01WRAA       RAAD MONIT E/ I STATUS AT  INHIBIT        \*         
                 WARM                                                 

  KK01WESR       ESR DETECTION E/I STATUS   INHIBIT                   
                 AT WARM                                              

  KK01WHN0       HGA NOM CTRL E/I STATUS AT INHIBIT                   
                 WARM                                                 

  KK01WHSK       HGA STAT.KEEP E/I STATUS   INHIBIT                   
                 AT WARM                                              

  KK01WTHR       THRUSTERS MON E/I STATUS   INHIBIT                   
                 AT WARM                                              

  KK01XESR       EXEC PROFILE OF ESR        3FF hex                   runs every
                 DETECTION                                            second

  KK01XHNO       EXEC PROFILE OF HGA NOM    Not null                  
                 CTRL                                                 

  KK01XHSK       EXEC PROFILE OF HGA        3FF hex                   runs every
                 STAT-KEEP.                                           second

  KK01XTHR       EXEC PROFILE OF THRUSTERS  Not null                  
                 MONIT                                                

  KIK01XGYS      EXEC PROFILE OF GYRO       Don't care                To be deleted
                 SETTING                                              

  KK01XTSF       EXEC PROFILE OF            Don't care                To be deleted
                 TROUBLE-SHOOT                                        

  KK01XGYM       EXEC PROFILE OF GYRO MONIT Don't care                To be deleted

  KK01XISA       EXEC PROFILE OF ISA AND    Don't care                To be deleted
                 SAD SEQ.                                             

  KK01XRAA       EXEC PROFILE OF RAAD MONIT Don't care                To be deleted

  KK17A1E        GYRO MON:E/I ST. OF GYRO A INHIBIT                   
                 THR 1                                                

  KK17A2E        GYRO MON:E/I ST. OF GYRO A INHIBIT                   
                 THR 2                                                

  KK17B1E        GYRO MON: E/I ST. OF GYRO  INHIBIT                   
                 B THR 1                                              

  KK17B2E        GYRO MON: E/I ST. OF GYRO  INHIBIT                   
                 B THR 2                                              

  KK17C1E        GYRO MON: E/I ST. OF GYRO  INHIBIT                   
                 C THR 1                                              

  KK17C2E        GYRO MON: E/I ST. OF GYRO  INHIBIT                   
                 C THR 2                                              

  KK17FA1        GYRO MON:FILTER FOR GYRO A 3                         
                 THR 1                                                

  KK17FA2        GYRO MON:FILTER FOR GYRO A 3                         
                 THR 2                                                

  KK17FB1        GYRO MON:FILTER FOR GYRO B 3                         
                 THR 1                                                

  KK17FB2        GYRO MON:FILTER FOR GYRO B 3                         
                 THR 2                                                

  KK17FC1        GYRO MON:FILTER FOR GYRO C 3                         
                 THR 1                                                

  KK17FC2        GYRO MON:FILTER FOR GYRO C 3                         
                 THR 2                                                

  KK17TA1        GYRO MON:MAX THRESH.GYRO A 123 hex                   
                 THR                                                  

  KK17TA2        GYRO MON:MAX THRESH.GYRO A 1D hex                    
                 THR 2                                                

  KK17TB1        GYRO MON:MAX THRESH.GYRO B 123 hex                   
                 THR 1                                                

  KK17TB2        GYRO MON:MAX THRESH.GYRO B 1D hex                    
                 THR 2                                                

  KK17TC1        GYRO MON:MAX THRESH.GYRO C 123 hex                   
                 THR 1                                                

  KK17TC2        GYRO MON:MAX THRESH.GYRO C 1D hex                    
                 THR 2                                                

  KKAFES00       HGA STATION-KEEPING        HG.ST.IN                  Except during
                 ENA/INH                                              wide roll
                                                                      maneuvers

  KKAFES01       ESR WARNING FLAG ENA/INH   ESR.W.EN       \*         

  KKAFES02       GYRO SETTING AT ESR        GY.ST.IN       \*         
                 ENA/INH                                              

  KKAFES03       ESR DETECTON ENAIINH       ESR.D.EN       \*         

  KKAFES05       FREE PROCSS ENA/INH        FRE.P.IN       \*         

  KKAFES06       GYRO MONITORING ENA/INH    GY.MO.IN       \*         

  KKAFES08       HGA NOMINAL CONTROL        HG.NO.EN                  Except during
                 ENA/INH                                              wide roll
                                                                      maneuvers

  KKAFES0A       ISA AND SAD ENA/INH        ISA.INH        \*         

  KKAFES0C       RAAD MONITORING ENA/INH    RAAD.INH       \*         

  KKAFES0D       FDE STARTUP FUNCTION       FDE.INH                   
                 ENA/INH                                              

  KKAFES0E       STANDARD MONITORING        ST.MO.EN       \*         
                 ENA/INH                                              

  KKBKRA0C       OBDH B.C. REJECT COUNTER   0                         
                 (AOCS)                                               

  KKAFES15       THRUSTER MONITORING        THRUS.IN                  Enabled during
                 ENA/INH                                              Station
                                                                      Keeping /
                                                                      Momentum
                                                                      Management
                                                                      operations

  KKCAEI01       GYRO MONIT C.A. EN/INH     Don\'t care               TM point has
                                                                      been deleted

  KKCATR01       GYRO. MONIT C.A. TRIG FLAG GYR NOT TRIG   \*         

  KKCAEI03       STD MONIT: TT59 CA EN/INH  TT59 CA EN                CAE temp.
                                                                      monitoring

  KKCATR03       STD MONIT: TT59 CA TRIG    TT59 NOTRIG    \*         CAE temp.
                 FLAG                                                 monitoring

  KKCAE129       THRUSTER MONIT CA EN/INH   THRUST CA IN              Enabled during
                                                                      Station
                                                                      Keeping /
                                                                      Momentum
                                                                      Management
                                                                      operations

  KKCATR29       THRUSTER MONIT CA TRIG     THRUST NOTRI   \*         
                 FLAG                                                 
  -------------- -------------------------- -------------- ---------- --------------

+---------+-------------------------+-------------+-----+-------------+
| **MNE   | **NAME**                | **EXPECTED  | **  | **COMMENT** |
| MONIC** |                         | VALUE**     | CRI |             |
|         |                         |             | T** |             |
+---------+-------------------------+-------------+-----+-------------+
| **FDE** |                         |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| ASFD01  | Roll Attitude Anomaly   | DISAB       |     |             |
|         | enabled                 |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| ASFD02  | Roll Rate Anomaly       | DISAB       |     |             |
|         | enabled                 |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| ASFD03  | Pressure Anomaly        | DISAB       |     |             |
|         | enabled                 |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| ASFD04  | FSPAAD and TOD enabled  | ENAB        | \*  |             |
+---------+-------------------------+-------------+-----+-------------+
| ASFD05  | TOD MANUAL FORCING      | FORCED      | \   |             |
|         |                         |             | *\* |             |
+---------+-------------------------+-------------+-----+-------------+
| ASFD06  | CSPAAD enabled          | ENAB        |     |             |
+---------+-------------------------+-------------+-----+-------------+
| ASFD07  | SELECTED IRU            | don\'t care |     |             |
+---------+-------------------------+-------------+-----+-------------+
| ASFD08  | ARO / ESR enabled       | ENAB        | \*  |             |
+---------+-------------------------+-------------+-----+-------------+
| ASFD09  | ARO / ESR initiated     | NOT INIT    |     |             |
+---------+-------------------------+-------------+-----+-------------+
| ASFD10  | Power 1 overridden      | OVRD1 ON    |     |             |
+---------+-------------------------+-------------+-----+-------------+
| ASFD11  | Power 2 overridden      | OVRD2 ON    |     |             |
+---------+-------------------------+-------------+-----+-------------+
| ASFD12  | Power(Sep Switchl)      | OFF         |     |             |
|         | enabled                 |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| ASFD13  | Power(Sep Switch2)      | ON          | \*\ |             |
|         | enabled                 |             | *\* |             |
+---------+-------------------------+-------------+-----+-------------+
| ASFD14  | SELECTED IRU GAIN       | LOW         | \   |             |
|         |                         |             | *\* |             |
+---------+-------------------------+-------------+-----+-------------+
| ASFD17  | ESR Roll Control        | DISAB       | \   |             |
|         | enabled                 |             | *\* |             |
+---------+-------------------------+-------------+-----+-------------+
| ASFD18  | ARO power enabled       | ENAB        | \*  |             |
+---------+-------------------------+-------------+-----+-------------+
| ASFD19  | ARO / ESR Arm initiated | NOT ARMED   |     |             |
+---------+-------------------------+-------------+-----+-------------+
| [A      | [RAAD THRESHOLD (LOW    | [157        | [\  | [RAAD not   |
| SFD51L] | GAIN)]{.mark}           | ,4°]{.mark} | *]{ | u           |
| {.mark} |                         |             | .ma | sed]{.mark} |
|         |                         |             | rk} |             |
+---------+-------------------------+-------------+-----+-------------+
| [A      | [RAAD THRESHOLD (HIGH   | [don\'t     | []{ | [RAAD not   |
| SFD51H] | GAIN)]{.mark}           | c           | .ma | u           |
| {.mark} |                         | are]{.mark} | rk} | sed]{.mark} |
+---------+-------------------------+-------------+-----+-------------+
| [A      | [RRAD THRESHOLD (LOW    | [1,5°/      | []{ | [RRAD not   |
| SFD52L] | GAIN)]{.mark}           | sec]{.mark} | .ma | u           |
| {.mark} |                         |             | rk} | sed]{.mark} |
+---------+-------------------------+-------------+-----+-------------+
| [A      | [RRAD THRESHOLD (HIGH   | [don\'t     | []{ | [RRAD not   |
| SFD52H] | GAIN)]{.mark}           | c           | .ma | u           |
| {.mark} |                         | are]{.mark} | rk} | sed]{.mark} |
+---------+-------------------------+-------------+-----+-------------+
| ASFD56  | Anomaly type detector   | NO ANOMALY  | \   |             |
|         |                         |             | *\* |             |
+---------+-------------------------+-------------+-----+-------------+
| ASFD61  | Roll Attitude Anomaly   | NOT DETECT  |     | RAAD not    |
|         | detected                |             |     | used - RAAD |
|         |                         |             |     | shall be    |
|         |                         |             |     | cleared     |
|         |                         |             |     | upon Yellow |
|         |                         |             |     | limit       |
|         |                         |             |     | detection   |
|         |                         |             |     | [on         |
|         |                         |             |     | ASF         |
|         |                         |             |     | D58]{.mark} |
+---------+-------------------------+-------------+-----+-------------+
| ASFD62  | Roll Rate Anomaly       | NOT DETECT  |     | RRAD not    |
|         | detected                |             |     | used        |
+---------+-------------------------+-------------+-----+-------------+
| ASFD63  | Pressure Anomaly        | NOT DETECT  |     | PAD not     |
|         | detected                |             |     | used        |
+---------+-------------------------+-------------+-----+-------------+
| ASFD64  | FSPAA detected          | NOT DETECT  | \   |             |
|         |                         |             | *\* |             |
+---------+-------------------------+-------------+-----+-------------+
| ASFD65  | TOD COUNTER STATUS      | TIME OUT    | \   |             |
|         |                         |             | *\* |             |
+---------+-------------------------+-------------+-----+-------------+
| ASFD66  | CSPAA detected          | NOT DETECT  |     |             |
+---------+-------------------------+-------------+-----+-------------+
| ASFD67  | ESR activated           | NO ESR      | \   |             |
|         |                         |             | *\* |             |
+---------+-------------------------+-------------+-----+-------------+
| ASFD68  | ARO activated           | NO ARO      | \   |             |
|         |                         |             | *\* |             |
+---------+-------------------------+-------------+-----+-------------+
| ASFD69  | SAS 1 Sun Presence      | DETECTED    | \*  |             |
|         | detected                |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| ASFD70  | FCV drive monitor       | OFF         |     |             |
+---------+-------------------------+-------------+-----+-------------+
| **R     |                         |             |     |             |
| eaction |                         |             |     |             |
| W       |                         |             |     |             |
| heels** |                         |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| ASWD1   | WDE1 STATUS             | ON          |     |             |
+---------+-------------------------+-------------+-----+-------------+
| ASWD2   | WDE2 STATUS             | ON          |     |             |
+---------+-------------------------+-------------+-----+-------------+
| ASWD3   | WDE3 STATUS             | ON          |     |             |
+---------+-------------------------+-------------+-----+-------------+
| ASWD4   | WDE4 STATUS             | OFF         |     |             |
+---------+-------------------------+-------------+-----+-------------+
| AKWDST1 | WHEEL 1 STATUS          | CW or ACW   | \*  | Valid TM    |
| or      |                         |             |     | depends on  |
|         |                         |             |     |             |
| A       |                         |             |     | TM type(    |
| KlWDV34 |                         |             |     | KMDSTMP)    |
+---------+-------------------------+-------------+-----+-------------+
| AKWDST2 | WHEEL 2 STATUS          | CW or ACW   | \*  | [Valid TM   |
| or      |                         |             |     | depends     |
|         |                         |             |     | on]{.mark}  |
| A       |                         |             |     |             |
| K2WDV34 |                         |             |     | [TM type(   |
|         |                         |             |     | KMDST       |
|         |                         |             |     | MP)]{.mark} |
+---------+-------------------------+-------------+-----+-------------+
| AKWDST3 | WHEEL 3 STATUS          | CW or ACW   | \*  | [Valid TM   |
| or      |                         |             |     | depends     |
|         |                         |             |     | on]{.mark}  |
| A       |                         |             |     |             |
| K3WDV34 |                         |             |     | [TM type(   |
|         |                         |             |     | KMDST       |
|         |                         |             |     | MP)]{.mark} |
+---------+-------------------------+-------------+-----+-------------+
| AKWDST4 | WHEEL 4 STATUS          | CW or ACW   | \*  | [Valid TM   |
| or      |                         |             |     | depends     |
|         |                         |             |     | on]{.mark}  |
| A       |                         |             |     |             |
| K4WDV34 |                         |             |     | [TM type(   |
|         |                         |             |     | KMDST       |
|         |                         |             |     | MP)]{.mark} |
+---------+-------------------------+-------------+-----+-------------+
| ASWD61  | Overspeed Trip Status   | NORMAL      | \*  |             |
|         | Channell                |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| ASWD62  | Overspeed Trip Status   | NORMAL      | \*  |             |
|         | Channel2                |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| ASWD63  | Overspeed Trip Status   | NORMAL      | \*  |             |
|         | Channe13                |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| ASWD64  | Overspeed Trip Status   | NORMAL      |     |             |
|         | Channel4                |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| K       | STD MONIT: TT63 CA      | TT63 CA EN  |     | WDE temp.   |
| KCAEI04 | EN/INH                  |             |     | monitoring  |
+---------+-------------------------+-------------+-----+-------------+
| K       | STD MONIT: ATWD01 CA    | ATWD01 CA   | \*  | WDE temp.   |
| KCAEI0D | EN/INH                  | EN          |     | monitoring  |
+---------+-------------------------+-------------+-----+-------------+
| K       | STD MONIT: ATWD02 CA    | ATWD02 CA   | \*  | WDE temp.   |
| KCAEI0E | EN/INH                  | EN          |     | monitoring  |
+---------+-------------------------+-------------+-----+-------------+
| K       | STD MONIT: ATWD03 CA    | ATWD03 CA   | \*  | WDE temp.   |
| KCAEI0F | EN/INH                  | EN          |     | monitoring  |
+---------+-------------------------+-------------+-----+-------------+
| K       | STD MONIT: ATWD04 CA    | ATWD04 CA   | \*  | WDE temp.   |
| KCAEI10 | EN/INH                  | EN          |     | monitoring  |
+---------+-------------------------+-------------+-----+-------------+
| K       | STD MONIT: TT63 CA TRIG | TT63 NOTRIG |     | WDE temp.   |
| KCATR04 | FLAG                    |             |     | monitoring  |
+---------+-------------------------+-------------+-----+-------------+
| K       | STD MONIT: ATWD01 CA    | ATWD01      |     | WDE temp.   |
| KCATR0D | TRIG FLAG               | NOTRG       |     | monitoring  |
+---------+-------------------------+-------------+-----+-------------+
| K       | STD MONIT: ATWD02 CA    | ATWD02      |     | WDE temp.   |
| KCATR0E | TRIG FLAG               | NOTRG       |     | monitoring  |
+---------+-------------------------+-------------+-----+-------------+
| K       | STD MONIT: ATWD03 CA    | ATWD03      |     | WDE temp.   |
| KCATR0F | TRIG FLAG               | NOTRG       |     | monitoring  |
+---------+-------------------------+-------------+-----+-------------+
| K       | STD MONIT: ATWD04 CA    | ATWD04      |     | WDE temp.   |
| KCATR10 | TRIG FLAG               | NOTRG       |     | monitoring  |
+---------+-------------------------+-------------+-----+-------------+

+---------+-------------------------+-------------+-----+-------------+
| **MNE   | **NAME**                | **EXPECTED  | **  | **COMMENT** |
| MONIC** |                         | VALUE**     | CRI |             |
|         |                         |             | T** |             |
+---------+-------------------------+-------------+-----+-------------+
| *       |                         |             |     |             |
| *FPSS** |                         |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| ASFPA   | FPSS1 STATUS            | ON          | \   |             |
|         |                         |             | *\* |             |
+---------+-------------------------+-------------+-----+-------------+
| ASFPB   | FPSS2 STATUS            | OFF         |     |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | FPSS VALIDITY WORD 1    | 1           |     | Not         |
| KFSSVL1 |                         |             |     | observable  |
|         |                         |             |     | if TM is    |
|         |                         |             |     |             |
|         |                         |             |     | in Low Rate |
+---------+-------------------------+-------------+-----+-------------+
| A       | FPSS VALIDITY WORD 2    | 1 or 3      |     | Not         |
| KFSSVL2 |                         |             |     | observable  |
|         |                         |             |     | if TM is    |
|         |                         |             |     |             |
|         |                         |             |     | in Low Rate |
+---------+-------------------------+-------------+-----+-------------+
| AKFSYSP | FPSS SUN PRESENCE Y     | SUN PRESENT | \   |             |
|         |                         |             | *\* |             |
+---------+-------------------------+-------------+-----+-------------+
| AKFSZSP | FPSS SUN PRESENCE Z     | SUN PRESENT | \   |             |
|         |                         |             | *\* |             |
+---------+-------------------------+-------------+-----+-------------+
| K       | STD MONIT: QTR24 CA     | QTR24 CA EN |     | FPSS temp.  |
| KCAEI16 | EN/INH                  |             |     | monitoring  |
+---------+-------------------------+-------------+-----+-------------+
| K       | STD MONIT: QTR25 CA     | QTR25 CA EN |     | FPSS temp.  |
| KCAEI17 | EN/INH                  |             |     | monitoring  |
+---------+-------------------------+-------------+-----+-------------+
| K       | STD MONIT: QTR24 CA     | QTR24       | \*  | FPSS temp.  |
| KCATR16 | TRIG FLAG               | NOTRIG      |     | monitoring  |
+---------+-------------------------+-------------+-----+-------------+
| K       | STCLMONIT: QTR25 CA     | QTR25       | \*  | FPSS temp.  |
| KCATR17 | TRIG FLAG               | NOTRIG      |     | Monitoring  |
+---------+-------------------------+-------------+-----+-------------+
| A       | FPSS ANOMALY            | NO FPSS     |     |             |
| AACSFPA |                         | ANOM        |     |             |
+---------+-------------------------+-------------+-----+-------------+
| **SSU** |                         |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| ASSSA   | SSU A STATUS            | ON          | \   |             |
|         |                         |             | *\* |             |
+---------+-------------------------+-------------+-----+-------------+
| ASSSB   | SSU B STATUS            | OFF         |     |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | SSU HEALTH STAT         | 0000h       | \*  | Valid TM    |
| KSSUHCS |                         |             |     | depends on  |
| or      |                         |             |     |             |
|         |                         |             |     | TM type     |
| A       |                         |             |     | (AKMDSTMP)  |
| KS34HCS |                         |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | SSU ERROR STATUS        | 00xxh       | \*  | Valid TM    |
| KSSUERR |                         |             |     | depends on  |
| or      |                         | NO ERROR    |     |             |
|         |                         |             |     | TM type     |
| A       |                         |             |     | (AKMDSTMP)  |
| KS34ERR |                         |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | SSU SEU DETECT          | NO SEU      | \   |             |
| KMDSSOP |                         |             | *\* |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | T SEU COUNT             | increasing  |     | Valid TM    |
| KSSUTSU |                         |             |     | depends on  |
| or      |                         |             |     |             |
|         |                         |             |     | TM type     |
| A       |                         |             |     | (AKMDSTMP)  |
| KSSUS34 |                         |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| K       | STD MONIT: TT20 CA      | TT20 CA EN  |     | SSU temp.   |
| KCAEI18 | EN/INH                  |             |     | monitoring  |
+---------+-------------------------+-------------+-----+-------------+
| K       | STD MONIT: TT21 CA      | TT21 CA EN  |     | SSU temp.   |
| KCAEI19 | EN/INH                  |             |     | monitoring  |
+---------+-------------------------+-------------+-----+-------------+
| K       | STD MONIT: TT20 CA TRIG | TT20 NOTRIG | \*  | SSU temp.   |
| KCATR18 | FLAG                    |             |     | monitoring  |
+---------+-------------------------+-------------+-----+-------------+
| K       | STD MONIT: TT21 CA TRIG | TT21 NOTRIG | \*  | SSU temp.   |
| KCATR19 | FLAG                    |             |     | monitoring  |
+---------+-------------------------+-------------+-----+-------------+
| K       | STD MONIT: AKMDSSOP CA  | SSUSEU CA   |     |             |
| KCAEI1A | EN/INH                  | EN          |     |             |
+---------+-------------------------+-------------+-----+-------------+
| K       | STD MONIT: AKMDSSOP CA  | SSUSEU CA   |     |             |
| KCAEI1B | EN/INH                  | EN          |     |             |
+---------+-------------------------+-------------+-----+-------------+
| K       | STD MONIT: AKMDSSOP CA  | SSUSEU      | \*  |             |
| KCATR1A | TRIG FLAG               | NOTRG       |     |             |
+---------+-------------------------+-------------+-----+-------------+
| K       | STD MONIT: AKMDSSOP CA  | SSUSEU      | \*  |             |
| KCATR1B | TRIG FLAG               | NOTRG       |     |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | SSU MODE STATUS         | FOxx hex    |     | Mode is     |
| KSSUMST |                         |             |     | Se          |
| or      |                         |             |     | arch/track. |
|         |                         |             |     |             |
| [AK     |                         |             |     | Valid TM    |
| S34MST] |                         |             |     | depends on  |
| {.mark} |                         |             |     |             |
|         |                         |             |     | TM type     |
|         |                         |             |     | (AKMDSTMP)  |
+---------+-------------------------+-------------+-----+-------------+
| A       | STAR i STATUS           | VALID       | \*  | where       |
| KSSUINi |                         |             |     | i=guide     |
| or      |                         |             |     | star        |
|         |                         |             |     |             |
| [AK     |                         |             |     | number, as  |
| S34INi] |                         |             |     | per         |
| {.mark} |                         |             |     |             |
|         |                         |             |     | AKSSUCSTor  |
|         |                         |             |     |             |
|         |                         |             |     | AKS34CTS.   |
|         |                         |             |     |             |
|         |                         |             |     | Valid TM    |
|         |                         |             |     | depends on  |
|         |                         |             |     |             |
|         |                         |             |     | TM type     |
|         |                         |             |     | (AKMDSTMP)  |
+---------+-------------------------+-------------+-----+-------------+
| A       | STAR j STATUS           | VALID or    |     | where j#i.  |
| KSSUINj |                         | FREE        |     |             |
| or      |                         |             |     | Valid TM    |
|         |                         |             |     | depends on  |
| [AK     |                         |             |     |             |
| S34INj] |                         |             |     | TM type     |
| {.mark} |                         |             |     | (AKMDSTMP)  |
+---------+-------------------------+-------------+-----+-------------+
| [AK     | ENABLE ROLL STEERING    | ENABLED     |     | Valid TM    |
| SSURSL] | LAW                     |             |     | depends on  |
| {.mark} |                         |             |     |             |
| or      |                         |             |     | TM type     |
|         |                         |             |     | (AKMDSTMP)  |
| AKRSL34 |                         |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | SSU SEU MONITOR         | ENABLED     |     | Valid TM    |
| KSSUMON |                         |             |     | depends on  |
| or      |                         |             |     |             |
|         |                         |             |     | TM type     |
| A       |                         |             |     | (AKMDSTMP)  |
| KS34MON |                         |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | MAPPING ENDED           | ENDED       |     | Valid TM    |
| KSSUMAP |                         |             |     | depends on  |
| or      |                         |             |     |             |
|         |                         |             |     | TM type(    |
| A       |                         |             |     | KMDSTMP)    |
| KS34MAP |                         |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | SLEW AUTHORIZED         | DISABLE     |     | Valid TM    |
| KSSUSLM |                         |             |     | depends on  |
| or      |                         |             |     |             |
|         |                         |             |     | TM type     |
| AKSLA34 |                         |             |     | (AKMDSTMP)  |
+---------+-------------------------+-------------+-----+-------------+
| A       | SSU AUTHORIZED          | don\'t care |     | Valid TM    |
| KSSUAUT |                         |             |     | depends on  |
| or      |                         |             |     |             |
|         |                         |             |     | TM type     |
| A       |                         |             |     | (AKMDSTMP)  |
| KS34AUT |                         |             |     |             |
+---------+-------------------------+-------------+-----+-------------+
| A       | ROLL ANOMALY            | NO ROLL     |     |             |
| AACSRLA |                         | ANOM        |     |             |
+---------+-------------------------+-------------+-----+-------------+

  ------------------- -------------------------- -------------- ---------- --------------
  **MNEMONIC**        **NAME**                   **EXPECTED     **CRIT**   **COMMENT**
                                                 VALUE**                   

  **[PROS]{.mark}**                                                        

  ASFVA               FCV A STATUS               OFF                       ON during
                                                                           Station
                                                                           Keeping /
                                                                           Momentum
                                                                           Management
                                                                           operations

  ASFVB               FCV B STATUS               OFF                       

  ASCHA               RCS HEAT. A STATUS         OFF                       ON during
                                                                           Station
                                                                           Keeping /
                                                                           Momentum
                                                                           Management
                                                                           operations

  ASCHB               RCS HEAT. B STATUS         ON             \*         Needed in case
                                                                           of ESR

  ASLVA               LV A STATUS                OFF                       Except
                                                                           transiently

  ASLVB               LV B STATUS                OFF                       

  ASLVAPOS            LATCHING VALVE A STATUS    CLOSED                    LVA is closed
                                                                           outside MM or
                                                                           SK operations

  ASLVBPOS            LATCHING VALVE B STATUS    CLOSED                    

  AKPRSST             PROS STATUS WORD           0                         
  ------------------- -------------------------- -------------- ---------- --------------

  -------------- -------------------------- -------------- ---------- ----------------- --------------
  **EXPECTED                                                                            
  TELEMETRY                                                                             
  STATUS**                                                                              

  **TM set:**    **AOCS-CRP**                                                           

  **USAGE:**     **CRP MODE**                                                           

  **MNEMONIC**   **NAME**                   **EXPECTED     **CRIT**   **COMMENT**       
                                            VALUE**                                     

  **Mode & HW                                                                           
  conf**                                                                                

  AKMDSACT       ACTIVE MODE NUMBER         CRP                                         

  AKMDSCOM       COMMANDED MODE NUMBER      COM CRP                                     

  ASAC01A        Mode Relay 1 A             ON                                          

  ASAC02A        Mode Relay 2A              OFF                                         

  ASAC03A        Mode Relay 3A              ON                                          

  ASAC04A        Mode Relay 4A              OFF                                         

  **Gyroless                                                                            
  Telemetry**                                                                           

  AKMDSCRP       CRP flag                   NOT DETECT                                  

  AKMDSHXF       HX flag                    NOT DETECT                                  

  AKGLEL1        Eligibility status for     ELIGIBLE                  [or not depending 
                 star 1                                               on desired        
                                                                      setting]{.mark}   

  AKGLEL2        Eligibility status for     ELIGIBLE                  [or not depending 
                 star 2                                               on desired        
                                                                      setting]{.mark}   

  AKGLEL3        Eligibility status for     ELIGIBLE                  [or not depending 
                 star 3                                               on desired        
                                                                      setting]{.mark}   

  AKGLEL4        Eligibility status for     ELIGIBLE                  [or not depending 
                 star 4                                               on desired        
                                                                      setting]{.mark}   

  AKGLEL5        Eligibility status for     ELIGIBLE                  [or not depending 
                 star 5                                               on desired        
                                                                      setting]{.mark}   

  AKGLHXFN       Hx function status         ENAB                                        

  AKGLPROF       Attitude profile status    NO                        Except during     
                                                                      attitude profile  
                                                                      in CRP            

  AKGLRRVF       CRP Roll Reference         VALID                                       
                 validity flag                                                          

  AKGLRAVF       CRS Roll Angle validity    VALID                                       
                 flag                                                                   

  AKSSUATM       [SSU                       CRS                                         
                 ATT-TELEM-FLAG]{.mark}                                                 

  AKSSUCSV       Control star validity flag VALID                                       

  KKGYRLES       Gyroless COBS functions    GYLES.ON                                    
                 Installed                                                              

                                                                                        

  KKAFES16       ACU Reset Monitoring       ACUR.EN                                     
                 ENA/INH                                                                

  KKAFES17       CRP Flag Monitoring        CRP.IN                                      
                 ENA/INH                                                                

  KKAFES18       RW Speed Monitoring        RWS.IN                                      
                 ENA/INH                                                                

  KKAFES19       Hx Flag Monitoring ENA/INH HX.EN                                       

  KKAFES1A       Experiment Off-pointing    OFFP.IN                                     
                 Warning Message ENA/INH                                                

                                                                                        

  KK01XACU       EXEC PROFILE OF ACU Reset  3FF hex                                     runs every
                 MONIT                                                                  second

  KK01XOFF       EXEC PROFILE OF            3FF hex                                     runs every
                 Off-pointing MONIT                                                     second

  KK01XCRP       EXEC PROFILE OF CRP MONIT  3FF hex                                     runs every
                                                                                        second

  KK01XRWS       EXEC PROFILE OF RW Speed   3FF hex                                     runs every
                 MONIT                                                                  second

  KK01XHX        EXEC PROFILE OF HX MONIT   3FF hex                                     runs every
                                                                                        second

                                                                                        

  KKCAEI2A       ACU Reset Monitoring C.A.  ACUR.CA.EN                                  
                 ENA/INH                                                                

  KKCAEI2B       CRP Flag Monitoring C.A.   CRP.CA.IN                                   
                 ENA/INH                                                                

  KKCAEI2C       RW Speed Monitoring C.A.   RWS.CA.IN                                   
                 ENA/INH                                                                

  KKCAEI2D       Hx Flag Monitoring C.A.    HX.CA.EN                                    
                 ENA/INH                                                                

                                                                                        

  KKCATR2A       ACU Reset Monitoring CA    ACUR.NOTRIG                                 
                 TRIG FLAG                                                              

  KKCATR2B       CRP Flag Monitoring CA     CRP. NOTRIG                                 
                 TRIG FLAG                                                              

  KKCATR2C       RW Speed Monitoring CA     RWS. NOTRIG                                 
                 TRIG FLAG                                                              

  KKCATR2D       Hx Flag Monitoring CA TRIG HX. NOTRIG                                  
                 FLAG                                                                   
  -------------- -------------------------- -------------- ---------- ----------------- --------------

  -------------- -------------------------- -------------- ---------- ------------- --------------
  **EXPECTED                                                                        
  TELEMETRY                                                                         
  STATUS**                                                                          

  **TM set:**    **AOCS-RMW**                                                       

  **USAGE:**     **RMW MODE**                                                       

  **MNEMONIC**   **NAME**                   **EXPECTED     **CRIT**   **COMMENT**   
                                            VALUE**                                 

  **Mode & HW                                                                       
  conf**                                                                            

  AKMDSACT       ACTIVE MODE NUMBER         RMW                                     

  AKMDSCOM       COMMANDED MODE NUMBER      COM RMW                                 

  ASAC01A        Mode Relay 1 A             OFF                                     

  ASAC02A        Mode Relay 2A              OFF                                     

  ASAC03A        Mode Relay 3A              ON                                      

  ASAC04A        Mode Relay 4A              OFF                                     

  **Gyroless                                                                        
  Telemetry**                                                                       

  AKMDSCRP       CRP flag                   NOT DETECT                              

  AKMDSHXF       HX flag                    NOT DETECT                              

  AKGLEL1        Eligibility status for     ELIGIBLE                  or not during 
                 star 1                                               MM or SK      
                                                                      manoeuvres    

  AKGLEL2        Eligibility status for     ELIGIBLE                  or not during 
                 star 2                                               MM or SK      
                                                                      manoeuvres    

  AKGLEL3        Eligibility status for     ELIGIBLE                  or not during 
                 star 3                                               MM or SK      
                                                                      manoeuvres    

  AKGLEL4        Eligibility status for     ELIGIBLE                  or not during 
                 star 4                                               MM or SK      
                                                                      manoeuvres    

  AKGLEL5        Eligibility status for     ELIGIBLE                  or not during 
                 star 5                                               MM or SK      
                                                                      manœuvres     

  AKGLHXFN       Hx function status         ENAB                                    

  AKGLPROF       Attitude profile status    NO                        Except during 
                                                                      attitude      
                                                                      profile in    
                                                                      CRP           

  AKGLRRVF       CRP Roll Reference         Don\'t care                             
                 validity flag                                                      

  AKGLRAVF       CRS Roll Angle validity    Don\'t care                             
                 flag                                                               

  AKSSUATM       [SSU                       SSU                                     
                 ATT-TELEM-FLAG]{.mark}                                             

  AKSSUCSV       Control star validity flag VALID                                   

  KKGYRLES       Gyroless COBS functions    GYLES.ON                                
                 Installed                                                          

                                                                                    

  KKAFES16       ACU Reset Monitoring       ACUR.EN                                 
                 ENA/INH                                                            

  KKAFES17       CRP Flag Monitoring        CRP.EN                                  
                 ENA/INH                                                            

  KKAFES18       RW Speed Monitoring        RWS.EN                                  
                 ENA/INH                                                            

  KKAFES19       Hx Flag Monitoring ENA/INH HX.EN                                   

  KKAFES1A       Experiment Off-pointing    OFFP.IN                                 Or EN
                 Warning Message ENA/INH                                            depending on
                                                                                    experiments
                                                                                    requiremts

                                                                                    

  KK01XACU       EXEC PROFILE OF ACU Reset  3FF hex                                 runs every
                 MONIT                                                              second

  KK01XOFF       EXEC PROFILE OF            3FF hex                                 runs every
                 Off-pointing MONIT                                                 second

  KK01XCRP       EXEC PROFILE OF CRP MONIT  3FF hex                                 runs every
                                                                                    second

  KK01XRWS       EXEC PROFILE OF RW Speed   3FF hex                                 runs every
                 MONIT                                                              second

  KK01XHX        EXEC PROFILE OF HX MONIT   3FF hex                                 runs every
                                                                                    second

                                                                                    

  KKCAEI2A       ACU Reset Monitoring C.A.  ACUR.CA.EN                              
                 ENA/INH                                                            

  KKCAEI2B       CRP Flag Monitoring C.A.   CRP.CA.EN                               
                 ENA/INH                                                            

  KKCAEI2C       RW Speed Monitoring C.A.   RWS.CA.EN                               
                 ENA/INH                                                            

  KKCAEI2D       Hx Flag Monitoring C.A.    HX.CA.EN                                
                 ENA/INH                                                            

                                                                                    

  KKCATR2A       ACU Reset Monitoring CA    ACUR.NOTRIG                             
                 TRIG FLAG                                                          

  KKCATR2B       CRP Flag Monitoring CA     CRP. NOTRIG                             
                 TRIG FLAG                                                          

  KKCATR2C       RW Speed Monitoring CA     RWS. NOTRIG                             
                 TRIG FLAG                                                          

  KKCATR2D       Hx Flag Monitoring CA TRIG HX. NOTRIG                              
                 FLAG                                                               
  -------------- -------------------------- -------------- ---------- ------------- --------------

  -------------- -------------------------- -------------- ---------- ------------- --------------
  **EXPECTED                                                                        
  TELEMETRY                                                                         
  STATUS**                                                                          

  **TM set:**    **AOCS-NM**                                                        

  **USAGE:**     **NM MODE**                                                        

  **MNEMONIC**   **NAME**                   **EXPECTED     **CRIT**   **COMMENT**   
                                            VALUE**                                 

  **Mode & HW                                                                       
  conf**                                                                            

  AKMDSACT       ACTIVE MODE NUMBER         NM                                      

  AKMDSCOM       COMMANDED MODE NUMBER      COM NM                                  

  ASAC01A        Mode Relay 1 A             ON                                      

  ASAC02A        Mode Relay 2A              ON                                      

  ASAC03A        Mode Relay 3A              ON                                      

  ASAC04A        Mode Relay 4A              OFF                                     

  **Gyroless                                                                        
  Telemetry**                                                                       

  AKMDSCRP       CRP flag                   NOT DETECT                              

  AKMDSHXF       HX flag                    NOT DETECT                              

  AKGLEL1        Eligibility status for     ELIGIBLE                  or not        
                 star 1                                               depending on  
                                                                      desired       
                                                                      setting       

  AKGLEL2        Eligibility status for     ELIGIBLE                  or not        
                 star 2                                               depending on  
                                                                      desired       
                                                                      setting       

  AKGLEL3        Eligibility status for     ELIGIBLE                  or not        
                 star 3                                               depending on  
                                                                      desired       
                                                                      setting       

  AKGLEL4        Eligibility status for     ELIGIBLE                  or not        
                 star 4                                               depending on  
                                                                      desired       
                                                                      setting       

  AKGLEL5        Eligibility status for     ELIGIBLE                  or not        
                 star 5                                               depending on  
                                                                      desired       
                                                                      setting       

  AKGLHXFN       Hx function status         ENAB                                    

  AKGLPROF       Attitude profile status    NO                        Except during 
                                                                      attitude      
                                                                      profile in    
                                                                      CRP           

  AKGLRRVF       CRP Roll Reference         Don\'t care                             
                 validity flag                                                      

  AKGLRAVF       CRS Roll Angle validity    Don\'t care                             
                 flag                                                               

  AKSSUATM       [SSU                       SSU                                     
                 ATT-TELEM-FLAG]{.mark}                                             

  AKSSUCSV       Control star validity flag VALID                                   

  KKGYRLES       Gyroless COBS functions    GYLES.ON                                
                 Installed                                                          

                                                                                    

  KKAFES16       ACU Reset Monitoring       ACUR.EN                                 
                 ENA/INH                                                            

  KKAFES17       CRP Flag Monitoring        CRP.EN                                  
                 ENA/INH                                                            

  KKAFES18       RW Speed Monitoring        RWS.EN                                  
                 ENA/INH                                                            

  KKAFES19       Hx Flag Monitoring ENA/INH HX.EN                                   

  KKAFES1A       Experiment Off-pointing    OFFP.EN                                 
                 Warning Message ENA/INH                                            

                                                                                    

  KK01XACU       EXEC PROFILE OF ACU Reset  3FF hex                                 runs every
                 MONIT                                                              second

  KK01XOFF       EXEC PROFILE OF            3FF hex                                 runs every
                 Off-pointing MONIT                                                 second

  KK01XCRP       EXEC PROFILE OF CRP MONIT  3FF hex                                 runs every
                                                                                    second

  KK01XRWS       EXEC PROFILE OF RW Speed   3FF hex                                 runs every
                 MONIT                                                              second

  KK01XHX        EXEC PROFILE OF HX MONIT   3FF hex                                 runs every
                                                                                    second

                                                                                    

  KKCAEI2A       ACU Reset Monitoring C.A.  ACUR.CA.EN                              
                 ENA/INH                                                            

  KKCAEI2B       CRP Flag Monitoring C.A.   CRP.CA.EN                               
                 ENA/INH                                                            

  KKCAEI2C       RW Speed Monitoring C.A.   RWS.CA.EN                               
                 ENA/INH                                                            

  KKCAEI2D       Hx Flag Monitoring C.A.    HX.CA.EN                                
                 ENA/INH                                                            

                                                                                    

  KKCATR2A       ACU Reset Monitoring CA    ACUR.NOTRIG                             
                 TRIG FLAG                                                          

  KKCATR2B       CRP Flag Monitoring CA     CRP. NOTRIG                             
                 TRIG FLAG                                                          

  KKCATR2C       RW Speed Monitoring CA     RWS. NOTRIG                             
                 TRIG FLAG                                                          

  KKCATR2D       Hx Flag Monitoring CA TRIG HX. NOTRIG                              
                 FLAG                                                               
  -------------- -------------------------- -------------- ---------- ------------- --------------

## TC to be deleted

The following section presents the TC considered critical for the
satellite or no more used for gyroless operations that shall be deleted
from the operational database:

\- ACFD01 Enable RAAD

\- ACFD02 Enable RRAD

\- ACFD03 Enable PAD

\- ACFD17 Enable ESR roll controller

\- ABACU212 IRU common function

\- ABACU216 PROS common function

\- ACIR01A Enable MACS bus head Gyro A

\- ACIR01B Enable MACS bus head Gyro B

\- ACIR01C Enable MACS bus head Gyro C

\- KNAGYANN IRU A LCL 1 ON

\- KNAGYBNN IRU B LCL 1 ON

\- KNAGYENN IRU C LCL 1 ON

\- KNAGYCNN IRU A LCL 2 ON

\- KNAGYDNN IRU B LCL 2 ON

\- KNAGYGNN IRU C LCL 2 ON

# Gyroless PROCEDURES

## Introduction

The SOHO gyroless procedures consist in the following nominal
procedures:

ACU_SW_LOAD_IN_NM_GYROLESS (Refer to 6.11)

[PROFILE_IN_CRP_GYROLESS](../PROC_GL/PROFILE_IN_CRP_GYROLESS.XLS) (Refer
to 6.3)

[CRP_TO_RMW_GYROLESS](../PROC_GL/CRP_TO_RMW_GYROLESS.XLS) (Refer to 6.4)

[RMW_TO_CRP_GYROLESS](../PROC_GL/RMW_TO_CRP_GYROLESS.XLS) (Refer to 6.5)

[MM_SK_RMW_GYROLESS](../PROC_GL/MM_SK_IN_RMW_GYROLESS.XLS) (Refer to
6.6)

[PROFILE_IN_RMW_NM_GYROLESS](../PROC_GL/PROFILE_IN_RMW_NM_GYROLESS.XLS#A1)
(Refer to 6.7)

[RMW_TO\_ NM \_GYROLESS](../PROC_GL/RMW_TO_NM_GYROLESS.XLS) (Refer to
6.8)

[NM_TO\_ RMW \_GYROLESS](../PROC_GL/NM_TO_RMW_GYROLESS.XLS) (Refer to
6.9)

[ROUTINE_OPERATIONS_GYROLESS](../PROC_GL/ROUTINE_OPERATIONS_GYROLESS.XLS)
(Refer to 6.10)

In addition to these nominal procedures, the following contingency
procedures are provided:

[ESR_RECOVERY_GYROLESS](../PROC_GL/ESR_RECOVERY_GYROLESS.XLS) (Refer to
6.2)

[CRP_RECOVERY_GYROLESS](../PROC_GL/CRP_RECOVERY_GYROLESS.XLS) (Refer to
6.12)

## ESR_RECOVERY_GYROLESS

### Introduction

The ESR recovery procedure allows the initiation of ground based roll
control, identification of the origin of the reconfiguration, and
describes the transition from ESR mode back to CRP mode, including SSU
operations, COMS backup recovery, and HGA operations.

The main principle is to switch ON ACU A in SBM and check all necessary
units in ESR mode prior the transition back to CRP. After transition to
CRP mode, complementary operations such as SSU operations, COMS backup
recovery, ARTU reconfiguration are commanded.

### Constraints

Refer to section 3.3.4 for ESR constraints and sections 3.4.3 for ACU
Standby mode constraints.

### Procedure

The main phases of the procedure are:

In ESR mode, configuration check

Initial fault identification

Configure transponder 2 for ranging

Command ACU A mode relays to IAM

Command ACU B mode relays to SBM

Switch ON ACU B

Switch ON CAE B + CAE B in H/W configuration word

Ground roll control and yaw/pitch braking through ACU B - CAE B --
(ABACU201)

Switch ON FPSS A, FPSS A in H/W configuration word, check FPSS A (ground
TM verification -- MACS bus verification -- check SAS analog + digital
v.s. FPSS output)

Verify / Upload COBS gyroless software to CDMU A

TM collection -- fault identification

Re-authorize standard monitoring

Experiment safing

Set roll rate to +0.1 °/sec

Remove CAE B and FPSS A from H/W configuration word + switch OFF ACU B

Command ACU A mode relays to SBM

Configure COBS switchable channels for ACU A

Switch ON ACU A, in SBM + synchronize LOBT

Put FPSS A in H/W configuration word

Upload ACU gyroless software to ACU A, in SBM -- no CAE in H/W
configuration word

Check ACU A (ground TM verification)

Command ACU B mode relays to IAM

Switch ON CAE A + check (note: LVA closed, CBH A OFF) + CAE A in H/W
configuration word; check against FPSS A plot

Switch OFF CAE B

Switch ON RWs (1, 2, 3), RWs in H/W configuration word, spin up RWs and
check RWs (TM verification -- MACS bus verification)

Determine Roll rate (Rob^TM^) & compensate roll rate to less than 100
arcsec/sec and pitch and yaw rates to less than 40 arcsec / sec (RW
speed modification)

Transition to CRP mode + reactivate ESR detection

Verify / set COBS gyroless monitoring in CRP (ACU reset monitoring =
ENA, CRP flag monitoring = DIS, Hx flag monitoring = ENA, RW speeds
monitoring = DIS, Experiments off-pointing = DIS)

Close LV B and switch OFF FCV B

Switch ON CBH A

Switch ON SSUA, SSU A in H/W configuration word, SSU cooling, check SSU
A (TM verification)

Upload SSU patch

Pitch & Yaw FPSS off-pointing commanded to zero (see
PROFILE_IN_CRP_GYROLESS)

Command star mapping, download SSU data

Roll determination

Nominal roll attitude recovery (probable momentum management required)

ARTU, AOCS PDU reconfiguration to nominal

COMS back-up recovery, HGA orientation, HGA nominal operations,
transition to MR TM

CRP roll attitude daily drift compensation (if required)

Recovery to normal operations (CRP to RMW to NM)

## PROFILE_IN_CRP_GYROLESS 

### Introduction

The profile in CRP procedure allows to perform either roll, pitch or yaw
attitude trims, and large angle roll manoeuvres while being in CRP mode.

This procedure handles the interference with the roll attitude and the
telemetry source, if a large roll angle manoeuvre is commanded. For all
possible manoeuvres, the interference with the Hx monitoring function
and the RW speeds is also addressed.

### Constraints

Refer to section 3.5.8.

### Procedure

The main phases of the procedure are:

Verify ACU Hx flag enabled

Verify / set COBS gyroless monitoring in CRP (ACU reset monitoring =
ENA, CRP flag monitoring = DIS, Hx flag monitoring = ENA, RW speeds
monitoring = DIS, Experiments off-pointing monitoring = DIS)

If telemetry in low rate, leave in low rate

If telemetry is in high rate

Ensure RF budget sufficient to maintain high/medium rate telemetry

Load HGA station keeping table to maintain pointing during roll (for
roll \> 1°)

Transition to medium rate telemetry (for roll \> 1°)

Release stars that will leave the field of view during maneuvre

Update Hx min and max monitoring limits

Verify RW speeds / allowed range compatible with profile

Pitch or yaw:

Command profile in CRP

Roll:

Uplink delta angle for roll profile (max roll adjustment magnitude: 8
deg)

Check delta angle by ACU memory dump (optional)

Execute roll profile

Update Hx min and max monitoring limits

Command Star mapping, Download SSU data

Roll determination

Initialize roll TM offset

If more than 10° cumulative roll profile, send estimated drift from FDF.

## CRP_TO_RMW_GYROLESS 

### Introduction

The CRP to RMW procedure allows to perform the nominal CRP to RMW mode
transition.

This procedure cheks that the SSU patch is still active before exiting
CRP mode. Then stars are acquired and the transition to RMW takes place.
The RMW configuration is set and checked afterwards (monitoring, roll
attitude telemetry trim, \...).

### Constraints

Refer to section 3.5.8.

### Procedure

The main phases of the procedure are:

Verify ACU gyroless patch present and AOCS in CRP mode

Verify ACU Hx flag is enabled

Verify / set COBS gyroless monitoring (ACU reset monitoring = ENA, CRP
flag monitoring = DIS, Hx flag monitoring = ENA, RW speeds monitoring =
DIS, Experiments off-pointing monitoring = DIS)

Check SSU patch

SSU operations (mapping / new star acquisition / old star release /
eligibility)

Transition to RMW mode

Initialize roll TM offset

Verify / set COBS gyroless monitoring in RMW (ACU reset monitoring =
ENA, CRP flag monitoring = ENA, Hx flag monitoring = ENA, RW speeds
monitoring = ENA, Experiments off-pointing monitoring = DIS)

Initialize CRS drift

Restore FPSS pitch and yaw offsets

SSU operation (track many stars as possible, eligibility, trim RSL
offsets)

If telemetry is medium rate and no further large roll adjustments are
required:

Configure HGA for nominal operations (nominal table)

Transition to HR TM

## RMW_TO_CRP_GYROLESS 

### Introduction

The RMW to CRP procedure allows to perform the nominal RMW to CRP mode
transition.

This procedure cheks that the CRS will not operate in its dead band
before the CRP mode is commanded. The CRP monitoring configuration is
set and checked, then the transition to CRP takes place.

### Constraints

Refer to section 3.6.7.

### Procedure

The main phases of the procedure are:

Verify ACU gyroless patch present and AOCS in RMW mode

Verify ACU Hx flag is enabled

Verify / set COBS gyroless monitoring in CRP (ACU reset monitoring =
ENA, CRP flag monitoring = ENA, Hx flag monitoring = ENA, RW speeds
monitoring = ENA, Experiments off-pointing warning message monitoring =
DIS)

Update Hx limits (if required)

Verify RW speeds are sufficient to avoid CRS deadband

Disable CRP flag and RW speed monitoring

Transition to CRP mode

CRP routine operations (as required)

## MM_SK_RMW_GYROLESS 

### Introduction

This procedure allows to perform momentum management and delta V
manoeuvres. An option allows also to perform the maintenance operation
of the redundant reaction wheel.

This procedure sets and verify the necessary surveillances and
thresholds for the coming manoeuvre (identical for both manoeuvres), and
switches on the PROS catalyst bed heaters. When achieved, the star swap
is inhibited and the PROS is configured for actuaction. The Hx
monitoring function is disabled and the thrurster operations take place.
Reverse operations are performed at end of procedure. The order of these
action ensures security against thruster open failures.

### Constraints

Refer to section 3.6.7.

### Procedure

The main phases of the procedure are:

Verify ACU Hx flag and CRP flag are enabled

Verify / set COBS gyroless monitoring in RMW (ACU reset monitoring =
ENA, CRP flag monitoring = ENA, Hx flag monitoring = ENA, RW speeds
monitoring = ENA, Experiments off-pointing monitoring = DIS)

Enable Thruster on-time monitoring (= ENA)

Set adequate RW speed monitoring boundaries

Verify SSU telemetry is alive

Verify/switch ON CBH A

Set/verify staircase filter set to 5 and Z spike threshold is set to 125

Set all stars flagged "not eligible" for control (automatic switch over
of guide star disabled)

Switch ON FCV A

Check PROS A pressure + Verify / Open LV A

Disable Hx flag monitoring

Set/verify staircase filter set to 5 and Z spike threshold is set to 125

Momentum Management -- Station Keeping (ABACU201 commands)

Verify CRP flag and RW speed monitoring functions (not triggered)

Ground monitoring : Thruster actuations, RWs speeds evolution

RW4 management (option):

-   RW4 switch ON

-   Momentum management (RW2 to 0 rpm +/- 50 rpm)

-   RW4 swapped with RW2 in H/W configuration word

-   RW2 switch OFF

-   Momentum Management (ABACU201 command) to spin-up RW4 to 2000 rpm

-   Monitor RW4 (30 minutes)

-   Momentum Management (ABACU201 command) to despin RW4 to 0 rpm +/- 50
    rpm

-   RW2 switch ON

-   RW2 swapped with RW4 in H/W configuration word, RW4 switch OFF

-   Momentum Management (ABACU201 command) to restore nominal RW speeds

Enable Hx monitoring

Close LV A

Manoeuvre end (FCV A OFF, CBH A OFF)

SSU operation (eligibility)

Change RW speed monitoring boundaries

Disable Thruster on-time monitoring

Reinitialize CRS drift compensation

Verify / set COBS gyroless monitoring in RMW (ACU reset monitoring =
ENA, CRP flag monitoring = ENA, Hx flag monitoring = ENA, RW speeds
monitoring = ENA, Experiments off-pointing warning message monitoring =
DIS)

##  PROFILE_IN_RMW_NM_GYROLESS

### Introduction

The profile in RMW / NM procedure allows to perform either roll, pitch
or yaw attitude trims in both modes.

This procedure handles the interference with stars exiting the SSU field
of view, the RSL (if normal mode), and the experiment off pointing
monitoring function. The interference with the Hx monitoring function
and the RW speeds is also addressed.

### Constraints

Refer to section 3.6.7, 3.7.7 and 3.8.7.

### Procedure

The main phases of the procedure are:

Verify NO maneuver or profile in progress

Verify / set COBS gyroless monitoring in RMW / NM (ACU reset monitoring
= ENA, CRP flag monitoring = ENA, Hx flag monitoring = ENA, RW speeds
monitoring = ENA)

Verify / Disable Experiments off-pointing monitoring (= DIS) and
experiments prepared for maneuvre

Verify / Disable RSL

Optional: TM to MR (if required)

Optional: Select new guide star to remain in FOV during maneuver

Release SSU stars likely to exit the SSU FOV

Reinitialize Hx limits

Roll, pitch and yaw attitude profile manoeuvre in RMW (new ACU
telecommand)

Reinitialize Hx limits

Enable RSL (= ENA) if required in NM

Track additional stars (as required)

Enable Experiments off-pointing monitoring (= ENA) if required by
experiments

## RMW_TO_NM_GYROLESS 

### Introduction

The RMW to NM procedure allows to perform the nominal RMW to NM mode
transition. The RSL is activated, and the experiment off pointing
monitoring function might be started.

### Constraints

Refer to section 3.6.7.

### Procedure

The main phases of the procedure are:

Verify / set COBS gyroless monitoring in RMW (ACU reset monitoring =
ENA, CRP flag monitoring = ENA, Hx flag monitoring = ENA, RW speeds
monitoring = ENA, Experiments off-pointing warning message monitoring =
DIS \[TBC by experiment teams\])

If required, SSU operation (new star acquisition / old star release /
eligibility)

Transition to NM mode

Activate RSL

If required, SSU operation (new star acquisition / old star release /
eligibility)

Reset off- pointing flags

## NM_TO\_ RMW \_GYROLESS 

### Introduction

The NM to RMW procedure allows to perform the nominal NM to RMW mode
transition. The RSL is stopped, and the experiments might be safed.

### Constraints

Refer to section 3.7.7.

### Procedure

The main phases of the procedure are:

Verify / set COBS gyroless monitoring in NM (ACU reset monitoring = ENA,
CRP flag monitoring = ENA, Hx flag monitoring = ENA, RW speeds
monitoring = ENA, Experiments off-pointing warning message monitoring =
ENA as required by experiments)

If transition for thruster maneuver, switch CBH A ON

If required, SSU operation (new star acquisition / old star release /
eligibility)

Experiment safing

Deactivate RSL, Experiments off-pointing warning message (TBC by
experiment teams)

Transition to RMW mode

## ROUTINE_OPERATIONS_GYROLESS 

### Introduction

The routine operations allows to address all the actions to be performed
regularly (part linked to the activities impacted by the gyroless
operations), such as :

-   Handling of stars, asociated RSL activities

-   Update of CRS drift estimation

-   Hx and RW speed monitorings limits update

### Constraints

Refer to section 3.8.7.

### Procedure

The main phases of the procedure are:

SSU operations:

New star (search / track restricted)

Star release

Eligibility

Attitude trimming (ground)

RSL (NM), RSL offset, Roll TM offset

Hx limits : weekly basis

RW speeds limits : daily basis

CRS drift estimation.

ESR warning / Experiment off-pointing flag... upon experiment
reactivation

## ACU_SW_LOAD_IN_NM_GYROLESS 

Refer to [AD7: SOHO AOCS ACU Gyroless Update Technical
Note](../SUM_AD/ACU_SW_UPLOAD.DOC) (attached in ANNEX 9 - SOHO AOCS ACU
SOFTWARE GYROLESS UPDATE TECHNICAL NOTE).

## CRP_RECOVERY_GYROLESS 

### Introduction

The CRP recovery procedure allows to check that the CRP is working well
if a contingency fallback to CRP has been commanded by on board
protection, and the cause of the anomaly is investigated. The SSU sensor
is in particular trouble shooted. Upon SSU A check, the transition to
RMW is performed.

### Constraints

Refer to section 3.5.8.

### Procedure

The main phases of the procedure are:

Verify AOCS mode = CRP, LV A and B closed

Verify ACU Hx flag enabled

Verify COBS gyroless monitoring disabled (ACU reset monitoring = ENA,
CRP flag monitoring = DIS, Hx flag monitoring = ENA, RW speeds
monitoring = DIS, Experiments off-pointing warning message monitoring =
DIS)

Verify CRP convergence

Verify CRS compensation angle increases by the value of the CRS drift
delta value every 500 seconds

Identification of the origin of the CRP transition (CRP flag : no star
valid / RW speed) -- TM collection / analysis

Verify ARTU OK and reconfigure to nominal

Check SSU A

Verify SSU patches still present

Perform star mapping, dump star data, and determine absolute roll angle

Set guide star eligible

Transition to RMW

# Annex 1 -- COBS Gyroless Functions -- Software user's manual

# Annex 2 -- AOCS TM and TC INPUTS

# ANNEX 3 - GYROLESS PROCEDURES / STEPS

  --------- ----- ----------------------------------------------- ---------
  1               ESR RECOVERY                                    1

  2               ESR OPERATIONS                                  2

  3               CRP RECOVERY                                    3

  4               PROFILE IN CRP                                  4

  5               CRP TO RMW                                      5

  6               RMW TO CRP                                      6

  7               MM - SK IN RMW                                  7

  8               PROFILE IN RMW OR NM                            8

  9               RMW TO NM                                       9

  10              NM TO RMW                                       10

  11              ROUTINE OPERATIONS                              11

  12              UNIT SWAP                                       12

  13                                                              13

  14                                                              14

  15                                                              15

  16                                                              16

  17                                                              17

  18                                                              18
  --------- ----- ----------------------------------------------- ---------

# ANNEX 4 - SOHO GYROLESS -- FDIR ANALYSIS

# ANNEX 5 - SOHO GYROLESS -- CONTINGENCY ANALYSIS

# ANNEX 6 - Complements to SSU user\'s manual

The following text applies as a complement to the \"SSU OPERATIONAL
MANUAL\", reference SH-GEO-MA-002, Issue 2, Aug 94. This document was an
annex to the initial SOHO User\'s manual. It replaces the section 5.4,
deleted in that document. The paragraphs numbering refer to that
document.

The following text is also in coherence with the \"STAR TRACKER SOFTWARE
USER MANUAL\" , reference SH-GEO-MA-001, issue 4.1, AUG 94, named as
\"AD1\" in the text of the \"SSU OPERATIONAL MANUAL\"

**[5.4 SEARCHING / TRACKING RESTRICTED]{.underline}**

In this operative mode, only one star has to be detected and tracked in
a STR cycle (0.5 sec) while j stars, commanded by the ACC, shall be
tracked with full accuracy.

A fixed tracking window is addressed in this mode (8x8 pixels). Details
on restricted search/tracking mode are reported in sect. 5.5 of AD1.

5.4.1 Initialization conditions

The following conditions must be met to allow a nominal execution of the
operations:

######### AOCS level {#aocs-level .unnumbered}

the STR must be powered,

the AOCS broadcast synchronization pulse RC_BRD must be sent to the STR
MACS I/F,

to allow the STR to track the star with full accuracy the slew speed of
the spacecraft must be lower than 5 arcsec/sec.

######### Unit Level {#unit-level .unnumbered}

the unit must be healthy (see sect. 8.1),

if the STR is already tracking 5 stars then at least one star must be
released during the initialization using word STR\*THRLO (see sect.
5.1.1 of AD1),

the CCD temperature must be within the defined range. In particular,
when the sensor is in STAND_BY after initialization, the
searching/tracking restricted command will be rejected as long as the
CCD temperature is not in the operative range. The CCD temperature is
available via STR\*CCDT word (see sect. 8.1.2).

The time necessary to cool the CCD at the operating temperature is 40
minutes in the worst case of external temperature +30 °C.

5.4.2 Operational constraints

The following operational constraints are valid:

the STR must be within its operational temperature range,

see sect. 8.5 for constraints during Earth radiation belts crossing.

5.4.3 Procedure description

The detailed operational procedure (DOP) is reported in the following.

+-----+----------------+----------------+-----------------------------+
| **  | **Commands**   | **Monitor**    | **Description**             |
| Ste |                |                |                             |
| p** |                |                |                             |
+=====+================+================+=============================+
| 1   | STR\*YCOO\     |                | Command sequence containing |
|     | STR\*ZCOO\     |                | search window position,     |
|     | STR\*THRLO\    |                | threshold level, star(s)    |
|     | STR\*FUNC      |                | released and                |
|     |                |                | searching/tracking          |
|     |                |                | restricted mode command     |
+-----+----------------+----------------+-----------------------------+
| 2   |                | STR\*ERR       | Indicates within 0.5 sec    |
|     |                |                | detection of error in the   |
|     |                |                | received command.           |
+-----+----------------+----------------+-----------------------------+
|     |                |                | 1.  In nominal case the     |
|     |                |                |     field \"ERROR\" must be |
|     |                |                |     \"0000Hex\".            |
+-----+----------------+----------------+-----------------------------+
|     |                |                | If 1. not true then go to   |
|     |                |                | section 8.3.1.              |
+-----+----------------+----------------+-----------------------------+
| 3   |                |                | The STR starts searching in |
|     |                |                | the commanded search window |
|     |                |                | for stars above the         |
|     |                |                | commanded threshold         |
+-----+----------------+----------------+-----------------------------+
|     |                | STR\*STAT1     | 1.  Must indicate within    |
|     |                |                |     0.5 a after entrance in |
|     |                |                |     S/T restricted mode :\  |
|     |                |                |     - mode: S/T             |
|     |                |                |     restricted,\            |
|     |                |                |     - state: active.        |
+-----+----------------+----------------+-----------------------------+
|     |                |                | If 1. not true (incorrect   |
|     |                |                | mode entrance) then go to   |
|     |                |                | sect. 8.3.2.                |
+-----+----------------+----------------+-----------------------------+
|     |                | STR\*HK1       | 2.  Must indicate within    |
|     |                |                |     0.5 s: data valid full  |
|     |                |                |     accuracy for at least   |
|     |                |                |     one i- star.            |
+-----+----------------+----------------+-----------------------------+
|     |                |                | If 2. not true (star not    |
|     |                |                | found) then go to sect.     |
|     |                |                | 8.3.3.                      |
+-----+----------------+----------------+-----------------------------+
| 4   |                |                | The STR will provide the    |
|     |                |                | position and magnitude of   |
|     |                |                | the detected star in the    |
|     |                |                | search window above the     |
|     |                |                | threshold and of the        |
|     |                |                | tracked j stars (if any).   |
+-----+----------------+----------------+-----------------------------+
|     |                | STR\*YOUTi     | 1.  Indicates y-coordinate  |
|     |                |                |     of the star i (i5)      |
+-----+----------------+----------------+-----------------------------+
|     |                | STR\*ZOUTi     | 2.  Indicates z-coordinate  |
|     |                |                |     of the star i (i5)      |
+-----+----------------+----------------+-----------------------------+
|     |                | STR\*MAGi      | 3.  Indicates magnitude of  |
|     |                |                |     star i (i5)             |
+-----+----------------+----------------+-----------------------------+
|     |                |                | (See sect. 5.4 of AD1 for   |
|     |                |                | detailed description of STR |
|     |                |                | behavior during S/T         |
|     |                |                | restricted mode).           |
+-----+----------------+----------------+-----------------------------+
| 5   |                | STR\*HK2       | 1.  Indicates the focal     |
|     |                |                |     length: this data shall |
|     |                |                |     be used to evaluate the |
|     |                |                |     angular position of the |
|     |                |                |     stars.                  |
+-----+----------------+----------------+-----------------------------+
|     |                |                | If 1. not true then go to   |
|     |                |                | sect. 8.1.3                 |
+-----+----------------+----------------+-----------------------------+
|     |                |                | **Note** : The focal length |
|     |                |                | expressed in µm is          |
|     |                |                | evaluated mutliplying by 5  |
|     |                |                | the value contained in      |
|     |                |                | STR\*HK2.                   |
+-----+----------------+----------------+-----------------------------+
| 6   |                | STR\*STAT1     | 1.  Check completation of   |
|     |                |                |     S/T procedure on the    |
|     |                |                |     commanded window. When  |
|     |                |                |     STATE assumes \"n000    |
|     |                |                |     0001 bin\" (where       |
|     |                |                |     n=star detected         |
|     |                |                |     identif.) the procedure |
|     |                |                |     has been completed.     |
+-----+----------------+----------------+-----------------------------+
|     |                |                | If 1. not true (incorrect   |
|     |                |                | mode execution) then go to  |
|     |                |                | sect. 8.3.2.                |
+-----+----------------+----------------+-----------------------------+
|     |                |                | After completation of S/T   |
|     |                |                | restricted procedure the    |
|     |                |                | STR continues tracking the  |
|     |                |                | j stars and the last        |
|     |                |                | detected star.              |
+-----+----------------+----------------+-----------------------------+
| 7   |                |                | Using provided data, ACC    |
|     |                |                | can compute the angular     |
|     |                |                | position of the detected    |
|     |                |                | star (See sec. 9.1).        |
+-----+----------------+----------------+-----------------------------+
| 8   |                |                | The procedure is now        |
|     |                |                | completed; the STR can be   |
|     |                |                | set in any other operative  |
|     |                |                | mode. See relevant sections |
|     |                |                | for procedure entrance into |
|     |                |                | desired mode.               |
+-----+----------------+----------------+-----------------------------+

5.4.4 Specific tasks and required tools

######### Preparatory tasks {#preparatory-tasks .unnumbered}

The following tasks are required before starting the DOP:

-   Verify the position of the tracked stars in the STR Field of View
    (FOV) (if the sensor is already in tracking),

-   Select the position of the window to be commanded

```{=html}
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```
-   to avoid overlapping of the commanded window and tracking window(s)

-   to avoid that part of teh commanded window lies out of the STR FOV,

-   to avoid that the 8x8 addressed window overlaps a CCD bad pixel:

```{=html}
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```
-   select the required star magnitude threshold for star detection,

```{=html}
<!-- -->
```
-   check the number of stars which are presently tracked (if any).

If:

number of star already under tracking = 5

Then:

select at least one star to be released.

(Post-) processing tasks

The following tasks are required during/after the DOP execution:

proceed step by step through the procedure: send the indicated commands
and verify via the indicated monitors that the STR behavior is nominal,

compute angular position of the star starting from the output data
provided by the STR (See sect. 9.1),

compute STR focal length in µm.

#########  {#section .unnumbered}

######### Required tools {#required-tools .unnumbered}

The following S/W tools are required for this DOP:

tool to calculate the position of the window in the CCD coordinate frame
(1/7 of µm) as function of the angular position,

tool to calculate if the commanded window overlaps other tracked windows
or lies outside the FOV,

tool to calculate the star angular position based on the STR output,

tool to calculate focal length,

tool to verify via the monitors that the procedure is proceeding
successfully or to perform recovery sequence (if possible) if one of the
monitor fails.

# ANNEX 7 - ERRORS IN ROLL MANOEUVRES IN CRP

When a roll manoeuvre is performed using the CRS, there are two sources
of steady state error. One is the difference between the measured wheel
inertias used to compute the wheel momenta, and the actual wheel
inertias. The other is the wheel alignment assumed for the wheel to body
transformation matrix compared to the actual wheel alignment.

Wheel Inertia Error :

The following tables gives the measured wheel inertias, to be used for
conversion from wheel speed to wheel momenta, and the associated
anticipated error.

  ---------------------------- ------------------------- -----------------
  **Wheel**                    **Inertia (kgm^2^)**      **Error (%)**

  1 (ZX)                       0.0957                    2

  2 (-YX)                      0.095273                  2

  3 (-ZX)                      0.09731                   2

  4 (YX)                       0.09645                   2
  ---------------------------- ------------------------- -----------------

The error generated is that between the magnitude of a commanded slew
and the actual angle that the spacecraft has rolled through, i.e. the
roll error for a given CRS rotation.

This error cannot be directly calculated from a commanded roll angle, as
it is not possible to recover the actual wheel momenta or wheel speeds
from the CRS after a rotation has been performed. Instead, the CRS error
is computed for a given spacecraft roll rotation; the error for the same
CRS rotation can then be derived by itteration.

The following shows the derivation of the CRS error arising from a true
rotation about the spacecraft roll (X) axis.

$f$ is the angle through which the body is rotated

$f_{\text{CRS}}^{I}$ is the initial CRS angle

$f_{\text{CRS}}^{F}$ if the CRS angle after a rotation about the roll
axis

${\underline{w}}^{I}$ is the vector of the intial wheel speeds

${\underline{w}}^{F}$ is the vector of the final wheel speeds

${\underline{\overline{H}}}^{I}$ is the initial estimated wheel momentum
vector expressed in spacecraft body axes

${\underline{\overline{H}}}^{F}$ is the final estimated wheel momentum
vector expressed in spacecraft body axes (after roll rotation)

$A_{\text{SC}}^{\text{RW}}$ is the direction cosine matrix for
transforming from the spacecraft body axes to the wheel axes

$A_{\text{RW}}^{\text{SC}}$ is the direction cosine matrix for
transforming from the wheel axes to the spacecraft body axes

$B_{R}$ is the transformation matrix for performing a rotation about the
spacecraft roll axis.

$I$ is the diagonal matrices of the real wheel inertias

$I^{M}$ is the diagonal matrix of the estimated wheel inertias

For the purpose of the wheel inertia error analysis, it is assumed that
the wheel speeds are known without error.

The two wheel inertia matrices are defined as follows:

$I = \begin{bmatrix}
I_{1} & 0 & 0 \\
0 & I_{2} & 0 \\
0 & 0 & I_{3}
\end{bmatrix}$, $I^{M} = \begin{bmatrix}
I_{1} + e_{1} & 0 & 0 \\
0 & I_{2} + e_{2} & 0 \\
0 & 0 & I_{3} + e_{3}
\end{bmatrix}$

The initial angle measured by the CRS for a given set of initial wheel
speeds is established as follows:

> Obtain the initial wheel momenta in body axes:
>
> ${\underline{\overline{H}}}^{I} = \left\lbrack A_{\text{RW}}^{\text{SC}} \right\rbrack ´\left\lbrack I^{M} \right\rbrack ´{\underline{w}}^{I}$
> (1)
>
> The initial CRS angle is given by:
>
> $f_{\text{CRS}}^{I} = \text{arctan}2\left( \frac{{\overline{H}}_{3}^{I}}{{\overline{H}}_{2}^{I}} \right)$
> $- p \leq f_{\text{CRS}}^{I} \leq p$

The final true wheel speeds after a given rotation about the roll axis
are given by:

${\underline{w}}^{F} = \left\lbrack A_{\text{SC}}^{\text{RW}} \right\rbrack ´\left\lbrack B_{R} \right\rbrack ´\left\lbrack A_{\text{RW}}^{\text{SC}} \right\rbrack ´{\underline{w}}^{I}$
(2)

The final angle measured by the CRS using the final true wheel speeds is
established as follows:

> Obtain the final estimated wheel momenta in body axes:
>
> ${\underline{\overline{H}}}^{F} = \left\lbrack A_{\text{RW}}^{\text{SC}} \right\rbrack ´\left\lbrack I^{M} \right\rbrack{\underline{´w}}^{F}$
> (3)
>
> Substituting equation (2) into (3) gives:
>
> $${\overline{\underline{H}}}^{f} = \lbrack M\rbrack{\underline{w}}^{I}$$
>
> where
>
> $M = \left\lbrack A_{\text{RW}}^{\text{SC}} \right\rbrack\left\lbrack I^{M} \right\rbrack\left\lbrack A_{\text{SC}}^{\text{RW}} \right\rbrack\left\lbrack B_{R} \right\rbrack\left\lbrack A_{\text{RW}}^{\text{SC}} \right\rbrack$.
>
> The final CRS angle is given by:

$f_{\text{CRS}}^{F} = \text{Tan}^{- 1}\left( \frac{{\overline{H}}_{3}^{F}}{{\overline{H}}_{2}^{F}} \right)$
$- p \leq f_{\text{CRS}}^{I} \leq p$

Hence the angular rotation as measured by the CRS is given by:

$$f_{\text{CRS}}^{R} = f_{\text{CRS}}^{F} - f_{\text{CRS}}^{I}$$

The absolute CRS error is given by:

$$\left| f_{\text{CRS}}^{\text{ERR}} \right| = \left| f_{\text{CRS}}^{R} \right| - |f|$$

Wheel Alignment Error :

The transformation matrix to convert from the wheel axes to the
spacecraft axes is as follows:

$$A_{\text{RW}}^{\text{SC}} = \begin{bmatrix}
\text{Sin}\left( q_{1} + \text{dq}_{1} \right) & \text{Sin}\left( q_{2} + \text{dq}_{2} \right) & \text{Sin}\left( q_{3} + \text{dq}_{3} \right) \\
 - \text{Cos}\left( q_{1} + \text{dq}_{1} \right)\text{Sin}\left( f_{1} + \text{df}_{1} \right) & - \text{Cos}\left( q_{2} + \text{dq}_{2} \right)\text{Sin}\left( f_{2} + \text{df}_{2} \right) & - \text{Cos}\left( q_{3} + \text{dq}_{3} \right)\text{Sin}\left( f_{3} + \text{df}_{3} \right) \\
\text{Cos}\left( q_{1} + \text{dq}_{1} \right)\text{Cos}\left( f_{1} + \text{df}_{1} \right) & \text{Cos}\left( q_{2} + \text{dq}_{2} \right)\text{Cos}\left( f_{2} + \text{df}_{2} \right) & \text{Cos}\left( q_{3} + \text{dq}_{3} \right)\text{Cos}\left( f_{3} + \text{df}_{3} \right)
\end{bmatrix}$$

Where:

> $f$ is the angular displacement about the wheel X axis
>
> $q$ is the angular displacement about the wheel Y axis after having
> been displaced through $f$

Nominally, and as assumed in the matrix used for the CRS, these angular
displacements are:

> $\begin{array}{r}
> j_{1} = 0^{{^\circ}} \\
> j_{2} = \text{90}^{{^\circ}} \\
> j_{3} = 0{^\circ}
> \end{array}$ $\begin{array}{r}
> q_{1} = \text{28}\text{.}8^{{^\circ}} \\
> q_{2} = \text{28}\text{.}8{^\circ} \\
> q_{3} = \text{151}\text{.}2{^\circ}
> \end{array}$ $\begin{array}{r}
> \text{dq} = 0^{{^\circ}} \\
> \text{df} = 0^{{^\circ}}
> \end{array}$

This defines the estimated transformation matrix, denoted by
${\overline{A}}_{\text{RW}}^{\text{SC}}$.

The maximum deltas are:

$\begin{array}{r}
\text{dq} = \pm 0\text{.}\text{25}^{{^\circ}} \\
\text{df} = \pm 0\text{.}5^{{^\circ}}
\end{array}$

The actual transormation matrix includes these non zero delta angles,
and is denoted by $A_{\text{RW}}^{\text{SC}}$.

Given an initial wheel momentum vector, ${\underline{h}}^{I}$, the
estimated momentum vector in body axes is:

$$\begin{array}{r}
{\overline{\underline{H}}}^{I} = \left\lbrack {\overline{A}}_{\text{RW}}^{\text{SC}} \right\rbrack ´{\underline{h}}^{I} \\
H^{I} = \left\lbrack A_{\text{RW}}^{\text{SC}} \right\rbrack ´{\underline{h}}^{I}
\end{array}$$

It follows that the CRS angle of the initial wheel momentum vector in
body axes is given by:

$f_{\text{CRS}}^{I} = \text{arctan}2\left( \frac{H_{3}^{I}}{H_{2}^{I}} \right)$
$- p \leq f_{\text{CRS}}^{I} \leq p$

For a given rotation, $f$, about the roll axis, the final body wheel
momentum in body axes is:

$${\underline{H}}^{F} = \left\lbrack B_{R} \right\rbrack ´H^{I} = \left\lbrack B_{R} \right\rbrack ´\left\lbrack A_{\text{RW}}^{\text{SC}} \right\rbrack ´{\underline{h}}^{I}$$

Hence the final wheel momentum in wheel axes is given by:

$${\underline{h}}^{F} = \left\lbrack A_{\text{RW}}^{\text{SC}} \right\rbrack^{- 1}´\left\lbrack B_{R} \right\rbrack ´\left\lbrack A_{\text{RW}}^{\text{SC}} \right\rbrack ´{\underline{h}}^{I}$$

Finally, the CRS angle after the roll slew is given by:

$f_{\text{CRS}}^{F} = \text{arctan}2\left( \frac{{\overline{H}}_{3}^{F}}{{\overline{H}}_{2}^{F}} \right)$
$- p \leq f_{\text{CRS}}^{I} \leq p$

where

$${\underline{\overline{H}}}^{F} = \left\lbrack {\overline{A}}_{\text{RW}}^{\text{SC}} \right\rbrack ´\left\lbrack A_{\text{RW}}^{\text{SC}} \right\rbrack^{- 1}´\left\lbrack B_{R} \right\rbrack ´\left\lbrack A_{\text{RW}}^{\text{SC}} \right\rbrack ´{\underline{h}}^{I}$$

The angular rotation as measured by the CRS is given by:

$$f_{\text{CRS}}^{R} = f_{\text{CRS}}^{F} - f_{\text{CRS}}^{I}$$

It follows that error of the CRS sensor for a rotation of $f$ degrees
about the roll axis is:

$$\left| f_{\text{CRS}}^{\text{ERR}} \right| = \left| f_{\text{CRS}}^{R} \right| - |f|$$

As for the error arising from the wheel inertia mismatch, the error
arising from a commanded roll rotation in the CRS can only be derived by
itteration.

# ANNEX 8 - SOHO GYROLESS AOCS ACU SOFTWARE user\'s manual

# ANNEX 9 - SOHO AOCS ACU SOFTWARE GYROLESS UPDATE TECHNICAL NOTE

# ANNEX 10 - SOHO AOCS ACU TELECOMMAND REQUIREMENTS DEFINITION

# ANNEX 11 - SOHO AOCS ACU TELEMETRY PACKET REQUIREMENTS DEFINITION

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