Source Code

These source-code files are part of a reconstructed copy of Comanche 45, the second release, though not the final mission release, of the Apollo 10 Command Module (CM) Apollo Guidance Computer (AGC) software. Comanche 45 was preceded by Comanche 44 and followed by Comanche 45/2 (the flown release). The reconstruction is believed to be exactly accurate, but in the absence of an actual Apollo-era listing of Comanche 45, some explanation of the reconstruction process is needed to insure confidence in that accuracy.

The starting point was the source code of Comanche 44 (itself previously accurately reconstructed). Comanche 44 source code was then modified by incorporating changes known from contemporary documentation to have been made between revisions 44 and 45. The now-reconstructed Comanche 45 source code was verified by assembling it and checking that the assembled code had the expected known-correct memory-bank checksums. Note that page numbers in the reconstructed code tend to match those in the Comanche 55, the most-similar revision of Comanche for which we have access to an actual non-reconstructed hardcopy; the source code would likely have different page numbers in a contemporary Comanche 45 listing.

Annotations that were not present in the contemporary source code have been added to the reconstructed code to justify each change relative to Comanche 44. Here's a guide to the Apollo documentation referenced in those annotations:
There is also a detailed commentary about the reconstruction process.

Comments expected to have been present in the original source code are prefixed with a single '#' symbol, whereas comments added later are prefixed by "##" or "###". Report any errors noted by creating an issue report at the Virtual AGC Project's GitHub repository.

045267,000002:                                                                                                  ## Copyright:   Public domain.
045268,000003:                                                                                                  ## Filename:    JET_SELECTION_LOGIC.agc
045269,000004:                                                                                                  ## Purpose:     A section of Comanche revision 045.
045270,000005:                                                                                                  ##              It is part of the reconstructed source code for the
045271,000006:                                                                                                  ##              second release of the flight software for the Command
045272,000007:                                                                                                  ##              Module's (CM) Apollo Guidance Computer (AGC) for Apollo 10.
045273,000008:                                                                                                  ##              The code has been recreated from a copy of Comanche 055. It
045274,000009:                                                                                                  ##              has been adapted such that the resulting bugger words
045275,000010:                                                                                                  ##              exactly match those specified for Comanche 45 in NASA drawing
045276,000011:                                                                                                  ##              2021153D, which gives relatively high confidence that the
045277,000012:                                                                                                  ##              reconstruction is correct.
045278,000013:                                                                                                  ## Assembler:   yaYUL
045279,000014:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
045280,000015:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
045281,000016:                                                                                                  ## Mod history: 2020-12-06 MAS  Created from Comanche 44.
045282,000017: 

Page 1039

045284,000019: 21,3765                                           BANK     21                                    
045285,000020: 17,2000                                           SETLOC   DAPS4                                 
045286,000021: 17,2000                                           BANK                                           
045287,000022: 
045288,000023: 17,2552                                           COUNT    17/DAPJS                              
045289,000024: 
045290,000025: 17,2552  E6,1510                                  EBANK=   KMPAC                                 
045291,000026: 
045292,000027:                                                                                                  #  EXAMINE CHANNEL 31 FOR TRANSLATION COMMANDS
045293,000028: 
045294,000029: 17,2552           22016        JETSLECT           LXCH     BANKRUPT                              
045295,000030: 17,2553           32634                           CAF      DELTATT3                              #  = 60 MS  RESET TO EXECUTE PHASE1
045296,000031: 17,2554           61634                           AD       T5TIME                                
045297,000032: 17,2555           54030                           TS       TIME5                                 
045298,000033: 17,2556           12561                           TCF      +3                                    
045299,000034: 17,2557           32635                           CAF      DELATT20                              #  = 20 MS  TO ASSURE A T5RUPT
045300,000035: 17,2560           54030                           TS       TIME5                                 
045301,000036: 17,2561           33313                           CAF      =14MS                                 #  RESET T6 TO INITIALIZE THE JET CHANNELS
045302,000037: 17,2562           54031                           TS       TIME6                                 #  IN 14 MS
045303,000038: 17,2563           35001                           CAF      NEGMAX                                
045304,000039: 17,2564           00006                           EXTEND                                         
045305,000040: 17,2565           05013                           WOR      CHAN13                                
045306,000041: 17,2566           00006                           EXTEND                                         
045307,000042: 17,2567           22012                           QXCH     QRUPT                                 
045308,000043: 17,2570           32633                           CAF      XLNMASK                               #  = 7700 OCT
045309,000044: 17,2571           00006                           EXTEND                                         #  EXAMINE THE TRANSLATION
045310,000045: 17,2572           06031                           RXOR     CHAN31                                #  HAND CONTROLLER
045311,000046: 17,2573           72633                           MASK     XLNMASK                               
045312,000047: 17,2574           00006                           EXTEND                                         
045313,000048: 17,2575           12636                           BZF      NOXLNCMD                              
045314,000049: 17,2576           55502                           TS       T5TEMP                                
045315,000050: 17,2577           00006                           EXTEND                                         
045316,000051: 17,2600           75007                           MP       BIT9                                  
045317,000052: 17,2601           76214                           MASK     THREE                                 
045318,000053: 17,2602           55513                           TS       XNDX1                                 #  AC QUAD  X-TRANSLATION INDEX
045319,000054: 17,2603           55514                           TS       XNDX2                                 #  BD QUAD  X-TRANSLATION INDEX
045320,000055: 17,2604           31502                           CA       T5TEMP                                
045321,000056: 17,2605           00006                           EXTEND                                         #  1 = + XLN
045322,000057: 17,2606           75011                           MP       BIT7                                  #  2 = - XLN
045323,000058: 17,2607           76214                           MASK     THREE                                 #  3 = NO XLN
045324,000059: 17,2610           55515                           TS       YNDX                                  #  Y-TRANSLATION INDEX
045325,000060: 
045326,000061: 17,2611           31502                           CA       T5TEMP                                
045327,000062: 17,2612           00006                           EXTEND                                         
045328,000063: 17,2613           75013                           MP       BIT5                                  
045329,000064: 17,2614           76214                           MASK     THREE                                 
045330,000065: 17,2615           55516                           TS       ZNDX                                  #  Z-TRANSLATION INDEX
045331,000066: 
045332,000067: 17,2616           31466                           CA       DAPDATR1                              #  SET ATTKALMN TO PICK UP FILTER GAINS FOR
045333,000068: 17,2617           75002                           MASK     BIT14                                 #  TRANSLATIONS.
045334,000069: 17,2620           00006                           EXTEND                                         #  CHECK DAPDATR1 BIT 14 FOR LEM ATTACHED.

Page 1040

045336,000071: 17,2621           12624                           BZF      NOLEM                                 
045337,000072: 17,2622           46214                           CS       THREE                                 #  IF LEM IS ON, SET ATTKALMN = -3
045338,000073: 17,2623           12625                           TCF      +2                                    
045339,000074: 17,2624           45016        NOLEM              CS       TWO                                   #  IF LEM IS OFF, SET ATTKALMN = -2.
045340,000075: 17,2625           55617                           TS       ATTKALMN                              
045341,000076: 17,2626           11631                           CCS      XTRANS                                #  (+, -1, 0)
045342,000077: 17,2627           55513                           TS       XNDX1                                 #  USING BD-X  ZERO XNDX1
045343,000078: 17,2630           12642                           TCF      PWORD                                 
045344,000079: 17,2631           55514                           TS       XNDX2                                 #  USING AC-X  ZERO XNDX2
045345,000080: 17,2632           12642                           TCF      PWORD                                 
045346,000081: 17,2633           07700        XLNMASK            OCT      7700                                  
045347,000082: 
045348,000083: 17,2634           37772        DELTATT3           DEC      16378      B-14                       #  = 60 MS
045349,000084: 17,2635           37776        DELATT20           DEC      16382      B-14                       #  = 20 MS
045350,000085: 
045351,000086: 17,2636           55513        NOXLNCMD           TS       XNDX1                                 #  ZERO ALL REQUESTS FOR TRANSLATION
045352,000087: 17,2637           55514                           TS       XNDX2                                 
045353,000088: 17,2640           55515                           TS       YNDX                                  
045354,000089: 17,2641           55516                           TS       ZNDX                                  
045355,000090: 
045356,000091:                                                                                                  #  PITCH COMMANDS  TIMING(NO X-TRANS, NO QUAD FAILS) 32MCT
045357,000092: 
045358,000093: 17,2642           11562        PWORD              CCS      TAU1                                  #  CHECK FOR PITCH COMMANDS
045359,000094: 17,2643           35017                           CAF      ONE                                   
045360,000095: 17,2644           12646                           TCF      +2                                    #   0 = NO PITCH
045361,000096: 17,2645           35016                           CAF      TWO                                   #  +1 =  + PITCH
045362,000097: 17,2646           55520                           TS       PINDEX                                #  +2 =  - PITCH
045363,000098: 
045364,000099: 17,2647           11626                           CCS      RACFAIL                               #  FLAG FOR REAL AC QUAD FAILURES
045365,000100: 17,2650           12654                           TCF      AFAILP                                
045366,000101: 17,2651           12664                           TCF      TABPCOM                               #  0 = NO REAL AC FAILURES
045367,000102: 17,2652           12656                           TCF      CFAILP                                #  + = A QUAD FAILED
045368,000103: 17,2653           12664                           TCF      TABPCOM                               #  - = C QUAD FAILED
045369,000104:                                                                                                  #  IF FAILURES ARE PRESENT IGNORE
045370,000105:                                                                                                  #  X-TRANSLATIONS ON THIS AXIS
045371,000106: 
045372,000107: 17,2654           34334        AFAILP             CAF      NINE                                  #  IF FAILURE IS PRESENT 1JET OPERATION
045373,000108: 17,2655           12666                           TCF      TABPCOM    +2                         #  IS ASSUMED.  IGNORE X-TRANSLATION
045374,000109: 17,2656           35763        CFAILP             CAF      TWELVE                                
045375,000110: 17,2657           12666                           TCF      TABPCOM    +2                         
045376,000111: 
045377,000112: 17,2660           00000        XLNNDX             DEC      0          B-14                       #  INDECES FOR TRANSLATION COMMANDS
045378,000113: 17,2661           00003                           DEC      3          B-14                       #  FOR USE IN TABLE LOOK UP
045379,000114: 17,2662           00006                           DEC      6          B-14                       
045380,000115: 17,2663           00000                           DEC      0          B-14                       
045381,000116: 
045382,000117: 17,2664     5763               TWELVE             =        OCT14                                 
045383,000118: 
045384,000119:                                                                                                  #  TABLE LOOK UP FOR PITCH COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT.
045385,000120:                                                                                                  #  BITS 9, 10 CONTAIN THE NUMBER OF PITCH JETS USED TO PERFORM THE PITCH ROTATION

Page 1041

045387,000122: 
045388,000123: 17,2664           51513        TABPCOM            INDEX    XNDX1                                 
045389,000124: 17,2665           32660                           CA       XLNNDX                                
045390,000125: 17,2666           61520                           AD       PINDEX                                
045391,000126: 17,2667           50000                           INDEX    A                                     
045392,000127: 17,2670           32714                           CA       PYTABLE                               
045393,000128: 17,2671           72733                           MASK     PJETS                                 #  =1417 OCT
045394,000129: 17,2672           55453                           TS       PWORD1                                
045395,000130: 17,2673           00006                           EXTEND                                         
045396,000131: 17,2674           75011                           MP       BIT7                                  
045397,000132: 17,2675           55523                           TS       NPJETS                                #  = NO. OF PITCH JETS
045398,000133: 
045399,000134:                                                                                                  #  YAW JET COMMANDS  TIMING(NO X-TRANS, NO QUAD FAILURES)  32MCT
045400,000135: 
045401,000136: 17,2676           11563        YWORD              CCS      TAU2                                  #  CHECK FOR YAW COMMANDS
045402,000137: 17,2677           35017                           CAF      ONE                                   
045403,000138: 17,2700           12702                           TCF      +2                                    
045404,000139: 17,2701           35016                           CAF      TWO                                   
045405,000140: 17,2702           55521                           TS       YINDEX                                #  YAW ROTATION INDEX
045406,000141: 
045407,000142: 17,2703           11627                           CCS      RBDFAIL                               #  FLAG FOR B OR D QUAD FAILURES
045408,000143: 17,2704           12710                           TCF      BFAILY                                #  0 = NO BD FAILURE
045409,000144: 17,2705           12735                           TCF      TABYCOM                               #  + = B QUAD FAILED
045410,000145: 17,2706           12712                           TCF      DFAILY                                #  - = D QUAD FAILED
045411,000146: 17,2707           12735                           TCF      TABYCOM                               
045412,000147: 
045413,000148: 17,2710           34334        BFAILY             CAF      NINE                                  
045414,000149: 17,2711           12737                           TCF      TABYCOM    +2                         
045415,000150: 17,2712           35763        DFAILY             CAF      TWELVE                                
045416,000151: 17,2713           12737                           TCF      TABYCOM    +2                         
045417,000152: 

Page 1042

045419,000154:                                                                                                  #  TABLE FOR PITCH(YAW) COMMANDS
045420,000155:                                                                                                  #  BITS 4,3,2,1 = PITCH, X-TRANSLATION JETS SELECTED
045421,000156:                                                                                                  #  BITS    10,9 = NO. PITCH JETS USED TO PERFORM ROTATION
045422,000157:                                                                                                  #  BITS 8,7,6,5 = YAW, X-TRANSLATION JETS SELECTED
045423,000158:                                                                                                  #  BITS 12,11:  NO. YAW JETS USED TO PERFORM ROTATION
045424,000159: 
045425,000160:                                                                                                  #  ROT   TRANS   QUAD    BIAS
045426,000161: 17,2714           00000        PYTABLE            OCT      0                                     #  0     0               0
045427,000162: 17,2715           05125                           OCT      5125                                  #  +     0               0
045428,000163: 17,2716           05252                           OCT      5252                                  #  -     0               0
045429,000164: 17,2717           00231                           OCT      0231                                  #  0     +               3
045430,000165: 17,2720           02421                           OCT      2421                                  #  +     +               3
045431,000166: 17,2721           02610                           OCT      2610                                  #  -     +               3
045432,000167: 17,2722           00146                           OCT      0146                                  #  0     -               6
045433,000168: 17,2723           02504                           OCT      2504                                  #  +     -               6
045434,000169: 17,2724           02442                           OCT      2442                                  #  -     -               6
045435,000170: 17,2725           00000                           OCT      0                                     #  0             A(B)    9
045436,000171: 17,2726           02421                           OCT      2421                                  #  +             A(B)    9
045437,000172: 17,2727           02442                           OCT      2442                                  #  -             A(B)    9
045438,000173: 17,2730           00000                           OCT      0                                     #  0             C(D)    12
045439,000174: 17,2731           02504                           OCT      2504                                  #  +             C(D)    12
045440,000175: 17,2732           02610                           OCT      2610                                  #  -             C(D)    12
045441,000176: 
045442,000177:                                                                                                  #  MASKS FOR PITCH AND YAW COMMANDS
045443,000178: 
045444,000179: 17,2733           01417        PJETS              OCT      1417                                  
045445,000180: 17,2734           06360        YJETS              OCT      6360                                  
045446,000181: 
045447,000182:                                                                                                  #  TABLE LOOK UP FOR YAW COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT
045448,000183:                                                                                                  #  BITS 11, 12 CONTAIN THE NUMBER OF YAW JETS USED TO PERFORM THE YAW ROTATION
045449,000184: 
045450,000185: 17,2735           51514        TABYCOM            INDEX    XNDX2                                 
045451,000186: 17,2736           32660                           CA       XLNNDX                                
045452,000187: 17,2737           61521                           AD       YINDEX                                
045453,000188: 17,2740           50000                           INDEX    A                                     
045454,000189: 17,2741           32714                           CA       PYTABLE                               
045455,000190: 17,2742           72734                           MASK     YJETS                                 #  = 6360 OCT
045456,000191: 17,2743           55455                           TS       YWORD1                                
045457,000192: 17,2744           00006                           EXTEND                                         
045458,000193: 17,2745           75013                           MP       BIT5                                  
045459,000194: 17,2746           55524                           TS       NYJETS                                #  NO. OF YAW JETS USED TO PERFORM ROTATION
045460,000195: 

Page 1043

045462,000197:                                                                                                  #  ROLL COMMANDS  TIMING(NO Y,Z TRANS, NO QUAD FAILS)  45MCT
045463,000198: 
045464,000199: 17,2747           11561        RWORD              CCS      TAU                                   #  CHECK FOR ROLL COMMANDS
045465,000200: 17,2750           35017                           CAF      ONE                                   
045466,000201: 17,2751           12753                           TCF      +2                                    
045467,000202: 17,2752           35016                           CAF      TWO                                   
045468,000203: 17,2753           55517                           TS       RINDEX                                
045469,000204: 
045470,000205: 17,2754           11630                           CCS      ACORBD                                #  FLAG FOR AC OR BD QUAD SELECTION FOR
045471,000206: 17,2755           13046                           TCF      BDROLL                                #  ROLL COMMANDS
045472,000207: 17,2756           13046                           TCF      BDROLL                                #  +, +0 = BD ROLL
045473,000208: 17,2757           12760                           TCF      +1                                    #  -, -0 = AC ROLL
045474,000209: 
045475,000210: 17,2760           11626        ACROLL             CCS      RACFAIL                               #  CHECK FOR REAL FAILURES
045476,000211: 17,2761           12765                           TCF      RAFAIL                                #  ON AC QUADS
045477,000212: 17,2762           12775                           TCF      RXLNS                                 
045478,000213: 17,2763           12767                           TCF      RCFAIL                                
045479,000214: 17,2764           12775                           TCF      RXLNS                                 
045480,000215: 
045481,000216: 17,2765           34334        RAFAIL             CAF      NINE                                  #  QUAD FAILURE WILL GET
045482,000217: 17,2766           12777                           TCF      TABRCOM                               #  1-JET OPERATION
045483,000218: 17,2767           35763        RCFAIL             CAF      TWELVE                                
045484,000219: 17,2770           12777                           TCF      TABRCOM                               
045485,000220: 
045486,000221: 17,2771           00000        XLN1NDX            DEC      0          B-14                       
045487,000222: 17,2772           00001                           DEC      1          B-14                       #  INDECES FOR TRANSLATION
045488,000223: 17,2773           00002                           DEC      2          B-14                       
045489,000224: 17,2774           00000                           DEC      0          B-14                       
045490,000225: 
045491,000226:                                                                                                  #  TABLE LOOK UP FOR AC-ROLL COMMANDS WITH AND WITHOUT Y-TRANSLATION AND ACQUAD FAILURES PRESENT
045492,000227:                                                                                                  #  BITS 9,10,11 CONTAIN THE MAGNITUDE AND DIRECTION OF THE ROLL
045493,000228: 
045494,000229: 17,2775           51515        RXLNS              INDEX    YNDX                                  #  NO AC QUAD FAILURES
045495,000230: 17,2776           32660                           CA       XLNNDX                                #  INCLUDE +,-,0, Y-TRANSLATION
045496,000231: 17,2777           61517        TABRCOM            AD       RINDEX                                
045497,000232: 17,3000           50000                           INDEX    A                                     
045498,000233: 17,3001           33130                           CA       RTABLE                                
045499,000234: 17,3002           73147                           MASK     ACRJETS                               #  = 3760 OCT
045500,000235: 17,3003           55451                           TS       RWORD1                                
045501,000236: 
045502,000237:                                                                                                  #  CHECK FOR Z-TRANSLATIONS ON BD
045503,000238: 
045504,000239: 17,3004           31516        BDZCHECK           CA       ZNDX                                  
045505,000240: 17,3005           00006                           EXTEND                                         
045506,000241: 17,3006           63040                           BZMF     NOBDZ                                 #  NO Z-TRANSLATION
045507,000242: 

Page 1044

045509,000244:                                                                                                  #  TABLE LOOK UP FOR BD Z-TRANSLATION WITH AND WITHOUT REAL BD QUAD FAILURES.  Z-TRANSLATION WILL BE POSS-
045510,000245:                                                                                                  #  IBLE AS LONG AS ROLL COMMANDS CAN BE SATISFIED WITH THE AC ROLL JETS.  CRITERION.. IF THE RESULTANT NET ROLL
045511,000246:                                                                                                  #  COMMANDS = 0 (WITH Z-TRANSLATION) AND IF TAU = 0, THEN INCLUDE THE BD Z-TRANSLATION COMMANDS.  IF THE RESULTANT
045512,000247:                                                                                                  #  ROLL COMMAND = 0, AND IF TAU NZ, THEN IGNORE THE BD Z-TRANSLATION
045513,000248: 
045514,000249: 17,3007           11627                           CCS      RBDFAIL                               
045515,000250: 17,3010           36214                           CAF      THREE                                 
045516,000251: 17,3011           13013                           TCF      +2                                    
045517,000252: 17,3012           36211                           CAF      SIX                                   
045518,000253: 17,3013           51516                           INDEX    ZNDX                                  
045519,000254: 17,3014           62771                           AD       XLN1NDX                               
045520,000255: 17,3015           50000                           INDEX    A                                     
045521,000256: 17,3016           33151                           CA       YZTABLE                               
045522,000257: 17,3017           73162                           MASK     BDZJETS                               #  = 3417 OCT
045523,000258: 17,3020           61451                           AD       RWORD1                                #  ADD TO ROLL COMMANDS
045524,000259: 17,3021           55502                           TS       T5TEMP                                #  IF POSSIBLE.  MUST CHECK TAU FIRST
045525,000260: 
045526,000261: 17,3022           00006                           EXTEND                                         
045527,000262: 17,3023           75011                           MP       BIT7                                  #  DETERMINE THE NET ROLL COMMAND WITH
045528,000263: 17,3024           66061                           AD       =-4                                   #  Z-TRANSLATION ADDED ON
045529,000264: 17,3025           55522                           TS       NRJETS                                #  NET NO. OF +,- ROLL JETS ON
045530,000265: 17,3026           00006                           EXTEND                                         
045531,000266: 17,3027           13033                           BZF      TAUCHECK                              
045532,000267: 
045533,000268: 17,3030           31502        ACRBDZ             CA       T5TEMP                                #  Z-TRANSLATION ACCEPTED EVEN THO WE MAY
045534,000269: 17,3031           55451                           TS       RWORD1                                #  HAVE INTRODUCED AN UNDESIREABLE ROLL
045535,000270: 17,3032           13274                           TCF      ROLLTIME                              #  BRANCH TO JET ON-TIME CALCULATIONS
045536,000271: 
045537,000272: 17,3033           11561        TAUCHECK           CCS      TAU                                   
045538,000273: 17,3034           13040                           TCF      NOBDZ                                 
045539,000274: 17,3035           13030                           TCF      ACRBDZ                                
045540,000275: 17,3036           13040                           TCF      NOBDZ                                 
045541,000276: 17,3037           13030                           TCF      ACRBDZ                                
045542,000277: 
045543,000278: 17,3040           31451        NOBDZ              CA       RWORD1                                #  Z-TRANSLATION NOT ACCEPTED
045544,000279: 17,3041           00006                           EXTEND                                         
045545,000280: 17,3042           75011                           MP       BIT7                                  
045546,000281: 17,3043           67715                           AD       =-2                                   
045547,000282: 17,3044           55522                           TS       NRJETS                                
045548,000283: 17,3045           13274                           TCF      ROLLTIME                              #  BRANCH TO JET ON-TIME CALCULATION
045549,000284: 

Page 1045

045551,000286:                                                                                                  #  BD QUAD SELECTION FOR ROLL COMMANDS
045552,000287: 
045553,000288: 17,3046           11627        BDROLL             CCS      RBDFAIL                               
045554,000289: 17,3047           13053                           TCF      RBFAIL                                
045555,000290: 17,3050           13057                           TCF      RZXLNS                                
045556,000291: 17,3051           13055                           TCF      RDFAIL                                
045557,000292: 17,3052           13057                           TCF      RZXLNS                                
045558,000293: 17,3053           34334        RBFAIL             CAF      NINE                                  
045559,000294: 17,3054           13061                           TCF      TABRZCMD                              
045560,000295: 17,3055           35763        RDFAIL             CAF      TWELVE                                
045561,000296: 17,3056           13061                           TCF      TABRZCMD                              
045562,000297: 
045563,000298: 17,3057           51516        RZXLNS             INDEX    ZNDX                                  #  NO BD FAILURES
045564,000299: 17,3060           32660                           CA       XLNNDX                                #  +,-,0 Z-TRANSLATION PRESENT
045565,000300: 17,3061           61517        TABRZCMD           AD       RINDEX                                
045566,000301: 17,3062           50000                           INDEX    A                                     
045567,000302: 17,3063           33130                           CA       RTABLE                                
045568,000303: 17,3064           73150                           MASK     BDRJETS                               #  = 34017 OCT
045569,000304: 17,3065           55451                           TS       RWORD1                                
045570,000305: 
045571,000306: 17,3066           31515        ACYCHECK           CA       YNDX                                  #  ANY Y-TRANSLATION
045572,000307: 17,3067           00006                           EXTEND                                         
045573,000308: 17,3070           13122                           BZF      NOACY                                 #  NO Y-TRANSLATION
045574,000309: 17,3071           11626                           CCS      RACFAIL                               
045575,000310: 17,3072           36214                           CAF      THREE                                 
045576,000311: 17,3073           13075                           TCF      +2                                    
045577,000312: 17,3074           36211                           CAF      SIX                                   
045578,000313: 17,3075           51515                           INDEX    YNDX                                  
045579,000314: 17,3076           62771                           AD       XLN1NDX                               
045580,000315: 17,3077           50000                           INDEX    A                                     
045581,000316: 17,3100           33151                           CA       YZTABLE                               
045582,000317: 17,3101           73163                           MASK     ACYJETS                               #  = 34360 OCT
045583,000318: 17,3102           61451                           AD       RWORD1                                
045584,000319: 17,3103           55502                           TS       T5TEMP                                
045585,000320: 17,3104           00006                           EXTEND                                         #  FOR EXPLANATION SEE CODING ON RTABLE
045586,000321: 17,3105           75014                           MP       BIT4                                  
045587,000322: 17,3106           66061                           AD       =-4                                   
045588,000323: 17,3107           55522                           TS       NRJETS                                #  NO. OF NET ROLL JETS
045589,000324: 17,3110           00006                           EXTEND                                         
045590,000325: 17,3111           13115                           BZF      TAUCHCK                               #  IF NRJETS = 0
045591,000326: 
045592,000327: 17,3112           31502        BDRACZ             CA       T5TEMP                                #  Y-TRANSLATION ACCEPTED
045593,000328: 17,3113           55451                           TS       RWORD1                                
045594,000329: 17,3114           13274                           TCF      ROLLTIME                              #  BRANCH TO JET ON-TIME CALCULATIONS
045595,000330: 
045596,000331: 17,3115           11561        TAUCHCK            CCS      TAU                                   
045597,000332: 17,3116           13122                           TCF      NOACY                                 
045598,000333: 17,3117           13112                           TCF      BDRACZ                                
045599,000334: 17,3120           13122                           TCF      NOACY                                 
045600,000335: 17,3121           13112                           TCF      BDRACZ                                
045601,000336: 

Page 1046

045603,000338: 17,3122           31451        NOACY              CA       RWORD1                                #  Y-TRANSLATION NOT ACCEPTED
045604,000339: 17,3123           00006                           EXTEND                                         
045605,000340: 17,3124           75014                           MP       BIT4                                  
045606,000341: 17,3125           67715                           AD       =-2                                   
045607,000342: 17,3126           55522                           TS       NRJETS                                
045608,000343: 17,3127           13274                           TCF      ROLLTIME                              
045609,000344: 

Page 1047

045611,000346:                                                                                                  #                                TABLE FOR ROLL, Y AND Z-TRANSLATION COMMANDS
045612,000347: 
045613,000348:                                                                                                  #  EITHER AC OR BD ROLL MAY BE SELECTED.  IF AC ROLL IS SELECTED, Y-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY
045614,000349:                                                                                                  #  PROVIDED THAT THERE ARE NO AC QUAD FAILURES.  IF THERE ARE AC FAILURES, Y-TRANSLATION COMMANDS WILL BE IGNORED,
045615,000350:                                                                                                  #  IN WHICH CASE THE ASTRONAUT SHOULD SWITCH TO BD ROLL.
045616,000351: 
045617,000352:                                                                                                  #  IF BDROLL IS SELECTED, Z-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY PROVIDED THAT THERE ARE NO BD QUAD
045618,000353:                                                                                                  #  FAILURES.  IF THERE ARE BD FAILURES, Z-TRANSLATION COMMANDS WILL BE IGNORED, IN WHICH CASE THE ASTRONAUT SHOULD
045619,000354:                                                                                                  #  SWITCH TO AC ROLL.
045620,000355: 
045621,000356:                                                                                                  #  NOTE THAT IF ONE QUAD FAILS (E.G. B FAILED), Z-TRANSLATION IS STILL POSSIBLE AND THAT THE UNDESIREABLE ROLL
045622,000357:                                                                                                  #  INTRODUCED BY THIS TRANSLATION WILL BE COMPENSATED BY THE TWO AC ROLL JETS ACTUATED BY THE AUTOPILOT LOGIC.
045623,000358: 
045624,000359:                                                                                                  #                                           WORD MAKE UP....RTABLE
045625,000360: 
045626,000361:                                                                                                  #  TWO WORDS, CORRESPONDING TO AC OR BD ROLL SELECTION, HAVE BEEN COMBINED INTO ONE TABLE.  THE WORD CORRESPOND-
045627,000362:                                                                                                  #  ING TO AC ROLL HAS THE FOLLOWING INTERPRETATION..
045628,000363: 
045629,000364:                                                                                                  #        BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE FOR THE WORD SELECTED.  THE CODING IS..
045630,000365: 
045631,000366:                                                                                                  #                BIT NO. 11  10   9              NO. OF ROLL JETS
045632,000367: 
045633,000368:                                                                                                  #                         0   0   0                      -2
045634,000369:                                                                                                  #                         0   0   1                      -1
045635,000370:                                                                                                  #                         0   1   0                       0
045636,000371:                                                                                                  #                         0   1   1                      +1
045637,000372:                                                                                                  #                         1   0   0                      +2
045638,000373: 
045639,000374:                                                                                                  #  THIS WORD MAY THEN BE ADDED TO THE WORD SELECTED FROM THE YZ-TRANSLATION TABLE, WHICH HAS THE SAME TYPE OF
045640,000375:                                                                                                  #  CODING AS ABOVE, AND THE NET ROLL DETERMINED BY SHIFTING THE RESULTANT WORD RIGHT 8 PLACES AND SUBTRACTING FOUR.
045641,000376: 
045642,000377:                                                                                                  #  THE WORD CORRESPONDING TO BD ROLL HAS A SIMILIAR INTERPRETATION, EXCEPT THAT BITS 12, 13, 14 ARE CODED
045643,000378:                                                                                                  #  (AS ABOVE) TO GIVE THE NET ROLL TORQUE.
045644,000379: 
045645,000380:                                                                                                  #  ROLL          TRANS           QUADFAIL        BIAS
045646,000381: 
045647,000382: 17,3130           11000        RTABLE             OCT      11000                                 #    0                                             0
045648,000383: 17,3131           22125                           OCT      22125                                 #    +                                             0
045649,000384: 17,3132           00252                           OCT      00252                                 #    -                                             0
045650,000385: 17,3133           11231                           OCT      11231                                 #    0           +Y(+Z)                            3
045651,000386: 17,3134           15421                           OCT      15421                                 #    +           +Y(+Z)                            3
045652,000387: 17,3135           04610                           OCT      04610                                 #    -           +Y(+Z)                            3
045653,000388: 17,3136           11146                           OCT      11146                                 #    0           -Y(-Z)                            6
045654,000389: 17,3137           15504                           OCT      15504                                 #    +           -Y(-Z)                            6
045655,000390: 17,3140           04442                           OCT      04442                                 #    -           -Y(-Z)                            6
045656,000391: 17,3141           11000                           OCT      11000                                 #    0                             A(B)            9
045657,000392: 17,3142           15504                           OCT      15504                                 #    +                             A(B)            9
045658,000393: 17,3143           04610                           OCT      04610                                 #    -                             A(B)            9
045659,000394: 17,3144           11000                           OCT      11000                                 #    0                             C(D)           12
045660,000395: 17,3145           15421                           OCT      15421                                 #    +                             C(D)           12
045661,000396: 17,3146           04442                           OCT      04442                                 #    -                             C(D)           12
045662,000397: 

Page 1048

045664,000399:                                                                                                  #  RTABLE MASKS-
045665,000400: 
045666,000401: 17,3147           03760        ACRJETS            OCT      03760                                 
045667,000402: 17,3150           34017        BDRJETS            OCT      34017                                 
045668,000403: 

Page 1049

045670,000405:                                                                                                  #                                         Y, Z TRANSLATION TABLE
045671,000406: 
045672,000407:                                                                                                  #     ONCE AC OR BD ROLL IS SELECTED THE QUAD PAIR WHICH IS NOT BEING USED TO SATISFY THE ROLL COMMANDS MAY BE
045673,000408:                                                                                                  #  USED TO SATISFY THE REMAINING TRANSLATION COMMANDS.  HOWEVER, WE MUST MAKE SURE THAT ROLL COMMANDS ARE SATISFIED
045674,000409:                                                                                                  #  WHEN THEY OCCUR.  THEREFORE, THE Y-Z TRANSLATIONS FROM THIS TABLE WILL BE IGNORED IF THE NET ROLL TORQUE OF THE
045675,000410:                                                                                                  #  COMBINED WORD IS ZERO AND THE ROLL COMMANDS ARE NON-ZERO.  THIS SITUATION WOULD OCCUR, FOR EXAMPLE, IF WE EN-
045676,000411:                                                                                                  #  COUNTER SIMULTANEOUS +R +Y -Z COMMANDS AND A QUAD D FAILURE WHILE USING AC FOR ROLL.
045677,000412:                                                                                                  #     TO FACILITATE THE LOGIC, THE Y-Z TRANSLATION TABLE HAS BEEN CODED IN A MANNER SIMILIAR TO THE ROLL TABLE
045678,000413:                                                                                                  #  ABOVE.
045679,000414:                                                                                                  #     BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Z-TRANSLATIONS.  THE WORD SELECTED CAN THEN BE
045680,000415:                                                                                                  #  ADDED TO THE AC-ROLL WORD AND THE RESULTANT ROLL TORQUE DETERMINED FROM THE COMBINED WORD.  SIMILIARLY BITS
045681,000416:                                                                                                  #  12,13,14 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Y-TRANSLATIONS WHEN BD-ROLL IS SELECTED.
045682,000417: 
045683,000418:                                                                                                  #  TRANSLATION   QUADFAIL        BIAS
045684,000419: 
045685,000420: 17,3151           11000        YZTABLE            OCT      11000                                 #        0                       0
045686,000421: 17,3152           11231                           OCT      11231                                 #     +Z(+Y)                     0
045687,000422: 17,3153           11146                           OCT      11146                                 #     -Z(-Y)                     0
045688,000423: 17,3154           11000                           OCT      11000                                 #        0         B(A)          3
045689,000424: 17,3155           04610                           OCT      04610                                 #     +Z(+Y)       B(A)          3
045690,000425: 17,3156           15504                           OCT      15504                                 #     -Z(-Y)       B(A)          3
045691,000426: 17,3157           11000                           OCT      11000                                 #        0         D(C)          6
045692,000427: 17,3160           15421                           OCT      15421                                 #     +Z(+Y)       D(C)          6
045693,000428: 17,3161           04442                           OCT      04442                                 #     -Z(-Y)       D(C)          6
045694,000429: 
045695,000430:                                                                                                  #  YZ-TABLE MASKS-
045696,000431: 
045697,000432: 17,3162           03417        BDZJETS            OCT      03417                                 
045698,000433: 17,3163           34360        ACYJETS            OCT      34360                                 
045699,000434: 
045700,000435:                                                                                                  #  ADDITIONAL CONSTANTS
045701,000436: 
045702,000437: 17,3164     7715               =-2                =        NEG2                                  
045703,000438: 17,3164     6061               =-4                =        NEG4                                  
045704,000439: 

Page 1050

045706,000441:                                                                                                  #                                        CALCULATION OF JET ON-TIMES
045707,000442: 
045708,000443:                                                                                                  #     THE ROTATION COMMANDS (TAU:S), WHICH WERE DETERMINED FROM THE JET SWITCHING LOGIC ON THE BASIS OF SINGLE JET
045709,000444:                                                                                                  #  OPERATION, MUST NOW BE UPDATED BY THE ACTUAL NUMBER OF JETS TO BE USED IN SATISFYING THESE COMMANDS.  TAU MUST
045710,000445:                                                                                                  #  ALSO BE DECREMENTED ACCORDING TO THE EXPECTED TORQUE GENERATED BY THE NEW COMMANDS ACTING OVER THE NEXT T5 INT-
045711,000446:                                                                                                  #  ERVAL.
045712,000447:                                                                                                  #     IN ORDER TO MAINTAIN ACCURATE KNOWLEDGE OF VEHICLE ANGULAR RATES, WE MUST ALSO PROVIDE EXPECTED FIRING TIMES
045713,000448:                                                                                                  #  (DFT:S, ALSO IN TERMS OF 1-JET OPERATION) FOR THE RATE FILTER.
045714,000449:                                                                                                  #     NOTE THAT TRANSLATIONS CAN PRODUCE ROTATIONS EVEN THOUGH NO ROTATIONS WERE CALLED FOR.  NEVERTHELESS, WE MUST
045715,000450:                                                                                                  #  UPDATE DFT.
045716,000451:                                                                                                  #     WHEN THE ROTATIONS HAVE FINISHED, WE MUST PROVIDE CHANNEL INFORMATION TO THE T6 PROGRAM TO CONTINUE ON WITH
045717,000452:                                                                                                  #  THE TRANSLATIONS.  THIS WILL BE DONE IN THE NEXT SECTION.  HOWEVER, TO INSURE THAT JETS ARE NOT FIRED FOR LESS
045718,000453:                                                                                                  #  THAN A MINIMUM IMPULSE (14MS), ALL JET CHANNEL COMMANDS WILL BE HELD FIXED FROM THE START OF THE T5 PROGRAM FOR
045719,000454:                                                                                                  #  AT LEAST 14MS UNTIL THE INITIALIZATION OF NEW COMMANDS.  MOREOVER, A 14MS ON-TIME WILL BE ADDED TO ANY ROTATIONAL
045720,000455:                                                                                                  #  COMMANDS GENERATED BY THE MANUAL CONTROLS OR THE JET SWITCHING LOGIC, AND ALL TRANSLATION COMMANDS WILL BE
045721,000456:                                                                                                  #  ACTIVE FOR AT LEAST ONE CYCLE OF THE T5 PROGRAM (.1SEC)
045722,000457: 
045723,000458:                                                                                                  #           PITCH JET ON-TIME CALCULATION
045724,000459: 
045725,000460: 17,3164           11562        PITCHTIM           CCS      TAU1                                  
045726,000461: 17,3165           13174                           TCF      PTAUPOS                               
045727,000462: 17,3166           13170                           TCF      +2                                    
045728,000463: 17,3167           13172                           TCF      PTAUNEG                               
045729,000464: 17,3170           55550                           TS       DFT1                                  #  NO PITCH ROTATION
045730,000465: 17,3171           13372                           TCF      PBYPASS                               #  COMMANDS
045731,000466: 
045732,000467: 17,3172           41523        PTAUNEG            CS       NPJETS                                
045733,000468: 17,3173           55523                           TS       NPJETS                                
045734,000469: 17,3174           31562        PTAUPOS            CA       TAU1                                  
045735,000470: 17,3175           00006                           EXTEND                                         
045736,000471: 17,3176           51523                           INDEX    NPJETS                                
045737,000472: 17,3177           73353                           MP       NJET                                  
045738,000473: 17,3200           55461                           TS       BLAST1                                
045739,000474: 17,3201           63306                           AD       =-.1SEC                               
045740,000475: 17,3202           00006                           EXTEND                                         
045741,000476: 17,3203           63214                           BZMF     AD14MSP                               
045742,000477: 17,3204           51523                           INDEX    NPJETS                                
045743,000478: 17,3205           33307                           CA       DFTMAX                                #  THE PITCH ON-TIME IS GREATER THAN .1 SEC
045744,000479: 17,3206           55550                           TS       DFT1                                  
045745,000480: 17,3207           40000                           COM                                            
045746,000481: 17,3210           27562                           ADS      TAU1                                  #  UPDATE TAU1
045747,000482: 17,3211           33310                           CAF      =+.1SEC                               #  LIMIT THE LENGTH OF PITCH ROTATION
045748,000483: 17,3212           55461                           TS       BLAST1                                #  COMMANDS TO 0.1 SEC SO THAT ONLY
045749,000484: 17,3213           13357                           TCF      ASMBLWP                               #  X-TRANSLATIONS WILL CONTINUE ON SWITCH
045750,000485:                                                                                                  #  OVER TO TVC
045751,000486: 17,3214           41461        AD14MSP            CS       BLAST1                                #  SEE IF JET ON TIME LESS THAN
045752,000487: 17,3215           63313                           AD       =14MS                                 #  MINIMUM IMPULSE TIME
045753,000488: 17,3216           00006                           EXTEND                                         
045754,000489: 17,3217           63222                           BZMF     PBLASTOK                              #  IF SO LIMIT MINIMUM ON TIME TO 14 MS
045755,000490: 17,3220           33313                           CAF      =14MS                                 

Page 1051

045757,000492: 17,3221           55461                           TS       BLAST1                                
045758,000493: 17,3222           31461        PBLASTOK           CA       BLAST1                                
045759,000494: 17,3223           00006                           EXTEND                                         #  THE PITCH COMMANDS WILL BE COMPLETED
045760,000495: 17,3224           71523                           MP       NPJETS                                #  WITHIN THE TS-CYCLE TIME
045761,000496: 17,3225           23550                           LXCH     DFT1                                  #  FOR USE IN UPDATING RATE FILTER
045762,000497: 17,3226           55562                           TS       TAU1                                  #  ZERO TAU1 (ACC CONTAINS ZERO)
045763,000498: 17,3227           13357                           TCF      ASMBLWP                               
045764,000499: 

Page 1052

045766,000501:                                                                                                  #  YAW JET ON-TIME CALCULATION
045767,000502: 
045768,000503: 17,3230           11563        YAWTIME            CCS      TAU2                                  
045769,000504: 17,3231           13240                           TCF      YTAUPOS                               
045770,000505: 17,3232           13234                           TCF      +2                                    
045771,000506: 17,3233           13236                           TCF      YTAUNEG                               
045772,000507: 17,3234           55551                           TS       DFT2                                  #  NO YAW ROTATION COMMANDS
045773,000508: 17,3235           13536                           TCF      YBYPASS                               
045774,000509: 
045775,000510: 17,3236           41524        YTAUNEG            CS       NYJETS                                
045776,000511: 17,3237           55524                           TS       NYJETS                                
045777,000512: 17,3240           31563        YTAUPOS            CA       TAU2                                  
045778,000513: 17,3241           00006                           EXTEND                                         
045779,000514: 17,3242           51524                           INDEX    NYJETS                                
045780,000515: 17,3243           73353                           MP       NJET                                  
045781,000516: 17,3244           55463                           TS       BLAST2                                
045782,000517: 17,3245           63306                           AD       =-.1SEC                               
045783,000518: 17,3246           00006                           EXTEND                                         
045784,000519: 17,3247           63260                           BZMF     AD14MSY                               
045785,000520: 17,3250           51524                           INDEX    NYJETS                                
045786,000521: 17,3251           33307                           CA       DFTMAX                                #  YAW COMMANDS WILL LAST LONGER THAN .1SEC
045787,000522: 17,3252           55551                           TS       DFT2                                  
045788,000523: 17,3253           40000                           COM                                            
045789,000524: 17,3254           27563                           ADS      TAU2                                  #  DECREMENT TAU2
045790,000525: 17,3255           33310                           CAF      =+.1SEC                               #  LIMIT THE LENGTH OF YAW ROTATION COMMAND
045791,000526: 17,3256           55463                           TS       BLAST2                                #  TO 0.1 SEC SO THAT ONLY X-TRANSLATION
045792,000527: 17,3257           13523                           TCF      ASMBLWY                               #  WILL CONTINUE ON SWITCH OVER TO TVC
045793,000528: 
045794,000529: 17,3260           41463        AD14MSY            CS       BLAST2                                #  SEE IF JET ON-TIME LESS THAN
045795,000530: 17,3261           63313                           AD       =14MS                                 #  MINIMUM IMPULSE TIME
045796,000531: 17,3262           00006                           EXTEND                                         
045797,000532: 17,3263           63266                           BZMF     YBLASTOK                              #  IF SO, LIMIT MINIMUM ON-TIME TO 14 MS
045798,000533: 17,3264           33313                           CAF      =14MS                                 
045799,000534: 17,3265           55463                           TS       BLAST2                                
045800,000535: 17,3266           31463        YBLASTOK           CA       BLAST2                                #  YAW COMMANDS WILL BE COMPLETED WITHIN
045801,000536: 17,3267           00006                           EXTEND                                         #  THE T5CYCLE TIME
045802,000537: 17,3270           71524                           MP       NYJETS                                
045803,000538: 17,3271           23551                           LXCH     DFT2                                  
045804,000539: 17,3272           55563                           TS       TAU2                                  #  ZERO TAU2
045805,000540: 17,3273           13523                           TCF      ASMBLWY                               
045806,000541: 

Page 1053

045808,000543:                                                                                                  #  ROLL ON-TIME CALCULATION-
045809,000544: 
045810,000545: 17,3274           11561        ROLLTIME           CCS      TAU                                   
045811,000546: 17,3275           13314                           TCF      RBLAST                                
045812,000547: 17,3276           13300                           TCF      +2                                    
045813,000548: 17,3277           13314                           TCF      RBLAST                                
045814,000549: 17,3300           51522                           INDEX    NRJETS                                
045815,000550: 17,3301           33307                           CA       DFTMAX                                #  UPDATE DFT EVEN THO NO ROLL COMMANDS ARE
045816,000551: 17,3302           55547                           TS       DFT                                   #  PRESENT
045817,000552: 17,3303           13516                           TCF      RBYPASS                               
045818,000553: 
045819,000554: 17,3304           77037                           DEC      -480       B-14                       #  =-.3SEC
045820,000555: 17,3305           77277                           DEC      -320       B-14                       #  =-.2SEC
045821,000556: 17,3306           77537        =-.1SEC            DEC      -160       B-14                       #  =-.1SEC
045822,000557: 17,3307           00000        DFTMAX             DEC      0          B-14                       #  0
045823,000558: 17,3310           00240        =+.1SEC            DEC      160        B-14                       #  =+.1SEC
045824,000559: 17,3311           00500                           DEC      320        B-14                       #  =+.2SEC
045825,000560: 17,3312           00740                           DEC      480        B-14                       #  =+.3SEC
045826,000561: 17,3313           00027        =14MS              DEC      23         B-14                       #  =14MS
045827,000562: 
045828,000563: 17,3314           31561        RBLAST             CA       TAU                                   
045829,000564: 17,3315           00006                           EXTEND                                         
045830,000565: 17,3316           51522                           INDEX    NRJETS                                
045831,000566: 17,3317           73353                           MP       NJET                                  
045832,000567: 17,3320           55457                           TS       BLAST                                 #  BLAST IS AN INTERMEDIATE VARIABLE
045833,000568:                                                                                                  #  USED IN DETERMINING THE JET ON-TIMES
045834,000569: 17,3321           63306                           AD       =-.1SEC                               
045835,000570: 17,3322           00006                           EXTEND                                         
045836,000571: 17,3323           63334                           BZMF     AD14MSR                               
045837,000572: 17,3324           51522                           INDEX    NRJETS                                #  THE ROLL ROTATION WILL LAST LONGER
045838,000573: 17,3325           33307                           CA       DFTMAX                                #  THAN THE T5 CYCLE TIME
045839,000574: 17,3326           55547                           TS       DFT                                   
045840,000575: 17,3327           40000                           COM                                            
045841,000576: 17,3330           27561                           ADS      TAU                                   
045842,000577: 17,3331           33310                           CAF      =+.1SEC                               #  LIMIT THE LENGTH OF ROLL ROTATION
045843,000578: 17,3332           55457                           TS       BLAST                                 #  COMMANDS TO 0.1 SEC SO THAT ONLY Y-Z
045844,000579: 17,3333           13377                           TCF      ASMBLWR                               #  TRANSLATION COMMANDS CONTINUE
045845,000580: 
045846,000581: 17,3334           41457        AD14MSR            CS       BLAST                                 #  SEE IF THE JET ON-TIME LESS THAN
045847,000582: 17,3335           63313                           AD       =14MS                                 #  MINIMUM IMPULSE TIME
045848,000583: 17,3336           00006                           EXTEND                                         
045849,000584: 17,3337           63342                           BZMF     RBLASTOK                              
045850,000585: 17,3340           33313                           CAF      =14MS                                 #  IF SO, LIMIT MINIMUM ON-TIME TO 14 MS
045851,000586: 17,3341           55457                           TS       BLAST                                 
045852,000587: 17,3342           31457        RBLASTOK           CA       BLAST                                 
045853,000588: 17,3343           00006                           EXTEND                                         
045854,000589: 17,3344           71522                           MP       NRJETS                                
045855,000590: 17,3345           23547                           LXCH     DFT                                   
045856,000591: 17,3346           55561                           TS       TAU                                   #  ZERO TAU
045857,000592: 17,3347           13377                           TCF      ASMBLWR                               
045858,000593: 

Page 1054

045860,000595: 17,3350           65252                           DEC      -.333333                              #  = -1/3
045861,000596: 17,3351           57777                           DEC      -.500000                              #  = -1/2
045862,000597: 17,3352           40000                           DEC      -.999999                              #  = -1 (NEGMAX)
045863,000598: 17,3353           00000        NJET               DEC      0          B-14                       
045864,000599: 17,3354           37777                           DEC      .999999                               #  = +1 (POSMAX)
045865,000600: 17,3355           20000                           DEC      .500000                               #  = +1/2
045866,000601: 17,3356           12525                           DEC      .333333                               #  = +1/3
045867,000602: 

Page 1055

045869,000604:                                                                                                  #  WHEN THE ROTATION COMMANDS ARE COMPLETED, IT IS NECESSARY TO REPLACE THESE COMMANDS BY NEW COMMANDS WHICH
045870,000605:                                                                                                  #  CONTINUE ON WITH THE TRANSLATIONS IF ANY ARE PRESENT.
045871,000606: 
045872,000607:                                                                                                  #  IN THIS SECTION THESE NEW COMMANDS ARE GENERATED AND STORED FOR REPLACEMENT OF THE CHANNEL COMMANDS WHEN THE
045873,000608:                                                                                                  #  CORRESPONDING ROTATIONS ARE COMPLETED.
045874,000609: 
045875,000610:                                                                                                  #  GENERATION OF THE SECOND PITCH(X-TRANS) WORD...PWORD2
045876,000611: 
045877,000612: 17,3357           11626        ASMBLWP            CCS      RACFAIL                               
045878,000613: 17,3360           13366                           TCF      FPX2                                  #  IF FAILURE ON AC IGNORE X-TRANSLATION
045879,000614: 17,3361           13363                           TCF      +2                                    
045880,000615: 17,3362           13366                           TCF      FPX2                                  
045881,000616: 17,3363           51513                           INDEX    XNDX1                                 
045882,000617: 17,3364           32660                           CA       XLNNDX                                
045883,000618: 17,3365           50000                           INDEX    A                                     
045884,000619: 17,3366           32714        FPX2               CA       PYTABLE                               
045885,000620: 17,3367           72733                           MASK     PJETS                                 
045886,000621: 17,3370           55454                           TS       PWORD2                                
045887,000622: 17,3371           13230                           TCF      YAWTIME                               
045888,000623: 
045889,000624: 17,3372           31453        PBYPASS            CA       PWORD1                                #  THE T6 PROGRAM WILL LOAD PWORD2
045890,000625: 17,3373           55454                           TS       PWORD2                                #  UPON ENTRY
045891,000626: 17,3374           35021                           CAF      ZERO                                  
045892,000627: 17,3375           55461                           TS       BLAST1                                #  THERE IS NO PWORD2
045893,000628: 17,3376           13230                           TCF      YAWTIME                               
045894,000629: 

Page 1056

045896,000631:                                                                                                  #  GENERATION OF THE SECOND ROLL (Y,Z) WORD (RWORD2)
045897,000632: 
045898,000633: 17,3377           11515        ASMBLWR            CCS      YNDX                                  #  CHECK FOR Y-TRANS
045899,000634: 17,3400           13410                           TCF      ACBD2Y                                
045900,000635: 17,3401           35021        NO2Y               CAF      ZERO                                  
045901,000636: 17,3402           55452                           TS       RWORD2                                
045902,000637: 17,3403           11516                           CCS      ZNDX                                  #  CHECK FOR Z-TRANS
045903,000638: 17,3404           13453                           TCF      ACBD2Z                                
045904,000639: 17,3405           35021        NO2Z               CAF      ZERO                                  
045905,000640: 17,3406           27452                           ADS      RWORD2                                
045906,000641: 17,3407           13164                           TCF      PITCHTIM                              #  RWORD2 ASSEMBLED
045907,000642: 
045908,000643: 17,3410           11630        ACBD2Y             CCS      ACORBD                                
045909,000644: 17,3411           13426                           TCF      AC2Y                                  #  CAN DO Y-TRANS
045910,000645: 17,3412           13426                           TCF      AC2Y                                  
045911,000646: 17,3413           13414                           TCF      +1                                    #  USING AC FOR ROLL
045912,000647: 17,3414           11626                           CCS      RACFAIL                               
045913,000648: 17,3415           13401                           TCF      NO2Y                                  #  USING AC AND AC HAS FAILED
045914,000649: 17,3416           13420                           TCF      +2                                    
045915,000650: 17,3417           13401                           TCF      NO2Y                                  #  DITTO
045916,000651: 
045917,000652: 17,3420           51515                           INDEX    YNDX                                  #  NO FAILURES, CAN DO Y
045918,000653: 17,3421           32660                           CA       XLNNDX                                
045919,000654: 17,3422           50000                           INDEX    A                                     
045920,000655: 17,3423           33130                           CA       RTABLE                                
045921,000656: 17,3424           73147                           MASK     ACRJETS                               
045922,000657: 17,3425           13402                           TCF      NO2Y       +1                         
045923,000658: 
045924,000659: 17,3426           11626        AC2Y               CCS      RACFAIL                               
045925,000660: 17,3427           36214                           CAF      THREE                                 
045926,000661: 17,3430           13432                           TCF      +2                                    
045927,000662: 17,3431           36211                           CAF      SIX                                   
045928,000663: 17,3432           51515                           INDEX    YNDX                                  
045929,000664: 17,3433           62771                           AD       XLN1NDX                               
045930,000665: 17,3434           50000                           INDEX    A                                     
045931,000666: 17,3435           33151                           CA       YZTABLE                               
045932,000667: 17,3436           73163                           MASK     ACYJETS                               
045933,000668: 17,3437           55452                           TS       RWORD2                                
045934,000669: 17,3440           00006                           EXTEND                                         
045935,000670: 17,3441           75014                           MP       BIT4                                  
045936,000671: 17,3442           67715                           AD       =-2                                   
045937,000672: 17,3443           55522                           TS       NRJETS                                
045938,000673: 17,3444           41457                           CS       BLAST                                 
045939,000674: 17,3445           63310                           AD       =+.1SEC                               
045940,000675: 17,3446           00006                           EXTEND                                         
045941,000676: 17,3447           71522                           MP       NRJETS                                
045942,000677: 17,3450           30001                           CA       L                                     
045943,000678: 17,3451           27547                           ADS      DFT                                   
045944,000679: 17,3452           13403                           TCF      NO2Y       +2                         

Page 1057

045946,000681: 17,3453           11630        ACBD2Z             CCS      ACORBD                                
045947,000682: 17,3454           13504                           TCF      BDF2Z                                 #  USING BD-ROLL
045948,000683: 17,3455           13504                           TCF      BDF2Z                                 #  MUST CHECK FOR BD FAILURES
045949,000684: 17,3456           13457                           TCF      +1                                    
045950,000685: 17,3457           11627                           CCS      RBDFAIL                               #  USING AC FOR ROLL, CAN DO Z-TRANS
045951,000686: 17,3460           36214                           CAF      THREE                                 
045952,000687: 17,3461           13463                           TCF      +2                                    
045953,000688: 17,3462           36211                           CAF      SIX                                   
045954,000689: 17,3463           51516                           INDEX    ZNDX                                  
045955,000690: 17,3464           62771                           AD       XLN1NDX                               
045956,000691: 17,3465           50000                           INDEX    A                                     
045957,000692: 17,3466           33151                           CA       YZTABLE                               
045958,000693: 17,3467           73162                           MASK     BDZJETS                               
045959,000694: 17,3470           27452                           ADS      RWORD2                                
045960,000695: 17,3471           00006                           EXTEND                                         
045961,000696: 17,3472           75011                           MP       BIT7                                  
045962,000697: 17,3473           67715                           AD       =-2                                   
045963,000698: 17,3474           55522                           TS       NRJETS                                
045964,000699: 17,3475           41457                           CS       BLAST                                 
045965,000700: 17,3476           63310                           AD       =+.1SEC                               
045966,000701: 17,3477           00006                           EXTEND                                         
045967,000702: 17,3500           71522                           MP       NRJETS                                
045968,000703: 17,3501           30001                           CA       L                                     
045969,000704: 17,3502           27547                           ADS      DFT                                   
045970,000705: 17,3503           13164                           TCF      PITCHTIM                              
045971,000706: 
045972,000707: 17,3504           11627        BDF2Z              CCS      RBDFAIL                               
045973,000708: 17,3505           13405                           TCF      NO2Z                                  #  USING BD-ROLL AND BD HAS FAILED
045974,000709: 17,3506           13510                           TCF      +2                                    
045975,000710: 17,3507           13405                           TCF      NO2Z                                  #  DITTO
045976,000711: 17,3510           51516                           INDEX    ZNDX                                  
045977,000712: 17,3511           32660                           CA       XLNNDX                                
045978,000713: 17,3512           50000                           INDEX    A                                     
045979,000714: 17,3513           33130                           CA       RTABLE                                
045980,000715: 17,3514           73150                           MASK     BDRJETS                               
045981,000716: 17,3515           13406                           TCF      NO2Z       +1                         
045982,000717: 
045983,000718: 17,3516           31451        RBYPASS            CA       RWORD1                                
045984,000719: 17,3517           55452                           TS       RWORD2                                
045985,000720: 17,3520           35021                           CAF      ZERO                                  
045986,000721: 17,3521           55457                           TS       BLAST                                 
045987,000722: 17,3522           13164                           TCF      PITCHTIM                              
045988,000723: 

Page 1058

045990,000725:                                                                                                  #  GENERATION OF THE SECOND YAW (X-TRANS) WORD...YWORD2
045991,000726: 
045992,000727: 17,3523           11627        ASMBLWY            CCS      RBDFAIL                               
045993,000728: 17,3524           13532                           TCF      FYX2                                  #  IF FAILURE ON BD IGNORE X-TRANSLATION
045994,000729: 17,3525           13527                           TCF      +2                                    
045995,000730: 17,3526           13532                           TCF      FYX2                                  
045996,000731: 17,3527           51514                           INDEX    XNDX2                                 
045997,000732: 17,3530           32660                           CA       XLNNDX                                
045998,000733: 17,3531           50000                           INDEX    A                                     
045999,000734: 17,3532           32714        FYX2               CA       PYTABLE                               
046000,000735: 17,3533           72734                           MASK     YJETS                                 
046001,000736: 17,3534           55456                           TS       YWORD2                                
046002,000737: 17,3535           13542                           TCF      T6SETUP                               
046003,000738: 
046004,000739: 17,3536           31455        YBYPASS            CA       YWORD1                                
046005,000740: 17,3537           55456                           TS       YWORD2                                
046006,000741: 17,3540           35021                           CAF      ZERO                                  
046007,000742: 17,3541           55463                           TS       BLAST2                                
046008,000743: 

Page 1059

046010,000745:                                                                                                  #                                        SORT THE JET ON-TIMES
046011,000746: 
046012,000747:                                                                                                  #  AT THIS POINT ALL THE CHANNEL COMMANDS AND JET ON-TIMES HAVE BEEN DETERMINED.  IN SUMMARY THESE ARE-
046013,000748: 
046014,000749:                                                                                                  #        RWORD1
046015,000750:                                                                                                  #        RWORD2          BLAST
046016,000751: 
046017,000752:                                                                                                  #        PWORD1
046018,000753:                                                                                                  #        PWORD2          BLAST1
046019,000754: 
046020,000755:                                                                                                  #        YWORD1
046021,000756:                                                                                                  #        YWORD2          BLAST2
046022,000757: 
046023,000758:                                                                                                  #  IN THIS SECTION THE JET ON-TIMES ARE SORTED AND THE SEQUENCE OF T6 INTERRUPTS IS DETERMINED.  TO FACILITATE
046024,000759:                                                                                                  #  THE SORTING PROCESS AND THE T6 PROGRAM, THE VARIABLES BLAST, BLAST1, BLAST2, ARE RESERVED AS DOUBLE PRECISION
046025,000760:                                                                                                  #  WORDS.  THE LOWER PART OF THESE WORDS CONTAIN A BRANCH INDEX ASSOCIATED WITH THE ROTATION AXIS OF THE HIGHER
046026,000761:                                                                                                  #  ORDER WORD.
046027,000762: 
046028,000763: 17,3542           35021        T6SETUP            CAF      ZERO                                  #  BRANCH INDEX FOR ROLL
046029,000764: 17,3543           55460                           TS       BLAST      +1                         
046030,000765: 17,3544           35015                           CAF      FOUR                                  #  BRANCH INDEX FOR PITCH
046031,000766: 17,3545           55462                           TS       BLAST1     +1                         
046032,000767: 17,3546           35024                           CAF      ELEVEN                                #  BRANCH INDEX FOR YAW
046033,000768: 17,3547           55464                           TS       BLAST2     +1                         
046034,000769: 
046035,000770: 17,3550           41457                           CS       BLAST                                 
046036,000771: 17,3551           61461                           AD       BLAST1                                
046037,000772: 17,3552           00006                           EXTEND                                         
046038,000773: 17,3553           63577                           BZMF     DXCHT12                               #  T1 GR T2
046039,000774: 17,3554           41461        CHECKT23           CS       BLAST1                                
046040,000775: 17,3555           61463                           AD       BLAST2                                
046041,000776: 17,3556           00006                           EXTEND                                         
046042,000777: 17,3557           63603                           BZMF     DXCHT23                               
046043,000778: 17,3560           41461        CALCDT6            CS       BLAST1                                
046044,000779: 17,3561           27463                           ADS      BLAST2                                
046045,000780: 17,3562           41457                           CS       BLAST                                 
046046,000781: 17,3563           27461                           ADS      BLAST1                                #  END OF SORTING PROCEDURE
046047,000782: 17,3564           00006                           EXTEND                                         #  RESET T5LOC TO BEGIN PHASE1
046048,000783: 17,3565           33576                           DCA      RCS2CADR                              
046049,000784: 17,3566           53313                           DXCH     T5LOC                                 
046050,000785: 17,3567           45017        ENDJETS            CS       BIT1                                  #  RESET BIT1 FOR INITIALIZATION OF
046051,000786: 17,3570           71501                           MASK     RCSFLAGS                              #  T6 PROGRAM
046052,000787: 17,3571           55501                           TS       RCSFLAGS                              
046053,000788: 17,3572           45021                           CS       ZERO                                  #  RESET T5PHASE FOR PHASE1
046054,000789: 17,3573           55465                           TS       T5PHASE                               
046055,000790: 17,3574           15333                           TCF      RESUME                                #  RESUME INTERRUPTED PROGRAM
046056,000791: 
046057,000792: 17,3575  E6,1510                                  EBANK=   KMPAC                                 
046058,000793: 17,3575           02122 42066  RCS2CADR           2CADR    RCSATT                                
046059,000794: 

Page 1060

046061,000796: 17,3577           53460        DXCHT12            DXCH     BLAST                                 
046062,000797: 17,3600           53462                           DXCH     BLAST1                                
046063,000798: 17,3601           53460                           DXCH     BLAST                                 
046064,000799: 17,3602           13554                           TCF      CHECKT23                              
046065,000800: 
046066,000801: 17,3603           53462        DXCHT23            DXCH     BLAST1                                
046067,000802: 17,3604           53464                           DXCH     BLAST2                                
046068,000803: 17,3605           53462                           DXCH     BLAST1                                
046069,000804: 17,3606           41457                           CS       BLAST                                 
046070,000805: 17,3607           61461                           AD       BLAST1                                
046071,000806: 17,3610           00006                           EXTEND                                         
046072,000807: 17,3611           63613                           BZMF     +2                                    
046073,000808: 17,3612           13560                           TCF      CALCDT6                               
046074,000809: 17,3613           53460                           DXCH     BLAST                                 
046075,000810: 17,3614           53462                           DXCH     BLAST1                                
046076,000811: 17,3615           53460                           DXCH     BLAST                                 
046077,000812: 17,3616           13560                           TCF      CALCDT6                               
046078,000813: 

Page 1061

046080,000815:                                                                                                  #  T6 PROGRAM AND CHANNEL SETUP
046081,000816: 
046082,000817: 21,3765                                           BANK     21                                    
046083,000818: 17,2000                                           SETLOC   DAPS5                                 
046084,000819: 17,2000                                           BANK                                           
046085,000820: 
046086,000821: 17,3617           22016        T6START            LXCH     BANKRUPT                              
046087,000822: 17,3620           00006                           EXTEND                                         
046088,000823: 17,3621           22012                           QXCH     QRUPT                                 
046089,000824: 17,3622           10031                           CCS      TIME6                                 #  CHECK TO SEE IF TIME6 WAS RESET
046090,000825: 17,3623           15333                           TCF      RESUME                                #  AFTER T6RUPT OCCURED (IN T5RUPT)
046091,000826: 17,3624           13626                           TCF      +2                                    #  IF SO WAIT FOR NEXT T6RUPT BEFORE
046092,000827: 17,3625           15333                           TCF      RESUME                                #  TAKING ACTION
046093,000828: 
046094,000829: 17,3626           41501                           CS       RCSFLAGS                              
046095,000830: 17,3627           75017                           MASK     BIT1                                  #  IF BIT1 IS 0 RESET TO 1
046096,000831: 17,3630           00006                           EXTEND                                         #  AND INITIALIZE CHANNEL
046097,000832: 17,3631           13642                           BZF      T6RUPTOR                              
046098,000833: 17,3632           27501                           ADS      RCSFLAGS                              
046099,000834: 17,3633           31451                           CA       RWORD1                                
046100,000835: 17,3634           00006                           EXTEND                                         #  INITIALIZE CHANNELS 5,6 WITH WORD1
046101,000836: 17,3635           01006                           WRITE    CHAN6                                 
046102,000837: 17,3636           31453                           CA       PWORD1                                
046103,000838: 17,3637           61455                           AD       YWORD1                                
046104,000839: 17,3640           00006                           EXTEND                                         
046105,000840: 17,3641           01005                           WRITE    CHAN5                                 
046106,000841: 
046107,000842: 17,3642           11457        T6RUPTOR           CCS      BLAST                                 
046108,000843: 17,3643           13722                           TCF      ZBLAST                                #  ZERO BLAST1
046109,000844: 17,3644           13661                           TCF      REPLACE                               #  REPLACE WORD1
046110,000845: 17,3645           13647                           TCF      +2                                    
046111,000846: 17,3646           13661                           TCF      REPLACE                               
046112,000847: 17,3647           11461        T6L1               CCS      BLAST1                                
046113,000848: 17,3650           13725                           TCF      ZBLAST1                               
046114,000849: 17,3651           13666                           TCF      REPLACE1                              
046115,000850: 17,3652           13654                           TCF      +2                                    
046116,000851: 17,3653           13666                           TCF      REPLACE1                              
046117,000852: 17,3654           11463        T6L2               CCS      BLAST2                                
046118,000853: 17,3655           13730                           TCF      ZBLAST2                               
046119,000854: 17,3656           13673                           TCF      REPLACE2                              
046120,000855: 17,3657           15333                           TCF      RESUME                                
046121,000856: 17,3660           13673                           TCF      REPLACE2                              
046122,000857: 
046123,000858: 17,3661           51460        REPLACE            INDEX    BLAST      +1                         
046124,000859: 17,3662           03700                           TC       REPLACER                              
046125,000860: 17,3663           45017                           CS       ONE                                   
046126,000861: 17,3664           55457                           TS       BLAST                                 
046127,000862: 17,3665           13647                           TCF      T6L1                                  
046128,000863: 
046129,000864: 17,3666           51462        REPLACE1           INDEX    BLAST1     +1                         

Page 1062

046131,000866: 17,3667           03700                           TC       REPLACER                              
046132,000867: 17,3670           45017                           CS       ONE                                   
046133,000868: 17,3671           55461                           TS       BLAST1                                
046134,000869: 17,3672           13654                           TCF      T6L2                                  
046135,000870: 
046136,000871: 17,3673           51464        REPLACE2           INDEX    BLAST2     +1                         
046137,000872: 17,3674           03700                           TC       REPLACER                              
046138,000873: 17,3675           45017                           CS       ONE                                   
046139,000874: 17,3676           55463                           TS       BLAST2                                
046140,000875: 17,3677           15333                           TCF      RESUME                                
046141,000876: 
046142,000877: 17,3700           31452        REPLACER           CA       RWORD2                                #  INITIALIZE CHANNELS 5,6 WITH WORD2
046143,000878: 17,3701           00006                           EXTEND                                         
046144,000879: 17,3702           01006                           WRITE    CHAN6                                 
046145,000880: 17,3703           00002                           TC       Q                                     
046146,000881: 
046147,000882: 17,3704           32734        REPLACEP           CA       YJETS                                 
046148,000883: 17,3705           00006                           EXTEND                                         
046149,000884: 17,3706           02005                           RAND     CHAN5                                 
046150,000885: 17,3707           61454                           AD       PWORD2                                
046151,000886: 17,3710           00006                           EXTEND                                         
046152,000887: 17,3711           01005                           WRITE    CHAN5                                 
046153,000888: 17,3712           00002                           TC       Q                                     
046154,000889: 
046155,000890: 17,3713           32733        REPLACEY           CA       PJETS                                 
046156,000891: 17,3714           00006                           EXTEND                                         
046157,000892: 17,3715           02005                           RAND     CHAN5                                 
046158,000893: 17,3716           61456                           AD       YWORD2                                
046159,000894: 17,3717           00006                           EXTEND                                         
046160,000895: 17,3720           01005                           WRITE    CHAN5                                 
046161,000896: 17,3721           00002                           TC       Q                                     
046162,000897: 
046163,000898: 17,3722           35021        ZBLAST             CAF      ZERO                                  
046164,000899: 17,3723           57457                           XCH      BLAST                                 
046165,000900: 17,3724           13732                           TCF      ENABT6                                
046166,000901: 17,3725           35021        ZBLAST1            CAF      ZERO                                  
046167,000902: 17,3726           57461                           XCH      BLAST1                                
046168,000903: 17,3727           13732                           TCF      ENABT6                                
046169,000904: 17,3730           35021        ZBLAST2            CAF      ZERO                                  
046170,000905: 17,3731           57463                           XCH      BLAST2                                
046171,000906: 17,3732           54031        ENABT6             TS       TIME6                                 
046172,000907: 17,3733           35001                           CAF      NEGMAX                                
046173,000908: 17,3734           00006                           EXTEND                                         
046174,000909: 17,3735           05013                           WOR      CHAN13                                #  ENABLE T6RUPT
046175,000910: 17,3736           15333                           TCF      RESUME                                
046176,000911: 
046177,000912:                                                                                                  #  END OF T6 INTERRUPT
046178,000913: 
046179,000914: 17,3737                        ENDSLECT           EQUALS                                         
046180,000915: 

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