Source Code

These source-code files were derived from scans of the Colossus 237 (Apollo 8 Command Module) program listing from the private collection of original AGC developer Fred Martin. Scanning was by Ron Burkey. Pre-existing Colossus 249 (Apollo 9 CM) source files were used as a template, and changes between Colossus 249 and Colossus 237 were manually transcribed by a team of volunteers. Note that the page images presented online are of reduced quality, and that additional images are available. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

	GAP: ASSEMBLE REVISION 237 OF AGC PROGRAM COLOSSUS 
	BY NASA 2021111-031  1:17 AUG. 24, 1968
Note that the date is the date of the printout, not the date of the program revision.

043791,000002:                                                                                                  ## Copyright:   Public domain.
043792,000003:                                                                                                  ## Filename:    JET_SELECTION_LOGIC.agc
043793,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus build 237.
043794,000005:                                                                                                  ##              This is for the Command Module's (CM) Apollo Guidance
043795,000006:                                                                                                  ##              Computer (AGC), for Apollo 8.
043796,000007:                                                                                                  ## Assembler:   yaYUL
043797,000008:                                                                                                  ## Contact:     Jim Lawton <jim DOT lawton AT gmail DOT com>
043798,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
043799,000010:                                                                                                  ## Page Scans:  www.ibiblio.org/apollo/ScansForConversion/Colossus237/
043800,000011:                                                                                                  ## Mod history: 2011-04-06 JL   Adapted from corresponding Colossus 249 file.
043801,000012:                                                                                                  ##              2017-01-01 RSB  Proofed comment text using octopus/ProoferComments,
043802,000013:                                                                                                  ##                              and fixed errors found.
043803,000014:                                                                                                  ##              2017-01-15 RSB  Fixed comment-text errors identified by diff'ing
043804,000015:                                                                                                  ##                              against Colossus 249.
043805,000016:                                                                                                  ##              2017-02-05 RSB  Back-ported comment corrections 
043806,000017:                                                                                                  ##                              identified while proofing Artemis 072.
043807,000018: 

Page 1007

043809,000020: 21,3751                                           BANK     21                                    
043810,000021: 17,2000                                           SETLOC   DAPS4                                 
043811,000022: 17,2000                                           BANK                                           
043812,000023: 
043813,000024: 17,2601                                           COUNT    17/DAPJS                              
043814,000025: 
043815,000026: 17,2601  E6,1510                                  EBANK=   KMPAC                                 
043816,000027:                                                                                                  #  EXAMINE CHANNEL 31 FOR TRANSLATION COMMANDS
043817,000028: 
043818,000029: 17,2601           22016        JETSLECT           LXCH     BANKRUPT                              
043819,000030: 17,2602           32663                           CAF      DELTATT3                              #  = 60 MS   RESET TO EXECUTE PHASE1
043820,000031: 17,2603           61634                           AD       T5TIME                                
043821,000032: 17,2604           54030                           TS       TIME5                                 
043822,000033: 17,2605           12610                           TCF      +3                                    
043823,000034: 17,2606           32664                           CAF      DELATT20                              #  = 20 MS   TO ASSURE A T5RUPT
043824,000035: 17,2607           54030                           TS       TIME5                                 
043825,000036: 17,2610           33342                           CAF      =14MS                                 #  RESET T6 TO INITIALIZE THE JET CHANNELS
043826,000037: 17,2611           54031                           TS       TIME6                                 #  IN 14 MS
043827,000038: 17,2612           34674                           CAF      NEGMAX                                
043828,000039: 17,2613           00006                           EXTEND                                         
043829,000040: 17,2614           05013                           WOR      CHAN13                                
043830,000041: 17,2615           00006                           EXTEND                                         
043831,000042: 17,2616           22012                           QXCH     QRUPT                                 
043832,000043: 17,2617           32662                           CAF      XLNMASK                               #  = 7700 OCT
043833,000044: 17,2620           00006                           EXTEND                                         #  EXAMINE THE TRANSLATION
043834,000045: 17,2621           06031                           RXOR     CHAN31                                #  HAND CONTROLLER
043835,000046: 17,2622           72662                           MASK     XLNMASK                               
043836,000047: 17,2623           00006                           EXTEND                                         
043837,000048: 17,2624           12665                           BZF      NOXLNCMD                              
043838,000049: 17,2625           55502                           TS       T5TEMP                                
043839,000050: 17,2626           00006                           EXTEND                                         
043840,000051: 17,2627           74702                           MP       BIT9                                  
043841,000052: 17,2630           76214                           MASK     THREE                                 
043842,000053: 17,2631           55513                           TS       XNDX1                                 #  AC QUAD  X-TRANSLATION INDEX
043843,000054: 17,2632           55514                           TS       XNDX2                                 #  BD QUAD  X-TRANSLATION INDEX
043844,000055: 17,2633           31502                           CA       T5TEMP                                
043845,000056: 17,2634           00006                           EXTEND                                         #  1 = + XLN
043846,000057: 17,2635           74704                           MP       BIT7                                  #  2 = - XLN
043847,000058: 17,2636           76214                           MASK     THREE                                 #  3 = NO XLN
043848,000059: 17,2637           55515                           TS       YNDX                                  #  Y-TRANSLATION INDEX
043849,000060: 
043850,000061: 17,2640           31502                           CA       T5TEMP                                
043851,000062: 17,2641           00006                           EXTEND                                         
043852,000063: 17,2642           74706                           MP       BIT5                                  
043853,000064: 17,2643           76214                           MASK     THREE                                 
043854,000065: 17,2644           55516                           TS       ZNDX                                  #  Z-TRANSLATION INDEX
043855,000066: 
043856,000067: 17,2645           31466                           CA       DAPDATR1                              #  SET ATTKALMN TO PICK UP FILTER GAINS FOR
043857,000068: 17,2646           74675                           MASK     BIT14                                 #  TRANSLATIONS.
043858,000069: 17,2647           00006                           EXTEND                                         #  CHECK DAPDATR1 BIT 14 FOR LEM ATTACHED.

Page 1008

043860,000071: 17,2650           12653                           BZF      NOLEM                                 
043861,000072: 17,2651           46214                           CS       THREE                                 #  IF LEM IS ON, SET ATTKALMN = -3
043862,000073: 17,2652           12654                           TCF      +2                                    
043863,000074: 17,2653           44711        NOLEM              CS       TWO                                   #  IF LEM IS OFF, SET ATTKALMN = -2.
043864,000075: 17,2654           55617                           TS       ATTKALMN                              
043865,000076: 17,2655           11631                           CCS      XTRANS                                #  (+, -1, 0)
043866,000077: 17,2656           55513                           TS       XNDX1                                 #  USING BD-X  ZERO XNDX1
043867,000078: 17,2657           12671                           TCF      PWORD                                 
043868,000079: 17,2660           55514                           TS       XNDX2                                 #  USING AC-X  ZERO XNDX2
043869,000080: 17,2661           12671                           TCF      PWORD                                 
043870,000081: 17,2662           07700        XLNMASK            OCT      7700                                  
043871,000082: 
043872,000083: 
043873,000084: 17,2663           37772        DELTATT3           DEC      16378      B-14                       #  = 60 MS
043874,000085: 17,2664           37776        DELATT20           DEC      16382      B-14                       #  = 20 MS
043875,000086: 
043876,000087: 17,2665           55513        NOXLNCMD           TS       XNDX1                                 #  ZERO ALL REQUESTS FOR TRANSLATION
043877,000088: 17,2666           55514                           TS       XNDX2                                 
043878,000089: 17,2667           55515                           TS       YNDX                                  
043879,000090: 17,2670           55516                           TS       ZNDX                                  
043880,000091: 
043881,000092:                                                                                                  #  PITCH COMMANDS  TIMING(NO X-TRANS, NO QUAD FAILS) 32MCT
043882,000093: 
043883,000094: 17,2671           11562        PWORD              CCS      TAU1                                  #  CHECK FOR PITCH COMMANDS
043884,000095: 17,2672           34712                           CAF      ONE                                   
043885,000096: 17,2673           12675                           TCF      +2                                    #   0 = NO PITCH
043886,000097: 17,2674           34711                           CAF      TWO                                   #  +1 =  + PITCH
043887,000098: 17,2675           55520                           TS       PINDEX                                #  +2 =  - PITCH
043888,000099: 
043889,000100: 17,2676           11626                           CCS      RACFAIL                               #  FLAG FOR REAL AC QUAD FAILURES
043890,000101: 17,2677           12703                           TCF      AFAILP                                
043891,000102: 17,2700           12713                           TCF      TABPCOM                               #  0 = NO REAL AC FAILURES
043892,000103: 17,2701           12705                           TCF      CFAILP                                #  + = A QUAD FAILED
043893,000104: 17,2702           12713                           TCF      TABPCOM                               #  - = C QUAD FAILED
043894,000105:                                                                                                  #                                          IF FAILURES ARE PRESENT IGNORE
043895,000106:                                                                                                  #                                          X-TRANSLATIONS ON THIS AXIS
043896,000107: 
043897,000108: 17,2703           34334        AFAILP             CAF      NINE                                  #  IF FAILURE IS PRESENT 1JET OPERATION
043898,000109: 17,2704           12715                           TCF      TABPCOM    +2                         #  IS ASSUMED. IGNORE X-TRANSLATION
043899,000110: 17,2705           35660        CFAILP             CAF      TWELVE                                
043900,000111: 17,2706           12715                           TCF      TABPCOM    +2                         
043901,000112: 
043902,000113: 17,2707           00000        XLNNDX             DEC      0          B-14                       #  INDECES FOR TRANSLATION COMMANDS
043903,000114: 17,2710           00003                           DEC      3          B-14                       #  FOR USE IN TABLE LOOK UP
043904,000115: 17,2711           00006                           DEC      6          B-14                       
043905,000116: 17,2712           00000                           DEC      0          B-14                       
043906,000117: 
043907,000118: 17,2713     5660               TWELVE             =        OCT14                                 
043908,000119:                                                                                                  #  TABLE LOOK UP FOR PITCH COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT.
043909,000120:                                                                                                  #  BITS 9, 10 CONTAIN THE NUMBER OF PITCH JETS USED TO PERFORM THE PITCH ROTATION

Page 1009

043911,000122: 17,2713           51513        TABPCOM            INDEX    XNDX1                                 
043912,000123: 17,2714           32707                           CA       XLNNDX                                
043913,000124: 17,2715           61520                           AD       PINDEX                                
043914,000125: 17,2716           50000                           INDEX    A                                     
043915,000126: 17,2717           32743                           CA       PYTABLE                               
043916,000127: 17,2720           72762                           MASK     PJETS                                 #  =1417 OCT
043917,000128: 17,2721           55453                           TS       PWORD1                                
043918,000129: 17,2722           00006                           EXTEND                                         
043919,000130: 17,2723           74704                           MP       BIT7                                  
043920,000131: 17,2724           55523                           TS       NPJETS                                #  = NO. OF PITCH JETS
043921,000132: 
043922,000133:                                                                                                  #  YAW JET COMMANDS  TIMING(NO X-TRANS, NO QUAD FAILURES)  32MCT
043923,000134: 
043924,000135: 17,2725           11563        YWORD              CCS      TAU2                                  #  CHECK FOR YAW COMMANDS
043925,000136: 17,2726           34712                           CAF      ONE                                   
043926,000137: 17,2727           12731                           TCF      +2                                    
043927,000138: 17,2730           34711                           CAF      TWO                                   
043928,000139: 17,2731           55521                           TS       YINDEX                                #  YAW ROTATION INDEX
043929,000140: 
043930,000141: 17,2732           11627                           CCS      RBDFAIL                               #  FLAG FOR B OR D QUAD FAILURES
043931,000142: 17,2733           12737                           TCF      BFAILY                                #  0  = NO BD FAILURE
043932,000143: 17,2734           12764                           TCF      TABYCOM                               #  +  = B QUAD FAILED
043933,000144: 17,2735           12741                           TCF      DFAILY                                #  -  = D QUAD FAILED
043934,000145: 17,2736           12764                           TCF      TABYCOM                               
043935,000146: 
043936,000147: 17,2737           34334        BFAILY             CAF      NINE                                  
043937,000148: 17,2740           12766                           TCF      TABYCOM    +2                         
043938,000149: 17,2741           35660        DFAILY             CAF      TWELVE                                
043939,000150: 17,2742           12766                           TCF      TABYCOM    +2                         
043940,000151: 

Page 1010

043942,000153:                                                                                                  #  TABLE FOR PITCH(YAW) COMMANDS
043943,000154:                                                                                                  #  BITS 4,3,2,1 = PITCH, X-TRANSLATION JETS SELECTED
043944,000155:                                                                                                  #  BITS     10,9 = NO. PITCH JETS USED TO PERFORM ROTATION
043945,000156:                                                                                                  #  BITS 8,7,6,5 = YAW, X-TRANSLATION JETS SELECTED
043946,000157:                                                                                                  #  BITS 12,11 : NO. YAW JETS USED TO PERFORM ROTATION
043947,000158: 
043948,000159:                                                                                                  #                                          ROT  TRANS  QUAD  BIAS
043949,000160: 17,2743           00000        PYTABLE            OCT      0                                     #   0     0            0
043950,000161: 17,2744           05125                           OCT      5125                                  #   +     0            0
043951,000162: 17,2745           05252                           OCT      5252                                  #   -     0            0
043952,000163: 17,2746           00231                           OCT      0231                                  #   0     +            3
043953,000164: 17,2747           02421                           OCT      2421                                  #   +     +            3
043954,000165: 17,2750           02610                           OCT      2610                                  #   -     +            3
043955,000166: 17,2751           00146                           OCT      0146                                  #   0     -            6
043956,000167: 17,2752           02504                           OCT      2504                                  #   +     -            6
043957,000168: 17,2753           02442                           OCT      2442                                  #   -     -            6
043958,000169: 17,2754           00000                           OCT      0                                     #   0          A(B)    9
043959,000170: 17,2755           02421                           OCT      2421                                  #   +          A(B)    9
043960,000171: 17,2756           02442                           OCT      2442                                  #   -          A(B)    9
043961,000172: 17,2757           00000                           OCT      0                                     #   0          C(D)    12
043962,000173: 17,2760           02504                           OCT      2504                                  #   +          C(D)    12
043963,000174: 17,2761           02610                           OCT      2610                                  #   -          C(D)    12
043964,000175: 
043965,000176:                                                                                                  #  MASKS FOR PITCH AND YAW COMMANDS
043966,000177: 
043967,000178: 17,2762           01417        PJETS              OCT      1417                                  
043968,000179: 17,2763           06360        YJETS              OCT      6360                                  
043969,000180: 
043970,000181:                                                                                                  #  TABLE LOOK UP FOR YAW COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT
043971,000182:                                                                                                  #  BITS 11, 12 CONTAIN THE NUMBER OF YAW JETS USED TO PERFORM THE YAW ROTATION
043972,000183: 
043973,000184: 17,2764           51514        TABYCOM            INDEX    XNDX2                                 
043974,000185: 17,2765           32707                           CA       XLNNDX                                
043975,000186: 17,2766           61521                           AD       YINDEX                                
043976,000187: 17,2767           50000                           INDEX    A                                     
043977,000188: 17,2770           32743                           CA       PYTABLE                               
043978,000189: 17,2771           72763                           MASK     YJETS                                 #  = 6360 OCT
043979,000190: 17,2772           55455                           TS       YWORD1                                
043980,000191: 17,2773           00006                           EXTEND                                         
043981,000192: 17,2774           74706                           MP       BIT5                                  
043982,000193: 17,2775           55524                           TS       NYJETS                                #  NO. OF YAW JETS USED TO PERFORM ROTATION
043983,000194: 

Page 1011

043985,000196:                                                                                                  #  ROLL COMMANDS  TIMING(NO Y,Z TRANS, NO QUAD FAILS)   45MCT
043986,000197: 
043987,000198: 17,2776           11561        RWORD              CCS      TAU                                   #  CHECK FOR ROLL COMMANDS
043988,000199: 17,2777           34712                           CAF      ONE                                   
043989,000200: 17,3000           13002                           TCF      +2                                    
043990,000201: 17,3001           34711                           CAF      TWO                                   
043991,000202: 17,3002           55517                           TS       RINDEX                                
043992,000203: 
043993,000204: 17,3003           11630                           CCS      ACORBD                                #  FLAG FOR AC OR BD QUAD SELECTION FOR
043994,000205: 17,3004           13075                           TCF      BDROLL                                #  ROLL COMMANDS
043995,000206: 17,3005           13075                           TCF      BDROLL                                #  +, +0 = BD ROLL
043996,000207: 17,3006           13007                           TCF      +1                                    #  -, -0 = AC ROLL
043997,000208: 
043998,000209: 17,3007           11626        ACROLL             CCS      RACFAIL                               #  CHECK FOR REAL FAILURES
043999,000210: 17,3010           13014                           TCF      RAFAIL                                #  ON AC QUADS
044000,000211: 17,3011           13024                           TCF      RXLNS                                 
044001,000212: 17,3012           13016                           TCF      RCFAIL                                
044002,000213: 17,3013           13024                           TCF      RXLNS                                 
044003,000214: 
044004,000215: 17,3014           34334        RAFAIL             CAF      NINE                                  #  QUAD FAILURE  WILL GET
044005,000216: 17,3015           13026                           TCF      TABRCOM                               #  1-JET OPERATION
044006,000217: 17,3016           35660        RCFAIL             CAF      TWELVE                                
044007,000218: 17,3017           13026                           TCF      TABRCOM                               
044008,000219: 
044009,000220: 17,3020           00000        XLN1NDX            DEC      0          B-14                       
044010,000221: 17,3021           00001                           DEC      1          B-14                       #  INDECES FOR TRANSLATION
044011,000222: 17,3022           00002                           DEC      2          B-14                       
044012,000223: 17,3023           00000                           DEC      0          B-14                       
044013,000224: 
044014,000225:                                                                                                  #  TABLE LOOK UP FOR AC-ROLL COMMANDS WITH AND WITHOUT Y-TRANSLATION AND ACQUAD FAILURES PRESENT
044015,000226:                                                                                                  #  BITS 9,10,11 CONTAIN THE MAGNITUDE AND DIRECTION OF THE ROLL
044016,000227: 
044017,000228: 17,3024           51515        RXLNS              INDEX    YNDX                                  #  NO AC QUAD FAILURES
044018,000229: 17,3025           32707                           CA       XLNNDX                                #  INCLUDE +,-,0, Y-TRANSLATION
044019,000230: 17,3026           61517        TABRCOM            AD       RINDEX                                
044020,000231: 17,3027           50000                           INDEX    A                                     
044021,000232: 17,3030           33157                           CA       RTABLE                                
044022,000233: 17,3031           73176                           MASK     ACRJETS                               #  = 3760 OCT
044023,000234: 17,3032           55451                           TS       RWORD1                                
044024,000235: 
044025,000236:                                                                                                  #  CHECK FOR Z-TRANSLATIONS ON BD
044026,000237: 
044027,000238: 17,3033           31516        BDZCHECK           CA       ZNDX                                  
044028,000239: 17,3034           00006                           EXTEND                                         
044029,000240: 17,3035           63067                           BZMF     NOBDZ                                 #  NO Z-TRANSLATION
044030,000241: 

Page 1012

044032,000243:                                                                                                  #           TABLE LOOK UP FOR BD Z-TRANSLATION WITH AND WITHOUT REAL BD QUAD FAILURES.  Z-TRANSLATION WILL BE POSS-
044033,000244:                                                                                                  #  IBLE AS LONG AS ROLL COMMANDS CAN BE SATISFIED WITH THE AC ROLL JETS.  CRITERION.. IF THE RESULTANT NET ROLL
044034,000245:                                                                                                  #  COMMANDS = 0 (WITH Z-TRANSLATION) AND IF TAU = 0, THEN INCLUDE THE BD Z-TRANSLATION COMMANDS. IF THE RESULTANT
044035,000246:                                                                                                  #  ROLL COMMAND = 0, AND IF TAU NZ, THEN IGNORE THE BD Z-TRANSLATION
044036,000247: 
044037,000248: 17,3036           11627                           CCS      RBDFAIL                               
044038,000249: 17,3037           36214                           CAF      THREE                                 
044039,000250: 17,3040           13042                           TCF      +2                                    
044040,000251: 17,3041           36211                           CAF      SIX                                   
044041,000252: 17,3042           51516                           INDEX    ZNDX                                  
044042,000253: 17,3043           63020                           AD       XLN1NDX                               
044043,000254: 17,3044           50000                           INDEX    A                                     
044044,000255: 17,3045           33200                           CA       YZTABLE                               
044045,000256: 17,3046           73211                           MASK     BDZJETS                               #  = 3417 OCT
044046,000257: 17,3047           61451                           AD       RWORD1                                #  ADD TO ROLL COMMANDS
044047,000258: 17,3050           55502                           TS       T5TEMP                                #  IF POSSIBLE.  MUST CHECK TAU FIRST
044048,000259: 
044049,000260: 17,3051           00006                           EXTEND                                         
044050,000261: 17,3052           74704                           MP       BIT7                                  #  DETERMINE THE NET ROLL COMMAND WITH
044051,000262: 17,3053           66061                           AD       =-4                                   #  Z-TRANSLATION ADDED ON
044052,000263: 17,3054           55522                           TS       NRJETS                                #  NET NO. OF +,- ROLL JETS ON
044053,000264: 17,3055           00006                           EXTEND                                         
044054,000265: 17,3056           13062                           BZF      TAUCHECK                              
044055,000266: 
044056,000267: 17,3057           31502        ACRBDZ             CA       T5TEMP                                #  Z-TRANSLATION ACCEPTED EVEN THO WE MAY
044057,000268: 17,3060           55451                           TS       RWORD1                                #  HAVE INTRODUCED AN UNDESIREABLE ROLL
044058,000269: 17,3061           13323                           TCF      ROLLTIME                              #  BRANCH TO JET ON-TIME CALCULATIONS
044059,000270: 
044060,000271: 17,3062           11561        TAUCHECK           CCS      TAU                                   
044061,000272: 17,3063           13067                           TCF      NOBDZ                                 
044062,000273: 17,3064           13057                           TCF      ACRBDZ                                
044063,000274: 17,3065           13067                           TCF      NOBDZ                                 
044064,000275: 17,3066           13057                           TCF      ACRBDZ                                
044065,000276: 
044066,000277: 17,3067           31451        NOBDZ              CA       RWORD1                                #  Z-TRANSLATION NOT ACCEPTED
044067,000278: 17,3070           00006                           EXTEND                                         
044068,000279: 17,3071           74704                           MP       BIT7                                  
044069,000280: 17,3072           67715                           AD       =-2                                   
044070,000281: 17,3073           55522                           TS       NRJETS                                
044071,000282: 17,3074           13323                           TCF      ROLLTIME                              #  BRANCH TO JET ON-TIME CALCULATION
044072,000283: 

Page 1013

044074,000285:                                                                                                  #  BD QUAD SELECTION FOR ROLL COMMANDS
044075,000286: 
044076,000287: 17,3075           11627        BDROLL             CCS      RBDFAIL                               
044077,000288: 17,3076           13102                           TCF      RBFAIL                                
044078,000289: 17,3077           13106                           TCF      RZXLNS                                
044079,000290: 17,3100           13104                           TCF      RDFAIL                                
044080,000291: 17,3101           13106                           TCF      RZXLNS                                
044081,000292: 17,3102           34334        RBFAIL             CAF      NINE                                  
044082,000293: 17,3103           13110                           TCF      TABRZCMD                              
044083,000294: 17,3104           35660        RDFAIL             CAF      TWELVE                                
044084,000295: 17,3105           13110                           TCF      TABRZCMD                              
044085,000296: 
044086,000297: 17,3106           51516        RZXLNS             INDEX    ZNDX                                  #  NO BD FAILURES
044087,000298: 17,3107           32707                           CA       XLNNDX                                #  +,-,0 Z-TRANSLATION PRESENT
044088,000299: 17,3110           61517        TABRZCMD           AD       RINDEX                                
044089,000300: 17,3111           50000                           INDEX    A                                     
044090,000301: 17,3112           33157                           CA       RTABLE                                
044091,000302: 17,3113           73177                           MASK     BDRJETS                               #  = 34017 OCT
044092,000303: 17,3114           55451                           TS       RWORD1                                
044093,000304: 
044094,000305: 17,3115           31515        ACYCHECK           CA       YNDX                                  #  ANY Y-TRANSLATION
044095,000306: 17,3116           00006                           EXTEND                                         
044096,000307: 17,3117           13151                           BZF      NOACY                                 #  NO Y-TRANSLATION
044097,000308: 17,3120           11626                           CCS      RACFAIL                               
044098,000309: 17,3121           36214                           CAF      THREE                                 
044099,000310: 17,3122           13124                           TCF      +2                                    
044100,000311: 17,3123           36211                           CAF      SIX                                   
044101,000312: 17,3124           51515                           INDEX    YNDX                                  
044102,000313: 17,3125           63020                           AD       XLN1NDX                               
044103,000314: 17,3126           50000                           INDEX    A                                     
044104,000315: 17,3127           33200                           CA       YZTABLE                               
044105,000316: 17,3130           73212                           MASK     ACYJETS                               #  = 34360 OCT
044106,000317: 17,3131           61451                           AD       RWORD1                                
044107,000318: 17,3132           55502                           TS       T5TEMP                                
044108,000319: 17,3133           00006                           EXTEND                                         #  FOR EXPLANATION SEE CODING ON RTABLE
044109,000320: 17,3134           74707                           MP       BIT4                                  
044110,000321: 17,3135           66061                           AD       =-4                                   
044111,000322: 17,3136           55522                           TS       NRJETS                                #  NO. OF NET ROLL JETS
044112,000323: 17,3137           00006                           EXTEND                                         
044113,000324: 17,3140           13144                           BZF      TAUCHCK                               #  IF NRJETS = 0
044114,000325: 
044115,000326: 17,3141           31502        BDRACZ             CA       T5TEMP                                #  Y-TRANSLATION ACCEPTED
044116,000327: 17,3142           55451                           TS       RWORD1                                
044117,000328: 17,3143           13323                           TCF      ROLLTIME                              #  BRANCH TO JET ON-TIME CALCULATIONS
044118,000329: 
044119,000330: 17,3144           11561        TAUCHCK            CCS      TAU                                   
044120,000331: 17,3145           13151                           TCF      NOACY                                 
044121,000332: 17,3146           13141                           TCF      BDRACZ                                
044122,000333: 17,3147           13151                           TCF      NOACY                                 
044123,000334: 17,3150           13141                           TCF      BDRACZ                                

Page 1014

044125,000336: 17,3151           31451        NOACY              CA       RWORD1                                #  Y-TRANSLATION NOT ACCEPTED
044126,000337: 17,3152           00006                           EXTEND                                         
044127,000338: 17,3153           74707                           MP       BIT4                                  
044128,000339: 17,3154           67715                           AD       =-2                                   
044129,000340: 17,3155           55522                           TS       NRJETS                                
044130,000341: 17,3156           13323                           TCF      ROLLTIME                              
044131,000342: 

Page 1015

044133,000344:                                                                                                  #           TABLE FOR ROLL, Y AND Z-TRANSLATION COMMANDS
044134,000345: 
044135,000346:                                                                                                  #     EITHER AC OR BD ROLL MAY BE SELECTED. IF AC ROLL IS SELECTED, Y-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY
044136,000347:                                                                                                  #  PROVIDED THAT THERE ARE NO AC QUAD FAILURES. IF THERE ARE AC FAILURES, Y-TRANSLATION COMMANDS WILL BE IGNORED,
044137,000348:                                                                                                  #  IN WHICH CASE THE ASTRONAUT SHOULD SWITCH TO BD ROLL.
044138,000349:                                                                                                  #     IF BDROLL IS SELECTED, Z-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY PROVIDED THAT THERE ARE NO BD QUAD
044139,000350:                                                                                                  #  FAILURES. IF THERE ARE BD FAILURES, Z-TRANSLATION COMMANDS WILL BE IGNORED, IN WHICH CASE THE ASTRONAUT SHOULD
044140,000351:                                                                                                  #  SWITCH TO AC ROLL.
044141,000352:                                                                                                  #     NOTE THAT IF ONE QUAD FAILS (E.G. B FAILED), Z-TRANSLATION IS STILL POSSIBLE AND THAT THE UNDESIREABLE ROLL
044142,000353:                                                                                                  #  INTRODUCED BY THIS TRANSLATION WILL BE COMPENSATED BY THE TWO AC ROLL JETS ACTUATED BY THE AUTOPILOT LOGIC.
044143,000354: 
044144,000355:                                                                                                  #           WORD MAKE UP....RTABLE
044145,000356: 
044146,000357:                                                                                                  #     TWO WORDS, CORRESPONDING TO AC OR BD ROLL SELECTION, HAVE BEEN COMBINED INTO ONE TABLE.  THE WORD CORRESPOND-
044147,000358:                                                                                                  #  ING TO AC ROLL HAS THE FOLLOWING INTERPRETATION..
044148,000359:                                                                                                  #     BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE FOR THE WORD SELECTED. THE CODING IS..
044149,000360:                                                                                                  #                   BIT NO.  11 10 9   NO. OF ROLL JETS
044150,000361: 
044151,000362:                                                                                                  #                             0 0 0          -2
044152,000363:                                                                                                  #                             0 0 1          -1
044153,000364:                                                                                                  #                             0 1 0           0
044154,000365:                                                                                                  #                             0 1 1          +1
044155,000366:                                                                                                  #                             1 0 0          +2
044156,000367: 
044157,000368: 
044158,000369:                                                                                                  #     THIS WORD MAY THEN BE ADDED TO THE WORD SELECTED FROM THE YZ-TRANSLATION TABLE, WHICH HAS THE SAME TYPE OF
044159,000370:                                                                                                  #  CODING AS ABOVE, AND THE NET ROLL DETERMINED BY SHIFTING THE RESULTANT WORD RIGHT 8 PLACES AND SUBTRACTING FOUR.
044160,000371: 
044161,000372:                                                                                                  #     THE WORD CORRESPONDING TO BD ROLL HAS A SIMILIAR INTERPRETATION, EXCEPT THAT BITS 12, 13, 14 ARE CODED
044162,000373:                                                                                                  #  (AS ABOVE) TO GIVE THE NET ROLL TORQUE.
044163,000374: 
044164,000375: 
044165,000376:                                                                                                  #                                          ROLL   TRANS   QUADFAIL   BIAS
044166,000377: 
044167,000378: 17,3157           11000        RTABLE             OCT      11000                                 #   0                         0
044168,000379: 17,3160           22125                           OCT      22125                                 #   +                         0
044169,000380: 17,3161           00252                           OCT      00252                                 #   -                         0
044170,000381: 17,3162           11231                           OCT      11231                                 #   0     +Y(+Z)              3
044171,000382: 17,3163           15421                           OCT      15421                                 #   +     +Y(+Z)              3
044172,000383: 17,3164           04610                           OCT      04610                                 #   -     +Y(+Z)              3
044173,000384: 17,3165           11146                           OCT      11146                                 #   0     -Y(-Z)              6
044174,000385: 17,3166           15504                           OCT      15504                                 #   +     -Y(-Z)              6
044175,000386: 17,3167           04442                           OCT      04442                                 #   -     -Y(-Z)              6
044176,000387: 17,3170           11000                           OCT      11000                                 #   0               A(B)      9
044177,000388: 17,3171           15504                           OCT      15504                                 #   +               A(B)      9
044178,000389: 17,3172           04610                           OCT      04610                                 #   -               A(B)      9
044179,000390: 17,3173           11000                           OCT      11000                                 #   0               C(D)     12
044180,000391: 17,3174           15421                           OCT      15421                                 #   +               C(D)     12
044181,000392: 17,3175           04442                           OCT      04442                                 #   -               C(D)     12
044182,000393: 

Page 1016

044184,000395:                                                                                                  #           RTABLE MASKS -
044185,000396: 
044186,000397: 17,3176           03760        ACRJETS            OCT      03760                                 
044187,000398: 17,3177           34017        BDRJETS            OCT      34017                                 
044188,000399: 

Page 1017

044190,000401:                                                                                                  #           Y, Z TRANSLATION TABLE
044191,000402: 
044192,000403:                                                                                                  #      ONCE AC OR BD ROLL IS SELECTED THE QUAD PAIR WHICH IS NOT BEING USED TO SATISFY THE ROLL COMMANDS MAY BE
044193,000404:                                                                                                  #  USED TO SATISFY THE REMAINING TRANSLATION COMMANDS.  HOWEVER, WE MUST MAKE SURE THAT ROLL COMMANDS ARE SATISFIED
044194,000405:                                                                                                  #  WHEN THEY OCCUR.  THEREFORE, THE Y-Z TRANSLATIONS FROM THIS TABLE WILL BE IGNORED IF THE NET ROLL TORQUE OF THE
044195,000406:                                                                                                  #  COMBINED WORD IS ZERO AND THE ROLL COMMANDS ARE NON-ZERO.  THIS SITUATION WOULD OCCUR, FOR EXAMPLE, IF WE EN-
044196,000407:                                                                                                  #  COUNTER SIMULTANEOUS +R +Y -Z COMMANDS AND  A QUAD D FAILURE WHILE USING AC FOR ROLL.
044197,000408:                                                                                                  #     TO FACILITATE THE LOGIC, THE Y-Z TRANSLATION TABLE HAS BEEN CODED IN A MANNER SIMILIAR TO THE  ROLL TABLE
044198,000409:                                                                                                  #  ABOVE.
044199,000410:                                                                                                  #     BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Z-TRANSLATIONS. THE WORD SELECTED CAN THEN BE
044200,000411:                                                                                                  #  ADDED  TO THE AC-ROLL WORD AND THE RESULTANT ROLL TORQUE DETERMINED FROM THE COMBINED WORD.  SIMILIARLY BITS
044201,000412:                                                                                                  #  12,13,14 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Y-TRANSLATIONS WHEN BD-ROLL IS SELECTED.
044202,000413: 
044203,000414:                                                                                                  #                                          TRANSLATION    QUADFAIL    BIAS
044204,000415: 
044205,000416: 17,3200           11000        YZTABLE            OCT      11000                                 #       0                       0
044206,000417: 17,3201           11231                           OCT      11231                                 #    +Z(+Y)                     0
044207,000418: 17,3202           11146                           OCT      11146                                 #    -Z(-Y)                     0
044208,000419: 17,3203           11000                           OCT      11000                                 #       0           B(A)        3
044209,000420: 17,3204           04610                           OCT      04610                                 #    +Z(+Y)         B(A)        3
044210,000421: 17,3205           15504                           OCT      15504                                 #    -Z(-Y)         B(A)        3
044211,000422: 17,3206           11000                           OCT      11000                                 #       0           D(C)        6
044212,000423: 17,3207           15421                           OCT      15421                                 #    +Z(+Y)         D(C)        6
044213,000424: 17,3210           04442                           OCT      04442                                 #    -Z(-Y)         D(C)        6
044214,000425: 
044215,000426:                                                                                                  #           YZ-TABLE MASKS-
044216,000427: 
044217,000428: 17,3211           03417        BDZJETS            OCT      03417                                 
044218,000429: 17,3212           34360        ACYJETS            OCT      34360                                 
044219,000430: 
044220,000431:                                                                                                  #           ADDITIONAL CONSTANTS
044221,000432: 
044222,000433: 17,3213     7715               =-2                =        NEG2                                  
044223,000434: 17,3213     6061               =-4                =        NEG4                                  
044224,000435: 

Page 1018

044226,000437:                                                                                                  #           CALCULATION OF JET ON-TIMES
044227,000438: 
044228,000439:                                                                                                  #     THE ROTATION COMMANDS (TAU:S), WHICH WERE DETERMINED FROM THE JET SWITCHING LOGIC ON THE BASIS OF SINGLE JET
044229,000440:                                                                                                  #  OPERATION, MUST NOW BE UPDATED BY THE ACTUAL NUMBER OF JETS TO BE USED IN SATISFYING THESE COMMANDS.  TAU MUST
044230,000441:                                                                                                  #  ALSO BE DECREMENTED ACCORDING TO THE EXPECTED TORQUE GENERATED BY THE NEW COMMANDS ACTING OVER THE NEXT T5 INT- 
044231,000442:                                                                                                  #  ERVAL.
044232,000443:                                                                                                  #     IN ORDER TO MAINTAIN ACCURATE KNOWLEDGE OF VEHICLE ANGULAR RATES, WE MUST ALSO PROVIDE EXPECTED FIRING TIMES
044233,000444:                                                                                                  #  (DFT:S, ALSO IN TERMS OF 1-JET OPERATION) FOR THE RATE FILTER.
044234,000445:                                                                                                  #     NOTE THAT TRANSLATIONS CAN PRODUCE ROTATIONS EVEN THOUGH NO ROTATIONS WERE CALLED FOR.  NEVERTHELESS, WE MUST
044235,000446:                                                                                                  #  UPDATE DFT.
044236,000447:                                                                                                  #     WHEN THE ROTATIONS HAVE FINISHED, WE MUST PROVIDE CHANNEL INFORMATION TO THE T6 PROGRAM TO CONTINUE ON WITH
044237,000448:                                                                                                  #  THE TRANSLATIONS.  THIS WILL BE DONE IN THE NEXT SECTION.  HOWEVER, TO INSURE THAT JETS ARE NOT FIRED FOR LESS
044238,000449:                                                                                                  #  THAN A MINIMUM IMPULSE (14MS), ALL JET CHANNEL COMMANDS WILL BE HELD FIXED FROM THE START OF THE T5 PROGRAM FOR
044239,000450:                                                                                                  #  AT LEAST 14MS UNTIL THE INITIALIZATION OF NEW COMMANDS.  MOREOVER, A 14MS ON-TIME WILL BE ADDED TO ANY ROTATIONAL
044240,000451:                                                                                                  #  COMMANDS GENERATED BY THE MANUAL CONTROLS OR THE JET SWITCHING LOGIC, AND ALL TRANSLATION COMMANDS WILL BE
044241,000452:                                                                                                  #  ACTIVE FOR ATLEAST ONE CYCLE OF THE T5 PROGRAM (.1SEC)
044242,000453: 
044243,000454:                                                                                                  #           PITCH JET ON-TIME CALCULATION
044244,000455: 
044245,000456: 17,3213           11562        PITCHTIM           CCS      TAU1                                  
044246,000457: 17,3214           13223                           TCF      PTAUPOS                               
044247,000458: 17,3215           13217                           TCF      +2                                    
044248,000459: 17,3216           13221                           TCF      PTAUNEG                               
044249,000460: 17,3217           55550                           TS       DFT1                                  #  NO PITCH ROTATION
044250,000461: 17,3220           13421                           TCF      PBYPASS                               #  COMMANDS
044251,000462: 
044252,000463: 17,3221           41523        PTAUNEG            CS       NPJETS                                
044253,000464: 17,3222           55523                           TS       NPJETS                                
044254,000465: 17,3223           31562        PTAUPOS            CA       TAU1                                  
044255,000466: 17,3224           00006                           EXTEND                                         
044256,000467: 17,3225           51523                           INDEX    NPJETS                                
044257,000468: 17,3226           73402                           MP       NJET                                  
044258,000469: 17,3227           55461                           TS       BLAST1                                
044259,000470: 17,3230           63335                           AD       =-.1SEC                               
044260,000471: 17,3231           00006                           EXTEND                                         
044261,000472: 17,3232           63243                           BZMF     AD14MSP                               
044262,000473: 17,3233           51523                           INDEX    NPJETS                                
044263,000474: 17,3234           33336                           CA       DFTMAX                                #  THE PITCH ON-TIME IS GREATER THAN .1 SEC
044264,000475: 17,3235           55550                           TS       DFT1                                  
044265,000476: 17,3236           40000                           COM                                            
044266,000477: 17,3237           27562                           ADS      TAU1                                  #  UPDATE TAU1
044267,000478: 17,3240           33337                           CAF      =+.1SEC                               #  LIMIT THE LENGTH OF PITCH ROTATION
044268,000479: 17,3241           55461                           TS       BLAST1                                #  COMMANDS TO 0.1 SEC SO THAT ONLY
044269,000480: 17,3242           13406                           TCF      ASMBLWP                               #  X-TRANSLATIONS WILL CONTINUE ON SWITCH
044270,000481:                                                                                                  #                                          OVER TO TVC
044271,000482: 17,3243           41461        AD14MSP            CS       BLAST1                                #  SEE IF JET ON TIME LESS THAN
044272,000483: 17,3244           63342                           AD       =14MS                                 #  MINIMUM IMPULSE TIME
044273,000484: 17,3245           00006                           EXTEND                                         
044274,000485: 17,3246           63251                           BZMF     PBLASTOK                              #  IF SO LIMIT MINIMUM ON TIME TO 14 MS
044275,000486: 17,3247           33342                           CAF      =14MS                                 

Page 1019

044277,000488: 17,3250           55461                           TS       BLAST1                                
044278,000489: 17,3251           31461        PBLASTOK           CA       BLAST1                                
044279,000490: 17,3252           00006                           EXTEND                                         #  THE PITCH COMMANDS WILL BE COMPLETED
044280,000491: 17,3253           71523                           MP       NPJETS                                #  WITHIN THE TS-CYCLE TIME
044281,000492: 17,3254           23550                           LXCH     DFT1                                  #  FOR USE IN UPDATING RATE FILTER
044282,000493: 17,3255           55562                           TS       TAU1                                  #  ZERO TAU1 (ACC CONTAINS ZERO)
044283,000494: 17,3256           13406                           TCF      ASMBLWP                               
044284,000495: 

Page 1020

044286,000497:                                                                                                  #           YAW JET ON-TIME CALCULATION
044287,000498: 
044288,000499: 17,3257           11563        YAWTIME            CCS      TAU2                                  
044289,000500: 17,3260           13267                           TCF      YTAUPOS                               
044290,000501: 17,3261           13263                           TCF      +2                                    
044291,000502: 17,3262           13265                           TCF      YTAUNEG                               
044292,000503: 17,3263           55551                           TS       DFT2                                  #  NO YAW ROTATION COMMANDS
044293,000504: 17,3264           13565                           TCF      YBYPASS                               
044294,000505: 
044295,000506: 17,3265           41524        YTAUNEG            CS       NYJETS                                
044296,000507: 17,3266           55524                           TS       NYJETS                                
044297,000508: 17,3267           31563        YTAUPOS            CA       TAU2                                  
044298,000509: 17,3270           00006                           EXTEND                                         
044299,000510: 17,3271           51524                           INDEX    NYJETS                                
044300,000511: 17,3272           73402                           MP       NJET                                  
044301,000512: 17,3273           55463                           TS       BLAST2                                
044302,000513: 17,3274           63335                           AD       =-.1SEC                               
044303,000514: 17,3275           00006                           EXTEND                                         
044304,000515: 17,3276           63307                           BZMF     AD14MSY                               
044305,000516: 17,3277           51524                           INDEX    NYJETS                                
044306,000517: 17,3300           33336                           CA       DFTMAX                                #  YAW COMMANDS WILL LAST LONGER THAN .1SEC
044307,000518: 17,3301           55551                           TS       DFT2                                  
044308,000519: 17,3302           40000                           COM                                            
044309,000520: 17,3303           27563                           ADS      TAU2                                  #  DECREMENT TAU2
044310,000521: 17,3304           33337                           CAF      =+.1SEC                               #  LIMIT THE LENGTH OF YAW ROTATION COMMAND
044311,000522: 17,3305           55463                           TS       BLAST2                                #  TO 0.1 SEC SO THAT ONLY X-TRANSLATION
044312,000523: 17,3306           13552                           TCF      ASMBLWY                               #  WILL CONTINUE ON SWITCH OVER TO TVC
044313,000524: 
044314,000525: 17,3307           41463        AD14MSY            CS       BLAST2                                #  SEE IF JET ON-TIME LESS THAN
044315,000526: 17,3310           63342                           AD       =14MS                                 #  MINIMUM IMPULSE TIME
044316,000527: 17,3311           00006                           EXTEND                                         
044317,000528: 17,3312           63315                           BZMF     YBLASTOK                              #  IF SO, LIMIT MINIMUM ON-TIME TO 14 MS
044318,000529: 17,3313           33342                           CAF      =14MS                                 
044319,000530: 17,3314           55463                           TS       BLAST2                                
044320,000531: 17,3315           31463        YBLASTOK           CA       BLAST2                                #  YAW COMMANDS WILL BE COMPLETED WITHIN
044321,000532: 17,3316           00006                           EXTEND                                         #  THE T5CYCLE TIME
044322,000533: 17,3317           71524                           MP       NYJETS                                
044323,000534: 17,3320           23551                           LXCH     DFT2                                  
044324,000535: 17,3321           55563                           TS       TAU2                                  #  ZERO TAU2
044325,000536: 17,3322           13552                           TCF      ASMBLWY                               
044326,000537: 

Page 1021

044328,000539:                                                                                                  #           ROLL ON-TIME CALCULATION-
044329,000540: 
044330,000541: 17,3323           11561        ROLLTIME           CCS      TAU                                   
044331,000542: 17,3324           13343                           TCF      RBLAST                                
044332,000543: 17,3325           13327                           TCF      +2                                    
044333,000544: 17,3326           13343                           TCF      RBLAST                                
044334,000545: 17,3327           51522                           INDEX    NRJETS                                
044335,000546: 17,3330           33336                           CA       DFTMAX                                #  UPDATE DFT EVEN THO NO ROLL COMMANDS ARE
044336,000547: 17,3331           55547                           TS       DFT                                   #  PRESENT
044337,000548: 17,3332           13545                           TCF      RBYPASS                               
044338,000549: 
044339,000550: 17,3333           77037                           DEC      -480       B-14                       #  = -.3SEC
044340,000551: 17,3334           77277                           DEC      -320       B-14                       #  = -.2SEC
044341,000552: 17,3335           77537        =-.1SEC            DEC      -160       B-14                       #  = -.1SEC
044342,000553: 17,3336           00000        DFTMAX             DEC      0          B-14                       #      0
044343,000554: 17,3337           00240        =+.1SEC            DEC      160        B-14                       #  = +.1SEC
044344,000555: 17,3340           00500                           DEC      320        B-14                       #  = +.2SEC
044345,000556: 17,3341           00740                           DEC      480        B-14                       #  = +.3SEC
044346,000557: 17,3342           00027        =14MS              DEC      23         B-14                       #  =14MS
044347,000558: 
044348,000559: 17,3343           31561        RBLAST             CA       TAU                                   
044349,000560: 17,3344           00006                           EXTEND                                         
044350,000561: 17,3345           51522                           INDEX    NRJETS                                
044351,000562: 17,3346           73402                           MP       NJET                                  
044352,000563: 17,3347           55457                           TS       BLAST                                 #  BLAST IS AN INTERMEDIATE VARIABLE
044353,000564:                                                                                                  #                                          USED IN DETERMINING THE JET ON-TIMES
044354,000565: 17,3350           63335                           AD       =-.1SEC                               
044355,000566: 17,3351           00006                           EXTEND                                         
044356,000567: 17,3352           63363                           BZMF     AD14MSR                               
044357,000568: 17,3353           51522                           INDEX    NRJETS                                #  THE ROLL ROTATION WILL LAST LONGER
044358,000569: 17,3354           33336                           CA       DFTMAX                                #  THAN THE T5 CYCLE TIME
044359,000570: 17,3355           55547                           TS       DFT                                   
044360,000571: 17,3356           40000                           COM                                            
044361,000572: 17,3357           27561                           ADS      TAU                                   
044362,000573: 17,3360           33337                           CAF      =+.1SEC                               #  LIMIT THE LENGTH OF ROLL ROTATION
044363,000574: 17,3361           55457                           TS       BLAST                                 #  COMMANDS TO 0.1 SEC SO THAT ONLY Y-Z
044364,000575: 17,3362           13426                           TCF      ASMBLWR                               #  TRANSLATION COMMANDS CONTINUE
044365,000576: 
044366,000577: 17,3363           41457        AD14MSR            CS       BLAST                                 #  SEE IF THE JET ON-TIME LESS THAN
044367,000578: 17,3364           63342                           AD       =14MS                                 #  MINIMUM IMPULSE TIME
044368,000579: 17,3365           00006                           EXTEND                                         
044369,000580: 17,3366           63371                           BZMF     RBLASTOK                              
044370,000581: 17,3367           33342                           CAF      =14MS                                 #  IF SO, LIMIT MINIMUM ON-TIME TO 14 MS
044371,000582: 17,3370           55457                           TS       BLAST                                 
044372,000583: 17,3371           31457        RBLASTOK           CA       BLAST                                 
044373,000584: 17,3372           00006                           EXTEND                                         
044374,000585: 17,3373           71522                           MP       NRJETS                                
044375,000586: 17,3374           23547                           LXCH     DFT                                   
044376,000587: 17,3375           55561                           TS       TAU                                   #  ZERO TAU
044377,000588: 17,3376           13426                           TCF      ASMBLWR                               

Page 1022

044379,000590: 17,3377           65252                           DEC      -.333333                              #  = -1/3
044380,000591: 17,3400           57777                           DEC      -.500000                              #  = -1/2
044381,000592: 17,3401           40000                           DEC      -.999999                              #  = -1 (NEGMAX)
044382,000593: 17,3402           00000        NJET               DEC      0          B-14                       
044383,000594: 17,3403           37777                           DEC      .999999                               #  = +1 (POSMAX)
044384,000595: 17,3404           20000                           DEC      .500000                               #  = +1/2
044385,000596: 17,3405           12525                           DEC      .333333                               #  = +1/3
044386,000597: 

Page 1023

044388,000599:                                                                                                  #     WHEN THE ROTATION COMMANDS ARE COMPLETED, IT IS NECESSARY TO REPLACE THESE COMMANDS BY NEW COMMANDS WHICH
044389,000600:                                                                                                  #  CONTINUE ON WITH THE TRANSLATIONS IF ANY ARE PRESENT.
044390,000601:                                                                                                  #     IN THIS SECTION THESE NEW COMMANDS ARE GENERATED AND STORED FOR REPLACEMENT OF THE CHANNEL COMMANDS WHEN THE
044391,000602:                                                                                                  #  CORRESPONDING ROTATIONS ARE COMPLETED.
044392,000603: 
044393,000604:                                                                                                  #  GENERATION OF THE SECOND PITCH(X-TRANS) WORD...PWORD2
044394,000605: 
044395,000606: 17,3406           11626        ASMBLWP            CCS      RACFAIL                               
044396,000607: 17,3407           13415                           TCF      FPX2                                  #  IF FAILURE ON AC IGNORE X-TRANSLATION
044397,000608: 17,3410           13412                           TCF      +2                                    
044398,000609: 17,3411           13415                           TCF      FPX2                                  
044399,000610: 17,3412           51513                           INDEX    XNDX1                                 
044400,000611: 17,3413           32707                           CA       XLNNDX                                
044401,000612: 17,3414           50000                           INDEX    A                                     
044402,000613: 17,3415           32743        FPX2               CA       PYTABLE                               
044403,000614: 17,3416           72762                           MASK     PJETS                                 
044404,000615: 17,3417           55454                           TS       PWORD2                                
044405,000616: 17,3420           13257                           TCF      YAWTIME                               
044406,000617: 
044407,000618: 17,3421           31453        PBYPASS            CA       PWORD1                                #  THE T6 PROGRAM WILL LOAD PWORD2
044408,000619: 17,3422           55454                           TS       PWORD2                                #  UPON ENTRY
044409,000620: 17,3423           34714                           CAF      ZERO                                  
044410,000621: 17,3424           55461                           TS       BLAST1                                #  THERE IS NO PWORD2
044411,000622: 17,3425           13257                           TCF      YAWTIME                               
044412,000623: 

Page 1024

044414,000625:                                                                                                  #  GENERATION OF THE SECOND ROLL (Y,Z) WORD (RWORD2)
044415,000626: 
044416,000627: 17,3426           11515        ASMBLWR            CCS      YNDX                                  #  CHECK FOR Y-TRANS
044417,000628: 17,3427           13437                           TCF      ACBD2Y                                
044418,000629: 17,3430           34714        NO2Y               CAF      ZERO                                  
044419,000630: 17,3431           55452                           TS       RWORD2                                
044420,000631: 17,3432           11516                           CCS      ZNDX                                  #  CHECK FOR Z-TRANS
044421,000632: 17,3433           13502                           TCF      ACBD2Z                                
044422,000633: 17,3434           34714        NO2Z               CAF      ZERO                                  
044423,000634: 17,3435           27452                           ADS      RWORD2                                
044424,000635: 17,3436           13213                           TCF      PITCHTIM                              #  RWORD2 ASSEMBLED
044425,000636: 
044426,000637: 17,3437           11630        ACBD2Y             CCS      ACORBD                                
044427,000638: 17,3440           13455                           TCF      AC2Y                                  #  CAN DO Y-TRANS
044428,000639: 17,3441           13455                           TCF      AC2Y                                  
044429,000640: 17,3442           13443                           TCF      +1                                    #  USING AC FOR ROLL
044430,000641: 17,3443           11626                           CCS      RACFAIL                               
044431,000642: 17,3444           13430                           TCF      NO2Y                                  #  USING AC AND AC HAS FAILED
044432,000643: 17,3445           13447                           TCF      +2                                    
044433,000644: 17,3446           13430                           TCF      NO2Y                                  #  DITTO
044434,000645: 
044435,000646: 17,3447           51515                           INDEX    YNDX                                  #  NO FAILURES, CAN DO Y
044436,000647: 17,3450           32707                           CA       XLNNDX                                
044437,000648: 17,3451           50000                           INDEX    A                                     
044438,000649: 17,3452           33157                           CA       RTABLE                                
044439,000650: 17,3453           73176                           MASK     ACRJETS                               
044440,000651: 17,3454           13431                           TCF      NO2Y       +1                         
044441,000652: 
044442,000653: 17,3455           11626        AC2Y               CCS      RACFAIL                               
044443,000654: 17,3456           36214                           CAF      THREE                                 
044444,000655: 17,3457           13461                           TCF      +2                                    
044445,000656: 17,3460           36211                           CAF      SIX                                   
044446,000657: 17,3461           51515                           INDEX    YNDX                                  
044447,000658: 17,3462           63020                           AD       XLN1NDX                               
044448,000659: 17,3463           50000                           INDEX    A                                     
044449,000660: 17,3464           33200                           CA       YZTABLE                               
044450,000661: 17,3465           73212                           MASK     ACYJETS                               
044451,000662: 17,3466           55452                           TS       RWORD2                                
044452,000663: 17,3467           00006                           EXTEND                                         
044453,000664: 17,3470           74707                           MP       BIT4                                  
044454,000665: 17,3471           67715                           AD       =-2                                   
044455,000666: 17,3472           55522                           TS       NRJETS                                
044456,000667: 17,3473           41457                           CS       BLAST                                 
044457,000668: 17,3474           63337                           AD       =+.1SEC                               
044458,000669: 17,3475           00006                           EXTEND                                         
044459,000670: 17,3476           71522                           MP       NRJETS                                
044460,000671: 17,3477           30001                           CA       L                                     
044461,000672: 17,3500           27547                           ADS      DFT                                   
044462,000673: 17,3501           13432                           TCF      NO2Y       +2                         
044463,000674: 

Page 1025

044465,000676: 17,3502           11630        ACBD2Z             CCS      ACORBD                                
044466,000677: 17,3503           13533                           TCF      BDF2Z                                 #  USING BD-ROLL
044467,000678: 17,3504           13533                           TCF      BDF2Z                                 #  MUST CHECK FOR BD FAILURES
044468,000679: 17,3505           13506                           TCF      +1                                    
044469,000680: 17,3506           11627                           CCS      RBDFAIL                               #  USING AC FOR ROLL, CAN DO Z-TRANS
044470,000681: 17,3507           36214                           CAF      THREE                                 
044471,000682: 17,3510           13512                           TCF      +2                                    
044472,000683: 17,3511           36211                           CAF      SIX                                   
044473,000684: 17,3512           51516                           INDEX    ZNDX                                  
044474,000685: 17,3513           63020                           AD       XLN1NDX                               
044475,000686: 17,3514           50000                           INDEX    A                                     
044476,000687: 17,3515           33200                           CA       YZTABLE                               
044477,000688: 17,3516           73211                           MASK     BDZJETS                               
044478,000689: 17,3517           27452                           ADS      RWORD2                                
044479,000690: 17,3520           00006                           EXTEND                                         
044480,000691: 17,3521           74704                           MP       BIT7                                  
044481,000692: 17,3522           67715                           AD       =-2                                   
044482,000693: 17,3523           55522                           TS       NRJETS                                
044483,000694: 17,3524           41457                           CS       BLAST                                 
044484,000695: 17,3525           63337                           AD       =+.1SEC                               
044485,000696: 17,3526           00006                           EXTEND                                         
044486,000697: 17,3527           71522                           MP       NRJETS                                
044487,000698: 17,3530           30001                           CA       L                                     
044488,000699: 17,3531           27547                           ADS      DFT                                   
044489,000700: 17,3532           13213                           TCF      PITCHTIM                              
044490,000701: 
044491,000702: 17,3533           11627        BDF2Z              CCS      RBDFAIL                               
044492,000703: 17,3534           13434                           TCF      NO2Z                                  #  USING BD-ROLL AND BD HAS FAILED
044493,000704: 17,3535           13537                           TCF      +2                                    
044494,000705: 17,3536           13434                           TCF      NO2Z                                  #  DITTO
044495,000706: 17,3537           51516                           INDEX    ZNDX                                  
044496,000707: 17,3540           32707                           CA       XLNNDX                                
044497,000708: 17,3541           50000                           INDEX    A                                     
044498,000709: 17,3542           33157                           CA       RTABLE                                
044499,000710: 17,3543           73177                           MASK     BDRJETS                               
044500,000711: 17,3544           13435                           TCF      NO2Z       +1                         
044501,000712: 
044502,000713: 17,3545           31451        RBYPASS            CA       RWORD1                                
044503,000714: 17,3546           55452                           TS       RWORD2                                
044504,000715: 17,3547           34714                           CAF      ZERO                                  
044505,000716: 17,3550           55457                           TS       BLAST                                 
044506,000717: 17,3551           13213                           TCF      PITCHTIM                              
044507,000718: 

Page 1026

044509,000720:                                                                                                  #           GENERATION OF THE SECOND YAW (X-TRANS) WORD...YWORD2
044510,000721: 
044511,000722: 17,3552           11627        ASMBLWY            CCS      RBDFAIL                               
044512,000723: 17,3553           13561                           TCF      FYX2                                  #  IF FAILURE ON BD IGNORE X-TRANSLATION
044513,000724: 17,3554           13556                           TCF      +2                                    
044514,000725: 17,3555           13561                           TCF      FYX2                                  
044515,000726: 17,3556           51514                           INDEX    XNDX2                                 
044516,000727: 17,3557           32707                           CA       XLNNDX                                
044517,000728: 17,3560           50000                           INDEX    A                                     
044518,000729: 17,3561           32743        FYX2               CA       PYTABLE                               
044519,000730: 17,3562           72763                           MASK     YJETS                                 
044520,000731: 17,3563           55456                           TS       YWORD2                                
044521,000732: 17,3564           13571                           TCF      T6SETUP                               
044522,000733: 
044523,000734: 17,3565           31455        YBYPASS            CA       YWORD1                                
044524,000735: 17,3566           55456                           TS       YWORD2                                
044525,000736: 17,3567           34714                           CAF      ZERO                                  
044526,000737: 17,3570           55463                           TS       BLAST2                                
044527,000738: 

Page 1027

044529,000740:                                                                                                  #           SORT THE JET ON-TIMES
044530,000741: 
044531,000742:                                                                                                  #     AT THIS POINT ALL THE CHANNEL COMMANDS AND JET ON-TIMES HAVE BEEN DETERMINED. IN SUMMARY THESE ARE-
044532,000743: 
044533,000744:                                                                                                  #           RWORD1
044534,000745:                                                                                                  #           RWORD2         BLAST
044535,000746: 
044536,000747:                                                                                                  #           PWORD1
044537,000748:                                                                                                  #           PWORD2         BLAST1
044538,000749: 
044539,000750:                                                                                                  #           YWORD1
044540,000751:                                                                                                  #           YWORD2         BLAST2
044541,000752: 
044542,000753:                                                                                                  #      IN THIS SECTION THE JET ON-TIMES ARE SORTED AND THE SEQUENCE OF T6 INTERRUPTS IS DETERMINED.  TO FACILITATE
044543,000754:                                                                                                  #  THE SORTING PROCESS AND THE T6 PROGRAM, THE VARIABLES BLAST, BLAST1, BLAST2, ARE RESERVED AS DOUBLE PRECISION
044544,000755:                                                                                                  #  WORDS.  THE LOWER PART OF THESE WORDS CONTAIN A BRANCH INDEX ASSOCIATED WITH THE ROTATION AXIS OF THE HIGHER
044545,000756:                                                                                                  #  ORDER WORD.
044546,000757: 
044547,000758: 17,3571           34714        T6SETUP            CAF      ZERO                                  #  BRANCH INDEX FOR ROLL
044548,000759: 17,3572           55460                           TS       BLAST      +1                         
044549,000760: 17,3573           34710                           CAF      FOUR                                  #  BRANCH INDEX FOR PITCH
044550,000761: 17,3574           55462                           TS       BLAST1     +1                         
044551,000762: 17,3575           34717                           CAF      ELEVEN                                #  BRANCH INDEX FOR YAW
044552,000763: 17,3576           55464                           TS       BLAST2     +1                         
044553,000764: 
044554,000765: 17,3577           41457                           CS       BLAST                                 
044555,000766: 17,3600           61461                           AD       BLAST1                                
044556,000767: 17,3601           00006                           EXTEND                                         
044557,000768: 17,3602           63626                           BZMF     DXCHT12                               #  T1 GR T2
044558,000769: 17,3603           41461        CHECKT23           CS       BLAST1                                
044559,000770: 17,3604           61463                           AD       BLAST2                                
044560,000771: 17,3605           00006                           EXTEND                                         
044561,000772: 17,3606           63632                           BZMF     DXCHT23                               
044562,000773: 17,3607           41461        CALCDT6            CS       BLAST1                                
044563,000774: 17,3610           27463                           ADS      BLAST2                                
044564,000775: 17,3611           41457                           CS       BLAST                                 
044565,000776: 17,3612           27461                           ADS      BLAST1                                #  END OF SORTING PROCEDURE
044566,000777: 17,3613           00006                           EXTEND                                         #  RESET T5LOC TO BEGIN PHASE1
044567,000778: 17,3614           33625                           DCA      RCS2CADR                              
044568,000779: 17,3615           53313                           DXCH     T5LOC                                 
044569,000780: 17,3616           44712        ENDJETS            CS       BIT1                                  #  RESET BIT1 FOR INITIALIZATION OF
044570,000781: 17,3617           71501                           MASK     RCSFLAGS                              #  T6 PROGRAM
044571,000782: 17,3620           55501                           TS       RCSFLAGS                              
044572,000783: 17,3621           44714                           CS       ZERO                                  #  RESET T5PHASE FOR PHASE1
044573,000784: 17,3622           55465                           TS       T5PHASE                               
044574,000785: 17,3623           15222                           TCF      RESUME                                #  RESUME INTERRUPTED PROGRAM
044575,000786: 
044576,000787: 
044577,000788: 17,3624  E6,1510                                  EBANK=   KMPAC                                 
044578,000789: 17,3624           02106 42066  RCS2CADR           2CADR    RCSATT                                

Page 1028

044580,000791: 17,3626           53460        DXCHT12            DXCH     BLAST                                 
044581,000792: 17,3627           53462                           DXCH     BLAST1                                
044582,000793: 17,3630           53460                           DXCH     BLAST                                 
044583,000794: 17,3631           13603                           TCF      CHECKT23                              
044584,000795: 
044585,000796: 17,3632           53462        DXCHT23            DXCH     BLAST1                                
044586,000797: 17,3633           53464                           DXCH     BLAST2                                
044587,000798: 17,3634           53462                           DXCH     BLAST1                                
044588,000799: 17,3635           41457                           CS       BLAST                                 
044589,000800: 17,3636           61461                           AD       BLAST1                                
044590,000801: 17,3637           00006                           EXTEND                                         
044591,000802: 17,3640           63642                           BZMF     +2                                    
044592,000803: 17,3641           13607                           TCF      CALCDT6                               
044593,000804: 17,3642           53460                           DXCH     BLAST                                 
044594,000805: 17,3643           53462                           DXCH     BLAST1                                
044595,000806: 17,3644           53460                           DXCH     BLAST                                 
044596,000807: 17,3645           13607                           TCF      CALCDT6                               
044597,000808: 

Page 1029

044599,000810:                                                                                                  #           T6 PROGRAM AND CHANNEL SETUP
044600,000811: 
044601,000812: 21,3751                                           BANK     21                                    
044602,000813: 17,2000                                           SETLOC   DAPS5                                 
044603,000814: 17,2000                                           BANK                                           
044604,000815: 
044605,000816: 17,3646           22016        T6START            LXCH     BANKRUPT                              
044606,000817: 17,3647           00006                           EXTEND                                         
044607,000818: 17,3650           22012                           QXCH     QRUPT                                 
044608,000819: 17,3651           10031                           CCS      TIME6                                 #  CHECK TO SEE IF TIME6 WAS RESET
044609,000820: 17,3652           15222                           TCF      RESUME                                #  AFTER T6RUPT OCCURED(IN T5RUPT)
044610,000821: 17,3653           13655                           TCF      +2                                    #  IF SO WAIT FOR NEXT T6RUPT BEFORE
044611,000822: 17,3654           15222                           TCF      RESUME                                #  TAKING ACTION
044612,000823: 
044613,000824: 17,3655           41501                           CS       RCSFLAGS                              
044614,000825: 17,3656           74712                           MASK     BIT1                                  #  IF BIT1 IS 0 RESET TO 1
044615,000826: 17,3657           00006                           EXTEND                                         #  AND INITIALIZE CHANNEL
044616,000827: 17,3660           13671                           BZF      T6RUPTOR                              
044617,000828: 17,3661           27501                           ADS      RCSFLAGS                              
044618,000829: 17,3662           31451                           CA       RWORD1                                
044619,000830: 17,3663           00006                           EXTEND                                         #  INITIALIZE CHANNELS 5,6 WITH WORD1
044620,000831: 17,3664           01006                           WRITE    CHAN6                                 
044621,000832: 17,3665           31453                           CA       PWORD1                                
044622,000833: 17,3666           61455                           AD       YWORD1                                
044623,000834: 17,3667           00006                           EXTEND                                         
044624,000835: 17,3670           01005                           WRITE    CHAN5                                 
044625,000836: 
044626,000837: 17,3671           11457        T6RUPTOR           CCS      BLAST                                 
044627,000838: 17,3672           13751                           TCF      ZBLAST                                #  ZERO BLAST1
044628,000839: 17,3673           13710                           TCF      REPLACE                               #  REPLACE WORD1
044629,000840: 17,3674           13676                           TCF      +2                                    
044630,000841: 17,3675           13710                           TCF      REPLACE                               
044631,000842: 17,3676           11461        T6L1               CCS      BLAST1                                
044632,000843: 17,3677           13754                           TCF      ZBLAST1                               
044633,000844: 17,3700           13715                           TCF      REPLACE1                              
044634,000845: 17,3701           13703                           TCF      +2                                    
044635,000846: 17,3702           13715                           TCF      REPLACE1                              
044636,000847: 17,3703           11463        T6L2               CCS      BLAST2                                
044637,000848: 17,3704           13757                           TCF      ZBLAST2                               
044638,000849: 17,3705           13722                           TCF      REPLACE2                              
044639,000850: 17,3706           15222                           TCF      RESUME                                
044640,000851: 17,3707           13722                           TCF      REPLACE2                              
044641,000852: 
044642,000853: 17,3710           51460        REPLACE            INDEX    BLAST      +1                         
044643,000854: 17,3711           03727                           TC       REPLACER                              
044644,000855: 17,3712           44712                           CS       ONE                                   
044645,000856: 17,3713           55457                           TS       BLAST                                 
044646,000857: 17,3714           13676                           TCF      T6L1                                  
044647,000858: 
044648,000859: 17,3715           51462        REPLACE1           INDEX    BLAST1     +1                         

Page 1030

044650,000861: 17,3716           03727                           TC       REPLACER                              
044651,000862: 17,3717           44712                           CS       ONE                                   
044652,000863: 17,3720           55461                           TS       BLAST1                                
044653,000864: 17,3721           13703                           TCF      T6L2                                  
044654,000865: 
044655,000866: 17,3722           51464        REPLACE2           INDEX    BLAST2     +1                         
044656,000867: 17,3723           03727                           TC       REPLACER                              
044657,000868: 17,3724           44712                           CS       ONE                                   
044658,000869: 17,3725           55463                           TS       BLAST2                                
044659,000870: 17,3726           15222                           TCF      RESUME                                
044660,000871: 
044661,000872: 17,3727           31452        REPLACER           CA       RWORD2                                
044662,000873: 17,3730           00006                           EXTEND                                         #  INITIALIZE CHANNELS 5,6 WITH WORD 2
044663,000874: 17,3731           01006                           WRITE    CHAN6                                 
044664,000875: 17,3732           00002                           TC       Q                                     
044665,000876: 
044666,000877: 17,3733           32763        REPLACEP           CA       YJETS                                 
044667,000878: 17,3734           00006                           EXTEND                                         
044668,000879: 17,3735           02005                           RAND     CHAN5                                 
044669,000880: 17,3736           61454                           AD       PWORD2                                
044670,000881: 17,3737           00006                           EXTEND                                         
044671,000882: 17,3740           01005                           WRITE    CHAN5                                 
044672,000883: 17,3741           00002                           TC       Q                                     
044673,000884: 
044674,000885: 17,3742           32762        REPLACEY           CA       PJETS                                 
044675,000886: 17,3743           00006                           EXTEND                                         
044676,000887: 17,3744           02005                           RAND     CHAN5                                 
044677,000888: 17,3745           61456                           AD       YWORD2                                
044678,000889: 17,3746           00006                           EXTEND                                         
044679,000890: 17,3747           01005                           WRITE    CHAN5                                 
044680,000891: 17,3750           00002                           TC       Q                                     
044681,000892: 
044682,000893: 17,3751           34714        ZBLAST             CAF      ZERO                                  
044683,000894: 17,3752           57457                           XCH      BLAST                                 
044684,000895: 17,3753           13761                           TCF      ENABT6                                
044685,000896: 17,3754           34714        ZBLAST1            CAF      ZERO                                  
044686,000897: 17,3755           57461                           XCH      BLAST1                                
044687,000898: 17,3756           13761                           TCF      ENABT6                                
044688,000899: 17,3757           34714        ZBLAST2            CAF      ZERO                                  
044689,000900: 17,3760           57463                           XCH      BLAST2                                
044690,000901: 17,3761           54031        ENABT6             TS       TIME6                                 
044691,000902: 17,3762           34674                           CAF      NEGMAX                                
044692,000903: 17,3763           00006                           EXTEND                                         
044693,000904: 17,3764           05013                           WOR      CHAN13                                #  ENABLE T6RUPT
044694,000905: 17,3765           15222                           TCF      RESUME                                
044695,000906: 
044696,000907:                                                                                                  #                  END OF T6 INTERRUPT
044697,000908: 
044698,000909: 17,3766                        ENDSLECT           EQUALS                                         

End of include-file JET_SELECTION_LOGIC.agc.  Parent file is MAIN.agc