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.

060718,000002:                                                                                                  ## Copyright:   Public domain.
060719,000003:                                                                                                  ## Filename:    Q,R-AXES_RCS_AUTOPILOT.agc
060720,000004:                                                                                                  ## Purpose:     A section of Luminary revision 96.
060721,000005:                                                                                                  ##              It is part of the reconstructed source code for the
060722,000006:                                                                                                  ##              original release of the flight software for the Lunar 
060723,000007:                                                                                                  ##              Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
060724,000008:                                                                                                  ##              The code has been recreated from a previously reconstructed
060725,000009:                                                                                                  ##              copy of Luminary 97 by undoing changes described in anomaly
060726,000010:                                                                                                  ##              report LNY-59. The code has been adapted such that the
060727,000011:                                                                                                  ##              resulting bugger words exactly match those specified for
060728,000012:                                                                                                  ##              Luminary 96 in NASA drawing 2021152D, which gives relatively
060729,000013:                                                                                                  ##              high confidence that the reconstruction is correct.
060730,000014:                                                                                                  ## Reference:   pp. 1442-1459
060731,000015:                                                                                                  ## Assembler:   yaYUL
060732,000016:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
060733,000017:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
060734,000018:                                                                                                  ## Mod history: 2019-08-04 MAS  Created from Luminary 97.
060735,000019: 

Page 1442

060737,000021: 17,2072                                           BANK     17                                    
060738,000022: 17,2000                                           SETLOC   DAPS2                                 
060739,000023: 17,2000                                           BANK                                           
060740,000024: 
060741,000025: 17,2072  E6,1635                                  EBANK=   CDUXD                                 
060742,000026: 
060743,000027: 17,2072                                           COUNT*   $$/DAPQR                              
060744,000028: 
060745,000029: 17,2072           34737        CALLQERR           CA       BIT13                                 #  CALCULATE Q,R ERRORS UNLESS THESE AXES
060746,000030: 17,2073           00006                           EXTEND                                         #  ARE IN MANUAL RATE COMMAND.
060747,000031: 17,2074           02031                           RAND     CHAN31                                
060748,000032: 17,2075           10000                           CCS      A                                     
060749,000033: 17,2076           12103                           TCF      +5                                    #  IN AUTO COMPUTE Q,R ERRORS
060750,000034: 17,2077           40111                           CS       DAPBOOLS                              #  IN MANUAL RATE COMMAND?
060751,000035: 17,2100           74740                           MASK     OURRCBIT                              
060752,000036: 17,2101           00006                           EXTEND                                         
060753,000037: 17,2102           12104                           BZF      Q,RORGTS                              #  IF SO BYPASS CALCULATION OF ERRORS.
060754,000038: 17,2103           02626                           TC       QERRCALC                              
060755,000039: 
060756,000040: 17,2104           11631        Q,RORGTS           CCS      COTROLER                              #  CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
060757,000041: 17,2105           12607                           TCF      GOTOGTS                               #        GTS (ALTERNATES WITH RCS WHEN DOCKED)
060758,000042: 17,2106           12574                           TCF      TRYGTS                                #        GTS IF ALLOWED, OTHERWISE RCS
060759,000043: 17,2107           34755        RCS                CAF      ZERO                                  #        RCS (TRYGTS MAY BRANCH TO HERE)
060760,000044: 17,2110           55631                           TS       COTROLER                              
060761,000045: 
060762,000046: 17,2111           53437                           DXCH     EDOTQ                                 
060763,000047: 17,2112           03146                           TC       ROT-TOUV                              
060764,000048: 17,2113           53427                           DXCH     OMEGAU                                
060765,000049: 
060766,000050:                                                                                                  #  X - TRANSLATION:
060767,000051: 
060768,000052:                                                                                                  #  INPUT:        BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
060769,000053:                                                                                                  #                ULLAGER
060770,000054:                                                                                                  #                APSFLAG, DRIFTBIT
060771,000055:                                                                                                  #                ACC40R2X, ACRBTRAN
060772,000056: 
060773,000057:                                                                                                  #  OUTPUT:       NEXTU, NEXTV    CODES OF TRANSLATION FOR AFTER ROTATION
060774,000058:                                                                                                  #                SENSETYP        TELL ROTATION DIRECTION AND DESIRE
060775,000059: 
060776,000060:                                                                                                  #  X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR.  IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED.  A FAILURE
060777,000061:                                                                                                  #  WILL OVERRIDE THIS SPECIFICATION.  AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
060778,000062: 
060779,000063: 17,2114           34745        SENSEGET           CA       BIT7                                  #  INPUT BITS OVERRIDE THE INTERNAL BITS
060780,000064: 17,2115           00006                           EXTEND                                         #  SENSETYP WILL NOT OPPOSE ANYTRANS
060781,000065: 17,2116           02031                           RAND     CHAN31                                
060782,000066: 17,2117           00006                           EXTEND                                         
060783,000067: 17,2120           12146                           BZF      +XORULGE                              

Page 1443

060785,000069: 17,2121           34744                           CA       BIT8                                  
060786,000070: 17,2122           00006                           EXTEND                                         
060787,000071: 17,2123           02031                           RAND     CHAN31                                
060788,000072: 17,2124           00006                           EXTEND                                         
060789,000073: 17,2125           12147                           BZF      -XTRANS                               
060790,000074: 
060791,000075: 17,2126           34746                           CA       ULLAGER                               
060792,000076: 17,2127           70111                           MASK     DAPBOOLS                              
060793,000077: 17,2130           10000                           CCS      A                                     
060794,000078: 17,2131           12146                           TCF      +XORULGE                              
060795,000079: 
060796,000080: 17,2132           55473                           TS       NEXTU                                 #  STORE NULL TRANSLATION POLICIES
060797,000081: 17,2133           55474                           TS       NEXTV                                 
060798,000082: 17,2134           40111                           CS       DAPBOOLS                              #  BURNING OR DRIFTING?
060799,000083: 17,2135           74744                           MASK     DRIFTBIT                              
060800,000084: 17,2136           00006                           EXTEND                                         
060801,000085: 17,2137           12144                           BZF      TSENSE                                
060802,000086: 17,2140           30106                           CA       FLGWRD10                              #  DPS (INCLUDING DOCKED) OR APS?
060803,000087: 17,2141           74737                           MASK     APSFLBIT                              
060804,000088: 17,2142           10000                           CCS      A                                     
060805,000089: 17,2143           34752                           CAF      TWO                                   #  FAVOR +X JETS DURING AN APS BURN.
060806,000090: 17,2144           55500        TSENSE             TS       SENSETYP                              
060807,000091: 17,2145           12200                           TCF      QRCONTRL                              
060808,000092: 
060809,000093: 17,2146           34753        +XORULGE           CAF      ONE                                   
060810,000094: 17,2147           64751        -XTRANS            AD       FOUR                                  
060811,000095: 17,2150           55744                           TS       ROTINDEX                              
060812,000096: 17,2151           67745                           AD       NEG3                                  
060813,000097: 17,2152           55500                           TS       SENSETYP                              #  FAVOR APPROPRIATE JETS DURING TRANS.
060814,000098: 17,2153           30111                           CA       DAPBOOLS                              
060815,000099: 17,2154           74741                           MASK     ACC4OR2X                              
060816,000100: 17,2155           10000                           CCS      A                                     
060817,000101: 17,2156           12321                           TCF      TRANS4                                
060818,000102: 
060819,000103: 17,2157           30111                           CA       DAPBOOLS                              
060820,000104: 17,2160           74742                           MASK     AORBTRAN                              
060821,000105: 17,2161           10000                           CCS      A                                     
060822,000106: 17,2162           34753                           CA       ONE                                   #  THREE FOR B
060823,000107: 17,2163           64752                           AD       TWO                                   #  TWO FOR A SYSTEM 2 JET X TRANS
060824,000108: 17,2164           55743        TSNUMBRT           TS       NUMBERT                               
060825,000109: 
060826,000110: 17,2165           03173                           TC       SELCTSUB                              
060827,000111: 
060828,000112: 17,2166           11741                           CCS      POLYTEMP                              
060829,000113: 17,2167           12172                           TCF      +3                                    
060830,000114: 17,2170           05567                           TC       ALARM                                 
060831,000115: 17,2171           02002                           OCT      02002                                 
060832,000116: 17,2172           35774                           CA       00314OCT                              
060833,000117: 17,2173           71741                           MASK     POLYTEMP                              
060834,000118: 17,2174           55473        TSNEXTS            TS       NEXTU                                 

Page 1444

060836,000120: 17,2175           45774                           CS       00314OCT                              
060837,000121: 17,2176           71741                           MASK     POLYTEMP                              
060838,000122: 17,2177           55474                           TS       NEXTV                                 
060839,000123: 
060840,000124:                                                                                                  #  Q,R-AXES RCS CONTROL MODE SELECTION
060841,000125:                                                                                                  #        SWITCHES        INDICATION WHEN SET
060842,000126:                                                                                                  #        BIT13/CHAN31    AUTO, GO TO ATTSTEER
060843,000127:                                                                                                  #        PULSES          MINIMUM IMPULSE MODE
060844,000128:                                                                                                  #        (OTHERWISE)     RATE COMMAND/ATTITUDE HOLD MODE
060845,000129: 
060846,000130: 17,2200           34737        QRCONTRL           CA       BIT13                                 #  CHECK MODE SELECT SWITCH.
060847,000131: 17,2201           00006                           EXTEND                                         
060848,000132: 17,2202           02031                           RAND     CHAN31                                #  BITS INVERTED
060849,000133: 17,2203           10000                           CCS      A                                     
060850,000134: 17,2204           12661                           TCF      ATTSTEER                              
060851,000135: 17,2205           34735        CHKBIT10           CAF      PULSES                                #  PULSES = 1 FOR MIN IMP USE OF RHC
060852,000136: 17,2206           70111                           MASK     DAPBOOLS                              
060853,000137: 17,2207           00006                           EXTEND                                         
060854,000138: 17,2210           12323                           BZF      CHEKSTIK                              #  IN ATT-HOLD/RATE-COMMAND IF BIT10=0
060855,000139: 
060856,000140:                                                                                                  #  MINIMUM IMPULSE MODE
060857,000141: 
060858,000142: 17,2211           00004                           INHINT                                         
060859,000143: 17,2212           04674                           TC       IBNKCALL                              
060860,000144: 17,2213           40153                           CADR     ZATTEROR                              
060861,000145: 17,2214           34755                           CA       ZERO                                  
060862,000146: 17,2215           55450                           TS       QERROR                                
060863,000147: 17,2216           55452                           TS       RERROR                                #  FOR DISPLAYS
060864,000148: 17,2217           00003                           RELINT                                         
060865,000149: 
060866,000150: 17,2220           00006                           EXTEND                                         
060867,000151: 17,2221           00031                           READ     CHAN31                                
060868,000152: 17,2222           55737                           TS       TEMP31                                #  IS EQUAL TO DAPTEMP1
060869,000153: 17,2223           11461                           CCS      OLDQRMIN                              
060870,000154: 17,2224           12246                           TCF      CHECKIN                               
060871,000155: 
060872,000156: 17,2225           31737        FIREQR             CA       TEMP31                                
060873,000157: 17,2226           74753                           MASK     BIT1                                  
060874,000158: 17,2227           00006                           EXTEND                                         
060875,000159: 17,2230           12252                           BZF      +QMIN                                 
060876,000160: 
060877,000161: 17,2231           31737                           CA       TEMP31                                
060878,000162: 17,2232           74752                           MASK     BIT2                                  
060879,000163: 17,2233           00006                           EXTEND                                         
060880,000164: 17,2234           12256                           BZF      -QMIN                                 
060881,000165: 
060882,000166: 17,2235           31737                           CA       TEMP31                                
060883,000167: 17,2236           74747                           MASK     BIT5                                  

Page 1445

060885,000169: 17,2237           00006                           EXTEND                                         
060886,000170: 17,2240           12262                           BZF      +RMIN                                 
060887,000171: 
060888,000172: 17,2241           31737                           CA       TEMP31                                
060889,000173: 17,2242           74746                           MASK     BIT6                                  
060890,000174: 17,2243           00006                           EXTEND                                         
060891,000175: 17,2244           12264                           BZF      -RMIN                                 
060892,000176: 
060893,000177: 17,2245           13063                           TCF      XTRANS                                
060894,000178: 
060895,000179: 17,2246           41737        CHECKIN            CS       TEMP31                                
060896,000180: 17,2247           72320                           MASK     OCT63                                 
060897,000181: 17,2250           55461                           TS       OLDQRMIN                              
060898,000182: 17,2251           13063                           TCF      XTRANS                                
060899,000183: 
060900,000184: 17,2252           33107        +QMIN              CA       14MS                                  
060901,000185: 17,2253           55525                           TS       TJU                                   
060902,000186: 17,2254           43107                           CS       14MS                                  
060903,000187: 17,2255           12266                           TCF      MINQR                                 
060904,000188: 17,2256           43107        -QMIN              CS       14MS                                  
060905,000189: 17,2257           55525                           TS       TJU                                   
060906,000190: 17,2260           33107                           CA       14MS                                  
060907,000191: 17,2261           12266                           TCF      MINQR                                 
060908,000192: 17,2262           33107        +RMIN              CA       14MS                                  
060909,000193: 17,2263           12265                           TCF      +2                                    
060910,000194: 17,2264           43107        -RMIN              CS       14MS                                  
060911,000195: 17,2265           55525                           TS       TJU                                   
060912,000196: 17,2266           55526        MINQR              TS       TJV                                   
060913,000197: 17,2267           32317                           CA       MINADR                                
060914,000198: 17,2270           55477                           TS       RETJADR                               
060915,000199: 17,2271           34753                           CA       ONE                                   
060916,000200: 17,2272           55461                           TS       OLDQRMIN                              
060917,000201: 17,2273           55505        MINRTN             TS       AXISCTR                               
060918,000202: 17,2274           30111                           CA       DAPBOOLS                              
060919,000203: 17,2275           74737                           MASK     CSMDOCKD                              
060920,000204: 17,2276           00006                           EXTEND                                         
060921,000205: 17,2277           12307                           BZF      MIMRET                                
060922,000206: 17,2300           51505                           INDEX    AXISCTR                               #  IF DOCKED, USE 60MS MINIMUM IMPULSE
060923,000207: 17,2301           11525                           CCS      TJU                                   
060924,000208: 17,2302           32316                           CA       60MS                                  
060925,000209: 17,2303           12305                           TCF      +2                                    
060926,000210: 17,2304           42316                           CS       60MS                                  
060927,000211: 17,2305           51505                           INDEX    AXISCTR                               
060928,000212: 17,2306           55525                           TS       TJU                                   
060929,000213: 17,2307           30111        MIMRET             CA       DAPBOOLS                              
060930,000214: 17,2310           74742                           MASK     AORBTRAN                              
060931,000215: 17,2311           10000                           CCS      A                                     
060932,000216: 17,2312           34753                           CA       ONE                                   
060933,000217: 17,2313           64752                           AD       TWO                                   
060934,000218: 17,2314           55743                           TS       NUMBERT                               

Page 1446

060936,000220: 17,2315           12727                           TCF      AFTERTJ                               
060937,000221: 
060938,000222: 17,2316           00140        60MS               DEC      96.0                                  
060939,000223: 17,2317           02273        MINADR             GENADR   MINRTN                                
060940,000224: 17,2320           00063        OCT63              OCT      63                                    
060941,000225: 17,2321  17,3107               14MS               =        +TJMINT6                              
060942,000226: 
060943,000227: 17,2321           34751        TRANS4             CA       FOUR                                  
060944,000228: 17,2322           12164                           TCF      TSNUMBRT                              
060945,000229: 
060946,000230:                                                                                                  #  RATE COMMAND MODE:
060947,000231: 
060948,000232:                                                                                                  #  DESCRIPTION (SAME AS P-AXIS)
060949,000233: 
060950,000234: 17,2323           55633        CHEKSTIK           TS       INGTS                                 #  NOT IN GTS WHEN IN ATT HOLD
060951,000235: 17,2324           44753                           CS       ONE                                   #  1/ACCS WILL DO THE NULLING DRIVES
060952,000236: 17,2325           55631                           TS       COTROLER                              #  COME BACK TO RCS NEXT TIME
060953,000237: 17,2326           34735                           CA       BIT15                                 
060954,000238: 17,2327           71443                           MASK     CH31TEMP                              
060955,000239: 17,2330           00006                           EXTEND                                         
060956,000240: 17,2331           12350                           BZF      RHCACTIV                              #  BRANCH IF OUT OF DETENT.
060957,000241: 17,2332           34740                           CA       OURRCBIT                              #  ***********
060958,000242: 17,2333           70111                           MASK     DAPBOOLS                              #  *IN DETENT*   CHECK FOR MANUAL CONTROL
060959,000243: 17,2334           00006                           EXTEND                                         #  ***********   LAST TIME.
060960,000244: 17,2335           12661                           BZF      STILLRCS                              
060961,000245: 17,2336           44743                           CS       BIT9                                  
060962,000246: 17,2337           71273                           MASK     RCSFLAGS                              
060963,000247: 17,2340           55273                           TS       RCSFLAGS                              #  BIT 9 IS 0.
060964,000248: 17,2341           12345                           TCF      DAMPING                               
060965,000249: 17,2342           00050        40CYCL             OCT      50                                    
060966,000250: 17,2343           00001        1/10S              OCT      1                                     
060967,000251: 17,2344           00056        LINRAT             DEC      46         B-14                       
060968,000252: 
060969,000253:                                                                                                  #  ================================
060970,000254: 
060971,000255: 17,2345           34755        DAMPING            CA       ZERO                                  
060972,000256: 17,2346           55462                           TS       SAVEHAND                              
060973,000257: 17,2347           55463                           TS       SAVEHAND   +1                         
060974,000258: 17,2350           11462        RHCACTIV           CCS      SAVEHAND                              #  *******************
060975,000259: 17,2351           12354                           TCF      +3                                    #  Q,R MANUAL CONTROL    WC = A*(B+|D|)*D
060976,000260: 17,2352           12354                           TCF      +2                                    #  *******************
060977,000261: 17,2353           12354                           TCF      +1                                    
060978,000262: 17,2354           60000                           DOUBLE                                         #  WHERE
060979,000263: 17,2355           60000                           DOUBLE                                         
060980,000264: 17,2356           62344                           AD       LINRAT                                #        WC  = COMMANDED ROTATIONAL RATE
060981,000265: 17,2357           00006                           EXTEND                                         #        A   = QUADRATIC SENSITIVITY FACTOR
060982,000266: 17,2360           71462                           MP       SAVEHAND                              #        B   = LINEAR/QUADRATIC SENSITIVITY
060983,000267: 17,2361           30001                           CA       L                                     #        |D| = ABS. VALUE OF DEFLECTION
060984,000268: 17,2362           00006                           EXTEND                                         #        D   = HAND CONTROLLER DEFLECTION
060985,000269: 17,2363           71444                           MP       STIKSENS                              
060986,000270: 17,2364           57455                           XCH      QLAST                                 #  COMMAND Q RATE     SCALED 45 DEG/SEC
060987,000271: 17,2365           40000                           COM                                            

Page 1447

060989,000273: 17,2366           61455                           AD       QLAST                                 
060990,000274: 17,2367           55741                           TS       DAPTEMP3                              
060991,000275: 17,2370           11463                           CCS      SAVEHAND   +1                         
060992,000276: 17,2371           12374                           TCF      +3                                    
060993,000277: 17,2372           12374                           TCF      +2                                    
060994,000278: 17,2373           12374                           TCF      +1                                    
060995,000279: 17,2374           60000                           DOUBLE                                         
060996,000280: 17,2375           60000                           DOUBLE                                         
060997,000281: 17,2376           62344                           AD       LINRAT                                
060998,000282: 17,2377           00006                           EXTEND                                         
060999,000283: 17,2400           71463                           MP       SAVEHAND   +1                         
061000,000284: 17,2401           30001                           CA       L                                     
061001,000285: 17,2402           00006                           EXTEND                                         
061002,000286: 17,2403           71444                           MP       STIKSENS                              
061003,000287: 17,2404           57456                           XCH      RLAST                                 
061004,000288: 17,2405           40000                           COM                                            
061005,000289: 17,2406           61456                           AD       RLAST                                 
061006,000290: 17,2407           55742                           TS       DAPTEMP4                              
061007,000291: 17,2410           41455                           CS       QLAST                                 #  INTERVAL.
061008,000292: 17,2411           61422                           AD       OMEGAQ                                
061009,000293: 17,2412           55436                           TS       QRATEDIF                              
061010,000294: 17,2413           41456                           CS       RLAST                                 
061011,000295: 17,2414           61423                           AD       OMEGAR                                
061012,000296: 17,2415           55437                           TS       RRATEDIF                              
061013,000297: 17,2416           53437        ENTERQR            DXCH     QRATEDIF                              #  TRANSFORM RATES FROM Q,R TO U,V AXES
061014,000298: 17,2417           03146                           TC       ROT-TOUV                              
061015,000299: 17,2420           53427                           DXCH     URATEDIF                              
061016,000300: 17,2421           11741                           CCS      DAPTEMP3                              #  CHECK IF Q COMMAND CHANGE EXCEEDS
061017,000301: 17,2422           02425                           TC       +3                                    #  BREAKOUT LEVEL.  IF NOT, CHECK R.
061018,000302: 17,2423           02425                           TC       +2                                    
061019,000303: 17,2424           02425                           TC       +1                                    
061020,000304: 17,2425           61476                           AD       -RATEDB                               
061021,000305: 17,2426           00006                           EXTEND                                         
061022,000306: 17,2427           62431                           BZMF     +2                                    
061023,000307: 17,2430           12447                           TCF      ENTERUV    -2                         #  BREAKOUT LEVEL EXCEEDED.  DIRECT RATE.
061024,000308: 17,2431           11742                           CCS      DAPTEMP4                              #  R COMMAND BREAKOUT CHECK.
061025,000309: 17,2432           02435                           TC       +3                                    
061026,000310: 17,2433           02435                           TC       +2                                    
061027,000311: 17,2434           02435                           TC       +1                                    
061028,000312: 17,2435           61476                           AD       -RATEDB                               
061029,000313: 17,2436           00006                           EXTEND                                         
061030,000314: 17,2437           62441                           BZMF     +2                                    
061031,000315: 17,2440           12447                           TCF      ENTERUV    -2                         #  BREAKOUT LEVEL EXCEEDED.  DIRECT RATE.
061032,000316: 17,2441           31273                           CA       RCSFLAGS                              #  BREAKOUT LEVEL NOT EXCEEDED.  CHECK FOR
061033,000317: 17,2442           74741                           MASK     QRBIT                                 #  DIRECT RATE CONTROL LAST TIME.
061034,000318: 17,2443           00006                           EXTEND                                         
061035,000319: 17,2444           12446                           BZF      +2                                    
061036,000320: 17,2445           12451                           TCF      ENTERUV                               #  CONTINUE DIRECT RATE CONTROL.
061037,000321: 17,2446           12661                           TCF      STILLRCS                              #  PSEUDO-AUTO CONTROL.
061038,000322: 17,2447           32342                           CA       40CYCL                                

Page 1448

061040,000324: 17,2450           55457                           TS       TCQR                                  
061041,000325: 17,2451           00004        ENTERUV            INHINT                                         #  DIRECT RATE CONTROL.
061042,000326: 17,2452           04674                           TC       IBNKCALL                              
061043,000327: 17,2453           40153                           FCADR    ZATTEROR                              
061044,000328: 17,2454           00003                           RELINT                                         
061045,000329: 17,2455           34755                           CA       ZERO                                  
061046,000330: 17,2456           55450                           TS       DYERROR                               
061047,000331: 17,2457           55451                           TS       DYERROR    +1                         
061048,000332: 17,2460           55452                           TS       DZERROR                               
061049,000333: 17,2461           55453                           TS       DZERROR    +1                         
061050,000334: 17,2462           11426                           CCS      URATEDIF                              
061051,000335: 17,2463           12466                           TCF      +3                                    
061052,000336: 17,2464           12466                           TCF      +2                                    
061053,000337: 17,2465           12466                           TCF      +1                                    
061054,000338: 17,2466           61476                           AD       TARGETDB                              #  IF TARGET DB IS EXCEEDED, CONTINUE
061055,000339: 17,2467           00006                           EXTEND                                         #  DIRECT RATE CONTROL.
061056,000340: 17,2470           62504                           BZMF     VDB                                   
061057,000341: 17,2471           11427                           CCS      VRATEDIF                              
061058,000342: 17,2472           12475                           TCF      +3                                    
061059,000343: 17,2473           12475                           TCF      +2                                    
061060,000344: 17,2474           12475                           TCF      +1                                    
061061,000345: 17,2475           61476                           AD       TARGETDB                              
061062,000346: 17,2476           00006                           EXTEND                                         
061063,000347: 17,2477           62501                           BZMF     +2                                    
061064,000348: 17,2500           12515                           TCF      QRTIME                                
061065,000349: 17,2501           34755                           CA       ZERO                                  
061066,000350: 17,2502           55427                           TS       VRATEDIF                              
061067,000351: 17,2503           12515                           TCF      QRTIME                                
061068,000352: 17,2504           11427        VDB                CCS      VRATEDIF                              
061069,000353: 17,2505           02510                           TC       +3                                    
061070,000354: 17,2506           02510                           TC       +2                                    
061071,000355: 17,2507           02510                           TC       +1                                    
061072,000356: 17,2510           61476                           AD       TARGETDB                              #  IF TARGET DB IS EXCEEDED, CONTINUE
061073,000357: 17,2511           00006                           EXTEND                                         #  DIRECT RATE CONTROL.  IF NOT, FIRE AND
061074,000358: 17,2512           62524                           BZMF     TOPSEUDO                              #  SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
061075,000359: 17,2513           34755                           CA       ZERO                                  #  PASS.
061076,000360: 17,2514           55426                           TS       URATEDIF                              
061077,000361: 17,2515           31457        QRTIME             CA       TCQR                                  #  DIRECT RATE TIME CHECK.
061078,000362: 17,2516           00006                           EXTEND                                         
061079,000363: 17,2517           62524                           BZMF     +5                                    #  BRANCH IF TIME EXCEEDS 4 SEC.
061080,000364: 17,2520           41273                           CS       RCSFLAGS                              
061081,000365: 17,2521           74741                           MASK     QRBIT                                 
061082,000366: 17,2522           27273                           ADS      RCSFLAGS                              #  BIT 11 IS 1.
061083,000367: 17,2523           02527                           TC       +4                                    
061084,000368: 17,2524           44741        TOPSEUDO           CS       QRBIT                                 
061085,000369: 17,2525           71273                           MASK     RCSFLAGS                              
061086,000370: 17,2526           55273                           TS       RCSFLAGS                              #  BIT 11 IS 0.
061087,000371: 17,2527           32573                           CA       HANDADR                               
061088,000372: 17,2530           55477                           TS       RETJADR                               
061089,000373: 17,2531           34753                           CA       ONE                                   
061090,000374: 

Page 1449

061092,000376: 17,2532           55505        BACKHAND           TS       AXISCTR                               
061093,000377: 
061094,000378: 17,2533           34751                           CA       FOUR                                  
061095,000379: 17,2534           55743                           TS       NUMBERT                               
061096,000380: 
061097,000381: 17,2535           51505                           INDEX    AXISCTR                               
061098,000382: 17,2536           51535                           INDEX    SKIPU                                 
061099,000383: 17,2537           12540                           TCF      +1                                    
061100,000384: 17,2540           34751                           CA       FOUR                                  
061101,000385: 17,2541           51505                           INDEX    AXISCTR                               
061102,000386: 17,2542           55535                           TS       SKIPU                                 
061103,000387: 17,2543           13005                           TCF      LOOPER                                
061104,000388: 
061105,000389: 17,2544           51505                           INDEX    AXISCTR                               
061106,000390: 17,2545           11426                           CCS      URATEDIF                              #        INDEX   AXIS    QUANITY
061107,000391: 17,2546           34755                           CA       ZERO                                  #        0       -U      1/JETACC-AOSU
061108,000392: 17,2547           12551                           TCF      +2                                    #        1       +U      1/JETACC+AOSU
061109,000393: 17,2550           34753                           CA       ONE                                   #        16      -V      1/JETACC-AOSV
061110,000394: 17,2551           51505                           INDEX    AXISCTR                               #        17      +V      1/JETACC+AOSV
061111,000395: 17,2552           63722                           AD       AXISDIFF                              #  JETACC = 2 JET ACCELERATION (1 FOR FAIL)
061112,000396: 
061113,000397: 17,2553           50000                           INDEX    A                                     
061114,000398: 17,2554           41571                           CS       1/ANET2    +1                         
061115,000399: 17,2555           00006                           EXTEND                                         
061116,000400: 17,2556           51505                           INDEX    AXISCTR                               #  URATEDIF IS SCALED AT PI/4 RAD/SEC
061117,000401: 17,2557           71426                           MP       URATEDIF                              #  JET TIME IN A       SCALED 32 SEC
061118,000402: 17,2560           54002                           TS       Q                                     
061119,000403: 17,2561           20001                           DAS      A                                     
061120,000404: 17,2562           60002                           AD       Q                                     
061121,000405: 17,2563           54000                           TS       A                                     #  OVERFLOW SKIP
061122,000406: 17,2564           12566                           TCF      +2                                    
061123,000407: 17,2565           30002                           CA       Q                                     #  RIGHT SIGN AND BIGGER THAN 150MS
061124,000408: 17,2566           51505        SETTIME            INDEX    AXISCTR                               
061125,000409: 17,2567           55525                           TS       TJU                                   #  SCALED AT 10.67 WHICH IS CLOSE TO 10.24
061126,000410: 17,2570           12727                           TCF      AFTERTJ                               
061127,000411: 
061128,000412: 17,2571           34755        ZEROTJ             CA       ZERO                                  
061129,000413: 17,2572           12566                           TCF      SETTIME                               
061130,000414: 
061131,000415: 17,2573           02532        HANDADR            GENADR   BACKHAND                              
061132,000416: 
061133,000417:                                                                                                  #  GTS WILL BE TRIED IF
061134,000418:                                                                                                  #        1. USEQRJTS = 0,
061135,000419:                                                                                                  #        2. ALLOWGTS POS,
061136,000420:                                                                                                  #        3. JETS ARE OFF (Q,R-AXES)
061137,000421: 
061138,000422: 17,2574           34736        TRYGTS             CAF      USEQRJTS                              #  IS JET USE MANDATORY.         (AS LONG AS
061139,000423: 17,2575           70111                           MASK     DAPBOOLS                              #  USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
061140,000424: 17,2576           10000                           CCS      A                                     
061141,000425: 17,2577           12107                           TCF      RCS                                   
061142,000426: 17,2600           11502                           CCS      ALLOWGTS                              #  NO.  DOES AOSTASK OK CONTROL FOR GTS?

Page 1450

061144,000428: 17,2601           12603                           TCF      +2                                    
061145,000429: 17,2602           12107                           TCF      RCS                                   
061146,000430: 17,2603           00006                           EXTEND                                         
061147,000431: 17,2604           00005                           READ     CHAN5                                 
061148,000432: 17,2605           10000                           CCS      A                                     
061149,000433: 17,2606           12612                           TCF      CHKINGTS                              
061150,000434: 17,2607           00006        GOTOGTS            EXTEND                                         
061151,000435: 17,2610           32625                           DCA      GTSCADR                               
061152,000436: 17,2611           52006                           DTCB                                           
061153,000437: 
061154,000438: 17,2612           11633        CHKINGTS           CCS      INGTS                                 #  WAS THE TRIM GIMBAL CONTROLLING
061155,000439: 17,2613           12615                           TCF      +2                                    #        YES.  SET UP A DAMPED NULLING DRIVE.
061156,000440: 17,2614           12107                           TCF      RCS                                   #        NO.  NULLING WAS SET UP BEFORE.  DO RCS
061157,000441: 17,2615           00004                           INHINT                                         
061158,000442: 17,2616           04674                           TC       IBNKCALL                              
061159,000443: 17,2617           43330                           CADR     TIMEGMBL                              
061160,000444: 17,2620           00003                           RELINT                                         
061161,000445: 17,2621           34755                           CAF      ZERO                                  
061162,000446: 17,2622           55633                           TS       INGTS                                 
061163,000447: 17,2623           12107                           TCF      RCS                                   
061164,000448: 
061165,000449: 17,2624  E6,1635                                  EBANK=   CDUXD                                 
061166,000450: 17,2624           03077 42106  GTSCADR            2CADR    GTS                                   
061167,000451: 

Page 1451

061169,000453:                                                                                                  #  SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
061170,000454: 
061171,000455: 17,2626           30033        QERRCALC           CAE      CDUY                                  #  Q-ERROR CALCULATION
061172,000456: 17,2627           00006                           EXTEND                                         
061173,000457: 17,2630           21636                           MSU      CDUYD                                 #  CDU ANGLE - ANGLE DESIRED (Y-AXIS)
061174,000458: 17,2631           55737                           TS       DAPTEMP1                              #  SAVE FOR RERRCALC
061175,000459: 17,2632           00006                           EXTEND                                         
061176,000460: 17,2633           71415                           MP       M21                                   #  (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
061177,000461: 17,2634           55752                           TS       E                                     
061178,000462: 17,2635           30034                           CAE      CDUZ                                  #  SECOND TERM CALCULATION:
061179,000463: 17,2636           00006                           EXTEND                                         
061180,000464: 17,2637           21637                           MSU      CDUZD                                 #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
061181,000465: 17,2640           55740                           TS       DAPTEMP2                              #  SAVE FOR RERRCALC
061182,000466: 17,2641           00006                           EXTEND                                         
061183,000467: 17,2642           71417                           MP       M22                                   #  (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
061184,000468: 17,2643           61300                           AD       DELQEROR                              #  KALCMANU INERFACE ERROR
061185,000469: 17,2644           61752                           AD       E                                     
061186,000470: 17,2645           57450                           XCH      QERROR                                #  SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
061187,000471: 
061188,000472: 17,2646           31737        RERRCALC           CAE      DAPTEMP1                              #  R-ERROR CALCULATION:
061189,000473: 17,2647           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Y-AXIS)
061190,000474: 17,2650           71416                           MP       M31                                   #  (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
061191,000475: 17,2651           55752                           TS       E                                     
061192,000476: 17,2652           31740                           CAE      DAPTEMP2                              #  SECOND TERM CALCULATION:
061193,000477: 17,2653           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
061194,000478: 17,2654           71420                           MP       M32                                   #  (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
061195,000479: 17,2655           61301                           AD       DELREROR                              #  KALCMANU INERFACE ERROR
061196,000480: 17,2656           61752                           AD       E                                     
061197,000481: 17,2657           57452                           XCH      RERROR                                #  SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
061198,000482: 17,2660           00002                           TC       Q                                     
061199,000483: 

Page 1452

061201,000485:                                                                                                  #  "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
061202,000486: 
061203,000487: 17,2661  17,2661               ATTSTEER           EQUALS   STILLRCS                              #  "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
061204,000488: 
061205,000489: 17,2661           31452        STILLRCS           CA       RERROR                                
061206,000490: 17,2662           22000                           LXCH     A                                     
061207,000491: 17,2663           31450                           CA       QERROR                                
061208,000492: 17,2664           03146                           TC       ROT-TOUV                              
061209,000493: 17,2665           53752                           DXCH     UERROR                                
061210,000494: 
061211,000495:                                                                                                  #  PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
061212,000496:                                                                                                  #  PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
061213,000497: 
061214,000498: 17,2666           33113        TJLAW              CA       TJLAWADR                              
061215,000499: 17,2667           55477                           TS       RETJADR                               
061216,000500: 17,2670           34753                           CA       ONE                                   
061217,000501: 17,2671           55505                           TS       AXISCTR                               
061218,000502: 17,2672           51505                           INDEX    AXISCTR                               
061219,000503: 17,2673           51535                           INDEX    SKIPU                                 
061220,000504: 17,2674           12675                           TCF      +1                                    
061221,000505: 17,2675           34751                           CA       FOUR                                  
061222,000506: 17,2676           51505                           INDEX    AXISCTR                               
061223,000507: 17,2677           55535                           TS       SKIPU                                 
061224,000508: 17,2700           13005                           TCF      LOOPER                                
061225,000509: 17,2701           51505                           INDEX    AXISCTR                               
061226,000510: 17,2702           31751                           CA       UERROR                                
061227,000511: 17,2703           55752                           TS       E                                     
061228,000512: 17,2704           51505                           INDEX    AXISCTR                               
061229,000513: 17,2705           31426                           CA       OMEGAU                                
061230,000514: 17,2706           55427                           TS       EDOT                                  
061231,000515: 17,2707           30111                           CA       DAPBOOLS                              
061232,000516: 17,2710           74737                           MASK     CSMDOCKD                              
061233,000517: 17,2711           10000                           CCS      A                                     
061234,000518: 17,2712           12715                           TCF      +3                                    
061235,000519: 17,2713           03252                           TC       TJETLAW                               
061236,000520: 17,2714           12727                           TCF      AFTERTJ                               
061237,000521: 17,2715           40111                 +3        CS       DAPBOOLS                              #  DOCKED.  IF GIMBAL USABLE DO GTS CONTROL
061238,000522: 17,2716           74736                           MASK     USEQRJTS                              #        ON THE NEXT PASS.
061239,000523: 17,2717           10000                           CCS      A                                     #  USEQRJTS BIT MUST NOT BE BIT 15.
061240,000524: 17,2720           55631                           TS       COTROLER                              #  GIMBAL USABLE.  STORE POSITIVE VALUE.
061241,000525: 17,2721           00004                           INHINT                                         
061242,000526: 17,2722           04674                           TC       IBNKCALL                              
061243,000527: 17,2723           43727                           CADR     SPSRCS                                #  DETERMINE RCS CONTROL
061244,000528: 17,2724           00003                           RELINT                                         
061245,000529: 17,2725           34751                           CAF      FOUR                                  #  ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
061246,000530: 17,2726           55743                           TS       NUMBERT                               #  FALL THROUGH TO JET SELECTION, ETC.
061247,000531: 
061248,000532:                                                                                                  #  Q,R-JET-SELECTION-LOGIC
061249,000533: 
061250,000534:                                                                                                  #  INPUT:        AXISCTR         0,1 FOR U,V
061251,000535:                                                                                                  #                SNUFFBIT        ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN

Page 1453

061253,000537:                                                                                                  #                TJU,TJV         JET TIME SCALED 10.24 SEC.
061254,000538:                                                                                                  #                NUMBERT         INDICATES NUMBER OF JETS AND TYPE OF POLICY
061255,000539:                                                                                                  #                RETJADR         WHERE TO RETURN TO
061256,000540: 
061257,000541:                                                                                                  #  OUTPUT:       NO.U(V)JETS     RATE DERIVATION FEEDBACK
061258,000542:                                                                                                  #                CHANNEL 5
061259,000543:                                                                                                  #                SKIPU,SKIRV     FOR LESS THAN 150MS FIRING
061260,000544: 
061261,000545:                                                                                                  #  NOTES:        IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED
061262,000546:                                                                                                  #                JETS OF THE DESIRED POLICY ARE SELECTED.  SINCE THERE ARE ONLY
061263,000547:                                                                                                  #                TWO JETS, THIS MEANS THE OTHER ONE OR NONE.  THE ALARM IS SENT
061264,000548:                                                                                                  #                IF NONE CAN BE FOUND.
061265,000549: 
061266,000550:                                                                                                  #                TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
061267,000551:                                                                                                  #                MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
061268,000552: 
061269,000553: 17,2727           30101        AFTERTJ            CA       FLAGWRD5                              #  IF SNUFFBIT SET DURING A DPS BURN GO TO
061270,000554: 17,2730           74737                           MASK     SNUFFBIT                              #  XTRANS; THAT IS, INHIBIT CONTROL.
061271,000555: 17,2731           00006                           EXTEND                                         
061272,000556: 17,2732           12743                           BZF      DOROTAT                               
061273,000557: 17,2733           40106                           CS       FLGWRD10                              
061274,000558: 17,2734           74737                           MASK     APSFLBIT                              
061275,000559: 17,2735           00006                           EXTEND                                         
061276,000560: 17,2736           12743                           BZF      DOROTAT                               
061277,000561: 17,2737           30111                           CA       DAPBOOLS                              
061278,000562: 17,2740           74744                           MASK     DRIFTBIT                              
061279,000563: 17,2741           00006                           EXTEND                                         
061280,000564: 17,2742           13063                           BZF      XTRANS                                
061281,000565: 
061282,000566: 17,2743           34752        DOROTAT            CAF      TWO                                   
061283,000567: 17,2744           54001                           TS       L                                     
061284,000568: 17,2745           51505                           INDEX    AXISCTR                               
061285,000569: 17,2746           11525                           CCS      TJU                                   
061286,000570: 17,2747           12754                           TCF      +5                                    
061287,000571: 17,2750           12777                           TCF      NOROTAT                               
061288,000572: 17,2751           12753                           TCF      +2                                    
061289,000573: 17,2752           12777                           TCF      NOROTAT                               
061290,000574: 17,2753           22007                           ZL                                             
061291,000575: 17,2754           64753                           AD       ONE                                   
061292,000576: 17,2755           55737                           TS       ABSTJ                                 
061293,000577: 
061294,000578: 17,2756           31505                           CA       AXISCTR                               
061295,000579: 17,2757           60001                           AD       L                                     
061296,000580: 17,2760           55744                           TS       ROTINDEX                              #  0 1 2 3 = -U -V -+U +V
061297,000581: 
061298,000582: 17,2761           31737                           CA       ABSTJ                                 
061299,000583: 17,2762           63110                           AD       -150MS                                
061300,000584: 17,2763           00006                           EXTEND                                         
061301,000585: 17,2764           63010                           BZMF     DOSKIP                                

Page 1454

061303,000587: 17,2765           03173                           TC       SELCTSUB                              
061304,000588: 
061305,000589: 17,2766           51505                           INDEX    AXISCTR                               
061306,000590: 17,2767           33105                           CA       INDEXES                               
061307,000591: 17,2770           54001                           TS       L                                     
061308,000592: 
061309,000593: 17,2771           31741                           CA       POLYTEMP                              
061310,000594: 17,2772           00004                           INHINT                                         
061311,000595: 17,2773           50001                           INDEX    L                                     
061312,000596: 17,2774           05754                           TC       WRITEP                                
061313,000597: 
061314,000598: 17,2775           00003                           RELINT                                         
061315,000599: 17,2776           13051                           TCF      FEEDBACK                              
061316,000600: 
061317,000601: 17,2777           51505        NOROTAT            INDEX    AXISCTR                               
061318,000602: 17,3000           33105                           CA       INDEXES                               
061319,000603: 17,3001           00004                           INHINT                                         
061320,000604: 17,3002           50000                           INDEX    A                                     
061321,000605: 17,3003           05753                           TC       WRITEP     -1                         
061322,000606: 
061323,000607: 17,3004           00003                           RELINT                                         
061324,000608: 17,3005           11505        LOOPER             CCS      AXISCTR                               
061325,000609: 17,3006           01477                           TC       RETJADR                               
061326,000610: 17,3007           13236                           TCF      CLOSEOUT                              
061327,000611: 17,3010           41737        DOSKIP             CS       ABSTJ                                 
061328,000612: 17,3011           63107                           AD       +TJMINT6                              #  14MS
061329,000613: 17,3012           00006                           EXTEND                                         
061330,000614: 17,3013           63032                           BZMF     NOTMIN                                
061331,000615: 
061332,000616: 17,3014           27737                           ADS      ABSTJ                                 
061333,000617: 17,3015           51505                           INDEX    AXISCTR                               
061334,000618: 17,3016           11525                           CCS      TJU                                   
061335,000619: 17,3017           33107                           CA       +TJMINT6                              
061336,000620: 17,3020           13022                           TCF      +2                                    
061337,000621: 17,3021           43107                           CS       +TJMINT6                              
061338,000622: 17,3022           51505                           INDEX    AXISCTR                               
061339,000623: 17,3023           55525                           TS       TJU                                   
061340,000624: 
061341,000625: 17,3024           11500                           CCS      SENSETYP                              #  ENSURE MIN-IMPULSE NOT AGAINST TRANS
061342,000626: 17,3025           13031                           TCF      NOTMIN     -1                         
061343,000627: 17,3026           00006                           EXTEND                                         
061344,000628: 17,3027           00004                           READ     LOSCALAR                              
061345,000629: 17,3030           74753                           MASK     ONE                                   
061346,000630: 17,3031           55743                           TS       NUMBERT                               
061347,000631: 
061348,000632: 17,3032           03173        NOTMIN             TC       SELCTSUB                              
061349,000633: 
061350,000634: 17,3033           51505                           INDEX    AXISCTR                               
061351,000635: 17,3034           33105                           CA       INDEXES                               
061352,000636: 17,3035           00004                           INHINT                                         

Page 1455

061354,000638: 17,3036           55471                           TS       T6FURTHA   +1                         
061355,000639: 17,3037           31741                           CA       POLYTEMP                              
061356,000640: 17,3040           51471                           INDEX    T6FURTHA   +1                         
061357,000641: 17,3041           05754                           TC       WRITEP                                
061358,000642: 
061359,000643: 17,3042           31737                           CA       ABSTJ                                 
061360,000644: 17,3043           55470                           TS       T6FURTHA                              
061361,000645: 17,3044           03114                           TC       JTLST                                 #  IN QR BANK BY NOW
061362,000646: 
061363,000647: 17,3045           00003                           RELINT                                         
061364,000648: 
061365,000649: 17,3046           34755                           CA       ZERO                                  
061366,000650: 17,3047           51505                           INDEX    AXISCTR                               
061367,000651: 17,3050           55535                           TS       SKIPU                                 
061368,000652: 
061369,000653: 17,3051           46245        FEEDBACK           CS       THREE                                 
061370,000654: 17,3052           61743                           AD       NUMBERT                               
061371,000655: 17,3053           00006                           EXTEND                                         
061372,000656: 17,3054           63057                           BZMF     +3                                    
061373,000657: 
061374,000658: 17,3055           34752                           CA       TWO                                   
061375,000659: 17,3056           13060                           TCF      +2                                    
061376,000660: 17,3057           34753                           CA       ONE                                   
061377,000661: 17,3060           51505                           INDEX    AXISCTR                               
061378,000662: 17,3061           55522                           TS       NO.UJETS                              
061379,000663: 17,3062           13005                           TCF      LOOPER                                
061380,000664: 
061381,000665: 17,3063           34755        XTRANS             CA       ZERO                                  
061382,000666: 17,3064           55525                           TS       TJU                                   
061383,000667: 17,3065           55526                           TS       TJV                                   
061384,000668: 17,3066           34751                           CA       FOUR                                  
061385,000669: 17,3067           00004                           INHINT                                         
061386,000670: 17,3070           57535                           XCH      SKIPU                                 
061387,000671: 17,3071           00006                           EXTEND                                         
061388,000672: 17,3072           13074                           BZF      +2                                    
061389,000673: 17,3073           05757                           TC       WRITEU     -1                         
061390,000674: 17,3074           34751                           CA       FOUR                                  
061391,000675: 17,3075           57536                           XCH      SKIPV                                 
061392,000676: 17,3076           00003                           RELINT                                         
061393,000677: 
061394,000678: 17,3077           00006                           EXTEND                                         
061395,000679: 17,3100           13236                           BZF      CLOSEOUT                              
061396,000680: 17,3101           00004                           INHINT                                         
061397,000681: 17,3102           05770                           TC       WRITEV     -1                         
061398,000682: 17,3103           00003                           RELINT                                         
061399,000683: 
061400,000684: 17,3104           13236                           TCF      CLOSEOUT                              
061401,000685: 17,3105           00004        INDEXES            DEC      4          B-14                       
061402,000686: 17,3106           00015                           DEC      13         B-14                       
061403,000687: 17,3107           00026        +TJMINT6           DEC      22         B-14                       

Page 1456

061405,000689: 17,3110           77417        -150MS             DEC      -240       B-14                       
061406,000690: 17,3111           00600        BIT8,9             OCT      00600                                 
061407,000691: 17,3112           00266        SCLNORM            OCT      266                                   
061408,000692: 17,3113           02671        TJLAWADR           GENADR   TJLAW      +3                         #  RETURN ADDRESS FOR RCS ATTITUDE CONTROL
061409,000693: 
061410,000694:                                                                                                  #  THE JET LIST:
061411,000695:                                                                                                  #  THIS IS A WAITLIST FOR T6RUPTS.
061412,000696: 
061413,000697:                                                                                                  #  CALLED BY:
061414,000698:                                                                                                  #                CA      TJ              TIME WHEN NEXT JETS WILL BE WRITTEN
061415,000699:                                                                                                  #                TS      T6FURTHA
061416,000700:                                                                                                  #                CA      INDEX           AXIS TO BE WIRTTEN AT TJ (FROM NOW)
061417,000701:                                                                                                  #                TS      T6FURTHA +1
061418,000702:                                                                                                  #                TC      JTLST
061419,000703: 
061420,000704:                                                                                                  #  EXAMPLE - U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
061421,000705:                                                                                                  #  JETS INTO CHANNEL 5.  IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
061422,000706:                                                                                                  #  150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
061423,000707:                                                                                                  #  CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
061424,000708:                                                                                                  #  OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
061425,000709: 
061426,000710:                                                                                                  #  THE LIST IS EXACTLY 3 LONG.  (THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
061427,000711:                                                                                                  #  THE INPUT IS THE LAST MEMBER OF THE LIST
061428,000712: 
061429,000713:                                                                                                  #  RETURNS BY:
061430,000714:                                                                                                  #        +       TC      Q
061431,000715: 
061432,000716:                                                                                                  #  DEFINITIONS:  (OUTPUT)
061433,000717:                                                                                                  #        TIME6           TIME OF NEXT RUPT
061434,000718:                                                                                                  #        T6NEXT          DELTA TIME TO NEXT RUPT
061435,000719:                                                                                                  #        T6FURTHA        DELTA TIME FROM 2ND TO LAST RUPT
061436,000720:                                                                                                  #        NXT6ADR         AXIS INDEX       Q - P-AXIS
061437,000721:                                                                                                  #        T6NEXT +1       AXIS INDEX       4 - U-AXIS
061438,000722:                                                                                                  #        T6FURTHA +1     AXIS INDEX      13 - V-AXIS
061439,000723: 
061440,000724: 17,3114           41470        JTLST              CS       T6FURTHA                              
061441,000725: 17,3115           60031                           AD       TIME6                                 
061442,000726: 17,3116           00006                           EXTEND                                         
061443,000727: 17,3117           63131                           BZMF     MIDORLST                              #  TIME6 - T IS IN A
061444,000728: 
061445,000729: 17,3120           23465                           LXCH     NXT6ADR                               
061446,000730: 17,3121           53467                           DXCH     T6NEXT                                
061447,000731: 17,3122           53471                           DXCH     T6FURTHA                              
061448,000732: 17,3123           54031                           TS       TIME6                                 
061449,000733: 17,3124           23465                           LXCH     NXT6ADR                               
061450,000734: 
061451,000735: 17,3125           34735        TURNON             CA       BIT15                                 
061452,000736: 17,3126           00006                           EXTEND                                         
061453,000737: 17,3127           05013                           WOR      CHAN13                                
061454,000738: 17,3130           00002                           TC       Q                                     
061455,000739: 

Page 1457

061457,000741: 17,3131           61466        MIDORLST           AD       T6NEXT                                
061458,000742: 17,3132           00006                           EXTEND                                         
061459,000743: 17,3133           63142                           BZMF     LASTCHG                               #  TIME6 + T6NEXT - T IS IN A
061460,000744: 
061461,000745: 17,3134           23467                           LXCH     T6NEXT     +1                         
061462,000746: 17,3135           53471                           DXCH     T6FURTHA                              
061463,000747: 17,3136           00006                           EXTEND                                         
061464,000748: 17,3137           60031                           SU       TIME6                                 
061465,000749: 17,3140           53467                           DXCH     T6NEXT                                
061466,000750: 
061467,000751: 17,3141           00002                           TC       Q                                     
061468,000752: 
061469,000753: 17,3142           40000        LASTCHG            CS       A                                     
061470,000754: 17,3143           64754                           AD       NEG0                                  
061471,000755: 17,3144           55470                           TS       T6FURTHA                              
061472,000756: 
061473,000757: 17,3145           00002                           TC       Q                                     
061474,000758: 
061475,000759:                                                                                                  #  ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
061476,000760:                                                                                                  #  ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM.  IN THE U-V SYSTEM NO CROSS-COUPLING IS
061477,000761:                                                                                                  #  PRODUCED FROM RCS JET FIRINGS.  AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
061478,000762:                                                                                                  #  A AND THE V-COMPONENT IS IN L.
061479,000763: 
061480,000764: 17,3146           23740        ROT-TOUV           LXCH     ROTEMP2                               #  (R) IS PUT INTO ROTEMP2
061481,000765: 17,3147           00006                           EXTEND                                         
061482,000766: 17,3150           71627                           MP       COEFFQ                                
061483,000767: 17,3151           57740                           XCH      ROTEMP2                               #  (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
061484,000768: 17,3152           00006                           EXTEND                                         
061485,000769: 17,3153           71630                           MP       COEFFR                                
061486,000770: 17,3154           54001                           TS       L                                     #  COEFFR.(R) IS PUT INTO L
061487,000771: 17,3155           61740                           AD       ROTEMP2                               
061488,000772: 17,3156           55737                           TS       ROTEMP1                               #  COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
061489,000773: 17,3157           13163                           TCF      +4                                    
061490,000774: 17,3160           50000                           INDEX    A                                     #  COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
061491,000775: 17,3161           44734                           CS       LIMITS                                #  AND IS LIMITED TO POSMAX OR NEGMAX
061492,000776: 17,3162           55737                           TS       ROTEMP1                               
061493,000777: 17,3163           41740                           CS       ROTEMP2                               
061494,000778: 17,3164           60001                           AD       L                                     #  -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
061495,000779: 17,3165           54007                           TS       7                                     
061496,000780: 17,3166           13171                           TCF      +3                                    
061497,000781: 17,3167           50000                           INDEX    A                                     #  -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
061498,000782: 17,3170           44734                           CS       LIMITS                                #  AND IS LIMITED TO POSMAX OR NEGMAX
061499,000783: 17,3171           23737                           LXCH     ROTEMP1                               #  COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
061500,000784: 17,3172           00002                           TC       Q                                     
061501,000785: 17,3173           51744        SELCTSUB           INDEX    ROTINDEX                              
061502,000786: 17,3174           33225                           CA       ALLJETS                               
061503,000787: 17,3175           51743                           INDEX    NUMBERT                               
061504,000788: 17,3176           73231                           MASK     TYPEPOLY                              
061505,000789: 17,3177           55741                           TS       POLYTEMP                              

Page 1458

061507,000791: 17,3200           71262                           MASK     CH5MASK                               
061508,000792: 17,3201           10000                           CCS      A                                     
061509,000793: 17,3202           13204                           TCF      +2                                    
061510,000794: 
061511,000795: 17,3203           00002                           TC       Q                                     
061512,000796: 
061513,000797: 17,3204           36245                           CA       THREE                                 
061514,000798: 17,3205           55743        FAILOOP            TS       NUMBERT                               
061515,000799: 17,3206           51744                           INDEX    ROTINDEX                              
061516,000800: 17,3207           33225                           CA       ALLJETS                               
061517,000801: 17,3210           51743                           INDEX    NUMBERT                               
061518,000802: 17,3211           73231                           MASK     TYPEPOLY                              
061519,000803: 17,3212           55741                           TS       POLYTEMP                              
061520,000804: 17,3213           71262                           MASK     CH5MASK                               
061521,000805: 17,3214           00006                           EXTEND                                         
061522,000806: 17,3215           13203                           BZF      FAILOOP    -2                         
061523,000807: 17,3216           11743                           CCS      NUMBERT                               
061524,000808: 17,3217           13205                           TCF      FAILOOP                               
061525,000809: 17,3220           51505                           INDEX    AXISCTR                               
061526,000810: 17,3221           55525                           TS       TJU                                   
061527,000811: 17,3222           05567                           TC       ALARM                                 
061528,000812: 17,3223           02004                           OCT      02004                                 
061529,000813: 17,3224           12777                           TCF      NOROTAT                               
061530,000814: 17,3225           00110        ALLJETS            OCT      00110                                 #        -U      6 13
061531,000815: 17,3226           00022                           OCT      00022                                 #        -V      2 9
061532,000816: 17,3227           00204                           OCT      00204                                 #        +U      5 14
061533,000817: 17,3230           00041                           OCT      00041                                 #        +V      1 10
061534,000818: 17,3231           00125        TYPEPOLY           OCT      00125                                 #        -X      1 5 9 13
061535,000819: 17,3232           00252                           OCT      00252                                 #        +X      2 6 10 14
061536,000820: 17,3233           00146                           OCT      00146                                 #        A       2 5 10 13
061537,000821: 17,3234           00231                           OCT      00231                                 #        B       1 6 9 14
061538,000822: 17,3235           00377                           OCT      00377                                 #        ALL     1 2 5 6 9 10 13 14
061539,000823: 
061540,000824:                                                                                                  #  THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
061541,000825: 
061542,000826: 17,3236           33240        CLOSEOUT           CA       ADRRUPT                               
061543,000827: 17,3237           07754                           TC       MAKERUPT                              
061544,000828: 
061545,000829: 17,3240           03241        ADRRUPT            ADRES    ENDJASK                               
061546,000830: 
061547,000831: 17,3241           53754        ENDJASK            DXCH     DAPARUPT                              
061548,000832: 17,3242           52011                           DXCH     ARUPT                                 
061549,000833: 17,3243           53756                           DXCH     DAPBQRPT                              
061550,000834: 17,3244           56017                           XCH      BRUPT                                 
061551,000835: 17,3245           22002                           LXCH     Q                                     
061552,000836: 17,3246           34735                           CAF      NEGMAX                                #  NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
061553,000837: 17,3247           53760                           DXCH     DAPZRUPT                              
061554,000838: 17,3250           52016                           DXCH     ZRUPT                                 
061555,000839: 17,3251           15272                           TCF      NOQRSM                                

Page 1459

061557,000841:    7754                                           BLOCK    3                                     
061558,000842:    6000                                           SETLOC   FFTAG6                                
061559,000843:    6000                                           BANK                                           
061560,000844: 
061561,000845:    7754                                           COUNT*   $$/DAP                                
061562,000846: 
061563,000847:    7754           00006        MAKERUPT           EXTEND                                         
061564,000848:    7755           07754                           EDRUPT   MAKERUPT                              
061565,000849: 

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