Source Code

These source code files have been transcribed or otherwise adapted from digitized images of a hardcopy from the private collection of Don Eyles. The digitization was performed by archive.org, and transcription was performed by a team of volunteers. Note that the page images presented online are of reduced quality, and that the original high-quality images are available at archive.org. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

    473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP   NOV 10, 1966
Note that the date is the date of the printout, not the date of the program revision.

022653,000002:                                                                                                  ## Copyright:    Public domain.
022654,000003:                                                                                                  ## Filename:     P-AXIS_REACTION_CONTROL_SYSTEM_AUTOPILOT.agc
022655,000004:                                                                                                  ## Purpose:      Part of the source code for Aurora (revision 12).
022656,000005:                                                                                                  ## Assembler:    yaYUL
022657,000006:                                                                                                  ## Contact:      Ron Burkey <info@sandroid.org>.
022658,000007:                                                                                                  ## Website:      https://www.ibiblio.org/apollo.
022659,000008:                                                                                                  ## Pages:        542-556
022660,000009:                                                                                                  ## Mod history:  2016-09-20 JL   Created.
022661,000010:                                                                                                  ##               2016-10-02 MAS  Began.
022662,000011:                                                                                                  ##               2016-10-03 MAS  Completed.
022663,000012:                                                                                                  ##               2016-10-04 HG   add missed instruction TS TOFJTCHG
022664,000013:                                                                                                  ##                               comment code look alike
022665,000014:                                                                                                  ##                               JSATCHG -> JTSATCHG
022666,000015:                                                                                                  ##               2016-10-15 HG   Fix operand BITS13-14 -> BIT13-14
022667,000016:                                                                                                  ##               2016-12-08 RSB  Proofed comments with octopus/ProoferComments
022668,000017:                                                                                                  ##                               and fixed the errors found.
022669,000018: 
022670,000019:                                                                                                  ## This source code has been transcribed or otherwise adapted from
022671,000020:                                                                                                  ## digitized images of a hardcopy from the private collection of 
022672,000021:                                                                                                  ## Don Eyles.  The digitization was performed by archive.org.
022673,000022: 
022674,000023:                                                                                                  ## Notations on the hardcopy document read, in part:
022675,000024: 
022676,000025:                                                                                                  ##       473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP
022677,000026:                                                                                                  ##       NOV 10, 1966
022678,000027: 
022679,000028:                                                                                                  ##       [Note that this is the date the hardcopy was made, not the
022680,000029:                                                                                                  ##       date of the program revision or the assembly.]
022681,000030: 
022682,000031:                                                                                                  ## The scan images (with suitable reduction in storage size and consequent 
022683,000032:                                                                                                  ## reduction in image quality) are available online at 
022684,000033:                                                                                                  ##       https://www.ibiblio.org/apollo.  
022685,000034:                                                                                                  ## The original high-quality digital images are available at archive.org:
022686,000035:                                                                                                  ##       https://archive.org/details/aurora00dapg
022687,000036: 

Page 542

022689,000038: 23,2000                                           BANK     23                                    
022690,000039: 23,2000  E6,1551                                  EBANK=   DT                                    
022691,000040: 
022692,000041:                                                                                                  #  THE FOLLOWING SECTION DRIVES THE ATTITUDE ERROR NEEDLES IN THE "EIGHT-BALL" DISPLAY:
022693,000042: 
022694,000043: 23,2000           22765        EIGHTBAL           LXCH     DAPBOOLS                              #  ATTITUDE ERRORS DISPLAYED EVERY
022695,000044: 23,2001           37651                           CAF      BIT7                                  #  OTHER DAP CYCLE (.2 SECS)
022696,000045: 23,2002           00006                           EXTEND                                         #  CHANGE STATE OF FLAG
022697,000046: 23,2003           06001                           RXOR     L                                     
022698,000047: 23,2004           54765                           TS       DAPBOOLS                              #  FLAG WORD RESTORE
022699,000048: 23,2005           77651                           MASK     BIT7                                  
022700,000049: 23,2006           00006                           EXTEND                                         #  ZERO AS NEW STATE MEANS
022701,000050: 23,2007           12146                           BZF      PAXFILT                               #  NO DISPLAY THIS CYCLE
022702,000051: 
022703,000052: 23,2010           37656        ATERDSPY           CAF      TWO                                   #  INIT. INDEX WORD
022704,000053: 23,2011           54065                           TS       ITEMP1                                
022705,000054: 23,2012           50000                           INDEX    A                                     

The above two instructions have a line drawn by them, with handwritten notes "CA TS T5M".

022707,000056: 23,2013           11476                           CCS      PERROR                                #  LOOK AT CURRENT ATT ERROR
022708,000057: 23,2014           12037                           TCF      ERLIMCHK                              #  HAVE E VALUE GET MAGNITUDE
022709,000058: 23,2015           12017                           TCF      ZERR                                  #  ZERO VALUE
022710,000059: 23,2016           12037                           TCF      ERLIMCHK                              #  GET MAGNITUDE
022711,000060: 23,2017           50065        ZERR               INDEX    ITEMP1                                
022712,000061: 23,2020           41476                           CS       PERROR                                
022713,000062: 23,2021           50065                           INDEX    ITEMP1                                
022714,000063: 23,2022           57473                           XCH      LASTPER                               #  SAVE CURRENT E, LOAD LAST E (NEG)
022715,000064: 23,2023           50065                           INDEX    ITEMP1                                
022716,000065: 23,2024           61476                           AD       PERROR                                #  GET DIFF E(N-2) - E(N)

"INDEX ITEMP1" and "PERROR" above are crossed out. Next to them the word "TEMP" is written in.

022718,000067: 23,2025           00006                           EXTEND                                         
022719,000068: 23,2026           77643                           MP       BIT13                                 #  SHIFT RIGHT 2
022720,000069: 23,2027           50065                           INDEX    ITEMP1                                
022721,000070: 23,2030           54050                           TS       CDUXCMD                               #  STORE CMD E VALUE
022722,000071: 23,2031           10065                           CCS      ITEMP1                                
022723,000072: 23,2032           12011                           TCF      ATERDSPY   +1                         #  GET NEXT E
022724,000073: 
022725,000074: 23,2033           33405                           CA       OCT70000                              #  ICDU DRIVE BITS 13,14,15
022726,000075: 23,2034           00006                           EXTEND                                         
022727,000076: 23,2035           05014                           WOR      14                                    #  DRIVE AWAY
022728,000077: 23,2036           12146                           TCF      PAXFILT                               #  ATT ERROR DISPLAY DONE FOR THIS CYCLE

The above four instructions are circled. "OCT70000" is scratched out, and "BIT16" is written by it. "14" is also crossed out, with "12" written by it. 14, however, was the correct channel, so why it's crossed out like this is a mystery.

022732,000081: 
022733,000082: 23,2037           67657        ERLIMCHK           AD       BIT1                                  #  HAVE MAG OF E, SEE IF GREATER THAN
022734,000083: 23,2040           40000                           COM                                            #    5 DEGREES
022735,000084: 23,2041           65040                           AD       5DEGS                                 

The above three instructions are circled, and "AD-5+1" is written by them

022737,000086: 23,2042           00006                           EXTEND                                         
022738,000087: 23,2043           62045                           BZMF     BIGATER                               #  ERROR GREATER THAN 5 DEGS, DSPY 5 DEGS
022739,000088: 23,2044           12017                           TCF      ZERR                                  #  E LESS THAN 5 DEGS, NORMAL PROCED

"BIGATER" and "TCF ZERR" above are circled, with "ZERR" written next to them.

022741,000090: 
022742,000091: 23,2045           50065        BIGATER            INDEX    ITEMP1                                

The above instruction is circled.

022744,000093: 23,2046           11476                           CCS      PERROR                                #  GET SIGN OF BIG ERROR
022745,000094: 23,2047           35040                           CA       5DEGS                                 
022746,000095: 23,2050           12052                           TCF      +2                                    #  CANT BE ZERO HERE

Page 543

022748,000097: 23,2051           45040                           CS       5DEGS                                 
022749,000098: 23,2052           50065                           INDEX    ITEMP1                                
022750,000099: 23,2053           55476                           TS       PERROR                                #  SET BIG ERROR TO 5DEGS
022751,000100: 23,2054           12017                           TCF      ZERR                                  
022752,000101: 
022753,000102:                                                                                                  #  END OF ATTITUDE ERROR NEEDLE DRIVER.  (SHOULD GO IN-LINE SOMETIME.)
022754,000103: 
022755,000104: 
022756,000105:                                                                                                  #  THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS.
022757,000106:                                                                                                  #  THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP.
022758,000107: 
022759,000108: 23,2055           33072        PAXIS              CAF      MS30P                                 #  RESET TIMER IMMEDIATELY: DT = 30 MS
022760,000109: 23,2056           54030                           TS       TIME5                                 
022761,000110: 
022762,000111: 23,2057           22016                           LXCH     BANKRUPT                              #  INTERRUPT LEAD IN (CONTINUED)
022763,000112: 23,2060           00006                           EXTEND                                         
022764,000113: 23,2061           22012                           QXCH     QRUPT                                 
022765,000114: 
022766,000115:                                                                                                  #  CHECK TO SEE IF DAP IS STILL IN USE:
022767,000116: 
022768,000117: 23,2062           00006                           EXTEND                                         #  IF BOTH BITS 13 AND 14 OF CHANNEL 31 ARE
022769,000118: 23,2063           00031                           READ     31                                    #  EQUAL TO 1, THEN THE SCS MODE SWITCH IS
022770,000119: 23,2064           40000                           COM                                            #  IN THE OFF POSITION.  ACTUALLY, THE TEST
022771,000120: 23,2065           77700                           MASK     BIT13-14                              #  IS MADE ON BOTH THE ATTITUDE HOLD AND
022772,000121: 23,2066           00006                           EXTEND                                         #  AUTOMATIC MODE BITS.
022773,000122: 23,2067           13124                           BZF      GOIDLE                                
022774,000123: 
022775,000124:                                                                                                  #  WHILE DAP IS ON, SET UP EITHER A KALMAN FILTER RUPT OR A DUMMY FILTER RUPT BY SETTING UP T5ADR FROM ERASABLE.
022776,000125: 
022777,000126: 23,2070           00006                           EXTEND                                         #  T5ADR IS SET TO EITHER FILTER OR
022778,000127: 23,2071           31602                           DCA      PFILTADR                              #  DUMMYFIL IN A BLIND MANNER SINCE
022779,000128: 23,2072           52346                           DXCH     T5ADR                                 #  PFILTADR IS SET UP ELSEWHERE
022780,000129: 
022781,000130:                                                                                                  #  DO P AXIS RATE DERIVATION AND CONTROL LAW.
022782,000131:                                                                                                  #  DERIVE DELTA P.
022783,000132: 
022784,000133: 23,2073           30032        FILT/PAX           CAE      CDUX                                  
022785,000134: 23,2074           54001                           TS       L                                     
022786,000135: 23,2075           00006                           EXTEND                                         
022787,000136: 23,2076           21431                           MSU      OLDXFORP                              #  SCALED AT PI
022788,000137: 23,2077           23431                           LXCH     OLDXFORP                              
022789,000138: 23,2100           00006                           EXTEND                                         
022790,000139: 23,2101           77651                           MP       BIT7                                  
022791,000140: 23,2102           22066                           LXCH     DELTAP                                #  SCALE AT PI/2(6)
022792,000141: 23,2103           30033                           CA       CDUY                                  
022793,000142: 23,2104           54001                           TS       L                                     
022794,000143: 23,2105           00006                           EXTEND                                         
022795,000144: 23,2106           21432                           MSU      OLDYFORP                              #  SCALED AT PI
022796,000145: 23,2107           23432                           LXCH     OLDYFORP                              

Page 544

022798,000147: 23,2110           00006                           EXTEND                                         
022799,000148: 23,2111           77651                           MP       BIT7                                  #  INTO L SCALED AT PI/2(6)
022800,000149: 23,2112           31404                           CA       M11                                   #  M11 SCALED AT 1
022801,000150: 23,2113           00006                           EXTEND                                         
022802,000151: 23,2114           70001                           MP       L                                     #  INTO A SCALED AT PI/2(6).
022803,000152: 23,2115           60066                           AD       DELTAP                                
022804,000153: 23,2116           00006                           EXTEND                                         
022805,000154: 23,2117           71655                           MP       WFORP                                 #  SCALED AT 2(4)=16, RESULT IN A AT PI/4.
022806,000155: 23,2120           57416                           XCH      OMEGAP                                #  W*DELTAP IN OMEGAP LOC. OLD OMEGAP IN A.
022807,000156: 23,2121           00006                           EXTEND                                         
022808,000157: 23,2122           73066                           MP       ONE-K                                 #  SCALED AT 1.

"ONE-K" is circled on the above line in red.

022810,000159: 23,2123           61615                           AD       JETRATE                               #  RATE DUE TO JETS TORQUING.
022811,000160: 23,2124           27416                           ADS      OMEGAP                                #  PRATE= WFORP*DELTAP+ALPHA*LAST-PRATE+TPF
022812,000161: 23,2125           04177                           TC       T6JOBCHK                              #  T6JOBCHK IS IN FIXED-FIXED
022813,000162: 
022814,000163:                                                                                                  #  ***** KALCMANU-DAP AND "RATE-HOLD"-DAP INTERFACE *****
022815,000164: 
022816,000165:                                                                                                  #  THE FOLLOWING SECTION IS EXECUTED EVERY 100 MS (10 TIMES A SECOND) WITHIN THE P-AXIS REACTION CONTROL SYSTEM
022817,000166:                                                                                                  #  AUTOPILOT (WHENEVER THE DAP IS IN OPERATION).
022818,000167: 
022819,000168: 23,2126           37656                           CAF      TWO                                   #  SET UP LOOP TO DO Z,Y,X CDU AXES:
022820,000169: 23,2127           54073        KALCLOOP           TS       QRCNTR                                
022821,000170: 
022822,000171: 23,2130           50073                           INDEX    QRCNTR                                #  KALCMANU AND RATE-HOLD USE THIS SECTION
022823,000172: 23,2131           30774                           CAE      CDUXD                                 #  TO PERFORM THEIR INDEPENDENT FUNCTIONS:
022824,000173: 23,2132           00006                           EXTEND                                         #  BOTH PROCEDURES SET UP THE DELCUD'S
022825,000174: 23,2133           50073                           INDEX    QRCNTR                                #  TO HAVE THE NEGATIVE VALUE OF THE
022826,000175: 23,2134           21673                           MSU      DELCDUX                               #  DESIRED CDU CHANGE FOR EACH 100 MS CSP
022827,000176: 23,2135           10000                           CCS      A                                     #  DURING THE MANEUVER (OR MODE).  EACH IS
022828,000177: 23,2136           67657                           AD       ONE                                   #  STORED AT PI RADIANS IN 2'S COMPLEMENT.
022829,000178: 23,2137           12141                           TCF      +2                                    #  SINCE THE MODULAR SUBTRACT YIELDS THE
022830,000179: 23,2140           40000                           COM                                            #  NEW CDUD VALUE IN 1'S COMPLEMENT, THE
022831,000180: 23,2141           50073                           INDEX    QRCNTR                                #  CCS SECTION IS NEEDED FOR 1'S TO 2'S
022832,000181: 23,2142           54774                           TS       CDUXD                                 #  CONVERSION OF DESIRED CDU ANGLES.
022833,000182: 
022834,000183: 23,2143           10073                           CCS      QRCNTR                                #  (THIS MAKES THE LOOP DO ALL THREE AXES
022835,000184: 23,2144           12127                           TCF      KALCLOOP                              #  IN THE ORDER Z, Y, X.)
022836,000185: 
022837,000186: 
022838,000187: 23,2145           12000                           TCF      EIGHTBAL                              
022839,000188: 
022840,000189: 23,2146           01613        PAXFILT            TC       PJUMPADR                              
022841,000190: 23,2147           33361        SKIPPAXS           CA       VISFZADR                              
022842,000191: 23,2150           55613                           TS       PJUMPADR                              
022843,000192: 23,2151           37665                           CA       ZERO                                  
022844,000193: 23,2152           55615                           TS       JETRATE                               
022845,000194: 23,2153           31625                           CA       TP                                    
022846,000195: 23,2154           63071                           AD       NEGCSP1                               
022847,000196: 23,2155           10000                           CCS      A                                     

Page 545

022849,000198: 23,2156           02167                           TC       PTORQUE                               
022850,000199: 23,2157           14606                           TCF      RESUME                                
022851,000200: 23,2160           02167                           TC       PTORQUE                               
022852,000201: 23,2161           41615                           CS       JETRATE                               
022853,000202: 23,2162           27416                           ADS      OMEGAP                                
022854,000203: 23,2163           37665                           CA       ZERO                                  
022855,000204: 23,2164           55615                           TS       JETRATE                               
022856,000205: 23,2165           14606                           TCF      RESUME                                
022857,000206: 23,2166           20000        (1-K)/8P           OCTAL    20000                                 

The above line is crossed out in red.

022859,000208: 23,2167           67657        PTORQUE            AD       ONE                                   
022860,000209: 23,2170           00006                           EXTEND                                         
022861,000210: 23,2171           77653                           MP       BIT5                                  
022862,000211: 23,2172           30001                           CA       L                                     
022863,000212: 23,2173           00006                           EXTEND                                         
022864,000213: 23,2174           73074                           MP       16/25                                 
022865,000214: 23,2175           55625                           TS       TP                                    
022866,000215: 23,2176           31655                           CA       WFORP                                 

There is an "E" written in red after "CA" above, indicating that it should be changed to "CAE".

022868,000217: 23,2177           62166                           AD       (1-K)/8P                              

The "P" in "(1-K)/8P" is circled.

022870,000219: 23,2200           00006                           EXTEND                                         
022871,000220: 23,2201           71625                           MP       TP                                    
022872,000221: 23,2202           00006                           EXTEND                                         
022873,000222: 23,2203           77654                           MP       BIT4                                  
022874,000223: 23,2204           31627                           CA       1JACC                                 
022875,000224: 23,2205           00006                           EXTEND                                         
022876,000225: 23,2206           70001                           MP       L                                     
022877,000226: 23,2207           00006                           EXTEND                                         
022878,000227: 23,2210           71624                           MP       NO.PJETS                              
022879,000228: 23,2211           23615                           LXCH     JETRATE                               
022880,000229: 23,2212           00002                           TC       Q                                     
022881,000230: 23,2213           37647        CHKVISFZ           CAF      BIT9                                  #  VISIBILITY PHASE BIT
022882,000231: 23,2214           70765                           MASK     DAPBOOLS                              
022883,000232: 23,2215           00006                           EXTEND                                         
022884,000233: 23,2216           12220                           BZF      +2                                    
022885,000234: 23,2217           12617                           TCF      PURGENCY                              #  ATTITUDE STEER DURING VISIBILITY PHASE
022886,000235: 
022887,000236: 23,2220           37646                           CAF      BIT10                                 #  BIT10=1 FOR RHC MINIMUM IMPULSE MODE
022888,000237: 23,2221           70765                           MASK     DAPBOOLS                              
022889,000238: 23,2222           00006                           EXTEND                                         
022890,000239: 23,2223           12305                           BZF      DETENTCK                              #  BRANCH FOR RATE COMMAND
022891,000240: 
022892,000241: 23,2224           30773                           CAE      DELAYCTR                              #  SET BY RUPT10 TO TWO
022893,000242: 23,2225           00006                           EXTEND                                         
022894,000243: 23,2226           12260                           BZF      BITSGONE                              #  CHECK FOR ALL SWITCHES OPEN
022895,000244: 
022896,000245: 23,2227           43102                           CS       -TJMINT6                              
022897,000246: 23,2230           55505                           TS       TOFJTCHG                              
022898,000247: 
022899,000248: 23,2231           55625                           TS       TP                                    #  FOR RATE DERIVATION
022900,000249: 23,2232           37655                           CA       BIT3                                  
022901,000250: 23,2233           00006                           EXTEND                                         

Page 546

022903,000252: 23,2234           02031                           RAND     31                                    
022904,000253: 23,2235           00006                           EXTEND                                         
022905,000254: 23,2236           12251                           BZF      +MINIMP                               
022906,000255: 
022907,000256: 23,2237           37654                           CA       BIT4                                  
022908,000257: 23,2240           00006                           EXTEND                                         
022909,000258: 23,2241           02031                           RAND     31                                    
022910,000259: 23,2242           00006                           EXTEND                                         
022911,000260: 23,2243           12253                           BZF      -MINIMP                               
022912,000261: 
022913,000262: 23,2244           10773                           CCS      DELAYCTR                              #  DELAYCTR ALWAYS PNZ HERE
022914,000263: 23,2245           54773                           TS       DELAYCTR                              
022915,000264: 23,2246           00006                           EXTEND                                         
022916,000265: 23,2247           12277                           BZF      PLETRUPT                              
022917,000266: 23,2250           12612                           TCF      JETSOFF                               
022918,000267: 
022919,000268: 23,2251           37657        +MINIMP            CAF      BIT1                                  
022920,000269: 23,2252           12254                           TCF      +2                                    
022921,000270: 23,2253           47657        -MINIMP            CS       BIT1                                  
022922,000271: 23,2254           55440                 +2        TS       TPSIG                                 
022923,000272: 23,2255           37665                           CAF      ZERO                                  
022924,000273: 23,2256           54773                           TS       DELAYCTR                              
022925,000274: 23,2257           12462                           TCF      2PJETS                                
022926,000275: 
022927,000276: 23,2260           00006        BITSGONE           EXTEND                                         #  ARE SWITCHES ALL OPEN
022928,000277: 23,2261           00031                           READ     31                                    
022929,000278: 23,2262           40000                           COM                                            
022930,000279: 23,2263           73103                           MASK     DAPLOW6                               
022931,000280: 23,2264           00006                           EXTEND                                         
022932,000281: 23,2265           12267                           BZF      +2                                    
022933,000282: 23,2266           12612                           TCF      JETSOFF                               
022934,000283: 
022935,000284: 23,2267           37654                           CAF      BIT4                                  #  BIT4 OF DAPBOOLS ZERO IF PREVIOUS
022936,000285: 23,2270           70765                           MASK     DAPBOOLS                              #  READING OF 31 FOUND ALL SWITCHES OPEN
022937,000286: 23,2271           00006                           EXTEND                                         
022938,000287: 23,2272           12277                           BZF      PLETRUPT                              
022939,000288: 
022940,000289: 23,2273           47654                           CS       BIT4                                  
022941,000290: 23,2274           70765                           MASK     DAPBOOLS                              
022942,000291: 23,2275           54765                           TS       DAPBOOLS                              
022943,000292: 23,2276           12612                           TCF      JETSOFF                               
022944,000293: 
022945,000294: 23,2277           37654        PLETRUPT           CAF      BIT4                                  
022946,000295: 23,2300           26765                           ADS      DAPBOOLS                              
022947,000296: 23,2301           37644                           CAF      BIT12                                 
022948,000297: 23,2302           00006                           EXTEND                                         
022949,000298: 23,2303           05013                           WOR      13                                    
022950,000299: 23,2304           12612                           TCF      JETSOFF                               
022951,000300: 23,2305           37641        DETENTCK           CA       BIT15                                 
022952,000301: 23,2306           00006                           EXTEND                                         

Page 547

022954,000303: 23,2307           02031                           RAND     31                                    #  CHECK OUT-OF-DETENT BIT.INVERTED.
022955,000304: 23,2310           00006                           EXTEND                                         
022956,000305: 23,2311           12346                           BZF      RHCMOVED                              #  BRANCH IF OUT OF DETENT
022957,000306:                                                                                                  #  ........................................................................ 
022958,000307: 23,2312           37657                           CAF      BIT1                                  #  IN DETENT.CHECK THE RATE COMMAND BIT
022959,000308: 23,2313           70765                           MASK     DAPBOOLS                              #  BIT1 OF DAPBOOLS IS RATE COMMAND BIT
022960,000309: 23,2314           00006                           EXTEND                                         
022961,000310: 23,2315           12617                           BZF      PURGENCY                              #  BRANCH IF NOT IN RATE COMMAND
022962,000311:                                                                                                  #  ........................................................................ 
022963,000312: 23,2316           37643                           CAF      BIT13                                 #  CHECK ATTITUDE HOLD BIT
022964,000313: 23,2317           00006                           EXTEND                                         
022965,000314: 23,2320           02031                           RAND     31                                    
022966,000315: 23,2321           00006                           EXTEND                                         
022967,000316: 23,2322           12417                           BZF      JOEY                                  #  BRANCH IF IN ATTITUDE HOLD
022968,000317:                                                                                                  #  ........................................................................ 
022969,000318: 23,2323           11416                           CCS      OMEGAP                                #  HERE IF IN Y-AXIS OVER-RIDE
022970,000319: 23,2324           12330                           TCF      +4                                    
022971,000320: 23,2325           12334                           TCF      RATEDONE                              
022972,000321: 23,2326           12330                           TCF      +2                                    
022973,000322: 23,2327           12334                           TCF      RATEDONE                              
022974,000323: 23,2330           61506                           AD       -RATEDB                               
022975,000324: 23,2331           00006                           EXTEND                                         
022976,000325: 23,2332           62334                           BZMF     RATEDONE                              
022977,000326: 23,2333           12417                           TCF      JOEY                                  
022978,000327: 
022979,000328: 23,2334           47657        RATEDONE           CS       BIT1                                  
022980,000329: 23,2335           70765                           MASK     DAPBOOLS                              
022981,000330: 23,2336           54765                           TS       DAPBOOLS                              
022982,000331: 
022983,000332:                                                                                                  #  READ CDUS INTO CDU DESIRED REGISTERS
022984,000333: 
022985,000334: 23,2337           30032                           CA       CDUX                                  
022986,000335: 23,2340           54774                           TS       CDUXD                                 
022987,000336: 23,2341           30033                           CA       CDUY                                  
022988,000337: 23,2342           54775                           TS       CDUYD                                 
022989,000338: 23,2343           30034                           CA       CDUZ                                  
022990,000339: 23,2344           54776                           TS       CDUZD                                 
022991,000340: 
022992,000341: 23,2345           12612                           TCF      JETSOFF                               
022993,000342: 
022994,000343: 23,2346           37657        RHCMOVED           CAF      BIT1                                  #  CHECKING THE RATE COMMAND BIT
022995,000344: 23,2347           70765                           MASK     DAPBOOLS                              
022996,000345: 23,2350           00006                           EXTEND                                         
022997,000346: 23,2351           12371                           BZF      JUSTOUT                               
022998,000347: 
022999,000348:                                                                                                  #  READ,ZERO, AND ENABLE COUNTERS
023000,000349:                                                                                                  #  SYSTEM HAS BEEN IN RATE COMMAND FOR AT LEAST THE TIME OF A CAP CHARGE
023001,000350: 
023002,000351: 23,2352           30043                           CAE      P-RHCCTR                              #  1 BIT IN P-RHCCTR WORTH 0.6256 DEG/SEC
023003,000352: 23,2353           00006                           EXTEND                                         

Page 548

023005,000354: 23,2354           77647                           MP       BIT9                                  
023006,000355: 23,2355           30001                           CA       L                                     
023007,000356: 23,2356           00006                           EXTEND                                         
023008,000357: 23,2357           73073                           MP       0.88975                               
023009,000358: 23,2360           55441                           TS       PRATECOM                              #  COMMANDED RATE SCALED AT PI/4
023010,000359: 
023011,000360: 23,2361           37665                           CAF      ZERO                                  #  ZERO COUNTERS
023012,000361: 23,2362           54043                           TS       P-RHCCTR                              
023013,000362: 23,2363           54042                           TS       Q-RHCCTR                              
023014,000363: 23,2364           54044                           TS       R-RHCCTR                              
023015,000364: 23,2365           33111                           CA       BITS8,9                               #  ENABALE COUNTERS, START READING
023016,000365: 23,2366           00006                           EXTEND                                         
023017,000366: 23,2367           05013                           WOR      13                                    
023018,000367: 23,2370           12421                           TCF      OBEYRATE                              
023019,000368:                                                                                                  #  ........................................................................ 
023020,000369: 23,2371           24765        JUSTOUT            INCR     DAPBOOLS                              #  ALWAYS SETS BIT1 ON RATE COMMAND BIT
023021,000370: 23,2372           37656                           CAF      BIT2                                  
023022,000371: 23,2373           00006                           EXTEND                                         
023023,000372: 23,2374           02030                           RAND     30                                    
023024,000373: 23,2375           00006                           EXTEND                                         
023025,000374: 23,2376           12403                           BZF      +5                                    #  BRANCH FOR ASCENT CONSTANTS
023026,000375: 
023027,000376: 23,2377           33076                           CAF      -D2JTLIM                              #  -1.4 DEG/SEC SCALED AT PI/4
023028,000377: 23,2400           55507                           TS       -2JETLIM                              
023029,000378: 23,2401           33075                           CAF      -DRATEDB                              #  -0.4 DEG/SEC SCALED AT PI/4
023030,000379: 23,2402           12406                           TCF      +4                                    
023031,000380: 
023032,000381: 23,2403           33077                 +5        CAF      -A2JTLIM                              #  -2.0 DEG/SEC SCALED AT PI/4
023033,000382: 23,2404           55507                           TS       -2JETLIM                              
023034,000383: 23,2405           33100                           CAF      -ARATEDB                              #  -1.0 DEG/SEC SCALED AT PI/4
023035,000384: 23,2406           55506                 +4        TS       -RATEDB                               
023036,000385: 
023037,000386: 23,2407           37665                           CAF      ZERO                                  #  ZERO COUNTERS
023038,000387: 23,2410           54043                           TS       P-RHCCTR                              
023039,000388: 23,2411           54042                           TS       Q-RHCCTR                              
023040,000389: 23,2412           54044                           TS       R-RHCCTR                              
023041,000390: 23,2413           33111                           CA       BITS8,9                               
023042,000391: 23,2414           00006                           EXTEND                                         
023043,000392: 23,2415           05013                           WOR      13                                    
023044,000393: 23,2416           12612                           TCF      JETSOFF                               
023045,000394:                                                                                                  #  ........................................................................ 
023046,000395: 23,2417           37665        JOEY               CAF      ZERO                                  
023047,000396: 23,2420           55441                           TS       PRATECOM                              
023048,000397: 
023049,000398:                                                                                                  #  IN THIS SECTION P RATE ERROR IS COMPUTED AND T-JET IS CALCULATED
023050,000399: 
023051,000400: 23,2421           41416        OBEYRATE           CS       OMEGAP                                
023052,000401: 23,2422           61441                           AD       PRATECOM                              
023053,000402: 23,2423           55440                           TS       TPSIG                                 #  SIGN STORAGE TO TELL DIRECTION OF ROT.
023054,000403: 23,2424           10000        OBEYRAPE           CCS      A                                     #  GET ABVAL OF RATE P-ERROR

Page 549

023056,000405: 23,2425           12431                           TCF      +4                                    
023057,000406: 23,2426           12612                           TCF      JETSOFF                               
023058,000407: 23,2427           12431                           TCF      +2                                    
023059,000408: 23,2430           12612                           TCF      JETSOFF                               
023060,000409: 23,2431           67657                           AD       BIT1                                  
023061,000410: 23,2432           55472                           TS       PRATEDIF                              #  ABVAL OF RATE ERROR SCALED AT PI/4
023062,000411: 
023063,000412: 23,2433           04177                           TC       T6JOBCHK                              #  T6JOBCHK IS IN FIXED-FIXED
023064,000413: 
023065,000414: 23,2434           31506                           CA       -RATEDB                               
023066,000415: 23,2435           61472                           AD       PRATEDIF                              
023067,000416: 23,2436           00006                           EXTEND                                         
023068,000417: 23,2437           62612                           BZMF     JETSOFF                               #  RATE ERROR INSIDE DEADBAND
023069,000418: 
023070,000419: 23,2440           41472                           CS       PRATEDIF                              
023071,000420: 23,2441           00006                           EXTEND                                         
023072,000421: 23,2442           61507                           SU       -2JETLIM                              
023073,000422: 23,2443           00006                           EXTEND                                         
023074,000423: 23,2444           62537                           BZMF     RCM4JETS                              
023075,000424: 
023076,000425: 23,2445           31472                           CA       PRATEDIF                              #  2 JETS ENOUGH.COMPUTE TJET
023077,000426: 23,2446           00006                           EXTEND                                         
023078,000427: 23,2447           71444                           MP       1/2JTSP                               #  1/2JTACC SCALED AT 2EXP(8)/PI
023079,000428: 23,2450           00006                           EXTEND                                         
023080,000429: 23,2451           77654                           MP       BIT4                                  
023081,000430: 23,2452           30001                           CA       L                                     
023082,000431: 23,2453           00006                           EXTEND                                         
023083,000432: 23,2454           73101                           MP       25/32                                 #  A CONTAINS TJET SCALED AT 2EXP(4)(16/25)
023084,000433: 23,2455           55625                           TS       TP                                    
023085,000434: 
023086,000435:                                                                                                  #  ........................................................................ 
023087,000436:                                                                                                  #  CHECK RATE COMMAND ON TIME AGAINST MINIMUM IMPULSE
023088,000437: 23,2456           55505                           TS       TOFJTCHG                              
023089,000438: 23,2457           63102                           AD       -TJMINT6                              
023090,000439: 23,2460           00006                           EXTEND                                         #    AS TP. TEST JET TIME. IS IT GREATER OR
023091,000440: 23,2461           62612                           BZMF     JETSOFF                               #  LESS THAN A MINIMUM IMPULSE
023092,000441:                                                                                                  #  ........................................................................ 
023093,000442:                                                                                                  #               2-JET JET SELECT LOGIC
023094,000443:                                                                                                  #  READ CHANNEL 6 TO SEE WHAT THE CURRENT STATE OF THE P JETS IS AND
023095,000444:                                                                                                  #      CORRECT THE JET TIME FOR THE PROPER AMOUNT OF TIME .
023096,000445: 23,2462           00006        2PJETS             EXTEND                                         #  WHAT IS THE CURRENT STATE OF THE P JETS.
023097,000446: 23,2463           00006                           READ     6                                     
023098,000447: 23,2464           00006                           EXTEND                                         
023099,000448: 23,2465           12471                           BZF      PJETSNOT                              
023100,000449: 23,2466           33067                           CA       MCOMPT                                #  - COMPUTATION TIME FOR THE PAXIS
023101,000450: 23,2467           27505                           ADS      TOFJTCHG                              #  ALTER JET OFF TIME PER STATE OF CH 6.
023102,000451: 23,2470           12500                           TCF      TESTSIGN                              
023103,000452: 23,2471           33070        PJETSNOT           CA       14-TJMIN                              #  TOTAL DELAY FOR A MIN IMP TO FULL ON.
023104,000453: 23,2472           27505                           ADS      TOFJTCHG                              #  ALTER JET OFF TIME PER STATE OF CH 6.
023105,000454:                                                                                                  #  ........................................................................ 

Page 550

023107,000456:                                                                                                  #  SET UP THE ALTERNATING P SELECT BIT IN DAPBOOLS.
023108,000457: 23,2473           37653        ALTPSELT           CA       BIT5                                  #  COMPLEMENT BIT5 OF DAPBOOLS
023109,000458: 23,2474           22765                           LXCH     DAPBOOLS                              
023110,000459: 23,2475           00006                           EXTEND                                         
023111,000460: 23,2476           06001                           RXOR     L                                     
023112,000461: 23,2477           54765                           TS       DAPBOOLS                              
023113,000462: 23,2500           11440        TESTSIGN           CCS      TPSIG                                 
023114,000463: 23,2501           37653                           CA       BIT5                                  
023115,000464: 23,2502           12504                           TCF      +2                                    
023116,000465: 23,2503           12521                           TCF      NEGTP                                 
023117,000466: 
023118,000467: 23,2504           70765                           MASK     DAPBOOLS                              #  IN THE DAP BOOLS WORD.
023119,000468: 23,2505           00006                           EXTEND                                         
023120,000469: 23,2506           12514                           BZF      ALTPOS1                               
023121,000470: 23,2507           37664        ALTPOS2            CA       POSPJET1                              
023122,000471: 23,2510           04222                           TC       WRITEJTS   +2                         
023123,000472: 23,2511           37647                           CA       BIT9                                  #    NOW. ZERO AT CHG.(WRITE LOW8 IN CH.6).
023124,000473: 23,2512           55502                           TS       JTSATCHG                              #  STATE OF P AXIS JETS AFTER THE T6 RUPT.
023125,000474: 23,2513           12676                           TCF      P+2JET                                
023126,000475: 23,2514           33110        ALTPOS1            CA       POSPJET0                              
023127,000476: 23,2515           04222                           TC       WRITEJTS   +2                         
023128,000477: 23,2516           37647                           CA       BIT9                                  #    NOW. ZERO AT CHG.(WRITE LOW8 IN CH.6).
023129,000478: 23,2517           55502                           TS       JTSATCHG                              #  JTSONNOW CONTAINS BITS WRITTEN INTO CH 6
023130,000479: 23,2520           12676                           TCF      P+2JET                                
023131,000480:                                                                                                  #  ........................................................................ 
023132,000481:                                                                                                  #  TEST DAPBOOLS TO DETERMINE WHICH JET PAIR TO USE FOR P AXIS ROTATION.
023133,000482: 23,2521           37653        NEGTP              CA       BIT5                                  
023134,000483: 23,2522           70765                           MASK     DAPBOOLS                              #  IN THE DAP BOOLS WORD.
023135,000484: 23,2523           00006                           EXTEND                                         
023136,000485: 23,2524           12532                           BZF      ALTNEG1                               
023137,000486: 23,2525           33107        ALTNEG2            CA       NEGPJET1                              
023138,000487: 23,2526           04222                           TC       WRITEJTS   +2                         
023139,000488: 23,2527           37647                           CA       BIT9                                  #    NOW. ZERO AT CHG.(WRITE LOW8 IN CH.6).
023140,000489: 23,2530           55502                           TS       JTSATCHG                              #  STATE OF P AXIS JETS AFTER THE T6 RUPT.
023141,000490: 23,2531           12700                           TCF      P-2JET                                
023142,000491: 23,2532           33106        ALTNEG1            CA       NEGPJET0                              
023143,000492: 23,2533           04222                           TC       WRITEJTS   +2                         
023144,000493: 23,2534           37647                           CA       BIT9                                  #    NOW. ZERO AT CHG.(WRITE LOW8 IN CH.6).
023145,000494: 23,2535           55502                           TS       JTSATCHG                              #  STATE OF P AXIS JETS AFTER THE T6 RUPT.
023146,000495: 23,2536           12700                           TCF      P-2JET                                
023147,000496: 23,2537           31472        RCM4JETS           CA       PRATEDIF                              
023148,000497: 23,2540           00006                           EXTEND                                         
023149,000498: 23,2541           71444                           MP       1/2JTSP                               
023150,000499: 23,2542           00006                           EXTEND                                         
023151,000500: 23,2543           77655                           MP       BIT3                                  
023152,000501: 23,2544           30001                           CA       L                                     
023153,000502: 23,2545           00006                           EXTEND                                         
023154,000503: 23,2546           73101                           MP       25/32                                 #  A NOW CONTAINS TJET SCALED AT 2EXP(4)(16
023155,000504: 23,2547           55625                           TS       TP                                    #  /25).
023156,000505: 

Page 551

023158,000507:                                                                                                  #  ........................................................................ 
023159,000508:                                                                                                  #  IN THIS SECTION DO THE P AXIS  JET SELECT LOGIC FOR 4 JETS
023160,000509: 23,2550           55505        4PJETS             TS       TOFJTCHG                              #  TOFJTCHG WILL BE MODIFIED AND WILL = T6.
023161,000510: 23,2551           41440                           CS       TPSIG                                 
023162,000511: 23,2552           00006                           EXTEND                                         
023163,000512: 23,2553           62573                           BZMF     POS4P                                 
023164,000513: 23,2554           00006                           EXTEND                                         
023165,000514: 23,2555           00006                           READ     6                                     
023166,000515: 23,2556           00006                           EXTEND                                         
023167,000516: 23,2557           12563                           BZF      +4                                    
023168,000517: 23,2560           33067                           CA       MCOMPT                                
023169,000518: 23,2561           27505                           ADS      TOFJTCHG                              #  ALTER JET OFF TIME PER STATE OF CH 6.
023170,000519: 23,2562           12565                           TCF      +3                                    
023171,000520: 23,2563           33070                 +4        CAF      14-TJMIN                              
023172,000521: 23,2564           27505                           ADS      TOFJTCHG                              #  ALTER JET OFF TIME PER STATE OF CH 6.
023173,000522: 23,2565           33105                           CA       4NEGPJET                              
023174,000523: 23,2566           04222                           TC       WRITEJTS   +2                         
023175,000524: 23,2567           37647                           CA       BIT9                                  #  THE LOW 8 BITS ONLY GET WRITTEN INTO CH.
023176,000525: 23,2570           55502                           TS       JTSATCHG                              #  STATE OF P AXIS JETS AFTER THE T6 RUPT.
023177,000526: 23,2571           47655                           CS       FOUR                                  
023178,000527: 23,2572           12701                           TCF      RATE                                  
023179,000528: 23,2573           00006        POS4P              EXTEND                                         
023180,000529: 23,2574           00006                           READ     6                                     
023181,000530: 23,2575           00006                           EXTEND                                         
023182,000531: 23,2576           12602                           BZF      +4                                    
023183,000532: 23,2577           33067                           CA       MCOMPT                                
023184,000533: 23,2600           27505                           ADS      TOFJTCHG                              #  ALTER JET OFF TIME PER STATE OF CH 6.
023185,000534: 23,2601           12604                           TCF      +3                                    
023186,000535: 23,2602           33070                 +4        CA       14-TJMIN                              #  TOTAL DELAY FOR A MIN IMP TO FULL ON.
023187,000536: 23,2603           27505                           ADS      TOFJTCHG                              #  ALTER JET OFF TIME PER STATE OF CH 6.
023188,000537: 23,2604           33104                           CA       4POSPJET                              
023189,000538: 23,2605           04222                           TC       WRITEJTS   +2                         
023190,000539: 23,2606           37647                           CA       BIT9                                  #    NOW. ZERO AT CHG.(WRITE LOW8 IN CH.6).
023191,000540: 23,2607           55502                           TS       JTSATCHG                              #  STATE OF P AXIS JETS AFTER THE T6 RUPT.
023192,000541: 23,2610           37655                           CA       FOUR                                  
023193,000542: 23,2611           12701                           TCF      RATE                                  
023194,000543: 23,2612           37665        JETSOFF            CAF      ZERO                                  
023195,000544: 23,2613           55615                           TS       JETRATE                               
023196,000545: 23,2614           55505                           TS       TOFJTCHG                              
023197,000546: 23,2615           04222                           TC       WRITEJTS   +2                         
023198,000547: 23,2616           14606                           TCF      RESUME                                
023199,000548:                                                                                                  #  P-AXIS URGENCY FUNCTION CALCULATION
023200,000549: 
023201,000550:                                                                                                  #  (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULITPLICATION.)
023202,000551: 
023203,000552: 23,2617           30033        PURGENCY           CA       CDUY                                  #  P-ERROR CALCULATION
023204,000553: 23,2620           00006                           EXTEND                                         
023205,000554: 23,2621           20775                           MSU      CDUYD                                 #  CDU VALUE - ANGLE DESIRED (Y-AXIS)
023206,000555: 23,2622           00006                           EXTEND                                         
023207,000556: 23,2623           71404                           MP       M11                                   #  (CDUY-CDUYD)M11 SCALED AT PI RADIANS

Page 552

023209,000558: 23,2624           57411                           XCH      E                                     #  SAVE FIRST TERM (OF TWO)
023210,000559: 23,2625           30032                           CA       CDUX                                  #  THIRD COMPONENT
023211,000560: 23,2626           00006                           EXTEND                                         
023212,000561: 23,2627           20774                           MSU      CDUXD                                 #  CDU VALUE - ANGLE DESIRED (X-AXIS)
023213,000562:                                                                                                  #                EXTEND
023214,000563:                                                                                                  #                MP              M13
023215,000564: 23,2630           27411                           ADS      E                                     #  SAVE SUM OF TERMS, NO OVERFLOW EVR
023216,000565: 
023217,000566: 23,2631           55476                           TS       PERROR                                #  SAVE P ERR FOR DISPLAY
023218,000567: 23,2632           31444                           CAE      1/2JTSP                               #  SET-UP FOR URGENCY SUBROUTINE
023219,000568: 23,2633           55471                           TS       1/NJETAC                              
023220,000569: 
023221,000570: 23,2634           04177                           TC       T6JOBCHK                              #  CHECK T6 CLOCK HERE, BEFORE URGROUTN
023222,000571: 
023223,000572: 23,2635           41426                           CS       OMEGAPD                               
023224,000573: 23,2636           61416                           AD       OMEGAP                                
023225,000574: 23,2637           55423                           TS       EDOTP                                 
023226,000575: 23,2640           04156                           TC       IBNKCALL                              #  *** SUBROUTINE CALL *** (TAKES 24 MCTS)
023227,000576: 23,2641           51525                           CADR     URGROUTN                              #  (RETURN TAKES 10 MCTS)
023228,000577: 
023229,000578: 23,2642           00006                           EXTEND                                         #  IF URGENCY = 0, FIRE NO JETS
023230,000579: 23,2643           12612                           BZF      JETSOFF                               #  (FOR EFFICIENCY ONLY)
023231,000580: 
023232,000581: 23,2644           10000                           CCS      A                                     #  URGENCY FUNCTION IS IN A, GET ABVAL
023233,000582: 23,2645           63112                           AD       UPM                                   
023234,000583: 23,2646           12650                           TCF      +2                                    
023235,000584: 23,2647           63112                           AD       UPM                                   
023236,000585: 23,2650           00006                           EXTEND                                         
023237,000586: 23,2651           62661                           BZMF     2JETSP                                
023238,000587: 23,2652           37637                           CA       POSMAX                                
023239,000588: 23,2653           55470                           TS       NJET                                  #  INDICATE 4 JETS
023240,000589: 23,2654           31444                           CA       1/2JTSP                               
023241,000590: 23,2655           00006                           EXTEND                                         
023242,000591: 23,2656           77642                           MP       BIT14                                 #  USE 1/4JETSP
023243,000592: 23,2657           55471                           TS       1/NJETAC                              
023244,000593: 23,2660           12663                           TCF      T-JETLAW                              

The above 23 instructions (everything from "CAE 1/2JTSP" down to here) have a box drawn around them in red. Between comments on the write is written in "Dick Gran says: Use no urg. fcn. on PAXIS, use TJETLAW only! 1. How do we determine direction? 2. How do we use TPSIG?".

023248,000597: 
023249,000598: 23,2661           47637        2JETSP             CS       POSMAX                                
023250,000599: 23,2662           55470                           TS       NJET                                  #  INDICATE 2 JETS
023251,000600: 23,2663           04177        T-JETLAW           TC       T6JOBCHK                              #  CHECK T6 CLOCK RUPT BEFORE SUBROUTINE
023252,000601: 
023253,000602: 23,2664           33114                           CAF      JETLWADR                              #  TJETLAW CALLING SEQUENCE
023254,000603: 23,2665           04162                           TC       ISWCALL                               
023255,000604: 23,2666           12612                           TCF      JETSOFF                               
023256,000605: 23,2667           55625                           TS       TP                                    
023257,000606: 
023258,000607: 23,2670           11470                           CCS      NJET                                  
023259,000608: 23,2671           31625                           CA       TP                                    
023260,000609: 23,2672           12550                           TCF      4PJETS                                
023261,000610: 23,2673           31625                           CA       TP                                    

Page 553

023263,000612: 23,2674           55505                           TS       TOFJTCHG                              
023264,000613: 23,2675           12462                           TCF      2PJETS                                
023265,000614: 
023266,000615:                                                                                                  #  TORQUE VECTOR RECONSTRUCTION FOR THE P-AXIS
023267,000616: 
023268,000617: 23,2676           37656        P+2JET             CA       TWO                                   
023269,000618: 23,2677           12701                           TCF      RATE                                  
023270,000619: 23,2700           47656        P-2JET             CS       TWO                                   
023271,000620: 23,2701           55624        RATE               TS       NO.PJETS                              #  STORE NO. OF P JETS FOR USE LATER.
023272,000621: 23,2702           31622                           CA       100MSPTQ                              #  TORQUE FROM A 100 MS JET PULSE SET BY
023273,000622: 23,2703           00006                           EXTEND                                         #    AOS TASK EVERY 2 SECONDS.

The above two lines of comments have a box drawn around them in red.

023275,000624: 23,2704           71627                           MP       1JACC                                 
023276,000625: 23,2705           00006                           EXTEND                                         
023277,000626: 23,2706           71624                           MP       NO.PJETS                              
023278,000627: 23,2707           23615                           LXCH     JETRATE                               #  STORE JET RATE FOR OMEGAP COMPUTATION.
023279,000628: 23,2710           41505                           CS       TOFJTCHG                              
023280,000629: 23,2711           63065                           AD       +1.5CSP                               #  USE 150 MS. TO TEST FOR A PAXIS SKIP.
023281,000630: 23,2712           00006                           EXTEND                                         
023282,000631: 23,2713           64606                           BZMF     RESUME                                #  TP GREATER THAN 150MS THEN DO NORMAL P.
023283,000632: 23,2714           33113                           CA       PSKIPADR                              #  SET UP A P AXIS SKIP.
023284,000633: 23,2715           55613                           TS       PJUMPADR                              
023285,000634: 23,2716           10031        JTLST              CCS      TIME6                                 #   TEST CURRENT STATE OF T6.
023286,000635: 23,2717           12742                           TCF      T6ONNOW                               #   IF T6 IS + THEN CLOCK IS ON.
023287,000636: 23,2720           12724                           TCF      T6OFFNOW                              #   IF T6 IS + ZERO THEN T6 MUST BE OFF
023288,000637: 23,2721           12742                           TCF      T6ONNOW                               #     SINCE ALL DINC S LEAD TO MINUS ZERO.
023289,000638: 23,2722           04203                           TC       T6JOB                                 #  WE ARE IN THE UNIQUE STATE WHICH SAYS
023290,000639: 23,2723           12716                           TCF      JTLST                                 #    A T6 INTERRUPT IS WAITING.DO T6 JOB.
023291,000640: 23,2724           31505        T6OFFNOW           CA       TOFJTCHG                              
023292,000641: 23,2725           54031                           TS       TIME6                                 #  WE ARE HERE IF T6 CLOCK IS OFF.
023293,000642: 23,2726           37641                           CA       BIT15                                 
023294,000643: 23,2727           00006                           EXTEND                                         #  TURN CLOCK PULSE FOR T6 ON AND LOAD T6.
023295,000644: 23,2730           05013                           WOR      13                                    
023296,000645: 23,2731           31502                           CA       JTSATCHG                              
023297,000646: 23,2732           54770                           TS       T6NEXTJT                              
023298,000647: 23,2733           37665                           CA       ZERO                                  
023299,000648: 23,2734           57504                           XCH      ADDTLT6                               #  SET UP NEXT T6 INTERRUPT AFTER THE
023300,000649: 23,2735           54766                           TS       T6NEXT                                #    CURRENT ONE IS COMPLETE. ADDTLT6 MAY
023301,000650: 
023302,000651: 23,2736           37665                           CA       ZERO                                  #    BE ZERO IN WHICH CASE NO MORE T6.
023303,000652: 23,2737           57503                           XCH      ADDT6JTS                              
023304,000653: 23,2740           54771                           TS       T6NEXTJT   +1                         
023305,000654: 23,2741           14606                           TCF      RESUME                                
023306,000655: 23,2742           10766        T6ONNOW            CCS      T6NEXT                                #  HERE IF T6 IS NOW ON. SEE IF T6NEXT IS
023307,000656: 23,2743           13023                           TCF      T6NXT=+                               #    ZERO OR NOT.
023308,000657: 23,2744           41505                           CS       TOFJTCHG                              #  T6NEXT IS NEVER NEGATIVE.
023309,000658: 23,2745           60031                           AD       TIME6                                 #  A CONTAINS T6 - TJET.
023310,000659: 23,2746           10000                           CCS      A                                     #  TEST SIGN OF A (SAVING THE DIFFERENCE).
023311,000660: 23,2747           67657                           AD       ONE                                   
023312,000661: 23,2750           12765                           TCF      JTSFIRST                              #  TJET IS LESS THAN T6.
023313,000662: 23,2751           12752                           NOOP                                           #  IF DIFFERENCE I SNEGATIVE OR ZERO

Page 554

023315,000664: 23,2752           67657                           AD       ONE                                   #    WE ADD 1 SO ZERO CAN NEVER BE IN LIST.
023316,000665: 23,2753           54766                           TS       T6NEXT                                
023317,000666: 23,2754           31502                           CA       JTSATCHG                              
023318,000667: 23,2755           54771                           TS       T6NEXTJT   +1                         #  BEGIN SETTING UP JETS IN THE JET LIST.
023319,000668: 23,2756           37665                           CA       ZERO                                  
023320,000669: 23,2757           57504                           XCH      ADDTLT6                               
023321,000670: 23,2760           54767                           TS       T6NEXT     +1                         
023322,000671: 23,2761           37665                           CA       ZERO                                  
023323,000672: 23,2762           57503                           XCH      ADDT6JTS                              
023324,000673: 23,2763           54772                           TS       T6NEXTJT   +2                         
023325,000674: 23,2764           14606                           TCF      RESUME                                
023326,000675: 23,2765           54766        JTSFIRST           TS       T6NEXT                                #  HERE IF TJET IS LESS THAN T6.
023327,000676: 23,2766           31505                           CA       TOFJTCHG                              
023328,000677: 23,2767           54031                           TS       TIME6                                 #  SWITCH T6 AND TJET)
023329,000678: 23,2770           31502                           CA       JTSATCHG                              
023330,000679: 23,2771           56770                           XCH      T6NEXTJT                              #  BEGIN SWITCHING JET WORDS IN JET LIST.
023331,000680: 23,2772           54771                           TS       T6NEXTJT   +1                         
023332,000681: 23,2773           41504                           CS       ADDTLT6                               
023333,000682: 23,2774           00006                           EXTEND                                         
023334,000683: 23,2775           14606                           BZF      RESUME                                #  SEE IF AN ADDITIONAL (QR) JET TIME IS
023335,000684: 23,2776           60766                           AD       T6NEXT                                #    REQUIRED.

There is a line here saying "* DELETE THROUGH 04993", indicating a change from the last revision.

023337,000686: 23,2777           10000                           CCS      A                                     #  IF AN ADDITIONAL T6 IS NEEDEN, COMPARE
023338,000687: 23,3000           67657                           AD       ONE                                   #    IT WITH THE CONTENTS OF T6NEXT.
023339,000688: 23,3001           13012                           TCF      +11                                   
023340,000689: 23,3002           13003                           NOOP                                           
023341,000690: 23,3003           67657                           AD       ONE                                   
023342,000691: 23,3004           54767                           TS       T6NEXT     +1                         
023343,000692: 23,3005           37665                           CA       ZERO                                  
023344,000693: 23,3006           55504                           TS       ADDTLT6                               
023345,000694: 23,3007           57503                           XCH      ADDT6JTS                              
023346,000695: 23,3010           54772                           TS       T6NEXTJT   +2                         
023347,000696: 23,3011           14606                           TCF      RESUME                                
023348,000697: 23,3012           54767                 +11       TS       T6NEXT     +1                         
023349,000698: 23,3013           37665                           CA       ZERO                                  
023350,000699: 23,3014           57504                           XCH      ADDTLT6                               
023351,000700: 23,3015           54766                           TS       T6NEXT                                
023352,000701: 23,3016           37665                           CA       ZERO                                  
023353,000702: 23,3017           57503                           XCH      ADDT6JTS                              
023354,000703: 23,3020           56771                           XCH      T6NEXTJT   +1                         
023355,000704: 23,3021           54772                           TS       T6NEXTJT   +2                         
023356,000705: 23,3022           14606                           TCF      RESUME                                
023357,000706: 23,3023           41505        T6NXT=+            CS       TOFJTCHG                              
023358,000707: 23,3024           60031                           AD       TIME6                                 
023359,000708: 23,3025           60766                           AD       T6NEXT                                
023360,000709: 23,3026           10000                           CCS      A                                     
023361,000710: 23,3027           67657                           AD       ONE                                   
023362,000711: 23,3030           13037                           TCF      +7                                    
023363,000712: 23,3031           13032                           NOOP                                           
023364,000713: 23,3032           67657                           AD       ONE                                   

Page 555

023366,000715: 23,3033           54767                           TS       T6NEXT     +1                         
023367,000716: 23,3034           31502                           CA       JTSATCHG                              
023368,000717: 23,3035           54772                           TS       T6NEXTJT   +2                         
023369,000718: 23,3036           14606                           TCF      RESUME                                
023370,000719: 23,3037           54001                 +7        TS       L                                     
023371,000720: 23,3040           41505                           CS       TOFJTCHG                              
023372,000721: 23,3041           60031                           AD       TIME6                                 
023373,000722: 23,3042           10000                           CCS      A                                     
023374,000723: 23,3043           67657                           AD       ONE                                   
023375,000724: 23,3044           13054                           TCF      JTSB4T6                               
023376,000725: 23,3045           13046                           NOOP                                           
023377,000726: 23,3046           67657                           AD       ONE                                   
023378,000727: 23,3047           54766                           TS       T6NEXT                                
023379,000728: 23,3050           30001                           CA       L                                     
023380,000729: 23,3051           54767                           TS       T6NEXT     +1                         
023381,000730: 23,3052           31502                           CA       JTSATCHG                              
023382,000731: 23,3053           13062                           TCF      +7                                    
023383,000732: 23,3054           56766        JTSB4T6            XCH      T6NEXT                                
023384,000733: 23,3055           54767                           TS       T6NEXT     +1                         
023385,000734: 23,3056           31505                           CA       TOFJTCHG                              
023386,000735: 23,3057           54031                           TS       TIME6                                 
023387,000736: 23,3060           31502                           CA       JTSATCHG                              
023388,000737: 23,3061           56770                           XCH      T6NEXTJT                              
023389,000738: 23,3062           56771                 +7        XCH      T6NEXTJT   +1                         
023390,000739: 23,3063           56772                           XCH      T6NEXTJT   +2                         
023391,000740: 23,3064           14606                           TCF      RESUME                                
023392,000741:                                                                                                  #  T-JET LAW FIXED CONSTANTS
023393,000742: 
023394,000743: 23,3065           00360        +1.5CSP            DEC      +0.01465                              
023395,000744: 23,3066           20000        ONE-K              DEC      0.50000                               
023396,000745: 23,3067           77767        MCOMPT             DEC      -0.00049                              #  -5 MS. SCALED AS T6 (P-AXIS COMP TIME).
023397,000746: 23,3070           00013        14-TJMIN           DEC      11         B-14                       
023398,000747: 23,3071           77537        NEGCSP1            DEC      -.00977                               
023399,000748: 23,3072           37775        MS30P              OCTAL    37775                                 
023400,000749: 23,3073           34362        0.88975            DEC      0.88975                               
023401,000750: 23,3074           24366        16/25              DEC      0.64000                               
023402,000751: 23,3075           77555        -DRATEDB           OCTAL    77555                                 #  -0.4 DEG/SEC SCALED AT PI/4 RADIANS/SEC
023403,000752: 23,3076           77001        -D2JTLIM           OCTAL    77001                                 #  -1.4 DEG/SEC SCALED AT PI/4
023404,000753: 23,3077           76447        -A2JTLIM           OCTAL    76447                                 #  -2.0 DEG/SEC SCALED AT PI/4
023405,000754: 23,3100           77223        -ARATEDB           OCTAL    77223                                 #  -1.0 DEG/SEC SCALED AT PI/4
023406,000755: 23,3101           31000        25/32              DEC      .78125                                
023407,000756: 23,3102           77763        -TJMINT6           DEC      -.00073                               
023408,000757: 23,3103           00077        DAPLOW6            OCT      00077                                 
023409,000758: 23,3104           00125        4POSPJET           OCTAL    125                                   
023410,000759: 23,3105           00252        4NEGPJET           OCTAL    252                                   
023411,000760: 23,3106           00012        NEGPJET0           OCTAL    12                                    
023412,000761: 23,3107           00240        NEGPJET1           OCTAL    240                                   
023413,000762: 23,3110           00120        POSPJET0           OCTAL    120                                   
023414,000763: 23,3111     7664               POSPJET1           EQUALS   FIVE                                  
023415,000764: 23,3111           00600        BITS8,9            OCTAL    00600                                 

Page 556

023417,000766: 23,3112           71462        UPM                DEC      -.2                                   #  TEMPORARY ESTIMATE
023418,000767: 23,3113           02147        PSKIPADR           GENADR   SKIPPAXS                              
023419,000768: 23,3114           52000        JETLWADR           CADR     TJETLAW                               
023420,000769: 
023421,000770: 
023422,000771: 
023423,000772: 23,3115           22016        SETIDLE            LXCH     BANKRUPT                              #  FIRST T5RUPT AFTER FRESH START COMES
023424,000773: 23,3116           33357                           CAF      IDLERADR                              #  HERE, DAPIDLER IS STARTED IN 1 SECOND.
023425,000774: 23,3117           54345                           TS       T5ADR                                 
023426,000775: 23,3120           33123                           CAF      1SECRUPT                              
023427,000776: 23,3121           54030                           TS       TIME5                                 
023428,000777: 23,3122           14610                           TCF      NOQRSM                                
023429,000778: 
023430,000779: 23,3123           37634        1SECRUPT           OCTAL    37634                                 #  1 SECOND SCALED AS TIME5 (100 PULSES)
023431,000780: 
023432,000781: 23,3124           00006        GOIDLE             EXTEND                                         #  COME HERE TO SHUT DOWN DAP
023433,000782: 23,3125           33360                           DCA      GOIDLADR                              
023434,000783: 23,3126           52346                           DXCH     T5ADR                                 #  SET UP RUPT TO GO IDLE AT DAPIDLER
023435,000784: 
023436,000785: 23,3127           37665                           CAF      ZERO                                  #  CLEAR ALL JETS
023437,000786: 23,3130           00006                           EXTEND                                         
023438,000787: 23,3131           01005                           WRITE    5                                     
023439,000788: 23,3132           00006                           EXTEND                                         
023440,000789: 23,3133           01006                           WRITE    6                                     
023441,000790: 
023442,000791: 23,3134           43140                           CS       BGIM23                                #  STOP THE TRIM GIMBAL DRIVES
023443,000792: 23,3135           00006                           EXTEND                                         
023444,000793: 23,3136           03012                           WAND     12                                    
023445,000794: 
023446,000795: 23,3137           14606                           TCF      RESUME                                
023447,000796: 
023448,000797: 23,3140           07400        BGIM23             OCTAL    07400                                 
023449,000798: 

Below the address column is the calculation "3635 - 3140 = 475", seemingly calculating words used after the end of this section.


End of include-file P-AXIS_REACTION_CONTROL_SYSTEM_AUTOPILOT.agc.  Parent file is MAIN.agc