Source Code

These source-code files were from the printout at the MIT Museum, with many thanks to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing it to us. The printout was digitally photographed by Paul Fjeld. A team of volunteers transcribed the source code manually from these images or, where appropriate, modified already-transcribed but similar source Luminary 131 (Apollo 13) source code to agree with the images from the printout. Note that the page images presented online are of reduced quality, and that higher-quality images are available. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061
	20'35 OCT. 28,1968
Note that the date is the date of the printout, not the date of the program revision.

062116,000002:                                                                                                  ## Copyright:   Public domain.
062117,000003:                                                                                                  ## Filename:    Q_R-AXIS_RCS_AUTOPILOT.agc
062118,000004:                                                                                                  ## Purpose:     Part of the source code for Luminary 1A build 099.
062119,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
062120,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 11.
062121,000007:                                                                                                  ## Assembler:   yaYUL
062122,000008:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
062123,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo.
062124,000010:                                                                                                  ## Pages:       1442-1459
062125,000011:                                                                                                  ## Mod history: 2009-05-27 RSB  Adapted from the corresponding 
062126,000012:                                                                                                  ##                              Luminary131 file, using page 
062127,000013:                                                                                                  ##                              images from Luminary 1A.
062128,000014:                                                                                                  ##              2009-06-07 RSB  Corrected "DEC 96.0" to "DEC 96", since
062129,000015:                                                                                                  ##                              the former is not compatible with yaYUL.
062130,000016:                                                                                                  ##              2011-01-06 JL   Fixed pseudo-label indentation.
062131,000017:                                                                                                  ##              2016-12-18 RSB  Proofed text comments with octopus/ProoferComments
062132,000018:                                                                                                  ##                              and corrected the errors found.
062133,000019:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
062134,000020:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
062135,000021:                                                                                                  ##              2017-08-29 MAS  Fixed a label (X0RULGE instead of XORULGE) and a
062136,000022:                                                                                                  ##                              comment text error found while transcribing Zerlina 56.
062137,000023: 
062138,000024:                                                                                                  ## This source code has been transcribed or otherwise adapted from
062139,000025:                                                                                                  ## digitized images of a hardcopy from the MIT Museum.  The digitization
062140,000026:                                                                                                  ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
062141,000027:                                                                                                  ## the Museum.  Many thanks to both.  The images (with suitable reduction
062142,000028:                                                                                                  ## in storage size and consequent reduction in image quality as well) are
062143,000029:                                                                                                  ## available online at www.ibiblio.org/apollo.  If for some reason you
062144,000030:                                                                                                  ## find that the images are illegible, contact me at info@sandroid.org
062145,000031:                                                                                                  ## about getting access to the (much) higher-quality images which Paul
062146,000032:                                                                                                  ## actually created.
062147,000033:                                                                                                  ##
062148,000034:                                                                                                  ## Notations on the hardcopy document read, in part:
062149,000035:                                                                                                  ##
062150,000036:                                                                                                  ##      Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
062151,000037:                                                                                                  ##      16:27 JULY 14, 1969 
062152,000038: 

Page 1442

062154,000040: 17,2072                                           BANK     17                                    
062155,000041: 17,2000                                           SETLOC   DAPS2                                 
062156,000042: 17,2000                                           BANK                                           
062157,000043: 
062158,000044: 17,2072  E6,1635                                  EBANK=   CDUXD                                 
062159,000045: 
062160,000046: 17,2072                                           COUNT*   $$/DAPQR                              
062161,000047: 
062162,000048: 17,2072           34737        CALLQERR           CA       BIT13                                 #  CALCULATE Q,R ERRORS UNLESS THESE AXES
062163,000049: 17,2073           00006                           EXTEND                                         #  ARE IN MANUAL RATE COMMAND.
062164,000050: 17,2074           02031                           RAND     CHAN31                                
062165,000051: 17,2075           10000                           CCS      A                                     
062166,000052: 17,2076           12103                           TCF      +5                                    #  IN AUTO COMPUTE Q,R ERRORS
062167,000053: 17,2077           40111                           CS       DAPBOOLS                              #  IN MANUAL RATE COMMAND?
062168,000054: 17,2100           74740                           MASK     OURRCBIT                              
062169,000055: 17,2101           00006                           EXTEND                                         
062170,000056: 17,2102           12104                           BZF      Q,RORGTS                              #  IF SO BYPASS CALCULATION OF ERRORS.
062171,000057: 17,2103           02626                           TC       QERRCALC                              
062172,000058: 
062173,000059: 17,2104           11631        Q,RORGTS           CCS      COTROLER                              #  CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
062174,000060: 17,2105           12607                           TCF      GOTOGTS                               #        GTS (ALTERNATES WITH RCS WHEN DOCKED)
062175,000061: 17,2106           12574                           TCF      TRYGTS                                #        GTS IF ALLOWED, OTHERWISE RCS
062176,000062: 17,2107           34755        RCS                CAF      ZERO                                  #        RCS (TRYGTS MAY BRANCH TO HERE)
062177,000063: 17,2110           55631                           TS       COTROLER                              
062178,000064: 
062179,000065: 17,2111           53437                           DXCH     EDOTQ                                 
062180,000066: 17,2112           03146                           TC       ROT-TOUV                              
062181,000067: 17,2113           53427                           DXCH     OMEGAU                                
062182,000068: 
062183,000069:                                                                                                  #  X - TRANSLATION:
062184,000070: 
062185,000071:                                                                                                  #  INPUT:        BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
062186,000072:                                                                                                  #                ULLAGER
062187,000073:                                                                                                  #                APSFLAG, DRIFTBIT
062188,000074:                                                                                                  #                ACC40R2X, ACRBTRAN
062189,000075: 
062190,000076:                                                                                                  #  OUTPUT:       NEXTU, NEXTV    CODES OF TRANSLATION FOR AFTER ROTATION
062191,000077:                                                                                                  #                SENSETYP        TELL ROTATION DIRECTION AND DESIRE
062192,000078: 
062193,000079:                                                                                                  #  X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR.  IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED.  A FAILURE
062194,000080:                                                                                                  #  WILL OVERRIDE THIS SPECIFICATION.  AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
062195,000081: 
062196,000082: 17,2114           34745        SENSEGET           CA       BIT7                                  #  INPUT BITS OVERRIDE THE INTERNAL BITS
062197,000083: 17,2115           00006                           EXTEND                                         #  SENSETYP WILL NOT OPPOSE ANYTRANS
062198,000084: 17,2116           02031                           RAND     CHAN31                                
062199,000085: 17,2117           00006                           EXTEND                                         
062200,000086: 17,2120           12146                           BZF      +XORULGE                              

Page 1443

062202,000088: 17,2121           34744                           CA       BIT8                                  
062203,000089: 17,2122           00006                           EXTEND                                         
062204,000090: 17,2123           02031                           RAND     CHAN31                                
062205,000091: 17,2124           00006                           EXTEND                                         
062206,000092: 17,2125           12147                           BZF      -XTRANS                               
062207,000093: 
062208,000094: 17,2126           34746                           CA       ULLAGER                               
062209,000095: 17,2127           70111                           MASK     DAPBOOLS                              
062210,000096: 17,2130           10000                           CCS      A                                     
062211,000097: 17,2131           12146                           TCF      +XORULGE                              
062212,000098: 
062213,000099: 17,2132           55473                           TS       NEXTU                                 #  STORE NULL TRANSLATION POLICIES
062214,000100: 17,2133           55474                           TS       NEXTV                                 
062215,000101: 17,2134           40111                           CS       DAPBOOLS                              #  BURNING OR DRIFTING?
062216,000102: 17,2135           74744                           MASK     DRIFTBIT                              
062217,000103: 17,2136           00006                           EXTEND                                         
062218,000104: 17,2137           12144                           BZF      TSENSE                                
062219,000105: 17,2140           30106                           CA       FLGWRD10                              #  DPS (INCLUDING DOCKED) OR APS?
062220,000106: 17,2141           74737                           MASK     APSFLBIT                              
062221,000107: 17,2142           10000                           CCS      A                                     
062222,000108: 17,2143           34752                           CAF      TWO                                   #  FAVOR +X JETS DURING AN APS BURN.
062223,000109: 17,2144           55500        TSENSE             TS       SENSETYP                              
062224,000110: 17,2145           12200                           TCF      QRCONTRL                              
062225,000111: 
062226,000112: 17,2146           34753        +XORULGE           CAF      ONE                                   
062227,000113: 17,2147           64751        -XTRANS            AD       FOUR                                  
062228,000114: 17,2150           55744                           TS       ROTINDEX                              
062229,000115: 17,2151           67745                           AD       NEG3                                  
062230,000116: 17,2152           55500                           TS       SENSETYP                              #  FAVOR APPROPRIATE JETS DURING TRANS.
062231,000117: 17,2153           30111                           CA       DAPBOOLS                              
062232,000118: 17,2154           74741                           MASK     ACC4OR2X                              
062233,000119: 17,2155           10000                           CCS      A                                     
062234,000120: 17,2156           12321                           TCF      TRANS4                                
062235,000121: 
062236,000122: 17,2157           30111                           CA       DAPBOOLS                              
062237,000123: 17,2160           74742                           MASK     AORBTRAN                              
062238,000124: 17,2161           10000                           CCS      A                                     
062239,000125: 17,2162           34753                           CA       ONE                                   #  THREE FOR B
062240,000126: 17,2163           64752                           AD       TWO                                   #  TWO FOR A SYSTEM 2 JET X TRANS
062241,000127: 17,2164           55743        TSNUMBRT           TS       NUMBERT                               
062242,000128: 
062243,000129: 17,2165           03173                           TC       SELCTSUB                              
062244,000130: 
062245,000131: 17,2166           11741                           CCS      POLYTEMP                              
062246,000132: 17,2167           12172                           TCF      +3                                    
062247,000133: 17,2170           05567                           TC       ALARM                                 
062248,000134: 17,2171           02002                           OCT      02002                                 
062249,000135: 17,2172           35774                           CA       00314OCT                              
062250,000136: 17,2173           71741                           MASK     POLYTEMP                              
062251,000137: 17,2174           55473        TSNEXTS            TS       NEXTU                                 

Page 1444

062253,000139: 17,2175           45774                           CS       00314OCT                              
062254,000140: 17,2176           71741                           MASK     POLYTEMP                              
062255,000141: 17,2177           55474                           TS       NEXTV                                 
062256,000142: 
062257,000143:                                                                                                  #  Q,R-AXES RCS CONTROL MODE SELECTION
062258,000144:                                                                                                  #        SWITCHES        INDICATION WHEN SET
062259,000145:                                                                                                  #        BIT13/CHAN31    AUTO, GO TO ATTSTEER
062260,000146:                                                                                                  #        PULSES          MINIMUM IMPULSE MODE
062261,000147:                                                                                                  #        (OTHERWISE)     RATE COMMAND/ATTITUDE HOLD MODE
062262,000148: 
062263,000149: 17,2200           34737        QRCONTRL           CA       BIT13                                 #  CHECK MODE SELECT SWITCH.
062264,000150: 17,2201           00006                           EXTEND                                         
062265,000151: 17,2202           02031                           RAND     CHAN31                                #  BITS INVERTED
062266,000152: 17,2203           10000                           CCS      A                                     
062267,000153: 17,2204           12661                           TCF      ATTSTEER                              
062268,000154: 17,2205           34735        CHKBIT10           CAF      PULSES                                #  PULSES = 1 FOR MIN IMP USE OF RHC
062269,000155: 17,2206           70111                           MASK     DAPBOOLS                              
062270,000156: 17,2207           00006                           EXTEND                                         
062271,000157: 17,2210           12323                           BZF      CHEKSTIK                              #  IN ATT-HOLD/RATE-COMMAND IF BIT10=0
062272,000158: 
062273,000159:                                                                                                  #  MINIMUM IMPULSE MODE
062274,000160: 
062275,000161: 17,2211           00004                           INHINT                                         
062276,000162: 17,2212           04674                           TC       IBNKCALL                              
062277,000163: 17,2213           40153                           CADR     ZATTEROR                              
062278,000164: 17,2214           34755                           CA       ZERO                                  
062279,000165: 17,2215           55450                           TS       QERROR                                
062280,000166: 17,2216           55452                           TS       RERROR                                #  FOR DISPLAYS
062281,000167: 17,2217           00003                           RELINT                                         
062282,000168: 
062283,000169: 17,2220           00006                           EXTEND                                         
062284,000170: 17,2221           00031                           READ     CHAN31                                
062285,000171: 17,2222           55737                           TS       TEMP31                                #  IS EQUAL TO DAPTEMP1
062286,000172: 17,2223           11461                           CCS      OLDQRMIN                              
062287,000173: 17,2224           12246                           TCF      CHECKIN                               
062288,000174: 
062289,000175: 17,2225           31737        FIREQR             CA       TEMP31                                
062290,000176: 17,2226           74753                           MASK     BIT1                                  
062291,000177: 17,2227           00006                           EXTEND                                         
062292,000178: 17,2230           12252                           BZF      +QMIN                                 
062293,000179: 
062294,000180: 17,2231           31737                           CA       TEMP31                                
062295,000181: 17,2232           74752                           MASK     BIT2                                  
062296,000182: 17,2233           00006                           EXTEND                                         
062297,000183: 17,2234           12256                           BZF      -QMIN                                 
062298,000184: 
062299,000185: 17,2235           31737                           CA       TEMP31                                
062300,000186: 17,2236           74747                           MASK     BIT5                                  

Page 1445

062302,000188: 17,2237           00006                           EXTEND                                         
062303,000189: 17,2240           12262                           BZF      +RMIN                                 
062304,000190: 
062305,000191: 17,2241           31737                           CA       TEMP31                                
062306,000192: 17,2242           74746                           MASK     BIT6                                  
062307,000193: 17,2243           00006                           EXTEND                                         
062308,000194: 17,2244           12264                           BZF      -RMIN                                 
062309,000195: 
062310,000196: 17,2245           13063                           TCF      XTRANS                                
062311,000197: 
062312,000198: 17,2246           41737        CHECKIN            CS       TEMP31                                
062313,000199: 17,2247           72320                           MASK     OCT63                                 
062314,000200: 17,2250           55461                           TS       OLDQRMIN                              
062315,000201: 17,2251           13063                           TCF      XTRANS                                
062316,000202: 
062317,000203: 17,2252           33107        +QMIN              CA       14MS                                  
062318,000204: 17,2253           55525                           TS       TJU                                   
062319,000205: 17,2254           43107                           CS       14MS                                  
062320,000206: 17,2255           12266                           TCF      MINQR                                 
062321,000207: 17,2256           43107        -QMIN              CS       14MS                                  
062322,000208: 17,2257           55525                           TS       TJU                                   
062323,000209: 17,2260           33107                           CA       14MS                                  
062324,000210: 17,2261           12266                           TCF      MINQR                                 
062325,000211: 17,2262           33107        +RMIN              CA       14MS                                  
062326,000212: 17,2263           12265                           TCF      +2                                    
062327,000213: 17,2264           43107        -RMIN              CS       14MS                                  
062328,000214: 17,2265           55525                           TS       TJU                                   
062329,000215: 17,2266           55526        MINQR              TS       TJV                                   
062330,000216: 17,2267           32317                           CA       MINADR                                
062331,000217: 17,2270           55477                           TS       RETJADR                               
062332,000218: 17,2271           34753                           CA       ONE                                   
062333,000219: 17,2272           55461                           TS       OLDQRMIN                              
062334,000220: 17,2273           55505        MINRTN             TS       AXISCTR                               
062335,000221: 17,2274           30111                           CA       DAPBOOLS                              
062336,000222: 17,2275           74737                           MASK     CSMDOCKD                              
062337,000223: 17,2276           00006                           EXTEND                                         
062338,000224: 17,2277           12307                           BZF      MIMRET                                
062339,000225: 17,2300           51505                           INDEX    AXISCTR                               #  IF DOCKED, USE 60MS MINIMUM IMPULSE
062340,000226: 17,2301           11525                           CCS      TJU                                   
062341,000227: 17,2302           32316                           CA       60MS                                  
062342,000228: 17,2303           12305                           TCF      +2                                    
062343,000229: 17,2304           42316                           CS       60MS                                  
062344,000230: 17,2305           51505                           INDEX    AXISCTR                               
062345,000231: 17,2306           55525                           TS       TJU                                   
062346,000232: 17,2307           30111        MIMRET             CA       DAPBOOLS                              
062347,000233: 17,2310           74742                           MASK     AORBTRAN                              
062348,000234: 17,2311           10000                           CCS      A                                     
062349,000235: 17,2312           34753                           CA       ONE                                   
062350,000236: 17,2313           64752                           AD       TWO                                   
062351,000237: 17,2314           55743                           TS       NUMBERT                               

Page 1446

062353,000239: 17,2315           12727                           TCF      AFTERTJ                               
062354,000240: 
062355,000241: 17,2316           00140        60MS               DEC      96.0                                  
062356,000242: 17,2317           02273        MINADR             GENADR   MINRTN                                
062357,000243: 17,2320           00063        OCT63              OCT      63                                    
062358,000244: 17,2321  17,3107               14MS               =        +TJMINT6                              
062359,000245: 
062360,000246: 17,2321           34751        TRANS4             CA       FOUR                                  
062361,000247: 17,2322           12164                           TCF      TSNUMBRT                              
062362,000248: 
062363,000249:                                                                                                  #  RATE COMMAND MODE:
062364,000250: 
062365,000251:                                                                                                  #  DESCRIPTION (SAME AS P-AXIS)
062366,000252: 
062367,000253: 17,2323           55633        CHEKSTIK           TS       INGTS                                 #  NOT IN GTS WHEN IN ATT HOLD
062368,000254: 17,2324           44753                           CS       ONE                                   #  1/ACCS WILL DO THE NULLING DRIVES
062369,000255: 17,2325           55631                           TS       COTROLER                              #  COME BACK TO RCS NEXT TIME
062370,000256: 17,2326           34735                           CA       BIT15                                 
062371,000257: 17,2327           71443                           MASK     CH31TEMP                              
062372,000258: 17,2330           00006                           EXTEND                                         
062373,000259: 17,2331           12350                           BZF      RHCACTIV                              #  BRANCH IF OUT OF DETENT.
062374,000260: 17,2332           34740                           CA       OURRCBIT                              #  ***********
062375,000261: 17,2333           70111                           MASK     DAPBOOLS                              #  *IN DETENT*   CHECK FOR MANUAL CONTROL
062376,000262: 17,2334           00006                           EXTEND                                         #  ***********   LAST TIME.
062377,000263: 17,2335           12661                           BZF      STILLRCS                              
062378,000264: 17,2336           44743                           CS       BIT9                                  
062379,000265: 17,2337           71273                           MASK     RCSFLAGS                              
062380,000266: 17,2340           55273                           TS       RCSFLAGS                              #  BIT 9 IS 0.
062381,000267: 17,2341           12345                           TCF      DAMPING                               
062382,000268: 17,2342           00050        40CYCL             OCT      50                                    
062383,000269: 17,2343           00001        1/10S              OCT      1                                     
062384,000270: 17,2344           00056        LINRAT             DEC      46         B-14                       
062385,000271: 
062386,000272:                                                                                                  #  ================================
062387,000273: 
062388,000274: 17,2345           34755        DAMPING            CA       ZERO                                  
062389,000275: 17,2346           55462                           TS       SAVEHAND                              
062390,000276: 17,2347           55463                           TS       SAVEHAND   +1                         
062391,000277: 17,2350           11462        RHCACTIV           CCS      SAVEHAND                              #  *******************
062392,000278: 17,2351           12354                           TCF      +3                                    #  Q,R MANUAL CONTROL    WC = A*(B+|D|)*D
062393,000279: 17,2352           12354                           TCF      +2                                    #  *******************
062394,000280: 17,2353           12354                           TCF      +1                                    
062395,000281: 17,2354           60000                           DOUBLE                                         #  WHERE
062396,000282: 17,2355           60000                           DOUBLE                                         
062397,000283: 17,2356           62344                           AD       LINRAT                                #        WC  = COMMANDED ROTATIONAL RATE
062398,000284: 17,2357           00006                           EXTEND                                         #        A   = QUADRATIC SENSITIVITY FACTOR
062399,000285: 17,2360           71462                           MP       SAVEHAND                              #        B   = LINEAR/QUADRATIC SENSITIVITY
062400,000286: 17,2361           30001                           CA       L                                     #        |D| = ABS. VALUE OF DEFLECTION
062401,000287: 17,2362           00006                           EXTEND                                         #        D   = HAND CONTROLLER DEFLECTION
062402,000288: 17,2363           71444                           MP       STIKSENS                              
062403,000289: 17,2364           57455                           XCH      QLAST                                 #  COMMAND Q RATE     SCALED 45 DEG/SEC
062404,000290: 17,2365           40000                           COM                                            

Page 1447

062406,000292: 17,2366           61455                           AD       QLAST                                 
062407,000293: 17,2367           55741                           TS       DAPTEMP3                              
062408,000294: 17,2370           11463                           CCS      SAVEHAND   +1                         
062409,000295: 17,2371           12374                           TCF      +3                                    
062410,000296: 17,2372           12374                           TCF      +2                                    
062411,000297: 17,2373           12374                           TCF      +1                                    
062412,000298: 17,2374           60000                           DOUBLE                                         
062413,000299: 17,2375           60000                           DOUBLE                                         
062414,000300: 17,2376           62344                           AD       LINRAT                                
062415,000301: 17,2377           00006                           EXTEND                                         
062416,000302: 17,2400           71463                           MP       SAVEHAND   +1                         
062417,000303: 17,2401           30001                           CA       L                                     
062418,000304: 17,2402           00006                           EXTEND                                         
062419,000305: 17,2403           71444                           MP       STIKSENS                              
062420,000306: 17,2404           57456                           XCH      RLAST                                 
062421,000307: 17,2405           40000                           COM                                            
062422,000308: 17,2406           61456                           AD       RLAST                                 
062423,000309: 17,2407           55742                           TS       DAPTEMP4                              
062424,000310: 17,2410           41455                           CS       QLAST                                 #  INTERVAL.
062425,000311: 17,2411           61422                           AD       OMEGAQ                                
062426,000312: 17,2412           55436                           TS       QRATEDIF                              
062427,000313: 17,2413           41456                           CS       RLAST                                 
062428,000314: 17,2414           61423                           AD       OMEGAR                                
062429,000315: 17,2415           55437                           TS       RRATEDIF                              
062430,000316: 17,2416           53437        ENTERQR            DXCH     QRATEDIF                              #  TRANSFORM RATES FROM Q,R TO U,V AXES
062431,000317: 17,2417           03146                           TC       ROT-TOUV                              
062432,000318: 17,2420           53427                           DXCH     URATEDIF                              
062433,000319: 17,2421           11741                           CCS      DAPTEMP3                              #  CHECK IF Q COMMAND CHANGE EXCEEDS
062434,000320: 17,2422           02425                           TC       +3                                    #  BREAKOUT LEVEL.  IF NOT, CHECK R.
062435,000321: 17,2423           02425                           TC       +2                                    
062436,000322: 17,2424           02425                           TC       +1                                    
062437,000323: 17,2425           61476                           AD       -RATEDB                               
062438,000324: 17,2426           00006                           EXTEND                                         
062439,000325: 17,2427           62431                           BZMF     +2                                    
062440,000326: 17,2430           12447                           TCF      ENTERUV    -2                         #  BREAKOUT LEVEL EXCEEDED.  DIRECT RATE.
062441,000327: 17,2431           11742                           CCS      DAPTEMP4                              #  R COMMAND BREAKOUT CHECK.
062442,000328: 17,2432           02435                           TC       +3                                    
062443,000329: 17,2433           02435                           TC       +2                                    
062444,000330: 17,2434           02435                           TC       +1                                    
062445,000331: 17,2435           61476                           AD       -RATEDB                               
062446,000332: 17,2436           00006                           EXTEND                                         
062447,000333: 17,2437           62441                           BZMF     +2                                    
062448,000334: 17,2440           12447                           TCF      ENTERUV    -2                         #  BREAKOUT LEVEL EXCEEDED.  DIRECT RATE.
062449,000335: 17,2441           31273                           CA       RCSFLAGS                              #  BREAKOUT LEVEL NOT EXCEEDED.  CHECK FOR
062450,000336: 17,2442           74741                           MASK     QRBIT                                 #  DIRECT RATE CONTROL LAST TIME.
062451,000337: 17,2443           00006                           EXTEND                                         
062452,000338: 17,2444           12446                           BZF      +2                                    
062453,000339: 17,2445           12451                           TCF      ENTERUV                               #  CONTINUE DIRECT RATE CONTROL.
062454,000340: 17,2446           12661                           TCF      STILLRCS                              #  PSEUDO-AUTO CONTROL.
062455,000341: 17,2447           32342                           CA       40CYCL                                

Page 1448

062457,000343: 17,2450           55457                           TS       TCQR                                  
062458,000344: 17,2451           00004        ENTERUV            INHINT                                         #  DIRECT RATE CONTROL.
062459,000345: 17,2452           04674                           TC       IBNKCALL                              
062460,000346: 17,2453           40153                           FCADR    ZATTEROR                              
062461,000347: 17,2454           00003                           RELINT                                         
062462,000348: 17,2455           34755                           CA       ZERO                                  
062463,000349: 17,2456           55450                           TS       DYERROR                               
062464,000350: 17,2457           55451                           TS       DYERROR    +1                         
062465,000351: 17,2460           55452                           TS       DZERROR                               
062466,000352: 17,2461           55453                           TS       DZERROR    +1                         
062467,000353: 17,2462           11426                           CCS      URATEDIF                              
062468,000354: 17,2463           12466                           TCF      +3                                    
062469,000355: 17,2464           12466                           TCF      +2                                    
062470,000356: 17,2465           12466                           TCF      +1                                    
062471,000357: 17,2466           61476                           AD       TARGETDB                              #  IF TARGET DB IS EXCEEDED, CONTINUE
062472,000358: 17,2467           00006                           EXTEND                                         #  DIRECT RATE CONTROL.
062473,000359: 17,2470           62504                           BZMF     VDB                                   
062474,000360: 17,2471           11427                           CCS      VRATEDIF                              
062475,000361: 17,2472           12475                           TCF      +3                                    
062476,000362: 17,2473           12475                           TCF      +2                                    
062477,000363: 17,2474           12475                           TCF      +1                                    
062478,000364: 17,2475           61476                           AD       TARGETDB                              
062479,000365: 17,2476           00006                           EXTEND                                         
062480,000366: 17,2477           62501                           BZMF     +2                                    
062481,000367: 17,2500           12515                           TCF      QRTIME                                
062482,000368: 17,2501           34755                           CA       ZERO                                  
062483,000369: 17,2502           55427                           TS       VRATEDIF                              
062484,000370: 17,2503           12515                           TCF      QRTIME                                
062485,000371: 17,2504           11427        VDB                CCS      VRATEDIF                              
062486,000372: 17,2505           02510                           TC       +3                                    
062487,000373: 17,2506           02510                           TC       +2                                    
062488,000374: 17,2507           02510                           TC       +1                                    
062489,000375: 17,2510           61476                           AD       TARGETDB                              #  IF TARGET DB IS EXCEEDED, CONTINUE
062490,000376: 17,2511           00006                           EXTEND                                         #  DIRECT RATE CONTROL.  IF NOT, FIRE AND
062491,000377: 17,2512           62524                           BZMF     TOPSEUDO                              #  SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
062492,000378: 17,2513           34755                           CA       ZERO                                  #  PASS.
062493,000379: 17,2514           55426                           TS       URATEDIF                              
062494,000380: 17,2515           31457        QRTIME             CA       TCQR                                  #  DIRECT RATE TIME CHECK.
062495,000381: 17,2516           00006                           EXTEND                                         
062496,000382: 17,2517           62524                           BZMF     +5                                    #  BRANCH IF TIME EXCEEDS 4 SEC.
062497,000383: 17,2520           41273                           CS       RCSFLAGS                              
062498,000384: 17,2521           74741                           MASK     QRBIT                                 
062499,000385: 17,2522           27273                           ADS      RCSFLAGS                              #  BIT 11 IS 1.
062500,000386: 17,2523           02527                           TC       +4                                    
062501,000387: 17,2524           44741        TOPSEUDO           CS       QRBIT                                 
062502,000388: 17,2525           71273                           MASK     RCSFLAGS                              
062503,000389: 17,2526           55273                           TS       RCSFLAGS                              #  BIT 11 IS 0.
062504,000390: 17,2527           32573                           CA       HANDADR                               
062505,000391: 17,2530           55477                           TS       RETJADR                               
062506,000392: 17,2531           34753                           CA       ONE                                   
062507,000393: 

Page 1449

062509,000395: 17,2532           55505        BACKHAND           TS       AXISCTR                               
062510,000396: 
062511,000397: 17,2533           34751                           CA       FOUR                                  
062512,000398: 17,2534           55743                           TS       NUMBERT                               
062513,000399: 
062514,000400: 17,2535           51505                           INDEX    AXISCTR                               
062515,000401: 17,2536           51535                           INDEX    SKIPU                                 
062516,000402: 17,2537           12540                           TCF      +1                                    
062517,000403: 17,2540           34751                           CA       FOUR                                  
062518,000404: 17,2541           51505                           INDEX    AXISCTR                               
062519,000405: 17,2542           55535                           TS       SKIPU                                 
062520,000406: 17,2543           13005                           TCF      LOOPER                                
062521,000407: 
062522,000408: 17,2544           51505                           INDEX    AXISCTR                               
062523,000409: 17,2545           11426                           CCS      URATEDIF                              #        INDEX   AXIS    QUANITY
062524,000410: 17,2546           34755                           CA       ZERO                                  #        0       -U      1/JETACC-AOSU
062525,000411: 17,2547           12551                           TCF      +2                                    #        1       +U      1/JETACC+AOSU
062526,000412: 17,2550           34753                           CA       ONE                                   #        16      -V      1/JETACC-AOSV
062527,000413: 17,2551           51505                           INDEX    AXISCTR                               #        17      +V      1/JETACC+AOSV
062528,000414: 17,2552           63722                           AD       AXISDIFF                              #  JETACC = 2 JET ACCELERATION (1 FOR FAIL)
062529,000415: 
062530,000416: 17,2553           50000                           INDEX    A                                     
062531,000417: 17,2554           41571                           CS       1/ANET2    +1                         
062532,000418: 17,2555           00006                           EXTEND                                         
062533,000419: 17,2556           51505                           INDEX    AXISCTR                               #  URATEDIF IS SCALED AT PI/4 RAD/SEC
062534,000420: 17,2557           71426                           MP       URATEDIF                              #  JET TIME IN A       SCALED 32 SEC
062535,000421: 17,2560           54002                           TS       Q                                     
062536,000422: 17,2561           20001                           DAS      A                                     
062537,000423: 17,2562           60002                           AD       Q                                     
062538,000424: 17,2563           54000                           TS       A                                     #  OVERFLOW SKIP
062539,000425: 17,2564           12566                           TCF      +2                                    
062540,000426: 17,2565           30002                           CA       Q                                     #  RIGHT SIGN AND BIGGER THAN 150MS
062541,000427: 17,2566           51505        SETTIME            INDEX    AXISCTR                               
062542,000428: 17,2567           55525                           TS       TJU                                   #  SCALED AT 10.67 WHICH IS CLOSE TO 10.24
062543,000429: 17,2570           12727                           TCF      AFTERTJ                               
062544,000430: 
062545,000431: 17,2571           34755        ZEROTJ             CA       ZERO                                  
062546,000432: 17,2572           12566                           TCF      SETTIME                               
062547,000433: 
062548,000434: 17,2573           02532        HANDADR            GENADR   BACKHAND                              
062549,000435: 
062550,000436:                                                                                                  #  GTS WILL BE TRIED IF
062551,000437:                                                                                                  #        1. USEQRJTS = 0,
062552,000438:                                                                                                  #        2. ALLOWGTS POS,
062553,000439:                                                                                                  #        3. JETS ARE OFF (Q,R-AXES)
062554,000440: 
062555,000441: 17,2574           34736        TRYGTS             CAF      USEQRJTS                              #  IS JET USE MANDATORY.         (AS LONG AS
062556,000442: 17,2575           70111                           MASK     DAPBOOLS                              #  USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
062557,000443: 17,2576           10000                           CCS      A                                     
062558,000444: 17,2577           12107                           TCF      RCS                                   
062559,000445: 17,2600           11502                           CCS      ALLOWGTS                              #  NO.  DOES AOSTASK OK CONTROL FOR GTS?

Page 1450

062561,000447: 17,2601           12603                           TCF      +2                                    
062562,000448: 17,2602           12107                           TCF      RCS                                   
062563,000449: 17,2603           00006                           EXTEND                                         
062564,000450: 17,2604           00005                           READ     CHAN5                                 
062565,000451: 17,2605           10000                           CCS      A                                     
062566,000452: 17,2606           12612                           TCF      CHKINGTS                              
062567,000453: 17,2607           00006        GOTOGTS            EXTEND                                         
062568,000454: 17,2610           32625                           DCA      GTSCADR                               
062569,000455: 17,2611           52006                           DTCB                                           
062570,000456: 
062571,000457: 17,2612           11633        CHKINGTS           CCS      INGTS                                 #  WAS THE TRIM GIMBAL CONTROLLING
062572,000458: 17,2613           12615                           TCF      +2                                    #        YES.  SET UP A DAMPED NULLING DRIVE.
062573,000459: 17,2614           12107                           TCF      RCS                                   #        NO.  NULLING WAS SET UP BEFORE.  DO RCS
062574,000460: 17,2615           00004                           INHINT                                         
062575,000461: 17,2616           04674                           TC       IBNKCALL                              
062576,000462: 17,2617           43330                           CADR     TIMEGMBL                              
062577,000463: 17,2620           00003                           RELINT                                         
062578,000464: 17,2621           34755                           CAF      ZERO                                  
062579,000465: 17,2622           55633                           TS       INGTS                                 
062580,000466: 17,2623           12107                           TCF      RCS                                   
062581,000467: 
062582,000468: 17,2624  E6,1635                                  EBANK=   CDUXD                                 
062583,000469: 17,2624           03077 42106  GTSCADR            2CADR    GTS                                   
062584,000470: 

Page 1451

062586,000472:                                                                                                  #  SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
062587,000473: 
062588,000474: 17,2626           30033        QERRCALC           CAE      CDUY                                  #  Q-ERROR CALCULATION
062589,000475: 17,2627           00006                           EXTEND                                         
062590,000476: 17,2630           21636                           MSU      CDUYD                                 #  CDU ANGLE - ANGLE DESIRED (Y-AXIS)
062591,000477: 17,2631           55737                           TS       DAPTEMP1                              #  SAVE FOR RERRCALC
062592,000478: 17,2632           00006                           EXTEND                                         
062593,000479: 17,2633           71415                           MP       M21                                   #  (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
062594,000480: 17,2634           55752                           TS       E                                     
062595,000481: 17,2635           30034                           CAE      CDUZ                                  #  SECOND TERM CALCULATION:
062596,000482: 17,2636           00006                           EXTEND                                         
062597,000483: 17,2637           21637                           MSU      CDUZD                                 #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
062598,000484: 17,2640           55740                           TS       DAPTEMP2                              #  SAVE FOR RERRCALC
062599,000485: 17,2641           00006                           EXTEND                                         
062600,000486: 17,2642           71417                           MP       M22                                   #  (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
062601,000487: 17,2643           61300                           AD       DELQEROR                              #  KALCMANU INERFACE ERROR
062602,000488: 17,2644           61752                           AD       E                                     
062603,000489: 17,2645           57450                           XCH      QERROR                                #  SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
062604,000490: 
062605,000491: 17,2646           31737        RERRCALC           CAE      DAPTEMP1                              #  R-ERROR CALCULATION:
062606,000492: 17,2647           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Y-AXIS)
062607,000493: 17,2650           71416                           MP       M31                                   #  (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
062608,000494: 17,2651           55752                           TS       E                                     
062609,000495: 17,2652           31740                           CAE      DAPTEMP2                              #  SECOND TERM CALCULATION:
062610,000496: 17,2653           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
062611,000497: 17,2654           71420                           MP       M32                                   #  (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
062612,000498: 17,2655           61301                           AD       DELREROR                              #  KALCMANU INERFACE ERROR
062613,000499: 17,2656           61752                           AD       E                                     
062614,000500: 17,2657           57452                           XCH      RERROR                                #  SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
062615,000501: 17,2660           00002                           TC       Q                                     
062616,000502: 

Page 1452

062618,000504:                                                                                                  #  "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
062619,000505: 
062620,000506: 17,2661  17,2661               ATTSTEER           EQUALS   STILLRCS                              #  "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
062621,000507: 
062622,000508: 17,2661           31452        STILLRCS           CA       RERROR                                
062623,000509: 17,2662           22000                           LXCH     A                                     
062624,000510: 17,2663           31450                           CA       QERROR                                
062625,000511: 17,2664           03146                           TC       ROT-TOUV                              
062626,000512: 17,2665           53752                           DXCH     UERROR                                
062627,000513: 
062628,000514:                                                                                                  #  PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
062629,000515:                                                                                                  #  PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
062630,000516: 
062631,000517: 17,2666           33113        TJLAW              CA       TJLAWADR                              
062632,000518: 17,2667           55477                           TS       RETJADR                               
062633,000519: 17,2670           34753                           CA       ONE                                   
062634,000520: 17,2671           55505                           TS       AXISCTR                               
062635,000521: 17,2672           51505                           INDEX    AXISCTR                               
062636,000522: 17,2673           51535                           INDEX    SKIPU                                 
062637,000523: 17,2674           12675                           TCF      +1                                    
062638,000524: 17,2675           34751                           CA       FOUR                                  
062639,000525: 17,2676           51505                           INDEX    AXISCTR                               
062640,000526: 17,2677           55535                           TS       SKIPU                                 
062641,000527: 17,2700           13005                           TCF      LOOPER                                
062642,000528: 17,2701           51505                           INDEX    AXISCTR                               
062643,000529: 17,2702           31751                           CA       UERROR                                
062644,000530: 17,2703           55752                           TS       E                                     
062645,000531: 17,2704           51505                           INDEX    AXISCTR                               
062646,000532: 17,2705           31426                           CA       OMEGAU                                
062647,000533: 17,2706           55427                           TS       EDOT                                  
062648,000534: 17,2707           30111                           CA       DAPBOOLS                              
062649,000535: 17,2710           74737                           MASK     CSMDOCKD                              
062650,000536: 17,2711           10000                           CCS      A                                     
062651,000537: 17,2712           12715                           TCF      +3                                    
062652,000538: 17,2713           03252                           TC       TJETLAW                               
062653,000539: 17,2714           12727                           TCF      AFTERTJ                               
062654,000540: 17,2715           40111                 +3        CS       DAPBOOLS                              #  DOCKED.  IF GIMBAL USABLE DO GTS CONTROL
062655,000541: 17,2716           74736                           MASK     USEQRJTS                              #        ON THE NEXT PASS.
062656,000542: 17,2717           10000                           CCS      A                                     #  USEQRJTS BIT MUST NOT BE BIT 15.
062657,000543: 17,2720           55631                           TS       COTROLER                              #  GIMBAL USABLE.  STORE POSITIVE VALUE.
062658,000544: 17,2721           00004                           INHINT                                         
062659,000545: 17,2722           04674                           TC       IBNKCALL                              
062660,000546: 17,2723           43727                           CADR     SPSRCS                                #  DETERMINE RCS CONTROL
062661,000547: 17,2724           00003                           RELINT                                         
062662,000548: 17,2725           34751                           CAF      FOUR                                  #  ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
062663,000549: 17,2726           55743                           TS       NUMBERT                               #  FALL THROUGH TO JET SELECTION, ETC.
062664,000550: 
062665,000551:                                                                                                  #  Q,R-JET-SELECTION-LOGIC
062666,000552: 
062667,000553:                                                                                                  #  INPUT:        AXISCTR         0,1 FOR U,V
062668,000554:                                                                                                  #                SNUFFBIT        ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN

Page 1453

062670,000556:                                                                                                  #                TJU,TJV         JET TIME SCALED 10.24 SEC.
062671,000557:                                                                                                  #                NUMBERT         INDICATES NUMBER OF JETS AND TYPE OF POLICY
062672,000558:                                                                                                  #                RETJADR         WHERE TO RETURN TO
062673,000559: 
062674,000560:                                                                                                  #  OUTPUT:       NO.U(V)JETS     RATE DERIVATION FEEDBACK
062675,000561:                                                                                                  #                CHANNEL 5
062676,000562:                                                                                                  #                SKIPU,SKIRV     FOR LESS THAN 150MS FIRING
062677,000563: 
062678,000564:                                                                                                  #  NOTES:        IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED
062679,000565:                                                                                                  #                JETS OF THE DESIRED POLICY ARE SELECTED.  SINCE THERE ARE ONLY
062680,000566:                                                                                                  #                TWO JETS, THIS MEANS THE OTHER ONE OR NONE.  THE ALARM IS SENT
062681,000567:                                                                                                  #                IF NONE CAN BE FOUND.
062682,000568: 
062683,000569:                                                                                                  #                TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
062684,000570:                                                                                                  #                MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
062685,000571: 
062686,000572: 17,2727           30101        AFTERTJ            CA       FLAGWRD5                              #  IF SNUFFBIT SET DURING A DPS BURN GO TO
062687,000573: 17,2730           74737                           MASK     SNUFFBIT                              #  XTRANS; THAT IS, INHIBIT CONTROL.
062688,000574: 17,2731           00006                           EXTEND                                         
062689,000575: 17,2732           12743                           BZF      DOROTAT                               
062690,000576: 17,2733           40106                           CS       FLGWRD10                              
062691,000577: 17,2734           74737                           MASK     APSFLBIT                              
062692,000578: 17,2735           00006                           EXTEND                                         
062693,000579: 17,2736           12743                           BZF      DOROTAT                               
062694,000580: 17,2737           30111                           CA       DAPBOOLS                              
062695,000581: 17,2740           74744                           MASK     DRIFTBIT                              
062696,000582: 17,2741           00006                           EXTEND                                         
062697,000583: 17,2742           13063                           BZF      XTRANS                                
062698,000584: 
062699,000585: 17,2743           34752        DOROTAT            CAF      TWO                                   
062700,000586: 17,2744           54001                           TS       L                                     
062701,000587: 17,2745           51505                           INDEX    AXISCTR                               
062702,000588: 17,2746           11525                           CCS      TJU                                   
062703,000589: 17,2747           12754                           TCF      +5                                    
062704,000590: 17,2750           12777                           TCF      NOROTAT                               
062705,000591: 17,2751           12753                           TCF      +2                                    
062706,000592: 17,2752           12777                           TCF      NOROTAT                               
062707,000593: 17,2753           22007                           ZL                                             
062708,000594: 17,2754           64753                           AD       ONE                                   
062709,000595: 17,2755           55737                           TS       ABSTJ                                 
062710,000596: 
062711,000597: 17,2756           31505                           CA       AXISCTR                               
062712,000598: 17,2757           60001                           AD       L                                     
062713,000599: 17,2760           55744                           TS       ROTINDEX                              #  0 1 2 3 = -U -V -+U +V
062714,000600: 
062715,000601: 17,2761           31737                           CA       ABSTJ                                 
062716,000602: 17,2762           63110                           AD       -150MS                                
062717,000603: 17,2763           00006                           EXTEND                                         
062718,000604: 17,2764           63010                           BZMF     DOSKIP                                

Page 1454

062720,000606: 17,2765           03173                           TC       SELCTSUB                              
062721,000607: 
062722,000608: 17,2766           51505                           INDEX    AXISCTR                               
062723,000609: 17,2767           33105                           CA       INDEXES                               
062724,000610: 17,2770           54001                           TS       L                                     
062725,000611: 
062726,000612: 17,2771           31741                           CA       POLYTEMP                              
062727,000613: 17,2772           00004                           INHINT                                         
062728,000614: 17,2773           50001                           INDEX    L                                     
062729,000615: 17,2774           05754                           TC       WRITEP                                
062730,000616: 
062731,000617: 17,2775           00003                           RELINT                                         
062732,000618: 17,2776           13051                           TCF      FEEDBACK                              
062733,000619: 
062734,000620: 17,2777           51505        NOROTAT            INDEX    AXISCTR                               
062735,000621: 17,3000           33105                           CA       INDEXES                               
062736,000622: 17,3001           00004                           INHINT                                         
062737,000623: 17,3002           50000                           INDEX    A                                     
062738,000624: 17,3003           05753                           TC       WRITEP     -1                         
062739,000625: 
062740,000626: 17,3004           00003                           RELINT                                         
062741,000627: 17,3005           11505        LOOPER             CCS      AXISCTR                               
062742,000628: 17,3006           01477                           TC       RETJADR                               
062743,000629: 17,3007           13236                           TCF      CLOSEOUT                              
062744,000630: 17,3010           41737        DOSKIP             CS       ABSTJ                                 
062745,000631: 17,3011           63107                           AD       +TJMINT6                              #  14MS
062746,000632: 17,3012           00006                           EXTEND                                         
062747,000633: 17,3013           63032                           BZMF     NOTMIN                                
062748,000634: 
062749,000635: 17,3014           27737                           ADS      ABSTJ                                 
062750,000636: 17,3015           51505                           INDEX    AXISCTR                               
062751,000637: 17,3016           11525                           CCS      TJU                                   
062752,000638: 17,3017           33107                           CA       +TJMINT6                              
062753,000639: 17,3020           13022                           TCF      +2                                    
062754,000640: 17,3021           43107                           CS       +TJMINT6                              
062755,000641: 17,3022           51505                           INDEX    AXISCTR                               
062756,000642: 17,3023           55525                           TS       TJU                                   
062757,000643: 
062758,000644: 17,3024           11500                           CCS      SENSETYP                              #  ENSURE MIN-IMPULSE NOT AGAINST TRANS
062759,000645: 17,3025           13031                           TCF      NOTMIN     -1                         
062760,000646: 17,3026           00006                           EXTEND                                         
062761,000647: 17,3027           00004                           READ     LOSCALAR                              
062762,000648: 17,3030           74753                           MASK     ONE                                   
062763,000649: 17,3031           55743                           TS       NUMBERT                               
062764,000650: 
062765,000651: 17,3032           03173        NOTMIN             TC       SELCTSUB                              
062766,000652: 
062767,000653: 17,3033           51505                           INDEX    AXISCTR                               
062768,000654: 17,3034           33105                           CA       INDEXES                               
062769,000655: 17,3035           00004                           INHINT                                         

Page 1455

062771,000657: 17,3036           55471                           TS       T6FURTHA   +1                         
062772,000658: 17,3037           31741                           CA       POLYTEMP                              
062773,000659: 17,3040           51471                           INDEX    T6FURTHA   +1                         
062774,000660: 17,3041           05754                           TC       WRITEP                                
062775,000661: 
062776,000662: 17,3042           31737                           CA       ABSTJ                                 
062777,000663: 17,3043           55470                           TS       T6FURTHA                              
062778,000664: 17,3044           03114                           TC       JTLST                                 #  IN QR BANK BY NOW
062779,000665: 
062780,000666: 17,3045           00003                           RELINT                                         
062781,000667: 
062782,000668: 17,3046           34755                           CA       ZERO                                  
062783,000669: 17,3047           51505                           INDEX    AXISCTR                               
062784,000670: 17,3050           55535                           TS       SKIPU                                 
062785,000671: 
062786,000672: 17,3051           46245        FEEDBACK           CS       THREE                                 
062787,000673: 17,3052           61743                           AD       NUMBERT                               
062788,000674: 17,3053           00006                           EXTEND                                         
062789,000675: 17,3054           63057                           BZMF     +3                                    
062790,000676: 
062791,000677: 17,3055           34752                           CA       TWO                                   
062792,000678: 17,3056           13060                           TCF      +2                                    
062793,000679: 17,3057           34753                           CA       ONE                                   
062794,000680: 17,3060           51505                           INDEX    AXISCTR                               
062795,000681: 17,3061           55522                           TS       NO.UJETS                              
062796,000682: 17,3062           13005                           TCF      LOOPER                                
062797,000683: 
062798,000684: 17,3063           34755        XTRANS             CA       ZERO                                  
062799,000685: 17,3064           55525                           TS       TJU                                   
062800,000686: 17,3065           55526                           TS       TJV                                   
062801,000687: 17,3066           34751                           CA       FOUR                                  
062802,000688: 17,3067           00004                           INHINT                                         
062803,000689: 17,3070           57535                           XCH      SKIPU                                 
062804,000690: 17,3071           00006                           EXTEND                                         
062805,000691: 17,3072           13074                           BZF      +2                                    
062806,000692: 17,3073           05757                           TC       WRITEU     -1                         
062807,000693: 17,3074           34751                           CA       FOUR                                  
062808,000694: 17,3075           57536                           XCH      SKIPV                                 
062809,000695: 17,3076           00003                           RELINT                                         
062810,000696: 
062811,000697: 17,3077           00006                           EXTEND                                         
062812,000698: 17,3100           13236                           BZF      CLOSEOUT                              
062813,000699: 17,3101           00004                           INHINT                                         
062814,000700: 17,3102           05770                           TC       WRITEV     -1                         
062815,000701: 17,3103           00003                           RELINT                                         
062816,000702: 
062817,000703: 17,3104           13236                           TCF      CLOSEOUT                              
062818,000704: 17,3105           00004        INDEXES            DEC      4          B-14                       
062819,000705: 17,3106           00015                           DEC      13         B-14                       
062820,000706: 17,3107           00026        +TJMINT6           DEC      22         B-14                       

Page 1456

062822,000708: 17,3110           77417        -150MS             DEC      -240       B-14                       
062823,000709: 17,3111           00600        BIT8,9             OCT      00600                                 
062824,000710: 17,3112           00266        SCLNORM            OCT      266                                   
062825,000711: 17,3113           02671        TJLAWADR           GENADR   TJLAW      +3                         #  RETURN ADDRESS FOR RCS ATTITUDE CONTROL
062826,000712: 
062827,000713:                                                                                                  #  THE JET LIST:
062828,000714:                                                                                                  #  THIS IS A WAITLIST FOR T6RUPTS.
062829,000715: 
062830,000716:                                                                                                  #  CALLED BY:
062831,000717:                                                                                                  #                CA      TJ              TIME WHEN NEXT JETS WILL BE WRITTEN
062832,000718:                                                                                                  #                TS      T6FURTHA
062833,000719:                                                                                                  #                CA      INDEX           AXIS TO BE WIRTTEN AT TJ (FROM NOW)
062834,000720:                                                                                                  #                TS      T6FURTHA +1
062835,000721:                                                                                                  #                TC      JTLST
062836,000722: 
062837,000723:                                                                                                  #  EXAMPLE - U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
062838,000724:                                                                                                  #  JETS INTO CHANNEL 5.  IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
062839,000725:                                                                                                  #  150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
062840,000726:                                                                                                  #  CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
062841,000727:                                                                                                  #  OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
062842,000728: 
062843,000729:                                                                                                  #  THE LIST IS EXACTLY 3 LONG.  (THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
062844,000730:                                                                                                  #  THE INPUT IS THE LAST MEMBER OF THE LIST
062845,000731: 
062846,000732:                                                                                                  #  RETURNS BY:
062847,000733:                                                                                                  #        +       TC      Q
062848,000734: 
062849,000735:                                                                                                  #  DEFINITIONS:  (OUTPUT)
062850,000736:                                                                                                  #        TIME6           TIME OF NEXT RUPT
062851,000737:                                                                                                  #        T6NEXT          DELTA TIME TO NEXT RUPT
062852,000738:                                                                                                  #        T6FURTHA        DELTA TIME FROM 2ND TO LAST RUPT
062853,000739:                                                                                                  #        NXT6ADR         AXIS INDEX       Q - P-AXIS
062854,000740:                                                                                                  #        T6NEXT +1       AXIS INDEX       4 - U-AXIS
062855,000741:                                                                                                  #        T6FURTHA +1     AXIS INDEX      13 - V-AXIS
062856,000742: 
062857,000743: 17,3114           41470        JTLST              CS       T6FURTHA                              
062858,000744: 17,3115           60031                           AD       TIME6                                 
062859,000745: 17,3116           00006                           EXTEND                                         
062860,000746: 17,3117           63131                           BZMF     MIDORLST                              #  TIME6 - T IS IN A
062861,000747: 
062862,000748: 17,3120           23465                           LXCH     NXT6ADR                               
062863,000749: 17,3121           53467                           DXCH     T6NEXT                                
062864,000750: 17,3122           53471                           DXCH     T6FURTHA                              
062865,000751: 17,3123           54031                           TS       TIME6                                 
062866,000752: 17,3124           23465                           LXCH     NXT6ADR                               
062867,000753: 
062868,000754: 17,3125           34735        TURNON             CA       BIT15                                 
062869,000755: 17,3126           00006                           EXTEND                                         
062870,000756: 17,3127           05013                           WOR      CHAN13                                
062871,000757: 17,3130           00002                           TC       Q                                     
062872,000758: 

Page 1457

062874,000760: 17,3131           61466        MIDORLST           AD       T6NEXT                                
062875,000761: 17,3132           00006                           EXTEND                                         
062876,000762: 17,3133           63142                           BZMF     LASTCHG                               #  TIME6 + T6NEXT - T IS IN A
062877,000763: 
062878,000764: 17,3134           23467                           LXCH     T6NEXT     +1                         
062879,000765: 17,3135           53471                           DXCH     T6FURTHA                              
062880,000766: 17,3136           00006                           EXTEND                                         
062881,000767: 17,3137           60031                           SU       TIME6                                 
062882,000768: 17,3140           53467                           DXCH     T6NEXT                                
062883,000769: 
062884,000770: 17,3141           00002                           TC       Q                                     
062885,000771: 
062886,000772: 17,3142           40000        LASTCHG            CS       A                                     
062887,000773: 17,3143           64754                           AD       NEG0                                  
062888,000774: 17,3144           55470                           TS       T6FURTHA                              
062889,000775: 
062890,000776: 17,3145           00002                           TC       Q                                     
062891,000777: 
062892,000778:                                                                                                  #  ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
062893,000779:                                                                                                  #  ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM.  IN THE U-V SYSTEM NO CROSS-COUPLING IS
062894,000780:                                                                                                  #  PRODUCED FROM RCS JET FIRINGS.  AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
062895,000781:                                                                                                  #  A AND THE V-COMPONENT IS IN L.
062896,000782: 
062897,000783: 17,3146           23740        ROT-TOUV           LXCH     ROTEMP2                               #  (R) IS PUT INTO ROTEMP2
062898,000784: 17,3147           00006                           EXTEND                                         
062899,000785: 17,3150           71627                           MP       COEFFQ                                
062900,000786: 17,3151           57740                           XCH      ROTEMP2                               #  (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
062901,000787: 17,3152           00006                           EXTEND                                         
062902,000788: 17,3153           71630                           MP       COEFFR                                
062903,000789: 17,3154           54001                           TS       L                                     #  COEFFR.(R) IS PUT INTO L
062904,000790: 17,3155           61740                           AD       ROTEMP2                               
062905,000791: 17,3156           55737                           TS       ROTEMP1                               #  COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
062906,000792: 17,3157           13163                           TCF      +4                                    
062907,000793: 17,3160           50000                           INDEX    A                                     #  COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
062908,000794: 17,3161           44734                           CS       LIMITS                                #  AND IS LIMITED TO POSMAX OR NEGMAX
062909,000795: 17,3162           55737                           TS       ROTEMP1                               
062910,000796: 17,3163           41740                           CS       ROTEMP2                               
062911,000797: 17,3164           60001                           AD       L                                     #  -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
062912,000798: 17,3165           54007                           TS       7                                     
062913,000799: 17,3166           13171                           TCF      +3                                    
062914,000800: 17,3167           50000                           INDEX    A                                     #  -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
062915,000801: 17,3170           44734                           CS       LIMITS                                #  AND IS LIMITED TO POSMAX OR NEGMAX
062916,000802: 17,3171           23737                           LXCH     ROTEMP1                               #  COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
062917,000803: 17,3172           00002                           TC       Q                                     
062918,000804: 17,3173           51744        SELCTSUB           INDEX    ROTINDEX                              
062919,000805: 17,3174           33225                           CA       ALLJETS                               
062920,000806: 17,3175           51743                           INDEX    NUMBERT                               
062921,000807: 17,3176           73231                           MASK     TYPEPOLY                              
062922,000808: 17,3177           55741                           TS       POLYTEMP                              

Page 1458

062924,000810: 17,3200           71262                           MASK     CH5MASK                               
062925,000811: 17,3201           10000                           CCS      A                                     
062926,000812: 17,3202           13204                           TCF      +2                                    
062927,000813: 
062928,000814: 17,3203           00002                           TC       Q                                     
062929,000815: 
062930,000816: 17,3204           36245                           CA       THREE                                 
062931,000817: 17,3205           55743        FAILOOP            TS       NUMBERT                               
062932,000818: 17,3206           51744                           INDEX    ROTINDEX                              
062933,000819: 17,3207           33225                           CA       ALLJETS                               
062934,000820: 17,3210           51743                           INDEX    NUMBERT                               
062935,000821: 17,3211           73231                           MASK     TYPEPOLY                              
062936,000822: 17,3212           55741                           TS       POLYTEMP                              
062937,000823: 17,3213           71262                           MASK     CH5MASK                               
062938,000824: 17,3214           00006                           EXTEND                                         
062939,000825: 17,3215           13203                           BZF      FAILOOP    -2                         
062940,000826: 17,3216           11743                           CCS      NUMBERT                               
062941,000827: 17,3217           13205                           TCF      FAILOOP                               
062942,000828: 17,3220           51505                           INDEX    AXISCTR                               
062943,000829: 17,3221           55525                           TS       TJU                                   
062944,000830: 17,3222           05567                           TC       ALARM                                 
062945,000831: 17,3223           02004                           OCT      02004                                 
062946,000832: 17,3224           12777                           TCF      NOROTAT                               
062947,000833: 17,3225           00110        ALLJETS            OCT      00110                                 #        -U      6 13
062948,000834: 17,3226           00022                           OCT      00022                                 #        -V      2 9
062949,000835: 17,3227           00204                           OCT      00204                                 #        +U      5 14
062950,000836: 17,3230           00041                           OCT      00041                                 #        +V      1 10
062951,000837: 17,3231           00125        TYPEPOLY           OCT      00125                                 #        -X      1 5 9 13
062952,000838: 17,3232           00252                           OCT      00252                                 #        +X      2 6 10 14
062953,000839: 17,3233           00146                           OCT      00146                                 #        A       2 5 10 13
062954,000840: 17,3234           00231                           OCT      00231                                 #        B       1 6 9 14
062955,000841: 17,3235           00377                           OCT      00377                                 #        ALL     1 2 5 6 9 10 13 14
062956,000842: 
062957,000843:                                                                                                  #  THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
062958,000844: 
062959,000845: 17,3236           33240        CLOSEOUT           CA       ADRRUPT                               
062960,000846: 17,3237           07754                           TC       MAKERUPT                              
062961,000847: 
062962,000848: 17,3240           03241        ADRRUPT            ADRES    ENDJASK                               
062963,000849: 
062964,000850: 17,3241           53754        ENDJASK            DXCH     DAPARUPT                              
062965,000851: 17,3242           52011                           DXCH     ARUPT                                 
062966,000852: 17,3243           53756                           DXCH     DAPBQRPT                              
062967,000853: 17,3244           56017                           XCH      BRUPT                                 
062968,000854: 17,3245           22002                           LXCH     Q                                     
062969,000855: 17,3246           34735                           CAF      NEGMAX                                #  NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
062970,000856: 17,3247           53760                           DXCH     DAPZRUPT                              
062971,000857: 17,3250           52016                           DXCH     ZRUPT                                 
062972,000858: 17,3251           15272                           TCF      NOQRSM                                

Page 1459

062974,000860:    7754                                           BLOCK    3                                     
062975,000861:    6000                                           SETLOC   FFTAG6                                
062976,000862:    6000                                           BANK                                           
062977,000863: 
062978,000864:    7754                                           COUNT*   $$/DAP                                
062979,000865: 
062980,000866:    7754           00006        MAKERUPT           EXTEND                                         
062981,000867:    7755           07754                           EDRUPT   MAKERUPT                              
062982,000868: 

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