Source Code

This is a reconstructed version of Luminary 130, the initial AGC program released in November 1969 for the Apollo 13 LM. Three more releases followed before the flown revision was finally manufactured in February 1970.

This reconstruction was created from a previous transcription of the original listing of Luminary 131, combined with Luminary memo #129 which describes the small difference between the Luminary 130 and 131. The reconstructed source code was verified by matching memory-bank checksums to those listed for Luminary 130 in drawing 2021152G.

In this source code, program comments from the original (Luminary 131) code are prefixed with '#', while those added later by the Virtual AGC project are prefixed with '##'.

060050,000002:                                                                                                  ## Copyright:   Public domain.
060051,000003:                                                                                                  ## Filename:    P-AXIS_RCS_AUTOPILOT.agc
060052,000004:                                                                                                  ## Purpose:     A section of the reconstructed source code for Luminary 130.
060053,000005:                                                                                                  ##              This was the original program released for the Apollo 13 LM,
060054,000006:                                                                                                  ##              although several more revisions would follow. It has been
060055,000007:                                                                                                  ##              reconstructed from a listing of Luminary 131, from which it
060056,000008:                                                                                                  ##              differs on only two lines in P70-P71. The difference is
060057,000009:                                                                                                  ##              described in detail in Luminary memo #129, which was used
060058,000010:                                                                                                  ##              to perform the reconstruction. This file is intended to be a
060059,000011:                                                                                                  ##              faithful reconstruction, except that the code format has been
060060,000012:                                                                                                  ##              changed to conform to the requirements of the yaYUL assembler
060061,000013:                                                                                                  ##              rather than the original YUL assembler.
060062,000014:                                                                                                  ## Reference:   pp. 1413-1433
060063,000015:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
060064,000016:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
060065,000017:                                                                                                  ## Mod history: 06/07/03 RSB.   Began transcribing.
060066,000018:                                                                                                  ##              05/14/05 RSB    Corrected website reference above.
060067,000019:                                                                                                  ##              2010-10-25 JL   Added missing # in comment. Indentation fixes.
060068,000020:                                                                                                  ##              2017-01-06 RSB  Page numbers now agree with those on the
060069,000021:                                                                                                  ##                              original hardcopy, as opposed to the PDF page
060070,000022:                                                                                                  ##                              numbers in 1701.pdf.
060071,000023:                                                                                                  ##              2017-02-28 RSB  Proofed comment text using octopus/ProoferComments.
060072,000024:                                                                                                  ##              2017-03-01 RSB  Fixed lingering comment-text typos.
060073,000025:                                                                                                  ##              2017-03-14 RSB  Comment-text fixes noted in proofing Luminary 116.
060074,000026:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
060075,000027:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
060076,000028:                                                                                                  ##              2018-09-04 MAS  Copied from Luminary 131 for Luminary 130.
060077,000029: 

Page 1413

060079,000031: 16,2213                                           BANK     16                                    
060080,000032: 16,2000                                           SETLOC   DAPS1                                 
060081,000033: 16,2000                                           BANK                                           
060082,000034: 
060083,000035: 16,2213  E6,1464                                  EBANK=   PERROR                                
060084,000036: 16,2213                                           COUNT*   $$/DAPP                               
060085,000037: 
060086,000038:                                                                                                  #  THE FOLLOWING T5RUPT ENTRY BEGINS THE PROGRAM WHICH CONTROLS THE P-AXIS ACTION OF THE LEM USING THE RCS JETS.
060087,000039:                                                                                                  #  THE NOMINAL TIME BETWEEN THE P-AXIS RUPTS IS 100 MS IN ALL NON-IDLING MODES OF THE DAP.
060088,000040: 
060089,000041: 16,2213           37732        PAXIS              CA       MS100                                 
060090,000042: 16,2214           26030                           ADS      TIME5                                 #  *** NECESSARY IN ORDER TO ALLOW SYN-
060091,000043:                                                                                                  #  CHRONIZATION WITH OTHER INTERRUPTS ***
060092,000044: 
060093,000045: 16,2215           22016                           LXCH     BANKRUPT                              #  INTERRUPT LEAD IN (CONTINUED)
060094,000046: 16,2216           00006                           EXTEND                                         
060095,000047: 16,2217           22012                           QXCH     QRUPT                                 
060096,000048: 
060097,000049:                                                                                                  #  CHECK IF DAP PASS IS PERMISSIBLE
060098,000050: 
060099,000051: 16,2220           11756                           CCS      DAPZRUPT                              #  IF DAPZRUPT POSITIVE, DAP (JASK) IS
060100,000052: 16,2221           05624                           TC       BAILOUT                               #  STILL IN PROGRESS AND A RESTART IS
060101,000053: 16,2222           32000                           OCT      32000                                 #  CALLED FOR.  IT IS NEVER ZERO
060102,000054: 
060103,000055: 16,2223           02000                           TC       CHEKBITS                              #  RETURN IS TO I+1 IF DAP SHOULD STAY ON.
060104,000056: 
060105,000057: 16,2224           30032                           CA       CDUX                                  #  READ AND STORE CDU'S
060106,000058: 16,2225           55747                           TS       DAPTREG4                              
060107,000059: 16,2226           30033                           CA       CDUY                                  
060108,000060: 16,2227           55750                           TS       DAPTREG5                              
060109,000061: 16,2230           30034                           CA       CDUZ                                  
060110,000062: 16,2231           55751                           TS       DAPTREG6                              
060111,000063: 
060112,000064:                                                                                                  #  ***** KALCMANU-DAP AND "RATE-HOLD"-DAP INTERFACE *****
060113,000065: 
060114,000066:                                                                                                  #  THE FOLLOWING SECTION IS EXECUTED EVERY 100 MS (10 TIMES A SECOND) WITHIN THE P-AXIS REACTION CONTROL SYSTEM
060115,000067:                                                                                                  #  AUTOPILOT (WHENEVER THE DAP IS IN OPERATION).
060116,000068: 
060117,000069: 16,2232           31634                           CA       CDUXD                                 
060118,000070: 16,2233           00006                           EXTEND                                         
060119,000071: 16,2234           21637                           MSU      DELCDUX                               
060120,000072: 16,2235           02256                           TC       1STOTWOS                              
060121,000073: 16,2236           55634                           TS       CDUXD                                 
060122,000074: 16,2237           31635                           CA       CDUYD                                 
060123,000075: 16,2240           00006                           EXTEND                                         
060124,000076: 16,2241           21640                           MSU      DELCDUY                               
060125,000077: 16,2242           02256                           TC       1STOTWOS                              
060126,000078: 16,2243           55635                           TS       CDUYD                                 
060127,000079: 16,2244           31636                           CA       CDUZD                                 
060128,000080: 16,2245           00006                           EXTEND                                         
060129,000081: 16,2246           21641                           MSU      DELCDUZ                               

Page 1414

060131,000083: 16,2247           02256                           TC       1STOTWOS                              
060132,000084: 16,2250           55636                           TS       CDUZD                                 
060133,000085: 16,2251           00006                           EXTEND                                         #  DIMINISH MANUAL CONTROL DIRECT RATE
060134,000086: 16,2252           27445                           DIM      TCP                                   #  TIME COUNTERS.
060135,000087: 16,2253           00006                           EXTEND                                         
060136,000088: 16,2254           27457                           DIM      TCQR                                  
060137,000089: 
060138,000090:                                                                                                  #  RATELOOP COMPUTES JETRATEQ, JETRATER, AND 1JACC*NO. PJETS IN ITEMP1.
060139,000091:                                                                                                  #  RETURNS TO BACKP.
060140,000092: 
060141,000093:                                                                                                  #  JETRATE = 1JACC*NO.PJETS*TJP                  (NOTE TJ IS THE TIME FIRED DURING CSP)
060142,000094:                                                                                                  #  JETRATEQ = 1JACCQ(TJU*NO.UJETS - TJV*NO.VJETS)
060143,000095:                                                                                                  #  JETRATER = 1JACCR(TJU*NO.UJETS + TJV*NO.VJETS)
060144,000096: 
060145,000097: 16,2255           12647                           TCF      PAXFILT                               #  PROCEEDS TO RATELOOP AFTER SUPERJOB
060146,000098: 16,2256           10000        1STOTWOS           CCS      A                                     
060147,000099: 16,2257           64753                           AD       ONE                                   
060148,000100: 16,2260           00002                           TC       Q                                     
060149,000101: 16,2261           40000                           CS       A                                     
060150,000102: 16,2262           00002                           TC       Q                                     
060151,000103: 16,2263           00006        SUBDIVDE           EXTEND                                         #  OVERFLOW PROCTION ROUTINE TO GIVE
060152,000104: 16,2264           71740                           MP       DAPTEMP3                              #  POSMAX OR NEGMAX IF THE DIVIDE WOULD
060153,000105: 16,2265           21427                           DAS      OMEGAU                                #  OVERFLOW
060154,000106: 
060155,000107: 16,2266           00006                 +3        EXTEND                                         
060156,000108: 16,2267           31427                           DCA      OMEGAU                                
060157,000109: 16,2270           53743                           DXCH     DAPTEMP5                              
060158,000110: 16,2271           11426                           CCS      OMEGAU                                
060159,000111: 16,2272           12274                           TCF      +2                                    
060160,000112: 16,2273           12304                           TCF      DIVIDER                               
060161,000113: 16,2274           62315                           AD       -OCT630                               
060162,000114: 16,2275           00006                           EXTEND                                         
060163,000115: 16,2276           62304                           BZMF     DIVIDER                               
060164,000116: 
060165,000117: 16,2277           11426                           CCS      OMEGAU                                
060166,000118: 16,2300           34733                           CA       POSMAX                                #  45 DEG/SEC
060167,000119: 16,2301           00002                           TC       Q                                     
060168,000120: 16,2302           44733                           CS       POSMAX                                
060169,000121: 16,2303           00002                           TC       Q                                     
060170,000122: 
060171,000123: 16,2304           53427        DIVIDER            DXCH     OMEGAU                                
060172,000124: 16,2305           00006                           EXTEND                                         
060173,000125: 16,2306           11747                           DV       DAPTREG4                              
060174,000126: 16,2307           00002                           TC       Q                                     
060175,000127: 
060176,000128: 16,2310           54007        OVERSUB            TS       7                                     #  RETURNS A UNCHANGED OR LIMITED TO
060177,000129: 16,2311           00002                           TC       Q                                     #  POSMAX OR NEGMAX IF A HAS OVERFLOW
060178,000130: 16,2312           50000                           INDEX    A                                     
060179,000131: 16,2313           44734                           CS       BIT15      -1                         

Page 1415

060181,000133: 16,2314           00002                           TC       Q                                     
060182,000134: 
060183,000135: 16,2315           77147        -OCT630            OCT      77147                                 
060184,000136: 
060185,000137: 16,2316           31736        BACKP              CA       DAPTEMP1                              
060186,000138: 16,2317           00006                           EXTEND                                         
060187,000139: 16,2320           71530                           MP       1JACC                                 
060188,000140: 16,2321           55744                           TS       JETRATE                               
060189,000141: 
060190,000142:                                                                                                  #  BEGINNING OF THE RATE DERIVATION
060191,000143:                                                                                                  #        OMEGAP,Q,R      BODY RATES SCALED AT PI/4
060192,000144:                                                                                                  #        TRAPER,Q,R      BODY ANGLE ERRORS FROM PREDICTED ANGLE (PI/40)
060193,000145:                                                                                                  #        NP(QR)TRAPS     NUMBER OF TIMES ANGLE ERROR HAS BEEN ACCUMULATED
060194,000146:                                                                                                  #        AOSQ(R)TERM     CHANGE IN RATE DUE TO OFFSET ACCELLERATION.  (PI/4)
060195,000147:                                                                                                  #        JETRATE,Q,R     CHANGE IN RATE DUE TO JET ACCELLERATION.  (PI/4)
060196,000148:                                                                                                  #        TRAPSIZE        NEGATIVE LIMIT OF MAGNITUDE OF TRAPEDP, ECT.
060197,000149:                                                                                                  #        OMEGAU          DP-TEMPORARY STORAGE
060198,000150:                                                                                                  #  OMEGA = OMEGA + JETRATE + AOSTERM (+TRAPED/NTRAPS IF TRAPED BIG)
060199,000151: 
060200,000152: 16,2322           31747                           CAE      DAPTREG4                              #  CDUX IS STORED HERE
060201,000153: 16,2323           54001                           TS       L                                     
060202,000154: 16,2324           00006                           EXTEND                                         
060203,000155: 16,2325           21440                           MSU      OLDXFORP                              #  SCALED AT PI
060204,000156: 16,2326           23440                           LXCH     OLDXFORP                              
060205,000157: 16,2327           55736                           TS       DAPTEMP1                              
060206,000158: 16,2330           33624                           CA       1/40                                  
060207,000159: 16,2331           55747                           TS       DAPTREG4                              
060208,000160: 16,2332           41744                           CS       JETRATE                               
060209,000161: 16,2333           00006                           EXTEND                                         
060210,000162: 16,2334           74736                           MP       BIT14                                 
060211,000163: 16,2335           27430                           ADS      TRAPEDP                               
060212,000164: 16,2336           31745                           CA       JETRATEQ                              
060213,000165: 16,2337           61544                           AD       AOSQTERM                              
060214,000166: 16,2340           00006                           EXTEND                                         
060215,000167: 16,2341           77741                           MP       -BIT14                                
060216,000168: 16,2342           27431                           ADS      TRAPEDQ                               
060217,000169: 16,2343           31746                           CA       JETRATER                              
060218,000170: 16,2344           61545                           AD       AOSRTERM                              
060219,000171: 16,2345           00006                           EXTEND                                         
060220,000172: 16,2346           77741                           MP       -BIT14                                
060221,000173: 16,2347           27432                           ADS      TRAPEDR                               
060222,000174: 
060223,000175: 16,2350           31750                           CA       DAPTREG5                              #  CDUY IS STORED HERE
060224,000176: 16,2351           54001                           TS       L                                     
060225,000177: 16,2352           00006                           EXTEND                                         
060226,000178: 16,2353           21441                           MSU      OLDYFORP                              #  SCALED AT PI
060227,000179: 16,2354           23441                           LXCH     OLDYFORP                              
060228,000180: 16,2355           55737                           TS       DAPTEMP2                              
060229,000181: 16,2356           00006                           EXTEND                                         
060230,000182: 16,2357           71414                           MP       M11                                   #  M11 SCALED AT 1

Page 1416

060232,000184: 16,2360           61736                           AD       DAPTEMP1                              
060233,000185: 16,2361           53427                           DXCH     OMEGAU                                
060234,000186: 
060235,000187: 16,2362           02266                           TC       SUBDIVDE   +3                         #  RETURNS WITH CDU-RATE AT PI/4
060236,000188: 
060237,000189: 16,2363           00006                           EXTEND                                         
060238,000190: 16,2364           61421                           SU       OMEGAP                                
060239,000191: 16,2365           27430                           ADS      TRAPEDP                               
060240,000192: 16,2366           02310                           TC       OVERSUB                               
060241,000193: 16,2367           55430                           TS       TRAPEDP                               
060242,000194: 16,2370           00006                           EXTEND                                         
060243,000195: 16,2371           31743                           DCA      DAPTEMP5                              
060244,000196: 16,2372           21447                           DAS      DXERROR                               
060245,000197: 16,2373           41454                           CS       PLAST                                 
060246,000198: 16,2374           00006                           EXTEND                                         
060247,000199: 16,2375           73624                           MP       1/40                                  
060248,000200: 16,2376           21447                           DAS      DXERROR                               #  MANUAL MODE X-ATTITUDE ERROR (DP)
060249,000201: 16,2377           31751                           CA       DAPTREG6                              #  CDUZ IS STORED HERE
060250,000202: 16,2400           54001                           TS       L                                     
060251,000203: 16,2401           00006                           EXTEND                                         
060252,000204: 16,2402           21442                           MSU      OLDZFORQ                              
060253,000205: 16,2403           55740                           TS       DAPTEMP3                              
060254,000206: 16,2404           23442                           LXCH     OLDZFORQ                              
060255,000207: 16,2405           31415                           CA       M21                                   
060256,000208: 16,2406           00006                           EXTEND                                         
060257,000209: 16,2407           71737                           MP       DAPTEMP2                              
060258,000210: 16,2410           53427                           DXCH     OMEGAU                                
060259,000211: 16,2411           31417                           CA       M22                                   
060260,000212: 16,2412           02263                           TC       SUBDIVDE                              
060261,000213: 
060262,000214: 16,2413           00006                           EXTEND                                         
060263,000215: 16,2414           61422                           SU       OMEGAQ                                
060264,000216: 16,2415           27431                           ADS      TRAPEDQ                               
060265,000217: 16,2416           02310                           TC       OVERSUB                               
060266,000218: 16,2417           55431                           TS       TRAPEDQ                               
060267,000219: 16,2420           00006                           EXTEND                                         
060268,000220: 16,2421           31743                           DCA      DAPTEMP5                              
060269,000221: 16,2422           21451                           DAS      DYERROR                               
060270,000222: 16,2423           41455                           CS       QLAST                                 
060271,000223: 16,2424           00006                           EXTEND                                         
060272,000224: 16,2425           73624                           MP       1/40                                  
060273,000225: 16,2426           21451                           DAS      DYERROR                               #  MANUAL MODE Y-ATTITUDE ERROR (DP)
060274,000226: 16,2427           31416                           CA       M31                                   
060275,000227: 16,2430           00006                           EXTEND                                         
060276,000228: 16,2431           71737                           MP       DAPTEMP2                              
060277,000229: 16,2432           53427                           DXCH     OMEGAU                                
060278,000230: 16,2433           31420                           CA       M32                                   
060279,000231: 
060280,000232: 16,2434           02263                           TC       SUBDIVDE                              

Page 1417

060282,000234: 16,2435           00006                           EXTEND                                         
060283,000235: 16,2436           61423                           SU       OMEGAR                                
060284,000236: 16,2437           27432                           ADS      TRAPEDR                               
060285,000237: 16,2440           02310                           TC       OVERSUB                               
060286,000238: 16,2441           55432                           TS       TRAPEDR                               #  TRAPEDS HAVE ALL BEEN COMPUTED
060287,000239: 
060288,000240: 16,2442           00006                           EXTEND                                         
060289,000241: 16,2443           31743                           DCA      DAPTEMP5                              
060290,000242: 16,2444           21453                           DAS      DZERROR                               
060291,000243: 16,2445           41456                           CS       RLAST                                 
060292,000244: 16,2446           00006                           EXTEND                                         
060293,000245: 16,2447           73624                           MP       1/40                                  
060294,000246: 16,2450           21453                           DAS      DZERROR                               #  MANUAL MODE Z-ATTITUDE ERROR (DP)
060295,000247: 16,2451           30111                           CA       DAPBOOLS                              #  PICK UP PAD LOADED STATE ESTIMATOR GAINS
060296,000248: 16,2452           74737                           MASK     CSMDOCKD                              
060297,000249: 16,2453           00006                           EXTEND                                         
060298,000250: 16,2454           12462                           BZF      LMONLY                                
060299,000251: 16,2455           00006                           EXTEND                                         #  DOCKED
060300,000252: 16,2456           31405                           DCA      DKOMEGAN                              
060301,000253: 16,2457           53750                           DXCH     DAPTREG4                              
060302,000254: 16,2460           31403                           CA       DKTRAP                                
060303,000255: 16,2461           12466                           TCF      +5                                    
060304,000256: 16,2462           00006        LMONLY             EXTEND                                         #  UNDOCKED
060305,000257: 16,2463           31410                           DCA      LMOMEGAN                              
060306,000258: 16,2464           53750                           DXCH     DAPTREG4                              
060307,000259: 16,2465           31406                           CA       LMTRAP                                
060308,000260: 16,2466           55751                 +5        TS       DAPTREG6                              
060309,000261: 16,2467           11430                           CCS      TRAPEDP                               
060310,000262: 16,2470           12472                           TCF      +2                                    
060311,000263: 16,2471           12507                           TCF      SMALPDIF                              
060312,000264: 16,2472           61751                           AD       DAPTREG6                              #  TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
060313,000265: 16,2473           00006                           EXTEND                                         
060314,000266: 16,2474           62507                           BZMF     SMALPDIF                              
060315,000267: 16,2475           22007                           ZL                                             
060316,000268: 16,2476           23430                           LXCH     TRAPEDP                               
060317,000269: 16,2477           34755                           CA       ZERO                                  
060318,000270: 16,2500           00006                           EXTEND                                         
060319,000271: 16,2501           11433                           DV       NPTRAPS                               
060320,000272: 16,2502           27421                           ADS      OMEGAP                                
060321,000273: 16,2503           02310                           TC       OVERSUB                               
060322,000274: 16,2504           55421                           TS       OMEGAP                                
060323,000275: 16,2505           31747                           CA       DAPTREG4                              #  ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
060324,000276: 16,2506           55433                           TS       NPTRAPS                               
060325,000277: 16,2507           25433        SMALPDIF           INCR     NPTRAPS                               
060326,000278: 16,2510           31744        P-RATE             CA       JETRATE                               
060327,000279: 16,2511           27421                           ADS      OMEGAP                                
060328,000280: 16,2512           02310                           TC       OVERSUB                               
060329,000281: 16,2513           55421                           TS       OMEGAP                                
060330,000282: 
060331,000283: 16,2514           11431                           CCS      TRAPEDQ                               

Page 1418

060333,000285: 16,2515           12517                           TCF      +2                                    
060334,000286: 16,2516           12544                           TCF      Q-RATE                                
060335,000287: 16,2517           61751                           AD       DAPTREG6                              #  TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
060336,000288: 16,2520           00006                           EXTEND                                         
060337,000289: 16,2521           62544                           BZMF     Q-RATE                                
060338,000290: 16,2522           22007                           ZL                                             
060339,000291: 16,2523           23431                           LXCH     TRAPEDQ                               
060340,000292: 16,2524           34755                           CA       ZERO                                  
060341,000293: 16,2525           00006                           EXTEND                                         
060342,000294: 16,2526           11434                           DV       NQTRAPS                               
060343,000295: 16,2527           55736                           TS       DAPTEMP1                              #  SAVE FOR OFFSET ESTIMATE
060344,000296: 16,2530           27422                           ADS      OMEGAQ                                
060345,000297: 16,2531           02310                           TC       OVERSUB                               
060346,000298: 16,2532           55422                           TS       OMEGAQ                                
060347,000299: 16,2533           31747                           CA       DAPTREG4                              #  ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
060348,000300: 16,2534           57434                           XCH      NQTRAPS                               
060349,000301: 16,2535           61750                           AD       DAPTREG5                              #  KAOS > ABOUT 60D %N/N_60"
060350,000302: 16,2536           57736                           XCH      DAPTEMP1                              
060351,000303: 16,2537           00006                           EXTEND                                         
060352,000304: 16,2540           74756                           MP       FIVE                                  
060353,000305: 16,2541           00006                           EXTEND                                         
060354,000306: 16,2542           11736                           DV       DAPTEMP1                              
060355,000307: 16,2543           27536                           ADS      AOSQ                                  
060356,000308: 16,2544           25434        Q-RATE             INCR     NQTRAPS                               
060357,000309: 16,2545           31745                           CA       JETRATEQ                              
060358,000310: 16,2546           61544                           AD       AOSQTERM                              
060359,000311: 16,2547           27422                           ADS      OMEGAQ                                
060360,000312: 16,2550           02310                           TC       OVERSUB                               
060361,000313: 16,2551           55422                           TS       OMEGAQ                                
060362,000314: 
060363,000315: 16,2552           11432                           CCS      TRAPEDR                               
060364,000316: 16,2553           12555                           TCF      +2                                    
060365,000317: 16,2554           12602                           TCF      R-RATE                                
060366,000318: 16,2555           61751                           AD       DAPTREG6                              #  TRAPSIZE > ABOUT 77001 %-1.4DEG/SEC"
060367,000319: 16,2556           00006                           EXTEND                                         
060368,000320: 16,2557           62602                           BZMF     R-RATE                                
060369,000321: 16,2560           22007                           ZL                                             
060370,000322: 16,2561           23432                           LXCH     TRAPEDR                               
060371,000323: 16,2562           34755                           CA       ZERO                                  
060372,000324: 16,2563           00006                           EXTEND                                         
060373,000325: 16,2564           11435                           DV       NRTRAPS                               
060374,000326: 16,2565           55737                           TS       DAPTEMP2                              #  SAVE FOR OFFSET ESTIMATE
060375,000327: 16,2566           27423                           ADS      OMEGAR                                
060376,000328: 16,2567           02310                           TC       OVERSUB                               
060377,000329: 16,2570           55423                           TS       OMEGAR                                
060378,000330: 16,2571           31747                           CA       DAPTREG4                              #  ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
060379,000331: 16,2572           57435                           XCH      NRTRAPS                               
060380,000332: 16,2573           61750                           AD       DAPTREG5                              #  KAOS > ABOUT 60D %N/N_60"
060381,000333: 16,2574           57737                           XCH      DAPTEMP2                              
060382,000334: 16,2575           00006                           EXTEND                                         

Page 1419

060384,000336: 16,2576           74756                           MP       FIVE                                  
060385,000337: 16,2577           00006                           EXTEND                                         
060386,000338: 16,2600           11737                           DV       DAPTEMP2                              
060387,000339: 16,2601           27540                           ADS      AOSR                                  
060388,000340: 16,2602           25435        R-RATE             INCR     NRTRAPS                               
060389,000341: 16,2603           31746                           CA       JETRATER                              
060390,000342: 16,2604           61545                           AD       AOSRTERM                              
060391,000343: 16,2605           27423                           ADS      OMEGAR                                
060392,000344: 16,2606           02310                           TC       OVERSUB                               
060393,000345: 16,2607           55423                           TS       OMEGAR                                
060394,000346: 
060395,000347:                                                                                                  #  END OF RATE DERIVATION
060396,000348:                                                                                                  #        BEGIN OFFSET ESTIMATER
060397,000349:                                                                                                  #                IN POWERED FLIGHT, AOSTASK WILL BE CALLED EVERY 2 SECONDS.
060398,000350:                                                                                                  #                        AOS = AOS + K*SUMRATE
060399,000351: 
060400,000352: 16,2610           40111                           CS       DAPBOOLS                              
060401,000353: 16,2611           74744                           MASK     DRIFTBIT                              
060402,000354: 16,2612           10000                           CCS      A                                     
060403,000355: 16,2613           12624                           TCF      WORKTIME                              
060404,000356: 16,2614           55424                           TS       ALPHAQ                                #  ZERO THE OFFSET ACCELERATION VALUES.
060405,000357: 16,2615           55425                           TS       ALPHAR                                
060406,000358: 16,2616           55544                           TS       AOSQTERM                              
060407,000359: 16,2617           55545                           TS       AOSRTERM                              
060408,000360: 16,2620           55536                           TS       AOSQ                                  
060409,000361: 16,2621           55540                           TS       AOSR                                  
060410,000362: 16,2622           12667                           TCF      PRETIMCK                              
060411,000363: 16,2623           00074        KAOS               DEC      60         B-14                       
060412,000364: 16,2624           31510        WORKTIME           CA       QACCDOT                               
060413,000365: 16,2625           00006                           EXTEND                                         
060414,000366: 16,2626           74766                           MP       CALLCODE                              #  OCTAL 00032 IS DECIMAL .1 AT 2(6).
060415,000367: 16,2627           21537                           DAS      AOSQ                                  
060416,000368: 16,2630           31536                           CA       AOSQ                                  
060417,000369: 16,2631           55424                           TS       ALPHAQ                                
060418,000370: 16,2632           00006                           EXTEND                                         
060419,000371: 16,2633           73622                           MP       200MS                                 #  .2 AT 1
060420,000372: 16,2634           55544                           TS       AOSQTERM                              
060421,000373: 16,2635           31512                           CA       RACCDOT                               
060422,000374: 16,2636           00006                           EXTEND                                         
060423,000375: 16,2637           74766                           MP       CALLCODE                              #  OCTAL 00032 IS DECIMAL .1 AT 2(6).
060424,000376: 16,2640           21541                           DAS      AOSR                                  
060425,000377: 16,2641           31540                           CA       AOSR                                  
060426,000378: 16,2642           55425                           TS       ALPHAR                                
060427,000379: 16,2643           00006                           EXTEND                                         
060428,000380: 16,2644           73622                           MP       200MS                                 #  .2 AT 1
060429,000381: 16,2645           55545                           TS       AOSRTERM                              
060430,000382: 16,2646           12667                           TCF      PRETIMCK                              
060431,000383: 

Page 1420

060433,000385: 16,2647           34747        PAXFILT            CA       CALLGMBL                              #  EXECUTE ACDT+C12, IF NEEDED.
060434,000386: 16,2650           71262                           MASK     RCSFLAGS                              
060435,000387: 16,2651           10000                           CCS      A                                     #  CALLGMBL IS NOT BIT15, SO THIS TEST IS
060436,000388: 16,2652           03742                           TC       ACDT+C12                              #  VALID.
060437,000389: 
060438,000390: 16,2653           52011                           DXCH     ARUPT                                 
060439,000391: 16,2654           53753                           DXCH     DAPARUPT                              
060440,000392: 16,2655           32666                           CA       SUPERJOB                              #  SETTING UP THE SUPERJOB
060441,000393: 16,2656           56017                           XCH      BRUPT                                 
060442,000394: 16,2657           22012                           LXCH     QRUPT                                 
060443,000395: 16,2660           53755                           DXCH     DAPBQRPT                              
060444,000396: 16,2661           32665                           CA       SUPERADR                              
060445,000397: 16,2662           52016                           DXCH     ZRUPT                                 
060446,000398: 16,2663           53757                           DXCH     DAPZRUPT                              
060447,000399: 16,2664           15275                           TCF      NOQBRSM    +1                         #  RELINT (JUST IN CASE) AND RESUME, IN THE
060448,000400:                                                                                                  #        FORM OF A JASK, AT SUPERJOB.
060449,000401: 
060450,000402: 16,2665           02667        SUPERADR           GENADR   SUPERJOB   +1                         
060451,000403: 
060452,000404:                                                                                                  #  COUNT DOWN GIMBAL DRIVE TIMERS AND TURN OFF DRIVES IF REQUIRED.
060453,000405: 
060454,000406: 16,2666           13645        SUPERJOB           TCF      RATELOOP                              
060455,000407: 16,2667           11631        PRETIMCK           CCS      QGIMTIMR                              
060456,000408: 16,2670           12710                           TCF      DECQTIMR                              #  POSITIVE - COUNTING DOWN
060457,000409: 16,2671           12714                           TCF      TURNOFFQ                              #  NEGATIVE - DRIVE SHOULD BE ENDED
060458,000410: 16,2672           11633        CHKRTIMR           CCS      RGIMTIMR                              #  NEGATIVE - INACTIVE
060459,000411: 16,2673           12712                           TCF      DECRTIMR                              #  (NEG ZERO - IMPOSSIBLE)
060460,000412: 16,2674           12724                           TCF      TURNOFFR                              #  REPEATED (ABOVE) FOR R AXIS.
060461,000413: 
060462,000414: 16,2675           00006                           EXTEND                                         #  DECREMENT DOCKED JET INHIBITION COUNTERS
060463,000415: 16,2676           27766                           DIM      PJETCTR                               
060464,000416: 16,2677           00006                           EXTEND                                         
060465,000417: 16,2700           27767                           DIM      UJETCTR                               
060466,000418: 16,2701           00006                           EXTEND                                         
060467,000419: 16,2702           27770                           DIM      VJETCTR                               
060468,000420: 16,2703           34740                           CA       BIT12                                 
060469,000421: 16,2704           71262                           MASK     RCSFLAGS                              
060470,000422: 16,2705           00006                           EXTEND                                         
060471,000423: 16,2706           12734                           BZF      SKIPPAXS                              
060472,000424: 16,2707           02740                           TC       CHKVISFZ                              
060473,000425: 16,2710           55631        DECQTIMR           TS       QGIMTIMR                              #  COUNT TIMERS DOWN TO POS ZERO.
060474,000426: 16,2711           12672                           TCF      CHKRTIMR                              
060475,000427: 16,2712           55633        DECRTIMR           TS       RGIMTIMR                              
060476,000428: 16,2713           12675                           TCF      CHKRTIMR   +3                         
060477,000429: 
060478,000430: 16,2714           55501        TURNOFFQ           TS       NEGUQ                                 #  HALT DRIVES.
060479,000431: 16,2715           55510                           TS       QACCDOT                               
060480,000432: 16,2716           45007                           CS       QGIMBITS                              
060481,000433: 16,2717           00006                           EXTEND                                         

Page 1421

060483,000435: 16,2720           03012                           WAND     CHAN12                                
060484,000436: 16,2721           34735                           CAF      NEGMAX                                
060485,000437: 16,2722           55631                           TS       QGIMTIMR                              
060486,000438: 16,2723           12672                           TCF      CHKRTIMR                              
060487,000439: 16,2724           55503        TURNOFFR           TS       NEGUR                                 
060488,000440: 16,2725           55512                           TS       RACCDOT                               
060489,000441: 16,2726           45020                           CS       RGIMBITS                              
060490,000442: 16,2727           00006                           EXTEND                                         
060491,000443: 16,2730           03012                           WAND     CHAN12                                
060492,000444: 16,2731           34735                           CAF      NEGMAX                                
060493,000445: 16,2732           55633                           TS       RGIMTIMR                              
060494,000446: 16,2733           12675                           TCF      CHKRTIMR   +3                         
060495,000447: 16,2734     5007               QGIMBITS           EQUALS   OCT1400                               #  BITS 9 AND 10 (OF CHANNEL 12).
060496,000448: 16,2734     5020               RGIMBITS           EQUALS   PRIO6                                 #  BITS 11 AND 12 (OF CHANNEL 12).
060497,000449: 
060498,000450: 16,2734           41262        SKIPPAXS           CS       RCSFLAGS                              
060499,000451: 16,2735           74740                           MASK     BIT12                                 
060500,000452: 16,2736           27262                           ADS      RCSFLAGS                              #  BIT 12 SET TO 1.
060501,000453: 16,2737           13630                           TCF      QRAXIS                                #  GO TO QRAXIS OR TO GTS.
060502,000454: 
060503,000455:                                                                                                  #  Y-Z TRANSLATION
060504,000456: 
060505,000457:                                                                                                  #  INPUT:        BITS 9-12 OF CH31 (FROM TRANSLATION CONTROLER)
060506,000458: 
060507,000459:                                                                                                  #  OUTPUT:       NEXTP
060508,000460:                                                                                                  #                NEXTP IS THE CHANNEL 6 CODE OF JETS FOR THE DESIRED TRANSLATION.
060509,000461:                                                                                                  #                IF THERE ARE FAILURES IN THE DESIRED POLICY, THEN
060510,000462:                                                                                                  #                (1) FOR DIAGONAL TRANS:         UNFAILED PAIR
060511,000463:                                                                                                  #                                                ALARM (IF NO PAIR)
060512,000464:                                                                                                  #                (2) FOR PRINCIPAL TRANS:        TRY TO TACK WITH DIAGONAL PAIRS
060513,000465:                                                                                                  #                                                ALARM (IF DIAGONAL PAIRS ARE FAILED)
060514,000466: 
060515,000467: 16,2740           00006        CHKVISFZ           EXTEND                                         
060516,000468: 16,2741           00031                           READ     CHAN31                                
060517,000469: 16,2742           40000                           CS       A                                     
060518,000470: 16,2743           73617                           MASK     07400OCT                              
060519,000471: 16,2744           00006                           EXTEND                                         
060520,000472: 16,2745           13014                           BZF      TSNEXTP                               
060521,000473: 16,2746           00006                           EXTEND                                         
060522,000474: 16,2747           74745                           MP       BIT7                                  
060523,000475: 16,2750           50000                           INDEX    A                                     
060524,000476: 16,2751           33576                           CA       INDXYZ                                
060525,000477: 16,2752           55743                           TS       ROTINDEX                              
060526,000478: 16,2753           36245        TRYUORV            CA       SIX                                   
060527,000479: 16,2754           03555                           TC       SELECTYZ                              
060528,000480: 16,2755           46245                           CS       SIX                                   
060529,000481: 16,2756           61742                           AD       NUMBERT                               
060530,000482: 16,2757           00006                           EXTEND                                         

Page 1422

060532,000484: 16,2760           13013                           BZF      TSNEXTP    -1                         
060533,000485: 16,2761           44756                           CS       FIVE                                  
060534,000486: 16,2762           61743                           AD       ROTINDEX                              
060535,000487: 16,2763           00006                           EXTEND                                         
060536,000488: 16,2764           63002                           BZMF     ALTERYZ                               
060537,000489: 16,2765           41742                           CS       NUMBERT                               
060538,000490: 16,2766           64751                           AD       FOUR                                  
060539,000491: 16,2767           00006                           EXTEND                                         
060540,000492: 16,2770           63013                           BZMF     TSNEXTP    -1                         
060541,000493: 16,2771           05567        ABORTYZ            TC       ALARM                                 
060542,000494: 16,2772           02001                           OCT      02001                                 
060543,000495: 16,2773           34753                           CA       BIT1                                  #  INVERT BIT 1 OF RCSFLAGS.
060544,000496: 16,2774           23262                           LXCH     RCSFLAGS                              
060545,000497: 16,2775           00006                           EXTEND                                         
060546,000498: 16,2776           06001                           RXOR     1                                     
060547,000499: 16,2777           55262                           TS       RCSFLAGS                              
060548,000500: 16,3000           34755                           CA       ZERO                                  
060549,000501: 16,3001           13014                           TCF      TSNEXTP                               
060550,000502: 16,3002           34753        ALTERYZ            CA       BIT1                                  #  INVERT BIT 1 OF RCSFLAGS.
060551,000503: 16,3003           23262                           LXCH     RCSFLAGS                              
060552,000504: 16,3004           00006                           EXTEND                                         
060553,000505: 16,3005           06001                           RXOR     1                                     
060554,000506: 16,3006           55262                           TS       RCSFLAGS                              
060555,000507: 16,3007           74753                           MASK     BIT1                                  
060556,000508: 16,3010           64751                           AD       FOUR                                  
060557,000509: 16,3011           27743                           ADS      ROTINDEX                              
060558,000510: 16,3012           12753                           TCF      TRYUORV                               
060559,000511: 16,3013           31740                           CA       POLYTEMP                              
060560,000512: 16,3014           55472        TSNEXTP            TS       NEXTP                                 
060561,000513: 
060562,000514:                                                                                                  #  STATE LOGIC
060563,000515:                                                                                                  #        CHECK IN ORDER:         IF ON
060564,000516:                                                                                                  #        LPDPHASE                GO TO PURGENCY
060565,000517:                                                                                                  #        PULSES                  MINIMUM PULSE LOGIC
060566,000518:                                                                                                  #        DETENT(BIT15 CH31)      RATE COMMAND
060567,000519:                                                                                                  #        GO TO PURGENCY
060568,000520: 
060569,000521: 16,3015           34737                           CA       BIT13                                 #  CHECK STICK IF IN ATT. HOLD.
060570,000522: 16,3016           00006                           EXTEND                                         
060571,000523: 16,3017           02031                           RAND     CHAN31                                
060572,000524: 16,3020           00006                           EXTEND                                         
060573,000525: 16,3021           13027                           BZF      MANMODE                               
060574,000526: 
060575,000527: 16,3022           30111                           CA       DAPBOOLS                              
060576,000528: 16,3023           74743                           MASK     XOVINHIB                              
060577,000529: 16,3024           10000                           CCS      A                                     
060578,000530: 16,3025           13467                           TCF      PURGENCY                              #  ATTITUDE STEER DURING VISIBILITY PHASE
060579,000531: 
060580,000532: 16,3026           13071                           TCF      DETENTCK                              
060581,000533: 16,3027           34735        MANMODE            CA       PULSES                                #  PULSES IS ONE FOR PULSE MODE
060582,000534: 16,3030           70111                           MASK     DAPBOOLS                              

Page 1423

060584,000536: 16,3031           00006                           EXTEND                                         
060585,000537: 16,3032           13071                           BZF      DETENTCK                              #  BRANCH FOR RATE COMMAND
060586,000538: 
060587,000539: 16,3033           34755                           CA       ZERO                                  
060588,000540: 16,3034           55464                           TS       PERROR                                
060589,000541: 
060590,000542:                                                                                                  #  MINIMUM IMPULSE MODE
060591,000543: 
060592,000544: 16,3035           30032                           CA       CDUX                                  
060593,000545: 16,3036           55634                           TS       CDUXD                                 
060594,000546: 
060595,000547: 16,3037           11460                           CCS      OLDPMIN                               
060596,000548: 16,3040           13054                           TCF      CHECKP                                
060597,000549: 
060598,000550: 16,3041           34751        FIREP              CA       BIT3                                  
060599,000551: 16,3042           00006                           EXTEND                                         
060600,000552: 16,3043           02031                           RAND     CHAN31                                
060601,000553: 16,3044           00006                           EXTEND                                         
060602,000554: 16,3045           13064                           BZF      +XMIN                                 
060603,000555: 
060604,000556: 16,3046           34750                           CA       BIT4                                  
060605,000557: 16,3047           00006                           EXTEND                                         
060606,000558: 16,3050           02031                           RAND     CHAN31                                
060607,000559: 16,3051           00006                           EXTEND                                         
060608,000560: 16,3052           13062                           BZF      -XMIN                                 
060609,000561: 
060610,000562: 16,3053           13446                           TCF      JETSOFF                               
060611,000563: 
060612,000564: 16,3054           00006        CHECKP             EXTEND                                         
060613,000565: 16,3055           00031                           READ     CHAN31                                
060614,000566: 16,3056           40000                           CS       A                                     
060615,000567: 16,3057           75741                           MASK     OCT14                                 
060616,000568: 16,3060           55460                           TS       OLDPMIN                               
060617,000569: 16,3061           13446                           TCF      JETSOFF                               
060618,000570: 
060619,000571: 16,3062           44363        -XMIN              CS       TEN                                   #  ANYTHING LESS THAN 14MS. CORRECTED
060620,000572: 16,3063           13065                           TCF      +2                                    #        IN JET SELECTION ROUTINE
060621,000573: 16,3064           34363        +XMIN              CA       TEN                                   
060622,000574: 16,3065           55524                           TS       TJP                                   
060623,000575: 16,3066           34753                           CA       ONE                                   
060624,000576: 16,3067           55460                           TS       OLDPMIN                               
060625,000577: 16,3070           13354                           TCF      PJETSLEC   -6                         
060626,000578: 
060627,000579:                                                                                                  #                                        MANUAL RATE COMMAND MODE
060628,000580:                                                                                                  #                                        ========================
060629,000581:                                                                                                  #                                          BY ROBERT F. STENGEL
060630,000582: 
060631,000583:                                                                                                  #  THIS MODE PROVIDES RCAH MANUAL CONTROL THRU 2 CONTROL LAWS:  1) DIRECT RATE AND 2) PSEUDO-AUTO.
060632,000584:                                                                                                  #  THE DIRECT RATE MODE AFFORDS IMMEDIATE CONTROL WITHOUT OVERSHOOT.  THE PSEUDO-AUTO MODE PROVIDES PRECISE
060633,000585:                                                                                                  #  RATE CONTROL AND ATTITUDE HOLD.
060634,000586: 

Page 1424

060636,000588:                                                                                                  #  IN DIRECT RATE, JETS ARE FIRED WHEN STICK POSITION CHANGES BY A FIXED NUMBER OF INCREMENTS IN ONE DAP CYCLE.
060637,000589:                                                                                                  #  THE 'BREAKOUT LEVEL' IS .6 D/S FOR LM-ONLY AND .3 D/S FOR CSM-DOCKED.  THIS LAW NULLS THE RATE ERROR TO WITHIN
060638,000590:                                                                                                  #  THE 'TARGET DEADBAND', WHICH EQUALS THE BREAKOUT LEVEL.
060639,000591: 
060640,000592:                                                                                                  #  IN PSEUDO-AUTO, BODY-FIXED RATE AND ATTITUDE ERRORS ARE SUPPLIED TO TJETLAW, WHICH EXERCISES CONTROL.
060641,000593:                                                                                                  #  CONTROL SWITCHES FROM DIRECT RATE TO PSEUDO-AUTO IF THE TARGET DB IS ACHIEVED OR IF TIME IN (1) EXCEEDS 4 SEC.
060642,000594:                                                                                                  #  IF THE INITIAL COMMAND DOES NOT EXCEED THE BREAKOUT LEVEL, CONTROL GOES TO PSEUDO-AUTO IMMEDIATELY.
060643,000595: 
060644,000596:                                                                                                  #  SINCE P-AXIS CONTROL IS SEPARATE FROM Q,R AXES CONTROL, IT IS POSSIBLE TO USE (1) IN P-AXIS AND (2) IN Q,R AXES,
060645,000597:                                                                                                  #  OR VICE VERSA.  THIS ALLOWS A DEGREE OF ATTITUDE HOLD IN UNCONTROLLED AXES.  DUE TO U,V CONTROL, HOWEVER, Q AND
060646,000598:                                                                                                  #  R AXES ARE COUPLED AND MUST USE THE SAME CONTROL LAW.
060647,000599: 
060648,000600:                                                                                                  #  HAND CONTROLLER COMMANDS ARE SCALED BY A LINEAR/QUADRATIC LAW.  FOR THE LM-ALONE, MAXIMUM COMMANDED RATES ARE 20
060649,000601:                                                                                                  #  AND 4 D/S IN NORMAL AND FINE SCALING; HOWEVER, STICK SENSITIVITY AT ZERO COUNTS (OBTAINED AT A STICK DEFLECTION
060650,000602:                                                                                                  #  OF 2 DEGREES FROM THE CENTERED POSITION) IS .5 OR .1 D/S PER DEGREE.  NORMAL AND FINE SCALINGS FOR THE CSM-DOCKED
060651,000603:                                                                                                  #  CASE IS AUTOMATICALLY SET TO 1/10 THE ABOVE VALUES.  SCALING IS DETERMINED IN ROUTINE 3.
060652,000604: 
060653,000605:                                                                                                  #  ZEROENBL      ENABLES COUNTERS SO THEY CAN BE READ NEXT TIME
060654,000606:                                                                                                  #  JUSTOUT       FIRST DETECTION OF OUT OF DETENT (BY OURRCBIT)
060655,000607: 
060656,000608: 16,3071           00006        DETENTCK           EXTEND                                         
060657,000609: 16,3072           00031                           READ     CHAN31                                
060658,000610: 16,3073           55443                           TS       CH31TEMP                              
060659,000611: 16,3074           74735                           MASK     BIT15                                 #  CHECK OUT-OF-DETENT BIT.
060660,000612: 16,3075           00006                           EXTEND                                         
060661,000613: 16,3076           13223                           BZF      RHCMOVED                              #  BRANCH IF OUT OF DETENT.
060662,000614: 16,3077           34740                           CAF      OURRCBIT                              #  IN DETENT.  CHECK THE RATE COMMAND BIT.
060663,000615: 16,3100           70111                           MASK     DAPBOOLS                              
060664,000616: 16,3101           00006                           EXTEND                                         
060665,000617: 16,3102           13467                           BZF      PURGENCY                              #  BRANCH IF NOT IN RATE COMMAND LAST PASS.
060666,000618: 
060667,000619:                                                                                                  #  ........................................................................
060668,000620: 
060669,000621: 16,3103           34743                           CA       BIT9                                  #  JUST IN DETENT??
060670,000622: 16,3104           71262                           MASK     RCSFLAGS                              
060671,000623: 16,3105           00006                           EXTEND                                         
060672,000624: 16,3106           13120                           BZF      RUTH                                  
060673,000625: 16,3107           34737                           CAF      BIT13                                 #  CHECK FOR ATTITUDE HOLD.
060674,000626: 16,3110           00006                           EXTEND                                         
060675,000627: 16,3111           02031                           RAND     CHAN31                                
060676,000628: 16,3112           00006                           EXTEND                                         
060677,000629: 16,3113           13220                           BZF      RATEDAMP                              #  BRANCH IF IN ATTITUDE HOLD.
060678,000630: 
060679,000631: 16,3114           45014                           CS       BITS9,11                              #  IN AUTO.
060680,000632: 16,3115           71262                           MASK     RCSFLAGS                              #  (X-AXIS OVERRIDE)
060681,000633: 16,3116           55262                           TS       RCSFLAGS                              #  ZERO ORBIT (BIT 11) AND JUST-IN BIT (9).
060682,000634: 16,3117           13220                           TCF      RATEDAMP                              
060683,000635: 
060684,000636: 16,3120           31262        RUTH               CA       RCSFLAGS                              
060685,000637: 16,3121           74742                           MASK     PBIT                                  #  IN ATTITUDE HOLD.
060686,000638: 16,3122           00006                           EXTEND                                         
060687,000639: 16,3123           13125                           BZF      +2                                    #  BRANCH IF P-RATE DAMPING IS FINISHED.
060688,000640: 16,3124           13220                           TCF      RATEDAMP                              
060689,000641: 

Page 1425

060691,000643: 16,3125           31262                           CA       RCSFLAGS                              
060692,000644: 16,3126           74741                           MASK     QRBIT                                 
060693,000645: 16,3127           00006                           EXTEND                                         
060694,000646: 16,3130           13134                           BZF      RATEDONE                              #  BRANCH IF Q,R RATE DAMPING IS FINISHED.
060695,000647: 16,3131           13220                           TCF      RATEDAMP                              
060696,000648: 
060697,000649:                                                                                                  #  ============================================
060698,000650: 
060699,000651: 16,3132     4753               1/10SEC            =        BIT1                                  
060700,000652: 16,3132     4771               40CYC              =        OCT50                                 
060701,000653: 16,3132           74777        PQRBIT             OCT      74777                                 
060702,000654: 16,3133     5014               BITS9,11           EQUALS   EBANK5                                
060703,000655: 16,3133           00056        LINRATP            DEC      46         B-14                       
060704,000656: 
060705,000657:                                                                                                  #  ============================================
060706,000658: 
060707,000659: 16,3134           44740        RATEDONE           CS       OURRCBIT                              #  MANUAL COMMAND AND DAMPING COMPLETED IN
060708,000660: 16,3135           00004                           INHINT                                         #  ALL AXES.
060709,000661: 16,3136           70111                           MASK     DAPBOOLS                              
060710,000662: 16,3137           54111                           TS       DAPBOOLS                              
060711,000663: 
060712,000664:                                                                                                  #  READ CDUS INTO CDU DESIRED REGISTERS
060713,000665: 
060714,000666: 16,3140           34737                           CAF      BIT13                                 
060715,000667: 16,3141           00006                           EXTEND                                         
060716,000668: 16,3142           02031                           RAND     CHAN31                                
060717,000669: 16,3143           00006                           EXTEND                                         
060718,000670: 16,3144           13150                           BZF      +4                                    
060719,000671: 16,3145           30032                           CA       CDUX                                  #  (X-AXIS OVERRIDE)
060720,000672: 16,3146           55634                           TS       CDUXD                                 
060721,000673: 16,3147           03152                           TC       +3                                    
060722,000674: 16,3150           04674                           TC       IBNKCALL                              
060723,000675: 16,3151           40154                           FCADR    ZATTEROR                              
060724,000676: 16,3152           00003                           RELINT                                         
060725,000677: 16,3153           13467                           TCF      PURGENCY                              
060726,000678: 
060727,000679: 16,3154           55464                           TS       PERROR                                
060728,000680: 16,3155           34740        JUSTOUT            CA       OURRCBIT                              #  INITIALIZATION - FIRST MANUAL PASS.
060729,000681: 16,3156           26111                           ADS      DAPBOOLS                              
060730,000682: 16,3157           34755                           CA       ZERO                                  
060731,000683: 16,3160           55446                           TS       DXERROR                               
060732,000684: 16,3161           55447                           TS       DXERROR    +1                         
060733,000685: 16,3162           55450                           TS       DYERROR                               
060734,000686: 16,3163           55451                           TS       DYERROR    +1                         
060735,000687: 16,3164           55452                           TS       DZERROR                               
060736,000688: 16,3165           55453                           TS       DZERROR    +1                         
060737,000689: 16,3166           55454                           TS       PLAST                                 
060738,000690: 16,3167           55455                           TS       QLAST                                 
060739,000691: 16,3170           55456                           TS       RLAST                                 
060740,000692: 16,3171           54042                           TS       Q-RHCCTR                              
060741,000693: 16,3172           54044                           TS       R-RHCCTR                              
060742,000694: 16,3173           33132                           CA       PQRBIT                                
060743,000695: 16,3174           71262                           MASK     RCSFLAGS                              
060744,000696: 16,3175           55262                           TS       RCSFLAGS                              #  BITS 10 AND 11 OF RCSFLAGS ARE 0.

Page 1426

060746,000698: 16,3176           03201                           TC       ZEROENBL                              
060747,000699: 16,3177           00003                           RELINT                                         
060748,000700: 16,3200           13446                           TCF      JETSOFF                               
060749,000701: 16,3201           22044        ZEROENBL           LXCH     R-RHCCTR                              
060750,000702: 16,3202           30042                           CA       Q-RHCCTR                              
060751,000703: 16,3203           53463                           DXCH     SAVEHAND                              
060752,000704: 16,3204           34755                           CA       ZERO                                  
060753,000705: 16,3205           54043                           TS       P-RHCCTR                              
060754,000706: 16,3206           54042                           TS       Q-RHCCTR                              
060755,000707: 16,3207           54044                           TS       R-RHCCTR                              
060756,000708: 16,3210           00004                           INHINT                                         
060757,000709: 16,3211           00006                           EXTEND                                         
060758,000710: 16,3212           23265                           QXCH     C13QSAV                               
060759,000711: 16,3213           06022                           TC       C13STALL                              
060760,000712: 
060761,000713: 16,3214           33623                           CA       BITS8,9                               
060762,000714: 16,3215           00006                           EXTEND                                         
060763,000715: 16,3216           05013                           WOR      CHAN13                                #  COUNTERS ZEROED AND ENABLED
060764,000716: 16,3217           01265                           TC       C13QSAV                               
060765,000717: 
060766,000718: 16,3220           34755        RATEDAMP           CA       ZERO                                  
060767,000719: 16,3221           54043                           TS       P-RHCCTR                              
060768,000720: 16,3222           13232                           TCF      RATERROR                              
060769,000721: 
060770,000722: 16,3223           41262        RHCMOVED           CS       RCSFLAGS                              #  SET JUSTIN BIT TO 1
060771,000723: 16,3224           74743                           MASK     BIT9                                  
060772,000724: 16,3225           27262                           ADS      RCSFLAGS                              
060773,000725: 16,3226           34740                           CA       OURRCBIT                              #  P CONTROL
060774,000726: 16,3227           70111                           MASK     DAPBOOLS                              
060775,000727: 16,3230           00006                           EXTEND                                         
060776,000728: 16,3231           13154                           BZF      JUSTOUT    -1                         
060777,000729: 16,3232           30032        RATERROR           CA       CDUX                                  #  FINDCDUW REQUIRES THAT CDUXD=CDUX DURING
060778,000730: 16,3233           55634                           TS       CDUXD                                 #  X-AXIS OVERRIDE
060779,000731: 16,3234           10043                           CCS      P-RHCCTR                              
060780,000732: 16,3235           13240                           TCF      +3                                    
060781,000733: 16,3236           13240                           TCF      +2                                    
060782,000734: 16,3237           13240                           TCF      +1                                    
060783,000735: 16,3240           60000                           DOUBLE                                         #  LINEAR/QUADRATIC CONTROLLER SCALING
060784,000736: 16,3241           60000                           DOUBLE                                         #  (SEE EXPLANATION IN Q,R-AXES RCS
060785,000737: 16,3242           63133                           AD       LINRATP                               #  AUTOPILOT)
060786,000738: 16,3243           00006                           EXTEND                                         
060787,000739: 16,3244           70043                           MP       P-RHCCTR                              
060788,000740: 16,3245           30001                           CA       L                                     
060789,000741: 16,3246           00006                           EXTEND                                         
060790,000742: 16,3247           71444                           MP       STIKSENS                              
060791,000743: 16,3250           57454                           XCH      PLAST                                 
060792,000744: 16,3251           40000                           COM                                            
060793,000745: 16,3252           61454                           AD       PLAST                                 
060794,000746: 16,3253           55736                           TS       DAPTEMP1                              
060795,000747: 16,3254           03201                           TC       ZEROENBL                              #  INTERVAL.  ZERO AND ENABLE ACA COUNTERS.

Page 1427

060797,000749: 16,3255           00003                           RELINT                                         
060798,000750: 16,3256           41454                           CS       PLAST                                 
060799,000751: 16,3257           61421                           AD       OMEGAP                                
060800,000752: 16,3260           55427                           TS       EDOTP                                 
060801,000753: 16,3261           11736                           CCS      DAPTEMP1                              #  IF P COMMAND CHANGE EXCEEDS BREAKOUT
060802,000754: 16,3262           13265                           TCF      +3                                    #  LEVEL, GO TO DIRECT RATE CONTROL.  IF NOT
060803,000755: 16,3263           13273                           TCF      +8D                                   #  CHECK FOR DIRECT RATE CONTROL LAST TIME.
060804,000756: 16,3264           13265                           TCF      +1                                    
060805,000757: 16,3265           61476                           AD       -RATEDB                               
060806,000758: 16,3266           00006                           EXTEND                                         
060807,000759: 16,3267           63273                           BZMF     +4                                    
060808,000760: 16,3270           34771                           CA       40CYC                                 
060809,000761: 16,3271           55445                           TS       TCP                                   
060810,000762: 16,3272           03304                           TC       PEGI                                  
060811,000763: 16,3273           31262                           CA       RCSFLAGS                              #  CHECK FOR DIRECT RATE COMMAND LAST TIME.
060812,000764: 16,3274           74742                           MASK     PBIT                                  
060813,000765: 16,3275           00006                           EXTEND                                         
060814,000766: 16,3276           13300                           BZF      +2                                    
060815,000767: 16,3277           03304                           TC       PEGI                                  #  TO PURE RATE COMMAND
060816,000768: 16,3300           31446                           CA       DXERROR                               #  PSEUDO-AUTO CONTROL.
060817,000769: 16,3301           55751                           TS       E                                     #  X-ATTITUDE ERROR (SP)
060818,000770: 16,3302           55464                           TS       PERROR                                #  LOAD P-AXIS ERROR FOR MODE1 FDAI DISPLAY
060819,000771: 16,3303           03473                           TC       PURGENCY   +4                         
060820,000772: 16,3304           30032        PEGI               CA       CDUX                                  #  DIRECT RATE CONTROL.
060821,000773: 16,3305           55634                           TS       CDUXD                                 
060822,000774: 16,3306           34755                           CA       ZERO                                  
060823,000775: 16,3307           55446                           TS       DXERROR                               
060824,000776: 16,3310           55447                           TS       DXERROR    +1                         
060825,000777: 16,3311           55464                           TS       PERROR                                #  ZERO P-AXIS ERROR FOR MODE1 FDAI DISPLAY
060826,000778: 16,3312           11427                           CCS      EDOTP                                 
060827,000779: 16,3313           03316                           TC       +3                                    
060828,000780: 16,3314           03316                           TC       +2                                    
060829,000781: 16,3315           03316                           TC       +1                                    
060830,000782: 16,3316           55736                           TS       ABSEDOTP                              
060831,000783: 16,3317           61476                           AD       TARGETDB                              
060832,000784: 16,3320           00006                           EXTEND                                         #  IF RATE ERROR IS LESS THAN DEADBAND,
060833,000785: 16,3321           63331                           BZMF     LAST                                  #  FIRE, AND SWITCH TO PSEUDO-AUTO.
060834,000786: 16,3322           31445                           CA       TCP                                   
060835,000787: 16,3323           00006                           EXTEND                                         #  IF TIME IN RATE COMMAND EXCEEDS 4 SEC.,
060836,000788: 16,3324           63331                           BZMF     LAST                                  
060837,000789: 16,3325           41262                           CS       RCSFLAGS                              
060838,000790: 16,3326           74742                           MASK     PBIT                                  
060839,000791: 16,3327           27262                           ADS      RCSFLAGS                              #  BIT 10 IS 1.
060840,000792: 16,3330           13334                           TCF      +4                                    
060841,000793: 16,3331           44742        LAST               CS       PBIT                                  
060842,000794: 16,3332           71262                           MASK     RCSFLAGS                              
060843,000795: 16,3333           55262                           TS       RCSFLAGS                              #  BIT 10 IS 0.
060844,000796: 16,3334           41427                           CS       EDOTP                                 
060845,000797: 16,3335           00006                           EXTEND                                         
060846,000798: 16,3336           71550                           MP       1/ANETP                               #  1/2JTACC SCALED AT 2EXP(7)/PI

Page 1428

060848,000800: 16,3337           20001                           DAS      A                                     
060849,000801: 16,3340           02310                           TC       OVERSUB                               
060850,000802: 16,3341           00006                           EXTEND                                         
060851,000803: 16,3342           77721                           MP       25/32                                 #  A CONTAINS TJET SCALED AT 2EXP(4)(16/25)
060852,000804: 16,3343           55524                           TS       TJP                                   #  4.JET TIME
060853,000805: 16,3344           31736                           CA       ABSEDOTP                              
060854,000806: 16,3345           61475                           AD       -2JETLIM                              #  COMPARING DELTA RATE WITH 2 JET LIMIT
060855,000807: 16,3346           00006                           EXTEND                                         
060856,000808: 16,3347           63352                           BZMF     +3                                    
060857,000809: 
060858,000810: 16,3350           36245                           CA       SIX                                   
060859,000811: 16,3351           13361                           TCF      +8D                                   
060860,000812: 16,3352           31524                           CA       TJP                                   
060861,000813: 16,3353           27524                           ADS      TJP                                   
060862,000814: 
060863,000815:                                                                                                  #  GOES TO PJETSLEC FOR TWO JETS
060864,000816:                                                                                                  #  P-JET-SELECTION-ROUTINE (ROTATION)
060865,000817: 
060866,000818:                                                                                                  #  INPUT:        NUMBERT         4,5,6 FOR WHICH PAIR OR 4 JETS
060867,000819:                                                                                                  #                TJP             + FOR +P ROTATION
060868,000820: 
060869,000821:                                                                                                  #  OUTPUT:       CHANNEL 6
060870,000822:                                                                                                  #                PJUMPADR        FOR P-AXIS SKIP
060871,000823:                                                                                                  #                (JTLST CALL)    (SMALL TJP)
060872,000824: 
060873,000825:                                                                                                  #  ORDER OF POLICIES TRIED IN CASE OF FAILURE.
060874,000826:                                                                                                  #        +P      -P
060875,000827:                                                                                                  #        7,15    8,16
060876,000828:                                                                                                  #        4,12    3,11
060877,000829:                                                                                                  #        4,7     8,11
060878,000830:                                                                                                  #        7,12    11,16
060879,000831:                                                                                                  #        12,15   3,16
060880,000832:                                                                                                  #        4,15    3,8
060881,000833:                                                                                                  #        ALARM   ALARM
060882,000834: 
060883,000835: 16,3354           34747                           CA       AORBSYST                              
060884,000836: 16,3355           70101                           MASK     FLAGWRD5                              
060885,000837: 16,3356           10000                           CCS      A                                     
060886,000838: 16,3357           34753                           CA       ONE                                   
060887,000839: 16,3360           64751                           AD       FOUR                                  
060888,000840: 16,3361           55742                           TS       NUMBERT                               
060889,000841: 16,3362           34753        PJETSLEC           CA       ONE                                   
060890,000842: 16,3363           54001                           TS       L                                     
060891,000843: 16,3364           11524                           CCS      TJP                                   
060892,000844: 16,3365           13372                           TCF      +5                                    
060893,000845: 16,3366           13446                           TCF      JETSOFF                               
060894,000846: 16,3367           13371                           TCF      +2                                    
060895,000847: 16,3370           13446                           TCF      JETSOFF                               
060896,000848: 16,3371           22007                           ZL                                             
060897,000849: 16,3372           64753                           AD       ONE                                   
060898,000850: 16,3373           55736                           TS       ABSTJ                                 

Page 1429

060900,000852: 16,3374           23743                           LXCH     ROTINDEX                              
060901,000853: 16,3375           03535                           TC       SELECTP                               
060902,000854: 16,3376           46245                           CS       SIX                                   
060903,000855: 16,3377           61742                           AD       NUMBERT                               
060904,000856: 16,3400           00006                           EXTEND                                         
060905,000857: 16,3401           13403                           BZF      +2                                    
060906,000858: 
060907,000859: 16,3402           44752                           CS       TWO                                   
060908,000860: 16,3403           64751                           AD       FOUR                                  
060909,000861: 16,3404           55521                           TS       NO.PJETS                              
060910,000862: 16,3405           31740                           CA       POLYTEMP                              
060911,000863: 16,3406           05744                           TC       WRITEP                                
060912,000864: 16,3407           41736                           CS       ABSTJ                                 
060913,000865: 16,3410           63616                           AD       +150MST6                              
060914,000866: 16,3411           00006                           EXTEND                                         
060915,000867: 16,3412           63630                           BZMF     QRAXIS                                #  GO TO QRAXIS OR TO GTS.
060916,000868: 
060917,000869: 16,3413           63576                           AD       -136MST6                              
060918,000870: 16,3414           00006                           EXTEND                                         
060919,000871: 16,3415           63422                           BZMF     +5                                    
060920,000872: 
060921,000873: 16,3416           27736                           ADS      ABSTJ                                 
060922,000874: 16,3417           51743                           INDEX    ROTINDEX                              
060923,000875: 16,3420           33625                           CA       MINTIMES                              
060924,000876: 16,3421           55524                           TS       TJP                                   
060925,000877: 
060926,000878: 16,3422           31736                           CA       ABSTJ                                 
060927,000879: 16,3423           22007                           ZL                                             
060928,000880: 16,3424           00004                           INHINT                                         
060929,000881: 16,3425           53471                           DXCH     T6FURTHA                              
060930,000882: 16,3426           04674                           TC       IBNKCALL                              
060931,000883: 16,3427           37143                           CADR     JTLST                                 
060932,000884: 16,3430           44740                           CS       BIT12                                 
060933,000885: 16,3431           71262                           MASK     RCSFLAGS                              
060934,000886: 16,3432           55262                           TS       RCSFLAGS                              #  BIT 12 SET TO 0.
060935,000887: 16,3433           03435                           TC       ALTSYST                               
060936,000888: 16,3434           13630                           TCF      QRAXIS                                
060937,000889: 
060938,000890: 16,3435           30101        ALTSYST            CA       FLAGWRD5                              #  ALTERNATE P-AXIS JETS
060939,000891: 16,3436           54001                           TS       L                                     
060940,000892: 16,3437           34747                           CA       AORBSYST                              
060941,000893: 16,3440           00006                           EXTEND                                         
060942,000894: 16,3441           06001                           RXOR     LCHAN                                 
060943,000895: 16,3442           54101                           TS       FLAGWRD5                              
060944,000896: 16,3443           00003                           RELINT                                         
060945,000897: 16,3444           00002                           TC       Q                                     
060946,000898: 
060947,000899: 16,3445           03435        DKALT              TC       ALTSYST                               
060948,000900: 
060949,000901: 16,3446           05743        JETSOFF            TC       WRITEP     -1                         

Page 1430

060951,000903: 16,3447           34755                           CA       ZERO                                  
060952,000904: 16,3450           55524                           TS       TJP                                   
060953,000905: 16,3451           13630                           TCF      QRAXIS                                
060954,000906: 
060955,000907:                                                                                                  #  (NOTE -- M13 = 1 IDENTICALLY IMPLIES NULL MULTIPLICATION.)
060956,000908: 
060957,000909: 16,3452           30033        CALCPERR           CA       CDUY                                  #  P-ERROR CALCULATION.
060958,000910: 16,3453           00006                           EXTEND                                         
060959,000911: 16,3454           21635                           MSU      CDUYD                                 #  CDU VALUE - ANGLE DESIRED (Y-AXIS)
060960,000912: 16,3455           00006                           EXTEND                                         
060961,000913: 16,3456           71414                           MP       M11                                   #  (CDUY-CDUYD)M11 SCALED AT PI RADIANS
060962,000914: 16,3457           57751                           XCH      E                                     #  SAVE FIRST TERM (OF TWO)
060963,000915: 16,3460           30032                           CA       CDUX                                  #  THIRD COMPONENT
060964,000916: 16,3461           00006                           EXTEND                                         
060965,000917: 16,3462           21634                           MSU      CDUXD                                 #  CDU VALUE - ANGLE DESIRED (X-AXIS)
060966,000918:                                                                                                  #                EXTEND
060967,000919:                                                                                                  #                MP      M13
060968,000920: 16,3463           61274                           AD       DELPEROR                              #  KALCMANU INERFACE ERROR
060969,000921: 16,3464           27751                           ADS      E                                     #  SAVE SUM OF TERMS.  COULD BE OVERFLOW.
060970,000922: 16,3465           57464                           XCH      PERROR                                #  SAVE P-ERROR FOR EIGHT-BALL DISPLAY.
060971,000923: 16,3466           00002                           TC       Q                                     #  RETURN TO CALLER
060972,000924: 
060973,000925:                                                                                                  #  P-AXIS URGENCY FUNCTION CALCULATION.
060974,000926: 
060975,000927: 16,3467           03452        PURGENCY           TC       CALCPERR                              #  CALCULATE P-AXIS ERRORS.
060976,000928: 16,3470           41642                           CS       OMEGAPD                               #  THIS CODING IS COMMON TO BOTH LM DAP AND
060977,000929: 16,3471           61421                           AD       OMEGAP                                #  SPS-BACKUP MODE.
060978,000930: 16,3472           55427                           TS       EDOTP                                 #  EDOTP = OMEGAP - OMEGAPD AT PI/4 RAD/SEC
060979,000931: 
060980,000932: 16,3473           44753                           CS       ONE                                   
060981,000933: 16,3474           55505                           TS       AXISCTR                               
060982,000934: 16,3475           30111                           CA       DAPBOOLS                              
060983,000935: 16,3476           74737                           MASK     CSMDOCKD                              
060984,000936: 16,3477           00006                           EXTEND                                         
060985,000937: 16,3500           13511                           BZF      HEADTJET                              
060986,000938: 16,3501           00004                           INHINT                                         #  IF CSMDOCKD = 1, GO TO DOCKED RCS LOGIC
060987,000939: 16,3502           04674                           TC       IBNKCALL                              
060988,000940: 16,3503           43736                           CADR     SPSRCS                                
060989,000941: 
060990,000942: 16,3504           31524                           CA       TJP                                   
060991,000943: 16,3505           00006                           EXTEND                                         
060992,000944: 16,3506           13445                           BZF      DKALT                                 #  IF TJP = ZERO, CHANGE AORBSYST.
060993,000945: 16,3507           00003                           RELINT                                         
060994,000946: 16,3510           13354                           TCF      PJETSLEC   -6                         #  SELECT AORBSYST AND USE TWO JETS
060995,000947: 16,3511           34755        HEADTJET           CA       ZERO                                  
060996,000948: 16,3512           55500                           TS       SENSETYP                              
060997,000949: 16,3513           00004                           INHINT                                         
060998,000950: 16,3514           04674                           TC       IBNKCALL                              
060999,000951: 16,3515           37304                           CADR     TJETLAW                               
061000,000952: 16,3516           00003                           RELINT                                         

Page 1431

061002,000954: 16,3517           41740                           CS       FIREFCT                               
061003,000955: 16,3520           63534                           AD       -FOURDEG                              
061004,000956: 16,3521           00006                           EXTEND                                         
061005,000957: 16,3522           63354                           BZMF     PJETSLEC   -6                         
061006,000958: 16,3523           11524                           CCS      TJP                                   
061007,000959: 16,3524           13526                           TCF      +2                                    
061008,000960: 16,3525           13446                           TCF      JETSOFF                               
061009,000961: 16,3526           63533                           AD       -160MST6                              
061010,000962: 16,3527           00006                           EXTEND                                         
061011,000963: 16,3530           63354                           BZMF     PJETSLEC   -6                         
061012,000964: 16,3531           36245                           CA       SIX                                   
061013,000965: 16,3532           13361                           TCF      PJETSLEC   -1                         
061014,000966: 16,3533           77377        -160MST6           DEC      -256       B-14                       
061015,000967: 16,3534           75117        -FOURDEG           DEC      -.08888                               
061016,000968: 

Page 1432

061018,000970:                                                                                                  #  JET POLICY CONSTRUCTION SUBROUTINE
061019,000971: 
061020,000972:                                                                                                  #  INPUT:        ROTINDEX, NUMBERT
061021,000973: 
061022,000974:                                                                                                  #  OUTPUT:       POLYTEMP (JET POLICY)
061023,000975: 
061024,000976:                                                                                                  #  THIS SUBROUTINE SELECT A SUBSET OF THE DESIRED JETS WHICH HAS NO FAILURE
061025,000977: 
061026,000978: 16,3535           36245        SELECTP            CA       SIX                                   
061027,000979: 16,3536           55741                           TS       TEMPNUM                               
061028,000980: 16,3537           51742                           INDEX    NUMBERT                               
061029,000981: 16,3540           33567                           CA       TYPEP                                 
061030,000982: 16,3541           51743                           INDEX    ROTINDEX                              
061031,000983: 16,3542           73560                           MASK     JETSALL                               
061032,000984: 16,3543           55740                           TS       POLYTEMP                              
061033,000985: 16,3544           71260                           MASK     CH6MASK                               
061034,000986: 16,3545           10000                           CCS      A                                     
061035,000987: 16,3546           13550                           TCF      +2                                    
061036,000988: 16,3547           00002                           TC       Q                                     
061037,000989: 16,3550           11741                           CCS      TEMPNUM                               
061038,000990: 16,3551           13555                           TCF      +4                                    
061039,000991: 16,3552           05567                           TC       ALARM                                 
061040,000992: 16,3553           02003                           OCT      02003                                 
061041,000993: 16,3554           13446                           TCF      JETSOFF                               #  *****TCF ALARMJET *********************
061042,000994: 16,3555           55742        SELECTYZ           TS       NUMBERT                               
061043,000995: 16,3556           13536                           TCF      SELECTP    +1                         
061044,000996: 16,3557           12773                 -1        TCF      ABORTYZ    +2                         
061045,000997: 16,3560           00252        JETSALL            OCT      00252                                 
061046,000998: 16,3561           00125                           OCT      00125                                 #  +P
061047,000999: 16,3562           00140                           OCT      00140                                 #  -Y
061048,001000: 16,3563           00006                           OCT      00006                                 #  -Z
061049,001001: 16,3564           00220                           OCT      00220                                 #  +Y
061050,001002: 16,3565           00011                           OCT      00011                                 #  +Z
061051,001003: 16,3566           00151                           OCT      00151                                 #  +V
061052,001004: 16,3567           00146        TYPEP              OCT      00146                                 #  -U
061053,001005: 16,3570           00226                           OCT      00226                                 #  -V
061054,001006: 16,3571           00231                           OCT      00231                                 #  +U
061055,001007: 16,3572           00151                           OCT      00151                                 #  +V
061056,001008: 16,3573           00132                           OCT      00132                                 #  1-3
061057,001009: 16,3574           00245                           OCT      00245                                 #  2-4
061058,001010: 16,3575           00377                           OCT      00377                                 #  ALL
061059,001011: 16,3576  16,3576               INDXYZ             =        -136MST6                              
061060,001012: 16,3576           77445        -136MST6           DEC      -218       B-14                       
061061,001013: 16,3577           00004                           DEC      4          B-14                       
061062,001014: 16,3600           00002                           DEC      2          B-14                       
061063,001015: 16,3601           07776                           OCT      07776                                 
061064,001016: 16,3602           00005                           DEC      5          B-14                       
061065,001017: 16,3603           00011                           DEC      9          B-14                       
061066,001018: 16,3604           00012                           DEC      10         B-14                       
061067,001019: 16,3605           07776                           OCT      07776                                 
061068,001020: 16,3606           00003                           DEC      3          B-14                       

Page 1433

061070,001022: 16,3607           00010                           DEC      8          B-14                       
061071,001023: 16,3610           00007                           DEC      7          B-14                       
061072,001024: 16,3611           07776                           OCT      07776                                 #  THESE INDEXES OF MASK JETSALL WILL
061073,001025: 16,3612           07776                           OCT      07776                                 #  CHANGE THE INSTRUCTION AT SELECTP +4
061074,001026: 16,3613           07776                           OCT      07776                                 #  TO BE         TC JETSALL -1
061075,001027: 16,3614           07776                           OCT      07776                                 #  ONLY USED FOR TRANSLATION FAILURE
061076,001028: 16,3615           07776                           OCT      07776                                 
061077,001029: 16,3616           00360        +150MST6           DEC      240        B-14                       
061078,001030: 16,3617           07400        07400OCT           OCT      07400                                 
061079,001031: 
061080,001032:                                                                                                  #  T-JET LAW FIXED CONSTANTS
061081,001033: 
061082,001034: 16,3620           00266        NORMSCL            OCT      266                                   
061083,001035: 16,3621           74631        -100MS             DEC      -.1                                   
061084,001036: 16,3622           06315        200MS              DEC      .2                                    
061085,001037: 16,3623     7721               25/32              =        PRIO31                                #  (DEC .78125)
061086,001038: 16,3623           00600        BITS8,9            OCTAL    00600                                 
061087,001039: 16,3624           00632        1/40               DEC      .02500                                
061088,001040: 16,3625           77751        MINTIMES           DEC      -22        B-14                       
061089,001041: 16,3626           00026                           DEC      22         B-14                       
061090,001042: 16,3627           02734        PSKIPADR           GENADR   SKIPPAXS                              
061091,001043: 
061092,001044:                                                                                                  #  GOES TO Q,R-AXES RCS AUTOPILOT
061093,001045: 
061094,001046: 16,3630           41644        QRAXIS             CS       OMEGARD                               
061095,001047: 16,3631           61423                           AD       OMEGAR                                
061096,001048: 16,3632           02310                           TC       OVERSUB                               
061097,001049: 16,3633           55437                           TS       EDOTR                                 
061098,001050: 16,3634           41643                           CS       OMEGAQD                               
061099,001051: 16,3635           61422                           AD       OMEGAQ                                
061100,001052: 16,3636           02310                           TC       OVERSUB                               
061101,001053: 16,3637           55436                           TS       EDOTQ                                 
061102,001054: 16,3640           00006                           EXTEND                                         
061103,001055: 16,3641           33644                           DCA      QERRCALL                              
061104,001056: 16,3642           52006                           DTCB                                           
061105,001057: 
061106,001058: 16,3643  E6,1536                                  EBANK=   AOSQ                                  
061107,001059: 16,3643           02124 36106  QERRCALL           2CADR    CALLQERR                              

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