Source Code

These source-code files derive from a printout of Luminary 116 (the Apollo 12 Lunar Module guidance computer program), from the personal library of original AGC developer Don Eyles, digitally photographed at archive.org, financially sponsored by Ron Burkey, and transcribed to source code by a team of volunteers. This colorized, syntax-highlighted form was created by assembling that transcribed source code. Note that the full page images are available on the Virtual AGC project page at archive.org, while reduced-size images are presented at the VirtualAGC project website. Report or fix any transcription errors at the Virtual AGC project code repository.

Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071
	19:09 AUG. 11,1969
Note that the date is the date of the printout, not the date of the program revision.

060040,000002:                                                                                                  ## Copyright:   Public domain.
060041,000003:                                                                                                  ## Filename:    P-AXIS_RCS_AUTOPILOT.agc
060042,000004:                                                                                                  ## Purpose:     A section of Luminary revision 116.
060043,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
060044,000006:                                                                                                  ##              Apollo Guidance Computer (AGC) for Apollo 12.
060045,000007:                                                                                                  ##              This file is intended to be a faithful transcription, except
060046,000008:                                                                                                  ##              that the code format has been changed to conform to the
060047,000009:                                                                                                  ##              requirements of the yaYUL assembler rather than the
060048,000010:                                                                                                  ##              original YUL assembler.
060049,000011:                                                                                                  ## Reference:   pp. 1411-1431
060050,000012:                                                                                                  ## Assembler:   yaYUL
060051,000013:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
060052,000014:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
060053,000015:                                                                                                  ## Mod history: 2017-01-22 MAS  Created from Luminary 99.
060054,000016:                                                                                                  ##              2017-02-01 RRB  Updated for Luminary 116.
060055,000017:                                                                                                  ##              2017-02-09 HG   Fix operand O13QSAV  --> C13QSAV
060056,000018:                                                                                                  ##                                          O13STALL --> C13STALL
060057,000019:                                                                                                  ##                                          Q        --> C13QSAV
060058,000020:                                                                                                  ##              2017-03-14 RSB  Proofed comment text via 3-way diff vs
060059,000021:                                                                                                  ##                              Luminary 99 and 131.  Fixed an OCT also.
060060,000022:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
060061,000023:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
060062,000024:                                                                                                  ##              2017-03-19 HG   Fix definition of 1/10SEC, 40CYC
060063,000025:                                                                                                  ##                              i.e. no storage allocated
060064,000026:                                                                                                  ##                              Add missing statements RELINT
060065,000027:                                                                                                  ##                              Fix operand DAPBOOLS --> FLAGWRD5
060066,000028:                                                                                                  ##              2021-05-30 ABS  Fixed a page number to match scans.
060067,000029: 

Page 1411

060069,000031: 16,2213                                           BANK     16                                    
060070,000032: 16,2000                                           SETLOC   DAPS1                                 
060071,000033: 16,2000                                           BANK                                           
060072,000034: 
060073,000035: 16,2213  E6,1464                                  EBANK=   PERROR                                
060074,000036: 16,2213                                           COUNT*   $$/DAPP                               
060075,000037: 
060076,000038:                                                                                                  #  THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS.
060077,000039:                                                                                                  #  THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP.
060078,000040: 
060079,000041: 16,2213           37732        PAXIS              CA       MS100                                 
060080,000042: 16,2214           26030                           ADS      TIME5                                 #  *** NECESSARY IN ORDER TO ALLOW SYN-
060081,000043:                                                                                                  #  CHRONIZATION WITH OTHER INTERRUPTS ***
060082,000044: 
060083,000045: 16,2215           22016                           LXCH     BANKRUPT                              #  INTERRUPT LEAD IN (CONTINUED)
060084,000046: 16,2216           00006                           EXTEND                                         
060085,000047: 16,2217           22012                           QXCH     QRUPT                                 
060086,000048: 
060087,000049:                                                                                                  #  CHECK IF DAP PASS IS PERMISSIBLE
060088,000050: 
060089,000051: 16,2220           11757                           CCS      DAPZRUPT                              #  IF DAPZRUPT POSITIVE, DAP (JASK) IS
060090,000052: 16,2221           05624                           TC       BAILOUT                               #     STILL IN PROGRESS AND A RESTART IS
060091,000053: 16,2222           32000                           OCT      32000                                 #    CALLED FOR.  IT IS NEVER ZERO
060092,000054: 
060093,000055: 16,2223           02000                           TC       CHEKBITS                              #  RETURN IS TO I+1 IF DAP SHOULD STAY ON.
060094,000056: 
060095,000057: 16,2224           30032                           CA       CDUX                                  #  READ AND STORE CDU'S
060096,000058: 16,2225           55750                           TS       DAPTREG4                              
060097,000059: 16,2226           30033                           CA       CDUY                                  
060098,000060: 16,2227           55751                           TS       DAPTREG5                              
060099,000061: 16,2230           30034                           CA       CDUZ                                  
060100,000062: 16,2231           55752                           TS       DAPTREG6                              
060101,000063: 
060102,000064:                                                                                                  #  ***** KALCMANU-DAP AND "RATE-HOLD"-DAP INTERFACE *****
060103,000065: 
060104,000066:                                                                                                  #  THE FOLLOWING SECTION IS EXECUTED EVERY 100 MS (10 TIMES A SECOND) WITHIN THE P-AXIS REACTION CONTROL SYSTEM
060105,000067:                                                                                                  #  AUTOPILOT (WHENEVER THE DAP IS IN OPERATION).
060106,000068: 
060107,000069: 16,2232           31635                           CA       CDUXD                                 
060108,000070: 16,2233           00006                           EXTEND                                         
060109,000071: 16,2234           21640                           MSU      DELCDUX                               
060110,000072: 16,2235           02256                           TC       1STOTWOS                              
060111,000073: 16,2236           55635                           TS       CDUXD                                 
060112,000074: 16,2237           31636                           CA       CDUYD                                 
060113,000075: 16,2240           00006                           EXTEND                                         
060114,000076: 16,2241           21641                           MSU      DELCDUY                               
060115,000077: 16,2242           02256                           TC       1STOTWOS                              
060116,000078: 16,2243           55636                           TS       CDUYD                                 
060117,000079: 16,2244           31637                           CA       CDUZD                                 
060118,000080: 16,2245           00006                           EXTEND                                         
060119,000081: 16,2246           21642                           MSU      DELCDUZ                               

Page 1412

060121,000083: 16,2247           02256                           TC       1STOTWOS                              
060122,000084: 16,2250           55637                           TS       CDUZD                                 
060123,000085: 16,2251           00006                           EXTEND                                         #  DIMINISH MANUAL CONTROL DIRECT RATE
060124,000086: 16,2252           27445                           DIM      TCP                                   #  TIME COUNTERS.
060125,000087: 16,2253           00006                           EXTEND                                         
060126,000088: 16,2254           27457                           DIM      TCQR                                  
060127,000089: 
060128,000090:                                                                                                  #  RATELOOP COMPUTES JETRATEQ, JETRATER, AND 1JACC*NO. PJETS IN ITEMP1.
060129,000091:                                                                                                  #    RETURNS TO BACKP.
060130,000092: 
060131,000093:                                                                                                  #    JETRATE = 1JACC*NO.PJETS*TJP   (NOTE TJ IS THE TIME FIRED DURING CSP)
060132,000094:                                                                                                  #    JETRATEQ = 1JACCQ(TJU*NO.UJETS - TJV*NO.VJETS)
060133,000095:                                                                                                  #    JETRATER = 1JACCR(TJU*NO.UJETS + TJV*NO.VJETS)
060134,000096: 
060135,000097: 16,2255           12647                           TCF      PAXFILT                               #  PROCEEDS TO RATELOOP AFTER SUPERJOB
060136,000098: 16,2256           10000        1STOTWOS           CCS      A                                     
060137,000099: 16,2257           64753                           AD       ONE                                   
060138,000100: 16,2260           00002                           TC       Q                                     
060139,000101: 16,2261           40000                           CS       A                                     
060140,000102: 16,2262           00002                           TC       Q                                     
060141,000103: 16,2263           00006        SUBDIVDE           EXTEND                                         #  OVERFLOW PROCTION ROUTINE TO GIVE
060142,000104: 16,2264           71741                           MP       DAPTEMP3                              #    POSMAX OR NEGMAX IF THE DIVIDE WOULD
060143,000105: 16,2265           21427                           DAS      OMEGAU                                #    OVERFLOW
060144,000106: 
060145,000107: 16,2266           00006                 +3        EXTEND                                         
060146,000108: 16,2267           31427                           DCA      OMEGAU                                
060147,000109: 16,2270           53744                           DXCH     DAPTEMP5                              
060148,000110: 16,2271           11426                           CCS      OMEGAU                                
060149,000111: 16,2272           12274                           TCF      +2                                    
060150,000112: 16,2273           12304                           TCF      DIVIDER                               
060151,000113: 16,2274           62315                           AD       -OCT630                               
060152,000114: 16,2275           00006                           EXTEND                                         
060153,000115: 16,2276           62304                           BZMF     DIVIDER                               
060154,000116: 
060155,000117: 16,2277           11426                           CCS      OMEGAU                                
060156,000118: 16,2300           34733                           CA       POSMAX                                #  45 DEG/SEC
060157,000119: 16,2301           00002                           TC       Q                                     
060158,000120: 16,2302           44733                           CS       POSMAX                                
060159,000121: 16,2303           00002                           TC       Q                                     
060160,000122: 
060161,000123: 16,2304           53427        DIVIDER            DXCH     OMEGAU                                
060162,000124: 16,2305           00006                           EXTEND                                         
060163,000125: 16,2306           11750                           DV       DAPTREG4                              
060164,000126: 16,2307           00002                           TC       Q                                     
060165,000127: 
060166,000128: 16,2310           54007        OVERSUB            TS       7                                     #  RETURNS A UNCHANGED OR LIMITED TO
060167,000129: 16,2311           00002                           TC       Q                                     #    POSMAX OR NEGMAX IF A HAS OVERFLOW
060168,000130: 16,2312           50000                           INDEX    A                                     
060169,000131: 16,2313           44734                           CS       BIT15      -1                         

Page 1413

060171,000133: 16,2314           00002                           TC       Q                                     
060172,000134: 
060173,000135: 16,2315           77147        -OCT630            OCT      77147                                 
060174,000136: 
060175,000137: 16,2316           31737        BACKP              CA       DAPTEMP1                              
060176,000138: 16,2317           00006                           EXTEND                                         
060177,000139: 16,2320           71530                           MP       1JACC                                 
060178,000140: 16,2321           55745                           TS       JETRATE                               
060179,000141: 
060180,000142:                                                                                                  #  BEGINNING OF THE RATE DERIVATION
060181,000143:                                                                                                  #  OMEGAP,Q,R      BODY RATES SCALED AT PI/4
060182,000144:                                                                                                  #  TRAPER,Q,R      BODY ANGLE ERRORS FROM PREDICTED ANGLE (PI/40)
060183,000145:                                                                                                  #  NP(QR)TRAPS     NUMBER OF TIMES ANGLE ERROR HAS BEEN ACCUMULATED
060184,000146:                                                                                                  #  AOSQ(R)TERM     CHANGE IN RATE DUE TO OFFSET ACCELLERATION.  (PI/4)
060185,000147:                                                                                                  #  JETRATE,Q,R     CHANGE IN RATE DUE TO  JET   ACCELLERATION.  (PI/4)
060186,000148:                                                                                                  #  TRAPSIZE        NEGATIVE LIMIT OF MAGNITUDE OF TRAPEDP, ECT.
060187,000149:                                                                                                  #  OMEGAU          DP-TEMPORARY STORAGE
060188,000150: 
060189,000151:                                                                                                  #  OMEGA = OMEGA + JETRATE + AOSTERM (+TRAPED/NTRAPS IF TRAPED BIG)
060190,000152: 
060191,000153: 16,2322           31750                           CAE      DAPTREG4                              #  CDUX IS STORED HERE
060192,000154: 16,2323           54001                           TS       L                                     
060193,000155: 16,2324           00006                           EXTEND                                         
060194,000156: 16,2325           21440                           MSU      OLDXFORP                              #  SCALED AT PI
060195,000157: 16,2326           23440                           LXCH     OLDXFORP                              
060196,000158: 16,2327           55737                           TS       DAPTEMP1                              
060197,000159: 16,2330           33624                           CA       1/40                                  
060198,000160: 16,2331           55750                           TS       DAPTREG4                              
060199,000161: 16,2332           41745                           CS       JETRATE                               
060200,000162: 16,2333           00006                           EXTEND                                         
060201,000163: 16,2334           74736                           MP       BIT14                                 
060202,000164: 16,2335           27430                           ADS      TRAPEDP                               
060203,000165: 16,2336           31746                           CA       JETRATEQ                              
060204,000166: 16,2337           61545                           AD       AOSQTERM                              
060205,000167: 16,2340           00006                           EXTEND                                         
060206,000168: 16,2341           77741                           MP       -BIT14                                
060207,000169: 16,2342           27431                           ADS      TRAPEDQ                               
060208,000170: 16,2343           31747                           CA       JETRATER                              
060209,000171: 16,2344           61546                           AD       AOSRTERM                              
060210,000172: 16,2345           00006                           EXTEND                                         
060211,000173: 16,2346           77741                           MP       -BIT14                                
060212,000174: 16,2347           27432                           ADS      TRAPEDR                               
060213,000175: 
060214,000176: 16,2350           31751                           CA       DAPTREG5                              #  CDUY IS STORED HERE
060215,000177: 16,2351           54001                           TS       L                                     
060216,000178: 16,2352           00006                           EXTEND                                         
060217,000179: 16,2353           21441                           MSU      OLDYFORP                              #  SCALED AT PI
060218,000180: 16,2354           23441                           LXCH     OLDYFORP                              
060219,000181: 16,2355           55740                           TS       DAPTEMP2                              
060220,000182: 16,2356           00006                           EXTEND                                         
060221,000183: 16,2357           71414                           MP       M11                                   #  M11 SCALED AT 1

Page 1414

060223,000185: 16,2360           61737                           AD       DAPTEMP1                              
060224,000186: 16,2361           53427                           DXCH     OMEGAU                                
060225,000187: 
060226,000188: 16,2362           02266                           TC       SUBDIVDE   +3                         #  RETURNS WITH CDU-RATE AT PI/4
060227,000189: 
060228,000190: 16,2363           00006                           EXTEND                                         
060229,000191: 16,2364           61421                           SU       OMEGAP                                
060230,000192: 16,2365           27430                           ADS      TRAPEDP                               
060231,000193: 16,2366           02310                           TC       OVERSUB                               
060232,000194: 16,2367           55430                           TS       TRAPEDP                               
060233,000195: 16,2370           00006                           EXTEND                                         
060234,000196: 16,2371           31744                           DCA      DAPTEMP5                              
060235,000197: 16,2372           21447                           DAS      DXERROR                               
060236,000198: 16,2373           41454                           CS       PLAST                                 
060237,000199: 16,2374           00006                           EXTEND                                         
060238,000200: 16,2375           73624                           MP       1/40                                  
060239,000201: 16,2376           21447                           DAS      DXERROR                               #  MANUAL MODE X-ATTITUDE ERROR (DP)
060240,000202: 16,2377           31752                           CA       DAPTREG6                              #  CDUZ IS STORED HERE
060241,000203: 16,2400           54001                           TS       L                                     
060242,000204: 16,2401           00006                           EXTEND                                         
060243,000205: 16,2402           21442                           MSU      OLDZFORQ                              
060244,000206: 16,2403           55741                           TS       DAPTEMP3                              
060245,000207: 16,2404           23442                           LXCH     OLDZFORQ                              
060246,000208: 16,2405           31415                           CA       M21                                   
060247,000209: 16,2406           00006                           EXTEND                                         
060248,000210: 16,2407           71740                           MP       DAPTEMP2                              
060249,000211: 16,2410           53427                           DXCH     OMEGAU                                
060250,000212: 16,2411           31417                           CA       M22                                   
060251,000213: 16,2412           02263                           TC       SUBDIVDE                              
060252,000214: 
060253,000215: 16,2413           00006                           EXTEND                                         
060254,000216: 16,2414           61422                           SU       OMEGAQ                                
060255,000217: 16,2415           27431                           ADS      TRAPEDQ                               
060256,000218: 16,2416           02310                           TC       OVERSUB                               
060257,000219: 16,2417           55431                           TS       TRAPEDQ                               
060258,000220: 16,2420           00006                           EXTEND                                         
060259,000221: 16,2421           31744                           DCA      DAPTEMP5                              
060260,000222: 16,2422           21451                           DAS      DYERROR                               
060261,000223: 16,2423           41455                           CS       QLAST                                 
060262,000224: 16,2424           00006                           EXTEND                                         
060263,000225: 16,2425           73624                           MP       1/40                                  
060264,000226: 16,2426           21451                           DAS      DYERROR                               #  MANUAL MODE Y-ATTITUDE ERROR (DP)
060265,000227: 16,2427           31416                           CA       M31                                   
060266,000228: 16,2430           00006                           EXTEND                                         
060267,000229: 16,2431           71740                           MP       DAPTEMP2                              
060268,000230: 16,2432           53427                           DXCH     OMEGAU                                
060269,000231: 16,2433           31420                           CA       M32                                   
060270,000232: 
060271,000233: 16,2434           02263                           TC       SUBDIVDE                              

Page 1415

060273,000235: 16,2435           00006                           EXTEND                                         
060274,000236: 16,2436           61423                           SU       OMEGAR                                
060275,000237: 16,2437           27432                           ADS      TRAPEDR                               
060276,000238: 16,2440           02310                           TC       OVERSUB                               
060277,000239: 16,2441           55432                           TS       TRAPEDR                               #  TRAPEDS HAVE ALL BEEN COMPUTED
060278,000240: 
060279,000241: 16,2442           00006                           EXTEND                                         
060280,000242: 16,2443           31744                           DCA      DAPTEMP5                              
060281,000243: 16,2444           21453                           DAS      DZERROR                               
060282,000244: 16,2445           41456                           CS       RLAST                                 
060283,000245: 16,2446           00006                           EXTEND                                         
060284,000246: 16,2447           73624                           MP       1/40                                  
060285,000247: 16,2450           21453                           DAS      DZERROR                               #  MANUAL MODE Z-ATTITUDE ERROR (DP)
060286,000248: 16,2451           30111                           CA       DAPBOOLS                              #  PICK UP PAD LOADED STATE ESTIMATOR GAINS
060287,000249: 16,2452           74737                           MASK     CSMDOCKD                              
060288,000250: 16,2453           00006                           EXTEND                                         
060289,000251: 16,2454           12462                           BZF      LMONLY                                
060290,000252: 16,2455           00006                           EXTEND                                         #  DOCKED
060291,000253: 16,2456           31405                           DCA      DKOMEGAN                              
060292,000254: 16,2457           53751                           DXCH     DAPTREG4                              
060293,000255: 16,2460           31403                           CA       DKTRAP                                
060294,000256: 16,2461           12466                           TCF      +5                                    
060295,000257: 16,2462           00006        LMONLY             EXTEND                                         #  UNDOCKED
060296,000258: 16,2463           31410                           DCA      LMOMEGAN                              
060297,000259: 16,2464           53751                           DXCH     DAPTREG4                              
060298,000260: 16,2465           31406                           CA       LMTRAP                                
060299,000261: 16,2466           55752                 +5        TS       DAPTREG6                              
060300,000262: 16,2467           11430                           CCS      TRAPEDP                               
060301,000263: 16,2470           12472                           TCF      +2                                    
060302,000264: 16,2471           12507                           TCF      SMALPDIF                              
060303,000265: 16,2472           61752                           AD       DAPTREG6                              #  TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
060304,000266: 16,2473           00006                           EXTEND                                         
060305,000267: 16,2474           62507                           BZMF     SMALPDIF                              
060306,000268: 16,2475           22007                           ZL                                             
060307,000269: 16,2476           23430                           LXCH     TRAPEDP                               
060308,000270: 16,2477           34755                           CA       ZERO                                  
060309,000271: 16,2500           00006                           EXTEND                                         
060310,000272: 16,2501           11433                           DV       NPTRAPS                               
060311,000273: 16,2502           27421                           ADS      OMEGAP                                
060312,000274: 16,2503           02310                           TC       OVERSUB                               
060313,000275: 16,2504           55421                           TS       OMEGAP                                
060314,000276: 16,2505           31750                           CA       DAPTREG4                              #  ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
060315,000277: 16,2506           55433                           TS       NPTRAPS                               
060316,000278: 16,2507           25433        SMALPDIF           INCR     NPTRAPS                               
060317,000279: 16,2510           31745        P-RATE             CA       JETRATE                               
060318,000280: 16,2511           27421                           ADS      OMEGAP                                
060319,000281: 16,2512           02310                           TC       OVERSUB                               
060320,000282: 16,2513           55421                           TS       OMEGAP                                
060321,000283: 
060322,000284: 16,2514           11431                           CCS      TRAPEDQ                               

Page 1416

060324,000286: 16,2515           12517                           TCF      +2                                    
060325,000287: 16,2516           12544                           TCF      Q-RATE                                
060326,000288: 16,2517           61752                           AD       DAPTREG6                              #  TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
060327,000289: 16,2520           00006                           EXTEND                                         
060328,000290: 16,2521           62544                           BZMF     Q-RATE                                
060329,000291: 16,2522           22007                           ZL                                             
060330,000292: 16,2523           23431                           LXCH     TRAPEDQ                               
060331,000293: 16,2524           34755                           CA       ZERO                                  
060332,000294: 16,2525           00006                           EXTEND                                         
060333,000295: 16,2526           11434                           DV       NQTRAPS                               
060334,000296: 16,2527           55737                           TS       DAPTEMP1                              #  SAVE FOR OFFSET ESTIMATE
060335,000297: 16,2530           27422                           ADS      OMEGAQ                                
060336,000298: 16,2531           02310                           TC       OVERSUB                               
060337,000299: 16,2532           55422                           TS       OMEGAQ                                
060338,000300: 16,2533           31750                           CA       DAPTREG4                              #  ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
060339,000301: 16,2534           57434                           XCH      NQTRAPS                               
060340,000302: 16,2535           61751                           AD       DAPTREG5                              #  KAOS > ABOUT 60D %N/N_60"
060341,000303: 16,2536           57737                           XCH      DAPTEMP1                              
060342,000304: 16,2537           00006                           EXTEND                                         
060343,000305: 16,2540           74756                           MP       FIVE                                  
060344,000306: 16,2541           00006                           EXTEND                                         
060345,000307: 16,2542           11737                           DV       DAPTEMP1                              
060346,000308: 16,2543           27537                           ADS      AOSQ                                  
060347,000309: 16,2544           25434        Q-RATE             INCR     NQTRAPS                               
060348,000310: 16,2545           31746                           CA       JETRATEQ                              
060349,000311: 16,2546           61545                           AD       AOSQTERM                              
060350,000312: 16,2547           27422                           ADS      OMEGAQ                                
060351,000313: 16,2550           02310                           TC       OVERSUB                               
060352,000314: 16,2551           55422                           TS       OMEGAQ                                
060353,000315: 
060354,000316: 16,2552           11432                           CCS      TRAPEDR                               
060355,000317: 16,2553           12555                           TCF      +2                                    
060356,000318: 16,2554           12602                           TCF      R-RATE                                
060357,000319: 16,2555           61752                           AD       DAPTREG6                              #  TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
060358,000320: 16,2556           00006                           EXTEND                                         
060359,000321: 16,2557           62602                           BZMF     R-RATE                                
060360,000322: 16,2560           22007                           ZL                                             
060361,000323: 16,2561           23432                           LXCH     TRAPEDR                               
060362,000324: 16,2562           34755                           CA       ZERO                                  
060363,000325: 16,2563           00006                           EXTEND                                         
060364,000326: 16,2564           11435                           DV       NRTRAPS                               
060365,000327: 16,2565           55740                           TS       DAPTEMP2                              #  SAVE FOR OFFSET ESTIMATE
060366,000328: 16,2566           27423                           ADS      OMEGAR                                
060367,000329: 16,2567           02310                           TC       OVERSUB                               
060368,000330: 16,2570           55423                           TS       OMEGAR                                
060369,000331: 16,2571           31750                           CA       DAPTREG4                              #  ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
060370,000332: 16,2572           57435                           XCH      NRTRAPS                               
060371,000333: 16,2573           61751                           AD       DAPTREG5                              #  KAOS > ABOUT 60D %N/N_60"
060372,000334: 16,2574           57740                           XCH      DAPTEMP2                              
060373,000335: 16,2575           00006                           EXTEND                                         

Page 1417

060375,000337: 16,2576           74756                           MP       FIVE                                  
060376,000338: 16,2577           00006                           EXTEND                                         
060377,000339: 16,2600           11740                           DV       DAPTEMP2                              
060378,000340: 16,2601           27541                           ADS      AOSR                                  
060379,000341: 16,2602           25435        R-RATE             INCR     NRTRAPS                               
060380,000342: 16,2603           31747                           CA       JETRATER                              
060381,000343: 16,2604           61546                           AD       AOSRTERM                              
060382,000344: 16,2605           27423                           ADS      OMEGAR                                
060383,000345: 16,2606           02310                           TC       OVERSUB                               
060384,000346: 16,2607           55423                           TS       OMEGAR                                
060385,000347: 
060386,000348:                                                                                                  #  END OF RATE DERIVATION
060387,000349: 
060388,000350:                                                                                                  #   BEGIN OFFSET ESTIMATER
060389,000351: 
060390,000352:                                                                                                  #    IN POWERED FLIGHT, AOSTASK WILL BE CALLED EVERY 2 SECONDS.
060391,000353: 
060392,000354:                                                                                                  #    AOS = AOS + K*SUMRATE
060393,000355: 
060394,000356: 16,2610           40111                           CS       DAPBOOLS                              
060395,000357: 16,2611           74744                           MASK     DRIFTBIT                              
060396,000358: 16,2612           10000                           CCS      A                                     
060397,000359: 16,2613           12624                           TCF      WORKTIME                              
060398,000360: 16,2614           55424                           TS       ALPHAQ                                #  ZERO THE OFFSET ACCELERATION VALUES.
060399,000361: 16,2615           55425                           TS       ALPHAR                                
060400,000362: 16,2616           55545                           TS       AOSQTERM                              
060401,000363: 16,2617           55546                           TS       AOSRTERM                              
060402,000364: 16,2620           55537                           TS       AOSQ                                  
060403,000365: 16,2621           55541                           TS       AOSR                                  
060404,000366: 16,2622           12667                           TCF      PRETIMCK                              
060405,000367: 16,2623           00074        KAOS               DEC      60         B-14                       
060406,000368: 16,2624           31510        WORKTIME           CA       QACCDOT                               
060407,000369: 16,2625           00006                           EXTEND                                         
060408,000370: 16,2626           74766                           MP       CALLCODE                              #  OCTAL 00032 IS DECIMAL .1 AT 2(6).
060409,000371: 16,2627           21540                           DAS      AOSQ                                  
060410,000372: 16,2630           31537                           CA       AOSQ                                  
060411,000373: 16,2631           55424                           TS       ALPHAQ                                
060412,000374: 16,2632           00006                           EXTEND                                         
060413,000375: 16,2633           73622                           MP       200MS                                 #  .2 AT 1
060414,000376: 16,2634           55545                           TS       AOSQTERM                              
060415,000377: 16,2635           31512                           CA       RACCDOT                               
060416,000378: 16,2636           00006                           EXTEND                                         
060417,000379: 16,2637           74766                           MP       CALLCODE                              #  OCTAL 00032 IS DECIMAL .1 AT 2(6).
060418,000380: 16,2640           21542                           DAS      AOSR                                  
060419,000381: 16,2641           31541                           CA       AOSR                                  
060420,000382: 16,2642           55425                           TS       ALPHAR                                
060421,000383: 16,2643           00006                           EXTEND                                         
060422,000384: 16,2644           73622                           MP       200MS                                 #  .2 AT 1
060423,000385: 16,2645           55546                           TS       AOSRTERM                              
060424,000386: 16,2646           12667                           TCF      PRETIMCK                              
060425,000387: 

Page 1418

060427,000389: 16,2647           34747        PAXFILT            CA       CALLGMBL                              #  EXECUTE ACDT+C12, IF NEEDED.
060428,000390: 16,2650           71262                           MASK     RCSFLAGS                              
060429,000391: 16,2651           10000                           CCS      A                                     #  CALLGMBL IS NOT BIT15, SO THIS TEST IS
060430,000392: 16,2652           03742                           TC       ACDT+C12                              #  VALID.
060431,000393: 
060432,000394: 16,2653           52011                           DXCH     ARUPT                                 
060433,000395: 16,2654           53754                           DXCH     DAPARUPT                              
060434,000396: 16,2655           32666                           CA       SUPERJOB                              #  SETTING UP THE SUPERJOB
060435,000397: 16,2656           56017                           XCH      BRUPT                                 
060436,000398: 16,2657           22012                           LXCH     QRUPT                                 
060437,000399: 16,2660           53756                           DXCH     DAPBQRPT                              
060438,000400: 16,2661           32665                           CA       SUPERADR                              
060439,000401: 16,2662           52016                           DXCH     ZRUPT                                 
060440,000402: 16,2663           53760                           DXCH     DAPZRUPT                              
060441,000403: 16,2664           15275                           TCF      NOQBRSM    +1                         #  RELINT (JUST IN CASE) AND RESUME, IN THE
060442,000404:                                                                                                  #    FORM OF A JASK, AT SUPERJOB.
060443,000405: 
060444,000406: 16,2665           02667        SUPERADR           GENADR   SUPERJOB   +1                         
060445,000407: 
060446,000408:                                                                                                  #  COUNT DOWN GIMBAL DRIVE TIMERS AND TURN OFF DRIVES IF REQUIRED.
060447,000409: 
060448,000410: 16,2666           13645        SUPERJOB           TCF      RATELOOP                              
060449,000411: 16,2667           11632        PRETIMCK           CCS      QGIMTIMR                              
060450,000412: 16,2670           12710                           TCF      DECQTIMR                              #  POSITIVE - COUNTING DOWN
060451,000413: 16,2671           12714                           TCF      TURNOFFQ                              #  NEGATIVE - DRIVE SHOULD BE ENDED
060452,000414: 16,2672           11634        CHKRTIMR           CCS      RGIMTIMR                              #  NEGATIVE - INACTIVE
060453,000415: 16,2673           12712                           TCF      DECRTIMR                              #  (NEG ZERO - IMPOSSIBLE)
060454,000416: 16,2674           12724                           TCF      TURNOFFR                              #  REPEATED (ABOVE) FOR R AXIS.
060455,000417: 
060456,000418: 16,2675           00006                           EXTEND                                         #  DECREMENT DOCKED JET INHIBITION COUNTERS
060457,000419: 16,2676           27767                           DIM      PJETCTR                               
060458,000420: 16,2677           00006                           EXTEND                                         
060459,000421: 16,2700           27770                           DIM      UJETCTR                               
060460,000422: 16,2701           00006                           EXTEND                                         
060461,000423: 16,2702           27771                           DIM      VJETCTR                               
060462,000424: 16,2703           34740                           CA       BIT12                                 
060463,000425: 16,2704           71262                           MASK     RCSFLAGS                              
060464,000426: 16,2705           00006                           EXTEND                                         
060465,000427: 16,2706           12734                           BZF      SKIPPAXS                              
060466,000428: 16,2707           02740                           TC       CHKVISFZ                              
060467,000429: 16,2710           55632        DECQTIMR           TS       QGIMTIMR                              #  COUNT TIMERS DOWN TO POS ZERO.
060468,000430: 16,2711           12672                           TCF      CHKRTIMR                              
060469,000431: 16,2712           55634        DECRTIMR           TS       RGIMTIMR                              
060470,000432: 16,2713           12675                           TCF      CHKRTIMR   +3                         
060471,000433: 
060472,000434: 16,2714           55501        TURNOFFQ           TS       NEGUQ                                 #  HALT DRIVES.
060473,000435: 16,2715           55510                           TS       QACCDOT                               
060474,000436: 16,2716           45007                           CS       QGIMBITS                              
060475,000437: 16,2717           00006                           EXTEND                                         

Page 1419

060477,000439: 16,2720           03012                           WAND     CHAN12                                
060478,000440: 16,2721           34735                           CAF      NEGMAX                                
060479,000441: 16,2722           55632                           TS       QGIMTIMR                              
060480,000442: 16,2723           12672                           TCF      CHKRTIMR                              
060481,000443: 16,2724           55503        TURNOFFR           TS       NEGUR                                 
060482,000444: 16,2725           55512                           TS       RACCDOT                               
060483,000445: 16,2726           45020                           CS       RGIMBITS                              
060484,000446: 16,2727           00006                           EXTEND                                         
060485,000447: 16,2730           03012                           WAND     CHAN12                                
060486,000448: 16,2731           34735                           CAF      NEGMAX                                
060487,000449: 16,2732           55634                           TS       RGIMTIMR                              
060488,000450: 16,2733           12675                           TCF      CHKRTIMR   +3                         
060489,000451: 16,2734     5007               QGIMBITS           EQUALS   OCT1400                               #  BITS 9 AND 10 (OF CHANNEL 12).
060490,000452: 16,2734     5020               RGIMBITS           EQUALS   PRIO6                                 #  BITS 11 AND 12 (OF CHANNEL 12).
060491,000453: 
060492,000454: 16,2734           41262        SKIPPAXS           CS       RCSFLAGS                              
060493,000455: 16,2735           74740                           MASK     BIT12                                 
060494,000456: 16,2736           27262                           ADS      RCSFLAGS                              #  BIT 12 SET TO 1.
060495,000457: 16,2737           13630                           TCF      QRAXIS                                #  GO TO QRAXIS OR TO GTS.
060496,000458: 
060497,000459:                                                                                                  #  Y-Z TRANSLATION
060498,000460: 
060499,000461:                                                                                                  #  INPUT:  BITS 9-12 OF CH31 (FROM TRANSLATION CONTROLER)
060500,000462: 
060501,000463:                                                                                                  #  OUTPUT: NEXTP
060502,000464: 
060503,000465:                                                                                                  #    NEXTP IS THE CHANNEL 6 CODE OF JETS FOR THE DESIRED TRANSLATION.
060504,000466:                                                                                                  #    IF THERE ARE FAILURES IN THE DESIRED POLICY, THEN
060505,000467: 
060506,000468:                                                                                                  #       (1) FOR DIAGONAL TRANS:  UNFAILED PAIR
060507,000469:                                                                                                  #                                ALARM (IF NO PAIR)
060508,000470: 
060509,000471:                                                                                                  #       (2) FOR PRINCIPAL TRANS: TRY TO TACK WITH DIAGONAL PAIRS
060510,000472:                                                                                                  #                                ALARM (IF DIAGONAL PAIRS ARE FAILED)
060511,000473: 
060512,000474: 16,2740           00006        CHKVISFZ           EXTEND                                         
060513,000475: 16,2741           00031                           READ     CHAN31                                
060514,000476: 16,2742           40000                           CS       A                                     
060515,000477: 16,2743           73617                           MASK     07400OCT                              
060516,000478: 16,2744           00006                           EXTEND                                         
060517,000479: 16,2745           13014                           BZF      TSNEXTP                               
060518,000480: 16,2746           00006                           EXTEND                                         
060519,000481: 16,2747           74745                           MP       BIT7                                  
060520,000482: 16,2750           50000                           INDEX    A                                     
060521,000483: 16,2751           33576                           CA       INDXYZ                                
060522,000484: 16,2752           55744                           TS       ROTINDEX                              
060523,000485: 16,2753           36245        TRYUORV            CA       SIX                                   
060524,000486: 16,2754           03555                           TC       SELECTYZ                              
060525,000487: 16,2755           46245                           CS       SIX                                   
060526,000488: 16,2756           61743                           AD       NUMBERT                               
060527,000489: 16,2757           00006                           EXTEND                                         

Page 1420

060529,000491: 16,2760           13013                           BZF      TSNEXTP    -1                         
060530,000492: 16,2761           44756                           CS       FIVE                                  
060531,000493: 16,2762           61744                           AD       ROTINDEX                              
060532,000494: 16,2763           00006                           EXTEND                                         
060533,000495: 16,2764           63002                           BZMF     ALTERYZ                               
060534,000496: 16,2765           41743                           CS       NUMBERT                               
060535,000497: 16,2766           64751                           AD       FOUR                                  
060536,000498: 16,2767           00006                           EXTEND                                         
060537,000499: 16,2770           63013                           BZMF     TSNEXTP    -1                         
060538,000500: 16,2771           05567        ABORTYZ            TC       ALARM                                 
060539,000501: 16,2772           02001                           OCT      02001                                 
060540,000502: 16,2773           34753                           CA       BIT1                                  #  INVERT BIT 1 OF RCSFLAGS.
060541,000503: 16,2774           23262                           LXCH     RCSFLAGS                              
060542,000504: 16,2775           00006                           EXTEND                                         
060543,000505: 16,2776           06001                           RXOR     1                                     
060544,000506: 16,2777           55262                           TS       RCSFLAGS                              
060545,000507: 16,3000           34755                           CA       ZERO                                  
060546,000508: 16,3001           13014                           TCF      TSNEXTP                               
060547,000509: 16,3002           34753        ALTERYZ            CA       BIT1                                  #  INVERT BIT 1 OF RCSFLAGS.
060548,000510: 16,3003           23262                           LXCH     RCSFLAGS                              
060549,000511: 16,3004           00006                           EXTEND                                         
060550,000512: 16,3005           06001                           RXOR     1                                     
060551,000513: 16,3006           55262                           TS       RCSFLAGS                              
060552,000514: 16,3007           74753                           MASK     BIT1                                  
060553,000515: 16,3010           64751                           AD       FOUR                                  
060554,000516: 16,3011           27744                           ADS      ROTINDEX                              
060555,000517: 16,3012           12753                           TCF      TRYUORV                               
060556,000518: 16,3013           31741                           CA       POLYTEMP                              
060557,000519: 16,3014           55472        TSNEXTP            TS       NEXTP                                 
060558,000520: 
060559,000521:                                                                                                  #  STATE LOGIC
060560,000522:                                                                                                  #   CHECK IN ORDER:           IF ON
060561,000523:                                                                                                  #     LPDPHASE                GO TO PURGENCY
060562,000524:                                                                                                  #     PULSES                  MINIMUM PULSE LOGIC
060563,000525:                                                                                                  #     DETENT(BIT15 CH31)      RATE COMMAND
060564,000526:                                                                                                  #     GO TO PURGENCY
060565,000527: 
060566,000528: 16,3015           34737                           CA       BIT13                                 #  CHECK STICK IF IN ATT. HOLD.
060567,000529: 16,3016           00006                           EXTEND                                         
060568,000530: 16,3017           02031                           RAND     CHAN31                                
060569,000531: 16,3020           00006                           EXTEND                                         
060570,000532: 16,3021           13027                           BZF      MANMODE                               
060571,000533: 
060572,000534: 16,3022           30111                           CA       DAPBOOLS                              
060573,000535: 16,3023           74743                           MASK     XOVINHIB                              
060574,000536: 16,3024           10000                           CCS      A                                     
060575,000537: 16,3025           13467                           TCF      PURGENCY                              #  ATTITUDE STEER DURING VISIBILITY PHASE
060576,000538: 
060577,000539: 16,3026           13071                           TCF      DETENTCK                              
060578,000540: 16,3027           34735        MANMODE            CA       PULSES                                #  PULSES IS ONE FOR PULSE MODE
060579,000541: 16,3030           70111                           MASK     DAPBOOLS                              

Page 1421

060581,000543: 16,3031           00006                           EXTEND                                         
060582,000544: 16,3032           13071                           BZF      DETENTCK                              #  BRANCH FOR RATE COMMAND
060583,000545: 
060584,000546: 16,3033           34755                           CA       ZERO                                  
060585,000547: 16,3034           55464                           TS       PERROR                                
060586,000548: 
060587,000549:                                                                                                  #  MINIMUM IMPULSE MODE
060588,000550: 
060589,000551: 16,3035           30032                           CA       CDUX                                  
060590,000552: 16,3036           55635                           TS       CDUXD                                 
060591,000553: 
060592,000554: 16,3037           11460                           CCS      OLDPMIN                               
060593,000555: 16,3040           13054                           TCF      CHECKP                                
060594,000556: 
060595,000557: 16,3041           34751        FIREP              CA       BIT3                                  
060596,000558: 16,3042           00006                           EXTEND                                         
060597,000559: 16,3043           02031                           RAND     CHAN31                                
060598,000560: 16,3044           00006                           EXTEND                                         
060599,000561: 16,3045           13064                           BZF      +XMIN                                 
060600,000562: 
060601,000563: 16,3046           34750                           CA       BIT4                                  
060602,000564: 16,3047           00006                           EXTEND                                         
060603,000565: 16,3050           02031                           RAND     CHAN31                                
060604,000566: 16,3051           00006                           EXTEND                                         
060605,000567: 16,3052           13062                           BZF      -XMIN                                 
060606,000568: 
060607,000569: 16,3053           13446                           TCF      JETSOFF                               
060608,000570: 
060609,000571: 16,3054           00006        CHECKP             EXTEND                                         
060610,000572: 16,3055           00031                           READ     CHAN31                                
060611,000573: 16,3056           40000                           CS       A                                     
060612,000574: 16,3057           75741                           MASK     OCT14                                 
060613,000575: 16,3060           55460                           TS       OLDPMIN                               
060614,000576: 16,3061           13446                           TCF      JETSOFF                               
060615,000577: 
060616,000578: 16,3062           44363        -XMIN              CS       TEN                                   #  ANYTHING LESS THAN 14MS. CORRECTED
060617,000579: 16,3063           13065                           TCF      +2                                    #    IN JET SELECTION ROUTINE
060618,000580: 16,3064           34363        +XMIN              CA       TEN                                   
060619,000581: 16,3065           55524                           TS       TJP                                   
060620,000582: 16,3066           34753                           CA       ONE                                   
060621,000583: 16,3067           55460                           TS       OLDPMIN                               
060622,000584: 16,3070           13354                           TCF      PJETSLEC   -6                         
060623,000585: 
060624,000586:                                                                                                  #                   MANUAL RATE COMMAND MODE
060625,000587:                                                                                                  #                   ========================
060626,000588:                                                                                                  #                     BY ROBERT F. STENGEL
060627,000589: 
060628,000590:                                                                                                  #  THIS MODE PROVIDES RCAH MANUAL CONTROL THRU 2 CONTROL LAWS:                    1) DIRECT RATE AND 2) PSEUDO-AUTO.
060629,000591:                                                                                                  #  THE DIRECT RATE MODE AFFORDS IMMEDIATE CONTROL WITHOUT OVERSHOOT. THE PSEUDO-AUTO MODE PROVIDES PRECISE
060630,000592:                                                                                                  #  RATE CONTROL AND ATTITUDE HOLD.
060631,000593: 

Page 1422

060633,000595:                                                                                                  #  IN DIRECT RATE, JETS ARE FIRED WHEN STICK POSITION CHANGES BY A FIXED NUMBER OF INCREMENTS IN ONE DAP CYCLE.
060634,000596:                                                                                                  #  THE 'BREAKOUT LEVEL' IS .6 D/S FOR LM-ONLY AND .3 D/S FOR CSM-DOCKED. THIS LAW NULLS THE RATE ERROR TO WITHIN
060635,000597:                                                                                                  #  THE 'TARGET DEADBAND', WHICH EQUALS THE BREAKOUT LEVEL.
060636,000598:                                                                                                  #  IN PSEUDO-AUTO, BODY-FIXED RATE AND ATTITUDE ERRORS ARE SUPPLIED TO TJETLAW, WHICH EXERCISES CONTROL.
060637,000599:                                                                                                  #  CONTROL SWITCHES FROM DIRECT RATE TO PSEUDO-AUTO IF THE TARGET DB IS ACHIEVED OR IF TIME IN (1) EXCEEDS 4 SEC.
060638,000600:                                                                                                  #  IF THE INITIAL COMMAND DOES NOT EXCEED THE BREAKOUT LEVEL, CONTROL GOES TO PSEUDO-AUTO IMMEDIATELY.
060639,000601: 
060640,000602:                                                                                                  #  SINCE P-AXIS CONTROL IS SEPARATE FROM Q,R AXES CONTROL, IT IS POSSIBLE TO USE (1) IN P-AXIS AND (2) IN Q,R AXES,
060641,000603:                                                                                                  #  OR VICE VERSA.  THIS ALLOWS A DEGREE OF ATTITUDE HOLD IN UNCONTROLLED AXES.  DUE TO U,V CONTROL, HOWEVER, Q AND
060642,000604:                                                                                                  #  R AXES ARE COUPLED AND MUST USE THE SAME CONTROL LAW.
060643,000605: 
060644,000606:                                                                                                  #  HAND CONTROLLER COMMANDS ARE SCALED BY A LINEAR/QUADRATIC LAW. FOR THE LM-ALONE, MAXIMUM COMMANDED RATES ARE 20
060645,000607:                                                                                                  #  AND 4 D/S IN NORMAL AND FINE SCALING; HOWEVER, STICK SENSITIVITY AT ZERO COUNTS (OBTAINED AT A STICK DEFLECTION
060646,000608:                                                                                                  #  OF 2 DEGREES FROM THE CENTERED POSITION) IS .5 OR .1 D/S PER DEGREE. NORMAL AND FINE SCALINGS FOR THE CSM-DOCKED
060647,000609:                                                                                                  #  CASE IS AUTOMATICALLY SET TO 1/10 THE ABOVE VALUES.  SCALING IS DETERMINED IN ROUTINE 3.
060648,000610: 
060649,000611:                                                                                                  #  ZEROENBL      ENABLES COUNTERS SO THEY CAN BE READ NEXT TIME
060650,000612:                                                                                                  #  JUSTOUT       FIRST DETECTION OF OUT OF DETENT (BY OURRCBIT)
060651,000613: 
060652,000614: 16,3071           00006        DETENTCK           EXTEND                                         
060653,000615: 16,3072           00031                           READ     CHAN31                                
060654,000616: 16,3073           55443                           TS       CH31TEMP                              
060655,000617: 16,3074           74735                           MASK     BIT15                                 #  CHECK OUT-OF-DETENT BIT.
060656,000618: 16,3075           00006                           EXTEND                                         
060657,000619: 16,3076           13226                           BZF      RHCMOVED                              #  BRANCH IF OUT OF DETENT.
060658,000620: 16,3077           34740                           CAF      OURRCBIT                              #  IN DETENT.  CHECK THE RATE COMMAND BIT.
060659,000621: 16,3100           70111                           MASK     DAPBOOLS                              
060660,000622: 16,3101           00006                           EXTEND                                         
060661,000623: 16,3102           13467                           BZF      PURGENCY                              #  BRANCH IF NOT IN RATE COMMAND LAST PASS.
060662,000624: 
060663,000625:                                                                                                  #  ........................................................................
060664,000626: 
060665,000627: 16,3103           34743                           CA       BIT9                                  #  JUST IN DETENT??
060666,000628: 16,3104           71262                           MASK     RCSFLAGS                              
060667,000629: 16,3105           00006                           EXTEND                                         
060668,000630: 16,3106           13120                           BZF      RUTH                                  
060669,000631: 16,3107           34737                           CAF      BIT13                                 #  CHECK FOR ATTITUDE HOLD.
060670,000632: 16,3110           00006                           EXTEND                                         
060671,000633: 16,3111           02031                           RAND     CHAN31                                
060672,000634: 16,3112           00006                           EXTEND                                         
060673,000635: 16,3113           13223                           BZF      RATEDAMP                              #  BRANCH IF IN ATTITUDE HOLD.
060674,000636: 
060675,000637: 16,3114           45014                           CS       BITS9,11                              #  IN AUTO.
060676,000638: 16,3115           71262                           MASK     RCSFLAGS                              #  (X-AXIS OVERRIDE)
060677,000639: 16,3116           55262                           TS       RCSFLAGS                              #  ZERO ORBIT (BIT 11) AND JUST-IN BIT (9).
060678,000640: 16,3117           13223                           TCF      RATEDAMP                              
060679,000641: 
060680,000642: 16,3120           31262        RUTH               CA       RCSFLAGS                              
060681,000643: 16,3121           74742                           MASK     PBIT                                  #  IN ATTITUDE HOLD.
060682,000644: 16,3122           00006                           EXTEND                                         
060683,000645: 16,3123           13125                           BZF      +2                                    #  BRANCH IF P-RATE DAMPING IS FINISHED.
060684,000646: 16,3124           13223                           TCF      RATEDAMP                              
060685,000647: 

Page 1423

060687,000649: 16,3125           31262                           CA       RCSFLAGS                              
060688,000650: 16,3126           74741                           MASK     QRBIT                                 
060689,000651: 16,3127           00006                           EXTEND                                         
060690,000652: 16,3130           13134                           BZF      RATEDONE                              #  BRANCH IF Q,R RATE DAMPING IS FINISHED.
060691,000653: 16,3131           13223                           TCF      RATEDAMP                              
060692,000654: 
060693,000655:                                                                                                  #  ============================================
060694,000656: 
060695,000657: 16,3132     4753               1/10SEC            =        BIT1                                  
060696,000658: 16,3132     4771               40CYC              =        OCT50                                 
060697,000659: 16,3132           74777        PQRBIT             OCT      74777                                 
060698,000660: 16,3133     5014               BITS9,11           EQUALS   EBANK5                                
060699,000661: 16,3133           00056        LINRATP            DEC      46         B-14                       
060700,000662: 
060701,000663:                                                                                                  #  ============================================
060702,000664: 
060703,000665: 16,3134           44740        RATEDONE           CS       OURRCBIT                              #  MANUAL COMMAND AND DAMPING COMPLETED IN
060704,000666: 16,3135           00004                           INHINT                                         #  ALL AXES.
060705,000667: 16,3136           70111                           MASK     DAPBOOLS                              
060706,000668: 16,3137           54111                           TS       DAPBOOLS                              
060707,000669: 
060708,000670:                                                                                                  #  READ CDUS INTO CDU DESIRED REGISTERS
060709,000671: 
060710,000672: 16,3140           34737                           CAF      BIT13                                 
060711,000673: 16,3141           00006                           EXTEND                                         
060712,000674: 16,3142           02031                           RAND     CHAN31                                
060713,000675: 16,3143           00006                           EXTEND                                         
060714,000676: 16,3144           13150                           BZF      +4                                    
060715,000677: 16,3145           30032                           CA       CDUX                                  #  (X-AXIS OVERRIDE)
060716,000678: 16,3146           55635                           TS       CDUXD                                 
060717,000679: 16,3147           03152                           TC       +3                                    
060718,000680: 16,3150           04674                           TC       IBNKCALL                              
060719,000681: 16,3151           40154                           FCADR    ZATTEROR                              
060720,000682: 16,3152           00003                           RELINT                                         
060721,000683: 16,3153           13467                           TCF      PURGENCY                              
060722,000684: 
060723,000685: 16,3154           55464                           TS       PERROR                                
060724,000686: 16,3155           34740        JUSTOUT            CA       OURRCBIT                              #  INITIALIZATION - FIRST MANUAL PASS.
060725,000687: 16,3156           26111                           ADS      DAPBOOLS                              
060726,000688: 16,3157           34755                           CA       ZERO                                  
060727,000689: 16,3160           55446                           TS       DXERROR                               
060728,000690: 16,3161           55447                           TS       DXERROR    +1                         
060729,000691: 16,3162           55450                           TS       DYERROR                               
060730,000692: 16,3163           55451                           TS       DYERROR    +1                         
060731,000693: 16,3164           55452                           TS       DZERROR                               
060732,000694: 16,3165           55453                           TS       DZERROR    +1                         
060733,000695: 16,3166           55454                           TS       PLAST                                 
060734,000696: 16,3167           55455                           TS       QLAST                                 
060735,000697: 16,3170           55456                           TS       RLAST                                 
060736,000698: 16,3171           54042                           TS       Q-RHCCTR                              
060737,000699: 16,3172           54044                           TS       R-RHCCTR                              
060738,000700: 16,3173           33132                           CA       PQRBIT                                
060739,000701: 16,3174           71262                           MASK     RCSFLAGS                              
060740,000702: 16,3175           55262                           TS       RCSFLAGS                              #  BITS 10 AND 11 OF RCSFLAGS ARE 0.

Page 1424

060742,000704: 16,3176           41262                           CS       RCSFLAGS                              #  SET 'JUST-IN' BIT TO 1.
060743,000705: 16,3177           74743                           MASK     BIT9                                  
060744,000706: 16,3200           27262                           ADS      RCSFLAGS                              
060745,000707: 16,3201           03204                           TC       ZEROENBL                              
060746,000708: 16,3202           00003                           RELINT                                         
060747,000709: 16,3203           13446                           TCF      JETSOFF                               
060748,000710: 16,3204           22044        ZEROENBL           LXCH     R-RHCCTR                              
060749,000711: 16,3205           30042                           CA       Q-RHCCTR                              
060750,000712: 16,3206           53463                           DXCH     SAVEHAND                              
060751,000713: 16,3207           34755                           CA       ZERO                                  
060752,000714: 16,3210           54043                           TS       P-RHCCTR                              
060753,000715: 16,3211           54042                           TS       Q-RHCCTR                              
060754,000716: 16,3212           54044                           TS       R-RHCCTR                              
060755,000717: 16,3213           00004                           INHINT                                         
060756,000718: 16,3214           00006                           EXTEND                                         
060757,000719: 16,3215           23265                           QXCH     C13QSAV                               
060758,000720: 16,3216           06022                           TC       C13STALL                              
060759,000721: 
060760,000722: 16,3217           33623                           CA       BITS8,9                               
060761,000723: 16,3220           00006                           EXTEND                                         
060762,000724: 16,3221           05013                           WOR      CHAN13                                #  COUNTERS ZEROED AND ENABLED
060763,000725: 16,3222           01265                           TC       C13QSAV                               
060764,000726: 
060765,000727: 16,3223           34755        RATEDAMP           CA       ZERO                                  
060766,000728: 16,3224           54043                           TS       P-RHCCTR                              
060767,000729: 16,3225           13232                           TCF      RATERROR                              
060768,000730: 
060769,000731: 16,3226           34740        RHCMOVED           CA       OURRCBIT                              #  P CONTROL
060770,000732: 16,3227           70111                           MASK     DAPBOOLS                              
060771,000733: 16,3230           00006                           EXTEND                                         
060772,000734: 16,3231           13154                           BZF      JUSTOUT    -1                         
060773,000735: 16,3232           30032        RATERROR           CA       CDUX                                  #  FINDCDUW REQUIRES THAT CDUXD=CDUX DURING
060774,000736: 16,3233           55635                           TS       CDUXD                                 #  X-AXIS OVERRIDE
060775,000737: 16,3234           10043                           CCS      P-RHCCTR                              
060776,000738: 16,3235           13240                           TCF      +3                                    
060777,000739: 16,3236           13240                           TCF      +2                                    
060778,000740: 16,3237           13240                           TCF      +1                                    
060779,000741: 16,3240           60000                           DOUBLE                                         #  LINEAR/QUADRATIC CONTROLLER SCALING
060780,000742: 16,3241           60000                           DOUBLE                                         #  (SEE EXPLANATION IN Q,R-AXES RCS
060781,000743: 16,3242           63133                           AD       LINRATP                               #  AUTOPILOT)
060782,000744: 16,3243           00006                           EXTEND                                         
060783,000745: 16,3244           70043                           MP       P-RHCCTR                              
060784,000746: 16,3245           30001                           CA       L                                     
060785,000747: 16,3246           00006                           EXTEND                                         
060786,000748: 16,3247           71444                           MP       STIKSENS                              
060787,000749: 16,3250           57454                           XCH      PLAST                                 
060788,000750: 16,3251           40000                           COM                                            
060789,000751: 16,3252           61454                           AD       PLAST                                 
060790,000752: 16,3253           55737                           TS       DAPTEMP1                              
060791,000753: 16,3254           03204                           TC       ZEROENBL                              #  INTERVAL.  ZERO AND ENABLE ACA COUNTERS.

Page 1425

060793,000755: 16,3255           00003                           RELINT                                         
060794,000756: 16,3256           41454                           CS       PLAST                                 
060795,000757: 16,3257           61421                           AD       OMEGAP                                
060796,000758: 16,3260           55427                           TS       EDOTP                                 
060797,000759: 16,3261           11737                           CCS      DAPTEMP1                              #  IF P COMMAND CHANGE EXCEEDS BREAKOUT
060798,000760: 16,3262           13265                           TCF      +3                                    #  LEVEL, GO TO DIRECT RATE CONTROL. IF NOT
060799,000761: 16,3263           13273                           TCF      +8D                                   #  CHECK FOR DIRECT RATE CONTROL LAST TIME.
060800,000762: 16,3264           13265                           TCF      +1                                    
060801,000763: 16,3265           61476                           AD       -RATEDB                               
060802,000764: 16,3266           00006                           EXTEND                                         
060803,000765: 16,3267           63273                           BZMF     +4                                    
060804,000766: 16,3270           34771                           CA       40CYC                                 
060805,000767: 16,3271           55445                           TS       TCP                                   
060806,000768: 16,3272           03304                           TC       PEGI                                  
060807,000769: 16,3273           31262                           CA       RCSFLAGS                              #  CHECK FOR DIRECT RATE COMMAND LAST TIME.
060808,000770: 16,3274           74742                           MASK     PBIT                                  
060809,000771: 16,3275           00006                           EXTEND                                         
060810,000772: 16,3276           13300                           BZF      +2                                    
060811,000773: 16,3277           03304                           TC       PEGI                                  #  TO PURE RATE COMMAND
060812,000774: 16,3300           31446                           CA       DXERROR                               #  PSEUDO-AUTO CONTROL.
060813,000775: 16,3301           55752                           TS       E                                     #  X-ATTITUDE ERROR (SP)
060814,000776: 16,3302           55464                           TS       PERROR                                #  LOAD P-AXIS ERROR FOR MODE1 FDAI DISPLAY
060815,000777: 16,3303           03473                           TC       PURGENCY   +4                         
060816,000778: 16,3304           30032        PEGI               CA       CDUX                                  #  DIRECT RATE CONTROL.
060817,000779: 16,3305           55635                           TS       CDUXD                                 
060818,000780: 16,3306           34755                           CA       ZERO                                  
060819,000781: 16,3307           55446                           TS       DXERROR                               
060820,000782: 16,3310           55447                           TS       DXERROR    +1                         
060821,000783: 16,3311           55464                           TS       PERROR                                #  ZERO P-AXIS ERROR FOR MODE1 FDAI DISPLAY
060822,000784: 16,3312           11427                           CCS      EDOTP                                 
060823,000785: 16,3313           03316                           TC       +3                                    
060824,000786: 16,3314           03316                           TC       +2                                    
060825,000787: 16,3315           03316                           TC       +1                                    
060826,000788: 16,3316           55737                           TS       ABSEDOTP                              
060827,000789: 16,3317           61476                           AD       TARGETDB                              
060828,000790: 16,3320           00006                           EXTEND                                         #  IF RATE ERROR IS LESS THAN DEADBAND,
060829,000791: 16,3321           63331                           BZMF     LAST                                  #  FIRE, AND SWITCH TO PSEUDO-AUTO.
060830,000792: 16,3322           31445                           CA       TCP                                   
060831,000793: 16,3323           00006                           EXTEND                                         #  IF TIME IN RATE COMMAND EXCEEDS 4 SEC.,
060832,000794: 16,3324           63331                           BZMF     LAST                                  
060833,000795: 16,3325           41262                           CS       RCSFLAGS                              
060834,000796: 16,3326           74742                           MASK     PBIT                                  
060835,000797: 16,3327           27262                           ADS      RCSFLAGS                              #  BIT 10 IS 1.
060836,000798: 16,3330           13334                           TCF      +4                                    
060837,000799: 16,3331           44742        LAST               CS       PBIT                                  
060838,000800: 16,3332           71262                           MASK     RCSFLAGS                              
060839,000801: 16,3333           55262                           TS       RCSFLAGS                              #  BIT 10 IS 0.
060840,000802: 16,3334           41427                           CS       EDOTP                                 
060841,000803: 16,3335           00006                           EXTEND                                         
060842,000804: 16,3336           71551                           MP       1/ANETP                               #  1/2JTACC SCALED AT 2EXP(7)/PI

Page 1426

060844,000806: 16,3337           20001                           DAS      A                                     
060845,000807: 16,3340           02310                           TC       OVERSUB                               
060846,000808: 16,3341           00006                           EXTEND                                         
060847,000809: 16,3342           77721                           MP       25/32                                 #  A CONTAINS TJET SCALED AT 2EXP(4)(16/25)
060848,000810: 16,3343           55524                           TS       TJP                                   #  4.JET TIME
060849,000811: 16,3344           31737                           CA       ABSEDOTP                              
060850,000812: 16,3345           61475                           AD       -2JETLIM                              #  COMPARING DELTA RATE WITH 2 JET LIMIT
060851,000813: 16,3346           00006                           EXTEND                                         
060852,000814: 16,3347           63352                           BZMF     +3                                    
060853,000815: 
060854,000816: 16,3350           36245                           CA       SIX                                   
060855,000817: 16,3351           13361                           TCF      +8D                                   
060856,000818: 16,3352           31524                           CA       TJP                                   
060857,000819: 16,3353           27524                           ADS      TJP                                   
060858,000820: 
060859,000821:                                                                                                  #  GOES TO PJETSLEC FOR TWO JETS
060860,000822:                                                                                                  #  P-JET-SELECTION-ROUTINE (ROTATION)
060861,000823: 
060862,000824:                                                                                                  #  INPUT:        NUMBERT         4,5,6 FOR WHICH PAIR OR 4 JETS
060863,000825:                                                                                                  #                TJP             + FOR +P ROTATION
060864,000826: 
060865,000827:                                                                                                  #  OUTPUT:       CHANNEL 6
060866,000828:                                                                                                  #                PJUMPADR        FOR P-AXIS SKIP
060867,000829:                                                                                                  #                (JTLST CALL)    (SMALL TJP)
060868,000830: 
060869,000831:                                                                                                  #  ORDER OF POLICIES TRIED IN CASE OF FAILURE.
060870,000832:                                                                                                  #        +P      -P
060871,000833:                                                                                                  #        7,15    8,16
060872,000834:                                                                                                  #        4,12    3,11
060873,000835:                                                                                                  #        4,7     8,11
060874,000836:                                                                                                  #        7,12    11,16
060875,000837:                                                                                                  #        12,15   3,16
060876,000838:                                                                                                  #        4,15    3,8
060877,000839:                                                                                                  #        ALARM   ALARM
060878,000840: 
060879,000841: 16,3354           34747                           CA       AORBSYST                              
060880,000842: 16,3355           70101                           MASK     FLAGWRD5                              
060881,000843: 16,3356           10000                           CCS      A                                     
060882,000844: 16,3357           34753                           CA       ONE                                   
060883,000845: 16,3360           64751                           AD       FOUR                                  
060884,000846: 16,3361           55743                           TS       NUMBERT                               
060885,000847: 16,3362           34753        PJETSLEC           CA       ONE                                   
060886,000848: 16,3363           54001                           TS       L                                     
060887,000849: 16,3364           11524                           CCS      TJP                                   
060888,000850: 16,3365           13372                           TCF      +5                                    
060889,000851: 16,3366           13446                           TCF      JETSOFF                               
060890,000852: 16,3367           13371                           TCF      +2                                    
060891,000853: 16,3370           13446                           TCF      JETSOFF                               
060892,000854: 16,3371           22007                           ZL                                             
060893,000855: 16,3372           64753                           AD       ONE                                   
060894,000856: 16,3373           55737                           TS       ABSTJ                                 

Page 1427

060896,000858: 16,3374           23744                           LXCH     ROTINDEX                              
060897,000859: 16,3375           03535                           TC       SELECTP                               
060898,000860: 16,3376           46245                           CS       SIX                                   
060899,000861: 16,3377           61743                           AD       NUMBERT                               
060900,000862: 16,3400           00006                           EXTEND                                         
060901,000863: 16,3401           13403                           BZF      +2                                    
060902,000864: 
060903,000865: 16,3402           44752                           CS       TWO                                   
060904,000866: 16,3403           64751                           AD       FOUR                                  
060905,000867: 16,3404           55521                           TS       NO.PJETS                              
060906,000868: 16,3405           31741                           CA       POLYTEMP                              
060907,000869: 16,3406           05744                           TC       WRITEP                                
060908,000870: 16,3407           41737                           CS       ABSTJ                                 
060909,000871: 16,3410           63616                           AD       +150MST6                              
060910,000872: 16,3411           00006                           EXTEND                                         
060911,000873: 16,3412           63630                           BZMF     QRAXIS                                #  GO TO QRAXIS OR TO GTS.
060912,000874: 
060913,000875: 16,3413           63576                           AD       -136MST6                              
060914,000876: 16,3414           00006                           EXTEND                                         
060915,000877: 16,3415           63422                           BZMF     +5                                    
060916,000878: 
060917,000879: 16,3416           27737                           ADS      ABSTJ                                 
060918,000880: 16,3417           51744                           INDEX    ROTINDEX                              
060919,000881: 16,3420           33625                           CA       MINTIMES                              
060920,000882: 16,3421           55524                           TS       TJP                                   
060921,000883: 
060922,000884: 16,3422           31737                           CA       ABSTJ                                 
060923,000885: 16,3423           22007                           ZL                                             
060924,000886: 16,3424           00004                           INHINT                                         
060925,000887: 16,3425           53471                           DXCH     T6FURTHA                              
060926,000888: 16,3426           04674                           TC       IBNKCALL                              
060927,000889: 16,3427           37143                           CADR     JTLST                                 
060928,000890: 16,3430           44740                           CS       BIT12                                 
060929,000891: 16,3431           71262                           MASK     RCSFLAGS                              
060930,000892: 16,3432           55262                           TS       RCSFLAGS                              #  BIT 12 SET TO 0.
060931,000893: 16,3433           03435                           TC       ALTSYST                               
060932,000894: 16,3434           13630                           TCF      QRAXIS                                
060933,000895: 
060934,000896: 16,3435           30101        ALTSYST            CA       FLAGWRD5                              #  ALTERNATE P-AXIS JETS
060935,000897: 16,3436           54001                           TS       L                                     
060936,000898: 16,3437           34747                           CA       AORBSYST                              
060937,000899: 16,3440           00006                           EXTEND                                         
060938,000900: 16,3441           06001                           RXOR     LCHAN                                 
060939,000901: 16,3442           54101                           TS       FLAGWRD5                              
060940,000902: 16,3443           00003                           RELINT                                         
060941,000903: 16,3444           00002                           TC       Q                                     
060942,000904: 
060943,000905: 16,3445           03435        DKALT              TC       ALTSYST                               
060944,000906: 
060945,000907: 16,3446           05743        JETSOFF            TC       WRITEP     -1                         

Page 1428

060947,000909: 16,3447           34755                           CA       ZERO                                  
060948,000910: 16,3450           55524                           TS       TJP                                   
060949,000911: 16,3451           13630                           TCF      QRAXIS                                
060950,000912: 
060951,000913:                                                                                                  #  (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULTIPLICATION.)
060952,000914: 
060953,000915: 16,3452           30033        CALCPERR           CA       CDUY                                  #  P-ERROR CALCULATION.
060954,000916: 16,3453           00006                           EXTEND                                         
060955,000917: 16,3454           21636                           MSU      CDUYD                                 #  CDU VALUE - ANGLE DESIRED (Y-AXIS)
060956,000918: 16,3455           00006                           EXTEND                                         
060957,000919: 16,3456           71414                           MP       M11                                   #  (CDUY-CDUYD)M11 SCALED AT PI RADIANS
060958,000920: 16,3457           57752                           XCH      E                                     #  SAVE FIRST TERM (OF TWO)
060959,000921: 16,3460           30032                           CA       CDUX                                  #  THIRD COMPONENT
060960,000922: 16,3461           00006                           EXTEND                                         
060961,000923: 16,3462           21635                           MSU      CDUXD                                 #  CDU VALUE - ANGLE DESIRED (X-AXIS)
060962,000924:                                                                                                  #                EXTEND
060963,000925:                                                                                                  #                MP      M13
060964,000926: 16,3463           61274                           AD       DELPEROR                              #  KALCMANU INERFACE ERROR
060965,000927: 16,3464           27752                           ADS      E                                     #  SAVE SUM OF TERMS.  COULD BE OVERFLOW.
060966,000928: 16,3465           57464                           XCH      PERROR                                #  SAVE P-ERROR FOR EIGHT-BALL DISPLAY.
060967,000929: 16,3466           00002                           TC       Q                                     #  RETURN TO CALLER
060968,000930: 
060969,000931:                                                                                                  #  P-AXIS URGENCY FUNCTION CALCULATION.
060970,000932: 
060971,000933: 16,3467           03452        PURGENCY           TC       CALCPERR                              #  CALCULATE P-AXIS ERRORS.
060972,000934: 16,3470           41643                           CS       OMEGAPD                               #  THIS CODING IS COMMON TO BOTH LM DAP AND
060973,000935: 16,3471           61421                           AD       OMEGAP                                #  SPS-BACKUP MODE.
060974,000936: 16,3472           55427                           TS       EDOTP                                 #  EDOTP = OMEGAP - OMEGAPD AT PI/4 RAD/SEC
060975,000937: 
060976,000938: 16,3473           44753                           CS       ONE                                   
060977,000939: 16,3474           55505                           TS       AXISCTR                               
060978,000940: 16,3475           30111                           CA       DAPBOOLS                              
060979,000941: 16,3476           74737                           MASK     CSMDOCKD                              
060980,000942: 16,3477           00006                           EXTEND                                         
060981,000943: 16,3500           13511                           BZF      HEADTJET                              
060982,000944: 16,3501           00004                           INHINT                                         #  IF CSMDOCKD = 1, GO TO DOCKED RCS LOGIC
060983,000945: 16,3502           04674                           TC       IBNKCALL                              
060984,000946: 16,3503           43730                           CADR     SPSRCS                                
060985,000947: 
060986,000948: 16,3504           31524                           CA       TJP                                   
060987,000949: 16,3505           00006                           EXTEND                                         
060988,000950: 16,3506           13445                           BZF      DKALT                                 #  IF TJP = ZERO, CHANGE AORBSYST.
060989,000951: 16,3507           00003                           RELINT                                         
060990,000952: 16,3510           13354                           TCF      PJETSLEC   -6                         #     SELECT AORBSYST AND USE TWO JETS
060991,000953: 16,3511           34755        HEADTJET           CA       ZERO                                  
060992,000954: 16,3512           55500                           TS       SENSETYP                              
060993,000955: 16,3513           00004                           INHINT                                         
060994,000956: 16,3514           04674                           TC       IBNKCALL                              
060995,000957: 16,3515           37304                           CADR     TJETLAW                               
060996,000958: 16,3516           00003                           RELINT                                         
060997,000959: 

Page 1429

060999,000961: 16,3517           41741                           CS       FIREFCT                               
061000,000962: 16,3520           63534                           AD       -FOURDEG                              
061001,000963: 16,3521           00006                           EXTEND                                         
061002,000964: 16,3522           63354                           BZMF     PJETSLEC   -6                         
061003,000965: 16,3523           11524                           CCS      TJP                                   
061004,000966: 16,3524           13526                           TCF      +2                                    
061005,000967: 16,3525           13446                           TCF      JETSOFF                               
061006,000968: 16,3526           63533                           AD       -160MST6                              
061007,000969: 16,3527           00006                           EXTEND                                         
061008,000970: 16,3530           63354                           BZMF     PJETSLEC   -6                         
061009,000971: 16,3531           36245                           CA       SIX                                   
061010,000972: 16,3532           13361                           TCF      PJETSLEC   -1                         
061011,000973: 16,3533           77377        -160MST6           DEC      -256       B-14                       
061012,000974: 16,3534           75117        -FOURDEG           DEC      -.08888                               
061013,000975: 

Page 1430

061015,000977:                                                                                                  #  JET POLICY CONSTRUCTION SUBROUTINE
061016,000978: 
061017,000979:                                                                                                  #  INPUT: ROTINDEX, NUMBERT
061018,000980: 
061019,000981:                                                                                                  #  OUTPUT: POLYTEMP (JET POLICY)
061020,000982: 
061021,000983:                                                                                                  #  THIS SUBROUTINE SELECT A SUBSET OF THE DESIRED JETS WHICH HAS NO FAILURE
061022,000984: 
061023,000985: 16,3535           36245        SELECTP            CA       SIX                                   
061024,000986: 16,3536           55742                           TS       TEMPNUM                               
061025,000987: 16,3537           51743                           INDEX    NUMBERT                               
061026,000988: 16,3540           33567                           CA       TYPEP                                 
061027,000989: 16,3541           51744                           INDEX    ROTINDEX                              
061028,000990: 16,3542           73560                           MASK     JETSALL                               
061029,000991: 16,3543           55741                           TS       POLYTEMP                              
061030,000992: 16,3544           71260                           MASK     CH6MASK                               
061031,000993: 16,3545           10000                           CCS      A                                     
061032,000994: 16,3546           13550                           TCF      +2                                    
061033,000995: 16,3547           00002                           TC       Q                                     
061034,000996: 16,3550           11742                           CCS      TEMPNUM                               
061035,000997: 16,3551           13555                           TCF      +4                                    
061036,000998: 16,3552           05567                           TC       ALARM                                 
061037,000999: 16,3553           02003                           OCT      02003                                 
061038,001000: 16,3554           13446                           TCF      JETSOFF                               #  *****TCF ALARMJET *********************
061039,001001: 16,3555           55743        SELECTYZ           TS       NUMBERT                               
061040,001002: 16,3556           13536                           TCF      SELECTP    +1                         
061041,001003: 16,3557           12773                 -1        TCF      ABORTYZ    +2                         
061042,001004: 16,3560           00252        JETSALL            OCT      00252                                 
061043,001005: 16,3561           00125                           OCT      00125                                 #  +P
061044,001006: 16,3562           00140                           OCT      00140                                 #  -Y
061045,001007: 16,3563           00006                           OCT      00006                                 #  -Z
061046,001008: 16,3564           00220                           OCT      00220                                 #  +Y
061047,001009: 16,3565           00011                           OCT      00011                                 #  +Z
061048,001010: 16,3566           00151                           OCT      00151                                 #  +V
061049,001011: 16,3567           00146        TYPEP              OCT      00146                                 #  -U
061050,001012: 16,3570           00226                           OCT      00226                                 #  -V
061051,001013: 16,3571           00231                           OCT      00231                                 #  +U
061052,001014: 16,3572           00151                           OCT      00151                                 #  +V
061053,001015: 16,3573           00132                           OCT      00132                                 #  1-3
061054,001016: 16,3574           00245                           OCT      00245                                 #  2-4
061055,001017: 16,3575           00377                           OCT      00377                                 #  ALL
061056,001018: 16,3576  16,3576               INDXYZ             =        -136MST6                              
061057,001019: 16,3576           77445        -136MST6           DEC      -218       B-14                       
061058,001020: 16,3577           00004                           DEC      4          B-14                       
061059,001021: 16,3600           00002                           DEC      2          B-14                       
061060,001022: 16,3601           07776                           OCT      07776                                 
061061,001023: 16,3602           00005                           DEC      5          B-14                       
061062,001024: 16,3603           00011                           DEC      9          B-14                       
061063,001025: 16,3604           00012                           DEC      10         B-14                       
061064,001026: 16,3605           07776                           OCT      07776                                 
061065,001027: 16,3606           00003                           DEC      3          B-14                       

Page 1431

061067,001029: 16,3607           00010                           DEC      8          B-14                       
061068,001030: 16,3610           00007                           DEC      7          B-14                       
061069,001031: 16,3611           07776                           OCT      07776                                 #  THESE INDEXES OF  MASK JETSALL WILL
061070,001032: 16,3612           07776                           OCT      07776                                 #  CHANGE THE INSTRUCTION AT SELECTP +4
061071,001033: 16,3613           07776                           OCT      07776                                 #  TO BE    TC  JETSALL -1
061072,001034: 16,3614           07776                           OCT      07776                                 #  ONLY USED FOR TRANSLATION FAILURE
061073,001035: 16,3615           07776                           OCT      07776                                 
061074,001036: 16,3616           00360        +150MST6           DEC      240        B-14                       
061075,001037: 16,3617           07400        07400OCT           OCT      07400                                 
061076,001038: 
061077,001039:                                                                                                  #  T-JET LAW FIXED CONSTANTS
061078,001040: 
061079,001041: 16,3620           00266        NORMSCL            OCT      266                                   
061080,001042: 16,3621           74631        -100MS             DEC      -.1                                   
061081,001043: 16,3622           06315        200MS              DEC      .2                                    
061082,001044: 16,3623     7721               25/32              =        PRIO31                                #  (DEC .78125)
061083,001045: 16,3623           00600        BITS8,9            OCTAL    00600                                 
061084,001046: 16,3624           00632        1/40               DEC      .02500                                
061085,001047: 16,3625           77751        MINTIMES           DEC      -22        B-14                       
061086,001048: 16,3626           00026                           DEC      22         B-14                       
061087,001049: 16,3627           02734        PSKIPADR           GENADR   SKIPPAXS                              
061088,001050: 
061089,001051:                                                                                                  #  GOES TO Q,R-AXES RCS AUTOPILOT
061090,001052: 
061091,001053: 16,3630           41645        QRAXIS             CS       OMEGARD                               
061092,001054: 16,3631           61423                           AD       OMEGAR                                
061093,001055: 16,3632           02310                           TC       OVERSUB                               
061094,001056: 16,3633           55437                           TS       EDOTR                                 
061095,001057: 16,3634           41644                           CS       OMEGAQD                               
061096,001058: 16,3635           61422                           AD       OMEGAQ                                
061097,001059: 16,3636           02310                           TC       OVERSUB                               
061098,001060: 16,3637           55436                           TS       EDOTQ                                 
061099,001061: 16,3640           00006                           EXTEND                                         
061100,001062: 16,3641           33644                           DCA      QERRCALL                              
061101,001063: 16,3642           52006                           DTCB                                           
061102,001064: 
061103,001065: 16,3643  E6,1537                                  EBANK=   AOSQ                                  
061104,001066: 16,3643           02124 36106  QERRCALL           2CADR    CALLQERR                              

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