Source Code

These source-code files were from the printout at the MIT Museum, with many thanks to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing it to us. The printout was digitally photographed by Paul Fjeld. A team of volunteers transcribed the source code manually from these images or, where appropriate, modified already-transcribed but similar source Colossus 249 (Apollo 9) source code to agree with the images from the printout. Note that the page images presented online are of reduced quality, and that higher-quality images are available. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 055 OF AGC PROGRAM COMANCHE BY NASA 2021113-051
	10:28 APR.  1,1969
Note that the date is the date of the printout, not the date of the program revision.

046344,000002:                                                                                                  ## Copyright:   Public domain.
046345,000003:                                                                                                  ## Filename:    JET_SELECTION_LOGIC.agc
046346,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus 2A, AKA Comanche 055.
046347,000005:                                                                                                  ##              It is part of the source code for the Command Module's (CM)
046348,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 11.
046349,000007:                                                                                                  ## Assembler:   yaYUL
046350,000008:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
046351,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo.
046352,000010:                                                                                                  ## Pages:       1039-1062
046353,000011:                                                                                                  ## Mod history: 2009-05-13 RSB  Adapted from the Colossus249/ file of the
046354,000012:                                                                                                  ##                              same name, using Comanche055 page images.
046355,000013:                                                                                                  ##              2016-12-21 RSB  Proofed comment text using octopus/ProoferComments
046356,000014:                                                                                                  ##                              and corrected the errors found.
046357,000015:                                                                                                  ##              2017-01-15 RSB  Fixed comment-text errors identified by diff'ing
046358,000016:                                                                                                  ##                              against Colossus 249.
046359,000017:                                                                                                  ##              2017-02-05 RSB  Back-ported comment corrections 
046360,000018:                                                                                                  ##                              identified while proofing Artemis 072.
046361,000019:                                                                                                  ##
046362,000020:                                                                                                  ## This source code has been transcribed or otherwise adapted from digitized
046363,000021:                                                                                                  ## images of a hardcopy from the MIT Museum.  The digitization was performed
046364,000022:                                                                                                  ## by Paul Fjeld, and arranged for by Deborah Douglas of the Museum.  Many
046365,000023:                                                                                                  ## thanks to both.  The images (with suitable reduction in storage size and
046366,000024:                                                                                                  ## consequent reduction in image quality as well) are available online at
046367,000025:                                                                                                  ## www.ibiblio.org/apollo.  If for some reason you find that the images are
046368,000026:                                                                                                  ## illegible, contact me at info@sandroid.org about getting access to the 
046369,000027:                                                                                                  ## (much) higher-quality images which Paul actually created.
046370,000028:                                                                                                  ##
046371,000029:                                                                                                  ## Notations on the hardcopy document read, in part:
046372,000030:                                                                                                  ##
046373,000031:                                                                                                  ##      Assemble revision 055 of AGC program Comanche by NASA
046374,000032:                                                                                                  ##      2021113-051.  10:28 APR. 1, 1969  
046375,000033:                                                                                                  ##
046376,000034:                                                                                                  ##      This AGC program shall also be referred to as
046377,000035:                                                                                                  ##                      Colossus 2A
046378,000036: 

Page 1039

046380,000038: 21,3765                                           BANK     21                                    
046381,000039: 17,2000                                           SETLOC   DAPS4                                 
046382,000040: 17,2000                                           BANK                                           
046383,000041: 
046384,000042: 17,2552                                           COUNT    17/DAPJS                              
046385,000043: 
046386,000044: 17,2552  E6,1510                                  EBANK=   KMPAC                                 
046387,000045: 
046388,000046:                                                                                                  #  EXAMINE CHANNEL 31 FOR TRANSLATION COMMANDS
046389,000047: 
046390,000048: 17,2552           22016        JETSLECT           LXCH     BANKRUPT                              
046391,000049: 17,2553           32634                           CAF      DELTATT3                              #  = 60 MS  RESET TO EXECUTE PHASE1
046392,000050: 17,2554           61634                           AD       T5TIME                                
046393,000051: 17,2555           54030                           TS       TIME5                                 
046394,000052: 17,2556           12561                           TCF      +3                                    
046395,000053: 17,2557           32635                           CAF      DELATT20                              #  = 20 MS  TO ASSURE A T5RUPT
046396,000054: 17,2560           54030                           TS       TIME5                                 
046397,000055: 17,2561           33313                           CAF      =14MS                                 #  RESET T6 TO INITIALIZE THE JET CHANNELS
046398,000056: 17,2562           54031                           TS       TIME6                                 #  IN 14 MS
046399,000057: 17,2563           35001                           CAF      NEGMAX                                
046400,000058: 17,2564           00006                           EXTEND                                         
046401,000059: 17,2565           05013                           WOR      CHAN13                                
046402,000060: 17,2566           00006                           EXTEND                                         
046403,000061: 17,2567           22012                           QXCH     QRUPT                                 
046404,000062: 17,2570           32633                           CAF      XLNMASK                               #  = 7700 OCT
046405,000063: 17,2571           00006                           EXTEND                                         #  EXAMINE THE TRANSLATION
046406,000064: 17,2572           06031                           RXOR     CHAN31                                #  HAND CONTROLLER
046407,000065: 17,2573           72633                           MASK     XLNMASK                               
046408,000066: 17,2574           00006                           EXTEND                                         
046409,000067: 17,2575           12636                           BZF      NOXLNCMD                              
046410,000068: 17,2576           55502                           TS       T5TEMP                                
046411,000069: 17,2577           00006                           EXTEND                                         
046412,000070: 17,2600           75007                           MP       BIT9                                  
046413,000071: 17,2601           76214                           MASK     THREE                                 
046414,000072: 17,2602           55513                           TS       XNDX1                                 #  AC QUAD  X-TRANSLATION INDEX
046415,000073: 17,2603           55514                           TS       XNDX2                                 #  BD QUAD  X-TRANSLATION INDEX
046416,000074: 17,2604           31502                           CA       T5TEMP                                
046417,000075: 17,2605           00006                           EXTEND                                         #  1 = + XLN
046418,000076: 17,2606           75011                           MP       BIT7                                  #  2 = - XLN
046419,000077: 17,2607           76214                           MASK     THREE                                 #  3 = NO XLN
046420,000078: 17,2610           55515                           TS       YNDX                                  #  Y-TRANSLATION INDEX
046421,000079: 
046422,000080: 17,2611           31502                           CA       T5TEMP                                
046423,000081: 17,2612           00006                           EXTEND                                         
046424,000082: 17,2613           75013                           MP       BIT5                                  
046425,000083: 17,2614           76214                           MASK     THREE                                 
046426,000084: 17,2615           55516                           TS       ZNDX                                  #  Z-TRANSLATION INDEX
046427,000085: 
046428,000086: 17,2616           31466                           CA       DAPDATR1                              #  SET ATTKALMN TO PICK UP FILTER GAINS FOR
046429,000087: 17,2617           75002                           MASK     BIT14                                 #  TRANSLATIONS.
046430,000088: 17,2620           00006                           EXTEND                                         #  CHECK DAPDATR1 BIT 14 FOR LEM ATTACHED.

Page 1040

046432,000090: 17,2621           12624                           BZF      NOLEM                                 
046433,000091: 17,2622           46214                           CS       THREE                                 #  IF LEM IS ON, SET ATTKALMN = -3
046434,000092: 17,2623           12625                           TCF      +2                                    
046435,000093: 17,2624           45016        NOLEM              CS       TWO                                   #  IF LEM IS OFF, SET ATTKALMN = -2.
046436,000094: 17,2625           55617                           TS       ATTKALMN                              
046437,000095: 17,2626           11631                           CCS      XTRANS                                #  (+, -1, 0)
046438,000096: 17,2627           55513                           TS       XNDX1                                 #  USING BD-X  ZERO XNDX1
046439,000097: 17,2630           12642                           TCF      PWORD                                 
046440,000098: 17,2631           55514                           TS       XNDX2                                 #  USING AC-X  ZERO XNDX2
046441,000099: 17,2632           12642                           TCF      PWORD                                 
046442,000100: 17,2633           07700        XLNMASK            OCT      7700                                  
046443,000101: 
046444,000102: 17,2634           37772        DELTATT3           DEC      16378      B-14                       #  = 60 MS
046445,000103: 17,2635           37776        DELATT20           DEC      16382      B-14                       #  = 20 MS
046446,000104: 
046447,000105: 17,2636           55513        NOXLNCMD           TS       XNDX1                                 #  ZERO ALL REQUESTS FOR TRANSLATION
046448,000106: 17,2637           55514                           TS       XNDX2                                 
046449,000107: 17,2640           55515                           TS       YNDX                                  
046450,000108: 17,2641           55516                           TS       ZNDX                                  
046451,000109: 
046452,000110:                                                                                                  #  PITCH COMMANDS  TIMING(NO X-TRANS, NO QUAD FAILS) 32MCT
046453,000111: 
046454,000112: 17,2642           11562        PWORD              CCS      TAU1                                  #  CHECK FOR PITCH COMMANDS
046455,000113: 17,2643           35017                           CAF      ONE                                   
046456,000114: 17,2644           12646                           TCF      +2                                    #   0 = NO PITCH
046457,000115: 17,2645           35016                           CAF      TWO                                   #  +1 =  + PITCH
046458,000116: 17,2646           55520                           TS       PINDEX                                #  +2 =  - PITCH
046459,000117: 
046460,000118: 17,2647           11626                           CCS      RACFAIL                               #  FLAG FOR REAL AC QUAD FAILURES
046461,000119: 17,2650           12654                           TCF      AFAILP                                
046462,000120: 17,2651           12664                           TCF      TABPCOM                               #  0 = NO REAL AC FAILURES
046463,000121: 17,2652           12656                           TCF      CFAILP                                #  + = A QUAD FAILED
046464,000122: 17,2653           12664                           TCF      TABPCOM                               #  - = C QUAD FAILED
046465,000123:                                                                                                  #  IF FAILURES ARE PRESENT IGNORE
046466,000124:                                                                                                  #  X-TRANSLATIONS ON THIS AXIS
046467,000125: 
046468,000126: 17,2654           34334        AFAILP             CAF      NINE                                  #  IF FAILURE IS PRESENT 1JET OPERATION
046469,000127: 17,2655           12666                           TCF      TABPCOM    +2                         #  IS ASSUMED.  IGNORE X-TRANSLATION
046470,000128: 17,2656           35771        CFAILP             CAF      TWELVE                                
046471,000129: 17,2657           12666                           TCF      TABPCOM    +2                         
046472,000130: 
046473,000131: 17,2660           00000        XLNNDX             DEC      0          B-14                       #  INDECES FOR TRANSLATION COMMANDS
046474,000132: 17,2661           00003                           DEC      3          B-14                       #  FOR USE IN TABLE LOOK UP
046475,000133: 17,2662           00006                           DEC      6          B-14                       
046476,000134: 17,2663           00000                           DEC      0          B-14                       
046477,000135: 
046478,000136: 17,2664     5771               TWELVE             =        OCT14                                 
046479,000137: 
046480,000138:                                                                                                  #  TABLE LOOK UP FOR PITCH COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT.
046481,000139:                                                                                                  #  BITS 9, 10 CONTAIN THE NUMBER OF PITCH JETS USED TO PERFORM THE PITCH ROTATION

Page 1041

046483,000141: 
046484,000142: 17,2664           51513        TABPCOM            INDEX    XNDX1                                 
046485,000143: 17,2665           32660                           CA       XLNNDX                                
046486,000144: 17,2666           61520                           AD       PINDEX                                
046487,000145: 17,2667           50000                           INDEX    A                                     
046488,000146: 17,2670           32714                           CA       PYTABLE                               
046489,000147: 17,2671           72733                           MASK     PJETS                                 #  =1417 OCT
046490,000148: 17,2672           55453                           TS       PWORD1                                
046491,000149: 17,2673           00006                           EXTEND                                         
046492,000150: 17,2674           75011                           MP       BIT7                                  
046493,000151: 17,2675           55523                           TS       NPJETS                                #  = NO. OF PITCH JETS
046494,000152: 
046495,000153:                                                                                                  #  YAW JET COMMANDS  TIMING(NO X-TRANS, NO QUAD FAILURES)  32MCT
046496,000154: 
046497,000155: 17,2676           11563        YWORD              CCS      TAU2                                  #  CHECK FOR YAW COMMANDS
046498,000156: 17,2677           35017                           CAF      ONE                                   
046499,000157: 17,2700           12702                           TCF      +2                                    
046500,000158: 17,2701           35016                           CAF      TWO                                   
046501,000159: 17,2702           55521                           TS       YINDEX                                #  YAW ROTATION INDEX
046502,000160: 
046503,000161: 17,2703           11627                           CCS      RBDFAIL                               #  FLAG FOR B OR D QUAD FAILURES
046504,000162: 17,2704           12710                           TCF      BFAILY                                #  0 = NO BD FAILURE
046505,000163: 17,2705           12735                           TCF      TABYCOM                               #  + = B QUAD FAILED
046506,000164: 17,2706           12712                           TCF      DFAILY                                #  - = D QUAD FAILED
046507,000165: 17,2707           12735                           TCF      TABYCOM                               
046508,000166: 
046509,000167: 17,2710           34334        BFAILY             CAF      NINE                                  
046510,000168: 17,2711           12737                           TCF      TABYCOM    +2                         
046511,000169: 17,2712           35771        DFAILY             CAF      TWELVE                                
046512,000170: 17,2713           12737                           TCF      TABYCOM    +2                         
046513,000171: 

Page 1042

046515,000173:                                                                                                  #  TABLE FOR PITCH(YAW) COMMANDS
046516,000174:                                                                                                  #  BITS 4,3,2,1 = PITCH, X-TRANSLATION JETS SELECTED
046517,000175:                                                                                                  #  BITS    10,9 = NO. PITCH JETS USED TO PERFORM ROTATION
046518,000176:                                                                                                  #  BITS 8,7,6,5 = YAW, X-TRANSLATION JETS SELECTED
046519,000177:                                                                                                  #  BITS 12,11:  NO. YAW JETS USED TO PERFORM ROTATION
046520,000178: 
046521,000179:                                                                                                  #  ROT   TRANS   QUAD    BIAS
046522,000180: 17,2714           00000        PYTABLE            OCT      0                                     #  0     0               0
046523,000181: 17,2715           05125                           OCT      5125                                  #  +     0               0
046524,000182: 17,2716           05252                           OCT      5252                                  #  -     0               0
046525,000183: 17,2717           00231                           OCT      0231                                  #  0     +               3
046526,000184: 17,2720           02421                           OCT      2421                                  #  +     +               3
046527,000185: 17,2721           02610                           OCT      2610                                  #  -     +               3
046528,000186: 17,2722           00146                           OCT      0146                                  #  0     -               6
046529,000187: 17,2723           02504                           OCT      2504                                  #  +     -               6
046530,000188: 17,2724           02442                           OCT      2442                                  #  -     -               6
046531,000189: 17,2725           00000                           OCT      0                                     #  0             A(B)    9
046532,000190: 17,2726           02421                           OCT      2421                                  #  +             A(B)    9
046533,000191: 17,2727           02442                           OCT      2442                                  #  -             A(B)    9
046534,000192: 17,2730           00000                           OCT      0                                     #  0             C(D)    12
046535,000193: 17,2731           02504                           OCT      2504                                  #  +             C(D)    12
046536,000194: 17,2732           02610                           OCT      2610                                  #  -             C(D)    12
046537,000195: 
046538,000196:                                                                                                  #  MASKS FOR PITCH AND YAW COMMANDS
046539,000197: 
046540,000198: 17,2733           01417        PJETS              OCT      1417                                  
046541,000199: 17,2734           06360        YJETS              OCT      6360                                  
046542,000200: 
046543,000201:                                                                                                  #  TABLE LOOK UP FOR YAW COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT
046544,000202:                                                                                                  #  BITS 11, 12 CONTAIN THE NUMBER OF YAW JETS USED TO PERFORM THE YAW ROTATION
046545,000203: 
046546,000204: 17,2735           51514        TABYCOM            INDEX    XNDX2                                 
046547,000205: 17,2736           32660                           CA       XLNNDX                                
046548,000206: 17,2737           61521                           AD       YINDEX                                
046549,000207: 17,2740           50000                           INDEX    A                                     
046550,000208: 17,2741           32714                           CA       PYTABLE                               
046551,000209: 17,2742           72734                           MASK     YJETS                                 #  = 6360 OCT
046552,000210: 17,2743           55455                           TS       YWORD1                                
046553,000211: 17,2744           00006                           EXTEND                                         
046554,000212: 17,2745           75013                           MP       BIT5                                  
046555,000213: 17,2746           55524                           TS       NYJETS                                #  NO. OF YAW JETS USED TO PERFORM ROTATION
046556,000214: 

Page 1043

046558,000216:                                                                                                  #  ROLL COMMANDS  TIMING(NO Y,Z TRANS, NO QUAD FAILS)  45MCT
046559,000217: 
046560,000218: 17,2747           11561        RWORD              CCS      TAU                                   #  CHECK FOR ROLL COMMANDS
046561,000219: 17,2750           35017                           CAF      ONE                                   
046562,000220: 17,2751           12753                           TCF      +2                                    
046563,000221: 17,2752           35016                           CAF      TWO                                   
046564,000222: 17,2753           55517                           TS       RINDEX                                
046565,000223: 
046566,000224: 17,2754           11630                           CCS      ACORBD                                #  FLAG FOR AC OR BD QUAD SELECTION FOR
046567,000225: 17,2755           13046                           TCF      BDROLL                                #  ROLL COMMANDS
046568,000226: 17,2756           13046                           TCF      BDROLL                                #  +, +0 = BD ROLL
046569,000227: 17,2757           12760                           TCF      +1                                    #  -, -0 = AC ROLL
046570,000228: 
046571,000229: 17,2760           11626        ACROLL             CCS      RACFAIL                               #  CHECK FOR REAL FAILURES
046572,000230: 17,2761           12765                           TCF      RAFAIL                                #  ON AC QUADS
046573,000231: 17,2762           12775                           TCF      RXLNS                                 
046574,000232: 17,2763           12767                           TCF      RCFAIL                                
046575,000233: 17,2764           12775                           TCF      RXLNS                                 
046576,000234: 
046577,000235: 17,2765           34334        RAFAIL             CAF      NINE                                  #  QUAD FAILURE WILL GET
046578,000236: 17,2766           12777                           TCF      TABRCOM                               #  1-JET OPERATION
046579,000237: 17,2767           35771        RCFAIL             CAF      TWELVE                                
046580,000238: 17,2770           12777                           TCF      TABRCOM                               
046581,000239: 
046582,000240: 17,2771           00000        XLN1NDX            DEC      0          B-14                       
046583,000241: 17,2772           00001                           DEC      1          B-14                       #  INDECES FOR TRANSLATION
046584,000242: 17,2773           00002                           DEC      2          B-14                       
046585,000243: 17,2774           00000                           DEC      0          B-14                       
046586,000244: 
046587,000245:                                                                                                  #  TABLE LOOK UP FOR AC-ROLL COMMANDS WITH AND WITHOUT Y-TRANSLATION AND ACQUAD FAILURES PRESENT
046588,000246:                                                                                                  #  BITS 9,10,11 CONTAIN THE MAGNITUDE AND DIRECTION OF THE ROLL
046589,000247: 
046590,000248: 17,2775           51515        RXLNS              INDEX    YNDX                                  #  NO AC QUAD FAILURES
046591,000249: 17,2776           32660                           CA       XLNNDX                                #  INCLUDE +,-,0, Y-TRANSLATION
046592,000250: 17,2777           61517        TABRCOM            AD       RINDEX                                
046593,000251: 17,3000           50000                           INDEX    A                                     
046594,000252: 17,3001           33130                           CA       RTABLE                                
046595,000253: 17,3002           73147                           MASK     ACRJETS                               #  = 3760 OCT
046596,000254: 17,3003           55451                           TS       RWORD1                                
046597,000255: 
046598,000256:                                                                                                  #  CHECK FOR Z-TRANSLATIONS ON BD
046599,000257: 
046600,000258: 17,3004           31516        BDZCHECK           CA       ZNDX                                  
046601,000259: 17,3005           00006                           EXTEND                                         
046602,000260: 17,3006           63040                           BZMF     NOBDZ                                 #  NO Z-TRANSLATION
046603,000261: 

Page 1044

046605,000263:                                                                                                  #  TABLE LOOK UP FOR BD Z-TRANSLATION WITH AND WITHOUT REAL BD QUAD FAILURES.  Z-TRANSLATION WILL BE POSS-
046606,000264:                                                                                                  #  IBLE AS LONG AS ROLL COMMANDS CAN BE SATISFIED WITH THE AC ROLL JETS.  CRITERION.. IF THE RESULTANT NET ROLL
046607,000265:                                                                                                  #  COMMANDS = 0 (WITH Z-TRANSLATION) AND IF TAU = 0, THEN INCLUDE THE BD Z-TRANSLATION COMMANDS.  IF THE RESULTANT
046608,000266:                                                                                                  #  ROLL COMMAND = 0, AND IF TAU NZ, THEN IGNORE THE BD Z-TRANSLATION
046609,000267: 
046610,000268: 17,3007           11627                           CCS      RBDFAIL                               
046611,000269: 17,3010           36214                           CAF      THREE                                 
046612,000270: 17,3011           13013                           TCF      +2                                    
046613,000271: 17,3012           36211                           CAF      SIX                                   
046614,000272: 17,3013           51516                           INDEX    ZNDX                                  
046615,000273: 17,3014           62771                           AD       XLN1NDX                               
046616,000274: 17,3015           50000                           INDEX    A                                     
046617,000275: 17,3016           33151                           CA       YZTABLE                               
046618,000276: 17,3017           73162                           MASK     BDZJETS                               #  = 3417 OCT
046619,000277: 17,3020           61451                           AD       RWORD1                                #  ADD TO ROLL COMMANDS
046620,000278: 17,3021           55502                           TS       T5TEMP                                #  IF POSSIBLE.  MUST CHECK TAU FIRST
046621,000279: 
046622,000280: 17,3022           00006                           EXTEND                                         
046623,000281: 17,3023           75011                           MP       BIT7                                  #  DETERMINE THE NET ROLL COMMAND WITH
046624,000282: 17,3024           66061                           AD       =-4                                   #  Z-TRANSLATION ADDED ON
046625,000283: 17,3025           55522                           TS       NRJETS                                #  NET NO. OF +,- ROLL JETS ON
046626,000284: 17,3026           00006                           EXTEND                                         
046627,000285: 17,3027           13033                           BZF      TAUCHECK                              
046628,000286: 
046629,000287: 17,3030           31502        ACRBDZ             CA       T5TEMP                                #  Z-TRANSLATION ACCEPTED EVEN THO WE MAY
046630,000288: 17,3031           55451                           TS       RWORD1                                #  HAVE INTRODUCED AN UNDESIREABLE ROLL
046631,000289: 17,3032           13274                           TCF      ROLLTIME                              #  BRANCH TO JET ON-TIME CALCULATIONS
046632,000290: 
046633,000291: 17,3033           11561        TAUCHECK           CCS      TAU                                   
046634,000292: 17,3034           13040                           TCF      NOBDZ                                 
046635,000293: 17,3035           13030                           TCF      ACRBDZ                                
046636,000294: 17,3036           13040                           TCF      NOBDZ                                 
046637,000295: 17,3037           13030                           TCF      ACRBDZ                                
046638,000296: 
046639,000297: 17,3040           31451        NOBDZ              CA       RWORD1                                #  Z-TRANSLATION NOT ACCEPTED
046640,000298: 17,3041           00006                           EXTEND                                         
046641,000299: 17,3042           75011                           MP       BIT7                                  
046642,000300: 17,3043           67715                           AD       =-2                                   
046643,000301: 17,3044           55522                           TS       NRJETS                                
046644,000302: 17,3045           13274                           TCF      ROLLTIME                              #  BRANCH TO JET ON-TIME CALCULATION
046645,000303: 

Page 1045

046647,000305:                                                                                                  #  BD QUAD SELECTION FOR ROLL COMMANDS
046648,000306: 
046649,000307: 17,3046           11627        BDROLL             CCS      RBDFAIL                               
046650,000308: 17,3047           13053                           TCF      RBFAIL                                
046651,000309: 17,3050           13057                           TCF      RZXLNS                                
046652,000310: 17,3051           13055                           TCF      RDFAIL                                
046653,000311: 17,3052           13057                           TCF      RZXLNS                                
046654,000312: 17,3053           34334        RBFAIL             CAF      NINE                                  
046655,000313: 17,3054           13061                           TCF      TABRZCMD                              
046656,000314: 17,3055           35771        RDFAIL             CAF      TWELVE                                
046657,000315: 17,3056           13061                           TCF      TABRZCMD                              
046658,000316: 
046659,000317: 17,3057           51516        RZXLNS             INDEX    ZNDX                                  #  NO BD FAILURES
046660,000318: 17,3060           32660                           CA       XLNNDX                                #  +,-,0 Z-TRANSLATION PRESENT
046661,000319: 17,3061           61517        TABRZCMD           AD       RINDEX                                
046662,000320: 17,3062           50000                           INDEX    A                                     
046663,000321: 17,3063           33130                           CA       RTABLE                                
046664,000322: 17,3064           73150                           MASK     BDRJETS                               #  = 34017 OCT
046665,000323: 17,3065           55451                           TS       RWORD1                                
046666,000324: 
046667,000325: 17,3066           31515        ACYCHECK           CA       YNDX                                  #  ANY Y-TRANSLATION
046668,000326: 17,3067           00006                           EXTEND                                         
046669,000327: 17,3070           13122                           BZF      NOACY                                 #  NO Y-TRANSLATION
046670,000328: 17,3071           11626                           CCS      RACFAIL                               
046671,000329: 17,3072           36214                           CAF      THREE                                 
046672,000330: 17,3073           13075                           TCF      +2                                    
046673,000331: 17,3074           36211                           CAF      SIX                                   
046674,000332: 17,3075           51515                           INDEX    YNDX                                  
046675,000333: 17,3076           62771                           AD       XLN1NDX                               
046676,000334: 17,3077           50000                           INDEX    A                                     
046677,000335: 17,3100           33151                           CA       YZTABLE                               
046678,000336: 17,3101           73163                           MASK     ACYJETS                               #  = 34360 OCT
046679,000337: 17,3102           61451                           AD       RWORD1                                
046680,000338: 17,3103           55502                           TS       T5TEMP                                
046681,000339: 17,3104           00006                           EXTEND                                         #  FOR EXPLANATION SEE CODING ON RTABLE
046682,000340: 17,3105           75014                           MP       BIT4                                  
046683,000341: 17,3106           66061                           AD       =-4                                   
046684,000342: 17,3107           55522                           TS       NRJETS                                #  NO. OF NET ROLL JETS
046685,000343: 17,3110           00006                           EXTEND                                         
046686,000344: 17,3111           13115                           BZF      TAUCHCK                               #  IF NRJETS = 0
046687,000345: 
046688,000346: 17,3112           31502        BDRACZ             CA       T5TEMP                                #  Y-TRANSLATION ACCEPTED
046689,000347: 17,3113           55451                           TS       RWORD1                                
046690,000348: 17,3114           13274                           TCF      ROLLTIME                              #  BRANCH TO JET ON-TIME CALCULATIONS
046691,000349: 
046692,000350: 17,3115           11561        TAUCHCK            CCS      TAU                                   
046693,000351: 17,3116           13122                           TCF      NOACY                                 
046694,000352: 17,3117           13112                           TCF      BDRACZ                                
046695,000353: 17,3120           13122                           TCF      NOACY                                 
046696,000354: 17,3121           13112                           TCF      BDRACZ                                
046697,000355: 

Page 1046

046699,000357: 17,3122           31451        NOACY              CA       RWORD1                                #  Y-TRANSLATION NOT ACCEPTED
046700,000358: 17,3123           00006                           EXTEND                                         
046701,000359: 17,3124           75014                           MP       BIT4                                  
046702,000360: 17,3125           67715                           AD       =-2                                   
046703,000361: 17,3126           55522                           TS       NRJETS                                
046704,000362: 17,3127           13274                           TCF      ROLLTIME                              
046705,000363: 

Page 1047

046707,000365:                                                                                                  #                                TABLE FOR ROLL, Y AND Z-TRANSLATION COMMANDS
046708,000366: 
046709,000367:                                                                                                  #  EITHER AC OR BD ROLL MAY BE SELECTED.  IF AC ROLL IS SELECTED, Y-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY
046710,000368:                                                                                                  #  PROVIDED THAT THERE ARE NO AC QUAD FAILURES.  IF THERE ARE AC FAILURES, Y-TRANSLATION COMMANDS WILL BE IGNORED,
046711,000369:                                                                                                  #  IN WHICH CASE THE ASTRONAUT SHOULD SWITCH TO BD ROLL.
046712,000370: 
046713,000371:                                                                                                  #  IF BDROLL IS SELECTED, Z-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY PROVIDED THAT THERE ARE NO BD QUAD
046714,000372:                                                                                                  #  FAILURES.  IF THERE ARE BD FAILURES, Z-TRANSLATION COMMANDS WILL BE IGNORED, IN WHICH CASE THE ASTRONAUT SHOULD
046715,000373:                                                                                                  #  SWITCH TO AC ROLL.
046716,000374: 
046717,000375:                                                                                                  #  NOTE THAT IF ONE QUAD FAILS (E.G. B FAILED), Z-TRANSLATION IS STILL POSSIBLE AND THAT THE UNDESIREABLE ROLL
046718,000376:                                                                                                  #  INTRODUCED BY THIS TRANSLATION WILL BE COMPENSATED BY THE TWO AC ROLL JETS ACTUATED BY THE AUTOPILOT LOGIC.
046719,000377: 
046720,000378:                                                                                                  #                                           WORD MAKE UP....RTABLE
046721,000379: 
046722,000380:                                                                                                  #  TWO WORDS, CORRESPONDING TO AC OR BD ROLL SELECTION, HAVE BEEN COMBINED INTO ONE TABLE.  THE WORD CORRESPOND-
046723,000381:                                                                                                  #  ING TO AC ROLL HAS THE FOLLOWING INTERPRETATION..
046724,000382: 
046725,000383:                                                                                                  #        BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE FOR THE WORD SELECTED.  THE CODING IS..
046726,000384: 
046727,000385:                                                                                                  #                BIT NO. 11  10   9              NO. OF ROLL JETS
046728,000386: 
046729,000387:                                                                                                  #                         0   0   0                      -2
046730,000388:                                                                                                  #                         0   0   1                      -1
046731,000389:                                                                                                  #                         0   1   0                       0
046732,000390:                                                                                                  #                         0   1   1                      +1
046733,000391:                                                                                                  #                         1   0   0                      +2
046734,000392: 
046735,000393:                                                                                                  #  THIS WORD MAY THEN BE ADDED TO THE WORD SELECTED FROM THE YZ-TRANSLATION TABLE, WHICH HAS THE SAME TYPE OF
046736,000394:                                                                                                  #  CODING AS ABOVE, AND THE NET ROLL DETERMINED BY SHIFTING THE RESULTANT WORD RIGHT 8 PLACES AND SUBTRACTING FOUR.
046737,000395: 
046738,000396:                                                                                                  #  THE WORD CORRESPONDING TO BD ROLL HAS A SIMILIAR INTERPRETATION, EXCEPT THAT BITS 12, 13, 14 ARE CODED
046739,000397:                                                                                                  #  (AS ABOVE) TO GIVE THE NET ROLL TORQUE.
046740,000398: 
046741,000399:                                                                                                  #  ROLL          TRANS           QUADFAIL        BIAS
046742,000400: 
046743,000401: 17,3130           11000        RTABLE             OCT      11000                                 #    0                                             0
046744,000402: 17,3131           22125                           OCT      22125                                 #    +                                             0
046745,000403: 17,3132           00252                           OCT      00252                                 #    -                                             0
046746,000404: 17,3133           11231                           OCT      11231                                 #    0           +Y(+Z)                            3
046747,000405: 17,3134           15421                           OCT      15421                                 #    +           +Y(+Z)                            3
046748,000406: 17,3135           04610                           OCT      04610                                 #    -           +Y(+Z)                            3
046749,000407: 17,3136           11146                           OCT      11146                                 #    0           -Y(-Z)                            6
046750,000408: 17,3137           15504                           OCT      15504                                 #    +           -Y(-Z)                            6
046751,000409: 17,3140           04442                           OCT      04442                                 #    -           -Y(-Z)                            6
046752,000410: 17,3141           11000                           OCT      11000                                 #    0                             A(B)            9
046753,000411: 17,3142           15504                           OCT      15504                                 #    +                             A(B)            9
046754,000412: 17,3143           04610                           OCT      04610                                 #    -                             A(B)            9
046755,000413: 17,3144           11000                           OCT      11000                                 #    0                             C(D)           12
046756,000414: 17,3145           15421                           OCT      15421                                 #    +                             C(D)           12
046757,000415: 17,3146           04442                           OCT      04442                                 #    -                             C(D)           12
046758,000416: 

Page 1048

046760,000418:                                                                                                  #  RTABLE MASKS-
046761,000419: 
046762,000420: 17,3147           03760        ACRJETS            OCT      03760                                 
046763,000421: 17,3150           34017        BDRJETS            OCT      34017                                 
046764,000422: 

Page 1049

046766,000424:                                                                                                  #                                         Y, Z TRANSLATION TABLE
046767,000425: 
046768,000426:                                                                                                  #     ONCE AC OR BD ROLL IS SELECTED THE QUAD PAIR WHICH IS NOT BEING USED TO SATISFY THE ROLL COMMANDS MAY BE
046769,000427:                                                                                                  #  USED TO SATISFY THE REMAINING TRANSLATION COMMANDS.  HOWEVER, WE MUST MAKE SURE THAT ROLL COMMANDS ARE SATISFIED
046770,000428:                                                                                                  #  WHEN THEY OCCUR.  THEREFORE, THE Y-Z TRANSLATIONS FROM THIS TABLE WILL BE IGNORED IF THE NET ROLL TORQUE OF THE
046771,000429:                                                                                                  #  COMBINED WORD IS ZERO AND THE ROLL COMMANDS ARE NON-ZERO.  THIS SITUATION WOULD OCCUR, FOR EXAMPLE, IF WE EN-
046772,000430:                                                                                                  #  COUNTER SIMULTANEOUS +R +Y -Z COMMANDS AND A QUAD D FAILURE WHILE USING AC FOR ROLL.
046773,000431:                                                                                                  #     TO FACILITATE THE LOGIC, THE Y-Z TRANSLATION TABLE HAS BEEN CODED IN A MANNER SIMILIAR TO THE ROLL TABLE
046774,000432:                                                                                                  #  ABOVE.
046775,000433:                                                                                                  #     BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Z-TRANSLATIONS.  THE WORD SELECTED CAN THEN BE
046776,000434:                                                                                                  #  ADDED TO THE AC-ROLL WORD AND THE RESULTANT ROLL TORQUE DETERMINED FROM THE COMBINED WORD.  SIMILIARLY BITS
046777,000435:                                                                                                  #  12,13,14 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Y-TRANSLATIONS WHEN BD-ROLL IS SELECTED.
046778,000436: 
046779,000437:                                                                                                  #  TRANSLATION   QUADFAIL        BIAS
046780,000438: 
046781,000439: 17,3151           11000        YZTABLE            OCT      11000                                 #        0                       0
046782,000440: 17,3152           11231                           OCT      11231                                 #     +Z(+Y)                     0
046783,000441: 17,3153           11146                           OCT      11146                                 #     -Z(-Y)                     0
046784,000442: 17,3154           11000                           OCT      11000                                 #        0         B(A)          3
046785,000443: 17,3155           04610                           OCT      04610                                 #     +Z(+Y)       B(A)          3
046786,000444: 17,3156           15504                           OCT      15504                                 #     -Z(-Y)       B(A)          3
046787,000445: 17,3157           11000                           OCT      11000                                 #        0         D(C)          6
046788,000446: 17,3160           15421                           OCT      15421                                 #     +Z(+Y)       D(C)          6
046789,000447: 17,3161           04442                           OCT      04442                                 #     -Z(-Y)       D(C)          6
046790,000448: 
046791,000449:                                                                                                  #  YZ-TABLE MASKS-
046792,000450: 
046793,000451: 17,3162           03417        BDZJETS            OCT      03417                                 
046794,000452: 17,3163           34360        ACYJETS            OCT      34360                                 
046795,000453: 
046796,000454:                                                                                                  #  ADDITIONAL CONSTANTS
046797,000455: 
046798,000456: 17,3164     7715               =-2                =        NEG2                                  
046799,000457: 17,3164     6061               =-4                =        NEG4                                  
046800,000458: 

Page 1050

046802,000460:                                                                                                  #                                        CALCULATION OF JET ON-TIMES
046803,000461: 
046804,000462:                                                                                                  #     THE ROTATION COMMANDS (TAU:S), WHICH WERE DETERMINED FROM THE JET SWITCHING LOGIC ON THE BASIS OF SINGLE JET
046805,000463:                                                                                                  #  OPERATION, MUST NOW BE UPDATED BY THE ACTUAL NUMBER OF JETS TO BE USED IN SATISFYING THESE COMMANDS.  TAU MUST
046806,000464:                                                                                                  #  ALSO BE DECREMENTED ACCORDING TO THE EXPECTED TORQUE GENERATED BY THE NEW COMMANDS ACTING OVER THE NEXT T5 INT-
046807,000465:                                                                                                  #  ERVAL.
046808,000466:                                                                                                  #     IN ORDER TO MAINTAIN ACCURATE KNOWLEDGE OF VEHICLE ANGULAR RATES, WE MUST ALSO PROVIDE EXPECTED FIRING TIMES
046809,000467:                                                                                                  #  (DFT:S, ALSO IN TERMS OF 1-JET OPERATION) FOR THE RATE FILTER.
046810,000468:                                                                                                  #     NOTE THAT TRANSLATIONS CAN PRODUCE ROTATIONS EVEN THOUGH NO ROTATIONS WERE CALLED FOR.  NEVERTHELESS, WE MUST
046811,000469:                                                                                                  #  UPDATE DFT.
046812,000470:                                                                                                  #     WHEN THE ROTATIONS HAVE FINISHED, WE MUST PROVIDE CHANNEL INFORMATION TO THE T6 PROGRAM TO CONTINUE ON WITH
046813,000471:                                                                                                  #  THE TRANSLATIONS.  THIS WILL BE DONE IN THE NEXT SECTION.  HOWEVER, TO INSURE THAT JETS ARE NOT FIRED FOR LESS
046814,000472:                                                                                                  #  THAN A MINIMUM IMPULSE (14MS), ALL JET CHANNEL COMMANDS WILL BE HELD FIXED FROM THE START OF THE T5 PROGRAM FOR
046815,000473:                                                                                                  #  AT LEAST 14MS UNTIL THE INITIALIZATION OF NEW COMMANDS.  MOREOVER, A 14MS ON-TIME WILL BE ADDED TO ANY ROTATIONAL
046816,000474:                                                                                                  #  COMMANDS GENERATED BY THE MANUAL CONTROLS OR THE JET SWITCHING LOGIC, AND ALL TRANSLATION COMMANDS WILL BE
046817,000475:                                                                                                  #  ACTIVE FOR AT LEAST ONE CYCLE OF THE T5 PROGRAM (.1SEC)
046818,000476: 
046819,000477:                                                                                                  #           PITCH JET ON-TIME CALCULATION
046820,000478: 
046821,000479: 17,3164           11562        PITCHTIM           CCS      TAU1                                  
046822,000480: 17,3165           13174                           TCF      PTAUPOS                               
046823,000481: 17,3166           13170                           TCF      +2                                    
046824,000482: 17,3167           13172                           TCF      PTAUNEG                               
046825,000483: 17,3170           55550                           TS       DFT1                                  #  NO PITCH ROTATION
046826,000484: 17,3171           13372                           TCF      PBYPASS                               #  COMMANDS
046827,000485: 
046828,000486: 17,3172           41523        PTAUNEG            CS       NPJETS                                
046829,000487: 17,3173           55523                           TS       NPJETS                                
046830,000488: 17,3174           31562        PTAUPOS            CA       TAU1                                  
046831,000489: 17,3175           00006                           EXTEND                                         
046832,000490: 17,3176           51523                           INDEX    NPJETS                                
046833,000491: 17,3177           73353                           MP       NJET                                  
046834,000492: 17,3200           55461                           TS       BLAST1                                
046835,000493: 17,3201           63306                           AD       =-.1SEC                               
046836,000494: 17,3202           00006                           EXTEND                                         
046837,000495: 17,3203           63214                           BZMF     AD14MSP                               
046838,000496: 17,3204           51523                           INDEX    NPJETS                                
046839,000497: 17,3205           33307                           CA       DFTMAX                                #  THE PITCH ON-TIME IS GREATER THAN .1 SEC
046840,000498: 17,3206           55550                           TS       DFT1                                  
046841,000499: 17,3207           40000                           COM                                            
046842,000500: 17,3210           27562                           ADS      TAU1                                  #  UPDATE TAU1
046843,000501: 17,3211           33310                           CAF      =+.1SEC                               #  LIMIT THE LENGTH OF PITCH ROTATION
046844,000502: 17,3212           55461                           TS       BLAST1                                #  COMMANDS TO 0.1 SEC SO THAT ONLY
046845,000503: 17,3213           13357                           TCF      ASMBLWP                               #  X-TRANSLATIONS WILL CONTINUE ON SWITCH
046846,000504:                                                                                                  #  OVER TO TVC
046847,000505: 17,3214           41461        AD14MSP            CS       BLAST1                                #  SEE IF JET ON TIME LESS THAN
046848,000506: 17,3215           63313                           AD       =14MS                                 #  MINIMUM IMPULSE TIME
046849,000507: 17,3216           00006                           EXTEND                                         
046850,000508: 17,3217           63222                           BZMF     PBLASTOK                              #  IF SO LIMIT MINIMUM ON TIME TO 14 MS
046851,000509: 17,3220           33313                           CAF      =14MS                                 

Page 1051

046853,000511: 17,3221           55461                           TS       BLAST1                                
046854,000512: 17,3222           31461        PBLASTOK           CA       BLAST1                                
046855,000513: 17,3223           00006                           EXTEND                                         #  THE PITCH COMMANDS WILL BE COMPLETED
046856,000514: 17,3224           71523                           MP       NPJETS                                #  WITHIN THE TS-CYCLE TIME
046857,000515: 17,3225           23550                           LXCH     DFT1                                  #  FOR USE IN UPDATING RATE FILTER
046858,000516: 17,3226           55562                           TS       TAU1                                  #  ZERO TAU1 (ACC CONTAINS ZERO)
046859,000517: 17,3227           13357                           TCF      ASMBLWP                               
046860,000518: 

Page 1052

046862,000520:                                                                                                  #  YAW JET ON-TIME CALCULATION
046863,000521: 
046864,000522: 17,3230           11563        YAWTIME            CCS      TAU2                                  
046865,000523: 17,3231           13240                           TCF      YTAUPOS                               
046866,000524: 17,3232           13234                           TCF      +2                                    
046867,000525: 17,3233           13236                           TCF      YTAUNEG                               
046868,000526: 17,3234           55551                           TS       DFT2                                  #  NO YAW ROTATION COMMANDS
046869,000527: 17,3235           13536                           TCF      YBYPASS                               
046870,000528: 
046871,000529: 17,3236           41524        YTAUNEG            CS       NYJETS                                
046872,000530: 17,3237           55524                           TS       NYJETS                                
046873,000531: 17,3240           31563        YTAUPOS            CA       TAU2                                  
046874,000532: 17,3241           00006                           EXTEND                                         
046875,000533: 17,3242           51524                           INDEX    NYJETS                                
046876,000534: 17,3243           73353                           MP       NJET                                  
046877,000535: 17,3244           55463                           TS       BLAST2                                
046878,000536: 17,3245           63306                           AD       =-.1SEC                               
046879,000537: 17,3246           00006                           EXTEND                                         
046880,000538: 17,3247           63260                           BZMF     AD14MSY                               
046881,000539: 17,3250           51524                           INDEX    NYJETS                                
046882,000540: 17,3251           33307                           CA       DFTMAX                                #  YAW COMMANDS WILL LAST LONGER THAN .1SEC
046883,000541: 17,3252           55551                           TS       DFT2                                  
046884,000542: 17,3253           40000                           COM                                            
046885,000543: 17,3254           27563                           ADS      TAU2                                  #  DECREMENT TAU2
046886,000544: 17,3255           33310                           CAF      =+.1SEC                               #  LIMIT THE LENGTH OF YAW ROTATION COMMAND
046887,000545: 17,3256           55463                           TS       BLAST2                                #  TO 0.1 SEC SO THAT ONLY X-TRANSLATION
046888,000546: 17,3257           13523                           TCF      ASMBLWY                               #  WILL CONTINUE ON SWITCH OVER TO TVC
046889,000547: 
046890,000548: 17,3260           41463        AD14MSY            CS       BLAST2                                #  SEE IF JET ON-TIME LESS THAN
046891,000549: 17,3261           63313                           AD       =14MS                                 #  MINIMUM IMPULSE TIME
046892,000550: 17,3262           00006                           EXTEND                                         
046893,000551: 17,3263           63266                           BZMF     YBLASTOK                              #  IF SO, LIMIT MINIMUM ON-TIME TO 14 MS
046894,000552: 17,3264           33313                           CAF      =14MS                                 
046895,000553: 17,3265           55463                           TS       BLAST2                                
046896,000554: 17,3266           31463        YBLASTOK           CA       BLAST2                                #  YAW COMMANDS WILL BE COMPLETED WITHIN
046897,000555: 17,3267           00006                           EXTEND                                         #  THE T5CYCLE TIME
046898,000556: 17,3270           71524                           MP       NYJETS                                
046899,000557: 17,3271           23551                           LXCH     DFT2                                  
046900,000558: 17,3272           55563                           TS       TAU2                                  #  ZERO TAU2
046901,000559: 17,3273           13523                           TCF      ASMBLWY                               
046902,000560: 

Page 1053

046904,000562:                                                                                                  #  ROLL ON-TIME CALCULATION-
046905,000563: 
046906,000564: 17,3274           11561        ROLLTIME           CCS      TAU                                   
046907,000565: 17,3275           13314                           TCF      RBLAST                                
046908,000566: 17,3276           13300                           TCF      +2                                    
046909,000567: 17,3277           13314                           TCF      RBLAST                                
046910,000568: 17,3300           51522                           INDEX    NRJETS                                
046911,000569: 17,3301           33307                           CA       DFTMAX                                #  UPDATE DFT EVEN THO NO ROLL COMMANDS ARE
046912,000570: 17,3302           55547                           TS       DFT                                   #  PRESENT
046913,000571: 17,3303           13516                           TCF      RBYPASS                               
046914,000572: 
046915,000573: 17,3304           77037                           DEC      -480       B-14                       #  =-.3SEC
046916,000574: 17,3305           77277                           DEC      -320       B-14                       #  =-.2SEC
046917,000575: 17,3306           77537        =-.1SEC            DEC      -160       B-14                       #  =-.1SEC
046918,000576: 17,3307           00000        DFTMAX             DEC      0          B-14                       #  0
046919,000577: 17,3310           00240        =+.1SEC            DEC      160        B-14                       #  =+.1SEC
046920,000578: 17,3311           00500                           DEC      320        B-14                       #  =+.2SEC
046921,000579: 17,3312           00740                           DEC      480        B-14                       #  =+.3SEC
046922,000580: 17,3313           00027        =14MS              DEC      23         B-14                       #  =14MS
046923,000581: 
046924,000582: 17,3314           31561        RBLAST             CA       TAU                                   
046925,000583: 17,3315           00006                           EXTEND                                         
046926,000584: 17,3316           51522                           INDEX    NRJETS                                
046927,000585: 17,3317           73353                           MP       NJET                                  
046928,000586: 17,3320           55457                           TS       BLAST                                 #  BLAST IS AN INTERMEDIATE VARIABLE
046929,000587:                                                                                                  #  USED IN DETERMINING THE JET ON-TIMES
046930,000588: 17,3321           63306                           AD       =-.1SEC                               
046931,000589: 17,3322           00006                           EXTEND                                         
046932,000590: 17,3323           63334                           BZMF     AD14MSR                               
046933,000591: 17,3324           51522                           INDEX    NRJETS                                #  THE ROLL ROTATION WILL LAST LONGER
046934,000592: 17,3325           33307                           CA       DFTMAX                                #  THAN THE T5 CYCLE TIME
046935,000593: 17,3326           55547                           TS       DFT                                   
046936,000594: 17,3327           40000                           COM                                            
046937,000595: 17,3330           27561                           ADS      TAU                                   
046938,000596: 17,3331           33310                           CAF      =+.1SEC                               #  LIMIT THE LENGTH OF ROLL ROTATION
046939,000597: 17,3332           55457                           TS       BLAST                                 #  COMMANDS TO 0.1 SEC SO THAT ONLY Y-Z
046940,000598: 17,3333           13377                           TCF      ASMBLWR                               #  TRANSLATION COMMANDS CONTINUE
046941,000599: 
046942,000600: 17,3334           41457        AD14MSR            CS       BLAST                                 #  SEE IF THE JET ON-TIME LESS THAN
046943,000601: 17,3335           63313                           AD       =14MS                                 #  MINIMUM IMPULSE TIME
046944,000602: 17,3336           00006                           EXTEND                                         
046945,000603: 17,3337           63342                           BZMF     RBLASTOK                              
046946,000604: 17,3340           33313                           CAF      =14MS                                 #  IF SO, LIMIT MINIMUM ON-TIME TO 14 MS
046947,000605: 17,3341           55457                           TS       BLAST                                 
046948,000606: 17,3342           31457        RBLASTOK           CA       BLAST                                 
046949,000607: 17,3343           00006                           EXTEND                                         
046950,000608: 17,3344           71522                           MP       NRJETS                                
046951,000609: 17,3345           23547                           LXCH     DFT                                   
046952,000610: 17,3346           55561                           TS       TAU                                   #  ZERO TAU
046953,000611: 17,3347           13377                           TCF      ASMBLWR                               
046954,000612: 

Page 1054

046956,000614: 17,3350           65252                           DEC      -.333333                              #  = -1/3
046957,000615: 17,3351           57777                           DEC      -.500000                              #  = -1/2
046958,000616: 17,3352           40000                           DEC      -.999999                              #  = -1 (NEGMAX)
046959,000617: 17,3353           00000        NJET               DEC      0          B-14                       
046960,000618: 17,3354           37777                           DEC      .999999                               #  = +1 (POSMAX)
046961,000619: 17,3355           20000                           DEC      .500000                               #  = +1/2
046962,000620: 17,3356           12525                           DEC      .333333                               #  = +1/3
046963,000621: 

Page 1055

046965,000623:                                                                                                  #  WHEN THE ROTATION COMMANDS ARE COMPLETED, IT IS NECESSARY TO REPLACE THESE COMMANDS BY NEW COMMANDS WHICH
046966,000624:                                                                                                  #  CONTINUE ON WITH THE TRANSLATIONS IF ANY ARE PRESENT.
046967,000625: 
046968,000626:                                                                                                  #  IN THIS SECTION THESE NEW COMMANDS ARE GENERATED AND STORED FOR REPLACEMENT OF THE CHANNEL COMMANDS WHEN THE
046969,000627:                                                                                                  #  CORRESPONDING ROTATIONS ARE COMPLETED.
046970,000628: 
046971,000629:                                                                                                  #  GENERATION OF THE SECOND PITCH(X-TRANS) WORD...PWORD2
046972,000630: 
046973,000631: 17,3357           11626        ASMBLWP            CCS      RACFAIL                               
046974,000632: 17,3360           13366                           TCF      FPX2                                  #  IF FAILURE ON AC IGNORE X-TRANSLATION
046975,000633: 17,3361           13363                           TCF      +2                                    
046976,000634: 17,3362           13366                           TCF      FPX2                                  
046977,000635: 17,3363           51513                           INDEX    XNDX1                                 
046978,000636: 17,3364           32660                           CA       XLNNDX                                
046979,000637: 17,3365           50000                           INDEX    A                                     
046980,000638: 17,3366           32714        FPX2               CA       PYTABLE                               
046981,000639: 17,3367           72733                           MASK     PJETS                                 
046982,000640: 17,3370           55454                           TS       PWORD2                                
046983,000641: 17,3371           13230                           TCF      YAWTIME                               
046984,000642: 
046985,000643: 17,3372           31453        PBYPASS            CA       PWORD1                                #  THE T6 PROGRAM WILL LOAD PWORD2
046986,000644: 17,3373           55454                           TS       PWORD2                                #  UPON ENTRY
046987,000645: 17,3374           35021                           CAF      ZERO                                  
046988,000646: 17,3375           55461                           TS       BLAST1                                #  THERE IS NO PWORD2
046989,000647: 17,3376           13230                           TCF      YAWTIME                               
046990,000648: 

Page 1056

046992,000650:                                                                                                  #  GENERATION OF THE SECOND ROLL (Y,Z) WORD (RWORD2)
046993,000651: 
046994,000652: 17,3377           11515        ASMBLWR            CCS      YNDX                                  #  CHECK FOR Y-TRANS
046995,000653: 17,3400           13410                           TCF      ACBD2Y                                
046996,000654: 17,3401           35021        NO2Y               CAF      ZERO                                  
046997,000655: 17,3402           55452                           TS       RWORD2                                
046998,000656: 17,3403           11516                           CCS      ZNDX                                  #  CHECK FOR Z-TRANS
046999,000657: 17,3404           13453                           TCF      ACBD2Z                                
047000,000658: 17,3405           35021        NO2Z               CAF      ZERO                                  
047001,000659: 17,3406           27452                           ADS      RWORD2                                
047002,000660: 17,3407           13164                           TCF      PITCHTIM                              #  RWORD2 ASSEMBLED
047003,000661: 
047004,000662: 17,3410           11630        ACBD2Y             CCS      ACORBD                                
047005,000663: 17,3411           13426                           TCF      AC2Y                                  #  CAN DO Y-TRANS
047006,000664: 17,3412           13426                           TCF      AC2Y                                  
047007,000665: 17,3413           13414                           TCF      +1                                    #  USING AC FOR ROLL
047008,000666: 17,3414           11626                           CCS      RACFAIL                               
047009,000667: 17,3415           13401                           TCF      NO2Y                                  #  USING AC AND AC HAS FAILED
047010,000668: 17,3416           13420                           TCF      +2                                    
047011,000669: 17,3417           13401                           TCF      NO2Y                                  #  DITTO
047012,000670: 
047013,000671: 17,3420           51515                           INDEX    YNDX                                  #  NO FAILURES, CAN DO Y
047014,000672: 17,3421           32660                           CA       XLNNDX                                
047015,000673: 17,3422           50000                           INDEX    A                                     
047016,000674: 17,3423           33130                           CA       RTABLE                                
047017,000675: 17,3424           73147                           MASK     ACRJETS                               
047018,000676: 17,3425           13402                           TCF      NO2Y       +1                         
047019,000677: 
047020,000678: 17,3426           11626        AC2Y               CCS      RACFAIL                               
047021,000679: 17,3427           36214                           CAF      THREE                                 
047022,000680: 17,3430           13432                           TCF      +2                                    
047023,000681: 17,3431           36211                           CAF      SIX                                   
047024,000682: 17,3432           51515                           INDEX    YNDX                                  
047025,000683: 17,3433           62771                           AD       XLN1NDX                               
047026,000684: 17,3434           50000                           INDEX    A                                     
047027,000685: 17,3435           33151                           CA       YZTABLE                               
047028,000686: 17,3436           73163                           MASK     ACYJETS                               
047029,000687: 17,3437           55452                           TS       RWORD2                                
047030,000688: 17,3440           00006                           EXTEND                                         
047031,000689: 17,3441           75014                           MP       BIT4                                  
047032,000690: 17,3442           67715                           AD       =-2                                   
047033,000691: 17,3443           55522                           TS       NRJETS                                
047034,000692: 17,3444           41457                           CS       BLAST                                 
047035,000693: 17,3445           63310                           AD       =+.1SEC                               
047036,000694: 17,3446           00006                           EXTEND                                         
047037,000695: 17,3447           71522                           MP       NRJETS                                
047038,000696: 17,3450           30001                           CA       L                                     
047039,000697: 17,3451           27547                           ADS      DFT                                   
047040,000698: 17,3452           13403                           TCF      NO2Y       +2                         

Page 1057

047042,000700: 17,3453           11630        ACBD2Z             CCS      ACORBD                                
047043,000701: 17,3454           13504                           TCF      BDF2Z                                 #  USING BD-ROLL
047044,000702: 17,3455           13504                           TCF      BDF2Z                                 #  MUST CHECK FOR BD FAILURES
047045,000703: 17,3456           13457                           TCF      +1                                    
047046,000704: 17,3457           11627                           CCS      RBDFAIL                               #  USING AC FOR ROLL, CAN DO Z-TRANS
047047,000705: 17,3460           36214                           CAF      THREE                                 
047048,000706: 17,3461           13463                           TCF      +2                                    
047049,000707: 17,3462           36211                           CAF      SIX                                   
047050,000708: 17,3463           51516                           INDEX    ZNDX                                  
047051,000709: 17,3464           62771                           AD       XLN1NDX                               
047052,000710: 17,3465           50000                           INDEX    A                                     
047053,000711: 17,3466           33151                           CA       YZTABLE                               
047054,000712: 17,3467           73162                           MASK     BDZJETS                               
047055,000713: 17,3470           27452                           ADS      RWORD2                                
047056,000714: 17,3471           00006                           EXTEND                                         
047057,000715: 17,3472           75011                           MP       BIT7                                  
047058,000716: 17,3473           67715                           AD       =-2                                   
047059,000717: 17,3474           55522                           TS       NRJETS                                
047060,000718: 17,3475           41457                           CS       BLAST                                 
047061,000719: 17,3476           63310                           AD       =+.1SEC                               
047062,000720: 17,3477           00006                           EXTEND                                         
047063,000721: 17,3500           71522                           MP       NRJETS                                
047064,000722: 17,3501           30001                           CA       L                                     
047065,000723: 17,3502           27547                           ADS      DFT                                   
047066,000724: 17,3503           13164                           TCF      PITCHTIM                              
047067,000725: 
047068,000726: 17,3504           11627        BDF2Z              CCS      RBDFAIL                               
047069,000727: 17,3505           13405                           TCF      NO2Z                                  #  USING BD-ROLL AND BD HAS FAILED
047070,000728: 17,3506           13510                           TCF      +2                                    
047071,000729: 17,3507           13405                           TCF      NO2Z                                  #  DITTO
047072,000730: 17,3510           51516                           INDEX    ZNDX                                  
047073,000731: 17,3511           32660                           CA       XLNNDX                                
047074,000732: 17,3512           50000                           INDEX    A                                     
047075,000733: 17,3513           33130                           CA       RTABLE                                
047076,000734: 17,3514           73150                           MASK     BDRJETS                               
047077,000735: 17,3515           13406                           TCF      NO2Z       +1                         
047078,000736: 
047079,000737: 17,3516           31451        RBYPASS            CA       RWORD1                                
047080,000738: 17,3517           55452                           TS       RWORD2                                
047081,000739: 17,3520           35021                           CAF      ZERO                                  
047082,000740: 17,3521           55457                           TS       BLAST                                 
047083,000741: 17,3522           13164                           TCF      PITCHTIM                              
047084,000742: 

Page 1058

047086,000744:                                                                                                  #  GENERATION OF THE SECOND YAW (X-TRANS) WORD...YWORD2
047087,000745: 
047088,000746: 17,3523           11627        ASMBLWY            CCS      RBDFAIL                               
047089,000747: 17,3524           13532                           TCF      FYX2                                  #  IF FAILURE ON BD IGNORE X-TRANSLATION
047090,000748: 17,3525           13527                           TCF      +2                                    
047091,000749: 17,3526           13532                           TCF      FYX2                                  
047092,000750: 17,3527           51514                           INDEX    XNDX2                                 
047093,000751: 17,3530           32660                           CA       XLNNDX                                
047094,000752: 17,3531           50000                           INDEX    A                                     
047095,000753: 17,3532           32714        FYX2               CA       PYTABLE                               
047096,000754: 17,3533           72734                           MASK     YJETS                                 
047097,000755: 17,3534           55456                           TS       YWORD2                                
047098,000756: 17,3535           13542                           TCF      T6SETUP                               
047099,000757: 
047100,000758: 17,3536           31455        YBYPASS            CA       YWORD1                                
047101,000759: 17,3537           55456                           TS       YWORD2                                
047102,000760: 17,3540           35021                           CAF      ZERO                                  
047103,000761: 17,3541           55463                           TS       BLAST2                                
047104,000762: 

Page 1059

047106,000764:                                                                                                  #                                        SORT THE JET ON-TIMES
047107,000765: 
047108,000766:                                                                                                  #  AT THIS POINT ALL THE CHANNEL COMMANDS AND JET ON-TIMES HAVE BEEN DETERMINED.  IN SUMMARY THESE ARE-
047109,000767: 
047110,000768:                                                                                                  #        RWORD1
047111,000769:                                                                                                  #        RWORD2          BLAST
047112,000770: 
047113,000771:                                                                                                  #        PWORD1
047114,000772:                                                                                                  #        PWORD2          BLAST1
047115,000773: 
047116,000774:                                                                                                  #        YWORD1
047117,000775:                                                                                                  #        YWORD2          BLAST2
047118,000776: 
047119,000777:                                                                                                  #  IN THIS SECTION THE JET ON-TIMES ARE SORTED AND THE SEQUENCE OF T6 INTERRUPTS IS DETERMINED.  TO FACILITATE
047120,000778:                                                                                                  #  THE SORTING PROCESS AND THE T6 PROGRAM, THE VARIABLES BLAST, BLAST1, BLAST2, ARE RESERVED AS DOUBLE PRECISION
047121,000779:                                                                                                  #  WORDS.  THE LOWER PART OF THESE WORDS CONTAIN A BRANCH INDEX ASSOCIATED WITH THE ROTATION AXIS OF THE HIGHER
047122,000780:                                                                                                  #  ORDER WORD.
047123,000781: 
047124,000782: 17,3542           35021        T6SETUP            CAF      ZERO                                  #  BRANCH INDEX FOR ROLL
047125,000783: 17,3543           55460                           TS       BLAST      +1                         
047126,000784: 17,3544           35015                           CAF      FOUR                                  #  BRANCH INDEX FOR PITCH
047127,000785: 17,3545           55462                           TS       BLAST1     +1                         
047128,000786: 17,3546           35024                           CAF      ELEVEN                                #  BRANCH INDEX FOR YAW
047129,000787: 17,3547           55464                           TS       BLAST2     +1                         
047130,000788: 
047131,000789: 17,3550           41457                           CS       BLAST                                 
047132,000790: 17,3551           61461                           AD       BLAST1                                
047133,000791: 17,3552           00006                           EXTEND                                         
047134,000792: 17,3553           63577                           BZMF     DXCHT12                               #  T1 GR T2
047135,000793: 17,3554           41461        CHECKT23           CS       BLAST1                                
047136,000794: 17,3555           61463                           AD       BLAST2                                
047137,000795: 17,3556           00006                           EXTEND                                         
047138,000796: 17,3557           63603                           BZMF     DXCHT23                               
047139,000797: 17,3560           41461        CALCDT6            CS       BLAST1                                
047140,000798: 17,3561           27463                           ADS      BLAST2                                
047141,000799: 17,3562           41457                           CS       BLAST                                 
047142,000800: 17,3563           27461                           ADS      BLAST1                                #  END OF SORTING PROCEDURE
047143,000801: 17,3564           00006                           EXTEND                                         #  RESET T5LOC TO BEGIN PHASE1
047144,000802: 17,3565           33576                           DCA      RCS2CADR                              
047145,000803: 17,3566           53313                           DXCH     T5LOC                                 
047146,000804: 17,3567           45017        ENDJETS            CS       BIT1                                  #  RESET BIT1 FOR INITIALIZATION OF
047147,000805: 17,3570           71501                           MASK     RCSFLAGS                              #  T6 PROGRAM
047148,000806: 17,3571           55501                           TS       RCSFLAGS                              
047149,000807: 17,3572           45021                           CS       ZERO                                  #  RESET T5PHASE FOR PHASE1
047150,000808: 17,3573           55465                           TS       T5PHASE                               
047151,000809: 17,3574           15333                           TCF      RESUME                                #  RESUME INTERRUPTED PROGRAM
047152,000810: 
047153,000811: 17,3575  E6,1510                                  EBANK=   KMPAC                                 
047154,000812: 17,3575           02122 42066  RCS2CADR           2CADR    RCSATT                                
047155,000813: 

Page 1060

047157,000815: 17,3577           53460        DXCHT12            DXCH     BLAST                                 
047158,000816: 17,3600           53462                           DXCH     BLAST1                                
047159,000817: 17,3601           53460                           DXCH     BLAST                                 
047160,000818: 17,3602           13554                           TCF      CHECKT23                              
047161,000819: 
047162,000820: 17,3603           53462        DXCHT23            DXCH     BLAST1                                
047163,000821: 17,3604           53464                           DXCH     BLAST2                                
047164,000822: 17,3605           53462                           DXCH     BLAST1                                
047165,000823: 17,3606           41457                           CS       BLAST                                 
047166,000824: 17,3607           61461                           AD       BLAST1                                
047167,000825: 17,3610           00006                           EXTEND                                         
047168,000826: 17,3611           63613                           BZMF     +2                                    
047169,000827: 17,3612           13560                           TCF      CALCDT6                               
047170,000828: 17,3613           53460                           DXCH     BLAST                                 
047171,000829: 17,3614           53462                           DXCH     BLAST1                                
047172,000830: 17,3615           53460                           DXCH     BLAST                                 
047173,000831: 17,3616           13560                           TCF      CALCDT6                               
047174,000832: 

Page 1061

047176,000834:                                                                                                  #  T6 PROGRAM AND CHANNEL SETUP
047177,000835: 
047178,000836: 21,3765                                           BANK     21                                    
047179,000837: 17,2000                                           SETLOC   DAPS5                                 
047180,000838: 17,2000                                           BANK                                           
047181,000839: 
047182,000840: 17,3617           22016        T6START            LXCH     BANKRUPT                              
047183,000841: 17,3620           00006                           EXTEND                                         
047184,000842: 17,3621           22012                           QXCH     QRUPT                                 
047185,000843: 17,3622           10031                           CCS      TIME6                                 #  CHECK TO SEE IF TIME6 WAS RESET
047186,000844: 17,3623           15333                           TCF      RESUME                                #  AFTER T6RUPT OCCURED (IN T5RUPT)
047187,000845: 17,3624           13626                           TCF      +2                                    #  IF SO WAIT FOR NEXT T6RUPT BEFORE
047188,000846: 17,3625           15333                           TCF      RESUME                                #  TAKING ACTION
047189,000847: 
047190,000848: 17,3626           41501                           CS       RCSFLAGS                              
047191,000849: 17,3627           75017                           MASK     BIT1                                  #  IF BIT1 IS 0 RESET TO 1
047192,000850: 17,3630           00006                           EXTEND                                         #  AND INITIALIZE CHANNEL
047193,000851: 17,3631           13642                           BZF      T6RUPTOR                              
047194,000852: 17,3632           27501                           ADS      RCSFLAGS                              
047195,000853: 17,3633           31451                           CA       RWORD1                                
047196,000854: 17,3634           00006                           EXTEND                                         #  INITIALIZE CHANNELS 5,6 WITH WORD1
047197,000855: 17,3635           01006                           WRITE    CHAN6                                 
047198,000856: 17,3636           31453                           CA       PWORD1                                
047199,000857: 17,3637           61455                           AD       YWORD1                                
047200,000858: 17,3640           00006                           EXTEND                                         
047201,000859: 17,3641           01005                           WRITE    CHAN5                                 
047202,000860: 
047203,000861: 17,3642           11457        T6RUPTOR           CCS      BLAST                                 
047204,000862: 17,3643           13722                           TCF      ZBLAST                                #  ZERO BLAST1
047205,000863: 17,3644           13661                           TCF      REPLACE                               #  REPLACE WORD1
047206,000864: 17,3645           13647                           TCF      +2                                    
047207,000865: 17,3646           13661                           TCF      REPLACE                               
047208,000866: 17,3647           11461        T6L1               CCS      BLAST1                                
047209,000867: 17,3650           13725                           TCF      ZBLAST1                               
047210,000868: 17,3651           13666                           TCF      REPLACE1                              
047211,000869: 17,3652           13654                           TCF      +2                                    
047212,000870: 17,3653           13666                           TCF      REPLACE1                              
047213,000871: 17,3654           11463        T6L2               CCS      BLAST2                                
047214,000872: 17,3655           13730                           TCF      ZBLAST2                               
047215,000873: 17,3656           13673                           TCF      REPLACE2                              
047216,000874: 17,3657           15333                           TCF      RESUME                                
047217,000875: 17,3660           13673                           TCF      REPLACE2                              
047218,000876: 
047219,000877: 17,3661           51460        REPLACE            INDEX    BLAST      +1                         
047220,000878: 17,3662           03700                           TC       REPLACER                              
047221,000879: 17,3663           45017                           CS       ONE                                   
047222,000880: 17,3664           55457                           TS       BLAST                                 
047223,000881: 17,3665           13647                           TCF      T6L1                                  
047224,000882: 
047225,000883: 17,3666           51462        REPLACE1           INDEX    BLAST1     +1                         

Page 1062

047227,000885: 17,3667           03700                           TC       REPLACER                              
047228,000886: 17,3670           45017                           CS       ONE                                   
047229,000887: 17,3671           55461                           TS       BLAST1                                
047230,000888: 17,3672           13654                           TCF      T6L2                                  
047231,000889: 
047232,000890: 17,3673           51464        REPLACE2           INDEX    BLAST2     +1                         
047233,000891: 17,3674           03700                           TC       REPLACER                              
047234,000892: 17,3675           45017                           CS       ONE                                   
047235,000893: 17,3676           55463                           TS       BLAST2                                
047236,000894: 17,3677           15333                           TCF      RESUME                                
047237,000895: 
047238,000896: 17,3700           31452        REPLACER           CA       RWORD2                                #  INITIALIZE CHANNELS 5,6 WITH WORD2
047239,000897: 17,3701           00006                           EXTEND                                         
047240,000898: 17,3702           01006                           WRITE    CHAN6                                 
047241,000899: 17,3703           00002                           TC       Q                                     
047242,000900: 
047243,000901: 17,3704           32734        REPLACEP           CA       YJETS                                 
047244,000902: 17,3705           00006                           EXTEND                                         
047245,000903: 17,3706           02005                           RAND     CHAN5                                 
047246,000904: 17,3707           61454                           AD       PWORD2                                
047247,000905: 17,3710           00006                           EXTEND                                         
047248,000906: 17,3711           01005                           WRITE    CHAN5                                 
047249,000907: 17,3712           00002                           TC       Q                                     
047250,000908: 
047251,000909: 17,3713           32733        REPLACEY           CA       PJETS                                 
047252,000910: 17,3714           00006                           EXTEND                                         
047253,000911: 17,3715           02005                           RAND     CHAN5                                 
047254,000912: 17,3716           61456                           AD       YWORD2                                
047255,000913: 17,3717           00006                           EXTEND                                         
047256,000914: 17,3720           01005                           WRITE    CHAN5                                 
047257,000915: 17,3721           00002                           TC       Q                                     
047258,000916: 
047259,000917: 17,3722           35021        ZBLAST             CAF      ZERO                                  
047260,000918: 17,3723           57457                           XCH      BLAST                                 
047261,000919: 17,3724           13732                           TCF      ENABT6                                
047262,000920: 17,3725           35021        ZBLAST1            CAF      ZERO                                  
047263,000921: 17,3726           57461                           XCH      BLAST1                                
047264,000922: 17,3727           13732                           TCF      ENABT6                                
047265,000923: 17,3730           35021        ZBLAST2            CAF      ZERO                                  
047266,000924: 17,3731           57463                           XCH      BLAST2                                
047267,000925: 17,3732           54031        ENABT6             TS       TIME6                                 
047268,000926: 17,3733           35001                           CAF      NEGMAX                                
047269,000927: 17,3734           00006                           EXTEND                                         
047270,000928: 17,3735           05013                           WOR      CHAN13                                #  ENABLE T6RUPT
047271,000929: 17,3736           15333                           TCF      RESUME                                
047272,000930: 
047273,000931:                                                                                                  #  END OF T6 INTERRUPT
047274,000932: 
047275,000933: 17,3737                        ENDSLECT           EQUALS                                         
047276,000934: 

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