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.

061107,000002:                                                                                                  ## Copyright:   Public domain.
061108,000003:                                                                                                  ## Filename:    Q,R-AXES_RCS_AUTOPILOT.agc
061109,000004:                                                                                                  ## Purpose:     A section of Luminary revision 116.
061110,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM) 
061111,000006:                                                                                                  ##              Apollo Guidance Computer (AGC) for Apollo 12.
061112,000007:                                                                                                  ##              This file is intended to be a faithful transcription, except
061113,000008:                                                                                                  ##              that the code format has been changed to conform to the
061114,000009:                                                                                                  ##              requirements of the yaYUL assembler rather than the
061115,000010:                                                                                                  ##              original YUL assembler.
061116,000011:                                                                                                  ## Reference:   pp. 1432-1449
061117,000012:                                                                                                  ## Assembler:   yaYUL
061118,000013:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
061119,000014:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
061120,000015:                                                                                                  ## Mod history: 2017-01-22 MAS  Created from Luminary 99.
061121,000016:                                                                                                  ##              2017-01-31 RRB  Updated for Luminary 116.
061122,000017:                                                                                                  ##              2017-03-14 RSB  Proofed comment text via 3-way diff vs
061123,000018:                                                                                                  ##                              Luminary 99 and 131 ... no problems found.
061124,000019:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
061125,000020:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
061126,000021:                                                                                                  ##              2017-08-29 MAS  Fixed a label (X0RULGE instead of XORULGE) and a
061127,000022:                                                                                                  ##                              comment text error found while transcribing Zerlina 56.
061128,000023: 

Page 1432

061130,000025: 17,2124                                           BANK     17                                    
061131,000026: 17,2000                                           SETLOC   DAPS2                                 
061132,000027: 17,2000                                           BANK                                           
061133,000028: 
061134,000029: 17,2124  E6,1635                                  EBANK=   CDUXD                                 
061135,000030: 
061136,000031: 17,2124                                           COUNT*   $$/DAPQR                              
061137,000032: 
061138,000033: 17,2124           34737        CALLQERR           CA       BIT13                                 #  CALCULATE Q,R ERRORS UNLESS THESE AXES
061139,000034: 17,2125           00006                           EXTEND                                         #  ARE IN MANUAL RATE COMMAND.
061140,000035: 17,2126           02031                           RAND     CHAN31                                
061141,000036: 17,2127           10000                           CCS      A                                     
061142,000037: 17,2130           12135                           TCF      +5                                    #  IN AUTO COMPUTE Q,R ERRORS
061143,000038: 17,2131           40111                           CS       DAPBOOLS                              #  IN MANUAL RATE COMMAND?
061144,000039: 17,2132           74740                           MASK     OURRCBIT                              
061145,000040: 17,2133           00006                           EXTEND                                         
061146,000041: 17,2134           12136                           BZF      Q,RORGTS                              #  IF SO BYPASS CALCULATION OF ERRORS.
061147,000042: 17,2135           02655                           TC       QERRCALC                              
061148,000043: 
061149,000044: 17,2136           11631        Q,RORGTS           CCS      COTROLER                              #  CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
061150,000045: 17,2137           12636                           TCF      GOTOGTS                               #    GTS (ALTERNATES WITH RCS WHEN DOCKED)
061151,000046: 17,2140           12623                           TCF      TRYGTS                                #    GTS IF ALLOWED, OTHERWISE RCS
061152,000047: 17,2141           34755        RCS                CAF      ZERO                                  #        RCS (TRYGTS MAY BRANCH TO HERE)
061153,000048: 17,2142           55631                           TS       COTROLER                              
061154,000049: 
061155,000050: 17,2143           53437                           DXCH     EDOTQ                                 
061156,000051: 17,2144           03200                           TC       ROT-TOUV                              
061157,000052: 17,2145           53427                           DXCH     OMEGAU                                
061158,000053: 
061159,000054:                                                                                                  #  X - TRANSLATION:
061160,000055: 
061161,000056:                                                                                                  #  INPUT:   BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
061162,000057:                                                                                                  #           ULLAGER
061163,000058:                                                                                                  #           APSFLAG, DRIFTBIT
061164,000059:                                                                                                  #           ACC40R2X, ACRBTRAN
061165,000060: 
061166,000061:                                                                                                  #  OUTPUT:  NEXTU, NEXTV       CODES OF TRANSLATION FOR AFTER ROTATION
061167,000062:                                                                                                  #           SENSETYP           TELL ROTATION DIRECTION AND DESIRE
061168,000063: 
061169,000064:                                                                                                  #  X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR.  IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED.  A FAILURE
061170,000065:                                                                                                  #  WILL OVERRIDE THIS SPECIFICATION.  AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
061171,000066: 
061172,000067: 17,2146           34745        SENSEGET           CA       BIT7                                  #  INPUT BITS OVERRIDE THE INTERNAL BITS
061173,000068: 17,2147           00006                           EXTEND                                         #  SENSETYP WILL NOT OPPOSE ANYTRANS
061174,000069: 17,2150           02031                           RAND     CHAN31                                
061175,000070: 17,2151           00006                           EXTEND                                         
061176,000071: 17,2152           12200                           BZF      +XORULGE                              

Page 1433

061178,000073: 17,2153           34744                           CA       BIT8                                  
061179,000074: 17,2154           00006                           EXTEND                                         
061180,000075: 17,2155           02031                           RAND     CHAN31                                
061181,000076: 17,2156           00006                           EXTEND                                         
061182,000077: 17,2157           12201                           BZF      -XTRANS                               
061183,000078: 
061184,000079: 17,2160           34746                           CA       ULLAGER                               
061185,000080: 17,2161           70111                           MASK     DAPBOOLS                              
061186,000081: 17,2162           10000                           CCS      A                                     
061187,000082: 17,2163           12200                           TCF      +XORULGE                              
061188,000083: 
061189,000084: 17,2164           55473                           TS       NEXTU                                 #  STORE NULL TRANSLATION POLICIES
061190,000085: 17,2165           55474                           TS       NEXTV                                 
061191,000086: 17,2166           40111                           CS       DAPBOOLS                              #  BURNING OR DRIFTING?
061192,000087: 17,2167           74744                           MASK     DRIFTBIT                              
061193,000088: 17,2170           00006                           EXTEND                                         
061194,000089: 17,2171           12176                           BZF      TSENSE                                
061195,000090: 17,2172           30106                           CA       FLGWRD10                              #  DPS (INCLUDING DOCKED) OR APS?
061196,000091: 17,2173           74737                           MASK     APSFLBIT                              
061197,000092: 17,2174           10000                           CCS      A                                     
061198,000093: 17,2175           34752                           CAF      TWO                                   #  FAVOR +X JETS DURING AN APS BURN.
061199,000094: 17,2176           55500        TSENSE             TS       SENSETYP                              
061200,000095: 17,2177           12232                           TCF      QRCONTRL                              
061201,000096: 
061202,000097: 17,2200           34753        +XORULGE           CAF      ONE                                   
061203,000098: 17,2201           64751        -XTRANS            AD       FOUR                                  
061204,000099: 17,2202           55744                           TS       ROTINDEX                              
061205,000100: 17,2203           67750                           AD       NEG3                                  
061206,000101: 17,2204           55500                           TS       SENSETYP                              #  FAVOR APPROPRIATE JETS DURING TRANS.
061207,000102: 17,2205           30111                           CA       DAPBOOLS                              
061208,000103: 17,2206           74741                           MASK     ACC4OR2X                              
061209,000104: 17,2207           10000                           CCS      A                                     
061210,000105: 17,2210           12352                           TCF      TRANS4                                
061211,000106: 
061212,000107: 17,2211           30111                           CA       DAPBOOLS                              
061213,000108: 17,2212           74742                           MASK     AORBTRAN                              
061214,000109: 17,2213           10000                           CCS      A                                     
061215,000110: 17,2214           34753                           CA       ONE                                   #  THREE FOR B
061216,000111: 17,2215           64752                           AD       TWO                                   #  TWO FOR A SYSTEM 2 JET X TRANS
061217,000112: 17,2216           55743        TSNUMBRT           TS       NUMBERT                               
061218,000113: 
061219,000114: 17,2217           03225                           TC       SELCTSUB                              
061220,000115: 
061221,000116: 17,2220           11741                           CCS      POLYTEMP                              
061222,000117: 17,2221           12224                           TCF      +3                                    
061223,000118: 17,2222           05567                           TC       ALARM                                 
061224,000119: 17,2223           02002                           OCT      02002                                 
061225,000120: 17,2224           35764                           CA       00314OCT                              
061226,000121: 17,2225           71741                           MASK     POLYTEMP                              
061227,000122: 17,2226           55473        TSNEXTS            TS       NEXTU                                 

Page 1434

061229,000124: 17,2227           45764                           CS       00314OCT                              
061230,000125: 17,2230           71741                           MASK     POLYTEMP                              
061231,000126: 17,2231           55474                           TS       NEXTV                                 
061232,000127: 
061233,000128:                                                                                                  #  Q,R-AXES RCS CONTROL MODE SELECTION
061234,000129: 
061235,000130:                                                                                                  #    SWITCHES                INDICATION WHEN SET
061236,000131: 
061237,000132:                                                                                                  #    BIT13/CHAN31            AUTO, GO TO ATTSTEER
061238,000133:                                                                                                  #    PULSES                  MINIMUM IMPULSE MODE
061239,000134:                                                                                                  #    (OTHERWISE)             RATE COMMAND/ATTITUDE HOLD MODE
061240,000135: 
061241,000136: 17,2232           34737        QRCONTRL           CA       BIT13                                 #  CHECK MODE SELECT SWITCH.
061242,000137: 17,2233           00006                           EXTEND                                         
061243,000138: 17,2234           02031                           RAND     CHAN31                                #  BITS INVERTED
061244,000139: 17,2235           10000                           CCS      A                                     
061245,000140: 17,2236           12710                           TCF      ATTSTEER                              
061246,000141: 17,2237           34735        CHKBIT10           CAF      PULSES                                #  PULSES = 1 FOR MIN IMP USE OF RHC
061247,000142: 17,2240           70111                           MASK     DAPBOOLS                              
061248,000143: 17,2241           00006                           EXTEND                                         
061249,000144: 17,2242           12354                           BZF      CHEKSTIK                              #  IN ATT-HOLD/RATE-COMMAND IF BIT10=0
061250,000145: 
061251,000146:                                                                                                  #  MINIMUM IMPULSE MODE
061252,000147: 
061253,000148: 17,2243           00004                           INHINT                                         
061254,000149: 17,2244           04674                           TC       IBNKCALL                              
061255,000150: 17,2245           40154                           CADR     ZATTEROR                              
061256,000151: 17,2246           34755                           CA       ZERO                                  
061257,000152: 17,2247           55450                           TS       QERROR                                
061258,000153: 17,2250           55452                           TS       RERROR                                #  FOR DISPLAYS
061259,000154: 17,2251           00003                           RELINT                                         
061260,000155: 
061261,000156: 17,2252           00006                           EXTEND                                         
061262,000157: 17,2253           00031                           READ     CHAN31                                
061263,000158: 17,2254           55737                           TS       TEMP31                                #  IS EQUAL TO DAPTEMP1
061264,000159: 17,2255           11461                           CCS      OLDQRMIN                              
061265,000160: 17,2256           12300                           TCF      CHECKIN                               
061266,000161: 
061267,000162: 17,2257           31737        FIREQR             CA       TEMP31                                
061268,000163: 17,2260           74753                           MASK     BIT1                                  
061269,000164: 17,2261           00006                           EXTEND                                         
061270,000165: 17,2262           12304                           BZF      +QMIN                                 
061271,000166: 
061272,000167: 17,2263           31737                           CA       TEMP31                                
061273,000168: 17,2264           74752                           MASK     BIT2                                  
061274,000169: 17,2265           00006                           EXTEND                                         
061275,000170: 17,2266           12310                           BZF      -QMIN                                 
061276,000171: 
061277,000172: 17,2267           31737                           CA       TEMP31                                
061278,000173: 17,2270           74747                           MASK     BIT5                                  

Page 1435

061280,000175: 17,2271           00006                           EXTEND                                         
061281,000176: 17,2272           12314                           BZF      +RMIN                                 
061282,000177: 
061283,000178: 17,2273           31737                           CA       TEMP31                                
061284,000179: 17,2274           74746                           MASK     BIT6                                  
061285,000180: 17,2275           00006                           EXTEND                                         
061286,000181: 17,2276           12316                           BZF      -RMIN                                 
061287,000182: 
061288,000183: 17,2277           13112                           TCF      XTRANS                                
061289,000184: 
061290,000185: 17,2300           41737        CHECKIN            CS       TEMP31                                
061291,000186: 17,2301           72351                           MASK     OCT63                                 
061292,000187: 17,2302           55461                           TS       OLDQRMIN                              
061293,000188: 17,2303           13112                           TCF      XTRANS                                
061294,000189: 
061295,000190: 17,2304           33136        +QMIN              CA       14MS                                  
061296,000191: 17,2305           55525                           TS       TJU                                   
061297,000192: 17,2306           43136                           CS       14MS                                  
061298,000193: 17,2307           12320                           TCF      MINQR                                 
061299,000194: 17,2310           43136        -QMIN              CS       14MS                                  
061300,000195: 17,2311           55525                           TS       TJU                                   
061301,000196: 17,2312           33136                           CA       14MS                                  
061302,000197: 17,2313           12320                           TCF      MINQR                                 
061303,000198: 17,2314           33136        +RMIN              CA       14MS                                  
061304,000199: 17,2315           12317                           TCF      +2                                    
061305,000200: 17,2316           43136        -RMIN              CS       14MS                                  
061306,000201: 17,2317           55525                           TS       TJU                                   
061307,000202: 17,2320           55526        MINQR              TS       TJV                                   
061308,000203: 17,2321           32350                           CA       MINADR                                
061309,000204: 17,2322           55477                           TS       RETJADR                               
061310,000205: 17,2323           34753                           CA       ONE                                   
061311,000206: 17,2324           55461                           TS       OLDQRMIN                              
061312,000207: 17,2325           55505        MINRTN             TS       AXISCTR                               
061313,000208: 17,2326           30111                           CA       DAPBOOLS                              
061314,000209: 17,2327           74737                           MASK     CSMDOCKD                              
061315,000210: 17,2330           00006                           EXTEND                                         
061316,000211: 17,2331           12341                           BZF      MIMRET                                
061317,000212: 17,2332           51505                           INDEX    AXISCTR                               #  IF DOCKED,USE 60MS MINIMUM IMPULSE
061318,000213: 17,2333           11525                           CCS      TJU                                   
061319,000214: 17,2334           34776                           CA       60MS                                  
061320,000215: 17,2335           12337                           TCF      +2                                    
061321,000216: 17,2336           44776                           CS       60MS                                  
061322,000217: 17,2337           51505                           INDEX    AXISCTR                               
061323,000218: 17,2340           55525                           TS       TJU                                   
061324,000219: 17,2341           30111        MIMRET             CA       DAPBOOLS                              
061325,000220: 17,2342           74742                           MASK     AORBTRAN                              
061326,000221: 17,2343           10000                           CCS      A                                     
061327,000222: 17,2344           34753                           CA       ONE                                   
061328,000223: 17,2345           64752                           AD       TWO                                   
061329,000224: 17,2346           55743                           TS       NUMBERT                               

Page 1436

061331,000226: 17,2347           12756                           TCF      AFTERTJ                               
061332,000227: 
061333,000228: 17,2350     4776               60MS               =        OCT140                                
061334,000229: 17,2350           02325        MINADR             GENADR   MINRTN                                
061335,000230: 17,2351           00063        OCT63              OCT      63                                    
061336,000231: 17,2352  17,3136               14MS               =        +TJMINT6                              
061337,000232: 
061338,000233: 17,2352           34751        TRANS4             CA       FOUR                                  
061339,000234: 17,2353           12216                           TCF      TSNUMBRT                              
061340,000235: 
061341,000236:                                                                                                  #  RATE COMMAND MODE:
061342,000237: 
061343,000238:                                                                                                  #  DESCRIPTION (SAME AS P-AXIS)
061344,000239: 
061345,000240: 17,2354           55633        CHEKSTIK           TS       INGTS                                 #  NOT IN GTS WHEN IN ATT HOLD
061346,000241: 17,2355           44753                           CS       ONE                                   #  1/ACCS WILL DO THE NULLING DRIVES
061347,000242: 17,2356           55631                           TS       COTROLER                              #  COME BACK TO RCS NEXT TIME
061348,000243: 17,2357           34735                           CA       BIT15                                 
061349,000244: 17,2360           71443                           MASK     CH31TEMP                              
061350,000245: 17,2361           00006                           EXTEND                                         
061351,000246: 17,2362           12377                           BZF      RHCACTIV                              #  BRANCH IF OUT OF DETENT.
061352,000247: 17,2363           34740                           CA       OURRCBIT                              #  ***********
061353,000248: 17,2364           70111                           MASK     DAPBOOLS                              #  *IN DETENT*   CHECK FOR MANUAL CONTROL
061354,000249: 17,2365           00006                           EXTEND                                         #  ***********   LAST TIME.
061355,000250: 17,2366           12710                           BZF      STILLRCS                              
061356,000251: 17,2367           44743                           CS       BIT9                                  
061357,000252: 17,2370           71262                           MASK     RCSFLAGS                              
061358,000253: 17,2371           55262                           TS       RCSFLAGS                              #  BIT 9 IS 0.
061359,000254: 17,2372           12374                           TCF      DAMPING                               
061360,000255: 17,2373     4771               40CYCL             =        OCT50                                 
061361,000256: 17,2373     4753               1/10S              =        BIT1                                  
061362,000257: 17,2373           00056        LINRAT             DEC      46         B-14                       
061363,000258: 
061364,000259:                                                                                                  #  ================================
061365,000260: 
061366,000261: 17,2374           34755        DAMPING            CA       ZERO                                  
061367,000262: 17,2375           55462                           TS       SAVEHAND                              
061368,000263: 17,2376           55463                           TS       SAVEHAND   +1                         
061369,000264: 17,2377           11462        RHCACTIV           CCS      SAVEHAND                              #  *******************
061370,000265: 17,2400           12403                           TCF      +3                                    #  Q,R MANUAL CONTROL    WC = A*(B+|D|)*D
061371,000266: 17,2401           12403                           TCF      +2                                    #  *******************
061372,000267: 17,2402           12403                           TCF      +1                                    
061373,000268: 17,2403           60000                           DOUBLE                                         #  WHERE
061374,000269: 17,2404           60000                           DOUBLE                                         
061375,000270: 17,2405           62373                           AD       LINRAT                                #        WC  = COMMANDED ROTATIONAL RATE
061376,000271: 17,2406           00006                           EXTEND                                         #        A   = QUADRATIC SENSITIVITY FACTOR
061377,000272: 17,2407           71462                           MP       SAVEHAND                              #        B   = LINEAR/QUADRATIC SENSITIVITY
061378,000273: 17,2410           30001                           CA       L                                     #        |D| = ABS. VALUE OF DEFLECTION
061379,000274: 17,2411           00006                           EXTEND                                         #        D   = HAND CONTROLLER DEFLECTION
061380,000275: 17,2412           71444                           MP       STIKSENS                              
061381,000276: 17,2413           57455                           XCH      QLAST                                 #  COMMAND Q RATE     SCALED 45 DEG/SEC
061382,000277: 17,2414           40000                           COM                                            

Page 1437

061384,000279: 17,2415           61455                           AD       QLAST                                 
061385,000280: 17,2416           55741                           TS       DAPTEMP3                              
061386,000281: 17,2417           11463                           CCS      SAVEHAND   +1                         
061387,000282: 17,2420           12423                           TCF      +3                                    
061388,000283: 17,2421           12423                           TCF      +2                                    
061389,000284: 17,2422           12423                           TCF      +1                                    
061390,000285: 17,2423           60000                           DOUBLE                                         
061391,000286: 17,2424           60000                           DOUBLE                                         
061392,000287: 17,2425           62373                           AD       LINRAT                                
061393,000288: 17,2426           00006                           EXTEND                                         
061394,000289: 17,2427           71463                           MP       SAVEHAND   +1                         
061395,000290: 17,2430           30001                           CA       L                                     
061396,000291: 17,2431           00006                           EXTEND                                         
061397,000292: 17,2432           71444                           MP       STIKSENS                              
061398,000293: 17,2433           57456                           XCH      RLAST                                 
061399,000294: 17,2434           40000                           COM                                            
061400,000295: 17,2435           61456                           AD       RLAST                                 
061401,000296: 17,2436           55742                           TS       DAPTEMP4                              
061402,000297: 17,2437           41455                           CS       QLAST                                 #  INTERVAL.
061403,000298: 17,2440           61422                           AD       OMEGAQ                                
061404,000299: 17,2441           55436                           TS       QRATEDIF                              
061405,000300: 17,2442           41456                           CS       RLAST                                 
061406,000301: 17,2443           61423                           AD       OMEGAR                                
061407,000302: 17,2444           55437                           TS       RRATEDIF                              
061408,000303: 17,2445           53437        ENTERQR            DXCH     QRATEDIF                              #  TRANSFORM RATES FROM Q,R TO U,V AXES
061409,000304: 17,2446           03200                           TC       ROT-TOUV                              
061410,000305: 17,2447           53427                           DXCH     URATEDIF                              
061411,000306: 17,2450           11741                           CCS      DAPTEMP3                              #  CHECK IF Q COMMAND CHANGE EXCEEDS
061412,000307: 17,2451           02454                           TC       +3                                    #  BREAKOUT LEVEL.  IF NOT, CHECK R.
061413,000308: 17,2452           02454                           TC       +2                                    
061414,000309: 17,2453           02454                           TC       +1                                    
061415,000310: 17,2454           61476                           AD       -RATEDB                               
061416,000311: 17,2455           00006                           EXTEND                                         
061417,000312: 17,2456           62460                           BZMF     +2                                    
061418,000313: 17,2457           12476                           TCF      ENTERUV    -2                         #  BREAKOUT LEVEL EXCEEDED.  DIRECT RATE.
061419,000314: 17,2460           11742                           CCS      DAPTEMP4                              #  R COMMAND BREAKOUT CHECK.
061420,000315: 17,2461           02464                           TC       +3                                    
061421,000316: 17,2462           02464                           TC       +2                                    
061422,000317: 17,2463           02464                           TC       +1                                    
061423,000318: 17,2464           61476                           AD       -RATEDB                               
061424,000319: 17,2465           00006                           EXTEND                                         
061425,000320: 17,2466           62470                           BZMF     +2                                    
061426,000321: 17,2467           12476                           TCF      ENTERUV    -2                         #  BREAKOUT LEVEL EXCEEDED.  DIRECT RATE.
061427,000322: 17,2470           31262                           CA       RCSFLAGS                              #  BREAKOUT LEVEL NOT EXCEEDED.  CHECK FOR
061428,000323: 17,2471           74741                           MASK     QRBIT                                 #  DIRECT RATE CONTROL LAST TIME.
061429,000324: 17,2472           00006                           EXTEND                                         
061430,000325: 17,2473           12475                           BZF      +2                                    
061431,000326: 17,2474           12500                           TCF      ENTERUV                               #  CONTINUE DIRECT RATE CONTROL.
061432,000327: 17,2475           12710                           TCF      STILLRCS                              #  PSEUDO-AUTO CONTROL.
061433,000328: 17,2476           34771                           CA       40CYCL                                

Page 1438

061435,000330: 17,2477           55457                           TS       TCQR                                  
061436,000331: 17,2500           00004        ENTERUV            INHINT                                         #  DIRECT RATE CONTROL.
061437,000332: 17,2501           04674                           TC       IBNKCALL                              
061438,000333: 17,2502           40154                           FCADR    ZATTEROR                              
061439,000334: 17,2503           00003                           RELINT                                         
061440,000335: 17,2504           34755                           CA       ZERO                                  
061441,000336: 17,2505           55450                           TS       DYERROR                               
061442,000337: 17,2506           55451                           TS       DYERROR    +1                         
061443,000338: 17,2507           55452                           TS       DZERROR                               
061444,000339: 17,2510           55453                           TS       DZERROR    +1                         
061445,000340: 17,2511           11426                           CCS      URATEDIF                              
061446,000341: 17,2512           12515                           TCF      +3                                    
061447,000342: 17,2513           12515                           TCF      +2                                    
061448,000343: 17,2514           12515                           TCF      +1                                    
061449,000344: 17,2515           61476                           AD       TARGETDB                              #  IF TARGET DB IS EXCEEDED, CONTINUE
061450,000345: 17,2516           00006                           EXTEND                                         #  DIRECT RATE CONTROL.
061451,000346: 17,2517           62533                           BZMF     VDB                                   
061452,000347: 17,2520           11427                           CCS      VRATEDIF                              
061453,000348: 17,2521           12524                           TCF      +3                                    
061454,000349: 17,2522           12524                           TCF      +2                                    
061455,000350: 17,2523           12524                           TCF      +1                                    
061456,000351: 17,2524           61476                           AD       TARGETDB                              
061457,000352: 17,2525           00006                           EXTEND                                         
061458,000353: 17,2526           62530                           BZMF     +2                                    
061459,000354: 17,2527           12544                           TCF      QRTIME                                
061460,000355: 17,2530           34755                           CA       ZERO                                  
061461,000356: 17,2531           55427                           TS       VRATEDIF                              
061462,000357: 17,2532           12544                           TCF      QRTIME                                
061463,000358: 17,2533           11427        VDB                CCS      VRATEDIF                              
061464,000359: 17,2534           02537                           TC       +3                                    
061465,000360: 17,2535           02537                           TC       +2                                    
061466,000361: 17,2536           02537                           TC       +1                                    
061467,000362: 17,2537           61476                           AD       TARGETDB                              #  IF TARGET DB IS EXCEEDED, CONTINUE
061468,000363: 17,2540           00006                           EXTEND                                         #  DIRECT RATE CONTROL.  IF NOT, FIRE AND
061469,000364: 17,2541           62553                           BZMF     TOPSEUDO                              #  SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
061470,000365: 17,2542           34755                           CA       ZERO                                  #  PASS.
061471,000366: 17,2543           55426                           TS       URATEDIF                              
061472,000367: 17,2544           31457        QRTIME             CA       TCQR                                  #  DIRECT RATE TIME CHECK.
061473,000368: 17,2545           00006                           EXTEND                                         
061474,000369: 17,2546           62553                           BZMF     +5                                    #  BRANCH IF TIME EXCEEDS 4 SEC.
061475,000370: 17,2547           41262                           CS       RCSFLAGS                              
061476,000371: 17,2550           74741                           MASK     QRBIT                                 
061477,000372: 17,2551           27262                           ADS      RCSFLAGS                              #  BIT 11 IS 1.
061478,000373: 17,2552           02556                           TC       +4                                    
061479,000374: 17,2553           44741        TOPSEUDO           CS       QRBIT                                 
061480,000375: 17,2554           71262                           MASK     RCSFLAGS                              
061481,000376: 17,2555           55262                           TS       RCSFLAGS                              #  BIT 11 IS 0.
061482,000377: 17,2556           32622                           CA       HANDADR                               
061483,000378: 17,2557           55477                           TS       RETJADR                               
061484,000379: 17,2560           34753                           CA       ONE                                   
061485,000380: 

Page 1439

061487,000382: 17,2561           55505        BACKHAND           TS       AXISCTR                               
061488,000383: 
061489,000384: 17,2562           34751                           CA       FOUR                                  
061490,000385: 17,2563           55743                           TS       NUMBERT                               
061491,000386: 
061492,000387: 17,2564           51505                           INDEX    AXISCTR                               
061493,000388: 17,2565           51535                           INDEX    SKIPU                                 
061494,000389: 17,2566           12567                           TCF      +1                                    
061495,000390: 17,2567           34751                           CA       FOUR                                  
061496,000391: 17,2570           51505                           INDEX    AXISCTR                               
061497,000392: 17,2571           55535                           TS       SKIPU                                 
061498,000393: 17,2572           13034                           TCF      LOOPER                                
061499,000394: 
061500,000395: 17,2573           51505                           INDEX    AXISCTR                               
061501,000396: 17,2574           11426                           CCS      URATEDIF                              #        INDEX   AXIS    QUANITY
061502,000397: 17,2575           34755                           CA       ZERO                                  #        0       -U      1/JETACC-AOSU
061503,000398: 17,2576           12600                           TCF      +2                                    #        1       +U      1/JETACC+AOSU
061504,000399: 17,2577           34753                           CA       ONE                                   #        16      -V      1/JETACC-AOSV
061505,000400: 17,2600           51505                           INDEX    AXISCTR                               #        17      +V      1/JETACC+AOSV
061506,000401: 17,2601           63755                           AD       AXISDIFF                              #  JETACC = 2 JET ACCELERATION (1 FOR FAIL)
061507,000402: 
061508,000403: 17,2602           50000                           INDEX    A                                     
061509,000404: 17,2603           41571                           CS       1/ANET2    +1                         
061510,000405: 17,2604           00006                           EXTEND                                         
061511,000406: 17,2605           51505                           INDEX    AXISCTR                               #  URATEDIF IS SCALED AT PI/4 RAD/SEC
061512,000407: 17,2606           71426                           MP       URATEDIF                              #  JET TIME IN A       SCALED 32 SEC
061513,000408: 17,2607           54002                           TS       Q                                     
061514,000409: 17,2610           20001                           DAS      A                                     
061515,000410: 17,2611           60002                           AD       Q                                     
061516,000411: 17,2612           54000                           TS       A                                     #  OVERFLOW SKIP
061517,000412: 17,2613           12615                           TCF      +2                                    
061518,000413: 17,2614           30002                           CA       Q                                     #  RIGHT SIGN AND BIGGER THAN 150MS
061519,000414: 17,2615           51505        SETTIME            INDEX    AXISCTR                               
061520,000415: 17,2616           55525                           TS       TJU                                   #  SCALED AT 10.67 WHICH IS CLOSE TO 10.24
061521,000416: 17,2617           12756                           TCF      AFTERTJ                               
061522,000417: 
061523,000418: 17,2620           34755        ZEROTJ             CA       ZERO                                  
061524,000419: 17,2621           12615                           TCF      SETTIME                               
061525,000420: 
061526,000421: 17,2622           02561        HANDADR            GENADR   BACKHAND                              
061527,000422: 
061528,000423:                                                                                                  #  GTS WILL BE TRIED IF
061529,000424:                                                                                                  #        1. USEQRJTS = 0,
061530,000425:                                                                                                  #        2. ALLOWGTS POS,
061531,000426:                                                                                                  #        3. JETS ARE OFF (Q,R-AXES)
061532,000427: 
061533,000428: 17,2623           34736        TRYGTS             CAF      USEQRJTS                              #  IS JET USE MANDATORY.         (AS LONG AS
061534,000429: 17,2624           70111                           MASK     DAPBOOLS                              #  USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
061535,000430: 17,2625           10000                           CCS      A                                     
061536,000431: 17,2626           12141                           TCF      RCS                                   
061537,000432: 17,2627           11502                           CCS      ALLOWGTS                              #  NO.  DOES AOSTASK OK CONTROL FOR GTS?

Page 1440

061539,000434: 17,2630           12632                           TCF      +2                                    
061540,000435: 17,2631           12141                           TCF      RCS                                   
061541,000436: 17,2632           00006                           EXTEND                                         
061542,000437: 17,2633           00005                           READ     CHAN5                                 
061543,000438: 17,2634           10000                           CCS      A                                     
061544,000439: 17,2635           12641                           TCF      CHKINGTS                              
061545,000440: 17,2636           00006        GOTOGTS            EXTEND                                         
061546,000441: 17,2637           32654                           DCA      GTSCADR                               
061547,000442: 17,2640           52006                           DTCB                                           
061548,000443: 
061549,000444: 17,2641           11633        CHKINGTS           CCS      INGTS                                 #  WAS THE TRIM GIMBAL CONTROLLING
061550,000445: 17,2642           12644                           TCF      +2                                    #        YES.  SET UP A DAMPED NULLING DRIVE.
061551,000446: 17,2643           12141                           TCF      RCS                                   #        NO.  NULLING WAS SET UP BEFORE.  DO RCS
061552,000447: 17,2644           00004                           INHINT                                         
061553,000448: 17,2645           04674                           TC       IBNKCALL                              
061554,000449: 17,2646           43321                           CADR     TIMEGMBL                              
061555,000450: 17,2647           00003                           RELINT                                         
061556,000451: 17,2650           34755                           CAF      ZERO                                  
061557,000452: 17,2651           55633                           TS       INGTS                                 
061558,000453: 17,2652           12141                           TCF      RCS                                   
061559,000454: 
061560,000455: 17,2653  E6,1635                                  EBANK=   CDUXD                                 
061561,000456: 17,2653           03070 42106  GTSCADR            2CADR    GTS                                   
061562,000457: 

Page 1441

061564,000459:                                                                                                  #  SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
061565,000460: 
061566,000461: 17,2655           30033        QERRCALC           CAE      CDUY                                  #  Q-ERROR CALCULATION
061567,000462: 17,2656           00006                           EXTEND                                         
061568,000463: 17,2657           21636                           MSU      CDUYD                                 #  CDU ANGLE - ANGLE DESIRED (Y-AXIS)
061569,000464: 17,2660           55737                           TS       DAPTEMP1                              #  SAVE FOR RERRCALC
061570,000465: 17,2661           00006                           EXTEND                                         
061571,000466: 17,2662           71415                           MP       M21                                   #  (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
061572,000467: 17,2663           55752                           TS       E                                     
061573,000468: 17,2664           30034                           CAE      CDUZ                                  #  SECOND TERM CALCULATION:
061574,000469: 17,2665           00006                           EXTEND                                         
061575,000470: 17,2666           21637                           MSU      CDUZD                                 #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
061576,000471: 17,2667           55740                           TS       DAPTEMP2                              #  SAVE FOR RERRCALC
061577,000472: 17,2670           00006                           EXTEND                                         
061578,000473: 17,2671           71417                           MP       M22                                   #  (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
061579,000474: 17,2672           61275                           AD       DELQEROR                              #  KALCMANU INERFACE ERROR
061580,000475: 17,2673           61752                           AD       E                                     
061581,000476: 17,2674           57450                           XCH      QERROR                                #  SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
061582,000477: 
061583,000478: 17,2675           31737        RERRCALC           CAE      DAPTEMP1                              #  R-ERROR CALCULATION:
061584,000479: 17,2676           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Y-AXIS)
061585,000480: 17,2677           71416                           MP       M31                                   #  (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
061586,000481: 17,2700           55752                           TS       E                                     
061587,000482: 17,2701           31740                           CAE      DAPTEMP2                              #  SECOND TERM CALCULATION:
061588,000483: 17,2702           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
061589,000484: 17,2703           71420                           MP       M32                                   #  (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
061590,000485: 17,2704           61276                           AD       DELREROR                              #  KALCMANU INERFACE ERROR
061591,000486: 17,2705           61752                           AD       E                                     
061592,000487: 17,2706           57452                           XCH      RERROR                                #  SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
061593,000488: 17,2707           00002                           TC       Q                                     
061594,000489: 

Page 1442

061596,000491:                                                                                                  #  "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
061597,000492: 
061598,000493: 17,2710  17,2710               ATTSTEER           EQUALS   STILLRCS                              #  "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
061599,000494: 
061600,000495: 17,2710           31452        STILLRCS           CA       RERROR                                
061601,000496: 17,2711           22000                           LXCH     A                                     
061602,000497: 17,2712           31450                           CA       QERROR                                
061603,000498: 17,2713           03200                           TC       ROT-TOUV                              
061604,000499: 17,2714           53752                           DXCH     UERROR                                
061605,000500: 
061606,000501:                                                                                                  #  PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
061607,000502:                                                                                                  #  PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
061608,000503: 
061609,000504: 17,2715           33142        TJLAW              CA       TJLAWADR                              
061610,000505: 17,2716           55477                           TS       RETJADR                               
061611,000506: 17,2717           34753                           CA       ONE                                   
061612,000507: 17,2720           55505                           TS       AXISCTR                               
061613,000508: 17,2721           51505                           INDEX    AXISCTR                               
061614,000509: 17,2722           51535                           INDEX    SKIPU                                 
061615,000510: 17,2723           12724                           TCF      +1                                    
061616,000511: 17,2724           34751                           CA       FOUR                                  
061617,000512: 17,2725           51505                           INDEX    AXISCTR                               
061618,000513: 17,2726           55535                           TS       SKIPU                                 
061619,000514: 17,2727           13034                           TCF      LOOPER                                
061620,000515: 17,2730           51505                           INDEX    AXISCTR                               
061621,000516: 17,2731           31751                           CA       UERROR                                
061622,000517: 17,2732           55752                           TS       E                                     
061623,000518: 17,2733           51505                           INDEX    AXISCTR                               
061624,000519: 17,2734           31426                           CA       OMEGAU                                
061625,000520: 17,2735           55427                           TS       EDOT                                  
061626,000521: 17,2736           30111                           CA       DAPBOOLS                              
061627,000522: 17,2737           74737                           MASK     CSMDOCKD                              
061628,000523: 17,2740           10000                           CCS      A                                     
061629,000524: 17,2741           12744                           TCF      +3                                    
061630,000525: 17,2742           03304                           TC       TJETLAW                               
061631,000526: 17,2743           12756                           TCF      AFTERTJ                               
061632,000527: 17,2744           40111                 +3        CS       DAPBOOLS                              #  DOCKED.  IF GIMBAL USABLE DO GTS CONTROL
061633,000528: 17,2745           74736                           MASK     USEQRJTS                              #    ON THE NEXT PASS.
061634,000529: 17,2746           10000                           CCS      A                                     #  USEQRJTS BIT MUST NOT BE BIT 15.
061635,000530: 17,2747           55631                           TS       COTROLER                              #  GIMBAL USABLE.  STORE POSITIVE VALUE.
061636,000531: 17,2750           00004                           INHINT                                         
061637,000532: 17,2751           04674                           TC       IBNKCALL                              
061638,000533: 17,2752           43730                           CADR     SPSRCS                                #  DETERMINE RCS CONTROL
061639,000534: 17,2753           00003                           RELINT                                         
061640,000535: 17,2754           34751                           CAF      FOUR                                  #  ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
061641,000536: 17,2755           55743                           TS       NUMBERT                               #  FALL THROUGH TO JET SELECTION, ETC.
061642,000537: 
061643,000538:                                                                                                  #  Q,R-JET-SELECTION-LOGIC
061644,000539: 
061645,000540:                                                                                                  #  INPUT:        AXISCTR         0,1 FOR U,V
061646,000541:                                                                                                  #                SNUFFBIT        ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN

Page 1443

061648,000543:                                                                                                  #                TJU,TJV         JET TIME SCALED 10.24 SEC.
061649,000544:                                                                                                  #                NUMBERT         INDICATES NUMBER OF JETS AND TYPE OF POLICY
061650,000545:                                                                                                  #                RETJADR         WHERE TO RETURN TO
061651,000546: 
061652,000547:                                                                                                  #  OUTPUT:       NO.U(V)JETS     RATE DERIVATION FEEDBACK
061653,000548:                                                                                                  #                CHANNEL 5
061654,000549:                                                                                                  #                SKIPU,SKIRV     FOR LESS THAN 150MS FIRING
061655,000550: 
061656,000551:                                                                                                  #  NOTES:        IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED
061657,000552:                                                                                                  #                JETS OF THE DESIRED POLICY ARE SELECTED.  SINCE THERE ARE ONLY
061658,000553:                                                                                                  #                TWO JETS, THIS MEANS THE OTHER ONE OR NONE.  THE ALARM IS SENT
061659,000554:                                                                                                  #                IF NONE CAN BE FOUND.
061660,000555: 
061661,000556:                                                                                                  #                TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
061662,000557:                                                                                                  #                MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
061663,000558: 
061664,000559: 17,2756           30101        AFTERTJ            CA       FLAGWRD5                              #  IF SNUFFBIT SET DURING A DPS BURN GO TO
061665,000560: 17,2757           74737                           MASK     SNUFFBIT                              #    XTRANS; THAT IS, INHIBIT CONTROL.
061666,000561: 17,2760           00006                           EXTEND                                         
061667,000562: 17,2761           12772                           BZF      DOROTAT                               
061668,000563: 17,2762           40106                           CS       FLGWRD10                              
061669,000564: 17,2763           74737                           MASK     APSFLBIT                              
061670,000565: 17,2764           00006                           EXTEND                                         
061671,000566: 17,2765           12772                           BZF      DOROTAT                               
061672,000567: 17,2766           30111                           CA       DAPBOOLS                              
061673,000568: 17,2767           74744                           MASK     DRIFTBIT                              
061674,000569: 17,2770           00006                           EXTEND                                         
061675,000570: 17,2771           13112                           BZF      XTRANS                                
061676,000571: 
061677,000572: 17,2772           34752        DOROTAT            CAF      TWO                                   
061678,000573: 17,2773           54001                           TS       L                                     
061679,000574: 17,2774           51505                           INDEX    AXISCTR                               
061680,000575: 17,2775           11525                           CCS      TJU                                   
061681,000576: 17,2776           13003                           TCF      +5                                    
061682,000577: 17,2777           13026                           TCF      NOROTAT                               
061683,000578: 17,3000           13002                           TCF      +2                                    
061684,000579: 17,3001           13026                           TCF      NOROTAT                               
061685,000580: 17,3002           22007                           ZL                                             
061686,000581: 17,3003           64753                           AD       ONE                                   
061687,000582: 17,3004           55737                           TS       ABSTJ                                 
061688,000583: 
061689,000584: 17,3005           31505                           CA       AXISCTR                               
061690,000585: 17,3006           60001                           AD       L                                     
061691,000586: 17,3007           55744                           TS       ROTINDEX                              #  0 1 2 3 = -U -V -+U +V
061692,000587: 
061693,000588: 17,3010           31737                           CA       ABSTJ                                 
061694,000589: 17,3011           63137                           AD       -150MS                                
061695,000590: 17,3012           00006                           EXTEND                                         
061696,000591: 17,3013           63037                           BZMF     DOSKIP                                

Page 1444

061698,000593: 17,3014           03225                           TC       SELCTSUB                              
061699,000594: 
061700,000595: 17,3015           51505                           INDEX    AXISCTR                               
061701,000596: 17,3016           33134                           CA       INDEXES                               
061702,000597: 17,3017           54001                           TS       L                                     
061703,000598: 
061704,000599: 17,3020           31741                           CA       POLYTEMP                              
061705,000600: 17,3021           00004                           INHINT                                         
061706,000601: 17,3022           50001                           INDEX    L                                     
061707,000602: 17,3023           05744                           TC       WRITEP                                
061708,000603: 
061709,000604: 17,3024           00003                           RELINT                                         
061710,000605: 17,3025           13100                           TCF      FEEDBACK                              
061711,000606: 
061712,000607: 17,3026           51505        NOROTAT            INDEX    AXISCTR                               
061713,000608: 17,3027           33134                           CA       INDEXES                               
061714,000609: 17,3030           00004                           INHINT                                         
061715,000610: 17,3031           50000                           INDEX    A                                     
061716,000611: 17,3032           05743                           TC       WRITEP     -1                         
061717,000612: 
061718,000613: 17,3033           00003                           RELINT                                         
061719,000614: 17,3034           11505        LOOPER             CCS      AXISCTR                               
061720,000615: 17,3035           01477                           TC       RETJADR                               
061721,000616: 17,3036           13270                           TCF      CLOSEOUT                              
061722,000617: 17,3037           41737        DOSKIP             CS       ABSTJ                                 
061723,000618: 17,3040           63136                           AD       +TJMINT6                              #  14MS
061724,000619: 17,3041           00006                           EXTEND                                         
061725,000620: 17,3042           63061                           BZMF     NOTMIN                                
061726,000621: 
061727,000622: 17,3043           27737                           ADS      ABSTJ                                 
061728,000623: 17,3044           51505                           INDEX    AXISCTR                               
061729,000624: 17,3045           11525                           CCS      TJU                                   
061730,000625: 17,3046           33136                           CA       +TJMINT6                              
061731,000626: 17,3047           13051                           TCF      +2                                    
061732,000627: 17,3050           43136                           CS       +TJMINT6                              
061733,000628: 17,3051           51505                           INDEX    AXISCTR                               
061734,000629: 17,3052           55525                           TS       TJU                                   
061735,000630: 
061736,000631: 17,3053           11500                           CCS      SENSETYP                              #  ENSURE MIN-IMPULSE NOT AGAINST TRANS
061737,000632: 17,3054           13060                           TCF      NOTMIN     -1                         
061738,000633: 17,3055           00006                           EXTEND                                         
061739,000634: 17,3056           00004                           READ     LOSCALAR                              
061740,000635: 17,3057           74753                           MASK     ONE                                   
061741,000636: 17,3060           55743                           TS       NUMBERT                               
061742,000637: 
061743,000638: 17,3061           03225        NOTMIN             TC       SELCTSUB                              
061744,000639: 
061745,000640: 17,3062           51505                           INDEX    AXISCTR                               
061746,000641: 17,3063           33134                           CA       INDEXES                               
061747,000642: 17,3064           00004                           INHINT                                         

Page 1445

061749,000644: 17,3065           55471                           TS       T6FURTHA   +1                         
061750,000645: 17,3066           31741                           CA       POLYTEMP                              
061751,000646: 17,3067           51471                           INDEX    T6FURTHA   +1                         
061752,000647: 17,3070           05744                           TC       WRITEP                                
061753,000648: 
061754,000649: 17,3071           31737                           CA       ABSTJ                                 
061755,000650: 17,3072           55470                           TS       T6FURTHA                              
061756,000651: 17,3073           03143                           TC       JTLST                                 #  IN QR BANK BY NOW
061757,000652: 
061758,000653: 17,3074           00003                           RELINT                                         
061759,000654: 
061760,000655: 17,3075           34755                           CA       ZERO                                  
061761,000656: 17,3076           51505                           INDEX    AXISCTR                               
061762,000657: 17,3077           55535                           TS       SKIPU                                 
061763,000658: 
061764,000659: 17,3100           46250        FEEDBACK           CS       THREE                                 
061765,000660: 17,3101           61743                           AD       NUMBERT                               
061766,000661: 17,3102           00006                           EXTEND                                         
061767,000662: 17,3103           63106                           BZMF     +3                                    
061768,000663: 
061769,000664: 17,3104           34752                           CA       TWO                                   
061770,000665: 17,3105           13107                           TCF      +2                                    
061771,000666: 17,3106           34753                           CA       ONE                                   
061772,000667: 17,3107           51505                           INDEX    AXISCTR                               
061773,000668: 17,3110           55522                           TS       NO.UJETS                              
061774,000669: 17,3111           13034                           TCF      LOOPER                                
061775,000670: 
061776,000671: 17,3112           34755        XTRANS             CA       ZERO                                  
061777,000672: 17,3113           55525                           TS       TJU                                   
061778,000673: 17,3114           55526                           TS       TJV                                   
061779,000674: 17,3115           34751                           CA       FOUR                                  
061780,000675: 17,3116           00004                           INHINT                                         
061781,000676: 17,3117           57535                           XCH      SKIPU                                 
061782,000677: 17,3120           00006                           EXTEND                                         
061783,000678: 17,3121           13123                           BZF      +2                                    
061784,000679: 17,3122           05747                           TC       WRITEU     -1                         
061785,000680: 17,3123           34751                           CA       FOUR                                  
061786,000681: 17,3124           57536                           XCH      SKIPV                                 
061787,000682: 17,3125           00003                           RELINT                                         
061788,000683: 
061789,000684: 17,3126           00006                           EXTEND                                         
061790,000685: 17,3127           13270                           BZF      CLOSEOUT                              
061791,000686: 17,3130           00004                           INHINT                                         
061792,000687: 17,3131           05760                           TC       WRITEV     -1                         
061793,000688: 17,3132           00003                           RELINT                                         
061794,000689: 
061795,000690: 17,3133           13270                           TCF      CLOSEOUT                              
061796,000691: 17,3134           00004        INDEXES            DEC      4          B-14                       
061797,000692: 17,3135           00015                           DEC      13         B-14                       
061798,000693: 17,3136           00026        +TJMINT6           DEC      22         B-14                       

Page 1446

061800,000695: 17,3137           77417        -150MS             DEC      -240       B-14                       
061801,000696: 17,3140           00600        BIT8,9             OCT      00600                                 
061802,000697: 17,3141           00266        SCLNORM            OCT      266                                   
061803,000698: 17,3142           02720        TJLAWADR           GENADR   TJLAW      +3                         #  RETURN ADDRESS FOR RCS ATTITUDE CONTROL
061804,000699: 
061805,000700:                                                                                                  #  THE JET LIST:
061806,000701:                                                                                                  #  THIS IS A WAITLIST FOR T6RUPTS.
061807,000702: 
061808,000703:                                                                                                  #  CALLED BY:
061809,000704:                                                                                                  #                CA      TJ              TIME WHEN NEXT JETS WILL BE WRITTEN
061810,000705:                                                                                                  #                TS      T6FURTHA
061811,000706:                                                                                                  #                CA      INDEX           AXIS TO BE WIRTTEN AT TJ (FROM NOW)
061812,000707:                                                                                                  #                TS      T6FURTHA +1
061813,000708:                                                                                                  #                TC      JTLST
061814,000709: 
061815,000710:                                                                                                  #  EXAMPLE - U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
061816,000711:                                                                                                  #  JETS INTO CHANNEL 5.  IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
061817,000712:                                                                                                  #  150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
061818,000713:                                                                                                  #  CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
061819,000714:                                                                                                  #  OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
061820,000715: 
061821,000716:                                                                                                  #  THE LIST IS EXACTLY 3 LONG.  (THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
061822,000717:                                                                                                  #  THE INPUT IS THE LAST MEMBER OF THE LIST
061823,000718: 
061824,000719:                                                                                                  #  RETURNS BY:
061825,000720:                                                                                                  #        +       TC      Q
061826,000721: 
061827,000722:                                                                                                  #  DEFINITIONS:  (OUTPUT)
061828,000723:                                                                                                  #        TIME6           TIME OF NEXT RUPT
061829,000724:                                                                                                  #        T6NEXT          DELTA TIME TO NEXT RUPT
061830,000725:                                                                                                  #        T6FURTHA        DELTA TIME FROM 2ND TO LAST RUPT
061831,000726:                                                                                                  #        NXT6ADR         AXIS INDEX       Q - P-AXIS
061832,000727:                                                                                                  #        T6NEXT +1       AXIS INDEX       4 - U-AXIS
061833,000728:                                                                                                  #        T6FURTHA +1     AXIS INDEX      13 - V-AXIS
061834,000729: 
061835,000730: 17,3143           41470        JTLST              CS       T6FURTHA                              
061836,000731: 17,3144           60031                           AD       TIME6                                 
061837,000732: 17,3145           00006                           EXTEND                                         
061838,000733: 17,3146           63163                           BZMF     MIDORLST                              #  TIME6 - T IS IN A
061839,000734: 
061840,000735: 17,3147           23465                           LXCH     NXT6ADR                               
061841,000736: 17,3150           53467                           DXCH     T6NEXT                                
061842,000737: 17,3151           53471                           DXCH     T6FURTHA                              
061843,000738: 17,3152           54031                           TS       TIME6                                 
061844,000739: 17,3153           23465                           LXCH     NXT6ADR                               
061845,000740: 
061846,000741: 17,3154           00006        TURNON             EXTEND                                         
061847,000742: 17,3155           23265                           QXCH     C13QSAV                               
061848,000743: 17,3156           06022                           TC       C13STALL                              
061849,000744: 
061850,000745: 17,3157           34735                           CA       BIT15                                 

Page 1447

061852,000747: 17,3160           00006                           EXTEND                                         
061853,000748: 17,3161           05013                           WOR      CHAN13                                
061854,000749: 17,3162           01265                           TC       C13QSAV                               
061855,000750: 
061856,000751: 
061857,000752: 17,3163           61466        MIDORLST           AD       T6NEXT                                
061858,000753: 17,3164           00006                           EXTEND                                         
061859,000754: 17,3165           63174                           BZMF     LASTCHG                               #  TIME6 + T6NEXT - T IS IN A
061860,000755: 
061861,000756: 17,3166           23467                           LXCH     T6NEXT     +1                         
061862,000757: 17,3167           53471                           DXCH     T6FURTHA                              
061863,000758: 17,3170           00006                           EXTEND                                         
061864,000759: 17,3171           60031                           SU       TIME6                                 
061865,000760: 17,3172           53467                           DXCH     T6NEXT                                
061866,000761: 
061867,000762: 17,3173           00002                           TC       Q                                     
061868,000763: 
061869,000764: 17,3174           40000        LASTCHG            CS       A                                     
061870,000765: 17,3175           64754                           AD       NEG0                                  
061871,000766: 17,3176           55470                           TS       T6FURTHA                              
061872,000767: 
061873,000768: 17,3177           00002                           TC       Q                                     
061874,000769: 
061875,000770:                                                                                                  #  ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
061876,000771:                                                                                                  #  ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM.  IN THE U-V SYSTEM NO CROSS-COUPLING IS
061877,000772:                                                                                                  #  PRODUCED FROM RCS JET FIRINGS.  AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
061878,000773:                                                                                                  #  A AND THE V-COMPONENT IS IN L.
061879,000774: 
061880,000775: 17,3200           23740        ROT-TOUV           LXCH     ROTEMP2                               #  (R) IS PUT INTO ROTEMP2
061881,000776: 17,3201           00006                           EXTEND                                         
061882,000777: 17,3202           71627                           MP       COEFFQ                                
061883,000778: 17,3203           57740                           XCH      ROTEMP2                               #  (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
061884,000779: 17,3204           00006                           EXTEND                                         
061885,000780: 17,3205           71630                           MP       COEFFR                                
061886,000781: 17,3206           54001                           TS       L                                     #  COEFFR.(R) IS PUT INTO L
061887,000782: 17,3207           61740                           AD       ROTEMP2                               
061888,000783: 17,3210           55737                           TS       ROTEMP1                               #  COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
061889,000784: 17,3211           13215                           TCF      +4                                    
061890,000785: 17,3212           50000                           INDEX    A                                     #  COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
061891,000786: 17,3213           44734                           CS       LIMITS                                #  AND IS LIMITED TO POSMAX OR NEGMAX
061892,000787: 17,3214           55737                           TS       ROTEMP1                               
061893,000788: 17,3215           41740                           CS       ROTEMP2                               
061894,000789: 17,3216           60001                           AD       L                                     #  -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
061895,000790: 17,3217           54007                           TS       7                                     
061896,000791: 17,3220           13223                           TCF      +3                                    
061897,000792: 17,3221           50000                           INDEX    A                                     #  -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
061898,000793: 17,3222           44734                           CS       LIMITS                                #  AND IS LIMITED TO POSMAX OR NEGMAX
061899,000794: 17,3223           23737                           LXCH     ROTEMP1                               #  COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
061900,000795: 17,3224           00002                           TC       Q                                     
061901,000796: 17,3225           51744        SELCTSUB           INDEX    ROTINDEX                              

Page 1448

061903,000798: 17,3226           33257                           CA       ALLJETS                               
061904,000799: 17,3227           51743                           INDEX    NUMBERT                               
061905,000800: 17,3230           73263                           MASK     TYPEPOLY                              
061906,000801: 17,3231           55741                           TS       POLYTEMP                              
061907,000802: 
061908,000803: 17,3232           71257                           MASK     CH5MASK                               
061909,000804: 17,3233           10000                           CCS      A                                     
061910,000805: 17,3234           13236                           TCF      +2                                    
061911,000806: 
061912,000807: 17,3235           00002                           TC       Q                                     
061913,000808: 
061914,000809: 17,3236           36250                           CA       THREE                                 
061915,000810: 17,3237           55743        FAILOOP            TS       NUMBERT                               
061916,000811: 17,3240           51744                           INDEX    ROTINDEX                              
061917,000812: 17,3241           33257                           CA       ALLJETS                               
061918,000813: 17,3242           51743                           INDEX    NUMBERT                               
061919,000814: 17,3243           73263                           MASK     TYPEPOLY                              
061920,000815: 17,3244           55741                           TS       POLYTEMP                              
061921,000816: 17,3245           71257                           MASK     CH5MASK                               
061922,000817: 17,3246           00006                           EXTEND                                         
061923,000818: 17,3247           13235                           BZF      FAILOOP    -2                         
061924,000819: 17,3250           11743                           CCS      NUMBERT                               
061925,000820: 17,3251           13237                           TCF      FAILOOP                               
061926,000821: 17,3252           51505                           INDEX    AXISCTR                               
061927,000822: 17,3253           55525                           TS       TJU                                   
061928,000823: 17,3254           05567                           TC       ALARM                                 
061929,000824: 17,3255           02004                           OCT      02004                                 
061930,000825: 17,3256           13026                           TCF      NOROTAT                               
061931,000826: 17,3257           00110        ALLJETS            OCT      00110                                 #        -U      6 13
061932,000827: 17,3260           00022                           OCT      00022                                 #        -V      2 9
061933,000828: 17,3261           00204                           OCT      00204                                 #        +U      5 14
061934,000829: 
061935,000830: 17,3262           00041                           OCT      00041                                 #        +V      1 10
061936,000831: 17,3263           00125        TYPEPOLY           OCT      00125                                 #        -X      1 5 9 13
061937,000832: 17,3264           00252                           OCT      00252                                 #        +X      2 6 10 14
061938,000833: 17,3265           00146                           OCT      00146                                 #        A       2 5 10 13
061939,000834: 17,3266           00231                           OCT      00231                                 #        B       1 6 9 14
061940,000835: 17,3267           00377                           OCT      00377                                 #        ALL     1 2 5 6 9 10 13 14
061941,000836: 
061942,000837:                                                                                                  #  THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
061943,000838: 
061944,000839: 17,3270           33272        CLOSEOUT           CA       ADRRUPT                               
061945,000840: 17,3271           07757                           TC       MAKERUPT                              
061946,000841: 
061947,000842: 17,3272           03273        ADRRUPT            ADRES    ENDJASK                               
061948,000843: 
061949,000844: 17,3273           53754        ENDJASK            DXCH     DAPARUPT                              
061950,000845: 17,3274           52011                           DXCH     ARUPT                                 
061951,000846: 17,3275           53756                           DXCH     DAPBQRPT                              
061952,000847: 17,3276           56017                           XCH      BRUPT                                 

Page 1449

061954,000849: 17,3277           22002                           LXCH     Q                                     
061955,000850: 17,3300           34735                           CAF      NEGMAX                                #  NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
061956,000851: 17,3301           53760                           DXCH     DAPZRUPT                              
061957,000852: 17,3302           52016                           DXCH     ZRUPT                                 
061958,000853: 17,3303           15272                           TCF      NOQRSM                                
061959,000854:    7757                                           BLOCK    3                                     
061960,000855:    6000                                           SETLOC   FFTAG6                                
061961,000856:    6000                                           BANK                                           
061962,000857: 
061963,000858:    7757                                           COUNT*   $$/DAP                                
061964,000859: 
061965,000860:    7757           00006        MAKERUPT           EXTEND                                         
061966,000861:    7760           07757                           EDRUPT   MAKERUPT                              
061967,000862: 

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