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.

046329,000002:                                                                                                  ## Copyright:   Public domain.
046330,000003:                                                                                                  ## Filename:    JET_SELECTION_LOGIC.agc
046331,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus 2A, AKA Comanche 055.
046332,000005:                                                                                                  ##              It is part of the source code for the Command Module's (CM)
046333,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 11.
046334,000007:                                                                                                  ## Assembler:   yaYUL
046335,000008:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
046336,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo.
046337,000010:                                                                                                  ## Pages:       1039-1062
046338,000011:                                                                                                  ## Mod history: 2009-05-13 RSB  Adapted from the Colossus249/ file of the
046339,000012:                                                                                                  ##                              same name, using Comanche055 page images.
046340,000013:                                                                                                  ##              2016-12-21 RSB  Proofed comment text using octopus/ProoferComments
046341,000014:                                                                                                  ##                              and corrected the errors found.
046342,000015:                                                                                                  ##              2017-01-15 RSB  Fixed comment-text errors identified by diff'ing
046343,000016:                                                                                                  ##                              against Colossus 249.
046344,000017:                                                                                                  ##              2017-02-05 RSB  Back-ported comment corrections 
046345,000018:                                                                                                  ##                              identified while proofing Artemis 072.
046346,000019:                                                                                                  ##
046347,000020:                                                                                                  ## This source code has been transcribed or otherwise adapted from digitized
046348,000021:                                                                                                  ## images of a hardcopy from the MIT Museum.  The digitization was performed
046349,000022:                                                                                                  ## by Paul Fjeld, and arranged for by Deborah Douglas of the Museum.  Many
046350,000023:                                                                                                  ## thanks to both.  The images (with suitable reduction in storage size and
046351,000024:                                                                                                  ## consequent reduction in image quality as well) are available online at
046352,000025:                                                                                                  ## www.ibiblio.org/apollo.  If for some reason you find that the images are
046353,000026:                                                                                                  ## illegible, contact me at info@sandroid.org about getting access to the 
046354,000027:                                                                                                  ## (much) higher-quality images which Paul actually created.
046355,000028:                                                                                                  ##
046356,000029:                                                                                                  ## Notations on the hardcopy document read, in part:
046357,000030:                                                                                                  ##
046358,000031:                                                                                                  ##      Assemble revision 055 of AGC program Comanche by NASA
046359,000032:                                                                                                  ##      2021113-051.  10:28 APR. 1, 1969  
046360,000033:                                                                                                  ##
046361,000034:                                                                                                  ##      This AGC program shall also be referred to as
046362,000035:                                                                                                  ##                      Colossus 2A
046363,000036: 

Page 1039

046365,000038: 21,3765                                           BANK     21                                    
046366,000039: 17,2000                                           SETLOC   DAPS4                                 
046367,000040: 17,2000                                           BANK                                           
046368,000041: 
046369,000042: 17,2552                                           COUNT    17/DAPJS                              
046370,000043: 
046371,000044: 17,2552  E6,1510                                  EBANK=   KMPAC                                 
046372,000045: 
046373,000046:                                                                                                  #  EXAMINE CHANNEL 31 FOR TRANSLATION COMMANDS
046374,000047: 
046375,000048: 17,2552           22016        JETSLECT           LXCH     BANKRUPT                              
046376,000049: 17,2553           32634                           CAF      DELTATT3                              #  = 60 MS  RESET TO EXECUTE PHASE1
046377,000050: 17,2554           61634                           AD       T5TIME                                
046378,000051: 17,2555           54030                           TS       TIME5                                 
046379,000052: 17,2556           12561                           TCF      +3                                    
046380,000053: 17,2557           32635                           CAF      DELATT20                              #  = 20 MS  TO ASSURE A T5RUPT
046381,000054: 17,2560           54030                           TS       TIME5                                 
046382,000055: 17,2561           33313                           CAF      =14MS                                 #  RESET T6 TO INITIALIZE THE JET CHANNELS
046383,000056: 17,2562           54031                           TS       TIME6                                 #  IN 14 MS
046384,000057: 17,2563           35001                           CAF      NEGMAX                                
046385,000058: 17,2564           00006                           EXTEND                                         
046386,000059: 17,2565           05013                           WOR      CHAN13                                
046387,000060: 17,2566           00006                           EXTEND                                         
046388,000061: 17,2567           22012                           QXCH     QRUPT                                 
046389,000062: 17,2570           32633                           CAF      XLNMASK                               #  = 7700 OCT
046390,000063: 17,2571           00006                           EXTEND                                         #  EXAMINE THE TRANSLATION
046391,000064: 17,2572           06031                           RXOR     CHAN31                                #  HAND CONTROLLER
046392,000065: 17,2573           72633                           MASK     XLNMASK                               
046393,000066: 17,2574           00006                           EXTEND                                         
046394,000067: 17,2575           12636                           BZF      NOXLNCMD                              
046395,000068: 17,2576           55502                           TS       T5TEMP                                
046396,000069: 17,2577           00006                           EXTEND                                         
046397,000070: 17,2600           75007                           MP       BIT9                                  
046398,000071: 17,2601           76214                           MASK     THREE                                 
046399,000072: 17,2602           55513                           TS       XNDX1                                 #  AC QUAD  X-TRANSLATION INDEX
046400,000073: 17,2603           55514                           TS       XNDX2                                 #  BD QUAD  X-TRANSLATION INDEX
046401,000074: 17,2604           31502                           CA       T5TEMP                                
046402,000075: 17,2605           00006                           EXTEND                                         #  1 = + XLN
046403,000076: 17,2606           75011                           MP       BIT7                                  #  2 = - XLN
046404,000077: 17,2607           76214                           MASK     THREE                                 #  3 = NO XLN
046405,000078: 17,2610           55515                           TS       YNDX                                  #  Y-TRANSLATION INDEX
046406,000079: 
046407,000080: 17,2611           31502                           CA       T5TEMP                                
046408,000081: 17,2612           00006                           EXTEND                                         
046409,000082: 17,2613           75013                           MP       BIT5                                  
046410,000083: 17,2614           76214                           MASK     THREE                                 
046411,000084: 17,2615           55516                           TS       ZNDX                                  #  Z-TRANSLATION INDEX
046412,000085: 
046413,000086: 17,2616           31466                           CA       DAPDATR1                              #  SET ATTKALMN TO PICK UP FILTER GAINS FOR
046414,000087: 17,2617           75002                           MASK     BIT14                                 #  TRANSLATIONS.
046415,000088: 17,2620           00006                           EXTEND                                         #  CHECK DAPDATR1 BIT 14 FOR LEM ATTACHED.

Page 1040

046417,000090: 17,2621           12624                           BZF      NOLEM                                 
046418,000091: 17,2622           46214                           CS       THREE                                 #  IF LEM IS ON, SET ATTKALMN = -3
046419,000092: 17,2623           12625                           TCF      +2                                    
046420,000093: 17,2624           45016        NOLEM              CS       TWO                                   #  IF LEM IS OFF, SET ATTKALMN = -2.
046421,000094: 17,2625           55617                           TS       ATTKALMN                              
046422,000095: 17,2626           11631                           CCS      XTRANS                                #  (+, -1, 0)
046423,000096: 17,2627           55513                           TS       XNDX1                                 #  USING BD-X  ZERO XNDX1
046424,000097: 17,2630           12642                           TCF      PWORD                                 
046425,000098: 17,2631           55514                           TS       XNDX2                                 #  USING AC-X  ZERO XNDX2
046426,000099: 17,2632           12642                           TCF      PWORD                                 
046427,000100: 17,2633           07700        XLNMASK            OCT      7700                                  
046428,000101: 
046429,000102: 17,2634           37772        DELTATT3           DEC      16378      B-14                       #  = 60 MS
046430,000103: 17,2635           37776        DELATT20           DEC      16382      B-14                       #  = 20 MS
046431,000104: 
046432,000105: 17,2636           55513        NOXLNCMD           TS       XNDX1                                 #  ZERO ALL REQUESTS FOR TRANSLATION
046433,000106: 17,2637           55514                           TS       XNDX2                                 
046434,000107: 17,2640           55515                           TS       YNDX                                  
046435,000108: 17,2641           55516                           TS       ZNDX                                  
046436,000109: 
046437,000110:                                                                                                  #  PITCH COMMANDS  TIMING(NO X-TRANS, NO QUAD FAILS) 32MCT
046438,000111: 
046439,000112: 17,2642           11562        PWORD              CCS      TAU1                                  #  CHECK FOR PITCH COMMANDS
046440,000113: 17,2643           35017                           CAF      ONE                                   
046441,000114: 17,2644           12646                           TCF      +2                                    #   0 = NO PITCH
046442,000115: 17,2645           35016                           CAF      TWO                                   #  +1 =  + PITCH
046443,000116: 17,2646           55520                           TS       PINDEX                                #  +2 =  - PITCH
046444,000117: 
046445,000118: 17,2647           11626                           CCS      RACFAIL                               #  FLAG FOR REAL AC QUAD FAILURES
046446,000119: 17,2650           12654                           TCF      AFAILP                                
046447,000120: 17,2651           12664                           TCF      TABPCOM                               #  0 = NO REAL AC FAILURES
046448,000121: 17,2652           12656                           TCF      CFAILP                                #  + = A QUAD FAILED
046449,000122: 17,2653           12664                           TCF      TABPCOM                               #  - = C QUAD FAILED
046450,000123:                                                                                                  #  IF FAILURES ARE PRESENT IGNORE
046451,000124:                                                                                                  #  X-TRANSLATIONS ON THIS AXIS
046452,000125: 
046453,000126: 17,2654           34334        AFAILP             CAF      NINE                                  #  IF FAILURE IS PRESENT 1JET OPERATION
046454,000127: 17,2655           12666                           TCF      TABPCOM    +2                         #  IS ASSUMED.  IGNORE X-TRANSLATION
046455,000128: 17,2656           35771        CFAILP             CAF      TWELVE                                
046456,000129: 17,2657           12666                           TCF      TABPCOM    +2                         
046457,000130: 
046458,000131: 17,2660           00000        XLNNDX             DEC      0          B-14                       #  INDECES FOR TRANSLATION COMMANDS
046459,000132: 17,2661           00003                           DEC      3          B-14                       #  FOR USE IN TABLE LOOK UP
046460,000133: 17,2662           00006                           DEC      6          B-14                       
046461,000134: 17,2663           00000                           DEC      0          B-14                       
046462,000135: 
046463,000136: 17,2664     5771               TWELVE             =        OCT14                                 
046464,000137: 
046465,000138:                                                                                                  #  TABLE LOOK UP FOR PITCH COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT.
046466,000139:                                                                                                  #  BITS 9, 10 CONTAIN THE NUMBER OF PITCH JETS USED TO PERFORM THE PITCH ROTATION

Page 1041

046468,000141: 
046469,000142: 17,2664           51513        TABPCOM            INDEX    XNDX1                                 
046470,000143: 17,2665           32660                           CA       XLNNDX                                
046471,000144: 17,2666           61520                           AD       PINDEX                                
046472,000145: 17,2667           50000                           INDEX    A                                     
046473,000146: 17,2670           32714                           CA       PYTABLE                               
046474,000147: 17,2671           72733                           MASK     PJETS                                 #  =1417 OCT
046475,000148: 17,2672           55453                           TS       PWORD1                                
046476,000149: 17,2673           00006                           EXTEND                                         
046477,000150: 17,2674           75011                           MP       BIT7                                  
046478,000151: 17,2675           55523                           TS       NPJETS                                #  = NO. OF PITCH JETS
046479,000152: 
046480,000153:                                                                                                  #  YAW JET COMMANDS  TIMING(NO X-TRANS, NO QUAD FAILURES)  32MCT
046481,000154: 
046482,000155: 17,2676           11563        YWORD              CCS      TAU2                                  #  CHECK FOR YAW COMMANDS
046483,000156: 17,2677           35017                           CAF      ONE                                   
046484,000157: 17,2700           12702                           TCF      +2                                    
046485,000158: 17,2701           35016                           CAF      TWO                                   
046486,000159: 17,2702           55521                           TS       YINDEX                                #  YAW ROTATION INDEX
046487,000160: 
046488,000161: 17,2703           11627                           CCS      RBDFAIL                               #  FLAG FOR B OR D QUAD FAILURES
046489,000162: 17,2704           12710                           TCF      BFAILY                                #  0 = NO BD FAILURE
046490,000163: 17,2705           12735                           TCF      TABYCOM                               #  + = B QUAD FAILED
046491,000164: 17,2706           12712                           TCF      DFAILY                                #  - = D QUAD FAILED
046492,000165: 17,2707           12735                           TCF      TABYCOM                               
046493,000166: 
046494,000167: 17,2710           34334        BFAILY             CAF      NINE                                  
046495,000168: 17,2711           12737                           TCF      TABYCOM    +2                         
046496,000169: 17,2712           35771        DFAILY             CAF      TWELVE                                
046497,000170: 17,2713           12737                           TCF      TABYCOM    +2                         
046498,000171: 

Page 1042

046500,000173:                                                                                                  #  TABLE FOR PITCH(YAW) COMMANDS
046501,000174:                                                                                                  #  BITS 4,3,2,1 = PITCH, X-TRANSLATION JETS SELECTED
046502,000175:                                                                                                  #  BITS    10,9 = NO. PITCH JETS USED TO PERFORM ROTATION
046503,000176:                                                                                                  #  BITS 8,7,6,5 = YAW, X-TRANSLATION JETS SELECTED
046504,000177:                                                                                                  #  BITS 12,11:  NO. YAW JETS USED TO PERFORM ROTATION
046505,000178: 
046506,000179:                                                                                                  #  ROT   TRANS   QUAD    BIAS
046507,000180: 17,2714           00000        PYTABLE            OCT      0                                     #  0     0               0
046508,000181: 17,2715           05125                           OCT      5125                                  #  +     0               0
046509,000182: 17,2716           05252                           OCT      5252                                  #  -     0               0
046510,000183: 17,2717           00231                           OCT      0231                                  #  0     +               3
046511,000184: 17,2720           02421                           OCT      2421                                  #  +     +               3
046512,000185: 17,2721           02610                           OCT      2610                                  #  -     +               3
046513,000186: 17,2722           00146                           OCT      0146                                  #  0     -               6
046514,000187: 17,2723           02504                           OCT      2504                                  #  +     -               6
046515,000188: 17,2724           02442                           OCT      2442                                  #  -     -               6
046516,000189: 17,2725           00000                           OCT      0                                     #  0             A(B)    9
046517,000190: 17,2726           02421                           OCT      2421                                  #  +             A(B)    9
046518,000191: 17,2727           02442                           OCT      2442                                  #  -             A(B)    9
046519,000192: 17,2730           00000                           OCT      0                                     #  0             C(D)    12
046520,000193: 17,2731           02504                           OCT      2504                                  #  +             C(D)    12
046521,000194: 17,2732           02610                           OCT      2610                                  #  -             C(D)    12
046522,000195: 
046523,000196:                                                                                                  #  MASKS FOR PITCH AND YAW COMMANDS
046524,000197: 
046525,000198: 17,2733           01417        PJETS              OCT      1417                                  
046526,000199: 17,2734           06360        YJETS              OCT      6360                                  
046527,000200: 
046528,000201:                                                                                                  #  TABLE LOOK UP FOR YAW COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT
046529,000202:                                                                                                  #  BITS 11, 12 CONTAIN THE NUMBER OF YAW JETS USED TO PERFORM THE YAW ROTATION
046530,000203: 
046531,000204: 17,2735           51514        TABYCOM            INDEX    XNDX2                                 
046532,000205: 17,2736           32660                           CA       XLNNDX                                
046533,000206: 17,2737           61521                           AD       YINDEX                                
046534,000207: 17,2740           50000                           INDEX    A                                     
046535,000208: 17,2741           32714                           CA       PYTABLE                               
046536,000209: 17,2742           72734                           MASK     YJETS                                 #  = 6360 OCT
046537,000210: 17,2743           55455                           TS       YWORD1                                
046538,000211: 17,2744           00006                           EXTEND                                         
046539,000212: 17,2745           75013                           MP       BIT5                                  
046540,000213: 17,2746           55524                           TS       NYJETS                                #  NO. OF YAW JETS USED TO PERFORM ROTATION
046541,000214: 

Page 1043

046543,000216:                                                                                                  #  ROLL COMMANDS  TIMING(NO Y,Z TRANS, NO QUAD FAILS)  45MCT
046544,000217: 
046545,000218: 17,2747           11561        RWORD              CCS      TAU                                   #  CHECK FOR ROLL COMMANDS
046546,000219: 17,2750           35017                           CAF      ONE                                   
046547,000220: 17,2751           12753                           TCF      +2                                    
046548,000221: 17,2752           35016                           CAF      TWO                                   
046549,000222: 17,2753           55517                           TS       RINDEX                                
046550,000223: 
046551,000224: 17,2754           11630                           CCS      ACORBD                                #  FLAG FOR AC OR BD QUAD SELECTION FOR
046552,000225: 17,2755           13046                           TCF      BDROLL                                #  ROLL COMMANDS
046553,000226: 17,2756           13046                           TCF      BDROLL                                #  +, +0 = BD ROLL
046554,000227: 17,2757           12760                           TCF      +1                                    #  -, -0 = AC ROLL
046555,000228: 
046556,000229: 17,2760           11626        ACROLL             CCS      RACFAIL                               #  CHECK FOR REAL FAILURES
046557,000230: 17,2761           12765                           TCF      RAFAIL                                #  ON AC QUADS
046558,000231: 17,2762           12775                           TCF      RXLNS                                 
046559,000232: 17,2763           12767                           TCF      RCFAIL                                
046560,000233: 17,2764           12775                           TCF      RXLNS                                 
046561,000234: 
046562,000235: 17,2765           34334        RAFAIL             CAF      NINE                                  #  QUAD FAILURE WILL GET
046563,000236: 17,2766           12777                           TCF      TABRCOM                               #  1-JET OPERATION
046564,000237: 17,2767           35771        RCFAIL             CAF      TWELVE                                
046565,000238: 17,2770           12777                           TCF      TABRCOM                               
046566,000239: 
046567,000240: 17,2771           00000        XLN1NDX            DEC      0          B-14                       
046568,000241: 17,2772           00001                           DEC      1          B-14                       #  INDECES FOR TRANSLATION
046569,000242: 17,2773           00002                           DEC      2          B-14                       
046570,000243: 17,2774           00000                           DEC      0          B-14                       
046571,000244: 
046572,000245:                                                                                                  #  TABLE LOOK UP FOR AC-ROLL COMMANDS WITH AND WITHOUT Y-TRANSLATION AND ACQUAD FAILURES PRESENT
046573,000246:                                                                                                  #  BITS 9,10,11 CONTAIN THE MAGNITUDE AND DIRECTION OF THE ROLL
046574,000247: 
046575,000248: 17,2775           51515        RXLNS              INDEX    YNDX                                  #  NO AC QUAD FAILURES
046576,000249: 17,2776           32660                           CA       XLNNDX                                #  INCLUDE +,-,0, Y-TRANSLATION
046577,000250: 17,2777           61517        TABRCOM            AD       RINDEX                                
046578,000251: 17,3000           50000                           INDEX    A                                     
046579,000252: 17,3001           33130                           CA       RTABLE                                
046580,000253: 17,3002           73147                           MASK     ACRJETS                               #  = 3760 OCT
046581,000254: 17,3003           55451                           TS       RWORD1                                
046582,000255: 
046583,000256:                                                                                                  #  CHECK FOR Z-TRANSLATIONS ON BD
046584,000257: 
046585,000258: 17,3004           31516        BDZCHECK           CA       ZNDX                                  
046586,000259: 17,3005           00006                           EXTEND                                         
046587,000260: 17,3006           63040                           BZMF     NOBDZ                                 #  NO Z-TRANSLATION
046588,000261: 

Page 1044

046590,000263:                                                                                                  #  TABLE LOOK UP FOR BD Z-TRANSLATION WITH AND WITHOUT REAL BD QUAD FAILURES.  Z-TRANSLATION WILL BE POSS-
046591,000264:                                                                                                  #  IBLE AS LONG AS ROLL COMMANDS CAN BE SATISFIED WITH THE AC ROLL JETS.  CRITERION.. IF THE RESULTANT NET ROLL
046592,000265:                                                                                                  #  COMMANDS = 0 (WITH Z-TRANSLATION) AND IF TAU = 0, THEN INCLUDE THE BD Z-TRANSLATION COMMANDS.  IF THE RESULTANT
046593,000266:                                                                                                  #  ROLL COMMAND = 0, AND IF TAU NZ, THEN IGNORE THE BD Z-TRANSLATION
046594,000267: 
046595,000268: 17,3007           11627                           CCS      RBDFAIL                               
046596,000269: 17,3010           36214                           CAF      THREE                                 
046597,000270: 17,3011           13013                           TCF      +2                                    
046598,000271: 17,3012           36211                           CAF      SIX                                   
046599,000272: 17,3013           51516                           INDEX    ZNDX                                  
046600,000273: 17,3014           62771                           AD       XLN1NDX                               
046601,000274: 17,3015           50000                           INDEX    A                                     
046602,000275: 17,3016           33151                           CA       YZTABLE                               
046603,000276: 17,3017           73162                           MASK     BDZJETS                               #  = 3417 OCT
046604,000277: 17,3020           61451                           AD       RWORD1                                #  ADD TO ROLL COMMANDS
046605,000278: 17,3021           55502                           TS       T5TEMP                                #  IF POSSIBLE.  MUST CHECK TAU FIRST
046606,000279: 
046607,000280: 17,3022           00006                           EXTEND                                         
046608,000281: 17,3023           75011                           MP       BIT7                                  #  DETERMINE THE NET ROLL COMMAND WITH
046609,000282: 17,3024           66061                           AD       =-4                                   #  Z-TRANSLATION ADDED ON
046610,000283: 17,3025           55522                           TS       NRJETS                                #  NET NO. OF +,- ROLL JETS ON
046611,000284: 17,3026           00006                           EXTEND                                         
046612,000285: 17,3027           13033                           BZF      TAUCHECK                              
046613,000286: 
046614,000287: 17,3030           31502        ACRBDZ             CA       T5TEMP                                #  Z-TRANSLATION ACCEPTED EVEN THO WE MAY
046615,000288: 17,3031           55451                           TS       RWORD1                                #  HAVE INTRODUCED AN UNDESIREABLE ROLL
046616,000289: 17,3032           13274                           TCF      ROLLTIME                              #  BRANCH TO JET ON-TIME CALCULATIONS
046617,000290: 
046618,000291: 17,3033           11561        TAUCHECK           CCS      TAU                                   
046619,000292: 17,3034           13040                           TCF      NOBDZ                                 
046620,000293: 17,3035           13030                           TCF      ACRBDZ                                
046621,000294: 17,3036           13040                           TCF      NOBDZ                                 
046622,000295: 17,3037           13030                           TCF      ACRBDZ                                
046623,000296: 
046624,000297: 17,3040           31451        NOBDZ              CA       RWORD1                                #  Z-TRANSLATION NOT ACCEPTED
046625,000298: 17,3041           00006                           EXTEND                                         
046626,000299: 17,3042           75011                           MP       BIT7                                  
046627,000300: 17,3043           67715                           AD       =-2                                   
046628,000301: 17,3044           55522                           TS       NRJETS                                
046629,000302: 17,3045           13274                           TCF      ROLLTIME                              #  BRANCH TO JET ON-TIME CALCULATION
046630,000303: 

Page 1045

046632,000305:                                                                                                  #  BD QUAD SELECTION FOR ROLL COMMANDS
046633,000306: 
046634,000307: 17,3046           11627        BDROLL             CCS      RBDFAIL                               
046635,000308: 17,3047           13053                           TCF      RBFAIL                                
046636,000309: 17,3050           13057                           TCF      RZXLNS                                
046637,000310: 17,3051           13055                           TCF      RDFAIL                                
046638,000311: 17,3052           13057                           TCF      RZXLNS                                
046639,000312: 17,3053           34334        RBFAIL             CAF      NINE                                  
046640,000313: 17,3054           13061                           TCF      TABRZCMD                              
046641,000314: 17,3055           35771        RDFAIL             CAF      TWELVE                                
046642,000315: 17,3056           13061                           TCF      TABRZCMD                              
046643,000316: 
046644,000317: 17,3057           51516        RZXLNS             INDEX    ZNDX                                  #  NO BD FAILURES
046645,000318: 17,3060           32660                           CA       XLNNDX                                #  +,-,0 Z-TRANSLATION PRESENT
046646,000319: 17,3061           61517        TABRZCMD           AD       RINDEX                                
046647,000320: 17,3062           50000                           INDEX    A                                     
046648,000321: 17,3063           33130                           CA       RTABLE                                
046649,000322: 17,3064           73150                           MASK     BDRJETS                               #  = 34017 OCT
046650,000323: 17,3065           55451                           TS       RWORD1                                
046651,000324: 
046652,000325: 17,3066           31515        ACYCHECK           CA       YNDX                                  #  ANY Y-TRANSLATION
046653,000326: 17,3067           00006                           EXTEND                                         
046654,000327: 17,3070           13122                           BZF      NOACY                                 #  NO Y-TRANSLATION
046655,000328: 17,3071           11626                           CCS      RACFAIL                               
046656,000329: 17,3072           36214                           CAF      THREE                                 
046657,000330: 17,3073           13075                           TCF      +2                                    
046658,000331: 17,3074           36211                           CAF      SIX                                   
046659,000332: 17,3075           51515                           INDEX    YNDX                                  
046660,000333: 17,3076           62771                           AD       XLN1NDX                               
046661,000334: 17,3077           50000                           INDEX    A                                     
046662,000335: 17,3100           33151                           CA       YZTABLE                               
046663,000336: 17,3101           73163                           MASK     ACYJETS                               #  = 34360 OCT
046664,000337: 17,3102           61451                           AD       RWORD1                                
046665,000338: 17,3103           55502                           TS       T5TEMP                                
046666,000339: 17,3104           00006                           EXTEND                                         #  FOR EXPLANATION SEE CODING ON RTABLE
046667,000340: 17,3105           75014                           MP       BIT4                                  
046668,000341: 17,3106           66061                           AD       =-4                                   
046669,000342: 17,3107           55522                           TS       NRJETS                                #  NO. OF NET ROLL JETS
046670,000343: 17,3110           00006                           EXTEND                                         
046671,000344: 17,3111           13115                           BZF      TAUCHCK                               #  IF NRJETS = 0
046672,000345: 
046673,000346: 17,3112           31502        BDRACZ             CA       T5TEMP                                #  Y-TRANSLATION ACCEPTED
046674,000347: 17,3113           55451                           TS       RWORD1                                
046675,000348: 17,3114           13274                           TCF      ROLLTIME                              #  BRANCH TO JET ON-TIME CALCULATIONS
046676,000349: 
046677,000350: 17,3115           11561        TAUCHCK            CCS      TAU                                   
046678,000351: 17,3116           13122                           TCF      NOACY                                 
046679,000352: 17,3117           13112                           TCF      BDRACZ                                
046680,000353: 17,3120           13122                           TCF      NOACY                                 
046681,000354: 17,3121           13112                           TCF      BDRACZ                                
046682,000355: 

Page 1046

046684,000357: 17,3122           31451        NOACY              CA       RWORD1                                #  Y-TRANSLATION NOT ACCEPTED
046685,000358: 17,3123           00006                           EXTEND                                         
046686,000359: 17,3124           75014                           MP       BIT4                                  
046687,000360: 17,3125           67715                           AD       =-2                                   
046688,000361: 17,3126           55522                           TS       NRJETS                                
046689,000362: 17,3127           13274                           TCF      ROLLTIME                              
046690,000363: 

Page 1047

046692,000365:                                                                                                  #                                TABLE FOR ROLL, Y AND Z-TRANSLATION COMMANDS
046693,000366: 
046694,000367:                                                                                                  #  EITHER AC OR BD ROLL MAY BE SELECTED.  IF AC ROLL IS SELECTED, Y-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY
046695,000368:                                                                                                  #  PROVIDED THAT THERE ARE NO AC QUAD FAILURES.  IF THERE ARE AC FAILURES, Y-TRANSLATION COMMANDS WILL BE IGNORED,
046696,000369:                                                                                                  #  IN WHICH CASE THE ASTRONAUT SHOULD SWITCH TO BD ROLL.
046697,000370: 
046698,000371:                                                                                                  #  IF BDROLL IS SELECTED, Z-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY PROVIDED THAT THERE ARE NO BD QUAD
046699,000372:                                                                                                  #  FAILURES.  IF THERE ARE BD FAILURES, Z-TRANSLATION COMMANDS WILL BE IGNORED, IN WHICH CASE THE ASTRONAUT SHOULD
046700,000373:                                                                                                  #  SWITCH TO AC ROLL.
046701,000374: 
046702,000375:                                                                                                  #  NOTE THAT IF ONE QUAD FAILS (E.G. B FAILED), Z-TRANSLATION IS STILL POSSIBLE AND THAT THE UNDESIREABLE ROLL
046703,000376:                                                                                                  #  INTRODUCED BY THIS TRANSLATION WILL BE COMPENSATED BY THE TWO AC ROLL JETS ACTUATED BY THE AUTOPILOT LOGIC.
046704,000377: 
046705,000378:                                                                                                  #                                           WORD MAKE UP....RTABLE
046706,000379: 
046707,000380:                                                                                                  #  TWO WORDS, CORRESPONDING TO AC OR BD ROLL SELECTION, HAVE BEEN COMBINED INTO ONE TABLE.  THE WORD CORRESPOND-
046708,000381:                                                                                                  #  ING TO AC ROLL HAS THE FOLLOWING INTERPRETATION..
046709,000382: 
046710,000383:                                                                                                  #        BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE FOR THE WORD SELECTED.  THE CODING IS..
046711,000384: 
046712,000385:                                                                                                  #                BIT NO. 11  10   9              NO. OF ROLL JETS
046713,000386: 
046714,000387:                                                                                                  #                         0   0   0                      -2
046715,000388:                                                                                                  #                         0   0   1                      -1
046716,000389:                                                                                                  #                         0   1   0                       0
046717,000390:                                                                                                  #                         0   1   1                      +1
046718,000391:                                                                                                  #                         1   0   0                      +2
046719,000392: 
046720,000393:                                                                                                  #  THIS WORD MAY THEN BE ADDED TO THE WORD SELECTED FROM THE YZ-TRANSLATION TABLE, WHICH HAS THE SAME TYPE OF
046721,000394:                                                                                                  #  CODING AS ABOVE, AND THE NET ROLL DETERMINED BY SHIFTING THE RESULTANT WORD RIGHT 8 PLACES AND SUBTRACTING FOUR.
046722,000395: 
046723,000396:                                                                                                  #  THE WORD CORRESPONDING TO BD ROLL HAS A SIMILIAR INTERPRETATION, EXCEPT THAT BITS 12, 13, 14 ARE CODED
046724,000397:                                                                                                  #  (AS ABOVE) TO GIVE THE NET ROLL TORQUE.
046725,000398: 
046726,000399:                                                                                                  #  ROLL          TRANS           QUADFAIL        BIAS
046727,000400: 
046728,000401: 17,3130           11000        RTABLE             OCT      11000                                 #    0                                             0
046729,000402: 17,3131           22125                           OCT      22125                                 #    +                                             0
046730,000403: 17,3132           00252                           OCT      00252                                 #    -                                             0
046731,000404: 17,3133           11231                           OCT      11231                                 #    0           +Y(+Z)                            3
046732,000405: 17,3134           15421                           OCT      15421                                 #    +           +Y(+Z)                            3
046733,000406: 17,3135           04610                           OCT      04610                                 #    -           +Y(+Z)                            3
046734,000407: 17,3136           11146                           OCT      11146                                 #    0           -Y(-Z)                            6
046735,000408: 17,3137           15504                           OCT      15504                                 #    +           -Y(-Z)                            6
046736,000409: 17,3140           04442                           OCT      04442                                 #    -           -Y(-Z)                            6
046737,000410: 17,3141           11000                           OCT      11000                                 #    0                             A(B)            9
046738,000411: 17,3142           15504                           OCT      15504                                 #    +                             A(B)            9
046739,000412: 17,3143           04610                           OCT      04610                                 #    -                             A(B)            9
046740,000413: 17,3144           11000                           OCT      11000                                 #    0                             C(D)           12
046741,000414: 17,3145           15421                           OCT      15421                                 #    +                             C(D)           12
046742,000415: 17,3146           04442                           OCT      04442                                 #    -                             C(D)           12
046743,000416: 

Page 1048

046745,000418:                                                                                                  #  RTABLE MASKS-
046746,000419: 
046747,000420: 17,3147           03760        ACRJETS            OCT      03760                                 
046748,000421: 17,3150           34017        BDRJETS            OCT      34017                                 
046749,000422: 

Page 1049

046751,000424:                                                                                                  #                                         Y, Z TRANSLATION TABLE
046752,000425: 
046753,000426:                                                                                                  #     ONCE AC OR BD ROLL IS SELECTED THE QUAD PAIR WHICH IS NOT BEING USED TO SATISFY THE ROLL COMMANDS MAY BE
046754,000427:                                                                                                  #  USED TO SATISFY THE REMAINING TRANSLATION COMMANDS.  HOWEVER, WE MUST MAKE SURE THAT ROLL COMMANDS ARE SATISFIED
046755,000428:                                                                                                  #  WHEN THEY OCCUR.  THEREFORE, THE Y-Z TRANSLATIONS FROM THIS TABLE WILL BE IGNORED IF THE NET ROLL TORQUE OF THE
046756,000429:                                                                                                  #  COMBINED WORD IS ZERO AND THE ROLL COMMANDS ARE NON-ZERO.  THIS SITUATION WOULD OCCUR, FOR EXAMPLE, IF WE EN-
046757,000430:                                                                                                  #  COUNTER SIMULTANEOUS +R +Y -Z COMMANDS AND A QUAD D FAILURE WHILE USING AC FOR ROLL.
046758,000431:                                                                                                  #     TO FACILITATE THE LOGIC, THE Y-Z TRANSLATION TABLE HAS BEEN CODED IN A MANNER SIMILIAR TO THE ROLL TABLE
046759,000432:                                                                                                  #  ABOVE.
046760,000433:                                                                                                  #     BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Z-TRANSLATIONS.  THE WORD SELECTED CAN THEN BE
046761,000434:                                                                                                  #  ADDED TO THE AC-ROLL WORD AND THE RESULTANT ROLL TORQUE DETERMINED FROM THE COMBINED WORD.  SIMILIARLY BITS
046762,000435:                                                                                                  #  12,13,14 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Y-TRANSLATIONS WHEN BD-ROLL IS SELECTED.
046763,000436: 
046764,000437:                                                                                                  #  TRANSLATION   QUADFAIL        BIAS
046765,000438: 
046766,000439: 17,3151           11000        YZTABLE            OCT      11000                                 #        0                       0
046767,000440: 17,3152           11231                           OCT      11231                                 #     +Z(+Y)                     0
046768,000441: 17,3153           11146                           OCT      11146                                 #     -Z(-Y)                     0
046769,000442: 17,3154           11000                           OCT      11000                                 #        0         B(A)          3
046770,000443: 17,3155           04610                           OCT      04610                                 #     +Z(+Y)       B(A)          3
046771,000444: 17,3156           15504                           OCT      15504                                 #     -Z(-Y)       B(A)          3
046772,000445: 17,3157           11000                           OCT      11000                                 #        0         D(C)          6
046773,000446: 17,3160           15421                           OCT      15421                                 #     +Z(+Y)       D(C)          6
046774,000447: 17,3161           04442                           OCT      04442                                 #     -Z(-Y)       D(C)          6
046775,000448: 
046776,000449:                                                                                                  #  YZ-TABLE MASKS-
046777,000450: 
046778,000451: 17,3162           03417        BDZJETS            OCT      03417                                 
046779,000452: 17,3163           34360        ACYJETS            OCT      34360                                 
046780,000453: 
046781,000454:                                                                                                  #  ADDITIONAL CONSTANTS
046782,000455: 
046783,000456: 17,3164     7715               =-2                =        NEG2                                  
046784,000457: 17,3164     6061               =-4                =        NEG4                                  
046785,000458: 

Page 1050

046787,000460:                                                                                                  #                                        CALCULATION OF JET ON-TIMES
046788,000461: 
046789,000462:                                                                                                  #     THE ROTATION COMMANDS (TAU:S), WHICH WERE DETERMINED FROM THE JET SWITCHING LOGIC ON THE BASIS OF SINGLE JET
046790,000463:                                                                                                  #  OPERATION, MUST NOW BE UPDATED BY THE ACTUAL NUMBER OF JETS TO BE USED IN SATISFYING THESE COMMANDS.  TAU MUST
046791,000464:                                                                                                  #  ALSO BE DECREMENTED ACCORDING TO THE EXPECTED TORQUE GENERATED BY THE NEW COMMANDS ACTING OVER THE NEXT T5 INT-
046792,000465:                                                                                                  #  ERVAL.
046793,000466:                                                                                                  #     IN ORDER TO MAINTAIN ACCURATE KNOWLEDGE OF VEHICLE ANGULAR RATES, WE MUST ALSO PROVIDE EXPECTED FIRING TIMES
046794,000467:                                                                                                  #  (DFT:S, ALSO IN TERMS OF 1-JET OPERATION) FOR THE RATE FILTER.
046795,000468:                                                                                                  #     NOTE THAT TRANSLATIONS CAN PRODUCE ROTATIONS EVEN THOUGH NO ROTATIONS WERE CALLED FOR.  NEVERTHELESS, WE MUST
046796,000469:                                                                                                  #  UPDATE DFT.
046797,000470:                                                                                                  #     WHEN THE ROTATIONS HAVE FINISHED, WE MUST PROVIDE CHANNEL INFORMATION TO THE T6 PROGRAM TO CONTINUE ON WITH
046798,000471:                                                                                                  #  THE TRANSLATIONS.  THIS WILL BE DONE IN THE NEXT SECTION.  HOWEVER, TO INSURE THAT JETS ARE NOT FIRED FOR LESS
046799,000472:                                                                                                  #  THAN A MINIMUM IMPULSE (14MS), ALL JET CHANNEL COMMANDS WILL BE HELD FIXED FROM THE START OF THE T5 PROGRAM FOR
046800,000473:                                                                                                  #  AT LEAST 14MS UNTIL THE INITIALIZATION OF NEW COMMANDS.  MOREOVER, A 14MS ON-TIME WILL BE ADDED TO ANY ROTATIONAL
046801,000474:                                                                                                  #  COMMANDS GENERATED BY THE MANUAL CONTROLS OR THE JET SWITCHING LOGIC, AND ALL TRANSLATION COMMANDS WILL BE
046802,000475:                                                                                                  #  ACTIVE FOR AT LEAST ONE CYCLE OF THE T5 PROGRAM (.1SEC)
046803,000476: 
046804,000477:                                                                                                  #           PITCH JET ON-TIME CALCULATION
046805,000478: 
046806,000479: 17,3164           11562        PITCHTIM           CCS      TAU1                                  
046807,000480: 17,3165           13174                           TCF      PTAUPOS                               
046808,000481: 17,3166           13170                           TCF      +2                                    
046809,000482: 17,3167           13172                           TCF      PTAUNEG                               
046810,000483: 17,3170           55550                           TS       DFT1                                  #  NO PITCH ROTATION
046811,000484: 17,3171           13372                           TCF      PBYPASS                               #  COMMANDS
046812,000485: 
046813,000486: 17,3172           41523        PTAUNEG            CS       NPJETS                                
046814,000487: 17,3173           55523                           TS       NPJETS                                
046815,000488: 17,3174           31562        PTAUPOS            CA       TAU1                                  
046816,000489: 17,3175           00006                           EXTEND                                         
046817,000490: 17,3176           51523                           INDEX    NPJETS                                
046818,000491: 17,3177           73353                           MP       NJET                                  
046819,000492: 17,3200           55461                           TS       BLAST1                                
046820,000493: 17,3201           63306                           AD       =-.1SEC                               
046821,000494: 17,3202           00006                           EXTEND                                         
046822,000495: 17,3203           63214                           BZMF     AD14MSP                               
046823,000496: 17,3204           51523                           INDEX    NPJETS                                
046824,000497: 17,3205           33307                           CA       DFTMAX                                #  THE PITCH ON-TIME IS GREATER THAN .1 SEC
046825,000498: 17,3206           55550                           TS       DFT1                                  
046826,000499: 17,3207           40000                           COM                                            
046827,000500: 17,3210           27562                           ADS      TAU1                                  #  UPDATE TAU1
046828,000501: 17,3211           33310                           CAF      =+.1SEC                               #  LIMIT THE LENGTH OF PITCH ROTATION
046829,000502: 17,3212           55461                           TS       BLAST1                                #  COMMANDS TO 0.1 SEC SO THAT ONLY
046830,000503: 17,3213           13357                           TCF      ASMBLWP                               #  X-TRANSLATIONS WILL CONTINUE ON SWITCH
046831,000504:                                                                                                  #  OVER TO TVC
046832,000505: 17,3214           41461        AD14MSP            CS       BLAST1                                #  SEE IF JET ON TIME LESS THAN
046833,000506: 17,3215           63313                           AD       =14MS                                 #  MINIMUM IMPULSE TIME
046834,000507: 17,3216           00006                           EXTEND                                         
046835,000508: 17,3217           63222                           BZMF     PBLASTOK                              #  IF SO LIMIT MINIMUM ON TIME TO 14 MS
046836,000509: 17,3220           33313                           CAF      =14MS                                 

Page 1051

046838,000511: 17,3221           55461                           TS       BLAST1                                
046839,000512: 17,3222           31461        PBLASTOK           CA       BLAST1                                
046840,000513: 17,3223           00006                           EXTEND                                         #  THE PITCH COMMANDS WILL BE COMPLETED
046841,000514: 17,3224           71523                           MP       NPJETS                                #  WITHIN THE TS-CYCLE TIME
046842,000515: 17,3225           23550                           LXCH     DFT1                                  #  FOR USE IN UPDATING RATE FILTER
046843,000516: 17,3226           55562                           TS       TAU1                                  #  ZERO TAU1 (ACC CONTAINS ZERO)
046844,000517: 17,3227           13357                           TCF      ASMBLWP                               
046845,000518: 

Page 1052

046847,000520:                                                                                                  #  YAW JET ON-TIME CALCULATION
046848,000521: 
046849,000522: 17,3230           11563        YAWTIME            CCS      TAU2                                  
046850,000523: 17,3231           13240                           TCF      YTAUPOS                               
046851,000524: 17,3232           13234                           TCF      +2                                    
046852,000525: 17,3233           13236                           TCF      YTAUNEG                               
046853,000526: 17,3234           55551                           TS       DFT2                                  #  NO YAW ROTATION COMMANDS
046854,000527: 17,3235           13536                           TCF      YBYPASS                               
046855,000528: 
046856,000529: 17,3236           41524        YTAUNEG            CS       NYJETS                                
046857,000530: 17,3237           55524                           TS       NYJETS                                
046858,000531: 17,3240           31563        YTAUPOS            CA       TAU2                                  
046859,000532: 17,3241           00006                           EXTEND                                         
046860,000533: 17,3242           51524                           INDEX    NYJETS                                
046861,000534: 17,3243           73353                           MP       NJET                                  
046862,000535: 17,3244           55463                           TS       BLAST2                                
046863,000536: 17,3245           63306                           AD       =-.1SEC                               
046864,000537: 17,3246           00006                           EXTEND                                         
046865,000538: 17,3247           63260                           BZMF     AD14MSY                               
046866,000539: 17,3250           51524                           INDEX    NYJETS                                
046867,000540: 17,3251           33307                           CA       DFTMAX                                #  YAW COMMANDS WILL LAST LONGER THAN .1SEC
046868,000541: 17,3252           55551                           TS       DFT2                                  
046869,000542: 17,3253           40000                           COM                                            
046870,000543: 17,3254           27563                           ADS      TAU2                                  #  DECREMENT TAU2
046871,000544: 17,3255           33310                           CAF      =+.1SEC                               #  LIMIT THE LENGTH OF YAW ROTATION COMMAND
046872,000545: 17,3256           55463                           TS       BLAST2                                #  TO 0.1 SEC SO THAT ONLY X-TRANSLATION
046873,000546: 17,3257           13523                           TCF      ASMBLWY                               #  WILL CONTINUE ON SWITCH OVER TO TVC
046874,000547: 
046875,000548: 17,3260           41463        AD14MSY            CS       BLAST2                                #  SEE IF JET ON-TIME LESS THAN
046876,000549: 17,3261           63313                           AD       =14MS                                 #  MINIMUM IMPULSE TIME
046877,000550: 17,3262           00006                           EXTEND                                         
046878,000551: 17,3263           63266                           BZMF     YBLASTOK                              #  IF SO, LIMIT MINIMUM ON-TIME TO 14 MS
046879,000552: 17,3264           33313                           CAF      =14MS                                 
046880,000553: 17,3265           55463                           TS       BLAST2                                
046881,000554: 17,3266           31463        YBLASTOK           CA       BLAST2                                #  YAW COMMANDS WILL BE COMPLETED WITHIN
046882,000555: 17,3267           00006                           EXTEND                                         #  THE T5CYCLE TIME
046883,000556: 17,3270           71524                           MP       NYJETS                                
046884,000557: 17,3271           23551                           LXCH     DFT2                                  
046885,000558: 17,3272           55563                           TS       TAU2                                  #  ZERO TAU2
046886,000559: 17,3273           13523                           TCF      ASMBLWY                               
046887,000560: 

Page 1053

046889,000562:                                                                                                  #  ROLL ON-TIME CALCULATION-
046890,000563: 
046891,000564: 17,3274           11561        ROLLTIME           CCS      TAU                                   
046892,000565: 17,3275           13314                           TCF      RBLAST                                
046893,000566: 17,3276           13300                           TCF      +2                                    
046894,000567: 17,3277           13314                           TCF      RBLAST                                
046895,000568: 17,3300           51522                           INDEX    NRJETS                                
046896,000569: 17,3301           33307                           CA       DFTMAX                                #  UPDATE DFT EVEN THO NO ROLL COMMANDS ARE
046897,000570: 17,3302           55547                           TS       DFT                                   #  PRESENT
046898,000571: 17,3303           13516                           TCF      RBYPASS                               
046899,000572: 
046900,000573: 17,3304           77037                           DEC      -480       B-14                       #  =-.3SEC
046901,000574: 17,3305           77277                           DEC      -320       B-14                       #  =-.2SEC
046902,000575: 17,3306           77537        =-.1SEC            DEC      -160       B-14                       #  =-.1SEC
046903,000576: 17,3307           00000        DFTMAX             DEC      0          B-14                       #  0
046904,000577: 17,3310           00240        =+.1SEC            DEC      160        B-14                       #  =+.1SEC
046905,000578: 17,3311           00500                           DEC      320        B-14                       #  =+.2SEC
046906,000579: 17,3312           00740                           DEC      480        B-14                       #  =+.3SEC
046907,000580: 17,3313           00027        =14MS              DEC      23         B-14                       #  =14MS
046908,000581: 
046909,000582: 17,3314           31561        RBLAST             CA       TAU                                   
046910,000583: 17,3315           00006                           EXTEND                                         
046911,000584: 17,3316           51522                           INDEX    NRJETS                                
046912,000585: 17,3317           73353                           MP       NJET                                  
046913,000586: 17,3320           55457                           TS       BLAST                                 #  BLAST IS AN INTERMEDIATE VARIABLE
046914,000587:                                                                                                  #  USED IN DETERMINING THE JET ON-TIMES
046915,000588: 17,3321           63306                           AD       =-.1SEC                               
046916,000589: 17,3322           00006                           EXTEND                                         
046917,000590: 17,3323           63334                           BZMF     AD14MSR                               
046918,000591: 17,3324           51522                           INDEX    NRJETS                                #  THE ROLL ROTATION WILL LAST LONGER
046919,000592: 17,3325           33307                           CA       DFTMAX                                #  THAN THE T5 CYCLE TIME
046920,000593: 17,3326           55547                           TS       DFT                                   
046921,000594: 17,3327           40000                           COM                                            
046922,000595: 17,3330           27561                           ADS      TAU                                   
046923,000596: 17,3331           33310                           CAF      =+.1SEC                               #  LIMIT THE LENGTH OF ROLL ROTATION
046924,000597: 17,3332           55457                           TS       BLAST                                 #  COMMANDS TO 0.1 SEC SO THAT ONLY Y-Z
046925,000598: 17,3333           13377                           TCF      ASMBLWR                               #  TRANSLATION COMMANDS CONTINUE
046926,000599: 
046927,000600: 17,3334           41457        AD14MSR            CS       BLAST                                 #  SEE IF THE JET ON-TIME LESS THAN
046928,000601: 17,3335           63313                           AD       =14MS                                 #  MINIMUM IMPULSE TIME
046929,000602: 17,3336           00006                           EXTEND                                         
046930,000603: 17,3337           63342                           BZMF     RBLASTOK                              
046931,000604: 17,3340           33313                           CAF      =14MS                                 #  IF SO, LIMIT MINIMUM ON-TIME TO 14 MS
046932,000605: 17,3341           55457                           TS       BLAST                                 
046933,000606: 17,3342           31457        RBLASTOK           CA       BLAST                                 
046934,000607: 17,3343           00006                           EXTEND                                         
046935,000608: 17,3344           71522                           MP       NRJETS                                
046936,000609: 17,3345           23547                           LXCH     DFT                                   
046937,000610: 17,3346           55561                           TS       TAU                                   #  ZERO TAU
046938,000611: 17,3347           13377                           TCF      ASMBLWR                               
046939,000612: 

Page 1054

046941,000614: 17,3350           65252                           DEC      -.333333                              #  = -1/3
046942,000615: 17,3351           57777                           DEC      -.500000                              #  = -1/2
046943,000616: 17,3352           40000                           DEC      -.999999                              #  = -1 (NEGMAX)
046944,000617: 17,3353           00000        NJET               DEC      0          B-14                       
046945,000618: 17,3354           37777                           DEC      .999999                               #  = +1 (POSMAX)
046946,000619: 17,3355           20000                           DEC      .500000                               #  = +1/2
046947,000620: 17,3356           12525                           DEC      .333333                               #  = +1/3
046948,000621: 

Page 1055

046950,000623:                                                                                                  #  WHEN THE ROTATION COMMANDS ARE COMPLETED, IT IS NECESSARY TO REPLACE THESE COMMANDS BY NEW COMMANDS WHICH
046951,000624:                                                                                                  #  CONTINUE ON WITH THE TRANSLATIONS IF ANY ARE PRESENT.
046952,000625: 
046953,000626:                                                                                                  #  IN THIS SECTION THESE NEW COMMANDS ARE GENERATED AND STORED FOR REPLACEMENT OF THE CHANNEL COMMANDS WHEN THE
046954,000627:                                                                                                  #  CORRESPONDING ROTATIONS ARE COMPLETED.
046955,000628: 
046956,000629:                                                                                                  #  GENERATION OF THE SECOND PITCH(X-TRANS) WORD...PWORD2
046957,000630: 
046958,000631: 17,3357           11626        ASMBLWP            CCS      RACFAIL                               
046959,000632: 17,3360           13366                           TCF      FPX2                                  #  IF FAILURE ON AC IGNORE X-TRANSLATION
046960,000633: 17,3361           13363                           TCF      +2                                    
046961,000634: 17,3362           13366                           TCF      FPX2                                  
046962,000635: 17,3363           51513                           INDEX    XNDX1                                 
046963,000636: 17,3364           32660                           CA       XLNNDX                                
046964,000637: 17,3365           50000                           INDEX    A                                     
046965,000638: 17,3366           32714        FPX2               CA       PYTABLE                               
046966,000639: 17,3367           72733                           MASK     PJETS                                 
046967,000640: 17,3370           55454                           TS       PWORD2                                
046968,000641: 17,3371           13230                           TCF      YAWTIME                               
046969,000642: 
046970,000643: 17,3372           31453        PBYPASS            CA       PWORD1                                #  THE T6 PROGRAM WILL LOAD PWORD2
046971,000644: 17,3373           55454                           TS       PWORD2                                #  UPON ENTRY
046972,000645: 17,3374           35021                           CAF      ZERO                                  
046973,000646: 17,3375           55461                           TS       BLAST1                                #  THERE IS NO PWORD2
046974,000647: 17,3376           13230                           TCF      YAWTIME                               
046975,000648: 

Page 1056

046977,000650:                                                                                                  #  GENERATION OF THE SECOND ROLL (Y,Z) WORD (RWORD2)
046978,000651: 
046979,000652: 17,3377           11515        ASMBLWR            CCS      YNDX                                  #  CHECK FOR Y-TRANS
046980,000653: 17,3400           13410                           TCF      ACBD2Y                                
046981,000654: 17,3401           35021        NO2Y               CAF      ZERO                                  
046982,000655: 17,3402           55452                           TS       RWORD2                                
046983,000656: 17,3403           11516                           CCS      ZNDX                                  #  CHECK FOR Z-TRANS
046984,000657: 17,3404           13453                           TCF      ACBD2Z                                
046985,000658: 17,3405           35021        NO2Z               CAF      ZERO                                  
046986,000659: 17,3406           27452                           ADS      RWORD2                                
046987,000660: 17,3407           13164                           TCF      PITCHTIM                              #  RWORD2 ASSEMBLED
046988,000661: 
046989,000662: 17,3410           11630        ACBD2Y             CCS      ACORBD                                
046990,000663: 17,3411           13426                           TCF      AC2Y                                  #  CAN DO Y-TRANS
046991,000664: 17,3412           13426                           TCF      AC2Y                                  
046992,000665: 17,3413           13414                           TCF      +1                                    #  USING AC FOR ROLL
046993,000666: 17,3414           11626                           CCS      RACFAIL                               
046994,000667: 17,3415           13401                           TCF      NO2Y                                  #  USING AC AND AC HAS FAILED
046995,000668: 17,3416           13420                           TCF      +2                                    
046996,000669: 17,3417           13401                           TCF      NO2Y                                  #  DITTO
046997,000670: 
046998,000671: 17,3420           51515                           INDEX    YNDX                                  #  NO FAILURES, CAN DO Y
046999,000672: 17,3421           32660                           CA       XLNNDX                                
047000,000673: 17,3422           50000                           INDEX    A                                     
047001,000674: 17,3423           33130                           CA       RTABLE                                
047002,000675: 17,3424           73147                           MASK     ACRJETS                               
047003,000676: 17,3425           13402                           TCF      NO2Y       +1                         
047004,000677: 
047005,000678: 17,3426           11626        AC2Y               CCS      RACFAIL                               
047006,000679: 17,3427           36214                           CAF      THREE                                 
047007,000680: 17,3430           13432                           TCF      +2                                    
047008,000681: 17,3431           36211                           CAF      SIX                                   
047009,000682: 17,3432           51515                           INDEX    YNDX                                  
047010,000683: 17,3433           62771                           AD       XLN1NDX                               
047011,000684: 17,3434           50000                           INDEX    A                                     
047012,000685: 17,3435           33151                           CA       YZTABLE                               
047013,000686: 17,3436           73163                           MASK     ACYJETS                               
047014,000687: 17,3437           55452                           TS       RWORD2                                
047015,000688: 17,3440           00006                           EXTEND                                         
047016,000689: 17,3441           75014                           MP       BIT4                                  
047017,000690: 17,3442           67715                           AD       =-2                                   
047018,000691: 17,3443           55522                           TS       NRJETS                                
047019,000692: 17,3444           41457                           CS       BLAST                                 
047020,000693: 17,3445           63310                           AD       =+.1SEC                               
047021,000694: 17,3446           00006                           EXTEND                                         
047022,000695: 17,3447           71522                           MP       NRJETS                                
047023,000696: 17,3450           30001                           CA       L                                     
047024,000697: 17,3451           27547                           ADS      DFT                                   
047025,000698: 17,3452           13403                           TCF      NO2Y       +2                         

Page 1057

047027,000700: 17,3453           11630        ACBD2Z             CCS      ACORBD                                
047028,000701: 17,3454           13504                           TCF      BDF2Z                                 #  USING BD-ROLL
047029,000702: 17,3455           13504                           TCF      BDF2Z                                 #  MUST CHECK FOR BD FAILURES
047030,000703: 17,3456           13457                           TCF      +1                                    
047031,000704: 17,3457           11627                           CCS      RBDFAIL                               #  USING AC FOR ROLL, CAN DO Z-TRANS
047032,000705: 17,3460           36214                           CAF      THREE                                 
047033,000706: 17,3461           13463                           TCF      +2                                    
047034,000707: 17,3462           36211                           CAF      SIX                                   
047035,000708: 17,3463           51516                           INDEX    ZNDX                                  
047036,000709: 17,3464           62771                           AD       XLN1NDX                               
047037,000710: 17,3465           50000                           INDEX    A                                     
047038,000711: 17,3466           33151                           CA       YZTABLE                               
047039,000712: 17,3467           73162                           MASK     BDZJETS                               
047040,000713: 17,3470           27452                           ADS      RWORD2                                
047041,000714: 17,3471           00006                           EXTEND                                         
047042,000715: 17,3472           75011                           MP       BIT7                                  
047043,000716: 17,3473           67715                           AD       =-2                                   
047044,000717: 17,3474           55522                           TS       NRJETS                                
047045,000718: 17,3475           41457                           CS       BLAST                                 
047046,000719: 17,3476           63310                           AD       =+.1SEC                               
047047,000720: 17,3477           00006                           EXTEND                                         
047048,000721: 17,3500           71522                           MP       NRJETS                                
047049,000722: 17,3501           30001                           CA       L                                     
047050,000723: 17,3502           27547                           ADS      DFT                                   
047051,000724: 17,3503           13164                           TCF      PITCHTIM                              
047052,000725: 
047053,000726: 17,3504           11627        BDF2Z              CCS      RBDFAIL                               
047054,000727: 17,3505           13405                           TCF      NO2Z                                  #  USING BD-ROLL AND BD HAS FAILED
047055,000728: 17,3506           13510                           TCF      +2                                    
047056,000729: 17,3507           13405                           TCF      NO2Z                                  #  DITTO
047057,000730: 17,3510           51516                           INDEX    ZNDX                                  
047058,000731: 17,3511           32660                           CA       XLNNDX                                
047059,000732: 17,3512           50000                           INDEX    A                                     
047060,000733: 17,3513           33130                           CA       RTABLE                                
047061,000734: 17,3514           73150                           MASK     BDRJETS                               
047062,000735: 17,3515           13406                           TCF      NO2Z       +1                         
047063,000736: 
047064,000737: 17,3516           31451        RBYPASS            CA       RWORD1                                
047065,000738: 17,3517           55452                           TS       RWORD2                                
047066,000739: 17,3520           35021                           CAF      ZERO                                  
047067,000740: 17,3521           55457                           TS       BLAST                                 
047068,000741: 17,3522           13164                           TCF      PITCHTIM                              
047069,000742: 

Page 1058

047071,000744:                                                                                                  #  GENERATION OF THE SECOND YAW (X-TRANS) WORD...YWORD2
047072,000745: 
047073,000746: 17,3523           11627        ASMBLWY            CCS      RBDFAIL                               
047074,000747: 17,3524           13532                           TCF      FYX2                                  #  IF FAILURE ON BD IGNORE X-TRANSLATION
047075,000748: 17,3525           13527                           TCF      +2                                    
047076,000749: 17,3526           13532                           TCF      FYX2                                  
047077,000750: 17,3527           51514                           INDEX    XNDX2                                 
047078,000751: 17,3530           32660                           CA       XLNNDX                                
047079,000752: 17,3531           50000                           INDEX    A                                     
047080,000753: 17,3532           32714        FYX2               CA       PYTABLE                               
047081,000754: 17,3533           72734                           MASK     YJETS                                 
047082,000755: 17,3534           55456                           TS       YWORD2                                
047083,000756: 17,3535           13542                           TCF      T6SETUP                               
047084,000757: 
047085,000758: 17,3536           31455        YBYPASS            CA       YWORD1                                
047086,000759: 17,3537           55456                           TS       YWORD2                                
047087,000760: 17,3540           35021                           CAF      ZERO                                  
047088,000761: 17,3541           55463                           TS       BLAST2                                
047089,000762: 

Page 1059

047091,000764:                                                                                                  #                                        SORT THE JET ON-TIMES
047092,000765: 
047093,000766:                                                                                                  #  AT THIS POINT ALL THE CHANNEL COMMANDS AND JET ON-TIMES HAVE BEEN DETERMINED.  IN SUMMARY THESE ARE-
047094,000767: 
047095,000768:                                                                                                  #        RWORD1
047096,000769:                                                                                                  #        RWORD2          BLAST
047097,000770: 
047098,000771:                                                                                                  #        PWORD1
047099,000772:                                                                                                  #        PWORD2          BLAST1
047100,000773: 
047101,000774:                                                                                                  #        YWORD1
047102,000775:                                                                                                  #        YWORD2          BLAST2
047103,000776: 
047104,000777:                                                                                                  #  IN THIS SECTION THE JET ON-TIMES ARE SORTED AND THE SEQUENCE OF T6 INTERRUPTS IS DETERMINED.  TO FACILITATE
047105,000778:                                                                                                  #  THE SORTING PROCESS AND THE T6 PROGRAM, THE VARIABLES BLAST, BLAST1, BLAST2, ARE RESERVED AS DOUBLE PRECISION
047106,000779:                                                                                                  #  WORDS.  THE LOWER PART OF THESE WORDS CONTAIN A BRANCH INDEX ASSOCIATED WITH THE ROTATION AXIS OF THE HIGHER
047107,000780:                                                                                                  #  ORDER WORD.
047108,000781: 
047109,000782: 17,3542           35021        T6SETUP            CAF      ZERO                                  #  BRANCH INDEX FOR ROLL
047110,000783: 17,3543           55460                           TS       BLAST      +1                         
047111,000784: 17,3544           35015                           CAF      FOUR                                  #  BRANCH INDEX FOR PITCH
047112,000785: 17,3545           55462                           TS       BLAST1     +1                         
047113,000786: 17,3546           35024                           CAF      ELEVEN                                #  BRANCH INDEX FOR YAW
047114,000787: 17,3547           55464                           TS       BLAST2     +1                         
047115,000788: 
047116,000789: 17,3550           41457                           CS       BLAST                                 
047117,000790: 17,3551           61461                           AD       BLAST1                                
047118,000791: 17,3552           00006                           EXTEND                                         
047119,000792: 17,3553           63577                           BZMF     DXCHT12                               #  T1 GR T2
047120,000793: 17,3554           41461        CHECKT23           CS       BLAST1                                
047121,000794: 17,3555           61463                           AD       BLAST2                                
047122,000795: 17,3556           00006                           EXTEND                                         
047123,000796: 17,3557           63603                           BZMF     DXCHT23                               
047124,000797: 17,3560           41461        CALCDT6            CS       BLAST1                                
047125,000798: 17,3561           27463                           ADS      BLAST2                                
047126,000799: 17,3562           41457                           CS       BLAST                                 
047127,000800: 17,3563           27461                           ADS      BLAST1                                #  END OF SORTING PROCEDURE
047128,000801: 17,3564           00006                           EXTEND                                         #  RESET T5LOC TO BEGIN PHASE1
047129,000802: 17,3565           33576                           DCA      RCS2CADR                              
047130,000803: 17,3566           53313                           DXCH     T5LOC                                 
047131,000804: 17,3567           45017        ENDJETS            CS       BIT1                                  #  RESET BIT1 FOR INITIALIZATION OF
047132,000805: 17,3570           71501                           MASK     RCSFLAGS                              #  T6 PROGRAM
047133,000806: 17,3571           55501                           TS       RCSFLAGS                              
047134,000807: 17,3572           45021                           CS       ZERO                                  #  RESET T5PHASE FOR PHASE1
047135,000808: 17,3573           55465                           TS       T5PHASE                               
047136,000809: 17,3574           15333                           TCF      RESUME                                #  RESUME INTERRUPTED PROGRAM
047137,000810: 
047138,000811: 17,3575  E6,1510                                  EBANK=   KMPAC                                 
047139,000812: 17,3575           02122 42066  RCS2CADR           2CADR    RCSATT                                
047140,000813: 

Page 1060

047142,000815: 17,3577           53460        DXCHT12            DXCH     BLAST                                 
047143,000816: 17,3600           53462                           DXCH     BLAST1                                
047144,000817: 17,3601           53460                           DXCH     BLAST                                 
047145,000818: 17,3602           13554                           TCF      CHECKT23                              
047146,000819: 
047147,000820: 17,3603           53462        DXCHT23            DXCH     BLAST1                                
047148,000821: 17,3604           53464                           DXCH     BLAST2                                
047149,000822: 17,3605           53462                           DXCH     BLAST1                                
047150,000823: 17,3606           41457                           CS       BLAST                                 
047151,000824: 17,3607           61461                           AD       BLAST1                                
047152,000825: 17,3610           00006                           EXTEND                                         
047153,000826: 17,3611           63613                           BZMF     +2                                    
047154,000827: 17,3612           13560                           TCF      CALCDT6                               
047155,000828: 17,3613           53460                           DXCH     BLAST                                 
047156,000829: 17,3614           53462                           DXCH     BLAST1                                
047157,000830: 17,3615           53460                           DXCH     BLAST                                 
047158,000831: 17,3616           13560                           TCF      CALCDT6                               
047159,000832: 

Page 1061

047161,000834:                                                                                                  #  T6 PROGRAM AND CHANNEL SETUP
047162,000835: 
047163,000836: 21,3765                                           BANK     21                                    
047164,000837: 17,2000                                           SETLOC   DAPS5                                 
047165,000838: 17,2000                                           BANK                                           
047166,000839: 
047167,000840: 17,3617           22016        T6START            LXCH     BANKRUPT                              
047168,000841: 17,3620           00006                           EXTEND                                         
047169,000842: 17,3621           22012                           QXCH     QRUPT                                 
047170,000843: 17,3622           10031                           CCS      TIME6                                 #  CHECK TO SEE IF TIME6 WAS RESET
047171,000844: 17,3623           15333                           TCF      RESUME                                #  AFTER T6RUPT OCCURED (IN T5RUPT)
047172,000845: 17,3624           13626                           TCF      +2                                    #  IF SO WAIT FOR NEXT T6RUPT BEFORE
047173,000846: 17,3625           15333                           TCF      RESUME                                #  TAKING ACTION
047174,000847: 
047175,000848: 17,3626           41501                           CS       RCSFLAGS                              
047176,000849: 17,3627           75017                           MASK     BIT1                                  #  IF BIT1 IS 0 RESET TO 1
047177,000850: 17,3630           00006                           EXTEND                                         #  AND INITIALIZE CHANNEL
047178,000851: 17,3631           13642                           BZF      T6RUPTOR                              
047179,000852: 17,3632           27501                           ADS      RCSFLAGS                              
047180,000853: 17,3633           31451                           CA       RWORD1                                
047181,000854: 17,3634           00006                           EXTEND                                         #  INITIALIZE CHANNELS 5,6 WITH WORD1
047182,000855: 17,3635           01006                           WRITE    CHAN6                                 
047183,000856: 17,3636           31453                           CA       PWORD1                                
047184,000857: 17,3637           61455                           AD       YWORD1                                
047185,000858: 17,3640           00006                           EXTEND                                         
047186,000859: 17,3641           01005                           WRITE    CHAN5                                 
047187,000860: 
047188,000861: 17,3642           11457        T6RUPTOR           CCS      BLAST                                 
047189,000862: 17,3643           13722                           TCF      ZBLAST                                #  ZERO BLAST1
047190,000863: 17,3644           13661                           TCF      REPLACE                               #  REPLACE WORD1
047191,000864: 17,3645           13647                           TCF      +2                                    
047192,000865: 17,3646           13661                           TCF      REPLACE                               
047193,000866: 17,3647           11461        T6L1               CCS      BLAST1                                
047194,000867: 17,3650           13725                           TCF      ZBLAST1                               
047195,000868: 17,3651           13666                           TCF      REPLACE1                              
047196,000869: 17,3652           13654                           TCF      +2                                    
047197,000870: 17,3653           13666                           TCF      REPLACE1                              
047198,000871: 17,3654           11463        T6L2               CCS      BLAST2                                
047199,000872: 17,3655           13730                           TCF      ZBLAST2                               
047200,000873: 17,3656           13673                           TCF      REPLACE2                              
047201,000874: 17,3657           15333                           TCF      RESUME                                
047202,000875: 17,3660           13673                           TCF      REPLACE2                              
047203,000876: 
047204,000877: 17,3661           51460        REPLACE            INDEX    BLAST      +1                         
047205,000878: 17,3662           03700                           TC       REPLACER                              
047206,000879: 17,3663           45017                           CS       ONE                                   
047207,000880: 17,3664           55457                           TS       BLAST                                 
047208,000881: 17,3665           13647                           TCF      T6L1                                  
047209,000882: 
047210,000883: 17,3666           51462        REPLACE1           INDEX    BLAST1     +1                         

Page 1062

047212,000885: 17,3667           03700                           TC       REPLACER                              
047213,000886: 17,3670           45017                           CS       ONE                                   
047214,000887: 17,3671           55461                           TS       BLAST1                                
047215,000888: 17,3672           13654                           TCF      T6L2                                  
047216,000889: 
047217,000890: 17,3673           51464        REPLACE2           INDEX    BLAST2     +1                         
047218,000891: 17,3674           03700                           TC       REPLACER                              
047219,000892: 17,3675           45017                           CS       ONE                                   
047220,000893: 17,3676           55463                           TS       BLAST2                                
047221,000894: 17,3677           15333                           TCF      RESUME                                
047222,000895: 
047223,000896: 17,3700           31452        REPLACER           CA       RWORD2                                #  INITIALIZE CHANNELS 5,6 WITH WORD2
047224,000897: 17,3701           00006                           EXTEND                                         
047225,000898: 17,3702           01006                           WRITE    CHAN6                                 
047226,000899: 17,3703           00002                           TC       Q                                     
047227,000900: 
047228,000901: 17,3704           32734        REPLACEP           CA       YJETS                                 
047229,000902: 17,3705           00006                           EXTEND                                         
047230,000903: 17,3706           02005                           RAND     CHAN5                                 
047231,000904: 17,3707           61454                           AD       PWORD2                                
047232,000905: 17,3710           00006                           EXTEND                                         
047233,000906: 17,3711           01005                           WRITE    CHAN5                                 
047234,000907: 17,3712           00002                           TC       Q                                     
047235,000908: 
047236,000909: 17,3713           32733        REPLACEY           CA       PJETS                                 
047237,000910: 17,3714           00006                           EXTEND                                         
047238,000911: 17,3715           02005                           RAND     CHAN5                                 
047239,000912: 17,3716           61456                           AD       YWORD2                                
047240,000913: 17,3717           00006                           EXTEND                                         
047241,000914: 17,3720           01005                           WRITE    CHAN5                                 
047242,000915: 17,3721           00002                           TC       Q                                     
047243,000916: 
047244,000917: 17,3722           35021        ZBLAST             CAF      ZERO                                  
047245,000918: 17,3723           57457                           XCH      BLAST                                 
047246,000919: 17,3724           13732                           TCF      ENABT6                                
047247,000920: 17,3725           35021        ZBLAST1            CAF      ZERO                                  
047248,000921: 17,3726           57461                           XCH      BLAST1                                
047249,000922: 17,3727           13732                           TCF      ENABT6                                
047250,000923: 17,3730           35021        ZBLAST2            CAF      ZERO                                  
047251,000924: 17,3731           57463                           XCH      BLAST2                                
047252,000925: 17,3732           54031        ENABT6             TS       TIME6                                 
047253,000926: 17,3733           35001                           CAF      NEGMAX                                
047254,000927: 17,3734           00006                           EXTEND                                         
047255,000928: 17,3735           05013                           WOR      CHAN13                                #  ENABLE T6RUPT
047256,000929: 17,3736           15333                           TCF      RESUME                                
047257,000930: 
047258,000931:                                                                                                  #  END OF T6 INTERRUPT
047259,000932: 
047260,000933: 17,3737                        ENDSLECT           EQUALS                                         
047261,000934: 

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