Source Code

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

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

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

064241,000002:                                                                                                  ## Copyright:   Public domain.
064242,000003:                                                                                                  ## Filename:    TJET_LAW.agc
064243,000004:                                                                                                  ## Purpose:     Part of the reconstructed source code for LMY99 Rev 0,
064244,000005:                                                                                                  ##              otherwise known as Luminary Rev 99, the second release
064245,000006:                                                                                                  ##              of the Apollo Guidance Computer (AGC) software for Apollo 11.
064246,000007:                                                                                                  ##              It differs from LMY99 Rev 1 (the flown version) only in the
064247,000008:                                                                                                  ##              placement of a single label. The corrections shown here have
064248,000009:                                                                                                  ##              been verified to have the same bank checksums as AGC developer
064249,000010:                                                                                                  ##              Allan Klumpp's copy of Luminary Rev 99, and so are believed
064250,000011:                                                                                                  ##              to be accurate. This file is intended to be a faithful 
064251,000012:                                                                                                  ##              recreation, except that the code format has been changed to 
064252,000013:                                                                                                  ##              conform to the requirements of the yaYUL assembler rather than 
064253,000014:                                                                                                  ##              the original YUL assembler.
064254,000015:                                                                                                  ##
064255,000016:                                                                                                  ## Assembler:   yaYUL
064256,000017:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
064257,000018:                                                                                                  ## Website:     www.ibiblio.org/apollo.
064258,000019:                                                                                                  ## Pages:       1460-1469
064259,000020:                                                                                                  ## Mod history: 2009-05-27 RSB  Adapted from the corresponding 
064260,000021:                                                                                                  ##                              Luminary131 file, using page 
064261,000022:                                                                                                  ##                              images from Luminary 1A.
064262,000023:                                                                                                  ##              2009-06-06 RSB  Eliminated a stray instruction that had crept
064263,000024:                                                                                                  ##                              in somehow.
064264,000025:                                                                                                  ##              2011-01-06 JL   Fixed pseudo-label indentation.
064265,000026:                                                                                                  ##              2016-12-18 RSB  Proofed text comments with octopus/ProoferComments
064266,000027:                                                                                                  ##                              and corrected the errors found.
064267,000028:                                                                                                  ##              2017-03-14 RSB  Comment-text fixes noted in proofing Luminary 116.
064268,000029:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
064269,000030:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
064270,000031:                                                                                                  ##              2017-08-01 MAS  Created from LMY99 Rev 1.
064271,000032: 
064272,000033:                                                                                                  ## This source code has been transcribed or otherwise adapted from
064273,000034:                                                                                                  ## digitized images of a hardcopy from the MIT Museum.  The digitization
064274,000035:                                                                                                  ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
064275,000036:                                                                                                  ## the Museum.  Many thanks to both.  The images (with suitable reduction
064276,000037:                                                                                                  ## in storage size and consequent reduction in image quality as well) are
064277,000038:                                                                                                  ## available online at www.ibiblio.org/apollo.  If for some reason you
064278,000039:                                                                                                  ## find that the images are illegible, contact me at info@sandroid.org
064279,000040:                                                                                                  ## about getting access to the (much) higher-quality images which Paul
064280,000041:                                                                                                  ## actually created.
064281,000042:                                                                                                  ##
064282,000043:                                                                                                  ## The code has been modified to match LMY99 Revision 0, otherwise
064283,000044:                                                                                                  ## known as Luminary Revision 99, the Apollo 11 software release preceeding
064284,000045:                                                                                                  ## the listing from which it was transcribed. It has been verified to
064285,000046:                                                                                                  ## contain the same bank checksums as AGC developer Allan Klumpp's listing
064286,000047:                                                                                                  ## of Luminary Revision 99 (for which we do not have scans).
064287,000048:                                                                                                  ##
064288,000049:                                                                                                  ## Notations on Allan Klumpp's listing read, in part:
064289,000050:                                                                                                  ##
064290,000051:                                                                                                  ##      ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-51
064291,000052: 

Page 1460

064293,000054:                                                                                                  #  PROGRAM DESCRIPTION
064294,000055:                                                                                                  #  DESIGNED BY:  R. D. GOSS AND P. S. WEISSMAN
064295,000056:                                                                                                  #  CODED BY:  P. S. WEISSMAN 28 FEBRUARY 1968
064296,000057: 
064297,000058:                                                                                                  #  TJETLAW IS CALLED AS A SUBROUTINE WHEN THE LEM IS NOT DOCKED AND THE AUTOPILOT IS IN THE AUTOMATIC OR
064298,000059:                                                                                                  #  ATTITUDE-HOLD MODE TO CALCULATE THE JET-FIRING-TIME (TJET) REQUIRED FOR THE AXIS INDICATED BY AXISCTR:
064299,000060:                                                                                                  #        -1      INDICATES THE P-AXIS
064300,000061:                                                                                                  #        +0      INDICATES THE U-AXIS
064301,000062:                                                                                                  #        +1      INDICATES THE V-AXIS.
064302,000063:                                                                                                  #  THE REGISTERS E AND EDOT CONTAIN THE APPROPRIATE ATTITUDE ERROR AND ERROR RATE AND SENSETYP SHOWS WHETHER
064303,000064:                                                                                                  #  UNBALANCED COUPLES ARE PREFERRED.  TJETLAW ALSO USES VARIOUS FUNCTIONS OF ACCELERATION AND DEADBAND WHICH ARE
064304,000065:                                                                                                  #  COMPUTED IN THE 1/ACCONT SECTION OF 1/ACCS AND ARE STORED IN SUCH AN ORDER THAT THEY CAN BE CONVENIENTLY
064305,000066:                                                                                                  #  ACCESSED BY INDEXING.
064306,000067: 
064307,000068:                                                                                                  #  THE SIGN OF THE REQUIRED ROTATION IS CARRIED THROUGH TJETLAW AS ROTSENSE AND IS FINALLY APPLIED TO TJET JUST
064308,000069:                                                                                                  #  PREVIOUS TO ITS STORAGE IN THE LOCATION CORRESPONDING TO THE AXIS (TJP, TJU OR TJV).  THE NUMBER OF JETS THAT
064309,000070:                                                                                                  #  TJETLAW ASSUMES WILL BE USED IS INDICATED BY THE SETTING OF NUMBERT FOR THE U- OR V-AXIS.  TWO JETS ARE ALWAYS
064310,000071:                                                                                                  #  ASSUMED FOR THE P-AXIS ALTHOUGH FOUR JETS WILL BE FIRED WHEN FIREFCT IS MORE NEGATIVE THAN -4.0 DEGREES
064311,000072:                                                                                                  #  (FIREFCT IS THE DISTANCE TO A SWITCH CURVE IN THE PHASE PLANE) AND A LONG FIRING IS CALLED FOR.
064312,000073: 
064313,000074:                                                                                                  #  IN ORDER TO AVOID SCALING DIFFICULTIES, SIMPLE ALGORITHMS TAGGED RUFLAW1, -2 AND -3 ARE RESORTED TO WHEN THE
064314,000075:                                                                                                  #  ERROR AND/OR ERROR RATE ARE LARGE.
064315,000076: 
064316,000077:                                                                                                  #  CALLING SEQUENCE:
064317,000078:                                                                                                  #                TC      TJETLAW         (MUST BE IN JASK)
064318,000079:                                                                                                  #        OR
064319,000080:                                                                                                  #                INHINT                  (MUST BE IN JASK)
064320,000081:                                                                                                  #                TC      IBNKCALL
064321,000082:                                                                                                  #                CADR    TJETLAW
064322,000083:                                                                                                  #                RELINT
064323,000084: 
064324,000085:                                                                                                  #  EXIT:         RETURN TO Q.
064325,000086: 
064326,000087:                                                                                                  #  INPUT:
064327,000088:                                                                                                  #        FROM THE CALLER:  E, EDOT, AXISCTR, SENSETYP, TJP, -U, -V.
064328,000089:                                                                                                  #        FROM 1/ACCONT:  48 ERASABLES BEGINNING AT BLOCKTOP (INCLUDING FLAT, ZONE3LIM AND ACCSWU, -V).
064329,000090: 
064330,000091:                                                                                                  #  OUTPUT:
064331,000092:                                                                                                  #        TJP, -U OR -V, NUMBERT (DAPTEMP5), FIREFCT (DAPTEMP3).
064332,000093: 
064333,000094:                                                                                                  #  DEBRIS:
064334,000095:                                                                                                  #        A, L, Q, E, EDOT, DAPTEMP1-6, DAPTREG1-4.
064335,000096: 
064336,000097:                                                                                                  #  ALARM:  NONE
064337,000098: 
064338,000099: 17,3252                                           BANK     17                                    
064339,000100: 17,2000                                           SETLOC   DAPS2                                 
064340,000101: 17,2000                                           BANK                                           
064341,000102: 17,3252  E6,1524                                  EBANK=   TJP                                   

Page 1461

064343,000104: 17,3252                                           COUNT*   $$/DAPTJ                              
064344,000105: 
064345,000106: 17,3252           00006        TJETLAW            EXTEND                                         #  SAVE Q FOR RETURN.
064346,000107: 17,3253           23745                           QXCH     HOLDQ                                 
064347,000108: 
064348,000109:                                                                                                  #  SET INDEXERS TO CORRESPOND TO THE AXIS AND TO THE SIGN OF EDOT
064349,000110: 
064350,000111: 17,3254           51505                           INDEX    AXISCTR                               #  AXISDIFF(-1)=NO OF LOCATIONS BER P AND U
064351,000112: 17,3255           33722                           CAF      AXISDIFF                              #  AXISDIFF(0)=0
064352,000113: 17,3256           55746                           TS       ADRSDIF1                              #  AXISDIFF(+1)=NO OF LOCATIONS BET V AND U
064353,000114: 
064354,000115: 17,3257           31427                           CAE      EDOT                                  #  IF EDOT NEGATIVE, PICK UP SET OF VALUES
064355,000116: 17,3260           00006                           EXTEND                                         #        THAT ALLOW USE OF SAME CODING AS FOR
064356,000117: 17,3261           63266                           BZMF     NEGEDOT                               #        POSITIVE EDOT.
064357,000118: 17,3262           31746                           CAE      ADRSDIF1                              #  SET A SECOND INDEXER WHICH MAY BE
064358,000119: 17,3263           55744                           TS       ADRSDIF2                              #        MODIFIED BY A DECISION FOR MAX JETS.
064359,000120: 17,3264           33724                           CAF      SENSOR                                #  FOR POSITIVE EDOT, ROTSENSE IS
064360,000121: 17,3265           13276                           TCF      SETSENSE                              #        INITIALIZED POSITIVE.
064361,000122: 
064362,000123: 17,3266           41752        NEGEDOT            CS       E                                     #  IN ORDER FOR NEG EDOT CASE TO USE CODING
064363,000124: 17,3267           55752                           TS       E                                     #        OF POS EDOT, MUST MODIFY AS FOLLOWS:
064364,000125: 17,3270           41427                           CS       EDOT                                  #        1. COMPLEMENT E AND EDOT.
064365,000126: 17,3271           55427                           TS       EDOT                                  #        2. SET SENSE OF ROTATION TO NEGATIVE
064366,000127: 17,3272           34753                           CAF      BIT1                                  #           (REVERSED LATER IF NECESSARY).
064367,000128: 17,3273           27746                           ADS      ADRSDIF1                              #        3. INCREMENT INDEXERS BY ONE SO THAT
064368,000129: 17,3274           55744                           TS       ADRSDIF2                              #           THE PROPER PARAMETERS ARE ACCESSED.
064369,000130: 17,3275           43724                           CS       SENSOR                                
064370,000131: 17,3276           55740        SETSENSE           TS       ROTSENSE                              
064371,000132: 
064372,000133:                                                                                                  #  TEST MAGNITUDE OF E (ATTITUDE ERROR, SINGLE-PRECISION, SCALED AT PI RADIANS):
064373,000134:                                                                                                  #        IF GREATER THAN (OR EQUAL TO) PI/16 RADIANS, GO TO THE SIMPLIFIED TJET ROUTINE.
064374,000135:                                                                                                  #        IF LESS THAN PI/16 RADIANS, RESCALE TO PI/4.
064375,000136: 
064376,000137: 17,3277           31752                           CAE      E                                     #  PICK UP ATTITUDE ERROR FOR THIS AXIS
064377,000138: 17,3300           00006                           EXTEND                                         
064378,000139: 17,3301           74747                           MP       BIT5                                  #  SHIFT RIGHT TEN BITS:  IF A-REGISTER IS
064379,000140: 17,3302           10000                           CCS      A                                     #        ZERO, RESCALE AND TEST EDOT.
064380,000141: 17,3303           13664                           TCF      RUFLAW2                               
064381,000142: 17,3304           13306                           TCF      SCALEE                                
064382,000143: 17,3305           13630                           TCF      RUFLAW1                               
064383,000144: 17,3306           34737        SCALEE             CAF      BIT13                                 #  ERROR IS IN L SCALED AT PI/16.  RESCALE
064384,000145: 17,3307           00006                           EXTEND                                         #        IT TO PI/4 AND SAVE IT.
064385,000146: 17,3310           70001                           MP       L                                     
064386,000147: 17,3311           55752                           TS       E                                     
064387,000148: 
064388,000149:                                                                                                  #  TEST MAGNITUDE OF EDOT (ERROR RATE SCALED AT PI/4 RADIANS/SECOND)
064389,000150:                                                                                                  #        IF GREATER THAN (OR EQUAL TO) PI/32 RADIANS/SECOND, GO TO THE SIMPLIFIED TJET ROUTINE.
064390,000151:                                                                                                  #        IF LESS THAN PI/32 RADIANS/SECOND, THEN RESCALE TO PI/32 RADIANS/SECOND.
064391,000152: 
064392,000153: 17,3312           31427                           CAE      EDOT                                  #  PICK UP SINGLE-PRECISION ERROR-RATE

Page 1462

064394,000155: 17,3313           00006                           EXTEND                                         #  FOR THIS AXIS=
064395,000156: 17,3314           74750                           MP       BIT4                                  #  SHIFT RIGHT ELEVEN BITS, IF THE A-REG IS
064396,000157: 17,3315           00006                           EXTEND                                         #  ZERO, THEN RESCALE AND USE FINELAW.
064397,000158: 17,3316           13320                           BZF      SCALEDOT                              
064398,000159: 17,3317           13672                           TCF      RUFLAW3                               
064399,000160: 
064400,000161:                                                                                                  #  *** FINELAW STARTS HERE ***
064401,000162: 
064402,000163: 17,3320           23427        SCALEDOT           LXCH     EDOT                                  #  EDOT IS SCALED AT PI/32 RADIANS/SECOND.
064403,000164: 
064404,000165: 17,3321           31427                           CAE      EDOT                                  #  COMPUTE (EDOT)(EDOT)
064405,000166: 17,3322           00006                           EXTEND                                         
064406,000167: 17,3323           70000                           SQUARE                                         #  PRODUCT SCALED AT PI(2)/2(10) RAD/SEC.
064407,000168: 17,3324           00006                           EXTEND                                         
064408,000169: 17,3325           74737                           MP       BIT13                                 #  SHIFT RIGHT TWO BITS TO RESCALE EDOTSQ
064409,000170: 17,3326           55737                           TS       EDOTSQ                                #        TO PI(2)/2(8) RAD(2)/SEC(2).
064410,000171: 
064411,000172: 17,3327           11752        ERRTEST            CCS      E                                     #  DOES BIG ERROR (THREE DEG BEYOND THE
064412,000173: 17,3330           63725                           AD       -3DEG                                 #  DEADBAND) REQUIRE MAXIMUM JETS?
064413,000174: 17,3331           13333                           TCF      +2                                    
064414,000175: 17,3332           63725                           AD       -3DEG                                 
064415,000176: 17,3333           00006                           EXTEND                                         
064416,000177: 17,3334           51746                           INDEX    ADRSDIF1                              
064417,000178: 17,3335           61601                           SU       FIREDB                                
064418,000179: 17,3336           00006                           EXTEND                                         
064419,000180: 17,3337           63344                           BZMF     SENSTEST                              #  IF NOT:  ARE UNBALANCED JETS PREFERRED|
064420,000181: 17,3340           34752        MAXJETS            CAF      TWO                                   #  IF YES:  INCREMENT ADDRESS LOCATOR AND
064421,000182: 17,3341           27744                           ADS      ADRSDIF2                              #           SET SWITCH FOR JET SELECT LOGIC TO 4.
064422,000183: 17,3342           34751                           CAF      FOUR                                  #           (ALWAYS DO THIS FOR P-AXIS)
064423,000184: 17,3343           13347                           TCF      TJCALC                                
064424,000185: 17,3344           11500        SENSTEST           CCS      SENSETYP                              #  DOES TRANSLATION PREFER MIN JETS.
064425,000186: 17,3345           13347                           TCF      TJCALC                                #  YES.  USE MIN-JET PARAMETERS.
064426,000187: 17,3346           13340                           TCF      MAXJETS                               #  NO.  GET MAX-JET PARAMETERS.
064427,000188: 17,3347           55743        TJCALC             TS       NUMBERT                               #  SET TO +0,1,4 FOR (U,V-AXES) JET SELECT.
064428,000189: 
064429,000190:                                                                                                  #  BEGINNING OF TJET CALCULATIONS:
064430,000191: 
064431,000192: 17,3350           41737                           CS       EDOTSQ                                #  SCALED AT PI(2)/2(8).
064432,000193: 17,3351           00006                           EXTEND                                         
064433,000194: 17,3352           51744                           INDEX    ADRSDIF2                              
064434,000195: 17,3353           71567                           MP       1/ANET1                               #  .5/ACC SCALED AT 2(6)/PI SEC(2)/RADIAN.
064435,000196: 17,3354           51746                           INDEX    ADRSDIF1                              
064436,000197: 17,3355           61601                           AD       FIREDB                                #  DEADBAND SCALED AT PI/4 RADIAN.
064437,000198: 17,3356           00006                           EXTEND                                         
064438,000199: 17,3357           61752                           SU       E                                     #  ATTITUDE ERROR SCALED AT PI/4 RADIAN.
064439,000200: 17,3360           55741                           TS       FIREFCT                               #  -E-.5(EDOTSQ)/ACC-DB AT PI/4 RADIAN.
064440,000201: 17,3361           00006                           EXTEND                                         
064441,000202: 17,3362           63542                           BZMF     ZON1,2,3                              
064442,000203: 
064443,000204: 17,3363           51746        ZONE4,5            INDEX    ADRSDIF1                              
064444,000205: 17,3364           31573                           CAE      1/ACOAST                              #  .5/ACC SCALED AT 2(6)/PI WHERE

Page 1463

064446,000207: 17,3365           00006                           EXTEND                                         #  ACC = MAX(AMIN, AOS-).
064447,000208: 17,3366           71737                           MP       EDOTSQ                                #  SCALED AT PI/2(8).
064448,000209: 17,3367           61752                           AD       E                                     #  SCALED AT PI/4
064449,000210: 17,3370           51746                           INDEX    ADRSDIF1                              
064450,000211: 17,3371           61603                           AD       COASTDB                               #  SCALED AT PI/4 POS. FOR NEG. INTERCEPT.
064451,000212: 17,3372           00006                           EXTEND                                         #  TEST E+.5(EDOTSQ)/ACC+DB AT PI/4 RADIAN.
064452,000213: 17,3373           63426                           BZMF     ZONE5                                 #  IF FUNCTION NEGATIVE, FIND TJET.
064453,000214:                                                                                                  #  IF FUNCTION POSITIVE, IN ZONE 4.
064454,000215: 
064455,000216:                                                                                                  #  ZONE 4 IS THE COAST REGION.  HOWEVER, IF THE JETS ARE ON AND DRIVING TOWARD
064456,000217:                                                                                                  #        A. THE AXIS WITHIN + OR - (DB + FLAT) FOR DRIFTING FLIGHT, OR
064457,000218:                                                                                                  #        B. THE USUAL TARGET PARABOLA FOR POWERED FLIGHT
064458,000219:                                                                                                  #  THEN THE THRUSTERS ARE KEPT ON.
064459,000220: 
064460,000221: 17,3374           51505        ZONE4              INDEX    AXISCTR                               #  IS THE CURRENT VALUE IN TJET NON-ZERO
064461,000222: 17,3375           41525                           CS       TJETU                                 #        WITH SENSE OPPOSITE TO EDOT,
064462,000223: 17,3376           00006                           EXTEND                                         #        (I.E., ARE JETS ON AND FIRING TOWARD
064463,000224: 17,3377           71740                           MP       ROTSENSE                              #        THE DESIRABLE STATE).
064464,000225: 17,3400           00006                           EXTEND                                         
064465,000226: 17,3401           63422                           BZMF     COASTTJ                               #  NO.  COAST.
064466,000227: 
064467,000228: 17,3402           11555        JETSON             CCS      FLAT                                  #  YES.  IS THIS DRIFTING OR POWERED FLIGHT|
064468,000229: 17,3403           13414                           TCF      DRIFT/ON                              #  DRIFTING.  GO MAKE FURTHER TEST.
064469,000230: 
064470,000231: 17,3404           41741                           CS       FIREFCT                               #  POWERED (OR ULLAGE).  CAN TARGET PARABOLA
064471,000232: 17,3405           51746                           INDEX    ADRSDIF1                              #        BE REACHED FROM THIS POINT IN THE
064472,000233: 17,3406           61605                           AD       AXISDIST                              #        PHASE PLANE|
064473,000234: 17,3407           00006                           EXTEND                                         
064474,000235: 17,3410           63422                           BZMF     COASTTJ                               #  NO. SET TJET = 0.
064475,000236: 17,3411           03526                           TC       Z123COMP                              #  YES.  CALCULATE TJET AS THOUGH IN ZONE 1
064476,000237: 17,3412           31741                           CAE      FIREFCT                               #        AFTER COMPUTING THE REQUIRED
064477,000238: 17,3413           13562                           TCF      ZONE1                                 #        PARAMETERS.
064478,000239: 
064479,000240: 17,3414           51746        DRIFT/ON           INDEX    ADRSDIF1                              #  CAN TARGET STRIP OF AXIS BE REACHED FROM
064480,000241: 17,3415           41601                           CS       FIREDB                                #        THIS POINT IN THE PHASE PLANE|
064481,000242: 17,3416           60000                           DOUBLE                                         
064482,000243: 17,3417           61741                           AD       FIREFCT                               
064483,000244: 17,3420           00006                           EXTEND                                         
064484,000245: 17,3421           63424                           BZMF     +3                                    
064485,000246: 17,3422           34755        COASTTJ            CAF      ZERO                                  #  NO.  SET TJET = 0.
064486,000247: 17,3423           13466                           TCF      RETURNTJ                              
064487,000248: 
064488,000249: 17,3424           03526                           TC       Z123COMP                              #  YES. CALCULATE TJET AS THOUGH IN ZONE 2
064489,000250: 17,3425           13547                           TCF      ZONE2,3                               #        OR 3 AFTER COMPUTING REQUIRED VALUES.
064490,000251: 
064491,000252: 17,3426           54001        ZONE5              TS       L                                     #  TEMPORARILY STORE FUNCTION IN L.
064492,000253: 17,3427           11740                           CCS      ROTSENSE                              #  MODIFY ADRSDIF2 FOR ACCESSING 1/ANET2
064493,000254: 17,3430           13434                           TCF      +4                                    #  AND ACCFCTZ5, WHICH MUST BE PICKED UP
064494,000255: 17,3431           05705                           TC       CCSHOLE                               #  FROM THE NEXT LOWER REGISTER IF THE
064495,000256: 17,3432           44752                           CS       TWO                                   #  (ACTUAL) ERROR RATE IS NEGATIVE.

Page 1464

064497,000258: 17,3433           27744                           ADS      ADRSDIF2                              
064498,000259: 
064499,000260: 17,3434           30001                 +4        CAE      L                                     
064500,000261: 17,3435           00006                           EXTEND                                         
064501,000262: 17,3436           51744                           INDEX    ADRSDIF2                              #  TTOAXIS AND HH ARE THE PARAMETERS UPON
064502,000263: 17,3437           71576                           MP       ACCFCTZ5                              #        WHICH THE APPROXIMATIONS TO TJET ARE
064503,000264: 17,3440           20001                           DDOUBL                                         #        BASED.
064504,000265: 17,3441           20001                           DDOUBL                                         
064505,000266: 17,3442           53750                           DXCH     HH                                    #  DOUBLE PRECISION H SCALED AT 8 SEC(2).
064506,000267: 17,3443           51744                           INDEX    ADRSDIF2                              
064507,000268: 17,3444           31570                           CAE      1/ANET2                               #  SCALED AT 2(7)/PI SEC(2)/RAD.
064508,000269: 17,3445           00006                           EXTEND                                         
064509,000270: 17,3446           71427                           MP       EDOT                                  #  SCALED AT PI/2(5)
064510,000271: 17,3447           55742                           TS       TTOAXIS                               #  SCALED AT 4 SEC.
064511,000272: 
064512,000273:                                                                                                  #  TEST WHETHER TJET GREATER THAN 50 MSEC.
064513,000274: 
064514,000275: 17,3450           00006                           EXTEND                                         
064515,000276: 17,3451           73734                           MP       -.05AT2                               #  H - .05 TTOAXIS - .00125 G.T. ZERO
064516,000277: 17,3452           61747                           AD       HH                                    #        (SCALED AT 8 SEC(2) ).
064517,000278: 17,3453           67746                           AD       NEG2                                  
064518,000279: 17,3454           00006                           EXTEND                                         
064519,000280: 17,3455           63503                           BZMF     FORMULA1                              
064520,000281: 
064521,000282:                                                                                                  #  TEST WHETHER TJET GREATER THAN 150 MSEC.
064522,000283: 
064523,000284: 17,3456           31742                           CAE      TTOAXIS                               
064524,000285: 17,3457           00006                           EXTEND                                         
064525,000286: 17,3460           73735                           MP       -.15AT2                               #  H - .15 TTOAXIS - .01125 G.T. ZERO
064526,000287: 17,3461           61747                           AD       HH                                    #        (SCALED AT 8 SEC(2) )
064527,000288: 17,3462           63726                           AD       -.0112A8                              
064528,000289: 17,3463           00006                           EXTEND                                         
064529,000290: 17,3464           63513                           BZMF     FORMULA2                              
064530,000291: 
064531,000292:                                                                                                  #  IF TJET GREATER THAN 150 MSEC, ASSIGN IT VALUE OF 250 MSEC, SINCE THIS
064532,000293:                                                                                                  #  IS ENOUGH TO ASSURE NO SKIP NEXT CSP (100 MSEC).
064533,000294: 
064534,000295: 17,3465           34741        FULLTIME           CAF      BIT11                                 #  250 MSEC SCALED AT 4 SEC.
064535,000296: 
064536,000297:                                                                                                  #  RETURN TO CALLING PROGRAM WITH JET TIME SCALED AS TIME6 AND SIGNED.
064537,000298: 
064538,000299: 17,3466           00006        RETURNTJ           EXTEND                                         #  ALL BRANCHES TERMINATE HERE WITH TJET
064539,000300: 17,3467           71740                           MP       ROTSENSE                              #        (SCALED AT 4 SEC) IN THE ACCUMULATOR.
064540,000301: 17,3470           51505                           INDEX    AXISCTR                               #  ROTSENSE APPLIES SIGN AND CHANGES SCALE.
064541,000302: 17,3471           55525                           TS       TJETU                                 
064542,000303: 17,3472           00006                           EXTEND                                         
064543,000304: 17,3473           51505                           INDEX    AXISCTR                               
064544,000305: 17,3474           71547                           MP       ACCSWU                                #  SET SWITCH FOR JET SELECT IF ROTATION IS
064545,000306: 17,3475           30001                           CAE      L                                     
064546,000307: 17,3476           00006                           EXTEND                                         #        IN A SENSE FOR WHICH 1/ACCS HAS FORCED
064547,000308: 17,3477           63502                           BZMF     +3                                    #        A MAX-JET CALCULATION.
064548,000309: 17,3500           34751                           CAF      FOUR                                  

Page 1465

064550,000311: 17,3501           55743                           TS       NUMBERT                               
064551,000312: 17,3502           01745                           TC       HOLDQ                                 #  RETURN VIA SAVED Q.
064552,000313: 
064553,000314:                                                                                                  #  TJET = H/(.025 + TTOAXIS)     FOR TJET LESS THAN 50 MSEC.
064554,000315: 
064555,000316: 17,3503           43733        FORMULA1           CS       -.025AT4                              #  .025 SEC SCALED AT 4.
064556,000317: 17,3504           61742                           AD       TTOAXIS                               #  SCALED AT 4 SECONDS.
064557,000318: 17,3505           53750                           DXCH     HH                                    #  STORE DENOMINATOR IN FIRST WORD OF H,
064558,000319: 17,3506           00006                           EXTEND                                         #        WHICH NEED NOT BE PRESERVED.  PICK UP
064559,000320: 17,3507           11747                           DV       HH                                    #        DP H AND DIVIDE BY DENOMINATOR.
064560,000321: 17,3510           00006                           EXTEND                                         
064561,000322: 17,3511           74736                           MP       BIT14                                 #  RESCALE TJET FROM 2 TO USUAL 4 SEC.
064562,000323: 17,3512           13623                           TCF      CHKMINTJ                              #  CHECK THAT TJET IS NOT LESS THAN MINIMUM
064563,000324: 
064564,000325:                                                                                                  #  TJET = (H + .00375)/(0.1 + TTOAXIS)   FOR TJET GREATER THAN 50 MSEC.
064565,000326: 
064566,000327: 17,3513           00006        FORMULA2           EXTEND                                         
064567,000328: 17,3514           33737                           DCA      .00375A8                              #  .00375 SEC(2) SCALED AT 8.
064568,000329: 17,3515           21750                           DAS      HH                                    #  STORE NUMERATOR IN DP H, WHICH NEED NOT
064569,000330:                                                                                                  #        BE PRESERVED.
064570,000331: 17,3516           31742                           CAE      TTOAXIS                               #  SCALED AT 4 SEC.
064571,000332: 17,3517           63727                           AD       .1AT4                                 #  0.1 SEC SCALED AT 4.
064572,000333: 17,3520           53750                           DXCH     HH                                    #  STORE DENOMINATOR IN FIRST WORD OF H,
064573,000334: 17,3521           00006                           EXTEND                                         #        WHICH NEED NOT BE PRESERVED.  PICK UP
064574,000335: 17,3522           11747                           DV       HH                                    #        DP NUMERATOR AND DIVIDE BY DENOMINATOR
064575,000336: 17,3523           00006                           EXTEND                                         
064576,000337: 17,3524           74736                           MP       BIT14                                 #  RESCALE TJET FROM 2 TO USUAL 4 SEC.
064577,000338: 17,3525           13466                           TCF      RETURNTJ                              #  END SUBROUTINE.
064578,000339: 
064579,000340:                                                                                                  #  SUBROUTINIZED COMPUTATIONS REQUIRED FOR ALL ENTRIES INTO CODING FOR ZONES 1, 2, AND 3.
064580,000341:                                                                                                  #  REACHED BY TC FROM 3 POINTS IN TJETLAW.
064581,000342: 
064582,000343: 17,3526           41740        Z123COMP           CS       ROTSENSE                              #  USED IN RETURNTJ SECTION TO RESCALE TJET
064583,000344: 17,3527           55740                           TS       ROTSENSE                              #        AS TIME6 AND GIVE IT PROPER SIGN.
064584,000345: 17,3530           31427                           CAE      EDOT                                  #  SCALED AT PI/2(5) RAD/SEC.
064585,000346: 17,3531           00006                           EXTEND                                         
064586,000347: 17,3532           51744                           INDEX    ADRSDIF2                              
064587,000348: 17,3533           71567                           MP       1/ANET1                               #  SCALED AT 2(7)/PI SEC(2)/RAD.
064588,000349: 17,3534           55742                           TS       TTOAXIS                               #  STORE TIME-TO-AXIS SCALED AT 4 SECONDS.
064589,000350: 17,3535           63740                           AD       -TJMAX                                
064590,000351: 17,3536           00006                           EXTEND                                         #  IS TIME TO AXIS LESS THAN 150 MSEC.
064591,000352: 17,3537           63541                           BZMF     +2                                    
064592,000353: 17,3540           13465                           TCF      FULLTIME                              #  NO. FIRE JETS, DO NOT CALCULATE TJET.
064593,000354: 17,3541           00002                           RETURN                                         #  YES.  GO ON TO FIND TJET
064594,000355: 
064595,000356: 17,3542           03526        ZON1,2,3           TC       Z123COMP                              #  SUBROUTINIZED PREPARATION FOR ZONE1,2,3.
064596,000357: 
064597,000358:                                                                                                  #  IF THE (NEG) DISTANCE BEYOND PARABOLA IS LESS THAN FLAT, USE SPECIAL
064598,000359:                                                                                                  #  LOGIC TO ACQUIRE MINIMUM IMPULSE LIMIT CYCLE.  DURING POWERED FLIGHT

Page 1466

064600,000361:                                                                                                  #  OR ULLAGE, FLAT = 0
064601,000362: 
064602,000363: 17,3543           31741                           CAE      FIREFCT                               #  SCALED AT PI/4 RAD.
064603,000364: 17,3544           61555                           AD       FLAT                                  
064604,000365: 17,3545           00006                           EXTEND                                         
064605,000366: 17,3546           63562                           BZMF     ZONE1                                 #  NOT IN SPECIAL ZONES.
064606,000367: 
064607,000368:                                                                                                  #  FIRE FOR AXIS OR, IF CLOSE, FIRE MINIMUM IMPULSE.  IF ON AXIS, COAST.
064608,000369: 
064609,000370: 17,3547           41556        ZONE2,3            CS       ZONE3LIM                              #  HEIGHT OF MIN-IMPULSE ZONE SET BY 1/ACCS
064610,000371: 17,3550           61742                           AD       TTOAXIS                               #        35 MSEC IN DRIFTING FLIGHT
064611,000372: 17,3551           00006                           EXTEND                                         #        ZERO WHEN TRYING TO ENTER GTS CONTROL.
064612,000373: 17,3552           63555                           BZMF     ZONE3                                 
064613,000374: 17,3553           31742        ZONE2              CAE      TTOAXIS                               #  FIRE TO AXIS.
064614,000375: 17,3554           13466                           TCF      RETURNTJ                              
064615,000376: 17,3555           11427        ZONE3              CCS      EDOT                                  #  CHECK IF EDOT IS ZERO.
064616,000377: 17,3556           34746                           CAF      BIT6                                  #  FIRE A ONE-JET MINIMUM IMPULSE.
064617,000378: 17,3557           13466                           TCF      RETURNTJ                              #  TJET = +0.
064618,000379: 17,3560           05705                           TC       CCSHOLE                               #  CANNOT BE BECAUSE NEG EDOT COMPLEMENTED.
064619,000380: 17,3561           13466                           TCF      RETURNTJ                              #  TJET = +0.
064620,000381: 
064621,000382: 17,3562           00006        ZONE1              EXTEND                                         
064622,000383: 17,3563           51746                           INDEX    ADRSDIF1                              
064623,000384: 17,3564           61605                           SU       AXISDIST                              #  SCALED AT PI/4 RAD.
064624,000385: 17,3565           00006                           EXTEND                                         
064625,000386: 17,3566           51744                           INDEX    ADRSDIF2                              
064626,000387: 17,3567           71575                           MP       ACCFCTZ1                              #  SCALED AT 2(7)/PI SEC(2)/RAD.
064627,000388: 17,3570           20001                           DDOUBL                                         
064628,000389: 17,3571           20001                           DDOUBL                                         
064629,000390: 17,3572           53750                           DXCH     HH                                    #  DOUBLE PRECISION H SCALED AT 8 SEC(2).
064630,000391: 
064631,000392:                                                                                                  #  TEST WHETHER TOTAL TIME REQUIRED GREATER THAN 150 MSEC:
064632,000393:                                                                                                  #                             2                                   2
064633,000394:                                                                                                  #        IS .5(.150 - TTOAXIS)  - H  NEGATIVE (SCALED AT 8 SECONDS )
064634,000395: 
064635,000396: 17,3573           31742                           CAE      TTOAXIS                               #  TTOAXIS SCALED AT 4 SECONDS.
064636,000397: 17,3574           63740                           AD       -TJMAX                                #  -.150 SECOND SCALED AT 4.
064637,000398: 17,3575           00006                           EXTEND                                         
064638,000399: 17,3576           70000                           SQUARE                                         
064639,000400: 17,3577           00006                           EXTEND                                         
064640,000401: 17,3600           61747                           SU       HH                                    #  HIGH WORD OF H SCALED AT 8 SEC(2).
064641,000402: 17,3601           00006                           EXTEND                                         
064642,000403: 17,3602           63465                           BZMF     FULLTIME                              #  YES.  NEED NOT CALCULATE TJET.
064643,000404: 
064644,000405:                                                                                                  #  TEST WHETHER TIME BEYOND AXIS GREATER THAN 50 MSEC TO DETERMINE WHICH APPROXIMATION TO USE.
064645,000406: 
064646,000407: 17,3603           31747                           CAE      HH                                    
064647,000408: 17,3604           67746                           AD       NEG2                                  
064648,000409: 17,3605           00006                           EXTEND                                         
064649,000410: 17,3606           63616                           BZMF     FORMULA3                              
064650,000411: 

Page 1467

064652,000413:                                                                                                  #  TJET = H/0.1 + TTOAXIS + .0375        FOR APPROXIMATION OVER MORE THAN 50 MSEC.
064653,000414: 
064654,000415: 17,3607           33730                           CAF      .1AT2                                 #  STORE .1 SEC SCALED AT 2 FOR DIVISION.
064655,000416: 17,3610           53750                           DXCH     HH                                    #  DP H SCALED AT 8 SEC(2) NEED NOT BE
064656,000417: 17,3611           00006                           EXTEND                                         #        PRESERVED.
064657,000418: 17,3612           11747                           DV       HH                                    #  QUOTIENT SCALED AT 4 SECONDS.
064658,000419: 17,3613           61742                           AD       TTOAXIS                               #  SCALED AT 4 SEC.
064659,000420: 17,3614           63731                           AD       .0375AT4                              #  .0375 SEC SCALED AT 4.
064660,000421: 17,3615           13466                           TCF      RETURNTJ                              #  END COMPUTATION.
064661,000422: 
064662,000423:                                                                                                  #  TJET = H/.O25 + TTOAXIS       FOR APPROXIMATION OVER LESS THAN 50 MSEC.
064663,000424: 
064664,000425: 17,3616           43732        FORMULA3           CS       -.025AT2                              #  STORE +.025 SEC SCALED AT 2 FOR DIVISION
064665,000426: 17,3617           53750                           DXCH     HH                                    #  PICK UP DP H AT 8, WHICH NEED NOT BE
064666,000427: 17,3620           00006                           EXTEND                                         #        PRESERVED.
064667,000428: 17,3621           11747                           DV       HH                                    #  QUOTIENT SCALED AT 4 SECONDS.
064668,000429: 17,3622           61742                           AD       TTOAXIS                               #  SCALED AT 4 SEC.
064669,000430: 
064670,000431:                                                                                                  #  IF COMPUTED JET TIME IS LESS THAN TJMIN, TJET IS SET TO ZERO.
064671,000432:                                                                                                  #  MINIMUM IMPULSES REQUIRED IN ZONE 3 ARE NOT SUBJECT TO THIS CONSTRAINT, NATURALLY.
064672,000433: 
064673,000434: 17,3623           63742        CHKMINTJ           AD       -TJMIN                                #  IS COMPUTED TIME LESS THAN THE MINIMUM.
064674,000435: 17,3624           00006                           EXTEND                                         
064675,000436: 17,3625           63422                           BZMF     COASTTJ                               #  YES, SET TIME TO ZERO.
064676,000437: 17,3626           63741                           AD       TJMIN                                 #  NO, RESTORE COMPUTED TIME.
064677,000438: 17,3627           13466                           TCF      RETURNTJ                              #  END COMPUTATION.
064678,000439: 

Page 1468

064680,000441:                                                                                                  #  *** ROUGHLAW ***
064681,000442: 
064682,000443:                                                                                                  #  BEFORE ENTRY TO RUFLAW:
064683,000444:                                                                                                  #        1. INDEXERS ADRSDIF1 AND ADRSDIF2 ARE SET ON BASIS OF AXIS, AND SIGN OF EDOT.
064684,000445:                                                                                                  #        2. IF EDOT WAS NEGATIVE, E AND EDOT ARE ROTATED INTO UPPER HALF-PLANE AND ROTSENSE IS MADE NEGATIVE.
064685,000446:                                                                                                  #        3. E IS SCALED AT PI RADIANS AND EDOT AT PI/4 RAD/SEC.
064686,000447:                                                                                                  #           (EXCEPT THE RUFLAW3 ENTRY WHEN E IS AT PI/4)
064687,000448: 
064688,000449:                                                                                                  #  RUFLAW1:      ERROR MORE NEGATIVE THAN PI/16 RAD.  FIRE TO A RATE OF 6.5 DEG/SEC (IF JET TIME EXCEEDS 20 MSEC.).
064689,000450:                                                                                                  #  RUFLAW2:      ERROR MORE POSITIVE THAN PI/16 RAD.  FIRE TO AN OPPOSING RATE OF 6.5 DEG/SEC.
064690,000451:                                                                                                  #  RUFLAW3:      ERROR RATE GREATER THAN PI/32 RAD/SEC AND ERROR WITHIN BOUNDS.  COAST IF BELOW FIREFCT, FIRE IF ABOVE
064691,000452: 
064692,000453: 17,3630           43743        RUFLAW1            CS       RUFRATE                               #  DECREMENT EDOT BY .1444 RAD/SEC AT PI/4
064693,000454: 17,3631           27427                           ADS      EDOT                                  #        WHICH IS THE TARGET RATE
064694,000455: 17,3632           00006                           EXTEND                                         
064695,000456: 17,3633           63654                           BZMF     SMALRATE                              #  BRANCH IF RATE LESS THAN TARGET.
064696,000457: 17,3634           03712                           TC       RUFSETUP                              #  REVERSE ROTSENSE AND INDICATE MAX JETS.
064697,000458: 17,3635           31427                           CAE      EDOT                                  #  PICK UP DESIRED RATE CHANGE.
064698,000459: 
064699,000460: 17,3636           00006        RUFLAW12           EXTEND                                         #  COMPUTE TJET
064700,000461: 17,3637           51744                           INDEX    ADRSDIF2                              #        = (DESIRED RATE CHANGE)/(2-JET ACCEL.)
064701,000462: 17,3640           71571                           MP       1/ANET1    +2                         
064702,000463: 17,3641           67741                           AD       -1/8                                  #  IF TJET, SCALED AT 32 SEC, EXCEEDS
064703,000464: 17,3642           00006                           EXTEND                                         #        4 SECONDS, SET TJET TO TJMAX.
064704,000465: 17,3643           63645                           BZMF     +2                                    
064705,000466: 17,3644           13465                           TCF      FULLTIME                              
064706,000467: 17,3645           00006                           EXTEND                                         
064707,000468: 17,3646           13465                           BZF      FULLTIME                              
064708,000469: 17,3647           64740                           AD       BIT12                                 #  RESTORE COMPUTED TJET TO ACCUMULATOR.
064709,000470: 17,3650           20001                           DAS      A                                     
064710,000471: 17,3651           20001                           DAS      A                                     
064711,000472: 17,3652           20001                           DAS      A                                     #  RESCALED TJET AT 4 SECONDS.
064712,000473: 17,3653           13623                           TCF      CHKMINTJ                              #  RETURN AS FROM FINELAW.
064713,000474: 
064714,000475: 17,3654           03714        SMALRATE           TC       RUFSETUP   +2                         #  SET NUMBERT AND FIREFCT FOR MAXIMUM JETS
064715,000476: 17,3655           11740                           CCS      ROTSENSE                              
064716,000477: 17,3656           34753                           CAF      ONE                                   #  MODIFY INDEXER TO POINT TO 1/ANET
064717,000478: 17,3657           13661                           TCF      +2                                    #        CORRESPONDING TO THE PROPER SENSE.
064718,000479: 17,3660           37747                           CAF      NEGONE                                
064719,000480: 17,3661           27744                           ADS      ADRSDIF2                              
064720,000481: 
064721,000482: 17,3662           41427                           CS       EDOT                                  #  (.144 AT PI/4 - EDOT) = DESIRED RATE CHNG.
064722,000483: 17,3663           13636                           TCF      RUFLAW12                              
064723,000484: 
064724,000485: 17,3664           03712        RUFLAW2            TC       RUFSETUP                              #  REVERSE ROTSENSE AND INDICATE MAX JETS.
064725,000486: 17,3665           33743                           CAF      RUFRATE                               
064726,000487: 17,3666           61427                           AD       EDOT                                  #  (.144 AT PI/4 + EDOT) = DESIRED RATE CHNG.
064727,000488: 17,3667           54000                           TS       A                                     #  IF OVERFLOW SKIP, FIRE FOR FULL TIME.
064728,000489: 17,3670           13636                           TCF      RUFLAW12                              #  OTHERWISE, COMPUTE JET TIME.
064729,000490: 17,3671           13465                           TCF      FULLTIME                              
064730,000491: 

Page 1469

064732,000493: 17,3672           03712        RUFLAW3            TC       RUFSETUP                              #  EXECUTE COMMON RUFLAW SUBROUTINE.
064733,000494: 17,3673           51746                           INDEX    ADRSDIF1                              
064734,000495: 17,3674           41601                           CS       FIREDB                                #  CALCULATE DISTANCE FROM SWITCH CURVE
064735,000496: 17,3675           61752                           AD       E                                     #        1/ANET1*EDOT*EDOT +E - FIREDB = 0
064736,000497: 17,3676           00006                           EXTEND                                         #                SCALED AT 4 PI RADIANS
064737,000498: 17,3677           74741                           MP       BIT11                                 
064738,000499: 17,3700           57427                           XCH      EDOT                                  
064739,000500: 17,3701           00006                           EXTEND                                         
064740,000501: 17,3702           70000                           SQUARE                                         
064741,000502: 17,3703           00006                           EXTEND                                         
064742,000503: 17,3704           51746                           INDEX    ADRSDIF1                              
064743,000504: 17,3705           71571                           MP       1/ANET1    +2                         
064744,000505: 17,3706           61427                           AD       EDOT                                  
064745,000506: 17,3707           00006                           EXTEND                                         
064746,000507: 17,3710           63422                           BZMF     COASTTJ                               #  COAST IF BELOW IT.
064747,000508: 17,3711           13465                           TCF      FULLTIME                              #  FIRE FOR FULL PERIOD IF ABOVE IT.
064748,000509: 
064749,000510:                                                                                                  #  SUBROUTINE USED IN ALL ENTRIES TO ROUGHLAW.
064750,000511: 
064751,000512: 17,3712           41740        RUFSETUP           CS       ROTSENSE                              #  REVERSE ROTSENSE WHEN ENTER HERE.
064752,000513: 17,3713           55740                           TS       ROTSENSE                              
064753,000514: 17,3714           34751                 +2        CAF      FOUR                                  #  REQUIRE MAXIMUM (2) JETS IN U,V-AXES.
064754,000515: 17,3715           55743                           TS       NUMBERT                               
064755,000516: 17,3716           34735                           CAF      NEGMAX                                #  SUGGEST MAXIMUM (4) JETS IN P-AXIS.
064756,000517: 17,3717           55741                           TS       FIREFCT                               
064757,000518: 17,3720           00002                           TC       Q                                     
064758,000519: 
064759,000520:                                                                                                  #  CONSTANTS FOR TJETLAW
064760,000521: 
064761,000522: 17,3721           77757                           DEC      -16        B-14                       #  AXISDIFF(INDEX) = NUMBER OF REGISTERS
064762,000523: 17,3722           00000        AXISDIFF           DEC      +0         B-14                       #        BETWEEN STORED 1/ACCS PARAMETERS FOR
064763,000524: 17,3723           00020                           DEC      16         B-14                       #        THE INDEXED AXIS AND THE U-AXIS.
064764,000525: 17,3724           14400        SENSOR             OCT      14400                                 #  RATIO OF TJET SCALING WITHIN TJETLAW
064765,000526:                                                                                                  #        (4 SEC) TO SCALING FOR T6 (10.24 SEC).
064766,000527: 17,3725           75673        -3DEG              DEC      -.06667                               #  -3.0 DEGREES SCALED AT 45.
064767,000528: 17,3726           77750        -.0112A8           DEC      -.00141                               #  -.01125 SEC(2) SCALED AT 8.
064768,000529: 17,3727           00632        .1AT4              DEC      .025                                  #  0.1 SECOND SCALED AT 4.
064769,000530: 17,3730           01463        .1AT2              DEC      .05                                   #  0.1 SEC SCALED AT 2.
064770,000531: 17,3731           00232        .0375AT4           DEC      .00938                                #  .0375 SEC SCALED AT 4.
064771,000532: 17,3732           77462        -.025AT2           DEC      -.0125                                #  -.025 SEC SCALED AT 2.
064772,000533: 17,3733           77631        -.025AT4           DEC      -.00625                               
064773,000534: 17,3734           77145        -.05AT2            DEC      -.025                                 
064774,000535: 17,3735           75462        -.15AT2            DEC      -.075                                 
064775,000536: 17,3736           00007 25605  .00375A8           2DEC     .00375     B-3                        
064776,000537: 
064777,000538: 17,3740           76631        -TJMAX             DEC      -.0375                                #  LARGEST CALCULATED TIME.  .150 SEC AT 4.
064778,000539: 17,3741           00122        TJMIN              DEC      .005                                  #  SMALLEST ALLOWABLE TIME.  .020 SEC AT 4.
064779,000540: 17,3742           77655        -TJMIN             DEC      -.005                                 
064780,000541: 17,3743           04476        RUFRATE            DEC      .1444                                 #  CORRESPONDS TO TARGET RATE OF 6.5 DEG/S.

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