Source Code

These source-code files were transcribed from scans made from Don Eyles's personal copy of Luminary 069. They were scanned at archive.org's Boston facility, and the scanning was sponsored by Onno Hommes. The code was transcribed from these scans by a team of volunteers who are referenced in the program comments. Comments from the original source code are prefixed with a single '#' symbol, whereas comments added later are prefixed by "##" or "###". In some cases, where similar code blocks exist in previously-transcribed AGC programs (primarily Luminary 99, from Apollo 11) those code blocks were used as a starting point and then corrected to agree with the Luminary 69 scans. The full scans are available at the Virtual AGC project's collection at archive.org, while more-convenient reduced-size (but reduced-quality) images are available at the main Virtual AGC website. Report any errors noted by creating an issue report at the Virtual AGC project's GitHub repository. Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 069 OF AGC PROGRAM LUMINARY BY NASA 2021112-011
	19:02 NOV. 25,1968
Note that the date is the date of the printout, not the date of the program revision.

062481,000002:                                                                                                  ## Copyright:   Public domain.
062482,000003:                                                                                                  ## Filename:    Q,R-AXES_RCS_AUTOPILOT.agc
062483,000004:                                                                                                  ## Purpose:     The main source file for Luminary revision 069.
062484,000005:                                                                                                  ##              It is part of the source code for the original release
062485,000006:                                                                                                  ##              of the flight software for the Lunar Module's (LM) Apollo
062486,000007:                                                                                                  ##              Guidance Computer (AGC) for Apollo 10. The actual flown
062487,000008:                                                                                                  ##              version was Luminary 69 revision 2, which included a
062488,000009:                                                                                                  ##              newer lunar gravity model and only affected module 2.
062489,000010:                                                                                                  ##              This file is intended to be a faithful transcription, except
062490,000011:                                                                                                  ##              that the code format has been changed to conform to the
062491,000012:                                                                                                  ##              requirements of the yaYUL assembler rather than the
062492,000013:                                                                                                  ##              original YUL assembler.
062493,000014:                                                                                                  ## Reference:   pp. 1436-1453
062494,000015:                                                                                                  ## Assembler:   yaYUL
062495,000016:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
062496,000017:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
062497,000018:                                                                                                  ## Mod history: 2016-12-13 MAS  Created from Luminary 99.
062498,000019:                                                                                                  ##              2016-12-18 MAS  Updated from comment-proofed Luminary 99 version.
062499,000020:                                                                                                  ##              2017-01-03 RRB  Updated for Luminary 69.
062500,000021:                                                                                                  ##              2017-01-21 HG   Fix operand ROT-TOUV -> ROT45DEG
062501,000022:                                                                                                  ##                                          +X0RULGE -> +XORULGE
062502,000023:                                                                                                  ##                              Add missing declaration .707 DEC .70711
062503,000024:                                                                                                  ##              2017-01-23 HG   Add mising statement CA POSMAX
062504,000025:                                                                                                  ##              2017-01-28 RSB  Proofed comment text using octopus/prooferComments
062505,000026:                                                                                                  ##                              and fixed errors found.
062506,000027:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
062507,000028:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
062508,000029:                                                                                                  ##              2017-08-29 MAS  Fixed a comment-text error found while transcribing
062509,000030:                                                                                                  ##                              Zerlina 56.
062510,000031: 

Page 1436

062512,000033: 17,2043                                           BANK     17                                    
062513,000034: 17,2000                                           SETLOC   DAPS2                                 
062514,000035: 17,2000                                           BANK                                           
062515,000036: 
062516,000037: 17,2043  E6,1633                                  EBANK=   CDUXD                                 
062517,000038: 
062518,000039: 17,2043                                           COUNT*   $$/DAPQR                              
062519,000040: 
062520,000041: 17,2043           34737        CALLQERR           CA       BIT13                                 #  CALCULATE Q,R ERRORS UNLESS THESE AXES
062521,000042: 17,2044           00006                           EXTEND                                         #  ARE IN MANUAL RATE COMMAND.
062522,000043: 17,2045           02031                           RAND     CHAN31                                
062523,000044: 17,2046           10000                           CCS      A                                     
062524,000045: 17,2047           12054                           TCF      +5                                    #  IN AUTO COMPUTE Q,R ERRORS
062525,000046: 17,2050           40111                           CS       DAPBOOLS                              #  IN MANUAL RATE COMMAND?
062526,000047: 17,2051           74740                           MASK     OURRCBIT                              
062527,000048: 17,2052           00006                           EXTEND                                         
062528,000049: 17,2053           12055                           BZF      Q,RORGTS                              #  IF SO BYPASS CALCULATION OF ERRORS.
062529,000050: 17,2054           02563                           TC       QERRCALC                              
062530,000051: 
062531,000052: 17,2055           11627        Q,RORGTS           CCS      COTROLER                              #  CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
062532,000053: 17,2056           12544                           TCF      GOTOGTS                               #    GTS (ALTERNATES WITH RCS WHEN DOCKED)
062533,000054: 17,2057           12531                           TCF      TRYGTS                                #    GTS IF ALLOWED, OTHERWISE RCS
062534,000055: 17,2060           34755        RCS                CAF      ZERO                                  #    RCS (TRYGTS MAY BRANCH TO HERE)
062535,000056: 17,2061           55627                           TS       COTROLER                              
062536,000057: 
062537,000058: 17,2062           53435                           DXCH     EDOTQ                                 
062538,000059: 17,2063           03100                           TC       ROT45DEG                              
062539,000060: 17,2064           53425                           DXCH     OMEGAU                                
062540,000061: 
062541,000062:                                                                                                  #  X - TRANSLATION:
062542,000063: 
062543,000064:                                                                                                  #  INPUT:        BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
062544,000065:                                                                                                  #                ULLAGER
062545,000066:                                                                                                  #                APSFLAG, DRIFTBIT
062546,000067:                                                                                                  #                ACC40R2X, ACRBTRAN
062547,000068: 
062548,000069:                                                                                                  #  OUTPUT:       NEXTU, NEXTV    CODES OF TRANSLATION FOR AFTER ROTATION
062549,000070:                                                                                                  #                SENSETYP        TELL ROTATION DIRECTION AND DESIRE
062550,000071: 
062551,000072:                                                                                                  #  X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR.  IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED.  A FAILURE
062552,000073:                                                                                                  #  WILL OVERRIDE THIS SPECIFICATION.  AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
062553,000074: 
062554,000075: 17,2065           34745        SENSEGET           CA       BIT7                                  #  INPUT BITS OVERRIDE THE INTERNAL BITS
062555,000076: 17,2066           00006                           EXTEND                                         #  SENSETYP WILL NOT OPPOSE ANYTRANS
062556,000077: 17,2067           02031                           RAND     CHAN31                                
062557,000078: 17,2070           00006                           EXTEND                                         
062558,000079: 17,2071           12117                           BZF      +XORULGE                              

Page 1437

062560,000081: 17,2072           34744                           CA       BIT8                                  
062561,000082: 17,2073           00006                           EXTEND                                         
062562,000083: 17,2074           02031                           RAND     CHAN31                                
062563,000084: 17,2075           00006                           EXTEND                                         
062564,000085: 17,2076           12120                           BZF      -XTRANS                               
062565,000086: 
062566,000087: 17,2077           34746                           CA       ULLAGER                               
062567,000088: 17,2100           70111                           MASK     DAPBOOLS                              
062568,000089: 17,2101           10000                           CCS      A                                     
062569,000090: 17,2102           12117                           TCF      +XORULGE                              
062570,000091: 
062571,000092: 17,2103           55471                           TS       NEXTU                                 #  STORE NULL TRANSLATION POLICIES
062572,000093: 17,2104           55472                           TS       NEXTV                                 
062573,000094: 17,2105           40111                           CS       DAPBOOLS                              #  BURNING OR DRIFTING?
062574,000095: 17,2106           74744                           MASK     DRIFTBIT                              
062575,000096: 17,2107           00006                           EXTEND                                         
062576,000097: 17,2110           12115                           BZF      TSENSE                                
062577,000098: 17,2111           30106                           CA       FLGWRD10                              #  DPS (INCLUDING DOCKED) OR APS?
062578,000099: 17,2112           74737                           MASK     APSFLBIT                              
062579,000100: 17,2113           10000                           CCS      A                                     
062580,000101: 17,2114           34752                           CAF      TWO                                   #  FAVOR +X JETS DURING AN APS BURN.
062581,000102: 17,2115           55477        TSENSE             TS       SENSETYP                              
062582,000103: 17,2116           12151                           TCF      QRCONTRL                              
062583,000104: 
062584,000105: 17,2117           34753        +XORULGE           CAF      ONE                                   
062585,000106: 17,2120           64751        -XTRANS            AD       FOUR                                  
062586,000107: 17,2121           55742                           TS       ROTINDEX                              
062587,000108: 17,2122           67744                           AD       NEG3                                  
062588,000109: 17,2123           55477                           TS       SENSETYP                              #  FAVOR APPROPRIATE JETS DURING TRANS.
062589,000110: 17,2124           30111                           CA       DAPBOOLS                              
062590,000111: 17,2125           74741                           MASK     ACC4OR2X                              
062591,000112: 17,2126           10000                           CCS      A                                     
062592,000113: 17,2127           12256                           TCF      TRANS4                                
062593,000114: 
062594,000115: 17,2130           30111                           CA       DAPBOOLS                              
062595,000116: 17,2131           74742                           MASK     AORBTRAN                              
062596,000117: 17,2132           10000                           CCS      A                                     
062597,000118: 17,2133           34753                           CA       ONE                                   #  THREE FOR B
062598,000119: 17,2134           64752                           AD       TWO                                   #  TWO FOR A SYSTEM 2 JET X TRANS
062599,000120: 17,2135           55741        TSNUMBRT           TS       NUMBERT                               
062600,000121: 
062601,000122: 17,2136           03130                           TC       SELCTSUB                              
062602,000123: 
062603,000124: 17,2137           11737                           CCS      POLYTEMP                              
062604,000125: 17,2140           12143                           TCF      +3                                    
062605,000126: 17,2141           05567                           TC       ALARM                                 
062606,000127: 17,2142           02002                           OCT      02002                                 
062607,000128: 17,2143           35765                           CA       00314OCT                              
062608,000129: 17,2144           71737                           MASK     POLYTEMP                              
062609,000130: 17,2145           55471        TSNEXTS            TS       NEXTU                                 

Page 1438

062611,000132: 17,2146           45765                           CS       00314OCT                              
062612,000133: 17,2147           71737                           MASK     POLYTEMP                              
062613,000134: 17,2150           55472                           TS       NEXTV                                 
062614,000135: 
062615,000136:                                                                                                  #  Q,R-AXES RCS CONTROL MODE SELECTION
062616,000137:                                                                                                  #        SWITCHES        INDICATION WHEN SET
062617,000138:                                                                                                  #        BIT13/CHAN31    AUTO, GO TO ATTSTEER
062618,000139:                                                                                                  #        PULSES          MINIMUM IMPULSE MODE
062619,000140:                                                                                                  #        (OTHERWISE)     RATE COMMAND/ATTITUDE HOLD MODE
062620,000141: 
062621,000142: 17,2151           34737        QRCONTRL           CA       BIT13                                 #  CHECK MODE SELECT SWITCH.
062622,000143: 17,2152           00006                           EXTEND                                         
062623,000144: 17,2153           02031                           RAND     CHAN31                                #  BITS INVERTED
062624,000145: 17,2154           10000                           CCS      A                                     
062625,000146: 17,2155           12616                           TCF      ATTSTEER                              
062626,000147: 17,2156           34735        CHKBIT10           CAF      PULSES                                #  PULSES = 1 FOR MIN IMP USE OF RHC
062627,000148: 17,2157           70111                           MASK     DAPBOOLS                              
062628,000149: 17,2160           00006                           EXTEND                                         
062629,000150: 17,2161           12260                           BZF      CHEKSTIK                              #  IN ATT-HOLD/RATE-COMMAND IF BIT10=0
062630,000151: 
062631,000152:                                                                                                  #  MINIMUM IMPULSE MODE
062632,000153: 
062633,000154: 17,2162           00004                           INHINT                                         
062634,000155: 17,2163           04674                           TC       IBNKCALL                              
062635,000156: 17,2164           40153                           CADR     ZATTEROR                              
062636,000157: 17,2165           34755                           CA       ZERO                                  
062637,000158: 17,2166           55446                           TS       QERROR                                
062638,000159: 17,2167           55450                           TS       RERROR                                #  FOR DISPLAYS
062639,000160: 17,2170           00003                           RELINT                                         
062640,000161: 
062641,000162: 17,2171           00006                           EXTEND                                         
062642,000163: 17,2172           00031                           READ     CHAN31                                
062643,000164: 17,2173           55735                           TS       TEMP31                                #  IS EQUAL TO DAPTEMP1
062644,000165: 17,2174           11457                           CCS      OLDQRMIN                              
062645,000166: 17,2175           12217                           TCF      CHECKIN                               
062646,000167: 
062647,000168: 17,2176           31735        FIREQR             CA       TEMP31                                
062648,000169: 17,2177           74753                           MASK     BIT1                                  
062649,000170: 17,2200           00006                           EXTEND                                         
062650,000171: 17,2201           12223                           BZF      +QMIN                                 
062651,000172: 
062652,000173: 17,2202           31735                           CA       TEMP31                                
062653,000174: 17,2203           74752                           MASK     BIT2                                  
062654,000175: 17,2204           00006                           EXTEND                                         
062655,000176: 17,2205           12227                           BZF      -QMIN                                 
062656,000177: 
062657,000178: 17,2206           31735                           CA       TEMP31                                
062658,000179: 17,2207           74747                           MASK     BIT5                                  

Page 1439

062660,000181: 17,2210           00006                           EXTEND                                         
062661,000182: 17,2211           12233                           BZF      +RMIN                                 
062662,000183: 
062663,000184: 17,2212           31735                           CA       TEMP31                                
062664,000185: 17,2213           74746                           MASK     BIT6                                  
062665,000186: 17,2214           00006                           EXTEND                                         
062666,000187: 17,2215           12235                           BZF      -RMIN                                 
062667,000188: 
062668,000189: 17,2216           13015                           TCF      XTRANS                                
062669,000190: 
062670,000191: 17,2217           41735        CHECKIN            CS       TEMP31                                
062671,000192: 17,2220           72255                           MASK     OCT63                                 
062672,000193: 17,2221           55457                           TS       OLDQRMIN                              
062673,000194: 17,2222           13015                           TCF      XTRANS                                
062674,000195: 
062675,000196: 17,2223           33041        +QMIN              CA       14MS                                  
062676,000197: 17,2224           55525                           TS       TJU                                   
062677,000198: 17,2225           43041                           CS       14MS                                  
062678,000199: 17,2226           12237                           TCF      MINQR                                 
062679,000200: 17,2227           43041        -QMIN              CS       14MS                                  
062680,000201: 17,2230           55525                           TS       TJU                                   
062681,000202: 17,2231           33041                           CA       14MS                                  
062682,000203: 17,2232           12237                           TCF      MINQR                                 
062683,000204: 17,2233           33041        +RMIN              CA       14MS                                  
062684,000205: 17,2234           12236                           TCF      +2                                    
062685,000206: 17,2235           43041        -RMIN              CS       14MS                                  
062686,000207: 17,2236           55525                           TS       TJU                                   
062687,000208: 17,2237           55526        MINQR              TS       TJV                                   
062688,000209: 17,2240           32254                           CA       MINADR                                
062689,000210: 17,2241           55475                           TS       RETJADR                               
062690,000211: 17,2242           34753                           CA       ONE                                   
062691,000212: 17,2243           55457                           TS       OLDQRMIN                              
062692,000213: 17,2244           55476        MINRTN             TS       AXISCTR                               
062693,000214: 17,2245           30111                           CA       DAPBOOLS                              
062694,000215: 17,2246           74742                           MASK     AORBTRAN                              
062695,000216: 17,2247           10000                           CCS      A                                     
062696,000217: 17,2250           34753                           CA       ONE                                   
062697,000218: 17,2251           64752                           AD       TWO                                   
062698,000219: 17,2252           55741                           TS       NUMBERT                               
062699,000220: 17,2253           12661                           TCF      AFTERTJ                               
062700,000221: 
062701,000222: 17,2254           02244        MINADR             GENADR   MINRTN                                
062702,000223: 17,2255           00063        OCT63              OCT      63                                    
062703,000224: 17,2256  17,3041               14MS               =        +TJMINT6                              
062704,000225: 
062705,000226: 17,2256           34751        TRANS4             CA       FOUR                                  
062706,000227: 17,2257           12135                           TCF      TSNUMBRT                              
062707,000228: 
062708,000229:                                                                                                  #  RATE COMMAND MODE:

Page 1440

062710,000231:                                                                                                  #  DESCRIPTION (SAME AS P-AXIS)
062711,000232: 
062712,000233: 17,2260           55631        CHEKSTIK           TS       INGTS                                 #  NOT IN GTS WHEN IN ATT HOLD
062713,000234: 17,2261           44753                           CS       ONE                                   #  1/ACCS WILL DO THE NULLING DRIVES
062714,000235: 17,2262           55627                           TS       COTROLER                              #  COME BACK TO RCS NEXT TIME
062715,000236: 17,2263           34735                           CA       BIT15                                 
062716,000237: 17,2264           71441                           MASK     CH31TEMP                              
062717,000238: 17,2265           00006                           EXTEND                                         
062718,000239: 17,2266           12305                           BZF      RHCACTIV                              #  BRANCH IF OUT OF DETENT.
062719,000240: 17,2267           34740                           CA       OURRCBIT                              #  ***********
062720,000241: 17,2270           70111                           MASK     DAPBOOLS                              #  *IN DETENT*   CHECK FOR MANUAL CONTROL
062721,000242: 17,2271           00006                           EXTEND                                         #  ***********   LAST TIME.
062722,000243: 17,2272           12616                           BZF      STILLRCS                              
062723,000244: 17,2273           44743                           CS       BIT9                                  
062724,000245: 17,2274           71273                           MASK     RCSFLAGS                              
062725,000246: 17,2275           55273                           TS       RCSFLAGS                              #  BIT 9 IS 0.
062726,000247: 17,2276           12302                           TCF      DAMPING                               
062727,000248: 17,2277           00050        40CYCL             OCT      50                                    
062728,000249: 17,2300           00001        1/10S              OCT      1                                     
062729,000250: 17,2301           00056        LINRAT             DEC      46         B-14                       
062730,000251: 
062731,000252:                                                                                                  #  ================================
062732,000253: 
062733,000254: 17,2302           34755        DAMPING            CA       ZERO                                  
062734,000255: 17,2303           55460                           TS       SAVEHAND                              
062735,000256: 17,2304           55461                           TS       SAVEHAND   +1                         
062736,000257: 17,2305           11460        RHCACTIV           CCS      SAVEHAND                              #  *******************
062737,000258: 17,2306           12311                           TCF      +3                                    #  Q,R MANUAL CONTROL    WC = A*(B+|D|)*D
062738,000259: 17,2307           12311                           TCF      +2                                    #  *******************
062739,000260: 17,2310           12311                           TCF      +1                                    
062740,000261: 17,2311           60000                           DOUBLE                                         #  WHERE
062741,000262: 17,2312           60000                           DOUBLE                                         
062742,000263: 17,2313           62301                           AD       LINRAT                                #        WC  = COMMANDED ROTATIONAL RATE
062743,000264: 17,2314           00006                           EXTEND                                         #        A   = QUADRATIC SENSITIVITY FACTOR
062744,000265: 17,2315           71460                           MP       SAVEHAND                              #        B   = LINEAR/QUADRATIC SENSITIVITY
062745,000266: 17,2316           30001                           CA       L                                     #        |D| = ABS. VALUE OF DEFLECTION
062746,000267: 17,2317           00006                           EXTEND                                         #        D   = HAND CONTROLLER DEFLECTION
062747,000268: 17,2320           71442                           MP       STIKSENS                              
062748,000269: 17,2321           57453                           XCH      QLAST                                 #  COMMAND Q RATE     SCALED 45 DEG/SEC
062749,000270: 17,2322           40000                           COM                                            
062750,000271: 17,2323           61453                           AD       QLAST                                 
062751,000272: 17,2324           55737                           TS       DAPTEMP3                              
062752,000273: 17,2325           11461                           CCS      SAVEHAND   +1                         
062753,000274: 17,2326           12331                           TCF      +3                                    
062754,000275: 17,2327           12331                           TCF      +2                                    
062755,000276: 17,2330           12331                           TCF      +1                                    
062756,000277: 17,2331           60000                           DOUBLE                                         
062757,000278: 17,2332           60000                           DOUBLE                                         
062758,000279: 17,2333           62301                           AD       LINRAT                                
062759,000280: 17,2334           00006                           EXTEND                                         
062760,000281: 17,2335           71461                           MP       SAVEHAND   +1                         
062761,000282: 17,2336           30001                           CA       L                                     

Page 1441

062763,000284: 17,2337           00006                           EXTEND                                         
062764,000285: 17,2340           71442                           MP       STIKSENS                              
062765,000286: 17,2341           57454                           XCH      RLAST                                 
062766,000287: 17,2342           40000                           COM                                            
062767,000288: 17,2343           61454                           AD       RLAST                                 
062768,000289: 17,2344           55740                           TS       DAPTEMP4                              
062769,000290: 17,2345           41453                           CS       QLAST                                 #  INTERVAL.
062770,000291: 17,2346           61420                           AD       OMEGAQ                                
062771,000292: 17,2347           55434                           TS       QRATEDIF                              
062772,000293: 17,2350           41454                           CS       RLAST                                 
062773,000294: 17,2351           61421                           AD       OMEGAR                                
062774,000295: 17,2352           55435                           TS       RRATEDIF                              
062775,000296: 17,2353           53435        ENTERQR            DXCH     QRATEDIF                              #  TRANSFORM RATES FROM Q,R TO U,V AXES
062776,000297: 17,2354           03100                           TC       ROT45DEG                              
062777,000298: 17,2355           53425                           DXCH     URATEDIF                              
062778,000299: 17,2356           11737                           CCS      DAPTEMP3                              #  CHECK IF Q COMMAND CHANGE EXCEEDS
062779,000300: 17,2357           02362                           TC       +3                                    #  BREAKOUT LEVEL.  IF NOT, CHECK R.
062780,000301: 17,2360           02362                           TC       +2                                    
062781,000302: 17,2361           02362                           TC       +1                                    
062782,000303: 17,2362           61474                           AD       -RATEDB                               
062783,000304: 17,2363           00006                           EXTEND                                         
062784,000305: 17,2364           62366                           BZMF     +2                                    
062785,000306: 17,2365           12404                           TCF      ENTERUV    -2                         #  BREAKOUT LEVEL EXCEEDED.  DIRECT RATE.
062786,000307: 17,2366           11740                           CCS      DAPTEMP4                              #  R COMMAND BREAKOUT CHECK.
062787,000308: 17,2367           02372                           TC       +3                                    
062788,000309: 17,2370           02372                           TC       +2                                    
062789,000310: 17,2371           02372                           TC       +1                                    
062790,000311: 17,2372           61474                           AD       -RATEDB                               
062791,000312: 17,2373           00006                           EXTEND                                         
062792,000313: 17,2374           62376                           BZMF     +2                                    
062793,000314: 17,2375           12404                           TCF      ENTERUV    -2                         #  BREAKOUT LEVEL EXCEEDED.  DIRECT RATE.
062794,000315: 17,2376           31273                           CA       RCSFLAGS                              #  BREAKOUT LEVEL NOT EXCEEDED.  CHECK FOR
062795,000316: 17,2377           74741                           MASK     QRBIT                                 #  DIRECT RATE CONTROL LAST TIME.
062796,000317: 17,2400           00006                           EXTEND                                         
062797,000318: 17,2401           12403                           BZF      +2                                    
062798,000319: 17,2402           12406                           TCF      ENTERUV                               #  CONTINUE DIRECT RATE CONTROL.
062799,000320: 17,2403           12616                           TCF      STILLRCS                              #  PSEUDO-AUTO CONTROL.
062800,000321: 17,2404           32277                           CA       40CYCL                                
062801,000322: 17,2405           55455                           TS       TCQR                                  
062802,000323: 17,2406           00004        ENTERUV            INHINT                                         #  DIRECT RATE CONTROL.
062803,000324: 17,2407           04674                           TC       IBNKCALL                              
062804,000325: 17,2410           40153                           FCADR    ZATTEROR                              
062805,000326: 17,2411           00003                           RELINT                                         
062806,000327: 17,2412           34755                           CA       ZERO                                  
062807,000328: 17,2413           55446                           TS       DYERROR                               
062808,000329: 17,2414           55447                           TS       DYERROR    +1                         
062809,000330: 17,2415           55450                           TS       DZERROR                               
062810,000331: 17,2416           55451                           TS       DZERROR    +1                         
062811,000332: 17,2417           11424                           CCS      URATEDIF                              
062812,000333: 17,2420           12423                           TCF      +3                                    

Page 1442

062814,000335: 17,2421           12423                           TCF      +2                                    
062815,000336: 17,2422           12423                           TCF      +1                                    
062816,000337: 17,2423           61474                           AD       TARGETDB                              #  IF TARGET DB IS EXCEEDED, CONTINUE
062817,000338: 17,2424           00006                           EXTEND                                         #  DIRECT RATE CONTROL.
062818,000339: 17,2425           62441                           BZMF     VDB                                   
062819,000340: 17,2426           11425                           CCS      VRATEDIF                              
062820,000341: 17,2427           12432                           TCF      +3                                    
062821,000342: 17,2430           12432                           TCF      +2                                    
062822,000343: 17,2431           12432                           TCF      +1                                    
062823,000344: 17,2432           61474                           AD       TARGETDB                              
062824,000345: 17,2433           00006                           EXTEND                                         
062825,000346: 17,2434           62436                           BZMF     +2                                    
062826,000347: 17,2435           12452                           TCF      QRTIME                                
062827,000348: 17,2436           34755                           CA       ZERO                                  
062828,000349: 17,2437           55425                           TS       VRATEDIF                              
062829,000350: 17,2440           12452                           TCF      QRTIME                                
062830,000351: 17,2441           11425        VDB                CCS      VRATEDIF                              
062831,000352: 17,2442           02445                           TC       +3                                    
062832,000353: 17,2443           02445                           TC       +2                                    
062833,000354: 17,2444           02445                           TC       +1                                    
062834,000355: 17,2445           61474                           AD       TARGETDB                              #  IF TARGET DB IS EXCEEDED, CONTINUE
062835,000356: 17,2446           00006                           EXTEND                                         #  DIRECT RATE CONTROL.  IF NOT, FIRE AND
062836,000357: 17,2447           62461                           BZMF     TOPSEUDO                              #  SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
062837,000358: 17,2450           34755                           CA       ZERO                                  #  PASS.
062838,000359: 17,2451           55424                           TS       URATEDIF                              
062839,000360: 17,2452           31455        QRTIME             CA       TCQR                                  #  DIRECT RATE TIME CHECK.
062840,000361: 17,2453           00006                           EXTEND                                         
062841,000362: 17,2454           62461                           BZMF     +5                                    #  BRANCH IF TIME EXCEEDS 4 SEC.
062842,000363: 17,2455           41273                           CS       RCSFLAGS                              
062843,000364: 17,2456           74741                           MASK     QRBIT                                 
062844,000365: 17,2457           27273                           ADS      RCSFLAGS                              #  BIT 11 IS 1.
062845,000366: 17,2460           02464                           TC       +4                                    
062846,000367: 17,2461           44741        TOPSEUDO           CS       QRBIT                                 
062847,000368: 17,2462           71273                           MASK     RCSFLAGS                              
062848,000369: 17,2463           55273                           TS       RCSFLAGS                              #  BIT 11 IS 0.
062849,000370: 17,2464           32530                           CA       HANDADR                               
062850,000371: 17,2465           55475                           TS       RETJADR                               
062851,000372: 17,2466           34753                           CA       ONE                                   
062852,000373: 17,2467           55476        BACKHAND           TS       AXISCTR                               
062853,000374: 
062854,000375: 17,2470           34751                           CA       FOUR                                  
062855,000376: 17,2471           55741                           TS       NUMBERT                               
062856,000377: 
062857,000378: 17,2472           51476                           INDEX    AXISCTR                               
062858,000379: 17,2473           51535                           INDEX    SKIPU                                 
062859,000380: 17,2474           12475                           TCF      +1                                    
062860,000381: 17,2475           34751                           CA       FOUR                                  
062861,000382: 17,2476           51476                           INDEX    AXISCTR                               
062862,000383: 17,2477           55535                           TS       SKIPU                                 
062863,000384: 17,2500           12737                           TCF      LOOPER                                

Page 1443

062865,000386: 17,2501           51476                           INDEX    AXISCTR                               
062866,000387: 17,2502           11424                           CCS      URATEDIF                              #        INDEX   AXIS    QUANITY
062867,000388: 17,2503           34755                           CA       ZERO                                  #        0       -U      1/JETACC-AOSU
062868,000389: 17,2504           12506                           TCF      +2                                    #        1       +U      1/JETACC+AOSU
062869,000390: 17,2505           34753                           CA       ONE                                   #        16      -V      1/JETACC-AOSV
062870,000391: 17,2506           51476                           INDEX    AXISCTR                               #        17      +V      1/JETACC+AOSV
062871,000392: 17,2507           63657                           AD       AXISDIFF                              #  JETACC = 2 JET ACCELERATION (1 FOR FAIL)
062872,000393: 
062873,000394: 17,2510           50000                           INDEX    A                                     
062874,000395: 17,2511           41571                           CS       1/ANET2    +1                         
062875,000396: 17,2512           00006                           EXTEND                                         
062876,000397: 17,2513           51476                           INDEX    AXISCTR                               #  URATEDIF IS SCALED AT PI/4 RAD/SEC
062877,000398: 17,2514           71424                           MP       URATEDIF                              #   JET TIME IN A      SCALED 32 SEC
062878,000399: 17,2515           54002                           TS       Q                                     
062879,000400: 17,2516           20001                           DAS      A                                     
062880,000401: 17,2517           60002                           AD       Q                                     
062881,000402: 17,2520           54000                           TS       A                                     #   OVERFLOW SKIP
062882,000403: 17,2521           12523                           TCF      +2                                    
062883,000404: 17,2522           30002                           CA       Q                                     #  RIGHT SIGN AND BIGGER THAN 150MS
062884,000405: 17,2523           51476        SETTIME            INDEX    AXISCTR                               
062885,000406: 17,2524           55525                           TS       TJU                                   #  SCALED AT 10.67 WHICH IS CLOSE TO 10.24
062886,000407: 17,2525           12661                           TCF      AFTERTJ                               
062887,000408: 
062888,000409: 17,2526           34755        ZEROTJ             CA       ZERO                                  
062889,000410: 17,2527           12523                           TCF      SETTIME                               
062890,000411: 
062891,000412: 17,2530           02467        HANDADR            GENADR   BACKHAND                              
062892,000413: 
062893,000414:                                                                                                  #  GTS WILL BE TRIED IF
062894,000415:                                                                                                  #        1. USEQRJTS= 0,
062895,000416:                                                                                                  #        2. ALLOWGTS POS,
062896,000417:                                                                                                  #        3. JETS ARE OFF (Q,R-AXES)
062897,000418: 
062898,000419: 17,2531           34736        TRYGTS             CAF      USEQRJTS                              #  IS JET USE MANDATORY.         (AS LONG AS
062899,000420: 17,2532           70111                           MASK     DAPBOOLS                              #  USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
062900,000421: 17,2533           10000                           CCS      A                                     
062901,000422: 17,2534           12060                           TCF      RCS                                   
062902,000423: 17,2535           11501                           CCS      ALLOWGTS                              #  NO.  DOES AOSTASK OK CONTROL FOR GTS?
062903,000424: 17,2536           12540                           TCF      +2                                    
062904,000425: 17,2537           12060                           TCF      RCS                                   
062905,000426: 17,2540           00006                           EXTEND                                         
062906,000427: 17,2541           00005                           READ     CHAN5                                 
062907,000428: 17,2542           10000                           CCS      A                                     
062908,000429: 17,2543           12547                           TCF      CHKINGTS                              
062909,000430: 17,2544           00006        GOTOGTS            EXTEND                                         
062910,000431: 17,2545           32562                           DCA      GTSCADR                               
062911,000432: 17,2546           52006                           DTCB                                           
062912,000433: 
062913,000434: 17,2547           11631        CHKINGTS           CCS      INGTS                                 #  WAS THE TRIM GIMBAL CONTROLLING
062914,000435: 17,2550           12552                           TCF      +2                                    #        YES.  SET UP A DAMPED NULLING DRIVE.
062915,000436: 17,2551           12060                           TCF      RCS                                   #        NO.  NULLING WAS SET UP BEFORE.  DO RCS

Page 1444

062917,000438: 17,2552           00004                           INHINT                                         
062918,000439: 17,2553           04674                           TC       IBNKCALL                              
062919,000440: 17,2554           43450                           CADR     TIMEGMBL                              
062920,000441: 17,2555           00003                           RELINT                                         
062921,000442: 17,2556           34755                           CAF      ZERO                                  
062922,000443: 17,2557           55631                           TS       INGTS                                 
062923,000444: 17,2560           12060                           TCF      RCS                                   
062924,000445: 
062925,000446: 17,2561  E6,1633                                  EBANK=   CDUXD                                 
062926,000447: 17,2561           03263 42106  GTSCADR            2CADR    GTS                                   
062927,000448: 

Page 1445

062929,000450:                                                                                                  #  SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
062930,000451: 
062931,000452: 17,2563           30033        QERRCALC           CAE      CDUY                                  #  Q-ERROR CALCULATION
062932,000453: 17,2564           00006                           EXTEND                                         
062933,000454: 17,2565           21634                           MSU      CDUYD                                 #  CDU ANGLE - ANGLE DESIRED (Y-AXIS)
062934,000455: 17,2566           55735                           TS       DAPTEMP1                              #  SAVE FOR RERRCALC
062935,000456: 17,2567           00006                           EXTEND                                         
062936,000457: 17,2570           71413                           MP       M21                                   #  (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
062937,000458: 17,2571           55750                           TS       E                                     
062938,000459: 17,2572           30034                           CAE      CDUZ                                  #  SECOND TERM CALCULATION:
062939,000460: 17,2573           00006                           EXTEND                                         
062940,000461: 17,2574           21635                           MSU      CDUZD                                 #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
062941,000462: 17,2575           55736                           TS       DAPTEMP2                              #  SAVE FOR RERRCALC
062942,000463: 17,2576           00006                           EXTEND                                         
062943,000464: 17,2577           71415                           MP       M22                                   #  (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
062944,000465: 17,2600           61300                           AD       DELQEROR                              #  KALCMANU INERFACE ERROR
062945,000466: 17,2601           61750                           AD       E                                     
062946,000467: 17,2602           57446                           XCH      QERROR                                #  SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
062947,000468: 
062948,000469: 17,2603           31735        RERRCALC           CAE      DAPTEMP1                              #  R-ERROR CALCULATION:
062949,000470: 17,2604           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Y-AXIS)
062950,000471: 17,2605           71414                           MP       M31                                   #  (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
062951,000472: 17,2606           55750                           TS       E                                     
062952,000473: 17,2607           31736                           CAE      DAPTEMP2                              #  SECOND TERM CALCULATION:
062953,000474: 17,2610           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
062954,000475: 17,2611           71416                           MP       M32                                   #  (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
062955,000476: 17,2612           61301                           AD       DELREROR                              #  KALCMANU INERFACE ERROR
062956,000477: 17,2613           61750                           AD       E                                     
062957,000478: 17,2614           57450                           XCH      RERROR                                #  SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
062958,000479: 17,2615           00002                           TC       Q                                     
062959,000480: 

Page 1446

062961,000482:                                                                                                  #  "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
062962,000483: 
062963,000484: 17,2616  17,2616               ATTSTEER           EQUALS   STILLRCS                              #  "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
062964,000485: 
062965,000486: 17,2616           31450        STILLRCS           CA       RERROR                                
062966,000487: 17,2617           22000                           LXCH     A                                     
062967,000488: 17,2620           31446                           CA       QERROR                                
062968,000489: 17,2621           03100                           TC       ROT45DEG                              
062969,000490: 17,2622           53750                           DXCH     UERROR                                
062970,000491: 
062971,000492:                                                                                                  #  PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
062972,000493:                                                                                                  #  PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
062973,000494: 
062974,000495: 17,2623           33045        TJLAW              CA       TJLAWADR                              
062975,000496: 17,2624           55475                           TS       RETJADR                               
062976,000497: 17,2625           34753                           CA       ONE                                   
062977,000498: 17,2626           55476                           TS       AXISCTR                               
062978,000499: 17,2627           51476                           INDEX    AXISCTR                               
062979,000500: 17,2630           51535                           INDEX    SKIPU                                 
062980,000501: 17,2631           12632                           TCF      +1                                    
062981,000502: 17,2632           34751                           CA       FOUR                                  
062982,000503: 17,2633           51476                           INDEX    AXISCTR                               
062983,000504: 17,2634           55535                           TS       SKIPU                                 
062984,000505: 17,2635           12737                           TCF      LOOPER                                
062985,000506: 17,2636           51476                           INDEX    AXISCTR                               
062986,000507: 17,2637           31747                           CA       UERROR                                
062987,000508: 17,2640           55750                           TS       E                                     
062988,000509: 17,2641           51476                           INDEX    AXISCTR                               
062989,000510: 17,2642           31424                           CA       OMEGAU                                
062990,000511: 17,2643           55425                           TS       EDOT                                  
062991,000512: 17,2644           30111                           CA       DAPBOOLS                              
062992,000513: 17,2645           74737                           MASK     CSMDOCKD                              
062993,000514: 17,2646           10000                           CCS      A                                     
062994,000515: 17,2647           12652                           TCF      +3                                    
062995,000516: 17,2650           03207                           TC       TJETLAW                               
062996,000517: 17,2651           12661                           TCF      AFTERTJ                               
062997,000518: 17,2652           40111                 +3        CS       DAPBOOLS                              #  DOCKED.  IF GIMBAL USABLE DO GTS CONTROL
062998,000519: 17,2653           74736                           MASK     USEQRJTS                              #   ON THE NEXT PASS.
062999,000520: 17,2654           10000                           CCS      A                                     #  USEQRJTS BIT MUST NOT BE BIT 15.
063000,000521: 17,2655           55627                           TS       COTROLER                              #  GIMBAL USABLE.  STORE POSITIVE VALUE.
063001,000522: 17,2656           03700                           TC       SPSRCS                                #  DETERMINE RCS CONTROL.
063002,000523: 17,2657           34751                           CAF      FOUR                                  #  ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
063003,000524: 17,2660           55741                           TS       NUMBERT                               #  FALL THROUGH TO JET SELECTION, ETC.
063004,000525: 
063005,000526:                                                                                                  #  Q,R-JET-SELECTION-LOGIC
063006,000527: 
063007,000528:                                                                                                  #  INPUT:        AXISCTR         0,1 FOR U,V
063008,000529:                                                                                                  #                SNUFFBIT        ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN
063009,000530:                                                                                                  #                TJU,TJV         JET TIME SCALED 10.24 SEC.
063010,000531:                                                                                                  #                NUMBERT         INDICATES NUMBER OF JETS AND TYPE OF POLICY
063011,000532:                                                                                                  #                RETJADR         WHERE TO RETURN TO

Page 1447

063013,000534:                                                                                                  #  OUTPUT:       NO.U(V)JETS     RATE DERIVATION FEEDBACK
063014,000535:                                                                                                  #                CHANNEL 5
063015,000536:                                                                                                  #                SKIPU,SKIRV     FOR LESS THAN 150MS FIRING
063016,000537: 
063017,000538:                                                                                                  #  NOTES:        IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED
063018,000539:                                                                                                  #                JETS OF THE DESIRED POLICY ARE SELECTED. SINCE THERE ARE ONLY
063019,000540:                                                                                                  #                TWO JETS, THIS MEANS THE OTHER ONE OR NONE. THE ALARM IS SENT
063020,000541:                                                                                                  #                IF NONE CAN BE FOUND.
063021,000542: 
063022,000543:                                                                                                  #                TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
063023,000544:                                                                                                  #                MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
063024,000545: 
063025,000546: 17,2661           30101        AFTERTJ            CA       FLAGWRD5                              #  IF SNUFFBIT SET DURING A DPS BURN GO TO
063026,000547: 17,2662           74737                           MASK     SNUFFBIT                              #   XTRANS; THAT IS, INHIBIT CONTROL.
063027,000548: 17,2663           00006                           EXTEND                                         
063028,000549: 17,2664           12675                           BZF      DOROTAT                               
063029,000550: 17,2665           40106                           CS       FLGWRD10                              
063030,000551: 17,2666           74737                           MASK     APSFLBIT                              
063031,000552: 17,2667           00006                           EXTEND                                         
063032,000553: 17,2670           12675                           BZF      DOROTAT                               
063033,000554: 17,2671           30111                           CA       DAPBOOLS                              
063034,000555: 17,2672           74744                           MASK     DRIFTBIT                              
063035,000556: 17,2673           00006                           EXTEND                                         
063036,000557: 17,2674           13015                           BZF      XTRANS                                
063037,000558: 
063038,000559: 17,2675           34752        DOROTAT            CAF      TWO                                   
063039,000560: 17,2676           54001                           TS       L                                     
063040,000561: 17,2677           51476                           INDEX    AXISCTR                               
063041,000562: 17,2700           11525                           CCS      TJU                                   
063042,000563: 17,2701           12706                           TCF      +5                                    
063043,000564: 17,2702           12731                           TCF      NOROTAT                               
063044,000565: 17,2703           12705                           TCF      +2                                    
063045,000566: 17,2704           12731                           TCF      NOROTAT                               
063046,000567: 17,2705           22007                           ZL                                             
063047,000568: 17,2706           64753                           AD       ONE                                   
063048,000569: 17,2707           55735                           TS       ABSTJ                                 
063049,000570: 
063050,000571: 17,2710           31476                           CA       AXISCTR                               
063051,000572: 17,2711           60001                           AD       L                                     
063052,000573: 17,2712           55742                           TS       ROTINDEX                              #  0 1 2 3 = -U -V -+U +V
063053,000574: 
063054,000575: 17,2713           31735                           CA       ABSTJ                                 
063055,000576: 17,2714           63042                           AD       -150MS                                
063056,000577: 17,2715           00006                           EXTEND                                         
063057,000578: 17,2716           62742                           BZMF     DOSKIP                                
063058,000579: 
063059,000580: 17,2717           03130                           TC       SELCTSUB                              
063060,000581: 
063061,000582: 17,2720           51476                           INDEX    AXISCTR                               
063062,000583: 17,2721           33037                           CA       INDEXES                               

Page 1448

063064,000585: 17,2722           54001                           TS       L                                     
063065,000586: 
063066,000587: 17,2723           31737                           CA       POLYTEMP                              
063067,000588: 17,2724           00004                           INHINT                                         
063068,000589: 17,2725           50001                           INDEX    L                                     
063069,000590: 17,2726           05745                           TC       WRITEP                                
063070,000591: 
063071,000592: 17,2727           00003                           RELINT                                         
063072,000593: 17,2730           13003                           TCF      FEEDBACK                              
063073,000594: 
063074,000595: 17,2731           51476        NOROTAT            INDEX    AXISCTR                               
063075,000596: 17,2732           33037                           CA       INDEXES                               
063076,000597: 17,2733           00004                           INHINT                                         
063077,000598: 17,2734           50000                           INDEX    A                                     
063078,000599: 17,2735           05744                           TC       WRITEP     -1                         
063079,000600: 
063080,000601: 17,2736           00003                           RELINT                                         
063081,000602: 17,2737           11476        LOOPER             CCS      AXISCTR                               
063082,000603: 17,2740           01475                           TC       RETJADR                               
063083,000604: 17,2741           13173                           TCF      CLOSEOUT                              
063084,000605: 17,2742           41735        DOSKIP             CS       ABSTJ                                 
063085,000606: 17,2743           63041                           AD       +TJMINT6                              #  14MS
063086,000607: 17,2744           00006                           EXTEND                                         
063087,000608: 17,2745           62764                           BZMF     NOTMIN                                
063088,000609: 
063089,000610: 17,2746           27735                           ADS      ABSTJ                                 
063090,000611: 17,2747           51476                           INDEX    AXISCTR                               
063091,000612: 17,2750           11525                           CCS      TJU                                   
063092,000613: 17,2751           33041                           CA       +TJMINT6                              
063093,000614: 17,2752           12754                           TCF      +2                                    
063094,000615: 17,2753           43041                           CS       +TJMINT6                              
063095,000616: 17,2754           51476                           INDEX    AXISCTR                               
063096,000617: 17,2755           55525                           TS       TJU                                   
063097,000618: 
063098,000619: 17,2756           11477                           CCS      SENSETYP                              #  ENSURE MIN-IMPULSE NOT AGAINST TRANS
063099,000620: 17,2757           12763                           TCF      NOTMIN     -1                         
063100,000621: 17,2760           00006                           EXTEND                                         
063101,000622: 17,2761           00004                           READ     LOSCALAR                              
063102,000623: 17,2762           74753                           MASK     ONE                                   
063103,000624: 17,2763           55741                           TS       NUMBERT                               
063104,000625: 
063105,000626: 17,2764           03130        NOTMIN             TC       SELCTSUB                              
063106,000627: 
063107,000628: 17,2765           51476                           INDEX    AXISCTR                               
063108,000629: 17,2766           33037                           CA       INDEXES                               
063109,000630: 17,2767           00004                           INHINT                                         
063110,000631: 17,2770           55467                           TS       T6FURTHA   +1                         
063111,000632: 17,2771           31737                           CA       POLYTEMP                              
063112,000633: 17,2772           51467                           INDEX    T6FURTHA   +1                         
063113,000634: 17,2773           05745                           TC       WRITEP                                

Page 1449

063115,000636: 17,2774           31735                           CA       ABSTJ                                 
063116,000637: 17,2775           55466                           TS       T6FURTHA                              
063117,000638: 17,2776           03046                           TC       JTLST                                 #  IN QR BANK BY NOW
063118,000639: 
063119,000640: 17,2777           00003                           RELINT                                         
063120,000641: 
063121,000642: 17,3000           34755                           CA       ZERO                                  
063122,000643: 17,3001           51476                           INDEX    AXISCTR                               
063123,000644: 17,3002           55535                           TS       SKIPU                                 
063124,000645: 
063125,000646: 17,3003           46244        FEEDBACK           CS       THREE                                 
063126,000647: 17,3004           61741                           AD       NUMBERT                               
063127,000648: 17,3005           00006                           EXTEND                                         
063128,000649: 17,3006           63011                           BZMF     +3                                    
063129,000650: 
063130,000651: 17,3007           34752                           CA       TWO                                   
063131,000652: 17,3010           13012                           TCF      +2                                    
063132,000653: 17,3011           34753                           CA       ONE                                   
063133,000654: 17,3012           51476                           INDEX    AXISCTR                               
063134,000655: 17,3013           55522                           TS       NO.UJETS                              
063135,000656: 17,3014           12737                           TCF      LOOPER                                
063136,000657: 
063137,000658: 17,3015           34755        XTRANS             CA       ZERO                                  
063138,000659: 17,3016           55525                           TS       TJU                                   
063139,000660: 17,3017           55526                           TS       TJV                                   
063140,000661: 17,3020           34751                           CA       FOUR                                  
063141,000662: 17,3021           00004                           INHINT                                         
063142,000663: 17,3022           57535                           XCH      SKIPU                                 
063143,000664: 17,3023           00006                           EXTEND                                         
063144,000665: 17,3024           13026                           BZF      +2                                    
063145,000666: 17,3025           05750                           TC       WRITEU     -1                         
063146,000667: 17,3026           34751                           CA       FOUR                                  
063147,000668: 17,3027           57536                           XCH      SKIPV                                 
063148,000669: 17,3030           00003                           RELINT                                         
063149,000670: 
063150,000671: 17,3031           00006                           EXTEND                                         
063151,000672: 17,3032           13173                           BZF      CLOSEOUT                              
063152,000673: 17,3033           00004                           INHINT                                         
063153,000674: 17,3034           05761                           TC       WRITEV     -1                         
063154,000675: 17,3035           00003                           RELINT                                         
063155,000676: 
063156,000677: 17,3036           13173                           TCF      CLOSEOUT                              
063157,000678: 17,3037           00004        INDEXES            DEC      4          B-14                       
063158,000679: 17,3040           00015                           DEC      13         B-14                       
063159,000680: 17,3041           00026        +TJMINT6           DEC      22         B-14                       
063160,000681: 17,3042           77417        -150MS             DEC      -240       B-14                       
063161,000682: 17,3043           00600        BIT8,9             OCT      00600                                 
063162,000683: 17,3044           00266        SCLNORM            OCT      266                                   
063163,000684: 17,3045           02626        TJLAWADR           GENADR   TJLAW      +3                         #  RETURN ADDRESS FOR RCS ATTITUDE CONTROL
063164,000685: 

Page 1450

063166,000687:                                                                                                  #  THE JET LIST:
063167,000688:                                                                                                  #  THIS IS A WAITLIST FOR T6RUPTS.
063168,000689: 
063169,000690:                                                                                                  #  CALLED BY:
063170,000691:                                                                                                  #                CA      TJ              TIME WHEN NEXT JETS WILL BE WRITTEN
063171,000692:                                                                                                  #                TS      T6FURTHA
063172,000693:                                                                                                  #                CA      INDEX           AXIS TO BE WIRTTEN AT TJ (FROM NOW)
063173,000694:                                                                                                  #                TS      T6FURTHA +1
063174,000695:                                                                                                  #                TC      JTLST
063175,000696: 
063176,000697:                                                                                                  #  EXAMPLE - U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
063177,000698:                                                                                                  #  JETS INTO CHANNEL 5.  IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
063178,000699:                                                                                                  #  150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
063179,000700:                                                                                                  #  CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
063180,000701:                                                                                                  #  OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
063181,000702: 
063182,000703:                                                                                                  #  THE LIST IS EXACTLY 3 LONG.  (THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
063183,000704:                                                                                                  #  THE INPUT IS THE LAST MEMBER OF THE LIST
063184,000705: 
063185,000706:                                                                                                  #  RETURNS BY:
063186,000707:                                                                                                  #        +       TC      Q
063187,000708: 
063188,000709:                                                                                                  #  DEFINITIONS:  (OUTPUT)
063189,000710:                                                                                                  #        TIME6           TIME OF NEXT RUPT
063190,000711:                                                                                                  #        T6NEXT          DELTA TIME TO NEXT RUPT
063191,000712:                                                                                                  #        T6FURTHA        DELTA TIME FROM 2ND TO LAST RUPT
063192,000713:                                                                                                  #        NXT6ADR         AXIS INDEX       Q - P-AXIS
063193,000714:                                                                                                  #        T6NEXT +1       AXIS INDEX       4 - U-AXIS
063194,000715:                                                                                                  #        T6FURTHA +1     AXIS INDEX      13 - V-AXIS
063195,000716: 
063196,000717: 17,3046           41466        JTLST              CS       T6FURTHA                              
063197,000718: 17,3047           60031                           AD       TIME6                                 
063198,000719: 17,3050           00006                           EXTEND                                         
063199,000720: 17,3051           63063                           BZMF     MIDORLST                              #  TIME6 - T IS IN A
063200,000721: 
063201,000722: 17,3052           23463                           LXCH     NXT6ADR                               
063202,000723: 17,3053           53465                           DXCH     T6NEXT                                
063203,000724: 17,3054           53467                           DXCH     T6FURTHA                              
063204,000725: 17,3055           54031                           TS       TIME6                                 
063205,000726: 17,3056           23463                           LXCH     NXT6ADR                               
063206,000727: 
063207,000728: 17,3057           34735        TURNON             CA       BIT15                                 
063208,000729: 17,3060           00006                           EXTEND                                         
063209,000730: 17,3061           05013                           WOR      CHAN13                                
063210,000731: 17,3062           00002                           TC       Q                                     
063211,000732: 
063212,000733: 17,3063           61464        MIDORLST           AD       T6NEXT                                
063213,000734: 17,3064           00006                           EXTEND                                         
063214,000735: 17,3065           63074                           BZMF     LASTCHG                               #  TIME6 + T6NEXT - T IS IN A
063215,000736: 
063216,000737: 17,3066           23465                           LXCH     T6NEXT     +1                         

Page 1451

063218,000739: 17,3067           53467                           DXCH     T6FURTHA                              
063219,000740: 17,3070           00006                           EXTEND                                         
063220,000741: 17,3071           60031                           SU       TIME6                                 
063221,000742: 17,3072           53465                           DXCH     T6NEXT                                
063222,000743: 
063223,000744: 17,3073           00002                           TC       Q                                     
063224,000745: 
063225,000746: 17,3074           40000        LASTCHG            CS       A                                     
063226,000747: 17,3075           64754                           AD       NEG0                                  
063227,000748: 17,3076           55466                           TS       T6FURTHA                              
063228,000749: 
063229,000750: 17,3077           00002                           TC       Q                                     
063230,000751: 
063231,000752: 17,3100           55735        ROT45DEG           TS       ROTEMP1                               
063232,000753: 17,3101           60001                           AD       L                                     
063233,000754: 17,3102           55736                           TS       ROTEMP2                               
063234,000755: 17,3103           13111                           TCF      +6                                    
063235,000756: 17,3104           10000                           CCS      A                                     
063236,000757: 17,3105           34733                           CA       POSMAX                                
063237,000758: 17,3106           13110                           TCF      +2                                    
063238,000759: 17,3107           34735                           CA       NEGMAX                                
063239,000760: 17,3110           55736                           TS       ROTEMP2                               #  Q+R
063240,000761: 17,3111           41735                           CS       ROTEMP1                               
063241,000762: 17,3112           60001                           AD       L                                     
063242,000763: 17,3113           55735                           TS       ROTEMP1                               #  R-Q
063243,000764: 17,3114           13120                           TCF      +4                                    
063244,000765: 17,3115           00006                           EXTEND                                         
063245,000766: 17,3116           74733                           MP       POSMAX                                
063246,000767: 17,3117           30001                           CA       L                                     
063247,000768: 17,3120           00006                           EXTEND                                         
063248,000769: 17,3121           73127                           MP       .707                                  
063249,000770: 17,3122           57736                           XCH      ROTEMP2                               
063250,000771: 17,3123           00006                           EXTEND                                         
063251,000772: 17,3124           73127                           MP       .707                                  
063252,000773: 17,3125           23736                           LXCH     ROTEMP2                               
063253,000774: 17,3126           00002                           TC       Q                                     
063254,000775: 
063255,000776: 17,3127           26501        .707               DEC      .70711                                
063256,000777: 
063257,000778: 17,3130           51742        SELCTSUB           INDEX    ROTINDEX                              
063258,000779: 17,3131           33162                           CA       ALLJETS                               
063259,000780: 17,3132           51741                           INDEX    NUMBERT                               
063260,000781: 17,3133           73166                           MASK     TYPEPOLY                              
063261,000782: 17,3134           55737                           TS       POLYTEMP                              
063262,000783: 
063263,000784: 17,3135           71262                           MASK     CH5MASK                               
063264,000785: 17,3136           10000                           CCS      A                                     
063265,000786: 17,3137           13141                           TCF      +2                                    

Page 1452

063267,000788: 17,3140           00002                           TC       Q                                     
063268,000789: 
063269,000790: 17,3141           36244                           CA       THREE                                 
063270,000791: 17,3142           55741        FAILOOP            TS       NUMBERT                               
063271,000792: 17,3143           51742                           INDEX    ROTINDEX                              
063272,000793: 17,3144           33162                           CA       ALLJETS                               
063273,000794: 17,3145           51741                           INDEX    NUMBERT                               
063274,000795: 17,3146           73166                           MASK     TYPEPOLY                              
063275,000796: 17,3147           55737                           TS       POLYTEMP                              
063276,000797: 17,3150           71262                           MASK     CH5MASK                               
063277,000798: 17,3151           00006                           EXTEND                                         
063278,000799: 17,3152           13140                           BZF      FAILOOP    -2                         
063279,000800: 17,3153           11741                           CCS      NUMBERT                               
063280,000801: 17,3154           13142                           TCF      FAILOOP                               
063281,000802: 17,3155           51476                           INDEX    AXISCTR                               
063282,000803: 17,3156           55525                           TS       TJU                                   
063283,000804: 17,3157           05567                           TC       ALARM                                 
063284,000805: 17,3160           02004                           OCT      02004                                 
063285,000806: 17,3161           12731                           TCF      NOROTAT                               
063286,000807: 17,3162           00110        ALLJETS            OCT      00110                                 #        -U      6 13
063287,000808: 17,3163           00022                           OCT      00022                                 #        -V      2 9
063288,000809: 17,3164           00204                           OCT      00204                                 #        +U      5 14
063289,000810: 17,3165           00041                           OCT      00041                                 #        +V      1 10
063290,000811: 17,3166           00125        TYPEPOLY           OCT      00125                                 #        -X      1 5 9 13
063291,000812: 17,3167           00252                           OCT      00252                                 #        +X      2 6 10 14
063292,000813: 17,3170           00146                           OCT      00146                                 #        A       2 5 10 13
063293,000814: 17,3171           00231                           OCT      00231                                 #        B       1 6 9 14
063294,000815: 17,3172           00377                           OCT      00377                                 #        ALL     1 2 5 6 9 10 13 14
063295,000816: 
063296,000817:                                                                                                  #  THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
063297,000818: 
063298,000819: 17,3173           33175        CLOSEOUT           CA       ADRRUPT                               
063299,000820: 17,3174           07753                           TC       MAKERUPT                              
063300,000821: 
063301,000822: 17,3175           03176        ADRRUPT            ADRES    ENDJASK                               
063302,000823: 
063303,000824: 17,3176           53752        ENDJASK            DXCH     DAPARUPT                              
063304,000825: 17,3177           52011                           DXCH     ARUPT                                 
063305,000826: 17,3200           53754                           DXCH     DAPBQRPT                              
063306,000827: 17,3201           56017                           XCH      BRUPT                                 
063307,000828: 17,3202           22002                           LXCH     Q                                     
063308,000829: 17,3203           34735                           CAF      NEGMAX                                #  NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
063309,000830: 17,3204           53756                           DXCH     DAPZRUPT                              
063310,000831: 17,3205           52016                           DXCH     ZRUPT                                 
063311,000832: 17,3206           15272                           TCF      NOQRSM                                
063312,000833:    7753                                           BLOCK    3                                     
063313,000834:    6000                                           SETLOC   FFTAG6                                
063314,000835:    6000                                           BANK                                           

Page 1453

063316,000837:    7753                                           COUNT*   $$/DAP                                
063317,000838: 
063318,000839:    7753           00006        MAKERUPT           EXTEND                                         
063319,000840:    7754           07753                           EDRUPT   MAKERUPT                              
063320,000841: 

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