Source Code

This is a reconstruction of the AGC program Luminary 99 Rev 0. It was the third release of the Lunar Module flight software targeted for use in Apollo 11, after Luminary 96 and 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.

063378,000002:                                                                                                  ## Copyright:   Public domain.
063379,000003:                                                                                                  ## Filename:    Q,R-AXES_RCS_AUTOPILOT.agc
063380,000004:                                                                                                  ## Purpose:     Part of the reconstructed source code for LMY99 Rev 0,
063381,000005:                                                                                                  ##              otherwise known as Luminary Rev 99, the third release
063382,000006:                                                                                                  ##              of the Apollo Guidance Computer (AGC) software for Apollo 11.
063383,000007:                                                                                                  ##              It differs from LMY99 Rev 1 (the flown version) only in the
063384,000008:                                                                                                  ##              placement of a single label. The corrections shown here have
063385,000009:                                                                                                  ##              been verified to have the same bank checksums as AGC developer
063386,000010:                                                                                                  ##              Allan Klumpp's copy of Luminary Rev 99, and so are believed
063387,000011:                                                                                                  ##              to be accurate. This file is intended to be a faithful 
063388,000012:                                                                                                  ##              recreation, except that the code format has been changed to 
063389,000013:                                                                                                  ##              conform to the requirements of the yaYUL assembler rather than 
063390,000014:                                                                                                  ##              the original YUL assembler.
063391,000015:                                                                                                  ##
063392,000016:                                                                                                  ## Assembler:   yaYUL
063393,000017:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
063394,000018:                                                                                                  ## Website:     www.ibiblio.org/apollo.
063395,000019:                                                                                                  ## Pages:       1442-1459
063396,000020:                                                                                                  ## Mod history: 2009-05-27 RSB  Adapted from the corresponding 
063397,000021:                                                                                                  ##                              Luminary131 file, using page 
063398,000022:                                                                                                  ##                              images from Luminary 1A.
063399,000023:                                                                                                  ##              2009-06-07 RSB  Corrected "DEC 96.0" to "DEC 96", since
063400,000024:                                                                                                  ##                              the former is not compatible with yaYUL.
063401,000025:                                                                                                  ##              2011-01-06 JL   Fixed pseudo-label indentation.
063402,000026:                                                                                                  ##              2016-12-18 RSB  Proofed text comments with octopus/ProoferComments
063403,000027:                                                                                                  ##                              and corrected the errors found.
063404,000028:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
063405,000029:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
063406,000030:                                                                                                  ##              2017-08-01 MAS  Created from LMY99 Rev 1.
063407,000031:                                                                                                  ##              2017-08-29 MAS  Fixed a label (X0RULGE instead of XORULGE) and a
063408,000032:                                                                                                  ##                              comment text error found while transcribing Zerlina 56.
063409,000033: 
063410,000034:                                                                                                  ## This source code has been transcribed or otherwise adapted from
063411,000035:                                                                                                  ## digitized images of a hardcopy from the MIT Museum.  The digitization
063412,000036:                                                                                                  ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
063413,000037:                                                                                                  ## the Museum.  Many thanks to both.  The images (with suitable reduction
063414,000038:                                                                                                  ## in storage size and consequent reduction in image quality as well) are
063415,000039:                                                                                                  ## available online at www.ibiblio.org/apollo.  If for some reason you
063416,000040:                                                                                                  ## find that the images are illegible, contact me at info@sandroid.org
063417,000041:                                                                                                  ## about getting access to the (much) higher-quality images which Paul
063418,000042:                                                                                                  ## actually created.
063419,000043:                                                                                                  ##
063420,000044:                                                                                                  ## The code has been modified to match LMY99 Revision 0, otherwise
063421,000045:                                                                                                  ## known as Luminary Revision 99, the Apollo 11 software release preceeding
063422,000046:                                                                                                  ## the listing from which it was transcribed. It has been verified to
063423,000047:                                                                                                  ## contain the same bank checksums as AGC developer Allan Klumpp's listing
063424,000048:                                                                                                  ## of Luminary Revision 99 (for which we do not have scans).
063425,000049:                                                                                                  ##
063426,000050:                                                                                                  ## Notations on Allan Klumpp's listing read, in part:
063427,000051:                                                                                                  ##
063428,000052:                                                                                                  ##      ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-51
063429,000053: 

Page 1442

063431,000055: 17,2072                                           BANK     17                                    
063432,000056: 17,2000                                           SETLOC   DAPS2                                 
063433,000057: 17,2000                                           BANK                                           
063434,000058: 
063435,000059: 17,2072  E6,1635                                  EBANK=   CDUXD                                 
063436,000060: 
063437,000061: 17,2072                                           COUNT*   $$/DAPQR                              
063438,000062: 
063439,000063: 17,2072           34737        CALLQERR           CA       BIT13                                 #  CALCULATE Q,R ERRORS UNLESS THESE AXES
063440,000064: 17,2073           00006                           EXTEND                                         #  ARE IN MANUAL RATE COMMAND.
063441,000065: 17,2074           02031                           RAND     CHAN31                                
063442,000066: 17,2075           10000                           CCS      A                                     
063443,000067: 17,2076           12103                           TCF      +5                                    #  IN AUTO COMPUTE Q,R ERRORS
063444,000068: 17,2077           40111                           CS       DAPBOOLS                              #  IN MANUAL RATE COMMAND?
063445,000069: 17,2100           74740                           MASK     OURRCBIT                              
063446,000070: 17,2101           00006                           EXTEND                                         
063447,000071: 17,2102           12104                           BZF      Q,RORGTS                              #  IF SO BYPASS CALCULATION OF ERRORS.
063448,000072: 17,2103           02626                           TC       QERRCALC                              
063449,000073: 
063450,000074: 17,2104           11631        Q,RORGTS           CCS      COTROLER                              #  CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
063451,000075: 17,2105           12607                           TCF      GOTOGTS                               #        GTS (ALTERNATES WITH RCS WHEN DOCKED)
063452,000076: 17,2106           12574                           TCF      TRYGTS                                #        GTS IF ALLOWED, OTHERWISE RCS
063453,000077: 17,2107           34755        RCS                CAF      ZERO                                  #        RCS (TRYGTS MAY BRANCH TO HERE)
063454,000078: 17,2110           55631                           TS       COTROLER                              
063455,000079: 
063456,000080: 17,2111           53437                           DXCH     EDOTQ                                 
063457,000081: 17,2112           03146                           TC       ROT-TOUV                              
063458,000082: 17,2113           53427                           DXCH     OMEGAU                                
063459,000083: 
063460,000084:                                                                                                  #  X - TRANSLATION:
063461,000085: 
063462,000086:                                                                                                  #  INPUT:        BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
063463,000087:                                                                                                  #                ULLAGER
063464,000088:                                                                                                  #                APSFLAG, DRIFTBIT
063465,000089:                                                                                                  #                ACC40R2X, ACRBTRAN
063466,000090: 
063467,000091:                                                                                                  #  OUTPUT:       NEXTU, NEXTV    CODES OF TRANSLATION FOR AFTER ROTATION
063468,000092:                                                                                                  #                SENSETYP        TELL ROTATION DIRECTION AND DESIRE
063469,000093: 
063470,000094:                                                                                                  #  X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR.  IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED.  A FAILURE
063471,000095:                                                                                                  #  WILL OVERRIDE THIS SPECIFICATION.  AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
063472,000096: 
063473,000097: 17,2114           34745        SENSEGET           CA       BIT7                                  #  INPUT BITS OVERRIDE THE INTERNAL BITS
063474,000098: 17,2115           00006                           EXTEND                                         #  SENSETYP WILL NOT OPPOSE ANYTRANS
063475,000099: 17,2116           02031                           RAND     CHAN31                                
063476,000100: 17,2117           00006                           EXTEND                                         
063477,000101: 17,2120           12146                           BZF      +XORULGE                              

Page 1443

063479,000103: 17,2121           34744                           CA       BIT8                                  
063480,000104: 17,2122           00006                           EXTEND                                         
063481,000105: 17,2123           02031                           RAND     CHAN31                                
063482,000106: 17,2124           00006                           EXTEND                                         
063483,000107: 17,2125           12147                           BZF      -XTRANS                               
063484,000108: 
063485,000109: 17,2126           34746                           CA       ULLAGER                               
063486,000110: 17,2127           70111                           MASK     DAPBOOLS                              
063487,000111: 17,2130           10000                           CCS      A                                     
063488,000112: 17,2131           12146                           TCF      +XORULGE                              
063489,000113: 
063490,000114: 17,2132           55473                           TS       NEXTU                                 #  STORE NULL TRANSLATION POLICIES
063491,000115: 17,2133           55474                           TS       NEXTV                                 
063492,000116: 17,2134           40111                           CS       DAPBOOLS                              #  BURNING OR DRIFTING?
063493,000117: 17,2135           74744                           MASK     DRIFTBIT                              
063494,000118: 17,2136           00006                           EXTEND                                         
063495,000119: 17,2137           12144                           BZF      TSENSE                                
063496,000120: 17,2140           30106                           CA       FLGWRD10                              #  DPS (INCLUDING DOCKED) OR APS?
063497,000121: 17,2141           74737                           MASK     APSFLBIT                              
063498,000122: 17,2142           10000                           CCS      A                                     
063499,000123: 17,2143           34752                           CAF      TWO                                   #  FAVOR +X JETS DURING AN APS BURN.
063500,000124: 17,2144           55500        TSENSE             TS       SENSETYP                              
063501,000125: 17,2145           12200                           TCF      QRCONTRL                              
063502,000126: 
063503,000127: 17,2146           34753        +XORULGE           CAF      ONE                                   
063504,000128: 17,2147           64751        -XTRANS            AD       FOUR                                  
063505,000129: 17,2150           55744                           TS       ROTINDEX                              
063506,000130: 17,2151           67745                           AD       NEG3                                  
063507,000131: 17,2152           55500                           TS       SENSETYP                              #  FAVOR APPROPRIATE JETS DURING TRANS.
063508,000132: 17,2153           30111                           CA       DAPBOOLS                              
063509,000133: 17,2154           74741                           MASK     ACC4OR2X                              
063510,000134: 17,2155           10000                           CCS      A                                     
063511,000135: 17,2156           12321                           TCF      TRANS4                                
063512,000136: 
063513,000137: 17,2157           30111                           CA       DAPBOOLS                              
063514,000138: 17,2160           74742                           MASK     AORBTRAN                              
063515,000139: 17,2161           10000                           CCS      A                                     
063516,000140: 17,2162           34753                           CA       ONE                                   #  THREE FOR B
063517,000141: 17,2163           64752                           AD       TWO                                   #  TWO FOR A SYSTEM 2 JET X TRANS
063518,000142: 17,2164           55743        TSNUMBRT           TS       NUMBERT                               
063519,000143: 
063520,000144: 17,2165           03173                           TC       SELCTSUB                              
063521,000145: 
063522,000146: 17,2166           11741                           CCS      POLYTEMP                              
063523,000147: 17,2167           12172                           TCF      +3                                    
063524,000148: 17,2170           05567                           TC       ALARM                                 
063525,000149: 17,2171           02002                           OCT      02002                                 
063526,000150: 17,2172           35774                           CA       00314OCT                              
063527,000151: 17,2173           71741                           MASK     POLYTEMP                              
063528,000152: 17,2174           55473        TSNEXTS            TS       NEXTU                                 

Page 1444

063530,000154: 17,2175           45774                           CS       00314OCT                              
063531,000155: 17,2176           71741                           MASK     POLYTEMP                              
063532,000156: 17,2177           55474                           TS       NEXTV                                 
063533,000157: 
063534,000158:                                                                                                  #  Q,R-AXES RCS CONTROL MODE SELECTION
063535,000159:                                                                                                  #        SWITCHES        INDICATION WHEN SET
063536,000160:                                                                                                  #        BIT13/CHAN31    AUTO, GO TO ATTSTEER
063537,000161:                                                                                                  #        PULSES          MINIMUM IMPULSE MODE
063538,000162:                                                                                                  #        (OTHERWISE)     RATE COMMAND/ATTITUDE HOLD MODE
063539,000163: 
063540,000164: 17,2200           34737        QRCONTRL           CA       BIT13                                 #  CHECK MODE SELECT SWITCH.
063541,000165: 17,2201           00006                           EXTEND                                         
063542,000166: 17,2202           02031                           RAND     CHAN31                                #  BITS INVERTED
063543,000167: 17,2203           10000                           CCS      A                                     
063544,000168: 17,2204           12661                           TCF      ATTSTEER                              
063545,000169: 17,2205           34735        CHKBIT10           CAF      PULSES                                #  PULSES = 1 FOR MIN IMP USE OF RHC
063546,000170: 17,2206           70111                           MASK     DAPBOOLS                              
063547,000171: 17,2207           00006                           EXTEND                                         
063548,000172: 17,2210           12323                           BZF      CHEKSTIK                              #  IN ATT-HOLD/RATE-COMMAND IF BIT10=0
063549,000173: 
063550,000174:                                                                                                  #  MINIMUM IMPULSE MODE
063551,000175: 
063552,000176: 17,2211           00004                           INHINT                                         
063553,000177: 17,2212           04674                           TC       IBNKCALL                              
063554,000178: 17,2213           40153                           CADR     ZATTEROR                              
063555,000179: 17,2214           34755                           CA       ZERO                                  
063556,000180: 17,2215           55450                           TS       QERROR                                
063557,000181: 17,2216           55452                           TS       RERROR                                #  FOR DISPLAYS
063558,000182: 17,2217           00003                           RELINT                                         
063559,000183: 
063560,000184: 17,2220           00006                           EXTEND                                         
063561,000185: 17,2221           00031                           READ     CHAN31                                
063562,000186: 17,2222           55737                           TS       TEMP31                                #  IS EQUAL TO DAPTEMP1
063563,000187: 17,2223           11461                           CCS      OLDQRMIN                              
063564,000188: 17,2224           12246                           TCF      CHECKIN                               
063565,000189: 
063566,000190: 17,2225           31737        FIREQR             CA       TEMP31                                
063567,000191: 17,2226           74753                           MASK     BIT1                                  
063568,000192: 17,2227           00006                           EXTEND                                         
063569,000193: 17,2230           12252                           BZF      +QMIN                                 
063570,000194: 
063571,000195: 17,2231           31737                           CA       TEMP31                                
063572,000196: 17,2232           74752                           MASK     BIT2                                  
063573,000197: 17,2233           00006                           EXTEND                                         
063574,000198: 17,2234           12256                           BZF      -QMIN                                 
063575,000199: 
063576,000200: 17,2235           31737                           CA       TEMP31                                
063577,000201: 17,2236           74747                           MASK     BIT5                                  

Page 1445

063579,000203: 17,2237           00006                           EXTEND                                         
063580,000204: 17,2240           12262                           BZF      +RMIN                                 
063581,000205: 
063582,000206: 17,2241           31737                           CA       TEMP31                                
063583,000207: 17,2242           74746                           MASK     BIT6                                  
063584,000208: 17,2243           00006                           EXTEND                                         
063585,000209: 17,2244           12264                           BZF      -RMIN                                 
063586,000210: 
063587,000211: 17,2245           13063                           TCF      XTRANS                                
063588,000212: 
063589,000213: 17,2246           41737        CHECKIN            CS       TEMP31                                
063590,000214: 17,2247           72320                           MASK     OCT63                                 
063591,000215: 17,2250           55461                           TS       OLDQRMIN                              
063592,000216: 17,2251           13063                           TCF      XTRANS                                
063593,000217: 
063594,000218: 17,2252           33107        +QMIN              CA       14MS                                  
063595,000219: 17,2253           55525                           TS       TJU                                   
063596,000220: 17,2254           43107                           CS       14MS                                  
063597,000221: 17,2255           12266                           TCF      MINQR                                 
063598,000222: 17,2256           43107        -QMIN              CS       14MS                                  
063599,000223: 17,2257           55525                           TS       TJU                                   
063600,000224: 17,2260           33107                           CA       14MS                                  
063601,000225: 17,2261           12266                           TCF      MINQR                                 
063602,000226: 17,2262           33107        +RMIN              CA       14MS                                  
063603,000227: 17,2263           12265                           TCF      +2                                    
063604,000228: 17,2264           43107        -RMIN              CS       14MS                                  
063605,000229: 17,2265           55525                           TS       TJU                                   
063606,000230: 17,2266           55526        MINQR              TS       TJV                                   
063607,000231: 17,2267           32317                           CA       MINADR                                
063608,000232: 17,2270           55477                           TS       RETJADR                               
063609,000233: 17,2271           34753                           CA       ONE                                   
063610,000234: 17,2272           55461                           TS       OLDQRMIN                              
063611,000235: 17,2273           55505        MINRTN             TS       AXISCTR                               
063612,000236: 17,2274           30111                           CA       DAPBOOLS                              
063613,000237: 17,2275           74737                           MASK     CSMDOCKD                              
063614,000238: 17,2276           00006                           EXTEND                                         
063615,000239: 17,2277           12307                           BZF      MIMRET                                
063616,000240: 17,2300           51505                           INDEX    AXISCTR                               #  IF DOCKED, USE 60MS MINIMUM IMPULSE
063617,000241: 17,2301           11525                           CCS      TJU                                   
063618,000242: 17,2302           32316                           CA       60MS                                  
063619,000243: 17,2303           12305                           TCF      +2                                    
063620,000244: 17,2304           42316                           CS       60MS                                  
063621,000245: 17,2305           51505                           INDEX    AXISCTR                               
063622,000246: 17,2306           55525                           TS       TJU                                   
063623,000247: 17,2307           30111        MIMRET             CA       DAPBOOLS                              
063624,000248: 17,2310           74742                           MASK     AORBTRAN                              
063625,000249: 17,2311           10000                           CCS      A                                     
063626,000250: 17,2312           34753                           CA       ONE                                   
063627,000251: 17,2313           64752                           AD       TWO                                   
063628,000252: 17,2314           55743                           TS       NUMBERT                               

Page 1446

063630,000254: 17,2315           12727                           TCF      AFTERTJ                               
063631,000255: 
063632,000256: 17,2316           00140        60MS               DEC      96.0                                  
063633,000257: 17,2317           02273        MINADR             GENADR   MINRTN                                
063634,000258: 17,2320           00063        OCT63              OCT      63                                    
063635,000259: 17,2321  17,3107               14MS               =        +TJMINT6                              
063636,000260: 
063637,000261: 17,2321           34751        TRANS4             CA       FOUR                                  
063638,000262: 17,2322           12164                           TCF      TSNUMBRT                              
063639,000263: 
063640,000264:                                                                                                  #  RATE COMMAND MODE:
063641,000265: 
063642,000266:                                                                                                  #  DESCRIPTION (SAME AS P-AXIS)
063643,000267: 
063644,000268: 17,2323           55633        CHEKSTIK           TS       INGTS                                 #  NOT IN GTS WHEN IN ATT HOLD
063645,000269: 17,2324           44753                           CS       ONE                                   #  1/ACCS WILL DO THE NULLING DRIVES
063646,000270: 17,2325           55631                           TS       COTROLER                              #  COME BACK TO RCS NEXT TIME
063647,000271: 17,2326           34735                           CA       BIT15                                 
063648,000272: 17,2327           71443                           MASK     CH31TEMP                              
063649,000273: 17,2330           00006                           EXTEND                                         
063650,000274: 17,2331           12350                           BZF      RHCACTIV                              #  BRANCH IF OUT OF DETENT.
063651,000275: 17,2332           34740                           CA       OURRCBIT                              #  ***********
063652,000276: 17,2333           70111                           MASK     DAPBOOLS                              #  *IN DETENT*   CHECK FOR MANUAL CONTROL
063653,000277: 17,2334           00006                           EXTEND                                         #  ***********   LAST TIME.
063654,000278: 17,2335           12661                           BZF      STILLRCS                              
063655,000279: 17,2336           44743                           CS       BIT9                                  
063656,000280: 17,2337           71273                           MASK     RCSFLAGS                              
063657,000281: 17,2340           55273                           TS       RCSFLAGS                              #  BIT 9 IS 0.
063658,000282: 17,2341           12345                           TCF      DAMPING                               
063659,000283: 17,2342           00050        40CYCL             OCT      50                                    
063660,000284: 17,2343           00001        1/10S              OCT      1                                     
063661,000285: 17,2344           00056        LINRAT             DEC      46         B-14                       
063662,000286: 
063663,000287:                                                                                                  #  ================================
063664,000288: 
063665,000289: 17,2345           34755        DAMPING            CA       ZERO                                  
063666,000290: 17,2346           55462                           TS       SAVEHAND                              
063667,000291: 17,2347           55463                           TS       SAVEHAND   +1                         
063668,000292: 17,2350           11462        RHCACTIV           CCS      SAVEHAND                              #  *******************
063669,000293: 17,2351           12354                           TCF      +3                                    #  Q,R MANUAL CONTROL    WC = A*(B+|D|)*D
063670,000294: 17,2352           12354                           TCF      +2                                    #  *******************
063671,000295: 17,2353           12354                           TCF      +1                                    
063672,000296: 17,2354           60000                           DOUBLE                                         #  WHERE
063673,000297: 17,2355           60000                           DOUBLE                                         
063674,000298: 17,2356           62344                           AD       LINRAT                                #        WC  = COMMANDED ROTATIONAL RATE
063675,000299: 17,2357           00006                           EXTEND                                         #        A   = QUADRATIC SENSITIVITY FACTOR
063676,000300: 17,2360           71462                           MP       SAVEHAND                              #        B   = LINEAR/QUADRATIC SENSITIVITY
063677,000301: 17,2361           30001                           CA       L                                     #        |D| = ABS. VALUE OF DEFLECTION
063678,000302: 17,2362           00006                           EXTEND                                         #        D   = HAND CONTROLLER DEFLECTION
063679,000303: 17,2363           71444                           MP       STIKSENS                              
063680,000304: 17,2364           57455                           XCH      QLAST                                 #  COMMAND Q RATE     SCALED 45 DEG/SEC
063681,000305: 17,2365           40000                           COM                                            

Page 1447

063683,000307: 17,2366           61455                           AD       QLAST                                 
063684,000308: 17,2367           55741                           TS       DAPTEMP3                              
063685,000309: 17,2370           11463                           CCS      SAVEHAND   +1                         
063686,000310: 17,2371           12374                           TCF      +3                                    
063687,000311: 17,2372           12374                           TCF      +2                                    
063688,000312: 17,2373           12374                           TCF      +1                                    
063689,000313: 17,2374           60000                           DOUBLE                                         
063690,000314: 17,2375           60000                           DOUBLE                                         
063691,000315: 17,2376           62344                           AD       LINRAT                                
063692,000316: 17,2377           00006                           EXTEND                                         
063693,000317: 17,2400           71463                           MP       SAVEHAND   +1                         
063694,000318: 17,2401           30001                           CA       L                                     
063695,000319: 17,2402           00006                           EXTEND                                         
063696,000320: 17,2403           71444                           MP       STIKSENS                              
063697,000321: 17,2404           57456                           XCH      RLAST                                 
063698,000322: 17,2405           40000                           COM                                            
063699,000323: 17,2406           61456                           AD       RLAST                                 
063700,000324: 17,2407           55742                           TS       DAPTEMP4                              
063701,000325: 17,2410           41455                           CS       QLAST                                 #  INTERVAL.
063702,000326: 17,2411           61422                           AD       OMEGAQ                                
063703,000327: 17,2412           55436                           TS       QRATEDIF                              
063704,000328: 17,2413           41456                           CS       RLAST                                 
063705,000329: 17,2414           61423                           AD       OMEGAR                                
063706,000330: 17,2415           55437                           TS       RRATEDIF                              
063707,000331: 17,2416           53437        ENTERQR            DXCH     QRATEDIF                              #  TRANSFORM RATES FROM Q,R TO U,V AXES
063708,000332: 17,2417           03146                           TC       ROT-TOUV                              
063709,000333: 17,2420           53427                           DXCH     URATEDIF                              
063710,000334: 17,2421           11741                           CCS      DAPTEMP3                              #  CHECK IF Q COMMAND CHANGE EXCEEDS
063711,000335: 17,2422           02425                           TC       +3                                    #  BREAKOUT LEVEL.  IF NOT, CHECK R.
063712,000336: 17,2423           02425                           TC       +2                                    
063713,000337: 17,2424           02425                           TC       +1                                    
063714,000338: 17,2425           61476                           AD       -RATEDB                               
063715,000339: 17,2426           00006                           EXTEND                                         
063716,000340: 17,2427           62431                           BZMF     +2                                    
063717,000341: 17,2430           12447                           TCF      ENTERUV    -2                         #  BREAKOUT LEVEL EXCEEDED.  DIRECT RATE.
063718,000342: 17,2431           11742                           CCS      DAPTEMP4                              #  R COMMAND BREAKOUT CHECK.
063719,000343: 17,2432           02435                           TC       +3                                    
063720,000344: 17,2433           02435                           TC       +2                                    
063721,000345: 17,2434           02435                           TC       +1                                    
063722,000346: 17,2435           61476                           AD       -RATEDB                               
063723,000347: 17,2436           00006                           EXTEND                                         
063724,000348: 17,2437           62441                           BZMF     +2                                    
063725,000349: 17,2440           12447                           TCF      ENTERUV    -2                         #  BREAKOUT LEVEL EXCEEDED.  DIRECT RATE.
063726,000350: 17,2441           31273                           CA       RCSFLAGS                              #  BREAKOUT LEVEL NOT EXCEEDED.  CHECK FOR
063727,000351: 17,2442           74741                           MASK     QRBIT                                 #  DIRECT RATE CONTROL LAST TIME.
063728,000352: 17,2443           00006                           EXTEND                                         
063729,000353: 17,2444           12446                           BZF      +2                                    
063730,000354: 17,2445           12451                           TCF      ENTERUV                               #  CONTINUE DIRECT RATE CONTROL.
063731,000355: 17,2446           12661                           TCF      STILLRCS                              #  PSEUDO-AUTO CONTROL.
063732,000356: 17,2447           32342                           CA       40CYCL                                

Page 1448

063734,000358: 17,2450           55457                           TS       TCQR                                  
063735,000359: 17,2451           00004        ENTERUV            INHINT                                         #  DIRECT RATE CONTROL.
063736,000360: 17,2452           04674                           TC       IBNKCALL                              
063737,000361: 17,2453           40153                           FCADR    ZATTEROR                              
063738,000362: 17,2454           00003                           RELINT                                         
063739,000363: 17,2455           34755                           CA       ZERO                                  
063740,000364: 17,2456           55450                           TS       DYERROR                               
063741,000365: 17,2457           55451                           TS       DYERROR    +1                         
063742,000366: 17,2460           55452                           TS       DZERROR                               
063743,000367: 17,2461           55453                           TS       DZERROR    +1                         
063744,000368: 17,2462           11426                           CCS      URATEDIF                              
063745,000369: 17,2463           12466                           TCF      +3                                    
063746,000370: 17,2464           12466                           TCF      +2                                    
063747,000371: 17,2465           12466                           TCF      +1                                    
063748,000372: 17,2466           61476                           AD       TARGETDB                              #  IF TARGET DB IS EXCEEDED, CONTINUE
063749,000373: 17,2467           00006                           EXTEND                                         #  DIRECT RATE CONTROL.
063750,000374: 17,2470           62504                           BZMF     VDB                                   
063751,000375: 17,2471           11427                           CCS      VRATEDIF                              
063752,000376: 17,2472           12475                           TCF      +3                                    
063753,000377: 17,2473           12475                           TCF      +2                                    
063754,000378: 17,2474           12475                           TCF      +1                                    
063755,000379: 17,2475           61476                           AD       TARGETDB                              
063756,000380: 17,2476           00006                           EXTEND                                         
063757,000381: 17,2477           62501                           BZMF     +2                                    
063758,000382: 17,2500           12515                           TCF      QRTIME                                
063759,000383: 17,2501           34755                           CA       ZERO                                  
063760,000384: 17,2502           55427                           TS       VRATEDIF                              
063761,000385: 17,2503           12515                           TCF      QRTIME                                
063762,000386: 17,2504           11427        VDB                CCS      VRATEDIF                              
063763,000387: 17,2505           02510                           TC       +3                                    
063764,000388: 17,2506           02510                           TC       +2                                    
063765,000389: 17,2507           02510                           TC       +1                                    
063766,000390: 17,2510           61476                           AD       TARGETDB                              #  IF TARGET DB IS EXCEEDED, CONTINUE
063767,000391: 17,2511           00006                           EXTEND                                         #  DIRECT RATE CONTROL.  IF NOT, FIRE AND
063768,000392: 17,2512           62524                           BZMF     TOPSEUDO                              #  SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
063769,000393: 17,2513           34755                           CA       ZERO                                  #  PASS.
063770,000394: 17,2514           55426                           TS       URATEDIF                              
063771,000395: 17,2515           31457        QRTIME             CA       TCQR                                  #  DIRECT RATE TIME CHECK.
063772,000396: 17,2516           00006                           EXTEND                                         
063773,000397: 17,2517           62524                           BZMF     +5                                    #  BRANCH IF TIME EXCEEDS 4 SEC.
063774,000398: 17,2520           41273                           CS       RCSFLAGS                              
063775,000399: 17,2521           74741                           MASK     QRBIT                                 
063776,000400: 17,2522           27273                           ADS      RCSFLAGS                              #  BIT 11 IS 1.
063777,000401: 17,2523           02527                           TC       +4                                    
063778,000402: 17,2524           44741        TOPSEUDO           CS       QRBIT                                 
063779,000403: 17,2525           71273                           MASK     RCSFLAGS                              
063780,000404: 17,2526           55273                           TS       RCSFLAGS                              #  BIT 11 IS 0.
063781,000405: 17,2527           32573                           CA       HANDADR                               
063782,000406: 17,2530           55477                           TS       RETJADR                               
063783,000407: 17,2531           34753                           CA       ONE                                   
063784,000408: 

Page 1449

063786,000410: 17,2532           55505        BACKHAND           TS       AXISCTR                               
063787,000411: 
063788,000412: 17,2533           34751                           CA       FOUR                                  
063789,000413: 17,2534           55743                           TS       NUMBERT                               
063790,000414: 
063791,000415: 17,2535           51505                           INDEX    AXISCTR                               
063792,000416: 17,2536           51535                           INDEX    SKIPU                                 
063793,000417: 17,2537           12540                           TCF      +1                                    
063794,000418: 17,2540           34751                           CA       FOUR                                  
063795,000419: 17,2541           51505                           INDEX    AXISCTR                               
063796,000420: 17,2542           55535                           TS       SKIPU                                 
063797,000421: 17,2543           13005                           TCF      LOOPER                                
063798,000422: 
063799,000423: 17,2544           51505                           INDEX    AXISCTR                               
063800,000424: 17,2545           11426                           CCS      URATEDIF                              #        INDEX   AXIS    QUANITY
063801,000425: 17,2546           34755                           CA       ZERO                                  #        0       -U      1/JETACC-AOSU
063802,000426: 17,2547           12551                           TCF      +2                                    #        1       +U      1/JETACC+AOSU
063803,000427: 17,2550           34753                           CA       ONE                                   #        16      -V      1/JETACC-AOSV
063804,000428: 17,2551           51505                           INDEX    AXISCTR                               #        17      +V      1/JETACC+AOSV
063805,000429: 17,2552           63722                           AD       AXISDIFF                              #  JETACC = 2 JET ACCELERATION (1 FOR FAIL)
063806,000430: 
063807,000431: 17,2553           50000                           INDEX    A                                     
063808,000432: 17,2554           41571                           CS       1/ANET2    +1                         
063809,000433: 17,2555           00006                           EXTEND                                         
063810,000434: 17,2556           51505                           INDEX    AXISCTR                               #  URATEDIF IS SCALED AT PI/4 RAD/SEC
063811,000435: 17,2557           71426                           MP       URATEDIF                              #  JET TIME IN A       SCALED 32 SEC
063812,000436: 17,2560           54002                           TS       Q                                     
063813,000437: 17,2561           20001                           DAS      A                                     
063814,000438: 17,2562           60002                           AD       Q                                     
063815,000439: 17,2563           54000                           TS       A                                     #  OVERFLOW SKIP
063816,000440: 17,2564           12566                           TCF      +2                                    
063817,000441: 17,2565           30002                           CA       Q                                     #  RIGHT SIGN AND BIGGER THAN 150MS
063818,000442: 17,2566           51505        SETTIME            INDEX    AXISCTR                               
063819,000443: 17,2567           55525                           TS       TJU                                   #  SCALED AT 10.67 WHICH IS CLOSE TO 10.24
063820,000444: 17,2570           12727                           TCF      AFTERTJ                               
063821,000445: 
063822,000446: 17,2571           34755        ZEROTJ             CA       ZERO                                  
063823,000447: 17,2572           12566                           TCF      SETTIME                               
063824,000448: 
063825,000449: 17,2573           02532        HANDADR            GENADR   BACKHAND                              
063826,000450: 
063827,000451:                                                                                                  #  GTS WILL BE TRIED IF
063828,000452:                                                                                                  #        1. USEQRJTS = 0,
063829,000453:                                                                                                  #        2. ALLOWGTS POS,
063830,000454:                                                                                                  #        3. JETS ARE OFF (Q,R-AXES)
063831,000455: 
063832,000456: 17,2574           34736        TRYGTS             CAF      USEQRJTS                              #  IS JET USE MANDATORY.         (AS LONG AS
063833,000457: 17,2575           70111                           MASK     DAPBOOLS                              #  USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
063834,000458: 17,2576           10000                           CCS      A                                     
063835,000459: 17,2577           12107                           TCF      RCS                                   
063836,000460: 17,2600           11502                           CCS      ALLOWGTS                              #  NO.  DOES AOSTASK OK CONTROL FOR GTS?

Page 1450

063838,000462: 17,2601           12603                           TCF      +2                                    
063839,000463: 17,2602           12107                           TCF      RCS                                   
063840,000464: 17,2603           00006                           EXTEND                                         
063841,000465: 17,2604           00005                           READ     CHAN5                                 
063842,000466: 17,2605           10000                           CCS      A                                     
063843,000467: 17,2606           12612                           TCF      CHKINGTS                              
063844,000468: 17,2607           00006        GOTOGTS            EXTEND                                         
063845,000469: 17,2610           32625                           DCA      GTSCADR                               
063846,000470: 17,2611           52006                           DTCB                                           
063847,000471: 
063848,000472: 17,2612           11633        CHKINGTS           CCS      INGTS                                 #  WAS THE TRIM GIMBAL CONTROLLING
063849,000473: 17,2613           12615                           TCF      +2                                    #        YES.  SET UP A DAMPED NULLING DRIVE.
063850,000474: 17,2614           12107                           TCF      RCS                                   #        NO.  NULLING WAS SET UP BEFORE.  DO RCS
063851,000475: 17,2615           00004                           INHINT                                         
063852,000476: 17,2616           04674                           TC       IBNKCALL                              
063853,000477: 17,2617           43330                           CADR     TIMEGMBL                              
063854,000478: 17,2620           00003                           RELINT                                         
063855,000479: 17,2621           34755                           CAF      ZERO                                  
063856,000480: 17,2622           55633                           TS       INGTS                                 
063857,000481: 17,2623           12107                           TCF      RCS                                   
063858,000482: 
063859,000483: 17,2624  E6,1635                                  EBANK=   CDUXD                                 
063860,000484: 17,2624           03077 42106  GTSCADR            2CADR    GTS                                   
063861,000485: 

Page 1451

063863,000487:                                                                                                  #  SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
063864,000488: 
063865,000489: 17,2626           30033        QERRCALC           CAE      CDUY                                  #  Q-ERROR CALCULATION
063866,000490: 17,2627           00006                           EXTEND                                         
063867,000491: 17,2630           21636                           MSU      CDUYD                                 #  CDU ANGLE - ANGLE DESIRED (Y-AXIS)
063868,000492: 17,2631           55737                           TS       DAPTEMP1                              #  SAVE FOR RERRCALC
063869,000493: 17,2632           00006                           EXTEND                                         
063870,000494: 17,2633           71415                           MP       M21                                   #  (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
063871,000495: 17,2634           55752                           TS       E                                     
063872,000496: 17,2635           30034                           CAE      CDUZ                                  #  SECOND TERM CALCULATION:
063873,000497: 17,2636           00006                           EXTEND                                         
063874,000498: 17,2637           21637                           MSU      CDUZD                                 #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
063875,000499: 17,2640           55740                           TS       DAPTEMP2                              #  SAVE FOR RERRCALC
063876,000500: 17,2641           00006                           EXTEND                                         
063877,000501: 17,2642           71417                           MP       M22                                   #  (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
063878,000502: 17,2643           61300                           AD       DELQEROR                              #  KALCMANU INERFACE ERROR
063879,000503: 17,2644           61752                           AD       E                                     
063880,000504: 17,2645           57450                           XCH      QERROR                                #  SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
063881,000505: 
063882,000506: 17,2646           31737        RERRCALC           CAE      DAPTEMP1                              #  R-ERROR CALCULATION:
063883,000507: 17,2647           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Y-AXIS)
063884,000508: 17,2650           71416                           MP       M31                                   #  (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
063885,000509: 17,2651           55752                           TS       E                                     
063886,000510: 17,2652           31740                           CAE      DAPTEMP2                              #  SECOND TERM CALCULATION:
063887,000511: 17,2653           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
063888,000512: 17,2654           71420                           MP       M32                                   #  (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
063889,000513: 17,2655           61301                           AD       DELREROR                              #  KALCMANU INERFACE ERROR
063890,000514: 17,2656           61752                           AD       E                                     
063891,000515: 17,2657           57452                           XCH      RERROR                                #  SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
063892,000516: 17,2660           00002                           TC       Q                                     
063893,000517: 

Page 1452

063895,000519:                                                                                                  #  "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
063896,000520: 
063897,000521: 17,2661  17,2661               ATTSTEER           EQUALS   STILLRCS                              #  "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
063898,000522: 
063899,000523: 17,2661           31452        STILLRCS           CA       RERROR                                
063900,000524: 17,2662           22000                           LXCH     A                                     
063901,000525: 17,2663           31450                           CA       QERROR                                
063902,000526: 17,2664           03146                           TC       ROT-TOUV                              
063903,000527: 17,2665           53752                           DXCH     UERROR                                
063904,000528: 
063905,000529:                                                                                                  #  PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
063906,000530:                                                                                                  #  PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
063907,000531: 
063908,000532: 17,2666           33113        TJLAW              CA       TJLAWADR                              
063909,000533: 17,2667           55477                           TS       RETJADR                               
063910,000534: 17,2670           34753                           CA       ONE                                   
063911,000535: 17,2671           55505                           TS       AXISCTR                               
063912,000536: 17,2672           51505                           INDEX    AXISCTR                               
063913,000537: 17,2673           51535                           INDEX    SKIPU                                 
063914,000538: 17,2674           12675                           TCF      +1                                    
063915,000539: 17,2675           34751                           CA       FOUR                                  
063916,000540: 17,2676           51505                           INDEX    AXISCTR                               
063917,000541: 17,2677           55535                           TS       SKIPU                                 
063918,000542: 17,2700           13005                           TCF      LOOPER                                
063919,000543: 17,2701           51505                           INDEX    AXISCTR                               
063920,000544: 17,2702           31751                           CA       UERROR                                
063921,000545: 17,2703           55752                           TS       E                                     
063922,000546: 17,2704           51505                           INDEX    AXISCTR                               
063923,000547: 17,2705           31426                           CA       OMEGAU                                
063924,000548: 17,2706           55427                           TS       EDOT                                  
063925,000549: 17,2707           30111                           CA       DAPBOOLS                              
063926,000550: 17,2710           74737                           MASK     CSMDOCKD                              
063927,000551: 17,2711           10000                           CCS      A                                     
063928,000552: 17,2712           12715                           TCF      +3                                    
063929,000553: 17,2713           03252                           TC       TJETLAW                               
063930,000554: 17,2714           12727                           TCF      AFTERTJ                               
063931,000555: 17,2715           40111                 +3        CS       DAPBOOLS                              #  DOCKED.  IF GIMBAL USABLE DO GTS CONTROL
063932,000556: 17,2716           74736                           MASK     USEQRJTS                              #        ON THE NEXT PASS.
063933,000557: 17,2717           10000                           CCS      A                                     #  USEQRJTS BIT MUST NOT BE BIT 15.
063934,000558: 17,2720           55631                           TS       COTROLER                              #  GIMBAL USABLE.  STORE POSITIVE VALUE.
063935,000559: 17,2721           00004                           INHINT                                         
063936,000560: 17,2722           04674                           TC       IBNKCALL                              
063937,000561: 17,2723           43727                           CADR     SPSRCS                                #  DETERMINE RCS CONTROL
063938,000562: 17,2724           00003                           RELINT                                         
063939,000563: 17,2725           34751                           CAF      FOUR                                  #  ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
063940,000564: 17,2726           55743                           TS       NUMBERT                               #  FALL THROUGH TO JET SELECTION, ETC.
063941,000565: 
063942,000566:                                                                                                  #  Q,R-JET-SELECTION-LOGIC
063943,000567: 
063944,000568:                                                                                                  #  INPUT:        AXISCTR         0,1 FOR U,V
063945,000569:                                                                                                  #                SNUFFBIT        ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN

Page 1453

063947,000571:                                                                                                  #                TJU,TJV         JET TIME SCALED 10.24 SEC.
063948,000572:                                                                                                  #                NUMBERT         INDICATES NUMBER OF JETS AND TYPE OF POLICY
063949,000573:                                                                                                  #                RETJADR         WHERE TO RETURN TO
063950,000574: 
063951,000575:                                                                                                  #  OUTPUT:       NO.U(V)JETS     RATE DERIVATION FEEDBACK
063952,000576:                                                                                                  #                CHANNEL 5
063953,000577:                                                                                                  #                SKIPU,SKIRV     FOR LESS THAN 150MS FIRING
063954,000578: 
063955,000579:                                                                                                  #  NOTES:        IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED
063956,000580:                                                                                                  #                JETS OF THE DESIRED POLICY ARE SELECTED.  SINCE THERE ARE ONLY
063957,000581:                                                                                                  #                TWO JETS, THIS MEANS THE OTHER ONE OR NONE.  THE ALARM IS SENT
063958,000582:                                                                                                  #                IF NONE CAN BE FOUND.
063959,000583: 
063960,000584:                                                                                                  #                TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
063961,000585:                                                                                                  #                MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
063962,000586: 
063963,000587: 17,2727           30101        AFTERTJ            CA       FLAGWRD5                              #  IF SNUFFBIT SET DURING A DPS BURN GO TO
063964,000588: 17,2730           74737                           MASK     SNUFFBIT                              #  XTRANS; THAT IS, INHIBIT CONTROL.
063965,000589: 17,2731           00006                           EXTEND                                         
063966,000590: 17,2732           12743                           BZF      DOROTAT                               
063967,000591: 17,2733           40106                           CS       FLGWRD10                              
063968,000592: 17,2734           74737                           MASK     APSFLBIT                              
063969,000593: 17,2735           00006                           EXTEND                                         
063970,000594: 17,2736           12743                           BZF      DOROTAT                               
063971,000595: 17,2737           30111                           CA       DAPBOOLS                              
063972,000596: 17,2740           74744                           MASK     DRIFTBIT                              
063973,000597: 17,2741           00006                           EXTEND                                         
063974,000598: 17,2742           13063                           BZF      XTRANS                                
063975,000599: 
063976,000600: 17,2743           34752        DOROTAT            CAF      TWO                                   
063977,000601: 17,2744           54001                           TS       L                                     
063978,000602: 17,2745           51505                           INDEX    AXISCTR                               
063979,000603: 17,2746           11525                           CCS      TJU                                   
063980,000604: 17,2747           12754                           TCF      +5                                    
063981,000605: 17,2750           12777                           TCF      NOROTAT                               
063982,000606: 17,2751           12753                           TCF      +2                                    
063983,000607: 17,2752           12777                           TCF      NOROTAT                               
063984,000608: 17,2753           22007                           ZL                                             
063985,000609: 17,2754           64753                           AD       ONE                                   
063986,000610: 17,2755           55737                           TS       ABSTJ                                 
063987,000611: 
063988,000612: 17,2756           31505                           CA       AXISCTR                               
063989,000613: 17,2757           60001                           AD       L                                     
063990,000614: 17,2760           55744                           TS       ROTINDEX                              #  0 1 2 3 = -U -V -+U +V
063991,000615: 
063992,000616: 17,2761           31737                           CA       ABSTJ                                 
063993,000617: 17,2762           63110                           AD       -150MS                                
063994,000618: 17,2763           00006                           EXTEND                                         
063995,000619: 17,2764           63010                           BZMF     DOSKIP                                

Page 1454

063997,000621: 17,2765           03173                           TC       SELCTSUB                              
063998,000622: 
063999,000623: 17,2766           51505                           INDEX    AXISCTR                               
064000,000624: 17,2767           33105                           CA       INDEXES                               
064001,000625: 17,2770           54001                           TS       L                                     
064002,000626: 
064003,000627: 17,2771           31741                           CA       POLYTEMP                              
064004,000628: 17,2772           00004                           INHINT                                         
064005,000629: 17,2773           50001                           INDEX    L                                     
064006,000630: 17,2774           05754                           TC       WRITEP                                
064007,000631: 
064008,000632: 17,2775           00003                           RELINT                                         
064009,000633: 17,2776           13051                           TCF      FEEDBACK                              
064010,000634: 
064011,000635: 17,2777           51505        NOROTAT            INDEX    AXISCTR                               
064012,000636: 17,3000           33105                           CA       INDEXES                               
064013,000637: 17,3001           00004                           INHINT                                         
064014,000638: 17,3002           50000                           INDEX    A                                     
064015,000639: 17,3003           05753                           TC       WRITEP     -1                         
064016,000640: 
064017,000641: 17,3004           00003                           RELINT                                         
064018,000642: 17,3005           11505        LOOPER             CCS      AXISCTR                               
064019,000643: 17,3006           01477                           TC       RETJADR                               
064020,000644: 17,3007           13236                           TCF      CLOSEOUT                              
064021,000645: 17,3010           41737        DOSKIP             CS       ABSTJ                                 
064022,000646: 17,3011           63107                           AD       +TJMINT6                              #  14MS
064023,000647: 17,3012           00006                           EXTEND                                         
064024,000648: 17,3013           63032                           BZMF     NOTMIN                                
064025,000649: 
064026,000650: 17,3014           27737                           ADS      ABSTJ                                 
064027,000651: 17,3015           51505                           INDEX    AXISCTR                               
064028,000652: 17,3016           11525                           CCS      TJU                                   
064029,000653: 17,3017           33107                           CA       +TJMINT6                              
064030,000654: 17,3020           13022                           TCF      +2                                    
064031,000655: 17,3021           43107                           CS       +TJMINT6                              
064032,000656: 17,3022           51505                           INDEX    AXISCTR                               
064033,000657: 17,3023           55525                           TS       TJU                                   
064034,000658: 
064035,000659: 17,3024           11500                           CCS      SENSETYP                              #  ENSURE MIN-IMPULSE NOT AGAINST TRANS
064036,000660: 17,3025           13031                           TCF      NOTMIN     -1                         
064037,000661: 17,3026           00006                           EXTEND                                         
064038,000662: 17,3027           00004                           READ     LOSCALAR                              
064039,000663: 17,3030           74753                           MASK     ONE                                   
064040,000664: 17,3031           55743                           TS       NUMBERT                               
064041,000665: 
064042,000666: 17,3032           03173        NOTMIN             TC       SELCTSUB                              
064043,000667: 
064044,000668: 17,3033           51505                           INDEX    AXISCTR                               
064045,000669: 17,3034           33105                           CA       INDEXES                               
064046,000670: 17,3035           00004                           INHINT                                         

Page 1455

064048,000672: 17,3036           55471                           TS       T6FURTHA   +1                         
064049,000673: 17,3037           31741                           CA       POLYTEMP                              
064050,000674: 17,3040           51471                           INDEX    T6FURTHA   +1                         
064051,000675: 17,3041           05754                           TC       WRITEP                                
064052,000676: 
064053,000677: 17,3042           31737                           CA       ABSTJ                                 
064054,000678: 17,3043           55470                           TS       T6FURTHA                              
064055,000679: 17,3044           03114                           TC       JTLST                                 #  IN QR BANK BY NOW
064056,000680: 
064057,000681: 17,3045           00003                           RELINT                                         
064058,000682: 
064059,000683: 17,3046           34755                           CA       ZERO                                  
064060,000684: 17,3047           51505                           INDEX    AXISCTR                               
064061,000685: 17,3050           55535                           TS       SKIPU                                 
064062,000686: 
064063,000687: 17,3051           46245        FEEDBACK           CS       THREE                                 
064064,000688: 17,3052           61743                           AD       NUMBERT                               
064065,000689: 17,3053           00006                           EXTEND                                         
064066,000690: 17,3054           63057                           BZMF     +3                                    
064067,000691: 
064068,000692: 17,3055           34752                           CA       TWO                                   
064069,000693: 17,3056           13060                           TCF      +2                                    
064070,000694: 17,3057           34753                           CA       ONE                                   
064071,000695: 17,3060           51505                           INDEX    AXISCTR                               
064072,000696: 17,3061           55522                           TS       NO.UJETS                              
064073,000697: 17,3062           13005                           TCF      LOOPER                                
064074,000698: 
064075,000699: 17,3063           34755        XTRANS             CA       ZERO                                  
064076,000700: 17,3064           55525                           TS       TJU                                   
064077,000701: 17,3065           55526                           TS       TJV                                   
064078,000702: 17,3066           34751                           CA       FOUR                                  
064079,000703: 17,3067           00004                           INHINT                                         
064080,000704: 17,3070           57535                           XCH      SKIPU                                 
064081,000705: 17,3071           00006                           EXTEND                                         
064082,000706: 17,3072           13074                           BZF      +2                                    
064083,000707: 17,3073           05757                           TC       WRITEU     -1                         
064084,000708: 17,3074           34751                           CA       FOUR                                  
064085,000709: 17,3075           57536                           XCH      SKIPV                                 
064086,000710: 17,3076           00003                           RELINT                                         
064087,000711: 
064088,000712: 17,3077           00006                           EXTEND                                         
064089,000713: 17,3100           13236                           BZF      CLOSEOUT                              
064090,000714: 17,3101           00004                           INHINT                                         
064091,000715: 17,3102           05770                           TC       WRITEV     -1                         
064092,000716: 17,3103           00003                           RELINT                                         
064093,000717: 
064094,000718: 17,3104           13236                           TCF      CLOSEOUT                              
064095,000719: 17,3105           00004        INDEXES            DEC      4          B-14                       
064096,000720: 17,3106           00015                           DEC      13         B-14                       
064097,000721: 17,3107           00026        +TJMINT6           DEC      22         B-14                       

Page 1456

064099,000723: 17,3110           77417        -150MS             DEC      -240       B-14                       
064100,000724: 17,3111           00600        BIT8,9             OCT      00600                                 
064101,000725: 17,3112           00266        SCLNORM            OCT      266                                   
064102,000726: 17,3113           02671        TJLAWADR           GENADR   TJLAW      +3                         #  RETURN ADDRESS FOR RCS ATTITUDE CONTROL
064103,000727: 
064104,000728:                                                                                                  #  THE JET LIST:
064105,000729:                                                                                                  #  THIS IS A WAITLIST FOR T6RUPTS.
064106,000730: 
064107,000731:                                                                                                  #  CALLED BY:
064108,000732:                                                                                                  #                CA      TJ              TIME WHEN NEXT JETS WILL BE WRITTEN
064109,000733:                                                                                                  #                TS      T6FURTHA
064110,000734:                                                                                                  #                CA      INDEX           AXIS TO BE WIRTTEN AT TJ (FROM NOW)
064111,000735:                                                                                                  #                TS      T6FURTHA +1
064112,000736:                                                                                                  #                TC      JTLST
064113,000737: 
064114,000738:                                                                                                  #  EXAMPLE - U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
064115,000739:                                                                                                  #  JETS INTO CHANNEL 5.  IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
064116,000740:                                                                                                  #  150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
064117,000741:                                                                                                  #  CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
064118,000742:                                                                                                  #  OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
064119,000743: 
064120,000744:                                                                                                  #  THE LIST IS EXACTLY 3 LONG.  (THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
064121,000745:                                                                                                  #  THE INPUT IS THE LAST MEMBER OF THE LIST
064122,000746: 
064123,000747:                                                                                                  #  RETURNS BY:
064124,000748:                                                                                                  #        +       TC      Q
064125,000749: 
064126,000750:                                                                                                  #  DEFINITIONS:  (OUTPUT)
064127,000751:                                                                                                  #        TIME6           TIME OF NEXT RUPT
064128,000752:                                                                                                  #        T6NEXT          DELTA TIME TO NEXT RUPT
064129,000753:                                                                                                  #        T6FURTHA        DELTA TIME FROM 2ND TO LAST RUPT
064130,000754:                                                                                                  #        NXT6ADR         AXIS INDEX       Q - P-AXIS
064131,000755:                                                                                                  #        T6NEXT +1       AXIS INDEX       4 - U-AXIS
064132,000756:                                                                                                  #        T6FURTHA +1     AXIS INDEX      13 - V-AXIS
064133,000757: 
064134,000758: 17,3114           41470        JTLST              CS       T6FURTHA                              
064135,000759: 17,3115           60031                           AD       TIME6                                 
064136,000760: 17,3116           00006                           EXTEND                                         
064137,000761: 17,3117           63131                           BZMF     MIDORLST                              #  TIME6 - T IS IN A
064138,000762: 
064139,000763: 17,3120           23465                           LXCH     NXT6ADR                               
064140,000764: 17,3121           53467                           DXCH     T6NEXT                                
064141,000765: 17,3122           53471                           DXCH     T6FURTHA                              
064142,000766: 17,3123           54031                           TS       TIME6                                 
064143,000767: 17,3124           23465                           LXCH     NXT6ADR                               
064144,000768: 
064145,000769: 17,3125           34735        TURNON             CA       BIT15                                 
064146,000770: 17,3126           00006                           EXTEND                                         
064147,000771: 17,3127           05013                           WOR      CHAN13                                
064148,000772: 17,3130           00002                           TC       Q                                     
064149,000773: 

Page 1457

064151,000775: 17,3131           61466        MIDORLST           AD       T6NEXT                                
064152,000776: 17,3132           00006                           EXTEND                                         
064153,000777: 17,3133           63142                           BZMF     LASTCHG                               #  TIME6 + T6NEXT - T IS IN A
064154,000778: 
064155,000779: 17,3134           23467                           LXCH     T6NEXT     +1                         
064156,000780: 17,3135           53471                           DXCH     T6FURTHA                              
064157,000781: 17,3136           00006                           EXTEND                                         
064158,000782: 17,3137           60031                           SU       TIME6                                 
064159,000783: 17,3140           53467                           DXCH     T6NEXT                                
064160,000784: 
064161,000785: 17,3141           00002                           TC       Q                                     
064162,000786: 
064163,000787: 17,3142           40000        LASTCHG            CS       A                                     
064164,000788: 17,3143           64754                           AD       NEG0                                  
064165,000789: 17,3144           55470                           TS       T6FURTHA                              
064166,000790: 
064167,000791: 17,3145           00002                           TC       Q                                     
064168,000792: 
064169,000793:                                                                                                  #  ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
064170,000794:                                                                                                  #  ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM.  IN THE U-V SYSTEM NO CROSS-COUPLING IS
064171,000795:                                                                                                  #  PRODUCED FROM RCS JET FIRINGS.  AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
064172,000796:                                                                                                  #  A AND THE V-COMPONENT IS IN L.
064173,000797: 
064174,000798: 17,3146           23740        ROT-TOUV           LXCH     ROTEMP2                               #  (R) IS PUT INTO ROTEMP2
064175,000799: 17,3147           00006                           EXTEND                                         
064176,000800: 17,3150           71627                           MP       COEFFQ                                
064177,000801: 17,3151           57740                           XCH      ROTEMP2                               #  (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
064178,000802: 17,3152           00006                           EXTEND                                         
064179,000803: 17,3153           71630                           MP       COEFFR                                
064180,000804: 17,3154           54001                           TS       L                                     #  COEFFR.(R) IS PUT INTO L
064181,000805: 17,3155           61740                           AD       ROTEMP2                               
064182,000806: 17,3156           55737                           TS       ROTEMP1                               #  COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
064183,000807: 17,3157           13163                           TCF      +4                                    
064184,000808: 17,3160           50000                           INDEX    A                                     #  COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
064185,000809: 17,3161           44734                           CS       LIMITS                                #  AND IS LIMITED TO POSMAX OR NEGMAX
064186,000810: 17,3162           55737                           TS       ROTEMP1                               
064187,000811: 17,3163           41740                           CS       ROTEMP2                               
064188,000812: 17,3164           60001                           AD       L                                     #  -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
064189,000813: 17,3165           54007                           TS       7                                     
064190,000814: 17,3166           13171                           TCF      +3                                    
064191,000815: 17,3167           50000                           INDEX    A                                     #  -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
064192,000816: 17,3170           44734                           CS       LIMITS                                #  AND IS LIMITED TO POSMAX OR NEGMAX
064193,000817: 17,3171           23737                           LXCH     ROTEMP1                               #  COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
064194,000818: 17,3172           00002                           TC       Q                                     
064195,000819: 17,3173           51744        SELCTSUB           INDEX    ROTINDEX                              
064196,000820: 17,3174           33225                           CA       ALLJETS                               
064197,000821: 17,3175           51743                           INDEX    NUMBERT                               
064198,000822: 17,3176           73231                           MASK     TYPEPOLY                              
064199,000823: 17,3177           55741                           TS       POLYTEMP                              

Page 1458

064201,000825: 17,3200           71262                           MASK     CH5MASK                               
064202,000826: 17,3201           10000                           CCS      A                                     
064203,000827: 17,3202           13204                           TCF      +2                                    
064204,000828: 
064205,000829: 17,3203           00002                           TC       Q                                     
064206,000830: 
064207,000831: 17,3204           36245                           CA       THREE                                 
064208,000832: 17,3205           55743        FAILOOP            TS       NUMBERT                               
064209,000833: 17,3206           51744                           INDEX    ROTINDEX                              
064210,000834: 17,3207           33225                           CA       ALLJETS                               
064211,000835: 17,3210           51743                           INDEX    NUMBERT                               
064212,000836: 17,3211           73231                           MASK     TYPEPOLY                              
064213,000837: 17,3212           55741                           TS       POLYTEMP                              
064214,000838: 17,3213           71262                           MASK     CH5MASK                               
064215,000839: 17,3214           00006                           EXTEND                                         
064216,000840: 17,3215           13203                           BZF      FAILOOP    -2                         
064217,000841: 17,3216           11743                           CCS      NUMBERT                               
064218,000842: 17,3217           13205                           TCF      FAILOOP                               
064219,000843: 17,3220           51505                           INDEX    AXISCTR                               
064220,000844: 17,3221           55525                           TS       TJU                                   
064221,000845: 17,3222           05567                           TC       ALARM                                 
064222,000846: 17,3223           02004                           OCT      02004                                 
064223,000847: 17,3224           12777                           TCF      NOROTAT                               
064224,000848: 17,3225           00110        ALLJETS            OCT      00110                                 #        -U      6 13
064225,000849: 17,3226           00022                           OCT      00022                                 #        -V      2 9
064226,000850: 17,3227           00204                           OCT      00204                                 #        +U      5 14
064227,000851: 17,3230           00041                           OCT      00041                                 #        +V      1 10
064228,000852: 17,3231           00125        TYPEPOLY           OCT      00125                                 #        -X      1 5 9 13
064229,000853: 17,3232           00252                           OCT      00252                                 #        +X      2 6 10 14
064230,000854: 17,3233           00146                           OCT      00146                                 #        A       2 5 10 13
064231,000855: 17,3234           00231                           OCT      00231                                 #        B       1 6 9 14
064232,000856: 17,3235           00377                           OCT      00377                                 #        ALL     1 2 5 6 9 10 13 14
064233,000857: 
064234,000858:                                                                                                  #  THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
064235,000859: 
064236,000860: 17,3236           33240        CLOSEOUT           CA       ADRRUPT                               
064237,000861: 17,3237           07754                           TC       MAKERUPT                              
064238,000862: 
064239,000863: 17,3240           03241        ADRRUPT            ADRES    ENDJASK                               
064240,000864: 
064241,000865: 17,3241           53754        ENDJASK            DXCH     DAPARUPT                              
064242,000866: 17,3242           52011                           DXCH     ARUPT                                 
064243,000867: 17,3243           53756                           DXCH     DAPBQRPT                              
064244,000868: 17,3244           56017                           XCH      BRUPT                                 
064245,000869: 17,3245           22002                           LXCH     Q                                     
064246,000870: 17,3246           34735                           CAF      NEGMAX                                #  NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
064247,000871: 17,3247           53760                           DXCH     DAPZRUPT                              
064248,000872: 17,3250           52016                           DXCH     ZRUPT                                 
064249,000873: 17,3251           15272                           TCF      NOQRSM                                

Page 1459

064251,000875:    7754                                           BLOCK    3                                     
064252,000876:    6000                                           SETLOC   FFTAG6                                
064253,000877:    6000                                           BANK                                           
064254,000878: 
064255,000879:    7754                                           COUNT*   $$/DAP                                
064256,000880: 
064257,000881:    7754           00006        MAKERUPT           EXTEND                                         
064258,000882:    7755           07754                           EDRUPT   MAKERUPT                              
064259,000883: 

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