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
	16:27 JULY 14,1969
Note that the date is the date of the printout, not the date of the program revision.

062139,000002:                                                                                                  ## Copyright:   Public domain.
062140,000003:                                                                                                  ## Filename:    Q_R-AXIS_RCS_AUTOPILOT.agc
062141,000004:                                                                                                  ## Purpose:     Part of the source code for Luminary 1A build 099.
062142,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
062143,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 11.
062144,000007:                                                                                                  ## Assembler:   yaYUL
062145,000008:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
062146,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo.
062147,000010:                                                                                                  ## Pages:       1442-1459
062148,000011:                                                                                                  ## Mod history: 2009-05-27 RSB  Adapted from the corresponding 
062149,000012:                                                                                                  ##                              Luminary131 file, using page 
062150,000013:                                                                                                  ##                              images from Luminary 1A.
062151,000014:                                                                                                  ##              2009-06-07 RSB  Corrected "DEC 96.0" to "DEC 96", since
062152,000015:                                                                                                  ##                              the former is not compatible with yaYUL.
062153,000016:                                                                                                  ##              2011-01-06 JL   Fixed pseudo-label indentation.
062154,000017:                                                                                                  ##              2016-12-18 RSB  Proofed text comments with octopus/ProoferComments
062155,000018:                                                                                                  ##                              and corrected the errors found.
062156,000019:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
062157,000020:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
062158,000021:                                                                                                  ##              2017-08-29 MAS  Fixed a label (X0RULGE instead of XORULGE) and a
062159,000022:                                                                                                  ##                              comment text error found while transcribing Zerlina 56.
062160,000023: 
062161,000024:                                                                                                  ## This source code has been transcribed or otherwise adapted from
062162,000025:                                                                                                  ## digitized images of a hardcopy from the MIT Museum.  The digitization
062163,000026:                                                                                                  ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
062164,000027:                                                                                                  ## the Museum.  Many thanks to both.  The images (with suitable reduction
062165,000028:                                                                                                  ## in storage size and consequent reduction in image quality as well) are
062166,000029:                                                                                                  ## available online at www.ibiblio.org/apollo.  If for some reason you
062167,000030:                                                                                                  ## find that the images are illegible, contact me at info@sandroid.org
062168,000031:                                                                                                  ## about getting access to the (much) higher-quality images which Paul
062169,000032:                                                                                                  ## actually created.
062170,000033:                                                                                                  ##
062171,000034:                                                                                                  ## Notations on the hardcopy document read, in part:
062172,000035:                                                                                                  ##
062173,000036:                                                                                                  ##      Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
062174,000037:                                                                                                  ##      16:27 JULY 14, 1969 
062175,000038: 

Page 1442

062177,000040: 17,2072                                           BANK     17                                    
062178,000041: 17,2000                                           SETLOC   DAPS2                                 
062179,000042: 17,2000                                           BANK                                           
062180,000043: 
062181,000044: 17,2072  E6,1635                                  EBANK=   CDUXD                                 
062182,000045: 
062183,000046: 17,2072                                           COUNT*   $$/DAPQR                              
062184,000047: 
062185,000048: 17,2072           34737        CALLQERR           CA       BIT13                                 #  CALCULATE Q,R ERRORS UNLESS THESE AXES
062186,000049: 17,2073           00006                           EXTEND                                         #  ARE IN MANUAL RATE COMMAND.
062187,000050: 17,2074           02031                           RAND     CHAN31                                
062188,000051: 17,2075           10000                           CCS      A                                     
062189,000052: 17,2076           12103                           TCF      +5                                    #  IN AUTO COMPUTE Q,R ERRORS
062190,000053: 17,2077           40111                           CS       DAPBOOLS                              #  IN MANUAL RATE COMMAND?
062191,000054: 17,2100           74740                           MASK     OURRCBIT                              
062192,000055: 17,2101           00006                           EXTEND                                         
062193,000056: 17,2102           12104                           BZF      Q,RORGTS                              #  IF SO BYPASS CALCULATION OF ERRORS.
062194,000057: 17,2103           02626                           TC       QERRCALC                              
062195,000058: 
062196,000059: 17,2104           11631        Q,RORGTS           CCS      COTROLER                              #  CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
062197,000060: 17,2105           12607                           TCF      GOTOGTS                               #        GTS (ALTERNATES WITH RCS WHEN DOCKED)
062198,000061: 17,2106           12574                           TCF      TRYGTS                                #        GTS IF ALLOWED, OTHERWISE RCS
062199,000062: 17,2107           34755        RCS                CAF      ZERO                                  #        RCS (TRYGTS MAY BRANCH TO HERE)
062200,000063: 17,2110           55631                           TS       COTROLER                              
062201,000064: 
062202,000065: 17,2111           53437                           DXCH     EDOTQ                                 
062203,000066: 17,2112           03146                           TC       ROT-TOUV                              
062204,000067: 17,2113           53427                           DXCH     OMEGAU                                
062205,000068: 
062206,000069:                                                                                                  #  X - TRANSLATION:
062207,000070: 
062208,000071:                                                                                                  #  INPUT:        BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
062209,000072:                                                                                                  #                ULLAGER
062210,000073:                                                                                                  #                APSFLAG, DRIFTBIT
062211,000074:                                                                                                  #                ACC40R2X, ACRBTRAN
062212,000075: 
062213,000076:                                                                                                  #  OUTPUT:       NEXTU, NEXTV    CODES OF TRANSLATION FOR AFTER ROTATION
062214,000077:                                                                                                  #                SENSETYP        TELL ROTATION DIRECTION AND DESIRE
062215,000078: 
062216,000079:                                                                                                  #  X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR.  IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED.  A FAILURE
062217,000080:                                                                                                  #  WILL OVERRIDE THIS SPECIFICATION.  AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
062218,000081: 
062219,000082: 17,2114           34745        SENSEGET           CA       BIT7                                  #  INPUT BITS OVERRIDE THE INTERNAL BITS
062220,000083: 17,2115           00006                           EXTEND                                         #  SENSETYP WILL NOT OPPOSE ANYTRANS
062221,000084: 17,2116           02031                           RAND     CHAN31                                
062222,000085: 17,2117           00006                           EXTEND                                         
062223,000086: 17,2120           12146                           BZF      +XORULGE                              

Page 1443

062225,000088: 17,2121           34744                           CA       BIT8                                  
062226,000089: 17,2122           00006                           EXTEND                                         
062227,000090: 17,2123           02031                           RAND     CHAN31                                
062228,000091: 17,2124           00006                           EXTEND                                         
062229,000092: 17,2125           12147                           BZF      -XTRANS                               
062230,000093: 
062231,000094: 17,2126           34746                           CA       ULLAGER                               
062232,000095: 17,2127           70111                           MASK     DAPBOOLS                              
062233,000096: 17,2130           10000                           CCS      A                                     
062234,000097: 17,2131           12146                           TCF      +XORULGE                              
062235,000098: 
062236,000099: 17,2132           55473                           TS       NEXTU                                 #  STORE NULL TRANSLATION POLICIES
062237,000100: 17,2133           55474                           TS       NEXTV                                 
062238,000101: 17,2134           40111                           CS       DAPBOOLS                              #  BURNING OR DRIFTING?
062239,000102: 17,2135           74744                           MASK     DRIFTBIT                              
062240,000103: 17,2136           00006                           EXTEND                                         
062241,000104: 17,2137           12144                           BZF      TSENSE                                
062242,000105: 17,2140           30106                           CA       FLGWRD10                              #  DPS (INCLUDING DOCKED) OR APS?
062243,000106: 17,2141           74737                           MASK     APSFLBIT                              
062244,000107: 17,2142           10000                           CCS      A                                     
062245,000108: 17,2143           34752                           CAF      TWO                                   #  FAVOR +X JETS DURING AN APS BURN.
062246,000109: 17,2144           55500        TSENSE             TS       SENSETYP                              
062247,000110: 17,2145           12200                           TCF      QRCONTRL                              
062248,000111: 
062249,000112: 17,2146           34753        +XORULGE           CAF      ONE                                   
062250,000113: 17,2147           64751        -XTRANS            AD       FOUR                                  
062251,000114: 17,2150           55744                           TS       ROTINDEX                              
062252,000115: 17,2151           67745                           AD       NEG3                                  
062253,000116: 17,2152           55500                           TS       SENSETYP                              #  FAVOR APPROPRIATE JETS DURING TRANS.
062254,000117: 17,2153           30111                           CA       DAPBOOLS                              
062255,000118: 17,2154           74741                           MASK     ACC4OR2X                              
062256,000119: 17,2155           10000                           CCS      A                                     
062257,000120: 17,2156           12321                           TCF      TRANS4                                
062258,000121: 
062259,000122: 17,2157           30111                           CA       DAPBOOLS                              
062260,000123: 17,2160           74742                           MASK     AORBTRAN                              
062261,000124: 17,2161           10000                           CCS      A                                     
062262,000125: 17,2162           34753                           CA       ONE                                   #  THREE FOR B
062263,000126: 17,2163           64752                           AD       TWO                                   #  TWO FOR A SYSTEM 2 JET X TRANS
062264,000127: 17,2164           55743        TSNUMBRT           TS       NUMBERT                               
062265,000128: 
062266,000129: 17,2165           03173                           TC       SELCTSUB                              
062267,000130: 
062268,000131: 17,2166           11741                           CCS      POLYTEMP                              
062269,000132: 17,2167           12172                           TCF      +3                                    
062270,000133: 17,2170           05567                           TC       ALARM                                 
062271,000134: 17,2171           02002                           OCT      02002                                 
062272,000135: 17,2172           35774                           CA       00314OCT                              
062273,000136: 17,2173           71741                           MASK     POLYTEMP                              
062274,000137: 17,2174           55473        TSNEXTS            TS       NEXTU                                 

Page 1444

062276,000139: 17,2175           45774                           CS       00314OCT                              
062277,000140: 17,2176           71741                           MASK     POLYTEMP                              
062278,000141: 17,2177           55474                           TS       NEXTV                                 
062279,000142: 
062280,000143:                                                                                                  #  Q,R-AXES RCS CONTROL MODE SELECTION
062281,000144:                                                                                                  #        SWITCHES        INDICATION WHEN SET
062282,000145:                                                                                                  #        BIT13/CHAN31    AUTO, GO TO ATTSTEER
062283,000146:                                                                                                  #        PULSES          MINIMUM IMPULSE MODE
062284,000147:                                                                                                  #        (OTHERWISE)     RATE COMMAND/ATTITUDE HOLD MODE
062285,000148: 
062286,000149: 17,2200           34737        QRCONTRL           CA       BIT13                                 #  CHECK MODE SELECT SWITCH.
062287,000150: 17,2201           00006                           EXTEND                                         
062288,000151: 17,2202           02031                           RAND     CHAN31                                #  BITS INVERTED
062289,000152: 17,2203           10000                           CCS      A                                     
062290,000153: 17,2204           12661                           TCF      ATTSTEER                              
062291,000154: 17,2205           34735        CHKBIT10           CAF      PULSES                                #  PULSES = 1 FOR MIN IMP USE OF RHC
062292,000155: 17,2206           70111                           MASK     DAPBOOLS                              
062293,000156: 17,2207           00006                           EXTEND                                         
062294,000157: 17,2210           12323                           BZF      CHEKSTIK                              #  IN ATT-HOLD/RATE-COMMAND IF BIT10=0
062295,000158: 
062296,000159:                                                                                                  #  MINIMUM IMPULSE MODE
062297,000160: 
062298,000161: 17,2211           00004                           INHINT                                         
062299,000162: 17,2212           04674                           TC       IBNKCALL                              
062300,000163: 17,2213           40153                           CADR     ZATTEROR                              
062301,000164: 17,2214           34755                           CA       ZERO                                  
062302,000165: 17,2215           55450                           TS       QERROR                                
062303,000166: 17,2216           55452                           TS       RERROR                                #  FOR DISPLAYS
062304,000167: 17,2217           00003                           RELINT                                         
062305,000168: 
062306,000169: 17,2220           00006                           EXTEND                                         
062307,000170: 17,2221           00031                           READ     CHAN31                                
062308,000171: 17,2222           55737                           TS       TEMP31                                #  IS EQUAL TO DAPTEMP1
062309,000172: 17,2223           11461                           CCS      OLDQRMIN                              
062310,000173: 17,2224           12246                           TCF      CHECKIN                               
062311,000174: 
062312,000175: 17,2225           31737        FIREQR             CA       TEMP31                                
062313,000176: 17,2226           74753                           MASK     BIT1                                  
062314,000177: 17,2227           00006                           EXTEND                                         
062315,000178: 17,2230           12252                           BZF      +QMIN                                 
062316,000179: 
062317,000180: 17,2231           31737                           CA       TEMP31                                
062318,000181: 17,2232           74752                           MASK     BIT2                                  
062319,000182: 17,2233           00006                           EXTEND                                         
062320,000183: 17,2234           12256                           BZF      -QMIN                                 
062321,000184: 
062322,000185: 17,2235           31737                           CA       TEMP31                                
062323,000186: 17,2236           74747                           MASK     BIT5                                  

Page 1445

062325,000188: 17,2237           00006                           EXTEND                                         
062326,000189: 17,2240           12262                           BZF      +RMIN                                 
062327,000190: 
062328,000191: 17,2241           31737                           CA       TEMP31                                
062329,000192: 17,2242           74746                           MASK     BIT6                                  
062330,000193: 17,2243           00006                           EXTEND                                         
062331,000194: 17,2244           12264                           BZF      -RMIN                                 
062332,000195: 
062333,000196: 17,2245           13063                           TCF      XTRANS                                
062334,000197: 
062335,000198: 17,2246           41737        CHECKIN            CS       TEMP31                                
062336,000199: 17,2247           72320                           MASK     OCT63                                 
062337,000200: 17,2250           55461                           TS       OLDQRMIN                              
062338,000201: 17,2251           13063                           TCF      XTRANS                                
062339,000202: 
062340,000203: 17,2252           33107        +QMIN              CA       14MS                                  
062341,000204: 17,2253           55525                           TS       TJU                                   
062342,000205: 17,2254           43107                           CS       14MS                                  
062343,000206: 17,2255           12266                           TCF      MINQR                                 
062344,000207: 17,2256           43107        -QMIN              CS       14MS                                  
062345,000208: 17,2257           55525                           TS       TJU                                   
062346,000209: 17,2260           33107                           CA       14MS                                  
062347,000210: 17,2261           12266                           TCF      MINQR                                 
062348,000211: 17,2262           33107        +RMIN              CA       14MS                                  
062349,000212: 17,2263           12265                           TCF      +2                                    
062350,000213: 17,2264           43107        -RMIN              CS       14MS                                  
062351,000214: 17,2265           55525                           TS       TJU                                   
062352,000215: 17,2266           55526        MINQR              TS       TJV                                   
062353,000216: 17,2267           32317                           CA       MINADR                                
062354,000217: 17,2270           55477                           TS       RETJADR                               
062355,000218: 17,2271           34753                           CA       ONE                                   
062356,000219: 17,2272           55461                           TS       OLDQRMIN                              
062357,000220: 17,2273           55505        MINRTN             TS       AXISCTR                               
062358,000221: 17,2274           30111                           CA       DAPBOOLS                              
062359,000222: 17,2275           74737                           MASK     CSMDOCKD                              
062360,000223: 17,2276           00006                           EXTEND                                         
062361,000224: 17,2277           12307                           BZF      MIMRET                                
062362,000225: 17,2300           51505                           INDEX    AXISCTR                               #  IF DOCKED, USE 60MS MINIMUM IMPULSE
062363,000226: 17,2301           11525                           CCS      TJU                                   
062364,000227: 17,2302           32316                           CA       60MS                                  
062365,000228: 17,2303           12305                           TCF      +2                                    
062366,000229: 17,2304           42316                           CS       60MS                                  
062367,000230: 17,2305           51505                           INDEX    AXISCTR                               
062368,000231: 17,2306           55525                           TS       TJU                                   
062369,000232: 17,2307           30111        MIMRET             CA       DAPBOOLS                              
062370,000233: 17,2310           74742                           MASK     AORBTRAN                              
062371,000234: 17,2311           10000                           CCS      A                                     
062372,000235: 17,2312           34753                           CA       ONE                                   
062373,000236: 17,2313           64752                           AD       TWO                                   
062374,000237: 17,2314           55743                           TS       NUMBERT                               

Page 1446

062376,000239: 17,2315           12727                           TCF      AFTERTJ                               
062377,000240: 
062378,000241: 17,2316           00140        60MS               DEC      96.0                                  
062379,000242: 17,2317           02273        MINADR             GENADR   MINRTN                                
062380,000243: 17,2320           00063        OCT63              OCT      63                                    
062381,000244: 17,2321  17,3107               14MS               =        +TJMINT6                              
062382,000245: 
062383,000246: 17,2321           34751        TRANS4             CA       FOUR                                  
062384,000247: 17,2322           12164                           TCF      TSNUMBRT                              
062385,000248: 
062386,000249:                                                                                                  #  RATE COMMAND MODE:
062387,000250: 
062388,000251:                                                                                                  #  DESCRIPTION (SAME AS P-AXIS)
062389,000252: 
062390,000253: 17,2323           55633        CHEKSTIK           TS       INGTS                                 #  NOT IN GTS WHEN IN ATT HOLD
062391,000254: 17,2324           44753                           CS       ONE                                   #  1/ACCS WILL DO THE NULLING DRIVES
062392,000255: 17,2325           55631                           TS       COTROLER                              #  COME BACK TO RCS NEXT TIME
062393,000256: 17,2326           34735                           CA       BIT15                                 
062394,000257: 17,2327           71443                           MASK     CH31TEMP                              
062395,000258: 17,2330           00006                           EXTEND                                         
062396,000259: 17,2331           12350                           BZF      RHCACTIV                              #  BRANCH IF OUT OF DETENT.
062397,000260: 17,2332           34740                           CA       OURRCBIT                              #  ***********
062398,000261: 17,2333           70111                           MASK     DAPBOOLS                              #  *IN DETENT*   CHECK FOR MANUAL CONTROL
062399,000262: 17,2334           00006                           EXTEND                                         #  ***********   LAST TIME.
062400,000263: 17,2335           12661                           BZF      STILLRCS                              
062401,000264: 17,2336           44743                           CS       BIT9                                  
062402,000265: 17,2337           71273                           MASK     RCSFLAGS                              
062403,000266: 17,2340           55273                           TS       RCSFLAGS                              #  BIT 9 IS 0.
062404,000267: 17,2341           12345                           TCF      DAMPING                               
062405,000268: 17,2342           00050        40CYCL             OCT      50                                    
062406,000269: 17,2343           00001        1/10S              OCT      1                                     
062407,000270: 17,2344           00056        LINRAT             DEC      46         B-14                       
062408,000271: 
062409,000272:                                                                                                  #  ================================
062410,000273: 
062411,000274: 17,2345           34755        DAMPING            CA       ZERO                                  
062412,000275: 17,2346           55462                           TS       SAVEHAND                              
062413,000276: 17,2347           55463                           TS       SAVEHAND   +1                         
062414,000277: 17,2350           11462        RHCACTIV           CCS      SAVEHAND                              #  *******************
062415,000278: 17,2351           12354                           TCF      +3                                    #  Q,R MANUAL CONTROL    WC = A*(B+|D|)*D
062416,000279: 17,2352           12354                           TCF      +2                                    #  *******************
062417,000280: 17,2353           12354                           TCF      +1                                    
062418,000281: 17,2354           60000                           DOUBLE                                         #  WHERE
062419,000282: 17,2355           60000                           DOUBLE                                         
062420,000283: 17,2356           62344                           AD       LINRAT                                #        WC  = COMMANDED ROTATIONAL RATE
062421,000284: 17,2357           00006                           EXTEND                                         #        A   = QUADRATIC SENSITIVITY FACTOR
062422,000285: 17,2360           71462                           MP       SAVEHAND                              #        B   = LINEAR/QUADRATIC SENSITIVITY
062423,000286: 17,2361           30001                           CA       L                                     #        |D| = ABS. VALUE OF DEFLECTION
062424,000287: 17,2362           00006                           EXTEND                                         #        D   = HAND CONTROLLER DEFLECTION
062425,000288: 17,2363           71444                           MP       STIKSENS                              
062426,000289: 17,2364           57455                           XCH      QLAST                                 #  COMMAND Q RATE     SCALED 45 DEG/SEC
062427,000290: 17,2365           40000                           COM                                            

Page 1447

062429,000292: 17,2366           61455                           AD       QLAST                                 
062430,000293: 17,2367           55741                           TS       DAPTEMP3                              
062431,000294: 17,2370           11463                           CCS      SAVEHAND   +1                         
062432,000295: 17,2371           12374                           TCF      +3                                    
062433,000296: 17,2372           12374                           TCF      +2                                    
062434,000297: 17,2373           12374                           TCF      +1                                    
062435,000298: 17,2374           60000                           DOUBLE                                         
062436,000299: 17,2375           60000                           DOUBLE                                         
062437,000300: 17,2376           62344                           AD       LINRAT                                
062438,000301: 17,2377           00006                           EXTEND                                         
062439,000302: 17,2400           71463                           MP       SAVEHAND   +1                         
062440,000303: 17,2401           30001                           CA       L                                     
062441,000304: 17,2402           00006                           EXTEND                                         
062442,000305: 17,2403           71444                           MP       STIKSENS                              
062443,000306: 17,2404           57456                           XCH      RLAST                                 
062444,000307: 17,2405           40000                           COM                                            
062445,000308: 17,2406           61456                           AD       RLAST                                 
062446,000309: 17,2407           55742                           TS       DAPTEMP4                              
062447,000310: 17,2410           41455                           CS       QLAST                                 #  INTERVAL.
062448,000311: 17,2411           61422                           AD       OMEGAQ                                
062449,000312: 17,2412           55436                           TS       QRATEDIF                              
062450,000313: 17,2413           41456                           CS       RLAST                                 
062451,000314: 17,2414           61423                           AD       OMEGAR                                
062452,000315: 17,2415           55437                           TS       RRATEDIF                              
062453,000316: 17,2416           53437        ENTERQR            DXCH     QRATEDIF                              #  TRANSFORM RATES FROM Q,R TO U,V AXES
062454,000317: 17,2417           03146                           TC       ROT-TOUV                              
062455,000318: 17,2420           53427                           DXCH     URATEDIF                              
062456,000319: 17,2421           11741                           CCS      DAPTEMP3                              #  CHECK IF Q COMMAND CHANGE EXCEEDS
062457,000320: 17,2422           02425                           TC       +3                                    #  BREAKOUT LEVEL.  IF NOT, CHECK R.
062458,000321: 17,2423           02425                           TC       +2                                    
062459,000322: 17,2424           02425                           TC       +1                                    
062460,000323: 17,2425           61476                           AD       -RATEDB                               
062461,000324: 17,2426           00006                           EXTEND                                         
062462,000325: 17,2427           62431                           BZMF     +2                                    
062463,000326: 17,2430           12447                           TCF      ENTERUV    -2                         #  BREAKOUT LEVEL EXCEEDED.  DIRECT RATE.
062464,000327: 17,2431           11742                           CCS      DAPTEMP4                              #  R COMMAND BREAKOUT CHECK.
062465,000328: 17,2432           02435                           TC       +3                                    
062466,000329: 17,2433           02435                           TC       +2                                    
062467,000330: 17,2434           02435                           TC       +1                                    
062468,000331: 17,2435           61476                           AD       -RATEDB                               
062469,000332: 17,2436           00006                           EXTEND                                         
062470,000333: 17,2437           62441                           BZMF     +2                                    
062471,000334: 17,2440           12447                           TCF      ENTERUV    -2                         #  BREAKOUT LEVEL EXCEEDED.  DIRECT RATE.
062472,000335: 17,2441           31273                           CA       RCSFLAGS                              #  BREAKOUT LEVEL NOT EXCEEDED.  CHECK FOR
062473,000336: 17,2442           74741                           MASK     QRBIT                                 #  DIRECT RATE CONTROL LAST TIME.
062474,000337: 17,2443           00006                           EXTEND                                         
062475,000338: 17,2444           12446                           BZF      +2                                    
062476,000339: 17,2445           12451                           TCF      ENTERUV                               #  CONTINUE DIRECT RATE CONTROL.
062477,000340: 17,2446           12661                           TCF      STILLRCS                              #  PSEUDO-AUTO CONTROL.
062478,000341: 17,2447           32342                           CA       40CYCL                                

Page 1448

062480,000343: 17,2450           55457                           TS       TCQR                                  
062481,000344: 17,2451           00004        ENTERUV            INHINT                                         #  DIRECT RATE CONTROL.
062482,000345: 17,2452           04674                           TC       IBNKCALL                              
062483,000346: 17,2453           40153                           FCADR    ZATTEROR                              
062484,000347: 17,2454           00003                           RELINT                                         
062485,000348: 17,2455           34755                           CA       ZERO                                  
062486,000349: 17,2456           55450                           TS       DYERROR                               
062487,000350: 17,2457           55451                           TS       DYERROR    +1                         
062488,000351: 17,2460           55452                           TS       DZERROR                               
062489,000352: 17,2461           55453                           TS       DZERROR    +1                         
062490,000353: 17,2462           11426                           CCS      URATEDIF                              
062491,000354: 17,2463           12466                           TCF      +3                                    
062492,000355: 17,2464           12466                           TCF      +2                                    
062493,000356: 17,2465           12466                           TCF      +1                                    
062494,000357: 17,2466           61476                           AD       TARGETDB                              #  IF TARGET DB IS EXCEEDED, CONTINUE
062495,000358: 17,2467           00006                           EXTEND                                         #  DIRECT RATE CONTROL.
062496,000359: 17,2470           62504                           BZMF     VDB                                   
062497,000360: 17,2471           11427                           CCS      VRATEDIF                              
062498,000361: 17,2472           12475                           TCF      +3                                    
062499,000362: 17,2473           12475                           TCF      +2                                    
062500,000363: 17,2474           12475                           TCF      +1                                    
062501,000364: 17,2475           61476                           AD       TARGETDB                              
062502,000365: 17,2476           00006                           EXTEND                                         
062503,000366: 17,2477           62501                           BZMF     +2                                    
062504,000367: 17,2500           12515                           TCF      QRTIME                                
062505,000368: 17,2501           34755                           CA       ZERO                                  
062506,000369: 17,2502           55427                           TS       VRATEDIF                              
062507,000370: 17,2503           12515                           TCF      QRTIME                                
062508,000371: 17,2504           11427        VDB                CCS      VRATEDIF                              
062509,000372: 17,2505           02510                           TC       +3                                    
062510,000373: 17,2506           02510                           TC       +2                                    
062511,000374: 17,2507           02510                           TC       +1                                    
062512,000375: 17,2510           61476                           AD       TARGETDB                              #  IF TARGET DB IS EXCEEDED, CONTINUE
062513,000376: 17,2511           00006                           EXTEND                                         #  DIRECT RATE CONTROL.  IF NOT, FIRE AND
062514,000377: 17,2512           62524                           BZMF     TOPSEUDO                              #  SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
062515,000378: 17,2513           34755                           CA       ZERO                                  #  PASS.
062516,000379: 17,2514           55426                           TS       URATEDIF                              
062517,000380: 17,2515           31457        QRTIME             CA       TCQR                                  #  DIRECT RATE TIME CHECK.
062518,000381: 17,2516           00006                           EXTEND                                         
062519,000382: 17,2517           62524                           BZMF     +5                                    #  BRANCH IF TIME EXCEEDS 4 SEC.
062520,000383: 17,2520           41273                           CS       RCSFLAGS                              
062521,000384: 17,2521           74741                           MASK     QRBIT                                 
062522,000385: 17,2522           27273                           ADS      RCSFLAGS                              #  BIT 11 IS 1.
062523,000386: 17,2523           02527                           TC       +4                                    
062524,000387: 17,2524           44741        TOPSEUDO           CS       QRBIT                                 
062525,000388: 17,2525           71273                           MASK     RCSFLAGS                              
062526,000389: 17,2526           55273                           TS       RCSFLAGS                              #  BIT 11 IS 0.
062527,000390: 17,2527           32573                           CA       HANDADR                               
062528,000391: 17,2530           55477                           TS       RETJADR                               
062529,000392: 17,2531           34753                           CA       ONE                                   
062530,000393: 

Page 1449

062532,000395: 17,2532           55505        BACKHAND           TS       AXISCTR                               
062533,000396: 
062534,000397: 17,2533           34751                           CA       FOUR                                  
062535,000398: 17,2534           55743                           TS       NUMBERT                               
062536,000399: 
062537,000400: 17,2535           51505                           INDEX    AXISCTR                               
062538,000401: 17,2536           51535                           INDEX    SKIPU                                 
062539,000402: 17,2537           12540                           TCF      +1                                    
062540,000403: 17,2540           34751                           CA       FOUR                                  
062541,000404: 17,2541           51505                           INDEX    AXISCTR                               
062542,000405: 17,2542           55535                           TS       SKIPU                                 
062543,000406: 17,2543           13005                           TCF      LOOPER                                
062544,000407: 
062545,000408: 17,2544           51505                           INDEX    AXISCTR                               
062546,000409: 17,2545           11426                           CCS      URATEDIF                              #        INDEX   AXIS    QUANITY
062547,000410: 17,2546           34755                           CA       ZERO                                  #        0       -U      1/JETACC-AOSU
062548,000411: 17,2547           12551                           TCF      +2                                    #        1       +U      1/JETACC+AOSU
062549,000412: 17,2550           34753                           CA       ONE                                   #        16      -V      1/JETACC-AOSV
062550,000413: 17,2551           51505                           INDEX    AXISCTR                               #        17      +V      1/JETACC+AOSV
062551,000414: 17,2552           63722                           AD       AXISDIFF                              #  JETACC = 2 JET ACCELERATION (1 FOR FAIL)
062552,000415: 
062553,000416: 17,2553           50000                           INDEX    A                                     
062554,000417: 17,2554           41571                           CS       1/ANET2    +1                         
062555,000418: 17,2555           00006                           EXTEND                                         
062556,000419: 17,2556           51505                           INDEX    AXISCTR                               #  URATEDIF IS SCALED AT PI/4 RAD/SEC
062557,000420: 17,2557           71426                           MP       URATEDIF                              #  JET TIME IN A       SCALED 32 SEC
062558,000421: 17,2560           54002                           TS       Q                                     
062559,000422: 17,2561           20001                           DAS      A                                     
062560,000423: 17,2562           60002                           AD       Q                                     
062561,000424: 17,2563           54000                           TS       A                                     #  OVERFLOW SKIP
062562,000425: 17,2564           12566                           TCF      +2                                    
062563,000426: 17,2565           30002                           CA       Q                                     #  RIGHT SIGN AND BIGGER THAN 150MS
062564,000427: 17,2566           51505        SETTIME            INDEX    AXISCTR                               
062565,000428: 17,2567           55525                           TS       TJU                                   #  SCALED AT 10.67 WHICH IS CLOSE TO 10.24
062566,000429: 17,2570           12727                           TCF      AFTERTJ                               
062567,000430: 
062568,000431: 17,2571           34755        ZEROTJ             CA       ZERO                                  
062569,000432: 17,2572           12566                           TCF      SETTIME                               
062570,000433: 
062571,000434: 17,2573           02532        HANDADR            GENADR   BACKHAND                              
062572,000435: 
062573,000436:                                                                                                  #  GTS WILL BE TRIED IF
062574,000437:                                                                                                  #        1. USEQRJTS = 0,
062575,000438:                                                                                                  #        2. ALLOWGTS POS,
062576,000439:                                                                                                  #        3. JETS ARE OFF (Q,R-AXES)
062577,000440: 
062578,000441: 17,2574           34736        TRYGTS             CAF      USEQRJTS                              #  IS JET USE MANDATORY.         (AS LONG AS
062579,000442: 17,2575           70111                           MASK     DAPBOOLS                              #  USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
062580,000443: 17,2576           10000                           CCS      A                                     
062581,000444: 17,2577           12107                           TCF      RCS                                   
062582,000445: 17,2600           11502                           CCS      ALLOWGTS                              #  NO.  DOES AOSTASK OK CONTROL FOR GTS?

Page 1450

062584,000447: 17,2601           12603                           TCF      +2                                    
062585,000448: 17,2602           12107                           TCF      RCS                                   
062586,000449: 17,2603           00006                           EXTEND                                         
062587,000450: 17,2604           00005                           READ     CHAN5                                 
062588,000451: 17,2605           10000                           CCS      A                                     
062589,000452: 17,2606           12612                           TCF      CHKINGTS                              
062590,000453: 17,2607           00006        GOTOGTS            EXTEND                                         
062591,000454: 17,2610           32625                           DCA      GTSCADR                               
062592,000455: 17,2611           52006                           DTCB                                           
062593,000456: 
062594,000457: 17,2612           11633        CHKINGTS           CCS      INGTS                                 #  WAS THE TRIM GIMBAL CONTROLLING
062595,000458: 17,2613           12615                           TCF      +2                                    #        YES.  SET UP A DAMPED NULLING DRIVE.
062596,000459: 17,2614           12107                           TCF      RCS                                   #        NO.  NULLING WAS SET UP BEFORE.  DO RCS
062597,000460: 17,2615           00004                           INHINT                                         
062598,000461: 17,2616           04674                           TC       IBNKCALL                              
062599,000462: 17,2617           43330                           CADR     TIMEGMBL                              
062600,000463: 17,2620           00003                           RELINT                                         
062601,000464: 17,2621           34755                           CAF      ZERO                                  
062602,000465: 17,2622           55633                           TS       INGTS                                 
062603,000466: 17,2623           12107                           TCF      RCS                                   
062604,000467: 
062605,000468: 17,2624  E6,1635                                  EBANK=   CDUXD                                 
062606,000469: 17,2624           03077 42106  GTSCADR            2CADR    GTS                                   
062607,000470: 

Page 1451

062609,000472:                                                                                                  #  SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
062610,000473: 
062611,000474: 17,2626           30033        QERRCALC           CAE      CDUY                                  #  Q-ERROR CALCULATION
062612,000475: 17,2627           00006                           EXTEND                                         
062613,000476: 17,2630           21636                           MSU      CDUYD                                 #  CDU ANGLE - ANGLE DESIRED (Y-AXIS)
062614,000477: 17,2631           55737                           TS       DAPTEMP1                              #  SAVE FOR RERRCALC
062615,000478: 17,2632           00006                           EXTEND                                         
062616,000479: 17,2633           71415                           MP       M21                                   #  (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
062617,000480: 17,2634           55752                           TS       E                                     
062618,000481: 17,2635           30034                           CAE      CDUZ                                  #  SECOND TERM CALCULATION:
062619,000482: 17,2636           00006                           EXTEND                                         
062620,000483: 17,2637           21637                           MSU      CDUZD                                 #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
062621,000484: 17,2640           55740                           TS       DAPTEMP2                              #  SAVE FOR RERRCALC
062622,000485: 17,2641           00006                           EXTEND                                         
062623,000486: 17,2642           71417                           MP       M22                                   #  (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
062624,000487: 17,2643           61300                           AD       DELQEROR                              #  KALCMANU INERFACE ERROR
062625,000488: 17,2644           61752                           AD       E                                     
062626,000489: 17,2645           57450                           XCH      QERROR                                #  SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
062627,000490: 
062628,000491: 17,2646           31737        RERRCALC           CAE      DAPTEMP1                              #  R-ERROR CALCULATION:
062629,000492: 17,2647           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Y-AXIS)
062630,000493: 17,2650           71416                           MP       M31                                   #  (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
062631,000494: 17,2651           55752                           TS       E                                     
062632,000495: 17,2652           31740                           CAE      DAPTEMP2                              #  SECOND TERM CALCULATION:
062633,000496: 17,2653           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
062634,000497: 17,2654           71420                           MP       M32                                   #  (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
062635,000498: 17,2655           61301                           AD       DELREROR                              #  KALCMANU INERFACE ERROR
062636,000499: 17,2656           61752                           AD       E                                     
062637,000500: 17,2657           57452                           XCH      RERROR                                #  SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
062638,000501: 17,2660           00002                           TC       Q                                     
062639,000502: 

Page 1452

062641,000504:                                                                                                  #  "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
062642,000505: 
062643,000506: 17,2661  17,2661               ATTSTEER           EQUALS   STILLRCS                              #  "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
062644,000507: 
062645,000508: 17,2661           31452        STILLRCS           CA       RERROR                                
062646,000509: 17,2662           22000                           LXCH     A                                     
062647,000510: 17,2663           31450                           CA       QERROR                                
062648,000511: 17,2664           03146                           TC       ROT-TOUV                              
062649,000512: 17,2665           53752                           DXCH     UERROR                                
062650,000513: 
062651,000514:                                                                                                  #  PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
062652,000515:                                                                                                  #  PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
062653,000516: 
062654,000517: 17,2666           33113        TJLAW              CA       TJLAWADR                              
062655,000518: 17,2667           55477                           TS       RETJADR                               
062656,000519: 17,2670           34753                           CA       ONE                                   
062657,000520: 17,2671           55505                           TS       AXISCTR                               
062658,000521: 17,2672           51505                           INDEX    AXISCTR                               
062659,000522: 17,2673           51535                           INDEX    SKIPU                                 
062660,000523: 17,2674           12675                           TCF      +1                                    
062661,000524: 17,2675           34751                           CA       FOUR                                  
062662,000525: 17,2676           51505                           INDEX    AXISCTR                               
062663,000526: 17,2677           55535                           TS       SKIPU                                 
062664,000527: 17,2700           13005                           TCF      LOOPER                                
062665,000528: 17,2701           51505                           INDEX    AXISCTR                               
062666,000529: 17,2702           31751                           CA       UERROR                                
062667,000530: 17,2703           55752                           TS       E                                     
062668,000531: 17,2704           51505                           INDEX    AXISCTR                               
062669,000532: 17,2705           31426                           CA       OMEGAU                                
062670,000533: 17,2706           55427                           TS       EDOT                                  
062671,000534: 17,2707           30111                           CA       DAPBOOLS                              
062672,000535: 17,2710           74737                           MASK     CSMDOCKD                              
062673,000536: 17,2711           10000                           CCS      A                                     
062674,000537: 17,2712           12715                           TCF      +3                                    
062675,000538: 17,2713           03252                           TC       TJETLAW                               
062676,000539: 17,2714           12727                           TCF      AFTERTJ                               
062677,000540: 17,2715           40111                 +3        CS       DAPBOOLS                              #  DOCKED.  IF GIMBAL USABLE DO GTS CONTROL
062678,000541: 17,2716           74736                           MASK     USEQRJTS                              #        ON THE NEXT PASS.
062679,000542: 17,2717           10000                           CCS      A                                     #  USEQRJTS BIT MUST NOT BE BIT 15.
062680,000543: 17,2720           55631                           TS       COTROLER                              #  GIMBAL USABLE.  STORE POSITIVE VALUE.
062681,000544: 17,2721           00004                           INHINT                                         
062682,000545: 17,2722           04674                           TC       IBNKCALL                              
062683,000546: 17,2723           43727                           CADR     SPSRCS                                #  DETERMINE RCS CONTROL
062684,000547: 17,2724           00003                           RELINT                                         
062685,000548: 17,2725           34751                           CAF      FOUR                                  #  ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
062686,000549: 17,2726           55743                           TS       NUMBERT                               #  FALL THROUGH TO JET SELECTION, ETC.
062687,000550: 
062688,000551:                                                                                                  #  Q,R-JET-SELECTION-LOGIC
062689,000552: 
062690,000553:                                                                                                  #  INPUT:        AXISCTR         0,1 FOR U,V
062691,000554:                                                                                                  #                SNUFFBIT        ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN

Page 1453

062693,000556:                                                                                                  #                TJU,TJV         JET TIME SCALED 10.24 SEC.
062694,000557:                                                                                                  #                NUMBERT         INDICATES NUMBER OF JETS AND TYPE OF POLICY
062695,000558:                                                                                                  #                RETJADR         WHERE TO RETURN TO
062696,000559: 
062697,000560:                                                                                                  #  OUTPUT:       NO.U(V)JETS     RATE DERIVATION FEEDBACK
062698,000561:                                                                                                  #                CHANNEL 5
062699,000562:                                                                                                  #                SKIPU,SKIRV     FOR LESS THAN 150MS FIRING
062700,000563: 
062701,000564:                                                                                                  #  NOTES:        IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED
062702,000565:                                                                                                  #                JETS OF THE DESIRED POLICY ARE SELECTED.  SINCE THERE ARE ONLY
062703,000566:                                                                                                  #                TWO JETS, THIS MEANS THE OTHER ONE OR NONE.  THE ALARM IS SENT
062704,000567:                                                                                                  #                IF NONE CAN BE FOUND.
062705,000568: 
062706,000569:                                                                                                  #                TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
062707,000570:                                                                                                  #                MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
062708,000571: 
062709,000572: 17,2727           30101        AFTERTJ            CA       FLAGWRD5                              #  IF SNUFFBIT SET DURING A DPS BURN GO TO
062710,000573: 17,2730           74737                           MASK     SNUFFBIT                              #  XTRANS; THAT IS, INHIBIT CONTROL.
062711,000574: 17,2731           00006                           EXTEND                                         
062712,000575: 17,2732           12743                           BZF      DOROTAT                               
062713,000576: 17,2733           40106                           CS       FLGWRD10                              
062714,000577: 17,2734           74737                           MASK     APSFLBIT                              
062715,000578: 17,2735           00006                           EXTEND                                         
062716,000579: 17,2736           12743                           BZF      DOROTAT                               
062717,000580: 17,2737           30111                           CA       DAPBOOLS                              
062718,000581: 17,2740           74744                           MASK     DRIFTBIT                              
062719,000582: 17,2741           00006                           EXTEND                                         
062720,000583: 17,2742           13063                           BZF      XTRANS                                
062721,000584: 
062722,000585: 17,2743           34752        DOROTAT            CAF      TWO                                   
062723,000586: 17,2744           54001                           TS       L                                     
062724,000587: 17,2745           51505                           INDEX    AXISCTR                               
062725,000588: 17,2746           11525                           CCS      TJU                                   
062726,000589: 17,2747           12754                           TCF      +5                                    
062727,000590: 17,2750           12777                           TCF      NOROTAT                               
062728,000591: 17,2751           12753                           TCF      +2                                    
062729,000592: 17,2752           12777                           TCF      NOROTAT                               
062730,000593: 17,2753           22007                           ZL                                             
062731,000594: 17,2754           64753                           AD       ONE                                   
062732,000595: 17,2755           55737                           TS       ABSTJ                                 
062733,000596: 
062734,000597: 17,2756           31505                           CA       AXISCTR                               
062735,000598: 17,2757           60001                           AD       L                                     
062736,000599: 17,2760           55744                           TS       ROTINDEX                              #  0 1 2 3 = -U -V -+U +V
062737,000600: 
062738,000601: 17,2761           31737                           CA       ABSTJ                                 
062739,000602: 17,2762           63110                           AD       -150MS                                
062740,000603: 17,2763           00006                           EXTEND                                         
062741,000604: 17,2764           63010                           BZMF     DOSKIP                                

Page 1454

062743,000606: 17,2765           03173                           TC       SELCTSUB                              
062744,000607: 
062745,000608: 17,2766           51505                           INDEX    AXISCTR                               
062746,000609: 17,2767           33105                           CA       INDEXES                               
062747,000610: 17,2770           54001                           TS       L                                     
062748,000611: 
062749,000612: 17,2771           31741                           CA       POLYTEMP                              
062750,000613: 17,2772           00004                           INHINT                                         
062751,000614: 17,2773           50001                           INDEX    L                                     
062752,000615: 17,2774           05754                           TC       WRITEP                                
062753,000616: 
062754,000617: 17,2775           00003                           RELINT                                         
062755,000618: 17,2776           13051                           TCF      FEEDBACK                              
062756,000619: 
062757,000620: 17,2777           51505        NOROTAT            INDEX    AXISCTR                               
062758,000621: 17,3000           33105                           CA       INDEXES                               
062759,000622: 17,3001           00004                           INHINT                                         
062760,000623: 17,3002           50000                           INDEX    A                                     
062761,000624: 17,3003           05753                           TC       WRITEP     -1                         
062762,000625: 
062763,000626: 17,3004           00003                           RELINT                                         
062764,000627: 17,3005           11505        LOOPER             CCS      AXISCTR                               
062765,000628: 17,3006           01477                           TC       RETJADR                               
062766,000629: 17,3007           13236                           TCF      CLOSEOUT                              
062767,000630: 17,3010           41737        DOSKIP             CS       ABSTJ                                 
062768,000631: 17,3011           63107                           AD       +TJMINT6                              #  14MS
062769,000632: 17,3012           00006                           EXTEND                                         
062770,000633: 17,3013           63032                           BZMF     NOTMIN                                
062771,000634: 
062772,000635: 17,3014           27737                           ADS      ABSTJ                                 
062773,000636: 17,3015           51505                           INDEX    AXISCTR                               
062774,000637: 17,3016           11525                           CCS      TJU                                   
062775,000638: 17,3017           33107                           CA       +TJMINT6                              
062776,000639: 17,3020           13022                           TCF      +2                                    
062777,000640: 17,3021           43107                           CS       +TJMINT6                              
062778,000641: 17,3022           51505                           INDEX    AXISCTR                               
062779,000642: 17,3023           55525                           TS       TJU                                   
062780,000643: 
062781,000644: 17,3024           11500                           CCS      SENSETYP                              #  ENSURE MIN-IMPULSE NOT AGAINST TRANS
062782,000645: 17,3025           13031                           TCF      NOTMIN     -1                         
062783,000646: 17,3026           00006                           EXTEND                                         
062784,000647: 17,3027           00004                           READ     LOSCALAR                              
062785,000648: 17,3030           74753                           MASK     ONE                                   
062786,000649: 17,3031           55743                           TS       NUMBERT                               
062787,000650: 
062788,000651: 17,3032           03173        NOTMIN             TC       SELCTSUB                              
062789,000652: 
062790,000653: 17,3033           51505                           INDEX    AXISCTR                               
062791,000654: 17,3034           33105                           CA       INDEXES                               
062792,000655: 17,3035           00004                           INHINT                                         

Page 1455

062794,000657: 17,3036           55471                           TS       T6FURTHA   +1                         
062795,000658: 17,3037           31741                           CA       POLYTEMP                              
062796,000659: 17,3040           51471                           INDEX    T6FURTHA   +1                         
062797,000660: 17,3041           05754                           TC       WRITEP                                
062798,000661: 
062799,000662: 17,3042           31737                           CA       ABSTJ                                 
062800,000663: 17,3043           55470                           TS       T6FURTHA                              
062801,000664: 17,3044           03114                           TC       JTLST                                 #  IN QR BANK BY NOW
062802,000665: 
062803,000666: 17,3045           00003                           RELINT                                         
062804,000667: 
062805,000668: 17,3046           34755                           CA       ZERO                                  
062806,000669: 17,3047           51505                           INDEX    AXISCTR                               
062807,000670: 17,3050           55535                           TS       SKIPU                                 
062808,000671: 
062809,000672: 17,3051           46245        FEEDBACK           CS       THREE                                 
062810,000673: 17,3052           61743                           AD       NUMBERT                               
062811,000674: 17,3053           00006                           EXTEND                                         
062812,000675: 17,3054           63057                           BZMF     +3                                    
062813,000676: 
062814,000677: 17,3055           34752                           CA       TWO                                   
062815,000678: 17,3056           13060                           TCF      +2                                    
062816,000679: 17,3057           34753                           CA       ONE                                   
062817,000680: 17,3060           51505                           INDEX    AXISCTR                               
062818,000681: 17,3061           55522                           TS       NO.UJETS                              
062819,000682: 17,3062           13005                           TCF      LOOPER                                
062820,000683: 
062821,000684: 17,3063           34755        XTRANS             CA       ZERO                                  
062822,000685: 17,3064           55525                           TS       TJU                                   
062823,000686: 17,3065           55526                           TS       TJV                                   
062824,000687: 17,3066           34751                           CA       FOUR                                  
062825,000688: 17,3067           00004                           INHINT                                         
062826,000689: 17,3070           57535                           XCH      SKIPU                                 
062827,000690: 17,3071           00006                           EXTEND                                         
062828,000691: 17,3072           13074                           BZF      +2                                    
062829,000692: 17,3073           05757                           TC       WRITEU     -1                         
062830,000693: 17,3074           34751                           CA       FOUR                                  
062831,000694: 17,3075           57536                           XCH      SKIPV                                 
062832,000695: 17,3076           00003                           RELINT                                         
062833,000696: 
062834,000697: 17,3077           00006                           EXTEND                                         
062835,000698: 17,3100           13236                           BZF      CLOSEOUT                              
062836,000699: 17,3101           00004                           INHINT                                         
062837,000700: 17,3102           05770                           TC       WRITEV     -1                         
062838,000701: 17,3103           00003                           RELINT                                         
062839,000702: 
062840,000703: 17,3104           13236                           TCF      CLOSEOUT                              
062841,000704: 17,3105           00004        INDEXES            DEC      4          B-14                       
062842,000705: 17,3106           00015                           DEC      13         B-14                       
062843,000706: 17,3107           00026        +TJMINT6           DEC      22         B-14                       

Page 1456

062845,000708: 17,3110           77417        -150MS             DEC      -240       B-14                       
062846,000709: 17,3111           00600        BIT8,9             OCT      00600                                 
062847,000710: 17,3112           00266        SCLNORM            OCT      266                                   
062848,000711: 17,3113           02671        TJLAWADR           GENADR   TJLAW      +3                         #  RETURN ADDRESS FOR RCS ATTITUDE CONTROL
062849,000712: 
062850,000713:                                                                                                  #  THE JET LIST:
062851,000714:                                                                                                  #  THIS IS A WAITLIST FOR T6RUPTS.
062852,000715: 
062853,000716:                                                                                                  #  CALLED BY:
062854,000717:                                                                                                  #                CA      TJ              TIME WHEN NEXT JETS WILL BE WRITTEN
062855,000718:                                                                                                  #                TS      T6FURTHA
062856,000719:                                                                                                  #                CA      INDEX           AXIS TO BE WIRTTEN AT TJ (FROM NOW)
062857,000720:                                                                                                  #                TS      T6FURTHA +1
062858,000721:                                                                                                  #                TC      JTLST
062859,000722: 
062860,000723:                                                                                                  #  EXAMPLE - U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
062861,000724:                                                                                                  #  JETS INTO CHANNEL 5.  IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
062862,000725:                                                                                                  #  150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
062863,000726:                                                                                                  #  CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
062864,000727:                                                                                                  #  OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
062865,000728: 
062866,000729:                                                                                                  #  THE LIST IS EXACTLY 3 LONG.  (THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
062867,000730:                                                                                                  #  THE INPUT IS THE LAST MEMBER OF THE LIST
062868,000731: 
062869,000732:                                                                                                  #  RETURNS BY:
062870,000733:                                                                                                  #        +       TC      Q
062871,000734: 
062872,000735:                                                                                                  #  DEFINITIONS:  (OUTPUT)
062873,000736:                                                                                                  #        TIME6           TIME OF NEXT RUPT
062874,000737:                                                                                                  #        T6NEXT          DELTA TIME TO NEXT RUPT
062875,000738:                                                                                                  #        T6FURTHA        DELTA TIME FROM 2ND TO LAST RUPT
062876,000739:                                                                                                  #        NXT6ADR         AXIS INDEX       Q - P-AXIS
062877,000740:                                                                                                  #        T6NEXT +1       AXIS INDEX       4 - U-AXIS
062878,000741:                                                                                                  #        T6FURTHA +1     AXIS INDEX      13 - V-AXIS
062879,000742: 
062880,000743: 17,3114           41470        JTLST              CS       T6FURTHA                              
062881,000744: 17,3115           60031                           AD       TIME6                                 
062882,000745: 17,3116           00006                           EXTEND                                         
062883,000746: 17,3117           63131                           BZMF     MIDORLST                              #  TIME6 - T IS IN A
062884,000747: 
062885,000748: 17,3120           23465                           LXCH     NXT6ADR                               
062886,000749: 17,3121           53467                           DXCH     T6NEXT                                
062887,000750: 17,3122           53471                           DXCH     T6FURTHA                              
062888,000751: 17,3123           54031                           TS       TIME6                                 
062889,000752: 17,3124           23465                           LXCH     NXT6ADR                               
062890,000753: 
062891,000754: 17,3125           34735        TURNON             CA       BIT15                                 
062892,000755: 17,3126           00006                           EXTEND                                         
062893,000756: 17,3127           05013                           WOR      CHAN13                                
062894,000757: 17,3130           00002                           TC       Q                                     
062895,000758: 

Page 1457

062897,000760: 17,3131           61466        MIDORLST           AD       T6NEXT                                
062898,000761: 17,3132           00006                           EXTEND                                         
062899,000762: 17,3133           63142                           BZMF     LASTCHG                               #  TIME6 + T6NEXT - T IS IN A
062900,000763: 
062901,000764: 17,3134           23467                           LXCH     T6NEXT     +1                         
062902,000765: 17,3135           53471                           DXCH     T6FURTHA                              
062903,000766: 17,3136           00006                           EXTEND                                         
062904,000767: 17,3137           60031                           SU       TIME6                                 
062905,000768: 17,3140           53467                           DXCH     T6NEXT                                
062906,000769: 
062907,000770: 17,3141           00002                           TC       Q                                     
062908,000771: 
062909,000772: 17,3142           40000        LASTCHG            CS       A                                     
062910,000773: 17,3143           64754                           AD       NEG0                                  
062911,000774: 17,3144           55470                           TS       T6FURTHA                              
062912,000775: 
062913,000776: 17,3145           00002                           TC       Q                                     
062914,000777: 
062915,000778:                                                                                                  #  ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
062916,000779:                                                                                                  #  ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM.  IN THE U-V SYSTEM NO CROSS-COUPLING IS
062917,000780:                                                                                                  #  PRODUCED FROM RCS JET FIRINGS.  AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
062918,000781:                                                                                                  #  A AND THE V-COMPONENT IS IN L.
062919,000782: 
062920,000783: 17,3146           23740        ROT-TOUV           LXCH     ROTEMP2                               #  (R) IS PUT INTO ROTEMP2
062921,000784: 17,3147           00006                           EXTEND                                         
062922,000785: 17,3150           71627                           MP       COEFFQ                                
062923,000786: 17,3151           57740                           XCH      ROTEMP2                               #  (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
062924,000787: 17,3152           00006                           EXTEND                                         
062925,000788: 17,3153           71630                           MP       COEFFR                                
062926,000789: 17,3154           54001                           TS       L                                     #  COEFFR.(R) IS PUT INTO L
062927,000790: 17,3155           61740                           AD       ROTEMP2                               
062928,000791: 17,3156           55737                           TS       ROTEMP1                               #  COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
062929,000792: 17,3157           13163                           TCF      +4                                    
062930,000793: 17,3160           50000                           INDEX    A                                     #  COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
062931,000794: 17,3161           44734                           CS       LIMITS                                #  AND IS LIMITED TO POSMAX OR NEGMAX
062932,000795: 17,3162           55737                           TS       ROTEMP1                               
062933,000796: 17,3163           41740                           CS       ROTEMP2                               
062934,000797: 17,3164           60001                           AD       L                                     #  -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
062935,000798: 17,3165           54007                           TS       7                                     
062936,000799: 17,3166           13171                           TCF      +3                                    
062937,000800: 17,3167           50000                           INDEX    A                                     #  -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
062938,000801: 17,3170           44734                           CS       LIMITS                                #  AND IS LIMITED TO POSMAX OR NEGMAX
062939,000802: 17,3171           23737                           LXCH     ROTEMP1                               #  COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
062940,000803: 17,3172           00002                           TC       Q                                     
062941,000804: 17,3173           51744        SELCTSUB           INDEX    ROTINDEX                              
062942,000805: 17,3174           33225                           CA       ALLJETS                               
062943,000806: 17,3175           51743                           INDEX    NUMBERT                               
062944,000807: 17,3176           73231                           MASK     TYPEPOLY                              
062945,000808: 17,3177           55741                           TS       POLYTEMP                              

Page 1458

062947,000810: 17,3200           71262                           MASK     CH5MASK                               
062948,000811: 17,3201           10000                           CCS      A                                     
062949,000812: 17,3202           13204                           TCF      +2                                    
062950,000813: 
062951,000814: 17,3203           00002                           TC       Q                                     
062952,000815: 
062953,000816: 17,3204           36245                           CA       THREE                                 
062954,000817: 17,3205           55743        FAILOOP            TS       NUMBERT                               
062955,000818: 17,3206           51744                           INDEX    ROTINDEX                              
062956,000819: 17,3207           33225                           CA       ALLJETS                               
062957,000820: 17,3210           51743                           INDEX    NUMBERT                               
062958,000821: 17,3211           73231                           MASK     TYPEPOLY                              
062959,000822: 17,3212           55741                           TS       POLYTEMP                              
062960,000823: 17,3213           71262                           MASK     CH5MASK                               
062961,000824: 17,3214           00006                           EXTEND                                         
062962,000825: 17,3215           13203                           BZF      FAILOOP    -2                         
062963,000826: 17,3216           11743                           CCS      NUMBERT                               
062964,000827: 17,3217           13205                           TCF      FAILOOP                               
062965,000828: 17,3220           51505                           INDEX    AXISCTR                               
062966,000829: 17,3221           55525                           TS       TJU                                   
062967,000830: 17,3222           05567                           TC       ALARM                                 
062968,000831: 17,3223           02004                           OCT      02004                                 
062969,000832: 17,3224           12777                           TCF      NOROTAT                               
062970,000833: 17,3225           00110        ALLJETS            OCT      00110                                 #        -U      6 13
062971,000834: 17,3226           00022                           OCT      00022                                 #        -V      2 9
062972,000835: 17,3227           00204                           OCT      00204                                 #        +U      5 14
062973,000836: 17,3230           00041                           OCT      00041                                 #        +V      1 10
062974,000837: 17,3231           00125        TYPEPOLY           OCT      00125                                 #        -X      1 5 9 13
062975,000838: 17,3232           00252                           OCT      00252                                 #        +X      2 6 10 14
062976,000839: 17,3233           00146                           OCT      00146                                 #        A       2 5 10 13
062977,000840: 17,3234           00231                           OCT      00231                                 #        B       1 6 9 14
062978,000841: 17,3235           00377                           OCT      00377                                 #        ALL     1 2 5 6 9 10 13 14
062979,000842: 
062980,000843:                                                                                                  #  THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
062981,000844: 
062982,000845: 17,3236           33240        CLOSEOUT           CA       ADRRUPT                               
062983,000846: 17,3237           07754                           TC       MAKERUPT                              
062984,000847: 
062985,000848: 17,3240           03241        ADRRUPT            ADRES    ENDJASK                               
062986,000849: 
062987,000850: 17,3241           53754        ENDJASK            DXCH     DAPARUPT                              
062988,000851: 17,3242           52011                           DXCH     ARUPT                                 
062989,000852: 17,3243           53756                           DXCH     DAPBQRPT                              
062990,000853: 17,3244           56017                           XCH      BRUPT                                 
062991,000854: 17,3245           22002                           LXCH     Q                                     
062992,000855: 17,3246           34735                           CAF      NEGMAX                                #  NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
062993,000856: 17,3247           53760                           DXCH     DAPZRUPT                              
062994,000857: 17,3250           52016                           DXCH     ZRUPT                                 
062995,000858: 17,3251           15272                           TCF      NOQRSM                                

Page 1459

062997,000860:    7754                                           BLOCK    3                                     
062998,000861:    6000                                           SETLOC   FFTAG6                                
062999,000862:    6000                                           BANK                                           
063000,000863: 
063001,000864:    7754                                           COUNT*   $$/DAP                                
063002,000865: 
063003,000866:    7754           00006        MAKERUPT           EXTEND                                         
063004,000867:    7755           07754                           EDRUPT   MAKERUPT                              
063005,000868: 

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