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.

023701,000002:                                                                                                  ## Copyright:    Public domain.
023702,000003:                                                                                                  ## Filename:     Q,R-AXES_REACTION_CONTROL_SYSTEM_AUTOPILOT.agc
023703,000004:                                                                                                  ## Purpose:      Part of the source code for Aurora (revision 12).
023704,000005:                                                                                                  ## Assembler:    yaYUL
023705,000006:                                                                                                  ## Contact:      Hartmuth Gutsche <hgutsche@xplornet.com>.
023706,000007:                                                                                                  ## Website:      https://www.ibiblio.org/apollo.
023707,000008:                                                                                                  ## Pages:        562-593
023708,000009:                                                                                                  ## Mod history:  2016-09-20 JL   Created.
023709,000010:                                                                                                  ##               2016-09-30 HG   Started transcribing from scan
023710,000011:                                                                                                  ##               2016-10-08 HG   Change TS  Q -> TC  Q (p. 584)
023711,000012:                                                                                                  ##               2016-10-15 HG   fix label  MAXJET -> MAXTJET
023712,000013:                                                                                                  ##                                          ORGTOA -> URGTOA
023713,000014:                                                                                                  ##                                          TQRGTTM1 -> TQRGTTMI 
023714,000015:                                                                                                  ##                                          NEGQERROR -> NEGQEROR 
023715,000016:                                                                                                  ##                               fix operand NEGSCP -> NEGCSP 
023716,000017:                                                                                                  ##                                           UREGNCYQ -> URGENCYQ  
023717,000018:                                                                                                  ##                                           .5ACCMNS -> .5ACCMNE 
023718,000019:                                                                                                  ##                                           25,32.QR -> 25/32.QR
023719,000020:                                                                                                  ##                                           Q-NORTJS -> Q-NORJTS
023720,000021:                                                                                                  ##                                           -RATDEB -> -RATEDB
023721,000022:                                                                                                  ##                                           CHECKSTIK -> CHEKSTIK
023722,000023:                                                                                                  ##               2016-12-08 RSB  Proofed comments with octopus/ProoferComments
023723,000024:                                                                                                  ##                               and fixed the errors found.
023724,000025: 
023725,000026:                                                                                                  ## This source code has been transcribed or otherwise adapted from
023726,000027:                                                                                                  ## digitized images of a hardcopy from the private collection of
023727,000028:                                                                                                  ## Don Eyles.  The digitization was performed by archive.org.
023728,000029: 
023729,000030:                                                                                                  ## Notations on the hardcopy document read, in part:
023730,000031: 
023731,000032:                                                                                                  ##       473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP
023732,000033:                                                                                                  ##       NOV 10, 1966
023733,000034: 
023734,000035:                                                                                                  ##       [Note that this is the date the hardcopy was made, not the
023735,000036:                                                                                                  ##       date of the program revision or the assembly.]
023736,000037: 
023737,000038:                                                                                                  ## The scan images (with suitable reduction in storage size and consequent
023738,000039:                                                                                                  ## reduction in image quality) are available online at
023739,000040:                                                                                                  ##       https://www.ibiblio.org/apollo.
023740,000041:                                                                                                  ## The original high-quality digital images are available at archive.org:
023741,000042:                                                                                                  ##       https://archive.org/details/aurora00dapg
023742,000043: 

Page 562

023744,000045: 24,2000                                           BANK     24                                    
023745,000046: 24,2000  E6,1551                                  EBANK=   DT                                    
023746,000047:                                                                                                  #  THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE Q,R-AXIS ACTION OF THE LEM USING THE RCS JETS.
023747,000048:                                                                                                  #  THE NOMINAL TIME BETWEEN THE Q,R-AXIS RUPTS IS 100 MS (UNLESS THE TRIM GIMBAL CONTROL SYSTEM IS USED, IN WHICH
023748,000049:                                                                                                  #  CASE THIS PROGRAM IS IDLE).
023749,000050: 
023750,000051: 24,2000           02555 54006  NULLFILT           2CADR    FILDUMMY                              
023751,000052: 
023752,000053: 24,2002           32705        QRAXIS             CAF      MS30QR                                #  RESET TIME IMMEDIATELY: DT = 30 MS
023753,000054: 24,2003           54030                           TS       TIME5                                 
023754,000055: 
023755,000056: 24,2004           22016                           LXCH     BANKRUPT                              #  INTERRUPT LEAD IN (CONTINUED)
023756,000057: 24,2005           00006                           EXTEND                                         
023757,000058: 24,2006           22012                           QXCH     QRUPT                                 
023758,000059: 
023759,000060:                                                                                                  #  SET UP A DUMMY KALMAN FILTER T5RUPT.  (THIS MAY BE RESET TO THE KALMAN FILTER INITIALIZATION PASS, IF THE TRIM
023760,000061:                                                                                                  #  GIMBAL CONTROL SYSTEM SHOULD BE USED.)
023761,000062: 
023762,000063: 24,2007           00006                           EXTEND                                         
023763,000064: 24,2010           32001                           DCA      NULLFILT                              
023764,000065: 24,2011           52346                           DXCH     T5ADR                                 
023765,000066: 
023766,000067:                                                                                                  #  CALCULATE LEM BODY RATES FOR Q AND R AXES:
023767,000068: 
023768,000069:                                                                                                  #  THIS COMPUTATION IS VALID FOR BOTH ASCENT AND DESCENT SINCE THE OFFSET ACCELERATION TERM IS INCLUDED ALWAYS,
023769,000070:                                                                                                  #  BUT HAS VALUE ZERO IN DESCENT, AND SINCE THE WEIGHTING FACTORS ARE IN ERASABLE AND DISTINCT.
023770,000071: 
023771,000072:                                                                                                  #  FIRST, CONSTRUCT Y AND Z CDU INCREMENTS:
023772,000073: 
023773,000074: 24,2012           30033                           CAE      CDUY                                  #  2'S COMPLEMENT MEASUREMENT SCALED AT PI
023774,000075: 24,2013           54001                           TS       L                                     #  (SAVE FOR UPDATING OF OLDYFORQ)
023775,000076: 24,2014           00006                           EXTEND                                         #  FORM INCREMENT IN CDUY FOR LAST 100 MS
023776,000077: 24,2015           21433                           MSU      OLDYFORQ                              #  (100 MS OLD CDUY SAVED FROM LAST PASS)
023777,000078: 24,2016           23433                           LXCH     OLDYFORQ                              #  UPDATE OLDYFORQ WITH NEW CDUY VALUE
023778,000079: 24,2017           00006                           EXTEND                                         #  RESCALE DELTA CDUY FROM PI RADIANS TO
023779,000080: 24,2020           77651                           MP       BIT7                                  #  PI/2(6) RADIANS BY MULTIPLYING BY 64
023780,000081: 24,2021           22065                           LXCH     ITEMP1                                #  SAVE 1'S COMPLEMENT VALUE TEMPORARILY
023781,000082: 24,2022           30034                           CAE      CDUZ                                  #  2'S COMPLEMENT MEASUREMENT SCALED AT PI
023782,000083: 24,2023           54001                           TS       L                                     #  (SAVE FOR UPDATING OF OLDZFORQ)
023783,000084: 24,2024           00006                           EXTEND                                         #  FORM INCREMENT IN CDUZ FOR LAST 100 MS
023784,000085: 24,2025           21434                           MSU      OLDZFORQ                              #  (100 MS OLD CDUZ SAVED FROM LAST PASS)
023785,000086: 24,2026           23434                           LXCH     OLDZFORQ                              #  UPDATE OLDZFORQ WITH NEW CDUZ VALUE
023786,000087: 24,2027           00006                           EXTEND                                         #  RESCALE DELTA CDUZ FROM PI RADIANS TO
023787,000088: 24,2030           77651                           MP       BIT7                                  #  PI/2(6) RADIANS BY MULTIPLYING BY 64
023788,000089: 24,2031           22066                           LXCH     ITEMP2                                #  SAVE 1'S COMPLEMENT VALUE TEMPORARILY
023789,000090: 

Page 563

023791,000092: 
023792,000093:                                                                                                  #  SECOND, TRANSFORM CPU INCREMENTS TO BODY-ANGLE INCREMENTS:
023793,000094: 24,2032           31406                           CAE      M31                                   #  MATRIX*VECTOR(WITH X COMPONENT ZERO)
023794,000095: 24,2033           00006                           EXTEND                                         
023795,000096: 24,2034           70065                           MP       ITEMP1                                #  M31 * ITEMP1 = M31 * DELTA CDUY
023796,000097: 24,2035           54070                           TS       ITEMP3                                
023797,000098: 24,2036           31403                           CAE      M32                                   #  M32 * ITEMP2 = M32 * DELTA CDUZ
023798,000099: 24,2037           00006                           EXTEND                                         
023799,000100: 24,2040           70066                           MP       ITEMP2                                #  DELTAR = M31*(DEL CDUY) + M32*(DEL CDUZ)
023800,000101: 24,2041           26070                           ADS      ITEMP3                                #  R-BODY-ANGLE INCREMENT SCALED AT PI/2(6)
023801,000102: 
023802,000103: 24,2042           31405                           CAE      M21                                   #  MATRIX*VECTOR(WITH X COMPONENT ZERO)
023803,000104: 24,2043           00006                           EXTEND                                         #  CLOBBERS ITEMP2=DEL CDUZ, FOR EFFICIENCY
023804,000105: 24,2044           70065                           MP       ITEMP1                                #  M21 * ITEMP1 = M21 * DELTA CDUY
023805,000106: 24,2045           56066                           XCH      ITEMP2                                #  M22 * ITEMP2 = M22 * DELTA CDUZ
023806,000107: 24,2046           00006                           EXTEND                                         
023807,000108: 24,2047           71401                           MP       M22                                   #  DELTAQ = M21*(DEL CDUY) + M22*(DEL CDUZ)
023808,000109: 24,2050           26066                           ADS      ITEMP2                                #  Q-BODY-ANGLE INCREMENT SCALED AT PI/2(6)
023809,000110: 
023810,000111:                                                                                                  #  FINALLY, DERIVE Q AND R BODY ANGULAR RATES:
023811,000112: 
023812,000113: 24,2051           00006                           EXTEND                                         #  WFORQR IS K/(NOMINAL DT) SCALED AT 16
023813,000114: 24,2052           71656                           MP       WFORQR                                #  FORM WEIGHTED VALUE OF MEASURED DATA
023814,000115: 24,2053           57417                           XCH      OMEGAQ                                #  SAVE AND BEGIN TO WEIGHT VALUE OF OLD W
023815,000116: 24,2054           00006                           EXTEND                                         #  (1-K) IS SCALED AT 1 FOR EFFICIENT CALC
023816,000117: 24,2055           71657                           MP       (1-K)QR                               #  (K CHANGES EVERY 2 SECS IN ASCENT)
023817,000118: 24,2056           61616                           AD       JETRATEQ                              #  WEIGHTED TERM DUE TO JET ACCELERATION
023818,000119: 24,2057           61642                           AD       AOSQTERM                              #  TERM DUE TO ASCENT OFFSET ACCELERATION
023819,000120: 24,2060           27417                           ADS      OMEGAQ                                #  TOTAL RATE ESTIMATE SCALED AT PI/4
023820,000121: 
023821,000122: 24,2061           30070                           CAE      ITEMP3                                #  GET DELTAR
023822,000123: 24,2062           00006                           EXTEND                                         #  WFORQR IS K/(NOMINAL DT) SCALED AT 16
023823,000124: 24,2063           71656                           MP       WFORQR                                #  FORM WEIGHTED VALUE OF MEASURED DATA
023824,000125: 24,2064           57421                           XCH      OMEGAR                                #  SAVE AND BEGIN TO WEIGHT VALUE OF OLD W
023825,000126: 24,2065           00006                           EXTEND                                         #  (1-K) IS SCALED AT 1 FOR EFFICIENT CALC
023826,000127: 24,2066           71657                           MP       (1-K)QR                               #  (K CHANGES EVERY 2 SECS IN ASCENT)
023827,000128: 24,2067           61617                           AD       JETRATER                              #  WEIGHTED TERM DUE TO JET ACCELERATION
023828,000129: 24,2070           61643                           AD       AOSRTERM                              #  TERM DUE TO ASCENT OFFSET ACCELERATION
023829,000130: 24,2071           27421                           ADS      OMEGAR                                #  TOTAL RATE ESTIMATE SCALED AT PI/4
023830,000131: 
023831,000132: 24,2072           01614                           TC       QJUMPADR                              
023832,000133: 24,2073           32164        SKIPQRAX           CA       NORMQADR                              
023833,000134: 24,2074           55614                           TS       QJUMPADR                              
023834,000135: 24,2075           37665                           CA       ZERO                                  
023835,000136: 24,2076           55616                           TS       JETRATEQ                              
023836,000137: 24,2077           55617                           TS       JETRATER                              
023837,000138: 24,2100           31626                           CA       TQR                                   
023838,000139: 24,2101           62721                           AD       NEGCSP2                               
023839,000140: 24,2102           10000                           CCS      A                                     
023840,000141: 24,2103           02113                           TC       QRTORQUE                              
023841,000142: 

Page 564

023843,000144: 24,2104           14606                           TCF      RESUME                                
023844,000145: 24,2105           02113                           TC       QRTORQUE                              
023845,000146: 24,2106           41616                           CS       JETRATEQ                              
023846,000147: 24,2107           27417                           ADS      OMEGAQ                                
023847,000148: 24,2110           41617                           CS       JETRATER                              
023848,000149: 24,2111           27421                           ADS      OMEGAR                                
023849,000150: 24,2112           14606                           TCF      RESUME                                
023850,000151: 24,2113           67657        QRTORQUE           AD       ONE                                   
023851,000152: 24,2114           00006                           EXTEND                                         
023852,000153: 24,2115           77653                           MP       BIT5                                  
023853,000154: 24,2116           30001                           CA       L                                     
023854,000155: 24,2117           00006                           EXTEND                                         
023855,000156: 24,2120           72722                           MP       16/25QR                               
023856,000157: 24,2121           55626                           TS       TQR                                   
023857,000158: 24,2122           00006                           EXTEND                                         
023858,000159: 24,2123           71620                           MP       NO.QJETS                              
023859,000160: 24,2124           30001                           CAE      L                                     
023860,000161: 24,2125           00006                           EXTEND                                         
023861,000162: 24,2126           71630                           MP       1JACCQ                                
023862,000163: 24,2127           55616                           TS       JETRATEQ                              
023863,000164: 24,2130           27640                           ADS      SUMRATEQ                              
023864,000165: 24,2131           31626                           CAE      TQR                                   
023865,000166: 24,2132           00006                           EXTEND                                         
023866,000167: 24,2133           71621                           MP       NO.RJETS                              
023867,000168: 24,2134           30001                           CAE      L                                     
023868,000169: 24,2135           00006                           EXTEND                                         
023869,000170: 24,2136           71631                           MP       1JACCR                                
023870,000171: 24,2137           55617                           TS       JETRATER                              
023871,000172: 24,2140           27641                           ADS      SUMRATER                              
023872,000173: 24,2141           31656                           CAE      WFORQR                                
023873,000174: 24,2142           00006                           EXTEND                                         
023874,000175: 24,2143           71626                           MP       TQR                                   
023875,000176: 24,2144           61660                           AD       (1-K)/8                               
023876,000177: 24,2145           00006                           EXTEND                                         
023877,000178: 24,2146           77654                           MP       BIT4                                  
023878,000179: 24,2147           22065                           LXCH     ITEMP1                                
023879,000180: 24,2150           31616                           CAE      JETRATEQ                              
023880,000181: 24,2151           00006                           EXTEND                                         
023881,000182: 24,2152           70065                           MP       ITEMP1                                
023882,000183: 24,2153           55616                           TS       JETRATEQ                              
023883,000184: 24,2154           31617                           CAE      JETRATER                              
023884,000185: 24,2155           00006                           EXTEND                                         
023885,000186: 24,2156           70065                           MP       ITEMP1                                
023886,000187: 24,2157           55617                           TS       JETRATER                              
023887,000188: 24,2160           37665                           CA       ZERO                                  
023888,000189: 24,2161           55620                           TS       NO.QJETS                              
023889,000190: 24,2162           55621                           TS       NO.RJETS                              
023890,000191: 24,2163           00002                           TC       Q                                     
023891,000192: 24,2164           02165        NORMQADR           GENADR   NORMALQ                               
023892,000193: 24,2165           37643        NORMALQ            CAF      BIT13                                 #  CHECKING ATTITUDE HOLD BIT
023893,000194: 

Page 565

023895,000196: 24,2166           00006                           EXTEND                                         
023896,000197: 24,2167           02031                           RAND     31                                    #  BITS INVERTED
023897,000198: 24,2170           00006                           EXTEND                                         
023898,000199: 24,2171           12205                           BZF      CHKBIT10                              
023899,000200: 24,2172           37642                           CAF      BIT14                                 #  ATT HOLD BIT NOT PRESENT. CHECK FOR AUTO
023900,000201: 24,2173           00006                           EXTEND                                         
023901,000202: 24,2174           02031                           RAND     31                                    
023902,000203: 24,2175           00006                           EXTEND                                         
023903,000204: 24,2176           12743                           BZF      ATTSTEER                              #  AUTOMATIC STEERING, CHECK FOR RATE HOLD
023904,000205: 24,2177           00006                           EXTEND                                         #  IF MODE SELECT SW OFF DO DAPIDLER NEXT
023905,000206: 24,2200           32204                           DCA      IDLEADRQ                              
023906,000207: 24,2201           52346                           DXCH     T5ADR                                 
023907,000208: 24,2202           14606                           TCF      RESUME                                
023908,000209: 
023909,000210: 24,2203           03141 46006  IDLEADRQ           2CADR    DAPIDLER                              
023910,000211: 
023911,000212: 24,2205           37646        CHKBIT10           CAF      BIT10                                 #  BIT10=1 FOR MIN IMP USE OF RHC
023912,000213: 24,2206           70765                           MASK     DAPBOOLS                              
023913,000214: 24,2207           00006                           EXTEND                                         
023914,000215: 24,2210           12250                           BZF      CHEKSTIK                              #  IN ATT-HOLD/RATE-COMMAND IF BIT10=0
023915,000216: 
023916,000217: 24,2211           30773                           CAE      DELAYCTR                              #  SET TO 2 BY RUPT 10
023917,000218: 24,2212           00006                           EXTEND                                         
023918,000219: 24,2213           12504                           BZF      XTRANS                                
023919,000220: 
023920,000221: 24,2214           32713                           CA       MINTADR                               
023921,000222: 24,2215           55514                           TS       TJETADR                               
023922,000223: 
023923,000224: 24,2216           37657                           CA       BIT1                                  
023924,000225: 24,2217           00006                           EXTEND                                         
023925,000226: 24,2220           02031                           RAND     31                                    
023926,000227: 24,2221           00006                           EXTEND                                         
023927,000228: 24,2222           13453                           BZF      2JETS+Q                               
023928,000229: 
023929,000230: 24,2223           37656                           CA       BIT2                                  
023930,000231: 24,2224           00006                           EXTEND                                         
023931,000232: 24,2225           02031                           RAND     31                                    
023932,000233: 24,2226           00006                           EXTEND                                         
023933,000234: 24,2227           13271                           BZF      2JETS-Q                               
023934,000235: 
023935,000236: 24,2230           37653                           CA       BIT5                                  
023936,000237: 24,2231           00006                           EXTEND                                         
023937,000238: 24,2232           02031                           RAND     31                                    
023938,000239: 24,2233           00006                           EXTEND                                         
023939,000240: 24,2234           13433                           BZF      2JETS+R                               
023940,000241: 
023941,000242: 24,2235           37652                           CA       BIT6                                  
023942,000243: 24,2236           00006                           EXTEND                                         
023943,000244: 24,2237           02031                           RAND     31                                    
023944,000245: 24,2240           00006                           EXTEND                                         
023945,000246: 

Page 566

023947,000248: 24,2241           13224                           BZF      2JETS-R                               
023948,000249: 
023949,000250: 24,2242           12504                           TCF      XTRANS                                
023950,000251: 
023951,000252: 24,2243           32702        MINTJET            CAF      +T6TJMIN                              
023952,000253: 24,2244           55626                           TS       TQR                                   
023953,000254: 24,2245           37665                           CA       ZERO                                  
023954,000255: 24,2246           54773                           TS       DELAYCTR                              
023955,000256: 24,2247           12554                           TCF      TORQUEV                               
023956,000257: 
023957,000258: 24,2250           37641        CHEKSTIK           CAF      BIT15                                 #  OUT-OF-DETENT BIT
023958,000259: 24,2251           00006                           EXTEND                                         
023959,000260: 24,2252           02031                           RAND     31                                    #  BITS INVERTED
023960,000261: 
023961,000262: 24,2253           00006                           EXTEND                                         
023962,000263: 24,2254           12317                           BZF      RHCACTIV                              #  BRANCH IF OUT OF DETENT
023963,000264: 24,2255           37657                           CA       BIT1                                  #  OUR RATE COMMAND BIT
023964,000265: 24,2256           70765                           MASK     DAPBOOLS                              
023965,000266: 
023966,000267: 24,2257           00006                           EXTEND                                         
023967,000268: 24,2260           62743                           BZMF     ATTSTEER                              #  AUTOMATIC STEERING, CHECK FOR RATE HOLD
023968,000269:                                                                                                  #  WE WERE IN RATE COMMAND AND RATES MUST BE MADE SMALLER
023969,000270: 
023970,000271:                                                                                                  #   ARE RATES SMALL ENOUGH NOW
023971,000272: 24,2261           31416                           CA       OMEGAP                                
023972,000273: 24,2262           00006                           EXTEND                                         
023973,000274: 24,2263           70000                           SQUARE                                         
023974,000275: 24,2264           52066                           DXCH     ITEMP1                                
023975,000276: 
023976,000277: 24,2265           31417                           CA       OMEGAQ                                
023977,000278: 24,2266           00006                           EXTEND                                         
023978,000279: 24,2267           70000                           SQUARE                                         
023979,000280: 24,2270           20066                           DAS      ITEMP1                                
023980,000281: 
023981,000282: 24,2271           31421                           CA       OMEGAR                                
023982,000283: 24,2272           00006                           EXTEND                                         
023983,000284: 24,2273           70000                           SQUARE                                         
023984,000285: 24,2274           20066                           DAS      ITEMP1                                
023985,000286: 
023986,000287:                                                                                                  #  WE NOW HAVE SQUARED MAGNITUDE OF RATE VECTOR IN ITEMP1
023987,000288: 24,2275           42707                           CS       16/32400                              #  1DEG/SEC SCALED AT PI.PI/16
023988,000289: 24,2276           60065                           AD       ITEMP1                                
023989,000290: 24,2277           00006                           EXTEND                                         
023990,000291: 24,2300           62306                           BZMF     RATESMAL                              
023991,000292: 
023992,000293:                                                                                                  #           THE RATE IS NOT SMALL ENOUGH YET.
023993,000294: 
023994,000295: 24,2301           31417                           CA       OMEGAQ                                
023995,000296: 24,2302           55424                           TS       QRATEDIF                              
023996,000297: 24,2303           31421                           CA       OMEGAR                                
023997,000298: 

Page 567

023999,000300: 24,2304           55425                           TS       RRATEDIF                              
024000,000301: 24,2305           12352                           TCF      OBEYQRRC                              
024001,000302: 
024002,000303: 24,2306           47657        RATESMAL           CS       BIT1                                  
024003,000304: 24,2307           70765                           MASK     DAPBOOLS                              #  RATE COMMAND BIT SET TO ZERO
024004,000305: 24,2310           54765                           TS       DAPBOOLS                              
024005,000306: 
024006,000307: 24,2311           30032                           CAE      CDUX                                  
024007,000308: 24,2312           54774                           TS       CDUXD                                 
024008,000309: 24,2313           30033                           CAE      CDUY                                  
024009,000310: 24,2314           54775                           TS       CDUYD                                 
024010,000311: 24,2315           30034                           CAE      CDUZ                                  
024011,000312: 24,2316           54776                           TS       CDUZD                                 
024012,000313: 
024013,000314: 24,2317           37657        RHCACTIV           CAF      BIT1                                  
024014,000315: 24,2320           70765                           MASK     DAPBOOLS                              
024015,000316: 24,2321           00006                           EXTEND                                         
024016,000317: 24,2322           12504                           BZF      XTRANS                                #  LET P AXIS SET THE RATE COMMAND BIT
024017,000318:                                                                                                  #  COMPUTE RATE ERRORS
024018,000319: 24,2323           30042                           CAE      Q-RHCCTR                              
024019,000320: 24,2324           00006                           EXTEND                                         
024020,000321: 24,2325           77647                           MP       BIT9                                  
024021,000322: 24,2326           32714                           CA       -.88975                               
024022,000323: 24,2327           00006                           EXTEND                                         
024023,000324: 24,2330           70001                           MP       L                                     #  -Q RATE COMMAND SCALED AT PI/4
024024,000325: 24,2331           61417                           AD       OMEGAQ                                
024025,000326: 24,2332           55424                           TS       QRATEDIF                              
024026,000327: 
024027,000328: 24,2333           30044                           CAE      R-RHCCTR                              
024028,000329: 24,2334           00006                           EXTEND                                         
024029,000330: 24,2335           77647                           MP       BIT9                                  
024030,000331: 24,2336           32714                           CA       -.88975                               
024031,000332: 24,2337           00006                           EXTEND                                         
024032,000333: 24,2340           70001                           MP       L                                     #  -R RATE COMMAND SCALED AT PI/4.
024033,000334: 24,2341           61421                           AD       OMEGAR                                
024034,000335: 24,2342           55425                           TS       RRATEDIF                              
024035,000336: 
024036,000337:                                                                                                  #  ZERO,ENABLE,AND START COUNTERS
024037,000338: 24,2343           37665                           CAF      ZERO                                  
024038,000339: 24,2344           54043                           TS       P-RHCCTR                              
024039,000340: 24,2345           54042                           TS       Q-RHCCTR                              
024040,000341: 24,2346           54044                           TS       R-RHCCTR                              
024041,000342: 24,2347           32710                           CAF      BIT8,9                                
024042,000343: 24,2350           00006                           EXTEND                                         
024043,000344: 24,2351           05013                           WOR      13                                    
024044,000345: 
024045,000346: 24,2352           32734        OBEYQRRC           CA       RTJETADR                              
024046,000347: 24,2353           55514                           TS       TJETADR                               
024047,000348: 
024048,000349: 24,2354           11424                           CCS      QRATEDIF                              
024049,000350: 

Page 568

024051,000352: 24,2355           12416                           TCF      POSQEROR                              
024052,000353: 24,2356           12360                           TCF      NOQJETS                               
024053,000354: 24,2357           12365                           TCF      NEGQEROR                              
024054,000355: 
024055,000356: 24,2360           11425        NOQJETS            CCS      RRATEDIF                              #  CHECK SIGN OF RATE ERROR AND GET ABVAL
024056,000357: 24,2361           12445                           TCF      R+,CHKDB                              
024057,000358: 24,2362           12504                           TCF      XTRANS                                
024058,000359: 24,2363           12456                           TCF      R-,CHKDB                              
024059,000360: 24,2364           12504                           TCF      XTRANS                                
024060,000361: 
024061,000362: 24,2365           61506        NEGQEROR           AD       -RATEDB                               
024062,000363: 24,2366           00006                           EXTEND                                         
024063,000364: 24,2367           62360                           BZMF     NOQJETS                               
024064,000365: 
024065,000366: 24,2370           11425                           CCS      RRATEDIF                              
024066,000367: 24,2371           12402                           TCF      R+Q-CHKR                              
024067,000368: 24,2372           12374                           TCF      Q-NORJTS                              
024068,000369: 24,2373           12407                           TCF      R-Q-CHKR                              
024069,000370: 
024070,000371: 24,2374           41424        Q-NORJTS           CS       QRATEDIF                              
024071,000372: 24,2375           55443                           TS       RATEDIF                               
024072,000373: 24,2376           61507                           AD       -2JETLIM                              
024073,000374: 24,2377           00006                           EXTEND                                         
024074,000375: 24,2400           63453                           BZMF     2JETS+Q                               
024075,000376: 24,2401           13447                           TCF      4JETS+Q                               
024076,000377: 
024077,000378: 24,2402           61506        R+Q-CHKR           AD       -RATEDB                               
024078,000379: 24,2403           00006                           EXTEND                                         
024079,000380: 24,2404           62374                           BZMF     Q-NORJTS                              
024080,000381: 24,2405           03656                           TC       EDOTVGEN                              
024081,000382: 24,2406           13360                           TCF      2-V.RATE                              
024082,000383: 
024083,000384: 24,2407           61506        R-Q-CHKR           AD       -RATEDB                               
024084,000385: 24,2410           00006                           EXTEND                                         
024085,000386: 24,2411           62374                           BZMF     Q-NORJTS                              
024086,000387: 24,2412           03652                           TC       EDOTUGEN                              
024087,000388: 24,2413           00006                           EXTEND                                         
024088,000389: 24,2414           61425                           SU       RRATEDIF                              
024089,000390: 24,2415           13405                           TCF      2+U.RATE                              
024090,000391: 
024091,000392: 24,2416           61506        POSQEROR           AD       -RATEDB                               
024092,000393: 24,2417           00006                           EXTEND                                         
024093,000394: 24,2420           62360                           BZMF     NOQJETS                               
024094,000395: 
024095,000396: 24,2421           11425                           CCS      RRATEDIF                              
024096,000397: 24,2422           12433                           TCF      R+Q+CHKR                              
024097,000398: 24,2423           12425                           TCF      Q+NORJTS                              
024098,000399: 24,2424           12440                           TCF      R-Q+CHKR                              
024099,000400: 
024100,000401: 24,2425           31424        Q+NORJTS           CA       QRATEDIF                              
024101,000402: 

Page 569

024103,000404: 24,2426           55443                           TS       RATEDIF                               
024104,000405: 24,2427           61507                           AD       -2JETLIM                              
024105,000406: 24,2430           00006                           EXTEND                                         
024106,000407: 24,2431           63271                           BZMF     2JETS-Q                               
024107,000408: 24,2432           13265                           TCF      4JETS-Q                               
024108,000409: 
024109,000410: 24,2433           61506        R+Q+CHKR           AD       -RATEDB                               
024110,000411: 24,2434           00006                           EXTEND                                         
024111,000412: 24,2435           62425                           BZMF     Q+NORJTS                              
024112,000413: 24,2436           03652                           TC       EDOTUGEN                              
024113,000414: 24,2437           13245                           TCF      2-U.RATE                              
024114,000415: 
024115,000416: 24,2440           61506        R-Q+CHKR           AD       -RATEDB                               
024116,000417: 24,2441           00006                           EXTEND                                         
024117,000418: 24,2442           62425                           BZMF     Q+NORJTS                              
024118,000419: 24,2443           03656                           TC       EDOTVGEN                              
024119,000420: 24,2444           13312                           TCF      2+V.RATE                              
024120,000421: 
024121,000422: 24,2445           61506        R+,CHKDB           AD       -RATEDB                               
024122,000423: 24,2446           00006                           EXTEND                                         
024123,000424: 24,2447           62504                           BZMF     XTRANS                                
024124,000425: 24,2450           31425                           CA       RRATEDIF                              
024125,000426: 24,2451           55443                           TS       RATEDIF                               
024126,000427: 24,2452           61507                           AD       -2JETLIM                              
024127,000428: 24,2453           00006                           EXTEND                                         
024128,000429: 24,2454           63224                           BZMF     2JETS-R                               
024129,000430: 24,2455           13220                           TCF      4JETS-R                               
024130,000431: 
024131,000432: 24,2456           61506        R-,CHKDB           AD       -RATEDB                               
024132,000433: 24,2457           00006                           EXTEND                                         
024133,000434: 24,2460           62504                           BZMF     XTRANS                                
024134,000435: 24,2461           41425                           CS       RRATEDIF                              
024135,000436: 24,2462           55443                           TS       RATEDIF                               
024136,000437: 24,2463           61507                           AD       -2JETLIM                              
024137,000438: 24,2464           00006                           EXTEND                                         
024138,000439: 24,2465           63433                           BZMF     2JETS+R                               
024139,000440: 24,2466           13427                           TCF      4JETS+R                               
024140,000441: 
024141,000442: 24,2467           11443        RTJETIME           CCS      RATEDIF                               #  SCALED AT PI/4 RADIANS/SECOND
024142,000443: 24,2470           67657                           AD       ONE                                   
024143,000444: 24,2471           12473                           TCF      +2                                    
024144,000445: 24,2472           67657                           AD       ONE                                   #  ABS(RATEDIF)
024145,000446: 24,2473           00006                           EXTEND                                         
024146,000447: 24,2474           71471                           MP       1/NJETAC                              #  SCALED AT 2(8)/PI SECOND(2)/RADIANS
024147,000448: 24,2475           00006                           EXTEND                                         
024148,000449: 24,2476           77654                           MP       BIT4                                  #  SCALED AT 2(3) SECONDS
024149,000450: 24,2477           30001                           CAE      L                                     
024150,000451: 24,2500           00006                           EXTEND                                         
024151,000452: 24,2501           72703                           MP       25/32.QR                              #  TJET NOW PROPERLY SCALED IN A
024152,000453: 24,2502           55626                           TS       TQR                                   #  AT 2(4)16/25 SECONDS
024153,000454: 

Page 570

024155,000456: 24,2503           12554                           TCF      TORQUEV                               
024156,000457: 
024157,000458: 
024158,000459: 
024159,000460:                                                                                                  #  TRANSLATION WITHOUT ROTATION IS ACCOMPLISHED IN XTRANS SECTION
024160,000461: 
024161,000462: 24,2504           37665        XTRANS             CA       ZERO                                  
024162,000463: 24,2505           55504                           TS       ADDTLT6                               
024163,000464: 24,2506           55503                           TS       ADDT6JTS                              
024164,000465: 24,2507           37652                           CA       BIT6                                  
024165,000466: 24,2510           70765                           MASK     DAPBOOLS                              #  CHECKING THE ULLAGE BIT
024166,000467: 
024167,000468: 24,2511           00006                           EXTEND                                         
024168,000469: 24,2512           12516                           BZF      +4                                    
024169,000470: 24,2513           32723                           CA       ALL+XJTS                              #  ULLAGE JETS
024170,000471: 24,2514           04225        WRITEON            TC       WRITEQR                               
024171,000472: 24,2515           14606                           TCF      RESUME                                
024172,000473: 24,2516           37651                 +4        CAF      BIT7                                  
024173,000474: 24,2517           00006                           EXTEND                                         
024174,000475: 24,2520           02031                           RAND     31                                    
024175,000476: 24,2521           00006                           EXTEND                                         
024176,000477: 24,2522           12532                           BZF      +XTRANS                               
024177,000478: 
024178,000479: 24,2523           37650                           CA       BIT8                                  #  -X TRANS BIT.INVERTED
024179,000480: 24,2524           00006                           EXTEND                                         
024180,000481: 24,2525           02031                           RAND     31                                    
024181,000482: 24,2526           00006                           EXTEND                                         
024182,000483: 24,2527           12543                           BZF      -XTRANS                               
024183,000484: 24,2530           37665        NOTORQUE           CA       ZERO                                  
024184,000485: 24,2531           12514                           TCF      WRITEON                               
024185,000486: 24,2532           32724        +XTRANS            CAF      2,10-OUT                              #  CHECK FOR FAILURE OF 2 OR 10
024186,000487: 24,2533           00006                           EXTEND                                         
024187,000488: 24,2534           06032                           RXOR     32                                    
024188,000489: 24,2535           00006                           EXTEND                                         
024189,000490: 24,2536           12541                           BZF      +3                                    #  2 AND 10 GOOD
024190,000491: 24,2537           32726                           CA       +X,B                                  #  SINCE 2 OR 10 FAILED, USE 6 AND 14 OF B
024191,000492: 24,2540           12514                           TCF      WRITEON                               
024192,000493: 24,2541           32725                 +3        CA       +X,A                                  #  2 AND 10 SYSTEM A
024193,000494: 24,2542           12514                           TCF      WRITEON                               
024194,000495: 24,2543           32727        -XTRANS            CAF      1,9-OUT                               #  CHECK FOR FAILURE OF 1 OR 9
024195,000496: 24,2544           00006                           EXTEND                                         
024196,000497: 24,2545           06032                           RXOR     32                                    
024197,000498: 24,2546           00006                           EXTEND                                         
024198,000499: 24,2547           12552                           BZF      +3                                    #  1 AND 9 GOOD
024199,000500: 24,2550           32730                           CA       -X,A                                  #  SINCE 1 OR 9 FAILED, USE 5 AND 13 OF A
024200,000501: 24,2551           12514                           TCF      WRITEON                               
024201,000502: 24,2552           32731                 +3        CA       -X,B                                  #  1 AND 9 SYSTEM B
024202,000503: 24,2553           12514                           TCF      WRITEON                               
024203,000504: 

Page 571

024205,000506:                                                                                                  #  DO NECESSARY PARTS OF Q,R-AXES TORQUE VECTOR RECONSTRUCTION HERE AND NOW.  FOR OTHER PARTS WAIT UNTIL THE NEXT
024206,000507:                                                                                                  #  P-AXIS RCS DAP T5RUPT.
024207,000508: 
024208,000509: 24,2554           41626        TORQUEV            CS       TQR                                   #  CALCULATED Q,R JET TIME (AS IN TIME6)
024209,000510: 24,2555           62702                           AD       +T6TJMIN                              
024210,000511: 24,2556           00006                           EXTEND                                         #    CORRECT BRANCH.
024211,000512: 24,2557           62567                           BZMF     TQRGTTMI                              #  BRANCH FOR TQR = OR GREATER THAN MINIMP.
024212,000513: 24,2560           37665                           CA       ZERO                                  
024213,000514: 24,2561           55505                           TS       TOFJTCHG                              #  SINCE TQR LESS THAN A MINIMUM IMPULSE,
024214,000515: 24,2562           55616                           TS       JETRATEQ                              #    ZERO ALL OF THESE REGISTERS AND GO TO
024215,000516: 24,2563           55617                           TS       JETRATER                              #    JET LIST.
024216,000517: 24,2564           31502                           CA       JTSATCHG                              
024217,000518: 24,2565           04225                           TC       WRITEQR                               
024218,000519: 24,2566           14606                           TCF      RESUME                                
024219,000520: 24,2567           31626        TQRGTTMI           CA       TQR                                   
024220,000521: 24,2570           55505                           TS       TOFJTCHG                              
024221,000522: 24,2571           62701                           AD       -1.5CSP                               
024222,000523: 24,2572           00006                           EXTEND                                         
024223,000524: 24,2573           62630                           BZMF     DOQRSKIP                              
024224,000525: 24,2574           31630                           CA       1JACCQ                                
024225,000526: 24,2575           00006                           EXTEND                                         
024226,000527: 24,2576           71620                           MP       NO.QJETS                              
024227,000528: 24,2577           30001                           CA       L                                     
024228,000529: 24,2600           54065                           TS       ITEMP1                                
024229,000530: 24,2601           00006                           EXTEND                                         
024230,000531: 24,2602           71623                           MP       QR.1STOQ                              

Note: in the scan the two statements above (EXTEND, MP QR.1STOQ) are boxed in (red) and a marked with a question mark I.E. ---------------------------- | EXTEND | | MP QR.1STOQ | ? ----------------------------

024236,000537: 24,2603           55616                           TS       JETRATEQ                              
024237,000538: 24,2604           30065                           CA       ITEMP1                                
024238,000539: 24,2605           00006                           EXTEND                                         
024239,000540: 24,2606           72627                           MP       0.1AT1                                
024240,000541: 24,2607           27640                           ADS      SUMRATEQ                              
024241,000542: 24,2610           31631                           CA       1JACCR                                
024242,000543: 24,2611           00006                           EXTEND                                         
024243,000544: 24,2612           71621                           MP       NO.RJETS                              
024244,000545: 24,2613           30001                           CA       L                                     
024245,000546: 24,2614           54065                           TS       ITEMP1                                
024246,000547: 24,2615           00006                           EXTEND                                         
024247,000548: 24,2616           71623                           MP       QR.1STOQ                              

Note: in the scan the two statements above (EXTEND, MP QR.1STOQ) are boxed in (red) and a marked with a question mark See above.

024250,000551: 24,2617           55617                           TS       JETRATER                              
024251,000552: 24,2620           30065                           CA       ITEMP1                                
024252,000553: 24,2621           00006                           EXTEND                                         
024253,000554: 24,2622           72627                           MP       0.1AT1                                
024254,000555: 24,2623           27641                           ADS      SUMRATER                              
024255,000556: 24,2624           31501                           CA       JTSONNOW                              
024256,000557: 24,2625           12514                           TCF      WRITEON                               
024257,000558: 24,2626           02073        SKIPQRAD           GENADR   SKIPQRAX                              
024258,000559: 24,2627           03146        0.1AT1             DEC      +0.10000                              
024259,000560: 24,2630           32626        DOQRSKIP           CA       SKIPQRAD                              
024260,000561: 24,2631           55614                           TS       QJUMPADR                              
024261,000562:                                                                                                  #  CHANGE JET ON AND OFF BITS TO ACCOUNT FOR THE PRESENT STATE OF THE

Page 572

024263,000564:                                                                                                  #  CHANNEL. THE CHANGES ACCOUNT FOR PURE ROTATION ONLY- NOT TRANSLATION.
024264,000565: 24,2632           31501                           CA       JTSONNOW                              #  = JETS WHICH ARE TO GO ON NOW.
024265,000566: 24,2633           00006                           EXTEND                                         
024266,000567: 24,2634           02005                           RAND     5                                     #  MASK THE CHANNEL WITH THE DESIRED STATE.
024267,000568: 24,2635           00006                           EXTEND                                         
024268,000569: 24,2636           12663                           BZF      NOQRON                                #  A IS ZERO IF NO JETS TO GO ON ARE ON.
024269,000570: 24,2637           67641                           AD       BIT15                                 #  MAKE DIFFERENCE CORRESPOND TO A QR JET.
024270,000571: 24,2640           00006                           EXTEND                                         
024271,000572: 24,2641           61501                           SU       JTSONNOW                              #  RESULT IS COMPLEMENT OF JET BITS WHICH
024272,000573: 24,2642           54001                           TS       L                                     #    ARE TO BE ON FOR 6.5MS MORE THAN CALC.
024273,000574: 24,2643           00006                           EXTEND                                         
024274,000575: 24,2644           12670                           BZF      JTSAREON                              #  A=0,THUS ALL JETS TO GO ON ARE NOW ON.
024275,000576: 24,2645           31502        TRSLTMN2           CAE      JTSATCHG                              
024276,000577: 24,2646           77637                           MASK     POSMAX                                #  REMOVE BIT15 FROM JTSATCHG.
024277,000578: 24,2647           00006                           EXTEND                                         
024278,000579: 24,2650           12654                           BZF      NOTRANS                               #  IF JTSATCHG = 0 THEN NO TRANSLATION NOW.
024279,000580: 24,2651           32712                           CA       14-TQRMN                              
024280,000581: 24,2652           27505                           ADS      TOFJTCHG                              #  INSURE T GREATER THAN 14 MS.
024281,000582: 24,2653           12674                           TCF      TOJTLST                               
024282,000583: 24,2654           40001        NOTRANS            CS       L                                     
024283,000584: 24,2655           67641                           AD       BIT15                                 #  MAKE JET BITS CORRESPOND TO QR AXIS.
024284,000585: 24,2656           57502                           XCH      JTSATCHG                              #  JTSONNOW - L = JETS ON AT TOFJTCHG.
024285,000586: 24,2657           55503                           TS       ADDT6JTS                              #  JTS ON AT TOFJTCHG +ONDELAY.
024286,000587: 24,2660           32712                           CA       14-TQRMN                              
024287,000588: 24,2661           55504                           TS       ADDTLT6                               
024288,000589: 24,2662           12674                           TCF      TOJTLST                               
024289,000590: 24,2663           32712        NOQRON             CA       14-TQRMN                              
024290,000591: 24,2664           27505                           ADS      TOFJTCHG                              
024291,000592: 24,2665           37665                           CA       ZERO                                  
024292,000593: 24,2666           55504                           TS       ADDTLT6                               
024293,000594: 24,2667           12674                           TCF      TOJTLST                               
024294,000595: 24,2670           32711        JTSAREON           CA       MCOMPTQR                              
024295,000596: 24,2671           27505                           ADS      TOFJTCHG                              
024296,000597: 24,2672           37665                           CA       ZERO                                  
024297,000598: 24,2673           55504                           TS       ADDTLT6                               
024298,000599: 24,2674           31501        TOJTLST            CA       JTSONNOW                              
024299,000600: 24,2675           04225                           TC       WRITEQR                               
024300,000601: 24,2676           00006                           EXTEND                                         
024301,000602: 24,2677           32733                           DCA      JTLSTADR                              
024302,000603: 24,2700           52006                           DTCB                                           
024303,000604: 24,2701           77417        -1.5CSP            DEC      -0.01465                              
024304,000605: 24,2702           00014        +T6TJMIN           DEC      +.00073                               
024305,000606: 24,2703           31000        25/32.QR           DEC      0.78125                               
024306,000607: 24,2704           37776        MS20QR             OCTAL    37776                                 
024307,000608: 24,2705           37775        MS30QR             OCTAL    37775                                 
024308,000609: 24,2706           37773        MS50QR             OCTAL    37773                                 
024309,000610: 24,2707           00010        16/32400           DEC      0.00049                               
024310,000611: 24,2710           00600        BIT8,9             OCTAL    00600                                 
024311,000612: 24,2711           77765        MCOMPTQR           OCTAL    77765                                 #  -10 MS COMPUTATION TIME
024312,000613: 24,2712           00013        14-TQRMN           DEC      11         B-14                       
024313,000614: 

Page 573

024315,000616: 24,2713           02243        MINTADR            GENADR   MINTJET                               
024316,000617: 24,2714           43415        -.88975            DEC      -.88975                               
024317,000618: 24,2715           20000        (1-K),QR           DEC      0.50000                               #  K = 1/2
024318,000619: 24,2716           02000        (1-KQ)/8           DEC      0.06250                               
024319,000620: 24,2717           77557        -90MS              DEC      -.00879                               
024320,000621: 24,2720           00220        +90MS              DEC      0.00879                               
024321,000622: 24,2721           77537        NEGCSP2            DEC      -.00977                               
024322,000623: 24,2722           24366        16/25QR            DEC      0.64000                               
024323,000624: 24,2723           40252        ALL+XJTS           OCTAL    40252                                 
024324,000625: 24,2724           00201        2,10-OUT           OCTAL    00201                                 
024325,000626: 24,2725           40042        +X,A               OCTAL    40042                                 
024326,000627: 24,2726           40210        +X,B               OCTAL    40210                                 
024327,000628: 24,2727           00104        1,9-OUT            OCTAL    00104                                 
024328,000629: 24,2730           40104        -X,A               OCTAL    40104                                 
024329,000630: 24,2731           40021        -X,B               OCTAL    40021                                 
024330,000631: 24,2732           02716 46006  JTLSTADR           2CADR    JTLST                                 
024331,000632: 
024332,000633: 24,2734           02467        RTJETADR           GENADR   RTJETIME                              
024333,000634: 

Page 574

024335,000636:                                                                                                  #  Q,R-AXES ATTITUDE STEERING CALCULATIONS:
024336,000637: 
024337,000638:                                                                                                  #  (EXECUTED WHEN LGC IS IN AUTOMATIC SCSMODE OR IF SCSMODE IS ATTITUDE HOLD AND THE ROTATIONAL HAND CONTROLLER IS
024338,000639:                                                                                                  #  NEITHER OUT OF DETENT NOR IS THE RATE COMMAND BIT SET IN DAPBOOLS)
024339,000640: 
024340,000641:                                                                                                  #  IMMEDIATELY AFTER CALCULATING THE ATTITUDE ERRORS, THE FOLLOWING TESTS ARE MADE TO DETERMINE WHETHER THE DESCENT
024341,000642:                                                                                                  #  ENGINE TRIM GIMBAL SHOULD BE USED TO CONTROL THE LEM ATTITUDE RATHER THAN THE RCS JETS:
024342,000643: 
024343,000644:                                                                                                  #           1) IS THE TRIM GIMBAL FUNCTIONALLY OPERATIVE?
024344,000645:                                                                                                  #           2) ARE THE Q,R-AXES RCS JETS OFF?
024345,000646:                                                                                                  #           3) ARE BOTH TRIM GIMBAL DRIVES OFF?
024346,000647:                                                                                                  #           4) IS THE LEM RATE LESS THAN .5 DEG/SEC ABOUT BOTH AXES?
024347,000648: 
024348,000649: 24,2735           32742        GOTOGTS            CAF      INITFILT                              #  ERRORS NOW CONTROLLABLE BY TRIM GIMBAL
024349,000650: 24,2736           54345                           TS       T5ADR                                 #  SET T5RUPT TO GO TO FILTER INITIALIZING
024350,000651: 24,2737           14606                           TCF      RESUME                                #  PROGRAM
024351,000652: 
024352,000653: 24,2740           07400        BGIM24             OCTAL    07400                                 
024353,000654: 24,2741           03644        DESCADR            GENADR   TJET-LAW                              #  RETURN ADDRESS FOR JET SELECT LOGIC
024354,000655: 24,2742           02000        INITFILT           GENADR   FILTINIT                              #  ADDRESS OF FILTER INITIALIZATION RUPT
024355,000656: 
024356,000657:                                                                                                  #  "ATTSTEER" IS THE NOMINAL ENTRY POINT FOR REACTION CONTROL SYSTEM ATTITUDE STEERING:
024357,000658:                                                                                                  #  BEGIN ATTSTEER BY CHECKING IF RATE HOLD MODE(CURRENTLY USED ONLY AT SIVB
024358,000659:                                                                                                  #  -LEM SEPARATION-206 MISSION PHASE 6) IS REQUESTED(BIT 14 OF DAPBOOLS ON)
024359,000660:                                                                                                  #  IF BIT 14 IS OFF, BRANCH TO QERRCALC DIRECTLY AND BEGIN AUTOMATIC
024360,000661:                                                                                                  #  STEERING.  IF BIT 14 IS ON, TEST BIT 3 OF DAPBOOLS TO SEE IF THE DESIRED
024361,000662:                                                                                                  #  RATE HAS BEEN SAVED YET.  IF IT IS ON, THIS IS NOT THE FIRST PASS AND
024362,000663:                                                                                                  #  THE RATE HAS BEEN SAVED.  GO DIRECTLY TO QERRCALC FOR AUTOMATIC STEERING
024363,000664:                                                                                                  #  IF THE BIT IS OFF, THE RATE MUST BE SAVED.  TRANSFER TO SAVERATE(BANK25)
024364,000665:                                                                                                  #  AND RETURN AFTER FIRST PASS TO RESUME AND DAPIDLER.
024365,000666: 
024366,000667:                                                                                                  #  IN ORDER TO USE RATE HOLD, THE MISSION PROGRAMMER MUST SET BIT 14 OF
024367,000668:                                                                                                  #  DAPBOOLS ON AND SET BIT 3 OF DAPBOOLS TO ZERO.  UPON RETURNING FROM THE
024368,000669:                                                                                                  #  FIRST PASS AT LEAST THROUGH RATE HOLD, THE MISSION PROGRAMMER MUST RESET
024369,000670:                                                                                                  #  BIT 3 TO ITS PREVIOUS VALUE IF THIS IS NOT 1, BECAUSE SAVERATE SETS BIT3
024370,000671:                                                                                                  #  TO 1 FOR ALL PASSES AFTER THE FIRST IN ORDER NOT TO SAVE THE RATE AGAIN.
024371,000672: 
024372,000673:                                                                                                  #  IN ADDITION TO NON-RATE HOLD MODE AND NON-FIRST PASS RATE HOLD MODE
024373,000674:                                                                                                  #  EXITS TO QERRCALC, THE FIRST PASS EXITS TO RESUME, IE. OUT OF INTERRUPT
024374,000675:                                                                                                  #  AND BACK TO DAPIDLER TO AWAIT THE NEXT CALL TO DAP.
024375,000676: 
024376,000677:                                                                                                  #  RATE HOLD PRODUCES THE FOLLOWING OUTPUT IN ERASABLE --
024377,000678: 
024378,000679:                                                                                                  #     CDUD - SCALED AT +/-PI, DESIRED GIMBAL ANGLE
024379,000680: 
024380,000681:                                                                                                  #     DELCDU - SCALED AT +/-PI, INCREMENT TO CDUD EVERY 100 MS.
024381,000682: 
024382,000683:                                                                                                  #     OMEGAPD, QD, RD - SCALED AT +/-PI/4, BODY AXIS RATES
024383,000684: 
024384,000685:                                                                                                  #  ALL THESE ARE USED BY AUTOMATIC STEERING MODE EQUATIONS.
024385,000686: 

Page 575

024387,000688:                                                                                                  #  RATE HOLD REQUIRES OMEGAP, Q, R EVERY .25 SEC, AND ALSO REQUIRES PILOT-
024388,000689:                                                                                                  #  TO-GIMBAL AXIS MATRIX ELEMENTS, MR12, 22, 13, 23 TO BE LOCATED IN THAT
024389,000690:                                                                                                  #  ORDER.
024390,000691: 
024391,000692:                                                                                                  #  FINALLY, RATE HOLD LEAVES DEBRIS IN --
024392,000693: 
024393,000694:                                                                                                  #     DLCDUIDX - LOOP INDEX USED IN COMPUTING DELCDUS, = 1, 0
024394,000695: 
024395,000696:                                                                                                  #     ITEMP1 - STORES TEMPORARY PRODUCTS AND SUMS, LEFT WITH DELCDUY IN 1S.
024396,000697: 
024397,000698: 
024398,000699: 
024399,000700: 24,2743           40765        ATTSTEER           CS       DAPBOOLS                              #  DOES BIT14 OF DAPBOOLS REQUEST RATE HOLD
024400,000701: 24,2744           77642                           MASK     BIT14                                 #  (SIVB-LEM SEPARATION)
024401,000702: 24,2745           10000                           CCS      A                                     
024402,000703: 24,2746           13025                           TCF      QERRCALC                              #  NO, GO DIRECTLY TO AUTOMATIC STEERING
024403,000704: 
024404,000705:                                                                                                  #  CHECK DAPBOOLS, BIT3, TO SEE IF DESIRED RATE HAS BEEN SAVED YET
024405,000706: 
024406,000707: 24,2747           30765                           CAE      DAPBOOLS                              #  DOES BIT3 SHOW THAT THE DESIRED RATE HAS
024407,000708: 24,2750           77655                           MASK     BIT3                                  #  BEEN SAVED(NOT FIRST PASS).  IF NOT, GO
024408,000709: 24,2751           10000                           CCS      A                                     #  SAVE DESIRED RATES IN THE OMEGADS
024409,000710: 24,2752           12771                           TCF      NEXDLCDU   -1                         #  YES, COMPUTE THE DELCDUS.
024410,000711: 
024411,000712:                                                                                                  #  SAVERATE IS ENTERED ONLY DURING THE FIRST PASS THROUGH RATE HOLD.  IT
024412,000713:                                                                                                  #  SAVES THE CURRENT CDUS FIRST IN CDUDS AND THEN SAVES THE BODY RATES,
024413,000714:                                                                                                  #  OMEGAP, Q, R IN OMEGAPD, QD, RD.  NEXT, WE SET BIT 3 OF DAPBOOLS TO 1.
024414,000715: 
024415,000716: 24,2753           00006        SAVERATE           EXTEND                                         #  COME HERE FIRST TIME INTO RATE HOLD IN
024416,000717: 24,2754           30034                           DCA      CDUY                                  
024417,000718: 24,2755           52776                           DXCH     CDUYD                                 #  ORDER TO SET UP RATES, CDUS, AND DELCDUS
024418,000719: 24,2756           30032                           CAE      CDUX                                  
024419,000720: 24,2757           54774                           TS       CDUXD                                 #  FIRST, CDUDS = CDUS AT SIVB SEPARATION
024420,000721: 
024421,000722: 24,2760           00006                           EXTEND                                         #  NEXT, SAVE CURRENT SIVB SEPARATION RATES
024422,000723: 24,2761           31417                           DCA      OMEGAP                                
024423,000724: 24,2762           53427                           DXCH     OMEGAPD                               #  OMEGAP AND OMEGAR, IN OMEGAPD AND
024424,000725: 24,2763           31421                           CAE      OMEGAR                                
024425,000726: 24,2764           55430                           TS       OMEGARD                               #  OMEGARD.  LEM HELD TO RATES FOR 13 SECS.
024426,000727: 
024427,000728: 24,2765           37655                           CAF      BIT3                                  #  RESET BIT 3 = 1 SO THAT RATES NOT SAVED
024428,000729: 24,2766           26765                           ADS      DAPBOOLS                              #  AGAIN IN RATE HOLD PASSES
024429,000730: 24,2767           14606                           TCF      RESUME                                #  RETURN TO IDLE AFTER SAVING RATE
024430,000731: 
024431,000732: 24,2770           00632        100MSCAL           DEC      .025                                  #  100 MS. SCALED AT 4 SEC.  RATE HOLD DELT
024432,000733: 
024433,000734:                                                                                                  #  TO COMPUTE TEH DELCDUS, Y AND Z, WE SET UP A LOOP AND SOLVE THE EQUATION
024434,000735: 
024435,000736:                                                                                                  #  C(DELCDUY+DLCDUIDX)=(OMEGAQD.C(MR12+DLCDUIDX)+OMEGARD.C(MR13+DLCDUIDX))
024436,000737:                                                                                                  #                        .(100MS) SCALED AT PI IN 2S COMPLEMENT(LIKE CDUS)
024437,000738: 

Page 576

024439,000740:                                                                                                  #  DURING THIS COMPUTATION, ITEMP1 IS USED TO STORE THE PARTIAL SUMS AND
024440,000741:                                                                                                  #  PRODUCTS.  DELCDUY IS RESCALED TO 1 AS MR12 AND MR13 ARE SCALED AT 2.
024441,000742:                                                                                                  #  AFTER CONVERTING TO TWOS COMPLEMENT, WE SET DELCDUX TO ZERO TO AVOID ANY
024442,000743:                                                                                                  #  ROLL DURING RATE HOLD MODE.  NOTE THAT DELCDUS ARE COMPUTED IN THE NEGA-
024443,000744:                                                                                                  #  TIVE TO ALLOW 2S COMP. MOD. SUBTRACT LATER ON (CDU-(-DELCDU))
024444,000745: 
024445,000746: 24,2771           37657                           CAF      ONE                                   #  SET UP LOOP INDEX TO COMPUTE DELCDUS.
024446,000747: 24,2772           55672        NEXDLCDU           TS       DLCDUIDX                              #  DLCDUIDX = C(A)
024447,000748: 
024448,000749: 24,2773           41427                           CS       OMEGAQD                               #  DLCDUIDX = 1              DLCDUIDX = 0
024449,000750: 24,2774           00006                           EXTEND                                         #  ITEMP1=-OMEGAQD.MR22
024450,000751: 24,2775           51672                           INDEX    DLCDUIDX                              
024451,000752: 24,2776           71400                           MP       MR12                                  #  MR22 SCALED AT 1       MR12 SCALED AT 2
024452,000753: 24,2777           54065                           TS       ITEMP1                                #                      ITEMP1=-OMEGAQD.MR12
024453,000754: 
024454,000755: 24,3000           41430                           CS       OMEGARD                               #  C(A)=ITEMP1 -OMEGARD.MR23
024455,000756: 24,3001           00006                           EXTEND                                         
024456,000757: 24,3002           51672                           INDEX    DLCDUIDX                              #                 C(A)=ITEMP1 -OMEGARD.MR13
024457,000758: 24,3003           71402                           MP       MR13                                  #  MR23 SCALED AT 1        MR13 SCALED AT 2
024458,000759: 24,3004           60065                           AD       ITEMP1                                
024459,000760: 24,3005           00006                           EXTEND                                         #  DELT = 100 MS. SCALED AT 4 SEC.
024460,000761: 24,3006           72770                           MP       100MSCAL                              
024461,000762: 24,3007           54065                           TS       ITEMP1                                #  ITEMP1 = C(A) . DELT
024462,000763: 
024463,000764: 24,3010           11672                           CCS      DLCDUIDX                              #  CHECK INDEX FOR RESCALING
024464,000765: 24,3011           13014                           TCF      +3                                    #  DELCDUZ SCALED AT PI/4, RESCALE UNNEEDED
024465,000766: 24,3012           30065                           CAE      ITEMP1                                #  DELCDUY SCALED AT PI/2, RESCALE BY
024466,000767: 24,3013           26065                           ADS      ITEMP1                                #  ADDING TO ITSELF
024467,000768: 
024468,000769: 24,3014           10065                           CCS      ITEMP1                                #  CONVERT DELCDUS TO TWOS COMPLEMENT (SAME
024469,000770: 24,3015           67657                           AD       ONE                                   #  AS CDUS).  ADD ONE TO RESTORE PRE-CCS A
024470,000771: 24,3016           13020                           TCF      STODLCDU                              #  STORE DIRECT IF POSITIVE ZERO
024471,000772: 24,3017           40000                           COM                                            #  COMPLEMENT IF NEGATIVE, CCS INCREMENTS
024472,000773: 24,3020           51672        STODLCDU           INDEX    DLCDUIDX                              #  IF NEGATIVE ZERO, STORE POSITIVE ZERO
024473,000774: 24,3021           55674                           TS       DELCDUY                               #  STORE FINAL DELCDUZ OR DELCDUY
024474,000775: 
024475,000776: 24,3022           11672                           CCS      DLCDUIDX                              #  TEST INDEX DLCDUIDX, EITHER 1 OR 0
024476,000777: 24,3023           12772                           TCF      NEXDLCDU                              #  IF 1, DO DELCDUY
024477,000778: 24,3024           55673                           TS       DELCDUX                               #  DELCDUZ,Y DONE, 0 TO DELCDUX-NO ROLL
024478,000779: 
024479,000780: 24,3025           30033        QERRCALC           CAE      CDUY                                  #  Q-ERROR CALCULATION
024480,000781: 24,3026           00006                           EXTEND                                         
024481,000782: 24,3027           20775                           MSU      CDUYD                                 #  CDU ANGLE - ANGLE DESIRED (Y-AXIS)
024482,000783: 24,3030           54065                           TS       ITEMP1                                #  SAVE FOR RERRCALC
024483,000784: 24,3031           00006                           EXTEND                                         
024484,000785: 24,3032           71405                           MP       M21                                   #  (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
024485,000786: 24,3033           57413                           XCH      ER                                    #  SAVE FIRST TERM (OF TWO) IN OPP.AXIS REG
024486,000787: 24,3034           30034                           CAE      CDUZ                                  #  SECOND TERM CALCULATION:
024487,000788: 24,3035           00006                           EXTEND                                         
024488,000789: 24,3036           20776                           MSU      CDUZD                                 #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
024489,000790: 

Page 577

024491,000792: 24,3037           54066                           TS       ITEMP2                                #  SAVE FOR RERRCALC
024492,000793: 24,3040           00006                           EXTEND                                         
024493,000794: 24,3041           71401                           MP       M22                                   #  (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
024494,000795: 24,3042           27413                           ADS      ER                                    #  SAVE SUM OF TERMS, NO OVERFLOW EVER
024495,000796: 24,3043           55477                           TS       QERROR                                #  SAVE QERROR FOR EIGHT-BALL DISPLAY
024496,000797: 
024497,000798: 24,3044           30065        RERRCALC           CAE      ITEMP1                                #  R-ERROR CALCULATION:
024498,000799: 24,3045           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Y-AXIS)
024499,000800: 24,3046           71406                           MP       M31                                   #  (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
024500,000801: 24,3047           57411                           XCH      E                                     #  SAVE FIRST TERM (OF TWO) IN OPP.AXIS REG
024501,000802: 24,3050           30066                           CAE      ITEMP2                                #  SECOND TERM CALCULATION:
024502,000803: 24,3051           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
024503,000804: 24,3052           71403                           MP       M32                                   #  (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
024504,000805: 24,3053           27411                           ADS      E                                     #  SAVE SUM OF TERMS, NO OVERFLOW EVER
024505,000806: 24,3054           55500                           TS       RERROR                                #  SAVE R-ERROR FOR EIGHT-BALL DISPLAY
024506,000807: 
024507,000808:                                                                                                  #  TEST (1): IS THE TRIM GIMBAL FUNCTIONALLY OPERATIVE?
024508,000809: 
024509,000810: 24,3055           37656                           CAF      BIT2                                  #  TEST TO SEE IF LEM AND DAP MODES ALLOW
024510,000811: 24,3056           70765                           MASK     DAPBOOLS                              #  USE OF TRIM GIMBAL CONTROL SYSTEM:
024511,000812: 24,3057           10000                           CCS      A                                     #  BIT2 = 0 MEANS THAT TRIM GIMBAL CONTROL
024512,000813: 24,3060           13122                           TCF      STILLRCS                              #  IS POSSIBLE, SO TEST OTHER TG CONDITIONS
024513,000814: 
024514,000815:                                                                                                  #  TEST (2): ARE THE Q,R-AXES RCS JETS OFF?
024515,000816: 24,3061           00006                           EXTEND                                         #  BUT, IF JETS ARE OFF AND TRIM GIMBAL MAY
024516,000817: 24,3062           00005                           READ     5                                     #  POSSIBLY BE USED: BEING IN THE JET COAST
024517,000818: 24,3063           10000                           CCS      A                                     #  REGION OF THE PHASE PLANE IS A NECESSARY
024518,000819: 24,3064           13122                           TCF      STILLRCS                              #  BUT INSUFFICIENT REASON FOR GTS USE
024519,000820: 
024520,000821:                                                                                                  #  TEST (3): ARE BOTH TRIM GIMBAL DRIVES OFF?
024521,000822: 
024522,000823: 24,3065           00006                           EXTEND                                         #  BITS 9-12 OF CHANNEL 12 ARE THE SIGNALS
024523,000824: 24,3066           00012                           READ     12                                    #  WHICH DRIVE THE TRIM GIMBAL ENGINE:
024524,000825: 24,3067           72740                           MASK     BGIM24                                #  IF NONE OF THESE BITS ARE ON, THEN BOTH
024525,000826: 24,3070           10000                           CCS      A                                     #  WAITLIST TASKS TO TURN OFF THE DRIVES
024526,000827: 24,3071           13122                           TCF      STILLRCS                              #  HAVE BEEN DONE AND GTS CONTROL CAN OCCUR
024527,000828: 
024528,000829:                                                                                                  #  TEST (4): IS THE LEM RATE LESS THAN .5 DEG/SEC ABOUT BOTH AXES?
024529,000830: 
024530,000831: 24,3072           37657                           CA       BIT1                                  
024531,000832: 24,3073           54073        LOOPTOP            TS       QRCNTR                                
024532,000833: 24,3074           60000                           DOUBLE                                         
024533,000834: 24,3075           50000                           INDEX    A                                     
024534,000835: 24,3076           11417                           CCS      OMEGAQ                                #  IS ERROR RATE SMALL ENOUGH FOR GTS.
024535,000836: 24,3077           63120                           AD       -RATLM+1                              #  -.5 DEG/SEC SCALED AT PI/4 + 1 BIT
024536,000837: 24,3100           13102                           TCF      +2                                    
024537,000838: 24,3101           63120                           AD       -RATLM+1                              
024538,000839: 24,3102           00006                           EXTEND                                         
024539,000840: 24,3103           63105                           BZMF     +2                                    #  IS RATE LESS,EQUAL .5 DEG/SEC.
024540,000841: 24,3104           13122                           TCF      STILLRCS                              #  NO.      SO USE RCS.
024541,000842: 

Page 578

024543,000844: 24,3105           50073                           INDEX    QRCNTR                                #  YES.     TRY THE ERROR MAGNITUDE.
024544,000845: 24,3106           11477                           CCS      QDIFF                                 #  IS ERROR SMALL ENOUGH FOR GTS.
024545,000846: 24,3107           63121                           AD       -XBND+1                               #  -1.4 DEG SCALED AT PI    + 1 BIT
024546,000847: 24,3110           13112                           TCF      +2                                    
024547,000848: 24,3111           63121                           AD       -XBND+1                               
024548,000849: 24,3112           00006                           EXTEND                                         
024549,000850: 24,3113           63115                           BZMF     +2                                    #  IS ERROR LESS,EQUAL 1.4 DEG.
024550,000851: 24,3114           13122                           TCF      STILLRCS                              #  NO.      USE RCS CONTROL.
024551,000852: 24,3115           10073                           CCS      QRCNTR                                #  THIS AXIS IS FINE.   ARE BOTH DONE.
024552,000853: 24,3116           13073                           TCF      LOOPTOP                               #  NOW TRY THE Q AXIS.
024553,000854: 24,3117           12735                           TCF      GOTOGTS                               #  TRANSFER TO TRIM GIMBAL CONTROL
024554,000855: 24,3120           77512        -RATLM+1           OCT      77512                                 #  -.5 DEG/SEC SCALED AT PI/4  + 1 BIT
024555,000856: 24,3121           77601        -XBND+1            OCT      77601                                 #  -1.4 DEG SCALED AT PI. + 1 BIT.
024556,000857:                                                                                                  #  "STILLRCS" IS THE ENTRY POINT TO RCS ATTITUDE STEERING WHENEVER IT IS FOUND THAT THE TRIM GIMBAL CONTROL
024557,000858:                                                                                                  #  SYSTEM SHOULD NOT BE USED:
024558,000859: 
024559,000860: 24,3122           32741        STILLRCS           CAF      DESCADR                               #  SET JET SELECT LOGIC RETURN ADDRESS TO
024560,000861: 24,3123           55514                           TS       TJETADR                               #  THE Q,R-AXIS TJETLAW CALCULATION
024561,000862: 
024562,000863: 24,3124           04177                           TC       T6JOBCHK                              #  CHECK T6 CLOCK RUPT BEFORE SUBROUTINE
024563,000864: 
024564,000865: 24,3125           31662        RURGENCY           CAE      1/NJTSR                               #  SET-UP URGENCY SUBROUTINE
024565,000866: 24,3126           55471                           TS       1/NJETAC                              

Note: Target (See below)

024567,000868: 24,3127           41430                           CS       OMEGARD                               #  EDOTR = OMEGAR - OMEGARD
024568,000869: 24,3130           61421                           AD       OMEGAR                                
024569,000870: 24,3131           55425                           TS       EDOTR                                 #  SCALED AT PI/4 RADIANS
024570,000871: 24,3132           03525                           TC       URGROUTN                              #  *** SUBROUTINE CALL ***
024571,000872: 24,3133           55516                           TS       URGENCYR                              #  URGENCY LEFT IN A SCALED AT 2(4) SECS
024572,000873: 
024573,000874: 24,3134           53412                           DXCH     E                                     #  MOVE R-AXIS VARIABLES TO R-AXIS ERASABLE
024574,000875: 24,3135           53414                           DXCH     ER                                    #  FROM Q-XIS (COMMON) ERASABLE
024575,000876: 24,3136           55411                           TS       E                                     
024576,000877: 24,3137           31407                           CAE      EDOT                                  #  (LLOK AT REORG FOR EFFIC: JDA 7/17/66)
024577,000878: 24,3140           55410                           TS       EDOT(R)                               
024578,000879: 
024579,000880: 24,3141           31661        QURGENCY           CAE      1/NJTSQ                               #  SET-UP URGENCY SUBROUTINE
024580,000881: 24,3142           55471                           TS       1/NJETAC                              
024581,000882: 24,3143           41427                           CS       OMEGAQD                               #  EDOTQ = OMEGAQ - OMEGAQD
024582,000883: 24,3144           61417                           AD       OMEGAQ                                
024583,000884: 24,3145           55424                           TS       EDOTQ                                 #  SCALED AT PI/4 RADIANS
024584,000885: 24,3146           03525                           TC       URGROUTN                              #  *** SUBROUTINE CALL ***
024585,000886: 
024586,000887: 24,3147           55515                           TS       URGENCYQ                              #  URGENCY LEFT IN A SCALED AT 2(4) SECS

Note: in the scan the statements starting with QURGENCY are marked with red side bars and a red box. The box has the marker CAE EDOTQ and an arrow pointing in between the two statements marked as 'Target' above.

024590,000891:                                                                                                  ##

... TS 1/NJETAC <------| CS OMEGARD | | ... | | QURGENCY | CAE 1/NJTSQ | | | TS 1/NJETAC | | |---------------------------| | | CS OMEGAQD | | CAE | AD OMEGAQ |---| EDOTQ | TS EDOTQ | |---------------------------| | TC URGROUTN | | TS URGENCYQ |

024607,000908:                                                                                                  ##
024608,000909: 
024609,000910: 24,3150           00006                           EXTEND                                         
024610,000911: 24,3151           13321                           BZF      BURGZERO                              #  TEST FOR BOTH URGENCIES ZERO
024611,000912: 
024612,000913: 24,3152           00006                           EXTEND                                         
024613,000914: 24,3153           73336                           MP       -TAN22.5                              
024614,000915: 24,3154           61516                           AD       URGENCYR                              
024615,000916: 24,3155           00006                           EXTEND                                         
024616,000917: 

Page 579

024618,000919: 24,3156           73334                           MP       COS22.5                               
024619,000920: 24,3157           55521                           TS       TERMA                                 #  UR.COS(22.5)-UQ.SIN(22.5)
024620,000921: 
024621,000922: 24,3160           41516                           CS       URGENCYR                              
024622,000923: 24,3161           00006                           EXTEND                                         
024623,000924: 24,3162           73336                           MP       -TAN22.5                              
024624,000925: 24,3163           61515                           AD       URGENCYQ                              
024625,000926: 24,3164           00006                           EXTEND                                         
024626,000927: 24,3165           73334                           MP       COS22.5                               
024627,000928: 24,3166           55522                           TS       TERMB                                 #  UR.SIN(22.5)+UQ.COS(22.5)
024628,000929: 
024629,000930: 24,3167           61521        A+B/A-B            AD       TERMA                                 
024630,000931: 24,3170           55517                           TS       A+B                                   
024631,000932: 24,3171           41522        A-B/ONLY           CS       TERMB                                 
024632,000933: 24,3172           61521                           AD       TERMA                                 
024633,000934: 24,3173           55520                           TS       A-B                                   
024634,000935: 
024635,000936:                                                                                                  #  AXIS AND MODE SELECTION
024636,000937: 
024637,000938: 24,3174           31522                           CAE      TERMB                                 #  B URGENCY TEST
024638,000939: 24,3175           00006                           EXTEND                                         
024639,000940: 24,3176           63337                           BZMF     NEGBURG                               
024640,000941: 
024641,000942: 24,3177           31521        POSBURG            CAE      TERMA                                 #  A URGENCY TEST
024642,000943: 24,3200           00006                           EXTEND                                         
024643,000944: 24,3201           63254                           BZMF     NEGAPOSB                              
024644,000945: 
024645,000946: 24,3202           31520        POSAPOSB           CA       A-B                                   
024646,000947: 24,3203           00006                           EXTEND                                         
024647,000948: 24,3204           63232                           BZMF     MINUSU                                #  NEGATIVE U-AXIS SELECTED
024648,000949: 
024649,000950: 24,3205           00006        2/4JET-R           EXTEND                                         
024650,000951: 24,3206           31414                           DCA      ER                                    
024651,000952: 24,3207           53412                           DXCH     E                                     
024652,000953: 24,3210           31410                           CAE      EDOT(R)                               
024653,000954: 24,3211           55407                           TS       EDOT                                  
024654,000955: 24,3212           31652                           CAE      .5ACCMNR                              
024655,000956: 24,3213           55650                           TS       .5ACCMNE                              
024656,000957: 24,3214           33524                           CAF      URM                                   #  2/4 JET URGENCY TEST -R AXIS
024657,000958: 24,3215           61516                           AD       URGENCYR                              
024658,000959: 24,3216           00006                           EXTEND                                         
024659,000960: 24,3217           63224                           BZMF     2JETS-R                               
024660,000961: 
024661,000962: 24,3220           31446        4JETS-R            CAE      1/2JTSR                               #  MOVE 1/NJETAC UNMODIFIED
024662,000963: 24,3221           55471                           TS       1/NJETAC                              
024663,000964: 24,3222           47663                           CS       SEVEN                                 
024664,000965: 24,3223           13460                           TCF      POLTYPE                               #  GO FIND BEST POLICY
024665,000966: 
024666,000967: 24,3224           11666        2JETS-R            CCS      RMANDACC                              #  ASCENT 4-JET OVER-RIDE TEST
024667,000968: 24,3225           13220                           TCF      4JETS-R                               
024668,000969: 

Page 580

024670,000971: 24,3226           31446                           CAE      1/2JTSR                               
024671,000972: 24,3227           55471                           TS       1/NJETAC                              
024672,000973: 24,3230           46162                           CS       SIX                                   
024673,000974: 24,3231           13460                           TCF      POLTYPE                               #  GO FIND BEST POLICY
024674,000975: 
024675,000976: 24,3232           31653        MINUSU             CAE      .5ACCMNU                              
024676,000977: 24,3233           55650                           TS       .5ACCMNE                              
024677,000978: 24,3234           31515                           CAE      URGENCYQ                              #  2 JET OPT/MAND TEST: -U AXIS
024678,000979: 24,3235           61516                           AD       URGENCYR                              
024679,000980: 24,3236           10000                           CCS      A                                     
024680,000981: 24,3237           63524                           AD       NEGURGUM                              
024681,000982: 24,3240           13242                           TCF      +2                                    
024682,000983: 24,3241           63524                           AD       NEGURGUM                              
024683,000984: 24,3242           00006                           EXTEND                                         
024684,000985: 24,3243           63247                           BZMF     2JETS-U                               
024685,000986: 
024686,000987: 24,3244           03474        2JETSM-U           TC       UXFORM                                
024687,000988: 24,3245           47664        2-U.RATE           CS       FIVE                                  
024688,000989: 24,3246           13460                           TCF      POLTYPE                               #  GO FIND BEST POLICY
024689,000990: 
024690,000991: 24,3247           11667        2JETS-U            CCS      UMANDACC                              #  ASCENT 2-JET MANDATORY OVER-RIDE TEST
024691,000992: 24,3250           13244                           TCF      2JETSM-U                              
024692,000993: 24,3251           03474                           TC       UXFORM                                
024693,000994: 24,3252           47655                           CS       FOUR                                  
024694,000995: 24,3253           13460                           TCF      POLTYPE                               #  GO FIND BEST POLICY
024695,000996: 
024696,000997: 24,3254           31517        NEGAPOSB           CAE      A+B                                   
024697,000998: 24,3255           00006                           EXTEND                                         
024698,000999: 24,3256           63277                           BZMF     PLUSV                                 
024699,001000: 
024700,001001: 24,3257           31651        2/4JET-Q           CAE      .5ACCMNQ                              
024701,001002: 24,3260           55650                           TS       .5ACCMNE                              
024702,001003: 24,3261           33524                           CAF      UQM                                   #  204 JET URGENCY TEST: -Q AXIS
024703,001004: 24,3262           61515                           AD       URGENCYQ                              
024704,001005: 24,3263           00006                           EXTEND                                         
024705,001006: 24,3264           63273                           BZMF     2JETS-Q    +2                         #  (FIRST TWO INSTRUCTIONS UNNECESSARY)
024706,001007: 
024707,001008: 24,3265           31445        4JETS-Q            CAE      1/2JTSQ                               #  MOVE 1/NJETAC UNMODIFIED
024708,001009: 24,3266           55471                           TS       1/NJETAC                              
024709,001010: 24,3267           46165                           CS       THREE                                 
024710,001011: 24,3270           13460                           TCF      POLTYPE                               #  GO FIND BEST POLICY
024711,001012: 
024712,001013: 24,3271           11665        2JETS-Q            CCS      QMANDACC                              #  ASCENT 4-JET OVER-RIDE TEST
024713,001014: 24,3272           13265                           TCF      4JETS-Q                               
024714,001015: 24,3273           31445                           CAE      1/2JTSQ                               
024715,001016: 24,3274           55471                           TS       1/NJETAC                              
024716,001017: 24,3275           47656                           CS       TWO                                   
024717,001018: 24,3276           13460                           TCF      POLTYPE                               #  GO FIND BEST POLICY
024718,001019: 
024719,001020: 24,3277           31654        PLUSV              CAE      .5ACCMNV                              
024720,001021: 

Page 581

024722,001023: 24,3300           55650                           TS       .5ACCMNE                              
024723,001024: 24,3301           41515                           CS       URGENCYQ                              #  2 JET OPT/MAND TEST: +V AXIS
024724,001025: 24,3302           61516                           AD       URGENCYR                              
024725,001026: 24,3303           10000                           CCS      A                                     
024726,001027: 24,3304           63524                           AD       NEGURGVM                              
024727,001028: 24,3305           13307                           TCF      +2                                    
024728,001029: 24,3306           63524                           AD       NEGURGVM                              
024729,001030: 24,3307           00006                           EXTEND                                         
024730,001031: 24,3310           63314                           BZMF     2JETS+V                               
024731,001032: 
024732,001033: 24,3311           03466        2JETSM+V           TC       VXFORM                                
024733,001034: 24,3312           47657        2+V.RATE           CS       ONE                                   
024734,001035: 24,3313           13460                           TCF      POLTYPE                               #  GO FIND BEST POLICY
024735,001036: 
024736,001037: 24,3314           11670        2JETS+V            CCS      VMANDACC                              #  ASCENT 2-JET MANDATORY OVER-RIDE TEST
024737,001038: 24,3315           13311                           TCF      2JETSM+V                              
024738,001039: 24,3316           03466                           TC       VXFORM                                
024739,001040: 24,3317           37665                           CAF      ZERO                                  
024740,001041: 24,3320           13460                           TCF      POLTYPE                               #  GO FIND BEST POLICY
024741,001042: 
024742,001043: 24,3321           31516        BURGZERO           CAE      URGENCYR                              #  TEST FOR SECOND URGENCY ALSO ZERO
024743,001044: 24,3322           00006                           EXTEND                                         
024744,001045: 24,3323           12504                           BZF      XTRANS                                #  NO ROTATION NEEDED NOW
024745,001046: 
024746,001047: 24,3324           00006                           EXTEND                                         #  TIME SAVING A+B CALCULATION
024747,001048: 24,3325           73335                           MP       SIN22.5                               
024748,001049: 24,3326           55522                           TS       TERMB                                 #  US.SIN(22.5)
024749,001050: 24,3327           31516                           CAE      URGENCYR                              
024750,001051: 24,3330           00006                           EXTEND                                         
024751,001052: 24,3331           73334                           MP       COS22.5                               
024752,001053: 24,3332           55521                           TS       TERMA                                 #  UR.COS(22.5)
024753,001054: 24,3333           13171                           TCF      A-B/ONLY                              
024754,001055: 24,3334           35441        COS22.5            DEC      0.92388                               #  COSINE OF 22.5 DEGREES
024755,001056: 24,3335           14176        SIN22.5            DEC      0.38268                               #  SINE OF 22.5 DEGREES
024756,001057: 24,3336           62575        -TAN22.5           DEC      -.41421                               #  NEGATIVE OF TANGENT OF 22.5 DEGREES
024757,001058: 
024758,001059: 24,3337           31521        NEGBURG            CAE      TERMA                                 #  A URGENCY TEST
024759,001060: 24,3340           00006                           EXTEND                                         
024760,001061: 24,3341           63367                           BZMF     NEGANEGB                              
024761,001062: 
024762,001063: 24,3342           31517        POSANEGB           CAE      A+B                                   
024763,001064: 24,3343           00006                           EXTEND                                         
024764,001065: 24,3344           63441                           BZMF     2/4JET+Q                              
024765,001066: 
024766,001067: 24,3345           31654        MINUSV             CAE      .5ACCMNV                              
024767,001068: 24,3346           55650                           TS       .5ACCMNE                              
024768,001069: 24,3347           41515                           CS       URGENCYQ                              #  2 JET OPT/MAND TEST: -V AXIS
024769,001070: 24,3350           61516                           AD       URGENCYR                              
024770,001071: 24,3351           10000                           CCS      A                                     
024771,001072: 24,3352           63524                           AD       NEGURGVM                              
024772,001073: 

Page 582

024774,001075: 24,3353           13355                           TCF      +2                                    
024775,001076: 24,3354           63524                           AD       NEGURGVM                              
024776,001077: 24,3355           00006                           EXTEND                                         
024777,001078: 24,3356           63362                           BZMF     2JETS-V                               
024778,001079: 
024779,001080: 24,3357           03466        2JETSM-V           TC       VXFORM                                
024780,001081: 24,3360           37657        2-V.RATE           CAF      ONE                                   
024781,001082: 24,3361           13460                           TCF      POLTYPE                               #  GO FIND BEST POLICY
024782,001083: 
024783,001084: 24,3362           11670        2JETS-V            CCS      VMANDACC                              #  ASCENT 2-JET MANDATORY OVER-RIDE TEST
024784,001085: 24,3363           13357                           TCF      2JETSM-V                              
024785,001086: 24,3364           03466                           TC       VXFORM                                
024786,001087: 24,3365           37656                           CAF      TWO                                   
024787,001088: 24,3366           13460                           TCF      POLTYPE                               #  GO FIND BEST POLICY
024788,001089: 
024789,001090: 24,3367           31520        NEGANEGB           CAE      A-B                                   
024790,001091: 24,3370           00006                           EXTEND                                         
024791,001092: 24,3371           63414                           BZMF     2/4JET+R                              
024792,001093: 
024793,001094: 24,3372           31653        PLUSU              CAE      .5ACCMNU                              
024794,001095: 24,3373           55650                           TS       .5ACCMNE                              
024795,001096: 24,3374           31515                           CAE      URGENCYQ                              #  2 JET OPT/MAND TEST: +U AXIS
024796,001097: 24,3375           61516                           AD       URGENCYR                              
024797,001098: 24,3376           10000                           CCS      A                                     
024798,001099: 24,3377           63524                           AD       NEGURGUM                              
024799,001100: 24,3400           13402                           TCF      +2                                    
024800,001101: 24,3401           63524                           AD       NEGURGUM                              
024801,001102: 24,3402           00006                           EXTEND                                         
024802,001103: 24,3403           63407                           BZMF     2JETS+U                               
024803,001104: 
024804,001105: 24,3404           03474        2JETSM+U           TC       UXFORM                                
024805,001106: 24,3405           36165        2+U.RATE           CAF      THREE                                 
024806,001107: 24,3406           13460                           TCF      POLTYPE                               #  GO FIND BEST POLICY
024807,001108: 
024808,001109: 24,3407           11667        2JETS+U            CCS      UMANDACC                              #  ASCENT 2-JET MANDATORY OVER-RIDE TEST
024809,001110: 24,3410           13404                           TCF      2JETSM+U                              
024810,001111: 24,3411           03474                           TC       UXFORM                                
024811,001112: 24,3412           37655                           CAF      FOUR                                  
024812,001113: 24,3413           13460                           TCF      POLTYPE                               #  GO FIND BEST POLICY
024813,001114: 
024814,001115: 24,3414           00006        2/4JET+R           EXTEND                                         
024815,001116: 24,3415           31414                           DCA      ER                                    
024816,001117: 24,3416           53412                           DXCH     E                                     
024817,001118: 24,3417           31410                           CAE      EDOT(R)                               
024818,001119: 24,3420           55407                           TS       EDOT                                  
024819,001120: 24,3421           31652                           CAE      .5ACCMNR                              
024820,001121: 24,3422           55650                           TS       .5ACCMNE                              
024821,001122: 24,3423           33524                           CAF      URM                                   #  2/4 JET URGENCY TEST +R AXIS
024822,001123: 24,3424           61516                           AD       URGENCYR                              
024823,001124: 24,3425           00006                           EXTEND                                         
024824,001125: 

Page 583

024826,001127: 24,3426           63433                           BZMF     2JETS+R                               
024827,001128: 
024828,001129: 24,3427           31446        4JETS+R            CAE      1/2JTSR                               #  MOVE 1/NJETAC UNMODIFIED
024829,001130: 24,3430           55471                           TS       1/NJETAC                              
024830,001131: 24,3431           37664                           CAF      FIVE                                  
024831,001132: 24,3432           13460                           TCF      POLTYPE                               #  GO FIND BEST POLICY
024832,001133: 
024833,001134: 24,3433           11666        2JETS+R            CCS      RMANDACC                              #  ASCENT 4-JET OVER-RIDE TEST
024834,001135: 24,3434           13427                           TCF      4JETS+R                               
024835,001136: 24,3435           31446                           CAE      1/2JTSR                               
024836,001137: 24,3436           55471                           TS       1/NJETAC                              
024837,001138: 24,3437           36162                           CAF      SIX                                   
024838,001139: 24,3440           13460                           TCF      POLTYPE                               #  GO FIND BEST POLICY
024839,001140: 
024840,001141: 24,3441           31651        2/4JET+Q           CAE      .5ACCMNQ                              
024841,001142: 24,3442           55650                           TS       .5ACCMNE                              
024842,001143: 24,3443           33524                           CAF      UQM                                   #  2/4 JET URGENCY TEST: + Q AXIS
024843,001144: 24,3444           61515                           AD       URGENCYQ                              
024844,001145: 24,3445           00006                           EXTEND                                         
024845,001146: 24,3446           63455                           BZMF     2JETS+Q    +2                         #  (FIRST TWO INSTRUCTIONS UNNECESSARY)
024846,001147: 
024847,001148: 24,3447           31445        4JETS+Q            CAE      1/2JTSQ                               #  MOVE 1/NJETAC UNMODIFIED
024848,001149: 24,3450           55471                           TS       1/NJETAC                              
024849,001150: 24,3451           37663                           CAF      SEVEN                                 
024850,001151: 24,3452           13460                           TCF      POLTYPE                               #  GO FIND BEST POLICY
024851,001152: 
024852,001153: 24,3453           11665        2JETS+Q            CCS      QMANDACC                              #  ASCENT 4-JET OVER-RIDE TEST
024853,001154: 24,3454           13447                           TCF      4JETS+Q                               
024854,001155: 24,3455           31445                           CAE      1/2JTSQ                               
024855,001156: 24,3456           55471                           TS       1/NJETAC                              
024856,001157: 24,3457           37654                           CAF      EIGHT                                 
024857,001158: 
024858,001159: 24,3460           55523        POLTYPE            TS       POLRELOC                              
024859,001160: 24,3461           00006                           EXTEND                                         
024860,001161: 24,3462           33465                           DCA      POLADR                                
024861,001162: 24,3463           52006                           DTCB                                           
024862,001163: 24,3464           02216 52006  POLADR             2CADR    POLTYPEP                              
024863,001164: 

Page 584

024865,001166:                                                                                                  #  SUBROUTINES UXFORM AND VXFORM CALCULATE NEEDED VALUES FOR T-JET LAW
024866,001167:                                                                                                  #  (THEY GO OFF TO REDUCE RATE, IF NECESSARY, AND THEN DO NOT RETURN)
024867,001168: 
024868,001169: 24,3466           31450        VXFORM             CAE      1/2JETSV                              #  GET INVERSE OF V-JET ACCELERATION
024869,001170: 24,3467           55471                           TS       1/NJETAC                              
024870,001171: 24,3470           41411                           CS       EQ                                    #  COMPLEMENT FOR TRANSFORMATION
024871,001172: 24,3471           55411                           TS       EQ                                    
024872,001173: 24,3472           41424                           CS       EDOTQ                                 
024873,001174: 24,3473           13477                           TCF      UVXFORM    +1                         
024874,001175: 24,3474           31447        UXFORM             CAE      1/2JETSU                              #  SET INVERSE OF U-JET ACCELERATION
024875,001176: 24,3475           55471                           TS       1/NJETAC                              
024876,001177: 
024877,001178: 24,3476           31424        UVXFORM            CAE      EDOTQ                                 #  TRANSFORM ANGULAR RATE TO U/V-AXIS
024878,001179: 24,3477           61425                           AD       EDOTR                                 
024879,001180: 24,3500           00006                           EXTEND                                         
024880,001181: 24,3501           73523                           MP       .707                                  
024881,001182: 24,3502           55407                           TS       EDOT                                  #  SAVE FOR REDUCEUV
024882,001183: 24,3503           00006                           EXTEND                                         
024883,001184: 24,3504           77655                           MP       BIT3                                  
024884,001185: 24,3505           00006                           EXTEND                                         
024885,001186: 24,3506           13510                           BZF      +2                                    #  CHECK FOR VALUE BEYOND SCALING RANGE
024886,001187: 24,3507           13672                           TCF      REDUCEQR                              #  SAME AS REDUCEUV
024887,001188: 24,3510           30001                           CAE      L                                     
024888,001189: 24,3511           55407                           TS       EDOT                                  #  SAVE RATE SCALED AT PI/16
024889,001190: 24,3512           00006                           EXTEND                                         
024890,001191: 24,3513           70000                           SQUARE                                         
024891,001192: 24,3514           55412                           TS       EDOT(2)                               #  SAVE RATE SQUARED SCALED AT PI(2)/2(8)
024892,001193: 
024893,001194: 24,3515           31411                           CAE      EQ                                    #  TRANSFORM ANGULAR ERROR TO U/V-AXIS
024894,001195: 24,3516           61413                           AD       ER                                    
024895,001196: 24,3517           00006                           EXTEND                                         
024896,001197: 24,3520           73523                           MP       .707                                  
024897,001198: 24,3521           55411                           TS       E                                     #  SAVE ERROR SCALED AT PI
024898,001199: 24,3522           00002                           TC       Q                                     
024899,001200: 
024900,001201: 24,3523           26501        .707               DEC      0.70711                               #  SQRT(1/2)
024901,001202: 
024902,001203: 
024903,001204: 
024904,001205: 24,3524           71777        NEGURGUM           DEC      -.18750                               
024905,001206: 24,3525  24,3524               NEGURGVM           EQUALS   NEGURGUM                              
024906,001207: 24,3525  24,3524               UQM                EQUALS   NEGURGUM                              
024907,001208: 24,3525  24,3524               URM                EQUALS   NEGURGUM                              
024908,001209: 
024909,001210: 

Page 585

024911,001212:                                                                                                  #  GENERALIZED URGENCY SUBROUTINE FOR USE ON ALL PILOT AXES (P,Q,R)...
024912,001213: 
024913,001214:                                                                                                  #  DEPENDING ON THE AXIS PROBLEM, EDOTP,EDOTQ,EDOTR IS EXPECTED TO ARRIVE IN A AND 1/2JTSP,1/2JTSQ,1/2JTSR IN
024914,001215:                                                                                                  #  1/NJETAC.  NOTE THAT THE Q,R-AXIS PROBLEM IS EXPECTED TO DO THE R-AXIS PROBLEM FIRST (FOR EFFICIENT USE OF
024915,001216:                                                                                                  #  ERASABLE) AND THE Q,R-AXIS PROBLEM DOES NOT USE TPSIG.
024916,001217:                                                                                                  #  (THIS ROUTINE SHOULD BE IN THE FIXED BANK OF THE Q,R-AXIS PROBLEM SINCE IT IS CALLED ONLY ONCE FROM THE P-AXIS.)
024917,001218: 
024918,001219: 24,3525           55407        URGROUTN           TS       EDOT                                  #  SAVE FOR REDUCEQR
024919,001220: 24,3526           00006                           EXTEND                                         #  EXPECT EDOT IN A SCALED AT PI/4 RAD/SEC
024920,001221: 24,3527           77655                           MP       BIT3                                  #  TRY TO RESCALE TO PI/16 RADIANS/SECOND
024921,001222: 24,3530           00006                           EXTEND                                         
024922,001223: 24,3531           13533                           BZF      +2                                    #  OVERFLOW CHECK ON NEW SCALING
024923,001224: 24,3532           13666                           TCF      REDUCERA                              #  DISTINGUISH BETWEEN P AND Q,R
024924,001225: 24,3533           10001                 +2        CCS      L                                     #  INSURE NON-ZERO EDOT (TPSIG FLAG)
024925,001226: 24,3534           67656                           AD       TWO                                   
024926,001227: 24,3535           13537                           TCF      +2                                    
024927,001228: 24,3536           40000                           COM                                            
024928,001229: 24,3537           67667                 +2        AD       NEG1                                  
024929,001230: 24,3540           55440                           TS       TPSIG                                 #  (FOR P-AXIS PROBLEM ONLY)
024930,001231: 24,3541           55407                           TS       EDOT                                  #  SAVE FOR T-JET LAW SCALED AT PI/16
024931,001232: 
024932,001233: 24,3542           00006                           EXTEND                                         
024933,001234: 24,3543           70000                           SQUARE                                         
024934,001235: 24,3544           55412                           TS       EDOT(2)                               #  SCALED AT PI(2)/2(8) RAD(2)/SEC(2)
024935,001236: 
024936,001237: 24,3545           00006                           EXTEND                                         #  1/2JTSP,1/2JTSQ,1/2JTSR IN 1/NJETAC
024937,001238: 24,3546           71471                           MP       1/NJETAC                              #  SCALED AT 2(8)/PI SEC(2)/RAD
024938,001239: 24,3547           00006                           EXTEND                                         
024939,001240: 24,3550           61415                           SU       DB                                    #  DEADBAND SCALED AT PI RADIANS
024940,001241: 24,3551           55451                           TS       FPQR                                  #  .5(1/ACC)EDOT(2) - DB SCALED AT PI RADS
024941,001242: 
024942,001243: 24,3552           31412                           CAE      EDOT(2)                               #  SCALED AT PI(2)/2(8) RAD(2)/SEC(2)
024943,001244: 24,3553           00006                           EXTEND                                         
024944,001245: 24,3554           71650                           MP       .5ACCMNE                              #  .5(1/ACCMIN) AT 2(8)/PI SEC(2)/RAD
024945,001246: 24,3555           61415                           AD       DB                                    #  SCALED AT PI RADIANS
024946,001247: 24,3556           55467                           TS       FPQRMIN                               #  .5(1/ACCMIN)EDOT(2) + DB AT PI RADIANS
024947,001248: 
024948,001249: 24,3557           11407                           CCS      EDOT                                  #  EDOT TEST ON SIGN
024949,001250: 24,3560           31411                           CAE      E                                     #  P,Q,R-AXIS ERROR SCALED AT PI RADIANS
024950,001251: 24,3561           13563                           TCF      +2                                    
024951,001252: 24,3562           13602                           TCF      EDOTNEG                               
024952,001253: 24,3563           27451                 +2        ADS      FPQR                                  #  E + .5(1/ACC)EDOT(2) - DB AT PI RADIANS
024953,001254: 
024954,001255: 24,3564           11407        FTEST              CCS      EDOT                                  #  EDOT GUARANTEED NOT +0 OR -0
024955,001256: 24,3565           11451                           CCS      FPQR                                  #  FPQR GUARANTEED NOT +0
024956,001257: 24,3566           13573                           TCF      TPSIGCHG                              #  EDOT.G.+0, FPQR.G.+0
024957,001258: 24,3567           11451                           CCS      FPQR                                  #  EDOT.L.-0
024958,001259: 24,3570           13606                           TCF      FPMINCAL                              #  EDOT.L.-0,FPQR.G.+0/EDOT.G.+0,FPQR.L.-0
024959,001260: 24,3571           13606                           TCF      FPMINCAL                              #  EDOT.G.+0, FPQR.E.-0 (FROM FIRST CCS)
024960,001261: 24,3572           13573                           TCF      TPSIGCHG                              #  EDOT.L.-0, FPQR.L.-0
024961,001262: 

Page 586

024963,001264: 24,3573           41440        TPSIGCHG           CS       TPSIG                                 #  EDOT.L.-0, FPQR.E.-0 (FROM 2ND CCS)
024964,001265: 24,3574           55440                           TS       TPSIG                                 #  (SIGN OF P-AXIS JETS IF NEEDED)
024965,001266: 24,3575           31407                           CAE      EDOT                                  #  SCALED AT PI/16 RADIANS/SECOND
024966,001267: 24,3576           00006                           EXTEND                                         
024967,001268: 24,3577           77645                           MP       BIT11                                 #  SCALE TO PI RADIANS/SECOND
024968,001269: 24,3600           61451                           AD       FPQR                                  #  (IMPLICIT MULT OF FPQR BY 1/SEC)
024969,001270: 24,3601           13626                           TCF      URGMULT                               #  THIS URGENCY = (1/ACC)(FPQR+EDOT)
024970,001271: 
024971,001272: 24,3602           41451        EDOTNEG            CS       FPQR                                  #  SCALED AT PI RADIANS
024972,001273: 24,3603           61411                           AD       E                                     
024973,001274: 24,3604           55451                           TS       FPQR                                  #  E - .5(1/ACC)EDOT(2) + DB
024974,001275: 24,3605           13564                           TCF      FTEST                                 
024975,001276: 
024976,001277: 24,3606           11451        FPMINCAL           CCS      FPQR                                  #  NECESSARY RETEST ON FPQR
024977,001278: 24,3607           41467                           CS       FPQRMIN                               
024978,001279: 24,3610           13612                           TCF      +2                                    #  E - .5(1/ACCMIN)EDOT(2) - DB
024979,001280: 24,3611           31467                           CAE      FPQRMIN                               
024980,001281: 24,3612           61411                           AD       E                                     #  E + .5(1/ACCMIN)EDOT(2) + DB
024981,001282: 24,3613           55467                           TS       FPQRMIN                               #  (SCALED AT PI RADIANS)
024982,001283: 
024983,001284: 24,3614           11407                           CCS      EDOT                                  #  EDOT    GUARANTEED NOT +0 OR -0
024984,001285: 24,3615           11467                           CCS      FPQRMIN                               #  FPQRMIN GUARANTEED NOT +0 (CALL IT F)
024985,001286: 24,3616           13623                           TCF      ZEROURG                               #  EDOT.G.+0, F.G.+0
024986,001287: 24,3617           11467                           CCS      FPQRMIN                               #  EDOT.L.-0
024987,001288: 24,3620           13625                           TCF      NORMURG                               #  EDOT.L.-0, F.G.+0 / EDOT.G.+0, F.L.-0
024988,001289: 24,3621           13625                           TCF      NORMURG                               #  EDOT.G.+0, F.E.-0 (FROM FIRST CCS)
024989,001290: 24,3622           13623                           TCF      ZEROURG                               #  EDOT.L.-0, F.L.-0
024990,001291: 24,3623           37665        ZEROURG            CAF      ZERO                                  #  EDOT.L.-0, F.E.-0 (FROM SECOND CCS)
024991,001292: 24,3624           13642                           TCF      URGSTORE                              #  THIS URGENCY ZERO (IN COAST REGIAN)
024992,001293: 
024993,001294: 24,3625           31467        NORMURG            CAE      FPQRMIN                               #  THIS URGENCY FPQRMIN(1/ACC)
024994,001295: 24,3626           00006        URGMULT            EXTEND                                         
024995,001296: 24,3627           71471                           MP       1/NJETAC                              
024996,001297: 24,3630           00006                           EXTEND                                         #  SCALE FROM 2(9) TO 2(4) SECONDS
024997,001298: 24,3631           77652                           MP       BIT6                                  #  1/NJETAC = 1/2JETAC, WANT 1/1JETAC
024998,001299: 24,3632           00006                           EXTEND                                         
024999,001300: 24,3633           13641                           BZF      URGTOA                                
025000,001301: 24,3634           10000                           CCS      A                                     
025001,001302: 24,3635           37637                           CA       POSMAX                                
025002,001303: 24,3636           13642                           TCF      URGSTORE                              
025003,001304: 24,3637           47637                           CS       POSMAX                                
025004,001305: 24,3640           13642                           TCF      URGSTORE                              
025005,001306: 24,3641           30001        URGTOA             CA       L                                     
025006,001307: 24,3642           00002        URGSTORE           TC       Q                                     #  *** RETURN ***
025007,001308: 

Page 587

025009,001310:                                                                                                  #  GENERALIZED T-JET LAW SUBROUTINE FOR USE BY BOTH THE P-AXIS AND Q,R-AXIS PROBLEMS (ONCE EACH)...
025010,001311: 
025011,001312:                                                                                                  #  DEPENDING ON THE AXIS ABOUT WHICH ROTATION IS DEEMED MOST URGENT, 1/JACC FOR THAT AXIS IS EXPECTED IN 1/NJETAC
025012,001313:                                                                                                  #  AND THE CORRESPONDING VALUES FOR E, EDOT, AND EDOT(2) ARE ALSO EXPECTED TO BE SET UP IN ADVANCE.
025013,001314:                                                                                                  #  (THIS ROUTINE MAY RESIDE IN THE FIXED BANK OF EITHER THE P-AXIS OR Q,R-AXIS PROBLEM.)
025014,001315: 
025015,001316:                                                                                                  #  ***** IMPORTANT NOTICE *****
025016,001317: 
025017,001318:                                                                                                  #      NOTE THAT TJETLOC IS THE LOCAL ENTRY POINT FOR THIS PROGRAM AND TJETLAW IS THE CROSS-BANK ENTRY.  SEE BELOW
025018,001319:                                                                                                  #  FOR THE TWO CALLING SEQUENCES FOR OPTIMAL USE AND BE ASSURED THAT FOR EITHER CASE ISWRETRN MUST BE USED AND
025019,001320:                                                                                                  #  RUPTREG3 CONTAINS THE EVENTUAL RETURN ADDRESS.
025020,001321: 
025021,001322:                                                                                                  #  LOCAL CALL:
025022,001323:                                                                                                  #           TC     TJETLOC
025023,001324:                                                                                                  #           TCF    NO ROTATION JETS
025024,001325:                                                                                                  #           TS     TIME CALCULATED
025025,001326: 
025026,001327:                                                                                                  #  CROSS-BANK CALL:
025027,001328:                                                                                                  #           CAF    TJETLAWCADR
025028,001329:                                                                                                  #           TC     ISWCALL
025029,001330:                                                                                                  #           TCF    NO ROTATION JETS
025030,001331:                                                                                                  #           TS     TIME CALCULATED
025031,001332: 
025032,001333: 
025033,001334: 
025034,001335:                                                                                                  #  ***** VERY IMPORTANT NOTICE *****
025035,001336: 
025036,001337:                                                                                                  #  SINCE THE Q,R-AXES SWITCHED FIXED BANK BECAME VERY FULL (DUE TO THE ADDITION OF RATE-HOLD MODE AND A BETTER
025037,001338:                                                                                                  #  RCS-GTS INTERFACE), THE LOCAL CALL AND LOCAL ENTRY POINT FOR THE T-JET LAW HAVE BEEN DELETED AS OF REVISION  7
025038,001339:                                                                                                  #  OF AURORA (BY JON ADDELSTON 10/24/66).
025039,001340: 
025040,001341: 
025041,001342: 
025042,001343:                                                                                                  #  FOR CONVENIENCE, WE INCLUDE HERE THE CALL FROM THE Q,R-AXIS PROBLEM:
025043,001344: 
025044,001345: 24,3643                                           BANK     24                                    
025045,001346: 24,3643           51644        QR-JETLW           CADR     TJET-LAW                              #  CADR OF Q,R-ENTRY TO TJETLAW SUBROUTINE
025046,001347: 
025047,001348: 24,3644           04177        TJET-LAW           TC       T6JOBCHK                              #  CHECK T6 CLOCK RUPT BEFORE SUBROUTINE
025048,001349: 
025049,001350: 24,3645           33643                           CAF      QR-JETLW                              #  T-JETLAW CALLING SEQUENCE (LIKE P-AXIS)
025050,001351: 24,3646           04162                           TC       ISWCALL                               #  (IN INTERBANK COMMUNICATION LOG SECTION)
025051,001352: 24,3647           12504                           TCF      XTRANS                                #  GO TO XTRANS SINCE NO ROTATION IS USED
025052,001353: 24,3650           55626                           TS       TQR                                   #  SAVE CALCULATED TIME FOR THE TORQUE
025053,001354: 24,3651           12554                           TCF      TORQUEV                               #  VECTOR RECONSTRUCTION PROBLEM
025054,001355: 
025055,001356: 

Note: the following seems to be fully assembled code injected as comment. See the VERY IMPORTANT NOTICE above .

025057,001358:                                                                                                  #     24,1000   0 0006 1  TJETLOC         EXTEND                   LOCAL ENTRY FAKES CROSS-BANK IN SMALL DT
025058,001359: 

Page 588

025060,001361:                                                                                                  #     24,1001   22 076 0  QXCH            RUPTREG3                 SAVE RETURN WHERE ISWCALL DOES
025061,001362:                                                                                                  #     24,1002   3 4174 1  CAF             ISWRETRN        +3       GET CADR OF RUPTREG3 FROM TC INSTRUCTION
025062,001363:                                                                                                  #     24,1003   54 002 1  TS              Q                        SO TC Q GOES TO RUPTREG3 FOR RETURN
025063,001364: 
025064,001365: 25,2000                                           BANK     25                                    
025065,001366: 
025066,001367: 25,2000           41407        TJETLAW            CS       EDOT                                  #  TEST EDOT SIGN
025067,001368: 25,2001           00006                           EXTEND                                         
025068,001369: 25,2002           62006                           BZMF     +4                                    
025069,001370: 25,2003           55407                           TS       EDOT                                  #  SIGNS OF E AND EDOT CHANGED IF EDOT NEG
025070,001371: 25,2004           41411                           CS       E                                     #  TO CONSIDER FUNCTIONS IN UPPER HALF OF
025071,001372: 25,2005           55411                           TS       E                                     #  THE E,EDOT PHASE PLANE
025072,001373: 
025073,001374: 25,2006           31412                           CAE      EDOT(2)                               #  SCALED AT PI(2)/2(8) RAD(2)/SEC(2)
025074,001375: 25,2007           00006                           EXTEND                                         #  (1/NJETAC HAS BEEN SET FOR N JETS)
025075,001376: 25,2010           71471                           MP       1/NJETAC                              #  SCALED AT 2(8)/PI SEC(2)/RAD
025076,001377: 25,2011           00006                           EXTEND                                         
025077,001378: 25,2012           77642                           MP       BIT14                                 #  .5EDOT(2)/NJETACC SCALED AT PI RADIANS
025078,001379: 25,2013           61411                           AD       E                                     #  SCALED AT PI RADIANS (ERROR)
025079,001380: 25,2014           00006                           EXTEND                                         
025080,001381: 25,2015           61415                           SU       DB                                    #  SCALED AT PI RADIANS (DEADBAND)
025081,001382: 25,2016           55454                           TS       HDAP                                  #  E + .5EDOT(2)/NJETACC - DB
025082,001383: 
025083,001384: 25,2017           00006                           EXTEND                                         
025084,001385: 25,2020           62070                           BZMF     NEGHDAP                               
025085,001386: 
025086,001387: 25,2021           31407                           CAE      EDOT                                  #  SCALED AT PI/16 RAD/SEC (RATE)
025087,001388: 25,2022           00006                           EXTEND                                         
025088,001389: 25,2023           71471                           MP       1/NJETAC                              #  SCALED AT 2(8)/PI SEC(2)/RAD (ACC) (-1)
025089,001390: 25,2024           55521                           TS       TERMA                                 #  SCALED AT 2(4) SEC (CNTRL SMPL PERIOD)
025090,001391: 25,2025           62205                           AD       NEGCSP                                #  EDOT/NJETACC - CSP SCALED AT 16 SECONDS
025091,001392: 
025092,001393: 25,2026           00006                           EXTEND                                         
025093,001394: 25,2027           62032                           BZMF     +3                                    
025094,001395: 
025095,001396: 25,2030           37642        MAXTJET            CAF      BIT14                                 #  (1/2) IS LIKE POSMAX AT THIS SCALING
025096,001397: 25,2031           12057                           TCF      NORMRETN                              #  (OVERFLOW IS THUS PREVENTED)
025097,001398: 
025098,001399: 25,2032           41454                           CS       HDAP                                  #  -DBMINIMP + E + EDOT(2)/NJETACC - DB
025099,001400: 25,2033           61647                           AD       MINIMPDB                              #  SCALED AT PI RADIANS
025100,001401: 25,2034           00006                           EXTEND                                         
025101,001402: 25,2035           62116                           BZMF     MAINBRCH                              
025102,001403: 
025103,001404: 25,2036           31521                           CAE      TERMA                                 #  EDOT/NJETACC - .5TJMIN SCALED AT 16 SECS
025104,001405: 25,2037           62211                           AD       -20MS                                 #  - 20 MS SCALED AT 16.
025105,001406: 25,2040           00006                           EXTEND                                         
025106,001407: 25,2041           62044                           BZMF     TJMIN                                 
025107,001408: 
025108,001409: 25,2042           62210                           AD       23.75MS                               #  WE GET TERMA + 3.75 MS.
025109,001410: 25,2043           12164                           TCF      TJETSCAL                              
025110,001411: 

Page 589

025112,001413: 25,2044           42067        TJMIN              CS       PAXCALL                               #  WE KNOW WE DO P AXIS SINCE WE HAVE RUPT-
025113,001414: 25,2045           60076                           AD       RUPTREG3                              #   REG3 = T-JETLAW +3(Q-AXIS CALL NOT AT
025114,001415: 25,2046           00006                           EXTEND                                         #   SAME LOCATION-- WE HOPE - AND INSURE.).
025115,001416: 25,2047           12061                           BZF      WEDOP                                 
025116,001417: 25,2050           31620                           CAE      NO.QJETS                              #  NO. OF Q JETS ON
025117,001418: 25,2051           00006                           EXTEND                                         
025118,001419: 25,2052           12063                           BZF      WEDOR                                 
025119,001420: 25,2053           31621                           CAE      NO.RJETS                              #  NO. OF R JETS ON
025120,001421: 25,2054           00006                           EXTEND                                         
025121,001422: 25,2055           12065                           BZF      WEDOQ                                 
025122,001423: 25,2056           32206        DOTJMIN            CAF      +TJMINT6                              
025123,001424: 25,2057           24076        NORMRETN           INCR     RUPTREG3                              #  *** RETURN +1 ***
025124,001425: 25,2060           00002                           TC       Q                                     #  BACK TO ISWRETRN
025125,001426: 25,2061           55416        WEDOP              TS       OMEGAP                                
025126,001427: 25,2062           12056                           TCF      DOTJMIN                               
025127,001428: 25,2063           55421        WEDOR              TS       OMEGAR                                
025128,001429: 25,2064           12056                           TCF      DOTJMIN                               
025129,001430: 25,2065           55417        WEDOQ              TS       OMEGAQ                                
025130,001431: 25,2066           12056                           TCF      DOTJMIN                               
025131,001432: 25,2067           02666        PAXCALL            GENADR   T-JETLAW   +3                         
025132,001433: 25,2070           31412        NEGHDAP            CAE      EDOT(2)                               #  SCALED AT PI(2)/2(8) RAD(2)/SEC(2)
025133,001434: 25,2071           00006                           EXTEND                                         
025134,001435: 25,2072           71650                           MP       .5ACCMNE                              #  .5(1/ACCMIN) AT 2(8)/PI SEC(2)/RAD
025135,001436: 25,2073           61411                           AD       E                                     #  SCALED AT PI RADIANS (ERROR)
025136,001437: 25,2074           61415                           AD       DB                                    #  SCALED AT PI RADIANS  (DEADBAND)
025137,001438: 25,2075           61646                           AD       DBMINIMP                              
025138,001439: 25,2076           00006                           EXTEND                                         
025139,001440: 25,2077           62101                           BZMF     +2                                    
025140,001441: 25,2100           00002                           TC       Q                                     #  *** RETURN *** (NO JETS)
025141,001442: 
025142,001443: 25,2101           42212                 +2        CS       MAXRATE                               #  10 DEG/SEC SCALED AT PI/16 RAD/SEC
025143,001444: 25,2102           61407                           AD       EDOT                                  #  EDOT - MAXRATE
025144,001445: 25,2103           00006                           EXTEND                                         
025145,001446: 25,2104           62106                           BZMF     +2                                    
025146,001447: 25,2105           00002                           TC       Q                                     #  *** RETURN *** (NO JETS)
025147,001448: 
025148,001449: 25,2106           41407                 +2        CS       EDOT                                  #  SCALED AT PI/16 RAD/SEC (RATE)
025149,001450: 25,2107           00006                           EXTEND                                         
025150,001451: 25,2110           71471                           MP       1/NJETAC                              #  SCALED AT 2(8)/PI SEC(2)/RAD (ACC)(-1)
025151,001452: 25,2111           55521                           TS       TERMA                                 #  -EDOT/NJETACC SCALED AT 2(4) SECONDS
025152,001453: 
025153,001454: 25,2112           41454                           CS       HDAP                                  #  - E + .5EDOT(2)/NJETACC + DB
025154,001455: 25,2113           61411                           AD       E                                     
025155,001456: 25,2114           61411                           AD       E                                     #  TWICE ERROR NEGATES E OF HDAP(OLD)
025156,001457: 25,2115           61647                           AD       MINIMPDB                              
025157,001458: 25,2116           55454        MAINBRCH           TS       HDAP                                  #  -HDAP(OLD) + 2E + DBMINIMP AT PI RADS
025158,001459: 
025159,001460: 25,2117           31471                           CAE      1/NJETAC                              #  SCALED AT 2(8)/PI SEC(2)/RAD
025160,001461: 25,2120           00006                           EXTEND                                         
025161,001462: 25,2121           77642                           MP       BIT14                                 #  (1/2)(1/NJETAC)
025162,001463: 

Page 590

025164,001465: 25,2122           61650                           AD       .5ACCMNE                              
025165,001466: 25,2123           55456                           TS       DENOM                                 #  .5(1/NJETACC) + .5(1/ACCMIN) AT 2(8)/PI
025166,001467: 
025167,001468: 25,2124           00006                           EXTEND                                         
025168,001469: 25,2125           72213                           MP       MAXRATE2                              #  SCALED AT PI(2)/2(8) RAD(2)/SEC(2)
025169,001470: 25,2126           61454                           AD       HDAP                                  #  DENOM.MAXRATE(2) + HDAP AT PI RADIANS
025170,001471: 25,2127           00006                           EXTEND                                         
025171,001472: 25,2130           62170                           BZMF     NOROOT                                
025172,001473: 
025173,001474: 25,2131           31454                           CAE      HDAP                                  #  SCALED AT PI RADIANS
025174,001475: 25,2132           00006                           EXTEND                                         
025175,001476: 25,2133           11456                           DV       DENOM                                 #  SCALED AT 2(8)/PI SEC(2)/RAD(2)
025176,001477: 25,2134           00006                           EXTEND                                         
025177,001478: 25,2135           71471                           MP       1/NJETAC                              
025178,001479: 25,2136           00006                           EXTEND                                         
025179,001480: 25,2137           71471                           MP       1/NJETAC                              
025180,001481: 25,2140           55522                           TS       TERMB                                 #  -(HDAP/DENOM)(1/NJETACC)(2) AT 2(8) SECS
025181,001482: 
025182,001483: 25,2141           32205                           CAF      NEGCSP                                #  SCALED AT 2(4) SECONDS
025183,001484: 25,2142           61521                           AD       TERMA                                 
025184,001485: 25,2143           00006                           EXTEND                                         
025185,001486: 25,2144           70000                           SQUARE                                         #  SCALED AT 2(8) SECONDS
025186,001487: 25,2145           61522                           AD       TERMB                                 
025187,001488: 25,2146           00006                           EXTEND                                         #  (TERMA - CSP)(2) + TERMB
025188,001489: 25,2147           62030                           BZMF     MAXTJET                               
025189,001490: 25,2150           32207                           CAF      -TJMIN16                              
025190,001491: 25,2151           61521                           AD       TERMA                                 #  TERMA - TJMIN SCALED AT 2(4) SECONDS
025191,001492: 25,2152           00006                           EXTEND                                         
025192,001493: 25,2153           62175                           BZMF     MAYNOJET                              
025193,001494: 
025194,001495: 25,2154           00006        PREROOT            EXTEND                                         #  MUST SAVE Q .
025195,001496: 
025196,001497: 25,2155           23517                           QXCH     A+B                                   
025197,001498: 25,2156           04177                           TC       T6JOBCHK                              
025198,001499: 25,2157           41522                           CS       TERMB                                 
025199,001500: 25,2160           04275                           TC       SPROOT                                #  SQRT(-TERMB) SCALED AT 2(4) SECONDS
025200,001501: 
025201,001502: 25,2161           00006                           EXTEND                                         #  MUST RESTORE OLD Q AFTER SPROOT
025202,001503: 25,2162           23517                           QXCH     A+B                                   
025203,001504: 
025204,001505: 25,2163           61521        TJSUM              AD       TERMA                                 #  TERMA + SQRT(-TERMB)
025205,001506: 25,2164           60000        TJETSCAL           DOUBLE                                         #  NOW SCALED AT 2(3) SECONDS
025206,001507: 25,2165           00006                           EXTEND                                         
025207,001508: 25,2166           72215                           MP       25/32QR                               #  SCALED T O 16/25 2(4) SECONDS.
025208,001509: 25,2167           12057                           TCF      NORMRETN                              #  *** RETURN +1 ***
025209,001510: 
025210,001511: 25,2170           32212        NOROOT             CAF      MAXRATE                               
025211,001512: 25,2171           62214                           AD       .6DEG/SC                              #  MAXRATE + DEL SCALED AT PI/16 RAD/SEC
025212,001513: 25,2172           00006                           EXTEND                                         
025213,001514: 25,2173           71471                           MP       1/NJETAC                              #  SCALED AT 2(8)/PI SEC(2)/RAD
025214,001515: 

Page 591

025216,001517: 25,2174           12163                           TCF      TJSUM                                 #  SCALED AT 2(4) RADIANS
025217,001518: 
025218,001519: 25,2175           32207        MAYNOJET           CAF      -TJMIN16                              
025219,001520: 25,2176           61521                           AD       TERMA                                 #  TERMA - TJMIN SCALED AT 2(4) SECONDS
025220,001521: 25,2177           00006                           EXTEND                                         
025221,001522: 25,2200           70000                           SQUARE                                         #  SCALED AT 2(8) SEC(2)
025222,001523: 25,2201           61522                           AD       TERMB                                 
025223,001524: 25,2202           00006                           EXTEND                                         
025224,001525: 25,2203           62154                           BZMF     PREROOT                               #  (TERMA - TJMIN)(2) + TERMB AT 2(8)
025225,001526: 25,2204           00002                           TC       Q                                     #  *** RETURN *** (NO JETS)
025226,001527: 
025227,001528: 25,2205           77631        NEGCSP             DEC      -.00625                               #  100 MS SCALED AT 2(4) SECONDS
025228,001529: 25,2206           00014        +TJMINT6           DEC      +.00073                               
025229,001530: 25,2207           77767        -TJMIN16           DEC      -.00047                               
025230,001531: 25,2210  25,2207               -TJMINQR           EQUALS   -TJMIN16                              
025231,001532: 25,2210           00030        23.75MS            DEC      0.00148                               #  23.75 MS SCALED AT 16 SECONDS.
025232,001533: 25,2211           77753        -20MS              DEC      -.00125                               #  - 20 MS SCALED AT 16 SECONDS.
025233,001534: 25,2212           34344        MAXRATE            DEC      0.88889                               #  10 DEGREES/SECOND SCALED AT PI/16
025234,001535: 25,2213           31221        MAXRATE2           DEC      0.79012                               #  100 DEG(2)/SEC(2) SCALED AT PI(2)/2(8)
025235,001536: 25,2214           01552        .6DEG/SC           DEC      0.05333                               #  6/10 DEGREES/SECOND SCALED AT PI/16
025236,001537: 25,2215           31000        25/32QR            DEC      0.78125                               
025237,001538: 

Page 592

025239,001540:                                                                                                  #  THESE TWO SUBROUTINES TRANSFORM EDOTQ,EDOTR INTO THE U/V-AXIS (RESPECTIVELY) FOR THE RATE COMMAND MODE (ONLY).
025240,001541:                                                                                                  #  VALUE IS STORED IN EDOTGEN SCALED AT PI/4 RADIANS/SECOND.
025241,001542: 
025242,001543: 24,3652                                           BANK     24                                    
025243,001544: 
025244,001545: 24,3652           31447        EDOTUGEN           CAE      1/2JETSU                              #  FOR U-AXIS TRANSFORMATION
025245,001546: 24,3653           55471                           TS       1/NJETAC                              
025246,001547: 24,3654           31424                           CAE      EDOTQ                                 
025247,001548: 24,3655           13661                           TCF      +4                                    
025248,001549: 24,3656           31450        EDOTVGEN           CAE      1/2JETSV                              #  FOR V-AXIS TRANSFORMATION
025249,001550: 24,3657           55471                           TS       1/NJETAC                              
025250,001551: 24,3660           41424                           CS       EDOTQ                                 
025251,001552: 24,3661           61425                           AD       EDOTR                                 
025252,001553: 24,3662           00006                           EXTEND                                         
025253,001554: 24,3663           73523                           MP       .707                                  
025254,001555: 24,3664           55443                           TS       RATEDIF                               
025255,001556: 24,3665           00002                           TC       Q                                     
025256,001557: 
025257,001558: 
025258,001559: 
025259,001560:                                                                                                  #  THESE PROGRAMS REDUCE THE RATE ERROR TO 10.6 DEGREES/SECOND.
025260,001561: 
025261,001562: 24,3666           41407        REDUCERA           CS       EDOT                                  #  TEST FOR P-AXIS PROBLEM
025262,001563: 24,3667           61423                           AD       EDOTP                                 #  EXACT MATCH MEANS P-AXIS
025263,001564: 24,3670           00006                           EXTEND                                         
025264,001565: 24,3671           13703                           BZF      REDUCEP                               #  P-AXIS SUM IS ALWAYS MINUS ZERO
025265,001566: 
025266,001567: 24,3672           03715        REDUCEQR           TC       REDUCESC                              #  GET SHRINK FACTOR
025267,001568: 24,3673           00006                           EXTEND                                         #  SHRINK Q-AXIS COMPONENT
025268,001569: 24,3674           71424                           MP       EDOTQ                                 
025269,001570: 24,3675           55424                           TS       QRATEDIF                              
025270,001571: 
025271,001572: 24,3676           31425                           CAE      EDOTR                                 #  SHRINK R-AXIS COMPONENT
025272,001573: 24,3677           00006                           EXTEND                                         
025273,001574: 24,3700           71407                           MP       EDOT                                  
025274,001575: 24,3701           55425                           TS       RRATEDIF                              
025275,001576: 
025276,001577: 24,3702           12352                           TCF      OBEYQRRC                              
025277,001578: 
025278,001579: 24,3703           03715        REDUCEP            TC       REDUCESC                              #  GET SHRINK FACTOR
025279,001580: 24,3704           00006                           EXTEND                                         #  SHRINK P-AXIS COMPONENT
025280,001581: 24,3705           71423                           MP       EDOTP                                 
025281,001582: 24,3706           55423                           TS       EDOTP                                 
025282,001583: 24,3707           55440                           TS       TPSIG                                 
025283,001584: 
025284,001585: 24,3710           00006                           EXTEND                                         
025285,001586: 24,3711           33714                           DCA      +2                                    
025286,001587: 24,3712           52006                           DTCB                                           
025287,001588: 24,3713           02424 46006                     2CADR    OBEYRAPE                              
025288,001589: 

Page 593

025290,001591: 24,3715           33722        REDUCESC           CAF      10.6D/S                               #  SCALED AT PI/4
025291,001592: 24,3716           00006                           EXTEND                                         
025292,001593: 24,3717           11407                           DV       EDOT                                  #  RESULT SCALED AT 1
025293,001594: 24,3720           55407                           TS       EDOT                                  #  SAVE FACTOR IN EDOT FOR R SHRINKAGE
025294,001595: 24,3721           00002                           TC       Q                                     #  *** RETURN ***
025295,001596: 
025296,001597: 24,3722           07313        10.6D/S            DEC      0.23111                               #  10.6 DEGRESS/SECOND SCALED AT PI/4
025297,001598: 
025298,001599: 
025299,001600: 
025300,001601: 24,3723                        ENDDAP24           EQUALS                                         

End of include-file Q,R-AXES_REACTION_CONTROL_SYSTEM_AUTOPILOT.agc.  Parent file is MAIN.agc