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.

061083,000002:                                                                                                  ## Copyright:   Public domain.
061084,000003:                                                                                                  ## Filename:    Q,R-AXES_RCS_AUTOPILOT.agc
061085,000004:                                                                                                  ## Purpose:     A section of Luminary revision 116.
061086,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM) 
061087,000006:                                                                                                  ##              Apollo Guidance Computer (AGC) for Apollo 12.
061088,000007:                                                                                                  ##              This file is intended to be a faithful transcription, except
061089,000008:                                                                                                  ##              that the code format has been changed to conform to the
061090,000009:                                                                                                  ##              requirements of the yaYUL assembler rather than the
061091,000010:                                                                                                  ##              original YUL assembler.
061092,000011:                                                                                                  ## Reference:   pp. 1432-1449
061093,000012:                                                                                                  ## Assembler:   yaYUL
061094,000013:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
061095,000014:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
061096,000015:                                                                                                  ## Mod history: 2017-01-22 MAS  Created from Luminary 99.
061097,000016:                                                                                                  ##              2017-01-31 RRB  Updated for Luminary 116.
061098,000017:                                                                                                  ##              2017-03-14 RSB  Proofed comment text via 3-way diff vs
061099,000018:                                                                                                  ##                              Luminary 99 and 131 ... no problems found.
061100,000019:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
061101,000020:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
061102,000021:                                                                                                  ##              2017-08-29 MAS  Fixed a label (X0RULGE instead of XORULGE) and a
061103,000022:                                                                                                  ##                              comment text error found while transcribing Zerlina 56.
061104,000023: 

Page 1432

061106,000025: 17,2124                                           BANK     17                                    
061107,000026: 17,2000                                           SETLOC   DAPS2                                 
061108,000027: 17,2000                                           BANK                                           
061109,000028: 
061110,000029: 17,2124  E6,1635                                  EBANK=   CDUXD                                 
061111,000030: 
061112,000031: 17,2124                                           COUNT*   $$/DAPQR                              
061113,000032: 
061114,000033: 17,2124           34737        CALLQERR           CA       BIT13                                 #  CALCULATE Q,R ERRORS UNLESS THESE AXES
061115,000034: 17,2125           00006                           EXTEND                                         #  ARE IN MANUAL RATE COMMAND.
061116,000035: 17,2126           02031                           RAND     CHAN31                                
061117,000036: 17,2127           10000                           CCS      A                                     
061118,000037: 17,2130           12135                           TCF      +5                                    #  IN AUTO COMPUTE Q,R ERRORS
061119,000038: 17,2131           40111                           CS       DAPBOOLS                              #  IN MANUAL RATE COMMAND?
061120,000039: 17,2132           74740                           MASK     OURRCBIT                              
061121,000040: 17,2133           00006                           EXTEND                                         
061122,000041: 17,2134           12136                           BZF      Q,RORGTS                              #  IF SO BYPASS CALCULATION OF ERRORS.
061123,000042: 17,2135           02655                           TC       QERRCALC                              
061124,000043: 
061125,000044: 17,2136           11631        Q,RORGTS           CCS      COTROLER                              #  CHOOSE CONTROL SYSTEM FOR THIS DAP PASS:
061126,000045: 17,2137           12636                           TCF      GOTOGTS                               #    GTS (ALTERNATES WITH RCS WHEN DOCKED)
061127,000046: 17,2140           12623                           TCF      TRYGTS                                #    GTS IF ALLOWED, OTHERWISE RCS
061128,000047: 17,2141           34755        RCS                CAF      ZERO                                  #        RCS (TRYGTS MAY BRANCH TO HERE)
061129,000048: 17,2142           55631                           TS       COTROLER                              
061130,000049: 
061131,000050: 17,2143           53437                           DXCH     EDOTQ                                 
061132,000051: 17,2144           03200                           TC       ROT-TOUV                              
061133,000052: 17,2145           53427                           DXCH     OMEGAU                                
061134,000053: 
061135,000054:                                                                                                  #  X - TRANSLATION:
061136,000055: 
061137,000056:                                                                                                  #  INPUT:   BITS 7,8 OF CH31 (TRANSLATION CONTROLLER)
061138,000057:                                                                                                  #           ULLAGER
061139,000058:                                                                                                  #           APSFLAG, DRIFTBIT
061140,000059:                                                                                                  #           ACC40R2X, ACRBTRAN
061141,000060: 
061142,000061:                                                                                                  #  OUTPUT:  NEXTU, NEXTV       CODES OF TRANSLATION FOR AFTER ROTATION
061143,000062:                                                                                                  #           SENSETYP           TELL ROTATION DIRECTION AND DESIRE
061144,000063: 
061145,000064:                                                                                                  #  X-TRANS POLICIES ARE EITHER 4 JETS OR A DIAGONAL PAIR.  IN 2-JET TRANSLATION THE SYSTEM IS SPECIFIED.  A FAILURE
061146,000065:                                                                                                  #  WILL OVERRIDE THIS SPECIFICATION.  AN ALARM RESULTS WHEN NO POLICY IS AVAILABLE BECAUSE OF FAILURES.
061147,000066: 
061148,000067: 17,2146           34745        SENSEGET           CA       BIT7                                  #  INPUT BITS OVERRIDE THE INTERNAL BITS
061149,000068: 17,2147           00006                           EXTEND                                         #  SENSETYP WILL NOT OPPOSE ANYTRANS
061150,000069: 17,2150           02031                           RAND     CHAN31                                
061151,000070: 17,2151           00006                           EXTEND                                         
061152,000071: 17,2152           12200                           BZF      +XORULGE                              

Page 1433

061154,000073: 17,2153           34744                           CA       BIT8                                  
061155,000074: 17,2154           00006                           EXTEND                                         
061156,000075: 17,2155           02031                           RAND     CHAN31                                
061157,000076: 17,2156           00006                           EXTEND                                         
061158,000077: 17,2157           12201                           BZF      -XTRANS                               
061159,000078: 
061160,000079: 17,2160           34746                           CA       ULLAGER                               
061161,000080: 17,2161           70111                           MASK     DAPBOOLS                              
061162,000081: 17,2162           10000                           CCS      A                                     
061163,000082: 17,2163           12200                           TCF      +XORULGE                              
061164,000083: 
061165,000084: 17,2164           55473                           TS       NEXTU                                 #  STORE NULL TRANSLATION POLICIES
061166,000085: 17,2165           55474                           TS       NEXTV                                 
061167,000086: 17,2166           40111                           CS       DAPBOOLS                              #  BURNING OR DRIFTING?
061168,000087: 17,2167           74744                           MASK     DRIFTBIT                              
061169,000088: 17,2170           00006                           EXTEND                                         
061170,000089: 17,2171           12176                           BZF      TSENSE                                
061171,000090: 17,2172           30106                           CA       FLGWRD10                              #  DPS (INCLUDING DOCKED) OR APS?
061172,000091: 17,2173           74737                           MASK     APSFLBIT                              
061173,000092: 17,2174           10000                           CCS      A                                     
061174,000093: 17,2175           34752                           CAF      TWO                                   #  FAVOR +X JETS DURING AN APS BURN.
061175,000094: 17,2176           55500        TSENSE             TS       SENSETYP                              
061176,000095: 17,2177           12232                           TCF      QRCONTRL                              
061177,000096: 
061178,000097: 17,2200           34753        +XORULGE           CAF      ONE                                   
061179,000098: 17,2201           64751        -XTRANS            AD       FOUR                                  
061180,000099: 17,2202           55744                           TS       ROTINDEX                              
061181,000100: 17,2203           67750                           AD       NEG3                                  
061182,000101: 17,2204           55500                           TS       SENSETYP                              #  FAVOR APPROPRIATE JETS DURING TRANS.
061183,000102: 17,2205           30111                           CA       DAPBOOLS                              
061184,000103: 17,2206           74741                           MASK     ACC4OR2X                              
061185,000104: 17,2207           10000                           CCS      A                                     
061186,000105: 17,2210           12352                           TCF      TRANS4                                
061187,000106: 
061188,000107: 17,2211           30111                           CA       DAPBOOLS                              
061189,000108: 17,2212           74742                           MASK     AORBTRAN                              
061190,000109: 17,2213           10000                           CCS      A                                     
061191,000110: 17,2214           34753                           CA       ONE                                   #  THREE FOR B
061192,000111: 17,2215           64752                           AD       TWO                                   #  TWO FOR A SYSTEM 2 JET X TRANS
061193,000112: 17,2216           55743        TSNUMBRT           TS       NUMBERT                               
061194,000113: 
061195,000114: 17,2217           03225                           TC       SELCTSUB                              
061196,000115: 
061197,000116: 17,2220           11741                           CCS      POLYTEMP                              
061198,000117: 17,2221           12224                           TCF      +3                                    
061199,000118: 17,2222           05567                           TC       ALARM                                 
061200,000119: 17,2223           02002                           OCT      02002                                 
061201,000120: 17,2224           35764                           CA       00314OCT                              
061202,000121: 17,2225           71741                           MASK     POLYTEMP                              
061203,000122: 17,2226           55473        TSNEXTS            TS       NEXTU                                 

Page 1434

061205,000124: 17,2227           45764                           CS       00314OCT                              
061206,000125: 17,2230           71741                           MASK     POLYTEMP                              
061207,000126: 17,2231           55474                           TS       NEXTV                                 
061208,000127: 
061209,000128:                                                                                                  #  Q,R-AXES RCS CONTROL MODE SELECTION
061210,000129: 
061211,000130:                                                                                                  #    SWITCHES                INDICATION WHEN SET
061212,000131: 
061213,000132:                                                                                                  #    BIT13/CHAN31            AUTO, GO TO ATTSTEER
061214,000133:                                                                                                  #    PULSES                  MINIMUM IMPULSE MODE
061215,000134:                                                                                                  #    (OTHERWISE)             RATE COMMAND/ATTITUDE HOLD MODE
061216,000135: 
061217,000136: 17,2232           34737        QRCONTRL           CA       BIT13                                 #  CHECK MODE SELECT SWITCH.
061218,000137: 17,2233           00006                           EXTEND                                         
061219,000138: 17,2234           02031                           RAND     CHAN31                                #  BITS INVERTED
061220,000139: 17,2235           10000                           CCS      A                                     
061221,000140: 17,2236           12710                           TCF      ATTSTEER                              
061222,000141: 17,2237           34735        CHKBIT10           CAF      PULSES                                #  PULSES = 1 FOR MIN IMP USE OF RHC
061223,000142: 17,2240           70111                           MASK     DAPBOOLS                              
061224,000143: 17,2241           00006                           EXTEND                                         
061225,000144: 17,2242           12354                           BZF      CHEKSTIK                              #  IN ATT-HOLD/RATE-COMMAND IF BIT10=0
061226,000145: 
061227,000146:                                                                                                  #  MINIMUM IMPULSE MODE
061228,000147: 
061229,000148: 17,2243           00004                           INHINT                                         
061230,000149: 17,2244           04674                           TC       IBNKCALL                              
061231,000150: 17,2245           40154                           CADR     ZATTEROR                              
061232,000151: 17,2246           34755                           CA       ZERO                                  
061233,000152: 17,2247           55450                           TS       QERROR                                
061234,000153: 17,2250           55452                           TS       RERROR                                #  FOR DISPLAYS
061235,000154: 17,2251           00003                           RELINT                                         
061236,000155: 
061237,000156: 17,2252           00006                           EXTEND                                         
061238,000157: 17,2253           00031                           READ     CHAN31                                
061239,000158: 17,2254           55737                           TS       TEMP31                                #  IS EQUAL TO DAPTEMP1
061240,000159: 17,2255           11461                           CCS      OLDQRMIN                              
061241,000160: 17,2256           12300                           TCF      CHECKIN                               
061242,000161: 
061243,000162: 17,2257           31737        FIREQR             CA       TEMP31                                
061244,000163: 17,2260           74753                           MASK     BIT1                                  
061245,000164: 17,2261           00006                           EXTEND                                         
061246,000165: 17,2262           12304                           BZF      +QMIN                                 
061247,000166: 
061248,000167: 17,2263           31737                           CA       TEMP31                                
061249,000168: 17,2264           74752                           MASK     BIT2                                  
061250,000169: 17,2265           00006                           EXTEND                                         
061251,000170: 17,2266           12310                           BZF      -QMIN                                 
061252,000171: 
061253,000172: 17,2267           31737                           CA       TEMP31                                
061254,000173: 17,2270           74747                           MASK     BIT5                                  

Page 1435

061256,000175: 17,2271           00006                           EXTEND                                         
061257,000176: 17,2272           12314                           BZF      +RMIN                                 
061258,000177: 
061259,000178: 17,2273           31737                           CA       TEMP31                                
061260,000179: 17,2274           74746                           MASK     BIT6                                  
061261,000180: 17,2275           00006                           EXTEND                                         
061262,000181: 17,2276           12316                           BZF      -RMIN                                 
061263,000182: 
061264,000183: 17,2277           13112                           TCF      XTRANS                                
061265,000184: 
061266,000185: 17,2300           41737        CHECKIN            CS       TEMP31                                
061267,000186: 17,2301           72351                           MASK     OCT63                                 
061268,000187: 17,2302           55461                           TS       OLDQRMIN                              
061269,000188: 17,2303           13112                           TCF      XTRANS                                
061270,000189: 
061271,000190: 17,2304           33136        +QMIN              CA       14MS                                  
061272,000191: 17,2305           55525                           TS       TJU                                   
061273,000192: 17,2306           43136                           CS       14MS                                  
061274,000193: 17,2307           12320                           TCF      MINQR                                 
061275,000194: 17,2310           43136        -QMIN              CS       14MS                                  
061276,000195: 17,2311           55525                           TS       TJU                                   
061277,000196: 17,2312           33136                           CA       14MS                                  
061278,000197: 17,2313           12320                           TCF      MINQR                                 
061279,000198: 17,2314           33136        +RMIN              CA       14MS                                  
061280,000199: 17,2315           12317                           TCF      +2                                    
061281,000200: 17,2316           43136        -RMIN              CS       14MS                                  
061282,000201: 17,2317           55525                           TS       TJU                                   
061283,000202: 17,2320           55526        MINQR              TS       TJV                                   
061284,000203: 17,2321           32350                           CA       MINADR                                
061285,000204: 17,2322           55477                           TS       RETJADR                               
061286,000205: 17,2323           34753                           CA       ONE                                   
061287,000206: 17,2324           55461                           TS       OLDQRMIN                              
061288,000207: 17,2325           55505        MINRTN             TS       AXISCTR                               
061289,000208: 17,2326           30111                           CA       DAPBOOLS                              
061290,000209: 17,2327           74737                           MASK     CSMDOCKD                              
061291,000210: 17,2330           00006                           EXTEND                                         
061292,000211: 17,2331           12341                           BZF      MIMRET                                
061293,000212: 17,2332           51505                           INDEX    AXISCTR                               #  IF DOCKED,USE 60MS MINIMUM IMPULSE
061294,000213: 17,2333           11525                           CCS      TJU                                   
061295,000214: 17,2334           34776                           CA       60MS                                  
061296,000215: 17,2335           12337                           TCF      +2                                    
061297,000216: 17,2336           44776                           CS       60MS                                  
061298,000217: 17,2337           51505                           INDEX    AXISCTR                               
061299,000218: 17,2340           55525                           TS       TJU                                   
061300,000219: 17,2341           30111        MIMRET             CA       DAPBOOLS                              
061301,000220: 17,2342           74742                           MASK     AORBTRAN                              
061302,000221: 17,2343           10000                           CCS      A                                     
061303,000222: 17,2344           34753                           CA       ONE                                   
061304,000223: 17,2345           64752                           AD       TWO                                   
061305,000224: 17,2346           55743                           TS       NUMBERT                               

Page 1436

061307,000226: 17,2347           12756                           TCF      AFTERTJ                               
061308,000227: 
061309,000228: 17,2350     4776               60MS               =        OCT140                                
061310,000229: 17,2350           02325        MINADR             GENADR   MINRTN                                
061311,000230: 17,2351           00063        OCT63              OCT      63                                    
061312,000231: 17,2352  17,3136               14MS               =        +TJMINT6                              
061313,000232: 
061314,000233: 17,2352           34751        TRANS4             CA       FOUR                                  
061315,000234: 17,2353           12216                           TCF      TSNUMBRT                              
061316,000235: 
061317,000236:                                                                                                  #  RATE COMMAND MODE:
061318,000237: 
061319,000238:                                                                                                  #  DESCRIPTION (SAME AS P-AXIS)
061320,000239: 
061321,000240: 17,2354           55633        CHEKSTIK           TS       INGTS                                 #  NOT IN GTS WHEN IN ATT HOLD
061322,000241: 17,2355           44753                           CS       ONE                                   #  1/ACCS WILL DO THE NULLING DRIVES
061323,000242: 17,2356           55631                           TS       COTROLER                              #  COME BACK TO RCS NEXT TIME
061324,000243: 17,2357           34735                           CA       BIT15                                 
061325,000244: 17,2360           71443                           MASK     CH31TEMP                              
061326,000245: 17,2361           00006                           EXTEND                                         
061327,000246: 17,2362           12377                           BZF      RHCACTIV                              #  BRANCH IF OUT OF DETENT.
061328,000247: 17,2363           34740                           CA       OURRCBIT                              #  ***********
061329,000248: 17,2364           70111                           MASK     DAPBOOLS                              #  *IN DETENT*   CHECK FOR MANUAL CONTROL
061330,000249: 17,2365           00006                           EXTEND                                         #  ***********   LAST TIME.
061331,000250: 17,2366           12710                           BZF      STILLRCS                              
061332,000251: 17,2367           44743                           CS       BIT9                                  
061333,000252: 17,2370           71262                           MASK     RCSFLAGS                              
061334,000253: 17,2371           55262                           TS       RCSFLAGS                              #  BIT 9 IS 0.
061335,000254: 17,2372           12374                           TCF      DAMPING                               
061336,000255: 17,2373     4771               40CYCL             =        OCT50                                 
061337,000256: 17,2373     4753               1/10S              =        BIT1                                  
061338,000257: 17,2373           00056        LINRAT             DEC      46         B-14                       
061339,000258: 
061340,000259:                                                                                                  #  ================================
061341,000260: 
061342,000261: 17,2374           34755        DAMPING            CA       ZERO                                  
061343,000262: 17,2375           55462                           TS       SAVEHAND                              
061344,000263: 17,2376           55463                           TS       SAVEHAND   +1                         
061345,000264: 17,2377           11462        RHCACTIV           CCS      SAVEHAND                              #  *******************
061346,000265: 17,2400           12403                           TCF      +3                                    #  Q,R MANUAL CONTROL    WC = A*(B+|D|)*D
061347,000266: 17,2401           12403                           TCF      +2                                    #  *******************
061348,000267: 17,2402           12403                           TCF      +1                                    
061349,000268: 17,2403           60000                           DOUBLE                                         #  WHERE
061350,000269: 17,2404           60000                           DOUBLE                                         
061351,000270: 17,2405           62373                           AD       LINRAT                                #        WC  = COMMANDED ROTATIONAL RATE
061352,000271: 17,2406           00006                           EXTEND                                         #        A   = QUADRATIC SENSITIVITY FACTOR
061353,000272: 17,2407           71462                           MP       SAVEHAND                              #        B   = LINEAR/QUADRATIC SENSITIVITY
061354,000273: 17,2410           30001                           CA       L                                     #        |D| = ABS. VALUE OF DEFLECTION
061355,000274: 17,2411           00006                           EXTEND                                         #        D   = HAND CONTROLLER DEFLECTION
061356,000275: 17,2412           71444                           MP       STIKSENS                              
061357,000276: 17,2413           57455                           XCH      QLAST                                 #  COMMAND Q RATE     SCALED 45 DEG/SEC
061358,000277: 17,2414           40000                           COM                                            

Page 1437

061360,000279: 17,2415           61455                           AD       QLAST                                 
061361,000280: 17,2416           55741                           TS       DAPTEMP3                              
061362,000281: 17,2417           11463                           CCS      SAVEHAND   +1                         
061363,000282: 17,2420           12423                           TCF      +3                                    
061364,000283: 17,2421           12423                           TCF      +2                                    
061365,000284: 17,2422           12423                           TCF      +1                                    
061366,000285: 17,2423           60000                           DOUBLE                                         
061367,000286: 17,2424           60000                           DOUBLE                                         
061368,000287: 17,2425           62373                           AD       LINRAT                                
061369,000288: 17,2426           00006                           EXTEND                                         
061370,000289: 17,2427           71463                           MP       SAVEHAND   +1                         
061371,000290: 17,2430           30001                           CA       L                                     
061372,000291: 17,2431           00006                           EXTEND                                         
061373,000292: 17,2432           71444                           MP       STIKSENS                              
061374,000293: 17,2433           57456                           XCH      RLAST                                 
061375,000294: 17,2434           40000                           COM                                            
061376,000295: 17,2435           61456                           AD       RLAST                                 
061377,000296: 17,2436           55742                           TS       DAPTEMP4                              
061378,000297: 17,2437           41455                           CS       QLAST                                 #  INTERVAL.
061379,000298: 17,2440           61422                           AD       OMEGAQ                                
061380,000299: 17,2441           55436                           TS       QRATEDIF                              
061381,000300: 17,2442           41456                           CS       RLAST                                 
061382,000301: 17,2443           61423                           AD       OMEGAR                                
061383,000302: 17,2444           55437                           TS       RRATEDIF                              
061384,000303: 17,2445           53437        ENTERQR            DXCH     QRATEDIF                              #  TRANSFORM RATES FROM Q,R TO U,V AXES
061385,000304: 17,2446           03200                           TC       ROT-TOUV                              
061386,000305: 17,2447           53427                           DXCH     URATEDIF                              
061387,000306: 17,2450           11741                           CCS      DAPTEMP3                              #  CHECK IF Q COMMAND CHANGE EXCEEDS
061388,000307: 17,2451           02454                           TC       +3                                    #  BREAKOUT LEVEL.  IF NOT, CHECK R.
061389,000308: 17,2452           02454                           TC       +2                                    
061390,000309: 17,2453           02454                           TC       +1                                    
061391,000310: 17,2454           61476                           AD       -RATEDB                               
061392,000311: 17,2455           00006                           EXTEND                                         
061393,000312: 17,2456           62460                           BZMF     +2                                    
061394,000313: 17,2457           12476                           TCF      ENTERUV    -2                         #  BREAKOUT LEVEL EXCEEDED.  DIRECT RATE.
061395,000314: 17,2460           11742                           CCS      DAPTEMP4                              #  R COMMAND BREAKOUT CHECK.
061396,000315: 17,2461           02464                           TC       +3                                    
061397,000316: 17,2462           02464                           TC       +2                                    
061398,000317: 17,2463           02464                           TC       +1                                    
061399,000318: 17,2464           61476                           AD       -RATEDB                               
061400,000319: 17,2465           00006                           EXTEND                                         
061401,000320: 17,2466           62470                           BZMF     +2                                    
061402,000321: 17,2467           12476                           TCF      ENTERUV    -2                         #  BREAKOUT LEVEL EXCEEDED.  DIRECT RATE.
061403,000322: 17,2470           31262                           CA       RCSFLAGS                              #  BREAKOUT LEVEL NOT EXCEEDED.  CHECK FOR
061404,000323: 17,2471           74741                           MASK     QRBIT                                 #  DIRECT RATE CONTROL LAST TIME.
061405,000324: 17,2472           00006                           EXTEND                                         
061406,000325: 17,2473           12475                           BZF      +2                                    
061407,000326: 17,2474           12500                           TCF      ENTERUV                               #  CONTINUE DIRECT RATE CONTROL.
061408,000327: 17,2475           12710                           TCF      STILLRCS                              #  PSEUDO-AUTO CONTROL.
061409,000328: 17,2476           34771                           CA       40CYCL                                

Page 1438

061411,000330: 17,2477           55457                           TS       TCQR                                  
061412,000331: 17,2500           00004        ENTERUV            INHINT                                         #  DIRECT RATE CONTROL.
061413,000332: 17,2501           04674                           TC       IBNKCALL                              
061414,000333: 17,2502           40154                           FCADR    ZATTEROR                              
061415,000334: 17,2503           00003                           RELINT                                         
061416,000335: 17,2504           34755                           CA       ZERO                                  
061417,000336: 17,2505           55450                           TS       DYERROR                               
061418,000337: 17,2506           55451                           TS       DYERROR    +1                         
061419,000338: 17,2507           55452                           TS       DZERROR                               
061420,000339: 17,2510           55453                           TS       DZERROR    +1                         
061421,000340: 17,2511           11426                           CCS      URATEDIF                              
061422,000341: 17,2512           12515                           TCF      +3                                    
061423,000342: 17,2513           12515                           TCF      +2                                    
061424,000343: 17,2514           12515                           TCF      +1                                    
061425,000344: 17,2515           61476                           AD       TARGETDB                              #  IF TARGET DB IS EXCEEDED, CONTINUE
061426,000345: 17,2516           00006                           EXTEND                                         #  DIRECT RATE CONTROL.
061427,000346: 17,2517           62533                           BZMF     VDB                                   
061428,000347: 17,2520           11427                           CCS      VRATEDIF                              
061429,000348: 17,2521           12524                           TCF      +3                                    
061430,000349: 17,2522           12524                           TCF      +2                                    
061431,000350: 17,2523           12524                           TCF      +1                                    
061432,000351: 17,2524           61476                           AD       TARGETDB                              
061433,000352: 17,2525           00006                           EXTEND                                         
061434,000353: 17,2526           62530                           BZMF     +2                                    
061435,000354: 17,2527           12544                           TCF      QRTIME                                
061436,000355: 17,2530           34755                           CA       ZERO                                  
061437,000356: 17,2531           55427                           TS       VRATEDIF                              
061438,000357: 17,2532           12544                           TCF      QRTIME                                
061439,000358: 17,2533           11427        VDB                CCS      VRATEDIF                              
061440,000359: 17,2534           02537                           TC       +3                                    
061441,000360: 17,2535           02537                           TC       +2                                    
061442,000361: 17,2536           02537                           TC       +1                                    
061443,000362: 17,2537           61476                           AD       TARGETDB                              #  IF TARGET DB IS EXCEEDED, CONTINUE
061444,000363: 17,2540           00006                           EXTEND                                         #  DIRECT RATE CONTROL.  IF NOT, FIRE AND
061445,000364: 17,2541           62553                           BZMF     TOPSEUDO                              #  SWITCH TO PSEUDO-AUTO CONTROL ON NEXT
061446,000365: 17,2542           34755                           CA       ZERO                                  #  PASS.
061447,000366: 17,2543           55426                           TS       URATEDIF                              
061448,000367: 17,2544           31457        QRTIME             CA       TCQR                                  #  DIRECT RATE TIME CHECK.
061449,000368: 17,2545           00006                           EXTEND                                         
061450,000369: 17,2546           62553                           BZMF     +5                                    #  BRANCH IF TIME EXCEEDS 4 SEC.
061451,000370: 17,2547           41262                           CS       RCSFLAGS                              
061452,000371: 17,2550           74741                           MASK     QRBIT                                 
061453,000372: 17,2551           27262                           ADS      RCSFLAGS                              #  BIT 11 IS 1.
061454,000373: 17,2552           02556                           TC       +4                                    
061455,000374: 17,2553           44741        TOPSEUDO           CS       QRBIT                                 
061456,000375: 17,2554           71262                           MASK     RCSFLAGS                              
061457,000376: 17,2555           55262                           TS       RCSFLAGS                              #  BIT 11 IS 0.
061458,000377: 17,2556           32622                           CA       HANDADR                               
061459,000378: 17,2557           55477                           TS       RETJADR                               
061460,000379: 17,2560           34753                           CA       ONE                                   
061461,000380: 

Page 1439

061463,000382: 17,2561           55505        BACKHAND           TS       AXISCTR                               
061464,000383: 
061465,000384: 17,2562           34751                           CA       FOUR                                  
061466,000385: 17,2563           55743                           TS       NUMBERT                               
061467,000386: 
061468,000387: 17,2564           51505                           INDEX    AXISCTR                               
061469,000388: 17,2565           51535                           INDEX    SKIPU                                 
061470,000389: 17,2566           12567                           TCF      +1                                    
061471,000390: 17,2567           34751                           CA       FOUR                                  
061472,000391: 17,2570           51505                           INDEX    AXISCTR                               
061473,000392: 17,2571           55535                           TS       SKIPU                                 
061474,000393: 17,2572           13034                           TCF      LOOPER                                
061475,000394: 
061476,000395: 17,2573           51505                           INDEX    AXISCTR                               
061477,000396: 17,2574           11426                           CCS      URATEDIF                              #        INDEX   AXIS    QUANITY
061478,000397: 17,2575           34755                           CA       ZERO                                  #        0       -U      1/JETACC-AOSU
061479,000398: 17,2576           12600                           TCF      +2                                    #        1       +U      1/JETACC+AOSU
061480,000399: 17,2577           34753                           CA       ONE                                   #        16      -V      1/JETACC-AOSV
061481,000400: 17,2600           51505                           INDEX    AXISCTR                               #        17      +V      1/JETACC+AOSV
061482,000401: 17,2601           63755                           AD       AXISDIFF                              #  JETACC = 2 JET ACCELERATION (1 FOR FAIL)
061483,000402: 
061484,000403: 17,2602           50000                           INDEX    A                                     
061485,000404: 17,2603           41571                           CS       1/ANET2    +1                         
061486,000405: 17,2604           00006                           EXTEND                                         
061487,000406: 17,2605           51505                           INDEX    AXISCTR                               #  URATEDIF IS SCALED AT PI/4 RAD/SEC
061488,000407: 17,2606           71426                           MP       URATEDIF                              #  JET TIME IN A       SCALED 32 SEC
061489,000408: 17,2607           54002                           TS       Q                                     
061490,000409: 17,2610           20001                           DAS      A                                     
061491,000410: 17,2611           60002                           AD       Q                                     
061492,000411: 17,2612           54000                           TS       A                                     #  OVERFLOW SKIP
061493,000412: 17,2613           12615                           TCF      +2                                    
061494,000413: 17,2614           30002                           CA       Q                                     #  RIGHT SIGN AND BIGGER THAN 150MS
061495,000414: 17,2615           51505        SETTIME            INDEX    AXISCTR                               
061496,000415: 17,2616           55525                           TS       TJU                                   #  SCALED AT 10.67 WHICH IS CLOSE TO 10.24
061497,000416: 17,2617           12756                           TCF      AFTERTJ                               
061498,000417: 
061499,000418: 17,2620           34755        ZEROTJ             CA       ZERO                                  
061500,000419: 17,2621           12615                           TCF      SETTIME                               
061501,000420: 
061502,000421: 17,2622           02561        HANDADR            GENADR   BACKHAND                              
061503,000422: 
061504,000423:                                                                                                  #  GTS WILL BE TRIED IF
061505,000424:                                                                                                  #        1. USEQRJTS = 0,
061506,000425:                                                                                                  #        2. ALLOWGTS POS,
061507,000426:                                                                                                  #        3. JETS ARE OFF (Q,R-AXES)
061508,000427: 
061509,000428: 17,2623           34736        TRYGTS             CAF      USEQRJTS                              #  IS JET USE MANDATORY.         (AS LONG AS
061510,000429: 17,2624           70111                           MASK     DAPBOOLS                              #  USEQRJTS BIT IS NOT BIT 15, CCS IS SAFE)
061511,000430: 17,2625           10000                           CCS      A                                     
061512,000431: 17,2626           12141                           TCF      RCS                                   
061513,000432: 17,2627           11502                           CCS      ALLOWGTS                              #  NO.  DOES AOSTASK OK CONTROL FOR GTS?

Page 1440

061515,000434: 17,2630           12632                           TCF      +2                                    
061516,000435: 17,2631           12141                           TCF      RCS                                   
061517,000436: 17,2632           00006                           EXTEND                                         
061518,000437: 17,2633           00005                           READ     CHAN5                                 
061519,000438: 17,2634           10000                           CCS      A                                     
061520,000439: 17,2635           12641                           TCF      CHKINGTS                              
061521,000440: 17,2636           00006        GOTOGTS            EXTEND                                         
061522,000441: 17,2637           32654                           DCA      GTSCADR                               
061523,000442: 17,2640           52006                           DTCB                                           
061524,000443: 
061525,000444: 17,2641           11633        CHKINGTS           CCS      INGTS                                 #  WAS THE TRIM GIMBAL CONTROLLING
061526,000445: 17,2642           12644                           TCF      +2                                    #        YES.  SET UP A DAMPED NULLING DRIVE.
061527,000446: 17,2643           12141                           TCF      RCS                                   #        NO.  NULLING WAS SET UP BEFORE.  DO RCS
061528,000447: 17,2644           00004                           INHINT                                         
061529,000448: 17,2645           04674                           TC       IBNKCALL                              
061530,000449: 17,2646           43321                           CADR     TIMEGMBL                              
061531,000450: 17,2647           00003                           RELINT                                         
061532,000451: 17,2650           34755                           CAF      ZERO                                  
061533,000452: 17,2651           55633                           TS       INGTS                                 
061534,000453: 17,2652           12141                           TCF      RCS                                   
061535,000454: 
061536,000455: 17,2653  E6,1635                                  EBANK=   CDUXD                                 
061537,000456: 17,2653           03070 42106  GTSCADR            2CADR    GTS                                   
061538,000457: 

Page 1441

061540,000459:                                                                                                  #  SUBROUTINE TO COMPUTE Q,R-AXES ATTITUDE ERRORS FOR USE IN THE RCS AND GTS CONTROL LAWS AND THE DISPLAYS.
061541,000460: 
061542,000461: 17,2655           30033        QERRCALC           CAE      CDUY                                  #  Q-ERROR CALCULATION
061543,000462: 17,2656           00006                           EXTEND                                         
061544,000463: 17,2657           21636                           MSU      CDUYD                                 #  CDU ANGLE - ANGLE DESIRED (Y-AXIS)
061545,000464: 17,2660           55737                           TS       DAPTEMP1                              #  SAVE FOR RERRCALC
061546,000465: 17,2661           00006                           EXTEND                                         
061547,000466: 17,2662           71415                           MP       M21                                   #  (CDUY-CDUYD)*M21 SCALED AT PI RADIANS
061548,000467: 17,2663           55752                           TS       E                                     
061549,000468: 17,2664           30034                           CAE      CDUZ                                  #  SECOND TERM CALCULATION:
061550,000469: 17,2665           00006                           EXTEND                                         
061551,000470: 17,2666           21637                           MSU      CDUZD                                 #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
061552,000471: 17,2667           55740                           TS       DAPTEMP2                              #  SAVE FOR RERRCALC
061553,000472: 17,2670           00006                           EXTEND                                         
061554,000473: 17,2671           71417                           MP       M22                                   #  (CDUZ-CDUZD)*M22 SCALED AT PI RADIANS
061555,000474: 17,2672           61275                           AD       DELQEROR                              #  KALCMANU INERFACE ERROR
061556,000475: 17,2673           61752                           AD       E                                     
061557,000476: 17,2674           57450                           XCH      QERROR                                #  SAVE Q-ERROR FOR EIGHT-BALL DISPLAY.
061558,000477: 
061559,000478: 17,2675           31737        RERRCALC           CAE      DAPTEMP1                              #  R-ERROR CALCULATION:
061560,000479: 17,2676           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Y-AXIS)
061561,000480: 17,2677           71416                           MP       M31                                   #  (CDUY-CDUYD)*M31 SCALED AT PI RADIANS
061562,000481: 17,2700           55752                           TS       E                                     
061563,000482: 17,2701           31740                           CAE      DAPTEMP2                              #  SECOND TERM CALCULATION:
061564,000483: 17,2702           00006                           EXTEND                                         #  CDU ANGLE -ANGLE DESIRED (Z-AXIS)
061565,000484: 17,2703           71420                           MP       M32                                   #  (CDUZ-CDUZD)*M32 SCALED AT PI RADIANS
061566,000485: 17,2704           61276                           AD       DELREROR                              #  KALCMANU INERFACE ERROR
061567,000486: 17,2705           61752                           AD       E                                     
061568,000487: 17,2706           57452                           XCH      RERROR                                #  SAVE R-ERROR FOR EIGHT-BALL DISPLAY.
061569,000488: 17,2707           00002                           TC       Q                                     
061570,000489: 

Page 1442

061572,000491:                                                                                                  #  "ATTSTEER" IS THE ENTRY POINT FOR Q,R-AXES (U,V-AXES) ATTITUDE CONTROL USING THE REACTION CONTROL SYSTEM
061573,000492: 
061574,000493: 17,2710  17,2710               ATTSTEER           EQUALS   STILLRCS                              #  "STILLRCS" IS THE RCS EXIT FROM TRYGTS.
061575,000494: 
061576,000495: 17,2710           31452        STILLRCS           CA       RERROR                                
061577,000496: 17,2711           22000                           LXCH     A                                     
061578,000497: 17,2712           31450                           CA       QERROR                                
061579,000498: 17,2713           03200                           TC       ROT-TOUV                              
061580,000499: 17,2714           53752                           DXCH     UERROR                                
061581,000500: 
061582,000501:                                                                                                  #  PREPARES CALL TO TJETLAW (OR SPSRCS(DOCKED))
061583,000502:                                                                                                  #  PREFORMS SKIP LOGIC ON U OR Y AXIS IF NEEDED.
061584,000503: 
061585,000504: 17,2715           33142        TJLAW              CA       TJLAWADR                              
061586,000505: 17,2716           55477                           TS       RETJADR                               
061587,000506: 17,2717           34753                           CA       ONE                                   
061588,000507: 17,2720           55505                           TS       AXISCTR                               
061589,000508: 17,2721           51505                           INDEX    AXISCTR                               
061590,000509: 17,2722           51535                           INDEX    SKIPU                                 
061591,000510: 17,2723           12724                           TCF      +1                                    
061592,000511: 17,2724           34751                           CA       FOUR                                  
061593,000512: 17,2725           51505                           INDEX    AXISCTR                               
061594,000513: 17,2726           55535                           TS       SKIPU                                 
061595,000514: 17,2727           13034                           TCF      LOOPER                                
061596,000515: 17,2730           51505                           INDEX    AXISCTR                               
061597,000516: 17,2731           31751                           CA       UERROR                                
061598,000517: 17,2732           55752                           TS       E                                     
061599,000518: 17,2733           51505                           INDEX    AXISCTR                               
061600,000519: 17,2734           31426                           CA       OMEGAU                                
061601,000520: 17,2735           55427                           TS       EDOT                                  
061602,000521: 17,2736           30111                           CA       DAPBOOLS                              
061603,000522: 17,2737           74737                           MASK     CSMDOCKD                              
061604,000523: 17,2740           10000                           CCS      A                                     
061605,000524: 17,2741           12744                           TCF      +3                                    
061606,000525: 17,2742           03304                           TC       TJETLAW                               
061607,000526: 17,2743           12756                           TCF      AFTERTJ                               
061608,000527: 17,2744           40111                 +3        CS       DAPBOOLS                              #  DOCKED.  IF GIMBAL USABLE DO GTS CONTROL
061609,000528: 17,2745           74736                           MASK     USEQRJTS                              #    ON THE NEXT PASS.
061610,000529: 17,2746           10000                           CCS      A                                     #  USEQRJTS BIT MUST NOT BE BIT 15.
061611,000530: 17,2747           55631                           TS       COTROLER                              #  GIMBAL USABLE.  STORE POSITIVE VALUE.
061612,000531: 17,2750           00004                           INHINT                                         
061613,000532: 17,2751           04674                           TC       IBNKCALL                              
061614,000533: 17,2752           43730                           CADR     SPSRCS                                #  DETERMINE RCS CONTROL
061615,000534: 17,2753           00003                           RELINT                                         
061616,000535: 17,2754           34751                           CAF      FOUR                                  #  ALWAYS CALL FOR 2-JET CONTROL ABOUT U,V.
061617,000536: 17,2755           55743                           TS       NUMBERT                               #  FALL THROUGH TO JET SELECTION, ETC.
061618,000537: 
061619,000538:                                                                                                  #  Q,R-JET-SELECTION-LOGIC
061620,000539: 
061621,000540:                                                                                                  #  INPUT:        AXISCTR         0,1 FOR U,V
061622,000541:                                                                                                  #                SNUFFBIT        ZERO TJETU,V AND TRANS. ONLY IF SET IN A DPS BURN

Page 1443

061624,000543:                                                                                                  #                TJU,TJV         JET TIME SCALED 10.24 SEC.
061625,000544:                                                                                                  #                NUMBERT         INDICATES NUMBER OF JETS AND TYPE OF POLICY
061626,000545:                                                                                                  #                RETJADR         WHERE TO RETURN TO
061627,000546: 
061628,000547:                                                                                                  #  OUTPUT:       NO.U(V)JETS     RATE DERIVATION FEEDBACK
061629,000548:                                                                                                  #                CHANNEL 5
061630,000549:                                                                                                  #                SKIPU,SKIRV     FOR LESS THAN 150MS FIRING
061631,000550: 
061632,000551:                                                                                                  #  NOTES:        IN CASE OF FAILURE IN DESIRED ROTATION POLICY, "ALL" UNFAILED
061633,000552:                                                                                                  #                JETS OF THE DESIRED POLICY ARE SELECTED.  SINCE THERE ARE ONLY
061634,000553:                                                                                                  #                TWO JETS, THIS MEANS THE OTHER ONE OR NONE.  THE ALARM IS SENT
061635,000554:                                                                                                  #                IF NONE CAN BE FOUND.
061636,000555: 
061637,000556:                                                                                                  #                TIMES LESS THAN 14 MSEC ARE TAKEN TO CALL FOR A SINGLE-JET
061638,000557:                                                                                                  #                MINIMUM IMPULSE, WITH THE JET CHOSEN SEMI-RANDOMLY.
061639,000558: 
061640,000559: 17,2756           30101        AFTERTJ            CA       FLAGWRD5                              #  IF SNUFFBIT SET DURING A DPS BURN GO TO
061641,000560: 17,2757           74737                           MASK     SNUFFBIT                              #    XTRANS; THAT IS, INHIBIT CONTROL.
061642,000561: 17,2760           00006                           EXTEND                                         
061643,000562: 17,2761           12772                           BZF      DOROTAT                               
061644,000563: 17,2762           40106                           CS       FLGWRD10                              
061645,000564: 17,2763           74737                           MASK     APSFLBIT                              
061646,000565: 17,2764           00006                           EXTEND                                         
061647,000566: 17,2765           12772                           BZF      DOROTAT                               
061648,000567: 17,2766           30111                           CA       DAPBOOLS                              
061649,000568: 17,2767           74744                           MASK     DRIFTBIT                              
061650,000569: 17,2770           00006                           EXTEND                                         
061651,000570: 17,2771           13112                           BZF      XTRANS                                
061652,000571: 
061653,000572: 17,2772           34752        DOROTAT            CAF      TWO                                   
061654,000573: 17,2773           54001                           TS       L                                     
061655,000574: 17,2774           51505                           INDEX    AXISCTR                               
061656,000575: 17,2775           11525                           CCS      TJU                                   
061657,000576: 17,2776           13003                           TCF      +5                                    
061658,000577: 17,2777           13026                           TCF      NOROTAT                               
061659,000578: 17,3000           13002                           TCF      +2                                    
061660,000579: 17,3001           13026                           TCF      NOROTAT                               
061661,000580: 17,3002           22007                           ZL                                             
061662,000581: 17,3003           64753                           AD       ONE                                   
061663,000582: 17,3004           55737                           TS       ABSTJ                                 
061664,000583: 
061665,000584: 17,3005           31505                           CA       AXISCTR                               
061666,000585: 17,3006           60001                           AD       L                                     
061667,000586: 17,3007           55744                           TS       ROTINDEX                              #  0 1 2 3 = -U -V -+U +V
061668,000587: 
061669,000588: 17,3010           31737                           CA       ABSTJ                                 
061670,000589: 17,3011           63137                           AD       -150MS                                
061671,000590: 17,3012           00006                           EXTEND                                         
061672,000591: 17,3013           63037                           BZMF     DOSKIP                                

Page 1444

061674,000593: 17,3014           03225                           TC       SELCTSUB                              
061675,000594: 
061676,000595: 17,3015           51505                           INDEX    AXISCTR                               
061677,000596: 17,3016           33134                           CA       INDEXES                               
061678,000597: 17,3017           54001                           TS       L                                     
061679,000598: 
061680,000599: 17,3020           31741                           CA       POLYTEMP                              
061681,000600: 17,3021           00004                           INHINT                                         
061682,000601: 17,3022           50001                           INDEX    L                                     
061683,000602: 17,3023           05744                           TC       WRITEP                                
061684,000603: 
061685,000604: 17,3024           00003                           RELINT                                         
061686,000605: 17,3025           13100                           TCF      FEEDBACK                              
061687,000606: 
061688,000607: 17,3026           51505        NOROTAT            INDEX    AXISCTR                               
061689,000608: 17,3027           33134                           CA       INDEXES                               
061690,000609: 17,3030           00004                           INHINT                                         
061691,000610: 17,3031           50000                           INDEX    A                                     
061692,000611: 17,3032           05743                           TC       WRITEP     -1                         
061693,000612: 
061694,000613: 17,3033           00003                           RELINT                                         
061695,000614: 17,3034           11505        LOOPER             CCS      AXISCTR                               
061696,000615: 17,3035           01477                           TC       RETJADR                               
061697,000616: 17,3036           13270                           TCF      CLOSEOUT                              
061698,000617: 17,3037           41737        DOSKIP             CS       ABSTJ                                 
061699,000618: 17,3040           63136                           AD       +TJMINT6                              #  14MS
061700,000619: 17,3041           00006                           EXTEND                                         
061701,000620: 17,3042           63061                           BZMF     NOTMIN                                
061702,000621: 
061703,000622: 17,3043           27737                           ADS      ABSTJ                                 
061704,000623: 17,3044           51505                           INDEX    AXISCTR                               
061705,000624: 17,3045           11525                           CCS      TJU                                   
061706,000625: 17,3046           33136                           CA       +TJMINT6                              
061707,000626: 17,3047           13051                           TCF      +2                                    
061708,000627: 17,3050           43136                           CS       +TJMINT6                              
061709,000628: 17,3051           51505                           INDEX    AXISCTR                               
061710,000629: 17,3052           55525                           TS       TJU                                   
061711,000630: 
061712,000631: 17,3053           11500                           CCS      SENSETYP                              #  ENSURE MIN-IMPULSE NOT AGAINST TRANS
061713,000632: 17,3054           13060                           TCF      NOTMIN     -1                         
061714,000633: 17,3055           00006                           EXTEND                                         
061715,000634: 17,3056           00004                           READ     LOSCALAR                              
061716,000635: 17,3057           74753                           MASK     ONE                                   
061717,000636: 17,3060           55743                           TS       NUMBERT                               
061718,000637: 
061719,000638: 17,3061           03225        NOTMIN             TC       SELCTSUB                              
061720,000639: 
061721,000640: 17,3062           51505                           INDEX    AXISCTR                               
061722,000641: 17,3063           33134                           CA       INDEXES                               
061723,000642: 17,3064           00004                           INHINT                                         

Page 1445

061725,000644: 17,3065           55471                           TS       T6FURTHA   +1                         
061726,000645: 17,3066           31741                           CA       POLYTEMP                              
061727,000646: 17,3067           51471                           INDEX    T6FURTHA   +1                         
061728,000647: 17,3070           05744                           TC       WRITEP                                
061729,000648: 
061730,000649: 17,3071           31737                           CA       ABSTJ                                 
061731,000650: 17,3072           55470                           TS       T6FURTHA                              
061732,000651: 17,3073           03143                           TC       JTLST                                 #  IN QR BANK BY NOW
061733,000652: 
061734,000653: 17,3074           00003                           RELINT                                         
061735,000654: 
061736,000655: 17,3075           34755                           CA       ZERO                                  
061737,000656: 17,3076           51505                           INDEX    AXISCTR                               
061738,000657: 17,3077           55535                           TS       SKIPU                                 
061739,000658: 
061740,000659: 17,3100           46250        FEEDBACK           CS       THREE                                 
061741,000660: 17,3101           61743                           AD       NUMBERT                               
061742,000661: 17,3102           00006                           EXTEND                                         
061743,000662: 17,3103           63106                           BZMF     +3                                    
061744,000663: 
061745,000664: 17,3104           34752                           CA       TWO                                   
061746,000665: 17,3105           13107                           TCF      +2                                    
061747,000666: 17,3106           34753                           CA       ONE                                   
061748,000667: 17,3107           51505                           INDEX    AXISCTR                               
061749,000668: 17,3110           55522                           TS       NO.UJETS                              
061750,000669: 17,3111           13034                           TCF      LOOPER                                
061751,000670: 
061752,000671: 17,3112           34755        XTRANS             CA       ZERO                                  
061753,000672: 17,3113           55525                           TS       TJU                                   
061754,000673: 17,3114           55526                           TS       TJV                                   
061755,000674: 17,3115           34751                           CA       FOUR                                  
061756,000675: 17,3116           00004                           INHINT                                         
061757,000676: 17,3117           57535                           XCH      SKIPU                                 
061758,000677: 17,3120           00006                           EXTEND                                         
061759,000678: 17,3121           13123                           BZF      +2                                    
061760,000679: 17,3122           05747                           TC       WRITEU     -1                         
061761,000680: 17,3123           34751                           CA       FOUR                                  
061762,000681: 17,3124           57536                           XCH      SKIPV                                 
061763,000682: 17,3125           00003                           RELINT                                         
061764,000683: 
061765,000684: 17,3126           00006                           EXTEND                                         
061766,000685: 17,3127           13270                           BZF      CLOSEOUT                              
061767,000686: 17,3130           00004                           INHINT                                         
061768,000687: 17,3131           05760                           TC       WRITEV     -1                         
061769,000688: 17,3132           00003                           RELINT                                         
061770,000689: 
061771,000690: 17,3133           13270                           TCF      CLOSEOUT                              
061772,000691: 17,3134           00004        INDEXES            DEC      4          B-14                       
061773,000692: 17,3135           00015                           DEC      13         B-14                       
061774,000693: 17,3136           00026        +TJMINT6           DEC      22         B-14                       

Page 1446

061776,000695: 17,3137           77417        -150MS             DEC      -240       B-14                       
061777,000696: 17,3140           00600        BIT8,9             OCT      00600                                 
061778,000697: 17,3141           00266        SCLNORM            OCT      266                                   
061779,000698: 17,3142           02720        TJLAWADR           GENADR   TJLAW      +3                         #  RETURN ADDRESS FOR RCS ATTITUDE CONTROL
061780,000699: 
061781,000700:                                                                                                  #  THE JET LIST:
061782,000701:                                                                                                  #  THIS IS A WAITLIST FOR T6RUPTS.
061783,000702: 
061784,000703:                                                                                                  #  CALLED BY:
061785,000704:                                                                                                  #                CA      TJ              TIME WHEN NEXT JETS WILL BE WRITTEN
061786,000705:                                                                                                  #                TS      T6FURTHA
061787,000706:                                                                                                  #                CA      INDEX           AXIS TO BE WIRTTEN AT TJ (FROM NOW)
061788,000707:                                                                                                  #                TS      T6FURTHA +1
061789,000708:                                                                                                  #                TC      JTLST
061790,000709: 
061791,000710:                                                                                                  #  EXAMPLE - U-AXIS AUTOPILOT WILL WRITE ITS ROTATION CODE OF
061792,000711:                                                                                                  #  JETS INTO CHANNEL 5.  IF IT DESIRES TO TURN OFF THIS POLICY WITHIN
061793,000712:                                                                                                  #  150MS AND THEN FIRE NEXTU, A CALL TO JTLST IS MADE WITH T6FURTHA
061794,000713:                                                                                                  #  CONTAINING THE TIME TO TURN OFF THE POLICY, T6FURTHA +1 THE INDEX
061795,000714:                                                                                                  #  OF THE U-AXIS(4), AND NEXTU WILL CONTAIN THE "U-TRANS" POLICY OR ZERO.
061796,000715: 
061797,000716:                                                                                                  #  THE LIST IS EXACTLY 3 LONG.  (THIS LEADS TO SKIP LOGIC AND 150MS LIMIT)
061798,000717:                                                                                                  #  THE INPUT IS THE LAST MEMBER OF THE LIST
061799,000718: 
061800,000719:                                                                                                  #  RETURNS BY:
061801,000720:                                                                                                  #        +       TC      Q
061802,000721: 
061803,000722:                                                                                                  #  DEFINITIONS:  (OUTPUT)
061804,000723:                                                                                                  #        TIME6           TIME OF NEXT RUPT
061805,000724:                                                                                                  #        T6NEXT          DELTA TIME TO NEXT RUPT
061806,000725:                                                                                                  #        T6FURTHA        DELTA TIME FROM 2ND TO LAST RUPT
061807,000726:                                                                                                  #        NXT6ADR         AXIS INDEX       Q - P-AXIS
061808,000727:                                                                                                  #        T6NEXT +1       AXIS INDEX       4 - U-AXIS
061809,000728:                                                                                                  #        T6FURTHA +1     AXIS INDEX      13 - V-AXIS
061810,000729: 
061811,000730: 17,3143           41470        JTLST              CS       T6FURTHA                              
061812,000731: 17,3144           60031                           AD       TIME6                                 
061813,000732: 17,3145           00006                           EXTEND                                         
061814,000733: 17,3146           63163                           BZMF     MIDORLST                              #  TIME6 - T IS IN A
061815,000734: 
061816,000735: 17,3147           23465                           LXCH     NXT6ADR                               
061817,000736: 17,3150           53467                           DXCH     T6NEXT                                
061818,000737: 17,3151           53471                           DXCH     T6FURTHA                              
061819,000738: 17,3152           54031                           TS       TIME6                                 
061820,000739: 17,3153           23465                           LXCH     NXT6ADR                               
061821,000740: 
061822,000741: 17,3154           00006        TURNON             EXTEND                                         
061823,000742: 17,3155           23265                           QXCH     C13QSAV                               
061824,000743: 17,3156           06022                           TC       C13STALL                              
061825,000744: 
061826,000745: 17,3157           34735                           CA       BIT15                                 

Page 1447

061828,000747: 17,3160           00006                           EXTEND                                         
061829,000748: 17,3161           05013                           WOR      CHAN13                                
061830,000749: 17,3162           01265                           TC       C13QSAV                               
061831,000750: 
061832,000751: 
061833,000752: 17,3163           61466        MIDORLST           AD       T6NEXT                                
061834,000753: 17,3164           00006                           EXTEND                                         
061835,000754: 17,3165           63174                           BZMF     LASTCHG                               #  TIME6 + T6NEXT - T IS IN A
061836,000755: 
061837,000756: 17,3166           23467                           LXCH     T6NEXT     +1                         
061838,000757: 17,3167           53471                           DXCH     T6FURTHA                              
061839,000758: 17,3170           00006                           EXTEND                                         
061840,000759: 17,3171           60031                           SU       TIME6                                 
061841,000760: 17,3172           53467                           DXCH     T6NEXT                                
061842,000761: 
061843,000762: 17,3173           00002                           TC       Q                                     
061844,000763: 
061845,000764: 17,3174           40000        LASTCHG            CS       A                                     
061846,000765: 17,3175           64754                           AD       NEG0                                  
061847,000766: 17,3176           55470                           TS       T6FURTHA                              
061848,000767: 
061849,000768: 17,3177           00002                           TC       Q                                     
061850,000769: 
061851,000770:                                                                                                  #  ROT-TOUV IS ENTERED WITH THE Q-COMPONENT OF THE QUANTITY TO BE TRANSFORMED IN A AND THE R-COMPONENT IN L.
061852,000771:                                                                                                  #  ROT-TOUV TRANSFORMS THE QUANTITY INTO THE NON-ORTHOGONAL U-V AXIS SYSTEM.  IN THE U-V SYSTEM NO CROSS-COUPLING IS
061853,000772:                                                                                                  #  PRODUCED FROM RCS JET FIRINGS.  AT THE COMPLETION OF ROT-TOUV, THE U-COMPONENT OF THE TRANSFORMED QUANTITY IS IN
061854,000773:                                                                                                  #  A AND THE V-COMPONENT IS IN L.
061855,000774: 
061856,000775: 17,3200           23740        ROT-TOUV           LXCH     ROTEMP2                               #  (R) IS PUT INTO ROTEMP2
061857,000776: 17,3201           00006                           EXTEND                                         
061858,000777: 17,3202           71627                           MP       COEFFQ                                
061859,000778: 17,3203           57740                           XCH      ROTEMP2                               #  (R) GOES TO A AND COEFFQ.(Q) TO ROTEMP2
061860,000779: 17,3204           00006                           EXTEND                                         
061861,000780: 17,3205           71630                           MP       COEFFR                                
061862,000781: 17,3206           54001                           TS       L                                     #  COEFFR.(R) IS PUT INTO L
061863,000782: 17,3207           61740                           AD       ROTEMP2                               
061864,000783: 17,3210           55737                           TS       ROTEMP1                               #  COEFFQ.(Q)+COEFFR.(R) IS PUT IN ROTEMP1
061865,000784: 17,3211           13215                           TCF      +4                                    
061866,000785: 17,3212           50000                           INDEX    A                                     #  COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
061867,000786: 17,3213           44734                           CS       LIMITS                                #  AND IS LIMITED TO POSMAX OR NEGMAX
061868,000787: 17,3214           55737                           TS       ROTEMP1                               
061869,000788: 17,3215           41740                           CS       ROTEMP2                               
061870,000789: 17,3216           60001                           AD       L                                     #  -COEFFQ.(Q) + COEFFR.(R) IS NOW IN A
061871,000790: 17,3217           54007                           TS       7                                     
061872,000791: 17,3220           13223                           TCF      +3                                    
061873,000792: 17,3221           50000                           INDEX    A                                     #  -COEFFQ.(Q) + COEFFR.(R) HAS OVERFLOWED
061874,000793: 17,3222           44734                           CS       LIMITS                                #  AND IS LIMITED TO POSMAX OR NEGMAX
061875,000794: 17,3223           23737                           LXCH     ROTEMP1                               #  COEFFQ.(Q) + COEFFR.(R) IS PUT INTO L
061876,000795: 17,3224           00002                           TC       Q                                     
061877,000796: 17,3225           51744        SELCTSUB           INDEX    ROTINDEX                              

Page 1448

061879,000798: 17,3226           33257                           CA       ALLJETS                               
061880,000799: 17,3227           51743                           INDEX    NUMBERT                               
061881,000800: 17,3230           73263                           MASK     TYPEPOLY                              
061882,000801: 17,3231           55741                           TS       POLYTEMP                              
061883,000802: 
061884,000803: 17,3232           71257                           MASK     CH5MASK                               
061885,000804: 17,3233           10000                           CCS      A                                     
061886,000805: 17,3234           13236                           TCF      +2                                    
061887,000806: 
061888,000807: 17,3235           00002                           TC       Q                                     
061889,000808: 
061890,000809: 17,3236           36250                           CA       THREE                                 
061891,000810: 17,3237           55743        FAILOOP            TS       NUMBERT                               
061892,000811: 17,3240           51744                           INDEX    ROTINDEX                              
061893,000812: 17,3241           33257                           CA       ALLJETS                               
061894,000813: 17,3242           51743                           INDEX    NUMBERT                               
061895,000814: 17,3243           73263                           MASK     TYPEPOLY                              
061896,000815: 17,3244           55741                           TS       POLYTEMP                              
061897,000816: 17,3245           71257                           MASK     CH5MASK                               
061898,000817: 17,3246           00006                           EXTEND                                         
061899,000818: 17,3247           13235                           BZF      FAILOOP    -2                         
061900,000819: 17,3250           11743                           CCS      NUMBERT                               
061901,000820: 17,3251           13237                           TCF      FAILOOP                               
061902,000821: 17,3252           51505                           INDEX    AXISCTR                               
061903,000822: 17,3253           55525                           TS       TJU                                   
061904,000823: 17,3254           05567                           TC       ALARM                                 
061905,000824: 17,3255           02004                           OCT      02004                                 
061906,000825: 17,3256           13026                           TCF      NOROTAT                               
061907,000826: 17,3257           00110        ALLJETS            OCT      00110                                 #        -U      6 13
061908,000827: 17,3260           00022                           OCT      00022                                 #        -V      2 9
061909,000828: 17,3261           00204                           OCT      00204                                 #        +U      5 14
061910,000829: 
061911,000830: 17,3262           00041                           OCT      00041                                 #        +V      1 10
061912,000831: 17,3263           00125        TYPEPOLY           OCT      00125                                 #        -X      1 5 9 13
061913,000832: 17,3264           00252                           OCT      00252                                 #        +X      2 6 10 14
061914,000833: 17,3265           00146                           OCT      00146                                 #        A       2 5 10 13
061915,000834: 17,3266           00231                           OCT      00231                                 #        B       1 6 9 14
061916,000835: 17,3267           00377                           OCT      00377                                 #        ALL     1 2 5 6 9 10 13 14
061917,000836: 
061918,000837:                                                                                                  #  THE FOLLOWING SETS THE INTERRUPT FLIP-FLOP AS SOON AS POSSIBLE, WHICH PERMITS A RETURN TO THE INTERRUPTED JOB.
061919,000838: 
061920,000839: 17,3270           33272        CLOSEOUT           CA       ADRRUPT                               
061921,000840: 17,3271           07757                           TC       MAKERUPT                              
061922,000841: 
061923,000842: 17,3272           03273        ADRRUPT            ADRES    ENDJASK                               
061924,000843: 
061925,000844: 17,3273           53754        ENDJASK            DXCH     DAPARUPT                              
061926,000845: 17,3274           52011                           DXCH     ARUPT                                 
061927,000846: 17,3275           53756                           DXCH     DAPBQRPT                              
061928,000847: 17,3276           56017                           XCH      BRUPT                                 

Page 1449

061930,000849: 17,3277           22002                           LXCH     Q                                     
061931,000850: 17,3300           34735                           CAF      NEGMAX                                #  NEGATIVE DAPZRUPT SIGNALS JASK IS OVER.
061932,000851: 17,3301           53760                           DXCH     DAPZRUPT                              
061933,000852: 17,3302           52016                           DXCH     ZRUPT                                 
061934,000853: 17,3303           15272                           TCF      NOQRSM                                
061935,000854:    7757                                           BLOCK    3                                     
061936,000855:    6000                                           SETLOC   FFTAG6                                
061937,000856:    6000                                           BANK                                           
061938,000857: 
061939,000858:    7757                                           COUNT*   $$/DAP                                
061940,000859: 
061941,000860:    7757           00006        MAKERUPT           EXTEND                                         
061942,000861:    7760           07757                           EDRUPT   MAKERUPT                              
061943,000862: 

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