Source Code

This is a reconstruction of the AGC program Luminary 99 Rev 0. It was the second release of the Lunar Module flight software targeted for use in Apollo 11, after Luminary 97. A bug (which had been around since at least Apollo 10, Luminary 69) was discovered in Rev 0 shortly before the Apollo 11 flight, resulting in a last minute revision into Rev 1, which is what actually flew rather than the Rev 0 presented here. A hardcopy of Rev 0 is known to exist — it belonged to AGC developer Allan Klumpp for many years — but unfortunately the Virtual AGC Project has not had access to that hardcopy. Thus the code you see here had been reconstructed (we believe accurately) rather than transcribed. The first step of the reconstruction of the Rev 0 source code was the transcription of the Rev 1 source code from a hardcopy in the MIT Museum collection. The process of reverting the active portion of the source code (i.e., other than program comments) from Rev 1 to Rev 0 was very minor, consisting only of moving the position of the STARTSB1 label in FRESH START AND RESTART. Allan had previously given us the checksums of the memory banks of Rev 0, and we have verified the program presented here has checksums identical to all banks of Allan's listing of Rev 0. The notations on Allan's Rev 0 program listing read, in part:

	GAP:  ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-051

A single program comment is known to differ between Rev 0 and Rev 1, but these are harder to reconstruct and verify than changes to the active portion of the code. Thus it is possible that there are additional differences between the program comments in Rev 0 and Rev 1 that are unknown to us, and therefore are not reflected in the code presented here.

063357,000002:                                                                                                  ## Copyright:   Public domain.
063358,000003:                                                                                                  ## Filename:    Q,R-AXES_RCS_AUTOPILOT.agc
063359,000004:                                                                                                  ## Purpose:     Part of the reconstructed source code for LMY99 Rev 0,
063360,000005:                                                                                                  ##              otherwise known as Luminary Rev 99, the second release
063361,000006:                                                                                                  ##              of the Apollo Guidance Computer (AGC) software for Apollo 11.
063362,000007:                                                                                                  ##              It differs from LMY99 Rev 1 (the flown version) only in the
063363,000008:                                                                                                  ##              placement of a single label. The corrections shown here have
063364,000009:                                                                                                  ##              been verified to have the same bank checksums as AGC developer
063365,000010:                                                                                                  ##              Allan Klumpp's copy of Luminary Rev 99, and so are believed
063366,000011:                                                                                                  ##              to be accurate. This file is intended to be a faithful 
063367,000012:                                                                                                  ##              recreation, except that the code format has been changed to 
063368,000013:                                                                                                  ##              conform to the requirements of the yaYUL assembler rather than 
063369,000014:                                                                                                  ##              the original YUL assembler.
063370,000015:                                                                                                  ##
063371,000016:                                                                                                  ## Assembler:   yaYUL
063372,000017:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
063373,000018:                                                                                                  ## Website:     www.ibiblio.org/apollo.
063374,000019:                                                                                                  ## Pages:       1442-1459
063375,000020:                                                                                                  ## Mod history: 2009-05-27 RSB  Adapted from the corresponding 
063376,000021:                                                                                                  ##                              Luminary131 file, using page 
063377,000022:                                                                                                  ##                              images from Luminary 1A.
063378,000023:                                                                                                  ##              2009-06-07 RSB  Corrected "DEC 96.0" to "DEC 96", since
063379,000024:                                                                                                  ##                              the former is not compatible with yaYUL.
063380,000025:                                                                                                  ##              2011-01-06 JL   Fixed pseudo-label indentation.
063381,000026:                                                                                                  ##              2016-12-18 RSB  Proofed text comments with octopus/ProoferComments
063382,000027:                                                                                                  ##                              and corrected the errors found.
063383,000028:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
063384,000029:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
063385,000030:                                                                                                  ##              2017-08-01 MAS  Created from LMY99 Rev 1.
063386,000031:                                                                                                  ##              2017-08-29 MAS  Fixed a label (X0RULGE instead of XORULGE) and a
063387,000032:                                                                                                  ##                              comment text error found while transcribing Zerlina 56.
063388,000033: 
063389,000034:                                                                                                  ## This source code has been transcribed or otherwise adapted from
063390,000035:                                                                                                  ## digitized images of a hardcopy from the MIT Museum.  The digitization
063391,000036:                                                                                                  ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
063392,000037:                                                                                                  ## the Museum.  Many thanks to both.  The images (with suitable reduction
063393,000038:                                                                                                  ## in storage size and consequent reduction in image quality as well) are
063394,000039:                                                                                                  ## available online at www.ibiblio.org/apollo.  If for some reason you
063395,000040:                                                                                                  ## find that the images are illegible, contact me at info@sandroid.org
063396,000041:                                                                                                  ## about getting access to the (much) higher-quality images which Paul
063397,000042:                                                                                                  ## actually created.
063398,000043:                                                                                                  ##
063399,000044:                                                                                                  ## The code has been modified to match LMY99 Revision 0, otherwise
063400,000045:                                                                                                  ## known as Luminary Revision 99, the Apollo 11 software release preceeding
063401,000046:                                                                                                  ## the listing from which it was transcribed. It has been verified to
063402,000047:                                                                                                  ## contain the same bank checksums as AGC developer Allan Klumpp's listing
063403,000048:                                                                                                  ## of Luminary Revision 99 (for which we do not have scans).
063404,000049:                                                                                                  ##
063405,000050:                                                                                                  ## Notations on Allan Klumpp's listing read, in part:
063406,000051:                                                                                                  ##
063407,000052:                                                                                                  ##      ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-51
063408,000053: 

Page 1442

063410,000055: 17,2072                                           BANK     17                                    
063411,000056: 17,2000                                           SETLOC   DAPS2                                 
063412,000057: 17,2000                                           BANK                                           
063413,000058: 
063414,000059: 17,2072  E6,1635                                  EBANK=   CDUXD                                 
063415,000060: 
063416,000061: 17,2072                                           COUNT*   $$/DAPQR                              
063417,000062: 
063418,000063: 17,2072           34737        CALLQERR           CA       BIT13                                 #  CALCULATE Q,R ERRORS UNLESS THESE AXES
063419,000064: 17,2073           00006                           EXTEND                                         #  ARE IN MANUAL RATE COMMAND.
063420,000065: 17,2074           02031                           RAND     CHAN31                                
063421,000066: 17,2075           10000                           CCS      A                                     
063422,000067: 17,2076           12103                           TCF      +5                                    #  IN AUTO COMPUTE Q,R ERRORS
063423,000068: 17,2077           40111                           CS       DAPBOOLS                              #  IN MANUAL RATE COMMAND?
063424,000069: 17,2100           74740                           MASK     OURRCBIT                              
063425,000070: 17,2101           00006                           EXTEND                                         
063426,000071: 17,2102           12104                           BZF      Q,RORGTS                              #  IF SO BYPASS CALCULATION OF ERRORS.
063427,000072: 17,2103           02626                           TC       QERRCALC                              
063428,000073: 
063429,000074: 17,2104           11631        Q,RORGTS           CCS      COTROLER                              #  CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
063430,000075: 17,2105           12607                           TCF      GOTOGTS                               #        GTS (ALTERNATES WITH RCS WHEN DOCKED)
063431,000076: 17,2106           12574                           TCF      TRYGTS                                #        GTS IF ALLOWED, OTHERWISE RCS
063432,000077: 17,2107           34755        RCS                CAF      ZERO                                  #        RCS (TRYGTS MAY BRANCH TO HERE)
063433,000078: 17,2110           55631                           TS       COTROLER                              
063434,000079: 
063435,000080: 17,2111           53437                           DXCH     EDOTQ                                 
063436,000081: 17,2112           03146                           TC       ROT-TOUV                              
063437,000082: 17,2113           53427                           DXCH     OMEGAU                                
063438,000083: 
063439,000084:                                                                                                  #  X - TRANSLATION:
063440,000085: 
063441,000086:                                                                                                  #  INPUT:        BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
063442,000087:                                                                                                  #                ULLAGER
063443,000088:                                                                                                  #                APSFLAG, DRIFTBIT
063444,000089:                                                                                                  #                ACC40R2X, ACRBTRAN
063445,000090: 
063446,000091:                                                                                                  #  OUTPUT:       NEXTU, NEXTV    CODES OF TRANSLATION FOR AFTER ROTATION
063447,000092:                                                                                                  #                SENSETYP        TELL ROTATION DIRECTION AND DESIRE
063448,000093: 
063449,000094:                                                                                                  #  X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR.  IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED.  A FAILURE
063450,000095:                                                                                                  #  WILL OVERRIDE THIS SPECIFICATION.  AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
063451,000096: 
063452,000097: 17,2114           34745        SENSEGET           CA       BIT7                                  #  INPUT BITS OVERRIDE THE INTERNAL BITS
063453,000098: 17,2115           00006                           EXTEND                                         #  SENSETYP WILL NOT OPPOSE ANYTRANS
063454,000099: 17,2116           02031                           RAND     CHAN31                                
063455,000100: 17,2117           00006                           EXTEND                                         
063456,000101: 17,2120           12146                           BZF      +XORULGE                              

Page 1443

063458,000103: 17,2121           34744                           CA       BIT8                                  
063459,000104: 17,2122           00006                           EXTEND                                         
063460,000105: 17,2123           02031                           RAND     CHAN31                                
063461,000106: 17,2124           00006                           EXTEND                                         
063462,000107: 17,2125           12147                           BZF      -XTRANS                               
063463,000108: 
063464,000109: 17,2126           34746                           CA       ULLAGER                               
063465,000110: 17,2127           70111                           MASK     DAPBOOLS                              
063466,000111: 17,2130           10000                           CCS      A                                     
063467,000112: 17,2131           12146                           TCF      +XORULGE                              
063468,000113: 
063469,000114: 17,2132           55473                           TS       NEXTU                                 #  STORE NULL TRANSLATION POLICIES
063470,000115: 17,2133           55474                           TS       NEXTV                                 
063471,000116: 17,2134           40111                           CS       DAPBOOLS                              #  BURNING OR DRIFTING?
063472,000117: 17,2135           74744                           MASK     DRIFTBIT                              
063473,000118: 17,2136           00006                           EXTEND                                         
063474,000119: 17,2137           12144                           BZF      TSENSE                                
063475,000120: 17,2140           30106                           CA       FLGWRD10                              #  DPS (INCLUDING DOCKED) OR APS?
063476,000121: 17,2141           74737                           MASK     APSFLBIT                              
063477,000122: 17,2142           10000                           CCS      A                                     
063478,000123: 17,2143           34752                           CAF      TWO                                   #  FAVOR +X JETS DURING AN APS BURN.
063479,000124: 17,2144           55500        TSENSE             TS       SENSETYP                              
063480,000125: 17,2145           12200                           TCF      QRCONTRL                              
063481,000126: 
063482,000127: 17,2146           34753        +XORULGE           CAF      ONE                                   
063483,000128: 17,2147           64751        -XTRANS            AD       FOUR                                  
063484,000129: 17,2150           55744                           TS       ROTINDEX                              
063485,000130: 17,2151           67745                           AD       NEG3                                  
063486,000131: 17,2152           55500                           TS       SENSETYP                              #  FAVOR APPROPRIATE JETS DURING TRANS.
063487,000132: 17,2153           30111                           CA       DAPBOOLS                              
063488,000133: 17,2154           74741                           MASK     ACC4OR2X                              
063489,000134: 17,2155           10000                           CCS      A                                     
063490,000135: 17,2156           12321                           TCF      TRANS4                                
063491,000136: 
063492,000137: 17,2157           30111                           CA       DAPBOOLS                              
063493,000138: 17,2160           74742                           MASK     AORBTRAN                              
063494,000139: 17,2161           10000                           CCS      A                                     
063495,000140: 17,2162           34753                           CA       ONE                                   #  THREE FOR B
063496,000141: 17,2163           64752                           AD       TWO                                   #  TWO FOR A SYSTEM 2 JET X TRANS
063497,000142: 17,2164           55743        TSNUMBRT           TS       NUMBERT                               
063498,000143: 
063499,000144: 17,2165           03173                           TC       SELCTSUB                              
063500,000145: 
063501,000146: 17,2166           11741                           CCS      POLYTEMP                              
063502,000147: 17,2167           12172                           TCF      +3                                    
063503,000148: 17,2170           05567                           TC       ALARM                                 
063504,000149: 17,2171           02002                           OCT      02002                                 
063505,000150: 17,2172           35774                           CA       00314OCT                              
063506,000151: 17,2173           71741                           MASK     POLYTEMP                              
063507,000152: 17,2174           55473        TSNEXTS            TS       NEXTU                                 

Page 1444

063509,000154: 17,2175           45774                           CS       00314OCT                              
063510,000155: 17,2176           71741                           MASK     POLYTEMP                              
063511,000156: 17,2177           55474                           TS       NEXTV                                 
063512,000157: 
063513,000158:                                                                                                  #  Q,R-AXES RCS CONTROL MODE SELECTION
063514,000159:                                                                                                  #        SWITCHES        INDICATION WHEN SET
063515,000160:                                                                                                  #        BIT13/CHAN31    AUTO, GO TO ATTSTEER
063516,000161:                                                                                                  #        PULSES          MINIMUM IMPULSE MODE
063517,000162:                                                                                                  #        (OTHERWISE)     RATE COMMAND/ATTITUDE HOLD MODE
063518,000163: 
063519,000164: 17,2200           34737        QRCONTRL           CA       BIT13                                 #  CHECK MODE SELECT SWITCH.
063520,000165: 17,2201           00006                           EXTEND                                         
063521,000166: 17,2202           02031                           RAND     CHAN31                                #  BITS INVERTED
063522,000167: 17,2203           10000                           CCS      A                                     
063523,000168: 17,2204           12661                           TCF      ATTSTEER                              
063524,000169: 17,2205           34735        CHKBIT10           CAF      PULSES                                #  PULSES = 1 FOR MIN IMP USE OF RHC
063525,000170: 17,2206           70111                           MASK     DAPBOOLS                              
063526,000171: 17,2207           00006                           EXTEND                                         
063527,000172: 17,2210           12323                           BZF      CHEKSTIK                              #  IN ATT-HOLD/RATE-COMMAND IF BIT10=0
063528,000173: 
063529,000174:                                                                                                  #  MINIMUM IMPULSE MODE
063530,000175: 
063531,000176: 17,2211           00004                           INHINT                                         
063532,000177: 17,2212           04674                           TC       IBNKCALL                              
063533,000178: 17,2213           40153                           CADR     ZATTEROR                              
063534,000179: 17,2214           34755                           CA       ZERO                                  
063535,000180: 17,2215           55450                           TS       QERROR                                
063536,000181: 17,2216           55452                           TS       RERROR                                #  FOR DISPLAYS
063537,000182: 17,2217           00003                           RELINT                                         
063538,000183: 
063539,000184: 17,2220           00006                           EXTEND                                         
063540,000185: 17,2221           00031                           READ     CHAN31                                
063541,000186: 17,2222           55737                           TS       TEMP31                                #  IS EQUAL TO DAPTEMP1
063542,000187: 17,2223           11461                           CCS      OLDQRMIN                              
063543,000188: 17,2224           12246                           TCF      CHECKIN                               
063544,000189: 
063545,000190: 17,2225           31737        FIREQR             CA       TEMP31                                
063546,000191: 17,2226           74753                           MASK     BIT1                                  
063547,000192: 17,2227           00006                           EXTEND                                         
063548,000193: 17,2230           12252                           BZF      +QMIN                                 
063549,000194: 
063550,000195: 17,2231           31737                           CA       TEMP31                                
063551,000196: 17,2232           74752                           MASK     BIT2                                  
063552,000197: 17,2233           00006                           EXTEND                                         
063553,000198: 17,2234           12256                           BZF      -QMIN                                 
063554,000199: 
063555,000200: 17,2235           31737                           CA       TEMP31                                
063556,000201: 17,2236           74747                           MASK     BIT5                                  

Page 1445

063558,000203: 17,2237           00006                           EXTEND                                         
063559,000204: 17,2240           12262                           BZF      +RMIN                                 
063560,000205: 
063561,000206: 17,2241           31737                           CA       TEMP31                                
063562,000207: 17,2242           74746                           MASK     BIT6                                  
063563,000208: 17,2243           00006                           EXTEND                                         
063564,000209: 17,2244           12264                           BZF      -RMIN                                 
063565,000210: 
063566,000211: 17,2245           13063                           TCF      XTRANS                                
063567,000212: 
063568,000213: 17,2246           41737        CHECKIN            CS       TEMP31                                
063569,000214: 17,2247           72320                           MASK     OCT63                                 
063570,000215: 17,2250           55461                           TS       OLDQRMIN                              
063571,000216: 17,2251           13063                           TCF      XTRANS                                
063572,000217: 
063573,000218: 17,2252           33107        +QMIN              CA       14MS                                  
063574,000219: 17,2253           55525                           TS       TJU                                   
063575,000220: 17,2254           43107                           CS       14MS                                  
063576,000221: 17,2255           12266                           TCF      MINQR                                 
063577,000222: 17,2256           43107        -QMIN              CS       14MS                                  
063578,000223: 17,2257           55525                           TS       TJU                                   
063579,000224: 17,2260           33107                           CA       14MS                                  
063580,000225: 17,2261           12266                           TCF      MINQR                                 
063581,000226: 17,2262           33107        +RMIN              CA       14MS                                  
063582,000227: 17,2263           12265                           TCF      +2                                    
063583,000228: 17,2264           43107        -RMIN              CS       14MS                                  
063584,000229: 17,2265           55525                           TS       TJU                                   
063585,000230: 17,2266           55526        MINQR              TS       TJV                                   
063586,000231: 17,2267           32317                           CA       MINADR                                
063587,000232: 17,2270           55477                           TS       RETJADR                               
063588,000233: 17,2271           34753                           CA       ONE                                   
063589,000234: 17,2272           55461                           TS       OLDQRMIN                              
063590,000235: 17,2273           55505        MINRTN             TS       AXISCTR                               
063591,000236: 17,2274           30111                           CA       DAPBOOLS                              
063592,000237: 17,2275           74737                           MASK     CSMDOCKD                              
063593,000238: 17,2276           00006                           EXTEND                                         
063594,000239: 17,2277           12307                           BZF      MIMRET                                
063595,000240: 17,2300           51505                           INDEX    AXISCTR                               #  IF DOCKED, USE 60MS MINIMUM IMPULSE
063596,000241: 17,2301           11525                           CCS      TJU                                   
063597,000242: 17,2302           32316                           CA       60MS                                  
063598,000243: 17,2303           12305                           TCF      +2                                    
063599,000244: 17,2304           42316                           CS       60MS                                  
063600,000245: 17,2305           51505                           INDEX    AXISCTR                               
063601,000246: 17,2306           55525                           TS       TJU                                   
063602,000247: 17,2307           30111        MIMRET             CA       DAPBOOLS                              
063603,000248: 17,2310           74742                           MASK     AORBTRAN                              
063604,000249: 17,2311           10000                           CCS      A                                     
063605,000250: 17,2312           34753                           CA       ONE                                   
063606,000251: 17,2313           64752                           AD       TWO                                   
063607,000252: 17,2314           55743                           TS       NUMBERT                               

Page 1446

063609,000254: 17,2315           12727                           TCF      AFTERTJ                               
063610,000255: 
063611,000256: 17,2316           00140        60MS               DEC      96.0                                  
063612,000257: 17,2317           02273        MINADR             GENADR   MINRTN                                
063613,000258: 17,2320           00063        OCT63              OCT      63                                    
063614,000259: 17,2321  17,3107               14MS               =        +TJMINT6                              
063615,000260: 
063616,000261: 17,2321           34751        TRANS4             CA       FOUR                                  
063617,000262: 17,2322           12164                           TCF      TSNUMBRT                              
063618,000263: 
063619,000264:                                                                                                  #  RATE COMMAND MODE:
063620,000265: 
063621,000266:                                                                                                  #  DESCRIPTION (SAME AS P-AXIS)
063622,000267: 
063623,000268: 17,2323           55633        CHEKSTIK           TS       INGTS                                 #  NOT IN GTS WHEN IN ATT HOLD
063624,000269: 17,2324           44753                           CS       ONE                                   #  1/ACCS WILL DO THE NULLING DRIVES
063625,000270: 17,2325           55631                           TS       COTROLER                              #  COME BACK TO RCS NEXT TIME
063626,000271: 17,2326           34735                           CA       BIT15                                 
063627,000272: 17,2327           71443                           MASK     CH31TEMP                              
063628,000273: 17,2330           00006                           EXTEND                                         
063629,000274: 17,2331           12350                           BZF      RHCACTIV                              #  BRANCH IF OUT OF DETENT.
063630,000275: 17,2332           34740                           CA       OURRCBIT                              #  ***********
063631,000276: 17,2333           70111                           MASK     DAPBOOLS                              #  *IN DETENT*   CHECK FOR MANUAL CONTROL
063632,000277: 17,2334           00006                           EXTEND                                         #  ***********   LAST TIME.
063633,000278: 17,2335           12661                           BZF      STILLRCS                              
063634,000279: 17,2336           44743                           CS       BIT9                                  
063635,000280: 17,2337           71273                           MASK     RCSFLAGS                              
063636,000281: 17,2340           55273                           TS       RCSFLAGS                              #  BIT 9 IS 0.
063637,000282: 17,2341           12345                           TCF      DAMPING                               
063638,000283: 17,2342           00050        40CYCL             OCT      50                                    
063639,000284: 17,2343           00001        1/10S              OCT      1                                     
063640,000285: 17,2344           00056        LINRAT             DEC      46         B-14                       
063641,000286: 
063642,000287:                                                                                                  #  ================================
063643,000288: 
063644,000289: 17,2345           34755        DAMPING            CA       ZERO                                  
063645,000290: 17,2346           55462                           TS       SAVEHAND                              
063646,000291: 17,2347           55463                           TS       SAVEHAND   +1                         
063647,000292: 17,2350           11462        RHCACTIV           CCS      SAVEHAND                              #  *******************
063648,000293: 17,2351           12354                           TCF      +3                                    #  Q,R MANUAL CONTROL    WC = A*(B+|D|)*D
063649,000294: 17,2352           12354                           TCF      +2                                    #  *******************
063650,000295: 17,2353           12354                           TCF      +1                                    
063651,000296: 17,2354           60000                           DOUBLE                                         #  WHERE
063652,000297: 17,2355           60000                           DOUBLE                                         
063653,000298: 17,2356           62344                           AD       LINRAT                                #        WC  = COMMANDED ROTATIONAL RATE
063654,000299: 17,2357           00006                           EXTEND                                         #        A   = QUADRATIC SENSITIVITY FACTOR
063655,000300: 17,2360           71462                           MP       SAVEHAND                              #        B   = LINEAR/QUADRATIC SENSITIVITY
063656,000301: 17,2361           30001                           CA       L                                     #        |D| = ABS. VALUE OF DEFLECTION
063657,000302: 17,2362           00006                           EXTEND                                         #        D   = HAND CONTROLLER DEFLECTION
063658,000303: 17,2363           71444                           MP       STIKSENS                              
063659,000304: 17,2364           57455                           XCH      QLAST                                 #  COMMAND Q RATE     SCALED 45 DEG/SEC
063660,000305: 17,2365           40000                           COM                                            

Page 1447

063662,000307: 17,2366           61455                           AD       QLAST                                 
063663,000308: 17,2367           55741                           TS       DAPTEMP3                              
063664,000309: 17,2370           11463                           CCS      SAVEHAND   +1                         
063665,000310: 17,2371           12374                           TCF      +3                                    
063666,000311: 17,2372           12374                           TCF      +2                                    
063667,000312: 17,2373           12374                           TCF      +1                                    
063668,000313: 17,2374           60000                           DOUBLE                                         
063669,000314: 17,2375           60000                           DOUBLE                                         
063670,000315: 17,2376           62344                           AD       LINRAT                                
063671,000316: 17,2377           00006                           EXTEND                                         
063672,000317: 17,2400           71463                           MP       SAVEHAND   +1                         
063673,000318: 17,2401           30001                           CA       L                                     
063674,000319: 17,2402           00006                           EXTEND                                         
063675,000320: 17,2403           71444                           MP       STIKSENS                              
063676,000321: 17,2404           57456                           XCH      RLAST                                 
063677,000322: 17,2405           40000                           COM                                            
063678,000323: 17,2406           61456                           AD       RLAST                                 
063679,000324: 17,2407           55742                           TS       DAPTEMP4                              
063680,000325: 17,2410           41455                           CS       QLAST                                 #  INTERVAL.
063681,000326: 17,2411           61422                           AD       OMEGAQ                                
063682,000327: 17,2412           55436                           TS       QRATEDIF                              
063683,000328: 17,2413           41456                           CS       RLAST                                 
063684,000329: 17,2414           61423                           AD       OMEGAR                                
063685,000330: 17,2415           55437                           TS       RRATEDIF                              
063686,000331: 17,2416           53437        ENTERQR            DXCH     QRATEDIF                              #  TRANSFORM RATES FROM Q,R TO U,V AXES
063687,000332: 17,2417           03146                           TC       ROT-TOUV                              
063688,000333: 17,2420           53427                           DXCH     URATEDIF                              
063689,000334: 17,2421           11741                           CCS      DAPTEMP3                              #  CHECK IF Q COMMAND CHANGE EXCEEDS
063690,000335: 17,2422           02425                           TC       +3                                    #  BREAKOUT LEVEL.  IF NOT, CHECK R.
063691,000336: 17,2423           02425                           TC       +2                                    
063692,000337: 17,2424           02425                           TC       +1                                    
063693,000338: 17,2425           61476                           AD       -RATEDB                               
063694,000339: 17,2426           00006                           EXTEND                                         
063695,000340: 17,2427           62431                           BZMF     +2                                    
063696,000341: 17,2430           12447                           TCF      ENTERUV    -2                         #  BREAKOUT LEVEL EXCEEDED.  DIRECT RATE.
063697,000342: 17,2431           11742                           CCS      DAPTEMP4                              #  R COMMAND BREAKOUT CHECK.
063698,000343: 17,2432           02435                           TC       +3                                    
063699,000344: 17,2433           02435                           TC       +2                                    
063700,000345: 17,2434           02435                           TC       +1                                    
063701,000346: 17,2435           61476                           AD       -RATEDB                               
063702,000347: 17,2436           00006                           EXTEND                                         
063703,000348: 17,2437           62441                           BZMF     +2                                    
063704,000349: 17,2440           12447                           TCF      ENTERUV    -2                         #  BREAKOUT LEVEL EXCEEDED.  DIRECT RATE.
063705,000350: 17,2441           31273                           CA       RCSFLAGS                              #  BREAKOUT LEVEL NOT EXCEEDED.  CHECK FOR
063706,000351: 17,2442           74741                           MASK     QRBIT                                 #  DIRECT RATE CONTROL LAST TIME.
063707,000352: 17,2443           00006                           EXTEND                                         
063708,000353: 17,2444           12446                           BZF      +2                                    
063709,000354: 17,2445           12451                           TCF      ENTERUV                               #  CONTINUE DIRECT RATE CONTROL.
063710,000355: 17,2446           12661                           TCF      STILLRCS                              #  PSEUDO-AUTO CONTROL.
063711,000356: 17,2447           32342                           CA       40CYCL                                

Page 1448

063713,000358: 17,2450           55457                           TS       TCQR                                  
063714,000359: 17,2451           00004        ENTERUV            INHINT                                         #  DIRECT RATE CONTROL.
063715,000360: 17,2452           04674                           TC       IBNKCALL                              
063716,000361: 17,2453           40153                           FCADR    ZATTEROR                              
063717,000362: 17,2454           00003                           RELINT                                         
063718,000363: 17,2455           34755                           CA       ZERO                                  
063719,000364: 17,2456           55450                           TS       DYERROR                               
063720,000365: 17,2457           55451                           TS       DYERROR    +1                         
063721,000366: 17,2460           55452                           TS       DZERROR                               
063722,000367: 17,2461           55453                           TS       DZERROR    +1                         
063723,000368: 17,2462           11426                           CCS      URATEDIF                              
063724,000369: 17,2463           12466                           TCF      +3                                    
063725,000370: 17,2464           12466                           TCF      +2                                    
063726,000371: 17,2465           12466                           TCF      +1                                    
063727,000372: 17,2466           61476                           AD       TARGETDB                              #  IF TARGET DB IS EXCEEDED, CONTINUE
063728,000373: 17,2467           00006                           EXTEND                                         #  DIRECT RATE CONTROL.
063729,000374: 17,2470           62504                           BZMF     VDB                                   
063730,000375: 17,2471           11427                           CCS      VRATEDIF                              
063731,000376: 17,2472           12475                           TCF      +3                                    
063732,000377: 17,2473           12475                           TCF      +2                                    
063733,000378: 17,2474           12475                           TCF      +1                                    
063734,000379: 17,2475           61476                           AD       TARGETDB                              
063735,000380: 17,2476           00006                           EXTEND                                         
063736,000381: 17,2477           62501                           BZMF     +2                                    
063737,000382: 17,2500           12515                           TCF      QRTIME                                
063738,000383: 17,2501           34755                           CA       ZERO                                  
063739,000384: 17,2502           55427                           TS       VRATEDIF                              
063740,000385: 17,2503           12515                           TCF      QRTIME                                
063741,000386: 17,2504           11427        VDB                CCS      VRATEDIF                              
063742,000387: 17,2505           02510                           TC       +3                                    
063743,000388: 17,2506           02510                           TC       +2                                    
063744,000389: 17,2507           02510                           TC       +1                                    
063745,000390: 17,2510           61476                           AD       TARGETDB                              #  IF TARGET DB IS EXCEEDED, CONTINUE
063746,000391: 17,2511           00006                           EXTEND                                         #  DIRECT RATE CONTROL.  IF NOT, FIRE AND
063747,000392: 17,2512           62524                           BZMF     TOPSEUDO                              #  SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
063748,000393: 17,2513           34755                           CA       ZERO                                  #  PASS.
063749,000394: 17,2514           55426                           TS       URATEDIF                              
063750,000395: 17,2515           31457        QRTIME             CA       TCQR                                  #  DIRECT RATE TIME CHECK.
063751,000396: 17,2516           00006                           EXTEND                                         
063752,000397: 17,2517           62524                           BZMF     +5                                    #  BRANCH IF TIME EXCEEDS 4 SEC.
063753,000398: 17,2520           41273                           CS       RCSFLAGS                              
063754,000399: 17,2521           74741                           MASK     QRBIT                                 
063755,000400: 17,2522           27273                           ADS      RCSFLAGS                              #  BIT 11 IS 1.
063756,000401: 17,2523           02527                           TC       +4                                    
063757,000402: 17,2524           44741        TOPSEUDO           CS       QRBIT                                 
063758,000403: 17,2525           71273                           MASK     RCSFLAGS                              
063759,000404: 17,2526           55273                           TS       RCSFLAGS                              #  BIT 11 IS 0.
063760,000405: 17,2527           32573                           CA       HANDADR                               
063761,000406: 17,2530           55477                           TS       RETJADR                               
063762,000407: 17,2531           34753                           CA       ONE                                   
063763,000408: 

Page 1449

063765,000410: 17,2532           55505        BACKHAND           TS       AXISCTR                               
063766,000411: 
063767,000412: 17,2533           34751                           CA       FOUR                                  
063768,000413: 17,2534           55743                           TS       NUMBERT                               
063769,000414: 
063770,000415: 17,2535           51505                           INDEX    AXISCTR                               
063771,000416: 17,2536           51535                           INDEX    SKIPU                                 
063772,000417: 17,2537           12540                           TCF      +1                                    
063773,000418: 17,2540           34751                           CA       FOUR                                  
063774,000419: 17,2541           51505                           INDEX    AXISCTR                               
063775,000420: 17,2542           55535                           TS       SKIPU                                 
063776,000421: 17,2543           13005                           TCF      LOOPER                                
063777,000422: 
063778,000423: 17,2544           51505                           INDEX    AXISCTR                               
063779,000424: 17,2545           11426                           CCS      URATEDIF                              #        INDEX   AXIS    QUANITY
063780,000425: 17,2546           34755                           CA       ZERO                                  #        0       -U      1/JETACC-AOSU
063781,000426: 17,2547           12551                           TCF      +2                                    #        1       +U      1/JETACC+AOSU
063782,000427: 17,2550           34753                           CA       ONE                                   #        16      -V      1/JETACC-AOSV
063783,000428: 17,2551           51505                           INDEX    AXISCTR                               #        17      +V      1/JETACC+AOSV
063784,000429: 17,2552           63722                           AD       AXISDIFF                              #  JETACC = 2 JET ACCELERATION (1 FOR FAIL)
063785,000430: 
063786,000431: 17,2553           50000                           INDEX    A                                     
063787,000432: 17,2554           41571                           CS       1/ANET2    +1                         
063788,000433: 17,2555           00006                           EXTEND                                         
063789,000434: 17,2556           51505                           INDEX    AXISCTR                               #  URATEDIF IS SCALED AT PI/4 RAD/SEC
063790,000435: 17,2557           71426                           MP       URATEDIF                              #  JET TIME IN A       SCALED 32 SEC
063791,000436: 17,2560           54002                           TS       Q                                     
063792,000437: 17,2561           20001                           DAS      A                                     
063793,000438: 17,2562           60002                           AD       Q                                     
063794,000439: 17,2563           54000                           TS       A                                     #  OVERFLOW SKIP
063795,000440: 17,2564           12566                           TCF      +2                                    
063796,000441: 17,2565           30002                           CA       Q                                     #  RIGHT SIGN AND BIGGER THAN 150MS
063797,000442: 17,2566           51505        SETTIME            INDEX    AXISCTR                               
063798,000443: 17,2567           55525                           TS       TJU                                   #  SCALED AT 10.67 WHICH IS CLOSE TO 10.24
063799,000444: 17,2570           12727                           TCF      AFTERTJ                               
063800,000445: 
063801,000446: 17,2571           34755        ZEROTJ             CA       ZERO                                  
063802,000447: 17,2572           12566                           TCF      SETTIME                               
063803,000448: 
063804,000449: 17,2573           02532        HANDADR            GENADR   BACKHAND                              
063805,000450: 
063806,000451:                                                                                                  #  GTS WILL BE TRIED IF
063807,000452:                                                                                                  #        1. USEQRJTS = 0,
063808,000453:                                                                                                  #        2. ALLOWGTS POS,
063809,000454:                                                                                                  #        3. JETS ARE OFF (Q,R-AXES)
063810,000455: 
063811,000456: 17,2574           34736        TRYGTS             CAF      USEQRJTS                              #  IS JET USE MANDATORY.         (AS LONG AS
063812,000457: 17,2575           70111                           MASK     DAPBOOLS                              #  USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
063813,000458: 17,2576           10000                           CCS      A                                     
063814,000459: 17,2577           12107                           TCF      RCS                                   
063815,000460: 17,2600           11502                           CCS      ALLOWGTS                              #  NO.  DOES AOSTASK OK CONTROL FOR GTS?

Page 1450

063817,000462: 17,2601           12603                           TCF      +2                                    
063818,000463: 17,2602           12107                           TCF      RCS                                   
063819,000464: 17,2603           00006                           EXTEND                                         
063820,000465: 17,2604           00005                           READ     CHAN5                                 
063821,000466: 17,2605           10000                           CCS      A                                     
063822,000467: 17,2606           12612                           TCF      CHKINGTS                              
063823,000468: 17,2607           00006        GOTOGTS            EXTEND                                         
063824,000469: 17,2610           32625                           DCA      GTSCADR                               
063825,000470: 17,2611           52006                           DTCB                                           
063826,000471: 
063827,000472: 17,2612           11633        CHKINGTS           CCS      INGTS                                 #  WAS THE TRIM GIMBAL CONTROLLING
063828,000473: 17,2613           12615                           TCF      +2                                    #        YES.  SET UP A DAMPED NULLING DRIVE.
063829,000474: 17,2614           12107                           TCF      RCS                                   #        NO.  NULLING WAS SET UP BEFORE.  DO RCS
063830,000475: 17,2615           00004                           INHINT                                         
063831,000476: 17,2616           04674                           TC       IBNKCALL                              
063832,000477: 17,2617           43330                           CADR     TIMEGMBL                              
063833,000478: 17,2620           00003                           RELINT                                         
063834,000479: 17,2621           34755                           CAF      ZERO                                  
063835,000480: 17,2622           55633                           TS       INGTS                                 
063836,000481: 17,2623           12107                           TCF      RCS                                   
063837,000482: 
063838,000483: 17,2624  E6,1635                                  EBANK=   CDUXD                                 
063839,000484: 17,2624           03077 42106  GTSCADR            2CADR    GTS                                   
063840,000485: 

Page 1451

063842,000487:                                                                                                  #  SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
063843,000488: 
063844,000489: 17,2626           30033        QERRCALC           CAE      CDUY                                  #  Q-ERROR CALCULATION
063845,000490: 17,2627           00006                           EXTEND                                         
063846,000491: 17,2630           21636                           MSU      CDUYD                                 #  CDU ANGLE - ANGLE DESIRED (Y-AXIS)
063847,000492: 17,2631           55737                           TS       DAPTEMP1                              #  SAVE FOR RERRCALC
063848,000493: 17,2632           00006                           EXTEND                                         
063849,000494: 17,2633           71415                           MP       M21                                   #  (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
063850,000495: 17,2634           55752                           TS       E                                     
063851,000496: 17,2635           30034                           CAE      CDUZ                                  #  SECOND TERM CALCULATION:
063852,000497: 17,2636           00006                           EXTEND                                         
063853,000498: 17,2637           21637                           MSU      CDUZD                                 #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
063854,000499: 17,2640           55740                           TS       DAPTEMP2                              #  SAVE FOR RERRCALC
063855,000500: 17,2641           00006                           EXTEND                                         
063856,000501: 17,2642           71417                           MP       M22                                   #  (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
063857,000502: 17,2643           61300                           AD       DELQEROR                              #  KALCMANU INERFACE ERROR
063858,000503: 17,2644           61752                           AD       E                                     
063859,000504: 17,2645           57450                           XCH      QERROR                                #  SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
063860,000505: 
063861,000506: 17,2646           31737        RERRCALC           CAE      DAPTEMP1                              #  R-ERROR CALCULATION:
063862,000507: 17,2647           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Y-AXIS)
063863,000508: 17,2650           71416                           MP       M31                                   #  (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
063864,000509: 17,2651           55752                           TS       E                                     
063865,000510: 17,2652           31740                           CAE      DAPTEMP2                              #  SECOND TERM CALCULATION:
063866,000511: 17,2653           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
063867,000512: 17,2654           71420                           MP       M32                                   #  (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
063868,000513: 17,2655           61301                           AD       DELREROR                              #  KALCMANU INERFACE ERROR
063869,000514: 17,2656           61752                           AD       E                                     
063870,000515: 17,2657           57452                           XCH      RERROR                                #  SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
063871,000516: 17,2660           00002                           TC       Q                                     
063872,000517: 

Page 1452

063874,000519:                                                                                                  #  "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
063875,000520: 
063876,000521: 17,2661  17,2661               ATTSTEER           EQUALS   STILLRCS                              #  "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
063877,000522: 
063878,000523: 17,2661           31452        STILLRCS           CA       RERROR                                
063879,000524: 17,2662           22000                           LXCH     A                                     
063880,000525: 17,2663           31450                           CA       QERROR                                
063881,000526: 17,2664           03146                           TC       ROT-TOUV                              
063882,000527: 17,2665           53752                           DXCH     UERROR                                
063883,000528: 
063884,000529:                                                                                                  #  PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
063885,000530:                                                                                                  #  PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
063886,000531: 
063887,000532: 17,2666           33113        TJLAW              CA       TJLAWADR                              
063888,000533: 17,2667           55477                           TS       RETJADR                               
063889,000534: 17,2670           34753                           CA       ONE                                   
063890,000535: 17,2671           55505                           TS       AXISCTR                               
063891,000536: 17,2672           51505                           INDEX    AXISCTR                               
063892,000537: 17,2673           51535                           INDEX    SKIPU                                 
063893,000538: 17,2674           12675                           TCF      +1                                    
063894,000539: 17,2675           34751                           CA       FOUR                                  
063895,000540: 17,2676           51505                           INDEX    AXISCTR                               
063896,000541: 17,2677           55535                           TS       SKIPU                                 
063897,000542: 17,2700           13005                           TCF      LOOPER                                
063898,000543: 17,2701           51505                           INDEX    AXISCTR                               
063899,000544: 17,2702           31751                           CA       UERROR                                
063900,000545: 17,2703           55752                           TS       E                                     
063901,000546: 17,2704           51505                           INDEX    AXISCTR                               
063902,000547: 17,2705           31426                           CA       OMEGAU                                
063903,000548: 17,2706           55427                           TS       EDOT                                  
063904,000549: 17,2707           30111                           CA       DAPBOOLS                              
063905,000550: 17,2710           74737                           MASK     CSMDOCKD                              
063906,000551: 17,2711           10000                           CCS      A                                     
063907,000552: 17,2712           12715                           TCF      +3                                    
063908,000553: 17,2713           03252                           TC       TJETLAW                               
063909,000554: 17,2714           12727                           TCF      AFTERTJ                               
063910,000555: 17,2715           40111                 +3        CS       DAPBOOLS                              #  DOCKED.  IF GIMBAL USABLE DO GTS CONTROL
063911,000556: 17,2716           74736                           MASK     USEQRJTS                              #        ON THE NEXT PASS.
063912,000557: 17,2717           10000                           CCS      A                                     #  USEQRJTS BIT MUST NOT BE BIT 15.
063913,000558: 17,2720           55631                           TS       COTROLER                              #  GIMBAL USABLE.  STORE POSITIVE VALUE.
063914,000559: 17,2721           00004                           INHINT                                         
063915,000560: 17,2722           04674                           TC       IBNKCALL                              
063916,000561: 17,2723           43727                           CADR     SPSRCS                                #  DETERMINE RCS CONTROL
063917,000562: 17,2724           00003                           RELINT                                         
063918,000563: 17,2725           34751                           CAF      FOUR                                  #  ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
063919,000564: 17,2726           55743                           TS       NUMBERT                               #  FALL THROUGH TO JET SELECTION, ETC.
063920,000565: 
063921,000566:                                                                                                  #  Q,R-JET-SELECTION-LOGIC
063922,000567: 
063923,000568:                                                                                                  #  INPUT:        AXISCTR         0,1 FOR U,V
063924,000569:                                                                                                  #                SNUFFBIT        ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN

Page 1453

063926,000571:                                                                                                  #                TJU,TJV         JET TIME SCALED 10.24 SEC.
063927,000572:                                                                                                  #                NUMBERT         INDICATES NUMBER OF JETS AND TYPE OF POLICY
063928,000573:                                                                                                  #                RETJADR         WHERE TO RETURN TO
063929,000574: 
063930,000575:                                                                                                  #  OUTPUT:       NO.U(V)JETS     RATE DERIVATION FEEDBACK
063931,000576:                                                                                                  #                CHANNEL 5
063932,000577:                                                                                                  #                SKIPU,SKIRV     FOR LESS THAN 150MS FIRING
063933,000578: 
063934,000579:                                                                                                  #  NOTES:        IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED
063935,000580:                                                                                                  #                JETS OF THE DESIRED POLICY ARE SELECTED.  SINCE THERE ARE ONLY
063936,000581:                                                                                                  #                TWO JETS, THIS MEANS THE OTHER ONE OR NONE.  THE ALARM IS SENT
063937,000582:                                                                                                  #                IF NONE CAN BE FOUND.
063938,000583: 
063939,000584:                                                                                                  #                TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
063940,000585:                                                                                                  #                MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
063941,000586: 
063942,000587: 17,2727           30101        AFTERTJ            CA       FLAGWRD5                              #  IF SNUFFBIT SET DURING A DPS BURN GO TO
063943,000588: 17,2730           74737                           MASK     SNUFFBIT                              #  XTRANS; THAT IS, INHIBIT CONTROL.
063944,000589: 17,2731           00006                           EXTEND                                         
063945,000590: 17,2732           12743                           BZF      DOROTAT                               
063946,000591: 17,2733           40106                           CS       FLGWRD10                              
063947,000592: 17,2734           74737                           MASK     APSFLBIT                              
063948,000593: 17,2735           00006                           EXTEND                                         
063949,000594: 17,2736           12743                           BZF      DOROTAT                               
063950,000595: 17,2737           30111                           CA       DAPBOOLS                              
063951,000596: 17,2740           74744                           MASK     DRIFTBIT                              
063952,000597: 17,2741           00006                           EXTEND                                         
063953,000598: 17,2742           13063                           BZF      XTRANS                                
063954,000599: 
063955,000600: 17,2743           34752        DOROTAT            CAF      TWO                                   
063956,000601: 17,2744           54001                           TS       L                                     
063957,000602: 17,2745           51505                           INDEX    AXISCTR                               
063958,000603: 17,2746           11525                           CCS      TJU                                   
063959,000604: 17,2747           12754                           TCF      +5                                    
063960,000605: 17,2750           12777                           TCF      NOROTAT                               
063961,000606: 17,2751           12753                           TCF      +2                                    
063962,000607: 17,2752           12777                           TCF      NOROTAT                               
063963,000608: 17,2753           22007                           ZL                                             
063964,000609: 17,2754           64753                           AD       ONE                                   
063965,000610: 17,2755           55737                           TS       ABSTJ                                 
063966,000611: 
063967,000612: 17,2756           31505                           CA       AXISCTR                               
063968,000613: 17,2757           60001                           AD       L                                     
063969,000614: 17,2760           55744                           TS       ROTINDEX                              #  0 1 2 3 = -U -V -+U +V
063970,000615: 
063971,000616: 17,2761           31737                           CA       ABSTJ                                 
063972,000617: 17,2762           63110                           AD       -150MS                                
063973,000618: 17,2763           00006                           EXTEND                                         
063974,000619: 17,2764           63010                           BZMF     DOSKIP                                

Page 1454

063976,000621: 17,2765           03173                           TC       SELCTSUB                              
063977,000622: 
063978,000623: 17,2766           51505                           INDEX    AXISCTR                               
063979,000624: 17,2767           33105                           CA       INDEXES                               
063980,000625: 17,2770           54001                           TS       L                                     
063981,000626: 
063982,000627: 17,2771           31741                           CA       POLYTEMP                              
063983,000628: 17,2772           00004                           INHINT                                         
063984,000629: 17,2773           50001                           INDEX    L                                     
063985,000630: 17,2774           05754                           TC       WRITEP                                
063986,000631: 
063987,000632: 17,2775           00003                           RELINT                                         
063988,000633: 17,2776           13051                           TCF      FEEDBACK                              
063989,000634: 
063990,000635: 17,2777           51505        NOROTAT            INDEX    AXISCTR                               
063991,000636: 17,3000           33105                           CA       INDEXES                               
063992,000637: 17,3001           00004                           INHINT                                         
063993,000638: 17,3002           50000                           INDEX    A                                     
063994,000639: 17,3003           05753                           TC       WRITEP     -1                         
063995,000640: 
063996,000641: 17,3004           00003                           RELINT                                         
063997,000642: 17,3005           11505        LOOPER             CCS      AXISCTR                               
063998,000643: 17,3006           01477                           TC       RETJADR                               
063999,000644: 17,3007           13236                           TCF      CLOSEOUT                              
064000,000645: 17,3010           41737        DOSKIP             CS       ABSTJ                                 
064001,000646: 17,3011           63107                           AD       +TJMINT6                              #  14MS
064002,000647: 17,3012           00006                           EXTEND                                         
064003,000648: 17,3013           63032                           BZMF     NOTMIN                                
064004,000649: 
064005,000650: 17,3014           27737                           ADS      ABSTJ                                 
064006,000651: 17,3015           51505                           INDEX    AXISCTR                               
064007,000652: 17,3016           11525                           CCS      TJU                                   
064008,000653: 17,3017           33107                           CA       +TJMINT6                              
064009,000654: 17,3020           13022                           TCF      +2                                    
064010,000655: 17,3021           43107                           CS       +TJMINT6                              
064011,000656: 17,3022           51505                           INDEX    AXISCTR                               
064012,000657: 17,3023           55525                           TS       TJU                                   
064013,000658: 
064014,000659: 17,3024           11500                           CCS      SENSETYP                              #  ENSURE MIN-IMPULSE NOT AGAINST TRANS
064015,000660: 17,3025           13031                           TCF      NOTMIN     -1                         
064016,000661: 17,3026           00006                           EXTEND                                         
064017,000662: 17,3027           00004                           READ     LOSCALAR                              
064018,000663: 17,3030           74753                           MASK     ONE                                   
064019,000664: 17,3031           55743                           TS       NUMBERT                               
064020,000665: 
064021,000666: 17,3032           03173        NOTMIN             TC       SELCTSUB                              
064022,000667: 
064023,000668: 17,3033           51505                           INDEX    AXISCTR                               
064024,000669: 17,3034           33105                           CA       INDEXES                               
064025,000670: 17,3035           00004                           INHINT                                         

Page 1455

064027,000672: 17,3036           55471                           TS       T6FURTHA   +1                         
064028,000673: 17,3037           31741                           CA       POLYTEMP                              
064029,000674: 17,3040           51471                           INDEX    T6FURTHA   +1                         
064030,000675: 17,3041           05754                           TC       WRITEP                                
064031,000676: 
064032,000677: 17,3042           31737                           CA       ABSTJ                                 
064033,000678: 17,3043           55470                           TS       T6FURTHA                              
064034,000679: 17,3044           03114                           TC       JTLST                                 #  IN QR BANK BY NOW
064035,000680: 
064036,000681: 17,3045           00003                           RELINT                                         
064037,000682: 
064038,000683: 17,3046           34755                           CA       ZERO                                  
064039,000684: 17,3047           51505                           INDEX    AXISCTR                               
064040,000685: 17,3050           55535                           TS       SKIPU                                 
064041,000686: 
064042,000687: 17,3051           46245        FEEDBACK           CS       THREE                                 
064043,000688: 17,3052           61743                           AD       NUMBERT                               
064044,000689: 17,3053           00006                           EXTEND                                         
064045,000690: 17,3054           63057                           BZMF     +3                                    
064046,000691: 
064047,000692: 17,3055           34752                           CA       TWO                                   
064048,000693: 17,3056           13060                           TCF      +2                                    
064049,000694: 17,3057           34753                           CA       ONE                                   
064050,000695: 17,3060           51505                           INDEX    AXISCTR                               
064051,000696: 17,3061           55522                           TS       NO.UJETS                              
064052,000697: 17,3062           13005                           TCF      LOOPER                                
064053,000698: 
064054,000699: 17,3063           34755        XTRANS             CA       ZERO                                  
064055,000700: 17,3064           55525                           TS       TJU                                   
064056,000701: 17,3065           55526                           TS       TJV                                   
064057,000702: 17,3066           34751                           CA       FOUR                                  
064058,000703: 17,3067           00004                           INHINT                                         
064059,000704: 17,3070           57535                           XCH      SKIPU                                 
064060,000705: 17,3071           00006                           EXTEND                                         
064061,000706: 17,3072           13074                           BZF      +2                                    
064062,000707: 17,3073           05757                           TC       WRITEU     -1                         
064063,000708: 17,3074           34751                           CA       FOUR                                  
064064,000709: 17,3075           57536                           XCH      SKIPV                                 
064065,000710: 17,3076           00003                           RELINT                                         
064066,000711: 
064067,000712: 17,3077           00006                           EXTEND                                         
064068,000713: 17,3100           13236                           BZF      CLOSEOUT                              
064069,000714: 17,3101           00004                           INHINT                                         
064070,000715: 17,3102           05770                           TC       WRITEV     -1                         
064071,000716: 17,3103           00003                           RELINT                                         
064072,000717: 
064073,000718: 17,3104           13236                           TCF      CLOSEOUT                              
064074,000719: 17,3105           00004        INDEXES            DEC      4          B-14                       
064075,000720: 17,3106           00015                           DEC      13         B-14                       
064076,000721: 17,3107           00026        +TJMINT6           DEC      22         B-14                       

Page 1456

064078,000723: 17,3110           77417        -150MS             DEC      -240       B-14                       
064079,000724: 17,3111           00600        BIT8,9             OCT      00600                                 
064080,000725: 17,3112           00266        SCLNORM            OCT      266                                   
064081,000726: 17,3113           02671        TJLAWADR           GENADR   TJLAW      +3                         #  RETURN ADDRESS FOR RCS ATTITUDE CONTROL
064082,000727: 
064083,000728:                                                                                                  #  THE JET LIST:
064084,000729:                                                                                                  #  THIS IS A WAITLIST FOR T6RUPTS.
064085,000730: 
064086,000731:                                                                                                  #  CALLED BY:
064087,000732:                                                                                                  #                CA      TJ              TIME WHEN NEXT JETS WILL BE WRITTEN
064088,000733:                                                                                                  #                TS      T6FURTHA
064089,000734:                                                                                                  #                CA      INDEX           AXIS TO BE WIRTTEN AT TJ (FROM NOW)
064090,000735:                                                                                                  #                TS      T6FURTHA +1
064091,000736:                                                                                                  #                TC      JTLST
064092,000737: 
064093,000738:                                                                                                  #  EXAMPLE - U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
064094,000739:                                                                                                  #  JETS INTO CHANNEL 5.  IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
064095,000740:                                                                                                  #  150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
064096,000741:                                                                                                  #  CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
064097,000742:                                                                                                  #  OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
064098,000743: 
064099,000744:                                                                                                  #  THE LIST IS EXACTLY 3 LONG.  (THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
064100,000745:                                                                                                  #  THE INPUT IS THE LAST MEMBER OF THE LIST
064101,000746: 
064102,000747:                                                                                                  #  RETURNS BY:
064103,000748:                                                                                                  #        +       TC      Q
064104,000749: 
064105,000750:                                                                                                  #  DEFINITIONS:  (OUTPUT)
064106,000751:                                                                                                  #        TIME6           TIME OF NEXT RUPT
064107,000752:                                                                                                  #        T6NEXT          DELTA TIME TO NEXT RUPT
064108,000753:                                                                                                  #        T6FURTHA        DELTA TIME FROM 2ND TO LAST RUPT
064109,000754:                                                                                                  #        NXT6ADR         AXIS INDEX       Q - P-AXIS
064110,000755:                                                                                                  #        T6NEXT +1       AXIS INDEX       4 - U-AXIS
064111,000756:                                                                                                  #        T6FURTHA +1     AXIS INDEX      13 - V-AXIS
064112,000757: 
064113,000758: 17,3114           41470        JTLST              CS       T6FURTHA                              
064114,000759: 17,3115           60031                           AD       TIME6                                 
064115,000760: 17,3116           00006                           EXTEND                                         
064116,000761: 17,3117           63131                           BZMF     MIDORLST                              #  TIME6 - T IS IN A
064117,000762: 
064118,000763: 17,3120           23465                           LXCH     NXT6ADR                               
064119,000764: 17,3121           53467                           DXCH     T6NEXT                                
064120,000765: 17,3122           53471                           DXCH     T6FURTHA                              
064121,000766: 17,3123           54031                           TS       TIME6                                 
064122,000767: 17,3124           23465                           LXCH     NXT6ADR                               
064123,000768: 
064124,000769: 17,3125           34735        TURNON             CA       BIT15                                 
064125,000770: 17,3126           00006                           EXTEND                                         
064126,000771: 17,3127           05013                           WOR      CHAN13                                
064127,000772: 17,3130           00002                           TC       Q                                     
064128,000773: 

Page 1457

064130,000775: 17,3131           61466        MIDORLST           AD       T6NEXT                                
064131,000776: 17,3132           00006                           EXTEND                                         
064132,000777: 17,3133           63142                           BZMF     LASTCHG                               #  TIME6 + T6NEXT - T IS IN A
064133,000778: 
064134,000779: 17,3134           23467                           LXCH     T6NEXT     +1                         
064135,000780: 17,3135           53471                           DXCH     T6FURTHA                              
064136,000781: 17,3136           00006                           EXTEND                                         
064137,000782: 17,3137           60031                           SU       TIME6                                 
064138,000783: 17,3140           53467                           DXCH     T6NEXT                                
064139,000784: 
064140,000785: 17,3141           00002                           TC       Q                                     
064141,000786: 
064142,000787: 17,3142           40000        LASTCHG            CS       A                                     
064143,000788: 17,3143           64754                           AD       NEG0                                  
064144,000789: 17,3144           55470                           TS       T6FURTHA                              
064145,000790: 
064146,000791: 17,3145           00002                           TC       Q                                     
064147,000792: 
064148,000793:                                                                                                  #  ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
064149,000794:                                                                                                  #  ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM.  IN THE U-V SYSTEM NO CROSS-COUPLING IS
064150,000795:                                                                                                  #  PRODUCED FROM RCS JET FIRINGS.  AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
064151,000796:                                                                                                  #  A AND THE V-COMPONENT IS IN L.
064152,000797: 
064153,000798: 17,3146           23740        ROT-TOUV           LXCH     ROTEMP2                               #  (R) IS PUT INTO ROTEMP2
064154,000799: 17,3147           00006                           EXTEND                                         
064155,000800: 17,3150           71627                           MP       COEFFQ                                
064156,000801: 17,3151           57740                           XCH      ROTEMP2                               #  (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
064157,000802: 17,3152           00006                           EXTEND                                         
064158,000803: 17,3153           71630                           MP       COEFFR                                
064159,000804: 17,3154           54001                           TS       L                                     #  COEFFR.(R) IS PUT INTO L
064160,000805: 17,3155           61740                           AD       ROTEMP2                               
064161,000806: 17,3156           55737                           TS       ROTEMP1                               #  COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
064162,000807: 17,3157           13163                           TCF      +4                                    
064163,000808: 17,3160           50000                           INDEX    A                                     #  COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
064164,000809: 17,3161           44734                           CS       LIMITS                                #  AND IS LIMITED TO POSMAX OR NEGMAX
064165,000810: 17,3162           55737                           TS       ROTEMP1                               
064166,000811: 17,3163           41740                           CS       ROTEMP2                               
064167,000812: 17,3164           60001                           AD       L                                     #  -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
064168,000813: 17,3165           54007                           TS       7                                     
064169,000814: 17,3166           13171                           TCF      +3                                    
064170,000815: 17,3167           50000                           INDEX    A                                     #  -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
064171,000816: 17,3170           44734                           CS       LIMITS                                #  AND IS LIMITED TO POSMAX OR NEGMAX
064172,000817: 17,3171           23737                           LXCH     ROTEMP1                               #  COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
064173,000818: 17,3172           00002                           TC       Q                                     
064174,000819: 17,3173           51744        SELCTSUB           INDEX    ROTINDEX                              
064175,000820: 17,3174           33225                           CA       ALLJETS                               
064176,000821: 17,3175           51743                           INDEX    NUMBERT                               
064177,000822: 17,3176           73231                           MASK     TYPEPOLY                              
064178,000823: 17,3177           55741                           TS       POLYTEMP                              

Page 1458

064180,000825: 17,3200           71262                           MASK     CH5MASK                               
064181,000826: 17,3201           10000                           CCS      A                                     
064182,000827: 17,3202           13204                           TCF      +2                                    
064183,000828: 
064184,000829: 17,3203           00002                           TC       Q                                     
064185,000830: 
064186,000831: 17,3204           36245                           CA       THREE                                 
064187,000832: 17,3205           55743        FAILOOP            TS       NUMBERT                               
064188,000833: 17,3206           51744                           INDEX    ROTINDEX                              
064189,000834: 17,3207           33225                           CA       ALLJETS                               
064190,000835: 17,3210           51743                           INDEX    NUMBERT                               
064191,000836: 17,3211           73231                           MASK     TYPEPOLY                              
064192,000837: 17,3212           55741                           TS       POLYTEMP                              
064193,000838: 17,3213           71262                           MASK     CH5MASK                               
064194,000839: 17,3214           00006                           EXTEND                                         
064195,000840: 17,3215           13203                           BZF      FAILOOP    -2                         
064196,000841: 17,3216           11743                           CCS      NUMBERT                               
064197,000842: 17,3217           13205                           TCF      FAILOOP                               
064198,000843: 17,3220           51505                           INDEX    AXISCTR                               
064199,000844: 17,3221           55525                           TS       TJU                                   
064200,000845: 17,3222           05567                           TC       ALARM                                 
064201,000846: 17,3223           02004                           OCT      02004                                 
064202,000847: 17,3224           12777                           TCF      NOROTAT                               
064203,000848: 17,3225           00110        ALLJETS            OCT      00110                                 #        -U      6 13
064204,000849: 17,3226           00022                           OCT      00022                                 #        -V      2 9
064205,000850: 17,3227           00204                           OCT      00204                                 #        +U      5 14
064206,000851: 17,3230           00041                           OCT      00041                                 #        +V      1 10
064207,000852: 17,3231           00125        TYPEPOLY           OCT      00125                                 #        -X      1 5 9 13
064208,000853: 17,3232           00252                           OCT      00252                                 #        +X      2 6 10 14
064209,000854: 17,3233           00146                           OCT      00146                                 #        A       2 5 10 13
064210,000855: 17,3234           00231                           OCT      00231                                 #        B       1 6 9 14
064211,000856: 17,3235           00377                           OCT      00377                                 #        ALL     1 2 5 6 9 10 13 14
064212,000857: 
064213,000858:                                                                                                  #  THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
064214,000859: 
064215,000860: 17,3236           33240        CLOSEOUT           CA       ADRRUPT                               
064216,000861: 17,3237           07754                           TC       MAKERUPT                              
064217,000862: 
064218,000863: 17,3240           03241        ADRRUPT            ADRES    ENDJASK                               
064219,000864: 
064220,000865: 17,3241           53754        ENDJASK            DXCH     DAPARUPT                              
064221,000866: 17,3242           52011                           DXCH     ARUPT                                 
064222,000867: 17,3243           53756                           DXCH     DAPBQRPT                              
064223,000868: 17,3244           56017                           XCH      BRUPT                                 
064224,000869: 17,3245           22002                           LXCH     Q                                     
064225,000870: 17,3246           34735                           CAF      NEGMAX                                #  NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
064226,000871: 17,3247           53760                           DXCH     DAPZRUPT                              
064227,000872: 17,3250           52016                           DXCH     ZRUPT                                 
064228,000873: 17,3251           15272                           TCF      NOQRSM                                

Page 1459

064230,000875:    7754                                           BLOCK    3                                     
064231,000876:    6000                                           SETLOC   FFTAG6                                
064232,000877:    6000                                           BANK                                           
064233,000878: 
064234,000879:    7754                                           COUNT*   $$/DAP                                
064235,000880: 
064236,000881:    7754           00006        MAKERUPT           EXTEND                                         
064237,000882:    7755           07754                           EDRUPT   MAKERUPT                              
064238,000883: 

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