Source Code

These source-code files are part of a reconstructed copy of Luminary 96, the original release of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer (AGC) software.

The reconstruction began with reconstructed source code for Luminary 97. Changes between revisions 96 and 97 were backed out, as described by anomal report LNY-59. transcribed from a digitized copy of that program. The reconstruction was verified by matching memory-bank checksums to those listed in drawing 2021152D. Note that page numbers in the reconstructed code match those on the Luminary 099 revision 001 printout, although the added code would likely have changed page numbers for a real Luminary 96 listing.

Comments from the original source code are prefixed with a single '#' symbol, whereas comments added later are prefixed by "##" or "###". Report any errors noted by creating an issue report at the Virtual AGC project's GitHub repository.

059673,000002:                                                                                                  ## Copyright:   Public domain.
059674,000003:                                                                                                  ## Filename:    P-AXIS_RCS_AUTOPILOT.agc
059675,000004:                                                                                                  ## Purpose:     A section of Luminary revision 96.
059676,000005:                                                                                                  ##              It is part of the reconstructed source code for the
059677,000006:                                                                                                  ##              original release of the flight software for the Lunar 
059678,000007:                                                                                                  ##              Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
059679,000008:                                                                                                  ##              The code has been recreated from a previously reconstructed
059680,000009:                                                                                                  ##              copy of Luminary 97 by undoing changes described in anomaly
059681,000010:                                                                                                  ##              report LNY-59. The code has been adapted such that the
059682,000011:                                                                                                  ##              resulting bugger words exactly match those specified for
059683,000012:                                                                                                  ##              Luminary 96 in NASA drawing 2021152D, which gives relatively
059684,000013:                                                                                                  ##              high confidence that the reconstruction is correct.
059685,000014:                                                                                                  ## Reference:   pp. 1421-1441
059686,000015:                                                                                                  ## Assembler:   yaYUL
059687,000016:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
059688,000017:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
059689,000018:                                                                                                  ## Mod history: 2019-08-04 MAS  Created from Luminary 97.
059690,000019: 

Page 1421

059692,000021: 16,2213                                           BANK     16                                    
059693,000022: 16,2000                                           SETLOC   DAPS1                                 
059694,000023: 16,2000                                           BANK                                           
059695,000024: 
059696,000025: 16,2213  E6,1464                                  EBANK=   PERROR                                
059697,000026: 16,2213                                           COUNT*   $$/DAPP                               
059698,000027: 
059699,000028:                                                                                                  #  THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS.
059700,000029:                                                                                                  #  THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP.
059701,000030: 
059702,000031: 16,2213           37727        PAXIS              CA       MS100                                 
059703,000032: 16,2214           26030                           ADS      TIME5                                 #  *** NECESSARY IN ORDER TO ALLOW SYN-
059704,000033:                                                                                                  #  CHRONIZATION WITH OTHER INTERRUPTS ***
059705,000034: 
059706,000035: 16,2215           22016                           LXCH     BANKRUPT                              #  INTERRUPT LEAD IN (CONTINUED)
059707,000036: 16,2216           00006                           EXTEND                                         
059708,000037: 16,2217           22012                           QXCH     QRUPT                                 
059709,000038: 
059710,000039:                                                                                                  #  CHECK IF DAP PASS IS PERMISSIBLE
059711,000040: 
059712,000041: 16,2220           11757                           CCS      DAPZRUPT                              #  IF DAPZRUPT POSITIVE, DAP (JASK) IS
059713,000042: 16,2221           05634                           TC       BAILOUT                               #  STILL IN PROGRESS AND A RESTART IS
059714,000043: 16,2222           02000                           OCT      02000                                 #  CALLED FOR.  IT IS NEVER ZERO.
059715,000044: 
059716,000045: 16,2223           02000                           TC       CHEKBITS                              #  RETURN IS TO I+1 IF DAP SHOULD STAY ON.
059717,000046: 
059718,000047: 16,2224           30032                           CA       CDUX                                  #  READ AND STORE CDU'S
059719,000048: 16,2225           55750                           TS       DAPTREG4                              
059720,000049: 16,2226           30033                           CA       CDUY                                  
059721,000050: 16,2227           55751                           TS       DAPTREG5                              
059722,000051: 16,2230           30034                           CA       CDUZ                                  
059723,000052: 16,2231           55752                           TS       DAPTREG6                              
059724,000053: 
059725,000054:                                                                                                  #  ***** KALCMANU-DAP AND "RATE-HOLD"-DAP INTERFACE *****
059726,000055: 
059727,000056:                                                                                                  #  THE FOLLOWING SECTION IS EXECUTED EVERY 100 MS (10 TIMES A SECOND) WITHIN THE P-AXIS REACTION CONTROL SYSTEM
059728,000057:                                                                                                  #  AUTOPILOT (WHENEVER THE DAP IS IN OPERATION).
059729,000058: 
059730,000059: 16,2232           31635                           CA       CDUXD                                 
059731,000060: 16,2233           00006                           EXTEND                                         
059732,000061: 16,2234           21640                           MSU      DELCDUX                               
059733,000062: 16,2235           02256                           TC       1STOTWOS                              
059734,000063: 16,2236           55635                           TS       CDUXD                                 
059735,000064: 16,2237           31636                           CA       CDUYD                                 
059736,000065: 16,2240           00006                           EXTEND                                         
059737,000066: 16,2241           21641                           MSU      DELCDUY                               
059738,000067: 16,2242           02256                           TC       1STOTWOS                              
059739,000068: 16,2243           55636                           TS       CDUYD                                 
059740,000069: 16,2244           31637                           CA       CDUZD                                 
059741,000070: 16,2245           00006                           EXTEND                                         
059742,000071: 16,2246           21642                           MSU      DELCDUZ                               

Page 1422

059744,000073: 16,2247           02256                           TC       1STOTWOS                              
059745,000074: 16,2250           55637                           TS       CDUZD                                 
059746,000075: 16,2251           00006                           EXTEND                                         #  DIMINISH MANUAL CONTROL DIRECT RATE
059747,000076: 16,2252           27445                           DIM      TCP                                   #  TIME COUNTERS.
059748,000077: 16,2253           00006                           EXTEND                                         
059749,000078: 16,2254           27457                           DIM      TCQR                                  
059750,000079: 
059751,000080:                                                                                                  #  RATELOOP COMPUTES JETRATEQ, JETRATER, AND 1JACC*NO. PJETS IN ITEMP1.
059752,000081:                                                                                                  #  RETURNS TO BACKP.
059753,000082: 
059754,000083:                                                                                                  #  JETRATE = 1JACC*NO.PJETS*TJP          (NOTE TJ IS THE TIME FIRED DURING CSP)
059755,000084:                                                                                                  #  JETRATEQ = 1JACCQ(TJU*NO.UJETS - TJV*NO.VJETS)
059756,000085:                                                                                                  #  JETRATER = 1JACCR(TJU*NO.UJETS + TJV*NO.VJETS)
059757,000086: 
059758,000087: 16,2255           12647                           TCF      PAXFILT                               #  PROCEEDS TO RATELOOP AFTER SUPERJOB
059759,000088: 16,2256           10000        1STOTWOS           CCS      A                                     
059760,000089: 16,2257           64753                           AD       ONE                                   
059761,000090: 16,2260           00002                           TC       Q                                     
059762,000091: 16,2261           40000                           CS       A                                     
059763,000092: 16,2262           00002                           TC       Q                                     
059764,000093: 16,2263           00006        SUBDIVDE           EXTEND                                         #  OVERFLOW PROCTION ROUTINE TO GIVE
059765,000094: 16,2264           71741                           MP       DAPTEMP3                              #  POSMAX OR NEGMAX IF THE DIVIDE WOULD
059766,000095: 16,2265           21427                           DAS      OMEGAU                                #  OVERFLOW
059767,000096: 
059768,000097: 16,2266           00006                 +3        EXTEND                                         
059769,000098: 16,2267           31427                           DCA      OMEGAU                                
059770,000099: 16,2270           53744                           DXCH     DAPTEMP5                              
059771,000100: 16,2271           11426                           CCS      OMEGAU                                
059772,000101: 16,2272           12274                           TCF      +2                                    
059773,000102: 16,2273           12304                           TCF      DIVIDER                               
059774,000103: 16,2274           62315                           AD       -OCT630                               
059775,000104: 16,2275           00006                           EXTEND                                         
059776,000105: 16,2276           62304                           BZMF     DIVIDER                               
059777,000106: 
059778,000107: 16,2277           11426                           CCS      OMEGAU                                
059779,000108: 16,2300           34733                           CA       POSMAX                                #  45 DEG/SEC
059780,000109: 16,2301           00002                           TC       Q                                     
059781,000110: 16,2302           44733                           CS       POSMAX                                
059782,000111: 16,2303           00002                           TC       Q                                     
059783,000112: 
059784,000113: 16,2304           53427        DIVIDER            DXCH     OMEGAU                                
059785,000114: 16,2305           00006                           EXTEND                                         
059786,000115: 16,2306           11750                           DV       DAPTREG4                              
059787,000116: 16,2307           00002                           TC       Q                                     
059788,000117: 
059789,000118: 16,2310           54007        OVERSUB            TS       7                                     #  RETURNS A UNCHANGED OR LIMITED TO
059790,000119: 16,2311           00002                           TC       Q                                     #  POSMAX OR NEGMAX IF A HAS OVERFLOW
059791,000120: 16,2312           50000                           INDEX    A                                     
059792,000121: 16,2313           44734                           CS       BIT15      -1                         

Page 1423

059794,000123: 16,2314           00002                           TC       Q                                     
059795,000124: 
059796,000125: 16,2315           77147        -OCT630            OCT      77147                                 
059797,000126: 
059798,000127: 16,2316           31737        BACKP              CA       DAPTEMP1                              
059799,000128: 16,2317           00006                           EXTEND                                         
059800,000129: 16,2320           71530                           MP       1JACC                                 
059801,000130: 16,2321           55745                           TS       JETRATE                               
059802,000131: 
059803,000132:                                                                                                  #  BEGINNING OF THE RATE DERIVATION
059804,000133:                                                                                                  #        OMEGAP,Q,R      BODY RATES SCALED AT PI/4
059805,000134:                                                                                                  #        TRAPER,Q,R      BODY ANGLE ERRORS FROM PREDICTED ANGLE (PI/40)
059806,000135:                                                                                                  #        NP(QR)TRAPS     NUMBER OF TIMES ANGLE ERROR HAS BEEN ACCUMULATED
059807,000136:                                                                                                  #        AOSQ(R)TERM     CHANGE IN RATE DUE TO OFFSET ACCELLERATION.  (PI/4)
059808,000137:                                                                                                  #        JETRATE,Q,R     CHANGE IN RATE DUE TO  JET   ACCELLERATION.  (PI/4)
059809,000138:                                                                                                  #        TRAPSIZE        NEGATIVE LIMIT OF MAGNITUDE OF TRAPEDP, ECT.
059810,000139:                                                                                                  #        OMEGAU          DP-TEMPORARY STORAGE
059811,000140:                                                                                                  #  OMEGA = OMEGA + JETRATE + AOSTERM (+TRAPED/NTRAPS IF TRAPED BIG)
059812,000141: 
059813,000142: 16,2322           31750                           CAE      DAPTREG4                              #  CDUX IS STORED HERE
059814,000143: 16,2323           54001                           TS       L                                     
059815,000144: 16,2324           00006                           EXTEND                                         
059816,000145: 16,2325           21440                           MSU      OLDXFORP                              #  SCALED AT PI
059817,000146: 16,2326           23440                           LXCH     OLDXFORP                              
059818,000147: 16,2327           55737                           TS       DAPTEMP1                              
059819,000148: 16,2330           33620                           CA       1/40                                  
059820,000149: 16,2331           55750                           TS       DAPTREG4                              
059821,000150: 16,2332           41745                           CS       JETRATE                               
059822,000151: 16,2333           00006                           EXTEND                                         
059823,000152: 16,2334           74736                           MP       BIT14                                 
059824,000153: 16,2335           27430                           ADS      TRAPEDP                               
059825,000154: 16,2336           31746                           CA       JETRATEQ                              
059826,000155: 16,2337           61545                           AD       AOSQTERM                              
059827,000156: 16,2340           00006                           EXTEND                                         
059828,000157: 16,2341           77736                           MP       -BIT14                                
059829,000158: 16,2342           27431                           ADS      TRAPEDQ                               
059830,000159: 16,2343           31747                           CA       JETRATER                              
059831,000160: 16,2344           61546                           AD       AOSRTERM                              
059832,000161: 16,2345           00006                           EXTEND                                         
059833,000162: 16,2346           77736                           MP       -BIT14                                
059834,000163: 16,2347           27432                           ADS      TRAPEDR                               
059835,000164: 
059836,000165: 16,2350           31751                           CA       DAPTREG5                              #  CDUY IS STORED HERE
059837,000166: 16,2351           54001                           TS       L                                     
059838,000167: 16,2352           00006                           EXTEND                                         
059839,000168: 16,2353           21441                           MSU      OLDYFORP                              #  SCALED AT PI
059840,000169: 16,2354           23441                           LXCH     OLDYFORP                              
059841,000170: 16,2355           55740                           TS       DAPTEMP2                              
059842,000171: 16,2356           00006                           EXTEND                                         
059843,000172: 16,2357           71414                           MP       M11                                   #  M11 SCALED AT 1

Page 1424

059845,000174: 16,2360           61737                           AD       DAPTEMP1                              
059846,000175: 16,2361           53427                           DXCH     OMEGAU                                
059847,000176: 
059848,000177: 16,2362           02266                           TC       SUBDIVDE   +3                         #  RETURNS WITH CDU-RATE AT PI/4
059849,000178: 
059850,000179: 16,2363           00006                           EXTEND                                         
059851,000180: 16,2364           61421                           SU       OMEGAP                                
059852,000181: 16,2365           27430                           ADS      TRAPEDP                               
059853,000182: 16,2366           02310                           TC       OVERSUB                               
059854,000183: 16,2367           55430                           TS       TRAPEDP                               
059855,000184: 16,2370           00006                           EXTEND                                         
059856,000185: 16,2371           31744                           DCA      DAPTEMP5                              
059857,000186: 16,2372           21447                           DAS      DXERROR                               
059858,000187: 16,2373           41454                           CS       PLAST                                 
059859,000188: 16,2374           00006                           EXTEND                                         
059860,000189: 16,2375           73620                           MP       1/40                                  
059861,000190: 16,2376           21447                           DAS      DXERROR                               #  MANUAL MODE X-ATTITUDE ERROR (DP)
059862,000191: 16,2377           31752                           CA       DAPTREG6                              #  CDUZ IS STORED HERE
059863,000192: 16,2400           54001                           TS       L                                     
059864,000193: 16,2401           00006                           EXTEND                                         
059865,000194: 16,2402           21442                           MSU      OLDZFORQ                              
059866,000195: 16,2403           55741                           TS       DAPTEMP3                              
059867,000196: 16,2404           23442                           LXCH     OLDZFORQ                              
059868,000197: 16,2405           31415                           CA       M21                                   
059869,000198: 16,2406           00006                           EXTEND                                         
059870,000199: 16,2407           71740                           MP       DAPTEMP2                              
059871,000200: 16,2410           53427                           DXCH     OMEGAU                                
059872,000201: 16,2411           31417                           CA       M22                                   
059873,000202: 16,2412           02263                           TC       SUBDIVDE                              
059874,000203: 
059875,000204: 16,2413           00006                           EXTEND                                         
059876,000205: 16,2414           61422                           SU       OMEGAQ                                
059877,000206: 16,2415           27431                           ADS      TRAPEDQ                               
059878,000207: 16,2416           02310                           TC       OVERSUB                               
059879,000208: 16,2417           55431                           TS       TRAPEDQ                               
059880,000209: 16,2420           00006                           EXTEND                                         
059881,000210: 16,2421           31744                           DCA      DAPTEMP5                              
059882,000211: 16,2422           21451                           DAS      DYERROR                               
059883,000212: 16,2423           41455                           CS       QLAST                                 
059884,000213: 16,2424           00006                           EXTEND                                         
059885,000214: 16,2425           73620                           MP       1/40                                  
059886,000215: 16,2426           21451                           DAS      DYERROR                               #  MANUAL MODE Y-ATTITUDE ERROR (DP)
059887,000216: 16,2427           31416                           CA       M31                                   
059888,000217: 16,2430           00006                           EXTEND                                         
059889,000218: 16,2431           71740                           MP       DAPTEMP2                              
059890,000219: 16,2432           53427                           DXCH     OMEGAU                                
059891,000220: 16,2433           31420                           CA       M32                                   
059892,000221: 
059893,000222: 16,2434           02263                           TC       SUBDIVDE                              

Page 1425

059895,000224: 16,2435           00006                           EXTEND                                         
059896,000225: 16,2436           61423                           SU       OMEGAR                                
059897,000226: 16,2437           27432                           ADS      TRAPEDR                               
059898,000227: 16,2440           02310                           TC       OVERSUB                               
059899,000228: 16,2441           55432                           TS       TRAPEDR                               #  TRAPEDS HAVE ALL BEEN COMPUTED
059900,000229: 
059901,000230: 16,2442           00006                           EXTEND                                         
059902,000231: 16,2443           31744                           DCA      DAPTEMP5                              
059903,000232: 16,2444           21453                           DAS      DZERROR                               
059904,000233: 16,2445           41456                           CS       RLAST                                 
059905,000234: 16,2446           00006                           EXTEND                                         
059906,000235: 16,2447           73620                           MP       1/40                                  
059907,000236: 16,2450           21453                           DAS      DZERROR                               #  MANUAL MODE Z-ATTITUDE ERROR (DP)
059908,000237: 16,2451           30111                           CA       DAPBOOLS                              #  PICK UP PAD LOADED STATE ESTIMATOR GAINS
059909,000238: 16,2452           74737                           MASK     CSMDOCKD                              
059910,000239: 16,2453           00006                           EXTEND                                         
059911,000240: 16,2454           12462                           BZF      LMONLY                                
059912,000241: 16,2455           00006                           EXTEND                                         #  DOCKED
059913,000242: 16,2456           31405                           DCA      DKOMEGAN                              
059914,000243: 16,2457           53751                           DXCH     DAPTREG4                              
059915,000244: 16,2460           31403                           CA       DKTRAP                                
059916,000245: 16,2461           12466                           TCF      +5                                    
059917,000246: 16,2462           00006        LMONLY             EXTEND                                         #  UNDOCKED
059918,000247: 16,2463           31410                           DCA      LMOMEGAN                              
059919,000248: 16,2464           53751                           DXCH     DAPTREG4                              
059920,000249: 16,2465           31406                           CA       LMTRAP                                
059921,000250: 16,2466           55752                 +5        TS       DAPTREG6                              
059922,000251: 16,2467           11430                           CCS      TRAPEDP                               
059923,000252: 16,2470           12472                           TCF      +2                                    
059924,000253: 16,2471           12507                           TCF      SMALPDIF                              
059925,000254: 16,2472           61752                           AD       DAPTREG6                              #  TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
059926,000255: 16,2473           00006                           EXTEND                                         
059927,000256: 16,2474           62507                           BZMF     SMALPDIF                              
059928,000257: 16,2475           22007                           ZL                                             
059929,000258: 16,2476           23430                           LXCH     TRAPEDP                               
059930,000259: 16,2477           34755                           CA       ZERO                                  
059931,000260: 16,2500           00006                           EXTEND                                         
059932,000261: 16,2501           11433                           DV       NPTRAPS                               
059933,000262: 16,2502           27421                           ADS      OMEGAP                                
059934,000263: 16,2503           02310                           TC       OVERSUB                               
059935,000264: 16,2504           55421                           TS       OMEGAP                                
059936,000265: 16,2505           31750                           CA       DAPTREG4                              #  ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
059937,000266: 16,2506           55433                           TS       NPTRAPS                               
059938,000267: 16,2507           25433        SMALPDIF           INCR     NPTRAPS                               
059939,000268: 16,2510           31745        P-RATE             CA       JETRATE                               
059940,000269: 16,2511           27421                           ADS      OMEGAP                                
059941,000270: 16,2512           02310                           TC       OVERSUB                               
059942,000271: 16,2513           55421                           TS       OMEGAP                                
059943,000272: 
059944,000273: 16,2514           11431                           CCS      TRAPEDQ                               

Page 1426

059946,000275: 16,2515           12517                           TCF      +2                                    
059947,000276: 16,2516           12544                           TCF      Q-RATE                                
059948,000277: 16,2517           61752                           AD       DAPTREG6                              #  TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
059949,000278: 16,2520           00006                           EXTEND                                         
059950,000279: 16,2521           62544                           BZMF     Q-RATE                                
059951,000280: 16,2522           22007                           ZL                                             
059952,000281: 16,2523           23431                           LXCH     TRAPEDQ                               
059953,000282: 16,2524           34755                           CA       ZERO                                  
059954,000283: 16,2525           00006                           EXTEND                                         
059955,000284: 16,2526           11434                           DV       NQTRAPS                               
059956,000285: 16,2527           55737                           TS       DAPTEMP1                              #  SAVE FOR OFFSET ESTIMATE
059957,000286: 16,2530           27422                           ADS      OMEGAQ                                
059958,000287: 16,2531           02310                           TC       OVERSUB                               
059959,000288: 16,2532           55422                           TS       OMEGAQ                                
059960,000289: 16,2533           31750                           CA       DAPTREG4                              #  ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
059961,000290: 16,2534           57434                           XCH      NQTRAPS                               
059962,000291: 16,2535           61751                           AD       DAPTREG5                              #  KAOS > ABOUT 60D %N/N_60"
059963,000292: 16,2536           57737                           XCH      DAPTEMP1                              
059964,000293: 16,2537           00006                           EXTEND                                         
059965,000294: 16,2540           74756                           MP       FIVE                                  
059966,000295: 16,2541           00006                           EXTEND                                         
059967,000296: 16,2542           11737                           DV       DAPTEMP1                              
059968,000297: 16,2543           27537                           ADS      AOSQ                                  
059969,000298: 16,2544           25434        Q-RATE             INCR     NQTRAPS                               
059970,000299: 16,2545           31746                           CA       JETRATEQ                              
059971,000300: 16,2546           61545                           AD       AOSQTERM                              
059972,000301: 16,2547           27422                           ADS      OMEGAQ                                
059973,000302: 16,2550           02310                           TC       OVERSUB                               
059974,000303: 16,2551           55422                           TS       OMEGAQ                                
059975,000304: 
059976,000305: 16,2552           11432                           CCS      TRAPEDR                               
059977,000306: 16,2553           12555                           TCF      +2                                    
059978,000307: 16,2554           12602                           TCF      R-RATE                                
059979,000308: 16,2555           61752                           AD       DAPTREG6                              #  TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
059980,000309: 16,2556           00006                           EXTEND                                         
059981,000310: 16,2557           62602                           BZMF     R-RATE                                
059982,000311: 16,2560           22007                           ZL                                             
059983,000312: 16,2561           23432                           LXCH     TRAPEDR                               
059984,000313: 16,2562           34755                           CA       ZERO                                  
059985,000314: 16,2563           00006                           EXTEND                                         
059986,000315: 16,2564           11435                           DV       NRTRAPS                               
059987,000316: 16,2565           55740                           TS       DAPTEMP2                              #  SAVE FOR OFFSET ESTIMATE
059988,000317: 16,2566           27423                           ADS      OMEGAR                                
059989,000318: 16,2567           02310                           TC       OVERSUB                               
059990,000319: 16,2570           55423                           TS       OMEGAR                                
059991,000320: 16,2571           31750                           CA       DAPTREG4                              #  ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
059992,000321: 16,2572           57435                           XCH      NRTRAPS                               
059993,000322: 16,2573           61751                           AD       DAPTREG5                              #  KAOS > ABOUT 60D %N/N_60"
059994,000323: 16,2574           57740                           XCH      DAPTEMP2                              
059995,000324: 16,2575           00006                           EXTEND                                         

Page 1427

059997,000326: 16,2576           74756                           MP       FIVE                                  
059998,000327: 16,2577           00006                           EXTEND                                         
059999,000328: 16,2600           11740                           DV       DAPTEMP2                              
060000,000329: 16,2601           27541                           ADS      AOSR                                  
060001,000330: 16,2602           25435        R-RATE             INCR     NRTRAPS                               
060002,000331: 16,2603           31747                           CA       JETRATER                              
060003,000332: 16,2604           61546                           AD       AOSRTERM                              
060004,000333: 16,2605           27423                           ADS      OMEGAR                                
060005,000334: 16,2606           02310                           TC       OVERSUB                               
060006,000335: 16,2607           55423                           TS       OMEGAR                                
060007,000336: 
060008,000337:                                                                                                  #  END OF RATE DERIVATION
060009,000338:                                                                                                  #        BEGIN OFFSET ESTIMATER
060010,000339:                                                                                                  #                IN POWERED FLIGHT, AOSTASK WILL BE CALLED EVERY 2 SECONDS.
060011,000340:                                                                                                  #                        AOS = AOS + K*SUMRATE
060012,000341: 
060013,000342: 16,2610           40111                           CS       DAPBOOLS                              
060014,000343: 16,2611           74744                           MASK     DRIFTBIT                              
060015,000344: 16,2612           10000                           CCS      A                                     
060016,000345: 16,2613           12624                           TCF      WORKTIME                              
060017,000346: 16,2614           55424                           TS       ALPHAQ                                #  ZERO THE OFFSET ACCELERATION VALUES.
060018,000347: 16,2615           55425                           TS       ALPHAR                                
060019,000348: 16,2616           55545                           TS       AOSQTERM                              
060020,000349: 16,2617           55546                           TS       AOSRTERM                              
060021,000350: 16,2620           55537                           TS       AOSQ                                  
060022,000351: 16,2621           55541                           TS       AOSR                                  
060023,000352: 16,2622           12667                           TCF      PRETIMCK                              
060024,000353: 16,2623           00074        KAOS               DEC      60         B-14                       
060025,000354: 16,2624           31510        WORKTIME           CA       QACCDOT                               
060026,000355: 16,2625           00006                           EXTEND                                         
060027,000356: 16,2626           74766                           MP       CALLCODE                              #  OCTAL 00032 IS DECIMAL .1 AT 2(6).
060028,000357: 16,2627           21540                           DAS      AOSQ                                  
060029,000358: 16,2630           31537                           CA       AOSQ                                  
060030,000359: 16,2631           55424                           TS       ALPHAQ                                
060031,000360: 16,2632           00006                           EXTEND                                         
060032,000361: 16,2633           73616                           MP       200MS                                 #  .2 AT 1
060033,000362: 16,2634           55545                           TS       AOSQTERM                              
060034,000363: 16,2635           31512                           CA       RACCDOT                               
060035,000364: 16,2636           00006                           EXTEND                                         
060036,000365: 16,2637           74766                           MP       CALLCODE                              #  OCTAL 00032 IS DECIMAL .1 AT 2(6).
060037,000366: 16,2640           21542                           DAS      AOSR                                  
060038,000367: 16,2641           31541                           CA       AOSR                                  
060039,000368: 16,2642           55425                           TS       ALPHAR                                
060040,000369: 16,2643           00006                           EXTEND                                         
060041,000370: 16,2644           73616                           MP       200MS                                 #  .2 AT 1
060042,000371: 16,2645           55546                           TS       AOSRTERM                              
060043,000372: 16,2646           12667                           TCF      PRETIMCK                              
060044,000373: 

Page 1428

060046,000375: 16,2647           34747        PAXFILT            CA       CALLGMBL                              #  EXECUTE ACDT+C12, IF NEEDED.
060047,000376: 16,2650           71273                           MASK     RCSFLAGS                              
060048,000377: 16,2651           10000                           CCS      A                                     #  CALLGMBL IS NOT BIT15, SO THIS TEST IS
060049,000378: 16,2652           03736                           TC       ACDT+C12                              #  VALID.
060050,000379: 
060051,000380: 16,2653           52011                           DXCH     ARUPT                                 
060052,000381: 16,2654           53754                           DXCH     DAPARUPT                              
060053,000382: 16,2655           32666                           CA       SUPERJOB                              #  SETTING UP THE SUPERJOB
060054,000383: 16,2656           56017                           XCH      BRUPT                                 
060055,000384: 16,2657           22012                           LXCH     QRUPT                                 
060056,000385: 16,2660           53756                           DXCH     DAPBQRPT                              
060057,000386: 16,2661           32665                           CA       SUPERADR                              
060058,000387: 16,2662           52016                           DXCH     ZRUPT                                 
060059,000388: 16,2663           53760                           DXCH     DAPZRUPT                              
060060,000389: 16,2664           15275                           TCF      NOQBRSM    +1                         #  RELINT (JUST IN CASE) AND RESUME, IN THE
060061,000390:                                                                                                  #        FORM OF A JASK, AT SUPERJOB.
060062,000391: 
060063,000392: 16,2665           02667        SUPERADR           GENADR   SUPERJOB   +1                         
060064,000393: 
060065,000394:                                                                                                  #  COUNT DOWN GIMBAL DRIVE TIMERS AND TURN OFF DRIVES IF REQUIRED.
060066,000395: 
060067,000396: 16,2666           13641        SUPERJOB           TCF      RATELOOP                              
060068,000397: 16,2667           11632        PRETIMCK           CCS      QGIMTIMR                              
060069,000398: 16,2670           12710                           TCF      DECQTIMR                              #  POSITIVE - COUNTING DOWN
060070,000399: 16,2671           12714                           TCF      TURNOFFQ                              #  NEGATIVE - DRIVE SHOULD BE ENDED
060071,000400: 16,2672           11634        CHKRTIMR           CCS      RGIMTIMR                              #  NEGATIVE - INACTIVE
060072,000401: 16,2673           12712                           TCF      DECRTIMR                              #  (NEG ZERO - IMPOSSIBLE)
060073,000402: 16,2674           12724                           TCF      TURNOFFR                              #  REPEATED (ABOVE) FOR R AXIS.
060074,000403: 
060075,000404: 16,2675           00006                           EXTEND                                         #  DECREMENT DOCKED JET INHIBITION COUNTERS
060076,000405: 16,2676           27767                           DIM      PJETCTR                               
060077,000406: 16,2677           00006                           EXTEND                                         
060078,000407: 16,2700           27770                           DIM      UJETCTR                               
060079,000408: 16,2701           00006                           EXTEND                                         
060080,000409: 16,2702           27771                           DIM      VJETCTR                               
060081,000410: 16,2703           34740                           CA       BIT12                                 
060082,000411: 16,2704           71273                           MASK     RCSFLAGS                              
060083,000412: 16,2705           00006                           EXTEND                                         
060084,000413: 16,2706           12734                           BZF      SKIPPAXS                              
060085,000414: 16,2707           02740                           TC       CHKVISFZ                              
060086,000415: 16,2710           55632        DECQTIMR           TS       QGIMTIMR                              #  COUNT TIMERS DOWN TO POS ZERO.
060087,000416: 16,2711           12672                           TCF      CHKRTIMR                              
060088,000417: 16,2712           55634        DECRTIMR           TS       RGIMTIMR                              
060089,000418: 16,2713           12675                           TCF      CHKRTIMR   +3                         
060090,000419: 
060091,000420: 16,2714           55501        TURNOFFQ           TS       NEGUQ                                 #  HALT DRIVES.
060092,000421: 16,2715           55510                           TS       QACCDOT                               
060093,000422: 16,2716           45007                           CS       QGIMBITS                              
060094,000423: 16,2717           00006                           EXTEND                                         

Page 1429

060096,000425: 16,2720           03012                           WAND     CHAN12                                
060097,000426: 16,2721           34735                           CAF      NEGMAX                                
060098,000427: 16,2722           55632                           TS       QGIMTIMR                              
060099,000428: 16,2723           12672                           TCF      CHKRTIMR                              
060100,000429: 16,2724           55503        TURNOFFR           TS       NEGUR                                 
060101,000430: 16,2725           55512                           TS       RACCDOT                               
060102,000431: 16,2726           45020                           CS       RGIMBITS                              
060103,000432: 16,2727           00006                           EXTEND                                         
060104,000433: 16,2730           03012                           WAND     CHAN12                                
060105,000434: 16,2731           34735                           CAF      NEGMAX                                
060106,000435: 16,2732           55634                           TS       RGIMTIMR                              
060107,000436: 16,2733           12675                           TCF      CHKRTIMR   +3                         
060108,000437: 16,2734     5007               QGIMBITS           EQUALS   OCT1400                               #  BITS 9 AND 10 (OF CHANNEL 12).
060109,000438: 16,2734     5020               RGIMBITS           EQUALS   PRIO6                                 #  BITS 11 AND 12 (OF CHANNEL 12).
060110,000439: 
060111,000440: 16,2734           41273        SKIPPAXS           CS       RCSFLAGS                              
060112,000441: 16,2735           74740                           MASK     BIT12                                 
060113,000442: 16,2736           27273                           ADS      RCSFLAGS                              #  BIT 12 SET TO 1.
060114,000443: 16,2737           13624                           TCF      QRAXIS                                #  GO TO QRAXIS OR TO GTS.
060115,000444: 
060116,000445:                                                                                                  #  Y-Z TRANSLATION
060117,000446: 
060118,000447:                                                                                                  #  INPUT:        BITS 9-12 OF CH31 (FROM TRANSLATION CONTROLER)
060119,000448: 
060120,000449:                                                                                                  #  OUTPUT:       NEXTP
060121,000450: 
060122,000451:                                                                                                  #                NEXTP IS THE CHANNEL 6 CODE OF JETS FOR THE DESIRED TRANSLATION.
060123,000452:                                                                                                  #                IF THERE ARE FAILURES IN THE DESIRED POLICY, THEN
060124,000453:                                                                                                  #                (1) FOR DIAGONAL TRANS:         UNFAILED PAIR
060125,000454:                                                                                                  #                                                ALARM (IF NO PAIR)
060126,000455:                                                                                                  #                (2) FOR PRINCIPAL TRANS:        TRY TO TACK WITH DIAGONAL PAIRS
060127,000456:                                                                                                  #                                                ALARM (IF DIAGONAL PAIRS ARE FAILED)
060128,000457: 
060129,000458: 16,2740           00006        CHKVISFZ           EXTEND                                         
060130,000459: 16,2741           00031                           READ     CHAN31                                
060131,000460: 16,2742           40000                           CS       A                                     
060132,000461: 16,2743           73613                           MASK     07400OCT                              
060133,000462: 16,2744           00006                           EXTEND                                         
060134,000463: 16,2745           13014                           BZF      TSNEXTP                               
060135,000464: 16,2746           00006                           EXTEND                                         
060136,000465: 16,2747           74745                           MP       BIT7                                  
060137,000466: 16,2750           50000                           INDEX    A                                     
060138,000467: 16,2751           33572                           CA       INDXYZ                                
060139,000468: 16,2752           55744                           TS       ROTINDEX                              
060140,000469: 16,2753           36242        TRYUORV            CA       SIX                                   
060141,000470: 16,2754           03551                           TC       SELECTYZ                              
060142,000471: 16,2755           46242                           CS       SIX                                   
060143,000472: 16,2756           61743                           AD       NUMBERT                               
060144,000473: 16,2757           00006                           EXTEND                                         

Page 1430

060146,000475: 16,2760           13013                           BZF      TSNEXTP    -1                         
060147,000476: 16,2761           44756                           CS       FIVE                                  
060148,000477: 16,2762           61744                           AD       ROTINDEX                              
060149,000478: 16,2763           00006                           EXTEND                                         
060150,000479: 16,2764           63002                           BZMF     ALTERYZ                               
060151,000480: 16,2765           41743                           CS       NUMBERT                               
060152,000481: 16,2766           64751                           AD       FOUR                                  
060153,000482: 16,2767           00006                           EXTEND                                         
060154,000483: 16,2770           63013                           BZMF     TSNEXTP    -1                         
060155,000484: 16,2771           05567        ABORTYZ            TC       ALARM                                 
060156,000485: 16,2772           02001                           OCT      02001                                 
060157,000486: 16,2773           34753                           CA       BIT1                                  #  INVERT BIT 1 OF RCSFLAGS.
060158,000487: 16,2774           23273                           LXCH     RCSFLAGS                              
060159,000488: 16,2775           00006                           EXTEND                                         
060160,000489: 16,2776           06001                           RXOR     1                                     
060161,000490: 16,2777           55273                           TS       RCSFLAGS                              
060162,000491: 16,3000           34755                           CA       ZERO                                  
060163,000492: 16,3001           13014                           TCF      TSNEXTP                               
060164,000493: 16,3002           34753        ALTERYZ            CA       BIT1                                  #  INVERT BIT 1 OF RCSFLAGS.
060165,000494: 16,3003           23273                           LXCH     RCSFLAGS                              
060166,000495: 16,3004           00006                           EXTEND                                         
060167,000496: 16,3005           06001                           RXOR     1                                     
060168,000497: 16,3006           55273                           TS       RCSFLAGS                              
060169,000498: 16,3007           74753                           MASK     BIT1                                  
060170,000499: 16,3010           64751                           AD       FOUR                                  
060171,000500: 16,3011           27744                           ADS      ROTINDEX                              
060172,000501: 16,3012           12753                           TCF      TRYUORV                               
060173,000502: 16,3013           31741                           CA       POLYTEMP                              
060174,000503: 16,3014           55472        TSNEXTP            TS       NEXTP                                 
060175,000504: 
060176,000505:                                                                                                  #  STATE LOGIC
060177,000506:                                                                                                  #        CHECK IN ORDER:         IF ON
060178,000507:                                                                                                  #        LPDPHASE                GO TO PURGENCY
060179,000508:                                                                                                  #        PULSES                  MINIMUM PULSE LOGIC
060180,000509:                                                                                                  #        DETENT(BIT15 CH31)      RATE COMMAND
060181,000510:                                                                                                  #        GO TO PURGENCY
060182,000511: 
060183,000512: 16,3015           34737                           CA       BIT13                                 #  CHECK STICK IF IN ATT. HOLD.
060184,000513: 16,3016           00006                           EXTEND                                         
060185,000514: 16,3017           02031                           RAND     CHAN31                                
060186,000515: 16,3020           00006                           EXTEND                                         
060187,000516: 16,3021           13027                           BZF      MANMODE                               
060188,000517: 
060189,000518: 16,3022           30111                           CA       DAPBOOLS                              
060190,000519: 16,3023           74743                           MASK     XOVINHIB                              
060191,000520: 16,3024           10000                           CCS      A                                     
060192,000521: 16,3025           13463                           TCF      PURGENCY                              #  ATTITUDE STEER DURING VISIBILITY PHASE
060193,000522: 
060194,000523: 16,3026           13071                           TCF      DETENTCK                              
060195,000524: 16,3027           34735        MANMODE            CA       PULSES                                #  PULSES IS ONE FOR PULSE MODE
060196,000525: 16,3030           70111                           MASK     DAPBOOLS                              

Page 1431

060198,000527: 16,3031           00006                           EXTEND                                         
060199,000528: 16,3032           13071                           BZF      DETENTCK                              #  BRANCH FOR RATE COMMAND
060200,000529: 
060201,000530: 16,3033           34755                           CA       ZERO                                  
060202,000531: 16,3034           55464                           TS       PERROR                                
060203,000532: 
060204,000533:                                                                                                  #  MINIMUM IMPULSE MODE
060205,000534: 
060206,000535: 16,3035           30032                           CA       CDUX                                  
060207,000536: 16,3036           55635                           TS       CDUXD                                 
060208,000537: 
060209,000538: 16,3037           11460                           CCS      OLDPMIN                               
060210,000539: 16,3040           13054                           TCF      CHECKP                                
060211,000540: 
060212,000541: 16,3041           34751        FIREP              CA       BIT3                                  
060213,000542: 16,3042           00006                           EXTEND                                         
060214,000543: 16,3043           02031                           RAND     CHAN31                                
060215,000544: 16,3044           00006                           EXTEND                                         
060216,000545: 16,3045           13064                           BZF      +XMIN                                 
060217,000546: 
060218,000547: 16,3046           34750                           CA       BIT4                                  
060219,000548: 16,3047           00006                           EXTEND                                         
060220,000549: 16,3050           02031                           RAND     CHAN31                                
060221,000550: 16,3051           00006                           EXTEND                                         
060222,000551: 16,3052           13062                           BZF      -XMIN                                 
060223,000552: 
060224,000553: 16,3053           13442                           TCF      JETSOFF                               
060225,000554: 
060226,000555: 16,3054           00006        CHECKP             EXTEND                                         
060227,000556: 16,3055           00031                           READ     CHAN31                                
060228,000557: 16,3056           40000                           CS       A                                     
060229,000558: 16,3057           75751                           MASK     OCT14                                 
060230,000559: 16,3060           55460                           TS       OLDPMIN                               
060231,000560: 16,3061           13442                           TCF      JETSOFF                               
060232,000561: 
060233,000562: 16,3062           44363        -XMIN              CS       TEN                                   #  ANYTHING LESS THAN 14MS. CORRECTED
060234,000563: 16,3063           13065                           TCF      +2                                    #        IN JET SELECTION ROUTINE
060235,000564: 16,3064           34363        +XMIN              CA       TEN                                   
060236,000565: 16,3065           55524                           TS       TJP                                   
060237,000566: 16,3066           34753                           CA       ONE                                   
060238,000567: 16,3067           55460                           TS       OLDPMIN                               
060239,000568: 16,3070           13350                           TCF      PJETSLEC   -6                         
060240,000569: 
060241,000570:                                                                                                  #                                        MANUAL RATE COMMAND MODE
060242,000571:                                                                                                  #                                        ========================
060243,000572:                                                                                                  #                                          BY ROBERT F. STENGEL
060244,000573: 
060245,000574:                                                                                                  #  THIS MODE PROVIDES RCAH MANUAL CONTROL THRU 2 CONTROL LAWS:  1) DIRECT RATE AND 2) PSEUDO-AUTO.
060246,000575:                                                                                                  #  THE DIRECT RATE MODE AFFORDS IMMEDIATE CONTROL WITHOUT OVERSHOOT.  THE PSEUDO-AUTO MODE PROVIDES PRECISE
060247,000576:                                                                                                  #  RATE CONTROL AND ATTITUDE HOLD.
060248,000577: 

Page 1432

060250,000579:                                                                                                  #  IN DIRECT RATE, JETS ARE FIRED WHEN STICK POSITION CHANGES BY A FIXED NUMBER OF INCREMENTS IN ONE DAP CYCLE.
060251,000580:                                                                                                  #  THE 'BREAKOUT LEVEL' IS .6 D/S FOR LM-ONLY AND .3 D/S FOR CSM-DOCKED.  THIS LAW NULLS THE RATE ERROR TO WITHIN
060252,000581:                                                                                                  #  THE 'TARGET DEADBAND', WHICH EQUALS THE BREAKOUT LEVEL.
060253,000582: 
060254,000583:                                                                                                  #  IN PSEUDO-AUTO, BODY-FIXED RATE AND ATTITUDE ERRORS ARE SUPPLIED TO TJETLAW, WHICH EXERCISES CONTROL.
060255,000584:                                                                                                  #  CONTROL SWITCHES FROM DIRECT RATE TO PSEUDO-AUTO IF THE TARGET DB IS ACHIEVED OR IF TIME IN (1) EXCEEDS 4 SEC.
060256,000585:                                                                                                  #  IF THE INITIAL COMMAND DOES NOT EXCEED THE BREAKOUT LEVEL, CONTROL GOES TO PSEUDO-AUTO IMMEDIATELY.
060257,000586: 
060258,000587:                                                                                                  #  SINCE P-AXIS CONTROL IS SEPARATE FROM Q,R AXES CONTROL, IT IS POSSIBLE TO USE (1) IN P-AXIS AND (2) IN Q,R AXES,
060259,000588:                                                                                                  #  OR VICE VERSA.  THIS ALLOWS A DEGREE OF ATTITUDE HOLD IN UNCONTROLLED AXES.  DUE TO U,V CONTROL, HOWEVER, Q AND
060260,000589:                                                                                                  #  R AXES ARE COUPLED AND MUST USE THE SAME CONTROL LAW.
060261,000590: 
060262,000591:                                                                                                  #  HAND CONTROLLER COMMANDS ARE SCALED BY A LINEAR/QUADRATIC LAW.  FOR THE LM-ALONE, MAXIMUM COMMANDED RATES ARE 20
060263,000592:                                                                                                  #  AND 4 D/S IN NORMAL AND FINE SCALING; HOWEVER, STICK SENSITIVITY AT ZERO COUNTS (OBTAINED AT A STICK DEFLECTION
060264,000593:                                                                                                  #  OF 2 DEGREES FROM THE CENTERED POSITION) IS .5 OR .1 D/S PER DEGREE.  NORMAL AND FINE SCALINGS FOR THE CSM-DOCKED
060265,000594:                                                                                                  #  CASE IS AUTOMATICALLY SET TO 1/10 THE ABOVE VALUES.  SCALING IS DETERMINED IN ROUTINE 3.
060266,000595: 
060267,000596:                                                                                                  #  ZEROENBL      ENABLES COUNTERS SO THEY CAN BE READ NEXT TIME
060268,000597:                                                                                                  #  JUSTOUT       FIRST DETECTION OF OUT OF DETENT (BY OURRCBIT)
060269,000598: 
060270,000599: 16,3071           00006        DETENTCK           EXTEND                                         
060271,000600: 16,3072           00031                           READ     CHAN31                                
060272,000601: 16,3073           55443                           TS       CH31TEMP                              
060273,000602: 16,3074           74735                           MASK     BIT15                                 #  CHECK OUT-OF-DETENT BIT.
060274,000603: 16,3075           00006                           EXTEND                                         
060275,000604: 16,3076           13223                           BZF      RHCMOVED                              #  BRANCH IF OUT OF DETENT.
060276,000605: 16,3077           34740                           CAF      OURRCBIT                              #  IN DETENT.  CHECK THE RATE COMMAND BIT.
060277,000606: 16,3100           70111                           MASK     DAPBOOLS                              
060278,000607: 16,3101           00006                           EXTEND                                         
060279,000608: 16,3102           13463                           BZF      PURGENCY                              #  BRANCH IF NOT IN RATE COMMAND LAST PASS.
060280,000609: 
060281,000610:                                                                                                  #  ........................................................................
060282,000611: 
060283,000612: 16,3103           34743                           CA       BIT9                                  #  JUST IN DETENT??
060284,000613: 16,3104           71273                           MASK     RCSFLAGS                              
060285,000614: 16,3105           00006                           EXTEND                                         
060286,000615: 16,3106           13120                           BZF      RUTH                                  
060287,000616: 16,3107           34737                           CAF      BIT13                                 #  CHECK FOR ATTITUDE HOLD.
060288,000617: 16,3110           00006                           EXTEND                                         
060289,000618: 16,3111           02031                           RAND     CHAN31                                
060290,000619: 16,3112           00006                           EXTEND                                         
060291,000620: 16,3113           13220                           BZF      RATEDAMP                              #  BRANCH IF IN ATTITUDE HOLD.
060292,000621: 
060293,000622: 16,3114           45014                           CS       BITS9,11                              #  IN AUTO.
060294,000623: 16,3115           71273                           MASK     RCSFLAGS                              #  (X-AXIS OVERRIDE)
060295,000624: 16,3116           55273                           TS       RCSFLAGS                              #  ZERO ORBIT (BIT 11) AND JUST-IN BIT (9).
060296,000625: 16,3117           13220                           TCF      RATEDAMP                              
060297,000626: 
060298,000627: 16,3120           31273        RUTH               CA       RCSFLAGS                              
060299,000628: 16,3121           74742                           MASK     PBIT                                  #  IN ATTITUDE HOLD.
060300,000629: 16,3122           00006                           EXTEND                                         
060301,000630: 16,3123           13125                           BZF      +2                                    #  BRANCH IF P-RATE DAMPING IS FINISHED.
060302,000631: 16,3124           13220                           TCF      RATEDAMP                              
060303,000632: 

Page 1433

060305,000634: 16,3125           31273                           CA       RCSFLAGS                              
060306,000635: 16,3126           74741                           MASK     QRBIT                                 
060307,000636: 16,3127           00006                           EXTEND                                         
060308,000637: 16,3130           13136                           BZF      RATEDONE                              #  BRANCH IF Q,R RATE DAMPING IS FINISHED.
060309,000638: 16,3131           13220                           TCF      RATEDAMP                              
060310,000639: 
060311,000640:                                                                                                  #  ============================================
060312,000641: 
060313,000642: 16,3132           00001        1/10SEC            OCT      1                                     
060314,000643: 16,3133           00050        40CYC              OCT      50                                    
060315,000644: 16,3134           74777        PQRBIT             OCT      74777                                 
060316,000645: 16,3135     5014               BITS9,11           EQUALS   EBANK5                                
060317,000646: 16,3135           00056        LINRATP            DEC      46         B-14                       
060318,000647: 
060319,000648:                                                                                                  #  ============================================
060320,000649: 
060321,000650: 16,3136           44740        RATEDONE           CS       OURRCBIT                              #  MANUAL COMMAND AND DAMPING COMPLETED IN
060322,000651: 16,3137           00004                           INHINT                                         #  ALL AXES.
060323,000652: 16,3140           70111                           MASK     DAPBOOLS                              
060324,000653: 16,3141           54111                           TS       DAPBOOLS                              
060325,000654: 
060326,000655:                                                                                                  #  READ CDUS INTO CDU DESIRED REGISTERS
060327,000656: 
060328,000657: 16,3142           34737                           CAF      BIT13                                 
060329,000658: 16,3143           00006                           EXTEND                                         
060330,000659: 16,3144           02031                           RAND     CHAN31                                
060331,000660: 16,3145           00006                           EXTEND                                         
060332,000661: 16,3146           13152                           BZF      +4                                    
060333,000662: 16,3147           30032                           CA       CDUX                                  #  (X-AXIS OVERRIDE)
060334,000663: 16,3150           55635                           TS       CDUXD                                 
060335,000664: 16,3151           03154                           TC       +3                                    
060336,000665: 16,3152           04674                           TC       IBNKCALL                              
060337,000666: 16,3153           40153                           FCADR    ZATTEROR                              
060338,000667: 16,3154           00003                           RELINT                                         
060339,000668: 16,3155           13463                           TCF      PURGENCY                              
060340,000669: 
060341,000670: 16,3156           55464                           TS       PERROR                                
060342,000671: 16,3157           34740        JUSTOUT            CA       OURRCBIT                              #  INITIALIZATION - FIRST MANUAL PASS.
060343,000672: 16,3160           26111                           ADS      DAPBOOLS                              
060344,000673: 16,3161           34755                           CA       ZERO                                  
060345,000674: 16,3162           55446                           TS       DXERROR                               
060346,000675: 16,3163           55447                           TS       DXERROR    +1                         
060347,000676: 16,3164           55450                           TS       DYERROR                               
060348,000677: 16,3165           55451                           TS       DYERROR    +1                         
060349,000678: 16,3166           55452                           TS       DZERROR                               
060350,000679: 16,3167           55453                           TS       DZERROR    +1                         
060351,000680: 16,3170           55454                           TS       PLAST                                 
060352,000681: 16,3171           55455                           TS       QLAST                                 
060353,000682: 16,3172           55456                           TS       RLAST                                 
060354,000683: 16,3173           54042                           TS       Q-RHCCTR                              
060355,000684: 16,3174           54044                           TS       R-RHCCTR                              
060356,000685: 16,3175           33134                           CA       PQRBIT                                
060357,000686: 16,3176           71273                           MASK     RCSFLAGS                              
060358,000687: 16,3177           55273                           TS       RCSFLAGS                              #  BITS 10 AND 11 OF RCSFLAGS ARE 0.

Page 1434

060360,000689: 16,3200           41273                           CS       RCSFLAGS                              #  SET 'JUST-IN' BIT TO 1.
060361,000690: 16,3201           74743                           MASK     BIT9                                  
060362,000691: 16,3202           27273                           ADS      RCSFLAGS                              
060363,000692: 16,3203           03205                           TC       ZEROENBL                              
060364,000693: 16,3204           13442                           TCF      JETSOFF                               
060365,000694: 16,3205           22044        ZEROENBL           LXCH     R-RHCCTR                              
060366,000695: 16,3206           30042                           CA       Q-RHCCTR                              
060367,000696: 16,3207           53463                           DXCH     SAVEHAND                              
060368,000697: 16,3210           34755                           CA       ZERO                                  
060369,000698: 16,3211           54043                           TS       P-RHCCTR                              
060370,000699: 16,3212           54042                           TS       Q-RHCCTR                              
060371,000700: 16,3213           54044                           TS       R-RHCCTR                              
060372,000701: 16,3214           33617                           CA       BITS8,9                               
060373,000702: 16,3215           00006                           EXTEND                                         
060374,000703: 16,3216           05013                           WOR      CHAN13                                #  COUNTERS ZEROED AND ENABLED
060375,000704: 16,3217           00002                           TC       Q                                     
060376,000705: 16,3220           34755        RATEDAMP           CA       ZERO                                  
060377,000706: 16,3221           54043                           TS       P-RHCCTR                              
060378,000707: 16,3222           13227                           TCF      RATERROR                              
060379,000708: 
060380,000709: 16,3223           34740        RHCMOVED           CA       OURRCBIT                              #  P CONTROL
060381,000710: 16,3224           70111                           MASK     DAPBOOLS                              
060382,000711: 16,3225           00006                           EXTEND                                         
060383,000712: 16,3226           13156                           BZF      JUSTOUT    -1                         
060384,000713: 16,3227           30032        RATERROR           CA       CDUX                                  #  FINDCDUW REQUIRES THAT CDUXD=CDUX DURING
060385,000714: 16,3230           55635                           TS       CDUXD                                 #  X-AXIS OVERRIDE
060386,000715: 16,3231           10043                           CCS      P-RHCCTR                              
060387,000716: 16,3232           13235                           TCF      +3                                    
060388,000717: 16,3233           13235                           TCF      +2                                    
060389,000718: 16,3234           13235                           TCF      +1                                    
060390,000719: 16,3235           60000                           DOUBLE                                         #  LINEAR/QUADRATIC CONTROLLER SCALING
060391,000720: 16,3236           60000                           DOUBLE                                         #  (SEE EXPLANATION IN Q,R-AXES RCS
060392,000721: 16,3237           63135                           AD       LINRATP                               #  AUTOPILOT)
060393,000722: 16,3240           00006                           EXTEND                                         
060394,000723: 16,3241           70043                           MP       P-RHCCTR                              
060395,000724: 16,3242           30001                           CA       L                                     
060396,000725: 16,3243           00006                           EXTEND                                         
060397,000726: 16,3244           71444                           MP       STIKSENS                              
060398,000727: 16,3245           57454                           XCH      PLAST                                 
060399,000728: 16,3246           40000                           COM                                            
060400,000729: 16,3247           61454                           AD       PLAST                                 
060401,000730: 16,3250           55737                           TS       DAPTEMP1                              
060402,000731: 16,3251           03205                           TC       ZEROENBL                              #  INTERVAL.  ZERO AND ENABLE ACA COUNTERS.
060403,000732: 16,3252           41454                           CS       PLAST                                 
060404,000733: 16,3253           61421                           AD       OMEGAP                                
060405,000734: 16,3254           55427                           TS       EDOTP                                 
060406,000735: 16,3255           11737                           CCS      DAPTEMP1                              #  IF P COMMAND CHANGE EXCEEDS BREAKOUT
060407,000736: 16,3256           13261                           TCF      +3                                    #  LEVEL, GO TO DIRECT RATE CONTROL.  IF NOT
060408,000737: 16,3257           13267                           TCF      +8D                                   #  CHECK FOR DIRECT RATE CONTROL LAST TIME.
060409,000738: 16,3260           13261                           TCF      +1                                    

Page 1435

060411,000740: 16,3261           61476                           AD       -RATEDB                               
060412,000741: 16,3262           00006                           EXTEND                                         
060413,000742: 16,3263           63267                           BZMF     +4                                    
060414,000743: 16,3264           33133                           CA       40CYC                                 
060415,000744: 16,3265           55445                           TS       TCP                                   
060416,000745: 16,3266           03300                           TC       PEGI                                  
060417,000746: 16,3267           31273                           CA       RCSFLAGS                              #  CHECK FOR DIRECT RATE COMMAND LAST TIME.
060418,000747: 16,3270           74742                           MASK     PBIT                                  
060419,000748: 16,3271           00006                           EXTEND                                         
060420,000749: 16,3272           13274                           BZF      +2                                    
060421,000750: 16,3273           03300                           TC       PEGI                                  #  TO PURE RATE COMMAND
060422,000751: 16,3274           31446                           CA       DXERROR                               #  PSEUDO-AUTO CONTROL.
060423,000752: 16,3275           55752                           TS       E                                     #  X-ATTITUDE ERROR (SP)
060424,000753: 16,3276           55464                           TS       PERROR                                #  LOAD P-AXIS ERROR FOR MODE1 FDAI DISPLAY
060425,000754: 16,3277           03467                           TC       PURGENCY   +4                         
060426,000755: 16,3300           30032        PEGI               CA       CDUX                                  #  DIRECT RATE CONTROL.
060427,000756: 16,3301           55635                           TS       CDUXD                                 
060428,000757: 16,3302           34755                           CA       ZERO                                  
060429,000758: 16,3303           55446                           TS       DXERROR                               
060430,000759: 16,3304           55447                           TS       DXERROR    +1                         
060431,000760: 16,3305           55464                           TS       PERROR                                #  ZERO P-AXIS ERROR FOR MODE1 FDAI DISPLAY
060432,000761: 16,3306           11427                           CCS      EDOTP                                 
060433,000762: 16,3307           03312                           TC       +3                                    
060434,000763: 16,3310           03312                           TC       +2                                    
060435,000764: 16,3311           03312                           TC       +1                                    
060436,000765: 16,3312           55737                           TS       ABSEDOTP                              
060437,000766: 16,3313           61476                           AD       TARGETDB                              
060438,000767: 16,3314           00006                           EXTEND                                         #  IF RATE ERROR IS LESS THAN DEADBAND,
060439,000768: 16,3315           63325                           BZMF     LAST                                  #  FIRE, AND SWITCH TO PSEUDO-AUTO.
060440,000769: 16,3316           31445                           CA       TCP                                   
060441,000770: 16,3317           00006                           EXTEND                                         #  IF TIME IN RATE COMMAND EXCEEDS 4 SEC.,
060442,000771: 16,3320           63325                           BZMF     LAST                                  
060443,000772: 16,3321           41273                           CS       RCSFLAGS                              
060444,000773: 16,3322           74742                           MASK     PBIT                                  
060445,000774: 16,3323           27273                           ADS      RCSFLAGS                              #  BIT 10 IS 1.
060446,000775: 16,3324           13330                           TCF      +4                                    
060447,000776: 16,3325           44742        LAST               CS       PBIT                                  
060448,000777: 16,3326           71273                           MASK     RCSFLAGS                              
060449,000778: 16,3327           55273                           TS       RCSFLAGS                              #  BIT 10 IS 0.
060450,000779: 16,3330           41427                           CS       EDOTP                                 
060451,000780: 16,3331           00006                           EXTEND                                         
060452,000781: 16,3332           71551                           MP       1/ANETP                               #  1/2JTACC SCALED AT 2EXP(7)/PI
060453,000782: 16,3333           20001                           DAS      A                                     
060454,000783: 16,3334           02310                           TC       OVERSUB                               
060455,000784: 16,3335           00006                           EXTEND                                         
060456,000785: 16,3336           77716                           MP       25/32                                 #  A CONTAINS TJET SCALED AT 2EXP(4)(16/25)
060457,000786: 16,3337           55524                           TS       TJP                                   #  4.JET TIME
060458,000787: 16,3340           31737                           CA       ABSEDOTP                              
060459,000788: 16,3341           61475                           AD       -2JETLIM                              #  COMPARING DELTA RATE WITH 2 JET LIMIT
060460,000789: 16,3342           00006                           EXTEND                                         

Page 1436

060462,000791: 16,3343           63346                           BZMF     +3                                    
060463,000792: 
060464,000793: 16,3344           36242                           CA       SIX                                   
060465,000794: 16,3345           13355                           TCF      +8D                                   
060466,000795: 16,3346           31524                           CA       TJP                                   
060467,000796: 16,3347           27524                           ADS      TJP                                   
060468,000797: 
060469,000798:                                                                                                  #  GOES TO PJETSLEC FOR TWO JETS
060470,000799:                                                                                                  #  P-JET-SELECTION-ROUTINE (ROTATION)
060471,000800: 
060472,000801:                                                                                                  #  INPUT:        NUMBERT         4,5,6 FOR WHICH PAIR OR 4 JETS
060473,000802:                                                                                                  #                TJP             + FOR +P ROTATION
060474,000803: 
060475,000804:                                                                                                  #  OUTPUT:       CHANNEL 6
060476,000805:                                                                                                  #                PJUMPADR        FOR P-AXIS SKIP
060477,000806:                                                                                                  #                (JTLST CALL)    (SMALL TJP)
060478,000807: 
060479,000808:                                                                                                  #  ORDER OF POLICIES TRIED IN CASE OF FAILURE.
060480,000809:                                                                                                  #        +P      -P
060481,000810:                                                                                                  #        7,15    8,16
060482,000811:                                                                                                  #        4,12    3,11
060483,000812:                                                                                                  #        4,7     8,11
060484,000813:                                                                                                  #        7,12    11,16
060485,000814:                                                                                                  #        12,15   3,16
060486,000815:                                                                                                  #        4,15    3,8
060487,000816:                                                                                                  #        ALARM   ALARM
060488,000817: 
060489,000818: 16,3350           34747                           CA       AORBSYST                              
060490,000819: 16,3351           70111                           MASK     DAPBOOLS                              
060491,000820: 16,3352           10000                           CCS      A                                     
060492,000821: 16,3353           34753                           CA       ONE                                   
060493,000822: 16,3354           64751                           AD       FOUR                                  
060494,000823: 16,3355           55743                           TS       NUMBERT                               
060495,000824: 16,3356           34753        PJETSLEC           CA       ONE                                   
060496,000825: 16,3357           54001                           TS       L                                     
060497,000826: 16,3360           11524                           CCS      TJP                                   
060498,000827: 16,3361           13366                           TCF      +5                                    
060499,000828: 16,3362           13442                           TCF      JETSOFF                               
060500,000829: 16,3363           13365                           TCF      +2                                    
060501,000830: 16,3364           13442                           TCF      JETSOFF                               
060502,000831: 16,3365           22007                           ZL                                             
060503,000832: 16,3366           64753                           AD       ONE                                   
060504,000833: 16,3367           55737                           TS       ABSTJ                                 
060505,000834: 16,3370           23744                           LXCH     ROTINDEX                              
060506,000835: 16,3371           03531                           TC       SELECTP                               
060507,000836: 16,3372           46242                           CS       SIX                                   
060508,000837: 16,3373           61743                           AD       NUMBERT                               
060509,000838: 16,3374           00006                           EXTEND                                         
060510,000839: 16,3375           13377                           BZF      +2                                    
060511,000840: 
060512,000841: 16,3376           44752                           CS       TWO                                   
060513,000842: 

Page 1437

060515,000844: 16,3377           64751                           AD       FOUR                                  
060516,000845: 16,3400           55521                           TS       NO.PJETS                              
060517,000846: 16,3401           31741                           CA       POLYTEMP                              
060518,000847: 16,3402           05754                           TC       WRITEP                                
060519,000848: 16,3403           41737                           CS       ABSTJ                                 
060520,000849: 16,3404           63612                           AD       +150MST6                              
060521,000850: 16,3405           00006                           EXTEND                                         
060522,000851: 16,3406           63624                           BZMF     QRAXIS                                #  GO TO QRAXIS OR TO GTS.
060523,000852: 
060524,000853: 16,3407           63572                           AD       -136MST6                              
060525,000854: 16,3410           00006                           EXTEND                                         
060526,000855: 16,3411           63416                           BZMF     +5                                    
060527,000856: 
060528,000857: 16,3412           27737                           ADS      ABSTJ                                 
060529,000858: 16,3413           51744                           INDEX    ROTINDEX                              
060530,000859: 16,3414           33621                           CA       MINTIMES                              
060531,000860: 16,3415           55524                           TS       TJP                                   
060532,000861: 
060533,000862: 16,3416           31737                           CA       ABSTJ                                 
060534,000863: 16,3417           22007                           ZL                                             
060535,000864: 16,3420           00004                           INHINT                                         
060536,000865: 16,3421           53471                           DXCH     T6FURTHA                              
060537,000866: 16,3422           04674                           TC       IBNKCALL                              
060538,000867: 16,3423           37114                           CADR     JTLST                                 
060539,000868: 16,3424           44740                           CS       BIT12                                 
060540,000869: 16,3425           71273                           MASK     RCSFLAGS                              
060541,000870: 16,3426           55273                           TS       RCSFLAGS                              #  BIT 12 SET TO 0.
060542,000871: 16,3427           03431                           TC       ALTSYST                               
060543,000872: 16,3430           13624                           TCF      QRAXIS                                
060544,000873: 
060545,000874: 16,3431           30111        ALTSYST            CA       DAPBOOLS                              #  ALTERNATE P-AXIS JETS
060546,000875: 16,3432           54001                           TS       L                                     
060547,000876: 16,3433           34747                           CA       AORBSYST                              
060548,000877: 16,3434           00006                           EXTEND                                         
060549,000878: 16,3435           06001                           RXOR     LCHAN                                 
060550,000879: 16,3436           54111                           TS       DAPBOOLS                              
060551,000880: 16,3437           00003                           RELINT                                         
060552,000881: 16,3440           00002                           TC       Q                                     
060553,000882: 
060554,000883: 16,3441           03431        DKALT              TC       ALTSYST                               
060555,000884: 
060556,000885: 16,3442           05753        JETSOFF            TC       WRITEP     -1                         
060557,000886: 16,3443           34755                           CA       ZERO                                  
060558,000887: 16,3444           55524                           TS       TJP                                   
060559,000888: 16,3445           13624                           TCF      QRAXIS                                
060560,000889: 
060561,000890:                                                                                                  #  (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULTIPLICATION.)
060562,000891: 
060563,000892: 16,3446           30033        CALCPERR           CA       CDUY                                  #  P-ERROR CALCULATION.
060564,000893: 16,3447           00006                           EXTEND                                         
060565,000894: 16,3450           21636                           MSU      CDUYD                                 #  CDU VALUE - ANGLE DESIRED (Y-AXIS)

Page 1438

060567,000896: 16,3451           00006                           EXTEND                                         
060568,000897: 16,3452           71414                           MP       M11                                   #  (CDUY-CDUYD)M11 SCALED AT PI RADIANS
060569,000898: 16,3453           57752                           XCH      E                                     #  SAVE FIRST TERM (OF TWO)
060570,000899: 16,3454           30032                           CA       CDUX                                  #  THIRD COMPONENT
060571,000900: 16,3455           00006                           EXTEND                                         
060572,000901: 16,3456           21635                           MSU      CDUXD                                 #  CDU VALUE - ANGLE DESIRED (X-AXIS)
060573,000902:                                                                                                  #                EXTEND
060574,000903:                                                                                                  #                MP      M13
060575,000904: 16,3457           61277                           AD       DELPEROR                              #  KALCMANU INERFACE ERROR
060576,000905: 16,3460           27752                           ADS      E                                     #  SAVE SUM OF TERMS.  COULD BE OVERFLOW.
060577,000906: 16,3461           57464                           XCH      PERROR                                #  SAVE P-ERROR FOR EIGHT-BALL DISPLAY.
060578,000907: 16,3462           00002                           TC       Q                                     #  RETURN TO CALLER
060579,000908: 
060580,000909:                                                                                                  #  P-AXIS URGENCY FUNCTION CALCULATION.
060581,000910: 
060582,000911: 16,3463           03446        PURGENCY           TC       CALCPERR                              #  CALCULATE P-AXIS ERRORS.
060583,000912: 16,3464           41643                           CS       OMEGAPD                               #  THIS CODING IS COMMON TO BOTH LM DAP AND
060584,000913: 16,3465           61421                           AD       OMEGAP                                #  SPS-BACKUP MODE.
060585,000914: 16,3466           55427                           TS       EDOTP                                 #  EDOTP = OMEGAP - OMEGAPD AT PI/4 RAD/SEC
060586,000915: 
060587,000916: 16,3467           44753                           CS       ONE                                   
060588,000917: 16,3470           55505                           TS       AXISCTR                               
060589,000918: 16,3471           30111                           CA       DAPBOOLS                              
060590,000919: 16,3472           74737                           MASK     CSMDOCKD                              
060591,000920: 16,3473           00006                           EXTEND                                         
060592,000921: 16,3474           13505                           BZF      HEADTJET                              
060593,000922: 16,3475           00004                           INHINT                                         #  IF CSMDOCKD = 1, GO TO DOCKED RCS LOGIC
060594,000923: 16,3476           04674                           TC       IBNKCALL                              
060595,000924: 16,3477           43727                           CADR     SPSRCS                                
060596,000925: 
060597,000926: 16,3500           31524                           CA       TJP                                   
060598,000927: 16,3501           00006                           EXTEND                                         
060599,000928: 16,3502           13441                           BZF      DKALT                                 #  IF TJP = ZERO, CHANGE AORBSYST.
060600,000929: 16,3503           00003                           RELINT                                         
060601,000930: 16,3504           13350                           TCF      PJETSLEC   -6                         #  SELECT AORBSYST AND USE TWO JETS
060602,000931: 16,3505           34755        HEADTJET           CA       ZERO                                  
060603,000932: 16,3506           55500                           TS       SENSETYP                              
060604,000933: 16,3507           00004                           INHINT                                         
060605,000934: 16,3510           04674                           TC       IBNKCALL                              
060606,000935: 16,3511           37252                           CADR     TJETLAW                               
060607,000936: 16,3512           00003                           RELINT                                         
060608,000937: 
060609,000938: 16,3513           41741                           CS       FIREFCT                               
060610,000939: 16,3514           63530                           AD       -FOURDEG                              
060611,000940: 16,3515           00006                           EXTEND                                         
060612,000941: 16,3516           63350                           BZMF     PJETSLEC   -6                         
060613,000942: 16,3517           11524                           CCS      TJP                                   
060614,000943: 16,3520           13522                           TCF      +2                                    
060615,000944: 16,3521           13442                           TCF      JETSOFF                               

Page 1439

060617,000946: 16,3522           63527                           AD       -160MST6                              
060618,000947: 16,3523           00006                           EXTEND                                         
060619,000948: 16,3524           63350                           BZMF     PJETSLEC   -6                         
060620,000949: 16,3525           36242                           CA       SIX                                   
060621,000950: 16,3526           13355                           TCF      PJETSLEC   -1                         
060622,000951: 16,3527           77377        -160MST6           DEC      -256       B-14                       
060623,000952: 16,3530           75117        -FOURDEG           DEC      -.08888                               
060624,000953: 

Page 1440

060626,000955:                                                                                                  #  JET POLICY CONSTRUCTION SUBROUTINE
060627,000956: 
060628,000957:                                                                                                  #  INPUT:        ROTINDEX, NUMBERT
060629,000958: 
060630,000959:                                                                                                  #  OUTPUT:       POLYTEMP (JET POLICY)
060631,000960: 
060632,000961:                                                                                                  #  THIS SUBROUTINE SELECT A SUBSET OF THE DESIRED JETS WHICH HAS NO FAILURE
060633,000962: 
060634,000963: 16,3531           36242        SELECTP            CA       SIX                                   
060635,000964: 16,3532           55742                           TS       TEMPNUM                               
060636,000965: 16,3533           51743                           INDEX    NUMBERT                               
060637,000966: 16,3534           33563                           CA       TYPEP                                 
060638,000967: 16,3535           51744                           INDEX    ROTINDEX                              
060639,000968: 16,3536           73554                           MASK     JETSALL                               
060640,000969: 16,3537           55741                           TS       POLYTEMP                              
060641,000970: 16,3540           71263                           MASK     CH6MASK                               
060642,000971: 16,3541           10000                           CCS      A                                     
060643,000972: 16,3542           13544                           TCF      +2                                    
060644,000973: 16,3543           00002                           TC       Q                                     
060645,000974: 16,3544           11742                           CCS      TEMPNUM                               
060646,000975: 16,3545           13551                           TCF      +4                                    
060647,000976: 16,3546           05567                           TC       ALARM                                 
060648,000977: 16,3547           02003                           OCT      02003                                 
060649,000978: 16,3550           13442                           TCF      JETSOFF                               #  *****TCF ALARMJET *********************
060650,000979: 16,3551           55743        SELECTYZ           TS       NUMBERT                               
060651,000980: 16,3552           13532                           TCF      SELECTP    +1                         
060652,000981: 16,3553           12773                 -1        TCF      ABORTYZ    +2                         
060653,000982: 16,3554           00252        JETSALL            OCT      00252                                 
060654,000983: 16,3555           00125                           OCT      00125                                 #  +P
060655,000984: 16,3556           00140                           OCT      00140                                 #  -Y
060656,000985: 16,3557           00006                           OCT      00006                                 #  -Z
060657,000986: 16,3560           00220                           OCT      00220                                 #  +Y
060658,000987: 16,3561           00011                           OCT      00011                                 #  +Z
060659,000988: 16,3562           00151                           OCT      00151                                 #  +V
060660,000989: 16,3563           00146        TYPEP              OCT      00146                                 #  -U
060661,000990: 16,3564           00226                           OCT      00226                                 #  -V
060662,000991: 16,3565           00231                           OCT      00231                                 #  +U
060663,000992: 16,3566           00151                           OCT      00151                                 #  +V
060664,000993: 16,3567           00132                           OCT      00132                                 #  1-3
060665,000994: 16,3570           00245                           OCT      00245                                 #  2-4
060666,000995: 16,3571           00377                           OCT      00377                                 #  ALL
060667,000996: 16,3572  16,3572               INDXYZ             =        -136MST6                              
060668,000997: 16,3572           77445        -136MST6           DEC      -218       B-14                       
060669,000998: 16,3573           00004                           DEC      4          B-14                       
060670,000999: 16,3574           00002                           DEC      2          B-14                       
060671,001000: 16,3575           07776                           OCT      07776                                 
060672,001001: 16,3576           00005                           DEC      5          B-14                       
060673,001002: 16,3577           00011                           DEC      9          B-14                       
060674,001003: 16,3600           00012                           DEC      10         B-14                       
060675,001004: 16,3601           07776                           OCT      07776                                 
060676,001005: 16,3602           00003                           DEC      3          B-14                       

Page 1441

060678,001007: 16,3603           00010                           DEC      8          B-14                       
060679,001008: 16,3604           00007                           DEC      7          B-14                       
060680,001009: 16,3605           07776                           OCT      07776                                 #  THESE INDEXES OF MASK JETSALL WILL
060681,001010: 16,3606           07776                           OCT      07776                                 #  CHANGE THE INSTRUCTION AT SELECTP +4
060682,001011: 16,3607           07776                           OCT      07776                                 #  TO BE         TC JETSALL -1
060683,001012: 16,3610           07776                           OCT      07776                                 #  ONLY USED FOR TRANSLATION FAILURE
060684,001013: 16,3611           07776                           OCT      07776                                 
060685,001014: 16,3612           00360        +150MST6           DEC      240        B-14                       
060686,001015: 16,3613           07400        07400OCT           OCT      07400                                 
060687,001016: 
060688,001017:                                                                                                  #  T-JET LAW FIXED CONSTANTS
060689,001018: 
060690,001019: 16,3614           00266        NORMSCL            OCT      266                                   
060691,001020: 16,3615           74631        -100MS             DEC      -.1                                   
060692,001021: 16,3616           06315        200MS              DEC      .2                                    
060693,001022: 16,3617     7716               25/32              =        PRIO31                                #  (DEC .78125)
060694,001023: 16,3617           00600        BITS8,9            OCTAL    00600                                 
060695,001024: 16,3620           00632        1/40               DEC      .02500                                
060696,001025: 16,3621           77751        MINTIMES           DEC      -22        B-14                       
060697,001026: 16,3622           00026                           DEC      22         B-14                       
060698,001027: 16,3623           02734        PSKIPADR           GENADR   SKIPPAXS                              
060699,001028: 
060700,001029:                                                                                                  #  GOES TO Q,R-AXES RCS AUTOPILOT
060701,001030: 
060702,001031: 16,3624           41645        QRAXIS             CS       OMEGARD                               
060703,001032: 16,3625           61423                           AD       OMEGAR                                
060704,001033: 16,3626           02310                           TC       OVERSUB                               
060705,001034: 16,3627           55437                           TS       EDOTR                                 
060706,001035: 16,3630           41644                           CS       OMEGAQD                               
060707,001036: 16,3631           61422                           AD       OMEGAQ                                
060708,001037: 16,3632           02310                           TC       OVERSUB                               
060709,001038: 16,3633           55436                           TS       EDOTQ                                 
060710,001039: 16,3634           00006                           EXTEND                                         
060711,001040: 16,3635           33640                           DCA      QERRCALL                              
060712,001041: 16,3636           52006                           DTCB                                           
060713,001042: 
060714,001043: 16,3637  E6,1537                                  EBANK=   AOSQ                                  
060715,001044: 16,3637           02072 36106  QERRCALL           2CADR    CALLQERR                              

End of include-file P-AXIS_RCS_AUTOPILOT.agc.  Parent file is MAIN.agc